JP6481083B2 - Motor driving apparatus, method and motor - Google Patents

Description

  The present invention relates to the field of motor control technology, and more particularly, to a motor drive device, method, and motor.

  Currently, brushless motors mainly adopt a typical vector control form. As shown in FIGS. 1 and 2, the motor driving device includes a higher-level computer control module and a lower-level computer control module. Here, the higher-level computer control module realizes closed-loop control of the rotational speed, and the lower-level computer. The control module implements a speed control function. As shown in FIG. 1, the position calculation module 11 outputs a position feedback signal, the speed calculation module 12 outputs a rotor electrical angular velocity based on the position feedback signal, and the speed controller 1 adjusts based on the rotor electrical angular velocity. Is output to the horizontal axis current calculation module 3, the direct axis current calculation module 2 outputs the specified direct axis current, the current controller 4 outputs the direct axis voltage component and the horizontal axis voltage component, and the voltage limiter 5 is the direct axis. The voltage and the horizontal axis voltage are output, and the PWM controller 6 performs coordinate conversion, and outputs a three-phase AC voltage to the inverter drive module 9 to drive the motor 10.

  The difference between FIG. 2 and FIG. 1 is that the speed command module 14 performs conversion into a motor speed command, and the speed controller receives the motor speed command and the speed feedback command from the speed calculation module 12 to receive the motor horizontal axis. A command is generated, and then the current controller 4 outputs a direct-axis voltage component and a horizontal-axis voltage component.

  The advantage of the technical solution in FIG. 1 is that the vector control efficiency is high, the energy consumption is small, the structure is simple, and it is easy to realize. However, the low-order computer control module cannot realize no-load speed control, and even if a high-order computer control module is attached, the adjustment accuracy of the high-order computer control module is not sufficient. Speed is also relatively difficult.

  The technical solution in FIG. 2 has the advantages of the technical solution in FIG. 1 and can perform speed control even when the lower computer control module gives an adjustment command alone. Since the command is used, it is difficult to adjust the speed when the Hall sensor is employed, the position sensor is not provided, and the rotation speed is low.

  In order to solve the deficiencies of the technical solutions in FIGS. 1 and 2, a solution has been proposed in the prior art as shown in FIG. 3, ie the adjustment command output by the speed controller 1 is used to generate a voltage command. The voltage command is generated by the module 17, and the PWM controller drives the motor by driving the inverter module 9 according to the voltage command. Although this technical solution can realize no-load speed regulation, the current waveform is relatively poor, the torque pulsation is large, and the current output to the motor cannot be controlled.

  As described above, the conventional motor driving apparatus has a problem that the torque pulsation is large and the current output to the motor cannot be controlled.

  An object of the present invention is to provide a motor drive device and a motor, and solves the problem that the motor drive device in the prior art has a large torque pulsation and the current output to the motor cannot be controlled. Let's say that.

  The present invention is realized through the following means, wherein the first aspect provides a motor drive device, and the motor drive device performs coordinate conversion of the stator current to convert a horizontal axis current component and a straight axis current component in a stationary coordinate system. , A PARK converter for converting a horizontal axis current component and a straight axis current component in the stationary coordinate system into a horizontal axis current component and a straight axis current component in the rotating coordinate system, and a position of the motor rotor A position calculator that outputs a position feedback signal based on the position of the motor rotor, a speed calculation module that outputs a rotor electrical angular speed based on the position feedback signal, and a speed controller output based on the rotor electrical angular speed A speed controller that outputs a signal, wherein the motor drive device sets a set direct-axis current. A first axis current generating module, a first subtractor for subtracting the set axis current and the axis current component in the rotating coordinate system to obtain a axis current difference, and a horizontal axis in the stationary coordinate system Detect current component, direct-axis current component, horizontal-axis voltage component and direct-axis voltage component, and based on the horizontal-axis current component, direct-axis current component, horizontal-axis voltage component and direct-axis voltage component in the stationary coordinate system Back electromotive force detection module for obtaining back electromotive force, back electromotive force generation module for generating set back electromotive force based on the speed controller output signal, and subtraction of the current back electromotive force and the set back electromotive force A second subtractor for obtaining a back electromotive force difference, a back electromotive force controller for outputting a set horizontal axis current value based on the back electromotive force difference, the set horizontal axis current and the rotating coordinate system Subtraction with horizontal axis current component And a third subtractor for obtaining a horizontal axis current difference, a current controller for outputting a direct axis voltage component and a horizontal axis voltage component based on the direct axis current difference and the horizontal axis current difference, and the position A voltage limiter that performs coordinate transformation between the direct-axis voltage component and the horizontal-axis voltage component based on a feedback signal and outputs a direct-axis voltage and a horizontal-axis voltage in a stationary coordinate system; and the direct-axis voltage and the horizontal axis And a PWM controller for converting the voltage into a three-phase AC voltage.

  In relation to the first aspect, as a first embodiment of the first aspect, the back electromotive force detection module is based on a horizontal axis current component, a direct axis current component, a horizontal axis voltage component, and a direct axis voltage component in the stationary coordinate system. Specifically, the process of obtaining the current back electromotive force is to output the current back electromotive force after calculating by the following formula.

ただし、Ｕ_αが静止座標系における直軸電圧成分であり、Ｉ_αが静止座標系における直軸電流成分であり、ｅ_αが直軸逆起電力であり、Ｕ_βが静止座標系における横軸電圧成分であり、Ｉ_βが静止座標系における横軸電流成分であり、ｅ_βが横軸逆起電力であり、Ｒｓがステータ抵抗であり、ｅ_ｓが現在の逆起電力である。

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force.

  According to a second aspect of the present invention, there is provided a motor driving method, wherein the motor driving method performs coordinate transformation of a stator current and outputs a horizontal axis current component and a straight axis current component in a stationary coordinate system; Converting a horizontal axis current component and a straight axis current component in a stationary coordinate system into a horizontal axis current component and a straight axis current component in a rotating coordinate system; detecting a position of the motor rotor; and positioning based on the position of the motor rotor A step of outputting a feedback signal; a step of outputting a rotor electrical angular velocity based on the position feedback signal; a step of outputting a speed controller output signal based on the rotor electrical angular velocity; Subtracting the axis current and the axis current component in the rotating coordinate system to obtain the axis current difference, and in the stationary coordinate system Axis current component, direct axis current component, horizontal axis voltage component and direct axis voltage component are detected, and based on the horizontal axis current component, direct axis current component, horizontal axis voltage component and direct axis voltage component in the stationary coordinate system A counter electromotive force of the current controller, generating a set back electromotive force based on the speed controller output signal, subtracting the current back electromotive force and the set back electromotive force, and calculating a back electromotive force difference. Obtaining and outputting the set horizontal axis current value based on the back electromotive force difference, and subtracting the set horizontal axis current and the horizontal axis current component in the rotating coordinate system to obtain the horizontal axis current difference A step of outputting a direct-axis voltage component and a horizontal-axis voltage component based on the direct-axis current difference and the horizontal-axis current difference; and the direct-axis voltage component and the horizontal axis based on the position feedback signal Transform the coordinate with the shaft voltage component, Comprising a step of outputting the direct axis voltage and the horizontal axis the voltage in the stop coordinates, said converting the direct axis voltage and said horizontal-axis voltage into a three-phase AC voltage.

  In relation to the second aspect, as the first embodiment of the second aspect, the current back electromotive force is calculated based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system. Specifically, the obtaining step is to output the current back electromotive force after calculating by the following mathematical formula.

ただし、Ｕ_αが静止座標系における直軸電圧成分であり、Ｉ_αが静止座標系における直軸電流成分であり、ｅ_αが直軸逆起電力であり、Ｕ_βが静止座標系における横軸電圧成分であり、Ｉ_βが静止座標系における横軸電流成分であり、ｅ_βが横軸逆起電力であり、Ｒｓがステータ抵抗であり、ｅ_ｓが現在の逆起電力である。

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force.

  According to a third aspect of the present invention, there is provided a motor driving device, wherein the motor driving device performs coordinate transformation of the stator current and outputs a horizontal axis current component and a straight axis current component in a stationary coordinate system. A PARK converter that converts a horizontal axis current component and a straight axis current component in the stationary coordinate system into a horizontal axis current component and a straight axis current component in a rotary coordinate system; and a position of the motor rotor; A position calculator that outputs a position feedback signal based on the position, a speed calculation module that outputs a rotor electrical angular speed based on the position feedback signal, and a speed controller that outputs a speed controller output signal based on the rotor electrical angular speed; The motor drive device includes: a direct-axis current generation module that generates a set direct-axis current. And a first subtractor that obtains a direct current difference by subtracting the set direct current and the direct current component in the rotating coordinate system, and a horizontal current component and a direct current in a stationary coordinate system. Component, horizontal axis voltage component, and direct axis voltage component are detected, and current back electromotive force is obtained based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system. A back electromotive force detection module; a back electromotive force generation module that generates a set back electromotive force based on the speed controller output signal; a coercive speed saturation module that generates a back electromotive force adjustment value; and the current back electromotive force. And subtracting the set back electromotive force and the adjustment value of the back electromotive force to obtain a back electromotive force difference, and a set horizontal axis current value is output based on the back electromotive force difference. The set horizontal axis current value to the anti-speed saturation A counter electromotive force controller that drives the coercive velocity saturation module to generate the counter electromotive force adjustment value, and subtracts the set horizontal axis current and the horizontal axis current component in the rotating coordinate system. And a third subtractor for obtaining a horizontal axis current difference, a current controller for outputting a direct axis voltage component and a horizontal axis voltage component based on the direct axis current difference and the horizontal axis current difference, and the position A voltage limiter that performs coordinate transformation between the direct-axis voltage component and the horizontal-axis voltage component based on a feedback signal and outputs a direct-axis voltage and a horizontal-axis voltage in a stationary coordinate system; and the direct-axis voltage and the horizontal axis And a PWM controller for converting the voltage into a three-phase AC voltage.

  In relation to the third aspect, as the first embodiment of the third aspect, the back electromotive force detection module is based on a horizontal axis current component, a direct axis current component, a horizontal axis voltage component, and a direct axis voltage component in the stationary coordinate system. Specifically, the process of obtaining the current back electromotive force is to output the current back electromotive force after calculating by the following formula.

ただし、Ｕ_αが静止座標系における直軸電圧成分であり、Ｉ_αが静止座標系における直軸電流成分であり、ｅ_αが直軸逆起電力であり、Ｕ_βが静止座標系における横軸電圧成分であり、Ｉ_βが静止座標系における横軸電流成分であり、ｅ_βが横軸逆起電力であり、Ｒｓがステータ抵抗であり、ｅ_ｓが現在の逆起電力である。

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force.

  According to a fourth aspect of the present invention, there is provided a motor including an inverter module and a motor module, further including the motor driving device described in the first side and the third side.

  According to a fifth aspect of the present invention, there is provided a motor driving method, wherein the motor driving method detects a stator current of a motor, performs coordinate conversion of the stator current, and generates a horizontal axis current component and a straight axis current in a stationary coordinate system. Detecting a position of the motor rotor, a step of converting the horizontal axis current component and the straight axis current component in the stationary coordinate system into a horizontal axis current component and a straight axis current component in the rotating coordinate system; Outputting a position feedback signal based on the position of the motor rotor; outputting a rotor electrical angular velocity based on the position feedback signal; and outputting a speed controller output signal based on the rotor electrical angular velocity; Generate axis current and subtract the set axis current and the axis current component in the rotating coordinate system to obtain the axis current difference Detecting a horizontal axis current component, a straight axis current component, a horizontal axis voltage component, and a straight axis voltage component in a stationary coordinate system, and detecting a horizontal axis current component, a straight axis current component, a horizontal axis voltage component in the stationary coordinate system. And obtaining a current back electromotive force based on the direct-axis voltage component; generating a set back electromotive force based on the speed controller output signal; and generating a back electromotive force adjustment value; and Subtracting the electromotive force, the set back electromotive force and the adjustment value of the back electromotive force, obtaining a back electromotive force difference, outputting a set horizontal axis current value based on the back electromotive force difference, A step of generating an adjustment value of the back electromotive force based on a set horizontal axis current value, and subtracting the set horizontal axis current and a horizontal axis current component in the rotating coordinate system to obtain a horizontal axis current difference Steps, the direct current difference and the horizontal current difference A linear axis voltage component and a horizontal axis voltage component are output based on the position feedback signal, and the direct axis voltage component and the horizontal axis voltage component are coordinate-converted based on the position feedback signal to generate a direct axis voltage in a stationary coordinate system. And a step of outputting a horizontal axis voltage and a step of converting the direct axis voltage and the horizontal axis voltage into a three-phase AC voltage.

  In relation to the fifth aspect, as the first embodiment of the fifth aspect, the present counter electromotive force is based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system. Specifically, the step of obtaining is to output the current back electromotive force after calculating by the following formula.

ただし、Ｕ_αが静止座標系における直軸電圧成分であり、Ｉ_αが静止座標系における直軸電流成分であり、ｅ_αが直軸逆起電力であり、Ｕ_βが静止座標系における横軸電圧成分であり、Ｉ_βが静止座標系における横軸電流成分であり、ｅ_βが横軸逆起電力であり、Ｒｓがステータ抵抗であり、ｅ_ｓが現在の逆起電力である。

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force.

  The motor driving apparatus, method, and motor provided by the present invention obtain a current back electromotive force based on a horizontal axis current component, a direct axis current component, a horizontal axis voltage component, and a straight axis voltage component in a stationary coordinate system. Next, the current back electromotive force and the set back electromotive force are calculated and output to the back electromotive force controller, the set horizontal axis current is obtained, and the back electromotive force is fed back to form a closed loop control circuit. Thus, the motor current is controlled by driving the motor current, and the problem of speed control due to independent torque control is solved. Solved the problem that the starting torque is small and the starting speed response is slow in the rotational speed control.

In order to more clearly describe the technical solutions in the embodiments of the present invention, the drawings that need to be used in the description of the embodiments or the prior art will be briefly described below. Obviously, the drawings in the following description are merely some embodiments of the present invention, and it is possible for a person skilled in the art to obtain other drawings based on these drawings on the premise that no creative labor is paid. it can.
FIG. 1 is a schematic structural diagram of a motor driving device provided in the prior art. FIG. 2 is a schematic structural diagram of another motor driving device provided in the prior art. FIG. 3 is a schematic structural diagram of another motor driving device provided in the prior art. FIG. 4 is a schematic structural diagram of a motor driving apparatus provided by an embodiment of the present invention. FIG. 5 is a flowchart of a motor driving method provided by another embodiment of the present invention. FIG. 6 is a schematic structural diagram of a motor driving apparatus provided by an embodiment of the present invention. FIG. 7 is a flowchart of a motor driving method provided by another embodiment of the present invention.

  In order to clarify the objects, technical solutions, and advantages of the present invention, the present invention will be described in more detail with reference to the drawings and examples. It should be noted that the specific embodiments described herein are merely for interpreting the present invention and are not intended to limit the present invention.

  In order to explain the technical solution of the present invention, a specific example will be described below.

  One embodiment of the present invention provides a motor drive device. As shown in FIG. 4, the motor drive device performs coordinate conversion of the stator current to obtain a horizontal axis current component and a straight axis current component in a stationary coordinate system. The CLAK converter 17 for output, the PARK converter 18 for converting the horizontal axis component and the direct axis current component in the stationary coordinate system into the horizontal axis component and the direct axis current component in the rotating coordinate system, and the position of the motor rotor A position calculator 11 that detects and outputs a position feedback signal based on the position of the motor rotor, a speed calculation module 12 that outputs a rotor electrical angular speed based on the position feedback signal, and a speed controller output signal based on the rotor electrical angular speed. And a speed controller 1 for outputting, the motor driving device includes a direct-axis current generation module 2 for generating a set direct-axis current, and a setting A first subtractor 21 that subtracts the axis current and the axis current component in the rotating coordinate system to obtain the axis current difference, and the axis current component, the axis current component, and the axis voltage component in the stationary coordinate system. A back electromotive force detection module 16 that detects a current back electromotive force based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system. The counter electromotive force generation module 15 that generates the set back electromotive force based on the speed controller output signal, and the second subtraction that subtracts the current back electromotive force and the set back electromotive force to obtain the back electromotive force difference. A sub-electromotive force controller 19 for outputting a set horizontal axis current value based on the counter electromotive force difference, and subtracting the set horizontal axis current and the horizontal axis current component in the rotating coordinate system to obtain a horizontal axis current difference A third subtractor 23 for obtaining A current controller 4 that outputs a direct-axis voltage component and a horizontal-axis voltage component based on the difference and the horizontal-axis current difference; and a coordinate conversion between the direct-axis voltage component and the horizontal-axis voltage component based on the position feedback signal; It further includes a voltage limiter 5 that outputs a direct axis voltage and a horizontal axis voltage in a stationary coordinate system, and a PWM controller 6 that converts the direct axis voltage and the horizontal axis voltage into a three-phase AC voltage.

  Specifically, the back electromotive force detection module 16 acquires the current back electromotive force based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system, The back electromotive force and the set back electromotive force are subtracted and fed back to the back electromotive force controller to obtain the horizontal axis current component to form a closed loop control circuit to drive and control the motor current. Realize motor control.

  Specifically, the speed controller output signal is an adjustment command output by the speed controller 1 and may exist in the form of a voltage value or a voltage range value, or the speed controller output signal is digital in software. It may exist in the form of The set back electromotive force is generated based on the speed controller output signal. For example, when the speed controller output signal is a voltage signal, the set back electromotive force is directly proportional to the magnitude of the speed controller output signal, and is set based on the directly proportional relationship. Back electromotive force can be acquired.

  Specifically, the process in which the back electromotive force detection module obtains the current back electromotive force based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system is specific. In addition, the current counter electromotive force is output after calculating by the following formula.

ただし、Ｕ_αが静止座標系における直軸電圧成分であり、Ｉ_αが静止座標系における直軸電流成分であり、ｅ_αが直軸逆起電力であり、Ｕ_βが静止座標系における横軸電圧成分であり、Ｉ_βが静止座標系における横軸電流成分であり、ｅ_βが横軸逆起電力であり、Ｒｓがステータ抵抗であり、ｅ_ｓが現在の逆起電力である。

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force.

  Another embodiment of the present invention provides a motor including an inverter module 9 and a motor module 10, and the motor further includes the motor driving device.

  Another embodiment of the present invention provides a motor driving method. As shown in FIG. 5, the motor driving method includes the following steps S101 to S111.

  In step S101, the stator current of the motor is detected, the stator current is coordinate-transformed, and a horizontal axis current component and a straight axis current component in the stationary coordinate system are output.

  Step S102 converts the horizontal axis current component and the direct axis current component in the stationary coordinate system into a horizontal axis current component and a direct axis current component in the rotating coordinate system.

  Step S103 detects the position of the motor rotor and outputs a position feedback signal based on the position of the motor rotor.

  Step S104 outputs a rotor electrical angular velocity based on the position feedback signal, and outputs a speed controller output signal based on the rotor electrical angular velocity.

  In step S105, a set straight axis current is generated, and the set direct axis current is subtracted from the direct axis current component in the rotating coordinate system to obtain a straight axis current difference.

  Step S106 detects a horizontal axis current component, a straight axis current component, a horizontal axis voltage component, and a straight axis voltage component in the stationary coordinate system, and detects a horizontal axis current component, a straight axis current component, a horizontal axis voltage component in the stationary coordinate system, and The current back electromotive force is acquired based on the direct-axis voltage component.

  In this step, specifically, the current back electromotive force is obtained based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system, and the current back electromotive force is obtained. And the set back electromotive force is subtracted and fed back to the back electromotive force controller, the horizontal axis current component is obtained, a closed loop control circuit is formed, and the motor current is driven and controlled to achieve motor control. To do.

  Step S107 generates a set back electromotive force based on the speed controller output signal, performs subtraction between the current back electromotive force and the set back electromotive force, obtains a back electromotive force difference, and based on the back electromotive force difference. To output the set horizontal axis current value.

  In this step, specifically, the set back electromotive force is generated based on the voltage adjustment signal. For example, the set back electromotive force is directly proportional to the magnitude of the speed controller output signal, and the set back electromotive force is set based on the directly proportional relationship. Can be acquired.

  In step S108, the horizontal axis current difference is obtained by subtracting the set horizontal axis current from the horizontal axis current component in the rotating coordinate system.

  Step S109 outputs a direct-axis voltage component and a horizontal-axis voltage component based on the direct-axis current difference and the horizontal-axis current difference.

  In step S110, the direct-axis voltage component and the horizontal-axis voltage component are coordinate-converted based on the position feedback signal, and the direct-axis voltage and the horizontal-axis voltage in the stationary coordinate system are output.

  Step S111 converts the direct-axis voltage and the horizontal-axis voltage into a three-phase AC voltage.

  Further, in step S106, the step of obtaining the current back electromotive force based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system is specifically expressed by the following formula: The current back electromotive force is output after calculation by

ただし、Ｕ_αが静止座標系における直軸電圧成分であり、Ｉ_αが静止座標系における直軸電流成分であり、ｅ_αが直軸逆起電力であり、Ｕ_βが静止座標系における横軸電圧成分であり、Ｉ_βが静止座標系における横軸電流成分であり、ｅ_βが横軸逆起電力であり、Ｒｓがステータ抵抗であり、ｅ_ｓが現在の逆起電力である。

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force.

  The motor driving apparatus, method, and motor provided by the present invention acquire a current back electromotive force based on a horizontal axis current component, a direct axis current component, a horizontal axis voltage component, and a direct axis voltage component in a stationary coordinate system. . Next, the current back electromotive force and the set back electromotive force are calculated and output to the back electromotive force controller, the set horizontal axis current is obtained, and the back electromotive force is fed back to form a closed loop control circuit. Then, the motor current was driven and controlled, and the motor control was realized, and the speed control problem due to independent torque control was solved.

  One embodiment of the present invention provides a motor drive device. As shown in FIG. 6, the motor drive device performs coordinate conversion of the stator current to obtain a horizontal axis current component and a straight axis current component in a stationary coordinate system. The CLAK converter 17 for output, the PARK converter 18 for converting the horizontal axis component and the direct axis current component in the stationary coordinate system into the horizontal axis component and the direct axis current component in the rotating coordinate system, and the position of the motor rotor A position calculator 11 that detects and outputs a position feedback signal based on the position of the motor rotor, a speed calculation module 12 that outputs a rotor electrical angular speed based on the position feedback signal, and a speed controller output signal based on the rotor electrical angular speed. And a speed controller 1 for outputting, the motor driving device includes a direct-axis current generation module 2 for generating a set direct-axis current, and a setting A first subtractor 21 that subtracts the axis current and the axis current component in the rotating coordinate system to obtain the axis current difference, and the axis current component, the axis current component, and the axis voltage component in the stationary coordinate system. A back electromotive force detection module 16 that detects a current back electromotive force based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system. A counter electromotive force generation module 15 for generating a set back electromotive force based on the speed controller output signal, a coercive speed saturation module 24 for generating a back electromotive force adjustment value, a current back electromotive force, a set back electromotive force, and A second subtractor 22 that subtracts the back electromotive force adjustment value to obtain a back electromotive force difference, and outputs a set horizontal axis current value based on the back electromotive force difference. Output to saturation module 24 to adjust back electromotive force A counter electromotive force controller 19 that drives the co-velocity saturation module to generate a value, and a third subtraction to obtain a horizontal axis current difference by subtracting the set horizontal axis current and the horizontal axis current component in the rotating coordinate system 23, a current controller 4 that outputs a direct-axis voltage component and a horizontal-axis voltage component based on a direct-axis current difference and a horizontal-axis current difference, and a direct-axis voltage component and a horizontal-axis voltage component based on a position feedback signal And a voltage limiter 5 that outputs a direct-axis voltage and a horizontal-axis voltage in a stationary coordinate system, and a PWM controller 6 that converts the direct-axis voltage and the horizontal-axis voltage into a three-phase AC voltage. .

  The difference between the present embodiment and the previous embodiment resides in the anti-speed saturation module 24. Here, the back electromotive force adjustment value output by the coercive velocity saturation module 4 is Iq * Ks, where Iq is the set horizontal axis current value, Ks is a positive real number, and the typical value is This is the interphase resistance Rs.

  In the above-described embodiment, when saturation occurs in the back electromotive force controller, the motor has a problem that the adjustment of the rotation speed becomes dull and the response to the speed adjustment becomes slow at a high speed.

  This embodiment is based on the above-described embodiment, and solves the problem that the back electromotive force controller is saturated by introducing the coercive velocity saturation module 24.

  Specifically, the process in which the back electromotive force detection module obtains the current back electromotive force based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system is specific. In addition, the current counter electromotive force is output after calculating by the following formula.

ただし、Ｕ_αが静止座標系における直軸電圧成分であり、Ｉ_αが静止座標系における直軸電流成分であり、ｅ_αが直軸逆起電力であり、Ｕ_βが静止座標系における横軸電圧成分であり、Ｉ_βが静止座標系における横軸電流成分であり、ｅ_βが横軸逆起電力であり、Ｒｓがステータ抵抗であり、ｅ_ｓが現在の逆起電力である。

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force.

  Another embodiment of the present invention provides a motor driving method. As shown in FIG. 7, the motor driving method includes the following steps S201 to S211.

  In step S201, the stator current of the motor is detected, the stator current is subjected to coordinate conversion, and a horizontal axis current component and a straight axis current component in the stationary coordinate system are output.

  Step S202 converts the horizontal axis current component and the direct axis current component in the stationary coordinate system into the horizontal axis current component and the direct axis current component in the rotational coordinate system.

  Step S203 detects the position of the motor rotor and outputs a position feedback signal based on the position of the motor rotor.

  Step S204 outputs a rotor electrical angular velocity based on the position feedback signal, and outputs a speed controller output signal based on the rotor electrical angular velocity.

  A step S205 generates a set direct-axis current, and subtracts the set direct-axis current and the direct-axis current component in the rotating coordinate system to obtain a direct-axis current difference.

  Step S206 detects a horizontal axis current component, a straight axis current component, a horizontal axis voltage component, and a straight axis voltage component in the stationary coordinate system, and detects a horizontal axis current component, a straight axis current component, a horizontal axis voltage component in the stationary coordinate system, and The current back electromotive force is acquired based on the direct-axis voltage component.

  In this step, specifically, the current back electromotive force is obtained based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system, and the current back electromotive force is obtained. And the set back electromotive force are subtracted and fed back to the back electromotive force controller to obtain the horizontal axis current component, form a closed loop control circuit, and drive and control the motor current to Realize control.

  Step S207 generates a set back electromotive force based on the speed controller output signal, generates a back electromotive force adjustment value, and subtracts the current back electromotive force from the set back electromotive force and the back electromotive force adjustment value. The counter electromotive force difference is obtained, the set horizontal axis current value is output based on the counter electromotive force difference, and the counter electromotive force adjustment value is generated based on the set horizontal axis current value.

  In this step, specifically, the set back electromotive force is generated based on the voltage adjustment signal. For example, the set back electromotive force is directly proportional to the magnitude of the speed controller output signal, and the set back electromotive force is set based on the directly proportional relationship. Can be acquired.

  Specifically, the counter electromotive force adjustment value is Iq * Ks, where Iq is the set horizontal axis current value, Ks is a positive real number, and the typical value is the interphase resistance Rs of the motor.

  In the above-described embodiment, when saturation occurs in the back electromotive force controller, the motor has a problem that the adjustment of the rotation speed becomes dull and the response to the speed adjustment becomes slow at a high speed.

  The present embodiment is based on the above-described embodiment, and solves the problem that the back electromotive force controller is saturated by introducing the back electromotive force adjustment value.

  In step S208, the horizontal axis current difference is obtained by subtracting the set horizontal axis current from the horizontal axis current component in the rotating coordinate system.

  Step S209 outputs a direct-axis voltage component and a horizontal-axis voltage component based on the direct-axis current difference and the horizontal-axis current difference.

  In step S210, the direct-axis voltage component and the horizontal-axis voltage component are coordinate-converted based on the position feedback signal, and the direct-axis voltage and the horizontal-axis voltage in the stationary coordinate system are output.

  Step S211 converts the direct-axis voltage and the horizontal-axis voltage into a three-phase AC voltage.

  Further, in step S106, the step of obtaining the current back electromotive force based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system is specifically expressed by the following formula: After calculating by the above, the current back electromotive force is output.

ただし、Ｕ_αが静止座標系における直軸電圧成分であり、Ｉ_αが静止座標系における直軸電流成分であり、ｅ_αが直軸逆起電力であり、Ｕ_βが静止座標系における横軸電圧成分であり、Ｉ_βが静止座標系における横軸電流成分であり、ｅ_βが横軸逆起電力であり、Ｒｓがステータ抵抗であり、ｅ_ｓが現在の逆起電力である。

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force.

  The foregoing is a further detailed description of the present invention in accordance with the preferred specific embodiments and should not be considered as a specific implementation of the present invention. For those skilled in the art, several equivalent alternatives or obvious modifications made without departing from the spirit of the present invention are determined by the scope of the submitted claims, all having the same performance or application. Should be regarded as belonging to the patent protection scope of the present invention.

Claims (9)

A CLARK converter that coordinates-converts the stator current and outputs a horizontal-axis current component and a straight-axis current component in a stationary coordinate system;
A PARK converter for converting a horizontal axis current component and a direct axis current component in the stationary coordinate system into a horizontal axis current component and a direct axis current component in a rotating coordinate system;
A position calculator for detecting the position of the motor rotor and outputting a position feedback signal based on the position of the motor rotor;
A speed calculation module that outputs a rotor electrical angular speed based on the position feedback signal;
A speed controller that outputs a speed controller output signal based on the rotor electrical angular speed, and a motor drive device comprising:
The motor driving device is
A direct current generator for generating a set direct current,
A first subtractor for subtracting the set axis current and the axis current component in the rotating coordinate system to obtain a axis current difference;
The horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system are detected, and the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage in the stationary coordinate system are detected. A back electromotive force detection module that obtains the current back electromotive force based on the components;
A back electromotive force generation module that generates a set back electromotive force based on the speed controller output signal;
A second subtractor that subtracts the current back electromotive force and the set back electromotive force to obtain a back electromotive force difference;
A back electromotive force controller that outputs a set horizontal axis current value based on the back electromotive force difference;
A third subtractor that obtains a horizontal axis current difference by subtracting the set horizontal axis current from the horizontal axis current component in the rotating coordinate system;
A current controller that outputs a direct-axis voltage component and a horizontal-axis voltage component based on the direct-axis current difference and the horizontal-axis current difference;
A voltage limiter that performs coordinate transformation of the direct-axis voltage component and the horizontal-axis voltage component based on the position feedback signal, and outputs a direct-axis voltage and a horizontal-axis voltage in a stationary coordinate system;
A PWM controller that converts the direct-axis voltage and the horizontal-axis voltage into a three-phase AC voltage;
The motor drive device characterized by the above-mentioned. The process in which the back electromotive force detection module obtains the current back electromotive force based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system is specifically described below. Is to output the current back electromotive force after calculating by

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force,
The motor driving apparatus according to claim 1. Converting the stator current to a coordinate and outputting a horizontal axis current component and a straight axis current component in a stationary coordinate system;
Converting the horizontal axis current component and the direct axis current component in the stationary coordinate system into a horizontal axis current component and a direct axis current component in the rotating coordinate system;
Detecting the position of the motor rotor and outputting a position feedback signal based on the position of the motor rotor;
Outputting a rotor electrical angular velocity based on the position feedback signal, and outputting a speed controller output signal based on the rotor electrical angular velocity;
Generating a set axis current, subtracting the set axis current and the axis current component in the rotating coordinate system to obtain a axis current difference;
The horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system are detected, and the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage in the stationary coordinate system are detected. Obtaining a current back electromotive force based on the components;
Generate a set back electromotive force based on the speed controller output signal, subtract the current back electromotive force and the set back electromotive force, obtain a back electromotive force difference, and based on the back electromotive force difference Outputting a set horizontal axis current value,
Subtracting the set horizontal axis current and the horizontal axis current component in the rotating coordinate system to obtain a horizontal axis current difference;
Outputting a direct-axis voltage component and a horizontal-axis voltage component based on the direct-axis current difference and the horizontal-axis current difference;
Transforming the direct-axis voltage component and the horizontal-axis voltage component based on the position feedback signal to output a direct-axis voltage and a horizontal-axis voltage in a stationary coordinate system;
Converting the direct-axis voltage and the horizontal-axis voltage into a three-phase AC voltage,
The motor drive method characterized by the above-mentioned. The step of obtaining the current back electromotive force based on the horizontal axis current component in the static coordinate system, the direct axis current component, the horizontal axis voltage component and the direct axis voltage component is specifically calculated by the following formula: Is to output the current back electromotive force,

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force,
The motor driving method according to claim 3. A CLARK converter that coordinates-converts the stator current and outputs a horizontal-axis current component and a straight-axis current component in a stationary coordinate system;
A PARK converter for converting a horizontal axis current component and a direct axis current component in the stationary coordinate system into a horizontal axis current component and a direct axis current component in a rotating coordinate system;
A position calculator for detecting the position of the motor rotor and outputting a position feedback signal based on the position of the motor rotor;
A speed calculation module that outputs a rotor electrical angular speed based on the position feedback signal;
A speed controller that outputs a speed controller output signal based on the rotor electrical angular speed, and a motor drive device comprising:
The motor driving device is
A direct current generator for generating a set direct current,
A first subtractor for subtracting the set axis current and the axis current component in the rotating coordinate system to obtain a axis current difference;
The horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system are detected, and the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage in the stationary coordinate system are detected. A back electromotive force detection module that obtains the current back electromotive force based on the components;
A back electromotive force generation module that generates a set back electromotive force based on the speed controller output signal;
An anti-speed saturation module for generating a back electromotive force adjustment value;
Subtracting the current back electromotive force from the set back electromotive force and the back electromotive force adjustment value to obtain a back electromotive force difference;
The coercive force saturation module outputs a set horizontal axis current value based on the back electromotive force difference, outputs the set horizontal axis current value to the coercive force saturation module, and generates the counter electromotive force adjustment value. A back electromotive force controller that drives
A third subtractor that obtains a horizontal axis current difference by subtracting the set horizontal axis current from the horizontal axis current component in the rotating coordinate system;
A current controller that outputs a direct-axis voltage component and a horizontal-axis voltage component based on the direct-axis current difference and the horizontal-axis current difference;
A voltage limiter that performs coordinate transformation of the direct-axis voltage component and the horizontal-axis voltage component based on the position feedback signal, and outputs a direct-axis voltage and a horizontal-axis voltage in a stationary coordinate system;
A PWM controller that converts the direct-axis voltage and the horizontal-axis voltage into a three-phase AC voltage;
The motor drive device characterized by the above-mentioned. The process in which the back electromotive force detection module obtains the current back electromotive force based on the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system is specifically described below. Is to output the current back electromotive force after calculating by

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force,
The motor driving device according to claim 5, wherein A motor including an inverter module and a motor module, further including the motor drive device according to any one of claims 1, 2, 5, and 6.
A motor characterized by that. Detecting a stator current of a motor, converting the stator current to a coordinate, and outputting a horizontal axis current component and a straight axis current component in a stationary coordinate system;
Converting the horizontal axis current component and the direct axis current component in the stationary coordinate system into a horizontal axis current component and a direct axis current component in the rotating coordinate system;
Detecting the position of the motor rotor and outputting a position feedback signal based on the position of the motor rotor;
Outputting a rotor electrical angular velocity based on the position feedback signal, and outputting a speed controller output signal based on the rotor electrical angular velocity;
Generating a set axis current, subtracting the set axis current and the axis current component in the rotating coordinate system to obtain a axis current difference;
The horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage component in the stationary coordinate system are detected, and the horizontal axis current component, the direct axis current component, the horizontal axis voltage component, and the direct axis voltage in the stationary coordinate system are detected. Obtaining a current back electromotive force based on the components;
A set back electromotive force is generated based on the speed controller output signal and a back electromotive force adjustment value is generated, and the current back electromotive force is subtracted from the set back electromotive force and the back electromotive force adjustment value. Performing, obtaining a back electromotive force difference, outputting a set horizontal axis current value based on the back electromotive force difference, and generating the back electromotive force adjustment value based on the set horizontal axis current value;
Subtracting the set horizontal axis current and the horizontal axis current component in the rotating coordinate system to obtain a horizontal axis current difference;
Outputting a direct-axis voltage component and a horizontal-axis voltage component based on the direct-axis current difference and the horizontal-axis current difference;
Transforming the direct-axis voltage component and the horizontal-axis voltage component based on the position feedback signal to output a direct-axis voltage and a horizontal-axis voltage in a stationary coordinate system;
Converting the direct-axis voltage and the horizontal-axis voltage into a three-phase AC voltage,
The motor drive method characterized by the above-mentioned. The step of obtaining the current back electromotive force based on the horizontal axis current component in the static coordinate system, the direct axis current component, the horizontal axis voltage component and the direct axis voltage component is specifically calculated by the following formula: Is to output the current back electromotive force,

However, U _α is a direct-axis voltage component in the stationary coordinate system, I _α is a direct-axis current component in the stationary coordinate system, e _α is a direct-axis back electromotive force, and U _β is a horizontal axis in the stationary coordinate system. a voltage component, a quadrature axis current component I _beta is in the still coordinate system, e _beta is the horizontal axis counter electromotive force, Rs is the stator resistance, e _s is the current counter electromotive force,
The motor driving method according to claim 8, wherein:

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