JP2010035352A - Device for estimating rotor position of synchronous electric motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a device for estimating the rotor position of a synchronous electric motor, capable of highly accurately estimating the rotor position by comparatively simple calculation processing without using a position sensor when the motor stops and in a low-speed operation area. <P>SOLUTION: The position estimating device includes: a position estimation error acquiring section 14 for calculating a current estimation deviation Δi<SB>γδ</SB>as a deviation between an estimation current i<SB>γδ</SB>_M calculated by applying a command voltage v<SB>γδ</SB>_c2 including a voltage component for detection whose magnitude changes depending on time elapse to a current equation of a motor 40, and an actual current i<SB>γδ</SB>when a voltage corresponding to the command voltage v<SB>γδ</SB>_c2 is applied to the motor 40, and obtaining a positional estimation error Δθ<SB>e</SB>as a deviation between an actual value of the rotor position and an estimation value on the basis of the current estimation deviation Δi<SB>γδ</SB>; and a rotor position estimating section 15 for updating the rotor position estimation value θ<SB>e</SB>of the motor 40 and the angle speed estimation value ω<SB>e</SB>_e so as to solve the position estimation error Δθ<SB>e</SB>. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a rotor position estimation device for a synchronous motor that estimates a rotor position without using a position sensor.

  In a synchronous motor such as a permanent magnet synchronous motor (PMSM) using a permanent magnet as a rotor, the energization of the stator is controlled based on the position information of the rotor. The position sensor for detecting the magnetic pole position) is used.

  However, in order to detect the rotor position using a position sensor such as a resolver, a processing circuit for the detection signal is required in addition to the position sensor, and furthermore, the position sensor must be attached and adjusted. There is a disadvantage that the cost of the electric motor becomes high.

  Therefore, a method for estimating the rotor position at the time of stop and low speed rotation using the saliency of inductance is proposed for a synchronous motor including a rotor having a saliency such as IPMSM (Interior Permanent Magnet Synchronous Motor). (For example, refer to Patent Document 1 and Non-Patent Document 1).

In the rotor position estimation method described in Patent Document 1, in a synchronous motor control system using so-called vector control, a phase current when a sinusoidal alternating voltage is applied to a d-axis armature is detected and detected. The phase current is separated into a d-axis current I _dc and a q-axis current I _qc by the dq-axis phase angle θ ₀ . Then, based on I _dc and I _qc , the position deviation between the actual value and the estimated value of the rotor position is calculated to obtain the estimated value of the rotor position.

  However, in the rotor position estimation method described in Patent Document 1, it is necessary to detect a current having the same frequency component as that of the detection alternating voltage by BPF (Band Pass Filter) or Fourier integration with respect to the detected phase current. is there.

  The frequency of the detection voltage must be several times higher than the output frequency of the motor drive voltage and must be a fraction of the frequency of the superimposed carrier wave. Therefore, the frequency of the detection voltage is limited to a range of about several hundred Hz to several kHz. Due to the limitation of the frequency of the superimposed voltage and the characteristics of the BPF, there is a limit to increasing the response of the control system.

  In the rotor position estimation method described in Non-Patent Document 1, a current estimation error is detected by superimposing a pulse voltage on the control voltage of the synchronous motor, and the actual rotor position is detected based on the pulse voltage and the current estimation error. A position deviation between the value and the estimated value is calculated to obtain an estimated value of the rotor position.

However, in the position sensorless control method described in Non-Patent Document 1, the application of the pulse voltage is limited to the d-axis, and the voltage drop component due to resistance is ignored, so the estimation accuracy of the rotor position is low. There is a risk.
JP 7-245981 A Takaharu Takeshita and 2 others, “Sensorless salient pole type PM synchronous motor control in all speed range”, The Institute of Electrical Engineers of Japan, 2000, Electrotechnical D, Vol. 120, No. 2, p. 240-247

  SUMMARY OF THE INVENTION The present invention has been made in view of the above background, and a rotor of a synchronous motor that can accurately estimate the rotor position by a relatively simple calculation process without using a position sensor at the time of stop and low-speed rotation. An object is to provide a position estimation device.

  The present invention has been made in order to achieve the above object, and relates to a rotor position estimation device that estimates the rotor position of a synchronous motor including a rotor having saliency.

  And a voltage applying means for applying a voltage to the stator coil of the electric motor, a current detecting means for detecting a current flowing through the stator coil of the electric motor, a voltage between terminals of the stator coil of the electric motor, and a current flowing through the stator coil. The first current value of the stator coil calculated by applying a command voltage including a detection voltage component whose magnitude changes over time to the model equation of the motor expressing the relationship based on the rotor position And a second current value detected by the current detection means when a voltage corresponding to the estimated value of the rotor position of the motor and the command voltage is applied to the stator coil of the motor. Based on the current estimation deviation, a current estimation deviation calculating means for calculating a current estimation deviation and calculating a position estimation error which is a difference between the actual value and the estimated value of the rotor position Position estimation error calculation means, and rotor position estimation means for updating the estimated value of the rotor position of the electric motor so as to eliminate the position estimation error calculated by the position estimation error calculation means. To do.

  According to the present invention, the first current value corresponds to the command voltage and the actual value of the rotor position of the motor. On the other hand, the second current value corresponds to the estimated value of the command voltage and the rotor position of the electric motor. Therefore, the current estimated deviation calculated as the difference between the first current value and the second current value by the current estimated deviation calculating means is a deviation between the actual value of the rotor position of the motor and the estimated value. It includes information on the position estimation error.

  Therefore, the position estimation error estimation means can obtain a position estimation error based on the current estimation deviation calculated by the current estimation deviation calculation means. In this case, although the details will be described later, the current estimation deviation is determined by a simple calculation process using a model equation of the motor including a resistance component without being restricted by the application direction of the detection voltage. The position estimation error can be obtained directly from Therefore, the rotor position estimation means can accurately estimate the rotor position by updating the estimated value of the rotor position so as to eliminate the position estimation error.

  Further, the rotor position estimating means updates the estimated value of the rotor position of the electric motor by reducing the position estimation error obtained by the position estimation error estimating means by a PLL (Phase Locked Loop). To do.

  According to the present invention, it is possible to estimate the rotor position while reducing the influence of noise by reducing the position estimation error by PLL control.

  Further, the motor is converted into an equivalent circuit having a d-axis that is a magnetic flux direction of the rotor of the motor and a q-axis that is orthogonal to the d-axis, and a γ-axis and a γ-axis that are out of phase with respect to the d-axis Treated as a model of an estimated rotational coordinate system composed of orthogonal δ axes, the current estimation deviation calculating means uses the following equation (5) as a model equation of the electric motor, and uses the command voltage in the following equation (5). Applying and calculating said 1st electric current value, It is characterized by the above-mentioned.

Where i _γδ [n] = (i _γ [n], i _δ [n]) ^T (i _γ [n]: estimated γ-axis current value in the nth control cycle, i _δ [n]: control cycle n Estimated δ-axis current value), I: 2 × 2 unit matrix, R: resistance, Ts: control period, v _γδ [n−1] = (v _γ [n−1], v _δ [n−1] ]) ^T (v _γ [n-1]: γ-axis voltage in the (n-1) th control cycle, v _δ [n-1]: _δ- axis voltage in the (n-1) th control cycle), i _γδ [n- 1] = (i _γ [n-1], i _δ [n-1]) ^T (i _γ [n-1]: real γ-axis current in the (n-1) th control period, i _δ [n-1] : Real δ-axis current in the (n-1) th control cycle), L _d : d-axis inductance, L _q : q-axis inductance.

According to the present invention, by applying the command voltage to v _γδ [n-1] in the above formula (5), a current value when a voltage corresponding to the command voltage is applied to the stator coil of the motor. Can be obtained from i _γδ [n] in the above equation (5).

  Further, the position estimation error calculating means is configured to calculate a first rotor position reference value calculated by the following equations (7) and (8) in the estimated rotational coordinate system based on the command voltage and the current estimated deviation: The position estimation error is calculated based on at least one of the second rotor position reference values.

Where A: first rotor position reference value, B: second rotor position reference value, v _γ [n−1]: command γ-axis voltage in the (n−1) th control cycle, v _δ [n−1]: n -Command δ-axis voltage in the -1st control cycle, i _γ [n-1]: actual γ-axis current in the (n-1) th control cycle, i _δ [n-1]: actual in the (n-1) th control cycle δ-axis current, Δi _γ [n]: γ-axis current estimated deviation in the n-th control cycle, Δi _δ [n]: δ-axis current estimated deviation in the n-th control cycle, R: resistance.

According to the present invention, although details will be described later, the current estimated deviations Δi _γ [n], Δi _δ [n] and the command voltage v _γ [n] are calculated according to the equations (7) and (8). , V _δ [n] can be used to calculate the position estimation error using at least one of the first rotor position reference value A and the second rotor reference value B.

  Embodiments of the present invention will be described with reference to FIGS. FIG. 1 is a configuration diagram of a synchronous motor control device 1 (hereinafter referred to as a control device 1) including the configuration of a synchronous motor rotor position estimation device of the present invention. The control device 1 is an electronic unit configured by a microcomputer or the like. It is.

  Referring to FIG. 1, a control device 1 performs speed control of a motor 40 (corresponding to a synchronous motor including a rotor having saliency according to the present invention) which is an IPMSM (Interior Permanent Magnet Synchronous Motor). . The controller 1 estimates the rotor position and controls the speed of the motor 40 without providing a position sensor (such as a resolver) that detects the rotor position of the motor 40.

  Note that the information about the rotational speed of the motor 40 may be information obtained from position information of the load driven by the motor 40 (detection signal from the machine end detector) instead of the estimated value of the rotor position. Moreover, it is good also as a structure which adds position controller and performs position control, or the structure which performs torque control which deleted the speed controller.

The control device 1 converts the motor 40 into an equivalent circuit based on a dq coordinate system (actual rotation coordinate system) having a d axis that is a magnetic flux direction of a rotor (not shown) and a q axis that is orthogonal to the d axis. As shown in a), the motor 40 is handled by a γδ coordinate system (estimated rotational coordinate system) having a position estimation error Δθ _e which is a deviation between an actual value and an estimated value of the rotor position with respect to the dq coordinate system.

Then, the control device 1 performs energization control on the motor 40 so as to reduce a deviation between an angular velocity command value ω _{r —} c given from the outside and an estimated angular velocity value ω _{r —} e calculated by processing to be described later.

Further, current detection signals i _u (detection signals of current flowing in the U-phase stator coil) and i of current sensors 31 and 32 (corresponding to current detection means of the present invention) that detect current flowing in the stator coil of the motor 40 and i. _v (a detection signal of the current flowing through the V-phase stator coil) is input to the control device 1. Of the three phases, current detection for at least two phases may be performed.

Further, the control device 1 supplies three-phase (u, v, w phase) voltage command values v _{u —} c, v _{v —} c, to a PDU (Power Drive Unit) 30 (corresponding to the voltage applying means of the present invention). v _w _c is input. The PDU 30 generates a three-phase drive voltage corresponding to the three-phase voltage command values v _{u —} c, v _{v —} c, and v _{w —} c and applies it to the stator coil of the motor 40.

  By causing the microcomputer provided in the control device 1 to execute a predetermined control program, the microcomputer has a speed control unit 10, a command current generation unit 11, a current control unit 12, a γδ / uvw conversion unit 13, It functions as a position estimation error acquisition unit 14, rotor position estimation unit 15, divider 16, uvw / γδ conversion unit 17, and detection voltage application unit 18.

The speed control unit 10 determines a torque command value T _r _c for reducing a deviation between the angular velocity command value ω _r _c and the estimated value ω _r _e. The command current generator 11 determines a command γ-axis current i _{γ —} c and a command δ-axis current i _{δ —} c for generating the torque command value T _{r —} c.

The current control unit 12, a deviation between the command gamma-axis current i _gamma _c and actual gamma-axis current i _gamma (calculated by uvw / the ?? converting section 17), the command [delta] -axis current i _[delta] _c and the actual [delta] -axis current i _[delta] The first command γ-axis voltage v _{γ —} c1 and the first command δ-axis voltage v _{δ —} c1 are determined so as to reduce the deviation (calculated by the uvw / γδ converter 17).

The detection voltage applying unit 18 adds the detection γ-axis voltage vh _γ (corresponding to the detection voltage component of the present invention) to the first command γ-axis voltage v _γ _c1 by the adder 20 and adds the second command γ. generating a shaft voltage _v γ _c2 (corresponding to the command voltage of the present invention). In addition, the detection voltage application unit 18 adds the detection δ-axis voltage vh _δ (corresponding to the detection voltage component of the present invention) to the first command δ-axis voltage v _δ _c1 by the adder 21, and Command δ-axis voltage v _{δ —} c2 (corresponding to the command voltage of the present invention).

Here, the detection γ-axis voltage vh _γ and the detection δ-axis voltage vh _δ are for obtaining an estimated value θ _e _e of a rotor position, which will be described later, and are set to a pulse voltage of a predetermined frequency, for example. Note that both the detection γ-axis voltage vh _γ and the detection δ-axis voltage vh _δ may be applied, or only one of them may be applied.

The detection γ-axis voltage vh _γ and the detection δ-axis voltage vh _δ may be any voltage as long as the voltage changes over time, and may be in a form other than a pulse voltage such as a sine wave. Further, in order not to affect the driving of the motor 40, the sum of output voltages in the output period of the detection γ-axis voltage vh _γ and the detection δ-axis voltage vh _δ needs to be zero.

The γδ / uvw conversion unit 13 uses the second command γ-axis voltage v _γ _c2 and the second command δ-axis voltage v _δ _c2 by using the estimated value θ _e _e of the rotor position of the motor 40 (electrical angle of the rotor). Thus, the voltage command values v _{u —} c, v _{v —} c, and v _{w —} c of three phases (u, v, w) are converted.

Based on the second command γ-axis voltage v _{γ —} c, the second command δ-axis voltage v _{δ —} c, the actual γ-axis current i _γ and the actual δ-axis current i _δ , the position estimation error acquisition unit 14 A position estimation error Δθ _e which is a deviation between the actual value and the estimated value of the 40 rotor positions is calculated.

The rotor position estimation unit 15 updates the estimated value θ _e _e of the rotor position and the estimated value ω _e _e of the angular velocity (electric angular velocity) so as to eliminate the position estimation error Δθ _e of the motor 40. Further, the divider 16 divides the estimated electrical angular velocity value ω _{e —} e by the number of pole pairs q to calculate the estimated mechanical angular velocity value ω _{r —} e of the motor 40.

uvw / the ?? converter 17, a current detection signal i _u and i _v are output from the current sensors 31 and 32, based on an estimate theta _e _e rotor position, the actual gamma-axis current i _gamma and actual δ-axis current i Convert to _δ .

The control device 1 includes a position estimation error acquisition unit 14 and a rotor position estimation unit 15, and obtains an estimated value θ _{e — e} of the rotor position and an estimated value ω _{e — e of the} electrical angular velocity. Therefore, there is no need to provide a sensor for detecting the position of the rotor such as a resolver.

A procedure for calculating the position estimation error Δθ _e by the position estimation error acquisition unit 14 and a procedure for calculating the rotor position estimation value θ _e _e and the angular velocity estimation value ω _e _e by the rotor position estimation unit 15 will be described below.

First, a procedure for calculating the position estimation error Δθ _e by the position estimation error acquisition unit 14 will be described with reference to FIGS. The position estimation error acquisition unit 14 calculates the position estimation error Δθ _e using the state equation of the dq coordinate system (actual rotation coordinate system) of the motor 40 and the state equation of the γδ coordinate system (estimation rotation coordinate system). .

  First, voltage equations of the dq coordinate system of the motor 40 are the following formulas (9) and (10).

Where v _d : d-axis voltage, v _q : q-axis voltage, R: resistance, p: differential operator, ω _e : angular velocity (electrical angular velocity), L _d : d-axis inductance, L _q : q-axis inductance, i _d : d-axis current, i _q : q-axis current.

  Where φ is an induced voltage constant.

  When the above equation (9) is expressed in a vector format, the following equations (11) to (14) are obtained.

_{However, v dq = (v d,} v q) T, i dq = (i d, i q) T.

  When the above equation (11) is expressed by a state equation, the following equation (15) is obtained.

Since the angular velocity ω _e ≈0 can be assumed when the motor 40 stops and rotates at a low speed, the following equation (16) is obtained when ω _e = 0 in the above equation (15).

  However, I: a unit matrix of 2 rows and 2 columns.

  When the equation (16) is discretized, the following equation (17) is obtained.

  Where Ts: control cycle.

  From the equation (17), the discretized current equation becomes the following equation (18).

  On the other hand, the voltage equation of the estimated rotational coordinate system (γδ coordinate system) is expressed by the following equation (19).

Where v _γ : γ-axis voltage, v _δ : δ-axis voltage, R: resistance, p: differential operator, ω _e : angular velocity (electrical angular velocity), L _γ : γ-axis inductance, L _δ : δ-axis inductance, L _γδ : parameter calculated by the following equation (26), i _γ : γ-axis current, i _δ : δ-axis current.

  When the equation (19) is expressed in a vector format, the following equations (20) to (26) are obtained.

_{However, v γδ = (v γ,} v δ) T, i γδ = (i d, i q) T.

  When the above equation (20) is expressed by a state equation, the following equation (27) is obtained.

Here, when the motor 40 is stopped and rotated at a low speed, it can be assumed that the angular velocity ω _e ≈0. Therefore, when ω _e = 0 in the above equation (27), the following equation (28) is obtained.

  When the above equation (28) is discretized, a current equation of the motor 40 of the following equation (29) is obtained.

  Here, in the above equation (18), the following equation (30) in which d is replaced by γ and q is replaced by δ is a model equation of the motor 40.

Then, the current estimation deviation Δi _γδ is obtained by the following equation (31) that is the difference between the above equation (29) and the above equation (30).

When L1 ′ ⁻¹ −L1 ⁻¹ is obtained, the following equation (34) is obtained.

Therefore, the current estimated deviation Δi _γδ [n] (Δi _γ [n], Δi _δ [n]) can be calculated by the following equation (35).

Then, according to the following equations (38) and (39), the second command γ-axis voltage v _{γ —} c2 is substituted for v _γ , the second command δ-axis voltage v _{δ —} c2 is substituted for v _δ , actual gamma-axis current i _gamma when the voltage corresponding to the second command voltage _v γδ _c2 applied to the motor 40, substituting respectively the real [delta] -axis current i _[delta] i _gamma, the i _[delta], the above equation (35) By substituting the calculated current estimation deviations Δi _{γ and} Δi _δ , A (corresponding to the first rotor position reference value of the present invention) and B (corresponding to the second rotor position reference value of the present invention) are obtained. it can.

Next, a method for obtaining the rotor phase difference deviation Δθ _e based on A and B calculated in this way will be described.

  [First Method] A / B is expressed by the following equation (40).

Therefore, the position estimation error Δθ _e can be calculated by the following equations (41) and (42).

[Second Method] In the first method, when the circuit constant of the motor fluctuates, a stationary deviation of the position estimation error remains. In order to eliminate this steady deviation, the following method can be used. However, when the position estimation error Δθ _e is large, Δθ _e ≈sin Δθ does not hold, which affects the estimated response time of the position estimation error Δθ _e .

Here, in the range of −90 [deg] ≦ 2Δθ _e ≦ 90 [deg], B is simply increased with respect to the position estimation error Δθ _e . Therefore, the rotor position can be estimated by multiplying -B by the rotor position estimation gain (> 0). When sin2Δθ _e is calculated from the following equation (43) (the above equation (37) is reprinted), the following equation (44) is obtained.

Then, the position estimation error Δθ _e can be obtained from the following equations (45) and (46).

B in the above equation (46) is directly proportional to Δθ _e even if L _d and L _q fluctuate. Therefore, although it affects the response time of rotor position estimation, it has a steady deviation in position estimation error Δθ _e. Will not remain.

[Third Method] From the following formula (47) (the above formula (36) is shown again), cos 2Δθ _e is obtained by the following formula (48) and formula (49). Further, the following equation (50) (shown again the equation (37)), determine the Sin2derutashita _e by the following equation (51).

From the above equations (49) and (51), the position estimation error Δθ _e can be obtained by the following equations (52) and (53).

Referring now to FIG. 2 (b), the position estimation error acquisition unit 14, when a voltage corresponding to the second command voltage _v γδ _c2 applied to the motor 40, uvw / the ?? converter 17 (FIG. 1 The estimated current i _γδ calculated by inputting the actual current i _γδ (i _γ , i _δ ) calculated by the above-mentioned reference) and the second command voltage v _γδ _c2 to the model 50 of the motor 40 according to the above equation (30). The difference from _M (i _γ _M, i _δ _M) is calculated by the subtractor 51 as the current estimated deviation Δi _γδ . The configuration for calculating the current estimated deviation Δi _γδ in this way corresponds to the current estimated deviation calculating means of the present invention.

Then, when the position estimation error calculating unit 52 uses the first method, the position estimation error calculating unit 52, as shown in FIG. 3, i _γ , i in the above expressions (38) and (39). substituting the actual current i _γ, i δ in _[delta], the current estimated differential .DELTA.i _gamma, substituting .DELTA.i _[delta], the voltage v _gamma, v second command voltage to the _δ v _{γ _c2,} by substituting v _δ _c2, a And B are calculated. Then, the position estimation error calculation unit 52 calculates the position estimation error Δθ _e by the above equation (42). The configuration for calculating the position estimation error Δθ _e based on the current estimation deviation Δi _γδ in this way corresponds to the position estimation error estimation means of the present invention.

Note that when the position estimation error Δθ _e is obtained by the second method instead of the first method, the position estimation error calculation unit 52 calculates the position estimation error by the above equation (46) as shown in FIG. Δθ _e is calculated. Further, when the position estimation error Δθ _e is obtained by the third method, as shown in FIG. 5, the position estimation error calculation unit 52 calculates the position estimation error Δθ _e by the above equation (53).

Next, with reference to FIG. 6A and FIG. 6B, the calculation processing of the estimated value θ _e _e of the rotor position and the estimated value ω _e _e of the angular velocity by the rotor position estimating unit 15 will be described.

  FIG. 6A shows an example in which the rotor position estimation unit 15 is configured using a phase synchronization unit 60 using a PLL. In the present embodiment, the estimated responsivity is determined with the phase synchronization unit 60 having the same configuration as the simplest PI (proportional integration) controller according to the following equations (54) to (55).

  However, Kp: proportional gain, Ki: integral gain.

Here, in order to make the position estimation error Δθ _e zero, when the closed loop transfer function from the rotor position θ _e to the position estimation error Δθ _e is calculated, the following equation (55) is obtained.

In the above equation (55), the convergence speed (natural angular frequency of the control system) ω _n and the damping factor (attenuation coefficient) ζ of the position estimation error Δθ _e are determined by the PI control gains Kp and Ki. Further, when the motor 40 is operating at a constant speed (the angular speed ω _e is constant), the input θ _e becomes a ramp input. Therefore, in order to converge the rotor phase difference Δθ _e to zero, the phase synchronization unit 60 is set to 2 Must be a type controller.

  Next, FIG. 6B shows an example in which the rotor position estimation unit 15 is configured using the same-dimensional observer 70. In this case, for example, a one-dimensional observer according to the following equation (56) may be used.

  However, Ts: Control cycle, K1, K2: Calculation gain.

Incidentally, so as to eliminate such a position estimation error [Delta] [theta] _e, configured to update the estimate theta _e _e rotor position corresponds to the rotor position estimation means of the present invention.

  In the present embodiment, the IPMSM 40 is shown as the synchronous motor of the present invention. However, the present invention can be applied to any synchronous motor including a rotor having electrical saliency such as SynRM (Synchronous Reluctance Motor). Is possible.

  Further, in the present embodiment, the control device 1 handles the motor 40 by a model of the γδ coordinate system and defines the current equation of the synchronous motor of the present invention by the above equation (30), but applies it to the coil of the synchronous motor. As long as the current equation represents the relationship between voltage and current, another coordinate system or form may be used.

The block diagram of the control apparatus of the synchronous motor containing the structure of the rotor position estimation apparatus of this invention. Explanatory drawing of (gamma) delta coordinate system, and a block diagram of a position estimation error estimation part and a rotor position estimation part. Explanatory drawing of a position estimation error calculation part (1st method). Explanatory drawing of a position estimation error calculation part (2nd method). Explanatory drawing of a position estimation error calculation part (3rd method). Explanatory drawing of a rotor position estimation part.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Control apparatus of synchronous motor, 14 ... Position estimation error acquisition part, 15 ... Rotor position estimation part, 50 ... Motor model, 52 ... Position estimation error calculation part, 60 ... PLL (PI controller), 70 ... PLL ( Same dimension observer)

Claims (4)

A rotor position estimation device for estimating a rotor position of a synchronous motor including a rotor having saliency,
Voltage applying means for applying a voltage to the stator coil of the motor;
Current detection means for detecting a current flowing in the stator coil of the motor;
A voltage component for detection whose magnitude changes with time with respect to the model equation of the motor expressing the relationship between the voltage between the terminals of the stator coil of the motor and the current flowing through the stator coil based on the rotor position. When a voltage corresponding to the first current value of the stator coil calculated by applying the command voltage including the estimated value of the rotor position of the motor and the command voltage is applied to the stator coil of the motor, Current estimated deviation calculating means for calculating a current estimated deviation which is a deviation from the second current value detected by the current detecting means;
Position estimation error calculating means for calculating a position estimation error that is a difference between an actual value and an estimated value of the rotor position based on the current estimation deviation;
A rotor position estimating device for a synchronous motor, comprising: rotor position estimating means for updating an estimated value of the rotor position of the electric motor so as to eliminate the position estimation error calculated by the position estimation error calculating means. . The rotor position estimation device for a synchronous motor according to claim 1,
The rotor position estimation means updates the estimated value of the rotor position of the motor by reducing the position estimation error calculated by the position estimation error calculation means by a PLL (Phase Locked Loop). An apparatus for estimating the rotor position of an electric motor. In the synchronous motor rotor position estimating apparatus according to claim 1 or 2,
The electric motor is converted into an equivalent circuit having a d-axis that is a magnetic flux direction of the rotor of the electric motor and a q-axis that is orthogonal to the d-axis, and is orthogonal to the γ-axis and the γ-axis that are out of phase with the d-axis. Treat it as a model of an estimated rotational coordinate system consisting of δ axes,
The current estimated deviation calculating means calculates the first current value by applying the command voltage to the following formula (1) using the following formula (1) as a model formula of the electric motor. A rotor position estimation device.

Where i _γδ [n] = (i _γ [n], i _δ [n]) ^T (i _γ [n]: estimated γ-axis current in the nth control cycle, i _δ [n]: in control cycle n (Estimated δ-axis current), I: 2 × 2 unit matrix, R: resistance, Ts: control period, v _γδ [n−1] = (v _γ [n−1], v _δ [n−1]) ^T (v _γ [n-1]: γ-axis voltage in the (n−1) th control period, v _δ [n-1]: δ-axis voltage in the (n−1) th control period), i _γδ [n-1] = (I _γ [n-1], i _δ [n-1]) ^T (i _γ [n-1]: real γ-axis current in the (n-1) th control period, i _δ [n-1]: n -Actual δ-axis current in the first control cycle), L _d : d-axis inductance, L _q : q-axis inductance. The rotor position estimation device according to claim 3,
The position estimation error calculation means is configured to calculate a first rotor position reference value and a second value calculated by the following equations (3) and (4) in the estimated rotation coordinate system based on the command voltage and the current estimated deviation. A rotor position estimation apparatus that calculates the position estimation error based on at least one of rotor position reference values.

Where A: first rotor position reference value, B: second rotor position reference value, v _γ [n−1]: command γ-axis voltage in the (n−1) th control cycle, v _δ [n−1]: n -Command δ-axis voltage in the -1st control cycle, i _γ [n-1]: actual γ-axis current in the (n-1) th control cycle, i _δ [n-1]: actual in the (n-1) th control cycle δ-axis current, Δi _γ [n]: γ-axis current estimated deviation in the n-th control cycle, Δi _δ [n]: δ-axis current estimated deviation in the n-th control cycle, R: resistance.

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