JP5502001B2 - Motor drive current amplifier, motor drive apparatus, drive method thereof, and motor drive system - Google Patents

Description

  The present invention relates to a motor driving current amplifier, a motor driving apparatus, a driving method thereof, and a motor driving system for driving a motor, and more particularly to a PWM motor driving current amplifier capable of handling a plurality of different types of motors.

  Conventionally, in a motor drive IC, the number of bridges is determined according to the number of motors. Therefore, when the number of motors to be used is changed, it is difficult to apply a motor drive IC that has already been used. It is known that there is a problem of lack of versatility.

  In response to such problems, the purpose is to provide a motor drive device that has a small and highly versatile configuration and can drive a plurality of motors. A circuit, a first pre-driver for one channel, and a second pre-driver for 0.5 channel, and a logic for selectively operating the first and second pre-drivers according to a combination of selection signals A motor driving device provided with a circuit is disclosed in, for example, Patent Document 1 below.

  According to this motor driving device, the logic circuit can selectively operate the first and second pre-drivers according to the selection signal supplied as the combination signal, so that the number of motors to be driven is changed. In this case, by combining a plurality of motor drive devices, or by adding an external driver unit to the device, it is possible to respond without changing the structure of the motor drive device itself. It is described as having the effect of being wide.

  Also, select multiple motors (synchronous motors, induction motors, etc.) of the same type but different settings for the purpose of eliminating complicated setting operations and reducing cost and space. It has been proposed to realize a motor drive device that can be driven by the motor.

  According to this proposal, a control device capable of controlling a plurality of motors of the same type and having different control conditions, and an instruction means for giving an instruction as to what constant setting and control of the motor to the control device are provided. It is possible to selectively control any one of the plurality of motors according to an instruction from the instruction means.

  Further, it is disclosed that the instruction unit may be a switch, a personal computer, or a loader, and is connected to the control device via a dedicated line. In addition, since a plurality of synchronous motors can be selectively controlled by a single device, the device can be simplified and the cost can be reduced, and the device can be reduced in size and saved in space. For example, it is disclosed in Patent Document 2 below.

Japanese Patent Laid-Open No. 08-080091 JP 2001-190094 A

  Since the characteristics of the motor differ if the type of the motor to be driven is different, the motor drive current amplifier, the motor drive apparatus, and the drive method for driving the motor designed to match the characteristics of the specific motor Could not be applied to other motors.

  For this reason, motor drive current amplifiers and the like for driving motors are conventionally configured as a set with a motor, and general-purpose motor drive current amplifiers and the like that can be used by changing only the motor to another motor are available. unknown.

  In addition, if a motor drive current amplifier designed to match the characteristics of a specific motor is used to drive a motor that does not match this, there is a concern that problems such as deterioration in bandwidth and oscillation may occur, There is also a risk that it will typically fail and become inoperable.

  The present invention has been made in view of the above-described problems, and is a motor driving current amplifier that can be applied to a plurality of types of motors having different characteristics with high reliability and can be stably driven. It is an object of the present invention to provide a motor driving device, a driving method thereof, and a motor driving system.

  The motor drive current amplifier of the present invention includes an output current ripple detector that detects an output current ripple to a motor to be driven, and an output current to the motor corresponding to the output current ripple detected by the output current ripple detector. And a PID control unit that changes control characteristics for controlling.

  In addition, the motor drive current amplifier of the present invention preferably includes a PWM control unit that receives an output signal from the PID control unit and performs PWM control.

  The motor drive current amplifier according to the present invention is more preferably characterized by including a full bridge circuit in which on / off of the switching element is controlled in response to a PWM signal output from the PWM control unit.

  In the motor drive current amplifier of the present invention, more preferably, the control characteristic to be changed by the PID control unit is a resistance value.

  The motor drive current amplifier of the present invention is more preferably characterized in that the control characteristic of the PID control unit is changed when the motor to be driven is changed to another motor.

  In the motor drive current amplifier of the present invention, more preferably, the output current ripple detection unit always detects the output current ripple and the PID control unit is detected while driving the motor to be driven. The control characteristic for controlling the output current to the motor is changed corresponding to the output current ripple.

  In addition, the motor drive device of the present invention includes an output current ripple detector that detects an output current ripple to the motor to be driven, and an output to the motor corresponding to the output current ripple detected by the output current ripple detector. A PID control unit that changes control characteristics for controlling current, a PWM control unit that performs PWM control when an output signal is input from the PID control unit, and a switching element that corresponds to the PWM signal output from the PWM control unit And a full bridge circuit that is controlled to be turned on and off.

  In the motor drive device of the present invention, it is preferable that the control characteristic changed by the PID control unit is a resistance value.

  The motor drive device of the present invention is more preferably characterized in that the control characteristic of the PID control unit is changed when the motor to be driven is changed to another motor.

  In the motor drive device of the present invention, more preferably, while driving the motor to be driven, the output current ripple detection unit always detects the output current ripple, and the PID control unit detects the detected output. The control characteristic for controlling the output current to the motor is changed corresponding to the current ripple.

  Further, the driving method of the motor driving current amplifier according to the present invention is the driving method of the motor driving current amplifier according to any one of the above, wherein the output current ripple detecting unit detects the output current ripple of the output current for driving the motor. The detecting step and the PID control unit have a step of changing a control characteristic for controlling the output current to the motor in response to the detected output current ripple.

  According to another aspect of the present invention, there is provided a driving method for a motor driving device, wherein the output current ripple detector detects an output current ripple of an output current for driving the motor. A step, a step in which the PID control unit changes the control characteristic for controlling the output current to the motor in response to the detected output current ripple, and a PWM control unit from the PID control unit in which the control characteristic is changed The method includes a step of generating a PWM signal based on the output, and a step of controlling on / off of the switching elements of the full bridge circuit corresponding to the PWM signal output from the PWM control unit.

  The motor drive system according to the present invention includes any one of the motor drive current amplifiers described above, and a plurality of motors that are connected in parallel with the motor drive current amplifier and any one of which is selectively driven. It is characterized by.

  It is possible to provide a motor driving current amplifier, a motor driving device, a driving method thereof, and a motor driving system that can be applied to a plurality of types of motors having different characteristics with high reliability and can be driven stably. .

It is a block diagram explaining the composition outline of the motor drive current amplifier of an embodiment. It is a circuit diagram explaining a concrete structure about the characteristic switching part of a motor drive current amplifier. It is a figure explaining the relative relationship between the magnitude | size of the ripple amplitude detected by the ripple current value detection part, and the value of a variable resistance. It is a conceptual diagram explaining the relationship of the response of the output current with respect to the command value input of a motor drive current amplifier. It is a figure explaining the ripple ((DELTA) I) which the ripple current value detection part of a motor drive current amplifier detects. It is a flowchart explaining an example of the method in which a motor drive current amplifier changes the characteristic of a motor drive. Block explaining the outline of the configuration of a digitally controlled motor drive current amplifier system capable of performing stable drive control suitable for any one of the three motors selected as appropriate. FIG. It is a figure explaining the specific structural example of a motor drive current amplifier system. It is a figure explaining the conventional motor drive current amplifier.

  Normally, motor drive current amplifiers individually adjusted so as to match individual characteristics of the motor cannot cope with different types and characteristics of the motor and cannot perform appropriate motor drive.

  In general, the types and characteristics of motors that can be appropriately driven by a specific motor drive current amplifier are extremely limited. Further, the control characteristics of the motor drive current amplifier are set as fixed values so as to correspond to the inductance value (L) of each motor to be driven.

  On the other hand, the motor drive current amplifier described below in this embodiment can correspond to a plurality of motors having different characteristics. The motor drive current amplifier according to the embodiment adjusts and changes the control constant of the motor drive current amplifier itself to match the drive target motor by detecting the magnitude of the output current ripple for the motor to be driven.

  The magnitude of the output current ripple for the motor to be driven corresponds to the inductance value (L) of the motor to be driven. Therefore, by detecting the magnitude of the output current ripple, it is possible to indirectly grasp the characteristic of the inductance value (L) of the motor to be driven.

  Specifically, the motor drive current amplifier according to the embodiment outputs at least one of proportional (P), integral (I), and derivative (D), which is a control parameter of a PID control unit responsible for the PID control. Change the control parameters appropriately according to the magnitude of the current ripple. Thereby, the motor drive current amplifier according to the embodiment can appropriately drive even two or more motors having different inductance values (L).

  FIG. 1 is a block diagram illustrating an outline of the configuration of a motor drive current amplifier 1000 according to the embodiment. As shown in FIG. 1, the motor drive current amplifier 1000 is a PWM (Pulse Width Modulation) method, and by appropriately turning on / off each switching element Q1, Q2, Q3, Q4 constituting the full bridge circuit, A current for driving the motor 1600 is output.

  When both switching elements Q1 and Q4 are on, switching elements Q2 and Q3 are both off, and when both switching elements Q1 and Q4 are off, both switching elements Q2 and Q3 are on. Further, at the time of switching between on and off, the switching elements Q1, Q2, Q3, and Q4 are all turned off and are driven with a so-called dead time.

  In FIG. 1, a motor drive current amplifier 1000 includes PID control based on an output current detection unit 1100 that detects a drive current output to a motor 1600, a current detected by the output current detection unit 1100, an input command value, and the like. And a PID control unit 1200 for performing the above.

  The motor drive current amplifier 1000 includes a PWM control unit 1300 that generates a PWM signal based on an output value from the PID control unit 1200, and four switching elements Q1 based on the PWM signal output from the PWM control unit 1300. , Q2, Q3, and Q4 are respectively provided with a switching element control circuit unit 1400 that performs on / off control.

  Further, the motor drive current amplifier 1000 includes a ripple current value detection unit 1510 that detects the magnitude of the ripple current from the output current detected by the output current detection unit 1100. The output of the ripple current value detection unit 1510 is analog / digital converted by the A / D conversion unit 1520 and reflected in the variable resistance of the PID control unit 1200.

  That is, in the motor drive current amplifier 1000, at least a part of the resistance (P) of the PID control unit 1200 is configured by a variable resistor, and the motor drive current amplifier 1000 corresponds to the magnitude of the ripple current detected by the ripple current value detection unit 1510. The variable resistance value is changed. Further, in FIG. 1, a characteristic switching unit 1500 that performs a series of operations for switching the control characteristics of the PID control unit 1200 including the ripple current value detection unit 1510, the A / D conversion unit 1520, and the variable resistor. As shown. However, the variable resistor is understood to be included in the PID control unit 1200 from the functional viewpoint of changing the characteristic of the resistance (P) component of the PID control unit 1200.

FIG. 2 is a circuit diagram illustrating an example of a specific configuration of characteristic switching unit 1500 of motor drive current amplifier 1000. As shown in FIG. 2, the characteristic switching unit 1500 includes a circuit that detects a ripple current value composed of two capacitors, three resistors, and a rectifier diode, and the operation of the comparator corresponding to the magnitude of the ripple current value. _{Is provided} with a ripple current value detection unit 1510 including switching resistors R _c1 , R _c2 , and R _c3 .

In addition, the ripple current value detection unit 1510 adjusts the set values of the switching resistors R _c1 , R _c2 , and R _c3 as appropriate, so that the resistance value of the variable resistor 1530 corresponds to the magnitude of the detected ripple current. It is possible to make the operation of the A / D conversion unit 1520 that performs switching control appropriate. Accordingly, the variable resistance values 1530 (1) and 1530 (2) (hereinafter collectively referred to as the variable resistance 1530 as appropriate) corresponding to the magnitude of the ripple current, that is, corresponding to the magnitude of the inductance value (L) of the motor. Is changed to an appropriate value based on the output from the A / D converter 1520.

  In FIG. 2, the variable resistor 1530 is a first variable resistor 1530 (1) inserted in series with the current detection signal and a second variable resistor 1530 (2) inserted in series with the command value input. Explains. Further, it is assumed that the first variable resistor 1530 (1) and the second variable resistor 1530 (2) have the same switch value and the same resistance value.

  FIG. 3 illustrates the relative correspondence between the amplitude of the ripple current detected by the ripple current value detector 1510 and the resistance values (P) of the variable resistors 1530 (1) and 1530 (2). FIG. As shown in FIG. 3, when the amplitude of the ripple current is relatively small, it is estimated that the inductance (L) of the motor 1600 connected to the motor drive current amplifier 1000 is relatively large.

In this case, in order to set relatively large to the proportional component of the PID controller 1200 resistance (P), the variable resistor 1530 (1), and turns on only the switch _{S 1} in 1530 (2). When the amplitude of the ripple current is relatively large, it is estimated that the inductance (L) of the motor 1600 connected to the motor drive current amplifier 1000 is relatively small.

In this case, the switches S ₁ , S ₂ , and S ₃ of the variable resistors 1530 (1) and 1530 (2) are turned on in order to set the resistance (P) that is a proportional component of the PID control unit 1200 to be relatively small. And Further, when the amplitude of the ripple current is medium, it is estimated that the inductance (L) of the motor 1600 connected to the motor drive current amplifier 1000 is medium.

In this case, only the switches S ₁ and S ₂ of the variable resistors 1530 (1) and 1530 (2) are turned on in order to set the resistance (P) that is a proportional component of the PID control unit 1200 to an intermediate level. . Further, as shown in FIGS. 2 and 3, the first variable resistor 1530 and (1) and the second variable resistor 1530 (2), the magnitude of the resistance values were each turned only (switches S ₁ Case)> (when only the switches S ₁ and S ₂ are turned on)> (when the switches S ₁ , S ₂ and S ₃ are turned on).

  3 may be set in advance as a conversion table or the like, or stored in a memory or the like. The correspondence relationship described in FIG. 3 is a relative relationship to the last, and may be appropriately arranged and applied according to necessary motor operating conditions. When the motor 1600 driven by the motor drive current amplifier 1000 is changed, if the magnitude of the ripple current superimposed on the output current is larger than that of the motor before the change, the resistance (P) can be changed greatly. Good. Further, when the motor 1600 driven by the motor drive current amplifier 1000 is changed, if the magnitude of the ripple current superimposed on the output current is smaller than that of the motor before the change, the resistance (P) is changed to be smaller. do it.

  FIG. 4 is a conceptual diagram illustrating the relationship between the command value input to motor drive current amplifier 1000 shown in FIG. 1 and the output current response. Here, the command value input to the motor drive current amplifier 1000 is an instruction input by a voltage waveform related to the drive of the motor drive current amplifier 1000. From the host computer or the like, the rotational speed of the motor 1600 and the position of the driven object Based on the information or the like, an instruction on how to drive the motor 1600 is input to the PID control unit 1200.

  As can be understood from FIG. 4, when the inductance value (L) of the motor 1600 is not appropriate in relation to the control characteristics of the current amplifier (for example, when the type of the drive motor is changed to a different motor, the current amplifier side When the control characteristics are the same as the motor before the change, etc.), the oscillation waveform 440 may be displayed, and an appropriate output current cannot be obtained, a drive failure occurs, or the failure occurs at worst. There is. When the inductance value (L) of the motor 1600 is relatively small, the motor drive current amplifier 1000 generates a waveform 430 having a relatively small frequency (F) characteristic by increasing the resistance (P). As a result, the output current response (Gain) falls at a smaller frequency indicating the oscillation waveform 440, and thus oscillation is avoided.

  Further, when the inductance value (L) of the motor 1600 is relatively large, the motor drive current amplifier 1000 generates a waveform 410 having a relatively large frequency (F) characteristic by making the resistance (P) relatively small. When the inductance value (L) of the motor 1600 is medium, the motor drive current amplifier 1000 sets the resistance (P) to a medium and forms a waveform 420 having a medium frequency (F) characteristic. That is, the motor drive current amplifier 1000 changes the control characteristic so that the resistance (P) is increased and the frequency (F) characteristic is decreased as the inductance value (L) of the motor 1600 is relatively small. Typically, the output current response (Gain) falls at the maximum frequency (F) that is smaller than the frequency at which oscillation may occur.

  By the drive and control operations described above, the motor drive current amplifier 1000 does not show the oscillation waveform 440 and has the highest possible output frequency characteristics even when the type of the motor 1600 is different and as a result, the inductance value (L) is different. As shown, the PID control characteristics can be changed. That is, the motor drive current amplifier 1000 can perform appropriate drive control while avoiding control problems such as oscillation even for a plurality of types of motors 1600 having different characteristics.

  FIG. 5 is a diagram for explaining the ripple (ΔI) detected by the ripple current value detection unit 1510 of the motor drive current amplifier 1000. As can be understood from FIG. 5, the ripple (ΔI) is superimposed on the motor drive current (Iu) with a high frequency.

  In FIG. 5, if the current flowing through the stator coil of a three-phase AC motor is (Iu), for example, a PWM-controlled inverter is used to flow this current (Iu) through the stator coil.

  In the PWM control of the inverter, the power element is switched at the carrier frequency (fc). A ripple current (ΔI) having this carrier frequency period is superimposed on the three-phase alternating current (Iu). The amplitude of the ripple current (ΔI) corresponds to the inductance value (L) of the three-phase AC motor.

  As long as PWM control is performed, it is difficult to make the ripple current (ΔI) zero. Further, by keeping the ripple current (ΔI) as uniform as possible during the same driving period, it is possible to reduce heat generation and electromagnetic noise generated in the motor 1600 and the like.

  Also, drive conditions such as switching the carrier frequency (fc) in PWM control for the purpose of changing the driving force required for the motor, improving the performance when the rotational speed changes, and protecting the power element from overheating, etc. May change. Even if the heat generated by the motor 1600 or the like, electromagnetic noise, or the like is relatively small, the level of the ripple current (ΔI) may fluctuate greatly by changing the driving conditions such as switching the carrier frequency (fc). In some cases, the sound quality and heat generation amount of electromagnetic noise may change.

  FIG. 6 is a flowchart illustrating an example of a method in which motor drive current amplifier 1000 changes the motor drive characteristics. Hereinafter, an example of how the motor drive current amplifier 1000 changes the motor drive characteristics for each step shown in FIG. 6 will be described in detail.

(Step S610)
Whether or not to output a drive current to the motor 1600 is determined in accordance with whether or not a command value is input to the motor drive current amplifier 1000 or whether or not power is turned on. When the motor drive current amplifier 1000 outputs a drive current to the motor 1600, the process proceeds to step S620. If the motor drive current amplifier 1000 does not output a drive current to the motor 1600, the process waits in step S610.

(Step S620)
The ripple current value detector 1510 of the motor drive current amplifier 1000 detects the amplitude of the ripple current superimposed on the output current waveform.

(Step S630)
The ripple current value detection unit 1510 determines whether or not the detected amplitude of the ripple current is relatively small. When the ripple current value detection unit 1510 determines that the amplitude of the detected ripple current is relatively small, the process proceeds to step S640. If the ripple current value detection unit 1510 determines that the amplitude of the detected ripple current is not relatively small, the process proceeds to step S650.

(Step S640)
The A / D conversion unit 1520 sets the variable resistor 1530 of the PID control unit 1200 to be relatively small corresponding to the output of the ripple current value detection unit 1510.

(Step S650)
The A / D conversion unit 1520 sets the variable resistor 1530 of the PID control unit 1200 to be relatively large corresponding to the output of the ripple current value detection unit 1510.

(Step S660)
Based on the output from the PID control unit 1200, the PWM control unit 1300 generates a PWM control signal. Here, since the PID control characteristic is reflected as a control characteristic that matches the inductance value (L), which is a characteristic of the motor 1600 to be driven, control based on the PWM control signal generated by the PWM control unit 1300 is performed. This prevents unstable control such as oscillation. In the motor drive current amplifier 1000 described in the embodiment, the values of the switching resistors R _c1 , R _c2 , and R _c3 of the ripple current value detection unit 1510 shown in FIG. Is appropriately adjusted as an appropriate resistance value in advance.

(Step S670)
Based on the PWM control signal generated by the PWM control unit 1300, the switching element control circuit unit 1400 appropriately turns on / off the switching elements Q1, Q2, Q3, and Q4 constituting the full bridge circuit. Even if a motor 1600 of a different type or a motor 1600 of different characteristics is connected by the drive described above, one motor drive current amplifier 1000 can cope with it, and stable drive control can be performed. The motor driving current amplifier 1000 may be configured using a variable resistor 1530 having a digital volume.

  FIG. 7 shows that any one of the three motors 1600 (1), 1600 (2), and 1600 (3) is appropriately selected and performs stable drive control suitable for the motor characteristics. FIG. 2 is a block diagram for explaining the outline of the configuration of a digitally controlled motor drive current amplifier system 7000 capable of performing

  That is, it may be configured by an analog circuit such as the motor drive current amplifier 1000, or a part or all of the characteristic switching unit 1500 or the like may be digitally configured by a microcomputer, a DSP (Digital Signal Processor), or the like as shown in FIG. A motor drive current amplifier system 7000 that operates according to a program may be used.

  In FIG. 7, a motor drive current amplifier system 7000 includes three motors 1600 (1), 1600 (2), and 1600 (3) that are alternatively connected in parallel so that any one can be driven. And a motor selection switching unit 710 that selectively switches one of the target motors.

  The motor selection switching unit 710 selectively connects one of the motors 1600 as a drive target in response to an operation from an operator or an instruction input from a higher-level computer, and the like. It may be switched to any one of the motors 1600. In addition, the motor drive current amplifier system 7000 includes an output current detection unit 7100 that detects an output current to any one motor 1600 that is selectively connected, and a ripple detection unit 7510 that detects the magnitude of the ripple current. Prepare.

  In FIG. 7, the ripple detection unit 7510 is described as a configuration provided inside the output current detection unit 7100, but the ripple detection unit 7510 may be configured separately provided outside the output current detection unit 7100. Good.

  Further, the motor drive current amplifier system 7000 has a PID based on the output current detected by the output current detection unit 7100, the magnitude of the ripple detected by the ripple detection unit 7510, and the instruction value input from the host computer or the like. A PID control unit 7200 that performs control is provided.

  In this case, the instruction value input from the host computer or the like is based on the rotational speed information of the motor 1600, the position information of the driven object, etc. in order to set the motor 1600 to a desired rotational speed or a desired operation. , A voltage waveform related to motor driving, which is input from a host computer or the like.

  The PID control unit 7200 changes the PID control characteristic as appropriate in accordance with the magnitude of the ripple acquired through the ripple detection unit 7510. The PID control unit 7200 may change any one or more of proportionality (P), integration (I), and differentiation (D) according to the magnitude of the ripple.

  When the PID controller 7200 changes the characteristic of the resistance (P) as the proportional component (P) as described with reference to FIG. 3, the ripple magnitude (corresponding to the inductance value (L)) of the motor 1600 is set in advance. A reference value set with an appropriate resistance value (P) corresponding to 1 may be determined by measurement or the like, and stored as a preset or the like.

  The PID control unit 7200 determines whether the ripple current size detected by the ripple detection unit 7510 of the motor 1600 actually selected as the driving target is large or small with respect to the stored reference value set ripple size. Corresponding to whether it is the same level, the resistance value (P) may be reduced, increased, or set to the same level, and the characteristics may be changed.

  The motor drive current amplifier system 7000 includes a PWM control unit 7300 that generates a PWM control signal based on an output signal from the PID control unit 7200, and a full bridge based on the PWM control signal generated by the PWM control unit 7300. A switching element control circuit unit 7400 that appropriately turns on / off each of the switching elements Q1, Q2, Q3, and Q4 constituting the circuit is provided.

  The motor drive current amplifier system 7000, like the motor drive current amplifier 1000, includes an input power supply, a full bridge circuit configuration, a smoothing coil, a smoothing capacitor, and the like. Since this is a well-known configuration, a description of the matter is omitted here. FIG. 8 is a diagram for explaining a specific configuration example of a motor drive current amplifier system 7000 having a digital circuit configuration. FIG. 9 is a diagram for explaining a conventional motor drive current amplifier.

  The motor drive current amplifier 1000 and the motor drive current amplifier system 7000 detect the ripple current magnitude from the drive current of an arbitrary motor 1600 to be driven, and change the PID control characteristics corresponding to the ripple current magnitude. The types of motors 1600 that can be appropriately driven are dramatically increased, and stable driving can be performed for various motors having different characteristics. Therefore, it is not necessary to prepare a motor drive current amplifier individually for each motor, and a motor drive current amplifier that can be used for a plurality of motors having different characteristics can be realized.

  Further, for example, the conventional motor drive current amplifier shown in FIG. 9 is designed according to the characteristics of the motor, so the types of motors that can be driven by a specific current amplifier are extremely limited. If the motor is driven by a combination of an incompatible motor and a current amplifier, the band deteriorates, oscillates, breaks down, or an undesirable situation is caused. For this reason, when changing the motor, conventionally, the current amplifier must be changed.

  In addition, even when driving a specific motor that is compatible, for example, if the operating conditions are different, such as an increase in the superimposed current, the inductance value (L) is reduced and fluctuated, resulting in a difference between the motor and the current amplifier. The operating characteristics may be mismatched. Therefore, it has been difficult in the past to set the combination of the motor and the current amplifier so as to cope with different operating conditions.

  In the motor drive current amplifier system 7000 or the like, the actual ripple current magnitude under the drive condition is detected for an arbitrary motor under a desired operation condition, and the PID control characteristics are appropriately changed correspondingly. Therefore, a single current amplifier can be applied to a plurality of motors having different characteristics.

  In addition, the motor drive current amplifier 1000 and the motor drive current amplifier system 7000 detect the ripple current magnitude and change the setting of the PID characteristics only during the motor test operation and the initial drive stage, typically at power-on. May be. As a result, even when a motor having a different characteristic from that of the previous drive is driven this time, it is possible to realize drive control matched to the motor driven this time.

  In addition, the motor drive current amplifier 1000 and the motor drive current amplifier system 7000 always detect the ripple current magnitude during the driving operation and always feed back the ripple current magnitude not only in the motor test operation and the initial driving stage. Thus, feedback control may be performed so as to change the PID characteristic correspondingly. Thereby, even if the operating condition of the motor drive fluctuates during the motor drive control, it is possible to realize a current amplifier that can appropriately cope with it.

  The motor drive current amplifier 1000 and the motor drive current amplifier system 7000 described above are not limited to the description in the embodiment, and are appropriately configured within the scope of the technical idea described in the present embodiment and in the obvious range. The operation and driving method can be changed.

  The present invention can be applied to motor drives such as various industrial motors, current amplifiers, drive systems, and the like.

  1000 .... Motor drive current amplifier, 1100 ... Output current detection unit, 1200 ... PID control unit, 1300 ... PWM control unit, 1400 ... Switching element control circuit unit, 1500 ... Characteristic switching unit, 1510 ... Ripple Current value detection unit, 1520... A / D conversion unit, 1600.

Claims (13)

An output current ripple detector for detecting an output current ripple to the motor to be driven;
A motor drive current amplifier comprising: a PID control unit that changes a resistance value of a control characteristic that controls an output current to the motor in response to the output current ripple detected by the output current ripple detection unit. . In the motor drive current amplifier according to claim 1,
A motor drive current amplifier comprising: a PWM control unit that receives an output signal from the PID control unit and performs PWM control. In the motor drive current amplifier according to claim 1 or 2,
A motor drive current amplifier comprising: a full bridge circuit that controls on / off of a switching element in response to a PWM signal output from the PWM control unit. In the motor drive current amplifier according to any one of claims 1 to 3,
The motor driving current amplifier , wherein the PID control unit includes a variable resistor in at least a part of the resistor, and changes the resistance value of the variable resistor when the resistance value is changed . In the motor drive current amplifier according to any one of claims 1 to 4,
The motor drive current amplifier, wherein the control characteristic of the PID control unit is changed when the motor to be driven is changed to another motor. In the motor drive current amplifier according to any one of claims 1 to 5,
While driving the motor to be driven, the output current ripple detection unit always detects the output current ripple, and the PID control unit corresponds to the detected output current ripple, and A motor drive current amplifier characterized by changing a control characteristic for controlling an output current to a motor. An output current ripple detector for detecting an output current ripple to the motor to be driven;
A PID control unit that changes a resistance value of a control characteristic that controls the output current to the motor in response to the output current ripple detected by the output current ripple detection unit;
A PWM control unit that receives an output signal from the PID control unit and performs PWM control;
And a full bridge circuit that controls on / off of the switching element in response to a PWM signal output from the PWM control unit. The motor drive device according to claim 7,
The PID control unit includes a variable resistor in at least a part of the resistor, and changes the resistance value of the variable resistor when the resistance value is changed . In the motor drive device according to claim 7 or 8,
The motor drive device characterized by changing control characteristics of the PID control unit when the motor to be driven is changed to another motor. In the motor drive unit according to any one of claims 7 to 9,
While driving the motor to be driven, the output current ripple detection unit always detects the output current ripple, and the PID control unit corresponds to the detected output current ripple, and A motor drive device characterized by changing a control characteristic for controlling an output current to a motor. In the driving method of the motor drive current amplifier according to any one of claims 1 to 6,
The output current ripple detection unit detecting the output current ripple of the output current for driving the motor;
And a step of changing a control characteristic for controlling the output current to the motor in response to the detected output current ripple. In the drive method of the motor drive unit according to any one of claims 7 to 10,
The output current ripple detection unit detecting the output current ripple of the output current for driving the motor;
The PID control unit changing a control characteristic for controlling the output current to the motor in response to the detected output current ripple;
The PWM control unit generates a PWM signal based on an output from the PID control unit in which the control characteristic is changed;
And a step of controlling on / off of the switching element of the full bridge circuit in response to the PWM signal output from the PWM control unit. The motor drive current amplifier according to any one of claims 1 to 6,
A motor drive system comprising: a plurality of motors connected in parallel with the motor drive current amplifier and any one of which is selectively driven.

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