JP5943875B2 - Motor control device - Google Patents

Description

  The present invention relates to a motor control device.

  An estimator is generally known as a technique for estimating an unknown state variable that cannot be detected by a sensor using indirect information. The estimator has a numerical model inside, and estimates the number of time responses of unknown state variables from the input / output responses of the controlled object. In a motor control device, an estimator is often composed of a motor electrical model and a mechanical model, and it is known that an estimator obtains an estimated value such as current and motor speed.

  Many estimators are realized with a single sampling rate where the input is updated in the same time period, but there are physical restrictions due to differences in sensor characteristics due to differences in sensor characteristics. , Multi-rates with different sampling rates are used for input and output. Patent Document 1 discloses a technique called a multi-rate magnetic flux estimator, which increases estimation accuracy by having two arithmetic units having different sampling rates for two inputs having different sampling rates.

  In motor control devices, when an estimator composed of a motor electrical model and a machine model is installed, the motor electrical model generally has a fast response, so a high-speed sampling rate is required to achieve high-precision calculations. Necessary. However, when implementing an estimator, there are cases where it is difficult to achieve a high sampling rate up to a machine model, such as when there are restrictions on the calculation cost. Therefore, the estimator is often multi-rate by dividing the electric model of the motor into a high-speed computing unit that operates at a high sampling rate and the mechanical model into a low-speed computing unit that operates at a low sampling rate.

  As described above, in the motor control device, it is possible to obtain estimated values such as current and motor speed by having an estimator including a motor electrical model and a mechanical model. In addition, by implementing multi-rates of the motor electrical model and the machine model in the estimator, the calculation accuracy of the motor electrical model that requires a high response can be achieved even when the calculation cost is limited when implementing the estimator. An optimized estimator can be realized without reducing the calculation load.

JP 2008-271702 A

  As described above, in the conventional estimator in the motor control apparatus, it is common to arrange the motor electrical model in the high-speed calculation unit and the mechanical model in the low-speed calculation unit. However, the motor electrical model in the high-speed calculation unit requires the motor speed estimation value that is the output of the mechanical model in the low-speed calculation unit, and the calculation of the speed estimation value is slow, resulting in the calculation accuracy of the motor electrical model. There has been a problem of deteriorating.

  The present invention has been made in view of the above, and in an estimator having a motor electrical model and a mechanical model, the calculation accuracy has been improved by optimizing the sharing of functions between the high-speed calculation unit and the low-speed calculation unit. An object is to obtain a motor control device.

  In order to solve the above-mentioned problems and achieve the object, the present invention calculates a current controller and a motor speed estimate from the current controller that outputs a voltage command based on the current command and the voltage command. An estimator computing unit, wherein the estimator computing unit operates at a high sampling rate and calculates a motor speed estimate, and operates at a low sampling rate and a reaction force A low-speed estimator computing unit that calculates a torque estimated value, and the high-speed estimator computing unit outputs a torque estimated value and a current estimated value from the voltage command value and the motor speed estimated value; A subtractor that outputs a torque deviation based on the torque estimated value and the reaction force torque estimated value; and a speed calculator that outputs the motor speed estimated value from the torque deviation. The low speed estimator calculating unit is characterized in that it comprises a machine model that outputs the reaction force torque estimated value from the motor speed estimation value.

  According to the present invention, the accuracy of the estimated torque value can be improved. In addition, the calculation load is reduced, and an optimized multi-rate estimator can be realized.

FIG. 1 is an overall configuration diagram of the motor control device according to the first embodiment. FIG. 2 is a detailed diagram of the motor electrical model according to the first embodiment. FIG. 3 is a detailed diagram when the mechanical model according to the first embodiment is a two-inertia model. FIG. 4 is a diagram illustrating an overall configuration diagram of a motor control device according to a comparative example. FIG. 5 is a detailed diagram when the mechanical model according to the comparative example is a two-inertia system model. FIG. 6 is an overall configuration diagram of the motor control device according to the second embodiment. FIG. 7 is a detailed diagram of a motor electrical model according to the second embodiment. FIG. 8 is a diagram illustrating an overall configuration diagram of the motor control device according to the third embodiment. FIG. 9 is another diagram illustrating the overall configuration of the motor control device according to the third embodiment. FIG. 10 is a diagram for explaining a correction method in the reaction force torque corrector according to the third embodiment.

  Embodiments of a motor control device according to the present invention will be described below in detail with reference to the drawings. Note that the present invention is not limited to the embodiments.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating an overall configuration diagram of a motor control device 101 according to a first embodiment of the present invention. The motor control device 101 according to the first embodiment of the present invention includes an estimator calculation unit 102 including a motor electrical model 2 and a machine model 4.

  The motor control device 101 includes a current controller 1 and an estimator calculation unit 102. The estimator calculation unit 102 includes a high-speed estimator calculation unit 103 that operates at a high sampling rate and a low-speed estimator calculation unit 104 that operates at a low sampling rate. The high-speed estimator calculation unit 103 includes a motor electrical model 2, a subtractor 31, and a speed calculator 32. The low speed calculation unit 104 includes a machine model 4.

  A current command value and a current FB (feedback) value are input to the current controller 1. The current controller 1 outputs a voltage command value, for example, by performing PI control so that the deviation between the current command value and the current FB value becomes zero. Note that a current estimation value may be used instead of the current FB value, and a configuration like so-called sensorless control may be used. The voltage command value output from the current controller 1 is input to the estimator calculation unit 102. The voltage command value output from the current controller 1 is input to the motor electrical model 2.

  The motor electrical model 2 receives the voltage command value and the estimated motor speed value, and outputs the estimated current value and estimated torque value, and is processed by the high-speed estimator calculation unit 103.

  FIG. 2 is a detailed view of the motor electrical model 2. The motor electrical model 2 includes a motor voltage equation inverse model 21 and a torque calculation model 22. The motor voltage equation inverse model 21 obtains an estimated current value from the voltage command value and the estimated motor speed value. The input / output relationship of the motor voltage equation inverse model 21 is given by the following equation (1). In the equation (1), the voltage command value and the current estimated value are expressed by dq coordinate axes.

  Id_hat on the left side of Equation (1) indicates a d-axis current estimated value, and iq_hat indicates a q-axis current estimated value. Vd_ref on the right side of Expression (1) indicates a d-axis voltage command value, Vq_ref indicates a q-axis voltage command value, and ω_hat indicates a motor speed estimated value. Ra is a winding resistance, Ld is a d-axis inductance, Lq is a q-axis inductance, and φa is the number of flux linkages. Note that p on the right side of Expression (1) represents a differential operator.

  The torque calculation model 22 obtains a torque estimated value from the current estimated value obtained by the expression (1), and is given by the following expression (2).

ここで、Ｔｍ＿ｈａｔはトルク推定値、Ｋｔはトルク定数、Ｐｍは極対数である。

Here, Tm_hat is an estimated torque value, Kt is a torque constant, and Pm is the number of pole pairs.

  The subtractor 31 in FIG. 1 calculates a torque deviation by subtracting the reaction force torque estimated value from the torque estimated value. The speed calculator 32 calculates a motor speed estimated value from the torque deviation, and is composed of a motor and a total inertia moment of a mechanical system attached to the motor shaft and an integrator. The machine model 4 receives the estimated motor speed value and outputs the estimated reaction force torque value and the estimated machine position value.

  FIG. 3 is a detailed diagram when the machine model 4 according to the first embodiment is a two-inertia model. The machine model 4 includes a reaction force torque calculator 33, a subtractor 34, a speed calculator 35, and a position calculator 36. The subtractor 34 calculates a speed deviation by subtracting the machine speed estimated value from the motor speed estimated value input to the machine model 4. The reaction force torque calculator 33 calculates a reaction force torque estimated value from the speed deviation. The speed calculator 35 calculates a machine speed estimated value from the reaction force torque estimated value, and includes a load side mechanical system inertia moment and an integrator. The position calculator 36 calculates a machine position estimated value from the machine speed estimated value.

  Here, a motor control device 201 according to a comparative example to be compared with the motor control device 101 according to the present embodiment will be described with reference to FIGS. 4 and 5. FIG. 4 is a diagram illustrating an overall configuration diagram of the motor control device 201 according to the comparative example. FIG. 5 is a detailed view of the machine model 3 according to the comparative example.

  FIG. 4 shows a configuration diagram of the entire motor control device 201 having the multi-rate estimator according to the comparative example. The motor control device 201 includes a current controller 1 and an estimator calculation unit 102. The estimator calculation unit 102 includes a high-speed estimator calculation unit 103 that operates at a high sampling rate and a low-speed estimator calculation unit 104 that operates at a low sampling rate. The high-speed estimator calculation unit 103 includes a motor electrical model 2. The low-speed estimator calculation unit 104 includes a machine model 3. That is, the estimator calculation unit 102 is multi-rate so that the electric model of the motor is divided into the high-speed estimator calculation unit 103 and the mechanical model of the motor is divided into the low-speed estimator calculation unit 104.

  A current command value and a current FB value are input to the current controller 1 of the motor control device 201 shown in FIG. The current controller 1 outputs a voltage command value, for example, by performing PI control so that the deviation between the current command value and the current FB value becomes zero. Note that a current estimation value may be used instead of the current FB value, and a configuration like so-called sensorless control may be used. The voltage command value output from the current controller 1 is input to the estimator calculation unit 102. The voltage command value output from the current controller 1 is input to the motor electrical model 2.

  The motor electrical model 2 shown in FIG. 4 inputs a voltage command value and a motor speed estimated value, and outputs a current estimated value and a torque estimated value, similarly to the motor electrical model 2 shown in FIG. 2 of the present embodiment. Yes, and processed by the fast estimator computing unit 103. The functions of the current controller 1 and the motor electrical model 2 of the motor control apparatus 201 according to the comparative example are the same as the functions of the current controller 1 and the motor electrical model 2 of the motor control apparatus 101 according to the present embodiment.

  In FIG. 4, the estimated torque value output from the motor electrical model 2 is input to the mechanical model 3. The machine model 3 receives the estimated torque value and outputs the estimated motor speed value and estimated machine position value, and is processed by the low-speed estimator computing unit 104.

  FIG. 5 is a detailed view when the mechanical model 3 according to the comparative example is a two-inertia model. The estimated torque value input to the machine model 3 is subtracted from the estimated reaction force torque value by the subtractor 31 to become a torque deviation. A motor speed estimated value is calculated from the torque deviation by the speed calculator 32, and the motor speed estimated value becomes an output of the machine model 3. The motor speed estimated value is subtracted by the subtractor 34 from the mechanical speed estimated value to become a speed deviation. The reaction force torque calculator 33 calculates the reaction force torque estimated value from the speed deviation, and the speed calculator 35 calculates the machine speed estimated value from the reaction force torque estimated value. A machine position estimated value is calculated by the position calculator 36 from the machine speed estimated value. The machine position estimated value is an output of the machine model 3.

  As described above, the motor control device 201 according to the comparative example has an estimator composed of the motor electrical model 2 and the mechanical model 3 so that estimated values such as current and motor speed can be obtained. Become. In addition, by implementing multi-rates of the motor electrical model and the machine model in the estimator, the calculation accuracy of the motor electrical model that requires a high response can be achieved even when the calculation cost is limited when implementing the estimator. An optimized estimator can be realized without reducing the calculation load.

  The motor control device 101 according to the present embodiment differs from the motor control device 201 according to the comparative example shown in FIGS. 4 and 5 in that the subtractor 31 and the speed calculator 32 in the machine model 3 of FIG. This is a part separated from the model 3 and rearranged in the fast estimator computing unit 103 in FIG. In FIG. 5, which is a comparative example, the machine model 3 is a two-inertia model. However, the calculator for calculating the motor speed estimation value is separated as if the subtractor 31 and the speed calculator 32 are separated from the machine model 3. As long as the model shape can be used, the separation technique used in the present embodiment can be diverted to other machine models.

  4 and 5 according to the comparative example, the motor electrical model 2 in the high-speed estimator calculation unit 103 uses the motor speed estimation value processed by the machine model 3 in the low-speed estimator calculation unit 104 to calculate the torque estimation value. Is calculated. The motor electrical model 2 calculates a highly accurate torque estimated value by calculating at a high sampling rate. However, in the motor control apparatus 201 according to the comparative example, the motor speed estimation value processed by the low-speed estimator calculating unit 104 having a low-speed sampling rate is used in the calculation process in the motor electrical model 2. This causes a decrease in accuracy of the estimated torque value calculated by the electrical model 2. Since the machine model 3 calculates the machine position estimated value based on the torque estimated value, the accuracy of the machine position estimated value also decreases as a result.

  However, in the motor control apparatus 101 according to the present embodiment, the subtractor 31 and the speed calculator 32 are separated from the machine model 3 according to the comparative example, and the functions are incorporated into the fast estimator calculator 103 shown in FIG. Therefore, the estimated motor speed value calculated at the high sampling rate is fed back to the motor electrical model 2, and the accuracy of the estimated torque value can be improved. As a result, the accuracy of other estimated values calculated from the estimated torque value including the machine position estimated value is also improved.

  Since the accuracy of the motor electrical model 2 can be improved by updating the estimated motor speed value fed back to the motor electrical model 2 at a high sampling rate, the subtractor 31 in the motor control device 101 according to the present embodiment. The speed calculator 32 is included in the fast estimator calculator 103. However, since the subtractor 31 and the speed calculator 32 are mechanical models, the reaction torque estimation value fed back to the subtractor 31 does not necessarily need to be updated at a high sampling rate. It is not a big problem in accuracy.

  As described above, the motor control device 101 according to the present embodiment has the estimator calculation unit 102 including the motor electrical model 2 and the machine model 4, and the subtractor 31 and the speed calculator from the machine model 4. 32 is separated, and these are processed by the high-speed estimator computing unit 103, so that the motor speed estimated value calculated at the high-speed sampling rate is input to the motor electrical model 2, and the accuracy of the torque estimated value is Can be improved. In addition, the calculation load is reduced, and an optimized multi-rate estimator can be realized.

Embodiment 2. FIG.
In Embodiment 1 of the present invention, since the motor voltage equation inverse model 21 is used, the calculation of the motor electrical model 2 is loaded. However, in Embodiment 2, the motor electrical model 2 is differently simplified. By changing to the motor electrical model 5 which is a typical model, further speeding up of the calculation is realized.

  FIG. 6 is an overall configuration diagram of a motor control device 301 according to the second embodiment. The motor control device 301 includes a current controller 1 and an estimator calculation unit 102. The estimator calculation unit 102 includes a high-speed estimator calculation unit 103 that operates at a high sampling rate and a low-speed estimator calculation unit 104 that operates at a low sampling rate. The high-speed estimator calculation unit 103 includes a motor electrical model 5, a subtractor 31, a speed calculator 32, and a rotation angle calculator 37. The low speed calculation unit 104 includes a machine model 4 similar to that of the first embodiment.

  A current command value and a current FB value are input to the current controller 1. The current controller 1 outputs a voltage command value, for example, by performing PI control so that the deviation between the current command value and the current FB value becomes zero. Note that a current estimation value may be used instead of the current FB value, and a configuration like so-called sensorless control may be used.

  The motor electrical model 5 receives a current command value and an estimated motor rotation angle value and outputs an estimated torque value. The subtractor 31 calculates a torque deviation by subtracting the reaction force torque estimated value from the torque estimated value. The speed calculator 32 calculates a motor speed estimated value from the torque deviation, and is composed of a motor and a total inertia moment of a mechanical system attached to the motor shaft and an integrator. The rotation angle calculator 37 calculates a motor rotation angle estimated value from the motor speed estimated value. The machine model 4 receives the estimated motor speed value and outputs the estimated reaction force torque value and the estimated machine position value.

  FIG. 7 is a detailed view of the motor electrical model 5. The motor electrical model 5 includes a torque calculation model 22, a torque harmonic calculation model 23, and an adder 24. The torque calculation model 22 is the same as that shown in FIG. 2 according to the first embodiment and the comparative example, and uses the current command value as an input instead of the current estimated value to obtain the estimated torque value. The torque harmonic calculation model 23 receives the current command value and the estimated motor rotation angle value, and compensates the torque component that changes according to the motor rotation position with a table lookup or a mathematical expression. The output of the torque calculation model 22 and the output of the torque harmonic calculation model 23 are summed by an adder 24 and output as an estimated torque value.

  The difference between the present embodiment and the first embodiment is that the input of the estimator computing unit 102 is changed from the voltage command value to the current command value, and a new rotation angle computing unit 37 is placed in the high-speed estimator computing unit 103. Thus, the configuration of the motor electrical model 2 is changed to the configuration of the motor electrical model 5. Whereas the motor electrical model 2 has an input as a voltage command value and a motor speed estimation value and an output as a current estimation value and a torque estimation value, the motor electrical model 5 has an input as a current command value and a motor rotation angle estimation value, The output is the estimated torque value. The motor electrical model 2 is composed of a motor voltage equation inverse model 21 and a torque computation model 22, while the motor electrical model 5 is composed of a torque computation model 22, a torque harmonic computation model 23, and an adder 24. Therefore, simpler calculation is sufficient.

  The motor electrical model 5 receives the current command value instead of the voltage command value, and generates a torque estimation value from the torque calculation model 22, thereby reversing the motor voltage equation that is a load factor of the calculation in the first embodiment. The model 21 can be eliminated and the calculation load can be reduced. However, in the configuration as it is, since the torque component that changes according to the motor rotation position is not included in the torque estimation value output from the torque calculation model 22, the above component is newly added from the current command and the motor rotation angle estimation value. A torque harmonic calculation model 23 to be generated is added, and a value obtained by combining two outputs of the torque calculation model 22 and the torque harmonic calculation model 23 by the adder 24 is output as a torque estimation value. As a result, accuracy was ensured. Since the input changes from the motor speed estimated value to the motor rotation angle estimated value by changing from the motor electrical model 2 to the motor electrical model 5, a rotation angle calculator 37 is newly arranged in the high-speed estimator calculating unit 103. ing.

  By the way, in this embodiment, since the motor electrical model 2 of FIG. 1 in Embodiment 1 is changed to the motor electrical model 5 shown in FIG. 6, the output is only the torque estimated value, and the current estimated value is Not output. However, since the calculation load of the motor electrical model 5 itself is reduced, it is useful for further speeding up the calculation process for a system that does not require an estimated current value.

  Since the subtractor 31, speed calculator 32, and rotation angle calculator 37 are processed by the high-speed estimator calculator 103, the estimated motor rotation angle calculated at the high-speed sampling rate is fed back to the motor electrical model 5. As a result, the accuracy of the estimated torque value can be improved. As a result, the accuracy of other estimated values calculated from the estimated torque value including the machine position estimated value is also improved as in the first embodiment.

  Since the accuracy of the motor electrical model 5 can be improved by updating the estimated motor speed value fed back to the motor electrical model 5 at a high sampling rate, the subtractor 31 in the motor control device 101 according to the present embodiment. The speed calculator 32 and the rotation angle calculator 37 are included in the fast estimator calculator 103. However, since the subtractor 31, the speed calculator 32, and the rotation angle calculator 37 are essentially machine models, the reaction force torque estimated value fed back to the subtractor 31 does not necessarily need to be updated at a high sampling rate. Even if it is such a structure, it does not become a big problem on accuracy.

  As described above, the motor control device 301 according to the present embodiment has the estimator calculation unit 102 including the motor electrical model 5 and the mechanical model 4, and the motor electrical model 5 is connected to the motor electrical model 2. However, the motor voltage equation inverse model 21 is not used, and the subtractor 31, the speed calculator 32, and the rotation angle calculator 37 are separated from the machine model 4 and processed by the high-speed estimator calculator 102. Since the multi-rate configuration is adopted, the motor rotation angle estimated value calculated at the high-speed sampling rate is input to the motor electrical model 5, and the accuracy of the torque estimated value can be improved. In addition, the calculation load is greatly reduced, and an optimized multi-rate estimator can be realized.

Embodiment 3 FIG.
In the first embodiment and the second embodiment of the present invention, the reaction torque estimation value calculated at the low sampling rate output from the machine model 4 shown in FIG. I have feedback. Although it has already been explained that the reaction force torque estimated value does not pose a big problem even at a low sampling rate, if the calculation speed is too slow, the torque deviation calculated from the reaction force torque estimated value and the motor The accuracy of the feedback system as a whole, such as the estimated speed value and estimated machine position, may be reduced. In the third embodiment, the estimated accuracy of the reaction force is passed through a corrector, and the corrected value is fed back to achieve further accuracy improvement.

  8 and 9 are overall configuration diagrams of the motor control device 401 and the motor control device 501 according to the third embodiment, respectively. 8 and FIG. 9 respectively add a reaction torque corrector 50 to the motor control device 101 of FIG. 1 according to the first embodiment and the motor control device 301 of FIG. 6 according to the second embodiment, and a subtractor 31. Is changed to a subtractor 51. The reaction force torque corrector 50 inputs the reaction force torque estimated value and outputs the reaction force torque correction estimated value, and the subtractor 51 subtracts the reaction force torque correction estimated value from the torque estimated value to obtain a torque deviation. Is calculated.

FIG. 10 shows a correction method in the reaction force torque corrector 50. As a condition for correction, it is assumed that the low-speed sampling rate Ts_l is an integer multiple of the high-speed sampling rate Ts_h. This condition is shown in the following formula (3).

  At this time, the sample time to be corrected (hereinafter referred to as correction sample time) was taken at the high sampling rate Ts_h interval in the section from the current sampling time Tl (m) at the low sampling rate to the next sampling time Tl (m + 1) ( Of the (n + 1) sample times, (n-1) sample times excluding the current sample time Tl (m) and the next sample time Tl (m + 1) at the low sampling rate.

  As an example, in FIG. 10, the integer ratio between the low speed sampling rate and the high speed sampling rate is n = 6. At this time, the correction sample time is Tl (m) + Ts_h, Tl (m) + 2 · Ts_h, Tl (m) + 3 · Ts_h, Tl (m) + 4 · Ts_h, Tl (m) + 5 · Ts_h. .

  The calculation of the correction value of the reaction force torque estimated value in the reaction force torque corrector 50 is performed by calculating the gradient of the reaction force torque estimated value from the previous sample time Tl (m−1) at the low sampling rate to the current sample time Tl (m). The calculated slope is a straight line extending from the current sample time to the next sample time, and the value at each correction sample time is used as the correction value. In FIG. 10, the reaction force torque estimated value before the correction is performed is indicated by a black circle, and the value changes only for each low-speed sampling rate. However, the corrected reaction force torque estimated value is indicated by a white circle, and the value is updated at each high-speed sampling rate. Therefore, when the estimated reaction force torque value changes transiently, the accuracy of the value is improved.

  As described above, the reaction force torque estimated value calculated at the low speed sampling rate output from the machine model 4 of the low speed estimator computing unit 104 is passed through the reaction force torque corrector 50, and the corrected value is fed back. As a result, when the estimated reaction force torque value changes transiently, further accuracy improvement can be realized.

  As described above, in the above-described embodiment, the example in which the proposed technique is applied to the motor control device including the estimator calculation unit 102 has been described. The estimator operation unit 102 is a system that has a model inside and estimates an unknown parameter with a known parameter as an input. Similarly, the technique proposed in the above embodiment can be similarly applied to an observer which is a system having an internal model and estimating an unknown parameter from input / output of a control target.

  The same technique can also be applied to a device that implements a motor electrical model or a machine model and performs calculations in real time. Specifically, by applying it to a real-time simulator that implements a motor electrical model or a machine model, the computational load is greatly reduced, an optimized multi-rate system can be built, the real-time simulator can be accelerated, It becomes possible to improve calculation accuracy.

  Moreover, in the said embodiment, the motor electrical model 2 and the motor electrical model 5 are demonstrated as a permanent magnet type motor, The formula (1) showing the motor voltage equation, and the formula (2) showing a torque estimation formula are also shown. The formula is based on a permanent magnet motor. However, the motor electrical model in the present invention is not limited to a permanent magnet motor, and can be applied to various rotating machines such as an induction motor and a synchronous motor. In that case, a motor voltage equation or a torque estimation equation corresponding to each rotating machine is used.

  Furthermore, the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention in the implementation stage. Further, the above embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent requirements. For example, even if some constituent requirements are deleted from all the constituent requirements shown in the above embodiment, the problem described in the column of the problem to be solved by the invention can be solved, and is described in the column of the effect of the invention. In the case where a certain effect can be obtained, a configuration from which this configuration requirement is deleted can be extracted as an invention. Furthermore, the constituent elements over different embodiments may be appropriately combined.

  As described above, the motor control device according to the present invention is useful for a motor control device equipped with an estimator. In particular, the motor model is used as a high-speed computing unit that operates at a high sampling rate, and the machine model is used as a low-speed sampling unit. It is suitable for a motor control device in which the estimator is multi-rate by dividing it into a low-speed calculation unit that operates at a rate.

  1 current controller, 2 motor electrical model, 3 mechanical model, 4 mechanical model, 5 motor electrical model, 21 motor voltage equation inverse model, 22 torque calculation model, 23 torque harmonic calculation model, 24 adder, 31 subtractor, 32 speed calculator, 33 reaction force torque calculator, 34 subtractor, 35 speed calculator, 36 position calculator, 37 rotation angle calculator, 50 reaction force torque corrector, 51 subtractor, 101, 201, 301, 401 , 501 Motor controller, 102 estimator computing unit, 103 high-speed estimator computing unit, 104 low-speed estimator computing unit.

Claims (5)

A current controller that outputs a voltage command value based on the current command value;
An estimator computing unit for calculating a current estimated value and a motor speed estimated value from the voltage command value;
In a motor control device having
The estimator computing unit operates at a high sampling rate to calculate a motor speed estimated value, a low speed estimator computing unit to operate at a low sampling rate and calculate a reaction force torque estimated value, With
The fast estimator computing unit is
A motor electrical model that outputs a torque estimated value and the current estimated value from the voltage command value and the motor speed estimated value;
A subtractor that outputs a torque deviation based on the torque estimated value and the reaction force torque estimated value;
A speed calculator for outputting the estimated motor speed value from the torque deviation;
With
The low-speed estimator computing unit is
A machine model for outputting the reaction torque estimation value from the motor speed estimation value;
A motor control device comprising: A current controller that outputs a voltage command value based on the current command value;
An estimator operation unit for calculating a motor speed estimated value and a motor rotation angle estimated value from the current command value;
In a motor control device having
The estimator computing unit operates at a high sampling rate to calculate a motor speed estimated value, a low speed estimator computing unit to operate at a low sampling rate and calculate a reaction force torque estimated value, With
In the high-speed estimator computing unit, a motor electrical model that outputs a torque estimated value from the current command value and the motor rotation angle estimated value,
A subtractor that outputs a torque deviation based on the torque estimated value and the reaction force torque estimated value;
A speed calculator for outputting the estimated motor speed value from the torque deviation;
A rotation angle calculator for outputting the motor rotation angle estimation value from the motor speed estimation value;
With
The low-speed estimator computing unit is
A machine model for outputting the reaction torque estimation value from the motor speed estimation value;
A motor control device comprising: The motor electrical model includes a torque calculation model and a torque harmonic calculation model,
A value obtained by estimating the torque from the current command value by the torque calculation model, and a torque component that varies according to the motor rotation position from the current command value and the motor rotation angle estimated value by the torque harmonic calculation model. The motor control device according to claim 2, wherein the sum is calculated as the estimated torque value. The high-speed estimator computing unit includes a reaction force torque corrector that outputs a reaction force torque correction estimated value from the reaction force torque estimated value,
The motor control device according to claim 1, wherein the subtractor outputs a torque deviation from the estimated torque value and the estimated reaction force torque correction value. The machine model is a two-inertia model, a speed deviation and a machine speed estimated value are obtained from the motor speed estimated value, the reaction force torque estimated value is calculated based on the speed deviation, and a machine position is estimated from the machine speed estimated value. The motor control device according to any one of claims 1 to 4, wherein a value is calculated.

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