JP5875966B2 - Permanent magnet motor system and magnetic pole alignment method for permanent magnet motor - Google Patents

Description

  The present invention relates to a permanent magnet motor system related to magnetic pole alignment and a magnetic pole alignment method for a permanent magnet motor.

  There is Patent Document 1 as a background art in the technical field related to magnetic pole alignment. This patent document 1 discloses that a magnetic pole alignment circuit is provided in a permanent magnet motor control device, and a motor is DC or AC excited using a current control circuit that is originally built in to rotate the magnetic pole position. , Stop at a certain position and align the magnetic pole position. ”A permanent magnet control device is described.

  Patent Document 2 discloses an example including an electronic control unit 40 to which a rectangular wave signal that rises and falls at the zero cross point is input by the zero cross detection circuit 30 in order to detect a deviation of the reference point of the magnetic position detection sensor. Has been. According to this example, “the deviation of the sensor reference point is detected based on the induced voltage, so that the accuracy can be increased”.

  Patent Document 3 also includes an offset adjustment device 11 for acquiring an induced voltage so that it can be set automatically and accurately without depending on the mounting position of the rotor position detection stage of the synchronous motor. An example of calculating the offset value is shown.

  Furthermore, in Patent Document 4, in order to accurately specify an offset value corresponding to an assembly error generated between the position sensor and the motor, a detected value of the resolver when the waveform of the induced voltage crosses zero is obtained as an offset value. An example is disclosed.

JP 2002-374692 A JP 2002-354876 A JP 2007-31535 A JP 2006-296025 A

  In the permanent magnet motor system described in Patent Document 1, since the magnetic pole alignment is performed after the rotation of the motor stops at a certain position, it is necessary to release the shaft end of the motor from the load so as not to apply a load to the motor. There is. For example, when magnetic pole alignment is performed after connecting the load side device and the motor shaft, it is necessary to remove the connection once and then reconnect after magnetic pole alignment.

  Further, when the magnetic pole alignment is performed in a state where the load side and the motor shaft are connected, for example, when the load is small with respect to the motor capacity, the magnetic pole alignment can be performed without the influence of the load. In the permanent magnet motor system using the magnet, there is a possibility that excitation with a current exceeding the rating at the time of magnetic pole alignment, the rotation speed and the rotation distance cannot be controlled, and a load with a small capacity may be damaged.

  Further, in the permanent magnet motor system using the control device of Patent Document 1, for example, as shown in FIG. 6, the vertical point of the permanent magnet 603 embedded or attached to the rotor core 602 of the rotor 601 is a temporary point. When a point at an arbitrary position on the circumference of the rotor 602 is a provisional point b, the stator winding is excited so that the provisional point a matches the provisional point b as shown in FIG. A magnetic field c is applied to the position, and the position of the rotor 603 is adjusted. However, in the case of a motor having a large reluctance torque, the reluctance component d also works simultaneously as shown in FIG. 8, so that the rotor 603 rotates and a temporary point at a point b ′ (center position of the reluctance component d) different from the temporary point b. There is a concern that a stops and a correct magnetic pole position cannot be grasped by the motor control apparatus, or the magnetic pole position is adjusted by deviating from the magnetic pole position of the temporary point b assumed by the control apparatus.

  Further, in the motor system, when the magnetic pole position alignment is performed in a state where the connection between the load side and the motor shaft is maintained, if the offset value is employed as disclosed in Patent Documents 2 to 4, the following problems may occur. . For example, Patent Document 2 discloses an example in which a deviation from a reference point is calculated based on a signal at a zero cross point. Then, the detected deviation (deviation amount) is grasped by the motor control device, so that offset compensation is performed and drive control is performed. However, in the example of driving control while allowing deviation without performing magnetic pole alignment itself as in Patent Document 2, when the control device is replaced due to some malfunction, this deviation (displacement amount) is also lost. Therefore, an initial operation is necessary, for example, the deviation must be calculated again after the control device is replaced. Alternatively, at least data related to the deviation (deviation amount) must be moved to the control device after replacement as one of the control parameters.

  Also, in Patent Documents 3 to 4, the above problem can occur in the same manner as long as the magnetic pole alignment process is not performed no matter how high the offset value is calculated.

  SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and its object is to eliminate the trouble of detaching the load side device and the motor shaft end, and to perform the magnetic pole alignment efficiently and the permanent magnet motor system and permanent magnet An object of the present invention is to provide a magnetic pole alignment method for a motor. In addition, a permanent magnet motor system and a permanent magnet motor system that can eliminate the trouble of replacing a motor control device including a servo amplifier by actually performing magnetic pole positioning while eliminating the effort of attaching and detaching the load side device and the motor shaft end. Another object is to provide a magnetic motor magnetic pole alignment method.

In order to achieve the above object, the present invention provides a permanent magnet motor system including a permanent magnet motor, an encoder attached to the motor shaft, and a motor control device that drives and controls the permanent magnet motor.
A detector for reading an induced voltage generated in the stator winding of the permanent magnet motor by rotation of the motor shaft is provided, and the motor control device is reset when the read induced voltage shows a predetermined value or a predetermined change. A control unit for generating a signal, and rotating the motor shaft by means different from the stator winding for generating an induced voltage, thereby resetting the encoder with the reset signal to perform magnetic pole alignment. Features.

  In the permanent magnet motor system described above, when the detector reads the zero cross point of the induced voltage, the control unit generates a reset signal.

  In the permanent magnet motor system described above, the detector is built in the motor control device and reads a voltage induced in a stator winding of the permanent magnet motor.

  The permanent magnet motor system described above further includes a drive mechanism that rotates the motor shaft of the permanent magnet motor from the outside.

  In the permanent magnet motor system described above, the permanent magnet motor includes a plurality of stator windings, and supplies power to a stator winding different from the stator winding that detects an induced voltage. The motor shaft of the permanent magnet motor is rotated.

In order to achieve the above object, the present invention comprises a permanent magnet motor, an encoder attached to the motor shaft, and a motor control device for driving and controlling the permanent magnet motor, and the permanent magnet motor is rotated by rotating the motor shaft. A magnetic pole alignment method for a permanent magnet motor that aligns magnetic pole positions with an induced voltage generated in a stator winding,
The induced voltage is read by rotating the motor shaft by means different from the stator winding in which the induced voltage is generated,
When the read induced voltage is a predetermined value or when a predetermined change is read, a reset signal is generated,
The encoder is reset by the reset signal.

  Further, in the magnetic pole positioning method for a permanent magnet motor described above, a reset signal is generated when a zero cross point of an induced voltage of the permanent magnet motor is read.

  In the magnetic pole alignment method for a permanent magnet motor described above, the motor shaft of the permanent magnet motor is rotated by an external drive mechanism.

  Further, in the magnetic pole alignment method of the permanent magnet motor described above, the permanent magnet motor includes a plurality of sets of stator windings, and supplies power to a stator winding different from the stator winding for reading the induced voltage. Thus, the motor shaft of the permanent magnet motor is rotated.

  According to the present invention, it is possible to efficiently align the magnetic poles without the trouble of opening the shaft end of the motor. In addition, according to the present invention, since the magnetic pole alignment is performed with the induced voltage, the concern that the magnetic pole position is shifted due to the influence of the reluctance torque can be solved. Further, it is possible to eliminate the trouble of exchanging the motor control device including the servo amplifier.

It is a block diagram of the permanent magnet motor system of Example 1 of this invention. It is explanatory drawing of the same magnetic pole position alignment procedure. It is a block diagram of the permanent magnet motor system of Example 2 of this invention. It is explanatory drawing of the same magnetic pole position alignment procedure. It is an induced voltage waveform figure of the permanent magnet motor of this invention Example. It is sectional drawing of the rotor of a permanent magnet motor. It is explanatory drawing of the magnetic pole alignment of a permanent magnet motor. It is explanatory drawing of the magnetic pole alignment of the conventional permanent magnet motor.

Hereinafter, examples will be described with reference to the drawings.
Example 1
FIG. 1 is a diagram illustrating a configuration of a permanent magnet motor system according to the first embodiment. The permanent magnet motor system includes a permanent magnet motor 101, a motor control device 102, an external drive mechanism 103, and a power source 104. The permanent magnet motor 101 includes a motor shaft 106 that passes through the interior of the permanent magnet motor 101 from the P (pulley) side to the R (rear) side, and an encoder 105 that is coupled to the motor shaft 104 on the R side of the permanent magnet motor 101. Is provided. The permanent magnet motor 101 includes a stator winding 109 that rotationally drives a rotor (not shown) directly connected to the motor shaft 106.

  The power input to the permanent magnet motor 101 during normal operation is supplied from the UVW terminal of the motor control device 102 to the UVW terminal of the stator winding 109 via the motor input electric wire 108, and the stator winding 109 is excited. Is done. The motor control device 102 is supplied with a power source 4, for example, a single-phase power source. The encoder 104 is connected to an encoder communication mechanism 107 provided in the motor control device 102 via an encoder communication line 110.

  The motor control device 102 supplies power from the UVW terminal to the permanent magnet motor 101 during normal operation, stops power from the UVW terminal during magnetic pole alignment, and uses a motor shaft 106 by an external drive mechanism 103 (described later). , The induced voltage generated in the stator winding 109 is received by the UVW terminal.

  The motor control device 102 includes a detector 111 that reads the induced voltage received at the UVW terminal, and a control that generates an encoder reset signal when the read induced voltage indicates a predetermined voltage value or a change in the predetermined voltage value. The unit 112 is incorporated. The predetermined voltage value indicates a zero voltage (zero cross point) or a peak voltage, and the change in the predetermined voltage value is, for example, that the zero cross point 502 of the induced voltage waveform 501 of the permanent magnet motor shown in FIG. Refers to the change when it turns positive. The zero cross point 502 indicates a point where the value of the induced voltage becomes zero in the induced voltage waveform 501.

  Note that the magnetic pole alignment is performed at the time of shipment from the factory, at the time of installation of the device, or at the time of failure of the encoder after the installation, and is not frequently performed. You may attach.

  An external drive mechanism 103 that can rotate the motor shaft 106 of the motor is provided on the P side of the motor shaft 106 of the motor. Here, the external drive mechanism 103 may be any state, structure, and power as long as the motor shaft 106 is rotated from the outside and the conditions of the magnetic pole alignment method described below can be satisfied. For example, if the person directly rotates the motor shaft 106 by hand, it can be said that the person is the external drive mechanism 103.

  In many cases, a load (not shown) is not connected to the motor shaft 106 at the time of shipment from the factory or when the device is installed. However, when the encoder fails after the device is installed, a load is connected to the motor shaft 106. Therefore, the motor shaft 106 is rotated by the external drive mechanism 103 together with the load without removing the load.

  FIG. 2 shows a procedure for performing magnetic pole alignment using the above permanent magnet motor system. In order to align the magnetic poles, first, the motor shaft 106 is rotated by the external drive mechanism 103. As the motor shaft 106 rotates, an induced voltage is generated in the stator winding 109 of the permanent magnet motor 101. The induced voltage is read by the detector 111 connected from the stator winding 109 through the motor input electric wire 108, and the information of the detector is read by the control unit 112 of the motor control device 102.

  The control unit 112 compares the read induced voltage value with the predetermined voltage value set in advance or the predetermined voltage change condition, and immediately after achieving this condition (immediately after reading the zero-cross point of the induced voltage). Generate an encoder reset signal. The zero-cross point of the induced voltage indicates the exact position of the rotor in the rotation period, and the magnetic pole can be accurately aligned.

  The reset signal generated from the control unit 112 is sent to the encoder 105 through the communication line 110 via the encoder communication mechanism 107, and the encoder value is reset. By this reset, the magnetic pole position of the permanent magnet motor 101 matches the value of the encoder 105. That is, in FIG. 7, the magnetic poles are aligned so that the positions of the temporary point a and the temporary point b are aligned, and the encoder value is reset to zero at this magnetic pole position to complete the magnetic pole alignment.

  At this time, the information on the induced voltage value read by the motor control device 102 only needs to satisfy a condition of an arbitrary set value for performing magnetic pole alignment. That is, the conditions of the rotation angle and rotation speed at which the external drive mechanism 103 rotates the motor shaft 104 depend on the number of poles of the motor, the induced voltage constant, and any set value for aligning the magnetic poles of the motor control device 102.

  As described above, in the first embodiment, the motor shaft 306 is rotated by means different from the stator winding 109 that generates the induced voltage, that is, the external drive mechanism 103. Therefore, it is possible to eliminate the trouble of attaching / detaching the load side device and the motor shaft end and to perform the magnetic pole alignment efficiently.

Further, as described above, since the magnetic pole position is aligned so that the magnetic pole position of the permanent magnet motor 101 and the value of the encoder 105 coincide, the detection signal from the encoder 105 indicates the magnetic pole position of the permanent magnet motor 101. . For this reason, even if the motor control device 102 is replaced, it is not necessary to detect again the difference between the magnetic pole position and the output from the encoder 105. Therefore, it is possible to provide a permanent magnet motor system and a method of aligning the magnetic poles of the permanent magnet motor that can save the trouble of replacing the motor control device.
(Example 2)
In the permanent magnet motor system of the first embodiment, for example, when the permanent magnet motor has a plurality of sets of stator windings, a system that does not require the external drive mechanism 103 can be configured as shown in FIG.

  FIG. 3 is a diagram illustrating a configuration of the permanent magnet motor system according to the second embodiment, and includes a permanent magnet motor 301, a motor control device A302, a motor control device B303, and a power source 304. The permanent magnet motor 301 includes two sets of stator windings 301a and 301b, and has terminals U1, V1, W1 and terminals U2, V2, W2.

  The permanent magnet motor 301 includes a motor shaft 306 that passes through the interior of the permanent magnet motor 301 from the P side to the R side, and an encoder 305 that is connected to the motor shaft 304 on the R side of the permanent magnet motor 301.

  During normal operation, power is input to the permanent magnet motor 301 from the terminals U1, V1, and W1 of the motor control device A302 and the terminals U2, V2, and W2 of the motor control device B303. It is supplied to the stator windings 301a and 301b via the input electric wire 308 and the motor input electric wire 313. When these stator windings 301a and 301b are excited, the permanent magnet motor 301 can be driven to rotate independently or simultaneously. Electric power to the motor control device A302 and the motor control device B303 is supplied from, for example, a single-phase power supply of the power supply 304.

  At the time of magnetic pole alignment, the motor input wire 308 and the motor control device A302 are also used for reading the induced voltage generated in the stator winding 301a and outputting a reset signal. On the other hand, the motor input wire 313 and the motor control device B303 are used to rotationally drive the permanent magnet motor 301.

  The encoder 305 is connected to an encoder communication mechanism 307 provided in the motor control device A 302 via an encoder communication line 310.

  The motor controller A302 has a detector 311 that reads the induced voltage received at its U1, V1, and W1 terminals, and an encoder reset when the read induced voltage indicates a predetermined voltage value or a change in the predetermined voltage value. A control unit 314 for generating a signal is incorporated. Here, the predetermined voltage value indicates a zero voltage (zero cross point) or a peak voltage, and the change of the predetermined voltage value indicates, for example, the zero cross point 502 of the induced voltage waveform 501 of the permanent magnet motor shown in FIG. Refers to the change when the voltage value changes from negative to positive. The zero cross point 502 indicates a point where the value of the induced voltage becomes zero in the induced voltage waveform 501.

  The motor control device A302 and the motor control device B303 are connected by a control communication line 312, and at the time of magnetic pole alignment, an instruction from the motor control device A302 is transmitted to the motor control device B303 via the control communication line 312, and the motor The stator winding 301 alone is excited by the control device B303 and the motor shaft 306 of the permanent magnet motor 301 is rotated. Here, when the motor shaft 306 of the permanent magnet motor 301 can be rotated by a single or a plurality of motor control devices other than the motor control device A302, there is no need to communicate with the motor control device A302.

  FIG. 4 shows a procedure for performing magnetic pole alignment using the above permanent magnet motor system. To align the magnetic poles, first, the motor shaft 306 is rotated by supplying electric power to the stator winding 301b from the terminals U2, V2, and W2 of the motor control device B303 and exciting it. As the motor shaft 306 rotates, an induced voltage is generated in the stator winding 301 a of the permanent magnet motor 301. When a load (not shown) is connected to the motor shaft 106, the motor shaft 106 is rotated together with the load without removing the load.

  The induced voltage is read by the detector 311 from the terminals U1, V1, and W1 of the stator winding 301a through the motor input wire 308, and the information of the detector 311 is read by the control unit 314 of the motor control device A302.

  The control unit 314 compares the read induced voltage value with the predetermined voltage value set in advance or the predetermined voltage change condition, and immediately after reaching this condition (immediately after reading the zero cross point of the induced voltage). Generate an encoder reset signal. The zero-cross point of the induced voltage indicates the exact position of the rotor in the rotation period, and the magnetic pole can be accurately aligned.

  When the excitation of the stator winding 301b is stopped, the rotor is drawn into a position where the permanent magnet and the stator are close to each other, and the induced voltage may not indicate the exact position of the rotor. It is preferable to read the induced voltage during the excitation of 301b.

  The reset signal generated from the control unit 314 is sent to the encoder 305 through the communication line 310 via the encoder communication mechanism 307 and resets the encoder value. By this reset, the magnetic pole position of the permanent magnet motor 301 matches the value of the encoder 305. That is, in FIG. 7, the magnetic poles are aligned so that the positions of the temporary point a and the temporary point b are aligned, and the encoder value is reset to zero at this magnetic pole position to complete the magnetic pole alignment.

  At this time, the information on the value of the induced voltage read by the motor control device A302 only needs to satisfy the condition of an arbitrary set value for performing magnetic pole alignment, that is, the rotation angle at which the motor control device B303 rotates the motor shaft 304. The rotation speed condition depends on the number of poles of the motor, the induced voltage constant, and an arbitrary set value for aligning the magnetic poles of the motor control device A302.

  In the second embodiment, the motor shaft 306 is rotated by means different from the stator winding 301a that generates an induced voltage, that is, by driving the stator winding 301b. Therefore, since the permanent magnet motor can be rotated by means originally provided, the cost can be reduced. In addition, the motor shaft 306 may be rotated by the external drive mechanism 103 shown in the first embodiment instead of driving the stator winding 301b. Therefore, it is possible to eliminate the trouble of attaching / detaching the load side device and the motor shaft end and to perform the magnetic pole alignment efficiently.

  Further, as described above, since the magnetic pole position is adjusted so that the magnetic pole position of the permanent magnet motor 301 and the value of the encoder 305 coincide with each other, the detection signal from the encoder 305 indicates the magnetic pole position of the permanent magnet motor 301. . For this reason, even if the motor control device A302 or the motor control device B303 is replaced, it is not necessary to detect again the difference between the magnetic pole position and the output from the encoder 305. Therefore, it is possible to provide a permanent magnet motor system and a method of aligning the magnetic poles of the permanent magnet motor that can save the trouble of replacing the motor control device.

DESCRIPTION OF SYMBOLS 101 Permanent magnet motor 102 Motor control apparatus 103 External drive mechanism 104 Power supply 105 Encoder 106 Motor shaft 107 Encoder communication mechanism 108 Motor input electric wire 109 Stator winding 110 Encoder communication line 111 Detector 112 Control part 301 Permanent magnet motor 301a Stator winding Wire 301b Stator winding 302 Motor controller A
303 Motor controller B
304 Power supply 305 Encoder 306 Motor shaft 307 Encoder communication mechanism 308 Motor input wire 309 Motor controller input wire 310 Encoder communication line 311 Detector 312 Control communication line 313 Motor input wire 314 Controller 501 Induced voltage waveform of permanent magnet motor 502 Zero cross point 601 Rotor 602 Rotor core 603 Permanent magnet 604 Motor shaft

Claims (9)

In a permanent magnet motor system comprising a permanent magnet motor, an encoder attached to the motor shaft, and a motor control device for driving and controlling the permanent magnet motor,
A detector for reading an induced voltage generated in the stator winding of the permanent magnet motor by rotation of the motor shaft is provided, and the motor control device is reset when the read induced voltage shows a predetermined value or a predetermined change. A control unit for generating a signal, and rotating the motor shaft by means different from the stator winding for generating an induced voltage, thereby resetting the encoder with the reset signal to perform magnetic pole alignment. A permanent magnet motor system. The permanent magnet motor system according to claim 1,
The permanent magnet motor system, wherein the controller generates a reset signal when the detector reads the zero cross point of the induced voltage. The permanent magnet motor system according to claim 1 or 2,
The detector is built in the motor control device and reads a voltage induced in a stator winding of the permanent magnet motor. In the permanent magnet motor system according to any one of claims 1 to 3,
A permanent magnet motor system comprising a drive mechanism for rotating the motor shaft of the permanent magnet motor from the outside. In the permanent magnet motor system according to any one of claims 1 to 3,
The permanent magnet motor includes a plurality of sets of stator windings, and rotates the motor shaft of the permanent magnet motor by supplying power to a stator winding different from the stator winding for detecting the induced voltage. A permanent magnet motor system. A permanent magnet motor, an encoder attached to the motor shaft, and a motor control device for driving and controlling the permanent magnet motor are provided, and magnetic poles are generated by an induced voltage generated in a stator winding of the permanent magnet motor by rotating the motor shaft. A magnetic pole positioning method for a permanent magnet motor that matches the position of
The induced voltage is read by rotating the motor shaft by means different from the stator winding in which the induced voltage is generated,
When the read induced voltage is a predetermined value or when a predetermined change is read, a reset signal is generated,
A magnetic pole alignment method for a permanent magnet motor, wherein the encoder is reset by the reset signal. In the magnetic pole alignment method of the permanent magnet motor according to claim 6,
A magnetic pole alignment method for a permanent magnet motor, wherein a reset signal is generated when a zero cross point of an induced voltage of the permanent magnet motor is read. In the magnetic pole alignment method of the permanent magnet motor according to claim 6 or 7,
A magnetic pole alignment method for a permanent magnet motor, wherein the motor shaft of the permanent magnet motor is rotated by an external drive mechanism. In the magnetic pole alignment method of the permanent magnet motor according to claim 6 or 7,
The permanent magnet motor includes a plurality of sets of stator windings, and rotates the motor shaft of the permanent magnet motor by supplying power to a stator winding different from the stator winding for reading the induced voltage. Magnetic pole positioning method for permanent magnet motor.

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