Motor controlling apparatus
A motor controlling apparatus including an inverter, a voltage detector, a rotational speed detector, a command value calculating component, an inverter controller, a state detector and an offsetting component. The inverter converts direct-current power to alternating-current power supplied to a motor. The voltage detector detects a direct-current voltage, and the rotational speed detector detects a rotational speed of the motor. The calculating component calculates current and torque command values, and motor rotational speed. The controller provides a control signal to control the inverter based on the current command value. The state detector detects a control state of the inverter, and the offsetting component offsets the detected voltage or rotational speed by an offset amount. The calculating component modifies the current command value based on the offset detected voltage or rotational speed to increase on a negative side a d-axis current command value included in the current command value.
1. A motor controlling apparatus comprising:
an inverter configured to convert direct-current power to alternating-current power and supply the power to a motor, the direct-current power being input from a direct-current power source;
a voltage detector configured to detect a direct-current voltage of the direct-current power source;
a rotational speed detector configured to detect a rotational speed of the motor;
a command value calculating component configured to calculate a current command value for an alternating current output by the inverter based on a detected voltage detected by the voltage detector, a torque command value input from an external source, and a detected rotational speed detected by the rotational speed detector;
an inverter controller configured to provide a control signal for a switching element included in the inverter and to control the inverter based on the current command value;
a state detector configured to detect a control state of the inverter; and
an offsetting component configured to offset the detected voltage or the detected rotational speed by an offset amount according to the control state detected by the state detector;
the command value calculating component being further configured to modify the current command value based on the detected voltage or the detected rotational speed that was offset by the offsetting component when the control state of the inverter is detected to be unstable by the state detector such that a d-axis current command value included in the current command value becomes more negative as compared to a d-axis current command value derived from the detected voltage before the current command value was modified.
2. The motor controlling apparatus according to claim 1 , wherein
the command value calculating component is configured to store a map that relates a correspondence between the detected voltage, the torque command value, the detected rotational speed, the d-axis current command value, and the q-axis current command value; and
where the torque command value and the detected rotational speed are equal in the map, the d-axis current command value corresponding to a second detected voltage offset from a first detected voltage is greater on the negative side than the d-axis current command value corresponding to the first detected voltage.
3. The motor controlling apparatus according to claim 2 , wherein
the offsetting component is configured to offset the detected voltage or the detected rotational speed in stages until the control state detected by the state detector is a stable state.
4. The motor controlling apparatus according to claim 2 , wherein
the state detector is configured to compute a modulation factor for the inverter and determine that the control state of the inverter is unstable when the modulation factor is greater than a predetermined modulation factor.
5. The motor controlling apparatus according to claim 2 , further comprising
a current detector configured to detect a current flowing from the inverter to the motor; and
wherein
the state detector is configured to determine a difference in current between the current command value calculated by the command value calculating component and a detected current detected by the current detector, and to determine that the control state of the inverter is unstable when the difference in current exceeds a predetermined current threshold.
6. The motor controlling apparatus according to claim 2 , wherein
when the control state detected by the state detector changes from unstable to stable, the offsetting component is configured to return the offset detected voltage to the detected voltage detected by the voltage detector or to return the offset detected rotational speed to the detected rotational speed, by amounts of change smaller than the offset amount.
7. The motor controlling apparatus according to claim 1 , wherein
the command value calculating component is configured to store a map that relates a correspondence between the detected voltage, the torque command value, the detected rotational speed, the d-axis current command value, and the q-axis current command value; and
where the torque command value and the detected voltage are equal in the map, the d-axis current command value corresponding to a second detected rotational speed offset from a first detected rotational speed is greater on the negative side than the d-axis current command value corresponding to the first detected rotational speed.
8. The motor controlling apparatus according to claim 7 , wherein
the offsetting component is configured to offset the detected voltage or the detected rotational speed in stages until the control state detected by the state detector is a stable state.
9. The motor controlling apparatus according to claim 7 , wherein
the state detector is configured to compute a modulation factor for the inverter and determine that the control state of the inverter is unstable when the modulation factor is greater than a predetermined modulation factor.
10. The motor controlling apparatus according to claim 7 , further comprising
a current detector configured to detect a current flowing from the inverter to the motor; and
wherein
the state detector is configured to determine a difference in current between the current command value calculated by the command value calculating component and a detected current detected by the current detector, and to determine that the control state of the inverter is unstable when the difference in current exceeds a predetermined current threshold.
11. The motor controlling apparatus according to claim 7 , wherein
when the control state detected by the state detector changes from unstable to stable, the offsetting component is configured to return the offset detected voltage to the detected voltage detected by the voltage detector or to return the offset detected rotational speed to the detected rotational speed, by amounts of change smaller than the offset amount.
12. The motor controlling apparatus according to claim 1 , wherein
the offsetting component is configured to offset the detected voltage or the detected rotational speed in stages until the control state detected by the state detector is a stable state.
13. The motor controlling apparatus according to claim 12 , wherein
the state detector is configured to compute a modulation factor for the inverter and determine that the control state of the inverter is unstable when the modulation factor is greater than a predetermined modulation factor.
14. The motor controlling apparatus according to claim 12 , further comprising
a current detector configured to detect a current flowing from the inverter to the motor; and
wherein
the state detector is configured to determine a difference in current between the current command value calculated by the command value calculating component and a detected current detected by the current detector, and to determine that the control state of the inverter is unstable when the difference in current exceeds a predetermined current threshold.
15. The motor controlling apparatus according to claim 12 , wherein
when the control state detected by the state detector changes from unstable to stable, the offsetting component is configured to return the offset detected voltage to the detected voltage detected by the voltage detector or to return the offset detected rotational speed to the detected rotational speed, by amounts of change smaller than the offset amount.
16. The motor controlling apparatus according to claim 1 , wherein
the state detector is configured to compute a modulation factor for the inverter and determine that the control state of the inverter is unstable when the modulation factor is greater than a predetermined modulation factor.
17. The motor controlling apparatus according to claim 16 , wherein
when the control state detected by the state detector changes from unstable to stable, the offsetting component is configured to return the offset detected voltage to the detected voltage detected by the voltage detector or to return the offset detected rotational speed to the detected rotational speed, by amounts of change smaller than the offset amount.
18. The motor controlling apparatus according to claim 1 , further comprising
a current detector configured to detect a current flowing from the inverter to the motor; and
wherein
the state detector is configured to determine a difference in current between the current command value calculated by the command value calculating component and a detected current detected by the current detector, and to determine that the control state of the inverter is unstable when the difference in current exceeds a predetermined current threshold.
19. The motor controlling apparatus according to claim 1 , wherein
when the control state detected by the state detector changes from unstable to stable, the offsetting component is configured to return the offset detected voltage to the detected voltage detected by the voltage detector or to return the offset detected rotational speed to the detected rotational speed, by amounts of change smaller than the offset amount.
20. A method for controlling a motor comprising:
operating an inverter to convert direct-current power provided by a direct-current power source to alternating-current power and to supply the alternating-current power to a motor;
detecting a direct-current voltage of the direct-current power source;
detecting a rotational speed of the motor;
calculating a current command value of an alternating current being output from the inverter based on the detected direct-current voltage, a torque command value input from an external source, and the detected rotational speed;
generating a control signal for a switching element included in the inverter and controlling the inverter based on the current command value;
detecting a control state of the inverter;
offsetting the detected direct-current voltage or the detected rotational speed by a predetermined offset amount according to the detected control state; and
modifying the current command value based on the offset detected voltage or the offset detected rotational speed when the control state of the inverter is detected to be unstable to make a d-axis current command value included in the current command value more negative as compared to a d-axis current command value derived from the detected voltage before the modifying of the current command value.