WO2020003737A1 - Dispositif de détection d'anomalie de rotation, procédé de commande, procédé de détection d'anomalie de rotation, et programme - Google Patents

Dispositif de détection d'anomalie de rotation, procédé de commande, procédé de détection d'anomalie de rotation, et programme Download PDF

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Publication number
WO2020003737A1
WO2020003737A1 PCT/JP2019/018167 JP2019018167W WO2020003737A1 WO 2020003737 A1 WO2020003737 A1 WO 2020003737A1 JP 2019018167 W JP2019018167 W JP 2019018167W WO 2020003737 A1 WO2020003737 A1 WO 2020003737A1
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Prior art keywords
area
rotor
rotation
angle
rotation position
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PCT/JP2019/018167
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English (en)
Japanese (ja)
Inventor
永二 小林
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日本電産株式会社
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Publication of WO2020003737A1 publication Critical patent/WO2020003737A1/fr

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Classifications

    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
    • F04D—NON-POSITIVE-DISPLACEMENT PUMPS
    • F04D27/00—Control, e.g. regulation, of pumps, pumping installations or pumping systems specially adapted for elastic fluids
    • 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
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load

Definitions

  • the present invention relates to a rotation abnormality detection device, a control method, a rotation abnormality detection method, and a program.
  • the rotor of the motor may not be able to rotate, for example, when something gets caught on the rotating body attached to the rotating shaft or when dust accumulates around the rotor.
  • unusual control such as stopping the current flowing in the driving circuit of the motor is required.
  • Japanese Patent No. 5464826 discloses a motor including a protection circuit that detects a lock state of a motor and outputs a motor lock detection signal based on a rotation position detection signal from a Hall element that detects the rotation position of the motor.
  • a control circuit is disclosed.
  • Patent registered in Japan Japanese Patent No. 5464826
  • the rotational position detection signal In order to detect the locked state of the motor with the technique described in Japanese Patent No. 5464826, the rotational position detection signal must be monitored for the time required for the motor rotor to make at least one rotation.
  • an object of the present invention is to provide a rotation abnormality detection device, a control method, a rotation abnormality detection method, and a program for more quickly detecting a rotation abnormality of a motor.
  • a rotation abnormality detection device is a rotation abnormality detection device for a motor.
  • a time monitoring unit that monitors a staying time of the rotor and an abnormality detecting unit that detects a rotation abnormality of the rotor based on the staying time of the rotor in each of the angle regions.
  • a control device is a control device that controls electric power supplied to a motor, and the above-described rotation abnormality detection device, when the rotation abnormality detection device detects a rotation abnormality of a rotor, A control unit for stopping power supply to the motor.
  • a rotation abnormality detection method is a method of detecting a rotation abnormality of a motor, in which a rotation position of a rotor of the motor is determined, and a rotation region is divided into a plurality of angular regions. Monitoring the stay time during which the rotor stays, and detecting an abnormal rotation of the rotor based on the stay time of the rotor in each of the angle regions.
  • a program has a function of causing a computer to determine a rotational position of a rotor of a motor, and a function of monitoring a staying time during which the rotor stays in each angular region obtained by dividing a rotating region into a plurality of regions.
  • the present invention it is possible to detect the abnormal rotation of the rotor without waiting for the elapse of the time required for the rotor to make one rotation by monitoring the stay time after entering each angle region.
  • FIG. 1 is a block diagram showing a control system of a motor having a rotation abnormality detection device according to an embodiment of the present invention.
  • FIG. 2 is a graph showing an example of the output of the Hall element used in the embodiment.
  • FIG. 3 is a diagram illustrating an angle range and an angle area used in the embodiment.
  • FIG. 4 is a diagram illustrating a concept of an area used in the embodiment.
  • FIG. 5 is a part of a flowchart illustrating a control operation performed by the rotation abnormality detection device according to the embodiment when the motor is rotating forward.
  • FIG. 6 is a continuation of the flowchart of FIG.
  • FIG. 7 is a continuation of the flowchart of FIG.
  • FIG. 8 is a continuation of the flowchart of FIG. FIG.
  • FIG. 9 is a continuation of the flowchart of FIG.
  • FIG. 10 is a continuation of the flowchart of FIG.
  • FIG. 11 is a schematic diagram illustrating an example of various abnormalities detected in the embodiment.
  • FIG. 12 is a table showing the main points of the control operation of the rotation abnormality detection device at the time of forward rotation of the motor.
  • FIG. 13 is a table showing the main points of the control operation of the rotation abnormality detection device at the time of reverse rotation of the motor.
  • FIG. 14 is a diagram illustrating an example of assignment of an angle region at a high speed rotation of the motor.
  • FIG. 15 is a diagram showing another example of the assignment of the angle regions at the high speed rotation of the motor.
  • FIG. 12 is a table showing the main points of the control operation of the rotation abnormality detection device at the time of forward rotation of the motor.
  • FIG. 13 is a table showing the main points of the control operation of the rotation abnormality detection device at the time of reverse rotation of the motor.
  • FIG. 14 is
  • FIG. 16 is a flowchart showing a simple control operation executed by the rotation abnormality detection device at the time of high-speed normal rotation of the motor.
  • FIG. 17 is a table showing the essential points of a simple control operation of the rotation abnormality detection device at the time of high-speed normal rotation of the motor.
  • FIG. 18 is a table showing the essential points of a simple control operation of the rotation abnormality detection device at the time of high-speed reverse rotation of the motor.
  • FIG. 19 is a diagram showing an angle range and an angle area used in the modification.
  • FIG. 20 is a diagram showing an angle range and an angle area used in the modification.
  • FIG. 1 is a block diagram showing a control system of a motor according to an embodiment of the present invention.
  • the motor control system includes a motor drive device 2, a motor 4, an inverter 6, a gate driver 8, a rotational position measuring device 12, an A / D converter 14, a rotational angle obtaining device 16, a motor rotational abnormality detecting device 18, and an oscillation circuit. 20.
  • the motor drive device (control unit) 2 generates a control signal for rotating the motor 4 and supplies the control signal to the gate driver 8.
  • the motor 4 is, for example, a three-phase brushless DC motor.
  • the present invention is applicable to other motors.
  • a fan of an outdoor unit for air conditioning is attached to the rotating shaft 4A of the motor 4.
  • the use of the motor is not limited.
  • the inverter 6 has a plurality of switches connected to a plurality of coils (not shown) of the stator 4B of the motor 4.
  • the gate driver 8 drives a switch in the inverter 6 in response to a control signal received from the motor drive device 2.
  • the rotation position measurement device 12 supplies a measurement signal indicating the rotation position (rotation angle position) of the rotor 4C of the motor 4 to the A / D converter 14.
  • the rotation position measuring device 12 has, for example, three Hall elements, and these Hall elements are arranged around the rotor 4C at equal angular intervals.
  • the rotational position measuring device 12 may be a resolver type measuring device or a rotary encoder type measuring device.
  • the A / D converter 14 converts the analog measurement signal supplied from the rotation position measurement device 12 into a digital measurement signal, and supplies the digital measurement signal to the rotation angle acquisition device 16.
  • the rotation angle acquisition device 16 calculates the rotation position of the rotor 4C of the motor 4 based on the digital measurement signal, and generates measurement information indicating the rotation position.
  • the rotation angle acquisition device 16 supplies the measurement information to the motor drive device 2 and the rotation abnormality detection device 18.
  • the oscillation circuit 20 supplies the clock signal to the motor drive device 2 and the rotation abnormality detection device 18.
  • the motor drive device 2 generates the above control signal using the measurement information supplied from the rotation angle acquisition device 16 and the clock signal supplied from the oscillation circuit 20.
  • the rotation abnormality detection device 18 includes a processing device 22, a storage device 24, and an information presentation device 26.
  • the processing device 22 is, for example, a CPU (Central Processing Unit).
  • the processing device 22 operates by reading and executing a program stored in a recording medium (for example, the storage device 24). Therefore, the program (program code) read from the recording medium realizes the function of the embodiment.
  • a recording medium on which the program is recorded can constitute the present invention.
  • the processing device 22 detects abnormal rotation of the rotor 4C of the motor 4 using the measurement information supplied from the rotation angle acquisition device 16 and the clock signal supplied from the oscillation circuit 20.
  • the functions of the processing device 22 can be classified into a function of a rotational position determination unit, a function of a time monitoring unit, and a function of an abnormality detection unit.
  • the rotation position determination unit determines the rotation position of the rotor 4C based on the measurement information from the rotation angle acquisition device 16 that indicates the rotation position of the rotor 4C of the motor 4.
  • the function of the rotation position determining unit has the function of an area specifying unit described later.
  • the time monitoring unit monitors a stay time after the rotation position of the rotor 4C determined by the rotation position determination unit enters each of a plurality of angle regions in the rotation direction of the rotor 4C.
  • the abnormality detection unit detects a rotation abnormality of the rotor 4C based on the stay time of the rotor 4C in each angle region.
  • the rotation abnormality detection device 18 Upon detecting the rotation abnormality of the rotor 4C, the rotation abnormality detection device 18 supplies a detection signal to the motor drive device 2 to stop the rotation of the motor 4. When the detection signal is supplied (when the rotation abnormality detection device 18 detects the rotation abnormality of the rotor 4C), the motor drive device 2 stops supplying power to the motor 4.
  • a plurality of types of parameters are stored in the storage device 24. These parameters include a count value, an area identifier, a first abnormal area count value, and a second abnormal area count value, which will be described later.
  • the information presenting device 26 is, for example, a display device, a sound generating device, or a combination thereof, and notifies the user of the abnormal rotation of the motor 4 when the abnormal rotation of the motor 4 occurs.
  • the display device may be, for example, an LED (Light Emitting Diode).
  • the rotation abnormality detection device 18 supplies a detection signal indicating the type of the rotation abnormality to the information presentation device 26.
  • the information presentation device 26 which is an LED, blinks in a different blink pattern according to the type of the detection signal.
  • the occurrence of the rotation abnormality and the type thereof may be notified to the user.
  • the information presentation device 26 is of another type, when a detection signal is supplied, the information presentation device 26 displays an image corresponding to the type of the detection signal or generates a sound corresponding to the type of the detection signal. Both of these may be performed to notify the user of the occurrence and type of rotation abnormality.
  • FIG. 2 is a graph showing an example of outputs of three Hall elements of the rotational position measuring device 12 used in the present embodiment.
  • Hu, Hv, and Hw indicate outputs of three Hall elements, respectively. Since the three Hall elements are arranged around the rotor 4C at equal angular intervals, when the rotor 4C is in a steady rotation, the outputs Hu, Hv, and Hw have the same period and have the same phase. The time is shifted by a time corresponding to the difference (120 °). Measurement information corresponding to the outputs Hu, Hv, Hw is supplied from the rotation angle acquisition device 16 to the rotation abnormality detection device 18. The processing device 22 of the rotation abnormality detection device 18 determines which of the outputs Hu, Hv, and Hw is at a higher voltage to determine in which angular region the rotational position of the rotor 4C is located.
  • FIG. 3 shows the concept of the angle region used in the present embodiment.
  • FIG. 3 shows a space having an electric angle of 360 ° of the motor 4.
  • the angle ranges 1 to 12 are classified according to the relationship between the outputs Hu, Hv, and Hw of the Hall elements, and each has a magnitude of 30 ° electrical angle.
  • angle ranges 1 to 12 are assigned to the angle ranges 1 to 12. That is, the angle area 1 is assigned to four angular ranges 1, 4, 7, and 10 at regular intervals, and the angular area 2 is assigned to four angular ranges 2, 5, 8, and 11 at regular intervals. The angular area 3 is allocated to four angular ranges 3, 6, 9, and 12 at regular intervals.
  • the motor 4 is a three-phase brushless DC motor, and as shown in FIG. This is for determining the area.
  • Another reason is that it is convenient to grasp the state of the rotational position of the rotor 4C in association with three types of angle regions.
  • the three types of angle regions are an angle region where the rotor 4C is assumed to be located at a certain time, an angle region where the rotor 4C is assumed to be located immediately before, and a case where the rotor 4C is located next. It is an angle region where The processing device 22 of the rotation abnormality detection device 18 identifies not the angle ranges 1 to 12, but the angle regions 1 to 3.
  • the angle region 1 is the angle region X
  • the angle region 3 is the immediately preceding angle region X-1
  • the angle region 2 is the next angle region X + 1.
  • the angle area 2 is the angle area X
  • the angle area 1 is the immediately preceding angle area X-1
  • the angle area 3 is the next angle area X + 1.
  • the angle area 3 is the angle area X
  • the angle area 2 is the immediately preceding angle area X-1
  • the angle area 1 is the next angle area X + 1.
  • FIG. 4 shows the concept of the area used in the present embodiment.
  • the left side of FIG. 4 shows an area when the rotor 4C rotates forward, that is, rotates counterclockwise in the figure, and the right side of FIG. 4 shows an area when the rotor 4C rotates reversely, that is, rotates clockwise in the figure.
  • each angle region is divided into two areas for convenience of detecting rotation abnormality of the rotor 4C. That is, the angle area 1 is divided into an area 11 and an area 12, the angle area 2 is divided into an area 21 and an area 22, and the angle area 3 is divided into an area 31 and an area 32.
  • a symbol “X1” is assigned to an area on the upstream side in the rotation direction, and a symbol “X2” is assigned to an area on the downstream side.
  • FIG. 4 appears to show the geometric relationship between the angular region and the area, in practice, the area is a temporally defined area.
  • the rotation abnormality detection device 18 determines that the rotation position of the rotor 4C has entered the first area X1.
  • the rotation abnormality detecting device 18 determines that the rotor 4C has entered the second area X2 when a predetermined time has elapsed after the rotor 4C entered the area X1. This is based on the assumption that the rotor 4C rotates normally.
  • the ratio of the residence time of the rotor 4C in the first area X1 and the second area X2 in each angle region X is, for example, about 1: 9. Therefore, when the rotor 4C rotates normally, the ratio of the angle between the first area X1 and the second area X2 is, for example, about 1: 9.
  • the processing device 22 of the rotation abnormality detecting device 18 determines that the rotational position of the rotor 4C has returned from the first area X1 of the angle area X to the second area (X-1) 2 of the immediately preceding angle area X-1. Neither does it determine that the area has returned from the second area X2 to the first area X1. Also in this regard, the area is a temporally defined area, not a geometric one.
  • the function of the rotation position determination unit of the processing device 22 is a function of an area identification unit that identifies whether the rotation position of the rotor 4C is located in the first area or the second area depending on an area identifier described later. Having.
  • the processing device 22 of the rotation abnormality detection device 18 detects various rotation abnormalities of the rotor 4C based on the measurement information indicating the rotational position of the rotor 4C and the area thus defined in time.
  • Various types of rotational abnormalities can be detected by detecting rotational abnormalities not only depending on the measurement information derived from the rotational position measuring device 12 but also on a temporally defined area.
  • the rotation abnormality detection device 18 does not detect abnormality of the motor 4. Therefore, it is possible to reduce erroneous detection of the abnormality of the motor 4 immediately after the change of the angle region.
  • FIGS. 5 to 10 constitute one flowchart showing a control operation executed by the processing device 22 of the rotation abnormality detection device 18 when the motor 4 rotates forward. This control operation is executed in a predetermined short control cycle.
  • the processing device 22 monitors the clock signal supplied from the oscillation circuit 20, and periodically starts the control operation shown in FIGS.
  • parameters stored in the storage device 24 and used in the control operation of the processing device 22 will be described. These parameters include a count value, an area identifier, a first abnormal area count value, and a second abnormal area count value.
  • the processing device 22 updates these parameters stored in the storage device 24 as described below, and uses the updated parameters to detect abnormal rotation of the motor 4.
  • the count value is reset when it is detected that the rotational position of the rotor 4C has entered each angular region (for example, step S21 in FIG. 6).
  • the count value is incremented by one in each control cycle (step S1 in FIGS. 5 to 10). Therefore, the count value is a multiple of the control cycle after the rotation position of the rotor 4C enters a certain angle region, and corresponds to the stay time after the rotation position of the rotor 4C enters a certain angle region.
  • the area identifier indicates in which area the rotational position of the rotor 4C is located.
  • the area identifier is changed from (X-1) 2 indicating the second area of the angle area preceding the angle area to the second area of the angle area.
  • the area is changed to X1 indicating area 1 (for example, step S20 in FIG. 6).
  • the area identifier is changed from 32 indicating the second area of the angle area 3 to 11 indicating the first area of the angle area 1.
  • the area identifier is changed from X1 indicating the first area to the second area. (For example, step S6 in FIG. 5).
  • the function of the area specifying unit of the processing device 22 refers to the area identifier stored in the storage device 24 to specify whether the rotational position of the rotor 4C is located in the first area or the second area.
  • the area identifier does not return from X1 to the immediately preceding value (X-1) 2, nor does it return from X2 to the immediately preceding value X1.
  • the first abnormal area count value is an index indicating the number of discrepancies between the measured angular area related to the rotational position of the rotor 4C and the specified area.
  • the first abnormal area count value is reset (for example, Step S4 in FIG. 5). If it is determined that the rotational position of the rotor 4C is located in a certain angle area X, and the area identifier indicates the second area X2 of the angle area X, the first abnormal area count value does not increase.
  • the area identifier indicates the first area (X + 1) 1 of the next angular area
  • the first abnormal area count value is incremented by one. (For example, step S13 and step S15 in FIG. 6).
  • the fact that the area identifier indicates the first area (X + 1) 1 of the next angle area X + 1 means that the rotation position of the rotor 4C has already entered the next angle area X + 1 based on the measurement information from the rotation angle acquisition device 16. Has been detected. Nevertheless, the determination that the rotational position of the rotor 4C is located in the angular area X means that the motor 4 is in an abnormal state in the sense that the angular area has returned although the area identifier has advanced. . The fact that the first abnormal area count value is 1 or more means that the angle area has returned although the area identifier has advanced. Therefore, the first abnormal area count value corresponds to the stay time existing in the immediately preceding angular region after the rotational position of the rotor 4C once enters a certain angular region.
  • the processing device 22 of the rotation abnormality detection device 18 detects a rotation abnormality of the motor 4 (step S17 in FIG. 6).
  • the reason why the rotation abnormality is not detected until the predetermined number of times is that the measurement signal of the rotation position measurement device 12 may include an error. That is, by using the first abnormal area count value, erroneous detection of an abnormality of the motor 4 can be reduced.
  • the second abnormal area count value is also an index indicating the number of discrepancies between the measured angular area related to the rotational position of the rotor 4C and the specified area.
  • the area identifier indicates the first area (X + 1) 1 of the next angular area
  • the first abnormal area count value is zero. If there is, the second abnormal area count value is incremented by 1 (for example, step S11 in FIG. 6).
  • the fact that the area identifier indicates the first area (X + 1) 1 of the next angle area X + 1 means that the rotation position of the rotor 4C has already entered the next angle area X + 1 based on the measurement information from the rotation angle acquisition device 16. Has been detected. Nevertheless, the determination that the rotational position of the rotor 4C is located in the angular area X means that the motor 4 is in an abnormal state in the sense that the angular area has returned although the area identifier has advanced. . The fact that the second abnormal area count value is 1 or more means that the angle area has returned although the area identifier has advanced.
  • the abnormality detection unit of the processing device 22 of the rotation abnormality detection device 18 detects a rotation abnormality of the motor 4 (step S14 in FIG. 6).
  • the reason why the rotation abnormality is not detected until the predetermined number of times is that the measurement signal of the rotation position measurement device 12 may include an error. That is, by using the second abnormal area count value, erroneous detection of an abnormality of the motor 4 can be reduced.
  • step S1 the processing device 22 increments the count value by one.
  • step S2 the rotation position determination unit of the processing device 22 determines in which angular region the rotation position of the rotor 4C is located based on the measurement information from the rotation angle acquisition device 16.
  • step S3 the area identification unit of the processing device 22 determines that the area identifiers stored in the storage device 24 are 11, 12, 21, 22, 31,. It specifies which of the values is 32. That is, in step S3, the area specifying unit of the processing device 22 specifies which area the rotational position of the rotor 4C is located on the basis of the area identifier stored in the storage device 24.
  • the abnormality detection unit of the processing device 22 stores the information in the storage device 24 in step S4.
  • the reset first abnormal area count value is reset.
  • the processing device 22 determines whether the count value stored in the storage device 24 has reached the threshold value i.
  • the threshold i can be called a second threshold. i is an integer of 1 or more. If the count value is less than the threshold value i, the control operation ends, and the control operation starts in the next control cycle.
  • step S6 the processing device 22 changes the area identifiers stored in the storage device 24 from 11 to 12 (the second area 12 As shown).
  • the processing device 22 changes the area identifiers stored in the storage device 24 from 11 to 12 (the second area 12 As shown).
  • the count value corresponding to the stay time of the rotor 4C in the angle area X reaches the threshold value i
  • the rotation position of the rotor 4C shifts from the first area X1 to the second area X2.
  • the area specifying unit of the processing device 22 specifies. By dividing the angle area into two areas according to the stay time, appropriate abnormality detection can be performed.
  • step S3 If it is specified in step S3 that the area identifier indicates the second area 12 of the same angular area 1 as the angular area 1 determined in step S2, the processing device 22 stores the information in the storage device 24 in step S8. It is determined whether or not the count value has reached the threshold value n.
  • the threshold n can be called a first threshold. n is an integer much larger than i. If the count value is less than the threshold value n, the control operation ends, and the control operation starts in the next control cycle.
  • step S9 the abnormality detection unit of the processing device 22 detects the rotation abnormality L3 of the motor 4.
  • the rotation abnormality L3 can be referred to as a first type of rotation abnormality.
  • the processing device 22 supplies the detection signal to the motor drive device 2, stops the power supply to the motor 4 by the motor drive device 2, and stops the rotation of the motor 4. Further, the abnormality detection unit of the processing device 22 supplies a detection signal indicating the rotation abnormality L3 to the information presentation device 26 to notify the user of the occurrence of the rotation abnormality L3.
  • the rotation abnormality L3 is an abnormality in which the residence time of the rotor 4C in the angle region X is too long. As described above, when the stay time of the rotor 4C in the angle region X reaches the threshold value n, the abnormality detection unit of the processing device 22 detects the rotation abnormality L3.
  • the processing device 22 stores the information in step S10. It is determined whether the first abnormal area count value stored in the device 24 is zero.
  • step S10 the processing device 22 increments the second abnormal area count value stored in the storage device 24 by 1 in step S11.
  • step S12 the processing device 22 determines whether or not the second abnormal area count value stored in the storage device 24 has reached the threshold value k. k is an integer of 1 or more. If the second abnormal area count value is less than the threshold value k, the processing device 22 increments the first abnormal area count value stored in the storage device 24 by one in step S13. After step S13, the control operation ends, and the control operation starts in the next control cycle.
  • step S14 the abnormality detection unit of the processing device 22 detects the rotation abnormality L1-1 of the motor 4.
  • the rotation abnormality L1-1 can be referred to as a third type of rotation abnormality.
  • the processing device 22 supplies the detection signal to the motor drive device 2, stops the power supply to the motor 4 by the motor drive device 2, and stops the rotation of the motor 4. Further, the abnormality detection unit of the processing device 22 supplies a detection signal indicating the rotation abnormality L1-1 to the information presentation device 26 to notify the user of the occurrence of the rotation abnormality L1-1.
  • the rotation abnormality L1-1 is an abnormality in which the rotor 4C is locked in the vicinity of the boundary between the angle regions and causes minute vibration.
  • step S10 determines whether or not the first abnormal area count value stored in the storage device 24 has reached the threshold j third threshold.
  • the threshold j can be referred to as a third threshold. j is an integer of 1 or more, and is much smaller than i. That is, there is a relationship j ⁇ i ⁇ n. If the first abnormal area count value is less than the threshold value j, the control operation ends, and the control operation starts in the next control cycle.
  • step S17 the abnormality detection unit of the processing device 22 detects the rotation abnormality L1-2 of the motor 4.
  • the rotation abnormality L1-2 can be referred to as a second type of rotation abnormality.
  • the processing device 22 supplies the detection signal to the motor drive device 2, stops the power supply to the motor 4 by the motor drive device 2, and stops the rotation of the motor 4.
  • the abnormality detection unit of the processing device 22 supplies a detection signal indicating the rotation abnormality L1-2 to the information presentation device 26 to notify the user of the occurrence of the rotation abnormality L1-2.
  • step S17 the control operation ends, but the control operation is not started in the next control cycle unless the recovery of the motor 4 is completed.
  • the rotation abnormality L1-2 is an abnormality in which the rotor 4C is locked in the vicinity of the boundary between the angle regions and causes relatively large amplitude vibration.
  • step S2 If it is determined in step S2 that the rotation position of the rotor 4C is located in the angle area 1, and if the area identifier indicates the first area 21 of the next angle area 2 in step S3, the first position is determined in step S13 or step S15.
  • the abnormal area count value is incremented by one. As described above, when the rotational position of the rotor 4C is located in a certain angle region X, the rotational position of the rotor 4C is determined to be equal to the rotational position of the next angular region X + 1 after the angular region X when the rotational position determination unit of the processing device 22 determines.
  • the abnormality detecting unit of the processing device 22 When located in the first area (X + 1) 1, the abnormality detecting unit of the processing device 22 increases the first abnormal area count value each time the area specifying unit of the processing device 22 specifies. Therefore, the first abnormal area count value corresponds to the time when the area identifier indicates the first area (X + 1) 1 of the next angular area X + 1 even though the rotational position of the rotor 4C is located in the angular area X. I do.
  • step S2 it is determined in step S2 that the rotational position of the rotor 4C is located in the angular area 1, and in step S3, the area identifier indicates the first area 21 of the next angular area 2, and the first abnormal area count value is zero. If there is, in step S11, the second abnormal area count value is incremented by one.
  • the rotational position determination unit of the processing device 22 determines that the rotational position of the rotor 4C is the first rotational position of the next angular region X + 1 of the angular region X. If the first abnormal area count value is zero when the area specifying unit of the processing device 22 specifies the second abnormal area count value in the area (X + 1) 1 of the processing device 22, The abnormality detection unit is increased.
  • the abnormality detection unit of the processing device 22 When the area identifier indicates the second area 22 of the angle area 2 next to the angle area 1 determined in step S2 in step S3, the abnormality detection unit of the processing device 22 The abnormality L2 is detected.
  • the rotation abnormality L2 can be referred to as a fourth type of rotation abnormality.
  • the processing device 22 supplies the detection signal to the motor drive device 2, stops the power supply to the motor 4 by the motor drive device 2, and stops the rotation of the motor 4. Further, the abnormality detection unit of the processing device 22 supplies a detection signal indicating the rotation abnormality L2 to the information presentation device 26 to notify the user of the occurrence of the rotation abnormality L2.
  • the control operation ends, but the control operation is not started in the next control cycle unless the recovery of the motor 4 is completed.
  • the rotation abnormality L2 is an abnormality in which the rotor 4C is locked near the boundary between the angle regions.
  • the rotational position determination unit of the processing device 22 determines that the rotational position of the rotor 4C is the first rotational position of the next angular region X + 1 of the angular region X.
  • the abnormality detection unit of the processing device 22 detects the rotation abnormality L2.
  • step S19 the processing device 22 sends an error signal to the information presentation device 26 in step S19. To notify the user of the occurrence of the error. At this time, the processing device 22 does not stop the motor drive device 2 from supplying power to the motor 4. After step S19, the control operation ends, and the control operation starts in the next control cycle.
  • the area identification unit of the processing device 22 stores the information in the storage device 24 in step S20.
  • the stored area identifier is changed from 32 to 11 (to indicate the first area 11 of the angle area 1).
  • the area specifying unit specifies the rotation position, and the rotation position of the rotor 4C is the next angle region of the angle region X
  • the area identification unit of the processing device 22 identifies that the rotation position of the rotor 4C has shifted to the first area (X + 1) 1 of the next angular area.
  • step S21 the time monitoring unit of the processing device 22 resets the count value stored in the storage device 24.
  • step S21 the control operation ends, and the control operation starts in the next control cycle.
  • the time monitoring unit of the processing device 22 resets the count value (that is, starts counting the stay time) when the rotation position determination unit determines. Therefore, the time monitoring unit of the processing device 22 starts counting the staying time at an appropriate time by considering the area without depending only on the measurement information in which noise may be mixed.
  • the detection unit can appropriately detect the rotation abnormality of the rotor.
  • step S2 If it is determined in step S2 that the rotational position of the rotor 4C is located in the angle region 2, the control operation proceeds as shown in FIGS. If it is determined in step S2 that the rotational position of the rotor 4C is located in the angle region 3, the control operation proceeds as shown in FIGS. Although the description of the control operation in these cases is omitted, the control operation in these cases will be understood by referring to the above description.
  • FIG. 11 is a schematic diagram showing examples of various abnormalities detected in the present embodiment.
  • the rotation abnormality L1-1 is an abnormality in which the rotor 4C is locked near the boundary between the angle regions and causes minute vibration.
  • the rotation abnormality L1-1 can be referred to as a third type of rotation abnormality.
  • the rotation abnormality L1-1 typically involves a small vibration at a position exemplified by the solid line in FIG.
  • the rotation abnormality L1-1 is detected when the second abnormal area count value reaches the threshold value k (for example, step S14 in FIG. 6).
  • the threshold value k can be called a fourth threshold value.
  • the area identifier indicates the first area (X + 1) 1 of the next angle area, and If it is determined that the abnormal area count value of 1 is zero, it is increased (for example, step S11 in FIG. 6). That is, once the rotational position of the rotor 4C shifts from one angle area X to the next angle area X + 1, it is determined that the rotor 4C returns to the certain angle area X, and the first abnormal area count value is zero.
  • the second abnormal area count value is increased.
  • the rotation abnormality L1-1 is detected.
  • the processing device 22 does not detect the rotation abnormality L1-1 until the second abnormal area count value reaches the threshold value k, erroneous detection of an abnormality of the motor 4 can be reduced.
  • the rotation abnormality L1-2 is caused by the rotor 4C being locked in the vicinity of the boundary between the angular regions, causing an abnormality causing relatively large amplitude vibration, or a minute vibration in a range different from the rotation abnormality L1-2. Is abnormal.
  • the rotation abnormality L1-2 can be referred to as a second type of rotation abnormality.
  • the rotation abnormality L1-2 is accompanied by relatively large amplitude vibration at the position exemplified by the solid line in FIG.
  • the abnormal rotation L1-2 is accompanied by minute vibration in the region X-1 near the boundary between the angular regions but immediately before the minute vibration of the abnormal rotation L1-1.
  • the rotation abnormality L1-2 is detected when the first abnormal area count value reaches the threshold value j (for example, step S17 in FIG. 6).
  • the first abnormal area count value increases when the area identifier indicates the first area (X + 1) 1 of the next angular area even though it is determined that the rotational position of the rotor 4C is located in a certain angular area X. (For example, step S13 and step S15 in FIG. 6). That is, once it is determined that the rotational position of the rotor 4C has shifted from one angle area X to the next angle area X + 1 and then returned to the certain angle area X, the first abnormal area count value increases.
  • the rotation abnormality L1-2 is detected. Detecting that the rotor 4C generates relatively large amplitude vibration near the boundary of the angular region by considering the area where the rotational position is located, without depending only on the measurement information in which noise may be mixed. Can be. Further, since the processing device 22 does not detect the rotation abnormality L1-2 until the first abnormal area count value reaches the threshold value j, erroneous detection of an abnormality of the motor 4 can be reduced.
  • the abnormal rotation L1-2 is accompanied by a relatively large amplitude vibration or a minute vibration on the immediately preceding region X-1.
  • the rotation abnormality L2 is an abnormality in which the rotor 4C is locked near the boundary between the angle regions.
  • the rotation abnormality L2 can be referred to as a fourth type of rotation abnormality.
  • the rotation abnormality L2 is accompanied by a return movement from the angle region to the immediately preceding angle region as shown in FIG.
  • the rotation abnormality L2 is detected when the area identifier indicates the second area (X + 1) 2 of the next angle area although it is determined that the rotation position of the rotor 4C is located in a certain angle area X (for example, , Step S18 in FIG. 6).
  • the area identifier indicates the second area (X + 1) 2 of the next angle area
  • the count value reaches the threshold value i after it is determined that the rotational position of the rotor 4C is located in the next angle area X + 1.
  • Has elapsed see, for example, step S20 in FIG. 6 and step S6 in FIG. 5).
  • the rotation abnormality L2 is detected.
  • the locked state of the rotor can be detected by considering the time without depending only on the measurement information in which noise may be mixed. Since the threshold value i is smaller than the threshold value n, the rotation abnormality L2 of the rotor 4C can be detected without waiting for the time required for the rotor 4C to make one rotation.
  • the rotation abnormality L3 is an abnormality in which the staying time of the rotor 4C in the angle region X is too long.
  • the rotation abnormality L3 can be referred to as a first type of rotation abnormality.
  • the rotation abnormality L3 is accompanied by stagnation of the angular position of the rotor 4C in the area illustrated in FIG.
  • the rotation abnormality L3 is detected when the count value reaches the threshold value n (for example, step S9 in FIG. 5).
  • the count value corresponds to a stay time after the rotation position of the rotor 4C enters the angle region X.
  • the rotation abnormality L3 of the rotor 4C is detected, so that the time required for the rotor 4C to make one rotation does not have to be elapsed.
  • the rotation abnormality L3 of the rotor 4C can be detected.
  • the error signal is output when the area identifier indicates the first area (X-1) 1 of the immediately preceding angle area X-1 although it is determined that the rotational position of the rotor 4C is located in a certain angle area X. It is generated by the device 22 and supplied to the information presentation device 26 (for example, step S19 in FIG. 6). Immediately after the rotation position of the rotor 4C enters the immediately preceding angular area X-1 (without passing through the first area (X-1) 1 to the second area (X-1) 2), the rotation of the rotor 4C is started. It is unlikely that the position is determined to be located in the next angle area X.
  • the processing device 22 outputs an error signal, and the information presentation device 26 alerts the user.
  • the situation that triggers the error signal can be considered to be a measurement error of the rotation position measurement device 12, a calculation error of the rotation angle acquisition device 16, or an operation programming error of the processing device 22. Then, the processing device 22 does not stop the rotation of the motor 4 even if the error signal is generated.
  • FIGS. 5 to 10 show the control operation executed by the processing device 22 of the rotation abnormality detection device 18 when the motor 4 rotates forward.
  • FIG. 12 is a table showing the main points of this control operation.
  • FIG. 13 is a table showing the main points of the control operation executed by the processing device 22 of the rotation abnormality detection device 18 when the motor 4 rotates in the reverse direction.
  • the operations in FIGS. 12 and 13 are the same.
  • the rotation position of the rotor 4C in FIG. 12 is in the angular region X and the area identifier is (X-1) 1 or (X-1) 2
  • the operation in FIG. The operation is the same as that in the case of being in the area X and the area identifier being (X + 1) 1 or (X + 1) 2.
  • the rotation position of the rotor 4C in FIG. 12 is in the angular region X and the area identifier is (X + 1) 1 or (X + 1) 2
  • the operation in FIG. is the same as that when the area identifier is (X-1) 1 or (X-1) 2.
  • FIG. 13 A flowchart corresponding to FIG. 13 showing the control operation executed by the processing device 22 of the rotation abnormality detecting device 18 when the motor 4 rotates in the reverse direction is omitted.
  • the control operation during the reverse rotation will be understood.
  • the processing device 22 of the rotation abnormality detection device 18 set the first threshold n, the second threshold i, the third threshold j, and the fourth threshold k to be smaller as the rotation speed of the rotor 4C is higher. . Accordingly, the processing device 22 can appropriately perform abnormality detection according to a change in the rotation speed of the motor 4.
  • the rotation abnormality L2 is immediately detected. It is detected (for example, steps S2, S3, S18 in FIG. 6).
  • the count value is similar to the first abnormal area count value, and it is determined that the rotation position of the rotor 4C is located in a certain angle area X, and the area identifier is the second area (X + 1) of the next angle area.
  • the processing device 22 may count a count value that increases when indicating 2, and when the count value reaches a threshold value, the processing device 22 may detect the rotation abnormality L2. In this case, erroneous detection of an abnormality of the motor 4 can be reduced. In particular, when the motor 4 rotates at a very low speed, the false detection can be significantly reduced by comparing such a count value with a threshold value.
  • FIG. 14 is a diagram showing an example of assignment of an angle area at a high-speed rotation of the motor 4.
  • FIG. 14 shows a space including the rotor 4C viewed along the axial direction of the rotor 4C of the motor 4 as in FIG. 3, and the center of the figure coincides with the center of the rotor 4C.
  • an angle area 1 is assigned to four adjacent angle ranges 1 to 4
  • an angle area 2 is assigned to four adjacent angle ranges 5 to 8
  • an angle area 2 is assigned to four adjacent angle ranges 9 to 12. 3 is assigned.
  • the processing device 22 uses the assignment shown in FIG. 3, and when the rotation speed of the rotor 4C is larger than the threshold value, the processing device 22 uses the assignment shown in FIG. Use When the rotation speed of the rotor 4C is equal to the threshold, any of the assignments in FIG. 3 and FIG. 14 may be used.
  • an angle area 1 is assigned to two adjacent angle ranges 1 and 2
  • an angle area 2 is assigned to two adjacent angle ranges 3 and 4
  • an angle area 2 is assigned to two adjacent angle ranges 5 and 6.
  • An angle area 3 is assigned.
  • an angle region 1 is assigned to two adjacent angle ranges 7 and 8
  • an angle region 2 is assigned to two adjacent angle ranges 9 and 10
  • an angle region 3 is assigned to two adjacent angle ranges 11 and 12. Assigned.
  • the processing device 22 uses the assignment shown in FIG. 3, and when the rotation speed of the rotor 4C is larger than the threshold value a, the processing device 22 Use the assignment shown.
  • the rotation speed of the rotor 4C is equal to the threshold value a
  • any of the assignments shown in FIGS. 3 and 15 may be used.
  • the processing device 22 uses the assignment shown in FIG. 15, and when the rotation speed of the rotor 4C is larger than the threshold value b, the processing device 22 Use the assignment shown.
  • the threshold value b is higher than the threshold value a.
  • any of the assignments shown in FIGS. 15 and 14 may be used.
  • FIG. 16 is a flowchart showing a simple control operation performed by the processing device 22 of the rotation abnormality detection device 18 when the motor 4 rotates at high speed in the normal direction.
  • the processing device 22 of the rotation abnormality detection device 18 shifts to the high-speed mode and executes the control operation of FIG. If it is smaller, the mode shifts to the low-speed mode, and the control operations in FIGS. 5 to 10 are executed.
  • the rotation speed of the rotor 4C is equal to the threshold, any control operation may be performed.
  • the control operation in the high-speed mode in FIG. 16 is executed in a predetermined short control cycle.
  • the processing device 22 monitors the clock signal supplied from the oscillation circuit 20, and periodically starts the control operation shown in FIG.
  • each angle region corresponds to one area, and the processing device 22 uses only the count value and the area identifier among the above parameters.
  • the count value is reset when it is detected that the rotational position of the rotor 4C has entered each angle region (for example, step S30 in FIG. 16).
  • the count value is incremented by one in each control cycle (Step S22 in FIG. 16). Therefore, the count value is a multiple of the control cycle after the rotation position of the rotor 4C enters a certain angle region (in the high-speed mode, that is, a certain area), and is an angle region where the rotation position of the rotor 4C is in a certain angle region (the high-speed mode , That is, the stay time after entering a certain area).
  • the area identifier indicates in which area the rotational position of the rotor 4C is located.
  • the area identifier is changed from X-1 indicating an area corresponding to the angle area X-1 preceding the angle area to the angle area X. Is changed to X indicating an area to be changed (for example, step S29 in FIG. 16).
  • the area identifier does not return from X to the previous value X-1.
  • the rotation position determination unit of the processing device 22 has an area specifying unit that specifies an area where the rotation position of the rotor 4C is located, depending on the area identifier. In addition, the rotation position determination unit of the processing device 22 determines the angle region where the rotation position of the rotor 4C is located, based on the measurement information from the rotation angle acquisition device 16 that indicates the rotation position of the rotor 4C.
  • step S22 the processing device 22 increments the count value by one.
  • step S23 the rotation position determination unit of the processing device 22 determines which angle region the rotation position of the rotor 4C is located based on the measurement information from the rotation angle acquisition device 16.
  • step S24 the area identifying unit of the processing device 22 determines whether the area identifier stored in the storage device 24 is any one of 1, 2, and 3. Is specified. That is, in step S24, the area specifying unit of the processing device 22 specifies which area the rotational position of the rotor 4C is located on the basis of the area identifier stored in the storage device 24.
  • the processing device 22 determines in step S25 that the count value stored in the storage device 24 It is determined whether the threshold value n, that is, the first threshold value has been reached. n is an integer of 1 or more. If the count value is less than the threshold value n, the control operation ends, and the control operation starts in the next control cycle.
  • the abnormality detection unit of the processing device 22 detects a rotation abnormality L3 of the motor 4 in step S26. At this time, the processing device 22 supplies the detection signal to the motor drive device 2, stops the power supply to the motor 4 by the motor drive device 2, and stops the rotation of the motor 4. Further, the abnormality detection unit of the processing device 22 supplies a detection signal indicating the rotation abnormality L3 to the information presentation device 26 to notify the user of the occurrence of the rotation abnormality L3. After step S26, the control operation ends, but the control operation is not started in the next control cycle unless the recovery of the motor 4 is completed.
  • the rotation abnormality L3 is an abnormality in which the residence time of the rotor 4C in the angular area X (the area X in the high-speed mode) is too long.
  • the rotation position determination unit of the processing device 22 determines, and when the rotation position of the rotor 4C is located in the area X corresponding to the angle area X,
  • the area specifying unit of the processing device 22 specifies, when the stay time of the rotor 4C reaches the threshold value n, the abnormality detection unit of the processing device 22 detects the rotation abnormality L3.
  • step S27 the count value stored in the storage device 24. Is determined to have reached the threshold i, that is, the second threshold. i is an integer greater than or equal to 1 and is much smaller than n. If the count value is less than the threshold value i, the control operation ends, and the control operation starts in the next control cycle.
  • step S28 the abnormality detection unit of the processing device 22 detects the rotation abnormality L2 of the motor 4.
  • the processing device 22 supplies the detection signal to the motor drive device 2, stops the power supply to the motor 4 by the motor drive device 2, and stops the rotation of the motor 4.
  • the abnormality detection unit of the processing device 22 supplies a detection signal indicating the rotation abnormality L2 to the information presentation device 26 to notify the user of the occurrence of the rotation abnormality L2.
  • step S28 the control operation ends, but the control operation is not started in the next control cycle unless the recovery of the motor 4 is completed.
  • the rotation abnormality L2 is an abnormality in which the rotor 4C is locked near the boundary between the angle regions.
  • the rotational position determining unit of the processing device 22 determines, and the rotational position of the rotor 4C corresponds to the next angular area X + 1 of the angular area X.
  • the abnormality detection unit of the processing device 22 detects the rotation abnormality L2.
  • the threshold value i which is a condition for detecting the rotation abnormality L2
  • the reason why the threshold value i is provided in this manner is to reduce erroneous detection due to noise.
  • the area identification unit of the processing device 22 stores the information in the storage device 24 in step S29.
  • the changed area identifier is changed from 3 to 1 (to indicate the area 1 corresponding to the angle area 1).
  • the rotation position of the rotor 4C is specified by the area specifying unit and the rotation position of the rotor 4C is set to the next angle area X + 1 of the angle area X.
  • the rotation position determination unit determines that the rotation position of the rotor 4C has shifted to the area X + 1 corresponding to the next angle region X + 1, the area identification unit of the processing device 22 identifies the rotation position.
  • step S30 the time monitoring unit of the processing device 22 resets the count value stored in the storage device 24.
  • step S30 the control operation ends, and the control operation starts in the next control cycle.
  • the rotation position of the rotor 4C is located in the area X corresponding to the certain angle area X
  • the rotation position of the rotor 4C is specified by the area specifying unit and the rotation position of the rotor 4C is set to the next angle area X + 1 of the angle area X.
  • the time monitoring unit of the processing device 22 resets the count value (that is, starts counting the stay time).
  • step S23 If it is determined in step S23 that the rotational position of the rotor 4C is located in the angle region 2 or the angle region 3, the control operation proceeds to another step shown in FIG. Although the description of the control operation in these cases is omitted, the control operation in these cases will be understood by referring to the above description.
  • the rotation abnormality L3 determined in the high-speed mode is, like the rotation abnormality L3 in the low-speed mode, an abnormality in which the residence time of the rotor 4C in the angular region X (the area X in the high-speed mode) is too long.
  • the rotation abnormality L3 is accompanied by stagnation of the angular position of the rotor 4C in the area illustrated in FIG.
  • the rotation abnormality L3 is detected when the count value reaches the threshold value n (for example, step S26 in FIG. 16).
  • the count value corresponds to a stay time after the rotation position of the rotor 4C enters the angle region X. Since the rotation abnormality L3 of the rotor 4C is detected when the stay time of the rotor 4C in each angle region reaches the threshold value, the rotation abnormality of the rotor 4C can be performed without waiting for the time required for the rotor 4C to make one rotation. L3 can be detected.
  • the rotation abnormality L2 determined in the high-speed mode is an abnormality in which the rotor 4C is locked near the boundary between the angle regions.
  • the rotation abnormality L2 is accompanied by a return movement from the angle region to the immediately preceding angle region as shown in FIG.
  • the area identifier indicates the area X + 1 corresponding to the next angle area X + 1, and the count value reaches the threshold value i. Is detected (for example, step S28 in FIG. 16).
  • the area identifier indicates the area X + 1 corresponding to the next angle area X + 1, and the count value reaches the threshold value i, it is determined that the rotation position of the rotor 4C is located in the next angle area X + 1, and then the count value is reduced to the threshold value i. At least the time required to reach i has elapsed (see, for example, steps S31 and S32 in FIG. 16).
  • the rotation abnormality L2 is detected. Since the threshold value i is smaller than the threshold value n, the rotation abnormality L2 of the rotor 4C can be detected without waiting for the time required for the rotor 4C to make one rotation.
  • the rotation abnormalities L1-1 and L1-2 detected in the low-speed mode are not detected.
  • the rotation abnormality L2 involves a return movement from the angle region to the immediately preceding angle region as shown in FIG. 11, the rotation abnormality corresponding to the rotation abnormality L1-1 and L1-2 is caused by the rotation in the high-speed mode. It is detected as abnormality L2.
  • FIG. 16 shows a simple control operation executed by the processing device 22 of the rotation abnormality detection device 18 when the motor 4 is rotating forward at high speed.
  • FIG. 17 is a table showing the main points of this control operation.
  • FIG. 18 is a table showing the main points of a simple control operation executed by the processing device 22 of the rotation abnormality detecting device 18 when the motor 4 rotates at high speed in the reverse direction.
  • the operations in FIGS. 17 and 18 are the same.
  • FIG. 17 when the rotational position of the rotor 4C is in the angular area X and the area identifier is X-1, the operation shown in FIG. 18 is that the rotational position of the rotor 4C is in the angular area X and the area identifier is X + 1. This is the same as the operation in a certain case.
  • FIG. 17 when the rotational position of the rotor 4C is in the angular area X and the area identifier is X, the operation shown in FIG. 18 is that the rotational position of the rotor 4C is in the angular area X and the area identifier is X + 1. This is the same as the operation in a certain case.
  • FIG. 17 when the rotational position of the rot
  • FIG. 18 shows a control operation performed by the processing device 22 of the rotation abnormality detecting device 18 when the motor 4 rotates in the reverse direction.
  • the processing device 22 may detect the rotation abnormality L2.
  • the angle ranges 1 to 12 around the rotor 4C are classified into three angle regions 1 to 3 (FIGS. 3, 14, and 15).
  • the angle range and the angle area may be assigned by another method.
  • FIG. 19 shows an angle range and an angle area used in the modification.
  • the angle ranges 1 to 10 are obtained by dividing 360 ° around the rotor 4C into ten equal parts, each having a size of 36 °.
  • Three angular regions 1 to 3 that are repeated are assigned to the angle ranges 1 to 9. That is, the angle area 1 is assigned to the three angle ranges 1, 4, and 7, the angle area 2 is assigned to the three angle ranges 2, 5, and 8, and the angle area 3 is assigned to the three angle ranges 3, 6, and 9. Assigned.
  • the angle area 4 is assigned to the angle range 10.
  • the processing device 22 of the rotation abnormality detecting device 18 identifies the angular regions 1 to 4.
  • the above control operation is modified on the premise of the angle regions 1 to 4.
  • FIG. 20 shows an angle range and an angle area used in another modification.
  • the angle ranges 1 to 8 are obtained by dividing 360 ° around the rotor 4C into eight equal parts, each having a size of 45 °.
  • the angle area 1 is assigned to the two angle ranges 1 and 4
  • the angle area 2 is assigned to the two angle ranges 2 and 5
  • the angle area 3 is assigned to the two angle ranges 3 and 6.
  • the angle ranges 4 and 5 are assigned to the angle ranges 7 and 8, respectively.
  • the processing device 22 of the rotation abnormality detecting device 18 identifies the angular regions 1 to 5.
  • the above control operation is modified on the premise of the angle regions 1 to 5.
  • the simple control operation shown in FIGS. 16 to 18 is an operation when the motor 4 rotates at a high speed. However, if the predetermined condition is satisfied even at times other than the high-speed rotation, the rotation abnormality detection device may shift to the simple operation mode and use the simple control operation shown in FIGS.
  • each function executed by the processing device 22 may be executed by hardware instead of the processing device, or for example, an FPGA (Field Programmable Gate Array), a DSP (Digital Signal Processor), or the like. It may be executed by a programmable logic device.
  • FPGA Field Programmable Gate Array
  • DSP Digital Signal Processor

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

Abstract

L'invention concerne un dispositif de détection d'anomalie de rotation pour un moteur, comprenant : une unité de détermination de position de rotation qui détermine la position de rotation d'un rotor du moteur; une unité de surveillance temporelle qui surveille un temps de séjour à partir du moment où la position de rotation du rotor déterminée par l'unité de détermination de position de rotation pénètre dans chaque région angulaire d'une pluralité de régions angulaires dans la direction de rotation du rotor; et une unité de détection d'anomalie qui détecte une anomalie de rotation du rotor, sur la base du temps de séjour du rotor dans chaque région angulaire.
PCT/JP2019/018167 2018-06-26 2019-04-27 Dispositif de détection d'anomalie de rotation, procédé de commande, procédé de détection d'anomalie de rotation, et programme WO2020003737A1 (fr)

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JP2018-121350 2018-06-26

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WO2020003737A1 true WO2020003737A1 (fr) 2020-01-02

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007138676A1 (fr) * 2006-05-30 2007-12-06 Mitsubishi Electric Corporation Dispositif de commande de direction
JP2009204316A (ja) * 2008-02-26 2009-09-10 Nsk Ltd 回転角度位置検出装置および回転角度位置検出方法
JP2014134547A (ja) * 2014-03-05 2014-07-24 Nsk Ltd 回転角度位置検出装置、回転角度位置検出方法およびモータ

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2007138676A1 (fr) * 2006-05-30 2007-12-06 Mitsubishi Electric Corporation Dispositif de commande de direction
JP2009204316A (ja) * 2008-02-26 2009-09-10 Nsk Ltd 回転角度位置検出装置および回転角度位置検出方法
JP2014134547A (ja) * 2014-03-05 2014-07-24 Nsk Ltd 回転角度位置検出装置、回転角度位置検出方法およびモータ

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