Motor control apparatus
地域：
Seoul
摘要
A motor control apparatus according to one embodiment of the present invention 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 injection 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) may be related to the torque command and the estimated angle.
說明書
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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.
權(quán)利要求
The invention claimed is:1. A motor control apparatus, comprising: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, wherein the current signal (isig) is obtained by extracting a signal corresponding to a frequency of the high frequency voltage signal from the motor current, and wherein the current signal (isig) is an estimated q-axis component of the estimated coordinate system. 2. A motor control apparatus, comprising: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, wherein the angle estimator generates the estimated angle of the rotor of the motor on the basis of a first compensation current signal (isig′) that is a sum of the current signal and the first compensation signal, wherein the current signal (isig) is a function of the torque command, a position of the rotor of the motor and a first angular error, and the first angular error is a difference between the estimated angle and the position of the rotor, and wherein the first compensation signal is expressed by the following equation:first compensation signal (icomp)=(?1)*current signal (isig), where first angular error=0°. 3. A motor control apparatus, comprising: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; a compensator for adding a first compensation signal (icomp) to the current signal (isig), and a reference table storing unit for storing a corresponding relationship reference table of a position of the rotor of the motor and the torque command, wherein the first compensation signal (icomp) is related to the torque command and the estimated angle. 4. The motor control apparatus according to claim 3 ,wherein the compensator generates 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. 5. A motor control apparatus, comprising: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; a compensator for adding a first compensation signal (icomp) to the current signal (isig), and a first coordinate converter and second coordinate converter, wherein the first compensation signal (icomp) is related to the torque command and the estimated angle, wherein the first coordinate converter performs reference coordinate transformation to a 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 wherein the second coordinate converter performs 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. 6. A motor control apparatus, comprising: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, wherein the high frequency voltage generator generates the high frequency voltage signal in an estimated d-axis on the estimated coordinate system, and wherein the current signal of the motor is an estimated q-axis component on the estimated coordinate system. 7. A motor control apparatus, comprising: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, wherein the fundamental wave current input to the current controller is an estimated d-axis component and an estimated q-axis component on the estimated coordinate system. 8. A motor control apparatus, comprising: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, wherein the high frequency voltage generator generates 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. 9. The motor control apparatus according to claim 8 ,wherein the current signal is an injected q-axis component on the injection coordinate system. 10. The motor control apparatus according to claim 8 ,wherein the current signal is 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 is a difference between the injection angle and the position of the rotor. 11. The motor control apparatus according to claim 10 , further comprising:a compensator for adding a second compensation signal (icomp′) to the current signal (isig), wherein the angle estimator generates 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 wherein the second compensation signal is expressed by the following equation:second compensation signal (icomp′)=(?1)*current signal (isig), where first angular error=0°. 12. The motor control apparatus according to claim 8 ,wherein the injected d-axis is ahead of an estimated d-axis by the injection angle. 13. The motor control apparatus according to claim 11 , further comprising: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. 14. The motor control apparatus according to claim 13 ,wherein the compensator generates 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. 15. The motor control apparatus according to claim 14 ,wherein the injection angle is 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.
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