CN108139229A - The rotor position detector abnormity determining device of control device of electric motor - Google Patents
The rotor position detector abnormity determining device of control device of electric motor Download PDFInfo
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- CN108139229A CN108139229A CN201680019668.8A CN201680019668A CN108139229A CN 108139229 A CN108139229 A CN 108139229A CN 201680019668 A CN201680019668 A CN 201680019668A CN 108139229 A CN108139229 A CN 108139229A
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- 238000001514 detection method Methods 0.000 claims abstract description 36
- 230000002159 abnormal effect Effects 0.000 claims abstract description 20
- 238000009434 installation Methods 0.000 claims abstract description 8
- 239000000284 extract Substances 0.000 claims abstract description 4
- 238000000605 extraction Methods 0.000 claims description 11
- 239000004615 ingredient Substances 0.000 claims description 6
- 230000009466 transformation Effects 0.000 abstract description 19
- 230000005856 abnormality Effects 0.000 abstract description 5
- 238000010586 diagram Methods 0.000 description 5
- 230000006866 deterioration Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 239000000126 substance Substances 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000001914 filtration Methods 0.000 description 1
- 230000004907 flux Effects 0.000 description 1
- 230000008450 motivation Effects 0.000 description 1
- 238000000518 rheometry Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 230000001052 transient effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Control Of Ac Motors In General (AREA)
- Transmission And Conversion Of Sensor Element Output (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
Reliably judge that the information of rotor position detector (2) is abnormal due to mechanical vibrations, for example due to the bad generated vibration of the installation to motor (1).A kind of control device of electric motor, has：Speed control system (velocity arithmetic portion (3), speed controlling portion (4)) controls speed using the detection information of rotor position detector (2)；And current control system (current control unit (8)), electric current is controlled according to the output for the dq transformation components (6) that the three-phase detection current of motor (1) is transformed to d q axis on the basis of the detection information of the detector (2), the wherein control device of electric motor has：Higher hamonic wave test section (11) extracts the vibration component (Id_h) of d shaft currents from the d shaft currents Id obtained with dq transformation components (6)；And encoder information abnormality determination unit (12), judge whether as the vibration component of d shaft currents that higher hamonic wave test section (11) extracts be to be vibrated caused by mechanical main cause, it is being in the case of being vibrated caused by mechanical main cause, when the vibration component continue for more than setting time, it is determined as that the detection information of rotor position detector (2) is abnormal.
Description
Technical field
The present invention relates to use the rotor position detectors such as rotary encoder to obtain the rotor-position of motor/speed letter
Breath, controls the rotor position detector abnormity determining device in the power-converting device of motor.
Background technology
Electricity is controlled as the detection information according to the rotor position detector (position/velocity sensor) for being installed on motor
The device of motivation, the control device of electric motor of the use vector control mode for example shown in Fig. 4 with position/velocity sensor.
In Fig. 4,1 be three-phase motor, to motor 1 be equipped with detection rotor-position (rotation angle) rotor-position examine
Survey device 2.3 be the velocity arithmetic portion according to the rotary speed of the detection signal operation motor of rotor position detector 2.4 be so that
The mode that the rotary speed calculated by velocity arithmetic portion 3 becomes the speed value in speed command portion 5 is controlled, and export
The speed controlling portion of current instruction value.
6 be the location information of the rotor to be obtained by rotor position detector 2, i.e. on the basis of phase information, to by unsteady flow
Three-phase detection current obtained from three-phase (u, v, w) electric current of motor 1 is flowed through in the detection of device (current sensor) 7 carries out three-phase-two
The dq transformation components of phase inversion, rotating coordinate transformation.
8 be so that d-q shaft currents refer to as the electric current exported from speed controlling portion 4 as obtained from converting dq transformation components 6
The mode of value is enabled to be controlled, and exports the current control unit of d-q shaft voltage command values.
9 be the location information of the rotor to be obtained by rotor position detector 2, i.e. on the basis of phase information, to from electric current
The d-q shaft voltages command value that control unit 8 exports carries out-three phase inversion of two-phase, and exports the three-phase of the voltage instruction of each phase of three-phase
Transformation component.
10 be the thyristor with the connection of such as three-phase bridge, according to the voltage instruction of three-phase transformation component 9 to horse
Up to the power converter (inverter) of 1 supply three-phase ac power, the PWM modulation portion omitted by diagram is to three phase inversion
Control signal (gate-control signal of the thyristor) control that the voltage instruction in portion 9 carries out PWM modulation and generates.
As described above, in the case where carrying out the vector controlled with position/velocity sensor (rotor position detector 2),
Speed control and current control are carried out using the location/velocity information of sensor.
Definition as illustrated in fig. 5 carries out the UVW tri- in-two phase inversion of three-phase and the vector controlled of rotating coordinate transformation
Phase coordinate system, α β fixed coordinate systems, dq rotating coordinate systems.That is, each axis of three-phase current UVW is become by-two phase inversion of three-phase
α β axis is changed to, d-q axis is converted to by rotating coordinate transformation.D-q axis is respectively DC quantity.
D-q axis is respectively steady state value under stabilized speed, after change speed instruction, is transferred under the speed value
D-q axis value is such to be worth.During the transfer, d-q axis value has vibration component in a transient state.
In dq transformation components 6, d-q reference axis can be defined arbitrarily after uvw → dq transformation is carried out, but it is general and
Speech is controlled for ease of controlling the torque of motor to make d axis consistent with the magnetic flux of motor.It is used for rotating coordinate system definition
During the coordinate of control, believed with the location information of rotor, the i.e. phase obtained from such as rotary encoder (rotor position detector 2)
Coordinate transform is carried out on the basis of breath.D-q axis synchronously rotates in the case of synchronous motor with speed, in induction electric
It is rotated in the case of machine (IM) with the Frequency Synchronization of primary side.Electric current obtained from carrying out coordinate transform on d-q axis
It is worth for DC quantity.
The rotary encoder (absolute encoder) as shown in Figure 6 as 2 use example of rotor position detector.In Fig. 6
In, 60 are arranged to the armature rotated freely by rotary shaft 61, which is formed with the disk rail of multiple tracks
Road D1~Dn(only there are two the amounts of track for display in the example shown).
Lens 62 are provided with light source 63 in the top position of armature 60, in lower position across with multiple solid
The fixed slit plate 64 for determining slit is equipped with photo detector 65.
Via lens 62, disk track D1~DnAnd fixed slit plate 64, receive the light of light source 63, root in photo detector 65
The absolute position signal of predetermined bit structure is obtained according to the output signal of each photo detector 65.
In addition, about exception and apparatus for diagnosing deterioration with the associated motor device of the present invention, it is proposed that such as patent
The device that document 1 is recorded.
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2003-156547 bulletins
Invention content
As shown in figure 4, carry out speed control in the detection information (location/velocity information) for using rotor position detector 2
And in the device of current control, in the case of the detection information mistake of rotor position detector 2, also can not suitably it carry out
Speed control and current control.Therefore, in the case where speed fluctuation or load change drastically occurs, it is possible to produce
Over current fault or hypervelocity failure and device is destroyed.
And then in the case of the location/velocity information vibration of rotor position detector 2, height is included in output current
Subharmonic ingredient and lose increase.In the case of permasyn morot (PM motors), there are it is increased loss become heat and
The temperature rise of rotor magnet and the possibility for subtracting magnetic.
For example, in as control device of the rotor position detector 2 using Fig. 4 of the rotary encoder of Fig. 6, there is rotation
Turn the situation that encoder is coupled abnormal, rotary encoder output signal vibration there is a situation where installing bad and motor 1.
As shown in fig. 6, the armature 60 for being installed on rotary shaft 61 is movable part, other structures part is fixed, so
When rotary encoder itself is by mechanical vibrations, fixed light source 63, lens 62, fixed slit plate 64, light were answered originally
The position relationship of element 65 generates shake, so the output of rotary encoder generates the shake of phase.Therefore, it is input to dq transformation
The phase signal in portion 6 also generates shake.Therefore, because the phase information vibration used in coordinate transform, so the electricity on d-q axis
Stream also vibrates.The vibration component becomes higher harmonic component, and the loss of motor increases.
In the case of permasyn morot (PM motors), when losing increase, the temperature of rotor magnet is it is possible that meeting
Rise and subtract magnetic.Even if in the case of induction conductivity (IM), it is also possible to occur short circuit caused by the deterioration of insulant or certain
The scaling loss of kind substance.In addition, since control performance also deteriorates, so speed fluctuation drastically or the feelings of load change occur
Under condition, it is possible to produce over current fault, hypervelocity failure and device is destroyed.Under existing conditions, there are no in order to prevent this
No matter how and all a little problem, the types of rotary encoder determine whether the function of the exception such as faulty using encoder information.
The present invention solves the above subject, and its purpose is to provide one kind can reliably judge due to mechanical vibrations, example
Information such as rotor position detector when being vibrated caused by the installation to motor is bad is filled for abnormal Motor Control
The rotor position detector abnormity determining device put.
Rotor position detector for solving the control device of electric motor of the claim 1 of the above subject record is sentenced extremely
Determine device, which controls motor according to the detection information for the rotor position detector for being installed on motor,
The rotor position detector abnormity determining device has：
Vibration component extraction unit is carried in the d shaft currents obtained from the three-phase detection current of motor is transformed to d-q axis
Take the vibration component of d shaft currents；And
Rotor position detector Information abnormity determination unit judges the d shaft currents extracted by the vibration component extraction unit
Vibration component whether be caused by mechanical main cause vibrate, be caused by mechanical main cause
In the case of vibration, when the vibration component continue for more than setting time, it is determined as the detection information of rotor position detector
It is abnormal.
According to above structure, according to the vibration of d shaft currents obtained from the detection current transformation to d-q axis by motor into
Divide and carry out abnormal determination, so can reliably judge by mechanical vibrations, for example to be produced because the installation to motor is bad
The information of raw vibration and rotor position detector is abnormal.
In addition, the rotor position detector abnormity determining device for the control device of electric motor that claim 2 is recorded is in right
It is required that in 1, the rotor position detector Information abnormity determination unit has：
Virtual value operational part carries out operation to the virtual value of the vibration component of the d shaft currents；
First comparing section, to being set as and the comparable electricity of noise other than being vibrated caused by mechanical main cause
First decision content of flow valuve and the virtual value calculated are compared；
Counter, the comparison result to the first comparing section are that virtual value when virtual value is more than the first decision content is more than first
The time of decision content is counted；And
Second comparing section, to the second decision content for being set to the allowed time for generating alternating component and the counter
Gate time is compared,
When the comparison result of the second comparing section is more than the second decision content for the gate time of counter, it is determined as rotor position
The detection information for putting detector is abnormal.
According to above structure, because being provided with the first comparing section, can prevent due to by mechanical main cause
Noise other than caused vibration and misinterpretation.
In addition, because being provided with the second comparing section, can prevent due within the allowed time for generating alternating component
The alternating component of generation for example generates the high-frequency current component generated during the speed fluctuation of instantaneity and judges by accident in the motor
It is fixed.
In addition, the rotor position detector abnormity determining device for the control device of electric motor that claim 3 is recorded is in right
It is required that in 1 or 2, the control device of electric motor has：
Speed control system controls speed according to the detection information of rotor position detector；And
Current control system, according on the basis of the detection information of rotor position detector that the three-phase detection of motor is electric
Rheology changes to the output control electric current of the coordinate converting section of d-q axis.
According to above structure, the abnormal detection information that is exported according to rotor position detector carry out speed control and
Current control can prevent exceed the speed limit failure and over current fault.
In addition, the rotor position detector abnormity determining device for the control device of electric motor that claim 4 is recorded is in right
It is required that in any one in 1 to 3, the vibration component extraction unit has high-pass filter.
In addition, the rotor position detector abnormity determining device for the control device of electric motor that claim 5 is recorded is in right
It is required that in any one in 1 to 3, the vibration component extraction unit has and only makes what is passed through with the comparable frequency band of mechanical vibrations
Bandpass filter.
(1) invention recorded according to Claims 1 to 5, due to for according to by the detection current transformation of motor to d-q axis
The obtained vibration component of d shaft currents carries out abnormal determination, so can reliably judge due to mechanical vibrations, such as cause
To the installation of motor bad generated vibrate, the information of rotor position detector is abnormal.
(2) invention according to claim 2 can be prevented other than being vibrated caused by mechanical main cause
Noise and the misinterpretation within the allowed time for generating alternating component caused by the alternating component that generates, improve judgement precision.
(3) invention according to claim 3 is carried out according to the abnormal detection information that rotor position detector exports
Speed control and current control can prevent exceed the speed limit failure and over current fault.
Description of the drawings
Fig. 1 is the block diagram for the structure for showing embodiments of the present invention example.
Fig. 2 is the block diagram of the details for the major part for showing the embodiment of the present invention 1.
Fig. 3 is the block diagram of the details for the major part for showing the embodiment of the present invention 2.
Fig. 4 is the block diagram for an example for showing the control device of electric motor using the present invention.
Fig. 5 is the definition graph for the definition for showing the control reference axis in vector controlled.
Fig. 6 is the structure chart using the absolute encoder of the present invention.
Specific embodiment
Hereinafter, the embodiments of the present invention will be described with reference to the drawings, and the present invention is not limited to following embodiment party
Formula example.Fig. 1 shows the structure of present embodiment example, and the part identical with Fig. 4 is represented with the same symbol.
In Fig. 1, it is to be provided with the difference of Fig. 4：Higher hamonic wave test section 11 (vibration component extraction unit), from by
The vibration component (alternating component) of d shaft currents extraction d shaft currents in d-q shaft currents obtained from dq transformation components 6 convert is i.e. high
Subharmonic；And encoder information abnormality determination unit 12 (rotor position detector Information abnormity determination unit), judge by the height
Whether the vibration component of d shaft currents that subharmonic test section 11 extracts is to be shaken caused by mechanical main cause
It is dynamic, it is being in the case of being vibrated caused by mechanical main cause, more than setting time is continue in the vibration component
When, it is determined as the detection information of rotor position detector 2 to be abnormal, other parts are configured to identical with Fig. 1.
In addition, as rotor position detector 2, use example rotary encoder as shown in Figure 6, in the following description,
Sometimes rotor position detector is also referred to as encoder.
With dq transformation components 6 to electric current obtained from flowing through the electric current of motor 1 using current transformer 7 (current sensor) detection
In current information after-two phase inversion of progress three-phase, rotating coordinate transformation, there are d shaft currents detected value (Id) and q shaft currents
The two ingredients of detected value.In present embodiment example, it is configured to be compiled according to the information of d shaft current detected values as shown in Figure 1
The positive misinterpretation of code device information.
It is DC quantity using the d shaft currents detected value (Id) after the progress rotating coordinate transformation of dq transformation components 6, usually will not
Vibration.Therefore, the vibration component (Id_h) of d shaft currents is extracted using higher hamonic wave test section 11, utilizes encoder information exception
Determination unit 12 judges whether the vibration component is to be vibrated caused by mechanical main cause, so as to carry out encoder information
Positive misinterpretation, in the case of for mistake, be determined as exception.
In following embodiment 1, embodiment 2, above-mentioned higher hamonic wave test section 11 and encoder information is described in detail
Abnormality determination unit 12.
(embodiment 1)
Fig. 2 shows the higher hamonic wave test sections 11 and the detailed construction of encoder information abnormality determination unit 12 in Fig. 1.
11a is that have to carry out high baseband processing to d shaft current detected values Id to extract the high-pass filtering of the vibration component Id_h of d shaft currents
The higher hamonic wave test section of device (HPF).
The output of higher hamonic wave test section 11a is that the vibration component Id_h of d shaft currents is the waveform of alternating component, is entered
To virtual value operation (the Root Mean Square of encoder information abnormality determination unit 12：RMS, root mean square) portion 21.Virtual value
Operational part 21 carries out the virtual value operation of vibration component Id_h, takes out virtual value ingredient.
22 be the first comparing section, caused by from the virtual value ingredient that virtual value operational part 21 exports and for preventing noise
The first decision content (decision content 1) of misinterpretation is compared, and " 1 " is exported in virtual value bigger.In addition, the first comparing section 22 exists
" 0 " is exported during the first decision content bigger.
First decision content is set as the value of the amplitude relative to load current value such as 5% or so.That is, it removes
It is based on velocity sensor (encoder：Rotor position detector 2) and the vibration component of current sensor (current transformer 7) produced by
D shaft currents higher harmonic component other than, do not generate the higher harmonic components of d shaft currents substantially.
Therefore, the flase drop caused by the noise other than vibration component caused by mechanical main cause in order to prevent
It surveys, misinterpretation, the first decision content is set as 5% or so of load current value.Judgement precision improves as a result,.
The output of first comparing section 22 is input into count-up counter 23 (counter), in increasing counter 23,
In the case that one comparing section 22 exports " 1 " (generating higher hamonic wave), operation (counting) is carried out to the state duration.
24 be the second comparing section, to the gate time exported from count-up counter 23 and for preventing from producing within the allowed time
The second decision content (decision content 2) of misinterpretation caused by raw alternating component is compared, in gate time bigger (higher hamonic wave
Generate the duration be more than the allowed time) in the case of export " 1 ", be determined as encoder information exception.In addition, the second comparing section
24 export " 0 " in the second decision content bigger.
Second decision content is set as the value of minute unit.That is, when instantaneity speed fluctuation occurring for example in motor 1
High-frequency current component is generated, but the electrical time constant of motor will not grow to a minute unit.Therefore, by the way that the second decision content is set
It is set to a minute unit, misinterpretation will not occurs due to the instantaneity speed fluctuation of the motor, can judges it is that encoder (turns
Sub- position detector 2) mechanical installation caused by abnormal vibration.Judgement precision improves as a result,.
It, being capable of the disposition such as stopping motor 1 in the case where determining the encoder information exception.
According to the present embodiment 1, using the abnormal detection information that rotor position detector 2 exports carry out speed control and
Current control can prevent exceed the speed limit failure and over current fault.
(embodiment 2)
The output of higher hamonic wave test section 11 be the vibration component Id_h of d shaft currents be not alternating component as noise and
It is the frequency close to the frequency band of the output frequency ingredient of motor.That is, vibration will not be into caused by mechanical main cause
For radio-frequency component as noise.
Therefore, in the present embodiment 2, the higher hamonic wave test section 11a of embodiment 1 (Fig. 2) is not used, but such as Fig. 3 institutes
Show that, using the higher hamonic wave test section 11b for having bandpass filter (BPF), which has for low frequency range
Domain take out d shaft currents vibration component, make noise for high-frequency region as frequency band end passband.In figure 3, it encodes
Device Information abnormity determination unit 12 is configured to identical with Fig. 2.
In the structure in figure 3, it also works in the same manner as described Fig. 2, d-q is transformed to from by the three-phase detection current of motor 1
The vibration component (Id_h) of extraction d shaft currents in d shaft currents (Id) obtained from axis, judge the vibration component whether be due to
It is vibrated caused by mechanical main cause, the vibration component when being due to vibration caused by mechanical main cause continues
In the case that time is more than the allowed time, it can be determined that the detection information of encoder (rotor position detector 2) is abnormal.
As previously discussed, example according to the present embodiment can monitor that encoder installation is abnormal, be fitted according to abnormal determination result
Locality carries out motor control.
In addition, in the installation exception for generating encoder, the loss of motor increases.In the feelings of permasyn morot (PM)
Under condition, when losing increase, the temperature of rotor magnet is it is possible that can rise and subtract magnetic, in the case of induction conductivity (IM)
The short circuit caused by the deterioration of insulant or the scaling loss of certain substance, but example according to the present embodiment may occur, can protect
Motor is influenced from these.
Additionally, this invention is not limited to control device of electric motor shown in FIG. 1, and it also is able to applied to the electronic of other structures
Machine control device also functions to and same effect described above, effect in this case.
Claims (5)
1. a kind of rotor position detector abnormity determining device of control device of electric motor, the control device of electric motor is according to installation
Motor, the rotor-position detection of the control device of electric motor are controlled in the detection information of the rotor position detector of motor
Device abnormity determining device has：
Vibration component extraction unit extracts d in the d shaft currents obtained from the three-phase detection current of motor is transformed to d-q axis
The vibration component of shaft current；And
Rotor position detector Information abnormity determination unit judges shaking for the d shaft currents extracted by the vibration component extraction unit
Whether dynamic ingredient is to be vibrated caused by mechanical main cause, is vibrated caused by mechanical main cause
In the case of, when the vibration component continue for more than setting time, it is determined as that the detection information of rotor position detector is abnormal.
2. the rotor position detector abnormity determining device of control device of electric motor according to claim 1, wherein,
The rotor position detector Information abnormity determination unit has：
Virtual value operational part carries out operation to the virtual value of the vibration component of the d shaft currents；
First comparing section, to being set as and the comparable current value of noise other than being vibrated caused by mechanical main cause
The first decision content and the virtual value that calculates be compared；
Counter, the comparison result to the first comparing section are that virtual value when virtual value is more than the first decision content is more than the first judgement
The time of value is counted；And
Second comparing section, the counting of the second decision content and the counter to being set to the allowed time for generating alternating component
Time is compared,
When the comparison result of the second comparing section is more than the second decision content for the gate time of counter, the rotor-position detection
Device Information abnormity determination unit is determined as that the detection information of rotor position detector is abnormal.
3. according to the rotor position detector abnormity determining device of control device of electric motor described in claims 1 or 2,
In,
The control device of electric motor has：
Speed control system controls speed according to the detection information of rotor position detector；And
Current control system becomes the three-phase detection current of motor according on the basis of the detection information of rotor position detector
Change to the output control electric current of the coordinate converting section of d-q axis.
4. the rotor position detector of the control device of electric motor described in any one in claims 1 to 3 is sentenced extremely
Determine device, wherein,
The vibration component extraction unit has high-pass filter.
5. the rotor position detector of the control device of electric motor described in any one in claims 1 to 3 is sentenced extremely
Determine device, wherein,
The vibration component extraction unit has the bandpass filter for only making to pass through with the comparable frequency band of mechanical vibrations.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2015-075713 | 2015-04-02 | ||
| JP2015075713A JP6052323B2 (en) | 2015-04-02 | 2015-04-02 | Rotor position detector abnormality determination device for motor control device |
| PCT/JP2016/060002 WO2016158892A1 (en) | 2015-04-02 | 2016-03-29 | Rotor position detector abnormality determination apparatus in electric motor control apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108139229A true CN108139229A (en) | 2018-06-08 |
| CN108139229B CN108139229B (en) | 2019-06-25 |
Family
ID=57006834
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680019668.8A Active CN108139229B (en) | 2015-04-02 | 2016-03-29 | The rotor position detector abnormity determining device of control device of electric motor |
Country Status (4)
| Country | Link |
|---|---|
| JP (1) | JP6052323B2 (en) |
| CN (1) | CN108139229B (en) |
| RU (1) | RU2658660C1 (en) |
| WO (1) | WO2016158892A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111293930A (en) * | 2018-12-07 | 2020-06-16 | 施耐德电气工业公司 | Method and device for controlling an electric machine |
| CN113544487A (en) * | 2019-03-15 | 2021-10-22 | 欧姆龙株式会社 | Abnormality diagnosis device and abnormality diagnosis method |
| CN113661016A (en) * | 2019-04-12 | 2021-11-16 | 株式会社佐竹 | Screening device |
| TWI810774B (en) * | 2021-06-25 | 2023-08-01 | 日商日立產機系統股份有限公司 | Deterioration diagnosis device, deterioration diagnosis method, and motor control device |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11353345B2 (en) | 2019-07-22 | 2022-06-07 | Boston Dynamics, Inc. | Magnetic encoder calibration |
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| JP2016197015A (en) | 2016-11-24 |
| RU2658660C1 (en) | 2018-06-22 |
| WO2016158892A1 (en) | 2016-10-06 |
| JP6052323B2 (en) | 2016-12-27 |
| CN108139229B (en) | 2019-06-25 |
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