CN113574792A - Control device of permanent magnet synchronous machine - Google Patents
Control device of permanent magnet synchronous machine Download PDFInfo
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- 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
Abstract
The invention aims to provide a control device of a permanent magnet synchronous machine, which can calculate the correction value of the magnetic pole position by a simple structure. A1 st correction phase calculation unit (9) of the control device (1) calculates a 1 st correction phase on the basis of the command value of the d-axis voltage calculated by the current control unit (8). A2 nd correction phase calculation unit (10) of the control device (1) calculates a 2 nd correction phase on the basis of the parameter of the permanent magnet synchronous machine and at least one of the command value of the q-axis current and the actual value of the q-axis current of the permanent magnet synchronous machine calculated by the current control unit (8). A conversion unit of the control device (1) performs coordinate conversion for the d-q coordinates in the current control unit (8) using the electric angle of the permanent magnet synchronous machine after the phase correction by the 3 rd correction. The 3 rd correction phase is the sum of the 1 st correction phase and the 2 nd correction phase.
Description
Technical Field
The invention relates to a control device of a permanent magnet synchronous machine.
Background
Documents of the prior art
Patent document
Patent document 1: japanese patent No. 3336870
Disclosure of Invention
Problems to be solved by the invention
However, in patent document 1, the phase correction value is calculated by measuring the drive voltage. Therefore, the control device needs to be provided with a voltage sensor for measuring the drive voltage. This complicates the hardware configuration of the control device.
The present invention has been made to solve such problems. The invention aims to provide a control device of a permanent magnet synchronous machine, which can calculate the correction value of the magnetic pole position by a simple structure.
Means for solving the problems
A control device for an electric motor according to the present invention includes: a current command generation unit that generates command values of a d-axis current and a q-axis current of the permanent magnet synchronous machine; a current control unit that calculates command values of a d-axis voltage and a q-axis voltage of the permanent magnet synchronous machine, using the command value generated by the current command generation unit as an input; a 1 st correction phase calculation unit that calculates a 1 st correction phase based on the command value of the d-axis voltage calculated by the current control unit; a 2 nd correction phase calculation unit that calculates a 2 nd correction phase based on the parameter of the permanent magnet synchronous machine and at least one of the command value of the q-axis current and the actual value of the q-axis current of the permanent magnet synchronous machine calculated by the current control unit; and a conversion unit that performs coordinate conversion with respect to the d-q coordinates in the current control unit, using the electrical angle of the permanent magnet synchronous machine corrected by the 3 rd correction phase, which is the sum of the 1 st correction phase and the 2 nd correction phase.
ADVANTAGEOUS EFFECTS OF INVENTION
According to the present invention, the control device includes a current command generation unit, a current control unit, a 1 st corrected phase calculation unit, a 2 nd corrected phase calculation unit, and a conversion unit. A current command generation unit generates command values of a d-axis current and a q-axis current of the permanent magnet synchronous machine. The current control unit receives the command value generated by the current command generation unit and calculates command values of a d-axis voltage and a q-axis voltage of the permanent magnet synchronous machine. The 1 st correction phase calculation unit calculates a 1 st correction phase based on the command value of the d-axis voltage calculated by the current control unit. The 2 nd correction phase calculation unit calculates the 2 nd correction phase based on the parameter of the permanent magnet synchronous machine and at least one of the command value of the q-axis current and the actual value of the q-axis current of the permanent magnet synchronous machine calculated by the current control unit. The conversion unit performs coordinate conversion with respect to the d-q coordinate in the current control unit, using the electrical angle of the permanent magnet synchronous machine corrected by the 3 rd corrected phase, which is the sum of the 1 st corrected phase and the 2 nd corrected phase. Thus, the control device can calculate the correction value of the magnetic pole position by a simple structure.
Drawings
Fig. 1 is a block diagram showing the configuration of a control device according to embodiment 1.
Fig. 2 is a block diagram showing the configuration of the 1 st corrected phase calculating unit in embodiment 1.
Fig. 3 is a diagram showing a relationship between a coordinate system based on an actual magnetic pole position of the motor and a coordinate system including an offset of an error corresponding to a non-interference voltage according to embodiment 1.
Fig. 4 is a diagram showing a hardware configuration of a main part of the control device according to embodiment 1.
Fig. 5 is a block diagram showing the configuration of a control device according to embodiment 2.
Fig. 6 is a block diagram showing the configuration of the operation mode setting unit according to embodiment 2.
Fig. 7 is a flowchart showing an example of an operation in the learning operation of the control device according to embodiment 2.
Fig. 8 is a flowchart showing an example of an operation in the learning operation of the control device according to embodiment 2.
Fig. 9 is a flowchart showing an example of an operation in a normal operation of the control device according to embodiment 3.
Detailed Description
A mode for carrying out the present invention will be described with reference to the accompanying drawings. In the drawings, the same or corresponding portions are denoted by the same reference numerals, and overlapping description is simplified or omitted as appropriate.
Fig. 1 is a block diagram showing the configuration of a control device according to embodiment 1.
The control device 1 is a device that drives a permanent magnet synchronous machine. In this example, the permanent magnet synchronous machine is an electric motor 2. The motor 2 is, for example, a 3-phase motor. In this example, the rotor of the motor 2 has a non-salient pole shape, for example. The motor 2 is applied to an elevator, for example. The motor 2 is applied to, for example, a hoisting machine of an elevator, a door, or the like.
In general, in the control of a 3-phase ac motor, a 3-phase current and a 3-phase voltage composed of a U-phase, a V-phase, and a W-phase are often handled by being converted into 2-axis currents. The coordinate system on the stationary 2-axis in which the α -axis coincides with the axis of the U-phase among the 3-phases is referred to as an α - β coordinate system. A coordinate system on the 2-axis rotation in which the d-axis coincides with the direction of the magnetic field of the rotor is referred to as a d-q coordinate system. Electrical angle θ of rotor of motor 2reIs the rotation angle of the d-q coordinate system when viewed from the α - β coordinate system.
The control device 1 includes a current detector 3, a rotation angle detector 4, a phase calculation unit 5, a speed calculation unit 6, a current command generation unit 7, a current control unit 8, a 1 st corrected phase calculation unit 9, a 2 nd corrected phase calculation unit 10, a coordinate conversion unit 11, and a power converter 12.
The current detector 3 is a device that measures the current flowing through the motor 2. The current detector 3 is provided in the wiring of each of the 3 phases so as to measure, for example, a phase current of the 3 phases input to the motor 2. In this example, the current detector 3 measures the current i of the U-phaseUCurrent i of V phaseVAnd current i of W phaseW。
The rotation angle detector 4 is a device that detects the rotation angle of the motor 2. The rotation angle detector 4 includes, for example, an optical encoder, a resolver, a magnetic sensor, and the like.
The phase calculating part 5 calculates the electrical angle theta of the rotor of the motor 2rePart (c) of (a). Electrical angle θ in phase calculating section 5reFor example, the rotation angle of the motor 2 detected by the rotation angle detector 4 is used for the calculation of (2).
The speed calculation unit 6 is a part that calculates the rotation speed ω of the motor 2. For the calculation of the rotation speed ω, for example, a time derivative of the rotation angle of the motor 2 detected by the rotation angle detector 4 is used.
The current command generating unit 7 generates a command value i of the d-axis currentd ＊And a command value i of the q-axis currentq ＊As part of the current command value in the d-q coordinate system. In this example, when the rotor is of a non-salient pole type, the command value i of the d-axis currentd ＊Is set to 0. For example, the command value i of the q-axis current is calculated by converting a command value of torque calculated based on a deviation between a command value and an actual value of the rotational speed of the motor 2 into a command value of currentq ＊. The command value of the torque is calculated by, for example, P control (P: project), PI control (I: Integral), PID control (D: Differential), or other control methods.
The current control part 8 calculates the command value v of the d-axis voltagedAnd a command value v of the q-axis voltageqAs part of the voltage command value in the d-q coordinate system. The command value i of the current in the d-q coordinate systemd ＊And iq ＊Actual values i of the currents in d-q coordinate systemsdAnd iqAnd the rotation speed ω of the motor 2 are input to calculate a voltage command value by the current control unit 8.
The current control unit 8 controls the current based on the command value i of the current in the d-q coordinate systemd ＊And iq ＊With the actual value i of the current in the d-q coordinate systemdAnd iqThe deviation of (2) is calculated as a compensation voltage for causing the actual value to follow the command value by vector control. By feedback controlThe compensation voltage is calculated. The compensation voltage is calculated, for example, by P control, PI control, PID control, or other control methods.
In addition, voltage interference generally occurs between the d-axis and the q-axis. Therefore, the current control unit 8 performs the feedforward compensation by the non-disturbance voltage that causes the voltage disturbance to be non-disturbance. The undisturbed voltage is calculated from the electrical angular velocity of the motor 2, the actual value of the current in the d-q coordinate system and the parameters of the motor 2. The electrical angular velocity is calculated by multiplying the rotational speed ω of the motor 2 calculated by the speed calculation unit 6 by the pole pair number of the motor 2. The parameters of the motor 2 include, for example, inductance and an induced voltage constant.
The current control unit 8 outputs the sum of the compensation voltage and the disturbance voltage obtained as described above as a voltage command value in the d-q coordinate system.
The 1 st correction phase calculation part 9 calculates the 1 st correction phase delta theta1Part (c) of (a). The 2 nd correction phase calculation part 10 calculates the 2 nd correction phase delta theta2Part (c) of (a). 1 st correction phase delta theta1And 2 nd correction phase delta theta2For the electrical angle theta calculated by the phase calculating section 5reAnd (4) correcting.
The coordinate conversion unit 11 is a unit that performs coordinate conversion for the d-q coordinates in the current control unit 8 based on the corrected electrical angle. The coordinate conversion unit 11 is an example of a conversion unit. The coordinate conversion unit 11 includes a 3-phase/2-axis conversion unit 13 and a 2-axis/3-phase conversion unit 14. The 3-phase/2-axis converter 13 detects the current i of the 3-phase of the motor 2 detected by the current detector 3U、iVAnd iWCurrent i to 2 axis in d-q coordinate systemdAnd iqAnd a portion for performing coordinate conversion. The 2-axis/3-phase converter 14 calculates the voltage command value v of the 2-axis in the d-q coordinate system calculated by the current controller 8dAnd vqVoltage command value v to 3 phasesU、vVAnd vWAnd a portion for performing coordinate conversion.
The power converter 12 is a device that converts a voltage of a power supply, not shown, into a variable-voltage variable-frequency voltage based on an input voltage command value. In this example, the power converter 12 includes a converter that converts the voltage of the ac power supply into a dc voltage and an inverter that converts the dc voltage converted by the converter into a variable-voltage variable-frequency ac voltage.
Next, an example of correction of the electrical angle in the control device 1 will be described with reference to fig. 2 and 3.
Fig. 2 is a block diagram showing the configuration of the 1 st corrected phase calculating unit in embodiment 1.
The 1 st corrected phase calculating section 9 calculates a command value v based on the d-axis voltage output from the current control section 8dCalculating the 1 st correction phase Delta theta1. The 1 st corrected phase calculating section 9 includes a gain amplifier 15 and an integrator 16. The gain amplifier 15 multiplies the command value of the d-axis voltage by a constant and outputs the result to the integrator 16. The integrator 16 integrates the input value as the 1 st correction phase Δ θ1And (6) outputting.
In this example, the command value i of the d-axis currentd *Is set to 0. The electrical angle θ calculated by the phase calculating unit 5reIf the deviation between the command value and the actual value of the d-axis current is 0 by the feedback control of the current when the deviation is not deviated from the actual magnetic pole position of the motor 2, the current control unit 8 calculates the compensation voltage of the d-axis current to be 0 in the steady state. On the other hand, the electrical angle θ calculated by the phase calculating unit 5reWhen the actual magnetic pole position of the motor 2 is shifted, the q-axis current flows into the d-axis, and therefore, even if the d-axis current is controlled to 0, the compensation voltage of the d-axis does not become 0.
The 1 st correction phase calculation unit 9 calculates the 1 st correction phase Δ θ by using the characteristics1Up to the command value v of the d-axis voltagedBecomes 0. Thus, the 1 st correction phase Δ θ1The electrical angle theta calculated by the phase calculation unit 5reA correction value for correcting the deviation from the actual magnetic pole position of the motor 2.
Here, the command value v of the d-axis voltagedIn addition to the compensation voltage, a non-perturbing voltage is also included. Therefore, the 1 st correction phase contains an error corresponding to the non-interfering voltage. In contrast, the 2 nd corrected phase calculating section 10 calculates the 2 nd corrected phase Δ θ2The 2 nd correction phase Delta theta2Is a correction value for correcting an error corresponding to the non-interference voltage.
Fig. 3 is a diagram showing a relationship between a coordinate system based on an actual magnetic pole position of the motor and a coordinate system including an offset of an error corresponding to a non-interference voltage according to embodiment 1.
In fig. 3, d-axis and q-axis represent a d-q coordinate system based on the actual magnetic pole position of the motor 2. The dc and qc axes represent a d-q coordinate system that includes an offset of the error corresponding to the non-interfering voltage. At this time, there are angle errors of Δ θ between the d axis and the dc axis and between the q axis and the qc axis.
The current value i is used according to the relationship of the coordinate system shown in FIG. 3qcThe actual d-axis current and q-axis current in the motor 2 are expressed by the following equations (1) and (2). Here, the current value iqcIs in the absence of the phase Δ θ corrected based on the 2 nd correction2The current value processed as the actual value of the q-axis current in the control device 1 at the time of correction of (2). In this example, the d-axis current is controlled to 0.
[ numerical formula 1]
id＝-iqc sinΔθ (1)
[ numerical formula 2]
iq＝iqc cosΔθ (2)
Further, using the expressions (1) and (2), the voltage v in the actual d-q coordinate system of the motor 2 is expressed as the following expressions (3) and (4)dAnd vq. Here, R represents a resistance value. L isdAnd LqThe d-axis and q-axis inductances are shown.
Representing the induced voltage constant. OmegareIndicating the electrical angular velocity.
[ numerical formula 3]
vd＝-Riqc sinΔθ-ωreLqiqc cosΔθ (3)
[ numerical formula 4]
vq＝Riqc cosΔθ+ωre(-LdiqcsinΔθ+φ) (4)
Similarly to the equations (1) and (2), the relationships between the d-axis voltage and the q-axis voltage, and the dc-axis voltage and the qc-axis voltage are derived from the relationship of the coordinate system shown in fig. 3. In this case, if equations (3) and (4) are considered, the dc axis voltage is expressed by equation (5) below.
[ numerical formula 5]
vdc＝-ωreLqiqc+ωreiqc(Lq-Ld)sin2Δθ+ωreφsinΔθ (5)
Here, since the right first term of equation (5) is the non-interference voltage of the dc axis, it is understood that the right second term and the third term are the compensation voltages. 1 st correction phase delta theta1Is calculated so that command value v of dc-axis voltage in control device 1dcBecomes 0, so if the phase Δ θ is considered to be corrected based on the 1 st1The left side of equation (5) becomes 0. At this time, when equation (5) is solved for Δ θ, Δ θ becomes a function of the inductance, the induced voltage constant, and the qc-axis current of the motor 2 as shown in equation (6).
[ numerical formula 6]
That is, Δ θ calculated by the 1 st corrected phase calculating unit 91The error value of equation (6) is a correct correction value for the offset of the magnetic pole position. To correct the error, the 2 nd corrected phase calculating section 10 uses the 2 nd corrected phase Δ θ by equation (6)2Is calculated as Delta theta2Δ θ. Therefore, the 3 rd correction phase Δ θ, which is the correction value of the shift of the magnetic pole position3By correcting the 1 st phase by delta theta1And 2 nd correction phase delta theta2Are added to obtain.
In addition, when the actual value of the q-axis current is caused to follow the command value by the current control unit 8, the 2 nd corrected phase calculation unit 10 may use either the command value or the actual value as the q-axis current of the expression (6).
Coordinates of the objectThe conversion section 11 uses the electrical angle θ calculated by the phase calculation section 5reAnd 3 rd correction phase delta theta3The electrical angle corrected by the addition is subjected to coordinate conversion with respect to the d-q coordinate in the current control unit 8.
As described above, the control device 1 according to embodiment 1 includes the current command generating unit 7, the current control unit 8, the 1 st corrected phase calculating unit 9, the 2 nd corrected phase calculating unit 10, and the converting unit. The current command generation unit 7 generates command values of a d-axis current and a q-axis current of the permanent magnet synchronous machine. The current control unit 8 receives the command value generated by the current command generation unit 7 and calculates command values of the d-axis voltage and the q-axis voltage of the permanent magnet synchronous machine. The 1 st corrected phase calculating unit 9 calculates the command value v of the d-axis voltage based on the current control unit 8dCalculating the 1 st correction phase Delta theta1. The 2 nd corrected phase calculating section 10 calculates a command value i of the q-axis current based on the current control section 8q ＊And the actual value i of the q-axis current of the permanent magnet synchronous machineqAt least one of them and the parameters of the permanent magnet synchronous machine, and calculating the 2 nd correction phase delta theta2. The conversion section corrects the phase [ delta ] theta by using the phase 33The corrected electrical angle of the permanent magnet synchronous machine is subjected to coordinate conversion with respect to the d-q coordinates in the current control unit 8. Corrected phase of 3 < rd > Delta theta3Is the 1 st correction phase Delta theta1And 2 nd correction phase delta theta2And (4) summing.
Thus, the control device 1 does not need to add hardware such as a voltage sensor for correcting the electrical angle. Therefore, the control device 1 can calculate the correction value of the magnetic pole position with a simple configuration.
In general, current control of a motor as a permanent magnet synchronous machine is performed based on a current value of a coordinate system on a d-q axis as a rotation coordinate. Therefore, the magnetic pole position of the rotor of the motor is important information to be a reference for current control. In many cases, for example, in an elevator or other electric motor requiring low rotation and large torque, a multipolar design with a magnet pole number of several tens is adopted. In this case, when the deviation of the rotation angle of the motor is converted into an electrical angle, the deviation becomes large. Therefore, in order to reduce the deviation of the electrical angle, in addition to the detection accuracy of the sensor itself such as the rotation angle detector, a sufficiently high accuracy is required for the mounting accuracy of the sensor. On the other hand, when the apparatus is mounted so as to suppress the deviation of the electrical angle to several degrees, mounting accuracy higher than the accuracy of the electrical angle is required, and therefore, the manufacturing cost of the motor is increased.
Therefore, the control device 1 corrects the phase Δ θ by the calculated 3 rd correction phase3To correct the shift of the magnetic pole position. This can prevent the motor 2 from operating with the magnetic pole position shifted. The control device 1 can normally control the motor 2. Therefore, deterioration and instability of the control performance due to the shift of the magnetic pole position are prevented.
The 1 st corrected phase calculating unit 9 calculates a command value v of the d-axis voltage based on the sum of the compensation voltage and the noninterference voltagedAnd the 1 st correction phase is calculated. The compensation voltage is a command value i based on the d-axis currentd ＊With the actual value idIs calculated from the deviation of (a). The non-interference voltage causes the voltage interference between the d-axis and the q-axis to be non-interference.
The electrical angle θ calculated by the phase calculating unit 5reWhen the magnetic pole position of the motor 2 is shifted from the actual magnetic pole position, the compensation voltage of the d-axis does not become 0 even if the d-axis current is controlled to 0. Thus, the command value of the d-axis voltage reflects the shift of the magnetic pole position. The command value of the d-axis voltage causes the voltage disturbance to be non-disturbance by the non-disturbance voltage. Therefore, the 1 st corrected phase calculator 9 can calculate the 1 st corrected phase Δ θ by setting the d-axis voltage to a voltage independent of the q-axis voltage1. At this time, the 1 st correction phase Δ θ1Including errors derived from non-perturbing voltages. No. 2 correction phase delta theta2Correcting 1 st correction phase delta theta1The error involved. Therefore, the control device 1 can calculate the correction value of the deviation of the magnetic pole position in consideration of the compensation voltage and the non-interference voltage.
In addition, the 1 st correction phase calculating part 9 calculates the command value v of the d-axis voltagedMultiplying by a constant and integrating to calculate the 1 st correction phase Delta theta1。
Thus, the 1 st correction phase calculating part9 the 1 st correction phase Δ θ can be calculated by a simple method1. The 1 st correction phase calculation unit 9 calculates the 1 st correction phase Δ θ from the command value of the d-axis voltage affected by the correction of the electrical angle1. Thus, even if there is an error between the design value and the actual value of the power supply voltage, the 1 st correction phase Δ θ can be calculated so that the d-axis voltage becomes 01。
The 2 nd corrected phase calculating section 10 calculates the 2 nd corrected phase Δ θ using the inductance and the induced voltage constant of the permanent magnet synchronous machine as parameters2。
Thus, the 2 nd correction phase calculation unit 10 can calculate the 2 nd correction phase Δ θ based on the known value relating to the permanent magnet synchronous machine2。
The current detector 3 may measure only 2 phases out of the 3-phase currents. The current detector 3 may be a device that measures the current flowing through the motor 2, and is not limited to a device that measures the output current of the power converter 12. The current detector 3 may estimate the current of each phase by measuring the bus current of the power converter 12, as in a current measurement method based on a shunt resistance, for example.
The rotation angle detector 4 may be a device that detects the rotation angle of the motor 2, and is not limited to, for example, an encoder. The rotation angle detector 4 may be equipped with a function of detecting the rotation speed, for example, and calculate the rotation angle of the motor 2 by time integration of the detected rotation speed.
In addition, the speed calculation unit 6 may remove noise caused by the time differentiation of the rotation angle by smoothing with a low-pass filter, for example, in the calculation of the rotation speed ω. The speed calculation unit 6 may calculate the rotation speed of the motor 2 at fixed time intervals. The speed calculation unit 6 may include a means for measuring time. In this case, the speed calculation unit 6 may calculate the rotation speed for each fixed rotation angle.
Further, the current command generating unit 7 may calculate the q-axis current command value i so as to control the rotation angle of the motor 2q ＊. The current command generation unit 7 may be configured to cause the motor 2 to output a fixed torque, for exampleA q-axis current command value i is calculated by converting the command value of the fixed torque into a command value of the currentq ＊。
The power converter 12 may be a device that converts the voltage of the power source into a variable-voltage variable-frequency voltage based on the input voltage command value, and is not limited to a device that converts the voltage by a converter and an inverter, for example. The power converter 12 may be a device that directly converts an ac voltage into a variable-voltage variable-frequency ac voltage, such as a matrix converter. The power converter 12 may also include a means for correcting the dead time of the inverter.
Further, for example, the 2-axis/3-phase converting unit 14 may be provided as hardware integrated with the power converter 12. That is, the hardware including the power converter 12 and the 2-axis/3-phase conversion unit 14 may convert the voltage of the power source into a 3-phase variable-voltage variable-frequency voltage composed of a U-phase, a V-phase, and a W-phase based on the input of the command values of the d-axis voltage and the q-axis voltage.
Further, for example, when the command value of the d-axis current or the d-axis voltage, etc., is set to 0, the control device 1 may set the value to a value regarded as 0.
Next, an example of the hardware configuration of the control device 1 will be described with reference to fig. 4.
Fig. 4 is a diagram showing a hardware configuration of a main part of the control device according to embodiment 1.
The respective functions of the control device 1 can be realized by a processing circuit. The processing circuit is provided with at least 1 processor 1b and at least 1 memory 1 c. The processing circuit may include at least 1 dedicated hardware 1a in addition to the processor 1b and the memory 1c, or may include at least 1 dedicated hardware 1a instead of the processor 1b and the memory 1 c.
When the processing circuit includes the processor 1b and the memory 1c, each function of the control device 1 is realized by software, firmware, or a combination of software and firmware. At least one of the software and the firmware is described in the form of a program. The program is stored in the memory 1 c. The processor 1b reads out and executes the program stored in the memory 1c to realize each function of the control device 1.
The processor 1b is also called a CPU (Central Processing Unit), a Processing device, an arithmetic device, a microprocessor, a microcomputer, or a DSP. The memory 1c is constituted by, for example, a nonvolatile or volatile semiconductor memory such as a RAM, a ROM, a flash memory, an EPROM, or an EEPROM, a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD.
When the processing circuit includes the dedicated hardware 1a, the processing circuit is realized by, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof.
The respective functions of the control device 1 can be realized by the processing circuit. Alternatively, the functions of the control device 1 may be realized by the processing circuit in a lump. The functions of the control device 1 may be partially implemented by dedicated hardware 1a, and the other parts may be implemented by software or firmware. In this way, the processing circuit realizes each function of the control apparatus 1 by hardware 1a, software, firmware, or a combination thereof.
In embodiment 2, differences from the example disclosed in embodiment 1 will be described in detail. As for the features not described in embodiment 2, any features of the example disclosed in embodiment 1 may be adopted.
Fig. 5 is a block diagram showing the configuration of a control device according to embodiment 2.
In the motor 2, the offset of the magnetic pole position is uniquely determined by the mounting state of the motor 2 and the rotation angle detector 4. Therefore, if the mounting state of the motor 2 and the rotation angle detector 4 is not changed, the control device 1 can continue to use the same value obtained by learning as the 3 rd correction phase Δ θ that is the correction value for correcting the offset of the magnetic pole position3。
The motor 2 has a plurality of operating modes. The operation modes of the electric motor 2 include, for example, a normal operation mode and a learning operation mode. The normal operation mode is, for example, a mode in which normal operation of the motor 2 for supplying driving force to a device provided with the motor 2 is performedAnd (4) an operation mode. The learning operation mode is performed for obtaining the 3 rd corrected phase delta theta3The operation mode of the learning operation of the electric motor 2. The learning operation is performed, for example, when the motor 2 is mounted. The learning operation may be performed when the rotation angle detector 4 is replaced.
Further, when the power supply to the control device 1 is restarted after the power supply is cut off, the mounting state of the motor 2 and the rotation angle detector 4 may change before and after the power supply is cut off due to maintenance of the motor 2 or the like. At this time, it is unclear what the 3 rd corrected phase Δ θ is obtained by learning before the power supply is cut off3Whether or not the value corresponds to the state of attachment of the motor 2 and the rotation angle detector 4 after the power supply is cut off. Therefore, the learning operation may be performed when the power supply to the control device 1 is started.
Here, expressions (1) to (6) described in embodiment 1 are expressions assuming a stable state of the motor 2. Therefore, in the learning operation, the 3 rd correction phase Δ θ3Is calculated when the motor 2 is operated at a fixed speed and a fixed torque, or when it is considered that the motor 2 is operated at a fixed speed and a fixed torque. That is, in the learning operation, the current command generating unit 7 outputs the command value i of the d-axis currentd ＊Is set to 0. The current command generating unit 7 calculates the 3 rd correction phase Δ θ3In this case, the command value i of the q-axis current is generated so that the rotational speed of the motor 2 is fixed or the rotational speed of the motor 2 is considered to be fixedq ＊。
The control device 1 includes an operation mode setting unit 17. The operation mode setting unit 17 is a unit that sets the operation mode of the electric motor 2. The operation mode setting unit 17 is provided with a function of outputting the 3 rd corrected phase Δ θ according to the set operation mode of the electric motor 23The function of (c).
Fig. 6 is a block diagram showing the configuration of the operation mode setting unit according to embodiment 2.
The operation mode setting unit 17 includes a storage unit 18. The storage unit 18 stores the 3 rd corrected phase delta theta obtained in the learning operation3Part (c) of (a). In the operating mode of the motor 2In the case of the normal operation mode, the operation mode setting unit 17 sets the 3 rd corrected phase Δ θ stored in the storage unit 183And (6) outputting. On the other hand, when the operation mode of the electric motor 2 is the learning operation mode, the operation mode setting unit 17 sets the 1 st correction phase Δ θ calculated by the 1 st correction phase calculating unit 9 to the 1 st correction phase Δ θ1And the 2 nd correction phase delta theta calculated by the 2 nd correction phase calculation part 102The sum of which is used as the 3 rd corrected phase Delta theta3And output. The storage unit 18 is configured to store the 1 st correction phase Δ θ when the operation mode is switched from the learning operation mode, for example1And 2 nd correction phase delta theta2The sum of which is used as the 3 rd corrected phase Delta theta3But is stored.
The correction value of the electrical angle described in embodiment 1 is a command value v based on a d-axis voltage which is the sum of the compensation voltage and the noninterfering voltagedAnd calculated. Here, the command value v of the d-axis voltage is determined according to the direction and magnitude of the shift of the magnetic pole position even if there is a shift of the magnetic pole positiondIt is also possible to take values close to 0. At this time, the control device 1 sometimes cannot obtain an accurate value as the correction value of the electrical angle. Therefore, the control device 1 increases the 3 rd corrected phase Δ θ calculated in the learning operation3The accuracy of (2) is controlled in the learning operation as follows, for example.
Fig. 7 and 8 are flowcharts showing an example of an operation in the learning operation of the control device according to embodiment 2.
In fig. 7, it is shown that the 3 rd correction phase Δ θ is increased by changing the rotation speed of the motor 2 in the learning operation3The operation of the control device 1 with high accuracy.
In step S71, the control device 1 determines the command value v of the d-axis voltagedWhether the value is above a preset threshold value. This determination is performed, for example, by the operation mode setting unit 17. Here, the threshold value is set based on, for example, a shift in the magnetic pole position that may occur, the operating speed of the motor 2 during learning operation, or a parameter of the motor 2. At a command value v for d-axis voltagedIf the determination result of (b) is "no", the operation of the control device 1 proceeds to step S72. In the case that the judgment result is "If yes, the operation of the control device 1 proceeds to step S73.
In step S72, the control device 1 changes the rotation speed of the motor 2 that is operated at a fixed speed. Here, the control device 1 changes the rotation speed of the motor 2, for example, in accordance with the current command value generated by the current command generating unit 7. The current command generation unit 7 generates a command value i of the q-axis current so that, for example, the motor 2 operates at a fixed rotational speed different from the currently operating rotational speedq ＊. Thereafter, the operation of the control device 1 proceeds to step S71.
In step S73, the operation mode setting unit 17 continues to set the operation mode to the learning operation mode. The control device 1 calculates the 3 rd corrected phase Δ θ during the learning operation3. The learning operation is performed, for example, at the calculated 3 rd corrected phase Δ θ3And is done when no more changes are made. When the learning operation is completed, the storage unit 18 of the operation mode setting unit 17 stores the calculated 3 rd corrected phase Δ θ3. After that, the operation of the control device 1 in the learning operation is ended.
In fig. 8, it is shown that the 3 rd correction phase Δ θ is raised by changing the rotation direction of the motor 2 in the learning operation3The operation of the control device 1 with high accuracy.
In step S81, the control device 1 determines the command value v of the d-axis voltagedWhether the value is above a preset threshold value. This determination is performed, for example, by the operation mode setting unit 17. Here, the threshold value is set based on, for example, a shift in the magnetic pole position that may occur, the operating speed of the motor 2 during learning operation, or a parameter of the motor 2. At a command value v for d-axis voltagedIf the determination result of (b) is "no", the operation of the control device 1 proceeds to step S82. If the determination result is yes, the operation of the control device 1 proceeds to step S83.
In step S82, the control device 1 changes the rotation direction of the motor 2 that is operated at a fixed speed. Here, the control device 1 changes the rotation direction of the motor 2, for example, in accordance with the current command value generated by the current command generating unit 7. The current command generating unit 7 is, for example, the motor 2Generating a command value i of a q-axis current so as to operate in a rotation direction different from a rotation direction of a current operationq ＊. Thereafter, the operation of the control device 1 proceeds to step S81.
In step S83, the operation mode setting unit 17 continues to set the operation mode to the learning operation mode. The control device 1 calculates the 3 rd correction phase Δ θ during the learning operation3. The learning operation is performed, for example, at the calculated 3 rd corrected phase Δ θ3And is done when no more changes are made. When the learning operation is completed, the storage unit 18 of the operation mode setting unit 17 stores the calculated 3 rd corrected phase Δ θ3. After that, the operation of the control device 1 in the learning operation is ended.
As described above, the control device 1 according to embodiment 2 includes the operation mode setting unit 17. The operation mode setting unit 17 sets the operation mode of the permanent magnet synchronous machine. The operation mode setting unit 17 includes a storage unit 18. The storage unit 18 stores the 3 rd corrected phase Δ θ calculated when the operation mode is the learning operation mode3. When the operation mode is the normal operation mode, the conversion unit uses the 3 rd corrected phase Δ θ stored in the storage unit 183The corrected electrical angle is used for coordinate conversion.
While the mounting state of the motor 2 and the rotation angle detector 4 is not changed, the conversion portion can continue to use the same value that has been obtained through learning as the 3 rd correction phase Δ θ3. Thus, the control device 1 does not need to calculate the correction value of the deviation of the magnetic pole position every time.
When the operation mode is the learning operation mode, the current command generation unit 7 outputs the command value v of the d-axis currentdIs set to 0. At this time, the current command generating unit 7 generates a command value i of the q-axis current so that the rotational speed of the permanent magnet synchronous machine is constantq ＊。
Thus, the learning operation is performed under the condition that the rotation speed of the motor 2 is fixed. Therefore, a condition that an error is included in learning of the correction value of the magnetic pole position is avoided. Therefore, the control device 1 can control the motor 2 more stably based on the magnetic pole position corrected with higher accuracy.
Further, when the operation mode is the learning operation mode, the command value v of the d-axis voltagedWhen the current command value is smaller than a preset threshold value, the current command generation unit 7 generates a command value i of the q-axis current so as to change the rotation speed of the permanent magnet synchronous machine in the learning operation modeq ＊。
By changing the rotation speed, the command value v of the d-axis voltage is formeddThe compensation voltage and the interference voltage of (2) are changed. Thus, even if there is a shift in the magnetic pole position, the command value v of the d-axis voltage is avoideddTake a value close to 0. This enables the correction value of the magnetic pole position to be learned with higher accuracy.
Further, when the operation mode is the learning operation mode, the command value v of the d-axis voltagedWhen the current command value is smaller than a preset threshold value, the current command generation unit 7 generates a command value i of the q-axis current so as to change the rotation direction of the permanent magnet synchronous machine in the learning operation modeq ＊。
When a load is connected to the motor 2, the magnitude of the current value of the motor 2 may depend on the rotation direction. Command value v of d-axis voltage when current value of motor 2 changesdAlso vary in size. Therefore, even if there is a shift in the magnetic pole position, the command value v of the d-axis voltage is avoideddTake a value close to 0. This enables the correction value of the magnetic pole position to be learned with higher accuracy.
Further, the operation mode setting unit 17 sets the operation mode to the learning operation mode when the power supply is started.
Thus, even when the attachment state of the motor 2 and the rotation angle detector 4 changes during the period in which the power supply is cut off, the control device 1 can obtain the correction value corresponding to the attachment state of the motor 2 and the rotation angle detector 4 by the learning operation.
In addition, the control device 1 may increase the 3 rd correction phase Δ θ by changing both the rotation speed and the rotation direction of the motor 2 in the learning operation3The accuracy of (2).
In embodiment 3, differences from the examples disclosed in embodiments 1 and 2 will be described in detail. As for the features not described in embodiment 2, any features of the examples disclosed in embodiment 1 and embodiment 2 may be adopted.
The magnetic pole position may be displaced during normal operation due to a change over time or the like of the motor 2. In this case, there may be a deterioration in the control performance of the control device 1 for controlling the motor 2 or an instability of the motor 2. Therefore, the control device 1 monitors the value of the q-axis current to determine the shift of the magnetic pole position. Here, the q-axis current is a current value corresponding to the torque of the motor 2. When determining the deviation of the magnetic pole position, the control device 1 switches the operation mode of the motor 2 to the learning operation mode.
An example of the operation of the control device 1 will be described with reference to fig. 9.
Fig. 9 is a flowchart showing an example of an operation in a normal operation of the control device according to embodiment 3.
In step S91, the control device 1 determines whether or not the value of the q-axis current is equal to or less than a predetermined threshold value. This determination is performed, for example, by the operation mode setting unit 17. Here, for example, when the operation mode or the load of the electric motor 2 during the normal operation is determined, the threshold value is set based on the torque required for the normal operation estimated in advance. Alternatively, the threshold value may be set based on the rated torque of the motor 2. If the determination result for the value of the q-axis current is "no", the operation of the control device 1 proceeds to step S92. If the determination result is yes, the operation mode setting unit 17 continues to set the operation mode to the normal operation mode. After that, the operation of the control device 1 proceeds to step S91 again.
In step S92, the operation mode setting unit 17 switches the operation mode of the electric motor 2 to the learning operation mode. Thereafter, the operation of the control device 1 proceeds to step S91.
As described above, in the control device 1 according to embodiment 3, when the command value or the actual value of the q-axis current exceeds the preset threshold value when the operation mode is the normal operation mode, the operation mode setting unit 17 sets the operation mode to the learning operation mode.
When the magnetic pole position is shifted, the current controlled to flow in the q axis also flows in the d axis. Therefore, the q-axis current required to generate the commanded torque increases. Therefore, the shift of the magnetic pole position can be determined by monitoring the q-axis current. When it is determined that the magnetic pole position is shifted, the operation mode setting unit 17 sets the operation mode to the learning operation mode. Thus, the control device 1 can avoid operating the motor 2 in a state where the magnetic pole position is shifted. The control device 1 can stably drive the motor 2.
In addition, the value of the q-axis current may also suddenly exceed the threshold value regardless of the shift of the magnetic pole position. Therefore, the operation mode setting unit 17 may set the operation mode to the learning operation mode when the command value or the actual value of the q-axis current exceeds the preset threshold value a plurality of times. Alternatively, the operation mode setting unit 17 may set the operation mode to the learning operation mode when the command value or the actual value of the q-axis current continues to exceed a preset threshold value for a predetermined period of time.
The control device 1 may further include a notification unit. The notification unit is a part that notifies information such as a warning to a person who manages the motor 2, for example. For example, when the learning operation mode cannot be shifted according to the state of the load of the motor 2, the notification unit notifies a warning to stop the operation of the motor 2.
Industrial applicability
The control device can be applied to control of the permanent magnet synchronous machine.
Description of the reference symbols
The motor control system comprises a control device 1, a motor 2, a current detector 3, a rotation angle detector 4, a phase calculation unit 5, a speed calculation unit 6, a current command generation unit 7, a current control unit 8, a corrected phase calculation unit 1 at 9, a corrected phase calculation unit 2 at 10, a coordinate conversion unit 11, a power converter 12, a phase/2 conversion unit 133, a phase/3 conversion unit 142, a gain amplifier 15, an integrator 16, an operation mode setting unit 17, and a storage unit 18.
Claims (10)
1. A control device of a permanent magnet synchronous machine, wherein,
the control device for the permanent magnet synchronous machine comprises:
a current command generation unit that generates command values of a d-axis current and a q-axis current of the permanent magnet synchronous machine;
a current control unit that calculates command values of a d-axis voltage and a q-axis voltage of the permanent magnet synchronous machine, using the command value generated by the current command generation unit as an input;
a 1 st correction phase calculation unit that calculates a 1 st correction phase based on the command value of the d-axis voltage calculated by the current control unit;
a 2 nd correction phase calculation unit that calculates a 2 nd correction phase based on at least one of the command value of the q-axis current calculated by the current control unit and the actual value of the q-axis current of the permanent magnet synchronous machine, and the parameter of the permanent magnet synchronous machine; and
and a conversion unit that performs coordinate conversion with respect to d-q coordinates in the current control unit, using an electrical angle of the permanent magnet synchronous machine corrected by a 3 rd correction phase, which is a sum of the 1 st correction phase and the 2 nd correction phase.
2. The control device of a permanent magnet synchronous machine according to claim 1,
the 1 st correction phase calculation unit calculates the 1 st correction phase based on a command value of a d-axis voltage that is a sum of a compensation voltage calculated based on a deviation between a command value and an actual value of a d-axis current and a non-disturbance voltage that causes voltage disturbance between the d-axis and the q-axis to be non-disturbance.
3. The control device of a permanent magnet synchronous machine according to claim 1 or 2,
the 1 st correction phase calculation unit calculates the 1 st correction phase by multiplying a command value of the d-axis voltage by a constant and integrating the result.
4. The control device of a permanent magnet synchronous machine according to any one of claims 1 to 3,
the 2 nd correction phase calculation unit calculates the 2 nd correction phase using the inductance and the induced voltage constant of the permanent magnet synchronous machine as the parameters.
5. The control device of a permanent magnet synchronous machine according to any one of claims 1 to 4,
the control device for the permanent magnet synchronous machine comprises an operation mode setting unit for setting an operation mode of the permanent magnet synchronous machine, and a storage unit for storing the 3 rd correction phase calculated when the operation mode is a learning operation mode,
the conversion unit performs coordinate conversion using the electrical angle after the 3 rd correction phase correction stored in the storage unit when the operation mode is a normal operation mode.
6. The control device of a permanent magnet synchronous machine according to claim 5,
the current command generation unit sets a command value of the d-axis current to 0 when the operation mode is the learning operation mode, and generates a command value of the q-axis current so that a rotation speed of the permanent magnet synchronous machine is fixed.
7. The control device of a permanent magnet synchronous machine according to claim 5 or 6,
the current command generation unit generates a command value of a q-axis current so as to change a rotation speed of the permanent magnet synchronous machine in the learning operation mode when the command value of the d-axis voltage is smaller than a preset threshold value when the operation mode is the learning operation mode.
8. The control device of a permanent magnet synchronous machine according to any one of claims 5 to 7,
the current command generation unit generates a command value of a q-axis current so as to change a rotation direction of the permanent magnet synchronous machine in the learning operation mode when the command value of the d-axis voltage is smaller than a preset threshold value when the operation mode is the learning operation mode.
9. The control device of a permanent magnet synchronous machine according to any one of claims 5 to 8,
the operation mode setting unit sets the operation mode to the learning operation mode when a command value or an actual value of the q-axis current exceeds a preset threshold value when the operation mode is the normal operation mode.
10. The control device of a permanent magnet synchronous machine according to any one of claims 5 to 9,
the operation mode setting unit sets the operation mode to the learning operation mode when power supply is started.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2019/012193 WO2020194396A1 (en) | 2019-03-22 | 2019-03-22 | Permanent magnet synchronous machine control device |
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| TWI805157B (en) * | 2021-12-28 | 2023-06-11 | 財團法人工業技術研究院 | Servo motor and encoder calculation method thereof |
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| JP2022082363A (en) * | 2020-11-20 | 2022-06-01 | ダイハツ工業株式会社 | Control device of synchronous motor |
| JP2022120594A (en) * | 2021-02-05 | 2022-08-18 | オムロン株式会社 | Motor control device |
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| CN113574792B (en) | 2024-02-09 |
| JP7151872B2 (en) | 2022-10-12 |
| WO2020194396A1 (en) | 2020-10-01 |
| JPWO2020194396A1 (en) | 2021-10-28 |
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