JP5428825B2 - Motor drive device - Google Patents

Motor drive device Download PDF

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JP5428825B2
JP5428825B2 JP2009283627A JP2009283627A JP5428825B2 JP 5428825 B2 JP5428825 B2 JP 5428825B2 JP 2009283627 A JP2009283627 A JP 2009283627A JP 2009283627 A JP2009283627 A JP 2009283627A JP 5428825 B2 JP5428825 B2 JP 5428825B2
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command
magnetic pole
detection
information
signal
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JP2011130520A (en
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裕介 今田
勝 西園
健一 鈴木
徹 田澤
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パナソニック株式会社
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Description

  The present invention relates to a vector control method for a synchronous motor, and more particularly to a method for setting a direction of a position detector at start-up.

  Conventionally, vector control of a synchronous motor detects the magnetic pole position by an absolute position detector (resolver or absolute encoder), and performs electromagnetic force control while controlling the amplitude and phase of a sine wave current having a phase synchronized with the magnetic pole position. Is.

  Basically, the current phase γmax at which the generated torque is maximum is obtained by shifting the current phase γmin at which the generated electromagnetic force becomes zero regardless of the applied current by 90 °. As a method of obtaining the current phase, there is a method of updating the current phase γ according to the polarity of the generated torque (see, for example, Patent Document 1).

  In this method, a current is applied to a phase obtained by dividing the electrical angle half cycle by N with reference to the temporary magnetic pole position, and the moving direction D (+, 0, −) at that time is determined in step 1; A current is applied to a phase obtained by dividing the electrical angle region where the sign is inverted into two, and a step 2 for determining the moving direction D1 at that time, and two electrical angle regions in which the moving direction changes from + to 0 and from 0 to −, respectively. Step 3 for applying a current to the divided phase and determining the moving direction D2 at that time, and Step 4 for determining an intermediate point of the electrical angle region where the moving direction is zero as a phase where the generated electromagnetic force is zero. The current phase is determined based on the zero position P in step 4.

JP 2007-116759 A

However, since the above-described prior art determines the moving direction via the position detector, it is assumed that the initial settings regarding the phase order of the position detector and the motor are set correctly, and the initial settings are incorrect. Has a problem that a correct magnetic pole position cannot be detected.
In order to control the motor, it is necessary to match the count direction of the position detector with the phase order of the motor. When the motor is moved in the direction of U phase → V phase → W phase Initial setting is required such that the count direction of the detector is the positive direction.

  SUMMARY OF THE INVENTION The present invention solves the above-described conventional problems, and an object of the present invention is to provide a motor drive device that can automatically set initial settings related to the phase order of a position detector and a motor.

In a motor drive device that controls a synchronous motor to which a position detector is attached,
A detection direction switch for switching the direction of the position detection signal from the position detector by the detection direction switching signal and outputting it as position information;
A torque command generator that outputs a torque command in response to a start signal;
A magnetic pole position setter that outputs a magnetic pole position command in response to the start signal;
A current controller that outputs a UVW command voltage according to the torque command and the magnetic pole position command;
A position detection direction setting device that outputs a detection direction switching signal from the position information and the magnetic pole position command;
In the position detection direction setting device, the detection direction switching signal is set according to a change in the magnetic pole position command and the position information.

  According to the motor drive device of the first aspect, the correct position detection direction can be automatically set from the change direction of the position information when the magnetic pole position command is changed.

  In addition, according to the motor drive device of the second aspect, the influence of the initial operation at the time of applying the torque command can be removed by increasing the change amount of the magnetic pole position command to more than 180 degrees, and the stable position detection direction can be obtained. Automatic setting is possible.

  According to the third aspect of the present invention, a certain waiting time is provided until the start of the change of the magnetic pole position command, and the change of the position information is detected after the initial operation when the torque command is applied. This makes it possible to automatically set a more stable position detection direction.

  Furthermore, according to the motor drive device of the fourth aspect, the shock during the initial operation can be reduced by giving a constant inclination when the torque command is applied.

  In addition, according to the motor drive device of the fifth aspect, the completion of the initial operation at the time of applying the torque command is determined based on the amount of change in the position information, so that the completion of the initial operation can be quickly detected and the position detection direction is efficient. Can be set automatically.

  Furthermore, according to the motor drive device of the sixth aspect, the shock during the initial operation can be reduced by giving a constant inclination when the torque command is applied.

FIG. 1 is a block diagram of main parts of a motor drive device according to a first embodiment of the present invention. (A) is a detailed explanation view of the motor rotation method when the torque command is applied, (b) is a detailed explanation view of the motor rotation method in the locked state, and (c) is a detailed explanation view of the motor rotation method in the same rotation state. Main part block diagram of motor drive device in Embodiment 2 of the present invention (A) is a detailed explanatory diagram of a linear motor operating method when the torque command is applied, (b) is a detailed explanatory diagram of a linear motor operating method in the locked state, and (c) is a detailed explanatory diagram of a linear motor operating method in the same operating state.

Example 1
FIG. 1 is a block diagram of a motor drive device according to claims 1 to 4, wherein a torque command generator 1 that outputs a torque command 12 from a start signal 11 and a magnetic pole that outputs a magnetic pole position command 13 from a start signal 11. The position setting unit 2, the position detection direction setting unit 3 that outputs the detection direction switching signal 15 from the magnetic pole position command 13 and the position information 17, and the detection direction that outputs the position information 17 from the detection direction switching signal 15 and the position detection signal 16. A switch 4 and a current controller 5 that outputs a UVW command voltage 14 from a torque command 12 and a magnetic pole position command 13 are provided.

First, a method for rotating the motor using the torque command 12 and the magnetic pole position command 13 will be described. Here, a motor using an electromagnet (armature) on the stator side and a permanent magnet on the rotor side will be described. A torque command 12 and a magnetic pole position command 13 are output by the start signal 11, and current control is performed by the current controller 5. When controlling a normal synchronous motor, the magnetic pole position of the motor is detected via the position information 17, a command voltage is applied in a sine wave shape according to the position, and a rotating magnetic field is created on the stator side to create a rotor. Rotate. However, in this method, the magnetic pole position is not detected, and when the torque command 12 is applied with the magnetic pole position command 13 set to a fixed value, the stator 18 is moved toward the stator 18 as shown in FIGS. Generates a magnetic field 19 having a certain magnetic pole direction, and the rotor 20 moves to a position coinciding with the magnetic pole direction and stops (lock state). When the magnetic pole position command 13 is changed little by little from that state, the magnetic field 19 generated on the stator 18 side gradually moves as shown in FIG. Rotate together. That is, the motor can be rotated without using the position information 17 by applying the torque command 12 and changing the magnetic pole position command 13. By not using the position information 17, the motor can be physically rotated in a certain direction without being affected by the detection direction switching signal 15. As a result, for example, operation in the direction in which the motor phase sequence is in the order of U → V → W or operation in the direction of U → W → V is realized by simply changing the change direction of the magnetic pole position command 13. it can.

  Next, a method for setting the detection direction switching signal 15 from the magnetic pole position command 13 and the position information 17 will be described. The relationship between the change direction of the normal position information 17 and the phase order of the motor is uniquely determined. If the direction is reversed, the motor cannot be controlled normally. As described above, by changing the magnetic pole position command 13, it is possible to perform an operation in which the phase order of the motor is designated. If the change direction of the position information 17 at that time is confirmed, the detection direction switching signal 15 is correct. It can be determined whether or not. If it is correct, it is left as it is, and if it is reverse, the detection direction switching signal 15 is set in reverse, so that the detection direction can be automatically set.

  Specifically, when the magnetic pole position command 13 is operated in the positive direction, the phase information of the motor rotates from U → V → W, and when the motor phase order is U → V → W, the position information 17 is A motor drive device that must change in the positive direction will be described as an example.

  The magnetic pole position command 13 is changed in the positive direction from the initial value by a constant change amount. Initially, the rotor operates in a direction in which the magnetic poles of the rotor and the magnetic poles generated on the stator side coincide with each other. This initial operation can be performed in both the positive and negative directions with a maximum electrical angle of 180 degrees. Once it matches the magnetic pole on the stator side, the changing direction of the magnetic pole position command 13 is the positive direction thereafter, so that the rotor rotates in the direction in which the phase sequence is U → V → W. Therefore, if the magnetic pole position command 13 is changed by more than 180 degrees of the electrical angle, the change direction from the initial position information 17 cancels the change of the maximum 180 degrees due to the initial operation, and depends on the change direction of the magnetic pole position command 13. It can be judged. Accordingly, if the change amount of the magnetic pole position command 13 is larger than the electrical angle of 180 degrees and the change direction of the position information 17 is positive, it can be determined that the position detection direction is correct, and if it is negative, the detection direction is switched. The detection direction can be set correctly by setting the signal 15 in the reverse direction. Similarly, when the magnetic pole position command 13 is changed from the initial value to the negative direction with a constant change amount, if the change direction of the position information 17 is finally a negative direction, the position detection direction is correct, and if the change direction is positive, The detection direction can be correctly set by setting the detection direction switching signal 15 in the reverse direction. The detection direction can be automatically set even if the change direction of the magnetic pole position command 13 is only one direction, but more stable automatic setting is also possible by determining in both directions.

  Further, in order to reduce the influence of the initial operation, the magnetic pole position command 13 is kept at the initial value for a predetermined time after the torque command 12 is applied, and then the magnetic pole position command 13 is changed. By determining the change direction of the position information 17 after the start of the change of the magnetic pole position command 13, the amount of motor movement required for automatic setting of the detection direction can be minimized.

  Further, by giving a constant inclination when the torque command 12 is applied, the impact of the initial operation can be reduced.

(Example 2)
FIG. 3 is a block diagram of the motor drive device according to claims 5 to 6. The torque command generator 1 outputs a torque command 12 from the start signal 11, and the magnetic pole position command 13 from the start signal 11 and position information 17. , A position detection direction setting device 3 that outputs a detection direction switching signal 15 from the magnetic pole position command 13 and position information 17, and position information 17 from the detection direction switching signal 15 and position detection signal 16. A detection direction switch 4 for outputting, and a current controller 5 for outputting a UVW command voltage 14 from a torque command 12 and a magnetic pole position command 13 are provided.

  The basic operation is the same as in the first embodiment, and only the differences will be described here. The difference from the first embodiment is that the magnetic pole position setting device 2 generates the magnetic pole position command 13 using not only the start signal 11 but also the position information 17.

  Specifically, the magnetic pole position command 13 is changed after the completion of the initial operation at the time of applying the torque command is detected using the position information 17. In the detection method of the locked state, if the change amount of the position information 17 becomes a certain value or less, the motor is almost stopped and it is determined that the motor is in the locked state. As a result, the locked state can be detected quickly, and efficient automatic setting of the position detection direction can be realized.

  Further, by giving a constant inclination when the torque command 12 is applied, the impact of the initial operation can be reduced.

  The start signal 11 may be an initial motor energization start input after power-on, an input by front panel operation, an external I / F input, an input from communication, or the like.

  Further, by adjusting the amount of change of the magnetic pole position command 13 once, the operation speed at the time of automatic determination of the position detection direction can be freely adjusted.

  Further, in this description, the description is made with a rotary motor for the sake of convenience. However, as shown in FIG. 4, the position detection direction can be automatically set by using this method even with a linear motor such as a linear motor. The operation method in the case of the linear motor in FIG. 4 is the same as that in FIG. 2 except that the rotational motion of the rotor 20 of the motor in FIG. 2 is changed to the linear motion of the mover 21 in FIG. .

  In addition, for the sake of convenience, this explanation is based on the case where the stator side is an electromagnet and the rotor side is a permanent magnet. However, even if the stator side is a permanent magnet and the rotor side is an electromagnet, the position detection direction is automatically set in the same way. Is possible.

  The motor driving device of the present invention is also useful for detecting abnormal combinations of a synchronous motor and a position detector.

DESCRIPTION OF SYMBOLS 1 Torque command generator 2 Magnetic pole position setter 3 Position detection direction setter 4 Detection direction switch 5 Current controller 11 Start signal 12 Torque command 13 Magnetic pole position command 14 UVW command voltage 15 Detection direction switch signal 16 Position detection signal 17 Position Information 18 Stator 19 Magnetic field 20 Rotor 21 Movable element

Claims (6)

  1. In a motor drive device that controls a synchronous motor to which a position detector is attached,
    A detection direction switch for switching the direction of the position detection signal from the position detector by the detection direction switching signal and outputting it as position information;
    A torque command generator that outputs a torque command in response to a start signal;
    A magnetic pole position setter that outputs a magnetic pole position command in response to the start signal;
    A current controller that outputs a UVW command voltage according to the torque command and the magnetic pole position command;
    A position detection direction setting device that outputs a detection direction switching signal from the position information and the magnetic pole position command;
    In the position detection direction setting device, the detection direction switching signal is set by a change in the magnetic pole position command and the position information.
  2. In the magnetic pole position setter, the magnetic pole position command is changed little by little from an initial value,
    In the position detection direction setting device, the difference between the position information when the magnetic pole position command is an initial value and the position information when the magnetic pole position command is greater than 180 degrees in electrical angle from the initial value is:
    2. The motor drive device according to claim 1, wherein the detection direction switching signal is switched if it does not coincide with a direction assumed in advance, and is not switched if it coincides.
  3. In the magnetic pole position setting device, the magnetic pole position command is in a state of an initial value for a predetermined time, and gradually changed after a predetermined time has passed,
    In the position detection direction setting device, if the change direction of the position information after the start of change of the magnetic pole position command does not match the direction assumed in advance, the detection direction switching signal is switched, and if it matches, the switching is not performed. The motor driving device according to claim 1.
  4. 4. The motor driving apparatus according to claim 1, wherein the torque command generator increases the torque command up to a target value with a constant change amount.
  5. In a motor drive device that controls a synchronous motor to which a position detector is attached,
    A detection direction switch for switching the direction of the position detection signal from the position detector by the detection direction switching signal and outputting it as position information;
    A torque command generator that outputs a torque command in response to a start signal;
    A magnetic pole position setting device that outputs a magnetic pole position command based on the start signal and the position information;
    A current controller that outputs a UVW command voltage according to the torque command and the magnetic pole position command;
    A position detection direction setting device that outputs a detection direction switching signal from the position information and the magnetic pole position command;
    In the magnetic pole position setter, the magnetic pole position command is left as an initial value, waits until the change in the position information is less than a certain value, and then the magnetic pole position command is changed little by little,
    In the position detection direction setting device, if the change direction of the position information after the start of change of the magnetic pole position command does not match the direction assumed in advance, the detection direction switching signal is switched, and if it matches, the switching is not performed. The motor driving device according to claim 1.
  6. 6. The motor drive device according to claim 5, wherein in the torque command generator, the torque command is increased by a constant change amount to a target value.
JP2009283627A 2009-12-15 2009-12-15 Motor drive device Active JP5428825B2 (en)

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JP2014036480A (en) * 2012-08-08 2014-02-24 Panasonic Corp Motor driving device
CN110463018A (en) * 2017-03-29 2019-11-15 日立汽车系统株式会社 The control device and its control method of rotating electric machine

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JPH0787715B2 (en) * 1990-07-03 1995-09-20 シーケーディ株式会社 Rotation direction control device for single-phase synchronous motor
JP2002374692A (en) * 2001-06-15 2002-12-26 Hitachi Ltd Permanent magnet motor controller
JP4346355B2 (en) * 2003-06-04 2009-10-21 オークマ株式会社 Spindle controller
JP4206374B2 (en) * 2004-08-30 2009-01-07 株式会社日立産機システム Synchronous motor control device and initial phase setting method thereof
WO2007034689A1 (en) * 2005-09-26 2007-03-29 Kabushiki Kaisha Yaskawa Denki Ac synchronous motor initial magnetic pole position estimation device and its method

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