WO2013005835A1 - Dispositif de commande pour circuit d'attaque de moteur pour moteur cc sans balais, procédé de commande, programme de commande, et circuit d'attaque de moteur pour moteur cc sans balais - Google Patents

Dispositif de commande pour circuit d'attaque de moteur pour moteur cc sans balais, procédé de commande, programme de commande, et circuit d'attaque de moteur pour moteur cc sans balais Download PDF

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Publication number
WO2013005835A1
WO2013005835A1 PCT/JP2012/067340 JP2012067340W WO2013005835A1 WO 2013005835 A1 WO2013005835 A1 WO 2013005835A1 JP 2012067340 W JP2012067340 W JP 2012067340W WO 2013005835 A1 WO2013005835 A1 WO 2013005835A1
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WIPO (PCT)
Prior art keywords
motor
brushless
rotor
motor driver
rotation angle
Prior art date
Application number
PCT/JP2012/067340
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English (en)
Japanese (ja)
Inventor
秀和 堀
Original Assignee
曙ブレーキ工業株式会社
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Filing date
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Publication of WO2013005835A1 publication Critical patent/WO2013005835A1/fr

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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
    • H02P3/00—Arrangements for stopping or slowing electric motors, generators, or dynamo-electric converters
    • H02P3/02—Details of stopping control
    • H02P3/04—Means for stopping or slowing by a separate brake, e.g. friction brake or eddy-current brake
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T1/00—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles
    • B60T1/005—Arrangements of braking elements, i.e. of those parts where braking effect occurs specially for vehicles by locking of wheel or transmission rotation
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60T—VEHICLE BRAKE CONTROL SYSTEMS OR PARTS THEREOF; BRAKE CONTROL SYSTEMS OR PARTS THEREOF, IN GENERAL; ARRANGEMENT OF BRAKING ELEMENTS ON VEHICLES IN GENERAL; PORTABLE DEVICES FOR PREVENTING UNWANTED MOVEMENT OF VEHICLES; VEHICLE MODIFICATIONS TO FACILITATE COOLING OF BRAKES
    • B60T13/00—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems
    • B60T13/74—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive
    • B60T13/741—Transmitting braking action from initiating means to ultimate brake actuator with power assistance or drive; Brake systems incorporating such transmitting means, e.g. air-pressure brake systems with electrical assistance or drive acting on an ultimate actuator
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D65/00—Parts or details
    • F16D65/14—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position
    • F16D65/16—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake
    • F16D65/18—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes
    • F16D65/183—Actuating mechanisms for brakes; Means for initiating operation at a predetermined position arranged in or on the brake adapted for drawing members together, e.g. for disc brakes with force-transmitting members arranged side by side acting on a spot type force-applying member
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
    • H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
    • H02K29/12—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using detecting coils using the machine windings as detecting coil
    • 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
    • H02P6/24—Arrangements for stopping
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2121/00—Type of actuator operation force
    • F16D2121/18—Electric or magnetic
    • F16D2121/24—Electric or magnetic using motors
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2125/00—Components of actuators
    • F16D2125/18—Mechanical mechanisms
    • F16D2125/20—Mechanical mechanisms converting rotation to linear movement or vice versa
    • F16D2125/34—Mechanical mechanisms converting rotation to linear movement or vice versa acting in the direction of the axis of rotation
    • F16D2125/40—Screw-and-nut
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2125/00—Components of actuators
    • F16D2125/18—Mechanical mechanisms
    • F16D2125/44—Mechanical mechanisms transmitting rotation
    • F16D2125/46—Rotating members in mutual engagement
    • F16D2125/48—Rotating members in mutual engagement with parallel stationary axes, e.g. spur gears
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2127/00—Auxiliary mechanisms
    • F16D2127/06—Locking mechanisms, e.g. acting on actuators, on release mechanisms or on force transmission mechanisms
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2127/00—Auxiliary mechanisms
    • F16D2127/08—Self-amplifying or de-amplifying mechanisms
    • F16D2127/10—Self-amplifying or de-amplifying mechanisms having wedging elements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
    • F16D—COUPLINGS FOR TRANSMITTING ROTATION; CLUTCHES; BRAKES
    • F16D2129/00—Type of operation source for auxiliary mechanisms
    • F16D2129/06—Electric or magnetic
    • F16D2129/08—Electromagnets

Definitions

  • the present invention relates to a motor driver control device, a control method, a control program for a brushless DC motor, and a motor driver for a brushless DC motor.
  • brushless DC (Direct Current) motors with excellent controllability and durability have become widespread.
  • the rotor provided with the permanent magnet rotates by sequentially switching the direction of the current of the stator coil.
  • the brushless DC motor detects the rotational position of the rotor by a sensor such as a resolver or a hall element, and determines the operation timing of the switching circuit based on the detected result. Therefore, the accuracy of the mounting position of the sensor that detects the position of the rotor affects the rotational speed per unit time (hereinafter simply referred to as rotational speed) and torque of the motor.
  • a direct current is passed through the coil to stop the rotor at a specific position, and the specification is based on the sensor output at that time. Some control the motor using the corrected value.
  • a technique for specifying the error of the sensor mounting position for example, a method for specifying from the rotational speed of the motor as disclosed in Patent Document 2, or a current command value as disclosed in Patent Document 3 is used. There is one that is specified from the correlation between the actual current value and one that is specified from the correlation between the estimated angle and the actual angle after elapse of a certain time as disclosed in Patent Document 4.
  • Japanese Unexamined Patent Publication No. 2001-128484 Japanese Unexamined Patent Publication No. 2007-228700 Japanese Unexamined Patent Publication No. 2008-278575 Japanese Unexamined Patent Publication No. 2010-283925
  • the present application has been made in view of such problems, and a brushless DC motor motor driver control device, a control method, a control program, and a brushless DC motor motor driver that suppress variations in the rotational speed of the brushless DC motor. It is an issue to provide.
  • the motor driver drives the brushless DC motor to rotate the rotor a predetermined number of times from the position of an arbitrary mechanical angle, and at that time, the rotation angle sensor detects the average of the output detected as the electrical angle according to the rotation angle of the rotor Therefore, the offset value for adjusting the phase of the current supplied to the brushless DC motor is obtained.
  • the brushless DC motor is a motor driver control device, wherein the brushless DC motor is provided with a rotation angle sensor for detecting a rotation angle of a rotor, and the motor driver drives the brushless DC motor.
  • the rotor is rotated a predetermined number of times from a position of an arbitrary mechanical angle, and at that time, an output value that the rotation angle sensor detects as an electrical angle according to the rotation angle of the rotor is obtained by the number of pole pairs of the brushless DC motor,
  • the average value of the acquired output values is set in the motor driver as an offset value for adjusting the phase of the current supplied to the brushless DC motor by the motor driver based on the signal of the rotation angle sensor.
  • a motor driver drives a brushless DC motor to rotate the rotor a predetermined number of times from an arbitrary mechanical angle position, and at that time, the rotation angle sensor detects an electrical angle according to the rotation angle of the rotor.
  • the average value of the obtained output values is set as an offset value in the motor driver, thereby reducing the rotational speed error between the motors.
  • control device causes the motor driver to perform a circuit operation when the rotor makes one round with an electrical angle by the number of pole pairs, thereby causing the motor driver to move the rotor from an arbitrary mechanical angle position a predetermined number of times. It may be rotated.
  • the motor driver executes the circuit operation when the rotor makes one round at an electrical angle, the rotor will make one round at a mechanical angle and return to its original position regardless of the output of the rotation angle sensor. Become. Therefore, when the motor driver drives the brushless DC motor and sets the rotor to a predetermined electrical angle, the output value of the rotation angle sensor is acquired for the number of pole pairs, and the average value of the acquired output values is set to the motor driver as an offset value By doing so, it is possible to suppress variations in the rotational speed of the motor.
  • the motor driver drives the brushless DC motor to rotate the rotor in any one direction, and rotates the rotor in any one direction.
  • the offset value is set in the motor driver, and the motor driver drives the brushless DC motor to rotate the rotor in any other direction, and the average value obtained by rotating the rotor in any other direction.
  • the offset value when rotating in the direction may be set in the motor driver. According to this, even if the brushless DC motor is rotated in any direction, variation in the number of rotations can be suppressed.
  • the rotation angle sensor may be a resolver that detects the rotation angle of the rotor.
  • the average value is set in the motor driver as an offset value, which is suitable for suppressing variations in the rotation speed of the motor.
  • the brushless DC motor is a motor for an electric brake that brakes the vehicle, the behavior of the vehicle at the time of braking can be sufficiently stabilized by suppressing variations in the rotation speed of the motor.
  • the present invention can also be understood from the aspect of a control method or a control program.
  • the present invention is, for example, a method for controlling a motor driver of a brushless DC motor, wherein the motor driver drives the brushless DC motor to rotate the rotor a predetermined number of times from an arbitrary mechanical angle position,
  • the rotation angle sensor acquires an output value detected as an electrical angle according to the rotation angle of the rotor by the number of pole pairs of the brushless DC motor, and the motor driver outputs an average value of the acquired output values as a signal of the rotation angle sensor. May be set in the motor driver as an offset value for adjusting the phase of the current supplied to the brushless DC motor.
  • the present invention is a control program executed by, for example, a control device for a motor driver of a brushless DC motor, wherein the motor driver drives the brushless DC motor to the control device so that the rotor has an arbitrary mechanical angle.
  • the output value detected by the rotation angle sensor as an electrical angle according to the rotation angle of the rotor is acquired by the number of pole pairs of the brushless DC motor, and the average value of the acquired output values is rotated. May be executed by the motor driver as an offset value for adjusting the phase of the current supplied to the brushless DC motor based on the signal of the rotation angle sensor.
  • the present invention can also be grasped from the side of the motor driver of a brushless DC motor.
  • the present invention is a motor driver of a brushless DC motor, wherein the brushless DC motor is provided with a rotation angle sensor for detecting a rotation angle of a rotor, and the brushless DC motor is driven to make the rotor an arbitrary mechanical angle.
  • the output value detected by the rotation angle sensor as an electrical angle according to the rotation angle of the rotor is acquired by the number of pole pairs of the brushless DC motor, and the average value of the acquired output values is rotated.
  • it may be set as an offset value for adjusting the phase of the current supplied to the brushless DC motor based on the signal of the rotation angle sensor.
  • ⁇ It is possible to suppress variations in the rotational speed of brushless DC motors.
  • FIG. 1 is a structural diagram of an electric brake.
  • FIG. 2A is a structural diagram of an electric brake provided with a machine holding mechanism.
  • FIG. 2B is a structural diagram of an electric brake provided with a self-boosting mechanism.
  • FIG. 3 is a diagram showing an application example of the electric brake.
  • FIG. 4 is a configuration diagram of the motor driver.
  • FIG. 5 is a circuit diagram of a three-phase motor with two poles (one pole pair).
  • FIG. 6 is a first diagram showing the relationship between the magnetic poles of the rotor and the magnetism of the stator coil.
  • FIG. 7 is a second diagram showing the relationship between the magnetic poles of the rotor and the magnetism of the stator coil.
  • FIG. 8B are graphs showing the difference in the rotation speed of the motor (before adjustment).
  • FIG. 9 is a graph showing the difference in braking force (before adjustment).
  • FIG. 10 is a configuration diagram of the control device.
  • FIG. 11 is a processing flowchart executed by the processor of the control device.
  • FIG. 12 is a diagram showing data sampling points.
  • FIG. 13A and FIG. 13B are graphs showing differences in the rotation speed of the motor (after adjustment).
  • the structure of the electric brake 1 is shown in FIG.
  • the electric brake 1 is a disc brake, and sandwiches a disc 28 attached to an axle to generate a frictional force, a ball screw 3 that presses a pressure plate of the brake pad 2, and a speed reducer 4.
  • a brushless DC motor 5 for rotating the ball screw 3 and an axial force sensor 6 for detecting an axial force applied to the ball screw 3 are provided.
  • the electric brake 1 includes a machine holding mechanism (holding machine) 7 for use as a parking brake as shown in FIG. 2A and a self-boosting mechanism 8 for increasing the braking force as shown in FIG. 2B. It may be a thing.
  • the machine holding mechanism 7 includes a solenoid 9, a latch 10, and a case 11, and the latch 10 that slides according to the excitation state of the solenoid 9 is a latching gear that is mounted on the rotor shaft of the brushless DC motor 5. Engage with each other to restrict the rotation of the rotor of the brushless DC motor 5.
  • the self-boosting mechanism 8 receives the radial force that moves the brake pad 2 in the rotational direction of the disk 28 and is generated in the radial direction by the frictional force generated when the brake pad 2 is pressed against the disk 28. This is a mechanism for increasing the pressing force of the brake pad 2 by changing the acting force in the thrust direction.
  • Fig. 3 shows an application example of the electric brake 1.
  • the electric brake 1 is attached to each wheel of the vehicle 12 to brake the vehicle.
  • the brushless DC motor 5 of the electric brake 1 is a direct current brushless motor excellent in controllability and durability, and a motor driver 13 that controls the brushless DC motor 5 by a sine wave driving method is provided on the vehicle 12. It is provided corresponding to.
  • the motor driver 13 is not limited to one that drives the brushless DC motor 5 with a sine wave current, and may be one that controls with a square wave current, for example.
  • the vehicle 12 is a four-wheeled vehicle, and the electric brake 1 and the motor driver 13 are also attached to each wheel.
  • LH Left ⁇ Hand
  • RH Right Hand
  • a symbol corresponding to the right wheel is denoted by RH (Right Hand).
  • FL Front ⁇ ⁇ Left
  • RL Rear Left
  • FR Front Right
  • RR Rear Right
  • the vehicle 12 to which the electric brake 1 is applied is not limited to such a four-wheeled vehicle, and may be a two- to three-wheeled vehicle or a vehicle having five or more wheels.
  • the motor driver 13 controls the driving of the brushless DC motor 5. Each motor driver 13 receives the braking force request value calculated by the ECU 15 based on the measured value of the stroke simulator 14 that detects the depression amount and the depression force of the brake pedal 27.
  • the configuration of the motor driver 13 is shown in FIG.
  • the motor driver 13 is an inverter comprising a microcomputer (hereinafter referred to as “microcomputer”) 16 that performs various arithmetic processing based on input numerical data, a power supply circuit that supplies electric power according to a command from the microcomputer 16, and an inverter Device 17.
  • microcomputer microcomputer
  • the microcomputer 16 includes an arithmetic circuit, a storage circuit, an input / output circuit, and the like.
  • a sine wave current whose pulse width is adjusted to an appropriate duty ratio is generated in a power circuit 17A described later, and an inverter described later
  • the switching element 17B is appropriately operated according to the position of the rotor.
  • a resolver having excellent durability is exemplified as a rotation angle sensor because of its application to the brake of a vehicle.
  • the rotation angle sensor is not limited to a resolver, and an encoder with high angular resolution. Or an inexpensive Hall element may be used. Since the Hall element is inferior to the resolver or encoder in angular resolution, a processing circuit for estimating the rotation angle from the change of the Hall element signal or the calculated rotation speed is used in combination when used in the sine wave driving method.
  • the power supply circuit 17A and the inverter 17B constituting the inverter device 17 are configured such that the microcomputer 16 determines the DC power supplied from the power supply of the vehicle 12 based on the output of the rotation angle sensor, the duty ratio corresponding to the rotation angle of the rotor, The circuit operates according to the pattern of the switching operation, and a driving sine wave current is supplied to the brushless DC motor 5 which is a synchronous motor. That is, as shown in FIG. 5, the power supply circuit 17A and the inverter 17B repeatedly turn on and off the current by a bridge circuit composed of six switching elements 21, and operate in a pseudo three-phase manner in cooperation with the power supply circuit 17A. Produces a sinusoidal alternating current.
  • the sine wave alternating current generated by the power supply circuit 17A and the inverter 17B flows through each stator coil 18 (U phase, V phase, W phase) of the brushless DC motor 5.
  • a sinusoidal alternating current flows through each stator coil 18 of the brushless DC motor 5 to generate a magnetic field, and the rotor 19 having a permanent magnet rotates.
  • the brushless DC motor 5 is shown in FIG. 5 as a two-pole three-phase system, but is not limited to such a mode, and may be, for example, four poles (two pole pairs) or more.
  • the angle of the rotor 19 is detected by a resolver 20 that is a rotation angle sensor.
  • the resolver 20 measures the sine wave current output from the two detection coils (stator) that is generated when the excitation coil (rotor) directly connected to the rotor of the brushless DC motor 5 rotates. 5 is detected.
  • the microcomputer 16 controls the power supply circuit 17 ⁇ / b> A and the inverter 17 ⁇ / b> B based on the output of the resolver 20 to generate a sine wave alternating current that drives the brushless DC motor 5.
  • the microcomputer 16 basically has the magnetic pole of the specific stator coil 18 approaching the stator coil 18. Therefore, the switching elements 21 are operated so as to be the same polarity as the magnetic poles of the rotor 19 away from the stator coil 18, and the current flowing through the stator coils 18 is controlled.
  • the rotation angle sensor mounting position mounting angle
  • the stator coil 18 mounting position the magnet of the rotor 19 It also varies depending on factors such as the mounting position or the deviation of the magnet's magnetic force.
  • the mounting position of the rotation angle sensor as an example, when the resolver 20 is mounted at the correct position, the magnetism of the stator coil 18 is switched at the following timing. For example, in the example of FIG. 6 in which the rotor 19 of the multipolar pair rotates to the right, the stator coil 18 becomes the S pole at the timing when the N pole of the permanent magnet of the rotor 19 approaches the stator coil 18.
  • the magnetism of the stator coil 18 is switched so that the stator coil 18 becomes the N pole at the timing when the N pole of the 19 permanent magnets is separated from the stator coil 18.
  • a magnetic force attracted between the magnetic poles of the rotor 19 and the stator coil 18 having different polarities is generated, and a repulsive magnetic force is generated between the magnetic poles of the rotor 19 and the stator coil 18 having the same polarity.
  • the rotor 19 rotates.
  • the brake request value of the same value is sent from the ECU 15 to the motor driver 13 of each wheel.
  • the mounting position of the resolver 20 has an error between the brushless DC motors 5 of each wheel, for example, FIG.
  • the rotor 19 is disposed between the brushless DC motor 5 for LH that brakes the left wheel and the brushless DC motor 5 for RH that brakes the right wheel.
  • An error occurs in the rotational speed. Note that the error in the rotational speed caused by the error in the position where the resolver 20 is attached is, as is apparent from a comparison between FIG. 8A and FIG.
  • Such an error in the rotational speed affects the responsiveness of the electric brake 1 when braking the vehicle 12.
  • the control gain until the brake simulator 27 is depressed and the stroke simulator 14 sends the measured value to the ECU 15 and outputs the required braking force value is adjusted by the LH-side electric brake 1, the LH-side electric brake 1
  • the axial force sensor 6 detects an axial force having a good curve with no overshoot.
  • the rotational speed of the brushless DC motor 5 of the electric brake 1 on the RH side is higher than the rotational speed of the brushless DC motor 5 of the electric brake 1 on the LH side, for example, the RH side is higher than the LH side.
  • the brushless DC motor 5 of each electric brake 1 is caused by an error in the sensor attachment position, the attachment position of the stator coil 18, the attachment position of the magnet provided in the rotor 19, or the deviation of the magnetic force of the magnet.
  • the motor driver 13 is adjusted as follows in order to suppress the variation in the rotational speed between them. The adjustment process described below is performed when the vehicle 12 is assembled or when parts such as the brake pad 2 are replaced.
  • FIG. 10 shows the configuration of a control device that adjusts the motor driver 13.
  • the control device 22 includes a processor 23, a memory 24, and an input / output interface 25.
  • the control device 22 is connected via an input / output interface 25 to the brushless DC motor 5 connected to the motor driver 13 when used for the motor driver 13 to be adjusted and the electric brake 1.
  • the adjustment process shown below is not limited to the aspect which the control apparatus 22 performs mainly, For example, the microcomputer 16 of the motor driver 13 may perform. However, the adjustment process needs to be realized in a state where the brushless DC motor 5 is not loaded.
  • the processor 23 executes a computer program loaded in the memory 24 and executes adjustment processing described later.
  • the computer program loaded into the memory 24 is stored in a non-volatile storage medium such as a hard disk device or an external storage device, and the processor 23 accesses these storage media and develops them on the memory 24.
  • the processor 23 can cause the power supply circuit 17A and the inverter 17B of the motor driver 13 to operate in accordance with a predetermined pattern corresponding to the magnitude of the variable. By incrementing or decrementing this variable, the brushless DC motor 5 can be operated.
  • the rotor can have any electrical angle.
  • Step S101 When the processor 23 starts executing the computer program, the processor 23 initializes variables.
  • the motor driver 13 drives the brushless DC motor 5 to rotate the rotor 19 positioned at an arbitrary mechanical angle by 360 ° by the mechanical angle, and the rotor 19 rotates.
  • the output values output as electrical angles by the rotation angle sensor acquired during a certain period are totaled, and the average value is calculated.
  • the rotation angle sensor outputs an output value as an electrical angle by the number of pole pairs of the rotor 19.
  • the rotation angle sensor when the rotor 19 that is a quadrupole pair rotates 360 ° in mechanical angle, the rotation angle sensor outputs an output value corresponding to an electrical angle of 1440 ° (4 ⁇ 360 °).
  • the case where a rotation angle sensor outputs 360 degrees as an electrical angle is demonstrated to an example.
  • the output values are aggregated and the average value is calculated when the rotor 19 rotates in the CW direction and when the rotor 19 rotates in the CCW direction, in this processing flow, a variable for obtaining the average value in the CW direction is set.
  • step S101 the processor 23 sets the initial values of the variable “ave_angle_cw” and the variable “ave_angle_ccw” to 0 when the execution of the computer program is started.
  • Step S102 The processor 23 operates the motor driver 13 to rotate the rotor 19 of the brushless DC motor 5 in the CW direction, and the electrical angle becomes 360 ° in the sine wave alternating current output from the power supply circuit 17A and the inverter 17B. To position.
  • Step S103 The processor 23 measures the output value of the resolver 20. If the resolver 20 outputs, for example, a 10-bit signal, the resolution of the resolver 20 is 2 to the 10th power of 1024. In this case, if the mounting position of the resolver 20 is high accuracy and has no error, the rotor of the brushless DC motor 5 is 360 ° in mechanical angle / the number of pole pairs (90 if the rotor 19 is a four pole pair). When it is rotated by (°), the output value of the rotation angle sensor is incremented by 1024. In this way, the processor 23 counts the number of times the output value of the rotation angle sensor is incremented, and determines that the rotor 19 has rotated 360 degrees in the CW direction with an electrical angle by counting the predetermined number of times. .
  • Step S104 The processor 23 divides the measured output value of the resolver 20 by the number of pole pairs. If the brushless DC motor 5 is, for example, 8 poles (4 pole pairs), the measured output value of the resolver 20 is divided by 4. The number of pole pairs is preset in the control device 22 based on the specifications of the brushless DC motor 5.
  • Step S105 The processor 23 adds the calculated value obtained by dividing the output value of the resolver 20 by the number of pole pairs to the variable “ave_angle_cw”.
  • Step S106 The processor 23 determines whether or not the processing from step S102 to step S105 has been repeated for the number of pole pairs. The determination is made based on, for example, whether or not the value of a variable that is incremented when the series of processing from step S102 to step S105 is executed exceeds the number of pole pairs.
  • the rotor of the brushless DC motor 5 makes one round.
  • Step S107 If the determination result in Step S106 is affirmative, the processor 23 turns the rotor of the brushless DC motor 5 in the CW direction to a position where the electrical angle becomes 360 °.
  • the processing from step S108 to step S111 described later is repeated by the number of pole pairs.
  • the same number of sampling data obtained is obtained (see FIG. 12).
  • the processor 23 then executes the same processing as in steps S102 to S106 while rotating the rotor of the brushless DC motor 5 in the CCW direction, and determines the final value of the variable “ave_angle_ccw”.
  • the processor 23 operates the motor driver 13 to rotate the rotor of the brushless DC motor 5 in the CCW direction to a position where the electrical angle is 360 ° (step S108).
  • the processor 23 measures the output value of the resolver 20 (step S109).
  • the processor 23 divides the measured output value of the resolver 20 by the number of pole pairs (step S110).
  • the processor 23 adds a calculated value obtained by dividing the output value of the resolver 20 by the number of pole pairs to the variable “ave_angle_ccw” (step S111).
  • the processor 23 determines whether or not the processing from step S108 to step S111 has been repeated by the number of pole pairs (step S112).
  • Step S113 If the determination result in Step S112 is affirmative, the final value of the variable “ave_angle_ccw” is determined by repeating the processing from Step S108 to Step S111 by the number of pole pairs. Become. Therefore, if the determination result in step S112 is affirmative, the processor 23 sets the offset value when rotating the value of the variable “ave_angle_cw” in the CW direction and the value when rotating the value of the variable “ave_angle_ccw” in the CCW direction.
  • the offset value is stored in a nonvolatile storage area of the motor driver 13 (for example, EEPROM (ElectricallyrErasable Programmable Read-Only-Memory)).
  • the processor 23 executes the above series of processing, as shown in FIG. 12, when the rotor of the brushless DC motor 5 is rotated in the CW direction, When four are rotated in the CCW direction, a total of eight data are sampled.
  • FIG. 12 although plotted at a point of (electrical angle 1800 [deg], rotor revolution 5th) and a point (mechanical angle 450 [deg], rotor revolution 5th), These points are not sampled.
  • the fifth rotation speed of the rotor is the rotation of the rotor generated by executing the process of step S107.
  • the value of the variable “ave_angle_cw” stored in the storage area of the motor driver 13 is the phase offset value of the sine wave alternating current generated by the power supply circuit 17A and the inverter 17B when the brushless DC motor 5 is rotated in the CW direction.
  • the value of the variable “ave_angle_ccw” stored in the storage area is referred to as the phase offset value of the sine wave alternating current generated by the power supply circuit 17A and the inverter 17B when the brushless DC motor 5 is rotated in the CCW direction.
  • the motor driver 13 with the offset value set in this way is used in the electric brake 1, for example, the error in the rotational speed is reduced as shown in FIGS. 13 (A) and 13 (B).
  • the difference in responsiveness and overshoot seen in FIG. 9 are eliminated, and the braking force error between the LH side and the RH side that occurs when the brake pedal 27 is depressed is reduced. That is, when the brake pedal 27 is depressed, the brake request value having the same value is sent from the ECU 15 to the motor driver 13 of each wheel, but the error in the rotational speed of the brushless DC motor 5 due to the error in the mounting position of the resolver 20 occurs.
  • the brushless DC motor 5 is not limited to the application to the electric brake 1. Although it is suitable when used in an environment where it is desired that the error in the rotational speed is small among a plurality of motors, such as the electric brake 1, it is used for adjusting the advance angle of the brushless DC motor 5 used alone. May be.
  • the present invention is not limited to a mode in which the output value detected by the rotation angle sensor is acquired by the number of pole pairs of the brushless DC motor 5 when the rotor 19 makes one rotation.
  • the output value that the rotation angle sensor detects as an electrical angle according to the rotation angle of the rotor 19 The form which acquires logarithmically and calculates the average value of the acquired output value may be sufficient.
  • a control device (22) for controlling the motor driver (13) of the brushless DC motor (5) The brushless DC motor (5) is provided with a rotation angle sensor for detecting the rotation angle of the rotor (19), The motor driver (13) drives the brushless DC motor (5) to rotate the rotor (19) a predetermined number of times from an arbitrary mechanical angle position. At this time, the rotation angle sensor is connected to the rotor (19).
  • the output value detected as an electrical angle according to the rotation angle is acquired by the number of pole pairs of the brushless DC motor (5), and the average value of the acquired output values is used as the signal of the rotation angle sensor by the motor driver (13).
  • Control device (22) of motor driver (13) of brushless DC motor (5) Based on the motor driver (13) as an offset value for adjusting the phase of the current supplied to the brushless DC motor (5)
  • Control device (22) of motor driver (13) of brushless DC motor (5) (II)
  • the control device (22) causes the motor driver (13) to perform a circuit operation when the rotor (19) makes one round with an electrical angle by the number of pole pairs.
  • the rotor (19) is rotated a predetermined number of times from an arbitrary mechanical angle position,
  • the control device (22) of the motor driver (13) of the brushless DC motor (5) according to (I).
  • the control device (22) The motor driver (13) drives the brushless DC motor (5) to rotate the rotor (19) in any one direction a predetermined number of times, and the average value acquired by the rotor (19) Set in the motor driver (13) as the offset value when rotating in one direction, The average value obtained by the motor driver (13) driving the brushless DC motor (5) to rotate the rotor (19) in any other direction a predetermined number of times, and the rotor (19) in any other case.
  • the control device (22) of the motor driver (13) of the brushless DC motor (5) according to (I) or (II).
  • the rotation angle sensor is a resolver (20) that detects a rotation angle of the rotor (19).
  • the control device (22) of the motor driver (13) of the brushless DC motor (5) according to any one of (I) to (III).
  • the brushless DC motor (5) is an electric brake motor that brakes the vehicle.
  • the control device (22) of the motor driver (13) of the brushless DC motor (5) according to any one of (I) to (IV).
  • An output value detected as an electrical angle according to the rotation angle is obtained for the number of pole pairs of the brushless DC motor (5),
  • the motor driver (13) uses the average value of the acquired output values as an offset value for adjusting the phase of the current supplied to the brushless DC motor (5) by the motor driver (13) based on the signal of the rotation angle sensor.
  • FIG. 1 A control program executed by the controller (22) of the motor driver (13) of the brushless DC motor (5), In the control device (22), The motor driver (13) drives the brushless DC motor (5) to rotate the rotor (19) a predetermined number of times from an arbitrary mechanical angle position. At this time, the rotation angle sensor is connected to the rotor (19).
  • An output value detected as an electrical angle according to the rotation angle is obtained for the number of pole pairs of the brushless DC motor (5),
  • the motor driver (13) uses the average value of the acquired output values as an offset value for adjusting the phase of the current supplied to the brushless DC motor (5) by the motor driver (13) based on the signal of the rotation angle sensor.
  • a motor driver (13) of the brushless DC motor (5) is provided with a rotation angle sensor for detecting the rotation angle of the rotor (19), The brushless DC motor (5) is driven to rotate the rotor (19) a predetermined number of times from an arbitrary mechanical angle position. At this time, the rotation angle sensor detects an electrical angle according to the rotation angle of the rotor (19). Are obtained for the number of pole pairs of the brushless DC motor (5), and the average value of the obtained output values is the current supplied to the brushless DC motor (5) based on the signal of the rotation angle sensor. Set as an offset value to adjust the phase, Motor driver (13) of brushless DC motor (5).
  • the brushless DC motor motor driver control apparatus, control method, control program, and brushless DC motor motor driver according to the present invention have the effect of suppressing variations in the rotational speed of the brushless DC motor, and the brushless DC motor. It is useful in the field of

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  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

L'invention concerne un dispositif de commande (22) pour un circuit d'attaque de moteur (16) pour un moteur CC sans balais (5) doté d'une unité de traitement (23) qui obtient le nombre de paires de pôles pour le moteur CC sans balais (5) dans la valeur de sortie d'un capteur d'angle de rotation (20) lorsqu'un rotor (19) du moteur CC sans balais (5) a été réglé à un angle électrique prédéterminé, et règle la valeur moyenne des valeurs de sortie obtenues vers le circuit d'attaque de moteur (16) en tant qu'une valeur de décalage pour moduler la phase du courant délivré au moteur CC sans balais (5) par le circuit d'attaque de moteur (16) en se basant sur un signal provenant du capteur d'angle de rotation (20).
PCT/JP2012/067340 2011-07-06 2012-07-06 Dispositif de commande pour circuit d'attaque de moteur pour moteur cc sans balais, procédé de commande, programme de commande, et circuit d'attaque de moteur pour moteur cc sans balais WO2013005835A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2011-149840 2011-07-06
JP2011149840A JP2013017349A (ja) 2011-07-06 2011-07-06 ブラシレスｄｃモータの制御回路の調整装置、調整方法、調整プログラム、及びブラシレスｄｃモータの制御回路

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WO2013005835A1 true WO2013005835A1 (fr) 2013-01-10

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WO (1) WO2013005835A1 (fr)

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Publication number Priority date Publication date Assignee Title
CN104579045B (zh) * 2014-12-26 2017-04-05 北京航天控制仪器研究所 一种基于角度传感器的无刷直流电机的换相方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006050721A (ja) * 2004-08-02 2006-02-16 Hitachi Ltd ブラシレスモータ
JP2006283822A (ja) * 2005-03-31 2006-10-19 Hitachi Ltd 電動ブレーキシステム
JP2010268673A (ja) * 2009-04-16 2010-11-25 Asmo Co Ltd ブラシレスモータ制御装置、ブラシレスモータ、及びブラシレスモータの制御方法

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006050721A (ja) * 2004-08-02 2006-02-16 Hitachi Ltd ブラシレスモータ
JP2006283822A (ja) * 2005-03-31 2006-10-19 Hitachi Ltd 電動ブレーキシステム
JP2010268673A (ja) * 2009-04-16 2010-11-25 Asmo Co Ltd ブラシレスモータ制御装置、ブラシレスモータ、及びブラシレスモータの制御方法

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