JP6365315B2 - Motor starting device and motor starting method - Google Patents

Description

  The present invention relates to a motor starting device and a motor starting method for starting a motor.

  Conventionally, for example, when controlling a brushless motor or the like, the rotational position is indirectly determined based on the back electromotive force generated with the rotation of the motor without providing a position sensor such as a Hall sensor that directly detects the rotational position of the motor. In some cases, a position sensorless control method is used in which the motor is detected and controlled. In this case, since no position sensor is provided, forced commutation for forcibly rotating the motor is performed until a counter electromotive voltage that can specify the rotational position is generated. In this forced commutation step, a profile (hereinafter referred to as a start profile) that is a combination of a voltage amplitude command value and a rotation speed command value from the stop state until a predetermined rotation speed at which the rotation position can be specified is reached. This is used to start the motor (for example, see Patent Document 1).

JP 2009-55681 A

When the forced commutation is performed using the start profile, it is natural that the start profile needs to be prepared in advance.
However, in order to generate a starting profile, for example, a certain voltage amplitude command value is set, a rotation speed command value that can be rotated by the voltage amplitude command value is specified, and then the voltage amplitude command value is changed and changed. The operation of specifying a rotation speed command value that can be rotated by the voltage amplitude command value is repeated until a predetermined rotation speed is obtained. For this reason, conventionally, it has been necessary to devise conforming man-hours (so-called work man-hours) for generating the starting profile.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a motor starter and a motor start method that can reduce the man-hours required for generating a start profile for starting a motor. It is in.

  According to the first aspect of the present invention, the voltage amplitude command value for setting the voltage amplitude applied to the motor and the command value generating means for generating the rotation speed command value for setting the rotation speed of the motor are supplied to the motor side. Current detection means for detecting a current to be generated, and profile generation means for generating a start profile indicating a correspondence relationship between a voltage amplitude command value and a rotation speed command value used when starting the motor, the profile generation means The change in the current detected by the current detection means is a separate profile that is a combination of the voltage amplitude command value selected within the range applicable to the motor and the rotation speed command value at which the motor can rotate at the voltage amplitude command value. And automatically generating a starting profile based on the specified individual profile. As a result, the generation of the start profile based on the individual profile can be automated, and the number of adaptation steps when generating the start profile for starting the motor can be reduced.

The figure which shows typically the electric constitution of the motor starter of 1st Embodiment. FIG. 1 schematically showing the electrical configuration of the drive circuit and the current detector A diagram schematically showing the relationship between voltage amplitude command value, rotation speed command value, actual rotation speed, and bus current The figure which shows the flow of the profile production | generation process by a motor starter 1 The figure which shows typically an example of the relationship between the voltage amplitude command value at the time of profile generation, a rotational speed command value, the rotational speed of a motor, and bus-line current Diagram showing an example of an individual profile FIG. 2 schematically showing the electrical configuration of the drive circuit and the current detector FIG. 3 schematically showing the electrical configuration of the drive circuit and the current detector The figure which shows typically the electric constitution of the motor starter of 2nd Embodiment. Figure 2 showing the flow of profile generation processing by the motor starter FIG. 1 schematically showing another electrical configuration of the motor starting device FIG. 2 schematically showing another electrical configuration of the motor starter The figure which shows the flow of the drive process by the motor starter of 3rd Embodiment.

Hereinafter, a plurality of embodiments of the present invention will be described with reference to the drawings. In addition, the same code | symbol is attached | subjected to the site | part substantially common in each embodiment, and the detailed description is abbreviate | omitted.
(First embodiment)
Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

  As shown in FIG. 1, the generation system 1 that generates the above-described start profile includes a motor starter (hereinafter simply referred to as a starter 2), a motor 3, a sequencer 4, and a position detector 12. The sequencer 4 tests the starter 2 in a test process when the starter 2 is manufactured. In this embodiment, a starter profile is generated in accordance with an instruction from the sequencer 4 as described later. Of course, by using a completion flag (see FIG. 4), which will be described later, it is possible to generate the start profile by the starter 2 alone without providing the sequencer 4.

  The starting device 2 includes a command value generation unit 5 (corresponding to command value generation means), a drive signal generation unit 6 (corresponding to drive signal generation means), a drive circuit 7 (corresponding to the drive circuit 7), and current detection. A section 8 (corresponding to current detection means), a profile generation section 9 (corresponding to profile generation means), a storage section 10 (corresponding to storage means) and a selector 11 are provided. Although this starting device 2 also serves as a control device for controlling the motor 3, for simplification of description, FIG. 1 shows functional blocks related to the embodiment.

  The command value generation unit 5 is a command value for generating a drive signal to be given to the drive circuit 7 that drives the motor 3, a voltage amplitude command value for setting a voltage amplitude to be applied to the motor 3, and the motor 3. A rotation speed command value for setting the rotation speed is generated. The drive signal generator 6 generates a drive signal to be given to the drive circuit 7 based on the command value generated by the command value generator 5. In the present embodiment, the drive signal generator 6 generates a three-phase PWM signal.

  In the present embodiment, as shown in FIG. 2, the driving circuit 7 bridges six switching elements (Tr1 to Tr6), and connects flywheel diodes (D1 to D6) between the collector and emitter of each switching element. It consists of a provided three-phase inverter circuit. The output end of each phase (three phases of U phase, V phase, and W phase), which is a connection portion between the switching element on the upper arm side and the switching element on the lower arm side, is connected to a winding (not shown) of the motor 3 Has been. In general, a power MOSFET, a power bipolar transistor, an IGBT, or the like is used as the switching element.

  The drive circuit 7 converts the DC power supplied from the power supply circuit 13 into a three-phase AC power and supplies it to the motor 3. In the drive circuit 7, a shunt resistor 14 is provided on a connection line between the power supply circuit 13 and the switching elements (Tr 2, Tr 4, Tr 6) on the lower arm side. The shunt resistor 14 is connected to the current detection unit 8.

  The current detector 8 detects a current value (hereinafter referred to as a bus current (Idc)) supplied to the motor 3 based on the potential difference generated in the shunt resistor 14. That is, the current detection unit 8 of the present embodiment detects the entire current supplied to the motor 3 side. As shown in FIG. 1, the bus current detected by the current detection unit 8 is output to the command value generation unit 5 and used to control the motor 3 during normal operation, and is also output to the profile generation unit 9. Used to generate a starting profile.

  The profile generation unit 9 generates a start profile indicating a correspondence relationship between the voltage amplitude command value and the rotation speed command value used when starting the motor 3. As will be described in detail later, the profile generation unit 9 is a combination of a voltage amplitude command value selected within a range that can be applied to the motor 3 and a rotational speed command value that allows the motor 3 to rotate at the voltage amplitude command value. A profile is automatically specified based on a change in current detected by the current detection unit 8, and a starting profile is generated based on the specified individual profile.

  The storage unit 10 is constituted by a semiconductor memory, for example, and stores a computer program executed by a control microcomputer (not shown), various data, and the like. Further, as will be described later, the storage unit 10 temporarily stores a command value for generating a start profile and also stores the generated start profile.

  The selector 11 switches the acquisition source of the start profile when starting the motor 3 to either the storage unit 10 or the profile generation unit 9. If the starting profile is stored in the storage unit 10 (if a completion flag described later is set), the starting device 2 can start the motor 3 using the starting profile. In addition, the starter 2 can generate a new start profile in the profile generation unit 9 if no start profile is stored.

  When the forced commutation of the motor 3 using the start profile is successful by the starter 2 and the motor 3 starts, the position detection unit 12 receives a back electromotive voltage generated in the winding of the motor 3. Here, the position detection unit 12 of the present embodiment indirectly detects the rotational position of the motor 3 based on the input back electromotive force of the motor 3 and directly detects the rotational position of the motor 3. Position sensors such as hall sensors and encoders are not provided. Based on the rotational position of the motor 3 detected by the position detector 12, the control device (the command generator 5, the drive signal generator 6, the drive circuit 7, and the current detector 8) also serving as the starter 2 is The motor 3 is controlled by a position sensorless control method.

Next, the operation of the above configuration will be described.
First, the individual profile used when generating the starting profile will be described. As described above, the individual profile is a combination of a certain voltage amplitude command value and a rotation speed command value at which the motor 3 can rotate at the voltage amplitude command value. Conventionally, in order to specify the combination, the operator manually changes the voltage amplitude command value and the rotation speed command value in various ways. For this reason, it is necessary to devote the adaptation man-hours to the identification of the individual profile and the identification of the starting profile generated based on the individual profile. Note that the adaptation man-hours mentioned here include not only simple time but also the fact that the worker cannot perform other work and the efficiency of work deteriorates.

  Therefore, in the present embodiment, the individual man-hour is specified based on the change in the current supplied to the motor 3 (for example, the bus current in the present embodiment), thereby reducing the adaptation man-hours when generating the start profile. ing.

  Specifically, as shown in FIG. 3, when the rotational speed command value is gradually increased at a certain voltage amplitude command value, the period until the actual rotational speed of the motor 3 cannot follow the speed command value. That is, in the period until the motor 3 steps out, the current of the motor 3 gradually decreases. In the case of FIG. 3, this corresponds to a period of time t1 to t3. Note that the actual rotation speed of the motor 3 is obtained by installing the encoder 30 (see FIG. 11) in the motor 3 because it is a test process.

  The current of the motor 3 changes greatly in the region A1 near the step-out. Specifically, the bus current that has continued to decrease greatly increases at the time of step-out. This is because the back electromotive voltage of the motor 3 increases as the rotational speed increases, and the driving torque of the motor 3, that is, the current flowing through the motor 3 decreases. This is presumably because the electric power decreases and the current flowing through the motor 3 increases.

  Thus, the range of the rotational speed at which the motor 3 can rotate without stepping out, in other words, the range of the rotational speed command value at which the motor 3 can rotate at the set voltage amplitude command value is based on the change in the bus current. As described above, it can be seen that the current range is from the decrease to the increase.

  Since the motor 3 can rotate in the range from the decrease of the bus current to the increase, any rotation speed command value included in the range can be adopted as the individual profile. That is, an arbitrary rotational speed command included in a period until the bus current detected by the current detector 8 shows the minimum value is changed in the set voltage amplitude command value toward the maximum value. The value can be adopted as an individual profile in the voltage amplitude command value.

  By the way, for example, the rotational speed command value at time t1 is P1, the bus current is I1, the rotational speed command value at time t2 is P2, the bus current is I2, the rotational speed command value at time t3 is P3, and the bus current is Let it be I3.

  In this case, the rotation speed command values (P1 to P3) can all be adopted as individual profiles as described above. However, the bus current (I1) when the rotational speed command value is P1 is larger than the bus current (I2) when the rotational speed command value is P2, and the bus current (I2) when the rotational speed command value is P2 ) Is larger than the bus current (I3) when the rotational speed command value is P3.

  For this reason, when P1 is adopted as the rotational speed command value, the power consumption of the motor 3 becomes larger than when P2 and P3 are adopted as the rotational speed command values. In the case of FIG. 3, since the bus current when the rotational speed command value is P3 is the minimum value, the power consumption of the motor 3 is the lowest when the rotational speed command value is P3. .

Therefore, in this embodiment, the individual profile is specified and the start profile is generated as follows in consideration of the power consumption of the motor 3 as well.
The starter 2 executes the profile generation process shown in FIG. 4 in the test process. The starting device 2 first determines whether a profiling request is input from the sequencer 4 (S101). The profiling request is a command given from the sequencer 4 to generate a start profile. The starter 2 stands by when a profiling request is not input (S101: NO).

  On the other hand, when the profiling request is input (S101: YES), the starter 2 selects the voltage amplitude command value and sets the rotation speed command value to the minimum value (S102). The voltage amplitude command value is selected in a range to be applied to the motor 3.

  In the case of this embodiment, a range required as a starting profile (hereinafter referred to as a search range) is divided into a plurality of stages, and the minimum voltage amplitude command value is set as the minimum value. Specifically, the voltage amplitude command value at which the PWM signal duty ratio is 25% is set as the minimum value of the search range, and the voltage amplitude command value at which the duty ratio is 50% is set as the maximum value of the search range. In step S102, a voltage amplitude command value with a duty ratio of 25% is set.

  Note that the search range and the number of divisions are not limited to this, and may be set as necessary. This process corresponds to a step of selecting a voltage amplitude command value for setting a voltage amplitude to be applied to the motor 3 within a range that can be applied to the motor 3.

  Subsequently, the starter 2 generates and outputs a drive signal (S103), and detects the bus current at that time (S104). This situation corresponds to time t10 in the sequence chart shown in FIG. In FIG. 5, a period during which processing for generating a start profile by specifying an individual profile is shown as a profiling phase.

  The starting device 2 determines whether or not the bus current has updated the minimum value in the set voltage amplitude command value (S105), and when the bus current has updated the minimum value (S105: YES), After temporarily storing the voltage amplitude command value and the rotation speed command value as individual profiles at the present time (S106), the process proceeds to step S107. On the other hand, when the bus current has not updated the minimum value (S105: NO), the starter 2 proceeds to step S107 as it is. This process corresponds to a step of detecting a change in the current supplied to the motor 3 side when the rotation speed command value is changed.

  In step S107, the starter 2 determines whether the rotational speed command value is the maximum value (S107). If the rotational speed command value is not the maximum value (S107: NO), the rotational speed command value is increased (S108). ), The process proceeds to step S103. Then, the starter 2 detects the bus current (S104), and when the bus current has updated the minimum value (S105: YES), the current voltage amplitude command value and the rotation speed command value are set as individual profiles at the present time. After storing (S106), the process proceeds to step S107. On the other hand, if the bus current has not updated the minimum value (S105: NO), the process proceeds to step S107.

  As described above, the starting device 2 repeats the determination whether the bus current has updated the minimum value while increasing the rotation speed command value in the set voltage amplitude command value, and when the minimum value is reached. Update the rotation speed command value.

  Now, it is assumed that the rotational speed command value is repeatedly increased and the rotational speed command value becomes the maximum value. This corresponds to time t11 in FIG. When the starting device 2 determines that the rotational speed command value has reached the maximum value (S107: YES), after setting the rotational speed command value to the minimum value (S109), the voltage amplitude command value is the maximum value within the search range. It is determined whether or not there is (S110). Since the minimum value is set this time as described above, the starter 2 determines that the voltage amplitude command value is not the maximum value within the search range (S110: NO), and increases the voltage amplitude command value ( S111), the process proceeds to step S103. These processes correspond to a step of changing the rotation speed command value for setting the rotation speed of the motor 3 while giving the motor 3 a voltage amplitude corresponding to the selected voltage amplitude command value.

  Thus, since the voltage amplitude command value has changed (added), the rotational speed command value at the time when the bus current becomes the minimum value in the voltage amplitude command value before the change is specified as the individual profile. The identified individual profile is stored in the storage unit 10 as shown in FIG. 6, for example. That is, in the vicinity where the motor 3 steps out (in this case, the region A10 shown in FIG. 5), the rotational speed command value (for example, R10) when the bus current becomes the minimum value before the motor 3 steps out. The voltage amplitude command value (for example, V10) at that time is stored as an individual profile. This process automatically specifies an individual profile that is a combination of the selected voltage amplitude command value and a rotation speed command value at which the motor 3 can rotate at the voltage amplitude command value based on the detected change in current. It corresponds to a process.

  When the voltage amplitude command value is increased, the starting device 2 increases the rotation speed command value from the minimum value to the maximum value in the increased voltage amplitude command value, and the rotation speed command value when the bus current becomes the minimum value. The process of storing the individual profile in the storage unit 10 is repeated. This situation corresponds to the period from time t11 to time t12 in FIG. If the rotational speed command value becomes maximum at time t12, the starter 2 increases the voltage amplitude command value.

  The starting device 2 repeats the same processing until the voltage amplitude command value reaches the maximum value within the search range. This situation corresponds to the period from time t12 to time t13, time t13 to time t14, and time t14 to time t15 shown in FIG. At this time, the individual profiles in each period are stored as shown in FIG.

  When the voltage amplitude command value is increased at time t14 shown in FIG. 5 (S111), the voltage amplitude command value becomes the maximum value within the search range, and at time t15, the rotation speed command value becomes the maximum value (A107: YES). In this case, since the voltage amplitude command value is the maximum value (S110: YES), the starting device 2 generates a starting profile based on the individual profile (S112). In addition, since the voltage amplitude command value becomes the maximum value, all the five individual profiles are specified in this embodiment.

  The starter 2 generates a start profile using five individual profiles shown in FIG. In the case of the present embodiment, the starting device 2 obtains regression lines of five individual profiles, and uses the regression lines as starting profiles. This process corresponds to a step of generating a start profile indicating a correspondence relationship between the voltage amplitude command value and the rotation speed command value used when starting the motor 3 based on the individual profile.

When the starting profile is generated, the starting device 2 stores the generated starting profile in the storage unit 10, sets a completion flag (S113), and ends the process.
Here, the completion flag is a flag indicating that a start profile has been generated. When the completion flag is set, the starter 2 can determine that a start profile has already been generated.

  For this reason, when starting the motor 3 next time, it can start from a forced commutation phase so that it may mention later, without producing | generating a starting profile. Even if the sequencer 4 is not provided, if it is determined in step S101 whether the completion flag is set instead of determining whether there is an instruction from the sequencer 4, a start profile is generated by the starter 2 alone. Can do. The completion flag can also be reset from an external input switch or the like without providing the sequencer 4. For example, when the motor 3 is changed, the completion flag is reset with the external input switch, and the start is started. It is also possible to generate the start profile again with the device 2 alone.

  The starter 2 can start (forced commutation) the motor 3 by using the generated start profile, that is, by changing the voltage amplitude command value and the rotation speed command value according to the start profile. Specifically, in the case of this embodiment, the starting device 2 (more precisely, the command value generation unit 5), when forcibly commutating the motor 3, when the voltage amplitude command value is V10, When the voltage amplitude command value is V11, the rotation speed command value is set to R11. When the voltage amplitude command value is V12, the rotation speed command value is set to R12. When the voltage amplitude command value is V13, the rotation speed is set. The speed command value is set to R13, and when the voltage amplitude command value is V14, the rotation speed command value is set to R14.

  At this time, the starting device 2 starts the motor 3 using a starting profile obtained by interpolating between the individual profiles instead of the combination of discrete values shown as the individual profiles in FIG. For this reason, the voltage amplitude command value and the rotation speed command value continuously and linearly change between numerical values specified as individual profiles, for example, between V10 and V11, and the motor 3 is smoothly forcedly commutated. Can be made.

  This situation corresponds to the period from time t15 to time t16 shown in FIG. In FIG. 5, this period during which the motor 3 is forcedly commutated is shown as a forced commutation phase. In this forced commutation phase, it is indicated that the motor 3 is started up based on the generated starting profile, so that the motor 3 increases its rotational speed without step-out until the target rotational speed is reached at time t16. ing. If forced commutation is successful, it is possible to switch from the forced commutation phase to a control drive (position sensorless control) phase based on the counter electromotive voltage. Therefore, as shown in FIG. 5, after a while after the forced commutation phase, the control shifts to the control drive phase in which the motor 3 is normally controlled.

In this way, the starter 2 automatically generates a start profile for starting the motor 3 without stepping out during forced commutation.
According to the embodiment described above, the following effects can be obtained.

  The starting device 2 has an individual profile that is a combination of a voltage amplitude command value selected within a range applicable to the motor 3 and a rotation speed command value at which the motor 3 can rotate at the voltage amplitude command value in the profile generation means. Then, the current profile is automatically identified based on the change in current detected by the current detector 8, and the starting profile is generated based on the identified individual profile. As a result, generation of the start profile based on the individual profile can be automated, and the number of man-hours required when generating the start profile can be reduced. In addition, since the start profile can be automatically created, the worker can perform other work during that time, and work efficiency can be improved.

  In addition, the starter 2 changes the rotation speed command value toward the maximum value in the set voltage amplitude command value, and is included in a period up to the time point when the current detected by the current detection unit 8 shows the minimum value. Is specified as an individual profile in the voltage amplitude command value. Thereby, it is possible to generate a start profile that can rotate the motor 3 without stepping out, and it is possible to prevent the start of the motor 3 from failing. Therefore, the motor 3 can be started quickly.

  Further, the starting device 2 changes the rotational speed command value toward the maximum value in the set voltage amplitude command value, and the rotational speed command value at the time when the current detected by the current detection unit 8 shows the minimum value, It is specified as an individual profile in the voltage amplitude command value. Thereby, the motor 3 can be started in a state where the power consumed by the motor 3 is the smallest, and the power consumption can be reduced.

  Further, since the starting profile is a regression line and forced commutation is performed in accordance with the regression line, torque ripple is reduced and a large change in the rotational speed of the motor 3 is prevented, thereby reducing noise and vibration. Can be achieved.

  Further, as shown in FIG. 7, for example, the configuration of the current detection unit 8 is provided with, for example, non-contact type current sensors 15 and 16 in the U-phase and W-phase motor wiring paths to detect the U-phase and W-phase currents. You may make it do. In this case, for example, the individual profile can be specified by detecting a change in the current during energization of the U phase. For example, as shown in FIG. 8, it is good also as a structure which provides shunt resistance 17-19 in each switching element (Tr2, Tr4, Tr6) of each lower arm side, and detects an electric current. It may be configured to detect a V-phase current.

  In any case, the current detection means for detecting the bus current of the embodiment or the current detection for each phase in FIG. 7, FIG. 8 and the like is applied to a general motor control device in order to protect overcurrent. It is considered to be existing. Therefore, if the starting profile is generated using the existing current detection means, a new additional member becomes unnecessary, and an increase in cost can be suppressed.

  In the embodiment, the rotational speed command value at the time when the current becomes the minimum value is specified as the individual profile. However, any rotational speed command value in the period until the current becomes the minimum value may be specified as the individual profile.

  That is, what is required in the forced commutation phase is to forcibly commutate the motor 3 at a desired rotational speed, so that the rotational speed at the time when the current becomes the minimum value is higher than the desired rotational speed. In some cases, a rotational speed command value corresponding to a desired rotational speed may be specified as an individual profile. In this case, if it is a period until the minimum value is reached, step-out does not occur as described above. Therefore, by specifying the rotational speed command value included in that period as an individual profile, step-out occurs during forced commutation. Can be prevented.

  A step of selecting a voltage amplitude command value; a step of changing a rotation speed command value; a step of detecting a change in current; a step of automatically specifying an individual profile; and a step of generating a starting profile; By adopting the motor starting method including the above, it is possible to automate the generation of the starting profile based on the individual profile, and to reduce the man-hours required for generating the starting profile.

(Second Embodiment)
Hereinafter, a second embodiment of the present invention will be described with reference to FIGS. 9 to 12. This embodiment is different from the first embodiment in that the step-out of the motor 3 is detected.

  As shown in FIG. 9, the starting device 2 of the present embodiment further includes a step-out determination unit 20 (step-out determination means) in addition to the configuration of the first embodiment. The step-out determination unit 20 determines whether or not the motor 3 has stepped out. The step-out determination unit 20 determines that the motor 3 has stepped out when the current detected by the current detection unit 8 increases by a predetermined ratio or more with respect to the current detected immediately before. This is because the current when the motor 3 is out of step is the same as that shown in A1 of FIG. 3 described in the first embodiment and A10, A11, A12, A13, and A14 of FIG. This is because there is a large change from decrease to increase.

  Then, the starter 2 changes the rotational speed command value toward the maximum value in the set voltage amplitude command value, and is included in a period until the motor 3 is determined to have stepped out by the step-out determining unit 20. Is specified as an individual profile in the voltage amplitude command value. In the present embodiment, the starting device 2 specifies the rotation speed command value at the time when the detected current shows the minimum value as an individual profile in the voltage amplitude command value.

  Specifically, the starter 2 executes a profile generation process shown in FIG. Note that the profile generation process shown in FIG. 10 is substantially the same as the profile generation process shown in FIG. 4 of the first embodiment, except that a process for determining step out in step S205 of FIG. 10 is added. Therefore, for the sake of simplification of description, the details of the process related to step S205 will be described here while comparing the process of the first embodiment.

  When there is a profiling request from the sequencer 4 (S201: YES), the starter 2 selects the voltage amplitude command value, sets the rotation speed command value to the minimum value (S202), generates and outputs a drive signal. (S203), a bus current is detected (S204). Subsequently, the starter 2 determines whether a step-out has been detected (S205). This step-out detection is performed by the step-out determination unit 20 as described above. This process corresponds to a step of detecting the step-out of the motor 3 when the rotational speed command value is changed toward the maximum value in the selected voltage amplitude command value.

  When the step-out is not detected (S205: NO), the starter 2 determines whether the bus current has updated the minimum value (S206), and when the bus current has updated the minimum value, (S206: YES), the current voltage amplitude command value and the rotational speed command value are temporarily stored as individual profiles at the present time (S207), and the process proceeds to step S208. On the other hand, when the bus current has not updated the minimum value (S206: NO), the starter 2 proceeds to step S208 as it is.

If the rotational speed command value is not the maximum value (S208: NO), the starting device 2 increases the rotational speed command value (S209), and proceeds to step S203.
As in the first embodiment, it is assumed that the rotation speed command value is increased from the minimum value and the motor 3 is stepped out at a certain rotation speed. At this time, since the step-out is detected (S205: YES), the starter 2 proceeds to step S210 and sets the rotation speed command value to the minimum value (S210), and then the voltage amplitude command value is set to the search range. It is determined whether it is the maximum value (S211).

  That is, when the step-out is detected, the starting device 2 of the present embodiment proceeds to the determination whether the voltage amplitude command value is the maximum without increasing the rotation speed command value any more. Thereby, for example, in the case of the sequence chart shown in FIG. 5, if a step-out is detected in the area A <b> 1, a process in which the rotation speed command value is increased until time t <b> 11 since step-out has occurred in the first embodiment. However, this embodiment is omitted.

  Then, similarly to the first embodiment, the starting device 2 repeats identification of the individual profile until the voltage amplitude command value reaches the maximum value within the search range, and when the voltage amplitude command value reaches the maximum value within the search range ( (S211: YES), a starting profile is generated based on the individual profile (S213), the generated starting profile is stored in the storage unit 10, a completion flag is set (S214), and the process ends.

  As described above, in the present embodiment, the time for specifying the individual profile in one voltage amplitude command value may be significantly shortened by including the process of detecting the step-out of the motor 3. If step-out is not detected before the speed command value reaches the maximum value, the time is the same as in the first embodiment, but the rotation speed command value is maximum in the profiling phase as shown in FIG. In many cases, step-out occurs before, and in reality, the time of the profiling phase can be greatly shortened.

According to this embodiment described above, the following effects can be obtained.
The starter 2 includes a step-out determination unit 20 that determines whether or not the motor 3 has stepped out. When the rotation speed command value is changed toward the maximum value in the set voltage amplitude command value, the motor 3 is out of step. An arbitrary rotation speed command value included in the period until it is determined that the adjustment is made is specified as an individual profile in the voltage amplitude command value. At this time, in the present embodiment, the starting device 2 uses the rotation speed command value at the time when the current detected by the current detection unit 8 shows the minimum value during the period until it is determined that the motor 3 has stepped out. It is specified as an individual profile in the voltage amplitude command value.

  As a result, when the step-out is detected, the process of specifying the individual profile for one voltage amplitude command value can be completed, and the number of man-hours for generating the starting profile can be reduced.

  At this time, the greater the number of voltage amplitude command values in the search range, the greater the number of times that the process of specifying the individual profile can be shortened. That is, even if the voltage amplitude command value is divided more finely in order to increase the accuracy of the starting profile, it is possible to reduce the possibility that the number of man-hours to increase significantly increases.

  The starting device 2 determines that the motor 3 has stepped out when the current detected by the current detector 8 increases by a predetermined ratio or more with respect to the current detected immediately before. In this case, as described in the first embodiment, it is considered that a shunt resistor for detecting a current is already provided. Therefore, the step-out of the motor 3 can be detected without requiring additional cost.

  A step of selecting a voltage amplitude command value; a step of changing a rotation speed command value; a step of detecting a change in current; a step of automatically specifying an individual profile; and a step of generating a starting profile; By adopting a motor start method including a step of detecting the step-out of the motor 3, it is possible to automate the generation of the start profile based on the individual profile, and to reduce the number of adaptation man-hours when generating the start profile. it can.

  In the embodiment, the rotational speed command value at the time when the current becomes the minimum value is specified as the individual profile. However, any rotational speed command value in the period until the current becomes the minimum value may be specified as the individual profile. As described in the first embodiment, this is because the forced commutation phase requires the motor 3 to be forcibly commutated at a desired rotational speed.

  In addition, the step-out determination unit 20 that determines whether the motor 3 has stepped out may be connected to an externally connected sensor or the like. That is, the starter 2 that also serves as a control device controls the motor 3 by a position sensorless control method when actually used, but can be connected to other devices or jigs as long as it is a test process. . It is also reasonable to use an external device or the like that can detect step-out more accurately.

  Therefore, for example, as shown in FIG. 11, the step-out determination unit 20 is connected to an encoder 30 that directly detects the rotational speed of the motor 3, other detection means that indirectly detects, and the like. It may be configured to determine whether or not the motor 3 has stepped out based on the detected change in the rotational speed. Further, if it is assumed that the test process is performed, the detection means detects vibration and sound generated in the motor 3, image processing by imaging the motor 3, or a photo interrupter or Hall IC attached to the rotating shaft of the motor 3. The step-out of the motor 3 may be detected.

  Further, as can be said in the first embodiment, as shown in FIG. 12, the profile generation unit 9 may be provided in an external device, for example, the sequencer 4. This is because if the starting profile is generated in the test process, it is less necessary to provide the profile generating unit 9 in the starting device 2 when actually used. As a result, a start profile can be generated even if the performance is sufficient in practice due to cost constraints, etc., but the performance and storage capacity are insufficient for the start profile generation. Furthermore, it is possible to use a relatively high-performance device if it is an external device, and it can be expected that a starting profile can be generated more accurately.

(Third embodiment)
Hereinafter, a third embodiment of the present invention will be described with reference to FIG. In the present embodiment, the start profile is used for actual drive control of the motor 3.

  When started, the starter 2 first reads a start profile from the storage unit 10 as shown in FIG. 13 (S301). Subsequently, the starter 2 executes forced commutation based on the start profile (S302), and directly executes drive control using the start profile (S303).

  In general, in applications where robust control is required for disturbances such as load fluctuations of the motor 3, drive control based on the back electromotive force is performed in the control drive phase. However, if the motor 3 is operated, for example, for toys, the motor 3 can be operated by directly controlling the drive using the starting profile if the application does not require so precise control.

  As described above, if the start profile of the starter 2 is used as the command value for controlling the drive of the motor 3, for example, the position detector 12 can be further omitted from the configuration shown in FIG. Therefore, the control device can be configured at a lower cost.

(Other embodiments)
The present invention is not limited to the configuration exemplified in the above-described embodiment, and can be arbitrarily modified or expanded without departing from the scope thereof.

The numerical values and the like shown in the embodiment are examples and are not limited thereto.
The search range of the voltage amplitude command value may be divided into two stages, a regression line approximated based on two individual profiles may be obtained, and the regression line may be used as a starting profile. Of course, in order to control in detail, you may divide into more.

  In the embodiment, the starting profile is linearly approximated by a regression line, but may be approximated by a spline curve or the like.

  In the drawings, 2 is a starter (motor starter), 3 is a motor, 5 is a command value generator (command value generator), 6 is a drive signal generator (drive signal generator), and 7 is a drive circuit (drive means). ), 8 is a current detection unit (current detection unit), 9 is a profile generation unit (profile generation unit), 10 is a storage unit (storage unit), 20 is a step out determination unit (step out determination unit), and 30 is an encoder ( Detection means).

Claims (11)

A command value for generating a drive signal to be supplied to the drive means (7) for driving the motor (3), the voltage amplitude command value for setting the voltage amplitude to be applied to the motor (3), and the motor ( Command value generation means (5) for generating a rotation speed command value for setting the rotation speed of 3);
Current detection means (8) for detecting a current supplied to the motor (3) side;
Profile generating means (9) for generating a starting profile indicating a correspondence relationship between a voltage amplitude command value and a rotational speed command value used when starting the motor (3) by forced commutation ,
The profile generation means (9) includes a voltage amplitude command value selected within a range applicable to the motor (3) before forced commutation is performed, and the motor (3) rotates at the voltage amplitude command value. An individual profile that is a combination with a possible rotational speed command value is automatically specified based on a change in current detected by the current detection means (8), and a starting profile is generated based on the specified individual profile. A motor starting device.   The profile generation means (9) changes the rotational speed command value toward the maximum value in the set voltage amplitude command value, and until the time when the current detected by the current detection means (8) shows the minimum value. 2. The motor starting device according to claim 1, wherein an arbitrary rotation speed command value included in the period is specified as an individual profile in the voltage amplitude command value.   The profile generation means (9) changes the rotation speed command value toward the maximum value in the set voltage amplitude command value, and rotates at the time when the current detected by the current detection means (8) shows the minimum value. 2. The motor starting device according to claim 1, wherein the speed command value is specified as an individual profile in the voltage amplitude command value. Step-out determination means (20, 30) for determining whether or not the motor (3) has stepped out,
The profile generation means (9) changes the rotation speed command value toward the maximum value in the set voltage amplitude command value, and the motor (3) is stepped out by the step-out determination means (20, 30). The motor starting device according to claim 1, wherein an arbitrary rotation speed command value included in a period until the determination is specified as an individual profile in the voltage amplitude command value. Step-out determination means (20) for determining whether or not the motor (3) has stepped out,
The profile generation means (9) changes the rotational speed command value toward the maximum value in the set voltage amplitude command value, and the step-out determination means (20) determines that the motor (3) has stepped out. The rotational speed command value at the time when the current detected by the current detection means (8) shows a minimum value in a period until the current value is specified as an individual profile in the voltage amplitude command value. The motor starting device as described.   The step-out determination means (20) causes the motor (3) to step out when the current detected by the current detection means (8) increases more than a predetermined ratio with respect to the current detected immediately before. 6. The motor starting device according to claim 4, wherein the motor starting device is determined.   The step-out determination means (20) is connected to a detection means (30) that directly or indirectly detects the rotation speed of the motor (3), and the rotation speed detected by the detection means (30). 6. The motor starter according to claim 4 or 5, wherein it is determined whether or not the motor (3) has stepped out based on the change of the motor. Storage means (10) for storing the starting profile;
The command value generation means (5) generates a command value using the stored start profile when the storage profile is stored in the storage means (10), while the storage means (10) When a starting profile is not stored, the profile generating means (5) generates a new starting profile, and the command value is generated using the newly generated starting profile. The motor starting device according to any one of 1 to 7.   The motor starter according to any one of claims 1 to 8, wherein the command value generating means (5) uses a start profile as a command value when the motor (3) is controlled and driven. Selecting a voltage amplitude command value for setting a voltage amplitude to be applied to the motor (3) within a range applicable to the motor (3);
Changing the rotational speed command value for setting the rotational speed of the motor (3) while giving the motor (3) a voltage amplitude corresponding to the selected voltage amplitude command value;
Detecting a change in current supplied to the motor (3) when the rotational speed command value is changed;
A step of automatically specifying an individual profile, which is a combination of the selected voltage amplitude command value and a rotation speed command value at which the motor (3) can rotate at the voltage amplitude command value, based on the detected current change. When,
A starting profile indicating a correspondence relationship between a voltage amplitude command value and a rotational speed command value used when starting the motor (3) by forced commutation is generated based on the individual profile before forced commutation is performed. Process,
The motor starting method characterized by including. Detecting a step-out of the motor (3) when the rotational speed command value is changed toward the maximum value in the selected voltage amplitude command value;
11. The motor starting method according to claim 10, wherein in the step of specifying an individual profile, an arbitrary rotation speed command value in a period until a step-out of the motor (3) is detected is specified as the individual profile.

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