WO2017072884A1 - Appareil de commande de moteur, aspirateur électrique et sèche-mains - Google Patents

Appareil de commande de moteur, aspirateur électrique et sèche-mains Download PDF

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Publication number
WO2017072884A1
WO2017072884A1 PCT/JP2015/080430 JP2015080430W WO2017072884A1 WO 2017072884 A1 WO2017072884 A1 WO 2017072884A1 JP 2015080430 W JP2015080430 W JP 2015080430W WO 2017072884 A1 WO2017072884 A1 WO 2017072884A1
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Prior art keywords
period
motor
converter
analog
signal
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PCT/JP2015/080430
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English (en)
Japanese (ja)
Inventor
裕次 ▲高▼山
和徳 畠山
篠本　洋介
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三菱電機株式会社
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Priority to JP2017547256A priority Critical patent/JP6430030B2/ja
Priority to PCT/JP2015/080430 priority patent/WO2017072884A1/fr
Publication of WO2017072884A1 publication Critical patent/WO2017072884A1/fr

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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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • the present invention relates to a motor control device that controls a brushless motor, a vacuum cleaner, and a hand dryer.
  • the motor control device generally uses a method of controlling energization of the stator windings according to the rotor rotational position.
  • Patent Document 1 in the control of a brushless motor having a position sensor that detects a rotor rotational position, the motor control device responds to the first edge of the position sensor signal by analog digital. Activating the converter and reading a digital signal from the analog-to-digital converter in response to a second edge different from the first edge is described.
  • the position sensor signal edge may be synchronized with the zero cross point of the motor current. That is, there is a case where control is performed by synchronizing the timing of detecting the magnetic poles of the rotor with the position sensor signal and the timing of the zero cross point of the motor current.
  • the conventional control for starting the analog-to-digital converter in response to the first edge of the position sensor signal and reading the digital signal from the analog-to-digital converter in response to a second edge different from the first edge when the edge of the position sensor signal coincides with the zero cross point of the motor current, the digital signal used for motor control includes noise due to the switching of the current polarity, so that stable motor control It becomes difficult to realize.
  • the above noise becomes particularly prominent in the high rotation speed region where the rotation speed of the rotor is 100,000 rpm (revolution per minute) or more, and the above vibration and noise also appear particularly prominent in this high rotation speed region. Therefore, suppressing the influence of the noise is a problem in realizing stable control of the motor, particularly in a vacuum cleaner or a hand dryer.
  • the present invention has been made in view of the above, and an object of the present invention is to provide a motor control device capable of suppressing the influence of noise control and realizing stable motor control.
  • a motor control device is a motor control device used for a motor driven by an inverter, and is a detection value of an alternating current flowing through the motor.
  • An analog-to-digital converter that converts an analog signal into a digital signal; and a control circuit that reads the digital signal from the analog-to-digital converter and drives the inverter using the digital signal.
  • the analog-to-digital converter is activated during the period 1 and the digital signal is read from the analog-to-digital converter during the second period.
  • the second period starts from the change point of the polarity of the alternating current. It is a period until the next change point of the polarity of the alternating current, and the first period is included in the second period. Wherein a change point and successive periods not including the next change point.
  • FIG. 1 is a block diagram showing a configuration of a motor control system according to a first embodiment. The figure which shows the structure of the motor in Embodiment 1.
  • FIG. FIG. 2 is a block diagram illustrating an example of a configuration of an AD converter according to Embodiment 1 The figure which showed an example of transfer of the signal between a processor and AD converter in Embodiment 1.
  • Timing chart for explaining timing of starting AD converter and reading digital signal from AD converter in the first embodiment
  • Flowchart for determining a prohibited range in the first embodiment Block diagram showing a configuration of a motor control system according to a modification of the first embodiment Timing chart for explaining start-up of AD converter and reading timing of digital signal from AD converter in the second embodiment Timing chart for explaining timing of starting AD converter and reading digital signal from AD converter in Embodiment 3
  • FIG. 10 illustrates an example of a structure of a hand dryer in Embodiment 4.
  • FIG. 1 is a block diagram showing a configuration of a motor control system 1 according to the present embodiment.
  • FIG. 2 is a diagram illustrating the configuration of the motor 12.
  • the motor control system 1 is connected to a motor 12, outputs an AC power to the motor 12, drives the motor 12, and serves as a DC power source for the inverter 11.
  • a position sensor 21 that is provided in the power source 10 and the stator 3 of the motor 12 and detects a rotor rotational position that is a rotational position of the rotor 4 of the motor 12, and a current detector that detects a motor current that is an alternating current flowing through the motor 12.
  • a motor control device 2 that controls the inverter 11 based on the rotor rotational position and the motor current.
  • the motor 12 is a brushless motor, and includes an annular stator 3 and a rotor 4 disposed inside the stator 3.
  • the rotor 4 has a plurality of permanent magnets 6 arranged in the circumferential direction.
  • the plurality of permanent magnets 6 are arranged so that the magnetization direction is alternately reversed in the circumferential direction, and form a plurality of magnetic poles of the rotor 4.
  • a winding 5 is wound around the stator 3.
  • the motor current is an alternating current that flows through the winding 5.
  • the number of permanent magnets 6 is four as in the illustrated example and the number of magnetic poles is four, but other numbers may be used.
  • the position sensor 21 outputs a position sensor signal that is a digital signal to the motor control device 2.
  • the position sensor signal is a signal for detecting the rotational position of the rotor 4, and indicates a binary value depending on the direction of the magnetic flux from the rotor 4. Therefore, the edge included in the position sensor signal corresponds to between the magnetic poles.
  • the inverter 11 which is a power converter is configured by combining a plurality of switching elements 40 constituting upper and lower arms (not shown).
  • the switching element 40 is configured by connecting a reflux diode to a transistor in antiparallel.
  • the freewheeling diode can be a parasitic diode.
  • the inverter 11 is a single-phase inverter, for example, but may be a multi-phase inverter.
  • the current sensor 20 is connected between the motor 12 and the inverter 11 and detects the motor current.
  • the detection value of the current sensor 20 is an analog signal.
  • the motor control device 2 includes an analog / digital converter 30 that converts an analog signal, which is a detected value of the motor current detected by the current sensor 20, into a digital signal, a motor current read from the analog / digital converter 30, and a position sensor 21.
  • a control circuit 25 that generates a PWM (Pulse Width Modulation) signal based on a position sensor signal from the motor and a rotation speed command (not shown), and drives the inverter 11 based on the PWM signal output from the control circuit 25
  • a drive signal generation unit 32 that generates a drive signal to be generated.
  • the control circuit 25 includes a processor 31, a triangular wave carrier generation unit 33, and a memory 34.
  • the control circuit 25 generates a voltage command to be applied to the motor 12 by known PWM control, and generates a PWM signal by comparing the voltage command with the triangular wave carrier generated by the triangular wave carrier generation unit 33.
  • the drive signal generation unit 32 Based on the PWM signal from the control circuit 25, the drive signal generation unit 32 generates a drive signal for controlling on / off of the switching element 40 of the inverter 11, and outputs this drive signal to the inverter 11.
  • control circuit 25 reads the digital signal from the analog-digital converter 30 and generates a PWM signal for driving the inverter 11 using this digital signal.
  • the control circuit 25 including the inverter 11 can also be defined.
  • analog-digital converter 30 is a successive approximation type
  • specific configuration of the analog-digital converter 30 is not limited to the successive approximation type.
  • AD converter 30 analog-digital converter
  • AD conversion analog-digital conversion
  • FIG. 3 is a block diagram illustrating an example of the configuration of the AD converter 30.
  • the AD converter 30 includes a control circuit 51, a comparator 52, and a DA (digital analog) converter 53.
  • the details of the operation of the AD converter 30 shown in FIG. 3 are described in Japanese Patent Laid-Open No. 5-152960.
  • the control circuit 51 has a processor (not shown).
  • the comparator 52 compares the comparison signal COM from the DA converter 53 with the analog input signal AIN and outputs the comparison result to the control circuit 51.
  • the analog input signal AIN corresponds to the motor current.
  • the control circuit 51 outputs a control signal CN approximating the analog input signal AIN to the DA converter 53 according to the comparison result.
  • the DA converter 53 outputs a comparison signal COM corresponding to the control signal CN to the comparator 52.
  • the control circuit 51 obtains a digital signal DOUT corresponding to the analog input signal AIN by executing control to sequentially approximate the comparison signal COM to the analog input signal AIN.
  • the control circuit 51 holds the digital signal DOUT in a register (not shown).
  • FIG. 4 is a diagram illustrating an example of transmission / reception of signals between the processor 31 and the AD converter 30.
  • the processor 31 outputs an activation signal S1 to the AD converter 30.
  • the activation signal S1 is a signal that instructs the AD converter 30 to start AD conversion.
  • the processor 31 activates the AD converter 30 by outputting the activation signal S1.
  • the AD converter 30 When the AD converter 30 receives the activation signal S1, the AD converter 30 starts AD conversion processing for converting an analog signal into a digital signal. Specifically, when the control circuit 51 of the AD converter 30 receives the activation signal S1, the successive approximation process is started.
  • the AD converter 30 outputs a completion signal S2 indicating that the AD conversion is completed to the processor 31 after the AD conversion is completed.
  • the control circuit 51 outputs a completion signal S2 to the processor 31.
  • the processor 31 reads the digital signal from the AD converter 30.
  • the processor 31 reads digital data stored in a register in the control circuit 51.
  • the AD converter 30 starts the AD conversion process when the activation signal S1 is input from the processor 31, outputs the completion signal S2 to the processor 31 when the AD conversion process is completed, and stops the AD conversion process. To do.
  • FIG. 5 is a timing chart for explaining the timing of starting the AD converter 30 and reading the digital signal from the AD converter 30.
  • position sensor signal represents an output signal of the position sensor 21 input to the processor 31.
  • the angle given immediately below the position sensor signal is the mechanical angle of the rotor 4.
  • the position sensor signal includes edges at mechanical angles of 0 °, 90 °, 180 °, 270 °, and 360 ° corresponding to the 4-pole rotor 4.
  • the processor 31 calculates the rotor rotation angle based on the position sensor signal. The angle given immediately below the rotor rotation angle is an electrical angle.
  • “Motor current” represents the motor current waveform. “Motor current” is shown for comparison with “rotor rotation angle”. As shown in FIG. 5, the edge of the position sensor signal is synchronized with the zero cross point of the motor current. Here, the zero cross point is a change point of polarity in the waveform of the signal, and is a point at which the polarity is switched from positive to negative or from negative to positive. FIG. 5 shows zero cross points A1 and A2 adjacent to each other. The period from the zero cross point A1 to the zero cross point A2 is an electric half cycle of the motor current determined by the zero cross points A1 and A2. Thus, in the following, a case where control is performed in which the edge of the position sensor signal is synchronized with the zero cross point of the motor current will be described first. In this case, the rotor rotation angle gives phase information of the motor current.
  • AD converter operation timing represents AD conversion processing
  • triangular wave carrier represents the waveform of a triangular wave carrier.
  • a certain phase angle range including the zero cross point is a prohibited range in which the start of the AD converter 30 is prohibited. Specifically, the total 2 ⁇ phase angle range including ⁇ before and after the zero cross point is set as the prohibited range.
  • the processor 31 does not output the start signal S1 to the AD converter 30 within the prohibited range, and the AD converter 30 to which the start signal S1 is not input does not execute the AD conversion process, indicating that the AD conversion process is completed.
  • the signal S2 is not output.
  • the range other than the prohibited range is a permitted range in which activation of the AD converter 30 is permitted. That is, activation of the AD converter 30 by the processor 31 is permitted only in the permitted range. Note that reading of the digital signal from the AD converter 30 is permitted regardless of the prohibited range or the permitted range.
  • the permitted range is between the prohibited ranges adjacent to each other.
  • a period corresponding to the prohibited range that is, a time when the prohibited range is replaced with time is hereinafter referred to as a prohibited period.
  • a period corresponding to the permission range is hereinafter referred to as a permission period.
  • the prohibited period is substantially the same as the prohibited range
  • the permitted period is substantially the same as the permitted range.
  • FIG. 6 is a flowchart for determining the prohibited range.
  • the processor 31 calculates the rotor rotation angle from the position sensor signal (S1), calculates the zero cross point of the motor current based on the calculated rotor rotation angle (S2), and calculates the zero cross point.
  • the range of including ⁇ before and after is set as a prohibited range (S3). When the prohibited range is determined, the permitted range is determined.
  • the cycle is an electric cycle of the motor current and T I
  • the length of the protection period is given by 2 ⁇ ( ⁇ / 360) ⁇ T I, permitted during the half cycle which is an electrical half-cycle of the motor current period Is given by T I / 2-2 ⁇ ( ⁇ / 360) ⁇ T I. Since the zero-crossing point of the edge and the motor current of the position-sensor signal are synchronous, the period T I is the period of the motor current is also the period of the position sensor signal.
  • ⁇ is a predetermined angle greater than 0 and less than 90 °. In the illustrated example, ⁇ is 10 °. In this case, the prohibited range is -10 ° to 10 °, 170 ° to 190 °, 350 ° to 370 °, 530 ° to 550 °, 710 ° It is the range above and below 730 degrees.
  • the processor 31 determines the prohibition range and the permission range based on the rotor rotation angle and a predetermined ⁇ .
  • activation of the AD converter 30 and reading from the AD converter 30 by the processor 31 are performed at the timing of the peak of the triangular wave carrier generated by the triangular wave carrier generation unit 33.
  • activation of the AD converter 30 and reading from the AD converter 30 may be performed at a timing other than the peak point of the triangular wave carrier, for example, the timing of the valley point, or the timing of both the peak point and the valley point. Further, the timing may be determined without depending on the triangular wave carrier.
  • AD conversion processing for one sampling data are to be executed in a shorter time than the period T c of the triangular wave carrier.
  • one permission period is longer than twice the period Tc of the triangular wave carrier.
  • the AD converter 30 can be activated and read from the AD converter 30 within the same permission range.
  • AD converter operation timing will be described in detail. In the following description, “period” is used, but it can be read as “range”. Based on the calculated rotor rotation angle, the processor 31 determines whether or not the time t0 that is the timing of the peak point is within the permission period. Since the time t0 is within the prohibition period, the processor 31 does not start the AD converter 30.
  • the processor 31 determines whether or not the time t1, which is the timing of the peak point following the time t0, is within the permission period based on the calculated rotor rotation angle. Since the time t1 is within the permission period, the processor 31 outputs the activation signal S1 to the AD converter 30 at the time t1. Note that the permission period in this case is included in the electrical half cycle from the zero cross point A1 to the zero cross point A2.
  • the AD converter 30 executes AD conversion processing. In FIG. 5, the range during AD conversion is indicated by “AD conversion” with hatching.
  • the AD converter 30 completes the AD conversion process, the AD converter 30 outputs a completion signal S2 to the processor 31, and the processor 31 receives the completion signal S2 from the AD converter 30.
  • time t2 which is the timing of the peak point following time t1
  • the processor 31 reads a digital signal from the AD converter 30 and outputs a start signal S1 to the AD converter 30 at time t2.
  • the processor 31 uses this digital signal for control.
  • the AD converter 30 executes AD conversion processing and rewrites the register with the digital signal after AD conversion.
  • the AD converter 30 completes the AD conversion process
  • the AD converter 30 outputs a completion signal S2 to the processor 31, and the processor 31 receives the completion signal S2 from the AD converter 30.
  • the processor 31 determines whether or not the time t3 that is the timing of the peak point following the time t2 is within the permission period. Since the time t3 is within the permission period, the processor 31 reads the digital signal from the AD converter 30 and outputs the activation signal S1 to the AD converter 30 at the time t3. The processor 31 uses this digital signal for control. Upon receiving the activation signal S1, the AD converter 30 executes AD conversion processing and rewrites the register with the digital signal after AD conversion. When the AD converter 30 completes the AD conversion process, the AD converter 30 outputs a completion signal S2 to the processor 31, and the processor 31 receives the completion signal S2 from the AD converter 30.
  • the processor 31 determines whether or not the time t4 that is the timing of the peak point following the time t3 is within the permission period. Since the time t4 is within the permission period, the processor 31 reads the digital signal from the AD converter 30 and outputs the activation signal S1 to the AD converter 30 at the time t4. The processor 31 uses this digital signal for control. Upon receiving the activation signal S1, the AD converter 30 executes AD conversion processing and rewrites the register with the digital signal after AD conversion. When the AD converter 30 completes the AD conversion process, the AD converter 30 outputs a completion signal S2 to the processor 31, and the processor 31 receives the completion signal S2 from the AD converter 30.
  • the processor 31 determines whether or not the time t5 that is the timing of the peak point following the time t4 is within the permission period. Since the time t5 is within the prohibited period, the activation signal S1 is not output to the AD converter 30. Further, the processor 31 determines whether or not the time t5 is in the electrical half cycle from the zero cross point A1 to the zero cross point A2. Since time t5 is in the electrical half cycle, the processor 31 reads a digital signal from the AD converter 30 at time t5. The processor 31 uses this digital signal for control.
  • the processor 31 repeats the above operation during the operation of the motor 12.
  • the motor 12 is operated so that the edge of the position sensor signal and the zero cross point of the motor current are synchronized at the start of operation.
  • the edge of the position sensor signal and the zero cross point of the motor current become out of synchronization.
  • the rotational speed reaches a so-called high rotational speed region such as 70,000 rpm or more, the edge of the position sensor signal and the zero cross point of the motor current become asynchronous.
  • the resetting of the prohibited range is performed as follows.
  • the processor 31 monitors the digital signal read from the AD converter 30 in time series, compares the previous value and the current value of the digital signal within the same permitted range, and the polarity is switched between the previous value and the current value. Judge whether there is no. When the polarity is switched between the previous value and the current value, a zero-cross point is included in the permitted range. In this case, the prohibited range is reset based on the detected zero-cross point. The permitted range is also reset by resetting the prohibited range. Thereafter, the processor 31 activates the AD converter 30 and reads from the AD converter 30 only within the reset permission range.
  • noise occurs at the zero cross point of the motor current. Specifically, since noise is generated when the switching element 40 of the inverter 11 is turned on or off, noise caused by switching is included in the motor current at the zero cross point where the current polarity is switched. In addition, at the zero cross point of the motor current, a recovery current flows through the freewheeling diode connected in antiparallel to the transistor constituting the switching element 40, and this recovery current also causes noise.
  • a certain period including each zero cross point of the motor current is set as a prohibition period in which activation of the AD converter 30 is prohibited, and the AD is between the prohibition period and the next prohibition period.
  • a permission period for permitting activation of the converter 30 is set.
  • the processor 31 outputs the activation signal S1 to the AD converter 30 within the permission period to activate the AD converter 30, and the AD converter 30 in the electrical half cycle determined by the adjacent zero cross points including the permission period.
  • the permission period is a continuous period that is included in the electrical half cycle from the zero cross point to the next zero cross point and does not include these zero cross points.
  • the processor 31 can use the digital signal converted by the AD converter 30 activated within the permission period not including these zero-cross points for control, thereby suppressing the influence on noise control. Thus, stable motor control can be realized.
  • the filter constant can be reduced even when a filter for noise removal is provided in the motor control system 1, so that the filter can be miniaturized and the parts can be miniaturized. it can.
  • the processor 31 activates the AD converter 30 during the first period, and reads a digital signal from the AD converter 30 during the second period.
  • the second period is an electrical half cycle from the zero cross point to the next zero cross point.
  • the first period is a continuous period that is included in the second period and does not include the zero-cross point and the next zero-cross point, that is, a permission period.
  • the prohibition period including the zero cross point is the third period and the prohibition period including the next zero cross point is the fourth period
  • the first period is a period between the third period and the fourth period. It is.
  • the first period is the permission period between the zero cross points A1 and A2 and the second period is the zero cross point A1.
  • the third half period is a prohibition period that is a constant period including the zero cross point A1
  • the fourth period is a prohibition period that is a constant period including the zero cross point A2.
  • the first to fourth periods are determined for a set of zero cross points and the next zero cross point.
  • the processor 31 may activate the AD converter 30 and read a digital signal from the AD converter 30 during the first period. That is, during the same first period, the AD converter 30 may be activated and the digital signal read from the AD converter 30 may be performed.
  • the processor 31 does not start the AD converter 30 during the prohibition period, but estimates the current value of the motor current from the detected motor current value obtained in the permission period immediately before the prohibition period. Then, motor control is performed using the estimated current value.
  • FIG. 7 is a diagram for explaining a method of estimating the current value of the motor current within the prohibited period.
  • position sensor signal and “motor current” are the same as those in FIG.
  • the “detected current” includes “detected value” actually detected and “estimated value” estimated within the prohibited period.
  • the “detected value” is indicated by a black circle, and the “estimated value” is indicated by a white circle.
  • Points N-3 to N-1 indicate three points detected in the permission period immediately before the prohibition period. These detection values indicate digital signals read from the AD converter 30 during the electrical half cycle including the immediately preceding permission period.
  • the electrical half cycle is an electrical half cycle determined by adjacent zero cross points.
  • Point N + 2 and point N + 3 indicate two points detected in the permission period immediately after the prohibition period.
  • Point N and point N + 1 indicate two points estimated in the prohibition period.
  • the “estimated value” can be obtained as follows. Since the zero cross point exists within the prohibition period, the motor current can be approximated by a straight line. Therefore, a straight line passing through the two nearest points N-2 and N-1 detected in the permission period immediately before the prohibition period is obtained, and a point N and a point N + 1 are obtained by estimating that a current value exists on the straight line. be able to.
  • the method of estimating the motor current within the prohibited period is not limited to the above example.
  • the point N and the point N + 1 may be estimated by polynomial approximation using a plurality of nearest points actually measured in the permission period immediately before the prohibition period.
  • the motor current when using vector control for controlling the motor current by dividing the motor current into two orthogonal dq axes, the motor current can be handled as a direct current component. Is possible.
  • FIG. 8 is a block diagram showing a configuration of a motor control system according to a modification of the present embodiment.
  • the same components as those shown in FIG. 8 are identical to FIG. 8.
  • the motor control system 1 detects a motor voltage that is a voltage across the motor 12 between the motor 12 and the inverter 11.
  • the sensor 23 includes an AD converter 35 that converts an analog signal, which is a detected value of the motor voltage detected by the voltage sensor 23, into a digital signal.
  • the AD converter 35 has the same function as the AD converter 30. Similarly, the AD converter 35 is caused to start AD conversion processing by the activation signal S1 from the processor 31, and the processor 31 reads the digital signal from the AD converter 35 in response to the completion signal S2 from the AD converter 35. The processor 31 drives the inverter 11 using the digital signal read from the AD converter 30 and the digital signal read from the AD converter 35.
  • the processor 31 starts the AD converter 35 and reads from the AD converter 35 as follows. That is, the processor 31 activates the AD converter 35 during the permission period, and reads the digital signal converted by the activation of the AD converter 35 from the AD converter 35 during the electrical half cycle including the permission period.
  • the electric half cycle is an electric half cycle of the motor voltage, and is a period from the zero cross point of the motor voltage to the next zero cross point of the motor voltage.
  • the permission period is included in a period from the zero cross point of the motor voltage to the next zero cross point of the motor voltage, and is a continuous period not including these zero cross points.
  • the prohibition period is a period between the permission period and the next permission period.
  • the digital signal of the motor voltage converted by the AD converter 35 activated within a continuous period not including the zero cross point of the motor voltage is controlled. By using it, it is possible to suppress the influence on noise control and realize stable motor control.
  • the processor 31 activates the AD converter 35 during the permission period and reads the digital signal from the AD converter 35 during the electrical half cycle including the permission period.
  • the electric half cycle can be determined from the zero cross points adjacent to each other of the motor current, and the permission period can be set as the permission period in the electric half cycle. In this case, the influence of noise generated at the zero cross point of the motor current on the digital signal of the motor voltage can be suppressed.
  • the processor 31 activates the AD converter 30 during the permission period, and reads the digital signal from the AD converter 30 during the electric half cycle including the permission period. Can be determined from adjacent zero cross points of the motor voltage, and the permission period can be set as the permission period in the electric half cycle. In this case, the influence of noise generated at the zero cross point of the motor voltage on the digital signal of the motor current can be suppressed.
  • the present embodiment can be generalized by replacing the motor current with an AC signal related to the motor 12.
  • ⁇ defining the prohibited range is set to 10 °, for example, but is not limited to this. However, if ⁇ is too large, the number of current values estimated within the prohibited range increases, and if ⁇ is too small, there is a possibility of being affected by noise generated at the zero cross point. Therefore, ⁇ may be selected from a range of 5 ° or more and 15 ° or less, for example. Further, the prohibited range may be asymmetric with respect to the zero cross point.
  • the position sensor 21 is provided in the motor 12 and the rotor rotation angle is calculated based on the position sensor signal from the position sensor 21.
  • the position sensor signal is estimated without using the position sensor 21. May be.
  • the estimation of the rotational position in a so-called sensorless motor is described in, for example, Japanese Patent No. 5619195.
  • At least one of the plurality of switching elements 40 includes a wide band gap semiconductor.
  • the wide gap semiconductor is, for example, GaN (gallium nitride), SiC (silicon carbide), or diamond.
  • GaN gallium nitride
  • SiC silicon carbide
  • diamond diamond
  • FIG. FIG. 9 is a timing chart for explaining the timing of starting the AD converter 30 and reading the digital signal from the AD converter 30.
  • the configuration of the present embodiment is the same as the configuration shown in FIGS.
  • position sensor signal and “triangular wave carrier” are the same as those in FIG.
  • the “rotor rotation angle” and the “motor current” are the same as those in FIG. 5, but are not shown.
  • Period of the position sensor signal is T H
  • the period of the triangular wave carrier is T C.
  • T H / 2> T C That is, the period T H of the position sensor signal is greater than 2 times the period T C of the triangular wave carrier.
  • the processor 31 In the “AD converter operation timing”, the processor 31 outputs the activation signal S1 to the AD converter 30 at time t1, and when receiving the activation signal S1, the AD converter 30 executes AD conversion processing.
  • the range during AD conversion is indicated by “AD conversion” with hatching in the same way as FIG.
  • the AD converter 30 When the AD converter 30 completes the AD conversion process, the AD converter 30 outputs a completion signal S2 to the processor 31, and the processor 31 receives the completion signal S2 from the AD converter 30.
  • the processor 31 reads a digital signal from the AD converter 30 and outputs a start signal S1 to the AD converter 30 at time t2.
  • the AD converter 30 executes AD conversion processing and rewrites the register with the digital signal after AD conversion.
  • the AD converter 30 completes the AD conversion process, the AD converter 30 outputs a completion signal S2 to the processor 31, and the processor 31 receives the completion signal S2 from the AD converter 30.
  • the processor 31 only reads the digital signal from the AD converter 30 at time t3 and does not output the activation signal S1 to the AD converter 30.
  • the processor 31 performs “startup” at time t4, “read” and “startup” at time t5, and “read” at time t6. Similarly, the processor 31 performs “startup” at time t7, “read” and “startup” at time t8, and “read” at time t9. Similarly, the processor 31 performs “activation” at time t10, “read” and “activation” at time t11, and “read” at time t12.
  • the processor 31 activates the AD converter 30 and reads a digital signal from the AD converter 30.
  • the AD converter 30 is controlled so as not to operate at the edge of the position sensor signal.
  • the processor 31 can read the digital signal from the AD converter 30 twice or more during this electrical half cycle.
  • Period T H of the position sensor signal varies in accordance with the rotational speed of the motor 12. Since the rotation speed of the motor 12 becomes smaller the more the period T H if at high speed to meet the T H> 2T C, it is necessary to reduce also the period T C of the triangular wave carrier according to the rotational speed of the motor 12 . To meet the T H> 2T C irrespective of the rotational speed of the motor 12 may Smaller Tc than a half period T Hmax of the position sensor signal corresponding to the maximum rotation speed Nmax of the motor 12. By doing so, it becomes possible to read a digital signal from the AD converter 30 at a timing of two or more times within a half cycle of the position sensor signal at all rotation speeds.
  • FIG. 10 is a timing chart for explaining the timing of starting the AD converter 30 and reading the digital signal from the AD converter 30.
  • the configuration of the present embodiment is the same as that shown in FIGS.
  • the AD converter 30 receives the activation signal S1 from the processor 31 and starts AD conversion processing. After the AD conversion is completed, the AD converter 30 outputs a completion signal S2 to the processor 31 and stops the AD conversion processing. .
  • the AD converter 30 receives the activation signal S1 from the processor 31 and starts AD conversion processing in the same manner as in the first embodiment. However, after the AD converter 30 is activated once, It is assumed that the AD converter 30 repeats the AD conversion process at a constant period until the stop signal output from the processor 31 is received. Note that the cycle at which the AD converter 30 repeats the AD conversion process can be set from the processor 31. Hereinafter, this cycle is referred to as an AD conversion cycle TAD .
  • the “motor operating state” indicates that the motor 12 shifts from the “stop” state to the “running” state.
  • the AD converter 30 is activated before the operation of the motor 12 is started. That is, power is supplied to the motor control device 2 from a device power supply (not shown) different from the power supply 10, and the processor 31 outputs the activation signal S ⁇ b> 1 to the AD converter 30 before starting the operation of the motor 12.
  • the AD converter 30 Upon receiving the activation signal S1, the AD converter 30 repeats the AD conversion process at the AD conversion cycle T AD .
  • the range in which AD conversion processing is actually performed is the range indicated by “AD conversion” with hatching. Therefore, the AD converter 30 holds the digital data after AD conversion for a certain period after completion of AD conversion. Times t0 and t1 are before the start of operation, and from time t2 to time t6 are after the start of operation.
  • the digital signal used for motor control is a signal read from the AD converter 30 after time t2.
  • AD conversion period T AD is set to half the period T C of the triangular wave carrier.
  • the processor 31 reads a digital signal from the AD converter 30 and uses the read digital signal for control.
  • activation of a conventional AD converter and reading from the AD converter are performed in synchronization with an edge of a position sensor signal or a zero cross point of a motor current or a motor voltage. Since it is always affected by the generated noise, it is not easy to realize stable motor control.
  • the AD converter 30 is started only once before the operation of the motor 12 is started asynchronously with the edge of the position sensor signal and the zero crossing point of the motor current or the motor voltage, and the AD converter 30 is started. Later and after the operation of the motor 12 is started, the latest digital signal is read from the AD converter 30 at the AD conversion cycle T AD . Thereby, the influence by the periodically generated noise can be suppressed, and stable motor control can be realized.
  • Embodiment 4 FIG.
  • the motor control system 1 including the motor control device 2, the inverter 11, and the motor 12 has been described.
  • an electric device including the motor control system 1 described in any one of the first to third embodiments will be described.
  • a vacuum cleaner and a hand dryer will be described in particular.
  • FIG. 11 is a diagram illustrating an example of the configuration of the electric vacuum cleaner 61.
  • the vacuum cleaner 61 includes an extension pipe 62, a suction port 63, an electric blower 64, a dust collection chamber 65, an operation unit 66, a battery 67 and a sensor 68.
  • the electric blower 64 includes the motor control system 1 described in any one of the first to third embodiments.
  • the vacuum cleaner 61 drives the electric blower 64 using the battery 67 as a power source, performs suction from the suction port body 63, and sucks dust into the dust collection chamber 65 through the extension pipe 62. In use, the operation unit 66 is held and the electric vacuum cleaner 61 is operated.
  • the operation unit 66 has a power switch and an acceleration switch (not shown).
  • the power switch is a switch for supplying power from the battery 67 to a main circuit and a control circuit (not shown).
  • the acceleration switch is a switch for accelerating the electric blower 64 from low speed rotation to steady rotation.
  • low speed rotation means rotation of 1/10 or less of steady rotation speed. For example, when the steady rotation speed is 100,000 rpm, the rotation of 10,000 rpm or less is the low speed rotation.
  • the sensor 68 When the power switch is turned on and power supply from the battery 67 to the main circuit and the control circuit is started, the sensor 68 also starts detection at the same time.
  • Sensor 68 detects the movement of the vacuum cleaner 61 or the movement of a person.
  • a motor (not shown) in the electric blower 64 is started at a low speed with a signal from the sensor 68 that detects the movement of the electric vacuum cleaner 61 or the movement of a person being input into the electric blower 64 as a trigger.
  • the motor accelerates from a low speed to a steady speed by turning on the acceleration switch described above after starting at low speed. If the acceleration switch is turned on before the power switch is turned on, the power switch is turned on to accelerate from the start up to the normal rotational speed and to perform normal operation.
  • the motor continues to operate at a low speed without stopping. By continuing to operate the motor at a low speed, it is possible to suppress the possibility that accumulated dust is discharged from the dust collection chamber 65 through the extension pipe 62 during the movement between cleanings.
  • Sensor 68 is a gyro sensor that detects the movement of the vacuum cleaner 61 or a human sensor that detects the movement of a person. In either case of starting up, it is possible to shorten the arrival time to the steady rotational speed. At this time, by applying the motor control system 1 described in any of the first to third embodiments to the vacuum cleaner 61, the detection accuracy of the analog signal that is the motor current or the motor voltage is improved, so It is possible to stabilize the control even in a simple response.
  • the torque T generated when the motor rotates is determined by the product of the torque constant Kt and the motor current Ia as in the following equation.
  • T Kt ⁇ Ia
  • the torque T is proportional to the motor current Ia, it is necessary to generate a larger torque T in order to shorten the acceleration time, and it is also necessary to increase the motor current Ia.
  • the power consumption is increased, the merit of shortening the acceleration time is reduced, and the reliability of components including the battery 67 is impaired.
  • the acceleration rate For example, by extending the acceleration time until the motor reaches the normal rotation speed, it is possible to extend the acceleration time and improve the reliability of the parts.
  • the motor control system 1 described in any of the first to third embodiments to the electric vacuum cleaner 61, the detection accuracy of the analog signal that is the motor current or the motor voltage is improved.
  • the motor it is possible to suppress vibration of the rotational speed of the motor.
  • the amount of heat generated by the component can be suppressed by suppressing the current that flows during startup, the reliability of the component is also improved.
  • acceleration methods may be provided with a changeover switch so that the user can switch, and the user can set it.
  • the gyro sensor starts outputting a signal indicating the movement of the electric vacuum cleaner 61.
  • a signal that detects the movement of the electric vacuum cleaner 61 is output from the gyro sensor
  • the low speed rotation is started.
  • the acceleration switch By manually turning on the acceleration switch, the rotational speed is accelerated from a low speed to a steady rotational speed.
  • the cleaning is partially completed and moved to the next cleaning place, the low-speed rotation is resumed by manually turning off the acceleration switch.
  • the acceleration switch is manually turned on to accelerate to the normal rotational speed, and when cleaning is finished, the rotation is stopped by manually turning off the power switch.
  • the gyro sensor is attached to the vacuum cleaner 61 to detect the movement of the vacuum cleaner 61 that occurs when the vacuum cleaner 61 is used.
  • the main body of the vacuum cleaner 61 always moves immediately before use. Therefore, by attaching a gyro sensor to the vacuum cleaner 61, the movement of the vacuum cleaner 61 can be detected and the vacuum cleaner 61 can be activated in advance.
  • the motor control system 1 described in any of the first to third embodiments to the electric vacuum cleaner 61, the detection accuracy of the analog signal that is the motor current or the motor voltage is improved. It can be accelerated to a steady rotational speed.
  • FIG. 12 is a diagram illustrating an example of the configuration of the hand dryer 70.
  • the hand dryer 70 includes a casing 71, a hand detection sensor 72, a water receiver 73, a drain container 74, a cover 76, a sensor 77, and an intake port 78.
  • the sensor 77 is either a gyro sensor or a human sensor.
  • the hand dryer 70 has an electric blower (not shown) in the casing 71.
  • the electric blower has the motor control system 1 according to any one of the first to third embodiments.
  • the hand dryer 70 has a structure in which water is blown off by blowing with an electric blower by inserting a hand into a hand insertion portion 79 at the top of the water receiving portion 73 and water is stored from the water receiving portion 73 into the drain container 74. ing.
  • the sensor 77 detects that a person has come around, and the hand dryer 70 is started at a low speed.
  • the speed is accelerated to a steady rotational speed.
  • the rotational speed is again accelerated to the steady rotational speed. If the surrounding people are not detected, the operation stop state is maintained.
  • Sensor 77 is a sensor that detects, for example, infrared rays, ultrasonic waves, or visible light.
  • a temperature sensor or a sensor that detects a person by camera recognition may be used.
  • the hand dryer 70 By attaching a human sensor to the hand dryer 70, it is possible to detect that the user has approached the hand dryer 70 and activate the hand dryer 70 in advance. At this time, by applying the motor control system 1 described in any one of the first to third embodiments to the hand dryer 70, the detection accuracy of the analog signal, which is the motor current or the motor voltage, is improved. It can be accelerated to the rotational speed.
  • the analog signal which is the motor current or the motor voltage
  • the arrival time from the low speed startup to the steady rotation speed is significantly shortened, it is possible to reduce power consumption by reducing the rotation speed to a low speed.
  • the detection accuracy of the analog signal which is the motor current or the motor voltage, is improved, so that vibration of the rotation speed of the motor can be suppressed. It is possible to reduce wasteful power consumption.
  • the operation unit 66 is turned on to reach the steady rotational speed from the start, but by providing a mode for operating at a low speed in advance, the operation unit 66 is turned on. It is possible to significantly reduce the time until actual use. At this time, by using the motor control system 1 described in any one of the first to third embodiments, the detection accuracy of the analog signal that is the motor current or the motor voltage is improved, so that the vibration of the rotation speed of the motor is suppressed. This can reduce wasteful power consumption.
  • the time to rotate from the start of power supply to 2000 rpm is 1 s
  • the time to rotate from 2000 rpm to 100,000 rpm, which is the steady rotation speed is 0.4 s
  • it takes 1 to reach the steady rotation speed from startup. .4s is required. Therefore, by performing a time-consuming startup in advance, it is possible to realize the actual use from a switch-on to a steady rotational speed in only 0.4 s.
  • the motor control system 1 described in any of the first to third embodiments the detection accuracy of the analog signal that is the motor current or the motor voltage is improved, so that a shorter start-up time is realized. Is possible.
  • the reliability of the battery can be improved by setting a low acceleration rate and suppressing the steep rise.
  • the motor control system 1 described in any one of the first to third embodiments the detection accuracy of the analog signal that is the motor current or the motor voltage is improved, so that the start-up that may cause a steep rise is concerned. Even at times, it is possible to realize a quick current interruption.
  • the current that flows to the motor at the time of startup also decreases, so suppressing the heat generation of the semiconductor element can suppress the heat generation of the component, leading to improved component reliability .
  • the motor control system 1 described in any of the first to third embodiments the detection accuracy of the analog signal that is the motor current or the motor voltage is improved, so that vibration at a low acceleration rate is suppressed. It becomes possible to do.
  • a heat-dissipating fin having a good thermal conductivity is attached to the element surface, or a method of dispersing the heat to the mounting substrate using a surface-mounted element is used.
  • a method of cooling the semiconductor element by providing a heat radiating fan, or cooling by water cooling is used.
  • these methods are suitable for small devices due to the cost of cooling and the increase in installation volume. Absent.
  • the electric device includes the electric blower described in the present embodiment, it is possible to heat the current configuration without providing additional parts by arranging these heating elements in the path of the wind generated by the electric blower. It is possible to escape.
  • the motor control system 1 in any one of Embodiment 1-3 is applicable to the electric equipment with which the motor is mounted generally.
  • Electric equipment equipped with motors include, for example, incinerators, crushers, dryers, dust collectors, printing machines, cleaning machines, confectionery machines, tea making machines, woodworking machines, plastic extruders, cardboard machines, packaging machines, hot air generators Or it is an apparatus provided with the electric blower like OA apparatus.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

L'invention concerne un appareil de commande de moteur 2 qui est pourvu d'un convertisseur analogique-numérique (A/N) 30 destiné à convertir en signaux numériques des signaux analogiques, qui sont des valeurs de détection de courant de moteur, et d'un circuit de commande 25 destiné à lire des signaux numériques provenant du convertisseur A/N 30. Le circuit de commande 25 active le convertisseur A/N 30 pendant une période autorisée, et lit les signaux numériques provenant du convertisseur A/N 30 pendant le demi-cycle électrique comprenant la période autorisée.
PCT/JP2015/080430 2015-10-28 2015-10-28 Appareil de commande de moteur, aspirateur électrique et sèche-mains WO2017072884A1 (fr)

Priority Applications (2)

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JP2017547256A JP6430030B2 (ja) 2015-10-28 2015-10-28 モータ制御装置、電気掃除機およびハンドドライヤー
PCT/JP2015/080430 WO2017072884A1 (fr) 2015-10-28 2015-10-28 Appareil de commande de moteur, aspirateur électrique et sèche-mains

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5705909A (en) * 1995-12-14 1998-01-06 General Motors Corporation Control for AC motor having parallel sets of three-phase windings with only one current sensor per set
US8368574B1 (en) * 2010-04-26 2013-02-05 Omniphase Research Laboroatories, Inc. Dynamic range ADC's
JP2013223350A (ja) * 2012-04-17 2013-10-28 Fanuc Ltd Δς変調型ａｄ変換器を有するモータ制御装置
JP2015042018A (ja) * 2013-08-20 2015-03-02 株式会社デンソー 交流電動機の制御装置
WO2015045169A1 (fr) * 2013-09-30 2015-04-02 三菱電機株式会社 Dispositif de commande d'entraînement de moteur, compresseur, ventilateur et dispositif de climatisation
JP2015177696A (ja) * 2014-03-17 2015-10-05 三菱電機株式会社 電動機駆動用インバータ装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5705909A (en) * 1995-12-14 1998-01-06 General Motors Corporation Control for AC motor having parallel sets of three-phase windings with only one current sensor per set
US8368574B1 (en) * 2010-04-26 2013-02-05 Omniphase Research Laboroatories, Inc. Dynamic range ADC's
JP2013223350A (ja) * 2012-04-17 2013-10-28 Fanuc Ltd Δς変調型ａｄ変換器を有するモータ制御装置
JP2015042018A (ja) * 2013-08-20 2015-03-02 株式会社デンソー 交流電動機の制御装置
WO2015045169A1 (fr) * 2013-09-30 2015-04-02 三菱電機株式会社 Dispositif de commande d'entraînement de moteur, compresseur, ventilateur et dispositif de climatisation
JP2015177696A (ja) * 2014-03-17 2015-10-05 三菱電機株式会社 電動機駆動用インバータ装置

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