JP2012200150A - Ripple detection device for dc motor - Google Patents

Abstract

Provided is a DC motor ripple detection device, method, and program capable of accurately detecting a ripple frequency to control a cutoff frequency of a filter unit with high accuracy and using a highly accurate ripple cycle. To do.
A first ripple period detection unit 3 includes a first band pass filter (BPF) 2 and a second band pass filter (BPF) 4 having different cutoff frequencies, and obtains a first ripple period from an output of the first BPF 2. And a basic frequency calculation means 71 including a second ripple period detector 5 for obtaining a second ripple period from the output of the second BPF 4 and having the reciprocal of the second ripple period as a fundamental frequency f0, and a lower cutoff frequency of the first BPF as a basis. A first cutoff frequency control means 72 for controlling the upper cutoff frequency to be lower than the frequency f0 and greater than the basic frequency f0; a second cutoff frequency control means 73 for controlling the lower cutoff frequency of the second BPF to be greater than the fundamental frequency f0; Have
[Selection] Figure 1

Description

  The present invention relates to an apparatus, a method, and a program for detecting a current ripple included in an armature current of a DC motor.

  As one type of DC motor, there is a DC brush motor of a type in which a rotating armature is provided with a commutator and the energization direction is switched from a brush, and is applied to, for example, a seat slide or a reclining angle adjustment of a vehicle seat device. In a DC brush motor, a current ripple is generated due to the rotating armature rotating and the contact between the brush and the commutator switching, and is superimposed on the armature current. Therefore, the rotational phase of the rotating armature can be known by extracting the current ripple for AC included in the DC armature current, shaping the waveform, and detecting singular points such as maximum points, minimum points, and zero-cross points. It can be used in place of a rotational phase sensor or a cumulative rotational amount sensor. That is, it is not necessary to separately provide these sensors, and in the above example, the vehicle seat device is simplified, and the manufacturing cost can be reduced.

  However, not only current ripple but also low frequency noise and high frequency noise are often superimposed on the armature current. For example, a 4-pole 10-slot DC motor has a structural topology with an electrical angle of 720 ° instead of 360 °, and therefore a current component having a period of 720 ° is superimposed. In other words, low frequency noise (1/2 frequency noise) having a frequency that is 1/2 of the ripple frequency is superimposed on the armature current. In addition, high-frequency noise having a frequency twice or four times the ripple frequency (n-times frequency noise) is often superimposed on the armature current. The applicant of the present application discloses examples of devices that detect current ripples without being affected by such noise in Patent Documents 1 and 2.

  The ripple detection device for a DC motor disclosed in Patent Document 1 includes first and second low-pass filters, first and second ripple signal generation units, a cutoff frequency control unit, and a ripple detection unit. The cut-off frequency control unit sets the cut-off frequency ratio of the second and first low-pass filters so as to correspond to the ratio between the ripple frequency to be detected and the noise frequency of the noise to be removed. One ripple signal is selected by comparing the ratio of the ripple periods of the ripple signals generated by the first and second ripple signal generators with the cut-off frequency ratio. Accordingly, it is determined that the ripples generated by the first and second ripple signal generation units are included in the ripple signals, and the ripples can be detected with high accuracy.

  The DC motor rotation state detection device of Patent Document 2 includes a cutoff frequency calculation unit, a cutoff frequency setting unit, a filter unit, a rotation state detection unit, a rotation state determination unit, and a cutoff frequency update unit. Only when not rotating, the change of the cutoff frequency of the filter means is permitted. Therefore, it is possible to control whether or not the cut-off frequency can be changed according to the rotation state, and to accurately detect the ripple by cutting off the noise component in the steady rotation state. Thus, it is possible to solve the problem that the cutoff frequency of the filter means is erroneously set to a lower frequency side than the ripple frequency and finally set to the frequency of the low frequency noise.

JP 2008-228452 A JP 2007-124865 A

  By the way, in the ripple detection device of Patent Document 1, since the cutoff frequency ratio of the second and first low-pass filters is set in advance assuming the noise frequency to be removed, there is a problem if noise of an unexpected frequency is superimposed. Can occur. In addition, since a low-pass filter is used, a wide dynamic range corresponding to the DC component of the armature current is required, and in addition, countermeasures against frequent or permanent low-frequency noise are required, and the circuit scale is increased. Increases cost.

  In the embodiment of Patent Document 2, the cutoff frequency of the filter means is calculated using the reciprocal of the time between pulses of the ripple pulse shaping circuit output as the actual ripple frequency. According to this method, for example, when noise is superimposed and cannot be completely removed by the filter means, the actual ripple frequency may be erroneously detected, and even if the noise disappears, the original correct cutoff frequency may not be restored. For example, if the actual ripple frequency is erroneously detected to ½ due to transient noise, the cutoff frequency is controlled to match the ½ frequency. Then, since the filter cuts off the signal having the original ripple frequency and passes only the 1/2 frequency noise, the ripple frequency cannot be detected even after the transient noise disappears. In other words, there is no possibility that the 1/2 frequency is locked. According to the knowledge obtained by the inventor, it is most susceptible to 1/2 frequency noise than high frequency noise, and even if it is temporarily controlled to 1/2 frequency, avoid the locked state. It is important to make sure that it returns.

  The present invention has been made in view of the above-described problems. The ripple frequency is detected with high accuracy and the cut-off frequency of the filter unit can be set with high accuracy without being affected by noise having a frequency half the ripple frequency. It is an object to be solved to provide a ripple detection device, a ripple detection method, and a ripple detection program for a DC motor that can be controlled and used with a highly accurate ripple cycle.

  An invention of a ripple detection apparatus for a DC motor according to claim 1 that solves the above-described problem includes a variable cutoff frequency filter unit that extracts a current ripple contained in an armature current of a DC motor and obtains a ripple waveform, and the ripple waveform. A ripple detection device for a direct current motor, comprising: a ripple cycle detection unit that obtains a ripple cycle based on the filter frequency; and a cutoff frequency control unit that controls the cutoff frequency of the filter unit based on the ripple cycle, the filter unit Has a first band-pass filter and a second band-pass filter having a lower cutoff frequency and an upper cutoff frequency different from each other, and the ripple period detection unit is based on the first ripple waveform obtained by the first band-pass filter. A first ripple period detecting unit for obtaining a first ripple period and the second band pass filter A second ripple period detection unit that obtains a second ripple period based on the obtained second ripple waveform, wherein the cut-off frequency control unit calculates a second ripple frequency that is a reciprocal of the second ripple period to calculate a fundamental frequency; And a first cutoff that controls a lower cutoff frequency of the first bandpass filter to be equal to or lower than the fundamental frequency and controls an upper cutoff frequency of the first bandpass filter to be greater than the fundamental frequency. It has a frequency control means and a second cutoff frequency control means for controlling a lower cutoff frequency of the second bandpass filter to be larger than the fundamental frequency.

  According to a second aspect of the present invention, in the first aspect, the first cut-off frequency control means controls the lower cut-off frequency of the first bandpass filter to be more than 0.5 times the basic frequency and less than one time. And the upper cutoff frequency of the first bandpass filter is controlled to be twice or more of the fundamental frequency, and the second cutoff frequency control means sets the lower cutoff frequency of the second bandpass filter to the fundamental frequency. The frequency is controlled to exceed 1 and 2 times or less.

  According to a third aspect of the present invention, in the second aspect, the first cutoff frequency control means controls the lower cutoff frequency of the first bandpass filter to a frequency close to the fundamental frequency, and the second cutoff frequency. The control unit controls the lower cutoff frequency of the second bandpass filter to a frequency close to twice the fundamental frequency.

  According to a fourth aspect of the present invention, in any one of the first to third aspects, the first ripple period detection unit holds a threshold value based on an amplitude of the first ripple waveform, and the first ripple waveform The timing at which the amount of change from the maximum point or the minimum point reaches the threshold is detected, and the generation interval of the timing is set as the first ripple period.

  According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the second ripple cycle detection unit sets a generation interval of a zero cross point in the second ripple waveform as the second ripple cycle. Features.

  The invention according to claim 6 is the invention according to any one of claims 1 to 5, wherein the cut-off frequency control unit has cut-off frequency confirmation means, and the cut-off frequency confirmation means is a reciprocal of the first ripple period. By calculating a first ripple frequency and confirming that the first ripple frequency substantially matches the fundamental frequency, the lower cutoff frequency of the first bandpass filter and the second bandpass filter and It is determined that the upper cut-off frequency is appropriate.

  The invention according to a seventh aspect is the invention according to any one of the first to sixth aspects, wherein the second ripple period detecting unit includes an average value calculating means for calculating an average ripple period obtained by averaging a plurality of the second ripple periods. And the fundamental frequency calculating means of the cut-off frequency control unit uses the inverse of the average ripple period as the fundamental frequency.

  An invention of a ripple detection method for a DC motor according to an eighth aspect of the present invention includes a first bandpass filter and a second bandpass filter with variable cut-off frequency that extract a current ripple included in an armature current of a DC motor and obtain a ripple waveform. A ripple period detection unit that obtains a ripple period based on the ripple waveform; and a cutoff frequency control unit that controls the cutoff frequency of the first bandpass filter and the second bandpass filter based on the ripple period. A ripple detection method using a ripple detection device for a DC motor provided with a first ripple waveform acquisition step for obtaining a first ripple waveform by the first bandpass filter, and a second ripple waveform by the second bandpass filter. A second ripple waveform obtaining step to be obtained and based on the first ripple waveform; A first ripple period detecting step for obtaining a first ripple period, a second ripple period detecting step for obtaining a second ripple period based on the second ripple waveform, and a second ripple frequency that is the reciprocal of the second ripple period. A fundamental frequency calculating step for calculating a fundamental frequency by calculating a lower cutoff frequency of the first bandpass filter to be equal to or lower than the fundamental frequency and an upper cutoff frequency of the first bandpass filter to be lower than the fundamental frequency. And a first cutoff frequency control step for largely controlling, and a second cutoff frequency control step for controlling a lower cutoff frequency of the second bandpass filter to be larger than the fundamental frequency.

  The invention of a ripple detection program for a DC motor according to a ninth aspect causes a computer to execute the steps of the eighth aspect.

  In the invention of the ripple detection apparatus for a DC motor according to claim 1, the cutoff frequency control unit obtains the fundamental frequency from the second ripple waveform of the second bandpass filter, and uses the lower cutoff frequency of the first bandpass filter as the fundamental frequency. The following control is performed and the upper cutoff frequency is controlled to be greater than the fundamental frequency, and the lower cutoff frequency of the second bandpass filter is controlled to be greater than the fundamental frequency. That is, control is performed so that the fundamental frequency falls within the pass frequency band in the first band pass filter, and control is performed so that the fundamental frequency is below the pass frequency band in the second band pass filter.

  As a result, the first band pass filter can attenuate the noise component of ½ frequency without attenuating the signal component of the fundamental frequency of the first ripple waveform. On the other hand, the second bandpass filter attenuates the signal component of the fundamental frequency included in the second ripple waveform, but can further attenuate the noise component having a frequency lower than the fundamental frequency, for example, a 1/2 frequency. Therefore, the fundamental frequency can be detected with high accuracy without being affected by low frequency noise, and the lower and upper cut-off frequencies of the first bandpass filter can be accurately feedback controlled without causing a 1/2 frequency lock. In addition, since the first band-pass filter that is always feedback controlled with high accuracy outputs the first ripple waveform with high accuracy, the accurate ripple period can be reliably obtained and used, and the cumulative rotation of the DC motor can be used. The amount, rotational phase, rotational speed, etc. can be calculated with high accuracy.

  In the invention according to claim 2, the first cut-off frequency control means controls the lower cut-off frequency of the first bandpass filter to be more than 0.5 times the basic frequency and less than or equal to one time, and the upper cut-off frequency is set to the basic frequency. The second cut-off frequency control means controls the lower cut-off frequency of the second bandpass filter to be more than 1 times the basic frequency and less than 2 times. Further, in the invention according to claim 3, the first cutoff frequency control means controls the lower cutoff frequency of the first bandpass filter to a frequency close to the fundamental frequency, and the second cutoff frequency control unit includes the second bandpass. Control the lower cutoff frequency of the filter to a frequency close to twice the fundamental frequency.

  Thereby, the first band pass filter 2 does not attenuate the signal component of the fundamental frequency of the first ripple waveform, but greatly attenuates the noise component of 1/2 frequency, so that the S / N ratio can be greatly improved. Even if the fundamental frequency is halved due to transient noise or the like, the upper cutoff frequency is controlled to be higher than the regular fundamental frequency, and the regular fundamental frequency is passed, so that the ripple detection can be performed correctly. On the other hand, in the second band pass filter 4, when the fundamental frequency is mistakenly halved, the lower cutoff frequency is controlled to a frequency exceeding 0.5 times the normal fundamental frequency and less than 1 time. Therefore, the ½ frequency noise is attenuated to a greater extent than the normal fundamental frequency, so that it can be reliably restored after the transient noise disappears.

  In the invention which concerns on Claim 4, a 1st ripple period detection part hold | maintains the threshold value based on the amplitude of a 1st ripple waveform, and the timing from which the variation | change_quantity from the maximum point or minimum point of a 1st ripple waveform reaches a threshold value. Detecting the timing generation interval as the first ripple period. According to this amplitude detection logic, even if a slight increase / decrease vibration is superimposed on the first ripple waveform due to noise superimposition or the like, it does not increase / decrease enough to reach the threshold value, and the accuracy of the first ripple period can be ensured. . If zero cross point detection logic, maximum point detection logic, or minimum point detection logic is used instead, a large number of zero cross points, maximum points, or minimum points occur due to minute fluctuations, and each time the ripple cycle is erroneously changed. There is a risk of seeking.

  In the invention which concerns on Claim 5, a 2nd ripple period detection part makes the generation | occurrence | production interval of the zero cross point in a 2nd ripple waveform the 2nd ripple period. According to this zero-cross point detection logic, the second ripple period and the fundamental frequency can be reliably obtained even with the second ripple waveform in which the signal component of the fundamental frequency output from the second bandpass filter is attenuated. That is, since the amplitude of the second ripple waveform is small, the zero-cross point detection logic is more reliable than the above-described amplitude detection logic, maximum point detection logic, and minimum point detection logic.

  In the invention according to claim 6, the cut-off frequency confirmation means confirms that the first ripple frequency calculated by the reciprocal of the first ripple period substantially matches the fundamental frequency, whereby the first and second bandpass It is determined that the lower and upper cutoff frequencies of the filter are appropriate. Originally, if the first and second bandpass filters can remove noise, the first ripple waveform and the second ripple waveform are similar waveforms having different amplitudes, and the first ripple frequency and the fundamental frequency (second ripple frequency). Are generally the same. By utilizing this fact, the control status of each cutoff frequency can be confirmed, and the operation reliability of the apparatus can be improved.

  In the invention according to claim 7, the second ripple period detection unit calculates an average ripple period obtained by averaging a plurality of second ripple periods, and the basic frequency calculation means of the cut-off frequency control unit uses the reciprocal number of the average ripple period as the basic frequency. To do. For this reason, even if the individual second ripple period varies due to jitter components, etc., or ripple missing that cannot detect current ripple occurs, or ripple increase that erroneously detects noise as current ripple occurs, The fluctuation of the average ripple period is small. Therefore, the fundamental frequency can be detected with high accuracy by reducing the influence of variation and noise.

  The invention of a ripple detection method for a DC motor according to claim 8 includes a first ripple waveform acquisition step, a second ripple waveform acquisition step, a first ripple cycle detection step, a second ripple cycle detection step, a fundamental frequency calculation step, It has a cut-off frequency control step and a second cut-off frequency control step. Therefore, an effect similar to that of the first aspect is produced.

  In the invention of the ripple detection program for a DC motor according to claim 9, each step of claim 8 can be executed by a computer.

It is a block diagram explaining the ripple detection apparatus of the DC motor of the embodiment of the present invention. In embodiment, it is a figure explaining the method of calculating | requiring a 1st ripple period by an amplitude detection logic in a 1st ripple period detection part. In embodiment, it is a figure explaining the method of calculating | requiring a 2nd ripple period by the zero cross point detection logic in a 2nd ripple period detection part. It is a figure explaining the filter characteristic of the 1st band pass filter in FIG. It is a figure explaining the filter characteristic of the 2nd band pass filter in FIG. In embodiment, it is a figure of the example of an actual measurement waveform explaining the effect | action of a 1st band pass filter and a 1st ripple period detection part. In embodiment, it is a figure of the example of an actual measurement waveform explaining the effect | action of a 2nd band pass filter and a 2nd ripple period detection part.

  An embodiment for carrying out the present invention will be described with reference to FIGS. FIG. 1 is a block diagram illustrating a DC motor ripple detection apparatus 1 according to an embodiment of the present invention. The DC motor 91 is applied to a seat slide of a vehicle seat device (not shown), and is usually used at a constant rotational speed by applying a constant DC voltage. The ripple detection device 1 is configured in the form of a custom IC as a part of a control device that controls the DC motor 91, and operates under the control of the motor control CPU 99. The ripple detection apparatus 1 includes functional blocks such as a first bandpass filter 2, a first ripple cycle detection unit 3, a second bandpass filter 4, a second ripple cycle detection unit 5, and a cutoff frequency control unit 7.

  In the ripple detection device 1, the first band pass filter 2 and the first ripple cycle detection unit 3 detect the first ripple cycle Tr 1 from the current ripple included in the armature current Im of the DC motor 91 and receive it by the motor control CPU 99. Has the function of passing. Further, the functional blocks after the second bandpass filter 4 detect the ripple frequency from the current ripple to obtain the fundamental frequency f0, and accurately determine the cutoff frequencies f1CL and f1CH of the first bandpass filter 2 based on the fundamental frequency f0. Has the function of feedback control.

  The first band pass filter 2 is a digital filter whose cutoff frequency is variable under the control of the cutoff frequency control unit 7. The first band-pass filter 2 is configured by a combination of a high-pass filter HPF1 having a lower cutoff frequency f1CL and a low-pass filter LPF1 having an upper cutoff frequency f1CH. The pass frequency band f1 is between the lower cutoff frequency f1CL and the upper cutoff frequency f1CH. (F1CL ≦ f1 ≦ f1CH). The low-frequency-side cutoff characteristic of the first bandpass filter 2 is realized by a primary filter and has an attenuation characteristic of 20 db / dec. Moreover, the high frequency side cutoff characteristic is realized by a fourth-order filter, and has an attenuation characteristic of −80 db / dec.

  Similarly, the second band-pass filter 4 is also configured by a combination of a high-pass filter HPF2 having a lower cutoff frequency f2CL and a low-pass filter LPF2 having an upper cutoff frequency f2CH. The pass frequency band f2 has a lower cutoff frequency f2CL and an upper cutoff frequency. Restricted during f2CH (f2CL ≦ f2 ≦ f2CH). The cutoff characteristic of the second bandpass filter 4 is the same as that of the first bandpass filter 2, and has an attenuation characteristic of 20 db / dec on the low frequency side and −80 db / dec on the high frequency side.

  The first band-pass filter 2 and the second band-pass filter 4 are each input with a waveform corresponding to the armature current Im of the DC motor 91, and output a filtered first ripple waveform Ir1 and second ripple waveform Ir2. The

  The first ripple period detection unit 3 obtains the first ripple period Tr1 based on the first ripple waveform Ir1 output from the first bandpass filter 2. FIG. 2 is a diagram for explaining a method of obtaining the first ripple period Tr1 by the amplitude detection logic in the first ripple period detection unit. In the figure, the horizontal axis indicates a common time t, (1) in the upper graph indicates the armature current Im of the DC motor 91, (2) indicates the first pulse signal IP1, and (3) in the lower graph. Represents the first ripple waveform Ir1, and (4) represents the threshold level Y. The threshold level Y is a parameter amount that reflects the threshold W based on the amplitude of the first ripple waveform Ir1. Since the current ripple has a certain degree of variation even in the constant rotation state, the average value of the amplitude of the first ripple waveform Ir1 in the constant rotation state is set as the threshold value W in this embodiment. The threshold value W can also be obtained by multiplying the average value of the amplitudes by a predetermined magnification.

  In FIG. 2, first, the first band-pass filter 2 removes a direct current component and noise from the armature current Im, and outputs a first ripple waveform Ir1. Next, when the first ripple waveform Ir1 decreases at time t1 and crosses from the positive side to the negative side of the threshold level Y in the first ripple period detection unit 3, the threshold W is added to the threshold level Y. Thereafter, the threshold level Y is decreased in parallel until the first ripple waveform Ir1 further decreases and reaches the minimum point Pmin at time t2. Then, even if the first ripple waveform Ir1 starts to increase at time t2, the threshold level Y is not changed and kept at a constant level. When the first ripple waveform Ir1 crosses from the negative side of the threshold level Y to the positive side at time t3, the threshold W is subtracted from the threshold level Y and the first pulse signal IP11 is output. Thereafter, the threshold level Y is increased in parallel until the first ripple waveform Ir1 further increases and reaches the maximum point Pmax at time t4. Then, even if the first ripple waveform Ir1 starts to decrease at time t4, the threshold level Y is not changed and kept at a constant level. When the first ripple waveform Ir1 crosses from the positive side to the negative side of the threshold level Y at time t5, the threshold W is added to the threshold level Y again.

  Thereafter, the same processing as at times t1 to t5 is repeated. Accordingly, the next first pulse signal IP12 is output at time t6, and the next first pulse signal IP13 is further output at time t7. The first ripple period detection unit 3 sequentially detects the generation intervals of the adjacent first pulse signals IP11, IP12, and IP13 to obtain the first ripple period Tr1 (Tr1 = t6-t3, Tr1 = t7-t6).

  According to this amplitude detection logic, after the first ripple waveform Ir1 becomes smaller than the threshold level Y at time t1, the first pulse signal IP11 is output only when the first ripple waveform Ir1 increases by the threshold value W. . Therefore, even if noise is superimposed on the first ripple waveform after time t1 and a slight increase / decrease vibration occurs, there is no possibility that the first pulse signal IP11 is erroneously output. When a simple zero level threshold is used instead of the threshold level Y, if a slight increase / decrease vibration occurs in the first ripple waveform after time t1, a large number of zero cross points may occur. Further, when the local maximum point detection logic or the local minimum point detection logic is used, there is a possibility that a large number of local maximum points or local minimum points may be generated due to increase / decrease vibration. As described above, the amplitude detection logic has high detection accuracy with respect to the first ripple waveform that may cause a slight increase / decrease vibration due to noise.

  On the other hand, the second ripple period detector 5 obtains each second ripple period Tr2 based on the second ripple waveform Ir2 output from the second bandpass filter 4, and further obtains an average ripple period Tav. As shown in FIG. 1, the second ripple cycle detector 5 includes a ripple cycle calculator 51 and a center selected average value calculator 56. FIG. 3 is a diagram for explaining a method of obtaining the second ripple period Tr2 by the zero-cross point detection logic by the ripple period calculation means 51 of the second ripple period detection unit 5. In the figure, the horizontal axis indicates a common time t, (1) in the upper graph indicates the armature current Im of the DC motor 91, (2) indicates the second pulse signal IP2, and (3) in the lower graph. Represents the second ripple waveform Ir2, and (4) represents the zero point threshold level Z. The zero point threshold level Z is a parameter amount for finely adjusting the threshold by ± ΔZ from the zero level.

  In FIG. 3, first, the DC component and noise are removed from the armature current Im by the second band pass filter 4, and the second ripple waveform Ir2 is output. Next, when the second ripple waveform Ir2 decreases at time t11 and crosses from the positive side to the negative side of the zero point threshold level Z in the ripple period calculating means 51, the zero point threshold level Z is slightly higher than zero. Set to level + △ Z. Thereafter, the second ripple waveform Ir2 further decreases and then increases. When the second ripple waveform Ir2 crosses from the negative side to the positive side of the zero point threshold level Z at time t12, the zero point threshold level Z is set to a level −ΔZ slightly lower than zero and the second pulse signal IP21 is output. Thereafter, the second ripple waveform Ir2 further increases and then decreases. When the second ripple waveform Ir2 crosses from the positive side to the negative side of the zero point threshold level Z at time t13, the zero point threshold level Z is set to + ΔZ.

  Thereafter, the same processing as at times t11 to t13 is repeated. Thus, the next second pulse signal IP22 is output at time t14, and the next second pulse signal IP23 is further output at time t15. The ripple period calculation means 51 sequentially detects the generation intervals of the adjacent second pulse signals IP21, IP22, and IP23 to obtain the second ripple period Tr2 (Tr2 = t14-t12, Tr1 = t15-t14).

  According to the zero crossing point detection logic for finely adjusting the zero point threshold level Z by ± ΔZ, the second pulse signal is mistakenly generated even if a slight increase / decrease vibration occurs due to noise superimposed on the second ripple waveform. There is no risk of outputting IP2. The second ripple waveform has a small amplitude because the signal component of the fundamental frequency f0 is attenuated by the second bandpass filter. Therefore, the zero-cross point detection logic is more reliable than the amplitude detection logic, the maximum point detection logic, and the minimum point detection logic.

  Further, the center selection average value calculation means 56 obtains an average value of the center second ripple period Tr2 by removing a predetermined number from the larger side and the smaller side of the fixed number of second ripple periods Tr2, and calculates the average ripple. The period is Tav. Specifically, four of the twelve second ripple periods Tr2 are removed from the larger side and the smaller side, respectively, and an average value of the four central second ripple periods Tr2 is obtained, and the average ripple period Tav and To do. The center selection average value calculation means 56 sends the obtained average ripple period Tav to the basic frequency calculation means 71 of the cutoff frequency control unit 7.

  The cut-off frequency control unit 7 includes basic frequency calculation means 71, first cut-off frequency control means 72, second cut-off frequency control means 73, and cut-off frequency confirmation means 74. The fundamental frequency calculating means 71 calculates the reciprocal of the average ripple period Tav sent from the average value calculating means 56 and sets it as the fundamental frequency f0.

  The first cut-off frequency control means 72 controls the lower cut-off frequency f1CL and the upper cut-off frequency f1CH so that the fundamental frequency f0 falls within the pass frequency band f1 of the first bandpass filter 2. Specifically, as shown in FIG. 4, control is performed such that the lower cut-off frequency f1CL = basic frequency f0 and the upper cut-off frequency f1CH = 2.4 × fundamental frequency f0. Further, the second cutoff frequency control means 73 controls the lower cutoff frequency f2CL and the upper cutoff frequency f2CH of the second bandpass filter 4 so that the fundamental frequency f0 is below the pass frequency band f2. Specifically, as shown in FIG. 5, control is performed so that the lower cutoff frequency f2CL = 2 × basic frequency f0 and the upper cutoff frequency f2CH = 4.8 × basic frequency f0. Here, the upper cut-off frequency f2CH is at least twice the basic frequency f0. Therefore, when the fundamental frequency f0 is accidentally reduced to ½, the regular fundamental frequency is passed and the ½ frequency is attenuated, which can be reliably restored without falling into the ½ frequency lock. .

  4 and 5 are diagrams for explaining the filter characteristics of the first bandpass filter 2 and the second bandpass filter 4 described above, respectively. The first bandpass filter 2 does not attenuate the signal component of the fundamental frequency f0 included in the first ripple waveform Ir1, but greatly attenuates the noise component of the ½ frequency, thereby greatly improving the S / N ratio. For this purpose, it is natural to make the lower cutoff frequency f1CL coincide with the fundamental frequency f0.

  On the other hand, the second band pass filter 4 attenuates the signal component of the fundamental frequency f0 included in the second ripple waveform Ir2, but can further attenuate the noise component of ½ frequency. In addition, since the slight increase / decrease vibration in the vicinity of the zero point threshold Z of the second ripple waveform Ir2 is attenuated, the second ripple period Tr2 can be obtained with high accuracy by a synergistic effect with the zero cross point detection logic. .

  When the DC motor 91 is started, the first and second cutoff frequency control means 72, 73 are not based on the fundamental frequency f0 obtained by the fundamental frequency calculation means 71, but based on the fundamental frequency f0 obtained from the ripple frequency map. The cutoff frequencies f1CL, f1CH, f2CL, and f2CH are controlled. In the ripple frequency map, the ripple frequency is obtained from the voltage applied to the DC motor 91 and the flowing current. Therefore, it is possible to obtain the ripple frequency in consideration of the actual applied voltage at the start-up and the flowing current, and set this as the fundamental frequency f0.

  The cutoff frequency confirmation means 74 is a means for confirming whether cutoff frequency control of the first bandpass filter 2 and the second bandpass filter is properly performed. As shown in FIG. 1, the cut-off frequency confirmation unit 74 receives the first pulse signal IP1 including information on the first ripple cycle Tr1 from the first ripple cycle detection unit 3, and obtains the fundamental frequency f0 from the fundamental frequency calculation unit 71. receive. Then, the first ripple frequency fr1, which is the reciprocal of the first ripple cycle Tr1, is calculated and compared with the fundamental frequency f0. As a result, if the two values are almost the same, it is determined that the cutoff frequency control is functioning well. If not, the alarm AL is notified to the motor control CPU 99. Upon receiving the alarm AL notification, the motor control CPU 99 executes a control sequence corresponding to the alarm AL, for example, resetting the ripple detection device 1.

  Finally, the ripple detection apparatus 1 sends the first pulse signal IP1 including information on the first ripple cycle Tr1 and the second pulse signal IP2 including information on the second ripple cycle Tr2 to the motor control CPU 99. The motor control CPU 99 obtains the cumulative rotation amount of the DC motor 91 from the information of the first pulse signal IP1, and grasps the slide movement amount of the sheet.

  Next, the operation of the ripple detection device 1 according to the embodiment will be described. The ripple detection apparatus 1 receives a reset signal from the motor control CPU 99 and starts operation, and first initializes the inside of the apparatus. Next, the entire apparatus 1 starts to move, but the cutoff frequency control is performed by obtaining the fundamental frequency f0 from the ripple frequency map at the start-up until 40 second ripple periods Tr2 are detected. When the second ripple period Tr2 is 40 or more, a normal operation state is established, and the cut-off frequency control is performed based on the fundamental frequency f0 obtained from the average ripple period Tav.

  Next, the operation of the ripple detection device 1 according to the embodiment having the above-described functional configuration will be described with reference to the actually measured waveform examples of FIGS. FIG. 6 is a diagram of measured waveform examples for explaining the operation of the first bandpass filter 2 and the first ripple period detection unit 3 of the ripple detection device 1. The horizontal axis of FIG. 6 shows a common time t, (1) in the upper graph shows the armature current Im of the DC motor 91, (2) shows the first pulse signal IP1, and (3) in the center graph. The first ripple waveform Ir1, (4) indicates the threshold level Y, and (5) in the lower graph indicates the lower cutoff frequency f1CL (that is, the fundamental frequency f0). FIG. 7 is a diagram of measured waveform examples illustrating the operation of the second bandpass filter 4 and the second ripple period detection unit 5 of the ripple detection device 1. The horizontal axis of FIG. 7 shows time t common to FIG. 6, (1) in the upper graph shows the armature current Im of the DC motor 91, (2) shows the second pulse signal IP2, and in the lower graph. (3) shows the second ripple waveform Ir2, and (4) shows the zero point threshold level Z.

  6 and 7, the DC motor 91 is started at time t0, and the armature current Im increases, then decreases and increases again, and settles to a steady state with a substantially constant value. In order to avoid a transient change in the armature current Im at the time of startup, the ripple detection device 1 makes the average ripple cycle Tav effective after time t40 when 40 second ripple cycles Tr2 are detected. . The waveform of the armature current Im is undulated with current ripples superimposed. The waveform of the armature current Im is input to the first and second band pass filters 2 and 4, and the filtered first and second ripple waveforms Ir1 and Ir2 are output.

  Subsequently, the first and second pulse signals IP1 and IP2 are obtained from the first and second ripple waveforms Ir1 and Ir2. When attention is paid to the second pulse signal IP2 in FIG. 7, a ripple dropout occurs at a position X1 in the figure, and a ripple increase occurs at three places Y1 to Y3 in the figure. Even in the steady state after time t40, the generation interval of the second pulse signal IP2, that is, the second pulse period Tr2, has variations. Nevertheless, the average ripple period Tav is stable by the action of the zero cross point detection logic of the second ripple period detection unit 5 and the center selection average value calculation.

  As a result, the lower cutoff frequency f1CL (that is, the fundamental frequency f0) in FIG. 6 is stable in a steady state after time t40, and no ½ frequency lock occurs. Although not shown in the figure, the upper cutoff frequency f1CH is naturally stable. As a result, a well-filtered first ripple waveform Ir1 is obtained, and a highly accurate first pulse signal IP1 is obtained. As shown in FIG. 6, the first pulse signal IP1 has no ripple omission or ripple increase. Further, the first ripple cycle Tr1 of the first pulse signal IP1 has a smaller variation and higher accuracy than the second ripple cycle Tr2.

  According to the ripple detection device 1 of the embodiment, the fundamental frequency f0 can be detected with high accuracy without being affected by the ½ frequency noise, and the ½ frequency lock is not generated. The lower and upper cut-off frequencies f1CL and f1CH can be accurately feedback controlled. In addition, since the first bandpass filter 2 that is always feedback controlled with high accuracy outputs the first ripple waveform Ir1 with high accuracy, the accurate first ripple period Tr1 can be reliably obtained and used. Accumulated rotation amount of DC motor can be calculated with high accuracy.

  In particular, on the feedback control side of the cut-off frequency, the pass frequency band f2 of the second bandpass filter 4 is set to 2 to 4.8 times the basic frequency f0, and the zero-crossing point detection logic and the center selection average are set in the second ripple period detection unit 5. Value calculation is used together. Due to the synergistic effect of these combinations, the detection accuracy of the fundamental frequency f0 can be further enhanced.

  On the detection side of the first ripple period Tr1, the pass frequency band f1 of the first bandpass filter 2 is set to 1 to 2.4 times the fundamental frequency f0, and the amplitude detection logic is used in the first ripple period detection unit 3. . Due to the synergistic effect of these combinations, the detection accuracy of the first ripple period Tr1 can be further enhanced.

  Further, the cut-off frequency confirmation means 74 confirms the control status of each cut-off frequency by comparing the first ripple frequency fr1 with the basic frequency f0. Thereby, the operation reliability of the ripple detection apparatus 1 is improved.

  The cut-off frequencies f1CL, f1CH, f2CL, f2CH and cut-off characteristics of the first and second bandpass filters 2 and 4 are not limited to those in the embodiment, and are set with reference to the frequency distribution of the actual current ripple. it can. Further, the setting of the population at the time of averaging by the central selection average value calculation means 56 is also free.

1: Ripple detection device 2: First bandpass filter
HPF1: High-pass filter LPF1: Low-pass filter 3: First ripple cycle detection unit 4: Second band-pass filter HPF2: High-pass filter LPF2: Low-pass filter 5: Second ripple cycle detection unit 51: Ripple cycle calculation means 56: Center selection average Value calculation means 7: Cut-off frequency control section 71: Basic frequency calculation means 72: First cut-off frequency control means 73: Second cut-off frequency control means 74: Cut-off frequency confirmation means 91: DC motor 99: Motor control CPU
Im: Armature current f1CL, f1CH: Lower and upper cutoff frequencies of the first bandpass filter f2CL, f2CH: Lower and upper cutoff frequencies of the second bandpass filter Ir1: First ripple waveform Ir2: Second ripple waveform IP1 : First pulse signal IP2: Second pulse signal Tr1: First ripple cycle Tr2: Second ripple cycle Tav: Average ripple cycle f0: Fundamental frequency

The present invention relates to equipment for detecting the current ripples contained in the armature current of the DC motor.

The present invention has been made in view of the above-described problems. The ripple frequency is detected with high accuracy and the cut-off frequency of the filter unit can be set with high accuracy without being affected by noise having a frequency half the ripple frequency. controls, to an object to be achieved by providing a ripple detection equipment of the DC motor which can be subjected to higher ripple periodic precision in use.

An invention of a ripple detection apparatus for a DC motor according to claim 1 that solves the above-described problem includes a variable cutoff frequency filter unit that extracts a current ripple contained in an armature current of a DC motor and obtains a ripple waveform, and the ripple waveform. A ripple detection device for a DC motor, comprising: a ripple cycle detection unit that obtains a ripple cycle based on the filter frequency; and a cutoff frequency control unit that controls the cutoff frequency of the filter unit based on the ripple cycle,
The ripple cycle detection unit is characterized in that an occurrence interval of zero cross points in the ripple waveform is set as the ripple cycle .

According to a second aspect of the present invention, in the first aspect, the ripple cycle detection unit adjusts the zero point threshold level for determining the zero cross point slightly from zero in response to the increase and decrease of the ripple waveform. It is characterized by setting .

According to a third aspect of the present invention, in the first or second aspect, the filter unit is a bandpass filter having a variable lower cutoff frequency and upper cutoff frequency, and the cutoff frequency control unit is a reciprocal of the ripple period. A certain ripple frequency is calculated to be a fundamental frequency, and the lower cutoff frequency of the bandpass filter is controlled to be more than 1 time and less than or equal to 2 times the fundamental frequency .

The invention according to claim 4 is characterized in that, in claim 3, the cutoff frequency control unit controls the lower cutoff frequency of the bandpass filter to a frequency close to twice the fundamental frequency .

The invention according to a fifth aspect is the invention according to any one of the first to fourth aspects, wherein the ripple period detecting unit includes an average value calculating means for calculating an average ripple period obtained by averaging a plurality of the ripple periods. The cutoff frequency control unit is characterized in that a reciprocal of the average ripple period is set as the fundamental frequency .

In the invention of the ripple detection apparatus for a DC motor according to claim 1, the ripple cycle detection unit sets the occurrence interval of the zero cross points in the ripple waveform as the ripple cycle. According to this zero-cross point detection logic, the ripple period and the fundamental frequency can be obtained reliably even with a ripple waveform in which the signal component of the fundamental frequency output from the filter unit is attenuated. That is, when the amplitude of the ripple waveform is small, the zero-cross point detection logic is more reliable than the amplitude detection logic, the maximum point detection logic, and the minimum point detection logic.

In the invention according to claim 3, the cut-off frequency control unit calculates a ripple frequency that is the reciprocal of the ripple period to obtain a fundamental frequency, and lowers the lower cut-off frequency of the bandpass filter to more than 1 time and less than or equal to 2 times the basic frequency. To control . Further, in the invention according to claim 4 , the cutoff frequency control unit controls the lower cutoff frequency of the bandpass filter to a frequency close to twice the fundamental frequency.

Thereby , in the band pass filter , when the fundamental frequency is mistakenly halved, the lower cut-off frequency is controlled to a frequency exceeding 0.5 times the regular fundamental frequency and less than 1 time. Therefore, the ½ frequency noise is attenuated to a greater extent than the normal fundamental frequency, so that it can be reliably restored after the transient noise disappears.

In the invention according to claim 5 , the ripple period detection unit calculates an average ripple period obtained by averaging a plurality of ripple periods , and the cutoff frequency control unit uses the reciprocal of the average ripple period as a fundamental frequency. For this reason, even if individual ripple periods vary due to jitter components, etc., or ripple omissions that cannot detect current ripple occur, or ripple increases that incorrectly detect noise as current ripples, the average ripple The fluctuation of the cycle is small. Therefore, the fundamental frequency can be detected with high accuracy by reducing the influence of variation and noise.

An embodiment for carrying out the present invention will be described with reference to FIGS. FIG. 1 is a block diagram illustrating a DC motor ripple detection apparatus 1 according to an embodiment of the present invention. The DC motor 91 is applied to a seat slide of a vehicle seat device (not shown), and is usually used at a constant rotational speed by applying a constant DC voltage. The ripple detection device 1 is configured in the form of a custom IC as a part of a control device that controls the DC motor 91, and operates under the control of the motor control CPU 99. The ripple detection apparatus 1 includes functional blocks such as a first bandpass filter 2, a first ripple cycle detection unit 3, a second bandpass filter 4, a second ripple cycle detection unit 5, and a cutoff frequency control unit 7.
Among these, the 2nd ripple period detection part 5 is one form of the ripple period detection part characterized by Claim 1 and Claim 2 of this invention. The second band pass filter 4 is one form of the filter unit characterized in the third and fourth aspects. Furthermore, the fundamental frequency calculation means 71 and the first cutoff frequency control means 72 of the cutoff frequency control section 7 are one form of the cutoff frequency control section characterized in the third and fourth aspects. Further, the central selection average value calculation means 56 of the second ripple cycle detection unit 5 is one form of the average value calculation means 56 characterized in claim 5.

Claims (9)

A filter unit with variable cut-off frequency for obtaining a ripple waveform by extracting a current ripple included in an armature current of a DC motor, a ripple period detecting unit for obtaining a ripple period based on the ripple waveform, and the above-mentioned based on the ripple period A DC frequency ripple detection device comprising: a cutoff frequency control unit that controls the cutoff frequency of the filter unit;
The filter unit includes a first bandpass filter and a second bandpass filter having different lower cutoff frequencies and upper cutoff frequencies from each other,
The ripple period detector includes a first ripple period detector that obtains a first ripple period based on the first ripple waveform obtained by the first band pass filter, and a second ripple waveform obtained by the second band pass filter. A second ripple period detection unit for obtaining a second ripple period based on
The cutoff frequency control unit calculates a second ripple frequency that is a reciprocal of the second ripple period to obtain a fundamental frequency, and a lower cutoff frequency of the first bandpass filter is equal to or lower than the fundamental frequency. And a first cutoff frequency control means for controlling the upper cutoff frequency of the first bandpass filter to be greater than the fundamental frequency, and a lower cutoff frequency of the second bandpass filter to be greater than the fundamental frequency. Second cutoff frequency control means for
A ripple detector for a DC motor, characterized in that   2. The first cutoff frequency control means according to claim 1, wherein the first cutoff frequency control means controls the lower cutoff frequency of the first bandpass filter to be more than 0.5 times and less than or equal to 0.5 times the fundamental frequency, and The upper cut-off frequency of the filter is controlled to be twice or more of the fundamental frequency, and the second cut-off frequency control means sets the lower cut-off frequency of the second bandpass filter to more than twice the basic frequency. A ripple detection apparatus for a DC motor, characterized in that the following control is performed.   3. The first cutoff frequency control means according to claim 2, wherein the lower cutoff frequency of the first bandpass filter is controlled to a frequency close to the fundamental frequency, and the second cutoff frequency control unit is configured to control the second band. A ripple detection device for a DC motor, wherein the lower cutoff frequency of a pass filter is controlled to a frequency close to twice the fundamental frequency.   4. The first ripple period detection unit according to claim 1, wherein the first ripple period detection unit holds a threshold value based on an amplitude of the first ripple waveform, and changes from a maximum point or a minimum point of the first ripple waveform. 2. A DC motor ripple detection apparatus, comprising: detecting a timing at which a quantity reaches the threshold value; and setting the timing generation interval as the first ripple period.   5. The DC motor ripple detection according to claim 1, wherein the second ripple cycle detection unit sets the occurrence interval of a zero cross point in the second ripple waveform as the second ripple cycle. 6. apparatus.   In any one of Claims 1-5, the said cutoff frequency control part has a cutoff frequency confirmation means, This cutoff frequency confirmation means calculates the 1st ripple frequency which is the reciprocal number of the said 1st ripple period, By confirming that the first ripple frequency substantially matches the fundamental frequency, the lower cutoff frequency and the upper cutoff frequency of the first bandpass filter and the second bandpass filter are appropriate. A ripple detector for a DC motor, characterized in that   The said 2nd ripple period detection part in any one of Claims 1-6 has an average value calculating means which calculates the average ripple period which averaged several said 2nd ripple periods, The said cutoff frequency control part The DC frequency ripple detecting device is characterized in that the fundamental frequency calculation means uses the inverse of the average ripple period as the fundamental frequency. First and second bandpass filters with variable cut-off frequency for extracting a ripple included in an armature current of a DC motor to obtain a ripple waveform, and a ripple period detecting unit for obtaining a ripple period based on the ripple waveform And a cutoff frequency control unit that controls the cutoff frequency of the first bandpass filter and the second bandpass filter based on the ripple period, and a ripple detection method using a ripple detection device of a DC motor. And
A first ripple waveform obtaining step of obtaining a first ripple waveform by the first bandpass filter;
A second ripple waveform obtaining step of obtaining a second ripple waveform by the second band pass filter;
A first ripple period detecting step for obtaining a first ripple period based on the first ripple waveform;
A second ripple period detecting step for obtaining a second ripple period based on the second ripple waveform;
A fundamental frequency calculating step of calculating a second ripple frequency that is the reciprocal of the second ripple period to obtain a fundamental frequency;
A first cutoff frequency control step of controlling a lower cutoff frequency of the first bandpass filter to be equal to or lower than the fundamental frequency and controlling an upper cutoff frequency of the first bandpass filter to be larger than the fundamental frequency;
A second cutoff frequency control step for controlling a lower cutoff frequency of the second bandpass filter to be greater than the fundamental frequency;
A ripple detection method for a DC motor, comprising:   A DC motor ripple detection program for causing a computer to execute the steps of claim 8.

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