KR20220150098A - Motor driving apparatus and air conditioner including the same - Google Patents

Abstract

According to one aspect of the present disclosure, provided are a motor driving apparatus and an air conditioner including the same. The motor driving apparatus may comprise: a motor configured to drive a compressor; an inverter including a plurality of switching elements, configured to convert DC power of a DC terminal capacitor into AC power by switching operations of the plurality of switching elements, and configured to output the converted AC power to the motor; a compensator including a filter having a weighting coefficient updated in a direction in which a difference between a load torque of the compressor and a torque of the motor is reduced, and configured to output a compensation value based on an input value corresponding to the load torque; and an inverter control unit configured to control power applied to the motor based on an output of the compensator. Accordingly, it is possible to prevent a vibration of the motor, thereby extending the life of the motor.

Description

A motor driving apparatus and an air conditioner having the same

The present disclosure relates to a motor driving device and an air conditioner having the same, and more particularly, to a motor driving device capable of reducing vibration and an air conditioner having the same.

A home appliance is a device used for user convenience, and home appliances such as an air conditioner, a clothes dryer, a washing machine, and a refrigerator may include a motor. A motor drive device may be used to drive a motor in a home appliance. For example, the air conditioner may include a compressor, and the compressor may operate by driving a motor by an inverter.

A motor driving device is a device for driving a motor including a rotor that rotates and a stator around which a coil is wound. The motor driving device may be divided into a sensor type motor driving device using a sensor and a sensorless type motor driving device without a sensor. In recent years, for reasons such as reduction in manufacturing cost, a sensorless type motor driving device has been widely used. In addition, in the case of compressors used in air conditioners and refrigerators, it is difficult to use a sensor due to environmental factors such as temperature and pressure, so a sensorless type motor driving device is widely used.

In many cases, the motor speed command is given to control the current or voltage applied to the motor (torque control). At this time, due to the difference between the rotational torque and the load, rotational vibration is generated in the form of a phase difference. In particular, the ripple generated during the control of the compressor motor causes vibration, noise, and deterioration of the performance of the compressor.

In a steady state in which the speed of the motor is constant, if there is a change in the load torque, the current or voltage applied to the motor must also fluctuate for the motor speed to become constant. When the motor speed is not constant, vibration occurs in the motor, which shortens the life of the motor, furthermore, the current or voltage control becomes unstable, and the motor may stop during control.

When the load and rotation torque are matched, rotational vibration, that is, vibration due to a phase difference does not occur. Accordingly, many methods have been proposed for compensating for current or voltage proportionally by calculating the amount of rotational vibration or in the form of predicting the required amount of torque.

For example, a method of pre-determining a compensation factor for a shape for each rotation angle and compensating for a required torque has been proposed, but the disadvantage is that it lacks response to various situations because torque shape experiments for load conditions are required. there was.

In addition, various methods for compensating for a specified value when a speed difference occurs have been proposed. This method has a disadvantage in that the compensation value for the angle and speed difference must be unknown.

For example, a method of making and using a lookup table to test the load characteristics in advance and control the torque accordingly has been proposed. However, since compensation is possible only under the conditions used to obtain the lookup table, adverse effects may occur in other conditions. In addition, when using the lookup table, there is a disadvantage that all compensation values according to the size of the load must be experimentally obtained, and there is a problem that new experimental values must be obtained every time the model is changed.

As another example, the prior literature (Japanese Patent Registration No. 6685184, registration date April 2, 2020) discloses a motor driving device for suppressing torque pulsation by correcting a voltage command. A prior document (Japanese Patent Registration No. 6685184) discloses that, as the calculation load of the calculation device increases during torque pulsation suppression control, in order to improve the disadvantage that a calculation device capable of high-speed processing must be mounted, the calculation cycle is adjusted or the correction voltage is The generation of amplitude is simplified. The prior document (Japanese Patent Application Laid-Open No. 6685184) has a problem in that it is difficult to adaptively respond to changes in load and various situations while only being able to perform torque control with limited arithmetic processing capability.

In addition, a method of compensating using harmonics of the rotation frequency has been proposed. In this case, there is a disadvantage that there is a large difference with the load depending on the order or shape of the waveform.

SUMMARY OF THE INVENTION The present disclosure aims to solve the above and other problems.

Ideally, the output torque of the motor is controlled in response to the load torque. In this way, proper torque can be output with minimum energy and vibration can be suppressed. It is an object of the present disclosure to provide a motor driving device capable of controlling an output torque of a motor to follow a load torque, and an air conditioner including the same.

An object of the present disclosure is to increase the shape reproducibility of torque and load by compensating for torque based on a least mean square (LMS) algorithm, and to achieve followability and within the allowable torque regardless of the shape of torque. An object of the present invention is to provide a motor driving device capable of improving compensability and an air conditioner including the same.

An object of the present disclosure is to provide a motor driving apparatus capable of pre-calculating torque in consideration of a torque change gradient according to an adaptive LMS algorithm, and performing compensation according to the inclination using this, and an air conditioner including the same. have.

SUMMARY OF THE INVENTION An object of the present disclosure is to provide a motor driving device in which a compensation value is changed in response to a tendency before and after a torque change, and an air conditioner including the same.

An object of the present disclosure is to provide a motor driving device capable of automatically calculating a required torque and automatically responding to a load condition, and an air conditioner including the same.

An object of the present disclosure is to provide an air conditioner that does not require an experiment on a load and does not require position fixing when assembling a compressor and a motor.

The purpose of the present disclosure is not limited to the above-mentioned purpose, and other objects and advantages of the present disclosure that are not mentioned may be understood by the detailed description according to an embodiment of the present disclosure.

In order to achieve the above or other object, the motor driving device and the home appliance having the same according to an aspect of the present disclosure may control the output torque of the motor to follow the load torque.

A motor driving device and a home appliance having the same according to an aspect of the present disclosure to achieve the above or other objects, by compensating for a torque based on a least mean square (LMS) algorithm, It is possible to increase the shape reproducibility of the load.

In order to achieve the above or other object, a motor driving apparatus and an air conditioner having the same according to an aspect of the present disclosure include: a motor for driving a compressor; an inverter comprising a plurality of switching elements, converting the DC power of the dc stage capacitor into AC power by a switching operation of the plurality of switching elements, and outputting the converted AC power to the motor; a compensator including a filter in which a weighting coefficient is updated in a direction in which a difference between the load torque of the compressor and the torque of the motor is reduced, and outputting a compensation value based on an input value corresponding to the load torque; and an inverter controller configured to control the power applied to the motor based on the output of the compensator.

The compensator may include an LMS filter in which a weighting coefficient is updated so that a square of a difference between the load torque of the compressor and the torque of the motor is minimized according to a least mean square (LMS) algorithm.

In order to achieve the above or other object, the motor driving apparatus and the air conditioner having the same according to an aspect of the present disclosure may further include an output current detection unit disposed between the dc stage capacitor and the inverter to detect a current. .

In addition, the compensation unit, based on the current detected by the output current detection unit, calculates the error with the speed command value by calculating the rotor speed of the motor, and calculates the weighting coefficient so that the square of the calculated error is minimized. Can be updated.

In addition, the inverter control unit, based on the current detected by the output current detection unit, the speed calculating unit for calculating the rotor speed of the motor; a current command generation unit for generating a current command value based on the calculated speed information and a speed command value corresponding to the load torque; a voltage command generator configured to generate a voltage command value based on the current command value and the detected current; and a switching control signal output unit configured to output a switching control signal for driving the inverter based on the voltage command value.

The compensator may receive an error between the calculated speed information and a speed command value corresponding to the load torque from the inverter control unit, and respond to the compensation value.

In addition, the compensator receives an error between the calculated speed information and a speed command value corresponding to the load torque from the current command generator, updates the weighting coefficient in a direction in which the error decreases, and generates the current command The compensation value may be responded to the negative or the voltage command generating unit.

In addition, the compensation unit receives the calculated speed information from the speed calculation unit, updates the weighting coefficient in a direction in which an error between the calculated speed information and a speed command value corresponding to the load torque decreases, and the current command The compensation value may be responded to the generator or the voltage command generator.

In addition, the output current detection unit may include one resistance element disposed between the dc terminal capacitor and the inverter.

The compensator, when driving the motor with a command value corresponding to the load torque of the compressor, uses a difference between the command value and the calculated rotation angular speed or rotation angle as an error function so that the error function is minimized The weighting coefficient may be updated.

The compensation unit receives an error between the calculated speed information and a speed command value corresponding to the load torque from the inverter control unit, updates the weighting coefficient in a direction in which the error decreases, and responds to the compensation value to the inverter control unit can do.

The compensator or the inverter control unit may sample the rotation angle of the motor at a predetermined period and calculate an error by comparing it with a command value at the corresponding sampling point.

Also, the compensator may repeat the process of calculating the weighting coefficient of the next sampling point by using the weighting coefficient of the previous sampling point.

Also, the compensation value may vary according to a torque change slope at each sampling point.

The compensator may include an artificial neural network trained according to a least mean square (LMS) algorithm.

According to at least one of the embodiments of the present disclosure, stable torque control is achieved by controlling the output torque of the motor to follow the load torque. Accordingly, it is possible to prevent vibration of the motor and extend the life of the motor.

In addition, according to at least one of the embodiments of the present disclosure, by compensating for a torque based on a least mean square (LMS) algorithm, the shape reproducibility of the torque and the load is increased, and the relationship between the torque and the shape of the torque is increased. It is possible to increase the followability and compensability within the allowable torque.

Also, according to at least one of the embodiments of the present disclosure, according to an adaptive LMS algorithm, a torque may be calculated in advance in consideration of a torque change slope, and compensation according to the slope may be performed using the calculated torque.

In addition, according to at least one of the embodiments of the present disclosure, the compensation value may be changed in response to the tendency before and after the torque change.

In addition, according to at least one of the embodiments of the present disclosure, it is possible to automatically calculate the required torque and automatically respond to the load condition.

In addition, according to at least one of the embodiments of the present disclosure, it is possible to provide an air conditioner that does not require an experiment on a load and does not require position fixing when assembling a compressor and a motor.

On the other hand, various other effects will be disclosed directly or implicitly in the detailed description according to the embodiment of the present disclosure to be described later.

1 is an example of an internal block diagram of a motor driving apparatus according to an embodiment of the present disclosure.
FIG. 2 is an example of an internal circuit diagram of the motor driving apparatus of FIG. 1 .
3 is an internal block diagram of an inverter control unit according to an embodiment of the present disclosure.
4 is a conceptual diagram of a compensation unit according to an embodiment of the present disclosure.
5 is an example of a compensator filter according to an embodiment of the present disclosure.
6 to 11 are diagrams referred to in the description of torque control according to an embodiment of the present disclosure.
12 is an internal block diagram of an inverter control unit according to an embodiment of the present disclosure.
13 is an internal block diagram of an inverter controller according to an embodiment of the present disclosure.
14 is an internal block diagram of an inverter control unit according to an embodiment of the present disclosure.
15 is an internal block diagram of an inverter control unit according to an embodiment of the present disclosure.

Hereinafter, embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. However, the present disclosure is not limited to these embodiments and may be modified in various forms, of course.

In the drawings, in order to clearly and briefly describe the present disclosure, the illustration of parts irrelevant to the description is omitted, and the same reference numerals are used for the same or extremely similar parts throughout the specification.

On the other hand, the suffixes "module" and "part" for the components used in the following description are given simply in consideration of the ease of writing the present specification, and do not give a particularly important meaning or role by themselves. Accordingly, the terms “module” and “unit” may be used interchangeably.

Also, in this specification, terms such as first and second may be used to describe various elements, but these elements are not limited by these terms. These terms are only used to distinguish one element from another.

The motor driving device 220 described in this specification is not provided with a sensing unit, such as a hall sensor for detecting the rotor position of the motor, by a sensorless method, the rotor position of the motor It may be a motor driving device capable of estimating . Hereinafter, a sensorless type motor driving device will be described. Meanwhile, the motor driving apparatus 220 according to an embodiment of the present disclosure may be referred to as a motor driving unit.

1 is an example of an internal block diagram of a motor driving apparatus according to an embodiment of the present disclosure, and FIG. 2 is an example of an internal circuit diagram of the motor driving apparatus of FIG. 1 .

Referring to the drawings, the motor driving apparatus 220 according to an embodiment of the present disclosure is for driving a motor in a sensorless manner, and may include an inverter 420 and an inverter control unit 430 .

In addition, the motor driving apparatus 220 according to an embodiment of the present disclosure may further include a converter 410 that converts input AC power into DC power and outputs the converted power.

In addition, the motor driving apparatus 220 according to an embodiment of the present disclosure includes an input current detection unit (A), a reactor (L), a dc terminal capacitor (C), a dc terminal voltage detection unit (B), and an output current detection unit (E) may further include.

The motor driving apparatus 220 according to an embodiment of the present disclosure may further include an output current detection unit E disposed between the dc stage capacitor C and the inverter 420 . For example, the motor driving apparatus 220 according to an embodiment of the present disclosure may further include one dc terminal resistance element (not shown) disposed between the DC terminal capacitor C and the inverter 420 . Also, such a dc terminal resistance element may be referred to as a shunt resistance element.

Meanwhile, the inverter controller 430 may control the switching elements in the inverter 420 by variable control of a pulse width modulation (PWM) based on a space vector.

To this end, the inverter control unit 430 receives the phase current information sequentially detected using one dc terminal resistance element, and based on this, the inverter 420 by the space vector-based pulse width variable control. You can control the switching elements inside.

Hereinafter, operations of each of the constituent units in the motor driving apparatus 220 of FIGS. 1 and 2 will be described.

The reactor L is disposed between the input AC power source 405 and the converter 410 to perform power factor correction or boosting operation. In addition, the reactor L may perform a function of limiting the harmonic current caused by high-speed switching of the converter 410 and the like.

The input current detection unit A may detect the input current is input from the commercial AC power supply 405 . To this end, as the input current detection unit A, a current transformer (CT), a shunt resistor, or the like may be used. The detected input current is may be input to the inverter controller 430 as a discrete signal in the form of a pulse.

The converter 410 converts the commercial AC power 405 through the reactor L into DC power and outputs it to the dc terminal. Although the drawing shows the commercial AC power source 405 as a single-phase AC power source, it may be a three-phase AC power source. The internal structure of the converter 410 may also vary according to the type of the commercial AC power source 405 .

Meanwhile, the converter 410 may be made of a diode or the like without a switching element, and may perform a rectification operation without a separate switching operation.

For example, in the case of a single-phase AC power supply, four diodes may be used in the form of a bridge, and in the case of a three-phase AC power, six diodes may be used in the form of a bridge.

Meanwhile, the converter 410 may be, for example, a half-bridge type converter in which two switching elements and four diodes are connected, and in the case of a three-phase AC power supply, six switching elements and six diodes may be used. . In this case, the converter 410 may be referred to as a rectifier.

When the converter 410 includes a switching element, a step-up operation, a power factor improvement, and a DC power conversion may be performed by a switching operation of the corresponding switching element.

The dc terminal capacitor (C) is connected to both ends of the dc, smooths the input power and stores it. In the drawing, one element is exemplified as a dc terminal capacitor (C), but a plurality of elements are provided to ensure element stability.

Meanwhile, in the drawings, it is exemplified as being connected to the output terminal of the converter 410 , but the present invention is not limited thereto, and DC power may be directly inputted. For example, direct current power from the solar cell may be directly input to the dc terminal capacitor C, or may be input through direct current/DC conversion. Hereinafter, the parts illustrated in the drawings will be mainly described.

On the other hand, since DC power is stored at both ends of the dc terminal capacitor C, it may be referred to as a dc terminal or a dc link terminal.

The dc terminal voltage detector B may detect the dc terminal voltage Vdc, which is both ends of the dc terminal capacitor C. To this end, the dc terminal voltage detection unit B may include a resistance element, an amplifier, and the like. The detected dc terminal voltage Vdc may be input to the inverter controller 430 as a discrete signal in the form of a pulse.

The inverter 420 includes a plurality of inverter switching elements, and converts a DC power supply (Vdc) smoothed by an on/off operation of the switching elements into a three-phase AC power supply (va, vb, vc) of a predetermined frequency, three-phase output to the synchronous motor 230 .

Inverter 420 is a pair of upper-arm switching elements (Sa, Sb, Sc) and lower-arm switching elements (S'a, S'b, S'c) connected in series with each other, and a total of three pairs of upper and lower arms The switching elements are connected to each other in parallel (Sa&S'a, Sb&S'b, Sc&S'c). A diode is connected in anti-parallel to each of the switching elements Sa, S'a, Sb, S'b, Sc, and S'c.

The switching elements in the inverter 420 turn on/off the respective switching elements based on the inverter switching control signal Sic from the inverter controller 430 . Accordingly, the three-phase AC power having a predetermined frequency is output to the three-phase synchronous motor 230 .

The inverter controller 430 may control the switching operation of the inverter 420 based on the sensorless method. To this end, the inverter control unit 430 may receive the output current io detected by the output current detection unit E as an input.

The inverter controller 430 outputs the inverter switching control signal Sic to the inverter 420 in order to control the switching operation of the inverter 420 . The inverter switching control signal Sic is a pulse width modulation (PWM) switching control signal, and is generated and output based on the output current io detected by the output current detection unit E .

The output current detection unit E detects an output current io flowing between the inverter 420 and the three-phase motor 230 . That is, the current flowing through the motor 230 is detected. The output current detection unit E may detect all of the output currents ia, ib, and ic of each phase, or may detect the output currents of the two phases using three-phase balance.

The output current detection unit E may be located between the inverter 420 and the motor 230 , and a current transformer (CT), a shunt resistor, or the like may be used to detect the current.

When a shunt resistor is used, three shunt resistors are located between the inverter 420 and the synchronous motor 230, or the three lower arm switching element elements S'a, S'b, S'c of the inverter 420. ), it is possible to have one end connected to each.

Alternatively, two shunt resistors are used, and it is possible to calculate the current of the other phase using three-phase balance.

More preferably, one shunt resistor may be disposed between the dc stage capacitor C and the inverter 420 . This method may be referred to as a 1-shunt method.

According to the 1 shunt method, the output current detection unit E uses one shunt resistance element Rdc, and when the lower arm switching element of the inverter 420 is turned on, time-divisionally, the output current flowing through the motor 230 ( io) can be detected.

The detected output current io may be applied to the inverter controller 430 as a discrete signal in the form of a pulse, and an inverter switching control signal Sic is generated based on the detected output current io do. Hereinafter, it may be described in parallel that the detected output current io is the three-phase output current ia, ib, ic.

On the other hand, the three-phase motor 230 includes a stator and a rotor, and each phase AC power of a predetermined frequency is applied to the coils of the stators of each phase (a, b, c phase), and the rotor rotates. will do

The motor 230 is, for example, a Surface-Mounted Permanent-Magnet Synchronous Motor (SMPMSM), an Interidcr Permanent Magnet Synchronous Motor (IPMSM), and a synchronous relay. It may include a Synchronous Reluctance Motor (Synrm) and the like. Among them, SMPMSM and IPMSM are Permanent Magnet Synchronous Motor (PMSM) applied with permanent magnet, and Synrm is characterized by no permanent magnet.

The load 231 is for performing an operation implemented in the home appliance, and may be configured differently for each home appliance.

For example, when the air conditioner includes the motor driving device 220 , the load 231 may be an indoor fan, an outdoor fan, or a compressor for compressing a refrigerant. In particular, torque control according to an embodiment of the present disclosure may reduce vibration and may be applied to a motor driving a compressor.

As another example, when the clothes dryer includes the motor driving device 220 , the load 231 may be a blower fan for supplying compressed air.

As another example, when the refrigerator includes the motor driving device 220 , the load 231 may be a refrigerator compartment fan or a freezer compartment fan.

As another example, the motor driving device 220 of the present disclosure is for driving a compressor in a home appliance, and the load 231 of FIG. 1 may be a compressor that compresses a refrigerant.

The motor driving apparatus 220 and the air conditioner including the same according to an embodiment of the present disclosure include a motor 230 for driving a compressor and a plurality of switching elements, and by switching operation of the plurality of switching elements, It may include an inverter 420 that converts the DC power of the dc terminal capacitor C into AC power, and outputs the converted AC power to the motor 230 , and an inverter controller 430 that controls the inverter.

The motor driving device 220 and the air conditioner including the same according to an embodiment of the present disclosure may further include a compensator 450 for outputting a compensation value based on an input value corresponding to the load torque of the compressor. . Also, the inverter controller 430 may control the power applied to the motor 230 based on the output of the compensator 450 .

Since the output of the motor is proportional to the motor current, the motor output can be obtained if the motor current is known.

According to the motion equation of the motor, the output of the motor can be expressed as the sum of the torque required to rotate the inertia of the entire system and the torque applied to the load. There is consumption of motor output due to friction, but this can be included in the load torque. The torque due to the stiffness coefficient can be neglected during rotation.

For example, the equation of motion of the compressor motor may be expressed by Equation 1 below, and the coefficients C and K may be ignored. Equation 2 below can be derived from Equation 1 below.

r : rotor

s : stator

The torque required to rotate the inertial mass of the rotating body can be obtained by knowing the inertial mass and the angular acceleration of the rotating body. The inertial mass can be obtained through measurement. Since angular acceleration is expressed as the amount of change in the motor speed (ω), if the motor speed (ω) over time is known, the angular acceleration can be obtained by using a differentiator for the motor speed (ω).

The motor output and inertia torque can be obtained through the motor speed (ω) and the motor current, and the motor output can be controlled to respond to the load torque by adjusting the current or voltage applied to the motor according to the variation of the load torque.

In Equation 2, J may correspond to a load, and T may correspond to a torque. When J is constant, when T is large, the speed increases. When T is small, the speed decreases. Also, when T is constant, when J is large, the speed is slow, and when J is small, the speed is high. This difference between load and speed appears on the shaft as a rotation angle phase difference, and this becomes the rotational vibration of the compressor.

Therefore, as J increases, T increases accordingly, and when J decreases, T also decreases. This is the basic principle of torque control.

The compensator 450 may output a compensation value capable of compensating for the motor current applied to the motor 230 in order to follow the load torque of the compressor. The compensator 450 may include an adaptive filter in which a weighting coefficient is updated in a direction in which a difference between the load torque of the compressor and the torque of the motor 230 is reduced.

The compensation unit 450, the LMS in which the weighting coefficient is updated so that the square of the difference between the load torque of the compressor and the torque of the motor 230 is minimized according to a least mean square (LMS) algorithm. Filters may be included. The weighting coefficient may also be referred to as a tap coefficient.

The LMS filter included in the compensator 450 is an adaptive filter, and the weighting coefficient is updated so that the square of the difference between the load torque of the compressor and the torque of the motor 230 is minimized. may follow the load torque.

When the compensator 450 drives the motor 230 with a command value corresponding to the load torque of the compressor, the difference between the command value and the calculated rotation angular speed or rotation angle is used as an error function, The weighting coefficient may be updated so that the error function is minimized.

For example, the compensator 450 uses the difference between the command value received from the inverter control unit 430 and the calculated rotational angular velocity or rotational angle as an error function so that the error function is minimized. The weighting coefficient can be updated.

Alternatively, the compensation unit 450 receives the rotation angular velocity or rotation angle calculated from the inverter control unit 430 , and the compensation unit 450 uses the difference between the received operation value and the command value as an error function. Thus, the weighting coefficient may be updated so that the error function is minimized.

Alternatively, the compensation unit 450 uses the difference between the command value received from the inverter control unit 430 and the calculated rotational angular velocity or rotational angle as an error function, and the weighting coefficient so that the error function is minimized. can be updated.

Meanwhile, the inverter control unit 430 may control the inverter 420 based on a command received from the outdoor unit control unit or the indoor unit control unit. The inverter 420 may supply power to the motor 230 under the control of the inverter controller 430 , and the motor 230 may rotate the compressor.

Alternatively, the inverter control unit 430 may receive an operation command from the outdoor unit control unit or the indoor unit control unit, and determine a torque command value or a speed command value based on the received operation command.

Ideally, an appropriate torque can be output with minimum energy, and the output torque of the motor is controlled in response to the load torque in order to suppress vibration.

Accordingly, so that the output torque of the motor can follow the load torque, the compensator 450 uses a filter in which a weighting coefficient is adaptively varied based on the difference between the output torque of the motor 230 and the load torque. , the compensation value can be output. The inverter control unit 430 may increase the shape reproducibility of torque and load by supplying power to the motor 230 by reflecting the compensation value.

Meanwhile, the compensation unit 450 may include an artificial neural network trained to output the compensation value according to a least mean square (LMS) algorithm.

The compensation unit 450 may receive an error between the calculated speed information and a speed command value corresponding to the load torque from the inverter control unit 430 , and update the weighting coefficient in a direction in which the error decreases. . Also, the compensation unit 450 may respond to the compensation value to the inverter control unit 430 .

The compensator 450 may measure the error by calculating the electric command angle and the rotor rotation angle for the rotation speed of the compressor motor 230 , and calculate and output a compensation value using the adaptive LMS algorithm based on the measured error. In addition, according to at least one of the embodiments of the present disclosure, it is possible to automatically calculate the required torque and automatically respond to the load condition.

The compensator 450 may automatically calculate a compensation value without using a lookup table, so that an experiment for generating a lookup table is not required. In addition, according to at least one of the embodiments of the present disclosure, there is no need to fix the position when assembling the compressor and the motor.

According to an embodiment of the present disclosure, the compensation value may be automatically calculated according to the load without determining the measurement or compensation value in advance, so that the load and the motor torque may be matched. Accordingly, it is possible to increase the followability and compensability within the allowable torque regardless of the form of torque.

3 is an internal block diagram of an inverter control unit according to an embodiment of the present disclosure.

Referring to the drawings, the inverter control unit 430 includes an axis conversion unit 310 , a speed calculation unit 320 , a current command generation unit 330 , a voltage command generation unit 340 , an axis conversion unit 350 , and a switching control signal output unit 360 .

The axis conversion unit 310 may convert the output current (ia, ib, ic) detected by the output current detection unit (E) into the two-phase current (iα, iβ) of the stationary coordinate system.

Meanwhile, the axis conversion unit 310 may convert the two-phase currents (iα, iβ) of the stationary coordinate system into the two-phase currents (id, iq) of the rotational coordinate system.

)를 추정하고, 추정된 위치를 미분하여, 속도(

)를 연산할 수 있다. The speed calculating unit 320, based on the output current (ia, ib, ic) detected by the output current detecting unit (E), the position value (

), and by differentiating the estimated position, the velocity (

) can be calculated.

)와 속도 지령치(ω^* _r)에 기초하여, 전류 지령치(i^* _q)를 생성한다. 예를 들어, 전류 지령 생성부(330)는, 연산 속도(

)와 속도 지령치(ω^* _r)의 차이에 기초하여, PI 제어기(335)에서 PI 제어를 수행하며, 전류 지령치(i^* _q)를 생성할 수 있다. 도면에서는, 전류 지령치로, q축 전류 지령치(i^* _q)를 예시하나, 도면과 달리, d축 전류 지령치(i^* _d)를 함께 생성하는 것도 가능하다. 한편, d축 전류 지령치(i^* _d)의 값은 0으로 설정될 수도 있다. On the other hand, the current command generation unit 330, the calculation speed (

) and the speed command value (ω ^* _r ), a current command value (i ^* _q ) is generated. For example, the current command generation unit 330 may set the calculation speed (

) and the speed command value (ω ^* _r ) based on the difference, the PI controller 335 performs PI control, it is possible to generate a current command value (i ^* _q ). In the drawing, the q-axis current command value (i ^* _q ) is exemplified as the current command value, but unlike the drawing, it is also possible to generate the d-axis current command value (i ^* _d ) together. On the other hand, the value of the d-axis current command value (i ^* _d ) may be set to 0.

On the other hand, the current command generation unit 330, the current command value (i ^* _q ) may further include a limiter (not shown) for limiting the level so as not to exceed the allowable range.

Next, the voltage command generation unit 340 includes the d-axis and q-axis currents (i _d ,i _q ) that are axis-transformed into the two-phase rotational coordinate system by the axis transformation unit, and the current command values ( Based on i ^* _d ,i ^* _q ), d-axis and q-axis voltage command values (v ^* _d ,v ^* _q ) are generated. For example, the voltage command generator 340 performs PI control in the PI controller 344 based on the difference between the q-axis current (i _q ) and the q-axis current command value (i ^* _q ), q A shaft voltage setpoint (v ^* _q ) can be generated. In addition, the voltage command generation unit 340 performs PI control in the PI controller 348 based on the difference between the d-axis current (i _d ) and the d-axis current command value (i ^* _d ), and the d-axis voltage You can create a setpoint (v ^* _d ). On the other hand, the voltage command generation unit 340, the d-axis, q-axis voltage command value (v ^* _d , v ^* _q ) may further include a limiter (not shown) for limiting the level so as not to exceed the allowable range. .

On the other hand, the generated d-axis and q-axis voltage command values (v ^* _d , v ^* _q ) are input to the axis conversion unit 350 .

)와, d축, q축 전압 지령치(v^* _d,v^* _q)를 입력받아, 축변환을 수행한다.The axis conversion unit 350, the position calculated by the speed calculating unit 320 (

) and d-axis and q-axis voltage command values (v ^* _d ,v ^* _q ) are received, and axis transformation is performed.

)가 사용될 수 있다.First, the axis transformation unit 350 performs transformation from a two-phase rotational coordinate system to a two-phase stationary coordinate system. At this time, the position calculated by the speed calculating unit 320 (

) can be used.

Then, the axis transformation unit 350 performs transformation from the two-phase stationary coordinate system to the three-phase stationary coordinate system. Through this conversion, the shaft conversion unit 1050 outputs a three-phase output voltage command value (v ^* a, v ^* b, v ^* c).

The switching control signal output unit 360 generates a switching control signal (Sic) for an inverter according to a pulse width modulation (PWM) method based on the three-phase output voltage command value (v ^* a, v ^* b, v ^* c) to output

The output inverter switching control signal Sic may be converted into a gate driving signal by a gate driver (not shown) and input to a gate of each switching element in the inverter 420 . Accordingly, each of the switching elements Sa, S'a, Sb, S'b, Sc, and S'c in the inverter 420 performs a switching operation.

On the other hand, the motor driving device 220, through the inverter 420 control, to perform a vector (vector) control for driving the motor 230 to detect the output current, in particular, the phase current flowing through the motor 230 can

The inverter control unit 430 uses the sensed phase current to control the motor 230 to a desired speed and torque through the current command generation unit 330 and the voltage command generation unit 340 . do.

The current command generation unit 330 may decrease the current command value in response to the rotation angle when the voltage vector is moved. In particular, the current command generation unit 330 may decrease the q-axis current command value (i ^* _q ) in response to the rotation angle when the voltage vector is moved. Accordingly, the constant speed of the rotor can be maintained even when the voltage vector moves.

According to an embodiment of the present disclosure, the compensation unit 450 may receive an error between the calculated speed information and a speed command value corresponding to the load torque from the inverter control unit 430, and respond to the compensation value. have.

According to an embodiment, the compensator 450 may directly calculate the error. According to an embodiment of the present disclosure, the compensation unit 450 calculates the rotor speed of the motor 230 based on the current detected by the output current detection unit E, and an error with the speed command value. , and the weighting coefficient may be updated so that the square of the calculated error is minimized.

4 is a conceptual diagram of a compensator according to an embodiment of the present disclosure, and FIG. 5 is an example of a compensator filter according to an embodiment of the present disclosure.

)를 계산하는 오차 연산부, Adaptive LMS 알고리즘이 들어있는 Adaptive 알고리즘 로직(logic)부, 다수의 웨이팅 계수를 포함하는 디지털 필터를 포함할 수 있다.Referring to FIG. 4 , the compensator 450 according to an embodiment of the present disclosure includes an error function (

), an adaptive algorithm logic unit containing an adaptive LMS algorithm, and a digital filter including a plurality of weighting coefficients.

The compensating unit 450, the input unit is connected to the supply line (line) x(t), the output unit (Output) the inverter control unit 430 for adjusting the magnitude of the current output to the compressor motor can be connected to

)로 모터 구동 장치(220) 또는 공기조화기 등 홈 어플라이언스 시스템(System)에서 얻어지는 인자(Factor) 중 하나를 사용할 수 있다. The error calculation unit includes an error function (

) as one of factors obtained from a home appliance system such as the motor driving device 220 or an air conditioner.

)의 차이 셋 중 하나를 사용하여 오차 함수(

)를 계산할 수 있다. 예를 들어, 상기 오차 연산부는, 전기회전각(ωelec)과 기계 회전각(ωshaft) 속도의 차이를 오차 함수(

)로 사용할 수 있다. The error calculating unit includes a difference in rotation angular velocity (ω), a difference in torque (T), and a rotation angle (

) using one of the three differences in the error function (

) can be calculated. For example, the error calculating unit calculates the difference between the speed of the electric rotation angle (ω elec) and the machine rotation angle (ω shaft) with an error function (

) can be used as

The digital filter may be an LMS filter including a plurality of weighting coefficients. 5 illustrates an LMS filter implemented as a finite impulse response (FIR) filter. The FIR filter is a filter whose impulse response has a finite length (N, 0 ≤ k ≤ order (N-1)), and may include a finite number of filters having a specific value every time. The FIR filter has high stability because there is no risk of divergence due to its non-recursive structure. In addition, the FIR filter is suitable for adaptive signal processing.

)는 수학식 3과 같이 구해질 수 있다. On the other hand, in the filter illustrated in FIG. 5, the error function (

) can be obtained as in Equation 3.

는 요구값(또는 결정치)이고, k는 일 시간적 지점이다. 또한, 오차 함수(

)는 이론상으로 모터가 주어진 회전속도로 회전한다면 돌아가야 하는 각도(명령치)를 모터의 실제 회전각을 뺀 오차 회전각으로, 양(+)의 값을 가질 수도 있고, 음(-)의 값을 가질 수도 있다.in Equation 3

is a required value (or a decision value), and k is a point in time. Also, the error function (

) is the error rotation angle obtained by subtracting the actual rotation angle of the motor from the angle (command value) that should be rotated if the motor rotates at a given rotation speed in theory, and may have a positive (+) value or a negative (-) value may have

In addition, in order to control the inverter PWM, the position (rotational position) of the motor shaft is calculated using a three-phase winding, which is the actual rotation angle of the shaft. X _k is a sampling value of the actual rotation angle of the axis.

According to an embodiment of the present disclosure, the adaptive LMS logic may use a steepest descent method for adaptive control. Gradient descent is a technique for adjusting model coefficients in a direction to reduce a function value in consideration of the gradient of a function in the current state, and the size of adjusting the model coefficients is called a step size. The gradient descent method can be updated by partial differentiation of a function into each model coefficient to obtain a gradient, and changing the model coefficients by a step size in the obtained gradient direction. The gradient may be obtained according to Equation 4, and the weighting coefficient W may be obtained according to Equation 5.

In Equation 4, the gradient may mean dividing the difference between the desired rotation angle obtained on the LMS algorithm and the actual rotational angle of the rotor obtained with the phase current of the motor by the increment of the weight, respectively. have. Therefore, it may mean that the magnitude of the error is divided at each step by the difference of the weighting coefficient (W).

According to an embodiment, predictive interpolation of such data in the form of a multi-layer is possible by using an artificial neural network (AI).

In Equation 5, a value μ, which is a step size, is a convergence coefficient and may have a value of 1 or less.

, 시스템이 발산하지 않는 값(예, 0.3~0.00001)으로 설정된 이터레이션(iteration) 계수(μ)를 이용하여 수행될 수 있다.Referring to the equations, the weighting calculation in the adaptive filter is calculated as an error between X _k corresponding to each tab, the rotation angle of the command value and the calculated rotation angle.

, can be performed using an iteration coefficient (μ) set to a value that the system does not diverge (eg, 0.3 to 0.00001).

)와 이터레이션 계수(μ)의 값으로 새로운 웨이팅(weighting) 계수(W_k+1)를 계산해서 각 탭(Tab)의 계산에 이용할 수 있다.With X _k corresponding to each tab, the error function (

) and the value of the iteration coefficient μ, a new weighting coefficient W _k+1 may be calculated and used in the calculation of each tab.

According to an embodiment of the present disclosure, the compensator 450 may automatically compensate within an allowed torque regardless of a load condition or characteristics of a compressor. In addition, the compensation unit 450 does not use a fixed compensation value, but a plurality of weighting coefficients (W _k , W _k+1 , ...) to adaptively determine the compensation value, active torque control can be performed.

According to an embodiment, the compensator 450 may include an artificial neural network learned according to a least mean square (LMS) algorithm. A The compensator 450 may include an artificial neural network trained to update coefficients to follow the load torque with an adaptive LMS algorithm. The artificial neural network can learn to minimize the error by adjusting the connection strength using the LMS algorithm.

6 to 11 are diagrams referred to in the description of torque control according to an embodiment of the present disclosure.

6 shows an example of the conventional torque control, where the x-axis represents time and the y-axis represents torque. Referring to FIG. 6 , the compressor load 610 may appear in a form that is repeated at a predetermined cycle according to the periodicity of compression and discharge. The torque 620 supplied from the motor 230 may be uniformly supplied for a predetermined time and appear in the form of a line.

When the load 610 and the motor torque 620 are compared, a torque insufficient error occurs in the section in which the load 610 is above the motor torque 620 , and the load 610 is below the motor torque 620 . In the section in , a large error occurs in torque.

Conventionally, when an error occurs, torque control in which a fixed compensation value is applied according to the generated error is used. In this case, there is a disadvantage that the amount of experimentation for setting the compensation value is excessive, and there is a fear that the error cannot be reduced but rather become larger for a situation in which the experiment is not conducted.

According to an embodiment of the present disclosure, in compensating for torque for load variation, a compensation value may be determined by using an adaptive LMS in a system in which compensation values are not tabled in advance.

)로 사용하여 필터의 웨이팅(weighting) 계수를 조정하면서 부하 토크를 추종하는 토크 제어를 수행하는 예를 도시한 것이다.7 shows the compensation unit 450 illustrated in FIG. 4 as an error function (

) shows an example of performing torque control that follows the load torque while adjusting the weighting coefficient of the filter.

)는 목표 토크(Trequired)와 실제 토크(Tshaft)의 차로 구해질 수 있다.The required target torque (Trquired) may correspond to the load (610), and the error function (

) may be obtained as the difference between the target torque (Trquired) and the actual torque (Tshaft).

)가 감소되는 방향으로 필터의 웨이팅(weighting) 계수를 갱신할 수 있다.According to an embodiment of the present disclosure, the compensator 450 may include an error function (

) may be updated in a direction in which the weighting coefficient of the filter is decreased.

The compensator 450 may output a compensation value based on an input value X(t) corresponding to the load torque.

)를 예시한다.8 is an error function (

) is exemplified.

로 구해진다. When X(t) is input to the compensation unit 450 according to a least mean square (LMS) algorithm logic, an actual torque Tshaft with respect to the target torque Trequired is obtained. At this time, the torque error corresponding to each rotation angle is

is saved with

The compensator 450 may update the weighting coefficient so that the square of the difference between the load torque of the compressor and the torque of the motor 230 is a minimum of the weighting coefficient according to the LMS algorithm.

)로 사용하여, 상기 오차 함수가 최소가 되도록 상기 웨이팅 계수를 갱신할 수 있다. 이에 따라, 상기 모터의 토크는 상기 압축기의 부하를 추종할 수 있다. In addition, the compensator 450, when driving the motor with a command value corresponding to the load torque of the compressor, calculates the difference between the command value and the calculated rotation angular speed or rotation angle, an error function (

) to update the weighting coefficient so that the error function is minimized. Accordingly, the torque of the motor may follow the load of the compressor.

9 illustrates a motor torque 920 compensated to follow a load 910 according to an embodiment of the present disclosure. In FIG. 9 , the x-axis represents time and the y-axis represents torque. According to an embodiment of the present disclosure, it is possible to implement a system that tracks the load 910 with the compensation torque 920 while compensating for a required waveform with the difference between the rotational speed of the electrical angle and the mechanical angle. Referring to FIG. 9 , it can be confirmed that the shape of the motor torque 920 is followed while reproducing the shape of the load 910 .

)를 산출할 수 있다. 입력 X(t)는 부하에 따른 지령치로 샘플링 주기에 따라 샘플링된 값일 수 있다.On the other hand, the compensation unit 450 or the inverter control unit 430 samples the rotation angle of the motor 230 at a predetermined period, and compares it with a command value at the corresponding sampling point to obtain the error (

) can be calculated. The input X(t) is a command value according to a load and may be a value sampled according to a sampling period.

The compensator 450 may repeat the process of calculating the weighting coefficient of the next sampling point W(k) by using the weighting coefficient W(k-1) of the previous sampling point.

Meanwhile, the compensation value may vary according to a torque change slope at each sampling point. For example, the compensation value varies according to the slope, so that even one error may have several compensation values according to the circumstances.

Here, the slope is a slope of how the torque at each sampling point changes back and forth when the actual torque changes rapidly. If the slope of the pre-torque value and the current value is, the table and program can be configured to compensate for how much. However, there is a problem that data on the slope of cases close to infinity is needed because the conditions of the load on the inverter vary. According to an embodiment of the present disclosure, the LMS Active control can automatically and quickly respond to such cases of inclination close to infinity.

Multiple reward values mean that the algorithm responds well to before and after situations because there are multiple weighting values. Not just considering the slope. Due to the characteristics of the LMS algorithm, compensation can be performed while considering all the before and after processes in weighting while passing through tabs. According to an embodiment of the present disclosure, when determining a compensation value for one condition based on the difference between the electrical angle and the mechanical angle, instead of one fixed value, the weighting coefficient passes through tabs in multiple numbers before and after the process Compensation can be performed in consideration of

10 shows an input 1010, an output 1030, and an error 1020 of the compensator 450 according to an embodiment of the present disclosure, and FIG. 11 is a required torque corresponding to a load. (Desired Torque, 1110) and an actual output torque (Supplied Torque, 1120) according to an embodiment of the present disclosure are shown.

10 and 11 show the test results using an LMS filter designed as a digital filter included in the compensator 450 with a step size of 0.05 and a length of 32. FIG.

Referring to FIGS. 10 and 11 , when x(t), which is sampled at a predetermined period of a requested torque 1110 corresponding to a load, is input to the compensating unit 450 , there is a large gap between the output 1120 and the load torque 1110 . As a difference occurs, the initial value of the error 1020 increases accordingly. As the compensation current is adjusted in the LMS algorithm based on the error 1020 , the output 1030 is generated based on the error 1020 , and the output torque 1120 as shown in FIG. 11 may be output.

11, when the shape and/or size of the load torque 1110 and the output torque 1120 are the same, it means that the rotation angle displacement becomes constant, and the vibration is reduced. In this case, no compensation table is used.

Referring to FIG. 11 , the required torque 1110 corresponding to the load is a torque that generates an ideal rotation. If there is no compensation for the torque, the torque of this waveform is transmitted to the compressor. The output torque 1120 is a waveform in which compensation according to an embodiment of the present disclosure is entered and output to the motor. This output torque 1120 may correspond to the output 1030 of FIG. 10 .

Referring to FIG. 10 , an error 1020 represents a difference between an input 1010 and an output 1030 , that is, an error.

Assuming that the rotational speed of the shaft has the same shaft phase and size as the shaft load, and the mechanical time delay can be compensated with μ, therefore, the type of error in the shaft will also occur in proportion to the pressure fluctuation, The shape of the error may be similar to the input 1010 .

First, the theoretical rotation angle is obtained at any sampling point among the rotations (Hz) given as a setpoint, and the actual rotation angle is calculated and obtained from the given motor coil. The error can be calculated by comparing the following rotation angles.

Wi+1 is calculated with xi and wi that are input and shifted back and forth at the sampling point. And when the calculated compensation value is supplied to the inverter 420, the compensated waveform corresponding to the compensated current is output.

Also, sampling, calculating x(i+1) and error(i+1) from the rotation angle and the actual rotation angle according to the command, and performing the calculation of W(i+1) for each step and sent to the inverter 420, the compensated output waveform is output. If this operation is continued while shifting x(i+1) to x(i+2), the output waveforms 1030 and 1120 are displayed. Therefore, the output waveform is created according to the pressure waveform of the load. Active Torqu Control LMS algorithm is used here.

12 to 15 are internal block diagrams of an inverter control unit according to an embodiment of the present disclosure. 3 are diagrams illustrating compensation units 450 connected to the inverter control unit 430 illustrated in FIG. 3 , and descriptions of parts common to those described in FIGS. 3 to 11 will be omitted.

Referring to FIG. 12 , the compensator 450 includes the rotor speed of the motor 230 calculated based on the current detected from the current command generation unit 330 through the output current detection unit E An error of the speed command value corresponding to the load torque may be input.

The compensator 450 may update the weighting coefficient in a direction in which the error decreases, based on the input error. Also, the compensation unit 450 may respond to the compensation value to the current command generation unit 330 .

The current command generation unit 330 may generate a current command value based on an error between the calculated rotor speed of the motor 230 and a speed command value corresponding to the load torque and the compensation value.

The voltage command generation unit 340 generates a voltage command value based on the current command value and the detected current, and the switching control signal output unit 360 uses the voltage command value to generate the inverter 420 . may output a switching control signal for driving the .

13 is an internal block diagram of an inverter controller according to an embodiment of the present disclosure.

Referring to FIG. 13 , the compensator 450 receives an error between the calculated speed information and a speed command value corresponding to the load torque from the current command generation unit 330 , and moves in a direction in which the error decreases. The weighting coefficient may be updated, and the compensation value may be responded to the voltage command generator 340 .

The voltage command generation unit 340 generates a voltage command value based on the current command value received from the current command generation unit 330, the current detected by the output current detection unit E, and the compensation value, The switching control signal output unit 360 may output a switching control signal for driving the inverter 420 based on the voltage command value.

14 is an internal block diagram of an inverter control unit according to an embodiment of the present disclosure.

Referring to FIG. 14 , the compensation unit 450 receives the calculated speed information from the speed calculation unit 320 , and the error between the calculated speed information and the speed command value corresponding to the load torque decreases. to update the weighting coefficient, and respond the compensation value to the current command generator 330 with the compensation value.

The current command generation unit 330 may generate a current command value based on an error between the calculated rotor speed of the motor 230 and a speed command value corresponding to the load torque and the compensation value.

The voltage command generation unit 340 generates a voltage command value based on the current command value and the detected current, and the switching control signal output unit 360 uses the voltage command value to generate the inverter 420 . may output a switching control signal for driving the .

15 is an internal block diagram of an inverter control unit according to an embodiment of the present disclosure.

Referring to FIG. 15 , the compensation unit 450 receives the calculated speed information from the speed calculation unit 320 , and the error between the calculated speed information and the speed command value corresponding to the load torque decreases. to update the weighting coefficient, and respond the compensation value to the voltage command generator 340 with the compensation value to the voltage command generator.

The voltage command generation unit 340 generates a voltage command value based on the current command value received from the current command generation unit 330, the current detected by the output current detection unit E, and the compensation value, The switching control signal output unit 360 may output a switching control signal for driving the inverter 420 based on the voltage command value.

According to at least one of the embodiments of the present disclosure, stable torque control is achieved by controlling the output torque of the motor to follow the load torque. Accordingly, it is possible to prevent vibration of the motor and extend the life of the motor.

The motor driving device 220 according to an embodiment of the present disclosure may be applied to an air conditioner. In particular, the motor driving apparatus 220 according to an embodiment of the present disclosure may be applied to a motor driving a compressor to reduce vibration through adaptive torque control.

In addition, the above-described motor driving device 220 may be provided and used in various devices. For example, it may be used among home appliances such as a laundry treatment device, a refrigerator, a water purifier, and a vacuum cleaner. In addition, it is applicable to a vehicle, a robot, a drone, etc. that can be operated by a motor.

The motor driving device and the home appliance having the same according to the present disclosure are not limited to the configuration and method of the described embodiments as described above, but the embodiments are all of each embodiment so that various modifications can be made. Alternatively, some may be selectively combined and configured.

In addition, although preferred embodiments of the present disclosure have been illustrated and described above, the present disclosure is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present disclosure as claimed in the claims Various modifications may be made by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present disclosure.

220: motor drive unit
230: motor
231: load
410: converter
420: inverter
430: inverter control unit
450: compensation unit

Claims (16)

a motor driving the compressor;
an inverter comprising a plurality of switching elements, converting the DC power of the dc stage capacitor into AC power by a switching operation of the plurality of switching elements, and outputting the converted AC power to the motor;
a compensator including a filter in which a weighting coefficient is updated in a direction in which a difference between the load torque of the compressor and the torque of the motor is reduced, and outputting a compensation value based on an input value corresponding to the load torque; and,
and an inverter controller configured to control the power applied to the motor based on the output of the compensator. According to claim 1,
The compensation unit,
and an LMS filter in which a weighting coefficient is updated such that a square of a difference between a load torque of the compressor and a torque of the motor is minimized according to a least mean square (LMS) algorithm. According to claim 1,
and an output current detection unit disposed between the dc stage capacitor and the inverter to detect a current. 4. The method of claim 3,
The compensation unit,
A motor driving apparatus for calculating an error with a speed command value by calculating a rotor speed of the motor based on the current detected through the output current detecting unit, and updating the weighting coefficient so that the square of the calculated error is minimized. 4. The method of claim 3,
The inverter control unit,
a speed calculating unit for calculating a rotor speed of the motor based on the current detected by the output current detecting unit;
a current command generator for generating a current command value based on the calculated speed information and a speed command value corresponding to the load torque;
a voltage command generator configured to generate a voltage command value based on the current command value and the detected current; and
and a switching control signal output unit configured to output a switching control signal for driving the inverter based on the voltage command value. 6. The method of claim 5,
The compensation unit,
The motor driving apparatus receives an error between the calculated speed information and a speed command value corresponding to the load torque from the inverter control unit, and responds to the compensation value. 7. The method of claim 6,
The compensation unit,
An error between the calculated speed information and a speed command value corresponding to the load torque is input from the current command generation unit, the weighting coefficient is updated in a direction in which the error decreases, and the current command generation unit or the voltage command generation unit A motor drive device responsive to the compensation value. 7. The method of claim 6,
The compensation unit,
receiving the calculated speed information from the speed calculating unit, updating the weighting coefficient in a direction in which an error between the calculated speed information and a speed command value corresponding to the load torque decreases, and the current command generating unit or the voltage command A motor driving device that responds to the compensation value to a generator. 4. The method of claim 3,
The output current detection unit may include a single resistance element disposed between the dc stage capacitor and the inverter. According to claim 1,
The compensation unit,
When driving the motor with a command value corresponding to the load torque of the compressor,
and using the difference between the command value and the calculated rotational angular velocity or rotational angle as an error function to update the weighting coefficient so that the error function is minimized. According to claim 1,
The compensation unit,
A motor driving device that receives an error between the calculated speed information and a speed command value corresponding to the load torque from the inverter control unit, updates the weighting coefficient in a direction in which the error decreases, and responds to the compensation value to the inverter control unit . According to claim 1,
The compensator or the inverter control unit samples the rotation angle of the motor at a predetermined period and compares it with a command value at the sampling point to calculate an error; 13. The method of claim 12,
The compensation unit,
A motor driving device that repeats the process of calculating the weighting coefficient of the next sampling point by using the weighting coefficient of the previous sampling point. 13. The method of claim 12,
The compensation value varies according to a torque change slope at each sampling point. According to claim 1,
The compensation unit,
A motor driving device including an artificial neural network trained according to a least mean square (LMS) algorithm. An air conditioner comprising the motor driving device of any one of claims 1 to 15.

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