Controller for brushless motor
A controller for a brushless motor determines difference between target currents and detected currents in a dq coordinate system and determines a target voltage applied to an armature winding based on a feedback calculation, such as PI (Proportional Integral) calculation, P (Proportional) calculation, or PID (Proportional Integral Derivative) calculation, to decrease the differences.
1. A controller for a brushless motor, comprising
a current detection part that detects a current flowing in an armature winding of said motor;
a rotation position detection part that detects a rotation position of a rotor of said motor;
a dq-axes target current calculation part that calculates a d-axis target current and a q-axis target current, where an axis along a magnetic flux direction of a field system of said rotor is taken as the d axis, and an axis perpendicular to said d axis and a rotation axis of said rotor is taken as the q axis;
a dq-axes current calculation part that determines a d-axis current and a q-axis current based on the detected current and the detected rotation position;
a d-axis target voltage calculation part that determines a d-axis target voltage based on a feedback calculation for said d-axis current so as to decrease a d-axis difference between said d-axis target current and said d-axis current; and
a q-axis target voltage calculation part that determines a q-axis target voltage based on a feedback calculation for said q-axis current so as to decrease a q-axis difference between said q-axis target current and said q-axis current, wherein
a rotation force of said rotor is generated by applying a voltage to said armature winding based on said d-axis target voltage, said q-axis target voltage, and the detected rotation position;
a d-axis correction value calculation part for determining a d-axis correction value and a q-axis correction value calculation part for determining a q-axis correction value are provided;
said d-axis target voltage is determined based on a value obtained by correcting a result of the feedback calculation for said d-axis current with said d-axis correction value; and
said q-axis target voltage is determined based on a value obtained by correcting a result of the feedback calculation for said q-axis current with said q-axis correction value; said controller further comprising
a dq-axes limiting value calculation part that determines a d-axis limiting value and a q-axis limiting value so that a target voltage applied to said armature winding does not exceed a set maximum value;
a d-axis addition part that adds said d-axis correction value to the result of the feedback calculation for said d-axis current;
a q-axis addition part that adds said q-axis correction value to the result of the feedback calculation for said q-axis current;
a first d-axis limiter that limits an absolute value of the sum of said d-axis correction value and the result of the feedback calculation for said d-axis current to said d-axis limiting value;
a second d-axis limiter that limits an absolute value of the result of the feedback calculation for said d-axis current to said d-axis limiting value;
a first q-axis limiter that limits an absolute value of the sum of said q-axis correction value and the result of the feedback calculation for said q-axis current to said q-axis limiting value; and
a second q-axis limiter that limits an absolute value of the result of the feedback calculation for said q-axis current to said q-axis limiting value, wherein
an output value of said first d-axis limiter is treated as said d-axis target voltage;
an output value of said first q-axis limiter is treated as said q-axis target voltage;
an output value of said second d-axis limiter is used as a preceding value in the feedback calculation for said d-axis current in a next calculation cycle; and
an output value of said second q-axis limiter is used as a preceding value in the feedback calculation for said q-axis current in a next calculation cycle.
2. The controller for a brushless motor according to claim 1 , wherein said d-axis correction value calculation part determines −ωL q I q as said d-axis correction value and said q-axis correction value calculation part determines ωL d I d +ωΦ as said q-axis correction value, where ω stands for a rotation speed (rad/sec) of said rotor, L d stands for a d-axis self-inductance of said armature winding, L q stands for a q-axis self-inductance of said armature winding, I d stands for said d-axis current, I q stands for said q-axis current, and Φ stands for a value obtained by multiplying a maximum value of magnetic flux linkage of said armature winding in said field system by a factor of (3/2) 1/2 .
3. The controller for a brushless motor according to claim 1 , wherein said d-axis correction value calculation part determines −ωL q I q as said d-axis correction value and said q-axis correction value calculation part determines ωL d I d as said q-axis correction value, where ω stands for a rotation speed (rad/sec) of said rotor, L d stands for a d-axis self-inductance of said armature winding, L q stands for a q-axis self-inductance of said armature winding, I d stands for said d-axis current, I q stands for said q-axis current.
4. A controller for a brushless motor, comprising
a current detection part that detects a current flowing in an armature winding of said motor;
a rotation position detection part that detects a rotation position of a rotor of said motor;
a dq-axes target current calculation part that calculates a d-axis target current and a q-axis target current, where an axis along a magnetic flux direction of a field system of said rotor is taken as the d axis, and an axis perpendicular to said d axis and a rotation axis of said rotor is taken as the q axis;
a dq-axes current calculation part that determines a d-axis current and a q-axis current based on the detected current and the detected rotation position;
a d-axis target voltage calculation part that determines a d-axis target voltage based on a feedback calculation for said d-axis current so as to decrease a d-axis difference between said d-axis target current and said d-axis current; and
a q-axis target voltage calculation part that determines a q-axis target voltage based on a feedback calculation for said q-axis current so as to decrease a q-axis difference between said q-axis target current and said q-axis current, wherein
a rotation force of said rotor is generated by applying a voltage to said armature winding based on said d-axis target voltage, said q-axis target voltage, and the detected rotation position;
a d-axis correction value calculation part for determining a d-axis correction value and a q-axis correction value calculation part for determining a q-axis correction value are provided;
said d-axis target voltage is determined based on a value obtained by correcting a result of the feedback calculation for said d-axis current with said d-axis correction value; and
said q-axis target voltage is determined based on a value obtained by correcting a result of the feedback calculation for said q-axis current with said q-axis correction value; said controller further comprising
a dq-axes limiting value calculation part that determines a d-axis limiting value and a q-axis limiting value so that a target voltage applied to said armature winding does not exceed a set maximum value;
a d-axis corrected limiting value calculation part that determines a d-axis corrected limiting value that is obtained by subtracting an absolute value of said d-axis correction value from said d-axis limiting value;
a q-axis corrected limiting value calculation part that determines a q-axis corrected limiting value that is obtained by subtracting an absolute value of said q-axis correction value from said q-axis limiting value;
a d-axis limiter that limits an absolute value of the result of the feedback calculation for said d-axis current to said d-axis corrected limiting value;
a q-axis limiter that limits an absolute value of the result of the feedback calculation for said q-axis current to said q-axis corrected limiting value;
a d-axis addition part that adds said d-axis correction value to an output value of said d-axis limiter; and
a q-axis addition part that adds said q-axis correction value to an output value of said q-axis limiter, wherein
an output value of said d-axis addition part is treated as said d-axis target voltage;
an output value of said q-axis addition part is treated as said q-axis target voltage;
the output value of said d-axis limiter is used as a preceding value in the feedback calculation for said d-axis current in a next calculation cycle; and
the output value of said q-axis limiter is used as a preceding value in the feedback calculation for said q-axis current in a next calculation cycle.
5. The controller for a brushless motor according to claim 4 , wherein said d-axis correction value calculation part determines −ωL q I q as said d-axis correction value and said q-axis correction value calculation part determines ωL d I d +ωΦ as said q-axis correction value, where ω stands for a rotation speed (rad/sec) of said rotor, L d stands for a d-axis self-inductance of said armature winding, L q stands for a q-axis self-inductance of said armature winding, I d stands for said d-axis current, I q stands for said q-axis current, and Φ stands for a value obtained by multiplying a maximum value of magnetic flux linkage of said armature winding in said field system by a factor of (3/2) 1/2 .
6. The controller for a brushless motor according to claim 4 , wherein said d-axis correction value calculation part determines −ωL q I q as said d-axis correction value and said q-axis correction value calculation part determines ωL d I d as said q-axis correction value, where ω stands for a rotation speed (rad/sec) of said rotor, L d stands for a d-axis self-inductance of said armature winding, L q stands for a q-axis self-inductance of said armature winding, I d stands for said d-axis axis current, I q stands for said q-axis current.