Servomotor current control method and servomotor
Under a low load condition, a produced torque is small and a synthetic current command I* with respect to an armature of a servomotor is small so that a magnitude in a negative direction of a reactive current command Id* determined by Id*=−|I*|·sin θ is small. As a result, under the low load condition, the synthetic current flowing through the armature can be small, and generation of wasteful heat can be suppressed. Further, under a high load condition, because a q-axis current Iq that produces the torque is large, voltage saturation is liable to occur. However, at the same time, the overall current command I* is large under the high load condition, and Id* is large in the negative direction. Therefore, a large reactive current Id can be flowed in the negative direction, and voltage saturation under the high load condition can be effectively prevented.
1. A current control method for a servomotor,
the servomotor comprising: an armature having armature windings of multiple phases; and a field,
the servomotor having such a structure that: armature currents are supplied to the armature windings having the respective multiple phases to generate armature magnetic flux; and the armature and the field are relatively rotated with each other based on an interaction between the armature magnetic flux and field flux produced by the field to generate rotation force,
the current control method comprising:
supplying a negative d-axis current Id to the armature to which a dq conversion has been performed while a d-axis direction is a direction of the field flux to prevent an occurrence of a voltage saturation in the servomotor, wherein under a condition that a relative rotational speed of the armature and the field is constant, the d-axis current Id in a negative direction is related to a magnitude |Iq| of the q-axis current.
2. The current control method according to claim 1 , wherein an absolute value of a synthetic current I which flows through the armature and is expressed by I 2 =Id 2 +Iq 2 is limited so that the absolute value does not exceed an allowable current value Imax in the armature.
3. The current control method according to claim 1 , wherein:
the Id and the Iq are defined so that a relationship of Id=−|I|·sin θ and Iq=I·cos θ are respectively satisfied with respect to the synthetic current I flowing through the armature and a phase angle θ which, satisfies 0°≦θ<90°; and
the phase angle θ is defined as an increase function of the relative rotational speed of the armature and the field.
4. The current control method according to claim 1 , wherein:
Id and Iq are defined so that a relationship of Id=−|Iq|−tan θ is satisfied with respect to the phase angle θ which satisfies 0°≦0<90°; and
the phase angle θ is defined as an increase function of the relative rotational speed of the armature and the field.
5. A servomotor, comprising:
an armature having armature windings of multiple phases; and
a field, wherein armature currents are supplied to the armature windings having the respective multiple phases to generate armature magnetic flux; and the armature and the field are relatively rotated with each other based on an interaction between the armature magnetic flux and field flux produced by the field to generate rotation force, wherein:
the servomotor further comprises a current commander that outputs a q-axis command Iq* for generating torque and a negative d-axis current command Id* for preventing an occurrence of a voltage saturation as current commands with respect to the armature to which a dq conversion has been performed while a d-axis direction is a direction of the field flux; and
the d-axis current command Id* is outputted so that, under a condition that a relative rotational speed of the armature and the field is constant, the d-axis current command Id* in a negative direction is related to a magnitude |Iq*| of the q-axis current command.
6. The servomotor according to claim 5 , wherein:
the current commander comprises:
a synthetic current commander that outputs a synthetic current command I* of the armature; and
a dq current commander that calculates and outputs the Id* and the Iq* from the I* so that a relationship of I* 2 =Id* 2 +Iq* 2 is satisfied; and
the synthetic current commander comprises a limiter that limits an absolute value of I* so that the absolute value of I* does not exceed an allowable current value Imax in the armature.
7. The servomotor according to claim 5 , further comprising a speed sensor that measures a speed of the relative rotation motion, wherein the current commander comprises:
a synthetic current commander that outputs a synthetic current command I* of the armature; and
a dq current commander that calculates a phase angle θ which satisfies 0°≦θ<90° from a speed measured by the speed sensor as an increase function with respect to the measured speed, and calculates and outputs the Id* and the Iq* from the I* so that a relationship of Id*=−|I|·sin θ and Iq*=I*·cos θ are respectively satisfied.
8. The servomotor according to claim 5 , further comprising a speed sensor that measures a speed of the relative rotation motion, wherein the current commander comprises:
a provisional synthetic current commander that outputs a provisional synthetic current command I*; and
a dq current commander that calculates a phase angle θ which satisfying 0°≦θ<90° from a speed measured by the speed sensor as an increase function with respect to the measured speed, and calculates and outputs the Id* and the Iq* so that a relationship of Id*=−|I*|·tanθ and Iq*=I* are respectively satisfied with respect to the I*.
9. The servomotor according to claim 8 , wherein the current commander comprises a limiter that limits an absolute value of a synthetic current Is* of the armature so that an absolute value of the synthetic current Is* which is expressed by Is* 2 =Id* 2 +Iq* 2 =I* 2 ·(1+tan 2 θ) does not exceed an allowable current value Imax of the armature.