A bearingless motor control device, a bearingless motor control system, and a control program

Abstract

The bearingless motor control device (1A) includes: a motor controller (20) that controls the rotational position of the rotor of the bearingless motor (30); and a radial position controller (10A) that controls the radial position of the rotor. The motor controller (20) receives rotational position information from a rotational position sensor (31) that detects the rotational position information of the rotor, and controls the rotational position of the rotor based on the rotational position information. The radial position controller (10A) receives rotational position information from the rotational position sensor (31) and radial position information from a radial position sensor (32) that detects the radial position information of the rotor, and controls the radial position of the rotor based on the rotational position information and the radial position information.

Description

Technical Field

[0001] This invention relates to a bearingless motor control device, a bearingless motor control system, and a control program for controlling bearingless motors. Background Technology

[0002] A bearingless motor control device consists of a motor controller and a radial position controller. The motor controller controls the rotational direction of the rotor, while the radial position controller controls the radial position of the rotor (the support of the rotation shaft). The bearingless motor control device requires coordinated execution of both the rotational direction control and the radial position control.

[0003] Therefore, the radial position controller determines the current to control the radial position of the rotor by means of the rotation angle position (command value of magnetic flux) of the rotating magnetic field output by the inverter of the motor controller, thereby coordinating with the motor controller.

[0004] Regarding the bearingless rotating machine system described in Patent Document 1, the radial position controller calculates the rotational angle position of the rotating magnetic field based on the terminal voltage and current of the winding that generates torque through the control of the motor controller, and controls the radial position of the rotor based on the calculated rotational angle position.

[0005] Patent Document 1: Japanese Patent Application Publication No. 2001-258290 Summary of the Invention

[0006] However, the technology in the aforementioned Patent Document 1 has the following problem: when the motor controller malfunctions, the radial position controller cannot detect accurate terminal voltage and current from the winding that generates torque, and therefore cannot control the radial position of the rotor.

[0007] The present invention is proposed in view of the above circumstances, and its purpose is to provide a bearingless motor control device that can control the position of the rotor in the radial direction even when the motor controller fails.

[0008] To address the aforementioned issues and achieve the objective, the bearingless motor control device of the present invention comprises: a motor controller that controls the rotational position of the rotor of the bearingless motor; and a radial position controller that controls the radial position of the rotor. The motor controller receives rotational position information from a rotational position sensor that detects the rotational position of the rotor, and controls the rotational position of the rotor based on the rotational position information. The radial position controller receives rotational position information from the rotational position sensor and radial position information from the radial position sensor that detects the radial position of the rotor, and controls the radial position of the rotor based on the rotational position information and the radial position information.

[0009] The effects of the invention

[0010] The bearingless motor control device of the present invention achieves the effect of controlling the position of the rotor in the radial direction even when the motor controller fails. Attached Figure Description

[0011] Figure 1 This is a diagram showing the structure of the bearingless motor control system according to Embodiment 1.

[0012] Figure 2 This is a diagram showing the structure of the bearingless motor according to Embodiment 1.

[0013] Figure 3 This is a diagram showing the structure of the radial direction position controller according to Embodiment 1.

[0014] Figure 4 This is a flowchart illustrating the processing flow of the radial direction position controller according to Embodiment 1 controlling the radial direction position.

[0015] Figure 5 This is a flowchart illustrating the process flow of the motor controller according to Embodiment 1 controlling the rotational position.

[0016] Figure 6 This is a diagram showing the structure of the bearingless motor control system according to Embodiment 2.

[0017] Figure 7 This is a diagram showing the structure of the radial direction position controller according to Embodiment 2.

[0018] Figure 8 This is a flowchart illustrating the first example of the process by which the radial direction position controller, according to Embodiment 2, controls the radial direction position.

[0019] Figure 9 This is a flowchart illustrating the first example of the process by which the motor controller in Embodiment 2 controls the rotational position.

[0020] Figure 10 This is a flowchart illustrating the processing flow of the second example of the radial direction position controller controlling the radial direction position according to Embodiment 2.

[0021] Figure 11 This is a flowchart illustrating the second example of the process by which the motor controller in Embodiment 2 controls the rotational position.

[0022] Figure 12 This is a diagram illustrating an example of the structure of a processing circuit in the case where the processing circuit of the radial direction position controller according to Embodiment 2 is implemented by a processor and a memory.

[0023] Figure 13 This is a diagram illustrating an example of the processing circuit in the case where the processing circuit of the radial direction position controller according to Embodiment 2 is constructed using dedicated hardware. Detailed Implementation

[0024] Hereinafter, based on the accompanying drawings, the bearingless motor control device, bearingless motor control system and control program according to the embodiments of the present invention will be described in detail.

[0025] Implementation Method 1

[0026] Figure 1 This is a diagram illustrating the structure of the bearingless motor control system according to Embodiment 1. The bearingless motor control system 1A is a system for controlling the bearingless motor 30.

[0027] The bearingless motor control system 1A includes a bearingless motor control device 2A, a bearingless motor 30, a rotary position sensor 31, and a radial direction position sensor 32.

[0028] The bearingless motor control device 2A is a computer that controls the bearingless motor 30. The bearingless motor control device 2A has a radial direction position controller (drive shaft support amplifier) ​​10A and a motor controller (drive shaft rotation amplifier) ​​20.

[0029] The radial position controller 10A and the motor controller 20 are independent hardware structures. That is, the radial position controller 10A performs control independently of the control performed by the motor controller 20. Because the radial position controller 10A and the motor controller 20 are independent hardware structures, even if the motor controller 20 fails, the radial position controller 10A continues to operate independently of the motor controller 20. The radial position controller 10A and the motor controller 20 can be configured in different housings or on different circuit boards.

[0030] The bearingless motor 30 is a motor that does not use bearings as mechanical bearings, but supports its rotating shaft in a non-contact manner by magnetic force. Hereinafter, the rotating shaft of the bearingless motor 30 will sometimes be referred to simply as the rotating shaft.

[0031] The bearingless motor 30 is connected to the radial position controller 10A and the motor controller 20. The bearingless motor 30 is equipped with a rotary position sensor 31 and a radial position sensor 32.

[0032] The rotary position sensor 31 detects the rotational position (rotor 36, described later) of the rotor of the bearingless motor 30, i.e., the rotational position information. The rotational position information can be information indicating the rotational position of the rotor 36's rotating shaft, or information indicating the position of the rotating magnetic field.

[0033] The rotary position sensor 31 is connected to the radial direction position controller 10A and the motor controller 20. Thus, in the bearingless motor control system 1A of Embodiment 1, the rotary position sensor 31, which detects rotary position information, is connected to both the radial direction position controller 10A and the motor controller 20. The rotary position sensor 31 sends the detected rotary position information to the radial direction position controller 10A and the motor controller 20.

[0034] The radial direction position sensor 32 detects the radial direction position information of the rotor (rotor 36, described later) of the bearingless motor 30 relative to the stator 35. The radial direction of the rotor 36 is parallel to a plane perpendicular to the axis of rotation (the XY plane, described later). Therefore, the radial direction position is represented by the X and Y coordinates in a plane parallel to the XY plane. The radial direction position sensor 32 is connected to the radial direction position controller 10A. The radial direction position sensor 32 sends the detected radial direction position information to the radial direction position controller 10A.

[0035] The motor controller 20 is connected to a winding (torque-generating winding) (not shown) in the windings (not shown) of the bearingless motor 30 for generating force (torque) in the direction of rotation of the rotating shaft. The motor controller 20 receives rotational position information from the rotational position sensor 31.

[0036] The motor controller 20 controls the rotation of the rotor 36 of the bearingless motor 30 based on the rotational position information. That is, the motor controller 20 controls the rotational position (direction of rotation) of the rotating shaft of the bearingless motor 30 based on the rotational position information. The motor controller 20 outputs current to the torque generating winding for controlling the rotational position of the rotating shaft.

[0037] The radial position controller 10A is connected to the radial force generating winding (radial force generating winding) of the bearingless motor 30 for generating force in the radial direction of the rotor 36. The radial position controller 10A receives rotational position information from the rotary position sensor 31 and radial position information from the radial position sensor 32.

[0038] The radial position controller 10A controls the radial position of the rotor 36 relative to the stator 35 based on the rotational position information and the radial position information. The radial position controller 10A outputs current to the radial force generating winding to control the radial position of the rotor 36. Thus, in the bearingless motor control system 1A, the rotational position of the rotating shaft and the radial position of the rotor 36 are controlled.

[0039] In Embodiment 1, the radial position controller 10A receives rotational position information from the rotational position sensor 31. Therefore, even if the motor controller 20 fails and is unable to control the rotational position, the radial position controller 10A can continue to control the radial position of the rotor 36.

[0040] However, as with conventional motor controllers, where the motor controller provides rotational position information to the radial position controller, the conventional motor controller needs to be a controller capable of providing rotational position information to the radial position controller. In Embodiment 1, the motor controller 20 may not provide rotational position information to the radial position controller 10A; therefore, the motor controller 20 may also be a controller suitable for motors with bearings. That is, the motor controller 20 may not be a controller specifically for the bearingless motor 30.

[0041] Furthermore, when the rotational position information represents the position of the rotating magnetic field, the motor controller 20 and the radial direction position controller 10A calculate the rotational position corresponding to the position of the rotating magnetic field based on the rotational position information.

[0042] Figure 2 This is a diagram illustrating the structure of the bearingless motor according to Embodiment 1. Furthermore, hereinafter, the axial direction of the rotation axis C1 of the bearingless motor 30 is defined as the Z-axis direction, and the two axes perpendicular to and orthogonal to each other in the Z-axis direction are defined as the X-axis and Y-axis. Figure 2 The image shows a cross-sectional view of the bearingless motor 30 as seen from the Z-axis direction, with the bearingless motor 30 cut through by a plane parallel to the XY plane.

[0043] The bearingless motor 30 has a stator (bearingless motor stator) 35 and a rotor (bearingless motor rotor) 36. When viewed from the Z-axis direction, the stator 35 and rotor 36 are annular in shape with the rotation axis C1 as the concentric circle. That is, the cross-sectional shape of the stator 35 and rotor 36 when cut by a plane parallel to the XY plane is annular. The stator 35 and rotor 36 are cylindrical extending along the Z-axis direction.

[0044] The stator 35 is positioned to surround the rotor 36. The stator 35 and rotor 36 are configured such that the inner wall surface of the stator 35 extending along the Z-axis direction is opposite to the outer wall surface of the rotor 36 extending along the Z-axis direction.

[0045] The motor controller 20 controls the rotational position of the rotating shaft C1 based on the rotational position information, thereby controlling the rotational angle (angle θ) of the rotating shaft C1 in the XY plane. The motor controller 20 controls the rotational position of the rotor 36 (i.e., the rotating shaft C1) by outputting a current corresponding to the rotational position information to the torque generating winding.

[0046] Furthermore, the motor controller 20 is structured to generate a force in the Z-axis direction relative to the rotor 36. The motor controller 20 controls the position of the rotor 36 in the Z-axis direction based on rotational position information. The motor controller 20 controls the position of the rotor 36 in the Z-axis direction by outputting a current corresponding to the rotational position information to the torque generating winding. The force generated in the Z-axis direction by the motor controller 20 has the effect of preventing the rotor 36 from falling off the stator 35 even when a load is applied to the rotor 36 along the direction of gravity (Z-axis direction).

[0047] The motor controller 20 controls the position of the rotor 36 in the Z-axis direction (the axial position of the rotation axis C1) by performing field weakening control or field strengthening control on the bearingless motor 30. The motor controller 20 performs field weakening control and field strengthening control by controlling the magnitude of the current output to the torque generating winding.

[0048] The radial position controller 10A receives rotational position information from the rotational position sensor 31 and radial position information (position in the X-axis and Y-axis directions) from the radial position sensor 32. Based on the rotational and radial position information, the radial position controller 10A controls the X-axis and Y-axis positions of the rotor 36. The radial position controller 10A generates a winding output current corresponding to the rotational and radial position information by applying a force in the radial direction, thereby controlling the X-axis and Y-axis positions of the rotor 36.

[0049] Figure 3 This diagram illustrates the structure of the radial direction position controller according to Embodiment 1. The radial direction position controller 10A includes a rotational position input unit 11, a radial direction position input unit 12, and a control unit 13.

[0050] The rotary position input unit 11 is connected to the rotary position sensor 31, and the radial direction position input unit 12 is connected to the radial direction position sensor 32. The control unit 13 is connected to the bearingless motor 30.

[0051] The rotational position input unit 11 receives rotational position information from the rotational position sensor 31 and sends it to the control unit 13. The radial direction position input unit 12 receives radial direction position information from the radial direction position sensor 32 and sends it to the control unit 13.

[0052] The control unit 13 controls the radial position of the bearingless motor 30 based on the rotational position information and the radial position information. The control unit 13 controls the radial position of the bearingless motor 30 so that its radial position corresponds to the rotational position information and the radial position information. The control unit 13 also controls the X-axis and Y-axis positions of the rotor 36 based on the rotational position information and the radial position information, so that the rotor 36 does not contact the stator 35.

[0053] Figure 4This is a flowchart illustrating the processing flow of the radial direction position controller according to Embodiment 1 controlling the radial direction position. The rotational position input unit 11 of the radial direction position controller 10A receives rotational position information from the rotational position sensor 31 (step S110). The radial direction position input unit 12 of the radial direction position controller 10A receives radial direction position information from the radial direction position sensor 32 (step S120). The control unit 13 of the radial direction position controller 10A controls the radial direction position of the bearingless motor 30 based on the rotational position information and the radial direction position information (step S130).

[0054] Figure 5 This is a flowchart illustrating the processing flow of the motor controller according to Embodiment 1 controlling the rotational position. The motor controller 20 receives rotational position information from the rotational position sensor 31 (step S210). Based on the rotational position information, the motor controller 20 controls the rotational position of the bearingless motor 30 (step S220).

[0055] In the bearingless motor control system 1A, sometimes the motor controller 20 malfunctions, preventing it from controlling the rotational position. For example, sometimes the inverter (not shown) of the motor controller 20 malfunctions, preventing it from outputting current to the torque generating winding for controlling the rotational position. Even in such cases, in Embodiment 1, the radial position controller 10A receives rotational position information from the rotational position sensor 31. Therefore, even when the motor controller 20 is unable to control the rotational position, the radial position controller 10A can continue to control the radial position of the rotating shaft C1.

[0056] Thus, according to Embodiment 1, the radial position controller 10A receives rotational position information from the rotational position sensor 31. Therefore, even if the motor controller 20 malfunctions, the radial position controller 10A can continue to control the radial position of the rotating shaft C1 based on the rotational position information received from the rotational position sensor 31. Consequently, the radial position controller 10A can prevent the stator 35 of the bearingless motor 30 from contacting the rotor 36, thereby preventing damage to the bearingless motor 30.

[0057] Furthermore, since the radial position controller 10A can prevent damage to the bearingless motor 30, it can prevent the generation of debris due to damage and prevent the bearingless motor 30 from becoming contaminated. In addition, for the bearingless motor control system 1A, in the event of a failure of the motor controller 20, the bearingless motor 30 can be reused simply by replacing the motor controller 20.

[0058] Implementation Method 2

[0059] Next, use Figures 6 to 11 Embodiment 2 will be described. In Embodiment 2, the radial direction position controller (radial direction position controller 10B, described later) and the motor controller 20 notify each other of control anomalies. Upon receiving a control anomaly, the radial direction position controller 10B prevents the rotor 36 from falling off the stator 35 based on the rotational position information received from the rotational position sensor 31. Furthermore, upon receiving a control anomaly, the motor controller 20 prevents the rotor 36 from contacting the stator 35 based on the rotational position information received from the rotational position sensor 31.

[0060] Figure 6 This is a diagram showing the structure of the bearingless motor control system according to Embodiment 2. Figure 6 The realization and implementation of each structural element Figure 1 In the embodiment 1 shown, structural elements with the same function as the bearingless motor control system 1A are labeled with the same reference numerals, and repeated descriptions are omitted.

[0061] The bearingless motor control system 1B of Embodiment 2, like the bearingless motor control system 1A, is a system for controlling the bearingless motor 30. Compared to the bearingless motor control system 1A, the bearingless motor control system 1B has a bearingless motor control device 2B instead of the bearingless motor control device 2A.

[0062] The bearingless motor control device 2B includes a radial position controller 10B, a motor controller 20, and an emergency communication line 41. Similar to the bearingless motor control system 1A, the radial position controller 10B and the motor controller 20 are independent hardware structures in the bearingless motor control system 1B. That is, the radial position controller 10B performs control independently of the control performed by the motor controller 20.

[0063] The fault communication line 41 is a communication line connecting the radial position controller 10B to the motor controller 20. Communication using the fault communication line 41 can be any communication method. For example, communication using general-purpose I / O (Input / Output) or communication using various networks can be used.

[0064] When a control anomaly occurs, such as the motor controller 20 being unable to control the rotational position, the motor controller 20 notifies the radial position controller 10B of the anomaly via the anomaly communication line 41.

[0065] The radial position controller 10B has a structure that generates force in the Z-axis direction via a radial force generating winding. The radial position controller 10B controls the Z-axis position of the rotor 36 by performing field weakening control or field strengthening control on the bearingless motor 30.

[0066] If the radial position controller 10B receives a control anomaly notification (first control anomaly notification) indicating a control anomaly from the motor controller 20, it performs position control in the XY plane and axial (Z-axis direction) position control of the rotor 36 based on the rotational position information and the radial position information.

[0067] Figure 7 This is a diagram showing the structure of the radial direction position controller according to Embodiment 2. The radial direction position controller 10B includes a rotational position input unit 11, a radial direction position input unit 12, a control unit 13, and a communication unit 14.

[0068] The communication unit 14 is connected to the abnormal communication line 41. The communication unit 14 receives control abnormality notifications from the abnormal communication line 41 and sends them to the control unit 13. If the control unit 13 receives a control abnormality notification, it controls the position of the rotor 36 in the X-axis, Y-axis, and Z-axis directions based on the rotational position information and the radial direction position information.

[0069] The control unit 13 controls the position of the rotor 36 in the Z-axis direction by performing field weakening control or field strengthening control on the bearingless motor 30. The control unit 13 performs field weakening control and field strengthening control by controlling the magnitude of the current output to the radial force generating winding.

[0070] For example, if the Z-axis direction is vertical, and a control anomaly occurs where the motor controller 20 cannot control the rotational position, the rotor 36 may sometimes fall off the stator 35. In Embodiment 2, if the control unit 13 receives a control anomaly notification, it controls the Z-axis position of the rotor 36 based on the rotational position information and the radial direction position information, thereby preventing the rotor 36 from falling off the stator 35. Thus, the bearingless motor control system 1B can prevent the rotor 36 from falling off through fail-safe protection.

[0071] Furthermore, if the Z-axis direction is horizontal, the control unit 13 may not control the position of the rotor 36 in the Z-axis direction. If the Z-axis direction is not horizontal, and the control unit 13 receives a control abnormality notification, it will control the position of the rotor 36 in the Z-axis direction. However, even if the Z-axis direction is horizontal, the control unit 13 can control the position of the rotor 36 in the Z-axis direction.

[0072] In this way, when the motor controller 20 is unable to control the position of the rotor 36 in the Z-axis direction, the radial position controller 10B controls the position of the rotor 36 in the Z-axis direction, thereby preventing the rotor 36 from falling.

[0073] Furthermore, when a control anomaly occurs, such as the inability to control the radial position, the radial position controller 10B notifies the motor controller 20 of the anomaly via the anomaly communication line 41. In this case, the communication unit 14 of the radial position controller 10B sends a control anomaly notification (second control anomaly notification) to the motor controller 20 via the anomaly communication line 41. After receiving the anomaly from the radial position controller 10B, the motor controller 20 performs control to stop the rotation. That is, when the radial position of the bearingless motor 30 cannot be controlled by the radial position controller 10B, the motor controller 20 controls the rotation of the rotor 36 to stop quickly.

[0074] Thus, in the bearingless motor control device 2B, the radial direction position controller 10B and the motor controller 20 send a control anomaly notification to the other device when a fault is detected in their own device.

[0075] Here, the following processes are explained: the processing when the radial position controller 10B receives a control abnormality notification from the motor controller 20, and the processing when the motor controller 20 detects a control abnormality and sends a control abnormality notification to the radial position controller 10B.

[0076] Figure 8 This is a flowchart illustrating the processing flow of the first example of the radial direction position controller controlling the radial direction position according to Embodiment 2. The rotational position input unit 11 of the radial direction position controller 10B receives rotational position information from the rotational position sensor 31 (step S310). The radial direction position input unit 12 of the radial direction position controller 10B receives radial direction position information from the radial direction position sensor 32 (step S320). The control unit 13 of the radial direction position controller 10B controls the radial direction position of the bearingless motor 30 based on the rotational position information and the radial direction position information (step S330).

[0077] The control unit 13 determines whether a control abnormality notification has been received from the motor controller 20 (step S340). If no control abnormality notification is received (step S340, No), the radial direction position controller 10B repeatedly executes the processing steps S310 to S330.

[0078] Upon receiving a control anomaly notification (step S340, Yes), the control unit 13 of the radius direction position controller 10B controls the position of the rotor 36 in the Z-axis direction based on the rotational position information received from the rotational position sensor 31 (step S350).

[0079] Furthermore, even if the control unit 13 of the radial direction position controller 10B receives a control abnormality notification from the motor controller 20, it continues to execute the processing steps S310 to S330.

[0080] Figure 9 This is a flowchart illustrating the processing flow of the first example of the process by which the motor controller controls the rotational position according to Embodiment 2. The motor controller 20 receives rotational position information from the rotational position sensor 31 (step S410). The motor controller 20 controls the rotational position of the bearingless motor 30 based on the rotational position information (step S420).

[0081] The motor controller 20 determines whether a control abnormality is detected (step S430). If no control abnormality is detected (step S430, No), the motor controller 20 repeatedly executes the processing steps S410 and S420.

[0082] If a control anomaly is detected (step S430, Yes), the motor controller 20 sends a control anomaly notification to the radial direction position controller 10B (step S440).

[0083] Next, the following processes will be explained: the process when the radial position controller 10B detects a control abnormality and sends a control abnormality notification to the motor controller 20, and the process when the motor controller 20 receives the control abnormality notification from the radial position controller 10B.

[0084] Figure 10 This is a flowchart illustrating the processing flow of the second example of the radial direction position controller controlling the radial direction position according to Embodiment 2. The radial direction position controller 10B executes the process in... Figure 8 The process is the same as steps S310 to S330 described above.

[0085] Radial direction position controller 10B executes and in Figure 9 The process described above is the same as steps S430 and S440 performed by the motor controller 20. That is, the control unit 13 of the radial direction position controller 10B determines whether a control abnormality is detected (step S360). If no control abnormality is detected (step S360, No), the control unit 13 repeatedly executes the processes of steps S310 to S330.

[0086] If a control anomaly is detected (step S360, Yes), the communication unit 14 of the radius direction position controller 10B sends a control anomaly notification to the motor controller 20 (step S370).

[0087] Figure 11 This is a flowchart illustrating the processing flow of the second example of the motor controller controlling the rotational position according to Embodiment 2. The motor controller 20 executes the process... Figure 9 The process is the same as steps S410 and S420 described above.

[0088] The motor controller 20 determines whether a control abnormality notification has been received from the radial direction position controller 10B (step S450). If no control abnormality notification is received (step S450, No), the motor controller 20 repeatedly executes the processing steps S410 and S420.

[0089] Upon receiving a control malfunction notification (step S450, Yes), the motor controller 20 performs control to stop the rotation of the rotor 36 (step S460).

[0090] Thus, in the bearingless motor control system 1B, if the motor controller 20 is unable to control the position of the rotor 36 in the Z-axis direction, a control anomaly notification is sent to the radial position controller 10B. If the radial position controller 10B receives the control anomaly notification, it controls the position of the rotor 36 in the Z-axis direction to prevent the rotor 36 from falling off the stator 35.

[0091] Furthermore, in the bearingless motor control system 1B, if the radial position controller 10B is unable to control the position of the rotor 36 in the X-axis and Y-axis directions, a control anomaly notification is sent to the motor controller 20. Upon receiving the control anomaly notification, the motor controller 20 stops the rotation of the rotor 36.

[0092] Thus, according to Embodiment 2, the motor controller 20 sends a control anomaly notification to the radial position controller 10B. Therefore, in the event of a control anomaly in the motor controller 20, the radial position controller 10B controls the position of the rotor 36 in the Z-axis direction, thereby enabling a fail-safe action to prevent the rotor 36 from falling off the stator 35.

[0093] In addition, the radial position controller 10B sends a control abnormality notification to the motor controller 20. Therefore, in the event of a control abnormality in the radial position controller 10B, the motor controller 20 can perform a fail-safe action by stopping the rotation of the rotor 36. This fail-safe action suppresses the situation where the rotor 36 rotates and comes into contact with the stator 35, causing damage, when the radial position cannot be controlled.

[0094] Furthermore, for the bearingless motor control system 1B, if the motor controller 20 fails, the bearingless motor 30 can be reused simply by replacing the motor controller 20. Also, for the bearingless motor control system 1B, if the radial position controller 10B fails, the bearingless motor 30 can be reused simply by replacing the radial position controller 10B.

[0095] Next, the hardware structure of the radial position controllers 10A and 10B and the motor controller 20 will be described. Since the radial position controllers 10A, 10B and the motor controller 20 have the same hardware structure, the hardware structure of the radial position controller 10B will be described here. The radial position controller 10B is implemented by a processing circuit. The processing circuit can be a processor and memory that execute programs stored in memory, or it can be dedicated hardware.

[0096] Figure 12 This is a diagram illustrating an example of the structure of a processing circuit in the case where the processing circuit of the radial direction position controller according to Embodiment 2 is implemented by a processor and a memory. Figure 12 The processing circuit 90 shown includes a processor 91 and a memory 92. When the processing circuit 90 is composed of a processor 91 and a memory 92, each function of the processing circuit 90 is implemented by software, firmware, or a combination of both. The software or firmware is described as a control program and stored in the memory 92. In the processing circuit 90, each function is implemented by reading and executing the control program stored in the memory 92 by the processor 91. That is, the processing circuit 90 has a memory 92 for storing a control program that, as a result, enables the processing of the radial direction position controller 10B to be executed. This control program can also be described as a program for causing the radial direction position controllers 10A and 10B to perform the functions implemented by the processing circuit 90. This control program can be provided through a computer-readable recording medium containing the control program, or through other means such as a communication medium.

[0097] The above control program can also be described as causing the radial direction position controllers 10A and 10B to execute... Figure 4 Processing steps S110 to S130 Figure 8 The processing of steps S310 to S350 or Figure 10 The processing procedure in steps S310 to S330, S360, and S370. Here, the processor 91 is, for example, a CPU (Central Processing Unit), processing device, arithmetic device, microprocessor, microcomputer, or DSP (Digital Signal Processor). Additionally, the memory 92 is, for example, non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (Electrically EPROM), magnetic disk, floppy disk, optical disk, high-density disk, mini-disk, or DVD (Digital Versatile Disc).

[0098] Furthermore, the control program executed by the radial position controller 10A or radial position controllers 10A and 10B (radial position control program) and the control program executed by the motor controller 20 (motor control program) can also be created as a single control program (bearingless motor control program). In this case, the radial position control program in the bearingless motor control program is applied to the radial position controller 10A or radial position controller 10B, and the motor control program is applied to the motor controller 20.

[0099] Figure 13 This is a diagram illustrating an example of the processing circuit in the case where the processing circuit of the radial direction position controller according to Embodiment 2 is constructed using dedicated hardware. Figure 13 The processing circuit 93 shown may be a single circuit, a composite circuit, a programmable processor, a parallel programmable processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination thereof. The processing circuit 93 may also be implemented partly by dedicated hardware and partly by software or firmware. Thus, the processing circuit 93 can implement the aforementioned functions through dedicated hardware, software, firmware, or a combination thereof.

[0100] The structure shown in the above embodiments is an example and can be combined with other known technologies. The embodiments can also be combined with each other, and parts of the structure can be omitted or changed without departing from the main idea.

[0101] Explanation of the label

[0102] 1A, 1B Bearingless motor control system; 2A, 2B Bearingless motor control device; 10A, 10B Radial position controller; 11 Rotary position input unit; 12 Radial position input unit; 13 Control unit; 14 Communication unit; 20 Motor controller; 30 Bearingless motor; 31 Rotary position sensor; 32 Radial position sensor; 35 Stator; 36 Rotor; 41 Abnormal communication line; 90, 93 Processing circuit; 91 Processor; 92 Memory; C1 Rotating shaft.

Claims

1. A bearingless motor control device characterized by comprising: have: An electric motor controller that controls the rotational position of the rotor in a bearingless motor; and A radial position controller controls the radial position of the rotor. The motor controller receives the rotational position information from a rotational position sensor that detects the rotational position of the rotor, and controls the rotational position of the rotor based on the rotational position information. The radial position controller receives the rotational position information from the rotational position sensor and the radial position information from the radial position sensor that detects the radial position information of the rotor. Based on the rotational position information and the radial position information, the controller controls the radial position of the rotor.

2. The bearingless motor control device according to claim 1, characterized in that, The motor controller and the radial position controller have independent hardware structures, and the radial position controller performs control independently of the control performed by the motor controller.

3. The bearingless motor control device according to claim 1 or 2, characterized in that, It also includes a communication line that connects the motor controller to the radial position controller. If the motor controller detects a fault that prevents it from controlling the rotational position of the rotor, it will send a first control fault notification indicating a control abnormality to the radial position controller via the communication line. If the radial direction position controller receives the first control anomaly notification, it controls the axial position of the rotor's rotation axis based on the rotational position information and the radial direction position information.

4. The bearingless motor control device according to claim 3, characterized in that, Upon receiving the first control anomaly notification, the radial position controller controls the axial position of the rotating shaft based on the rotational position information and the radial position information, so that the rotor does not fall off the stator.

5. The bearingless motor control device according to claim 3 or 4, characterized in that, If the radial position controller detects a fault that prevents control of the radial position, it will send a second control fault notification, indicating a control abnormality, to the motor controller via the communication line. If the motor controller receives the second control anomaly notification, it controls the radial position of the rotor based on the rotational position information.

6. The bearingless motor control device according to claim 5, characterized in that, Upon receiving the second control anomaly notification, the motor controller stops the rotor.

7. A bearingless motor control system characterized by, have: Bearingless motor; An electric motor controller that controls the rotational position of the rotor of the bearingless motor; A radial position controller controls the radial position of the rotor. A rotary position sensor that detects information about the rotational position of the rotor, i.e., rotational position information; and A radial position sensor detects the radial position information of the rotor. The motor controller receives the rotational position information from the rotational position sensor and controls the rotational position of the rotor based on the rotational position information. The radial position controller receives rotational position information from the rotational position sensor and radial position information from the radial position sensor, and controls the radial position of the rotor based on the rotational position information and the radial position information.

8. A control program characterized by, Have the computer perform the following steps: The first receiving step involves receiving the rotational position information from a rotational position sensor that detects the rotational position information of the rotor of the bearingless motor. The second receiving step involves receiving the radial direction position information from a radial direction position sensor that detects the radial direction position information of the rotor. as well as The control step involves controlling the radial position of the rotor based on the rotational position information and the radial position information.

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