WO1996004708A1 - Dispositif de commande de la vitesse d'un moteur - Google Patents
Dispositif de commande de la vitesse d'un moteur Download PDFInfo
- Publication number
- WO1996004708A1 WO1996004708A1 PCT/JP1995/001534 JP9501534W WO9604708A1 WO 1996004708 A1 WO1996004708 A1 WO 1996004708A1 JP 9501534 W JP9501534 W JP 9501534W WO 9604708 A1 WO9604708 A1 WO 9604708A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- value
- speed
- torque command
- motor
- motor speed
- Prior art date
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/16—Controlling the angular speed of one shaft
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/17—Circuit arrangements for detecting position and for generating speed information
Definitions
- the present invention relates to a motor speed control device.
- a speed detector such as a tachometer generator has been widely used in motor speed feedback control, but in recent years, a method of calculating a feed knock speed signal from position information detected by an encoder or the like has been used. It is becoming mainstream. At this time, the method of calculating the speed feedback signal is as follows:
- V-Ay / Ts is obtained from the increment value Ay between Ts.
- the present invention predicts the speed based on the position information detected by an encoder or the like, the characteristics of the motor, and the torque command, and obtains a weighted moving average, so that the accuracy deterioration in a low speed range is small.
- An object of the present invention is to provide a motor speed control device using a speed feedback signal having no phase delay.
- the present invention detects the motor position y (i ⁇ K) before K ⁇ Ts (K ⁇ 0, Ts: sampling cycle) at the current time i, and calculates based on this detection signal.
- the motor speed controller that performs feedback control based on the motor speed feed back signal v fb
- FIG. 1 is a diagram showing a specific embodiment of the present invention
- FIG. 2 is an internal block diagram showing an example of prediction of the present invention
- FIG. 3 is an internal block diagram showing another example of a predictor of the present invention
- FIG. 5 is a diagram showing another embodiment of the present invention.
- FIG. 1 shows an embodiment of a motor speed control device S according to the first invention of the present invention.
- reference numeral 5 denotes a control arithmetic unit that inputs a speed command and speed feedback signals V, k and outputs a torque command u.
- Reference numeral 6 denotes a motor including a torque control group, a motor, and a position S detector.
- a torque control instruction u (i) is input, and K TsCK ⁇ 0.
- 'A memory that stores the speed v (i-m) (before ⁇ -- ⁇ ,..., ⁇ ') from before sampling to time i-K. 2 is an arithmetic unit
- the speed feedback signal v fk is obtained by the following calculation and output to the control arithmetic unit 5.
- M and M ' determine the phase of the speed feedback signal by the difference M- ⁇ '.
- the speed resolution can be adjusted by ⁇ ', and a feedback signal without phase delay can be obtained by setting ⁇ '.
- FIG. 2 11 is a predictor
- 13 is a memory that stores prediction coefficients A ⁇ , ⁇ ⁇ , 14.15 is a memory that stores the past torque command u and position ⁇ ⁇ ⁇ ⁇ up to the present
- Reference numeral 16 denotes a differentiator for calculating a position increment value ⁇ y from the position y.
- the speed prediction value v- (i + m) is calculated and output by the following calculation.
- the memories 26 and 27 are differentiators for obtaining an increment value.
- the speed prediction value v * (i + ni) is calculated and output by the following calculation.
- the input / output model is as follows.
- v fb (i) [Ay (i) + b U.75u (i) + 0.75u (il) ⁇ ] No T s (11) is obtained. As shown in the above equation, it is of course possible to calculate v fk (i) by combining predictor 1 in FIG. 1 and operators 2 and 4 together.
- the control computing unit 5 ⁇ determines the torque command by an operation including an integral operation such as PID control or IP control, a calculated value of each kind may be used as the disturbance torque estimated value. For example, as shown in FIG. 4, when calculating the torque command by the PID calculation inside the control calculator 5, when the integral calculation value is eliminated from the torque measure command, that is, only the PD (proportional derivative) calculation value is used as the torque. Input to Predictor 1 as a command.
- FIG. 5 shows a block diagram when V, b (i) is obtained.
- the speed V (i) is seeking by ⁇ y (i) / T s, other methods, for example, use of the velocity ⁇ unit, Or, measures the time between encoder pulses
- An existing speed calculation method may be used, for example, by calculating the speed.
- the feedback loop gain is increased and the motor speed control device S capable of high-speed response is provided.
- the present invention is applied to a motor speed control device S.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
Description
Claims
Priority Applications (4)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE69507340T DE69507340T2 (de) | 1994-08-05 | 1995-08-02 | Geschwindigkeitsregler für einen motor |
US08/776,672 US5834912A (en) | 1994-08-05 | 1995-08-02 | Motor speed control device |
EP95927952A EP0803968B1 (en) | 1994-08-05 | 1995-08-02 | Motor speed controller |
KR1019970700765A KR100352024B1 (ko) | 1994-08-05 | 1995-08-02 | 모터속도제어장치 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP20455994A JP3296527B2 (ja) | 1994-08-05 | 1994-08-05 | モータ速度制御装置 |
JP6/204559 | 1994-08-05 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1996004708A1 true WO1996004708A1 (fr) | 1996-02-15 |
Family
ID=16492489
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1995/001534 WO1996004708A1 (fr) | 1994-08-05 | 1995-08-02 | Dispositif de commande de la vitesse d'un moteur |
Country Status (7)
Country | Link |
---|---|
US (1) | US5834912A (ja) |
EP (1) | EP0803968B1 (ja) |
JP (1) | JP3296527B2 (ja) |
KR (1) | KR100352024B1 (ja) |
CN (1) | CN1047700C (ja) |
DE (1) | DE69507340T2 (ja) |
WO (1) | WO1996004708A1 (ja) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1998057878A2 (en) * | 1997-06-05 | 1998-12-23 | Kone Corporation | Procedure for regulating the velocity of an elevator, and an elevator system |
Families Citing this family (17)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1998025191A1 (fr) | 1996-12-04 | 1998-06-11 | Kabushiki Kaisha Yaskawa Denki | Controleur synchrone |
JP3900219B2 (ja) * | 1997-10-24 | 2007-04-04 | 株式会社安川電機 | 電動機速度制御装置および同装置のゲイン設定方法 |
US6075332A (en) * | 1998-05-14 | 2000-06-13 | Mccann; Roy A. | Predictive conductive angle motor control system for brake-by-wire application |
JP3859115B2 (ja) * | 1999-07-26 | 2006-12-20 | セイコーエプソン株式会社 | プリンタ用モータの制御装置および制御方法ならびに制御プログラムを記録した記録媒体 |
WO2001020761A1 (en) * | 1999-09-17 | 2001-03-22 | Delphi Technologies, Inc. | Method and system for controlling torque in permanent magnet brushless electric motors |
JP2002091570A (ja) * | 2000-09-20 | 2002-03-29 | Yaskawa Electric Corp | サーボ制御方法 |
JP4143437B2 (ja) * | 2003-02-20 | 2008-09-03 | アルプス電気株式会社 | 力覚付与型入力装置 |
US7368886B2 (en) * | 2004-05-14 | 2008-05-06 | General Motors Corporation | Method of testing motor torque integrity in a hybrid electric vehicle |
JP2006201148A (ja) | 2004-12-22 | 2006-08-03 | Toshiba Mach Co Ltd | 信号処理装置、信号処理方法、信号処理プログラム、信号処理プログラムを記録した記録媒体、速度検出装置、サーボ機構 |
US7376525B2 (en) * | 2005-05-10 | 2008-05-20 | Newport Corporation | Apparatus and method for estimation of initial phase of a brushless motor |
US7538700B2 (en) | 2005-05-11 | 2009-05-26 | Toyota Jidosha Kabushiki Kaisha | Angular position detector and rotary electric device drive unit including the same |
JP4622863B2 (ja) * | 2006-01-10 | 2011-02-02 | トヨタ自動車株式会社 | モータの制御装置 |
DE102009054603A1 (de) * | 2009-12-14 | 2011-06-16 | Robert Bosch Gmbh | Verfahren zur Steuerung eines Elektromotors |
JP6289044B2 (ja) * | 2013-11-15 | 2018-03-07 | オリンパス株式会社 | 観察装置 |
CN106483990B (zh) * | 2016-12-20 | 2019-06-14 | 南京埃斯顿自动化股份有限公司 | 一种电机控制方法 |
CN110568210A (zh) * | 2019-09-06 | 2019-12-13 | 深圳臻宇新能源动力科技有限公司 | 一种转速预测方法、系统及车辆 |
JP6791515B1 (ja) * | 2019-10-16 | 2020-11-25 | 多摩川精機株式会社 | 回転機器制御システム及びエンコーダ |
Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57203958A (en) * | 1981-06-09 | 1982-12-14 | Fanuc Ltd | Detecting method for velocity of induction motor |
JPS596782A (ja) * | 1982-07-01 | 1984-01-13 | Hitachi Ltd | 電動機のデイジタル速度制御装置 |
JPS59214921A (ja) * | 1983-05-20 | 1984-12-04 | Yaskawa Electric Mfg Co Ltd | パルス周波数検出方式 |
JPS61277391A (ja) * | 1985-05-31 | 1986-12-08 | Fuji Electric Co Ltd | 状態観測器 |
JPS62260574A (ja) * | 1986-05-06 | 1987-11-12 | Mitsubishi Electric Corp | モ−タの回転速度検出方法 |
JPH01107687A (ja) * | 1987-10-20 | 1989-04-25 | Matsushita Electric Ind Co Ltd | モータの制御方法 |
JPH02307384A (ja) * | 1989-05-19 | 1990-12-20 | Hitachi Ltd | 電動機の速度制御装置 |
JPH0530772A (ja) * | 1991-07-23 | 1993-02-05 | Sharp Corp | サーボ制御装置 |
JPH05260777A (ja) * | 1992-03-12 | 1993-10-08 | Meidensha Corp | 電動機の速度検出方法 |
JPH06162614A (ja) * | 1992-11-13 | 1994-06-10 | Sony Corp | 周波数電圧変換器及び速度検出装置 |
Family Cites Families (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS63190583A (ja) * | 1987-01-29 | 1988-08-08 | Fanuc Ltd | 速度制御方式 |
JPH02159990A (ja) * | 1988-12-10 | 1990-06-20 | Fanuc Ltd | サーボモータの速度制御方式 |
JP2827446B2 (ja) * | 1990-04-27 | 1998-11-25 | 株式会社明電舎 | 電動機の速度検出方法 |
DE69218826T2 (de) * | 1991-05-20 | 1997-08-28 | Meidensha Electric Mfg Co Ltd | System und Verfahren zur Geschwindigkeitsregelung von elektrischen Motoren in extrem niedrigen Geschwindigkeitsbereichen unter Verwendung eines rotierenden Pulskodierers |
JP3166446B2 (ja) * | 1993-10-26 | 2001-05-14 | 株式会社明電舎 | 速度推定オブザーバ |
-
1994
- 1994-08-05 JP JP20455994A patent/JP3296527B2/ja not_active Expired - Fee Related
-
1995
- 1995-08-02 DE DE69507340T patent/DE69507340T2/de not_active Expired - Fee Related
- 1995-08-02 WO PCT/JP1995/001534 patent/WO1996004708A1/ja active IP Right Grant
- 1995-08-02 CN CN95195292A patent/CN1047700C/zh not_active Expired - Fee Related
- 1995-08-02 KR KR1019970700765A patent/KR100352024B1/ko not_active IP Right Cessation
- 1995-08-02 EP EP95927952A patent/EP0803968B1/en not_active Expired - Lifetime
- 1995-08-02 US US08/776,672 patent/US5834912A/en not_active Expired - Lifetime
Patent Citations (10)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS57203958A (en) * | 1981-06-09 | 1982-12-14 | Fanuc Ltd | Detecting method for velocity of induction motor |
JPS596782A (ja) * | 1982-07-01 | 1984-01-13 | Hitachi Ltd | 電動機のデイジタル速度制御装置 |
JPS59214921A (ja) * | 1983-05-20 | 1984-12-04 | Yaskawa Electric Mfg Co Ltd | パルス周波数検出方式 |
JPS61277391A (ja) * | 1985-05-31 | 1986-12-08 | Fuji Electric Co Ltd | 状態観測器 |
JPS62260574A (ja) * | 1986-05-06 | 1987-11-12 | Mitsubishi Electric Corp | モ−タの回転速度検出方法 |
JPH01107687A (ja) * | 1987-10-20 | 1989-04-25 | Matsushita Electric Ind Co Ltd | モータの制御方法 |
JPH02307384A (ja) * | 1989-05-19 | 1990-12-20 | Hitachi Ltd | 電動機の速度制御装置 |
JPH0530772A (ja) * | 1991-07-23 | 1993-02-05 | Sharp Corp | サーボ制御装置 |
JPH05260777A (ja) * | 1992-03-12 | 1993-10-08 | Meidensha Corp | 電動機の速度検出方法 |
JPH06162614A (ja) * | 1992-11-13 | 1994-06-10 | Sony Corp | 周波数電圧変換器及び速度検出装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP0803968A4 * |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO1998057878A2 (en) * | 1997-06-05 | 1998-12-23 | Kone Corporation | Procedure for regulating the velocity of an elevator, and an elevator system |
WO1998057878A3 (en) * | 1997-06-05 | 1999-03-11 | Kone Corp | Procedure for regulating the velocity of an elevator, and an elevator system |
Also Published As
Publication number | Publication date |
---|---|
DE69507340D1 (de) | 1999-02-25 |
DE69507340T2 (de) | 1999-05-27 |
CN1158675A (zh) | 1997-09-03 |
EP0803968A1 (en) | 1997-10-29 |
JPH0851788A (ja) | 1996-02-20 |
CN1047700C (zh) | 1999-12-22 |
JP3296527B2 (ja) | 2002-07-02 |
KR100352024B1 (ko) | 2002-12-18 |
EP0803968A4 (ja) | 1997-10-29 |
KR970705223A (ko) | 1997-09-06 |
EP0803968B1 (en) | 1999-01-13 |
US5834912A (en) | 1998-11-10 |
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