WO2023084956A1 - Electric motor control device and winding machine - Google Patents

Abstract

In the present invention, a speed controller 101 performs speed control processing A to control an electric motor M1 such that a rotational state of a rotor X1b, at a driving timing at which the electric motor M1 performs driving, approaches a target which is a target rotational state. The speed control processing A includes feedback control A and feedforward control A. The feed-forward control A is processing in which the speed controller 101 controls the electric motor M1, on the basis of an estimated wind resistance Wr and an estimated acceleration Ac, such that the rotational state of the rotor X1b at the driving timing approaches the target rotational state.

Description

Motor controller and winding machine

The present disclosure relates to a motor control device and a winding machine that control a motor that rotates a rotor.

In winding machines, the rotation speed of the rotor rotated by the electric motor (hereinafter also referred to as "motor rotation speed") is increasing. The number of rotations of the motor is the number of rotations of the rotor per unit time. The motor speed of the conventional winding machine was 10 krpm or less. 2. Description of the Related Art The range of motor rotation speeds of recent winding machines (hereinafter also referred to as “high-speed winding machines”) in which the motor rotation speed has been increased is in the range of 0 krpm to 80 krpm. That is, the high-speed winding machine has a wide speed range.

　Compared to conventional winding machines, high-speed winding machines can reduce the number of rotating shafts by increasing the number of rotations of the electric motor, which can significantly reduce equipment costs.

In conventional motor speed control, feedback control such as PI control is mainly used as rotor rotation speed control. "P" in PI control indicates "proportional". The "I" in PI control stands for "integral".

In PI control, the actual speed, which is the actual speed of the electric motor, is detected or estimated, and the actual speed is compared with the speed indicated by the speed command. A difference between the actual speed and the speed indicated by the speed command is fed back. In PI control, a current for driving the electric motor is calculated based on the difference. The electric motor is hereinafter also referred to as a "motor".

In recent years, feedback control and feedforward control have been performed as motor speed control. Patent Literature 1 discloses a configuration (hereinafter also referred to as “related configuration A”) that performs feedback control and feedforward control as speed control of an electric motor.

Japanese Unexamined Patent Application Publication No. 2011-152005

In the related configuration A above, the parameter used for feedforward control in controlling the electric motor is one parameter "FF". That is, in related configuration A, the number of parameters used for feedforward control in motor control is one. Therefore, it cannot be said that the accuracy of the feedforward control in controlling the electric motor is sufficient.

The present disclosure has been made to solve such problems, and aims to provide a motor control device or the like capable of performing feedforward control in motor control with high accuracy.

In order to achieve the above object, an electric motor control device according to one aspect of the present disclosure controls an electric motor that rotates a rotor. The electric motor control device includes a speed control unit that controls the electric motor, and the speed control unit controls the rotation state of the rotor at the drive timing at which the electric motor is driven so that the rotation state approaches the target rotation state, which is the target rotation state. A speed control process is performed to control the electric motor, and the speed control process includes feedback control and feedforward control. The speed control unit performs wind resistance estimation processing and acceleration estimation processing. In the wind resistance estimation processing, the speed control unit estimates the wind resistance associated with the rotation of the rotor at the drive timing. In the acceleration estimation process, the speed control unit estimates the acceleration of the rotation of the rotor at the drive timing, and in the feedforward control, the speed control unit adjusts the rotation state of the rotor at the drive timing so that it approaches the target rotation state. is the process of controlling the electric motor based on the estimated wind resistance and the estimated acceleration.

According to the present disclosure, the speed control unit performs speed control processing for controlling the electric motor so that the rotation state of the rotor at the drive timing at which the electric motor is driven approaches the target rotation state. Speed control processing includes feedback control and feedforward control. Feedforward control is a process in which the speed control unit controls the electric motor based on the estimated wind resistance and the estimated acceleration so that the rotational state of the rotor at the drive timing approaches the target rotational state. .

That is, feedforward control uses two parameters: wind resistance and acceleration. Therefore, feedforward control in controlling the electric motor can be performed with high accuracy.

The objects, features, aspects and advantages of the present disclosure will become more apparent with the following detailed description and accompanying drawings.

1 is a diagram showing a configuration of a motor control device according to Embodiment 1; FIG. It is a sectional view showing composition of an electric motor. It is a figure which shows the structure of a stator. It is a figure which shows the structure of an armature. It is a figure which shows the structure of a three-phase inverter. FIG. 4 is a diagram for explaining a speed command; FIG. 2 is a block diagram showing the configuration of a speed control unit according to Embodiment 1; FIG. FIG. 4 is a diagram showing characteristics of q-axis current and d-axis current as simulation results; It is a figure which shows an example of a test result. It is a graph which shows an example of a characteristic line. FIG. 7 is a perspective view showing the configuration of a winding machine according to Embodiment 2; 8 is a block diagram showing the configuration of a control system of a winding machine according to Embodiment 2; FIG. It is a figure which shows the structure of a tensioner. It is a figure which shows the structure of an input conveying apparatus. 8 is a block diagram showing the configuration of a speed control unit according to Embodiment 2; FIG. FIG. 4 is a diagram for explaining a T-Jw table; FIG. FIG. 11 is a block diagram showing the configuration of a speed control unit in modified configuration A; It is a block diagram showing a characteristic functional configuration of a motor control device. It is a figure which shows the example of the hardware constitutions of an electric motor control apparatus. It is a figure which shows another example of the hardware constitutions of an electric motor control apparatus. It is a figure which shows the structure of a ventilation fan. 9 is a flowchart of variable identification control processing;

Embodiments will be described below with reference to the drawings. In the following drawings, the same components are given the same reference numerals. Components with the same reference numerals have the same names and functions. Therefore, detailed descriptions of some of the components denoted by the same reference numerals may be omitted.

It should be noted that the dimensions, materials, shapes, and relative arrangement of the constituent elements exemplified in the embodiments may be appropriately changed according to the configuration of the device, various conditions, and the like. Also, the dimensions of components in the drawings may differ from the actual dimensions.

<Embodiment 1>
(composition)
FIG. 1 is a diagram showing the configuration of a motor control device 100 according to Embodiment 1. As shown in FIG. In FIG. 1, the electric motor M1 is shown for explanation of the electric motor control device 100. As shown in FIG. Electric motor control device 100 controls electric motor M1. The motor control device 100 is built in the winding machine. Note that the motor control device 100 may be incorporated in the fan motor. The fan motor is, for example, a ventilation fan.

The motor control device 100 includes a control unit Ct1 and a three-phase inverter Iv1. Control unit Ct1 controls electric motor M1 via three-phase inverter Iv1. The controller Ct1 is, for example, a processor. Note that the control unit Ct1 is not limited to a processor. The control unit Ct1 may be, for example, a device including a CPU (Central Processing Unit) and a memory.

The electric motor M1 is a brushless motor. The driving method of the electric motor M1, which is a brushless motor, is a sine wave driving method. PWM (Pulse Width Modulation) control is performed on the electric motor M1.

In the following, the configuration for controlling the brushless motor is also referred to as "brushless motor control configuration". Motor controller 100 has a brushless motor control configuration. Hereinafter, the brushless motor control configuration of the electric motor control device 100 is also referred to as "brushless motor control configuration A".

FIG. 2 is a cross-sectional view showing the configuration of the electric motor M1. In FIG. 2, the X, Y and Z directions are orthogonal to each other. The X, Y and Z directions shown in the following figures are also orthogonal to each other. Hereinafter, the direction including the X direction and the direction opposite to the X direction (−X direction) is also referred to as the “X-axis direction”. Also, hereinafter, the direction including the Y direction and the direction opposite to the Y direction (−Y direction) is also referred to as the “Y-axis direction”. Also, hereinafter, the direction including the Z direction and the direction opposite to the Z direction (−Z direction) is also referred to as the “Z-axis direction”.

Also, hereinafter, the plane including the X-axis direction and the Y-axis direction is also referred to as the "XY plane". Also, hereinafter, a plane including the X-axis direction and the Z-axis direction is also referred to as an "XZ plane". Also, hereinafter, a plane including the Y-axis direction and the Z-axis direction is also referred to as a "YZ plane".

As shown in FIG. 2, the electric motor M1, which is a brushless motor, includes a stator 20 and a rotating member X1. The shape of the rotating member X1 is elongated. In FIG. 2, the longitudinal direction of the rotating member X1 is the Z-axis direction. The rotating member X1 includes a shaft X1a and a rotor X1b. The shape of the shaft X1a is rod-like. The shape of the rotor X1b is cylindrical. The rotor X1b is composed of permanent magnets. The rotor X1b is fixed to the shaft X1a.

The rotating member X1 is configured so that the rotating member X1 is rotatable about the shaft X1a as a rotation axis. The rotation axis of the rotating member X1 is in the Z-axis direction. The electric motor M1 has a function of rotating the rotor X1b.

Here, the configuration of the stator 20 included in the electric motor M1 will be briefly described. FIG. 3 is a diagram showing the configuration of the stator 20. As shown in FIG. Moreover, FIG. 3 is a view of the stator 20 viewed from the rotation axis direction of the rotation member X1. That is, FIG. 3 is a diagram showing the configuration of the stator 20 on the XY plane. The shape of the stator 20 is cylindrical. The rotating member X1 is provided in the electric motor M1 so that the rotating member X1 is surrounded by the cylindrical stator 20 .

The stator 20 includes nine armatures 21. The configuration of each of the nine armatures 21 is the same. The nine armatures 21 are hereinafter also referred to as armatures 21a, 21b, 21c, 21d, 21e, 21f, 21g, 21h, and 21i, respectively.

FIG. 4 is a diagram showing the configuration of the armature 21. As shown in FIG. FIG. 4 shows the armature 21 as an armature 21a as an example. FIG. 4A is a diagram showing the configuration of the armature 21 as the armature 21a on the XY plane. FIG. 4B is a diagram showing the configuration of the armature 21 as the armature 21a on the XZ plane.

Here, the configuration of the armature 21 will be briefly described. As shown in FIGS. 4A and 4B, armature 21 has armature core 22 . The armature core 22 is also called a "workpiece". The armature core 22 is a winding tooth. In FIG. 4A, the armature core 22 has a substantially T-shaped cross section along the XY plane. A detailed configuration of the armature 21 will be described later.

Again, referring to FIG. 2, a chuck 75 is connected to the end of the shaft X1a of the rotating member X1. That is, the chuck 75 is connected to the end of the rotating member X1. The chuck 75 is a workpiece gripping member for gripping the armature core 22 as a workpiece. The chuck 75 rotates as the rotating member X1 (that is, the rotor X1b) rotates. The rotation of the rotating member X1 causes the chuck 75 and the armature core 22 to rotate.

The brushless motor control configuration A that the electric motor control device 100 has is a configuration that does not use an angle sensor for detecting the position (that is, the angle) of the rotor X1b. A known brushless motor control configuration that does not use an angle sensor is hereinafter also referred to as "brushless motor control configuration N."

Next, the configuration of the three-phase inverter Iv1 will be described. The configuration of the three-phase inverter Iv1 in the brushless motor control configuration A is the same as the configuration of the three-phase inverter in the brushless motor control configuration N. Therefore, the configuration of the three-phase inverter Iv1 will be briefly described.

FIG. 5 is a diagram showing the configuration of the three-phase inverter Iv1. FIG. 5 also shows the control unit Ct1 and the electric motor M1 for explanation of the three-phase inverter Iv1.

The three-phase inverter Iv1 includes a power supply circuit Cp1 and an inverter circuit Cp2. The power supply circuit Cp1 is connected to an external AC three-phase power supply (not shown). The AC three-phase power supply supplies AC voltage to the power supply circuit Cp1.

The power supply circuit Cp1 includes a diode bridge Db1 and a capacitor C1. Capacitor C1 is a smoothing capacitor. The power supply circuit Cp1 converts an AC voltage supplied from an AC three-phase power supply into a high-voltage DC voltage using a diode bridge Db1 and a capacitor C1. That is, the power supply circuit Cp1 generates a high-voltage DC voltage.

Between the inverter circuit Cp2 of the three-phase inverter Iv1 and the electric motor M1, U-phase, V-phase and W-phase, which are current paths, are formed.

The inverter circuit Cp2 includes IGBT (Insulated Gate Bipolar Transistor) modules Cr1a, Cr1b, Cr1c, Cr1d, Cr1e, and Cr1f. Each of the IGBT modules Cr1a, Cr1b, Cr1c, Cr1d, Cr1e, and Cr1f is an RC-IGBT (Reverse Conducting IGBT). IGBT modules Cr1a and Cr1d are connected to the U phase. IGBT modules Cr1b and Cr1e are connected to the V phase. IGBT modules Cr1c and Cr1f are connected to the W phase.

Hereinafter, each of the IGBT modules Cr1a, Cr1b, Cr1c, Cr1d, Cr1e, and Cr1f is also collectively referred to as "IGBT module Cr1". That is, the inverter circuit Cp2 includes six IGBT modules Cr1. Each of the six IGBT modules Cr1 includes a transistor Tr1 and a freewheeling diode D1. The transistor Tr1 is an IGBT. The six IGBT modules Cr1 use the high-voltage DC voltage generated by the power supply circuit Cp1 to generate PWM pseudo-sine wave signals for controlling the electric motor M1. The PWM pseudo sine wave signal is a signal representing a pseudo sine wave.

The inverter circuit Cp2 operates under the control of the control section Ct1. The inverter circuit Cp2 drives the electric motor M1 by transmitting a PWM pseudo sine wave signal to the electric motor M1. Six IGBT modules Cr1 are used to transmit the PWM pseudo-sinusoidal signal.

In electric motor control device 100, current values of some of the U-phase, V-phase and W-phase are detected, and controller Ct1 outputs a switch signal for controlling transistor Tr1 of each IGBT module Cr1 based on the detected current values. Generate Sgw. The switch signal Sgw is a PWM signal.

In addition, the motor control device 100 has current detection units Dt1 and Dt2 having a function of detecting current values. As an example, FIG. 5 shows a configuration in which the current detection unit Dt1 detects a U-phase current value and the current detection unit Dt2 detects a W-phase current value. The current value detected by the current detection unit Dt1 is notified to the control unit Ct1 as the current value If1. The current value detected by the current detection unit Dt2 is notified to the control unit Ct1 as the current value If2. Current value If1 and current value If2 are feedback current values. Hereinafter, each of current value If1 and current value If2 is also referred to as "current value If" or "If".

FIG. 5 shows the switch signal Sgw that controls the transistor Tr1. Here, as an example, when the transistor Tr1 of each of the IGBT modules Cr1a and Cr1f is turned on, a current flows through the U-phase and the W-phase.

Next, the configuration of the control unit Ct1 will be described. Referring to FIG. 1 again, control unit Ct1 includes speed control unit 101, current control unit 102, PWM control unit 103, and estimation unit . All or part of the functions of the speed control unit 101, the current control unit 102, the PWM control unit 103 and the estimation unit 106 are realized by executing a program by the control unit Ct1, for example. All or part of the speed control unit 101, the current control unit 102, the PWM control unit 103, and the estimation unit 106 may be configured by dedicated hardware.

As described above, the electric motor control device 100 has the brushless motor control configuration A. Brushless motor control configuration A is a configuration using current commands and voltage commands. A known brushless motor control configuration N, like the brushless motor control configuration A, is a configuration that uses current commands and voltage commands. The current command is hereinafter also referred to as "current command Iref". In addition, the voltage command is hereinafter also referred to as "voltage command Vtref".

The brushless motor control configuration A differs from the brushless motor control configuration N only in the configuration of the speed control unit 101 . The configurations of the current control unit 102, the PWM control unit 103, and the estimation unit 106 are the same as those in the brushless motor control configuration N. FIG. Therefore, the operations of current control section 102, PWM control section 103 and estimation section 106 will be briefly described.

In the following, the timing at which the electric motor M1 is driven is also referred to as "driving timing". The drive timing is the timing at which the electric motor M1 rotates the rotor X1b. Hereinafter, the actual rotational speed of the rotor X1b is also referred to as "speed Vs" or "actual speed". The speed Vs is, for example, the speed at the driving timing.

In the following, the position of the rotor X1b at the driving timing is also called "position Pd". The position Pd corresponds to the rotation angle of the rotor X1b at the drive timing. Hereinafter, the voltage applied to the electric motor M1 at the drive timing is also referred to as "voltage Vds". The voltage Vds is the driving voltage of the electric motor M1 at the driving timing.

In the following, the rotational speed of the rotor X1b is also referred to as "motor rotational speed", "rotational speed", or "speed". Further, hereinafter, the number of rotations of the rotor X1b per unit time is also referred to as "unit number of rotations". A unit time is, for example, one minute. The rotation speed of the rotor X1b is proportional to the unit rotation speed. That is, the rotation speed of the rotor X1b corresponds to the unit number of rotations.

In the following, the rotating state of the rotor X1b at the drive timing is also referred to as "drive rotating state". The drive rotation state is, for example, the actual rotation speed of the rotor X1b. Hereinafter, the target rotation state of the rotor X1b is also referred to as a "target rotation state." The target rotation state is, for example, the target rotation speed of the rotor X1b. That is, each of the drive rotation state and the target rotation state is, for example, the rotation speed of the rotor X1b. Note that each of the drive rotation state and the target rotation state may be a unit number of rotations.

In the following, the process of controlling the electric motor M1 so that the drive rotation state approaches the target rotation state is also referred to as "speed control processing". Speed control processing includes feedback control and feedforward control.

In the following, the command for controlling the rotation speed of the rotor X1b is also referred to as "speed command Vref" or "Vref". The speed command Vref indicates a target rotational speed of the rotor X1b. The aforementioned target rotational state corresponds to the speed command Vref. Note that the speed command Vref may indicate the target unit rotation speed of the rotor X1b.

The speed command Vref is sent to the speed control unit 101 from, for example, a speed setting unit (not shown) in the motor control device 100 .

　The speed command Vref is expressed by a linear function. FIG. 6 is a diagram for explaining the speed command Vref. FIG. 6A is a diagram showing a graph showing simulation results. The speed command Vref is expressed, for example, by a linear function indicated by the characteristic line Ls in the graph of FIG. 6(a). Characteristic line Ls is, for example, a trapezoidal speed pattern used in a winding machine. In FIG. 6A, the horizontal axis is time. The vertical axis is speed as rotational speed. The velocity on the vertical axis is the normalized velocity. A time corresponding to a portion of the characteristic line Ls indicating a speed greater than "0" corresponds to the driving timing. Note that the speed command Vref may be expressed by a quadratic function.

FIG. 6(b) is a graph showing an acceleration pattern corresponding to the trapezoidal velocity pattern indicated by the characteristic line Ls. In FIG. 6B, the horizontal axis is time. The vertical axis is acceleration. Acceleration on the vertical axis is normalized acceleration. A characteristic line L2 in the graph of FIG. 6(b) indicates an acceleration pattern corresponding to the trapezoidal velocity pattern indicated by the characteristic line Ls of FIG. 6(a).

With reference to FIG. 1, the aforementioned current values If1 and If2, which are feedback current values, are notified to estimation section 106 and current control section 102 . Speed control unit 101 controls electric motor M1 via current control unit 102, PWM control unit 103 and three-phase inverter Iv1. That is, the speed control unit 101 controls the electric motor M1.

Also, the speed control unit 101 performs speed control processing. That is, the speed control unit 101 performs feedback control and feedforward control included in speed control processing. Hereinafter, the speed control process performed by the speed control unit 101 is also referred to as "speed control process A". The speed control process A is a process using the current command Iref. Further, the feedback control performed by the speed control unit 101 is hereinafter also referred to as "feedback control A".

Feedback control A is a process in which the speed control unit 101 controls the electric motor M1 based on control parameters for controlling the rotation state of the rotor X1b of the electric motor M1. The control parameters are current values If1 and If2 as feedback current values. The feedforward control performed by the speed control unit 101 is hereinafter also referred to as "feedforward control A". Speed control processing A includes feedback control A and feedforward control A.

Although the details will be described later, the estimating unit 106 estimates the speed Vs and notifies the speed control unit 101 of the estimated speed Vs. Further, the estimation unit 106 estimates the position Pd and notifies the current control unit 102 of the estimated position Pd, which will be described later in detail.

Although the details will be described later, the speed control unit 101 uses the speed command Vref and the estimated speed Vs to generate the current command Iref. Speed control unit 101 transmits the generated current command Iref to current control unit 102 .

The current control unit 102 generates the voltage command Vtref based on the voltage command generation method in the brushless motor control configuration A. The voltage command generation method is a method of generating the voltage command Vtref based on the current command Iref, the position Pd, and the current values If1 and If2, which are feedback current values. The method of generating the voltage command in the brushless motor control configuration A is a known method, and detailed description thereof will be omitted.

The voltage command Vtref is a command corresponding to the current command Iref. A voltage command Vtref indicates a target voltage value. Voltage command Vtref is a command for rotating rotor X1b at a rotational speed based on current command Iref generated by speed control unit 101 .

Current control unit 102 transmits voltage command Vtref to PWM control unit 103 and estimation unit 106 .

The estimation unit 106 estimates the speed Vs based on the speed estimation method in the brushless motor control configuration A. The speed estimation method is a method of estimating speed Vs based on voltage command Vtref and current values If1 and If2, which are feedback current values. Since the speed estimation method in the brushless motor control configuration A is a known method, detailed description thereof will be omitted. Estimating section 106 notifies speed control section 101 of estimated speed Vs.

Also, the estimation unit 106 estimates the position Pd based on the position estimation method in the brushless motor control configuration A. The position estimation method is a method of estimating the position Pd based on the current values If1 and If2, which are feedback current values, and the voltage command Vtref. The above-described position estimation method in the brushless motor control configuration A is a known method, and detailed description thereof will be omitted. The estimation unit 106 notifies the current control unit 102 of the estimated position Pd.

The PWM control unit 103 generates the switch signal Sgw based on the voltage command Vtref. The switch signal Sgw is a PWM signal. The switch signal Sgw is a signal representing a sine wave. The switch signal Sgw is a signal for rotating the rotor X1b at a rotational speed based on the current command Iref generated by the speed control unit 101. FIG.

The PWM control unit 103 transmits the switch signal Sgw to the inverter circuit Cp2 of the three-phase inverter Iv1. The inverter circuit Cp2 generates the aforementioned PWM pseudo sine wave signal based on the switch signal Sgw. The inverter circuit Cp2 drives the electric motor M1 by supplying the PWM pseudo sine wave signal to the electric motor M1. Six IGBT modules Cr1 are used to transmit the PWM pseudo-sinusoidal signal.

The electric motor M1 rotates the rotor X1b (that is, the rotating member X1) at a rotation speed based on the current command Iref generated by the speed control unit 101 according to the PWM pseudo sine wave signal.

Next, the configuration of the speed control unit 101 will be described. FIG. 7 is a block diagram showing the configuration of speed control section 101 according to the first embodiment. Hereinafter, the state in which the electric motor M1 rotates the rotor X1b is also referred to as "rotor rotation state". Further, hereinafter, the air resistance generated against the rotor X1b in the rotor rotation state is also referred to as "wind resistance Wr" or "wind resistance". The wind resistance Wr is the air resistance associated with the rotation of the rotor X1b.

Hereinafter, the state in which the electric motor M1 rotates the rotor X1b so that the wind resistance Wr is proportional to the square of the rotation speed of the rotor X1b is also referred to as "high-speed rotation state". The unit rotation speed of the rotor X1b in high-speed rotation is, for example, 40 krpm or more. Hereinafter, the rotational speed of the rotor X1b in the high-speed rotation state is also referred to as "high speed". Further, hereinafter, the rotational acceleration of the rotor X1b of the electric motor M1 is also referred to as “acceleration Ac” or “Ac”.

Also, hereinafter, the timing for controlling the rotational speed of the rotor X1b is also referred to as "control timing". The control timing is, for example, the time "1 second" in FIG. 6(a). Although the details will be described later, the control timing is changed each time a predetermined process is performed. In the rotor rotation situation, the control timing is the drive timing. For example, in a high speed rotation situation, the control timing is the drive timing.

As described above, the speed control unit 101 performs speed control processing A. Speed control processing A includes feedback control A and feedforward control A. Although the details will be described later, in the feedforward control A, the speed control unit 101 controls the electric motor M1 based on the estimated wind resistance Wr and the estimated acceleration Ac so that the drive rotation state approaches the target rotation state. is a process for controlling

As shown in FIG. 7, the speed controller 101 includes a PI controller 201, a wind resistance estimator 202, an acceleration estimator 203, a gain compensator 204, and an LPF (Low Pass Filter) 205. All or part of the functions of the PI controller 201, the wind resistance estimator 202, the acceleration estimator 203, the gain compensator 204, and the LPF 205 are implemented by the controller Ct1 executing a program, for example. All or part of the wind resistance estimator 202, the acceleration estimator 203, the gain compensator 204, and the LPF 205 may be configured by dedicated hardware. PI controller 201, wind resistance estimator 202, acceleration estimator 203, gain compensator 204, and LPF 205 will be described later.

Next, feedback control A will be explained. Feedback control A is similar to feedback control in a known brushless motor control configuration N. Therefore, feedback control A will be briefly described.

Here, in order to compare with the configuration of the present embodiment, first, a configuration in which only feedback control A is performed in speed control processing A (hereinafter also referred to as "comparative configuration") will be described.

Here, the feedback control A in the comparative configuration performed under the following premise Pm1 will be described. In the premise Pm1, the speed command Vref expressed by a linear function indicated by the characteristic line Ls in FIG. 6(a) is used. Further, in the premise Pm1, the range of unit rotation speed of the rotor X1b in the electric motor M1 is in the range of 0 krpm to 80 krpm. That is, in the premise Pm1, a high-speed rotation situation occurs in the electric motor M1.

In the feedback control A in the comparison configuration performed under the premise Pm1, the speed control unit 101 compares the speed indicated by the speed command Vref with the estimated speed Vs to obtain the speed deviation Verr. The speed deviation Verr indicates the difference between the speed indicated by the speed command Vref and the speed Vs. The PI control unit 201 calculates a current value Ip corresponding to the speed deviation Verr. The PI control unit 201 calculates the sum of the current component proportional to the speed deviation Verr and the current component proportional to the integral of the speed deviation Verr as the current value Ip. The current value Ip is a feedback component of the current command.

Next, in the comparison configuration, speed control unit 101 generates current value Ip as current command Iref and transmits the current command Iref to current control unit 102 . Current control unit 102, estimation unit 106, PWM control unit 103, and three-phase inverter Iv1 then perform the above-described processing. Thereby, the electric motor M1 rotates the rotor X1b (that is, the rotating member X1) at a rotation speed based on the current command Iref.

Each of the above processes in the comparison configuration is continuously and repeatedly performed over a period corresponding to the characteristic line Ls in FIG. 6(a). As a result, the state of the rotational speed of the rotor X1b in the comparative configuration becomes the state of speed as the rotational speed indicated by the characteristic line L0 in FIG. 6(a). According to the characteristic line Ls corresponding to the speed command Vref and the characteristic line L0, the rotational speed response of the rotor X1b in the comparison configuration is slower than the rotational speed response of the speed command Vref. In particular, when a high-speed rotation situation occurs, the rotation speed response characteristic of the rotor X1b in the comparative configuration is poor. That is, the rotational speed of rotor X1b does not follow the rotational speed of speed command Vref.

FIG. 8 is a diagram showing the characteristics of the q-axis current and the d-axis current as simulation results. FIG. 8(a) shows the characteristics of the q-axis current. In FIG. 8A, a characteristic line Lq0 indicates the q-axis current characteristic corresponding to the comparative configuration. FIG. 8(b) shows the characteristics of the d-axis current. In FIG. 8B, a characteristic line Ld0 indicates the characteristic of the d-axis current corresponding to the comparative configuration.

FIG. 9 is a diagram showing an example of test results. FIG. 9(a) shows an example of the test results of the comparative configuration. In FIG. 9A, the horizontal axis indicates time. A characteristic Li0 indicates a current characteristic. A characteristic Lcs indicates a characteristic of the speed command Vref. A characteristic Lc0 represents the rotational speed characteristic of the rotor X1b in the comparative configuration.

According to FIG. 9(a), it can be seen that the rotational speed of the rotor X1b in the comparative configuration cannot follow the speed indicated by the speed command Vref.

In order to improve the rotational speed response characteristics in the above comparative configuration, in addition to feedback control A, feedforward control A is performed in the present embodiment.

Next, a description will be given of the speed control process A of the present embodiment, which is performed under the premise Pm1 described above. In speed control processing A in premise Pm1, speed control unit 101 performs feedback control A and feedforward control A based on speed command Vref. The feedforward control A is performed in parallel with the feedback control A.

Here, in order to explain the speed control process A in the premise Pm1, the feedback control A in the premise Pm1 and the feedforward control A in the premise Pm1 will be explained. In the following description, the term "control timing" is used to facilitate understanding of the process.

In the feedback control A in the premise Pm1, the speed control unit 101 compares the speed indicated by the speed command Vref and the estimated speed Vs to obtain the speed deviation Verr. The PI control unit 201 calculates a control timing current value Ip corresponding to the speed deviation Verr. The current value Ip is a feedback component of the current command. That is, the current value Ip corresponds to the current command.

Also, in feedforward control A in premise Pm1, speed control unit 101 performs wind resistance estimation processing, acceleration estimation processing, speed control processing Aw, and speed control processing Ak.

In the wind resistance estimation process, to summarize, the speed control unit 101 estimates the wind resistance Wr at the control timing. As mentioned above, in the rotor rotation situation, the control timing is the drive timing. Therefore, in the wind resistance estimation process in the rotor rotation state, the speed control unit 101 estimates the wind resistance Wr at the drive timing.

In the wind resistance estimation process, the wind resistance estimation unit 202 of the speed control unit 101 estimates the wind resistance Wr at the control timing based on the following formula related to the characteristic line Lci and the speed command Vref.

FIG. 10 is a graph showing an example of the characteristic line Lci. The horizontal axis of FIG. 10 indicates the number of revolutions as a unit number of revolutions. The rotation speed corresponds to the speed of the electric motor M1 (that is, the rotation speed of the rotor X1b).

The characteristic line Lci is a characteristic line obtained from Experiment A conducted in advance. In experiment A, motor M1 is driven at different speeds. The plurality of speeds also includes the aforementioned high speed. Also, in Experiment A, the current of the motor M1 driven at each speed is measured. Current measurements are made, for example, by an external current sensor. Plot the current corresponding to each speed on a graph. Then, create a characteristic line that approximates the values plotted on the graph. Thereby, the characteristic line Lci of FIG. 10 is obtained. In Experiment A, the current of electric motor M1 driven at each speed may be calculated by the control unit Ct1.

The characteristic line Lci represents a quadratic function representing the current I, such as the following equation (1).

　Vs in equation (1) is the speed of the electric motor M1. In formula (1), a, b, and c are variables. Variables a, b, and c in equation (1) change depending on the characteristics of the electric motor M1, the mounting location of the electric motor M1, and the like. Also, in situations where the motor M1 is used in a winding machine, the variables a, b, and c will vary depending on the construction of the winding machine. The variables a, b, and c are specified by Experiment A above.

From the equation (1) indicated by the characteristic line Lci, it can be seen that the current of the electric motor M1 increases by the square of the speed as the speed corresponding to the rotation speed increases.

Also, the following formula (2) is obtained from the relational formula "torque T=current I×torque constant Kt" and formula (1). Torque constant Kt is a known value.

From the formula (2), it can be seen that the torque Ta is proportional to the square of the speed. Torque Ta in equation (2) corresponds to wind resistance Wr. That is, equation (2) is an equation for calculating wind resistance Wr.

In the following, the current value for canceling the wind resistance Wr is also referred to as "current value Ifw" or "Ifw". The current value Ifw is a value for feedforward compensation. The current value Ifw is expressed by the following equation (3) based on the relational expression "torque T=current I×torque constant Kt". Torque constant Kt is a known value.

Specifically, in the wind resistance estimation process, the wind resistance estimation unit 202 substitutes the speed at the control timing indicated by the speed command Vref for “Vs” in the equation (2), thereby obtaining the wind resistance corresponding to the torque Ta. Calculate the resistance Wr. That is, the wind resistance estimator 202 estimates the wind resistance Wr at the control timing. Next, the wind resistance estimator 202 calculates the current value Ifw at the control timing by substituting the estimated wind resistance Wr into Equation (3).

Next, in the speed control process Aw, the speed control unit 101 adds the calculated current value Ifw to the current value Ip at the control timing, which corresponds to the current command. That is, speed control unit 101 corrects the current command.

Also, in the acceleration estimation process, in summary, the speed control unit 101 estimates the acceleration Ac at the driving timing. As mentioned above, in the rotor rotation situation, the control timing is the drive timing. Therefore, in the acceleration estimation process in the rotor rotation state, the speed control unit 101 estimates the acceleration Ac at the driving timing.

In the acceleration estimation process, the acceleration estimation unit 203 estimates the acceleration Ac based on the speed command Vref. Here, in order to make the explanation easier to understand, the process of estimating the acceleration Ac at the control timing will be explained as an example.

Specifically, the acceleration estimating unit 203 differentiates the speed command Vref, which is expressed by a linear function, so that the acceleration Ac at the control timing is calculated. That is, speed control unit 101 estimates acceleration Ac by differentiating speed command Vref. This gives the acceleration Ac.

In the following, the inertia of the electric motor M1 is also called "motor inertia J". The motor inertia J is the inertia of the rotor X1b. Gain compensator 204 holds motor inertia J and torque constant Kt, which are known values.

Next, the gain compensator 204 calculates the acceleration force Ap from the relational expression "acceleration Ac×motor inertia J=torque Tb". The above torque Tb corresponds to the acceleration force Ap. Specifically, the gain compensator 204 multiplies the acceleration Ac by the motor inertia J to calculate the acceleration force Ap.

In the following, the current value related to acceleration and for increasing the rotational speed responsiveness is also referred to as "current value Ifa" or "Ifa". Current value Ifa is, for example, a current value related to acceleration Ac. The current value Ifa is expressed by the following equation (4) based on the relational expression "torque T=current I×torque constant Kt". Torque constant Kt is a known value.

"J×Ac" in formula (4) is the acceleration force Ap.

Also, the gain compensator 204 calculates the current value Ifa at the control timing by substituting the calculated acceleration force Ap into the equation (4). That is, the gain compensator 204 divides the acceleration force Ap by the torque constant Kt to calculate the current value Ifa at the control timing.

By the way, when the above process for calculating the current value Ifa in the acceleration estimation process is continuously and repeatedly performed, the current value Ifa is calculated at a plurality of different control timings. In this case, the LPF 205 is provided to prevent problems caused by noise, excessive speed changes, and the like.

The LPF 205 is, for example, a primary filter. By passing a plurality of consecutive current values Ifa through the LPF 205, it is possible to prevent the occurrence of sudden changes in the current value Ifa. Therefore, the LPF 205 can prevent problems caused by noise, excessive speed changes, and the like. Further, the time constant of LPF 205 is set so that the frequency components of a plurality of continuous current values Ifa are equal to or less than a predetermined frequency, depending on the actual application.

Next, in the speed control process Ak, the speed control unit 101 adds the current value Ifa at the control timing, which has passed through the LPF 205, to the current value Ip at the control timing, which corresponds to the current command. The current value Ifa that has passed through the LPF 205 is the current value Ifa to which the LPF 205, which is a low-pass filter, has been applied. That is, speed control unit 101 corrects the current command based on current value Ifa to which LPF 205 is applied.

The current value Ifa to which the LPF 205 is applied is the current value in the case where the current value Ifa needs to be corrected in order to prevent a sudden change in any of the continuous current values Ifa, or the correction is unnecessary. is the current value in the case of The current value when the correction is necessary is the current value Ifa corrected based on the LPF 205 . The current value when the correction is unnecessary is the uncorrected current value Ifa.

Also, the current value Ifa to which the LPF 205 is applied is a value calculated using the estimated acceleration Ac according to the above equation (4). That is, the current value Ifa is a value calculated based on the estimated acceleration Ac. Therefore, the speed control unit 101 corrects the current command based on the estimated acceleration Ac.

By the speed control processing Aw and the speed control processing Ak described above, the current value Ifw and the current value Ifa are added to the current value Ip corresponding to the current command. Speed control unit 101 generates a current value obtained by calculation of "current value Ip+current value Ifw+current value Ifa" as current command Iref. The current command Iref is a command obtained by correcting the current value Ip corresponding to the current command based on the estimated wind resistance Wr and the estimated acceleration Ac. Further, the generated current command Iref is a command for suppressing a decrease in speed due to wind resistance Wr, improving the responsiveness of the electric motor, and the like.

The speed control unit 101 transmits to the current control unit 102 a current command Iref, which is a command obtained by correcting the current value Ip corresponding to the current command.

Then, the current control unit 102, the estimation unit 106, the PWM control unit 103, and the three-phase inverter Iv1 perform the processing described above. As a result, the electric motor M1 rotates the rotor X1b (that is, the rotating member X1) at a rotational speed based on the current command Iref, which is a command obtained by correcting the current value Ip corresponding to the current command. Therefore, in speed control processing A in premise Pm1, speed control unit 101 controls electric motor M1 based on the corrected current command.

A period corresponding to the characteristic line Ls of FIG. continuously and repeatedly over time. The control timing is changed each time the above processes of the speed control process A are repeated.

The period during which the above processes of the speed control process A are continuously performed includes the period during which the high-speed rotation situation occurs. During this period, the speed control unit 101 performs feedback control A and feedforward control A in a high-speed rotation state. As described above, the speed control process A in the premise Pm1 is performed.

In addition, in the speed control process A in the premise Pm1, the wind resistance Wr in the high-speed rotation condition is estimated by performing the wind resistance estimation process of the feedforward control A in the high-speed rotation condition. In this case, the current value Ifw based on the wind resistance Wr in the high-speed rotation state is added to the current value Ip corresponding to the current command.

Through the above processing, the state of the rotational speed of the rotor X1b in the speed control processing A of the present embodiment becomes the state of speed as the rotational speed indicated by the characteristic line L1 in FIG. 6(a). According to the characteristic line Ls corresponding to the speed command Vref and the characteristic line L1, it can be seen that the rotation speed, which is the actual speed, substantially follows the rotation speed of the speed command Vref at each time as timing.

In the following, the configuration that performs the speed control process A under the premise Pm1 will also be referred to as "configuration A". Configuration A is the configuration of the present embodiment.

Also, FIG. 8 shows the characteristics of the q-axis current and the d-axis current as simulation results. A characteristic line Lq1 in FIG. As described above, the characteristic line Lq0 indicates the q-axis current characteristic corresponding to the comparative configuration.

According to FIG. 8(a), it can be seen that the configuration A outputs a large q-axis current at an earlier timing than the comparative configuration in which the feedforward control A is not performed.

A characteristic line Ld1 in FIG. 8(b) indicates the characteristic of the d-axis current corresponding to the configuration A. As described above, the characteristic line Ld0 indicates the characteristic of the d-axis current corresponding to the comparative configuration. According to FIG. 8B, it can be seen that the configuration A outputs a large d-axis current at an earlier timing than the comparative configuration in which the feedforward control A is not performed.

In addition, FIG. 9 shows an example of test results. FIG. 9B shows an example of test results for configuration A. FIG. In FIG. 9B, the horizontal axis indicates time. A characteristic Li1 indicates the current characteristic of the configuration A. A characteristic Lcs indicates a characteristic of the speed command Vref. A characteristic Lc1 indicates the characteristic of the rotation speed of the rotor X1b in the configuration A. According to FIG. 9B, it can be seen that the rotation speed of the rotor X1b in the configuration A can follow the speed indicated by the speed command Vref. Moreover, it can be seen that almost no speed deviation occurs in the configuration A.

(summary)
As described above, according to the present embodiment, the speed control unit 101 controls the rotation of the electric motor M1 so that the rotation state of the rotor X1b at the drive timing at which the electric motor M1 is driven approaches the target rotation state. A speed control process A for controlling is performed. Speed control processing A includes feedback control A and feedforward control A. In the feedforward control A, the speed control unit 101 controls the electric motor M1 based on the estimated wind resistance Wr and the estimated acceleration Ac so that the rotation state of the rotor X1b at the drive timing approaches the target rotation state. is a process for controlling

That is, feedforward control uses two parameters: wind resistance and acceleration. Therefore, feedforward control in controlling the electric motor can be performed with high accuracy.

In addition, according to the present embodiment, feedback control A is performed to suppress abrupt changes in current due to disturbances, reduce speed deviation, and the like. Further, in the feedforward control A, the current command Iref used for speed control can be quickly obtained regardless of the actual speed of the rotor X1b. Therefore, it is possible to obtain an effect that the responsiveness of the electric motor can be improved.

Also, according to the present embodiment, feedforward control A and feedback control A are performed in parallel. Therefore, a two-degree-of-freedom control system combining feedforward control A and feedback control A is configured.

Further, according to the present embodiment, feedback control A and feedforward control A are performed in high-speed rotation conditions. Therefore, even in a high-speed rotation state, high responsiveness of the rotation speed of the rotor X1b can be realized. Therefore, it is possible to provide speed control capable of generating a speed Vs that accurately follows the speed command in high-speed rotation conditions. Further, in feedback control A, for example, a current value Ip corresponding to disturbance or the like is set. As described above, it is possible to suppress the occurrence of vibration in the electric motor M1. Also, the stability of the control of the electric motor M1 can be improved.

Further, according to the present embodiment, the speed Vs is estimated from the voltage command Vtref and the feedback current value (that is, the current supplied to the electric motor M1). The speed Vs can be accurately estimated by improving the stability of the control of the electric motor M1 as described above.

When the electric motor control device 100 that provides the effects described above is applied to, for example, a fan motor such as a ventilation fan, the operation of the fan motor can be speeded up, and the occurrence of insufficient air volume can be prevented. As a result, it is possible to reduce the size of the fan motor, increase the output of the fan motor, and the like.

Also, when the electric motor control device 100 is applied to a winding machine, the winding machine can be controlled with high accuracy. Therefore, an armature with a high coil density can be used in the winding machine.

By the way, in a configuration where the range of the unit rotation speed of the electric motor is a wide range such as 0 krpm to 80 krpm, when only PI control is used, the gain of PI control is set to a large value in order to follow the speed command without deviation. must be set to

However, if the PI control gain is set to an excessive value, there is a problem that the following problems occur in high-speed rotation conditions. The defect is, for example, a defect that vibration occurs in the electric motor. Further, the problem is, for example, a problem that the overshoot of the speed response becomes large and the speed control becomes unstable.

Therefore, the electric motor control device 100 of the present embodiment has a configuration for achieving the above effects. Therefore, the above problem can be solved by the electric motor control device 100 of the present embodiment.

<Embodiment 2>
(composition)
The configuration of the present embodiment is a configuration in which the motor control device 100 is applied to a winding machine. The winding machine of this embodiment is the winding machine M10 in FIG. FIG. 11 is a perspective view showing the configuration of a winding machine M10 according to the second embodiment. FIG. 12 is a block diagram showing the configuration of the control system of winding machine M10 according to the second embodiment.

In the following, the configuration in which the motor control device 100 is applied to the winding machine M10 is also referred to as "configuration Cm1". The configuration of this embodiment is configuration Cm1. FIG. 12 does not show the three-phase inverter Iv1 of FIG. 1 in order to simplify the configuration. Actually, in the configuration Cm1, the controller 11, which is the electric motor control device 100 and will be described later, includes a three-phase inverter Iv1.

11 and 12, a winding machine M10 includes a frame 2, a wire bobbin 3, a tensioner 4, a peeling unit 5, a wire drawing unit 6, a spindle section 7, a cutting unit 8, an input conveying device 9, and an ejecting conveying device. 10 and controller 11 . In configuration Cm1, controller 11 is motor control device 100 . That is, the winding machine M10 includes a motor control device 100 . Winding machine M10 has the function of winding wire 24 around armature core 22 included in stator 20 of electric motor M1 in FIG.

Here, the configuration of the stator 20 will be described using FIG. As mentioned above, the shape of the stator 20 in FIG. 3 is cylindrical. Nine armatures 21 included in the stator 20 are arranged in a circle.

Next, the configuration of the armature 21 will be described using FIG. FIG. 4 shows the armature 21 as an armature 21a as an example. As shown in FIGS. 4A and 4B, the armature 21 as the armature 21a has an armature core 22 and an insulator . As shown in FIG. 4B, the shape of the armature core 22 is elongated. Also, as shown in FIG. 4B, the shape of the armature core 22 on the XZ plane is substantially rectangular. Further, as described above, in FIG. 4A, the cross-sectional shape of the armature core 22 along the XY plane is substantially T-shaped.

The armature core 22 is constructed by laminating a plurality of T-shaped magnetic steel sheets. Hereinafter, the direction in which the T-shaped magnetic steel sheets are laminated is also referred to as "core lamination direction". The core lamination direction of the armature core 22 in FIG. 4B is the Z-axis direction. Insulators 23 are inserted into the armature core 22 from above and below in the core stacking direction of the armature core 22 . Thereby, the insulator 23 is attached to the armature core 22 .

A wire 24 is wound around the armature core 22 . Specifically, a wire 24 is wound around the insulator 23 of the armature core 22 . In the present disclosure, "the wire 24 is wound around the insulator 23 of the armature core 22" may be simply expressed as "the wire 24 is wound around the armature core 22".

The insulator 23 of the armature core 22 included in the armature 21a has a corner portion 26a shown in FIG.

The wire 24 has conductivity. The wire 24 is, for example, a copper wire, an aluminum wire, or the like. The surface of the wire 24 is covered with an insulating coating. The wire 24 has a winding start portion and a winding end portion. The winding start portion is a portion where winding of the wire 24 starts. The winding end portion is a portion where the winding of the wire 24 ends. A stripped portion 25a exists at each of the winding start portion and the winding end portion of the wire 24 in the armature 21a. The stripped portion 25a is a portion from which the insulating coating is stripped.

The configuration of each of the armatures 21b, 21c, 21d, 21e, 21f, 21g, 21h, and 21i is similar to that of the armature 21a. For example, the wire 24 wound around the insulator 23 of the armature 21b has a stripped portion 25b at the winding end. The insulator 23 of the armature 21b has a corner portion 26b.

Also, for example, a stripped portion 25c exists at the winding end of the wire 24 wound around the insulator 23 of the armature 21c. The insulator 23 of the armature 21c has a corner portion 26c.

Further, as shown in FIG. 3, for example, the winding end portion of the wire 24 wound around the armature 21a is wound around the corner portion 26a of the insulator 23 of the armature 21a, and then wound around the adjacent armature 21b. is wound around the corner portion 26b of the insulator 23 of . Further, the winding end portion of the wire 24 is wound around the corner portion 26c of the insulator 23 of the armature 21c adjacent to the armature 21b.

In addition, the winding end portion of the wire 24 wound around the armature 21b is wound around the corner portion 26b of the insulator 23 of the armature 21b and then wound around the corner portion 26c of the insulator 23 of the adjacent armature 21c. be put on. Further, the winding end portion of the wire 24 wound around the armature 21c is wound around the corner portion 26c of the insulator 23 of the armature 21c.

Positioning is performed for each of the stripped portion 25a at the winding end portion of the armature 21a, the stripped portion 25b at the winding end portion of the armature 21b, and the stripped portion 25c at the winding end portion of the armature 21c, which is not shown. Terminals are attached. Also, the terminals attached to the peeled portions 25a, 25b, and 25c are joined by brazing.

Although not shown in FIG. 3, for the winding start portion of the wire 24 and the winding start portion and winding end portion of the wire 24 of the other armature, the alignment of the stripped portion of the wire 24 is performed in the same manner as described above. , attachment of terminals, brazing of the terminals, and the like are performed.

Each of the peeled portions 25a, 25b, and 25c is hereinafter also referred to as "the peeled portion 25". Further, hereinafter, the thickness of the armature core 22 in the core lamination direction is also referred to as "lamination thickness of the armature core 22" or "core lamination thickness".

Next, the configuration of the winding machine M10 will be described. 11 and 12, the tensioner 4, stripping unit 5, spindle section 7 and cutting unit 8 of the winding machine M10 are the main parts of the winding machine M10. The tensioner 4 , stripping unit 5 , spindle section 7 and cutting unit 8 are mounted on the base 2 .

Also, a wire bobbin 3 is installed outside the pedestal 2 . The wire bobbin 3 is a component that supplies the wire 24 . A wire 24 pulled out from the wire bobbin 3 passes through the tensioner 4 . Appropriate tension is applied to the wire 24 by the tensioner 4 .

A stripping unit 5 is installed adjacent to the tensioner 4 . The wire 24 tensioned by the tensioner 4 passes through the stripping unit 5 .

A laser marker 51 is installed on the top of the peeling unit 5 . The laser marker 51 has a function of emitting laser light. Specifically, the laser marker 51 has a function of exfoliating the insulating coating of the wire 24 by irradiating the insulating coating of the wire 24 with a laser beam. The insulating coating of the wire 24 is peeled off by the laser marker 51 . Hereinafter, the position irradiated with the laser beam emitted by the laser marker 51 is also referred to as "irradiation position".

A wire drawing unit 6 is arranged on the exit side of the stripping unit 5 . Wire drawing unit 6 includes pulley 61 and nozzle 62 . The pulley 61 changes the traveling direction of the wire 24 by 90 degrees. The wire 24 is then fed to the nozzle 62 . The wire 24 that has passed through the nozzle 62 is supplied to the spindle section 7 .

In the following, "wound around" may be expressed as "wound around". Also, hereinafter, "to wind" may be expressed as "to wind". Further, hereinafter, the process of winding the wire 24 around the armature core 22 as a member is also referred to as "winding process".

The winding machine M10 has a function of performing winding processing using the spindle section 7. The winding process is performed using wire 24 fed from nozzle 62 . The wire 24 is wound around the armature core 22 by the winding process.

The spindle section 7 includes a servomotor 71 and an encoder 72 . In configuration Cm1, the servo motor 71 is the electric motor M1 of FIG. That is, the winding machine M10 includes an electric motor M1. A servomotor 71, which is the electric motor M1, includes a rotor X1b. Moreover, the spindle part 7 further includes the chuck 75 of FIG. The chuck 75 is a member for holding the armature core 22 . Further, the chuck 75 of the spindle section 7 rotates when the force of the servomotor 71 is transmitted to the chuck 75 .

In the following, the rotation speed of the chuck 75 is also referred to as "the rotation speed of the spindle section 7". The rotation speed of the spindle part 7 is the rotation speed of the rotor X1b. Further, hereinafter, the rotation angle of the chuck 75 is also referred to as "the rotation angle of the spindle portion 7". The rotation angle of the spindle portion 7 is the rotation angle of the rotor X1b. The rotation speed and rotation angle of the spindle section 7 are precisely controlled by the output signal of the encoder 72 .

A cutting unit 8 is arranged near the spindle section 7 . After the wire 24 is wound around the armature core 22 by the spindle section 7 , the wire 24 is cut by the cutting unit 8 .

In the following, the state of the armature core 22 when the winding process is performed on the armature core 22 is also referred to as "winding state". The armature core 22 in the wound state is the armature core 22 that has undergone winding processing by the spindle section 7 .

The input transport device 9 and the discharge transport device 10 are provided so that the spindle part 7 exists between the input transport device 9 and the discharge transport device 10 . Further, a transfer hand (not shown) is provided above the pedestal 2 . The transport hand has a function of transporting the armature core 22 from the input transport device 9 to the spindle section 7 . The transport hand also has a function of transporting the armature core 22 wound by the spindle unit 7 to the discharge transport device 10 .

A controller 11 is attached adjacent to the discharge transport device 10 . Controller 11 includes control unit 111 , memory 112 , input unit 113 , and display unit 114 . In the configuration Cm1, the control unit 111 is the control unit Ct1 of the electric motor control device 100. FIG. A control unit 111, which is the control unit Ct1, controls a servomotor 71, which is the electric motor M1, via a three-phase inverter Iv1 (not shown).

The input unit 113 is an interface that can be operated by the operator. The input unit 113 is, for example, a keyboard. For example, the operator inputs the operating conditions of the winding machine M10 to the input unit 113 . The display unit 114 is a display. The display unit 114 displays, for example, the operation status of the winding machine M10.

Next, a specific configuration of the tensioner 4 will be described using FIG. FIG. 13 is a diagram showing the configuration of the tensioner 4. As shown in FIG. After the wire 24 supplied from the wire bobbin 3 passes through the eyelet guide 40, the traveling direction is changed by the guide rollers 41a, 41b, 41c and 41d. After that, the wire 24 passes through the eyelet guide 46 and is supplied to the stripping unit 5 .

A felt pad 47 is provided on the upstream side of the guide roller 41a. Wire 24 is cleaned by felt pad 47 .

An encoder 42 is connected to the guide roller 41b via a coupling (not shown). The encoder 42 detects the number of rotations of the guide roller 41b. The number of rotations of the guide roller 41b corresponds to the length of the wire 24 passing through the guide roller 41b. Therefore, the amount of movement of the wire 24 can be measured from the number of revolutions of the guide roller 41b detected by the encoder 42. FIG. Data on the number of revolutions of the guide roller 41 b (hereinafter also referred to as “roller number of revolutions”) detected by the encoder 42 is notified to the controller 11 .

A pulley 43a is fixed to the guide roller 41c. The pulley 43a is connected via a timing belt 44 to the pulley 43b. Also, the pulley 43 b is fixed to the shaft of the powder brake 45 . Appropriate tension is applied to the wire 24 by the powder brake 45 .

Next, using FIG. 14, a specific configuration of the input conveying device 9 will be described. 14A and 14B are diagrams showing the configuration of the input conveying device 9. FIG. As shown in FIG. 14 , the input conveying device 9 has a belt 91 that conveys the armature core 22 . The input conveying device 9 is configured such that the belt 91 is movable. Belt 91 is attached to rotating shaft 92 .

A motor 95 is attached to a motor mounting plate 94 supported by the base plate 93 . A motor 95 is a motor that drives the belt 91 to move. A pulley 96 is fixed to the rotating shaft 92 of the belt 91 . A pulley 97 is fixed to the output shaft of the motor 95 . Pulleys 96 and 97 are connected via a timing belt 98 .

A positioning plate 99 used for positioning the armature core 22 is attached to the downstream side of the belt 91 . A length measuring sensor 12 is attached at a position facing the positioning plate 99 . In the following description, the area between the positioning plate 99 and the length measuring sensor 12 is also referred to as the "measurement area". The measurement area is an area for measuring the lamination thickness of the armature core 22 . The measurement area faces the positioning plate 99 .

The length measurement sensor 12 has a function of measuring the lamination thickness of the armature core 22 (that is, the core lamination thickness). The length measurement sensor 12 is, for example, a non-contact laser displacement meter. Note that the length measurement sensor 12 may be a contact-type displacement meter. The contact-type displacement gauge is, for example, a sensor that detects the amount of movement of the rod of the cylinder using an MR element. Data of the lamination thickness of the armature core 22 measured by the length measuring sensor 12 is notified to the controller 11 .

Next, the configuration of the control system of the winding machine M10 will be described. Referring to FIG. 12, controller 11 controls each component of winding machine M10. The control unit 111 receives data on the lamination thickness of the armature core 22 from the length measurement sensor 12 . Further, the control unit 111 receives data regarding the number of revolutions from the encoder 42 of the tensioner 4 . Further, the control unit 111 receives data regarding the number of rotations and the rotation angle of the spindle unit 7 from the encoder 72 built in the spindle unit 7 .

The control unit 111 also outputs a control signal for the servomotor 71 of the spindle unit 7 , a control signal for the laser marker 51 , a control signal for the cutting unit 8 , and a control signal for the motor 95 of the input conveying device 9 . In addition, the memory 112 of the controller 11 stores in advance data necessary for creating these control signals.

The control unit 111 adjusts the rotation speed and rotation angle of the spindle unit 7 by controlling the rotation of the servomotor 71 based on the output signal of the encoder 72 of the spindle unit 7 .

Next, with reference to FIGS. 11, 12, 13 and 14, mainly the transport and winding process of the armature core 22 will be described. Hereinafter, the state of the armature core 22 included in the armature 21 in which the wire 24 is not wound around the armature core 22 is also referred to as a "non-wound state". The non-wound armature core 22 is, for example, the armature core 22 in which the wire 24 is not wound around the armature core 22 in FIG.

An insulator 23 is attached to the armature core 22 in a non-wound state. The non-wound armature core 22 is the armature core 22 in which the wire 24 is not wound around the insulator 23 .

First, the armature core 22 in a non-wound state is placed on the belt 91 of the input conveying device 9 in FIG. As shown in FIG. 14, the motor 95 is rotated by the control signal from the control section 111, and the armature core 22 in the non-wound state is conveyed by the belt 91 in the direction indicated by the arrow. When the non-wound armature core 22 moves to the measurement area facing the positioning plate 99, the rotation of the motor 95 stops.

Next, with the armature core 22 in the non-wound state existing in the measurement area, the length measurement sensor 12 measures the lamination thickness of the armature core 22 (that is, the core lamination thickness). The layer thickness data output from the length measurement sensor 12 is notified to the control section 111 of the controller 11 . The control unit 111 performs arithmetic processing according to the measured core lamination thickness. Detailed contents of the arithmetic processing will be described later.

After the core lamination thickness is measured by the length measuring sensor 12, the non-wound armature core 22 is transported to the spindle section 7 by a transport hand (not shown). The non-wound armature core 22 is gripped by the chuck 75 of the spindle section 7 . Hereinafter, the state in which the armature core 22 is gripped by the chuck 75 is also referred to as a "gripped state."

FIG. 2 shows the armature core 22 in a non-wound state in a gripped state. The winding process is performed by the spindle portion 7 in the holding state.

Also, as shown in FIG. 13 , the wire 24 supplied from the wire bobbin 3 is guided by the eyelet guide 40 of the tensioner 4 and passes through the felt pad 47 . Then, the wire 24 is guided by the guide rollers 41a, 41b, 41c, and 41d, and while being properly tensioned, passes through the tensioner 4 and moves to the stripping unit 5. As shown in FIG.

As shown in FIG. 12 , when the wire 24 passes through the stripping unit 5 , the insulating coating of the wire 24 is stripped by the laser marker 51 that receives the control signal from the controller 111 . As a result, peeled portions 25 are formed at the winding end portion of the wire 24 and the winding start portion of the wire 24 of the next armature 21 .

As shown in FIG. 11, the traveling direction of the wire 24 that has passed through the stripping unit 5 is changed by the pulley 61 . The wire 24 then passes through the nozzle 62 and is gripped by a terminal clip (not shown) on the spindle portion 7 .

As described above, the winding process is performed in the holding state. In the winding process, the servomotor 71 rotates the rotor X1b and the chuck 75 so that the wire 24 is wound around the armature core 22 in the non-wound state. As the armature core 22 rotates as the chuck 75 rotates, the wire 24 is wound around the armature core 22 .

After the winding process is completed, the cutting process is performed. In the cutting process, the cutting unit 8 cuts the wire 24 wound around the armature core 22 so that the stripped portion 25 at the winding end of the wire 24 remains. Thus, the manufacture of the armature 21 is completed. Next, the armature 21 is transported to the discharge transport device 10 by a transport hand (not shown). Then, the armature 21 is ejected from the winding machine M10.

In the following, the position of the wire 24 for stripping the insulating coating of the wire 24 is also referred to as "film stripping position".

Next, the processing for determining the film peeling position on the wire 24 will be described. Here, the stripped portion 25 of the wire 24 is formed by irradiating the insulating coating of the wire 24 with a laser beam from the laser marker 51 provided on the upper portion of the stripping unit 5 and stripping the insulating coating. Hereinafter, the position of the peeled portion 25 is also referred to as the "peeled portion position".

In a situation where the peeled portion position of the peeled portion 25 is deviated from the desired position, the following problems occur when the end portion of the wire 24 is cut by the cutting unit 8. The problem is, for example, the problem that the length of the peeled portion 25 is extremely short. Further, the problem is, for example, the problem that the peeled portion 25 is not formed.

When the above problem occurs, a situation in which the wires of a certain armature cannot be electrically connected to the winding start and winding end portions of the wires of another armature (hereinafter also referred to as "unbonded state"). occurs.

The cause of the occurrence of the unbonded state is, for example, variations in the lamination thickness of the armature core 22 (that is, the core lamination thickness). In addition, the reason why the non-bonding state occurs is that the difference between the speed indicated by the speed command and the actual speed increases when the rotational speed of the spindle unit 7 is high, and the position of the peeling portion deviates from the desired position. That is.

In this embodiment, the following first processing method is used to suppress the occurrence of defects caused by variations in the lamination thickness of the armature core 22 . The defect is, for example, the defect that the position of the peeled portion 25 is deviated from the desired position. Hereinafter, the length of the wire 24 required to wind the wire 24 around the armature core 22 in the non-wound state a predetermined number of times is also referred to as "predetermined winding wire length".

Further, hereinafter, the length of the wire 24 necessary for winding the wire 24 around the armature core 22 in the non-wound state by the predetermined number of times is referred to as the "planned winding wire length" or the "final winding wire length". It is also called "winding length". The planned number of times is the number of windings required to manufacture the armature 21 . The predetermined number of times corresponding to the predetermined winding wire length is the number of times different from the predetermined number of times or the same number of times as the predetermined number of times.

In addition, in the configuration Cm1 of the present embodiment, the following second processing method suppresses an increase in the difference between the speed indicated by the speed command and the actual speed when the rotational speed of the spindle unit 7 is high. do. Also, the occurrence of positional displacement of the delaminated portion of the wire caused by an increase in the difference between the speed indicated by the speed command and the actual speed is suppressed.

(First processing method)
First, the first processing method will be briefly described. In the first processing method, an arithmetic expression representing the relationship between the lamination thickness of the armature core 22 and the predetermined winding wire length is obtained in advance. Also, the data of the arithmetic expression is stored in the memory 112 of the controller 11 .

Then, in order to perform the winding process on the armature core 22 in the non-wound state, the following process is performed. First, the length measurement sensor 12 measures the lamination thickness of the armature core 22 . Next, the expected winding wire length is calculated using the above-described arithmetic expression. Then, the length of the wire 24 of the armature core 22 that has undergone the winding process is measured, and the film peeling position of the wire 24 is determined based on the calculated planned winding wire length.

The first processing method will be specifically described below. In the first processing method, first, an arithmetic expression showing the lamination thickness of the armature core 22 as a variable, and a predetermined winding wire length or planned winding wire length corresponding to the armature core 22 Create an equation to calculate The arithmetic expression is, for example, an expression using coefficients. If the predetermined number of turns corresponding to the predetermined wound wire length is the same as the predetermined number of turns corresponding to the predetermined wound wire length, then the predetermined wound wire length is the same as the scheduled wound wire length.

In order to create an arithmetic expression, first, a provisional arithmetic expression is created by considering that the length of the wire required for one winding increases as the number of turns of the wire increases due to the layering of the wire. . The coefficient of the arithmetic expression is obtained by collating the result of calculation by the temporary arithmetic expression with the result of the experiment using the temporary arithmetic expression. An arithmetic expression is thus created. The data of the arithmetic expression are stored in advance in the memory 112 of the controller 11 .

In order to perform the winding process on the armature core 22 in the non-wound state, first, the control unit 111 controls the measurement area where the armature core 22 conveyed by the belt 91 of the input conveying device 9 faces the positioning plate 99 . is reached, motor 95 is stopped. The length measurement sensor 12 measures the lamination thickness of the armature core 22 and notifies the controller 111 of the lamination thickness data of the armature core 22 .

The control unit 111 reads the arithmetic expression from the memory 112, and calculates the expected winding wire length based on the arithmetic expression and the measured lamination thickness.

After the winding process is performed, the control unit 111 compares the length of the wire 24, which corresponds to the roller rotation speed detected by the encoder 42 of the tensioner 4, with the calculated expected winding wire length. Determine the film peel location at 24 .

The control unit 111 controls the movement of the wire 24 by adjusting the rotation speed and rotation angle of the servomotor 71 based on the output signal of the encoder 72 of the spindle unit 7. Then, as shown in FIG. 12, when the film peeling position of the wire 24 reaches the irradiation position of the laser beam emitted by the laser marker 51, the control unit 111 controls the moving speed of the wire 24 to be slowed down and performs the peeling process. to control and perform.

In the peeling process, the laser marker 51 irradiates the insulating coating of the wire 24 with laser light under the control of the control unit 111 . The insulating coating irradiated with the laser light is stripped from the wire 24 .

According to the first processing method described above, the final winding length, which is the planned winding wire length corresponding to the lamination thickness of the armature core 22, is calculated using an arithmetic expression. Also, the film peeling position of the wire 24 is determined based on the calculated planned winding wire length.

As a result, the stripped portion of the wire 24 is always formed at a predetermined position at the winding end of the wire 24 without being affected by variations in the lamination thickness of the armature core 22 .

In addition, in the first processing method described above, the planned winding wire length was calculated using the arithmetic expression stored in the memory, but it is not limited to this. For example, by experiment, each time the lamination thickness of the armature core is changed, the planned winding wire length is measured, and the planned winding wire length is plotted on a graph. Then, create a characteristic line that approximates the values plotted on the graph. The characteristic line is a line showing the relationship between the lamination thickness and the expected winding wire length. A characteristic is, for example, a straight line or a curve. Then, the planned winding wire length may be calculated based on the characteristic line.

(Second processing method)
Next, the second processing method will be explained. Hereinafter, the configuration of the second processing method in configuration Cm1 is also referred to as “configuration Cm1-2”.

In the winding machine to which the comparative configuration described above is applied, when the rotation speed of the electric motor reaches a high speed equivalent to, for example, 8 krpm or more, there is a difference between the speed indicated by the speed command and the actual speed. Due to this difference, the position of the peeled portion is shifted. Speed control processing A for suppressing the occurrence of displacement of the peeled portion position will be described with reference to FIG. 15 .

In configuration Cm1-2, controller 11, which is motor control device 100, includes control unit 111, which is control unit Ct1, and three-phase inverter Iv1.

In the following description, the controller 11 in the configuration Cm1-2 is expressed as the motor control device 100. Further, in the following description, the servomotor 71 in the configuration Cm1-2 is expressed as the electric motor M1. Also, in the following description, the controller 111 in the configuration Cm1-2 is expressed as a controller Ct1.

As described above, the winding machine M10 has the function of performing winding processing. In the following, the member for winding the wire 24 in the winding machine M10 is also referred to as a "winding work". The winding work is the armature core 22 in a non-wound state. In the following, the inertia of the winding work is also referred to as "winding inertia Jw", "winding inertia" or "Jw".

In the winding process, the wire 24 is wound around a winding work as a member. Winding machine M10 in configuration Cm1-2 has a configuration in which electric motor M1 rotates rotor X1b to wind wire 24 around a winding work as a member.

In the following, the time that elapses to perform the winding process is also referred to as "winding time T" or "winding time". The winding time T is the time elapsed for winding the wire 24 around the winding work as a member. In the following, the winding time T is also referred to as "winding time TN", "time TN" or "TN". "N" is an integer of 0 or more. In configuration Cm1-2, winding times T are T0, T1, T2, T3, and T4.

In the winding process, while the wire 24 is wound around the winding work, the winding inertia continues to increase due to the weight of the winding. The winding weight is the weight of the wire 24 wound around the winding work.

Although the details will be described later, in the configuration Cm1-2, the relationship between the winding inertia and the winding time T is used to estimate the actual winding inertia according to the winding time T to calculate the acceleration force. do.

FIG. 15 is a block diagram showing the configuration of the speed control section 101 included in the control section Ct1 in the configuration Cm1-2. Referring to FIG. 15, speed control unit 101 in configuration Cm1-2 differs from speed control unit 101 in FIG. 7 in that it further includes a T-Jw table Tb1.

In the following, the speed at which the wire 24 is wound around the winding work in the held state is also referred to as "winding speed". The winding speed is the rotational speed of the rotor X1b.

FIG. 16 is a diagram for explaining the T-Jw table Tb1. FIG. 16(a) is a graph showing the relationship between winding time T and winding speed. In FIG. 16(a), the vertical axis is the winding speed and the horizontal axis is the winding time T. As shown in FIG. A period from T0 to T4 corresponds to one cycle. The one cycle includes periods Pd1, Pd2, Pd3 and Pd4. A period Pd1 is a preparation period for performing the winding process. A period Pd2 is an acceleration period during which the winding speed increases. A period Pd3 is a constant period during which the winding speed is constant. A period Pd4 is a deceleration period during which the winding speed decreases.

FIG. 16(a) shows the characteristic line Lm. A characteristic line Lm indicates the relationship between winding time T and winding speed. A characteristic line Lm indicates a characteristic in a situation where the electric motor M1 is driven by a speed command Vref expressed by a linear function indicated by the characteristic line Ls of FIG. 6(a), for example. A characteristic line Lm is a trapezoidal winding pattern.

In the following, the winding weight corresponding to the time TN as the winding time T is also referred to as "winding weight MN" or "MN". "N" is an integer of 0 or more. The winding weight is the weight of the wire 24 wound around the winding work. When the wire 24 is not wound around the winding work, the winding weight is zero. In configuration Cm1-2, M0, M1, M2, M3 and M4 are used as winding weights MN.

In the following, the winding inertia Jw corresponding to the time TN as the winding time T is also referred to as "winding inertia JwN" or "JwN". "N" is an integer of 0 or more. In the configuration Cm1-2, Jw0, Jw1, Jw2, Jw3 and Jw4 are used as the winding inertia JwN.

Also, in configuration Cm1-2, the inertia increase rate is used. The inertia increase rate is the increase rate of the winding inertia Jw. Hereinafter, the inertia increase rate corresponding to the time TN as the winding time T is also referred to as "inertia increase rate KN" or "KN". "N" is an integer of 0 or more. In the configuration Cm1-2, K0, K1, K2 and K3 are used as the inertia increase rate KN.

FIG. 16(b) is a diagram showing an example of the T-Jw table Tb1. In the T-Jw table Tb1, "time" is the winding time T. The winding weight, winding inertia, and inertia increase rate corresponding to the winding time T are shown in the T-Jw table Tb1.

Each value shown in the T-Jw table Tb1 is a value obtained from Experiment B conducted in advance. In experiment B, the winding machine M10 is caused to perform the winding process. In the winding process, for example, a speed command Vref expressed by a linear function indicated by the characteristic line Ls in FIG. 6(a) is used. In the winding process, the motor M1 is driven by the speed command Vref. Winding time T includes T0, T1, T2, T3, and T4.

Next, in Experiment B, the winding weight MN and the winding inertia JwN corresponding to each of T0, T1, T2, T3 and T4 are measured. Also, in Experiment B, the inertia increase rate KN corresponding to the periods Pd1, Pd2, Pd3, and Pd4 is obtained. Periods Pd1, Pd2, Pd3 and Pd4 correspond to T0, T1, T2 and T3, respectively. Then, a T-Jw table Tb1 showing the winding weight MN, the winding inertia JwN and the inertia increase rate KN is created. The T-Jw table Tb1 is a table showing the winding time T and the inertia of the winding work as a member at the winding time T (that is, the winding inertia Jw) in association with each other.

The inertia of the winding work as a member is the inertia corresponding to the winding weight of the wire 24 wound around the winding work as a member. The T-Jw table Tb1 is also a table showing the winding time T and the inertia increase rate of the winding work as a member (that is, the inertia increase rate KN) in the winding time T in association with each other. .

Next, in the configuration Cm1-2, the speed control processing A performed under the above premise Pm1 will be described. Here, in order to reduce memory usage, the T-Jw table Tb1 is stored in advance in the control unit Ct1. That is, Jw0, Jw1, Jw2, Jw3, and Jw4 as winding inertias JwN corresponding to T0, T1, T2, T3, and T4 as winding times T are stored in the control unit Ct1 in advance.

In addition, K0, K1, K2, and K3 as inertia increase rates KN corresponding to T0, T1, T2, and T3 as winding times T are stored in the control unit Ct1 in advance. "K0" is the inertia increase rate corresponding to period Pd1. "K1" is the inertia increase rate corresponding to the period Pd2. "K2" is the inertia increase rate corresponding to period Pd3. "K3" is the inertia increase rate corresponding to period Pd4.

Also, the control unit Ct1 performs a winding time calculation process when the speed control process A is started. The winding time calculation process is a process of calculating the winding time T as needed. The winding time T corresponds to the elapsed time after the winding time calculation process is started. Therefore, the speed control section 101 of the control section Ct1 keeps track of the latest winding time T at all times.

In the speed control process A in configuration Cm1-2, the speed control unit 101 performs feedback control A and feedforward control A based on the speed command Vref. Feedback control A in configuration Cm1-2 is performed in the same manner as feedback control A in the first embodiment. Thereby, the current value Ip corresponding to the current command is calculated.

Feedforward control A in configuration Cm1-2 can be summarized as follows: speed control unit 101 controls electric motor M1 based on estimated wind resistance Wr, estimated acceleration Ac, and estimated winding inertia Jw. It is a process to control.

In feedforward control A in configuration Cm1-2, speed control unit 101 performs wind resistance estimation processing, acceleration estimation processing, inertia estimation processing, speed control processing Aw, and speed control processing Ak.

The wind resistance estimation process in configuration Cm1-2 is performed in the same manner as the wind resistance estimation process in the first embodiment. Wind resistance Wr is estimated by the wind resistance estimation process.

The acceleration estimation process in configuration Cm1-2 is performed in the same manner as the acceleration estimation process in the first embodiment. Acceleration Ac is thereby estimated.

In the inertia estimation process in the configuration Cm1-2, the speed control unit 101 uses the latest winding time T and the T-Jw table Tb1 to calculate the winding inertia Jw at the winding time T corresponding to the control timing. presume. In the rotor rotation situation, the control timing is the drive timing.

For example, when the latest winding time T corresponding to the control timing is "T2", the speed control unit 101 estimates the winding inertia Jw at the control timing as "Jw2" from the T-Jw table Tb1. .

The winding inertia Jw of the winding time T other than T0, T1, T2, T3, and T4 is calculated from the following equation (5).

"T" in equation (5) is the winding time T. “N” in “JwN”, “KN” and “TN” in formula (5) is an integer in the range of 1-4. Inertia increase rate KN in equation (5) is set to an inertia increase rate corresponding to each of periods Pd2, Pd3, and Pd4. For example, when the winding time T is included in the period Pd2, the inertia increase rate K1 corresponding to the period Pd2 is set for "KN" in Equation (5).

The winding inertia Jw of the winding time T other than T0, T1, T2, T3, and T4 may be calculated from the following equation (6).

"J(T)" in formula (6) is an approximation formula for calculating the inertia more accurately. Approximation formula J(T) is, for example, a formula showing the relationship between the passage of time and the increase in inertia. The approximation J(T) may be obtained, for example, from CAD data capable of deriving the relationship between the passage of time and the increase in inertia. The approximate expression J(T) is a quadratic function of the winding time T or a cubic function of the winding time T.

Also, in the inertia estimation process, the winding inertia Jw may be estimated using a table showing the winding inertia Jw corresponding to all winding times T in the period from T0 to T4.

In the following, the motor inertia J, which is the inertia of the motor M1, is also referred to as "motor inertia Jm" or "Jm". A motor inertia Jm is an inertia unique to the electric motor M1. Motor inertia Jm is a fixed value. In the following, the inertia considering the winding process is also referred to as "total inertia Jg" or "Jg". Motor inertia Jm and torque constant Kt are known values. Gain compensator 204 holds motor inertia Jm and torque constant Kt in advance.

Next, the gain compensation section 204 calculates the total inertia Jg from the following equation (7).

Specifically, the gain compensation unit 204 calculates the total inertia Jg by adding the estimated winding inertia Jw to the motor inertia Jm.

Next, the gain compensation section 204 of the speed control section 101 calculates the acceleration force Ap by multiplying the estimated acceleration Ac by the total inertia Jg. The total inertia Jg is the inertia calculated based on the estimated winding inertia Jw. That is, the speed control unit 101 calculates the acceleration force Ap of the rotor X1b based on the estimated winding inertia Jw.

Also, the gain compensator 204 calculates the current value Ifa at the control timing by substituting the calculated acceleration force Ap and the torque constant Kt into the equation "current value Ifa=Ap/Kt". That is, the gain compensator 204 divides the calculated acceleration force Ap by the torque constant Kt to calculate the current value Ifa at the control timing.

Next, speed control processing Aw in configuration Cm1-2 is performed in the same manner as in the first embodiment. Thereby, the speed control unit 101 adds the calculated current value Ifw to the current value Ip at the control timing, which corresponds to the current command.

Also, the speed control processing Ak in the configuration Cm1-2 is performed. The speed control processing Ak in configuration Cm1-2 is performed in the same manner as the speed control processing Ak of the first embodiment. The speed control unit 101 adds the current value Ifa at the control timing, which has passed through the LPF 205, to the current value Ip at the control timing, which corresponds to the current command. That is, the speed control unit 101 corrects the current command based on the current value Ifa. The current value Ifa is a value calculated based on the calculated acceleration force Ap. Therefore, the speed control unit 101 corrects the current command based on the calculated acceleration force Ap.

The speed control unit 101 generates a current value obtained by calculating "current value Ip+current value Ifw+current value Ifa" as the current command Iref.

The speed control unit 101 transmits to the current control unit 102 a current command Iref, which is a command obtained by correcting the current value Ip corresponding to the current command.

Then, current control unit 102, estimation unit 106, PWM control unit 103, and three-phase inverter Iv1 perform the above-described processing, as in the first embodiment. As a result, the electric motor M1 rotates the rotor X1b (that is, the rotating member X1) at a rotational speed based on the current command Iref, which is a command obtained by correcting the current value Ip corresponding to the current command. Therefore, in speed control processing A in configuration Cm1-2, speed control unit 101 controls electric motor M1 based on the corrected current command.

A period corresponding to the characteristic line Ls of FIG. continuously and repeatedly over time. The control timing is changed each time the above processes of the speed control process A are repeated. As described above, the speed control process A in the configuration Cm1-2 is performed.

By the way, the tensioner 4 of the winding machine M10 always applies a constant tension to the wire 24 in order to prevent the winding of the wire 24 from being disturbed. The tension applied to the wire 24 by the tensioner 4 is hereinafter also referred to as "tension F" or "F". A tension F is a tension applied to the wire 24 . The magnitude of the tension F changes depending on, for example, the shape of the wire 24, the shape of the winding work, and the like.

Therefore, in the configuration Cm1-2, it is conceivable to perform speed control in consideration of the tension F. Hereinafter, the current value based on the tension F is also referred to as "current value Ite" or "Ite". Further, hereinafter, the configuration using the current value Ite in the configuration Cm1-2 is also referred to as “configuration Cm1-2A”. Configuration Cm1-2A is a configuration that uses current value Ite based on tension F. FIG. The current value Ite is a value for feedforward compensation.

The speed control process A in the configuration Cm1-2A differs from the speed control process A in the configuration Cm1-2 only in that the current value Ite is added to the current value Ip corresponding to the current command. Other processes of speed control processing A in configuration Cm1-2A are the same as speed control processing A in configuration Cm1-2.

Only the differences between the speed control processing A in the configuration Cm1-2A and the speed control processing A in the configuration Cm1-2 will be described below. In the configuration Cm1-2A, the tension F is measured in advance by experiments, and the tension F is stored in the speed control unit 101 in advance.

In the speed control process A in the configuration Cm1-2A, the speed control unit 101 calculates the motor torque Tm, which is the torque of the electric motor M1, based on the tension F by the formula "Tm=F×R". "R" is the radius of gyration.

The turning radius R is the turning radius of the winding composed of the wire 24 wound around the winding work. The turning radius R changes according to the winding time T. Therefore, the speed control unit 101 holds a table Tbr showing the winding time T and the rotation radius R corresponding to the winding time T in association with each other. The table Tbr is created by experiments.

In order to calculate the motor torque Tm, the speed control unit 101 first uses the table Tbr to determine the rotation radius R corresponding to the latest winding time T calculated by the winding time calculation process described above. identify. Then, the speed control unit 101 multiplies the tension F by the specified rotation radius R to calculate the motor torque Tm.

Next, the speed control unit 101 calculates the current value Ite at the control timing according to the formula "Ite=Tm/Kt". "Kt" is the torque constant of the electric motor M1. "Kt" is a known value. Specifically, the speed control unit 101 calculates the current value Ite by dividing the calculated motor torque Tm by the torque constant Kt.

Next, the speed control unit 101 adds the current value Ite at the control timing to the current value Ip at the control timing, which corresponds to the current command. That is, the speed control unit 101 corrects the current command based on the current value Ite. The current value Ite is a value calculated based on the tension F. Therefore, the speed control unit 101 corrects the current command based on the tension F applied to the wire 24 .

The speed control unit 101 generates a current value obtained by calculating "current value Ip+current value Ifw+current value Ifa+current value Ite" as the current command Iref.

Based on the current command Iref, which is a command obtained by correcting the current value Ip corresponding to the current command, the current control unit 102, the estimation unit 106, the PWM control unit 103, and the three-phase inverter Iv1 perform the above-described processing. As a result, the electric motor M1 is controlled based on the current command Iref, which is a command obtained by correcting the current value Ip corresponding to the current command. Therefore, in speed control processing A in configuration Cm1-2A, speed control unit 101 controls electric motor M1 based on the corrected current command.

(summary)
As described above, according to the present embodiment, it is possible to suppress the displacement of the peeled portion position in a situation where the lamination thickness of the armature core 22 varies, a situation where the winding speed is high, or the like. can be done. Variation in lamination thickness occurs, for example, due to lot differences. Also, by suppressing the occurrence of displacement of the peeled portion position, the peeled portion 25 of the wire 24 can always be formed at a predetermined position at the winding end portion.

In addition, the winding machine M10 determines the position of the coil made up of the wire 24 while the winding process is being performed. Therefore, it is necessary to drive the nozzle 62 according to the rotation angle of the spindle portion 7 . If the position of the coil is properly controlled, the wire 24 can be precisely placed. In other words, the wire 24 can be wound in a limited space at high density, and the miniaturization of the electric motor M1, the high efficiency of the electric motor M1, the high output of the electric motor M1, and the like can be realized.

By the way, when the rotational speed of the spindle section 7 is high, the difference between the speed indicated by the speed command and the actual speed becomes large, and the timing of driving the nozzle 62 is shifted.

Therefore, by performing the speed control process A of the present embodiment, the difference between the speed indicated by the speed command and the actual speed can be made very small. Therefore, it is possible to set the driving timing of the nozzles 62 to the intended timing. Thereby, the wire 24 can be wound with high density in a limited space. Therefore, miniaturization of the electric motor M1, high efficiency of the electric motor M1, high output of the electric motor M1, and the like can be realized.

(Modified configuration A)
In the configurations Cm1-2 and Cm1-2A described above, the current value Ifa is calculated from the acceleration estimated from the speed command Vref, but the present invention is not limited to this. Modified configuration A is a configuration in which acceleration is estimated based on a winding pattern, which is a drive pattern of a winding machine, and current value Ifa is calculated based on the acceleration. The winding pattern is, for example, a waveform indicated by the characteristic line Lm in FIG. 16(a).

In the following, the waveform showing the relationship between the winding time T and the winding speed is also referred to as "winding speed waveform". A winding speed waveform is a speed pattern. The winding speed waveform is, for example, the waveform indicated by the characteristic line Lm in FIG. 16(a). A winding speed waveform, which is a speed pattern, is obtained through experiments. Specifically, in the experiment, a winding speed waveform, which is a speed pattern, is obtained by actually driving the winding machine M10.

In the following, the configuration for speed control using the acceleration based on the winding speed waveform, which is the winding pattern, is also referred to as "winding pattern control configuration". Modified configuration A is a configuration in which the winding pattern control configuration is applied to configuration Cm1-2.

The modified configuration A differs from configuration Cm1-2 only in the configuration of the speed control unit 101 . Other configurations of modified configuration A are similar to configuration Cm1-2. In variant A, the winding machine M10 comprises a motor control device 100 (ie a controller 11).

The configuration of the speed control unit 101 in the modified configuration A is a configuration obtained by modifying the configuration of the speed control unit 101 shown in FIG.

17 is a block diagram showing the configuration of the speed control unit 101 in the modified configuration A. FIG. Referring to FIG. 17, speed control unit 101 in modified configuration A differs from speed control unit 101 in FIG. 15 in configuration Cm1-2 in that the configuration for calculating current value Ifa is different. The difference is that there is no configuration for using Ite.

Next, in the modified configuration A, the speed control processing A performed under the aforementioned premise Pm1 will be described. In the modified configuration A, the acceleration pattern is stored in advance in the controller Ct1. The acceleration pattern is, for example, a waveform of acceleration obtained by differentiating a winding speed waveform, which is a speed pattern, indicated by the characteristic line Lm in FIG. 16(a). A winding speed waveform, which is a speed pattern, was obtained by the above-described experiment. The acceleration pattern is obtained by previously performing a calculation of differentiating the winding speed waveform, which is the speed pattern. The obtained acceleration pattern is stored in advance in the controller Ct1.

In the following, the acceleration pattern is also called "acceleration waveform". The acceleration waveform, which is the acceleration pattern, corresponds to changes in the rotational acceleration of the rotor X1b over time. That is, the acceleration waveform, which is the acceleration pattern, corresponds to the driving pattern of the electric motor M1. That is, the acceleration waveform, which is the acceleration pattern, corresponds to the drive pattern of the winding machine M10.

Also, hereinafter, the acceleration command is also referred to as "acceleration command Aref" or "Aref". Acceleration command Aref indicates acceleration Ac. Hereinafter, the graph in which the horizontal axis indicates time and the vertical axis indicates the acceleration command Aref is also referred to as "graph Gf". The acceleration waveform, which is the acceleration pattern, is the waveform shown in the graph Gf.

The acceleration waveform, which is the acceleration pattern, indicates time in association with the acceleration command Aref. The value of the acceleration command Aref indicated by the acceleration waveform may vary with time.

Also, when the speed control process A starts, the control unit Ct1 performs the above-described winding time calculation process. The speed control unit 101 of the control unit Ct1 always grasps the latest winding time T by performing the winding time calculation process. The winding time T corresponds to the operating time of the winding machine M10.

In the speed control process A in the modified configuration A, the speed control unit 101 performs feedback control A and feedforward control A based on the speed command Vref. Feedback control A in modified configuration A is performed in the same manner as feedback control A in the first embodiment. Thereby, the current value Ip corresponding to the current command is calculated.

In feedforward control A in modified configuration A, speed control unit 101 performs wind resistance estimation processing, acceleration estimation processing A, speed control processing Aw, and speed control processing Ak.

The wind resistance estimation processing in modified configuration A is performed in the same manner as the wind resistance estimation processing in the first embodiment. Wind resistance Wr is estimated by the wind resistance estimation process. Also, the current value Ifw at the control timing is calculated using the estimated wind resistance Wr.

Next, in the speed control process Aw, the speed control unit 101 adds the calculated current value Ifw to the current value Ip at the control timing, which corresponds to the current command. That is, speed control unit 101 corrects the current command.

In addition, in the acceleration estimation process A in the modified configuration A, to summarize, the speed control unit 101 estimates the acceleration Ac at the control timing based on the acceleration pattern, which is the drive pattern of the electric motor M1. In the rotor rotation situation, the control timing is the drive timing.

In the acceleration estimation process A in the modified configuration A, the speed control unit 101 uses the latest winding time T and the acceleration waveform, which is the acceleration pattern, to identify the acceleration command Aref. Specifically, the speed control unit 101 specifies the acceleration command Aref at the control timing, which is associated with the winding time T as time in the acceleration waveform, which is the acceleration pattern. That is, the speed control unit 101 estimates the acceleration command Aref as the acceleration Ac.

Next, the gain compensator 204 calculates the current value Ifa using the formula "current value Ifa=motor inertia J×Aref/Kt". Gain compensator 204 holds motor inertia J and torque constant Kt. The values of the motor inertia J and the torque constant Kt are known values.

Specifically, the gain compensator 204 calculates the current value Ifa at the control timing by substituting the acceleration command Aref into the equation "current value Ifa=motor inertia J×Aref/Kt".

Next, speed control processing Ak is performed. In the speed control process Ak, the speed control unit 101 adds the current value Ifa at the control timing, which has passed through the LPF 205, to the current value Ip at the control timing, which corresponds to the current command. That is, the speed control unit 101 corrects the current command based on the current value Ifa. The current value Ifa is a value calculated based on the estimated acceleration command Aref. Therefore, the speed control unit 101 corrects the current command based on the estimated acceleration command Aref.

The speed control unit 101 generates a current value obtained by calculating "current value Ip+current value Ifw+current value Ifa" as the current command Iref.

Based on the current command Iref, which is a command obtained by correcting the current value Ip corresponding to the current command, the current control unit 102, the estimation unit 106, the PWM control unit 103, and the three-phase inverter Iv1 perform the above-described processing. As a result, the electric motor M1 is controlled based on the current command Iref, which is a command obtained by correcting the current value Ip corresponding to the current command. Therefore, in the speed control process A in the modified configuration A, the speed control unit 101 controls the electric motor M1 based on the corrected current command.

As described above, even in the speed control process A in the modified configuration A, the same effect as in the first embodiment, configuration Cm1-2, etc. can be obtained.

The acceleration command Aref may be set so that the acceleration command Aref does not change abruptly with the passage of time. In this case, the LPF 205 may not be provided. Thereby, the processing time for calculating the current value Ifa can be shortened by software.

(Functional block diagram)
FIG. 18 is a block diagram showing a characteristic functional configuration of the motor control device 100. As shown in FIG. In other words, FIG. 18 is a block diagram showing main functions related to the present technology among the functions of the electric motor control device 100. As shown in FIG. In FIG. 18, the electric motor M1 is shown for explanation.

The electric motor control device 100 controls the electric motor M1 that rotates the rotor. The motor control device 100 functionally includes a speed control section 101 . A speed control unit 101 controls the electric motor M1.

The speed control unit 101 performs speed control processing for controlling the electric motor M1 so that the rotation state of the rotor at the drive timing when the electric motor M1 is driven approaches the target rotation state, which is the target rotation state. Speed control processing includes feedback control and feedforward control.

Feedback control is a process in which the speed control unit 101 controls the electric motor M1 based on control parameters for controlling the rotation state of the rotor of the electric motor M1. The speed control unit 101 performs wind resistance estimation processing and acceleration estimation processing.

In the wind resistance estimation process, the speed control unit 101 estimates the wind resistance accompanying the rotation of the rotor at the drive timing. In the acceleration estimation process, the speed control unit 101 estimates the rotational acceleration of the rotor at the drive timing.

Feedforward control is a process in which the speed control unit 101 controls the electric motor M1 based on the estimated wind resistance and the estimated acceleration so that the rotational state of the rotor at the drive timing approaches the target rotational state. is.

(Hardware configuration example of motor control device)
Each of FIGS. 19 and 20 is a diagram showing an example of the hardware configuration of electric motor control device 100. In FIG. Functions of main components related to the present technology included in the electric motor control device 100 shown in FIG. 1 are realized by, for example, a processing circuit 80 shown in FIG. That is, the electric motor control device 100 includes the processing circuit 80 as a main component related to the present technology.

The processing circuit 80 performs speed control processing. Speed control processing includes feedback control and feedforward control. In the wind resistance estimation process, the processing circuit 80 estimates the wind resistance accompanying the rotation of the rotor at the drive timing. In the acceleration estimation process, the processing circuit 80 estimates the rotational acceleration of the rotor at the drive timing.

Feedforward control is a process in which the processing circuit 80 controls the electric motor M1 based on the estimated wind resistance and the estimated acceleration so that the rotational state of the rotor at the drive timing approaches the target rotational state. be.

The processing circuit 80 may be dedicated hardware. Moreover, the processing circuit 80 may be configured using a processor that executes a program stored in a memory. The processor is, for example, a CPU (Central Processing Unit), a central processing unit, an arithmetic unit, a microprocessor, a microcomputer, a DSP (Digital Signal Processor), or the like.

In the following, the situation in which the processing circuit 80 is dedicated hardware is also referred to as "situation St1". Further, hereinafter, a situation in which the processing circuit 80 is configured using a processor is also referred to as "situation St2".

In situation St1, the processing circuit 80 is, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or any of these A combination is applicable.

FIG. 20 is a diagram showing an example of the hardware configuration of the motor control device 100 in the situation St2 in which the processing circuit 80 is configured using a processor. The configuration of FIG. 20 is a configuration in which the processing circuit 80 of FIG. 19 is realized by a processor 81 and a memory 82.

In situation St2, the function of the speed control unit 101 is implemented by software A. Software A is software or firmware. Also, the software A may be composed of a combination of software and firmware. Software A is written as a program and stored in memory 82 .

Also, in situation St2, the processor 81 reads out the program stored in the memory 82 and executes the program, thereby realizing the function of the speed control unit 101 . That is, the memory 82 stores the following programs.

This program is a program for causing the processor 81 to execute the speed control process. Speed control processing includes feedback control and feedforward control. Feedforward control is a process of controlling the electric motor M1 based on the estimated wind resistance and the estimated acceleration so that the rotation state of the rotor at the drive timing approaches the target rotation state.

The program also causes the computer to execute the processing performed by the speed control unit 101, the method of executing the processing, and the like.

Here, the memory 82 is a nonvolatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM, EEPROM, or the like. Also, the memory 82 is, for example, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like. Also, the memory 82 may be any storage medium that will be used in the future.

As described above, the motor control device 100 can realize each function described above by means of hardware or software A.

In addition, the present technology may be implemented as a motor control method in which operations of characteristic components included in the motor control device 100 are performed as steps. Also, the present technology may be implemented as a program that causes a computer to execute each step included in such a motor control method.

Also, the present technology may be implemented as a computer-readable recording medium that stores such a program. Also, the program may be distributed via a transmission medium such as the Internet.

(Other modifications)
In addition, it is possible to freely combine each embodiment, and to modify or omit each embodiment as appropriate.

For example, the motor control device 100 shown in FIG. 1 is configured to estimate the position Pd based on the current values If1 and If2, which are feedback current values, and the voltage command Vtref, but the configuration is not limited to this. A configuration (hereinafter also referred to as “configuration Cn1”) that uses the electric motor M1 provided with a sensor for detecting the position Pd may be employed. The sensor is, for example, a Hall IC.

In the configuration Cn1, the velocity Vs is calculated based on the position Pd detected by the sensor. Feedback control A in configuration Cn1 is control in which the calculated speed Vs is used instead of the estimated speed Vs.

In addition, in configuration Cn1, current control unit 102 generates voltage command Vtref based on current command Iref, position Pd detected by the sensor, and current values If1 and If2, which are feedback current values.

Also, for example, a configuration may be adopted in which a sensor that detects the speed Vs is provided. In this configuration, feedback control A is performed using the detected speed Vs.

Also, for example, the speed control unit 101 may be configured without the LPF 205 . For example, the speed control unit 101 in FIG. 7 may be configured without the LPF 205 . In this configuration, the current value Ifa calculated by the gain compensator 204 is added to the current value Ip corresponding to the current command.

Also, for example, in Embodiment 2, the configuration is such that the laser marker 51 is used as a means for peeling off the insulating coating, but the present invention is not limited to this. As a means for peeling off the insulating coating, a configuration may be adopted in which another peeling means different from the laser marker 51 is used. The same effect as the configuration using the laser marker 51 can be obtained in the configuration using the other peeling means.

However, since the configuration using the laser marker 51 as a means for stripping the insulating coating has the following effects, it is desirable to apply the configuration using the laser marker 51 to the winding machine M10. Specifically, in a configuration using a laser marker 51 as means for stripping the insulating coating, the laser marker 51 is fixed and the insulating coating is stripped by laser light while the wire 24 is moved. Therefore, it is not necessary to move the peeling unit 5 using a ball screw, a motor, or the like. As a result, the winding machine can be downsized, and the winding machine can be manufactured at low cost.

Also, for example, in the above-described wind resistance estimation process, the variables a, b, and c of the above-described formulas (1) and (2) are specified by the above-described experiment A, but the present invention is not limited to this. The variables a, b, c may be specified by controlling the speed of motor M1.

In the following, the configuration that specifies variables a, b, and c by controlling the speed of electric motor M1 is also referred to as "configuration Cn2." In the following description of configuration Cn2, "measurement" also includes the meaning of "identification." For example, "measuring a current" also includes "identifying a current".

In the wind resistance estimation processing in configuration Cn2, variable identification control processing for identifying variables a, b, and c is performed. Here, as an example, variable identification control processing using the ventilation fan F10 shown in FIG. 21 will be described. Note that the variable identification control process may be performed using the aforementioned winding machine M10 including the electric motor M1.

FIG. 21 is a diagram showing the configuration of the ventilation fan F10. The upper half of the ventilation fan F10 shown in FIG. 21 shows the appearance of the ventilation fan F10. The lower half of the ventilation fan F10 shown in FIG. 21 shows the internal configuration of the ventilation fan F10.

The ventilation fan F10 includes an electric motor M1, an impeller f2, and a grill part f3. The electric motor M1 of the ventilation fan F10 is the electric motor M1 in FIG. The electric motor M1 of the ventilation fan F10 is controlled by the electric motor control device 100 of FIG. The electric motor M1 of the ventilation fan F10 includes the rotating member X1 of FIG. The rotating member X1 includes a shaft X1a and a rotor X1b. An impeller f2 is connected to the shaft X1a of the electric motor M1 of the ventilation fan F10. That is, the impeller f2 is connected to the end of the rotating member X1.

The impeller f2 rotates as the rotating member X1 (that is, the rotor X1b) rotates. The rotation of the rotating member X1 causes the impeller f2 to rotate. The grill portion f3 is provided so as to cover the impeller f2.

FIG. 22 is a flowchart of variable identification control processing. In the variable identification control process in configuration Cn2, first, the wind resistance estimator 202 is disabled (step S110). Specifically, control by the speed control unit 101 is performed so that the operation of the wind resistance estimation unit 202 is stopped.

Next, motor current measurement processing is performed (step S120). In the motor current measurement process in configuration Cn2, the motor drive process and the current measurement process are performed in parallel.

In the motor drive process in configuration Cn2, multiple speeds are used to drive the motor M1. Here, in order to make the processing easier to understand, the multiple speeds used in the motor drive processing are explained as three speeds as an example. Note that the multiple speeds used in the motor drive process are not limited to three speeds, and may be four or more speeds.

In the following, the three speeds used in the motor drive process are also referred to as speed Vt1, speed Vt2 and speed Vt3, respectively. Moreover, each of the speed Vt1, the speed Vt2, and the speed Vt3 is hereinafter also referred to as a "target speed".

Also, hereinafter, the speed Vt1 is also referred to as "low speed" or "Vt1". In the following, the speed Vt2 is also referred to as "medium speed" or "Vt2". Moreover, the speed Vt3 is hereinafter also referred to as "high speed" or "Vt3".

Each of the target speeds Vt1, Vt2, and Vt3 is a predetermined speed. Velocity Vt1, velocity Vt2 and velocity Vt3 are velocities that satisfy the relational expression "Vt1<Vt2<Vt3". For example, velocity Vt1, velocity Vt2 and velocity Vt3 are respectively "low speed", "medium speed" and "high speed" in FIG. The "high" speed Vt3 corresponds to the above-described high speed.

Specifically, in the motor drive process of the motor current measurement process, the control unit Ct1 performs control to drive the motor M1 so that the speed of the motor M1 becomes the target speed. The speed of the electric motor M1 is the rotational speed of the rotor X1b. Since the wind resistance estimator 202 is disabled, the control of the speed of the electric motor M1 is performed using the PI controller 201 in the same manner as the feedback control A in the comparative configuration described above.

Also, in a situation where the rotation speed of the rotor X1b is the target speed, the electric motor control device 100 measures the driving current of the electric motor M1. Specifically, in a situation where the rotational speed of the rotor X1b is the target speed, in the current measurement process, the motor control device 100 measures the drive current of the motor M1 for a certain period of time using the current measurement method A. That is, the measurement of the drive current of the electric motor M1 by the current measurement method A is performed over a certain period of time.

Current measurement method A is a method of measuring the drive current of electric motor M1, which is a brushless motor. Since the current measurement method A is a known method, detailed description thereof will be omitted.

In the current measurement method A, for example, the drive current of the electric motor M1 is measured by the control unit Ct1 of the electric motor control device 100 based on the current values If1 and If2 obtained by the current detection units Dt1 and Dt2. A current value If1 is a U-phase current value. The current value If2 is the current value of the W phase. The V-phase current value is specified from the U-phase current value and the W-phase current value. Control unit Ct1 measures the drive current of electric motor M1 based on part or all of the U-phase current value, the W-phase current value, and the V-phase current value.

In the following, the current measured when the rotational speed of the rotor X1b is the target speed is also referred to as "measured current". The measured current is a current value. The measured current is the average value of the driving current of the electric motor M1 measured over a certain period of time. In the current measurement process of the motor current measurement process, the measured current is measured. The measured current is measured by the controller Ct1.

It should be noted that the measured current does not have to be the average value of the driving current of the electric motor M1 measured over a certain period of time. The measured current may be, for example, the driving current of the electric motor M1 measured at a specific timing.

The current measurement process of the motor current measurement process is performed in a situation where the target speed is one of speed Vt1, speed Vt2, and speed Vt3. In the following, the measured current measured in the situation where the speed of interest is the speed Vt1 is also referred to as "current I1" or "I1". Also, hereinafter, the measured current measured when the target speed is the speed Vt2 is also referred to as "current I2" or "I2". Also, hereinafter, the measured current measured when the target speed is the speed Vt3 is also referred to as "current I3" or "I3". Each of currents I1, I2, and I3 is a drive current for electric motor M1. Also, each of the currents I1, I2, and I3 is a current value.

A motor current measurement process using speed Vt1, speed Vt2, and speed Vt3 as target speeds will be described below. Since the contents of the current measurement process of the motor current measurement process have been described above, the current measurement process will be briefly described.

In the motor driving process of the motor current measurement process in the configuration Cn2, first, the control unit Ct1 performs control to drive the electric motor M1 so that the speed of the electric motor M1 becomes the speed Vt1. In the current measurement process, the control unit Ct1 of the motor control device 100 measures the current I1 as the measured current in the situation where the rotation speed of the rotor X1b is the speed Vt1. The current I1 is stored in the internal memory of the controller Ct1.

Next, in the motor driving process, the control unit Ct1 performs control to drive the motor M1 so that the speed of the motor M1 becomes the speed Vt2. In the current measurement process, the control unit Ct1 of the motor control device 100 measures the current I2 as the measurement current in the situation where the rotation speed of the rotor X1b is the speed Vt2. The current I2 is stored in the internal memory of the controller Ct1.

Next, in the motor driving process, the control unit Ct1 performs control to drive the motor M1 so that the speed of the motor M1 becomes the speed Vt3. In the current measurement process, the control unit Ct1 of the motor control device 100 measures the current I3 as the measured current in a situation where the rotation speed of the rotor X1b is the speed Vt3. The current I3 is stored in the internal memory of the controller Ct1.

The measured currents I1, I2, I3 correspond to the velocities Vt1, Vt2, Vt3, respectively.

Next, variable identification processing is performed (step S130). In the variable specifying process, the variables a, b, and c of the formulas (1) and (2) are specified. Specifically, in the variable identification process, the currents I1, I2, and I3 measured by the current measurement process are plotted on a graph as shown in FIG. Plotting of the currents I1, I2 and I3 on the graph is performed by the controller Ct1.

Then, the control unit Ct1 generates a characteristic line Lci that approximates the currents I1, I2, and I3 plotted on the graph. The characteristic line Lci is a characteristic line expressing the quadratic function of Equation (1). Control unit Ct1 specifies variables a, b, and c based on a quadratic function expressing characteristic line Lci.

If the quadratic function expressing the generated characteristic line Lci is, for example, "I = 2 x Vs ² + 3 x Vs + 4", variables a, b, and c are respectively "2", "3" and " 4”.

The specified variables a, b, and c are stored in the internal memory of the control unit Ct1 of the motor control device 100 (step S140).

With the above, the variable identification control process ends. Along with this, the invalidation of the wind resistance estimator 202 is cancelled. As a result, the motor control device 100 performs normal operation. Motor M1 is then controlled as usual.

Next, in the wind resistance estimation process in configuration Cn2, the wind resistance estimation unit 202 of the speed control unit 101 substitutes the speed at the control timing indicated by the speed command Vref for "Vs" in equation (2). The wind resistance estimator 202 also substitutes the specified variables a, b, and c into equation (2).

As a result, the wind resistance estimator 202 calculates the wind resistance Wr corresponding to the torque Ta based on the variables a, b, and c. That is, the wind resistance estimator 202 estimates the wind resistance Wr at the control timing based on the variables a, b, and c. The variables a, b, and c are specified based on the measured drive currents I1, I2, and I3. That is, in the wind resistance estimation process in the configuration Cn2, the speed control unit 101 estimates the wind resistance Wr at the drive timing based on the measured drive current.

The variable identification control process using the ventilation fan F10 has been described above, but as described above, the variable identification control process may be performed using the winding machine M10 including the electric motor M1.

Although the present disclosure has been described in detail, the above description is, in all aspects, exemplary and non-limiting. It is understood that innumerable variations not illustrated can be envisaged.

20 Stator, 24 Wire, 80 Processing circuit, 100 Electric motor controller, 101 Speed control unit, 201 PI control unit, 202 Wind resistance estimation unit, 203 Acceleration estimation unit, Ct1 Control unit, F10 Ventilation fan, Iv1 Three-phase inverter, M1 Electric motor, M10 winding machine, X1 rotating member, X1b rotor.

Claims (14)

1. A motor control device for controlling a motor that rotates a rotor,
   A speed control unit that controls the electric motor,
   The speed control unit performs speed control processing for controlling the electric motor so that the rotation state of the rotor at the drive timing at which the electric motor is driven approaches a target rotation state, which is the target rotation state,
   The speed control process includes feedback control and feedforward control,
   The feedback control is a process in which the speed control unit controls the electric motor based on a control parameter for controlling the rotation state of the rotor of the electric motor,
   The speed control unit performs wind resistance estimation processing and acceleration estimation processing,
   In the wind resistance estimation process, the speed control unit estimates the wind resistance associated with the rotation of the rotor at the drive timing,
   In the acceleration estimation process, the speed control unit estimates the acceleration of rotation of the rotor at the drive timing,
   In the feedforward control, the speed control unit controls the speed based on the estimated wind resistance and the estimated acceleration so that the rotation state of the rotor at the drive timing approaches the target rotation state. A process for controlling the electric motor,
   motor controller.
2. In a high-speed rotation state in which the electric motor rotates the rotor such that the wind resistance is proportional to the square of the rotational speed of the rotor, the speed control unit performs the feedback control and the feed perform forward control,
   The motor control device according to claim 1.
3. Each of the rotation state of the rotor at the drive timing and the target rotation state is the number of rotations of the rotor per unit time or the rotation speed of the rotor.
   The motor control device according to claim 1 or 2.
4. The speed control unit performs the feedback control and the feedforward control based on a speed command for controlling the rotation speed of the rotor.
   The motor control device according to any one of claims 1 to 3.
5. In a situation where the rotation speed of the rotor is a predetermined speed, the motor control device measures the drive current of the motor,
   The speed control unit estimates the wind resistance at the drive timing based on the measured drive current.
   The electric motor control device according to any one of claims 1 to 4.
6. The speed command is expressed by a linear function or a quadratic function,
   The speed control unit estimates the acceleration by differentiating the speed command.
   The electric motor control device according to claim 4.
7. In the acceleration estimation process, the speed control unit estimates the acceleration at the drive timing based on the drive pattern of the electric motor.
   The electric motor control device according to claim 4.
8. The speed control process is a process using a current command,
   The speed control unit corrects the current command based on the current value obtained by applying a low-pass filter to the current value calculated using the estimated acceleration,
   In the speed control process, the speed control unit controls the electric motor based on the corrected current command.
   The motor control device according to any one of claims 1 to 6.
9. A winding machine comprising the motor control device according to any one of claims 1 to 4,
   The winding machine has a configuration in which the electric motor rotates the rotor to wind a wire around a member,
   The speed control process is a process using a current command,
   In the acceleration estimation process, the speed control unit estimates the acceleration at the drive timing based on the drive pattern of the electric motor,
   The speed control unit corrects the current command based on the estimated acceleration,
   In the speed control process, the speed control unit controls the electric motor based on the corrected current command.
   winding machine.
10. A winding machine comprising the motor control device according to any one of claims 1 to 6,
    The winding machine has a configuration in which the electric motor rotates the rotor to wind a wire around a member,
    The speed control unit controls a winding time elapsed for winding the wire around the member, and an inertia of the member corresponding to the winding weight of the wire wound around the member during the winding time. estimating the inertia at the winding time corresponding to the drive timing using a table showing the relationship between
    The feedforward control is a process in which the speed control unit controls the electric motor based on the estimated wind resistance, the estimated acceleration, and the estimated inertia.
    winding machine.
11. The table shows the winding time, the inertia of the member according to the winding weight of the wire wound around the member, and the inertia increase rate of the member during the winding time. is
    Winding machine according to claim 10.
12. The speed control process is a process using a current command,
    The speed control unit calculates an acceleration force of the rotor based on the estimated inertia,
    The speed control unit corrects the current command based on the calculated acceleration force,
    In the speed control process, the speed control unit controls the electric motor based on the corrected current command.
    Winding machine according to claim 10 or 11.
13. The speed control unit corrects the current command based on the tension applied to the wire.
    Winding machine according to claim 12.
14. A winding machine comprising the motor control device according to any one of claims 1 to 8,
    The winding machine has a configuration in which the electric motor rotates the rotor to wind a wire around a member,
    winding machine.

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