CN1234204C - Control device for alternating-current motor - Google Patents
Control device for alternating-current motor Download PDFInfo
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- CN1234204C CN1234204C CNB031551661A CN03155166A CN1234204C CN 1234204 C CN1234204 C CN 1234204C CN B031551661 A CNB031551661 A CN B031551661A CN 03155166 A CN03155166 A CN 03155166A CN 1234204 C CN1234204 C CN 1234204C
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Abstract
Provided is a control device for an AC motor capable of easily obtaining a current converting gain correction factor of a current detector in inverter-driving the AC motor.This control device for the AC motor comprises the current detectors 10a to 10c for detecting each phase current outputted from an inverter device 4; error correction computing devices 21a, 21b for correcting a current detecting value by multiplying a detecting value detected by the current detector by a correction coefficient; a coefficient calculation device 22 for measuring and calculating the correction factor based on a correction command from the outside; a PWM signal generator 19 for generating a signal which PWM-controls the inverter device 4 based on a voltage command; and a signal switch 23 for switching the voltage command to the measuring value of the correction factor outputted from the coefficient calculation device 22. To obtain the correction factor for a specific phase, the coefficient calculation device makes a calculation, using current detected values for other phases in addition to those of the phase and a reference phase.
Description
Invention field
The present invention relates to the control device of three-phase alternating-current motor.
Background technology
Three-phase alternating-current motor is controlled to the control device on the speed of wanting generally to be possessed: the conversion three-phase alternating current be direct current converter apparatus, to the smmothing capacitor of the direct current of converter apparatus output, with this smmothing capacitor be arranged in parallel converter device 2 outlet sides, the direct current power of converter device is transformed into the DC-to-AC converter of three-phase alternating current again, drive three-phase alternating-current motor with the interchange output of DC-to-AC converter.
Be the control three-phase alternating-current motor, possess the current detector of the U, the V that detect three-phase alternating-current motor, each phase current of W and the position detector of the rotor-position that detects three-phase alternating-current motor, with differentiator time diffusion is carried out in the output of position detector, obtain the feedback speed signal of rotor thus.Then, calculate from the feedback speed signal of differentiator and the velocity deviation between the speed instruction with adder for given speed command, according to from the velocity deviation of adder and current rate signal, make two-phase current command value by vector control with current command generator.
On the other hand, each phase current of the three-phase alternating-current motor that current detector detects is transformed into digital signal by the A/D converter, for carrying out vector control, with coordinate converter the signal of position detector is done three-phase/two-phase and transforms on the control reference axis.By adder calculate the two-phase current instruction of current command generator output with from the deviation between the two-phase current feedback signal of coordinate converter, this deviation is amplified and is exported through current controller.With coordinate converter this output from current controller is carried out two-phase/three phase inversion, made the three-phase voltage command signal then, and it is transformed to switching signal from the pwm signal generator.By switching signal being imported the gate drive circuit and made drive signal,, make desired three-phase ac power export three-phase alternating-current motor to this drive signal duty in accordance with regulations power semiconductor component in the switching inverter device recently.
In the control device of so general three-phase alternating-current motor, uneven as in the conversion gain of current detector and A/D converter, existing, just in each alternate generation imbalance of the three-phase current that flows through motor, cause the torque pulse of motor sometimes.
Control device as the threephase motor that addresses the above problem, have in each phase current detected value of three-phase alternating-current motor with 1 as the benchmark phase, make predetermined electric current only flow through this benchmark and reach the winding of 1 phase in addition mutually, the current detecting gain of obtaining the benchmark phase from each current detection value at this moment and other 1 mutually the ratio of current detecting gain, and make predetermined electric current only flow through described benchmark and reach the lead of 1 phase mutually, obtain the current detecting gain of benchmark phase and 1 mutually the ratio of current detecting gain again from current detection value at this moment, when motor operation,, be multiplied by this coefficient and come correcting current to detect the imbalance (for example Patent Document 1: the spy opens flat 5-91780 communique) of gain than the correction factor of calculating current detection value with the conversion gain of trying to achieve.
Summary of the invention
In the control device of above-mentioned existing alternating current motor, for example when the correction factor of the current transformation gain of asking the V phase, it is generally acknowledged the input of setting to the pwm signal generator, only make predetermined electric current flow through the winding that U reaches the V phase mutually.Yet, the problem that exists is, reaching mutually at U between the voltage of the discrepant situation of resistance value of winding of V phase or voltage instruction and DC-to-AC converter output has under the situation of error, even the U at alternating current motor adds the voltage that big or small same-sign is opposite mutually or between the V phase, the electric current that flows through the W phase also can not be 0, for making the electric current that flows through the W phase is 0, while be necessary to observe the W phase current to finely tune voltage instruction to the pwm signal generator, it is complicated that operation becomes.
The present invention does for solving problem as described above, even being to provide between the voltage of the discrepant situation of resistance value between the winding of alternating current motor or voltage instruction and DC-to-AC converter output, its purpose has under the situation of error, also can not inching voltage and try to achieve the control device of alternating current motor of the correction factor of current transformation gain.
The control device of the alternating current motor of first aspect present invention is characterized in that, possesses: the convertor device that alternating electromotive force is transformed to direct current power; The direct current power of described convertor device is transformed to the interchange of variable voltage, variable frequency and the DC-to-AC converter of supply alternating current motor; Detect the current detector of each phase current of described DC-to-AC converter output; The correcting device that the detected value that described current detector is detected multiply by correction factor and carries out the correction of current detection value; Carry out the mensuration of described correction factor, the coefficient calculator of calculating according to revision directive from the control device outside of described alternating current motor; Produce the pwm signal generator of controlling the signal of described DC-to-AC converter in the PWM mode according to voltage instruction; The control part of output voltage instruction, described voltage instruction is transformed to the three-phase voltage command signal with the current detection value of described correcting device correction; Signaling switch, described signaling switch will export described pwm signal generator from the voltage instruction of described control part to when not setting the common running of described revision directive; And from outside input revision directive the time, the correction factor that the voltage instruction that exports described pwm signal generator to is switched to described coefficient calculator output is measured with value, described coefficient calculator uses the current detection value of this phase and benchmark current detection value mutually another phase in addition to calculate when asking the correction factor of a certain phase.
The control device of the alternating current motor of second aspect present invention is characterized in that, possesses: the convertor device that alternating electromotive force is transformed to direct current power; The direct current power of described convertor device is transformed to the interchange of variable voltage, variable frequency and the DC-to-AC converter of supply alternating current motor; Detect the current detector of each phase current of described DC-to-AC converter output; The correcting device that the detected value that described current detector is detected multiply by correction factor and carries out the correction of current detection value; Regulation control electrical angle phase place according to described DC-to-AC converter is carried out the mensuration of described correction factor, the coefficient calculator of calculating, upgrading; Produce the pwm signal generator of controlling the signal of described DC-to-AC converter in the PWM mode according to voltage instruction; Output voltage instructs the control part of described pwm signal generator, described voltage instruction is transformed to the three-phase voltage command signal with the current detection value of described correcting device correction, described coefficient calculator uses the current detection value of this phase and benchmark current detection value mutually another phase in addition to calculate when asking the correction factor of a certain phase.
As mentioned above, as adopt the present invention, then owing to utilize the coefficient calculator obtain the correction factor that the correcting current detected value uses, making the current detection value that reaches the benchmark phase when the correction factor of asking certain 1 phase except this mutually also, the current detection value with another phase calculates, therefore can there is no need to make the electric current of arbitrary phase when correction factor is measured is zero, there is no need voltage instruction is carried out inching, try to achieve the correction factor of current transformation gain.
Description of drawings
Fig. 1 illustrates the formation block diagram of control device of the alternating current motor of example of the present invention.
Fig. 2 is illustrated in the flow chart of current sensor gain coefficient calculator 22 actions when the correction factor of the current transformation gain of obtaining example 1 of the present invention.
Fig. 3 is illustrated in the flow chart of current sensor gain coefficient calculator 22 actions when the correction factor of the current transformation gain of obtaining example 2 of the present invention.
Fig. 4 is the figure of the action of explanation when the correction factor of the current transformation gain of obtaining example 3 of the present invention, graph of a relation when being illustrated in the d shaft current O control of better using in the control of common synchronous motor, rotor electrical angle and each phase current.
Fig. 5 illustrates the formation block diagram of control device of the alternating current motor of example 3 of the present invention.
Fig. 6 illustrates the flow chart of current sensor gain corrected Calculation portion 22 actions of example 3 of the present invention.
Symbol description
1 three-phase alternating current, 2 converter apparatus
3 smmothing capacitors, 4 DC-to-AC converter
5 three-phase alternating- current motor 10a, 10b, 10c current detector
11 position detectors, 12 differentiators
15a, 15b, 15c A/D converter 16 coordinate converters
17a, 17b current controller 18 coordinate converters
21a, 21b corrected Calculation device 22 current sensor gain coefficient calculators
23 signaling switches
Specific implementation method
Example 1
Fig. 1 is the formation block diagram of control device that the alternating current motor of example of the present invention is shown.As shown in Figure 1, the control device that three-phase alternating-current motor is controlled to the speed of wanting possesses: the converter apparatus 2 that three-phase alternating current 1 is transformed into direct current, the smmothing capacitor 3 of the direct current output of level and smooth converter apparatus 2, with this smmothing capacitor 3 be arranged in parallel converter apparatus 2 outlet side, the direct current power of converter apparatus 2 is transformed to the DC-to-AC converter 4 of three-phase alternating current again, drive for example synchronous motor of permanent magnet motor etc. of threephase motor 5 with the interchange output of this DC-to-AC converter 4.
Control device as control three-phase alternating-current motor 5 usefulness, current detector 10a, 10b, the 10c of electric current that possesses each phase of the U, the V that detect three-phase alternating-current motor 5, W, and the position detector 11 that detects the rotor-position of three-phase alternating-current motor 5, carry out the feedback signal that time diffusion obtains spinner velocity with the output of 12 pairs of position detectors 11 of differentiator.To given electromotor velocity instruction, calculate from the feedback speed signal of differentiator 12 and the velocity deviation between the speed command by adder 13a, current command generator 14 makes the two-phase current command value by vector control according to from the velocity deviation of adder 13a and current rate signal.
On the other hand, the electric current of each phase of the three-phase alternating-current motor 5 that current detector 10a, 10b, 10c detect is transformed to digital signal through A/ D converter 15a, 15b, 15c, the output of A/D converter 15b, 15c be multiply by correction factor Kv, Kw with corrected Calculation device 21a, 21b, be used to carry out vector control, with the output of A/D converter 15a and via the A/D converter 15b of corrected Calculation device 21a, 21b, the output of 15c, make three-phase/two phase inversion with coordinate converter 16, transform on the control reference axis of signal of position detector 11.
In addition, possess current sensor gain coefficient calculator 22 and signaling switch 23, the former is according to carrying out mensuration, the calculating of correction factor Kv, the Kw of corrected Calculation device 21a, 21b from the current sensor gain coefficient revision directive of outside, and the latter will switch to the mensuration of correction factor of current detecting gain of current sensor gain coefficient calculator 22 outputs to the voltage instruction with pwm signal generator 19 with value according to the current sensor gain coefficient revision directive from the outside.In common running action, do not set the revision directive of current sensor gain coefficient, so signaling switch 23 will export pwm signal generator 19 from the voltage instruction of coordinate converter 18 to, carry out the vector control of three-phase alternating-current motor 5.
Voltage instruction via signaling switch 23 is input to pwm signal generator 19, be transformed into switching signal, and it is inputed to gate drive circuit 20 make drive signal, be used for the power semiconductor component in the duty ratio break-make switching DC-to-AC converter 4 of regulation, thus, export desired three-phase ac power to three-phase alternating-current motor 5.In above formation, the control device that chain-dotted line surrounds part often uses digital circuit that (all not shown) such as CPU, memory, logical circuits constitute and the software that has loaded this circuit to realize.
As adopt the control device of the three-phase alternating-current motor shown in Figure 1 of above-mentioned formation, then in each circuitry phase detected value of three-phase alternating-current motor with 1 phase (for example U phase) as the benchmark phase, only in reaching the winding of 1 phase in addition mutually, this benchmark flows through the direct current of regulation, the current detecting gain of obtaining the benchmark phase from each current detection value at this moment and other 1 mutually the ratio of current detecting gain.And, only make described benchmark and 1 mutually lead again flow through the direct current of regulation, obtain the current detecting gain of benchmark phase and 1 mutually the ratio of current detecting gain again from current detection value at this moment.When motor operation, than the correction factor of calculating current detection value, be multiplied by this coefficient and come correcting current to detect the imbalance of gain with the conversion gain of trying to achieve.
That is to say, in control device shown in Figure 1, increase:, carry out corrected Calculation device 21a, the 21b of current detection value correction the output that correction factor Kv, Kw multiply by A/D converter 15b, 15c; The mensuration of correction factor Kv, Kw is carried out in the current sensor gain coefficient revision directive that the correction factor that utilizes indicator current to detect gain is measured, the current sensor gain coefficient of calculating calculates 22; And utilize current sensor gain coefficient instruction will switch to the signaling switch 23 of mensuration usefulness value of correction factor of the current detecting gain of current sensor gain coefficient calculator 22 outputs to voltage instruction with pwm signal generator 19.
In common running action, do not set the revision directive of current sensor gain coefficient, so signaling switch 23 exports the voltage instruction of coordinate converter 18 outputs to pwm signal generator 19, carry out the vector control of threephase motor 5.At this moment, with corrected Calculation device 21a, 21b correction factor Kv, Kw be multiply by the output of A/D converter 15b, 15c in the control device shown in Figure 1, correction is carried out vector control with respect to the imbalance of the gain of the current detecting of the V of benchmark phase U phase, W phase and A/D conversion with revised current value.In the common running action of not setting the revision directive of current sensor gain coefficient, it is certain that correction factor Kv, kw keep.By above-mentioned revised current detection value is made value after three-phase/two phase inversion by coordinate converter 16, come Control current as feedback signal, just can eliminate the poor of conversion gain that the current detector of each phase produces, not have the imbalance of electric current, can reduce torque pulsation.
Action when the correction factor that carries out the current detecting gain is measured below is described.
At first discuss and exchange motor 5 is crossed the relation of digital signal value Xu, Xv, Xw and current transformation gain A v, the Aw of the electric current of each phase at a certain transient flow.Neutral point not with general three-phase alternating-current motor that the outside connects in each electric current I u, Iv, Iw mutually the relation of formula (1) is arranged.
Iu+Iv+Iw＝0 ……(1)
Current value to each phase carries out digital conversion, just produce above-mentioned like that because of the error that detects, conversion causes, for example the digital conversion gain with the U phase is a benchmark, if with respect to Kv, the Iw of the correction factor of the current transformation gain of the V of U phase, W phase, the relation of formula (2) is arranged between the signal value after the digital conversion then
Xu+Kv·Xv+Kw·Xw＝0 ……(2)
Thus, certain has the relation (1 expression is 1 signal regularly, the signal of 2 expression timings 2) as shown in the formula (3-1), (3-2) in a flash between the digital signal value of each phase current of (regularly 1) and another moment (regularly 2).
Xu1+Kv·Xv1+Kw·Xw1＝0 ……(3-1)
Xu2+Kv·Xv2+Kw·Xw2＝0 ……(3-2)
Because of unknown number is 2 of Kv, Kw, connection is separated two formulas and can be tried to achieve Kv, Kw among following formula (3-1), (3-2).At this moment, there is no need during owing to mensuration to make the electric current of a certain phase is zero, so there is no need the voltage instruction of pwm signal generator 19 is done inching.
Below explanation is asked the correction factor Kv of current transformation gain, the concrete grammar of Kw from formula (3-1), (3-2).
Arrangement formula (3-1), (3-2) and with matrix notation suc as formula (4).
[mathematical expression 1]
Deformation type (4) gets formula (5)
As with formula (5), then can (Xu1, Xv1 be Xw1) with (Xu2, Xv2 Xw2) try to achieve correction factor Kv, the Kw of current transformation gain from the digital signal value of each phase current of 2 groups of 2 timings.The contrary determinant on formula (5) the right is specifically represented by formula (6).
[mathematical expression 3]
Here, if the error that size is certain because mensuration noise etc. is sneaked under the situation of each digital signal value, from asking the computational accuracy of Kv, Kw to have in mind with formula (5), then as can be known when the electric current that flows through the U phase is identical, the denominator on formula (6) the right influence of mistake more is just more little.This show use electric current flow through U and V mutually between and state (regularly 1) that W flows through electric current mutually hardly and electric current flow through between U and the W phase and the V phase flows through under the situation of 2 groups of digital signal values of state (timing 2) of electric current hardly, the correction factor Kv that above-mentioned current transformation gains, the computational accuracy of Kw uprise.
The action of the current sensor gain coefficient calculator 22 in the controller for ac motor of the flowchart text example 1 of the present invention that following reference is shown in Figure 2 when the correction factor of asking the current transformation gain.
At first, at first step 40, the input of 22 pairs of pwm signal generators 19 of current sensor gain coefficient calculator provides voltage setting value, makes the direct current of showing regulation greatly flow through U phase and V winding mutually, does not almost have electric current to flow through the W phase winding simultaneously.For example, give identical mutually to U and V and the voltage instruction of opposite in sign is given and the O voltage instruction mutually to W with size.Then in the 2nd step 41, current detector 10a, 10b, 10c detect and flow through U phase, V phase, the W electric current of each winding mutually, A/ D converter 15a, 15b, 15c carry out digital conversion to it, and its digital signal value is stored as Xu1 (U phase), Xv1 (V phase), Xw1 (W phase) respectively.
Then, in the 3rd step 42, current U is made with the winding of W phase flow through the certain direct current identical with the 1st step.Then in the 4th step 43, with the 2nd step similarly detect flow through U mutually, V phase, the W electric current of each winding mutually, carry out digital conversion, its digital signal value is stored as Xu2 (U phase), Xv2 (V phase), Xw2 (W phase) respectively.
At last, calculating in the 5th step 44 of correction factor, obtain V phase and correction factor Kv, the Kw of W respectively with respect to the U phase according to above-mentioned formula (5) with each digital signal value Xu1, Xv1, Xw1 and Xu2, Xv2, each value of Xw2.
After obtaining Kv, Kw by above action, the coefficient update that will be set in corrected Calculation device 21a, 21b is the new coefficient that calculates, and finishes the mensuration action of the correction factor of current detecting gain.
When using current detector, make before using and flow through the alternating current of decay in time, remove the demagnetization action of the magnetic hysteresis of current detector internal magnetic circuit, and then the detection output under the electric current O state after the storage demagnetization action, as the offset of current detecting, generally is to deduct value behind the offset the detected value during from actual measurement as current detection value with this value.For these actions, though record in the example of the present invention, by implementing these actions, the precision that can improve the correction factor of current detecting and current detecting gain among the present invention is self-evident before the correction factor of measuring the current detecting gain.And handling current detection value by suitable low pass filter, can to reduce The noise be self-evident.
Again, mainly be to make electric current flow through two-phase in the three-phase of alternating current motor when asking the correction factor of current transformation gain in the above-mentioned example, yet owing to formula (5) is all set up regardless of the size of each phase current, so also can try to achieve the correction factor that current transformation gains under the "on" position arbitrarily certainly.Again, in above-mentioned example, measure current detection value, try to achieve the correction factor of current transformation gain, yet the electric current that flows through needs not to be direct current, uses measuring clog-free low-frequency ac electric current also harmless with flowing through direct current.Again, be to make to carry out the correction factor that the current transformation gain is once tried to achieve in processing shown in Figure 2 in the above-mentioned example, if yet repeatedly carry out the action of Fig. 2, calculate the mean value of correction factor of a plurality of current transformations gain of gained, the correction factor that then can obtain more current with high accuracy conversion gain is self-evident.
Thereby, according to above-mentioned example 1, because current sensor gain coefficient calculator 22 is when asking the correction factor of a certain phase, except that this reaches the current detection value of benchmark phase mutually, also the current detection value with another phase calculates, there is no need when therefore correction factor is measured to make the electric current of arbitrary phase is zero, there is no need the inching voltage instruction.
Again, illustrated with position detector vector control AC motor in the above-mentioned example, carried out the situation of speed control, yet for the vector control of the induction motor of speed detector and without the no sensor vector control of speed control position detector etc., same effect is also arranged certainly, and to speed control from outer control mode (Position Control, torque control etc.) also certainly effectively.Again, scope of the present invention is not limited to carry out the vector control mode of current feedback, but applicable to calculating the control mode of voltage instruction with detected electric current, and have same effect.
Example 2
Below explanation utilizes the action of the example 2 of control device algorithm, of the present invention alternating current motor different with above-mentioned example 1.Fig. 3 illustrates the flow chart of the action of the current sensor gain coefficient calculator 22 when asking the correction factor of current transformation gain in the control device of alternating current motor of example 2 of the present invention.
In the example 2, the action of step 41～43 is also identical with example 1, and digital signal value Xu1, Xv1, Xw1 and Xu2, Xv2, the Xw2 of 2 times amperometric determination are stored.In the 5th step 45, obtain V phase and correction factor Kv, the Kw of W respectively, but this algorithm is different with example 1 with respect to the U phase.
In the 5th step 45 in example 2, utilize repeated calculation to obtain correction factor Kv, Kw.At first, in the step 46 as calculating initial value configuration part, the counter n that sets repeated calculation is 0, and initial value Kv (o), the Kw (o) of correction factor Kv (n), the Kw (n) of set-up and calculated process are 0 simultaneously.
Then, carry out the calculating of correction factor as the step 47 of calculating part.At first, calculate the correction factor Kv (n) of V phase, with last time calculate the Kw (n) that tries to achieve, also the digital signal value Xw1 with the W phase calculates.When for the first time being n=0 owing to there is not last time calculated value, so be 1 at the initial value Kw (o) that calculates initial value configuration part 46 setting correction factor Kw (n).Then similarly calculate the correction factor Kw (n) of W phase, at this moment with the adjacent Kv (n) that tries to achieve before it, also the digital signal value Xv2 with the V phase calculates.
As the step 48 of control part repeatedly, calculate last time poor Kv (n+1)-Kv (n), Kw (the n+1)-Kw (n) with the correction factor of current calculating, then make calculating part 47 actions as this difference once more greater than the appearance value e that permitted of regulation, as less than being permitted just end calculating of appearance value e.Correction factor Kv (n+1), the Kw (n+1) that will finish in step 49 calculating as coefficient settings portion preserved as last correction factor Kv, Kw at last.
Thereby, in the calculating of this example 2,, therefore have the intuitively intelligible feature of computation structure, and correction factor Kv, Kw just approached originally at 1 o'clock, because convergence is fast, so be expected to reduce amount of calculation owing to do not carry out contrary determinant and do not calculate with calculating.
Again, above-mentioned situation finishes to calculate with correction factor Kv, Kw convergence state in the scope of being permitted appearance value e of regulation, but requiring calculation times repeatedly for the claimed accuracy that obtains correction factor Kv, Kw is predefined occasion, also can simultaneously increase counter n, one side makes repeatedly as the step 47 of the calculating part action stipulated number n0 of the n 0 time of regulation only, can make the algorithm simplification.
Example 3
The method that DC-to-AC converter is carried out the action different with common running when the correction factor of asking the current transformation gain more than has been described in the explanation, yet inverter also can similarly be tried to achieve the correction factor of current transformation gain when turning round usually.Fig. 4 illustrates in the common synchronous motor control relation under d shaft current o control situation commonly used, rotor electrical angle and each phase current, as seen from the figure, regularly near 1 near (60 ° of the electrical angles) U flow through electric current mutually with V and W does not almost have electric current mutually, near (120 ° of the electrical angles) U flows through electric current mutually with W and the V phase does not almost have electric current near timing 2.As these are regularly carried out amperometric determination, then the inverter in turning round usually also may be tried to achieve the correction factor of current transformation gain.
Fig. 5 is the formation block diagram of the controller for ac motor of example 3 of the present invention.The digital signal value that current sensor gain corrected Calculation portion 22 obtains according to A/ D converter 15a, 15b, 15c in the example 3 shown in Figure 5 and the rotor-position signal of position detector 11 are calculated correction factor Kv, Kw.
Fig. 6 illustrates the flow chart of the action of current sensor gain corrected Calculation portion 22.The following action that example 3 of the present invention is described according to this figure.There is the part of duplicate numbers to have same function with Fig. 1, Fig. 2 among two figure.
In the example 3 of the present invention, inverter continues common running when asking the correction factor of current transformation gain.When asking the correction factor of current transformation gain, current sensor gain corrected Calculation portion 22 at first monitors rotor-position signal in the 1st step 50, wait for regularly 1 the state that arrives, when rotor arrives when being equivalent to regularly 1 electrical angle, detect each phase current in the 2nd step 41, and store it.
Then, wait for regularly 2 the state that arrives, when rotor arrival is equivalent to the electrical angle of timing 2, detects each phase current and store it in the 4th step 43 in the 3rd step 51.In the end the 5th step is calculated correction factor Kv, Kw.Calculating the finish time, the correction factor that is set in error correction calculator 21a, 21b is updated to the correction factor of new calculating.
More than in the explanation, get the timing that detects each phase current and be 60 ° of electrical angles with 120 ° two, yet same timing also can appear at 240 ° with 300 °, and the latter's timing effect is also identical.Use formula (5) is calculated correction factor Kv, Kw, also sets up beyond above-mentioned specific timing from the principle, therefore under the not too important situation of computational accuracy, also can carry out current detecting with the timing beyond above-mentioned.
Again, calculating according to the gain of the current transformation in the running of example 3 correction factor, the amplitude of each phase current is big more, and the frequency of electric current is low more, the current value that is used to calculate is just big more and stable, thereby it is self-evident improving the computational accuracy this point, therefore do not calculate, upgrade the current transformation gain correction factor irrelevant with operating condition, but at above-mentioned big electric current, when driving, low frequency carries out the calculating of correction factor, upgrade, when not having such operating condition, make the calculating that stops correction factor, method for updating can be carried out the renewal of suitable current transformation gain correction factor.
Again, in the above-mentioned example 3, current sensor gain corrected Calculation portion monitors rotor-position signal and judges the timing of amperometric determination, yet replaces rotor-position to judge that mensuration is regularly also harmless naturally with the Control Shaft phase place of vector control, can obtain same effect.
Thereby, according to example 3, since make current sensor gain coefficient calculator 22 according to the control electrical angle phase place of the regulation of DC-to-AC converter carry out correction factor mensuration, calculate, upgrade, make when the correction factor of asking certain 1 phase, except that reaching the current detection value of benchmark phase mutually, this also calculates, even therefore also can obtain the correction factor of current transformation gain the inverter in the common running with other current detection value of 1 phase.
Claims (2)
1. the control device of an alternating current motor is characterized in that, possesses
Alternating electromotive force is transformed to the convertor device of direct current power;
The direct current power of described convertor device is transformed to the interchange of variable voltage, variable frequency and the DC-to-AC converter of supply alternating current motor;
Detect the current detector of each phase current of described DC-to-AC converter output;
The correcting device that the detected value that described current detector is detected multiply by correction factor and carries out the correction of current detection value;
Carry out the mensuration of described correction factor, the coefficient calculator of calculating according to revision directive from the control device outside of described alternating current motor;
Produce the pwm signal generator of controlling the signal of described DC-to-AC converter in the PWM mode according to voltage instruction;
The control part of output voltage instruction, described voltage instruction is transformed to the three-phase voltage command signal with the current detection value of described correcting device correction;
Signaling switch, described signaling switch will export described pwm signal generator from the voltage instruction of described control part to when not setting the common running of described revision directive; And from outside input revision directive the time, the correction factor that the voltage instruction that exports described pwm signal generator to is switched to described coefficient calculator output is measured with value,
Described coefficient calculator uses the current detection value of this phase and benchmark current detection value mutually another phase in addition to calculate when asking the correction factor of a certain phase.
2. the control device of an alternating current motor is characterized in that, possesses
Alternating electromotive force is transformed to the convertor device of direct current power;
The direct current power of described convertor device is transformed to the interchange of variable voltage, variable frequency and the DC-to-AC converter of supply alternating current motor;
Detect the current detector of each phase current of described DC-to-AC converter output;
The correcting device that the detected value that described current detector is detected multiply by correction factor and carries out the correction of current detection value;
Regulation control electrical angle phase place according to described DC-to-AC converter is carried out the mensuration of described correction factor, the coefficient calculator of calculating, upgrading;
Produce the pwm signal generator of controlling the signal of described DC-to-AC converter in the PWM mode according to voltage instruction;
Output voltage instructs the control part of described pwm signal generator, and described voltage instruction is transformed to the three-phase voltage command signal with the current detection value of described correcting device correction,
Described coefficient calculator uses the current detection value of this phase and benchmark current detection value mutually another phase in addition to calculate when asking the correction factor of a certain phase.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2002296132 | 2002-10-09 | ||
| JP2002296132A JP2004135407A (en) | 2002-10-09 | 2002-10-09 | Control device for ac motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1489276A CN1489276A (en) | 2004-04-14 |
| CN1234204C true CN1234204C (en) | 2005-12-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB031551661A Expired - Lifetime CN1234204C (en) | 2002-10-09 | 2003-08-22 | Control device for alternating-current motor |
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| Country | Link |
|---|---|
| JP (1) | JP2004135407A (en) |
| KR (1) | KR100549253B1 (en) |
| CN (1) | CN1234204C (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006042590A (en) * | 2004-06-21 | 2006-02-09 | Fujitsu Ten Ltd | Apparatus and method of correcting detected current value of three-phase motor |
| JP4619712B2 (en) * | 2004-07-13 | 2011-01-26 | 三菱電機株式会社 | AC motor control device |
| US9214889B2 (en) | 2008-03-31 | 2015-12-15 | Mitsubishi Electric Corporation | Motor drive control apparatus |
| EP2406927A1 (en) * | 2009-03-09 | 2012-01-18 | Zte Wistron Telecom Ab | A digital predistortion circuit with extended operating range and a method thereof |
| KR101515514B1 (en) * | 2014-08-12 | 2015-04-28 | 엘아이지넥스원 주식회사 | Apparatus and method for controlling rotation of radar |
| CN111200379A (en) * | 2018-11-16 | 2020-05-26 | 宝沃汽车（中国）有限公司 | Control system and method for permanent magnet synchronous motor |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR0159489B1 (en) * | 1989-10-18 | 1999-01-15 | 미다 가쓰시게 | Control circuit of power supply and ups |
| JPH03135390A (en) * | 1989-10-19 | 1991-06-10 | Hitachi Ltd | Method and device for controlling power converter |
| KR920004987B1 (en) * | 1989-10-25 | 1992-06-22 | 금성계전 주식회사 | Sensing error compensating method for inverter |
| JPH03270685A (en) * | 1990-03-16 | 1991-12-02 | Hitachi Ltd | Controller for induction motor |
| JPH0591780A (en) * | 1991-09-27 | 1993-04-09 | Japan Steel Works Ltd:The | Method and device for controlling three-phase motor |
| KR100438978B1 (en) * | 1998-02-17 | 2004-09-13 | 엘지산전 주식회사 | Inverter current control apparatus including speed control unit, current detection unit, current scale compensator, current control unit, and inverter |
-
2002
- 2002-10-09 JP JP2002296132A patent/JP2004135407A/en active Pending
-
2003
- 2003-08-20 KR KR1020030057594A patent/KR100549253B1/en active IP Right Grant
- 2003-08-22 CN CNB031551661A patent/CN1234204C/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| CN1489276A (en) | 2004-04-14 |
| KR100549253B1 (en) | 2006-02-03 |
| JP2004135407A (en) | 2004-04-30 |
| KR20040032739A (en) | 2004-04-17 |
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