Current control apparatus for PWM control
AssigneeFanuc Corporation
InventorsShinichi Kono, Hironobu Takahashi
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Abstract
A current control apparatus is provided for PWM-control of motor current using a microprocessor. Since motor current enters a control processor as a discrete value, a delay in control always arises. In prior art, it is not possible to accurately predict the actual current value needed for PWM control; as a result, the gain of the current control loop cannot be made large enough. Accordingly, a change pattern of A/D-converted motor current is utilized to estimate what the motor current will be at the present point in time, and current control is carried out based on this motor current. As a result, the delay is made equivalently small and the gain of the current control loop can be freely set, thus improving the response of the current control loop.
Claims10
A current control apparatus for pulse width modulation (PWM) control of a motor current through a winding of a motor including first, second and third phases, said apparatus comprising:
- a current detector connected to detect the motor current and output a digital current value at a predetermined interval;
- arithmetic means for receiving first, second and third PWM command signals and for predicting a current change .DELTA.I at a present point in time by determining the current change .DELTA.I for at least one of the first, second and third phases of the motor based, respectively, on at least one of .DELTA.Iu, .DELTA.Iv and .DELTA.Iw as follows:
- .DELTA.Iu=K.sub.1 (Vuc-Vvc)+K.sub.1 (Vuc-Vwc)
- .DELTA.Iv=K.sub.1 (Vvc-Vuc)+K.sub.1 (Vvc-Vwc)
- .DELTA.Iw=K.sub.1 (Vwc-Vuc)+K.sub.1 (Vwc-Vvc)
- wherein
- Vuc is the first PWM command signal,
- Vvc is the second PWM command signal,
- Vwc is the third PWM command signal, and
- K.sub.1 is a constant;
- control means for outputting a pulse width modulation control signal based on the digital current value from said current detector and the current change .DELTA.I from said arithmetic means;
- and
- a switching circuit operatively connected to said control means and said motor to receive the pulse width modulation control signal and to control the motor in response to the pulse width modulation control signal.
A method of pulse width modulation (PWM) control of a motor current through a winding of a motor including first, second and third phases, comprising the steps of:
- (a) sampling the motor current through the winding of the motor;
- (b) receiving first, second and third PWM command signals indicative of a desired current for the first, second and third phases of the motor;
- (c) determining the current change .DELTA.I for at least one of the first, second and third phases of the motor based, respectively, on at least one of .DELTA.Iu, .DELTA.Iv and .DELTA.Iw as follows:
- .DELTA.Iu=K.sub.1 (Vuc-Vvc)+K.sub.1 (Vuc-Vwc)
- .DELTA.Iv=K.sub.1 (Vvc-Vuc)+K.sub.1 (Vvc-Vwc)
- .DELTA.Iw=K.sub.1 (Vwc-Vuc)+K.sub.1 (Vwc-Vvc)
- wherein
- Vuc is the first PWM command signal,
- Vvc is the second PWM command signal,
- Vwc is the third PWM command signal, and
- K.sub.1 is a constant;
- (d) adding the sampled motor current to the current change .DELTA.I to obtain a current feedback value;
- and
- (e) controlling the motor in response to the current feedback value.
A method of pulse width modulation (PWM) control of a motor current through a winding of a motor including first, second and third phases, comprising the steps of:
- (a) sampling the motor current through the winding of the motor;
- (b) receiving first, second and third PWM command signals indicative of a desired current for the first, second and third phases of the motor;
- (c) determining a current change based on the first, second and third PWM command signals and determining that no PWM should change occur when the first, second and third current command signals are equal;
- (d) adding the sampled motor current to the current change to obtain a current feedback value;
- and
- (e) controlling the motor in response to the current feedback value.
An apparatus for controlling a motor connectable to receive a motor current and a PWM command signal, wherein said motor includes first, second and third phases and said PWM command signal comprises first, second and third PWM command signals, said apparatus comprising:
- a current detector connected to detect the motor current;
- and
- control means for receiving first, second and third PWM command signals, for determining a current change .DELTA.I, and for outputting a control signal to control the motor based on the current change .DELTA.I and the motor current, and wherein the current change .DELTA.I is determined for at least one of the first, second and third phases of the motor based, respectively, on at least one of .DELTA.Iu, .DELTA.Iv and .DELTA.Iw as follows:
- .DELTA.Iu=K.sub.1 (Vuc-Vvc)+K.sub.1 (Vuc-Vwc)
- .DELTA.Iv=K.sub.1 (Vvc-Vuc)+K.sub.1 (Vvc-Vwc)
- .DELTA.Iw=K.sub.1 (Vwc-Vuc)+K.sub.1 (Vwc-Vvc)
- wherein
- Vuc is the first PWM command signal,
- Vvc is the second PWM command signal,
- Vwc is the third PWM command signal, and
- K.sub.1 is a constant;
- and
- a switching circuit operatively connected to said control means and said motor to receive the control signal to control said motor in response to the control signal.
An apparatus for controlling a motor connectable to receive a motor current and a PWM command signal, wherein said motor includes first, second and third phases and said PWM command signal comprises first, second and third PWM command signals, said apparatus comprising:
- a current detector connected to detect the motor current;
- and
- control means for receiving first, second and third PWM command signals, for determining an amount of a current change based on the first, second and third PWM command signals, wherein no current change is determined to occur when the first, second and third PWM command signals are equal, and for providing a control signal to control the motor based on the amount of current change, based on the motor current and based on when a current change is determined to occur;
- and
- a switching circuit operatively connected to said control means and said motor to receive the control signal and to control said motor in response to the control signal.
Dependencies are inferred from the claim text.