Control device

Patent metadata

Field	Value
Publication number	US-9973128-B2
Application number	US-201414917714-A
Country	US
Kind code	B2
Filing date	Sep 25, 2014
Priority date	Sep 30, 2013
Publication date	May 15, 2018
Grant date	May 15, 2018

Abstract

Periodic disturbance occurs in current etc. due to offset error and gain error of a current sensor used in a control device. A voltage command value is generated from a current command value and a current detection value by the current sensor in a current control section. The generated voltage command value is inputted to a plant model section, and a virtual current value is calculated. The virtual current value is inputted to a periodic disturbance observer via a coordinate transform section, and a compensation value is calculated. The compensation value is superimposed on the current detection value via a coordinate inverse-transform section, and the current detection value of the current sensor is corrected.

First claim

The invention claimed is:

1. A control device that generates, by a current control section, a voltage command value from a current command value and a current detection value by a current sensor, wherein:
the control device is configured so that the voltage command value is inputted to a plant model section and a virtual current value is calculated, the virtual current value is inputted to a periodic disturbance observer via a coordinate transform section and a compensation value is calculated in the periodic disturbance observer, the calculated compensation value is superimposed on the current detection value via a coordinate inverse-transform section, and the current detection value of the current sensor is corrected.

2. The control device as claimed in claim 1 , wherein:
a current sensor error estimation section including an offset error calculation section and a gain error calculation section is provided, a value obtained by superimposing the compensation value on the current detection value and the current detection value are respectively inputted to the offset error calculation section and the gain error calculation section and an offset error and a gain error are calculated, and an error in the current sensor is estimated on the basis of respective calculated error signals.

3. The control device as claimed in claim 2 , wherein:
a current error operation section is provided on an output side of the current sensor, a memory that stores a current sensor error estimation value via a switch is provided on an output side of the current sensor error estimation section, a switch is connected to an output side of the compensation value from the periodic disturbance observer, and either the current sensor error estimation value stored in the memory or the compensation value from the periodic disturbance observer is outputted in a switching manner, and
the current error operation section corrects the current detection value on the basis of the current sensor error estimation value stored in the memory when the switch connected to the memory is turned on.

4. A periodic disturbance automatic suppression device as claimed in claim 1 , wherein:
the current command value is generated on the basis of a torque control command value, the current error operation section is provided on an output side of the current sensor, the plant model section outputs an estimation value of an output torque, and a value obtained so that an error is reduced through comparison of the estimation value of the output torque with the torque control command value is outputted to the current error operation section.

5. A control device that generates, by a current control section, a voltage command value from a current command value and a current detection value by a current sensor, wherein:
the current sensor performs two-phase detection, a current error operation section is provided on an output side of the current sensor, the voltage command value is inputted to a plant model section and a virtual current value is calculated, the virtual current value is inputted to a periodic disturbance observer via a function component detection section, a compensation value calculated by the periodic disturbance observer and the virtual current value are inputted to a compensation value/error transform section and a current sensor error estimation value is calculated, and the current sensor error estimation value is inputted to the current error operation section and the current detection value of the current sensor is corrected.

6. The control device as claimed in claim 5 , wherein:
an output side of the periodic disturbance observer is connected to the current error operation section via a switch, a memory that stores the compensation value is provided on the output side of the periodic disturbance observer, and the current detection value is corrected on the basis of the compensation value stored in the memory when oscillation suppression control converges.

7. A periodic disturbance automatic suppression device as claimed in claim 5 , wherein:
the current command value is generated on the basis of a torque control command value, the plant model section outputs an estimation value of an output torque, and a value obtained so that an error is reduced through comparison of the estimation value of the output torque with the torque control command value is outputted to the current error operation section.

Assignees

• Meidensha Electric Mfg Co Ltd

Inventors

• Yamaguchi Takashi
• Tadano Yugo

Classifications

• H02P23/12 Primary

  Observer control, e.g. using Luenberger observers or Kalman filters · CPC title

• G05B13/04

  involving the use of models or simulators · CPC title

• G05B13/02 Primary

  electric · CPC title