EP1557940A2
Expired / Lapsed
EP
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Motor controller
Assignee: JTEKT Corp
•
Filing: 2005-01-20
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Granted: —
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Expires: 2025-01-20
Abstract
Abstract A controller (1) for a brushless motor (4) that suppresses torque reduction resulting from the influence of motor inductance (L) and suppresses the generation of invalid current. A phase advancing angle calculator (35) calculates a delay angle (ϕ) of phases of phase currents with respect to the phases of the phase voltage command and a phase advancing angle (Φ) corresponding to the delay angle based on the function (ϕ=tan -1 (ω•L/R)) of the angular velocity (ω) and the motor inductance (L) (and armature winding resistance R) of the brushless motor. An adder (36) adds the phase advancing angle to the rotation angle () provided from the rotation angle calculator to generate the corrected rotation angle ('). The adder further provides the corrected rotation angle to a two-phase/three-phase converter (21).
Inventors
- 👤 Hiroshi Suzuki
- 👤 Yutaka Mori
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-01 07:46
CPC Classifications
H; H02; H02P; H02P23/00; H02P23/14; H02P21/00; H02P21/14; H02P21/16; H02P6/00; H02P6/14; H02P6/15
Claims Analysis
Total Claims: 10
Claim 1
Independent Claim
171 words
A controller for controlling a three-phase
brushless motor, the controller characterized by : a three-phase/two-phase converter for converting values
of three-phase current provided to the brushless motor to
two-phase current values; a two-phase/three-phase converter for converting two-phase
voltage command values in accordance with the
difference between the two-phase current values and the two-phase
current command values to generate three-phase voltage
command values; a rotation angle detector for detecting rotation angle
of the brushless motor; an angular velocity calculator for calculating angular
velocity of the brushless motor; a phase advancing angle calculator for calculating a
phase advancing angle corresponding to a delay angle of the
phase of the phase current with respect to the phase of the
phase voltage command resulting from influence of inductance
of the motor based on a function of the angular velocity and
the inductance; and a rotation angle corrector for adding the phase
advancing angle to the rotation angle to generate a corrected
rotation angle, wherein the two-phase/three-phase converter
performs two-phase/three-phase conversion using the corrected
rotation angle.
Claim 2
Dependent Claim
44 words
The controller as claimed in claim 1, wherein the
function is an equation expressed by ϕ=tan -1 (ω•L/R) or an
approximation thereof, where ϕ represents the delay angle, ω
represents the angular velocity, L represents the inductance,
and R represents the armature winding resistance.
Claim 3
Dependent Claim
41 words
The controller as claimed in claim 1, wherein: the phase advancing angle calculator is connected to the
angular velocity calculator; and the rotation angle corrector is connected to the two-phase/three-phase
converter, the rotation angle detector, and
the phase advancing angle calculator.
Claim 4
Dependent Claim
150 words
The controller as claimed in claim 1, wherein the
two-phase current command values are a d-axis current command
value and a q-axis current command value, the two-phase
current values are a d-axis current value and a q-axis
current value, and the two-phase voltage command values are a
d-axis voltage command value and a q-axis voltage command
value, the controller further comprising: a first subtracter, connected to the three-phase/two-phase
converter, for calculating the difference between the
d-axis current value and the d-axis current command value; a first PI control unit, connected to the first
subtracter and the two-phase/three-phase converter, for
generating the d-axis voltage command value; a second subtracter, connected to the three-phase/two-phase
converter, for calculating the difference between the
q-axis current value and the q-axis current command value;
and a second PI control unit, connected to the second
subtracter and the two-phase/three-phase converter, for
generating the q-axis voltage command value.
Claim 5
Dependent Claim
271 words
A controller for controlling a three-phase
brushless motor, the controller characterized by : a three-phase/two-phase converter for converting values
of three phase currents provided to the brushless motor to
generate two-phase current values including a d-axis current
value and a q-axis current value; a two-phase/three-phase converter for converting a d-axis
voltage command value and a q-axis voltage command value
to three-phase voltage command values, the d-axis voltage
command value being corresponding to the difference between
the d-axis current value and a d-axis current command value,
and the q-axis voltage command value being corresponding to
the difference between the q-axis current value and a q-axis
current command value; an angular velocity calculator for calculating angular
velocity of the brushless motor; a condition determination circuit for determining
whether absolute value of the angular velocity is equal to or
greater than a predetermined value; and a command determination circuit for determining the d-axis
current command value and the q-axis current command
value based on the determination of the condition
determination circuit, wherein the command determination
circuit: determines the d-axis current command value and the q-axis
current command value from the equations of Id*=-|Iq0|×sinΦ0 and Iq*=Iq0×cos<Φ0 if the absolute value of the angular velocity is greater than
or equal to the predetermined value, where Id* represents the
d-axis current command value, Iq* represents the q-axis
current command value, Iq0 represents the input q-axis
current command value, and Φ0 represents the predetermined
phase advancing angle; and determines zero as the d-axis current command value and
Iq0 as the q-axis current command value if the absolute value
of the angular velocity is smaller than the predetermined
value.
Claim 6
Dependent Claim
127 words
The controller as claimed in claim 5, further
comprising: a first subtracter, connected to the three-phase/two-phase
converter and the command determination circuit, for
calculating the difference between the d-axis current value
and the d-axis current command value; a first PI control unit, connected to the first
subtracter and the two-phase/three-phase converter, for
generating the d-axis voltage command value; a second subtracter, connected to the three-phase/two-phase
converter and the command determination circuit, for
calculating the difference between the q-axis current value
and the q-axis current command value; and a second PI control unit, connected to the second
subtracter and the two-phase/three-phase converter, for
generating the q-axis voltage command value; wherein the rotation angle detector is connected to the
three-phase/two-phase converter, the two-phase/three-phase
converter, and the angular velocity calculator.
Claim 7
Dependent Claim
279 words
A controller for controlling a three-phase
brushless motor, the controller characterized by : a three-phase/two-phase converter for converting values
of three-phase currents provided to the brushless motor to
generate two-phase current values including a d-axis current
value and a q-axis current value; a two-phase/three-phase converter for converting a d-axis
voltage command value and a q-axis voltage command value
to generate three-phase voltage command values, the d-axis
voltage command value being corresponding to the difference
between the d-axis current value and a d-axis current command
value, and the q-axis voltage command value being
corresponding to the difference between the q-axis current
value and a q-axis current command value; an angular velocity calculator for calculating angular
velocity of the brushless motor; a condition determination circuit for performing a
conditional determination based on the angular velocity; and a phase advancing angle calculator for performing either
one of a process for calculating a phase advancing angle
corresponding to a delay angle of the phase of the phase
current with respect to the phase of the phase voltage
command resulting from influence of inductance of the motor
based on a function of the angular velocity and the motor
inductance and a process for using a predetermined angle as
the phase advancing angle, in accordance with the
determination of the condition determination circuit; and a command determination circuit for determining the d-axis
current command value and the q-axis current command
value in accordance with the phase advancing angle and an
equation of Id*=-|Iq0|xsindΦ' and Iq*=Iq0xcosΦ' where Id* represents the d-axis current command value, Iq*
represents the q-axis current command value, Iq0 represents
the input q-axis current command value, and Φ' represents the
phase advancing angle.
Claim 8
Dependent Claim
44 words
The controller as claimed in claim 7, wherein the
function is an equation expressed by ϕ=tan -1 (ω•L/R) or an
approximation thereof, where ϕ represents the delay angle, ω
represents the angular velocity, L represents the inductance,
and R represents the armature winding resistance.
Claim 9
Dependent Claim
95 words
The controller as claimed in claim 7, wherein: the condition determination circuit determines whether a
value of |ω|•L/R is less than or equal to a predetermined
value, where ω represents the angular velocity, L represents
the motor inductance, and R represents the armature winding
resistance; and the phase advancing angle calculator calculates the
phase advancing angle based on the function when the value of
|ω|•L/R is less than or equal to the predetermined value and
sets the predetermined angle as the phase advancing angle
when the value of |ω|•L/R is greater than the predetermined
value.
Claim 10
Dependent Claim
127 words
The controller as claimed in claim 7, further
comprising: a first subtracter, connected to the three-phase/two-phase
converter and the command determination circuit, for
calculating the difference between the d-axis current value
and the d-axis current command value; a first PI control unit, connected to the first
subtracter and the two-phase/three-phase converter, for
generating the d-axis voltage command value; a second subtracter, connected to the three-phase/two-phase
converter and the command determination circuit, for
calculating the difference between the q-axis current value
and the q-axis current command value; and a second PI control unit, connected to the second
subtracter and the two-phase/three-phase converter, for
generating the q-axis voltage command value; wherein the rotation angle detector is connected to the
three-phase/two-phase converter, the two-phase/three-phase
converter, and the angular velocity calculator.
References Cited (Backward Citations)
JP2001178199A
Cited
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