WO2014097918A1 - ブラシレスモータ制御方法及びブラシレスモータ制御装置並びに電動パワーステアリング装置 - Google Patents
ブラシレスモータ制御方法及びブラシレスモータ制御装置並びに電動パワーステアリング装置 Download PDFInfo
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- WO2014097918A1 WO2014097918A1 PCT/JP2013/082970 JP2013082970W WO2014097918A1 WO 2014097918 A1 WO2014097918 A1 WO 2014097918A1 JP 2013082970 W JP2013082970 W JP 2013082970W WO 2014097918 A1 WO2014097918 A1 WO 2014097918A1
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- current
- brushless motor
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Classifications
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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
- H02K29/03—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
-
- 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
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
-
- 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 present invention relates to a technique for reducing torque ripple of a brushless motor, and is particularly effective when applied to a magnet-assisted reluctance motor in which a magnet is embedded in a rotor and the rotor is rotated by a magnet torque generated by the magnet's magnetic force in addition to the reluctance torque.
- a reluctance motor is known as a type of electric motor that generates a rotational force by utilizing a magnetic resistance difference between a stator and a rotor.
- a rotor is rotated by a reluctance torque generated by a magnetic resistance difference.
- the output torque of the reluctance motor tends to be smaller than that of the same-sized motor using the magnet. Therefore, in recent years, a magnet-assisted reluctance motor has been proposed in which a basic configuration is a reluctance motor and a magnet is arranged on a rotor.
- Patent Document 1 describes such a magnet-assisted reluctance motor, and shows a configuration in which a magnet is embedded in the rotor of the reluctance motor.
- the magnet-assisted reluctance motor is set so that the inductance difference between the d-axis (the central axis of the permanent magnet) direction and the q-axis (the axis that is electrically and magnetically orthogonal to the d-axis) increases.
- the reluctance torque Tr is generated.
- a magnet torque Tm is also generated by the permanent magnet.
- Magnet-assisted reluctance motors are high-efficiency and high-torque motors in recent years, such as electric power steering devices (hereinafter abbreviated as EPS as appropriate), electric vehicles, hybrid vehicles, home appliances such as air conditioners, various industrial machines, etc. Widely used as a drive source.
- EPS electric power steering devices
- the angle ⁇ current phase angle
- Patent Document 2 describes a motor control device that reduces torque ripple by calculating torque ripples by calculation and calculating and supplying a current command value that generates torque in the opposite phase.
- the torque ripple calculation means calculates the torque ripple caused by the fundamental wave current in the dq coordinate system and the harmonic component of the armature linkage flux by the permanent magnet.
- a harmonic current command value that generates torque having a phase opposite to that of the torque ripple calculated by the torque ripple calculating means is calculated by a torque ripple reducing harmonic current command value generator.
- the harmonic current control circuit controls the harmonic current based on the harmonic current command value, thereby reducing the torque ripple of the motor.
- JP 2011-83066 JP Japanese Patent Laid-Open No. 2004-64909 JP 2009-261121 A JP 2007-274779 JP 2009-195049 JP 2009-195049
- the brushless motor control method includes an outer ring portion, a plurality of teeth portions projecting radially inward from the outer ring portion, and a slot formed between the teeth portions.
- a stator having a plurality of armature windings having a sine wave voltage, and a rotor having a permanent magnet embedded therein and rotatably disposed inside the stator, the rotor being the permanent magnet
- a first harmonic component is calculated based on a correction map showing a relationship between a phase current of the armature winding and a parameter used for calculating the first harmonic component, and the first harmonic component is calculated.
- the second harmonic component having the opposite phase and the same amplitude and the same period as the torque ripple caused by the reluctance torque generated in the superposed state is used for calculating the phase current of the armature winding and the second harmonic component.
- a current correction value capable of reducing the torque ripple for the magnet torque and the torque ripple for the reluctance torque is set using the correction map set in advance while performing the maximum torque control.
- the relationship between the phase current value and the correction parameter is stored in the correction map.
- the CPU determines a parameter with reference to the correction map from the detected current value. This eliminates the need for the CPU to constantly calculate the torque ripple, and eliminates the need to calculate the command value for reducing the torque ripple. Therefore, the burden on the CPU during motor control can be greatly reduced while suppressing torque ripple of the brushless motor.
- the rotor includes a plurality of arc-shaped slits, a plurality of magnets accommodated in the slits, and a plurality of magnets formed along the circumferential direction of the rotor.
- the slit is provided along an arc having a center point on the outside of the rotor, and the projecting side portion of the slit is formed in the rotor so as to face the center side of the rotor. You may be made to do.
- the correction map includes a harmonic coefficient map indicating a relationship between the phase current of the armature winding and the amplitude of the first and second harmonic components, and a phase of the armature winding.
- Bsin12 ( ⁇ + ⁇ ) B: harmonic amplitude coefficient
- ⁇ rotation angle (electrical angle)
- ⁇ phase added to the fundamental current Iqb in the q-axis direction is added.
- a sin 12 ( ⁇ + ⁇ ) (A: harmonic amplitude coefficient, ⁇ : rotation angle (electrical angle), ⁇ : added to the fundamental wave current Idb in the d-axis direction as the second harmonic component.
- Phase shift) the harmonic coefficient map shows the relationship between the phase current of the armature winding and the harmonic amplitude coefficients A and B, and the phase adjustment map shows the armature winding.
- the relationship between the phase current and the phase shift ⁇ , ⁇ may be stored.
- the first and second harmonic components may be superimposed on the fundamental current in a high load region where the torque ripple rate in the brushless motor exceeds 5%.
- the brushless motor may be a motor used as a drive source of the electric power steering apparatus.
- the brushless motor control device includes an outer ring portion, a plurality of teeth portions projecting radially inward from the outer ring portion, and a slot formed between the teeth portions.
- a stator having a plurality of armature windings having a sine wave voltage, and a rotor having a permanent magnet embedded therein and rotatably disposed inside the stator, the rotor being the permanent magnet
- a brushless motor control device that is rotated by a magnet torque generated by a magnetic attraction force and a reluctance torque based on an inductance difference between magnetic paths, a current sensor that detects a phase current of the armature winding, and the brushless motor
- a basic current calculation unit that calculates a fundamental current indicating a winding current value at which the maximum torque is output by the brushless motor according to a load state of the brushless motor; Based on the phase current value detected by the current sensor, the first harmonic component having the same amplitude and the same period as the torque ripple caused by the magnet torque and the
- a correction component calculation unit for calculating a second harmonic component having an opposite phase having the same amplitude and the same period as the torque ripple caused by the reluctance torque, and parameters used for calculating the phase current and the first and second harmonic components. And the first and second harmonic components calculated by the correction component calculator are superimposed on the fundamental current and supplied to the armature winding. And a current correction unit that corrects the current.
- the basic current calculation unit calculates the fundamental wave current during the maximum torque control, and the correction component calculation unit can reduce the torque ripple for the magnet torque and the torque ripple for the reluctance torque.
- First and second harmonic components are calculated using a preset correction map. The relationship between the phase current value and the correction parameter is stored in the correction map.
- the correction component calculation unit calculates the first and second harmonic components by determining parameters from the detected current value with reference to the correction map.
- the current correction unit corrects the fundamental current based on the calculated first and second harmonic components.
- the rotor includes a plurality of arc-shaped slits, a plurality of magnets accommodated in the slits, and a plurality of magnets formed by the magnets and disposed along a circumferential direction of the rotor.
- the slit is provided along an arc having a center point on the outside of the rotor, and the projecting side portion of the slit is formed in the rotor so as to face the center side of the rotor. You may be made to do.
- the correction map includes a harmonic coefficient map indicating a relationship between the phase current of the armature winding and the amplitude of the first and second harmonic components, and a phase of the armature winding. You may provide the phase adjustment map which shows the relationship between the electric current and the phase shift
- the brushless motor may be a motor used as a drive source for the electric power steering apparatus.
- the electric power steering apparatus includes an outer ring portion, a plurality of teeth portions protruding radially inward from the outer ring portion, and a slot formed between the teeth portions.
- a stator having a plurality of armature windings having an induced voltage of a sinusoidal waveform, and a rotor having a permanent magnet embedded therein and rotatably disposed inside the stator, the rotor having the
- An electric power steering device that uses a brushless motor that is rotated by a magnet torque generated by a magnetic attraction force of a permanent magnet and a reluctance torque based on an inductance difference of a magnetic path as a driving source, depending on a load state of the brushless motor The fundamental current indicating the winding current value at which the maximum torque is output by the brushless motor is calculated, and the magnet torque is calculated.
- the first phase harmonic component having the same amplitude and the same period as the torque ripple to be corrected the relationship between the phase current of the armature winding and the parameter used for calculating the first harmonic component is shown.
- the second harmonic component having the opposite phase and the same amplitude and the same period as the torque ripple caused by the reluctance torque generated in a state where the first harmonic component is superimposed is obtained.
- Calculating based on a correction map showing a relationship between a phase current and a parameter used for calculating the second harmonic component, superimposing the first and second harmonic components on the fundamental current It is characterized by correcting the current supplied to the armature winding.
- a current correction value that can reduce both the torque ripple for the magnet torque and the reluctance torque while performing the maximum torque control is set in advance.
- the relationship between the phase current value and the correction parameter is stored in the correction map.
- the CPU determines a parameter with reference to the correction map from the detected current value. This eliminates the need for the CPU to constantly calculate the torque ripple, and eliminates the need to calculate the command value for reducing the torque ripple. Therefore, the burden on the CPU during motor control can be greatly reduced while suppressing torque ripple of the brushless motor. Further, the torque ripple is also suppressed to a predetermined value or less (for example, 5% or less), and the steering feeling is improved.
- the rotor includes a plurality of arc-shaped slits, a plurality of magnets housed in the slits, and a plurality of magnets formed along the circumferential direction of the rotor.
- the slit is provided along an arc having a center point on the outside of the rotor, and the projecting side portion of the slit is formed in the rotor so as to face the center side of the rotor. You may be made to do.
- the brushless motor control method and the control device of the present invention since a preset correction map is incorporated in the control and a harmonic component that reduces torque ripple is calculated using this correction map, Compared to the control mode, it is possible to greatly reduce the calculation load of the CPU. Therefore, the torque ripple of the brushless motor can be reduced without using a high-performance CPU, and the system cost can be kept low.
- the electric power steering apparatus of the present invention in the drive control of the brushless motor used as its drive source, a preset correction map is incorporated during the control, and the harmonic component that reduces the torque ripple is used as the correction map. Therefore, the calculation load of the CPU can be greatly reduced as compared with the conventional EPS. Therefore, the torque ripple of the brushless motor can be reduced without using a high-performance CPU, the steering feeling can be improved, and the system cost of the EPS can be reduced.
- FIG. 3 is a cross-sectional view taken along line AA in FIG. 2.
- It is a block diagram which shows the structure of the control apparatus in EPS of FIG.
- It is explanatory drawing which shows the torque ripple of Tm and Tr.
- It is explanatory drawing which shows the process which attenuates the torque ripple of Tm.
- It is explanatory drawing which shows the process which attenuates the torque ripple of Tr.
- FIG. 1 is an explanatory diagram showing a configuration of an EPS using a brushless motor, and a control process according to the present invention is performed.
- the electric power steering device (EPS) 1 in FIG. 1 has a column assist type configuration that applies an operation assisting force to the steering shaft 2.
- the EPS 1 uses a brushless motor 3 (hereinafter abbreviated as “motor 3”) as a power source.
- the steering wheel 4 is attached to the steering shaft 2.
- the steering force of the steering wheel 4 is transmitted to the tie rod 6 via a pinion and a rack shaft (not shown) disposed in the steering gear box 5.
- Wheels 7 are connected to both ends of the tie rod 6. As the steering wheel 4 is operated, the tie rod 6 is actuated, and the wheel 7 is steered left and right via a knuckle arm (not shown).
- the steering shaft 2 is provided with an assist motor unit 8 which is a steering force assisting mechanism.
- the assist motor unit 8 includes a motor 3 and a speed reduction mechanism unit 9 and a torque sensor 11.
- the deceleration mechanism unit 9 is provided with a worm and a worm wheel (not shown). The rotation of the motor 3 is decelerated and transmitted to the steering shaft 2 by the deceleration mechanism 9.
- the motor 3 and the torque sensor 11 are connected to a control device (ECU) 12.
- the torque sensor 11 When the steering wheel 4 is operated and the steering shaft 2 rotates, the torque sensor 11 is activated.
- the ECU 12 appropriately supplies electric power to the motor 3 based on the torque detected by the torque sensor 11.
- the motor 3 When the motor 3 is actuated, the rotation is transmitted to the steering shaft 2 via the speed reduction mechanism unit 9 and a steering assist force is applied.
- the steering shaft 2 is rotated by the steering assist force and the manual steering force.
- the rotational movement of the steering shaft 2 is converted into a linear movement of the rack shaft by rack-and-pinion coupling in the steering gear box 5, and the wheel 7 is steered.
- FIG. 2 is a cross-sectional view of the motor 3, and FIG. 3 is a cross-sectional view taken along the line AA in FIG.
- the motor 3 is based on a reluctance motor
- the magnet 3 is a magnet-assisted reluctance motor that assists in using the magnetic force of the magnet by arranging a magnet on the rotor.
- the motor 3 is used as a drive source for the electric power steering apparatus.
- the motor 3 is an inner rotor type brushless motor in which a stator (stator) 21 is disposed on the outer side and a rotor (rotor) 22 is disposed on the inner side, similarly to a normal reluctance motor.
- the stator 21 is fixed inside a bottomed cylindrical motor case 23 (hereinafter abbreviated as case 23).
- the stator 21 includes a stator core 24, a stator winding 26 (hereinafter abbreviated as a winding 26) wound around a tooth portion 25 of the stator core 24, and a bus bar unit (terminal unit) 27.
- the bus bar unit 27 is attached to the stator core 24 and is electrically connected to the winding 26.
- the case 23 is formed in a bottomed cylindrical shape with iron or the like.
- An aluminum die-cast bracket 28 is attached to the opening of the housing 23 by a fixing screw (not shown).
- the stator core 24 is formed by laminating steel plate materials (for example, electromagnetic steel plates).
- the stator core 24 has an outer ring portion 29 and a tooth portion 25. From the outer ring portion 29, a plurality of (here, 24) teeth portions 25 are provided so as to project radially inward. Slots 31 are formed between adjacent tooth portions 25. As described above, in the motor 3, 24 teeth portions 25 are provided and have a 24-slot configuration. In the slot 31, the winding 26 is accommodated in a distributed winding.
- a synthetic resin insulator 32 is attached to the stator core 24. A winding 26 is wound around the outside of the insulator 32.
- a bus bar unit 27 is attached to one end side of the stator core 24.
- the bus bar unit 27 includes a main body portion made of synthetic resin and a copper bus bar insert-molded in the main body portion.
- a plurality of power supply terminals 33 project in the radial direction.
- the power supply terminal 33 is welded to the end portion 26 a of the winding 26 drawn out from the stator core 24.
- the number of bus bars corresponding to the number of phases of the motor 3 here, three for the U phase, V phase, W phase and one for connecting each phase
- Each winding 26 is electrically connected to a power supply terminal 33 corresponding to the phase.
- the winding 26 is supplied with a trapezoidal wave-shaped phase current (U, V, W) including a harmonic component from a battery (not shown) via a power supply wiring 34.
- the stator core 24 is press-fitted and fixed in the case 23 after the bus bar unit 27 is attached.
- a rotor 22 is inserted inside the stator 21.
- the rotor 22 has a rotation shaft 35.
- the rotating shaft 35 is rotatably supported by bearings 36a and 36b.
- the bearing 36 a is fixed at the bottom center of the case 23.
- the bearing 36 b is fixed to the central portion of the bracket 28.
- the rotating shaft 35 is connected to the worm shaft of the speed reduction mechanism unit 9 by a joint member (not shown).
- a worm is formed on the worm shaft. The worm meshes with a worm wheel fixed to the steering shaft 2 at the speed reduction mechanism unit 9.
- a cylindrical rotor core 37 and a rotor (resolver rotor) 39 of a resolver 38 serving as a rotation angle detection unit are attached to the rotary shaft 35.
- a stator (resolver stator) 41 of the resolver 38 is accommodated in a resolver bracket 42 made of synthetic resin.
- the resolver bracket 42 is fixed to the inside of the bracket 28 with a mounting screw 43.
- a coil is wound around the resolver stator 41, and an excitation coil and a detection coil are provided.
- a resolver rotor 39 is disposed inside the resolver stator 41.
- the resolver rotor 39 is formed by laminating metal plates, and has convex portions in three directions.
- the resolver rotor 39 When the rotating shaft 35 rotates, the resolver rotor 39 also rotates in the resolver stator 41. A high frequency signal is applied to the exciting coil of the resolver stator 41. As the resolver rotor 39 rotates, the phase of the signal output from the detection coil changes as the convex portion approaches or separates. The rotational position of the rotor 22 is detected by comparing the detection signal with the reference signal. Based on the rotational position of the rotor 22, the current to the winding 26 is appropriately switched, and the rotor 22 is rotationally driven.
- the rotor core 37 is also formed by laminating a large number of disk-shaped electromagnetic steel plates.
- the steel plate constituting the rotor core 37 is provided with a plurality of slits 44 bent in an arc shape.
- the slit 44 is a space, and the slit 44 functions as a flux barrier for varying the magnetic resistance of the rotor 22 along the rotation direction.
- the slit 44 is provided along an arc centered on a virtual point (not shown) set outside the outer periphery of the rotor 22, and the slit 44 is formed in the rotor so that its convex side portion faces the center side of the rotor 22. Yes.
- the slit 44 is orthogonal to the rotation axis 35.
- a plurality of sets are provided with the q axis as the boundary.
- four sets of a plurality of slits 44 are provided in an arc shape. Each set of slits 44 has a plurality of layers of magnetic paths.
- a magnet (permanent magnet) 45 is disposed in the slit 44 in order to improve output. That is, the motor 3 has an IPM (Interior Permanent Magnet) motor configuration. A magnetic pole portion 46 is formed along the circumferential direction at each magnet 45. In the motor 3, the reluctance torque is the main and the magnet torque is the auxiliary. Therefore, an inexpensive ferrite magnet is used for the magnet 45. However, a rare earth magnet such as a neodymium bond magnet may be used for the magnet 45 in order to further increase the output.
- the magnet 45 disposed in each slit 44 is formed in the shape of the corresponding slit 44 in advance. Each magnet 45 is fixed in the slit 44 by fixing means such as adhesion.
- a magnet 45s having an S pole on the outer peripheral side and a magnet 45n having an N pole on the outer peripheral side are provided.
- the rotor 22 has a four-pole configuration including four magnetic pole portions 46, and the motor 3 has a four-pole 24-slot (4P24S) structure.
- the magnet 45 of each pole is formed in an arc shape.
- Three magnets 45 are provided along the radial direction, and a plurality of d-axis and q-axis are alternately formed on the rotor 22 in the circumferential direction.
- the direction of the magnetic flux generated by the magnetic pole is the d axis
- the axis that is magnetically orthogonal to the d axis is the q axis
- a plurality of d axes and q axes are set in the rotor 22.
- the d-axis and the q-axis are alternately provided along the circumferential direction.
- the rotor 22 is provided with an arc slit 44 to facilitate passage of the q-axis magnetic flux.
- An arc-shaped magnet 45 is embedded in the slit 44. That is, the rotor 22 has a structure in which the q-axis magnetic flux easily passes and the inductance Lq can be increased. Therefore, the magnet torque by the magnet 45 can be increased, and a sufficient torque can be obtained even with the ferrite magnet.
- FIG. 4 is a block diagram showing a configuration of the control device 50 of the EPS 1.
- the control method of the present invention is executed by the control device 50.
- the EPS 1 is driven and controlled based on the detected value by the torque sensor 11 and the rotational position information of the rotor 22 detected by the resolver 38.
- a resolver 38 is disposed in the motor 3 as an angle sensor.
- the rotor rotational position is sequentially input from the resolver 38 to the current command unit 51 as rotor rotational position information.
- a torque value (motor load information) serving as a load on the motor 3 is input from the torque sensor 11 to the current command unit 51 as motor load information.
- a rotor rotation speed calculation unit 61 that calculates the rotation speed of the rotor 22 based on the rotor rotation position information is provided in the preceding stage of the current command unit 51.
- the rotor speed information is also input to the current command section 51 from the rotor speed calculation section 61.
- the current command unit 51 is provided with a basic current calculation unit 52 that performs arithmetic processing based on the above-described detection value and calculates a basic current amount to be supplied to the motor 3.
- the basic current calculation unit 52 calculates the amount of current supplied to the motor 3 from the rotor rotational position information from the resolver 38, the rotor rotational speed information, and the motor load information.
- fundamental waves of Id and Iq that can obtain the maximum torque for the d-axis (orthogonal coordinate system component that does not contribute to torque) and the q-axis (orthogonal coordinate system component that contributes to torque). Currents Idb and Iqb are calculated.
- the current command unit 51 is also provided with a correction map 58 for reducing the torque ripple of the magnet torque Tm and the torque ripple of the reluctance torque Tr.
- the correction map 58 is unique to each motor because both torque ripples due to the motor current are different for each motor.
- the torque ripples of Tm and Tr are individually examined in advance, and correction data (harmonic coefficient map 62, phase) for correcting the fundamental wave currents Idb and Iqb so that each torque ripple is attenuated.
- An adjustment map 63 is stored.
- the correction data of the correction map 58 is acquired in advance through experiments and analysis. Here, the relationship between the phase current value of the winding 26 and the correction parameter is stored.
- the current command unit 51 is further provided with a correction component calculation unit 59 and a current correction unit 60.
- the current value of the motor 3 detected by the current sensor 64 is fed back to the correction component calculation unit 59 and the current correction unit 60.
- the current correction unit 60 corrects the fundamental wave currents Idb and Iqb previously calculated by the basic current calculation unit 52 using the correction map 58, and outputs the corrected current command values Id ′ and Iq ′ to the vector control unit 53.
- the correction component calculation unit 59 acquires a correction parameter from the phase current value detected by the current sensor 64 using the correction map 58.
- the current correction unit 60 generates current command values Id ′ and Iq ′ by superimposing predetermined harmonic components on the fundamental currents Idb and Iqb based on the acquired correction parameters.
- the vector control unit 53 includes d-axis and q-axis PI (proportional / integral) control units 54d and 54q and a coordinate axis conversion unit (dq / UVW) 55.
- the current command values Id 'and Iq' are input to the PI control units 54d and 54q, respectively.
- the PI control units 54d and 54q have detection current values I (d) and I (I () obtained by dq-axis conversion of three-phase (U, V, W) motor current values via a coordinate axis conversion unit (UVW / dq) 56. q) has been entered.
- the PI control units 54d and 54q perform PI calculation processing based on the current command values Id ′ and Iq ′ and the detected current values I (d) and I (q), and voltage command values Vd and Vq for the d and q axes. Is calculated.
- the voltage command values Vd, Vq are input to the coordinate axis converter 55, converted into three-phase (U, V, W) voltage command values Vu, Vv, Vw and output.
- the voltage command values Vu, Vv, Vw output from the coordinate axis conversion unit 55 are applied to the motor 3 via the inverter 57.
- the torque ripple is divided into Tm and Tr from the beginning, and first, an Iq value for reducing the torque ripple of Tm is set. Next, in consideration of the corrected Iq value, an Id value for reducing the torque ripple of Tr is set.
- the torque ripple is not sequentially calculated as in the conventional process, but in consideration of the characteristic (waveform) of the torque ripple, the harmonic component of the waveform that cancels it is corrected. Append based on the map.
- the correction map 58 shows the relationship between parameters and phase currents used when setting harmonic components. By using the correction map 58, the harmonic component to be superimposed is immediately calculated from the effective value of the phase current of the motor 3 detected by the current sensor 64.
- phase shifts ⁇ and ⁇ mean the phase shift between the torque ripple waveform of Tm and Tr and sin ⁇ .
- different values ⁇ and ⁇ are set in Equations 1 and 2, respectively.
- the basic current calculation unit 52 obtains Idb and Iqb (fundamental wave current), and then the current correction unit 60 corrects Idb and Iqb to obtain a current command.
- Values Id ′ and Iq ′ are set.
- the current correction unit 60 acquires A, B, ⁇ , ⁇ from the harmonic coefficient map 62 and the phase adjustment map 63 based on the detected current value (phase current value), and current command values Id ′, Iq. 'Is calculated.
- the harmonic coefficient map 62 stores the relationship between the phase current value and the harmonic amplitude coefficients A and B.
- the phase adjustment map 63 stores the relationship between the phase current value and the phase shifts ⁇ and ⁇ .
- the current correction unit 60 calculates current command values Id ′ and Iq ′ based on the expressions 1 and 2.
- FIG. 8 is a graph showing the relationship between the phase current value and Idb, Iqb and Id ′, Iq ′.
- the values of Idb 'and Iq' are values having a width in the vertical direction with Idb and Iqb (solid lines) as the center.
- the vertical width corresponds to the change in the numerical value of the second term in Equations 1 and 2, that is, the amplitudes A and B of the harmonic components. 12th harmonic components of amplitudes A and B are added to Idb and Iqb, and Id 'and Iq' as shown by the broken lines in FIG. 8 are set.
- harmonic coefficient map 62 such amplitudes A and B (width between wavy lines) are stored in correspondence with the phase current values.
- the current correction unit 60 acquires the harmonic amplitude coefficients A and B of Expressions 1 and 2 from the phase current value detected by the current sensor 64 using the harmonic coefficient map 62.
- FIG. 9 is a graph showing the relationship between the phase current value and ⁇ , ⁇ .
- ⁇ and ⁇ have different values depending on Tm and Tr, but the phase differs depending on the phase current value. Therefore, when setting Id ′ and Iq ′, it is necessary to consider changes in ⁇ and ⁇ due to phase current values.
- FIG. 9 shows changes in ⁇ and ⁇ with respect to the phase current value.
- the relationship of FIG. 9 is stored in the phase adjustment map 63.
- the current correction unit 60 acquires the phase shifts ⁇ and ⁇ in Expressions 1 and 2 from the phase current value detected by the current sensor 64 using the phase adjustment map 63.
- FIG. 10 is a graph showing the relationship between the phase current value and the torque ripple rate for each control mode.
- the torque ripple rate in the case of only the conventional maximum torque control (arrow a), in the region where the phase current value exceeds 40 (Apeak), it exceeds 5% in the entire current region.
- the torque ripple rate was within 5% even when exceeding 120 (Apeak). Therefore, in the EPS using the control method / control apparatus according to the present invention, the torque ripple does not increase even when the motor load increases, such as during stationary driving, and the steering feeling can be improved. .
- the rotational speed is very high on the low load side.
- the processing speed of the CPU may be exceeded in the high rotational speed region. Therefore, in consideration of control processing at high rotation, only maximum torque control is performed at low load (40 Arms or less) (the 12th harmonic component is not added), and control is switched to the control processing when 40 Arms is exceeded. Good form.
- the burden on the CPU in the high rotation speed range can be suppressed. As a result, it is possible to reduce the calculation load in the control device, which is very effective for reducing the control load in the EPS motor.
- the current command value Id that can capture the torque ripples for Tm and Tr separately while performing the advance angle control for obtaining the maximum torque, and reduce each torque ripple.
- Iq' is set using a preset correction map.
- the correction map stores the relationship between the effective current value of each phase and the correction parameter.
- the control device determines a parameter with reference to the correction map from the detected current value.
- necessary constants are mapped in advance, and the CPU can calculate the current command values Id 'and Iq' only by referring to them. Therefore, the control device does not need to constantly calculate the torque ripple, and does not need to calculate the command value for reducing the torque ripple. As a result, the burden on the CPU in controlling the magnet-assisted reluctance motor can be greatly reduced.
- the method of the present invention is not limited to 2P12S ⁇ n motors such as 4P24S based on 2P12S, but also to motors that generate 12 peaks at an electrical angle of 360 °. Applicable.
- each motor having a ripple waveform represented by an electrical angle having the same order can reduce torque ripple by applying the same harmonic component as described above, regardless of the number of poles / slots. It becomes possible.
- the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the invention.
- the target motor is not limited to this.
- the present invention can be applied to any brushless motor that is rotated by a magnet torque generated by a magnetic attraction force of a permanent magnet and a reluctance torque based on an inductance difference between magnetic paths.
- the present invention can be applied to a brushless motor having a structure in which a magnet is fixed to the outer periphery of the rotor instead of a structure in which a magnet is embedded in the rotor.
- the present invention is applied to the EPS, but the application target is not limited to the EPS.
- the present invention is applicable to motors used in electric vehicles, hybrid vehicles, home appliances such as air conditioners, various industrial machines, and the like.
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Abstract
Description
Tt=Tm+Tr
=p・φa・Iq+p・(Ld-Lq)・Id・Iq
(p:極対数,φa:永久磁石による電機子鎖交磁束,Ld:d軸インダクタンス,Lq:q軸インダクタンス,Id:d軸電流,Iq:q軸電流)
最大トルク制御では、電機子電流に対して最も効率的にトルクが発生するようにId-Iq間の角度β(電流位相角)が制御され、高効率で高トルクな運転が行われる。
Tt=Tm+Tr
=p・φa・Iq+p・(Ld-Lq)・Id・Iq
にて表される。ところが、TmとTrのトルクリップルは別個のものである一方、両者は共にIqを含んでいる。従って、Tm,Trの一方のトルクリップルを減殺させるIqを設定しても、他方のトルクリップルは減殺できない。また、TrにはIdも含まれている。このため、モータ駆動時にTtからTmとTrを個別に抽出し、Tm,Trの各トルクリップルを同時に低減させ、モータ全体のトルクリップルを一気に減殺させるのは非常に難しい。
Iq’(θ)=Iqb(基本波電流)+Bsin12(θ+β)
(B:高調波振幅係数,β:位相のずれ,θ:回転角(電気角))
Tt(h)=Tm(h)+Tr(h)
=p・φa・Iq(h)+p・(Ld-Lq)・Id・Iq(h)
上式において、第1項のTm分のトルクリップルは0であり一定となる。これに対し、第2項はIq(h)を含んだトルクリップルを有している。つまり、前記Iq’(θ)を適用した場合、Tm分のトルクリップルは0となるが、Iq(h)によってはTr分のトルクリップルは解消しない。
Id’(θ)=Idb(基本波電流)+Asin12(θ+α)
(A:高調波振幅係数,α:位相のずれ,θ:回転角(電気角))
Id’(θ)=Idb+Asin12(θ+α) (式1)
Iq’(θ)=Iqb+Bsin12(θ+β) (式2)
なお、高調波振幅係数A,Bは、トルクリップル相殺のために付加される逆位相の6次高調波成分の振幅を意味している。また、位相のずれα,βは、Tm,Trのトルクリップル波形とsinθとの位相のずれを意味している。この場合、TmとTrのリップルは別個の波形をとなるため、式1,2ではそれぞれ別の値α,βが設定されている。
例えば、前述の実施形態では、ブラシレスモータとしてIPM型のマグネット補助型リラクタンスモータを用いた例を示したが、対象となるモータはこれに限定されない。永久磁石の磁気的吸引力によるマグネットトルクと、磁路のインダクタンス差に基づくリラクタンストルクとによって回転させる形式のブラシレスモータであれば、本発明は適用可能である。例えば、ロータ内にマグネットを埋め込む構造ではなく、ロータ外周にマグネットを固定する構造のブラシレスモータにも本発明は適用可能である。
2 ステアリングシャフト
3 ブラシレスモータ
4 ステアリングホイール
5 ステアリングギヤボックス 6 タイロッド
7 車輪 8 アシストモータ部
9 減速機構部 11 トルクセンサ
12 制御装置(ECU) 21 ステータ
22 ロータ 23 モータケース
24 ステータコア 25 ティース部
26 ステータ巻線 26a 端部
27 バスバーユニット(端子ユニット) 28 ブラケット
29 外側リング部 31 スロット
32 インシュレータ 33 給電用端子
34 給電配線 35 回転軸
36a,36b ベアリング 37 ロータコア
38 レゾルバ 39 レゾルバロータ
41 レゾルバステータ 42 レゾルバブラケット
43 取付ネジ 44 スリット
45 マグネット 45n N極マグネット
45s S極マグネット 46 磁極部
50 制御装置 51 電流指令部
52 基本電流算出部 53 ベクトル制御部
54d,54q PI制御部
55 座標軸変換部(dq/UVW)
56 座標軸変換部(UVW/dq) 57 インバータ
58 補正マップ 59 補正成分算出部
60 電流補正部 61 ロータ回転数算出部
62 高調波係数マップ 63 位相調整マップ
64 電流センサ Tt トータルトルク
Tm マグネットトルク Tr リラクタンストルク
Idb,Iqb 基本波電流 A.B 高調波振幅係数
α,β 位相のずれ Id',Iq' 電流指令値
Claims (12)
- 外側リング部と、該外側リング部から径方向内側に向けて突出する複数のティース部と、該ティース部間に形成されたスロットを介して、線間の誘起電圧が正弦波波形となる複数相の電機子巻線を備えたステータと、永久磁石が埋設され前記ステータの内側に回転自在に配置されたロータと、を有し、前記ロータを、前記永久磁石の磁気的吸引力によるマグネットトルクと、磁路のインダクタンス差に基づくリラクタンストルクとによって回転させるブラシレスモータの制御方法であって、
当該ブラシレスモータの負荷状態に応じて、該ブラシレスモータにて最大トルクが出力される巻線電流値を示す基本波電流を算出し、
前記マグネットトルクによるトルクリップルと同振幅・同周期を持つ逆位相の第1高調波成分を、前記電機子巻線の相電流と前記第1高調波成分の算出に用いられるパラメータとの関係が示された補正マップに基づいて算出し、
前記第1高調波成分を重畳させた状態で生じる前記リラクタンストルクによるトルクリップルと同振幅・同周期を持つ逆位相の第2高調波成分を、前記電機子巻線の相電流と前記第2高調波成分の算出に用いられるパラメータとの関係が示された補正マップに基づいて算出し、
前記基本波電流に対し前記第1及び第2高調波成分を重畳させ、前記電機子巻線に対して供給される電流を補正することを特徴とするブラシレスモータ制御方法。 - 請求項1記載のブラシレスモータ制御方法において、
前記ロータは、複数の円弧状スリットと、前記各スリット内に収容される複数個のマグネットと、前記マグネットによって形成され該ロータの周方向に沿って配置される複数の磁極部と、を有し、
前記スリットは、前記ロータの外側に中心点を有する円弧に沿って設けられ、該スリットの突側部位を前記ロータの中心側に向けた形で前記ロータ内に形成されることを特徴とするブラシレスモータ制御方法。 - 請求項1または2記載のブラシレスモータ制御方法において、前記補正マップは、
前記電機子巻線の相電流と前記第1及び第2高調波成分の振幅との関係を示す高調波係数マップと、
前記電機子巻線の相電流と、トルクリップル波形と前記第1及び第2高調波成分との間の位相のずれとの関係を示す位相調整マップと、を有することを特徴とするブラシレスモータ制御方法。 - 請求項3記載のブラシレスモータ制御方法において、
前記第1高調波成分は、q軸方向の基本波電流Iqbに対して付加される、Bsin12(θ+β)(B:高調波振幅係数,θ:回転角(電気角),β:位相のずれ)であり、
前記第2高調波成分は、d軸方向の基本波電流Idbに対して付加される、Asin12(θ+α)(A:高調波振幅係数,θ:回転角(電気角),α:位相のずれ)であり、
前記高調波係数マップには、前記電機子巻線の相電流と前記高調波振幅係数A,Bとの関係が格納され、
前記位相調整マップには、前記電機子巻線の相電流と前記位相のずれα,βとの関係が格納されることを特徴とするブラシレスモータ制御方法。 - 請求項1~4のいずれか1項に記載のブラシレスモータ制御方法において、前記第1及び第2高調波成分は、当該ブラシレスモータにおけるトルクリップル率が5%を超える高負荷領域にて前記基本波電流に重畳されることを特徴とするブラシレスモータ制御方法。
- 請求項1~5のいずれか1項に記載のブラシレスモータ制御方法において、前記ブラシレスモータは、電動パワーステアリング装置の駆動源として使用されることを特徴とするブラシレスモータ制御方法。
- 外側リング部と、該外側リング部から径方向内側に向けて突出する複数のティース部と、該ティース部間に形成されたスロットを介して、線間の誘起電圧が正弦波波形となる複数相の電機子巻線を備えたステータと、永久磁石が埋設され前記ステータの内側に回転自在に配置されたロータと、を有し、
前記ロータを、前記永久磁石の磁気的吸引力によるマグネットトルクと、磁路のインダクタンス差に基づくリラクタンストルクとによって回転させるブラシレスモータの制御装置であって、
前記電機子巻線の相電流を検出する電流センサと、
当該ブラシレスモータの負荷状態に応じて、該ブラシレスモータにて最大トルクが出力される巻線電流値を示す基本波電流を算出する基本電流算出部と、
前記電流センサにて検出した相電流値に基づいて、前記マグネットトルクによるトルクリップルと同振幅・同周期を持つ逆位相の第1高調波成分と、前記第1高調波成分を重畳させた状態で生じる前記リラクタンストルクによるトルクリップルと同振幅・同周期を持つ逆位相の第2高調波成分を算出する補正成分算出部と、
前記相電流と前記第1及び第2高調波成分の算出に用いられるパラメータとの関係が示された補正マップと、
前記補正成分算出部にて算出された前記第1及び第2高調波成分を前記基本波電流に重畳して前記電機子巻線に対して供給される電流を補正する電流補正部と、を有することを特徴とするブラシレスモータ制御装置。 - 請求項7記載のブラシレスモータ制御装置において、
前記ロータは、複数の円弧状スリットと、前記各スリット内に収容される複数個のマグネットと、前記マグネットによって形成され該ロータの周方向に沿って配置される複数の磁極部と、を有し、
前記スリットは、前記ロータの外側に中心点を有する円弧に沿って設けられ、該スリットの突側部位を前記ロータの中心側に向けた形で前記ロータ内に形成されることを特徴とするブラシレスモータ制御装置。 - 請求項7または8記載のブラシレスモータ制御装置において、前記補正マップは、
前記電機子巻線の相電流と前記第1及び第2高調波成分の振幅との関係を示す高調波係数マップと、
前記電機子巻線の相電流と、トルクリップル波形と前記第1及び第2高調波成分との間の位相のずれとの関係を示す位相調整マップと、を有することを特徴とするブラシレスモータ制御装置。 - 請求項7~9の何れか1項に記載のブラシレスモータ制御装置において、前記ブラシレスモータは、電動パワーステアリング装置の駆動源として使用されることを特徴とするブラシレスモータ制御装置。
- 外側リング部と、該外側リング部から径方向内側に向けて突出する複数のティース部と、該ティース部間に形成されたスロットを介して、線間の誘起電圧が正弦波波形となる複数相の電機子巻線を備えたステータと、永久磁石が埋設され前記ステータの内側に回転自在に配置されたロータと、を有し、
前記ロータを、前記永久磁石の磁気的吸引力によるマグネットトルクと、磁路のインダクタンス差に基づくリラクタンストルクとによって回転させるブラシレスモータを駆動源として使用する電動パワーステアリング装置であって、
前記ブラシレスモータの負荷状態に応じて、該ブラシレスモータにて最大トルクが出力される巻線電流値を示す基本波電流を算出し、
前記マグネットトルクによるトルクリップルと同振幅・同周期を持つ逆位相の第1高調波成分を、前記電機子巻線の相電流と前記第1高調波成分の算出に用いられるパラメータとの関係が示された補正マップに基づいて算出し、
前記第1高調波成分を重畳させた状態で生じる前記リラクタンストルクによるトルクリップルと同振幅・同周期を持つ逆位相の第2高調波成分を、前記電機子巻線の相電流と前記第2高調波成分の算出に用いられるパラメータとの関係が示された補正マップに基づいて算出し、
前記基本波電流に対し前記第1及び第2高調波成分を重畳させ、前記電機子巻線に対して供給される電流を補正することを特徴とする電動パワーステアリング装置。 - 請求項11記載の電動パワーステアリング装置において、
前記ロータは、複数の円弧状スリットと、前記各スリット内に収容される複数個のマグネットと、前記マグネットによって形成され該ロータの周方向に沿って配置される複数の磁極部と、を有し、
前記スリットは、前記ロータの外側に中心点を有する円弧に沿って設けられ、該スリットの突側部位を前記ロータの中心側に向けた形で前記ロータ内に形成されることを特徴とする電動パワーステアリング装置。
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Also Published As
Publication number | Publication date |
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CN104871426B (zh) | 2018-09-04 |
EP2933917B1 (en) | 2020-01-22 |
US9455616B2 (en) | 2016-09-27 |
BR112015014226A2 (pt) | 2017-07-11 |
JP6064207B2 (ja) | 2017-01-25 |
US20150318808A1 (en) | 2015-11-05 |
CN104871426A (zh) | 2015-08-26 |
EP2933917A1 (en) | 2015-10-21 |
EP2933917A4 (en) | 2016-09-07 |
JP2014121182A (ja) | 2014-06-30 |
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