JP6739683B1 - Motor controller - Google Patents

Abstract

A motor control device (100) includes an excitation command creation unit (103) that excites an excitation position of any phase of a motor (200) having a plurality of phases, and a position detector that detects a rotation angle of the motor (200). And a polarity estimating unit (104) for estimating the polarity of (201). The polarity estimating unit (104) is detected by the position detector (201) when exciting a plurality of excitation positions of the motor (200). Position detector when two magnetic pole position candidates of the motor (200) are extracted based on the combination of the rotation directions of the motor (200) and one of the extracted two magnetic pole position candidates is excited. The polarity of the position detector (201) is estimated based on the rotation angle of the motor (200) detected by (201).

Description

The present invention relates to a motor control device having a function of estimating the polarity of a position detector.

The motor control device controls the motor by detecting the magnetic pole position with a position detector and changing the U-phase, V-phase, and W-phase voltages of the motor according to the magnetic pole position.

In order to detect the magnetic pole position from the information of the position detector and control the motor, it is necessary to match the counting direction of the position detector with the phase order of the motor. For example, when the motor is moved in the order of U-phase, V-phase, and W-phase, the position detector is aligned in the count increasing direction.

Patent Document 1 discloses a motor control device that excites a phase of a specific motor, changes the excited position, moves the motor, and automatically sets the count direction of the position detector based on increase or decrease in the count of the position detector at that time. It is disclosed. The motor control device disclosed in Patent Document 1 leaves the position detector in the increasing direction when the U-phase, the V-phase, and the W-phase are excited in this order, and counts the decreasing direction. Reverse the polarity of the value.

JP, 2011-130520, A

Since the magnetic pole position is not known at the start of excitation, the motor control device disclosed in Patent Document 1 has a problem that the motor moves by the amount of deviation between the excitation position and the magnetic pole position at the start of excitation. Therefore, in the equipment using the motor, it is necessary to configure the equipment so that problems such as collision do not occur in consideration of the fact that the motor moves by 180° at the maximum rotation angle of the magnetic pole at the start of excitation.

The present invention has been made in view of the above, and an object of the present invention is to obtain a motor control device in which the rotation angle of the motor at the time of estimating the polarity of the position detector is reduced.

In order to solve the above-mentioned problems and achieve the object, the present invention provides an excitation command creation unit that excites an excitation position of any phase of a motor having a plurality of phases, and position detection that detects a rotation angle of the motor. And a polarity estimator for estimating the polarity of the container. The polarity estimating unit extracts two candidates of the magnetic pole position of the motor based on the combination of the rotation directions of the motor detected by the position detector when exciting a plurality of excitation positions of the motor, and extracts the two extracted magnetic pole positions. The polarity of the position detector is estimated based on the rotation angle of the motor detected by the position detector when one of the magnetic pole position candidates is excited.

The motor control device according to the present invention has an effect of reducing the rotation angle of the motor when the polarity of the position detector is estimated.

Functional block diagram of a motor control device according to Embodiment 1 of the present invention The figure which shows the state which divided the U, V, and W phases of the motor which is the control object of the motor control device which concerns on Embodiment 1 into six areas for every 60 degrees. The figure which shows the increase/decrease direction of the count of a position detector at the time of exciting to the U, V, and W phases of the motor which is the control object of the motor control device concerning Embodiment 1 for every magnetic pole position. The figure which shows the increase/decrease direction of the count of a position detector at the time of exciting to the U, V, and W phases of the motor which is the control object of the motor control device concerning Embodiment 1 for every magnetic pole position. The flowchart which shows the flow of the process which estimates the polarity of the detector of the motor control apparatus which concerns on Embodiment 1. The figure which shows the structure which implemented the function of the polarity estimation part of the motor control apparatus which concerns on Embodiment 1 by hardware. The figure which shows the structure which implemented the function of the polarity estimation part of the motor control device which concerns on Embodiment 1 with software.

Hereinafter, a motor control device according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiments.

Embodiment 1.
1 is a functional block diagram of a motor control device according to a first embodiment of the present invention. The motor control device 100 includes a command unit 101 that creates a torque command from a position or speed deviation, a current control unit 102 that outputs an excitation command to the motor 200 in accordance with the torque command created by the command unit 101, and a command unit 101. An excitation command generation unit 103 that outputs an excitation command to the motor 200 instead of the current control unit 102 when receiving an excitation start request, and either the current control unit 102 or the excitation command generation unit 103 based on the instruction from the command unit 101. It has a switching unit 105 that transmits one output to the motor 200 and a polarity estimation unit 104 that estimates the polarity of the position detector 201.

The excitation command creation unit 103 can excite a plurality of excitation positions in each of the plurality of phases of the motor 200, and sequentially excites any one of the excitation positions of any of the phases. Specifically, the excitation command creation unit 103 outputs a short-time excitation command on each of the U, V, and W phases of the motor 200. For convenience of explanation, the combination of exciting positions is once on each of the U, V, and W phases, that is, three times in total. Note that the polarity of the position detector 201 can be estimated in the same manner even with a combination of magnetic pole positions and excitation positions different from the examples shown below.

The polarity estimation unit 104 estimates the polarity of the position detector 201 from the combination of the excitation command output by the excitation command creation unit 103 and the count increase/decrease of the position detector 201 attached to the motor 200.

Next, the actual process of estimating the polarity of the position detector 201 in the polarity estimating unit 104 will be described. FIG. 2 is a diagram showing a state in which the U, V, and W phases of the motor to be controlled by the motor control device according to the first embodiment are divided into six areas every 60°. 3 and 4 are diagrams showing, for each magnetic pole position, the increasing/decreasing direction of the count of the position detector when excited in the U, V, and W phases of the motor to be controlled by the motor control device according to the first embodiment. is there. 3 shows the case where the direction in which the motor 200 rotates normally is the direction of the positive polarity of the position detector 201, and FIG. 4 shows the direction in which the motor 200 rotates in the reverse direction is the positive direction of the position detector 201. This is the case. The “+” mark in FIGS. 3 and 4 indicates that the count of the position detector 201 increases, and the “−” mark indicates that the count of the position detector 201 decreases. When the U, V, and W phases of the motor 200 are excited, the motor 200 moves so as to approach the excited phases. Therefore, combinations of increasing and decreasing counts of the position detector 201 when excited on the U, V, and W phases, respectively. Is determined for each magnetic pole position, as shown in FIG. Here, the motor 200 is forward rotation when moving in the order of U-phase, V-phase, and W-phase, and reverse rotation when moving in the order of W-phase, V-phase, and U-phase. And

FIG. 5 is a flowchart showing the flow of processing for estimating the polarity of the detector of the motor control device according to the first embodiment. In step S1, the polarity estimation unit 104 obtains a combination of count increase/decrease directions of the position detector 201 when the U, V, and W phases are excited for a short time. In step S2, the polarity estimation unit 104 determines where in the divided area the magnetic pole position is based on the combination of the increasing and decreasing directions of the count of the position detector 201 when excited on the U, V, and W phases, respectively. presume.

However, even if the combination of the count increasing/decreasing directions of the position detector 201 when excited on the U, V, and W phases is the same, the direction in which the motor 200 rotates in the positive direction has the positive polarity of the position detector 201. The estimated magnetic pole position is different depending on whether the direction is the direction or the direction in which the motor 200 rotates in the reverse direction is the direction in which the polarity of the position detector 201 is positive. For example, when the count increasing/decreasing directions of the position detector 201 when excited on the U, V, and W phases are −, +, and +, respectively, the direction in which the motor 200 rotates in the positive direction is the direction of the positive polarity of the position detector 201. In some cases, it is estimated that the magnetic pole position is in the area #3. On the other hand, when the direction in which the motor 200 rotates in the reverse direction is the direction in which the position detector 201 has the positive polarity, it is estimated that the magnetic pole position is in the area #6. Therefore, in step S2, the magnetic pole position is not specified to one, but is narrowed down to two candidate magnetic pole positions.

In step S3, the polarity estimation unit 104 estimates the polarity of the position detector 201. At this time, the polarity estimation unit 104 excites one of the two magnetic pole positions narrowed down in step S2. For example, when it is estimated that the magnetic pole position is located at No. 3 or No. 6 in step S2, excitation is performed at the center position of No. 3 or 6 in step S3. Here, it is assumed that the central position of No. 3 is excited.

At this time, if the actual magnetic pole position is within the area No. 3, the deviation between the excitation position and the magnetic pole position is within 30° per magnetic pole position, so the rotation angle of the motor 200 is within 30°. On the other hand, if the actual magnetic pole position is within the area No. 6, the deviation between the excitation position and the magnetic pole position is 150° or more per magnetic pole position, so the rotation angle of the motor 200 becomes larger than 30°. Therefore, when the rotation angle when excited at the center position of No. 3 is within 30°, it can be estimated that “the direction in which the motor 200 rotates in the positive direction is the direction in which the position detector 201 has the positive polarity”. On the other hand, when the angle is larger than 30°, the polarity of the position detector 201 can be estimated as “the direction in which the motor 200 rotates in the reverse direction is the positive direction of the position detector 201 ”.

Further, the magnetic pole position can be specified from the rotation angle of the motor 200 when excited in the process of estimating the polarity of the position detector 201 in step S3. When the rotation angle of the motor 200 when excited at the center position of No. 3 is within 30°, it can be specified that the magnetic pole position is in the No. 3 area. On the contrary, when the rotation angle of the motor 200 when excited at the center position of No. 3 is larger than 30°, it can be specified that the magnetic pole position is in the No. 6 area.

The motor control device 100 according to the first embodiment is based on the combination of the rotation directions of the motor 200 detected by the position detector 201 when a plurality of excitation positions of the motor 200 are excited, and the magnetic pole position candidates of the motor 200. In order to estimate the polarity of the position detector 201 based on the rotation angle of the motor 200 detected by the position detector 201 when one of the two extracted magnetic pole position candidates is excited. The polarity of the position detector 201 can be estimated from the minute rotation angle. Therefore, the polarity of the position detector 201 can be automatically set even in a device in which the device may be damaged if the rotation angle of the motor 200 is large at startup.

The motor control device 100 according to the first embodiment detects the rotational direction when extracting two magnetic pole position candidates of the motor 200, and when exciting one of the two candidates. In addition, since the polarity of the position detector 201 can be estimated by detecting whether or not the rotation angle of the motor 200 falls within a certain range, the rotation of the motor 200 during the polarity estimation of the position detector 201 can be performed. The angle can be reduced.

The function of the polarity estimation unit 104 according to the first embodiment described above is realized by a processing circuit. The processing circuit may be dedicated hardware or a processing device that executes a program stored in the storage device. A microcontroller can be applied to the polarity estimation unit 104, but is not limited to this.

Where the processing circuit is dedicated hardware, the processing circuit may be a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit, a field programmable gate array, or a combination thereof. Is applicable. FIG. 6 is a diagram showing a configuration in which the function of the polarity estimation unit of the motor control device according to the first embodiment is realized by hardware. The processing circuit 29 incorporates a logic circuit 29a that realizes the function of the polarity estimation unit 104.

When the processing circuit 29 is a processing device, the function of the polarity estimation unit 104 is realized by software, firmware, or a combination of software and firmware.

FIG. 7 is a diagram showing a configuration in which the function of the polarity estimation unit of the motor control device according to the first embodiment is realized by software. The processing circuit 29 includes a processor 291 that executes the program 29b, a random access memory 292 used by the processor 291 as a work area, and a storage device 293 that stores the program 29b. The function of the polarity estimation unit 104 is realized by the processor 291 expanding the program 29b stored in the storage device 293 on the random access memory 292 and executing it. The software or firmware is described in a programming language and stored in the storage device 293. The processor 291 may be, but is not limited to, a central processing unit. The storage device 293 is a semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory). it can. The semiconductor memory may be a non-volatile memory or a volatile memory. In addition to the semiconductor memory, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc) can be applied to the storage device 293. Note that the processor 291 may output data such as a calculation result to the storage device 293 to store the data, or may store the data in an auxiliary storage device (not shown) via the random access memory 292.

The processing circuit 29 realizes the function of the polarity estimation unit 104 by reading and executing the program 29b stored in the storage device 293. It can be said that the program 29b causes a computer to execute the procedure and method for realizing the function of the polarity estimation unit 104.

Note that the processing circuit 29 may implement some of the functions of the polarity estimating unit 104 with dedicated hardware and some of the functions of the polarity estimating unit 104 with software or firmware.

In this way, the processing circuit 29 can realize each function described above by hardware, software, firmware, or a combination thereof.

The configurations described in the above embodiments are examples of the content of the present invention, and can be combined with other known techniques, and the configurations of the configurations are not departing from the scope of the present invention. It is also possible to omit or change parts.

29 processing circuit, 29a logic circuit, 29b program, 100 motor control device, 101 command unit, 102 current control unit, 103 excitation command creating unit, 104 polarity estimating unit, 105 switching unit, 200 motor, 201 position detector, 291 processor , 292 Random access memory, 293 Storage device.

Claims (3)

An excitation command creation unit that excites the excitation position of any phase of a motor having a plurality of phases,
And a polarity estimation unit that estimates the polarity of the position detector that detects the rotation angle of the motor,
The polarity estimating unit extracts two candidates of magnetic pole positions of the motor based on a combination of rotation directions of the motor detected by the position detector when the plurality of excitation positions of the motor are excited. , Estimating the polarity of the position detector based on the rotation angle of the motor detected by the position detector when excited to one of the two extracted magnetic pole position candidates. Motor control device. The motor control device according to claim 1, wherein the polarity estimation unit estimates the magnetic pole position based on a rotation angle when the one side is excited. The motor control device according to claim 1 or 2, wherein the excitation command creating unit has a plurality of the excitation positions in each of a plurality of phases of the motor.

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