A method of driving an alternating-current (AC) motor while periodically obtaining a rotator angle of the AC motor. The method includes: (a) driving the AC motor by a dS-axis voltage, which is a voltage for an exciting current in a stationary reference frame, and a qS-axis voltage, which is a voltag
A method of driving an alternating-current (AC) motor while periodically obtaining a rotator angle of the AC motor. The method includes: (a) driving the AC motor by a dS-axis voltage, which is a voltage for an exciting current in a stationary reference frame, and a qS-axis voltage, which is a voltage for generating a rotational force in the stationary reference frame, while sequentially applying different dS-axis voltages and different qS-axis voltages to the AC motor in a control injection period; and (b) obtaining a rotator angle by a dS-axis voltage value, a qS-axis voltage value, a dS-axis current value, and a qS-axis current value in the control injection period.
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1. A method of driving an alternating-current (AC) motor, the method comprising: (a) driving the AC motor by a dS-axis voltage, which is a voltage for an exciting current in a stationary reference frame, and a qS-axis voltage, which is a voltage for generating a rotational force in the stationary re
1. A method of driving an alternating-current (AC) motor, the method comprising: (a) driving the AC motor by a dS-axis voltage, which is a voltage for an exciting current in a stationary reference frame, and a qS-axis voltage, which is a voltage for generating a rotational force in the stationary reference frame, while applying different dS-axis voltages and different qS-axis voltages to the AC motor in a control injection period; and(b) obtaining a rotator angle by a dS-axis voltage value, a qS-axis voltage value, a dS-axis current value, and a qS-axis current value in the control injection period,wherein operation (b) comprises:(b1) obtaining difference values between current variations corresponding to the applied voltages and difference values between the applied voltages; and(b2) obtaining the rotator angle in the control injection period by using a matrix equation according to an inductance matrix of the AC motor, a voltage matrix including the voltage difference values, and a current matrix including the current variation difference values,wherein, in operation (a), the AC motor is driven by the dS-axis voltage and the qS-axis voltage, wherein a first ds-axis voltage vsds1 and a first qs-axis voltage vsqs1 are applied in a first unit period of the control injection period, a second ds-axis voltage vsds2 and a second qs-axis voltage vsqs2 are applied in a second unit period of the control injection period, and a third ds-axis voltage vsds3 and a third qs-axis voltage vsqs3 are applied in a third unit period of the control injection period,wherein, in the control injection period of operation (b1), a difference value vsds32 between the third ds-axis voltage vsds3 and the second ds-axis voltage vsds2, a difference value vsds21 between the second ds-axis voltage vsds2 and the first ds-axis voltage vsds1, a difference value vsqs32 between the third qs-axis voltage vsqs3 and the second qs-axis voltage vsqs1, a difference value vsqs21 between the second qs-axis voltage vsqs2 and the first qs-axis voltage vsqs1, a difference value Δisds32 between a ds-axis current variation Δisds3 in the third unit period and a ds-axis current variation Δisds2 in the second unit period, a difference value Δisds21 between the ds-axis current variation Δisds2 in the second unit period and a ds-axis current variation Δisds3 in the first unit period, a difference value Δisqs32 between a qs-axis current variation Δisqs3 in the third unit period and a qs-axis current variation Δisqs2 in the second unit period, and a difference value Δisqs21 between the qs-axis current variation Δisqs2 in the second unit period and a qs-axis current variation Δisqs1 in the first unit period are obtained, andwherein operation (b2) comprises:(b2-1) obtaining 4 matrix variables L11, L12, L21, and L22 of an inductance matrix LS by using a matrix equation according to the inductance matrix LS including the 4 matrix variables L11, L12, L21, and L22, a voltage matrix including the 4 voltage difference values vsds32, vsds21, vsqs32, vsqs21, and a current matrix including the 4 current variation difference values Δisds32, Δisds21, Δisqs32, and Δisqs21; and(b2-2) obtaining a rotator angle in a current control injection period by using the 4 matrix variables L11, L12, L21, and L22. 2. An apparatus for driving an alternating-current (AC) motor, the apparatus comprising: a controller; anda driver which drives the AC motor according to voltages applied from the controller,wherein the controller comprises:a driving controller which drives the AC motor by a dS-axis voltage, which is a voltage for an exciting current in a stationary reference frame, and a qS-axis voltage, which is a voltage for generating a rotational force in the stationary reference frame, while sequentially applying different dS-axis voltages and different qS-axis voltages to the AC motor in a control injection period; anda rotator location detector which obtains a rotator angle by a dS-axis voltage value, a qS-axis voltage value, a dS-axis current value, and a qS-axis current value in the control injection period,wherein the rotator location detector obtains difference values between current variations corresponding to the applied voltages and difference values between the applied voltages and obtains the rotator angle in the control injection period by using a matrix equation according to an inductance matrix of the AC motor, a voltage matrix including the voltage difference values, and a current matrix including the current variation difference values,wherein a rotator of the AC motor rotates by applying a three-phase AC voltage to a stator of the AC motor, andwherein the driver comprises:a driving voltage transformer for transforming the applied voltages vsdqs, which are the ds-axis voltage vsds and the qs-axis voltage vsqs from the controller to a three-phase AC voltage; anda Pulse Width Modulator (PWM) for applying the three-phase AC voltage from the driving voltage transformer to the stator of the AC motor via pulse width modulation,wherein the driving controller comprises:a first feedback current transformer for obtaining the ds- and qs-axes driving currents isdqs in the stationary reference frame by detecting a three-phase driving current flowing through the stator of the AC motor;a second feedback current transformer for transforming the ds- and qs-axes driving currents isdqs in the stationary reference frame, which are input from the first feedback current transformer, to ds- and qs-axes driving currents irdqs in a synchronous reference frame according to an input rotator angle θ^r;a current subtractor for generating error currents, which are difference values between ds-and qs-axes target currents ir*dqs in the synchronous reference frame and the ds- and qs-axes driving currents irdqs input from the second feedback current transformer;a proportional-integral controller for obtaining ds- and qs-axes feedback control voltages vrdqsfb in the synchronous reference frame by performing a proportional-integral control of the error currents input from the current subtractor;a forward control voltage generator for generating ds- and qs-axes forward control voltages vrdqsff in the synchronous reference frame, which conforms to unique characteristics of the AC motor;a first voltage adder for generating ds- and qs-axes control voltages vrdqsf obtained by adding the ds- and qs-axes feedback control voltages vrdqsfb input from the proportional-integral controller to the ds- and qs-axes forward control voltages vrdqsff input from the forward control voltage generator;a control voltage transformer for transforming the ds- and qs-axes control voltages vrdqsf in the synchronous reference frame, which are input from the first voltage adder, to ds- and qs-axes control voltages vsdqsf in the stationary reference frame according to the input rotator angle θ^r,an injection voltage generator for generating additional ds- and qs-axes injection voltages vsdqsi used to sequentially generate different ds-axis voltages and different qs-axis voltages from the applied voltages vsdqs in the control injection period; anda second voltage adder for providing the applied voltages vsdqs obtained by adding the ds- and qs-axes control voltages vsdqsf in the stationary reference frame, which are input from the control voltage transformer, to the ds- and qs-axes injection voltages vsdqsi in the stationary reference frame, which are input from the injection voltage generator, to the driving voltage transformer of the driver,wherein the second voltage adder outputs a first ds-axis voltage vsds1 and a first qs-axis voltage vsqs1 in a first unit period of the control injection period, a second ds-axis voltage vsds2 and a second qs-axis voltage vsqs2 in a second unit period of the control injection period, and a third ds-axis voltage vsds3 and a third qs-axis voltage vsqs3 in a third unit period of the control injection period, andwherein the rotator location detector comprises a signal processor for obtaining, in the control injection period, a difference value vsds32 between the third ds-axis voltage vsds3 and the second ds-axis voltage vsds2, a difference value vsds21 between the second ds-axis voltage vsds2 and the first ds-axis voltage vsds1, a difference value vsqs32 between the third qs-axis voltage vsqs3 and the second qs-axis voltage vsqs2, a difference value vsqs21 between the second qs-axis voltage vsqs2 and the first qs-axis voltage vsqs1, a difference value Δisds32 between a ds-axis current variation Δisds3 in the third unit period and a ds-axis current variation Δisds2 in the second unit period, a difference value Δisds21 between the ds-axis current variation Δisds2 in the second unit period and a ds-axis current variation Δisds1 in the first unit period, a difference value Δisqs32 between a qs-axis current variation Δisqs3 in the third unit period and a qs-axis current variation Δisqs2 in the second unit period, and a difference value Δisqs21 between the qs-axis current variation Δisqs2 in the second unit period and a qs-axis current variation Δisqs1 in the first unit period and obtaining 4 matrix variables L11, L12, L21, and L22 of an inductance matrix Ls by using a matrix equation according to the inductance matrix LS including the 4 matrix variables L11, L12, L21, and L22, a voltage matrix including the 4 voltage difference values vsds32, vsds2l, vsqs32, vsqs21, and a current matrix including the 4 current variation difference values Δisds32, Δisds21, Δisqs32, and Δisqs21. 3. The apparatus of claim 2, wherein the rotator location detector further comprises: a rotator angle calculator for calculating a rotator angle θ^rCal in a current control injection period by using the 4 matrix variables L11, L12, L21, and L22; anda filter unit for finally obtaining a rotator angle θ^r by canceling a signal noise component from the rotator angle θ^rCal input from the rotator angle calculator and providing the finally obtained rotator angle θ^r to the second feedback current transformer and the control voltage transformer in the driving controller. 4. The apparatus of claim 3, wherein the signal processor comprises: a voltage matrix generator for obtaining the voltage matrix including the 4 voltage difference values vsds32, vsds21, vsqs32, vsqs21 in the control injection period by receiving the applied voltages vsdqs from the second voltage adder in the driving controller and calculating the difference value vsds32 between the third ds-axis voltage vsds3 and the second ds-axis voltage vsds2, the difference value vsds21 between the second ds-axis voltage vsds2 and the first ds-axis voltage vsds1, the difference value vsqs32 between the third qs-axis voltage vsqs3 and the second qs-axis voltage vsqs2, and the difference value vsqs21 between the second qs-axis voltage vsqs2 and the first qs-axis voltage vsqs1;a current matrix generator for obtaining the current matrix including the 4 current variation difference values Δisds32, Δisds21, Δisqs32, and Δisqs21 in the control injection period by receiving the ds- and qs-axes driving currents isdqs from the first feedback current transformer in the driving controller and calculating the difference value Δisds32 between the ds-axis current variation Δisds3 in the third unit period and the ds-axis current variation Δisds2 in the second unit period, the difference value Δisds21 between the ds-axis current variation Δisds2 in the second unit period and the ds-axis current variation Δisds1 in the first unit period, the difference value Δisqs32 between the qs-axis current variation Δisqs3 in the third unit period and the qs-axis current variation Δisqs2 in the second unit period, and the difference value Δisqs21 between the qs-axis current variation Δisqs2 in the second unit period and the qs-axis current variation Δisqs1 in the first unit period;a current matrix transformer for obtaining an inverse matrix of the current matrix input from the current matrix generator; anda variable value calculator for obtaining the 4 matrix variables L11, L12, L21, and L22 of the inductance matrix LS by using a matrix equation according to the inductance matrix LS including the 4 matrix variables L11, L12, L21, and L22, the voltage matrix input from the voltage matrix generator, and the current inverse-matrix input from the current matrix transformer.
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이 특허에 인용된 특허 (11)
Iwaji, Yoshitaka; Endo, Tsunehiro; Fujii, Hiroshi; Ando, Tatsuo, Driving system of AC motor.
Naidu Malakondaiah (Utica MI) Bose Bimal K. (Knoxville TN), Rotor position estimation of a permanent magnet synchronous-machine for high performance drive.
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