CN105850029B - Power inverter - Google Patents
Power inverter Download PDFInfo
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- CN105850029B CN105850029B CN201380079280.3A CN201380079280A CN105850029B CN 105850029 B CN105850029 B CN 105850029B CN 201380079280 A CN201380079280 A CN 201380079280A CN 105850029 B CN105850029 B CN 105850029B
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- induced voltage
- synchronous motor
- current
- coefficient
- voltage coefficient
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 71
- 238000001514 detection method Methods 0.000 claims abstract description 41
- 230000002159 abnormal effect Effects 0.000 claims abstract description 14
- 238000006243 chemical reaction Methods 0.000 claims abstract description 10
- 230000001133 acceleration Effects 0.000 claims abstract description 9
- 238000000034 method Methods 0.000 claims description 33
- 230000005611 electricity Effects 0.000 claims description 15
- 238000004364 calculation method Methods 0.000 claims description 7
- 230000008569 process Effects 0.000 claims description 7
- 230000008450 motivation Effects 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 238000000151 deposition Methods 0.000 claims 1
- 230000001939 inductive effect Effects 0.000 description 10
- 238000012360 testing method Methods 0.000 description 9
- 238000009499 grossing Methods 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 5
- 230000006870 function Effects 0.000 description 4
- 238000005259 measurement Methods 0.000 description 4
- 230000005856 abnormality Effects 0.000 description 3
- 230000006698 induction Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000007787 solid Substances 0.000 description 2
- 238000013461 design Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005284 excitation Effects 0.000 description 1
- 238000013213 extrapolation Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 230000001172 regenerating effect Effects 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000004088 simulation Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/02—Providing protection against overload without automatic interruption of supply
- H02P29/024—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load
- H02P29/0241—Detecting a fault condition, e.g. short circuit, locked rotor, open circuit or loss of load the fault being an overvoltage
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
The invention solves project be：When obtaining the induced voltage coefficient of the unknown motor of motor constant, with the relevant information of motor it is insufficient, be difficult to speculate the approximate value of induced voltage coefficient etc. in the case of, if the approximate value and the true value of motor of input are substantially different, then the control in sensorless strategy portion becomes unstable, cause the rotation of motor to be abnormal, induced voltage coefficient cannot be obtained.Power inverter provided by the invention, including：Direct current power is converted into the exchange converter section of required AC power；Detect the current detecting part of the electric current of the synchronous motor of connection；The electric current converter section of coordinate conversion is carried out to the electric current detected by above-mentioned current detecting part；The voltage operational portion of instruction is provided above-mentioned exchange converter section；The control operational part of instruction is provided above-mentioned voltage operational portion；With the abnormal abnormity detection portion for the electric current for judging to be detected by above-mentioned current detecting part, above-mentioned control operational part is based on the abnormal speed control for judging to carry out above-mentioned synchronous motor judged by above-mentioned abnormity detection portion, thus into the control for exercising above-mentioned synchronous motor acceleration or deceleration, start the induced voltage coefficient for obtaining above-mentioned synchronous motor.
Description
Technical field
The present invention relates to power inverters.
Background technology
Background technology as the art has No. 4300730 bulletins (patent document 1) of Japanese Patent No..In the bulletin
A kind of motor with permanent magnet device is described, is had " being arranged in above-mentioned inverter control unit, electronic in above-mentioned permanent magnet
With operating midway identification above-mentioned motor with permanent magnet (with determining) at least by the resistive component of motor, d before the operation start of machine
Angular speed proportionality coefficient, that is, inverse electromotive force of induced voltage when axle inductance component, q axle inductances component and permanent magnet rotate is normal
The constant recognition unit for the motor constant that number is constituted ".
In above-mentioned constant recognition unit, inverse electromotive force constant is not by " having to 3 computed position of sensorless strategy portion
It is operated by the pressure of the separate excitation of inverter control or is inputted some approximate value as inverse electromotive force constant and use some way
Drive motor 1 ", " after rising to some egulation rotating speed being provided previously, maintaining the stabilization rotation status under the rotating speed " come into
Row identification.
Patent document 1：No. 4300730 bulletins of Japanese Patent No.
Invention content
The induction of the permanent magnet induction of the measurement motor with permanent magnet before operation start is shown in above patent document 1
The method of voltage coefficient.But in the method, in the state that the motor constants such as induced voltage coefficient are unknown, certain is inputted
A approximate value simultaneously forcibly makes motor rotate with some way.Therefore, with the relevant information of motor it is insufficient, be difficult to speculate
In the case of the approximate value of motor constant, if the approximate value and the true value of motor of input are substantially different, no sensor
The control of control unit becomes unstable, and there are the rotations of motor to be abnormal, and cannot obtain the possibility of induced voltage coefficient.
Therefore, the present invention provides a kind of motor rotation that motor constant can be made unknown, obtains induced voltage coefficient
Power inverter.
In order to solve the above problems, for example, by using structure described in claim.
The application includes a variety of modes for solving the above subject, enumerates the power inverter of wherein an example, feature exists
In, including：Converter section is exchanged, direct current power is converted into required AC power；Current detecting part, detection connection
The electric current of synchronous motor；Electric current converter section carries out coordinate conversion to the electric current detected by above-mentioned current detecting part；Voltage
Operational part provides instruction to above-mentioned exchange converter section；Operational part is controlled, instruction is provided to above-mentioned voltage operational portion；With it is different
Normal test section judges that the exception of the electric current detected by above-mentioned current detecting part, above-mentioned control operational part are based on by above-mentioned different
The exception that normal test section is judged judges to carry out the speed control of above-mentioned synchronous motor, thus synchronizes electricity into enforcement is above-mentioned
The control of motivation acceleration or deceleration starts the induced voltage coefficient for obtaining above-mentioned synchronous motor.
According to the present invention, a kind of motor rotation that motor constant can be made unknown is provided, induced voltage coefficient is obtained
Power inverter.
Project, structure and effect other than the above, are illustrated by the explanation of the following embodiments and the accompanying drawings.
Description of the drawings
Fig. 1 is the example of the structure chart of the power inverter in embodiment 1.
Fig. 2 is flow chart until starting to obtain induced voltage coefficient in embodiment 1.
Fig. 3 is the rotational speed omega of synchronous motor when judging abnormality in embodiment 1, d shaft current Id, q shaft currents Iq
Situation.
Fig. 4 is the flow chart of the acquisition induced voltage coefficient in embodiment 2.
Fig. 5 is the rotational speed omega of synchronous motor when obtaining induced voltage coefficient in embodiment 2, d shaft currents Id, q axis electricity
Flow the situation of the q shaft voltages Vq of Iq.
Fig. 6 is the flow chart of the acquisition induced voltage coefficient in embodiment 3.
Fig. 7 is the rotational speed omega of synchronous motor when detecting induced voltage coefficient in embodiment 3, d shaft currents Id, q axis electricity
Flow the situation of the q shaft voltages Vq of Iq.
Fig. 8 is the flow chart of the acquisition induced voltage coefficient in embodiment 4.
Fig. 9 is the example of the structure chart of the power inverter in embodiment 5.
Figure 10 is flow chart until starting to obtain induced voltage coefficient in embodiment 5.
Symbol description
101 ... three-phase alternating voltages；102 ... direct current converter sections；103 ... smoothing capacity devices；104 ... exchanges turn
Change portion；105 ... synchronous motors；106 ... current detectors；107 ... electric current converter sections；108 ... control operational parts；
109 ... voltage converter sections；110 ... storage parts；111 ... abnormity detection portions；112 ... displays/operation portion；901……
Induced voltage detector；902 ... induced voltage test sections
Specific implementation mode
Hereinafter, being illustrated to embodiment with attached drawing.
Embodiment 1
In the present embodiment, illustrate that the induced voltage coefficient generated by the rotation of the permanent magnet of synchronous motor is unknown
In the case of, the example of induced voltage coefficient is obtained at steady state.
Fig. 1 is the example of the power inverter of the present embodiment and the structure chart of synchronous motor 105.
In the present embodiment, there is three-phase alternating-current supply 101, direct current converter section 102, smoothing capacity device 103, exchange conversion
Portion 104, synchronous motor 105, current detector 106, electric current converter section 107, control operational part 108, voltage converter section 109,
Storage part 110, abnormity detection portion 111, display/operation portion 112.
Three-phase alternating-current supply 101 is, for example, the three-phase alternating voltage supplied from Utilities Electric Co. or the exchange supplied from generator
Voltage exports direct current converter section 102.
Direct current converter section 102 is for example with the DC converting circuit or use IGBT and fly-wheel diode being made of diode
DC converting circuit is constituted, and the alternating voltage inputted from three-phase alternating-current supply 101 is converted into DC voltage, to smoothing capacity device
103 outputs.The direct current converter section being made of diode is shown in Fig. 1.
Smoothing capacity device 103 makes the DC voltage inputted from direct current converter section 102 smooth, defeated to exchange converter section 104
Go out DC voltage.Such as in the case that the output of generator is DC voltage, smoothing capacity device 103 can not also turn via direct current
Change portion 102 and directly from generator input direct-current voltage.
Converter section 104 is exchanged for example by using the ac conversion circuit of IGBT and fly-wheel diode to constitute, with smoothing capacity
The DC voltage of device 103 and the output order of voltage converter section 109 are right by converting direct-current voltage into alternating-current voltage as input
Synchronous motor 105 exports.
Current detector 106 is for example made of Hall CT or shunt resistance, by configuring the output in power inverter
Portion and detect the electric current for flowing through synchronous motor 105, as current detection value to current detecting part 107 export.Current detector
As long as 106 configuration can speculate or directly detect three-phase output current place, then can be only fitted to arbitrary position.
In fig. 1 it is shown that the example of the electric current of ac motor 105 is flowed through in detection.
The current detection value inputted from current detector 106 is converted into for example using magnet axis as d by electric current converter section 107
Current data Id, Iq of axis, two axis coordinate systems that orthogonal to that axis is q axis, to control operational part 108, storage part 110 and different
Normal test section 111 exports.The data either three-phase current that current detector 107 exports, or conversion DC current, as long as energy
The increase of enough Cutoff currents.
Current information that control operational part 108 is exported with electric current converter section 107 respectively, the electric current stored in storage part 110
Information, the abnormal decision instruction that abnormity detection portion 111 exports, the operation instruction from display/operation portion 112 are as input.So
Afterwards, information of the operational part 108 based on input is controlled, to resistance R, d axle inductance Ld, q axle inductance Lq, the induced electricity of synchronous motor
COEFFICIENT K e, speed command ω *, current-order Id*, Iq* of two axis coordinate systems and voltage instruction Vd*, Vq* is pressed to carry out operation, it is right
109 output order speed omega * of voltage converter section and voltage instruction Vd*, Vq*.In addition, control letter of the operational part 108 based on input
Breath carries out operation to induced voltage coefficient.
Voltage converter section 109 using control the output of operational part 108 speed command ω * and voltage instruction Vd*, Vq* as defeated
Enter, be converted into PWM output orders, exchange converter section 104 is exported.
Storage part 110 temporally stores current data using the current data that electric current converter section 107 exports as input, right
It controls operational part 108 and exports the data.
Abnormity detection portion 111 is for example using the current data that electric current converter section 107 exports as input, to synchronous motor
102 rated current is compared with the current data that electric current converter section 107 exports, above-mentioned rated current if more than, then
Driving condition is judged as exception, to controlling 108 output abnormality decision instruction of operational part.The electricity obtained with electric current converter section 107
The value that flow data is compared can also be the data that user sets arbitrarily.In addition, abnormity detection portion 111 can also will synchronize electricity
Have occurred abnormal situation in the driving of motivation, for example, the DC voltage data of monitoring smoothing capacity device 103, by DC voltage number
The case where temperature inside the case where being judged as abnormality according to raising, power inverter increases, input-output power increase
The case where, synchronous motor the case where step-out has occurred etc., be judged as exception.
Display/operation portion 112 for example indicates input and output terminal, that is, user interface of operation panel or simulation, is transported to control
The output of calculation portion 108 is carried out the information of operation input by user, such as various setting values and operating order.
Fig. 2 is stream until controlling operational part 108 and sending out the instruction for starting to obtain induced voltage coefficient in embodiment 1
Cheng Tu.The stream when flow of Fig. 2 is the automatic tuning (Auto-tuning) as the various motor constants of preparation acquisition of operating
Journey.
Fig. 3 is the figure of the situation for the action for showing rotational speed omega and electric current Id, Iq in embodiment 1.
Control operational part 108 receives the acquisition instruction for the induced voltage coefficient that user is inputted with display/operation portion 112
(S201), the acceleration (S202) for starting synchronous motor, voltage instruction is sent out to voltage converter section 109.At this point, aftermentioned in order to make
The operation of induced voltage coefficient become efficient because the unknown influence of high speed, motor constant is bigger, motor
The possibility that rotation becomes unstable is higher, so user will for example proceed by the induced voltage system of induced voltage coefficient operation
Number detection speed presets into the 10% of the basic rotating speed of synchronous motor.
Because being the state for not knowing about induced voltage coefficient, control operational part 108 synchronizes electricity using what is obtained in advance
The resistive component and inductive component of motivation and the current data inputted from electric current converter section 107, determine voltage instruction, to electricity
Converter section 108 is pressed to export.Resistive component, the inductive component of the synchronous motor used in control operational part 108 can utilize existing
Some known technologies manually apply voltage and measure, and can also be acted and be measured by the measurement of other processes, as long as
Above-mentioned resistive component and inductive component can be obtained, then can be arbitrary method.
In the model of permanent-magnet synchronous electric motor at steady state, (number 1) below is set up.
[number 1]
Herein, R：Resistance value, Ld：D axle inductance values, Lq：Q axle inductance values, ω：Rotating speed, Id：D shaft currents, Iq：Q axis electricity
Stream, Ke：Induced voltage coefficient, Vd：D shaft voltages, Vq：Q shaft voltages.
Because induced voltage coefficient is unknown, control operational part 108 in the case that slow, by the item of rotating speed,
Or rotational speed omega and the item of the product of induced voltage COEFFICIENT K e are considered as fully small to approximate to (number 1), are carried out with (number 2) below
The operation of voltage instruction.
[number 2]
Herein, ω *：Command speed, Id*：D shaft currents instruct, Iq*：Q shaft currents instruct, Vd*：D shaft voltages instruct,
Vq*：Q shaft voltages instruct.In addition, if can speculate induced voltage COEFFICIENT K e according to rated voltage of synchronous motor etc., then
Value other than 0 can also be substituted into (number 1) as fixed value, be driven.Hereinafter, illustrating that controlling operational part 108 uses (number 2) right
The case where voltage converter section output voltage instructs.
Control operational part 108 carries out the operation of voltage instruction with (number 2), and speed is made to ramp up.But because (number 2)
It is not complete model, so as shown in figure 3, when rotating speed is gradually increasing, because the approximation of the item of induced voltage coefficient is incorrect,
So control failure, electric current increase.At this point, the current data that control operational part 108 exports electric current converter section 107, such as
The rated current of synchronous motor is set as abnormal occurred level, more than the level, judges whether to have occurred
Abnormal (S203).In the case where being judged as that exception has occurred, it is decelerated to stable state (S204) at once, in the speed become stable
The lower detection (S205) for starting induced voltage coefficient of degree.
On the other hand, in the case where being judged as no exceptions, control operational part 108 compares whether speed command reaches
The induced voltage coefficient detection speed (S206) that has set starts the detection of induced voltage coefficient in the case where having reached.
On the other hand, in the case of not up to, control operational part continues the acceleration (S207) of synchronous motor, judges whether to send out again
Raw abnormal (S203).This driving method is an example, as long as synchronous motor can rotate driving, then its control method can be appointed
The method of meaning.
About induced voltage coefficient is obtained, induced voltage coefficient is calculated i.e. with (number 3) below for obtaining (number 1) deformation
It can.Control 108 electricity consumption stream converter section 107 of operational part output current data Id and Iq, command speed ω *, command voltage Vq*,
Resistance value R, the d axle inductance Ld obtained in advance seeks induced voltage COEFFICIENT K e.
[number 3]
If there is carrying out the speed feedback of self-synchronous motor, then command speed ω * can also use the reality after feedback
The rotational speed omega on border.If there is the Voltage Feedback of synchronous motor, then voltage instruction Vq* can also be used based on after feedback
Vq obtained from actual voltage conversion.In addition, if current data Id, Iq can become unstable because of external disturbance etc., then
Current-order Id*, Iq* can also be used.
According to above method, rotated by the synchronous motor for keeping motor constant unknown, in stable driving condition
Lower acquisition induced voltage coefficient, can accurately obtain induced voltage coefficient.
Embodiment 2
In the present embodiment for the part shared with embodiment 1, illustrated with identical symbol, for different portions
Divide and is described in detail.
The structure of the present embodiment uses Fig. 1 as the example of structure chart similarly to Example 1.
In example 2, by becoming near 0 into the steady-state value for exercising Id the and Iq both sides that electric current converter section 107 exports
Control, be approximately 0 by the Id of (number 3) and Iq, with (number 4) below calculate induced voltage coefficient.As a result, starting to obtain sense
It, can not be by the error in the case of answering before voltage coefficient calculated resistive component R, inductive component Ld to include error
It influences ground, accurately seek induced voltage COEFFICIENT K e.
[number 4]
If there is carrying out the speed feedback of self-synchronous motor, then command speed ω * can also use the reality after feedback
The rotational speed omega on border.If there is the Voltage Feedback of synchronous motor, then voltage instruction Vq* can also be used based on after feedback
Vq obtained from actual voltage conversion.
In addition, if being difficult to become into the steady-state value for the Id and Iq both sides for exercising output 0 control, then can also carry out only
So that the steady-state value of Id or Iq folk prescriptions is become 0 control, (number 3) deformation is used as to seek the formula of induced voltage coefficient.
Fig. 4 is the figure for the flow chart for showing the acquisition induced voltage coefficient in embodiment 2.
Fig. 5 be show rotational speed omega in embodiment 2, electric current Id and Iq, voltage Vq figure.
The control method same as Example 1 of operational part 108 makes synchronous motor drive the driving condition up to stablizing,
Start the detection of induced voltage coefficient.First, control operational part 108 is controlled such that with the frequency of the rotating speed of synchronous motor
Multiple period and vibrated (S401) centered on 0 electric current.It controls in this way, the average value of Id becomes 0.This
Outside, in the case of by the output of the visual Id such as display/operation portion 112, it can clearly confirm that gradually control is Id and becomes 0.
Then, control operational part 108 synchronizes the deceleration control (S402) of motor as illustrated in fig. 4, controls to make
Obtaining Iq becomes near 0 electric current.In this example, Iq is the relevant electric current of torque with synchronous motor, using in power running torque
Shi Weizheng, it is that negative this point is controlled in regenerative torque.
Operational part 108 is controlled for example using ± the 1% of rated current as detection range is allowed, and judges Iq whether in range
(S403), the deceleration control for continuing synchronous motor if Iq is outside range, stores Vq* and ω * if in range
In storage part 110 (S404).
Control operational part 108, Vq* just in the case of vibrations, calculate that it is average, in the rotating speed of at least more than one
Under, with speed command ω * and the value for carrying out Vq* obtained from being averaged, induced voltage COEFFICIENT K e (S405) is calculated according to (number 4).
According to above method, calculated resistive component R, inductive component Ld packets before starting acquisition induced voltage coefficient
In the case of containing error, can not be influenced by the error, precision higher seek induced voltage COEFFICIENT K e.
Embodiment 3
In the present embodiment for the part shared with embodiment 1, illustrated with identical symbol, for different portions
Divide and is described in detail.
The structure of the present embodiment uses Fig. 1 as the example of structure chart similarly to Example 1.
Embodiment 3 is the variation of embodiment 2, about Id the and Iq both sides exported by controlling electric current converter section 107, is used
(number 3) or the formula that is deformed to (number 3) are as the formula this point for calculating induced voltage coefficient, with 2 phase of embodiment
Together, therefore detailed description is omitted.
Fig. 6 is the figure for the flow chart for showing the acquisition induced voltage coefficient in embodiment 3.
Fig. 7 be show rotational speed omega in embodiment 3, electric current Id and Iq, voltage Vq figure.
The control method same as Example 1 of operational part 108 makes synchronous motor drive the driving condition up to stablizing,
Start the detection of induced voltage coefficient.Current data Ida, Iqa of ta at the time of electric current converter section 107 is output into stable state
With voltage data Vqa, rotational speed omega a, it is stored in storage part 110 (S601).Then, control operational part 108 makes current-order Id*
(S602) is reduced with the interval simultaneously as 0 respectively with Iq*, Id and Iq is made to reduce, and judges whether to become and initially store
Less than half (S603) of the value of Ida or Iqa.Not being judged as in the case of less than half, continue to make current-order Id* and
Iq* reduces (S602) with the interval simultaneously as 0 respectively, and Id and Iq is made to reduce.On the other hand, it is being judged as initially storing
In the case of less than half of the value of Ida or Iqa, electric current converter section exports current data Idb and Iqb, the voltage of moment tb
Data Vqb, rotational speed omega b, are stored in storage part 110 (S604).Then, control operational part 108 passes through extrapolation as illustrated in fig. 7
Electric current Iq is sought as the rotational speed omega 0 and voltage data Vq0 (S605) of t0 at the time of 0.Specifically calculate as described below.
First, seeking Iq becomes 0 time t0.Between electric current Iq and time t, (number 5) below is set up.
[number 5]
(number 5) is arranged for t0 to obtain (number 6) below.
[number 6]
ω 0 and Vq0 when Iq becomes 0 time t0 can be sought by (number 7) below (number 8).
[number 7]
[number 8]
It controls operational part 108 and above result is substituted into (number 4), calculate induced voltage coefficient (S606).
According to above method, calculated resistive component R, inductive component Ld packets before starting acquisition induced voltage coefficient
In the case of containing error, can not be influenced by the error, precision higher seek induced voltage COEFFICIENT K e.
Embodiment 4
In the present embodiment for the part shared with embodiment 1, illustrated with identical symbol, for different portions
Divide and is described in detail.
The structure of the present embodiment uses Fig. 1 as the example of structure chart similarly to Example 1.
Embodiment 4 is embodiment 1, the application examples of embodiment 2 and embodiment 3.That is, control operational part 108 uses embodiment 1
Intra coeff to the induced voltage coefficient obtained after either side in 3 as voltage command operation, makes synchronous motor
Driving carries out the operation of induced voltage coefficient again.As a result, it is possible to by closer in the form of actually driving, induced voltage is measured
Coefficient can be detected in turn with the synchronous motor of more stable driving condition.In the calculating of induced voltage coefficient,
Frequency is higher, and the resolution capability of the induced voltage coefficient after operation is higher, therefore speed when detection is high more preferable.
Fig. 8 shows in example 4, flow chart until controlling operational part 108 and obtaining induced voltage coefficient.
Control operational part 108 receives the instruction for starting to obtain induced voltage coefficient that user is inputted with display/operation portion 112
(S801), the acceleration (S802) for starting synchronous motor, voltage instruction is sent out to voltage converter section 109.At this point, because not being
Solve the state of induced voltage, thus control operational part 108 resistive component of the synchronous motor obtained in advance, inductive component and
The electric current inputted from electric current converter section 107, determines voltage instruction.By the resistance for the synchronous motor that control operational part 108 uses
Component, inductive component can manually apply voltage using existing known technology and measure, and can also pass through other processes
Measurement action measure, as long as data can be obtained, then can be arbitrary method.
As the induced voltage coefficient detection speed of low speed, control operational part 108 presets into the 10% of basic rotating speed
Start induced voltage system after being judged as having reached the detection speed (S803) as the range that can for example use (number 2) to drive
Several detections (S804).The detection method of induced voltage coefficient can be the arbitrary method in embodiment 1,2,3.Control operation
Portion 108 is reflected into control operational part after detecting induced voltage coefficient, by the data, switches to and carries out voltage with (number 1) and refer to
Enable operation (S805).Control operational part 108 is accelerated (S806) again, as the induced voltage coefficient detection speed of high speed,
The 50% of basic rotating speed is preset into as the range that can for example use (number 1) to drive, is being judged as having reached detection speed
After degree (S807), start to obtain induced voltage coefficient (S808).The acquisition methods of induced voltage coefficient can be embodiment 1,2,3
In arbitrary method.Control operational part 108 is driven using the induced voltage coefficient recalculated as synchronous motor is made
Dynamic final data (S809).
According to above method, induced voltage coefficient, in turn, energy can be measured in the form of closer to actual driving
The synchronous motor of enough more stable driving conditions is detected.
Embodiment 5
For the part shared with embodiment 1 in the present embodiment, illustrated with identical symbol, for different parts
It is described in detail.
Fig. 9 is the example of the power inverter of the present embodiment and the structure chart of synchronous motor 105.
In the present embodiment, there is three-phase alternating-current supply 101, direct current converter section 102, smoothing capacity device 103, exchange conversion
Portion 104, synchronous motor 105, current detector 106, electric current converter section 107, control operational part 108, voltage converter section 109,
Storage part 110, abnormity detection portion 111, display/operation portion 112, induced voltage detector 901, induced voltage test section 902.
Induced voltage detector 901 is synchronized by configuring to detect in the output section of power inverter or synchronous motor
The induced voltage generated in motor 105 exports induced voltage test section 902 as induced voltage detected value.Induced voltage
Detector 901 for example detects two alternate voltages in three-phase, as the voltage between terminals generated in synchronous motor, the choosing of phase
Then can be the arbitrary phase in three-phase as long as selecting two alternate.
Induced voltage test section 902 using the induced voltage detected value that induced voltage detector 901 exports as input, according to
The variable cycle of induced voltage detected value calculates the rotational speed omega of synchronous motor, and induced voltage is calculated according to induced voltage detected value
Acquired value Ve exports rotational speed omega and induced voltage acquired value Ve to control operational part 108 and storage part 110.It is scaled induced electricity
Acquired value Ve is pressed, as long as accordingly being converted with the unit for carrying out operation by control operational part 108, then can use peak value,
Virtual value can be used.
The electric current stored in current information or storage part 110 that control operational part 108 is exported with electric current converter section 107
Information, rotary speed information, induced voltage value information, abnormity detection portion 111 export abnormal decision instruction, come from display/operation portion
The rotational speed omega and induced voltage acquired value Ve of 112 operation instruction and induced voltage test section 902 output are right as input
Resistance R, d axle inductance Ld, q axle inductance Lq of synchronous motor, induced voltage COEFFICIENT K e, speed command ω *, two axis coordinate systems
Current-order Id*, Iq* and voltage instruction Vd*, Vq* carry out operation, to 109 output order speed omega * of voltage converter section and electricity
Pressure instruction Vd*, Vq*.In addition, information of the control operational part 108 based on input calculates induced voltage coefficient.
Storage part 110 temporally stores current data using the current data that electric current converter section 107 exports as input, right
It controls operational part 108 and exports the data.In addition, storage part 110 exported with induced voltage test section 902 rotary speed data, induction
Voltage data temporally stores each data, to controlling operational part 108 as input in the case where induced voltage detection starts
Export each data.
Figure 10 is the flow chart until sending out the instruction for starting to obtain induced voltage coefficient in embodiment 5.
Control operational part 108 receives the instruction for starting to obtain induced voltage coefficient that user is inputted with display/operation portion 112
(S1001), the acceleration (S1002) for starting synchronous motor, voltage instruction is sent out to voltage converter section 109.At this point, user will open
The induced voltage coefficient detection speed for beginning to carry out induced voltage coefficient operation for example presets into turning substantially for synchronous motor
The 10% of speed is preferably.Because being the state for not knowing about induced voltage, control operational part 108 is electronic with synchronizing for obtaining in advance
The resistive component and inductive component of machine and the electric current inputted from electric current converter section 107, determine voltage instruction.By control operation
Resistive component, the inductive component for the synchronous motor that portion 108 uses can manually apply voltage using existing known technology
It measures, can also be acted and be measured by the measurement of other processes, as long as data can be obtained, then can be arbitrary
Method.
Control operational part 108 carries out the operation of voltage instruction with (number 2), and speed is made to ramp up.But because (number 2)
It is not complete model, so as shown in figure 3, when rotating speed is gradually increasing, the approximation of the item of induced voltage coefficient becomes incorrect,
Control failure, electric current increase.At this point, control operational part 108 judges whether the current data that electric current converter section 107 exports has occurred
Abnormal (S1003) cuts off voltage instruction and makes synchronous motor free-running in the case where being judged as that exception has occurred
(S1004), start to obtain induced voltage coefficient (S1005).
On the other hand, in the case where being judged as no exceptions, whether control operational part 108 reaches speed command
The induced voltage coefficient detection speed set is compared (S1006), and voltage instruction is cut off in the case where having reached, and makes same
Walking motor becomes free-running state acquisition induced voltage coefficient.In the case of not up to, control operational part continues to synchronize
The acceleration (S1007) of motor, judges whether to be abnormal (S1003) again.This driving method is an example, as long as synchronizing electronic
Machine can rotate driving, then its control method can be arbitrary method.
Control operational part 108, when as free-running state, with will (number 4) be replaced into actual induced voltage Ve with
(number 9) that rotational speed omega obtains carries out operation.
[number 9]
If there is carrying out the speed feedback of self-synchronous motor, then rotational speed omega can also use the rotating speed after feedback.Together
Walk motor free-running when induced voltage Ve be only the voltage generated by permanent magnet, so can will the Vq* of (number 4) and
Induced voltage Ve displacements.
According to above method, the induced voltage coefficient in the state of stablizing can be obtained.
In addition, the present invention is not limited to above-described embodiment, including various modifications example.In addition, the present invention is not limited to automatic
It, also being capable of the applications such as in the usual operating of synchronous motor when tuning.For example, above-described embodiment is for ease of understanding to say
It is bright of the invention and detailed description, it is not limited to all structures that there must be explanation.Furthermore it is possible to by some embodiment
A part for structure is replaced into the structure of other embodiment, or the knot of other embodiment is added in the structure of some embodiment
Structure.In addition, a part for the structure for each embodiment, can add, deletes, replace other structures.
In addition, part or all of above-mentioned each structure, function, processing unit, processing unit etc., such as can be by with collection
Hardware realization is used at circuit design etc..In addition, above-mentioned each structure, function etc., it can also be by being explained by processor, executing use
Software realization is used in the program for realizing each function.It realizes the information such as program, table, the file of each function, storage can be stored in
The recording mediums such as recording devices or IC card, SD card, DVD such as device, hard disk, SSD (Solid State Drive, solid state disk)
In.
In addition, control line and information wire, which are shown, is considered required in explanation, institute on product might not be shown
Some control lines and information wire.Actually it is also assumed that nearly all structure is all connected with each other.
Claims (15)
1. a kind of power inverter, which is characterized in that including：
Converter section is exchanged, direct current power is converted into required AC power；
Current detecting part detects the electric current of the synchronous motor of connection；
Electric current converter section carries out coordinate conversion to the electric current detected by the current detecting part；
Voltage operational portion provides instruction to the exchange converter section；
Operational part is controlled, instruction is provided to the voltage operational portion；With
Abnormity detection portion judges the exception of the electric current detected by the current detecting part,
It is described control operational part based on the synchronous motor without using induced voltage coefficient model or used prediction
The model of induced voltage coefficient to provide instruction to the voltage operational portion, and according to the exception carried out by the abnormity detection portion
Judge to carry out the speed control of the synchronous motor, thus into the control for exercising the synchronous motor acceleration or deceleration,
Start to obtain the induced voltage coefficient of the synchronous motor.
2. power inverter as described in claim 1, it is characterised in that：
In the case where the abnormity detection portion is judged as exception, the control operational part makes the speed of the synchronous motor subtract
It is small, start to obtain the induced voltage coefficient after deceleration.
3. power inverter as described in claim 1, it is characterised in that：
In the case where the abnormity detection portion is not judged as exception, the control operational part continues to make the synchronous motor
Accelerate, after having reached the rotating speed that can obtain the induced voltage coefficient, starts to obtain the induced voltage coefficient.
4. power inverter as claimed in claim 2, it is characterised in that：
The current data obtained from the current detecting part is converted into the d shaft current values on two axial coordinates by the electric current converter section
With orthogonal to that q shaft current values,
The control operational part detects the dynamic value of the d shaft currents value and the q shaft currents value to predict steady-state value, obtains
The induced voltage coefficient.
5. power inverter as described in claim 1, it is characterised in that：
After obtaining the first induced voltage coefficient, the control operational part is anti-by the first induced voltage coefficient of acquisition
It reflects to the voltage operational portion, the synchronous motor is made to again speed up, at least carry out the second induced voltage of primary acquisition
The operation of coefficient.
6. power inverter as claimed in claim 5, it is characterised in that：
The second induced voltage coefficient, than obtain the first induced voltage coefficient when it is described synchronize it is electronic
It is obtained under the fast rotating speed of the rotating speed of machine.
7. power inverter as claimed in claim 4, which is characterized in that have：
Storage part stores the d shaft currents value and the q shaft currents value,
The voltage operational portion is controlled will be stored in multiple d shaft currents values and the q axis in the storage part
At least one of current value current value is average and becomes steady-state value.
8. power inverter as claimed in claim 4, it is characterised in that：
The voltage operational portion extrapolates to the variation of at least one of current value current value, is controlled such that it
As steady-state value.
9. power inverter as claimed in claim 4, it is characterised in that：
The voltage operational portion controls at least one of current value current value, and steady-state value is made to become near 0.
10. power inverter as described in claim 1, which is characterized in that have：
Induced voltage detector, the induced voltage that the connected synchronous motor of detection generates,
It is judged as that abnormal situation or reached can detect the speed of the induced voltage coefficient in the abnormity detection portion
In the case of, the control operational part cuts off the output order in the voltage operational portion, and the synchronous motor is made to become freely
Operating condition starts the induced voltage coefficient for obtaining the synchronous motor.
11. a kind of power transferring method, which is characterized in that including：
Direct current power is converted into the exchange switch process of required AC power；
Detect the current detection step of the electric current of the synchronous motor of connection；
The electric current switch process of coordinate conversion is carried out to the electric current detected in the current detection step；
The voltage operational step of instruction is provided the exchange switch process；
The control calculation step of instruction is provided the voltage operational step；With
Judge that the electric current detected in the current detection step has anomalies detecting step without exception,
It is described control calculation step based on the synchronous motor without using induced voltage coefficient model or used prediction
The model of induced voltage coefficient to provide instruction to the voltage operational step, and judge according to by the anomalies detecting step
The presence or absence of it is abnormal into the control for exercising the synchronous motor acceleration or deceleration, start the induced electricity for obtaining the synchronous motor
Press coefficient.
12. power transferring method as claimed in claim 11, it is characterised in that：
The control calculation step is judged as depositing in an exceptional case, inhibits described and synchronize electricity in the anomalies detecting step
The speed of motivation starts to obtain the induced voltage coefficient after speed reduction.
13. power transferring method as claimed in claim 11, it is characterised in that：
The control calculation step is judged as, there is no in the case of exception, continuing to make the synchronization in the abnormity detection portion
Motor accelerates, and after having reached the rotating speed that can obtain the induced voltage coefficient, obtains the induced voltage coefficient.
14. power transferring method as claimed in claim 12, it is characterised in that：
The current data obtained from the current detecting part is converted into the d shaft currents on two axial coordinates by the electric current switch process
Value and orthogonal to that q shaft current values,
The control calculation step detection with when the time change, synchronous motor slows down the d shaft currents value and
The q shaft currents value predicts steady-state value, obtains the induced voltage coefficient.
15. power transferring method as claimed in claim 11, it is characterised in that：
The control calculation step, after obtaining the first induced voltage coefficient, by first induced voltage system of acquisition
Number is reflected into the voltage operational step, and the synchronous motor is made to again speed up, and obtains the second induced electricity at least once
Press coefficient.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2013/084397 WO2015097733A1 (en) | 2013-12-24 | 2013-12-24 | Power conversion device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105850029A CN105850029A (en) | 2016-08-10 |
| CN105850029B true CN105850029B (en) | 2018-08-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201380079280.3A Expired - Fee Related CN105850029B (en) | 2013-12-24 | 2013-12-24 | Power inverter |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6077139B2 (en) |
| CN (1) | CN105850029B (en) |
| WO (1) | WO2015097733A1 (en) |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP6535756B2 (en) * | 2015-11-19 | 2019-06-26 | 株式会社日立産機システム | Power converter |
| CN106330044B (en) * | 2016-09-22 | 2018-12-11 | 四川长虹电器股份有限公司 | Counter electromotive force of motor constant recognizes control method |
| CN111247442B (en) * | 2017-10-24 | 2022-04-26 | 三菱电机株式会社 | Abnormality diagnosis device, abnormality diagnosis method, and abnormality diagnosis system |
| JP6730338B2 (en) | 2018-02-16 | 2020-07-29 | ファナック株式会社 | Parameter determination support device and program |
| JP7056347B2 (en) * | 2018-04-19 | 2022-04-19 | 株式会社デンソー | Brushless motor controller |
| WO2020095450A1 (en) * | 2018-11-09 | 2020-05-14 | 株式会社安川電機 | Power conversion device, pumping device, and control method |
| JP2021012070A (en) * | 2019-07-04 | 2021-02-04 | 株式会社日立製作所 | Current sensor device and current monitoring system |
| JP7444001B2 (en) * | 2020-09-10 | 2024-03-06 | 株式会社豊田自動織機 | motor control device |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102122915A (en) * | 2011-04-08 | 2011-07-13 | 中国科学院微电子研究所 | Device for closed-loop control of permanent magnet synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4536272B2 (en) * | 2001-01-24 | 2010-09-01 | 東芝エレベータ株式会社 | Elevator control device |
| FR2972583B1 (en) * | 2011-03-11 | 2013-03-01 | Schneider Toshiba Inverter | CONTROL METHOD IN POWER CONVERTER TO IDENTIFY PARAMETERS RELATING TO THE MAGNETIC SATURATION OF AN ELECTRIC MOTOR |
| JP5509167B2 (en) * | 2011-09-08 | 2014-06-04 | 株式会社日立産機システム | Synchronous motor control system |
| EP2602925A1 (en) * | 2011-12-07 | 2013-06-12 | KD Elektroniksysteme GmbH | Frequency converter with isolation in direct current circuit for regulating an asynchronous motor |
| JP5970227B2 (en) * | 2012-04-17 | 2016-08-17 | 日立オートモティブシステムズ株式会社 | Synchronous motor drive system |
-
2013
- 2013-12-24 CN CN201380079280.3A patent/CN105850029B/en not_active Expired - Fee Related
- 2013-12-24 WO PCT/JP2013/084397 patent/WO2015097733A1/en active Application Filing
- 2013-12-24 JP JP2015554316A patent/JP6077139B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102122915A (en) * | 2011-04-08 | 2011-07-13 | 中国科学院微电子研究所 | Device for closed-loop control of permanent magnet synchronous motor |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6077139B2 (en) | 2017-02-08 |
| WO2015097733A1 (en) | 2015-07-02 |
| JPWO2015097733A1 (en) | 2017-03-23 |
| CN105850029A (en) | 2016-08-10 |
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