CN105103434A - Control device for permanent magnet motor - Google Patents
Control device for permanent magnet motor Download PDFInfo
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- CN105103434A CN105103434A CN201380075408.9A CN201380075408A CN105103434A CN 105103434 A CN105103434 A CN 105103434A CN 201380075408 A CN201380075408 A CN 201380075408A CN 105103434 A CN105103434 A CN 105103434A
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Classifications
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- 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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- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
A control device for a permanent magnet motor, which has a PI current controller for performing proportional-integral control of a d-axis current and a q-axis current, which are 2 components on a dq-axis coordinate system of rotation, respectively, the control device comprising: a rotary coordinate converter (1) which performs rotary coordinate conversion at a predetermined angle between a d-axis voltage command and a q-axis voltage command, and outputs the converted commands as a d-axis voltage correction command and a q-axis voltage correction command, the d-axis voltage command and the q-axis voltage command being output from a PI current controller; an absolute value calculator (13) for calculating the absolute value of the d-axis voltage correction command; an absolute value calculator (23) that calculates the absolute value of the q-axis voltage correction command; a subtractor (14) that obtains a d-axis voltage saturation amount based on an absolute value of the d-axis voltage correction command and a d-axis voltage rotation limit value that is a value obtained by performing rotation coordinate conversion of the d-axis voltage limit value by the predetermined angle; and a subtractor (24) that obtains a q-axis voltage saturation amount based on the absolute value of the q-axis voltage correction command and a q-axis voltage rotation limit value that is a value obtained by performing rotation coordinate conversion of the q-axis voltage limit value by a predetermined angle.
Description
Technical field
The present invention relates to a kind of control device of permanent magnet-type motor.
Background technology
If make permanent magnet-type motor run up or make it produce larger motor torque, then need higher voltage in order to drive motor, cause exceeding the voltage that can export from amplifier, the state of so-called voltage saturation occurs.If generation voltage saturation, then not only can not export speed, moment of torsion that and instruction conforms to, also can cause the deterioration of the controlling feature such as speed, motor current vibration.
Be called weak flux controlled method as follows as everyone knows, that is, when permanent magnet-type motor, make d shaft current (exciting current) to negative sense flowing, suppress the generation of voltage saturation.As an one example, in patent documentation 1 and patent documentation 2, record following manner, that is, to representing that the voltage saturation amount of voltage saturation degree detects, make d shaft current flowing corresponding thereto.
Voltage saturation amount is equivalent to the amount that voltage instruction value exceedes voltage amplitude limit value.Therefore, voltage saturation amount can utilize the calculus of differences of voltage instruction value and voltage amplitude limit value to obtain.In addition, voltage instruction value can expect positive and negative both, therefore voltage saturation amount occurs in these two regions positive and negative.Voltage saturation amount can utilize the difference of voltage instruction value and voltage amplitude limit value to obtain, but in fact needs the polarity considering voltage instruction value and voltage amplitude limit value, therefore only cannot obtain with simple subtracter.
Therefore, if consider the absolute value of voltage instruction value and voltage amplitude limit value (only+be worth), no matter which kind of situation is voltage saturation amount be, can both only utilize the subtraction of the absolute value of voltage instruction value-voltage amplitude limit value to obtain simply.As mentioned above, in patent documentation 3, record the subtraction of the absolute value-voltage amplitude limit value utilizing voltage instruction value, obtain the method for voltage saturation amount.
Patent documentation 1: Japan Patent No. 4507493 publication
Patent documentation 2: Japanese Unexamined Patent Publication 2000-341990 publication
Patent documentation 3: Japanese Unexamined Patent Publication 11-27996 publication
Summary of the invention
In recent years, the impact of skyrocketing with resource and internationally prevent the dynamic of global warming from being background, improved constantly the suppression occurring source of carbon dioxide and the consciousness of energy usage.Wherein, the electric rotating machine consuming about 40% of world's gross generation receives publicity, in the urgent need to improving its efficiency.Therefore, mostly bring into use and actively apply reluctance torque, with surface magnet type (SPM (SurfacePermanentMagnet)) the interior magnet type that motor phase specific efficiency is high (IPM (InteriorPermanentMagnet)) motor.
In the operation mode of permanent magnet-type motor, there is " rotating forward power to run ", " rotating forward regeneration ", " Reverse Power operation ", " reversion regeneration " these 4 kinds.When there is not difference between d axle inductance and q axle inductance as surface magnet type motor, for the operation mode of motor, the region of d shaft voltage and the action of q shaft voltage is opened at the upper clear Ground Split of rectangular coordinate (rectangular coordinate of d shaft voltage and q shaft voltage), if in identical operation mode, then the polarity of voltage instruction can not change.Therefore, as mentioned above, the method being obtained voltage saturation amount by the subtraction of the absolute value-voltage amplitude limit value of voltage instruction value can be suitable for.
On the other hand, in interior magnet type (IPM) motor, by making d shaft current flow, and produce reluctance torque.In interior magnet type motor, in identical operation mode, the polarity of voltage instruction also likely changes.Therefore, can not use and voltage saturation amount is utilized the subtraction of the absolute value of voltage instruction value-voltage amplitude limit value and the method obtained.Although be not can not derive voltage saturation amount accurately while service condition branch etc., can expect not being simple subtracter, calculate and become complicated.
The present invention proposes in view of foregoing, its object is to the control device obtaining a kind of permanent magnet-type motor, and itself and surface magnet type motor, interior magnet type motor independently, are only used simple subtracter, just can be obtained voltage saturation amount.
In order to solve above-mentioned problem, realize object, the present invention is a kind of control device of permanent magnet-type motor, it has PI current controller, this PI current controller is for the electric current applied to permanent magnet-type motor, respectively proportional plus integral control is carried out to 2 compositions on the dq axis coordinate system rotated and d shaft current and q shaft current, the feature of the control device of this permanent magnet-type motor is, have: voltage instruction rotating coordinate transformation device, the instruction of d shaft voltage and the instruction of q shaft voltage are carried out rotating coordinate transformation with predetermined angular by respectively, the result of described rotating coordinate transformation is exported as d shaft voltage correction instruction and q shaft voltage correction instruction, wherein, this d shaft voltage instruction exports from described PI current controller to control described d shaft current, this q shaft voltage instruction exports from described PI current controller to control described q shaft current, 1st signed magnitude arithmetic(al) device, it calculates the absolute value of described d shaft voltage correction instruction, 2nd signed magnitude arithmetic(al) device, it calculates the absolute value of described q shaft voltage correction instruction, 1st subtracter, its absolute value based on described d shaft voltage correction instruction and the value of carrying out rotating coordinate transformation to the d shaft voltage amplitude limit value that the instruction of described d shaft voltage limits with described predetermined angular by being used for and obtaining and d shaft voltage rotate amplitude limit value, obtain d shaft voltage saturation capacity, and the 2nd subtracter, its absolute value based on described q shaft voltage correction instruction and the value of carrying out rotating coordinate transformation to the q shaft voltage amplitude limit value that the instruction of described q shaft voltage limits with described predetermined angular by being used for and obtaining and q shaft voltage rotate amplitude limit value, obtain q shaft voltage saturation capacity.
The effect of invention
The control device of the permanent magnet-type motor that the present invention relates to realizes following effect, that is, with surface magnet type motor, interior magnet type motor independently, only use simple subtracter, just can obtain voltage saturation amount.
Accompanying drawing explanation
Fig. 1 is the figure of the structure example of the control device representing the permanent magnet-type motor that the present invention relates to.
Fig. 2 is the figure of an example of the relation representing voltage instruction value, voltage amplitude limit value and voltage saturation amount.
Fig. 3 is the figure of an example of the calculating representing the voltage saturation amount that the absolute value that utilizes voltage instruction value and voltage amplitude limit value are carried out.
Fig. 4 is the figure of the distribution of the 4 kinds of operation modes represented on the rectangular coordinate of motor speed omega and torque current iq.
Fig. 5 be represent motor voltage on the rectangular coordinate of d shaft current id and q shaft current iq etc. the figure of an example of pressure-wire.
Fig. 6 is the figure of the motor operation pattern on the rectangular coordinate of d shaft voltage Vd and q shaft voltage Vq in presentation surface magnet type motor.
Fig. 7 is the figure of an example of d shaft voltage Vd under the rotating forward power running and operating representing interior magnet type motor and q shaft voltage Vq.
Fig. 8 is the figure representing voltage instruction value when employing surface magnet type motor and voltage amplitude limit value and the relation according to both voltage saturation amount obtained.
Fig. 9 is the figure representing voltage instruction value when employing interior magnet type motor and voltage amplitude limit value and the relation according to both voltage saturation amount obtained.
Figure 10 is the figure representing the voltage instruction value after carrying out rotating coordinate transformation with angle beta and voltage amplitude limit value and the relation according to both voltage saturation amount obtained.
Embodiment
Below, the execution mode of the control device of the permanent magnet-type motor that the present invention relates to is explained based on accompanying drawing.In addition, the present invention is not by the restriction of present embodiment.
Execution mode.
Fig. 1 is the figure of the structure example of the control device representing the permanent magnet-type motor that the present invention relates to.The electric current putting on permanent magnet-type motor 34 is divided into 2 compositions of the rectangular coordinate system of rotation and dq axis coordinate system (d shaft current, q shaft current) and carries out proportional plus integral control (PI (ProportionalIntegral) control) by the control device of the permanent magnet-type motor of present embodiment.The control device of the permanent magnet-type motor of present embodiment has: PWM inverter 32, and it, based on voltage instruction Vu*, Vv*, Vw* described later, supplies electric power to permanent magnet-type motor 34; Current detector 33a, 33b, 33c, they detect current i u, iv, iw of permanent magnet-type motor 34; And speed detector 35, it detects the motor speed omega of permanent magnet-type motor 34.Permanent magnet-type motor 34 can be surface magnet type motor, also can be interior magnet type motor.In addition, the control device of the permanent magnet-type motor of present embodiment has: coefficient device 37, and its motor speed omega based on the permanent magnet-type motor 34 detected by speed detector 35 (ω r) the angular velocity of rotation ω e to dq axial coordinate carries out computing; Integrator 38, it carries out integration to angular velocity of rotation ω e and exports the phase angle θ of dq axial coordinate; And three-phase two-phase coordinate converter 36, it is based on the phase angle θ of dq axial coordinate, the current i u of current detector 33a, 33b, 33c, iv, iw is decomposed into d shaft current id on dq axial coordinate and q shaft current iq and exports.
In addition, the control device of the permanent magnet-type motor of present embodiment has: subtracter 11, and it exports the current deviation eid of d shaft current correction instruction id*cmd and d shaft current id described later; D shaft current controller 12, its mode becoming 0 with current deviation eid carries out PI control, and exports d shaft voltage instruction Vd*; Subtracter 21, it exports the current deviation eiq of q shaft current correction instruction iq*cmd and q shaft current iq described later; Q shaft current controller 22, its mode becoming 0 with current deviation eiq carries out PI control, and exports q shaft voltage instruction Vq*; And two-phase three-phase coordinate converter 31, it is based on the phase angle θ of dq axial coordinate, d shaft voltage instruction Vd* and q shaft voltage instruction Vq* is transformed to voltage instruction Vu*, Vv*, Vw* on three-phase alternating current coordinate, and exports as the voltage instruction of PWM inverter 32.
The each portion more than described is the part of carrying out the elemental motion of vector control for the permanent magnet-type motor 34 of the PI current controller (the PI controller be made up of PWM inverter 32, current detector 33a, 33b, 33c and speed detector 35, coefficient device 37, integrator 38, three-phase two-phase coordinate converter 36, subtracter 11, d shaft current controller 12, subtracter 21, q shaft current controller 22 and two-phase three-phase coordinate converter 31) employed as made the deviation of current-order and actual current become in the of 0, therefore, the action specification that it is detailed is omitted.
The control device of the permanent magnet-type motor of present embodiment also has: rotating coordinate transformation device 1 (voltage instruction rotating coordinate transformation device), and d shaft voltage correction instruction Vd* ' and q shaft voltage correction instruction Vq* ' exports by it by d shaft voltage instruction Vd* and q shaft voltage instruction Vq* difference anglec of rotation β; And rotating coordinate transformation device 2 (amplitude limit value rotating coordinate transformation device), d shaft voltage is corrected amplitude limit value Vd_limit ' by d shaft voltage amplitude limit value Vd_limit and q shaft voltage amplitude limit value Vq_limit difference anglec of rotation β for it and q shaft voltage corrects amplitude limit value Vq_limit ' output.The control device of the permanent magnet-type motor of present embodiment also has: signed magnitude arithmetic(al) device 13 (the 1st signed magnitude arithmetic(al) device), and it is for obtaining the absolute value ︱ Vd* ' ︱ of the d shaft voltage correction instruction Vd* ' exported from rotating coordinate transformation device 1; Signed magnitude arithmetic(al) device 23 (the 2nd signed magnitude arithmetic(al) device), it is for exporting the absolute value ︱ Vq* ' ︱ of the q shaft voltage correction instruction Vq* ' exported from rotating coordinate transformation device 1; Subtracter 14 (the 1st subtracter), it exports difference and d shaft voltage saturation capacity Δ Vd that the d shaft voltage exported from rotating coordinate transformation device 2 corrects amplitude limit value Vd_limit ' and d shaft voltage correction instruction Vd* '; And subtracter 24 (the 2nd subtracter), it exports difference and q shaft voltage saturation capacity Δ Vq that the q shaft voltage exported from rotating coordinate transformation device 2 corrects amplitude limit value Vq_limit ' and q shaft voltage correction instruction Vq* '.
The control device of the permanent magnet-type motor of present embodiment also has: q shaft current instruction correction device 15, and it exports the q shaft current instruction correction amount Δ iq for avoiding voltage saturation according to d shaft voltage saturation capacity Δ Vd; D shaft current instruction correction device 25, it exports the d shaft current instruction correction amount Δ id for avoiding voltage saturation according to q shaft voltage saturation capacity Δ Vq; Subtracter 16, it exports difference and the d shaft current correction instruction id*cmd of d shaft current command value id* and d shaft current instruction correction amount Δ id; And subtracter 26, it exports difference and the q shaft current correction instruction iq*cmd of q shaft current command value iq* and q shaft current instruction correction amount Δ iq.
In the control device of the permanent magnet-type motor of present embodiment, voltage saturation amount is detected.At this, voltage saturation amount is described.If make permanent magnet-type motor run up, or make it produce larger motor torque, then need higher voltage in order to drive motor, the state of so-called voltage saturation occurs.If generation voltage saturation, then not only can not export speed, moment of torsion that and instruction conforms to, also can cause the deterioration of the controlling feature such as speed, motor current vibration, therefore take to detect voltage saturation amount, make the countermeasures such as corresponding d shaft current flowing.
Fig. 2 is the figure of an example of the relation representing voltage instruction value, voltage amplitude limit value and voltage saturation amount.Voltage saturation amount is equivalent to the amount that voltage instruction value exceedes voltage amplitude limit value.Therefore, voltage saturation amount can utilize the calculus of differences of voltage instruction value and voltage amplitude limit value to obtain.Voltage instruction value can expect positive and negative both, therefore as shown in Figure 2, voltage saturation amount occurs in these two regions positive and negative.Thus, in order to obtain voltage saturation amount, needing the polarity considering voltage instruction value and voltage amplitude limit value, therefore can not only calculate with simple subtracter.
Fig. 3 is the figure representing the example utilizing the absolute value of voltage instruction value and voltage amplitude limit value (only+be worth) calculating voltage saturation capacity.Record in above-mentioned patent documentation 3, utilize the subtraction of the absolute value of voltage instruction value-voltage amplitude limit value to obtain voltage saturation amount as described above, thus only calculate voltage saturation amount with subtracter.
In the operation mode of permanent magnet-type motor, there is " rotating forward power to run ", " rotating forward regeneration ", " Reverse Power operation ", " reversion regeneration " these 4 kinds.The rotating forward state that to be electromotor velocity be just (ω > 0), the reversion state that to be electromotor velocity be negative (ω < 0).To be the product of electromotor velocity and q shaft current (torque current) iq be just (ω × iq > 0) state that power runs, regeneration is the product of electromotor velocity and q shaft current iq is the state bearing (ω × iq < 0).Fig. 4 is the figure of the distribution of the 4 kinds of operation modes represented on the rectangular coordinate of motor speed omega and q shaft current iq.
Under the normal condition of permanent magnet-type motor d shaft voltage Vd and q shaft voltage Vq usually utilize below formula (1) and formula (2) give.
Vd＝R·id-Pm·ω·Lq·iq…(1)
Vq＝R·iq+Pm·ω·(φ+Ld·id)…(2)
Wherein, R is winding resistance, and Ld is d axle inductance, and Lq is q axle inductance, and φ is permanent magnet magnetic flux, and Pm is number of pole-pairs, and ω is electromotor velocity, and id is d shaft current, and iq is q shaft current.
Voltage equation shown in above-mentioned formula (1), formula (2) is set up according to the voltage drop caused by winding resistance, the transformer electromotive force caused by winding inductance and the speed electromotive force sum that caused by permanent magnet magnetic flux.Wherein, the voltage drop caused by winding resistance is less than other 2 usually, and therefore, formula (1) and formula (2) can be approximately formula (3) and formula (4).
Vd＝-Pm·ω·Lq·iq…(3)
Vq＝Pm·ω·Lq(φ+Ld·id)…(4)
As surface magnet type motor, do not exist in the motor of difference between d axle inductance and q axle inductance, be set to Ld=Lq=L, formula (3) and formula (4) can utilize formula (5) below and formula (6) to represent.
Vd＝-Pm·ω·L·iq…(5)
Vq＝Pm·ω·(φ+L·id)…(6)
In addition, the quadratic power of motor voltage V, as shown in formula (7) below, can utilize the quadratic power sum of d shaft voltage Vd, q shaft voltage Vq to represent.
V
2＝Vd
2+Vq
2＝(Pm·ω·L)
2·{iq
2+(φ/L+id)
2}…(7)
If be out of shape above-mentioned formula (7), then obtain formula (8) below.
(id+φ/L)
2+iq
2＝{V/(Pm·ω·L)}
2…(8)
Fig. 5 be represent motor voltage on the rectangular coordinate of d shaft current id and q shaft current iq etc. the figure of an example of pressure-wire.Fig. 5 waits pressure-wire 101,102 to be the diagrams of carrying out formula (8), the pressure-wire such as grade of the motor voltage of the situation that motor speed omega is larger is shown Deng pressure-wire 101, waits pressure-wire 102 that the pressure-wire such as grade of the motor voltage of the situation that motor speed omega is less is shown.As shown in Figure 5, known, regardless of the situation that the situation that motor speed omega is larger is still less, the pressure-wire such as grade of motor voltage all depicts the Circular test relative to same central point.In addition, in surface magnet type motor, motor torque is only determined by q shaft current iq, therefore, the point of maximum output torque can be present in the top of Circular test waiting in pressure-wire of motor voltage.Usual in addition, can not carry out becoming flux controlled by force and d shaft current is set on the occasion of such process.Thus, in surface magnet type motor, the scope in fact making d shaft current flow utilizes formula (9) below to give.
-φ/L≤id≤0…(9)
For each operation mode of permanent magnet-type motor, which type of value the d shaft voltage Vd under the normal condition of research surface magnet type motor and q shaft voltage Vq adopts.When rotating forward power running and operating, become motor speed omega > 0, q shaft current iq > 0, condition that scope that d shaft current is formula (9) is such.If these conditions to be substituting to formula (3), then obtain d shaft voltage Vd < 0, if the formula of being substituting to (4), then obtain q shaft voltage Vq > 0.If consider all operation modes in the same manner, then the motor voltage of each operation mode distributes as illustrated in fig. 6.Fig. 6 is the figure of the motor operation pattern on the rectangular coordinate of d shaft voltage Vd in presentation surface magnet type motor and q shaft voltage Vq.As shown in Figure 6, no matter at which operation mode, be all that (situation that torque current iq is little) q shaft voltage Vq increases to+direction or-direction when light running, when heavy duty operate, (situation that torque current iq is large) d shaft voltage Vd is to+direction or the increase of-direction.
In surface magnet type motor, as shown in Figure 6, for the operation mode of permanent magnet-type motor, region clear Ground Split on rectangular coordinate of d shaft voltage and the action of q shaft voltage is opened, if in identical operation mode, then the polarity of voltage instruction can not change.Therefore, it is possible to the subtraction of absolute value-voltage amplitude limit value by voltage instruction value, obtain voltage saturation amount.
On the other hand, in interior magnet type motor, by making d shaft current flow, thus produce reluctance torque.Therefore, waiting in pressure-wire of the motor voltage illustrated in Figure 5 can the point of maximum output torque be not the top at Circular test, but is present in and makes d shaft current to the part of negative sense movement in contrast to this further.That is, also can think, the scope in fact making d shaft current flow compared with above-mentioned formula (9) to negative Directional Extension.
Which type of value d shaft voltage Vd under the normal condition of research interior magnet type motor and q shaft voltage Vq adopts.When rotating forward power running and operating, becoming motor speed omega > 0, q shaft current iq > 0, d shaft current is condition such to the scope of negative Directional Extension compared with formula (9).If known, these conditions are substituting to above-mentioned formula (3), then d shaft voltage is Vd < 0, if but were substituting to formula (4), then there are these two possibilities of Vq > 0 and Vq < 0 in q shaft voltage.In the figure 7 it is illustrated.Fig. 7 is the figure of an example of d shaft voltage Vd under the rotating forward power running and operating representing interior magnet type motor and q shaft voltage Vq.
Although do not record in the figure 7, for other operation modes, also identical situation can be thought.In this case, the method utilizing the subtraction of the absolute value of voltage instruction value-voltage amplitude limit value to obtain voltage saturation amount can not be used.Its reason is, such as Fig. 7 becomes identical value with the voltage instruction value shown in A with the voltage instruction value shown in B in the stage taken absolute value, and therefore utilizes the subtraction of the absolute value of voltage instruction value-voltage amplitude limit value can not derive voltage saturation amount accurately.Certainly, although be not can not derive voltage saturation amount accurately while service condition branch etc., can expect not being simple subtracter, calculate and become complicated.
As mentioned above, in interior magnet type motor, in identical operation mode, the polarity of voltage instruction also likely changes, and does not obtain voltage saturation amount by the subtraction of the absolute value-voltage amplitude limit value of voltage instruction value.Therefore, there is the problem needing complicated process.In the present embodiment, the control device of following permanent magnet-type motor is described, even if that is: when using interior magnet type motor, only also voltage saturation amount can be obtained with subtracter.
Below, the following actions of present embodiment is described, that is, action voltage saturation amount detected and action current-order revised based on the voltage saturation amount detected.
In the present embodiment, by utilizing signed magnitude arithmetic(al) device 13, signed magnitude arithmetic(al) device 23, subtracter 14 and subtracter 24, carrying out the subtraction of the absolute value-voltage amplitude limit value of voltage instruction value, thus obtaining voltage saturation amount.But, now, as interior magnet type motor etc., in same operation mode, the polarity of voltage instruction also likely changes, directly can not use voltage instruction value, voltage amplitude limit value, therefore in the present embodiment, after making voltage vector rotate as described later, the subtraction of the absolute value-voltage amplitude limit value of voltage instruction value is carried out.
After obtaining voltage saturation amount, q shaft current instruction correction device 15, d shaft current instruction correction device 25 obtain current-order correction (q shaft current instruction correction amount △ iq, d shaft current instruction correction amount △ id) based on voltage saturation amount.Method based on voltage saturation amount derived current instruction correction can expect multiple method, can use any one, but such as can use the method for above-mentioned patent documentation 1.Subtracter 16 and subtracter 26 are by the difference of calculating current instruction (d shaft current command value id*, q shaft current command value iq*) with current-order correction, thus current-order is revised, the difference calculated is exported as current correction instruction (d shaft current correction instruction id*cmd, q shaft current correction instruction iq*cmd).And, use current correction instruction to implement to utilize PI to control the vector control of the motor with permanent magnet 34 carried out.
In addition, as d shaft current command value id*, arbitrary value can be given, also flux guide can be set higher level, use the output valve of this flux guide.In addition, q shaft current command value iq* also can give arbitrary value, also can arrange speed control higher level, uses the output valve of this speed control.
Fig. 8 is the figure representing voltage instruction value and voltage amplitude limit value and the relation according to both voltage saturation amount obtained.The figure shows out and permanent magnet-type motor 34 is set to surface magnet type motor, rotating forward situation about operating under the pattern of power operation.The part of oblique line illustrates that voltage instruction value can the region of action under the condition not producing voltage saturation.Voltage amplitude limit value Vd_limit and Vq_limit is set in the region of this oblique line.
Voltage instruction value according to the difference of electromotor velocity, q shaft current (torque current), its size variation (with reference to formula (3) and formula (4)).Voltage instruction value is when load torque is less, and q shaft voltage is in+side, and d shaft voltage is positioned at zonule in-side, but becomes large along with load torque, swing to the region of d shaft voltage-side, and then its size also becomes large, easily causes voltage saturation.As shown in Figure 2, when surface magnet type motor, as implied above, if in identical operation mode, even if the size variation of then electromotor velocity, load torque, the polarity of voltage instruction value, voltage amplitude limit value also can not change.Therefore, by carrying out the subtraction of the absolute value-voltage amplitude limit value of voltage instruction value, voltage saturation amount can be obtained simply all the time.
Fig. 9 is the figure representing voltage instruction value when employing interior magnet type motor and voltage amplitude limit value and the relation according to both voltage saturation amount obtained.What this illustrated is that permanent magnet-type motor 34 is set to interior magnet type motor, is rotating forward situation about operating under the pattern of power operation.Shown in the part of oblique line is that voltage instruction value can the region of action under the condition that voltage saturation does not occur.Voltage amplitude limit value Vd_limit and Vq_limit is set in the region of this oblique line.
Voltage instruction value according to the difference of electromotor velocity, q shaft current (torque current), its size variation (with reference to formula (3) and formula (4)).When load torque is less, about voltage instruction value, q shaft voltage in+side, d shaft voltage is positioned at less region in-side, but along with load torque becomes large, voltage instruction value swings to the region of d shaft voltage-side, and then its size also becomes large, easily causes voltage saturation.When interior magnet type motor, as shown in Figure 9, even in identical operation mode, the polarity of voltage instruction value, voltage amplitude limit value also likely changes.Therefore, occur utilizing the subtraction of the absolute value of voltage instruction value-voltage amplitude limit value also cannot obtain the situation of voltage saturation amount.
Therefore, in the present embodiment, in the stage obtaining voltage saturation amount, voltage vector is made to rotate and consider.In fig .9, when the voltage instruction value at maximum torque point place is set to β to the angle (voltage instruction value at maximum torque point place and d axle angulation) that the negative direction of q shaft voltage enters, voltage instruction value and voltage amplitude limit value are carried out rotating coordinate transformation with angle beta.Figure 10 is the figure representing the voltage instruction value after carrying out rotating coordinate transformation with angle beta and voltage amplitude limit value and the relation according to both voltage saturation amount obtained.By carrying out this rotating coordinate transformation, when heavy duty operates, the polarity of voltage instruction value, voltage amplitude limit value can not change, and therefore by carrying out the subtraction of the absolute value-voltage amplitude limit value of voltage instruction value, can obtain voltage saturation amount simply.
In addition, voltage vector is rotated, thus underload running time part to d shaft voltage+direction enters.But the situation that voltage saturation becomes large problem is, heavy duty running time and voltage instruction d shaft voltage-direction near occur time, due to the generation of voltage saturation, fully can not produce the situation of motor torque.Especially, when voltage instruction value is poured into the bottom of hatched example areas, there is the maximum torque point of motor, therefore, it is possible to by the action of present embodiment, obtain the motor torque of maximum limit.Therefore, underload running time part to d shaft voltage+direction enter underload time voltage saturation amount by the computing of the absolute value of present embodiment, even if having error to a certain degree, large problem can not be become in actual use.
In addition, Fig. 9 and Figure 10 is compared known, can not be identical scrupulously in the value of the front and back voltage saturation amount △ Vd of rotating coordinate transformation, △ Vq.But, thereafter the control based on voltage saturation amount, current-order being implemented to correction by feeding back is being carried out, therefore, although there is the possibility occurring small response difference, but larger problem can not be there is in action itself, the generation of voltage saturation can be suppressed.
Use Fig. 1, particularly rotating coordinate transformation is described.Rotating coordinate transformation device 1, based on formula (10) below, makes d shaft voltage instruction Vd* and q shaft voltage instruction Vq* anglec of rotation β.Rotating coordinate transformation device 2, based on formula (11) below, makes d shaft voltage amplitude limit value Vd_limit and q shaft voltage amplitude limit value Vq_limit anglec of rotation β.
[numerical expression 1]
[numerical expression 2]
In addition, d shaft voltage amplitude limit value Vd_limit, q shaft voltage amplitude limit value Vq_limit can be fixed values, also can be the variable values calculated according to the value of the busbar voltage Vdc of PWM inverter 32 etc.In addition, the angle beta of rotating coordinate transformation is the angle that the voltage instruction value at maximum torque point place enters to the negative direction of q shaft voltage, this angle is determined uniquely according to the basic parameter (winding resistance R, d axle inductance L d, q axle inductance L q, permanent magnet magnetic flux φ, number of pole-pairs Pm etc.) of motor, is to utilize the value calculating and obtain in advance.Therefore, when d shaft voltage amplitude limit value Vd_limit and q shaft voltage amplitude limit value Vq_limit is fixed value, the right of formula (11) all becomes fixing value, therefore amplitude limit value Vd_limit ' and q shaft voltage correction amplitude limit value Vq_limit ' is corrected for d shaft voltage, also the rotating coordinate transformation utilizing rotating coordinate transformation device 2 to realize can not be carried out, prior utilization calculating is obtained and preserves, and uses the value of preserving.
In addition, hereto align the operation mode that rotatory force runs and be illustrated, but for other operation modes, also no problem and similarly can be suitable for the computational methods of the voltage saturation amount of present embodiment.But, need the symbol changing the angle of rotating coordinate transformation with electromotor velocity accordingly.Specifically, when electromotor velocity be just (ω > 0), if carry out rotating coordinate transformation with angle beta, then, when electromotor velocity is for negative (ω < 0), carry out rotating coordinate transformation with angle-β.
In addition, when permanent magnet-type motor 34 being set to surface magnet type motor, β=0 is set to.By changing β, surface magnet type motor or interior magnet type motor all can be tackled.In addition, when the interior magnet type motor using basic parameter different, β is changed.
As described above, by d shaft voltage instruction Vd* and q shaft voltage instruction Vq* anglec of rotation β and by d shaft voltage amplitude limit value Vd_limit and q shaft voltage amplitude limit value Vq_limit anglec of rotation β.Therefore, with surface magnet type motor, interior magnet type motor independently, only utilize the subtraction of the absolute value-voltage amplitude limit value of voltage instruction value simply, obtain voltage saturation amount.
The practicality of industry
As implied above, the control device of the permanent magnet-type motor that the present invention relates to control device to the permanent magnet-type motor detecting voltage saturation amount is effective, especially, is suitable as permanent magnet-type motor and uses the situation of interior magnet type motor.
The explanation of label
1,2 rotating coordinate transformation devices, 11,14,16,21,24,26 subtracters, 12d shaft current controller, 13,23 signed magnitude arithmetic(al) devices, 15q shaft current instruction correction device, 22q shaft current controller, 25d shaft current instruction correction device, 31 two-phase three-phase coordinate converters, 32PWM inverter, 33a, 33b, 33c current detector, 34 permanent magnet-type motor, 35 speed detectors, 36 three-phase two-phase coordinate converters, 37 coefficient devices, 38 integrators.
Claims (5)
1. the control device of a permanent magnet-type motor, it has PI current controller, this PI current controller, for the electric current applied to permanent magnet-type motor, carries out proportional plus integral control respectively to 2 compositions on the dq axis coordinate system rotated and d shaft current and q shaft current
The feature of the control device of this permanent magnet-type motor is to have:
Voltage instruction rotating coordinate transformation device, the instruction of d shaft voltage and the instruction of q shaft voltage are carried out rotating coordinate transformation with predetermined angular by respectively, the result of described rotating coordinate transformation is exported as d shaft voltage correction instruction and q shaft voltage correction instruction, wherein, this d shaft voltage instruction exports from described PI current controller to control described d shaft current, and this q shaft voltage instruction exports from described PI current controller to control described q shaft current;
1st signed magnitude arithmetic(al) device, it calculates the absolute value of described d shaft voltage correction instruction;
2nd signed magnitude arithmetic(al) device, it calculates the absolute value of described q shaft voltage correction instruction;
1st subtracter, its absolute value based on described d shaft voltage correction instruction and the value of carrying out rotating coordinate transformation to the d shaft voltage amplitude limit value that the instruction of described d shaft voltage limits with described predetermined angular by being used for and obtaining and d shaft voltage rotate amplitude limit value, obtain d shaft voltage saturation capacity; And
2nd subtracter, its absolute value based on described q shaft voltage correction instruction and the value of carrying out rotating coordinate transformation to the q shaft voltage amplitude limit value that the instruction of described q shaft voltage limits with described predetermined angular by being used for and obtaining and q shaft voltage rotate amplitude limit value, obtain q shaft voltage saturation capacity.
2. the control device of permanent magnet-type motor according to claim 1, is characterized in that, has:
Q shaft current instruction correction device, it is based on described d shaft voltage saturation capacity, obtains the q shaft current instruction correction amount for avoiding voltage saturation; And
D shaft current instruction correction device, it is based on described q shaft voltage saturation capacity, obtains the d shaft current instruction correction amount for avoiding voltage saturation,
Based on described q shaft current instruction correction amount, the instruction of q shaft current is corrected, based on described d shaft current instruction correction amount, the instruction of d shaft current is corrected.
3. the control device of permanent magnet-type motor according to claim 1 and 2, is characterized in that,
Described d shaft voltage rotation amplitude limit value and described q shaft voltage rotation amplitude limit value are set to and precompute and the value of preserving.
4. the control device of the permanent magnet-type motor according to claim 1,2 or 3, is characterized in that,
Also there is amplitude limit value rotating coordinate transformation device, described d shaft voltage amplitude limit value and described q shaft voltage amplitude limit value are carried out rotating coordinate transformation with described predetermined angular by this amplitude limit value rotating coordinate transformation device respectively, and the result of described rotating coordinate transformation is rotated amplitude limit value and the output of described q shaft voltage rotation amplitude limit value as described d shaft voltage.
5. the control device of the permanent magnet-type motor according to any one of Claims 1 to 4, is characterized in that,
Described predetermined angular is set to voltage instruction value and the d axle angulation at maximum torque point place on dq coordinate system.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2013/060857 WO2014167678A1 (en) | 2013-04-10 | 2013-04-10 | Control device for permanent magnet motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105103434A true CN105103434A (en) | 2015-11-25 |
| CN105103434B CN105103434B (en) | 2016-09-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380075408.9A Expired - Fee Related CN105103434B (en) | 2013-04-10 | 2013-04-10 | Control device for permanent magnet motor |
Country Status (5)
| Country | Link |
|---|---|
| JP (1) | JP5791848B2 (en) |
| KR (1) | KR101576011B1 (en) |
| CN (1) | CN105103434B (en) |
| TW (1) | TWI500252B (en) |
| WO (1) | WO2014167678A1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112187129A (en) * | 2020-12-01 | 2021-01-05 | 深圳市兆威机电股份有限公司 | Motor control method, device, equipment and storage medium |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| TWI552506B (en) * | 2015-10-22 | 2016-10-01 | 東元電機股份有限公司 | Control system of motor drive |
| WO2019073599A1 (en) * | 2017-10-13 | 2019-04-18 | 日立ジョンソンコントロールズ空調株式会社 | Motor drive device, refrigeration cycle device equipped with same, and motor drive method |
| WO2024176715A1 (en) * | 2023-02-22 | 2024-08-29 | 株式会社デンソー | Control device |
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| JPH1127996A (en) * | 1997-06-30 | 1999-01-29 | Yaskawa Electric Corp | Current vector control method for ac motor and ac motor drive device |
| JP2000341990A (en) * | 1999-05-28 | 2000-12-08 | Yaskawa Electric Corp | Voltage saturation processing apparatus for ac motor |
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| CY1110678T1 (en) * | 2003-08-15 | 2015-06-10 | University Of South Florida | MATERIALS AND METHODS FOR TRADING PATHOGENES AND DETERMINATION OF CHRYSINOTRIC CARBONIC ACID FROM A SAMPLE |
| JP4720653B2 (en) * | 2006-07-07 | 2011-07-13 | トヨタ自動車株式会社 | Electric motor control device and vehicle equipped with the same |
| JP5546804B2 (en) * | 2009-06-18 | 2014-07-09 | ビアメカニクス株式会社 | Electric motor drive control device. |
| JP5382069B2 (en) * | 2011-07-04 | 2014-01-08 | 株式会社安川電機 | Inverter device and electric motor drive system |
| JP5595436B2 (en) * | 2012-03-21 | 2014-09-24 | 三菱電機株式会社 | Motor control device |
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2013
- 2013-04-10 WO PCT/JP2013/060857 patent/WO2014167678A1/en active Application Filing
- 2013-04-10 KR KR1020157027541A patent/KR101576011B1/en not_active IP Right Cessation
- 2013-04-10 JP JP2015511020A patent/JP5791848B2/en not_active Expired - Fee Related
- 2013-04-10 CN CN201380075408.9A patent/CN105103434B/en not_active Expired - Fee Related
- 2013-10-09 TW TW102136484A patent/TWI500252B/en active
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| JPH1127996A (en) * | 1997-06-30 | 1999-01-29 | Yaskawa Electric Corp | Current vector control method for ac motor and ac motor drive device |
| JP2000341990A (en) * | 1999-05-28 | 2000-12-08 | Yaskawa Electric Corp | Voltage saturation processing apparatus for ac motor |
| JP2011229252A (en) * | 2010-04-19 | 2011-11-10 | Mitsubishi Electric Corp | Controller for ac rotating machine |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112187129A (en) * | 2020-12-01 | 2021-01-05 | 深圳市兆威机电股份有限公司 | Motor control method, device, equipment and storage medium |
| CN112187129B (en) * | 2020-12-01 | 2021-04-02 | 深圳市兆威机电股份有限公司 | Motor control method, device, equipment and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| TWI500252B (en) | 2015-09-11 |
| KR101576011B1 (en) | 2015-12-08 |
| WO2014167678A1 (en) | 2014-10-16 |
| KR20150119966A (en) | 2015-10-26 |
| JPWO2014167678A1 (en) | 2017-02-16 |
| CN105103434B (en) | 2016-09-28 |
| JP5791848B2 (en) | 2015-10-07 |
| TW201440412A (en) | 2014-10-16 |
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