Motor control apparatus

• US 7,638,965 B2
• Filed: 02/24/2006
• Issued: 12/29/2009
• Est. Priority Date: 02/24/2006
• Status: Active Grant

• Current Assignee: Mitsubishi Electric Corporation
• Original Assignee: Mitsubishi Electric Corporation
• Inventors: Miyazaki, Tomohiro
• Primary Examiner(s): Ro; Bentsu
• Assistant Examiner(s): Paul; Antony M
• Application Number:
  US11/596,007
• Publication Number:
  US 20090251093A1
• Time in Patent Office: 1,404 Days
• Field of Search: 318/560, 318/568.17, 318/400.14, 318/400.16, 318/632, 318/721, 318/807
• US Class Current: 318/560
• CPC Class Codes: B60L 15/36 with automatic control superimposed, e.g. to prevent excessive motor current
• CPC Class Codes: G05B 19/416 characterised by control of velocity, acceleration or deceleration G05B19/19 takes precedence
• CPC Class Codes: G05B 2219/41232 Notch filter
• CPC Class Codes: H02P 29/50 Reduction of harmonics
• CPC Class Codes: Y02T 10/64 Electric machine technologies in electromobility

Abstract

A velocity control loop of a motor control apparatus including a notch filter. The notch filter attenuates a signal component at a central frequency from a motor driving command, and outputs the attenuated motor driving command. The driving of a motor is controlled based on the attenuated motor driving command. The central frequency of the notch filter is set equal to a frequency at which a phase of open loop frequency characteristics of the velocity control loop that does not include a notch filter is a value obtained by subtracting 180 degrees from a preset phase margin. An attenuation factor of the notch filter by which the signal component at the central frequency is attenuated is set so that a gradient of a phase diagram of the open loop frequency characteristics of the velocity control loop including the notch filter is substantially zero.

Claims

1. A motor control apparatus that controls driving of a motor and includes a velocity control loop, wherein the velocity control loop includes

a velocity detecting unit that detects a real velocity of the motor;

a velocity control unit that based on the real velocity and a target velocity calculates a motor driving command to cause the real velocity to follow up the target velocity; and

a notch filter that attenuates a signal component at a central frequency from the motor driving command to obtain an attenuated input signal, and outputs the attenuated input signal based on which driving of the motor is controlled, wherein

the central frequency is set equal to a frequency at which a phase of open loop frequency characteristics of the velocity control loop that does not include the notch filter is a value obtained by subtracting 180 degrees from a preset phase margin, and

an attenuation factor of the notch filter by which the signal component at the central frequency is attenuated is set so that a gradient of a phase diagram of the open loop frequency characteristics of the velocity control loop including the notch filter is substantially zero at the central frequency.

2. A motor control apparatus that controls driving of a motor and includes a velocity control loop, wherein the velocity control loop includes

a velocity detecting unit that detects a real velocity of the motor;

a velocity control unit that based on the real velocity and a target velocity calculates a motor driving command to cause the real velocity to follow up the target velocity; and

a notch filter that attenuates a signal component at a central frequency from the motor driving command to obtain an attenuated input signal, and outputs the attenuated input signal based on which driving of the motor is controlled, wherein

the central frequency is set equal to a frequency at which a phase of open loop frequency characteristics of the velocity control loop that does not include the notch filter is a value obtained by subtracting 180 degrees from a preset phase margin, and

an attenuation factor of the notch filter by which the signal component at the central frequency is attenuated is set between −

3 decibels and −

6 decibels.

3. A motor control apparatus that controls driving of a motor and includes a velocity control loop, wherein the velocity control loop includes

a velocity detecting unit that detects a real velocity of the motor;

a velocity control unit that based on the real velocity and a target velocity calculates a motor driving command to cause the real velocity to follow up the target velocity; and

a notch filter that attenuates a signal component at a central frequency from the motor driving command to obtain an attenuated input signal, and outputs the attenuated input signal based on which driving of the motor is controlled, wherein

the central frequency is 0.3 to 0.7 times a frequency at which a phase of open loop frequency characteristics of the velocity control loop that does not include the notch filter is −

180 degrees, and

an attenuation factor of the notch filter by which the signal component at the central frequency is attenuated is set between −

3 decibels and −

6 decibels.

4. A motor control apparatus that controls driving of a motor and includes a velocity control loop, wherein the velocity control loop includes

a velocity detecting unit that detects a real velocity of the motor;

a velocity control unit that based on the real velocity and a target velocity calculates a motor driving command to cause the real velocity to follow up the target velocity; and

a notch filter that attenuates a signal component at a central frequency from the motor driving command to obtain an attenuated input signal, and outputs the attenuated input signal based on which driving of the motor is controlled, wherein

the motor control apparatus further comprises;

a phase-margin setting unit that sets a phase margin;

a gain-margin setting unit that sets a gain margin;

a frequency-characteristic acquiring unit that acquires open loop frequency characteristics of the velocity control loop that does not include the notch filter; and

a parameter setting unit that sets the central frequency and an attenuation factor of the notch filter by which a signal component at the central frequency is attenuated, wherein

the parameter setting unit sets the central frequency and the attenuation factor by which the signal component at the central frequency is attenuated to satisfy the phase margin set by the phase-margin setting unit and the gain margin set by the gain-margin setting unit, and so that a control gain of the velocity control unit is highest within a range within which the attenuation factor of the notch filter by which the signal component at the central frequency is attenuated is equal to or higher than −

6 decibels, based on the velocity open loop frequency characteristics obtained by the frequency-characteristic acquiring unit.