JPH10117489A - Phase controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a phase controller, which is capable of a high resolution phase control while lowering the resolution of a rotary sensor and thereby reducing the cost but increasing the reliability of the sensor. SOLUTION: A sensor digital signal θ output from a rotary sensor of a resolution (n) is multiplied by a weight factor (m) and then is added with a phase control digital signal β. According to the calculation result (θ×m+β), the waveform data is read out form a waveform storing means 16. In the waveform storing means 16, n (the resolution of the rotary sensor) multiplied by m (the weight factor) number of waveform data are stored as the waveform data portion corresponding to one cycle. By this method, even if the resolution of the rotary sensor is low, phase control can be done with high resolution which is the weight factor times as high as that of the rotary sensor, in other words, a phase control can be done with a high resolution while lowering the cost of the rotary sensor and increasing the reliability.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a phase control device applied to a motor control device for performing field-weakening control of a synchronous motor serving as a power source of an electric vehicle, for example, which is detected by a rotation sensor such as an encoder. The present invention relates to a phase control device used to advance and control the phase of a current supplied to a synchronous motor by an arbitrary angle with respect to the rotation angle of the synchronous motor.

[0002]

2. Description of the Related Art In performing field-weakening control, a d-axis current command value (so-called real axis component of orthogonal coordinates) and a q-axis current command value (so-called imaginary axis component of orthogonal coordinates) are calculated.
Conventionally, a method has been used in which a d-axis current waveform and a q-axis current waveform obtained from them are generated, and a current command signal to be supplied to the synchronous motor is generated by adding them.

FIG. 16 shows a block diagram of a conventional motor control device of this type. In FIG. 16, reference numeral 21 denotes a three-phase synchronous motor serving as a drive source of an electric vehicle, for example. An encoder 22 is provided in the synchronous motor 21 and outputs a Z-phase signal, an A-phase signal, and a B-phase signal. 23 is an encoder 22
Is a position detecting means for detecting the rotation angle of the rotor of the synchronous motor 21 from the Z-phase signal, the A-phase signal, and the B-phase signal which are output signals of the synchronous motor 21. The output is from 0 to (k-1) according to the rotation angle of the rotor. Sensor digital signal θ corresponding to the numerical values up to)
Is output. In this specification, the encoder 22 and the position detecting means 23 are collectively called a rotation sensor. This rotation sensor detects the rotation angle of the rotating body by dividing one rotation of the rotor, which is a rotating body, into k (k is an arbitrary integer), and determines the rotation angle of the rotating body from 0 to (k-1) according to the rotation angle. Since the sensor digital signal θ corresponding to the numerical value is output, the resolution is k.

A ROM 26 stores q-axis current waveform data sinθ for driving the synchronous motor 21 for one cycle (k pieces) and periodically reads out waveform data corresponding to an address input.
And q-axis waveform storage means. Reference numeral 27 denotes the d-axis current waveform data cos θ for driving the synchronous motor 21 for one cycle (k
And d-axis waveform storage means such as a ROM that stores and reads out the waveform data periodically (every read clock) in accordance with the address input. The above q-axis waveform storage means 26 and d
The axis waveform storage means 27 sequentially reads out waveform data using the sensor digital signal θ as an address input.

[0005] 25 is a speed command input from the outside or
Drive power supplied to the synchronous motor 21 based on the torque command
Q defining amplitude and phase for field weakening control of flow
Current command to output axis current command value and d-axis current command value
Signal generation means. 28 is a q-axis current command value i_qThe amplitude
Example of sequentially outputting from the q-axis waveform storage means 26 on the basis of
For example, a U-phase and W-phase two-phase q-axis current waveform
Digital-to-analog conversion to convert U-phase and W-phase q-axis current
Command signal i_qU, I_qWDigital / analog conversion
It is a heat exchanger. 29 is a d-axis current command value i_dIs the amplitude reference
For example, U-phase sequentially output from the d-axis waveform storage means 27
And a two-phase d-axis current waveform data string
Analog-converted U-phase and W-phase d-axis current command signal i
_dU, I_dWDigital-to-analog converter
You.

[0006] 30 and a d-axis current command signal i _dU of U-phase sequentially output from the q-axis current command signal i _qU and digital-to-analog converter 29 of the U-phase sequentially output from the digital-to-analog converter 28 adding to an analog adding means for outputting a current command signal i _U of the U phase. 31 by adding the d-axis current command signal i _dW W-phase sequentially output from the q-axis current command signal i _QW and digital-to-analog converter 29 of the W-phase sequentially output from the digital-to-analog converter 28 W is an analog adding means for outputting a current command signal i _W of phase.

A current transformer 35 detects a load current I _U flowing in the U phase of the synchronous motor 21. 36 is a synchronous motor 2
1 is a current transformer for detecting a load current I _W flowing in the W phase. Reference numeral 32 denotes a U-phase current command signal i _U outputted from the analog adding means 30, a W-phase current command signal i _W outputted from the analog adding means 31, and detection of the U-phase load current I _{U by} the current transformer 35. The signal and the detection signal of the W-phase load current I _{W by} the current transformer 36 are input to the analog adding means 3.
U-phase and W-phase current command signals i _U , i _W output from 0, 31 and U-phase and W-phase load currents I _U , I _W output from current transformers 35, 36, respectively. error signal i _eU, and outputs the i _eW, the error signal i _eV corresponding to the load current I _V of the remaining V-phase by calculation with
Is a current control circuit. This error signal i _eU , i
_eV and i _eW correspond to currents actually applied to the synchronous motor 21.

[0008] 33 is a pulse width modulation control circuit for pulse width modulation in accordance with the error signal i _eU output from the current control circuit 32, i _eV, the i _eW. A pulse width modulation inverter 34 drives the synchronous motor 21 according to a pulse width modulation signal output from the pulse width modulation control circuit 33. The operation of the motor control device having the above configuration will be described below.

A sensor digital signal θ, which is an output signal of a position detecting means 23 to which an output signal of an encoder 22 provided in the synchronous motor 21 is input, is added to a q-axis waveform storing means 26 and a d-axis waveform storing means 27 as an address input. And
The U-phase and W-phase q-axis waveform data and the U-phase and W-phase d-axis waveform data are read out, respectively. Further, based on a speed command or a torque command input from the outside, the current command signal generating means 25 outputs the q-axis current command values _iq and d.
The shaft current command value _id will be output.

A digital-to-analog converter 28 converts the U-phase and W-phase q-axis waveform data output from the q-axis waveform storage means 26 into digital-to-analog conversion using the q-axis current command value _iq as an amplitude reference. It outputs U-phase and W-phase q-axis current command signals _iqU and _iqW . Similarly, the digital / analog converter 29 uses the d-axis current command value _id as an amplitude reference
U-phase and W-phase ds output from axis waveform storage means 27
It converts the axis waveform data from digital to analog and outputs U-phase and W-phase d-axis current command signals _idU and _idW .

The U-phase q-axis current command signal _iqU output from the digital / analog converter 28 and the digital / analog
The U-phase d-axis current command signal _idU output from the analog converter 29 is added by the analog addition means 30, and the W-phase q-axis current command signal i _qW output from the digital-analog converter 28. And digital-analog converter 2
The analog addition means 31 adds the W-phase d-axis current command signal _idW output from the reference numeral 9.

Further, the output from the analog adding means 30 is
U-phase current command signal i_UAnd analog addition means 31
-Phase current command signal i output from_WIs current control
Input to the control circuit 32. The current control circuit 32
U and W-phase load currents I_U, I_W
And the U-phase current command signal i _U
And U-phase load current I_UError signal i from the detection signal_EUOut
And the W-phase current command signal i_WAnd W-phase load current I_Wof
Error signal i from detection signal_eWAnd output
The remaining V-phase load current I_VError signal i corresponding to_eVOut
Power.

The pulse width modulation control circuit 33 has a U-phase, V-phase
Phase, W-phase of the error signal i _eU and, i _eV, as input i _eW, the error signal i _eU, i _eV, performs voltage conversion by performing pulse width modulation in accordance with the i _eW, the pulse width modulation control circuit 33 , The pulse width modulation inverter 34 drives the synchronous motor 21 in accordance with the pulse width modulation signal output from. In the above-described conventional motor control device, the q-axis current waveform and the d-axis current waveform are separately generated, and then these are analog-added by the analog addition means 30 and 31, so that the current command signals i _U and i _W are generated.
, Two circuits for generating a current waveform are required, and the structure is complicated and expensive.

Further, since the analog addition means 30 and 31 are provided for adding the q-axis current waveform and the d-axis current waveform, the load current of the synchronous motor 21 is offset due to the characteristics of the analog addition means 30 and 31. And the field-weakening control could not be performed efficiently. On the other hand, an inexpensive motor control device capable of solving the above-mentioned problems, reducing the offset of the load current of the synchronous motor, performing the field-weakening control efficiently, and inexpensively has already been proposed (Japanese Patent Application No. 8-108).
117533). Hereinafter, the motor control device will be described.

FIG. 17 is a block diagram showing a configuration of a motor control device in the proposed example. In FIG. 17, reference numeral 1 denotes a three-phase synchronous motor serving as a drive source of an electric vehicle, for example. 2 is provided in the synchronous motor 1 so that a Z-phase signal, an A-phase signal,
It is an encoder that outputs a phase signal. Reference numeral 3 denotes position detection means for detecting the rotation angle of the rotor of the synchronous motor 1 from the Z-phase signal, the A-phase signal, and the B-phase signal, which are the output signals of the encoder 2, and outputs from 0 to 0 according to the rotation angle of the rotor. Sensor digital signal θ corresponding to the values up to (k-1)
Is output. In this specification, the encoder 2 and the position detecting means 3 are collectively called a rotation sensor. This rotation sensor detects the rotation angle of the rotating body by dividing one rotation of the rotor, which is a rotating body, into k (k is an arbitrary integer), and determines the rotation angle of the rotating body from 0 to (k-1) according to the rotation angle. Since the sensor digital signal θ corresponding to the numerical value is output, the resolution is k as in the conventional example.

Reference numeral 7 denotes a waveform storage such as a ROM for storing q-axis current waveform data sinθ for driving the synchronous motor 1 for one cycle (k pieces) and periodically (every read clock) reading waveform data corresponding to an address input. Means. The waveform storage means 7 sequentially reads out waveform data using the sensor digital signal θ as an address input. Reference numeral 5 denotes a current amplitude command signal I for defining the amplitude of a drive current supplied to the synchronous motor 1 based on a speed command or a torque command input from the outside, and a phase advance of the drive current supplied to the synchronous motor 1 for field weakening control. It is a current command signal generation unit that outputs a current phase control digital signal β that defines an angle.

Reference numeral 6 denotes a digital signal adding means for adding the sensor digital signal θ and the current phase control digital signal β and supplying the addition result θ '(= θ + β) to the waveform storage means 7 as an address input. 8 U-phase and W-phase current waveform data i _aU sequentially output from the q-axis waveform storage means 7 and the current amplitude command signal I to the amplitude reference, the i _aW and digital-analog conversion of U-phase and W-phase The current command signal i _U ′,
It is a digital-to-analog converter that outputs as i _W ′.

Reference numeral 12 denotes a current transformer for detecting a load current I _U flowing in the U phase of the synchronous motor 1. Reference numeral 13 denotes a current transformer for detecting a load current I _W flowing through the W phase of the synchronous motor 1. 9
Are the U-phase current command signal i _U ′ output from the digital / analog converter 8, the W-phase current command signal i _W ′, the U-phase load current I _U detected by the current transformer 12, and the current as input and detection signal of the load current I _W of the W phase by vessel 13, the current command signal U and W phases which are output from the digital-to-analog converter 8 i _U ', i _W' and current transformer 12 , 13 output from U-phase and W-phase load currents I _U , I _W and error signals _ieU ', i
_eW is a current control circuit for outputting a 'outputs a error signal i _eV corresponding to the load current I _V of the remaining V-phase by calculation'. The error signal _{i eU ', i eV',} i eW ' is made to correspond to the actual added current to the synchronous motor 1.

[0019] 10 is a pulse width modulation control circuit for pulse-width modulation in response to the error signal _{i eU ', i eV',} i eW ' outputted from the current control circuit 9. Reference numeral 11 denotes a pulse width modulation inverter that drives the synchronous motor 1 according to a pulse width modulation signal output from the pulse width modulation control circuit 10.
The operation of the motor control device having the above configuration will be described below.

A sensor digital signal θ, which is an output signal of the position detecting means 3 to which the output signal of the encoder 2 provided in the synchronous motor 1 is input, is input to the digital signal adding means 6. Further, based on a speed command or a torque command input from the outside, a calculation is performed by a predetermined field-weakening control algorithm or the like, and the current command signal generating means 5 outputs a current amplitude command signal I and a phase control digital signal β. The command signal I is input to the digital / analog converter 8,
The phase control digital signal β is input to the digital signal adding means 6.

The digital signal adding means 6 adds the sensor digital signal θ and the phase control digital signal β and outputs an addition result θ ′. This addition result θ 'is
The phase of the rotor position is advanced by an angle corresponding to the field weakening control. The addition result .theta. 'Of the digital signal adding means 6 is applied as an address input to the waveform storage means 7, and the reference phase (the phase in the state where the field weakening control is not performed (.theta.' =. Theta.)) Corresponds to the field weakening control. angular only advanced phase U and W phases of the waveform data i _aU, i _aW are read respectively.

The digital-to-analog converter 8, U-phase and W-phase of the waveform data i _aU outputted from the waveform storage means 7 and the current amplitude command signal I to the amplitude reference, and the i _aW digital-to-analog converter U It outputs current command signals i _U ′ and i _W ′ for the three phases and the W phase. The U-phase and W-phase current command signals i _U ′, i _W ′ output from the digital / analog converter 8 are input to the current control circuit 9. The current control circuit 9 is supplied with detection signals of the U-phase and W-phase load currents I _U and I _W from the current transformers 12 and 13, and outputs the U-phase current command signal i _U ′ and the U-phase load Current I _U
Of 'outputs, W phase of the current command signal i _W' error signal i _eU between the detection signal and outputs an error signal i _eW 'of the detection signal of the load current I _W and W phases, remaining by further calculations An error signal _ieV 'corresponding to the V-phase load current _IV is output.

The pulse width modulation control circuit 10 has a U-phase, V-phase
Phase error signal i _eU of W-phase ', i _eV', 'as input, the error signal _{i eU' i eW, i eV} ', i eW' performs voltage conversion by performing pulse width modulation in accordance with, The pulse width modulation inverter 11 drives the synchronous motor 1 according to the pulse width modulation signal output from the pulse width modulation control circuit 10.

In this motor control device, a current amplitude command signal I (so-called polar coordinate radius component) and a phase control digital signal β (so-called polar coordinate angle component) are given, and the sensor digital signal θ is converted into the phase control digital signal β. That is, the phase control digital signal β is added to the sensor digital signal θ to obtain an addition result θ ′, and the addition result θ ′ is used as an address input to output the U-phase and W-phase waveform data i from the waveform storage means 7. By reading out _aU and i _aW ,
The U-phase and W-phase current command signals i _U ′ and i _W ′ are generated by the digital / analog converter 8 with the phase advanced from the reference phase (same phase as the rotation angle of the rotor) by an angle corresponding to the field weakening control. Therefore, only one waveform needs to be generated, and the waveform generation circuit (that is, the waveform storage means and the digital / analog converter) for generating the current command signals i _U ′ and i _W ′ is one. In this case, the number of units can be reduced, and the analog adding means is not required. Thus, a motor controller for field-weakening control can be configured at a lower cost than the conventional system. In addition, the analog addition means is not required, and the offset of the load current of the synchronous motor 1 which has been a problem by the analog addition can be removed, and the field weakening control can be performed efficiently.

[0025]

As described above, in the motor control device of the proposed example, the part of the phase control device for performing the field-weakening control, as shown in FIG. By adding the sensor digital signal .theta. Corresponding to the rotation angle and the phase control digital signal .beta. Corresponding to the phase lead amount, and supplying the addition result .theta. '(= .Theta. +. Beta.) To the waveform storage means 7 as an address input, the waveform storage means 7, the waveform data is sequentially read out, the waveform data is converted into an analog signal such as a sine wave by a digital / analog converter 8, and the synchronous motor 1 is operated in accordance with the analog signal.
Field weakening control.

In this case, the sensor digital signal θ and the phase control digital signal β are similarly weighted,
The phase can be advanced only by the resolution of the sensor digital signal θ, that is, the resolution of the encoder 2. For example,
If the resolution of the encoder 2 is 360, the phase can be advanced by 1 °, but if the resolution is 20,
The phase can be advanced only in units of 18 °. Therefore, the resolution of the phase control is limited by the resolution of the encoder 2.

FIG. 19A shows a case where the resolution of the encoder 2 is 20, and a step-like approximation of a sine wave output from the digital-to-analog converter 8 when β = 0 (that is, 0 °). FIG. 4B shows a wave and an ideal sine wave corresponding to the rotation of the rotor, and FIG.
In the case of 0, it shows a sine wave approximating stepped wave and an ideal sine wave output from the digital-to-analog converter 8 when β = 1 (that is, 18 °).

When the resolution of the encoder 2 is 360, the waveform storage means 7 stores an address corresponding to a numerical value from 0 to 359 for each angle (1 °) obtained by dividing one cycle of the sine wave into 360. The waveform data for one cycle of the sine wave is stored in sequence, and when the resolution of the encoder 2 is 20, one cycle of the sine wave is
Addresses corresponding to numerical values from 0 to 19 are sequentially assigned to each angle (18 °) obtained by dividing the waveform by 0, and waveform data for one cycle of a sine wave is stored.

As a driving current waveform for driving the synchronous motor 1, a periodic waveform such as a sine wave is used. However, the quality of the sine wave as the driving current waveform of the synchronous motor 1 is required to be so high. However, in an extreme case, the motor may be driven by a rectangular wave. If only the driving of the synchronous motor 1 is considered, the resolution of the rotation sensor, that is, the resolution of the encoder 2 may be reduced. Is lower, the cost of the encoder 2 is reduced, and it is advantageous in terms of reliability. Therefore,
It is better to lower the resolution of the encoder 2 from the viewpoint of cost and reliability.

However, in order to perform the field-weakening control of the synchronous motor 1 with high precision, it is necessary to control the phase of the drive current waveform with high resolution. For this reason, in the proposal examples shown in FIGS. The resolution of the encoder 2, that is, the rotation sensor, must be set high, which is disadvantageous in terms of cost and reliability. Accordingly, an object of the present invention is to provide a phase control device capable of performing phase control with high resolution while lowering the resolution of a rotation sensor and increasing the cost and reliability of the rotation sensor.

[0031]

A phase control device according to the present invention multiplies a sensor digital signal output from a rotation sensor by a weighting coefficient, and then adds a phase control digital signal.
The waveform data is read from the waveform storage means in accordance with the addition result, and the waveform storage means stores the number of waveform data obtained by multiplying the resolution of the rotation sensor by the weighting factor as the waveform data for one cycle. . As a result, even when the resolution of the rotation sensor is low, it is possible to perform phase control with a high resolution that is twice the weight coefficient of the resolution of the rotation sensor. It can be carried out.

By storing the phase lead correction waveform data obtained by advancing the phase by a phase delay detected by the rotation sensor based on the resolution of the rotation sensor in the waveform storage means, an ideal waveform and an ideal waveform corresponding to the rotation of the rotating body are stored. It is possible to correct the phase delay between the approximated step-like waves, and it is possible to accurately perform the phase control. In addition, by adding a phase delay correction value for correcting the detection phase delay of the rotation sensor due to the resolution of the rotation sensor to the phase control digital signal, an ideal waveform corresponding to the rotation of the rotating body and a step-like wave approximating the ideal waveform can be obtained. Can be corrected, and the phase control can be accurately performed.

By providing a low-pass filter at the subsequent stage of the output means, the quantization error of the analog signal output from the output means can be corrected. However, the provision of the low-pass filter reduces the rotational speed of the rotating body. A corresponding phase delay will occur. At this time, a phase lag correction for detecting a rotation speed of the rotator and correcting a phase lag by the low-pass filter based on the rotation speed of the rotator detected by the rotation speed detecting means and the rotation speed-phase characteristic of the low-pass filter. By deriving a value and adding a phase delay correction value to the phase control digital signal, phase control can be accurately performed.

Further, the phase delay caused by the low-pass filter is derived not only based on the rotation speed-phase characteristics of the low-pass filter, but also by feeding back the output of the low-pass filter to obtain the phase of the reference waveform having the same phase as the rotation angle of the rotating body. It can also be detected by comparing. In the correction by the feedback, the detection phase delay of the rotation sensor due to the resolution of the rotation sensor can be corrected together, so that it is not necessary to separately provide a means for correcting the detection phase delay of the rotation sensor by the resolution of the rotation sensor.

When the phase delay of the low-pass filter is derived based on the rotation speed-phase characteristic of the low-pass filter, the correction cannot be made by the detection delay of the rotation sensor based on the resolution of the rotation sensor.
If necessary, the above-described correction means may be added to correct the detection phase delay of the rotation sensor due to the resolution of the rotation sensor.

[0036]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A phase control device according to a first aspect of the present invention
A rotation sensor that divides one rotation of the rotator by an arbitrary positive integer n, detects a rotation angle of the rotator, and sequentially outputs a sensor digital signal corresponding to a numerical value from 0 to (n−1) according to the rotation angle. A digital signal multiplying means for multiplying the sensor digital signal by an arbitrary positive integer m, and one rotation of the rotating body by (n ×
m) A phase command signal generating means for generating a phase control digital signal for changing the phase in units of the divided rotation angle, and 0 to (n × m) divided angles of one cycle of an arbitrary periodic waveform. (n × m-1) in order, addresses corresponding to numerical values are sequentially added, and waveform storage means for storing waveform data for one cycle of an arbitrary periodic waveform, and a sensor digital signal and a phase control digital signal are added and added. A phase shift digital signal adding means for supplying a result to the waveform storage means for reading the waveform data is provided, and an output means for outputting the waveform data read from the waveform storage means as an analog signal.

According to this configuration, after multiplying the sensor digital signal output from the rotation sensor by the weighting coefficient, the phase control digital signal is added, and the waveform data is read from the waveform storage means according to the addition result. In addition, since the waveform storage means stores the number of waveform data obtained by multiplying the resolution of the rotation sensor by the weighting factor as the waveform data for one cycle, even if the resolution of the rotation sensor is low, The phase control can be performed with a high resolution that is twice the weight coefficient, and the phase control can be performed with a high resolution while increasing the cost and reliability of the rotation sensor.

According to a second aspect of the present invention, the rotation of the rotator is divided by an arbitrary positive integer n to detect the rotation angle of the rotator, and the rotation of the rotator from 0 to (n-1) is determined according to the rotation angle. A rotation sensor that sequentially outputs a sensor digital signal corresponding to a numerical value, a digital signal multiplying unit that multiplies the sensor digital signal by an arbitrary positive integer m, and a rotation angle obtained by dividing one rotation of the rotating body into (n × m). Phase command signal generating means for generating a phase control digital signal for changing the phase as a unit, and from 0 to (nxm-1) for each angle obtained by dividing one cycle of an arbitrary periodic waveform by (nxm) The waveform storage means for storing the waveform data for one cycle of the arbitrary periodic waveform by sequentially assigning the addresses corresponding to the numerical values of the above, and adding the sensor digital signal and the phase control digital signal to the waveform storage means. Waveform Phase shift digital signal addition means for supplying data for reading the data, and output means for outputting the waveform data read from the waveform storage means as an analog signal. The phase advance correction waveform data in which the phase is advanced by the detected phase delay is stored.

According to this configuration, in addition to the same operation as that of the phase control device according to the first aspect, phase lead correction waveform data in which the phase is advanced by a phase delay detected by the rotation sensor based on the resolution of the rotation sensor is stored in the waveform storage means. By doing so, it is possible to correct the phase delay between the ideal waveform corresponding to the rotation of the rotating body and the staircase wave approximating the ideal waveform, and to perform the phase control accurately.

According to a third aspect of the present invention, the rotation of the rotator is divided by an arbitrary positive integer n to detect the rotation angle of the rotator, and the rotation of the rotator from 0 to (n-1) is determined according to the rotation angle. A rotation sensor that sequentially outputs a sensor digital signal corresponding to a numerical value, a digital signal multiplying unit that multiplies the sensor digital signal by an arbitrary positive integer m, and a rotation angle obtained by dividing one rotation of the rotating body into (n × m). Phase command signal generating means for generating a phase control digital signal for changing the phase as a unit, and from 0 to (nxm-1) for each angle obtained by dividing one cycle of an arbitrary periodic waveform by (nxm) The waveform storage means for storing the waveform data for one cycle of the arbitrary periodic waveform by sequentially assigning the addresses corresponding to the numerical values of the above, and adding the sensor digital signal and the phase control digital signal to the waveform storage means. Waveform Phase shift digital signal adding means for supplying data for reading data, output means for outputting the waveform data read from the waveform storage means as an analog signal, phase command signal generating means, and phase shift digital signal adding means. A phase delay correction value for correcting the detection phase delay of the rotation sensor due to the resolution of the rotation sensor to the phase control digital signal, and adding the phase delay correction signal to the phase shift digital signal addition means. Have.

According to this configuration, in addition to the same operation as the phase control device according to the first aspect, a phase delay correction value for correcting the detection phase delay of the rotation sensor due to the resolution of the rotation sensor is added to the phase control digital signal. Accordingly, it is possible to correct the phase delay between the ideal waveform corresponding to the rotation of the rotator and the staircase wave approximating the ideal waveform, and to perform the phase control accurately. The phase control device according to claim 4 divides one rotation of the rotator by an arbitrary positive integer n, detects the rotation angle of the rotator, and determines from 0 to (n−1) according to the rotation angle.
A rotation sensor that sequentially outputs sensor digital signals corresponding to the numerical values up to, and an arbitrary positive integer m
Digital signal multiplying means for multiplying the rotator by one rotation (n
.Times.m), and a phase command signal generating means for generating a phase control digital signal for changing the phase in units of the rotation angle divided into one unit.
m) waveform storage means for storing waveform data for one cycle of an arbitrary periodic waveform by sequentially assigning addresses corresponding to numerical values from 0 to (n × m-1) for each divided angle, and a sensor digital signal And a phase control digital signal, and a phase shift digital signal adding means for supplying the addition result to the waveform storage means for reading the waveform data; and outputting the waveform data read from the waveform storage means as an analog signal. Output means, and a low-pass filter for correcting a quantization error of an analog signal output from the output means,
Rotation speed detection means for detecting the rotation speed of the rotating body, and a phase delay for correcting a phase delay caused by the low-pass filter based on the rotation speed of the rotation body detected by the rotation speed detection means and the rotation speed-phase characteristic of the low-pass filter. Phase delay deriving means for deriving a correction value, and a phase shift digital signal added to a phase control digital signal plus a phase delay correction signal interposed between the phase command signal generating means and the phase shift digital signal adding means. And phase delay correction adding means.

According to this configuration, in addition to the same operation as the phase control device according to the first aspect, a quantization error of an analog signal output from the output means is corrected by providing a low-pass filter at a stage subsequent to the output means. Can be
The provision of the low-pass filter causes a phase delay corresponding to the rotation speed of the rotating body. At this time,
Detecting the rotation speed of the rotating body and deriving a phase delay correction value for correcting the phase delay by the low-pass filter based on the rotation speed of the rotating body detected by the rotation speed detecting means and the rotation speed-phase characteristic of the low-pass filter. By adding the phase delay correction value to the phase control digital signal, the phase control can be accurately performed.

According to a fifth aspect of the present invention, the rotation controller detects the rotation angle of the rotating body by dividing one rotation of the rotating body by an arbitrary positive integer n, and determines the rotation angle from 0 to (n-1) according to the rotation angle. A rotation sensor that sequentially outputs a sensor digital signal corresponding to a numerical value, a digital signal multiplying unit that multiplies the sensor digital signal by an arbitrary positive integer m, and a rotation angle obtained by dividing one rotation of the rotating body into (n × m). Phase command signal generating means for generating a phase control digital signal for changing the phase as a unit, and from 0 to (nxm-1) for each angle obtained by dividing one cycle of an arbitrary periodic waveform by (nxm) The waveform storage means for storing the waveform data for one cycle of the arbitrary periodic waveform by sequentially assigning the addresses corresponding to the numerical values of the above, and adding the sensor digital signal and the phase control digital signal to the waveform storage means. Waveform Phase shift digital signal addition means for supplying data for reading data, output means for outputting waveform data read from the waveform storage means as an analog signal, and correction of a quantization error of the analog signal output from the output means. The output of the low-pass filter is fed back, and the output of the low-pass filter is fed back to detect the phase delay of the output of the low-pass filter with respect to the reference waveform having the same phase as the rotation angle of the rotating body. In addition, there is provided a phase lag correcting means to be provided to the phase shift digital signal adding means.

According to this configuration, in addition to the same operation as the phase control device according to the first aspect, a quantization error of an analog signal output from the output means is corrected by providing a low-pass filter at a stage subsequent to the output means. Can be
The provision of the low-pass filter causes a phase delay corresponding to the rotation speed of the rotating body. At this time,
The phase lag due to the low-pass filter can be detected by feeding back the output of the low-pass filter and comparing the output with the phase of the reference waveform having the same phase as the rotation angle of the rotating body, and adding a phase lag correction value to the phase control digital signal. Thereby, it is possible to accurately perform the phase control.
In the correction based on the feedback, the detection phase delay of the rotation sensor due to the resolution of the rotation sensor can also be corrected.

According to a sixth aspect of the present invention, the rotation of the rotator is divided by an arbitrary positive integer n to detect the rotation angle of the rotator, and the rotation from 0 to (n-1) is determined according to the rotation angle. A rotation sensor that sequentially outputs a sensor digital signal corresponding to a numerical value, a digital signal multiplying unit that multiplies the sensor digital signal by an arbitrary positive integer m, and a rotation angle obtained by dividing one rotation of the rotating body into (n × m). Phase command signal generating means for generating a phase control digital signal for changing the phase as a unit, and from 0 to (nxm-1) for each angle obtained by dividing one cycle of an arbitrary periodic waveform by (nxm) The waveform storage means for storing the waveform data for one cycle of the arbitrary periodic waveform by sequentially assigning the addresses corresponding to the numerical values of the above, and adding the sensor digital signal and the phase control digital signal to the waveform storage means. Waveform Phase shift digital signal addition means for supplying data for reading data, output means for outputting waveform data read from the waveform storage means as an analog signal, and correction of a quantization error of the analog signal output from the output means. A low-pass filter, a rotation speed detecting means for detecting the rotation speed of the rotating body, and a phase delay by the low-pass filter based on the rotation speed of the rotating body detected by the rotation speed detecting means and the rotation speed-phase characteristic of the low-pass filter. Phase delay deriving means for deriving a phase delay correction value, and a phase control digital signal interposed between the phase command signal generating means and the phase shift digital signal adding means, and a value obtained by adding the phase delay correction value to the phase control digital signal. Phase delay correction adding means to be provided to the shift digital signal adding means, and the resolution of the rotation sensor is stored in the waveform storage means. Only the detected phase lag of the rotation sensor by which stores the phase advance correction waveform data advanced phase.

According to this configuration, in addition to the same operation as the phase control device according to the first aspect, the same operation as the phase control device according to the second and fourth aspects is provided. The phase control device according to claim 7 divides one rotation of the rotator by an arbitrary positive integer n, detects the rotation angle of the rotator, and sets 0 according to the rotation angle.
A rotation sensor that sequentially outputs a sensor digital signal corresponding to a numerical value from (n−1), a digital signal multiplication unit that multiplies the sensor digital signal by an arbitrary positive integer m, and one rotation of the rotating body by (n × m A) a phase command signal generating means for generating a phase control digital signal for changing the phase in units of the rotation angle divided into a plurality of rotation angles; and 0 for each angle obtained by dividing one cycle of an arbitrary periodic waveform into (n × m). (Nxm-
Waveform storage means for storing waveform data for one cycle of an arbitrary periodic waveform by sequentially assigning addresses corresponding to the numerical values up to 1), adding the sensor digital signal and the phase control digital signal, and storing the addition result in a waveform Phase shift digital signal adding means for supplying waveform data to the means, output means for outputting the waveform data read from the waveform storage means as an analog signal, and analog signal output from the output means. A low-pass filter that corrects a quantization error, a rotation speed detection unit that detects the rotation speed of the rotator, and a rotation speed of the rotator detected by the rotation speed detection unit and a rotation speed-phase characteristic of the low-pass filter. Phase delay deriving means for deriving a first phase delay correction value for correcting a phase delay by a low-pass filter; A first phase delay correction value and a second phase delay correction value for correcting the detection phase delay of the rotation sensor based on the resolution of the rotation sensor in the phase control digital signal. Is provided to the phase shift digital signal adding means.

According to this configuration, in addition to the same operation as the phase control device according to the first aspect, the same operation as the phase control device according to the third and fourth aspects is provided. Hereinafter, embodiments of the present invention will be described with reference to the drawings. [First Embodiment] FIG. 1 is a block diagram showing a phase control apparatus according to a first embodiment of the present invention. This phase control device divides one rotation of a rotating body, that is, a rotor of a synchronous motor, from a rotation sensor (not shown) by an arbitrary positive integer n and detects the rotation angle of the rotor. (N-
The sensor digital signal θ corresponding to the numerical values up to 1) is output. As shown in FIG. 1, the sensor digital signal θ output from the rotation sensor is input to the digital signal multiplying means 14, and the sensor digital signal θ Is multiplied by an arbitrary positive integer m as a weighting factor, and the output (m × θ) of the digital signal multiplying means 14 is input to the digital signal adding means 15.

On the other hand, phase command signal generating means (not shown)
Generates a phase control digital signal β for changing the phase in units of a rotation angle obtained by dividing one rotation of the rotor by (n × m). Input to the digital signal addition means 15 for use, and the two are added. as a result,
The output of the phase shift digital signal adding means 15 is (m ×
θ + β).

The waveform storage means 16 stores an arbitrary periodic waveform,
For example, for each angle obtained by dividing one cycle of a sine wave by (n × m), addresses corresponding to numerical values from 0 to (n × m−1) are sequentially added, and waveform data for one cycle of an arbitrary periodic waveform is obtained. The stored waveform data is sequentially read using the output (m × θ + β) of the phase shift digital signal adding means 15 as an address. The read waveform data is converted into an analog signal by a digital address converter 17 as output means. The digital address converter 17 serves as an output unit.

If the waveform data stored in the waveform storage means 16 is waveform data corresponding to a sine wave, the waveform output from the digital address converter 17 in synchronization with the rotation of the rotor is a sine wave approximation. It becomes a step-like wave. This step-like wave approximates a sine wave with a resolution n, and the phase shift amount is controlled with a resolution (n × m). By setting a large weighting coefficient m, the resolution n of the waveform itself is low. This also makes it possible to sufficiently increase the resolution (n × m) of the phase shift amount.

Here, the resolution n of the sensor digital signal θ
The relationship between and the resolution (n × m) of the phase control digital signal β will be described with reference to FIGS. FIG. 2 shows a change in the change of the rotor rotation angle θ _R (analog value) when the rotor rotates at a constant speed with a rotation period T, and a sensor digital signal θ output from a rotation sensor having a resolution n of, for example, 20. (Digital value). From the figure, it can be seen that the rotor rotation angle θ _R is detected by the sensor digital signal θ having a resolution of 20. Note that the resolution is 2
The value of 0 means that the value of the sensor digital signal θ increases by 1 each time the rotor rotation angle θ _R increases by 18 °. The resolution n is not limited to 20, and may be set to any value.

FIG. 3 shows a sensor digital signal θ, a phase control digital signal β, and an addition result θ ″ (= θ × m +
β). In FIG. 3, a weight coefficient m (= 1) is added to the sensor digital signal θ that changes with the rotation of the rotor.
8) The multiplied digital signal (θ × 18) is indicated by a step-shaped broken line, the phase control digital signal β (= 2) is indicated by a solid line, and the digital signal (θ × 18 +
β) = θ ″ is indicated by a solid line in the form of a step. From FIG. 3, the digital signal (θ × 18 + β) changes its value stepwise by 18 over time (rotation of the rotor).
The values of the two digital signals (θ × 18) and (θ × 18 + β) are only shifted by β (= 2), and the value of β is arbitrarily set to 0, 1, 2, 3,. You can see that it can be done. That is, the resolution for approximating the waveform is 20
It can be seen that the resolution of the amount of phase shift is 360.

FIG. 4A shows that when the waveform storage means 16 stores sine wave data, β = 0
(I.e., the amount of phase shift 0 °) of the ideal sine wave sin [theta _R corresponding to the rotation angle theta _R wave and the rotor of the stepped wave sine wave approximation which is output from the digital-to-analog converter 17 when the The waveform is shown for one cycle or more. FIG. 4B shows a waveform of a sine-wave approximating step-like wave output from the digital-to-analog converter 17 when β = 2 (that is, the phase shift amount is 2 °) and the rotation angle θ _{R of the} rotor. And a waveform of sin (θ _R + 2 °) obtained by shifting the phase by 2 ° with respect to the ideal sine wave sin θ _R corresponding to one cycle or more. From FIG. 4 described above, the sine wave can be approximated by a step-like wave whose value changes every 18 °, and its phase can be shifted by 1 °. The resolution of the step-like wave for the sine wave approximation is It can be seen that the resolution of the phase shift amount can be increased even if it is low. The waveform storage means 16 stores waveform data corresponding to sin θ _R , that is, waveform data corresponding to sin θ ″.

In this phase control device, a weight coefficient m is added to the sensor digital signal θ having a resolution n output from the rotation sensor.
, And adds the phase control digital signal β, and according to the addition result θ ″ (= m × θ + β), the waveform storage unit 1
6, and the waveform storage means 16 stores the number of waveform data obtained by multiplying the resolution n of the rotation sensor by the weighting coefficient m as the waveform data for one cycle. Even if the resolution n is low, the phase control can be performed with a high resolution that is m times the weight coefficient of the resolution n of the rotation sensor, and the phase control can be performed with a high resolution while increasing the cost and reliability of the rotation sensor. it can.

[Second Embodiment] FIG. 5 shows a second embodiment of the present invention.
1 is a block diagram of a phase control device according to an embodiment. This phase control device, as shown in FIG.
A stores phase advance correction waveform data obtained by advancing the phase by the detection phase delay of the rotation sensor based on the resolution n of the rotation sensor. Other configurations are the same as those of the phase control device shown in FIG.

Here, the detection phase delay of the rotation sensor due to the resolution n of the rotation sensor will be described in detail with reference to FIG. FIG. 6 shows a digital-to-analog converter when β = 0 (that is, when the phase shift amount is 0 °) when the waveform storage means 16 in the phase control apparatus of FIG. 1 stores sine wave data. and a waveform of an ideal sine wave sin [theta _R corresponding to the rotation angle theta _R wave and the rotor of the stepped wave sine wave approximation which is output from the 17 indicated by the solid line, staircase output from the digital-to-analog converter 17 A sine wave having the same phase as the wave is shown by a broken line. The angle Δθ (= 18) for one step of the sensor digital signal θ when one rotation of the rotor, that is, 360 ° is detected by a rotation sensor having a resolution of 20
°) and is an ideal sine wave sine wave approximation average phase delay of the stepped wave to be read from the waveform storage means 16 in response to the sensor digital signal θ relative to the sin [theta _R is, [Delta] [theta]
/ 2 (= 9 °). That is, the sensor digital signal θ
The sinusoidal approximation step-like wave read out from the waveform storage means 16 is constantly Δθ / 2 with respect to the rotation angle of the rotor.
(= 9 °), and the field-weakening control of the synchronous motor cannot be accurately performed as it is.
Therefore, in this embodiment, the phase delay Δθ / 2
To correct for, the waveform storage unit 16A, not the waveform data corresponding to _{sinθ R sin (θ R + Δθ} / 2) in the waveform data corresponding, ie "not the waveform data corresponding to sin (θ" sinθ + m / 2) is stored.

According to this embodiment, in addition to the effects of the phase control device of the first embodiment, the waveform storage means 16A stores the detection phase delay of the rotation sensor due to the resolution of the rotation sensor.
In other words, by storing the phase advance correction waveform data in which the phase is advanced by the phase delay due to the discretization, the phase delay between the ideal sine wave corresponding to the rotation of the rotor and the sine wave approximation step-like wave is corrected. And phase control such as field weakening control can be performed accurately.

[Third Embodiment] FIG. 7 shows a third embodiment of the present invention.
1 is a block diagram of a phase control device according to an embodiment. In this phase control device, a phase delay correction addition means 18 is interposed between a phase command signal generation means (not shown) and a phase shift digital signal addition means 15, and the phase control digital signal .beta. , A phase delay correction value for correcting the detection phase delay (discrete phase delay) of the rotation sensor is added to the phase shift digital signal adding means 15. Other configurations are the same as those of the phase control device shown in FIG. The phase delay is as described in the second embodiment.

According to this embodiment, in addition to the effect of the phase control device of the first embodiment, a phase delay correction value for correcting the detection phase delay of the rotation sensor due to the resolution of the rotation sensor is added to the phase control digital signal. By doing so, it is possible to correct the phase lag between the ideal sine wave corresponding to the rotation of the rotor and the stepped wave approximating the sine wave, and to perform the phase control accurately.

[Fourth Embodiment] FIG. 8 shows a fourth embodiment of the present invention.
1 is a block diagram of a phase control device according to an embodiment. This phase control device is provided with a low-pass filter 19 at the output terminal of the digital / analog converter 17 in the phase control device of FIG.
Is added to correct the quantization error of the analog signal output from the digital / analog converter 17. Further, in order to correct a phase delay caused by the provision of the low-pass filter 19, a rotational speed detecting means (not shown) for detecting the rotational angular velocity ω of the rotor is provided, and the rotational speed of the rotor detected by the rotational speed detecting means is detected. A phase delay deriving unit 41 is provided for deriving a phase delay correction value for correcting a phase delay by the low-pass filter 19 based on the rotation speed and the rotation speed-phase characteristic of the low-pass filter 19. Then, by interposing a phase delay correction adding section 42 between the phase command signal generating means (not shown) and phase shift for the digital signal adding means 15, a phase control digital signal β phase delay correction value theta _X added The value (β + θ _X ) is provided to the phase shift digital signal adding means 15. Other configurations are the same as those of the phase control device shown in FIG.

In this phase control device, a digital
By providing the low-pass filter 19 at the subsequent stage of the analog converter 17, the quantization error of the analog signal output from the digital-to-analog converter 17 can be corrected. A phase delay corresponding to the speed will occur.
FIGS. 9A and 9B show examples of the Bode diagram of the low-pass filter 19 ((a) shows the gain-angular velocity ω characteristic, and (b) shows the phase-angular velocity ω characteristic).

At this time, the rotation speed ω of the rotor is detected by the rotation speed detection means, and the low-pass filter is determined based on the rotation speed ω of the rotor detected by the rotation speed detection means and the rotation speed-phase characteristic of the low-pass filter 19. A phase delay correction value θ _X for correcting to a phase delay due to 19 is derived,
By adding the phase delay correction value theta _X to the phase control digital signal beta, to correct the phase delay due to the low pass filter 19. FIG. 10 shows the phase delay correction value θ _X -angular velocity ω characteristic.

The phase delay deriving means 41 stores the phase delay correction value θ _X -angular velocity ω characteristic shown in FIG. 10 as a table, or performs a predetermined calculation with the angular velocity ω as an input to correspond to the angular velocity ω. an operational means for calculating a phase delay correction value theta _X was. For example, assuming that the phase characteristic of the low-pass filter 19 is represented by ΔF (ω), the arithmetic expression of the operation executed in the phase delay deriving means 41 is represented by −ΔF (ω). The output is naturally converted to a digital value.

Here, a specific example of “ΔF (ω)” will be described. For example, assuming that the transfer function of the first-order low-pass filter is F (s) = ω ₀ / (s + ω ₀ ), the phase delay of the transfer function (F (s) by the low-pass filter is given by: ∠F (ω) = − tan ^{− 1} (ω / ω ₀ ), where the constant ω ₀ is set to be sufficiently larger than the possible value of ω.Of course, a second-order or higher-order low-pass filter can be similarly considered.

According to this embodiment, in addition to the effects of the phase control device of the first embodiment, a phase delay correction value θ _X for correcting the phase delay of the low-pass filter 19 is added to the phase control digital signal. , Low-pass filter 1
9 can be corrected, and the phase control can be accurately performed. [Fifth Embodiment] FIG. 11 is a block diagram showing a phase control apparatus according to a fifth embodiment of the present invention. This phase control device adds a low-pass filter 19 to the output terminal of the digital-to-analog converter 17 in the phase control device of FIG.
The quantization error of the analog signal output from the digital / analog converter 17 is corrected. Further, in order to correct the phase delay due to the provision of the low-pass filter 19, the output of the low-pass filter 19 is fed back to detect the phase delay of the output of the low-pass filter 19 with respect to the reference waveform having the same phase as the rotation angle of the rotor. Phase shift digital signal adding means 1 by adding a phase delay correction value θ _Y for correcting a phase delay to the phase control digital signal β.
5 is provided with phase delay correction means 43. Other configurations are the same as those of the phase control device shown in FIG.

In this phase control device, an analog
When the low-pass filter 19 is provided at the subsequent stage of the digital converter 17 to correct the quantization error of the analog signal output from the analog-to-digital converter 17, the low-pass filter 19 is provided. Causes a phase delay corresponding to the rotation speed ω of. At this time, the phase delay caused by the low-pass filter 19 can be detected by feeding back the output of the low-pass filter 19 and comparing the output with the reference waveform having the same phase as the rotation angle of the rotor. By adding the delay correction value θ _Y , phase control can be accurately performed. In the correction based on the feedback, the detection phase delay of the rotation sensor due to the resolution of the rotation sensor can also be corrected.

The phase lag correction means 43 is specifically shown in FIG.
As shown in FIG. 2, it is composed of a zero-cross detecting means 51, a timer counter 52, a digital multiplying means 53, and a digital adding / subtracting means 54. Zero cross detection means 51
It has a function of detecting a zero cross of the analog output signal of the low-pass filter 19.

The timer counter 52 is provided between the reference signal (Z-phase signal) obtained from the rotation sensor and the zero-cross detection means 51.
Has a function of measuring the time T _C (sec) from the input time of the reference signal to the zero crossing time of the analog output signal of the low-pass filter 19 from negative to positive from the input time of the reference signal. The digital multiplication means 53 receives the rotation angular velocity ω (1 / sec) of the rotor and the time T _C (sec) given from the rotation speed detection means and multiplies the two to obtain the phase delay amount (ω × Tc). Ask.

The digital addition / subtraction means 54 corrects the phase delay of the low-pass filter 19 by adding the phase delay correction value θ _Y to the phase control digital signal β, and supplies the addition / subtraction result to the phase shift digital signal addition means 15. . At this time, when the phase of the reference signal (Z-phase signal) is 0 ° of the rotation angle of the rotor, that is, the zero crossing (sensor digital signal θ = 0) when the rotor changes from negative to positive of the ideal sine wave having the same phase as the rotation. Does not occur at the time point) but occurs at an angle ε (for example, an angle of 60 °), the angle ε needs to be corrected by the digital adding / subtracting means 54 together. Therefore, the phase delay correction value θ _Y is (ω
× Tc + ε).

FIG. 13A shows a sensor digital signal θ, FIG. 13B shows a reference signal (Z-phase signal), and FIG. 13C shows an analog signal output from the low-pass filter 19; FIG. 4D shows an output signal of the zero-crossing detecting means 51. In FIG. 13, in this example, the sensor digital signal θ shows a change in the value with the resolution n of the rotation sensor being 12, and outputs a value from 0 to 11 cyclically. The reference signal is generated once every time the rotor makes one rotation, and the sensor digital signal θ is generated at a timing of 2. In terms of angle, 60 degrees of an ideal sine wave is generated.
° indicates that the reference signal is generated in phase. The output of the zero-cross detecting means 51 is
When the output changes from negative to positive, it occurs at the timing of zero crossing. The timer counter 52 starts counting clocks with the reference signal shown in FIG. 13B, for example, and stops counting at the output of the zero-crossing detecting means 51 shown in FIG. Then, the time Tc (sec) is measured.

According to this embodiment, in addition to the effects of the phase control device of the first embodiment, the low-pass filter 19
Feedback the analog output of
_By obtaining _Y and adding a phase delay correction value θY for correcting the phase delay of the low-pass filter 19 to the phase control digital signal β, the phase delay by the low-pass filter 19 can be corrected, and the phase control can be accurately performed. It is possible to do.

[Sixth Embodiment] FIG. 14 is a block diagram showing a phase control apparatus according to a sixth embodiment of the present invention. In this phase control device, as shown in FIG. 14, the waveform storage means 16A stores phase advance correction waveform data in which the phase is advanced by a detection phase delay of the rotation sensor based on the resolution n of the rotation sensor. Other configurations are the same as those of the phase control device shown in FIG.

According to this embodiment, the waveform storage means 1
An ideal sine wave and a sine wave corresponding to the rotation of the rotor are stored in 6A by storing the phase delay correction waveform data obtained by advancing the phase detected by the rotation sensor due to the resolution of the rotation sensor, that is, the phase delay by the discretization. It is possible to correct the phase delay between the approximated step-like waves, and it is possible to accurately perform the phase control such as the field weakening control. Other effects are similar to those of the fourth embodiment.

[Seventh Embodiment] FIG. 15 is a block diagram showing a phase control apparatus according to a seventh embodiment of the present invention. As shown in FIG. 15, the phase control device includes a phase delay correction addition unit 42 and a phase shift digital signal addition unit 1.
5 and a phase delay correction value for correcting the phase delay by the low-pass filter 19 is added to the phase control digital signal β, and then the rotation sensor is detected based on the resolution of the rotation sensor. A phase delay correction value for correcting a phase delay (discrete phase delay) is added and the resultant value is supplied to the phase shift digital signal adding means 15. Other configurations are the same as those of the phase control device shown in FIG.

According to this embodiment, an ideal sine wave and a sine wave corresponding to the rotation of the rotor are added to the phase control digital signal by adding the phase lag correction value for correcting the phase lag detected by the rotation sensor based on the resolution of the rotation sensor. It is possible to correct the phase delay between the stepwise waves of the wave approximation, and it is possible to accurately perform the phase control. Other effects are the same as those of the fifth embodiment.

[0076]

According to the phase control device of the first aspect,
After multiplying the sensor digital signal output from the rotation sensor by the weighting coefficient, add the phase control digital signal, read the waveform data from the waveform storage means according to the addition result, and, in the waveform storage means, Since the number of waveform data obtained by multiplying the resolution of the rotation sensor by the weighting factor is stored as the waveform data for one cycle, even if the resolution of the rotation sensor is low, the phase can be obtained at a resolution higher than the weighting factor of the resolution of the rotation sensor. Control can be performed, and phase control can be performed with high resolution while increasing the cost and reliability of the rotation sensor.

According to the phase control device of the second aspect, in addition to the effect of the phase control device of the first aspect, a phase advance in which the phase is advanced by a phase delay detected by the rotation sensor based on the resolution of the rotation sensor in the waveform storage means. By storing the corrected waveform data, it is possible to correct the phase lag between the ideal waveform corresponding to the rotation of the rotating body and the staircase wave approximating the ideal waveform, thus enabling accurate phase control. Becomes

According to the phase control device of the third aspect, in addition to the effect of the phase control device of the first aspect, a phase delay correction for correcting a phase delay detected by the rotation sensor based on the resolution of the rotation sensor in the phase control digital signal. By adding the values, it is possible to correct the phase delay between the ideal waveform corresponding to the rotation of the rotator and the staircase wave approximating the ideal waveform, and to perform the phase control accurately.

According to the phase control device of the fourth aspect, in addition to the effect of the phase control device of the first aspect, by providing a low-pass filter at the subsequent stage of the output means, the analog signal output from the output means can be reduced. The quantization error can be corrected, and the rotational speed of the rotator is detected. The low-pass filter detects the rotational speed of the rotator based on the rotational speed of the rotator detected by the rotational speed detecting means and the rotational speed-phase characteristic of the low-pass filter. By deriving a phase delay correction value for correcting the phase delay and adding the phase delay correction value to the phase control digital signal, the phase delay due to the provision of the low-pass filter can be corrected, and the phase control can be accurately performed. Becomes possible.

According to the phase control device of the fifth aspect, in addition to the effect of the phase control device of the first aspect, the low-pass filter is provided at the subsequent stage of the output means, so that the analog signal output from the output means can be reduced. The quantization error can be corrected, and the phase lag caused by the low-pass filter is
The output of the low-pass filter is fed back and detected by comparing with the phase of the reference waveform in phase with the rotation angle of the rotator, and the phase delay correction value is added to the phase control digital signal, so that the phase due to the provision of the low-pass filter The delay can be corrected, and the phase control can be accurately performed. In the correction based on the feedback, the detection phase delay of the rotation sensor due to the resolution of the rotation sensor can also be corrected.

According to the phase control device of the sixth aspect, in addition to the same effects as those of the phase control device of the first aspect, the same effects as those of the phase control devices of the second and fourth aspects are exhibited. According to the phase control device described in claim 7, according to claim 1,
In addition to the same effects as those of the phase control device described above, the same effects as those of the phase control devices according to claims 3 and 4 are provided.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a phase control device according to a first embodiment of the present invention.

FIG. 2 is a time chart illustrating a relationship between a rotation angle of a rotor and a sensor digital signal.

FIG. 3 is a time chart showing an output of a digital signal adding means for phase shift.

FIG. 4 is a time chart illustrating an output of the digital-to-analog converter according to the first embodiment.

FIG. 5 is a block diagram illustrating a configuration of a phase control device according to a second embodiment of the present invention.

FIG. 6 is a time chart showing a phase delay due to discretization.

FIG. 7 is a block diagram illustrating a configuration of a phase control device according to a third embodiment of the present invention.

FIG. 8 is a block diagram illustrating a configuration of a phase control device according to a fourth embodiment of the present invention.

FIG. 9 is a Bode diagram of a low-pass filter.

FIG. 10 is an input / output characteristic diagram of a phase delay deriving unit.

FIG. 11 is a block diagram illustrating a configuration of a phase control device according to a fifth embodiment of the present invention.

FIG. 12 is a block diagram showing a specific configuration of a phase delay correction unit in FIG. 11;

FIG. 13 is a time chart showing the operation of the phase delay correction means of FIG.

FIG. 14 is a block diagram illustrating a configuration of a phase control device according to a sixth embodiment of the present invention.

FIG. 15 is a block diagram showing a configuration of a phase control device according to a seventh embodiment of the present invention.

FIG. 16 is a block diagram showing a configuration of a conventional example of a motor control device.

FIG. 17 is a block diagram illustrating a configuration of a proposed example of a motor control device.

FIG. 18 is a block diagram illustrating a configuration of a conventional example of a phase control device.

FIG. 19 is a time chart showing an output of a digital-to-analog converter in a conventional example of a phase control device.

[Explanation of symbols]

 Reference Signs List 14 digital signal multiplying means 15 phase shift digital signal adding means 16 waveform storing means 16A waveform storing means 17 digital / analog converter 18 phase delay correcting adding means 19 low-pass filter 41 phase delay deriving means 42 phase delay correcting adding means 43 Phase delay correction means

Claims (7)

[Claims] 1. A rotation of a rotator is divided by an arbitrary positive integer n to detect a rotation angle of the rotator, and to determine 0 according to the rotation angle.
A rotation sensor for sequentially outputting a sensor digital signal corresponding to the numerical values from (n-1) to (n-1), a digital signal multiplying unit for multiplying the sensor digital signal by an arbitrary positive integer m, and one rotation of the rotator to (n Xm) a phase command signal generating means for generating a phase control digital signal for changing the phase in units of the divided rotation angles,
0 to (n × m) for each angle obtained by dividing the cycle by (n × m)
-1) a waveform storage means for storing waveform data for one cycle of the arbitrary periodic waveform by sequentially assigning addresses corresponding to the numerical values up to -1), and adding and adding the sensor digital signal and the phase control digital signal A phase shift digital signal adding means for supplying a result to the waveform storage means for reading waveform data; and a phase output means for outputting the waveform data read from the waveform storage means as an analog signal. Control device. 2. A rotation of the rotator is divided by an arbitrary positive integer n to detect a rotation angle of the rotator.
A rotation sensor for sequentially outputting a sensor digital signal corresponding to the numerical values from (n-1) to (n-1), a digital signal multiplying unit for multiplying the sensor digital signal by an arbitrary positive integer m, and one rotation of the rotator to (n .Times.m), a phase command signal generating means for generating a phase control digital signal for changing the phase in units of rotation angles, and an angle obtained by dividing one cycle of an arbitrary periodic waveform by (n.times.m). 0 to (n
.Times.m-1) by adding addresses corresponding to numerical values in order, storing waveform data for one cycle of the arbitrary periodic waveform, and adding the sensor digital signal and the phase control digital signal. A phase shift digital signal adding means for supplying an addition result to the waveform storage means for reading waveform data; and an output means for outputting the waveform data read from the waveform storage means as an analog signal. A phase control device that stores, in the waveform storage means, phase advance correction waveform data in which a phase is advanced by a detection phase delay of the rotation sensor based on a resolution of the rotation sensor. 3. A rotation of the rotator is divided by an arbitrary positive integer n to detect a rotation angle of the rotator.
A rotation sensor for sequentially outputting a sensor digital signal corresponding to the numerical values from (n-1) to (n-1), a digital signal multiplying unit for multiplying the sensor digital signal by an arbitrary positive integer m, and one rotation of the rotator to (n .Times.m), a phase command signal generating means for generating a phase control digital signal for changing the phase in units of rotation angles, and an angle obtained by dividing one cycle of an arbitrary periodic waveform by (n.times.m). 0 to (n
.Times.m-1) by adding addresses corresponding to numerical values in order, storing waveform data for one cycle of the arbitrary periodic waveform, and adding the sensor digital signal and the phase control digital signal. A phase shift digital signal adding means for supplying an addition result to the waveform storage means for reading waveform data; an output means for outputting the waveform data read from the waveform storage means as an analog signal; A phase delay correction value interposed between a phase command signal generating means and the phase shift digital signal adding means for correcting a detection phase delay of the rotation sensor due to a resolution of the rotation sensor is added to the phase control digital signal. A phase delay correction adding means to be applied to the phase shift digital signal adding means. 4. A rotation of the rotator is divided by an arbitrary positive integer n to detect a rotation angle of the rotator, and to determine 0 according to the rotation angle.
A rotation sensor for sequentially outputting a sensor digital signal corresponding to the numerical values from (n-1) to (n-1), a digital signal multiplying unit for multiplying the sensor digital signal by an arbitrary positive integer m, and one rotation of the rotator to (n .Times.m), a phase command signal generating means for generating a phase control digital signal for changing the phase in units of rotation angles, and an angle obtained by dividing one cycle of an arbitrary periodic waveform by (n.times.m). 0 to (n
.Times.m-1) by adding addresses corresponding to numerical values in order, storing waveform data for one cycle of the arbitrary periodic waveform, and adding the sensor digital signal and the phase control digital signal. A phase shift digital signal adding means for supplying an addition result to the waveform storage means for reading waveform data; an output means for outputting the waveform data read from the waveform storage means as an analog signal; A low-pass filter for correcting a quantization error of an analog signal output from the output unit, a rotation speed detection unit for detecting a rotation speed of the rotator, and a rotation speed of the rotator detected by the rotation speed detection unit; A phase delay correction value for correcting a phase delay due to the low-pass filter is derived based on a rotation speed-phase characteristic of the low-pass filter. Phase delay deriving means, and the phase control digital signal, which is interposed between the phase command signal generating means and the phase shift digital signal adding means, and which is obtained by adding the phase delay correction value to the phase shift digital signal. A phase control device comprising: a phase delay correction adding means provided to the adding means. 5. A rotation of the rotator is divided by an arbitrary positive integer n to detect a rotation angle of the rotator, and to determine 0 according to the rotation angle.
A rotation sensor for sequentially outputting a sensor digital signal corresponding to the numerical values from (n-1) to (n-1), a digital signal multiplying unit for multiplying the sensor digital signal by an arbitrary positive integer m, and one rotation of the rotator to (n .Times.m), a phase command signal generating means for generating a phase control digital signal for changing the phase in units of rotation angles, and an angle obtained by dividing one cycle of an arbitrary periodic waveform by (n.times.m). 0 to (n
.Times.m-1) by adding addresses corresponding to numerical values in order, storing waveform data for one cycle of the arbitrary periodic waveform, and adding the sensor digital signal and the phase control digital signal. A phase shift digital signal adding means for supplying an addition result to the waveform storage means for reading waveform data; an output means for outputting the waveform data read from the waveform storage means as an analog signal; A low-pass filter that corrects a quantization error of an analog signal output from an output unit, and a feedback of an output of the low-pass filter to detect a phase delay of an output of the low-pass filter with respect to a reference waveform having the same phase as a rotation angle of the rotator. Adding a phase delay correction value for correcting the phase delay to the phase control digital signal, Phase controller having a phase delay correction means for providing a digital signal adding means. 6. A rotation of the rotator is divided by an arbitrary positive integer n to detect a rotation angle of the rotator, and to determine 0 according to the rotation angle.
A rotation sensor for sequentially outputting a sensor digital signal corresponding to the numerical values from (n-1) to (n-1), a digital signal multiplying unit for multiplying the sensor digital signal by an arbitrary positive integer m, and one rotation of the rotator to (n .Times.m), a phase command signal generating means for generating a phase control digital signal for changing the phase in units of rotation angles, and an angle obtained by dividing one cycle of an arbitrary periodic waveform by (n.times.m). 0 to (n
.Times.m-1) by adding addresses corresponding to numerical values in order, storing waveform data for one cycle of the arbitrary periodic waveform, and adding the sensor digital signal and the phase control digital signal. A phase shift digital signal adding means for supplying an addition result to the waveform storage means for reading waveform data; an output means for outputting the waveform data read from the waveform storage means as an analog signal; A low-pass filter for correcting a quantization error of an analog signal output from the output unit, a rotation speed detection unit for detecting a rotation speed of the rotator, and a rotation speed of the rotator detected by the rotation speed detection unit; A phase delay correction value for correcting a phase delay due to the low-pass filter is derived based on a rotation speed-phase characteristic of the low-pass filter. Phase delay deriving means, and the phase control digital signal, which is interposed between the phase command signal generating means and the phase shift digital signal adding means, and which is obtained by adding the phase delay correction value to the phase shift digital signal. Phase delay correction adding means provided to the adding means,
A phase control device, wherein the waveform storage means stores phase lead correction waveform data in which a phase is advanced by a detection phase delay of the rotation sensor based on a resolution of the rotation sensor. 7. A rotation of the rotator is divided by an arbitrary positive integer n to detect a rotation angle of the rotator, and to determine 0 according to the rotation angle.
A rotation sensor for sequentially outputting a sensor digital signal corresponding to the numerical values from (n-1) to (n-1), a digital signal multiplying unit for multiplying the sensor digital signal by an arbitrary positive integer m, and one rotation of the rotator to (n .Times.m), a phase command signal generating means for generating a phase control digital signal for changing the phase in units of rotation angles, and an angle obtained by dividing one cycle of an arbitrary periodic waveform by (n.times.m). 0 to (n
.Times.m-1) by adding addresses corresponding to numerical values in order, storing waveform data for one cycle of the arbitrary periodic waveform, and adding the sensor digital signal and the phase control digital signal. A phase shift digital signal adding means for supplying an addition result to the waveform storage means for reading waveform data; an output means for outputting the waveform data read from the waveform storage means as an analog signal; A low-pass filter for correcting a quantization error of an analog signal output from the output unit, a rotation speed detection unit for detecting a rotation speed of the rotator, and a rotation speed of the rotator detected by the rotation speed detection unit; A first phase delay correction for correcting a phase delay by the low-pass filter based on a rotation speed-phase characteristic of the low-pass filter; Phase delay deriving means, which is interposed between the phase command signal generating means and the phase shift digital signal adding means, and wherein the first phase delay correction value and the rotation sensor A phase delay correction adding means for providing a value obtained by adding a second phase delay correction value for correcting a detection phase delay of the rotation sensor due to resolution to the phase shift digital signal adding means.