KR20240138492A - Motor control apparatus - Google Patents

Abstract

A motor control device according to one embodiment of the present invention includes a sensing unit that measures motor monitoring data, and a control unit that accumulates in real time a first parameter including at least one of the values measured by the sensing unit and periodically accumulates a second parameter including at least another one of the values measured by the sensing unit, wherein the control unit controls the motor using a performance map derived from the first parameter and the second parameter.

Description

Motor control apparatus {Motor control apparatus}

The present invention relates to a motor control device, and more specifically, to a motor control device and a motor control system that control a motor using motor measurement parameters.

When controlling a motor, the life of the motor or motor controller may be shortened depending on the temperature of the motor. If the motor is controlled according to the existing control method even when the motor environment or deterioration due to motor operation is present, there is a problem that the life of the motor may be shortened.

A technology is needed to efficiently control a motor by exploiting factors that deteriorate the motor or motor controller.

Publication of Patent Publication No. 10-2011-0062238

The technical problem to be solved by the present invention is to provide a motor control device and a motor control system that control a motor using motor measurement parameters.

In order to solve the above technical problem, a motor control device according to an embodiment of the present invention includes a sensing unit which measures at least one of a voltage and current applied to a motor, a rotation angle, a rotation speed, a torque and an internal temperature of the motor, and an internal temperature of a control unit; and a control unit which accumulates in real time a first parameter including at least one of the values measured by the sensing unit, and periodically accumulates a second parameter including at least another one of the values measured by the sensing unit, wherein the control unit controls the motor using a performance map derived from the first parameter and the second parameter.

In addition, the first parameter includes an output power calculated from the voltage and current applied to the motor, and the control unit can take an absolute value of the calculated output power and accumulate it.

In addition, the first parameter includes a rotation angle of the motor, and the control unit can distinguish between positive and negative values of the rotation angle and accumulate them respectively.

In addition, if the value of the accumulated first parameter is greater than or equal to a reference value, the control unit can transmit the currently accumulated real-time accumulated data to a higher controller or cloud server and initialize the value of the first parameter.

Additionally, the control unit can transmit the real-time accumulated data via a CAN bus (BUS).

Additionally, the upper controller can transmit the received real-time accumulated data to the cloud server if the current operating condition of the motor is an operating condition that does not operate according to the current performance map.

In addition, the second parameter includes the rotation speed, torque, and internal temperature of the motor, and the internal temperature of the control unit, and the control unit can store the time-based accumulated data in the form of a map with some of the second parameters as an axis.

In addition, if the size of the regular time accumulated data is greater than or equal to a reference value, the control unit can transmit the current regular time accumulated data to a higher controller or cloud server and initialize the regular time accumulated data.

Additionally, the derived performance map can be selected from among a plurality of performance maps using the first parameter and the second parameter.

In addition, the performance map derived above may be a performance map derived by a cloud server receiving the first parameter and the second parameter analyzing the first parameter and the second parameter.

In addition, the cloud server can derive one or more motor operation patterns using the first and second parameters previously received, generate and store a performance map according to each motor operation pattern, and select one of the stored performance maps and transmit it to the control unit.

In order to solve the above technical problem, a motor control system according to one embodiment of the present invention includes: a motor control device that monitors and controls a motor; and a cloud server that receives motor monitoring data from the motor control device, derives a performance map according to the motor monitoring data, and transmits the performance map to the motor control device, wherein the motor control device accumulates a first parameter including a portion of the motor monitoring data in real time, and periodically accumulates a second parameter including another portion of the motor monitoring data.

In addition, the first parameter includes output power and a rotation angle of the motor calculated from the voltage and current applied to the motor, and the motor control device can accumulate the absolute value of the calculated output power and distinguish between positive and negative values of the rotation angle and accumulate them respectively.

In addition, the second parameter includes the rotation speed, torque and internal temperature of the motor, and the internal temperature of the motor control device, and the motor control device can store time-based accumulated data in the form of a map with some of the second parameters as an axis.

In addition, the motor control device can transmit the currently accumulated motor monitoring data to a higher controller or cloud server if the motor monitoring data is greater than or equal to a reference value.

In addition, the cloud server can derive one or more motor operation patterns using the motor monitoring data, generate and store a performance map according to each motor operation pattern, and select one of the stored performance maps and transmit it to the motor control device.

According to embodiments of the present invention, it is possible to perform optimal control of a motor using a performance map derived using parameters of a motor and a controller. Real-time output and rotary mechanical angle values are accumulated as parameters, but calculation is possible only with measured voltage and current without being affected by other various factors (temperature, driving speed, etc.), and eccentricity effects and mechanical friction loss can be considered by accumulating each bidirectional driving mechanical angle. In addition, by tabulating constant-time parameters and measuring changes of several seconds, user pattern analysis is possible. In addition, learning data according to continuous data accumulation can be reflected in the performance map, and an optimal performance map according to driving conditions for improving the life of the controller can be updated.

FIG. 1 is a block diagram of a motor control device according to one embodiment of the present invention.
FIGS. 2 to 10 are drawings for explaining the operation of a motor control device according to an embodiment of the present invention.
FIG. 11 is a block diagram of a motor control system according to one embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

However, the technical idea of the present invention is not limited to some of the embodiments described, but can be implemented in various different forms, and within the scope of the technical idea of the present invention, one or more of the components among the embodiments can be selectively combined or substituted for use.

In addition, terms (including technical and scientific terms) used in the embodiments of the present invention can be interpreted as having a meaning that can be generally understood by a person of ordinary skill in the technical field to which the present invention belongs, unless explicitly and specifically defined and described, and terms that are commonly used, such as terms defined in a dictionary, can be interpreted in consideration of the contextual meaning of the relevant technology.

Additionally, the terms used in the embodiments of the present invention are for the purpose of describing the embodiments and are not intended to limit the present invention.

In this specification, the singular may also include the plural unless specifically stated otherwise in the phrase, and when it is described as "A and/or at least one (or more) of B, C", it may include one or more of all combinations that can be combined with A, B, C.

In addition, when describing components of embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only intended to distinguish the components from other components, and are not intended to limit the nature, order, or sequence of the components.

And, when a component is described as being 'connected', 'coupled', or 'connected' to another component, it may include not only cases where the component is 'connected', 'coupled', or 'connected' directly to the other component, but also cases where the component is 'connected', 'coupled', or 'connected' by another component between the component and the other component.

In addition, when described as being formed or arranged "above" or "below" each component, "above" or "below" includes not only the case where the two components are in direct contact with each other, but also the case where one or more other components are formed or arranged between the two components. In addition, when expressed as "above" or "below", the meaning of the downward direction as well as the upward direction based on one component may be included.

A variation according to the present embodiment may include some of the configurations of each embodiment and some of the configurations of other embodiments. That is, a variation may include one embodiment among various embodiments, but some configurations may be omitted and some configurations of the corresponding other embodiment may be included. Or, it may be the opposite. The features, structures, effects, etc. to be described in the embodiments are included in at least one embodiment, and are not necessarily limited to only one embodiment. Furthermore, the features, structures, effects, etc. exemplified in each embodiment may be combined or modified and implemented in other embodiments by a person having ordinary knowledge in the field to which the embodiments belong. Therefore, the contents related to such combinations and modifications should be interpreted as being included in the scope of the embodiments.

FIG. 1 is a block diagram of a motor control device according to one embodiment of the present invention.

A motor control device (100) according to an embodiment of the present invention is composed of a sensing unit (120) and a control unit (110), and may include a communication unit (not shown) or a storage unit (not shown).

The sensing unit (120) measures monitoring information for the motor (210) or the motor control device (100). The sensing unit (120) can measure at least one of the voltage and current applied to the motor (210), the rotation angle, rotation speed, torque and internal temperature of the motor (210), and the internal temperature of the control unit (110).

The sensing unit (120) can measure the voltage and current of the power line that supplies power to the motor (210), and thus measure the voltage and current applied to the motor (210). In addition, the rotation angle and rotation speed of the motor (210) can be measured using a position sensor that senses the position of the rotor or mover of the motor (210), or the torque of the motor (210) can be measured. In addition, the temperature of the motor (210) can be measured using a temperature sensor mounted on the motor (210), and the temperature of the control unit (110) can be measured using a temperature sensor mounted inside or outside the control unit (110).

The control unit (110) controls the operation of the motor (210). The control unit (110) can control the operation of the motor (210) by controlling the voltage applied to the motor (210). The control unit (110) can include a plurality of switching elements, and can control the voltage applied to the motor (210) by controlling the duty according to the on/off of the plurality of switching elements. The control unit (110) can control the motor (210) by using a performance map. The performance map is data in the form of a map that includes a performance curve that limits performance with a motor monitoring factor as an axis, and the control unit (110) can control the motor (210) within a range according to the performance curve of the performance map. For example, the horizontal axis of the performance map is the rotation speed (rpm) of the motor (210), the vertical axis is the torque (Nm) of the motor (210), and the control unit (110) can control the motor (210) within a range below the performance curve.

The control unit (110) can optimally control the motor (210) using the monitoring information measured by the sensing unit (120).

The control unit (110) can accumulate in real time a first parameter including at least one of the values measured by the sensing unit (120) and periodically accumulate a second parameter including at least another one of the values measured by the sensing unit (120) in order to optimally control the motor (210) using the monitoring information measured by the sensing unit (120).

The control unit (110) can accumulate a first parameter that accumulates real-time changes and a second parameter that measures values according to a cycle. The first parameter can include output power or a rotation angle of the motor (210), and the second parameter can include a rotation speed, torque, internal temperature, and the internal temperature of the control unit (110) of the motor (210).

The first parameter may include output power calculated from the voltage and current applied to the motor (210), and the control unit (110) may accumulate the absolute value of the calculated output power. If the value of the accumulated first parameter is equal to or greater than a reference value, the control unit (110) may transmit the currently accumulated real-time accumulated data to the upper controller (220) or cloud server (230) and initialize the first parameter value. The control unit (110) may transmit the real-time accumulated data through a CAN bus (BUS). If a motor drive stop signal is received or reception of the motor drive signal is blocked, even if the value of the first parameter is equal to or less than a reference value, the currently accumulated real-time accumulated data may be transmitted to the upper controller (220) or cloud server (230).

The control unit (110) may include a switching element, and may measure the applied voltage and current, which are factors that may affect the life of the switching element, to calculate the output of the switching element during driving in real time. As the accumulated output power value increases, the usable range of the performance map may be limited, which may eventually result in not generating the maximum output. At this time, the control unit (110) may calculate the output power in units of several μsec from the voltage and current applied to the motor (210).

The control unit (110) can calculate and accumulate output power as shown in Fig. 2. The output power can be accumulated using the equation below.

P_newA = V_new x I_new

P_newB = |P_newA| + P_old

P_old = P_newB

The output power calculated according to the periodic function (task) can be expressed as the product of voltage and DC current according to the duty ratio of the DC-link voltage. The calculated output power can be accumulated by adding the previous value (P_old = V_old x I_old) and the current value (P_newA = V_new x I_new) when the next task returns. The measured voltage and current can have negative (-) values depending on the operating conditions, but the absolute values can be taken and added to accumulate the output power.

The output power is expressed in units of [W], and when the accumulated output value exceeds the preset reference value, the accumulated output power data is transmitted via the CAN BUS, and the output power value can be initialized.

The first parameter may include the rotation angle of the motor (210), and the control unit (110) may accumulate positive and negative values of the measured rotation angle by distinguishing them. If the value of the accumulated first parameter is equal to or greater than a reference value, the control unit (110) may transmit the currently accumulated real-time accumulated data to the upper controller (220) or cloud server (230) and initialize the first parameter value. The control unit (110) may transmit the real-time accumulated data through a CAN bus (BUS). If a motor drive stop signal is received or reception of the motor drive signal is blocked, the currently accumulated real-time accumulated data may be transmitted to the upper controller (220) or cloud server (230) even if the first parameter value is equal to or less than the reference value.

The life of the motor (210) may be reduced as it rotates more. Therefore, the rotation angle (mechanical angle) of the motor (210) that may affect the life of the motor (210) is measured, and the control unit (110) accumulates the rotation angle. As the accumulated rotation angle value increases, mechanical friction increases, which reduces the driving performance, and as the difference between the two-way accumulated angle values increases, it may affect eccentricity. At this time, the rotation angle may have a positive or negative value depending on the driving direction, and may be accumulated separately depending on the driving direction.

The control unit (110) can accumulate the rotation angle of the motor (210), as shown in FIG. 3.

The rotation angle can be accumulated using the following formula.

△θ_mech = θ_new_mech - θ_old_mech

θ_old_mech = θ_new_mech

if △θ_mech > 0, θ_sum_plus_new = θ_sum_plus_old + △θ_mech

if △θ_mech < 0, θ_sum_minus_new = θ_sum_minus_old + △θ_mech

The rotation angle is expressed in units of [deg], and when the accumulated angle value in each direction exceeds the reference value, the accumulated rotation angle can be transmitted as data via the CAN BUS and the rotation angle can be initialized.

The second parameter may include the rotation speed, torque, and internal temperature of the motor (210), and the internal temperature of the control unit (110), and the control unit (110) may store the constant-time accumulated data in the form of a map with some of the second parameters as an axis. The rotation speed of the motor (210) may be calculated using the rotation angle of the motor (210).

Parameters such as motor internal temperature [℃], controller internal temperature [℃], motor rotation speed [RPM], torque [Nm], etc. are factors that do not change much in a short period of time, and thus, even if measured at a longer cycle than the first parameter, a large error may not occur. The control unit (110) can measure or calculate the second parameter in units of several seconds.

The control unit (110) can store the second parameter in the form of a 2D or 3D table map in the storage unit, and if the stored data capacity is greater than or equal to a reference value, transmit the data to the CAN BUS and initialize it. As shown in FIG. 4, the control unit (110) can store the temperature of the motor and the controller for each measurement point based on the current performance map. In FIG. 4, the horizontal axis A may represent the rotation speed of the motor (210), and the vertical axis B may represent the torque of the motor (210). The line on the graph map represents a performance curve, and multiple points may represent measurement points, and the temperature of the motor and the temperature of the controller may be stored for each measurement point. The second parameter may be stored for each measurement point, and if the data capacity is greater than or equal to a reference value, the data may be transmitted to the CAN BUS and initialized. When a motor drive stop signal is received or reception of the motor drive signal is blocked, even if the second parameter value is less than or equal to the reference value, the currently accumulated real-time accumulated data may be transmitted to the upper controller (220) or the cloud server (230).

At this time, as shown in Fig. 5, various motor driving pattern controls can be performed to measure the temperature for each measurement point. The measurement points can be controlled to be arranged at equal intervals within the performance curve, can be controlled to be arranged randomly, or can be controlled to be concentrated in a specific location. Alternatively, they can be controlled to deviate from the performance curve. This can vary depending on the driving pattern of the user controlling the motor (210), and parameter data according to various driving patterns of the user can be measured and stored.

The control unit (110) can control the motor (210) using a performance map derived from the first parameter and the second parameter. The current state of the motor (210) or the control unit (110) can be analyzed through the first parameter and the second parameter, a performance map for optimal control according to the current state can be derived, and the motor (210) can be controlled according to the derived performance map.

The performance map can be generated as a matrix combination of additional electric angles (θ_alpha) that compensate for the electric angle (θ_elec) according to the number of poles of the motor rotor. When voltage is applied to the motor (210), the induced voltage must be synchronized with the feedback current output from the motor (210) to obtain optimal efficiency. However, as shown in FIG. 6, a phase difference between the induced voltage (610) and the feedback current (620) may occur due to the influence of phase inductance according to changes in the external environmental temperature, and a situation may occur in which the two values are not synchronized. In order to synchronize these two values, the electric angle of the rotor must be compensated. Through this, the two values (610, 620) become in phase, so that the maximum output can be derived in the maximum output section (630).

At this time, if external environmental factors are not reflected or other performance maps that are not suitable for the situation are continuously applied, the efficiency of the motor (210) may be reduced. A situation in which the efficiency of the motor (210) is reduced may cause continuous stress to the motor (210), which may be linked to the lifespan, resulting in a problem of shortened lifespan. As shown in Fig. 7, if a suitable performance map (710) is used, the motor (210) can be efficiently controlled throughout the entire area under the performance curve for each situation, but if an unsuitable performance map (720, 730) is used, even in the area under the performance curve, an area that is not applied to the performance map and cannot be driven may occur, making it impossible to efficiently control the motor (210).

The horizontal axis of the performance map may be the rotation speed [RPM] calculated using the rotation angle of the measured motor (210), and the vertical axis may be the torque [Nm] of the motor (210). As explained above, for efficient control, the electrical angle must be compensated as follows.

θ_elec' = θ_elec + θ_alpha

The performance map is composed of an additional electric angle θ_alpha as an a x b (a: number of rows, b: number of columns) matrix, and can be stored as an array. At this time, θ_alpha for values between the intervals of each axis can be calculated and applied by performing interpolation on the measured θ_alpha. As shown in Fig. 8, θ_alpha3 (830) can be calculated through interpolation of θ_alpha1 (810) and θ_alpha2 (820) using the equation below.

θ_alpha3 = interp (θ_alpha1, θ_alpha2)

By applying θ_elec' compensated using θ_alpha of the performance map, voltage can be applied to the motor (210), thereby controlling the motor (210) with optimal efficiency.

At this time, one or more motor operation patterns may be derived using the first and second parameters previously received, and a performance map according to each motor operation pattern may be generated and stored. A performance map for a specific motor operation pattern may be generated and stored by reflecting the influence of real-time accumulated data for the first parameter and fixed-time accumulated data for the second parameter. At this time, the performance map according to the motor operation pattern may be derived through artificial intelligence training. At this time, the artificial intelligence training may be performed using a temperature value when a specific motor operation pattern is operated and an electrical angle correction value at the specific motor operation pattern and temperature as a training set. The control unit (110) may recognize the user's pattern driving the corresponding motor through a database storing the accumulated first and second parameter values, and learning thereof may be continuously performed, thereby generating a new performance map. The control unit (110), the upper controller (220), or the cloud server (230) may store a plurality of performance maps generated through such artificial intelligence learning.

The control unit (110) can control the motor (210) using a performance map selected from among a plurality of performance maps according to the first parameter and the second parameter currently being measured. Since analyzing monitoring data, performing artificial intelligence learning to generate a performance map, and selecting a performance map requires a lot of resources, the function is performed in a cloud server (230), and the generated plurality of performance maps can be stored in the cloud server (230).

The upper controller (220) can receive and store real-time cumulative data and fixed-time cumulative data from the control unit (110), and transmit them to the cloud server (230). At this time, if the current operating condition of the motor (210) is an operating condition that includes an area that does not operate with the current performance map, the upper controller (220) can transmit the real-time cumulative data and fixed-time cumulative data to the cloud server (230). In addition, if the upper controller (220) determines that the performance map needs to be changed, the upper controller (220) can transmit a signal to the cloud server (230) to transmit the performance map to the control unit.

The cloud server (230) can receive the first parameter and the second parameter, select a performance map according to the first parameter and the second parameter from among the stored performance maps, and transmit the performance map to the control unit (110). The control unit (110) and the upper controller (220) of the motor control device (100) can transmit and receive data through a hardware bus line via a CAN bus (240), as shown in FIG. 9, and the cloud server (230) can transmit and receive data through wireless communication or wired communication. At this time, the motor control device (100) according to the embodiment of the present invention can be mounted on a vehicle, and the CAN bus can be a CAN bus of the vehicle.

The control unit (110) controls the motor (210) by controlling the voltage, and can control the motor (210) through the process of FIG. 10. When a voltage command for applying voltage to the motor (210) is input, the voltage is input through voltage control, and the electrical angle can be compensated using the performance map to apply the optimal voltage to the motor (210). The voltage and current applied to the motor (210) can be measured, the rotational angle of the motor (210) can be measured to calculate the rotational speed, and the temperature of the motor (210) or the control unit (110) can be measured. In this way, the measured parameters can be accumulated in real time or can be accumulated at a fixed time for each cycle. When the accumulated value is greater than or equal to a reference value, it can be transmitted to the upper controller (220) through the CAN bus or to the cloud server (230). When conditions for changing the performance map are met, the accumulated parameter data can be transmitted to the cloud server (230) according to the command of the upper controller (220). The cloud server (230) can analyze the accumulated parameter data and select a performance map accordingly. Or, the cloud server can generate and store a performance map for each motor driving pattern corresponding to the accumulated parameter. For example, there can be an undriveable area for each of the general condition, the bad condition, and the extremely bad condition, and the performance map can vary accordingly. In this way, the cloud server (230) can transmit a performance map suitable for the currently received parameter data among the performance maps stored for each condition to the motor control device (100), thereby enabling optimal motor control.

The operation of the control unit (110) of the motor control device (100) according to an embodiment of the present invention may be implemented as software through one or more processors. The processor may include a command for accumulating in real time a first parameter including at least one of values measured by a sensing unit that measures at least one of voltage and current applied to the motor, rotation angle, rotation speed, torque and internal temperature of the motor, and internal temperature of the control unit, periodically accumulating a second parameter including at least another of the values measured by the sensing unit, and controlling the motor using a performance map derived from the first parameter and the second parameter.

A motor control method according to an embodiment of the present invention may include steps corresponding to process-specific operations of a sensing unit (120) and a control unit (110) of a motor control device (100) according to an embodiment of the present invention.

A motor control system (1000) according to an embodiment of the present invention is composed of a motor control device (1100) and a cloud server (1200), and may include an upper controller.

A detailed description of each component of the motor control system (1000) according to an embodiment of the present invention corresponds to the detailed description of the components of the motor control device (100) and the cloud server (230) of FIGS. 1 to 10, and thus any duplicate description will be omitted or briefly described below.

A motor control device (1100) monitors and controls a motor (2100). The motor control device (1100) accumulates a first parameter including a portion of the motor monitoring data in real time, and periodically accumulates a second parameter including another portion of the motor monitoring data.

The first parameter includes the output power calculated from the voltage and current applied to the motor (210) and the rotation angle of the motor, and the motor control device (1100) can accumulate the absolute value of the calculated output power and distinguish between positive and negative values of the rotation angle and accumulate them respectively.

The second parameter includes the rotation speed, torque, and internal temperature of the motor (210), and the internal temperature of the control unit, and the motor control device (1100) can store constant-time accumulated data in the form of a map with some of the second parameters as an axis.

If the motor monitoring data is greater than or equal to a reference value, the motor control device (1100) can transmit the currently accumulated motor monitoring data to a higher controller or cloud server (1200).

The cloud server (1200) receives motor monitoring data from the motor control device (1100), derives a performance map according to the motor monitoring data, and transmits the map to the motor control device (1100). The cloud server (1200) derives one or more motor operation patterns using the motor monitoring data, creates and stores a performance map according to each motor operation pattern, and selects one of the stored performance maps and transmits the map to the motor control device (1100).

The features, structures, effects, etc. described in the embodiments above are included in at least one embodiment, and are not necessarily limited to one embodiment. Furthermore, the features, structures, effects, etc. exemplified in each embodiment can be combined or modified and implemented in other embodiments by a person having ordinary knowledge in the field to which the embodiments belong. Therefore, the contents related to such combinations and modifications should be interpreted as being included in the scope of the embodiments.

Those skilled in the art related to the present embodiment will understand that the above-described description can be implemented in a modified form without departing from the essential characteristics thereof. Therefore, the disclosed methods should be considered from an illustrative rather than a restrictive perspective. The scope of the present invention is indicated by the claims, not the above description, and all differences within the scope equivalent thereto should be interpreted as being included in the present invention.

Claims (16)

A sensing unit that measures at least one of the voltage and current applied to the motor, the rotation angle, rotation speed, torque and internal temperature of the motor, and the internal temperature of the control unit; and
A control unit for accumulating in real time a first parameter including at least one of the values measured by the sensing unit, and periodically accumulating a second parameter including at least another one of the values measured by the sensing unit,
The above control unit,
A motor control device that controls a motor using a performance map derived from the first parameter and the second parameter. In the first paragraph,
The above first parameter is,
Includes output power calculated from the voltage and current applied to the above motor,
The above control unit,
A motor control device that takes the absolute value of the output power produced above and accumulates it. In the first paragraph,
The above first parameter is,
Including the rotation angle of the above motor,
The above control unit,
A motor control device that distinguishes between positive and negative values of the above rotation angle and accumulates them respectively. In the first paragraph,
The above control unit,
A motor control device that transmits the currently accumulated real-time accumulated data to a higher controller or cloud server and initializes the first parameter value when the value of the accumulated first parameter is greater than or equal to a reference value. In paragraph 4,
The above control unit,
A motor control device that transmits the above real-time accumulated data via a CAN bus (BUS). In paragraph 4,
The above upper controller,
A motor control device that transmits the real-time accumulated data to the cloud server when the current operating condition of the motor is an operating condition that does not operate according to the current performance map. In the first paragraph,
The second parameter above is,
Including the rotation speed, torque and internal temperature of the above motor, and the internal temperature of the control unit,
The above control unit,
A motor control device that stores time-based accumulated data in the form of a map with some of the above second parameters as an axis. In Article 7,
The above control unit,
A motor control device that transmits the current regular time accumulated data to a higher controller or cloud server and initializes the regular time accumulated data when the size of the above regular time accumulated data is greater than a reference value. In the first paragraph,
The performance map derived above is,
A motor control device for selecting one of a plurality of performance maps using the first parameter and the second parameter. In the first paragraph,
The performance map derived above is,
A motor control device, wherein a cloud server receiving the first parameter and the second parameter analyzes the first parameter and the second parameter to derive a performance map. In Article 10,
The above cloud server,
Using the first and second parameters previously received, one or more motor operation patterns are derived, and a performance map according to each motor operation pattern is generated and stored.
A motor control device for selecting one of the stored performance maps and transmitting it to the control unit. A motor control device for monitoring and controlling the motor; and
A cloud server is included that receives motor monitoring data from the motor control device, derives a performance map based on the motor monitoring data, and transmits the same to the motor control device.
The above motor control device,
A motor control system that accumulates in real time a first parameter including some of the above motor monitoring data, and periodically accumulates a second parameter including another part of the above motor monitoring data. In Article 12,
The above first parameter is,
Including the output power calculated from the voltage and current applied to the above motor and the rotation angle of the above motor,
The above motor control device,
A motor control system that takes the absolute value of the output power produced above and accumulates it, and distinguishes between positive and negative values of the rotation angle and accumulates them respectively. In Article 12,
The second parameter above is,
Including the rotation speed, torque and internal temperature of the above motor, and the internal temperature of the motor control device,
The above motor control device,
A motor control system that stores time-based accumulated data in the form of a map with some of the above second parameters as an axis. In Article 12,
The above motor control device,
A motor control system that transmits currently accumulated motor monitoring data to a higher controller or the cloud server when the above motor monitoring data is greater than a reference value. In Article 12,
The above cloud server,
Using the above motor monitoring data, one or more motor operation patterns are derived, and a performance map according to each motor operation pattern is created and stored.
A motor control system for selecting one of the stored performance maps and transmitting it to the motor control device.