WO2016117029A1 - 位置検出器の角度誤差補正装置および角度誤差補正方法 - Google Patents

位置検出器の角度誤差補正装置および角度誤差補正方法 Download PDF

Info

Publication number
WO2016117029A1
WO2016117029A1 PCT/JP2015/051391 JP2015051391W WO2016117029A1 WO 2016117029 A1 WO2016117029 A1 WO 2016117029A1 JP 2015051391 W JP2015051391 W JP 2015051391W WO 2016117029 A1 WO2016117029 A1 WO 2016117029A1
Authority
WO
WIPO (PCT)
Prior art keywords
angle error
speed
electric motor
motor
command value
Prior art date
Application number
PCT/JP2015/051391
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
盛臣 見延
酒井　雅也
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to DE112015006003.0T priority Critical patent/DE112015006003T5/de
Priority to PCT/JP2015/051391 priority patent/WO2016117029A1/ja
Priority to CN201580073863.4A priority patent/CN107210690B/zh
Priority to JP2016570376A priority patent/JP6272508B2/ja
Publication of WO2016117029A1 publication Critical patent/WO2016117029A1/ja

Links

Images

Classifications

    • 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
    • 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
    • G01D5/24485—Error correction using other sensors
    • 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
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/05—Determination of the rotor position by using two different methods and/or motor models
    • 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
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference

Definitions

  • the present invention is applied to, for example, a control device for an elevator hoisting machine, a control device for an on-vehicle motor, or a control device for a motor of a machine tool, and a position detector including a periodic error that is uniquely determined according to the rotational position of the motor.
  • the present invention relates to an angle error correction apparatus and an angle error correction method for a position detector that correct the angle error of the position detector.
  • an angle signal is detected from a signal detected by an angle detector, for example, a resolver, and the error waveform of the resolver is made up of a determined n-order component unique to the resolver and is reproducible.
  • the position error is calculated by referring to the detected angle signal by the angle error estimator, the speed error signal is calculated by differentiating the position error, and the speed error signal is subjected to frequency analysis by, for example, Fourier transform.
  • the detection error for each frequency component is calculated, the calculated detection errors are combined to generate an estimated angle error signal, and the angle signal correction circuit corrects the detected angle signal using the generated estimated angle error signal.
  • a resolver angle detection device is known (see, for example, Patent Document 1).
  • the speed detector detects the rotational speed of the motor from the angle signal detected by the angle detector, and estimates the angle error using this detected speed.
  • the angle error estimation accuracy is determined by the angle detector or the speed resolution of the speed detector. For this reason, an angle detector or a velocity detector with a low velocity resolution has a problem that a quantization error occurs and the angle error estimation accuracy cannot be sufficiently obtained.
  • the present invention has been made to solve the above-described problems, and provides an angle error correction device and an angle error correction method for a position detector capable of accurately estimating and correcting an angle error. Objective.
  • An angle error correction apparatus for a position detector detects the rotational position of an electric motor and corrects the angle error of the position detector including a periodic error that is uniquely determined according to the rotational position.
  • An error correction device that uses a current detection unit that detects a current flowing through the motor and a rotational position of the motor to analyze the frequency of the current detected by the current detection unit and to detect the amplitude of a specific frequency component corresponding to the angle error.
  • An angle error estimator that estimates an angle error consisting of a specific frequency component as an angle error estimated value based on the amplitude calculated by the frequency analysis unit and the rotational position of the motor, and a position detector
  • the angle error correction unit that corrects the angle error using the estimated angle error value and the rotation position of the motor that has been corrected by the angle error correction unit.
  • a speed calculator for calculating the rotational speed of the rotating electrical machine, a speed command value generator for generating a speed command value for the electric motor based on a speed command input from the outside, and a predetermined value for the speed control gain.
  • a variable gain mechanism that changes from a speed controller that generates a current command value for the motor based on a speed deviation between the speed command value and the rotational speed of the rotating electrical machine, and the operating state of the motor is an angle error estimation operation.
  • a control state switching unit that switches whether there is a normal operation, the speed controller, when the operation state of the motor is an angle error estimation operation, than when the operation state of the motor is a normal operation, The speed control gain is increased.
  • the angle error correction method of the position detector detects the rotational position of the electric motor and corrects the angular error of the position detector including a periodic error uniquely determined according to the rotational position.
  • the angle error correction method executed by the angle error correction device of the current detection step of detecting the current flowing through the motor, and using the rotational position of the motor, frequency analysis of the current detected in the current detection step, Based on the frequency analysis step that calculates the amplitude of the specific frequency component corresponding to the angle error, and the amplitude calculated in the frequency analysis step and the rotational position of the motor, the angle error consisting of the specific frequency component is estimated as the angle error estimated value.
  • Angle error estimation step for correcting the angle error using the angle error estimation value for the angle error estimation step and the rotational position of the motor detected by the position detector.
  • a correction step for calculating the rotational speed of the rotating electrical machine based on the rotational position of the motor whose angle error has been corrected in the angle error correction step; and a speed for the motor based on a speed command input from the outside.
  • the speed control gain is set more than when the motor operating state is the normal operation. Kikusuru is intended to include a step.
  • the speed command value generation unit (step) generates a speed command value for the motor based on the speed command input from the outside.
  • the speed controller (step) generates a current command value for the electric motor based on the speed deviation between the speed command value and the rotational speed of the rotating electrical machine.
  • the control state switching unit (step) Switches between error estimation operation and normal operation.
  • the speed controller (step) increases the speed control gain when the operation state of the motor is the angle error estimation operation than when the operation state of the motor is the normal operation.
  • the speed control gain increases, the current command value increases even at the same speed deviation, so even if the current detector resolution is the same, the angle error that is the output of the angle error estimator that inputs the current
  • the estimation accuracy of the estimated value can be improved.
  • the position-dependent angle error included in the rotational position of the motor which is the output from the position detector, is estimated and corrected.
  • a method for improving the accuracy of angle error estimation by increasing the speed control gain of the speed controller and improving the responsiveness during the angle error estimation operation in the correction apparatus will be described.
  • FIG. 1 is a block diagram showing the overall configuration of a motor control device including an angle error correction device for a position detector according to the present invention.
  • 2 to 5 are block diagrams showing a motor control device to which the position detector angle error correction device according to the first embodiment of the present invention is applied.
  • the motor control device includes a speed command value generator 1, a speed controller 2, a current controller 3, an inverter 4, an electric motor 5, a position detector 6, a current sensor (current detector) 7, A speed calculation unit 8, a detection position correction unit 9, a position calculation unit 11, a coordinate converter 12, an angle error estimation unit 20, and a control state switching unit 30 are provided.
  • the speed command value generation unit 1 generates and outputs a speed command value for the electric motor 5 based on a speed command input from the outside.
  • the speed command value generation unit 1 may include a position control system. The present invention can be applied even when the speed command value generation unit 1 includes a position control system.
  • the speed controller 2 receives the speed deviation between the speed command value from the speed command value generation unit 1 and the rotation speed of the motor 5 calculated by the speed calculation unit 8 and generates a current command value for the motor 5. Output.
  • the control state switching unit 30 switches whether the operation state of the electric motor 5 is an angle error estimation operation or a normal operation. Detailed functions of the speed controller 2 and the control state switching unit 30 will be described later.
  • the speed calculation unit 8 calculates and outputs the rotation speed of the electric motor 5 based on the position information or the angle information in which the rotation position of the electric motor 5 that is an output from the position detector 6 is corrected by the detection position correction unit 9. To do.
  • the speed calculation unit 8 calculates the rotation speed by the time differentiation of the position or angle in the simplest manner.
  • the speed calculation unit 8 may perform speed calculation based on the position information (for example, the number of pulses of the optical encoder) of the position detector 6, as shown in FIGS. 5, the speed calculation may be performed based on the angle information calculated by the position calculation unit 11. Further, the speed calculation unit 8 may include a configuration for measuring time.
  • the current controller 3 converts the current command value from the speed controller 2 and the phase current output from the current sensor 7 shown in FIGS. 2 and 3 or the phase current shown in FIGS.
  • the voltage command value of the electric motor 5 is generated and output using the difference from the shaft current of the electric motor 5 converted to the dq axis in step 1 as an input.
  • the position calculation unit 11 calculates and outputs angle information of the electric motor 5 based on the rotational position of the electric motor 5 output from the position detector 6 or the position information corrected by the detection position correction unit 9.
  • the coordinate converter 12 converts the phase current from the current sensor 7 into coordinates suitable for control, such as an ⁇ - ⁇ axis, dq axis, or ⁇ - ⁇ axis, when the electric motor 5 is vector-controlled. .
  • the detected position correcting unit 9 is an angle error estimating unit for angle information obtained by converting the rotational position of the electric motor 5 output from the position detector 6 or the rotational position from the position detector 6 by the position calculating unit 11.
  • the position error or angle information after correction is output by adding or subtracting the estimated angle error value output from 20.
  • the current sensor 7 measures the current of the electric motor 5. For example, when the motor 5 is a three-phase motor, a two-phase phase current is often measured, but a three-phase phase current may be measured. 1 to 5, the current sensor 7 measures the output current of the inverter 4. However, the current sensor 7 measures the bus current of the inverter 4 as in a current measurement method using a one-shunt resistor, and Each phase current may be estimated. Even in this case, the present invention is not affected at all.
  • the inverter 4 converts the voltage of the power source (not shown) into a desired variable voltage variable frequency based on the voltage command value from the current controller 3.
  • a power converter that converts the DC voltage to an AC voltage by an inverter, or a matrix converter A variable voltage variable frequency power converter including a power converter that directly converts an AC voltage into an AC variable voltage variable frequency.
  • the inverter 4 may include a coordinate conversion function in addition to the inverter 4 described above. That is, when the voltage command value is a dq-axis voltage command value, the dq-axis voltage command value is converted into a phase voltage or a line voltage, and the voltage in accordance with the commanded voltage command value. It is expressed as an inverter 4 including a coordinate conversion function for converting to. Although not shown, the present invention can be applied even if a device or means for correcting the dead time of the inverter 4 is provided.
  • the position detector 6 detects the rotational position of the electric motor 5 necessary for controlling the electric motor 5, such as an optical encoder, a magnetic encoder, or a resolver. Further, as shown in FIG. 6, the position detector 6 includes a cyclic error that is uniquely determined according to the rotational position of the electric motor 5 in the output rotational position information.
  • the periodic error uniquely determined according to the rotational position of the electric motor 5 is, for example, the detection error of the resolver described in paragraphs 0020 and 0021 of the above-mentioned Patent Document 1, and the missing pulse due to the slit failure in the optical encoder. It also refers to a reproducible error depending on the rotational position, such as an imbalance in the distance between pulses.
  • the periodic error uniquely determined according to the rotational position of the electric motor 5 is expressed as an angle error ⁇ err obtained by converting the position information into an angle.
  • the present invention can be applied when the position detector 6 includes a periodic error uniquely determined according to the rotational position of the electric motor 5 and the principal component order of the angle error ⁇ err is known.
  • the periodic angular error ⁇ err of the position detector 6 can be approximately expressed using a sine wave as shown in the following equation (1).
  • the first embodiment of the present invention unifies the notation by the sine wave.
  • ⁇ m represents the mechanical angle of the motor 5
  • a 1 represents an error amplitude in N 1 order order
  • a 2 represents an error amplitude at the N 2 order order
  • a n is N 1 indicates the error amplitude in the N- th order
  • ⁇ 1 indicates a phase shift (error phase) with respect to the mechanical angle of the motor 5 in the N 1 -order
  • ⁇ 2 indicates the mechanical angle of the motor 5 in the N- second order
  • a phase shift is indicated
  • ⁇ n indicates a phase shift with respect to the mechanical angle of the electric motor 5 in the N n -th order.
  • the spatial orders of N 1 , N 2 ... N n in equation (1) do not have to be consecutive integers such as 1, 2... Nn, and are periodically determined uniquely according to the rotational position of the electric motor 5.
  • the main component here refers to a component whose amplitude in the spatial order is larger than the amplitude of other frequencies.
  • the expression (1) is expressed as a combination of three or more frequency components, but the frequency component of the periodic angular error ⁇ err may be one, two, or more components. It may be configured.
  • FIG. 7 is a block diagram showing the angle error estimation unit 20 of the angle error correction device for the position detector according to the first embodiment of the present invention.
  • the angle error estimator 20 includes a frequency analyzer 21 and an angle error estimator 22.
  • the frequency analysis unit 21 receives the phase current from the current sensor 7 and the rotational position of the electric motor 5 that is the output from the position detector 6 as input by inputting position information or angle information corrected by the detection position correction unit 9. Obtain the amplitude, or amplitude and phase, of the current at the desired frequency.
  • the frequency analysis unit 21 is preferably configured to obtain an amplitude and phase at a desired frequency of an input signal, such as Fourier transform, Fourier series analysis, or fast Fourier transform.
  • a configuration may be used in which a desired frequency signal is extracted and a desired amplitude or phase of an input signal is calculated by an amplitude detection unit or a phase detection unit like a filter.
  • the filter used here may be an electrical filter that combines a resistor, a capacitor, a coil, or the like, or may be a process performed in a computer.
  • the configuration of the frequency analysis unit 21 is not limited as long as it can detect information proportional to the amplitude of the desired frequency or information proportional to the power of the amplitude.
  • the phase current is input, but as shown in FIGS. 4 and 5, the d-axis current, the q-axis current, the ⁇ -axis current, the ⁇ -axis current obtained by coordinate conversion of the phase current, or Either ⁇ -axis current or ⁇ -axis current may be input.
  • the signal having a desired frequency (specific frequency) referred to here indicates a signal having the same frequency as the main component of the angle error ⁇ err caused by the periodic angle error ⁇ err of the position detector 6.
  • a desired frequency is expressed as a spatial frequency, but there is no essential difference even if it is a time frequency.
  • the spatial frequency refers to a frequency in one rotation of the electric motor 5 in a specific section, in Embodiment 1 of the present invention.
  • a periodic N wave signal in one rotation of the motor 5 is referred to as a spatial order N wave.
  • the frequency analysis is preferably an analysis based on the spatial frequency. 1)
  • the angle error ⁇ err is expressed by the spatial frequency
  • the frequency analysis unit 21 shown in FIGS. 1 to 5 also has an input (current and angle) corresponding to the spatial frequency analysis. Yes.
  • Embodiment 1 of the present invention can also be applied to frequency analysis based on time frequency.
  • frequency analysis based on time frequency instead of inputting current and angle, detection speed and time measurement Frequency analysis is performed using the measurement time and current measured by the unit as inputs.
  • the current amplitude value of a desired frequency component that is an output of the frequency analysis unit 21 and the rotational position of the electric motor 5 that is an output from the position detector 6 are corrected by the detection position correction unit 9.
  • a periodic angle error ⁇ err uniquely determined according to the rotational position of the electric motor 5 is estimated by an estimation method described later, and the angle error estimated value is output as angle information or position information.
  • the angle error estimator 22 since one of the inputs of the detection position correction unit 9 is the output signal of the position detector 6 (the rotational position of the electric motor 5), the angle error estimator 22 outputs the output signal of the position detector 6. Is output. That is, when the position detector 6 is an optical encoder, the resolution is 1024 pulses / rotation, and the estimation result of the angle error estimator 22 is 1 °, the angle error estimator 22 is 1 °. The corresponding number of pulses of 3 is output as position information.
  • the angle error when there are a plurality of frequency components of the angle error, the angle error may be estimated and added sequentially with each component, or a plurality of frequency components may be estimated simultaneously. At this time, in the case of simultaneous estimation, the estimation time can be shortened as compared with the case where the angle error is sequentially estimated for each component.
  • the angle error is composed of only a single frequency component.
  • the motor 5 is a permanent magnet synchronous motor. in some case, the current ripple appearing in the phase current, the pole and the logarithm with P n, when the order of the desired frequency and n n, the P n ⁇ n n next degree machine degree.
  • phase currents frequency analysis of at least one of the phase currents is performed, and the P n + N n -order or P n -N n -order current is estimated from the P n + N n -order or P n -N n -order current. do it.
  • the P n -N n following order when the order N n of the desired frequency than the pole pair number P n of the electric motor 5 is large, because it may not present a negative number, P It is desirable to analyze the frequency of n + N nth order current. Moreover, when performing estimation, constant torque and constant speed operation is desirable.
  • the current pulsation component appearing on the dq axis is the same as the N n order due to the angular error of the machine N n order. Has a pulsating component of order.
  • the d-axis current has a current pulsation similar to the angle error because the q-axis current, which is the torque current, wraps around due to the magnetic pole deviation caused by the angle error.
  • the speed pulsation becomes the pulsation of the current command value through the speed control system. Therefore, the q-axis current becomes a current pulsation similar to the angle error that causes the speed pulsation.
  • the angle error estimator 22 may estimate the angle error so as to minimize the N n -order current amplitude of the d-axis current or the q-axis current obtained by the frequency analysis in the frequency analysis unit 21. .
  • the condition that the q-axis current that wraps around is constant, that is, the condition of constant acceleration. Estimate with. In particular, it is desirable to perform the estimation under the condition that the acceleration is zero, that is, the electric motor 5 is rotating at a constant speed.
  • FIG. 8 is a block diagram showing the speed control unit of the angle error correction device for the position detector according to the first embodiment of the present invention together with the control state switching unit.
  • the control state switching unit 30 switches the operation state of the electric motor 5 between the angle error estimation operation and the normal operation.
  • the angle error correction apparatus of the position detector 6 according to Embodiment 1 of the present invention estimates the angle error so that the current pulsation of the frequency component due to the angle error is minimized during the angle error estimation operation, and performs the normal operation. Sometimes the angle error is corrected using the angle error estimate. When estimation is not performed, the amplitude value of the estimated angle error is set to zero.
  • the speed controller 2 has a variable gain mechanism for changing the speed control gain from a predetermined value, and the speed control gain can be changed.
  • the control state switching unit 30 switches the operation state of the motor 5 to the angle error estimation operation, the speed control is performed as compared with the case where the operation state of the motor 5 is switched to the normal operation. Responsiveness is improved by increasing the gain.
  • the current command value that is the output of the speed controller 2 is expressed by the following equation (2).
  • the speed detection pulsation Is constant, the pulsation of the current command value increases as the speed control gain (one of speed control P gain Gsp, speed control I gain Gsi, speed control D gain Gsd, or a combination thereof) increases.
  • variable gain mechanism does not change the speed control gain according to the time-varying parameter, but operates by switching to a speed control gain larger than that in the normal operation during the angle error estimation operation.
  • the variable gain mechanism may switch the preset multiple fixed gain values, or may change the gain by changing the bit shift amount, such as a shifter.
  • the gain may be switched by a mathematical operation such as adding a certain value.
  • the speed control system is PID control
  • the present invention is not limited to this, and the present invention is applicable regardless of whether the speed control system is P control or PI control. Can be applied.
  • the speed control gain can be increased to increase the current pulsation, and the angle error estimation accuracy determined by the current resolution can be improved.
  • FIG. 9 is another block diagram showing the overall configuration of the motor control device including the angle error correction device for the position detector according to the present invention.
  • the speed command value generation unit 1 changes the speed command value to a value that does not cause mechanical resonance, or the speed control system does not oscillate.
  • the speed command may be changed to such an acceleration pattern.
  • the speed command value can be changed to prevent mechanical resonance or oscillation from occurring.
  • the speed command value generation unit generates a speed command value for the electric motor based on the speed command input from the outside, and the speed controller rotates the speed command value and the rotation speed. Based on the speed deviation from the rotation speed of the electric machine, a current command value for the motor is generated, and the control state switching unit switches whether the operation state of the motor is the angle error estimation operation or the normal operation.
  • the speed controller increases the speed control gain when the operation state of the motor is the angle error estimation operation than when the operation state of the motor is the normal operation. As the speed control gain increases, the current command value increases even at the same speed deviation, so even if the current detector resolution is the same, the angle error that is the output of the angle error estimator that inputs the current The estimation accuracy of the estimated value can be improved.

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Signal Processing (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)
PCT/JP2015/051391 2015-01-20 2015-01-20 位置検出器の角度誤差補正装置および角度誤差補正方法 WO2016117029A1 (ja)

Priority Applications (4)

Application Number Priority Date Filing Date Title
DE112015006003.0T DE112015006003T5 (de) 2015-01-20 2015-01-20 Winkelfehlerkorrekturvorrichtung und Winkelfehlerkorrekturverfahren für einen Positionssensor
PCT/JP2015/051391 WO2016117029A1 (ja) 2015-01-20 2015-01-20 位置検出器の角度誤差補正装置および角度誤差補正方法
CN201580073863.4A CN107210690B (zh) 2015-01-20 2015-01-20 位置检测器的角度误差校正装置以及角度误差校正方法
JP2016570376A JP6272508B2 (ja) 2015-01-20 2015-01-20 位置検出器の角度誤差補正装置および角度誤差補正方法

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2015/051391 WO2016117029A1 (ja) 2015-01-20 2015-01-20 位置検出器の角度誤差補正装置および角度誤差補正方法

Publications (1)

Publication Number Publication Date
WO2016117029A1 true WO2016117029A1 (ja) 2016-07-28

Family

ID=56416595

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2015/051391 WO2016117029A1 (ja) 2015-01-20 2015-01-20 位置検出器の角度誤差補正装置および角度誤差補正方法

Country Status (4)

Country Link
JP (1) JP6272508B2 (zh)
CN (1) CN107210690B (zh)
DE (1) DE112015006003T5 (zh)
WO (1) WO2016117029A1 (zh)

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3033639A1 (fr) * 2015-03-11 2016-09-16 Denso Corp Dispositif de detection d'angle de rotation
WO2019092777A1 (ja) * 2017-11-07 2019-05-16 三菱電機株式会社 電動機制御装置及び電動パワーステアリング装置
JP2020046708A (ja) * 2018-09-14 2020-03-26 富士電機株式会社 サーボ制御装置
WO2022044347A1 (ja) * 2020-08-28 2022-03-03 三菱電機株式会社 回転電機の制御装置及び電動パワーステアリング装置

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2020026304A1 (ja) * 2018-07-30 2020-02-06 三菱電機株式会社 回転電機の制御装置
CN111245304B (zh) * 2018-11-29 2021-08-20 安徽美芝精密制造有限公司 补偿方法、补偿装置、电机和存储介质
DE102018130972A1 (de) 2018-12-05 2020-06-10 HELLA GmbH & Co. KGaA Vorrichtung, Anordnung und Verfahren zur Bestimmung eines Winkels zwischen einem Rotor und einem Stator
US11929700B2 (en) * 2019-04-11 2024-03-12 Mitsubishi Electric Corporation Electric motor control device
FR3098189B1 (fr) * 2019-07-05 2021-07-02 Safran Landing Systems Procede d’asservissement d’une caracteristique de fonctionnement d’un vehicule, telle que la garde au sol

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06284778A (ja) * 1993-03-29 1994-10-07 Toshiba Corp モータ駆動方法及びその装置
JP2002051585A (ja) * 2000-08-03 2002-02-15 Sharp Corp モータ制御装置
WO2012066617A1 (ja) * 2010-11-15 2012-05-24 三菱電機株式会社 モータ制御装置
JP2012145371A (ja) * 2011-01-07 2012-08-02 Toshiba Mach Co Ltd レゾルバ装置、レゾルバの角度検出装置およびその方法
JP2014153294A (ja) * 2013-02-13 2014-08-25 Mitsubishi Heavy Ind Ltd 電磁誘導式位置検出器の検出位置補正方法

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06284778A (ja) * 1993-03-29 1994-10-07 Toshiba Corp モータ駆動方法及びその装置
JP2002051585A (ja) * 2000-08-03 2002-02-15 Sharp Corp モータ制御装置
WO2012066617A1 (ja) * 2010-11-15 2012-05-24 三菱電機株式会社 モータ制御装置
JP2012145371A (ja) * 2011-01-07 2012-08-02 Toshiba Mach Co Ltd レゾルバ装置、レゾルバの角度検出装置およびその方法
JP2014153294A (ja) * 2013-02-13 2014-08-25 Mitsubishi Heavy Ind Ltd 電磁誘導式位置検出器の検出位置補正方法

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR3033639A1 (fr) * 2015-03-11 2016-09-16 Denso Corp Dispositif de detection d'angle de rotation
WO2019092777A1 (ja) * 2017-11-07 2019-05-16 三菱電機株式会社 電動機制御装置及び電動パワーステアリング装置
JPWO2019092777A1 (ja) * 2017-11-07 2020-01-23 三菱電機株式会社 電動機制御装置及び電動パワーステアリング装置
JP2020046708A (ja) * 2018-09-14 2020-03-26 富士電機株式会社 サーボ制御装置
JP7225621B2 (ja) 2018-09-14 2023-02-21 富士電機株式会社 サーボ制御装置
WO2022044347A1 (ja) * 2020-08-28 2022-03-03 三菱電機株式会社 回転電機の制御装置及び電動パワーステアリング装置
JP2022039161A (ja) * 2020-08-28 2022-03-10 三菱電機株式会社 回転電機の制御装置及び電動パワーステアリング装置

Also Published As

Publication number Publication date
CN107210690A (zh) 2017-09-26
CN107210690B (zh) 2019-06-11
DE112015006003T5 (de) 2017-10-26
JP6272508B2 (ja) 2018-01-31
JPWO2016117029A1 (ja) 2017-04-27

Similar Documents

Publication Publication Date Title
JP6272508B2 (ja) 位置検出器の角度誤差補正装置および角度誤差補正方法
EP3040690B1 (en) Angle error correction device and angle error correction method for position detector
EP2543133B1 (en) Current sensor error compensation
JP4825600B2 (ja) モータ制御装置
JP5523584B2 (ja) 同期電動機のインダクタンス測定装置及び測定方法
WO2016157643A1 (ja) 位置検出器の角度誤差補正装置、角度誤差補正方法、エレベータ制御装置およびエレベータシステム
JP5753474B2 (ja) 同期電動機制御装置
JP2010045914A (ja) 同期モータ駆動制御装置
JP2007306694A (ja) 誘導電動機のインバータ制御装置
JP2005210786A (ja) ステッピングモータのマイクロステップ駆動装置およびその制御方法ならびにその運転方法
KR101335162B1 (ko) 레졸버를 위한 위치 오차 보정 장치 및 보정 방법
JP2010035352A (ja) 同期電動機のロータ位置推定装置
JP3675192B2 (ja) モータ制御装置および電気車用制御装置およびハイブリッド車用制御装置
JP2010035351A (ja) 同期電動機のロータ位置推定装置
JP5163049B2 (ja) 交流電動機制御装置および交流電動機制御方法
JP4735439B2 (ja) 永久磁石式同期電動機の初期磁極位置推定装置
JP6305573B2 (ja) 位置検出器の角度誤差補正装置および角度誤差補正方法
JP2010154588A (ja) 磁束角補正機能付きモータ制御装置
JP6112832B2 (ja) 角度補正装置及び回転角センサ
CN113359032B (zh) 永磁同步电机测试方法、装置及设备
JP2017022893A (ja) 交流回転機の制御装置及び交流回転機の慣性モーメント演算方法
JP5106295B2 (ja) 同期電動機のロータ位置推定装置
JP6108114B2 (ja) 永久磁石形同期電動機の制御装置
JP2018023203A (ja) 電動機の制御装置
JP2007082380A (ja) 同期モータ制御装置

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 15878724

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2016570376

Country of ref document: JP

Kind code of ref document: A

WWE Wipo information: entry into national phase

Ref document number: 112015006003

Country of ref document: DE

122 Ep: pct application non-entry in european phase

Ref document number: 15878724

Country of ref document: EP

Kind code of ref document: A1