Bearingless motor control device, bearingless motor control system, and control program

Abstract

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

Description

[Technical field]

[0001] The present disclosure relates to a bearingless motor control device, a bearingless motor control system, and a control program for controlling a bearingless motor. [Background technology]

[0002] A bearingless motor control device that controls a bearingless motor is composed of an electric motor controller that controls the rotational drive of the rotor, and a radial position controller that controls the radial position of the rotor (support of the rotating shaft). In a bearingless motor control device, the process of controlling the rotational drive of the rotor and the process of controlling the radial position of the rotor must be executed in coordination.

[0003] For this reason, the radial position controller coordinated processing with the motor controller by determining the current that controls the radial position of the rotor based on the rotational angle position (magnetic flux command value) of the rotating magnetic field output by the inverter of the motor controller.

[0004] In the bearingless rotating machine system described in Patent Document 1, a radial position controller calculates the rotational angular position of the rotating magnetic field based on the terminal voltage and current of the windings that generate torque under the control of a motor controller, and controls the radial position of the rotor based on the calculated rotational angular position. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] JP 2001-258290 A Summary of the Invention [Problem to be solved by the invention]

[0006] However, the technology of Patent Document 1 above had a problem in that if the motor controller failed, the radial position controller could not detect accurate terminal voltages and currents from the windings that generate torque, and was therefore unable to control the radial position of the rotor.

[0007] The present disclosure has been made in consideration of the above, and aims to provide a bearingless motor control device that can control the radial position of the rotor even if the motor controller fails. [Means for solving the problem]

[0008] In order to solve the above problems and achieve the object, the bearingless motor control device disclosed herein includes an electric motor controller that controls the rotational position of a rotor of a bearingless motor, and a radial position controller that controls the radial position of the rotor. The electric motor controller receives rotational position information from a rotational position sensor that detects rotational position information that is information on 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 receives radial position information from a radial position sensor that detects radial position information that is information on 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. When the motor controller detects a fault that makes it impossible to control the rotational position of the rotor, it transmits a first control abnormality notification indicating a control abnormality to the radial position controller, and upon receiving the first control abnormality notification, the radial position controller controls the axial position of the rotor's rotation shaft based on the rotational position information and the radial position information. Effect of the Invention

[0009] The bearingless motor control device according to the present disclosure has the advantage that the radial position of the rotor can be controlled even if the motor controller fails. [Brief description of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a configuration of a bearingless motor control system according to a first embodiment; [Diagram 2] FIG. 1 is a diagram showing a configuration of a bearingless motor according to a first embodiment; [Diagram 3] FIG. 1 is a diagram showing a configuration of a radial position controller according to a first embodiment; [Figure 4] 1 is a flowchart showing a procedure of a process for controlling a radial position by a radial position controller according to a first embodiment; [Diagram 5] 1 is a flowchart showing a procedure for controlling a rotational position by an electric motor controller according to a first embodiment; [Figure 6] FIG. 1 shows a configuration of a bearingless motor control system according to a second embodiment. [Figure 7] FIG. 13 is a diagram showing a configuration of a radial position controller according to a second embodiment; [Figure 8] 11 is a flowchart showing a first example of a process performed by a radial position controller according to a second embodiment to control a radial position; [Figure 9] 11 is a flowchart showing a first example of a process for controlling a rotational position by an electric motor controller according to a second embodiment; [Figure 10] 11 is a flowchart showing a second example of a process performed by the radial position controller according to the second embodiment to control the radial position; [Figure 11] 11 is a flowchart showing a processing procedure of a second example of a process for controlling a rotational position by an electric motor controller according to a second embodiment. [Figure 12] FIG. 13 is a diagram showing a configuration example of a processing circuit included in a radial position controller according to a second embodiment when the processing circuit is realized by a processor and a memory. [Figure 13] FIG. 13 is a diagram showing an example of a processing circuit included in the radial position controller according to the second embodiment when the processing circuit is configured with dedicated hardware. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] A bearingless motor control device, a bearingless motor control system, and a control program according to embodiments of the present disclosure will be described in detail below with reference to the drawings.

[0012] Embodiment 1 1 is a diagram showing a configuration of a bearingless motor control system according to embodiment 1. The bearingless motor control system 1A is a system that controls a bearingless motor 30.

[0013] The bearingless motor control system 1A includes a bearingless motor control device 2A, a bearingless motor 30, a rotational position sensor 31, and a radial position sensor 32.

[0014] The bearingless motor control device 2A is a computer that controls the bearingless motor 30. The bearingless motor control device 2A has a radial position controller (drive shaft support amplifier) ​​10A and an electric motor controller (drive shaft rotation amplifier) ​​20.

[0015] The radial position controller 10A and the electric motor controller 20 have independent hardware configurations. That is, the radial position controller 10A executes control independent of the control executed by the electric motor controller 20. Since the radial position controller 10A and the electric motor controller 20 have independent hardware configurations, even if the electric motor controller 20 fails, the radial position controller 10A continues to operate independent of the electric motor controller 20. The radial position controller 10A and the electric motor controller 20 may be disposed in different housings or on different boards.

[0016] The bearingless motor 30 is a motor that supports a rotating shaft of the bearingless motor 30 in a non-contact manner by magnetic force, without using a bearing that is a mechanical bearing. Hereinafter, the rotating shaft of the bearingless motor 30 may be simply referred to as the rotating shaft.

[0017] The bearingless motor 30 is connected to the radial position controller 10A and the motor controller 20. The bearingless motor 30 is provided with a rotational position sensor 31 and a radial position sensor 32.

[0018] The rotational position sensor 31 detects rotational position information, which is information about the rotational position (rotational angle position) of a rotor (rotor 36 described below) of the bearingless motor 30. The rotational position information may be information indicating the rotational position of the rotating shaft of the rotor 36, or may be information indicating the position of a rotating magnetic field.

[0019] The rotational position sensor 31 is connected to the radial position controller 10A and the electric motor controller 20. Thus, in the bearingless motor control system 1A of the first embodiment, the rotational position sensor 31 that detects rotational position information is connected to both the radial position controller 10A and the electric motor controller 20. The rotational position sensor 31 transmits the detected rotational position information to the radial position controller 10A and the electric motor controller 20.

[0020] The radial position sensor 32 detects radial position information, which is information about the radial position of a 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 (XY plane described later) perpendicular to the rotation axis. Therefore, the radial position is indicated by X and Y coordinates in a plane parallel to the XY plane. The radial position sensor 32 is connected to the radial position controller 10A. The radial position sensor 32 transmits the detected radial position information to the radial position controller 10A.

[0021] The motor controller 20 is connected to a winding (torque generating winding) (not shown) that generates a force (torque) in the rotation direction of the rotating shaft, among the windings (not shown) of the bearingless motor 30. The motor controller 20 receives rotational position information from the rotational position sensor 31.

[0022] The motor controller 20 controls the rotational operation of the rotating shaft of the rotor 36 included in the bearingless motor 30 based on the rotational position information. That is, the motor controller 20 controls the rotational position (position in the rotational direction) of the rotating shaft of the bearingless motor 30 based on the rotational position information. The motor controller 20 outputs a current for controlling the rotational position of the rotating shaft to the torque generating windings.

[0023] The radial position controller 10A is connected to windings (radial force generating windings) that generate force in the radial direction of the rotor 36, among the windings provided in the bearingless motor 30. The radial position controller 10A receives rotational position information from the rotational position sensor 31, and receives radial position information from the radial position sensor 32.

[0024] 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 a current to the radial force generating winding for controlling the radial position of the rotor 36. In this manner, the bearingless motor control system 1A controls the rotational position of the rotating shaft and the radial position of the rotor 36.

[0025] In the first embodiment, 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 no longer able to control the rotational position, the radial position controller 10A can continue to control the radial position of the rotor 36.

[0026] Incidentally, when the electric motor controller provides rotational position information to the radial position controller as in the case of a conventional electric motor controller, the conventional electric motor controller needs to be a controller that can provide the rotational position information to the radial position controller. In the first embodiment, since the electric motor controller 20 does not need to provide the rotational position information to the radial position controller 10A, the electric motor controller 20 may be a controller that is applied to a motor having a bearing. In other words, the electric motor controller 20 does not need to be a controller dedicated to the bearingless motor 30.

[0027] When the rotational position information is information indicating the position of the rotating magnetic field, the electric motor controller 20 and the radial position controller 10A calculate a rotational position corresponding to the position of the rotating magnetic field based on the rotational position information.

[0028] Fig. 2 is a diagram showing the configuration of the bearingless motor according to the first embodiment. In the following, the axial direction of the rotation axis C1 of the bearingless motor 30 is defined as the Z-axis direction, and two axes perpendicular to the Z-axis direction and perpendicular to each other are defined as the X-axis and Y-axis. Fig. 2 shows a cross-sectional view of the bearingless motor 30 when the bearingless motor 30 is cut along a plane parallel to the XY plane and viewed from the Z-axis direction.

[0029] The bearingless motor 30 includes a stator (bearingless motor stator) 35 and a rotor (bearingless motor rotor) 36. When viewed from the Z-axis direction, the stator 35 and the rotor 36 are annular with the rotation axis C1 as a concentric circle. In other words, the cross-sectional shape of the stator 35 and the rotor 36 when cut along a plane parallel to the XY plane is annular. The stator 35 and the rotor 36 are cylindrical and extend in the Z-axis direction.

[0030] The stator 35 is disposed in a position surrounding the rotor 36. The stator 35 and the rotor 36 are disposed such that an inner wall surface of the stator 35 extending in the Z-axis direction faces an outer wall surface of the rotor 36 extending in the Z-axis direction.

[0031] The motor controller 20 controls the rotational position of the rotating shaft C1 based on the rotational position information, thereby controlling the rotation 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 according to the rotational position information to a torque generating winding.

[0032] The motor controller 20 is also configured to be able to generate a force in the Z-axis direction on the rotor 36. The motor controller 20 controls the position of the rotor 36 in the Z-axis direction based on the rotational position information. The motor controller 20 controls the position of the rotor 36 in the Z-axis direction by outputting a current according to the rotational position information to a torque generating winding. The force in the Z-axis direction generated by the motor controller 20 serves to prevent the rotor 36 from falling off the stator 35 even if a load is applied to the rotor 36 in the direction of gravity (Z-axis direction).

[0033] The motor controller 20 controls the position of the rotor 36 in the Z-axis direction (the position in the axial direction of the rotation axis C1) by executing flux-weakening control or flux-strengthening control on the bearingless motor 30. The motor controller 20 executes flux-weakening control and flux-strengthening control by controlling the magnitude of the current output to the torque generating windings.

[0034] The radial position controller 10A receives rotational position information from the rotational position sensor 31, and receives radial position information (position in the X-axis direction and the Y-axis direction) from the radial position sensor 32. The radial position controller 10A controls the positions of the rotor 36 in the X-axis direction and the Y-axis direction based on the rotational position information and the radial position information. The radial position controller 10A controls the positions of the rotor 36 in the X-axis direction and the Y-axis direction by outputting a current according to the rotational position information and the radial position information to the radial force generating windings.

[0035] 3 is a diagram showing the configuration of the radial position controller according to the embodiment 1. The radial position controller 10A includes a rotational position input unit 11, a radial position input unit 12, and a control unit 13.

[0036] The rotational position input unit 11 is connected to a rotational position sensor 31, and the radial position input unit 12 is connected to a radial position sensor 32. The control unit 13 is connected to the bearingless motor 30.

[0037] 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.

[0038] 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 the radial position of the bearingless motor 30 is a position according to the rotational position information and the radial position information. The control unit 13 controls the positions of the rotor 36 in the X-axis and Y-axis directions based on the rotational position information and the radial position information so that the rotor 36 does not come into contact with the stator 35.

[0039] 4 is a flowchart showing a procedure of a process in which the radial position controller according to the first embodiment controls the radial position. The rotational position input unit 11 of the radial position controller 10A receives rotational position information from the rotational position sensor 31 (step S110). The radial position input unit 12 of the radial position controller 10A receives radial position information from the radial position sensor 32 (step S120). The control unit 13 of the radial position controller 10A controls the radial position of the bearingless motor 30 based on the rotational position information and the radial position information (step S130).

[0040] 5 is a flowchart showing a procedure of a process in which the motor controller according to the first embodiment controls the rotational position. The motor controller 20 receives rotational position information from the rotational position sensor 31 (step S210). The motor controller 20 controls the rotational position of the bearingless motor 30 based on the rotational position information (step S220).

[0041] In the bearingless motor control system 1A, there are cases where the motor controller 20 fails and is unable to control the rotational position. For example, there are cases where an inverter (not shown) included in the motor controller 20 fails and the motor controller 20 is unable to output a current for controlling the rotational position to the torque generating winding. Even in such a case, in the first embodiment, the radial position controller 10A receives rotational position information from the rotational position sensor 31. Therefore, even if 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.

[0042] As described above, according to the first embodiment, the radial position controller 10A receives the rotational position information from the rotational position sensor 31, so even if the electric motor controller 20 fails, 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. This allows the radial position controller 10A to prevent the stator 35 and rotor 36 of the bearingless motor 30 from coming into contact with each other, thereby preventing damage to the bearingless motor 30.

[0043] Furthermore, the radial position controller 10A can prevent damage to the bearingless motor 30, thereby preventing the generation of particles due to damage and preventing contamination of the bearingless motor 30. Furthermore, in the case of the bearingless motor control system 1A, if the motor controller 20 breaks down, the bearingless motor 30 can be reused simply by replacing the motor controller 20.

[0044] Embodiment 2 Next, a second embodiment will be described with reference to Fig. 6 to Fig. 11. In the second embodiment, a radial position controller (a radial position controller 10B described later) and the electric motor controller 20 notify each other of control abnormalities. When the radial position controller 10B receives a control abnormality, the radial 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. When the electric motor controller 20 receives a control abnormality, the electric 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.

[0045] Fig. 6 is a diagram showing the configuration of a bearingless motor control system according to embodiment 2. Among the components in Fig. 6, components that achieve the same functions as those in the bearingless motor control system 1A according to embodiment 1 shown in Fig. 1 are given the same reference numerals, and duplicated explanations will be omitted.

[0046] Similar to the bearingless motor control system 1A, the bearingless motor control system 1B of the second embodiment is a system that controls a bearingless motor 30. Compared to the bearingless motor control system 1A, the bearingless motor control system 1B includes a bearingless motor control device 2B instead of the bearingless motor control device 2A.

[0047] The bearingless motor control device 2B has a radial position controller 10B, an electric motor controller 20, and an abnormality communication line 41. In the bearingless motor control system 1B, similarly to the bearingless motor control system 1A, the radial position controller 10B and the electric motor controller 20 have independent hardware configurations. In other words, the radial position controller 10B executes control independent of the control executed by the electric motor controller 20.

[0048] The abnormality communication line 41 is a communication line that connects the radial position controller 10B and the electric motor controller 20. The communication using the abnormality communication line 41 may be any communication method. For example, the communication using the abnormality communication line 41 may be communication using a general-purpose IO (Input Output) or communication using various networks.

[0049] When a control abnormality occurs that makes it impossible for the electric motor controller 20 to control the rotational position, the electric motor controller 20 notifies the radial direction position controller 10B of the abnormality via the abnormality communication line 41.

[0050] The radial position controller 10B is configured to generate a force in the Z-axis direction via a radial force generating winding. The radial position controller 10B executes flux weakening control or flux strengthening control on the bearingless motor 30 to control the position of the rotor 36 in the Z-axis direction.

[0051] When the radial position controller 10B receives a control abnormality notification (first control abnormality notification) indicating a control abnormality from the motor controller 20, it controls the position of the rotor 36 in the XY plane and the position of the rotor 36 in the axial direction (Z-axis direction) based on the rotational position information and the radial position information.

[0052] 7 is a diagram showing a configuration of a radial position controller according to embodiment 2. The radial position controller 10B includes a rotational position input unit 11, a radial position input unit 12, a control unit 13, and a communication unit .

[0053] The communication unit 14 is connected to the abnormality communication line 41. The communication unit 14 receives the control abnormality notification transmitted from the abnormality communication line 41 and sends it to the control unit 13. When the control unit 13 receives the control abnormality notification, it controls the positions of the rotor 36 in the X-axis direction, the Y-axis direction, and the Z-axis direction based on the rotational position information and the radial position information.

[0054] The control unit 13 controls the position of the rotor 36 in the Z-axis direction by executing flux-weakening control or flux-strengthening control on the bearingless motor 30. The control unit 13 executes flux-weakening control and flux-strengthening control by controlling the magnitude of the current output to the radial force generating windings.

[0055] For example, when the Z-axis direction is vertical, if a control abnormality occurs that makes it impossible for the electric motor controller 20 to control the rotational position, the rotor 36 may fall off the stator 35. When the control unit 13 of the second embodiment receives a control abnormality notification, it controls the position of the rotor 36 in the Z-axis direction based on the rotational position information and the radial position information, thereby preventing the rotor 36 from falling off the stator 35. In this way, the bearingless motor control system 1B can prevent the rotor 36 from falling off by using a fail-safe mechanism.

[0056] Note that, when the Z-axis direction is the horizontal direction, the control unit 13 does not have to control the Z-axis direction position of the rotor 36. When the Z-axis direction is a direction other than the horizontal direction, upon receiving a control abnormality notification, the control unit 13 controls the Z-axis direction position of the rotor 36. However, even when the Z-axis direction is the horizontal direction, the control unit 13 may control the Z-axis direction position of the rotor 36.

[0057] In this way, if the motor controller 20 is no longer able 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.

[0058] Furthermore, when a control abnormality occurs that makes it impossible to control the radial position, the radial position controller 10B notifies the motor controller 20 of the abnormality via the abnormality communication line 41. In this case, the communication unit 14 of the radial position controller 10B transmits a control abnormality notification (second control abnormality notification) to the motor controller 20 via the abnormality communication line 41. When the motor controller 20 receives the abnormality from the radial position controller 10B, it performs control to stop the rotation. In other words, when the radial position controller 10B cannot control the radial position of the bearingless motor 30, the motor controller 20 performs control to stop the rotation of the rotor 36 immediately.

[0059] In this way, in the bearingless motor control device 2B, when the radial position controller 10B and the electric motor controller 20 detect a failure in their own device, they transmit a control abnormality notification to the other device.

[0060] Here, we will explain 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.

[0061] 8 is a flowchart showing a processing procedure of a first example of a process in which the radial position controller according to the second embodiment controls the radial position. The rotational position input unit 11 of the radial position controller 10B receives rotational position information from the rotational position sensor 31 (step S310). The radial position input unit 12 of the radial position controller 10B receives radial position information from the radial position sensor 32 (step S320). The control unit 13 of the radial position controller 10B controls the radial position of the bearingless motor 30 based on the rotational position information and the radial position information (step S330).

[0062] The control unit 13 determines whether or not a control abnormality notification has been received from the electric motor controller 20 (step S340). If a control abnormality notification has not been received (step S340, No), the radial position controller 10B repeats the processes of steps S310 to S330.

[0063] When a control abnormality notification is received (step S340, Yes), the control unit 13 of the radial 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).

[0064] Even when the control unit 13 of the radial position controller 10B receives a control abnormality notification from the electric motor controller 20, the control unit 13 continues the process of steps S310 to S330.

[0065] 9 is a flowchart showing a process procedure of a first example of a process in which the electric motor controller according to the second embodiment controls the rotational position. The electric motor controller 20 receives rotational position information from the rotational position sensor 31 (step S410). The electric motor controller 20 controls the rotational position of the bearingless motor 30 based on the rotational position information (step S420).

[0066] The electric motor controller 20 judges whether or not a control abnormality has been detected (step S430). If a control abnormality has not been detected (step S430, No), the electric motor controller 20 repeats the processes of steps S410 and S420.

[0067] When a control abnormality is detected (step S430, Yes), the electric motor controller 20 transmits a control abnormality notification to the radial position controller 10B (step S440).

[0068] Next, the processing when the radial position controller 10B detects a control abnormality and sends a control abnormality notification to the motor controller 20, and the processing when the motor controller 20 receives a control abnormality notification from the radial position controller 10B will be described.

[0069] 10 is a flowchart showing a processing procedure of a second example of a process for controlling the radial position by the radial position controller according to the embodiment 2. The radial position controller 10B executes the same processes as steps S310 to S330 described in FIG.

[0070] The radial position controller 10B executes the same processes as steps S430 and S440 executed by the electric motor controller 20 described in Fig. 9. That is, the control unit 13 of the radial position controller 10B judges whether or not a control abnormality is detected (step S360). If a control abnormality is not detected (step S360, No), the control unit 13 repeats the processes of steps S310 to S330.

[0071] When a control abnormality is detected (step S360, Yes), the communication unit 14 of the radial position controller 10B transmits a control abnormality notification to the electric motor controller 20 (step S370).

[0072] 11 is a flowchart showing a procedure of a second example of a process for controlling a rotational position by the electric motor controller according to the second embodiment. The electric motor controller 20 executes the same processes as steps S410 and S420 described in FIG.

[0073] The electric motor controller 20 judges whether or not a control abnormality notification has been received from the radial position controller 10B (step S450). If a control abnormality notification has not been received (step S450, No), the electric motor controller 20 repeats the processes of steps S410 and S420.

[0074] When a control abnormality notification is received (step S450, Yes), the electric motor controller 20 performs control to stop the rotation of the rotor 36 (step S460).

[0075] In this way, in the bearingless motor control system 1B, if the electric motor controller 20 cannot control the Z-axis position of the rotor 36, it sends a control abnormality notification to the radial position controller 10B. Upon receiving the control abnormality notification, the radial position controller 10B controls the Z-axis position of the rotor 36 so that the rotor 36 does not fall off the stator 35.

[0076] Furthermore, in the bearingless motor control system 1B, if the radial position controller 10B cannot control the positions of the rotor 36 in the X-axis and Y-axis directions, it sends a control abnormality notification to the motor controller 20. Upon receiving the control abnormality notification, the motor controller 20 performs control to stop the rotation of the rotor 36.

[0077] Thus, according to the second embodiment, the motor controller 20 transmits a control abnormality notification to the radial position controller 10B. Therefore, if a control abnormality occurs in the motor controller 20, the radial position controller 10B can control the position of the rotor 36 in the Z-axis direction, thereby achieving a fail-safe operation in which the rotor 36 does not fall off the stator 35.

[0078] In addition, since the radial position controller 10B transmits a control abnormality notification to the motor controller 20, if a control abnormality occurs in the radial position controller 10B, the motor controller 20 can control the rotor 36 to stop rotating, thereby achieving a fail-safe operation that prevents the rotor 36 from rotating in a state where the radial position cannot be controlled, and coming into contact with the stator 35 and causing damage.

[0079] Furthermore, in the case of 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. Furthermore, in the case of 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.

[0080] Next, the hardware configurations of the radial position controllers 10A, 10B and the electric motor controller 20 will be described. Since the radial position controllers 10A, 10B and the electric motor controller 20 have similar hardware configurations, the hardware configuration of the radial position controller 10B will be described here. The radial position controller 10B is realized by a processing circuit. The processing circuit may be a processor and memory that executes a program stored in a memory, or may be dedicated hardware.

[0081] FIG. 12 is a diagram showing an example of the configuration of a processing circuit in the radial position controller according to the second embodiment when the processing circuit is realized by a processor and a memory. The processing circuit 90 shown in FIG. 12 includes a processor 91 and a memory 92. When the processing circuit 90 includes the processor 91 and the memory 92, each function of the processing circuit 90 is realized by software, firmware, or a combination of software and firmware. The software or firmware is described as a control program and stored in the memory 92. In the processing circuit 90, each function is realized by the processor 91 reading and executing the control program stored in the memory 92. That is, the processing circuit 90 includes a memory 92 for storing a control program that results in the processing of the radial position controller 10B being executed. This control program can also be said to be a program for causing the radial position controllers 10A, 10B to execute each function realized by the processing circuit 90. This control program may be provided by a computer-readable recording medium on which the control program is recorded, or may be provided by other means such as a communication medium.

[0082] The control program can be said to be a program that causes the radial position controllers 10A and 10B to execute the processes of steps S110 to S130 in Fig. 4, the processes of steps S310 to S350 in Fig. 8, or the processes of steps S310 to S330, S360, and S370 in Fig. 10. Here, the processor 91 is, for example, a CPU (Central Processing Unit), a processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP (Digital Signal Processor). The memory 92 is, for example, a non-volatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), or an EEPROM (Electrically EPROM), a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc).

[0083] The control program (radial position control program) executed by radial position controller 10A or radial position controllers 10A, 10B and the control program (motor control program) executed by electric motor controller 20 may be created as a set of control programs (bearingless motor control program). In this case, the radial position control program of the bearingless motor control program is applied to radial position controller 10A or radial position controller 10B, and the electric motor control program is applied to electric motor controller 20.

[0084] FIG. 13 is a diagram showing an example of a processing circuit provided in the radial position controller according to the second embodiment, configured with dedicated hardware. The processing circuit 93 shown in FIG. 13 corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or a combination of these. The processing circuit 93 may be partially realized with dedicated hardware and partially realized with software or firmware. In this way, the processing circuit 93 can realize each of the above-mentioned functions by dedicated hardware, software, firmware, or a combination of these.

[0085] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or the embodiments may be combined with each other. Also, parts of the configurations may be omitted or modified without departing from the spirit of the invention. [Explanation of symbols]

[0086] 1A, 1B Bearingless motor control system, 2A, 2B Bearingless motor control device, 10A, 10B Radial position controller, 11 Rotational position input unit, 12 Radial position input unit, 13 Control unit, 14 Communication unit, 20 Motor controller, 30 Bearingless motor, 31 Rotational position sensor, 32 Radial position sensor, 35 Stator, 36 Rotor, 41 Fault communication line, 90, 93 Processing circuit, 91 Processor, 92 Memory, C1 Rotating shaft.

Claims

1. a motor controller that controls a rotational position of a rotor of the bearingless motor; A radial position controller for controlling a radial position of the rotor; Equipped with the electric motor controller receives rotational position information from a rotational position sensor that detects rotational position information, which is information on 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, receives the radial position information from a radial position sensor that detects radial position information that is information on 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; when the electric motor controller detects a failure that makes it impossible to control the rotational position of the rotor, the electric motor controller transmits a first control abnormality notification indicating a control abnormality to the radial position controller; the radial position controller, upon receiving the first control abnormality notification, controls an axial position of the rotation shaft of the rotor based on the rotation position information and the radial position information. A bearingless motor control device comprising:

2. The electric motor controller and the radial position controller each have an independent hardware configuration, and the radial position controller executes control independent of control executed by the electric motor controller.

2. The bearingless motor control device according to claim 1 .

3. when receiving the first control abnormality 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.

2. The bearingless motor control device according to claim 1 .

4. when the radial position controller detects a failure that makes it impossible to control the radial position, the radial position controller transmits a second control abnormality notification indicating a control abnormality to the electric motor controller; When the electric motor controller receives the second control abnormality notification, the electric motor controller controls a radial position of the rotor based on the rotational position information.

4. The bearingless motor control device according to claim 1, wherein the first and second electrodes are arranged in a first direction.

5. When the electric motor controller receives the second control abnormality notification, the electric motor controller performs control to stop the rotor.

5. The bearingless motor control device according to claim 4.

6. A bearingless motor; a motor controller for controlling a rotational position of a rotor of the bearingless motor; A radial position controller for controlling a radial position of the rotor; a rotational position sensor for detecting rotational position information, which is information on the rotational position of the rotor; a radial position sensor for detecting radial position information, which is information on the radial position of the rotor; Equipped with the motor controller receives the rotational position information from the rotational position sensor and controls a 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, receives the radial position information from the radial position sensor, and controls a radial position of the rotor based on the rotational position information and the radial position information; when the electric motor controller detects a failure that makes it impossible to control the rotational position of the rotor, the electric motor controller transmits a first control abnormality notification indicating a control abnormality to the radial position controller; the radial position controller, upon receiving the first control abnormality notification, controls an axial position of the rotation shaft of the rotor based on the rotation position information and the radial position information. A bearingless motor control system comprising:

7. a first receiving step of receiving rotational position information from a rotational position sensor that detects rotational position information, which is information on a rotational position of a rotor of a bearingless motor; a second receiving step of receiving radial position information from a radial position sensor that detects radial position information, the radial position information being information on the radial position of the rotor; a first control step of controlling a radial position of the rotor based on the rotational position information and the radial position information; a second control step of controlling an axial position of a rotation shaft of the rotor based on the rotational position information and the radial position information when a control abnormality notification is received from the motor controller, the control abnormality notification indicating that the motor controller has detected a fault that makes it impossible to control the rotational position of the rotor; A control program for causing a computer to execute the above.