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公开(公告)号：US08120302B2
公开(公告)日：2012-02-21
申请号：US12302597
申请日：2007-01-23
摘要： A servo control apparatus capable of suppressing adverse effects of disturbance, load variation and the like, and realizing robust and high-performance speed control. The apparatus includes both of the following observers: a disturbance observer for adding a disturbance compensation torque Tf, calculated from a torque command T* and an electric motor rotational speed ωm, to a torque command basic signal T0*, calculated on the basis of a deviation between a speed command ω* and a feedback speed ωf by a PI control section, thus outputting the torque command T*; and a phase advance compensation observer for generating, from the torque command basic signal T0* and the electric motor rotational speed ωm, an output of a nominal plant serving as an element in which no delay occurs, thus outputting the output as the feedback speed ωf.
摘要翻译： 一种能够抑制干扰，负载变动等的不利影响的伺服控制装置，实现鲁棒且高性能的速度控制。 该装置包括以下两个观察者：用于将根据转矩指令T *计算出的扰动补偿转矩Tf和电动机转速ωm添加到基于a的运算结果计算出的转矩指令基本信号T0 *的扰动观察器 通过PI控制部分的速度指令ω*和反馈速度ωf之间的偏差，从而输出转矩指令T *; 相位提前补偿观测器，用于根据转矩指令基本信号T0 *和电动机转速ωm生成作为不发生延迟的元件的标称设备的输出，从而输出该输出作为反馈速度ωf 。
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公开(公告)号：US20090243533A1
公开(公告)日：2009-10-01
申请号：US12302597
申请日：2007-01-23
IPC分类号： G05B19/404
摘要： The present invention provides a servo control apparatus capable of suppressing adverse effects of disturbance, load variation and the like, and realizing robust and high-performance speed control.The apparatus includes both of the following observers: a disturbance observer (5) for adding a disturbance compensation torque Tf, calculated from a torque command T* and an electric motor rotational speed ωm, to a torque command basic signal T0*, calculated on the basis of a deviation between a speed command ω* and a feedback speed ωf by a PI control section (2), thus outputting the torque command T*; and a phase advance compensation observer (6) for generating, from the torque command basic signal T0* and the electric motor rotational speed ωm, an output of a nominal plant (61) serving as an element in which no delay occurs, thus outputting the output as the feedback speed ωf.
摘要翻译： 本发明提供一种能够抑制干扰，负载变动等的不良影响的伺服控制装置，实现鲁棒且高性能的速度控制。 该装置包括以下两个观察者：用于将根据转矩指令T *计算出的扰动补偿转矩Tf和电动机转速ωgam的扰动观察器（5）与根据 基于PI控制部（2）的速度指令ω*与反馈速度ω之间的偏差，从而输出转矩指令T *; 以及用于从扭矩指令基本信号T0 *和电动机旋转速度ωgam生成用作不发生延迟的元件的标称装置（61）的输出的相位提前补偿观察器（6），从而输出 输出为反馈速度ω。
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公开(公告)号：US20090161393A1
公开(公告)日：2009-06-25
申请号：US12295926
申请日：2007-03-06
IPC分类号： H02M1/12
CPC分类号： H02M7/5395 , H03K7/08
摘要： There is provided a PWM inverter capable of preventing a phase error from occurring in generating a PWM signal even in the case where a carrier wave frequency is not sufficiently higher than a signal wave frequency. A PWM signal generating section (2) includes a phase adjusting section (11) configured to advance a phase of the signal wave by adding, to a signal wave, a delay component of the PWM signal with respect to the signal wave, the phase delay component being involved by digital control. Furthermore, in a case where the carrier wave frequency is changed, the phase delay component with respect to the signal wave is updated in synchronism with the timing of change of the carrier wave frequency.
摘要翻译： 即使在载波频率不足够高于信号波频率的情况下，也能够防止在产生PWM信号时发生相位误差的PWM逆变器。 PWM信号产生部分（2）包括相位调整部分（11），被配置为通过将相对于信号波的PWM信号的延迟分量加到信号波上来推进信号波的相位，相位延迟 组件涉及数字控制。 此外，在载波频率变化的情况下，相对于信号波的相位延迟分量与载波频率的变化的定时同步地更新。
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公开(公告)号：US08189356B2
公开(公告)日：2012-05-29
申请号：US12295926
申请日：2007-03-06
IPC分类号： H02M7/537
CPC分类号： H02M7/5395 , H03K7/08
摘要： There is provided a PWM inverter capable of preventing a phase error from occurring in generating a PWM signal even in the case where a carrier wave frequency is not sufficiently higher than a signal wave frequency. A PWM signal generating section (2) includes a phase adjusting section (11) configured to advance a phase of the signal wave by adding, to a signal wave, a delay component of the PWM signal with respect to the signal wave, the phase delay component being involved by digital control. Furthermore, in a case where the carrier wave frequency is changed, the phase delay component with respect to the signal wave is updated in synchronism with the timing of change of the carrier wave frequency.
摘要翻译： 即使在载波频率不足够高于信号波频率的情况下，也能够防止在产生PWM信号时发生相位误差的PWM逆变器。 PWM信号产生部分（2）包括相位调整部分（11），被配置为通过将相对于信号波的PWM信号的延迟分量加到信号波上来推进信号波的相位，相位延迟 组件涉及数字控制。 此外，在载波频率变化的情况下，相对于信号波的相位延迟分量与载波频率的变化的定时同步地更新。
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5.发明申请公开(公告)号：US20060049795A1
公开(公告)日：2006-03-09
申请号：US10520467
申请日：2003-07-02
申请人： Hideaki Iura , Kazuhiro Nonaka , Yuichi Terazono , Yoichi Yamamoto , Satoshi Sueshima , Katsushi Terazono , Mitsujiro Sawamura
发明人： Hideaki Iura , Kazuhiro Nonaka , Yuichi Terazono , Yoichi Yamamoto , Satoshi Sueshima , Katsushi Terazono , Mitsujiro Sawamura
IPC分类号： H02P27/04
CPC分类号： H02P1/029
摘要： It is the objective of the present invention to provide a sensorless vector control method and a control apparatus, for an alternating-current motor, that can smoothly restart an alternating-current motor in the free running state. According to the present invention, when a current that flows in an alternating-current motor (2) at a restart time 7 the alternating-current motor (2) continuously flows at a designated current level or higher for a designated period of time, it is determined that the rotational direction or the velocity of the alternating-current motor (2) is incorrectly estimated, and a direct current or a direct-current voltage is again applied to again estimate the rotational direction and the velocity.
摘要翻译： 本发明的目的是提供一种用于交流电动机的无传感器矢量控制方法和控制装置，其可以在自由运行状态下平稳地重启交流电动机。
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公开(公告)号：US08541962B2
公开(公告)日：2013-09-24
申请号：US13297273
申请日：2011-11-16
申请人： Kazuo Sato , Mitsujiro Sawamura
发明人： Kazuo Sato , Mitsujiro Sawamura
CPC分类号： G01R31/42 , G01R31/1227 , G01R31/346
摘要： A motor driving apparatus includes a motor driving unit, a low-voltage source, a current detecting element, and an insulation resistance degradation determinator. The motor driving unit includes an inverter coupled between a positive DC bus line and a negative DC bus line of a DC power source. The inverter converts DC power into AC power to drive an AC motor. The low-voltage source is coupled between a ground and at least one of the positive DC bus line and the negative DC bus line. The current detecting element detects a closed circuit current flowing through a closed circuit of the low-voltage source, the AC motor, and a part of the inverter. The insulation resistance degradation determinator makes a comparison between the closed circuit current and a predetermined threshold, and configured to determine, based on the comparison, whether an insulation resistance of the AC motor is degraded.
摘要翻译： 马达驱动装置包括马达驱动单元，低压源，电流检测元件和绝缘电阻劣化判定器。 马达驱动单元包括耦合在直流电源的正DC总线和负DC总线之间的反相器。 逆变器将直流电源转换成交流电源，驱动交流电机。 低电压源耦合在地之间和正DC总线和负DC总线之中的至少一个之间。 电流检测元件检测流过低压源，AC电动机和逆变器的一部分的闭路的闭路电流。 绝缘电阻劣化判定器对闭路电流和预定阈值进行比较，并且被配置为基于比较来确定AC电动机的绝缘电阻是否劣化。
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公开(公告)号：US20120217922A1
公开(公告)日：2012-08-30
申请号：US13297273
申请日：2011-11-16
申请人： Kazuo Sato , Mitsujiro Sawamura
发明人： Kazuo Sato , Mitsujiro Sawamura
IPC分类号： G01R31/02
CPC分类号： G01R31/42 , G01R31/1227 , G01R31/346
摘要： A motor driving apparatus includes a motor driving unit, a low-voltage source, a current detecting element, and an insulation resistance degradation determinator. The motor driving unit includes an inverter coupled between a positive DC bus line and a negative DC bus line of a DC power source. The inverter converts DC power into AC power to drive an AC motor. The low-voltage source is coupled between a ground and at least one of the positive DC bus line and the negative DC bus line. The current detecting element detects a closed circuit current flowing through a closed circuit of the low-voltage source, the AC motor, and a part of the inverter. The insulation resistance degradation determinator makes a comparison between the closed circuit current and a predetermined threshold, and configured to determine, based on the comparison, whether an insulation resistance of the AC motor is degraded.
摘要翻译： 马达驱动装置包括马达驱动单元，低压源，电流检测元件和绝缘电阻劣化判定器。 马达驱动单元包括耦合在直流电源的正DC总线和负DC总线之间的反相器。 逆变器将直流电源转换成交流电源，驱动交流电机。 低电压源耦合在地之间和正DC总线和负DC总线之中的至少一个之间。 电流检测元件检测流过低压源，AC电动机和逆变器的一部分的闭路的闭路电流。 绝缘电阻劣化判定器对闭路电流和预定阈值进行比较，并且被配置为基于比较来确定AC电动机的绝缘电阻是否劣化。
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公开(公告)号：US20070069682A1
公开(公告)日：2007-03-29
申请号：US10525666
申请日：2003-08-25
申请人： Kozo Ide , Mitsujiro Sawamura , Toshihiro Sawa , Jun Oyama
发明人： Kozo Ide , Mitsujiro Sawamura , Toshihiro Sawa , Jun Oyama
IPC分类号： H02P1/46
CPC分类号： H02P6/183 , H02P21/141 , H02P21/18 , H02P21/26 , H02P2203/11 , H02P2207/05
摘要： It is an object of the invention to provide a control device for a synchronous motor which can detect the position of a magnetic pole from a zero speed without requiring a signal generator. The invention provides a control device for a synchronous motor which drives the synchronous motor through a voltage-operated PWM inverter and controls a torque and a speed of the motor, including means (6-3) for causing a PWM carrier signal to have an arbitrary phase difference between two phases such as UW, VW or WU in three phases of U, V and W, means (11) for extracting a high frequency voltage and a high frequency current which are thus generated from a detecting voltage or a command voltage and a detecting current, and means (12) for estimating a position of a magnetic flux or a position of a magnetic pole by using the high frequency voltage and the high frequency current which are extracted.
摘要翻译： 本发明的目的是提供一种用于同步电动机的控制装置，其可以从零速度检测磁极的位置，而不需要信号发生器。 本发明提供了一种用于同步电动机的控制装置，其通过电压操作的PWM逆变器驱动同步电动机并且控制电动机的转矩和转速，包括用于使PWM载波信号具有任意的装置（6-3） 在U，V，W三相中的UW，VW，WU两相之间的相位差是指从检测电压或指令电压提取出高频电压和高频电流的装置（11）， 检测电流，以及通过使用所提取的高频电压和高频电流来估计磁通量或磁极位置的装置（12）。
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公开(公告)号：US20060049787A1
公开(公告)日：2006-03-09
申请号：US10530173
申请日：2003-09-25
申请人： Kozo Ide , Mitsujiro Sawamura , Mengesha Wogari , Jun Oyama
发明人： Kozo Ide , Mitsujiro Sawamura , Mengesha Wogari , Jun Oyama
IPC分类号： H02P7/00
CPC分类号： H02P6/185
摘要： It is an object of the invention to provide an apparatus for estimating a magnetic pole position of a motor in which the amplitudes of high-frequency currents can be adjusted. In the invention, a controlling apparatus for driving a motor (1-1) by a voltage source PWM inverter (1-2), and controlling a torque and speed, or torque, speed, and position of the motor has: means for switching over first means for producing an arbitrary phase difference in PWM carrier signals between respective two phases such as UV, VW, or WU of three or UVW phases, and second means for causing the phase difference between two phases such as V, VW, or WU of three or UVW phases to become zero; means for extracting high-frequency currents in a same frequency band as carrier signals generated by it, from estimated currents; and means (1-4) for estimating a magnetic pole position by using the extracted high-frequency currents.
摘要翻译： 本发明的目的是提供一种用于估计电动机的磁极位置的装置，其中可以调节高频电流的幅度。
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公开(公告)号：US4916376A
公开(公告)日：1990-04-10
申请号：US211319
申请日：1988-06-24
CPC分类号： H02P21/0003 , H02P23/0004
摘要： An inverter driving method for has an arrangement polyphase induction motor, for altering a plurality of winding connections of the motor and a storage arrangement for a plurality of motor control constant groups preset corresponding to the respective winding connections so as to perform optimal vector control. When the classification of the winding connection is selected, one set of motor control constant groups corresponding to the winding connection is read out of the storage arrangement and applied to a control unit of the induction motor as control constants.
摘要翻译： 一种逆变器驱动方法，具有用于改变电动机的多个绕组连接的配置多相感应电动机和用于对应于各个绕组连接而预先设置的多个电动机控制常数组的存储装置，以执行最佳矢量控制。 当选择绕组连接的分类时，将一组对应于绕组连接的电动机控制常数组从存储装置中读出并施加到感应电动机的控制单元作为控制常数。
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