WO2016121373A1 - モータ制御装置、およびこのモータ制御装置におけるトルク定数の補正方法 - Google Patents
モータ制御装置、およびこのモータ制御装置におけるトルク定数の補正方法 Download PDFInfo
- Publication number
- WO2016121373A1 WO2016121373A1 PCT/JP2016/000363 JP2016000363W WO2016121373A1 WO 2016121373 A1 WO2016121373 A1 WO 2016121373A1 JP 2016000363 W JP2016000363 W JP 2016000363W WO 2016121373 A1 WO2016121373 A1 WO 2016121373A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- motor
- torque
- speed
- control device
- correction
- Prior art date
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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0025—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control implementing a off line learning phase to determine and store useful data for on-line control
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0031—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control implementing a off line learning phase to determine and store useful data for on-line control
-
- 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
- H02P27/06—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 using dc to ac converters or inverters
-
- 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
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
-
- 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
- H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
- H02P2205/05—Torque loop, i.e. comparison of the motor torque with a torque reference
Definitions
- the present invention relates to a motor control device for controlling a synchronous motor and a method for calculating a correction torque coefficient in the motor control device.
- a conversion constant representing a relationship between a torque command and an actual torque actually output from the motor is generally called a torque constant.
- the torque constant is configured to be a constant value regardless of the speed and current value, so that the speed control system is configured.
- the torque constant is not always constant, and the torque constant does not become constant due to the influence of the current flowing through the motor, the current control circuit, and the like.
- Patent Document 1 there is a technique as disclosed in Patent Document 1 as a countermeasure technique.
- a motor is actually driven, an actual output torque with respect to a torque command is measured, and a means for correcting the torque command from the relationship is interposed.
- the torque constant is kept constant by performing motor control using the corrected torque command.
- the motor control device includes a speed control unit that controls the rotational speed of the motor, and includes torque correction means that performs correction so as to suppress variations in torque constant due to individual differences in the motor. Thereby, it is possible to eliminate the influence of torque variation for each individual motor and to realize highly accurate torque control.
- FIG. 1 is a block diagram of a brushless motor provided with a motor control device according to Embodiment 1 of the present invention.
- FIG. 2 is a diagram illustrating a configuration example of a synchronous motor in the brushless motor according to the first embodiment of the present invention.
- FIG. 3 is a diagram showing the relationship between the speed and torque of the brushless motor.
- FIG. 4A is a diagram illustrating a configuration example of a torque command correction unit in the brushless motor according to the first embodiment of the present invention.
- FIG. 4B is a diagram showing another configuration example of the torque command correction unit in the brushless motor according to Embodiment 1 of the present invention.
- FIG. 5 is a block diagram of a brushless motor provided with a motor control device according to Embodiment 2 of the present invention.
- FIG. 1 is a block diagram of a brushless motor 100 including a motor control device 10 according to Embodiment 1 of the present invention.
- the brushless motor 100 of the present embodiment has a configuration including a motor control device 10 and a synchronous motor 40, and the motor control device 10 energizes and drives the synchronous motor 40.
- the synchronous motor 40 which is a motor of the form rotates.
- the motor control device 10 converts an AC voltage from an AC power source 20 into a DC by a rectifier circuit 21 and smoothes it through a smoothing capacitor 22, and then the DC voltage is converted into a three-phase voltage provided in the motor control device 10. It is supplied to the inverter 23.
- the three-phase inverter 23 converts the supplied DC voltage into an arbitrary voltage, and the AC voltage drive voltage converted to AC is supplied to the synchronous motor 40 having a permanent magnet.
- the synchronous motor 40 is driven in three phases, ie, a U phase, a V phase, and a W phase, which are 120 degrees out of phase with each other.
- FIG. 2 is a diagram illustrating a configuration example of the synchronous motor 40 in the present embodiment.
- the synchronous motor 40 includes a rotor 41 and a stator 45.
- the rotor 41 holds a permanent magnet 43 around the shaft 42.
- the stator 45 is configured by winding a motor winding 47 around a stator core 46.
- the brushless motor 100 is configured by incorporating the circuit component 48 p functioning as the motor control device 10 in the synchronous motor 40.
- These circuit components 48p are mounted on the circuit board 48b.
- switching elements constituting the inverter 23 are mounted on the circuit board 48b.
- a position detector 51 for detecting the rotational position of the rotor 41 is disposed so as to face the permanent magnet 43 of the rotor 41.
- the rotor 41 is rotatably supported by the bearing 44 by applying the three-phase AC voltage from the inverter 23 to the motor winding 47 of each phase and energizing the motor winding 47. Rotate while.
- the motor control device 10 in order to control the rotation of the rotor 41, as shown in FIG. 1, in the present embodiment, the motor control device 10 includes the inverter 23 and the like as described above.
- a current detector 31, a torque conversion unit 32, a speed calculation unit 52, a speed control unit 53, a torque command correction unit 54, and a current control unit 55 are provided.
- the motor control device 10 is notified of rotor position information Pr indicating the position of the rotor from the position detector 51. Further, the motor control device 10 is notified of a speed command ⁇ * for controlling the rotational speed as a command for controlling the rotation of the synchronous motor 40 from, for example, an external controller.
- the speed calculation unit 52 calculates the motor speed by, for example, differential calculation from the rotor position information Pr detected by the position detector 51, and sends the detected speed ⁇ to the speed control unit 53. Notice.
- the speed control unit 53 calculates and outputs a torque command iq * such that the deviation between the speed command ⁇ * and the detected speed ⁇ is zero. That is, the speed control unit calculates the torque command iq * based on the deviation between the speed command ⁇ * and the detected speed ⁇ .
- the torque command correction unit 54 corrects the torque command iq * output from the speed control unit 53 by multiplying the torque command iq * by the correction torque coefficient C (crr) , and obtains the obtained correction torque command iq * (crr) .
- the current is transferred to the current controller 55.
- the torque constant is kept constant by providing the torque command correction unit 54 that further corrects the torque command based on the speed deviation. That is, in the present embodiment, this torque command correction unit 54 is provided as a torque correction means for correcting so as to suppress a variation in torque constant due to individual differences between motors.
- the current detector 31 detects a current that flows when a drive voltage Vdr, which is a driving AC voltage, is applied to the motor winding 47, and outputs the detected current to the torque converter 32 as a motor current Idet.
- the torque converter 32 converts the motor current Idet detected by the current detector 31 into torque and outputs it to the current controller 55 as the detected torque iq.
- the current control unit 55 calculates a voltage command Vc such that the deviation between the corrected torque command iq * (crr) and the detected torque iq is zero, and outputs the voltage command Vc to the three-phase inverter 23.
- the current control unit 55 generates a voltage command Vc for driving the motor winding 47 of the synchronous motor 40 based on the corrected torque command iq * (crr) and the detected motor current Idet. Then, the inverter 23 generates a drive voltage Vdr based on the voltage command Vc, and applies the generated drive voltage Vdr to the motor winding 47.
- the axis in the magnetic flux direction of the permanent magnet 43 of the rotor 41 of the brushless motor 100 is the d axis, and the phase advances 90 degrees from the d axis to the rotation direction.
- the axis is the q axis.
- the d-axis current is the d-axis current id
- the q-axis current is the q-axis current iq
- the d-axis inductance of the motor winding 47 is Ld
- the q-axis inductance is Lq
- the induced voltage constant of the synchronous motor 40 is Ke
- the pole When the logarithm is Pn, the torque T of the brushless motor 100 is expressed by the following equation (1).
- the current vector moves on the q axis according to the load state.
- the d-axis current id 0
- the reluctance torque Tr 0 as seen from the equation (1), and the generated torque is only the magnet torque Tm.
- the expression (1) is modified as shown in the following expression (2). That is, as is clear from the equation (2), the torque is proportional to only the q-axis current iq, so that linear control of the torque is facilitated.
- FIG. 3 is a diagram showing the relationship between the speed and torque of the brushless motor 100.
- Equation (7) when the no-load speed when an arbitrary voltage Va is applied to the reference motor from Equation (4) is ⁇ std , the induced voltage constant K std is expressed by the following Equation (7).
- a torque value similar to that of the reference motor is obtained by multiplying the q-axis current iq in the mass production motor by ⁇ smpl / ⁇ std .
- the correction torque coefficient C (crr) of the torque command correction unit 54 is ⁇ smpl / ⁇ std , that is, the ratio of the no load speed in the mass production motor to ⁇ smpl and the no load speed in the reference motor to ⁇ std. is there.
- FIG. 4A is a diagram illustrating a configuration example of the torque command correction unit 54 that performs such correction processing.
- the multiplication result is output as a corrected torque command iq * (crr) .
- the torque command correction unit 54 as the torque correction means, the torque command iq * output from the speed control unit 53 is corrected using the correction torque coefficient C (crr). It is carried out. And by correcting such a torque command (q-axis current command), it is possible to eliminate the torque variation affected by individual motor differences and keep the torque constant constant.
- a correction torque coefficient C (crr) for correcting torque is calculated from a ratio ⁇ smpl / ⁇ std to a no-load speed ⁇ smpl when a predetermined voltage is applied to, and a correction torque coefficient C for the torque command iq * is calculated.
- method of correcting the torque constant of the present embodiment performs correction by multiplying (crr) by carrying out, it is possible to improve the torque variation for each motor.
- the correction torque coefficient C (crr) based on the maximum no-load speed measured in the mass production process is stored in a storage unit such as a memory and corrected by the torque command correction unit 54. Good.
- the motor speed constant Correction may be performed by using a correction torque coefficient Cv (crr) based on the applied voltage value.
- correction torque coefficient Cv (crr) may be calculated as follows.
- Equation 10 the induced voltage constant K std is expressed by the following Equation (10).
- the torque variation affected by the individual motor difference is also corrected by multiplying the torque command (q-axis current command) iq * in the mass production motor by the correction torque coefficient Cv (crr) that becomes V std / V smpl. be able to. That is, the correction torque coefficient Cv (crr) is set to the voltage V std applied to the motor winding when the reference motor whose torque constant is known in advance is rotationally controlled at a predetermined speed in the no-load state.
- the ratio V std / V smpl with the voltage V smpl applied to the motor winding 47 when the brushless motor 100 is rotationally controlled at a similar predetermined speed may be used.
- FIG. 4B is a diagram illustrating a configuration of the torque command correction unit 54 when performing such correction processing.
- the multiplication result is output as a corrected torque command iq * (crr) .
- the corrected torque command iq * (crr), which is the corrected torque is used only by the current control unit 55, but may be used by another controller or calculation.
- FIG. 5 is a block diagram of the brushless motor 101 provided with the motor control device 11 according to the second embodiment of the present invention.
- the motor control device 11 includes a detected torque correction unit 33 that corrects the detected torque iq instead of correcting the torque command iq * in comparison with the first embodiment shown in FIG.
- the same components as those in FIG. 1 are denoted by the same reference numerals, and detailed description of these components is omitted.
- the speed calculation unit 52 calculates the motor speed from the rotor position information Pr detected by the position detector 51 and notifies the speed control unit 53 as the detected speed ⁇ .
- the speed control unit 53 calculates and outputs a torque command iq * such that the deviation between the speed command ⁇ * and the detected speed ⁇ is zero.
- the torque converter 32 converts the motor current Idet detected by the current detector 31 into torque and outputs it as detected torque iq.
- the detected torque correction unit 33 corrects the detected torque iq using the correction torque coefficient Cd (crr), and passes the obtained corrected torque iq (crr) to the current control unit 55.
- the torque constant is kept constant by providing the detected torque correction unit 33 that further corrects the detected torque based on the detected motor current Idet.
- the current control unit 55 calculates a voltage command Vc such that the deviation between the torque command iq * and the correction torque iq (crr) is zero and outputs the voltage command Vc to the three-phase inverter 23.
- the corrected torque coefficient Cd (crr) ⁇ smpl as shown in the equation (Equation 9) of the first embodiment with respect to the detected torque (the detected q-axis current).
- a torque value similar to that of the reference motor is obtained by multiplying / ⁇ std .
- such a correction to the detected torque iq eliminates the torque variation that is affected by the individual motor difference and keeps the torque constant constant.
- the motor control device since the motor control device according to the present invention can eliminate the torque variation due to individual motor differences, the motor control device has a speed control unit (including a current minor loop) such as a servo motor. Can be used.
- a speed control unit including a current minor loop
- a servo motor such as a servo motor.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Databases & Information Systems (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
図1は、本発明の実施の形態1におけるモータ制御装置10を備えたブラシレスモータ100のブロック図である。
図5は、本発明の実施の形態2におけるモータ制御装置11を備えたブラシレスモータ101のブロック図である。本モータ制御装置11は、図1で示す実施の形態1との比較において、トルク指令iq*の補正に代えて、検出トルクiqを補正する検出トルク補正部33を備えている。なお、図5において図1と同じ構成要素については同じ符号を付しており、これら要素については詳細な説明は省略する。
20 交流電源
21 整流回路
22 平滑キャパシタ
23 インバータ
31 電流検出器
32 トルク変換部
33 検出トルク補正部
40 同期モータ
41 ロータ
42 シャフト
43 永久磁石
44 軸受
45 ステータ
46 ステータコア
47 モータ巻線
48b 回路基板
48p 回路部品
51 位置検出器
52 速度演算部
53 速度制御部
54 トルク指令補正部
54x 乗算器
55 電流制御部
100,101 ブラシレスモータ
Claims (9)
- モータの回転速度を制御する速度制御部を少なくとも有するモータ制御装置において、前記モータの個体差によるトルク定数のばらつきを抑制するように補正するトルク補正手段を備えたことを特徴とするモータ制御装置。
- 前記トルク補正手段は、印加電圧が一定の場合の無負荷最高速度に基づき前記トルク定数を補正することを特徴とする請求項1記載のモータ制御装置。
- 前記トルク補正手段は、前記モータの速度が一定の場合のモータ印加電圧に基づき前記トルク定数を補正することを特徴とする請求項1記載のモータ制御装置。
- 前記トルク補正手段を用いて、前記速度制御部から出力されるトルク指令を補正することを特徴とする請求項2または3に記載のモータ制御装置。
- 前記トルク補正手段を用いて、前記モータの検出電流または検出トルクを補正することを特徴とする請求項2または3に記載のモータ制御装置。
- 速度指令と検出速度との偏差に基づきトルク指令を算出する前記速度制御部と、
前記トルク指令に対して補正トルク係数を乗算して補正を行い、補正トルク指令として出力する前記トルク補正手段としてのトルク指令補正部と、
前記補正トルク指令と検出したモータ電流とに基づき、前記モータのモータ巻線を駆動するための電圧指令を生成する電流制御部と、
前記電流制御部からの電圧指令に基づき、前記モータ巻線を通電駆動するための駆動電圧を生成するインバータとを備えたことを特徴とする請求項1に記載のモータ制御装置。 - 前記補正トルク係数は、無負荷状態において、あらかじめトルク定数がわかっている基準モータのモータ巻線に所定の電圧を印加したときの無負荷速度と、前記モータのモータ巻線に所定の電圧を印加したときの無負荷速度との比であることを特徴とする請求項6に記載のモータ制御装置。
- 前記補正トルク係数は、無負荷状態において、あらかじめトルク定数がわかっている基準モータが所定の速度で回転制御されているときのモータ巻線への印加電圧と、前記モータが前記所定の速度で回転制御されているときのモータ巻線への印加電圧との比であることを特徴とする請求項6に記載のモータ制御装置。
- 請求項6に記載のモータ制御装置におけるトルク定数の補正方法であって、
あらかじめ標準品として前記トルク定数がわかっている基準モータで、あらかじめ定めた所定の電圧をモータ巻線へ印加したときの無負荷最高速度を測定するステップと、
量産工程においてモータ全数を同条件で無負荷最高速度を測定するステップと、
無負荷状態において前記基準モータのモータ巻線に所定の電圧を印加したときの無負荷速度と、無負荷状態において前記モータのモータ巻線に所定の電圧を印加したときの無負荷速度との比を算出し、前記補正トルク係数とするステップと、
前記トルク指令に対して前記補正トルク係数を乗算して補正するステップとを備えたことを特徴とするモータ制御装置におけるトルク定数の補正方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2016571861A JP6667076B2 (ja) | 2015-01-28 | 2016-01-26 | モータ制御装置、およびこのモータ制御装置におけるトルク定数の補正方法 |
EP16742977.8A EP3157162B1 (en) | 2015-01-28 | 2016-01-26 | Motor control device, and method for correcting torque constant in such motor control device |
CN201680002103.9A CN106537760B (zh) | 2015-01-28 | 2016-01-26 | 电动机控制装置以及该装置中的转矩常数的校正方法 |
US15/325,309 US10270377B2 (en) | 2015-01-28 | 2016-01-26 | Motor control device, and method for correcting torque constant in such motor control device |
US16/287,601 US10469013B2 (en) | 2015-01-28 | 2019-02-27 | Motor control device, and method for correcting torque constant in such motor control device |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015013835 | 2015-01-28 | ||
JP2015-013835 | 2015-01-28 |
Related Child Applications (2)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US15/325,309 A-371-Of-International US10270377B2 (en) | 2015-01-28 | 2016-01-26 | Motor control device, and method for correcting torque constant in such motor control device |
US16/287,601 Division US10469013B2 (en) | 2015-01-28 | 2019-02-27 | Motor control device, and method for correcting torque constant in such motor control device |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016121373A1 true WO2016121373A1 (ja) | 2016-08-04 |
Family
ID=56542995
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/000363 WO2016121373A1 (ja) | 2015-01-28 | 2016-01-26 | モータ制御装置、およびこのモータ制御装置におけるトルク定数の補正方法 |
Country Status (5)
Country | Link |
---|---|
US (2) | US10270377B2 (ja) |
EP (1) | EP3157162B1 (ja) |
JP (1) | JP6667076B2 (ja) |
CN (1) | CN106537760B (ja) |
WO (1) | WO2016121373A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106208833A (zh) * | 2016-09-23 | 2016-12-07 | 北京乾勤科技发展有限公司 | 直流无刷电机最大恒转扭矩控制方法 |
JP2018153041A (ja) * | 2017-03-14 | 2018-09-27 | ファナック株式会社 | サーボモータを制御するサーボモータ制御装置及びこれを備えるサーボモータ制御システム |
JP2018182975A (ja) * | 2017-04-19 | 2018-11-15 | パナソニックIpマネジメント株式会社 | 圧縮機モータ駆動装置 |
WO2023067682A1 (ja) * | 2021-10-19 | 2023-04-27 | ファナック株式会社 | サーボモータ制御装置 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US11370307B2 (en) * | 2016-06-30 | 2022-06-28 | Borg Warner Gateshead Limited | Method and apparatus for controlling an electric motor |
GB2551822B (en) | 2016-06-30 | 2018-08-22 | Sevcon Ltd | Methods and apparatus for controlling an electric motor |
JP7050624B2 (ja) * | 2018-08-24 | 2022-04-08 | 日立Astemo株式会社 | モータ制御装置及びこれを備えた電動ブレーキ装置 |
CN109818541B (zh) * | 2019-03-13 | 2020-10-02 | 东南大学 | 一种用于磁链观测的记忆电机绕组复用控制方法及系统 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008220155A (ja) * | 2007-02-08 | 2008-09-18 | Jtekt Corp | モータ制御装置および電動パワーステアリング装置 |
JP2012217298A (ja) * | 2011-04-01 | 2012-11-08 | Fanuc Ltd | 同期モータの磁極位置を検出する検出装置およびこれを備える制御装置 |
US20140217974A1 (en) * | 2013-02-06 | 2014-08-07 | Lg Electronics Inc. | Charging apparatus and electric vehicle including the same |
Family Cites Families (20)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5869497A (ja) | 1981-10-22 | 1983-04-25 | Fuji Electric Co Ltd | 電流pwmインバ−タによる電動機制御方式 |
JP3578900B2 (ja) | 1997-12-25 | 2004-10-20 | ファナック株式会社 | サーボモータの制御装置 |
KR20010041353A (ko) * | 1998-02-27 | 2001-05-15 | 다니구찌 이찌로오, 기타오카 다카시 | 동기제어장치 |
JP2001278085A (ja) * | 2000-03-30 | 2001-10-10 | Toyoda Mach Works Ltd | 電気式動力舵取装置 |
JP4066914B2 (ja) * | 2003-08-25 | 2008-03-26 | 富士電機システムズ株式会社 | モータ駆動制御装置 |
JP4538786B2 (ja) * | 2004-04-09 | 2010-09-08 | 株式会社安川電機 | モータ制御装置 |
JP2006340454A (ja) * | 2005-05-31 | 2006-12-14 | Mitsubishi Electric Corp | モータ制御装置 |
JP2006342454A (ja) | 2005-06-08 | 2006-12-21 | Canon Electronics Inc | インクジェット捺染方法、インクジェット捺染用布帛及びインクジェット捺染用プリンター |
US7889978B2 (en) | 2007-02-08 | 2011-02-15 | Jtekt Corporation | Motor controller and electric power steering system |
JP5187172B2 (ja) * | 2008-08-06 | 2013-04-24 | 株式会社安川電機 | モータ制御装置とそのトルクリップル補正方法及びモータ制御システム |
JP5509677B2 (ja) * | 2008-09-24 | 2014-06-04 | セイコーエプソン株式会社 | 電動機の特性を算出する装置、方法、電動機、電動機搭載装置およびコンピュータープログラム |
KR101171659B1 (ko) * | 2008-10-29 | 2012-08-07 | 미쓰비시덴키 가부시키가이샤 | 영구자석 동기 전동기의 제어 장치 |
JP2010130853A (ja) | 2008-11-28 | 2010-06-10 | Yaskawa Electric Corp | 電動機制御装置と電動機巻線抵抗値変化検出方法 |
JP5196269B2 (ja) * | 2009-03-04 | 2013-05-15 | 本田技研工業株式会社 | 電動機の制御装置 |
JP5385374B2 (ja) | 2009-04-10 | 2014-01-08 | 三菱電機株式会社 | 回転電機の制御装置 |
JP5175887B2 (ja) * | 2010-03-23 | 2013-04-03 | 株式会社東芝 | モータ制御装置及び電気機器 |
DE102013200248A1 (de) * | 2013-01-10 | 2014-07-24 | Robert Bosch Gmbh | Verfahren und Vorrichtung zum Auslegen eines Elektromotorsfür eine oder mehrere Anwendungen |
JP5620527B2 (ja) * | 2013-02-05 | 2014-11-05 | 山洋電気株式会社 | モータ制御装置 |
JP2014204489A (ja) * | 2013-04-02 | 2014-10-27 | 三菱電機株式会社 | 回転機制御装置 |
JP5800933B2 (ja) * | 2014-02-28 | 2015-10-28 | ファナック株式会社 | 同期モータを制御するモータ制御装置 |
-
2016
- 2016-01-26 US US15/325,309 patent/US10270377B2/en active Active
- 2016-01-26 CN CN201680002103.9A patent/CN106537760B/zh active Active
- 2016-01-26 JP JP2016571861A patent/JP6667076B2/ja active Active
- 2016-01-26 WO PCT/JP2016/000363 patent/WO2016121373A1/ja active Application Filing
- 2016-01-26 EP EP16742977.8A patent/EP3157162B1/en active Active
-
2019
- 2019-02-27 US US16/287,601 patent/US10469013B2/en active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2008220155A (ja) * | 2007-02-08 | 2008-09-18 | Jtekt Corp | モータ制御装置および電動パワーステアリング装置 |
JP2012217298A (ja) * | 2011-04-01 | 2012-11-08 | Fanuc Ltd | 同期モータの磁極位置を検出する検出装置およびこれを備える制御装置 |
US20140217974A1 (en) * | 2013-02-06 | 2014-08-07 | Lg Electronics Inc. | Charging apparatus and electric vehicle including the same |
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
CN106208833A (zh) * | 2016-09-23 | 2016-12-07 | 北京乾勤科技发展有限公司 | 直流无刷电机最大恒转扭矩控制方法 |
CN106208833B (zh) * | 2016-09-23 | 2019-09-24 | 北京乾勤科技发展有限公司 | 直流无刷电机最大恒转扭矩控制方法 |
JP2018153041A (ja) * | 2017-03-14 | 2018-09-27 | ファナック株式会社 | サーボモータを制御するサーボモータ制御装置及びこれを備えるサーボモータ制御システム |
US10564620B2 (en) | 2017-03-14 | 2020-02-18 | Fanuc Corporation | Servo motor control apparatus for controlling servo motor and servo motor control system including the same |
JP2018182975A (ja) * | 2017-04-19 | 2018-11-15 | パナソニックIpマネジメント株式会社 | 圧縮機モータ駆動装置 |
WO2023067682A1 (ja) * | 2021-10-19 | 2023-04-27 | ファナック株式会社 | サーボモータ制御装置 |
Also Published As
Publication number | Publication date |
---|---|
EP3157162A1 (en) | 2017-04-19 |
EP3157162A4 (en) | 2017-08-16 |
US10469013B2 (en) | 2019-11-05 |
US20170163194A1 (en) | 2017-06-08 |
US10270377B2 (en) | 2019-04-23 |
CN106537760B (zh) | 2020-03-31 |
JP6667076B2 (ja) | 2020-03-18 |
JPWO2016121373A1 (ja) | 2017-11-09 |
CN106537760A (zh) | 2017-03-22 |
US20190199257A1 (en) | 2019-06-27 |
EP3157162B1 (en) | 2020-07-15 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2016121373A1 (ja) | モータ制御装置、およびこのモータ制御装置におけるトルク定数の補正方法 | |
JP5130031B2 (ja) | 永久磁石モータの位置センサレス制御装置 | |
WO2016035298A1 (ja) | モータ駆動装置およびブラシレスモータ | |
JP2010011564A (ja) | 永久磁石同期電動機の制御装置、及び電動機制御システム | |
JP6776066B2 (ja) | インバータ制御装置および電動機駆動システム | |
JP2007189766A (ja) | 電動機駆動制御装置及び電動機駆動システム | |
JP5546804B2 (ja) | 電動機駆動制御装置。 | |
JP5727532B2 (ja) | ステッピングモータの電流ベクトル制御装置 | |
JP2004297966A (ja) | 交流電動機の制御装置 | |
JP2007135345A (ja) | 磁石モータ制御装置 | |
JP2006230200A (ja) | 交流電動機の制御装置 | |
JP4667741B2 (ja) | 誘導電動機の制御装置 | |
US11404982B2 (en) | Method for estimating mechanical parameters of an electrical motor | |
JP2007336645A (ja) | 同期機の制御装置 | |
JP5941103B2 (ja) | 誘導電動機ベクトル制御装置 | |
JP5744151B2 (ja) | 電動機の駆動装置および電動機の駆動方法 | |
JP4404193B2 (ja) | 同期電動機の制御装置 | |
WO2015105093A1 (ja) | 電動機の制御装置 | |
JP5862691B2 (ja) | 電動機駆動装置の制御装置および電動機駆動システム | |
JP2003339193A (ja) | ステッピングモータの駆動装置 | |
JP5854057B2 (ja) | 脱調検出装置および電動機駆動システム | |
JP6032809B2 (ja) | 永久磁石同期電動機の制御装置 | |
JP2009100600A (ja) | インバータ制御装置とその制御方法 | |
WO2012169264A1 (ja) | 回転機の制御装置 | |
JP2023000458A (ja) | 電動機の駆動制御装置、電動機の駆動制御方法、及び、電動機の駆動制御プログラム |
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: 16742977 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2016571861 Country of ref document: JP Kind code of ref document: A |
|
REEP | Request for entry into the european phase |
Ref document number: 2016742977 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2016742977 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15325309 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |