CN102023251A - Current detecting method, inverter device and convertor device using the same - Google Patents

Current detecting method, inverter device and convertor device using the same Download PDF

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Publication number
CN102023251A
CN102023251A CN2010102605617A CN201010260561A CN102023251A CN 102023251 A CN102023251 A CN 102023251A CN 2010102605617 A CN2010102605617 A CN 2010102605617A CN 201010260561 A CN201010260561 A CN 201010260561A CN 102023251 A CN102023251 A CN 102023251A
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China
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current
phase
motor
electric current
detect
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CN102023251B (en
Inventor
李东升
能登原保夫
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Hitachi Johnson Controls Air Conditioning Inc
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Hitachi Appliances Inc
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • H02P27/14—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation with three or more levels of voltage

Abstract

The invention provides a current detecting method capable of stably operating even in an over-modulation area, an inverter device and a convertor device using the same. In a motor driving device having an alternated current motor, a current detecting unit for detecting the bus bar current or each branch current at the direct current side of the inverter and the convertor for driving the alternated current motor, and a control unit for controlling the alternated current motor by using a current detected value acquired from detection, a current reference value of the alternated current motor is calculated by using a past detected value of the current acquired from the current detecting unit or a current instruction value of the control unit, the error between a one phase current detected value and the current reference value is calculated when only the one phase current of the alternated current motor can be detected by the current detecting unit, and the current at other phases of the alternated current motor can be presumed by using the error.

Description

Electric current detecting method, the DC-to-AC converter that uses this method and convertor device
Technical field
The present invention relates to electric current detecting method, be particularly related to that a kind of to be suitable for detecting with DC converting be the electric current detecting method of the electric current in the converting means such as convertor device of direct current for the DC-to-AC converter that exchanges or with exchange conversion, but also relate to DC-to-AC converter and the convertor device that uses this method, and relate to motor drive and the refrigeration air-conditioner that possesses this device.Below, DC-to-AC converter and convertor device are generically and collectively referred to as " converting means ".
Background technology
In the field of commercial unit or household appliances, being extensive use of DC converting is the inverter device for driving electric motor of three-phase alternating current or the convertor device that three-phase alternating current is transformed to direct current.Particularly in the refrigeration air-conditioner (for example air-conditioning, fridge-freezer, hot-warer supplying machine etc.) of paying attention to energy-efficient performance and comfort, be that the inverter device for driving electric motor of three-phase alternating current is widely used with DC converting.
In these refrigeration air-conditioners, in order to reduce its cost, adopted more and used the current detecting unit (specifically, shunt resistance or current sensor etc.) that on the dc bus of inverter or each arm, is provided with, reproduce the method for three-phase alternating current.In addition, particularly in using the motor drive of DC-to-AC converter, for the loss (raising the efficiency) that reduces its on-off element and further enlarge the direct motor drive scope, wishes that stable ovennodulation PWM controls.
But following detailed description is such, and is general in above-mentioned over-modulation region, in its certain hour, produces the phenomenon that only can detect the electric current of 1 phase in a plurality of phases (for example three-phase) by above-mentioned current detecting unit.And, when producing this phenomenon, becoming big by the reconstruction error in the alternating current of DC-to-AC converter generation, the control of being undertaken by motor drive might become unstable, is difficult to the above-mentioned ovennodulation control of actual employing.
In existing technology, for example according to following patent documentation 1, countermeasure as can't detect three-phase alternating current the time according to bus current, following disposal route is disclosed: in the time of can't detecting the electric current of each phase even two values of certain in the three-phase voltage command value are approaching, the electric current of the rotating coordinate system that will obtain last time is regarded the electric current of this rotating coordinate system as, calculates three-phase voltage command value and phase place according to this electric current.
In addition, according to following patent documentation 2, the alternating current reproducing method during as the electric current that only can detect 1 phase has also proposed to use in the phase place that can detect the motor current in detected past.
[patent documentation 1] spy opens the 2007-312511 communique
[patent documentation 2] spy opens the 2004-64903 communique
Summary of the invention
But in above-mentioned prior art, therefore the electric current of 1 phase that only can detect converting means in the above-mentioned over-modulation region interval elongated, exist the detection error of three-phase alternating current to become big, the control problem of unstable that becomes.
Therefore, the present invention proposes in view of above-mentioned prior art, more particularly, the object of the present invention is to provide and a kind ofly in above-mentioned over-modulation region, also can obtain the electric current detecting method of three-phase alternating current more reliably, and the present invention also aims to provide motor drive and refrigeration air-conditioner by using this method to make the DC-to-AC converter of control stabilization and possess this device.
In order to reach above-mentioned purpose, according to the present invention, a kind of electric current detecting method at first is provided, it is used for being transformed to direct current or being the power transformation circuit of the electric power of three-phase alternating current from DC converting supplying with to load from three-phase alternating current, detect the electric current of each phase of three-phase alternating current according to the bus current of DC side, in the time only detecting the electric current of described 1 phase, calculate the current detection value of this 1 phase and the error of its current reference value, use this error to obtain the alternating current of other phases that can't detect.
In addition, according to the invention provides a kind of motor drive, it is used to use above-mentioned electric current detecting method to drive three-phase current motor, and it possesses: the inverter that drives described three-phase current motor; Detect the current detecting unit of electric current of each arm of described inverter according to the bus current of the DC side of described inverter; And use by the detected current detection value of described current detecting unit, control is to the control module of the electric current of described three-phase current motor supply, wherein, described control module is when the electric current of 1 phase that only can detect described three-phase current motor electric current, by described electric current detecting method, infer the AC motor electric current of the phase that can't detect.
In the present invention, in the motor drive of above record, preferred described control module uses the current detection value that obtains from described current detecting unit, reproduce described AC motor electric current and it is transformed to the motor rotational coordinates, by the current signal after low-pass filter or this conversion of equalization cell processing, be inversely transformed into stationary coordinate, calculate described AC motor current reference value thus, perhaps, preferred described control module uses the current detection value that obtains from described current detecting unit, reproduce described AC motor electric current and it is transformed to the motor rotational coordinates, control so that in this motor rotational coordinates, make the motor current detected value consistent with the motor current command value, then, described motor current command value is inversely transformed into stationary coordinate, calculates described AC motor current reference value thus.Perhaps, preferred described control module calculates the current detection value of 1 phase and the error of described current reference value, then, uses and the corresponding current reference value and the described error that can't detect, and calculates the AC motor electric current of the described phase that can't detect.
In addition, according to the present invention, in order to reach above-mentioned purpose, a kind of convertor device is provided, it has: be the translation circuit of direct current with exchange conversion, the structure of this translation circuit is that input side is connected with three-phase alternating-current supply via reactor, has connected filter capacitor between the dc terminal of outgoing side; Detect the bus current of described translation circuit or the current detecting unit of each arm electric current; And the current detection value that uses described current detecting unit is controlled the control module of described translation circuit, wherein, described control module uses the current detection value of described current detecting unit or the current instruction value of described control module, calculate the three-phase input current reference value, and, when the electric current of 1 phase that only can detect three-phase input current by described current detecting unit,, infer the alternating current of the phase that can't detect by the electric current detecting method of above record.
And, according to the present invention, in order to reach above-mentioned purpose, a kind of DC-to-AC converter is provided, it has: with the inverter circuit of DC converting for exchanging, the structure of this inverter circuit is that DC side is connected with direct supply, is connected with three-phase alternating-current supply via reactor in AC side; Detect the bus current of described inverter circuit or the current detecting unit of each arm electric current; And the current detection value that uses described current detecting unit is controlled the control module of described inverter circuit, wherein, described control module uses the current detection value of described current detecting unit or the current instruction value of described control module, calculate the three-phase alternating current reference value, and, when the electric current of 1 phase that only can detect three-phase alternating current by described current detecting unit,, infer the alternating current of the phase that can't detect by the electric current detecting method of above record.
And, according to the present invention, still in order to reach above-mentioned purpose, a kind of refrigeration air-conditioner is provided, it possesses compressor, the heat exchanger that is connected with described compressor by pipe arrangement, be built in the AC motor in the described compressor, and the inverter circuit that drives described AC motor, and, described inverter circuit has the bus current of its DC side of detection or the current detecting unit of each arm electric current, and, possess the current detection value that uses this current detecting unit and control the control module of described AC motor, wherein, the described control module of described inverter circuit uses the past detected value of the electric current that obtains from described current detecting unit or the current instruction value of described control module, calculate the AC motor current reference value, and, when the electric current of 1 phase that only can detect three-phase alternating current by described current detecting unit, by the electric current detecting method of above record, infer the AC motor electric current of the phase that can't detect, supply with three-phase alternating current to described AC motor.
According to the electric current detecting method of the invention described above, even also can obtain three-phase alternating current reliably in over-modulation region.Therefore,, can bring into play following outstanding effect: can carry out stable Motor Control, so the motor drive of taking into account high-level efficiency and high output can be provided and refrigerating air-conditioning is provided according to the present invention by using this method.In addition, the application of the invention can be brought into play following outstanding effect: can provide and not use complicated modulation treatment to reduce distortion (higher hamonic wave) or pulsating current, and can enlarge transducer or system's binding inverter of its output area.
Description of drawings
Fig. 1 represents to use the summary structure of motor drive of an embodiment of electric current detecting method of the present invention.
Fig. 2 is the control function block diagram in the above-mentioned motor drive.
Fig. 3 is the Su Du ﹠amp in the above-mentioned motor drive of expression; The functional block diagram of the structure of phase estimating device.
Fig. 4 is an oscillogram of representing the bus current waveform of PWM carrier wave, three-phase modulations ripple, inverter direct-flow side with the powered-on mode of inverter.
Fig. 5 is three-phase modulations ripple and the part-time of the bus current waveform of inverter direct-flow side the oscillogram amplify after of expression in the over-modulation region.
Fig. 6 is the functional block diagram that the electric current in the above-mentioned motor drive of expression reproduces the structure of arithmetical unit.
Fig. 7 is the process flow diagram that the electric current in the above-mentioned motor drive of expression reproduces the details of calculation process.
Fig. 8 is the control function block diagram of the variation of the above-mentioned motor drive of expression.
Fig. 9 is the structural drawing of the convertor device of another embodiment of the present invention.
Figure 10 is the functional block diagram of structure of the control part of the above-mentioned convertor device of expression.
Figure 11 is the structural drawing that the system of another embodiment of the present invention links DC-to-AC converter.
Figure 12 is a structural drawing of having used refrigeration air-conditioner of the present invention.
Symbol description
1 AC power, 2 transducers, 3 direct current capacitorss, 4 inverters, 5 AC motor, 6 current detecting units, 61 shunt resistances, 7 voltage detection units, 8 controllers, 41 A/D transducers, 42 current detecting information arithmetical unit, 43 electric current reconstructors, 44 current error correction processor, 101 AC power, 102 ripple filters, 103 reactors, 104 inverters, 105 direct current capacitorss, 107 transducer circuit control devices, 108 voltage detection units, 109 loads, 110 voltage controllers, 111 vector controllers, 112 phase estimating devices, 113 2/3 phase inversion, 114 3 phases/2 principal axis transformations, 115 PWM controllers, 116 low-pass filters, 117 2/3 phase inversion, 201 circuit control devices, 202 direct supplys, 400 refrigeration air-conditioners, 401,402 heat exchangers, 403,404 fans, 405 compressors, 406 pipe arrangements, 407 motor drives, 408 electric motor for compressor
Embodiment
Below, the embodiment that present invention will be described in detail with reference to the accompanying.About electric current detecting method of the present invention, in the explanation of the motor drive of following this method of use that is described in detail, be described in detail.
(motor drive)
(structure of device)
Fig. 1 is the structural drawing of the motor drive that is used for threephase motor of an embodiment of the invention, according to this figure as can be known, this motor drive possesses: with exchange conversion be direct current transducer (rectifier etc.) 2, direct current capacitors 3, DC converting is inverter 4, the current detecting unit 6 that detects the bus current of inverter direct-flow side that exchanges, voltage detection unit 7, the controller 8 that detects DC voltage, and, accept electric power from AC power 1, drive AC motor 5.With reference to the accompanying drawings also as can be known, the current detecting unit 6 of the bus current of detection inverter direct-flow side comprises shunt resistance 61.
(all structures of control)
The controller 8 that constitutes above-mentioned motor drive for example uses microcomputer or DSP semiconductor arithmetic elements such as (digital signal processors) to constitute, handle the detection signal of described current detecting unit 6 and voltage detection unit 7, as a result, output constitutes the connection/shutoff control signal of the power semiconductor components such as for example IGBT of above-mentioned inverter 4.
Use the functional block diagram of Fig. 2 to describe the controller 8 that this use semiconductor arithmetic element constitutes in detail.Each function in these functions realizes by the operation processing program in the memory storage that is stored in this controller in advance.With reference to the accompanying drawings as can be known, the voltage command signal that these controller 8 computings apply motor by so-called vector controlled, generate the pwm control signal of inverter, more particularly, possess d shaft current instruction generator 11, speed control 12, voltage instruction controller 13, voltage 2/3 phasing commutators 14, Su Du ﹠amp; Phase estimating device 15, electric current 3 phases/2 principal axis transformation devices 16, electric current reproduce arithmetical unit 17, PWM controller 18, low-pass filter 19, electric current 2/3 phasing commutators 20.
And, below explain above-mentioned functional block with reference to above-mentioned Fig. 2.
(structure of three-phase current reproduction and dq converting means)
Electric current reproduces detection signal (Ish), the three-phase voltage command value (Vu that arithmetical unit 17 uses from described bus current detecting unit 6 *, Vv *, Vw *) and from the three-phase alternating current signal (Iu_r, Iv_r, Iw_r) of electric current 2/3 phasing commutators 20, reproduce motor current (Iu, Iv, Iw).To describe the electric current reproduction processes in the back in detail.
Electric current 3 phases/2 principal axis transformation devices 16 are according to the motor current that reproduces and the phase information (θ dc) of inferring out, as following (mathematical expression 1) formula, and conversion dc shaft current (Idc) and qc shaft current (Iqc).The dc-qc axle is the axle of inferring of control system, and the d-q axle is a motor rotor shaft, and the axis error of d-q axle and dc-qc axle is defined as (Δ θ c).
(mathematical expression 1)
Iα Iβ = 2 3 cos ( 0 ) cos ( 2 π / 3 ) cos ( 4 π / 3 ) sin ( 0 ) sin ( 2 π / 3 ) sin ( 4 π / 3 ) Iu Iv Iw
Idc Iqc = cos ( θdc ) - sin ( θdc ) sin ( θdc ) cos ( θdc ) Iα Iβ
(Control of Voltage)
In voltage instruction controller 13, use the dc shaft current command value (Idc that provides from d shaft current instruction generator 11 *), the qc shaft current command value (Iqc that provides from speed control 12 *), dc shaft current detected value (Idc), qc shaft current detected value (Iqc), (ω 1 for speed value *) and motor constant, computing dc shaft voltage command value (Vdc *) and qc shaft voltage command value (Vqc *).At last, according to dc shaft voltage command value (Vdc *) and qc shaft voltage command value (Vqc *) and the phase information (θ dc) of inferring out, by following (mathematical expression 2) formula, 3 phase voltage command value (Vu of output motor *, Vv *, Vw *).
(mathematical expression 2)
V α V β = sin ( θdc ) cos ( θdc ) - cos ( θdc ) sin ( θdc ) V dc * V qc *
V u * V v * V w * = cos ( 0 ) sin ( 0 ) cos ( 2 π / 3 ) sin ( 2 π / 3 ) cos ( 4 π / 3 ) sin ( 4 π / 3 ) V α V β
(non-phase sensor)
Then, below describe the Su Du ﹠amp that is used to realize position Sensorless Control in detail; The phase estimating method.
Fig. 3 is Su Du ﹠amp; The detailed functional block diagram of phase estimating device 15, as shown in the figure, this phase estimating device 15 is inferred rotor-position and rotational speed by the control method of no motor rotor position sensor.Specifically, the axis error arithmetical unit 21, the speed estimating device 22 of inferring the motor rotational speed, the phase place arithmetical unit 23 that possess the axis error of computing motor reel (d-q axle) and control system axle (dc-qc axle).
Axis error arithmetical unit 21 is according to described dc shaft voltage command value (Vdc *), qc axle command voltage value (Vqc *), dc shaft current value (idc), qc shaft current value (iqc), motor constant 24 (wire resistor (r), q axle induction reactance (Lq)) and motor rotational speed presumed value (ω 1), use following (mathematical expression 3) computing axis error (Δ θ c).
(mathematical expression 3)
Δθc＝tan -1{(Vdc *-r×Idc+ω1×Lq×Iqc)/(Vqc *-r×Iqc-ω1×Lq×Idc)}
Speed estimating device 22 uses so-called PI controller to handle the axis error (Δ θ c) of above-mentioned axis error arithmetical unit 21 outputs, the presumed value of output motor rotational speed (ω 1).At this, the PI controller carries out PLL control, so that the axis error (Δ θ c) of inferring of motor reel (d-q axle) and control system axle (dc-qc axle) disappears.In addition, in phase place arithmetical unit 23, the motor rotational speed (ω 1) of inferring out is carried out integration, come computing control system phase place (θ dc).
(electric current reproduction)
Then, with reference to Fig. 4 and Fig. 5 the method for reproducing the AC motor electric current according to the bus current of inverter direct-flow side is described.This Fig. 4 represents PWM carrier wave 31, three- phase modulations ripple 32,33,34, the bus current waveform 35 of inverter direct-flow side and the powered-on mode of inverter.
As shown in Figure 4, powered-on mode (with reference to the bridge circuit of figure bottom) according to inverter, 1 mutually electric current of bus current Ish and motor is corresponding, so, by the sampling timing (" zero " among the figure) of suitably adjusting A/D converter according to the size of modulating wave, can reproduce three-phase alternating current according to bus current.Promptly, the U of upper arm mutually and V mutually IGBT and during the IGBT connection of the W phase of underarm, flow through current i w, when the U of the IGBT of the V of upper arm phase and underarm connects with W IGBT mutually mutually, flow through current i v, so the current detecting unit 6 of the shunt resistance 61 by comprising the bus current that detects inverter direct-flow side detects these current i v and iw respectively as is1.In addition, the electric current I u that utilizes the U phase and V mutually electric current I v and the electric current I w sum of W phase become 0 (Iu+Iv+Iw=0), obtain remaining current i u.
But as shown in Figure 5, in a part of interval of over-modulation region, if usually, one that then becomes in the three-phase modulations ripple 32,33,34 of different mutually values (is the modulating wave Vw of W phase in this example *: 34) become predetermined value (being 0V in this example), but between other two-phases, becoming there is not poor modulating wave (Vu *: 32, Vv *: 33), produce the phenomenon of the corresponding phase current that can't detect 3 phase modulating waves thus.That is, about this interval current detection value, only can detect the electric current (for example only W phase) of 1 phase, therefore, as mentioned above, the reconstruction error in the alternating current that is generated by DC-to-AC converter becomes big, and the control of being undertaken by motor drive becomes unstable.
Therefore, in the present invention, reproduce arithmetical unit 17, in over-modulation region, can detect the corresponding phase current of above-mentioned 3 phase modulating waves by electric current.Represented that in the functional block diagram of Fig. 6 this electric current reproduces the detailed structure of arithmetical unit 17, reproduce three-phase alternating current Iu, Iv, Iw according to bus current Ish, possess A/D transducer 41, current detecting information arithmetical unit 42, electric current recapiulation 43, current error correcting process portion 44.More particularly, the input signal of this electric current reproduction arithmetical unit 17 is detected bus current signal (Ish), three-phase modulations ripple (Vu *, Vv *, Vw *) and three-phase alternating current reference value (Iu_r, Iv_r, Iw_r).As above-mentioned shown in Figure 2, handle the value (Idc, Iqc) that obtains to the detected AC motor electric current of dc-qc principal axis transformation by low-pass filter 19, use electric current 2/3 phasing commutators 20 to carry out inverse transformation then, generate these three-phase alternating current reference values (Iu to three-phase current *=Iu_r, Iv *=Iv_r, Iw *=Iw_r).
Current detecting information arithmetical unit 42 uses three-phase modulations ripple (Vu *, Vv *, Vw *), the sign whether each functional block is given moment that A/D starts, needed for the expression of the current value after the A/D conversion being distributed to the needed information of three-phase current, 44 outputs of current error correcting process portion.That is, shown in the process flow diagram of Fig. 7, input three-phase modulations ripple (Vu *, Vv *, Vw *) (step S71), poor (the step S72) of calculating and voltage instruction value, then, operation current detects the information (step S73) of phase, and the phase that judgement can be carried out this current detecting only is 1 phase, still can carry out the current detecting (step S74) of 2 phases.
Then, result as the judgement among the above-mentioned steps S74, in the time can detecting the electric current of 2 phases, with reference to Fig. 4 explanation, (what is called is reproduced usually: step S75) can to reproduce the AC motor electric current (Iu, Iv, Iw) of 3 phases according to the testing result of the electric current of 2 phases as above.
On the other hand, as above-mentioned shown in Figure 5, for example in partial section of over-modulation region etc., in the time of only detecting the electric current of 1 phase, the electric current of computing AC motor as described below (Iu, Iv, Iw).
At first, operation current error (step S75).Specifically, following such,
When (1) only detecting U phase current (Iu):
ΔI＝Iu_r-Iu
Iv＝Iv_r+ΔI×Kv
Iw＝Iw_r+ΔI×Kw
When (2) only detecting V phase current (Iv):
ΔI＝Iv_r-Iv
Iu＝Iu_r+ΔI×Ku
Iw＝Iw_r+ΔI×Kw
When (3) only detecting W phase current (Iw):
ΔI＝Iw_r-Iw
Iu＝Iu_r+ΔI×Ku
Iv＝Iv_r+ΔI×Kv
At this, current error (Δ I) is the current reference value (Iu of homophase *Or Iv *Or Iw *) poor with detected electric current (Iu or Iv or Iw).As mentioned above, the electric current of the phase that also can't detect according to the current reference value and the above-mentioned current error computing of correspondence.
Then, according to the detected value in the above-mentioned sum of errors past of obtaining like that, the detected value of the electric current that calculating can't detect (step S76), and end process.
Usually, in order to simplify calculation process, make above-mentioned current error respectively become half and revise the phase current that can't detect and get final product.That is, modified gain (Ku, Kv, Kw) is set at Ku=1/2, Kv=1/2, Kw=1/2 gets final product.
Then, revise precision, can use current reference value as shown in the formula such computing modified gain (Ku, Kv, Kw) in order further to improve.
When (1) only detecting the U phase current:
Kv＝|Iv_r|/(|Iv_r|+|Iw_r|)
Kw＝|Iw_r|/(|Iv_r|+|Iw_r|)
When (2) only detecting the V phase current:
Ku＝|Iu_r|/(|Iu_r|+|Iw_r|)
Kw＝|Iw_r|/(|Iu_r|+|Iw_r|)
When (3) only detecting the W phase current:
Ku＝|Iu_r|/(|Iu_r|+|Iv_r|)
Kv＝|Iv_r|/(|Iu_r|+|Iv_r|)
As mentioned above, according to the detection electric current (Iu or Iv or Iw) of the phase that can detect and the current reference value (Iu of homophase *Or Iv *Or Iw *) infer current error, revise the current error of the phase that can't detect then, can improve the accuracy of detection of the three-phase current that reveals again thus, and the stability of the Motor Control can improve ovennodulation the time.
More than be the structure and the control principle thereof of motor drive of the present invention.In the above-described embodiment, as the current detecting mode, the example of the mode that has adopted the bus current that uses shunt resistance to detect inverter direct-flow side has been described, but can also have used current sensor to replace.But, by using shunt resistance, compare with the mode of direct detection three-phase alternating current, can cut down the cost of sensor.Certainly, above-mentioned electric current reproduction processes is not limited to above-mentioned motor drive, for example can also similarly be used to have the motor drive of position and speed sensor.On the other hand, when using current sensor, can also use three resistance or the current sensor that on the underarm of the on-off element that constitutes inverter, are provided with, reproduce the AC motor electric current.
(variation of controller)
Then, the variation of in Fig. 8, representing above-mentioned controller 8 shown in Figure 2 by the functional block structure.The controller 8 that becomes this variation is identical with above-mentioned controller shown in Figure 2 basically, and the functional block of same action is carried out in the symbolic representation identical with above-mentioned Fig. 2.And, be three-phase alternating current reference value (Iu with the different piece of above-mentioned Fig. 2 *=Iu_r, Iv *=Iv_r, Iw *Dc-qc shaft current command value (Idc is used in=Iw_r) computing *, Iqc *) replace detected electric electromechanics to flow to dc-qc transformation of axis value.But,, for example be can control so that actual current is almost consistent with current-order as the precondition that such control is set up.The electric current reproduction processes is identical with the embodiment of above-mentioned Fig. 2, omits its explanation at this.
(convertor device)
Then, Fig. 9 represents to replace the motor drive of above-mentioned Fig. 1, an example of the structure when using electric current detecting method of the present invention in convertor device.
As shown in Figure 9, convertor device is made of following each one: the translation circuit 104 that is connected with three-phase alternating-current supply 101 via ripple filter 102 and reactor 103; The filter capacitor 105 that is connected with dc output end of described translation circuit 104; Control the control part 106 of described translation circuit 104; Shunt resistance 1071 that connect, that be used to detect bus current between described filter capacitor 105 and described translation circuit 104; Current detection circuit 107; And DC voltage testing circuit 108.In addition, control part 106 uses microcomputer or DSP semiconductor arithmetic elements such as (digital signal processors) to constitute, and this is identical with above-mentioned Fig. 1.
(structure of control system)
Then, identical with Fig. 2 in Figure 10, represented the particularly relevant structure of the control part 106 in the above-mentioned convertor device with convertor controls by functional block.With reference to the accompanying drawings as can be known, in this control part 106, according to voltage signal (Ed) and DC voltage command value (Ed from DC voltage testing circuit 108 *) deviation, working voltage controller 110 generates q shaft current command value (iq *).In addition, for the idle current composition that makes input current reaches minimum, make d shaft current command value (id *) be 0.
(electric current reproduction processes)
Detection signal (Ish), output order voltage signal (Vr that electric current reproduction processing unit 118 is used from the bus DC current of bus current testing circuit 107 *, Vs *, Vt *) and three-phase alternating current reference value (Ir_r, Is_r, It_r), carry out the reproduction processes of three-phase alternating current (Ir, Is, It).
(command voltage calculation process)
Vector control system is obtained and each command value (id by value (id, the iq) conversion of three-phase alternating current (Ir, Is, It) on the dq axial coordinate of 3 phases/2 principal axis transformations 114 with above-mentioned reproduction *, iq *) deviation, calculate command voltage (Vd on the dq axles via vector controller 111 *, Vq *).
And, the command voltage (Vd of the dq axle that use calculates *, Vq *) and from the phase information (θ dc) of phase estimating controller 12, calculate three-phase command voltage (Vr by 2/3 phase inversion 113 *, Vs *, Vt *).The control method of above-mentioned patent documentation 3 disclosed non-transformer sensors is used in processing in the above-mentioned phase estimating controller 112, so omit its detailed explanation at this.
As shown in figure 10, logical low-pass filter 116 is handled the d-q axle value (Id, Iq) of detected electric current, calculates three-phase alternating current reference value (Ir_r, Is_r, It_r) by 2/3 phasing commutators 117.Certainly, if control so that detected value is almost consistent with the current instruction value of d-q axle, then can also be identical with above-mentioned processing shown in Figure 7, use d-q shaft current command value (Id, Iq) to calculate three-phase alternating current reference value (Ir_r, Is_r, It_r).
At this, also can reproduce processing in the arithmetical unit 17 electric current reproduction processes when carrying out only detecting 1 mutually electric current in the same manner with the above-mentioned electric current that is described in detail.
But, particularly under the situation of transducer, in linear modulation areas, also have the less interval of difference of 2 phase modulating waves.Therefore, when not using special modulator approach (for example the modulating wave displacement processing of per semiperiod of PWM carrier wave etc.), the situation of the electric current of 1 phase takes place only can detect within a certain period of time.But when adopting above-mentioned special modulator approach, the distortion (higher hamonic wave) or the pulsation that produce input current are so wish not use as far as possible this special modulator approach.
Relative therewith, if use the electric current reproduction processes of the invention described above, then can not use above-mentioned special modulator approach ground to revise the current detecting error in the interval that only can detect 1 phase current, thus can realize the stability of the control of transducer, and can reduce pulsation of current.In addition, because can also improve the control performance of over-modulation region, so can reduce the loss of on-off element and the DC voltage scope that enlarges conduct output.
(system's binding DC-to-AC converter)
And, the structure when Figure 11 represents electric current detecting method of the present invention is used for system and links DC-to-AC converter.Symbol identical with above-mentioned symbol shown in Figure 9 in this Figure 11 possesses identical function, the outgoing mechanism important document.
This embodiment is equal to the reverse situation of power converter direction in the above-mentioned convertor device, promptly represents from the power supply 202 (rectifier, accumulator, solar cell or fuel cell etc.) that is connected with the DC side type of service to AC power one side conversion electric power.
The control method of this embodiment the voltage controller 110 in not needing above-mentioned control system shown in Figure 10, is a structure same as described above.In addition, the electric current reproduction processes also with more than the electric current that is described in detail to reproduce arithmetical unit 17 identical.
(refrigeration air-conditioner)
In Figure 12,, for example represented the structure of so-called refrigeration air-conditioners such as air conditioner, refrigerating machine as using above-mentioned motor drive (with reference to above-mentioned Fig. 1) to drive the device of its electric motor for compressor.
In the drawings, refrigeration air-conditioner 400 is temperature in the conditioning chamber or the device that the air in the refrigerator is cooled off, and is made of heat exchanger 401,402, fan 403,404, compressor 405, pipe arrangement 406 and motor drive 407.Electric motor for compressor 408 uses permasyn morots or three-phase induction motor and constitutes, and is configured in the inside of compressor 405.This motor drive 407 is accepted electric power from AC power, and the drive compression machine is with motor 408.
According to above narration as can be known, in this refrigeration air-conditioner, by using above-mentioned motor drive (with reference to above-mentioned Fig. 1), can improve the control stiffness of over-modulation region with comparatively cheap price, so vibration or noise in the time of can reducing the high speed rotating of motor, and can improve the performance of air conditioner or refrigerating machine.Particularly for the motor that improves the needed attention low speed of APF efficient, can reduce loss and improve the DC voltage utilization factor by ovennodulation control, the output when so performance can be guaranteed to run up, the so outstanding effect of output area of expansion air conditioner or refrigerating machine.

Claims (8)

1. electric current detecting method, be used for being transformed to direct current or being the power transformation circuit of the electric power of three-phase alternating current supplying with to load from DC converting from three-phase alternating current, detect the electric current of each phase of three-phase alternating current according to the bus current of DC side, it is characterized in that
In the time only detecting the electric current of described 1 phase, calculate the current detection value of this 1 phase and the error of its current reference value, use this error to obtain the alternating current of other phases that can't detect.
2. a motor drive is used to drive three-phase current motor, and it possesses: the inverter that drives described three-phase current motor; Detect the current detecting unit of electric current of each arm of described inverter according to the bus current of the DC side of described inverter; And use by the detected current detection value of described current detecting unit, the control module of the electric current that control is supplied with described three-phase current motor, described motor drive be characterised in that,
Described control module by the electric current detecting method of record in the described claim 1, is inferred the AC motor electric current of the phase that can't detect when the electric current of 1 phase that only can detect described three-phase current motor electric current.
3. motor drive according to claim 2 is characterized in that,
Described control module uses the current detection value that obtains from described current detecting unit, reproduce described AC motor electric current and it is transformed to the motor rotational coordinates, by the current signal after low-pass filter or this conversion of equalization cell processing, be inversely transformed into stationary coordinate, calculate described AC motor current reference value thus.
4. motor drive according to claim 2 is characterized in that,
Described control module uses the current detection value that obtains from described current detecting unit, reproduce described AC motor electric current and it is transformed to the motor rotational coordinates, control so that in this motor rotational coordinates, make the motor current detected value consistent with the motor current command value, then, described motor current command value is inversely transformed into stationary coordinate, calculates described AC motor current reference value thus.
5. motor drive according to claim 2 is characterized in that,
Described control module calculates the current detection value of 1 phase and the error of described current reference value, then, uses and the corresponding current reference value and the described error that can't detect, and calculates the AC motor electric current of the described phase that can't detect.
6. convertor device, it has: with exchange conversion is the translation circuit of direct current, the structure of this translation circuit is that input side is connected with three-phase alternating-current supply via reactor, has connected filter capacitor between the dc terminal of outgoing side; Detect the bus current of described translation circuit or the current detecting unit of each arm electric current; And the current detection value that uses described current detecting unit controls the control module of described translation circuit, and described convertor device is characterised in that,
Described control module uses the current detection value of described current detecting unit or the current instruction value of described control module, calculates the three-phase input current reference value, and,
When the electric current of 1 phase that only can detect three-phase input current by described current detecting unit,, infer the alternating current of the phase that can't detect by the electric current detecting method of record in the described claim 1.
7. a system connects the DC-to-AC converter of usefulness, and it has: with the inverter circuit of DC converting for exchanging, the structure of this inverter circuit is that DC side is connected with direct supply, is connected with three-phase alternating-current supply via reactor in AC side; Detect the bus current of described inverter circuit or the current detecting unit of each arm electric current; And the current detection value that uses described current detecting unit controls the control module of described inverter circuit, and described DC-to-AC converter is characterised in that,
Described control module uses the current detection value of described current detecting unit or the current instruction value of described control module, calculates the three-phase alternating current reference value, and,
When the electric current of 1 phase that only can detect three-phase alternating current by described current detecting unit,, infer the alternating current of the phase that can't detect by the electric current detecting method of record in the described claim 1.
8. refrigeration air-conditioner, it possesses compressor, the heat exchanger that is connected with described compressor by pipe arrangement, the inverter circuit that is built in the AC motor in the described compressor and drives described AC motor, and, described inverter circuit has the bus current of its DC side of detection or the current detecting unit of each arm electric current, and, possess the current detection value that uses this current detecting unit and control the control module of described AC motor, described refrigeration air-conditioner is characterised in that
The described control module of described inverter circuit uses the past detected value of the electric current that obtains from described current detecting unit or the current instruction value of described control module, calculates the AC motor current reference value, and,
When the electric current of 1 phase that only can detect three-phase alternating current by described current detecting unit, electric current detecting method by record in the described claim 1, infer the AC motor electric current of the phase that can't detect, supply with three-phase alternating current to described AC motor.
CN201010260561.7A 2009-09-17 2010-08-20 Current detecting method, inverter device and convertor device using the same Active CN102023251B (en)

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