公开(公告)号：US07064504B2

公开(公告)日：2006-06-20

申请号：US10846932

申请日：2004-05-17

申请人： Nobuyuki Imai ,  Yutaka Takahashi ,  Masato Miyauchi

发明人： Nobuyuki Imai ,  Yutaka Takahashi ,  Masato Miyauchi

IPC分类号： H02P21/12 ,  H02P21/13 ,  H02P21/00

CPC分类号： B60L15/025 ,  B60L11/14 ,  H02P6/18 ,  H02P21/18 ,  H02P2207/05 ,  Y02T10/643 ,  Y02T10/70 ,  Y02T10/7077

摘要： A control apparatus for a brushless DC motor that rotatably drives the brushless DC motor including a rotor having a permanent magnet, and a stator having stator windings of a plurality of phases that generate a rotating magnetic field for rotating the rotor, by a current passage switching device constituted by a plurality of switching elements and performing successive commutation of current to the stator windings. The control apparatus includes: an angular error calculation device for calculating a sine value and a cosine value of an angular difference between an estimated rotation angle with respect to the rotation angle of the rotor and an actual rotation angle, based on a line voltage that is a difference between phase voltages of the plurality of phases on an input side of the stator winding and phase currents of the plurality of phases; and an observer for calculating the rotation angle of the rotor based on the sine value and the cosine value of the angular difference.

摘要翻译： 一种用于无刷直流电动机的控制装置，其可旋转地驱动包括具有永磁体的转子的无刷直流电动机和定子，其具有通过电流通路切换产生旋转磁场的多相的定子绕组 器件由多个开关元件构成并且对定子绕组执行电流的连续换向。 控制装置包括：角度误差计算装置，用于基于线电压计算相对于转子的旋转角度的估计旋转角度与实际旋转角度之间的角度差的正弦值和余弦值 定子绕组的输入侧的多相的相电压和多相的相电流之间的差; 以及用于基于正弦值和角度差的余弦值来计算转子的旋转角度的观察器。

公开(公告)号：US06812659B2

公开(公告)日：2004-11-02

申请号：US10616973

申请日：2003-07-11

申请人： Nobuyuki Imai ,  Yutaka Takahashi

发明人： Nobuyuki Imai ,  Yutaka Takahashi

IPC分类号： H02P506

CPC分类号： H02P6/16 ,  H02P21/22

摘要： An angle detector 25 detects a rotor angle &thgr; of a DC brushless motor 1 using a current value Iu_s detected by a U-phase current sensor 23 and a current value Iw_s detected by a W-phase current sensor 24 when high-frequency voltages vu, vv, vw for detecting a rotor angle are applied by a high-frequency adding unit 21. The high-frequency adding unit 21 determines the high-frequency voltages vu, vv, vw so that the direction of rotation of the motor 1 and the direction of a revolving magnetic field generated by the high-frequency voltages vu, vv, vw will be opposite to each other. A three-phase/dq converter 26 converts the current values Iw_s, Iu_s into a detected d-axis current Id_s and a detected q-axis current Iq_s using the rotor angle &thgr; detected by the angle detector 25.

公开(公告)号：US06707265B2

公开(公告)日：2004-03-16

申请号：US10075245

申请日：2002-02-15

申请人： Nobuyuki Imai ,  Yutaka Takahashi

发明人： Nobuyuki Imai ,  Yutaka Takahashi

IPC分类号： H02P608

CPC分类号： H02P6/185 ,  G01D5/2006

摘要： A rotor angle detecting apparatus for a DC brushless motor is capable of detecting the angle of the rotor of the DC brushless motor with accuracy without the need for a position detecting sensor. A motor controller has a high-frequency voltage imposer, an angle detector, a U-phase current sensor, and a W-phase current sensor for detecting the rotor angle of the DC brushless motor. The angle detector detects the rotor angle &thgr; using a current value IU_s detected by the U-phase current sensor, a current value IW_s detected by the W-phase current sensor, and high-frequency components depending on high-frequency voltages vu, vv, vw, when the high-frequency voltages vu, vv, vw are imposed on command values VU_c, VV_c, VW_c for three-phase voltages by the high-frequency voltage imposer.

摘要翻译： 用于DC无刷电动机的转子角度检测装置能够精确地检测直流无刷电动机的转子的角度，而不需要位置检测传感器。 电动机控制器具有用于检测直流无刷电动机的转子角度的高频电压施放器，角度检测器，U相电流传感器和W相电流传感器。 角度检测器使用由U相电流传感器检测的电流值IU_s，由W相电流传感器检测的电流值IW_s和根据高频电压vu，vv的高频分量检测转子角度θ， vw，当高频电压vu，vv，vw被高频电压施加器施加在三相电压的指令值VU_c，VV_c，VW_c上时。

公开(公告)号：US06909290B2

公开(公告)日：2005-06-21

申请号：US10669327

申请日：2003-09-25

申请人： Nobuyuki Imai ,  Yutaka Takahashi

发明人： Nobuyuki Imai ,  Yutaka Takahashi

IPC分类号： H02P6/16 ,  G01R31/34 ,  H02P21/00 ,  H02P27/04 ,  G01R31/06 ,  H02K23/00

CPC分类号： G01R31/34 ,  G01D5/2006

摘要： An inspection voltage imposer generates an inspection voltage by multiplying fundamental voltage string data in which a certain voltage output pattern where an average of output voltage levels in one period becomes 0 is set by data of a modulation signal whose value varies every period and impose the inspection voltage on a drive voltage of a motor. When the inspection voltage is imposed on the drive voltage of the motor, an angle detector detects the rotor angle of the motor based on the fundamental voltage string data, a variation of an inspection current and the data of the modulation signal in respective control cycles.

摘要翻译： 检查电压施加器通过将其中一个周期中的输出电压电平的平均值的一定电压输出模式变为0的基本电压串数据乘以其值每个周期变化的调制信号的数据来设定检查电压，并施加检查 电机驱动电压上的电压。 当对电动机的驱动电压施加检查电压时，角度检测器基于基本电压串数据检测电动机的转子角度，检测电流的变化和各个控制周期中的调制信号的数据。

公开(公告)号：US07400101B2

公开(公告)日：2008-07-15

申请号：US11246242

申请日：2005-10-11

申请人： Nobuyuki Imai ,  Yutaka Takahashi ,  Tomohiro Shiraishi ,  Hajime Kondoh

发明人： Nobuyuki Imai ,  Yutaka Takahashi ,  Tomohiro Shiraishi ,  Hajime Kondoh

IPC分类号： H02K29/00

CPC分类号： H02P21/0003

摘要： A method and an apparatus accurately detect a rotor angle of a DC brushless motor by using a first-order difference of a detected value of a phase current. A periodic signal causing the total sum of output voltages in three control cycles to become zero is superposed over a drive voltage under current feedback control. The drive voltage is held at a constant level during the three control cycles. The phase difference between an actual value and an estimated value of a rotor angle is calculated, using the first-order differential current in each control cycle, and the estimated value of the rotor angle is calculated by follow-up computation of an observer, using the phase difference.

摘要翻译： 一种方法和装置通过使用相电流的检测值的一阶差来精确地检测直流无刷电动机的转子角度。 在三个控制周期内使输出电压的总和变为零的周期信号在电流反馈控制下的驱动电压上叠加。 在三个控制周期期间，驱动电压保持恒定。 使用每个控制周期中的一阶差分电流来计算实际值和转子角度的估计值之间的相位差，并且通过观察者的跟踪计算来计算转子角度的估计值，使用 相位差。

公开(公告)号：US20050029972A1

公开(公告)日：2005-02-10

申请号：US10846932

申请日：2004-05-17

申请人： Nobuyuki Imai ,  Yutaka Takahashi ,  Masato Miyauchi

发明人： Nobuyuki Imai ,  Yutaka Takahashi ,  Masato Miyauchi

IPC分类号： H02P1/18 ,  H02P6/18 ,  H02P21/00 ,  H02P21/14 ,  H02P27/04

CPC分类号： B60L15/025 ,  B60L11/14 ,  H02P6/18 ,  H02P21/18 ,  H02P2207/05 ,  Y02T10/643 ,  Y02T10/70 ,  Y02T10/7077

摘要： A control apparatus for a brushless DC motor that rotatably drives the brushless DC motor including a rotor having a permanent magnet, and a stator having stator windings of a plurality of phases that generate a rotating magnetic field for rotating the rotor, by a current passage switching device constituted by a plurality of switching elements and performing successive commutation of current to the stator windings. The control apparatus includes: an angular error calculation device for calculating a sine value and a cosine value of an angular difference between an estimated rotation angle with respect to the rotation angle of the rotor and an actual rotation angle, based on a line voltage that is a difference between phase voltages of the plurality of phases on an input side of the stator winding and phase currents of the plurality of phases; and an observer for calculating the rotation angle of the rotor based on the sine value and the cosine value of the angular difference.

摘要翻译： 一种用于无刷直流电动机的控制装置，其可旋转地驱动包括具有永磁体的转子的无刷直流电动机和定子，其具有通过电流通路切换产生旋转磁场的多相的定子绕组 器件由多个开关元件构成并且对定子绕组执行电流的连续换向。 控制装置包括：角度误差计算装置，用于基于线电压计算相对于转子的旋转角度的估计旋转角度与实际旋转角度之间的角度差的正弦值和余弦值 定子绕组的输入侧的多相的相电压和多相的相电流之间的差; 以及用于基于正弦值和角度差的余弦值来计算转子的旋转角度的观察器。

公开(公告)号：US06838843B2

公开(公告)日：2005-01-04

申请号：US10669013

申请日：2003-09-24

申请人： Nobuyuki Imai ,  Yutaka Takahashi

发明人： Nobuyuki Imai ,  Yutaka Takahashi

IPC分类号： H02P6/18 ,  H02P6/08 ,  H02P21/08 ,  H02P6/14

CPC分类号： H02P6/08 ,  G01D5/2006 ,  H02P21/08

摘要： A motor controller implements alternately a feedback control for d axis current and a feedback control for q axis current using an estimate value of a rotor angle in different control cycles. Then, the motor controller calculates a sine reference value which corresponds to a sine value of an angle which is twice a phase difference between an actual value and an estimate value of a rotor angle and a cosine reference value which corresponds to a cosine value of the angle which is twice the phase difference based on variations of the d axis actual current and q axis actual current and levels of d axis voltage and q axis voltage in a control cycle in which feedback controls are implemented for d axis current and q axis current and detects a rotor angle using the sine reference value and the cosine reference value so calculated.

摘要翻译： 电动机控制器在不同的控制周期中使用转子角度的估计值交替地执行d轴电流的反馈控制和q轴电流的反馈控制。 然后，电动机控制器计算正弦参考值，该正弦参考值对应于实际值和转子角度的估计值之间的相位差的两倍的角度，和与对应于转子角度的余弦值的余弦参考值相对应的正弦值 在d轴电流和q轴电流实现反馈控制的控制周期中，基于d轴实际电流和q轴实际电流和d轴电压和q轴电压的变化的相位差的两倍角度，以及 使用正弦参考值和如此计算的余弦参考值来检测转子角度。

公开(公告)号：US06674261B2

公开(公告)日：2004-01-06

申请号：US10131245

申请日：2002-04-25

申请人： Yutaka Takahashi ,  Nobuyuki Imai

发明人： Yutaka Takahashi ,  Nobuyuki Imai

IPC分类号： H02P616

CPC分类号： B60L15/025 ,  B60L3/12 ,  B60L2210/30 ,  B60L2210/40 ,  B60L2240/421 ,  B60L2240/427 ,  B60L2240/429 ,  B60L2240/527 ,  B60L2240/529 ,  B60L2260/42 ,  Y02T10/643 ,  Y02T10/7241

摘要： A sensorless detector 25 uses a rotor angle finally detected by a sensor interpolation detector 24 as an estimated value (&thgr;{circumflex over ( )}) of the rotor angle of a motor 3 in a first control cycle upon changing from a rotor angle detecting process carried out by the sensor interpolation detector 24. In subsequent control cycles, the sensorless detector 25 uses estimated values (&thgr;{circumflex over ( )}, &ohgr;{circumflex over ( )}) of the rotor angle and a rotor angular velocity in a preceding control cycle as calculation parameters, updates the calculation parameters with an observer which sequentially updates the calculation parameters depending on a phase difference (&thgr;−&thgr;{circumflex over ( )}) calculated in the preceding control cycle in order to eliminate the phase difference, for thereby calculating the estimated value (&thgr;{circumflex over ( )}) of the rotor angle of the motor 3 in the present control cycle.

摘要翻译： 无传感器检测器25使用由传感器内插检测器24最终检测到的转子角度作为在由传感器插值执行的转子角度检测处理中的第一控制周期中的电机3的转子角度的估计值（θ） 在随后的控制周期中，无传感器检测器25使用前一控制周期中的转子角度和转子角速度的估计值（θ，ω）作为计算参数，用随后更新计算的观察者更新计算参数 参数取决于在前一控制周期中计算出的相位差（θ-θ），以消除相位差，从而计算在当前控制周期中电动机3的转子角度的估计值（θ）。

公开(公告)号：US20060082335A1

公开(公告)日：2006-04-20

申请号：US11246242

申请日：2005-10-11

申请人： Nobuyuki Imai ,  Yutaka Takahashi ,  Tomohiro Shiraishi ,  Hajime Kondoh

发明人： Nobuyuki Imai ,  Yutaka Takahashi ,  Tomohiro Shiraishi ,  Hajime Kondoh

IPC分类号： H02P7/06

CPC分类号： H02P21/0003

摘要： A method and an apparatus accurately detect a rotor angle of a DC brushless motor by using a first-order difference of a detected value of a phase current. A periodic signal causing the total sum of output voltages in three control cycles to become zero is superposed over a drive voltage under current feedback control. The drive voltage is held at a constant level during the three control cycles. The phase difference between an actual value and an estimated value of a rotor angle is calculated, using the first-order differential current in each control cycle, and the estimated value of the rotor angle is calculated by follow-up computation of an observer, using the phase difference.

摘要翻译： 一种方法和装置通过使用相电流的检测值的一阶差来精确地检测直流无刷电动机的转子角度。 在三个控制周期内使输出电压的总和变为零的周期信号在电流反馈控制下的驱动电压上叠加。 在三个控制周期期间，驱动电压保持恒定。 使用每个控制周期中的一阶差分电流来计算实际值和转子角度的估计值之间的相位差，并且通过观察者的跟踪计算来计算转子角度的估计值，使用 相位差。

公开(公告)号：US06812660B2

公开(公告)日：2004-11-02

申请号：US10617777

申请日：2003-07-14

申请人： Yutaka Takahashi ,  Nobuyuki Imai

发明人： Yutaka Takahashi ,  Nobuyuki Imai

IPC分类号： H02P506

CPC分类号： H02P6/185 ,  H02P21/22

摘要： An angle detector 25 sets a q-axis command current to a first magnetic pole detecting current Iq_p1 and a second magnetic pole detecting current Iq13p2, and performs a magnetic pole detecting process to calculate a first magnetic pole reference value A1 and a second magnetic pole reference value A2 (t2-t3, t4 -t5), and detect the orientation of the magnetic poles of a rotor 2 of a motor 1 based on the sign of the difference &Dgr;A (=A1-A2) between the first magnetic pole reference value Al and the second magnetic pole reference value A2. The angle detector 25 effects a proportional process only on the difference between the q-axis command current and a detected q-axis current and the difference between a d-axis command current and a detected d-axis current to calculate a current difference (t2-t5) under current feedback control when the magnetic pole detecting process is carried out, and effects a proportional plus integral process on the above differences to calculate a current difference (t0-t2, t5-) under current feedback control when the magnetic pole detecting process is not carried out.

摘要翻译： 角度检测器25将q轴指令电流设定为第一磁极检测电流Iq_p1和第二磁极检测电流Iq13p2，并进行磁极检测处理，以计算第一磁极基准值A1和第二磁极基准 值A2（t2-t3，t4 -t5），并且基于第一磁极基准值A1（= A1-A2）的差ΔA（= A1-A2）的符号来检测电动机1的转子2的磁极的取向 和第二磁极参考值A2。 角度检测器25仅对q轴指令电流与检测到的q轴电流之间的差异以及d轴指令电流与检测到的d轴电流之间的差进行比例处理，以计算电流差（t2 -t5），当进行磁极检测处理时，在电流反馈控制下，对上述差异进行比例加积分处理，计算电流差（t0-t2，t5-），当磁极检测 进程没有进行。