KR101654826B1 - System and method for driving multi-core architecture based AC motor position sensorless - Google Patents

Abstract

The present invention provides a multi-core architecture based AC motor position sensorless drive system and method thereof for initiating a multicore microcontroller operation that ensures functional safety in an AC motor position sensorless drive system, A first comparison step of performing a position estimation algorithm in two different cores in a microcontroller including a plurality of cores and comparing position values estimated in each core with each other; (B) A second comparison step of comparing the actual rotation direction of the motor measured by comparing the value with a position value estimated by each of the cores and the direction of the motor rotor intended by the developer, and (C) As a result, if it is determined that the motor estimation algorithm is malfunctioning, the rotation direction of the motor is confirmed by increment of the estimated rotor position value, Determining a direction of rotation of the motor in a previous direction of rotation of the motor estimated using the accumulated rotation direction and performing motor scalar control; and (D) comparing the first and second comparison results, And performing vector control through any one of the rotor position values estimated in the first comparison step.

Description

[0001] The present invention relates to a multi-core architecture based AC motor position sensorless driving system and a method thereof,

The present invention relates to an AC motor position sensorless drive system, and more particularly to an AC (alternating current) motor position sensorless drive system including a microcontroller having a multicore architecture and a method thereof.

Generally, a drive control method of a synchronous motor (preferably a permanent magnet synchronous motor having a d-axis inductance and a q-axis inductance different from each other) includes a voltage / frequency (V / F) .

The V / F control method is a method of applying a constant voltage to a motor in accordance with a desired speed, and is mainly used for an induction motor. When this control method is applied to a permanent magnet synchronous motor (PMSM) It is difficult to control stably due to mismatch between the electromagnetic flux and the stator magnetic flux.

Considerations for vector control of the synchronous motor are as follows. First, it is necessary to know the position of the initial excitation of the rotor as well as the rotational speed and the position of the excitation at the time of control. Accurate measurements of the rotor speed and stimulus location should be made for the computational process of separating into minute current and torque current.

However, there are known motor position sensorless drive systems that utilize various sensorless control techniques to control the motor without using such a sensor when the sensor is not available due to stability or mechanical problems of the position and speed sensor.

For example, the motor position sensorless driving system monitors the back electromotive force generated when the motor rotates, estimates the position and rotation speed of the motor rotor from the rotor position error information obtained from the sensor, and applies the sensorless method In fact, it is the sensorless method that is used most in industry. Especially, since the back-electromotive force that can be observed at high-speed rotation of motor is enough, accurate position is tracked by position and velocity estimator, There is an advantage to be able to do.

Thus, the motor position sensorless drive system prevents malfunctions in the motor-mounted system when the position sensor fails.

However, when an error occurs in the result of the position estimation algorithm performed by the position estimating unit 45 as in the AC motor position sensorless driving system of the prior art shown in FIG. 1, the position of the rotor of the PMSM motor 20 is normally estimated Therefore, there is a problem that malfunction occurs in the AC motor position sensorless driving system 40.

That is, unless the correct rotor position is estimated, the torque and speed required by the speed and torque regulator 46 can not be generated, and a shape in which the rotor of the PMSM motor 20 rotates or stops in a direction opposite to the developer intention have. This may cause an abnormal operation in the actuator in which the PMSM motor 20 is mounted, thereby causing a fatal malfunction.

Patent Document 10-2011-0112995: Synchronous motor rotor angle estimation system and method based on phase-locked detector combining two sensorless control methods

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide a multi-core architecture based AC motor position sensorless drive system And a method thereof.

Other objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned can be clearly understood by those skilled in the art from the following description.

According to another aspect of the present invention, there is provided an AC motor position sensorless driving system based on a multi-core architecture, including a plurality of cores, including at least one of a back electromotive force of the motor measured through an ADC (Analog to Digital Conversion) A Dq conversion module for receiving the phase currents from the different cores and measuring the Dq axis voltage value and the Dq axis current value by performing a Dq conversion algorithm and a Dq conversion module including two or more cores and measuring the Dq axis voltage value measured by the Dq conversion module A rotor position estimation module for estimating a rotor position value by performing a dual position estimation algorithm on different cores using the Dq axis current value and comparing the results with each other; An increment position generating module for indicating the direction of rotation of the motor in increments of the position value; The actual rotation direction of the motor measured by the comparison is compared with the rotation direction of the motor intended by the developer, and the rotor position value used for the motor control is determined as the estimated rotor position value in accordance with the matching of the corresponding direction, Or a rotor position selection model for determining the direction of rotation to perform motor scalar control in the previous direction of rotation, or to acquire the previous rotational direction of the motor using the accumulated rotor position value through the incremental position generation module, A Dq inverse transform module for performing inverse Dq conversion with three-phase alternating current power on the basis of an alternating phase by the rotor position selecting module; And an inverter for converting the three-phase output voltage into a three-phase alternating voltage of a variable voltage and a variable frequency in response to the inverse Dq conversion, It consists of including the emitter.

Preferably, the rotor position selection module primarily determines that a malfunction of the motor estimation algorithm has occurred when the actual rotation direction of the motor is different from the intended direction of the developer, and then the position values estimated from the two cores are compared with each other If the difference is larger than a preset threshold value, it is determined that a malfunction of the motor estimation algorithm has occurred. Then, it is determined that a malfunction has occurred and the position value used for motor control is replaced with the rotor position value generated by the incremental position generation module .

According to another aspect of the present invention, there is provided a method of driving an AC motor position sensorless driving system using a multi-core architecture, the method comprising: (A) A first comparison step of comparing position values estimated by the cores with each other; (B) comparing a previous rotor position value of a motor stored in advance with a position value estimated by each of the cores; And a second comparing step of comparing a direction of a motor rotor intended by the developer with a direction of an intended motor rotor, and (C) Determines the direction of rotation according to the previous rotation direction of the motor estimated by using the rotation direction thus confirmed and accumulated, Performing motor scalar control, and (D) comparing the rotor position value estimated in the first comparison step with the motor comparison value, And performing vector control through any one of the rotor position values.

Preferably, in the step (A), the counter electromotive force and the three-phase current of the motor measured through the ADC (Analog to Digital Conversion) process are respectively input to different cores and the Dq conversion algorithm is performed to calculate the Dq axis voltage value and the Dq axis current value Measuring a Dq axis voltage value and a Dq axis current value; and performing a dual position estimation algorithm on different cores using the measured Dq axis voltage value and a Dq axis current value, and comparing the results.

Preferably, the step (C) includes a first determination step of determining that a malfunction of the motor estimation algorithm has occurred when the actual rotation direction of the motor is different from the intended direction of the developer, and a step of comparing the position values estimated by the two or more cores A second determination step of determining that a malfunction of the motor estimation algorithm occurs when a difference is larger than a preset threshold value; and a second determination step of determining that a malfunction occurs in the motor estimation algorithm when the difference is greater than a preset threshold value; And the position value used for the motor control is replaced with the electronic position value.

The AC motor position sensorless driving system and method according to the present invention as described above have the following effects.

First, the functional safety of the AC motor position sensorless driving system can be guaranteed.

Second, if the rotation direction of the motor coincides with the intended direction of the developer, if the coincidence is determined, the vector control or the scalar control of the motor is performed according to the result of comparing the position values estimated from the two cores, If the developer does not match the intended direction, scalar control of the motor can be performed to prevent motor malfunctions that are primarily caused by location error estimation errors.

Third, the position estimation algorithm dual execution in two cores is compared with the algorithm execution result. If the difference of the position value, which is the result of the algorithm execution, is within a certain size, the estimated position value is used for vector control of the motor, The position value used for the motor control is replaced with the position value generated by the incremental position generating module and the motor scalar control is performed so that the motor malfunction caused by the error of the position estimation algorithm can be prevented have. Also, it is possible to prevent the malfunction of the actuator on which the motor is mounted through the prevention of the malfunction of the motor.

Fig. 1 is a diagram showing a prior art AC motor position sensorless drive system
2 is a block diagram showing a configuration of an AC motor position sensorless driving system based on a multicore architecture according to an embodiment of the present invention;
3 is a block diagram for explaining functionally safe motor position sensorless control by task distribution per core through the multicore architecture based AC motor position sensorless drive system of FIG.

Other objects, features and advantages of the present invention will become apparent from the detailed description of the embodiments with reference to the accompanying drawings.

A preferred embodiment of a multi-core architecture based AC motor position sensorless driving system and method according to the present invention will be described with reference to the accompanying drawings. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art. It is provided to let you know. Therefore, the embodiments described in the present specification and the configurations shown in the drawings are merely the most preferred embodiments of the present invention and are not intended to represent all of the technical ideas of the present invention. Therefore, various equivalents It should be understood that water and variations may be present.

2 is a block diagram illustrating the configuration of an AC motor position sensorless driving system based on a multicore architecture according to an embodiment of the present invention.

As shown in FIG. 2, the AC motor position sensorless drive system includes two or more cores (core # 1, core # 2, and the like) to measure the back electromotive force of the motor measured through an ADC (Analog to Digital Conversion) A Dq conversion module 100 for receiving three-phase currents from different cores and measuring a Dq axis voltage value and a Dq axis current value by performing a Dq conversion algorithm, and a Dq conversion module 100 for measuring two or more cores (core # 1, ) For estimating the position of the rotor by comparing the results of the Dq-axis voltage value and the Dq-axis current value measured by the Dq conversion module 100, An increment position generation module 400 for indicating the direction of rotation of the motor by incrementing the previous rotor position value estimated by the rotor position estimation module, Electronic position value The actual rotation direction of the motor measured in comparison with the rotation direction of the motor is compared with the rotation direction of the motor intended by the developer and the rotor position value used for the motor control according to the matching of the direction is used as the estimated rotor position value, Or to determine the direction of rotation to perform the motor scalar control in the previous rotational direction, or to obtain the previous rotational direction of the motor using the accumulated rotor position value through the incremental position generating module 400, A rotor position value storage module 500 for storing and storing a previous rotor position value, and a rotor position value storage module 500 for storing an external applied voltage based on the AC phase of the rotor position selection module 300 A Dq inverse conversion module 600 for performing inverse Dq conversion with three-phase AC power, and a Dq inverse conversion module 600 for converting the three-phase output voltage into a variable voltage, W consists of inverter 700 to be applied to the motor.

At this time, the rotor position selection module 300 primarily determines that a malfunction of the motor estimation algorithm occurs when the actual rotation direction of the motor is different from the intended direction of the developer, and then determines the position value It is determined that a malfunction has occurred and the rotor position value generated by the incremental position generation module 400 is used for motor control Position value.

Accordingly, the position value generated through the increment position generation module or the position value estimated through the position estimation algorithm is used as the position value used for the motor control.

3 is a block diagram illustrating functionally safe motor position sensorless control by task distribution per core through the multicore architecture based AC motor position sensorless drive system of FIG.

Referring to FIG. 3, the core # 0 performs vector control or scalar control of the motor through the position value of the motor rotor received from the core #N.

At this time, the core # 0 performs vector control or scalar control of the motor through the position value of the motor rotor received from the core #N.

The core # 1 and the core # 2 measure the counter electromotive force of the motor through an ADC (Analog to Digital Conversion) process and estimate the position of the motor rotor using the measured counter electromotive force.

Next, the core #N compares the position of the rotor of the motor received from the core # 1 and the core # 2 to determine whether or not the position estimation has been normally performed, and compares the previous rotor position of the motor with the newly estimated position It is determined whether the rotation direction of one motor coincides with the motor rotation direction intended by the developer. According to the determination result, the position value of the motor rotor is transmitted to the core # 0, which is the position value required for the scalar control or the position estimation value required for the vector control. At this time, if the number of cores is insufficient, the function of the core #N can be performed in the core # 0, and the functions of the core # 1 and the core # 2 can be performed in the core # 0 and the core # 1.

That is, the core #N compares the estimated position values received from the core # 1 and the core # 2. If the difference between the two estimated position values is equal to or greater than a predetermined size, it is determined that the position estimation algorithm is not properly performed, and the position value (position value corresponding to 2 in Fig. 3) generated through the increase / To perform motor scalar control.

The core #N measures the rotation direction of the motor intended by the developer through the Vq and Vd command values in FIG. 3, and stores the rotor position value used in the previous motor control through the rotor position value storage module 500 do.

Then, the rotation direction of the motor measured by comparing the previous rotor position (position value corresponding to? In Fig. 3) of the motor transmitted from the rotor position value storage module 500 and the newly estimated position is compared with the motor If it is different from the rotation direction, the motor scalar control is performed by transmitting the position value (position value corresponding to 2 in Fig. 3) generated through the increment position generation module 400 to the core # 0.

On the other hand, in the core #N, the difference between the estimated two position values transmitted from the core # 1 and the core # 2 is within a certain size, and the previous rotor position of the motor received from the rotor position value storage module (Corresponding position value in FIG. 3) is compared with the newly estimated position, and if the measured rotation direction of the motor coincides with the intended motor rotation direction, the current rotor position value (position value corresponding to? In FIG. 3) To perform motor vector control. Note that the number of cores is insufficient and the function of Core # N can be performed in Core # 0.

The comparison of the result of the position estimation algorithm in the other cores and the comparison between the actual motor rotation direction and the motor rotation direction intended by the developer is performed by the motor circuit used in the AC motor position sensorless control Thereby ensuring reliability with respect to the electronic position value, thereby preventing a fatal malfunction of the motor.

Meanwhile, the embodiment of the present invention can be made into a program that can be executed in a computer. That is, the various steps involved in the method according to the present invention may be stored in a computer readable recording medium. The medium may be a magnetic storage medium such as a ROM, a floppy disk, a hard disk, etc., an optical reading medium such as CD-ROM or DVD, a digital storage medium such as a USB memory, XD), etc.) and carrier waves (e.g., transmission over the Internet).

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. It will be apparent to those skilled in the art that various modifications may be made without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Claims (6)

The Dq conversion algorithm is performed by receiving the counter-electromotive force and the three-phase current of the motor measured through ADC (Analog to Digital Conversion) process including two or more cores, and receiving the Dq conversion algorithm. A Dq conversion module for measuring,
A rotor for estimating a rotor position value by performing a dual position estimation algorithm on different cores using the Dq axis voltage value and the Dq axis current value measured by the Dq conversion module including two or more cores, A position estimation module,
An incremental position generating module for indicating a direction of rotation of the motor based on the increment of the previous rotor position value estimated by the rotor position estimating module;
The actual rotation direction of the motor measured by comparing the estimated rotor position value and the previous rotor position value with the rotation direction of the motor intended by the developer is compared with the rotation direction of the motor used for the motor control The vector control is performed using the electronic position value as the estimated rotor position value or the previous rotation direction of the motor is acquired using the accumulated rotor position value through the increment position generation module, A rotor position selection model for determining a rotation direction to perform scalar control,
A rotor position value storage module for storing and storing previous rotor position values,
A Dq inverse transform module for performing an inverse Dq inverse three-phase AC power on the basis of the AC phase by the rotor position selection module,
And an inverter for converting the three-phase output voltage into a three-phase alternating voltage of variable voltage and variable frequency in response to the inverse Dq conversion and applying the three-phase alternating voltage to the motor. The method according to claim 1,
The rotor position selection module primarily determines that a malfunction of the motor estimation algorithm occurs when the actual rotation direction of the motor is different from the intended direction of the developer, and then determines the difference between the position values estimated from the two cores It is determined that a malfunction has occurred and the position value used for motor control is replaced with the rotor position value generated by the incremental position generating module AC motor position sensorless drive system based on multicore architecture. (A) a first comparison step of performing a position estimation algorithm in two different cores in a microcontroller including two or more cores, and comparing position values estimated in each core with each other;
(B) comparing a previous rotor position value of a previously stored motor with a position value estimated by each of the cores, and comparing the measured actual rotor rotation direction with a direction of a motor rotor intended by the developer Wow,
(C) checking the rotation direction of the motor by increments of the estimated rotor position value if it is determined that the motor estimation algorithm is malfunctioning as a result of the first comparison and the second comparison, Determining a direction of rotation in a previous rotational direction of the motor and performing motor scalar control,
(D) performing vector control through any one of the rotor position values estimated in the first comparison step if the first comparison and the second comparison result are determined to be the normal operation of the motor estimation algorithm Wherein the AC motor position sensorless driving method is based on a multicore architecture. 4. The method of claim 3, wherein step (A)
Measuring a Dq-axis voltage value and a Dq-axis current value by receiving a counter-electromotive force and a 3-phase current of the motor measured through ADC (Analog to Digital Conversion)
And performing a dual position estimation algorithm on the different cores using the measured Dq-axis voltage value and the Dq-axis current value and comparing the results with each other. The multi-core architecture based AC motor position sensorless driving Way. 4. The method of claim 3, wherein step (C)
A first determination step of determining that a malfunction of the motor estimation algorithm has occurred when the actual rotation direction of the motor is different from the intended direction of the developer,
A second determination step of determining that a malfunction of the motor estimation algorithm has occurred when a difference between the position values estimated by two or more cores is greater than a predetermined threshold value;
Wherein the position value used for the motor control is replaced with the position value used for motor control by the rotor position value generated for the open loop control in increments when it is determined that the malfunction occurs as a result of the first and second determination, Lease driving method. A computer-readable recording medium having recorded thereon a program for executing each step of an AC motor position sensorless driving method based on a multicore architecture according to claim 3.

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