KR101623652B1 - Motor controlor device - Google Patents

Abstract

A motor control apparatus according to an embodiment of the present invention includes: a power conversion unit for controlling a plurality of motors driven in parallel; And a motor control unit for controlling the power conversion unit, wherein the motor control unit estimates an angular speed and a rotor position of the reference motor among the motors based on the voltage and the current detected from the motors, And the control unit controls the power conversion unit based on the estimated angular velocity and the rotor position and the converted flux current.

Description

TECHNICAL FIELD [0001] The present invention relates to a motor control device,

The present invention relates to a motor control apparatus, and particularly relates to motor control using a sensorless control system.

Since the invention of the motor, the motor plays a very important role in the human life, and as the area of human life becomes wider, the motor control is also required to be used in various environments.

Recently, a technique for controlling a plurality of motors has been developed, but there is a problem that a phase current diverges depending on a load difference or a parameter difference between the motors to be controlled. To solve this problem, it is necessary to precisely control a plurality of motors, and in order to control precisely, the number of motors to be established must be relatively accurately known. Especially, the position detector or the speed detector of the rotor was necessary to know the position of the magnetic flux. In this way, although it is very important to estimate the position information of the rotor in the motor control, the environment in which the position information can be estimated is very limited. Therefore, it is important to compensate the load difference or parameter difference between the motors through the sensorless control method which can drive the motor without the sensor capable of estimating the position information.
On the other hand, a parallel driving circuit of a DC brushless motor is disclosed in Japanese Patent Laid-Open Publication No. 2009-207226 (published on September 10, 2009).

The motor control apparatus according to the embodiment of the present invention can provide a motor control apparatus that performs speed and current control through phase and velocity estimation of two motors through sensorless control.

In addition, the motor control apparatus according to the embodiment of the present invention is a motor control apparatus capable of solving the problem that a phase difference of two motors occurs when a load difference of two motors, a shared resonant frequency band operation of a motor, Device can also be provided.

Further, the motor control apparatus according to the embodiment of the present invention can also provide a motor control apparatus that can operate only with a normally-driven motor by previously determining whether or not the power conversion unit and the motor are engaged.

In addition, the motor control apparatus according to the embodiment of the present invention can also provide a motor control device capable of performing stable operation by controlling the command speed by discriminating the constraint or overload state of the motor according to the load deviation between the two motors.

A motor control apparatus according to an embodiment of the present invention includes: a power conversion unit for controlling a plurality of motors driven in parallel; And a motor control unit for controlling the power conversion unit, wherein the motor control unit estimates an angular speed and a rotor position of the reference motor among the motors based on the voltage and the current detected from the motors, A motor control unit for controlling the power conversion unit based on the estimated angular velocity and rotor position and the converted flux current, Device.

In the motor control apparatus according to the embodiment of the present invention, the motor control unit includes a pulsation analysis unit for comparing magnitudes of DC components of the flux currents of the motors, To the motor control device.

In the motor control apparatus according to the embodiment of the present invention, the motor control unit further includes a counter electromotive force estimating unit for estimating the angular speed and the rotor position of the reference motor, and the counter electromotive force estimating unit estimates the current and voltage detected from the reference motor Estimates a back electromotive force based on the estimated back electromotive force, and detects an angular speed and a rotor position of the reference motor based on the estimated back electromotive force.

In the motor control apparatus according to the embodiment of the present invention, the pulsation analyzing unit includes a motor for extracting a pulsating component from the flux current of the non-reference motor and adding the pulsating component to the flux current of the reference motor, Control device.

In the motor control apparatus according to the embodiment of the present invention, the motor control unit includes: a speed controller for generating a torque current instruction value based on an angular velocity instruction value input from the outside and an angular velocity estimation value of the reference motor; A torque axis current controller for generating a torque voltage instruction value from the torque current instruction value and the torque current of the reference motor; A flux axis current controller for generating a flux flux command value based on an externally input flux flux command value and the converted flux flux; And a gating signal generator for outputting a gating signal for controlling the power converter based on the torque voltage command value and the left-side voltage command value.

In the motor control apparatus according to the embodiment of the present invention, the motor control unit further includes a setpoint control unit for comparing the deviation between the estimated angular speeds of the motors with a preset speed deviation reference value and controlling the angular velocity instruction value accordingly. Control device.

In the motor control apparatus according to the embodiment of the present invention, the motor control unit may include a setpoint control unit for comparing the deviation between the direct current components of the flux currents of the motors with a preset current deviation reference value and controlling the angular velocity instruction value accordingly Further comprising:

In the motor control apparatus according to the embodiment of the present invention, the command value control unit lowers the angular velocity command value when the deviation is equal to or greater than the reference value.

In the motor control apparatus according to the embodiment of the present invention, an output line for determining whether the torque current command value and the magnetic flux current command value of the current of each of the motors is reached, And a control unit.

The motor control apparatus according to the embodiment of the present invention can perform speed and current control by estimating the phase and speed of two motors through sensorless control, and can control the load difference between the two motors, the shared resonance frequency band operation of the motor, It is possible to solve the problem that the phase difference of the two motors occurs due to the difference in the parameters between the power converter and the motors, It is possible to perform stable operation by determining the restraint or overload state of the motor according to the load deviation between the two motors and controlling the command speed.

1 is a block diagram showing a motor control apparatus according to a first embodiment of the present invention.
2 is a diagram showing an operation relationship of the motor control section.
3 is a diagram showing an operation relationship of the counter electromotive force estimator.
4 is a block diagram showing a motor control apparatus according to a second embodiment of the present invention.
5 is a block diagram of a motor control apparatus according to a third embodiment of the present invention.
6 is a block diagram of a power conversion unit in the motor control apparatus according to the embodiment of the present invention.
7 and 8 are block diagrams illustrating a pulse wave analyzer according to an embodiment of the present invention.
9 is a flowchart of the operation of the motor control apparatus according to the fourth embodiment of the present invention.
10 is a block diagram of a motor control apparatus according to a fourth embodiment of the present invention.
11 is a flowchart of the operation of the motor control apparatus according to the fifth embodiment of the present invention.
12 is a block diagram of a motor control apparatus according to a fifth embodiment of the present invention.
13 is a block diagram of an air conditioner to which an embodiment of the present invention is applied.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a motor control apparatus according to an embodiment of the present invention will be described in detail with reference to the drawings. The following embodiments are provided by way of example so that those skilled in the art can fully understand the spirit of the present invention. Therefore, the present invention is not limited to the embodiments described below, but may be embodied in other forms. In the drawings, the size and thickness of an apparatus may be exaggerated for convenience. Like reference numerals designate like elements throughout the specification.

≪ Embodiment 1 >

1 is a block diagram showing a motor control apparatus according to a first embodiment of the present invention, FIG. 2 is a diagram showing an operation relationship of a motor control unit, and FIG. 3 is a diagram showing an operation relationship of a back electromotive force estimating unit.

1 to 3, a motor control apparatus 10 according to an embodiment of the present invention may include a motor unit 100, a power conversion unit 200, and a motor control unit 300.

The motor unit 100 includes first and second motors M1 and M2 connected in parallel to each other in the drawing. However, the motor unit 100 is not limited to this, and may include a plurality of three-phase motors And can be controlled to be driven from the power converter 200. FIG.

The power converter 200 may be a three-phase inverter that can operate according to a space vector voltage modulation scheme and convert DC power to AC power to control power flow. The power converter 200 may have three poles that are independently switched, and two switches of each pole may be complementarily switched to have eight different switching operations. The power conversion unit 200 is controlled by an input gating signal vgate to output an output phase voltage vabc for controlling the motor to the motor unit 100. [ The power conversion unit 200 can perform SVPWM control with excellent linearity of switching frequency and control in order to control current supplied to the stator of the motor with a sinusoidal wave.

The motor controller 300 may be a controller without a speed and position detector, that is, a sensorless controller in consideration of other problems in terms of economy and technology when a speed and position detector is used.

The motor control unit 300 detects a phase voltage vabc and a phase current iabc from the motors M1 and M2 of the motor unit 100 and outputs an estimated value for controlling the motor unit 100 Speed and estimated angle information, and can control the power conversion unit 200 based on the estimated speed and estimated angle information. Referring to FIG. 2, the motor control unit 300 may perform the first through fifth steps to control the front-end converter 200.

The magnitude of the magnetic flux current between the motors can be compared in the first step S100. Then, in a second step S200, a reference motor to be controlled is set based on the magnitude comparison result of the inter-motor magnetic flux current to estimate parameters such as speed and position with respect to the reference motor, and in a third step S300 The fourth embodiment of the present invention extracts the pulsating component of the magnetic flux current which is the d-axis current of the non-reference motor which is not the reference motor, and adds the flux current of the reference motor and the extracted pulsating component in the fourth step (S400) And in a fifth step S500, the sensorless control can be performed using the parameters of the reference motor and the converted flux current.

The motor control unit 300 may include a back EMF 310, a pulsation analysis unit 320, and a power conversion control unit 330.

The back electromotive force estimator 310 estimates the position of the rotor of the motor based on the estimated back electromotive force using the principle that the waveform of the back electromotive force varies according to the position of the rotor and estimates the speed of the motor from the position of the rotor have. The error between the estimated speed wm and the angular velocity command value wm (*) can be controlled through the control of the power conversion control unit 330. [

The counter electromotive force estimator 310 may output the torque current iq and the magnetic fluxes id1,2 by performing d-q coordinate conversion on the phase currents of the motors M1 and M2 sensed by the motor unit 100. [ In this case, the torque current iq output from the counter electromotive force estimator 310 may be either the torque current iq1 of the first motor M1 or the torque current iq2 of the second motor M2 , The magnetic fluxes id1,2 can include the magnetic flux id1 of the first motor M1 and the magnetic flux id2 of the second motor M2. The back electromotive force estimator 310 estimates the angular velocity wm and the estimated angular velocity wm based on the phase voltage vabc and the phase current iabc of each of the motors M1 and M2 sensed from the motor unit 100, The angle of rotation (theta r), which is the angle information. Referring back to FIG. 3, the back electromotive force estimator 310 may perform the first through fourth steps S110 through S140. The dq coordinate conversion can be performed on the phase voltage vabc and the phase current iabc sensed from the motor unit 100 in the first step S110 and the first and second motors M1 and M2 And outputs the respective flux currents id1 and id2 to estimate the counter electromotive force based on the coordinate-converted phase voltage vabc and the phase current iabc. Then, the angular velocity (wm) and the rotation angle (theta r) are detected based on the back electromotive force estimated in the third step. In a fourth step, parameters of any one of the first and second motors M1 and M2 can be output. The parameters of the motor may include position information according to the torque current (iq), the angular velocity (wm) and the rotation angle (theta r) of the motor.

The ripple analyzer 320 calculates a ripple characteristic of the first motor M1 based on the flux currents id1 and id2 of the first and second motors M1 and M2 output from the counter electromotive force estimator 310, The DC components id1 (dc) and id2 (dc) of the current id1 and the magnetic flux id2 of the second motor M2 and the AC components id1 (ac) and id2 The AC components id1 (ac) and id2 (ac), which are the ripple components of the magnetic flux id1 of the first motor M1 and the magnetic flux id2 of the second motor M2, The converted flux current id (f (i)) obtained by adding the pulsation component of the remaining one flux current to the flux current of any one of the flux current id1 of the first motor M1 and the flux current id2 of the second motor (Ac1) of the magnetic flux id2 of the second motor M2 is added to the magnetic flux id1 of the first motor M1, 1 of the first motor M1 to the flux current id (f1) of the first motor M1 or the flux current id2 of the second motor M2, The second converting flux current id (f2) obtained by adding the AC component id1 (ac), which is the pulsating component of the current id1, to the d- The phase difference between the signal lines M1 and M2 can be compensated.

The ripple analyzer 320 compares the magnitude of the magnetic flux id id1 of the first motor M1 with the magnitude of the magnetic flux id2 of the second motor M2 and outputs a selection signal Ss The magnitude of the comparison is the DC components id1 (dc) and id2 (dc) of the magnetic flux id1 of the first motor M1 and the magnetic flux id2 of the second motor M2, ). ≪ / RTI > At this time, according to the magnitude comparison result of the magnitude of the magnetic flux id1 of the first motor M1 and the magnitude of the magnetic flux id2 of the second motor M2, the ripple analyzer 320 calculates the first converted flux current id ) And the second converted magnetic flux current id (f2). The back electromotive force estimating unit 310 calculates the torque current iq of one of the first and second motors M1 and M2 based on the selection signal Ss from the ripple analyzing unit 320, (wm) and the rotation angle (theta r). Therefore, the selection signal Ss may be a signal for selecting a parameter for any one of the parameters of the first and second motors M1 and M2.

The operation of the back electromotive force estimating unit 310 and the pulsation analyzing unit 320 will be described with reference to one example. The pulse current analyzing unit 320 receives the flux current id1 of the first motor M1, The magnitude of the magnetic flux current id1 of the first motor M1 is smaller than the magnitude of the magnetic flux current id2 of the second motor M2 when the sizes of the magnetic fluxes id2 of the first and second motors M2, The selection signal Ss reflecting the determination result is output to the back electromotive force estimation unit 310 and the back electromotive force estimation unit 310 determines whether the back electromotive force The control unit 310 outputs the parameter of the first motor M1 to the power conversion control unit 310 based on the selection signal Ss so that the power conversion control unit 310 controls the motor unit 100 Can be controlled. At the same time, the pulsation analysis unit 320 calculates the ripple component of the first converted magnetic flux id1 obtained by adding the ripple component included in the magnetic flux id2 of the second motor M2, which is not controlled, to the magnetic flux id1 of the first motor M1 And outputs the current idf (f1) to the power conversion control unit 310 to compensate the pulsation component of the second motor M2 so that the phases of the first and second motors M1 and M2 are synchronized The phase difference between the two motors M1 and M2 can be compensated.

Meanwhile, the power conversion control unit 330 receives the angular velocity instruction value wm (*), the magnetic flux current instruction value id (*), the torque current iq from the back electromotive force estimation unit 310, (vgate) for controlling the motor unit 100 is supplied to the power conversion unit 200 based on the output signal wm and the rotation angle ata (rta) from the pulse wave analysis unit 320 and the converted flux current id (f) Can be output.

≪ Embodiment 2 >

4 is a block diagram showing a motor control apparatus according to a second embodiment of the present invention.

Referring to FIG. 4, the motor control unit 300 according to the embodiment of the present invention may further include a coordinate transformation unit 340.

The coordinate transforming unit 340 performs coordinate transformation on the phase current detected from each of the first and second motors M1 and M2 and outputs the coordinates of the first motor M1 and the second motor M2 according to the selection signal Ss of the pulsation analysis unit 320. [ It is possible to output either one of the torque current iq1 or the torque current iq2 of the second motor M2. The back electromotive force estimator 310 estimates the angular velocity wm of the motor unit 100 based on the phase current iabc and the phase voltage vabc detected from the first and second motors M1 and M2, theta r of the first motor M1 or the second motor M2 according to the selection signal Ss of the pulse wave analyzer 320 to the coordinate converter And outputs it to the power conversion control unit 300 and the power conversion control unit 300 according to the selection signal Ss of the pulsation analysis unit 320, It is possible to output the angular velocity wm.

≪ Third Embodiment >

5 is a block diagram of a motor control apparatus according to a third embodiment of the present invention.

Referring to FIG. 5, the motor control unit 300 of the motor control apparatus 10 according to the third embodiment may further include a selection unit 350.

The selector 350 receives the torque current iq1 of the first motor M1 and the torque current iq2 of the second motor M2 from the coordinate converter 340 and outputs the torque current iq2 from the counter electromotive force estimator 310 The angular frequencies wm1, 2 and the rotation angle theta r of the first and second motors M1, M2 can be input. The torque current iq1, the angular frequency wm1 and the rotational angle ata1 of the first motor M1 are output to the power conversion control unit 330 according to the selection signal Ss from the pulsation analysis unit 320 Or the torque current iq2, the angular frequency wm2 and the rotation angle theta r2 of the second motor M2 may be output to the power conversion control unit 330. The selection signal Ss may include first and second selection signals Ss1 and Ss2 and the selection unit 350 selects the torque of the first motor M1 according to the first selection signal Ss1. The pulse wave analyzer 320 outputs the current iq1, the angular frequency wm1 and the rotation angle ata1 to the power conversion control unit 330. In this case, To the power conversion control section 330, the converted flux current id (f) obtained by adding the ripple component id2 (ac) of the magnetic flux current id2 of the second motor M2. The selector 350 selects the torque current iq2, the angular frequency wm2 and the rotational angle theta r2 of the second motor M2 according to the second selection signal Ss2 to the power conversion control unit 330, In this case, the ripple analyzer 320 adds the ripple component id1 (ac) of the magnetic flux id1 of the first motor M1 to the magnetic flux id2 of the second motor M2 And outputs the converted flux current id (f) to the power conversion control unit 330. [

The magnitude of the magnetic fluxes id1 and id2 of the first and second motors M1 and M2 is compared to check the deviation of the parameters between the motors M1 and M2, Is controlled on the basis of the small motor and the ripple component of the magnetic flux of the uncontrolled motor is reflected on the flux current of the control target motor to compensate the pulsation component of the uncontrolled motor so that the parameter difference between the two motors It is possible to prevent the phase current from being diverted.

6 is a block diagram of a power conversion unit in the motor control apparatus according to the embodiment of the present invention.

6, the power conversion unit 330 may include a speed controller 331, a q-axis current controller 332, a d-axis current controller 333, and a gating signal generator 334. [

The speed controller 331 receives the angular speed instruction value wm (*) from the outside and the torque current (wm) generated based on the angular speed wm of the first or second motor M1 or M2 output from the back electromotive force estimation unit 310 It is possible to output the command value (iq (*)). The q-axis current controller 332 receives the torque current instruction value iq (*) from the speed controller 331 and the torque current iq (*) of the first or second motor M1 or M2 from the back electromotive force estimation unit 310 Axis voltage command value vq (*) generated based on the q-axis voltage command value vq (*). The d-axis current controller 333 outputs the d-axis voltage command value id (f) generated based on the externally input magnetic flux command value id (*) and the converted flux current id (vd (*)). The gating signal generator 334 can perform inverse coordinate transformation on the q-axis voltage command value vq (*) and the d-axis voltage command value vd (*) and output a gating signal vgate signal. Thus, the speed is controlled based on the estimated position information without a separate position sensor, the current is controlled to control the speed, and the gating signal vgate applied to the power converter 200 for the current control is finally controlled , The motor unit 100 can be precisely controlled. Also, by controlling the phase of any one of the plurality of motors connected in parallel to one power converter 200, it is possible to reduce the phase difference of the remaining motors, thereby preventing a phase current divergence problem due to a difference in parameter of all motors .

<Pulse Analysis Department>

7 and 8 are block diagrams illustrating a pulse wave analyzer according to an embodiment of the present invention.

Referring to FIG. 7, the pulsation analysis unit 320 may include a DC component ratio distribution unit 321 and a pulsation accumulation unit 322.

The DC component proportioning unit 321 extracts and outputs DC components id1 (dc) and id2 (dc) of the flux currents id1 and id2 of the input first and second motors M1 and M2 The selection signal Ss can be outputted by comparing the sizes of the extracted direct current components id1 (dc) and id2 (dc). The pulsating and ramping section 322 extracts ripple components id1 (ac) and id2 (ac) of the magnetic fluxes id1 and id2 of the input first and second motors M1 and M2, Generates a first converted flux current id (f1) by adding a pulsation component id2 (ac) to the flux current id2 of the second motor M2 to the flux current id1 of the first motor M1, (F2) obtained by adding the ripple component id1 (ac) to the magnetic flux id id1 of the first motor M1 to the magnetic flux id2 of the second motor M2 can do. And can output either one of the first converted magnetic flux current id (f1) and the second converted magnetic flux current id (f2) according to the selection signal Ss.

Referring to FIG. 8, the DC component ratio distribution unit 321 may include a DC component extraction unit 323 and a comparison unit 324. The pulsation accumulation unit 322 may include a pulsation component extraction unit 325, a summation unit 326, and an output unit 327.

The DC component extractor 323 extracts the DC components id1 (dc) and id2 (dc) of the flux currents id1 and id2 of the input first and second motors M1 and M2, 322 and the comparator 324, respectively. The direct current component extracting unit 323 may extract the direct current components id1 (dc) and id2 (dc) of the magnetic fluxes id1 and id2 formed by a low pass filter, but the present invention is not limited thereto. This is possible if the configuration is extractable. The comparator 324 compares the magnitudes of the DC components id1 (dc) and id2 (dc) of the input magnetic fluxes id1 and id2 and outputs a selection signal Ss according to the comparison result .

The pulsating component extraction unit 325 receives the flux components id1 and id2 and the DC components id1 and id2 of the magnetic fluxes id1 and id2 and outputs the flux components id1 and id2, (Ac) and id2 (ac) of the magnetic flux currents id1 and id2 through a difference operation between the DC components id1 (idc) and id2 (dc) of the magnetic fluxes id1 and id2 Can be output. The summing unit 326 multiplies the magnetic flux id1 of the first motor M1 by the second motor M2 using the ripple components id1 (ac) and id2 (ac) of the input magnetic fluxes id1 and id2. And the ripple component id2 of the magnetic flux id2 of the first motor M2 is added to the magnetic flux id2 of the second motor M2 by adding the ripple component id2 (id (ac)) to output the first converted magnetic flux current id (f1) and the second converted magnetic flux current id (f2). The output unit 327 may output any one of the first and second converted flux currents id (f1) and id (f2) according to the selection signal Ss.

<Fourth Embodiment>

FIG. 9 is an operational flowchart of a motor control apparatus according to a fourth embodiment of the present invention, and FIG. 10 is a block diagram of a motor control apparatus according to a fourth embodiment of the present invention.

Referring to FIG. 9, the motor control apparatus 10 according to the fourth embodiment of the present invention includes the motor unit 100 according to the restraint or overload state of the first and second motors M1 and M2 driven in parallel It is possible to stop the control in advance so as to limit the load or prevent the overcurrent by discriminating in advance the case where it can not be driven.

Referring to the flowchart, the deviation between the estimated speeds wm of the first and second motors M1 and M2 is compared with the reference value of the speed deviation, and the flux current id of the first and second motors M1 and M2 is calculated. The deviation between the estimated speeds wm of the first and second motors M1 and M2 is equal to or greater than the speed deviation reference value or the deviation between the estimated speeds wm of the first and second motors M1 and M2 When the deviation between the flux currents id is equal to or greater than the current deviation reference value, the angular speed command value wm (*) can be reduced. The above-described method is repeated periodically to increase the angular speed command value wm (*) to a target command value when the parameter deviation between the first and second motors M1 and M2 becomes equal to or less than the reference value. In this way, when a load deviation occurs between the two motors M1 and M2, a phase difference is generated between the two motors M1 and M2, so that it is possible to prevent the current divergence from occurring.

An embodiment of the motor control device 10 capable of performing the above-described operation with reference to Fig. 10 will be described.

The motor control apparatus 10 according to the fourth embodiment may further include a command value control unit 400. [

The command value control unit 400 is in a state in which the motor unit 100 can not be driven in accordance with the constraint or overload state of the motor in the motor unit 100. When it is necessary to limit the load or to prevent the overcurrent, The load of the motor can be reduced. Thus, when a load deviation occurs between the motors, problems such as current generation due to a phase difference between the motors can be prevented, and the motor control apparatus 10 can be stably operated.

The command value control unit 400 compares the magnitudes of the magnetic flux currents id1 and id2 of the first and second motors M1 and M2 to determine whether the deviation is equal to or greater than the current deviation reference value Can be determined. It is also possible to determine whether the deviation between the angular velocities wm1 and wm2 of the first and second motors M1 and M2 input from the back electromotive force estimator 310 is equal to or greater than the speed deviation reference value.

The command value control unit 400 controls the command value generation unit 500 when the magnitude deviation of the magnetic flux currents id1 and id2 is equal to or greater than the current deviation reference value and the deviation between the angular speeds wm1 and wm2 is equal to or greater than the speed deviation reference value, the speed of the motors M1 and M2 can be lowered to lower the motors M1 and M2, thereby preventing overloading of the motors M1 and M2.

<Fifth Embodiment>

FIG. 11 is a flowchart of the operation of the motor control apparatus according to the fifth embodiment of the present invention, and FIG. 12 is a block diagram of the motor control apparatus according to the fifth embodiment of the present invention.

Referring to FIG. 10, the motor control apparatus 10 according to the fifth embodiment determines whether or not the current of the first motor M1 reaches the set value, and when the current of the first motor M1 reaches the set value, When the current of the second motor M2 reaches the set value by judging whether or not the current value of the motor M2 reaches the set value, there is a problem in the connection between the power converter 200 and the first and second motors M1 and M2 It can be judged to be absent. If the current of the first motor M1 does not reach the set value, it is determined that a failure of the first motor M1 has occurred and the connection between the power converter 200 and the first motor M1 is cut off It is determined that the current of the second motor M2 has reached the set value. If the current of the second motor M2 does not reach the set value, it is determined that the motor unit 100 is defective and the motor unit 100 is driven Can be terminated. When the current of the first motor M1 reaches the set value but the current of the second motor M2 does not reach the set value, the second motor M2 is cut off and only the first motor M1 is operated . If one of the two motors can not be driven as described above, the output line on the side where driving is impossible is cut off so that the remaining motors can be driven.

A motor control device 10 capable of realizing the above-described operation will be described with reference to Fig.

The motor control apparatus 10 according to the fifth embodiment may further include switch units 610 and 620 for connecting the output line of the output line control unit 600 and the power conversion unit 200 and the motor.

The output control unit 600 controls the first and second motors M1 and M2 based on the torque current command value iq (*) and the magnetic flux command value id (*) output from the power conversion control unit 330, It is possible to periodically judge whether the detected phase current iabc has reached the set value. That is, when the first motor M1 is controlled according to the selection signal Ss from the pulse wave analyzer 320, the phase current of the first motor M1 controls the first motor M1 at a reference frequency or more It is judged that the engagement of the first motor M1 is defective when the torque current command value iq (*) and the magnetic flux command value id (*) for the first motor M1 are not reached, The switch 610 can be controlled to cut off the electrical connection between the output line of the power converter 200 and the first motor M1. Also, the motor control unit 300 can control only the second motor M2 that is normally driven, so that the motor control unit 10 can be driven by only one motor. In this case, the motor control unit 300 can control the motor speed by estimating the position and the speed based on the phase current iabc and the phase voltage vabc of the normally driven motor. On the other hand, in order to determine whether or not the set value of the phase current iabc has arrived, it is possible to use the inverse coordinate conversion of the set value.

13 is a block diagram of an air conditioner to which an embodiment of the present invention is applied.

13, the air conditioner 20 applied to the embodiment includes an indoor unit 21 and an outdoor unit 22, and the indoor unit 21 controls the indoor fan motor 41 and the indoor fan motor 41 And the outdoor unit 22 may include an outdoor fan motor 42 and a compressor 50 and an outdoor controller 32 for controlling the outdoor fan motor 42 and the compressor 50. [ . &Lt; / RTI &gt;

The compressor (50) can compress low pressure gas containing heat and convert it into high temperature and high pressure gas. The fans of the indoor and outdoor fan motors 41 and 50 can be operated by driving the motor unit 100. Each of the indoor and outdoor controllers 31 and 32 may include a power conversion unit 200 and a motor control unit 300 according to an embodiment of the present invention.

The motor control unit 300 estimates the speed and the rotor position of the motor based on the detected current and voltage information from the motors of the indoor and outdoor fan motors 41 and 50, It is possible to control the driving of the outdoor fan motors 41 and 50 and to compensate the parameter difference between the motors even when the indoor and outdoor fan motors 41 and 50 include a plurality of motors, (41, 50) can be stably operated.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is clearly understood that the same is by way of illustration and example only and is not to be taken by way of limitation, It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention. Therefore, the technical scope of the present invention should not be limited to the contents described in the detailed description of the specification, but should be defined by the claims.

10 Motor control unit
20 Air-conditioning
21 indoor unit
22 outdoor unit
31 Indoor Controller
33 Outdoor Controller
41 Indoor Fan Motor
42 outdoor fan motor
50 compressor
100 motor section
200 power conversion unit
300 motor control section
310 Back electromotive force estimation part
320 Pulse Analysis Unit
321 Supply of DC component ratio
322 Pulse adder
323 DC component extraction unit
324 comparator
325 pulsation component extraction unit
326 summing unit
327 Output section
330 power conversion control unit
331 speed controller
332 q-axis current controller
333 d axis current controller
334 Gating signal generator
340 Coordinate transformation unit
350 selection unit
400 setpoint control unit
500 command value generator
600 output line control unit
610 &lt; tb &gt;
620 second switch section

Claims (9)

A power converter for controlling a plurality of motors driven in parallel;
And a motor control unit for controlling the power conversion unit,
The motor control unit includes:
Estimating an angular speed and a rotor position of the reference motor among the motors based on the voltage and the current detected from the motors,
A pulse flux component of the flux current of the non-reference motor among the motors is added to the flux current of the reference motor to generate a converted flux current,
And controls the power converter based on the estimated angular velocity and rotor position and the converted flux current. The method according to claim 1,
The motor control unit includes:
And a pulsation analyzer for comparing magnitudes of DC components of the flux currents of the motors,
And sets a motor having a small DC component as the reference motor. 3. The method of claim 2,
The motor control unit includes:
Further comprising a counter electromotive force estimator for estimating an angular velocity and a rotor position of the reference motor,
Wherein the counter electromotive force estimator estimates a counter electromotive force based on the current and the voltage detected from the reference motor and detects the angular speed and the rotor position of the reference motor based on the estimated counter electromotive force. 3. The method of claim 2,
Wherein the pulsation analyzing unit extracts a pulsating component from the flux current of the non-reference motor and adds the pulsating component to the flux current of the reference motor to generate a converted flux current. 5. The method of claim 4,
The motor control unit includes:
A speed controller for generating a torque current instruction value based on an angular velocity instruction value input from the outside and an angular velocity estimation value of the reference motor;
A torque axis current controller for generating a torque voltage instruction value from the torque current instruction value and the torque current of the reference motor;
A flux axis current controller for generating a flux flux command value based on an externally input flux flux command value and the converted flux flux; And
And a gating signal generator for outputting a gating signal for controlling the power converter based on the torque voltage command value and the left-side voltage command value. 6. The method of claim 5,
The motor control unit includes:
And a setpoint control unit for comparing the deviation between the estimated angular speeds of the motors with a predetermined speed deviation reference value and controlling the angular velocity instruction value accordingly. 6. The method of claim 5,
The motor control unit includes:
And a setpoint control unit for comparing the deviation between the DC components of the flux currents of the motors with a predetermined current deviation reference value and controlling the angular velocity instruction value accordingly. The method according to claim 6 or 7,
And the command value control unit lowers the angular velocity command value when the deviation is equal to or greater than the reference value. 6. The method of claim 5,
Further comprising an output line control unit for determining whether the torque current command value and the flux current command value of the current of each of the motors are reached, and controlling the engagement of the power converter unit and the motors.

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