JP6989021B2 - Rotating electric machine control device - Google Patents

Description

The present invention relates to a control device for a rotary electric machine.

Patent Document 1 discloses a control device for a rotary electric machine. According to the control device, the angle error of the resolver can be corrected.

International Publication No. 2015/029098

However, in the rotary electric machine described in Patent Document 1, the phase of the angle error may not correspond to the resolver electric angle detected by the resolver on a one-to-one basis depending on the order of the angle error to be corrected. That is, even if the resolver electric angle is obtained, there is a possibility that the mechanical angle deviates by 360 ° × n / N, where N is an axial double angle and n is an integer from 0 to N-1. In this case, if the power is turned on after the power is cut off, the correction of the angle error of the resolver may be deviated.

The present invention has been made to solve the above-mentioned problems. An object of the present invention is to provide a control device for a rotary electric machine capable of easily correcting an angular error of a resolver even when the power is turned on after the power is cut off.

The control device of the rotary electric machine according to the present invention has a frequency analysis unit that frequency-analyzes a signal used for controlling the rotary electric machine and calculates an amplitude analysis value and a phase analysis value of preset components, and the frequency analysis unit. The angle error estimation unit that estimates the angle error of the resolver of the rotary electric machine based on the calculated amplitude analysis value and the phase analysis value, and the detection position of the resolver based on the angle error estimated by the angle error estimation unit. When it is determined that the correction phase needs to be updated, the detection position correction unit for correcting the above, the storage unit for storing the phase analysis value when the angle error estimation unit estimates the angle error of the resolver, and the correction phase. Based on the difference between the phase analysis value calculated by the frequency analysis unit and the phase analysis value corresponding to the information stored by the storage unit, the correction phase of the angle error estimated by the angle error estimation unit is calculated. It is equipped with a correction phase calculation unit and a correction phase calculation unit.

According to the present invention, when it is determined that the correction phase needs to be updated, the control device has the calculated phase analysis value and the phase analysis value corresponding to the information stored before the power supply is cut off. The correction phase of the angle error of the resolver is calculated based on the difference of. Therefore, even when the power is turned on after the power is cut off, the angle error of the resolver can be easily corrected.

It is a block diagram of the system to which the control device of the rotary electric machine in Embodiment 1 is applied. It is a flowchart for demonstrating 1st example of the operation of the control device of a rotary electric machine in Embodiment 1. FIG. It is a flowchart for demonstrating the 2nd example of the operation of the control device of the rotary electric machine in Embodiment 1. FIG. It is a flowchart for demonstrating the 3rd example of the operation of the control device of the rotary electric machine in Embodiment 1. FIG. It is a hardware block diagram of the control device of the rotary electric machine in Embodiment 1. FIG. It is a block diagram of the system to which the control device of the rotary electric machine in Embodiment 2 is applied.

A mode for carrying out the present invention will be described with reference to the accompanying drawings. In each figure, the same or corresponding parts are designated by the same reference numerals. The duplicate description of the relevant part will be simplified or omitted as appropriate.

Embodiment 1.
FIG. 1 is a configuration diagram of a system to which the control device of the rotary electric machine according to the first embodiment is applied.

In FIG. 1, the rotary electric machine 1 is provided so as to be able to rotate by the supplied electric power. The inverter 2 is provided so as to be able to supply electric power to the rotary electric machine 1 based on the voltage command value V _ref. The position detector 3 is provided so as to be able to detect the _{measured electric angle θ r} of the resolver of the rotary electric machine 1. The current sensor 4 is provided so as to be able to detect the _{measured current value ifb} flowing from the inverter 2 to the rotary electric machine 1.

The control device 5 includes a drive command generation unit 6, a speed calculation unit 7, a speed control unit 8, and a current control unit 9.

The drive command generation unit 6 generates a drive command for driving the rotary electric machine 1. For example, the drive command generation unit 6 generates a torque command. For example, the drive command generation unit 6 generates a speed command value ω _ref . In the drive command generation unit 6, there may be a position control system outside the speed control system.

_{The speed calculation unit 7 calculates the speed measurement value ω r} of the rotary electric machine 1 based on the change in _{the electric angle measured value θ r} of the resolver detected by the position detector 3. _{The speed control unit 8 calculates the current command value i ref} based on the difference between the _{speed command value ω ref} from the drive command generation unit 6 and the speed measurement value ω _r from the speed calculation unit 7. The current control unit 9 calculates the _{voltage command value V ref} based on the difference between the _{current command value i ref} from the speed control unit 8 and the current actual measurement value if _{b from the current sensor 4.}

The control device 5 includes a frequency analysis unit 10, an angle error estimation unit 11, a detection position correction unit 12, a storage unit 13, a correction phase calculation unit 14, and a drive condition determination unit 15.

The frequency analysis unit 10 frequency-analyzes the signal used for controlling the rotary electric machine 1. For example, the frequency analysis unit 10 frequency-analyzes the measured current value _ifb detected by the current sensor 4. At this time, the frequency analysis result is expressed by the following equation (1).

However, S _x is a component of the Xth order of the signal to be frequency-analyzed. B _x is an amplitude analysis value of _{S x.} φ _Bx0 is a phase analysis value of Sx.

Angle error estimator 11 estimates the angle error of the resolver based on at least one of the amplitude analysis value B _x and phase analysis value phi _BX0 calculated by the frequency analyzing unit 10. For example, the angle error estimator 11 calculates the estimated amplitude value A _x and phase estimates phi _Ax0 as the estimated value of the angle error of the resolver. At this time, the estimation method is appropriately set. For example, the angle error of the resolver is estimated by using the X-th order amplitude analysis value of the current measured value _{iffb as the evaluation function and changing the correction value so as to minimize the evaluation function.}

The detection position correction unit 12 corrects the detection position of the resolver based on the angle error estimated by the angle error estimation unit 11. For example, the detection position correction unit 12 is based on the amplitude estimation value A _x calculated by the angle error estimation unit 11, the phase estimation value φ _{Ax 0, and the measured electric angle value θ r of} the resolver detected by the position detector 3. Correct the detection position of the resolver. Specifically, when the number of axial double angles of the resolver is N, the correction result of the detection position of the resolver is expressed by the following equation (2).

Here, θ _est is an angle error estimated value when the coordinates are set with the case where the measured electric angle θ _{r of the resolver is 0 as the reference of the mechanical angle θ m.} Specifically, the angle error estimated value θ _est is expressed by the following equation (3).

However, in this description, the measured electric angle θ _r of the resolver is expressed as an integrated angle in one rotation of the machine, and is assumed to be 0 or more and smaller than the product of 360 degrees and the axis double angle N.

For example, the storage unit 13 is a non-volatile memory. Storage unit 13, the angle error estimating unit 11 stores the information of the amplitude estimate A _x and phase estimates phi _Ax0 information angular error of the resolver. Storage unit 13, the angle error estimator 11 is amplitude analysis value B _x information and the phase analysis value phi _BX0 information frequency analysis results for the current actual measurement values i _fb when estimating angular error of the resolver, at that time The information of the driving condition of is stored. For example, if the rotary electric machine 1 is used for elevator hoisting machine, storage unit 13, and information of the angular error estimate when the information of the amplitude analysis value B _x and phase analysis value phi _BX0 information obtained , Information on the traveling direction, information on the position of the car at the start of driving, information on the load on the car, and information on the running speed of the car are stored. The angle error estimate when the information of the amplitude analysis value B _x information and phase analysis value phi _BX0 obtained is represented by the amplitude estimate A _x and phase estimate phi _Ax0 angular error angle It does not necessarily have to match the error estimate.

For example, the storage unit 13, stores information indicating that the angle error estimate as information of the angular error estimate when the information of the amplitude analysis value B _x information and phase analysis value phi _BX0 obtained is zero do. For example, the storage unit 13 stores information indicating that the vehicle is driving in the ascending direction as information in the traveling direction. For example, the storage unit 13 stores information indicating that the stop floor of the car is the lowest floor as information on the position of the car at the start of traveling. For example, the storage unit 13 stores information indicating a value detected by the load detector as information on the load of the car. For example, the storage unit 13 stores information indicating the value of the rotation speed V_0 (rad / s) of the rotary electric machine 1 as information on the traveling speed of the car.

Storage unit 13, the angle error estimator 11 toward the detection position correcting unit 12 outputs the information and the phase estimates phi _Ax0 information of the amplitude estimate A _x angular error of the resolver.

The correction phase calculation unit 14 calculates the correction phase Δφ when it is necessary to update the correction phase Δφ. The case where the correction phase Δφ needs to be updated means the case where the reference of the mechanical angle may shift due to the power cutoff or the like after the estimation of the angle error estimation unit is completed, and the correction phase Δφ does not need to be updated. In this case, the power supply is not cut off after the estimation of the angle error estimation unit is completed, or the correction phase Δφ has already been updated. When the correction phase calculation unit 14 needs to update the correction phase Δφ, the frequency analysis unit 10 first newly performs frequency analysis of the signal used for controlling the rotary electric machine 1. The frequency result of the Xth-order signal is expressed by Eq. (4). However, _S'x is an X-order components of the signal to frequency analysis. _B'x is the amplitude analysis value of _S'x. φ _Bx is a phase analysis value of S ′ _x.

Correction phase calculating section 14, based on the difference between the phase analysis value phi _BX0 stored by the storage unit 13 before the newly obtained phase analysis value phi _Bx and power is cut off, by the angle error estimator 11 Calculate the correction phase Δφ of the estimated angle error. Specifically, the correction phase Δφ is expressed by the following equation (5).

As a result, the output of the detected position correcting unit 12 is corrected to a value [theta] & apos _r represented by the following equation (6).

The drive condition determination unit 15 determines whether or not to operate the correction phase calculation unit 14. Specifically, the drive condition determination unit 15 determines whether or not the current drive condition matches the drive condition corresponding to the information stored in the storage unit 13. The drive condition determination unit 15 outputs the information of the condition determination trigger to the correction phase calculation unit 14 when the current drive condition matches the drive condition corresponding to the information stored in the storage unit 13, thereby correcting the phase. The arithmetic unit 14 is operated.

Next, a first example of the operation of the control device 5 will be described with reference to FIG.
FIG. 2 is a flowchart for explaining a first example of the operation of the control device of the rotary electric machine according to the first embodiment.

In step S1, the control device 5 determines whether or not the correction phase Δφ needs to be updated. When it is determined in step S1 that the correction phase Δφ does not need to be updated, the control device 5 does not update the correction phase Δφ, but corrects the angle error based on _{the amplitude estimated value A x} and the phase estimated value φ _{Ax 0.} Control is performed based on the drive command generation unit 6. When it is determined in step S1 that the correction phase Δφ needs to be updated, the control device 5 performs the operation of step S2.

In step S2, the control device 5 drives the rotary electric machine 1 and performs frequency analysis. After that, the control device 5 performs the operation of step S3. In step S3, the control device 5 stores the information _{of the phase analysis value φ Bx of the frequency analysis result.} After that, the control device 5 performs the operation of step S4. In step S4, the control unit 5, based on the difference between the phase analysis value phi _BX0 stored before newly computed phase analysis value phi _Bx and power is turned off, is estimated by the angle error estimator 11 Calculate the correction phase Δφ of the angle error. After that, the control device 5 corrects the angle error based on the equation (6) using the newly calculated correction phase Δφ, and performs control based on the drive command generation unit 6.

Next, a second example of the operation of the control device 5 will be described with reference to FIG.
FIG. 3 is a flowchart for explaining a second example of the operation of the control device of the rotary electric machine according to the first embodiment.

In step S11, the control device 5 determines whether or not the correction phase Δφ needs to be updated. If it is determined in step S11 that the correction phase Δφ does not need to be updated, the control device 5 does not update the correction phase Δφ, but corrects the angle error based on _{the amplitude estimated value A x} and the phase estimated value φ _{Ax 0.} Control is performed based on the drive command generation unit 6. When it is determined in step S11 that the correction phase Δφ needs to be updated, the control device 5 performs the operation of step S12.

In step S12, the control device 5 determines whether or not the current drive condition and the drive condition corresponding to the stored information match. If the current drive condition and the drive condition corresponding to the stored information do not match in step S12, the control device 5 continues the operation of step S12. When the current drive condition and the drive condition corresponding to the stored information match in step S12, the control device 5 performs the operation of step S13.

In step S13, the control device 5 drives the rotary electric machine 1 and performs frequency analysis. After that, the control device 5 performs the operation of step S14. In step S14, the control device 5 stores the information _{of the phase analysis value φ Bx of the frequency analysis result.} After that, the control device 5 performs the operation of step S15. In step S15, the control unit 5, based on the difference between the phase analysis value phi _BX0 stored before newly computed phase analysis value phi _Bx and power is turned off, is estimated by the angle error estimator 11 Calculate the correction phase Δφ of the angle error. After that, the control device 5 corrects the angle error based on the equation (6) using the newly calculated correction phase Δφ, and performs control based on the drive command generation unit 6.

Next, a third example of the operation of the control device 5 will be described with reference to FIG.
FIG. 4 is a flowchart for explaining a third example of the operation of the control device of the rotary electric machine according to the first embodiment.

In step S21, the control device 5 determines whether or not the correction phase Δφ needs to be updated. When it is determined in step S21 that the correction phase Δφ does not need to be updated, the control device 5 does not update the correction phase Δφ, corrects the angle error, and performs control based on the drive command generation unit 6. When it is determined in step S21 that the correction phase Δφ needs to be updated, the control device 5 performs the operation of step S22. In step S22, the control device 5 determines whether or not the current drive condition and the drive condition corresponding to the stored information match.

If the current drive condition and the drive condition corresponding to the stored information do not match in step S22, the control device 5 performs the operation of step S23. In step S23, the control device 5 changes the current drive condition to the stored drive condition. After that, the control device 5 performs the operation of step S24. When the current drive condition and the drive condition corresponding to the stored information match in step S22, the control device 5 performs the operation of step S24 without performing the operation of step S23.

In step S24, the control device 5 drives the rotary electric machine 1 and performs frequency analysis. After that, the control device 5 performs the operation of step S25. In step S25, the control device 5 stores the information _{of the phase analysis value φ Bx of the frequency analysis result.} After that, the control device 5 performs the operation of step S26. In step S26, the control unit 5, based on the difference between the phase analysis value phi _BX0 stored before newly computed phase analysis value phi _Bx and power is turned off, is estimated by the angle error estimator 11 Calculate the correction phase Δφ of the angle error. After that, the control device 5 corrects the angle error based on the equation (6) using the newly calculated correction phase Δφ, and performs control based on the drive command generation unit.

According to the first embodiment described above, the control device 5 corresponds to the calculated phase analysis value and the information stored before the power is cut off when the power is turned on after the power is turned off. The correction phase of the angle error of the resolver is calculated based on the difference from the phase analysis value. Therefore, even when the power is turned on after the power is cut off, the angle error of the resolver can be easily corrected.

For example, the electric angle of the resolver and the phase of the angle error do not correspond to one-to-one in relation to the order of the slot, and the reference angle becomes unclear when the power is turned on after the power is cut off. Even in this case, it is possible to specify the region where the resolver is arranged among the plurality of regions separated by the double angle of the axis. As a result, it is not necessary to repeat the estimation of the angle error of the resolver.

At this time, it is not necessary to constantly update the integrated information of the electric angle of the resolver. Therefore, the rewriting operation of the storage unit 13 can be reduced. As a result, the life of the storage unit 13 can be extended.

It should be noted that the deviation of the mechanical angle due to the power cutoff occurs only discretely. Further, the output of the frequency analysis unit 10 may also include a detection error. Therefore, the discretizer may be provided in the correction phase calculation unit 14. At this time, in the discretizer, the correction phase of the angle error may be calculated with a width corresponding to the value obtained by dividing 360 degrees by the double angle of the axis. In this case, the angle error of the resolver can be easily and accurately corrected even when the power is turned on after the power is cut off.

Further, the correction of the angle error of the resolver is performed under the same driving conditions. Therefore, even if the transfer function up to the frequency analysis of the current differs depending on the position of the elevator car, the angle error of the resolver can be easily and accurately corrected.

The control device 5 may be applied to the position control system using the ball screw. At this time, the transfer function until the frequency analysis of the current is performed differs depending on the position of the table. Even in this case, the angle error of the resolver can be easily and accurately corrected.

Further, when the power is turned on after the power is cut off, the drive command generation unit 6 drives the rotary electric machine 1 to drive under the drive conditions corresponding to the information stored by the storage unit 13 before the power is cut off. You may generate a command. In this case, the angle error of the resolver can be easily corrected immediately after the power is turned on.

Next, an example of the control device 5 will be described with reference to FIG.
FIG. 5 is a hardware configuration diagram of the control device of the rotary electric machine according to the first embodiment.

Each function of the control device 5 can be realized by a processing circuit. For example, the processing circuit comprises at least one processor 16a and at least one memory 16b. For example, the processing circuit comprises at least one dedicated hardware 17.

When the processing circuit includes at least one processor 16a and at least one memory 16b, each function of the control device 5 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 16b. At least one processor 16a realizes each function of the control device 5 by reading and executing a program stored in at least one memory 16b. At least one processor 16a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 16b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like.

If the processing circuit comprises at least one dedicated hardware 17, the processing circuit may be, for example, a single circuit, a composite circuit, a programmed processor 16a, a parallel programmed processor 16a, an ASIC, an FPGA, or a combination thereof. It will be realized. For example, each function of the control device 5 is realized by a processing circuit. For example, each function of the control device 5 is collectively realized by a processing circuit.

For each function of the control device 5, a part may be realized by the dedicated hardware 17, and the other part may be realized by software or firmware. For example, the function of the frequency analysis unit 10 is realized by a processing circuit as dedicated hardware 17, and the function other than the function of the frequency analysis unit 10 is a program in which at least one processor 16a is stored in at least one memory 16b. It may be realized by reading and executing.

In this way, the processing circuit realizes each function of the control device 5 by hardware, software, firmware, or a combination thereof.

Embodiment 2.
FIG. 6 is a configuration diagram of a system to which the control device of the rotary electric machine according to the second embodiment is applied. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of this part is omitted.

In the control device 5 of the second embodiment, the frequency analysis unit 10 frequency-analyzes the measured speed value ω _r of the rotary electric machine 1.

According to the second embodiment described above, the control unit 5, the speed measurement omega _r of the rotary electric machine 1 on the basis of the result of the frequency analysis, and calculates the angular error correction phase of the resolver. Therefore, even when the power is turned on after the power is cut off, the angle error of the resolver can be easily corrected.

As described above, the control device for the rotary electric machine according to the present invention can be used in a system for correcting the angle error of the resolver.

1 Rotating electric machine, 2 Inverter, 3 Position detector, 4 Current sensor, 5 Control device, 6 Drive command generator, 7 Speed calculation unit, 8 Speed control unit, 9 Current control unit, 10 Frequency analysis unit, 11 Angle error estimation Unit, 12 Detection position correction unit, 13 Storage unit, 14 Correction phase calculation unit, 15 Drive condition determination unit, 16a processor, 16b memory, 17 Hardware

Claims (6)

A frequency analysis unit that frequency-analyzes the signal used to control the rotary electric machine and calculates the amplitude analysis value and phase analysis value of the preset components.
An angle error estimation unit that estimates the angle error of the resolver of the rotary electric machine based on the amplitude analysis value and the phase analysis value calculated by the frequency analysis unit.
A detection position correction unit that corrects the detection position of the resolver based on the angle error estimated by the angle error estimation unit, and a detection position correction unit.
A storage unit that stores the phase analysis value when the angle error estimation unit estimates the angle error of the resolver, and a storage unit.
When it is determined that the correction phase needs to be updated, the phase analysis value calculated by the frequency analysis unit and the phase analysis value corresponding to the information stored by the storage unit are used as the basis for the difference between the phase analysis value and the phase analysis value. A correction phase calculation unit that calculates the correction phase of the angle error estimated by the angle error estimation unit,
The control device of the rotary electric machine equipped with. The corrected phase calculation unit axes 360 degrees based on the difference between the phase analysis value calculated by the frequency analysis unit and the phase analysis value corresponding to the information stored by the storage unit before the power supply is cut off. The control device for a rotary electric machine according to claim 1, wherein the correction phase of the angle error estimated by the angle error estimation unit is calculated with a width corresponding to a value obtained by dividing by a double angle. The storage unit stores information on the driving conditions of the rotary electric machine when the angle error estimation unit estimates the angle error of the resolver.
When it is determined that the correction phase needs to be updated, the correction phase calculation unit sends the frequency analysis unit to the frequency analysis unit when the rotary electric machine is driven under the drive conditions corresponding to the information stored by the storage unit. A claim for calculating the correction phase of the angle error estimated by the angle error estimation unit based on the difference between the obtained phase analysis value and the phase analysis value stored by the storage unit before the power is cut off. 1 or the control device for the rotary electric machine according to claim 2. A drive command generation unit that generates a drive command so that the rotary electric machine is driven under the drive conditions corresponding to the information stored by the storage unit when it is determined that the correction phase needs to be updated.
The control device for a rotary electric machine according to claim 3. The control device for a rotary electric machine according to any one of claims 1 to 4, wherein the frequency analysis unit frequency-analyzes a signal of a current flowing through the rotary electric machine as a signal used for controlling the rotary electric machine. The control device for a rotary electric machine according to any one of claims 1 to 4, wherein the frequency analysis unit frequency-analyzes a signal of the speed of the rotary electric machine as a signal used for controlling the rotary electric machine.

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