TWI410042B - Location system and method for magnetic pole angle of motors - Google Patents
Location system and method for magnetic pole angle of motors Download PDFInfo
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Description
本發明係關於一種馬達之磁極角定位系統及方法。 The present invention relates to a magnetic pole angle positioning system and method for a motor.
永磁同步馬達之轉子磁通是由安裝在轉子上之永磁體產生，為了平穩啟動及穩定地控制永磁同步馬達，需知道永磁體在空間之初始位置，即磁極位置。若所獲得之磁極位置偏差過大，則會導致永磁同步馬達運轉異常甚至不能啟動。通常是在開機時對永磁同步馬達之磁極位置進行調整，讓永磁同步馬達之永磁體所產生之磁通量之角度，即磁極角為零度，並以此為參考值對該永磁同步馬達之參數進行調整。然，此方式會造成機台移動，對於精密機台而言可能會造成損傷。 The rotor flux of the permanent magnet synchronous motor is generated by a permanent magnet mounted on the rotor. In order to smoothly start and stably control the permanent magnet synchronous motor, it is necessary to know the initial position of the permanent magnet in the space, that is, the magnetic pole position. If the obtained magnetic pole position deviation is too large, the permanent magnet synchronous motor may be abnormally operated or may not be started. Usually, the magnetic pole position of the permanent magnet synchronous motor is adjusted at the time of starting, so that the angle of the magnetic flux generated by the permanent magnet of the permanent magnet synchronous motor, that is, the magnetic pole angle is zero degrees, and the reference value is used as the reference value for the permanent magnet synchronous motor. The parameters are adjusted. However, this method will cause the machine to move, which may cause damage to the precision machine.
鑒於以上內容，有必要提供一種不需要移動機台之馬達之磁極角定位系統及方法。 In view of the above, it is necessary to provide a magnetic pole angle positioning system and method that does not require a motor of a mobile machine.
一種馬達之磁極角定位系統，包括一磁極角定位裝置、一電流控制裝置、一馬達電流回授裝置、一馬達速度回授裝置及一馬達驅動裝置，該電流控制裝置用於透過該馬達驅動裝置設置一馬達之工作電流，該馬達電流回授裝置及馬達速度回 授裝置分別用於透過該馬達驅動裝置感應該馬達之實際電流值、實際速度值，並將其回饋給該磁極角定位裝置，該磁極角定位裝置用於存儲該磁極角回授裝置以及馬達速度回授裝置之訊號，並對其進行運算以得到該馬達之初始磁極角，該磁極角定位裝置還用於設定該馬達之磁極角。 A magnetic pole angle positioning system for a motor, comprising a magnetic pole angle positioning device, a current control device, a motor current feedback device, a motor speed feedback device and a motor driving device, wherein the current control device is configured to transmit the motor driving device Setting a working current of the motor, the motor current feedback device and the motor speed back The device is configured to sense an actual current value and an actual speed value of the motor through the motor driving device, and feed the same to the magnetic pole angle positioning device, wherein the magnetic pole angle positioning device is configured to store the magnetic pole angle feedback device and the motor speed The signal of the device is feedbacked and calculated to obtain the initial magnetic pole angle of the motor. The magnetic pole angle positioning device is also used to set the magnetic pole angle of the motor.
一種馬達之磁極角定位方法，包括以下步驟：透過該磁極角定位裝置設定該馬達之第一磁極角；透過該電流控制裝置設定該馬達之電流值；該馬達速度回授裝置、馬達電流回授裝置分別回饋此時該馬達實際速度以及實際電流值，並將其傳輸給該磁極角定位裝置；該磁極角定位裝置判斷此時該馬達實際速度是否大於該馬達之最大額定速度；若該馬達之實際速度大於該馬達最大額定速度，則透過該磁極角定位裝置設定該馬達之第二磁極角，之後執行步驟“透過該電流控制裝置設定該馬達之電流值”；若該馬達之實際速度不大於該馬達之最大額定速度，則該磁極角定位裝置判斷此時該馬達電流值是否大於該馬達之最大額定電流；若此時該馬達電流值大於該馬達之最大額定電流，則透過該電流控制裝置設定該馬達之另一電流值，之後執行步驟“該 馬達速度回授裝置、馬達電流回授裝置分別回饋此時該馬達之實際速度以及實際電流值，並將其傳輸給該磁極角定位裝置”；若此時該馬達電流值不大於該馬達之最大額定電流，則該磁極角定位裝置記錄該電流控制裝置所設定之電流值、此時該馬達之實際電流值以及實際速度；該磁極角定位裝置判斷是否設定了所有磁極角；若沒有設定完成所有磁極角，則透過該磁極角定位裝置設定該馬達之第三磁極角，之後執行步驟“透過該電流控制裝置設定該馬達之電流值”；以及若已經設定完成了所有磁極角，則該磁極角定位裝置對複數磁極角、該馬達之設定電流值、該馬達實際電流值以及該馬達實際速度進行運算比較，以找出其中能用最小之馬達設定電流達到最大之馬達實際速度時該馬達之磁極角。 A magnetic pole angle positioning method for a motor includes the steps of: setting a first magnetic pole angle of the motor through the magnetic pole angle positioning device; setting a current value of the motor through the current control device; the motor speed feedback device and the motor current feedback The device respectively feeds back the actual speed of the motor and the actual current value at this time, and transmits the same to the magnetic pole angle positioning device; the magnetic pole angle positioning device determines whether the actual speed of the motor is greater than the maximum rated speed of the motor; if the motor If the actual speed is greater than the maximum rated speed of the motor, the second magnetic pole angle of the motor is set by the magnetic pole angle positioning device, and then the step of “setting the current value of the motor through the current control device” is performed; if the actual speed of the motor is not greater than The maximum rated speed of the motor, the magnetic pole angle positioning device determines whether the motor current value is greater than the maximum rated current of the motor; if the motor current value is greater than the maximum rated current of the motor, the current control device is transmitted Set another current value of the motor, and then perform the step "This The motor speed feedback device and the motor current feedback device respectively feed back the actual speed of the motor and the actual current value at this time, and transmit the same to the magnetic pole angle positioning device; if the motor current value is not greater than the maximum of the motor at this time The rated current, the magnetic pole angle positioning device records the current value set by the current control device, the actual current value of the motor at this time, and the actual speed; the magnetic pole angle positioning device determines whether all the magnetic pole angles are set; if none of the settings are completed a magnetic pole angle, the third magnetic pole angle of the motor is set by the magnetic pole angle positioning device, and then the step of “setting the current value of the motor through the current control device” is performed; and if all the magnetic pole angles have been set, the magnetic pole angle is The positioning device compares the complex magnetic pole angle, the set current value of the motor, the actual current value of the motor, and the actual speed of the motor to find the magnetic pole of the motor when the actual motor speed can be maximized with the minimum motor setting current. angle.
前述磁極角之定位系統及方法利用該磁極角定位裝置對該馬達設定不同之磁極角以及透過該電流控制裝置對該馬達設定不同電流，並比較不同磁極角時，不同電流所引起的該馬達之轉速來判斷正確的磁極角位置，前述磁極角之定位系統及方法不會造成機台移動。 The magnetic pole angle positioning system and method use the magnetic pole angle positioning device to set different magnetic pole angles of the motor and set different currents to the motor through the current control device, and compare different magnetic pole angles, the motor caused by different currents The rotational speed is used to determine the correct magnetic pole angular position, and the positioning system and method of the magnetic pole angle does not cause the machine to move.
11‧‧‧位置指令輸入單元 11‧‧‧ Position command input unit
17‧‧‧馬達電流回授裝置 17‧‧‧Motor current feedback device
12‧‧‧位置控制裝置 12‧‧‧ Position control device
18‧‧‧磁極角回授裝置 18‧‧‧Magnetic polar angle feedback device
13‧‧‧速度控制裝置 13‧‧‧Speed control device
19‧‧‧馬達速度回授裝置 19‧‧‧Motor speed feedback device
14‧‧‧電流控制裝置 14‧‧‧ Current control device
20‧‧‧磁極角定位裝置 20‧‧‧Magnetic polar angle positioning device
15‧‧‧馬達驅動裝置 15‧‧‧Motor drive
21‧‧‧馬達位置回授裝置 21‧‧‧Motor position feedback device
16‧‧‧座標轉換裝置 16‧‧‧Coordinate conversion device
100‧‧‧馬達 100‧‧‧Motor
圖1係本發明馬達之磁極角定位系統之較佳實施方式之示意圖。 BRIEF DESCRIPTION OF THE DRAWINGS Figure 1 is a schematic illustration of a preferred embodiment of a magnetic pole angular positioning system for a motor of the present invention.
圖2-1及2-2係本發明馬達之磁極角定位方法之較佳實施方式之流程圖。 2-1 and 2-2 are flow charts of a preferred embodiment of a method for positioning a magnetic pole angle of a motor of the present invention.
圖3係圖1中馬達之設定電流值之測試仿真圖。 Figure 3 is a test simulation diagram of the set current value of the motor of Figure 1.
圖4係對應圖3中測試時間之馬達之實際速度之測試仿真圖。 Figure 4 is a test simulation diagram of the actual speed of the motor corresponding to the test time in Figure 3.
請參閱圖1，本發明馬達之磁極角定位系統之較佳實施方式用於設定一馬達100之磁極角，其包括一位置指令輸入單元11、一位置控制裝置12、一速度控制裝置13、一電流控制裝置14、一馬達驅動裝置15、一座標轉換裝置16、一馬達電流回授裝置17、一磁極角回授裝置18、一馬達速度回授裝置19、一磁極角定位裝置20以及一馬達位置回授裝置21。 Referring to FIG. 1, a preferred embodiment of a magnetic pole angular positioning system for a motor of the present invention is used to set a magnetic pole angle of a motor 100, which includes a position command input unit 11, a position control device 12, a speed control device 13, and a Current control device 14, a motor driving device 15, a standard conversion device 16, a motor current feedback device 17, a magnetic pole angle feedback device 18, a motor speed feedback device 19, a magnetic pole angular positioning device 20, and a motor The position feedback device 21 is located.
該位置指令輸入單元11與該位置控制裝置12之輸入端相連，以發送一位置指令給該位置控制裝置12。該位置控制裝置12之輸出端與該速度控制裝置13之輸入端相連，該速度控制裝置13之輸出端與該電流控制裝置14之輸入端相連，該電流控制裝置14之輸出端與該馬達驅動裝置15之輸入端相連，該馬達驅動裝置15之控制端與該馬達100相連，以根據該位置控制裝置12、速度控制裝置13以及電流控制裝置14之指令控制該馬達100之工作狀態。 The position command input unit 11 is coupled to the input of the position control device 12 to transmit a position command to the position control device 12. The output of the position control device 12 is connected to the input of the speed control device 13. The output of the speed control device 13 is connected to the input of the current control device 14, and the output of the current control device 14 is driven by the motor. The input end of the device 15 is connected, and the control end of the motor driving device 15 is connected to the motor 100 to control the operating state of the motor 100 according to the commands of the position control device 12, the speed control device 13, and the current control device 14.
該馬達電流回授裝置17之輸入端、該馬達速度回授裝置19之輸入端以及該馬達位置回授裝置21之輸入端均與該馬達驅動裝置15之輸出端相連，以透過該馬達驅動裝置15感應該馬達 100之實際電流值、實際速度以及位置。該馬達電流回授裝置17之輸出端與該座標轉換裝置16之輸入端相連。該馬達速度回授裝置19之輸出端與該速度控制裝置13之另一輸入端相連，並將該馬達100之實際速度回饋給該速度控制裝置13。該馬達位置回授裝置21之輸出端與該位置控制裝置12之另一輸入端相連，並將該馬達100之實際位置回饋給該位置控制裝置12；該馬達位置回授裝置21之輸出端還與該磁極角回授裝置18相連，並將該馬達100之實際位置傳給該磁極角回授裝置18，以供該磁極角回授裝置18運算得到該馬達100此時之磁極角資訊；該磁極角回授裝置18之輸出端與該座標轉換裝置16之另一輸入端相連，並將該馬達100此時之磁極角資訊傳給該座標轉換裝置16，該座標轉換裝置16根據所接收之磁極角資訊將由該馬達電流回授裝置17所回饋之該馬達100之實際電流之相位(三相坐標軸)透過派克(Park)座標轉換原理轉換為兩相坐標軸之電流之相位，以傳送給該電流控制裝置14。該位置控制裝置12還用於比較該位置指令輸入單元11與馬達位置回授裝置21之訊號，並產生一速度指令，以供該速度控制裝置13進行後續速度控制。該速度控制裝置13用於比較該位置控制裝置12與馬達速度回授裝置19之訊號，並產生一扭力指令，以供該電流控制裝置14進行後續電流控制。該電流控制裝置14用於設定該馬達100之電流值，還用於比較該速度控制裝置13與座標轉換裝置16之訊號，並產生另一扭力指令，以供進行後續控制。 An input end of the motor current feedback device 17, an input end of the motor speed feedback device 19, and an input end of the motor position feedback device 21 are connected to an output end of the motor driving device 15 to transmit the motor driving device. 15 induction of the motor The actual current value, actual speed and position of 100. An output of the motor current feedback device 17 is coupled to an input of the coordinate conversion device 16. The output of the motor speed feedback device 19 is coupled to the other input of the speed control device 13 and feeds back the actual speed of the motor 100 to the speed control device 13. The output of the motor position feedback device 21 is connected to the other input end of the position control device 12, and the actual position of the motor 100 is fed back to the position control device 12; the output of the motor position feedback device 21 is also Connected to the magnetic pole angle feedback device 18, and transmit the actual position of the motor 100 to the magnetic pole angle feedback device 18, for the magnetic pole angle feedback device 18 to calculate the magnetic pole angle information of the motor 100 at this time; The output end of the magnetic pole angle feedback device 18 is connected to the other input end of the coordinate conversion device 16, and the magnetic pole angle information of the motor 100 is transmitted to the coordinate conversion device 16, and the coordinate conversion device 16 receives the The magnetic pole angle information is converted by the phase current (three-phase coordinate axis) of the motor 100 fed back by the motor current feedback device 17 into the phase of the current of the two-phase coordinate axis by the Park coordinate conversion principle to be transmitted to The current control device 14. The position control device 12 is further configured to compare the signals of the position command input unit 11 and the motor position feedback device 21, and generate a speed command for the speed control device 13 to perform subsequent speed control. The speed control device 13 is configured to compare the signals of the position control device 12 with the motor speed feedback device 19 and generate a torque command for the current control device 14 to perform subsequent current control. The current control device 14 is configured to set the current value of the motor 100, and is also used to compare the signals of the speed control device 13 and the coordinate conversion device 16 and generate another torque command for subsequent control.
該磁極角定位裝置20之輸入端與該馬達電流回授裝置17之輸出端、該馬達速度回授裝置19之輸出端以及該馬達位置回授裝置21之輸出端均相連，以存儲該馬達電流回授裝置17、馬達速度回授裝置19以及馬達位置回授裝置21所回饋之訊號，並對其進行運算。該磁極角定位裝置20之另一輸入端與該磁極角回授裝置18相連，以存儲該磁極角回授裝置18所輸出之磁極角資訊。另，該磁極角定位裝置20還用於設定該馬達100之磁極角。 An input end of the magnetic pole angle positioning device 20 is connected to an output end of the motor current feedback device 17, an output end of the motor speed feedback device 19, and an output end of the motor position feedback device 21 to store the motor current. The signals fed back by the feedback device 17, the motor speed feedback device 19, and the motor position feedback device 21 are operated and calculated. The other input end of the magnetic pole angle positioning device 20 is connected to the magnetic pole angle feedback device 18 to store the magnetic pole angle information output by the magnetic pole angle feedback device 18. In addition, the magnetic pole angle positioning device 20 is also used to set the magnetic pole angle of the motor 100.
前述實施方式中，該馬達位置回授裝置21為一馬達編碼器，該馬達速度回授裝置19為一馬達測速計，該馬達電流回授裝置17為一電流感應器。 In the foregoing embodiment, the motor position feedback device 21 is a motor encoder, the motor speed feedback device 19 is a motor speedometer, and the motor current feedback device 17 is a current sensor.
請一併參閱圖2-1及2-2，本發明磁極角之定位方法之較佳實施方式包括以下步驟： Referring to FIGS. 2-1 and 2-2 together, a preferred embodiment of the method for positioning a magnetic pole angle of the present invention includes the following steps:
步驟S1：透過該磁極角定位裝置20設定馬達100之磁極角為θ 1。 Step S1: The magnetic pole angle of the motor 100 is set to θ 1 by the magnetic pole angle positioning device 20.
步驟S2：透過該電流控制裝置14設定該馬達100之電流值，如I1，並透過該馬達驅動裝置15啟動該馬達100。 Step S2: The current value of the motor 100, such as I1, is set by the current control device 14, and the motor 100 is activated by the motor driving device 15.
步驟S3：該馬達位置回授裝置21、馬達速度回授裝置19、馬達電流回授裝置17分別回饋此時該馬達100之實際速度以及實際電流值，並將其傳輸給該磁極角定位裝置20。 Step S3: The motor position feedback device 21, the motor speed feedback device 19, and the motor current feedback device 17 respectively feed back the actual speed and actual current value of the motor 100 at this time, and transmit the same to the magnetic pole angle positioning device 20 .
步驟S4：該磁極角定位裝置20判斷此時該馬達100之實際速度是否大於該馬達100之最大額定速度，若大於該馬達100之 最大額定速度，則執行步驟S11；若此時馬達100之實際速度不大於該馬達100之最大額定速度，則執行步驟S5。 Step S4: The magnetic pole angle positioning device 20 determines whether the actual speed of the motor 100 is greater than the maximum rated speed of the motor 100, if greater than the motor 100 At the maximum rated speed, step S11 is performed; if the actual speed of the motor 100 is not greater than the maximum rated speed of the motor 100, step S5 is performed.
步驟S11：透過該磁極角定位裝置20設定馬達100之磁極角為θ 2。之後執行步驟S2。 Step S11: The magnetic pole angle of the motor 100 is set to θ 2 by the magnetic pole angle positioning device 20. Then step S2 is performed.
步驟S5：該磁極角定位裝置20判斷此時該馬達100之電流值I1是否大於該馬達100之額定最大電流值。若該馬達100之電流值I1大於該馬達100之額定最大電流值，則執行步驟S12；若該馬達100之電流值I1不大於該馬達100之額定最大電流值，則執行步驟S6。 Step S5: The magnetic pole angle positioning device 20 determines whether the current value I1 of the motor 100 is greater than the rated maximum current value of the motor 100 at this time. If the current value I1 of the motor 100 is greater than the rated maximum current value of the motor 100, step S12 is performed; if the current value I1 of the motor 100 is not greater than the rated maximum current value of the motor 100, step S6 is performed.
步驟S12：透過該電流控制裝置14設定該馬達100之電流值為I2。之後執行步驟S3。 Step S12: The current value of the motor 100 is set to I2 by the current control device 14. Then step S3 is performed.
步驟S6：該磁極角定位裝置20記錄該電流控制裝置14所設定之電流值、此時該馬達100之實際電流值與實際速度。 Step S6: The magnetic pole angle positioning device 20 records the current value set by the current control device 14, the actual current value of the motor 100 and the actual speed at this time.
步驟S7：該磁極角定位裝置20判斷是否設定了所有磁極角，若沒有設定所有磁極角，則執行步驟S17。若該磁極角定位裝置20已設定了所有磁極角，則執行步驟S8。 Step S7: The magnetic pole angle positioning device 20 determines whether all the magnetic pole angles are set. If all the magnetic pole angles are not set, step S17 is performed. If the magnetic pole angle positioning device 20 has set all the magnetic pole angles, step S8 is performed.
步驟S17：透過該磁極角定位裝置20設定該馬達100之磁極角為θ 3。之後執行步驟S2。 Step S17: The magnetic pole angle of the motor 100 is set to θ 3 by the magnetic pole angle positioning device 20. Then step S2 is performed.
步驟S8：此時該磁極角定位裝置20內存儲有複數磁極角、該馬達100之設定電流值、該馬達100之實際電流值以及該馬達100之實際速度，如磁極角為θ 1時，當該馬達100之設定電 流值為I1時，該馬達100之實際電流值以及實際速度；當該馬達100之設定電流值為I2時，該馬達100之實際電流值以及實際速度。磁極角為θ 2時，當該馬達100之設定電流值為I1時，該馬達100之實際電流值以及實際速度；當該馬達100之設定電流值為I2時，該馬達100之實際電流值以及實際速度。該磁極角定位裝置20對該複數磁極角、該馬達100之設定電流值、該馬達100之實際電流值以及該馬達100之實際速度進行運算比較，以找出其中能用最小之馬達設定電流達到最大之馬達實際速度時該馬達100之磁極角，其中，該磁極角即為該馬達100之初始磁極角。 Step S8: At this time, the magnetic pole angle positioning device 20 stores a plurality of magnetic pole angles, a set current value of the motor 100, an actual current value of the motor 100, and an actual speed of the motor 100, such as when the magnetic pole angle is θ1. The setting power of the motor 100 The actual current value of the motor 100 and the actual speed when the flow value is I1; the actual current value of the motor 100 and the actual speed when the set current value of the motor 100 is I2. When the magnetic pole angle is θ 2 , when the set current value of the motor 100 is I1, the actual current value of the motor 100 and the actual speed; when the set current value of the motor 100 is I2, the actual current value of the motor 100 and Actual speed. The magnetic pole angle positioning device 20 performs an operational comparison on the complex magnetic pole angle, the set current value of the motor 100, the actual current value of the motor 100, and the actual speed of the motor 100 to find out that the minimum motor setting current can be reached. The maximum motor actual speed is the magnetic pole angle of the motor 100, wherein the magnetic pole angle is the initial magnetic pole angle of the motor 100.
請一併參閱圖3及圖4，圖3為步驟S8中該馬達100之設定電流值之測試仿真圖，其中縱坐標表示該馬達100之設定電流值(A)，橫坐標表示測試時間(ms)，虛線A表示該馬達100之額定最大電流值(A)。圖4為步驟S8中該馬達100之實際速度之測試仿真圖，其中縱坐標表示該馬達100之實際速度(轉/毫秒)，橫坐標表示測試時間(ms)，虛線B表示該馬達100之額定速度之最大值。對比圖3及圖4即可得知，當測試時間為10ms時，該馬達100之設定電流值與其實際速度達到最佳值，即用相對最小之馬達設定電流達到了相對最大之馬達實際速度，則得知此時透過該磁極角定位裝置20所設定之馬達磁極角為初始磁極角。 Please refer to FIG. 3 and FIG. 4 together. FIG. 3 is a test simulation diagram of the set current value of the motor 100 in step S8, wherein the ordinate indicates the set current value (A) of the motor 100, and the abscissa indicates the test time (ms). ), a broken line A indicates the rated maximum current value (A) of the motor 100. 4 is a test simulation diagram of the actual speed of the motor 100 in step S8, wherein the ordinate indicates the actual speed (rotation/millisecond) of the motor 100, the abscissa indicates the test time (ms), and the broken line B indicates the rating of the motor 100. The maximum speed. Comparing FIG. 3 and FIG. 4, it can be seen that when the test time is 10 ms, the set current value of the motor 100 and the actual speed reach an optimum value, that is, the relatively minimum motor set current reaches the relatively maximum actual motor speed. It is understood that the motor magnetic pole angle set by the magnetic pole angle positioning device 20 at this time is the initial magnetic pole angle.
前述磁極角之定位系統及方法利用該磁極角定位裝置20對該馬達100設定不同磁極角以及透過該電流控制裝置14對該馬 達100設定不同電流，並比較不同磁極角時，不同電流所引起的該馬達100之速度來判斷正確磁極角之位置。前述磁極角之定位系統及方法不會造成機台移動。 The magnetic pole angle positioning system and method use the magnetic pole angle positioning device 20 to set different magnetic pole angles of the motor 100 and transmit the horse through the current control device 14 When 100 different currents are set and the different magnetic pole angles are compared, the speed of the motor 100 caused by different currents is used to determine the position of the correct magnetic pole angle. The positioning system and method of the aforementioned magnetic pole angle does not cause the machine to move.
綜上所述，本發明符合發明專利要件，爰依法提出專利申請。惟，以上所述者僅為本發明之較佳實施例，舉凡熟悉本案技藝之人士，在爰依本發明精神所作之等效修飾或變化，皆應涵蓋於以下之申請專利範圍內。 In summary, the present invention complies with the requirements of the invention patent and submits a patent application according to law. The above description is only the preferred embodiment of the present invention, and equivalent modifications or variations made by those skilled in the art will be included in the following claims.
11‧‧‧位置指令輸入單元 11‧‧‧ Position command input unit
17‧‧‧馬達電流回授裝置 17‧‧‧Motor current feedback device
12‧‧‧位置控制裝置 12‧‧‧ Position control device
18‧‧‧磁極角回授裝置 18‧‧‧Magnetic polar angle feedback device
13‧‧‧速度控制裝置 13‧‧‧Speed control device
19‧‧‧馬達速度回授裝置 19‧‧‧Motor speed feedback device
14‧‧‧電流控制裝置 14‧‧‧ Current control device
20‧‧‧磁極角定位裝置 20‧‧‧Magnetic polar angle positioning device
15‧‧‧馬達驅動裝置 15‧‧‧Motor drive
21‧‧‧馬達位置回授裝置 21‧‧‧Motor position feedback device
16‧‧‧座標轉換裝置 16‧‧‧Coordinate conversion device
100‧‧‧馬達 100‧‧‧Motor
Claims (6)
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| TW097142111A TWI410042B (en) | 2008-10-31 | 2008-10-31 | Location system and method for magnetic pole angle of motors |
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| TW097142111A TWI410042B (en) | 2008-10-31 | 2008-10-31 | Location system and method for magnetic pole angle of motors |
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| TWI410042B true TWI410042B (en) | 2013-09-21 |
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Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW345779B (en) * | 1995-08-14 | 1998-11-21 | Lih-Cherng Fuh | Synchronous motor adaptive control method |
| JP2002369572A (en) * | 2001-06-08 | 2002-12-20 | Toyota Industries Corp | Motor apparatus and control method therefor |
| TW517437B (en) * | 2001-05-04 | 2003-01-11 | Jiun-Fu Shiu | Device to increase the rotational speed of permanent magnet motor |
| US7425811B2 (en) * | 2005-12-22 | 2008-09-16 | Fanuc Ltd | Numerical controller |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TW345779B (en) * | 1995-08-14 | 1998-11-21 | Lih-Cherng Fuh | Synchronous motor adaptive control method |
| TW517437B (en) * | 2001-05-04 | 2003-01-11 | Jiun-Fu Shiu | Device to increase the rotational speed of permanent magnet motor |
| JP2002369572A (en) * | 2001-06-08 | 2002-12-20 | Toyota Industries Corp | Motor apparatus and control method therefor |
| US7425811B2 (en) * | 2005-12-22 | 2008-09-16 | Fanuc Ltd | Numerical controller |
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