JPH07135793A - Method and apparatus for controlling commutorless motor - Google Patents

Abstract

PURPOSE:To smooth the rotation during one rotation by making the difference between the time of each section obtained by dividing one cycle of a rotor and the average time to be an input 1, making the changing rate of the difference between the time of this section and the average time to be an input 2, performing fuzzy operation in accordance with specified control rules and membership functions, and correcting a voltage. CONSTITUTION:One rotation of a rotor la of a motor 1 is divided into a plurality of sections based on position detecting signals A1-C1 of a position detecting part 5. A time computing part 10 computes the time of each divided section. A difference computing part 11 computes the average time of each section during one rotation and computes the difference between the time of each section and the average time. A changing-rate computing part 12 computes the changing rate of the difference between the computed time of each section and average time. a fuzzy controller 13, the computed difference is made to be the input 1 and the changing rate of the time difference is made to be an input 2, and the increasing and decreasing values of the rotating speed of the rotor 1a are computed. An increasing/decreasing-value computing part 14 computes the increasing/decreasing values Va of the voltage to be applied on armature windings A-C based on the computed increasing and decreasing values.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control technology for a non-commutator motor (brushless motor) used in a compressor of an air conditioner, and more particularly, to a method for controlling a non-commutator motor for smooth rotation. It is about.

[0002]

2. Description of the Related Art When this non-commutator electric motor (brushless motor) is used as a motor for a compressor, for example, a control device shown in FIG. 19 is required. In FIG. 19, this control device drives a non-commutator electric motor (for example, a three-phase four-pole brushless motor) 1 with a commercial power source 2,
An AC / DC converter 3 for converting the commercial power supply 2 into a DC, a switching circuit 4 for switching the converted DC power and applying it to the non-rectifier motor 1, and a non-rectifier motor 1
Position detection circuit 5 for detecting the position of the rotor 1a, and a control signal for controlling the rotation of the non-commutator motor 1 and the detected position of the rotor 1a (position detection signals A1, B
1, C1) to detect the rotation speed of the non-commutator motor 1 and output a chopping signal for variably controlling the rotation speed of the non-commutator motor 1 to a target rotation (microcomputer) 6 A chopping circuit 7 for chopping a control signal (for example, H level) by the chopping signal, and a drive circuit 8 for turning on and off the transistor of the switching circuit 4 by the chopped control signal.

In the control device for the above-mentioned commutatorless motor,
The voltage applied to the plurality of armature windings A, B, C of the non-rectifier motor 1 changes depending on the on / off ratio (on time) of the chopping signal from the microcomputer 6, that is, the rotation speed of the non-rectifier motor 1 is It depends on the on / off ratio of the chopping signal. Therefore, if the on / off ratio of the chopping signal is varied based on the detected rotation speed of the non-rectifier motor 1, the rotation speed of the non-rectifier motor 1 can be controlled to a predetermined value.

[0004]

By the way, as shown in FIG. 20, when the non-commutator motor 1 is used as a compressor motor of an air conditioner, the compressor sucks refrigerant, compresses it, and discharges it. The load of the commutatorless electric motor 1 becomes the heaviest during the compression in one cycle of the suction, compression and discharge, and the lightest at the moment when the compressed refrigerant is discharged.

Therefore, the rotation speed of the non-commutator electric motor 1 is slow when the sucked refrigerant is compressed, becomes slowest just before the compressed refrigerant is discharged, and becomes high when the compressed refrigerant is discharged.

That is, during one cycle of the compressor (rotor 1
In each section (during one rotation of a), for example, in 12 sections, the rotation speed becomes non-uniform in each of the 12 sections, and the rotation is not smooth, which causes vibration and noise. This is because the voltage applied for each section during one rotation, which is changed by the chipping signal output from the control unit 6 in FIG. 19, is a constant value (100
This is because V). The unit in the upper row of Table 2 below is ms, and the unit in the lower row is V.

[0007]

[Table 2]

Therefore, for example, by adding a special mechanism or a special circuit to the non-rectifier electric motor 1, it is possible to eliminate the above factors of vibration and noise.
By adopting a special mechanism or circuit, the cost increases, and a new mechanism or circuit may cause a problem in terms of quality.

The present invention has been made in view of the above problems, and it is an object of the present invention to make it possible to smoothly rotate a commutatorless motor without adding a new mechanism or circuit, and thus to generate vibration or noise. It is an object of the present invention to provide a control method for a non-commutator motor that can be suppressed and can be manufactured at low cost.

[0010]

In order to achieve the above object, the present invention detects the position of a rotor of a commutatorless motor and, based on the detected position signal (position detection signal), Rotation speed of the commutator motor is controlled by switching the energization to multiple armature windings to control the rotation of the rotor of the same commutator motor and by varying the voltage applied to each armature winding. A method for controlling a non-commutator motor for controlling a rotor, wherein one cycle (one rotation) of the rotor is divided into a plurality of sections by the position detection signal, and a rotation speed of the rotor in each of the divided sections is detected. In addition, the average value of the rotation speeds is calculated, and the changing ratio of the difference between the rotation speeds and the average values in each section is calculated, and the difference between the rotation speed and the average value in each section is set as input 1. , The rotation speed and flatness in each section The rate of change of the difference from the value is input 2 and fuzzy operation is performed according to a predetermined control rule and membership function, and the voltage applied to each armature winding of the non-rectifier motor is corrected by the fuzzy operation result. The gist is that the rotation speed in each section is kept constant.

[0011]

With the above means, one cycle (one rotation) of the rotor of the non-rectifier motor is divided into a plurality of sections based on the position detection signal of the rotor, and the rotor rotates in each section. The speed is calculated, and the average value of the rotation speed in each section is calculated. The difference between the rotational speed and the average value and the change rate of the difference between the rotational speed and the average value in each section are calculated and used as an input for fuzzy calculation.

In this fuzzy calculation, for example, the difference between the rotation speed and the average value in each section is large in the positive direction, and the change rate of the difference between the rotation speed and the average value in each section is large in the positive direction.
An increase / decrease value that makes the voltage applied to each armature winding smaller can be obtained.

On the contrary, the larger the difference between the rotation speed and the average value in each section is in the negative direction and the larger the change rate of the difference between the rotation speed in each section and the average value is in the negative direction, the more An increase / decrease value that makes the applied voltage larger can be obtained.

As described above, the ratio of varying the voltage applied to the armature winding is changed by the difference between the rotation speed and the average value in each section, and the rotation speed in each section has the average value. Since the voltage applied to each armature winding of the commutator motor is variable for each section, the rotation of the non-commutator motor becomes smooth.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION A control method and apparatus for a non-commutator motor according to the present invention uses a signal (position detection signal) that detects the position of the rotor of a non-commutator motor to make one cycle (one rotation) of the rotor plural. The rotation speed of the rotor in this divided section is detected, the average value of this rotation speed is calculated, and the difference between the rotation speed and the average value in each section is set as input 1, and each section The change rate of the difference between the rotation speed and the average value is input as 2, and the increase / decrease value of the rotation speed in each section is fuzzy calculated according to the predetermined membership function and control rule, and the rotation speed in each section is calculated based on this fuzzy calculation result. In order to obtain an average value, the voltage applied to the armature winding is corrected so that the rotation speed in each section can be maintained at an average value even when the load of the non-commutator motor changes.

Therefore, the control device for the non-commutator motor of the present invention has the configuration shown in FIG. In the figure, the same parts as those in FIG.

In FIG. 1, this control device divides one revolution of the rotor 1a of the non-rectifier motor 1 into a plurality of revolutions based on the position detection signals A1, B1 and C1 from the position detector 5 and divides the revolution. The time calculation unit 10 of each section for calculating the time of each section (value corresponding to the rotation speed in each section)
And an average time of each section in one rotation based on the calculated time of each section, and a difference calculation unit 11 between each section time and an average time for calculating a difference between the time of each section and the average time. And a change rate calculation unit 12 of the difference between each section time and the average time for calculating the changing rate of the difference between the calculated section time and the average time, and the calculated time difference as input 1 A fuzzy control 13 which calculates the increase / decrease value of the rotation speed of the rotor 1a by performing a fuzzy calculation based on the control rule of Table 1 below and the membership function shown in FIGS. FIG. 1 shows an increase / decrease value calculation unit 14 for the applied voltage in each section for calculating an increase / decrease value ΔVα of the voltage applied to the plurality of armature windings A, B, C of the non-rectifier motor 1 based on the increase / decrease value.
In addition to the control unit (microcomputer) 6 function shown in 9, the voltage applied to each armature winding A, B, C of the non-rectifier motor 1 is corrected and controlled based on the calculated increase / decrease value ΔVα. The main controller 15 is provided.

[0018]

[Table 1]

In FIGS. 2 to 4, X, Y and Z are coefficients. Further, the time calculation unit 10 of each section, the difference calculation unit 11 between each section time and the average time, the change rate calculation unit 12 of the difference between each section time and the average time, and the fuzzy controller 1
3, the applied voltage increase / decrease value calculating unit 14 and the main controller 15 are functions of the control unit (microcomputer) 16 corresponding to the control unit 6 illustrated in FIG.

Next, the operation and control method of the controller for a non-commutator motor having the above-described structure will be described with reference to FIGS. 2 to 4, which are schematic diagrams of membership functions, FIGS. 5 to 16 are motor operation diagrams, and FIG.
Also, a detailed description will be given with reference to the time chart of FIG.

First, the main controller 15 outputs a predetermined control signal (for example, a PWM signal) and a chopping signal in order to keep the commutatorless motor 1 at a predetermined rotation speed, and controls the rotation of the commutatorless motor 1. At this time, the position detection circuit 5 detects the position of the rotor 1a of the non-rectifier motor 1 and outputs position detection signals A1, B1, C1 (shown in FIGS. 17A to 17C) to the main controller 15. To do.
The position of the rotor 1a of the non-commutator motor 1 may be detected by using a Hall element provided inside the non-commutator motor 1.

Then, the main controller 15 takes in the position detection signals A1, B1, C1 and controls the switching of the energization of the armature windings A, B, C of the non-rectifier motor 1 based on the position detection signals. It outputs a signal and also outputs a chopping signal for varying the voltage applied to each armature winding A, B, C.

On the other hand, the position detection signals A1, B1, C1 from the position detection circuit 5 are input to the time calculation section 10 of each section, and the time calculation section 10 of each section fetches the position detection signals A1, B1 ,. Rotor 1 of non-commutator motor 1 by C1
One cycle of a is divided into a plurality of sections, and the rotation speed of the rotor 1a in each section is calculated.

For example, when the commutatorless motor 1 is a three-phase four-pole motor, the position detection circuit 5 causes the position detection signals A1 and B to be detected.
1, C1 are output, and the time calculation unit 10 for each section outputs the 12 types of rotors 1 shown in FIGS. 5 to 16 by the rising and falling of the position detection signals A1, B1, C1.
The position of a is detected, and times T1 to T12 of each section obtained by dividing one cycle of the rotor 1a into 12 are calculated. The position of the rotor 1a shown in FIGS. 5 to 16 is at the timing shown by arrows a to l in FIG.

The difference calculating unit 11 for inputting the time T1 to T12 of each section and the average time Ta calculates the average time Ta of each section, and calculates the average time Ta and the time T1 to T12 of each section. And the difference ((Tn-T
a); n = 1 to 12) is calculated. Further, the change rate calculation unit 12 of the difference between each section time and the average time, into which the times T1 to T12 of each section are input, similarly calculates the difference (Tn-Ta) between each section time and the average time, and The ratio (Tn-Ta) / dt at which the difference changes is calculated.

The calculated difference (Tn-Ta) between the section times and the average time and the change rate (Tn-Ta) / dt of the difference between the section times and the average time are input 1 and input 2 as a fuzzy controller. Enter in 13. The fuzzy controller 13 is defined by the membership functions shown in FIGS. 2 to 4, and performs fuzzy operations according to the control rules shown in Table 1. As an example, IF (Tn-Ta) = NL
AND (Tn-Ta) / dt = NL THEN The fuzzy operation is performed in the formula of increase / decrease value of rotation speed = PL.

Specifically, the difference (T1-Ta) between the time T1 and the average time Ta in the section between the time points a and b is large in the negative direction during one rotation, and the time difference in the section is The change rate (Tn-Ta) / dt is large in the negative direction (see FIG. 18).
(Shown in (a)), that is, the time T1 of the section is much shorter than the average time Ta, and the change rate of the time difference of the section is greatly reduced. Then, in the fuzzy calculation, the increase / decrease value for increasing the rotation speed is calculated so that the rotation speed in the section becomes very high.

The applied voltage increase / decrease value calculating unit 14 in each section, to which the increase / decrease value of the rotational speed calculated in this way is input, controls the armature windings A, A of the non-rectifier motor 1 in that section.
An increase / decrease value ΔVα for increasing / decreasing the voltage applied to B and C is calculated. The calculated increase / decrease value ΔVα is input to the main controller 15, and the main controller 15 increases / decreases the applied voltage to each armature winding A, B, C of the non-rectifier motor 1 based on the increase / decrease value ΔVα. Output a control signal (change the chipping signal cycle).

Here, in the conventional case, the commutatorless motor 1 is used.
The voltage applied to each winding 1b of the same commutator motor 1 during one cycle (one rotation) of the rotor 1a of FIG.
00V) (shown in FIG. 18 (b)). Therefore,
When the non-commutator electric motor 1 is used as a motor of a compressor, the rotor 1a is operated during refrigerant suction, compression and discharge operations.
Rotation speed is different, that is, the rotation speed in a predetermined section is different.

However, in the present invention, the commutatorless motor 1
In one cycle of the rotor 1a, the difference between the times T1 to T12 and the average time in each section and the change rate of the difference in time are input, and a fuzzy operation is performed by a predetermined control rule and a membership function. The variable ratio of the voltage applied to each armature winding A, B, C of the non-rectifier motor 1 is changed for each section based on the calculation result. The variable ratio of the applied voltage is determined by the main controller 15
It can be changed depending on the on / off ratio (on time) of the chopping signal output from.

For example, when the time of each section in one rotation of the non-rectifier motor 1 is in the state shown in FIG. 18 (a), the time T1 is more than the average value (for example, 1 ms) between the sections of time points a and b. Is short (the rotation time is large on the negative side with respect to the average value), that is, the rotation speed in that section is high.

In this case, the rotation time T1 in that section
The voltage applied to the armature winding 1b of the non-rectifier motor 1 is set to a value lower by a predetermined value ΔVα so that

In this way, by lowering the variable ratio of the voltage applied to the armature winding 1b, the rotation time T1 in that section can be made extremely close to the average time of about 1 ms, that is, the rotation speed is It can be corrected to be late.

In the section between time points f and g, the rotation time T6 is longer than the average time (the rotation time is medium in the positive direction with respect to the average value), that is, the rotation speed in that section is medium slow. .

In this case, the same processing as described above is performed, and the voltage applied to the armature winding 1b of the non-rectifier motor 1 is increased by a predetermined value ΔVα so that the rotation time T6 in that section becomes the average time. To do.

As described above, by increasing the variable ratio of the voltage applied to the armature winding 1b to a medium level, the rotation time T6 in that section can be set to an average time of about 1 ms, that is, the rotation speed is slightly faster. Can be corrected so that

Similarly, every time the commutatorless motor 1 rotates, the rotation time of each section in one cycle (one rotation) becomes an average value, in other words, the rotation speed of each section becomes an average value. Thus, the variable ratio of the voltage applied to the armature winding 1b of the non-rectifier motor 1 can be changed.

As a result, the rotation time in each section can be made approximately the average time. For example, the commutatorless motor 1
When is used as a compressor motor, fluctuations in the rotational speed during one cycle of refrigerant suction, compression, and discharge operations are eliminated, and vibration and noise can be suppressed.

Further, since the above-mentioned control method is realized by the software of the control unit (microcomputer) 16, it is not necessary to add a special mechanism or a special circuit to the non-rectifier motor 1. There is no problem in terms of high cost and quality.

[0040]

As described above, according to the present invention, one cycle (one rotation) of the rotor is divided into a plurality of sections according to the position detection signal of the rotor of the non-commutator motor, and the divided sections are divided. , The average time is detected, the difference between the time of each section and the average time is input 1, the change rate of the difference between the time of the section and the average time is input 2, and the predetermined control rule and member Fuzzy operation is performed according to the ship function, and the voltage applied to the plurality of armature windings of the non-commutator motor is corrected by the fuzzy operation result.
Since the rotation speed in each section is set to a constant value, when used as a compressor motor of an air conditioner in which the load fluctuates, the load fluctuates during one cycle of refrigerant suction, compression and discharge, but the rotation is Since it is smooth, it is possible to suppress vibration and noise of the air conditioner.

Further, according to the present invention, since it can be realized by a microcomputer, it is not necessary to add a new mechanism or circuit, the cost is low, and a new problem in terms of quality arises. It has the effect of never happening.

[Brief description of drawings]

FIG. 1 is a schematic block diagram of a controller for a commutatorless motor showing an embodiment of the present invention.

FIG. 2 is a schematic diagram of a membership function for fuzzy calculation applied to the control device shown in FIG.

FIG. 3 is a schematic diagram of a membership function for fuzzy calculation applied to the control device shown in FIG.

4 is a schematic diagram of a membership function for fuzzy calculation applied to the control device shown in FIG.

5 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

FIG. 6 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1.

7 is a schematic diagram of a non-commutator motor for explaining the operation of the control device shown in FIG.

8 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

9 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

10 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

11 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

12 is a schematic diagram of a non-commutator motor for explaining the operation of the control device shown in FIG.

13 is a schematic diagram of a non-commutator motor for explaining the operation of the control device shown in FIG.

14 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG. 1. FIG.

15 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG.

16 is a schematic diagram of a commutatorless motor for explaining the operation of the control device shown in FIG.

FIG. 17 is a schematic time chart diagram for explaining the operation of the control device shown in FIG. 1.

FIG. 18 is a schematic time chart diagram for explaining the operation of the control device shown in FIG. 1.

FIG. 19 is a schematic block diagram of a conventional controller for a commutatorless motor.

[Fig. 20] Fig. 20 is a schematic diagram for explaining an operation when a non-rectifier electric motor is used as a compressor.

[Explanation of symbols]

 1 Non-commutator motor (brushless motor) 1a Rotor 1b Armature winding 2 AC power supply (commercial) 3 AC / DC converter 4 Switching circuit 5 Position detection circuit 6,16 Control unit (microcomputer) 7 Chopping circuit 8 Drive Circuit 10 Time calculation section for each section 11 Difference calculation section for each section time and average time 12 Change rate calculation section for difference between each section time and average time 13 Fuzzy controller 14 Increase / decrease value calculation section for applied voltage in each section 15 Main controller A1, B1, C1 Position detection signal

Claims (3)

[Claims] 1. A position of a rotor of a non-commutator motor is detected, and energization of a plurality of armature windings of the same commutator motor is switched based on the detected position signal (position detection signal). A method of controlling a non-commutator motor, wherein the rotation of the rotor of the same commutator motor is controlled, and the rotation speed of the rotor is controlled by varying the voltage applied to each armature winding. One cycle (one rotation) of the rotor by the position detection signal
Is divided into a plurality of sections, the rotation speed of the rotor in each of the divided sections is detected, an average value of the rotation speed is calculated, and the difference between the rotation speed and the average value in each section is changed. The ratio is calculated, the difference between the rotation speed and the average value in each section is set as an input 1, and the changing rate of the difference between the rotation speed and the average value in each section is set as an input 2 to the predetermined control rule and the membership function. Therefore, fuzzy operation is performed, and the voltage applied to each armature winding of the non-rectifier motor is corrected based on the fuzzy operation result so that the rotation speed in each section becomes constant. Motor control method. 2. The position of the rotor of the non-rectifier motor is detected, and the energization of a plurality of armature windings of the same commutator motor is switched based on the detected position signal (position detection signal). A method of controlling a non-commutator motor, wherein the rotation of the rotor of the same commutator motor is controlled, and the rotation speed of the rotor is controlled by varying the voltage applied to each armature winding. One cycle (one rotation) of the rotor by the position detection signal
Is divided into a plurality of sections, the rotation speed of the rotor in each of the divided sections is detected, an average value of the rotation speed is calculated, and the difference between the rotation speed and the average value in each section is changed. The ratio is calculated, the difference between the rotation speed and the average value in each section is set as input 1, and the changing rate of the difference between the rotation speed and the average value in each section is set as input 2, and the predetermined control rule and the membership function are used. As the input 1 increases in the negative direction and the input 2 increases in the negative direction, the increase / decrease value of the rotation speed in each section increases in the positive direction, and the input 1 increases in the positive direction and the input 2 increases in the positive direction. The larger the value, the larger the increase / decrease value of the rotation speed in the respective sections in the negative direction. The fuzzy calculation is performed, and the voltage applied to each armature winding of the non-rectifier motor is calculated based on the fuzzy calculation result. Correct, the control method of Brushless DC electric motor, characterized in that the rotational speed in each section is set to be constant. 3. The position of the rotor of the non-commutator motor is detected, and the energization of a plurality of armature windings of the same motor is switched based on the detected position signal (position detection signal). A control device for a non-commutator motor for performing rotation control of a rotor of the same commutator motor, and varying the voltage applied to each armature winding to control the number of revolutions of the rotor. One cycle (one rotation) of the rotor by the position detection signal
Is divided into a plurality of sections, and means for calculating the time in each of the divided sections, an average time of each section in one cycle is calculated by the calculated time, and a difference between the time of each section and the average time is calculated. A means for calculating, a means for calculating the change rate of the difference between the time of each section and the average time based on the calculated time, a difference between the calculated time and the average time of each section, and the time and the average of each section A fuzzy controller that calculates the increase / decrease value for correcting the rotation speed of the rotor according to a predetermined control rule and a membership function, using the change rate of the difference from the time as an input, and each of the fuzzy controllers according to at least the position detection signal. A main controller that varies the applied voltage to the armature winding and corrects the applied voltage based on the calculated increase / decrease value, and keeps the rotation speed of the rotor constant. Brushless DC electric motor control apparatus characterized by the the like.