JP2021040412A5 - - Google Patents
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- JP2021040412A5 JP2021040412A5 JP2019160272A JP2019160272A JP2021040412A5 JP 2021040412 A5 JP2021040412 A5 JP 2021040412A5 JP 2019160272 A JP2019160272 A JP 2019160272A JP 2019160272 A JP2019160272 A JP 2019160272A JP 2021040412 A5 JP2021040412 A5 JP 2021040412A5
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- drive current
- rotor
- motor
- control mode
- acceleration
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- 238000004804 winding Methods 0.000 claims description 15
- 230000001133 acceleration Effects 0.000 claims description 14
- 238000001514 detection method Methods 0.000 claims description 10
Description
本発明は、上記の課題に鑑み、モータの巻線に流れる駆動電流を制御する制御モードを切り替える際にモータが脱調してしまうことを抑制することを目的とする。 SUMMARY OF THE INVENTION In view of the above problems, it is an object of the present invention to prevent a motor from going out of step when switching control modes for controlling the drive current flowing through the windings of the motor.
本発明のモータ制御装置は、モータの巻線に流れる駆動電流を検出する検出手段と、前記検出手段によって検出された駆動電流に基づいて、前記モータの回転子の回転位置を決定する位置決定手段と、前記位置決定手段によって決定された前記回転位置を基準とする回転座標系において表される電流成分であって前記回転子にトルクを発生させる電流成分であるトルク電流成分に基づいて前記巻線に流れる駆動電流を制御する第１制御モードと、予め決められた大きさの電流に基づいて前記巻線に流れる駆動電流を制御する第２制御モードと、を備える制御手段と、前記検出手段によって検出された駆動電流に基づいて、前記回転子の加速度を決定する加速度決定手段と、を有し、前記制御手段は、前記第１制御モードにおいて、前記回転子の目標位置を表す指令位置と前記位置決定手段によって決定された回転位置との偏差が小さくなるように設定された前記トルク電流成分の目標値と、前記検出手段によって検出された駆動電流の前記トルク電流成分の値と、の偏差が小さくなるように前記巻線に流れる駆動電流を制御し、前記制御手段は、前記第２制御モードの実行中に、前記回転子の回転速度に対応する値が第１所定値よりも大きいこと及び前記加速度決定手段によって決定された加速度に対応する値が第２所定値を含む所定の範囲内の値であることの両方を満たす場合は、前記巻線に流れる駆動電流を制御する制御モードを前記第２制御モードから前記第１制御モードに切り替え、前記制御手段は、前記第２制御モードの実行中に、前記回転子の回転速度に対応する値が前記第１所定値よりも大きいこと及び前記加速度決定手段によって決定された加速度に対応する値が前記第２所定値を含む前記所定の範囲内の値であることの両方を満たさない場合は、前記巻線に流れる駆動電流を制御する制御モードを切り替えないことを特徴とする。 A motor control device according to the present invention includes detection means for detecting a drive current flowing through windings of a motor , and rotation of a rotor of the motor based on the drive current detected by the detection means. position determining means for determining a position; and torque current, which is a current component expressed in a rotating coordinate system based on the rotational position determined by the position determining means and which is a current component for generating torque in the rotor. A control comprising a first control mode for controlling the drive current flowing through the winding based on the component, and a second control mode for controlling the drive current flowing through the winding based on a current of a predetermined magnitude. and acceleration determination means for determining the acceleration of the rotor based on the drive current detected by the detection means, wherein the control means, in the first control mode, determines the target speed of the rotor. a target value of the torque current component set so as to reduce a deviation between a command position representing a position and the rotational position determined by the position determination means; and the torque current component of the drive current detected by the detection means. and the drive current flowing through the winding is controlled so that the deviation between the value of and the value of When both of the following conditions are satisfied: being greater than a predetermined value and that the value corresponding to the acceleration determined by the acceleration determining means is within a predetermined range including the second predetermined value, the driving current flowing through the winding is switched from the second control mode to the first control mode, and the control means changes the value corresponding to the rotation speed of the rotor to the first predetermined control mode during execution of the second control mode. and that the value corresponding to the acceleration determined by the acceleration determining means is within the predetermined range including the second predetermined value, the current flowing through the winding It is characterized in that the control mode for controlling the drive current is not switched .
本発明によれば、モータの巻線に流れる駆動電流を制御する制御モードを切り替える際にモータが脱調してしまうことを抑制することができる。 According to the present invention, it is possible to prevent the motor from stepping out when switching the control mode for controlling the drive current flowing through the windings of the motor.
Claims (6)
前記検出手段によって検出された駆動電流に基づいて、前記モータの回転子の回転位置を決定する位置決定手段と、
前記位置決定手段によって決定された前記回転位置を基準とする回転座標系において表される電流成分であって前記回転子にトルクを発生させる電流成分であるトルク電流成分に基づいて前記巻線に流れる駆動電流を制御する第１制御モードと、予め決められた大きさの電流に基づいて前記巻線に流れる駆動電流を制御する第２制御モードと、を備える制御手段と、
前記検出手段によって検出された駆動電流に基づいて、前記回転子の加速度を決定する加速度決定手段と、を有し、
前記制御手段は、前記第１制御モードにおいて、前記回転子の目標位置を表す指令位置と前記位置決定手段によって決定された回転位置との偏差が小さくなるように設定された前記トルク電流成分の目標値と、前記検出手段によって検出された駆動電流の前記トルク電流成分の値と、の偏差が小さくなるように前記巻線に流れる駆動電流を制御し、
前記制御手段は、前記第２制御モードの実行中に、前記回転子の回転速度に対応する値が第１所定値よりも大きいこと及び前記加速度決定手段によって決定された加速度に対応する値が第２所定値を含む所定の範囲内の値であることの両方を満たす場合は、前記巻線に流れる駆動電流を制御する制御モードを前記第２制御モードから前記第１制御モードに切り替え、
前記制御手段は、前記第２制御モードの実行中に、前記回転子の回転速度に対応する値が前記第１所定値よりも大きいこと及び前記加速度決定手段によって決定された加速度に対応する値が前記第２所定値を含む前記所定の範囲内の値であることの両方を満たさない場合は、前記巻線に流れる駆動電流を制御する制御モードを切り替えないことを特徴とする、
モータ制御装置。 detection means for detecting a drive current flowing through the windings of the motor ;
position determination means for determining the rotational position of the rotor of the motor based on the drive current detected by the detection means;
A torque current component, which is a current component expressed in a rotational coordinate system based on the rotational position determined by the position determining means and which is a current component that generates torque in the rotor, flows through the windings. a control means comprising a first control mode for controlling the drive current and a second control mode for controlling the drive current flowing through the winding based on a current of a predetermined magnitude;
an acceleration determining means for determining the acceleration of the rotor based on the drive current detected by the detecting means;
The control means controls, in the first control mode, a target of the torque current component set so as to reduce a deviation between a command position representing a target position of the rotor and the rotational position determined by the position determination means. controlling the drive current flowing through the winding so as to reduce the deviation between the torque current component of the drive current detected by the detection means and the torque current component of the drive current detected by the detection means;
During execution of the second control mode, the control means determines that the value corresponding to the rotational speed of the rotor is greater than a first predetermined value and that the value corresponding to the acceleration determined by the acceleration determining means 2 if both of the above are satisfied, the control mode for controlling the drive current flowing through the winding is switched from the second control mode to the first control mode,
During execution of the second control mode, the control means determines that the value corresponding to the rotational speed of the rotor is greater than the first predetermined value and that the value corresponding to the acceleration determined by the acceleration determination means is If both of the values within the predetermined range including the second predetermined value are not satisfied, the control mode for controlling the drive current flowing through the winding is not switched ,
motor controller.
請求項１に記載のモータ制御装置。 The second predetermined value is a value calculated based on the target position of the rotor ,
The motor control device according to claim 1.
請求項１又は２に記載のモータ制御装置。 wherein the value corresponding to the rotation speed of the rotor corresponds to the target speed of the rotor ,
The motor control device according to claim 1 or 2.
前記加速度決定手段は、前記速度決定手段によって決定された回転速度に基づいて前記加速度を決定することを特徴とする、
請求項１乃至３のいずれか一項に記載のモータ制御装置。 The motor control device has speed determination means for determining the rotation speed of the rotor based on the drive current detected by the detection means,
The acceleration determination means determines the acceleration based on the rotation speed determined by the speed determination means ,
The motor control device according to any one of claims 1 to 3 .
前記位置決定手段は、前記電圧決定手段によって決定された前記誘起電圧に基づいて前記回転位置を決定することを特徴とする、
請求項１乃至４のいずれか一項に記載のモータ制御装置。 The position determination means comprises voltage determination means for determining the magnitude of the induced voltage induced in the winding based on the drive current detected by the detection means,
The position determining means determines the rotational position based on the induced voltage determined by the voltage determining means ,
A motor control device according to any one of claims 1 to 4 .
前記モータ制御装置によって制御されるモータと、 a motor controlled by the motor controller;
前記モータによって駆動される負荷と、 a load driven by the motor;
前記負荷の駆動により記録媒体に画像を形成する画像形成部と、を有することを特徴とする、 and an image forming unit that forms an image on a recording medium by driving the load,
画像形成装置。 Image forming device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019160272A JP7346174B2 (en) | 2019-09-03 | 2019-09-03 | Motor control device and image forming device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2019160272A JP7346174B2 (en) | 2019-09-03 | 2019-09-03 | Motor control device and image forming device |
Publications (3)
| Publication Number | Publication Date |
|---|---|
| JP2021040412A JP2021040412A (en) | 2021-03-11 |
| JP2021040412A5 true JP2021040412A5 (en) | 2022-08-24 |
| JP7346174B2 JP7346174B2 (en) | 2023-09-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| JP2019160272A Active JP7346174B2 (en) | 2019-09-03 | 2019-09-03 | Motor control device and image forming device |
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| JP (1) | JP7346174B2 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP7678687B2 (en) * | 2021-03-26 | 2025-05-16 | キヤノン株式会社 | Motor control device and image forming apparatus |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP5277724B2 (en) * | 2008-05-23 | 2013-08-28 | 富士電機株式会社 | Control device for permanent magnet type synchronous motor |
| JP5412845B2 (en) * | 2009-01-23 | 2014-02-12 | 日産自動車株式会社 | Vehicle motor control apparatus and method |
| JP2016226217A (en) * | 2015-06-02 | 2016-12-28 | キヤノン株式会社 | Motor control device and image forming apparatus |
| JP6728433B2 (en) * | 2019-03-22 | 2020-07-22 | キヤノン株式会社 | Motor control device, sheet conveying device, document reading device, and image forming device |
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