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WO2018154733A1 - Dispositif de correction de pulsation de couple de moteur électrique et procédé de correction, et dispositif de commande d'ascenseur - Google Patents

Dispositif de correction de pulsation de couple de moteur électrique et procédé de correction, et dispositif de commande d'ascenseur Download PDF

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Publication number
WO2018154733A1
WO2018154733A1 PCT/JP2017/007209 JP2017007209W WO2018154733A1 WO 2018154733 A1 WO2018154733 A1 WO 2018154733A1 JP 2017007209 W JP2017007209 W JP 2017007209W WO 2018154733 A1 WO2018154733 A1 WO 2018154733A1
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Prior art keywords
torque pulsation
electric motor
phase
amplitude
motor
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PCT/JP2017/007209
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English (en)
Japanese (ja)
Inventor
大塚　康司
英二 横山
加藤　利明
Original Assignee
三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2017/007209 priority Critical patent/WO2018154733A1/fr
Priority to JP2019500971A priority patent/JP6636206B2/ja
Priority to CN201780086485.2A priority patent/CN110313128B/zh
Publication of WO2018154733A1 publication Critical patent/WO2018154733A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/40—Regulating or controlling the amount of current drawn or delivered by the motor for controlling the mechanical load

Definitions

  • the present invention is applied to, for example, an elevator hoisting machine control device, an in-vehicle motor control device, or a machine tool motor control device, etc., and corrects periodic torque pulsations uniquely determined according to the rotational position of the motor.
  • the present invention relates to a torque pulsation correcting device.
  • a conventional torque pulsation correction device frequency analysis of a detected shaft torque value is repeatedly performed at a plurality of operating points, and a torque pulsation compensation current table is generated based on this data.
  • a lot of data (learning) is necessary to create the table data based on the learning result, especially when adjusting the torque pulsation after installing the motor and its control device in the mechanical system. Since it is difficult to acquire data under a large number of operating conditions before starting, it is a problem to correct torque pulsation with a simpler configuration.
  • the present invention has been made to solve the above-described problems, and includes a torque pulsation correction device for an electric motor that can estimate and correct torque pulsation with a simple configuration, a torque pulsation correction method for an electric motor, and the like.
  • the purpose is to get.
  • This invention is a torque pulsation correction device for a motor that corrects a periodic torque pulsation included in the torque of the motor with respect to a current command value for controlling the motor in the motor control device, and when the motor is rotated,
  • a frequency analysis unit that calculates a rotation speed of the motor from a rotation position of the motor from a position detector, performs frequency analysis of the rotation speed, calculates an amplitude and phase of a specific frequency, and outputs the result as a frequency analysis; and motor control
  • a torque pulsation estimating unit that inputs an electric motor operation command to the apparatus and rotates the electric motor, and estimates the amplitude and phase of torque pulsation generated in the electric motor from the frequency analysis result and outputs the estimated value as a torque pulsation estimated value;
  • the torque pulsation correction current value is calculated from the estimated torque pulsation value, the motor current detected by the current detector, and the position detection signal.
  • a torque pulsation correction unit that corrects a current command value of the motor control device, and the torque pulsation estimation unit causes the frequency analysis unit to calculate the frequency analysis result for a plurality of conditions with different currents of the motor,
  • the torque pulsation correction device for an electric motor or the like obtains the amplitude or phase of torque pulsation as a function of current from a plurality of obtained frequency analysis results.
  • the present invention can provide a torque pulsation correction device and a torque pulsation correction method for an electric motor that can estimate and correct torque pulsation with a simple configuration.
  • FIG. 1 is a block diagram showing an overall view of an electric motor control system including an electric motor torque pulsation correcting apparatus according to Embodiments 1 and 2 of the present invention.
  • FIG. It is a block diagram which shows an example of a structure of the electric motor control apparatus of the control system of the electric motor shown in FIG. It is the block diagram which specified the output of the torque pulsation correction
  • FIG. 3 is a block diagram showing a transfer characteristic from an output of a torque pulsation correcting unit to an electric motor speed in a torque pulsation correcting apparatus for an electric motor according to Embodiment 1 of the present invention, as a transfer function.
  • FIG. 1 is a block diagram showing an overall configuration of an electric motor control system including an electric motor torque pulsation correcting apparatus according to Embodiment 1 of the present invention.
  • the motor control system includes a motor control device 4, a position detector 2, a current detector 3, and a torque pulsation correction device 5.
  • a motor control system including the motor 1 the motor control system includes a motor control device 4, a position detector 2, a current detector 3, and a torque pulsation correction device 5.
  • a motor control system including the motor 1.
  • the electric motor control device 4 is a device that controls the rotational speed and rotational position of the electric motor 1.
  • the case where the motor control device 4 controls the rotation speed of the motor 1 will be described with reference to FIG.
  • FIG. 2 is a block diagram showing the configuration of the motor control device 4 of the motor control system shown in FIG.
  • the motor control device 4 includes a speed calculation unit 41, a speed control unit 42, a current control unit 43, and a power converter 44.
  • the speed calculation unit 41 calculates the rotational speed MRS of the electric motor 1 based on the rotational position MRP of the electric motor 1 detected by the position detector 2 or the angle information. In the simplest configuration, the speed calculation unit 41 calculates a rotation speed by time differentiation of position information or angle information.
  • the speed control unit 42 calculates a current command value ic that is a torque command value tc of the electric motor 1 so that the rotation speed MRS of the electric motor 1 becomes a predetermined set speed.
  • the current command value ic is used as a speed control signal.
  • the torque pulsation correction current signal Itpc or the test signal TS which is an output from the torque pulsation correction unit 53 is added to the output of the speed control unit 42 by the addition unit AD1.
  • a current command value IC that is a torque command value TC for correcting torque pulsation of the electric motor 1 is obtained. Details of the torque pulsation correction current signal Itpc and the test signal TS will be described later.
  • the current control unit 43 compares the voltage command value VC of the motor 1 with the current command value IC output from the speed control unit 42 so that the motor current Im that is the current of the motor 1 detected by the current detector 3 matches. Is calculated.
  • the power converter 44 applies a motor applied voltage Vma to the motor 1 based on the voltage command value VC output from the current control unit 43 in order to control the motor current Im.
  • P control, PI control, and PID control are often used for the control by the speed control unit 42 and the current control unit 43, but various control methods can be used.
  • vector control is generally used for current control of the motor 1, and the motor current and the motor applied voltage are converted into dq axes, and the PID control and the like described above are performed on the converted current and voltage. A control method is used.
  • an inverter is generally used as the power converter 44 that applies a voltage to the electric motor 1.
  • the inverter converts a voltage of a power source (not shown) into a voltage having a desired variable voltage and variable frequency.
  • the power converter 44 is a power converter or matrix that converts an AC voltage to a DC voltage by a converter and then converts the DC voltage to an AC voltage by an inverter, like an inverter device that is generally sold. It refers to a variable voltage variable frequency power converter including a power converter that directly converts an AC voltage into an AC variable voltage variable frequency voltage, such as a converter.
  • the inverter that is, the power converter 44 according to the first embodiment of the present invention may include a coordinate conversion function in addition to the above-described inverter. That is, when the voltage command value VC is a dq axis voltage command value, the dq axis voltage command value is converted into a phase voltage or a line voltage, and the commanded voltage command value is followed. A coordinate conversion function for converting to voltage is also included. Note that the present invention can be applied even if a device or means for correcting the dead time of the inverter is provided.
  • a position control unit 42 a is added above the speed control unit 42.
  • the position control unit 42a calculates the speed command value SC of the electric motor 1 input to the speed control unit 42 so that the rotational position of the electric motor 1 becomes a desired position.
  • the speed control unit 42 performs the above-described control with the speed command value SC as a desired speed.
  • P control, PI control, and PID control are often used for control by the position control unit 42a, but various control methods can be used.
  • the motor control device 4 may be configured by the position control unit 42a and the current control unit 43 without using the speed control unit 42.
  • the position control unit 42a calculates the current command value IC of the electric motor 1 so that the rotational position of the electric motor 1 becomes a desired position.
  • the current detector 3 measures the current of the motor 1. For example, when the motor 1 is a three-phase motor, a two-phase phase current is often measured, but a three-phase phase current may be measured.
  • the current detector 3 measures the output of the motor control device 4, that is, the output current of the power converter 44, but the current detector 3 is like a current measurement method using a one-shunt resistance. Each phase current may be estimated by measuring the bus current of the power converter 44. Even in this case, the present invention is not affected at all.
  • the torque output from the electric motor 1 includes torque pulsation. Since the electric motor 1 has structural magnetic flux distortion and cogging torque, the motor 1 generates torque pulsation that contributes to vibration and noise according to the rotation.
  • the torque pulsation generated in the electric motor 1 is complicatedly associated with various factors such as the magnetic imperfection of the motor structure, the response error or current error of the inverter that drives the motor structure, and the mechanical characteristics. .
  • the pulsation cycle of the electric motor it has been found that it occurs mainly depending on the rotor position.
  • Tr the torque pulsation uniquely determined according to the rotational position of the electric motor 1
  • Tr the torque pulsation uniquely determined according to the rotational position of the electric motor 1
  • the present invention can be applied to the case where the electric motor 1 includes a periodic torque pulsation that is uniquely determined according to the rotational position and the principal component order of the torque pulsation Tr is known.
  • the periodic torque pulsation Tr of the electric motor 1 can be approximately expressed using a sine wave as shown in the following equation (1).
  • the first embodiment of the present invention unifies the notation by the sine wave.
  • T r A r1 sin (N 1 ⁇ m + ⁇ r1 ) + A r2 sin (N 2 ⁇ m + ⁇ r2 ) +... + A rn sin (N n ⁇ m + ⁇ rn ) (1)
  • ⁇ m Mechanical angle A r1 of the motor 1: Torque pulsation amplitude A r2 in the N 1st order A r2 : Torque pulsation amplitude A 2 in the N 2 nd order A rn : Amplitude of torque pulsation ⁇ r1 in the N n order N Phase shift with respect to mechanical angle of electric motor 1 in the first order (initial phase) ⁇ r2 : Phase shift with respect to the mechanical angle of the motor 1 in the N 2nd order ⁇ rn : Phase shift with respect to the mechanical angle of the motor 1 in the N nth order.
  • the orders of N 1 , N 2 ... N n in the formula (1) do not have to be continuous integers such as 1, 2... N n and are periodically determined uniquely according to the rotational position of the electric motor 1.
  • the main component refers to a component whose amplitude in the order is larger than the amplitude of other frequencies.
  • the expression (1) is expressed as a combination of three or more frequency components, the frequency component of the periodic torque pulsation Tr is composed of one, two, or more components. May be.
  • the current value corresponding to the equation (1) can be expressed as the following equation (2) using the q-axis current value on the dq axis.
  • the position detector 2 detects the rotational position of the electric motor 1 necessary for controlling the electric motor 1, such as an optical encoder, a magnetic encoder, or a resolver, and outputs a position detection signal indicated by the electric motor rotational position MRP.
  • the rotational position information output by the position detector 2 includes a periodic error that is uniquely determined according to the rotational position of the electric motor 1.
  • the periodic error uniquely determined according to the rotational position of the electric motor 1 refers to the rotational position such as a resolver detection error, a missing pulse due to a slit defect in the optical encoder, and an imbalance in the distance between pulses. Corresponds to a repeatable error.
  • the periodic error uniquely determined according to the rotational position of the electric motor 1 is expressed approximately by using a sine wave as expressed by the following equation (4) when expressed as an angle error ⁇ err obtained by converting the position information into an angle. be able to.
  • the first embodiment of the present invention unifies the notation by the sine wave.
  • ⁇ err A err1 sin (X 1 ⁇ m + ⁇ 1 ) + A err2 sin (X 2 ⁇ m + ⁇ 2 ) + + A errn sin (X n ⁇ m + ⁇ n ) (4)
  • ⁇ m mechanical angle A of motor 1
  • err1 error amplitude A in the X first order
  • a err2 error amplitude in the X second order
  • a errn error amplitude in the X n order
  • ⁇ 1 in the X first order
  • psi 2 phase shift with respect to mechanical angle of the motor 1 in the X 2 following orders
  • psi n indicates the phase shift for the machine angle of the motor 1 in the X n following order.
  • the orders of X 1 , X 2 ... X n in equation (4) do not have to be consecutive integers like 1, 2,... X n , and are periodically determined uniquely depending on the rotational position of the electric motor 1. Is the order of the principal component of the error. As used herein, the main component refers to a component whose amplitude in the order is larger than the amplitude of other frequencies. Further, although the expression (4) is expressed as a combination of three or more frequency components, the frequency component of the periodic angular error ⁇ err may be one, two, or more components. It may be configured.
  • the rotational speed of the electric motor 1 includes the speed pulsation component due to the torque pulsation of the electric motor 1 and the speed due to the angle error of the position detector 2.
  • the sum of pulsating components will be included. This is expressed as the following equation (5).
  • ⁇ m Mechanical angle Y of motor 1 err1 : Speed pulsation amplitude in N 1st order or X 1st order Y err2 : Error amplitude in N 2nd order or X 2nd order Y errn : N n order or X n order Error amplitude ⁇ 1 in the order : phase shift with respect to the mechanical angle of the motor 1 in the N 1st order or X 1st order (initial phase)
  • ⁇ 2 Phase shift with respect to the mechanical angle of the motor 1 in the N 2nd order or X 2nd order
  • ⁇ n Phase shift with respect to the mechanical angle of the motor 1 in the N nth order or X nth order.
  • the speed pulsation is a component due to the torque pulsation of the electric motor 1.
  • the velocity pulsation component due to the error of the position detector 2 can be handled separately.
  • the torque pulsation of the electric motor 1 shown in Expression (1) matches the order of the periodic error of the position detector 2 shown in Expression (4). That is, the speed pulsation included in the rotation speed of the electric motor 1 is the sum of the torque pulsation component of the electric motor 1 and the angle error component of the position detector 2.
  • the torque pulsation correction device 5 includes a frequency analysis unit 51, a torque pulsation estimation unit 52, and a torque pulsation correction unit 53.
  • the torque pulsation estimation unit 52 estimates the torque pulsation of the electric motor 1 as a function having the same form as the equation (1) based on the frequency analysis result FAR of the rotational speed of the electric motor 1 analyzed by the frequency analysis unit 51.
  • the speed pulsation due to the error of the position detector 2 is corrected with respect to the equation (1). Estimated in the form that the torque pulsation correction value is added.
  • the torque pulsation correction unit 53 includes an estimated value of torque pulsation (TPE) that is an input signal from the torque pulsation estimation unit 52, a rotational position signal (MRP) from the position detector 2, and an electric motor current signal from the current detector 3.
  • TPE torque pulsation
  • MRP rotational position signal
  • An addition signal is generated from (Im).
  • the torque pulsation correction unit 53 generates a torque pulsation correction value having the same format as the equation (1) based on the estimation result of the torque pulsation, and uses the torque command value (tc) as shown in FIG.
  • the torque pulsation is corrected by adding to a certain current command value (ic).
  • the frequency analysis unit 51 calculates the rotational speed MRS of the electric motor 1 based on the rotational position MRP or angle information of the electric motor 1 detected by the position detector 2, and the electric motor that is the output from the rotational speed MRS and the position detector 2. Based on one rotational position information MRP or angle information, at least one of the amplitude (A1) and phase ( ⁇ 1) at a specific frequency of the motor speed is calculated.
  • the speed calculation in the frequency analysis unit 51 is the same as the speed calculation unit 41 included in the motor control device 4.
  • the speed calculation function included in the frequency analysis unit 51 may not be the same as that of the speed calculation unit 41.
  • Various methods for calculating the rotation speed of the electric motor 1 can be applied.
  • the electric motor speed means the rotational speed of the electric motor, and the same applies hereinafter.
  • the frequency analysis unit 51 is preferably configured to obtain the amplitude and phase at a desired frequency of an input signal, such as Fourier transform, Fourier series analysis, or fast Fourier transform.
  • a configuration may be used in which a desired frequency signal is extracted and a desired amplitude or phase of an input signal is calculated by an amplitude detection unit or a phase detection unit like a filter.
  • the filter used here may be an electrical filter that combines a resistor, a capacitor, a coil, or the like, or may be a process performed in a computer.
  • the desired frequency that is, the signal of a specific frequency is a signal having the same frequency as the main component of the torque pulsation Tr caused by the torque pulsation Tr of the electric motor 1 or a speed pulsation caused by an angle error of the position detector 2.
  • the torque pulsation estimation unit 52 includes a velocity amplitude value (A1) or a velocity amplitude value (A1) and a phase value ( ⁇ 1) of a desired frequency component which is a frequency analysis result (FAR) of the output of the frequency analysis unit 51, and a position.
  • a rotation position (MRP) or angle information of the motor 1 that is an output from the detector 2 and the motor current (Im) that is an output from the current detector 3 the rotation position of the motor 1 is uniquely determined.
  • the determined periodic torque pulsation Tr is estimated by an estimation method described later, and a torque pulsation estimated value (TPE) is output to the torque pulsation correction unit 53.
  • the torque pulsation correcting unit 53 applies torque to the motor control device 4 based on the torque pulsation estimated value (TPE) output from the torque pulsation estimating unit 52 to the output (ic) of the speed control unit 42 by the adding unit AD1.
  • a pulsation correction current signal (Itpc) or a test signal (TS) is added to output a current command value (IC) which is a torque command value (TC) for correcting torque pulsation. Therefore, the adding unit AD1 in FIG. 2 indicates the function of the torque pulsation correcting unit 53.
  • the angle error is sequentially estimated and added together, or a plurality of frequency components may be estimated simultaneously.
  • the estimation time can be shortened compared to the case where torque pulsation is sequentially estimated with each component.
  • the frequency signal is frequency-analyzed by the frequency analysis unit 51
  • the speed pulsation component caused by the torque pulsation of the electric motor 1 and the angle error of the position detector 2 can be extracted.
  • it estimates on the conditions with constant acceleration. In particular, it is desirable to perform estimation under the condition that the acceleration is zero, that is, the motor 1 is rotating at a constant speed.
  • These torque pulsations and signals from the torque pulsation correction unit 53 cause speed pulsations according to the transmission characteristics determined by the dynamic characteristics of the load composed of the electric motor control device 4, the electric motor 1, the elevator sheave described later connected to the electric motor 1, and the like.
  • the angle error of the position detector 2 is determined by the characteristics of the position detector 2 alone, it can be considered that the angle error of the position detector 2 is caused by torque pulsation of the electric motor 1.
  • a torque pulsation signal that causes speed pulsation can be estimated. That is, the torque pulsation that causes the speed pulsation can be calculated from the calculated transfer characteristic and the speed pulsation.
  • FIG. 3 is a block diagram clearly showing the output of the torque pulsation correcting unit 53 in the torque pulsation correcting apparatus according to Embodiment 1 of the present invention.
  • the torque pulsation correction unit 53 generates a torque pulsation correction current value (Itpc).
  • a current command value IC obtained by correcting the torque pulsation correction current value (Itpc) generated by the torque pulsation correction unit 53 in addition to the output of the speed control unit 42, that is, the current command value ic, is input to the current control unit 43.
  • a voltage command value VC is calculated based on the current command value IC and the motor current Im detected by the current detector 3.
  • the calculated voltage command value VC is input to the power converter 44.
  • the power converter 44 applies a voltage to the electric motor 1, and as a result, the electric motor 1 rotates.
  • the position detector 2 detects the rotation of the electric motor 1.
  • FIG. 4 is a block diagram showing a transfer function expression from the output of the torque pulsation correcting unit 53 to the motor speed in the torque pulsation correcting apparatus according to the first embodiment of the present invention.
  • s is a Laplace operator.
  • FIG. 5 shows an example of G Tr_ ⁇ (s).
  • FIG. 5 is a diagram illustrating an example of transfer characteristics from the output of the torque pulsation correction unit to the motor speed in the torque pulsation correction apparatus according to Embodiment 1 of the present invention.
  • the upper 5A indicates the gain characteristics
  • the lower 5B indicates the phase characteristics.
  • the relationship between the speed pulsation and the torque pulsation correction current Itpc shown in the equation (5) is determined by the transfer characteristic of FIG. Therefore, if the transfer characteristic TCH in FIG. 5 can be obtained, a current correction value for correcting the speed pulsation can be obtained, and conversely, the speed pulsation can be obtained from the current correction value. Therefore, the speed pulsation due to the error of the position detector 2 can be corrected by the current correction value if the transfer characteristic of FIG. 5 can be obtained. The same applies to the speed pulsation caused by the torque pulsation of the electric motor 1.
  • the torque pulsation estimating unit 52 outputs an operation command MDC of the electric motor 1 to the electric motor control device 4.
  • the operation command MDC is input, for example, to the speed control unit 42 shown in FIG. 2 of the electric motor control device 4 to operate the electric motor 1.
  • the torque pulsation estimating unit 52 outputs a command for setting the torque pulsation correction signal to zero, that is, a command for setting the test signal TS to zero to the torque pulsation correcting unit 53 (step S1).
  • the torque pulsation correction unit 53 sets the torque pulsation correction current Itpc to zero, and rotates the electric motor 1 without performing torque pulsation correction. This means that the electric motor 1 is operated without applying the test signal TS.
  • the torque pulsation estimation unit 52 outputs a frequency analysis command FAC to the frequency analysis unit 51, and the frequency analysis unit 51 performs frequency analysis on the rotational speed MRS of the motor 1 according to the motor rotational position MRP (step S2).
  • the frequency analysis result FAR is input to the torque pulsation estimation unit 52.
  • the frequency analysis unit 51 performs frequency analysis on the rotational speed of the electric motor 1 at a frequency corresponding to the frequency of torque pulsation.
  • a n1 2 / T ⁇ T / 2 ⁇ T / 2 ⁇ (t) cos (2 ⁇ M 1 t) dt (6)
  • B n1 2 / T ⁇ T / 2 ⁇ T / 2 ⁇ (t) sin (2 ⁇ M 1 t) dt (7)
  • a n1 and B n1 indicate the coefficients of cosine wave and sine wave, respectively.
  • FIG. Expressions (6) and (7) are arithmetic expressions in the continuous time domain.
  • the torque pulsation correction device 5 is configured by a computer such as a computer, it is converted into an expression in the discrete time domain and executed. To do. Equations (6) and (7) can be calculated with a cosine wave, sine wave signal generator, multiplier and integrator, and can be easily configured by a computer.
  • the equations (6) and (7) calculate the Fourier coefficient by integration for one period of the signal, they may be obtained as a value obtained by integrating several periods and dividing the integrated value by the number of periods. . In this case, since it is obtained as an average value for several cycles, it is possible to reduce the influence of variations in current pulsation and disturbance. Moreover, it is desirable to start the integration start time from a reference point of the rotation angle of the electric motor 1, for example, zero degrees. Thereby, a Fourier coefficient based on the rotation angle of the electric motor 1 can be obtained.
  • the amplitude A ⁇ 1 and the phase ⁇ ⁇ 1 of the velocity pulsation component can be obtained by the following equations (8) and (9).
  • the torque pulsation estimating unit 52 stores the amplitude A ⁇ 1 and the phase ⁇ ⁇ 1 obtained by the equations (8) and (9). It should be noted that the Fourier coefficients A n1 and B n1 may be stored, and the amplitude and phase may be obtained by calculation using equations (8) and (9). The amplitude and phase obtained in step S2 are defined as amplitude (A1a) and phase ( ⁇ 1a).
  • the torque pulsation estimation unit 52 adds the test signal TS to operate the electric motor 1 (step S3), and causes the frequency analysis unit 51 to perform frequency analysis of the electric motor speed while the electric motor 1 is rotated (step S4). ).
  • the rotation speed of the electric motor 1 is set to be the same as that in step S1.
  • the operation command MDC of the electric motor 1 is input from the torque pulsation estimation unit 52 to, for example, the speed control unit 42 of the electric motor control device 4, and the set value of the test signal TS is output from the torque pulsation estimation unit 52 to the torque pulsation correction unit 53. Is done.
  • the frequency analysis result FAR is input from the frequency analysis unit 51 to the torque pulsation estimation unit 52.
  • the test signal TS is a sine wave or cosine wave test signal in which a preset amplitude, frequency and initial phase are set.
  • the test signal TS is generated by the torque pulsation correcting unit 53, and the speed control unit 42 Add to output ic. Since the sine wave and the cosine wave can be converted into each other when the initial phase is changed, the sine wave and the cosine wave will be described below as a sine wave. Also, a preset amplitude of the test signal TS and A t, the initial phase and phi t.
  • the frequency of the test signal TS is the same as the frequency of torque pulsation.
  • step S4 When performing frequency analysis of the motor speed MRS in step S4, frequency analysis is performed at a frequency corresponding to the test signal TS added in step S3.
  • the frequency analysis is obtained by the same calculation as in equations (6) to (9).
  • M 1 and T are values replaced with the frequency and period corresponding to the test signal TS, which is the frequency of torque pulsation. is there.
  • the frequency analysis result FAR of the speed pulsation is the frequency analysis result for the speed pulsation generated with respect to the synthesized signal obtained by synthesizing the torque pulsation of the electric motor 1 and the error of the position detector 2 and the test signal TS.
  • the amplitude and phase obtained in step S4 are defined as amplitude (A1b) and phase ( ⁇ 1b).
  • step S5 the torque pulsation estimation unit 52 estimates torque pulsation based on the frequency analysis result FAR obtained in step S2 and the frequency analysis result FAR obtained in step S4.
  • the frequency analysis result FAR obtained in step S4 is the frequency for the speed pulsation generated with respect to the synthesized signal obtained by synthesizing the torque pulsation of the electric motor 1 and the error of the position detector 2 and the test signal. Since it is an analysis result and the amplitude and initial phase of the torque pulsation and the position detector error are unknown, the transfer characteristic at the frequency of the torque pulsation cannot be obtained from this result.
  • step S4 a calculation for separating the speed pulsation component caused by the torque pulsation and the position detector error and the speed pulsation component caused by the test signal TS is performed from the frequency analysis result FAR obtained in step S4. This can be performed using each frequency analysis result in step S2 and step S4.
  • the frequency analysis result in step S4 can be separated from the frequency analysis result in step S2 when the operation is performed without adding the test signal TS. That is, the difference between the Fourier coefficients obtained in step S4 and step S2 becomes the Fourier coefficient of the velocity pulsation component caused by the test signal TS.
  • the amplitude and phase corresponding to the test signal TS are set to A ⁇ t and ⁇ ⁇ t using the Fourier coefficient of the velocity pulsation component resulting from the extracted test signal TS, respectively.
  • step S5 the torque pulsation estimation unit 52 calculates a torque pulsation estimated value of the electric motor 1 (step S5).
  • step S4 the relative amplitude A t test signals, since the corresponding speed pulsation amplitude was A .omega.t, speed pulsations, it can be seen the amplitude of the test signal is obtained by multiplying A .omega.t / A t.
  • the magnification of the amplitude of the speed pulsation with respect to the amplitude of the torque pulsation is assumed to be the same as the above-described magnification, and obtained in step S2.
  • the amplitude of the error signal that generates the current pulsation amplitude A ⁇ 1 related to the error signal can be obtained. That is, when the amplitude of the error signal is A 1 , it can be obtained by the following equation (10).
  • a 1 (A ⁇ 1 / A ⁇ t ) A t (10)
  • step S4 since the phase of the speed pulsation corresponding to the initial phase of the test signal ⁇ t is ⁇ ⁇ t , the phase of the speed pulsation is ⁇ ⁇ t ⁇ relative to the phase of the test signal. It can be seen that it is shifted by t .
  • the phase shift of the motor speed pulsation amplitude with respect to the torque pulsation amplitude is regarded as the same as the phase shift of the test signal.
  • the phase of the error signal that generates the current pulsation phase ⁇ ⁇ 1 related to the obtained error signal can be obtained. That is, when the phase of the error signal is ⁇ 1 , it can be obtained by the following equation (11).
  • the amplitude and phase obtained in step S5 are defined as amplitude (A2) and phase ( ⁇ 2).
  • ⁇ 1 ⁇ ⁇ 1- ( ⁇ ⁇ t - ⁇ t ) (11)
  • the sine wave having the amplitude and phase obtained by the equations (10) and (11) is estimated as the torque pulsation estimated value TPE.
  • the torque pulsation correction unit 53 When the estimation of the torque pulsation ends, the torque pulsation correction unit 53 generates a torque pulsation correction current signal Itpc that cancels the torque pulsation based on the torque pulsation generated from the torque pulsation estimated value TPE. Output in addition to output ic.
  • the torque pulsation frequency analysis result FAR when torque pulsation correction is not performed and the speed pulsation frequency analysis result FAR when operated with a predetermined test signal TS are used. Pulsation is estimated. This means that the transmission characteristic TCH from the torque pulsation correction current to the rotation speed of the electric motor is obtained in the frequency band of the speed pulsation caused by the torque pulsation, and the torque pulsation is converted using the transmission characteristic.
  • the test signal TS is set at point A, and the operation at the point A is performed by adding the test signal.
  • the torque pulsation is estimated from the amplitude and phase of the speed pulsation obtained by the operation without applying the test signal. In this way, the current command value for correcting the torque pulsation, that is, the torque pulsation correction current signal Itpc can be obtained by frequency analysis of the speed signal MRS.
  • the current command value ic output from the speed control unit 42 of the motor control device 4 is corrected by the torque pulsation correction current signal Itpc obtained by the torque pulsation correction device 5, and the motor 1 is driven by the corrected current command value IC. Is done.
  • the torque pulsation correcting unit 53 may perform the operation with the test signal TS added a plurality of times to estimate the torque pulsation a plurality of times. Referring to FIG. 6, steps S3 to S5 are repeated. Further, a plurality of estimation results obtained may be averaged to obtain a final estimated value. Thereby, the reliability of an estimation result can be improved.
  • the torque pulsation may be estimated a plurality of times by performing the operation with the test signal added while changing the amplitude and phase of the test signal TS a plurality of times.
  • the amplitude and phase of the test signal applied in step S3 are changed, and steps S3 to S5 are repeated.
  • a plurality of estimation results obtained may be averaged to obtain a final estimated value. Thereby, the reliability of an estimation result can be improved.
  • the error of the position detector 2 is uniquely determined according to the rotation angle of the electric motor 1, but the torque pulsation of the electric motor 1 varies according to the current value. Therefore, the correction value obtained in the above procedure is effective only under the current condition when the estimation is completed, and an error may occur in the correction value under other current conditions. It cannot be corrected.
  • the estimated value can sufficiently correct the torque pulsation, but generally the torque pulsation of the electric motor 1 changes according to the current value.
  • the correction of torque pulsation needs to be variable according to the current value.
  • the amplitude of the torque pulsation is as shown in FIG.
  • the amplitude of torque pulsation of the electric motor 1 is expressed as a straight line L1 in FIG. 7 and is a function a ⁇ i proportional to the current value i.
  • a is the slope of the straight line L1 or the straight line L2.
  • the amplitude of the torque pulsation changes linearly with respect to the current value, but it may be a quadratic function or a higher order function.
  • the amplitude of the torque pulsation that does not depend on the current value that is, the amplitude when the error of the position detector 2 is considered to be caused by the torque pulsation in the first embodiment does not change according to the current value, so that the offset value. represented as b.
  • torque pulsation is estimated at current i 1 , and the amplitude of torque pulsation is obtained.
  • the obtained amplitude of the torque pulsation is the sum of the amplitude of the torque pulsation of the electric motor 1 and the amplitude when the speed pulsation due to the error of the position detector 2 is considered to be due to the torque pulsation.
  • a Tr1 Amplitude of torque pulsation of motor 1 at current i 1
  • a S Amplitude when speed pulsation due to error of position detector 2 is caused by torque pulsation.
  • the current condition 2 is similarly obtained.
  • a Tr2 Amplitude of torque pulsation of motor 1 at current i 2
  • a S Amplitude when speed pulsation due to error of position detector 2 is caused by torque pulsation.
  • the slope a with respect to the current value of the torque pulsation of the electric motor 1 can be calculated by the following equation (15).
  • the intercept b that is, the amplitude when the error of the position detector 2 is considered to be caused by torque pulsation can be obtained by the following equation (16).
  • phase obtained in the current condition 1 and the phase obtained in the current condition 2 are the same, and either may be used.
  • the average value of the phases obtained under the current condition 1 and the current condition 2 may be used.
  • the torque pulsation estimation unit 52 outputs an operation command MDC of the electric motor 1 to the electric motor control device 4 and operates so that the current condition becomes i 1 (step S81). Then, when the current condition is i 1 , torque pulsation is estimated.
  • the estimation of torque pulsation performed under the current condition i 1 is as shown in the flowchart of FIG.
  • the current value i 1 and the amplitude estimation value A r1 are stored together (step S82).
  • step S83 the operation is performed so that the current condition is i 2 (step S83).
  • step S83 torque pulsation is estimated.
  • the estimation of torque pulsation performed under the current condition i 2 is as shown in the flowchart of FIG.
  • step S84 the value obtained when the phase is the current condition i 1 is stored, but if the phase does not change according to the current value, the value obtained under the current condition i 2 may be stored. .
  • both the phases obtained under the current conditions i 1 and i 2 may be stored and the average value thereof may be obtained.
  • the estimation method based on two current conditions is shown, but the current condition may be two or more. Further, although an example of linear approximation of two conditions has been shown, it is possible to learn and correct by the same method even if the number of conditions is increased and the dimension of a function such as a quadratic function or a cubic function is increased. Therefore, the present invention can also be applied when the torque pulsation of the electric motor 1 is non-linear.
  • the torque pulsation estimation of the electric motor 1 can be performed when the electric motor control system including the electric motor 1 is installed. Moreover, it can be performed in either state, whether the load is attached to the electric motor 1 or not. Therefore, adjustment before shipping is unnecessary, and torque pulsation can be easily corrected during installation. Further, the estimation of torque pulsation can be performed at the time of maintenance of the apparatus or at the time of replacement of the electric motor 1, and may be performed periodically when the apparatus is in operation. In the present invention, since the transfer characteristic of the motor control system is obtained by the operation based on the test signal TS, torque pulsation can be estimated regardless of the presence or absence of a load.
  • the torque pulsation in order to estimate the torque pulsation, it is only necessary to perform a minimum of four frequency analyzes consisting of two types of test signals and two current conditions.
  • the frequency analysis performed by the frequency analysis unit 51 can be performed while rotating the electric motor 1 about one rotation, the torque pulsation can be estimated in a short time.
  • the flowcharts of FIGS. 6 and 8 can be continuously performed without stopping the electric motor 1, the torque pulsation can be estimated in a short time.
  • the torque pulsation when there are a plurality of frequency components of torque pulsation, the torque pulsation may be sequentially estimated and added together with each component, or a plurality of frequency components may be estimated simultaneously.
  • the test signal TS when performing the operation using the test signal TS, the test signal TS is simultaneously input in accordance with the frequency of the torque pulsation for estimating the test signal TS.
  • the frequency analysis is performed for all velocity pulsation components caused by the test signal.
  • the torque pulsation estimating unit 52 outputs the operation command MDC of the electric motor 1 in steps S1 and S3, and outputs the frequency analysis command FAC in steps S2 and S4.
  • An operation sequence control unit that performs operation sequence control of torque pulsation estimation may be provided separately in the torque pulsation correction device 5 or the motor control device 4, or may be provided as a dedicated control device.
  • the torque pulsation correction device can analyze the specific frequency component of the motor speed and estimate the periodic torque pulsation of the motor 1 based on the frequency analysis result.
  • a step of frequency analyzing the rotational speed of the motor under a plurality of current conditions, a step of estimating torque pulsation from the frequency analysis result, and a step of obtaining torque pulsation as a function of current from the calculated plurality of torque pulsation estimation results Thus, torque pulsation is estimated. Therefore, a torque pulsation correction device and a torque pulsation correction method that can accurately estimate and correct torque pulsation can be obtained.
  • FIG. 9 shows a schematic diagram when the phase of torque pulsation of the electric motor 1 changes according to the current value, as in FIG. 7.
  • the phase of torque pulsation of the electric motor 1 is represented as a straight line L3 in FIG. 9, and is a function c ⁇ i proportional to the current value i.
  • c is the slope of the straight line L3 or the straight line L4.
  • the torque pulsation phase changes linearly with respect to the current value, but it may be a quadratic function or a higher order function.
  • the phase of torque pulsation that does not depend on the current value that is, the phase when the error of the position detector 2 is considered to be caused by torque pulsation in the second embodiment does not change according to the current value, so that the offset value. expressed as d.
  • torque pulsation is estimated at current i 1 and the phase of torque pulsation is obtained.
  • the obtained torque pulsation phase is the sum of the phase of the torque pulsation of the electric motor 1 and the phase when the speed pulsation due to the error of the position detector 2 is considered to be due to the torque pulsation.
  • ⁇ Tr1 Phase of torque pulsation of motor 1 at current i 1
  • ⁇ S Phase when speed pulsation due to error of position detector 2 is caused by torque pulsation.
  • the current condition 2 is similarly obtained.
  • ⁇ Tr2 Phase of torque pulsation of motor 1 at current i 2
  • ⁇ S Phase when velocity pulsation due to error of position detector 2 is caused by torque pulsation.
  • the slope c with respect to the current value of the torque pulsation of the electric motor 1 can be calculated by the following equation (21).
  • the intercept d that is, the phase when the error of the position detector 2 is considered to be caused by torque pulsation can be obtained by the following equation (22).
  • the torque pulsation estimation unit 52 outputs an operation command MDC of the electric motor 1 to the electric motor control device 4 and operates so that the current condition becomes i 1 (step S101). Then, when the current condition is i 1 , torque pulsation is estimated.
  • the estimation of torque pulsation performed under the current condition i 1 is as shown in the flowchart of FIG.
  • the current value i 1 and the phase estimated value ⁇ r1 are stored together (step S102).
  • step S103 the operation is performed so that the current condition is i 2 (step S103). Then, when the current condition is i 2 , torque pulsation is estimated.
  • the estimation of torque pulsation performed under the current condition i 2 is as shown in the flowchart of FIG.
  • the current value i 2 and the phase estimation value ⁇ r2 are stored together (step S104).
  • the phase of the torque pulsation is calculated as a function of the current value according to equations (21) and (22) (step S105).
  • the estimation method based on two current conditions is shown, but the current condition may be two or more.
  • the present invention can also be applied when the torque pulsation of the electric motor 1 is non-linear.
  • the flowchart of FIG. 10 can be executed simultaneously with the flowchart of FIG. 8.
  • both the amplitude and the phase are functions of the current value.
  • the estimated time of torque pulsation can be shortened. According to the second embodiment, even when the phase of torque pulsation of the electric motor 1 changes according to the current value, the torque pulsation can be accurately corrected.
  • FIG. 11 is a block diagram showing an overall configuration of an electric motor control system including a torque pulsation correcting apparatus according to Embodiment 3 of the present invention. 11, elements denoted by the same reference numerals as those in FIG. 1 perform the same operations as those described in the first embodiment.
  • a torque pulsation correction device 5A is provided instead of the torque pulsation correction device 5 shown in FIG.
  • the torque pulsation correction device 5A includes a frequency analysis unit 51, a torque pulsation estimation unit 52A, a torque pulsation correction unit 53, and a resonance determination unit 54A. That is, the torque pulsation estimating unit 52A shown in FIG. 1 has a different operation from the torque pulsation estimating unit 52A, and further includes a resonance determining unit 54A.
  • the resonance determination unit 54A determines whether the frequency of the torque pulsation of the motor 1 or the frequency of the test signal TS is that of the motor. It is determined whether or not the resonance frequency matches the control system, and the determination result DR is output to the torque pulsation estimating unit 52A.
  • the motor control system may have a resonance point depending on the dynamic characteristics of the load.
  • the frequency of the torque pulsation and the frequency of the test signal TS are close to or coincide with the resonance frequency that is the frequency of the resonance point during the operation of the electric motor 1, the estimation accuracy of the torque pulsation estimation may deteriorate.
  • the resonance determining unit 54A operates the electric motor 1 to check whether the frequency of the torque pulsation and the frequency of the test signal TS match the frequency of the resonance point. Determine whether or not.
  • the torque pulsation estimating unit 52A changes the rotational speed or rotational position of the electric motor 1 when the resonance determining unit 54a determines that the specific frequency corresponding to the torque pulsation matches the resonance frequency of the motor control system. Estimate pulsation.
  • the resonance point does not change depending on the rotational position of the motor 1, for example, when the load is a rotating machine or the like, the motor 1 is operated while changing the operating speed, and the frequency analysis of the motor current Im is performed.
  • the amount of change in velocity pulsation amplitude (A) or phase ( ⁇ ) obtained by frequency analysis exceeds a predetermined set value. It is determined that the operating speed of the electric motor 1 is close to the resonance frequency. For example, when at least one of the change amount of the amplitude and the change amount of the phase of the speed pulsation of the electric motor exceeds the set value, it is determined that the resonance is present. The same shall apply hereinafter.
  • the torque pulsation estimating unit 52A outputs an operation command MDC for operating the electric motor 1 under a condition not close to the resonance frequency to the electric motor control device 4 based on the determination result of the resonance determining unit 54A.
  • the torque pulsation estimation unit 52A estimates torque pulsation by the method described in the first and second embodiments. In this case, the operation speed of the electric motor 1 is changed so as to avoid the resonance frequency. When the operating speed of the electric motor 1 is changed, the frequency of torque pulsation and the frequency of the test signal are changed, so that the resonance frequency can be avoided.
  • the resonance determination unit 54A determines whether the frequency of the torque pulsation and the frequency of the test signal match the resonance frequency of the motor control system, and sets the resonance frequency to the resonance frequency. Since torque pulsation is estimated under conditions that do not match, torque pulsation can be estimated stably and with high accuracy. In particular, since the resonance frequency can be avoided even when a load is attached, adjustment during installation of the control system for the motor can be performed with high accuracy.
  • the example in which the operation command MDC for the electric motor 1 that avoids the resonance frequency is output by the torque pulsation estimation unit 52A has been described.
  • the torque pulsation such as the operation command for the electric motor 1 described above is described.
  • the estimated operation sequence may be performed by the operation sequence control unit described in the above embodiment, or may be provided as a dedicated control device.
  • FIG. 12 is a schematic configuration diagram showing an elevator system including an elevator control device according to Embodiment 4 of the present invention.
  • FIG. 12 shows a configuration diagram when the motor control system including the torque pulsation correcting apparatus according to the first to third embodiments is applied to, for example, an elevator as an application.
  • the same reference numerals as those in FIG. 1 or 11 perform the same operations as those described in the first to third embodiments.
  • the elevator car 7 and the counterweight 9 are connected to both ends of the hoisting rope 8 and suspended from the sheave 6 in a hanging manner.
  • the sheave 6 is connected to the electric motor 1 that is an electric motor for driving the car 7, and the car 7 moves up and down by the power of the electric motor 1.
  • torque pulsation is estimated when the hoist is installed. Specifically, after installing the hoisting machine that is the electric motor 1 in the elevator system, the torque pulsation is estimated in a state where the rope 8 is not applied to the sheave 6 or the rope 8 is applied to the sheave 6. For this reason, the hoisting machine (1) is rotated to estimate the torque pulsation.
  • the traveling speed of the elevator may be changed so that the traveling speed is such that the amplitude of the speed pulsation increases.
  • the position of the car 7 is not limited, and can be estimated at any position in the hoistway where the car 7 travels.
  • the operation may be performed by changing the gain of the current control unit 43 shown in FIGS.
  • the proportional gain, integral gain, and differential gain correspond to the gain of the control device.
  • the torque pulsation estimation result is recorded as a torque pulsation corresponding to the magnetic pole position of the hoisting machine (1), for example, in a storage medium composed of a nonvolatile memory.
  • the estimated torque pulsation value corresponding to the output of the position detector 2 is read from the storage medium and corrected.
  • torque pulsation is obtained by calculation from the same equation as the above equation (1) as the amplitude and phase shift of torque pulsation.
  • the dynamic characteristics of the elevator system change according to the position and load weight of the car 7, so the transfer characteristic TCH shown in FIG. 5 also changes according to the position and load weight of the car 7. Therefore, it is desirable to perform the operation without adding the correction signal and the operation with the correction signal when performing the torque pulsation estimation under the condition that the car position and the loaded weight are equal or close to equivalent.
  • the dynamic characteristics of the elevator system change when the specifications such as the lifting length and the rated load capacity change.
  • the transfer characteristic TCH of the motor control system is obtained by the operation based on the test signal TS.
  • Torque pulsation can be estimated regardless of the specifications.
  • torque pulsation estimation can be performed by using the present invention not only in an elevator but also in a system in which the characteristics of a load of an electric motor change every moment.
  • the torque pulsation in estimating the torque pulsation, it is only necessary to perform four kinds of frequency analysis consisting of at least two current conditions and two test signal presence / absence, and the torque pulsation can be estimated in a short time. Is possible.
  • estimation when estimation is started, estimation can be performed continuously without stopping the electric motor 1, so that torque pulsation can be estimated in a short time. Therefore, for example, since the torque pulsation can be estimated in a short time during the test operation after installing the elevator, the adjustment time during installation can be shortened.
  • the torque pulsation can be accurately estimated by performing the estimation according to the following procedure.
  • the period of torque pulsation and the frequency of the test signal TS when performing torque pulsation estimation may coincide with these resonance frequencies.
  • the frequency of the torque pulsation or the frequency of the test signal matches the resonance frequency of the elevator, the amplitude and phase of the speed used for the frequency analysis will change suddenly, and the frequency analysis result will not be stable. It will get worse.
  • the elevator car 7 is operated from the bottom floor to the top floor or from the top floor to the bottom floor, and the frequency analysis of the motor speed is performed at the frequency corresponding to the torque pulsation.
  • the frequency of the torque pulsation is in the vicinity of the resonance frequency, the amplitude of the corresponding speed pulsation suddenly increases or decreases, or the phase suddenly changes nearly 180 degrees.
  • the velocity pulsation amplitude or phase change obtained by frequency analysis exceeds a predetermined value, and if it exceeds the predetermined value, it is determined that the frequency is close to the resonance frequency. Further, based on this determination result, torque pulsation is estimated at a position different from the position determined to be close to the resonance frequency. Note that the operation speed at the time of estimating the torque pulsation may be changed so as not to be close to the resonance frequency. In addition to the elevator, the above method can be applied when the resonance frequency changes depending on the rotational position of the electric motor 1.
  • the elevator car 7 is operated from the lowest floor to the top floor or from the top floor to the bottom floor, and the frequency analysis of the motor speed is performed at the frequency corresponding to the torque pulsation, and the amount of change in the speed pulsation amplitude and phase is calculated. To do.
  • the car position is stored together with the amount of change in velocity pulsation amplitude and phase. Subsequently, when the operation from the lowest floor to the top floor or from the top floor to the bottom floor is completed, it is checked whether the amount of change in velocity pulsation amplitude and phase exceeds a predetermined value, and does not exceed the predetermined value. Extract position. Next, the velocity pulsation amplitude and phase change amount move to a position that does not exceed a predetermined value, and torque pulsation estimation is performed.
  • the operation for checking whether the amplitude and phase change amount of the speed pulsation exceeds the predetermined value is the operation from the lowest floor to the highest floor
  • the operation for estimating the torque pulsation is When the operation is performed from the floor to the lowest floor, the torque pulsation can be estimated by a single reciprocating operation, so that the time required for the torque pulsation estimation can be shortened.
  • the operation for checking whether the amount of change in the amplitude and phase of the speed pulsation exceeds the predetermined value is the operation from the top floor to the bottom floor
  • the operation for estimating the torque pulsation is the opposite. This can be done by driving from the lowest floor to the top floor.
  • torque pulsation can be estimated while avoiding deterioration in estimation accuracy due to resonance, and therefore torque pulsation can be corrected accurately.
  • adjustment time during installation can be shortened.
  • the layout of the entire elevator, the roping method, and the like are not limited to the example of FIG.
  • the present invention can be applied to a 2: 1 roping elevator.
  • the position of the hoisting machine composed of the electric motor 1 is not limited to the example of FIG.
  • the present invention can be applied to various types of elevators such as machine room-less elevators, double deck elevators, one-shaft multi-car elevators, and skew elevators.
  • a CPU Central Processing Unit, a central processing device that executes a program stored in the memory is used.
  • a processing device an arithmetic device, a microprocessor, a microcomputer, a processor, and a DSP).
  • FIG. 13A schematically shows a hardware configuration when the functions of the torque pulsation correction devices 5 and 5A are configured by hardware
  • FIG. 13B schematically shows a hardware configuration when configured by software.
  • the processing circuit 1000 includes, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, An FPGA or a combination thereof is applicable.
  • Each function of the torque pulsation correction devices 5 and 5A may be realized by a processing circuit, or the functions of the respective units may be realized by a processing circuit.
  • each function is realized by software, firmware, or a combination of software and firmware.
  • Software and firmware are described as programs and stored in the memory 2100.
  • the processor 2000 which is a processing circuit, implements each function by reading and executing a program stored in the memory 2100. These programs can be said to cause a computer to execute the procedures and methods of the above functions.
  • the memory 2100 is, for example, a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, a DVD, or the like. Applicable.
  • the processing circuit can realize the functions described above by hardware, software, firmware, or a combination thereof.
  • Various information necessary for processing is preset in a circuit in the case of a hardware configuration, and is stored in advance in a memory in the case of a software configuration.
  • torque pulsation correcting devices 5 and 5A can be configured as described above together with the portions excluding the power converter 44 of the motor control device 4 shown in FIGS.
  • the periodic torque pulsation included in the torque of the motor is corrected with respect to the current command value (ic, tc) for controlling the motor (1) in the motor control device (4).
  • a torque pulsation correction device (5) for an electric motor When the motor is rotated, the rotation speed (MRS) of the motor is calculated from the rotation position (MRP) of the motor from the position detector (2), and the rotation speed is subjected to frequency analysis.
  • a torque pulsation estimation unit (52) that estimates and outputs a torque pulsation estimated value (TPE); Based on the estimated torque pulsation value (TPE), the motor current (Im) detected by the current detector (3), and the position detection signal (MRP), a torque pulsation correction current value (Itpc) is calculated and the motor control device ( 4) a torque pulsation correction unit (53) for correcting the current command value (ic, tc) of 4); With The torque pulsation estimation unit (52) causes the frequency analysis unit (51) to calculate the frequency analysis result (FAR) for a plurality of conditions with different currents of the electric motor, and to obtain the plurality of obtained frequency analysis results (FAR).
  • FAR frequency analysis result
  • the torque pulsation estimating unit (52) A first control process for operating the electric motor without performing torque pulsation correction by the torque pulsation correcting unit (53); An amplitude (A1a) and a phase ( ⁇ 1a) obtained by frequency-analyzing the rotational speed (MRS) of the electric motor obtained by the first control process with respect to the frequency corresponding to the torque pulsation by the frequency analysis unit (51). A second control process to obtain; A test signal (TS) having a known amplitude, phase, and frequency is set in the torque pulsation correction unit (53), and the test signal (TS) is applied by the torque pulsation correction unit (53).
  • TS test signal having a known amplitude, phase, and frequency
  • a third control process to be operated An amplitude (A1b) and a phase ( ⁇ 1b) obtained by frequency-analyzing the rotational speed (MRS) of the motor obtained by the third control process with respect to the frequency of the test signal (TS) by the frequency analysis unit (51).
  • a fourth control process to obtain Based on the amplitude (A1a) and phase ( ⁇ 1a) obtained in the second control process, and the amplitude (A1b) and phase ( ⁇ 1b) obtained in the fourth control process, the amplitude (A2) of the torque pulsation And the phase ( ⁇ 2) is calculated. Thereby, the current value for correcting the torque pulsation can be obtained from the speed by inputting the test signal.
  • the torque pulsation estimating unit (52) calculates a transfer characteristic (TCH) at a specific frequency corresponding to the torque pulsation from the electric current of the motor to the rotation speed of the electric motor, and based on the transfer characteristic (TCH). Estimated values of the amplitude (A2) and phase ( ⁇ 2) of the torque pulsation are estimated. Thereby, it is possible to estimate torque pulsation even when a load is connected.
  • the transfer characteristic is a gain and a phase from the electric current (Im) of the electric motor to the rotational speed (MRS) of the electric motor.
  • the frequency of the test signal (TS) is set to a specific frequency corresponding to the torque pulsation
  • the torque pulsation estimation unit (52) performs an operation of separating a speed pulsation component caused by torque pulsation and a speed pulsation component caused by a test signal from a plurality of frequency analyses, and a speed pulsation component caused by the torque pulsation And the torque pulsation is estimated based on the transmission characteristic (TCH).
  • TCH transmission characteristic
  • the torque pulsation estimating unit (52) includes the electric motor control device (4), the position detector (2), the current detector (3), and the torque pulsation correcting device (5).
  • the torque pulsation is estimated during installation adjustment of the control system. Thereby, it is possible to easily estimate torque pulsation even after installation.
  • the specific frequency corresponding to the torque pulsation includes an electric motor control device (4), the position detector (2), the current detector (3), and the torque pulsation correction device (5).
  • the torque pulsation estimation unit (52A) when the resonance determination unit (54a) determines that the specific frequency corresponding to the torque pulsation matches the resonance frequency of the control system of the electric motor, Alternatively, the torque pulsation is estimated by changing the rotational position. As a result, an estimation error occurs at the time of resonance, so that the estimation accuracy is increased by performing resonance determination.
  • the resonance determination unit (54A) is in resonance when at least one of an amplitude change amount and a phase change amount of the speed pulsation of the electric motor having a specific frequency component corresponding to torque pulsation exceeds a set value. judge.
  • the torque pulsation estimation unit (52, 52A) includes a first amplitude that is an amplitude obtained by the second control process, a second amplitude that is an amplitude obtained by the fourth control process, and the test signal.
  • the amplitude of the torque pulsation is estimated by multiplying the ratio of the first amplitude to the second amplitude by the amplitude of the test signal.
  • the torque pulsation correction unit (53) performs the third control process and the fourth control process a plurality of times by the test signal having the same amplitude, phase and frequency
  • the torque pulsation estimation unit (52, 52A) estimates the amplitude of the torque pulsation a plurality of times, and sets an average value of the estimated values of the torque pulsation a plurality of times as an estimated value of the amplitude of the torque pulsation. Thereby, reliability is improved by performing estimation several times with the same test signal.
  • the torque pulsation correction unit (53) performs the third control process and the fourth control process a plurality of times by the test signals having different amplitudes, phases, and frequencies
  • the torque pulsation estimation unit (52, 52A) estimates the amplitude of the torque pulsation a plurality of times, and sets an average value of the estimated values of the torque pulsation a plurality of times as an estimated value of the amplitude of the torque pulsation. Thereby, reliability is improved by performing estimation several times with different test signals.
  • the torque pulsation estimation unit (52, 52A) is configured such that the first phase that is the phase obtained by the second control process, the difference between the phase obtained by the fourth control process and the phase of the test signal. And the phase of the torque pulsation is estimated from the difference between the first phase and the second phase.
  • the torque pulsation correction unit (53) performs the third control process and the fourth control process a plurality of times by the test signal having the same amplitude, phase and frequency
  • the torque pulsation estimating unit (52, 52A) estimates the phase of the torque pulsation a plurality of times, and sets an average value of the estimated values of the phase of the torque pulsation a plurality of times as an estimated value of the phase of the torque pulsation. Thereby, reliability is improved by performing estimation several times with the same test signal.
  • the torque pulsation correction unit (53) performs the third control process and the fourth control process a plurality of times by the test signals having different amplitudes, phases, and frequencies
  • the torque pulsation estimating unit (52, 52A) estimates the phase of the torque pulsation a plurality of times, and sets an average value of the estimated values of the phase of the torque pulsation a plurality of times as an estimated value of the phase of the torque pulsation. Thereby, reliability is improved by performing estimation several times with different test signals.
  • the electric motor (1) which is an elevator hoisting machine, the electric motor control device (4) controlled by the electric motor (1), and the rotational position (MRP) of the electric motor (1).
  • a position detector (2) for detecting the motor a current detector (3) for detecting a motor current (Im) flowing through the motor (1), a rotational position (MRP) of the motor (1) and a motor current (Im).
  • the torque pulsation correction current for correcting the periodic torque pulsation included in the torque of the motor with respect to the current command value (ic, tc) for controlling the motor (1) in the motor control device (4).
  • the torque pulsation correcting device (5) according to any one of claims 1 to 14, wherein correction is performed with a value (Itpc).
  • An electric motor torque pulsation correction method (5) for correcting When the motor is rotated, the rotation speed (MRS) of the motor is calculated from the rotation position (MRP) of the motor from the position detector (2), and the rotation speed is subjected to frequency analysis.
  • phase ( ⁇ 1) are calculated and obtained as a frequency analysis result (FAR) (51), From the frequency analysis result (FAR), the amplitude (A2) and phase ( ⁇ 2) of torque pulsation generated in the motor are estimated to obtain a torque pulsation estimated value (TPE) (52); Based on the estimated torque pulsation value (TPE), the motor current (Im) detected by the current detector (3), and the position detection signal (MRP), a torque pulsation correction current value (Itpc) is calculated and the motor control device ( 4) correct the current command value (ic, tc) of (4) (53), When obtaining the torque pulsation estimated value (TPE), the frequency analysis result (FAR) is calculated for a plurality of conditions with different currents of the motor, and the amplitude of torque pulsation is obtained from the plurality of obtained frequency analysis results (FAR). Find (A2) or phase ( ⁇ 2) as a function of current. Thus, by obtaining the correction value of torque pulsation as a
  • the torque pulsation correcting apparatus and the torque pulsation correcting method of the present invention it is possible to analyze the specific frequency component of the rotational speed of the motor and estimate the torque pulsation of the motor based on the frequency analysis result. At this time, the amplitude or phase of the torque pulsation is estimated as a function of the current based on the frequency analysis results obtained under a plurality of conditions with different current conditions. Therefore, a torque pulsation correction device and a torque pulsation correction method that can estimate and correct torque pulsation with a simple configuration can be obtained.
  • the elevator control device of the present invention it is possible to analyze the frequency of the specific frequency component of the rotation speed of the electric motor and estimate the torque pulsation of the electric motor based on the frequency analysis result. At this time, the amplitude or phase of the torque pulsation is estimated as a function of the current based on the frequency analysis results obtained under a plurality of conditions with different current conditions. Therefore, a torque pulsation correction device and a torque pulsation correction method that can estimate and correct torque pulsation with a simple configuration in an elevator can be obtained.
  • the present invention is not limited to the above embodiments, and includes all possible combinations thereof.
  • the motor torque pulsation correction apparatus and correction method according to the present invention can be applied to electric motors used in various fields.
  • the elevator control device according to the present invention can be applied to many types of elevator systems.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Control Of Ac Motors In General (AREA)
  • Elevator Control (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

L'invention concerne un dispositif de correction de pulsation de couple de moteur électrique, un procédé de correction de pulsation de couple de moteur électrique et un dispositif de commande d'ascenseur, capables de corriger une pulsation de couple au moyen d'une configuration simple. Une analyse de fréquence est effectuée sur une composante de fréquence spécifique de la vitesse de rotation d'un moteur électrique, et la pulsation de couple du moteur électrique est estimée d'après le résultat de l'analyse de fréquence. Dans le cas présent, l'amplitude ou la phase de la pulsation de couple est estimée en fonction du courant d'après les résultats de l'analyse de fréquence obtenus dans un certain nombre de conditions correspondant à différentes conditions de courant. Du fait que la pulsation du couple est corrigée par la fonction obtenue, la pulsation de couple du moteur électrique peut être corrigée au moyen d'une configuration simple.
PCT/JP2017/007209 2017-02-24 2017-02-24 Dispositif de correction de pulsation de couple de moteur électrique et procédé de correction, et dispositif de commande d'ascenseur WO2018154733A1 (fr)

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PCT/JP2017/007209 WO2018154733A1 (fr) 2017-02-24 2017-02-24 Dispositif de correction de pulsation de couple de moteur électrique et procédé de correction, et dispositif de commande d'ascenseur
JP2019500971A JP6636206B2 (ja) 2017-02-24 2017-02-24 電動機のトルク脈動補正装置および補正方法、エレベーターの制御装置
CN201780086485.2A CN110313128B (zh) 2017-02-24 2017-02-24 电动机的转矩脉动校正装置以及校正方法、电梯的控制装置

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PCT/JP2017/007209 WO2018154733A1 (fr) 2017-02-24 2017-02-24 Dispositif de correction de pulsation de couple de moteur électrique et procédé de correction, et dispositif de commande d'ascenseur

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JP2021152763A (ja) * 2020-03-24 2021-09-30 国立大学法人富山大学 信号処理装置、信号処理方法およびプログラム
CN114347801A (zh) * 2022-01-17 2022-04-15 浙江吉利控股集团有限公司 一种电机扭矩控制方法及控制装置
JPWO2023105689A1 (fr) * 2021-12-08 2023-06-15
JP7485150B1 (ja) 2023-04-27 2024-05-16 いすゞ自動車株式会社 電動モータにおける制御装置

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EP3902135B1 (fr) * 2020-04-20 2023-12-13 ABB Schweiz AG Estimation de l'erreur de position angulaire à l'arrêt pour une injection de tension haute fréquence
CN115806225A (zh) * 2021-09-14 2023-03-17 苏州汇川控制技术有限公司 电梯舒适感智能调节方法、装置、设备及存储介质

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JP2008079477A (ja) * 2006-09-25 2008-04-03 Yaskawa Electric Corp 電動機制御装置とその振動抑制方法
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JP2021152763A (ja) * 2020-03-24 2021-09-30 国立大学法人富山大学 信号処理装置、信号処理方法およびプログラム
JP7427239B2 (ja) 2020-03-24 2024-02-05 国立大学法人富山大学 信号処理装置、信号処理方法およびプログラム
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JP7566174B2 (ja) 2021-12-08 2024-10-11 三菱電機株式会社 電力変換装置、電動機駆動装置及び冷凍サイクル適用機器
CN114347801A (zh) * 2022-01-17 2022-04-15 浙江吉利控股集团有限公司 一种电机扭矩控制方法及控制装置
CN114347801B (zh) * 2022-01-17 2024-04-23 浙江吉利控股集团有限公司 一种电机扭矩控制方法及控制装置
JP7485150B1 (ja) 2023-04-27 2024-05-16 いすゞ自動車株式会社 電動モータにおける制御装置

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CN110313128B (zh) 2023-01-10

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