CN115004537A - Motor drive device, outdoor unit of air conditioner using same, and motor drive control method - Google Patents
Motor drive device, outdoor unit of air conditioner using same, and motor drive control method Download PDFInfo
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- CN115004537A CN115004537A CN202080094872.2A CN202080094872A CN115004537A CN 115004537 A CN115004537 A CN 115004537A CN 202080094872 A CN202080094872 A CN 202080094872A CN 115004537 A CN115004537 A CN 115004537A
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F1/00—Room units for air-conditioning, e.g. separate or self-contained units or units receiving primary air from a central station
- F24F1/06—Separate outdoor units, e.g. outdoor unit to be linked to a separate room comprising a compressor and a heat exchanger
- F24F1/08—Compressors specially adapted for separate outdoor units
- F24F1/12—Vibration or noise prevention thereof
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/80—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air
- F24F11/86—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air by controlling compressors within refrigeration or heat pump circuits
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0025—Arrangements for modifying reference values, feedback values or error values in the control loop of a converter
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/04—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for very low speeds
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- 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
- H02P21/18—Estimation of position or speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/20—Estimation of torque
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F24—HEATING; RANGES; VENTILATING
- F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
- F24F11/00—Control or safety arrangements
- F24F11/70—Control systems characterised by their outputs; Constructional details thereof
- F24F11/80—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air
- F24F11/87—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air by controlling absorption or discharge of heat in outdoor units
- F24F11/871—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air by controlling absorption or discharge of heat in outdoor units by controlling outdoor fans
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0009—Devices or circuits for detecting current in a converter
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- Thermal Sciences (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Air Conditioning Control Device (AREA)
- Inverter Devices (AREA)
Abstract
Provided are a motor drive device, an outdoor unit of an air conditioner using the same, and a motor drive control method, which can effectively suppress torque ripple caused by induced voltage distortion caused by a motor and output voltage distortion caused by an inverter. Characterized in that it comprises: a power conversion circuit for supplying power to the motor; a control unit that controls the power conversion circuit; and a current sensor that detects a three-phase current for energizing the motor, wherein the control unit includes: a command voltage calculation unit that calculates a command voltage that contributes to driving of the motor; a pulsating current detection unit that generates a first component and a second component by extracting pulsating amounts of respective components from respective components obtained by separating three-phase detection currents detected by the current sensor into mutually orthogonal components; a torque ripple compensation unit that outputs a first compensation command voltage for compensating for a torque ripple caused by the structure of the motor, based on the first component; and a dead time compensation unit that outputs a second compensation command voltage for compensating for output voltage distortion caused by a dead time of the power conversion circuit, based on the second component, and corrects the command voltage using the first compensation command voltage and the second compensation command voltage to reduce the torque ripple and the output voltage distortion.
Description
Technical Field
The present invention relates to a motor drive device for driving a motor (electric motor) and control thereof, and more particularly to a technique effectively applied to drive control of a motor (electric motor) used for applications requiring quietness.
Background
The induced voltage of the permanent magnet synchronous motor ideally contains only the fundamental wave component, but actually, spatial harmonic components such as 5 th order components and 7 th order components exist in the three-phase stationary coordinate. The distortion component of the induced voltage causes pulsation of the motor torque, and the fluctuating torque becomes an excitation source of mechanical resonance, thereby causing noise and vibration.
For example, noise and vibration due to mechanical resonance can be reduced by providing vibration-proof rubber in a portion where the motor is fixed and the rotary bearing portion. However, this method has problems in that the structure becomes complicated and the cost increases with an increase in the number of components.
In view of this, there has been developed a technique (hereinafter referred to as torque ripple suppression control) for suppressing torque ripple, which is an excitation source of mechanical resonance, by a control method of a permanent magnet synchronous motor without using a member such as vibration-proof rubber.
When torque ripple is suppressed by control, it is necessary to know in advance what degree of distortion components of the induced voltage are included when generating the control command. As one means, a method of measuring motor characteristics including an induced voltage waveform in advance is considered, but it is not easy to perform individual measurement for an unspecified motor. In addition, measurement of motor characteristics is difficult in existing products and the like.
As a background art in this field, for example, there is a technology as in patent document 1. Patent document 1 discloses "a drive control device for a synchronous motor, including: a current control unit for acquiring a stator current as a vector signal on a dq synchronous coordinate system of an orthogonal 2-axis with a rotor N-pole phase as a d-axis phase, and controlling the stator current in a manner of tracking a final current command value; a compensation signal generation unit that generates a compensation signal for compensating for the initial torque command value or the initial current command value; and a final current command value generation means for generating a final current command value by compensating the initial torque command value or the initial current command value using the generated compensation signal, wherein the compensation signal generation means is configured to extract a part or all of the harmonic component included in the induced voltage in real time and generate the compensation signal using at least the induced voltage harmonic component extracted in real time, the stator current equivalent value, and the rotor speed equivalent value.
As in patent document 1, by estimating desired parameters on-line in the motor drive device based on control commands and sensor information, high versatility can be achieved even for applications such as fans and pumps equipped with unspecified motors.
Further, patent document 3 discloses "a motor driving device including: a power conversion circuit for driving the permanent magnet motor; and a control unit that controls the power conversion circuit, wherein the control unit includes a voltage command generation unit and a torque ripple compensation unit, the torque ripple compensation unit includes an amplitude generation unit that outputs a voltage command, a correction voltage generation unit that outputs a correction voltage amplitude, and an addition unit that outputs a correction voltage command based on the correction voltage amplitude and a rotor position, and the addition unit outputs a corrected voltage command based on the voltage command and the correction voltage command, and operates the power conversion circuit based on the corrected voltage command.
Documents of the prior art
Patent document 1: japanese laid-open patent publication No. 2012-100510
Patent document 2: japanese patent laid-open publication No. 2018-182901
Patent document 3: japanese patent laid-open publication No. 2017-229126
Disclosure of Invention
However, the distortion component of the induced voltage in the permanent magnet synchronous motor includes the order component of 5 times and 7 times on the three-phase stationary coordinate as described above. These order components appear as 6 order components on a biaxial orthogonal coordinate (hereinafter, dq coordinate) synchronized with the electrical rotation of the motor. Thus, by constructing the Observer (Observer) disclosed in patent document 1 on dq coordinates, it is possible to estimate a distortion component of the induced voltage corresponding to the disturbance from the 6-th order component included in the control command and the sensor information.
However, when the control command and the sensor information contain a 6-order component due to a plurality of factors, there is a problem that the method disclosed in patent document 1 does not discriminate the influence for each factor, and thus the distortion component of the induced voltage cannot be estimated with high accuracy.
Another factor that includes the 6 th order component in the control command and the sensor information is an output voltage error caused by the inverter. The inverter supplies electric power to the motor by operating the switching elements, and sets a period (hereinafter also referred to as dead time) during which the switching elements are simultaneously turned off in order to prevent a short circuit between the upper and lower arms. Accordingly, the output voltage of the inverter is shifted from the command voltage, and a disturbance voltage occurs 6 times on the dq coordinate.
As described above, when the torque ripple suppression control is realized when the induced voltage distortion by the motor and the output voltage distortion by the inverter are present at the same time, the following means is required: these influences are distinguished from control commands and sensor information, and the correlation parameters are individually estimated and compensated for.
In addition, since an inexpensive drive device is used for the fan or the pump, it is sometimes difficult to periodically change the failure time as in patent document 2.
Accordingly, an object of the present invention is to provide a motor driving device capable of effectively suppressing torque ripple caused by induced voltage distortion due to a motor and output voltage distortion due to an inverter, and an outdoor unit of an air conditioner and a motor driving control method using the same.
In order to solve the above problem, the present invention is characterized by comprising: a power conversion circuit for supplying power to the motor; a control unit that controls the power conversion circuit; and a current sensor that detects a three-phase current for energizing the motor, wherein the control unit includes: a command voltage calculation unit that calculates a command voltage that contributes to driving of the motor; a pulsating current detection unit that generates a first component and a second component by extracting pulsating amounts of respective components from respective components obtained by separating three-phase detection currents detected by the current sensor into mutually orthogonal components; a torque ripple compensation unit that outputs a first compensation command voltage for compensating for a torque ripple caused by the structure of the motor, based on the first component; and a dead time compensation unit that outputs a second compensation command voltage for compensating for output voltage distortion caused by a dead time of the power conversion circuit, based on the second component, and corrects the command voltage using the first compensation command voltage and the second compensation command voltage to reduce the torque ripple and the output voltage distortion.
Further, the present invention is an outdoor unit of an air conditioner, including: a permanent magnet synchronous motor; a motor driving device that drives the permanent magnet synchronous motor; a fan connected with the permanent magnet synchronous motor; a frame mounting the permanent magnet synchronous motor; and a compressor device system, wherein the motor drive device is a motor drive device having the above-described characteristics.
In addition, the present invention is characterized in that three-phase currents to be supplied to a motor are detected, the detected three-phase currents are separated into components orthogonal to each other, a first component and a second component are generated by extracting pulsation amounts of the respective components, a first compensation command voltage for compensating for torque pulsation caused by a structure of the motor is generated based on the first component, a second compensation command voltage for compensating for output voltage distortion caused by a dead time of a power conversion circuit is generated based on the second component, and a command voltage contributing to driving of the motor is corrected by using the first compensation command voltage and the second compensation command voltage, thereby reducing the torque pulsation and the output voltage distortion.
According to the present invention, it is possible to provide a motor drive device capable of effectively suppressing torque ripple caused by distortion of an induced voltage by a motor and distortion of an output voltage by an inverter, and an outdoor unit of an air conditioner and a motor drive control method using the same.
Thus, it is possible to reduce noise and vibration of the motor without performing preliminary adjustment by a preliminary test or the like, and it is possible to realize a highly versatile motor driving device that can be applied to various motors, and an outdoor unit of an air conditioner and a motor drive control method using the same.
Problems, structures, and effects other than those described above will become apparent from the following description of the embodiments.
Drawings
Fig. 1 is a diagram showing a configuration of a motor drive device according to embodiment 1 of the present invention.
Fig. 2 is a diagram showing a part of the structure of fig. 1 on dq coordinates.
Fig. 3 is a diagram showing an example of a voltage distortion waveform for each factor.
Fig. 4 is a diagram showing the trajectories of the current vectors and the voltage distortion components in the case where only the q-axis current is supplied.
Fig. 5 is a diagram illustrating the configuration of ripple current detection unit 116 in fig. 1.
Fig. 6 is a diagram showing the structure of the torque ripple compensation unit 109 in fig. 1.
Fig. 7 is a diagram illustrating the structure of the dead time compensating section 112 of fig. 1.
Fig. 8 is a diagram showing an example of an operation waveform of the motor drive device according to embodiment 1 of the present invention.
Fig. 9 is a diagram showing a configuration of a motor drive device according to embodiment 2 of the present invention.
Fig. 10 is a diagram showing the structure of the torque ripple compensation unit 109' of fig. 9.
Fig. 11 is a diagram showing an example of an operation waveform of the motor drive device according to embodiment 2 of the present invention.
Fig. 12 is a diagram showing the trajectories of the current vector and the voltage distortion component in the case where the d-axis and q-axis currents are supplied.
Fig. 13 is a diagram showing a configuration of a motor drive device according to embodiment 3 of the present invention.
Fig. 14 is a diagram showing the configuration of the ripple current detection unit 116' of fig. 13.
Fig. 15 is a diagram showing an outdoor unit of an air conditioner according to embodiment 4 of the present invention.
(symbol description)
100: a motor drive device; 101: permanent magnet synchronous motors (motors); 102: a command speed generating unit; 103: a control unit; 104: a power conversion circuit; 105: a current sensor; 106: a gain multiplication unit; 107: a command voltage calculation unit; 108: LPF (low pass filter); 109. 109': a torque ripple compensation unit; 110. 110a, 110 b: an addition unit; 111: a dq/3 phase conversion unit; 112: a failure time compensation unit; 113. 113a, 113b, 113 c: an addition unit; 114: a rotor position detection unit; 115: a 3-phase/dq conversion unit; 116. 116': a ripple current detection unit; 200: permanent magnet synchronous motors (dq coordinate model); 201a, 201 b: an addition section; 202a, 202 b: an addition unit; 203. 204: a multiplication unit; 500: a cos6 θ dc signal generating unit; 503: sin6 θ dc signal generating part; 501. 504, a step of: a multiplication unit; 502. 505: LPF (low pass filter); 600: an integral control unit; 601: an addition unit; 602: an initial value setting unit; 603: sin6 θ dc signal generating part; 604. 606, 607, 608: multiplicationA section; 605: a cos6 θ dc signal generating unit; 700: an integral control unit; 701: an initial value setting unit; 702: an addition unit; 703. 705 and 707: a sign function section; 704. 706, 708: a multiplication unit; 1000: a compensation voltage calculation unit; 1002: LPF (low pass filter); 1003. 1004, 1006, 1007: a multiplication unit; 1005. 1008: an addition unit; 1400: a current phase calculation unit; 1401: a dq/gamma delta conversion unit; 1402: an addition section; 1403: a cos6 θ dc' signal generating unit; 1404: a sin6 θ dc' signal generating unit; 1405. 1406: a multiplication unit; 1500: an outdoor unit (unit); 1501: a drive device for a fan motor; 1502: a compressor motor drive device; 1503: a fan motor; 1504: a fan; 1505: a frame; 1506: a compressor device; 1507: an alternating current power supply; ω r: a motor speed; ω r: commanded speed (motor speed command); ω 1 c: electrical angular velocity obtained by PLL; vu, Vv, Vw: a three-phase command voltage; vdc, Vqc: d-axis and q-axis command voltages; Δ Vd ·, Δ Vq ·: d-axis and q-axis compensation command voltages; vdc, Vqc: the compensated d-axis and q-axis command voltages; Δ Vu, Δ Vv, Δ Vw: a three-phase compensation command voltage; vu, Vv, Vw: compensating the three-phase compensation command voltage; iu, Iv, Iw: detecting current of three phases; id. Iq: d-axis and q-axis currents; idc, Iqc: d-axis and q-axis detection currents; ih1 - 、Ih2 - : a first component and a second component of the current ripple; θ d: a rotor position; θ dc: a guess of the rotor position; Δ θ c: axis error; τ m: a motor torque; p: the number of motor poles; r: a winding resistance; ld, Lq: d-axis and q-axis inductances; and Ke: the induced voltage coefficient; kehd, Kehq: a ripple component (distortion component) of the induced voltage coefficient on the d-axis and the q-axis; keh - : amplitude values of Kehd and Kehq; keh - : amplitude value Keh - The set value of (2); delta Keh - ：Keh* - The adjustment value in the operation of (1); keh0 - ：Keh* - An initial value in the operation of (1); vtd: three-phase stationary coordinate components of output voltage distortion caused by the inverter; vddd, Vtdq: d-axis and q-axis components of output voltage distortion caused by the inverter; vtd - : the amplitude value of Vtd; vtd - : amplitude value Vtd - The set value of (2); Δ Vtd - : amplitude value Vtd - The adjustment value in the operation of (1); vtd0 - : amplitude value Vtd - An initial value in the operation of (1); Δ Vd1 - 、ΔVd2* - : first and second amplitudes (first and second d-axis compensation command voltages) of the d-axis compensation voltage; Δ Vq1 - 、ΔVq2* - : a first amplitude and a second amplitude (a first q-axis compensation command voltage and a second q-axis compensation command voltage) of the q-axis compensation voltage; i γ c, I δ c: gamma axis and delta axis sense currents; beta: a current phase; VAC: an alternating voltage; VDC: a direct current voltage.
Detailed Description
Hereinafter, embodiments of the present invention will be described with reference to the drawings. In the drawings, the same components are denoted by the same reference numerals, and the detailed description thereof will be omitted for the overlapping portions.
Example 1
A motor driving device and a control method thereof according to embodiment 1 of the present invention will be described with reference to fig. 1 to 8.
Fig. 1 is a structural view of the motor drive device of the present embodiment. As shown in fig. 1, a motor drive device 100 according to the present embodiment includes a command speed generation unit 102, a control unit 103, a power conversion circuit 104 (hereinafter also referred to as an "inverter") that supplies power to a permanent magnet synchronous motor 101 (hereinafter also referred to as a "motor"), and a current sensor 105. In the present embodiment, the motor drive device 100 includes the command speed generation unit 102, but may be provided in the control unit 103 or outside the motor drive device 100.
The control unit 103 outputs three-phase command voltages Vu, Vv, Vw based on a command speed ω r supplied from the command speed generation unit 102 and three-phase detection currents Iu, Iv, Iw detected by the current sensor 105, and controls the rotation speed of the motor 101. In the present embodiment, all of the currents of the three phases are detected by the current sensor 105, but any two-phase portion may be detected by the current sensor 105, and the remaining one phase may be calculated by the control unit 103.
The power conversion circuit 104 performs PWM (Pulse width modulation) control based on the three-phase command voltages Vu, Vv, Vw output from the control unit 103, generates a Pulse-like output voltage, and drives the motor 101.
The control unit 103 has a basic configuration of vector control. The command speed ω r input from the command speed generating unit 102 to the control unit 103 is multiplied by a gain "motor pole number P/2" in the gain multiplying unit 106, and an electrical angular speed (P/2) ·ωr is calculated.
The command voltage calculation unit 107 calculates d-axis and q-axis command voltages Vdc, Vqc based on a preset d-axis command current Id, a q-axis command current Iq calculated from the q-axis detection current Iqc via a Low Pass Filter (LPF) 108, an electrical angular velocity (P/2) · ω r, and a set value of a motor constant. The d-axis and q-axis command voltages Vdc and Vqc are command voltages of direct current quantities that contribute to the rotation of the motor 101.
The torque ripple compensation unit 109 calculates d-axis and q-axis compensation command voltages Δ Vd and Δ Vq for compensating for the influence of induced voltage distortion caused by the motor. The d-axis and q-axis compensation command voltages Δ Vd, Δ Vq are added to the d-axis and q-axis command voltages Vdc, Vqc in the adding unit 110, and the compensated d-axis and q-axis command voltages Vdc, Vqc are generated. The adder 110 is composed of adders 110a and 110 b.
The dq/3 phase transformation unit 111 transforms the compensated d-axis and q-axis command voltages Vdc, Vqc into three-phase command voltages Vu, Vv, Vw based on the rotor position θ dc.
The dead time compensation unit 112 generates three-phase compensation command voltages Δ Vu, Δ Vv, and Δ Vw for compensating for the influence of the output voltage distortion caused by the inverter. The three-phase compensation command voltages Δ Vu, Δ Vv, Δ Vw are added to the three-phase command voltages Vu, Vv, Vw in the addition unit 113, and compensated three-phase command voltages Vu, Vv, Vw are generated and input to the power conversion circuit 104. The adder 113 includes adders 113a, 113b, and 113 c.
The rotor position detection unit 114 calculates a shaft error Δ θ c, which is a phase deviation between the control shaft (dc shaft) and the magnetic flux shaft (d shaft) of the motor, based on the d-axis and q-axis command voltages Vdc, Vqc, and the d-axis and q-axis detection currents Idc, Iqc, the electrical angular velocity (P/2) ·ωr, and the set value of the motor constant. Then, the electric angular velocity is controlled by a PLL (Phase Locked Loop) so that Δ θ c becomes zero, and the obtained value is integrated to calculate the rotor position θ dc. That is, in the present embodiment, the sensorless vector control is configured without requiring a position sensor.
The 3-phase/dq conversion unit 115 converts the three-phase detection currents Iu, Iv, and Iw into d-axis and q-axis detection currents Idc and Iqc based on the rotor position θ dc.
The ripple current detection unit 116 extracts a first component Ih1, which is a ripple amount of the d-axis and q-axis detection currents Idc, Iqc, from the rotor position θ dc and the d-axis and q-axis detection currents Idc, Iqc - And a second component Ih2 - . First component Ih1 - Is inputted to the torque ripple compensator 109, and the second component Ih2 - The values are input to the dead time compensation unit 112 and used for the estimation calculation of the parameters related to the compensation control.
That is, in the present embodiment, the influence of the induced voltage distortion by the motor and the influence of the output voltage distortion by the inverter are expressed as the ripple amounts of the d-axis and q-axis detection currents Idc and Iqc, and the ripple current detection unit 116 appropriately extracts the information thereof to control the current.
The above is the basic structure of the present embodiment.
The command voltage calculation unit 107 calculates d-axis and q-axis command voltages Vdc and Vqc based on the d-axis command current Id, the q-axis command current Iq, the electrical angular velocity (P/2) · ω r, and the set values of the motor constants, in accordance with the following expression (1).
[ mathematical formula 1]
In the formula (1), R represents a winding resistance, Ld represents a d-axis inductance, Lq represents a q-axis inductance, Ke represents an induced voltage coefficient, and superscript characters indicate set values of respective motor constants.
The command voltage calculation unit 107 performs the calculation of the formula (1) using a predetermined constant value as the d-axis command current Id and using a value obtained by performing low-pass filtering processing on the q-axis detection current Iqc by the LPF108 as the q-axis command current Iq.
As a result, in a steady state in which the motor 101 is driven at a constant speed, the d-axis command current Id and the q-axis command current Iq are constant, and the d-axis command voltage Vdc and the q-axis command voltage Vdc are also constant.
The rotor position detection unit 114 calculates the shaft error Δ θ c from the d-axis and q-axis command voltages Vdc, Vqc, the d-axis and q-axis detection currents Idc, Iqc, the electrical angular velocity ω 1c, and the set value of the motor constant, in accordance with the following equation (2).
[ mathematical formula 2]
In equation (2), the electrical angular velocity ω 1c is a signal obtained by adjusting the electrical angular velocity using a PLL so that the axis error Δ θ c becomes zero. The rotor position detection unit 114 calculates the rotor position θ dc by integrating the electrical angular velocity ω 1 c.
When the motor 101 is driven with the above configuration, the influence of the induced voltage distortion caused by the motor and the influence of the output voltage distortion caused by the inverter as described above are expressed as pulsating amounts of the d-axis and q-axis detection currents Idc, Iqc. This principle is explained below with reference to fig. 2.
Fig. 2 is a diagram illustrating elements necessary for explanation in the configuration shown in fig. 1, and does not show the torque ripple compensation unit 109 and the dead time compensation unit 112. In addition, the permanent magnet synchronous motor 200 is shown with an equivalent model on dq coordinates. The subtraction units 201a and 201b subtract (P/2) · ω r · Kehd, (P/2) · ω r · Kehq, which are obtained by multiplying the distortion components Kehd, Kehq of the induced voltage coefficients on the d-axis and the q-axis by the electrical angular velocity (P/2) · ω r.
That is, the subtracting units 201a and 201b effectively express the influence of the induced voltage distortion caused by the motor on the dq coordinate or the like.
The output voltage distortions Vtdd and Vtdq due to the dead time on the d-axis and q-axis are subtracted by the subtracting sections 202a and 202 b.
That is, the subtracting units 202a and 202b effectively express the influence of the output voltage distortion caused by the inverter on the dq coordinate or the like.
In fig. 2, the solid arrows indicate that "dc + ac" is included, and the dashed arrows indicate that "dc" is included only.
As shown in fig. 2, when there is distortion in the induced voltage due to the motor and distortion in the output voltage due to the inverter, the d-axis and q-axis command voltages Vdc, Vqc generated by the command voltage calculation unit 107 are subtracted by "(P/2) · ω r · Kehd + Vtdd" and "(P/2) · ω r · Kehq + Vtdq", respectively, which are the alternating current amounts.
As a result, in the permanent magnet synchronous motor 200, the d axis and the q axis are provided with the dc component Id separately - 、Iq - In addition, the pulsating quantities Idh and Iqh are supplied with current. Among these currents, the q-axis current "Iq - The + Iqh "is converted into a q-axis command current Iq via the LPF108 and fed back to the command voltage calculation unit 107. At this time, the cutoff frequency of the LPF108 is set to be sufficiently smaller than the fluctuation frequency of the pulsation amount Iqh of the q-axis current, and Iq ═ Iq - 。
Thus, the d-axis and q-axis command voltages Vdc and Vqc generated by the command voltage calculation unit 107 become dc values, and only the dc values Id of the d-axis and q-axis currents are controlled - 、Iq - 。
On the other hand, since the pulsation amounts Idh and Iqh remain without any change regardless of the command voltage calculation unit 107, by detecting these current pulsation amounts, the influence of induced voltage distortion "(P/2) · ω r · Kehd, (P/2) · ω r · Kehq" caused by the motor and output voltage distortion "Vtdd, Vtdq" caused by the inverter can be observed.
Here, distortion components of the induced voltage coefficients of the d axis and the q axis are equal to each other (Kehd ═ Kehq). In addition, on the stationary coordinate, the distortion of the output voltage due to the dead time is expressed by the following equation (3).
[ mathematical formula 3]
ΔV td ＝T d ·f c ·V DC ·sign(i) ···(3)
In equation (3), Td is the length of the dead time, fc is the carrier frequency, VDC is the dc voltage applied to the inverter, and sign (i) represents the polarity of the detected current for each phase.
Fig. 3 illustrates induced voltage distortions "(P/2) · ω r · Kehd, (P/2) · ω r · Kehq" due to the motor and output voltage distortions "Vtdd, Vtdq" due to the inverter, in the case where a current is applied only to the q-axis side in the motor (the d-axis current is zero).
As shown in fig. 3, the induced voltage distortion "(P/2) · ω r · Kehd, (P/2) · ω r · Kehq" caused by the motor becomes a pulsating voltage having the same amplitude on the d axis and the q axis and the phase shifted by 90 ° from each other. On the other hand, the output voltage distortion "Vtdd, Vtdq" caused by the inverter is a pulsating voltage having a sawtooth waveform on the d-axis and a half-wave shape on the q-axis and having greatly different shapes from each other.
When viewed from the viewpoint of the ripple amplitude, since one of Vtdd on the d-axis side is larger than Vtdq on the q-axis side, it is known that distortion of the output voltage by the inverter appears remarkably on the d-axis side, that is, on the non-current-carrying axis side.
When this characteristic is illustrated on dq coordinates, it can be expressed as shown in fig. 4. In fig. 4, I is a current vector (only q-axis current is applied), X is a locus of induced voltage distortion caused by the motor, and Y is a locus of output voltage distortion caused by the inverter. X is a circular trajectory, whereas Y is a half-moon trajectory.
When the distortion is expressed by the equation with only the 6 th-order component being focused on, the induced voltage distortion by the motor and the output voltage distortion by the inverter are expressed by the following equations (4) and (5), respectively.
[ mathematical formula 4]
[ math figure 5]
Wherein, in formula (4), Keh - Are the amplitudes of Kehd and Kehq. In addition, in the formula (5), Vddd - And Vtdq - Are the amplitude of Vddd and Vtdq.
In the present embodiment, the ripple current detection unit 116 that extracts the ripple amounts of the d-axis and q-axis currents Idc, Iqc from the characteristics of the output voltage distortion caused by the inverter is configured as shown in fig. 5.
Since the output voltage distortion due to the inverter mainly occurs on the d-axis side, which is a non-energized axis, as described above, the second component Ih2 used by the dead time compensation unit 112 is extracted from the d-axis detection current Idc - 。
More specifically, when the fluctuation frequency of Vtdd is assumed to be sufficiently fast (that is, the motor speed is assumed to be sufficiently fast), the current phase is delayed by 90 ° from the voltage phase, and Vtdd, which is the main component according to equation (5), is a function of sin θ d, so that the influence of the output voltage distortion caused by the inverter is detected by multiplying the d-axis detection current Idc by cos6 θ dc in the multiplication unit 501. In the LPF502, a dc component of Idc · cos6 θ dc, which is the calculation result of the multiplier 501, is extracted, and a second component Ih2 is output - 。
On the other hand, the current Iqc is detected from the q-axis, and the first component Ih1 used in the torque ripple compensation unit 109 is extracted as the influence of the induced voltage distortion by the motor - 。
More specifically, since equation (4), (P/2) · ω r · Kehq is a function of cos6 θ d, the q-axis detection current Iqc is multiplied by sin6 θ dc in the multiplying unit 504. In the LPF505, the dc value of Iqc · sin6 θ dc, which is the calculation result of the multiplier 504, is extracted, and the first component Ih1 is output - 。
In the present embodiment, the ripple current detection unit 116 includes the LPF502 and the LPF505, but these LPFs may be eliminated. This is because the torque ripple compensation unit 109 and the dead time compensation unit 112 are provided with the first component Ih1 - And a second componentIh2 - As a result, the intersection amounts of Idc · cos6 θ dc and Iqc · sin6 θ dc are eliminated. Details will be described later.
Fig. 6 is a configuration diagram of the torque ripple compensation unit 109. The torque ripple compensation unit 109 uses the first component Ih1 extracted by the ripple current detection unit 116 - And an electrical angular velocity (P/2) · ω r, and generates d-axis and q-axis compensation command voltages Δ Vd, Δ Vq for compensating for a torque ripple generated in an induced voltage distortion caused by the motor.
First, in the integration control unit 600, the first component Ih1 according to the current ripple - Generating an adjustment signal Δ Keh - . Adjustment signal Δ Keh - The adder 601 and the initial value Keh0 set by the initial value setting unit 602 - Adding them to generate a set value Keh - 。
Then, sin6 θ dc and the electrical angular velocity (P/2) · ω r generated by the sin6 θ dc signal generation unit 603 are multiplied by Keh in multiplication units 604 and 607, respectively - The d-axis compensation command voltage Δ Vd is generated by multiplication. Similarly, the cos6 θ dc and the electrical angular velocity (P/2) · ω r generated by the cos6 θ dc signal generator 605 are multiplied by Keh · in the multipliers 606 and 608, respectively - The q-axis compensation command voltage Δ Vq is generated by multiplication.
In the present embodiment, the value set by the initial value setting unit 602 is set as the initial value Keh0 - However, any value may be set for control, and zero may be set.
As shown in fig. 1, the d-axis and q-axis compensation command voltages Δ Vd, Δ Vq are added to the d-axis and q-axis command voltages Vdc, Vqc in the adding unit 110, and the compensated d-axis and q-axis command voltages Vdc, Vqc are generated.
In fig. 2, when the compensated d-axis and q-axis command voltages Vdc, Vqc are applied instead of the d-axis and q-axis command voltages Vdc, Vqc, the (P/2) · ω r · Kehd and the (P/2) · ω r · Kehq added in the adding units 201a and 201b in the permanent magnet synchronous motor 200 are cancelled by the d-axis compensation command voltage Δ Vd in the compensated d-axis command voltage Vdc and the q-axis compensation command voltage Δ Vq in the compensated q-axis command voltage Vqc, respectively, to compensate for the influence of the induced voltage distortion caused by the motor.
Fig. 7 is a block diagram of the dead time compensation unit 112. The dead time compensation unit 112 calculates the second component Ih2 extracted by the ripple current detection unit 116 - And three-phase detection currents Iu, Iv, Iw, and generate three-phase compensation command voltages Δ Vu, Δ Vv, Δ Vw for compensating for the influence of output voltage distortion caused by the inverter.
First, in the integration control unit 700, the second component Ih2 according to the current ripple - To generate an adjustment signal Δ Vtd - . Adjusting signal Δ Vtd - The adder 702 is added to the initial value Vtd0 set by the initial value setting unit 701 - Adding them to generate a set value Vtd - 。
Thereafter, the signal of 1 or-1 corresponding to the polarity of the U-phase detection current Iu generated by the sign function unit 703 is multiplied by Vtd in the multiplier 704 - The U-phase compensation command voltage Δ Vu is generated by multiplication. Similarly, the signal generated by the sign function unit 705 is multiplied by Vtd in the multiplication unit 706 - The multiplication generates a V-phase compensation command voltage Δ Vv. The signal generated by sign function section 707 is multiplied by Vtd in multiplication section 708 - The multiplication generates a W-phase compensation command voltage Δ Vw.
In the present embodiment, the value set by the initial value setting unit 701 is set as the initial value Vtd0 - However, any value may be set for control, and zero may be set.
As shown in fig. 1, the three-phase compensation command voltages Δ Vu, Δ Vv, Δ Vw are added to the three-phase command voltages Vu, Vv, Vw in the addition unit 113, and compensated three-phase compensation command voltages Vu, Vv, Vw are generated.
Here, the results obtained by converting the three-phase compensation command voltages Δ Vu, Δ Vv, Δ Vw into dq-axis components are denoted as Δ Vd ×, Δ Vq × and the results obtained by adding these command voltages to the d-axis and q-axis command voltages Vdc, Vqc are denoted as Vd ×, Vq ″.
In fig. 2, when Vdc ×, Vqc ×, instead of Vdc ×, Vqc ×, Vtdd and Vtdq added in the addition sections 202a and 202b are cancelled by Δ Vd ×, Δ Vq within Vdc ×, and Vqc ×, respectively, thereby compensating for the influence of the output voltage distortion caused by the inverter.
Fig. 8 is a diagram showing an operation waveform of the present embodiment. The d-axis command current Id is set to zero, and the initial value Keh0 of the torque ripple compensation unit 109 is set to zero - And an initial value Vtd0 of the dead time compensation section 112 - Is set to zero. In fig. 8, time T1 indicates the time when torque ripple compensation unit 109 starts operating (integral control unit 600 starts operating), and time T2 indicates the time when failure time compensation unit 112 starts operating (integral control unit 700 starts operating).
At time T1<t<At T2, it is found that the fluctuation amount of the q-axis detection current Iqc decreases and the set value Keh ×, when the torque fluctuation compensation unit 109 operates - Relative actual value Keh - The set ratio of (a) increases. This is because the first component Ih1 according to the current ripple - That is, the q-axis detected current Iqc fluctuation amount is adjusted by the integral control unit 600 to the set value Keh - 。
However, the ratio Keh - /Keh - Less than 1, not being "set value Keh - True value Keh - ". This is because, as shown in fig. 3, there is output voltage distortion Vtdq due to the inverter on the q-axis side, and the adjustment signal Δ Keh generated by the integration control unit 600 is present - Which contains errors.
At time T2<t, the fluctuation amount of the d-axis detection current Idc decreases and the set value Vtd is found when the dead time compensation unit 112 operates - Relative actual value Vtd - The set ratio of (a) increases. This is because the second component Ih2 according to the current ripple - That is, the d-axis detection current pulsation amount is adjusted by the integral control section 700 to the set value Vtd - 。
In addition, set value Keh - Relative actual value Keh - The set ratio of (c) is also varied. This is because the dead time compensation unit 112 compensates for the influence of the output voltage distortion Vtdq caused by the inverter in the torque ripple compensation unit 109, and removes the adjustment signal Δ Keh generated by the integration control unit 600 - The error contained in (1).
As a result, the ratio Vtd - /Vtd - And ratio Keh - /Keh - All converge to around 1 to become the "set value Vtd - True value Vtd - "and" set point Keh - True value Keh - "is controlled.
As described above, according to the present invention, when the induced voltage distortion by the motor and the output voltage distortion by the inverter coexist, the influence of both of them can be distinguished from the detected current, and the relevant parameter can be estimated and compensated (corrected) independently.
In fig. 8, the operation start times of the torque ripple compensation unit 109 and the dead time compensation unit 112 are shifted from each other (T1 ≠ T2), but the operations of these compensation units may be started simultaneously (T1 ═ T2).
Example 2
A motor driving device and a control method thereof according to embodiment 2 of the present invention will be described with reference to fig. 9 to 11.
In example 1, the torque ripple compensation unit 109 and the dead time compensation unit 112 operate to compensate for the influence of the induced voltage distortion due to the motor and the output voltage distortion due to the inverter in fig. 2 (the terms added by the addition units 201a and 201b and the addition units 202a and 202b are eliminated), and a constant d-axis and q-axis current Id that does not include the pulsation amounts Idh and Iqh is supplied to the current - 、Iq - . That is, the torque ripple reduction effect is obtained by making the current waveform distorted by many factors close to an ideal sinusoidal waveform.
However, even if a constant d-axis and q-axis current Id is applied in fig. 2 - 、Iq - Since the influence of the motor-induced voltage distortion remains in the multiplication units 203 and 204, the torque ripple reduction effect obtained is limited (see the torque waveform in fig. 8).
Therefore, in order to compensate for the torque ripple, for example, the method disclosed in patent document 3 may be used. That is, in order to cancel the torque ripple, the q-axis current may be intentionally controlled to be pulsed.
Fig. 9 is a structural view of the motor drive device of the present embodiment. In this configuration, the torque ripple compensator 109 in the configuration of embodiment 1 (fig. 1) is replaced with a torque ripple compensator 109'.
Fig. 10 shows the structure of the torque ripple compensation portion 109'. The difference from the torque ripple compensation unit 109 of embodiment 1 (fig. 1) is that the q-axis detection current Iqc is input, and a compensation voltage calculation unit 1000, an LPF (low pass filter) 1002, multiplication units 1003, 1004, 1006, and 1007, and addition units 1005 and 1008 are added.
An LPF (Low pass Filter) 1002 extracts a direct current amount of a q-axis detection current Iqc to generate Iqc - 。
The compensation voltage calculation unit 1000 receives a set value Keh of a distortion component of the induced voltage coefficient - Iqc generated by LPF1002 - And an electrical angular velocity (P/2) · ω r, and generates a first d-axis compensation command voltage Δ Vd1 according to the following equation (6) - Second d-axis compensation command voltage Δ Vd2 - First q-axis compensation command voltage Δ Vq1 - And a second q-axis compensation command voltage delta Vq2 - 。
[ mathematical formula 6]
Δ Vd1 corresponding to the calculation result of the compensation voltage calculation unit 1000 - 、ΔVd2* - Multiplying sin6 θ dc and cos6 θ dc by the multiplier 1003 and the multiplier 1004, respectively, to generate Δ Vd1 × - Sin6 θ dc and Δ Vd2 - Cos6 θ dc. Then, these operation results are added by the addition unit 1005 to generate the d-axis compensation command voltage Δ Vd.
Likewise, for Δ Vq1 - 、ΔVq2* - The multiplication units 1006 and 1007 multiply by sin6 θ dc and cos6 θ dc to generate Δ Vq1 · - Sin6 θ dc and Δ Vq2 - Cos6 θ dc. Then, the addition unit 1008 adds these calculation results to generate the q-axis compensation command voltage Δ Vq ″.
When the d-axis and q-axis compensation command voltages Δ Vd and Δ Vq generated by the configuration of the present embodiment are applied, the q-axis current indicated by (7) is turned on in a steady state.
[ math figure 7]
By supplying a q-axis current including the pulsation amount shown in equation (7), the ratio "Δ Keh" can be obtained with respect to the configuration of example 1 - /Ke "reduces torque ripple.
Fig. 11 is a diagram showing an operation waveform of the present embodiment. The operating conditions are the same as in example 1 shown in fig. 8, except that the torque ripple compensator 109 is replaced with a torque ripple compensator 109'. When compared with fig. 8, which is an operation waveform of example 1, the torque and current waveforms are different. In the present embodiment, it is found that a higher torque ripple reduction effect is obtained by intentionally supplying q-axis current Iq including a ripple amount at time T1< T.
Thus, in the present embodiment, even under the condition that there is distortion of the output voltage due to the inverter, the distortion component Keh of the induced voltage coefficient can be estimated from the detected current - Based on the obtained Keh - The torque ripple can be more effectively cancelled out by intentionally supplying a ripple current.
Example 3
A motor driving device and a control method thereof according to embodiment 3 of the present invention will be described with reference to fig. 12 to 14.
As described above, the output voltage distortion caused by the inverter occurs significantly on the non-energized shaft side. Thus, if the directions of the current vectors can be observed to grasp the directions of the current-carrying axis and the non-current-carrying axis, the same control operation as in embodiments 1 and 2 can be realized even under other current-carrying conditions.
Here, the angle formed by the d-axis current Id and the q-axis current Iq is defined as a current phase β (═ tan-1 (-Id/Iq)). Fig. 12 shows a current vector I ', a trajectory X ' of induced voltage distortion caused by the motor, and a trajectory Y ' of output voltage distortion caused by the inverter in the case where the current phase β is set to 45 °.
If compared with the example of fig. 4, where only the q-axis current is energized, it is known that the trajectories X and X' are the same, and the influence of the induced voltage distortion caused by the motor is independent of the current. On the other hand, the trajectories Y and Y' are different from each other, and the influence of the output voltage distortion by the inverter varies with the orientation of the current vector. When the direction of the current vector, that is, the direction of current flow, is defined as the δ -axis, and the direction of non-current flow, which is obtained by shifting the phase by 90 ° clockwise, is defined as the γ -axis, the influence of distortion of the output voltage caused by the inverter appears significantly on the γ -axis.
Fig. 13 is a structural view of the motor drive device of the present embodiment. In this configuration, the ripple current detector 116 in the configuration of embodiment 1 (fig. 1) is replaced with a ripple current detector 116', in consideration of the relationship between the direction of the current vector and the influence of the output voltage distortion caused by the inverter. In this embodiment (fig. 13), the torque ripple compensator 109 is included, but the configuration may be replaced with the torque ripple compensator 109' shown in embodiment 2.
Fig. 14 shows a configuration of the ripple current detection unit 116'. The difference from the ripple current detection unit 116 of embodiment 1 (fig. 5) is that a current phase calculation unit 1400, a dq/γ δ conversion unit 1401, and an addition unit 1402 are added.
The current phase calculation unit 1400 calculates a current phase β "tan-1 (-Idc/Iqc)" from the d-axis and q-axis detected currents Idc, Iqc. The dq/γ δ conversion unit 1401 calculates the following expression (8) from the current phase β.
[ mathematical formula 8]
By the calculation of equation (8), the current vector is separated into a γ -axis component as a non-energization direction and a δ -axis component as an energization direction. The γ -axis detection current I γ c is multiplied by cos6 θ dc' in the multiplication unit 1405, and the second component Ih2 of the current ripple is generated via the LPF502 - . Similarly, the δ -axis detection current I δ c is multiplied by sin6 θ dc' in the multiplication unit 1406, and the fourth pulse of current is generated via the LPF505A component Ih1 - 。
The ripple current detection unit 116' generates a first component Ih1 of current ripple - And a second component Ih2 - The subsequent operation is the same as in embodiment 1 and embodiment 2.
Example 4
An outdoor unit of an air conditioner according to embodiment 4 of the present invention will be described with reference to fig. 15. Fig. 15 shows an example in which the motor driving device according to the embodiment of any of embodiments 1 to 3 is applied to a fan motor system mounted in an outdoor unit of an air conditioner.
The outdoor unit 1500 includes a fan motor drive 1501, a compressor motor drive 1502, a fan motor 1503, a fan 1504, a frame 1505, and a compressor 1506. The fan motor drive device 1501 is the motor drive device according to the embodiment of any one of embodiments 1 to 3 described above.
The operation of the fan motor system in the outdoor unit 1500 will be described. The ac power supply 1507 is connected to the compressor motor drive device 1502. The compressor motor driving device 1502 rectifies the supplied ac voltage VAC into a dc voltage VDC to drive the compressor device 1506.
At the same time, the compressor motor driving device 1502 also supplies the dc voltage VDC to the fan motor driving device 1501, and also outputs a motor speed command ω r.
The fan motor drive device 1501 operates in accordance with the input motor speed command ω r, and supplies three-phase voltage to the fan motor 1503. Thereby, the fan motor 1503 is driven, and the connected fan 1504 rotates. The above is the operation of the fan motor system.
In the outdoor unit of the air conditioner, an inexpensive arithmetic device is generally mounted on the fan motor drive device 1501 for the purpose of reducing the cost. In addition, the fan motor 1503 is often not provided with a position sensor. Even in such an application, torque ripple suppression control can be realized by using the motor drive device according to the present invention as a fan motor drive device. As a result, the vibration of the frame 1505 caused by the fan motor 1503 is reduced, and the noise emitted from the outdoor unit 1500 can be reduced.
The motor driving device according to the present invention does not require preliminary tests, adjustment work, and the like, and is therefore very easy to apply. Further, since the present invention is autonomous torque ripple suppression control, the present invention can be applied to existing devices whose motor characteristics are difficult to measure.
The motor driving devices according to the embodiments of examples 1 to 3 can also be used as a compressor motor driving device. In short, the present invention can be applied to any motor drive device having a basic configuration of vector control.
In the embodiments of embodiments 1 to 3, the motor drive device based on the position sensorless system is described as an example, but the present invention is also applicable to a motor drive device including a position sensor such as an encoder, a resolver, or a magnetic pole position sensor. For example, the present invention can be applied to a configuration in which a position sensor is added to the motor 101 shown in fig. 1, 9, and 13, and speed feedback control based on information of the position sensor is added to the control unit 103.
The present invention can be applied to a configuration including current feedback control based on a deviation between the d-axis command current Id and the d-axis detection current Idc and a deviation between the q-axis command current Iq and the q-axis detection current Iqc, instead of the command voltage calculation units 107 in fig. 1, 9, and 13.
In this case, the response band of the current feedback control is designed to be sufficiently lower than the variation frequency of the induced voltage distortion by the motor and the output voltage distortion by the inverter. Accordingly, the information included in the d-axis and q-axis detection currents Idc, Iqc can be appropriately operated in accordance with the present invention, as in the embodiments of examples 1 to 3.
In embodiments 1 to 3, it is described that the induced voltage distortion by the motor and the output voltage distortion by the inverter fluctuate with a cycle of 6 times, but the present invention can be similarly applied even when the fluctuation cycle is other than 6 times (12 times, 24 times, etc.).
In addition, according to the embodiments of the present invention, the following control is performed: the influence of the induced voltage distortion by the motor and the output voltage distortion by the inverter is detected and compensated for on the basis of the d-axis and q-axis detection currents, which are one of the detection signals. By using the detection signal instead of the command signal, it is possible to eliminate the influence of modeling errors, calculation errors, and the like as much as possible, and to perform the control with high accuracy.
In the case of using the detection signal, the cost may increase with the addition of a sensor or the like, but the motor drive device is provided with a current sensor in most cases. That is, the present invention realizes torque ripple suppression control that operates autonomously using only existing sensors.
Further, the present invention is not limited to the above-described embodiments, but includes various modifications. For example, the above-described embodiments are examples explained in detail to facilitate understanding of the present invention, and are not limited to having all the structures explained. In addition, a part of the structure of one embodiment may be replaced with the structure of another embodiment, and the structure of another embodiment may be added to the structure of one embodiment. In addition, some of the structures of the embodiments may be added, removed, or replaced with other structures.
Claims (10)
1. A motor driving device is characterized by comprising:
a power conversion circuit for supplying power to the motor;
a control unit that controls the power conversion circuit; and
a current sensor detecting a three-phase current for energizing the motor,
the control unit includes:
a command voltage calculation unit that calculates a command voltage that contributes to driving of the motor;
a pulsating current detection unit that generates a first component and a second component by extracting pulsating amounts of respective components from respective components obtained by separating three-phase detection currents detected by the current sensor into mutually orthogonal components;
a torque ripple compensation unit that outputs a first compensation command voltage for compensating for a torque ripple caused by the structure of the motor, based on the first component; and
a dead time compensation unit that outputs a second compensation command voltage for compensating for output voltage distortion caused by a dead time of the power conversion circuit, based on the second component,
the torque ripple and the output voltage distortion are reduced by correcting the command voltage using the first compensation command voltage and the second compensation command voltage.
2. The motor drive device according to claim 1,
the control unit has a three-phase/dq conversion unit for converting the three-phase detection current into a d-axis current and a q-axis current,
the mutually orthogonal components are a d-axis component and a q-axis component,
the first component is a pulsating quantity of one of a d-axis component and a q-axis component,
the second component is a pulsation amount of the other of the d-axis component and the q-axis component.
3. The motor drive device according to claim 2,
the control unit has a rotor position detection unit for detecting a rotor position of the motor,
in the ripple current detection section,
generating a signal including information of the first component by multiplying the q-axis current by a sine wave signal or a cosine wave signal that varies 6n times (n is an integer of 1 or more) according to a rotor position of the motor,
the d-axis current is multiplied by a sine wave signal or a cosine wave signal that varies 6n times according to the rotor position of the motor, thereby generating a signal including information of the second component.
4. The motor drive device according to claim 1,
the control unit includes:
a three-phase/dq conversion unit that converts the three-phase detection current into a d-axis current and a q-axis current; and
a rotor position detecting unit for detecting a rotor position of the motor,
the ripple current detection unit includes:
a current phase calculation unit that calculates a current phase corresponding to an angle formed by a current vector formed by the d-axis current and the q-axis current;
an addition unit that adds the rotor position of the motor and the current phase to generate a corrected rotor position; and
a dq/γ δ converter that converts the d-axis current and the q-axis current into a component on a δ axis facing a direction of the current vector and a component on a γ axis having a phase shifted by 90 ° from the δ axis, in accordance with the current phase,
generating a signal including information of the first component by multiplying a current on the delta axis by a sine wave signal or a cosine wave signal that varies 6n times (n is an integer of 1 or more) according to the corrected rotor position,
the current on the γ axis is multiplied by a sine wave signal or a cosine wave signal that varies by 6n times according to the corrected rotor position, thereby generating a signal including information of the second component.
5. The motor drive device according to claim 4,
in the torque ripple compensating portion, it is preferable that,
calculating a first parameter related to an induced voltage distortion caused by the configuration of the motor by integral control according to the first component,
a d-axis compensation command voltage and a q-axis compensation command voltage are generated based on the first parameter, an electrical angular velocity of the motor, and a sine wave signal or a cosine wave signal that varies by 6n times in accordance with the rotor position or the corrected rotor position.
6. The motor drive device according to claim 4,
in the torque ripple compensating portion,
calculating a first parameter related to an induced voltage distortion caused by the configuration of the motor by integral control according to the first component,
a d-axis compensation command voltage and a q-axis compensation command voltage are generated based on the first parameter, the q-axis current, the electrical angular velocity of the motor, and a sine wave signal or a cosine wave signal that varies by 6n times according to the rotor position or the corrected rotor position.
7. The motor drive device according to claim 1,
in the dead-time compensation section, it is preferable that,
calculating a second parameter relating to output voltage distortion caused by a dead time of the power conversion circuit by integral control based on the second component,
and generating a three-phase compensation command voltage according to the second parameter and the information of the three-phase detection current.
8. An outdoor unit of an air conditioner includes:
a permanent magnet synchronous motor;
a motor driving device that drives the permanent magnet synchronous motor;
a fan connected with the permanent magnet synchronous motor;
a frame mounting the permanent magnet synchronous motor; and
a system of a compressor device is provided,
the outdoor unit of the air conditioner is characterized in that,
the motor drive device is the motor drive device according to any one of claims 1 to 7.
9. A motor drive control method is characterized in that,
detecting three-phase currents flowing through a motor, separating the detected three-phase currents into mutually orthogonal components, generating a first component and a second component by extracting pulsating quantities of the components,
generating a first compensation command voltage that compensates for a torque ripple caused by the configuration of the motor, based on the first component,
generating a second compensation command voltage for compensating for output voltage distortion caused by a dead time of the power conversion circuit based on the second component,
the torque ripple and the output voltage distortion are reduced by correcting a command voltage that contributes to driving of the motor using the first compensation command voltage and the second compensation command voltage.
10. The motor drive control method according to claim 9,
the mutually orthogonal components are a d-axis component and a q-axis component,
the first component is a pulsation amount of one of a d-axis component and a q-axis component,
the second component is a pulsation amount of the other of the d-axis component and the q-axis component.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2020-032933 | 2020-02-28 | ||
| JP2020032933A JP7213196B2 (en) | 2020-02-28 | 2020-02-28 | MOTOR DRIVE DEVICE, OUTDOOR UNIT OF AIR CONDITIONER USING THE SAME, MOTOR DRIVE CONTROL METHOD |
| PCT/JP2020/037987 WO2021171679A1 (en) | 2020-02-28 | 2020-10-07 | Motor drive device, outdoor unit of air conditioner using same, and motor drive control method |
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| CN115004537A true CN115004537A (en) | 2022-09-02 |
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| CN202080094872.2A Pending CN115004537A (en) | 2020-02-28 | 2020-10-07 | Motor drive device, outdoor unit of air conditioner using same, and motor drive control method |
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| Country | Link |
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| JP (1) | JP7213196B2 (en) |
| CN (1) | CN115004537A (en) |
| DE (1) | DE112020005654T5 (en) |
| WO (1) | WO2021171679A1 (en) |
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| DE102022205454A1 (en) * | 2022-05-31 | 2023-11-30 | Robert Bosch Gesellschaft mit beschränkter Haftung | Method for a low-noise operation of an electric motor device, an electric motor device and a heat engine |
| WO2024019003A1 (en) * | 2022-07-19 | 2024-01-25 | 三菱電機株式会社 | Torque pulsation measurement method and torque pulsation measurement device for permanent magnet motor and method for manufacturing permanent magnet motor |
| WO2024038574A1 (en) * | 2022-08-19 | 2024-02-22 | 三菱電機株式会社 | Ac electric motor control device and air conditioning device |
| WO2024075210A1 (en) * | 2022-10-05 | 2024-04-11 | 三菱電機株式会社 | Power conversion device, motor drive device, and refrigeration cycle application device |
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Also Published As
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|---|---|
| JP2021136811A (en) | 2021-09-13 |
| WO2021171679A1 (en) | 2021-09-02 |
| JP7213196B2 (en) | 2023-01-26 |
| DE112020005654T5 (en) | 2022-11-24 |
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