Motor control device, motor control method, and elevator device

Abstract

To provide a motor control device capable of correcting ripple component that fluctuates in response to rotation angle detected by a rotation angle sensor, to drive a motor.SOLUTION: A motor control device 10 comprises: an estimation processing unit 21 having an axis error estimation unit 211 for outputting an axis error estimation value of an axis error of a motor 40 estimated using a voltage and a current applied to the motor 40 and a calculated rotation speed of the motor 40; and a calculation processing unit 22 having a detected error correction unit 226 for correcting a detected rotation angle of the motor 40 detected by a rotation angle sensor on the basis of the axis error estimation value, to calculate a rotation speed and a rotation angle of the motor 40 on the basis of the corrected detected rotation angle.SELECTED DRAWING: Figure 2

Description

Technical Field

[0001] The present invention relates to a motor control device, a motor control method, and an elevator device.

Background Art

[0002] In order to perform precise torque and rotational speed control with a permanent magnet motor using a permanent magnet for the field magnet, rotational angle information of the rotor is required. As methods for detecting rotational angle information, there are mainly a method of directly detecting using a rotational angle sensor such as an optical encoder, a magnetic encoder, or a resolver, and a sensorless detection method using the salient pole property of the induced voltage or inductance of the motor.

[0003] A rotational angle sensor generates a rotational angle detection error of the first order of the mechanical angle due to eccentricity between the motor rotation axis and the sensor rotation center at the time of attachment. Also, there is a possibility that a pulsation component that varies according to the rotational angle may occur depending on the characteristics of the rotational angle sensor itself. Here, the first order of the mechanical angle represents one time the mechanical rotational frequency of the motor. For example, if it is 3000 rpm (rotations per minute), the first order of the mechanical angle is 50 Hz, and the second order of the mechanical angle is 100 Hz.

[0004] In particular, a magnetic encoder that detects the rotational angle by attaching a permanent magnet to the motor rotation axis and detecting the direction of the magnetic flux density emitted by the permanent magnet has a problem that it is likely to generate a pulsation component synchronized with the rotational angle. For example, pulsations of 50 Hz and 100 Hz may occur. Due to this problem, especially when the motor requires a large torque at low speed and the resonance point of the mechanism system driven by the motor is located at a low frequency, there is a possibility that the vibration noise becomes significant at a rotational speed where the pulsation component synchronized with the rotational angle of the rotational angle sensor coincides with the resonance point of the mechanism system.

[0005] Conventionally, a technique described in Patent Document 1 is known as a method for reducing sensor detection errors caused by the misalignment between the rotational position of the motor rotor and the position of the permanent magnet. Patent Document 1 states that the method includes "an error calculation means for calculating the error between the detected rotational position of the rotor and the magnetic pole position estimated by a magnetic pole position estimation means, a misalignment detection means for detecting the misalignment between the actual position of the permanent magnet provided on the rotor and the detected rotational position of the rotor from the calculated error, and a correction means for correcting the detected misalignment." [Prior art documents] [Patent Documents]

[0006] [Patent Document 1] Japanese Patent Application Publication No. 9-56199 [Overview of the project] [Problems that the invention aims to solve]

[0007] In the technology described in Patent Document 1, a constant value independent of the rotation angle is assumed as the amount of error between the magnetic pole detection position and the magnetic pole estimation position. Therefore, there was a problem in that the pulsation component that fluctuates according to the rotation angle of the rotation angle sensor could not be corrected. If the pulsation component remains, the AC motor does not rotate at a constant speed, and pulsation occurs in the rotation speed, which could cause vibration and noise in various devices driven by the motor.

[0008] This invention was made in view of the above circumstances, and aims to drive a motor by correcting the pulsation component that fluctuates according to the rotation angle detected by the rotation angle sensor. [Means for solving the problem]

[0009] The motor control device according to the present invention controls the motor based on the motor's rotational speed and rotational angle. According to the present invention The motor control device includes an estimation processing unit which uses the voltage and current applied to the motor and the rotational speed of the motor to estimate an estimated value of the motor's axis error. , supplement The system includes a calculation processing unit that calculates the motor's rotation speed and rotation angle based on the corrected detected rotation angle. The calculation processing unit includes a conversion unit that converts the estimated axis error value into the estimated detection error value of the machine angle, a sampling unit that samples the waveform of the estimated detection error value of the machine angle and outputs angle detection error information, and a detection error component calculation unit that calculates the detection error component included in the detected rotation angle of the motor based on the angle detection error information, and the detection error component Based on, Inspect Detection error correction unit that corrects the starting rotation angle It includes a rotation speed calculation unit that calculates the rotation speed based on the difference between the detected rotation angle corrected based on the detection error component and the rotation angle, and a rotation angle calculation unit that calculates the rotation angle based on the rotation speed. ru. Furthermore, the motor control device according to the present invention comprises an estimation processing unit having an axis error estimation unit that estimates an estimated axis error of the motor's axis error using the voltage and current applied to the motor and the rotational speed of the motor, and a calculation processing unit that calculates the rotational speed and rotational angle of the motor based on the corrected detected rotational angle, the estimation processing unit having a rotational speed estimation unit that estimates the estimated rotational speed based on the axis error estimation value, and a rotational angle estimation unit that estimates the estimated rotational angle based on the estimated rotational speed, and the calculation processing unit having a conversion unit that converts the integrated estimated rotational speed into an estimated rotational angle of the machine angle, and the estimated rotational angle of the machine angle and the motor detection The system includes: a detection error calculation unit that compares the output rotation angle with the estimated rotation angle of the machine angle to calculate the detection error difference of the detected rotation angle; a sampling unit that samples the waveform of the detection error difference and outputs angle detection error information; a detection error component calculation unit that calculates the detection error component included in the detected rotation angle based on the angle detection error information; a detection error correction unit that corrects the detected rotation angle based on the detection error component; a rotation speed calculation unit that calculates the rotation speed based on the difference between the corrected detected rotation angle and the rotation angle; and a rotation angle calculation unit that calculates the rotation angle based on the rotation speed. Furthermore, the motor control device according to the present invention includes an estimation processing unit having an axis error estimation unit that estimates an estimated axis error of the motor's axis error using the voltage and current applied to the motor and the rotation speed of the motor, and a calculation processing unit that calculates the rotation speed and rotation angle of the motor based on the corrected detected rotation angle, the calculation processing unit having a conversion unit that converts the integrated rotation speed into a rotation angle of the machine angle, a detection error calculation unit that compares the rotation angle of the machine angle and the detected rotation angle of the motor and calculates the detection error difference of the detected rotation angle with respect to the rotation angle of the machine angle, and samples the waveform of the detection error difference and calculates the angle detection error The system includes a sampling unit that outputs information, a detection error component calculation unit that calculates a detection error component included in the detected rotation angle based on angle detection error information, a detection error correction unit that corrects the detected rotation angle based on the detection error component, a switching unit that switches between an estimated axis error value estimated by the estimation processing unit or an calculated axis error value calculated by the detection error correction unit based on the detected rotation angle, a rotation speed calculation unit that calculates the rotation speed based on either the estimated axis error value or the calculated axis error value that is switched and input by the switching unit, and a rotation angle calculation unit that calculates the rotation angle based on the rotation speed. [Effects of the Invention]

[0010] According to the present invention, by correcting the detected rotation angle of the motor based on the estimated axis error, the pulsation component that fluctuates according to the rotation angle detected by the rotation angle sensor is corrected and the motor is driven, thereby reducing vibration and noise in various devices driven by the motor. Other issues, configurations, and effects not mentioned above will be clarified by the following description of the embodiments. [Brief explanation of the drawing]

[0011] [Figure 1] This is a schematic control diagram of a motor control system according to the first embodiment of the present invention. [Figure 2] This is a block diagram showing an example of the internal configuration of the speed and angle calculation unit according to the first embodiment of the present invention. [Figure 3] This is a block diagram showing an example of the hardware configuration of a microcomputer according to the first embodiment of the present invention. [Figure 4] This flowchart shows an example of the control process for the angle detection error sampling unit and the detection error component calculation unit according to the first embodiment of the present invention. [Figure 5] This is a block diagram showing an example of the internal configuration of the speed and angle calculation unit according to the second embodiment of the present invention. [Figure 6] This is a block diagram showing an example of the internal configuration of the speed and angle calculation unit according to the third embodiment of the present invention. [Figure 7] This is a schematic diagram showing an example of the overall configuration of an elevator system according to a fourth embodiment of the present invention.

Best Mode for Carrying Out the Invention

[0012] Hereinafter, embodiments for carrying out the present invention will be described with reference to the accompanying drawings. In this specification and the drawings, components having substantially the same function or configuration are denoted by the same reference numerals, and redundant descriptions are omitted. Note that the various components of the present invention do not necessarily have to exist independently of each other. It is acceptable that a plurality of components are formed as one member, one component is formed of a plurality of members, a certain component is a part of another component, a part of a certain component overlaps with a part of another component, and the like.

[0013] [First Embodiment] First, a configuration example and an operation example of the motor control device according to the first embodiment will be described with reference to FIGS. 1 to 4. FIG. 1 is a control schematic diagram of a motor control system 1 according to the first embodiment of the present invention. Hereinafter, the configuration of the motor control system 1 will be described.

[0014] The motor control system 1 includes a motor 40, an inverter 30, a current detection unit 31, a rotation angle sensor 50, and a motor control device 10. The inverter 30 applies a voltage to the motor 40 and supplies a current to the motor 40. The current detection unit 31 detects the current of the motor 40. The rotation angle sensor 50 detects the rotation angle of the motor 40. The motor control device 10 controls the voltage applied to the motor 40 by the inverter 30. The motor 40 can be controlled based on the rotation speed and rotation angle of the motor 40.

[0015] The motor control device 10 compares the rotation speed command ωr* acquired from an external upper control unit with the rotation speed ω calculated by a speed / angle calculation unit 20 described later, and inputs the speed deviation to a speed control unit 102.

[0016] For example, a proportional-integral (PI) control unit is used as the speed control unit 102, and the integral value of the speed deviation is output. The output of the speed control unit 102 and the starting torque obtained by the motor control device 10 from a higher-level control device (not shown) are added together to form a torque command T* which is input to the current command generation unit 103. The starting torque represents the torque command value for the motor control device 10.

[0017] The current command generation unit 103 outputs a current command Id* for the d-axis, which is the excitation axis (magnetic flux axis) on the rotation coordinate system in the vector control of the motor 40, and a current command Iq* for the q-axis, which is orthogonal to the d-axis, so that a torque matching the input torque command T* can be obtained.

[0018] Here, we will explain the configuration of the current detection unit 31 and the uvw / dq coordinate transformation unit 107. The current detection unit 31 is composed of a Hall CT (Current Transformer) or the like, and detects the three-phase currents Iu, Iv, and Iw of the U-phase, V-phase, and W-phase flowing through the motor 40, along with their waveforms. However, the current detection unit 31 does not necessarily need to detect the currents of all three phases. The current detection unit 31 may detect the currents of any two phases, and the remaining phase may be calculated by assuming that the three-phase currents are in a balanced state, thereby determining the three-phase currents Iu, Iv, and Iw.

[0019] The uvw / dq coordinate transformation unit 107 transforms the three-phase currents Iu, Iv, and Iw of the motor 40 detected by the current detection unit 31 into dq coordinates of the rotating coordinate system using the rotation angle calculation value θ input from the speed / angle calculation unit 20, and calculates the d-axis current value Id and the q-axis current value Iq. After the deviations between the d-axis current command Id* and the q-axis current command Iq* and the motor d-axis current value Id and q-axis current value Iq (hereinafter referred to as the "dq-axis current deviation") are calculated, the dq-axis current deviation is input to the current control unit 104.

[0020] The current control unit 104 calculates the d-axis voltage command value Vd* and the q-axis voltage command value Vq* using the dq-axis current deviation and the rotational speed ω calculated by the speed / angle calculation unit 20. The d-axis voltage command value Vd* and the q-axis voltage command value Vq* are output to the dq / uvw coordinate transformation unit 105 and the speed / angle calculation unit 20.

[0021] The dq / uvw coordinate transformation unit 105 converts the d-axis voltage command value Vd* and the q-axis voltage command value Vq* into a three-phase AC voltage using the rotation angle calculation value θ input from the velocity / angle calculation unit 20. The converted three-phase AC voltage is output to the PWM processing unit 106.

[0022] The PWM processing unit 106 performs PWM control of the three-phase AC voltage so that the output voltage of the inverter 30 follows the voltage command (d-axis voltage command value Vd*, q-axis voltage command value Vq*). With the above configuration, the motor 40 is controlled to the desired rotational speed.

[0023] <Problems with conventional motor control methods> Here, we will explain the problems with the conventional motor control method 40. Assume that the sensor detection angle θs of the rotation angle sensor 50 includes a k-th order pulsation component synchronized with the rotation angle shown in equation (1) with respect to the true motor rotation angle θr, and that the true motor rotation speed ωr is constant. In this case, the rotation speed detection value ωs obtained by directly differentiating the sensor detection angle θs is expressed by equation (2).

[0024]

number

[0025]

number

[0026] As shown in equation (2), the rotational speed detection value ωs has pulsation components proportional to the true motor rotational speed ωr, the pulsation order k, and the amplitude ak of the k-th order angle detection error. When a conventional motor control device controls the speed of the motor 40 using the rotational speed detection value which includes these pulsation components, pulsation occurs in the torque command value, which is the output of the speed control unit that takes the deviation between the rotational speed command value and the rotational speed detection value as input, resulting in motor torque pulsation. Furthermore, the pulsation component of the speed detection value increases as the rotational speed of the motor 40 increases. For this reason, when the motor 40 rotates at high speed, motor torque pulsation causes vibration noise, and even when the motor 40 is operating at low speed, if the natural frequency of the load connected to the motor 40 is low, vibration noise may be excited even if the pulsation frequency is low.

[0027] Therefore, when using a rotation angle sensor that detects a rotation angle including a pulsating component synchronized with the rotation angle of the motor 40, it is necessary to cancel out the motor torque pulsation in the angle and speed calculation of the motor 40. Here, there is a position sensorless vector control technique that estimates the rotation angle information of the motor 40 without position detection by the rotation angle sensor 50, using the voltage applied to the motor 40 and the current flowing through the motor 40. Therefore, in the following embodiment, the speed and angle calculation unit 20 according to the first embodiment is configured to correct the error of the rotation angle detected by the rotation angle sensor 50 by applying the position sensorless vector control technique.

[0028] <Description of the technology according to the first embodiment> Next, an example of the internal configuration and operation of the speed / angle calculation unit 20 according to the first embodiment will be described with reference to Figures 2 and 4. Figure 2 is a block diagram showing an example of the internal configuration of the velocity / angle calculation unit 20.

[0029] The velocity / angle calculation unit 20 is composed of an estimation processing unit 21 and a calculation processing unit 22. The estimation processing unit 21 includes an axis error estimation unit 211 and an axis error estimation filter 212. The axis error estimation unit 211 estimates the axis error of the motor 40 using the current and voltage applied to the motor 40.

[0030] The axis error estimation unit 211 estimates the angular error relative to the actual rotation angle of the motor 40 as an axis error, based on the d-axis voltage command value Vd* and q-axis voltage command value Vq* output from the current control unit 104, the d-axis current value Id and q-axis current value Iq output from the uvw / dq coordinate transformation unit 107, and the rotation speed ω estimated by the PI control unit 221 of the calculation processing unit 22. The angular error estimated by the axis error estimation unit 211 is output to the axis error estimation filter 212 as the axis error estimation value Δθe. If the motor 40 is a permanent magnet synchronous motor, then if the motor phase resistance is R, the d-axis inductance is Ld, the q-axis inductance is Lq, the d-axis flux linkage due to the permanent magnet is Ψd0, and the differential operator is p, then the voltage equation using the extended induced voltage shown in equation (3) holds.

[0031]

number

[0032] By using the voltage equation for the extended induced voltage shown in equation (3), when the error between the rotation angle θ of the d axis that the motor control device 10 (controller) can recognize and the true rotation angle of the d axis is denoted as the estimated axis error Δθe, the following equation (4) holds. The motor control device 10 recognizes the rotation angle θ input to the dq / uvw coordinate transformation unit 105 and the uvw / dq coordinate transformation unit 107. In other words, the angle information that the motor control device 10 uses when handling the rotating coordinate system is "the rotation angle of the d axis that the motor control device 10 (controller) recognizes".

[0033]

number

[0034] Equation (4) is a differential equation in terms of Δθe, making it cumbersome to calculate using a microcomputer. Furthermore, because equation (4) includes a derivative term for the dq-axis current, it is susceptible to noise. Therefore, by approximating by assuming a steady state where the derivatives of the d-axis current Id, q-axis current Iq, and Δθe are zero, we obtain the following equation (5) by eliminating the derivative term.

[0035]

number

[0036] Since equation (5) does not have a differential term, the microcomputer that controls the operation of the motor control device 10 can easily calculate it using only the motor phase resistance R, d-axis inductance Ld, q-axis inductance Lq, d-axis voltage command value Vd* and q-axis voltage command value Vq*, and current measurement values ​​(d-axis current value Id and q-axis current value Iq). Therefore, the axis error estimation unit 211 according to this embodiment can estimate the axis error estimation value Δθe of the rotation angle using equation (5). Note that the axis error estimation unit 211 is a function of a program that the microcomputer can execute.

[0037] When the axis error estimation unit 211 estimates the axis error Δθe using equation (5), instead of the d-axis voltage command Vd* and q-axis voltage command Vq*, the measured d-axis voltage Vd and q-axis voltage Vq obtained by coordinate transformation of line voltages and phase voltages directly detected by voltage sensors, etc., may be used. In that case, the influence of output voltage errors of the inverter 30, etc., can be eliminated, and the estimation accuracy of the axis error Δθe by the axis error estimation unit 211 is improved.

[0038] In addition to equation (5), the axis error estimation unit 211 can also utilize other methods, such as estimating the axis error using a magnetic flux observer according to the characteristics of the motor 40 (including induction motors, synchronous relatance motors, embedded magnet synchronous motors, surface magnet synchronous motors, etc.), or estimating the axis error by intentionally flowing current harmonics and utilizing the motor's salient polarity.

[0039] Next, we will describe an example of the operation of the axis error estimation filter 212. The axis error estimation filter 212 selectively reduces the sixth-order component of the current frequency supplied to the motor 40 from the estimated axis error. For example, the axis error estimation filter 212 filters the estimated axis error Δθe calculated by the axis error estimation unit 211 and outputs the filtered estimated axis error Δθef to the angle detection error sampling unit 224 via the mechanical angle conversion unit 223 of the calculation processing unit 22. This axis error estimation filter 212 can reduce components above the current frequency of the motor 40 from the estimated axis error Δθe. The estimated axis error Δθe output by the axis error estimation unit 211 contains many high-frequency components, such as noise components superimposed on the detected current of the current detection unit 31 and the sixth-order component of the current fundamental frequency caused by the dead-time voltage error of the inverter. Therefore, it is desirable that the axis error estimation filter 212 be composed of a low-pass filter that cuts out the above-mentioned noise components, a variable-coefficient bandstop filter that selectively reduces the sixth-order component of the current fundamental frequency, or a filter that combines these.

[0040] Other factors contributing to estimation errors in position sensorless angle estimation using the voltage and current of the motor 40 include, for example, harmonic components of the motor-induced voltage, offset and detection errors of the current detection unit 31, fluctuations in dq-axis inductance due to magnetic saturation, rotational angle dependence of dq-axis inductance, changes in motor phase resistance due to temperature changes, and voltage drops due to the ON resistance of the power semiconductors of the inverter 30. These factors mainly generate DC offset components and pulsation components of first or higher current frequency during position sensorless angle estimation. This is because the electrical characteristics of the motor 40 are symmetrical with respect to the electrical angle.

[0041] Therefore, in a multi-pole motor (e.g., motor 40) where the main pulsation order of the rotation angle sensor 50 is relatively low in order to the mechanical angle and the number of poles P is 20 or more, the pulsation frequency caused by the detection error of the rotation angle sensor 50 and the frequencies of the first order or higher of the electrical angle that may occur in position sensorless angle estimation are far apart in frequency. For this reason, the estimation processing unit 21 can accurately estimate the axis error estimate Δθe from the rotation angle detected by the rotation angle sensor 50 while reducing the rotation angle estimation error in position sensorless angle estimation by applying a low-pass filter or the like that cuts out the first order or higher of the electrical angle to the axis error estimate Δθe.

[0042] Next, we will describe an example of the configuration of the calculation processing unit 22. The calculation processing unit 22 has a detection error correction unit 226 that corrects the detected rotation angle of the motor 40 based on the estimated axis error value estimated by the estimation processing unit 21, and calculates the rotation speed and rotation angle of the motor 40 based on the corrected detected rotation angle. For example, the calculation processing unit 22 corrects the sensor detection error of the sensor detection angle θs input from the rotation angle sensor 50, and then calculates the rotation angle θ and rotation speed ω of the motor 40. This calculation processing unit 22 includes a PI control unit 221, an integration unit 222, a machine angle conversion unit 223, an angle detection error sampling unit 224, a detection error component calculation unit 225, and a sensor detection error correction unit 226.

[0043] First, the calculation unit 228 compares the rotation angle calculation value θ output from the integration unit 222 with the output from the sensor detection error correction unit 226 via the calculation unit 227, and determines the deviation Δθs. The PI control unit 221 (an example of a rotation speed calculation unit) calculates the rotation speed based on the difference between the detected rotation angle corrected by the detection error correction unit 226 based on the detection error component and the rotation angle. For example, the PI control unit 221 calculates the rotation speed ω by performing a proportional integral of the deviation Δθs. In this case, the PI control unit 221 controls the deviation Δθs to 0. The rotation speed ω calculated by the PI control unit 221 is compared with the rotation speed command ωr* input to the speed control unit 102 shown in Figure 1, and is also output to the axis error estimation unit 211 and the axis error estimation filter 212 shown in Figure 2.

[0044] The integration unit 222 (an example of a rotation angle calculation unit) calculates the rotation angle based on the rotation speed. For example, the integration unit 222 calculates the rotation angle value θ by integrating the rotation speed ω. The rotation angle value θ is output to the dq / uvw coordinate transformation unit 105 and uvw / dq coordinate transformation unit 107 shown in Figure 1, and is also compared with the output of the calculation unit 227 by the calculation unit 228 before being input to the PI control unit 221 shown in Figure 2. Therefore, the sensor detection angle θs is input to the sensor detection error correction unit 226 before entering the PI control unit 221, and the error in the sensor detection angle θs is corrected.

[0045] The machine angle conversion unit 223 converts the estimated axis error into an estimated detection error of the machine angle. For example, the machine angle conversion unit 223 divides the estimated axis error Δθef output by the estimation processing unit 21 by the number of motor pole pairs P / 2 (i.e., multiplies by 2 / P) to convert it into an estimated detection error (machine angle) Δθm.

[0046] The angle detection error sampling unit 224 samples the waveform of the estimated detection error value of the mechanical angle converted by the mechanical angle conversion unit 223 and outputs angle detection error information. For example, the angle detection error sampling unit 224 samples the estimated detection error value (mechanical angle) Δθm converted to a mechanical angle at equal intervals with respect to the sensor detection angle θs for one full rotation of the mechanical angle. The number of points Ns sampled by the angle detection error sampling unit 224 must be at least twice the pulsation order of the main mechanical angle of the angle detection error of the rotation angle sensor 50, according to the sampling theorem. In order to improve the estimation accuracy of the phase angle of the pulsation component of the angle detection error using the method shown in Figure 4, which will be described later, it is desirable to set the number of points Ns sampled by the angle detection error sampling unit 224 to at least four times the pulsation order of the main mechanical angle of the angle detection error of the rotation angle sensor 50.

[0047] The detection error component calculation unit 225 calculates the amplitude and phase of the spatial order of the angle detection error waveform obtained from the angle detection error information output by the angle detection error sampling unit 224 as detection error components. These detection error components include the amplitude and phase of each pulsation order. When calculating the pulsation amplitude and phase of each order, the detection error component calculation unit 225 performs a discrete Fourier transform on the angle detection error information, for example, to calculate the amplitude and phase of the spatial order of the detection error pulsation occurring in the detected rotation angle, which is included in the angle detection error information. In this case, setting the number of sampling points Ns to a power of 2 (for example, 2 to the power of 4 = 16) makes it easier to apply the Fast Fourier Transform, thus reducing the computational load on the detection error component calculation unit 225.

[0048] The sensor detection error correction unit 226 corrects the detected rotation angle based on the amplitude and phase of the spatial order. For example, the sensor detection error correction unit 226 removes the rotation-synchronous pulsation component of the sensor detection angle θs by superimposing the inverse phase component of each pulsation order calculated by the detection error component calculation unit 225 onto the sensor detection angle θs, according to the current sensor detection angle θs output by the rotation angle sensor 50 shown in Figure 1. This process corrects the error contained in the current sensor detection angle θs. The sensor detection error correction unit 226 then outputs the current sensor detection angle θs with the error corrected to the calculation unit 227.

[0049] The calculation unit 227 outputs a calculated value to the calculation unit 228 obtained by multiplying the error-corrected sensor detection angle θs by the number of motor pole pairs P / 2. The calculation unit 228 compares the calculated value input from the calculation unit 227 with the rotation angle calculated value θ input from the integration unit 222, and calculates the deviation Δθs of the calculated value with respect to the rotation angle calculated value θ. The deviation Δθs is input to the PI control unit 221.

[0050] Next, the hardware configuration of the microcomputer 60 that constitutes the motor control device 10 will be described. Figure 3 is a block diagram showing an example of the hardware configuration of the microcomputer 60. The microcomputer 60 is an example of hardware used as a computer capable of operating as the motor control device 10 and the speed / angle calculation unit 20 according to this embodiment. In this embodiment, the motor control device 10 realizes a calculation method in which each of the functional units shown in Figures 1 and 2 works in cooperation, by having the microcomputer 60 (computer) execute a program.

[0051] The microcomputer 60 includes a CPU (Central Processing Unit) 61, a ROM (Read Only Memory) 62, and a RAM (Random Access Memory) 63, each connected to a bus 64. Furthermore, the microcomputer 60 includes non-volatile storage 65 and a network interface 66.

[0052] The CPU 61 reads the program code of the software that implements each function according to this embodiment from the ROM 62, loads it into the RAM 63, and executes it. Variables and parameters that occur during the calculation process of the CPU 61 are temporarily written to the RAM 63, and these variables and parameters are read out by the CPU 61 as appropriate. However, an MPU (Micro Processing Unit) may be used instead of the CPU 61.

[0053] Examples of non-volatile storage 65 include HDDs (Hard Disk Drives), SSDs (Solid State Drives), flexible disks, optical disks, magneto-optical disks, CD-ROMs, CD-Rs, magnetic tapes, or non-volatile memory. This non-volatile storage 65 stores the OS (Operating System), various parameters, and programs necessary for the microcomputer 60 to function. The ROM 62 and non-volatile storage 65 store programs and data necessary for the CPU 61 to operate and are used as an example of a computer-readable, non-transient storage medium that stores programs executed by the microcomputer 60.

[0054] For example, a NIC (Network Interface Card) can be used for the network interface 66, and various types of data can be sent and received between devices via a LAN (Local Area Network), dedicated line, etc., connected to the terminals of the NIC.

[0055] Figure 4 is a flowchart illustrating an example of the processing performed by the angle detection error sampling unit 224 and the detection error component calculation unit 225. The processing shown in Figure 4 is part of the motor control method performed by the motor control device 10. Here, we will explain an example of the processing performed by the angle detection error sampling unit 224 and the detection error component calculation unit 225 when actually identifying sensor detection errors using a microcomputer or the like.

[0056] First, the angle detection error sampling unit 224 waits until the rotational speed of the motor 40 reaches a certain level in order to improve the sampling accuracy of the angle detection error. Then, after starting to identify the sensor detection error, the angle detection error sampling unit 224 calculates the calculated rotational speed ω. Next, the angle detection error sampling unit 224 determines whether the absolute value of the calculated rotational speed ω exceeds the angular frequency threshold ωc (S1). Here, the angular frequency threshold ωc represents the rotational speed threshold at which the angle detection error sampling unit 224 starts sampling the angle detection error. If the angle detection error sampling unit 224 determines that the absolute value of the calculated rotational speed ω is less than or equal to the angular frequency threshold ωc (NO in S1), the determination process in step S1 is repeated.

[0057] On the other hand, the angle detection error sampling unit 224 starts angle detection error sampling (S2) if it determines that the absolute value of the calculated rotation speed ω exceeds the angular frequency threshold ωc (YES in S1).

[0058] The estimated axis error value Δθe output from the axis error estimation unit 211, which calculates the angle detection error waveform, is an approximate value obtained by equation (5), ignoring the differential term of the differential equation represented by equation (4). For this reason, it is desirable to set the angular frequency threshold ωc near the final rotational speed command ωr* specified by the higher-level control system. Furthermore, in order to configure the detection error component calculation unit 225 in a manner that depends on the voltage induced by the rotation of the motor 40, and to calculate the error component from the angle detection error sampled by the angle detection error sampling unit 224 using the method shown in equation (5), it is necessary to ensure the calculation accuracy of the angle detection error. For this reason, it is desirable to set the angular frequency threshold ωc of the angle detection error sampling unit 224 to 10% or more of the motor's rated rotational speed.

[0059] Next, the angle detection error sampling unit 224 determines whether sampling of one full rotation of the machine angle of the angle detection error waveform has been completed (S3). If sampling of one full rotation of the machine angle has not been completed (NO in S3), the angle detection error sampling unit 224 continues the process in step S2. On the other hand, if sampling of one full rotation of the machine angle has been completed (YES in S3), the angle detection error sampling unit 224 outputs the angle detection error information.

[0060] The detection error component calculation unit 225 calculates the error component based on the angle detection error information (S4), and then terminates the process. As mentioned above, for example, the discrete Fourier transform can be used to calculate the error component.

[0061] In the motor control device 10 according to the first embodiment described above, during medium-to-high-speed operation of the motor 40, the angle detection error pulsation of the rotation angle sensor 50 is estimated by the sensorless estimated rotation angle, and the sensor detection angle θs is corrected based on the estimated angle detection error information. As a result, the motor 40 is controlled without being affected by the angle detection error of the rotation angle sensor 50, and vibration noise of the motor 40 can be prevented. In particular, since the motor control device 10 drives the motor 40 by correcting the pulsation component that fluctuates according to the rotation angle detected by the rotation angle sensor 50, vibration and noise can be reduced in various devices driven by the motor 40.

[0062] The identification of the sensor detection error by the calculation processing unit 22 described above can be performed at any time, even while the motor 40 is connected to a load and in operation. For example, if the detection error characteristics of the rotation angle sensor 50 change due to temperature changes, the calculation processing unit 22 repeatedly performs the above identification process at a period sufficiently short to account for the temperature rise due to heat generation by the motor 40 and the time rate of change of periodic ambient temperature changes. By having the calculation processing unit 22 repeatedly perform the sensor detection error identification process, vibration noise originating from the rotation angle sensor 50 can be prevented even if the characteristics of the rotation angle sensor 50 change.

[0063] Furthermore, even when the mounting status of the rotation angle sensor 50 changes due to a change in the installation position of the motor 40, the calculation processing unit 22 can automatically correct the detection error by performing the identification process described above. By configuring the calculation processing unit 22 as shown in Figure 2, the rotational synchronous pulsation component of the rotation angle sensor 50 can be removed, preventing vibration noise originating from the rotation angle sensor 50.

[0064] [Second Embodiment] Next, an example of the configuration and operation of the speed / angle calculation unit 20A according to the second embodiment of the present invention will be described with reference to Figure 5. Figure 5 is a block diagram showing an example configuration of the speed / angle calculation unit 20A according to the second embodiment. The speed / angle calculation unit 20A replaces the speed / angle calculation unit 20 provided in the motor control device 10 according to the first embodiment shown in Figure 1. The speed / angle calculation unit 20A according to the second embodiment has the function of outputting the rotational speed and angle detected by the rotational angle sensor 50 and the rotational speed and angle estimated without a position sensor.

[0065] The configuration and operation examples of the functional units other than the speed / angle calculation unit 20 are the same as in the first embodiment, so their description will be omitted. The speed / angle calculation unit 20A according to the second embodiment includes an estimation processing unit 21A and a calculation processing unit 22A. In addition to the axis error estimation unit 211 and axis error estimation filter 212 that the estimation processing unit 21 according to the first embodiment has, the estimation processing unit 21A includes a PI control unit 213 and an integration unit 214.

[0066] The PI control unit 213 (an example of a rotation speed estimation unit) estimates the rotation speed based on the estimated axis error. For example, the PI control unit 213 performs position sensorless speed estimation so that the output of the axis error estimation filter 212 becomes 0. To this end, the PI control unit 213 calculates the position sensorless estimated speed ωe (electrical angle) by performing a proportional integral of the estimated axis error Δθef output from the axis error estimation filter 212. The position sensorless estimated speed ωe (electrical angle) is output to the axis error estimation unit 211, the axis error estimation filter 212, the integration unit 214, and the mechanical angle estimation integration unit 223A of the calculation processing unit 22A. In addition, when the rotation angle sensor 50 fails, the position sensorless estimated speed ωe (electrical angle) is used by the speed control unit 102 and the current control unit 104 shown in Figure 1.

[0067] The integration unit 214 (an example of a rotation angle estimation unit) estimates the rotation angle based on the estimated rotation speed. For example, the integration unit 214 integrates the position sensorless estimated speed ωe (electrical angle) to calculate the position sensorless estimated angle θe (electrical angle). In the event of a failure of the rotation angle sensor 50, the position sensorless estimated angle θe (electrical angle) is output to the dq / uvw coordinate transformation unit 105 and the uvw / dq coordinate transformation unit 107.

[0068] Furthermore, the calculation processing unit 22A of the velocity / angle calculation unit 20A according to the second embodiment includes a mechanical angle estimation integration unit 223A. The machine angle estimation integration unit 223A (an example of a conversion unit) converts the integrated estimated rotational speed into an estimated rotational angle of the machine angle. For example, the machine angle estimation integration unit 223A calculates the position sensorless estimated angle θm (machine angle) using the position sensorless estimated speed ωe (electrical angle) calculated by the PI control unit 213.

[0069] Generally, in position sensorless angle estimation using voltage and current applied to the motor 40, an electrical angle is calculated. In this embodiment, the calculation processing unit 22 sets the initial value of the mechanical angle estimation integration unit 223A to the measured value of the mechanical angle obtained from the rotation angle sensor 50 in order to estimate the mechanical angle. The mechanical angle estimation integration unit 223A then calculates the position sensorless estimated angle θm (mechanical angle) without using a position sensor.

[0070] The detection error calculation unit 229 compares the estimated rotation angle of the machine angle with the detected rotation angle and calculates the detection error difference of the detected rotation angle relative to the estimated rotation angle of the machine angle. For example, the detection error calculation unit 229 compares the sensor detection angle θs of the rotation angle sensor 50 with the position sensorless estimated angle θm (machine angle) and calculates the estimated detection error value (machine angle) Δθm as the detection error difference. This estimated detection error value (machine angle) Δθm is input to the angle detection error sampling unit 224.

[0071] The angle detection error sampling unit 224 samples the waveform of the detection error difference and outputs angle detection error information. For example, the angle detection error sampling unit 224 samples the sensor detection angle θs of the rotation angle sensor 50 at equal intervals for one rotation of the machine angle, excluding the detection error estimate value (machine angle) Δθm, which is the detection error difference.

[0072] The detection error component calculation unit 225 then calculates the detection error components included in the detected rotation angle based on the angle detection error information. For example, the detection error component calculation unit 225 calculates the amplitude and phase of each pulsation order based on the angle detection error information sampled by the angle detection error sampling unit 224, and the sensor detection error correction unit 226 removes the rotation-synchronous pulsation component of the sensor detection angle θs.

[0073] In the speed and angle calculation unit 20A of the second embodiment described above, the rotation angle and rotation speed can be calculated without a position sensor in addition to the rotation angle sensor 50. Therefore, if the rotation angle sensor 50 fails, the motor control device 10 equipped with the speed and angle calculation unit 20A will switch to position sensorless control. The motor control device 10 will then continue to control the motor 40 using the position sensorless estimated speed ωe and the position sensorless estimated angle θe (electrical angle), thereby ensuring redundancy of the motor control device 10.

[0074] [Third Embodiment] Next, an example of the configuration and operation of the speed / angle calculation unit 20B according to the third embodiment of the present invention will be described with reference to Figure 6. Figure 6 is a block diagram showing an example configuration of the speed / angle calculation unit 20B according to the third embodiment. The speed / angle calculation unit 20B replaces the speed / angle calculation unit 20 provided in the motor control device 10 according to the first embodiment shown in Figure 1. The speed / angle calculation unit 20B according to the third embodiment has the function of calculating the rotation speed and angle by switching between the rotation speed detected by the rotation angle sensor 50 and the rotation speed estimated without a position sensor.

[0075] The configuration and operation examples of the functional units other than the speed / angle calculation unit 20 are the same as in the first embodiment, so their explanation will be omitted. The estimation processing unit 21 of the speed / angle calculation unit 20B according to the third embodiment has the same configuration as the estimation processing unit 21 according to the first embodiment. The axis error estimate Δθef output from the axis error estimation filter 212 is output to the switching unit 230 of the calculation processing unit 22B.

[0076] The calculation processing unit 22B of the speed / angle calculation unit 20B according to the third embodiment includes a switching unit 230 in addition to the functional units of the calculation processing unit 22A according to the second embodiment. The calculation processing unit 22B calculates the rotational speed and rotational angle based on the estimated axis error or calculated axis error value switched by the switching unit 230. This calculation processing unit 22B has a configuration in which the PI control unit 213 and the integration unit 214 of the calculation processing unit 22A according to the second embodiment are integrated into a PI control unit 221 and an integration unit 222.

[0077] The switching unit 230 switches between the estimated axis error value estimated by the estimation processing unit 21, or the calculated axis error value calculated by the detection error correction unit 226 based on the detected rotation angle. For example, the switching unit 230 receives the estimated axis error value Δθef (an example of an estimated axis error value) from the axis error estimation filter 212, the deviation Δθs of the rotation angle calculated value θ (an example of a calculated axis error value) from the sensor detection error correction unit 226, and a switching signal from the higher-level control system. Based on the switching signal, the switching unit 230 switches the signal output to the PI control unit 221 to either the estimated axis error value Δθef or the deviation Δθs of the rotation angle calculated value θ.

[0078] The machine angle estimation integration unit 223A (an example of a conversion unit) converts the rotational speed ω, which is calculated by the PI control unit 221 by integrating the axis error estimation value Δθef or the deviation Δθs of the rotation angle calculation value θ, into the rotational angle θm of the machine angle. The detection error calculation unit 229 compares the rotation angle θm of the machine angle with the detected rotation angle θs and calculates the detection error difference between the rotation angle θm of the machine angle and the detected rotation angle θs. The angle detection error sampling unit 224 samples the waveform of the detection error difference and outputs angle detection error information. The detection error component calculation unit 225 calculates the detection error component included in the detected rotation angle based on the angle detection error information.

[0079] The PI control unit 221 calculates the rotation speed ω based on either the estimated axis error value Δθef or the deviation Δθs of the rotation angle calculation value θ, which are switched and output by the switching unit 230. The integration unit 222 integrates the calculated rotational speed ω and outputs it as the calculated rotational angle θ.

[0080] In the speed / angle calculation unit 20B according to the third embodiment described above, the number of PI control units and integration units can be reduced compared to the speed / angle calculation unit 20A according to the second embodiment. Therefore, the processing load and memory usage of the microcomputer that implements the functions of the speed / angle calculation unit 20B can be reduced.

[0081] Furthermore, the switching unit 230 switches the rotation angle deviation output to the PI control unit 221 to either the estimated axis error value Δθef or the deviation Δθs of the calculated rotation angle value θ. Therefore, the motor control device 10 uses the rotation speed ω and rotation angle θ calculated using the rotation angle deviation appropriate for controlling the motor 40.

[0082] [Fourth Embodiment] Next, an example of the configuration and operation of an elevator device according to the fourth embodiment of the present invention will be described with reference to Figure 7. Figure 7 is a schematic diagram showing an example of the overall configuration of the elevator device 300 according to the fourth embodiment. The elevator device 300 according to this embodiment includes a motor control device 10 having a speed and angle calculation unit according to any of the first to third embodiments described above.

[0083] In the elevator system 300, the elevator car 303 is connected to one end of the main rope 306, and the counterweight 304 is connected to the other end of the main rope 306. The main rope 306 is wrapped around the sheave 307 and the direction-changing pulley 305 of the hoisting machine 301. As a result, the elevator car 303 and the counterweight 304 are suspended within the hoistway 302.

[0084] The hoisting machine 301 is composed of an inverter 30, a motor 40, a sheave 307, a rotation angle sensor 50, and an electromagnetic brake 308, all integrated together.

[0085] The main rope 306 is wrapped around the sheave 307 to raise and lower the elevator car 303. The motor 40 of the hoisting machine 301 is driven by the motor control device 10 and inverter 30 to rotate the sheave 307. The rotation of the sheave 307 drives the main rope 306. As a result, the elevator car 303 and the counterweight 304 move up and down in opposite directions within the hoistway 302. The elevator car 303 moves while being guided by a guide rail for the elevator car (not shown), and the counterweight 304 also moves up and down while being guided by a guide rail for the counterweight (not shown). The motor control device 10 executes the processing of the estimation processing unit 21 and the calculation processing unit 22 according to the first to third embodiments described above while the elevator car 303 is moving up and down.

[0086] When stopping the elevator car 303, an electromagnetic brake 308 provided on the hoisting machine 301 brakes the rotation of the hoisting machine 301. For example, a disc-type electromagnetic brake is used as the electromagnetic brake 308. In this embodiment, the hoisting machine 301 is configured to have one electromagnetic brake 308, but it may also be configured to have multiple electromagnetic brakes 308. In this configuration, multiple electromagnetic brakes 308 can operate simultaneously to form a multi-system brake.

[0087] In the elevator system 300, there are multiple natural vibration modes in the range of several Hz to tens of Hz, caused by the elasticity of the main rope 306. Therefore, when the motor torque pulsation frequency of the hoisting machine 301 matches one of these natural vibration modes, vertical vibrations are excited in the elevator car 303, worsening the passenger's ride comfort. Consequently, if there is an angle detection error in the rotation angle sensor 50, this may also worsen the ride comfort.

[0088] In this embodiment, the deterioration of ride comfort is suppressed or prevented by correcting the angle detection error Δθe using the methods according to the first to third embodiments. In gearless hoisting machines, which are the mainstream in recent years, the motor often has a multi-pole structure with 20 or more poles in order to obtain a small size and high torque. For this reason, using the methods according to the first to third embodiments is suitable for correcting the sensor detection error in position sensorless angle estimation.

[0089] The elevator system 300 loads passengers into the elevator car 303 at one of several elevator landings 310 located on any floor of the building 330. Subsequently, the elevator system 300 transports passengers by having the motor control device 10 control the rotational speed of the motor 40 according to the speed command output by the elevator control device 320, and stopping the elevator car 303 at the elevator landing 310 on the target floor. At this time, if the departure floor and the destination floor are sufficiently far apart, there is a constant speed section in which the speed command output by the elevator control device 320 and the rotational speed of the motor 40 remain constant.

[0090] When the motor control device 10 controls the hoisting machine 301 with different speed patterns, the torque required by the hoisting machine 301 is mainly the sum of the following three types of torque. (1) The mass of the elevator car 301, the counterweight 304, the main rope 306, and the torque (referred to as "acceleration / deceleration torque") for accelerating and decelerating the rotational inertia of the hoisting machine 301 and the direction-changing pulley 305. (2) Torque required to balance the difference in gravitational forces acting on the elevator car 301, the counterweight 304, and the main rope 306 (referred to as "balancing torque"). (3) Friction between the elevator car 301 and the counterweight 304 and the guide rail, bearing losses in the sheave 307 and the direction change pulley 305, and losses due to the deformation of the main rope 306 in the sheave 307 and the direction change pulley 305 (referred to as "running loss torque").

[0091] In the constant-speed section, acceleration and deceleration torques are zero, so only the balance torque and running loss torque become the output torque of the hoisting machine 301. Also, after passengers have been loaded into the elevator car 303 and while the elevator car 303 is in motion, the mass of the elevator car 303 is constant, so the balance torque can be considered to be approximately constant. Furthermore, if the rotational speed is constant, the running loss torque can also be considered to be approximately constant.

[0092] Therefore, in the constant speed section, the rotational speed and torque of the motor 40 are almost constant. Thus, in the position sensorless angle detection error estimation using equation (5), etc., the calculation formula is approximated by assuming a steady state in which the d-axis current Id, q-axis current Iq, and the derivative of the estimated axis error Δθe of the motor 40 are zero. For this reason, the estimation accuracy of the rotational angle calculation value θ is improved under conditions where the rotational speed and torque are constant. Therefore, the timing for identifying the sensor detection error of the rotational angle sensor 50 is preferably in the constant speed section.

[0093] By identifying sensor detection errors each time a constant-speed section occurs while the elevator system 300 is in continuous operation, it is possible to perform maintenance-free and continuously effective corrections to changes in angle detection error characteristics due to changes in sensor characteristics and the surrounding environment.

[0094] [Differentiation] Note that the motor 40 shown in Figure 1 may be an induction motor. Also, instead of the inverter 30, an AC voltage source capable of outputting any voltage may be used. Furthermore, the elevator device 300 according to the fourth embodiment may be a so-called machine room-less elevator in which the hoisting machine and elevator control device are installed inside the hoistway.

[0095] Furthermore, the motor control device 10 and speed / angle calculation units 20, 20A, and 20B according to the first to third embodiments may be used in conveying devices such as belt conveyors, in addition to elevator devices 300.

[0096] The present invention is not limited to the embodiments described above, and of course, various other applications and modifications can be taken as long as they do not depart from the gist of the invention as described in the claims. For example, the embodiments described above are detailed and specific explanations of the configuration of the apparatus and system in order to clearly illustrate the present invention, and are not necessarily limited to having all the configurations described. Furthermore, it is possible to replace some of the configurations of the embodiments described here with the configurations of other embodiments, and it is also possible to add the configurations of other embodiments to the configuration of one embodiment. In addition, it is possible to add, delete, or replace some of the configurations of each embodiment with other configurations. Furthermore, the control lines and information lines shown are those deemed necessary for explanatory purposes, and not all control lines and information lines are necessarily shown in the actual product. In reality, it is safe to assume that almost all components are interconnected. [Explanation of Symbols]

[0097] 1...Motor control system, 10...Motor control device, 20...Speed / angle calculation unit, 21...Estimation processing unit, 22...Calculation processing unit, 30...Inverter, 31...Current detection unit, 40...Motor, 50...Rotation angle sensor, 211...Axis error estimation unit, 212...Axis error estimation filter, 221...PI control unit, 222...Integration unit, 223...Machine angle conversion unit, 223A...Machine angle estimation integration unit, 224...Angle detection error sampling unit, 225...Detection error component calculation unit, 226...Sensor detection error correction unit, 227...Calculation unit, 228...Calculation unit, 300...Elevator device

Claims

1. A motor control device that controls the motor based on the motor's rotational speed and rotational angle, An estimation processing unit has an axis error estimation unit that estimates an estimated axis error of the motor's axis error using the voltage and current applied to the motor and the rotational speed of the motor. The system includes a calculation processing unit for calculating the rotational speed and rotational angle of the motor, The calculation processing unit, A conversion unit that converts the estimated axis error value into an estimated machine angle detection error value, A sampling unit that samples the waveform of the estimated detection error of the machine angle and outputs angle detection error information, A detection error component calculation unit calculates a detection error component included in the detected rotation angle of the motor based on the angle detection error information, A detection error correction unit corrects the detected rotation angle based on the detection error component, A rotation speed calculation unit calculates the rotation speed based on the difference between the detected rotation angle corrected based on the detection error component and the rotation angle, It includes a rotation angle calculation unit that calculates the rotation angle based on the rotation speed. Motor control device.

2. A motor control device that controls the motor based on the rotational speed and rotational angle of the motor, An estimation processing unit has an axis error estimation unit that estimates an estimated axis error of the motor's axis error using the voltage and current applied to the motor and the rotational speed of the motor. The system comprises a calculation processing unit for calculating the rotational speed and rotational angle of the motor, The estimation processing unit, A rotational speed estimation unit that estimates the rotational speed based on the estimated axis error value, It includes a rotation angle estimation unit that estimates the rotation angle based on the estimated rotation speed, The calculation processing unit, A conversion unit that converts the integrated estimated rotational speed into an estimated rotational angle of the machine angle, A detection error calculation unit compares the estimated rotation angle of the machine angle with the detected rotation angle of the motor and calculates the detection error difference between the estimated rotation angle of the machine angle and the detected rotation angle. A sampling unit that samples the waveform of the detection error difference and outputs angle detection error information, A detection error component calculation unit that calculates the detection error component included in the detected rotation angle based on the angle detection error information, A detection error correction unit corrects the detected rotation angle based on the detection error component, A rotation speed calculation unit calculates the rotation speed based on the difference between the detected rotation angle corrected based on the detection error component and the rotation angle, It includes a rotation angle calculation unit that calculates the rotation angle based on the rotation speed. Motor control device.

3. A motor control device that controls the motor based on the rotational speed and rotational angle of the motor, An estimation processing unit has an axis error estimation unit that estimates an estimated axis error of the motor's axis error using the voltage and current applied to the motor and the rotational speed of the motor. The system comprises a calculation processing unit for calculating the rotational speed and rotational angle of the motor, The calculation processing unit, A conversion unit that converts the integrated rotational speed into a rotational angle of the machine angle, A detection error calculation unit compares the rotation angle of the machine angle with the detected rotation angle of the motor and calculates the difference in detection error between the detected rotation angle and the rotation angle of the machine angle. A sampling unit that samples the waveform of the detection error difference and outputs angle detection error information, A detection error component calculation unit that calculates the detection error component included in the detected rotation angle based on the angle detection error information, A detection error correction unit corrects the detected rotation angle based on the detection error component, A switching unit that switches between the estimated axis error value estimated by the estimation processing unit, or the calculated axis error value calculated by the detection error correction unit based on the detected rotation angle, A rotational speed calculation unit that calculates the rotational speed based on either the estimated axis error value or the calculated axis error value, which are switched and input by the switching unit, It includes a rotation angle calculation unit that calculates the rotation angle based on the rotation speed. Motor control device.

4. The detection error component calculation unit calculates the amplitude and phase of the spatial order of the angle detection error waveform obtained from the angle detection error information as the detection error component. The detection error correction unit corrects the detected rotation angle based on the amplitude and phase of the spatial order. The motor control device according to claim 1.

5. The detection error component calculation unit performs a discrete Fourier transform on the angle detection error information to calculate the amplitude and phase of the spatial order of the detection error pulsation occurring in the detected rotation angle, which is included in the angle detection error information. The motor control device according to claim 4.

6. The estimation processing unit has a filter that selectively reduces the sixth-order component of the current frequency supplied to the motor from the estimated axis error value. The motor control device according to claim 1.

7. The filter reduces components from the estimated axis error that are above the current frequency of the motor. The motor control device according to claim 6.

8. A motor control method performed in a motor control device that controls the motor based on the motor's rotational speed and rotational angle, The motor control device has an estimation processing unit and a calculation processing unit, the estimation processing unit has an axis error estimation unit, and the calculation processing unit has a conversion unit, a sampling unit, a detection error component calculation unit, a detection error correction unit, a rotation speed calculation unit, and a rotation angle calculation unit. The shaft error estimation unit of the estimation processing unit performs a process of estimating an estimated shaft error value of the motor's shaft error using the voltage and current applied to the motor and the rotational speed of the motor. The calculation processing unit includes a process for calculating the rotational speed and rotational angle of the motor, The process for calculating the rotational speed and rotational angle of the motor is as follows: The conversion unit performs a process of converting the estimated axis error value into an estimated detection error value of the machine angle, The sampling unit performs a process of sampling the waveform of the estimated detection error of the machine angle and outputting angle detection error information. The detection error component calculation unit performs a process to calculate the detection error component included in the detected rotation angle of the motor based on the angle detection error information, The detection error correction unit performs a process to correct the detected rotation angle based on the detection error component, The rotation speed calculation unit performs a process of calculating the rotation speed based on the difference between the detected rotation angle corrected based on the detection error component and the rotation angle, The rotation angle calculation unit includes a process of calculating the rotation angle based on the rotation speed. Motor control method.

9. A motor control method performed on a motor control device that controls the motor based on the rotational speed and rotational angle of the motor, The motor control device has an estimation processing unit and a calculation processing unit, the estimation processing unit has an axis error estimation unit, a rotation speed estimation unit and a rotation angle estimation unit, and the calculation processing unit has a conversion unit, a detection error calculation unit and a sampling unit and a detection error component calculation unit and a detection error correction unit and a rotation speed calculation unit and a rotation angle calculation unit. The process by which the estimation processing unit estimates the estimated rotational speed and estimated rotational angle of the motor is as follows: The shaft error estimation unit performs a process of estimating a shaft error estimate of the motor's shaft error using the voltage and current applied to the motor and the rotational speed of the motor. The rotational speed estimation unit performs a process of estimating the rotational speed based on the estimated axis error value, The rotation angle estimation unit includes a process of estimating the rotation angle based on the estimated rotation speed, The calculation processing unit performs the process of calculating the rotational speed and rotational angle of the motor, The conversion unit performs a process of converting the integrated estimated rotational speed into an estimated rotational angle of the machine angle, The detection error calculation unit performs a process of comparing the estimated rotation angle of the machine angle with the detected rotation angle of the motor and calculating the detection error difference of the detected rotation angle with respect to the estimated rotation angle of the machine angle. The sampling unit samples the waveform of the detection error difference and outputs angle detection error information. The detection error component calculation unit performs a process to calculate the detection error component included in the detected rotation angle based on the angle detection error information, The detection error correction unit performs a process to correct the detected rotation angle based on the detection error component, The rotation speed calculation unit performs a process of calculating the rotation speed based on the difference between the detected rotation angle corrected based on the detection error component and the rotation angle, The rotation angle calculation unit includes a process of calculating the rotation angle based on the rotation speed. Motor control method.

10. A motor control method performed on a motor control device that controls the motor based on the rotational speed and rotational angle of the motor, The motor control device comprises an estimation processing unit and a calculation processing unit, the estimation processing unit comprising an axis error estimation unit, and the calculation processing unit comprising a conversion unit, a detection error calculation unit, a sampling unit, a detection error component calculation unit, a detection error correction unit, a switching unit, a rotation speed calculation unit, and a rotation angle calculation unit. The shaft error estimation unit of the estimation processing unit performs a process of estimating an estimated shaft error value of the motor's shaft error using the voltage and current applied to the motor and the rotational speed of the motor. The calculation processing unit includes a process for calculating the rotational speed and rotational angle of the motor, The process for calculating the rotational speed and rotational angle of the motor is as follows: The conversion unit performs a process of converting the integrated rotational speed into a rotational angle of the machine angle, The detection error calculation unit performs a process of comparing the rotation angle of the machine angle with the detected rotation angle of the motor and calculating the difference in detection error between the detected rotation angle and the rotation angle of the machine angle. The sampling unit samples the waveform of the detection error difference and outputs angle detection error information. The detection error component calculation unit performs a process to calculate the detection error component included in the detected rotation angle based on the angle detection error information, The detection error correction unit performs a process to correct the detected rotation angle based on the detection error component, The switching unit performs a process of switching to either the estimated axis error value estimated by the estimation processing unit, or the calculated axis error value calculated by the detection error correction unit based on the detected rotation angle. The rotation speed calculation unit performs a process of calculating the rotation speed based on either the estimated axis error value or the calculated axis error value, which is input by the switching unit. The rotation angle calculation unit includes a process of calculating the rotation angle based on the rotation speed. Motor control method.

11. The elevator includes a car that moves up and down a hoistway, a main rope connected to the car, a sheave around which the main rope is wound to raise and lower the car, a motor that drives the sheave, and a motor control device that controls the motor based on the rotational speed and rotational angle of the motor. The motor control device is An estimation processing unit has an axis error estimation unit that estimates an estimated axis error of the motor's axis error using the voltage and current applied to the motor and the rotational speed of the motor. The motor has a calculation processing unit that calculates the rotational speed and rotational angle of the motor, The calculation processing unit, A conversion unit that converts the estimated axis error value into an estimated machine angle detection error value, A sampling unit that samples the waveform of the estimated detection error of the machine angle and outputs angle detection error information, A detection error component calculation unit calculates a detection error component included in the detected rotation angle of the motor based on the angle detection error information, A detection error correction unit corrects the detected rotation angle based on the detection error component, The rotation speed calculation unit calculates the rotation speed based on the difference between the detected rotation angle corrected by the detection error correction unit based on the detection error component and the rotation angle, It includes a rotation angle calculation unit that calculates the rotation angle based on the rotation speed. Elevator system.

12. A car for moving up and down a hoistway, a main rope connected to the car, a sheave around which the main rope is wound to raise and lower the car, a motor for driving the sheave, and a motor control device for controlling the motor based on the rotational speed and rotational angle of the motor, The motor control device is An estimation processing unit having: an axis error estimation unit that estimates an estimated axis error of the motor using the voltage and current applied to the motor and the rotational speed of the motor; a rotational speed estimation unit that estimates the rotational speed based on the estimated axis error; and a rotational angle estimation unit that estimates the rotational angle based on the estimated rotational speed. The motor has a calculation processing unit that calculates the rotational speed and rotational angle of the motor, The calculation processing unit, A conversion unit that converts the integrated estimated rotational speed into an estimated rotational angle of the machine angle, A detection error calculation unit compares the estimated rotation angle of the machine angle with the detected rotation angle of the motor and calculates the detection error difference between the estimated rotation angle of the machine angle and the detected rotation angle. A sampling unit that samples the waveform of the detection error difference and outputs angle detection error information, A detection error component calculation unit that calculates the detection error component included in the detected rotation angle based on the angle detection error information, A detection error correction unit corrects the detected rotation angle based on the detection error component, A rotation speed calculation unit calculates the rotation speed based on the difference between the detected rotation angle corrected based on the detection error component and the rotation angle, It includes a rotation angle calculation unit that calculates the rotation angle based on the rotation speed. Elevator system.

13. A car for moving up and down a hoistway, a main rope connected to the car, a sheave around which the main rope is wound to raise and lower the car, a motor for driving the sheave, and a motor control device for controlling the motor based on the rotational speed and rotational angle of the motor, The motor control device is An estimation processing unit has an axis error estimation unit that estimates an estimated axis error of the motor's axis error using the voltage and current applied to the motor and the rotational speed of the motor. The motor has a calculation processing unit that calculates the rotational speed and rotational angle of the motor, The calculation processing unit, A conversion unit that converts the integrated rotational speed into a rotational angle of the machine angle, A detection error calculation unit compares the rotation angle of the machine angle with the detected rotation angle of the motor and calculates the difference in detection error between the detected rotation angle and the rotation angle of the machine angle. A sampling unit that samples the waveform of the detection error difference and outputs angle detection error information, A detection error component calculation unit that calculates the detection error component included in the detected rotation angle based on the angle detection error information, A detection error correction unit corrects the detected rotation angle based on the detection error component, A switching unit that switches between the estimated axis error value estimated by the estimation processing unit, or the calculated axis error value calculated by the detection error correction unit based on the detected rotation angle, A rotational speed calculation unit that calculates the rotational speed based on either the estimated axis error value or the calculated axis error value, which are switched and input by the switching unit, It includes a rotation angle calculation unit that calculates the rotation angle based on the rotation speed. Elevator system.

14. The processing of the estimation processing unit and the calculation processing unit is performed while the elevator car is in operation and moving up or down. The elevator device according to any one of claims 11 to 13.

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