KR102288428B1 - Control Apparatus for Sensorless Motor of Inverter Type and Method Thereof - Google Patents

Abstract

To a control apparatus and method for controlling a constant torque in an air conditioning system (Heating, Ventilating and Air Conditioning (HAVC)) inverter using a sensorless BLDC motor. The control method of the inverter type sensorless motor of the present invention comprises the steps of extracting a torque current as a torque constant ratio of a torque command value using a torque current calculator; comparing the torque current calculated using the fourth adder with the torque axis current of the inverter; As a result of the comparison, when the calculated torque current and the torque shaft current of the inverter are the same, the torque controller maintains the current speed of the motor; as a result of the comparison, if the calculated torque current and the torque shaft current of the inverter are different, determining the deviation by using an angular speed command value setting unit; changing the angular speed command value so that the current rotation speed of the motor is reduced by using the angular speed command value setting unit when the torque shaft current is smaller than the torque current as a result of the determination; and when the torque axis current is greater than the torque current as a result of the determination, changing the angular speed command value so that the current rotation speed of the motor is increased by using the angular speed command value setting unit.

Description

Control Apparatus for Sensorless Motor of Inverter Type and Method Thereof

The present invention relates to a control apparatus and method for controlling a constant torque in an air conditioning system (Heating, Ventilating and Air Conditioning (HAVC)) inverter using a sensorless BLDC motor.

In general, a BLDC motor is a high-efficiency motor, and has recently been used as a motor in an air conditioning system (HAVC).

In order to drive the BLDC motor, the control device of the inverter type BLDC motor initially applies a current to the coil of the stator to form an electric field or a magnetic field. Then, the rotor, which has a magnetic field opposite to this and is at rest with a constant weight, is rotated by generating a magnetic repulsive force. In order to use this magnetic repulsion, it is necessary to sense the position of the rotor.

Therefore, unlike induction motors, BLDC motors require a position signal from the rotor to start. The BLDC motor includes a position detection element for detecting the position signal of the rotor. The position detection element uses a Hall element, an encoder, a resolver, or the like.

However, for a sensorless BLDC motor without a position detecting element, a method for estimating the initial position for starting the rotor must be prepared.

In the prior art, in order to control such a sensorless BLDC motor, the sensorless BLDC motor control device includes a device for estimating the position of the rotor, and reduces the position error of the rotor by controlling the current controller with a speed controller. go and control

This starting control method removes the dead point (possibility of (SN) if the rotor position is (NS) normally) by shaking (rotating) the BLDC motor slightly left and right in order to reduce the position error of the rotor. It is a control method to start the rotor by matching the rotor in the initial position to the initial position.

To this end, the control device of the sensorless BLDC motor transmits a switching signal to the BLDC motor to match the rotor to the initial position. At this time, it takes several hundred m [sec], which is a time for the switching signal to be transmitted to the BLDC motor, and the BLDC motor has a delay time corresponding to that amount. As such, the BLDC motor has a problem in that the loss of time occurs and the loss of power increases as the time increases. This prior art is disclosed in Utility Model Registered Utility Model Publication No. 1995-028837 (October 20, 1995).

Accordingly, in order to reduce the position error of the sensorless BLDC motor, a device for estimating the correct position of the rotor and controlling a constant torque of the inverter controlling the sensorless BLDC motor is required.

An object of the present invention is to reduce a position error of a rotor in an air conditioning system (HAVC (Heating, Ventilating and Air Conditioning)) inverter using a sensorless motor, and thus a control apparatus and method capable of controlling a constant torque even if there is a load change is to provide

An object of the present invention is to reduce the position error of the rotor to control the quick start of the rotor, thereby reducing power consumption due to the start, and to provide a simple and convenient control.

The objects of the present invention are not limited to the above-mentioned objects, and other objects and advantages of the present invention not mentioned may be understood by the following description, and will be more clearly understood by the examples of the present invention. Moreover, it will be readily apparent that the objects and advantages of the present invention may be realized by the means and combinations thereof indicated in the claims.

The control device of an inverter type sensorless motor according to the present invention can control a constant torque by using a torque controller while using a position estimator, a speed controller, and a current controller used in the existing sensorless control.

In addition, the control method of the inverter type sensorless motor according to the present invention includes the steps of extracting a torque current, comparing the torque current with the torque axis (q-axis) current of the inverter, and using the comparison result to determine a speed command value A constant torque can be controlled through the controlling step.

At this time, the control of the speed command value maintains the current speed of the BLDC motor if the torque current and the torque axis (q-axis) current of the inverter are the same, and decreases the speed command value if the torque axis current of the inverter is greater than the torque current, If the torque shaft current of the inverter is smaller, the speed command value can be increased.

Also, it is possible to control the angular velocity command value in a manner that gradually converges from the maximum value according to the comparison difference between the torque current and the torque shaft current of the inverter.

In addition, the control method of the inverter-type sensorless motor of the present invention comprises the steps of extracting a torque current as a torque constant ratio of a torque command value using a torque current calculator; comparing the torque current calculated using the fourth adder with the torque axis current of the inverter; As a result of the comparison, if the calculated torque current and the torque shaft current of the inverter are the same, the torque controller maintaining the current speed of the motor; as a result of the comparison, if the calculated torque current and the torque shaft current of the inverter are different, determining the deviation by using an angular speed command value setting unit; as a result of the determination, if the torque shaft current is smaller than the torque current, changing the angular speed command value so that the current rotation speed of the motor is reduced by using the angular speed command value setting unit; and when the torque shaft current is greater than the torque current as a result of the determination, changing the angular speed command value so that the current rotation speed of the motor is increased by using the angular speed command value setting unit.

The control apparatus and method of an inverter type sensorless motor according to the present invention can reduce the position error of the rotor even in sensorless control, and can control a constant torque even if there is a load change.

In addition, the control apparatus and method of the inverter type sensorless motor according to the present invention can control the fast start of the rotor by reducing the position error of the rotor, and through this, it is possible to reduce the power consumption due to the start, It can provide simple and convenient torque control.

In addition to the above-described effects, the specific effects of the present invention will be described together while describing specific details for carrying out the invention below.

1 is a block diagram showing the configuration of a control device of an inverter type sensorless motor according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating in detail the configuration of the torque control unit shown in FIG. 1 .
FIG. 3 is a block diagram showing in detail the configuration of the current control unit shown in FIG. 1 .
4 is a flowchart for explaining a method of controlling an inverter type sensorless BLDC motor according to an embodiment of the present invention.

The above-described objects, features and advantages will be described below in detail with reference to the accompanying drawings, and accordingly, those of ordinary skill in the art to which the present invention pertains will be able to easily implement the technical idea of the present invention. In describing the present invention, if it is determined that a detailed description of a known technology related to the present invention may unnecessarily obscure the gist of the present invention, the detailed description will be omitted. Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In the drawings, the same reference numerals are used to indicate the same or similar components.

Hereinafter, when it is described that a component is "connected", "coupled" or "connected" to another component, the components may be directly connected or connected to each other, but other components are "interposed" between each component. It is to be understood that “or, each component may be “connected,” “coupled,” or “connected” through another component.

Hereinafter, an apparatus and method for controlling an inverter type sensorless motor according to some embodiments of the present invention will be described.

1 is a block diagram showing the configuration of a control device of an inverter type sensorless motor according to an embodiment of the present invention. At this time, the control device of the inverter-type sensorless motor shown in FIG. 1 is according to an embodiment, and the components are not limited to the embodiment shown in FIG. 1, and some components are added or changed as necessary. Or it can be deleted.

As shown in FIG. 1 , the control device of the inverter type sensorless motor of the present invention includes a torque control unit 100 , a speed control unit 200 , a current control unit 300 , an inverter 400 , a motor 500 and a position. It may include an estimator 600 . In this case, the inverter may be an air conditioning system (Heating, Ventilating and Air Conditioning (HAVC)) inverter, and the motor may be a sensorless BLDC motor.

)를 생성한다. When a torque command value is input, the torque control unit 100 extracts a torque current using a torque constant ratio. And the torque control unit 100 compares the extracted torque current with the torque-axis (q-axis) current of the inverter 400, and the angular speed command value (

) is created.

FIG. 2 is a block diagram illustrating in detail the configuration of the torque control unit shown in FIG. 1 .

As shown in FIG. 2 , the torque control unit 100 includes a torque current calculation unit 110 , an angular velocity command value setting unit 120 , and a fourth addition unit 130 .

)이 입력되면 토크 상수비를 이용하여 토크전류(Iq)를 추출한다. 다음 수학식 1은 토크전류(Iq)를 산출하기 위한 수학식을 나타낸다.The torque current calculation unit 110 is a torque command value (

) is input, the torque current Iq is extracted using the torque constant ratio. Equation 1 below represents an equation for calculating the torque current Iq.

In this case, T _m represents the current torque command value, and Kt represents the torque constant.

The fourth adder 130 calculates a deviation between the torque current Iq calculated by the torque current calculator 110 and the torque axis (q-axis) current of the inverter 400 .

)를 변경한다. 즉, 제4 가산부(130)에서 산출된 편차가 없이 전류값이 같으면 모터(500)의 현재 회전속도를 유지한다. 그리고 제4 가산부(130)에서 산출된 편차가 음의 값, 즉, 토크전류(Iq)보다 토크축(q축) 전류가 크면 모터(500)의 현재 회전속도가 감소되도록 각속도 지령치(

)를 변경한다. 또한, 제4 가산부(130)에서 산출된 편차가 양의 값, 즉, 토크전류(Iq)보다 토크축(q축) 전류가 작으면 모터(500)의 현재 회전속도가 감소되도록 각속도 지령치(

)를 변경한다. The angular velocity command value setting unit 120 corresponds to the deviation calculated by the fourth adder 130 , the angular velocity command value (

) is changed. That is, if there is no deviation calculated by the fourth adder 130 and the current values are the same, the current rotation speed of the motor 500 is maintained. And when the deviation calculated by the fourth addition unit 130 is a negative value, that is, the torque axis (q-axis) current is greater than the torque current (Iq), the angular velocity command value (

) is changed. In addition, when the deviation calculated by the fourth addition unit 130 is a positive value, that is, the torque axis (q-axis) current is smaller than the torque current (Iq), the angular speed command value (

) is changed.

At this time, the angular speed command value setting unit 120 sets the angular speed until the torque current and the torque axis current of the inverter 400 become the same as the calculated torque current and the torque axis current of the inverter 400 in a manner that gradually converges from the maximum value according to the comparison difference between the torque current and the torque axis current of the inverter. The command value can be controlled.

)와 위치 추정치(600)에서 추정된 모터(500)의 각속도 추정치(

)를 이용하여 서로 간의 편차를 도출한다. 그리고 제1 가산부(10)는 편차가 발생시에는 모터(500)의 각속도 추정치(

)를 각속도 지령치(

)로 일치시킨다.Next, the first adder 10 sets the angular velocity command value (

) and the angular velocity estimate of the motor 500 estimated from the position estimate 600

) to derive the deviation from each other. And the first adder 10 is the angular velocity estimate of the motor 500 when a deviation occurs (

) to the angular velocity setpoint (

) to match.

)를 이용하여 지령토크와 같아지도록 속도 지령값을 갱신한다. 이처럼, 속도 제어부(200)는 토크 제어부(100)에서 생성한 각속도 지령치(

)와 위치 추정치(600)에서 추정된 모터(500)의 각속도 추정치(

)의 편차가 보정된 각속도 추정치(

)를 이용하여 계산된 토크 지령값과 피드백 전류가 같아지도록 속도 지령값을 갱신한다.The speed control unit 200 includes an angular velocity estimate inputted from the first adder 10 (

) to update the speed command value to be the same as the command torque. In this way, the speed control unit 200 is an angular velocity command value (

) and the angular velocity estimate of the motor 500 estimated from the position estimate 600

), the angular velocity estimate corrected for the deviation of (

) to update the speed command value so that the calculated torque command value and the feedback current become the same.

In addition, the speed control unit 200 forms a current command based on the updated speed command value, and outputs ids and iqs, which are current command values of the d-axis and the q-axis.

)에 따른 q축의 전류 지령치 iqs가 그대로 출력된다.At this time, the d-axis current id flowing through the motor 500 is called an excitation current and is a component that generates magnetic flux and does not contribute to torque generation. On the other hand, the current iq of the q-axis is called a torque current and is a component contributing to the torque generation of the motor 500 . Therefore, the speed control unit 200 normally outputs 0 (ids=0) as the current command value ids in order to operate the motor 500 with high efficiency. And as the current command value idq, the angular velocity command value (

), the q-axis current command value iqs is output as it is.

Next, the current control unit 300 includes the d-axis and q-axis current command values ids and iqs (command value current) output from the speed control unit 200 and the d-axis current id and q-axis current iq (detection current) flowing through the motor 500 . Check the driving state of the motor 500 by deriving a deviation of . To this end, the second adder 20 derives a deviation from each other using the q-axis current iq and the q-axis current command value iqs flowing through the motor 500 . In addition, the third adder 30 derives a deviation from each other using the d-axis current id and the d-axis current command value ids flowing through the motor 500 .

Then, the current control unit 300 forms a three-phase pulse width modulation signal for starting the rotor of the motor 500 according to the confirmation result and applies the pulse width modulated voltage.

FIG. 3 is a block diagram showing in detail the configuration of the current control unit shown in FIG. 1 .

As shown in FIG. 3 , the current control unit 300 includes first and second proportional integrators 310 and 320 , a coordinate conversion unit 330 , a PWM forming unit 340 , and a three-phase/2-phase conversion unit ( 350), and a vector rotating unit 360 may be included.

The first and second proportional integrators 310 and 320 receive the d-axis and q-axis current command values ids and iqs output from the speed controller 200 as inputs, and output voltage command values Vd and Vq of the d-axis and q-axis. At this time, the first and second proportional integrators 310 and 320 include the current command values ids and iqs (setpoint current) derived from the second adder 20 and the third adder 30 and the current flowing through the motor 500 . The output voltage command values Vd and Vq can be formed so that the deviation between the current iq (detection current) of the id and q axes can be corrected.

)가 이용될 수 있다.The coordinate conversion unit 330 converts the output voltage command values Vd and Vq output from the first and second proportional integrators 310 and 320 into values of a fixed two-axis coordinate system as inputs. At this time, the coordinate transformation unit 330 converts the value of the fixed two-axis coordinate system into a rotational position estimate outputted from the position estimator 600 (

) can be used.

The PWM forming unit 340 forms a three-phase pulse width modulation signal based on the value of the fixed two-axis coordinate system converted by the coordinate converting unit 330 . In this case, the pulse width modulated voltage is applied to the electromagnetic wave of the motor 500 applied to the inverter 400 to the formed pulse width modulated signal.

The three-phase/two-phase conversion unit 350 converts the three-phase currents Ia, Ib, and Ic detected by the current detectors 40 and 50 mounted on the wiring between the inverter 400 and the motor 500 into two-phase equivalents. Convert to current iα (iβ).

)를 이용하여 d축, q축 성분의 전류 id, iq를 생성한다. 이때, d축, q축은 회전자의 영구자석이 만드는 자속 방향을 d축으로, 이것과 직교하는 방향을 q축으로 하는 회전 좌표축이다. 그리고 이때 생성되는 전류 id, iq는 제2 가산부(20) 및 제3 가산부(30)에서 도출된 전류 지령치 ids 및 iqs(지령치 전류)와 모터(500)에 흐르는 전류 id 및 q축의 전류 iq(검출 전류) 간의 편차를 도출할 때 이용된다.The vector rotator 360 includes the two-phase current iα (iβ) converted by the three-phase/two-phase converter 350 and the rotation position estimate outputted from the position estimator 600 (

) to generate the current id, iq of the d-axis and q-axis components. In this case, the d-axis and the q-axis are rotational coordinate axes in which the direction of magnetic flux generated by the permanent magnet of the rotor is the d-axis, and the direction orthogonal thereto is the q-axis. And the current id and iq generated at this time are the current command values ids and iqs (command value current) derived from the second adder 20 and the third adder 30 , and the current id and q-axis current iq flowing through the motor 500 . It is used when deriving the deviation between (detection current).

)의 편차가 보정된 각속도 추정치(

)를 이용하여 계산하도록 구성된다. 이는 토크 지령값과 피드백 전류가 같아지도록 속도 지령값을 갱신하도록 하여 회전자의 위치오차 없이 부하변동이 있어도 일정한 토크를 제어할 수 있도록 한다.In this way, although power is supplied to the motor 500 by the current control unit 300 , the values of the currents id and iq flowing through the motor 500 are respectively the current command values ids and iqs output from the speed control unit 200 . depend on Therefore, in the present invention, the current command values ids and iqs output from the speed control unit 200 are converted to the angular velocity estimation values (

), the angular velocity estimate corrected for the deviation of (

) to be calculated using This allows the speed command value to be updated so that the torque command value and the feedback current are the same, so that a constant torque can be controlled even if there is a load change without a position error of the rotor.

)에 일치되도록 모터(500)의 구동속도를 제어한다. 이때, 모터(500)는 인버터(400)의 3상 전류 3상 전류(Ia,Ib,Ic)의 출력(U,V,M)에 의해 구동된다.The inverter 400 has an angular velocity command value (

) to control the driving speed of the motor 500 to match. At this time, the motor 500 is driven by the output (U, V, M) of the three-phase current (Ia, Ib, Ic) of the inverter 400 three-phase current (Ia, Ib, Ic).

The position estimator 600 detects the position of the rotor by calculating the position of the rotor using the voltage and current applied to the motor 500 . To this end, the position estimating unit 600 receives currents id, iq, and d-axis output voltage command value Vd from the current control unit 300 flowing through the motor 500, and a value of a fixed two-axis coordinate system. In addition, the position estimating unit 600 stores the induction coefficients Ld, Lq, and the resistance R of the armature coil of the motor 500 in advance.

)로서 제1 가산부(10)로 출력된다.Therefore, the position estimator 600 uses the input information and the stored information to estimate the d-axis direction of the induced voltage generated in the armature coil by the magnetic flux generated by the permanent magnet (the component in the d-axis direction recognized by the inverter) Ed Calculate the angular velocity of the rotor (

) as output to the first adder 10 .

)를 적분함으로써, 회전자의 회전 위치 추정치(

)를 산출하여 전류 제어부(300)로 출력한다.and an estimate of the angular velocity of the rotor (

By integrating ), we estimate the rotational position of the rotor (

) is calculated and output to the current control unit 300 .

The operation of the control device of the inverter type sensorless BLDC motor according to an embodiment of the present invention configured as described above will be described in detail with reference to the accompanying drawings. The same reference numerals as in FIGS. 1 to 3 refer to the same members performing the same functions.

4 is a flowchart for explaining a method of controlling an inverter type sensorless BLDC motor according to an embodiment of the present invention.

Referring to FIG. 4 , when a torque command value is input to the torque control unit 100 ( S10 ), the torque control unit 100 calculates a torque current by a torque constant ratio using the torque current calculation unit 110 ( S20 ). ). The torque current calculator 110 may calculate the torque current iq by dividing _{the current torque command value T m by the torque constant Kt using Equation 1 above.}

Next, the torque control unit 100 compares the torque current calculated using the fourth adder 130 with the torque axis (q-axis) current of the inverter 400 measured ( S30 ). That is, the fourth adder 130 adds the calculated torque current and the torque axis (q-axis) current of the inverter 400 to calculate the deviation.

)를 변경없이 그대로 속도 제어부(200)로 입력시킨다. 이는 인버터(400)에서 회전자의 위치오차가 없는 것으로 판단할 수 있다.As a result of the comparison (S30), if the calculated torque current and the torque axis current of the inverter 400 are the same, the torque controller 100 maintains the current speed of the motor 500 (S40). That is, when the calculated torque current and the torque axis current of the inverter 400 are the same, the torque control unit 100 determines the angular velocity estimation value of the motor 500 estimated by the position estimation unit 600 (

) is input to the speed control unit 200 as it is without change. It can be determined that there is no position error of the rotor in the inverter 400 .

On the other hand, if the comparison result (S30), the calculated torque current and the torque shaft current of the inverter 400 are different, the angular speed command value setting unit 120 of the torque control unit 100 determines whether the difference is a positive value or a negative value. It is determined (S50). If the torque current (q-axis) is smaller than the torque current (Iq), it is determined as a positive value, and if the torque-axis (q-axis) current is greater than the torque current (Iq), it is determined as a negative value.

)를 변경한다(S60). If the determination result (S50), the difference is a positive value, that is, the torque axis (q-axis) current is smaller than the torque current (Iq), the angular speed command value setting unit 120 of the torque control unit 100 is the motor 500 The angular velocity command value (

) is changed (S60).

)를 변경한다(S70). In addition, if the determination result (S50), the difference is a negative value, that is, the torque axis (q-axis) current is greater than the torque current (Iq), the angular velocity command value setting unit 120 of the torque control unit 100 is the motor 500 ) to increase the current rotational speed of the angular speed command value (

) is changed (S70).

At this time, the angular velocity command value setting unit 120 of the torque control unit 100 is calculated in a manner that gradually converges from the maximum value according to the comparison difference between the torque current and the torque axis current of the inverter and the torque current of the inverter 400 and the torque current of the inverter 400 . The angular velocity command value can be changed until becomes the same.

)를 변경하여 지령토크와 같아지도록 속도 지령값을 갱신할 수 있게 된다. 이는 회전자의 위치오차를 줄일 수 있어 부하변동이 있어도 일정한 토크를 제어할 수 있게 된다.Accordingly, the speed controller 200 determines the angular velocity estimate (

) to update the speed command value to be the same as the command torque. This can reduce the position error of the rotor, so that it is possible to control a constant torque even if there is a load change.

As described above, the present invention has been described with reference to the illustrated drawings, but the present invention is not limited by the embodiments and drawings disclosed in the present specification. It is obvious that variations can be made. In addition, although the effects according to the configuration of the present invention are not explicitly described and described while describing the embodiments of the present invention, it is natural that the effects predictable by the configuration should also be recognized.

100: torque control unit 110: torque current calculation unit
120: angular velocity setpoint setting unit 10, 20, 30, 130: fourth addition unit
200: speed control unit 300: current control unit
310, 320: proportional integrator 330: coordinate conversion unit
340: PWM forming unit 350: 3 phase / 2 phase conversion unit
360: vector rotating part 400: inverter
500: motor 600: position estimation unit

Claims (10)

a torque control unit that compares the torque current extracted using the torque command value with the torque axis current of the inverter to generate an angular speed command value;
a first adder for matching the angular velocity estimate with the angular velocity command value when a deviation occurs between the generated angular velocity command value and the estimated angular velocity estimate for the motor;
Using the angular velocity estimate transmitted from the first adder, the speed command value is updated so that the torque command value and the feedback current are equal to form a current command, and the d-axis and q-axis current command values (setpoint current) are output. speed control;
3-phase pulse width for starting the rotor of the motor based on the result confirmed by deriving the difference between the current command value output from the speed controller and the d-axis current id and the q-axis current iq (detection current) flowing through the motor a current controller for generating a modulated signal;
an inverter controlling the driving speed of the motor to match the angular velocity command value based on the three-phase pulse width modulation signal generated by the current controller;
Position estimation for calculating the position of the rotor using the voltage and current applied from the inverter to the motor to calculate the estimated angular velocity of the rotor, and integrating the calculated angular velocity estimate to calculate the estimated rotational position of the rotor A control device for an inverter type sensorless motor comprising a part.
According to claim 1,
The torque controller
a torque current calculator configured to calculate a torque current using a torque constant ratio obtained by dividing the torque command value by a torque constant;
a fourth adder for calculating a deviation between the torque current calculated by the torque current calculator and the torque axis (q-axis) current of the inverter; and
and an angular velocity command value setting unit configured to change the angular velocity command value in response to the deviation calculated by the fourth addition unit.
3. The method of claim 2,
The angular velocity command value setting unit
If there is no deviation calculated by the fourth addition unit, an angular speed command value is set to maintain the current rotation speed of the motor,
If the deviation calculated by the fourth addition unit is greater than the torque current, the angular speed command value is changed so that the current rotation speed of the motor is reduced,
When the deviation calculated by the fourth adder is smaller than the torque current, the control device of the inverter type sensorless motor changes the angular speed command value so that the current rotation speed of the motor is reduced.
4. The method of claim 3,
The angular speed command value setting unit controls the angular speed command value until the calculated torque current and the torque shaft current of the inverter become the same in a manner that gradually converges from a maximum value according to a comparison difference between the torque current and the torque shaft current of the inverter. Inverter-type sensorless motor control device.
According to claim 1,
The current controller
first and second proportional integrators for outputting d-axis and q-axis output voltage command values, respectively, as input to the command value current output from the speed controller;
a coordinate conversion unit for converting the output voltage command value output from the first and second proportional integrators into a value of a fixed two-axis coordinate system as an input;
a PWM forming unit for forming a three-phase pulse width modulation signal based on the value of the fixed two-axis coordinate system converted by the coordinate converting unit;
a three-phase/two-phase conversion unit for converting a three-phase current detected by a current detector mounted on a wiring between the inverter and the motor into an equivalent two-phase current; and
The two-phase current and the rotational position estimate output from the position estimator (

) using a control device of an inverter type sensorless motor including a vector rotating unit that generates current of d-axis and q-axis components.
6. The method of claim 5,
The first and second proportional integrators are
A control device for an inverter type sensorless motor that forms an output voltage setpoint so that a deviation between the setpoint current and the detected current flowing through the motor can be corrected.
According to claim 1,
The position estimator receives the current flowing through the motor, the d-axis output voltage command value, and the value of the fixed two-axis coordinate system from the current controller, and stores the induction coefficient and resistance value of the armature coil of the motor in advance. 's control unit.
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