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WO2014061982A1 - Appareil permettant de déterminer une erreur d'un moteur sans capteur à l'aide d'un signal de force contre-électromotrice - Google Patents

Appareil permettant de déterminer une erreur d'un moteur sans capteur à l'aide d'un signal de force contre-électromotrice Download PDF

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Publication number
WO2014061982A1
WO2014061982A1 PCT/KR2013/009230 KR2013009230W WO2014061982A1 WO 2014061982 A1 WO2014061982 A1 WO 2014061982A1 KR 2013009230 W KR2013009230 W KR 2013009230W WO 2014061982 A1 WO2014061982 A1 WO 2014061982A1
Authority
WO
WIPO (PCT)
Prior art keywords
signal
electromotive force
sensorless motor
time difference
motor
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/KR2013/009230
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English (en)
Korean (ko)
Inventor
김봉준
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Continental Automotive Systems Corp
Continental Automotive Systems Inc
Original Assignee
Continental Automotive Systems Corp
Continental Automotive Systems Inc
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Continental Automotive Systems Corp, Continental Automotive Systems Inc filed Critical Continental Automotive Systems Corp
Publication of WO2014061982A1 publication Critical patent/WO2014061982A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G01R31/343—Testing dynamo-electric machines in operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/34—Testing dynamo-electric machines
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R19/00—Arrangements for measuring currents or voltages or for indicating presence or sign thereof
    • G01R19/175—Indicating the instants of passage of current or voltage through a given value, e.g. passage through zero

Definitions

  • the present invention relates to a method of driving a sensorless motor, and more particularly, by detecting a counter electromotive force generation time of a sensorless motor and allowing only a counter electromotive force signal corresponding to the prediction result, thereby detecting a counter electromotive force signal according to an external environment.
  • the present invention relates to an error determination device of a sensorless motor using a back EMF signal which can be prevented in advance.
  • the rotor position and speed of the observer are determined from the current error of each axis by setting the virtual q axis and the d axis to convert the phase current of the actual system into the virtual axis, and comparing the current with the model equation in the observer.
  • the sensorless control of the sensorless permanent magnet synchronous motor is performed only after a certain speed after the motor is started. This is because the back electromotive force of the sensorless permanent magnet synchronous motor is deteriorated as the speed decreases. This is because it is difficult to estimate the electronic position and velocity.
  • the sensor-less permanent magnet synchronous motor is required to provide a current corresponding to the position of the rotor at the initial start-up and generate a proper amount of motor torque
  • the position and speed of the rotor are not known. Regardless of the rotor's position and speed, it will provide current based on peak load. Therefore, in the past, when the sensorless permanent magnet synchronous motor is initially started, at low loads, the inertia coefficient is not the same as the actual load, and unnecessary torque is required. Accordingly, torque is applied more than necessary to increase the starting current, and also the starting current. Increasing the increase in the heat generated by the inverter also could not be continued operation.
  • the attached patent document estimates the position of the rotor from a preset inertia coefficient and torque acceleration. That is, as shown in FIG. 1, a voltage source inverter 180 for supplying a three-phase voltage, a current estimator 110 according to a phase voltage application, and a first speed / position estimator 120 estimated based on a motor model.
  • a second speed / position estimator 130 estimated based on a machine model, a mixer 140 having a crossover function that mixes positions and velocities estimated by the motor model and the machine model, respectively, measured or estimated Speed controller 150 that generates torque command by comparing speed and command, Current command converter 160 that converts torque command into current command, and Vector current controller that generates voltage by comparing command current with estimated and measured current It consists of 170.
  • the current estimator 110 may be configured in various forms. First, three-phase current is directly detected by using three current converters or a series shunt resistor in three phases of the motor, and second, Two current transducers or series shunt resistors to detect the current in two phases, and the other phase is obtained as a two-phase current value. Third, one series shunt resistor on the DC bus side or the lower switches of the inverter and ground It consists of estimating current reconstruction with three or three shunt resistors in series.
  • the inertia coefficient and torque acceleration according to the actual load are used to estimate the speed and position information.
  • the present invention has been made to solve the above problems, and an object of the present invention is to predict the occurrence of back EMF of a sensorless motor and allow only back EMF signal corresponding to the prediction result, thereby detecting a detection error of the back EMF signal according to an external environment.
  • an error determination device for a sensorless motor using a back EMF signal that can prevent the in advance.
  • the present invention provides a device for determining an error of a sensorless motor using a counter electromotive force signal that can reduce a system cost by simplifying a circuit configuration of an inverter.
  • An apparatus for determining an error of a sensorless motor using a back electromotive force signal for achieving the above object is a device for determining an error signal when driving a sensorless motor using a back electromotive force signal, the sensorless motor driving A signal amplifier for amplifying a back-EMF (BEMF) signal generated at a predetermined level; An AD converter for converting an output signal of the signal amplifier into a digital signal; A zero crossing detector for detecting a zero-crossing point of the counter electromotive force signal based on the output signal of the AD converter; And calculating a time difference between zero crossing time points of the counter electromotive force signal based on the rotational speed of the sensorless motor, determining whether the zero crossing time point output from the zero crossing detector is included in the calculated time difference category, and outputting the AD converter. And a control unit for determining the authenticity of the counter electromotive force signal.
  • BEMF back-EMF
  • the calculated time difference is a time difference between zero crossing points computed from the rotational speed V [rps] of the current sensorless motor, and the calculated time difference category allows for a time difference between calculated zero crossing points. It is characterized by the possible range.
  • the allowable range for the time difference according to a preferred embodiment of the present invention is characterized in that the ratio of 100% to 200 ⁇ s, or 10% to 20% of the time difference.
  • the error determination device of the sensorless motor using the back EMF signal proposed in the present invention by predicting the back electromotive force generation time of the sensorless motor, by allowing only the back EMF signal corresponding to the prediction result, according to the external environment Has an effect of preventing the detection error in advance.
  • the circuit configuration of the inverter for driving the sensorless motor By simplifying the system cost can be reduced.
  • FIG. 1 is a configuration diagram illustrating a conventional sensorless motor driving device.
  • FIG. 2 is a block diagram showing an error determination device of a sensorless motor using a back EMF signal according to the present invention.
  • FIG. 3 is a timing graph for explaining the operation of FIG. 2.
  • the operation of the sensorless motor proposed by the present invention predicts a zero-crossing time point of the counter electromotive force with reference to the motor rotation speed, and determines whether the currently detected back electromotive force signal is authentic based on the predicted time point. . That is, the counter electromotive force signal may be confused with noise caused by electrical or mechanical noise, and the noise of the motor control is lost due to such noise, so that the noise and the counter electromotive force signal are distinguished based on the zero crossing point of the counter electromotive force.
  • the rotational speed of the rotor that is, rotation per second (rps) should be recognized, and it can be predicted by calculating the time therefrom.
  • the counter electromotive force signal generated per rotation of the sensorless motor is generated 'n ⁇ 6' times for the magnetic pole number n of the motor rotor in the case of a three-phase DC motor. This is because back EMF is generated as a positive signal and a negative signal, respectively, for the U, V, and W phases.
  • the counter electromotive force signal generated per one revolution of the motor is substantially 'n / 2 ⁇ . 6 'occurs.
  • the number of occurrences of the back EMF signal may be assumed to be the number of zero-crossings of the back EMF signal.
  • the rotational speed (V) [rps] of the rotor is calculated as "(n / 2 x 6) / t" divided by the time (t) required for one revolution of the rotor, and the period for zero crossing of counter electromotive force Is "t / (n / 2 x 6)". This represents the time difference of the counter electromotive force zero crossing, and is a means for predicting the occurrence time of the counter electromotive force.
  • FIG. 2 is a block diagram showing an inverter for driving a sensorless motor according to the present invention.
  • a signal amplifier 203 for amplifying a back-EMF (BEMF) signal generated when driving a sensorless motor to a predetermined level, and converts an output signal of the signal amplifier 203 into a digital signal.
  • An AD converter 205 for amplifying a back-EMF (BEMF) signal generated when driving a sensorless motor to a predetermined level, and converts an output signal of the signal amplifier 203 into a digital signal.
  • An AD converter 205 An AD converter 205, a zero crossing detection unit 207 for detecting a zero crossing point of the counter electromotive force signal based on the output signal of the AD converter 205, and a rotation speed of the sensorless motor.
  • the time difference between the zero crossing points of the counter electromotive force signal is predicted, and according to the prediction result, it is determined whether the zero crossing points output from the zero crossing detection unit 207 are included in the predicted time difference category and are output from the AD converter 205.
  • the control unit 201 determines the authenticity of the counter electromotive force signal.
  • the rotational speed of the sensorless motor may be detected by an external sensor
  • the time difference predicted from the controller 201 is a time difference between zero crossing points calculated from the rotational speed V [rps] of the current sensorless motor.
  • the predicted time difference category may be set to approximately 100 ms to 200 ms as an acceptable range for the time difference between the calculated zero crossing points. If necessary, the allowable range may not be set, but may be set to a certain ratio, such as 10% to 20% of the time difference.
  • a zero crossing signal is detected within the time difference category, it is regarded as a normal counter electromotive force signal.
  • the above-described time difference category may be very small or need not be set.
  • the estimated time difference calculated by the controller 201 should be variable. The controller 201 recognizes that the rotation speed of the sensorless motor currently detected is variable, and the zero crossing timing detected by the zero crossing detection unit 207 is allowed as the estimated time difference between the zero crossing times is changed therefrom. To give a scope.
  • the controller 201 determines that the current back EMF signal output from the AD converter 205 is included in the predicted time difference category, the controller 201 determines that the back EMF signal output from the AD converter 205 is a normal signal.
  • the inverter including such a configuration ensures reliability of the control of the sensorless motor by discriminating noise and normal back EMF signal.
  • FIG. 3 is a graph showing a back EMF signal together with a PWM signal which is a control signal of a sensorless motor according to the present invention.
  • 3A illustrates a superimposed PWM signal and a counter electromotive force signal
  • FIG. 3B illustrates a predicted time difference category of the controller 201.
  • the counter electromotive force a is generated at the positive edge portion of the PWM signal.
  • the counter electromotive force (d) is generated at the negative edge portion of the PWM signal on the U phase.
  • the back electromotive force (BEMF) signal is amplified by a signal amplifier 203 into a signal of a predetermined level, and is converted into a digital signal by the AD converter 205.
  • the digital signal samples an analog counter electromotive force signal at a set frequency.
  • the zero crossing detection unit 207 detects zero crossing of the counter electromotive force signal based on the digital signal. That is, the zero crossing detection unit 207 extracts a zero-crossing time point for each counter electromotive force signal.
  • control unit 201 receives the rotational speed information of the sensorless motor, the rotational speed information is measured by the rpm of the sensorless motor using a separate speed detector connected from the outside, the measurement result is the control unit ( 201).
  • the controller 201 predicts a zero crossing time point for the counter electromotive force based on the currently detected rotational speed V and the number of poles n of the sensorless motor currently applied.
  • the time difference between the counter electromotive force signals is calculated to be 1.33 msec.
  • the controller 201 calculates an allowable range for the time difference between the counter electromotive force signals, that is, a predicted time difference category within a preset range. If the allowable time difference category is 200 ms, the controller 201 calculates the estimated time difference as 1.13 msec to 1.53 msec.
  • the controller 201 determines whether the zero crossing time point of the counter electromotive force signal detected by the zero crossing detection unit 207 is included in the predicted time difference category.
  • the controller 201 determines that there is no zero crossing time point of the currently detected back EMF signal within the estimated time difference category, the currently detected back EMF signal is determined as noise.
  • the currently detected back EMF signal is a normal signal.
  • FIG. 3B is a diagram in which the time difference predicted by the controller 201 and the counter electromotive force signal currently detected are superimposed.
  • the controller 201 performs the counter electromotive force (a).
  • the estimated time difference is calculated based on, and it is determined whether the counter electromotive force (b) exists in the predicted time difference category based on the calculation result.
  • the currently detected back EMF signal b is included in the predicted time difference category detected by the controller 201, and thus is determined to be a normal signal.
  • the control unit 201 calculates the third time difference, the counter electromotive force c is not detected in the predicted time difference category.
  • the control unit 201 regards the currently detected signal as noise.
  • the control unit 201 removes the signal determined as noise, thereby enabling the control of the sensorless motor.
  • a masking method is used to remove the noise. That is, the controller 201 stores the back EMF signal (data) detected by the zero crossing detection unit 207 in the internal memory as shown in FIG. 3B and generates masking data according to the prediction time difference calculated by the controller 201.
  • the back EMF data detected in a predetermined time unit is stored in the memory in time series, and the prediction time difference information calculated by the controller 201 is set to '1' and the remaining information is set to '0' to mask the memory. It is. Therefore, when the current counter electromotive force data '1' exists in correspondence with the predicted time difference, the predicted time difference information '1' and the counter electromotive force data '1' are outputted to the AND gate to maintain only a normal signal.
  • the memory Since the memory is written as '0' during the unexpected time, when the back EMF data '1' is present at the unexpected time, it is masked as '0' by the AND gate output. Therefore, the signal determined to be noise is cleared by the masking data, and only normal back EMF data exists in the memory.
  • the control unit 201 removes noise according to the masking technique and extracts only normal data, thereby providing only data for accurately driving the sensorless motor.
  • the error determination device of the sensorless motor using the back electromotive force signal predicts the occurrence of the back electromotive force of the sensorless motor and allows only the back electromotive force signal corresponding to the prediction result, thereby preventing the detection error of the back electromotive force signal in advance according to the external environment. Has an effect.
  • the circuit configuration of the inverter for driving the sensorless motor It can greatly improve the operation accuracy and reliability of the error determination device of the sensorless motor using the back electromotive force signal which can reduce the system cost by simplifying the system cost, and further improve the performance efficiency. It is an invention with industrial applicability, since the possibility of business is not only sufficient but also practically obvious.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

La présente invention concerne un appareil permettant de déterminer une erreur d'un moteur sans capteur à l'aide d'un signal de force contre-électromotrice. L'appareil permettant de déterminer l'erreur du moteur sans capteur à l'aide du signal de force contre-électromotrice, selon la présente invention, peut éviter une erreur de détection pour le signal de force contre-électromotrice en fonction de l'environnement externe par la prévision d'un point temporel de génération de la force contre-électromotrice du moteur sans capteur et l'autorisation du seul signal de force contre-électromotrice correspondant au résultat prévu. En outre, la présente invention prévoit un emplacement de génération du signal de force contre-électromotrice sur la base du filtrage stable du signal de force contre-électromotrice de façon à détecter l'emplacement du moteur sans capteur, et la commande d'une opération d'entraînement du moteur à partir du résultat prévu, ce qui permet de simplifier la configuration d'un circuit redresseur et de réduire le coût unitaire d'un système.
PCT/KR2013/009230 2012-10-16 2013-10-16 Appareil permettant de déterminer une erreur d'un moteur sans capteur à l'aide d'un signal de force contre-électromotrice Ceased WO2014061982A1 (fr)

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Application Number Priority Date Filing Date Title
KR10-2012-0114702 2012-10-16
KR1020120114702A KR101937958B1 (ko) 2012-10-16 2012-10-16 역기전력 신호를 이용한 센서리스 모터의 오류 판단장치

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Cited By (1)

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CN120820845A (zh) * 2025-09-15 2025-10-21 云梦山(常州)科技有限公司 一种基于多源数据的电机检测系统

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KR102152635B1 (ko) * 2019-04-18 2020-09-07 현대모비스 주식회사 전자식 브레이크 시스템에서 모터의 회전수 추정 장치 및 방법
KR102317068B1 (ko) * 2019-09-02 2021-10-25 (주)현대케피코 Bldc 모터의 제어시스템 및 제어방법

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KR20100052858A (ko) * 2008-11-11 2010-05-20 주식회사 현대오토넷 Ｂｌｄｃ 모터의 제어 장치 및 방법
KR20110112995A (ko) * 2010-04-08 2011-10-14 포항공과대학교 산학협력단 두 개의 센서리스 제어 방법을 조합한 위상 동기 검출기 기반의 동기 모터 회전자 각도 추정 시스템 및 방법

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Publication number Priority date Publication date Assignee Title
JPH09117187A (ja) * 1995-08-23 1997-05-02 Samsung Electron Co Ltd アンバランスクロック発生器およびこれを用いたブラシレス直流モータのスタートアップ回路
JPH11122977A (ja) * 1997-10-08 1999-04-30 Daewoo Electron Co Ltd センサレスブラシレス直流モータ回転制御方法及び装置
KR20100002783A (ko) * 2008-06-30 2010-01-07 엠에스웨이 주식회사 지능형 정렬을 이용한 센서리스 브러시리스 모터의 고속기동방법
KR20100052858A (ko) * 2008-11-11 2010-05-20 주식회사 현대오토넷 Ｂｌｄｃ 모터의 제어 장치 및 방법
KR20110112995A (ko) * 2010-04-08 2011-10-14 포항공과대학교 산학협력단 두 개의 센서리스 제어 방법을 조합한 위상 동기 검출기 기반의 동기 모터 회전자 각도 추정 시스템 및 방법

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN120820845A (zh) * 2025-09-15 2025-10-21 云梦山(常州)科技有限公司 一种基于多源数据的电机检测系统

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