WO2016158892A1 - 電動機制御装置の回転子位置検出器異常判定装置 - Google Patents

電動機制御装置の回転子位置検出器異常判定装置 Download PDF

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Publication number
WO2016158892A1
WO2016158892A1 PCT/JP2016/060002 JP2016060002W WO2016158892A1 WO 2016158892 A1 WO2016158892 A1 WO 2016158892A1 JP 2016060002 W JP2016060002 W JP 2016060002W WO 2016158892 A1 WO2016158892 A1 WO 2016158892A1
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WO
WIPO (PCT)
Prior art keywords
rotor position
position detector
unit
abnormality determination
current
Prior art date
Application number
PCT/JP2016/060002
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English (en)
French (fr)
Japanese (ja)
Inventor
信貴 毛塚
省吾 黒住
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株式会社明電舎
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Publication date
Application filed by 株式会社明電舎 filed Critical 株式会社明電舎
Priority to CN201680019668.8A priority Critical patent/CN108139229B/zh
Priority to RU2017134421A priority patent/RU2658660C1/ru
Publication of WO2016158892A1 publication Critical patent/WO2016158892A1/ja

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • 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
    • 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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • 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 relates to a rotor position detector abnormality determination device in a power conversion device that acquires rotor position / speed information of an electric motor using a rotor position detector such as a rotary encoder and controls the electric motor.
  • a vector control type electric motor control device with a position / speed sensor shown in FIG. 4 is employed. .
  • reference numeral 1 denotes a three-phase motor, and a rotor position detector 2 for detecting a rotor position (rotation angle) is attached to the motor 1.
  • Reference numeral 3 denotes a speed calculation unit that calculates the rotational speed of the motor from the detection signal of the rotor position detector 2.
  • Reference numeral 4 denotes a speed control unit that controls the rotational speed calculated by the speed calculation unit 3 to be the speed command value of the speed command unit 5 and outputs a current command value.
  • FIG. 6 shows a three-phase detection current obtained by detecting a three-phase (u, v, w) current flowing in the motor 1 by a current transformer (current sensor) 7, and position information of the rotor obtained by the rotor position detector 2. That is, it is a dq conversion unit that performs three-phase to two-phase conversion and rotational coordinate conversion based on phase information.
  • dq-axis current converted by the dq conversion unit 6 is a current command value output from the speed control unit 4 and outputs a dq-axis voltage command value.
  • Reference numeral 10 denotes a power converter (inverter) that has, for example, a semiconductor switching element connected in a three-phase bridge, and supplies three-phase AC power to the motor 1 based on a voltage command from the three-phase converter 9.
  • the PWM modulation unit is controlled by a control signal (gate signal of the semiconductor switching element) generated by PWM modulating the voltage command of the three-phase conversion unit 9.
  • the UVW three-phase coordinate system, ⁇ fixed coordinate system, and dq rotational coordinate system in vector control in which three-phase to two-phase conversion and rotational coordinate conversion are performed are defined as shown in FIG. That is, each axis of the three-phase current UVW is converted into an ⁇ axis by three-phase to two-phase conversion, and converted to a dq axis by rotational coordinate conversion. Each of the dq axes is a direct current amount.
  • each dq axis has a constant value, but when the speed command is changed, it shifts to a value like the dq axis value at that speed command value. During this transition, the dq axis value has a vibration component in a transient state.
  • the dq coordinate axis can be arbitrarily defined after the uvw ⁇ dq conversion, but in general, the d axis coincides with the magnetic flux of the motor in order to easily control the motor torque.
  • coordinate conversion is performed based on position information of the rotor obtained from, for example, a rotary encoder (rotor position detector 2), that is, phase information.
  • the dq axes rotate in synchronization with the rotation frequency in the case of a synchronous motor, and in synchronization with the frequency on the primary winding side in the case of an induction motor (IM).
  • IM induction motor
  • the current value obtained by coordinate conversion on the dq axis is a direct current amount.
  • a rotary encoder absolute encoder shown in FIG. 6 is used as the rotor position detector 2, for example, a rotary encoder (absolute encoder) shown in FIG. 6 is used.
  • reference numeral 60 denotes a rotating disk provided rotatably by a rotating shaft 61.
  • the rotating disk 60 displays a plurality of disk tracks D 1 to D n (only two tracks are shown in the figure). Is formed).
  • a light source 63 is provided above the rotating disk 60 via a lens 62, and a light receiving element 65 is provided below it via a fixed slit plate 64 having a plurality of fixed slits.
  • Light from the light source 63 is received by the light receiving element 65 via the lens 62, the disk tracks D 1 to D n and the fixed slit plate 64, and an absolute position signal having a predetermined bit configuration is obtained from the output signal of each light receiving element 65. .
  • Patent Document 1 a device disclosed in Patent Document 1 has been proposed as an abnormality and deterioration diagnosis device for electrical equipment related to the present invention.
  • the detection information of the rotor position detector 2 is incorrect.
  • speed control and current control cannot be appropriately performed. For this reason, when a sudden speed fluctuation or load fluctuation occurs, an overcurrent failure or an overspeed failure may occur and the device may be broken.
  • harmonic components are included in the output current and the loss increases.
  • PM motor permanent magnet synchronous motor
  • the increased loss becomes heat, and the temperature of the rotor magnet may rise and demagnetize.
  • the rotating disk 60 attached to the rotating shaft 61 is a movable part, and other components are fixed. Therefore, when the rotary encoder itself is subjected to mechanical vibration, it should originally exist. Since the positional relationship among the fixed light source 63, the lens 62, the fixed slit plate 64, and the light receiving element 65 is blurred, phase blurring occurs in the output of the rotary encoder. For this reason, the phase signal input to the dq converter 6 is also blurred. For this reason, since the phase information used for coordinate conversion vibrates, the current on the dq axes also vibrates. This vibration component becomes a harmonic component, and the loss of the motor increases.
  • the present invention solves the above-described problems, and its purpose is to reliably determine that information on the rotor position detector is abnormal due to mechanical vibration, for example, vibration generated due to a mounting failure on the electric motor.
  • An object of the present invention is to provide a rotor position detector abnormality determination device for an electric motor control device.
  • the rotor position detector abnormality determining device for an electric motor control device for solving the above-mentioned problem is an electric motor control device for controlling an electric motor based on detection information of a rotor position detector attached to the electric motor.
  • a vibration component extraction unit that extracts a vibration component of the d-axis current from the d-axis current obtained by converting the three-phase detection current of the electric motor into the dq axes; It is determined whether or not the vibration component of the d-axis current extracted by the vibration component extraction unit is a vibration caused by a mechanical factor. When the vibration component is a vibration caused by a mechanical factor, the vibration component continues for a set time or more.
  • a rotor position detector information abnormality determination unit that determines that the detection information of the rotor position detector is abnormal when the information is detected.
  • the abnormality determination is performed based on the vibration component of the d-axis current obtained by converting the detected current of the motor into the dq axes. It can be reliably determined that the information of the rotor position detector is abnormal due to the vibration.
  • the rotor position detector abnormality determining device of the electric motor control device is the rotor position detector information abnormality determining unit according to claim 1,
  • An effective value calculation unit for calculating an effective value of the vibration component of the d-axis current;
  • a first comparison unit that compares a first determination value set to a current value corresponding to noise other than vibration caused by a mechanical factor and the calculated effective value;
  • a counter that counts the time when the comparison result of the first comparison unit is larger in effective value than the first determination value;
  • a second comparison unit that compares the second determination value set to the allowable time of AC component generation and the count time of the counter; When the comparison result of the second comparison unit shows that the count time of the counter is longer than the second determination value, it is determined that the detection information of the rotor position detector is abnormal.
  • the first comparison unit since the first comparison unit is provided, it is possible to prevent erroneous determination due to noise other than vibration caused by mechanical factors.
  • the second comparison unit since the second comparison unit is provided, it is erroneously determined based on the AC component generated within the AC component generation allowable time, for example, the high-frequency current component generated when a transient speed fluctuation occurs in the motor. Can be prevented.
  • the rotor position detector abnormality determining device for the electric motor control device is: A speed control system that controls the speed according to detection information of the rotor position detector; A current control system for controlling the current by the output of a coordinate conversion unit that converts the three-phase detection current of the motor into dq axes with reference to the detection information of the rotor position detector.
  • speed control and current control are performed based on abnormal detection information output from the rotor position detector, and it is possible to prevent an overspeed failure or an overcurrent failure from occurring.
  • the vibration component extracting unit according to any one of claims 1 to 3 includes a high-pass filter.
  • the rotor position detector abnormality determining device of the motor control device according to any one of the first to third aspects, wherein the vibration component extraction unit is only in a frequency band corresponding to mechanical vibration.
  • a band-pass filter that passes the filter is provided.
  • the abnormality determination is performed based on the vibration component of the d-axis current obtained by converting the detected current of the motor into the dq axes. It is possible to reliably determine that the information on the rotor position detector is abnormal due to vibration, for example, vibration generated due to a mounting failure in the electric motor.
  • the block diagram which shows the structure of the example of embodiment of this invention The block diagram which shows the principal part detail in Example 1 of this invention.
  • the block diagram which shows the principal part detail in Example 2 of this invention The block diagram which shows an example of the electric motor control apparatus with which this invention is applied.
  • Explanatory drawing which shows the definition of the control coordinate axis in vector control.
  • FIG. 1 shows the configuration of the present embodiment, and the same parts as those in FIG.
  • FIG. 1 differs from FIG. 4 in that harmonic detection is performed by extracting a vibration component (AC component) of the d-axis current, that is, a harmonic, from the d-axis current of the dq-axis current converted by the dq converter 6. It is determined whether the vibration component of the d-axis current extracted by the unit 11 (vibration component extraction unit) and the harmonic detection unit 11 is a vibration caused by a mechanical factor, and is a vibration caused by a mechanical factor.
  • an encoder information abnormality determination unit 12 rotor position detector information abnormality determination unit
  • the other parts are the same as in FIG.
  • a rotary encoder shown in FIG. 6 is used as the rotor position detector 2, and in the following description, the rotor position detector may be simply referred to as an encoder.
  • the current information obtained by detecting the current flowing through the motor 1 with the current transformer 7 (current sensor) is subjected to three-phase to two-phase conversion and rotational coordinate conversion by the dq conversion unit 6.
  • Id detection value
  • q-axis current detection value q-axis current detection value
  • the d-axis current detection value (Id) after the rotation coordinate conversion by the dq conversion unit 6 is a direct current amount and normally does not vibrate. Therefore, the vibration detection component (Id_h) of the d-axis current is extracted by the harmonic detection unit 11, and the encoder information abnormality determination unit 12 determines whether or not the vibration component is a vibration caused by a mechanical factor. The correctness / incorrectness of the information is determined. If there is an error, it is determined that the information is abnormal.
  • FIG. 2 shows a detailed configuration of the harmonic detection unit 11 and the encoder information abnormality determination unit 12 in FIG.
  • Reference numeral 11a denotes a harmonic detection unit including a high-pass filter (HPF) that performs high-band pass processing on the d-axis current detection value Id to extract a vibration component Id_h of the d-axis current.
  • HPF high-pass filter
  • the vibration component Id_h of the d-axis current that is the output of the harmonic detection unit 11a becomes an AC component waveform, and is input to an effective value calculation (Root Mean Square; RMS) unit 21 of the encoder information abnormality determination unit 12.
  • the effective value calculator 21 calculates an effective value of the vibration component Id_h and extracts an effective value component.
  • the first comparison unit 22 compares the effective value component output from the effective value calculation unit 21 with the first determination value (determination value 1) for preventing erroneous determination due to noise.
  • the effective value is larger, “1” Is a first comparison unit that outputs ".” Note that the first comparison unit 22 outputs “0” when the first determination value is larger.
  • the first judgment value is set to an amplitude value of about 5% with respect to the rated current value, for example. That is, the harmonic component of the d-axis current basically does not occur except for the vibration component of the speed sensor (encoder: rotor position detector 2) and the current sensor (current transformer 7).
  • the first judgment value may be set to about 5% of the rated current value. This improves the determination accuracy.
  • the output of the first comparison unit 22 is input to the up counter 23 (counter).
  • the up counter 23 when the first comparison unit 22 outputs “1” (a harmonic is generated), the state continues. Calculate (count) the time to perform.
  • the second comparison unit 24 compares the count time output from the up-counter 23 with the second determination value (determination value 2) for preventing erroneous determination due to the AC component generated within the allowable time.
  • This is a second comparison unit that outputs “1” when it is large (the harmonic generation duration exceeds the allowable time) and determines that the encoder information is abnormal. Note that the second comparison unit 24 outputs “0” when the second determination value is larger.
  • the value for the second judgment value is set in minutes. That is, for example, when a transient speed fluctuation occurs in the motor 1, a high-frequency current component is generated, but the electric time constant of the motor is not as long as minutes. Therefore, by setting the second determination value in minutes, there is no erroneous determination due to the transient speed fluctuation of the motor, and vibration due to abnormal mechanical attachment of the encoder (rotor position detector 2). It can be determined that there is. This improves the determination accuracy.
  • speed control and current control are performed based on abnormal detection information output from the rotor position detector 2, and it is possible to prevent an overspeed failure or an overcurrent failure from occurring.
  • the vibration component Id_h of the d-axis current that is the output of the harmonic detection unit 11 has a frequency in a band close to the output frequency component of the motor, not an AC component such as noise. That is, vibrations caused by mechanical factors do not become high frequency components such as noise.
  • the vibration component of the d-axis current is extracted for the low frequency region and the high frequency region is extracted.
  • BPF band pass filter
  • the encoder information abnormality determination unit 12 is configured in the same way as in FIG.
  • the vibration component of the d-axis current ( Id_h) is extracted, it is determined whether or not the vibration component is a vibration caused by a mechanical factor, and when the vibration component duration when the vibration component is a vibration caused by a mechanical factor exceeds an allowable time, an encoder ( It can be determined that the detection information of the rotor position detector 2) is abnormal.
  • motor loss increases.
  • PM permanent magnet synchronous motor
  • the temperature of the rotor magnet may rise and demagnetize.
  • the electric motor can be protected from them.
  • the present invention is not limited to the motor control device shown in FIG. 1, and can be applied to motor control devices having other configurations. In this case, the same operations and effects as described above can be achieved.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Ac Motors In General (AREA)
  • Transmission And Conversion Of Sensor Element Output (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Electric Motors In General (AREA)
PCT/JP2016/060002 2015-04-02 2016-03-29 電動機制御装置の回転子位置検出器異常判定装置 WO2016158892A1 (ja)

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Application Number Priority Date Filing Date Title
CN201680019668.8A CN108139229B (zh) 2015-04-02 2016-03-29 电动机控制装置的转子位置检测器异常判定装置
RU2017134421A RU2658660C1 (ru) 2015-04-02 2016-03-29 Устройство для определения ошибочного функционирования датчика положения ротора в устройстве управления электродвигателем

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JP2015075713A JP6052323B2 (ja) 2015-04-02 2015-04-02 電動機制御装置の回転子位置検出器異常判定装置

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CN111293930B (zh) * 2018-12-07 2023-07-11 施耐德电气工业公司 用于控制电机的方法和装置
JP2020153965A (ja) * 2019-03-15 2020-09-24 オムロン株式会社 異常診断装置および異常診断方法
US11988546B2 (en) 2019-04-12 2024-05-21 Satake Corporation Sieving device
US11353345B2 (en) 2019-07-22 2022-06-07 Boston Dynamics, Inc. Magnetic encoder calibration
DE112021006951T5 (de) * 2021-06-25 2023-12-28 Hitachi Industrial Equipment Systems Co., Ltd. Verschleißdiagnosevorrichtung, Verschleißdiagnoseverfahren und Elektromotorsteuervorrichtung.

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CN108139229B (zh) 2019-06-25
JP6052323B2 (ja) 2016-12-27
CN108139229A (zh) 2018-06-08
RU2658660C1 (ru) 2018-06-22

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