KR101742554B1 - Position detection signal linearity apparatus of sensor with low resolution and its method, motor control apparatus for washing machine using it and its method - Google Patents

Position detection signal linearity apparatus of sensor with low resolution and its method, motor control apparatus for washing machine using it and its method Download PDF

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KR101742554B1
KR101742554B1 KR1020160011429A KR20160011429A KR101742554B1 KR 101742554 B1 KR101742554 B1 KR 101742554B1 KR 1020160011429 A KR1020160011429 A KR 1020160011429A KR 20160011429 A KR20160011429 A KR 20160011429A KR 101742554 B1 KR101742554 B1 KR 101742554B1
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rotor position
rotor
value
angular velocity
error
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KR1020160011429A
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Korean (ko)
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이동명
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홍익대학교 산학협력단
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    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
    • G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
    • G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/24476—Signal processing

Abstract

According to the present invention, a position detection signal linearization method of a low resolution sensor for linearizing a position signal obtained from a low resolution hall sensor and a motor control device for a washing machine using the same are provided.
An apparatus for linearizing a position detection signal of a low resolution sensor according to the first aspect of the present invention includes a rotor for outputting a calculated value of a rotor angular velocity using a time interval between hall signals output from a hall sensor provided at one side of a rotor of the motor Angular rate calculator; A first order low pass filter that low pass filters the rotor angular velocity calculations to generate a rotor angular velocity estimate; A rotor position measurement value generator for outputting a rotor position measurement current value using the rotor angular velocity estimate and the sampling time; And a rotor position estimate generator for outputting the rotor position estimate using the rotor position measurement and the angular velocity estimate.

Figure R1020160011429

Description

Field of the Invention [0001] The present invention relates to a position detection signal linearization apparatus and method for a low resolution sensor, and a motor control apparatus and method using the same. [0002]

The present invention relates to an apparatus and method for linearizing a discontinuous position signal generated by a low resolution sensor used for detecting a position of a motor, and a motor control apparatus and method for a washing machine using the same.

Permanent magnet motors having good efficiency and high torque to volume ratio are mainly used as washing machine motors. On the other hand, the permanent magnet motor system using the vector control technique requires the position information of the rotor flux. In the case of home appliances such as washing machines, low resolution sensors with several resolutions per revolution are used to reduce the price. For example, in spite of the low resolution, hall sensors are mainly used for cost reduction. In general, using two Hall sensors electrically, it has four positional resolutions, that is, a 90 degree electrical angular resolution.

And, for proper vector control performance, position signal information by Hall sensor with low resolution is linearly estimated by using extrinsic method. However, depending on the electrical or mechanical error of the Hall sensor and the characteristics that are updated when the Hall sensor signal is generated, the bump or discontinuity characteristic of the position information occurs and the vector control performance deteriorates.

For example, if two sensors are electrically used per rotation of the Hall sensor, the electrical gap of the hall sensor is 90 degrees, so that the rotor angular velocity is expressed by Equation (1).

Figure 112017040381233-pat00001

here,

Figure 112017040381233-pat00002
Is the calculated value of the rotor angular velocity by the Hall signal
Figure 112017040381233-pat00003
Is the time interval between the Hall signals.

According to the extrapolation method of Equation (2), the rotor electrical position can be estimated by using the rotor angular velocity calculation value and the position information of the Hall signal.

Figure 112017040381233-pat00004

here,

Figure 112017040381233-pat00005
Is the rotor position estimate value according to the extrapolation method, and Ts is the sampling time.

Under ideal conditions, the rotational position of the rotor is increased by 90 degrees by two Hall sensor signals with 90 degree signal spacing. Therefore, when driving at a constant speed, the position value according to Equation (2) changes linearly.

However, in actuality, there may occur a cause such as non-uniformity of magnetization of the permanent magnet, error of the hall sensor, and mechanical arrangement error, and the gap between the hall sensor signals may not be exactly 90 degrees. In this case, as indicated by the dotted line in Fig. 1, bumps or discontinuities appear at the estimated positions. And the motor control performance such as current and speed control is deteriorated due to the error of the position signal due to this.

Specifically, the Luenberger position observer (LPO) utilizing technique among the various techniques for compensating the position error of the hall sensor has the following problems while having excellent dynamic characteristics.

The mechanical model of the permanent magnet synchronous motor can be expressed by Equation (3).

Figure 112017040381233-pat00006

Where Te is the electromagnetic torque, J is the motor system inertia,

Figure 112017040381233-pat00007
B is the friction coefficient, and TL is the load torque.

In the equation (3), the change of the load torque TL is negligible because the change of the other state variables is very slow, and the friction coefficient B is negligible. To electrically change the mechanical state variable, it can be modeled by the equation of state of equation (4) using the number of motor poles.

Figure 112017040381233-pat00008

here,

Figure 112017040381233-pat00009
Is the electrical velocity, and P is the number of pole pairs.

Of the three state variables, the only measurable variable is

Figure 112017040381233-pat00010
The output equation can be modeled as shown in Equation (5).

Figure 112017040381233-pat00011

LPO can be constructed as shown in Equation (6) using the state equation of Equation (4).

Figure 112017040381233-pat00012

Here, the K matrix is a gain matrix of the observer.

The observer according to the prior art of FIG. 2 is expressed by the block diagram of Equation (6), and information about the motor such as the motor system inertia J, the motor torque Te, and the like is required. Here, the motor system inertia J is a concept including inertia of the motor itself, inertia of the washing tub, and inertia caused by laundry in the case of, for example, a washing machine motor. However, since the position estimation technique using the observer according to the prior art shown in FIG. 2 is based on the mechanical motion equation, it is impossible to avoid errors due to the mechanical parameters and the inaccuracy of the generated torque calculation.

Also, as shown in Equation (6), the observer according to the prior art is a third order higher order, and it is necessary to set the observer gain. Even in the case of the SPM (permanent magnet surface-mounted electric motor), the motor generated torque

Figure 112017040381233-pat00013
The motor constant is inserted. here,
Figure 112017040381233-pat00014
Is an armature linkage,
Figure 112017040381233-pat00015
Is the q-axis current.

As a result, if there is an error in the parameters of the motor during the calculation, an error occurs in the motor generating torque.

KR 10-2016-0007780 A

According to the present invention, there is provided an apparatus and method for linearizing a position detection signal of a low resolution sensor for linearizing a position signal obtained from a low resolution Hall sensor, and a motor control apparatus and method for a washing machine using the same.

In addition, according to the present invention, there is provided an apparatus and method for linearizing a position detection signal of a low-resolution sensor which can more precisely estimate a position of a rotor by excluding an element affected by a temperature of a motor and a state of a field at the time of position estimation, A motor control apparatus and method for a washing machine to which the present invention is applied is provided.

An apparatus for linearizing a position detection signal of a low resolution sensor according to the first aspect of the present invention includes a rotor for outputting a calculated value of a rotor angular velocity using a time interval between hall signals output from a hall sensor provided at one side of a rotor of the motor Angular rate calculator; A first order low pass filter that low pass filters the rotor angular velocity calculations to generate a rotor angular velocity estimate; A rotor position measurement value generator for outputting a rotor position measurement current value using the rotor angular velocity estimate and the sampling time; And a rotor position estimate generator for outputting the rotor position estimate using the rotor position measurement and the angular velocity estimate.

Also, the rotor position measurement value generator may include: a multiplier for multiplying the rotor angular velocity estimate? E_est by a sampling time Ts; A buffer for storing a rotor position measurement value corresponding to the rotor position measurement current value; And a first adder for adding the output of the multiplier to a value obtained immediately before the rotor position measurement and outputting the rotor position measurement current value.

The rotor position estimation value generator may further include: a rotor position error calculator that outputs a rotor position error that is obtained by subtracting the rotor position estimate? E_est from the rotor position measurement current value; A rotor position error absoluteizer for processing 360 degree acceleration / deceleration in calculating the rotor position error; A second adder for adding a value obtained by multiplying the rotor position error by a predetermined gain and the rotor angular velocity estimate to output a rotor position estimate differential value; And an integrator that integrates the rotor position estimate differential values to output a rotor position estimate.

The rotor position error absoluteizer is configured to process the rotor position error with a sine function.

Further, the first-order low-pass filter calculates the rotor angular velocity calculation value (

Figure 112017040381233-pat00016
And outputs the rotor angular velocity estimate? E_est.

Figure 112017040381233-pat00017

here,

Figure 112017040381233-pat00018
Ts is a sampling period, and fc is a cutoff frequency.

The motor control apparatus according to the second aspect of the present invention further includes an angular velocity error outputting means for outputting a rotor angular velocity error component e_e_ror obtained by subtracting the following rotor angular velocity estimate value omega e_est from an externally applied rotational angular velocity command value omega e_cmd, A calculator 305; A first PI controller 310 for proportionally integrating the rotor angular velocity error? E_error and outputting a q-axis current command value iq_cmd; A q-axis current error calculator 315 for subtracting the q-axis current actual value iq from the q-axis current instruction value iq_cmd to output a q-axis current error iq_error; A d-axis current error calculator 320 for subtracting the d-axis current actual value id from the externally applied d-axis current instruction value id_cmd to output a d-axis current error amount id_error; A second PI controller 325 for proportionally integrating the q-axis current error iq_error and outputting a q-axis voltage command value vq_cmd; A third PI controller 330 for proportionally integrating the d-axis current error portion id_error and outputting a d-axis voltage instruction value vd_cmd; A rotation / stop coordinate converter (vq_cmd) for converting the q-axis voltage command value vq_cmd and the d-axis voltage command value vd_cmd of the rotating coordinate system into the two-phase voltage command value vα_cmd and vβ_cmd of the stationary coordinate system using the rotor position estimate θe_est 335); A space vector PWM generator 340 for outputting three-phase space vector PWM switching signals using the two-phase voltage command values v? _Cmd and v? _Cmd; An inverter 345 for converting the DC voltage into a predetermined AC voltage using the three-phase space vector PWM switching signal and supplying the AC voltage to the motor 350; Phase / two-phase coordinate converter (i ?, i?) That converts the three-phase output current (ia, ib, ic) of the inverter 345 into the two-phase current actual value (355); A stationary / rotating coordinate converter 360 for converting the two-phase current actual value i ?, i? Into a q-axis current actual value iq and a d-axis current actual value id in a rotational coordinate system; Generates a rotor position estimate? E_est and a rotor angular velocity estimate? E_est through first-order low-pass filtering (LPF) and integration using Hall signals output from Hall sensors provided at one side of the motor And a position estimator 370 for estimating the position of the vehicle.

The position estimator may further include a rotor angular velocity calculator that outputs a rotor angular velocity calculation value using a time interval between the Hall signals output from the Hall sensor; A first order low pass filter that low pass filters the rotor angular velocity calculations to generate a rotor angular velocity estimate; A rotor position measurement value generator for outputting a rotor position measurement current value using the rotor angular velocity estimate and the sampling time; And a rotor position estimate generator for outputting the rotor position estimate using the rotor position measurement and the angular velocity estimate.

According to a third aspect of the present invention, there is provided a method for linearizing a position detection signal of a low resolution sensor, the method comprising: outputting a rotor angular velocity calculation value using a time interval between hall signals output from a Hall sensor provided at one side of a rotor A rotor angular velocity calculation step; A low pass filtering step of low pass filtering the rotor angular velocity calculation value to generate a rotor angular velocity estimate; A rotor position measurement value generation step of outputting a rotor position measurement current value using the rotor angular velocity estimation value and the sampling time; And generating a rotor position estimate using the rotor position measurement and the angular velocity estimate.

The motor control method according to the fourth aspect of the present invention is a method for controlling an angular speed error that outputs a rotor angular speed error component (emega_error) obtained by subtracting the following rotor angular speed estimate (omega e_est) from an externally applied rotational angular speed instruction value Calculating step; Outputting a q-axis current command value (iq_cmd) by proportionally integrating the rotor angular velocity error (? E_error); Subtracting the q-axis current actual value (iq) from the q-axis current instruction value (iq_cmd) to output a q-axis current error iq_error; Outputting a d-axis current error value id_error by subtracting a d-axis current actual value id from an externally applied d-axis current command value id_cmd; And outputting a q-axis voltage command value (vq_cmd) by proportionally integrating the q-axis current error iq_error; And outputting a d-axis voltage command value (vd_cmd) by proportionally integrating the d-axis current error (id_error); Converting the q-axis voltage command value vq_cmd and the d-axis voltage command value vd_cmd of the rotating coordinate system to the two-phase voltage command value v? _Cmd, v? _Cmd of the stationary coordinate system using the rotor position estimate? E_est; Outputting three-phase space vector PWM switching signals using the two-phase voltage command values v? _Cmd and v? _Cmd; Converting the three-phase output currents (ia, ib, ic) of the inverter 345 into two-phase current actual values (i ?, i?) Of the stationary coordinate system using the rotor position estimate? E_est; Converting the two-phase current actual value (i ?, i?) Into a q-axis current actual value (iq) and a d-axis current actual value (id) in a rotational coordinate system; (LPF) using the Hall signals output from the hall sensor provided at one side of the motor and a position at which the rotor position estimation value? E_est and the rotor angular velocity estimation value? E_est are generated through integration Estimation step.

According to the present invention, it is possible to improve the control performance of the motor by linearly changing the discontinuous position signal generated in the low-resolution sensor used for detecting the position of the motor.

Further, the present invention is applicable not only to the linearization of the position signal for motor control but also to the application field for obtaining a continuously changing signal from a signal having an arbitrary resolution.

FIG. 1 shows a discrete estimated position graph according to the prior art,
A block diagram of an observer according to the prior art of FIG. 2,
3 is a block diagram of a motor control block according to the present invention,
4 is a block diagram of a position estimation technique according to the present invention,
5 is a frequency response curve according to the position estimation technique of the present invention, and
6 is a waveform diagram according to the position estimation technique of the present invention.

Further objects, features and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.

Before describing the present invention in detail, it is to be understood that the present invention is capable of various modifications and various embodiments, and the examples described below and illustrated in the drawings are intended to limit the invention to specific embodiments It is to be understood that the invention includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, the terms "comprises" or "having" and the like refer to the presence of stated features, integers, steps, operations, elements, components, or combinations thereof, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

In the following description of the present invention with reference to the accompanying drawings, the same components are denoted by the same reference numerals regardless of the reference numerals, and redundant explanations thereof will be omitted. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description, well-known functions or constructions are not described in detail since they would obscure the invention in unnecessary detail.

3 is a motor control block diagram according to the present invention.

The motor control block diagram according to the present invention includes an angular velocity error calculator 305, a first PI controller 310, a q-axis current error calculator 315, a d-axis current error calculator 320, a second PI controller 325, A third PI controller 330, a rotation / stop coordinate converter 335, a space vector PWM generator 340, an inverter 345, a motor 350, a 3-phase / 2-phase coordinate converter 355, A coordinate transformer 360, and a position estimator 370.

The angular velocity error calculator 305 outputs a rotor angular velocity error ωe_error obtained by subtracting the rotor angular velocity estimate ωe_est output from the position estimator 370 from the externally applied rotational angular velocity command value ωe_cmd.

The first PI controller 310 proportionally integrates the rotor angular error (? E_error) and outputs the q-axis current command value (iq_cmd).

The q-axis current error calculator 315 outputs the q-axis current error iq_error obtained by subtracting the q-axis current actual value iq output from the stop / rotation coordinate converter 360 from the q-axis current instruction value iq_cmd.

The d-axis current error calculator 320 calculates a d-axis current error value id_error obtained by subtracting the d-axis current actual value id outputted from the stationary / rotating coordinate converter 360 from the d-axis current command value id_cmd applied from the outside, .

The second PI controller 325 proportionally integrates the q-axis current error iq_error and outputs the q-axis voltage instruction value vq_cmd.

The third PI controller 330 proportionally integrates the d-axis current error (id_error) to output the d-axis voltage command value (vd_cmd).

The rotation / stop coordinate converter 335 converts the q-axis voltage command value vq_cmd and the d-axis voltage command value vd_cmd of the rotating coordinate system into the two-phase voltage command value vα_cmd and vβ_cmd of the stationary coordinate system using the rotor position estimate θe_est, And outputs it.

The space vector PWM generator 340 outputs a three-phase space vector PWM switching signal using the two-phase voltage command value (v? _Cmd, v? _Cmd) of the stationary coordinate system.

The inverter 345 converts the DC voltage to a predetermined AC voltage using the three-phase space vector PWM switching signal, and supplies the AC voltage to the motor 350.

The three-phase / two-phase coordinate converter 355 converts the three-phase output currents ia, ib, ic of the inverter 345 into the two-phase current actual values iα, iβ of the stationary coordinate system using the rotor position estimate θe_est, .

The stop / rotation coordinate converter 360 converts the two-phase current actual value (i?, I?) Of the stationary coordinate system into the q-axis current actual value (iq) and the d-axis current actual value (id) of the rotational coordinate system.

The position estimator 370 generates a rotor position estimate? E_est and a rotor angular velocity estimate? E_est through low pass filtering (LPF) and integration using Hall signals output from the hall sensor.

4 is a block diagram of a position estimation technique in accordance with the present invention.

The position estimator according to the present invention includes a rotor angular velocity calculator 410, a first order low pass filter 415, a multiplier 420, a buffer 425, a first adder 430, a rotor position error calculator 435, A rotor position error absoluteizer 440, a gain 445, a second adder 450, and an integrator 455.

The rotor angular velocity calculator 410 calculates a time interval between the Hall signals output from the Hall sensors provided on one side of the rotor of the motor

Figure 112017040381233-pat00019
) Into the equation (1) to output the rotor angular velocity calculation value? E_calc.

The first-order low-pass filter 415 low-pass-filters the rotor angular velocity calculation value? E_calc and outputs a filtered rotor angular velocity estimate? E_est. The primary low-pass filter 415 will be described later. Meanwhile, although the first-order low-pass filter is presented according to an embodiment of the present invention, the second-order low-pass filter is not limited thereto.

The multiplier 420 multiplies the filtered rotor angular velocity estimate? E_est by the sampling time Ts and outputs the result.

The buffer 425 stores the value [theta] e_in [k-1] immediately before the rotor position measurement.

The first adder 430 adds the rotor position measurement value? E_in [k-1] and the output of the multiplier 420 and outputs the rotor position measurement current value? E_in [k] of Equation 7 .

Figure 112017040381233-pat00020

The rotor position error calculator 435 outputs a rotor position error that is obtained by subtracting the rotor position estimate? E_est from the rotor position measurement current value? E_in [k].

The rotor position error absoluteizer 440 determines whether the rotor position measurement current value? E_in [k] is in the forward rotation (0 degrees to 360 degrees) or in the reverse rotation (360 degrees to 0 degrees) Sin (θe_in [k] - θe_est [k]) is taken to prevent 360 degrees from being added or subtracted even though the errors (θe_in [k] - θe_est) are the same error. That is, when the position error is? (=? E_in [k] -? E_est [k]), when? Is small, sin (?) = Sin (? 360) This is to eliminate the phenomenon that ± 360 ° is added in the range of 0 ° to 360 ° (normal rotation) or 360 ° to 0 ° (reverse rotation).

For example, if the rotor position measurement current value θe_in [k] and the rotor position estimate value θe_est are 359.5 and 357.5 degrees, respectively, the position error is 2 degrees (= 359.5 - 357.5) (360.5 - 358.5), the rotor position range is 0 ~ 360 degrees, so the actual error is 0.5-358.5 (-) 358 degrees, and the position error is suddenly 2 degrees (-). 358 degrees is changed. This is to prevent occurrence of such a phenomenon. For reference, sin (2 degrees) = sin (-358 degrees) 0.0349, 2 degrees = 0.0349 radians.

Gain 445 is a predetermined value used in the estimator.

The second adder 450 adds the value obtained by multiplying the rotor position error? E_in [k] -? E_est by the estimator gain K and the filtered rotor angular velocity estimate? E_est to obtain the rotor position estimate differential Output the value.

The basic configuration of the position estimator according to the present invention is in the form of a first-order position estimator as shown in Equation (8), and the rotor position estimate? E_est, i.e., the rotor angular velocity estimate? E_est required for observing (estimating) Uses the value obtained by filtering the rotor angular velocity calculation value (? E_calc). It is possible to calculate the motor system inertia J and the armature torque Te differently from the conventional method, and it is possible to calculate the fluctuation of the system constant, It is possible to prevent the possibility of a calculation error due to the inaccuracy in advance. That is, in the position estimator of the present invention, the motor system inertia J and the armature torque Te do not participate in the calculation of the rotor position estimate? E_est.

Figure 112017040381233-pat00021

Integrator 455 integrates the rotor position estimate differential value to output a rotor position estimate? E_est.

As a result, the transfer function of the position estimator according to the present invention is expressed by Equation (9).

Figure 112017040381233-pat00022

According to Equation (9), it can be seen that, in the prior art, the third system was reduced to the first system.

FIG. 5 is a frequency response curve according to the position estimation technique of the present invention. When the position estimator gain K is larger than zero, the pole is located on the left half plane, and the system is stable.

The primary low-pass filter 415 filters the rotor angular velocity filtered by ignoring the calculation error of the motor torque Te, which is dependent on the change in the motor inertia J, which depends on the amount of laundry and the distribution of laundry, It is possible to estimate the estimated value? E_est relatively accurately. That is, the first-order low-pass filter 415 can be expressed by Equation (10).

Figure 112017040381233-pat00023

Where a is the blocking angular frequency (

Figure 112017040381233-pat00024
), And fc is the cutoff frequency.

The primary low-pass filter 415 receives a rotor angular velocity calculation

Figure 112017040381233-pat00025
) And outputs a filtered rotor angular velocity estimate? E_est as shown in Equation (11).

Figure 112017040381233-pat00026

here,

Figure 112017040381233-pat00027
And Ts is a sampling period.

FIG. 6 is a simulation waveform diagram according to the position estimation technique of the present invention. It can be seen that the discontinuity in the Hall signal? E_hall is removed from the rotor position estimate? E_est.

5 shows the frequency response curve of the rotor position estimate? E_est with respect to the rotor position measurement? E_in. When the gain K is 100, that is, 100 rad / sec, the phase delay occurs at 45 degrees . However, according to FIG. 6, it can be seen that the rotor position estimate? E_est has no phase delay with respect to the Hall signal? E_hall. The reason for this is as follows.

If the Hall signal is kept exactly 90 degrees in Equation (9), then ωe = dθe / dt, which can be expressed as ωe (s) = sθe (s). However, in the position estimation technique of the present invention, the filtered rotor angular velocity estimate? E_est can be approximated to? E_est (s)? S? E (s) since the rotor angular velocity calculation value? E_calc is a lowpass filtered value. Hence, Equation (9) is rewritten as follows.

Figure 112017040381233-pat00028

As can be seen from Equation (12), since the gain K is present in both the numerator and the denominator simultaneously, the position estimating ability does not fluctuate sensitively according to the magnitude of the gain K, and the cutoff frequency of the low- Or location linearization capability).

The embodiments and the accompanying drawings described in the present specification are merely illustrative of some of the technical ideas included in the present invention. Accordingly, the embodiments disclosed herein are for the purpose of describing rather than limiting the technical spirit of the present invention, and it is apparent that the scope of the technical idea of the present invention is not limited by these embodiments. It will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.

305: Angular velocity error calculator
310: first PI controller
315: q-axis current error calculator
320: d axis current error calculator
325: second PI controller
330: third PI controller
335: Rotation / stop coordinate transformer
340: Space vector PWM generator
345: Inverter
350: motor
355: Three-phase / two-phase coordinate converter
360: Stop / rotate coordinate transformer
370:

Claims (19)

A rotor angular velocity calculator for calculating a rotor angular velocity calculation value using a time interval between Hall signals output from a Hall sensor provided at one side of a rotor of the motor;
A first order low pass filter that low pass filters the rotor angular velocity calculations to generate a rotor angular velocity estimate;
A rotor position measurement value generator for outputting a rotor position measurement current value using the rotor angular velocity estimate and the sampling time; And
And a rotor position estimate generator for outputting a rotor position estimate using the rotor position measurement and the angular velocity estimate,
Wherein the rotor position estimate generator comprises:
A rotor position error calculator for outputting a rotor position error that is obtained by subtracting the rotor position estimate? E_est from the rotor position measurement current value;
A rotor position error absoluteizer for processing 360 degree acceleration / deceleration in calculating the rotor position error;
A second adder for adding a value obtained by multiplying the rotor position error by a predetermined gain and the rotor angular velocity estimate to output a rotor position estimate differential value; And
An integrator that integrates the rotor position estimate differential values and outputs a rotor position estimate;
Wherein the position detection signal of the low-resolution sensor is linearized.
2. The apparatus of claim 1, wherein the rotor position measurement generator comprises:
A multiplier for multiplying the rotor angular velocity estimate? E_est by a sampling time Ts;
A buffer for storing a rotor position measurement value corresponding to the rotor position measurement current value; And
And a first adder for adding the output of the multiplier to the rotor position measurement current value,
Wherein the position detection signal of the low-resolution sensor is linearized.
delete The method according to claim 1,
Wherein the rotor position error absoluteizer processes the rotor position error by a sine function.
2. The low-pass filter according to claim 1,
The rotor angular velocity calculation value < RTI ID = 0.0 > (
Figure 112017040381233-pat00029
And outputs the rotor angular velocity estimate < RTI ID = 0.0 > (omega est) < / RTI >
Figure 112017040381233-pat00030

here,
Figure 112017040381233-pat00031
Ts is a sampling period, and fc is a cutoff frequency.
A motor control device for a washing machine, which controls the motor using a linearizing device according to any one of claims 1, 2, 4, and 5.
An angular velocity error calculator 305 for outputting a rotor angular velocity error ωe_error obtained by subtracting the following rotor angular velocity estimate ωe_est from the rotor angular velocity command value ωe_cmd applied from the outside;
A first PI controller 310 for proportionally integrating the rotor angular velocity error? E_error and outputting a q-axis current command value iq_cmd;
A q-axis current error calculator 315 for subtracting the q-axis current actual value iq from the q-axis current instruction value iq_cmd to output a q-axis current error iq_error;
A d-axis current error calculator 320 for subtracting the d-axis current actual value id from the externally applied d-axis current instruction value id_cmd to output a d-axis current error amount id_error;
A second PI controller 325 for proportionally integrating the q-axis current error iq_error and outputting a q-axis voltage command value vq_cmd;
A third PI controller 330 for proportionally integrating the d-axis current error portion id_error and outputting a d-axis voltage instruction value vd_cmd;
A rotation / stop coordinate converter (vq_cmd) for converting the q-axis voltage command value (vq_cmd) and the d-axis voltage command value (vd_cmd) of the rotating coordinate system into the two-phase voltage command value (v__cmd, v__cmd) of the stationary coordinate system using the rotor position estimate 335);
A space vector PWM generator 340 for outputting three-phase space vector PWM switching signals using the two-phase voltage command values v? _Cmd and v? _Cmd;
An inverter 345 for converting the DC voltage into a predetermined AC voltage using the three-phase space vector PWM switching signal and supplying the AC voltage to the motor 350;
Phase / two-phase coordinate converter (i ?, i?) That converts the three-phase output current (ia, ib, ic) of the inverter 345 into the two-phase current actual value (355);
A stationary / rotating coordinate converter 360 for converting the two-phase current actual value i ?, i? Into a q-axis current actual value iq and a d-axis current actual value id in a rotational coordinate system;
Generates a rotor position estimate? E_est and a rotor angular velocity estimate? E_est through first-order low-pass filtering (LPF) and integration using Hall signals output from Hall sensors provided at one side of the motor Lt; RTI ID = 0.0 > 370 &
And the motor control device.
8. The apparatus of claim 7,
A rotor angular velocity calculator for calculating a rotor angular velocity calculation value using a time interval between the Hall signals output from the hall sensor;
A first order low pass filter that low pass filters the rotor angular velocity calculations to generate a rotor angular velocity estimate;
A rotor position measurement value generator for outputting a rotor position measurement current value using the rotor angular velocity estimate and the sampling time; And
A rotor position estimate value generation unit for outputting a rotor position estimate using the rotor position measurement and the angular velocity estimate,
And the motor control device.
9. The apparatus of claim 8, wherein the rotor position measurement generator comprises:
A multiplier for multiplying the rotor angular velocity estimate? E_est by a sampling time Ts;
A buffer for storing a rotor position measurement value corresponding to the rotor position measurement current value; And
And a first adder for adding the output of the multiplier to the rotor position measurement current value,
And the motor control device.
9. The apparatus of claim 8, wherein the rotor position estimate generator comprises:
A rotor position error calculator for outputting a rotor position error that is obtained by subtracting the rotor position estimate? E_est from the rotor position measurement current value;
A rotor position error absoluteizer for processing 360 degree acceleration / deceleration in calculating the rotor position error;
A second adder for adding a value obtained by multiplying the rotor position error by a predetermined gain and the rotor angular velocity estimate to output a rotor position estimate differential value; And
An integrator that integrates the rotor position estimate differential values and outputs a rotor position estimate;
And the motor control device.
A rotor angular velocity calculation step of outputting a rotor angular velocity calculation value using a time interval between hall signals output from a hall sensor provided at one side of a rotor of the motor;
A low pass filtering step of low pass filtering the rotor angular velocity calculation value to generate a rotor angular velocity estimate;
A rotor position measurement value generation step of outputting a rotor position measurement current value using the rotor angular velocity estimation value and the sampling time; And
And a rotor position estimate value generation step of outputting a rotor position estimate using the rotor position measurement and the angular velocity estimate,
Wherein the step of generating the rotor position estimate comprises:
Calculating a rotor position error by subtracting the rotor position estimate? E_est from the rotor position measurement current value;
A rotor position error absoluteizing step of processing 360 degree acceleration / deceleration in calculating the rotor position error;
Outputting a rotor position estimate differential value by adding the rotor angular velocity estimate to a value obtained by multiplying the rotor position error by a predetermined gain; And
Integrating the rotor position estimate differential value to output a rotor position estimate;
Wherein the low-resolution sensor is a linear sensor.
12. The method of claim 11, wherein generating the rotor position measurement comprises:
Multiplying the rotor angular velocity estimate? E_est by a sampling time Ts;
Storing a value immediately before rotor position measurement corresponding to the rotor position measurement current value; And
And outputting the rotor position measurement current value by adding the multiplication value of the rotor angular speed estimation value? E_est and the sampling time Ts to the rotor position measurement value
Wherein the low-resolution sensor is a linear sensor.
delete 12. The method of claim 11,
Wherein the rotor position error absoluteizing step processes the rotor position error by a sine function.
12. The method of claim 11, wherein the low-
The rotor angular velocity calculation value < RTI ID = 0.0 > (
Figure 112017040381233-pat00032
And outputting the rotor angular velocity estimate (omega e_est). The linearization method of a position detection signal of a low resolution sensor.
Figure 112017040381233-pat00033

here,
Figure 112017040381233-pat00034
Ts is a sampling period, and fc is a cutoff frequency.
A method for controlling a motor,
An angular velocity error calculation step of outputting a rotor angular velocity error? E_error obtained by subtracting the following rotor angular velocity estimate? E_est from an external rotor angular velocity command value? E_cmd;
Outputting a q-axis current command value (iq_cmd) by proportionally integrating the rotor angular velocity error (? E_error);
Subtracting the q-axis current actual value (iq) from the q-axis current instruction value (iq_cmd) to output a q-axis current error iq_error;
Outputting a d-axis current error value id_error by subtracting a d-axis current actual value id from an externally applied d-axis current command value id_cmd;
And outputting a q-axis voltage command value (vq_cmd) by proportionally integrating the q-axis current error iq_error;
And outputting a d-axis voltage command value (vd_cmd) by proportionally integrating the d-axis current error (id_error);
Converting the q-axis voltage command value vq_cmd and the d-axis voltage command value vd_cmd of the rotating coordinate system to the two-phase voltage command value v? _Cmd, v? _Cmd of the stationary coordinate system using the rotor position estimate? E_est;
Outputting three-phase space vector PWM switching signals using the two-phase voltage command values v? _Cmd and v? _Cmd;
Converting the three-phase output currents (ia, ib, ic) of the inverter 345 into two-phase current actual values (i ?, i?) Of the stationary coordinate system using the rotor position estimate? E_est;
Converting the two-phase current actual value (i ?, i?) Into a q-axis current actual value (iq) and a d-axis current actual value (id) in a rotational coordinate system;
(LPF) using the Hall signals output from the hall sensor provided at one side of the motor and a position at which the rotor position estimation value? E_est and the rotor angular velocity estimation value? E_est are generated through integration Estimation step
≪ / RTI >
17. The method of claim 16,
Outputting a calculated rotor angular velocity using a time interval between the Hall signals output from the Hall sensor;
Generating a rotor angular velocity estimate by low pass filtering the rotor angular velocity calculation;
Outputting a rotor position measurement current value using the rotor angular velocity estimate and the sampling time; And
Outputting a rotor position estimate using the rotor position measurement and the angular velocity estimate;
≪ / RTI >
17. The method of claim 16, wherein outputting the rotor position measurement current value comprises:
Multiplying the rotor angular velocity estimate by a sampling time;
Storing a value immediately before rotor position measurement corresponding to the rotor position measurement current value; And
Adding the rotor angular velocity estimate and the sampling time multiplication value to the rotor position measurement value to output the rotor position measurement current value
≪ / RTI >
18. The method of claim 17, wherein outputting the rotor position estimate comprises:
Outputting a rotor position error obtained by subtracting the rotor position estimate from the rotor position measurement current value;
Processing the 360 degree acceleration / deceleration in calculating the rotor position error;
Outputting a rotor position estimate differential value by adding the rotor angular velocity estimate to a value obtained by multiplying the rotor position error by a predetermined gain; And
Integrating the rotor position estimate differential value to output a rotor position estimate;
≪ / RTI >
KR1020160011429A 2016-01-29 2016-01-29 Position detection signal linearity apparatus of sensor with low resolution and its method, motor control apparatus for washing machine using it and its method KR101742554B1 (en)

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Publication number Priority date Publication date Assignee Title
KR20190062009A (en) * 2017-11-28 2019-06-05 한국생산기술연구원 Electrical angle estimation method for sinusoidal drive of Brushless DC Motor and motor control system using the method
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