KR20170034251A - Sensorless control apparatus for synchronous motor and method thereof - Google Patents

Sensorless control apparatus for synchronous motor and method thereof Download PDF

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Publication number
KR20170034251A
KR20170034251A KR1020150132672A KR20150132672A KR20170034251A KR 20170034251 A KR20170034251 A KR 20170034251A KR 1020150132672 A KR1020150132672 A KR 1020150132672A KR 20150132672 A KR20150132672 A KR 20150132672A KR 20170034251 A KR20170034251 A KR 20170034251A
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South Korea
Prior art keywords
rotor
rotor position
position information
acc
error
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KR1020150132672A
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Korean (ko)
Inventor
이광운
이의택
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한국전력공사
목포해양대학교 산학협력단
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Publication of KR20170034251A publication Critical patent/KR20170034251A/en

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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
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/188—Circuit arrangements for detecting position without separate position detecting elements using the voltage difference between the windings
    • 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
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/46—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual synchronous motor
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

The present invention relates to an apparatus and method for sensorless control of a synchronous motor,

Figure pat00091
A rotor position calculation unit for calculating position information of the rotor based on the position information of the rotor; The rotor position information calculated by the rotor position calculating section
Figure pat00092
) And the final rotor position information output from the sensorless controller
Figure pat00093
A first calculator for calculating a position error of a rotor between the rotor and the rotor; A proportional integral controller for eliminating an error so that an error calculated through the first calculation unit becomes 0; A second arithmetic unit for correcting the rotor speed (? Acc ) output from the machine model using the rotor position information from which the error has been eliminated through the proportional integral controller; And integrating the rotor position information corrected and output by the second operation unit to obtain rotor position information
Figure pat00094
And a final output of the integrator.

Description

TECHNICAL FIELD [0001] The present invention relates to a sensorless control apparatus and method for a synchronous motor,

The present invention relates to a sensorless control apparatus and method for a synchronous motor, and more particularly, to a sensorless control apparatus and method for a synchronous motor that can prevent a start-up failure in a synchronous acceleration section by using a rotor position indirect estimation method.

Generally, in order to start operation of the gas turbine generator, the synchronous generator must be accelerated to a speed at which the gas turbine can be ignited.

Conventionally, in order to start a gas turbine generator, a separate prime mover is used to accelerate a gas turbine generator. In recent years, however, a starter type frequency converter (Static Frequency Converter) has been used to operate a synchronous generator as an electric motor This is preferred because it can reduce system size and complexity.

 FIG. 1 is a diagram illustrating a schematic configuration of a conventional SFC-based synchronous generator driving system, and is an example of a system for operating a synchronous generator in an electric motor mode using an SFC.

Referring to FIG. 1, since the electrical capacity of the synchronous generator used in the gas turbine is large, the SFC is configured using a thyristor as shown in FIG. That is, for the purpose of controlling the field current of the synchronous generator, a phase control rectifier circuit (Field Converter) composed of six thyristors is used as shown in FIG. 1, and six thyristors , The synchronous generator is operated in the motor mode.

In order to operate the synchronous generator in the motor mode as described above, an appropriate current must be supplied to the three-phase windings in accordance with the counter electromotive force of the synchronous generator.

FIG. 2 is an exemplary diagram for explaining the relationship between the three-phase counter electromotive force and the phase current of the thyristors constituting the inverter and the phase current when the synchronous generator is driven by the motor by the SFC in FIG.

Referring to FIG. 2, the six thyristors T1 to T6 constituting the inverter are respectively energized at an electrical angle of 120 degrees, and two thyristors are always energized. Also, the energization time of the thyristor generally prevents the commutation failure of the thyristor which must be turned off immediately after the zero-crossing point (ZCP) of the phase counter electromotive force.

Since the magnitude of the counter electromotive force is not large enough to allow the natural commutation of the thyristor when the synchronous generator operates at a low speed and as an electric motor, a DC connected to the inverter in the main converter in FIG. A Forced Commutation method of turning off the thyristors T1 to T6 on the inverter side is used by making the current flowing through the reactor zero.

As described with reference to FIGS. 1 and 2, when the synchronous generator is driven by the motor by the conventional SFC, the turn-on and turn-off points of the thyristors on the inverter side are determined by the counter electromotive force, Since it is a function of position, rotor position information is necessary for inverter control.

FIG. 3 is a flowchart for explaining a sensorless control method of a conventional SFC-based synchronous generator. In the sensorless start-up technique of the SFC-based synchronous generator, the synchronous generator is driven in a sensorless control manner according to a flowchart shown in FIG. .

Referring to FIG. 3, in the initial rotor position detecting step, the position of the initial rotor is detected in a sensorless manner from the voltage induced in the stator three-phase winding according to the change of the field current in a state where the synchronous generator is stopped.

The two thyristors to be turned on among the thyristors T1 to T6 on the inverter side are determined according to the detected initial rotor position in this way. When these thyristors are turned on, the main converter and the DC link The current is supplied to two windings of the three-phase windings of the synchronous generator through the reactor to generate the starting torque at the synchronous generator, and the control mode is changed by the operation by forced switching.

3, the rotor position is estimated based on the mechanical model of the synchronous generator, and the commutation control of the thyristors on the inverter side is performed according to the estimated rotor position.

At this time, since the magnitude of the counter electromotive force of the synchronous generator is not sufficiently large, turn-off of the thyristors on the inverter side can not be performed by natural switching. By controlling the DC reactor current to 0 on the main converter side as described above, And performs forced switching to turn off the thyristors on the inverter side.

If the operation speed of the synchronous generator increases and the counter electromotive force has a sufficiently large value, the turn-off control of the thyristors on the inverter side is performed by natural switching, and the rotor position is detected in a sensorless manner through counter electromotive force estimation or magnetic flux estimation.

4 is an exemplary diagram for explaining a rotor position estimation method using a machine model in a forced switching period.

Referring to FIG. 4, K t denotes the torque constant of the synchronous motor, J and B denote the inertia and friction coefficient, and 1 / s denotes the integrator.

Conventionally, the current i of the electric motor is detected in the operation period by forced switching, the estimated current i is multiplied by the torque constant K t to estimate the approximate generated torque, and the estimated torque is multiplied by the mechanical model 1 / (Js + B)) to obtain the rotational speed? Acc , and integrates the rotational speed to obtain the rotor position? Acc . Accordingly, every time the rotor position is changed by 60 degrees from the electric angle reference, the synchronous motor is accelerated while sequentially changing the energization state of the thyristor switches for driving the synchronous motor.

As shown in FIG. 4, since the conventional rotor position estimating method is very sensitive to the motor model error and the load variation, there is a problem that the starting performance can be largely lowered due to torque pulsation.

Therefore, in order to operate the synchronous generator as an electric motor as described above, information on the absolute position of the rotor is required. However, using the position detecting sensor to detect the position of the rotor increases the cost of the system, .

In order to cope with such a problem, a sensorless control technique (a technique of detecting the position of an actual rotor from the voltage and current of a generator by removing the position detection sensor of the rotor) is becoming common.

In the stationary frequency converter (SFC) -based synchronous generator drive system, the conventional sensorless technology consists of three stages of rotor initial position sensing, synchronous acceleration, and sensorless mode operation.

At this time, in the synchronous acceleration section, the inverter switches composed of thyristors are sequentially turned on and off using the rotor position information obtained from the mechanical model of the motor drive system, and the rotor is synchronized with the stator magnetic field to activate the model. May cause severe torque pulsation in the synchronous acceleration period, and further, start failure may occur.

Therefore, a new rotor position indirect estimation method is needed to prevent start failure in the synchronous acceleration section.

BACKGROUND ART [0002] The background art of the present invention is disclosed in Korean Patent Laid-Open Publication No. 10-2014-0137123 (published on Dec. 12, 2014, a sensorless drive device and a drive method of a brushless DC motor using terminal voltage).

According to an aspect of the present invention, there is provided a sensorless control apparatus for a synchronous motor, which is created to solve the above problems, and which can prevent a start failure in a synchronous acceleration section by a rotor position indirect estimation method, And a method thereof.

According to an aspect of the present invention, there is provided a sensorless control apparatus for a synchronous motor, comprising:

Figure pat00001
A rotor position calculation unit for calculating position information of the rotor based on the position information of the rotor; The rotor position information calculated by the rotor position calculating section
Figure pat00002
) And the final rotor position information output from the sensorless controller
Figure pat00003
A first calculator for calculating a position error of a rotor between the rotor and the rotor; A proportional integral controller for eliminating an error so that an error calculated through the first calculation unit becomes 0; A second arithmetic unit for correcting the rotor speed (? Acc ) output from the machine model using the rotor position information from which the error has been eliminated through the proportional integral controller; And integrating the rotor position information corrected and output by the second operation unit to obtain rotor position information
Figure pat00004
The final output of the integrator is characterized by comprising:

In the present invention, the machine model is calculated based on a roughly generated torque estimated by multiplying a current (i) of a motor by a torque constant (K t ) in an operating section by forced switching, (? acc ) is calculated and output.

In the present invention, the first calculation unit may calculate the rotor position (the rotor position) calculated by the arctangent calculation in the rotor position calculation unit

Figure pat00005
) And a rotor position which is finally output through the integrator and used for synchronization
Figure pat00006
) In the first and second directions.

In the present invention, the proportional-plus-integral controller calculates the rotor position

Figure pat00007
) And the integrator 150 to determine the rotor position
Figure pat00008
) Based on the error between the rotor speed (? Acc ) and the rotor speed (? Acc ) obtained from the machine model.

In the present invention, the second calculating section, and the correction in addition to the proportional rotor speed generated by the integrated controller of the rotor speed (ω acc) outputs a control input to correct the (ω acc) in the machine model, And outputs the corrected result to the integrator so as to be integrated.

According to another aspect of the present invention, there is provided a sensorless control method for a synchronous motor, comprising:

Figure pat00009
Calculating position information of the rotor based on the rotor position calculation unit; The first calculation unit calculates the rotor position information calculated by the rotor position calculation unit (
Figure pat00010
) And the final rotor position information output from the sensorless controller
Figure pat00011
Calculating a position error of the rotor between the rotor and the rotor; Removing the error such that the error calculated by the proportional-integral controller through the first calculation unit becomes zero; Correcting the rotor speed (? Acc ) output from the machine model using the rotor position information whose error has been eliminated through the proportional integral controller; And integrator integrates the rotor position information corrected and output in the second calculation section to obtain rotor position information
Figure pat00012
And outputting the final output signal.

In the present invention, the first calculation unit may calculate the rotor position (the rotor position) calculated by the arctangent calculation in the rotor position calculation unit

Figure pat00013
) And a rotor position which is finally output through the integrator and used for synchronization
Figure pat00014
) In the first and second directions.

In the present invention, the proportional-plus-integral controller calculates the rotor position

Figure pat00015
) And the integrator 150 to determine the rotor position
Figure pat00016
) Based on the error between the rotor speed (? Acc ) and the rotor speed (? Acc ) obtained from the machine model.

In the present invention, the second calculating section, and the correction in addition to the proportional rotor speed generated by the integrated controller of the rotor speed (ω acc) outputs a control input to correct the (ω acc) in the machine model, And outputs the corrected result to the integrator so as to be integrated.

According to an aspect of the present invention, there is an effect that the start-up failure can be prevented in the synchronous acceleration section by the rotor position indirect estimation method.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a diagram showing a schematic configuration of a conventional SFC-based synchronous generator drive system. FIG.
FIG. 2 is an exemplary diagram for explaining the relation between the three-phase counter electromotive force and the phase current of the thyristors constituting the inverter and the phase current when the synchronous generator is driven by the motor by the SFC in FIG.
3 is a flowchart illustrating a sensorless control method of a conventional SFC-based synchronous generator.
4 is an exemplary diagram for explaining a rotor position estimation method using a machine model in a forced switching period.
5 is a diagram illustrating a schematic configuration of a sensorless control apparatus for a synchronous motor according to an embodiment of the present invention.
6 is a diagram showing an example of simulation results using a conventional sensorless control method.
FIG. 7 is a diagram illustrating a simulation result using a sensorless control method according to an embodiment of the present invention; FIG.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of a sensorless control apparatus and method of a synchronous motor according to the present invention will be described with reference to the accompanying drawings.

In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

The present embodiment relates to a new sensorless rotor position detection method for improving the performance of a rotor position estimation method using a conventional mechanical model in an operation period by forced switching during the sensorless startup process of the synchronous generator.

The voltage equation in the stator winding of the synchronous generator is given by the following equations (1) to (3).

Figure pat00017
(One)

Figure pat00018
(2)

Figure pat00019
(3)

In the above formulas (1) to (3)

Figure pat00020
Is the phase voltage in the stator three-phase winding, R is the stator resistance, and
Figure pat00021
Is a flux-linkage in the stator three-phase winding, and can be expressed as the following equations (4) to (6).

Figure pat00022
(4)

Figure pat00023
(5)

Figure pat00024
(6)

In the above formulas (4) to (6)

Figure pat00025
Are the magnetic inductance of the stator three-phase winding,
Figure pat00026
Respectively, the mutual inductance of the stator three-phase winding, and
Figure pat00027
Means the mutual inductance between the stator three-phase winding and the field winding, and the angle between the magnetic axis of the phase a and the rotor field flux axis is defined as the rotor position
Figure pat00028
The self inductance and the mutual inductance are expressed by the following equations (7) to (15)
Figure pat00029
.

Figure pat00030
(7)

Figure pat00031
(8)

Figure pat00032
(9)

Figure pat00033
(10)

Figure pat00034
(11)

Figure pat00035
(12)

Figure pat00036
(13)

Figure pat00037
(14)

(15)

In the equations (7) to (15)

Figure pat00039
The leakage inductance,
Figure pat00040
Wow
Figure pat00041
The average and amplitude of self inductance,
Figure pat00042
Means the maximum value of the mutual inductance between the stator and the field.

When the current of the stator three-phase winding is all 0 (

Figure pat00043
), The flux linkage in the stator three-phase winding can be expressed by the following equations (16) to (18).

Figure pat00044
(16)

Figure pat00045
(17)

Figure pat00046
(18)

Therefore, when the current of the stator three-phase winding is all 0 (

Figure pat00047
), The voltage equations of the stator windings are given by the following equations (19) to (21).

Figure pat00048
(19)

Figure pat00049
(20)

Figure pat00050
(21)

Here, the field current (

Figure pat00051
) Is controlled through a phase control rectifier circuit (Field Converter) and a DC reactor as shown in FIG. 1. Since the value of the DC reactor is generally large, the field current in the synchronous generator is kept at a constant value . As a result, the rate of change of field current
Figure pat00052
) Can be ignored, and equations (19) to (21) can be expressed as the following equations (22) to (24).

Figure pat00053
(22)

Figure pat00054
(23)

Figure pat00055
(24)

From the equations (22) to (24), it can be seen that only the back electromotive force voltage appears in the phase voltage of the stator windings and the position information is included in the back electromotive force voltage under the condition that the three- .

Therefore, when the synchronous generator starts to rotate, the back electromotive voltage appears in the stator winding voltage, and the rotor position can be detected from the phase voltage of the stator winding when the three-phase current becomes 0 in the operating range due to forced switching.

The three-phase voltage expressed in the above equations (22) to (24) is expressed by the two-phase orthogonal coordinate system as shown in the following equations (25) to (26).

Figure pat00056
(25)

Figure pat00057
(26)

If the rotor position is obtained from the above equations (25) and (26), the following equation (27) is obtained.

Figure pat00058
(27)

Therefore, the rotor position can be directly obtained by Eq. (27) when the three-phase current becomes 0 in the operation period by the forced switching.

5 is an exemplary diagram showing a schematic configuration of a sensorless control apparatus for a synchronous motor according to an embodiment of the present invention, and is an example of an apparatus for sensorless control in an operation section by forced switching to be.

Referring to FIG. 5, the present embodiment calculates the motor voltage (

Figure pat00059
A rotor position calculation unit 110 for calculating the position information of the rotor based on the rotor position information calculated by the rotor position calculation unit 110,
Figure pat00060
) And the final rotor position information output from the sensorless controller
Figure pat00061
A proportional integral controller 130 for eliminating errors so that the error calculated through the first calculator 120 is zero, a proportional integral controller 130 for calculating a position error of the rotor, (140) for correcting the rotor speed (? Acc ) output from the machine model using the rotor position information from which the error has been removed through the first calculator (130), and a second calculator The rotor position information corrected and outputted is integrated and the rotor position information
Figure pat00062
And an integrator 150 for finally outputting the output signal.

Here, as described with reference to Fig. 4, the machine model is based on the approximate generated torque estimated by multiplying the electric current (i) of the electric motor by the torque constant (K t ) The rotational speed? Acc of the rotor is calculated.

In Fig. 5,

Figure pat00063
Is the motor voltage in the stationary coordinate system obtained from the three-phase terminal voltage of the synchronous generator or the three-phase line voltage,
Figure pat00064
Is the gain of the proportional controller,
Figure pat00065
Is the gain of the integral controller,
Figure pat00066
Means an integrator.

For reference, when the three-phase current of the synchronous generator becomes 0 by forced switching, only the back-EMF voltage appears in the terminal voltage (or line-to-line voltage) of the generator regardless of the saliency of the rotor.

Therefore, as shown in FIG. 5, the motor voltage in the stationary coordinate system is calculated from the three-phase voltage of the synchronous generator

Figure pat00067
), And arctangent operation is performed to obtain accurate rotor position information (
Figure pat00068
) Can be obtained.

However, since the rotor position information obtained at this time is not continuous and can be detected only in a section where the three-phase current is zero due to forced switching, it can not be directly used for on-off control of the thyristor switches of the actual inverter.

Therefore, in the present embodiment, the rotor position calculated by the arctangent calculation in the rotor position calculation unit 110

Figure pat00069
) And the integrator 150 to determine the rotor position
Figure pat00070
) Is calculated by the first calculation unit 120, and the calculated error (the rotor position obtained through the arctangent calculation
Figure pat00071
) And the integrator 150 to determine the rotor position
Figure pat00072
) Is made to be a control input capable of correcting the rotor speed (? Acc ) obtained from the machine model through the proportional integral controller (130), and the rotor speed a control input capable of correcting the angular velocity ω acc is added to the rotor speed ω acc in the second calculation unit 140 and the result calculated in the second calculation unit 140 is integrated in the integrator 150, , The position of the rotor used in the synchronizing operation (
Figure pat00073
) Is the rotor position obtained by arctangent calculation (
Figure pat00074
So that the sensorless control based on the accurate rotor position can be finally achieved in the driving section by forced switching.

As described above, the sensorless control system in the driving section by the forced switching according to the present embodiment has an effect that it is robust against the parameter error since the electric and mechanical parameters of the electric motor are not used.

FIG. 6 is a diagram showing a result of a simulation using a conventional sensorless control method. FIG. 6 is a graph showing the results of simulation when a sensorless control using a conventional mechanical model is performed in a driving section by forced switching, Fig.

6 (b)) and the rotor position (blue graph in Fig. 6 (b)) used for switching control of the inverter thyristors in the driving section by forced switching (Fig. 6 (d)) has a torque ripple of + and -.

FIG. 7 is a view illustrating a simulation result using the sensorless control method according to an embodiment of the present invention. Comparing FIG. 6 and FIG. 7, when the method according to the present embodiment is compared with the conventional method, .

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 embodiments, but, on the contrary, I will understand the point. Accordingly, the technical scope of the present invention should be defined by the following claims.

110: rotor position calculating section
120: first operation section
130: Proportional Integral Controller
140: second operation section
150: integrator

Claims (9)

Motor voltage in stationary coordinate system (
Figure pat00075
A rotor position calculation unit for calculating position information of the rotor based on the position information of the rotor;
The rotor position information calculated by the rotor position calculating section
Figure pat00076
) And the final rotor position information output from the sensorless controller
Figure pat00077
A first calculator for calculating a position error of a rotor between the rotor and the rotor;
A proportional integral controller for eliminating an error so that an error calculated through the first calculation unit becomes 0;
A second arithmetic unit for correcting the rotor speed (? Acc ) output from the machine model using the rotor position information from which the error has been eliminated through the proportional integral controller; And
The rotor position information corrected and output by the second calculation section is integrated to obtain rotor position information
Figure pat00078
And outputting the final output signal of the sensorless control unit.
The apparatus of claim 1, wherein the machine model comprises:
(I) of the electric motor is multiplied by a torque constant (K t ) in an operation section by forced switching to calculate and output the rotational speed (? Acc ) of the rotor based on the approximate generated torque estimated by multiplying the electric current Sensorless control of motor.
The apparatus according to claim 1,
The rotor position calculation unit calculates the rotor position
Figure pat00079
) And a rotor position which is finally output through the integrator and used for synchronization
Figure pat00080
Of the sensorless control apparatus of the synchronous motor.
The apparatus as claimed in claim 1, wherein the proportional integral controller comprises:
The rotor position obtained by the arctangent calculation (
Figure pat00081
) And the integrator 150 to determine the rotor position
Figure pat00082
) Based on the error between the rotor speed (? Acc ) and the rotor speed (? Acc ) obtained from the machine model.
The apparatus according to claim 1,
The proportional compensation by adding the control input in the generated time in the integral controller to correct the electron velocity (ω acc) to the machine model, the rotor speed (ω acc) output from and to outputs the corrected result to the integrator integrating The sensorless control device of the synchronous motor.
Motor voltage in stationary coordinate system (
Figure pat00083
Calculating position information of the rotor based on the rotor position calculation unit;
The first calculation unit calculates the rotor position information calculated by the rotor position calculation unit (
Figure pat00084
) And the final rotor position information output from the sensorless controller
Figure pat00085
Calculating a position error of the rotor between the rotor and the rotor;
Removing the error such that the error calculated by the proportional-integral controller through the first calculation unit becomes zero;
Correcting the rotor speed (? Acc ) output from the machine model using the rotor position information whose error has been eliminated through the proportional integral controller; And
The integrator integrates the rotor position information corrected and output in the second operation unit to obtain rotor position information
Figure pat00086
And outputting the final output signal of the synchronous motor.
7. The apparatus according to claim 6,
The rotor position calculation unit calculates the rotor position
Figure pat00087
) And a rotor position which is finally output through the integrator and used for synchronization
Figure pat00088
Of the sensorless control of the synchronous motor is calculated.
7. The apparatus of claim 6, wherein the proportional integral controller comprises:
The rotor position obtained by the arctangent calculation (
Figure pat00089
) And the integrator 150 to determine the rotor position
Figure pat00090
) Based on the error between the rotor speed (? Acc ) and the rotor speed (? Acc ) calculated from the machine model.
7. The image processing apparatus according to claim 6,
The proportional compensation by adding the control input in the generated time in the integral controller to correct the electron velocity (ω acc) to the machine model, the rotor speed (ω acc) output from and to outputs the corrected result to the integrator integrating The sensorless control method of the synchronous motor.
KR1020150132672A 2015-09-18 2015-09-18 Sensorless control apparatus for synchronous motor and method thereof KR20170034251A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210099514A (en) * 2020-02-04 2021-08-12 니혼 덴산 산쿄 가부시키가이샤 Motor control method, motor drive device, industrial robot control method, and industrial robot

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20210099514A (en) * 2020-02-04 2021-08-12 니혼 덴산 산쿄 가부시키가이샤 Motor control method, motor drive device, industrial robot control method, and industrial robot
CN113285645A (en) * 2020-02-04 2021-08-20 日本电产三协株式会社 Motor control method, motor drive device, industrial robot control method, and industrial robot
CN113285645B (en) * 2020-02-04 2024-05-07 日本电产三协株式会社 Motor control method, motor drive device, control method for industrial robot, and industrial robot

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