CN103780186A - Motor control device and air-conditioner using same - Google Patents
Motor control device and air-conditioner using same Download PDFInfo
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- CN103780186A CN103780186A CN201310057059.XA CN201310057059A CN103780186A CN 103780186 A CN103780186 A CN 103780186A CN 201310057059 A CN201310057059 A CN 201310057059A CN 103780186 A CN103780186 A CN 103780186A
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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
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F13/00—Details common to, or for air-conditioning, air-humidification, ventilation or use of air currents for screening
- F24F13/24—Means for preventing or suppressing noise
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B49/00—Arrangement or mounting of control or safety devices
- F25B49/02—Arrangement or mounting of control or safety devices for compression type machines, plants or systems
- F25B49/025—Motor control arrangements
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Control Of Multiple Motors (AREA)
Abstract
The invention provides a high efficiency motor control device which can reduce noise caused by resonance of a fan and a rotor even though the motor and the fan are not provided with rubber vibration insulators. The motor control device comprises an inverter, a vector control portion, a high-order component generating unit, a voltage adding-up portion, and a PWM pulse generating portion. The inverter is connected with a DC power supply, and the inverter converts DC electricity of the DC power supply to variable-voltage variable frequency AC electricity to drive and control a three-phase motor. The vector control portion calculates voltage applied on the three-phase motor. The high-order component generating unit calculates high-order components of a fundamental wave of the vector control portion applied voltage. The voltage adding-up portion adds the high-order components calculated by the high-order component generating unit to the applied voltage calculated by the vector control portion. Pulse width controls the inverter. The high-order component generating unit generates both of (6m-1) order and (6m+1) order of the fundamental wave component of the three-phase applied voltage, or a high-order component of one of the (6m-1) order and (6m+1) order of the fundamental wave component to apply on the voltage adding-up portion, reducing resonant noise of the three-phase motor at 6m (m is a positive integer) times of rotation frequency.
Description
Technical field
The present invention relates to controller for motor and use the air conditioner of this controller for motor.Be particularly related to the reduction of the sound that the motor used by fan causes.
Background technology
In the past, in the small-sized fans motor using at air conditioner, the noise producing under the specific rotation speeds of reason take the resonance of rotor and fan was a problem always.In order to solve the noise problem being caused by this resonance, by rotor portions, vibration-proof rubber being set, or at the bearing portion of fan, vibration-proof rubber is set and reduces sound.
Can list by the distortion of the induced voltage of motor and execute the current waveform distortion that alive difference causes as one of its reason, and having proposed to remove the whole bag of tricks of the distortion of this current waveform.
For example, in patent documentation 1, disclose and in advance the voltage of offsetting the torque pulsation occurring due to the distortion of induced voltage has been made to induced voltage pulsation table, and be added to the technology on command voltage.
In addition, in patent documentation 2, disclose in order to realize high efficiency running, carried out the control method of switch modulation mode according to 2 dimension coordinates of the figure of torque and rotational speed or id electric current (d axle), iq electric current (q axle).
[patent documentation 1] TOHKEMY 2008-219966 communique
[patent documentation 2] TOHKEMY 2005-229676 communique
But there is the complex structure of motor and fan and the problem of cost costliness in the method that vibration-proof rubber is set in order to reduce the resonance sound of fan and rotor.
In addition, the inventor has confirmed not disappear at the technology fan of sine wave and the resonance sound of rotor of patent documentation 1 disclosed electric current by experiment.
In addition, the inventor confirmed by experiment in the method for the disclosed switch modulation mode of patent documentation 2, and the resonance sound of fan and rotor sometimes disappears and sometimes do not disappear.
Summary of the invention
Thereby the present invention addresses the above problem, not motor, the fan that is provided with vibration-proof rubber even if object is to provide a kind of, also can reduce the high efficiency controller for motor of the sound being caused by the resonance of fan and rotor.
To realize object of the present invention in order addressing the above problem, to be configured to as described below.
That is, controller for motor of the present invention is characterized in that possessing: inverter, be connected with DC power supply, and the direct current power of this DC power supply is transformed to the alternating electromotive force of variable voltage variable frequency, 3 phase motors are driven to control; Vector control portion, calculates the voltage being applied on the above-mentioned 3 phase motors that rotarily actuate load; High-order component generating unit, calculates the high-order component of executing alive first-harmonic of above-mentioned vector control portion; The voltage portion that adds, what above-mentioned vector control portion was calculated applies the high-order component that voltage adds that above-mentioned high-order component generation unit calculates; Pwm pulse generating unit, according to the add signal of portion of this voltage, above-mentioned inverter is carried out to pulse width control, wherein, above-mentioned high-order component generating unit generates 3 and executes mutually (6m-1) of alive fundametal compoment high-order component inferior and (6m+1) inferior both sides or one party and be applied to the above-mentioned voltage portion that adds, and is reduced in the doubly resonance sound of the frequency low-resonance of (m is positive integer) of 6m of the speed of above-mentioned 3 phase motors.
In addition, about other means, describing for the execution mode carrying out an invention.
According to the present invention, not motor, the fan that is provided with vibration-proof rubber even if can provide, also reduce the high efficiency controller for motor of the sound being caused by the resonance of fan and rotor.
Accompanying drawing explanation
Fig. 1 represents the associated figure of inside formation, this d.c. motor control device and power supply, 3 cross streams synchronous machines, the load of the controller for motor of the 1st execution mode of the present invention.
Fig. 2 is illustrated in the 1st execution mode of the present invention, uses rotating coordinate system the first-harmonic of vector control portion to be added to the figure of the method for the high-order component of high-order component generation unit in voltage adds portion.
Fig. 3 is illustrated in the 1st execution mode of the present invention, uses fixed coordinate system the first-harmonic of vector control portion to be added to the figure of the method for the high-order component of high-order component generation unit in voltage adds portion 23.
Fig. 4 is the noise that the represents fan figure with respect to characteristic one example of rotating speed.
Fig. 5 is that the rotating speed that is illustrated in motor is 450min
-1time the figure of frequency spectrum one example of fan noise.
Fig. 6 is that the rotating speed that is illustrated in motor is 510min
-1time the figure of frequency spectrum one example of fan noise.
Fig. 7 is that the rotating speed that is illustrated in motor is 600min
-1time the figure of frequency spectrum one example of fan noise.
Fig. 8 is that the rotating speed that is illustrated in motor is 650min
-1time the figure of frequency spectrum one example of fan noise.
Fig. 9 is illustrated in the 1st execution mode of the present invention, high-order component apply formula in G
5=3%, Φ
5=60 degree, G
7=5%, Φ
7the figure of one example of the frequency spectrum of=20 noises while spending.
Figure 10 is the figure of motor waveform while representing to illustrate the frequency spectrum of Fig. 9, the FFT that has carried out motor current waveform one example of resolving, (a) be the waveform of motor terminal voltage, (b) being the waveform of motor current, is (c) waveform of having carried out the FFT parsing of motor current.
Figure 11 is illustrated in lower fixing phase 120 to spend the motor waveform (voltage while making motor action in switching mode, electric current) and carried out the figure of waveform one example that the FFT of motor current resolves, (a) be the waveform of motor terminal voltage, (b) being the waveform of motor current, is (c) waveform of having carried out the FFT parsing of motor current.
Figure 12 is the figure that represents the entirety formation of the controller for motor of comparative example 1.
Figure 13 represents that induction voltage waveform is the figure of the waveform summary in desirable fixed coordinate system when sinusoidal wave, (a) represents induced voltage, (b) represents the command voltage that applies (c) to represent motor current.
Figure 14 is the figure of the waveform summary in the fixed coordinate system while having represented induction voltage waveform distortion, (a) represents induced voltage, and the command voltage that (b) expression applies (c) represents motor current.
Figure 15 represents that induction voltage waveform is the desirable figure of the waveform summary in the rotating coordinate system of benchmark at the magnetic flux take permanent magnet when sinusoidal wave, (a) represents induced voltage, (b) represents the command voltage that applies (c) to represent motor current.
Figure 16 is the figure of the waveform summary in the rotating coordinate system of benchmark at the magnetic flux take permanent magnet while having represented induction voltage waveform distortion, (a) represents induced voltage, (b) represents the command voltage that applies (c) to represent motor current.
Figure 17 is the figure of the summary waveform in the fixed coordinate system representing when applying voltage and added the high-order component of induced voltage, (a) represents induced voltage, (b) represents the command voltage that applies (c) to represent motor current.
Figure 18 is the figure of the summary waveform in the rotating coordinate system representing when applying voltage and added the high-order component of induced voltage, (a) represents induced voltage, (b) represents the command voltage that applies (c) to represent motor current.
Figure 19 represents general 3 figure of the voltage waveform of the U phase in modulation, V phase, W phase mutually.
Figure 20 is the figure that represents to spend as the fixing phase 60 of 2 phase modulation systems the voltage waveform of U phase in switching mode, V phase, W phase.
Figure 21 is the figure that represents to spend as the upper fixing phase 120 of 2 phase modulation systems the voltage waveform of U phase in switching mode, V phase, W phase.
Figure 22 is the figure that represents to spend as the lower fixing phase 120 of 2 phase modulation systems the voltage waveform of U phase in switching mode, V phase, W phase.
Figure 23 is that the inside that represents the controller for motor of the 2nd execution mode of the present invention forms, the figure of the relation of this d.c. motor control device and DC power supply, 3 phase motors, fan.
Figure 24 is the associated figure that represents inside formation, this d.c. motor control device and DC power supply, 3 phase motors, the fan of the controller for motor of the 3rd execution mode of the present invention.
Figure 25 is illustrated in 510min
-1time implemented 5 component of degree n ns apply with 2 mutually motor terminal voltage and the waveform of motor current when 60 ° of switching modes of fixing phase of modulation, carried out the figure of the waveform that FFT resolves, (a) be the waveform of motor terminal voltage, (b) being the waveform of motor current, is (c) waveform of having carried out the FFT parsing of motor current.
Figure 26 is the figure of the fan noise frequency spectrum while representing the condition determination of motor of Figure 25.
Figure 27 is the figure that represents the formation of the air conditioner of the 4th execution mode of the present invention.
Description of reference numerals
11,108: controller for motor; 12: DC power supply; 13: motor, 3 phase motors, 3 cross streams synchronous machines; 14: load, fan; 15: inverter, power transformation circuit; 16: DC bus current testing circuit; 17,18,19,20: control device; 21: vector control portion; 22: high-order component generation unit; 23: the voltage portion that adds; 24:PWM pulse generate portion; 25: modulation system selection portion; 51: power converter main circuit; 52: gate drivers; 100: air conditioner; 101: off-premises station; 102: indoor set; 103: pipe arrangement; 104: compressor; 105: heat exchanger (outdoor heat exchanger); 106: outdoor fan; 107: outdoor fan motor; 109: heat exchanger (indoor heat exchanger); 110: forced draft fan
Embodiment
Be used for implementing mode of the present invention (hereinafter referred to as " execution mode ") referring to accompanying drawing explanation.
(execution mode 1)
The controller for motor of the 1st execution mode of the present invention is described with reference to Fig. 1 ~ Fig. 3.
[formation of controller for motor: it is 1 years old]
Fig. 1 is the associated figure that represents the inner formation of controller for motor 11, this controller for motor 11 and DC power supply 12,3 cross streams synchronous machines (aptly referred to as " motor " or " 3 phase motor ") 13, the load (fan) 14 of the 1st execution mode of the present invention.
In Fig. 1, controller for motor 11 is configured to be possessed as the inverter 15 of DC-DC power converter and the control device 17 of control inverter 15.
In addition, control device 17 is configured to and possesses PWM(pulse width modulation) pulse generate portion 24, vector control portion 21, high-order component generating unit 22 and the voltage portion 23 that adds.
The controller for motor 11 of the 1st execution mode is characterised in that in control device 17, to possess high-order component generating unit 22, at control device 17, inverter 15 is carried out to PWM while controlling, from high-order component generating unit 22, the high order portion 23 that adds is added to the high-order component of induced voltage.Remove the noise causing by motor 13 with as the resonance of the fan 14 of load by the method.
Explanation take the method for removing the noise being caused by this resonance before the details of the controller for motor 11 of the 1st execution mode of feature, first the noise being caused by the resonance of motor and fan is described, afterwards, again describe the controller for motor 11 of the 1st execution mode of Fig. 1 in detail.
< is about the noise > of fan
Fig. 1 by motor 13(is described) drive fan 14(Fig. 1) time the noise that occurs of fan 14.
Fig. 4 is the noise that represents fan 14 figure with respect to characteristic one example of rotating speed.And, illustrate about the content of Fig. 2, Fig. 3 later.
In Fig. 4, transverse axis is rotating speed [min
-1], the longitudinal axis is noise [dB].And, so-called rotating speed [min
-1] be rev/min.In addition, be equivalent to that rpm(is per minute to be turned).In addition, below, be for example expressed as simply 510min by 510 revs/min
-1.
In Fig. 4, as 250min
-1, 510min
-1, 650min
-1shown in, the noise of fan 14 appears near of the specific rotating speed of fan 14.
Below, frequency spectrum when Fig. 5 ~ Fig. 8 represents these multiple specific rotating speeds.
Fig. 5 represents that the rotating speed of motor 13 is 450min
-1time the figure of an example of frequency spectrum of noise of fan 14.
Fig. 6 represents that the rotating speed of motor 13 is 510min
-1time the figure of an example of frequency spectrum of noise of fan 14.
Fig. 7 represents that the rotating speed of motor 13 is 600min
-1time the figure of an example of frequency spectrum of noise of fan 14.
Fig. 8 represents that the rotating speed of motor 13 is 650min
-1time the figure of frequency spectrum one example of noise of fan 14.
In above Fig. 5 ~ Fig. 8, transverse axis is frequency [Hz], and the longitudinal axis represents noise [dB].In addition, at transverse axis, with 1/3 octave component (octave), measuring point is got by unit.Thereby to start the 3rd measuring point from the measuring point of 200Hz be 400Hz, but mantissa's accumulative total in setting when measuring becomes 398Hz.Same 794Hz, 1585Hz, 3162Hz, 6310Hz, 12589Hz are in turn corresponding with 800Hz, 1600Hz, 3200Hz, 6400Hz, 12800Hz respectively.
In the frequency resolution result of Fig. 5 ~ Fig. 8, at the 450min of Fig. 5
-1600min with Fig. 7
-1, do not see the measuring point that noise is outstanding.
But, at the 510min of Fig. 6
-1, the measuring point that has noise give prominence at 200Hz and 316Hz place.In addition, at the 650min of Fig. 8
-1in, the measuring point that has noise give prominence at 251Hz place.
Like this, the resonance sound of fan 14 and motor 13 appears near 200 ~ 300Hz.
In addition, if with rotating speed 510min
-1for benchmark, because motor is 3 cross streams syncmotors, so if the number of poles of motor is 8 utmost points, the electric frequency of motor is 34Hz[510/{60 × (2/8) }].Known take this 34Hz as reference frequency by 204Hz(34 × 6 of 6 component of degree n ns, corresponding with the 200Hz of Fig. 6) and 306Hz(34 × 9 of 9 component of degree n ns, corresponding with the 316Hz of Fig. 6) near torque-excited there is sound.
Thereby, in order to eliminate the resonance sound of fan 14 and motor (rotor of motor) 13, these high-order components are taken some countermeasures.
[formation of controller for motor: they are 2 years old]
Formation for the controller for motor 11 of the 1st execution mode of the present invention of Fig. 1 describes in detail again.
The associated > of < controller for motor and DC power supply, motor, fan
As mentioned above, Fig. 1 be represent the 1st execution mode of the present invention controller for motor 11 formation with the associated figure of DC power supply 12, motor 13, fan (load) 14.
In Fig. 1, controller for motor 11 receives direct current power from DC power supply 12, is transformed to 3 cross streams electric power.In addition, motor (3 cross streams synchronous machine) 13 is provided 3 cross streams electric power from controller for motor 11, is subject to driving control and rotate, and rotarilys actuate fan 14.
Then, describe controller for motor 11 in detail.
< controller for motor >
In Fig. 1, as mentioned above, controller for motor 11 is configured to possesses the inverter 15(power converter that direct current power is transformed to 3 cross streams electric power of variable voltage variable frequency) and the control device 17 of control inverter 15.In addition, in the DC power supply of inverter 15, possesses DC bus current testing circuit 16.
" inverter "
In addition, inverter 15 is configured to and possesses: by IGBT(igbt) etc. the power converter main circuit 51 that forms of the diode element that is connected with inverse parallel of thyristor; There is IGBT(Sup, Sun, Svp, Svn, Swp, the Swn to power converter main circuit 51 according to the pwm pulse signal 17A of the pwm pulse generating unit 24 from later explanation) the gate drivers 52 of signal.
IGBT is connected in series and forms IGBT(Sup, the Sun of a phase) be connected between DC power supply 12, upper arm (Sup) separately and the tie point of underarm (Sun) become ac output end of U phase.
Be connected in series equally the IGBT(Svp, the Svn that form a phase) be connected between DC power supply 12, upper arm (Svp) separately and the tie point of underarm (Svn) become ac output end of V phase.
In addition, be connected in series equally the IGBT(Swp, the Swn that form a phase) be connected between DC power supply 12, upper arm (Swp) separately and the tie point of underarm (Swn) become ac output end of W phase.
" control device "
In addition, control device 17 be configured to possess pwm pulse generating unit 24, vector control portion 21, high-order component generating unit 22 and voltage add portion 23.
The motor rotary speed phase information 21A that applies voltage instruction 21B and above-mentioned permanent magnet synchronous motor 13 to the first-harmonic of above-mentioned permanent magnet synchronous motor 13, take DC bus current information (being expressed as aptly " information of the phase current ") 16A that detects in DC bus current testing circuit 16 as basis, calculates in vector control portion 21.
In addition, high-order component generating unit 22 is take above-mentioned motor rotary speed phase information (rotary speed information) 21A as basis, exports the high-order component 22A of the induced voltage of above-mentioned permanent magnet synchronous motor 13 to the voltage portion 23 that adds.
In addition, the voltage portion 23 that adds applies voltage instruction 21B to above-mentioned first-harmonic and adds the high-order component 22A of above-mentioned induced voltage and export and apply voltage instruction 23A.
In addition, pwm pulse generating unit 24 is according to above-mentioned voltage instruction 23A and the inner carrier signal having of applying, to the pwm pulse signal 17A conversion of inverter 15 being carried out to pulse width control.
And, the vector control of vector control portion 21, for example can be by for example using at " research of the new vector control mode of permanent magnet synchronous motor " at a high speed with " electricity opinion D, Vol.129(2009) No.1pp.36-45 " as non-patent literature 1, and realize in the mode shown in " " towards the simple and easy vector control of household electrical appliance position-sensor-free permanent magnet synchronous motor " electricity opinion D, Vol.124(2004) No.11pp.1133-1140 " as non-patent literature 2.
" DC bus current testing circuit "
DC bus current testing circuit 16 is connected with the DC bus of the minus side of DC power supply 12, the DC bus current I from mixed the carrying of pulsating current of U phase, V phase, W phase
dCobtain phase current information.Obtained phase current information is exported to vector control portion 21 as DC bus current information (phase current information) 16A.
In addition, the method that obtains phase current information for example can be used as patent documentation 3 disclosed mode etc. in TOHKEMY 2004-48886 communique.
The action of portion [high-order component generating unit and the voltage add]
In the 1st execution mode, the high-order component generating unit 22 of passing through induced voltage shown below and the voltage portion 23 that adds that is made as in order to reduce noise applies the structure of high-order component.
Below, the high-order component generating unit 22 of the high-order component 22A that generates induced voltage is described, high-order component 22A is added to first-harmonic applies the add action of portion 23 of voltage on voltage instruction 21B with reference to Fig. 2, Fig. 3, Figure 17, Figure 18.
The generation > of < high-order component
In high-order component generating unit 22, with predefined afterwards explanation (formula 1), (formula 2) in G and
value and generate high-order component take above-mentioned motor rotary speed phase information 21A as basis, exports high-order component 22A to the voltage portion 23 that adds.
< is to executing alive addition >
Add in portion 23 at voltage, the high-order component 22A that the first-harmonic that vector control portion 21 is exported applies the induced voltage that voltage instruction 21B, high-order component generating unit 22 export is added, and exports to pwm pulse generating unit 24.
As concrete formation, there are addition in rotating coordinate system and the addition in fixed coordinate system.Next coming in order illustrate these methods.
" adding in rotating coordinate system "
With reference to Fig. 2, the phase add mode in rotating coordinate system is described.
Fig. 2 is illustrated in the 1st execution mode of the present invention, uses rotating coordinate system the high-order component of high-order component generating unit 22 (the high-order component 22A of induced voltage) to be added to the figure of the method on the first-harmonic (first-harmonic applies voltage instruction 21B) of vector control portion 21 in voltage adds portion 23.
In Fig. 2, vector control portion 21 is according to the information 16A of phase current, take the magnet flow direction (d axle) of motor rotor as benchmark, in the dq reference axis of the rotating coordinate system as based on this d axle and right angle orientation (q axle), output first-harmonic applies voltage instruction 21B(Vd*, Vq*) and motor rotary speed phase information (rotation information) 21A.And being Vd* applies voltage instruction 21B(Fig. 1 with d axle about, the Vq* first-harmonic relevant with q axle).
High-order component generating unit 22 is according to being created on the high-order component 22A-d(d axle in dq reference axis from the motor rotary speed phase information 21A of vector control portion 21), 22A-q(q axle).In addition, high-order component 22A-d, 22A-q are equivalent to high-order component 22A in Fig. 1.
Voltage adds, and portion 23 applies voltage instruction (Vd*) at d axle by first-harmonic and high-order component 22A-d is added, and output d axle applies voltage instruction 23A-d.
In addition, voltage adds, and portion 23 applies voltage instruction (Vq*) at q axle by first-harmonic and high-order component 22A-q is added, and output q axle applies voltage instruction 23A-q.
And, apply voltage instruction 23A-d, 23A-q and be transformed to the component of U phase, V phase, W phase by not shown transformation component, and be input to pwm pulse generating unit 24(Fig. 1).
" adding in fixed coordinate system "
The mode of the addition in fixed coordinate system is described with reference to Fig. 3 in addition.
Fig. 3 is illustrated in the 1st execution mode of the present invention, uses fixed coordinate system the high-order component of high-order component generating unit 22 (the high-order component 22A of induced voltage) to be added to the figure of the method on the first-harmonic (first-harmonic applies voltage instruction 21B) of vector control portion 21 in voltage adds portion 23.
In Fig. 3, vector control portion 21 is according to the information 16A of phase current, and the first-harmonic of the three-phase alternating current of output fixed coordinate system applies voltage instruction 21B(Vu*, Vv*, Vw*) and motor rotary speed phase information (rotation information) 21A.
High-order component generating unit 22 is according to high-order component 22A-U, the 22A-V, the 22A-W that generate each phase from the motor rotary speed phase information 21A of vector control portion 21.
Voltage adds portion 23 for each phase (U, V, W) first-harmonic of the three-phase alternating current of fixed coordinate system is applied voltage instruction 21B(Vu*, Vv*, Vw* by each) and high-order component 22A-U, 22A-V, 22A-W be added, and output applies voltage instruction 23A-U, 23A-V, 23A-W respectively.
[reductions of 6 vibrations]
The reduction method of the resonance sound of the fan 14 that occurs and rotor (rotor of motor 13) is described under 6 times of motor rotary speed below.
The resonance being caused by fan 14 and rotor (13) is because the vibration of direction of rotation causes, each phase voltage or the electric current of motor are different with reference axis.The resonance being caused with rotor by fan has relation from the component of the reference axis of the rotating magnetic field being produced by the synthetic of 3 different phases of every 120 degree (2 π/3) phase places of motor.Therefore, do not take the voltage of each phase of 3 phase motors (motor), and that the dq coordinate system of taking to be transformed to rotating coordinate system reduces the countermeasure of resonance sound is appropriate.
Generally, by 3 phase motors each (3m-1) component of degree n n in mutually and (3m+1) component of degree n n be transformed to the 3m component of degree n n of dq coordinate system.At this, establishing m is positive integer.
In addition, when by first-harmonic (1 component of degree n n) and (3m-1) component of degree n n is synthetic and effect generate 3m component of degree n n.The effect of difference when in addition, by first-harmonic (1 component of degree n n) and (3m+1) component of degree n n is synthetic generates 3m component of degree n n.
The present inventor consider, expand this conversion, in order to eliminate dq coordinate system, i.e. 6 component of degree n ns (m=2) in rotating coordinate system, at each phase (U of 3 phase motors, V, W) apply 5 component of degree n ns and 7 component of degree n ns (m=2) that on voltage, add induced voltage component.Below be illustrated.
< high-order component apply formula >
In this case, induced voltage 1 component of degree n n E
1, high-order component the formula that applies E
5, E
7become following (formula 1), (formula 2) and (formula 3).
" formula of 1 component of degree n n "
[mathematical expression 1]
" 5 component of degree n ns apply formula "
The formula that applies about from 5 component of degree n ns to each phase (U, V, W) becomes following formula.
[mathematical expression 2]
" 7 component of degree n ns apply formula "
In addition, become following formula about the formula that applies of 7 component of degree n ns to each phase (U, V, W).
[mathematical expression 3]
In this (formula 1), (formula 2), (formula 3), ω: motor electric angle frequency, K
e: induced voltage constant, θ: phase place, G
5: with respect to the ratio of 5 amplitudes of induced voltage amplitude of first harmonic, G
7: with respect to the ratio of 7 amplitudes of induced voltage amplitude of first harmonic, φ
5: the phase difference of fundametal compoment and 5 component of degree n ns, φ
7: the phase difference of fundametal compoment and 7 component of degree n ns.
Become (formula 4) shown below by the dq that 1 component of degree n n, 5 component of degree n ns and 7 component of degree n ns of using (formula 1), (formula 2), (formula 3) to represent are carried out to use in vector control, 5 component of degree n ns of (formula 2) and (formula 3) and 7 component of degree n ns can be made as 6 component of degree n ns of dq coordinate system (torque system).This 6 component of degree n n plays a role as the torque of offsetting torque-excited, can eliminate the sound of 6 component of degree n ns of rotating speed.
" to the conversion of dq coordinate system "
From induced voltage 1 component of degree n n E1 and high-order component E5, E7, with voltage Ed, the Eq separately of (formula 4) conversion dq coordinate system below.
[mathematical expression 4]
(formula 4)
The reduction > of the various high-order components of <
In addition, (formula 1), (formula 2) are although use the ratio G(G with respect to the amplitude of induced voltage
5, G
7) and with respect to the phase difference (φ of induced voltage component
5, φ
7) show, but by changing G and φ, can apply freely high-order component.
" 510min
-1time the reduction of 6 secondary noises "
Below, represent for reducing 510min
-1time the experimental example of 6 secondary noises.
The present inventor's experimentally changes G
5, G
7, φ
5, φ
7value, find at G
5=3%, φ
5=60 degree, φ
7=20 while spending to 6 secondary noises roughly the reducing noise of 200Hz produce effect.
Fig. 9 is illustrated in the applying in formula of high-order component, G
5=3%, φ
5=60 degree, φ
7=5%, φ
7the figure of=20 noise spectrum one examples while spending.And transverse axis is frequency [Hz], the longitudinal axis represents noise [dB].In addition, at transverse axis, get measuring point with 1/3 octave component unit.
In Fig. 9, the outstanding measuring point of the noise of the 200Hz seeing in Fig. 6 has not had.Although there is the frequency spectrum of 200Hz, the frequency spectrum that can obtain 200Hz front and back does not have the measurement result of large difference.Thereby, represent producing effect in the reduction of 6 secondary noises (roughly 200Hz).
In addition, Figure 10 is the motor waveform (voltage while having represented to carry out the frequency spectrum that Fig. 9 is shown, electric current) and the FFT(fast Fourier transform of motor current) figure of waveform one example of resolving, (a) be the waveform of motor terminal voltage, (b) being the waveform of motor current, is (c) waveform of having carried out the FFT parsing of motor current.
In addition, the transverse axis of Figure 10 (a) and (b) is passing of time, and the longitudinal axis is respectively magnitude of voltage and current value.In addition, the transverse axis of Figure 10 (c) is frequency, and the longitudinal axis is the ratio of the component of electric current.
If 10(c with the aid of pictures) FFT, comprise significantly 5 component of degree n ns.Wherein, 5 component of degree n ns of this motor are because get along well fan sympathetic response (decaying in fan), so even if having also out of question.
" 250min
-1the reduction of 12 secondary noises "
Below, 250min is described
-1time the reduction method of 12 secondary noises.
In Fig. 4, at 250min
-1time have a projecting point of noise.Although not shown frequency spectrum is the noise of 200Hz roughly.
8 utmost points at the number of poles of motor, 250min
-1time the sound of roughly 200Hz in motor frequency, be equivalent to 16.67Hz[250/{60 × (2/8)].
Thereby, be to result from 12 times
the noise of high-order component.The reduction method of this high-order component of 12 times is described.
The same with the situation of 6 times, by high-order component and first-harmonic and with poor relation, for the high-order component of 12 times, to apply the high-order component of 11 times and 13 times at 3 phase motors.
For this high-order component of 12 times, by applying both sides or the side wherein of high-order component of the high-order component of 11 times and 13 times, can reduce the fan of the frequency of 12 times and the resonance sound of rotor of rotation speed of the fan.
" reduction of 6m secondary noise "
The situation of 6 times and 12 times has more than been described.
And then when carrying out in the situation of sine wave drive, the even number as each phase of symmetric figure within a cycle disappears.
Thereby, in the gimmick illustrating in the 1st execution mode, effectively except above-mentioned 6 times, 12 times, generally establish m and be positive integer and can reduce 6m time (m is positive integer, i.e. m=1,2,3 ...) sound.
Soft start when < applies, soft junction bundle >
The applying method of initial (startup) and last (end) while applying high-order component is described.
In high-order component generating unit 22, in the time becoming the rotating speed that applies high-order component, increase gradually the amplitude (soft start) of high-order component from 0 to the amplitude of regulation.For example, in (formula 1) and (formula 2) that apply 5 component of degree n ns and 7 component of degree n ns, be equivalent to increase gradually G
5, G
7the coefficient of (with respect to the ratio of induced voltage amplitude of first harmonic).
In addition, while becoming from applying the state of high-order component the rotating speed that does not apply high-order component, reduce gradually the amplitude (soft junction bundle) of high-order component from the amplitude to 0 of regulation.
Soft start while applying this high-order component by employing, soft junction bundle, the impact while not starting to apply high-order component and when end high-order component applies, becomes stable control.
The effect > of < the 1st execution mode
According to the 1st execution mode shown in Fig. 1, by the phase place with regulation, the high-order component that amplitude applies 6m time, can reduce the fan of frequency and the resonance sound of rotor of 6m times of motor rotary speed.
" comparative example 1 "
Below, 1 explanation is sinuous mode by current controller by Current Waveform Control as a comparative example.And which discloses as identical or similar technology such as " research of the new vector control mode of permanent magnet synchronous motor " at a high speed with " electricity opinion D, the Vol.129(2009) No.1pp.36-45 " of non-patent literature 1.
< is sinuous mode > by Current Waveform Control
First, with reference to Figure 12 ~ Figure 16, explanation is sinuous mode by current controller by Current Waveform Control.
Figure 12 is the figure that represents the entirety formation of comparative example 1.And the part of the symbol that bidding note is identical with Fig. 1 is the part with identical function, and the repetitive description thereof will be omitted.
The formation that Figure 12 is different with Fig. 1 is, control device 18 is pwm pulse signal 18A by vector control portion 21 and pwm pulse generating unit 24(output) form., in Figure 12, there is not high-order component generating unit 22 in Fig. 1 and the voltage portion 23 that adds.
In control device 18, vector control portion 21, calculate as basis take the phase current information of reproducing from DC bus current information 16A., be the mode that does not apply high-order component.
The relation of induction voltage waveform and electric current and voltage is described referring to Figure 13 ~ Figure 16.
Figure 13 represents that induction voltage waveform is the figure of the desirable waveform summary in fixed coordinate system when sinusoidal wave, (a) represents induced voltage E1[V], (b) represent the command voltage V1[V that applies], (c) represent motor current I1[A].
In addition, Figure 14 is the figure of the waveform summary in fixed coordinate system while representing induction voltage waveform distortion, (a) represents induced voltage E1[V], the command voltage V1[V that (b) expression applies], (c) represent motor current I1[A].
In addition, Figure 15 represents take induction voltage waveform it is that the magnetic flux of desirable permanent magnet when sinusoidal wave is as the figure of the waveform summary in rotating coordinate system of benchmark, (a) represent induced voltage E[V], the command voltage V[V that (b) expression applies], (c) represent motor current I[A].
In addition, Figure 16 is that the magnetic flux of the permanent magnet while representing take induction voltage waveform distortion is the figure of the waveform summary in rotating coordinate system of benchmark, (a) represent induced voltage E[V], the command voltage V[V that (b) expression applies], (c) represent motor current I[A].
In addition, the transverse axis of the (a) and (b) of Figure 13 ~ Figure 16, (c) is electric angle θ
ν[rad].
In addition, the φ in the (a) and (b) of Figure 13, Figure 14 is the phase difference of command voltage and induced voltage.
In addition, in Figure 15, Figure 16, subscript d, the q in induced voltage Ed, Eq, command voltage Vd, Vq, motor current Id, Iq is corresponding with d axle, q axle respectively.
Under the induction voltage waveform of permanent magnet synchronous motor is desirable sinuous situation, as shown in Figure 13 (b), (c), the command voltage and the motor current that apply voltage instruction are sinuous waveform, in rotating coordinate system as Figure 15 (b), (c) are depicted as constant value.
But, as shown in Figure 14, Figure 16, there is induction voltage waveform from the situation (a) of sinusoidal waveform distortion, because distortion (c) also occurs in motor current waveform in these distortions, in torque, there is the high-order component of rotating speed.
If the high-order component of torque is consistent with the resonance frequency being caused by the structure of fan, motor, there is vibrating noise.
Above, the controller for motor of the comparative example 1 shown in Figure 12 is the high structure of possibility that causes vibration and noise.
" comparative example 2 "
Below, 2 illustrate that with reference to Figure 17, Figure 18 the high-order component 22A of induced voltage is directly added to first-harmonic applies the mode on voltage instruction 21B as a comparative example.In addition, omitted the circuit diagram that forms comparative example 2.
Figure 17 is the figure that represents the high-order component of induced voltage to be added to the summary waveform in fixed coordinates while applying on voltage, (a) represents induced voltage [V], (b) represents the command voltage [V] that applies (c) to represent motor current [A].
Figure 18 is the figure that represents the high-order component of induced voltage to be added to the summary waveform in rotational coordinates while applying on voltage, (a) represents induced voltage [V], (b) represents the command voltage [V] that applies (c) to represent motor current [A].
In addition, the transverse axis of the (a) and (b) of Figure 17, Figure 18, (c) is electric angle θ
ν[rad].
In addition, the φ in the (a) and (b) of Figure 17 is the phase difference of command voltage and induced voltage.
In addition, in Figure 17, Figure 18, subscript d, the q in induced voltage Ed, Eq, command voltage Vd, Vq, motor current Id, Iq is corresponding with d axle, q axle respectively.
In comparative example 2, first-harmonic is applied to voltage instruction 21B and add high-order component 22A.Therefore,, as shown in Figure 17 (b), Figure 18 (b), output has added the voltage of high-order component 22A to applying voltage instruction 23A.
High-order component by this voltage applies, and as motor current, output logical superpotential high-order component in Figure 17 (c), Figure 18 (c) applies and removed the waveform of the high-order component of electric current (Id, Iq).
Like this, can remove by the voltage that applies high-order component the high-order component being included in electric current.And by removing the high-order component of electric current, the high-order component of torque also should reduce.
But, about the resonance sound of fan and rotor, also can not disappear even if reduce by 5 component of degree n ns of phase current.Thereby, in the mode of executing simply alive high-order component, can not abate the noise.
In addition, as shown in Figure 17 (c), Figure 18 (c), even motor current for sinusoidal wave clearly because as the torque of motor with rotate relevant, so because of the difference of coordinate and the rotational coordinates of phase, result from the fan of torque and the resonance sound of rotor may not eliminate.Thereby, in the 1st execution mode, take the method for the high-order component that further actively applies 5 times, 7 times.
(the 2nd execution mode)
The controller for motor of the 2nd execution mode of the present invention is described with reference to Figure 19 ~ Figure 23, Figure 11.
In the 2nd execution mode, the modulation system of controlling as the PWM of 3 cross streams motors, the fixing phase 60 that explanation after adopting is described is spent switching mode, or in the situation of fixing 120 degree switching modes mutually, reduce by 9 component of degree n ns that occur, and then reduce the method for the noise of the fan of (6m+3) component of degree n n (m is positive integer) and the sympathetic response of motor.
In addition, after comprising, the fixing phase 60 of explanation is spent switching mode, fixing 120 degree switching modes mutually, will in the electric angle of regulation, fix 1 phase current potential, and the mode of modulating other 2 phases is called and fixes 2 modulation mutually.
First, illustrate as the fixing phase 60 of the control method of controller for motor and spend switching mode, and fixing 120 degree switching modes mutually.Then, illustrate and be reduced in 9 component of degree n ns that occur in this control method, and then reduce the method for (6m+3) component of degree n n and concrete circuit structure.
The fixing 60 degree switching mode > mutually of <
At this, the modulation system that the PWM in controller for motor controls is described.
It is 3 modulation (3 phase modulation system) mutually that the PWM of 3 general cross streams motors controls, but in the situation that 3 cross streams motors are the wiring of Y type, has the phase voltage utilized this point different from voltage between phases and modulates mutually by 2 the methods that (2 phase modulation system) carries out.
; following method: utilizing motor current is not by phase voltage but by voltage between phases decision this point; in guaranteeing voltage between phases; switch element at every regulated period chien shih inverter is connected all the time; for each with electric angle π/3(60 degree; 60 °) successively each phase voltage is fixed on high-order power level or low level power level, thus the switching losses of reduction inverter.
And, in the method, as mentioned above, in the interval of regulation, 1 phase current potential is fixed, only carry out the modulation (PWM control) of other 2 phases.And the fixing phase of this current potential repeats successively.Thereby no matter in which, that is modulated all only has 2 phases, so be called 2 modulation mutually time.
To divide into, 2 above-mentioned phase modulation systems are called to fixing 60 degree switching modes mutually.
Below, in Figure 20, represent the fixing voltage waveform (voltage instruction) of 60 degree switching modes mutually, which is described.
Figure 20 is illustrated in the figure that spends the voltage waveform (voltage instruction) of U phase in switching mode, V phase, W phase as the fixing phase 60 of 2 phase modulation systems.
In addition, Figure 19 is the figure that the voltage waveform (voltage instruction) of U phase in 3 general phase modulation systems, V phase, W phase is shown as a reference.
In Figure 20 and Figure 19, transverse axis be electric angle angle [°], the longitudinal axis represents that the voltage of each electric angle is with respect to the ratio of maximum voltage, i.e. duty ratio [%].
In Figure 20, W spends (be equivalent to [°]) to 60 degree in electric angle 0, constant at the lower voltage limit of duty ratio 0%.
As this W be mutually 0 degree of voltage range of duty ratio 0% to 60 degree, U phase and V become the such voltage waveform of relation identical while making with 3 phase modulation system shown in voltage difference, phase preserving and Figure 19 of W phase mutually., at 0 degree to 60 degree, because W phase duty ratio is 0%, so U phase and V become slightly low value compared with magnitude of voltage originally.
In addition, at 60 degree, to 120 degree, U is constant at the upper voltage limit of duty ratio 100%.In this interval, V phase and W become the such voltage waveform of relation identical while making with 3 phase modulation system shown in voltage difference, phase preserving and Figure 19 of U phase mutually, so compared with magnitude of voltage originally, become slightly high value.And, becoming mutually 60 of duty ratio 100% at U quickly and spend, V phase and W phase voltage sharply rise.
In addition, at 120 degree, to 180 degree, V is constant at the lower voltage limit of duty ratio 0%.In this interval, W phase and U become the such voltage waveform of identical relation while making with 3 phase modulation system shown in voltage difference, phase preserving and Figure 19 of V phase mutually, so compared with magnitude of voltage originally, become lower slightly value.And, becoming mutually 120 of duty ratio 0% at V quickly and spend, W phase and U phase voltage sharply decline.
Repeat to control to become the mode of action waveforms of above such U phase, V phase, W phase.
As shown in figure 20, although the voltage between phases of U phase, V phase, W phase is the waveform different with sine wave, but the voltage between lines of the voltage between lines of the voltage between lines of U phase-V phase, V phase-W phase, W phase-U phase is respectively sinusoidal waveform, so the motor 13(Figure 23 driving by 3 phase voltages between lines) and fan 14(Figure 23) the same mode is moved when with 3 phase modulation system shown in Figure 19.
But, because W at 0 degree to 60 degree, U is at 60 degree to 120 degree, V is respectively constant to 180 degree at 120 degree, so can reduce the action frequency that the PWM based on inverter 15 controls.Thereby, effective aspect the low power consumption of inverter 15.
In addition, at 0 degree to 360 degree and repeat this 0 degree to whole intervals of 360 degree, fixing U phase, V phase, the W a certain phase in mutually, being subject to modulation is 2 phases of being left.Thereby, be 2 modulation mutually as mentioned above.
In addition, in the 110th, 111,125 pages of the distribution of electric association of the civic organization's " semiconductor power translation circuit " in March, 1987 as non-patent literature 3 etc., illustrated and above identical or similar technology.
The fixing 120 degree switching modes mutually of <: its 1 >
Below, the fixed interval that each phase is described is spent 120 degree switching modes mutually switching mode length, fixing than above-mentioned fixing phase 60.
And, in fixing 120 degree switching modes mutually, have the upper fixing phase 120 fixedly fixing at the high potential of direct voltage is spent to switching mode, and will fixedly fix 2 kinds of modes spending switching mode in the lower fixing phase 120 of the electronegative potential of direct voltage.Below, the upper fixing 120 degree switching modes mutually of explanation and lower fixing phase 120 are spent switching mode successively.
" upper fixing 120 degree switching modes mutually "
Figure 21 is the figure that represents to spend as the upper fixing phase 120 of 2 phase modulation systems the voltage waveform (voltage instruction) of U phase in switching mode, V phase, W phase.And, transverse axis be electric angle angle [°], the longitudinal axis represents the duty ratio [%] of voltage.
In Figure 21, U at 30 degree (be equivalent to [°]) to 150 degree, constant at the upper voltage limit of duty ratio 100%.
In addition, W at 150 degree to 270 degree, constant at the upper voltage limit of duty ratio 100%.
In addition, V spends to (390) at 270 degree, constant at the upper voltage limit of duty ratio 100%.
As mentioned above, U phase, V phase, W mutually all respectively for 1 at electric angle 2 π/3(120 degree) during be fixed on high-order power level.
In addition, in the interval of 1 phase separately of fixing U phase, V phase, W phase, by other phased identical such voltage waveforms of relation of situation making with 3 phase modulation systems shown in voltage difference, phase preserving and Figure 19 of above-mentioned phase of making.
Thereby, U phase, V phase, W are connected and are connected into the wiring of Y type, can drive 3 cross streams motors by voltage between lines separately.
" lower fixing 120 degree switching modes mutually "
Figure 22 is the figure that represents to spend as the lower fixing phase 120 of 2 phase modulation systems the voltage waveform (voltage instruction) of U phase in switching mode, V phase, W phase.In addition, transverse axis be electric angle angle [°], the longitudinal axis represents the duty ratio [%] of voltage.
In Figure 22, V at 90 degree (be equivalent to [°]) to 210 degree, constant at the lower voltage limit of duty ratio 0%.
In addition, U at 210 degree to 330 degree, constant at the lower voltage limit of duty ratio 0%.
In addition, W, in addition, spends to 90 degree in (30) to (450) degree at 330 degree, constant at the lower voltage limit of duty ratio 0%.
As mentioned above, U phase, V phase, W are mutually all respectively for 1 phase, at electric angle 2 π/3(120 degree) during be fixed on low level power level.
In addition, in the interval of 1 phase separately of fixing U phase, V phase, W phase, other are phased makes the voltage waveform that makes the relation same with the situation of 3 phase modulation systems shown in voltage difference, phase preserving and Figure 19 of above-mentioned phase such.
Thereby, U phase, V phase, W are connected and are connected into the wiring of Y type, can drive 3 phase motors by voltage between lines separately.
The fixing 120 degree switching modes mutually of <: its 2 >
As mentioned above, upper fixing 120 degree switching modes mutually and lower fixing phase 120 are spent switching mode because be all with electric angle 2 π/3(120 degree for every 1,120 °) be fixed on successively on high power level or low power level, so can reduce the switching losses of inverter.
In addition, if the magnitude of voltage of the amplitude ratio of phase voltage regulation is low, also have when having occurred in the situation of unfavorable situation, the control shown in Figure 21 or Figure 22 stops 2 phase modulation systems and by 3 phase modulation systems, motor is applied the method for 3 phase voltages.
In addition, in patent documentation 2, disclose and above identical or similar technology.
[reductions of 9 component of degree n ns]
Spend in switching mode and fixing phase 120 degree switching modes 9 component of degree n ns occur in the fixing phase 60 of 2 above-mentioned phase modulation systems.
That is, in the situation that 3 phase motors are carried out to sine wave drive, generally there is not the even number component of degree n n of 3 phases, but spend the upper and lower even number number of times that occurs when symmetrical of switching mode, waveform carrying out the lower fixing phase 120 shown in Figure 22.Due to 8 times, 10 component of degree n ns (component of each phase) as this even number number of times, there are 9 component of degree n ns (component of rotating coordinate system), can become the reason of the noise of 9 component of degree n ns.
Thereby, in order to reduce by 9 component of degree n ns (component of rotating coordinate system) of 3 phase motors, sometimes need to reduce by 8 times, 10 component of degree n ns (component of each phase) of 3 phases.
In addition, during by first-harmonic (1 component of degree n n) and 8 component of degree n ns synthetic and effect generate 9 component of degree n ns.The effect of the difference during in addition, by first-harmonic (1 component of degree n n) and 10 component of degree n ns synthetic generates 9 component of degree n ns.
And, Figure 11 is illustrated in above-mentioned lower fixing phase 120 to spend the motor waveform (voltage while making motor action in switching mode, electric current) and carried out the figure of waveform one example that the FFT of motor current resolves, (a) be the waveform of motor terminal voltage, (b) being the waveform of motor current, is (c) waveform of having carried out the FFT parsing of motor current.
In addition, the transverse axis of Figure 11 (a) and (b) is passing of time, and the longitudinal axis is respectively magnitude of voltage and current value.In addition, the transverse axis of Figure 11 (c) is frequency, and the longitudinal axis is the ratio of the component of electric current.
If 11(c with the aid of pictures) FFT, comprise 8 many component of degree n ns and 10 component of degree n ns.
Below, illustrate that carrying out above-mentioned fixing phase 60 spends switching mode, reduce the mode of 9 secondary noises by reducing the even number number of times (8 times and 10 times) now occurring.
And, in the selection of this modulation system, there is the number of times of reducing noise effect except 9 times, 15 times, 21 times in addition ... Deng general (6m+3) inferior (m is positive integer).
< circuit structure >
Then, illustrate in the fixing phase 60 of 2 phase modulation systems and spend in switching mode, fixing 120 degree switching modes mutually, reduce the structure of the controller for motor of the high-order component of (6m+3) inferior (m is positive integer).
Figure 23 is the associated figure of the internal structure, this controller for motor 11 and the DC power supply 12 that represent the controller for motor 11 of the 2nd execution mode of the present invention, motor (3 phase motor) 13, fan 14.
In Figure 23, be present in as the feature of the 2nd execution mode in the structure of control device 171 of controller for motor 11.
And, for DC power supply 12, motor 13, fan 14, inverter 15, DC bus current testing circuit 16, so because the same with the 1st execution mode of Fig. 1 the repetitive description thereof will be omitted.
Modulation system selection portion 25 is according to motor rotary speed phase information (rotation information) 21A, in the time that resonance frequency component has exceeded the scope of regulation of the limit that becomes noise, (or 120 degree) switching mode or the 3 phase modulation systems of selecting the fixing phase 60 of 2 phase modulation systems to spend, select signal 12A to output to pwm pulse generating unit 24 modulation system.
Pwm pulse generating unit 24 applies voltage instruction 21B according to first-harmonic and modulation system is selected signal 25A, generates the pwm pulse information 19A that inverter 15 is carried out to pulse width control.
By above formation, spend in switching mode, fixing 120 degree switching modes mutually in the fixing phase 60 of 2 phase modulation systems, in the fundametal component of 2 above-mentioned phase modulation systems, apply (6m+2) inferior with (6m+4) inferior high-order component by control device 19, thereby reduce (6m+3) inferior high-order component.
The effect > of < the 2nd execution mode
According to the 2nd execution mode, by being arranged to 3 modulation or fixing 60 2 modulation mutually of spending switching modes mutually mutually, can seek low consumption electrification, and can reduce the fan of frequency and the resonance sound of rotor of (6m+3) inferior (m is positive integer) of motor rotary speed.
(the 3rd execution mode)
The controller for motor of the 3rd execution mode of the present invention is described with reference to Figure 24 below.
The 3rd execution mode possesses the high-order component generating unit 22 of the 1st execution mode and voltage add portion 23 and the modulation system selection portion 25 of the 2nd execution mode in the lump.
The formation > of the controller for motor of < the 3rd execution mode
Figure 24 is the associated figure of the internal structure, this controller for motor 11 and DC power supply 12,3 phase motors 13, the fan 14 that represent the controller for motor 11 of the 3rd execution mode of the present invention.
In Figure 24, be present in as the feature of the 3rd execution mode in the formation of control device 20 of controller for motor 11.
And, for DC power supply 12, motor 13, fan 14, inverter 15, DC bus current testing circuit 16, so because identical with the 1st execution mode of Fig. 1 the repetitive description thereof will be omitted.
High-order component generating unit 22 generates high-order component 22A according to motor rotary speed phase information 21A, and outputs to the voltage portion 23 that adds.
Voltage adds that portion 23 applies by first-harmonic that voltage instruction 21B and high-order component 22A are added and output applies voltage instruction 23A.
Modulation system selection portion 25 is according to motor rotary speed phase information 21A, and the fixing phase 60 of selection 2 phase modulation systems is spent (or 120 degree) switching mode or 3 phase modulation systems, selects signal 25A to output to pwm pulse generating unit 24 modulation system.
Pwm pulse generating unit 24 selects signal 25A to generate pwm pulse information 20A according to applying voltage instruction 23A and modulation system.
By above formation, with the phase place stipulating, the high-order component that amplitude applies 6m time, reduce the fan 14 of frequency and the resonance sound of rotor (13) of 6m time (m is positive integer) of motor rotary speed.In addition, by being arranged to 3 modulation or fixing 60 2 modulation mutually of spending switching modes mutually mutually, can reduce the fan 14 of frequency and the resonance sound of rotor (13) of 3m time (m is positive integer) of motor rotary speed.
The measurement result > of the reducing noise of < execution mode 3
The mensuration effect of the reducing noise of execution mode 3 is described with reference to Figure 25 ~ Figure 26 below.
" mensuration waveform "
Figure 25 is illustrated in 510min
-1time, implemented the applying of 5 component of degree n ns, 2 mutually motor terminal voltage when 60 ° of switching modes of fixing phase of modulation and motor current waveform, carried out the figure of the waveform that FFT resolves, (a) be the waveform of motor terminal voltage, (b) being the waveform of motor current, is (c) waveform of having carried out the FFT parsing of motor current.
In addition, the transverse axis of Figure 25 (a) and (b) is passing of time, and the longitudinal axis is respectively magnitude of voltage and current value.In addition, the transverse axis of Figure 25 (c) is frequency, and the longitudinal axis is the ratio of the component of electric current.
And, 510min
-1 time 5 component of degree n ns be applied to that in (formula 1), to establish phase be 62 degree, the ratio G of relative induction voltage fundamental amplitude
5be 3%.
" noise spectrum "
In addition, Figure 26 is the figure of the noise spectrum of the fan while representing the condition determination of motor of Figure 25.
If the noise spectrum of the noise spectrum of Figure 26 and Fig. 6 is compared, the noise of the 200Hz seeing in Fig. 6 and the frequency burst of 316Hz is reduced.
The effect > of < the 3rd execution mode
Thereby the 3rd execution mode has the effect of the multiple resonance sound that reduces fan and rotor.
(the 4th execution mode)
Below, as the 4th execution mode explanation, the controller for motor 11 illustrating is applicable to the mode of the controller for motor 108 of the fan of the off-premises station 101 of air conditioner 100 in the 1st execution mode to the 3 execution modes.
Figure 27 is the figure that represents the formation example of the air conditioner 100 of the 4th execution mode of the present invention.
In Figure 27, air conditioner 100 is configured to possesses the off-premises station 101 and the indoor indoor set 102 of heat exchange, the pipe arrangement 103 that both are linked up of carrying out that carry out heat exchange with extraneous gas.
Off-premises station 101 is configured to be possessed: the compressor 104 of compressed refrigerant and extraneous gas carry out the heat exchanger 105 of heat exchange, to the outdoor fan 106 of this heat exchanger air-supply, make the outdoor fan motor 107 that this outdoor fan 106 rotates, the controller for motor 108 that drives this outdoor fan motor 107.And application is from the controller for motor 11 of above-mentioned the 1st execution mode to the 3 execution modes in controller for motor 108.
In addition, off-premises station 102 is configured to and possesses: and the indoor heat exchanger 109 of heat exchange, the forced draft fan 110 to indoor air-supply of carrying out.
In the 4th execution mode, as mentioned above, the controller for motor 11 of the 1st execution mode to the 3 execution modes is applied to air conditioner 100.,, in the control device (17,19,20) of control inverter 15, by applying high-order component, selecting modulation mode, reduce the fan 14 of frequency and the resonance sound of rotor (motor 13) of the high order of motor rotary speed.
The effect > of < the 4th execution mode
The 4th execution mode does not use the vibration-proof rubber of the rotor portions of outdoor fan motor 107, the vibration-proof rubber of fan portion, so make quiet air conditioner 100 because can reduce noise marked downly.
(other execution mode)
Above, describe embodiments of the present invention in detail with reference to accompanying drawing, but the present invention is not limited to these execution modes and distortion thereof, also can in the scope that does not depart from purport of the present invention, has design alteration etc., below enumerate its example.
" realization of each formation, function "
Each formation of above-mentioned present embodiment, function, handling part, processing means etc. also can be designed etc. and to be utilized hardware to realize they part or all by such as integrated circuit.In addition, also can realize by the software of variable program.Also can consider that in addition the mixed of hardware and software take.
In addition, control line and information wire show and think and on product, whole control lines and information wire may not be shown by the line that needs in explanation.In fact, also can think that most formation interconnects.
" each formation, the combination of function, displacement "
A part for the formation of a certain execution mode can be replaced as to the formation of another execution mode, in addition, also can in the formation of a certain execution mode, append the formation of another execution mode.In addition, for a part for the formation of each execution mode, can carry out appending, delete, replacing of other formations.
" load, noise source "
In addition, in order to describe clearly, the situation of drive fan has mainly been described as load, but the present invention is effective in the reduction of the sound causing because of constructivity resonance frequency, is not limited to fan as load.
" obtaining of phase current information "
Obtaining of phase current information based on DC bus current testing circuit 16 can be used as patent documentation 3 general mode such as disclosed mode in TOHKEMY 2004-48886 communique, not particular detection mode.
" vector control "
" switch element, semiconductor element "
In addition, switch element as power converter main circuit 51 has used IGBT, but also can use the switch element of other semiconductor element, for example, can be MOSFET(Metal-Oxide-Semiconductor Field-Effect Transistor: mos field effect transistor).In addition, can be also to have used SiC(Silicon Carbide as the composition of element: carborundum) and GaN(Gallium Nitride: gallium nitride) semiconductor element.
" G that applies formula of high-order component and the change of φ "
Ratio for the higher-order wave amplitude that applies the G(relative induction voltage fundamental amplitude in formula of high-order component has been described) and φ (phase difference of fundametal compoment and high-order component) used the situation of the value of initial setting, but also have take the information of DC bus current testing circuit 16 as basis, in vector control portion 21, carry out optimally-controlled method according to situation suitable change G and φ.
" gate drivers "
Claims (7)
1. a controller for motor, is characterized in that, possesses:
Inverter, is connected with DC power supply, the direct current power of this DC power supply is transformed to the alternating electromotive force of variable voltage variable frequency, and 3 phase motors are driven to control;
Vector control portion, calculates the voltage that the above-mentioned 3 phase motors to rotariling actuate load apply;
High-order component generating unit, calculates the high-order component of executing alive first-harmonic of above-mentioned vector control portion; And
The voltage portion that adds, what above-mentioned vector control portion was calculated applies the high-order component that voltage adds that above-mentioned high-order component generating unit calculates,
Pwm pulse generating unit, carries out pulse width control according to the add signal of portion of this voltage to above-mentioned inverter,
Above-mentioned high-order component generating unit generates (6m-1) that execute alive fundametal compoment of 3 phases high-order component inferior and (6m+1) inferior both sides or one party and is applied to the above-mentioned voltage portion that adds, be reduced in the resonance sound of the frequency low-resonance of 6m times of the speed of above-mentioned 3 phase motors, wherein, m is positive integer.
2. controller for motor according to claim 1, is characterized in that:
The load of above-mentioned 3 phase motors is fans.
3. a controller for motor, is characterized in that, possesses:
Inverter, is connected with DC power supply, the direct current power of this DC power supply is transformed to the alternating electromotive force of variable voltage variable frequency, and 3 phase motors are driven to control;
Vector control portion, calculates the voltage that the above-mentioned 3 phase motors to rotariling actuate load apply;
High-order component generating unit, calculates the high-order component of executing alive first-harmonic of above-mentioned vector control portion;
The voltage portion that adds, what above-mentioned vector control portion was calculated applies the high-order component that voltage adds that above-mentioned high-order component generating unit calculates;
Pwm pulse generating unit, has and comprises the Different Modulations of fixing 2 phase modulation systems, according to the add signal of portion of above-mentioned voltage, above-mentioned inverter is carried out to pulse width control; And
Modulation system selection portion, the above-mentioned Different Modulations of selecting this pwm pulse generating unit to have,
The rotation information of the above-mentioned 3 phase motors that obtain according to above-mentioned vector control portion, in the time that resonance frequency component has exceeded the scope of regulation, above-mentioned modulation system selection portion is selected some in above-mentioned Different Modulations, said PWM pulse generate portion is with this above-mentioned inverter of modulation system control of selecting, be reduced in the resonance sound of (6m+3) frequency low-resonance doubly of the speed of above-mentioned 3 phase motors, wherein, m is positive integer.
4. controller for motor according to claim 3, is characterized in that:
The above-mentioned 2 phase modulation systems of fixing are fixing 60 degree switching modes mutually, or upper fixing phase 120 spends switching mode, or lower fixing phase 120 is spent switching mode.
5. controller for motor according to claim 3, is characterized in that:
In above-mentioned Different Modulations, possess 3 phase modulation systems.
6. a controller for motor, is characterized in that, possesses,
Inverter, is connected with DC power supply, the direct current power of this DC power supply is transformed to the alternating electromotive force of variable voltage variable frequency, and 3 phase motors are driven to control;
Vector control portion, calculates the voltage that the above-mentioned 3 phase motors to rotariling actuate load apply;
High-order component generating unit, calculates the high-order component of executing alive first-harmonic of above-mentioned vector control portion;
The voltage portion that adds, what above-mentioned vector control portion was calculated applies the high-order component that voltage adds that above-mentioned high-order component generating unit calculates;
Pwm pulse generating unit, has and comprises the Different Modulations of fixing 2 phase modulation systems, according to the add signal of portion of above-mentioned voltage, above-mentioned inverter is carried out to pulse width control; And
Modulation system selection portion, the above-mentioned Different Modulations of selecting this pwm pulse generating unit to have,
Said motor control device has following functions in the lump:
Above-mentioned high-order component generating unit generates 3 and executes mutually (6m-1) of alive fundametal compoment high-order component inferior and (6m+1) inferior both sides or one party and be applied to the above-mentioned voltage portion that adds, be reduced in the resonance sound of the frequency low-resonance of 6m times of the speed of above-mentioned 3 phase motors, wherein, m is positive integer
The rotation information of the above-mentioned 3 phase motors that obtain according to above-mentioned vector control portion, in the time that resonance frequency component has exceeded the scope of regulation, above-mentioned modulation system selection portion is selected some in above-mentioned Different Modulations, said PWM pulse generate portion is with this above-mentioned inverter of modulation system control of selecting, be reduced in the resonance sound of (6m+3) overtones band low-resonance of the speed of above-mentioned 3 phase motors, wherein, m is positive integer.
7. an air conditioner, is characterized in that:
Be equipped with the controller for motor described in any one of claim 1 to 6.
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| JP2012-234291 | 2012-10-24 | ||
| JP2012234291A JP6000801B2 (en) | 2012-10-24 | 2012-10-24 | Motor control device and air conditioner using the same |
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| CN103780186B CN103780186B (en) | 2016-09-14 |
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| JP (1) | JP6000801B2 (en) |
| KR (1) | KR101393903B1 (en) |
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| CN108702117A (en) * | 2016-02-24 | 2018-10-23 | 株式会社电装 | The control device of ac motor |
| CN109391178A (en) * | 2017-08-10 | 2019-02-26 | 本田技研工业株式会社 | The control device and control method of rotating electric machine |
| CN110100136A (en) * | 2017-11-27 | 2019-08-06 | 日立江森自控空调有限公司 | Air-conditioning and motor control assembly |
| CN111801531A (en) * | 2018-03-01 | 2020-10-20 | 大金工业株式会社 | Air conditioning system |
| CN111835253A (en) * | 2019-04-23 | 2020-10-27 | 广州汽车集团股份有限公司 | Motor vibration or noise control method and device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP6459878B2 (en) * | 2015-09-28 | 2019-01-30 | 株式会社デンソー | Control device for rotating electrical machine |
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Also Published As
| Publication number | Publication date |
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| JP2014087167A (en) | 2014-05-12 |
| CN103780186B (en) | 2016-09-14 |
| KR101393903B1 (en) | 2014-05-12 |
| JP6000801B2 (en) | 2016-10-05 |
| KR20140052806A (en) | 2014-05-07 |
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Effective date of registration: 20160824 Address after: Hongkong, China Applicant after: Johnson Controls Hitachi air conditioning technology (Hongkong) Co., Ltd. Address before: Tokyo, Japan Applicant before: Hitachi Appliances Inc. |
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