Method and apparatus for controlling permanent magnet synchronous motor by using pulse width modulation

• US 4,703,245 A
• Filed: 12/12/1985
• Issued: 10/27/1987
• Est. Priority Date: 04/16/1984
• Status: Expired due to Term

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: Kobayashi, Toshio, Sakamoto, Keiji
• Primary Examiner(s): Smith, Jr., David
• Application Number:
  US06/811,840
• Time in Patent Office: 684 Days
• Field of Search: 318/805, 318/798, 318/807-811, 318/800, 363/41
• US Class Current: 318/809
• CPC Class Codes: H02P 25/024 controlled by supply frequency
• CPC Class Codes: H02P 25/03 with brushless excitation

Abstract

A method and apparatus for controlling a permanent magnet synchronous motor (M), wherein an inverter (4) is controlled in response to PWM signals (PA-PF) obtained by comparing a reference carrier wave (VA) with signals representing differences between armature winding current command signals (RTC, STC, TTC) of the respective phases and detected armature currents (IR, IS, IT).

The degree of saturation of the difference signals defined in association with a peak value of the reference carrier wave (VA) is detected. The phases of the current command signals (RTC, STC, TTC) are changed from those which provide an orthogonal relation between a resultant armature current and a main flux of a magnetic field.

Claims

1. A method of controlling a permanent magnet synchronous motor by using pulse width modulation, comprising the steps of:

(a) comparing a reference carrier wave with differences between detected armature currents and command signals for respective phase armature windings to obtain pulse width modulation signals;

(b) controlling an inverter with the pulse width modulation signals

(c) detecting a degree of saturation of voltage signals representing differences between the detected armature currents and the current command signals and determined by a peak value of the reference carrier wave; and

(d) shifting phases of respective phase current command signals from those which provide an orthogonal relation between a resultant armature current and a main flux of a magnetic field, in accordance with the detected degree of saturation.

2. A method according to claim 1, wherein said step (d) comprises shifting the phases of the current command signals by adding phase current command signals of the respective phase armature windings which achieve the orthogonal relation between the resultant armature current and the main flux, and corrected phase current command signals which have phases advanced by 90°

from the phase current command signals, and which have amplitudes varying in accordance with the degree of saturation.

3. A method according to claim 1, wherein said step (d) comprises shifting the phases of the current command signals in proportion to the detected degree of saturation when the degree of saturation of the difference voltage signals exceeds a predetermined value.

9. A method according to claim 2, wherein said step (d) comprises shifting the phases of the current command signals in proportion to the detected degree of saturation when the degree of saturation of the difference voltage signals exceeds a predetermined value.

4. An apparatus for controlling a permanent magnet synchronous motor having a rotor, by using pulse width modulation, comprising:

means for detecting a position of the rotor of the permanent magnet synchronous motor;

first storage means for storing a first armature current command signal group of respective phases consisting of first armature current command signals which have values for providing an orthogonal relation between a resultant armature current and a main flux of a magnetic field, and which correspond to rotor positions;

means for detecting the armature currents of the respective phases;

means for comparing a reference carrier wave with difference signals representing differences between values of the first armature current command signals, read out from said first storage means in accordance with the detected rotor position, and values of the detected armature currents, and for generating pulse width modulation signals for the respective phases;

an inverter for controlling the armature currents of the respective phases in response to the pulse width modulation signals;

saturation detecting means for generating a saturation signal having a predetermined saturation value given in accordance with a peak value of the reference carrier wave and having a value as a predetermined function of the difference signals;

second storage means for storing a second armature current command signal group of the respective phases consisting of second armature current command signals which have values for providing a relation shifted by a predetermined angle from the orthogonal between the resultant armature current and the main flux of the magnetic field, and which correspond to the rotor positions;

correction signal generating means for converting values of the second armature current command signals of the respective phase windings read out from said second storage means in accordance with the rotor position, into correction signals, each having a value corresponding to a value of the saturation signal; and

means for correcting the first armature current command signals in accordance with the correction signals to shift the phases of the difference signals.

5. An apparatus according to claim 4, wherein the second armature current command signals have phases advanced by 90°

from those which provide the orthogonal relation between the resultant armature current and the main flux of the magnetic field.

6. An apparatus according to claim 4, wherein said saturation detecting means generates signal groups which have values determined as functions of the difference signals and correspond in number to the difference signals, and generates the saturation signal as a function of the sum of the values of the signal groups.

7. An apparatus according to claim 4, wherein said correction signal generating means multiplies values of each of the second armature current command signals of the respective phases by a value of the saturation signal to obtain the correction signals.

8. An apparatus according to claim 4, wherein said phase shift means adds the difference signals and the correction signals to shift the phases of the difference signals.

10. An apparatus according to claim 5, wherein said saturation detecting means generates signal groups which have values determined as functions of the difference signals and correspond in number to the difference signals, and generates the saturation signal as a function of the sum of the values of the signal groups.

11. An apparatus according to claim 5, wherein said correction signal generating means multiplies values of each of the second armature current command signals of the respective phases by a value of the saturation signal to obtain the correction signals.

12. An apparatus according to claim 5, wherein said phase shift means adds the difference signals and the correction signals to shift the phases of the difference signals.