WO2022260113A1

WO2022260113A1 - Motor control device

Info

Publication number: WO2022260113A1
Application number: PCT/JP2022/023229
Authority: WO
Inventors: 祐貴伊達; 亮介小栗; 将太藤井
Original assignee: 株式会社デンソー
Priority date: 2021-06-09
Filing date: 2022-06-09
Publication date: 2022-12-15
Also published as: JP2022188476A

Abstract

A motor control device (11) is provided with a control unit (21) which controls a direct current motor (M) and which calculates an amount of rotation of the direct current motor (M) on the basis of the number of peaks in a detected induced voltage waveform. The control unit (21) is provided with: a predicted period calculating unit (23) which calculates a rotational speed at stoppage on the basis of the induced voltage waveform at stoppage, and calculates a predicted period of a peak in the induced voltage waveform on the basis of the calculated rotational speed; a peak omission detecting unit (24) which detects an omission of a peak in the detected induced voltage waveform on the basis of the predicted period calculated by the predicted period calculating unit (23); and a rotation amount calculating unit (25) which calculates the amount of rotation of the direct current motor (M) by correcting the number of peaks in the detected induced voltage waveform in accordance with the peak omission detected by the peak omission detecting unit (24).

Description

motor controller

Cross-reference to related applications

This application is based on Japanese Application No. 2021-096534 filed on June 9, 2021, and the contents thereof are incorporated herein.

The present disclosure relates to a motor control device.

Conventionally, in a DC motor having a commutator and power supply brushes that are in sliding contact with the commutator, ripples occur in current and induced voltage due to switching of the contact state of the power supply brushes with the commutator segments. 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. In such a motor control device, since a large number of commutator segments are provided in the circumferential direction, it is possible to detect a fine rotation angle of the rotor of the DC motor and to calculate the amount of rotation with high accuracy.

However, in a DC motor, for example, the switching of the contact state of the power supply brush to the commutator segment becomes uneven, so the amplitude of the waveform is not constant. A so-called missing peak, which cannot be detected, may occur.

Therefore, for example, while detecting the peak of the waveform, there is a technique that compares the period with the average ripple period, which is the period of the peak during the past steady operation, and detects and corrects the omission of the peak (for example, Patent Document 1).

Japanese Patent Application Laid-Open No. 2011-109880

However, in the technique for detecting the missing peak as described above, the average ripple period during steady operation is used during stoppage, more specifically, during speed fluctuation during the period from stoppage of supply of drive current to stoppage of the rotor. However, there is a problem that the amount of rotation cannot be calculated with high accuracy.

An object of the present disclosure is to provide a motor control device capable of calculating a rotation amount at a stop with high accuracy.
In one aspect of the present disclosure, a motor control device for solving the above problems includes a control unit that controls a DC motor and calculates the amount of rotation of the DC motor based on the number of peaks of the detected induced voltage waveform. In a motor control device, the control unit calculates a rotation speed at a stop based on an induced voltage waveform at a stop, and calculates a predicted cycle of a peak of the induced voltage waveform based on the calculated rotation speed. a calculation unit, a peak dropout detection unit for detecting dropouts in the detected induced voltage waveform based on the prediction cycle calculated by the prediction cycle calculation unit, and a peak dropout detected by the peak dropout detection unit. a rotation amount calculation unit for calculating the rotation amount of the DC motor by correcting the number of peaks of the detected induced voltage waveform accordingly.

According to the same configuration, the predicted period calculation unit calculates the rotational speed at the time of stop based on the induced voltage waveform at the time of stop, and calculates the predicted period of the peak of the induced voltage waveform based on the calculated rotational speed. Further, the missing peak of the detected induced voltage waveform is detected by the missing peak detection unit based on the prediction cycle calculated by the prediction cycle calculation unit. Then, the number of peaks of the detected induced voltage waveform is corrected by the amount-of-rotation calculator to calculate the number of peaks of the detected induced voltage waveform according to the missing peak detected by the peak-missing detection section, and thus the amount of rotation of the DC motor is calculated. can be calculated with high accuracy.

The above and other objects, features and advantages of the present disclosure will become more apparent from the following detailed description with reference to the accompanying drawings. The drawing is
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 induced voltage with respect to time in one embodiment, FIG. 4 is a characteristic diagram of rotation speed with respect to induced voltage 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.

An embodiment of the motor control device 11 will be described below with reference to FIGS. 1 to 6. FIG.
As shown in FIG. 1, a motor controller 11 is connected to a DC motor M. As shown in FIG. 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 .

In the DC motor M, each time the power supply brush 14 in sliding contact with the commutator 13 is switched between the commutator segments 12, that is, the power supply brush 14 in contact with one commutator segment 12 when the commutator 13 rotates 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 ripple waveform of the induced voltage. A single peak appears.

The motor control device 11 includes a control section 21 connected to the pair of power supply brushes 14 and a voltmeter 22 connected to the pair of power supply brushes 14 .
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 determines the amount of rotation of the DC motor M based on the number of peaks of the induced voltage waveform detected by the voltmeter 22. calculate.

Specifically, the control unit 21 includes a prediction period calculation unit 23 , a peak missing detection unit 24 , and a rotation amount calculation unit 25 .
The predicted period calculation unit 23 calculates the rotation speed at the time of stop based on the induced voltage waveform during the period from when the supply of the drive current is stopped to when the rotor stops, and based on the calculated rotation speed A predicted cycle of peaks of the induced voltage waveform, that is, a predicted cycle between peaks is calculated.

The peak dropout detector 24 detects peak dropouts in the detected induced voltage 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 peaks in the detected induced voltage waveform according to the peak dropout detected by the peak dropout detection unit 24 .

Next, specific operations and actions of the control section 21 described above will be described with reference to FIG.
As shown in FIG. 2, the control unit 21 performs the calculation processing of step S1 and subsequent steps when stopping the supply of the drive current and stopping the DC motor M, for example, by turning off an operation switch (not shown). .

As shown in FIG. 3, in step S1, the control unit 21 detects the induced voltage waveform X1 detected by the voltmeter 22 during the period from when the supply of the drive current is stopped to when the rotor stops. It is held and proceeds to step S2.

In step S2, the predicted cycle calculation unit 23 of the control unit 21 calculates the rotation speed at the time of stop based on the induced voltage waveform X1 at the time of stop, and based on the calculated rotation speed, the predicted cycle of the peak of the induced voltage waveform X1. Y1 is calculated and the process proceeds to step S3.

Specifically, in step S2, the predicted period calculator 23 first converts the induced voltage waveform X1 at the time of stop into a quadratic approximation formula X2. In addition, in FIG. 3, the waveform of the quadratic approximation formula X2 is illustrated with a dashed line.

Next, as shown in FIG. 4, the predicted period calculator 23 creates a characteristic map X3 from the induced voltage E1 immediately after the supply of the drive current is stopped and the rotation speed V1 at that time. That is, the predicted period calculating unit 23 calculates the characteristic map of the linear function from the rotational speed V1 when the induced voltage E1 immediately after the supply of the drive current is stopped and the rotational speed when the induced voltage is 0 is 0. Create X3.

Next, as shown in FIG. 5, the prediction period calculation unit 23 calculates the rotation speed V2 at the time of stop from the quadratic approximation formula X2 based on the characteristic map X3.
Then, as shown in FIG. 6, the predicted period calculator 23 calculates a predicted period Y1 that is the reciprocal of the rotational speed V2, more specifically, a predicted period Y1 of the peak of the induced voltage waveform X1, based on the rotational speed V2 at the time of stop. calculate.

Next, in step S3, the peak omission detection unit 24 of the control unit 21 detects omission of the peak of the detected induced voltage waveform based on the prediction period Y1, and the process proceeds to step S4.
Specifically, as shown in FIG. 6, 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. Specifically, 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. In FIG. 6, 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. Illustrated. 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, and 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.

Then, the peak missing detection unit 24 compares the calculated period threshold values Z1 and Z2 with the detected period P of the peak of the induced voltage waveform to detect the missing peak of the induced voltage waveform. Specifically, the peak missing detection unit 24 compares the calculated plurality of period thresholds Z1 and Z2 with the detected peak period P of the induced voltage waveform X1 to detect peak missing in the induced voltage waveform in multiple 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 induced voltage waveform X1, and sets the period P of the peak to the lower limit threshold Z3, period thresholds Z1 and Z2, and Compare with the upper threshold Z4. Then, for example, when the peak cycle P is between the lower limit threshold value Z3 and the cycle threshold value Z1, 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.

Next, in step S4, the rotation amount calculation unit 25 of the control unit 21 corrects the number of peaks of the detected induced voltage 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. The amount of rotation of M is calculated, and the calculation process ends.

Specifically, the rotation amount calculation unit 25 corrects the number of peaks of the detected induced voltage waveform X1 in multiple steps according to the peak dropouts detected in the peak dropout detection unit 24 in multiple steps, and corrects the number of peaks in the DC motor M. Calculate the amount of rotation. 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.

When the amount of rotation of the DC motor M is calculated in this way, the calculation process is completed. becomes possible.

Next, the effects of the above embodiment will be described below.
(1) The predicted period calculation unit 23 calculates the rotational speed V2 at the time of stop based on the induced voltage waveform X1 at the time of stop, and calculates the predicted period Y1 of the peak of the induced voltage waveform X1 based on the calculated rotational speed V2. be done. Further, the missing peak of the detected induced voltage 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 number of peaks of the detected induced voltage waveform X1 is corrected by the rotation amount calculation unit 25 according to the peak dropout detected by the peak dropout detection unit 24, and the rotation amount of the DC motor M is calculated. Therefore, the rotation amount at the time of stop can be calculated with high accuracy.

(2) The period threshold values Z1 and Z2 corresponding to at least two and three times the predicted period Y1 are calculated by the peak missing detection unit 24, and the plurality of period threshold values Z1 and Z2 and the period of the detected peak of the induced voltage waveform X1 are calculated. P is compared to detect missing peaks in a plurality of steps. Then, the number of detected peaks of the induced voltage waveform X1 is corrected in multiple steps by the rotation amount calculation unit 25 according to the peak dropouts detected by the peak dropout detection unit 24 in multiple steps. A rotation 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.

This embodiment can be implemented with the following modifications. This embodiment and the following modified examples can be implemented in combination with each other within a technically consistent range.
The predicted period calculator 23 of the above-described embodiment may be configured to calculate the predicted period Y1 of the peak of the induced voltage waveform X1 by other calculations or the like.

The peak omission detector 24 of the above-described embodiment may be configured to detect the omission of the peak of the detected induced voltage waveform X1 by other calculations or the like.
For example, 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. Further, 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.

· Although not specifically mentioned in the above embodiment, the amount of rotation of the DC motor M other than when it is stopped may be detected or calculated by other methods. That is, the above-described method of calculating the amount of rotation when stopped is a method of calculating the amount of rotation suitable for when the speed fluctuates when the vehicle is stopped. may be detected or calculated by

Although the present disclosure has been described with reference to examples, it is understood that the present disclosure is not limited to those examples or structures. The present disclosure also includes various modifications and modifications within the equivalent range. In addition, various combinations and configurations, as well as other combinations and configurations, including single elements, more, or less, are within the scope and spirit of this disclosure.

Claims

A motor control device (11) comprising a control section (21) for controlling a DC motor (M) and calculating the amount of rotation of the DC motor based on the number of peaks of the detected induced voltage waveform (X1). hand,
The control unit
a predicted cycle calculation unit (23) for calculating a rotation speed (V2) at the time of stop based on the induced voltage waveform at the time of stop, and calculating a predicted cycle (Y1) of the peak of the induced voltage waveform based on the calculated rotation speed; ,
a peak missing detection unit (24) for detecting missing peaks in the detected induced voltage waveform based on the prediction cycle calculated by the prediction cycle calculation unit;
a rotation amount calculating section (25) for calculating the amount of rotation of the DC motor by correcting the number of peaks of the detected induced voltage waveform according to the missing peak detected by the peak missing detection section. Control device.
The predicted cycle calculation unit converts the induced voltage waveform at the time of stopping into a quadratic approximation formula (X2), and the induced voltage (E1) and the rotation speed (V1) immediately after stopping the supply of the drive current. 2. The method according to claim 1, wherein the rotation speed at the time of stopping is calculated from the second-order approximation formula based on the characteristic map (X3), and the predicted period of the peak of the induced voltage waveform is calculated based on the calculated rotation speed at the time of stopping. motor controller.
The peak missing detection unit calculates period threshold values (Z1, Z2) based on the prediction period calculated by the prediction period calculation unit and the integer multiple prediction period (Y2, Y3) that is an integral multiple of the prediction period. 3. The motor control device according to claim 1, wherein the calculated period threshold is compared with the detected period (P) of the peak of the induced voltage waveform to detect a missing peak of the induced voltage waveform.
The peak missing detection unit calculates period thresholds corresponding to at least two and three times the predicted period, compares the calculated plurality of period thresholds with the period of the detected peak of the induced voltage waveform, and compares the induced voltage waveform. 4. The motor control device according to claim 3, wherein peak missing is detected in a plurality of steps.
The rotation amount calculation unit calculates the rotation amount of the DC motor by correcting the number of peaks of the detected induced voltage waveform in multiple steps according to the peak dropout detected in the peak dropout detection unit in multiple steps. 5. The motor control device according to claim 4.