WO2013073264A1 - モータおよびモータシステム - Google Patents
モータおよびモータシステム Download PDFInfo
- Publication number
- WO2013073264A1 WO2013073264A1 PCT/JP2012/072512 JP2012072512W WO2013073264A1 WO 2013073264 A1 WO2013073264 A1 WO 2013073264A1 JP 2012072512 W JP2012072512 W JP 2012072512W WO 2013073264 A1 WO2013073264 A1 WO 2013073264A1
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- WIPO (PCT)
- Prior art keywords
- rotor
- stator
- magnetic flux
- magnetic
- motor
- Prior art date
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
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- 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
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
- H02K1/2706—Inner rotors
- H02K1/272—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis
- H02K1/274—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets
- H02K1/2753—Inner rotors the magnetisation axis of the magnets being perpendicular to the rotor axis the rotor consisting of two or more circumferentially positioned magnets the rotor consisting of magnets or groups of magnets arranged with alternating polarity
- H02K1/278—Surface mounted magnets; Inset magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K3/00—Details of windings
- H02K3/04—Windings characterised by the conductor shape, form or construction, e.g. with bar conductors
- H02K3/28—Layout of windings or of connections between windings
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
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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
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/186—Circuit arrangements for detecting position without separate position detecting elements using difference of inductance or reluctance between the phases
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Definitions
- the disclosed embodiment relates to a motor and a motor system.
- the position of the rotor is detected in order to control the rotation of the motor.
- a position detector such as an encoder.
- Patent Document 1 a technique disclosed in Patent Document 1 has been proposed. This is because the change in the inductance of the coil winding on the stator side due to the change in the rotational position of the rotor (position due to the displacement of the mechanical angle) corresponds to the change in the magnetic resistance of the magnetic pole part attached to the rotating shaft. It is a thing that makes use of.
- Patent Document 1 can only estimate the relative mechanical angle via the electrical angle. That is, in the conventional techniques including Patent Document 1, it is impossible to directly estimate the absolute mechanical angle indicating the absolute position of the rotor.
- One aspect of the embodiment has been made in view of the above, and an object thereof is to provide a motor and a motor system capable of estimating an absolute mechanical angle of a rotor.
- a motor includes a rotor having a rotor core in which a plurality of permanent magnets are provided in the circumferential direction, and a stator core around which a plurality of stator coils are wound, and the rotation A stator and a stator arranged to face each other via a predetermined air gap.
- the rotor has a configuration in which a change pattern of magnetic characteristics of the rotor core or the permanent magnet changes in a circumferential direction.
- the stator has a configuration in which a first stator coil and a second stator coil are wound around the stator core so that energization can be switched for each phase. When energization is switched to the child coil, the distribution pattern of the magnetic field formed by the stator on the inner circumference side is unique throughout the entire circumference.
- the rotational position of the rotor can be estimated with high accuracy without using an encoder.
- FIG. 1 is a block diagram illustrating a schematic configuration of a motor system according to the embodiment.
- FIG. 2 is a cross-sectional view of the rotor and stator of the motor according to the embodiment on a plane including the rotor central axis.
- FIG. 3 is a cross-sectional view of a rotor and a stator of a motor according to a comparative example on a plane perpendicular to the rotor central axis.
- FIG. 4 is a diagram illustrating an example of a mathematical model of a motor according to a comparative example.
- FIG. 1 is a block diagram illustrating a schematic configuration of a motor system according to the embodiment.
- FIG. 2 is a cross-sectional view of the rotor and stator of the motor according to the embodiment on a plane including the rotor central axis.
- FIG. 3 is a cross-sectional view of a rotor and a stator of a motor according to a comparative example on
- FIG. 5 is a diagram illustrating the names of the magnetic poles of the permanent magnets of the motor according to the comparative example and the positions corresponding to the d-axis and the q-axis.
- FIG. 6A is a diagram illustrating names and arrangements of stator coils of a motor according to a comparative example.
- FIG. 6B is a diagram illustrating connection of stator coils of a motor according to a comparative example.
- FIG. 7A is a diagram illustrating a winding direction of a stator coil of a motor according to a comparative example.
- FIG. 7B is a diagram illustrating the connection of the stator coils of the motor according to the comparative example together with the winding direction.
- FIG. 8A is a diagram illustrating a method of energizing an alternating current to a stator coil of a motor according to a comparative example.
- FIG. 8B is a diagram showing a distribution of magnetic flux generated when the energization method shown in FIG. 8A is adopted.
- FIG. 9A is a diagram showing the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the comparative example.
- FIG. 9B is a diagram illustrating the density and distribution of magnetic flux generated on the q-axis of the rotor of the motor according to the comparative example.
- FIG. 10 is a diagram showing the density and distribution of magnetic flux generated when a cylindrical core (made of laminated electromagnetic steel plates) is placed in place of the rotor of the motor according to the comparative example and an alternating current is applied to the stator coil.
- FIG. 11A is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 11B is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 12A is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 12B is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 11A is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 12B is a diagram illustrating the density and distribution of magnetic flux
- FIG. 13A is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 13B is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 13C is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- 14A is a diagram showing the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor shown in FIG. 13A.
- 14B is a diagram showing the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor shown in FIG. 13B.
- 14C is a diagram showing the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor shown in FIG. 13C.
- FIG. 13C is a diagram showing the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor shown in FIG. 13C.
- FIG. 15 is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 16 is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 17A is a diagram illustrating a modification of the embodiment.
- FIG. 17B is a diagram illustrating a modification of the embodiment.
- FIG. 18 is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 19 is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 20A is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 20B is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 21A is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 21B is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 22A is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 22B is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 22C is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 23A is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 23B is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 23C is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 24A is a diagram illustrating the density and distribution of magnetic flux generated on the q-axis of the rotor of the motor according to the embodiment.
- FIG. 24B is a diagram illustrating the density and distribution of magnetic flux generated on the q-axis of the rotor of the motor according to the embodiment.
- FIG. 24C is a diagram illustrating the density and distribution of magnetic flux generated on the q-axis of the rotor of the motor according to the embodiment.
- FIG. 25A is a diagram illustrating a modification of the embodiment.
- FIG. 25B is a diagram illustrating a modification of the embodiment.
- FIG. 26 is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 27 is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 28 is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 29 is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 30 is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 31 is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 32 is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 33 is a diagram illustrating the density and distribution of magnetic flux generated on the d-axis of the rotor of the motor according to the embodiment.
- FIG. 34A is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 34B is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 34C is a diagram illustrating an example of the rotor of the motor according to the embodiment.
- FIG. 35A is a diagram showing the density and distribution of magnetic flux generated on the d-axis of the rotor shown in FIG. 34A.
- FIG. 35B is a diagram showing the density and distribution of magnetic flux generated on the d-axis of the rotor shown in FIG. 34B.
- FIG. 35C is a diagram showing the density and distribution of magnetic flux generated on the d-axis of the rotor shown in FIG. 34C.
- FIG. 36A is a diagram illustrating an example of the stator of the motor according to the embodiment.
- FIG. 36B is a diagram illustrating an example of the stator of the motor according to the embodiment.
- FIG. 36A is a diagram illustrating an example of the stator of the motor according to the embodiment.
- FIG. 36C is a diagram illustrating an example of the stator of the motor according to the embodiment.
- FIG. 37A is a diagram showing a manner of energizing the stator shown in FIG. 36A.
- FIG. 37B is a diagram showing a manner of energizing the stator shown in FIG. 36B.
- FIG. 37C is a diagram illustrating a manner of energizing the stator illustrated in FIG. 36C.
- FIG. 38A shows a magnetic flux generated in a stator core in a case where a cylindrical core (consisting of laminated electromagnetic steel plates) is placed instead of a rotor and an alternating current is passed through the stator coil in the motor according to the embodiment of the present invention. It is a figure which shows the density and distribution of.
- FIG. 38A shows a magnetic flux generated in a stator core in a case where a cylindrical core (consisting of laminated electromagnetic steel plates) is placed instead of a rotor and an alternating current is passed through
- FIG. 38B shows the magnetic flux generated in the stator core when a cylindrical core (consisting of laminated electromagnetic steel sheets) is placed instead of the rotor and an alternating current is passed through the stator coil in the motor according to the embodiment of the present invention. It is a figure which shows the density and distribution of.
- FIG. 38C shows a magnetic flux generated in the stator core when a cylindrical core (consisting of laminated electromagnetic steel plates) is placed instead of the rotor and an alternating current is passed through the stator coil in the motor according to the embodiment of the present invention. It is a figure which shows the density and distribution of.
- FIG. 39 is a diagram illustrating a combination of a rotor and a stator of the motor according to the embodiment.
- FIG. 40A is a diagram illustrating the density and distribution of magnetic flux generated in the combination of the rotor and the stator of the motor according to the embodiment.
- FIG. 40B is a diagram illustrating the density and distribution of magnetic flux generated in the combination of the rotor and the stator of the motor according to the embodiment.
- FIG. 41 is a diagram illustrating a relationship between the absolute position of the rotor and the amplitude of the response current in the combination of the rotor and the stator of the motor according to the embodiment.
- FIG. 42 is a block diagram of an absolute position encoderless servo system showing a system state when performing absolute position detection.
- FIG. 43 is a block diagram of an absolute position encoderless servo system showing a system state when the motor is driven.
- FIG. 44 is a block diagram of an absolute position encoderless servo system according to a modification.
- FIG. 45A is an explanatory diagram showing a winding pattern during normal driving.
- FIG. 45B is an explanatory diagram showing the connection between the winding and the winding changeover switch in the winding pattern.
- FIG. 46A is an explanatory diagram showing a first winding pattern that enables absolute position detection.
- FIG. 46B is an explanatory diagram showing the connection between the winding and the winding changeover switch in the first winding pattern.
- FIG. 47A is an explanatory diagram showing a second winding pattern that enables absolute position detection.
- FIG. 47B is an explanatory diagram showing the connection between the winding and the winding changeover switch in the second winding pattern.
- FIG. 45A is an explanatory diagram showing a winding pattern during normal driving.
- FIG. 45B is an explanatory diagram showing the connection between the winding and the winding changeover switch in the winding pattern.
- FIG. 48 is an explanatory diagram of a motor according to the second embodiment as viewed in a vertical cross section.
- FIG. 49 is a schematic diagram of a motor according to the second embodiment viewed from the front.
- FIG. 50 is an explanatory diagram illustrating a rotor structure of a motor according to the second embodiment.
- FIG. 51A is a schematic diagram illustrating the stator of the motor according to the second embodiment.
- FIG. 51B is an explanatory diagram illustrating a stator structure of the motor according to the second embodiment.
- FIG. 52 is a schematic diagram of the motor as viewed from the front when the switch is switched.
- FIG. 53 is an explanatory diagram showing the extreme value of the inductance value that appears in a half electrical angle (mechanical angle 45 degrees).
- FIG. 54 is an explanatory diagram illustrating a procedure for estimating the mechanical angle of the motor according to the second embodiment.
- FIG. 55A is an explanatory diagram showing the connection of the first stator coil in the second embodiment.
- FIG. 55B is an explanatory diagram showing the connection of the second stator coil in the second embodiment.
- FIG. 56 is an explanatory diagram illustrating a rotor structure according to Modification 1 of the second embodiment.
- FIG. 57 is an explanatory diagram illustrating a rotor structure according to Modification 2 of the second embodiment.
- FIG. 58 is an explanatory diagram illustrating a rotor structure according to Modification 3 of the second embodiment.
- FIG. 59 is an explanatory diagram illustrating a rotor structure according to Modification 4 of the second embodiment.
- FIG. 60 is an explanatory diagram of a motor according to the third embodiment as viewed in a vertical cross section.
- FIG. 61 is a schematic diagram of a motor according to the third embodiment as viewed from the front.
- FIG. 62 is an explanatory diagram showing a rotor structure of a motor according to the third embodiment.
- FIG. 63A is a schematic diagram illustrating the stator of the motor according to the third embodiment.
- FIG. 63B is an explanatory diagram illustrating a stator structure of the motor according to the third embodiment.
- FIG. 64 is an explanatory diagram illustrating a procedure for estimating the mechanical angle of the motor according to the third embodiment.
- FIG. 65 is an explanatory diagram showing an inductance distribution with respect to the mechanical angle of the motor according to the third embodiment.
- FIG. 66A is a schematic diagram illustrating a stator according to Modification 1 of the third embodiment.
- FIG. 66B is an explanatory diagram illustrating a stator structure according to Modification 1 of the third embodiment.
- FIG. 67A is a schematic diagram illustrating a stator according to Modification 2 of the third embodiment.
- FIG. 67B is an explanatory diagram illustrating a stator structure according to Modification 2 of the third embodiment.
- FIG. 68A is an explanatory diagram illustrating connection of the first stator coil according to the third embodiment.
- FIG. 68B is an explanatory diagram illustrating the connection of the second stator coil according to the third embodiment.
- FIG. 69A is an explanatory diagram showing the connection of the first stator coil according to the first modification.
- FIG. 69A is an explanatory diagram showing the connection of the first stator coil according to the first modification.
- FIG. 70A is an explanatory diagram showing a connection of the first stator coil according to the second modification.
- FIG. 70B is an explanatory diagram illustrating the connection of the second stator coil according to the second modification.
- FIG. 1 is a block diagram showing a schematic configuration of a motor system according to the embodiment
- FIG. 2 is a cross-sectional view in a plane including a rotor central axis of the motor according to the embodiment.
- the motor system 1 includes a motor 10 and a control device 20.
- the control device 20 includes a rotor control unit 21, an inductance measurement unit 22, a storage unit 23, and a mechanical angle estimation unit 24 which will be described later.
- symbol Ax indicates the axis (center) of the rotating shaft 11, that is, the motor central axis.
- the motor 10 is provided with a stator coil changeover switch SW (hereinafter simply referred to as “switch SW”), and this switch SW is electrically connected to the control device 20.
- the switch SW is switched by a command from the control device 20.
- the motor 10 includes a rotor 17 having a permanent magnet 18 and a rotor core 17a, which are not shown here, and a plurality of fixed coils composed of a first stator coil 151 and a second stator coil 152, which will be described later. It has a child coil 15 and a stator core 16a, and includes a rotor 16 and a stator 16 arranged to face each other via an air gap.
- the rotor 17 is rotatably held on the brackets 13A and 13B by bearings 14A and 14B, the stator 16 is held on the outer periphery thereof by the frame 12, and the brackets 13A and 13B are fastened to the frame 12.
- the rotor 17 has a total number of magnetic poles (number of magnetic poles) of 4 or more on the surface facing the air gap.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component having a mechanical angle of 360 degrees as one cycle. That is, when a magnetic flux is generated at a position corresponding to the d-axis or q-axis of the rotor 17 by a magnetomotive force having a certain size, the air gap in the range of a mechanical angle of 180 degrees in the circumferential direction of the rotor 17. The magnetic flux density inside becomes higher than the magnetic flux density in the air gap in the other 180 degree range.
- stator coils 15 (hereinafter, referred to as “second stator coils”) may be represented. ) Only as a detection coil.
- the magnetic flux density distribution waveform in the air gap generated by the detection coil (second stator coil) has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. That is, when a cylindrical core 170 (consisting of laminated electromagnetic steel plates) is placed so as to face the stator 16 instead of the rotor 17, and an alternating current is passed through the second stator coil that is a detection coil.
- the magnetic flux density in the air gap in the range of a mechanical angle of 180 degrees in the circumferential direction of the stator core 16a is higher than the magnetic flux density in the air gap in the other 180 degrees range.
- FIG. 3 is a cross-sectional view of the rotor 100 and the stator 200 of the motor of the comparative example on a plane perpendicular to the rotor central axis.
- a representative example is an SPM (surface magnet) type motor in which the number of magnetic poles of the rotor 100 is 6, the number of coils of the stator 200 is 9, and the coil form is concentrated winding.
- the rotor 100 of the motor of the comparative example is composed of a rotor core 110 made of laminated electromagnetic steel plates or machine structural carbon steel cut pieces, and a permanent magnet mounted on the surface of the rotor core 110 facing the air gap. 120.
- the permanent magnet 120 is made of a sintered material containing a rare earth element, a resin mixed material containing a rare earth element, a ferrite magnet, and the like, and the direction of magnetization is substantially the radial direction of the rotor 100.
- a model in the dq coordinate system is known as a general representative example of a mathematical model of a motor.
- the dq coordinate system model represents a motor characteristic equation in a three-phase coordinate system (stationary coordinate system indicated by three coordinate axes of a U-phase axis, a V-phase axis, and a W-phase axis). It is mathematically derived by converting into (coordinate system rotating with the rotor indicated by the two coordinate axes of d-axis and q-axis).
- FIG. 5 shows the positions of the d axis and the q axis in the actual rotor 100.
- the number of pole pairs is 3 (one half of the number of magnetic poles 6)
- three pole pairs passing through the center of the N pole of the permanent magnet 120 with respect to each of the d axis and the q axis in the dq coordinate system.
- the names are given as d1 axis, d2 axis, d3 axis, q1 axis, q2 axis, q3 axis in the clockwise direction.
- the stator 200 of the motor of the comparative example is wound around the stator core 210 having the teeth portions 211 provided at substantially equal intervals in the circumferential direction and the teeth portion 211 by a concentrated winding method.
- the stator coil 220 is made up of.
- Stator core 210 is made of laminated electromagnetic steel sheets or the like.
- a total of nine stator coils 220 are assigned to three phases, ie, U phase, V phase, and W phase, as shown in FIGS. 6A and 6B, when the rotor 100 rotates counterclockwise. .
- the winding direction of each stator coil 220 is set as shown in FIGS. 7A and 7B.
- a circled cross symbol indicates a direction from top to bottom with respect to the paper surface
- a circled black circle symbol indicates a direction from bottom to top with respect to the paper surface.
- the stator coils 220 are connected to each other as shown in FIG. 7B, and constitute a three-phase star connection as a whole.
- FIG. 8A is a diagram illustrating a method of applying an alternating current to the stator coil 220 of the motor according to the comparative example
- FIG. 8B is a diagram illustrating a distribution of magnetic flux generated at that time.
- FIG. 8A when the V-phase terminal and the W-phase terminal of the stator coil 220 are directly connected, and an alternating current is passed from the directly connected terminal to the U-phase terminal, a magnetic flux is obtained as shown in FIG. 8B. Occurs.
- FIG. 8B shows the distribution of the magnetic flux generated by the alternating current at a certain time, and shows the distribution at a certain moment of the magnetic flux alternating according to the change of the current.
- the direction of the arrow indicates the direction of the magnetic flux (direction from the N pole to the S pole).
- the rotor 100 if the rotor 100 is installed so that the d1 axis of the rotor 100 shown in FIG. 5 coincides with the center of the U1 stator coil in FIG. 8B, it corresponds to the d axis of the rotor 100.
- Magnetic flux can be generated at the position where Further, when the rotor 100 is installed so that the q1 axis of the rotor 100 shown in FIG. 5 coincides with the center of the U1 stator coil 220 in FIG. The magnetic flux can be generated at a position corresponding to the q axis.
- 9A and 9B show the distribution of magnetic flux when the magnetic flux is generated at the d-axis and q-axis positions of the rotor 100 of the comparative example by the above-described method.
- the direction of the arrow indicates the direction of the magnetic flux (direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher. Since the electric characteristics (for example, the conductivity of the permanent magnet) of the rotor 100 of the comparative example are constant and uniform in the circumferential direction, if the magnetomotive force is fixed to a certain magnitude, Since magnetic fluxes having the same density are generated for any of the three real d-axes, the thicknesses of the arrow lines are all the same.
- the distribution of magnetic flux is rotationally symmetric in the circumferential direction of the rotor 100 (the period is a mechanical angle of 120 degrees in this example), and the magnetic flux density in a certain mechanical angle range of 180 degrees is in the other mechanical angle range of 180 degrees. It will never be higher than the magnetic flux density. That is, the magnetic flux density distribution waveform in the air gap generated by the rotor 100 does not have a magnetic flux density component having a mechanical angle of 360 degrees as one cycle.
- FIG. 10 shows a case where a cylindrical core (made of laminated electromagnetic steel plates) 300 is placed instead of the rotor 100 and an alternating current is passed from the U-phase terminal of the stator coil 220 toward the V-phase terminal and the W-phase terminal. Shows the distribution of magnetic flux.
- the direction of the arrow indicates the direction of the magnetic flux (direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the electrical characteristics (for example, conductivity) of the stator core 210 are uniform in the circumferential direction, and the number of turns of the stator coil 220 is the same.
- the distribution is rotationally symmetric in the circumferential direction of the stator 200 (the period is a mechanical angle of 120 degrees in this example), and the magnetic flux density in a certain mechanical angle range of 180 degrees is higher than the magnetic flux density in the other mechanical angle range of 180 degrees. It wo n’t be expensive. That is, the magnetic flux density distribution waveform in the air gap generated by the stator 200 does not have a magnetic flux density component having a mechanical angle of 360 degrees as one cycle.
- the motor of the comparative example detects the position and speed of the rotor 100 using the position sensor, the magnetic flux distribution is rotationally symmetric as described above, and the rotor 100 and the stator 200. Even if both of them do not have a magnetic flux density component in the air gap with a mechanical angle of 360 degrees as one cycle, no significant problem occurs.
- a permanent magnet 18 having six poles is provided with a cylindrical rotor core 17a provided in the circumferential direction.
- the rotor 17 has six magnetic poles
- the stator 16 has nine coils, and a coil configuration. Shows a concentrated winding motor as a representative example.
- the rotor 17 is configured so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component having a mechanical angle of 360 degrees as one cycle.
- the conductivity is different for each range of magnetic poles. That is, as shown by the density of points in FIGS. 11A and 11B, the conductivity of each magnetic pole from the magnetic pole N1 to the magnetic pole S3 is distributed with a gradient in the range of 0 to 360 degrees of the mechanical angle. Yes.
- a region with a high point density is a range with a high conductivity
- a region with a low point density is a range with a low conductivity.
- FIG. 11A shows a rotor 17 in which six magnetic poles N1, S1, N2, S2, N3, and S3 are sequentially formed on a ring-shaped permanent magnet 18, and FIG. 11B shows N1, S1 that are independently formed.
- N2, S2, N3, S3 shows a rotor 17 in which a six-pole permanent magnet 18 is provided on a rotor core 17a.
- the density and distribution of the magnetic flux generated in the rotor 17 of this embodiment are as follows for each magnetic pole from the magnetic pole N1 to the magnetic pole S3. 12A and 12B according to the difference in conductivity. 12A and 12B, the direction of the arrow indicates the direction of the magnetic flux (the direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher. As the electrical conductivity of the permanent magnet 18 increases, the eddy current generated in the permanent magnet 18 with respect to the alternating current applied to the d-axis increases, so the density of magnetic flux is lower.
- the magnetic flux density differs for each magnetic pole as described above, there is a difference in the magnetic flux density generated on the three real d-axes. That is, the magnetic flux distribution is no longer rotationally symmetric in the circumferential direction of the rotor 17, and the magnetic flux density in a range of a certain mechanical angle of 180 degrees (below the rotor 17 in FIGS. 12A and 12B) is another mechanical angle of 180 degrees. It becomes higher than the magnetic flux density in the range.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- the rotor 17 has a permanent magnet so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the thickness 18 (the length in the radial direction) is different for each magnetic pole range. That is, as shown in FIGS. 13A to 13C, the thickness of the permanent magnet 18 in each of the magnetic poles from the magnetic pole N1 to the magnetic pole S3 is distributed with a gradient in the range of 0 to 360 degrees of the mechanical angle. .
- FIGS. 14A, 14B, and 14C When an alternating current is applied to the position corresponding to the d-axis of the rotor 17 shown in FIGS. 13A, 13B, and 13C, the density and distribution of the magnetic flux generated in the rotor 17 of this embodiment are shown in FIGS. 14A, 14B, and 14C.
- the direction of the arrow indicates the direction of the magnetic flux (the direction from the N pole to the S pole), and the thickness of the arrow line increases as the magnetic flux density increases.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in the embodiment has a magnetic flux density component having a mechanical angle of 360 degrees as one cycle. 16 and the control method can be used to detect the absolute position of the rotor 17.
- the rotor 17 has a permanent magnet so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the electrical conductivity of the rotor core 17a provided on the inner diameter side of 18 differs depending on the range of the magnetic poles. That is, as shown by the density of points in FIG. 15, the conductivity of the rotor core 17a in each magnetic pole from the magnetic pole N1 to the magnetic pole S3 is distributed with a gradient in the range of 0 to 360 degrees of the mechanical angle. is doing.
- a region with a high point density is a range with a high conductivity
- a region with a low point density is a range with a low conductivity.
- the density and distribution of magnetic flux generated in the rotor 17 of the present embodiment is such that the rotor in each magnetic pole from the magnetic pole N1 to the magnetic pole S3.
- the direction of the arrow indicates the direction of the magnetic flux (direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the magnetic flux density differs for each magnetic pole as described above, there is a difference in the magnetic flux density generated on the three real d-axes.
- the distribution of magnetic flux is no longer rotationally symmetric in the circumferential direction of the rotor 17, and the magnetic flux density in a certain mechanical angle range of 180 degrees (below the rotor 17 in FIG. 16) is in the other mechanical angle range of 180 degrees. It becomes higher than the magnetic flux density.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- FIG. 17A and 17B show an example in which two of the above-described embodiments are applied simultaneously. That is, the conductivity of the permanent magnet 18 differs for each magnetic pole range, and the thickness (the radial length) of the permanent magnet 18 differs for each magnetic pole range. It is apparent from the above logic that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle even when this modification is applied. It is.
- FIG. 17A shows a structure in which ring-shaped permanent magnets 18 whose thickness (the length in the radial direction) is gradually changed in the range of 180 degrees are provided around the rotor core 17a, and FIG. A permanent magnet 18 having a different (radial length) is provided around the rotor core 17a.
- the installation method of the permanent magnet 18 to the rotor 17 is a surface magnet type (SPM type), but the installation method of the permanent magnet 18 is an inset type or an embedded magnet based on the same considerations.
- An embodiment in the case of a type (IPM type) can be easily devised. Examples are given below. 18 to 27 show an inset type, and FIGS. 28 to 35C show an embedded magnet type.
- the rotor 17 is configured so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component having a mechanical angle of 360 degrees as one cycle.
- the conductivity is different for each range of magnetic poles. That is, as shown by the density of dots in FIG. 18, the conductivity of each magnetic pole from the magnetic pole N1 to the magnetic pole S3 is distributed with a gradient in the range of 0 to 360 degrees of the mechanical angle.
- a region with a high point density is a range with a high conductivity
- a region with a low point density is a range with a low conductivity.
- the density and distribution of the magnetic flux generated in the rotor 17 of this embodiment is determined by the conductivity of each magnetic pole from the magnetic pole N1 to the magnetic pole S3.
- the direction of the arrow indicates the direction of the magnetic flux (direction from the N pole toward the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the electrical conductivity of the permanent magnet 18 increases, the eddy current generated in the permanent magnet 18 with respect to the alternating current applied to the d-axis increases, so the density of magnetic flux is lower.
- the magnetic flux density differs for each magnetic pole as described above, there is a difference in the magnetic flux density generated on the three real d-axes. That is, the distribution of magnetic flux is no longer rotationally symmetric in the circumferential direction of the rotor 17, and the magnetic flux density in a certain mechanical angle range of 180 degrees (below the rotor 17 in FIG. 19) is in the other mechanical angle range of 180 degrees. It becomes higher than the magnetic flux density.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- the rotor 17 has a permanent magnet so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the thickness 18 (the length in the radial direction) is different for each magnetic pole range. That is, as shown in FIGS. 20A and 20B, the thickness of the permanent magnet 18 in each magnetic pole from the magnetic pole N1 to the magnetic pole S3 is distributed with a gradient in the range of 0 to 360 degrees of the mechanical angle. .
- FIG. 20A shows S1 and S3, N2 and N3, and the rotor 17 gradually decreasing in steps from N1 where the thickness (the length in the radial direction) of the permanent magnet 18 is maximum to S2 where the permanent magnet 18 is minimum.
- FIG. 20B uses a left-right asymmetrical permanent magnet 18 in which the thickness of S1 and S3, N2 and N3 itself gradually changes smoothly from N1 having the maximum thickness (radial length) to S2 having the minimum thickness.
- the rotor 17 was shown.
- FIGS. 21A and 21B When an alternating current is applied to a position corresponding to the d-axis of the rotor 17 shown in FIGS. 20A and 20B, the density and distribution of magnetic flux generated in the rotor 17 of this embodiment are as shown in FIGS. 21A and 21B.
- the direction of the arrow indicates the direction of the magnetic flux (direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- the rotor 17 has magnetic anisotropy by paying attention to the magnetic flux generated at the position corresponding to the d-axis of the rotor 17, but it corresponds to the q-axis of the rotor 17.
- An embodiment in which the rotor 17 has magnetic anisotropy by paying attention to the magnetic flux generated at the position can be easily devised. Examples are given below.
- the rotor 17 includes a rotor core 17a such that a magnetic flux density distribution waveform in an air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the salient poles 17b have different heights (lengths in the radial direction) in the circumferential direction. That is, as shown in FIGS. 22A, 22B, and 22C, the heights of the six salient poles 17b are distributed with a gradient in the range of 0 to 360 degrees of the mechanical angle.
- FIGS. 23A, B, and C When an alternating current is applied to the position corresponding to the d-axis of the rotor 17 shown in FIGS. 22A, 22B, and 22C, the density and distribution of magnetic flux generated in the rotor 17 of this embodiment are as shown in FIGS. become.
- the direction of the arrow indicates the direction of the magnetic flux (the direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the smaller the salient pole 17b of the rotor core 17a the greater the magnetic resistance, and the lower the magnetic flux density.
- the greater the height of the salient pole 17b of the rotor core 17a the smaller the magnetic resistance, and thus the higher the magnetic flux density.
- the height of the salient pole 17b of the rotor core 17a differs for each magnetic pole as described above, a difference occurs in the density of magnetic flux generated on the three real d-axes. That is, the distribution of magnetic flux is not rotationally symmetric in the circumferential direction of the rotor 17, and the magnetic flux density in a range of a certain mechanical angle of 180 degrees (below the rotor 17 in FIGS. 23A, B, and C) is the other mechanical angle 180. It becomes higher than the magnetic flux density in the range of degrees.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- FIGS. 24A, 24B, and 24C the density and distribution of magnetic flux generated in the rotor 17 of this embodiment are shown in FIGS.
- the direction of the arrow indicates the direction of the magnetic flux (the direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the greater the height of the salient pole 17b of the rotor core 17a the smaller the magnetic resistance, and thus the higher the magnetic flux density.
- the height of the salient pole 17b of the rotor core 17a differs for each magnetic pole as described above, a difference occurs in the density of magnetic flux generated on the three real q axes. That is, the distribution of magnetic flux is no longer rotationally symmetric in the circumferential direction of the rotor 17, and the magnetic flux density in a range of a mechanical angle of 180 degrees (below the rotor 17 in FIGS. 24A, B, and C) is the other mechanical angle 180. It becomes higher than the magnetic flux density in the range of degrees.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- 25A and 25B show an example in which two of the above-described embodiments are applied simultaneously.
- This is an example in which the conductivity of the permanent magnet 18 is different for each range of magnetic poles, and the salient poles 17b of the rotor core 17a are different in the circumferential direction.
- the conductivity of the permanent magnet 18 differs for each range of the magnetic poles, and the thickness (the length in the radial direction) of the permanent magnet 18 varies for each range of the magnetic poles.
- the height of the pole 17b is different in the circumferential direction.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle even when this modification is applied. It is. Note that the rotor 17 shown in FIG. 25B uses the permanent magnet 18 having the shape shown in FIG. 20B.
- the rotor 17 has a permanent magnet so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the electrical conductivity of the rotor core 17a provided on the inner diameter side of 18 differs depending on the range of the magnetic poles. That is, as shown by the density of points in FIG. 26, the conductivity of the rotor core 17a at each magnetic pole from the magnetic pole N1 to the magnetic pole S3 is distributed with a gradient in the range of 0 to 360 degrees of the mechanical angle. is doing.
- a region with a high point density is a range with a high conductivity
- a region with a low point density is a range with a low conductivity.
- the density and distribution of magnetic flux generated in the rotor 17 of the present embodiment is the rotor in each magnetic pole from the magnetic pole N1 to the magnetic pole S3.
- the direction of the arrow indicates the direction of the magnetic flux (direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the magnetic flux density differs for each magnetic pole as described above, there is a difference in the magnetic flux density generated on the three real d-axes.
- the distribution of magnetic flux is not rotationally symmetric in the circumferential direction of the rotor 17, and the magnetic flux density in a certain mechanical angle range of 180 degrees (below the rotor 17 in FIG. 27) is in the other mechanical angle range of 180 degrees. It becomes higher than the magnetic flux density.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- the rotor 17 has a permanent magnet so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the electrical conductivity of 18 differs for each magnetic pole range. That is, as shown by the density of dots in FIG. 28, the electrical conductivity of each magnetic pole from the magnetic pole N1 to the magnetic pole S3 is distributed with a gradient in the range of 0 to 360 degrees of the mechanical angle.
- the region where the point density is high is a range where the conductivity is high
- the region where the point density is low is a range where the conductivity is low.
- the rotor 17 shown in FIG. 35C including FIG. 28 is of the embedded magnet type, and the permanent magnet 18 is provided in the magnet slot 17d which is a magnet arrangement hole formed in the rotor core 17a. Yes.
- the density and distribution of the magnetic flux generated in the rotor 17 of this embodiment is the conductivity of each magnetic pole from the magnetic pole N1 to the magnetic pole S3.
- the direction of the arrow indicates the direction of the magnetic flux (direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the electrical conductivity of the permanent magnet 18 increases, the eddy current generated in the permanent magnet 18 with respect to the alternating current applied to the d-axis increases, so the density of magnetic flux is lower.
- the distribution of magnetic flux is not rotationally symmetric in the circumferential direction of the rotor 17, and the magnetic flux density in a range of a certain mechanical angle of 180 degrees (below the rotor 17 in FIG. 29) is in the range of another mechanical angle of 180 degrees. It becomes higher than the magnetic flux density.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- the rotor 17 has a permanent magnet so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the thickness 18 (the length in the radial direction) is different for each magnetic pole range. That is, as shown in FIG. 30, the thickness of the permanent magnet 18 in each of the magnetic poles from the magnetic pole N1 to the magnetic pole S3 is distributed with a gradient in the range of 0 to 360 degrees of the mechanical angle. In the rotor 17 shown in FIG. 30, the thickness (the length in the radial direction) of the permanent magnet 18 is appropriately changed.
- the density and distribution of magnetic flux generated in the rotor 17 of this embodiment is as shown in FIG.
- the direction of the arrow indicates the direction of the magnetic flux (direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- the rotor 17 has a permanent magnet so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the electrical conductivity of the rotor core 17a provided on the inner diameter side of 18 differs depending on the range of the magnetic poles. That is, as shown by the density of points in FIG. 32, the conductivity of the rotor core 17a in each magnetic pole from the magnetic pole N1 to the magnetic pole S3 is distributed with a gradient in the range of 0 to 360 degrees of the mechanical angle. is doing.
- a region with high dot density is a range with high conductivity
- a region with low dot density is a range with low conductivity.
- the density and distribution of magnetic flux generated in the rotor 17 of the present embodiment is such that the rotor in each magnetic pole from the magnetic pole N1 to the magnetic pole S3.
- FIG. 33 according to the difference in the conductivity of the core 17a.
- the direction of the arrow indicates the direction of the magnetic flux (direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the magnetic flux density differs for each magnetic pole as described above, there is a difference in the magnetic flux density generated on the three real d-axes.
- the distribution of magnetic flux is no longer rotationally symmetric in the circumferential direction of the rotor 17, and the magnetic flux density in a certain mechanical angle range of 180 degrees (below the rotor 17 in FIG. 33) is in the other mechanical angle range of 180 degrees. It becomes higher than the magnetic flux density.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- the rotor 17 is configured so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the shape of the core 17a differs depending on the magnetic pole range. That is, as shown in FIGS. 34A, B, and C, the shape of the rotor core 17a in each of the magnetic poles from the magnetic pole N1 to the magnetic pole S3 is different by only one magnetic pole in the range of the mechanical angle from 0 degrees to 360 degrees. Or distributed with some regular change.
- FIG. 34A, B, and C the shape of the rotor core 17a in each of the magnetic poles from the magnetic pole N1 to the magnetic pole S3 is different by only one magnetic pole in the range of the mechanical angle from 0 degrees to 360 degrees. Or distributed with some regular change.
- FIG. 35A shows the rotor 17 installed by changing the depth of the magnet slot 17d and changing the distance between the surface facing the air gap of the rotor core 17a and the permanent magnet 18, and
- FIG. 35B shows the rotor.
- FIG. 35C shows the rotor 17 having a circumferential surface centered on the eccentric shaft 171 so that the outer diameter of the core 17a gradually changes.
- FIG. The rotor 17 is shown by changing the length 172.
- the density and distribution of the magnetic flux generated in the rotor 17 of this embodiment is different from the magnetic pole N1 to the magnetic pole S3.
- FIGS. 35A, 35B, and 35C depending on the difference in the shape of the rotor core 17a in the magnetic poles.
- the direction of the arrow indicates the direction of the magnetic flux (the direction from the N pole to the S pole), and the thickness of the arrow line increases as the magnetic flux density increases.
- the larger the outer diameter of the rotor core 17a the smaller the magnetic resistance, and thus the higher the magnetic flux density.
- the magnetic flux density distribution waveform in the air gap generated by the rotor 17 in one embodiment of the present invention has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle. Is used in combination with a stator 16 and a control method described later, the absolute position of the rotor 17 can be detected.
- the stator 16 in one embodiment of the present invention energizes a part of the nine stator coils 15 in total only while executing the absolute position detection process of the rotor 17. That is, as shown in FIGS. 36A, B, and C and FIGS. 37A, B, and C, only a part of the stator coils 15 out of a total of nine stator coils 15 are used as detection coils (second stators). Coil). Here, in FIG. 36, the hatched area is the detection coil.
- FIGS. 38A, B, and C a cylindrical core 170 (consisting of laminated electromagnetic steel plates) is placed instead of the rotor 17 with respect to the stator 16, and the U-phase terminal of the stator coil 15 to the V-phase terminal and W
- the distribution of the magnetic flux when an alternating current is applied toward the phase terminal is as shown in FIGS.
- the configuration of the electric circuit in this case is as shown in FIGS.
- the direction of the arrow indicates the direction of the magnetic flux (the direction from the N pole to the S pole), and the thickness of the arrow line is drawn thicker as the magnetic flux density is higher.
- the magnetic flux density is distributed with a gradient in the circumferential direction as described above. That is, the distribution of magnetic flux is no longer rotationally symmetric in the circumferential direction of the stator 16, and the magnetic flux density in a range of a certain mechanical angle of 180 degrees (one side divided by a broken line in FIGS. 38A, B, and C) It becomes higher than the magnetic flux density in the range of 180 degrees.
- the magnetic flux density distribution waveform in the air gap generated by the stator 16 has a magnetic flux density component having a mechanical angle of 360 degrees as one cycle. Is used in combination with the rotor 17 and the control method described above, the absolute position of the rotor 17 can be detected.
- FIG. 39 shows an example of a combination of the rotor 17 and the stator 16.
- the rotor 17 is an inset type and is permanent so that the magnetic flux density distribution waveform in the air gap generated by the rotor 17 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the thickness of the magnet 18 (the length in the radial direction) varies depending on the range of the magnetic poles, and the stator 16 has a magnetic flux density distribution waveform in the air gap generated by the stator 16 of a mechanical angle of 360 degrees. While the detection processing of the absolute position of the rotor 17 is executed so as to have a magnetic flux density component as a period, some of the stator coils 15 (a hatched portion in FIG.
- FIG. 40A shows the distribution of magnetic flux when the d1 axis of the rotor 17 shown in FIG. 20A is located at the center of the U1 tooth 16b of the stator 16, and FIG. 40B is shown in FIGS. 22A, 22B, and 22C. This is a magnetic flux distribution when the d1 axis of the rotor 17 is at a position 180 degrees opposite to the position of FIG. 40A in terms of mechanical angle.
- the magnetic flux distributions in FIGS. 40A and 40B are determined by the mutual influences of the magnetic anisotropy of the rotor 17 and the magnetic anisotropy of the stator 16 described above. Depending on the distribution. Moreover, since the magnetic flux density distribution waveform in the air gap generated by the rotor 17 and the stator 16 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle, the magnetic flux density relative to the absolute position of the rotor 17 is The change in distribution also has a magnetic flux component with a mechanical angle of 360 degrees as one cycle.
- the change in the magnetic flux distribution relative to the absolute position of the rotor 17 can be indirectly measured by measuring the amplitude of the response current when a voltage having a specific frequency is applied to the stator coil 15. . That is, when a graph is drawn with the horizontal axis representing the absolute position ⁇ abs of the rotor 17 and the vertical axis representing the amplitude Im of the response current, the relationship shown in FIG. 41 is shown. It is practically possible to estimate the position ⁇ abs.
- FIG. 42 and 43 are block diagrams of the absolute position encoderless servo system (motor system 1).
- FIG. 42 shows a system state when absolute position detection is performed
- FIG. 43 shows a system state when motor driving is performed.
- the motor system 1 includes a superimposed voltage command unit 27, and the control device 20 (FIG. 1) first has a high frequency voltage having a predetermined frequency and amplitude by the superimposed voltage command unit 27 when detecting the absolute position. Is given as a target of the inverter device 28. Moreover, the superimposed voltage command unit 27 can freely change the superposition direction of the high-frequency voltage from 0 to 360 [deg] in electrical angle.
- the inverter device 28 applies the high-frequency voltage waveform obtained from the superimposed voltage command unit 27 to the above-described motor 10 that can detect the absolute position as PWM.
- the winding pattern at the time of absolute position detection has current and inductance obtained when voltage is superimposed on the magnetic pole position. It depends on the rotor angle.
- the current and inductance obtained when voltage is superimposed on the magnetic pole position are constant.
- the table 23a is stored in a storage unit 23 (see FIG. 1) configured by a storage device such as a ROM, and magnetic poles corresponding to the rotor angle (angle of the rotor 17) in the superimposed signal of the motor system 1. Changes in the position current value are tabulated as numerical data.
- the current mechanical angle is estimated by comparing the table 23a with the estimated current value.
- the feedforward position controller 25 includes a V / F control circuit, a pull-in control circuit, and the like, and can rotate the rotor 17 of the motor 10 with a certain degree of accuracy.
- the following steps (1) to (3) are repeated to estimate the machine angle. That is, as described above, (1) when the absolute position is detected, the superimposed voltage command unit 27 gives a high frequency voltage having a predetermined frequency and amplitude as a target of the inverter device 28. (2) The inverter device 28 applies the high frequency voltage waveform obtained from the superimposed voltage command unit 27 to the motor 10 capable of detecting the absolute position as PWM. (3) The winding pattern of the motor 10 is switched to the winding pattern at the time of absolute position detection, and the mechanical angle estimation unit 24 compares the table 23a with the estimated current value to estimate the current mechanical angle.
- the position of the rotor (rotor 17) can be uniquely estimated using the two mechanical angles obtained at the first time and the second time.
- the winding pattern is set as a normal driving winding pattern.
- the control sequence can be switched to the sensorless method using the induced voltage observer or the inductance saliency by the sensorless measurement unit 29.
- the magnetic pole position current value table 23a is used, but the magnetic pole position inductance, the current value of the axis magnetically orthogonal to the magnetic pole position, and magnetically orthogonal to the magnetic pole position.
- the inductance of the shaft to be used may be used for mechanical angle estimation.
- the magnetic pole position indicates the d-axis direction
- the axis magnetically orthogonal to the magnetic pole position indicates the q-axis.
- FIG. 44 is a block diagram of an absolute position encoderless servo system (motor system 1) according to a modification.
- FIG. 45A is an explanatory diagram showing a winding pattern during normal driving
- FIGS. 46A and 47A are explanatory diagrams showing winding patterns whose absolute values can be detected.
- FIG. 45B is a connection diagram of the winding and the winding changeover switch during normal driving
- FIGS. 46B and 47B are connection diagrams of the winding and the winding changeover switch capable of detecting an absolute value, respectively.
- the windings of FIGS. 45A to 47C are uniform in the number of turns, the nature of the copper wire, and the shape of the stator core 16a.
- the absolute position encoderless servo system (motor system 1) according to the modification shown in FIG. 44 differs from FIG. 45 and FIG. 46 in the following two points. That is, by switching the switch SW, the winding pattern signal at the time of absolute position detection can select a plurality of signals such as signal 2. Next, a signal indicating an electrical angle from the sensorless measurement unit 29 is output to the position control unit 30 a and the speed control unit 30 b via the pseudo-differentiator 31 in addition to the current control unit 26.
- the other structure is substantially the same, attaches
- the current value can be estimated by a shunt resistance or the like.
- the table 23a is stored in the storage unit 23 constituted by a storage device such as a ROM, and the magnetic pole position current according to the rotor angle (angle of the rotor 17) in the superimposed signal of the motor system 1 Changes in values are tabulated as numerical data.
- the mechanical angle estimation unit 24 compares the table 23a with the estimated current value to estimate the current mechanical angle.
- the rotor (rotor 17) is rotated to some extent, the current is detected at different machine angles, and the machine angle is estimated. Also in the system of FIG. 44, in order to rotate the rotor (rotor 17), the sensorless method by the known sensorless measurement unit 29, the current control by the current control unit 26, and the position control by the position control unit 30a are used. . However, in sensorless control, a sensorless method using inductance saliency is used.
- the magnetic pole position can be estimated sequentially by the well-known sensorless control, it is possible to operate the current control and the position control. That is, the rotor 17 of the motor 10 is rotated by well-known sensorless control, current control, and position control, and again, the procedure (1) to (3) described above is repeated to estimate the mechanical angle again.
- the position of the rotor (rotor 17) can be uniquely estimated using the two mechanical angles obtained at the first time and the second time.
- the method of accurately estimating the mechanical angle by rotating the angle of the rotor 17 is shown, but the mechanical angle can also be accurately estimated by using different absolute position detection winding patterns.
- FIGS. 46A and B For the first time from the winding pattern during driving of the motor 10 shown in FIGS. 45A and 45B, FIGS.
- the absolute position is accurately estimated without operating the rotor 17 by using the table 23a corresponding to the absolute position detection winding pattern.
- the winding pattern is the normal driving winding pattern (see FIGS. 45A and 45B).
- a normal drive winding pattern can be controlled by switching the control sequence to a sensorless method using a known induced voltage observer or inductance saliency.
- the magnetic pole position current value table 23a is used as in the motor system 1 shown in FIGS. 42 and 43.
- the magnetic pole position inductance and the magnetic pole position are magnetically orthogonal to each other.
- the shaft current value and the shaft inductance magnetically orthogonal to the magnetic pole position may be used for the mechanical angle estimation.
- the rotor 17 has 6 magnetic poles
- the stator 16 has 9 coils
- the coil form is a concentrated winding motor as a representative example.
- the embodiments for other numbers of magnetic poles for example, 8, 10, 12, etc.
- other numbers of coils for example, 6, 12, 15, etc.
- the invention described in this specification should be considered to include such a similar invention as a matter of course.
- FIG. 48 is an explanatory view of the motor 10 according to the second embodiment in a longitudinal sectional view
- FIG. 49 is a schematic view of the motor 10 in a front view
- 50 is an explanatory view showing the rotor structure of the motor 10
- FIG. 51A is a schematic view showing the stator 16 of the motor 10
- FIG. 51B is an explanatory view showing the stator structure.
- FIG. 52 is a schematic diagram of the motor 10 viewed from the front when the switch SW is switched.
- the motor 10 is a synchronous motor having a rotor 17 and a permanent magnet 18 as shown in FIG.
- a motor 10 can obtain a high output by adding a reluctance torque generated by a change in inductance and a magnet torque generated by an attractive force and a repulsive force of the permanent magnet 18 and the stator coil 15.
- any one of sintered magnets such as a neodymium magnet, a samarium cobalt magnet, a ferrite magnet, and an alnico magnet may be used.
- the motor 10 causes a sine wave current to flow through the U-phase winding, V-phase winding, and W-phase winding with a phase difference of 120 degrees in electrical angle in accordance with the required rotational speed.
- the rotation is sustained.
- the motor system 1 has a configuration capable of estimating the rotational position of the rotor 17 with high accuracy, as will be described below.
- the first stator coil 151 and the second stator coil 152 are wound around the stator core 16a so that energization can be switched for each phase. It has a configuration.
- the rotational position of the rotor 17 can be estimated with high accuracy.
- the position of the rotor 17 is accurately detected.
- a current can be appropriately passed through the V-phase winding.
- the motor system 1 includes a motor 10 and a control device 20.
- the motor 10 includes a stator coil changeover switch SW (hereinafter simply referred to as “switch SW”) that can be selectively switched to either the first stator coil 151 or the second stator coil 152.
- the switch SW is electrically connected to the control device 20.
- the switch SW is switched by a command from the control device 20.
- the motor 10 has brackets 13A and 13B attached to the front and rear of a cylindrical frame 12, and a rotary shaft 11 is rotatably attached between the brackets 13A and 13B via bearings 14A and 14B. It is composed.
- symbol Ax indicates the axis (center) of the rotating shaft 11, that is, the motor central axis.
- the rotary shaft 11 includes a cylindrical rotor core 17a in which a plurality of (here, eight poles) permanent magnets 18 are provided in the circumferential direction, and the rotor 17 having saliency is provided. It can be attached and rotated around its axis.
- the rotor 17 has eight magnet slots having a rectangular shape whose longitudinal direction is the direction of the rotary shaft 11 so that the permanent magnet 18 forms one magnetic pole and is positioned slightly inward from the outer surface of the rotor core 17a. 17d is provided over the circumferential direction of the rotor core 17a at an interval.
- the stator 16 is attached to the inside of the cylindrical frame 12 so as to face the rotor 17 with a predetermined air gap 19 therebetween.
- the rotor core 17a and the stator core 16a are formed by laminated cores of electromagnetic steel plates, the rotor core 17a can also be formed by machined parts such as iron.
- the rotor 17 is formed with portions having different radii along the circumferential direction of the rotor core 17a. That is, salient poles 17b made up of a plurality of (eight in this case) convex portions are formed along the circumferential direction of the rotor core 17a to form portions having different radius lengths.
- symbol 17c shows a rotating shaft insertion hole.
- the magnetic characteristics of the rotor 17 are changed by making the amount of outward protrusion of each salient pole 17b different.
- the salient pole portions 17b2, 17b3, and 17b4 are formed by gradually increasing the salient pole amount from the salient pole portion 17b1 having the smallest projection amount, and the salient pole portion 17b5 having the maximum projection amount is directed to the salient pole portion 17b1.
- the salient pole portions 17b6, 17b7, and 17b8 are formed by gradually reducing the protrusion amount.
- the rotor 17 has a structure in which the change pattern of the magnetic characteristics (saliency, magnetic resistance, permeance, etc.) of the rotor core 17a changes stepwise in the circumferential half circumference.
- the change pattern of the magnetic characteristics of the rotor core 17a changes stepwise in the circumferential half circumference.
- the protrusion amount is gradually increased from the salient pole portion 17b1 having the minimum protrusion amount, and the salient pole The portion 17b8 may be formed with the maximum protrusion amount. That is, the change pattern of the magnetic characteristics of the rotor core 17a is changed stepwise in one circumferential direction.
- the stator 16 is composed of a plurality of phases (U phase, V phase, and W phase) including a U phase winding 15U, a V phase winding 15V, and a W phase winding 15W.
- the stator core 16a around which the stator coil 15 of the phase is wound is provided. That is, the three-phase stator coil 15 is wound around the teeth 16b formed between the twelve slot portions 16c of the stator core 16a.
- reference numeral 16d denotes a yoke portion.
- the stator core 16a has the stator coils 15 (the U-phase winding 15U, the V-phase winding 15V, and the W-phase winding 15W) sequentially wound in the circumferential direction.
- 4 sets of coil sets 15a each having a different phase are formed at intervals of 90 degrees in the circumferential direction (FIGS. 51A and 51B).
- the U-phase winding 15U composed of U + 1, U + 2, U + 3, U + 4
- the V-phase winding 15V composed of V + 1, V + 2, V + 3, V + 4
- the W-phase winding 15W composed of W + 1, W + 2, W + 3, W + 4
- W + 1W W + 1, W + 2, W + 3, W + 4
- the distribution pattern of the magnetic field generated by each of the three-phase stator coils 15 is the stator core 16. It is characterized in that it is not repeated during the entire circumference. That is, as shown in FIG. 52, a plurality of U-phases, V-phases, and W-phases are collected in one place, and the distribution pattern of the magnetic field formed on the inner circumference side of the stator 16 is the entire circumference. It will have uniqueness.
- the stator coil 15 of each phase or the coil group (group of stator coils 15 of the same phase) composed of each phase is mechanically arranged at an interval of 120 degrees.
- FIG. 55A is an explanatory diagram showing the connection of the first stator coil
- FIG. 55B is an explanatory diagram showing the connection of the second stator coil.
- the first stator coil 151a in which the stator coils 15 of U + 1, U + 2, U + 3, and U + 4 are respectively connected in series is the stator. It is wound around the core 16a.
- a first stator coil 151b in which V + 1, V + 2, V + 3, and V + 4 stator coils 15 are connected in series, and W + 1, W + 2, W + 3, and W + 4 stator coils 15 are connected in series, respectively.
- the first stator coil 151c is also wound.
- the stator 16 of the motor 10 includes the first stator coils 151a, 151b, 151c used during normal operation for each of the U phase, the V phase, and the W phase,
- the second stator coils 152a, 152b, and 152c used during the corner detection process are wound around the stator core 16a so that energization can be switched.
- one of the coil sets 15a is the first stator coil 151a including the U + 1, U + 2, U + 3, and U + 4 stator coils 15, only the first stator coil 151a and the U + 1 stator coil 15 are included.
- the second stator coil 152a made of can be switched via a switch SW.
- a first stator coil 151b including the V + 1, V + 2, V + 3, and V + 4 stator coils 15 and a second stator coil 152b including only the V + 1 stator coil 15 are connected via the switch SW. Switchable.
- the first stator coil 151c composed of the W + 1, W + 2, W + 3, and W + 4 stator coils 15 and the second stator coil 152c composed only of the W + 1 stator coil 15 are connected to the switch SW. It can be switched through.
- the second stator coil 152 is included in a part of the first stator coil 151.
- the magnetic field which the 1st stator coil 151 shown to FIG. 55A produces is distributed uniformly in the perimeter, and the distribution pattern of a magnetic field is also uniform.
- the switch SW is switched to the state shown in FIG. 55B, the U + 1 stator coil of the plurality of stator coils 15 (for example, U + 1, U + 2, U + 3, U + 4) is used in the first stator coil 151a.
- the circuit is cut except for 15, and as a result, only the second stator coil 152a including only the U + 1 stator coil 15 is energized.
- stator coil 151b and the first stator coil 151c The same applies to the first stator coil 151b and the first stator coil 151c.
- the switch SW When the switch SW is switched, the circuit is disconnected except for the V + 1 and W + 1 stator coils 15, resulting in V + 1 and W + 1. Only the second stator coils 152b and 152c made up of the stator coils 15 are energized.
- the magnetic field generated at this time generates a one-time distribution pattern having uniqueness throughout the entire circumference of the stator core 16. That is, when energization is switched to the second stator coil 152, the magnetic field distribution pattern created by the three-phase (U + 1, V + 1, W + 1) stator coil 15 is repeated throughout the entire circumference of the stator core 16. There is nothing. In other words, the stator coil 15 of each phase or the coil group (group of stator coils 15 of the same phase) composed of each phase is mechanically arranged at an interval of 120 degrees.
- the stator coil 15 includes, for example, the state of the first stator coil 151 selected during normal operation and the second stator selected during the mechanical angle detection process.
- the motor 10 is switchable between two states, such as a state composed of a coil 152.
- the winding state of the stator coil 15 becomes a state of concentrated winding that is widely and generally employed during normal driving. That is, the distribution of the magnetic field generated by the first stator coil 151 during one electrical angle is repeated during one mechanical angle. Therefore, the rotor 17 can rotate smoothly.
- the rotor 17 has a function of transmitting mechanical angle information, and the stator 16 is provided with the rotor 17. It has a function of observing the mechanical angle information. Further, an inductance corresponding to the position of the rotor 17 can be obtained from the stator 16, and the control device 20 can obtain the mechanical angle of the rotor 17 from the inductance.
- the control device 20 provided in the motor system 1 has the configuration shown in FIG. That is, a rotor control unit 21 that controls the rotation of the rotor 17 and an inductance measurement unit 22 that measures the inductance of a stator coil 15 (described later) wound around the stator 16 are provided.
- the rotor control unit 21 corresponds to the current control unit 26 in FIGS.
- the inductance measuring unit 22 is connected to a known measuring device using a superimposed voltage command unit 27 (see FIG. 42) including an inverter device 28 and a high frequency generator, and the high frequency with respect to the motor 10. The inductance is measured by superimposing the voltage.
- the control device 20 includes a storage unit 23 that stores in association with the information of the machine angle theta m reference data indicating the inductance corresponding to the mechanical angle theta m of the rotor. Furthermore, the control device 20 includes a mechanical angle estimation unit 24 that estimates the initial position of the rotor 17 based on the inductance value measured by the inductance measurement unit 22 and the reference data stored in a table in the storage unit 23. ing.
- control device 20 can be configured by a computer.
- the storage unit 23 can be configured by a memory such as a ROM or a RAM, and the rotor control unit 21, the inductance measurement unit 22, and the mechanical angle estimation unit 24 can be configured by a CPU or the like.
- the storage unit 23 stores a calculation program for measuring inductance, various control programs, a table made of reference data, and the like.
- the CPU operates according to these programs, and the mechanical angle of the rotor 17 is determined. Functions as a means for detecting.
- the switch SW when the switch SW is operated to switch the energization to the second stator coil 152, the process of detecting the mechanical angle of the rotor 17 is started. A measurement process and an estimation process are executed. It is assumed that a storage processing step has been performed in advance before that. Further, once the reference data is stored in the storage unit 23, it is not always necessary to perform the storage processing step every time.
- the storage processing step is a step in which reference data indicating the extreme value of the inductance value L corresponding to the mechanical angle of the rotor 17 (which may be expressed as the mechanical angle ⁇ m ) is tabulated in advance and stored in the storage unit 23. It is.
- the reference data that is the reference extreme value is, for example, the extreme inductance value L and the mechanical angle ⁇ m at that time. In the following, it represents the value associated with the extreme value and machine angle theta m inductance value L as L m.
- the measuring step is a step of measuring the inductance of the stator 16 according to the position of the rotor 17 by rotating the rotor 17 by a predetermined angle (for example, 45 degrees) from the initial position. At this time, the maximum value and the minimum value of the inductance are measured.
- FIG. 53 is an explanatory diagram showing the extreme value of the inductance value that appears in an electrical angle half circle (mechanical angle 45 degrees).
- l 1 ext indicates an extreme value when rotated by ⁇ 1 m ext from the initial position ( ⁇ m0 )
- l 2 ext indicates when rotated by ⁇ 2 m ext from the initial position ( ⁇ m0 ). The extreme value of.
- the estimation step compares the measured value of the measured inductance with reference data preliminarily tabulated as a mechanical angle corresponding to the position of the rotor 17, and based on the comparison result, the absolute position that is the initial position of the rotor 17 This is a step of estimating the position.
- the position of the rotor 17 due to the mechanical angle displacement can be calculated using a predetermined calculation formula.
- FIG. 54 is an explanatory diagram illustrating a procedure for estimating the mechanical angle of the motor 10 according to the embodiment.
- the CPU functioning as the rotor control unit 21 (see FIG. 1) of the control device 20 first rotates the rotor 17 in the positive direction from the mechanical angle ⁇ m0 as shown in FIG. S1).
- the CPU causes the inductance measuring unit 22 to measure the inductance at that position (step S2). Then, it is determined whether or not the measured value is an extreme value (step S3). If the measured value is an extreme value (step S3: Yes), the measured value is stored in the storage unit 23 in association with the angle at that time. That is, they are stored as L m ext and ⁇ m ext (step S4).
- step S3 determines whether or not the rotational position of the rotor 17 is ⁇ m0 +45 degrees (step S5). If the rotational position of the rotor 17 is not ⁇ m0 +45 degrees (step S5: No), the CPU moves the process to step S2. That is, the inductance value is measured until the rotor 17 rotates 45 degrees at the mechanical angle, and the extreme value is detected.
- step S5 When the rotational position of the rotor 17 reaches ⁇ m0 +45 degrees (step S5: Yes), the CPU stops the rotation of the rotor 17 (step S6). This completes the measurement process and shifts to the estimation process.
- the CPU converts the reference extreme value, which is the reference data of the table stored in the storage unit 23, into an evaluation value using a predetermined evaluation function (step S7). Then, all the evaluation values converted from the extreme values until the rotational position of the rotor 17 reaches ⁇ m0 +45 degrees are stored in the storage unit 23 (step S8).
- the CPU calculates a minimum evaluation value that minimizes the predetermined evaluation function from all evaluation values (step S9). Then, the mechanical angle ⁇ m0 that is the initial position of the rotor 17 of the motor 10 is calculated (step S10), and the process is terminated.
- the motor 10 After calculating the mechanical angle ⁇ m0 that is the initial position of the rotor 17 of the motor 10, the motor 10 is driven by well-known motor control (so-called encoderless control in which motor control is performed without using an encoder or the like). be able to.
- motor control so-called encoderless control in which motor control is performed without using an encoder or the like.
- the switch SW when the switch SW is operated to switch the energization to the second stator coil 152, a voltage is applied to the stator coil 15 to detect a change in inductance.
- sensorless control is performed so that the absolute position of the rotor 17 is estimated. Therefore, a sensor such as an encoder becomes unnecessary, and the number of parts can be reduced and the motor 10 can be downsized accordingly.
- switch SW in the motor 10 it can also be set as the structure shown to FIG. 68A, B or FIG.
- switch SW in the motor 10 it can also be set as the structure shown to FIG. 68A, B or FIG.
- switch SW in the motor 10 it can also be set as the structure shown to FIG. 68A, B or FIG.
- switch SW in the motor 10 it can also be set as the structure shown to FIG. 68A, B or FIG.
- switch SW in the motor 10 it can also be set as the structure shown to FIG. 68A, B or FIG.
- the stator 16 has a plurality of stator coils 15 and U + 1, U + 2, U + 3 stator coils 15 respectively. It can be set as the structure provided with the 1st stator coil 151a which consists of a coil set connected in series.
- the first stator coil 151b composed of a coil set in which the V + 1, V + 2, and V + 3 stator coils 15 are connected in series, and the W + 1, W + 2, and W + 3 stator coils 15 are respectively connected in series.
- a first stator coil 151c including a connected coil set.
- the first stator coil 151b in which all of the V + 1, V + 2, and V + 3 stator coils 15 are connected in series and the second stator coil 152b including only the V + 1 stator coil 15 are connected to the switch SW. It is possible to switch through.
- first stator coil 151c in which all W + 1, W + 2, and W + 3 stator coils 15 are connected in series
- a second stator coil 152c that includes only the W + 1 stator coil 15, Switching is possible via the switch SW.
- the second stator coil 152 is included in a part of the first stator coil 151.
- the magnetic field generated by the stator coil 15 shown in FIG. 68A is uniformly distributed over the entire circumference, and the distribution pattern of the magnetic field is also uniform.
- the switches SW of the three coil groups are switched to the state shown in FIG. 68B, the first stator coil 151a has U + 1 among the plurality of stator coils 15 (for example, U + 1, U + 2, U + 3).
- the circuit is cut except for the stator coil 15, and as a result, only the second stator coil 152a including only the U + 1 stator coil 15 is energized.
- the other first stator coil 151b is changed to the second stator coil 152b including only the V + 1 stator coil 15, and the first stator coil 151c is changed to W + 1.
- Only the second stator coil 152c consisting only of the stator coil 15 is energized. That is, when energization is switched to the second stator coil 152, energization to the other stator coils 15 excluding the second stator coil 152 is prohibited.
- the magnetic field generated by the second stator coils 152a, 152b, and 152c having different phases in the three coil sets when the switch SW is switched is the same as in the above-described embodiment during the entire circumference of the stator core 16a. It becomes a magnetic field distribution pattern with uniqueness. That is, the distribution pattern of the magnetic field generated by the three-phase (U, V, W) stator coil 15 that becomes the second stator coil 152 is not repeated throughout the entire circumference of the stator core 16a.
- the combination of the second stator coils 152 when the switch SW is switched, includes the second stator coil 152a (three phases: U + 1, V + 1, W + 1) among the coil sets. It was a combination.
- the combination of the second stator coil 152 is a combination of the second stator coil 152b (3-phase: U + 2, V + 2, W + 2) or the second stator coil 152c (U + 3, V + 3, W + 3). May be.
- Modification 2 of the stator As another modification, for example, in the case of a motor 10 having 10 poles and 12 slots, a configuration shown in FIGS.
- the stator 16 includes a plurality of stator coils 15, for example, U + 1, U ⁇ 1, U ⁇ 2, and U + 2 stator coils 15 each of which is a coil set connected in series. It is set as the structure provided with one stator coil 151a.
- the stator 16 includes a first stator coil 151b composed of a coil set in which stator coils 15 of V + 1, V-1, V-2, and V + 2 are connected in series, and W + 1, W-1, W-2 and W + 2 stator coils 15 are each provided with a first stator coil 151c comprising a coil set connected in series.
- the second stator coil 152 is composed of only two stator coils 15 (U-phase: U + 1, U ⁇ 1), and the distribution of the magnetic field generated by the stator coil 15. The pattern will again be unique throughout the entire circumference.
- the two stator coils 15 can be composed of only the V phase (V + 1, V-1) or the W phase (W + 1, W-1). It can also consist only of.
- the magnetic characteristic of the rotor 17 is changed by changing the amount of outward protrusion of the salient pole 17b of the rotor core 17a so as to change stepwise in a half circumference.
- the machine angle information can be transmitted.
- the rotor core 17a can be configured as shown in FIGS. 56 to 59, for example.
- FIG. 56 is an explanatory view showing a rotor structure according to the first modification
- FIG. 57 is an explanatory view showing a rotor structure according to the second modification
- FIG. 58 is an explanatory view showing a rotor structure according to the third modification
- FIG. 59 is an explanatory diagram showing a rotor structure according to Modification 4. Note that the same components as those in the above-described embodiment are denoted by the same reference numerals in FIGS. 56 to 59.
- the rotor core 17a shown in FIG. 56 differs in the amount of isolation of the plurality of permanent magnets 18. That is, the isolation depth d from the periphery of the rotor core of each permanent magnet 18 embedded along the circumferential direction of the stator core 17a is different.
- the 8-pole permanent magnet 18 is embedded in the rotor core 17a apart 45 degrees from the center, the maximum sequestration d max to face the permanent magnets 18 of the smallest sequestration d min A permanent magnet 18 is embedded.
- the rotor core 17a shown in FIG. 57 has slits 17e that are continuous with magnet slots 17d that are magnet mounting holes formed for mounting the permanent magnets 18, and each slit 17e has a different length. Yes. As long as the magnetic characteristics can be changed, the shape of the slits 17e may be changed so that the area is changed instead of the length of each slit 17e.
- four-pole permanent magnets 18 are embedded in the rotor core 17a with an interval of 90 degrees from the center, and slits 17e extend on both ends of each permanent magnet 18, respectively.
- Slit 17e of the shortest length L min is opposed to the permanent magnets 18 positioned, the permanent magnet 18 which slits 17e of the maximum length L max is located is embedded.
- the sizes of the plurality of permanent magnets 18 are different.
- the 8-pole permanent magnet 18 is embedded in the rotor core 17a at an interval of 45 degrees from the center, but the maximum permanent magnet 18 is embedded facing the minimum permanent magnet 18.
- the permanent magnets 18 may have different shapes instead of different sizes.
- Modification 4 of rotor 56 to 58 are examples in which the magnetic characteristics of the stator core 17a are mainly made different. However, as shown in FIG. 59, the magnetic characteristics of the permanent magnet 18 itself can be made different.
- the rotor 17 shown in FIG. 59 has different magnetic flux densities (residual magnetic flux densities) of the permanent magnets 18 embedded in the rotor core 17a.
- the change pattern of the magnetic characteristics of the permanent magnet 18 is changed stepwise in one circumferential direction.
- the white arrow shown in FIG. 59 represents the magnetization of the permanent magnet 18, and its length corresponds to the residual magnetic flux density. That is, in FIG. 59, the minimum residual magnetic flux density B maximum residual magnetic flux density B 8-pole of the permanent magnet 18 to that of the max from those min apart 45 degrees from the center, stepwise clockwise It will be embedded in the rotor core 17a.
- the inductance value having a mountain-shaped distribution takes a right-up distribution in the above-described embodiments. That is, if the distribution of the inductance value is a mountain shape in one round of the mechanical angle, and if two values approximate to the reference data appear, the position of the rotor 17 is estimated by the slope of the distribution curve at the position of the value. However, if the distribution rises to the right, it can be estimated uniquely.
- FIG. 60 is an explanatory diagram of the motor 10 according to the embodiment in a longitudinal sectional view
- FIG. 61 is a schematic diagram of the motor 10 in a front view
- 62 is an explanatory view showing the rotor structure of the motor
- FIG. 63A is a schematic view showing the stator 16 of the motor
- FIG. 63B is an explanatory view showing the stator structure.
- the motor 10 is a synchronous motor in which a permanent magnet 18 is attached to the surface of a rotor 17 as shown in FIG.
- a permanent magnet 18 any of sintered magnets, such as a neodymium magnet, a samarium cobalt magnet, a ferrite magnet, and an alnico magnet, can be used.
- the motor 10 rotates by passing a sine wave current through the U-phase winding, V-phase winding, and W-phase winding with a phase difference of 120 degrees in electrical angle in accordance with the required rotational speed. Is sustained.
- the motor system 1 has a configuration capable of estimating the rotational position of the rotor 17 with high accuracy, as will be described below.
- the stator 16 of the motor 10 has a configuration in which a first stator coil 151 and a second stator coil 152 are wound around a stator core 16a so that energization can be switched.
- the rotational position of the rotor 17 can be estimated with high accuracy.
- the motor system 1 includes a motor 10 and a control device 20.
- the motor 10 includes a stator coil changeover switch SW (hereinafter simply referred to as “switch SW”) that can be selectively switched to either the first stator coil 151 or the second stator coil 152.
- the switch SW is electrically connected to the control device 20.
- the switch SW is switched by a command from the control device 20.
- the motor 10 is constructed by attaching brackets 13A and 13B to the front and rear of a cylindrical frame 12, and rotatably attaching a rotating shaft 11 between the brackets 13A and 13B via bearings 14A and 14B. is doing.
- symbol Ax indicates the axis (center) of the rotating shaft 11, that is, the motor central axis.
- a plurality of (six poles in this case) permanent magnets 18a to 18f are arranged on the rotating shaft 11 in a cylindrical rotor core 17a disposed on the circumferential surface at a constant interval in the circumferential direction.
- a rotator 17 provided with is attached so as to be rotatable about an axis.
- the stator 16 is attached to the inside of the cylindrical frame 12 so as to face the rotor 17 with a predetermined air gap 19 therebetween.
- the rotor core 17a and the stator core 16a are formed by laminated cores of electromagnetic steel plates, the rotor core 17a can also be formed by machined parts such as iron.
- the rotor 17 of the motor 10 is characterized by its structure. As shown in FIGS. 61 and 62, the physical axis R0 of the rotor core 17a is offset from the axis Ax of the rotary shaft 11.
- the magnetic center of the rotor core 17a is eccentric with respect to the axis Ax of the rotation shaft 11, and the outer peripheral surface of the rotor core 17a
- An interval 19a between the stator core 16a and the inner peripheral surface 16e is continuously changed in the circumferential direction.
- the change pattern of the magnetic characteristic of the rotor core 17a changes steplessly in the circumferential direction.
- symbol 17c shows a rotating shaft insertion hole.
- the interval 19b between the outer peripheral surfaces of the six permanent magnets 18a to 18f disposed on the surface of the rotor core 17a and the inner peripheral surface of the stator core 16a is constant. Therefore, the radial lengths of the permanent magnets 18a to 18f are set so that the radial lengths from the axis Ax of the rotating shaft 11 to the outer peripheral surfaces of the permanent magnets 18a to 18f are the same. .
- the length from the axis Ax of the rotating shaft 11 to the inner peripheral surface at the center position in the circumferential direction of the permanent magnet 18 is defined as H, the length H1 of the first permanent magnet 18a, the second, third, Compare the lengths H2 to H4 of the fourth permanent magnets 18b to 18d.
- the length H is the same as the length to the outer peripheral surface of the rotor core 17a to which the permanent magnet 18 is attached if the adhesive layer between the permanent magnet 18 and the rotor core 17a is ignored.
- the length H1 is the shortest and the length H4 extending to the opposite side is the longest. That is, the length H1 is gradually increased from the length H1 to the length H2, the length H3, and the length H4, and is gradually decreased from the length H4 to the length H5, the length H6, and the length H1.
- the length of the first permanent magnet 18a in the radial direction is accordingly increased. That is, the magnet thickness t1 is maximized, and the magnet thicknesses t2, t3, and t4 are gradually reduced over the second, third, and fourth permanent magnets 18b, 18c, and 18d.
- the outer peripheral surface of the permanent magnet 18 in this embodiment is formed in the shape of an arc, of course, the magnet thickness t of one permanent magnet 18 gradually changes from end to end.
- the rotor 17 of the motor 10 is structured as described above, and the magnetic center of the rotor core 17a is decentered with respect to the axis Ax of the rotating shaft 11, thereby making the magnetic characteristics (protrusion) of the rotor core 17a.
- the change pattern of polarity, magnetic resistance, permeance, etc.) changes smoothly in a stepless manner in the circumferential half.
- the sizes of the first to sixth permanent magnets 18a to 18f are consequently different.
- the magnetic operating points of the first to sixth permanent magnets 18a to 18f are substantially the same in order to avoid demagnetization due to a demagnetizing field or demagnetization due to high temperature, although the sizes are different.
- the weight of each permanent magnet 18 is appropriately distributed to balance the rotation balance of the rotor 17 so that the rotor 17 rotates smoothly. It is good to configure.
- first to sixth permanent magnets 18a to 18f having different sizes and weights have different lengths H from the axis Ax of the rotating shaft 11 to the inner peripheral surface serving as a mounting surface to the rotor core 17a. Therefore, the centrifugal force applied to each of the first to sixth permanent magnets 18a to 18f is also different. In that case, the holding force with respect to the rotor core 17a can be appropriately changed according to the magnitude of the centrifugal force so that the permanent magnet 18 does not jump out due to the centrifugal force.
- the magnetic center of the rotor core 17a is the rotor 17 and the electric element that are field in this embodiment. Is the center of magnetic change when the stator 16 interacts. Usually, the magnetic center and the geometric center coincide.
- the reason why the magnetic center of the rotor core 17a is decentered is to change the change pattern of the magnetic characteristics of the rotor core 17a steplessly in one or half of the circumferential direction.
- the circular rotor core 17a can be formed by continuously joining materials having different magnetic permeability in the circumferential direction.
- the stator 16 has a plurality of phases (U phase, V phase, and W) composed of a U phase winding 15U, a V phase winding 15V, and a W phase winding 15W.
- Phase stator coil 15 is provided with a stator core 16a wound around a slot.
- the stator coil 15 is concentratedly wound around the teeth 16b.
- reference numeral 16c denotes a slot portion of the stator core 16a
- reference numeral 16d denotes a yoke portion.
- the stator core 16a has a stator coil 15 (a U-phase winding 15U, a V-phase winding 15V, and a W-phase winding 15W) sequentially wound in the circumferential direction.
- a stator coil 15 (a U-phase winding 15U, a V-phase winding 15V, and a W-phase winding 15W) sequentially wound in the circumferential direction.
- Three sets of coil sets 15a including a U-phase winding 15U, a V-phase winding 15V, and a W-phase winding 15W are formed at intervals of 120 degrees in the circumferential direction (FIG. 63A).
- One of the coil sets 15a includes a U + 1 phase winding 15U, a V + 1 phase winding 15V, and a W + 1 phase winding 15W.
- a coil set 15a composed of a U + 2-phase winding 15U, a V + 2-phase winding 15V, and a W + 2-phase winding 15W, a U + 3-phase winding 15U, a V + 3-phase winding 15V, and a W + 3-phase
- a coil set 15a constituted by the winding 15W.
- +1, +2 and +3 attached to U, V and W indicating the phases indicate the order of the teeth 16b.
- examples of a first stator coil 151a to be described later include a combination of U + 1, U + 2, U + 3 stator coils 15, a combination of V + 1, V + 2, V + 3 stator coils 15, or W + 1, A combination of W + 2 and W + 3 stator coils 15 is used.
- the motor 10 having 6 poles and 9 slots is used.
- the first stator coil 151 and the second stator coil 152 are composed of a stator core. It is configured to be wound around 16a so that energization can be switched.
- the distribution pattern of the magnetic field generated by each of the three-phase stator coils 15 is not repeated throughout the entire circumference of the stator core 16a. That is, the magnetic flux density distribution waveform in the air gap generated by the second stator coil 152 has a magnetic flux density component with a mechanical angle of 360 degrees as one cycle.
- the distribution pattern of the magnetic field generated by the stator coil 15 by one phase or by the coil set 15a by the combination of each phase is unique throughout the entire circumference of the stator core 16a.
- the distribution pattern of the magnetic field created by the plurality of stator coils 15 on the inner periphery side of the stator 16 has uniqueness throughout the entire periphery.
- the stator coils 15 of the respective phases or the coil sets (groups of the stator coils 15 of the same phase) composed of the respective phases are mechanically arranged at intervals of 120 degrees.
- FIG. 68A is an explanatory diagram showing the connection of the first stator coil 151
- FIG. 68B is an explanatory diagram showing the connection of the second stator coil 152.
- FIG. 68A is an explanatory diagram showing the connection of the first stator coil 151
- FIG. 68B is an explanatory diagram showing the connection of the second stator coil 152.
- the stator 16 is a first fixed coil composed of a plurality of stator coils 15, for example, a coil set in which U + 1, U + 2, U + 3 stator coils 15 are respectively connected in series.
- a child coil 151a is provided.
- a first stator coil 151b composed of a coil set in which V + 1, V + 2, and V + 3 stator coils 15 are connected in series, and W + 1, W + 2, and W + 3 stator coils 15 are connected in series, respectively.
- a first stator coil 151c made of a coil set.
- a first stator coil 151a in which all three U + 1, U + 2, U + 3 stator coils 15 are connected in series and a second stator coil 152a composed of only the U + 1 stator coil 15 are fixed. Switching is possible via a slave coil switch SW (hereinafter simply referred to as “switch SW”).
- switch SW a slave coil switch SW
- the first stator coil 151b in which all of the V + 1, V + 2, and V + 3 stator coils 15 are connected in series and the second stator coil 152b including only the V + 1 stator coil 15 are connected to the switch SW. It is possible to switch through.
- first stator coil 151c in which all W + 1, W + 2, and W + 3 stator coils 15 are connected in series
- a second stator coil 152c that includes only the W + 1 stator coil 15, Switching is possible via the switch SW.
- the second stator coil 152 is included in a part of the first stator coil 151.
- the magnetic field generated by the stator coil 15 shown in FIG. 68A is uniformly distributed over the entire circumference, and the distribution pattern of the magnetic field is also uniform.
- the switches SW of the three coil groups are switched to the state shown in FIG. 68B, the first stator coil 151a has U + 1 among the plurality of stator coils 15 (for example, U + 1, U + 2, U + 3).
- the circuit is cut except for the stator coil 15, and as a result, only the second stator coil 152a including only the U + 1 stator coil 15 is energized.
- the other first stator coil 151b is changed to the second stator coil 152b including only the V + 1 stator coil 15, and the first stator coil 151c is changed to W + 1.
- Only the second stator coil 152c consisting only of the stator coil 15 is energized. That is, when energization is switched to the second stator coil 152, energization to the other stator coils 15 excluding the second stator coil 152 is prohibited.
- the magnetic field generated by the second stator coils 152a, 152b, and 152c having different phases in the three coil sets when the switch SW is switched is the same as in the above-described embodiment during the entire circumference of the stator core 16a. It becomes a magnetic field distribution pattern with uniqueness. That is, the distribution pattern of the magnetic field generated by the three-phase (U, V, W) stator coil 15 that becomes the second stator coil 152 is not repeated throughout the entire circumference of the stator core 16a. In other words, the stator coil 15 of each phase or the coil group (group of stator coils 15 of the same phase) composed of each phase is mechanically arranged at an interval of 120 degrees.
- the combination of the second stator coils 152 when the switch SW is switched, includes the second stator coil 152a (three phases: U + 1, V + 1, W + 1) among the coil sets. It was a combination.
- the combination of the second stator coil 152 is a combination of the second stator coil 152b (3-phase: U + 2, V + 2, W + 2) or the second stator coil 152c (U + 3, V + 3, W + 3). May be.
- the stator coil 15 is, for example, the state including the first stator coil 151 selected during the normal operation and the second selected at the start of performing the mechanical angle detection process.
- the motor 10 is switchable between two states, such as a state composed of the stator coil 152.
- the winding state of the stator coil 15 becomes a state of concentrated winding that is widely and generally employed during normal driving. That is, the distribution of the magnetic field generated by the first stator coil 151 during one electrical angle is repeated during one mechanical angle. Accordingly, all changes in inductance are uniform, and the rotor 17 can be smoothly rotated with reduced cogging and the like.
- the rotor 17 has a function of transmitting mechanical angle information, and the stator 16 is provided with the rotor 17. It has a function of observing the mechanical angle information. Further, an inductance corresponding to the position of the rotor 17 can be obtained from the stator 16, and the control device 20 can obtain the mechanical angle of the rotor 17 from the inductance.
- the control device 20 provided in the motor system 1 includes a rotor control unit 21 that controls the rotation of the rotor 17, as shown in FIG. And an inductance measuring unit 22 that measures the inductance of a stator coil 15 (described later) wound around the stator 16.
- the inductance measuring unit 22 is connected to a known measuring device using an inverter device 28 (not shown) or a superimposed voltage command unit 27 (see FIG. 42) including a high-frequency generator.
- the inductance is measured by superimposing a high frequency on the motor 10.
- control device 20 includes a storage unit 23 that stores reference data indicating inductance according to the mechanical angle of the rotor 17 (which may be expressed as a mechanical angle ⁇ m ) in association with information on the mechanical angle ⁇ m. Yes. Furthermore, the control device 20 includes a mechanical angle estimation unit 24 that estimates the initial position of the rotor 17 based on the inductance value measured by the inductance measurement unit 22 and the reference data stored in a table in the storage unit 23. ing.
- the control device 20 can be configured by a computer.
- the storage unit 23 can be configured by a memory such as a ROM or a RAM, and the rotor control unit 21, the inductance measurement unit 22, and the mechanical angle estimation unit 24 can be configured by a CPU or the like.
- the storage unit 23 stores a calculation program for measuring inductance, various control programs, a table made of reference data, and the like.
- the CPU operates according to these programs, and the mechanical angle of the rotor 17 is determined. Functions as a means for detecting.
- measurement processing and estimation processing are executed in order to detect the mechanical angle of the rotor 17.
- a storage processing step is executed in advance as a preceding step. Further, once the reference data is stored in the storage unit 23, it is not always necessary to perform the storage processing step every time.
- the storage processing step the reference data indicating the inductance value L of each machine angle theta m corresponding to the reference position of the rotor 17, a step of storing in the storage unit 23 in advance a table.
- the measurement process and the estimation process are processes performed when the motor 10 is actually started.
- a high frequency voltage is applied to the rotor 17 and the inductance of the stator 16 corresponding to the position of the rotor 17 is measured. To do.
- the actually measured value of the measured inductance is compared with reference data preliminarily tabulated as a mechanical angle corresponding to the position of the rotor 17, and based on the comparison result, the absolute position that is the initial position of the rotor 17 is compared. Is estimated.
- FIG. 64 is an explanatory diagram illustrating a procedure for estimating the mechanical angle of the motor 10 according to the embodiment.
- FIG. 65 is an explanatory diagram showing an inductance distribution with respect to the mechanical angle of the motor 10.
- This inductance value L calculated from the current value flowing by applying a high frequency voltage when the machine angle theta m rotation from a plurality of reference position of the rotor 17, machine angle 2 [pi / 9 (rad rotor 17 ) Is plotted every time.
- the inductance value L is the maximum value in one electrical angle period (2 ⁇ ) for each phase.
- the CPU applies a high-frequency voltage to the motor 10 to cause the inductance measuring unit 22 to measure the inductance when the rotor 17 is in a predetermined position (step S1). And the measured value is preserve
- the CPU compares the measurement value stored in the storage unit 23 with the reference data of the table stored in the storage unit 23 in advance, and calculates the stator from the reference data that matches the distribution of the inductance value L that is the measurement value.
- the mechanical angle ⁇ m0 indicating the absolute position of 17 is estimated (step S3), and the estimation process is terminated. In the comparison, the inclination of a graph formed by plotting data can be taken into consideration.
- the distribution waveform of the inductance value L varies depending on the mechanical position of the rotor 17, and therefore the absolute position of the rotor 17 from the actually measured inductance value L. Can be easily estimated.
- the motor 10 can be driven by well-known motor control.
- the absolute position of the rotor 17 is estimated by applying a voltage to the stator coil 15 and detecting a change in the inductance value L. Control is in progress. Therefore, a sensor such as an encoder becomes unnecessary, and the number of parts can be reduced and the motor 10 can be downsized accordingly.
- switch SW in the motor 10 it can also be set as the structure shown to FIG. 69A, 69B and FIG. 70A, 70B.
- the stator 16 is, for example, fixed as U-1, U + 1, U-2 as a plurality of stator coils 15.
- a configuration is provided in which the first stator coil 151a is formed of a coil set in which the child coils 15 are connected in series.
- the stator 16 includes a first stator coil 151b composed of a coil set in which V-1, V + 1, V-2 stator coils 15 are connected in series, and W-1, W + 1, W-.
- the first stator coil 151c is composed of a coil set in which two stator coils 15 are connected in series.
- the three coil sets are all connected via the switch SW so that they can be energized, but when the switch SW is switched, the energized state as shown in FIG. 69B is switched.
- stator coils 15 of V-1, V + 1, V-2 are connected in series except for a coil set in which the three stator coils 15 of U-1, U + 1, U-2 are all connected in series.
- the coil group and the coil group in which the stator coils 15 of W-1, W + 1, and W-2 are connected in series are opened.
- the second stator coil 152 is composed of only the U phase (U-1, U + 1, U-2), and the distribution pattern of the magnetic field generated by the stator coil 15 is: After all, it has uniqueness in the whole circumference.
- the second stator coil 152 can be composed of only the V phase (V-1, V + 1, V-2) or the W phase (W-1, W + 1, W-). 2) can also be configured.
- the stator 16 includes a plurality of stator coils 15, for example, U + 1, U ⁇ 1, U ⁇ 2, and U + 2 stator coils 15 each of which is a coil set connected in series. It is set as the structure provided with one stator coil 151a.
- the stator 16 includes a first stator coil 151b composed of a coil set in which stator coils 15 of V + 1, V-1, V-2, and V + 2 are connected in series, and W + 1, W-1, W-2 and W + 2 stator coils 15 are each provided with a first stator coil 151c comprising a coil set connected in series.
- the second stator coil 152 is composed of only two stator coils 15 (U-phase: U + 1, U ⁇ 1), and the distribution of the magnetic field generated by the stator coil 15. The pattern will again be unique throughout the entire circumference.
- the two stator coils 15 can be composed of only the V phase (V + 1, V-1) or the W phase (W + 1, W-1). It can also consist only of.
- stator core 16a in the above-described embodiment has the stator coils 15 (the U-phase winding 15U, the V-phase winding 15V, and the W-phase winding 15W) sequentially wound in the circumferential direction.
- stator coils 15 the U-phase winding 15U, the V-phase winding 15V, and the W-phase winding 15W sequentially wound in the circumferential direction.
- Nine slots were used (see FIGS. 63A and 63B).
- the stator 16 may be configured as shown in FIGS. 66A and 66B and FIGS. 67A and 67B. That is, the stator 16 is formed by winding the stator coils 15 sequentially in the circumferential direction for each phase, and forming a plurality of coil sets 15a each including the stator coils 15 of different phases in the circumferential direction. The distribution pattern of the magnetic field in 15a can be made different.
- FIG. 66A is a schematic diagram illustrating a stator according to Modification 1
- FIG. 66B is an explanatory diagram illustrating the stator structure
- FIG. 67A is a schematic diagram illustrating a stator according to Modification 2
- FIG. It is explanatory drawing which shows a stator structure.
- each stator coil 15 is indicated by a circle and the number of turns is indicated by the size of the circle.
- the number of turns of each of the U-phase, V-phase, and W-phase coils is uniform in one coil set 15a, but U-phase winding 15U (U + 1) in one coil set 15a.
- the number of windings is larger than the others (V phase: V + 1, W phase: W + 1).
- the number of turns of the V-phase winding 15V (V + 2) is larger than that in the other (W phase: W + 2, U phase: U + 2), and in the other one coil set 15a,
- the number of turns of the W-phase winding 15W (W + 3) is made larger than the other (U-phase: U + 3, V-phase: V + 3).
- stator coils 15 each including a plurality of U-phase windings 15U, a V-phase winding 15V, and a W-phase winding 15W are formed between the plurality of teeth 16b.
- a stator core 16a wound around the slot 16c is provided.
- the stator core 16a has a U-phase winding 15U, a V-phase winding 15V, and a W-phase winding 15W as one set of coil sets 15a in the circumferential direction, and four sets of coil sets 15a are 90 degrees in the circumferential direction. Are wound sequentially at intervals of. That is, one of the coil sets 15a includes a U-phase winding 15U (U + 1), a V-phase winding 15V (V + 1), and a W-phase winding 15W (W + 1).
- the other coil sets 15a include U + 2, U + 3, U + 4 U-phase windings 15U, V + 2, V + 3, V + 4 V-phase windings 15V, and W + 2, W + 3, W + 4 W, as shown. And a phase winding 15W.
- the heights of the U-phase, V-phase, and W-phase teeth 16b are selectively made different between the coil sets 15a so that the distribution patterns of the magnetic fields in the coil sets 15a are different. It has a one-time property throughout the entire circumference.
- the height of the U-phase, V-phase, and W-phase teeth 16b is uniform in one coil set 15a, but the U-phase winding 15U (U + 1) is wound in one coil set 15a.
- Teeth 16b is set lower than the others (V phase: V + 1, W phase: W + 1).
- the teeth 16b around which the V-phase winding 15V (V + 2) is wound are made lower than the other (W phase: W + 2, U phase: U + 2), and another one coil.
- the teeth 16b around which the W-phase winding 15W (W + 3) is wound are made lower than the others (U-phase: U + 3, V-phase: V + 3).
- reference numeral 16f schematically shows a recessed portion formed by lowering the tooth 16b.
- the present invention has been described through the embodiments and the modified examples.
- the type of the motor 10, the number of poles and the number of slots of the motor 10, and the like can be set as appropriate.
- SW Stator Coil Changeover Switch 1 Motor System 10 Motor 15 Stator Coil 15a Coil Set 16 Stator 16a Stator Core 17 Rotor 17a Rotor Core 18 Permanent Magnet 20 Controller 21 Rotor Control Unit 22 Inductance Measurement Unit 23 Storage Unit 24 Mechanical angle estimator
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
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Abstract
Description
図48は、第2の実施形態に係るモータ10の縦断面視による説明図、図49は、同モータ10の正面視による模式図である。また、図50はモータ10の回転子構造を示す説明図、図51Aは同モータ10の固定子16を示す模式図、図51Bは同固定子構造を示す説明図である。また、図52は、スイッチSWを切り替えた場合のモータ10の正面視による模式図である。
例えば、6極9スロットのモータ10の場合であれば、図68Aおよび図68Bに示すように、固定子16は、複数の固定子コイル15として、U+1,U+2,U+3の固定子コイル15がそれぞれ直列に接続されたコイル組からなる第1の固定子コイル151aを備えた構成とすることができる。この場合、同様に、V+1,V+2,V+3の固定子コイル15がそれぞれ直列に接続されたコイル組からなる第1の固定子コイル151bと、W+1,W+2,W+3の固定子コイル15がそれぞれ直列に接続されたコイル組からなる第1の固定子コイル151cとを備えている。
また、他の変形例として、例えば10極12スロットのモータ10の場合、図70A,Bに示す構成も考えられる。
図56に示す回転子コア17aは、複数の永久磁石18の隔離量が異なっている。すなわち、固定子コア17aの周方向に沿って埋設された各永久磁石18の回転子コア周縁からの隔離深さdがそれぞれ異なっている。ここでは、8極の永久磁石18が中心から45度の間隔をあけて回転子コア17aに埋設されており、最小の隔離量dminの永久磁石18と対向して最大の隔離量dmaxの永久磁石18が埋設されている。
また、図57に示す回転子コア17aは、永久磁石18を配設するために形成された磁石配設孔である磁石スロット17dに連なるスリット17eを有し、各スリット17eの長さが異なっている。なお、磁気特性を変化させることができるのであれば、各スリット17eの長さではなく、面積などが変化するようにその形状を異ならせてもよい。
また、図58に示す回転子コア17aは、複数の永久磁石18の大きさが異なっている。ここでは、8極の永久磁石18が中心から45度の間隔をあけて回転子コア17aに埋設されているが、最小の永久磁石18と対向して最大の永久磁石18が埋設されている。なお、磁気特性を変化させることができるのであれば、永久磁石18は大きさを異ならせるのではなく、その形状を異ならせてもよい。
図56~図58においては、主に固定子コア17aの磁気特性を異ならせるようにした例示であるが、図59に示すように、永久磁石18そのものの磁気特性を異ならせることもできる。
図60は、実施形態に係るモータ10の縦断面視による説明図、図61は、同モータ10の正面視による模式図である。また、図62はモータの回転子構造を示す説明図、図63Aは同モータの固定子16を示す模式図、図63Bは同固定子構造を示す説明図である。
すなわち、例えば8極9スロットのモータ10の場合とすると、図69A,69Bに示すように、固定子16は、複数の固定子コイル15として、例えば、U-1,U+1,U-2の固定子コイル15がそれぞれ直列に接続されたコイル組からなる第1の固定子コイル151aを備えた構成とする。同様に、固定子16は、V-1,V+1,V-2の固定子コイル15がそれぞれ直列に接続されたコイル組からなる第1の固定子コイル151bと、W-1,W+1,W-2の固定子コイル15がそれぞれ直列に接続されたコイル組からなる第1の固定子コイル151cとを備えている。
また、例えば10極12スロットのモータ10の場合、第2の実施形態でも説明したように、図70A,70Bに示す構成も考えられる。
図66Aおよび図66Bに示すように、各コイル組15a間において、U相、V相およびW相のコイル巻数を選択的に異ならせ、各コイル組15aにおける磁場の分布パターンをそれぞれ異なるようにして、磁場の分布パターンが全周中において一回性(唯一性)を有するようにしてもよい。なお、図66Aにおいては、各固定子コイル15を円形で示すとともに、円の大きさで巻数の多さを表している。
図67Aおよび図67Bに示した固定子16についても、それぞれ複数のU相巻線15U、V相巻線15VおよびW相巻線15Wからなる固定子コイル15が、複数のティース16b間にそれぞれ形成されたスロット16cに巻装された固定子コア16aを備えている。
1 モータシステム
10 モータ
15 固定子コイル
15a コイル組
16 固定子
16a 固定子コア
17 回転子
17a 回転子コア
18 永久磁石
20 制御装置
21 回転子制御部
22 インダクタンス計測部
23 記憶部
24 機械角推定部
Claims (18)
- 複数の永久磁石が周方向に設けられた回転子コアを有する回転子と、
複数相の固定子コイルが巻装された固定子コアを有するとともに、前記回転子と所定のエアギャップを介して対向配置される固定子と、
を備え、
前記回転子は、
前記回転子コアまたは前記永久磁石の磁気特性の変化パターンが、周方向に変化する構成を有し、
前記固定子は、
各相毎に第1の固定子コイルと第2の固定子コイルとが、前記固定子コアに通電切替え自在に巻装された構成を有し、前記第2の固定子コイルへ通電を切り替えた場合、前記固定子が内周側に形成する磁場の分布パターンが全周中で唯一性を有する
ことを特徴とするモータ。 - 前記第1の固定子コイルの一部に前記第2の固定子コイルが含まれている
ことを特徴とする請求項1に記載のモータ。 - 前記固定子の構造は、
前記第2の固定子コイルが発生する前記エアギャップ中の磁束密度分布波形が、機械角360度を1周期とする磁束密度成分を有する
ことを特徴とする請求項1または2に記載のモータ。 - 前記回転子の構造は、
前記エアギャップに面する表面上における磁極の総数が4以上であり、当該回転子が発生するエアギャップ中の磁束密度分布波形が、機械角360度を1周期とする磁束密度成分を有する
ことを特徴とする請求項1、2または3に記載のモータ。 - 前記回転子は、突極性を有することを特徴とする請求項1~4のいずれか1つに記載のモータ。
- 前記第2の固定子コイルへ通電を切り替えた場合、
当該第2の固定子コイルを除く他の固定子コイルへの通電が禁止される
ことを特徴とする請求項1~5のいずれか1つに記載のモータ。 - 前記回転子コアは、
半径の長さがそれぞれ異なる部位を周方向に沿って形成したことにより、前記回転子の磁気特性を変化させた
ことを特徴とする請求項1~6のいずれか1つに記載のモータ。 - 前記回転子コアは、
周方向に沿って埋設された各前記永久磁石の回転子コア周縁からの隔離深さをそれぞれ異ならせることにより、前記回転子の磁気特性を変化させた
ことを特徴とする請求項1~6のいずれか1つに記載のモータ。 - 前記回転子コアは、
前記複数の永久磁石の大きさまたは形状を異ならせることにより、前記回転子の磁気特性を変化させた
ことを特徴とする請求項1~6のいずれか1つに記載のモータ。 - 前記回転子コアは、
前記永久磁石を配設するために形成された磁石配設孔に連なるスリットを有し、各スリットの長さまたは形状を異ならせることにより、前記回転子の磁気特性を変化させた
ことを特徴とする請求項1~6のいずれか1つに記載のモータ。 - 前記複数の永久磁石は、
各永久磁石の磁束密度を異ならせることにより、前記回転子の磁気特性を変化させた
ことを特徴とする請求項1~10のいずれか1つに記載のモータ。 - 前記回転子は、
前記回転子コアの磁気的中心が回転軸の軸心に対して偏心している、
ことを特徴とする請求項1、2または3に記載のモータ。 - 前記第2の固定子コイルへ通電を切り替えた場合、
当該第2の固定子コイルを除く他の固定子コイルへの通電が禁止される
ことを特徴とする請求項12に記載のモータ。 - 前記磁気的中心の偏心は、前記回転子コアの物理的軸線が前記回転軸からずれることにより生起し、前記回転子コアの外周面と前記固定子コアの内周面との間隔が周方向に変化している
ことを特徴とする請求項12または13に記載のモータ。 - 前記各永久磁石の径方向の長さは、前記回転軸の中心から前記各永久磁石の外周面までの径方向の長さが同一となるように設定される
ことを特徴とする請求項12,13または14に記載のモータ。 - 前記磁気的中心の偏心は、前記回転子コアの透磁率の周方向への変化によって生起する
ことを特徴とする請求項12または13に記載のモータ。 - 前記固定子コアは、内周面が断面略楕円形状である
ことを特徴とする請求項11~16のいずれか1つに記載のモータ。 - 請求項1~17のいずれか1つに記載のモータと、
前記モータを制御する制御装置と、
を備え、
前記制御装置は、
前記回転子の回転を制御する回転子制御部と、
前記固定子コイルのインダクタンスを計測するインダクタンス計測部と、
前記回転子の機械角に応じたインダクタンスを示す基準データを前記機械角の情報に関連付けて記憶する記憶部と、
前記インダクタンス計測部によって計測したインダクタンスの値と前記記憶部に記憶した基準データとに基づいて、前記回転子の機械角を推定する機械角推定部と、を備えることを特徴とするモータシステム。
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CN201280055336.7A CN103931089B (zh) | 2011-11-14 | 2012-09-04 | 电机及电机系统 |
EP12850546.8A EP2782228A4 (en) | 2011-11-14 | 2012-09-04 | ENGINE AND MOTOR SYSTEM |
US14/275,804 US20140246940A1 (en) | 2011-11-14 | 2014-05-12 | Motor and motor system |
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US14/275,804 Continuation US20140246940A1 (en) | 2011-11-14 | 2014-05-12 | Motor and motor system |
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WO2013073264A1 true WO2013073264A1 (ja) | 2013-05-23 |
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US (1) | US20140246940A1 (ja) |
EP (1) | EP2782228A4 (ja) |
JP (1) | JPWO2013073264A1 (ja) |
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JP2019010444A (ja) * | 2017-06-30 | 2019-01-24 | 株式会社湯山製作所 | 薬剤包装用シートロール及び薬剤包装用シートロールの巻き芯 |
JPWO2021010469A1 (ja) * | 2019-07-18 | 2021-01-21 | ||
WO2022085079A1 (ja) * | 2020-10-20 | 2022-04-28 | 三菱電機株式会社 | 回転子、電動機、圧縮機および冷凍サイクル装置 |
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CN107852051B (zh) * | 2015-07-21 | 2019-12-24 | 株式会社电装 | 电动机 |
WO2017081977A1 (ja) * | 2015-11-12 | 2017-05-18 | 三菱電機株式会社 | モータ制御装置およびこれを用いたエレベータ |
JP6799962B2 (ja) * | 2016-08-03 | 2020-12-16 | 本田技研工業株式会社 | バスバーユニット |
CH712828A1 (de) * | 2016-08-22 | 2018-02-28 | Lakeview Innvovation Ltd | Verfahren zur sensorlosen Bestimmung der Orientierung des Rotors eines eisenlosen PMSM-Motors. |
JP2018046593A (ja) * | 2016-09-12 | 2018-03-22 | コニカミノルタ株式会社 | 永久磁石同期電動機の制御装置、制御方法、および画像形成装置 |
US10284121B2 (en) * | 2016-09-29 | 2019-05-07 | Rockwell Automation Technologies, Inc. | Permanent magnet motor with absolute rotor position detection |
US10218234B2 (en) | 2016-12-02 | 2019-02-26 | Rockwell Automation Technologies, Inc. | Electric motor with asymmetric design for improved operation |
WO2020223329A1 (en) * | 2019-04-30 | 2020-11-05 | Brookhaven Science Associates, Llc | Method and device for detection of condition of brushless motors and generators |
JP7468214B2 (ja) * | 2020-07-21 | 2024-04-16 | 株式会社デンソー | 回転電機のロータ |
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Also Published As
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US20140246940A1 (en) | 2014-09-04 |
JPWO2013073264A1 (ja) | 2015-04-02 |
CN103931089B (zh) | 2016-03-16 |
CN103931089A (zh) | 2014-07-16 |
EP2782228A1 (en) | 2014-09-24 |
EP2782228A4 (en) | 2016-03-09 |
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