WO2022208914A1 - 三相信号発生装置および三相信号発生方法 - Google Patents
三相信号発生装置および三相信号発生方法 Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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- the present invention relates to a three-phase signal generator and a three-phase signal generation method.
- Patent Literature 1 discloses a method of estimating the rotational position of a motor based on three-phase signals generated using three inexpensive and small magnetic sensors.
- One aspect of the three-phase signal generator of the present invention includes: a first magnetic sensor that faces a rotating magnet and outputs a first signal indicating magnetic field strength; A second magnetic sensor that outputs a second signal having a phase delay of 120 degrees in electrical angle, and a signal processing unit that processes the first signal and the second signal.
- the signal processing unit performs first processing for obtaining an instantaneous value of the first signal and an instantaneous value of the second signal by digitally converting the first signal and the second signal; By subtracting the instantaneous value of the second signal from the instantaneous value of a second process of calculating; a third process of calculating the argument of the synthesized signal based on the instantaneous value of the synthesized signal and the norm of the synthesized signal prepared in advance; the argument of the synthesized signal; A fourth step of calculating an instantaneous value of a third fundamental wave signal having an orthogonal relationship with the combined signal based on a norm of the combined signal and a phase difference between the combined signal and the first fundamental wave signal prepared in advance. process and perform.
- One aspect of the three-phase signal generation method of the present invention includes: a first magnetic sensor facing a rotating magnet and outputting a first signal indicating magnetic field strength; and a second magnetic sensor outputting a second signal having an angular phase lag of 120°, the three-phase signal generation method using a second magnetic sensor, wherein the first signal and the second signal are digitally converted, a first step of obtaining an instantaneous value of one signal and an instantaneous value of the second signal; and subtracting the instantaneous value of the second signal from the instantaneous value of the first signal to obtain a second step of calculating an instantaneous value of a synthetic signal of a first fundamental signal and a second fundamental signal included in the second signal; and an instantaneous value of the synthetic signal and a norm of the synthetic signal prepared in advance.
- a three-phase signal generator and a three-phase signal generation method capable of generating three-phase signals using two magnetic sensors. Therefore, compared with the conventional technology using three magnetic sensors, the generation of three-phase signals can be realized with a cheaper and smaller device configuration.
- FIG. 1 is a block diagram schematically showing the configuration of a three-phase signal generator according to this embodiment.
- FIG. 2 is a flowchart showing signal generation processing executed by the processing unit of the three-phase signal generator according to this embodiment.
- FIG. 3 is a diagram representing the first signal Hu' and the second signal Hv' by rotating vectors on the complex plane.
- FIG. 4 shows the waveform data of the first signal Hu' obtained during one rotation of the vector of the first signal Hu' on the complex plane, and the waveform data of the second signal Hv' obtained during one rotation of the vector of the second signal Hv' on the complex plane. It is a figure which shows an example with the waveform data of 2nd signal Hv' obtained.
- FIG. 4 shows the waveform data of the first signal Hu' obtained during one rotation of the vector of the first signal Hu' on the complex plane, and the waveform data of the second signal Hv' obtained during one rotation of the vector of the second signal Hv' on the complex plane. It is a figure which shows an example with the wave
- FIG. 5 is a diagram showing a combined signal Huv of the first fundamental wave signal Hu and the second fundamental wave signal Hv as a rotating vector on the complex plane.
- FIG. 6 is a diagram showing an example of waveform data of the combined signal Huv obtained while the vectors of the first signal Hu' and the second signal Hv' make one rotation on the complex plane.
- FIG. 7 is an explanatory diagram of a method for calculating the phase difference ⁇ 1 between the first signal Hu' and the second signal Hv' in the learning process.
- FIG. 8 is an explanatory diagram of a method for calculating the phase difference ⁇ 2 between the combined signal Huv and the first signal Hu' in the learning process.
- FIG. 9 is an explanatory diagram showing that the phase difference between the composite signal Huv and the first fundamental wave signal Hu is equal to the phase difference ⁇ 2 between the composite signal Huv and the first signal Hu'.
- FIG. 10 is an explanatory diagram regarding the deflection angle ⁇ t+ ⁇ 2 of the composite signal Huv.
- FIG. 11 is a diagram showing the third fundamental wave signal Hw, which is orthogonal to the composite signal Huv, represented by a rotating vector on the complex plane.
- FIG. 12 is a diagram showing an example of waveform data of the third fundamental wave signal Hw obtained while the vector of the combined signal Huv rotates once on the complex plane.
- FIG. 13 is a diagram showing an example of waveform data of the first fundamental wave signal Hu, waveform data of the second fundamental wave signal Hv, and waveform data of the third fundamental wave signal Hw.
- FIG. 1 is a block diagram schematically showing the configuration of a three-phase signal generator 1 according to one embodiment of the present invention.
- the three-phase signal generator 1 is a device that generates a three-phase fundamental wave signal that indicates magnetic field strength that changes according to the rotational position (rotational angle) of the motor 100 .
- the three-phase fundamental wave signal means three fundamental wave signals having a phase difference of 120 degrees in electrical angle.
- the motor 100 is, for example, an inner rotor type three-phase brushless DC motor.
- Motor 100 has a rotor shaft 110 and a sensor magnet 120 .
- the rotor shaft 110 is a rotating shaft attached to the rotor of the motor 100 .
- the rotational position of motor 100 means the rotational position of rotor shaft 110 .
- the sensor magnet 120 is a disc-shaped magnet that is attached to the rotor shaft 110 and rotates in synchronization with the rotor shaft 110 .
- the sensor magnet 120 has P magnetic pole pairs (P is an integer equal to or greater than 2).
- P is an integer equal to or greater than 2.
- the sensor magnet 120 has four magnetic pole pairs.
- a magnetic pole pair means a pair of an N pole and an S pole. That is, in this embodiment, the sensor magnet 120 has four pairs of N poles and S poles, for a total of eight magnetic poles.
- the three-phase signal generator 1 includes a first magnetic sensor 10, a second magnetic sensor 20, and a signal processing section 30. Although not shown in FIG. 1, a circuit board is attached to the motor 100, and the first magnetic sensor 10, the second magnetic sensor 20, and the signal processing section 30 are arranged on the circuit board.
- the sensor magnet 120 is arranged at a position that does not interfere with the circuit board. The sensor magnet 120 may be located inside the housing of the motor 100 or outside the housing.
- the first magnetic sensor 10 and the second magnetic sensor 20 are arranged on the circuit board so as to face the sensor magnet 120 .
- the first magnetic sensor 10 and the second magnetic sensor 20 are arranged on the circuit board at intervals of 30° along the rotation direction CW of the sensor magnet 120 .
- the first magnetic sensor 10 and the second magnetic sensor 20 are analog output type magnetic sensors including magnetoresistive elements such as Hall elements or linear Hall ICs.
- the first magnetic sensor 10 and the second magnetic sensor 20 each output an analog signal indicating magnetic field strength that changes according to the rotational position of the rotor shaft 110 , that is, the rotational position of the sensor magnet 120 .
- One cycle of the electrical angle of the analog signals output from the first magnetic sensor 10 and the second magnetic sensor 20 corresponds to 1/P of one cycle of the mechanical angle.
- one cycle of the electrical angle of each analog signal corresponds to 1/4 of one cycle of the mechanical angle, that is, 90° in mechanical angle.
- the analog signal output from the second magnetic sensor 20 has a phase lag of 120 degrees in electrical angle with respect to the analog signal output from the first magnetic sensor 10 .
- the analog signal output from the first magnetic sensor 10 will be referred to as the first signal Hu'
- the analog signal output from the second magnetic sensor 20 will be referred to as the second signal Hv'.
- the first magnetic sensor 10 faces a sensor magnet 120 that is a rotating magnet, and outputs a first signal Hu' indicating magnetic field strength to the signal processing section 30 .
- the second magnetic sensor 20 faces the sensor magnet 120 and outputs to the signal processing section 30 a second signal Hv' having a phase delay of 120 electrical degrees with respect to the first signal Hu'.
- the signal processing unit 30 is a signal processing circuit that processes the first signal Hu' output from the first magnetic sensor 10 and the second signal Hv' output from the second magnetic sensor 20.
- the signal processing unit 30 generates a three-phase fundamental wave signal that indicates the magnetic field strength that changes according to the rotational position of the sensor magnet 120 based on the first signal Hu' and the second signal Hv'.
- the signal processing section 30 includes a processing section 31 and a storage section 32 .
- the processing unit 31 is, for example, a microprocessor such as an MCU (Microcontroller Unit).
- a first signal Hu′ output from the first magnetic sensor 10 and a second signal Hv′ output from the second magnetic sensor 20 are input to the processing unit 31 .
- the processing unit 31 is communicably connected to the storage unit 32 via a communication bus (not shown). Although details will be described later, the processing unit 31 executes signal generation processing according to a program stored in advance in the storage unit 32 .
- the signal generation process is a process of generating a three-phase fundamental wave signal based on the first signal Hu' and the second signal Hv'.
- the storage unit 32 is used as a non-volatile memory for storing programs and various setting data necessary for the processing unit 31 to execute various processes, and as a temporary storage destination for data when the processing unit 31 executes various processes. and volatile memory.
- the nonvolatile memory is, for example, EEPROM (Electrically Erasable Programmable Read-Only Memory) or flash memory.
- Volatile memory is, for example, RAM (Random Access Memory).
- the processing unit 31 When the sensor magnet 120 rotates together with the rotor shaft 110, the first signal Hu' indicating the magnetic field strength that changes according to the rotational position of the sensor magnet 120 is output from the first magnetic sensor 10, and the electric current is generated in response to the first signal Hu'.
- a second signal Hv′ is output from the second magnetic sensor 20 with a phase delay of 120° in angle.
- the processing unit 31 incorporates an A/D converter, and the processing unit 31 digitally converts the first signal Hu' and the second signal Hv' at a predetermined sampling frequency by the A/D converter.
- the processing unit 31 executes the signal generation processing shown in the flowchart of FIG. 2 each time the execution timing of digital conversion, that is, the sampling timing arrives.
- step S1 when the sampling timing arrives, the processing unit 31 digitally converts the first signal Hu' and the second signal Hv' output to the processing unit 31 as the sensor magnet 120 rotates as described above. By converting, the instantaneous value of the first signal Hu' and the instantaneous value of the second signal Hv' are obtained as digital values (step S1).
- step S1 corresponds to the first step, and the process executed in step S1 corresponds to the first process.
- FIG. 3 is a diagram representing the first signal Hu' and the second signal Hv' by rotating vectors on the complex plane.
- the horizontal axis is the real number axis and the vertical axis is the imaginary number axis.
- the first signal Hu' and the second signal Hv' rotate at an angular velocity ⁇ in the direction of the arrow on the complex plane.
- the first signal Hu' includes the first fundamental wave signal Hu, which is a fundamental wave signal, and the in-phase signal N.
- the first signal Hu' is represented by a combined vector of the first fundamental wave signal Hu and the in-phase signal N.
- the first signal Hu' is represented by the following equation (1).
- the second signal Hv' includes the second fundamental wave signal Hv, which is a fundamental wave signal, and the in-phase signal N.
- the second signal Hv' is represented by a composite vector of the second fundamental wave signal Hv and the in-phase signal N. That is, the second signal Hv' is represented by the following equation (2).
- In-phase signal N is a noise signal including a DC signal, a third harmonic signal, and the like.
- the instantaneous value of the first signal Hu' obtained in step S1 corresponds to the real part (the part projected onto the real axis) of the first signal Hu' represented by the vector in FIG.
- the instantaneous value of the second signal Hv' obtained in step S1 corresponds to the real part of the second signal Hv' represented by the vector in FIG.
- the instantaneous value of the first signal Hu' is represented by the following equation (3).
- is the norm of the first signal Hu'
- k is an integer of 1 or more.
- FIG. 4 shows time-series data (waveform data of the first signal Hu') of instantaneous values of the first signal Hu' obtained during one rotation of the vector of the first signal Hu' on the complex plane
- 10 is a diagram showing an example of time-series data (waveform data of the second signal Hv') of instantaneous values of the second signal Hv' obtained while the vector of the second signal Hv' rotates once in FIG.
- the horizontal axis indicates time
- the vertical axis indicates digital values.
- the waveforms of the first signal Hu' and the second signal Hv' which include the in-phase signal N, do not become perfectly sinusoidal waveforms, but become distorted waveforms.
- the processing unit 31 subtracts the instantaneous value of the second signal Hv' from the instantaneous value of the first signal Hu' to obtain the first fundamental wave signal Hu included in the first signal Hu' and the second fundamental wave signal Hu'.
- the instantaneous value of the combined signal Huv with the second fundamental wave signal Hv included in the signal Hv' is calculated (step S2). This step S2 corresponds to the second step, and the process executed in step S2 corresponds to the second process.
- FIG. 5 is a diagram showing a combined signal Huv of the first fundamental wave signal Hu and the second fundamental wave signal Hv as a rotating vector on the complex plane.
- FIG. 6 shows an example of time-series data (waveform data of the combined signal Huv) of instantaneous values of the combined signal Huv obtained during one rotation of the vectors of the first signal Hu' and the second signal Hv' on the complex plane.
- FIG. 4 is a diagram showing; As shown in FIG. 6, the waveform of the composite signal Huv is a perfect sinusoidal waveform.
- step S2 the processing unit 31 calculates the instantaneous value of the first signal Hu' and the instantaneous value of the second signal Hv' based on amplitude correction values prepared in advance before calculating the instantaneous value of the combined signal Huv. correct at least one of
- the amplitude correction value is a correction value that makes the amplitude value of the first signal Hu' equal to the amplitude value of the second signal Hv'.
- the amplitude correction value is one of learning values obtained by a learning process performed in advance, and is stored in the non-volatile memory of the storage unit 32 in advance.
- step S2 the processing unit 31 reads the amplitude correction value from the nonvolatile memory of the storage unit 32, and based on the read amplitude correction value, the amplitude value of the first signal Hu' and the amplitude of the second signal Hv' At least one of the instantaneous value of the first signal Hu' and the instantaneous value of the second signal Hv' is corrected so that the values are equal to each other.
- the processing unit 31 calculates the argument of the synthesized signal Huv based on the instantaneous value of the synthesized signal Huv and the prepared norm of the synthesized signal Huv (step S3).
- This step S3 corresponds to the third step, and the process executed in step S3 corresponds to the third process.
- the norm of the composite signal Huv is one of the learning values obtained by the learning process performed in advance, and is stored in the non-volatile memory of the storage unit 32 in advance, like the amplitude correction value described above.
- the phase difference between the combined signal Huv and the first fundamental wave signal Hu is also stored in advance in the non-volatile memory of the storage unit 32 as a learned value.
- the learning process performed in advance will be described below.
- the learning process is performed while the sensor magnet 120 rotates together with the rotor shaft 110 .
- the processing unit 31 waits at least until the time corresponding to one period of the electrical angle of the first signal Hu' and the second signal Hv' elapses, that is, at least until the sensor magnet 120 rotates by 90 degrees in mechanical angle.
- the above steps S1 and S2 are repeated at a predetermined sampling frequency. In other words, the processing unit 31 repeats the above steps S1 and S2 at a predetermined sampling frequency until the vectors of the first signal Hu' and the second signal Hv' rotate at least once on the complex plane.
- the processing unit 31 sequentially acquires the instantaneous value of the first signal Hu′, the instantaneous value of the second signal Hv′, and the instantaneous value of the synthesized signal Huv, and obtains the maximum value of each past instantaneous value and the current value. Compare each instantaneous value with the time (current sampling timing), and if each instantaneous value at the current time is greater than the maximum value of the past instantaneous values, the maximum value of the past instantaneous values will be Perform processing to update to the value.
- the processing unit 31 sequentially acquires the instantaneous value of the first signal Hu', the instantaneous value of the second signal Hv', and the instantaneous value of the composite signal Huv, and calculates the minimum value of the past instantaneous values and the current time. If each instantaneous value of the current time is smaller than the minimum value of the past instantaneous values, update the minimum value of the past instantaneous values to the instantaneous value of the current time. .
- the processing unit 31 acquires the maximum and minimum values of each signal by performing the sequential updating process as described above. Then, the processing unit 31 substitutes the maximum value Max(Hu') and the minimum value Min(Hu') of the first signal Hu' into the following equation (5) to obtain the amplitude value of the first signal Hu' Calculate the norm
- the processing unit 31 calculates the norm
- the processing unit 31 calculates an amplitude correction value that makes the norm
- the processing unit 31 corrects at least one of all instantaneous values included in the waveform data of the first signal Hu' and all instantaneous values included in the waveform data of the second signal Hv' with the amplitude correction value. As a result, the waveform data of the first signal Hu' and the waveform data of the second signal Hv' having the same amplitude value (norm) are obtained.
- the processing unit 31 calculates the first signal Hu' based on the amplitude-corrected waveform data of the first signal Hu' and the waveform data of the second signal Hv'.
- a phase difference ⁇ 1 ( ⁇ typ.-120°) between Hu' and the second signal Hv' is calculated.
- the processing unit 31 determines the time between the maximum value Max (Hu') of the first signal Hu' and the maximum value Max (Hv') of the second signal Hv'.
- the phase difference ⁇ 1 is calculated by counting with a reference encoder or the like and substituting the count result Nmax into the following equation (8).
- the processing unit 31 counts the time between the minimum value Min(Hu') of the first signal Hu' and the minimum value Min(Hv') of the second signal Hv' using a reference encoder or the like, and the count result Nmin may be substituted into the following equation (9) to calculate the phase difference ⁇ 1.
- Ncpr is the resolution of the reference encoder.
- the reference encoder is attached to the rotating shaft in advance.
- the processing unit 31 calculates the phase difference ⁇ 2 ( ⁇ typ. +30°). Specifically, the processing unit 31 substitutes the phase difference ⁇ 1 between the first signal Hu′ and the second signal Hv′ into the following equation (10) to obtain the phase difference between the combined signal Huv and the first signal Hu′. A phase difference ⁇ 2 is calculated.
- the processing unit 31 obtains the phase difference ⁇ 2 between the combined signal Huv and the first signal Hu' as the phase difference between the combined signal Huv and the first fundamental wave signal Hu.
- of the synthesized signal Huv, and the phase difference ⁇ 2 between the synthesized signal Huv and the first fundamental wave signal Hu are obtained as learned values.
- the processing unit 31 stores these learning values in the nonvolatile memory of the storage unit 32 .
- step S3 of FIG. 2 the processing unit 31 performs synthesis based on the instantaneous value of the synthesized signal Huv calculated in step S2 and the norm
- step S3 the processing unit 31 calculates the argument ⁇ t+ ⁇ 2 of the synthesized signal Huv based on the following equation (12). That is, the processing unit 31 reads out the norm
- the processing unit 31 obtains the argument ⁇ included in the range of ⁇ 180° or more and less than 180° by expanding the calculated argument ⁇ t+ ⁇ 2.
- the sine value of the argument ⁇ can take both positive and negative values within the range of ⁇ 1 or more and 1 or less.
- step S4 the processing unit 31 determines the angle ⁇ of the combined signal Huv, the norm
- This step S4 corresponds to the fourth step, and the process executed in step S4 corresponds to the fourth process.
- FIG. 11 is a diagram showing the third fundamental wave signal Hw, which is in an orthogonal relationship with the composite signal Huv, represented by a rotating vector on the complex plane.
- ) of the second fundamental wave signal Hv become equal.
- of the third fundamental wave signal Hw is 1 ⁇ 2 sin ( ⁇ 2). Therefore, the instantaneous value of the third fundamental wave signal Hw, which is orthogonal to the combined signal Huv, is represented by the following equation (13).
- step S4 the processing unit 31 reads out the norm
- FIG. 12 is a diagram showing an example of time-series data (waveform data of the third fundamental wave signal Hw) of instantaneous values of the third fundamental wave signal Hw obtained while the vector of the combined signal Huv rotates once on the complex plane. is.
- the waveform of the third fundamental signal Hw is a complete sinusoidal waveform like the waveforms of the combined signal Huv, the first fundamental signal Hu and the second fundamental signal Hv.
- step S5 the processing unit 31 calculates the first signal Hu' and the An instantaneous value of the in-phase signal N included in the second signal Hv' is calculated (step S5).
- step S5 corresponds to the fifth step
- the process executed in step S5 corresponds to the fifth process.
- the processing unit 31 calculates the instantaneous value of the in-phase signal N based on the following equations (14) and (15).
- step S5 the processing unit 31 first substitutes the instantaneous value of the first signal Hu' and the instantaneous value of the second signal Hv' into the above equation (14) to obtain the instantaneous value of the third signal Hw'. calculate.
- the third signal Hw' has a phase delay of 240 degrees in electrical angle with respect to the first signal Hu' and a phase delay of 120 degrees in electrical angle with respect to the second signal Hv'. be.
- the third signal Hw' is represented by a vector rotating on the complex plane
- the processing unit 31 substitutes the instantaneous value of the third signal Hw' calculated by the equation (14) and the instantaneous value of the third fundamental wave signal Hw calculated by the step S4 into the equation (15). to calculate the instantaneous value of the in-phase signal N.
- FIG. 12 shows an example of the waveform of the third signal Hw' and the waveform of the in-phase signal N. As shown in FIG.
- the processing unit 31 calculates the instantaneous value of the first fundamental wave signal Hu by subtracting the instantaneous value of the in-phase signal N from the instantaneous value of the first signal Hu' (step S6).
- This step S6 corresponds to the sixth step, and the process executed in step S6 corresponds to the sixth process.
- the instantaneous value of the first fundamental wave signal Hu can be calculated by subtracting the instantaneous value of the in-phase signal N from the instantaneous value of the first signal Hu'. be.
- the processing unit 31 calculates the instantaneous value of the second fundamental signal Hv by subtracting the instantaneous value of the in-phase signal N from the instantaneous value of the second signal Hv' (step S7).
- This step S7 corresponds to the seventh step
- the process executed in step S7 corresponds to the seventh process.
- the signal generation processing including the processing from step S1 to step S7 as described above is executed by the processing unit 31 each time the sampling timing arrives.
- time-series data of the instantaneous value of the first fundamental wave signal Hu waveform data of the first fundamental wave signal Hu
- time-series data of the instantaneous value of the second fundamental wave signal Hv waveform data of the second fundamental wave signal Hv
- time-series data of instantaneous values of the third fundamental wave signal Hw waveform data of the third fundamental wave signal Hw.
- the waveforms of the first fundamental signal Hu, the second fundamental signal Hv, and the third fundamental signal Hw are complete sinusoidal waveforms.
- the first fundamental wave signal Hu, the second fundamental wave signal Hv, and the third fundamental wave signal Hw have a phase difference of 120 degrees in electrical angle.
- the three-phase signal generator 1 of the present embodiment uses two magnetic sensors, the first magnetic sensor 10 and the second magnetic sensor 20, to detect the magnetic field intensity that changes according to the rotational position of the motor 100. It is possible to generate a three-phase fundamental wave signal shown in FIG. Therefore, compared with the conventional technology using three magnetic sensors, the generation of three-phase signals can be realized with a cheaper and smaller device configuration.
- the three-phase signal generator of this embodiment has a first magnetic sensor that faces a rotating magnet and outputs a first signal indicating magnetic field strength, and a phase lag of 120 degrees in electrical angle with respect to the first signal.
- a second magnetic sensor that outputs a second signal and a signal processing unit that processes the first signal and the second signal are provided.
- the signal processing unit performs a first process of obtaining an instantaneous value of the first signal and an instantaneous value of the second signal, and subtracts the instantaneous value of the second signal from the instantaneous value of the first signal to obtain the first signal.
- a second process for calculating an instantaneous value of a synthesized signal of a first fundamental signal included in the second signal and a second fundamental signal included in the second signal, and an instantaneous value of the synthesized signal and a prepared norm of the synthesized signal a third process for calculating the argument of the synthesized signal based on the argument, the argument of the synthesized signal, the norm of the synthesized signal, and the phase difference between the prepared synthesized signal and the first fundamental wave signal; and a fourth process of calculating an instantaneous value of a third fundamental wave signal that is in quadrature with the signal.
- a third-phase signal (third fundamental wave signal) that does not include an in-phase signal can be generated from two-phase signals (first signal and second signal) obtained by two magnetic sensors. Therefore, compared with the conventional technology using three magnetic sensors, the generation of three-phase signals can be realized with a cheaper and smaller device configuration.
- the signal processing unit of the present embodiment calculates the argument ⁇ t+ ⁇ 2 of the composite signal based on the equation (12), and expands the calculated argument ⁇ t+ ⁇ 2 so that it is -180° or more and 180°. Get the angle of argument ⁇ within the range of less than °.
- the argument ⁇ t+ ⁇ 2 of the combined signal can be calculated from the instantaneous value and the norm of the combined signal using a simple formula with a small processing load. Note that when calculating the argument ⁇ t+ ⁇ 2 of the synthesized signal based on Equation (12), the argument ⁇ t+ ⁇ 2 of the synthesized signal may be calculated by interpolation processing using table values.
- the sine value of the argument ⁇ is ⁇ 1 or more and 1 or less. can take both positive and negative values within the range of , the waveform of the third fundamental signal generated by the fourth processing can be a perfect sinusoidal waveform.
- the signal processing unit of the present embodiment calculates the instantaneous value of the first signal and At least one of the instantaneous value of the second signal is corrected, and in the fourth process, the signal processing unit converts the norm
- the moment of the third fundamental wave signal that is orthogonal to the combined signal can be obtained from the norm and argument of the combined signal and the phase difference between the combined signal and the first fundamental wave signal using a simple formula with a small processing load. value can be calculated.
- the signal processing unit of the present embodiment includes fifth processing for calculating an instantaneous value of the in-phase signal based on the instantaneous value of the first signal, the instantaneous value of the second signal, and the instantaneous value of the third fundamental wave signal; A sixth process of calculating an instantaneous value of the first fundamental wave signal by subtracting the instantaneous value of the in-phase signal from the instantaneous value of the first signal, and subtracting the instantaneous value of the in-phase signal from the instantaneous value of the second signal. and a seventh process of calculating the instantaneous value of the second fundamental wave signal.
- the first fundamental wave signal having a sinusoidal waveform can be extracted from the first signal
- the second fundamental wave signal having a sinusoidal waveform and a phase delay of 120 degrees in electrical angle with respect to the first fundamental wave signal can be extracted from the second signal.
- a fundamental signal can be extracted.
- the signal processing unit of this embodiment calculates the instantaneous value of the in-phase signal based on Equations (14) and (15).
- the in-phase signal can be extracted from the first signal and the second signal using a simple formula with a small processing load.
- the present invention is not limited to the above-described embodiments, and each configuration described in this specification can be appropriately combined within a mutually consistent range.
- the combination of the motor and the three-phase signal generator was exemplified, but the present invention is not limited to this form, and the combination of the sensor magnet attached to the rotating shaft and the three-phase signal generator is also possible. could be.
- the first magnetic sensor and the second magnetic sensor are arranged facing the disk-shaped sensor magnet in the axial direction of the rotating shaft.
- the present invention is limited to this embodiment. not.
- the magnetic flux flows in the radial direction of the ring-shaped magnet.
- the sensor magnet 120 attached to the rotor shaft 110 of the motor 100 is used as the rotating magnet. good too.
- the rotor magnet is also a magnet that rotates in synchronization with the rotor shaft 110 .
- the sensor magnet 120 has four magnetic pole pairs, but the number of pole pairs of the sensor magnet 120 is not limited to four. Similarly, when a rotor magnet is used as the rotating magnet, the number of pole pairs of the rotor magnet is not limited to four.
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Abstract
Description
図1は、本発明の一実施形態における三相信号発生装置1の構成を模式的に示すブロック図である。図1に示すように、三相信号発生装置1は、モータ100の回転位置(回転角)に応じて変化する磁界強度を示す三相の基本波信号を発生する装置である。本実施形態において三相の基本波信号とは、互いに電気角で120°の位相差を有する3つの基本波信号を意味する。
ロータシャフト110とともにセンサマグネット120が回転すると、センサマグネット120の回転位置に応じて変化する磁界強度を示す第1信号Hu’が第1磁気センサ10から出力され、第1信号Hu’に対して電気角で120°の位相遅れを有する第2信号Hv’が第2磁気センサ20から出力される。
これにより、2つの磁気センサによって得られる二相の信号(第1信号及び第2信号)から、同相信号を含まない三相目の信号(第3基本波信号)を生成することができる。従って、3つの磁気センサを使用する従来技術と比較して、三相信号の生成をより安価且つ小型な装置構成で実現できる。
これにより、処理負荷の小さい簡易な数式によって、合成信号の瞬時値及びノルムから合成信号の偏角ωt+φ2を算出できる。なお、式(12)に基づいて合成信号の偏角ωt+φ2を算出する際に、テーブル値を用いた補間処理によって合成信号の偏角ωt+φ2を算出してもよい。また、算出された偏角ωt+φ2を拡張処理して、-180°以上且つ180°未満の範囲に含まれる偏角θを取得することにより、偏角θのサイン値は、-1以上且つ1以下の範囲内で正極性及び負極性の両方の値を取ることができるため、第4処理によって生成される第3基本波信号の波形を完全な正弦波形にすることができる。
これにより、処理負荷の小さい簡易な数式によって、合成信号のノルム及び偏角と、合成信号と第1基本波信号との位相差とから、合成信号と直交関係にある第3基本波信号の瞬時値を算出できる。
これにより、第1信号から正弦波形を有する第1基本波信号を抽出でき、第2信号から正弦波形を有し且つ第1基本波信号に対して電気角で120°の位相遅れを有する第2基本波信号を抽出することができる。
これにより、処理負荷の小さい簡易な数式によって、第1信号及び第2信号から同相信号を抽出できる。
本発明は上記実施形態に限定されず、本明細書において説明した各構成は、相互に矛盾しない範囲内において、適宜組み合わせることができる。
例えば、上記実施形態では、モータと三相信号発生装置との組み合わせを例示したが、本発明はこの形態に限定されず、回転軸に取り付けられたセンサマグネットと三相信号発生装置との組み合わせもあり得る。
上記実施形態では、回転軸の軸方向において、第1磁気センサ及び第2磁気センサが、円板状のセンサマグネットに対向する状態で配置される形態を例示したが、本発明はこの形態に限定されない。例えば、円板状のセンサマグネットの代わりにリング状磁石を用いる場合、リング状磁石の半径方向に磁束が流入するため、リング状磁石の半径方向において、第1磁気センサ及び第2磁気センサが、リング状磁石と対向する状態で配置されてもよい。
例えば、上記実施形態では、回転する磁石として、モータ100のロータシャフト110に取り付けられるセンサマグネット120を使用する場合を例示したが、モータ100のロータに取り付けられるロータマグネットを、回転する磁石として用いてもよい。ロータマグネットもロータシャフト110に同期して回転する磁石である。
Claims (10)
- 回転する磁石に対向し、磁界強度を示す第1信号を出力する第1磁気センサと、
前記磁石に対向し、前記第1信号に対して電気角で120°の位相遅れを有する第2信号を出力する第2磁気センサと、
前記第1信号及び前記第2信号を処理する信号処理部と、
を備え、
前記信号処理部は、
前記第1信号及び前記第2信号をデジタル変換することより、前記第1信号の瞬時値と前記第2信号の瞬時値とを取得する第1処理と、
前記第1信号の瞬時値から前記第2信号の瞬時値を減算することにより、前記第1信号に含まれる第1基本波信号と前記第2信号に含まれる第2基本波信号との合成信号の瞬時値を算出する第2処理と、
前記合成信号の瞬時値と予め用意された前記合成信号のノルムとに基づいて前記合成信号の偏角を算出する第3処理と、
前記合成信号の偏角と、前記合成信号のノルムと、予め用意された前記合成信号と前記第1基本波信号との位相差とに基づいて、前記合成信号と直交関係にある第3基本波信号の瞬時値を算出する第4処理と、
を実行する、三相信号発生装置。 - 前記信号処理部は、
前記第1信号の瞬時値と、前記第2信号の瞬時値と、前記第3基本波信号の瞬時値とに基づいて、前記第1信号及び前記第2信号に含まれる同相信号の瞬時値を算出する第5処理と、
前記第1信号の瞬時値から前記同相信号の瞬時値を減算することにより、前記第1基本波信号の瞬時値を算出する第6処理と、
前記第2信号の瞬時値から前記同相信号の瞬時値を減算することにより、前記第2基本波信号の瞬時値を算出する第7処理と、
をさらに実行する、請求項1から請求項3のいずれか一項に記載の三相信号発生装置。 - 回転する磁石に対向し、磁界強度を示す第1信号を出力する第1磁気センサと、
前記磁石に対向し、前記第1信号に対して電気角で120°の位相遅れを有する第2信号を出力する第2磁気センサと、を用いる三相信号発生方法であって、
前記第1信号及び前記第2信号をデジタル変換することより、前記第1信号の瞬時値と前記第2信号の瞬時値とを取得する第1ステップと、
前記第1信号の瞬時値から前記第2信号の瞬時値を減算することにより、前記第1信号に含まれる第1基本波信号と前記第2信号に含まれる第2基本波信号との合成信号の瞬時値を算出する第2ステップと、
前記合成信号の瞬時値と予め用意された前記合成信号のノルムとに基づいて前記合成信号の偏角を算出する第3ステップと、
前記合成信号の偏角と、前記合成信号のノルムと、予め用意された前記合成信号と前記第1基本波信号との位相差とに基づいて、前記合成信号と直交関係にある第3基本波信号の瞬時値を算出する第4ステップと、
を含む、三相信号発生方法。 - 前記第1信号の瞬時値と、前記第2信号の瞬時値と、前記第3基本波信号の瞬時値とに基づいて、前記第1信号及び前記第2信号に含まれる同相信号の瞬時値を算出する第5ステップと、
前記第1信号の瞬時値から前記同相信号の瞬時値を減算することにより、前記第1基本波信号の瞬時値を算出する第6ステップと、
前記第2信号の瞬時値から前記同相信号の瞬時値を減算することにより、前記第2基本波信号の瞬時値を算出する第7ステップと、
をさらに含む、請求項6から請求項8のいずれか一項に記載の三相信号発生方法。
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JP2001061289A (ja) * | 1999-06-14 | 2001-03-06 | Teac Corp | モータの速度制御信号形成装置 |
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