JPS6192188A - Motor controller - Google Patents
Motor controllerInfo
- Publication number
- JPS6192188A JPS6192188A JP59213528A JP21352884A JPS6192188A JP S6192188 A JPS6192188 A JP S6192188A JP 59213528 A JP59213528 A JP 59213528A JP 21352884 A JP21352884 A JP 21352884A JP S6192188 A JPS6192188 A JP S6192188A
- Authority
- JP
- Japan
- Prior art keywords
- current
- circuit
- motor
- speed
- output
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/045—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage whereby the speed is regulated by measuring the motor speed and comparing it with a given physical value
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
【発明の詳細な説明】
産業上の利用分野
本発明は、同期モータを用いたＡＣサーボモータ制御装
置に関するものである。DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an AC servo motor control device using a synchronous motor.
従来例の構成とその問題点
第３図に、同期モータを用いたＡＣサーボモータ制御装
置の従来例を示す。同図において、１は速度指令回路、
２は速度誤差アンプでちゃ、速度指令回路１と、速度検
出器９の出力の偏差を増幅する。３はｆｉｌ、；流誤差
アンプであり、速度誤差アンプ２の出力にもとづく電流
指令値と、電流検出回路６の出力の偏差を増幅する。、
４は逆変換回路であり、同期モータ７に接続された回転
子位置検出器日の出力にもとづき制御素子を制御して同
期モータ７を回転させる。Structure of a conventional example and its problems FIG. 3 shows a conventional example of an AC servo motor control device using a synchronous motor. In the figure, 1 is a speed command circuit;
A speed error amplifier 2 amplifies the deviation between the outputs of the speed command circuit 1 and the speed detector 9. 3 is a current error amplifier fil, which amplifies the deviation between the current command value based on the output of the speed error amplifier 2 and the output of the current detection circuit 6; ,
Reference numeral 4 denotes an inverse conversion circuit, which controls a control element based on the output of a rotor position detector connected to the synchronous motor 7 to rotate the synchronous motor 7.
第４図は、第３図の動作の説明図である。第４図ａ、ｂ
、ｃは、第３図の回転子位置検出器８の出力信号で、そ
れぞれ１２００の位相差を有する。FIG. 4 is an explanatory diagram of the operation of FIG. 3. Figure 4 a, b
, c are output signals of the rotor position detector 8 in FIG. 3, each having a phase difference of 1200.
これらの信号から、論理的にｄ −ｉの信号をつくる。From these signals, a signal of d - i is logically created.
図に示しだＵ＋〜Ｗ−の記号は、それぞれ制御素子Ｕ＋
〜Ｗ−に対応する。ｄ、ｅ、ｆの信号かられかるように
Ｕ＋、Ｖ”、Ｗ＋の素子はそれぞれ１２０゜ずつ通電し
、同Ｕ：；に通電する期間はない。The symbols U+ to W- shown in the figure are the control elements U+, respectively.
Corresponds to ~W-. As can be seen from the signals d, e, and f, the elements U+, V", and W+ are energized by 120 degrees each, and there is no period in which the element U:; is energized.
’ ｒ ｋ＋ Ｃけそれぞれモータの線電流を示す。' r k + C each indicates the line current of the motor.
この線電流は、第３図に示す電流検出器５により検出さ
れ、電流検出回路６により増幅された後、電流指令値と
等しくなるように制御される、この従来例の制御装置に
おいて、電流検出器５はモータの各線電流を検出するた
め、３個の検出器が必要であり、かつ絶縁形でなければ
ならない。This line current is detected by the current detector 5 shown in FIG. 3, amplified by the current detection circuit 6, and then controlled to be equal to the current command value. Since the detector 5 detects the current in each line of the motor, it requires three detectors and must be of an insulated type.
寸だ電流検出回路６は、高速応答が要求され、一般に高
価格となる。しだがって上記のような従来の
例のモータ制御装置を低価格ンスアムに適用する場合に
、価格上の問題があった。The high-speed current detection circuit 6 is required to have a high-speed response and is generally expensive. Therefore, when applying the conventional motor control device as described above to a low-cost motor, there is a cost problem.
発明の目的
本発明は上記従来例の欠点を改良し、低価格のＡＣサー
ボモータ制御装置を提供することを目的とする。OBJECTS OF THE INVENTION An object of the present invention is to improve the drawbacks of the above-mentioned conventional examples and to provide a low-cost AC servo motor control device.
発明の構成
本発明は、前記電流検出器を逆変換回路の入力側に設け
ることにより、電流検出器の数を１個に低減し、入力電
流のピーク値を制御することにより、近似的にモータ電
流を制御するものであり、価格の低減が可能となる。Structure of the Invention The present invention reduces the number of current detectors to one by providing the current detector on the input side of the inversion circuit, and by controlling the peak value of the input current, the motor can be approximately This controls the current, making it possible to reduce costs.
実施例の説明
以下、本発明の実Ｍ＋ｉ例について説明する。第１図は
本発明の実施例を示す。同図において、第３図と同一番
−弓は同一部分を示す。DESCRIPTION OF EMBODIMENTS Hereinafter, actual M+i examples of the present invention will be described. FIG. 1 shows an embodiment of the invention. In this figure, the same first and second lines as in FIG. 3 indicate the same parts.
１は速度指令回路、２は速度誤差アンプであり、速度指
令１１１１路１の出力、速度検出器９の出力との偏差を
増幅し７速度フィードバック回路を構成する。1 is a speed command circuit, and 2 is a speed error amplifier, which amplifies the deviation between the output of the speed command 1111 path 1 and the output of the speed detector 9, and constitutes a 7-speed feedback circuit.
５は電流検出器で、逆変換回路４の入力側の電流を検出
する」、うに設けられている。検出された電流は、電流
検出回路６で増幅される。１０は比較回路であり、速度
誤差アンプ２の出力にもとづく電流指令値と、電流検出
回路６により検出された入力電流のピークが等しくなっ
た。ことを検出する。A current detector 5 is provided to detect the current on the input side of the inverse conversion circuit 4. The detected current is amplified by the current detection circuit 6. Reference numeral 10 denotes a comparison circuit in which the current command value based on the output of the speed error amplifier 2 and the peak of the input current detected by the current detection circuit 6 are equal. Detect that.
１１はタイマ回路であり、比較回路１０の動作の後、一
定時間Ｔ。ｉｆたけ逆変換回路４の通電素子をオフする
。逆変換回路４の動作は前述と同様である。また同門モ
ータ７、それに取付けられた回転子位置検出器８．およ
び速度検出器９も第３図と同一である。11 is a timer circuit, which waits for a certain period of time T after the operation of the comparison circuit 10. The energizing element of the if-value inversion circuit 4 is turned off. The operation of the inverse conversion circuit 4 is the same as described above. Also, the same motor 7 and the rotor position detector 8 attached to it. The speed detector 9 is also the same as in FIG.
次に、入力側における電流検出の原理について説明する
。第２図のｄ −ｉに示す逆変換回路の素子の動作につ
いて、ある６００区間だけを１つのモードとして考える
。たとえば、第４図に示すモード（Ａ、） について
は、Ｕ＋とＶ−の素子のみがオンになっている。同様に
任意のモードについてもＵ”、Ｖ＋、Ｗ＋のいずれか１
素子と、Ｕ−、Ｖ−。Next, the principle of current detection on the input side will be explained. Regarding the operation of the elements of the inverse conversion circuit shown at d-i in FIG. 2, consider only a certain 600 section as one mode. For example, for mode (A,) shown in FIG. 4, only the U+ and V- elements are turned on. Similarly, any one of U'', V+, W+ for any mode
element, U-, V-.
Ｗ−のいずれか１素子がオンしている。したがって各モ
ードにおいて各素子がオンしているときモータに流れる
電流は、同時に逆変換回路の入力１！１１に流れている
電流に等しい。Any one element of W- is on. Therefore, the current flowing through the motor when each element is on in each mode is equal to the current flowing through inputs 1!11 of the inverter circuit at the same time.
第２図ａにモータ電流の一部と、ｂにモータ電流に対応
する入力電流を示す。図中Ｉｐは、電流指令値として設
定されたピーク電流である。電流検出回路で！２を検出
した後、通電素子をＴ。Ｈだけオフする。この場合、モ
ード〔Ａ〕においては、Ｕ 、あるいはＶ−の素子のい
ずれか、１だけ両方をオフすると、電流は減少する。こ
の電流の鍼、少については、入力側で検出できない。ま
た、上述のようにＵ＋、あるいはＶ−の素子のいずれか
をオフする場合と、両方の素子をオフする釈２合では、
Ｔｏｆｆ期間の電流の減少値は異なる。FIG. 2a shows a portion of the motor current, and FIG. 2b shows the input current corresponding to the motor current. Ip in the figure is the peak current set as the current command value. With current detection circuit! After detecting 2, turn the current-carrying element to T. Turn off only H. In this case, in mode [A], if either one of the U or V- elements is turned off, the current decreases. This amount of current cannot be detected on the input side. Also, as mentioned above, when either the U+ or V- element is turned off, and in the second case where both elements are turned off,
The current reduction value during the Toff period is different.
Ｔｏｆｆの後、再び素子がオンすると電流が増加し、Ｉ
ｐに、ｔした後、同様の動作を繰返す。この動作により
、モータ電流は、リップルΔ工、平均値ｌａｖの電流と
なる。すなわち、入力電流の工、を設定することにより
、モータの平均電流Ｉａｖ が制御される。したがっ
て、ｌｐの設定値を第１図に示すように速度誤差アンプ
２の出力により決まる電流指令値として与えれば、第３
図に示す従来例と同様の制御が可能となる。After Toff, when the element is turned on again, the current increases and I
After p and t, the same operation is repeated. Due to this operation, the motor current becomes a current with ripple Δ and average value lav. That is, by setting the input current, the average current Iav of the motor is controlled. Therefore, if the set value of lp is given as the current command value determined by the output of speed error amplifier 2 as shown in FIG.
Control similar to the conventional example shown in the figure is possible.
次に、他の実施例について説明する。Ｔｏｆｆ期間の電
流の減少値は、モータの誘起電圧、すなわち回転速ＩＤ
］により変化し、誘起電圧が高いほど減少値が大きくな
る。したがって、Ｉｐを設定したとき、誘起７１１：圧
が高いほどＪＩが大きくなり、Ｉａｖが減少する。この
Ｉａｖの減少は、大きくはないが、電流指令値として工
、を与えたとき、ＩｐとＩａｖの関係が一定であること
が望ましい。そこで、第１図の１２に示すように″オフ
タイムコントロール回路を設＆１、回転速度が大きくな
るにしたがいＴｏｆｆ ’間を短かくすれば、同一の電
流指令値に対して、回転速度にかかわらずΔＩ を一定
に制御できる。Next, other embodiments will be described. The decrease value of the current during the Toff period is the induced voltage of the motor, that is, the rotation speed ID
], and the higher the induced voltage, the larger the reduction value becomes. Therefore, when Ip is set, induction 711: The higher the pressure, the greater JI becomes, and Iav decreases. Although this decrease in Iav is not large, it is desirable that the relationship between Ip and Iav be constant when Δ is given as the current command value. Therefore, as shown in 12 in Fig. 1, if an off-time control circuit is set up and the Toff interval is shortened as the rotational speed increases, the same current command value can be obtained regardless of the rotational speed. ΔI can be controlled to a constant value.
発明の効果
以上のように、逆変換部の入力電流のピーク値を電流指
令値として与え、入力電流ピーク値に達しだことを検出
し、逆変換部の通電素子を一定時間だけオフすることに
より、近似的にモータの干均電流を制御することができ
、電流センサの数は１個でよいから制御装置の低価格化
が図れる利点がある。Effects of the Invention As described above, by giving the peak value of the input current of the inverse conversion section as the current command value, detecting that the input current peak value has been reached, and turning off the current-carrying element of the inverse conversion section for a certain period of time. , it is possible to approximately control the average current of the motor, and only one current sensor is required, so there is an advantage that the cost of the control device can be reduced.
第１図は本発明のモータ制御装置の構成図、第２図は第
１図の動作説明図、第３図は従来例のモータ制御装置の
構成図、第４図は第３図の動作説明図である。
４・・・・・・逆変換回路、５・・・・・・電流検出器
、６・・・・・・電流検出回路、７・・・・・・同期モ
ータ、８・・・・・・回転子位置検出器、９・・・・・
・速度検出器、１０・・・・・・比較回路、１１・・・
・・・タイマ回路、Fig. 1 is a block diagram of the motor control device of the present invention, Fig. 2 is an explanation diagram of the operation of Fig. 1, Fig. 3 is a block diagram of the conventional motor control device, and Fig. 4 is an explanation of the operation of Fig. 3. It is a diagram. 4... Inverse conversion circuit, 5... Current detector, 6... Current detection circuit, 7... Synchronous motor, 8... Rotor position detector, 9...
・Speed detector, 10... Comparison circuit, 11...
...timer circuit,
Claims (2)
出器と、前記同期モータを駆動する逆変換回路と、その
逆変換回路の直流側入力電流検出回路と、その検出電流
のピーク値が電流指令値に等しくなったことを検出する
比較回路と、その比較回路の出力により前記逆変換回路
の通電素子を一定時間だけオフするタイマ回路と、前記
電流指令値を決定する速度フィードバック回路により構
成されるモータ制御装置。(1) A synchronous motor, its rotor position detector, speed detector, an inverse conversion circuit that drives the synchronous motor, a DC side input current detection circuit of the inverse conversion circuit, and the peak value of the detected current. a comparator circuit that detects that the current command value becomes equal to the current command value, a timer circuit that turns off the current-carrying element of the inverse conversion circuit for a certain period of time based on the output of the comparator circuit, and a speed feedback circuit that determines the current command value. A motor control device consisting of:
フ時間を変化することを特徴とする特許請求の範囲第１
項記載のモータ制御装置。(2) The timer circuit changes the off time depending on the rotational speed of the motor.
The motor control device described in Section 1.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59213528A JPH0720385B2 (en) | 1984-10-11 | 1984-10-11 | Motor control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP59213528A JPH0720385B2 (en) | 1984-10-11 | 1984-10-11 | Motor control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6192188A true JPS6192188A (en) | 1986-05-10 |
| JPH0720385B2 JPH0720385B2 (en) | 1995-03-06 |
Family
ID=16640681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP59213528A Expired - Lifetime JPH0720385B2 (en) | 1984-10-11 | 1984-10-11 | Motor control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0720385B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02174588A (en) * | 1988-12-23 | 1990-07-05 | Matsushita Electric Ind Co Ltd | Motor controller |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS591072A (en) * | 1982-06-28 | 1984-01-06 | Nissan Motor Co Ltd | Automatic welding device |
| JPS5915291U (en) * | 1982-07-20 | 1984-01-30 | 株式会社明電舎 | Control device for commutatorless motor |
-
1984
- 1984-10-11 JP JP59213528A patent/JPH0720385B2/en not_active Expired - Lifetime
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS591072A (en) * | 1982-06-28 | 1984-01-06 | Nissan Motor Co Ltd | Automatic welding device |
| JPS5915291U (en) * | 1982-07-20 | 1984-01-30 | 株式会社明電舎 | Control device for commutatorless motor |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH02174588A (en) * | 1988-12-23 | 1990-07-05 | Matsushita Electric Ind Co Ltd | Motor controller |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0720385B2 (en) | 1995-03-06 |
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