WO2022255491A1 - Dispositif de commande de moteur - Google Patents

Dispositif de commande de moteur Download PDF

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Publication number
WO2022255491A1
WO2022255491A1 PCT/JP2022/022672 JP2022022672W WO2022255491A1 WO 2022255491 A1 WO2022255491 A1 WO 2022255491A1 JP 2022022672 W JP2022022672 W JP 2022022672W WO 2022255491 A1 WO2022255491 A1 WO 2022255491A1
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WO
WIPO (PCT)
Prior art keywords
peak
current waveform
period
detected
calculated
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PCT/JP2022/022672
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English (en)
Japanese (ja)
Inventor
祐貴 伊達
亮介 小栗
将太 藤井
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株式会社デンソー
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Application filed by 株式会社デンソー filed Critical 株式会社デンソー
Publication of WO2022255491A1 publication Critical patent/WO2022255491A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P7/00—Arrangements for regulating or controlling the speed or torque of electric DC motors
    • H02P7/06—Arrangements for regulating or controlling the speed or torque of electric DC motors for regulating or controlling an individual dc dynamo-electric motor by varying field or armature current

Definitions

  • the present disclosure relates to a motor control device.
  • Some motor control devices include a control unit that detects peaks in a current waveform or an induced voltage waveform and calculates the amount of rotation of the DC motor based on the number of peaks.
  • a control unit that detects peaks in a current waveform or an induced voltage waveform and calculates the amount of rotation of the DC motor based on the number of peaks.
  • a motor control device is a motor control device that includes a control unit that controls a DC motor and calculates an amount of rotation of the DC motor based on the number of peaks of a detected current waveform, a prediction cycle calculation unit for calculating a rotation speed at startup based on a current waveform at startup, and calculating a prediction cycle of a peak of the current waveform based on the calculated rotation speed; a peak missing detection unit for detecting missing peaks in the detected current waveform based on the prediction period calculated by the unit; and a rotation amount calculation unit that calculates the rotation amount of the DC motor by correcting the number of .
  • the prediction cycle calculation unit calculates the rotation speed at startup based on the current waveform at startup, and calculates the peak prediction cycle of the current waveform based on the calculated rotation speed. Further, the missing peak of the detected current waveform is detected by the missing peak detection unit based on the prediction cycle calculated by the prediction cycle calculation unit. Then, the amount of rotation of the DC motor is calculated by correcting the number of detected peaks of the current waveform according to the missing peak detected by the peak missing detection unit by the rotation amount calculating unit, so that the amount of rotation of the DC motor is calculated. The amount of rotation can be calculated with high accuracy.
  • FIG. 1 is a schematic circuit diagram of a motor control device in one embodiment
  • FIG. 2 is a flow diagram for explaining calculation processing of the control unit in one embodiment
  • FIG. 3 is a characteristic diagram of current versus time in one embodiment
  • FIG. 4 is a characteristic diagram of rotation speed with respect to current in one embodiment
  • FIG. 5 is a characteristic diagram of rotation speed against time in one embodiment
  • FIG. 6 is a characteristic diagram of period versus time in one embodiment.
  • FIG. 1 a motor controller 11 is connected to a DC motor M.
  • the DC motor M includes a commutator 13 in which commutator segments 12 are arranged in parallel in the circumferential direction, and a pair of power supply brushes 14 that are in sliding contact with the commutator 13 .
  • the DC motor M has a rotor that is drivingly connected to the driven part 15 .
  • the adjacent commutator segments 12 are also in contact with each other, and the resistance value changes each time the commutator segments 12 are crossed, thereby generating a current ripple waveform. A peak appears.
  • the motor control device 11 includes a control section 21 connected to a pair of power supply brushes 14 and an ammeter 22 connected between one of the power supply brushes 14 and the control section 21 .
  • the control unit 21 includes 1) one or more processors that execute various processes according to a computer program (software), and 2) an application specific integrated circuit (ASIC) that executes at least part of the various processes. It may be configured as circuitry including one or more dedicated hardware circuits, or 3) combinations thereof.
  • a processor includes a CPU and memory, such as RAM and ROM, which stores program code or instructions configured to cause the CPU to perform processes.
  • Memory or computer-readable media includes any available media that can be accessed by a general purpose or special purpose computer.
  • the control unit 21 supplies a driving current to the pair of power supply brushes 14 to control the DC motor M, and calculates the amount of rotation of the DC motor M based on the number of peaks of the current waveform detected by the ammeter 22. do.
  • control unit 21 includes a prediction period calculation unit 23 , a peak missing detection unit 24 , and a rotation amount calculation unit 25 .
  • the prediction period calculation unit 23 calculates the rotation speed at startup based on the current waveform at startup, more specifically, the period from startup until the rotation speed stabilizes, and calculates the peak of the current waveform based on the calculated rotation speed. , that is, the prediction period between peaks.
  • the peak dropout detector 24 detects the peak dropout of the detected current waveform based on the prediction cycle calculated by the prediction cycle calculator 23 .
  • the rotation amount calculation unit 25 calculates the rotation amount of the DC motor M by correcting the number of detected peaks in the current waveform according to the peak dropout detected by the peak dropout detection unit 24 .
  • control section 21 when starting the DC motor M, the control unit 21 performs the calculation process of step S1 and subsequent steps.
  • step S1 the control unit 21 holds the current waveform X1 detected by the ammeter 22 at the time of start-up, more specifically, during the period from start-up until the rotation speed stabilizes. Move to S2.
  • step S2 the predicted period calculator 23 of the controller 21 calculates the rotation speed at startup based on the current waveform X1 at startup, and calculates the predicted period Y1 of the peak of the current waveform X1 based on the calculated rotation speed. After calculating, the process proceeds to step S3.
  • step S2 the prediction cycle calculation unit 23 first converts the current waveform X1 at startup into a quadratic approximation formula X2.
  • step S2 the prediction cycle calculation unit 23 first converts the current waveform X1 at startup into a quadratic approximation formula X2.
  • step S2 the prediction cycle calculation unit 23 first converts the current waveform X1 at startup into a quadratic approximation formula X2.
  • the waveform of the quadratic approximation formula X2 is illustrated with a dashed line.
  • the prediction period calculation unit 23 creates a characteristic map X3 from the inrush current I1, the steady current I2, and the steady rotation speed V1.
  • the inrush current I1 is the maximum current value that flows immediately after the drive current is supplied to the DC motor M in the stopped state
  • the steady-state current I2 is the steady-state rotation speed V1 at which the rotation speed of the DC motor M is stable. It is the value of the current that flows. That is, the predicted period calculator 23 creates a linear function characteristic map X3 from the inrush current I1 when the rotation speed is 0 and the steady-state current I2 when the rotation speed is V1.
  • the prediction period calculation unit 23 calculates the rotation speed V2 at the time of starting from the quadratic approximation formula X2 based on the characteristic map X3. Then, as shown in FIG. 6, the prediction cycle calculation unit 23 calculates the prediction cycle Y1, which is the reciprocal of the rotation speed V2, more specifically, the prediction cycle Y1 of the peak of the current waveform X1, based on the rotation speed V2 at the time of startup. do.
  • step S3 the peak dropout detection unit 24 of the control unit 21 detects the peak dropout of the detected current waveform based on the prediction period Y1, and the process proceeds to step S4.
  • the peak missing detection unit 24 first calculates period threshold values Z1 and Z2 using the prediction period Y1 and the integral multiple prediction periods Y2 and Y3, which are integral multiples of the prediction period Y1. do.
  • the peak missing detection unit 24 of the present embodiment calculates integral multiple prediction cycles Y2 and Y3 that are at least twice and three times the prediction cycle Y1, and doubles the intermediate value between them. It is calculated as period threshold values Z1 and Z2 corresponding to 3 times.
  • the lower limit considered to be within the range of the prediction cycle Y1 is illustrated as the lower limit threshold Z3, and the upper limit considered to be within the range of the integral multiple prediction cycle Y3 corresponding to three times the prediction cycle Y1 is illustrated as the upper threshold Z4.
  • the lower threshold value Z3 is, for example, a value lower than the prediction cycle Y1 by half a cycle of the prediction cycle Y1
  • the upper threshold value Z4 is, for example, a value higher than the integer multiple prediction cycle Y3 corresponding to 3 times by a half cycle of the prediction cycle Y1. can be considered.
  • the peak dropout detection unit 24 compares the calculated period threshold values Z1 and Z2 with the detected peak period P of the current waveform to detect the peak dropout of the current waveform. Specifically, the peak missing detection unit 24 compares the calculated plurality of period threshold values Z1 and Z2 with the detected peak period P of the current waveform X1 to detect the peak missing of the current waveform in a plurality of stages. Specifically, the peak missing detection unit 24 of the present embodiment detects, for example, a peak whose amplitude is equal to or greater than a certain value from the current waveform X1, and sets the period P of the peak to the lower threshold value Z3, the period threshold values Z1 and Z2, and the upper Compare with threshold Z4.
  • the peak dropout detection unit 24 determines that there is no peak dropout. For example, when the peak cycle P is between the cycle threshold value Z1 and the cycle threshold value Z2, the peak dropout detection unit 24 determines that the peak dropout has occurred only once. For example, when the peak cycle P is between the cycle threshold value Z2 and the upper limit threshold value Z4, the peak dropout detection unit 24 determines that the peak dropout has occurred twice in succession.
  • step S4 the rotation amount calculation unit 25 of the control unit 21 corrects the number of peaks of the detected current waveform X1 according to the peak dropout detected by the peak dropout detection unit 24, and corrects the number of peaks of the DC motor M is calculated, and the calculation process ends.
  • the rotation amount calculation unit 25 corrects the number of peaks of the detected current waveform X1 in multiple steps according to the peak dropout detected in multiple steps by the peak dropout detection unit 24, and rotates the DC motor M. Calculate quantity. That is, when the peak dropout detection unit 24 determines that the peak dropout has occurred only once, the rotation amount calculation unit 25 corrects the number of peaks only once, and the peak dropout detection unit 24 corrects the number of peaks. If it is determined that the omission has occurred twice in succession, the number of peaks is corrected twice. Then, the rotation amount calculator 25 calculates the rotation amount of the DC motor M based on the corrected number of peaks.
  • the predicted period calculator 23 calculates the rotation speed V2 at startup based on the current waveform X1 at startup, and calculates the predicted period Y1 of the peak of the current waveform X1 based on the calculated rotation speed V2. . Further, the missing peak of the detected current waveform X1 is detected by the peak missing detection unit 24 based on the prediction cycle Y1 calculated by the prediction cycle calculation unit 23 . Then, the amount of rotation of the DC motor M is calculated by the amount of rotation calculator 25 by correcting the number of detected peaks of the current waveform X1 according to the missing peak detected by the peak missing detection unit 24. , the amount of rotation at startup can be calculated with high accuracy.
  • the peak missing detection unit 24 calculates period threshold values Z1 and Z2 corresponding to at least two and three times the predicted period Y1. are compared to detect a missing peak in the current waveform in a plurality of steps. Then, the number of detected peaks of the current waveform X1 is corrected in multiple steps by the rotation amount calculating unit 25 in accordance with the missing peaks detected in multiple steps by the peak missing detection unit 24, and the DC motor M rotates. Amount is calculated. Therefore, for example, even if peak omission occurs twice in succession, the number of peaks is corrected twice, and the amount of rotation can be calculated with high accuracy.
  • the prediction period calculation part 23 of the above-described embodiment may be configured to calculate the prediction period Y1 of the peak of the current waveform X1 by other calculations or the like.
  • the peak dropout detector 24 of the above embodiment may be configured to detect the peak dropout of the detected current waveform X1 by other calculations or the like.
  • the peak dropout detection unit 24 of the above embodiment is configured to detect peak dropouts in two stages. It is good also as a structure which carries out.
  • the peak dropout detection unit 24 may be configured to detect peak dropouts in one stage, that is, to determine that peak dropouts have occurred only once even if peak dropouts have occurred twice in succession. By doing so, the amount of calculation of the peak missing detection unit 24 and the amount of rotation calculation unit 25 can be reduced.
  • the amount of rotation of the DC motor M other than at startup may be detected or calculated by other methods. That is, the above-described method of calculating the amount of rotation at startup is a method of calculating the amount of rotation suitable for speed fluctuations at the time of startup. It may be detected or calculated by a method.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Direct Current Motors (AREA)

Abstract

Un dispositif de commande de moteur (11) comprend une unité de commande (21) qui commande un moteur à courant continu M et qui calcule la quantité de rotation du moteur à courant continu M sur la base du nombre de pics dans une forme d'onde de courant électrique détectée. L'unité de commande (21) comprend : une unité de calcul de cycle prédit (23) qui calcule la vitesse de rotation à un moment de démarrage sur la base de la forme d'onde de courant électrique au moment du démarrage, et calcule un cycle prédit pour des pics de la forme d'onde de courant électrique sur la base de la vitesse de rotation calculée ; une unité de détection de pics manquants (24) qui détecte des occurrences de pics manquants dans la forme d'onde de courant électrique détectée sur la base du cycle prédit calculé par l'unité de calcul de cycle prédit (23) ; et une unité de calcul de quantité de rotation (25) qui, en fonction des occurrences de pics manquants détectées par l'unité de détection de pics manquants (24), corrige le nombre de pics de la forme d'onde de courant électrique détectée, et calcule la quantité de rotation du moteur à courant continu (M).
PCT/JP2022/022672 2021-06-04 2022-06-03 Dispositif de commande de moteur WO2022255491A1 (fr)

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JP2021094751A JP2022186494A (ja) 2021-06-04 2021-06-04 モータ制御装置
JP2021-094751 2021-06-04

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003536355A (ja) * 2000-06-06 2003-12-02 レオポルト・コスタール・ゲゼルシヤフト・ミト・ベシユレンクテル・ハフツング・ウント・コンパニー・コマンデイトゲゼルシヤフト 直流電動機の駆動軸の回転位置を算定する方法
JP2011193591A (ja) * 2010-03-12 2011-09-29 Aisin Seiki Co Ltd 直流モータのリップル検出装置、リップル検出方法、およびリップル検出プログラム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2003536355A (ja) * 2000-06-06 2003-12-02 レオポルト・コスタール・ゲゼルシヤフト・ミト・ベシユレンクテル・ハフツング・ウント・コンパニー・コマンデイトゲゼルシヤフト 直流電動機の駆動軸の回転位置を算定する方法
JP2011193591A (ja) * 2010-03-12 2011-09-29 Aisin Seiki Co Ltd 直流モータのリップル検出装置、リップル検出方法、およびリップル検出プログラム

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