WO2009122520A1 - モータ駆動制御装置 - Google Patents
モータ駆動制御装置 Download PDFInfo
- Publication number
- WO2009122520A1 WO2009122520A1 PCT/JP2008/056392 JP2008056392W WO2009122520A1 WO 2009122520 A1 WO2009122520 A1 WO 2009122520A1 JP 2008056392 W JP2008056392 W JP 2008056392W WO 2009122520 A1 WO2009122520 A1 WO 2009122520A1
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- Prior art keywords
- motor
- current
- motor drive
- resistor
- phase
- Prior art date
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
- H02P6/085—Arrangements for controlling the speed or torque of a single motor in a bridge configuration
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S388/00—Electricity: motor control systems
- Y10S388/907—Specific control circuit element or device
- Y10S388/9072—Bridge circuit
Definitions
- the present invention relates to a motor drive control device that drives a brushless motor, and more particularly to a technology for detecting each phase drive current necessary for controlling the brushless motor.
- a brushless motor generally has three-phase armature windings.
- the motor drive control device supplies an arbitrary drive current to each phase of the motor by a power conversion circuit using a voltage type inverter or the like.
- an arbitrary torque can be controlled by controlling the drive current with a current controller.
- the motor drive control device it is possible to rotate the motor at an arbitrary speed by adding a speed controller in front of the current controller, and it is possible to rotate the motor at an arbitrary speed by adding a position controller. It is possible to stop at the position.
- a CPU is used for control calculation processing in these current controller, speed controller, and position controller.
- the current controller digitizes the voltage value of the motor output current of the inverter output 3-phase converted into voltage by the motor drive current detection circuit by the AD converter, and takes it into an arithmetic unit such as a CPU to control current control. Perform the operation.
- the motor drive current detection circuit uses a resistor between the inverter output and the armature winding of the motor to detect the drive current directly as a voltage drop across the resistor, or to detect the drive current captured by the current transformer.
- a configuration for detecting the voltage as a voltage is adopted.
- the resistance value to be inserted is R
- the motor drive current is I
- the input voltage of the AD converter is V.
- V I ⁇ R
- the motor drive current is Detection is possible (see Patent Document 1).
- the resistance value R at this time is selected from the maximum current required for driving the motor and the voltage range that can be input to the AD converter.
- the winding ratio of the current transformer is N
- the resistance value inserted on the secondary side of the current transformer is R
- the motor drive current is I
- the motor to be controlled by the motor drive control device is not one type, but various motors having different maximum drive currents.
- the motor drive current cannot be quantified in the entire range that can be converted by the AD converter. It is difficult to control a plurality of motors with a certain control performance.
- the resistance value can be selected so that the maximum drive current value of the motor and the maximum input voltage value of the AD converter substantially coincide.
- the motor drive current can be digitized over the entire range that can be converted by the AD converter.
- the resistance value of the phase current detection resistor in the motor drive current detection circuit is used in common without selecting an inverter circuit according to the motor to be connected. A fixed selection is made from the maximum output current value of the inverter circuit and the maximum input voltage value of the AD converter.
- the motor drive current can be quantified only in a small range. In this case, since the weight of the current value per data of the A / D conversion result becomes large, fine control cannot be performed.
- the motor drive current can be converted in the entire conversion range of the AD converter. If the AD converter at this time has a resolution for dividing the entire conversion range by 200, one data after A / D conversion has a weight of 0.1A.
- the AD converter digitizes the maximum drive current range of the motor, the weight of one data after AD conversion does not change even when the current value is large or small. For this reason, especially when the motor drive current is small, the current value represented by one data after AD conversion is large. That is, also in this case, the AD conversion resolution of the motor driving current is low, and the current control accuracy is lowered.
- the present invention has been made in view of the above, and does not decrease the current detection accuracy even when the brushless motor to be combined is changed, and also realizes high accuracy control by improving the current detection accuracy even in a region where the motor drive current is small.
- An object of the present invention is to obtain a motor drive control device that can be used.
- the present invention arranges a resistor that directly or indirectly detects a drive current supplied to a motor and generates a corresponding voltage, and drives the motor detected by the resistor.
- a motor drive control device that digitizes a voltage corresponding to the current with an AD converter and reflects the digitized motor drive current in the drive control of the motor, a resistor array in which a plurality of resistors are connected in series The voltage between any two points in the resistor array is AD-converted.
- a motor drive control device capable of realizing high-precision control by reducing current detection accuracy even when a brushless motor to be combined is changed and improving current detection accuracy even in a region where the motor drive current is small. There is an effect.
- FIG. 1 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 1 of the present invention.
- FIG. 2 is a diagram illustrating the relationship between the resistance value and the current control accuracy.
- FIG. 3 is a block diagram showing the configuration of the motor drive control apparatus according to Embodiment 2 of the present invention.
- FIG. 4 is a block diagram showing the configuration of the motor drive control apparatus according to Embodiment 3 of the present invention.
- FIG. 5 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 4 of the present invention.
- FIG. 6 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 5 of the present invention.
- FIG. 1 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 1 of the present invention.
- FIG. 2 is a diagram illustrating the relationship between the resistance value and the current control accuracy.
- FIG. 3 is a block diagram showing the configuration of the motor
- FIG. 7 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 6 of the present invention.
- FIG. 8 is a diagram illustrating an example of the motor drive current.
- FIG. 9 is a diagram illustrating an output example of the AD converters 13 and 15 illustrated in FIG. 7.
- FIG. 10 is a diagram showing an output example of the AD converters 14 and 16 shown in FIG.
- FIG. 11 is a diagram illustrating an output example of the synthesis calculators 39 and 40 illustrated in FIG.
- FIG. 12 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 7 of the present invention.
- FIG. 1 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 1 of the present invention.
- a motor drive control device 1a shown in FIG. 1 includes a DC power supply circuit 2, an inverter circuit 3, a motor drive current detection circuit 4a, and a control unit 5a.
- the DC power supply circuit 2 includes a rectifier circuit 2a and a smoothing capacitor 2b.
- the rectifier circuit 2a converts AC power of a three-phase AC power source (hereinafter simply referred to as “power source”) 6 into DC power by a diode bridge.
- the smoothing capacitor 2b smoothes the converted DC voltage output between the output terminals of the rectifier circuit 2a, and reduces and holds the amount of fluctuation of the DC voltage.
- the inverter circuit 3 includes three upper arm switching elements that receive upper arm control signals up, vp, and wp from the control unit 5a, and three lower arm switching devices that receive lower arm control signals un, vn, and wn from the control unit 5a.
- Each of the elements is connected in series, and is constituted by a voltage type PWM circuit in which they are arranged in parallel between both ends of the smoothing capacitor 2b.
- Each series connection end of the three upper arm elements and the three lower arm elements constitutes a three-phase output end, and the three-phase output end includes a U-phase motor power line UM, a V-phase motor power line VM, and a W-phase motor. It is connected to a corresponding armature winding of a three-phase brushless motor (hereinafter simply referred to as “motor”) 7 through a power line WM.
- motor three-phase brushless motor
- the motor drive current detection circuit 4a is a series-connected U-phase current detection resistor (hereinafter simply referred to as “resistor”) 9 and 10, which is a U-phase resistor array, and a V-phase resistor array.
- Resistor series-connected V-phase current detection resistors (hereinafter simply referred to as “resistors”) 11 and 12, U-phase AD converters (hereinafter simply referred to as “AD converters”) 13 and 14, and V-phase AD converters (hereinafter simply referred to as “AD converters”) 15 and 16.
- the series-connected resistors 9 and 10 are directly interposed between the other end of the U-phase motor power line UM whose one end is connected to the U-phase output end of the inverter circuit 3 and the corresponding armature winding of the motor 7. It is.
- the series-connected resistors 11 and 12 are directly connected between the other end of the V-phase motor power line VM, one end of which is connected to the V-phase output terminal of the inverter circuit 3 and the corresponding armature winding of the motor 7. Intervened.
- the resistance values of the resistors 9, 10, 11, and 12 are equal for the convenience of explanation and are 1 ⁇ .
- the AD converter 13 has two input terminals connected to both ends of the resistor 9, and an output terminal connected to one input terminal of the U-phase current selector 19 in the control unit 5a. That is, the AD converter 13 digitizes the U-phase motor drive current value detected by the resistor 9 and outputs the digitized value to one input terminal of the U-phase current selector 19.
- the AD converter 14 has two input terminals connected to both ends of the series circuit of the resistors 9 and 10, and an output terminal connected to the other input terminal of the U-phase current selector 19 in the control unit 5a. That is, the AD converter 14 converts the U-phase motor drive current value detected by the series circuit of the resistors 9 and 10 into a numerical value and outputs it to the other input terminal of the U-phase current selector 19.
- the AD converter 15 has two input terminals connected to both ends of the resistor 12, and an output terminal connected to one input terminal of the V-phase current selector 20 in the control unit 5a. That is, the AD converter 15 converts the V-phase motor drive current value detected by the resistor 11 into a numerical value and outputs it to one input terminal of the V-phase current selector 20.
- the AD converter 16 has two input terminals connected to both ends of the series circuit of the resistors 11 and 12, and an output terminal connected to the other input terminal of the V-phase current selector 20 in the control unit 5a. In other words, the AD converter 16 digitizes the V-phase motor drive current value detected by the series circuit of the resistors 11 and 12 and outputs it to the other input terminal of the V-phase current selector 20.
- the motor drive current detection circuit 4a is configured to detect two phases although there are three motor power lines.
- One phase of the three-phase current is the total value of the other two-phase currents. This is because the current direction can be estimated as a different current value. Of course, the current of each phase may be detected.
- the controller 5a includes an arithmetic unit 17a and a PWM signal generator 18.
- the computing unit 17a includes the U-phase current selector 19 and the V-phase current selector 20, and a current controller 21 as elements related to the first embodiment.
- the U-phase current selector 19 selects the output of one of the AD converters 13 and 14 according to the control mode of the motor 7, and the U-phase drive current iufb digitized by the corresponding AD converter is a current controller.
- the V-phase current selector 20 selects the output of one of the AD converters 15 and 16 according to the control mode of the motor 7, and the V-phase drive current ivfb digitized by the corresponding AD converter is a current controller. 21.
- the current controller 21 includes a CPU, and based on the current command i * for designating the rotation and torque output of the motor 7 and the U-phase drive current iufb and the V-phase drive current ivfb indicating the drive state of the motor 7, the CPU Is used to calculate and generate voltage commands Vu *, Vv *, and Vw * for the three phases of the motor 7 and provide them to the PWM signal generator 18.
- the PWM signal generator 18 generates control signals up, un, vp, vn, wp, wn from the voltage commands Vu *, Vv *, Vw * and outputs them to the inverter circuit 3. Accordingly, the inverter circuit 3 converts the DC voltage held between the terminals by the smoothing capacitor 2b into AC power by the voltage type PWM method according to the control signals (up, un, vp, vn, wp, wn) from the control unit 5a.
- An arbitrary drive current is supplied to each phase of the motor 7 through the U-phase motor power line UM, the V-phase motor power line VM, and the W-phase motor power line WM.
- the motor drive current detection circuit 4a takes in the voltage between the terminals of the resistor 9 to the AD converter 13 and AD converts the voltage between both ends of the series circuit of the resistors 9 and 10. Into the container 14. Similarly, in the V phase, the voltage between the terminals of the resistor 11 is taken into the AD converter 15, and the voltage between both ends of the series circuit of the resistors 11 and 12 is taken into the AD converter 16.
- the upper limit of the maximum voltage that can be input to the AD converter is determined, and the maximum drive current range of the motor is equally divided and digitized, so that the AD converter 13, 14 is selected, and which one of the AD converters 15 and 16 is selected is determined.
- the resistance values of the motor drive current detection resistors 9, 10, 11, and 12 are all 1 ⁇
- the maximum input voltages of the AD converters 13, 14, 15, and 16 are ⁇ 10V
- the number of divisions is 200.
- the maximum current that the inverter circuit 3 can output is ⁇ 10 A
- the maximum current that can be AD-converted by the AD converters 13 and 15 is ⁇ 10 A, and per one data digitized by the AD converters 13 and 15.
- the current value is 0.1 A.
- the maximum current that can be AD-converted by the AD converters 14 and 16 is ⁇ 5 A, and the detection range becomes narrow, but the current value per data digitized by the AD converters 14 and 16 is 0.05 A. Therefore, a more detailed current unit can be expressed.
- FIG. 2 is a diagram for explaining the relationship between the resistance value and the current control accuracy.
- FIG. 2 (1) shows the state of the motor speed from the start of the motor having a required maximum drive current per phase of ⁇ 5A, which is smaller than the maximum output current ⁇ 10A of the inverter circuit 3, to the stop.
- 2 (2) and (3) show the relationship between the resistance value with respect to the motor drive current and the current control accuracy in this case.
- FIG. 2 (2) shows a waveform of the motor drive current that is converted into a numerical value by the AD converters 13 and 15 when the resistance value of the detection resistor is 1 ⁇ .
- the AD converters 13 and 15 have an input voltage of ⁇ 5 V, but have a current value per data of 0.1 A, so that the numerical values are rough and have a waveform with noise.
- FIG. 2 (3) shows the waveform of the motor drive current digitized by the AD converters 14 and 16 when the resistance value of the detection resistor is 2 ⁇ . Since the AD converters 14 and 16 can effectively use the entire conversion range ⁇ 10 V because the input voltage is ⁇ 10 V, the current value per data is 0.05 A, and the current conversion accuracy per data is improved. Therefore, in FIG. 2 (3), the waveform shown in FIG.
- the conversion results of the AD converters 13 and 15 are converted into the U-phase current selector 19 and the V-phase current.
- the selector 20 selects the current and inputs it into the current controller 21 as motor drive currents iufb and ivfb.
- the conversion results of the AD converters 14 and 16 are used as the U-phase current selectors 19 and V.
- the phase current selector 20 selects the current and inputs it into the current controller 21 as motor drive currents iufb and ivfb.
- the motor drive current is detected by two types of resistance values, and an AD converter is provided for each corresponding resistance value. Since the AD converter is selected according to whether it is the same as or smaller than the maximum output current of the inverter circuit 3, the required maximum current corresponding to 1 of the motor is smaller than the maximum output current of the inverter circuit However, the weight of one digitized data of the AD converter can be selected as an optimum value for the motor, and the current control of the motor can be highly accurate.
- FIG. FIG. 3 is a block diagram showing the configuration of the motor drive control apparatus according to Embodiment 2 of the present invention.
- the same reference numerals are given to components that are the same as or equivalent to the components shown in FIG. 1 (Embodiment 1).
- the description will be focused on the portion related to the second embodiment.
- the motor drive control device 1b has a motor drive current detection circuit 4b in place of the motor drive current detection circuit 4a in the configuration shown in FIG. 1 (Embodiment 1). Is provided.
- connection relationship between the resistors 9 and 10 and the AD converters 13 and 14 and the connection relationship between the resistors 11 and 12 and the AD converters 15 and 16 are the same as those in the first embodiment (see FIG. 1), but the series circuit of the resistors 9 and 10 is connected between the secondary sides of the current transformer 23, and the series circuit of the resistors 11 and 12 is connected between the secondary sides of the current transformer 24. ing.
- the primary side of the current transformer 23 is connected in series between the U-phase motor power line UM and the corresponding armature winding of the motor 7, and the primary side of the current transformer 24 is connected to the V-phase motor power line VM.
- the motor 7 is connected in series with the corresponding armature winding.
- the voltage between any two points in the resistor array of each phase can be quantified as in the first embodiment. Action and effect are obtained.
- FIG. 4 is a block diagram showing the configuration of the motor drive control apparatus according to Embodiment 3 of the present invention.
- the same or similar components as those shown in FIG. 1 (Embodiment 1) are denoted by the same reference numerals.
- the description will be focused on the portion related to the third embodiment.
- a motor drive current detection circuit 4c is used instead of the motor drive current detection circuit 4a.
- a control unit 5b is provided instead of the control unit 5a.
- a calculator 17b is provided instead of the calculator 17a.
- the motor drive current detection circuit 4c includes resistors 9, 10, 11, and 12, analog switches 26 and 27, and AD converters 13 and 15 that are arranged in the same manner as the motor drive current detection circuit 4a.
- One input end of the analog switch 26 is connected to the inverter circuit 3 side end of the resistor 10, and the other input end is connected to the connection end of the resistors 9 and 10.
- the output end of the analog switch 26 is connected to one input end of the AD converter 13, and the other input end of the AD converter 13 is connected to the motor 7 side end of the resistor 9.
- the analog switch 26 selects one of the two input terminals according to the control mode of the motor 7 and connects it to the AD converter 13.
- One input end of the analog switch 27 is connected to the inverter circuit 3 side end of the resistor 12, and the other input end is connected to the connection end of the resistors 11 and 12.
- the output terminal of the analog switch 27 is connected to one input terminal of the AD converter 15, and the other input terminal of the AD converter 15 is connected to the motor 7 side end of the resistor 11.
- the analog switch 27 selects one of the two input terminals according to the control mode of the motor 7 and connects it to the AD converter 15.
- the analog switch 26 when the analog switch 26 needs to apply a voltage across the series circuit of the resistors 9 and 10 to the AD converter 13, the end of the resistor 10 on the side of the inverter circuit 3 is connected to the AD converter 13. Connecting. On the other hand, the analog switch 26 connects the connection terminals of the resistors 9 and 10 to the AD converter 13 when it is necessary to apply the voltage across the terminals of the resistor 9 to the AD converter 13.
- the AD converter 13 outputs to the current controller 21 a U-phase drive current iufb obtained by quantifying the voltage across the series circuit of the resistors 9 and 10 or the voltage between the terminals of the resistor 9.
- the analog switch 27 connects the end of the resistor 12 on the side of the inverter circuit 3 to the AD converter 15 when it is necessary to apply the voltage across the series circuit of the resistors 11 and 12 to the AD converter 15.
- the analog switch 27 connects the connection ends of the resistors 11 and 12 to the AD converter 15 when it is necessary to apply the voltage across the terminals of the resistor 11 to the AD converter 15.
- the AD converter 15 outputs a V-phase drive current ivfb obtained by quantifying the voltage between both ends of the series circuit of the resistors 11 and 12 or the voltage between the terminals of the resistor 11 to the current controller 21.
- the same operation and effect as in the first embodiment can be obtained also in the third embodiment.
- the number of AD converters having a large circuit scale can be reduced, and the arithmetic unit can be simplified.
- the application example to the first embodiment is shown.
- the third embodiment can be similarly applied to the second embodiment.
- FIG. 5 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 4 of the present invention.
- the same reference numerals are given to components that are the same as or equivalent to the components shown in FIG. 1 (Embodiment 1).
- the description will be focused on the portion related to the fourth embodiment.
- a control unit 5c is provided instead of the control unit 5a.
- a calculator 17c is provided instead of the calculator 17a.
- a U-phase current comparator 28 and a current threshold generator 29 are added to the U-phase current selector 19 side, and a V-phase current comparator 30 is added to the V-phase current selector 20 side.
- a current threshold generator 31 is added.
- the current threshold generator 29 generates a threshold value that is equal to or less than the maximum current value that can be digitized by the AD converter 14, and outputs the threshold value to one input terminal of the U-phase current comparator 28.
- the output of the AD converter 13 is input to the other input terminal of the U-phase current comparator 28.
- the output of the U-phase current comparator 28 is connected to the switching control input terminal of the U-phase current selector 19.
- the current threshold generator 31 generates a value equal to or less than the maximum current value that can be digitized by the AD converter 16 as a threshold, and outputs the threshold to one input terminal of the V-phase current comparator 30.
- the output of the AD converter 15 is input to the other input terminal of the V-phase current comparator 30.
- the output of the V-phase current comparator 30 is connected to the switching control terminal of the V-phase current selector 20.
- the U-phase current comparator 28 causes the U-phase current selector 19 to select the output of the AD converter 13, and the AD converter 13 Is smaller than the threshold value from the current threshold generator 29, the U-phase current selector 19 is made to select the output of the AD converter 14.
- the V-phase current comparator 30 causes the V-phase current selector 20 to select the output of the AD converter 15 and performs AD conversion.
- the V-phase current selector 20 selects the output of the AD converter 16.
- the motor drive current quantified by the AD converters 14 and 16 is used, so that it is possible to represent a more detailed current unit with one data.
- the current control of the motor when current controllability is required, such as when the motor is stopped, before and after stopping, or when the motor is moving at a constant speed, the current control of the motor can be made more accurate. It becomes possible.
- FIG. FIG. 6 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 5 of the present invention.
- components that are the same as or equivalent to the components shown in FIG. 1 are assigned the same reference numerals.
- the description will be focused on the portion related to the fifth embodiment.
- a control unit 5d is provided instead of the control unit 5a.
- a calculator 17d is provided instead of the calculator 17a.
- a speed controller 33 In the calculator 17d, a speed controller 33, a position difference calculator 34, a speed comparator 35, and a speed threshold generator 36 are added to the calculator 17a.
- the motor 7 is attached with an encoder 37 for detecting the rotational position.
- the position difference calculator 34 calculates the speed vfb of the motor 7 from the difference of the rotational position information of the motor 7 detected by the encoder 37 and outputs it to the speed controller 33 and the speed comparator 35.
- the speed comparator 35 performs a control calculation based on the speed command V * and the motor speed vfb from the position difference calculator 34 and outputs the obtained current command i * to the current controller 21.
- the speed comparator 35 compares the magnitude relationship between the motor speed vfb from the position difference calculator 34 and a predetermined threshold generated by the speed threshold generator 36. If the motor speed vfb is less than or equal to the threshold, U The phase current selector 19 selects the output of the AD converter 14, and the V phase current selector 20 selects the output of the AD converter 16.
- the current control of the motor can be made more accurate when the current controllability is required more than when the motor drive current before and after the stop is small. .
- FIG. 7 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 6 of the present invention.
- the same reference numerals are given to the same or equivalent components as those shown in FIG. 1 (Embodiment 1).
- the description will be focused on the portion related to the sixth embodiment.
- a synthetic computing unit 39 is provided instead of the U-phase current selector 19
- a synthetic computing unit 40 is provided instead of the V-phase current selector 20.
- the synthesis calculator 39 multiplies the outputs of the AD converters 13 and 14 by a coefficient and outputs the result to the current controller 21 as a U-phase motor drive current iufb.
- the composition calculator 40 multiplies the outputs of the AD converters 15 and 16 by the coefficients and outputs the result to the current controller 21 as the V-phase motor drive current ivfb. This will be specifically described below.
- the synthesizing arithmetic units 39 and 40 adjust the unit of current represented by one numerical value converted by the AD converters 13 and 15 to the current unit represented by one numerical data converted by the AD converters 14 and 16. This is because the voltage between the terminals of the resistors 9 and 11 input to the AD converters 13 and 15 and the series circuit of the resistors 9 and 10 input to the AD converters 14 and 16, This can be realized by the ratio to the voltage between both terminals of the series circuit.
- composition calculators 39 and 40 are the numerical values in the range converted by the AD converters 14 and 16 among the values obtained by multiplying the numerical values converted by the AD converters 13 and 15 by the resistance ratio coefficient. Is replaced with 0.
- the composition calculators 39 and 40 add the numerical values converted by the AD converters 14 and 16 to the numerical values converted by the AD converters 13 and 15 operated so far to obtain one numerical value.
- the resistor 9 is RU1
- the resistor 10 is RU2
- the resistor 11 is RV1
- the resistor 12 is RV2.
- the numerical value converted by the AD converter 13 is IU1
- the numerical value converted by the AD converter 15 is IV1
- the numerical value converted by the AD converter 14 is IU2
- the numerical value converted by IU16 is IV2.
- the relational expression expressing the numerical value converted by the AD converters 13 and 15 in the current unit represented by one data of the numerical value converted by the AD converters 14 and 16 is as follows.
- the current unit of one data value converted by the AD converters 13 and 15 is the same as the current unit of one data value converted by the AD converters 14 and 16.
- the output of the synthesis calculator 39 becomes the U-phase motor drive current iufb
- the output of the synthesis calculator 40 becomes the V-phase motor drive current ivfb.
- the current unit of one data is the resolution of the AD converters 13 and 15.
- the conversion range of the voltage value converted by the AD converter, that is, the maximum motor driving current that can be detected is the current range that can be converted by the AD converters 14 and 16.
- FIG. 8 to 11 are diagrams schematically showing current waveforms of respective parts in the synthesis procedure described above.
- FIG. 8 is a diagram illustrating an example of the motor drive current.
- FIG. 9 is a diagram illustrating an output example of the AD converters 13 and 15 illustrated in FIG. 7.
- FIG. 10 is a diagram showing an output example of the AD converters 14 and 16 shown in FIG.
- FIG. 11 is a diagram illustrating an output example of the synthesis calculators 39 and 40 illustrated in FIG.
- FIG. 9 shows the result of quantifying the motor drive current as shown in FIG. 8 by the AD converters 13 and 15, and FIG. 10 shows the result of quantification by the AD converters 14 and 16.
- FIG. 11 shows the result of synthesizing the numerical values of these AD converters 13, 14, 15, and 16 by the synthesis calculators 39 and 40.
- the motor drive current detection resolution can be increased while the motor drive current detection range can be detected up to the maximum motor drive current, and the motor current control is highly accurate. Effect is obtained.
- the current control can be highly accurate regardless of the current, speed, and position, even if the resolution of the encoder added to the motor is sufficiently high as shown in the fifth embodiment, the current control There is also an effect that the position and speed control accuracy is not deteriorated.
- the motor drive current detection circuit 4a can be replaced with the motor drive current detection circuit 4c shown in the third embodiment. That is, in FIG. 7, four AD converters in the motor drive current detection circuit 4a are provided for each of the U phase and the V phase, and an analog switch for the U phase and an analog switch for the V phase are provided.
- the U-phase analog switch switches two types of voltages from the resistors 9 and 10 and supplies them to one U-phase AD converter, and the V-phase analog switch switches the two types of voltages from the resistors 11 and 12 Alternatively, it may be provided to one V-phase AD converter.
- the number of AD converters having a large circuit scale can be reduced.
- FIG. 12 is a block diagram showing a configuration of a motor drive control apparatus according to Embodiment 7 of the present invention.
- components that are the same as or equivalent to the components shown in FIG. 1 are assigned the same reference numerals.
- the description will be focused on the portion related to the seventh embodiment.
- a motor drive current detection circuit 4d is used instead of the motor drive current detection circuit 4a. Is provided.
- a variable resistor 42 is provided in place of the resistors 9 and 10 and a variable resistor 43 is provided in place of the resistors 11 and 12 in the motor drive current detection circuit 4a.
- the AD converter also includes an AD converter 13 for the variable resistor 42 and an AD converter 15 for the variable resistor 43.
- the values of the variable resistors 42 and 43 are changed according to the maximum drive current required by the motor 7. This makes it possible to easily change the maximum current that can be detected by the maximum voltage value that can be input to the AD converters 13 and 15 by arbitrarily selecting the resistance value.
- the seventh embodiment since the resistance value for converting the current for detecting the motor driving current into the voltage is made variable, the number of AD converters can be reduced. Further, in the third embodiment in which the number of AD converters can be reduced, there is an effect that an analog switch for selecting various kinds of voltages from the resistor array becomes unnecessary.
- the present invention it is possible to measure the voltage between any two points in the resistor array provided in the motor drive current detection circuit in the motor drive control device.
- the entire range that can be converted by the AD converter is used, especially when the maximum output current value of the inverter circuit in the motor drive control device is larger than the maximum drive current value of the motor.
- the motor drive current can be detected, and the accuracy of current control can be improved.
- the voltage between any two points of the resistor array that detects the motor drive current by converting it into a voltage is digitized by the AD converter, and the digitized motor drive current is synthesized. Since the calculation can be performed, the numerical resolution of the motor drive current can be increased, and the motor drive control can be increased in resolution.
- the motor drive control device uses a motor having different maximum currents required for motor drive as a common motor drive control device that controls the drive while keeping the motor drive accuracy constant. Useful for.
- the motor drive control device according to the present invention is useful for use as a motor drive control device that can exhibit necessary control performance even in a region where the motor drive current is small.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Description
ブラシレスモータは、一般に、3相分の電機子巻線を有している。モータ駆動制御装置は、電圧型インバータ等を用いた電力変換回路によって、モータの各相に任意の駆動電流を供給する。モータ駆動制御装置では、この駆動電流を電流制御器で制御することによって、任意のトルクを制御することが可能となる。
2 直流電源回路
2a 整流回路
2b 平滑コンデンサ
3 インバータ回路
4a,4b,4c,4d モータ駆動電流検出回路
5a,5b,5c,5d,5e,5f 制御部
6 電源(三相交流電源)
7 モータ(ブラシレスモータ)
9,10 U相電流検出用抵抗器
9a,10a U相電流検出用抵抗器
9b,10b V相電流検出用抵抗器
11,12 V相電流検出用抵抗器
13,14 U相AD変換器
15,16 V相AD変換器
17a,17b,17c,17d,17f 演算器
18 PWM信号生成部
19 U相電流選択器
20 V相電流選択器
21 電流制御器
23 U相電流検出用カレントトランス
24 V相電流検出用カレントトランス
26 U相アナログスイッチ
27 V相アナログスイッチ
28 U相電流比較器
29,31 電流閾値発生器
30 V相電流比較器
33 速度制御器
34 位置差分演算器
35 速度比較器
36 速度閾値発生器
37 エンコーダ
39 U相合成演算器
40 V相合成演算器
42 U相可変抵抗器
43 V相可変抵抗器
UM U相モータ動力線
VM V相モータ動力線
WM W相モータ動力線
図1は、この発明の実施の形態1によるモータ駆動制御装置の構成を示すブロック図である。図1に示すモータ駆動制御装置1aは、直流電源回路2と、インバータ回路3と、モータ駆動電流検出回路4aと、制御部5aとを備えている。
また、AD変換器15は、2入力端が抵抗器12の両端に接続され、出力端が制御部5a内のV相電流選択器20の一方の入力端に接続されている。すなわち、AD変換器15は、抵抗器11が検出したV相モータ駆動電流値を数値化してV相電流選択器20の一方の入力端に出力する。
AD変換器16は、2入力端が抵抗器11,12の直列回路の両端に接続され、出力端が制御部5a内のV相電流選択器20の他方の入力端に接続されている。すなわち、AD変換器16は、抵抗器11,12の直列回路が検出したV相モータ駆動電流値を数値化してV相電流選択器20の他方の入力端に出力する。
さて、この実施の形態1によるモータ駆動電流検出回路4aは、U相では、抵抗器9の端子間電圧をAD変換器13に取り込み、抵抗器9,10の直列回路の両端間電圧をAD変換器14に取り込む。V相でも同様に、抵抗器11の端子間電圧をAD変換器15に取り込み、抵抗器11,12の直列回路の両端間電圧をAD変換器16に取り込む。
図3は、この発明の実施の形態2によるモータ駆動制御装置の構成を示すブロック図である。なお、図3では、図1(実施の形態1)に示した構成要素と同一ないしは同等である構成要素には同一の符号が付されている。ここでは、この実施の形態2に関わる部分を中心に説明する。
モータ駆動電流検出回路4bでは、抵抗器9,10とAD変換器13,14との接続関係と抵抗器11,12とAD変換器15,16との接続関係とは、それぞれ実施の形態1(図1)と同様であるが、抵抗器9,10の直列回路はカレントトランス23の二次側間に接続され、抵抗器11,12の直列回路はカレントトランス24の二次側間に接続されている。そして、カレントトランス23の一次側は、U相モータ動力線UMとモータ7の対応する電機子巻線との間に直列に接続され、カレントトランス24の一次側は、V相モータ動力線VMとモータ7の対応する電機子巻線との間に直列に接続されている。
図4は、この発明の実施の形態3によるモータ駆動制御装置の構成を示すブロック図である。なお、図4では、図1(実施の形態1)に示した構成要素と同一ないしは同等である構成要素には同一の符号が付されている。ここでは、この実施の形態3に関わる部分を中心に説明する。
モータ駆動電流検出回路4cは、モータ駆動電流検出回路4aと同様に配置される抵抗器9,10,11,12と、アナログスイッチ26,27と、AD変換器13,15とを備えている。
そして、制御部5bにおける演算器17bでは、図1に示したU相電流選択器19とV相電流選択器20とが削除され、AD変換器13,15の出力が直接電流制御器21に入力される構成となっている。
図5は、この発明の実施の形態4によるモータ駆動制御装置の構成を示すブロック図である。なお、図5では、図1(実施の形態1)に示した構成要素と同一ないしは同等である構成要素には同一の符号が付されている。ここでは、この実施の形態4に関わる部分を中心に説明する。
電流閾値発生器31は、AD変換器16が数値化できる最大電流値以下の値を閾値として発生し、それをV相電流比較器30の一方の入力端に出力する。V相電流比較器30の他方の入力端にはAD変換器15の出力が入力される。V相電流比較器30の出力はV相電流選択器20の切替制御端に接続されている。
図6は、この発明の実施の形態5によるモータ駆動制御装置の構成を示すブロック図である。なお、図6では、図1(実施の形態1)に示した構成要素と同一ないしは同等である構成要素には同一の符号が付されている。ここでは、この実施の形態5に関わる部分を中心に説明する。
図7は、この発明の実施の形態6によるモータ駆動制御装置の構成を示すブロック図である。なお、図7では、図1(実施の形態1)に示した構成要素と同一ないしは同等である構成要素には同一の符号が付されている。ここでは、この実施の形態6に関わる部分を中心に説明する。
図7に示すように、この実施の形態6によるモータ駆動制御装置1fでは、図1(実施の形態1)に示した構成において、制御部5aに代えて制御部5eが設けられている。制御部5eでは、演算器17aに代えて演算器17eが設けられている。
IU1´=IU1×(RU1+RU2)/RU1
IV1´=IV1×(RV1+RV2)/RV1
これによって、AD変換器13,15が変換する数値の1データの電流単位が、AD変換器14,16の変換するする数値の1データの電流単位と同じになる。
IU1´´=IU1´- (IU1´ mod IU2max)
IV1´´=IV1´- (IV1´ mod IV2max)
但し、(A mod B)はA÷Bの余りを表す。
IU1´´´=IU1´´ + IU2
IV2´´´=IV2´´ + IV2
なお、モータ駆動電流検出回路4aは、実施の形態3に示したモータ駆動電流検出回路4cに置き換えることができる。つまり、図7において、モータ駆動電流検出回路4aにおける4つのAD変換器をU相用とV相用とにそれぞれ1つとし、U相用のアナログスイッチとV相用のアナログスイッチとを設け、U相用アナログスイッチが抵抗器9,10からの2種類の電圧を切り替えて1つのU相用AD変換器に与え、V相用アナログスイッチが抵抗器11,12からの2種類の電圧を切り替えて1つのV相用AD変換器に与えるようにしてもよい。実施の形態3と同様に、回路規模の大きいAD変換器の個数を削減することができる。
図12は、この発明の実施の形態7によるモータ駆動制御装置の構成を示すブロック図である。なお、図12では、図1(実施の形態1)に示した構成要素と同一ないしは同等である構成要素には同一の符号が付されている。ここでは、この実施の形態7に関わる部分を中心に説明する。
Claims (7)
- モータに供給する駆動電流を直接的に或いは間接的に検出して対応する電圧を発生する抵抗器を配置し、前記抵抗器が検出したモータ駆動電流に対応した電圧をAD変換器にて数値化し、前記数値化したモータ駆動電流を前記モータの駆動制御に反映するモータ駆動制御装置において、
前記抵抗器を複数個直列に接続した抵抗器列として構成し、
前記抵抗器列の任意の2点間の電圧をAD変換する構成とした、
ことを特徴とするモータ駆動制御装置。 - 前記抵抗器列の複数の任意の2点間の電圧を1対1の関係でAD変換する複数のAD変換器と、
前記モータの制御に必要なAD変換範囲に応じて、前記複数のAD変換器の中の1つのAD変換器のAD変換結果を選択する構成と、
を備えていることを特徴とする請求項1に記載のモータ駆動制御装置。 - 前記モータの制御に必要なAD変換範囲に応じて、前記抵抗器列の複数の任意の2点間の電圧の中の1つを選択するアナログスイッチと、
前記アナログスイッチが出力する電圧値をAD変換するAD変換器と、
を備えていることを特徴とする請求項1に記載のモータ駆動制御装置。 - 前記抵抗器列の任意の2点間の電圧をAD変換する構成におけるAD変換結果の中から前記モータの駆動電流に応じたAD変換範囲でのAD変換結果を選択する構成、をさらに備えていることを特徴とする請求項1に記載のモータ駆動制御装置。
- 前記抵抗器列の任意の2点間の電圧をAD変換する構成におけるAD変換結果の中から前記モータの駆動速度に応じたAD変換範囲でのAD変換結果を選択する構成、をさらに備えていることを特徴とする請求項1に記載のモータ駆動制御装置。
- 前記抵抗器列の任意の2点間の電圧をAD変換する構成における複数のAD変換結果にそれらのAD変換範囲に応じた係数を乗じ、それら係数を乗じた全てのAD変換結果を加算して1つのモータ駆動電流とする構成、をさらに備えていることを特徴とする請求項1に記載のモータ駆動制御装置。
- モータに供給する駆動電流を直接的に或いは間接的に検出して対応する電圧を発生する抵抗器を配置し、前記抵抗器が検出したモータ駆動電流に対応した電圧をAD変換器にて数値化し、前記数値化したモータ駆動電流を前記モータの駆動制御に反映するモータ駆動制御装置において、
前記抵抗器は、可変抵抗器で構成した、
ことを特徴とするモータ駆動制御装置。
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PCT/JP2008/056392 WO2009122520A1 (ja) | 2008-03-31 | 2008-03-31 | モータ駆動制御装置 |
KR1020107016066A KR101171537B1 (ko) | 2008-03-31 | 2008-03-31 | 모터 구동 제어 장치 |
US12/863,917 US9214889B2 (en) | 2008-03-31 | 2008-03-31 | Motor drive control apparatus |
KR1020137016057A KR20130086075A (ko) | 2008-03-31 | 2008-03-31 | 모터 구동 제어 장치 |
JP2010505179A JP4920784B2 (ja) | 2008-03-31 | 2008-03-31 | モータ駆動制御装置 |
CN2008801284554A CN101983477B (zh) | 2008-03-31 | 2008-03-31 | 电动机驱动控制装置 |
KR1020127010453A KR101412826B1 (ko) | 2008-03-31 | 2008-03-31 | 모터 구동 제어 장치 |
DE112008003579T DE112008003579T5 (de) | 2008-03-31 | 2008-03-31 | Motorantriebssteuervorrichtung |
KR1020137001979A KR101356278B1 (ko) | 2008-03-31 | 2008-03-31 | 모터 구동 제어 장치 |
TW097112612A TW200941177A (en) | 2008-03-31 | 2008-04-08 | Motor driving control device |
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JP2014110753A (ja) * | 2012-11-30 | 2014-06-12 | Samsung Electro-Mechanics Co Ltd | モータ駆動制御装置、モータ駆動制御方法及びそれを用いたモータ |
JPWO2021181562A1 (ja) * | 2020-03-11 | 2021-09-16 | ||
JP7229424B2 (ja) | 2020-03-11 | 2023-02-27 | 三菱電機株式会社 | モータ駆動制御装置、空気調和機、給湯機、冷蔵庫 |
WO2023281891A1 (ja) * | 2021-07-05 | 2023-01-12 | ローム株式会社 | 電流センサ |
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JPWO2009122520A1 (ja) | 2011-07-28 |
KR101171537B1 (ko) | 2012-08-06 |
KR20120046798A (ko) | 2012-05-10 |
KR20130086075A (ko) | 2013-07-30 |
KR101412826B1 (ko) | 2014-06-27 |
US9214889B2 (en) | 2015-12-15 |
DE112008003579T5 (de) | 2010-10-28 |
KR20100090725A (ko) | 2010-08-16 |
KR20130025435A (ko) | 2013-03-11 |
TWI368836B (ja) | 2012-07-21 |
TW200941177A (en) | 2009-10-01 |
CN101983477A (zh) | 2011-03-02 |
CN101983477B (zh) | 2013-04-17 |
JP4920784B2 (ja) | 2012-04-18 |
US20100295489A1 (en) | 2010-11-25 |
KR101356278B1 (ko) | 2014-01-28 |
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