Motor control device

Abstract

When the connection determination unit (40) determines that the rotation direction of the motor (18) is inconsistent with the rotation command (Cr), the phase sequence of the current detection signal (Di) and the phase sequence of the voltage command (Cv) are changed by the phase sequence change unit (38), or the positive and negative polarities of the encoding signal (Dab) output from the encoder (20) are reversed by the phase sequence change unit (38), thereby making the rotation direction of the motor (18) controlled by the motor control device (10) consistent with the rotation command (Cr).

Description

Technical Field

[0001] The present invention relates to a motor control device that feeds back three-phase current supplied from the motor control device to the stator coil of the motor through a power line to the motor control device, and feeds back the rotation state of the motor (rotor) to the motor control device via an encoder. Background Art

[0002] For example, Japanese Patent Publication No. 09-16233 (hereinafter referred to as JPH09-16233A) discloses a servo control system, which uses a current sensor to detect the current flowing through at least two phases of the U phase, V phase, and W phase of the output terminal of the servo motor during the initial acceleration after the power is turned on, and monitors the graph of the detected current waveform to determine whether the output terminal is incorrectly wired (Claim 1 of JPH09-16233A).

[0003] JPH09-16233A also discloses that when the output terminal is determined to be incorrectly connected, the voltage command output phase can be automatically switched by software to continue operation (

[0094] of the procedure amendment to JPH09-16233A).

[0004] Japanese Patent Gazette No. 2009-165267 (hereinafter referred to as JP2009-165267A) discloses a motor control device that compares the rotation direction based on the electrical angle instruction with the rotation direction detected by the encoder to determine the correct connection (positive connection) or reverse connection of the phase sequence of the motor's windings U, V, and W (JP2009-165267A

[0029] ). Summary of the Invention

[0005] The technology disclosed in JPH09-16233A above monitors the current waveform pattern to determine incorrect wiring of the output terminal and automatically switches the voltage command output phase by software to continue operation. However, there is a problem in that monitoring the current waveform pattern is complicated.

[0006] Furthermore, the technology disclosed in JP2009-165267A is based on the premise that the encoder's rotational direction (physical connection) is correct. However, there is no description of what to do when the encoder is physically connected with its rotational direction reversed, in other words, when the encoder is connected with its mounting direction incorrectly.

[0007] The present invention is made in consideration of such a problem, and its purpose is to provide a motor control device that can easily detect even if the phase sequence of the three-phase power line connected to the motor or the installation direction (positive or negative polarity) of the encoder is physically incorrectly connected, and can make the rotation direction detected by the encoder consistent with the rotation instruction without changing the physical connection of the power line and the physical connection of the encoder.

[0008] An electric motor control device according to one embodiment of the present invention comprises: a control unit, which controls the electric motor by means of a voltage instruction based on a rotation instruction; a rotation direction detection unit, which detects the positive and negative polarity of the rotation direction of the electric motor; and a current detection unit, which detects the current flowing in the power line of the electric motor, wherein the control unit comprises a connection determination unit and a phase sequence change unit of the power line, wherein the connection determination unit of the power line determines whether the rotation direction of the electric motor based on the rotation instruction is consistent / inconsistent with the rotation direction detected by the rotation direction detection unit, and when the connection determination unit determines that the rotation directions are inconsistent, the phase sequence change unit changes the phase sequence of the current detection value and the phase sequence of the voltage instruction, or reverses the polarity detected by the rotation direction detection unit to control the electric motor.

[0009] According to the present invention, even if the phase sequence of the power line physically connected between the power conversion unit and the motor or the installation direction of the rotation direction detection unit is incorrectly connected, there is no need to change the physical connection of the power line. The motor can be controlled by changing the phase sequence of the current detection value detected by the current detection unit and the phase sequence of the three-phase voltage instructions in the phase sequence changing unit, or by reversing the polarity detected by the rotation direction detection unit, thereby making the rotation direction of the motor consistent with the rotation direction based on the rotation instruction. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 It is a schematic configuration diagram of a motor control device according to an embodiment.

[0011] Figure 2 This is a table diagram showing a determination table that is referred to in the determination process of the connection determination unit.

[0012] Figure 3 This is a main flowchart for explaining the operation of the motor control device according to the embodiment.

[0013] Figure 4 Is used to illustrate Figure 3 Flowchart of detailed processing of automatic phase sequence correction processing in the main flowchart.

[0014] Figures 5A to 5E Each of them is a schematic diagram showing the rotational position of the motor rotor relative to the direction of the magnetic field lines in the xy rectangular coordinates.

[0015] Figure 6 This is an explanatory diagram for explaining, in the form of a block diagram, the operation and effects of the control changing unit of the motor control device according to the embodiment.

[0016] Figure 7 It is a schematic configuration diagram of a motor control device according to a modified example. DETAILED DESCRIPTION

[0017] Hereinafter, the motor control device of the present invention will be described in detail with reference to the accompanying drawings, using preferred embodiments as examples.

[0018] [structure]

[0019] Figure 1 It is a schematic configuration diagram of a motor control device 10 according to the embodiment.

[0020] The motor control device 10 that controls the motor 18 includes a rotation command generating unit 12 , a control unit 22 , a power conversion unit 24 , a current sensor 16 as a current detecting unit, and an encoder 20 as a rotation direction detecting unit.

[0021] The control unit 22 receives the rotation command (rotation command signal) Cr from the rotation command generating unit 12 and sends a three-phase AC voltage command (voltage command signal) Cv of U phase, V phase, and W phase to a PWM signal generating unit (not shown) constituting the power converter 24 .

[0022] The power conversion unit 24 is connected to one end of the three-phase power line 26 of U phase, V phase and W phase on the output side of the power conversion unit 24, and the other end of the three-phase power line 26 is connected to the input terminals of U phase, V phase and W phase of the motor 18 (shown as dots) from the output terminal (shown as dots) via the current sensor 16.

[0023] The three-phase AC currents of the U-phase, V-phase, and W-phases flow through the three-phase power line 26 after the power converter 24 converts DC power (not shown) into three-phase AC power based on the three-phase voltage command Cv. The DC power applied to the power converter 24 is, for example, a DC voltage obtained by rectifying the three-phase AC voltage using a converter and a capacitor.

[0024] A current sensor 16 is provided in the three-phase power line 26 connected to the motor 18. The current sensor 16 detects the three-phase current (motor current) Im flowing through the U phase, V phase, and W phase respectively, and sends the current detection signal (current detection value) Di of each of the three phases to the control unit 22.

[0025] The motor 18 is a synchronous motor having a stator (stator coil) including three-phase windings: U-phase, V-phase, and W-phase; and a rotor including permanent magnets that rotates synchronously with the rotating magnetic field formed by the three-phase motor current Im supplied to the stator coil.

[0026] An incremental encoder 20 is pivotally supported on the rotating shaft 28 of the motor 18. The encoder 20 outputs a Z-phase signal, which serves as an origin signal, and A-phase and B-phase signals, which have a phase difference of 90°. These signals are transmitted as an encoded signal Dab (also including the Z-phase signal) via an output terminal (shown as dots) and an input terminal (shown as dots) to the control unit 22. The encoder 20 is not limited to an incremental type; an absolute type may also be used.

[0027] The control unit 22 is constituted by a microcomputer, and functions as a torque command generating unit 30 , a current command generating unit 32 , a voltage command generating unit 34 , and a control changing unit 36 ​​by executing processing by the CPU.

[0028] The control changing unit 36 ​​is composed of a phase sequence changing unit 38 and a connection determining unit 40 .

[0029] The torque command generating unit 30 generates a torque command (torque command signal) Ct based on the difference between the rotation command Cr received from the rotation command generating unit 12 and the A / B phase feedback signal Fab generated by the control change unit 36 ​​of the control unit 22 based on the encoding signal Dab, and sends it to the current command generating unit 32.

[0030] The current command generating unit 32 generates (calculates) a current command (current command signal) Ci based on the difference between the torque command Ct sent from the torque command generating unit 30 and the current feedback signal Fi generated by the control changing unit 36 ​​of the control unit 22 based on the current detection signal Di, and outputs it to the voltage command generating unit 34.

[0031] The voltage command generating unit 34 generates voltage commands Cv for three phases U, V, and W based on the current command Ci and the phase sequence change command (phase sequence change command signal) Cc, and transmits the generated voltage commands Cv to the power converter 24 .

[0032] In the control change unit 36, the connection determination unit 40 confirms (determines) the consistency / inconsistency between the rotation direction of the motor 18 represented by the rotation command Cr (referred to as the command rotation direction) and the rotation direction of the motor 18 represented by the encoding signal Dab detected by the encoder 20 (referred to as the detected rotation direction), thereby determining the correctness (correctness) of the connection of the three-phase power line 26 (the so-called reversal) and the installation direction of the encoder 20, and outputs the consistency / inconsistency determination signal (consistency / inconsistency determination result signal) Dt to the phase sequence change unit 38.

[0033] Figure 2 4 shows a determination table 46 that is referred to in the determination process of the connection determination unit 40. The determination table 46 is stored in the storage unit of the control unit 22 in advance.

[0034] According to the judgment table 46, it can be seen that when the rotation direction (command rotation direction) of the motor 18 based on the rotation command Cr is the positive direction and the rotation direction (detected rotation direction) of the encoder 20 detected according to the encoding signal Dab of the encoder 20 and determined by the connection judgment unit 40 is the positive direction (positive polarity) (mode I), the rotation direction (command rotation direction) of the motor 18 based on the rotation command Cr is the reverse direction and the rotation direction (detected rotation direction) of the encoder 20 detected according to the encoding signal Dab and determined by the connection judgment unit 40 is the reverse direction (reverse polarity) (mode IV), in short, when it is determined that the rotation direction (command rotation direction) of the motor 18 based on the rotation command Cr and the rotation direction (detected rotation direction) of the encoder 20 are in phase rotation (modes I, IV), the connection judgment unit 40 outputs the consistency / inconsistency judgment signal Dt of "Dt=consistent".

[0035] On the other hand, when it is determined that the rotation direction of the motor 18 based on the rotation command Cr (the command rotation direction) and the rotation direction of the encoder 20 (the detected rotation direction) detected based on the encoding signal Dab and determined by the connection determination unit 40 rotate in opposite phases (mode II, mode III), the connection determination unit 40 outputs a consistency / inconsistency determination signal Dt of "Dt=inconsistent".

[0036] In this embodiment, the positive direction (positive polarity) of the rotation direction is defined as the clockwise direction (CW direction), and the negative direction (reverse polarity) of the rotation direction is defined as the counterclockwise direction (CCW direction).

[0037] When the rotation direction of the motor 18 based on the rotation command Cr (command rotation direction) and the rotation direction of the encoder 20 detected based on the encoding signal Dab (detected rotation direction) are inconsistent, that is, when they rotate in opposite phases to each other and make the consistency / inconsistency judgment signal Dt "Dt=inconsistency" (mode II, mode III), the phase sequence changing unit 38 does not change the physical connection of the power line 26 and the installation direction of the encoder 20, but performs various phase sequence changes and polarity reversals by the control changing unit 36 ​​through the following first method or second method, and controls the motor 18 through the voltage command generating unit 34 via the power conversion unit 24.

[0038] The first method: The control change unit 36 ​​outputs the current feedback signal Fi that changes the phase sequence of the current detection signal Di detected by the current sensor 16 to the current instruction generation unit 32, and outputs the phase sequence change instruction (phase sequence change instruction signal) Cc that changes the phase sequence of the voltage instruction Cv of the three phases to the voltage instruction generation unit 34.

[0039] Second method: The control changing unit 36 ​​outputs the A / B phase feedback signal Fab, in which the polarity (phase sequence) of the encoder signal Dab detected by the encoder 20 is changed, to the torque command generating unit 30 .

[0040] [action]

[0041] Then, based on Figure 3 as well as Figure 4 The flowchart shown in the figure details the automatic phase sequence correction processing operation of the control unit 22 of the motor control device 10, which is basically configured as described above. Unless otherwise specified, the CPU of the control unit 22 executes the program based on the flowchart. Since referring to the flowchart each time would be complicated, it should be referred to as needed.

[0042] exist Figure 3 In step S1 of the main flowchart, the control unit 22 of the motor control device 10 determines whether an operation preparation command is input from a host control device (not shown).

[0043] When it is determined that the operation preparation command has been input (step S1 : Yes), in step S2 , the control unit 22 executes an automatic phase sequence correction process.

[0044] Figure 4 Detailed flowchart of the automatic phase sequence correction process in step S2. In the detailed flowchart, the processes / determinations in steps S2a to S2d are performed by the connection determination unit 40 of the control unit 22, and the automatic phase sequence correction process in step S2e is performed by the phase sequence changing unit 38.

[0045] Figures 5A to 5E Schematic diagram showing the rotational position of the rotor 50 of the electric motor 18 relative to the direction of the magnetic force lines 52 in xy rectangular coordinates.

[0046] exist Figure 4 In step S2a of the detailed flowchart, the connection determination unit 40 transmits the current command Ci having the first excitation phase of 270° to the voltage command generation unit 34 via the current command generation unit 32 .

[0047] As a result, the voltage command generator 34 generates a three-phase voltage command Cv corresponding to the current command Ci for the excitation phase 270°, and the power converter 24 supplies the three-phase motor current Im to the stator coil of the motor 18 so that the rotor 50 stops at the 270° position. Figure 5A Magnetic lines of force 52 are generated in the direction of 270° indicated by the bold straight arrow, and the rotor 50 rotates and moves in the direction from 0° to 270°.

[0048] Next, in step S2 b , the connection determination unit 40 checks the encoder signal Dab from the encoder 20 and waits until the rotor 50 stops (step S2 b : Yes). Figure 5B The diagram shows a state where the rotor 50 is stopped at an excitation phase of 270°.

[0049] Next, in step S2 c , the connection determination unit 40 transmits a current command Ci having a second excitation phase of 0° different from the first excitation phase of 270° to the voltage command generation unit 34 .

[0050] As a result, the voltage command generator 34 generates a three-phase voltage command Cv corresponding to the current command Ci for the excitation phase 0°, and the three-phase motor current Im for stopping the rotor 50 at the 0° position is supplied from the power converter 24 to the stator coil of the motor 18. Figure 5C Magnetic lines of force 52 are generated in the direction of 0° indicated by the arrow, and the rotor 50 rotates in either the forward (CW) direction or the reverse (CCW) direction from the position of the excitation phase 270°.

[0051] Then, in step S2d, the connection determination unit 40 refers to the determination table 46 to confirm the consistency / inconsistency between the rotation direction of the motor 18 indicated by the rotation instruction Cr, in other words, the rotation direction of the motor 18 based on the rotation instruction Cr (instructed rotation direction) and the rotation direction of the motor 18 indicated by the encoding signal Dab, in other words, the rotation direction of the encoder 20 based on the encoding signal Dab detected by the encoder 20 (detected rotation direction).

[0052] like Figure 5D As shown, in the case of inconsistent rotation directions (the commanded rotation direction and the detected rotation direction are inconsistent and are in reverse phase) (step S2d: No, inconsistent), it is determined that one of the connection of the three-phase power line 26 and the installation of the encoder 20 is wrong, and the consistency / inconsistency judgment signal Dt is set to "Dt=inconsistent" and sent to the phase sequence change unit 38.

[0053] In this case, in step S2e, the phase sequence changing unit 38 is changed so that the current feedback signal Fi that changes (corrects) the phase sequence of the current detection signal Di detected by the current sensor 16 is sent to the current instruction generating unit 32, and the phase sequence change instruction Cc of the voltage instruction Cv is sent to the voltage instruction generating unit 34 to change the phase sequence of the three-phase voltage instructions Cv of the voltage instruction generating unit 34.

[0054] Then, the processing of steps S2a to S2d is executed again. When the determination in step S2d is positive (step S2d: yes, coincidence), the automatic phase sequence correction processing of step S2 is terminated and the process proceeds to step S3 ( Figure 3 ). In addition, in the initial determination process of step S2d, as Figure 5E As shown, when it is determined that the coincidence / inconsistency determination signal Dt is "Dt=coincidence" (step S2d: Yes), the process of the phase sequence changing unit 38 is not performed and the process proceeds to step S3.

[0055] In step S3 , the control unit 22 returns an operation preparation completion signal corresponding to the operation preparation command input in step S1 to the host control device.

[0056] Thereafter, the motor control device 10 controls the motor 18 based on the determination result of the control changing unit 36 ​​.

[0057] The first excitation phase of 270° and the second excitation phase of 0°, described above, command a 90° rotation in the positive (CW) direction. However, this combination is not limited to this; any combination that can distinguish between the commanded rotation direction and the actual rotational movement direction is acceptable. For example, a combination of 315° for the first excitation phase and 0° for the second excitation phase is also acceptable.

[0058] In addition, in the rotation direction confirmation process in step S2d, when the rotation directions are inconsistent, in the process of the above-mentioned step S2e, the phase sequence change unit 38 is changed so that the current feedback signal Fi with the phase sequence of the current detection signal Di is changed is sent to the current instruction generating unit 32, and the phase sequence change instruction Cc of the voltage instruction Cv is sent to the voltage instruction generating unit 34, changing the phase sequence of the three-phase voltage instructions Cv of the voltage instruction generating unit 34 (the above-mentioned first method), but is not limited to this.

[0059] That is, these change processes may not be performed (first method: phase sequence change process of the current detection signal Di and phase sequence change process of the voltage command Cv), but instead the phase sequence change unit 38 may make changes so that the polarity of the A / B phase feedback signal Fab sent from the control change unit 36 ​​to the torque command generation unit 30 becomes the opposite polarity of the detected encoding signal Dab (second method: polarity change process of the encoding signal Dab).

[0060] Figure 6 This is an explanatory diagram for explaining, in the form of a block diagram, the operation and effects of the control changing unit 36 ​​of the motor control device 10 according to the embodiment.

[0061] like Figure 6 As shown, the control changing unit 36 ​​determines whether the rotation direction of the motor 18 based on the rotation command Cr (command rotation direction (Cr)) and the rotation direction of the encoder 20 based on the encoder signal Dab detected by the encoder 20 (detected rotation direction (Dab)) are consistent or inconsistent with each other.

[0062] (a) In the case of "consistency" (modes I and IV), the phase sequence (connection) of the power line 26 and the installation direction of the encoder 20 are considered correct, and the phase sequence correction processing (step S2e) of the phase sequence changing unit 38 is not performed, but the motor 18 is controlled by the motor control device 10.

[0063] In addition, the method of controlling the motor 18 by assuming that the phase sequence of the power line 26 and the installation direction of the encoder 20 are correct includes the case where the phase sequence (connection) of the power line 26 becomes "reversed" and the installation direction of the encoder 20 is wrong (installed in the opposite direction).

[0064] When the consistency / inconsistency judgment result of the connection judgment unit 40 is (b) "inconsistency" (mode II, III), it is determined that the phase sequence (connection) of the power line 26 or the installation direction of the encoder 20 is incorrectly connected, and the phase sequence of the phase sequence change unit 38 is automatically corrected (step S2e), and the motor 18 is controlled by the motor control device 10.

[0065] According to the embodiment, the motor control device 10 controls the motor 18 as described in (a) and (b) above, thereby making the rotation direction detected by the encoder 20, that is, the rotation direction of the motor 18, consistent with the rotation instruction Cr, without changing the physical connection of the power line 26 and the physical connection (installation direction) of the encoder 20.

[0066] [Modification]

[0067] The above-described embodiment can also be modified as follows.

[0068] Figure 7 FIG. 1 is a schematic diagram of a modified example of a motor control device 10A. Figure 7 In the embodiment, the same structures as those in the above embodiment are marked with the same reference numerals, and only the different parts are described.

[0069] In the motor control device 10A of this modified example, a judgment result storage unit 54 (a non-volatile rewritable memory) is provided in the control unit 22A of the motor control device 10A, and the motor control device 10A has a display unit 56. The judgment result storage unit 54 stores the judgment result of whether the rotation direction detected based on the encoding signal Dab is consistent or inconsistent with the rotation direction of the rotor 50 based on the rotation command Cr, that is, whether it is mode I, II, III, or IV.

[0070] In the motor control device 10A of this modification,

[0071] First, when the motor control device 10A is restarted, the control changing unit 36 ​​can control the power conversion unit 24 using the determination result (any of the modes I, II, III, and IV) stored in the determination result storage unit 54 .

[0072] Second, the control unit 22A can display the determination result stored in the determination result storage unit 54 on the display unit 56 ( Figure 2 Decision table 46 and corresponding modes shown).

[0073] [Inventions that can be understood from the embodiments and modifications]

[0074] Here, the invention that can be grasped based on the above-mentioned embodiment and modification examples is described below. In addition, for ease of understanding, the symbols used in the above-mentioned embodiment and modification examples are attached to the components, but the components are not limited to the components attached with the symbols.

[0075] The motor control device 10, 10A of the present invention includes: a control unit 22, 22A, which controls the motor 18 by using a voltage command Cv based on a rotation command Cr; a rotation direction detection unit 20, which detects the positive and negative polarity of the rotation direction of the motor 18; and a current detection unit 16, which detects the current Im flowing in the power line 26 of the motor 18. The control unit 22, 22A includes a connection determination unit 40 of the power line 26 and a phase sequence change unit 38. The connection determination unit 40 of the power line 26 determines whether the rotation direction of the motor 18 based on the rotation command Cr is consistent with the rotation direction detected by the rotation direction detection unit 20. When the connection determination unit 40 determines that the rotation directions are inconsistent, the phase sequence change unit 38 changes the phase sequence of the current detection value (current detection signal Di) and the phase sequence of the voltage command Cv, or reverses the polarity detected by the rotation direction detection unit 20 to control the motor 18.

[0076] According to this structure, even if the phase sequence of the power line 26 physically connected between the power conversion unit 24 and the motor 18 or the installation direction of the rotation direction detection unit 20 is incorrectly connected, there is no need to change the physical connection of the power line 26. In the phase sequence change unit 38, the phase sequence of the current detection signal Di detected by the current detection unit 16 and the phase sequence of the voltage command Cv are changed, or the polarity detected by the rotation direction detection unit 20 is reversed to control the motor 18, thereby making the rotation direction of the motor 18 consistent with the rotation direction of the rotation command Cr.

[0077] In this case, the connection determination unit 40 of the power line 26 can also be set to determine the consistency / inconsistency of the rotation direction when a voltage instruction Cv of a predetermined first excitation phase of 270° is output from the control unit 22, 22A to stop the rotor 50, and a voltage instruction Cv of a predetermined second excitation phase of 0° different from the first excitation phase 270° is output from the control unit 22, 22A.

[0078] In this way, when judging the consistency / inconsistency of the rotation direction of the motor 18, the motor 18 is stopped based on the three-phase voltage instruction Cv of the first excitation phase 270° output from the control unit 22, 22A, and the consistency / inconsistency of the rotation direction of the motor 18 when the voltage instruction Cv of the second excitation phase 0° different from the first excitation phase 270° is output from the control unit 22, 22A is judged. In this way, the correctness of the connection of the power line 26 can be associated with the positive and negative polarity detected by the rotation direction detection unit 20 for judgment.

[0079] Furthermore, a determination result storage unit 54 that stores the determination result of the connection determination unit 40 may be provided, and the control unit 22A may control the motor 18 based on the determination result stored in the determination result storage unit 54 .

[0080] With this configuration, when the motor control device 10A is restarted, the rotation direction confirmation process (steps S2 a to S2 d ) of the connection determination unit 40 is not repeated, and the motor control device 10A can quickly and accurately control the motor 18 .

[0081] Furthermore, the display unit 56 may be provided, and the control unit 22A may display at least the determination result on the display unit 56 .

[0082] According to this configuration, the operator can understand whether the phase sequence changing unit 38 is operating or not through the display on the display unit 56 showing the phase sequence being switched by bit values ​​or character strings.

[0083] In addition, the present invention is not limited to the above-described embodiment, and it is of course possible to adopt various configurations based on the contents described in this specification.

Claims

1. A motor control device (10, 10A), comprising: a control unit (22, 22A) that controls the electric motor (18) according to a voltage command based on a rotation command; a rotation direction detection unit (20) for detecting the forward and reverse polarity of the rotation direction of the motor; and a current detection unit (16) for detecting a current flowing through a power line (26) of the motor; It is characterized by: The control unit includes a connection determination unit (40) for the power line and a phase sequence changing unit (38). The connection determination unit of the power line determines whether the rotation direction of the electric motor based on the rotation command is consistent with or inconsistent with the rotation direction detected by the rotation direction detection unit. When the connection determination unit determines that the rotation directions are inconsistent, the phase sequence change unit changes the phase sequence of the current detection value and the phase sequence of the voltage command, or reverses the polarity detected by the rotation direction detection unit to control the motor. When the power line connection determination unit determines the consistency / inconsistency of the rotation direction, when a voltage instruction of a first excitation phase is output from the control unit to stop the rotor of the motor at the first excitation phase position, and a voltage instruction of a second excitation phase different from the first excitation phase is output from the control unit to rotate the rotor of the motor to the second excitation phase position and stop, the connection determination unit of the power line determines the consistency / inconsistency of the actual rotation direction of the motor detected by the rotation direction detection unit with the rotation direction.

2. The motor control device according to claim 1, wherein: The motor control device further includes a determination result storage unit (54) for storing the determination result of the connection determination unit. The control unit performs control based on the determination result stored in the determination result storage unit.

3. The motor control device according to claim 1 or 2, characterized in that: The motor control device further includes a display unit (56), The control unit displays at least a determination result on the display unit.

Images