WO2014010063A1 - Dispositif de commande de moteur - Google Patents

Dispositif de commande de moteur Download PDF

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Publication number
WO2014010063A1
WO2014010063A1 PCT/JP2012/067846 JP2012067846W WO2014010063A1 WO 2014010063 A1 WO2014010063 A1 WO 2014010063A1 JP 2012067846 W JP2012067846 W JP 2012067846W WO 2014010063 A1 WO2014010063 A1 WO 2014010063A1
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WO
WIPO (PCT)
Prior art keywords
analog
delay time
motor
detection signal
unit
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PCT/JP2012/067846
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English (en)
Japanese (ja)
Inventor
章 田辺
和秋 安藤
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三菱電機株式会社
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Priority to PCT/JP2012/067846 priority Critical patent/WO2014010063A1/fr
Publication of WO2014010063A1 publication Critical patent/WO2014010063A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/0016—Control of angular speed of one shaft without controlling the prime mover
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/24476—Signal processing
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/24471—Error correction
    • G01D5/2449—Error correction using hard-stored calibration data
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
    • G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
    • G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
    • G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
    • G01D5/245—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains using a variable number of pulses in a train
    • G01D5/2451—Incremental encoders
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • the present invention relates to a motor control device.
  • a position detector such as a rotary encoder connected to the motor generates a detection signal indicating the rotation position (rotation angle) and speed of the motor, and serves as a command signal.
  • a motor control device is used that performs control so that the detected position and speed follow an input target value.
  • the detection signal is obtained as a digital signal, and a digital control method is used in which arithmetic processing inside the motor control device is also performed at fixed intervals.
  • Patent Document 1 in an automatic control system that samples data at regular time intervals, processes it with a digital computer, and outputs it, the sampling input value at a certain time and the sampling input before one sampling time are output. It is described that a value obtained by multiplying a difference from a value by an appropriate coefficient is added, and the result of the addition is used as an apparent sampling input value at a certain time. Thus, according to Patent Document 1, it is supposed that the time delay required from sampling to processing and output by a digital computer can be apparently reduced.
  • a master signal generation device counts a pulse signal (digital signal) from an encoder at a predetermined scan period, smoothes the count result, and calculates a master signal.
  • a pulse signal digital signal
  • the delay time obtained by adding the signal read delay time due to the read cycle of the encoder signal and the smoothing delay time due to the smoothing processing of the read data is corrected.
  • This delay time can be recognized in advance from the system design stage as a unique value in the entire system.
  • the master signal is corrected based on a delay time recognized in advance as a unique value in the entire system, it is not necessary to perform trial printing for each machine. It is said that correction can be performed easily.
  • Patent Documents 1 and 2 only corrects the delay time due to digital processing, and only corrects using a fixed correction value recognized in advance as a unique value in the entire system. Absent.
  • the present inventor has examined and found that the delay time in the motor control device includes not only the delay time due to digital processing but also the delay time due to analog processing.
  • the present inventor further examined that the delay time due to the analog processing changes depending on the driving state in the motor control device, and is the same method as the delay time due to the digital processing, that is, a fixed correction value. It was found difficult to correct with.
  • the present invention has been made in view of the above, and an object thereof is to obtain a motor control device capable of reducing the influence of delay time due to analog processing.
  • a motor control device includes a detection element that outputs an analog sine wave in accordance with the movement of a detected object, and an output from the detection element.
  • An analog filter for filtering an analog sine wave, an AD converter for AD converting an analog signal output from the analog filter, and a position of the detected object according to a digital signal output from the AD converter A position detector having a generation unit that generates a detection signal to be shown; a correction unit that corrects a detection signal output from the position detector; and a motor that includes the detected object based on the corrected detection signal.
  • a control unit that drives the correction unit, and the correction unit performs delay by analog processing based on the characteristics of the analog filter and the frequency of the analog sine wave.
  • a delay time calculator for calculating a time based on the delay time by the analog processing, and having a delay correction unit that corrects the components associated delay time in the detection signal.
  • the delay time calculation unit calculates the delay time due to analog processing based on the characteristics of the analog filter and the frequency of the analog sine wave.
  • the delay correction unit corrects a component related to the delay time in the detection signal based on the delay time by the analog processing.
  • the delay time due to the analog processing can be calculated based on the parameter that varies depending on the driving state of the motor, and the delay time can be corrected in consideration of the delay time due to the analog processing, thereby reducing the influence of the delay time due to the analog processing.
  • FIG. 1 is a diagram illustrating a configuration of the motor control device according to the first embodiment.
  • FIG. 2 is a diagram showing a configuration of the position detector in the first embodiment.
  • FIG. 3 is a diagram illustrating a relationship between the detection element and the output signal in the first embodiment.
  • FIG. 4 is a diagram illustrating a configuration of the position detector in the first embodiment.
  • FIG. 5 is a circuit diagram showing a configuration of the analog filter in the first embodiment.
  • FIG. 6 is a diagram showing characteristic information in the first embodiment.
  • FIG. 7 is a diagram showing the phase characteristics of the analog filter in the first embodiment.
  • FIG. 8 is a diagram showing a response delay of the detection signal in the first embodiment.
  • FIG. 9 is a diagram illustrating a configuration of the motor control device according to the second embodiment.
  • FIG. 10 is a diagram illustrating a configuration of a motor control device according to a modification of the second embodiment.
  • FIG. 1 is a diagram illustrating a configuration of the motor control device 1.
  • the motor control device 1 receives the command signal CS from the outside (for example, a host controller), detects the position of the detected object in the motor M, and drives the motor M so that the motor M follows the command signal CS. .
  • the command signal CS is, for example, a position command or a speed command.
  • the motor M may be, for example, a rotary motor including a rotor (detected body) and a stator, or may be a linear motor including a mover (detected body) and a stator.
  • a case where the motor M is a rotary motor will be described as an example.
  • the motor control device 1 includes a position detector 2, a delay time calculation unit 9, a delay correction unit 10, a subtractor 7, a position control unit 3, a speed calculation unit 6, a subtractor 8, a speed control unit 4, And a torque control unit 5.
  • the position detector 2 is connected to the motor M and detects the rotation position (rotation angle) of the rotor (detected body) in the motor M.
  • the position detector 2 performs analog processing and digital processing on the detection result, and outputs a detection signal (digital signal) PS indicating the rotational position of the rotor in the motor M according to the processing result.
  • the delay time calculation unit 9 outputs the calculated delay time DT to the delay correction unit 10.
  • the delay time calculation unit 9 includes an estimation unit 9a, a first calculation unit 9b, a second calculation unit 9c, and a third calculation unit 9d. The functions of each unit will be described later.
  • the delay correction unit 10 receives the detection signal PS from the position detector 2 and receives the delay time DT from the delay time calculation unit 9.
  • the delay correction unit 10 corrects a component related to the delay time in the detection signal PS based on the delay time DT.
  • the delay correction unit 10 corrects a component related to the delay time DT in the detection signal by, for example, estimation processing based on the past detection signal. Then, the delay correction unit 10 outputs the corrected detection signal PS ′ to the subtractor 7 and the speed calculation unit 6.
  • the subtractor 7 receives the command signal CS from the outside (for example, a host controller), and receives the corrected detection signal PS ′ from the delay correction unit 10. The subtractor 7 calculates a deviation between the command signal CS and the corrected detection signal PS ′, and outputs the calculation result to the position controller 3 as a command deviation signal CS ′.
  • the position controller 3 receives the command deviation signal CS ′ from the subtractor 7.
  • the position controller 3 generates a speed command signal VC according to the command deviation signal CS ′ and outputs it to the subtracter 8.
  • the speed calculation unit 6 receives the corrected detection signal PS ′ from the delay correction unit 10.
  • the speed calculation unit 6 generates a speed detection signal VS according to the corrected detection signal PS ′.
  • the speed calculation unit 6 Based on the corrected detection signal PS ′, the speed calculation unit 6 performs a process of converting to a speed by, for example, a differentiation process. That is, the speed detection signal VS corresponds to the motor rotation speed of the motor M.
  • the speed calculation unit 6 outputs the speed detection signal VS to the subtracter 8.
  • the subtracter 8 receives the speed command signal VC from the position controller 3 and receives the speed detection signal VS from the speed calculator 6.
  • the subtracter 8 calculates a deviation between the speed command signal VC and the speed detection signal VS, and outputs the calculation result to the speed control unit 4 as a speed command deviation signal VC ′.
  • the speed control unit 4 receives the speed command deviation signal VC ′ from the subtracter 8.
  • the speed control unit 4 outputs a torque command signal TC to the torque control unit 5 in accordance with the speed command deviation signal VC ′.
  • the torque control unit 5 receives the torque command signal TC from the speed control unit 4.
  • the torque control unit 5 outputs a drive current I for driving the motor M based on the torque command signal TC.
  • the motor control device 1 drives the motor M so as to follow the command signal CS.
  • FIG. 2 is a block diagram showing the configuration of the position detector 2, and shows the configuration of the magnetic sensor as an example.
  • the position detector 2 has a magnetic drum 20 and a detection element 21 as shown in FIG.
  • S-pole and N-pole magnets are magnetized on the outer peripheral surface 20 a at intervals of ⁇ .
  • the magnetic drum 20 is connected to the rotor (detected body) of the motor M through a shaft, for example, and rotates in accordance with the rotation of the rotor (detected body).
  • the detection element 21 is fixedly arranged so as to face the outer peripheral surface 20a of the magnetized magnetic drum 20. That is, the detection element 21 outputs an analog sine wave in accordance with the movement of the rotor (detected body) of the motor M.
  • a magnetoresistive element is generally used, and has a characteristic that the resistance value changes when a magnetic field is applied.
  • the resistors are connected in series, a voltage is applied to both ends, and a change in the resistance value of the resistors is detected in the two resistors. Detection is performed based on a change in point potential, and the position of the detection target is detected using this output signal.
  • two resistors 21 a-1 and 21 b-1 are arranged parallel to the magnetization pitch ⁇ of the magnetic drum 20 at an interval of ⁇ / 2 and connected to form a magnetic resistance.
  • the element 21c-1 is configured, and the two resistors 21a-2 and 21b-2 are arranged parallel to the magnetization pitch ⁇ of the magnetic drum 20 at an interval of ⁇ / 2 to be magnetically connected. Resistive element 21c-2 is configured. In addition, the magnetoresistive element 21c-1 and the magnetoresistive element 21c-2 are connected on the opposite side and arranged at an interval of ⁇ / 4 to form resistance patterns having substantially the same shape with the phases shifted from each other by ⁇ / 4. .
  • FIG. 3 is a schematic diagram showing the relationship between the detection element 21 in the position detector 2 and its output signal.
  • Two-phase (A-phase, B-phase) analog sine waves AW1 and AW2 having a phase shift of ⁇ / 2 are output for one wavelength around the potential of Vc / 2.
  • a detection signal is calculated based on the two-phase analog sine waves AW1 and AW2 obtained in this way.
  • the frequency of the analog sine waves AW1 and AW2 is proportional to the rotation speed of the rotor of the motor M, and the rotor of the motor M The higher the rotational speed of the sine wave, the higher the frequency of the analog sine waves AW1 and AW2.
  • FIG. 4 is a diagram showing a configuration for generating the detection signal PS from the two-phase (A phase, B phase) analog sine waves AW1 and AW2 shown in FIG. 3 in the position detector 2.
  • the analog sine wave AW1 and AW2 are different in phase by ⁇ / 2
  • the analog sine wave AW1 can be called an analog sine wave
  • the analog sine wave AW2 can be called an analog cosine wave.
  • the position detector 2 includes analog filters 22-1 and 22-2, AD converters 23-1 and 23-2, and a detection signal generation unit. 24.
  • the detection element 21 outputs two-phase (A-phase and B-phase) analog sine waves AW1 and AW2 to the analog filters 22-1 and 22-2, respectively.
  • Analog filter 22-1 receives A-phase analog sine wave AW1 from detection element 21.
  • the analog filter 22-1 filters the analog sine wave AW1 according to the filter characteristics of the circuit, and outputs the filtering result to the AD converter 23-1 as an A-phase analog signal AW1 '.
  • Analog filter 22-2 receives B-phase analog sine wave AW2 from detection element 21.
  • the analog filter 22-2 filters the analog sine wave AW2 according to the filter characteristics of the circuit, and outputs the filtered result to the AD converter 23-2 as a B-phase analog signal AW2 '.
  • the AD converter 23-1 receives the A-phase analog signal AW1 'from the analog filter 22-1.
  • the AD converter 23-1 performs AD conversion on the A-phase analog signal AW1 ', generates an A-phase digital signal DW1, and outputs the A-phase digital signal DW1 to the detection signal generation unit 24.
  • the AD converter 23-2 receives the B-phase analog signal AW2 'from the analog filter 22-2.
  • the AD converter 23-2 performs AD conversion on the B-phase analog signal AW2 ', generates a B-phase digital signal DW2, and outputs the digital signal DW2 to the detection signal generation unit 24.
  • the detection signal generator 24 receives the A-phase digital signal DW1 from the AD converter 23-1, and receives the B-phase digital signal DW2 from the AD converter 23-2.
  • the detection signal generator 24 generates a detection signal PS indicating the position of the rotor (detected body) in accordance with the A-phase digital signal DW1 and the B-phase digital signal DW2.
  • the detection signal generation unit 24 generates the detection signal PS, for example, by performing an interpolation process or an arctangent operation on the A-phase digital signal DW1 and the B-phase digital signal DW2.
  • the A-phase digital signal DW1 is approximately represented by sin ⁇
  • the B-phase digital signal DW2 is approximately represented by cos ⁇ .
  • FIG. 5 is a circuit diagram showing the configuration of the analog filter 22 in FIG.
  • R is a resistance value in the circuit
  • C is a capacitance in the circuit.
  • Vin represents an input voltage
  • Vout represents an output voltage.
  • the analog filter 22 configured in this manner has a low-pass filter characteristic that blocks a high frequency component of the input signal (input voltage Vin), and the response band K is, for example, 1 / RC. Therefore, the detection signal PS is affected by the filter characteristics in the analog filter 22.
  • the estimation unit 9a (see FIG. 1) of the delay time calculation unit 9 receives information on the response band K of the analog filter 22 from the outside (for example, a host controller), as shown in FIG. 22, that is, first characteristic information indicating the relationship between the frequency of the analog sine wave and the phase delay amount of the analog filter 22 is estimated.
  • the delay time calculation unit 9 is experimentally acquired in advance with second characteristic information indicating the relationship between the rotational speed of the rotor in the motor M and the frequency of the analog sine wave as shown in FIG. Is set.
  • the first calculation unit 9b (see FIG. 1) of the delay time calculation unit 9 receives the speed detection signal VS from the speed calculation unit 6, the first calculation unit 9b refers to the second characteristic information shown in FIG.
  • the frequency of the analog sine wave corresponding to the rotation speed indicated by the detection signal VS is obtained.
  • the analog sine wave frequency F1 corresponding to the rotation speed VS1 can be obtained by referring to the second characteristic information shown in FIG. .
  • the second calculation unit 9c (see FIG. 1) of the delay time calculation unit 9 refers to the estimated first characteristic information shown in FIG. 6 (a) and corresponds to the obtained frequency of the analog sine wave. Determine the amount of phase delay to be performed. For example, when the obtained frequency of the analog sine wave is F1, the phase delay amount PD1 corresponding to the frequency F1 of the analog sine wave can be obtained by referring to the first characteristic information shown in FIG. .
  • third characteristic information indicating the relationship between the phase delay amount and the delay time as shown in FIG. 6C is experimentally acquired and set in advance.
  • the third computation unit 9d (see FIG. 1) of the delay time computation unit 9 refers to the third characteristic information shown in FIG. Is obtained as a delay time DTa by analog processing (see Equation 1).
  • the delay time DTa1 corresponding to the phase delay amount PD1 is obtained as the delay time DTa by analog processing. be able to.
  • the filter characteristic for the response band K is K / (K + s) in terms of a first-order lag transfer function.
  • the phase characteristic in the above transfer function is arctan ( ⁇ / K).
  • the phase characteristic in the filter characteristic is, for example, the characteristic shown in FIG.
  • AW2 has a proportional relationship with the frequency. For example, when the rotational speed of the rotor of the motor M is 6000 (r / min), the frequencies of the analog sine waves AW1 and AW2 are 10 (kHz). As described above, when the analog sine waves AW1 and AW2 output from the detection element 21 are input to the analog filters 22-1 and 22-2, the phase is increased by the amount shown in FIG. 7 according to the frequency of the analog sine waves AW1 and AW2.
  • FIG. 8 is a graph showing the relationship between the rotational speed of the rotor of the motor M and the delay time due to the analog filter 22.
  • the delay time calculation unit 9 calculates the delay time DTa by analog processing based on the characteristics of the analog filter 22 and the frequency of the analog sine wave. .
  • the delay correction unit 10 corrects a component related to the delay time in the detection signal PS based on the delay time DTa by analog processing.
  • the delay time due to analog processing can be calculated based on a parameter that varies depending on the driving state of the motor M, and the delay time can be corrected in consideration of the delay time due to analog processing, thereby reducing the influence of the delay time due to analog processing. .
  • the delay time calculation unit 9 calculates the delay time DT in the detection signal according to the delay time DTa by analog processing and the delay time DTd by digital processing.
  • the delay correction unit 10 corrects a component related to the delay time in the detection signal PS using the calculated delay time DT. As a result, both the delay time due to digital processing and the delay time due to analog processing can be reduced, so that the accuracy of correcting the delay time in the detection signal can be greatly improved.
  • the estimation unit 9a is based on the analog filter response band K, and shows a relationship between the frequency of the analog sine wave and the phase delay amount of the analog filter.
  • the characteristic information (see FIG. 6A) is estimated.
  • the first calculation unit 9b refers to the second characteristic information (see FIG. 6B) indicating the relationship between the speed of the rotating body (detected body) and the frequency of the analog sine wave, and responds to the detection signal.
  • the frequency of the analog sine wave corresponding to the speed of the rotating body (detected body) obtained in this way is obtained.
  • the second calculation unit 9c refers to the first characteristic information estimated by the estimation unit 9a and calculates the phase delay amount of the analog filter corresponding to the frequency of the analog sine wave obtained by the first calculation unit 9b.
  • the third calculation unit 9d refers to the third characteristic information (see FIG. 6C) indicating the relationship between the phase delay amount of the analog filter and the delay time due to analog processing, and the second calculation unit 9c A delay time by analog processing corresponding to the obtained phase delay amount of the analog filter is obtained. Thereby, the delay time DTa by the analog processing can be calculated based on the characteristics of the analog filter 22 and the frequency of the analog sine wave.
  • the analog filter 22 in the position detector 2 is not an RC circuit as shown in FIG. 5, but may be corrected by paying attention to the response band K in the same manner, for example, an amplifier circuit having a filter characteristic. It can be carried out.
  • the delay time DTa due to analog processing may be approximately regarded as the delay time DT in the detection signal.
  • the calculation content in the delay time calculation unit 9 can be simplified, the calculation time by the delay time calculation unit 9 can be shortened.
  • the response band K of the analog filter may be set in advance in the delay time calculation unit 9 instead of being supplied to the delay time calculation unit 9 from the outside (for example, a host controller).
  • the response band K of the analog filter may be dynamically acquired by, for example, periodically measuring the analog filter 22 by the outside (for example, a host controller) or the delay time calculation unit 9.
  • the analog filter response band K is dynamically acquired, the analog filter characteristics can be accurately estimated even when the characteristics of the analog filter deteriorate over time or when the analog filter is replaced with one of different specifications. it can.
  • FIG. 9 is a diagram illustrating a configuration of the motor control device 100. Below, it demonstrates focusing on a different part from Embodiment 1.
  • FIG. 9 is a diagram illustrating a configuration of the motor control device 100. Below, it demonstrates focusing on a different part from Embodiment 1.
  • the calculation by the delay time calculation unit 9 is performed regardless of the characteristics of the motor M.
  • the calculation by the delay time calculation unit 9 is performed according to the characteristics of the motor M. Switch between.
  • the motor control device 100 further includes a calculation determination unit 111.
  • the calculation determination unit 111 switches execution or stop of the processing of the delay time calculation unit 9 based on the characteristics of the analog filter 22 and the motor information of the maximum rotation speed or the use rotation speed of the motor M.
  • the operation determination unit 111 receives a filter characteristic response band K and motor information such as a maximum rotation speed and a use rotation speed range of the motor M to be used from the outside (for example, a host controller). Based on these, the calculation determination unit 111 determines whether to execute or stop the calculation of the delay time calculation unit 9.
  • the arithmetic determination unit 111 uses the delay time DT calculated from the response band K of the analog filter 22 and motor information such as the maximum rotation speed and the use rotation speed range of the motor M to be used.
  • the delay time calculation unit 9 performs the calculation only for the first time, and then determines to stop.
  • the operation determination unit 111 determines that the change in the delay time is very small in the rotation speed range of the motor used, the calculation by the delay time calculation unit 9 is performed once until the predetermined period elapses thereafter.
  • the determination to stop may be repeated every predetermined cycle.
  • the calculation determination unit 111 outputs the determination result to the delay time calculation unit 9.
  • the delay time calculation unit 9 performs the calculation or stops the calculation according to the determination result. That is, the calculation determination unit 111 switches execution or stop of the processing of the delay time calculation unit 9.
  • the rotational speed of the motor is set. Accordingly, the number of times of calculating the delay time can be reduced, so that the processing load can be reduced.
  • the calculation determination unit 111 may determine that there is an abnormality and stop the calculation when the delay time calculated by the delay time calculation unit 9 exceeds a predetermined threshold in the rotation speed range of the motor used. Good.
  • the delay time can be prevented from exceeding a predetermined value. For example, even when an error is included in the estimation process in the delay correction unit 10, the estimation error is excessive and prevents the control system from becoming unstable. be able to.
  • the calculation determination unit 111i may receive the speed detection signal VS from the speed calculation unit 6 and monitor the change of the speed detection signal VS, for example, periodically. . For example, if the change amount of the speed detection signal VS is within an allowable range, the calculation determination unit 111i determines that the rotor of the motor M is in a stable operation state, and performs the calculation of the delay time calculation unit 9 for the first time. Determination may be performed after that, and then stopped for a predetermined period.
  • the calculation determination unit 111i determines that the rotor of the motor M is in an unstable operation state, and performs the calculation of the delay time calculation unit 9. You may perform the determination performed every time.
  • the operation determination unit 111i determines that the rotor of the motor M is in a stable operation state, the operation determination by the delay time calculation unit 9 is performed once, and then the determination is made to stop until the predetermined cycle elapses. It may be repeated every time. For example, if the operation determination unit 111i determines that the rotor of the motor M is in an unstable operation state, the operation determination unit 111i may perform determination to perform the operation of the delay time calculation unit 9 each time.
  • the motor control device according to the present invention is useful for controlling the motor.

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Power Engineering (AREA)
  • Signal Processing (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

La présente invention concerne un dispositif de commande de moteur qui comprend : un détecteur de position qui comporte un élément de détection pour produire une onde sinusoïdale analogique conformément au mouvement d'un objet destiné à être détecté, un filtre analogique pour filtrer l'onde sinusoïdale analogique produite à partir de l'élément de détection, un convertisseur analogique-numérique pour réaliser une conversion analogique-numérique sur un signal analogique produit à partir du filtre analogique, et une unité de création pour créer un signal de détection qui indique la position de l'objet destiné à être détecté conformément à un signal numérique produit par le convertisseur analogique-numérique ; une unité de correction pour corriger le signal de détection produit à partir du détecteur de position ; et une unité de commande pour entraîner, en fonction du signal de détection corrigé, un moteur qui comprend l'objet destiné à être détecté. L'unité de correction comporte une unité de calcul de temps de retard pour calculer un temps de retard dû à un procédé analogique en fonction des caractéristiques du filtre analogique et de la fréquence de l'onde sinusoïdale analogique, et une unité de correction de retard pour corriger le composant qui concerne le temps de retard dans le signal de détection en fonction du temps de retard dû au procédé analogique.
PCT/JP2012/067846 2012-07-12 2012-07-12 Dispositif de commande de moteur WO2014010063A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3038248A1 (fr) * 2014-12-22 2016-06-29 LG Electronics Inc. Dispositif d'entraînement de moteur et machine de traitement du linge comprenant celui-ci

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07298698A (ja) * 1994-04-21 1995-11-10 Hitachi Ltd 誘導モータの制御装置
JPH114588A (ja) * 1997-06-10 1999-01-06 Hitachi Ltd 速度及び距離の検出方法
JP2000069778A (ja) * 1998-08-20 2000-03-03 Fuji Electric Co Ltd 電動機制御装置
JP2006033903A (ja) * 2004-07-12 2006-02-02 Matsushita Electric Ind Co Ltd モータ制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH07298698A (ja) * 1994-04-21 1995-11-10 Hitachi Ltd 誘導モータの制御装置
JPH114588A (ja) * 1997-06-10 1999-01-06 Hitachi Ltd 速度及び距離の検出方法
JP2000069778A (ja) * 1998-08-20 2000-03-03 Fuji Electric Co Ltd 電動機制御装置
JP2006033903A (ja) * 2004-07-12 2006-02-02 Matsushita Electric Ind Co Ltd モータ制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3038248A1 (fr) * 2014-12-22 2016-06-29 LG Electronics Inc. Dispositif d'entraînement de moteur et machine de traitement du linge comprenant celui-ci

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