JP2008245410A - Permanent magnet synchronous motor controller, and method thereof - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To achieve smooth, quick and positive start of a permanent magnet synchronous motor of sensorless control. <P>SOLUTION: The permanent magnet synchronous motor controller E of a senslorless control system is provided with a start control means 10 for controlling a motor current in start so that the motor current of a defined direction is applied only during a predetermined time to synchronize a rotor position with a rotation direction, and then, the controller may shift to a position sensorless control. The start control means 10 is provided with a waveform generating means 28 for applying a current having waverform obtained by expanding a waveform corresponding to a phase angle of 0°-90° in a sinusoidal AC in a time axis direction. The start control means 10 applies a current linearly increasing based on a ramp command. The start control means 10 applies a current based on a step command. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a permanent magnet synchronous motor control apparatus and method.

  In general, a permanent magnet synchronous motor control device is provided with a position sensor such as an encoder or a resolver in order to perform torque control by causing a current to flow through the armature winding in accordance with the magnetic pole position of the rotor. However, these position sensors cause an increase in size and cost of the motor control system, and there are problems in terms of reliability and environmental resistance. Therefore, researches on sensorless control methods that eliminate the need for position sensors have been actively conducted.

  Patent Document 1 below relates to a sensorless control system for a permanent magnet type synchronous motor such as a PM motor or a brushless motor, and particularly relates to a magnetic pole position estimation device that detects a magnetic pole position when the motor is stopped without using a position sensor. That is, a sensorless control system for a motor that can reliably and accurately estimate the magnetic pole position when the permanent magnet type synchronous motor is stopped is disclosed.

  Specifically, the magnetic pole position cannot be estimated in the stopped state by using the PM motor model equation to obtain information on the magnetic pole position and the rotor speed by using the fact that the inductance of the motor changes depending on the magnetic pole position. For this reason, the voltage vector generation means applies a voltage vector of positive and negative constant voltages with different angles to the motor while the motor is stopped, and the current detection means detects the d-axis current value of fixed coordinates with respect to the application of each voltage vector. . The first estimating means estimates the position of the voltage vector at which the difference between the d-axis current values is the largest when the voltage vector is generated by roughly changing the angle as the approximate magnetic pole position, and the second estimating means is estimated. The process of estimating the position of the voltage vector at which the difference in the d-axis current value is the largest when the voltage vector is generated with the angle slightly changed around the determined voltage vector position as the magnetic pole position is repeated. Estimate the magnetic pole position.

  Most conventional sensorless control methods are based on the motor model equation, and obtain information on the magnetic pole position and rotor speed by utilizing the fact that the inductance of the salient-pole motor changes depending on the magnetic pole position.

However, in the case of a cylindrical motor or the like, generally there is almost no difference between the inductance values of the d-axis and the q-axis, so the estimation from the model equation cannot estimate the magnetic pole position or the like when the motor is started or stopped. For this reason, an improper phase driving current is applied, which causes a problem that the torque decreases when the motor is started, and temporarily causes a large reverse rotation.
JP 2000-31493 A

  However, the technique of Patent Document 1 leaves room for improvement in the problem of smooth, quick and reliable motor start-up. The present invention has been made in view of the above-described circumstances, and an object thereof is to realize smooth, quick, and reliable motor start-up.

  In order to achieve the above object, a permanent magnet synchronous motor control device according to the present invention is a sensorless control type permanent magnet synchronous motor control device in which a motor current in a specified direction is supplied for a predetermined time to synchronize the rotor position and the rotation direction. The start control means for controlling the motor current at the start is adopted so as to shift to the position sensorless control after the control.

  According to the permanent magnet synchronous motor control device according to the present invention, the permanent magnet synchronous motor of the sensorless control system has a problem that the rotor position cannot be confirmed in the stopped state and thus has a problem of reverse rotation. Since the motor current in the specified direction is allowed to flow for the time to synchronize the rotor position and the rotation direction and then the control shifts to the position sensorless control, it is possible to start smoothly and quickly and to stabilize in a very short time.

  Further, in the permanent magnet synchronous motor control device according to the present invention, the activation control means generates a waveform for passing a current having a waveform obtained by extending a waveform corresponding to a phase angle of 0 ° to 90 ° in a sinusoidal alternating current in the time axis direction. Adopt means. According to the present invention, a permanent magnet synchronous motor that is supplied with a startup current having a waveform with an appropriately extended rising period in a sinusoidal alternating current is required to move the rotor to a rotor position that is synchronized with an electrical angle of 90 °. Torque can be generated reliably. In this way, the rotor position is quickly moved to the synchronization position.

  Further, in the permanent magnet synchronous motor control device according to the present invention, the activation control means employs a current that linearly increases according to a lamp command. According to the present invention, the permanent magnet synchronous motor to which a linearly increasing current is applied in accordance with the ramp command linearly increases the electrical angle portion over 4/1 wavelength (90 °) up to the first peak value of the sinusoidal alternating current. The starting torque can be reliably applied to the rotor for a predetermined time. In this way, the rotor position is quickly moved to the synchronization position.

  Further, in the permanent magnet synchronous motor control device according to the present invention, the activation control means employs a flow of a linearly increasing current according to a step command. According to the present invention, a permanent magnet synchronous motor that has been supplied with a DC motor current according to a step command can apply a starting torque necessary for moving the rotor to a position where the rotor can be easily synchronized for a predetermined time. it can. In this way, the rotor position is quickly moved to the synchronization position.

  Further, the permanent magnet synchronous motor control method according to the present invention is a sensorless control type permanent magnet synchronous motor control method, in which a motor current in a specified direction is supplied for a predetermined time to synchronize the rotor position and the rotation direction. Adopt a method to shift to control. According to the present invention, it is possible to realize smooth, quick and reliable motor start-up.

  Further, in the permanent magnet synchronous motor control method according to the present invention, the motor current in the prescribed direction flows a current having a waveform obtained by extending a waveform corresponding to a phase angle of 0 ° to 90 ° in a sinusoidal alternating current in the time axis direction. Adopt that. According to the present invention, the rotor position is quickly moved to the synchronous position in this way.

  In the permanent magnet synchronous motor control method according to the present invention, the motor current in the specified direction employs a current that linearly increases according to a lamp command. In this way, the rotor position is adjusted to the synchronous position.

  In the permanent magnet synchronous motor control method according to the present invention, the motor current in the specified direction employs a current that linearly increases according to a step command. In this way, the rotor position is quickly moved to the synchronization position.

  According to the present invention, it is possible to realize smooth, quick and reliable motor start-up.

Hereinafter, an embodiment of the present invention (hereinafter referred to as “the present embodiment”) will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the same function over each figure, and duplication of description is avoided.
FIG. 1 is an explanatory diagram of a permanent magnet synchronous motor control device (hereinafter also referred to as “motor driver”) E according to the present embodiment, (a) a block diagram showing a main configuration, and (b) a start-up time by a lamp command. It is a graph which shows the change of the transient electric current operation amount Id *, (c) The graph which shows the change of the transient electric current operation amount Id * at the time of starting by step command. As shown in FIG. 1A, the motor driver E supplies a drive current to a position sensorless type permanent magnet synchronous motor (hereinafter also referred to as “motor”) 3 in response to a command from the command section 4.

  The motor driver E is mainly composed of an inverter 8 supplied with a DC power supply 6 and synchronous motor driving means for supplying an appropriate driving current from the inverter 8 in accordance with the rotational phase (rotor position) of the motor 3. Yes. This synchronous motor driving means includes start control means 10, subtractor 20, speed controller 21, current controller 22, coordinate converters 24 and 26, rotor position / speed estimator 23, PWM signal generator 25, and speed detector. The main part is composed of the container 27. Further, the current detectors 9u and 9v are arranged on paths through which the U, V and W phase outputs of the inverter 8 are connected to the respective phase drive coils (not shown) of the stator of the motor 3. The command unit 4 and the DC power source 6 are not included in the motor driver E as shown in FIG.

  The start control means 10 includes a waveform generation means 28 and a control mode changeover switch 11. The start control means 10 is for smooth start-up of the motor 3, and the waveform generation means 28 generates a start current having a specified waveform that is not alternating current, and the control mode changeover switch 11 is connected to the α side. It is applied to the motor 3 for a long time. Then, after synchronizing the rotor position and the rotation direction, the control mode changeover switch 11 is connected to the β side and the normal sensorless control is performed. In the circuit configuration of FIG. 1, it is assumed that irregular and simple synchronous drive control can be performed while the control mode changeover switch 11 is connected to the β side.

  Further, as shown in FIG. 1B, the waveform generation means 28 in the activation control means 10 generates a current that linearly increases in response to a lamp command (hereinafter referred to as “lamp current”). According to this lamp current, the permanent magnet synchronous motor to which a linearly increasing current is applied in accordance with the lamp command causes the starting torque to linearly increase the electrical angle of 4/1 wavelength (90 °) up to the first wave height of the sine wave AC. Can be reliably applied to the rotor for a predetermined time. In this way, the rotor position is moved to the synchronization position. For this purpose, the waveform generation means 28 of the activation control means 10 generates a waveform obtained by extending the waveform corresponding to the phase angle of 0 ° to 90 ° in the sinusoidal alternating current in the time axis direction and causes the activation current to flow.

  Further, as shown in FIG. 1C, the waveform generation means 28 in the activation control means 10 employs applying a current that linearly increases in accordance with a step command (hereinafter referred to as “step current”). According to the present invention, the permanent magnet synchronous motor that is supplied with a DC motor current according to the step command applies the starting torque necessary to move to the rotor position corresponding to the electrical angle of 90 ° to the rotor for a predetermined time. can do. In this way, the rotor position is quickly moved to the synchronization position. It is possible to realize smooth, quick and reliable motor start-up.

  More specifically, as the waveform generation means 28 (see FIG. 2) forming the activation control means 10, current control for slowly turning off using a time constant by a combination circuit of a capacitor and a resistor (not shown) is possible. Alternatively, a ramp down using a ramp (tilt) function stored in advance in the microcomputer, or a signal that falls in multiple stages according to the relationship between the clock and the bit may be used. Alternatively, a similar start control means 10 may be built in the speed controller 21.

  The motor 3 is a sensorless permanent magnet type synchronous motor in which the rotor 3a is formed of a permanent magnet and does not include a sensor for detecting the rotational position of the rotor 3a. Note that the rotor 3a shown in FIG. 1 is magnetized with NS2 magnetic poles, but there is no limit to increasing the number of poles.

  The rotation detector 31 detects the rotation of the motor 3 using a predetermined detection method. More specifically, the rotation detector 31 detects the magnetic force of the rotor 3a with a Hall element, and detects the speed of a pulse signal that becomes one pulse (pulse indicating the position of the N pole) for each rotation of the rotor 3a. To the device 27.

  In FIG. 1, Vu * is a U-phase voltage manipulated variable, Vv * is a V-phase voltage manipulated variable, Vw * is a W-phase voltage manipulated variable (hereinafter simply referred to as “voltage manipulated variable”), and Iu is a motor U Phase current, Iv is motor V-phase current, Id is d-axis current, Iq is q-axis current, Vd is d-axis voltage, Vq is q-axis voltage, ω is speed (= rotation speed), θ is rotation angle estimated value, * Indicates a command value (operation amount). The q axis and the d axis are a two-dimensional coordinate system composed of a q axis and a d axis fixed on the rotor 3a of the motor 3. That is, the q axis is a coordinate axis set on the rotating surface of the rotor 3a in the opposing direction of the S pole and the N pole of the permanent magnet, and the d axis is a coordinate axis orthogonal to the q axis.

Here, when performing speed control as a control form of the motor driver E,
ω * receives a command from the command unit 4.
Id * receives a command from the command unit 4 or is set by the inverter 8 itself.
On the other hand, when performing current control as a control form of the motor driver E,
Iq * receives a command from the command unit 4.
Id * receives a command from the command unit 4 or is set by the inverter 8 itself.
Note that the speed controller 21 may not be provided when the original function can be exhibited only by the current control.

  The motor driver E controls the rotation of the motor 3 by PWM-controlling the inverter 8 to generate a motor driving current based on the DC voltage (power supply voltage) output from the DC power supply 6 and drive the motor 3. . The inverter 8 switches the DC voltage supplied from the booster circuit 7 on the basis of the PWM signal supplied from the PWM signal generator 25, thereby generating a three-phase motor drive current composed of the U phase, the V phase, and the W phase. Generate.

  The current detector 9u is provided on a U-phase connection line that connects the U-phase output end of the inverter 8 and the U-phase stator winding of the motor 3, and is a motor drive that flows from the U-phase output end to the U-phase stator winding. The current Iu is detected and input to the coordinate converter 26. On the other hand, the current detector 9v is provided on a V-phase connection line connecting the V-phase output terminal of the inverter 8 and the V-phase stator winding of the motor 3, and the V-phase stator coil is connected to the V-phase stator winding. The flowing motor drive current Iv is detected and input to the coordinate converter 26.

The subtractor 20 calculates the difference between the angular velocity target value ω * supplied from the command unit 4 that is the host controller and the estimated angular velocity value ω1 output from the rotor position / speed estimator 23 as a speed error Δω, and calculates the speed. Input to the controller 21.
The speed controller 21 is a kind of PID controller. A q-axis current (hereinafter referred to as “the current operation amount” corresponding to the speed error Δω is obtained by performing a predetermined proportional integral / differential operation on the speed error Δω. Iq *) (referred to as “current manipulated variable”) is calculated and input to the current controller 22.

  The current controller 22 is a kind of PID controller, and generates voltage manipulated variables Vq * and Vd * by performing predetermined proportional integral / derivative operations on the current manipulated variables Iq * and Id *, respectively. That is, based on the q-axis and d-axis current detection currents Iq and Id input from the coordinate converter 26, the q-axis and d-axis voltage manipulated variables Vq * respectively corresponding to the current manipulated variables Iq * and Id *. , Vd * are calculated and input to the rotor position / speed estimator 23 and the coordinate converter 24. The d-axis current manipulated variable Id * is commanded by the command unit 4 and is appropriately generated by the waveform generating means 28 and supplied.

  The rotor position / speed estimator 23 estimates the rotation state of the motor 3 based on the detected currents Iq and Id and the voltage operation amounts Vq * and Vd *. The rotor position / speed estimator 23 includes a motor model simulating the motor 3 therein, and estimates the angular speed based on the voltage operation amounts Vq * and Vd * and the detected currents Iq and Id input to the motor model. The value ω1 and the estimated rotation angle value θ are calculated and output. The rotational angle estimated value θ estimated by such a method is input from the rotor position / speed estimator 23 to the coordinate converters 24 and 26, and the angular speed estimated value ω1 is also input to the subtractor 20.

  The coordinate converter 24 converts the voltage manipulated variables Vq * and Vd * input from the current controller 22 based on the rotation angle estimation value θ input from the rotor position / speed estimator 23 into the U phase, the V phase, and the W phase. It is converted into voltage manipulated variables Vu *, Vv *, Vw * on a three-dimensional coordinate system composed of phases. The voltage manipulated variables Vu *, Vv *, and Vw * are input to the PWM signal generator 25.

  The PWM signal generator 25 generates a PWM signal for switching the inverter 8 based on the voltage manipulated variables Vu *, Vv *, and Vw * and inputs the PWM signal to the inverter 8. At this time, the inverter 8 outputs a motor drive current over the entire rotation angle (360 °) of the motor 3. Then, the motor driver E continues the operation based on the sine wave energization method.

  The coordinate converter 26 uses the U-phase and V-phase motor detection currents (hereinafter also referred to as “detection currents”) Iu and Iv detected by the current detectors 9u and 9v, respectively for the q-axis and the d-axis. Detection currents Iq and Id are generated. More specifically, the coordinate converter 26 obtains the W-phase motor drive current Iw by internal calculation based on the detection currents Iu and Iv, and detects the detection current Iu on the three-dimensional coordinate system including the U-phase, V-phase, and W-phase. , Iv, Iw are subjected to predetermined coordinate transformation to obtain detected currents Iq, Id.

  The speed detector 27 is a kind of signal converter (F / V converter) that converts the pulse signal into a DC voltage corresponding to the repetition frequency, and inputs the DC voltage to the command unit 4 as an angular velocity detection value ωk. .

  The waveform generation unit 28 is a function included in the activation control unit 10 (FIG. 1), and receives the command from the command unit 4 to generate appropriate current operation amounts Iq * and Id * and / or the command unit 4 and / or The speed controller 21 is supported. Specifically, in addition to being able to control the current using a time constant by a combination circuit of a capacitor and a resistor (not shown), a lamp command using a ramp (tilt) function stored in advance in the microcomputer, Alternatively, various waveform signals may be generated and used depending on the relationship between the clock and the bit. The current operation amounts Iq * and Id * generated by the waveform generation unit 28 are input to the current controller 22.

  In general rotation control of a sensorless permanent magnet type synchronous motor, the angular velocity and rotation angle of the sensorless permanent magnet type synchronous motor are estimated by some method, and the sensorless permanent magnet type synchronous motor is vector controlled based on the estimated value. Alternatively, V / F control is performed. Since these vector control and V / F control are well known, detailed description thereof will be omitted.

  The motor driver E drives the motor 3 by operating the motor driver E according to the input operation instruction signal J. That is, at the time of driving, the motor driving current is supplied from the inverter 8 to the motor 3 via the driving current line of each phase, and the motor 3 is rotationally driven.

  The current detectors 9u and 9v input the U-phase and V-phase motor driving currents Iu and Iv based on the motor driving current to the coordinate converter 26, and the coordinate converter 26 outputs another phase, that is, the W phase. Motor drive current Iw is calculated from U-phase and V-phase motor drive currents Iu and Iv, and three-phase (U-phase, V-phase and W-phase) motor drive currents Iu, Iv and Iw are set to the estimated rotation angle θ. By performing a coordinate conversion process using a conversion matrix including corresponding elements, a q-axis detection current Iq and a d-axis detection current Id in the q-axis-d-axis coordinate system unique to the motor 3 are generated.

  Further, at the time of this driving, the angular velocity target value ω * is input from the command unit 4 to the subtracter 20, and the current operation amount Id * corresponding to the target value of the detected current Id is also input from the command unit 4 to the current controller 22. Entered. Here, the current manipulated variable Id * is set to “0”.

The subtracter 20 generates a speed error Δω by calculating a difference between the target angular speed value ω * and the estimated angular speed value ω 1 of the motor 3 input from the rotor position / speed estimator 23.
The speed controller 21 generates a current manipulated variable Iq * corresponding to the detected current Id by performing proportional integration / derivative processing on the speed error Δω.
The current controller 22 generates voltage operation amounts Vq * and Vd * corresponding to the drive voltage to be applied to the motor 3 by performing proportional integration and differentiation operations on the current operation amounts Iqs and Ids, respectively.

The rotor position / speed estimator 23 includes a q-axis detection current Iq and a voltage operation amount Vq, and a d-axis detection current Id and a voltage operation amount in a q-axis-d-axis coordinate system fixedly set on the rotor 3a of the motor 3. The angular velocity estimation value ω1 and the rotation angle estimation value θ are estimated using Vd * as an input signal.
The coordinate converter 24 uses the rotation angle estimated value θ to convert the voltage manipulated variables Vq * and Vd * into voltage manipulated variables Vu *, Vv *, V on a three-dimensional coordinate system composed of a U phase, a V phase, and a W phase. Convert to Vw *.
The PWM signal generator 25 generates a PWM signal for switching the inverter 8 based on these voltage operation amounts Vu *, Vv *, Vw * and drives the inverter 8.

Next, the operation of the apparatus E will be described in detail with reference to FIGS.
FIG. 2 is a graph showing the starting current in the permanent magnet synchronous motor control device according to the present embodiment, and shows (a) the first trial result and (b) the second trial result.
FIG. 3 is a graph showing the starting current in the permanent magnet synchronous motor control apparatus according to the present embodiment, and shows (a) a third trial result and (b) a fourth trial result.
2A to 3B, the vertical axis represents motor current, and the horizontal axis represents time.

  As shown in FIG. 2 (a), in the first prototype result, the control mode changeover switch 11 is connected and fixed to the contact β (FIG. 1) from the start. Then, synchronous drive control is performed so as to keep the V / F value constant by V / F control for up to about 200 msec after activation. That is, the frequency and the current value of the drive current were gradually increased, and the position sensorless control was shifted to after about 200 msec after startup. As a result, it has been found that there remains a problem in the performance of the synchronous drive due to the irregular and simple synchronous drive control with the circuit configuration of FIG. 1, and it is necessary to search for the best setting of the switching timing.

  As shown in FIG. 2B, in the second trial result, the starting current value is supplied as a standard value from the beginning, and only the frequency is gradually increased with the standard value as a target for a period of about 300 msec after the starting. It was set and started from the beginning by position sensorless control. As a result, the disadvantage that the rotor phase (position) at the time of startup instantaneously becomes a reverse rotation phase became clear, and the object could not be achieved.

  As shown in FIG. 3A, in the third trial result, the control mode changeover switch 11 is connected to the contact α at the time of activation. Then, the phase of AC 1/4 wavelength (electrical angle 90 °) has advanced when it reaches about twice the standard value while linearly increasing the drive current (increasing the lamp) for a period of about 200 msec after startup. To do. At that time, the control mode switch 11 is switched from the contact α to the contact β. After that, simple synchronous drive control is performed so as to keep the V / F value constant by V / F control for about 200 msec. The synchronous operation is continued while gradually increasing the frequency during the synchronous drive control period. Finally, the current value is halved to return to the standard value, and the control shifts to position sensorless control. As a result, it has become clear that it takes about 400 msec to reach the final target position sensorless control.

  As shown in FIG. 3B, in the fourth trial result, the control mode changeover switch 11 is connected to the contact α at the time of activation. Then, the phase of the AC 1/4 wavelength (electrical angle 90 °) advances at the time when the standard value is reached while linearly increasing the drive current (increasing the lamp) for about 100 msec after startup. During this period, the rotor is moved to a synchronizable position and positioned. At that time, the control mode changeover switch 11 is switched from the α side to the β side to shift to the position sensorless control, and thereafter the position sensorless control is continued while increasing the frequency to the standard value in a period of about 150 msec.

  That is, the best results were obtained by the forced positioning of the rotor by the ramp increasing current (commonly called “DC lamp current”) and the two-step control without the position sensor. Note that switching from the forced positioning operation of the rotor to position sensorless control is realized by switching the control mode changeover switch 11 from the α side to the β side. It can be surely and easily realized by being executed. Further, if the step current according to the step command of FIG. 1C is used instead of the ramp increasing current, the waveform generating means 28 can be made simpler.

FIG. 4 is a graph of the first simulation of the starting characteristics with the setting close to FIG. 2B in the permanent magnet synchronous motor control device E according to the present embodiment.
FIG. 5 is a graph of a second simulation of the start-up characteristic with a setting close to FIG. 3B in the permanent magnet synchronous motor control device E according to the present embodiment.
4 and 5, the horizontal axis indicates time [msec] slightly different from those in FIGS. 2 and 3, and the vertical axis indicates position estimation error [rad], motor current [A], rotational speed [r / m], The estimated phase angle [rad], motor torque [Nm], and actual phase angle [rad] are shown.

  As shown in FIG. 4, the start-up characteristic in the first simulation deteriorates the rise time. Moreover, the rotor rotates after being locked in the opposite direction. On the other hand, as shown in FIG. 5, it has been clarified that the startup characteristics in the second simulation can shorten the startup time by flowing a direct current (a time longer than ¼ wavelength) in advance. That is, the result of the second simulation shown in FIG. 5 with a setting close to FIG. 3B proves that the apparatus E has an excellent effect.

It is explanatory drawing of the permanent magnet synchronous motor control apparatus which concerns on this embodiment, (a) The block diagram which shows a main structure, (b) The graph which shows the transition of the transient electric current manipulated variable Id * at the time of starting by a lamp command, (C) It is a graph which shows the change of the transient electric current operation amount Id * at the time of starting by step command. It is a graph which shows the starting current in the permanent magnet synchronous motor control apparatus which concerns on this embodiment, (a) 1st trial manufacture result, (b) 2nd trial manufacture result. It is a graph which shows the starting current in the permanent magnet synchronous motor control apparatus which concerns on this embodiment, (a) 3rd trial manufacture result, (b) 4th trial manufacture result. It is a graph of the 1st simulation of the starting characteristic by the setting close | similar to FIG.2 (b) in the permanent magnet synchronous motor control apparatus which concerns on this embodiment. It is a graph of the 2nd simulation of the starting characteristic by the setting close | similar to FIG.3 (b) in the permanent magnet synchronous motor control apparatus which concerns on this embodiment.

Explanation of symbols

3 Permanent magnet synchronous motor (motor)
10 Start control means E Permanent magnet synchronous motor control device (motor driver)

Claims (8)

In the sensorless control type permanent magnet synchronous motor control device,
A permanent magnet comprising start-up control means for controlling the motor current at the start-up so as to shift to position sensorless control after flowing a motor current in a specified direction for a predetermined time to synchronize the rotor position and rotation direction Synchronous motor control device. The activation control means includes
2. The permanent magnet synchronous motor control according to claim 1, further comprising waveform generation means for supplying a current having a waveform obtained by extending a waveform corresponding to a phase angle of 0 ° to 90 ° in a sinusoidal alternating current in the time axis direction. apparatus. The activation control means includes
The permanent magnet synchronous motor control device according to claim 1, wherein a linearly increasing current is caused to flow in response to a ramp command. The activation control means includes
2. The permanent magnet synchronous motor control device according to claim 1, wherein a current according to a step command is passed. A sensorless control type permanent magnet synchronous motor control method,
A permanent magnet synchronous motor control method, wherein a motor current in a specified direction is supplied for a predetermined time to synchronize the rotor position and rotation direction, and then the control proceeds to sensorless control. The motor current in the specified direction is
6. The permanent magnet synchronous motor control method according to claim 5, wherein the current is a waveform obtained by extending a waveform corresponding to a phase angle of 0 ° to 90 ° in a sinusoidal alternating current in the time axis direction. The motor current in the specified direction is
6. The permanent magnet synchronous motor control method according to claim 5, wherein the current increases linearly with a ramp command. The motor current in the specified direction is
6. The method of controlling a permanent magnet synchronous motor according to claim 5, wherein the method is a direct current based on a step command.

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