US6462491B1
Expired / Lapsed
US
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Position sensorless motor control apparatus
Assignee: Panasonic Holdings Corp
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Filing: 2000-01-26
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Granted: 2002-10-08
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Expires: 2020-01-26
Abstract
Abstract A position sensorless motor control apparatus is provided that achieves high resolution and high accuracy angle estimation, achieves angle estimation even in the presence of phase voltage saturation, and achieves high accuracy angle estimation even when a back electromotive force constant changes. An angle estimating unit which generates estimated rotor angle comprises: an estimation phase selecting unit for selecting an estimation phase designating the stator winding phase to be used for the generation of the estimated angle; a deviation generating unit for generating, based on the estimated angle and phase voltage value, a deviation relative to a model expressed by a phase voltage equation of the estimation phase; an angle correcting unit for correcting the estimated angle so that the deviation converges to zero; and an estimated coefficient value correcting unit for correcting an estimated coefficient value which is the estimated value of a coefficient in the phase voltage equation.
Inventors
- 👤 Tomoyuki Iijima
- 👤 Kazushige Narazaki
- 👤 Toru Tazawa
- 👤 Yukinori Maruyama
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 19:16
CPC Classifications
H; H02; H02P; H02P9/00; H02P9/14; H02P9/16; H02P9/18; H02P2203/00; H02P2203/05
Claims Analysis
Total Claims: 36
Claim 1
Independent Claim
86 words
A position sensorless motor control apparatus, wherein a target current of a stator winding of a motor is derived by a function that takes a target angular velocity of a rotor and an estimated angular velocity of said rotor as variables, and a voltage, derived by a function that takes said target current of said stator winding, an actually measured current of said stator winding, and an estimated angle of the rotor of said motor as variables, is applied to said stator winding of said motor.
Claim 2
Dependent Claim
86 words
A position sensorless motor control apparatus, wherein a target current of a stator winding of a motor is derived by a function that takes a target angular velocity of a rotor and an estimated angular velocity of said rotor as variables, and a voltage, derived by a function that takes said target current of said stator winding, an actually measured current of said stator winding, and an estimated angle of the rotor of said motor as variables, is applied to said stator winding of said motor.
Claim 3
Dependent Claim
72 words
A position sensorless motor control apparatus including an angle estimating unit for estimating rotor angle and angular velocity of a motor, wherein said angle estimating unit has a table of compensation values with at least one of said estimated angle, said estimated angular velocity, and a measured or calculated current of a stator winding taken as a parameter, and compensates said estimated angle by using the compensation value associated with said parameter.
Claim 4
Dependent Claim
72 words
A position sensorless motor control apparatus including an angle estimating unit for estimating rotor angle and angular velocity of a motor, wherein said angle estimating unit has a table of compensation values with at least one of said estimated angle, said estimated angular velocity, and a measured or calculated current of a stator winding taken as a parameter, and compensates said estimated angle by using the compensation value associated with said parameter.
Claim 5
Dependent Claim
158 words
A position sensorless motor control apparatus comprising: a current sensor for detecting a phase current value representing the value of a current to a stator winding of a motor; a voltage command value generating unit for generating, based on an estimated angle of a rotor of said motor, a phase voltage command value indicating a command value for a voltage to be applied to said stator winding; a driving unit for applying voltage to said stator winding based on said phase voltage command value; an angle estimating unit for generating said estimated angle; and a rotational direction command unit for outputting a rotational direction command indicating the direction in which said rotor is to be rotated, and wherein when said rotational direction commands indicates a reverse direction, said phase current values for at least two phases are interchanged with each other and said phase voltage command values for said at least two phases are interchanged with each other.
Claim 6
Dependent Claim
158 words
A position sensorless motor control apparatus comprising: a current sensor for detecting a phase current value representing the value of a current to a stator winding of a motor; a voltage command value generating unit for generating, based on an estimated angle of a rotor of said motor, a phase voltage command value indicating a command value for a voltage to be applied to said stator winding; a driving unit for applying voltage to said stator winding based on said phase voltage command value; an angle estimating unit for generating said estimated angle; and a rotational direction command unit for outputting a rotational direction command indicating the direction in which said rotor is to be rotated, and wherein when said rotational direction commands indicates a reverse direction, said phase current values for at least two phases are interchanged with each other and said phase voltage command values for said at least two phases are interchanged with each other.
Claim 7
Dependent Claim
83 words
A position sensorless motor control apparatus including an angle estimating unit for estimating rotor angle of a motor, wherein said angle estimating unit has a second signal or a third signal derivable from said second signal, or angle information of said second signal or said third signal, said second signal having the same waveform as the waveform of a back electromotive force derived by subtracting components other than the back electromotive force from a measured or calculated phase voltage of a stator winding.
Claim 8
Dependent Claim
83 words
A position sensorless motor control apparatus including an angle estimating unit for estimating rotor angle of a motor, wherein said angle estimating unit has a second signal or a third signal derivable from said second signal, or angle information of said second signal or said third signal, said second signal having the same waveform as the waveform of a back electromotive force derived by subtracting components other than the back electromotive force from a measured or calculated phase voltage of a stator winding.
Claim 9
Dependent Claim
60 words
A position sensorless motor control apparatus according to claim 4 , wherein said second signal or said third signal or said angle information is derived by a function that takes the measured or calculated phase voltage off said stator winding of said motor, a measured current of said stator winding, and said estimated rotor angle of said motor as variables.
Claim 10
Dependent Claim
121 words
A position sensorless motor control apparatus according to claim 4 , wherein said angle estimating unit further calculates an angle error between a signal derived from said second signal or said third signal, or a signal derived from said angle information, and the back electromotive force derived by subtracting the components other than the back electromotive force from the measured or calculated phase voltage of said stator winding, or calculates an amplitude error having a defined correspondence with said angle error, and corrects the estimated angle of said second signal or said third signal or of said angle information in such a manner as to reduce said angle error or said amplitude error having a defined correspondence with said angle error.
Claim 11
Dependent Claim
84 words
A position sensorless motor control apparatus according to claim 6 , wherein said angle estimating unit further calculates an amplitude error between the amplitude of said second signal or said third signal and the amplitude of the back electromotive force derived by subtracting the components other than the back electromotive force from the measured or calculated phase voltage of said stator winding, and corrects the amplitude of said second signal or said third signal in such a manner as to reduce said amplitude error.
Claim 12
Dependent Claim
33 words
A position sensorless motor control apparatus according to claim 7 , wherein when the amplitude of said second signal or said third signal exceeds a predetermined range, said motor is decelerated or stopped.
Claim 13
Dependent Claim
73 words
A position sensorless motor control apparatus according to claim 6 , wherein said angle estimating unit further corrects the estimated angle of said second signal or said third signal or of said angle information by using a correction value obtained by multiplying said angle error, or said amplitude error having a defined correspondence with said angle error, by a gain having a defined correspondence with an estimated rotor angular velocity of said motor.
Claim 14
Dependent Claim
31 words
A position sensorless motor control apparatus according to claim 9 , wherein the absolute value of said gain may become larger as said angular velocity increases, but does not become smaller.
Claim 15
Dependent Claim
67 words
A position sensorless motor control apparatus according to claim 6 , wherein said angle estimating unit further performs control so that a correction value, which is used to correct said second signal or said third signal or said angle information, does not exceed at least one of an upper bound value and a lower bound value having a defined correspondence with the angular velocity of said motor.
Claim 16
Dependent Claim
37 words
A position sensorless motor control apparatus according to claim 11 , wherein the absolute value of said upper bound value or lower bound value may become larger as said angular velocity increases, but does not become smaller.
Claim 17
Dependent Claim
82 words
A position sensorless motor control apparatus according to claim 6 , wherein said angle estimating unit further has a table of compensation values with at least one of said estimated angle, an estimated angular velocity of said motor, and the measured or calculated current of said stator winding taken as a parameter, and compensates the estimated angle of said second signal or said third signal or of said angle information by using the compensation value associated with said parameter in said table.
Claim 18
Dependent Claim
47 words
A position sensorless motor control apparatus according to claim 4 , wherein the components other than said back electromotive force are derived using a measured or calculated current of said stator winding of said motor, said measured or calculated current being assumed to be a sinusoidal signal.
Claim 19
Dependent Claim
90 words
A position sensorless motor control apparatus including an angle estimating unit that has a back electromotive force estimated signal containing information on rotor angle of a motor, wherein said angle estimating unit selects the largest error from among errors each representing an error between a back electromotive force of each phase, derived based on information containing the current of each stator winding phase of said motor, and the estimated signal of said back electromotive force, and corrects said estimated signal in such a manner as to reduce said largest error.
Claim 20
Dependent Claim
90 words
A position sensorless motor control apparatus including an angle estimating unit that has a back electromotive force estimated signal containing information on rotor angle of a motor, wherein said angle estimating unit selects the largest error from among errors each representing an error between a back electromotive force of each phase, derived based on information containing the current of each stator winding phase of said motor, and the estimated signal of said back electromotive force, and corrects said estimated signal in such a manner as to reduce said largest error.
Claim 21
Dependent Claim
106 words
A position sensorless motor control apparatus including an angle estimating unit that has a back electromotive force estimated signal containing information on rotor angle of a motor, wherein said angle estimating unit selects a stator winding phase whose back electromotive force is the smallest of the back electromotive forces of the stator winding phases of said motor derived based on information respectively containing the currents of the respective stator winding phases of said motor, and corrects said estimated signal in such a manner as to reduced an error between the back electromotive force of said selected phase and the estimated signal of said back electromotive force.
Claim 22
Dependent Claim
106 words
A position sensorless motor control apparatus including an angle estimating unit that has a back electromotive force estimated signal containing information on rotor angle of a motor, wherein said angle estimating unit selects a stator winding phase whose back electromotive force is the smallest of the back electromotive forces of the stator winding phases of said motor derived based on information respectively containing the currents of the respective stator winding phases of said motor, and corrects said estimated signal in such a manner as to reduced an error between the back electromotive force of said selected phase and the estimated signal of said back electromotive force.
Claim 23
Dependent Claim
200 words
A position sensorless motor control apparatus including an angle estimating unit for estimating a rotor angle of a motor, wherein said angle estimating unit has a fourth signal or a fifth signal derivable from said fourth signal, or angle information of said fourth signal or said fifth signal, said fourth signal having the same waveform as the waveform of a stator winding current, wherein said angle estimating unit: calculates an angle error between said fourth signal or said fifth signal, or said angle information, and a signal derived from said stator winding current, or calculates an amplitude error having a defined correspondence with said angle error, corrects an estimated angle of said fourth signal or said fifth signal or of said angle information in such a manner as to reduce said angle error or said amplitude error having a defined correspondence with said angle error, calculates an amplitude error between the amplitude of said fourth signal or said fifth signal that said angle estimating unit has and the amplitude of the signal derived from said stator winding current, and corrects the amplitude of said fourth signal or said fifth signal in such a manner as to reduce said amplitude error.
Claim 24
Dependent Claim
200 words
A position sensorless motor control apparatus including an angle estimating unit for estimating a rotor angle of a motor, wherein said angle estimating unit has a fourth signal or a fifth signal derivable from said fourth signal, or angle information of said fourth signal or said fifth signal, said fourth signal having the same waveform as the waveform of a stator winding current, wherein said angle estimating unit: calculates an angle error between said fourth signal or said fifth signal, or said angle information, and a signal derived from said stator winding current, or calculates an amplitude error having a defined correspondence with said angle error, corrects an estimated angle of said fourth signal or said fifth signal or of said angle information in such a manner as to reduce said angle error or said amplitude error having a defined correspondence with said angle error, calculates an amplitude error between the amplitude of said fourth signal or said fifth signal that said angle estimating unit has and the amplitude of the signal derived from said stator winding current, and corrects the amplitude of said fourth signal or said fifth signal in such a manner as to reduce said amplitude error.
Claim 25
Dependent Claim
38 words
A position sensorless motor control apparatus according to claim 17 , wherein when said angle error or said amplitude error having a defined correspondence with said angle error exceeds a predetermined range, said motor is decelerated or stopped.
Claim 26
Dependent Claim
75 words
A position sensorless motor control apparatus according to claim 17 , wherein said angle estimating unit further corrects the estimated angle of said fourth signal or said fifth signal or of said angle information by using a correction value obtained by multiplying said angle error, or said amplitude error having a defined correspondence with said angle error, by a gain having a defined correspondence with an estimated angular velocity of said rotor of said motor.
Claim 27
Dependent Claim
31 words
A position sensorless motor control apparatus according to claim 19 , wherein the absolute value of said gain may become larger as said angular velocity increases, but does not become smaller.
Claim 28
Dependent Claim
67 words
A position sensorless motor control apparatus according to claim 17 , wherein said angle estimating unit further performs control so that a correction value, which is used to correct said fourth signal or said fifth signal or said angle information, does not exceed at least one of an upper bound value and a lower bound value having a defined correspondence with the angular velocity of said motor.
Claim 29
Dependent Claim
37 words
A position sensorless motor control apparatus according to claim 21 , wherein the absolute value of said upper bound value or lower bound value may become larger as said angular velocity increases, but does not become smaller.
Claim 30
Dependent Claim
82 words
A position sensorless motor control apparatus according to claim 17 , wherein said angle estimating unit further has a table of compensation values with at least one of said estimated angle, an estimated angular velocity of said rotor, and the measured or calculated current of said stator winding taken as a parameter, and compensates the estimated angle of said fourth signal or said fifth signal or of said angle information by using the compensation value associated with said parameter in said table.
Claim 31
Dependent Claim
76 words
A position sensorless motor control apparatus including an angle estimating unit that has a stator winding current estimated signal containing information on rotor angle of a motor, wherein said angle estimating unit selects the largest error from among errors each representing an error between a measured current of each stator winding of said motor and the estimated signal of said current, and corrects said estimated signal in such a manner as to reduce said largest error.
Claim 32
Dependent Claim
76 words
A position sensorless motor control apparatus including an angle estimating unit that has a stator winding current estimated signal containing information on rotor angle of a motor, wherein said angle estimating unit selects the largest error from among errors each representing an error between a measured current of each stator winding of said motor and the estimated signal of said current, and corrects said estimated signal in such a manner as to reduce said largest error.
Claim 33
Dependent Claim
83 words
A position sensorless motor control apparatus including an angle estimating unit that has a stator winding current estimated signal containing information on rotor angle of a motor, wherein said angle estimating unit selects a stator winding phase whose measured current is the smallest of the measured currents of the stator winding phases of said motor, and corrects said estimated signal in such a manner as to reduced an error between the current of said selected phase and the estimated signal of said current.
Claim 34
Dependent Claim
83 words
A position sensorless motor control apparatus including an angle estimating unit that has a stator winding current estimated signal containing information on rotor angle of a motor, wherein said angle estimating unit selects a stator winding phase whose measured current is the smallest of the measured currents of the stator winding phases of said motor, and corrects said estimated signal in such a manner as to reduced an error between the current of said selected phase and the estimated signal of said current.
Claim 35
Dependent Claim
218 words
A position sensorless motor control apparatus including an angle estimating unit for estimating a rotor angle of a motor, wherein said angle estimating unit has a sixth signal or a seventh signal derivable from said sixth signal, or angle information of said sixth signal or said seventh signal, said sixth signal having the same waveform as the waveform of a measured or calculated phase voltage of a stator winding, wherein said angle estimating unit: calculates an angle error between said sixth signal or said seventh signal, or said angle information, and a signal derived from said measured or calculated phase voltage of said stator winding, or calculates an amplitude error having a defined correspondence with said angle error, corrects an estimated angle of said sixth signal or said seventh signal or of said angle information in such a manner as to reduce said angle error or said amplitude error having a defined correspondence with said angle error, calculates an amplitude error between the amplitude of said sixth signal or said seventh signal that said angle estimating unit has, and the amplitude of the signal derived from said measured or calculated phase voltage of said stator winding, and corrects the amplitude of said sixth signal or said seventh signal in such a manner as to reduce said amplitude error.
Claim 36
Dependent Claim
218 words
A position sensorless motor control apparatus including an angle estimating unit for estimating a rotor angle of a motor, wherein said angle estimating unit has a sixth signal or a seventh signal derivable from said sixth signal, or angle information of said sixth signal or said seventh signal, said sixth signal having the same waveform as the waveform of a measured or calculated phase voltage of a stator winding, wherein said angle estimating unit: calculates an angle error between said sixth signal or said seventh signal, or said angle information, and a signal derived from said measured or calculated phase voltage of said stator winding, or calculates an amplitude error having a defined correspondence with said angle error, corrects an estimated angle of said sixth signal or said seventh signal or of said angle information in such a manner as to reduce said angle error or said amplitude error having a defined correspondence with said angle error, calculates an amplitude error between the amplitude of said sixth signal or said seventh signal that said angle estimating unit has, and the amplitude of the signal derived from said measured or calculated phase voltage of said stator winding, and corrects the amplitude of said sixth signal or said seventh signal in such a manner as to reduce said amplitude error.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2005-10-07 | 2006-04-08 | 2006-10-08 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2009-10-07 | 2010-04-08 | 2010-10-08 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2013-10-07 | 2014-04-08 | 2014-10-08 | $7700.00 | Window Closed / Lapsed |