WO2016157643A1 - 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 - Google Patents
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 Download PDFInfo
- Publication number
- WO2016157643A1 WO2016157643A1 PCT/JP2015/085226 JP2015085226W WO2016157643A1 WO 2016157643 A1 WO2016157643 A1 WO 2016157643A1 JP 2015085226 W JP2015085226 W JP 2015085226W WO 2016157643 A1 WO2016157643 A1 WO 2016157643A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- angle error
- frequency
- error correction
- current
- position detector
- Prior art date
Links
Images
Classifications
-
- 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
- G01D5/14—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 the magnitude of a current or voltage
- G01D5/20—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 the magnitude of a current or voltage by varying inductance, e.g. by a movable armature
-
- 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
-
- 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
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 device, an angle error correction method, an elevator control device, and an elevator system for a position detector that corrects the angle error.
- an angle detector detects an angle signal from a signal detected by a resolver, and utilizes that the resolver error waveform is composed of a determined n-order component unique to the resolver and is reproducible.
- a resolver angle detection device that calculates and corrects an angle error by an angle error estimator is known (see, for example, Patent Document 1).
- a position error is calculated by referring to a detected angle signal, a speed error signal is calculated by differentiating the position error, and the speed error signal is frequency-converted by, for example, Fourier transform. Analysis is performed to calculate a detection error for each frequency component. Further, an estimated angle error signal is generated by combining the calculated detection errors, and an angle signal detected by using the generated estimated angle error signal is corrected by an angle signal correction circuit.
- 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 device for a position detector detects an electric motor control device that controls an electric motor, a position detector that outputs a position detection signal obtained by detecting the rotational position of the electric motor, and a current flowing through the electric motor.
- An angle error correction device for a position detector that is used in combination with a current detector and corrects a cyclic angle error determined according to a rotational position included in a position detection signal.
- Frequency analysis of the detected current detected in step 1 calculate the amplitude and phase of the specific frequency, and output the amplitude and phase of the specific frequency as the frequency analysis result, and position detection signal to the input signal input
- An angle error correction unit that outputs the added signal to the motor controller, and a set value of a test signal having a known amplitude, phase, and frequency is input to the angle error correction unit
- the angle error correction unit adds a test signal corresponding to the set value and operates the motor, and the frequency analysis unit detects the detection current obtained by the first control process as a test signal.
- the second control process for performing frequency analysis on the frequency of the above is repeated for a plurality of different test signals, and based on the amplitude and phase that are two or more types of frequency analysis results calculated by the frequency analysis unit by the second control process,
- An angle error estimator that estimates and outputs estimated values of the amplitude and phase of the angle error to the error corrector, and the angle error corrector uses the estimated value of the amplitude and phase of the angle error as an input signal as an addition signal. Is output to the motor control device.
- the angle error correction method of the position detector includes an electric motor control device that controls the electric motor, a position detector that outputs a position detection signal obtained by detecting the rotational position of the electric motor, and a current flowing through the electric motor.
- Position detector angle error executed by a position detector angle error correction device that is used in combination with a current detector to detect and corrects a cyclic angle error determined according to the rotational position included in the position detection signal.
- the first control step of inputting a set value of a test signal having a known test amplitude, phase and frequency as an input signal and adding the test signal corresponding to the set value to operate the motor and in the frequency analyzing step,
- the second control step for analyzing the frequency of the detected current obtained in the first control step at the frequency of the test signal is repeated for a plurality of different test signals, and two types calculated in the frequency analysis step in the second control step.
- the estimated value of the angular error and the phase are input signals.
- a fourth control step for outputting an addition signal to the motor control device for outputting an addition signal to the motor control device.
- the elevator control device also includes an electric motor control device that controls an elevator hoisting machine, and a position detection that detects a rotational position of the hoisting machine and includes a cyclic error that is uniquely determined according to the rotational position.
- the position detector performs frequency analysis on the specific frequency component of the motor current, and periodically detects the position detector based on the frequency analysis result.
- the error can be estimated.
- a test signal having a known amplitude, phase, and frequency is added for operation, and a process of performing frequency analysis at the frequency of the test signal is performed a plurality of times, and the amplitude and phase calculated by the frequency analysis of the plurality of times. Based on the above, the error of the position detector is estimated. Therefore, it is possible to obtain an angle error correction device and an angle error correction method for a position detector that can accurately estimate and correct the angle error.
- the position detector can perform frequency analysis on the specific frequency component of the motor current, and can estimate a periodic error of the position detector based on the frequency analysis result.
- a test signal having a known amplitude, phase, and frequency is added for operation, and a process of performing frequency analysis at the frequency of the test signal is performed a plurality of times, and the amplitude and phase calculated by the frequency analysis of the plurality of times.
- the error of the position detector is estimated. Therefore, in the elevator system, it is possible to obtain an angle error correction device and an angle error correction method for a position detector that can accurately estimate and correct the angle error.
- FIG. 3 is a block diagram clearly showing an output of an angle error correction unit in the angle error correction device for a position detector according to Embodiment 1 of the present invention.
- FIG. 5 is a block diagram showing transfer function expression from the output of the angle error correction unit to the motor current in the angle error correction device of the position detector according to the first embodiment of the present invention in transfer function expression.
- FIG. 5 is a Bode diagram showing an example of transfer characteristics from the output of the angle error correction unit to the motor current in the angle error correction device of the position detector according to Embodiment 1 of the present invention. It is a flowchart which shows the process of the angle error estimation part in the angle error correction apparatus of the position detector which concerns on Embodiment 1 of this invention. It is a flowchart which shows the process of the angle error estimation part in the angle error correction apparatus of the position detector which concerns on Embodiment 2 of this invention.
- FIG. 1 is a block diagram showing an overall configuration of a motor control system including an angle error correction device for a position detector according to Embodiment 1 of the present invention.
- the motor control system includes a motor control device 1, a motor 2, a position detector 3, a current detector 4, and an angle error correction device 5.
- the electric motor control device 1 is a device that controls the rotational speed and rotational position of the electric motor 2.
- the case where the motor control device 1 controls the rotation speed of the motor 2 will be described with reference to FIG.
- FIG. 2 is a block diagram showing the configuration of the motor control device of the motor control system shown in FIG.
- the electric motor control device 1 includes a speed calculation unit 11, a speed control unit 12, a current control unit 13, and a power converter 14.
- the speed calculation unit 11 is based on position information (corrected rotation position of the electric motor 2) or angle information in which the rotation position (motor rotation position) of the electric motor 2 detected by the position detector 3 is corrected by the angle error correction device 5. Thus, the rotational speed of the electric motor 2 is calculated.
- the speed calculator 11 calculates the rotational speed most simply by time differentiation of position information or angle information.
- the speed control unit 12 calculates a current command value (torque command value) of the electric motor 2 so that the rotation speed of the electric motor 2 becomes a desired speed.
- the current control unit 13 calculates the voltage command value of the motor 2 so that the current (motor current) of the motor 2 detected by the current detector 4 matches the current command value output from the speed control unit 12. .
- the power converter 14 applies a motor applied voltage to the motor 2 based on the voltage command value output from the current control unit 13 in order to control the motor current.
- P control, PI control, and PID control are often used for the control by the speed control unit 12 and the current control unit 13, but various control methods can be used.
- vector control is generally used for current control of the motor 2, and the motor current and the motor applied voltage are converted into dq axes, and the PID control and the like described above are performed on the converted current and voltage. A control method is used.
- an inverter is generally used as the power converter 14 that applies a voltage to the electric motor 2.
- the inverter converts a voltage of a power source (not shown) into a voltage having a desired variable voltage and variable frequency.
- a power converter that converts the DC voltage to an AC voltage by an inverter, or a matrix converter This refers to a variable voltage variable frequency power converter including a power converter that directly converts an AC voltage into an AC variable voltage variable frequency voltage.
- the inverter according to Embodiment 1 of the present invention may include a coordinate conversion function in addition to the above-described inverter. 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 also includes a coordinate conversion function for converting to. Note that the present invention can be applied even if a device or means for correcting the dead time of the inverter is provided.
- a position control unit is added above the speed control unit 12.
- the position control unit calculates a speed command value of the electric motor 2 input to the speed control unit 12 so that the rotational position of the electric motor 2 becomes a desired position.
- the speed control unit 12 executes the above-described control with the speed command value as a desired speed.
- P control, PI control, and PID control are often used for control in the position control unit, but various control methods can be used.
- the motor control device may be configured by the position control unit and the current control unit 13 without using the speed control unit 12.
- the position control unit calculates the current command value of the electric motor 2 so that the rotational position of the electric motor 2 becomes a desired position.
- the current detector 4 measures the current of the motor 2. For example, when the motor 2 is a three-phase motor, a two-phase phase current is often measured, but a three-phase phase current may be measured.
- the position detector 3 detects the rotational position of the electric motor 2 necessary for controlling the electric motor 2, such as an optical encoder, a magnetic encoder, or a resolver, and outputs a position detection signal. Further, as shown in FIG. 3, the position detector 3 includes a cyclic error that is uniquely determined according to the rotational position of the electric motor 2 in the output rotational position information.
- the periodic error uniquely determined according to the rotational position of the electric motor 2 is, for example, a resolver detection error described in paragraphs 0020 and 0021 of the above-mentioned Patent Document 1, or a pulse omission due to a slit defect 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 2 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 3 includes a periodic error uniquely determined according to the rotational position of the electric motor 2 and the principal component order of the angle error ⁇ err is known.
- the periodic angular error ⁇ err of the position detector 3 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 2
- 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 It shows the error amplitude in n n following order
- phi 1 indicates the phase shift (initial phase) with respect to mechanical angle of the motor 2 in n 1 order order
- phi 2 is on the mechanical angle of the motor 2 in n 2 order order
- the phase shift indicates ⁇
- ⁇ n indicates the phase shift with respect to the mechanical angle of the electric motor 2 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... N n , and are uniquely determined according to the rotational position of the motor 2.
- 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.
- the angle error correction device 5 includes a frequency analysis unit 51, an angle error estimation unit 52, and an angle error correction unit 53.
- the angle error estimation unit 52 estimates the periodic angle error of the position detector 3 as a function of the expression (1) based on the frequency analysis result of the motor current analyzed by the frequency analysis unit 51.
- the angle error correction unit 53 adds the position detection signal from the position detector 3 to the input signal from the angle error estimation unit 52 to generate an addition signal. Specifically, the angle error correction unit 53 generates an angle error correction value in the same format as the equation (1) based on the estimation result of the angle error, and adds it to the rotational position information or angle information of the electric motor 2. Thus, the angle error is corrected.
- the frequency analysis unit 51 calculates the amplitude and phase of the motor current at a specific frequency. At least one of them is calculated.
- the frequency analysis unit 51 is configured to receive rotation position information or angle information of the electric motor 2.
- the present invention is not limited to this, and the rotation position of the electric motor 2 is corrected by the angle error correction unit 53.
- the position information or the angle information may be input.
- the frequency analysis unit 51 is preferably configured to obtain the 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 motor current input to the frequency analysis unit 51 is a d-axis current, a q-axis current, a ⁇ -axis current, a ⁇ -axis current, an ⁇ -axis current, or a ⁇ -axis current obtained by coordinate conversion of the phase current as used in vector control. Any of these currents may be used.
- the signal having a desired frequency (specific frequency) referred to here is 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 3, or angle error correction.
- the signal having the same frequency as the main component of the test signal generated by the unit 53 is indicated. Details of the test signal will be described later.
- 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 2 in a specific section, in Embodiment 1 of the present invention.
- a periodic N wave signal in one rotation of the motor 2 at a mechanical angle is referred to as a spatial order N wave.
- the frequency analysis is preferably an analysis based on the spatial frequency. Even in 1), the angle error ⁇ err is expressed by a spatial frequency, and the frequency analysis unit 51 shown in FIG. 1 also has an input (current and angle) corresponding to the spatial frequency analysis.
- Embodiment 1 of the present invention can also be applied to frequency analysis based on time frequency, and when performing frequency analysis based on time frequency, instead of using current and angle as inputs, detection angle and time measurement Frequency analysis is performed using the measurement time and current measured by the unit as inputs.
- the angle error estimation unit 52 is a current amplitude value or current amplitude value and phase value of a desired frequency component that is an output of the frequency analysis unit 51, and a rotational position or angle of the electric motor 2 that is an output from the position detector 3.
- a periodic angle error ⁇ err uniquely determined according to the rotational position of the electric motor 2 is estimated by an estimation method described later, and the angle error estimated value is converted into angle information or The position information is output to the angle error correction unit 53.
- the angle error correction unit 53 adds the angle error correction signal based on the angle error estimated value that is the output from the angle error estimation unit 52 to the rotational position of the electric motor 2 that is the output from the position detector 3, and after correction Output position information or angle information.
- the angle error estimated value is output in the same unit system as the output signal of the position detector 3 .
- the resolution is 1024 pulses per rotation
- the estimation result of the angle error estimation unit 52 is 1 °
- the angle error estimation unit 52 is set to 1 °.
- Three pulses corresponding to the number of pulses are 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 frequency analysis of the phase current is performed by the frequency analysis unit 51
- the current pulsation appearing in the phase current is Pn as the number of pole pairs
- the desired frequency order is Assuming N n
- the spatial order is the order of P n ⁇ N n order.
- 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 2 is large, because it may not present a negative number, the In such a case, frequency analysis is performed on the P n + N n -th order current. Further, when estimating the angle error, it is desirable to perform constant torque and constant speed operation.
- the current pulsation component appearing on the dq axis is the same as the N n -th 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 position vibration at the desired frequency.
- the speed pulsation becomes a pulsation of a current command value (torque 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 q-axis current to be fed back is a constant condition, that is, Estimate under constant acceleration conditions.
- the angle error and the signal from the angle error correction unit 53 cause current pulsation according to the transfer characteristic determined by the dynamic characteristic of the load connected to the motor control device 1, the motor 2, and the motor 2. Therefore, if this transfer characteristic can be obtained, an angle error signal that causes current pulsation can be estimated. That is, the angle error that causes the current pulsation can be obtained by back calculation from the obtained transfer characteristics and the current pulsation.
- FIG. 4 is a block diagram clearly showing the output of the angle error correction unit in the angle error correction device of the position detector according to the first embodiment of the present invention.
- an angle error correction unit 53 generates an angle error correction signal.
- the corrected rotational position of the electric motor 2 corrected by adding the angular error correction signal generated by the angular error correcting unit 53 to the electric motor rotational position that is the output of the position detector 3 is fed back to the electric motor control device 1. Further, the motor current detected by the current detector 4 is also fed back to the motor control device 1.
- FIG. 5 is a block diagram showing transfer function expression from the output of the angle error correction unit to the motor current in the angle error correction device of the position detector according to the first embodiment of the present invention.
- G err — i (s) also coincides with the transfer function from the motor rotation position, which is the output of the position detector 3, to the motor current.
- Gerr_i (s) including the dynamic characteristic of a load.
- FIG. 6 shows an example of G err — i (s).
- FIG. 6 is a Bode diagram showing an example of transfer characteristics from the output of the angle error correction unit to the motor current in the angle error correction device of the position detector according to Embodiment 1 of the present invention.
- the upper part shows gain characteristics and the lower part shows phase characteristics.
- the angle error frequency changes, the amplitude and phase of the motor current pulsation corresponding to the angle error change according to the characteristics shown in FIG. Further, the angle error frequency changes depending on the rotation speed of the electric motor 2. That is, the phase and amplitude of the current pulsation caused by the angle error change according to the rotation speed.
- the angle error estimation unit 52 outputs an operation command for the electric motor 2 to the motor control device 1 and also instructs the angle error correction unit 53 to set the angle error correction signal to zero, that is, a test signal.
- a command for setting zero to zero is output (step S1).
- the angle error correction unit 53 sets the angle error correction signal to zero and rotates the electric motor 2 without performing the angle error correction.
- the angle error estimation unit 52 outputs a frequency analysis command to the frequency analysis unit 51, and the frequency analysis unit 51 performs frequency analysis on the motor current (step S2).
- the frequency analysis result is input to the angle error estimation unit 52.
- the motor current is subjected to frequency analysis at a frequency corresponding to the angular error frequency.
- the Fourier coefficient at the frequency M 1 [Hz] of the current pulsation of the q-axis current corresponding to the angle error frequency can be obtained by the following formulas (2) and (3).
- iq (t) indicates a q-axis current value
- a n1 and B n1 indicate the coefficients of cosine wave and sine wave, respectively.
- FIG. Expressions (2) and (3) are arithmetic expressions in the continuous time domain, but when implemented in a computer such as a microcomputer, they are converted into discrete time domain expressions and implemented. Furthermore, since equations (2) and (3) can be calculated with a cosine wave, sine wave signal generator, multiplier, and integrator, they can be easily implemented in a computer.
- equations (2) and (3) calculate the Fourier coefficient by integration for one period of the signal, they may be obtained by integrating several periods and dividing the integrated value by the number of periods. . In this case, since it is obtained as an average value for several cycles, it is possible to reduce the influence of variations in current pulsation and disturbance. Further, it is desirable to start the integration start time from a reference point (for example, zero degree) of the rotation angle of the electric motor 2. Thereby, a Fourier coefficient based on the rotation angle of the electric motor 2 can be obtained.
- the amplitude A i1 and the phase ⁇ i1 of the current pulsation component can be obtained by the following equations (4) and (5).
- the angle error estimation unit 52 stores the amplitude A i1 and the phase ⁇ i1 obtained by the equations (4) and (5). It should be noted that the Fourier coefficients A n1 and B n1 may be stored, and the amplitude and phase may be obtained by calculation according to equations (4) and (5).
- the angle error estimation unit 52 operates by adding a test signal (step S3), and performs frequency analysis on the motor current while the motor 2 is rotated (step S4). At this time, the rotation speed of the electric motor 2 is set to be the same as that in step S1.
- the operation command for the electric motor 2 and the set value of the test signal are output from the angle error estimation unit 52. Further, the frequency analysis result is input to the angle error estimation unit 52.
- the test signal is a sine wave or cosine wave test signal in which a predetermined amplitude, frequency and initial phase are set, and the test signal is generated by the angle error correction unit 53 and added to the output of the position detector 3. Since the sine wave and the cosine wave can be converted into each other when the initial phase is changed, the sine wave and the cosine wave will be described below as sine waves. Moreover, the predetermined amplitude of the test signal as A t, the initial phase and phi t.
- a sine wave signal having a frequency different from the angular error frequency is added as a test signal.
- the test signal is a sine wave signal having a frequency near the angular error frequency.
- the neighborhood is, for example, a range in which the gain and phase at the frequency of the test signal are almost equal to the gain and phase at the angular error frequency, with the frequency being about 10% to 20% larger or smaller than the angular error frequency. To do.
- the test signal and the angle error correction signal do not cross, facilitating frequency analysis, calculating transfer characteristics, and estimating angle error. Can be easily performed.
- step S4 When performing frequency analysis of the motor current in step S4, frequency analysis is performed at the current pulsation frequency corresponding to the test signal added in step S3.
- the frequency is the same as the frequency of the test signal.
- the frequency analysis is obtained by the same calculation as in equations (2) to (5), but M 1 and T are values replaced with the frequency and period corresponding to the test signal.
- the amplitude and phase of the current pulsation obtained from the Fourier coefficient of the current pulsation are respectively A it and ⁇ it .
- step S5 calculates an angle error estimated value of the position detector 3 (step S5).
- step S4 the relative amplitude A t test signals, since the corresponding current pulsation amplitude was A it, current pulsations, it can be seen the amplitude of the test signal is obtained by multiplying A it / A t.
- the magnification of the current pulsation amplitude with respect to the angle error amplitude is assumed to be the same as the magnification described above, and the error signal obtained in step S2
- the amplitude of the error signal that generates the current pulsation amplitude A i1 can be obtained. That is, the amplitude of the error signal when the A 1, can be obtained by the following equation (6).
- step S4 with respect to the initial phase and is phi t test signals, since the corresponding current pulsation phase was phi, current pulsation phase, phi it -.phi the phase of the test signal It can be seen that it is shifted by t .
- the phase shift of the current pulsation amplitude with respect to the angle error amplitude is regarded as the same as the phase shift of the test signal, and is obtained in step S2.
- the phase of the error signal that generates the current pulsation phase ⁇ i1 related to the error signal can be obtained. That is, when the phase of the error signal is ⁇ 1 , it can be obtained by the following equation (7).
- the sine wave having the amplitude and phase obtained by the equations (6) and (7) is estimated as the angle error estimated value.
- the angle error correction unit 53 When the angle error estimation is completed, the angle error correction unit 53 generates an angle error correction signal that cancels the angle error based on the angle error generated from the angle error estimated value, and adds it to the output of the position detector 3. Output.
- the angle error correction device 5 can correct the angle error of the position detector 3 and suppress the current pulsation caused by the angle error, the torque pulsation, and the speed pulsation of the motor 2 with high accuracy.
- the electric motor 2 and the load can be controlled.
- the position detector 3 From the frequency analysis result of current pulsation when angle error correction is not performed and the frequency analysis result of current pulsation when operated by adding a predetermined test signal, the position detector 3 The angle error is estimated. This is because the transfer characteristic of the position detector 3 from the rotational position of the motor 2 to the current pulsation (equivalent to the transfer characteristic from the angle error of the motor 2 to the current pulsation) is expressed in the frequency band of the current pulsation caused by the angle error. Thus, the angle error is converted using the transfer characteristic.
- the test signal is set at point B near the point A, and the test signal is added to the operation.
- Transfer characteristics (gain and phase) at point B are obtained. Since the transfer characteristics at point B and point A can be regarded as equal, the transfer characteristic at point B is used as the transfer characteristic at point A, and the angle error is calculated from the amplitude and phase of the current pulsation obtained in the operation without angle error correction. Estimated.
- the test signal is set to point C having a frequency lower than that of point D, and the transfer characteristic at point C is obtained.
- the test signal is set to a point E having a frequency higher than that of the point D, and the transfer characteristic at the point E is obtained.
- an average value of the transfer characteristic at the point C and the transfer characteristic at the point E is defined as the transfer characteristic at the point D.
- the test signal may be performed with only one pattern. If the trend is not known, perform a test operation at at least two frequencies, a frequency larger than the frequency corresponding to the angle error and obtain a transfer characteristic, average the plurality of transfer characteristics, etc. It is desirable to obtain the transfer characteristic corresponding to the error frequency and estimate the angle error.
- the angle error of the position detector 3 can be estimated when the motor control system including the motor 2 is installed. Moreover, it can carry out in any state, whether the motor 2 has a load attached or not. Therefore, adjustment before the shipment is unnecessary, and the angle error can be easily corrected at the time of installation. Further, the angle error estimation can be performed at the time of maintenance of the apparatus or when the position detector 3 is replaced, or may be periodically performed when the apparatus is in operation. In this invention, since the transfer characteristic of the control system of the motor is obtained by the operation based on the test signal, the angle error can be estimated regardless of the presence or absence of the load.
- step S1 to step S5 can be performed continuously without stopping the electric motor 2, angle error estimation can be performed in a short time.
- the calculation to obtain the transfer characteristic from the angle error to the current pulsation is performed only in the vicinity of the frequency of the current pulsation caused by the angle error, and the transfer characteristic is not obtained at all frequencies by sweeping the test signal. Therefore, the angle error can be estimated in a short time.
- 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.
- the frequency is input simultaneously according to the frequency of the angular error for estimating the test signal.
- frequency analysis is performed for all of the current pulsation component caused by the angle error and the current pulsation component caused by the test signal.
- step S3 when the frequency of the error signal is 10 [Hz] and 30 [Hz], in step S3, test signals near 10 [Hz] and near 30 [Hz] are generated at the same time for operation. In S4, frequency analysis of current pulsation corresponding to the frequency of each test signal set in the vicinity of 10 [Hz] and 30 [Hz] is performed.
- the procedure for estimating the angle error by the frequency analysis of the q-axis current has been described.
- the angle error can also be estimated by the same procedure when the frequency analysis of the d-axis current is used.
- the angle error can be estimated by the same procedure.
- the frequency of the current pulsation is different.
- the angle error estimator 52 outputs the operation command for the electric motor 2 in step S1 and step S3, and the frequency analysis command is output in step S2 and step S4.
- a controller that advances the estimation operation sequence may be provided separately in the angle error correction device 5 and the motor control device 1, or may be provided as a dedicated control device.
- the position detector can perform frequency analysis on the specific frequency component of the motor current and estimate the periodic error of the position detector based on the frequency analysis result.
- the operation is performed without correcting the angle error and the frequency analysis is performed, and the operation is performed by adding a test signal having a known amplitude, phase and frequency, and one or more types of frequency analysis are performed at the frequency of the test signal.
- An error of the position detector is estimated based on the amplitude and phase calculated by a plurality of frequency analyzes calculated in the step, including at least one of the steps performed on the test signal. Therefore, it is possible to obtain an angle error correction device and an angle error correction method for a position detector that can accurately estimate and correct the angle error.
- FIG. 2 the operation of the angle error estimating unit 52 is different from that in the first embodiment.
- the processing of the angle error estimation unit 52 according to Embodiment 2 of the present invention will be described with reference to the flowchart of FIG.
- step S13 for performing a test operation by adding a test signal is different from that in the first embodiment.
- the transfer characteristic obtained by the test operation does not exactly match the transfer characteristic at the angle error frequency.
- the transmission characteristic obtained in the test operation can be exactly matched with the transmission characteristic at the angular error frequency, so that the angular error can be estimated with higher accuracy.
- the frequency analysis becomes easy, and the calculation of the transfer characteristic and the calculation of the angle error can be easily performed.
- the motor speed and the frequency of the test signal in the test operation in step S13 are set so as to satisfy the relationship of the following equation (8).
- V 2 indicates the motor speed in the test operation
- f 2 indicates the frequency of the test signal
- V 1 indicates the motor speed in step S1
- f 1 rotates the motor 2 at V 1.
- the angle error frequency is shown.
- V 1 is 10 [Hz] and the corresponding error frequency f 1 is 40 [Hz] which is four times
- V 2 and f 2 are set to 20 [Hz] and 40 [Hz], respectively. can do. Regardless of this, it is possible to set an arbitrary motor speed satisfying the equation (8) and the frequency of the test signal.
- the frequency of the current pulsation caused by the test signal and the frequency of the current pulsation caused by the angle error in step S1. Matches. Therefore, the transfer characteristic obtained by the frequency analysis in step S4 can be matched with the transfer characteristic from the angle error to the current pulsation caused by the angle error in the operation in step S1. As a result, the angle error can be estimated with higher accuracy.
- fills the relational expression of Formula (8) is performed a plurality of times, frequency analysis is performed for each, and the average of the plurality of frequency analysis results is taken to determine the transfer characteristics. May be requested. In this way, the estimation error of the angle error can be reduced.
- 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.
- the frequency is input simultaneously according to the frequency of the angular error for estimating the test signal.
- the frequency analysis is performed for all current pulsation components caused by the angle error.
- step S13 when the frequency of the error signal is 10 [Hz] and 30 [Hz], operation is performed by simultaneously generating test signals of 10 [Hz] and 30 [Hz] in step S13, and in step S4. Frequency analysis of current pulsation is performed for 10 [Hz] and 30 [Hz].
- Embodiment 3 In the third embodiment of the present invention, the operation of the angle error estimating unit 52 is different from that in the first embodiment.
- the processing of the angle error estimation unit 52 according to Embodiment 3 of the present invention will be described with reference to the flowchart of FIG.
- step S23 for performing a test operation by adding a test signal and step S25 for calculating an angle error estimated value are different from those of the first embodiment.
- the frequency of the test signal is set to the same frequency as the angle error in step S23 in which the test operation is performed by adding the test signal.
- the amplitude and initial phase are set to predetermined values. Further, the motor speed in step S23 is made to coincide with the motor speed in step S1.
- step S4 frequency analysis of the motor current pulsation at the frequency of the test signal, that is, the frequency of the angle error is performed.
- the frequency analysis result of the current pulsation is the frequency analysis result for the current pulsation generated with respect to the synthesized signal obtained by synthesizing the angle error and the test signal.
- step S25 angle error estimation is performed based on the frequency analysis result obtained in step S2 and the frequency analysis result obtained in step S4.
- the frequency analysis result obtained in step S4 is the frequency analysis result for the current pulsation generated with respect to the synthesized signal obtained by synthesizing the angle error and the test signal. Since the phase is unknown, the transfer characteristic at the error frequency cannot be obtained from this result.
- step S4 an operation for separating the current pulsation component caused by the angle error and the current pulsation component caused by the test signal from the frequency analysis result obtained in step S4 is performed. This can be performed using each frequency analysis result in step S2 and step S4.
- the frequency analysis result in step S4 can be separated from the frequency analysis result in step S2 when the operation is performed without adding the test signal. That is, the difference between the Fourier coefficients obtained in step S4 and step S2 becomes the Fourier coefficient of the current pulsation component caused by the test signal.
- the amplitude and phase corresponding to A it and ⁇ it in the first embodiment are obtained using the Fourier coefficient of the current pulsation component caused by the extracted test signal, and A i1 and ⁇ i1 obtained in step S2 are obtained.
- the angle error estimated value is obtained by the above formulas (6) and (7). Note that A t and ⁇ t in equations (6) and (7) are the amplitude and initial phase of the test signal and are known as in the first embodiment.
- operation is performed in a state where the frequency of the test signal is matched with the angular error frequency, and the angular error is estimated from the corresponding current pulsation component.
- the angle error can be estimated with higher accuracy.
- the motor speed is matched between the operation without the test signal and the operation with the test signal added, so that the estimation error factor of the angle error due to the difference in the operation speed is eliminated. be able to.
- the angle error may be estimated a plurality of times by the above procedure for a plurality of test signals with different initial phases and amplitude values, and the average value thereof may be used as the angle error estimated value. Further, even when there are a plurality of angular error frequency components, it can be easily expanded.
- Embodiment 4 FIG.
- the operation of the angle error estimating unit 52 is different from that in the first embodiment.
- the processing of the angle error estimation unit 52 according to Embodiment 4 of the present invention will be described with reference to the flowchart of FIG.
- step S31 since the flow which described the same code
- the operations of step S31, step S33 for performing a test operation by adding a test signal, and step S35 for calculating an angle error estimated value are different from those of the first embodiment.
- the operation is performed by generating two kinds of test signals different in at least one of the amplitude and the initial phase, and using the frequency analysis result of the current pulsation component corresponding to the test signal.
- Estimate angular error The frequency of the test signal is the same as the angular error frequency.
- step S31 the motor 2 is operated by adding a first test signal having a predetermined amplitude and initial phase and the same frequency as the angular error frequency.
- step S2 an operation equivalent to that in the first embodiment is performed.
- step S33 the operation is performed in the same manner as in step S31.
- the second test is performed such that at least one of the amplitude and initial phase of the test signal to be added is different from the first test signal added in step S31. Set the signal.
- step S4 an operation equivalent to that in the first embodiment is performed.
- step S35 the angle error is estimated using the frequency analysis results in the two test operations performed in the previous step.
- the calculation process of the angle error estimation value by the angle error estimation unit 52 shown in step S35 of FIG. 10 will be described in detail with reference to the flowchart of FIG.
- the frequency analysis result obtained in step S2 and step S4 is the frequency analysis result for the current pulsation generated for the synthesized signal obtained by synthesizing the angle error and the test signal.
- a calculation for separating the current pulsation component caused by the test signal is performed (step S41).
- step S2 the frequency analysis result in step S2
- step S4 the difference between the Fourier coefficients obtained in step S4 and step S2 becomes the Fourier coefficient of the current pulsation component caused by the test signal.
- test signal at this time is a signal obtained by subtracting the test signals in steps S2 and S4 (referred to as a combined test signal for convenience). That is, since the two test signals are known, the synthesized test signal obtained by subtracting the test signal is also known, and its amplitude and initial phase are known.
- the frequency of the angle error (equal to the frequency of the composite test signal) is the same as in the first embodiment. ) Is determined (step S42).
- the amplitude and phase corresponding to A it and ⁇ it of the first embodiment can be obtained using the extracted combined test signal and the Fourier coefficient of the current pulsation component resulting from the combined test signal.
- test operation may be either the test operation in step S31 or the test operation in step S33. Below, the case where the test operation result of step S31 is used is demonstrated.
- the amplitude and phase of the current pulsation caused by the first test signal can be obtained using the transfer characteristic obtained in step S42. Further, the current pulsation component caused by the angle error is extracted by subtracting the amplitude and phase of the current pulsation caused by the first test signal from the frequency analysis result of the current pulsation in the test operation obtained in step S2.
- step S44 From the current pulsation component caused by the angle error extracted in step S43 and the transfer characteristic at the frequency of the angle error obtained in step S42, the angle error estimation is performed in the same manner as described in the first embodiment. A value is obtained (step S44).
- values corresponding to the amplitude A i1 and the phase ⁇ i1 of the first embodiment are obtained from the current pulsation component caused by the angle error extracted in step S43. Further, the amplitude and phase of the angle error are obtained by the equations (6) and (7) using the amplitude and phase corresponding to A it and ⁇ it of the first embodiment obtained in step S42.
- operation is performed in a state where the frequency of the test signal is matched with the angular error frequency, and the angular error is estimated from the corresponding current pulsation component.
- the angle error can be estimated with higher accuracy.
- the motor speed is matched in the two operations with the test signal added, and therefore, the estimation error factor of the angle error due to the difference in the operation speed can be eliminated.
- the angle error may be estimated a plurality of times by the above procedure for a plurality of test signals with different initial phases and amplitude values, and the average value thereof may be used as the angle error estimated value. Further, even when there are a plurality of angular error frequency components, it can be easily expanded.
- step S43 the motor 2 is operated without applying the test signal, and the current pulsation component due to the angle error is analyzed by frequency analysis of the motor current at that time. You may ask for it.
- FIG. FIG. 12 is a block diagram showing an overall configuration of a motor control system including an angle error correction device for a position detector according to Embodiment 5 of the present invention. 12, elements denoted by the same reference numerals as those in FIG. 1 perform the same operations as those described in the first embodiment.
- an angle error correction device 5A is provided instead of the angle error correction device 5 shown in FIG.
- the angle error correction device 5A includes a frequency analysis unit 51, an angle error estimation unit 52A, an angle error correction unit 53, and a resonance determination unit 54A.
- the angle error estimating unit 52A shown in FIG. 1 has an angle error estimating unit 52A that operates differently, and further includes a resonance determining unit 54A.
- the resonance determination unit 54A determines whether the angle error frequency of the position detector 3 or the frequency of the test signal is based on the frequency analysis result by the frequency analysis unit 51 or the angle error estimation value by the angle error estimation unit 52A. It is determined whether or not the resonance frequency coincides with the resonance frequency, and the determination result is output to the angle error estimation unit 52A.
- the motor control system may have a resonance point depending on the dynamic characteristics of the load.
- the frequency of the angle error and the frequency of the test signal are close to or coincide with the resonance point frequency (resonance frequency) during operation of the electric motor 2, the estimation accuracy of the angle error estimation may be deteriorated.
- Embodiment 5 of the present invention an angle error correction device 5A that can avoid such a case and can perform angle error estimation stably and with high accuracy will be described.
- the resonance determination unit 54A determines whether or not the motor 2 is operated and coincides with the resonance point before performing the angle estimation described in the first to fourth embodiments.
- the motor 2 when the resonance point does not change depending on the rotational position of the motor 2, for example, when the load is a rotating machine or the like, the motor 2 is operated while changing the operating speed, and the frequency analysis of the motor current is performed.
- the amount of change in the current pulsation amplitude or phase obtained by frequency analysis exceeds a predetermined value. If it exceeds the predetermined value, the operating speed of the electric motor 2 in the vicinity thereof is the resonance frequency. It is determined that it is close to.
- the angle error estimating unit 52A outputs an operation command for operating the electric motor 2 under a condition not close to the resonance frequency to the electric motor control device 1 based on the determination result of the resonance determining unit 54A.
- the angle error estimation unit 52A performs angle error estimation by the method described in the first to fourth embodiments.
- the operation speed of the electric motor 2 is changed to avoid the resonance frequency.
- the frequency of the angle error and the frequency of the test signal are changed, so that the resonance frequency can be avoided.
- the resonance determination unit 54A determines whether the angle error frequency and the frequency of the test signal match the resonance frequency of the motor control system, and matches the resonance frequency. Since the angle error is estimated under such conditions, the angle error can be estimated stably and with high accuracy. In particular, since the resonance frequency can be avoided even when a load is attached, adjustment during installation of the control system for the motor can be performed with high accuracy.
- the example in which the operation command for the electric motor 2 that avoids the resonance frequency is output by the angle error estimation unit 52A has been described.
- the operation sequence for estimating the angular error such as the operation command for the motor 2 is described.
- the controller to be advanced may be separately provided in the angle error correction device 5 and the motor control device 1 or may be provided as a dedicated control device.
- FIG. 13 is a block diagram showing an elevator control apparatus according to Embodiment 6 of the present invention.
- the motor control system including the angle error correction device for the position detector according to Embodiments 1 to 5 of the present invention is applied to an elevator.
- the same reference numerals as those in FIG. 1 or FIG. 12 perform the same operations as those described in the first to fifth embodiments.
- the elevator car 7 and the counterweight 9 are connected to each other by a hoisting rope 8 and are suspended in a sheave manner on the sheave 6.
- the sheave 6 is connected to the electric motor 2 that is an electric motor for driving the car 7, and the car 7 moves up and down by the power of the electric motor 2.
- the angle error is estimated when the hoist is installed. Specifically, after installing the hoisting machine which is the electric motor 2 in the elevator system, the angle error is estimated in a state where the rope 8 is not applied to the sheave 6 or a state where the rope 8 is applied to the sheave 6. The angle error is estimated by rotating the hoisting machine.
- the traveling speed may be set to a speed smaller than the rated speed of the elevator.
- the traveling speed of the elevator may be changed so that the traveling speed is such that the amplitude of the current pulsation increases.
- the position of the car 7 is not limited, and can be estimated at any position in the hoistway where the car 7 travels.
- the operation may be performed by changing the gain of the speed control unit or the position control unit to be large.
- the proportional gain, integral gain, and differential gain correspond to the gain of the control device.
- the angle error estimation result is recorded in a storage medium (for example, a non-volatile memory) as an angle error corresponding to the magnetic pole position of the hoisting machine.
- a storage medium for example, a non-volatile memory
- an estimated angle error value corresponding to the output of the position detector 3 is read from the storage medium and corrected.
- the angle error may be obtained by calculation from the above equation (1) as the error amplitude and phase shift of the angle error, or according to the magnetic pole position of the hoisting machine such as a table.
- Correction angle information or correction position information may also be used. In this case, a method of storing phase information and amplitude information and correcting the information by calculation is desirable because the information is minimized.
- the dynamic characteristics of the elevator system change according to the position of the car 7 and the load weight. Therefore, the transmission characteristics shown in FIG. 6 also change according to the position of the car 7 and the load weight. For this reason, it is desirable to perform the operation with a plurality of correction signals when the angle error is estimated under the condition that the car position and the loaded weight are equal or close to the same.
- the dynamic characteristics of the elevator system change when the specifications such as the lifting length and the rated load capacity change, but in this invention, the transmission characteristics of the motor control system are obtained by operation using test signals. Regardless of the angle error can be estimated.
- the angle error can be estimated by using the present invention not only in the elevator but also in a system in which the characteristics of the load of the electric motor change every moment.
- the angle error can be estimated in a short time by only performing a minimum of two kinds of frequency analysis when estimating the angle error.
- estimation can be performed continuously without stopping the electric motor 2, so that angle error estimation can be performed in a short time. Therefore, for example, since the angle error can be estimated in a short time during the test operation after installing the elevator, it is not necessary to secure time for the angle error, and the adjustment time at the time of installation can be shortened.
- the angle error can be accurately estimated by performing the estimation according to the following procedure.
- the period of the cyclic angle error of the position detector 3 and the frequency of the test signal when performing the angle estimation may coincide with these resonance frequencies.
- the frequency of the angle error or the frequency of the test signal coincides with the resonance frequency of the elevator, the amplitude and phase of the current value used for frequency analysis change suddenly, and the frequency analysis result is not stable. Will get worse.
- the elevator car 7 is operated from the bottom floor to the top floor or from the top floor to the bottom floor, and the frequency analysis of the motor current is performed at the frequency corresponding to the angle error.
- the frequency of the angle error is in the vicinity of the resonance frequency, the amplitude of the corresponding current pulsation suddenly increases or decreases, or the phase changes rapidly near 180 degrees.
- the above method can be applied when the resonance frequency changes depending on the rotational position of the electric motor 2.
- the elevator car 7 is operated from the bottom floor to the top floor or from the top floor to the bottom floor, frequency analysis of the motor current is performed at the frequency corresponding to the angle error, and the amount of change in current pulsation amplitude and phase is calculated. To do.
- the car position is stored together with the amount of change in the current pulsation amplitude and phase. Subsequently, when the operation from the bottom floor to the top floor or from the top floor to the bottom floor is completed, it is checked whether the amount of change in the amplitude and phase of the current pulsation exceeds the predetermined value. Extract no positions. Next, the current pulsation amplitude and phase change amount is moved to a position not exceeding a predetermined value, and angle error estimation is performed.
- the operation to check whether the amount of change in the amplitude and phase of the current pulsation does not exceed the predetermined value is the operation from the lowest floor to the highest floor, the operation to estimate the angle error is the opposite When the operation is performed from the top floor to the bottom floor, the angle error can be estimated by a single reciprocating operation, so the time related to the angle error can be shortened.
- the operation for checking whether the amount of change in the amplitude and phase of the current pulsation does not exceed the predetermined value is the operation from the top floor to the bottom floor
- the operation for estimating the angle error is: Carry out driving from the opposite bottom floor to the top floor.
- the layout and roping method of the elevator as a whole are not limited to the example of FIG.
- the present invention can be applied to a 2: 1 roping elevator.
- the position of the hoisting machine including the electric motor 2 is not limited to the example of FIG.
- the present invention can be applied to various types of elevators such as a machine room-less elevator, a double deck elevator, a one-shaft multi-car elevator, or a skew elevator.
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
従来のレゾルバの角度検出装置では、速度検出器において、角度検出器で検出された角度信号からモータの回転速度が検出され、この検出速度を用いて角度誤差を推定している。ここで、検出速度を用いて角度誤差を推定する場合には、角度検出器または速度検出器の速度分解能によって、角度誤差の推定精度が決定される。そのため、速度分解能の低い角度検出器または速度検出器では、量子化誤差が生じ、角度誤差の推定精度が十分に得られないという問題がある。
そのため、角度誤差を正確に推定して補正することができる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を得ることができる。
そのため、エレベータシステムにおいて、角度誤差を正確に推定して補正することができる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を得ることができる。
図1は、この発明の実施の形態1に係る位置検出器の角度誤差補正装置を含む電動機の制御システムの全体構成を示すブロック図である。図1において、この電動機の制御システムは、電動機制御装置1、電動機2、位置検出器3、電流検出器4および角度誤差補正装置5を備えている。
そのため、角度誤差を正確に推定して補正することができる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を得ることができる。
この発明の実施の形態2では、上記実施の形態1と比較して、角度誤差推定部52の動作が異なる。以下、図8のフローチャートを参照しながら、この発明の実施の形態2に係る角度誤差推定部52の処理について説明する。
この発明の実施の形態3では、上記実施の形態1と比較して、角度誤差推定部52の動作が異なる。以下、図9のフローチャートを参照しながら、この発明の実施の形態3に係る角度誤差推定部52の処理について説明する。
この発明の実施の形態4では、上記実施の形態1と比較して、角度誤差推定部52の動作が異なる。以下、図10のフローチャートを参照しながら、この発明の実施の形態4に係る角度誤差推定部52の処理について説明する。
図12は、この発明の実施の形態5に係る位置検出器の角度誤差補正装置を含む電動機の制御システムの全体構成を示すブロック図である。図12において、図1と同じ符号を記した要素は、上記実施の形態1で説明した動作と同じ動作を行う。
図13は、この発明の実施の形態6に係るエレベータ制御装置を示す構成図である。ここでは、この発明の実施の形態1~5に係る位置検出器の角度誤差補正装置を含む電動機の制御システムを、エレベータに適用した場合の構成図を示している。図13において、図1または図12と同じ符号を記した部分は、上記実施の形態1~5で説明した動作と同じ動作を行う。
Claims (13)
- 電動機を制御する電動機制御装置、前記電動機の回転位置を検出して得られる位置検出信号を出力する位置検出器、および前記電動機に流れる電流を検出する電流検出器と組み合わせて用いられ、前記位置検出信号に含まれる、前記回転位置に応じて定まる周期的な角度誤差を補正する位置検出器の角度誤差補正装置であって、
前記電動機を回転させて前記電流検出器で検出された検出電流を周波数解析し、特定周波数の振幅および位相を演算して、前記特定周波数の振幅および位相を周波数解析結果として出力する周波数解析部と、
入力された入力信号に前記位置検出信号を加えた加算信号を前記電動機制御装置に出力する角度誤差補正部と、
前記角度誤差補正部に既知の振幅、位相および周波数を有する試験信号の設定値を前記入力信号として入力し、前記角度誤差補正部によって、前記設定値に応じた試験信号を加えて前記電動機を運転させる第1制御処理と、
前記周波数解析部によって、前記第1制御処理により得られた前記検出電流を、前記試験信号の周波数について周波数解析させる第2制御処理とを、複数の異なる試験信号について繰り返し、
前記第2制御処理によって、前記周波数解析部で演算された2種類以上の周波数解析結果である振幅および位相に基づいて、前記角度誤差の振幅および位相の推定値を推定して前記誤差補正部へ出力する角度誤差推定部と、を備え、
前記角度誤差補正部は、前記角度誤差の振幅および位相の推定値を前記入力信号として、前記加算信号を前記電動機制御装置に出力する
位置検出器の角度誤差補正装置。 - 複数の前記試験信号の1つは、振幅が0である信号である
請求項1に記載の角度誤差補正装置。 - 前記角度誤差推定部は、前記電動機の回転位置から電動機電流までの前記角度誤差に対応した特定周波数における伝達特性を演算し、前記伝達特性に基づいて前記角度誤差の振幅および位相の推定値を推定する
請求項1または請求項2に記載の位置検出器の角度誤差補正装置。 - 前記伝達特性は、前記電動機の回転位置から電動機電流までのゲインおよび位相である
請求項3に記載の位置検出器の角度誤差補正装置。 - 前記試験信号の周波数は、前記位置検出器の角度誤差に対応した特定周波数とは異なる周波数である
請求項1から請求項4までの何れか1項に記載の位置検出器の角度誤差補正装置。 - 複数の前記試験信号について繰り返される前記第1制御処理での電動機速度は、互いに異なり、
前記試験信号の周波数は、前記角度誤差に対応した特定周波数と等しくされている
請求項1から請求項5までの何れか1項に記載の位置検出器の角度誤差補正装置。 - 前記試験信号の周波数は、前記位置検出器の角度誤差に対応した特定周波数に設定され、
前記角度誤差推定部は、複数の周波数解析から、角度誤差に起因する電流脈動成分と、試験信号に起因する電流脈動成分を分離する演算を行い、
前記角度誤差に起因する電流脈動成分と前記伝達特性とに基づいて、前記角度誤差を推定する
請求項3または請求項4に記載の位置検出器の角度誤差補正装置。 - 前記角度誤差推定部は、前記電動機制御装置、前記位置検出器、前記電流検出器、および前記角度誤差補正装置から構成される電動機の制御システムの据付調整時に、前記角度誤差の推定を行う
請求項1から請求項7までの何れか1項に記載の位置検出器の角度誤差補正装置。 - 前記角度誤差に対応した特定周波数が、前記電動機制御装置、前記位置検出器、前記電流検出器、および前記角度誤差補正装置から構成される電動機の制御システムの共振周波数と一致するか否かを判定する共振判定部をさらに有し、
前記角度誤差推定部は、前記共振判定部で前記角度誤差に対応した特定周波数が電動機の制御システムの共振周波数と一致すると判定された場合には、前記電動機の回転速度または回転位置を変更して前記角度誤差の推定を行う
請求項1から請求項8までの何れか1項に記載の位置検出器の角度誤差補正装置。 - 前記共振判定部は、角度誤差に対応した特定周波数成分の電動機の電流脈動の振幅の変化量と位相の変化量のうち少なくとも1つが所定値を超える場合に共振であると判定する
請求項9に記載の位置検出器の角度誤差補正装置。 - 電動機を制御する電動機制御装置、前記電動機の回転位置を検出して得られる位置検出信号を出力する位置検出器、および前記電動機に流れる電流を検出する電流検出器と組み合わせて用いられ、前記位置検出信号に含まれる、前記回転位置に応じて定まる周期的な角度誤差を補正する位置検出器の角度誤差補正装置で実行される位置検出器の角度誤差補正方法であって、
前記電動機を回転させて前記電流検出器で検出された検出電流を周波数解析し、特定周波数の振幅および位相を演算して、前記特定周波数の振幅および位相を周波数解析結果として出力する周波数解析ステップと、
入力された入力信号に前記位置検出信号を加えた加算信号を前記電動機制御装置に出力する角度誤差補正ステップと、
前記角度誤差補正ステップにおいて、既知の試験振幅、位相および周波数を有する試験信号の設定値を前記入力信号として入力し、前記設定値に応じた試験信号を加えて前記電動機を運転させる第1制御ステップと、
前記周波数解析ステップにおいて、前記第1制御ステップにより得られた前記検出電流を、前記試験信号の周波数において周波数解析させる第2制御ステップとを、複数の異なる試験信号について繰り返し、
前記第2制御ステップにおいて、前記周波数解析ステップで演算された2種類以上の周波数解析結果である振幅および位相に基づいて、前記角度誤差の振幅および位相の推定値を推定する第3制御ステップと、
前記角度誤差補正ステップにおいて、前記角度誤差の振幅および位相の推定値を前記入力信号として、前記加算信号を前記電動機制御装置に出力する第4制御ステップと、
を有する位置検出器の角度誤差補正方法。 - エレベータの巻上機を制御する電動機制御装置と、
前記巻上機の回転位置を検出し、前記回転位置に応じて一意に決まる周期的な誤差を含む位置検出器と、
前記巻上機に流れる電流を検出する電流検出器と、
前記電動機制御装置、前記位置検出器および前記電流検出器に接続される請求項1に記載の角度誤差補正装置と、
を備えたエレベータ制御装置。 - かごと、
前記かごを昇降させる巻上機とを備えたエレベータシステムであって、
請求項12に記載のエレベータ制御装置によって前記巻上機を制御する
エレベータシステム。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
BR112017005945A BR112017005945A2 (pt) | 2015-04-03 | 2015-12-16 | dispositivo e método de correção de erro de ângulo, dispositivo de controle de elevador, e, sistema de elevador. |
JP2016555389A JP6184609B2 (ja) | 2015-04-03 | 2015-12-16 | 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 |
CN201580052074.2A CN107078668B (zh) | 2015-04-03 | 2015-12-16 | 位置检测器的角度误差校正装置、角度误差校正方法、电梯控制装置及电梯系统 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015-076694 | 2015-04-03 | ||
JP2015076694 | 2015-04-03 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016157643A1 true WO2016157643A1 (ja) | 2016-10-06 |
Family
ID=57005882
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2015/085226 WO2016157643A1 (ja) | 2015-04-03 | 2015-12-16 | 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 |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP6184609B2 (ja) |
CN (1) | CN107078668B (ja) |
BR (1) | BR112017005945A2 (ja) |
WO (1) | WO2016157643A1 (ja) |
Cited By (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019037013A (ja) * | 2017-08-10 | 2019-03-07 | コニカミノルタ株式会社 | モータ制御装置および画像形成装置 |
WO2020178896A1 (ja) * | 2019-03-01 | 2020-09-10 | 東芝三菱電機産業システム株式会社 | レゾルバ信号処理装置、ドライブ装置、レゾルバ信号処理方法、及びプログラム |
JP2021030403A (ja) * | 2019-08-28 | 2021-03-01 | パナソニックIpマネジメント株式会社 | 異常診断装置及びそれを備えたロボット制御装置 |
JP2021110583A (ja) * | 2020-01-08 | 2021-08-02 | 日立Astemo株式会社 | 角度検出装置 |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102017216536B4 (de) * | 2017-09-19 | 2023-07-06 | Vitesco Technologies GmbH | Verfahren zur Kompensation von Störungen eines gemessenen Winkelsignals eines magnetischen Winkelsensors einer elektrischen Maschine und ein entsprechend ausgebildeter Mikrokontroller, eine elektrische Maschine, sowie ein Computerprogrammprodukt |
JP2019196972A (ja) | 2018-05-09 | 2019-11-14 | ルネサスエレクトロニクス株式会社 | 回転角補正装置およびモータ制御システム |
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 |
CN109245648B (zh) * | 2018-09-07 | 2020-02-14 | 华中科技大学 | 一种旋转变压器输出信号中周期性误差的在线补偿方法 |
CN112448642A (zh) * | 2019-08-30 | 2021-03-05 | 广州汽车集团股份有限公司 | 一种电机系统角度误差计算方法、装置及汽车 |
JP6976371B2 (ja) * | 2020-03-13 | 2021-12-08 | 三菱電機株式会社 | 回転速度検出装置 |
TWI805157B (zh) * | 2021-12-28 | 2023-06-11 | 財團法人工業技術研究院 | 伺服電機及其編碼器校正方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013057590A (ja) * | 2011-09-08 | 2013-03-28 | Mitsubishi Heavy Ind Ltd | 誤差周波数成分取得装置、回転角度取得装置、モータ制御装置および回転角度取得方法 |
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 |
WO2015029098A1 (ja) * | 2013-08-26 | 2015-03-05 | 三菱電機株式会社 | 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 |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102011076734A1 (de) * | 2011-05-30 | 2012-12-06 | Robert Bosch Gmbh | Verfahren und Vorrichtung zur Winkelschätzung in einer Synchronmaschine |
JP2013005759A (ja) * | 2011-06-24 | 2013-01-10 | Kyodo Milk Industry Co Ltd | マウス腸内菌叢の推測方法 |
-
2015
- 2015-12-16 WO PCT/JP2015/085226 patent/WO2016157643A1/ja active Application Filing
- 2015-12-16 CN CN201580052074.2A patent/CN107078668B/zh active Active
- 2015-12-16 JP JP2016555389A patent/JP6184609B2/ja active Active
- 2015-12-16 BR BR112017005945A patent/BR112017005945A2/pt not_active IP Right Cessation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2013057590A (ja) * | 2011-09-08 | 2013-03-28 | Mitsubishi Heavy Ind Ltd | 誤差周波数成分取得装置、回転角度取得装置、モータ制御装置および回転角度取得方法 |
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 |
WO2015029098A1 (ja) * | 2013-08-26 | 2015-03-05 | 三菱電機株式会社 | 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 |
Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2019037013A (ja) * | 2017-08-10 | 2019-03-07 | コニカミノルタ株式会社 | モータ制御装置および画像形成装置 |
JP7006005B2 (ja) | 2017-08-10 | 2022-01-24 | コニカミノルタ株式会社 | モータ制御装置、画像形成装置およびコンピュータプログラム |
WO2020178896A1 (ja) * | 2019-03-01 | 2020-09-10 | 東芝三菱電機産業システム株式会社 | レゾルバ信号処理装置、ドライブ装置、レゾルバ信号処理方法、及びプログラム |
KR20200116512A (ko) * | 2019-03-01 | 2020-10-12 | 도시바 미쓰비시덴키 산교시스템 가부시키가이샤 | 리졸버 신호 처리 장치, 드라이브 장치, 리졸버 신호 처리 방법, 및 프로그램 |
CN111886479A (zh) * | 2019-03-01 | 2020-11-03 | 东芝三菱电机产业系统株式会社 | 旋转变压器信号处理装置及方法、驱动装置、以及程序 |
KR102399652B1 (ko) * | 2019-03-01 | 2022-05-18 | 도시바 미쓰비시덴키 산교시스템 가부시키가이샤 | 리졸버 신호 처리 장치, 드라이브 장치, 리졸버 신호 처리 방법, 및 프로그램 |
US11555715B2 (en) | 2019-03-01 | 2023-01-17 | Toshiba Mitsubishi-Electric Industrial Systems Corporation | Resolver signal processing device, drive apparatus, resolver signal processing method, and program |
JP2021030403A (ja) * | 2019-08-28 | 2021-03-01 | パナソニックIpマネジメント株式会社 | 異常診断装置及びそれを備えたロボット制御装置 |
JP7245994B2 (ja) | 2019-08-28 | 2023-03-27 | パナソニックIpマネジメント株式会社 | 異常診断装置及びそれを備えたロボット制御装置 |
JP2021110583A (ja) * | 2020-01-08 | 2021-08-02 | 日立Astemo株式会社 | 角度検出装置 |
JP7165691B2 (ja) | 2020-01-08 | 2022-11-04 | 日立Astemo株式会社 | 角度検出装置 |
Also Published As
Publication number | Publication date |
---|---|
JP6184609B2 (ja) | 2017-08-23 |
CN107078668B (zh) | 2019-02-22 |
CN107078668A (zh) | 2017-08-18 |
JPWO2016157643A1 (ja) | 2017-04-27 |
BR112017005945A2 (pt) | 2017-12-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6184609B2 (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 | |
JP5933844B2 (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 | |
EP2543133B1 (en) | Current sensor error compensation | |
JP4685509B2 (ja) | 交流電動機の駆動制御装置および駆動制御方法 | |
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 | |
JP6636206B2 (ja) | 電動機のトルク脈動補正装置および補正方法、エレベーターの制御装置 | |
EP1729405B1 (en) | Speed control apparatus of vector controlled alternating current motor | |
JP7072728B2 (ja) | 電力変換装置の制御装置、及び電動機駆動システム | |
JP7055242B2 (ja) | 電力変換装置の制御装置、制御方法、及び電動機駆動システム | |
JP6419669B2 (ja) | 電力変換装置およびそのオートチューニング法 | |
JP2010035352A (ja) | 同期電動機のロータ位置推定装置 | |
JP6033381B2 (ja) | 誘導電動機の制御装置 | |
JP5083016B2 (ja) | 電動機の制御装置,制御方法およびエレベータ装置 | |
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 | |
JP5332667B2 (ja) | 誘導電動機の制御装置 | |
JP6591794B2 (ja) | 誘導機の電力変換装置と二次時定数測定方法及び速度制御方法 | |
JP5925058B2 (ja) | 誘導電動機の制御装置 | |
JP5106295B2 (ja) | 同期電動機のロータ位置推定装置 | |
JP6697678B2 (ja) | 誘導電動機の制御装置 | |
JP2024008517A (ja) | モータ制御装置、モータ制御方法及びエレベーター装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
ENP | Entry into the national phase |
Ref document number: 2016555389 Country of ref document: JP Kind code of ref document: A |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 15887785 Country of ref document: EP Kind code of ref document: A1 |
|
REG | Reference to national code |
Ref country code: BR Ref legal event code: B01A Ref document number: 112017005945 Country of ref document: BR |
|
NENP | Non-entry into the national phase |
Ref country code: DE |
|
ENP | Entry into the national phase |
Ref document number: 112017005945 Country of ref document: BR Kind code of ref document: A2 Effective date: 20170323 |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 15887785 Country of ref document: EP Kind code of ref document: A1 |