CN104796062A - Power conversion device - Google Patents
Power conversion device Download PDFInfo
- Publication number
- CN104796062A CN104796062A CN201510014590.8A CN201510014590A CN104796062A CN 104796062 A CN104796062 A CN 104796062A CN 201510014590 A CN201510014590 A CN 201510014590A CN 104796062 A CN104796062 A CN 104796062A
- Authority
- CN
- China
- Prior art keywords
- current
- phase
- motor
- inverter
- power conversion
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Inverter Devices (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
In a high-rotating speed and high-frequency inverter of a motor, a current strain resulted from an ineffective time can be inhabited through a simple structure, and a torque pulse of and noises of the motor can be reduced. The power conversion device is provided with the inverter driving the motor, a rotary encoder detecting a rotating speed and a magnetic pole position of the motor, a current detector detecting an output current of the inverter, a noise filter removing noises off an output of the current detector detecting the output current of the inverter, and a control operation part which calculate a current instruction of a torque shaft and a current instruction of a flux shaft according to a phase of the magnetic pole position of the motor and calculates a three-phase current instruction value according to the current instructions. The current conversion device calculates a phase difference between a three-phase current instruction value and an actual output current of the inverter according to the rotating speed of the motor and a delay time generated because of the current detector and the noise filter, and adds the phase difference to the phase of the magnetic pole position of the motor.
Description
Technical field
The present invention relates to the power conversion unit of drive motor, be particularly suitable for the suppressing method suppressing the electric current resulting from ineffective time to strain.
Background technology
In the on-off mode of power inverter, the output voltage of inverter is different because of the difference of the ineffective time in order to prevent the switching element short-circuits of upper underarm from setting.Therefore, output voltage phase current zero cross point and near become discontinuous, now, phase current also becomes discontinuous thereupon, may cause current waveform produce strain.Its result, causes the torque of motor near the zero cross point of phase current to occur pulsation, or makes noise become large.
In order to the generation how size of the output current accomplishing no matter inverter all can suppress waveform to strain, such as there will be a known the technology disclosed in patent documentation 1, its size according to output current compensates the decline of the output voltage caused by the switch on delay of inverter (ON-delay).
At first technical literature
Patent documentation
Patent documentation 1: the flat 3-135389 publication of Japanese Patent Laid-Open
Summary of the invention
In the technology disclosed in above-mentioned patent documentation 1, bucking voltage ineffective time of each phase is obtained accordingly with the size of the command signal of inverter output current and polarity, this bucking voltage is added with the command signal of inverter output voltage, carry out the compensation of ineffective time thus, so when carrying out the compensation of ineffective time, need the generation time of the zero crossing judging motor current accurately, and need nullified time bias voltage consistent with the polarity of motor current.That is, in the mode of patent documentation 1, owing to deciding bucking voltage ineffective time according to the size of phase current command value and polarity, so in the occasion in order to prevent error detection to have the noise filter of noise removal function in the output setting of the current detector detecting inverter output current, especially when high-frequency, may phase difference be produced between phase current command value and the phase current of reality, cause carrying out suitable compensation.
The object of the invention is to solve problem existing in above-mentioned prior art, make in the inverter that the rotating speed of motor is high and frequency is high, also can suppress to result from by simple structure the electric current strain of ineffective time, torque pulsation and the noise of motor can be reduced.
Solution
To achieve these goals, power conversion unit of the present invention has: the inverter of drive motor, detect the rotating speed of described motor and the rotary encoder of position of magnetic pole, detect the current detector of the output current of described inverter, the noise filter of noise is removed from the output of the current detector detecting inverter output current, and control algorithm part, this control algorithm part is according to the current-order of phase bit arithmetic torque axis of the position of magnetic pole of described motor and the current-order of magnetic flux axle, and according to the current instruction value of the current-order of described torque axis and the current-order computing three-phase of magnetic flux axle, in described power conversion unit, phase difference according to the rotating speed of described motor and the delay time computing that produces because of described current detector and described noise filter between the current instruction value of three-phase and the output current of the reality of described inverter, and the phase place of described phase difference with the described position of magnetic pole of described motor is added.
Invention effect
In the present invention, according to the rotating speed of motor and the phase difference between the current instruction value of delay time computing three-phase produced because of current detector and noise filter and the output current of the reality of inverter, and by the current instruction value of phase difference with phase place phase Calais's computing three-phase of the position of magnetic pole of motor, so the phase place of bucking voltage ineffective time suitably can be set, even if also can suppress to result from simple structure the electric current strain of ineffective time when the rotating speed of motor is high, pulsation and the noise of motor torque can be reduced.
Accompanying drawing explanation
Fig. 1 is the calcspar representing one embodiment of the present invention.
Fig. 2 represents the current waveform in existing control mode.
Fig. 3 represents the current waveform in one embodiment of the present invention.
Fig. 4 is the calcspar representing existing control mode.
Fig. 5 is the key diagram of bucking voltage ineffective time.
Embodiment
Below embodiments of the present invention are described.For the ease of understanding the difference with prior art, first prior art is described in detail.
Fig. 4 is the calcspar representing existing control mode.The main circuit part of power conversion unit by power supply 1, the commercial ac power source of power supply 1 is transformed to direct voltage rectifier 2, be the inverter 3 of the alternating voltage of optional frequency by the voltage transformation being transformed to direct current by rectifier 2, the motor 4 driven by inverter 3, detect the rotating speed of motor 4 and the rotary encoder 5 of position of magnetic pole is formed.Inverter 3 controls magnetic flux axle component and the torque axis component of rotary coordinate system according to the vector control of motor, drives thus.In magnetic flux axle, by the Differential Input magnetic flux shaft current control system block 11 of magnetic flux shaft current instruction Id* and magnetic flux shaft current IdFB being carried out the voltage instruction value Vd* of computing magnetic flux axle component.Wherein, magnetic flux shaft current IdFB carries out three-phase-two phase inversion (8) by output current IuFB, IvFB, IwFB (hereinafter referred to as phase current sensing value) of the inverter 3 exported the noise filter 7 from the output signal that have input current detector 6 and obtains.
In torque axis, by the speed command ω re* of motor 4 and the Differential Input speed control system block 12 of the rotational speed omega reFB obtained from rotary encoder 5 are obtained torque instruction τ *.After this further its input torque-current transformation gain block (KT) 13 is obtained torque axis current-order Iq*.Differential Input torque axis current control system block 14 between torque axis current-order Iq* and the torque axis electric current I qFB obtained by carrying out three-phase-two phase inversion (8) to phase current sensing value is obtained the voltage instruction Vq* of torque axis component.
On the other hand, the polarity of three-phase current instruction Iu*, Iv*, Iw* (hereinafter referred to as phase current command value) of the output current of the inverter 3 obtained according to carrying out two-phase-three phase inversion (15) to magnetic flux shaft current instruction Id* and torque axis current-order Iq*, determined the polarity of compensation rate ineffective time by compensating circuit 17 ineffective time, and carry out the computing of bucking voltage ineffective time.
By carrying out two-phase-three phase inversion (16) to the voltage instruction Vd* of magnetic flux axle component and the voltage instruction Vq* of torque axis component, the voltage instruction of each phase for inverter 3 can be obtained.This voltage instruction is added with bucking voltage ineffective time, computing three-phase voltage instruction Vu*, Vv*, Vw* (hereinafter referred to as phase voltage command value), by generating pwm pulse to phase voltage command value with comparing of carrier, to drive the switch element of inverter 2.
In this control mode, according to phase current command value computing bucking voltage ineffective time, electric current I u, Iv, Iw (phase current hereinafter referred to as reality) of the reality exported in phase current command value and inverter do not have dephased occasion, good compensating movement ineffective time can be obtained, the strain of actual phase current can be suppressed.
On the other hand, between phase current command value and the phase current of reality, there is dephased occasion, due to the bucking voltage ineffective time interval inconsistent with the polarity of actual phase current can be produced, so suitably compensation ineffective time cannot be carried out.For this reason, the effect not only compensated ineffective time reduces, and is added with phase voltage command value due to bucking voltage ineffective time that polarity is different with actual electric current, so not only can not get expected effect, can cause electric current strain increase on the contrary.
Fig. 5 be the occasion having phase difference θ re between phase current command value and the phase current of reality calculate ineffective time bucking voltage key diagram.Usually, in order to prevent error detection, the noise filter 7 with noise removal function is set in the output of current detector 6.Because current detector 6 and noise filter 7 have time delay key element, so the phase place of phase current sensing value postpones relative to the phase current of reality.Further, owing to being consistent with phase current sensing value by the computing of phase current command value, so the phase place of phase current command value postpones relative to the phase current of reality.
When there is the phase difference caused because of time delay key element between phase current command value and the phase current of reality, near the zero crossing of the phase current of reality, when the phase current of reality is positive polarity, can produce ineffective time bucking voltage is the interval (oblique line portion in left side) of negative polarity.On the other hand, when the phase current of reality is negative polarity, can produce ineffective time bucking voltage is the interval (oblique line portion on right side) of positive polarity.Thus, in the mode of Fig. 4, owing to suitably cannot judge the polarity of bucking voltage ineffective time, so not only the inhibition of electric current strain is little, and electric current strain becomes large further.
Phase current command value the phase current relative to reality time of delay Δ td primarily of the component parts of the power conversion unit being representative with current detector 6 and noise filter 7 time delay key element determine time, Δ td time of delay can be approximately fixed value.The value of phase retardation Δ θ re (unit: rad) equals the product of the angular rate (unit: rad/sec) of Δ td time of delay (unit: sec) and the motor caused by time delay key element.Along with the rotating speed of motor raises, the output frequency of inverter raises, phase current command value is made to become large with the phase difference θ re of actual phase current, make thus ineffective time bucking voltage and the phase current of reality between phase difference variable large, so be difficult to carry out compensation ineffective time, its result, cause electric current to strain and increase, the torque pulsation of motor becomes large, and noise increases.
Referring to accompanying drawing, embodiments of the present invention are described.
Fig. 1 is the calcspar of the general configuration representing one embodiment of the present invention, and upper figure represents main circuit part, and figure below represents control circuit part.
The main circuit part of power conversion unit by power supply 1, the commercial ac power source of power supply 1 is transformed to direct voltage rectifier 2, be the inverter 3 of the alternating voltage of optional frequency by the voltage transformation being transformed to direct current by rectifier 2, the motor 4 driven by inverter 3, detect the rotating speed of motor 4 and the rotary encoder 5 of position of magnetic pole is formed.Motor 4 is connected with rope sheave 21, lift car 23 and balance weight 24 is suspended in not shown hoist trunk by the hoist cable 22 be wound on rope sheave 21.Motor 4, after being driven by power conversion unit, carries out rotary actuation to rope sheave 21, by driving hoist cable 22, lift car 23 and balance weight 24 is elevated in hoist trunk along opposite directions.
In the magnetic flux axle of the control circuit part of power conversion unit, by the Differential Input magnetic flux shaft current control system block 11 of magnetic flux shaft current instruction Id* and magnetic flux shaft current IdFB being carried out the voltage instruction value Vd* of computing magnetic flux axle component.Wherein, magnetic flux shaft current IdFB is carried out three-phase-two phase inversion (8) by phase current sensing value IuFB, IvFB, the IwFB (hereinafter referred to as phase current sensing value) exported the noise filter 7 from the output signal that have input current detector 6 and is obtained.
In torque axis, obtain torque instruction τ * by the Differential Input speed control system block 12 of the rotational speed omega reFB speed command ω re* of motor 4 and the rotary encoder 5 from the rotating shaft being arranged on motor 4 obtained.After this further its input torque-current transformation gain block (KT) 13 is obtained torque axis current-order Iq*.Torque axis current-order Iq* and the Differential Input torque axis current control system block 14 of the torque axis electric current I qFB to obtain by carrying out three-phase-two phase inversion (8) to phase current sensing value are obtained the voltage instruction Vq* of torque axis component.
On the other hand, the phase current command value Iu* obtained according to carrying out two-phase-three phase inversion (15) to magnetic flux shaft current instruction Id* and torque axis current-order Iq*, the polarity of Iv*, Iw* (hereinafter referred to as phase current command value), determined the polarity of compensation rate ineffective time by compensating circuit 17 ineffective time, and carry out the computing of bucking voltage ineffective time.
By carrying out two-phase-three phase inversion (16) to the voltage instruction Vd* of magnetic flux axle component and the voltage instruction Vq* of torque axis component, the voltage instruction of each phase for inverter 3 can be obtained.This voltage instruction is added with bucking voltage ineffective time, computing three-phase voltage instruction Vu*, Vv*, Vw* (hereinafter referred to as phase voltage command value), by generating pwm pulse, with driving switch element to phase voltage command value with comparing of carrier.
By the current-order Id* of magnetic flux axle component is inputted in two-phase-three-phase transform block 15 with the current-order Iq* of torque axis component and the phase place 0 corresponding with the position of magnetic pole of motor 4, can computing phase current command value.The arithmetic expression of two-phase-three phase inversion is such as formula shown in (A).
Because the phase place of phase current command value is determined by the θ of formula (A), thus calculate according to the polarity of phase current command value ineffective time bucking voltage phase place can change by arbitrary numerical value is substituted into θ.The θ of formula (A) adopts formula (B) to calculate according to the phase theta re corresponding with the position of magnetic pole of motor and phase current command value with the phase difference θ re of actual phase current.Wherein, phase theta re obtains by carrying out integration to the rotational speed omega reFB obtained from rotary encoder.
θ＝θre+Δθre …(B)
Be multiplied with the rotational speed omega reFB obtained from rotary encoder (unit: rad/sec) by Δ td time of delay (unit: sec) of the phase current relative to reality by phase current command value, Δ θ re can be calculated, the Δ θ re corresponding with motor poles position can be obtained thus.Also rotational speed omega reFB can be replaced into the speed command ω re* of motor 4, replace thus and carry out computing Δ θ re according to rotational speed omega reFB.In addition, in the above description, use rotary encoder to obtain the information of motor poles position, but also can infer position of magnetic pole according to the voltage and current of inverter, and use this information.
When the time delay key element of the component parts of the power conversion unit being representative with current detector 6 and noise filter 7 is occupied an leading position, Δ td time of delay can be approximately fixed value.Therefore, as long as the parts comprising time delay key element do not change, then only need measure in the initial model test when power conversion unit makes, just uniquely can determine Δ td time of delay.
Fig. 2 represents that the phase difference θ re in existing control mode does not obtain the current waveform of the occasion revised, and Fig. 3 represents that the phase difference θ re in one embodiment of the present invention obtains the phase current waveform of the reality of the occasion of correction.In the strain resulting from ineffective time, overlapping on current waveform have the frequency component equaling basic wave 6 times.Compared with before compensation, the inhibition of the strain of an execution mode can be confirmed.
Symbol description
1 power supply
2 rectifiers
3 inverters
4 motor
5 rotary encoders
6 current detectors
7 noise filters
8 three-phases-two-phase transform block
11 magnetic flux shaft current control system blocks
12 speed control system blocks
13 torque-current conversion gain blocks
14 torque axis current control system blocks
15 two-phases-three-phase transform block
16 two-phases-three-phase transform block
17 ineffective time compensating circuit
21 rope sheaves
22 hoist cables
23 lift cars
24 balance weights
Claims (4)
1. a power conversion unit, has: the inverter of drive motor; Detect the rotating speed of described motor and the rotary encoder of position of magnetic pole; Detect the current detector of the output current of described inverter; The noise filter of noise is removed from the output of the current detector detecting inverter output current; And control algorithm part, this control algorithm part is according to the current-order of phase bit arithmetic torque axis of the position of magnetic pole of described motor and the current-order of magnetic flux axle, and according to the current instruction value of the current-order of described torque axis and the current-order computing three-phase of magnetic flux axle, the feature of described power conversion unit is
Phase difference according to the rotating speed of described motor and the delay time computing that produces because of described current detector and described noise filter between the current instruction value of three-phase and the output current of the reality of described inverter, and the phase place of described phase difference with the described position of magnetic pole of described motor is added.
2. power conversion unit as claimed in claim 1, is characterized in that,
The operational part with the position of magnetic pole calculating described motor assigns to replace described rotary encoder.
3. power conversion unit as described in claim 1 or 2, is characterized in that,
Carry out phase difference described in computing according to the speed command of described motor, carry out phase difference described in computing to replace according to the rotating speed of described motor.
4. the power conversion unit as described in any one in claims 1 to 3, is characterized in that,
The delay time produced because of described current detector and described noise filter is approximately fixed value, carrys out phase difference described in computing thus.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2014009088A JP6239391B2 (en) | 2014-01-22 | 2014-01-22 | Power converter |
| JP2014-009088 | 2014-01-22 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104796062A true CN104796062A (en) | 2015-07-22 |
| CN104796062B CN104796062B (en) | 2018-11-20 |
Family
ID=53560633
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510014590.8A Active CN104796062B (en) | 2014-01-22 | 2015-01-12 | Power conversion unit |
Country Status (2)
| Country | Link |
|---|---|
| JP (1) | JP6239391B2 (en) |
| CN (1) | CN104796062B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113346818A (en) * | 2021-06-15 | 2021-09-03 | 南京航空航天大学 | Servo control system and method for loading MSK signal of mechanical antenna |
Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0293915A3 (en) * | 1987-06-03 | 1989-09-27 | Hitachi, Ltd. | Inverter control apparatus |
| JPH03135389A (en) * | 1989-10-19 | 1991-06-10 | Hitachi Ltd | Method and device for controlling voltage type inverter |
| JPH09215341A (en) * | 1996-02-09 | 1997-08-15 | Nissan Motor Co Ltd | High-frequency leakage current reducing device in inverter device |
| JPH09224399A (en) * | 1996-02-15 | 1997-08-26 | Nippon Soken Inc | Control device of induction motor |
| JPH10117500A (en) * | 1996-10-09 | 1998-05-06 | Hitachi Ltd | Synchronous generator controlling system and hybrid electric vehicle |
| JP2006050815A (en) * | 2004-08-05 | 2006-02-16 | Denso Corp | Control unit of synchronous motor |
| CN102023251A (en) * | 2009-09-17 | 2011-04-20 | 日立空调·家用电器株式会社 | Current detecting method, inverter device and convertor device using the same |
| CN102187562A (en) * | 2008-10-16 | 2011-09-14 | 东芝三菱电机产业系统株式会社 | Power converter |
| JP2012186894A (en) * | 2011-03-04 | 2012-09-27 | Meidensha Corp | Voltage error compensation device and compensation method for serial multiple pwm inverter apparatus |
| CN103066915A (en) * | 2012-12-21 | 2013-04-24 | 北京航空航天大学 | High-dynamic cooperative control system of high-speed permanent-magnet synchronous motor of LCL-type filter |
| CN103392293A (en) * | 2011-02-23 | 2013-11-13 | 迪尔公司 | Method and system for controlling an electric motor with compensation for time delay in position determination |
| CN103856140A (en) * | 2014-03-26 | 2014-06-11 | 西北工业大学 | Current signal error compensation method in alternating-current motor vector control |
-
2014
- 2014-01-22 JP JP2014009088A patent/JP6239391B2/en active Active
-
2015
- 2015-01-12 CN CN201510014590.8A patent/CN104796062B/en active Active
Patent Citations (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0293915A3 (en) * | 1987-06-03 | 1989-09-27 | Hitachi, Ltd. | Inverter control apparatus |
| JPH03135389A (en) * | 1989-10-19 | 1991-06-10 | Hitachi Ltd | Method and device for controlling voltage type inverter |
| JPH09215341A (en) * | 1996-02-09 | 1997-08-15 | Nissan Motor Co Ltd | High-frequency leakage current reducing device in inverter device |
| JPH09224399A (en) * | 1996-02-15 | 1997-08-26 | Nippon Soken Inc | Control device of induction motor |
| JPH10117500A (en) * | 1996-10-09 | 1998-05-06 | Hitachi Ltd | Synchronous generator controlling system and hybrid electric vehicle |
| JP2006050815A (en) * | 2004-08-05 | 2006-02-16 | Denso Corp | Control unit of synchronous motor |
| CN102187562A (en) * | 2008-10-16 | 2011-09-14 | 东芝三菱电机产业系统株式会社 | Power converter |
| CN102023251A (en) * | 2009-09-17 | 2011-04-20 | 日立空调·家用电器株式会社 | Current detecting method, inverter device and convertor device using the same |
| CN103392293A (en) * | 2011-02-23 | 2013-11-13 | 迪尔公司 | Method and system for controlling an electric motor with compensation for time delay in position determination |
| JP2012186894A (en) * | 2011-03-04 | 2012-09-27 | Meidensha Corp | Voltage error compensation device and compensation method for serial multiple pwm inverter apparatus |
| CN103066915A (en) * | 2012-12-21 | 2013-04-24 | 北京航空航天大学 | High-dynamic cooperative control system of high-speed permanent-magnet synchronous motor of LCL-type filter |
| CN103856140A (en) * | 2014-03-26 | 2014-06-11 | 西北工业大学 | Current signal error compensation method in alternating-current motor vector control |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113346818A (en) * | 2021-06-15 | 2021-09-03 | 南京航空航天大学 | Servo control system and method for loading MSK signal of mechanical antenna |
| CN113346818B (en) * | 2021-06-15 | 2022-08-19 | 南京航空航天大学 | Servo control system and method for loading MSK signal of mechanical antenna |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104796062B (en) | 2018-11-20 |
| JP6239391B2 (en) | 2017-11-29 |
| JP2015139268A (en) | 2015-07-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105391364B (en) | A kind of brushless direct current motor sensorless control system and control method | |
| EP0330188B1 (en) | Induction motor vector control | |
| EP3040690B1 (en) | Angle error correction device and angle error correction method for position detector | |
| EP2953261B1 (en) | Synchronous motor control device for electric automobile | |
| JP5167697B2 (en) | Motor control method and motor control apparatus | |
| EP2757670A1 (en) | Method and apparatus for controlling power converter with inverter output filter | |
| JP5594301B2 (en) | Electric motor drive system | |
| US8698434B2 (en) | Motor control device that controls d-axis current of permanent magnet synchronous motor | |
| Salehifar et al. | Simplified fault tolerant finite control set model predictive control of a five-phase inverter supplying BLDC motor in electric vehicle drive | |
| US10432123B2 (en) | Control apparatus for AC motor | |
| US8716965B2 (en) | Synchronous motor control device for controlling synchronous motor to carry out power regenerative operation and stop synchronous motor at the time of power failure | |
| CN103427745B (en) | The control device of ac motor | |
| US20160285395A1 (en) | Power system, power converter controlling apparatus, and electric vehicle having the power system | |
| US20140340010A1 (en) | Synchronous machine control apparatus | |
| JP6464995B2 (en) | Voltage sensor abnormality diagnosis device | |
| US20160380576A1 (en) | Control device | |
| US20200212835A1 (en) | Motor control device | |
| CN104836507A (en) | Permanent magnet synchronous motor alternating-axis and direct-axis inductance parameter off-line identification method and system | |
| JP5574925B2 (en) | Position / speed sensorless control device | |
| CN104796062A (en) | Power conversion device | |
| JP6241331B2 (en) | Electric motor control device | |
| US11396236B2 (en) | Electric vehicle control device | |
| CN101834553B (en) | Control device of a no sensor alternative-current motor | |
| JP2019017125A (en) | Device and method for driving induction motor | |
| JP2000050677A (en) | Position sensorless control equipment for permanent magnet type synchronous motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| EXSB | Decision made by sipo to initiate substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |