US6608456B2 — Motor control apparatus

Claim 1

Independent Claim 486 words

A motor control apparatus for converting a DC brushless motor into an equivalent circuit having a q-axis armature on a q-axis which is aligned with the direction of magnetic fluxes of field systems of the motor and a d-axis armature on a d-axis which extends perpendicularly to the q-axis, comprising: current detecting means for detecting currents flowing through armatures of the motor; actual current calculating means for calculating a q-axis actual current flowing through said q-axis armature and a d-axis actual current flowing through said d-axis armature from the currents detected by said current detecting means; current difference calculating means for calculating a q-axis current difference between a q-axis command current which is a command value for the current flowing through said q-axis armature and said q-axis actual current and a d-axis current difference between a d-axis command current which is a command value for the current flowing through said d-axis armature and said d-axis actual current; means for generating a d-axis command voltage which is a command value for the voltage applied to said d-axis armature and a q-axis command voltage which is a command value for the voltage applied to said q-axis armature in order to reduce said d-axis current difference and said q-axis current difference; means for controlling the currents flowing through the armatures of the motor depending on said d-axis command voltage and said q-axis command voltage; proportional term component generating means for carrying out a proportional process to multiply said d-axis current difference and said q-axis current difference by respective predetermined proportional gains to generate a d-axis proportional term component which is a proportional term component of said d-axis command voltage and a q-axis proportional term component which is a proportional term component of said q-axis command voltage; integral term component generating means for effecting an integrating process on said d-axis current difference and said q-axis current difference based on a predetermined integral gain to generate a d-axis integral term component which is an integral term component of said d-axis command voltage and a q-axis integral term component which is an integral term component of said q-axis command voltage; and command voltage generating means for generating said d-axis command voltage depending on the sum of said d-axis proportional term component and said d-axis integral term component, and said q-axis command voltage depending on the sum of said q-axis proportional term component and said q-axis integral term component; means for setting said integral gain to stabilize a system in which said d-axis current difference and said q-axis current difference are multiplexed, integrated, and inputted, with respect to a steady gain which approximates, including said proportional gains, the steady input-to-output relationship of said motor to which the voltage applied to said d-axis armature and the voltage applied to said q-axis armature are inputted and from which the current flowing through said d-axis armature and the current flowing through said q-axis armature are outputted.

Claim 2

Dependent Claim 486 words

A motor control apparatus for converting a DC brushless motor into an equivalent circuit having a q-axis armature on a q-axis which is aligned with the direction of magnetic fluxes of field systems of the motor and a d-axis armature on a d-axis which extends perpendicularly to the q-axis, comprising: current detecting means for detecting currents flowing through armatures of the motor; actual current calculating means for calculating a q-axis actual current flowing through said q-axis armature and a d-axis actual current flowing through said d-axis armature from the currents detected by said current detecting means; current difference calculating means for calculating a q-axis current difference between a q-axis command current which is a command value for the current flowing through said q-axis armature and said q-axis actual current and a d-axis current difference between a d-axis command current which is a command value for the current flowing through said d-axis armature and said d-axis actual current; means for generating a d-axis command voltage which is a command value for the voltage applied to said d-axis armature and a q-axis command voltage which is a command value for the voltage applied to said q-axis armature in order to reduce said d-axis current difference and said q-axis current difference; means for controlling the currents flowing through the armatures of the motor depending on said d-axis command voltage and said q-axis command voltage; proportional term component generating means for carrying out a proportional process to multiply said d-axis current difference and said q-axis current difference by respective predetermined proportional gains to generate a d-axis proportional term component which is a proportional term component of said d-axis command voltage and a q-axis proportional term component which is a proportional term component of said q-axis command voltage; integral term component generating means for effecting an integrating process on said d-axis current difference and said q-axis current difference based on a predetermined integral gain to generate a d-axis integral term component which is an integral term component of said d-axis command voltage and a q-axis integral term component which is an integral term component of said q-axis command voltage; and command voltage generating means for generating said d-axis command voltage depending on the sum of said d-axis proportional term component and said d-axis integral term component, and said q-axis command voltage depending on the sum of said q-axis proportional term component and said q-axis integral term component; means for setting said integral gain to stabilize a system in which said d-axis current difference and said q-axis current difference are multiplexed, integrated, and inputted, with respect to a steady gain which approximates, including said proportional gains, the steady input-to-output relationship of said motor to which the voltage applied to said d-axis armature and the voltage applied to said q-axis armature are inputted and from which the current flowing through said d-axis armature and the current flowing through said q-axis armature are outputted.

Claim 3

Dependent Claim 178 words

A motor control apparatus according to claim 1 , wherein said steady gain is expressed by the following equation (17), and said input-to-output relationship is expressed by the following equation (18): M = [  r + Kp - ω   Lq ω   Ld r + Kp  ] - 1 ( 17 ) where M: said steady gain, r: the resistance of said d-axis armature and said q-axis armature, Kp: said proportional gains, Ld: the inductance of said d-axis armature, and Lq: the inductance of said q-axis armature; [  Id Iq  ] = [  r + Kp - ω   Lq ω   Ld r + Kp  ] - 1 [  Vd Vq  ] ≡ M [  Vd Vq  ] ( 18 ) where Id: the current flowing through said d-axis armature, Iq: the current flowing through said q-axis armature, ω: the angular velocity of said motor, Vd: the voltage applied to said d-axis armature, and Vq: the voltage applied to said q-axis armature.

Claim 4

Dependent Claim 154 words

A motor control apparatus according to claim 2 , wherein said integral gain is determined by the following equation (19), and said integrating process is carried out according to the following equations (20) and (21): Ki = - detM · M - 1  S ≡ (  k11 k12 k21 k22  ) ( 19 ) where Ki: said integral gain, detM: the matrix equation of the steady gain M according to said equation (17), and S: a predetermined arbitrary stable matrix; Vd — i =∫( k 11·Δ Id+k 12 ·ΔIq ) dt (20) Vq — i =∫( k 21·Δ Id+k 22 ·ΔIq ) dt (21) where Vd_i: said d-axis integral term component, Vq_i: said q-axis integral term component, ΔId: said d-axis current difference, ΔIq: said q-axis current difference, k 11 , k 12 , k 21 , k 22 : matrix elements of the integral gain Ki defined by said equation (19).

Claim 5

Dependent Claim 156 words

A motor control apparatus according to claim 2 , wherein said integral gain is determined by the following equation (22), and said integrating process is carried out according to the following equations (23) and (24): Ki = M T  Q ≡ (  k11 k12 k21 k22  ) ( 22 ) where Ki: said integral gain, M: the steady gain according to said equation (17), M T : a transposed matrix of M, and Q: a predetermined arbitrary positive definite matrix; Vd — i =∫( k 11·Δ Id+k 12· ΔIq ) dt (23) Vq — i =∫( k 21·Δ Id+k 22· ΔIq ) dt (24) where Vd_i: said d-axis integral term component, Vq 13 i: said q-axis integral term component, ΔId: said d-axis current difference, ΔIq: said q-axis current difference, k 11 , k 12 , k 21 , k 22 : matrix elements of the integral gain Ki defined by said equation (22).

Annuity Stage	Window Opens	Payment Deadline	Surcharge Period Until	Estimated Fee	Status
3.5 Years (Year 4)	2006-08-18	2007-02-17	2007-08-19	$2000.00	Window Closed / Lapsed
7.5 Years (Year 8)	2010-08-18	2011-02-17	2011-08-19	$3760.00	Window Closed / Lapsed
11.5 Years (Year 12)	2014-08-18	2015-02-17	2015-08-19	$7700.00	Window Closed / Lapsed

Motor control apparatus

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