This disclosure relates to a motor control apparatus, and more particularly, to a position-sensorless motor control apparatus for compensating a current signal and changing an angle at which a high frequency voltage signal is injected.
In general, various industrial equipment includes a motor to generate a driving force. The motor senses a current supplied, the number of rotations of a rotary shaft, or the like and adjust a torque generated by compensating or controlling the same. For example, in an AC motor that is a type of motor, the motor may be controlled by flowing an AC current through a stator. For the generation of AC current, frequency and phase reference is required. The reference relates to position information or speed information of a rotor. Thus, in order to obtain accurate position information of the motor rotor, a sensor such as a resolver and an encoder should be attached to a rotor shaft of the motor. However, the sensor such as a resolver and an encoder is generally expensive and has a disadvantage since complicated hardware must be separately attached to a control circuit. In addition, the sensors are limited in use environments because the sensors are greatly affected by the surrounding environment such as vibration and humidity. Also, since the sensor is attached to the rotary shaft of the motor, additional problems such as the increase of motor size also occur.
In order to avoid the above problems, a sensorless motor capable of controlling to generate a desired torque by using each parameter value of the motor without using a sensor for checking a position of the motor rotor has been widely used. In particular, when the motor is stopped or operated at a low speed, a position information estimating technology through signal injection is widely used.
As described above, the following method is used to solve the angular error generated when a sensorless motor is operated due to magnetic saturation in a high torque region of the motor.
For example, a method of adding a compensation value to the output of an angle estimator by using the fact that the angular error caused by Ldqh is proportional to a q-axis current (1: Z. Q. Zhu, Y. Li, D. Howe, and C. M. Bingham, “Compensation for rotor position estimation error due to cross-coupling magnetic saturation in signal injection based sensorless control of PM brushless AC motors,” in Proc. Int. Elect. Mach. Drives Conf. (IEMDC), May 2007, pp. 208213.) is used.
However, even in the conventional method, it is not possible to solve that estimation is unable according to the increase of current, and there is a problem that an angular error still occurs between an estimated rotor position (angle) and an actual rotor position.
This disclosure is directed to accurately estimate and control the rotor position even in the high torque range by correcting the magnitude or shape of a signal input to an angle estimator in consideration of the phenomenon that the inductance is changed depending on a driving point.
A motor control apparatus according to an embodiment of the present disclosure comprises: a current controller for generating a voltage command signal on the basis of a torque command for driving a motor and a fundamental wave current of the motor; a high frequency voltage generator for generating a high frequency voltage signal for injecting into the voltage command signal; an inverter for applying a voltage to the motor on the basis of the voltage command signal and the high frequency voltage signal; an angle estimator for generating an estimated angle of a rotor of the motor on an estimated coordinate system on the basis of a current signal of the motor; and a compensator for adding a first compensation signal (icomp) to the current signal (isig), wherein the first compensation signal (icomp) is related to the torque command and the estimated angle.
In a preferred embodiment, the current signal (isig) may be obtained by extracting a signal corresponding to a frequency of the high frequency voltage signal from the motor current, and the current signal (isig) may be an estimated q-axis component of the estimated coordinate system.
In a preferred embodiment, the angle estimator may generate the estimated angle of the rotor of the motor on the basis of a first compensation current signal (isig′) that is the sum of the current signal and the first compensation signal, the current signal (isig) may be a function of the torque command, a position of the rotor of the motor and a first angular error, and the first angular error may be a difference between the estimated angle and the position of the rotor, and the first compensation signal may be expressed by the following equation:
first compensation signal (icomp)=(−1)*current signal (isig), where first angular error=0°.
In a preferred embodiment, the motor control apparatus may further comprise a reference table storing unit for storing a corresponding relationship reference table of the position of the rotor of the motor and the torque command.
In a preferred embodiment, the compensator may generate the first compensation signal on the basis of the corresponding relationship reference table stored in the reference table storing unit and a present torque command.
In a preferred embodiment, the motor control apparatus may further comprise a first coordinate converter and second coordinate converter, the first coordinate converter may perform reference coordinate transformation to the sum of the voltage command signal and the high frequency voltage signal on the basis of the estimated angle from an estimated synchronous coordinate system to a stationary coordinate system, and the second coordinate converter may perform reference coordinate transformation to the fundamental wave current on the basis of the estimated angle from a stationary coordinate system to an estimated synchronous coordinate system.
In a preferred embodiment, the high frequency voltage generator may generate the high frequency voltage signal in an estimated d-axis on the estimated coordinate system, and the current signal of the motor may be an estimated q-axis component on the estimated coordinate system.
In a preferred embodiment, the fundamental wave current input to the current controller may be an estimated d-axis component and an estimated q-axis component on the estimated coordinate system.
In a preferred embodiment, the high frequency voltage generator may generate the high frequency voltage signal in an injected d-axis of an injection coordinate system that is rotated from the estimated coordinate system by an injection angle.
In a preferred embodiment, the current signal may be an injected q-axis component on the injection coordinate system.
In a preferred embodiment, the current signal may be expressed as a function of the torque command, a position of the rotor, the injection angle and a second angular error, and the second angular error may be a difference between the injection angle and the position of the rotor.
In a preferred embodiment, the motor control apparatus may further comprise a compensator for adding a second compensation signal (icomp′) to the current signal (isig), the angle estimator may generate an estimated angle of the rotor of the motor on the basis of a compensation current signal (isig″) that is the sum of the current signal and the second compensation signal, and the second compensation signal may be expressed by the following equation:
second compensation signal (icomp′)=(−1)*current signal (isig), where first angular error=0°.
In a preferred embodiment, the injected d-axis may be ahead of an estimated d-axis by the injection angle.
In a preferred embodiment, the motor control apparatus may further comprise a reference table storing unit for storing a corresponding relationship reference table of the torque command according to the position of the rotor of the motor and the injection angle.
In a preferred embodiment, the compensator may generate a second compensation signal on the basis of the corresponding relationship reference table stored in the reference table storing unit and a present torque command.
In a preferred embodiment, the injection angle may be determined within a range in which a first angular error is 0 and a second compensation current signal becomes 0 while having a positive slope on the basis of the first angular error.
According to an aspect of the present disclosure, a position of a rotor of a motor may be accurately estimated for any driving point by adding a compensation value to a current signal input to an angle estimator and using an axis (an injection axis) for injecting a high frequency voltage and detecting a current ripple and an axis (an estimation axis) for estimating the position of the rotor together.
The present disclosure will be described below with reference to the accompanying drawings that show, by way of illustration, specific embodiments in which the present disclosure may be implemented. The embodiments are described fully to enable those skilled in the art to implement the present disclosure. It should be understood that the various embodiments of the present disclosure are different from each other but need not be mutually exclusive. For example, certain shapes, structures and characteristics of one embodiment described herein may be realized in other embodiments without departing from the scope of the present disclosure.
In addition, it should be understood that the positions or arrangements of individual components in each disclosed embodiment may be changed without departing from the scope of the present disclosure. Accordingly, the following detailed description is not to limit the scope of the present disclosure, and if properly described, the scope of the present disclosure is defined only by the appended claims along with the full range of equivalents to which the claims are entitled. Similar reference numerals in the drawings refer to the same or similar functions throughout the several aspects.
Prior to description, a current and voltage expressed by dq will be explained briefly. The voltage and current used to drive an AC motor are AC components. The current passing through a three-phase stator winding is an AC current that is identical or similar to a rotation frequency of a motor. The phases have a phase difference of 120 degrees from each other and are expressed as UVW or RST in the phase order. By using the concept of a complex space vector, the current component may be expressed as a vector. In the vector theory, a specific vector existing on a plane may be expressed as the sum of two reference vectors. Using this principle, the UVW three-phase currents are commonly expressed using dq-based current vectors with a phase difference of 90 degrees from each other.
In general, a sensorless angle estimation method for injecting a high frequency voltage injects a high frequency voltage (for example, a square wave) to an estimated d-axis on an estimated coordinate system and detects an estimated q-axis current ripple to estimate a position (angle) of a rotor. At this time, the estimated q-axis current ripple is as show in Equation 1 below. If the estimated q-axis current ripple is divided by a clock signal (a square wave signal, clk, whose magnitude is alternating to +1 and −1), a current signal (isig) input to an angle estimator is expressed as in Equation 2 below.
In Equations 1 and 2, the angular error ({tilde over (θ)}r) is a difference of a position (θr) of the rotor and an estimated position (an estimated angle, {circumflex over (θ)}r) of the rotor and may be defined as in Equation 3 below.
{tilde over (θ)}r=θr−{circumflex over (θ)}r [Equation 3]
Meanwhile, it is conventionally known that IΔ and ϕΔ are not changed depending on an angular error ({tilde over (θ)}r). Thus, the current signal (isig) is known as being in the form of a sine wave with respect to the angular error. In addition, an angle estimator (or, an observer) is known as operating such that the input current signal (isig) is converged to a zero up-crossing point at which a negative number changes into a positive number to estimate a rotor position. Thus, it is known that the angular error is converged to ϕΔ in a normal state.
However, unlike the conventional technique known in the art, during an actual sensorless operation, a current driving current changes according to an angular error, and also a motor inductance changes according to the current driving point and the rotor position.
However, since the current is controlled on the basis of the estimated coordinate system (d{circumflex over (r)}, q{circumflex over (r)}) during the sensorless operation, if an angular error occurs, the driving point is moved by the angular error ({tilde over (θ)}r). Thus, the driving point of the torque on the MTPA curve 31 intended by a user is changed to a driving point on another curve 32.
Referring to
As described above, the current driving point is affected by not only the torque command but also 1) the angular error and 2) the rotor position, so it is required to estimate and control the motor angle in consideration of the same.
For this purpose, the motor inductance must be expressed as a function of the torque command, the angular error and the rotor position. If the motor inductance is expressed as a function of the torque command, the angular error and the rotor position, the current signals of Equations 1 and 2 may be expressed as in Equations 4 and 5 below, respectively.
Seeing Equations 4 and 5, since IΔ and ϕΔ are also functions of an angular error, the current signal (isig) does not have a sine wave characteristic with respect to the angular error any more. In other words, if the x-axis is represented as an angular error and the y-axis is represented as a current signal (isig), the current signal (isig) does not have a sine wave form.
Referring to
Since the angle estimator converges the estimated angle to the point where the current signal (isig) makes zero up-crossing as described above, in
A motor 101 is a device that converts electrical energy into mechanical energy by using a force that a conductor where a current flows receives in a magnetic field. The motor may be classified into a DC motor and an AC motor according to the type of power source, and the motor 101 in the embodiment of the present disclosure refers to an AC motor. The AC motor may be classified again into a three-phase AC motor and a single-phase AC motor, and the embodiment of the present disclosure will be described based on the three-phase AC motor, for convenience, even though it is not specifically limited to the type of AC motor.
The motor control apparatus 100 estimates a rotor position of the motor 101 and controls the operation in a sensorless manner. The motor control apparatus 100 may include a current controller 110, a high frequency voltage generator 120, an inverter 140 and an angle estimator 180, without being limited thereto, and may include only some of the above components or further include additional components.
The current controller 110 generates a fundamental wave voltage command (vdqsf{circumflex over (r)}*) on the basis of a torque command (Te*) for driving the motor 101 and a fundamental wave current (idqsf{circumflex over (r)}) of the motor 101. The current controller 110 may stably control the motor 101 by generating the fundamental wave voltage command (vdqsf{circumflex over (r)}*) through the feedback in consideration of the fundamental wave current (idqsf{circumflex over (r)}) and the torque command (Te*) of the actual motor 101.
In an embodiment, a current command generator (a MTPA block) may be further included. The current command generator (MTPA) may generate a fundamental wave current command (idqsf{circumflex over (r)}*) for rotating the rotor of the motor. Specifically, the current command generator may generate a required fundamental wave current command (idqsf{circumflex over (r)}*) on the basis of the torque command (Te*). In another embodiment, the current command generator may also generate the fundamental wave current command (idqsf{circumflex over (r)}*) on the basis of the estimated angle ({circumflex over (θ)}r) of the rotor of the motor 101 estimated by the angle estimator 180. Thus, the current controller 110 may generate the fundamental wave voltage command (vdqsf{circumflex over (r)}*) on the basis of the fundamental wave current command (idqsf{circumflex over (r)}*) and/or the fundamental wave current (idqsf{circumflex over (r)}) generated by the current command generator. In addition, the fundamental wave current (idqsf{circumflex over (r)}) input to the current controller 110 may be an estimated d-axis component or an estimated q-axis component on the estimated coordinate system.
The high frequency voltage generator 120 may generate a high frequency voltage command (vdqsh{circumflex over (r)}*), which is added to the fundamental wave voltage command (vdqsf{circumflex over (r)}*), for sensorless control of the motor 101. The high frequency voltage command (vdqsh{circumflex over (r)}*) has a higher frequency than a driving frequency of the motor 101 driven by the fundamental wave voltage command output from the current controller 110.
The high frequency voltage generator 120 may generate the high frequency voltage command in an estimated d-axis on the estimated coordinate system. Namely, the injected high frequency voltage command (vdqsh{circumflex over (r)}*) may include only the estimated d-axis component. The fundamental wave voltage command (vdqsf{circumflex over (r)}*) and the high frequency voltage command (vdqsh{circumflex over (r)}*) may be added by an adder 10 and transmitted to the inverter 140.
In an embodiment of the present disclosure, the motor control apparatus 100 may further include a first coordinate converter 130 or a second coordinate converter 150.
The first coordinate converter 130 may perform reference coordinate transformation to the sum of the fundamental wave voltage command (vdqsf{circumflex over (r)}*) and the high frequency voltage command (vdqsh{circumflex over (r)}*) on the basis of the estimated angle ({circumflex over (θ)}r) from an estimated synchronous coordinate system (d{circumflex over (r)}, q{circumflex over (r)}) to a stationary coordinate system. The second coordinate converter 150 may perform reference coordinate transformation to the current (idqs{circumflex over (r)}) of the motor 101 on the basis of the estimated angle ({circumflex over (θ)}r) from a stationary coordinate system to an estimated synchronous coordinate system.
The inverter 140 may apply a voltage (vabcs) to the stator of the motor 101 on the basis of the voltage command (vdqs{circumflex over (r)}*). The stator of the motor 101 rotates the rotor since the stator voltage forms a rotating magnetic field by the applied voltage (vabcs). The inverter 140 may be a single-phase inverter or a multi-phase inverter.
The angle estimator 180 may estimate the position of the rotor of the motor 101 on the estimated coordinate system on the basis of the current signal (isig) of the motor 101. Namely, the angle estimator 180 may output an estimated angle ({circumflex over (θ)}r). The current signal (isig) may be a signal obtained by demodulating the high frequency current component (idqsh{circumflex over (r)}) extracted from the motor current (idqs{circumflex over (r)}) of the motor 101.
Referring to
A subtractor 20 may generate a high frequency current (idqsh{circumflex over (r)}) by subtracting the fundamental wave current (idqsf{circumflex over (r)}) from the motor current (idqs{circumflex over (r)}). In this specification, the “motor current” may include a fundamental wave current or a harmonic wave current, and the “motor voltage” may include a fundamental wave voltage or a harmonic wave voltage.
The current signal (isig) is a result obtained by dividing the estimated q-axis current ripple of the high frequency current (idqsh{circumflex over (r)}) by the clock signal.
As described above, the current signal (isig) changes according to the angular error. More specifically, the current signal (isig) is a value changing according to the torque command (Te*), the position (θr) of the rotor and a first angular error (a difference between the estimated angle and the position (angle) of the rotor, {tilde over (θ)}r). Thus, the current signal (isig) may be expressed as a function of the torque command (Te*), the position (θr) of the rotor and the first angular error ({tilde over (θ)}r) as in Equations 4 and 5.
The motor control apparatus 100 according to an embodiment of the present disclosure may further include a compensator 170. The compensator 170 may add a first compensation signal (icomp) to the current signal (isig). For clear explanation, the sum of the current signal (isig) and the first compensation signal (icomp) is referred to as a first compensation current signal (isig′). In this case, the signal input to the angle estimator 180 is the first compensation current signal. In an embodiment, the first compensation current signal or the current signal may be amplified and input to the angle estimator 180.
According to an embodiment of the present disclosure, the compensator 170 may change the signal input to the angle estimator 170 by adding the first compensation signal (icomp) to the current signal (isig), and as a result, the convergence point of the angle estimator 170 may be changed.
The first compensation signal (icomp) to which a predetermined torque command and a predetermined rotor position are applied may change the magnitude of the current signal (isig) without changing the waveform thereof.
In an embodiment, the first compensation signal (icomp) may be determined as in Equation 6 below such that the angular error ({tilde over (θ)}r) becomes 0 with respect to each torque command (Te*) and each position (θr) of the rotor.
In this case, the first compensation current signal (isig′) may be expressed as in Equation 7 below.
isig′=isig+icomp(Te*, {circumflex over (θ)}r) [Equation 7]
More specifically, the first compensation signal (icomp) expressed in Equation 6 may be a predetermined constant value determined according to the torque command and the estimated angle, which changes only the magnitude of the current signal (isig) without changing the shape of the waveform thereof.
The first compensation current signal (isig′) generated as above is input to the angle estimator 180, and the angle estimator 180 may estimate the position of the rotor on the basis of the first compensation current signal (isig′).
Referring to
Seeing Equation 6 again, it may be found that the first compensation signal is expressed as a function of the torque command (Te*) and the estimated angle ({circumflex over (θ)}r). Thus, the motor control apparatus 100 according to an embodiment of the present disclosure may further include a reference table storing unit 175 for storing a corresponding relationship reference table of each torque command (Te*) and each estimated angle ({circumflex over (θ)}r) of the motor. The compensator 170 may generate the first compensation signal (icomp) on the basis of the corresponding relationship reference table stored in the reference table storing unit 175 and the torque command (Te*) and the estimated angle ({circumflex over (θ)}r) presently input to the current controller 110.
Since the relationship of the torque command according to the position of the rotor may be different for individual motors, the corresponding relationship of the torque command and the estimated angle for individual motors at which the angular error becomes 0 and each value (the torque command value and the estimated angle value) may be calculated through a motor test and stored in advance. That is, the first compensation signal for individual motors may be prepared in advance and used for motor control.
Referring to
The motor control apparatus 100 according to an embodiment of the present disclosure as shown in
In the second embodiment, the high frequency voltage generator 120 of the motor control apparatus 100 may apply the high frequency voltage command (vdqshi*) to the injected d-axis on the basis of the injection coordinate system, and the angle estimator 180 may estimate the position of the rotor on the basis of an injected q-axis component of the current signal (isig). That is, the high frequency voltage is injected to the injected d-axis (di) rather than the estimated d-axis, and the magnitude of the injected q-axis (qi) current ripple generated at this time is used as an input to the angle estimator 180. Meanwhile, even in this case, the current controller 110 receives and determines the fundamental wave current (idqsf{circumflex over (r)}) on the basis of the estimated coordinate system and generates the voltage command (vdqsf{circumflex over (r)}*).
Referring to
{tilde over (θ)}r={tilde over (θ)}i+ϕi [Equation 8]
For clear explanation, the terms are arranged such that {tilde over (θ)}r is the first angular error, {tilde over (θ)}i the second angular error, and ϕi is the injection angle.
The current signal (isig) obtained by dividing the current ripple of the injected q-axis by the clock signal when the high frequency voltage is injected to the injected d-axis is expressed as a function of the second angular error ({tilde over (θ)}i) as in Equation 9 below. As mentioned above, it is found that the current signal (isig) is expressed as a function of the torque command, the rotator angle and the first angular error. In this embodiment, since a new variable of the injection angle (ϕi) is applied, the current signal is expressed as a function further including the injection angle as in Equation 9 below.
isig(Te*, {tilde over (θ)}i, θr, ϕi)=IΔ(Te*, {tilde over (θ)}i+ϕi, θr)·sin(2{tilde over (θ)}i−2ϕΔ(Te*, {tilde over (θ)}i+ϕi, θr))
Seeing Equation 9, different from Equation 5 that is a function having 3 variables, the current signal (isig) becomes a function having 4 variables. By using a method of turning the injection angle (rotating the coordinate system from the estimated angle by the injection angle), the current driving point corresponding to any angular error is rotated by the injection angle (ϕi). Thus, IΔ and ϕΔ determined by the current driving point have different values from the existing values with respect to the first angular error. Thus, according to an embodiment of the present disclosure, the waveform of the current signal (isig) may be changed by transforming the corresponding relationship of the first angular error ({tilde over (θ)}r) and the current driving point (namely, the torque command).
Equation 9 may be arranged as a function of the first angular error ({tilde over (θ)}r) as in Equation 10 below.
isig(Te*, {tilde over (θ)}r, θr, ϕi)=IΔ(Te*, {tilde over (θ)}r, θr)·sin(2({tilde over (θ)}r−ϕi)−2ϕΔ(Te*, {tilde over (θ)}r, θr)) [Equation 10]
Seeing Equation 10, it may be found that the waveform of the current signal (isig) is changed according to the injection angle (ϕi).
Thus, the waveform of the current signal may be changed by applying a suitable injection angle (ϕi) according to each torque command (Te*) and each rotor position (θr), resultantly solving the above problem (caused since the angular error approaches a portion of 0 to generate zero down-crossing).
Hereinafter, a method of finding values of the injection angle and the compensation signal required according to the torque command and the rotor position will be described.
In practice, both the injection angle and the compensation signal are variable elements according to the torque command and the rotor position. However, for simplicity of explanation, it is assumed below that the injection angle is a value changing only for the torque command and the compensation signal is a value changing according to the torque command and the rotor position as in the first embodiment.
The embodiment
In an embodiment, the compensator 170 may apply the second compensation signal (icomp′) to the current signal (isig) as in Equation 11 below such that the angle estimator 180 is converged to a point where the angular error ({tilde over (θ)}r) is 0 for each injection angle.
As a result, the angle estimator 180 may receive a second compensation current signal (isig″), which is the sum of the current signal (isig) and the second compensation signal (icomp′), and estimate the position of the rotor.
In
Thus, by applying any injection angle corresponding to the first portion 12-1, it is possible to estimate the position of the rotor while removing the first angular error. For example, an intermediate value in the injection angle range corresponding to the first portion 12-1 may be representatively applied, and the intermediate value may be stored in advance.
That is, the injection angle may be determined within a range where the first angular error is 0 and the second compensation current signal becomes 0 while having a positive slope on the basis of the first angular error.
Accordingly, a manufacturer of the motor control apparatus may generate a corresponding relationship reference table of the torque command (Te*) and the injection angle (ϕi) according to the position (θr) of the rotor, for individual motors. The corresponding relationship reference table may be stored in the reference table storing unit 175, and the compensator 170 may generate the second compensation signal by using the corresponding relationship reference table stored in the reference table storing unit 175.
As described above, the injection angle applicable to solve the first angular error resolution has a predetermined range, but an intermediate value within the predetermined range may also be used for convenience of calculation and data storage efficiency.
Referring to
Comparison of Simulation and Experiment Result
Referring to
Referring to
Although the present disclosure has been described based on embodiments and drawings that are limited to specific matters such as specific components, or the like, this is merely to help a more comprehensive understanding of the present disclosure, and the present disclosure is limited to the embodiments. Various modifications and variations can be made from this description by those skilled in the art.
Accordingly, the present disclosure should not be limited to the described embodiments, and all equivalents or modifications of the claims as well as the appended claims are to be regarded as falling within the scope of the present disclosure.
100: motor control apparatus
101: motor
110: current controller
120: high frequency voltage generator
130: first coordinate converter
140: inverter
150: second coordinate converter
160: filter
170: compensator
175: reference table storing unit
180: angle estimator
Number | Date | Country | Kind |
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10-2017-0120308 | Sep 2017 | KR | national |
Filing Document | Filing Date | Country | Kind |
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PCT/KR2018/011071 | 9/19/2018 | WO | 00 |
Publishing Document | Publishing Date | Country | Kind |
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WO2019/059648 | 3/28/2019 | WO | A |
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Number | Date | Country | |
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20200366228 A1 | Nov 2020 | US |