WO2020031943A1 - 位置推定方法、モータ制御装置およびモータシステム - Google Patents

位置推定方法、モータ制御装置およびモータシステム Download PDF

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Publication number
WO2020031943A1
WO2020031943A1 PCT/JP2019/030655 JP2019030655W WO2020031943A1 WO 2020031943 A1 WO2020031943 A1 WO 2020031943A1 JP 2019030655 W JP2019030655 W JP 2019030655W WO 2020031943 A1 WO2020031943 A1 WO 2020031943A1
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Prior art keywords
rotor
learning data
feature amount
motor
amount learning
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PCT/JP2019/030655
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English (en)
French (fr)
Japanese (ja)
Inventor
超 居
剛一 高江
友博 福村
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日本電産株式会社
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Priority to CN201980051451.9A priority Critical patent/CN112534706B/zh
Publication of WO2020031943A1 publication Critical patent/WO2020031943A1/ja

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position

Definitions

  • the present application relates to a method for estimating a mechanical angle of a rotor with high accuracy.
  • the present application also relates to a motor control device and a motor system.
  • a motor such as a permanent magnet synchronous motor generally includes a rotor having a plurality of magnetic poles, a stator having a plurality of windings, and a magnetic sensor such as a Hall element or a Hall IC for sensing magnetic flux formed by the magnetic poles of the rotor. ing.
  • a position sensor such as a rotary encoder or a resolver is used.
  • Japanese Patent Laying-Open No. 2002-112579 discloses a phase detection device that estimates the phase (electrical angle) of a rotor based on the output of a Hall IC.
  • the electrical angle of the rotor is calculated using a phase signal (pulse signal generated in electrical angle units of 60 °) periodically obtained from the output of the Hall IC and the rotational speed of the rotor.
  • a phase signal pulse signal generated in electrical angle units of 60 °
  • phase detection device disclosed in Japanese Patent Application Laid-Open Publication No. 2002-112579 cannot determine from the Hall IC which signal is generated by which magnetic pole pair of the rotor. Further, phase signals periodically obtained from the output of the Hall IC are treated as signals generated at equal intervals. As will be described in detail later, the interval between such phase signals varies. Therefore, the above-described phase detection device cannot estimate the mechanical angle of the rotor with high accuracy.
  • Embodiments of the present disclosure provide a method, a motor controller, and a motor system for estimating a mechanical angle of a rotor by a new algorithm.
  • the method of the present disclosure estimates a position of a rotor in a motor having a rotor, a stator, and a sensor device that outputs an electrical signal that varies periodically with the rotation of the rotor.
  • the computer includes a sequence of a plurality of measurements defining a waveform characteristic of a first electrical signal output from the sensor device when the rotor is rotating.
  • a storage medium that stores first feature amount learning data that is feature amount learning data and that defines a relationship between a plurality of divided regions that define a machine position of the rotor and the plurality of measurement values; Acquiring quantity learning data; receiving a second electrical signal output from the sensor device when the rotor is rotating; and obtaining waveform characteristics of the second electrical signal.
  • a second feature amount learning data including a sequence of a plurality of detection values defining a waveform feature of the output second electric signal, wherein the plurality of segmented regions defining a mechanical position of the rotor and the plurality of segmented regions are provided.
  • the apparatus of the present disclosure is, in an exemplary embodiment, a motor control device used in combination with a motor having a rotor, a stator, and a sensor device that outputs an electrical signal that varies periodically with the rotation of the rotor.
  • a computer that stores a program for operating the computer, wherein the computer generates a waveform characteristic of a first electric signal output from the sensor device when the rotor is rotating.
  • a first feature amount learning data including a sequence of a plurality of defined measurement values, wherein a first relationship defining a plurality of segmented regions defining a machine position of the rotor and the plurality of measurement values is defined.
  • Second feature amount learning data in which a relationship between a plurality of segmented regions defining a mechanical position of the rotor and the plurality of detection values is defined; Learning data and said Based on the difference between the second feature quantity learning data, determining at least one of the deteriorated state of the motor and the sensor device, for execution.
  • a motor system includes a motor having a rotor, a stator, and a sensor device that outputs an electric signal that changes periodically according to rotation of the rotor, and a motor drive that drives the motor. And a motor control device as described above connected to the motor drive device.
  • a method for estimating a mechanical angle of a rotor by performing matching on a sequence of a plurality of numerical values defining a waveform characteristic of an electric signal that periodically changes according to rotation of a rotor An apparatus and a motor system are provided.
  • FIG. 1 is a diagram schematically showing a configuration example of a cross section perpendicular to the center axis of rotation of the motor.
  • FIG. 2 is a graph showing an example of a waveform of an electric signal obtained from the Hall sensors Hu, Hv, and Hw.
  • FIG. 3 is a diagram showing an example of the output waveform of the Hall IC.
  • FIG. 4 is a diagram showing an example of the arrangement of three Hall ICs in the motor.
  • FIG. 5 is a diagram showing an example of a state transition of a digital signal output from each Hall IC.
  • FIG. 6 is a diagram showing the relationship between mechanical positions 0 to 11 and electrical positions E0 to E5.
  • FIG. 7 is a diagram schematically illustrating an example of the measured edge interval.
  • FIG. 1 is a diagram schematically showing a configuration example of a cross section perpendicular to the center axis of rotation of the motor.
  • FIG. 2 is a graph showing an example of a waveform of an electric signal obtained
  • FIG. 8 is a schematic diagram in which the measured value of the angle width ⁇ [i] is represented by the bar height for each machine position [i].
  • FIG. 9 is a flowchart illustrating a processing procedure of an exemplary position estimation method.
  • FIG. 10A is a diagram schematically illustrating an example in which the sum of squares of the error of the feature amount is relatively large.
  • FIG. 10B is a diagram schematically illustrating an example in which the sum of squares of the error of the feature amount is the minimum.
  • FIG. 11 is a diagram for explaining the mechanical angle estimation process.
  • FIG. 12 is a diagram for explaining the mechanical angle estimation processing in detail.
  • FIG. 13 is a schematic diagram for explaining a method of calculating the mechanical angle by calculating the rotation speed V for each period ⁇ t in the divided area N.
  • FIG. 10A is a diagram schematically illustrating an example in which the sum of squares of the error of the feature amount is relatively large.
  • FIG. 10B is a diagram schematically illustrating an example
  • FIG. 14 is a flowchart illustrating a procedure of an example of a mechanical angle estimation process after determination of a segmented area.
  • FIG. 15 is a diagram schematically illustrating an example of a reference that is continuously updated and changes.
  • FIG. 16 is a flowchart illustrating a procedure of an exemplary reference update process.
  • FIG. 17A is a schematic diagram in which the measured value of the angular width for each of the divided areas determined based on the normal matching result until the time t is represented by the height of the bar.
  • FIG. 17B is a schematic diagram showing measured values of the angle width for each of the divided areas acquired after time t.
  • FIG. 18 is a flowchart illustrating a procedure of an exemplary abnormality determination process.
  • FIG. 18 is a flowchart illustrating a procedure of an exemplary abnormality determination process.
  • FIG. 19A is a schematic diagram illustrating an example of a reference at the time of factory shipment.
  • FIG. 19B is a schematic diagram illustrating an example of an updated reference.
  • FIG. 20 is a flowchart illustrating a procedure of an exemplary time-dependent deterioration determination process.
  • FIG. 21 is a diagram illustrating a configuration example of an exemplary motor system.
  • FIG. 22 is a diagram illustrating an example of a hardware configuration of a motor control device in an exemplary motor system according to the present disclosure.
  • FIG. 23 is a diagram illustrating a configuration example of a processing block of an exemplary motor control device according to the present disclosure.
  • FIG. 1 is a cross-sectional view schematically illustrating a schematic configuration of a motor M including a rotor R having a plurality of magnetic poles N0, S0, N1, and S1, and a stator S. This sectional view is perpendicular to the central axis of rotation of the rotor R.
  • the motor M in FIG. 1 has a configuration of four poles and six slots, and the stator S has six teeth (not shown). The six teeth are excited by U-phase, V-phase, or W-phase windings, respectively. The windings are connected to a drive, not shown.
  • the motor M in this example includes three Hall elements Hu, Hv, Hw.
  • the Hall elements Hu, Hv, Hw are arranged at different positions which are rotated by a predetermined angle around the central axis of rotation of the rotor R.
  • the Hall elements Hu, Hv, Hw respectively sense magnetic fluxes formed by the magnetic poles N0, S0, N1, S1 of the rotor R, and output analog electric signals.
  • FIG. 1 the arrangement of the magnetic poles N0, S0, N1, and S1 is schematically illustrated for simplicity.
  • the actual magnetic poles N0, S0, N1, S1 are respectively provided by permanent magnets provided on or inside the rotor R.
  • the magnetic poles N0 and N1 form N poles at different positions on the surface of the rotor R, respectively.
  • the magnetic poles S0 and S1 form S poles at different positions on the surface of the rotor R, respectively.
  • the magnetic poles N0 and S0 form a first magnetic pole pair
  • the magnetic poles N1 and S1 form a second magnetic pole pair.
  • the rotor R in this example has two “magnetic pole pairs”.
  • the “number of magnetic pole pairs” may be referred to as a pole pair number NPP .
  • these magnetic poles N0, S0, N1, S1 form a magnetic flux ⁇ g in a gap between the rotor R and the stator S, and contribute to magnet torque.
  • One cycle of the sine wave of the magnetic flux ⁇ g corresponds to each magnetic pole pair.
  • the magnetic flux ⁇ g becomes sinusoidal with a period equal to the “number of magnetic pole pairs”. Vibrate.
  • the number of pole pairs NPP is 2
  • the circumferential position ⁇ s changes by 2 ⁇ radians (360 °) along the outer peripheral surface of the rotor R
  • the magnetic flux ⁇ g becomes sinusoidal for two periods.
  • the angle at which the magnetic flux ⁇ g changes sinusoidally for one cycle that is, the angle corresponding to “one magnetic pole pair” is defined as “360 ° electrical angle”.
  • the angle at which the rotor R makes one physical (mechanical) rotation around the central axis of rotation is defined as “360 ° of mechanical angle”.
  • “360 ° of mechanical angle” when “360 ° of mechanical angle” is converted into an electrical angle, it is “360 ° ⁇ the number of pole pairs N PP ”.
  • the Hall elements Hu, Hv, and Hw respectively provide the intensity (magnetic flux density) and direction of the magnetic flux formed by the magnetic poles N0, S0, N1, and S1 of the rotor R. May output an electric signal such as a voltage that changes in response to the signal.
  • the output (for example, voltage) of the Hall element Hu can show a maximum value.
  • the output of the Hall element Hu decreases as the center of the magnetic pole N0 moves away from the Hall element Hu.
  • the output of the Hall element Hu can show a minimum value.
  • the output of the Hall element Hu can show the next maximum value.
  • the output of the Hall element Hu changes periodically according to the rotational position of the rotor R.
  • the Hall elements Hv and Hw also change periodically according to the rotational position of the rotor R, similarly to the Hall element Hu.
  • the Hall elements Hv, Hw are located at positions rotated from the position of the Hall element Hu by a predetermined angle (120 ° in electrical angle) with respect to the center axis of rotation, and therefore the Hall elements Hu, Hv, Hw include the magnetic poles N0, S0. , N1, and S1 are sensed at mutually different phases, and electric signals are output.
  • the arrangement intervals of the Hall elements Hu, Hv, and Hw are not strictly 120 degrees in electrical angle, but generally vary randomly from 120 degrees by an amount corresponding to the mounting error.
  • FIG. 2 is a diagram illustrating a waveform example of an electric signal output from the Hall elements Hu, Hv, and Hw when the rotor R makes one rotation around the rotation center.
  • the horizontal axis is the rotational position of the rotor R, and the vertical axis is the voltage.
  • the output of the Hall element Hu is indicated by a dashed line
  • the output of the Hall element Hv is indicated by a dotted line
  • the output of the Hall element Hw is indicated by a solid line.
  • the output (solid line) of the Hall element Hw in FIG. 2 while the rotor R makes one rotation around the center of rotation, voltages having different maximum values are output at two different rotation positions. You can see that there is.
  • One of the causes that the voltage output from the same Hall element Hw indicates a different maximum value may be that the magnetomotive force differs between the magnetic pole N0 and the magnetic pole N1 of the rotor R.
  • the Hall elements Hu, Hv, Hw can output electric signals with different sensitivities (gains) in response to the same magnetic flux. Such differences in sensitivity are caused by individual differences due to manufacturing variations of the Hall elements Hu, Hv, and Hw, and misalignment of directions and / or positions that can occur when the Hall elements Hu, Hv, and Hw are fixed to the motor. Can depend. Also, the sensitivity can change depending on the temperature. Such temperature dependence may differ depending on the Hall elements Hu, Hv, Hw.
  • FIG. 3 is a diagram illustrating an example of an output waveform of the Hall IC.
  • the Hall IC senses a magnetic flux (specifically, magnetic flux density) that changes in accordance with the rotation of the rotor R, and outputs a digital signal that transitions between a logical low (Low) and a logical high (High).
  • a logical low (Low) may be displayed as “L”
  • a logical high (High) may be displayed as “H”.
  • a general Hall IC incorporates the above-described Hall element and IC circuit.
  • Such an IC circuit can be configured to transition from Low to High when the output (analog signal) of the Hall element exceeds the threshold Th1, for example, and transition from High to Low when the output (analog signal) falls below the threshold Th2 (Th1). > Th2).
  • FIG. 4 shows a configuration example of a motor M in which three Hall ICs (H1, H2, H3) are arranged at positions rotated by a predetermined angle (120 ° in electrical angle) with respect to the center axis of the rotation of the rotor R. This is schematically shown.
  • the electric signals (digital signals) output from the three Hall ICs (H1, H2, H3) are indicated by “H1,” “H2,” and “H3,” respectively.
  • the signals H1, H2, H3 periodically transition between Low and High at mutually different phases.
  • FIG. 5 is a diagram illustrating an example of a state transition of the signals H1, H2, and H3.
  • the horizontal axis represents time or the rotational position of the rotor.
  • FIG. 5 shows a state transition of two cycles in electrical angle.
  • the combination of each state (“L” or “H”) of the signals H1, H2, and H3 changes in six steps within one cycle (360 degE) of the electrical angle.
  • the row of vertical arrows in FIG. 5 is a row of phases ⁇ 0 , ⁇ 1 , ⁇ 2 ,... Indicating timings of rising edges and falling edges in digital signals output from three Hall ICs.
  • a phase signal is generated each time the rotor R rotates by 60 electrical degrees.
  • the time of the phase ⁇ 0 , ⁇ 1 , ⁇ 2 ,... Of the edge is caused by unevenness of the magnetomotive force distribution on the outer peripheral surface of the rotor R, the individual difference of the Hall element, and the mounting variation.
  • the interval (edge interval) is not constant.
  • the i-th phase signal is represented by ⁇ [i]
  • the time interval (edge interval) from the edge phase ⁇ [i ⁇ 1] to the edge phase ⁇ [i] is represented by ⁇ t [i]. is there.
  • Table 1 below is a table showing an example of a relationship between a combination of each state (“L” or “H”) of the signals H1, H2, and H3 and the phase of the rotor R.
  • the phase of the rotor R is defined by the electrical angle of the rotor R.
  • the phase (electrical angle) of the rotor R is included in any of the six regions equally dividing the electric angle of 360 °. These six regions are referred to as "electrical locations.” In this specification, numbers of E0, E1, E2, E3, E4, and E5 are assigned to the six “electrical positions”, respectively.
  • “Electrical location” has a width of about 60 electrical degrees.
  • the current phase of the rotor R can be detected from a combination of the respective states (“L” or “H”) of the signals H1, H2, and H3. For example, when the signals H1, H2, and H3 are "H”, “L”, and “L”, respectively, the phase of the rotor R is at the electrical position E1. When the rotor R rotates and the signal H2 changes from “L” to “H”, that is, when the signals H1, H2, and H3 are “H”, “H”, and “L”, respectively, the phase of the rotor R is It can be seen that the electric position E1 has shifted to the electric position E2.
  • the current electrical position of the rotor R can be determined from the combination of the respective states ("L” or "H") of the signals H1, H2, and H3, but the mechanical angle of the rotor R cannot be specified. As shown in FIG. 5, the state in which the signals H1, H2, and H3 are "H", "L", and “L” respectively appears at a cycle of 360 electrical degrees with the rotation of the rotor R. During one mechanical rotation of the rotor R, the electrical position of the rotor R shows the same value as the number of magnetic pole pairs. If only the motor is rotated, the electrical position of the rotor R or the phase (electrical angle) of the rotor R may be detected, and there is no need to detect or estimate the mechanical angle of the rotor.
  • FIG. 6 is a diagram showing a relationship between mechanical positions 0 to 11 and electrical positions E0 to E5.
  • the “mechanical position” is a physical position of the rotor determined by a combination of the respective states (“L” or “H”) of the signals H1, H2, and H3 and the magnetic pole pair that causes the states to be generated in the Hall IC. is there.
  • Each “machine position (section area)” has a unique angular width. The angular width is defined by the interval (edge interval) between the rising edge and the falling edge in the waveform P in FIG.
  • the angle width of each machine position (section area) is about 30 ° in mechanical angle, but the total value of the angle widths of 12 machine positions (section areas) is exactly 360 °. is there. Note that the angular width of each machine position (sectioned area) does not need to be quantified in mechanical angle, but may be quantified in electrical angle. In this specification, the angular width of the machine position may be referred to as a “feature amount”.
  • the edge spacing of the digital signal may be different at different machine positions.
  • the edge interval ( ⁇ [1] ⁇ [0]) at the mechanical position 0 may be different from the edge interval ( ⁇ [7] ⁇ [6]) at the mechanical position 6.
  • FIG. 7 is a diagram schematically illustrating an example of an edge interval measured when the rotor R is rotating at a constant speed.
  • a time ⁇ t [i] from the detection of the edge phase ⁇ i to the detection of the next edge phase ⁇ i + 1 is measured by, for example, a timer in a computer.
  • the segmented area defined by the edge phase ⁇ i and the edge phase ⁇ i + 1 is the machine position i.
  • the angular width ⁇ [i] of the machine position i that is, the mechanical angle at which the rotor R rotates between the generation (detection) of the edge phase ⁇ i and the generation (detection) of the edge phase ⁇ i + 1 is ⁇ t [i] ⁇ machine It is equal to the angular velocity V.
  • ⁇ t [i] is the time required for a rotation of 360 ° mechanical angle (one rotation of the rotor), and “degM” is a unit of mechanical angle.
  • the arrangement of the measured values of the angle width ⁇ [i] defines the waveform characteristics of the electric signal output from the sensor device that outputs the electric signal that changes periodically according to the rotation of the rotor.
  • the feature amount learning data in which the relationship between the mechanical position [i] of the rotor and the measured value of the angle width ⁇ [i] is specified is such that the motor is actually operated and the rotor is driven at a constant speed. Obtained while rotating with.
  • the rotation of the rotor is not limited to one rotation.
  • the angle width ⁇ [i] of each machine position [i] may be determined by averaging the values measured in the process of the rotor making multiple rotations. The data thus obtained can be stored in a storage medium as feature amount learning data (table).
  • a feature amount learning data including a sequence of a plurality of measurement values defining a waveform feature of an electric signal output from such a sensor device is used as a reference, and the mechanical position or mechanical angle of the rotor is determined.
  • the feature amount learning data is data that defines a relationship between a plurality of machine positions (a plurality of divided areas) of the rotor and a plurality of measured values.
  • Such feature amount learning data may be generated, for example, before shipping the motor or at the time of startup, and may be stored in a storage medium.
  • a sequence of a plurality of detection values that define the waveform characteristics of the electric signal output from the sensor device is acquired.
  • the position estimation method of the present disclosure estimates, in a non-limiting, exemplary embodiment, a rotational position of a rotor in a motor including a rotor and a stator.
  • This motor includes a sensor device that outputs an electric signal that changes periodically according to the rotation of the rotor.
  • a typical example of the sensor device is a non-contact magnetic sensor that converts a magnetic field generated in a motor into an electric signal and outputs the electric signal, such as a Hall element or a Hall IC.
  • FIG. 9 is a flowchart illustrating a processing procedure of the position estimation method according to the embodiment of the present disclosure.
  • This position estimating method is a method implemented in a computer, and the computer determines at least the segmented region where the rotor exists by executing the following processes (1) to (3). Note that the “step” in parentheses in each process represents the step in FIG.
  • the computer rotates the rotor at a constant speed (step S1).
  • the computer acquires the feature amount learning data from the storage medium storing the feature amount learning data (step S2).
  • the feature amount learning data includes an array of a plurality of measurement values that define the waveform feature of the first electric signal output from the sensor device when the rotor is rotating.
  • a relationship between a plurality of segmented regions that define the machine position of the rotor and a plurality of measured values is defined.
  • Such feature amount learning data may be acquired during an off-line operation, for example, before the motor is shipped from a factory, and may be stored in a recording medium. However, the feature amount learning data may be updated when the shipped motor is operating or when the motor is stopped.
  • Process (2) When the rotor is rotating, the computer receives the second electric signal output from the sensor device. Then, a plurality of detection values that define the waveform characteristics of the second electric signal are sequentially acquired, respectively (step S3). These detection values may typically be obtained immediately after the motor user has started the motor by power cycling, or during operation of the motor. For this reason, an arrangement of a plurality of detection values that define the waveform characteristic of the second electric signal may be referred to as an “online detection value”.
  • Process (3) The computer performs matching between at least one detected value including the latest detected value among the plurality of detected values, and a sequence of a plurality of measured values included in the feature amount learning data (Ste S4). With this matching, the computer determines a segmented area associated with the current machine position of the rotor (step S5).
  • a computer that controls the motor starts the motor, and rotates the rotor in a predetermined direction at a constant speed by a known motor control algorithm such as vector control.
  • a motor control algorithm such as vector control.
  • the electrical position of the rotor is determined according to the output of a sensor device such as a Hall IC.
  • the computer shifts from the normal operation mode to the matching mode.
  • a plurality of detection values that define the waveform characteristics of the second electric signal output from the sensor device are sequentially obtained.
  • the “plurality of detection values” in the present embodiment is obtained by performing the same measurement as that performed when acquiring the feature amount learning data.
  • the “plurality of detected values” are obtained by sequentially measuring the elapsed time of the edge interval between adjacent rising edges and falling edges in the digital signal output from the Hall IC, and , Obtained by determining the angular width of the individual edge intervals based on the elapsed time of the individual edge intervals measured during one mechanical revolution of the rotor at a constant speed.
  • an average value of the elapsed time of the individual edge intervals measured during two or more mechanical rotations of the rotor at a constant speed may be used.
  • the past three detected values thus obtained are, for example, 60.6 °, 58.2 °, and 62.1 ° in electrical angle.
  • the machine positions corresponding to the past three detected values can be determined to be the machine positions 5, 6, and 7, respectively.
  • the current rotor is at the machine position 8.
  • the past three detected values are used for matching, but matching may be performed using U (U is an integer of 1 or more) detected values.
  • U is preferably 2 or more, typically 3 or more.
  • the case where U is 1 means that the machine position is determined by one detected value.
  • mapping is performed with reference to the feature amount learning data in Table 2 to find the closest feature amount learning data. It is possible to determine that the machine position corresponding to the found feature amount learning data is the machine position at which the one detected value is obtained.
  • the matching can be performed so as to minimize the sum of absolute values of the error of the feature amount (difference between the measured value and the detected value) or the sum of squares of the error. Since the electric position is determined based on the outputs from the three Hall ICs, the matching can be completed if the magnetic pole pair can be specified.
  • FIG. 10A is a diagram schematically illustrating an example in which the sum of squares of the error of the feature amount is relatively large.
  • FIG. 10B is a diagram schematically illustrating an example in which the sum of squares of the error of the feature amount is the minimum.
  • a broken line indicates a sequence of measured values (reference), and a solid line indicates a sequence of detected values.
  • the computer determines that the matching is established.
  • the state where the matching is established may be expressed as “Matched”. If “Matched”, the current machine position (section area) of the rotor is determined. If the value of the sum of squares is equal to or greater than a predetermined threshold, the computer outputs an error. If an error is output, the machine position (section area) of the rotor is not determined.
  • Each of the above processes can be performed by a general-purpose microcontroller, a microcontroller for a motor, or a computing device such as a digital signal processing device (DSP).
  • DSP digital signal processing device
  • An analog signal output from a sensor device having a Hall element is converted into a digital signal by, for example, an AD conversion circuit.
  • a digital signal output from a sensor device having a Hall IC can typically be input to a computing device as it is.
  • the above-described embodiment using three Hall ICs as the sensor device is an example.
  • a Hall element may be used instead of the Hall IC, and the number of sensor devices may be four or more.
  • the waveforms of FIGS. 2, 5, and 6 are changed to waveforms of the number corresponding to the number of sensor devices, and a combination of High and Low corresponding to the number of waveforms is obtained.
  • the above-described concept can be applied to the case where the rotation direction of the motor is normal rotation and reverse rotation. That is, the measured values of the mechanical position i and the angle width ⁇ [i] in Table 2 can be obtained for each of the forward and reverse rotations of the motor.
  • the feature amount learning data may include a function that gives the mechanical angle of the rotor at each end of each of the plurality of divided regions or the angular width of each divided region as a variable with the mechanical position and the rotation direction of the rotor.
  • FIG. 11 is a diagram for explaining the mechanical angle estimation process.
  • the mechanical angle is the mechanical angle ⁇ 2 at the head position (edge position) of the determined divided area (area number 2 in FIG. 11), and the edge position , And the sum ( ⁇ 2 + ⁇ ) with the current mechanical angle ( ⁇ ) of the rotor.
  • the computer can determine the mechanical angle by calculating ( ⁇ 2 + V ⁇ ⁇ t).
  • ⁇ 2 + V ⁇ ⁇ t a method of obtaining V and ⁇ t required for performing this calculation will be described.
  • FIG. 12 is a diagram for explaining the mechanical angle estimation processing in detail. In order to generalize the description, it is assumed that the determined divided area is N and the mechanical angle to be obtained is ⁇ (t).
  • ⁇ n is a mechanical angle at the head position (edge position) of the determined divided area N.
  • the rotation speed V of the rotor in the divided region N approximately matches the rotation speed of the immediately preceding divided region (N-1).
  • the rotation speed V of the immediately preceding section (N-1), that is, the rotation speed V of the rotor in the section N can be obtained as follows. (Equation 5)
  • t n and t n-1 are timer values of the passing times at the head position and the end position of the immediately preceding segmented area (N-1), respectively. Note that a time value converted from the timer value can be used instead of the timer value itself.
  • the start position and the end position of the segmented area (N-1) correspond to one and the other of the adjacent rising edge and falling edge in the digital signal output from the Hall IC, which define the segmented area (N-1). is there.
  • the integration range ⁇ T in Expression 6 is a timer value or a time value converted from the timer value.
  • FIG. 12 shows a simple method of calculating the mechanical angle when the rotation speed V is assumed to be constant in the segmented area N. However, a more accurate method of calculating the mechanical angle may be employed.
  • FIG. 13 is a schematic diagram for explaining a method of calculating the mechanical angle by calculating the rotation speed V for each period ⁇ t in the divided area N.
  • the beginning of the passage time of the edge position of the segment area N is t n
  • mechanical angle is theta n.
  • the period ⁇ t is shorter than the time from the start position to the end position of the divided area N.
  • the period ⁇ t is, for example, the operation period of the microcomputer, and a specific example is 50 microseconds.
  • the mechanical angle ⁇ (t) is obtained by the following calculation.
  • V [k] represents the rotation speed of the rotor in the k-th cycle in the divided area N.
  • V [k] is obtained by dividing the difference between the mechanical angle at the start position and the mechanical angle at the end position in the k-th cycle by ⁇ t.
  • the mechanical angle estimation method shown in FIG. 12 estimates the mechanical angle by regarding the rotation speed in the immediately preceding segmented area as the current rotational speed in the segmented area.
  • the method of estimating the mechanical angle shown in FIG. 13 is based on the assumption that the rotational speed obtained in the immediately preceding operation cycle in the current divided area is not the rotational speed in the immediately preceding divided area but the rotation speed in the current operation cycle.
  • the mechanical angle assuming. In the latter estimation method, since the rotation angle for each ⁇ t can be more accurately obtained, the obtained mechanical angle is more accurate.
  • FIG. 14 is a flowchart illustrating the procedure of the mechanical angle estimation process after the determination of the segmented area. Here, a mechanical angle estimation process shown in FIG. 12 is illustrated.
  • step S11 the computer rotates the rotor at a constant speed.
  • step S12 the computer calculates the mechanical angle ⁇ n at the head position of the current segmented area according to Equation 4.
  • step S13 the computer acquires the elapsed time ⁇ T from the latest detection of the rising edge or the falling edge of the digital signal output from the Hall IC.
  • step S14 the computer calculates the rotational speed V of the rotor at the time of passing through the immediately preceding segmented area according to Equation 5.
  • step S15 the computer outputs an estimated value of the mechanical angle according to Equation 6.
  • Equation 6 in Step S15 may be replaced with Equation 7.
  • the rotation speed V of the divided area N approximately matches the rotation angle of the immediately preceding divided area (N-1). Therefore, the rotation angle V was obtained by dividing the mechanical angle of the segmented area (N-1) by the passing time.
  • the rotation speed V of the divided region N may be obtained by using the rotation speed of the divided region further before the immediately preceding divided region.
  • the rotation speed V of the divided area N may be obtained by dividing the total value of the mechanical angles of the plurality of immediately preceding divided areas by the passing time of the plurality of divided areas.
  • the rotation speed of the rotor may be calculated.
  • the rotation speed of the segmented region X or more before is regarded as the rotation speed of the segmented region N.
  • the rotation speed may be obtained.
  • the reference broken line
  • the detected value solid line
  • One of the reasons is a difference between an operating condition when a measured value as a reference is obtained and an operating condition when a detected value is obtained.
  • the operating condition here is, for example, an environmental temperature.
  • the sensitivity of the Hall IC can change depending on the temperature.
  • the gap between the rotor and the stator can also vary with temperature. These can change the characteristic amount of the motor.
  • the existing reference is updated with the detection value obtained under the current operating condition and used for the subsequent matching processing.
  • the sum of squares of the error used in the evaluation of the matching can be further reduced.
  • the computer determines that the matching is established, the computer updates the existing reference with the arrangement of the detection values as a new reference. More specifically, the computer overwrites the existing reference stored in the memory with the new reference.
  • FIG. 15 schematically illustrates an example of a reference that is continuously updated and changes.
  • the establishment of the matching is a necessary condition for updating the reference, no significant change is observed between the reference before and after the update.
  • some or all of the measurements change gradually and approach the detected values obtained under the current operating conditions.
  • the sum of squares of the error which is a condition for the success or failure of the matching, can be further reduced.
  • the computer may lower the sum-of-squares error threshold.
  • the reference updating process may be performed not only when the matching is established, but also after the process of estimating a more detailed position (mechanical angle) of the rotor is completed.
  • the reference at the time of factory shipment may be maintained, and a separately updatable reference may be prepared and updated.
  • the process of updating the reference after the rotor mechanical angle estimation process will be described.
  • FIG. 16 is a flowchart illustrating the procedure of the reference update process.
  • step S21 the computer retains, in a buffer, the arrangement of the detection values when it is determined that the matching is established.
  • the buffer is a storage element included in a general computer (CPU).
  • step S22 the computer determines whether an updatable reference already exists in the storage medium.
  • the “updatable reference” means a reference that can be updated (overwritten), unlike a reference at the time of factory shipment.
  • the reference at the time of shipment from the factory is given an overwrite-disabled attribute so as not to be overwritten.
  • the reference at the time of factory shipment may be stored in a non-rewritable storage medium (for example, ROM).
  • step S23 If the updatable reference does not already exist in the storage medium, the process proceeds to step S23. If an updatable reference already exists in the storage medium, the process proceeds to step S24.
  • step S23 the computer newly creates an updatable reference in the order of the detected values held in the buffer, and stores it in the storage medium. Thereafter, the computer ends the processing.
  • step S24 the computer overwrites the updatable reference with the sequence of the detection values held in the buffer. Thereafter, the computer ends the processing.
  • the reference used for the matching processing can be updated while maintaining the reference at the time of factory shipment.
  • an abnormality determination process for determining that the motor is in an abnormal state, such as a failure, when determining the success or failure of the matching.
  • FIG. 17A is a schematic diagram in which the measured value of the angular width for each of the divided areas determined based on the normal matching result up to time t is represented by the bar height. Attention is now focused on the set C1 of the angular widths of the divided areas 2 and 3 acquired at the time t.
  • FIG. 17B is a schematic diagram showing measured values of the angle width for each of the divided areas acquired after time t.
  • the set C2 of the angular widths of the divided areas 2 and 3 largely deviates from the set C1 of the angular widths of the divided areas 2 and 3 acquired at the time t. It is understood that the set C2 has a larger angular width of the divided area 2 and a smaller angular width of the divided area 3. Therefore, for example, a threshold value is set in advance for the absolute value or the sum of the squares of the differences of all the angle widths, and if the threshold value is exceeded, the computer determines that the motor is in an abnormal state. The computer switches to control for stopping the rotor according to the determination result.
  • a reference value of the angle width of each sectioned area an angle width obtained in the immediately preceding process or obtained within a predetermined time range may be adopted, or an angle width of each sectioned area prepared in advance May be adopted.
  • the computer may perform the above-described abnormality determination regardless of the success or failure of the matching.
  • FIG. 18 is a flowchart illustrating the procedure of the abnormality determination process.
  • step S31 the computer obtains the current estimated value of the angle width.
  • step S32 the computer determines whether the matching has been completed within a predetermined time. If completed, the process proceeds to step S33; if not completed, the process proceeds to step S34.
  • step S33 the computer determines whether or not the absolute value or the sum of the squares of the difference between the angle width of each of the divided areas and the previously prepared reference angle width is within a threshold value. If it is within the threshold, it is determined that there is no abnormality, and the process ends. On the other hand, if it exceeds the threshold, it is determined that there is an abnormality, and the process proceeds to step SS34.
  • step S34 the computer determines that a motor abnormality has occurred.
  • the computer can specify the machine position at which the absolute value or the square of the difference exceeds a predetermined value and increases, and determines that an abnormality has occurred in the motor at the machine position.
  • the computer outputs a signal indicating the machine position where the abnormality has occurred.
  • a buzzer (not shown) is sounded and / or a warning indicating the machine position where the abnormality has occurred is displayed on a display device (not shown).
  • the computer may switch the currently executing process of rotating the rotor of the motor to the process of stopping the rotation of the rotor. For example, the computer stops the rotation of the rotor by interrupting the current supplied to the motor.
  • the computer may output a signal indicating that either the motor or the Hall IC (sensor device) is in an abnormal state.
  • a buzzer (not shown) is sounded and / or a warning indicating failure is displayed on a display device (not shown).
  • the computer may record a signal indicating that either the motor or the Hall IC (sensor device) is in an abnormal state in a storage medium. For example, at the time of maintenance of the motor, the user can take a measure such as repairing a failed part in accordance with a signal recorded in the storage medium.
  • the computer can also perform other applied processing.
  • the individual recognition of the motor can be performed by utilizing that the detection value acquired in the matching indicates the characteristic amount unique to the motor. Normally, it is assumed that the matching is completed within 0.1 seconds. However, if the matching process is performed continuously for one second but the matching is not established, the reference and the detection value are so different that the matching cannot be performed, that is, a motor different from the motor that obtained the reference, or It is possible to determine an abnormal state in which a motor is not mounted. Therefore, the computer can switch to a process of not driving the motor. Thereby, control can be permitted only for a specific motor. Further, a signal indicating that the motor does not conform to the reference may be output. Thus, the user can be notified that a different motor has been detected.
  • the relevant supplier may obtain a unique reference for the non-conforming motor, for example, a communication line. Or installed on a computer via a removable storage medium. As a result, matching is established for the motor that has been determined to be unsuitable until now, and the motor can be controlled.
  • the updated reference originally has a difference from the reference at the time of factory shipment.
  • the difference may be due to different operating conditions, but may actually be due to aging. In the case of aging, the difference can be progressively greater for some or all of the reference. Therefore, it is possible to determine whether or not deterioration with time has progressed using the updated reference and the reference at the time of factory shipment.
  • FIG. 19A is a schematic diagram illustrating an example of a reference at the time of factory shipment.
  • FIG. 19B is a schematic diagram illustrating an example of an updated reference.
  • the angular width of the segmented area 8 the reference at the time of shipment from the factory and the updated reference substantially match.
  • the set of angular widths of the segmented areas 2 and 3 is different from the reference set C3 at the time of factory shipment and the updated reference set C5. These differences can be evaluated using the absolute value or the sum of squares of the difference between the angular widths of the two references.
  • the deterioration with time can occur due to, for example, eccentricity of the rotor, demagnetization of the magnet used for the rotor, and reduction in sensitivity of the Hall IC. Therefore, it is possible to determine whether or not at least one of the motor and the Hall IC (sensor device) has deteriorated with time. Note that the determination of the presence or absence of temporal deterioration may be referred to as “determination of a deteriorated state”.
  • FIG. 20 is a flowchart illustrating the procedure of the time-dependent deterioration determination process.
  • the processing according to this flowchart may be executed, for example, at the time of starting the motor or at a regular timing after a predetermined time has elapsed since the start of the motor.
  • step S41 the computer acquires the current reference and the reference at the time of factory shipment from the storage medium.
  • step S42 the computer determines whether or not the absolute value or the sum of the squares of the difference between the angular widths of the divided regions of both references is within a predetermined threshold. If it is within the threshold value, it is determined that there is no deterioration over time, and the process ends. On the other hand, if it exceeds the threshold, it is determined that there is deterioration over time, and the process proceeds to step S43.
  • step S43 the computer determines that the motor has deteriorated with time. Then, the computer outputs a signal indicating that at least one of the motor and the Hall IC (sensor device) has deteriorated with time. With the signal, the user can be notified of the occurrence of temporal deterioration. For example, in response to the signal, a buzzer (not shown) is sounded and / or a warning indicating that the display device (not shown) is deteriorated is displayed. Thereby, the user can be notified of the deterioration over time.
  • a buzzer not shown
  • a warning indicating that the display device (not shown) is deteriorated is displayed. Thereby, the user can be notified of the deterioration over time.
  • the matching process and the machine position estimating process it is possible not only to estimate the accurate position of the rotor, but also to determine abnormality and deterioration over time of the motor.
  • FIG. 21 is a diagram illustrating a configuration example of the motor system 1000 according to the embodiment of the present disclosure.
  • the motor system 1000 illustrated in FIG. 21 includes a motor M to which a sensor device 20 having Hall ICs (H1, H2, H3) is attached.
  • the motor M includes a rotor R having a plurality of magnetic poles and a stator S having a plurality of windings.
  • a typical example of the motor M in the present disclosure is a permanent magnet synchronous motor such as a brushless DC motor, but is not limited to this example.
  • the motor system 1000 includes a motor drive device 30 that drives the motor M, and a motor control device 40 connected to the motor drive device 30.
  • a motor drive device 30 that drives the motor M
  • a motor control device 40 connected to the motor drive device 30.
  • bidirectional white arrows are shown between blocks. This arrow does not mean that information such as signals and data can always move in two directions. For example, between the motor drive device 30 and the motor control device 40, a signal may be sent from the motor control device 40 to the motor drive device 30 in one direction.
  • the motor system 1000 is connected to the external device 70.
  • the motor control device 40 receives command values such as a position command value and a speed command value from the external device 70, and executes control processing according to, for example, a known vector control algorithm.
  • Motor control device 40 outputs a voltage command value.
  • the motor driving device 30 applies a voltage necessary for the rotation operation of the motor M to the winding of the stator S in the motor M based on the voltage command value output from the motor control device 40.
  • the motor driving device 30 includes, for example, an inverter circuit and a pre-driver.
  • the inverter circuit may be a bridge circuit having a plurality of power transistors.
  • the motor drive device 30 typically receives a pulse width modulation (PWM) signal from the motor control device 40 as a voltage command value, and applies a pseudo sine wave voltage to the motor M.
  • PWM pulse width modulation
  • the motor control device 40 includes a position estimating device 60 that estimates the position of the rotor R.
  • the position estimating device 60 includes a sensor signal processing circuit 62, a feature amount extraction circuit 64, a memory 68 storing feature amount learning data (reference), and a matching circuit 66. These circuits correspond to functional blocks of the position estimation device 60. As will be described later, each functional block can be realized by a computer.
  • the sensor signal processing circuit 62 receives the sensor output from the sensor device 20, and generates a signal indicating the edge phase ⁇ [i] or the waveform P in FIG.
  • the sensor signal processing circuit 62 may include a logic circuit that specifies an electrical position from a sensor output.
  • the feature amount extraction circuit 64 sequentially acquires ⁇ [i] by the method described with reference to FIG. However, at this point, the machine position i is unspecified even if the current electric position is specified.
  • the position estimation device 60 reads the feature amount learning data from the memory 68 and performs matching with ⁇ [i]. As a result of the matching, the machine position i can be specified.
  • the mechanical position of the rotor R can be obtained using the output from the Hall IC. Further, according to the method and apparatus described later, the mechanical angle of the rotor R can be estimated with high resolution.
  • a signal indicating the position estimation value of the rotor R is input from the position estimation device 60 to the motor control device 40.
  • FIG. 22 is a diagram illustrating an example of a hardware configuration of the motor control device 40 in the motor system according to the present disclosure.
  • the motor control device 40 may have, for example, a hardware configuration illustrated in FIG.
  • the motor control device 40 in this example includes a CPU 54, a PWM circuit 55, a ROM (read only memory) 56, a RAM (random access memory) 57, and an I / F (input / output interface) 58, which are connected to each other by a bus. I have. Other circuits or devices not shown (such as AD converters) may be connected to the bus.
  • the PWM circuit 55 provides a PWM signal to the motor driving device 30 in FIG.
  • Programs and data that define the operation of the CPU 54 are stored in at least one of the ROM 56 and the RAM 57.
  • Such a motor control device 40 can be realized by, for example, a 32-bit general-purpose microcontroller.
  • Such a microcontroller may consist of, for example, one or more integrated circuit chips.
  • the microcontroller is an example of the “computer” described above.
  • Various operations performed by the motor control device 40 are defined by programs stored in a memory (storage medium). By updating part or all of the contents of the program and data, it is possible to change part or all of the operation of the motor control device 40.
  • Such a program update may be performed using a recording medium storing the program, or may be performed by wired or wireless communication. The communication can be performed using the I / F 58 of FIG.
  • a part of various operations performed by the motor control device 40 for example, a part of a vector calculation may be executed by a hardware circuit dedicated to the calculation.
  • the motor control device 40 in the motor system 1000 of the present embodiment includes a current command value generation circuit 10, a current control circuit 12, a first coordinate conversion circuit 14A, and a PWM circuit 16. I have.
  • the current command value generation circuit 10 generates a d-axis current command value id * and a q-axis current command value iq * from the position command value and the speed command value.
  • the current control circuit 12 determines a d-axis voltage command value Vd * and a q-axis voltage command value Vq * from the d-axis current command value id * and the q-axis current command value iq *.
  • the first coordinate conversion circuit 14A converts the voltage command value from a dq coordinate system to a UVW coordinate system.
  • the PWM circuit 16 generates a pulse width modulation signal based on the voltage command values (Vu *, Vv *, Vw *) output from the first coordinate conversion circuit 14A.
  • the configuration and operation of these circuits 10, 12, 14A, 16 follow known examples.
  • the motor control device 40 further includes a second coordinate conversion circuit 14B, a position estimation device 18A, and a speed calculation circuit 18B.
  • the second coordinate conversion circuit 14B converts the detected values iu, iv of the three-phase U, V, W winding currents supplied from the inverter 200 to the motor M from the UVW coordinate system to the dq coordinate system.
  • the position estimating device 18A estimates the mechanical angle ⁇ m of the rotor of the motor M based on the output from a sensor device (not shown) attached to the motor M by the method described above.
  • the speed calculation circuit 18B calculates the mechanical angular speed ⁇ m of the rotor from the mechanical angle ⁇ m of the rotor.
  • the d-axis current id and the q-axis current iq converted into the dq coordinate system from the second coordinate conversion circuit 14B are provided to the current control circuit 12, and the d-axis current command value id * and the q-axis current command value iq, respectively.
  • * Is compared with A typical example of the current control circuit 12 is a proportional-integral (PI) controller.
  • the electrical angle ⁇ of the rotor is calculated from the mechanical angle ⁇ m of the rotor.
  • the electrical angle ⁇ of the rotor is used for coordinate conversion between the dq coordinate system and the UVW coordinate system.
  • the mechanical angular velocity ⁇ m of the rotor can be used for determining the torque command value T.
  • a gate driver that generates a gate drive signal for switching a transistor in the inverter based on the PWM signal may be provided at a stage preceding the inverter of the motor drive circuit 200.
  • Part or all of the above circuits can be realized by an integrated circuit device.
  • Such an integrated circuit device can typically be formed by one or more semiconductor components.
  • the integrated circuit device includes an A / D converter that converts an analog signal from a position sensor into a digital signal, and an A / D converter that converts an analog signal from a sensor (not shown) that detects a current flowing through a winding of the motor M into a digital signal. / D converter.
  • At least a part of the inverter may be included in the integrated circuit device.
  • Such an integrated circuit device is typically realized by interconnecting one or more semiconductor chips in one package.
  • Part or all of the integrated circuit device can be realized by, for example, writing a program specific to the present disclosure in a general-purpose microcontroller unit (MCU).
  • MCU general-purpose microcontroller unit
  • the position estimation method, the motor control device, and the motor system of the present disclosure can estimate the position of the rotor with high resolution without using a position sensor such as a rotary encoder or a resolver. Can be widely used for required applications.
  • Reference Signs List 20 ... Sensor device, 30 ... Motor drive device, 40 ..., 60 ... Motor control device, 62 ... Sensor signal processing circuit, 64 ... Feature amount extraction circuit, 66 ... Matching circuit, 68: memory, 1000: motor system, Hu, Hv, Hw: Hall element, R: rotor, S: stator, M: motor, H1, H2, H3 ... Hall IC
PCT/JP2019/030655 2018-08-08 2019-08-05 位置推定方法、モータ制御装置およびモータシステム WO2020031943A1 (ja)

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WO2016194919A1 (ja) * 2015-06-02 2016-12-08 並木精密宝石株式会社 三相ブラシレスｄｃモータの制御方法及び該制御方法を用いたモータ制御装置
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WO2016194919A1 (ja) * 2015-06-02 2016-12-08 並木精密宝石株式会社 三相ブラシレスｄｃモータの制御方法及び該制御方法を用いたモータ制御装置
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