CN103457524B - Permanent-magnet synchronous electric motor control device - Google Patents
Permanent-magnet synchronous electric motor control device Download PDFInfo
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- CN103457524B CN103457524B CN201210530255.XA CN201210530255A CN103457524B CN 103457524 B CN103457524 B CN 103457524B CN 201210530255 A CN201210530255 A CN 201210530255A CN 103457524 B CN103457524 B CN 103457524B
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Abstract
The present invention obtains a kind of permanent-magnet synchronous electric motor control device, and it when being made to have saliency permanent-magnet synchronous electric motor by position Sensorless Control and carrying out servo lock action, can prevent the small oscillatory of motor reel.Also have: speed command comparator (3), it compares predetermined instruction switching determination value (24) and speed command (23); And d shaft current instruction switch (11), it corresponds to the comparative result of speed command comparator (3), to somely to select in set magnet excitation instruction (37) and the d shaft current instruction (36) that generates, the magnet excitation instruction of this selection or the instruction of d shaft current are exported as obtaining the d shaft current instruction (38) of deviation by d shaft current deviation arithmetic unit (12), if desired value (20) becomes stop position instruction because of servo lock action, speed command becomes 0 speed command, then d shaft current instruction switch selects magnet excitation instruction.
Description
Technical field
The present invention relates to a kind of permanent-magnet synchronous electric motor control device, it is driven having saliency permanent-magnet synchronous electric motor by position Sensorless Control.
Background technology
As controlling the method with saliency permanent-magnet synchronous electric motor under the condition of position-sensor-free, known following method, namely, lap position presumption signal in voltage instruction, according to the motor current now flowed, presumption rotor-position and rotary speed, and carry out FEEDBACK CONTROL (for example, referring to patent documentation 1).
Patent documentation 1: No. 2009/040965th, International Publication
But, under the condition of position-sensor-free, control to have in the method for saliency permanent-magnet synchronous electric motor, there is following character, that is, the electromagnetic property of permanent-magnet synchronous electric motor causes the presumption precision of rotor-position along with the rotor-position generation fluctuation of reality.
Therefore, be used in the method carrying out under position-sensor-free condition controlling, when making the rotary speed of permanent-magnet synchronous electric motor remain 0 and carry out servo lock action, due to the fluctuation of position deduction precision, the command value calculated in feedback loop is vibrated, its result, the small oscillatory of motor reel generation sometimes.
Summary of the invention
The present invention proposes in view of the foregoing, its object is to obtain permanent-magnet synchronous electric motor control device, it when being made to have saliency permanent-magnet synchronous electric motor by position Sensorless Control and carrying out servo lock action, can prevent the small oscillatory of motor reel.
In order to solve above-mentioned problem, and realize object, the present invention is a kind of permanent-magnet synchronous electric motor control device, it has: positioner, its arithmetic speed instruction, this speed command is the operational ton that desired value is reduced with the deviation of the rotor-position deduced according to the motor current of permanent-magnet synchronous electric motor; Speed control, the instruction of its computing q shaft current, this q shaft current instruction is the operational ton that described speed command is reduced with the deviation of the spinner velocity deduced according to described motor current; Q shaft current deviation arithmetic unit, it calculates the deviation of the instruction of described q shaft current and the q shaft current detected according to described motor current; Q shaft current controller, the instruction of its computing q shaft voltage, this q shaft voltage instruction is the operational ton that the deviation that described q shaft current deviation arithmetic unit is calculated reduces; D shaft current deviation arithmetic unit, it calculates the deviation of d shaft current instruction and the d shaft current detected according to described motor current generated when operating; And d shaft current controller, the instruction of its computing d shaft voltage, this d shaft voltage instruction is the operational ton that the deviation that described d shaft current deviation arithmetic unit is calculated reduces, the feature of this permanent-magnet synchronous electric motor control device is, also have: speed command comparator, it compares predetermined instruction switching determination value and described speed command; And d shaft current instruction switch, it corresponds to the comparative result of described speed command comparator, some in the d shaft current instruction of set magnet excitation instruction and described generation is selected, the magnet excitation instruction of this selection or the instruction of d shaft current are exported as the described d shaft current instruction by described d shaft current deviation arithmetic unit calculation deviation.
The effect of invention
According to the present invention, when carrying out desired value as the servo lock action of stop position instruction, the instruction of d shaft current is switched to magnet excitation instruction, the magnetic field that the rotating magnetic field formed by motor current generation and the rotor of permanent-magnet synchronous electric motor is attracted each other, therefore, the vibration suppressing feedback loop can be realized, prevent the effect of the small oscillatory of motor reel.
Accompanying drawing explanation
Fig. 1 is the block diagram of the important part structure of the permanent-magnet synchronous electric motor control device representing one embodiment of the present invention.
The explanation of label
1 position deviation arithmetic unit
2 positioners
3 speed command comparators
4 velocity deviation arithmetic units
5 speed controls
6q shaft current instruction switch
7q shaft current deviation arithmetic unit
8q shaft current controller
9q shaft voltage instruction switch
10d shaft current command generator
11d shaft current instruction switch
12d shaft current deviation arithmetic unit
13d shaft current controller
Embodiment
Below, based on accompanying drawing, describe the execution mode of permanent-magnet synchronous electric motor control device involved in the present invention in detail.In addition, the present invention is not limited to present embodiment.
Fig. 1 is the block diagram of the important part structure of the permanent-magnet synchronous electric motor control device representing one embodiment of the present invention.Namely Fig. 1 has in the control device of saliency permanent-magnet synchronous electric motor (not shown) at servomotor, extracts for preventing the structure of the part of the small oscillatory of the motor reel produced when being made by position Sensorless Control permanent-magnet synchronous electric motor carry out servo lock action and illustrates.
In addition, the d axle used in the vector control of permanent-magnet synchronous electric motor is set on the direction parallel with the magnetic field that the permanent magnet in the rotor being embedded in permanent-magnet synchronous electric motor is formed, and q axle is set on the direction of the vertical magnetic field formed with the permanent magnet be embedded in the rotor of permanent-magnet synchronous electric motor.
In FIG, input the desired value (being stop position instruction when carrying out servo lock action) 20 from upper stage arrangement to position deviation arithmetic unit 1, and the rotor-position (current location presumed value) 21 that input is deduced according to motor current by not shown position deduction device is also as the feedback signal to Position Control.Position deviation arithmetic unit 1 calculates the position deviation 22 of desired value (stop position instruction) 20 and rotor-position (current location presumed value) 21, and it is exported to positioner 2.
Positioner 2 pairs of position deviations 22 apply the scale operation (known P control) of usage ratio gain and computational speed instruction 23, this speed command 23 is the operational tons of the desired value (being stop position instruction when carrying out servo lock action) 20 rotor-position 21 of permanent-magnet synchronous electric motor being followed paid by upper stage arrangement, that is, the operational ton position deviation 22 inputted from position deviation arithmetic unit 1 being reduced.The speed command 23 calculated by positioner 2 is exported to speed command comparator 3 and velocity deviation arithmetic unit 4 concurrently.
To speed command comparator 3 except input is from except the speed command 23 of positioner 2, also from upper stage arrangement current/voltage instruction switching determination value 24, the border that this current/voltage instruction switching determination value 24 operates for given usual running and servo lock.Speed command comparator 3 pairs of speed commands 23 and current/voltage instruction switching determination value 24 compare, and export level signal and the switch-over control signal 25 of 2 values of the magnitude relationship represented between the two.Switch-over control signal 25 inputs to each control port of q shaft current instruction switch 6, q shaft voltage instruction switch 9 and d shaft current instruction switch 11.
To velocity deviation arithmetic unit 4 except input is from except the speed command 23 of positioner 2, also input the rotary speed (rotary speed presumed value) 26 of the motor deduced according to motor current by not shown speed estimating device also as the feedback signal to speeds control.Velocity deviation arithmetic unit 4 calculates the velocity deviation 27 of the rotary speed (rotary speed presumed value) 26 of speed command 23 and motor, and it is exported to speed control 5.
At this, the q axle side that moment of torsion is made contributions is made up of speed control 5, q shaft current instruction switch 6, q shaft current deviation arithmetic unit 7, q shaft current controller 8, q shaft voltage instruction switch 9.
Speed control 5 pairs of velocity deviation 27 application percentage integral control (known PI control) and calculate the instruction of q shaft current (at this, owing to being the use when usually operating, therefore be called " the usual instruction of q shaft current ") 28, and it is switched input to one of q shaft current instruction switch 6 export, above-mentioned q shaft current instruction 28 is the operational tons making the rotary speed 26 of permanent-magnet synchronous electric motor follow the speed command 23 calculated by positioner 2, that is, the operational ton velocity deviation 27 inputted from velocity deviation arithmetic unit 4 being reduced.
0 instruction that input input uses when servo lock is switched (at this to another of q shaft current instruction switch 6, be called " q shaft current 0 instruction " to carry out distinguishing) 29, corresponding to the signal level of the switch-over control signal 25 that speed command comparator 3 exports, that selects in q shaft current usual instruction 28 and q shaft current 0 instruction 29 is some, it can be used as q shaft current instruction 30 and exports to q shaft current deviation arithmetic unit 7 from switching cardinal extremity.
To q shaft current deviation arithmetic unit 7 except the q shaft current instruction 30 of input from q shaft current instruction switch 6, also input the q shaft current detected value 31 that detected according to motor current by not shown current detector and as the feedback signal controlled moment of torsion.Q shaft current deviation arithmetic unit 7 calculates the q shaft current deviation 32 of q shaft current instruction 30 and q shaft current detected value 31, and it is exported to q shaft current controller 8.
Q shaft current controller 8 pairs of q shaft current deviation 32 application percentage integral control (known PI control) and calculate the instruction of q shaft voltage (at this, owing to being the use when usually operating, therefore be called " the usual instruction of q shaft voltage ") 33, and it is switched input to one of q shaft voltage instruction switch 9 export, above-mentioned q shaft voltage instruction 33 is the operational tons making the q shaft current detected value 31 of permanent-magnet synchronous electric motor follow q shaft current instruction 30, that is, the operational ton q shaft current deviation 32 from q shaft current deviation arithmetic unit 7 being reduced.
0 instruction that input input uses when servo lock is switched (at this to another of q shaft voltage instruction switch 9, be called " q shaft voltage 0 instruction " to carry out distinguishing) 34, corresponding to the signal level of the switch-over control signal 25 that speed command comparator 3 exports, that selects in q shaft voltage usual instruction 33 and q shaft voltage 0 instruction 34 is some, it can be used as q shaft voltage instruction 35 and exports to not shown coordinate converter from switching cardinal extremity.
Next, the structure " d shaft current command generator 10, d shaft current instruction switch 11, d shaft current deviation arithmetic unit 12 and d shaft current controller 13 " to the d axle side that exciting current is made contributions is described.
D shaft current command generator 10 is configured to, except being controlled to produce the d shaft current instruction that uses when common running by known PI (at this, be called " the usual instruction of d shaft current " to carry out distinguishing) outside 36, also produce the magnet excitation instruction 37 used when servo lock.The usual instruction of d shaft current 36 that d shaft current command generator 10 produces and magnet excitation instruction 37 input to the corresponding switching input of d shaft current instruction switch 11.
D shaft current instruction switch 11 corresponds to the signal level of the switch-over control signal 25 that speed command comparator 3 exports, that selects in d shaft current usual instruction 36 and magnet excitation instruction 37 is some, and it can be used as d shaft current instruction 38 and export to d shaft current deviation arithmetic unit 12 from switching cardinal extremity.
To d shaft current deviation arithmetic unit 12 except the d shaft current instruction 38 of input from d shaft current instruction switch 11, also input the d shaft current detected value 39 that detected according to motor current by not shown current detector and as the feedback signal controlled exciting current.D shaft current deviation arithmetic unit 12 calculates the d shaft current deviation 40 of d shaft current instruction 38 and d shaft current detected value 39, and it is exported to d shaft current controller 13.
D shaft current controller 13 pairs of d shaft current deviation 40 application percentage integral control (known PI control) and calculate d shaft voltage instruction 41, and it is exported to not shown coordinate converter, above-mentioned d shaft voltage instruction 41 is the operational tons making the d shaft current detected value 39 of permanent-magnet synchronous electric motor follow the d shaft current instruction 38 exported from d shaft current instruction switch 11, that is, the operational ton d shaft current deviation 40 from d shaft current deviation arithmetic unit 12 being reduced.
Then, the action during servo lock relevant to present embodiment is described.When by position Sensorless Control to have saliency permanent-magnet synchronous electric motor drive, there is following character, that is, rotor-position presumption precision due to permanent-magnet synchronous electric motor electromagnetic property produce fluctuation.
Therefore, at the part not having present embodiment to add i.e. " speed command comparator 3, q shaft current instruction switch 6, q shaft voltage instruction switch 9 and d shaft current instruction switch 11 ", and d shaft current command generator 10 only produces the usual instruction 36(of d shaft current is therefore d shaft current instruction 36) when, target location 20 is set as stop position instruction, when making the rotary speed of permanent-magnet synchronous electric motor remain 0 and carry out servo lock action, the presumption precision of current location presumed value 21 fluctuates along with stop position produces, thus, the speed command 23 calculated in feedback loop vibrates, therefore, q shaft current instruction 28 i.e. q shaft current instruction 30 is vibrated, its result, sometimes motor reel generation small oscillatory.
Therefore, in the present embodiment, in FIG, stop position instruction when target location 20 is not servo lock action but usually running time instruction, represent the signal level of the switch-over control signal 25 of the comparative result of speed command comparator 3, " speed command 23 " > " current/voltage instruction switching determination value " is shown.
In the case, q shaft current instruction switch 6 selects the usual instruction 28 of q shaft current, and it can be used as q shaft current instruction 30, q shaft voltage instruction switch 9 selects the usual instruction 33 of q shaft voltage, and it can be used as q shaft voltage instruction 35, d shaft current instruction switch 11 selects the usual instruction 36 of d shaft current, and it can be used as d shaft current instruction 38.As mentioned above, when carrying out the usual running beyond servo lock action, carry out action according to mode in the past.
On the other hand, target location 20 is being set as stop position instruction, when making the rotary speed of permanent-magnet synchronous electric motor remain 0 and carry out servo lock action, represent the signal level of the switch-over control signal 25 of the comparative result of speed command comparator 3, " speed command 23 " < " current/voltage instruction switching determination value " is shown.
In the case, first, d shaft current instruction switch 11 selects magnet excitation instruction 37, and it can be used as d shaft current instruction 38.Thus, also the object of the small oscillatory preventing motor reel can be realized, but in the present embodiment, subsequently, q shaft current instruction switch 6 selects q shaft current 0 instruction 29, and it can be used as q shaft current instruction 30, q shaft voltage instruction switch 9 to select q shaft voltage 0 instruction 34, and it can be used as q shaft voltage instruction 35.So, the small oscillatory of motor reel can reliably be prevented further.
Specifically, the timing that q shaft current instruction switch 6 selects q shaft current 0 instruction 29, q shaft voltage instruction switch 9 selects q shaft voltage 0 instruction 34, that speed command 23 roughly becomes the timing of 0 speed command after d shaft current instruction switch 11 selects magnet excitation instruction 37.Namely, the switch-over control signal 25 that speed command comparator 3 exports is not for 1 common control signal of q shaft current instruction switch 6, q shaft voltage instruction switch 9 and d shaft current instruction switch 11, but is made up of the control signal for q shaft current instruction switch 6 and q shaft voltage instruction switch 9 and these 2 control signals of control signal for d shaft current instruction switch 11.
As mentioned above, in the present embodiment, when carrying out speed command 23 and roughly becoming the servo lock action of 0, permanent-magnet synchronous electric motor flows through magnet excitation electric current on d direction of principal axis, the magnetic field that motor current is formed be embedded in the rotor field that the permanent magnet in the rotor of permanent-magnet synchronous electric motor formed and attract each other.
At this, in permanent-magnet synchronous electric motor controls, as a rule, d direction of principal axis flows through this situation of magnet excitation electric current, with the magnetic field that motor current is formed be embedded in rotor field that the permanent magnet in the rotor of permanent-magnet synchronous electric motor formed this situation that attracts each other there is identical meaning.In other words, the electric current producing the magnetic field attracted each other with rotor field is called magnet excitation electric current.The principle attracted each other between the principle attracted each other and the heteropole (S-N, N-S) of magnet is identical.The direction of d axle is determined as described above according to Fleming right-hand rule.
This rotor field by the electric current formed magnetic field suction of magnet excitation, mean rotor (and with rotor one motor reel) be also attracted simultaneously.There is the situation of mutual attractive force, compared with there is not the situation of mutual attractive force, vibration can be suppressed further.Therefore, and not exist by compared with the situation of the electric current formed attraction moment of torsion of d axle magnet excitation, the vibration of motor reel when being stopped by servo lock can be suppressed.
In addition, even if for when being stopped by servo lock, the presumption precision of rotor-position fluctuates along with stop position produces, and make motor reel produce the situation of vibration, owing to selecting 0 instruction in q shaft current instruction switch and q shaft voltage instruction switch, the operational ton (speed command or the instruction of q shaft current) caused by the error of position deduction or speed estimating can not be passed to motor, therefore, can reliably prevent motor reel from producing vibration.
Industrial applicibility
As described above, the useful part of permanent-magnet synchronous electric motor control device involved in the present invention is, when being made to have saliency permanent-magnet synchronous electric motor by position Sensorless Control and carrying out servo lock action, the small oscillatory of motor reel can be prevented.
Claims (5)
1. a permanent-magnet synchronous electric motor control device, it has:
Positioner, its arithmetic speed instruction, this speed command is the operational ton that desired value is reduced with the deviation of the rotor-position deduced according to the motor current of permanent-magnet synchronous electric motor;
Speed control, the instruction of its computing q shaft current, this q shaft current instruction is the operational ton that described speed command is reduced with the deviation of the spinner velocity deduced according to described motor current;
Q shaft current deviation arithmetic unit, it calculates the deviation of the instruction of described q shaft current and the q shaft current detected according to described motor current;
Q shaft current controller, the instruction of its computing q shaft voltage, this q shaft voltage instruction is the operational ton that the deviation that described q shaft current deviation arithmetic unit is calculated reduces;
D shaft current deviation arithmetic unit, it calculates the deviation of d shaft current instruction and the d shaft current detected according to described motor current generated when operating; And
D shaft current controller, the instruction of its computing d shaft voltage, this d shaft voltage instruction is the operational ton that the deviation that described d shaft current deviation arithmetic unit is calculated reduces,
The feature of this permanent-magnet synchronous electric motor control device is also have:
Speed command comparator, it compares predetermined instruction switching determination value and described speed command; And
D shaft current instruction switch, it corresponds to the comparative result of described speed command comparator, some in the d shaft current instruction of set magnet excitation instruction and described generation is selected, the magnet excitation instruction of this selection or the instruction of d shaft current are exported as the described d shaft current instruction by described d shaft current deviation arithmetic unit calculation deviation.
2. permanent-magnet synchronous electric motor control device according to claim 1, is characterized in that also having:
Q shaft current instruction switch, it corresponds to the comparative result of described speed command comparator, some in the q shaft current instruction export 0 set instruction and described speed control is selected, and 0 instruction of this selection or the instruction of q shaft current is exported as the described q shaft current instruction by described q shaft current deviation arithmetic unit calculation deviation; And
Q shaft voltage instruction switch, it corresponds to the comparative result of described speed command comparator, some in the q shaft voltage instruction export 0 set instruction and described q shaft current controller is selected, using 0 instruction of this selection or the instruction of q shaft voltage as the output of described q shaft current controller and the instruction of described q shaft voltage.
3. permanent-magnet synchronous electric motor control device according to claim 1, is characterized in that,
Stop position instruction when described desired value becomes servo lock action, the comparative result of described speed command comparator is described instruction switching determination value when being greater than described speed command,
Described d shaft current instruction switch selects described magnet excitation instruction.
4. permanent-magnet synchronous electric motor control device according to claim 2, is characterized in that,
Stop position instruction when described desired value becomes servo lock action, the comparative result of described speed command comparator is described instruction switching determination value when being greater than described speed command,
Described d shaft current instruction switch selects described magnet excitation instruction,
Described q shaft current instruction switch and described q shaft voltage instruction switch select corresponding described 0 instruction respectively.
5. permanent-magnet synchronous electric motor control device according to claim 4, is characterized in that,
Described q shaft current instruction switch and described q shaft voltage instruction switch select the timing of described 0 instruction, that described speed command roughly becomes the timing of 0 speed command when described d shaft current instruction switch is selected described magnet excitation instruction and exported respectively.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012124642A JP2013251978A (en) | 2012-05-31 | 2012-05-31 | Permanent magnet synchronous motor control device |
| JP2012-124642 | 2012-05-31 |
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| Publication Number | Publication Date |
|---|---|
| CN103457524A CN103457524A (en) | 2013-12-18 |
| CN103457524B true CN103457524B (en) | 2016-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210530255.XA Active CN103457524B (en) | 2012-05-31 | 2012-12-10 | Permanent-magnet synchronous electric motor control device |
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| JP (1) | JP2013251978A (en) |
| CN (1) | CN103457524B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10108182B2 (en) * | 2016-04-22 | 2018-10-23 | Mitsubishi Electric Corporation | Motor control apparatus |
| CN110535376B (en) * | 2019-09-25 | 2020-11-27 | 国家电网有限公司 | Method for controlling rotating speed of static frequency converter in pulse commutation stage |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10323098A (en) * | 1997-05-20 | 1998-12-04 | Yaskawa Electric Corp | Initial excitating method of synchronous motor |
| CN1937395A (en) * | 2005-09-23 | 2007-03-28 | 山洋电气株式会社 | Coutrol apparatus of synchronous motor and control method therefor |
| CN101650390A (en) * | 2009-08-31 | 2010-02-17 | 苏州经贸职业技术学院 | Method of measuring inductance parameters of stator of surface AC permanent magnet synchronous motor on line |
| CN101809857A (en) * | 2007-09-27 | 2010-08-18 | 三菱电机株式会社 | Controller of rotary electric machine |
-
2012
- 2012-05-31 JP JP2012124642A patent/JP2013251978A/en active Pending
- 2012-12-10 CN CN201210530255.XA patent/CN103457524B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH10323098A (en) * | 1997-05-20 | 1998-12-04 | Yaskawa Electric Corp | Initial excitating method of synchronous motor |
| CN1937395A (en) * | 2005-09-23 | 2007-03-28 | 山洋电气株式会社 | Coutrol apparatus of synchronous motor and control method therefor |
| CN101809857A (en) * | 2007-09-27 | 2010-08-18 | 三菱电机株式会社 | Controller of rotary electric machine |
| CN101650390A (en) * | 2009-08-31 | 2010-02-17 | 苏州经贸职业技术学院 | Method of measuring inductance parameters of stator of surface AC permanent magnet synchronous motor on line |
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| CN103457524A (en) | 2013-12-18 |
| JP2013251978A (en) | 2013-12-12 |
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