WO2012063325A1 - Current control method and controller for motor - Google Patents

Current control method and controller for motor Download PDF

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Publication number
WO2012063325A1
WO2012063325A1 PCT/JP2010/069952 JP2010069952W WO2012063325A1 WO 2012063325 A1 WO2012063325 A1 WO 2012063325A1 JP 2010069952 W JP2010069952 W JP 2010069952W WO 2012063325 A1 WO2012063325 A1 WO 2012063325A1
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Prior art keywords
current
motor
phase
axis
unit
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PCT/JP2010/069952
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French (fr)
Japanese (ja)
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成年 横川
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東芝機械株式会社
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Priority to PCT/JP2010/069952 priority Critical patent/WO2012063325A1/en
Priority to DE112010005981T priority patent/DE112010005981T5/en
Priority to US13/884,239 priority patent/US9054622B2/en
Priority to KR1020137011933A priority patent/KR101683953B1/en
Publication of WO2012063325A1 publication Critical patent/WO2012063325A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L50/00—Electric propulsion with power supplied within the vehicle
    • B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
    • B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
    • 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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/10—DC to DC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2210/00—Converter types
    • B60L2210/30—AC to DC converters
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/421—Speed
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/64—Electric machine technologies in electromobility
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/70—Energy storage systems for electromobility, e.g. batteries
    • 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
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present invention relates to a motor control device, and in particular, a motor current that achieves high speed and high output while ensuring stability by appropriately controlling and flowing a d-axis current through a dq-converted motor armature.
  • the present invention relates to a control method and a control device.
  • the motor is driven by applying a voltage between the motor wires and passing a current through the armature.
  • a counter electromotive voltage is generated when the motor rotates.
  • the applied voltage is higher than the back electromotive voltage, current flows and the motor can be driven.
  • the back electromotive force also increases and the applied voltage has an upper limit, eventually causing voltage saturation in the motor armature, which prevents current from flowing, thereby generating torque. It becomes impossible to drive the motor.
  • the line voltage waveform of each phase of the motor is a rectangular wave or a pseudo-rectangular wave, so that the effective value voltage is compared to the general case of supplying a sinusoidal phase voltage to each phase.
  • has been proposed see, for example, Japanese Patent No. 3939481).
  • the inverter circuit that drives the motor is controlled in order to prevent the voltage saturation by controlling the reactive current to flow from the set speed near the speed at which the voltage saturation occurs. If there is enough room, it cannot be said that the motor's capacity has been maximized. Since the control method of Japanese Patent No. 3939481 is controlled so that the waveform of the line voltage of each phase of the motor is a rectangular wave or a pseudo-rectangular wave, if the inverter circuit that drives the motor has a sufficient margin, the motor capacity is maximized. Although it can be pulled out to the limit, it lacks stability, and in the worst case, the control may become unstable.
  • the object of the present invention is to provide a current control method and a control device that realizes high speed and high output while drawing out the capability of the motor as much as possible and ensuring stability.
  • a converter unit that rectifies and smoothes an AC power supply and outputs a DC main circuit voltage, an inverter unit that supplies a current for driving the motor using the main circuit voltage, and a current that flows through the motor From the current detector for detecting the armature current, the position detector for detecting the motor speed attached to the motor, the q-axis current command (Iqr), the data from the current detector and the position detector It is equipped with a current control unit that outputs a signal that drives the inverter unit and controls the armature current that flows to the motor, and draws out the motor's capabilities as much as possible to achieve high speed and high output while ensuring stability It is characterized by realizing.
  • the current control unit receives the q-axis current command (Iqr), and uses the maximum value (Imax) of the combined current of the q-axis and the d-axis and the d-axis current command (Idr) described later to determine the q-axis current limit value (Iqlimit).
  • Limit flag that informs the upper control unit that performs speed control when the q-axis current command is limited to prevent Iqr from exceeding Iqlimit and to prevent speed overshoot, etc.
  • Limit processing unit that turns ON, PI compensation unit to increase gain, and voltage command (Vq) output from PI compensation unit is limited to preset limit value by the limit of parts used in control device
  • a converter, a d-axis current command generator for obtaining the Idr using the Vql and Vdl, and an electrical angular velocity ( ⁇ ) described later, and a signal from the current detector is converted into data that can be processed by the current controller.
  • the block diagram of the Example of the current control method and control apparatus by this invention The flowchart of a limit process part.
  • the block diagram of a PI compensation part The flowchart of a d-axis current command generation part.
  • FIG. 1 is a block diagram showing a first embodiment according to the present invention.
  • the power source in FIG. 1 represents an AC power source and supplies an AC voltage.
  • the supplied AC voltage is rectified and smoothed by the converter unit 1 to output a main circuit DC voltage.
  • FIG. 3 is a block diagram showing a motor current control method and a control device for driving the motor 5 by switching the inverter unit 2 using the control signal output from the main circuit DC voltage from the current control unit 3.
  • the limit flag output from the current control unit 3 informs the host control unit that performs speed control and the like that the q-axis current command is limited, and prevents speed overshoot and the like.
  • the current control unit 3 in FIG. 1 that controls the armature current flowing through the motor is described below.
  • the limit processing unit 301 uses a maximum value (Imax) of a combined current of q-axis and d-axis and a d-axis current command (hereinafter referred to as Idr) described later.
  • Iqlimit a q-axis current limit value of a combined current of q-axis and d-axis and a d-axis current command (hereinafter referred to as Idr) described later.
  • the q-axis current limit value (hereinafter referred to as Iqlimit) is obtained by ⁇ (lmax ⁇ 2-Idr ⁇ 2>.
  • Iqrl the q-axis current limit command value (hereinafter referred to as Iqrl) is limited to Iqlimit and the limit flag is turned ON. If Iqr is 0 or more and Iqlimit or less or Iqr is 0 or less and -Iqlimit or more, Iqrl is set to Iqr and the limit flag is turned OFF. If Iqr is smaller than 0 and smaller than -Iqlimit, Iqrl is limited to -Iqlimit and the limit flag is turned ON. As described above, Iqrl is obtained and output from the limit processing unit 301.
  • a value obtained by subtracting a q-axis current (hereinafter referred to as Iq) actually flowing through the motor from Iqrl output from the limit processing unit 301 is input to a PI compensation unit 302a (see FIG. 3 for details) for increasing the gain.
  • the voltage command (hereinafter referred to as Vq) output from the PI compensation unit 302a is input to the VqLimit processing unit 303a that limits the limit value set in advance from the limit of components used in the control device.
  • VqLimit is a method of increasing the phase voltage by moving the neutral point and increasing the torque, and the main circuit DC voltage / 2 ⁇ 1. If Vq is larger than VLimit, a process of clamping to VLimit is performed, and a clamped q-axis voltage command (hereinafter referred to as Vql) is output.
  • a value obtained by subtracting a d-axis current (hereinafter referred to as “ld”) actually flowing through the motor from Idr described later is input to the PI compensation unit 302b).
  • the voltage command (hereinafter referred to as Vd) output from the PI compensation unit 302b is input to the VdLimit processing unit 303b that limits to a preset limit value.
  • VdLimit processing unit 303b if Vd is larger than the VLimit, a process of clamping to VLimit is performed, and a clamped d-axis voltage command (hereinafter referred to as Vdl) is output.
  • Vdl clamped d-axis voltage command
  • a two-phase to three-phase converter 304 (converts the two-phase clamped voltage commands (Vql and Vdl) output from the VqLimit processor 303a and the VdLimit processor 303b into a three-phase voltage to actually drive the motor.
  • the two-phase to three-phase conversion unit 304 is a general content and will not be described. Refer to various documents.), And the signal output from the two-phase to three-phase conversion unit 304 is converted into a pulse.
  • a PWM conversion unit 305 for conversion (the PWM conversion unit 305 does not directly affect the present invention, so the explanation is omitted. Refer to various documents) to drive the inverter unit to move the motor.
  • a current detector for three phases may be provided, and the current detection unit 307 may simply convert the data into data that can be processed by the current control unit 3.
  • the Iq and Id are output from the three-phase ⁇ two-phase converter 308 that converts the three-phase current of each phase output from the current detector 307 into a two-phase current.
  • the position detector 309 that receives a signal from the position detector 6 attached to the motor converts the signal from the position detector 6 into data that can be processed by the current controller 3 and calculates the electrical angular velocity ⁇ of the motor, Output.
  • VdVqerr Vdl ⁇ 2 + Vql ⁇ 2-VLimit ⁇ 2
  • VdVqerr Vdl ⁇ 2 + -Vqr ⁇ 2-VLimit ⁇ 2 is obtained.
  • the VdVqerr is subjected to integral compensation (when the switch in FIG. 5 is OFF) or PI compensation (when the switch in FIG. 5 is ON) with an integrator having an integration constant ⁇ i (see FIG. 5), and Idri is output.
  • integral compensation when the switch in FIG. 5 is OFF
  • PI compensation when the switch in FIG. 5 is ON
  • Idri is output.
  • Idri When Idri is less than 0, Idr is 0, and when Idri is 0 or more, Idmax (Idmax is a constant value obtained in advance according to the characteristics of the motor. Usually, it is the same as lmax and may be different depending on the motor. ) Is greater than I), Idr is set to Idmax, and Idri is equal to or greater than 0. (See Figure 4 for details.) The above processing is performed by the current control unit 3.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

A controller for a motor according to the present invention is characterized in being provided with: a converter which rectifies and smoothes an AC power source and outputs a primary circuit DC voltage; an inverter which uses the primary circuit voltage to produce a current for driving a motor; a current detector for detecting armature current flowing in the motor; a position detector which is attached to the motor and detects the motor speed; and a current controller which receives a q-axis current command (Iqr) and uses data from the current detector and data from the position detector to output a signal for driving the inverter and to control the armature current flowing in the motor. The motor controller extracts the best possible performance of the motor, and achieves high speed and high output while maintaining stability.

Description

モータの電流制御方法及び制御装置Motor current control method and control apparatus
　本発明は、モータの制御装置に関わるもので，特にｄｑ変換したモータの電機子にｄ軸電流を適切に制御し流す事によって安定性を確保しながらの高速高出力化を実現するモータの電流制御方法および制御装置に関する。 The present invention relates to a motor control device, and in particular, a motor current that achieves high speed and high output while ensuring stability by appropriately controlling and flowing a d-axis current through a dq-converted motor armature. The present invention relates to a control method and a control device.
　モータは，モータの線間に電圧を印加して電機子に電流を流すことによって駆動する。一方，モータが回転すると逆起電圧が発生する。印加した電圧が逆起電圧より高いと電流が流れ，モータを駆動することができる。モータの回転数が高くなると逆起電圧も高くなり，印加する電圧は上限が有る為，ついにはモータの電機子における電圧飽和が発生し，電流を流す事ができなくなり，それにより，トルクが出なくなりモータを駆動できなくなる。 The motor is driven by applying a voltage between the motor wires and passing a current through the armature. On the other hand, a counter electromotive voltage is generated when the motor rotates. When the applied voltage is higher than the back electromotive voltage, current flows and the motor can be driven. As the motor speed increases, the back electromotive force also increases and the applied voltage has an upper limit, eventually causing voltage saturation in the motor armature, which prevents current from flowing, thereby generating torque. It becomes impossible to drive the motor.
　より大きなトルクが必要な場合，印加電圧を高くすれば良いが，それを実現する為には大きな設備が必要となりコストが掛かってしまう。また，モータ及びモータを駆動するインバータの容量を大きくする方法も考えられるが，これも前記同様コストが掛かってしまい，望ましくない。そこで，近年，コストが掛からず，より大きなトルクを発生させる為に電圧飽和の発生を防止する方法等が提案されている。 If a larger torque is required, the applied voltage may be increased, but a large facility is required to realize this, and costs are increased. A method of increasing the capacity of the motor and the inverter that drives the motor is also conceivable, but this is also not desirable because it costs the same as described above. Therefore, in recent years, methods for preventing the occurrence of voltage saturation have been proposed in order to generate a larger torque at a low cost.
　モータの電機子における電圧飽和の発生を防止する方法として，ｄ軸方向を界磁界の方向とする電機子にｄ軸電流を流し，モータが回転する時に発生する逆起電圧を低減することによってトルクを発生させるｑ軸電流をより多く流す事ができるようになるので，より高速に，より大きな出力が出せるようになる電流制御方法が提案されている（例えば，特開平９－８４４００参照）。 As a method for preventing the occurrence of voltage saturation in the armature of the motor, torque is generated by reducing the counter electromotive voltage generated when the motor rotates by passing a d-axis current through the armature whose d-axis direction is the direction of the field magnetic field. Therefore, a current control method has been proposed that can output a larger output at a higher speed (see, for example, JP-A-9-84400).
　また，高出力化の方法としてモータの各相の線間電圧波形を矩形波又は疑似矩形波とすることで，各相へ正弦波状の相電圧を供給する一般的な場合と比べて実効値電圧を増大させる制御方法が提案されている（例えば，特許第３９３９４８１号参照）。 In addition, as a method of increasing the output, the line voltage waveform of each phase of the motor is a rectangular wave or a pseudo-rectangular wave, so that the effective value voltage is compared to the general case of supplying a sinusoidal phase voltage to each phase. Has been proposed (see, for example, Japanese Patent No. 3939481).
　特開平９－８４４００の制御方法は安定性は有るが，電圧飽和が発生する速度の近傍の設定速度から無効電流を流すように制御し，電圧飽和を防止する為，モータを駆動するインバータ回路に充分余裕がある場合，モータの能力を最大限に引き出しているとは言えない。特許第３９３９４８１号の制御方法はモータの各相の線間電圧の波形を矩形波又は疑似矩形波にするよう制御する為，モータを駆動するインバータ回路に充分余裕があれば，モータの能力を最大限に引き出す事はできるが，安定性に欠け，最悪の場合，制御が不安定になる可能性が有る。 Although the control method of Japanese Patent Laid-Open No. 9-84400 is stable, the inverter circuit that drives the motor is controlled in order to prevent the voltage saturation by controlling the reactive current to flow from the set speed near the speed at which the voltage saturation occurs. If there is enough room, it cannot be said that the motor's capacity has been maximized. Since the control method of Japanese Patent No. 3939481 is controlled so that the waveform of the line voltage of each phase of the motor is a rectangular wave or a pseudo-rectangular wave, if the inverter circuit that drives the motor has a sufficient margin, the motor capacity is maximized. Although it can be pulled out to the limit, it lacks stability, and in the worst case, the control may become unstable.
発明の要旨Summary of the Invention
　本発明は，モータの能力を極力引き出し，安定性を確保しながらの高速高出力化を実現する電流制御方法及び制御装置を提供する事を目的とする。 The object of the present invention is to provide a current control method and a control device that realizes high speed and high output while drawing out the capability of the motor as much as possible and ensuring stability.
　上記目的を達成する為に，交流電源を整流・平滑して直流の主回路電圧を出力するコンバータ部と，主回路電圧を用いてモータを駆動させる為の電流を流すインバータ部と，モータに流れる電機子電流を検出する電流検出器と，モータに取り付けられたモータ速度を検出する位置検出器と，ｑ軸電流指令（Ｉｑｒ）を受けて，前記電流検出器からのデータと前記位置検出器からのデータとを用い，インバータ部を駆動する信号を出力し，モータに流れる電機子電流を制御する電流制御部とを備え，モータの能力を極力引き出し，安定性を確保しながらの高速高出力化を実現する事を特徴とする。 In order to achieve the above object, a converter unit that rectifies and smoothes an AC power supply and outputs a DC main circuit voltage, an inverter unit that supplies a current for driving the motor using the main circuit voltage, and a current that flows through the motor From the current detector for detecting the armature current, the position detector for detecting the motor speed attached to the motor, the q-axis current command (Iqr), the data from the current detector and the position detector It is equipped with a current control unit that outputs a signal that drives the inverter unit and controls the armature current that flows to the motor, and draws out the motor's capabilities as much as possible to achieve high speed and high output while ensuring stability It is characterized by realizing.
　電流制御部は，ｑ軸電流指令（Ｉｑｒ）を受けて，ｑ軸とｄ軸の合成電流の最大値（Ｉｍａｘ）と後述するｄ軸電流指令（Ｉｄｒ）を用いてｑ軸電流リミヅト値（Ｉｑｌｉｍｉｔ）を求め，ＩｑｒをＩｑｌｉｍｉｔ以上にならないように制限し，速度のオーバーシュート等を防止する為に，速度制御等を行なう上位制御部にｑ軸電流指令を制限した時に制限した事を知らせるリミットフラグをＯＮするリミット処理部と，ゲインを高める為のＰＩ補償部と，ＰＩ補償部から出力された電圧指令（Ｖｑ）を制御装置で使用している部品等の制限より予め設定したリミット値に制限するＶｑＬｉｍｉｔ処理部（Ｖｑ用）及びＶｄＬｉｍｉｔ処理部（Ｖｄ用）と，ＶｑＬｉｍｉｔ処理部及びＶｄＬｉｍｉｔ処理部から出力された２相のクランプされた電圧指令（Ｖｑｌ及びＶｄｌ）を実際にモータを駆動する為に３相電圧に変換する２相→３相変換部と，２相→３相変換部から出力された信号をパルスに変換するＰＷＭ変換部と，前記ＶｑｌとＶｄｌと，後述する電気角速度（ω）を用いて前記Ｉｄｒを求めるｄ軸電流指令生成部と，前記電流検出器からの信号を電流制御部で処理できるデータに変換する電流検出部と，電流検出部から出力された各相の３相電流を２相電流に変換する３相→２相変換部と，前記位置検出器からの信号を電流制御部で処理できるデータに変換する位置検出部とを備える。 The current control unit receives the q-axis current command (Iqr), and uses the maximum value (Imax) of the combined current of the q-axis and the d-axis and the d-axis current command (Idr) described later to determine the q-axis current limit value (Iqlimit). Limit flag that informs the upper control unit that performs speed control when the q-axis current command is limited to prevent Iqr from exceeding Iqlimit and to prevent speed overshoot, etc. Limit processing unit that turns ON, PI compensation unit to increase gain, and voltage command (Vq) output from PI compensation unit is limited to preset limit value by the limit of parts used in control device The VqLimit processing unit (for Vq) and VdLimit processing unit (for Vd), and the two-phase clamps output from the VqLimit processing unit and VdLimit processing unit PWM that converts the signals output from the two-phase to three-phase converter and the signals output from the two-phase to three-phase converter into pulses to convert the voltage command (Vql and Vdl) into a three-phase voltage to actually drive the motor A converter, a d-axis current command generator for obtaining the Idr using the Vql and Vdl, and an electrical angular velocity (ω) described later, and a signal from the current detector is converted into data that can be processed by the current controller. The current detection unit, the three-phase to two-phase conversion unit that converts the three-phase current of each phase output from the current detection unit into a two-phase current, and the data that can be processed by the current control unit A position detecting unit for conversion.
　本発明によれば，モータの能力を極力引き出し，安定性を確保しながらの高速高出力化を実現する電流制御方法及び制御装置を提供できる。 According to the present invention, it is possible to provide a current control method and a control apparatus that realize high speed and high output while drawing out the capability of the motor as much as possible and ensuring stability.
本発明による電流制御方法及び制御装置の実施例ブロック図。The block diagram of the Example of the current control method and control apparatus by this invention. リミット処理部のフローチャート。The flowchart of a limit process part. ＰＩ補償部のブロック図。The block diagram of a PI compensation part. ｄ軸電流指令生成部のフローチャート。The flowchart of a d-axis current command generation part. 図４の積分Ｓ４０６のブロック図。The block diagram of integration S406 of FIG.
　以下，本発明の実施例を説明する。 Hereinafter, embodiments of the present invention will be described.
＜実施例１＞
　本発明による電流制御方法及び制御装置の実施例１を図１を参照して説明する。図１は，本発明による実施例１を示すブロック図である。図１の電源は交流電源を示しており，交流電圧を供給する。供給された交流電圧をコンバータ部１で整流・平滑し，主回路直流電圧を出力する。その主回路直流電圧を電流制御部３から出力されたコントロール信号でインバータ部２をスイッチングし，モータ５を駆動するといったモータの電流制御方法及び制御装置を表したブロック図である。電流制御部３から出力されるリミットフラグは，速度制御等を行なう上位制御部にｑ軸電流指令を制限した事を知らせ，速度のオーバーシュート等を防ぐ。 <Example 1>
A first embodiment of a current control method and a control apparatus according to the present invention will be described with reference to FIG. FIG. 1 is a block diagram showing a first embodiment according to the present invention. The power source in FIG. 1 represents an AC power source and supplies an AC voltage. The supplied AC voltage is rectified and smoothed by the converter unit 1 to output a main circuit DC voltage. FIG. 3 is a block diagram showing a motor current control method and a control device for driving the motor 5 by switching the inverter unit 2 using the control signal output from the main circuit DC voltage from the current control unit 3. The limit flag output from the current control unit 3 informs the host control unit that performs speed control and the like that the q-axis current command is limited, and prevents speed overshoot and the like.
　モータに流れる電機子電流を制御する図１の電流制御部３について以下に示す。 The current control unit 3 in FIG. 1 that controls the armature current flowing through the motor is described below.
　外部からのｑ軸電流指令（以下Ｉｑｒと示す）を受け，リミット処理部３０１ではｑ軸とｄ軸の合成電流の最大値（Ｉｍａｘ）と後述するｄ軸電流指令（以下Ｉｄｒと示す〉を用いてｑ軸電流リミヅト値（以下Ｉｑｌｉｍｉｔと示す〉を√（ｌｍａｘ＾２－Ｉｄｒ＾２〉で求める。 In response to an external q-axis current command (hereinafter referred to as Iqr), the limit processing unit 301 uses a maximum value (Imax) of a combined current of q-axis and d-axis and a d-axis current command (hereinafter referred to as Idr) described later. The q-axis current limit value (hereinafter referred to as Iqlimit) is obtained by √ (lmax ^ 2-Idr ^ 2>.
　一方，Ｉｑｒが０以上で，かつＩｑｌｉｍｉｔより大きければｑ軸電流リミット指令値（以下Ｉｑｒｌと示す）をＩｑｌｉｍｉｔに制限し，リミットフラグをＯＮする。Ｉｑｒが０以上で，かつＩｑｌｉｍｉｔ以下もしくはＩｑｒが０以下で，かつ－Ｉｑｌｉｍｉｔ以上であればＩｑｒｌをＩｑｒにし，リミットフラグをＯＦＦする。また，Ｉｑｒが０より小さくて，－Ｉｑｌｉｍｉｔより小さい場合は，Ｉｑｒｌを－Ｉｑｌｉｍｉｔに制限し，リミットフラグをＯＮする。以上のようにＩｑｒｌを求め，リミット処理部３０１から出力される。（詳細は図２を参照。）
　リミット処理部３０１から出力されたＩｑｒｌから実際にモータに流れているｑ軸電流（以下Ｉｑと示す）を引いた値をゲインを高める為のＰＩ補償部３０２ａ（詳細は図３参照）に入力する。ＰＩ補償部３０２ａから出力された電圧指令（以下Ｖｑと示す）を制御装置で使用している部品等の制限より予め設定したリミット値に制限するＶｑＬｉｍｉｔ処理部３０３ａに入力する。 On the other hand, if Iqr is greater than or equal to 0 and greater than Iqlimit, the q-axis current limit command value (hereinafter referred to as Iqrl) is limited to Iqlimit and the limit flag is turned ON. If Iqr is 0 or more and Iqlimit or less or Iqr is 0 or less and -Iqlimit or more, Iqrl is set to Iqr and the limit flag is turned OFF. If Iqr is smaller than 0 and smaller than -Iqlimit, Iqrl is limited to -Iqlimit and the limit flag is turned ON. As described above, Iqrl is obtained and output from the limit processing unit 301. (See Figure 2 for details.)
A value obtained by subtracting a q-axis current (hereinafter referred to as Iq) actually flowing through the motor from Iqrl output from the limit processing unit 301 is input to a PI compensation unit 302a (see FIG. 3 for details) for increasing the gain. . The voltage command (hereinafter referred to as Vq) output from the PI compensation unit 302a is input to the VqLimit processing unit 303a that limits the limit value set in advance from the limit of components used in the control device.
　ＶｑＬｉｍｉｔ処理部３０３ａでは主回路直流電圧の１／２を制限電圧ＶＬｉｍｉｔ（ＶＬｉｍｉｔは中性点を移動して相電圧を高くし，トルクを大きくする手法を用いると主回路直流電圧／２×１．１５に上げる事ができる）とし，ＶｑがＶＬｉｍｉｔより大きければＶＬｉｍｉｔにクランプする処理を行い，クランプされたｑ軸電圧指令（以下Ｖｑｌと示す）を出力する。 In the VqLimit processing unit 303a, 1/2 of the main circuit DC voltage is set to the limit voltage VLimit (VLimit is a method of increasing the phase voltage by moving the neutral point and increasing the torque, and the main circuit DC voltage / 2 × 1. If Vq is larger than VLimit, a process of clamping to VLimit is performed, and a clamped q-axis voltage command (hereinafter referred to as Vql) is output.
　また，後述するＩｄｒから実際にモータに流れているｄ軸電流（以下ｌｄと示す）を引いた値をＰＩ補償部３０２ｂ）に入力する。ＰＩ補償部３０２ｂから出力された電圧指令（以下Ｖｄと示す）を予め設定したリミット値に制限するＶｄＬｉｍｉｔ処理部３０３ｂに入力する。 Also, a value obtained by subtracting a d-axis current (hereinafter referred to as “ld”) actually flowing through the motor from Idr described later is input to the PI compensation unit 302b). The voltage command (hereinafter referred to as Vd) output from the PI compensation unit 302b is input to the VdLimit processing unit 303b that limits to a preset limit value.
　ＶｄＬｉｍｉｔ処理部３０３ｂではＶｄが前記ＶＬｉｍｉｔより大きければＶＬｉｍｉｔにクランプする処理を行い，クランプされたｄ軸電圧指令（以下Ｖｄｌと示す）を出力する。 In the VdLimit processing unit 303b, if Vd is larger than the VLimit, a process of clamping to VLimit is performed, and a clamped d-axis voltage command (hereinafter referred to as Vdl) is output.
　ＶｑＬｉｍｉｔ処理部３０３ａ及びＶｄＬｉｍｉｔ処理部３０３ｂから出力された２相のクランプされた電圧指令（Ｖｑｌ及びＶｄｌ）を実際にモータを駆動する為に３相電圧に変換する２相→３相変換部３０４（２相→３相変換部３０４については一般的な内容であるので説明を省略する。各種文献を参照の事。）に入力し，２相→３相変換部３０４から出力された信号をパルスに変換するＰＷＭ変換部３０５（ＰＷＭ変換部３０５は本発明に直接影響するものでは無いので説明を省略する。各種文献を参照の事。）がインバータ部を駆動してモータを動かす。 A two-phase to three-phase converter 304 (converts the two-phase clamped voltage commands (Vql and Vdl) output from the VqLimit processor 303a and the VdLimit processor 303b into a three-phase voltage to actually drive the motor. The two-phase to three-phase conversion unit 304 is a general content and will not be described. Refer to various documents.), And the signal output from the two-phase to three-phase conversion unit 304 is converted into a pulse. A PWM conversion unit 305 for conversion (the PWM conversion unit 305 does not directly affect the present invention, so the explanation is omitted. Refer to various documents) to drive the inverter unit to move the motor.
　電流検出器４からの信号を電流制御部３で処理できるデータに変換する電流検出部３０７では図１の説明では２相分の電流から残りの３相目の電流をｌｖ＝－（ｌｕ＋ｌｗ）から求めて出力する。３相分の電流検出器を設けて電流検出部３０７では電流制御部３で処理できるデータに変換するだけでも良い。 In the current detection unit 307 that converts the signal from the current detector 4 into data that can be processed by the current control unit 3, in the description of FIG. 1, the current of the third phase is changed from lv = − (lu + lw) from the current of the two phases. Find and output. A current detector for three phases may be provided, and the current detection unit 307 may simply convert the data into data that can be processed by the current control unit 3.
　電流検出部３０７から出力された各相の３相電流を２相電流に変換する３相→２相変換部３０８からＩｑとＩｄを出力する。 The Iq and Id are output from the three-phase → two-phase converter 308 that converts the three-phase current of each phase output from the current detector 307 into a two-phase current.
　モータに取り付けられた位置検出器６からの信号を受け取る位置検出部３０９では位置検出器６からの信号を電流制御部３で処理できるデータに変換・微分しモータの電気角速度ωを計算して，出力する。 The position detector 309 that receives a signal from the position detector 6 attached to the motor converts the signal from the position detector 6 into data that can be processed by the current controller 3 and calculates the electrical angular velocity ω of the motor, Output.
　ｄ軸電流指令生成部３０６では前記Ｖｑｌが０以上で且つ前記ωが０以下またはＶｑｌが０より小さくて且つωが０以上の場合は，ＶｄＶｑｅｒｒ＝Ｖｄｌ＾２＋Ｖｑｌ＾２－ＶＬｉｍｉｔ＾２でＶｄＶｑｅｒｒを求め，それ以外の条件の場合は，ＶｄＶｑｅｒｒ＝Ｖｄｌ＾２＋－Ｖｑｒ＾２－ＶＬｉｍｉｔ＾２でＶｄＶｑｅｒｒを求める。 In the d-axis current command generation unit 306, when Vql is 0 or more and ω is 0 or less or Vql is less than 0 and ω is 0 or more, VdVqerr = Vdl ^ 2 + Vql ^ 2-VLimit ^ 2 For other conditions, VdVqerr = Vdl ^ 2 + -Vqr ^ 2-VLimit ^ 2 is obtained.
　そのＶｄＶｑｅｒｒを積分定数ωｉの積分器（図５参照）で積分補償（図５のスイッチがＯＦＦの場合）若しくはＰＩ補償（図５のスイッチがＯＮの場合）し，Ｉｄｒｉを出力する。図５のスイッチのＯＮ／ＯＦＦの切り換えは制御性を見てパラメータ等で切り換える方法や，プログラム等でリアルタイムで切り換える方法等が考えられる。 The VdVqerr is subjected to integral compensation (when the switch in FIG. 5 is OFF) or PI compensation (when the switch in FIG. 5 is ON) with an integrator having an integration constant ωi (see FIG. 5), and Idri is output. As for the ON / OFF switching of the switch in FIG. 5, a method of switching by a parameter or the like in view of controllability, a method of switching in real time by a program or the like can be considered.
　Ｉｄｒｉが０より小さい場合はＩｄｒを０に，Ｉｄｒｉが０以上の場合で，Ｉｄｍａｘ（Ｉｄｍａｘはモータの特性による予め求められた一定値。前記ｌｍａｘと通常は同じで，モータによっては違う場合も有る）より大きい場合はＩｄｒをＩｄｍａｘに，Ｉｄｒｉが０以上の場合で，Ｉｄｍａｘ以下の場合はＩｄｒをＩｄｒｉにする処理を行なう。（詳細は図４参照。〉
　以上の処理を電流制御部３で行なう。 When Idri is less than 0, Idr is 0, and when Idri is 0 or more, Idmax (Idmax is a constant value obtained in advance according to the characteristics of the motor. Usually, it is the same as lmax and may be different depending on the motor. ) Is greater than I), Idr is set to Idmax, and Idri is equal to or greater than 0. (See Figure 4 for details.)
The above processing is performed by the current control unit 3.

Claims (4)

  1. 　交流電源を整流・平滑して直流の主回路電圧を出力するコンバータ部と，
    　主回路電圧を用いてモータを駆動させる為の電流を流すインバータ部と，
    　モータに流れる電機子電流を検出する電流検出器と，
    　モータに取り付けられたモータ速度を検出する位置検出器と，
    　ｑ軸電流指令（Ｉｑｒ）を受けて，前記電流検出器からのデータと前記位置検出器からのデータとを用い，インバータ部を駆動する信号を出力し，モータに流れる電機子電流を制御する電流制御部とを備え，モータの能力を極力引き出し，安定性を確保しながらの高速高出力化を実現する事を特徴とするモータの電流制御方法。     A converter section for rectifying and smoothing an AC power supply and outputting a DC main circuit voltage;
    An inverter section for supplying a current for driving the motor using the main circuit voltage;
    A current detector for detecting the armature current flowing in the motor;
    A position detector for detecting the motor speed attached to the motor;
    A current that receives the q-axis current command (Iqr), uses the data from the current detector and the data from the position detector, outputs a signal for driving the inverter unit, and controls the armature current flowing through the motor A motor current control method characterized by comprising a control unit and drawing out the motor capacity as much as possible to achieve high speed and high output while ensuring stability.
  2. 　前記電流制御部は，
    　ｑ軸電流指令（Ｉｑｒ）を受けて，ｑ軸とｄ軸の合成電流の最大値（Ｉｍａｘ）と後述するｄ軸電流指令（Ｉｄｒ）を用いてｑ軸電流リミット値（Ｉｑｌｉｍｉｔ）を計算してＩｑｒをＩｑｌｉｍｉｔ以上にならないように制限しｑ軸電流リミット指令値（Ｉｑｒｌ）を求め，速度のオーバーシュート等を防止する為に，速度制御等を行なう上位制御部にｑ軸電流指令を制限した時に制限した事を知らせるリミットフラグをＯＮするリミット処理部と，
    　ゲインを高める為のＰＩ補償部と，
    　ＰＩ補償部から出力された電圧指令（Ｖｑ）を制御装置で使用している部品等の制限より予め設定したリミット値に制限するＶｑＬｉｍｉｔ処理部（Ｖｑ用）及びＶｄＬｉｍｉｔ処理部（Ｖｄ用）と，
    　ＶｑＬｉｍｉｔ処理部及びＶｄＬｉｍｉｔ処理部から出力された２相電圧（Ｖｑｌ及びＶｄｌ）を実際にモータを駆動する為に３相電圧に変換する２相→３相変換部と，
    　２相→３相変換部から出力された信号をパルスに変換するＰＷＭ変換部と，
    　前記ＶｑｌとＶｄｌと，後述する電気角速度（ω）を用いて前記Ｉｄｒを求めるｄ軸電流指令生成部と，
    　前記電流検出器からの信号を電流制御部で処理できるデータに変換する電流検出部と，
    　電流検出部から出力された各相の３相電流を２相電流に変換する３相→２相変換部と，
    　前記位置検出器からの信号を電流制御部で処理できるデータに変換する位置検出部とを備える請求項１に記載のモータの電流制御方法。     The current controller is
    In response to the q-axis current command (Iqr), the q-axis current limit value (Iqlimit) is calculated using the maximum value (Imax) of the combined current of the q-axis and the d-axis and the d-axis current command (Idr) described later. When Iqr is limited so that it does not exceed Iqlimit, the q-axis current limit command value (Iqrl) is obtained, and in order to prevent speed overshoot, etc. A limit processing section that turns on a limit flag to notify that the limit has occurred;
    A PI compensator to increase the gain;
    A VqLimit processing unit (for Vq) and a VdLimit processing unit (for Vd) that limit the voltage command (Vq) output from the PI compensation unit to a preset limit value from the limitation of components used in the control device;
    A two-phase to three-phase conversion unit that converts the two-phase voltages (Vql and Vdl) output from the VqLimit processing unit and the VdLimit processing unit into a three-phase voltage to actually drive the motor;
    A PWM converter that converts a signal output from the two-phase to three-phase converter into a pulse;
    A d-axis current command generation unit for obtaining the Idr using the Vql and Vdl and an electrical angular velocity (ω) described later;
    A current detector that converts the signal from the current detector into data that can be processed by a current controller;
    A three-phase to two-phase converter that converts the three-phase current of each phase output from the current detector into a two-phase current;
    The motor current control method according to claim 1, further comprising: a position detection unit that converts a signal from the position detector into data that can be processed by the current control unit.
  3. 　交流電源を整流・平滑して直流の主回路電圧を出力するコンバータ部と，
    　主回路電圧を用いてモータを駆動させる為の電流を流すインバータ部と，
    　モータに流れる電機子電流を検出する電流検出器と，
    　モータに取り付けられたモータ速度を検出する位置検出器と，
    　ｑ軸電流指令（Ｉｑｒ）を受けて，前記電流検出器からのデータと前記位置検出器からのデータとを用い，インバータ部を駆動する信号を出力し，モータに流れる電機子電流を制御する電流制御部とを備え，モータの能力を極力引き出し，安定性を確保しながらの高速高出力化を実現する事を特徴とするモータの制御装置。     A converter section for rectifying and smoothing an AC power supply and outputting a DC main circuit voltage;
    An inverter section for supplying a current for driving the motor using the main circuit voltage;
    A current detector for detecting the armature current flowing in the motor;
    A position detector for detecting the motor speed attached to the motor;
    A current that receives the q-axis current command (Iqr), uses the data from the current detector and the data from the position detector, outputs a signal for driving the inverter unit, and controls the armature current flowing through the motor A motor control device, which is equipped with a control unit and draws out the capabilities of the motor as much as possible to achieve high speed and high output while ensuring stability.
  4. 　前記電流制御部は，
    　ｑ軸電流指令（Ｉｑｒ）を受けて，ｑ軸とｄ軸の合成電流の最大値（Ｉｍａｘ）と後述するｄ軸電流指令（Ｉｄｒ）を用いてｑ軸電流リミット値（Ｉｑｌｉｍｉｔ）を計算してＩｑｒをＩｑｌｉｍｉｔ以上にならないように制限しｑ軸電流リミット指令値（Ｉｑｒｌ）を求め，速度のオーバーシュート等を防止する為に，速度制御等を行なう上位制御部にｑ軸電流指令を制限した時に制限した事を知らせるリミットフラグをＯＮするリミット処理部と，
    　ゲインを高める為のＰＩ補償部と，
    　ＰＩ補償部から出力された電圧指令（Ｖｑ）を制御装置で使用している部品等の制限より予め設定したリミット値に制限するＶｑＬｉｍｉｔ処理部（Ｖｑ用）及びＶｄＬｉｍｉｔ処理部（Ｖｄ用）と，
    　ＶｑＬｉｍｉｔ処理部及びＶｄＬｉｍｉｔ処理部から出力された２相電圧（Ｖｑｌ及びＶｄｌ）を実際にモータを駆動する為に３相電圧に変換する２相→３相変換部と，
    　２相→３相変換部から出力された信号をパルスに変換するＰＷＭ変換部と，
    　前記ＶｑｌとＶｄｌと，後述する電気角速度（ω）を用いて前記Ｉｄｒを求めるｄ軸電流指令生成部と，
    　前記電流検出器からの信号を電流制御部で処理できるデータに変換する電流検出部と，
    　電流検出部から出力された各相の３相電流を２相電流に変換する３相→２相変換部と，
    　前記位置検出器からの信号を電流制御部で処理できるデータに変換する位置検出部とを備える請求項３に記載のモータの制御装置。     The current controller is
    In response to the q-axis current command (Iqr), the q-axis current limit value (Iqlimit) is calculated using the maximum value (Imax) of the combined current of the q-axis and the d-axis and the d-axis current command (Idr) described later. When Iqr is limited so that it does not exceed Iqlimit, the q-axis current limit command value (Iqrl) is obtained, and in order to prevent speed overshoot, etc. A limit processing section that turns on a limit flag to notify that the limit has occurred;
    A PI compensator to increase the gain;
    A VqLimit processing unit (for Vq) and a VdLimit processing unit (for Vd) that limit the voltage command (Vq) output from the PI compensation unit to a preset limit value from the limitation of components used in the control device;
    A two-phase to three-phase conversion unit that converts the two-phase voltages (Vql and Vdl) output from the VqLimit processing unit and the VdLimit processing unit into a three-phase voltage to actually drive the motor;
    A PWM converter that converts a signal output from the two-phase to three-phase converter into a pulse;
    A d-axis current command generation unit for obtaining the Idr using the Vql and Vdl and an electrical angular velocity (ω) described later;
    A current detector that converts the signal from the current detector into data that can be processed by a current controller;
    A three-phase to two-phase converter that converts the three-phase current of each phase output from the current detector into a two-phase current;
    The motor control device according to claim 3, further comprising: a position detection unit that converts a signal from the position detector into data that can be processed by a current control unit.
PCT/JP2010/069952 2009-09-15 2010-11-09 Current control method and controller for motor WO2012063325A1 (en)

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DE112010005981T DE112010005981T5 (en) 2010-11-09 2010-11-09 Method for controlling the current of an engine and control unit of an engine
US13/884,239 US9054622B2 (en) 2009-09-15 2010-11-09 Method of controlling a current of a motor and control device of a motor
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Citations (3)

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JP2006020381A (en) * 2004-06-30 2006-01-19 Hitachi Ltd Motor drive, electric actuator, and electric power steering system
JP2006081287A (en) * 2004-09-09 2006-03-23 Aisin Aw Co Ltd Apparatus and method for electric drive control and program therefor
JP2007151294A (en) * 2005-11-28 2007-06-14 Toshiba Mach Co Ltd Method for controlling current in servo motor, current control program, recording medium, and servo motor

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JPH0984400A (en) 1995-09-14 1997-03-28 Fanuc Ltd Method for controlling current of servomotor
JP3939481B2 (en) 2000-01-05 2007-07-04 本田技研工業株式会社 AC motor control device

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Publication number Priority date Publication date Assignee Title
JP2006020381A (en) * 2004-06-30 2006-01-19 Hitachi Ltd Motor drive, electric actuator, and electric power steering system
JP2006081287A (en) * 2004-09-09 2006-03-23 Aisin Aw Co Ltd Apparatus and method for electric drive control and program therefor
JP2007151294A (en) * 2005-11-28 2007-06-14 Toshiba Mach Co Ltd Method for controlling current in servo motor, current control program, recording medium, and servo motor

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