CN1783692A - Speed controller of synchronous motor - Google Patents

Speed controller of synchronous motor Download PDF

Info

Publication number
CN1783692A
CN1783692A CNA2005101272767A CN200510127276A CN1783692A CN 1783692 A CN1783692 A CN 1783692A CN A2005101272767 A CNA2005101272767 A CN A2005101272767A CN 200510127276 A CN200510127276 A CN 200510127276A CN 1783692 A CN1783692 A CN 1783692A
Authority
CN
China
Prior art keywords
current
phase
mentioned
synchronous machine
instruction
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CNA2005101272767A
Other languages
Chinese (zh)
Other versions
CN1783692B (en
Inventor
岩路善尚
遠藤常博
川端幸雄
坂本潔
高倉雄八
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Johnson Controls Air Conditioning Inc
Original Assignee
Hitachi Appliances Inc
Hitachi Air Conditioning Systems Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi Appliances Inc, Hitachi Air Conditioning Systems Co Ltd filed Critical Hitachi Appliances Inc
Publication of CN1783692A publication Critical patent/CN1783692A/en
Application granted granted Critical
Publication of CN1783692B publication Critical patent/CN1783692B/en
Anticipated expiration legal-status Critical
Expired - Fee Related legal-status Critical Current

Links

Images

Classifications

    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B49/00—Arrangement or mounting of control or safety devices
    • F25B49/02—Arrangement or mounting of control or safety devices for compression type machines, plants or systems
    • F25B49/025—Motor control arrangements
    • 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
    • H02P21/22—Current control, e.g. using a current control loop

Landscapes

  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Mechanical Engineering (AREA)
  • Thermal Sciences (AREA)
  • General Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

The invention provides a speed control of a synchronous machine. An electrical angle frequency command omega1* is calculated from a rotational number command omegar* and a correction value Deltaomega1 is calculated from a difference between Iq* and Iqc. omega1* and Deltaomega1 are added to calculate omega1c and omega1c is integrated by an integrator 8 to calculate an AC phase thetadc. A current I0 detected by a current detector 6 is sampled by a current sampler 91 and AC currents are reproduced by a current reproduction unit 3. The reproduced currents are coordinate-converted by a dq-coordinate conversion unit 93 on the basis of the AC phase thetadc to calculate Iqc, and Iq* is obtained by the Iq* generator 10 from Iqc. Applied voltage commands Vdc* and Vqc* are calculated by a voltage command calculator 12 on the basis of the Id*, Iq* and omega1 and three-phase AC voltage-commands vu* to vw* are obtained by a dq-reverse conversion unit 13 on the basis of the applied voltages. PWM signals are generated by a PWM generator 14 on the basis of the three-phase AC voltage commands to control the inverter 3 by the PWM signals.

Description

The speed control unit of synchronous machine
The application is to be the dividing an application of application of the speed control unit that July 3, application number in 2003 are 03146514.5, denomination of invention is synchronous machine the applying date.
Technical field
The present invention relates to the speed control unit of synchronous machine, particularly relate to magnetic pole position sensor that does not use the position of magnetic pole that detects synchronous machine and the current sensor that detects the electric current of synchronous machine, the speed control unit of suitable synchronous machine aspect the speed of control synchronous machine.
Background technology
Control mode as the speed of controlling the synchronous machine that is made of the magnet motor has proposed the variety of ways such as mode of not using the mode of magnetic pole position sensor or not using current sensor.
In control mode in the past, the control mode of not using magnetic pole position sensor is the replacement magnetic pole position sensor, is provided with the position of magnetic pole estimator, basic structure is made of speed control and current controller etc., structure self is identical with the structure of band magnetic pole position sensor, is based on vector control.
The basic principle that position of magnetic pole is inferred is electric constant, electric moter voltage and the current of electric according to synchronous machine, carry out the deduction computing of position of magnetic pole, as the device that utilizes induced voltage, for example known spy of being documented in opens the device in the 2001-251889 communique etc.
The principles of inference of position of magnetic pole is to infer that computing is the rotatable coordinate axis (d-q axle) and the axis error Δ θ between the rotatable coordinate axis (dc-qc axle) of hypothesis in the control of benchmark with the position of magnetic pole of synchronous machine, make that by the frequency instruction of revising synchronous machine the axis error that obtains by this computing is 0, realize the position-sensor-free vector control.
Under the situation of position-sensor-free vector control, can realize the control of the high performance synchronous machine of high torque (HT) according to the loading condiction size and the phase place of controlling and driving electric current ideally.
On the other hand,, proposed to detect the direct current of the inverter of drive motors,, reproduced the so-called electric current playback system of the alternating current of motor according to the door pulse signal of its instantaneous value and inverter as the control mode of not using current sensor.This electric current playback system is for example opened in the flat 2-197295 communique as the spy and is put down in writing, and with the pulse signal that drives inverter, the current of electric that moment is represented in the direct current of the inverter of sampling/remain on detects current of electric indirectly.
In control mode in the past based on the no magnetic pole position sensor of the vector control of position-sensor-free, a plurality of speed controls must be set, current controller and position of magnetic pole estimator etc. form the controller of feedback loop, make the control structure complexity.Particularly, if with the high speed rotating drive motors, then control system totally is difficult to stablize.In order to make the control system overall stability, must shorten the control execution cycle, ride gain is set at very high, realize if do not use the arithmetic processor of the contour performance of DSP (digital signal processor) then be difficult to.
In addition, use the electric current playback system to have following problem.Promptly, in the electric current playback system, owing to reproduce current of electric according to the direct current of inverter and the door pulse signal of inverter, therefore when starting waits, under the extremely short situation of the pulse duration of and gate pulse low, be difficult to capture the electric current composition of motor when command voltage.Particularly, when the speed that makes motor is high, set the average frequency of switching of inverter (carrier frequency) highly more, the pulse duration of gate pulse is short more, is difficult to reproduce electric current more.As this countermeasure, though handle by the carrier frequency that only reduces inverter when the starting of motor, if the carrier frequency of reduction inverter then is accompanied by the increase of electric current high order harmonic component, perhaps efficient reduces, and perhaps becomes the reason of ear-piercing electromagnetic noise.
Like this, under the situation that " no magnetic pole position sensor control mode " and " electric current playback system " combined, when making motor for example with the frequency high speed rotating more than the 400Hz, the corresponding necessary execution cycle that quickens with carrier frequency, and, therefore be difficult to quicken separately execution cycle owing to aspect gatewidth, there is restriction.Thereby, at the control device that does not have to be difficult under the two the state of magnetic pole position sensor and current sense electrical equipment to realize the synchronous machine of high-speed high-performance.
Summary of the invention
Problem of the present invention is to provide does not use magnetic pole position sensor and current sensor, can make the speed control unit of the synchronous machine of motor high speed rotating under the control system stable status.
In order to solve above-mentioned problem, the speed control unit of synchronous machine of the present invention possesses:
The response pulse-width control signal becomes the three-phase alternating voltage of variable voltage variable frequency to the output voltage of DC power supply, is applied to the inverter on the synchronous machine;
The inverter current detector of the inverter current of detection from above-mentioned direct-current power supply to above-mentioned inverter;
Generation is about the revolution command generator of the revolution instruction of above-mentioned synchronous machine; And
Generate above-mentioned pulse-width control signal according to above-mentioned revolution instruction, output to the controller of above-mentioned inverter,
Wherein, above-mentioned controller is by constituting with lower device:
Sequential sampling is by the sampling apparatus of the detected inverter current of above-mentioned inverter current detector;
According to the electric current transcriber that reproduces the alternating current that flows through above-mentioned synchronous machine by the sample rate current value of the sampling of above-mentioned sampling apparatus;
The alternating current coordinate transform of reproducing by above-mentioned electric current transcriber be supposed the dc axle of the magnetic pole axle of above-mentioned synchronous machine inside and with the qc axle of above-mentioned dc axle quadrature on the dq coordinate transformation device of electric current;
Electric current composition on the qc axle that obtains according to the coordinate transform by above-mentioned dq coordinate transformation device generates the torque current command generating device about the torque current instruction of above-mentioned synchronous machine;
Generate the d shaft current command generating device of d shaft current instruction;
Instruct according to the instruction of above-mentioned revolution and the instruction of above-mentioned torque current and d shaft current, apply the voltage instruction arithmetic unit what on above-mentioned dc axle and the above-mentioned qc axle each applied that voltage instruction carries out computing;
Phase calculation device according to the above-mentioned revolution command calculations interchange phase place relevant with the driving frequency of above-mentioned synchronous machine;
According to the interchange phase place that calculates by above-mentioned phase calculation device above-mentioned each applied the dq inverse transformation device that the voltage instruction coordinate transform is the three-phase alternating voltage instruction;
Generate the pulse-width control signal generating apparatus of pulse-width control signal according to above-mentioned three-phase alternating voltage instruction;
Calculate with above-mentioned dc-qc axle with as the quantity of state arithmetic unit of the suitable quantity of state of the error angle of the d-q axle of the actual magnetic pole axis of above-mentioned synchronous machine; And
Phase place correcting device according to the above-mentioned interchange phase place of above-mentioned quantity of state correction.
In addition, the present invention is as the device that drives synchronous machine, do not use complicated control system such as rotary speed controller and current controller, formation is according to the control system of the feed-forward type of revolution instruction and current-order, at this moment, use actual torque current to generate the torque current instruction, detected value according to the direct current of inverter aspect current detecting reproduces current of electric, detection electric current as motor, also infer the quantity of state of magnetic pole axle and the error angle of actual magnetic pole axle on the s operation control, by according to the driving frequency of this operation values correction and motor suitable exchange phase place, constant axle is controlled to be zero partially, can make control system stable, and can carry out the rotation under the high carrier frequency.Specifically, the present invention possesses the response pulse-width control signal output voltage of DC power supply is become the three-phase alternating voltage of variable voltage variable frequency, is applied to the inverter on the synchronous machine; The inverter current detector of the inverter current of detection from above-mentioned direct-current power supply to above-mentioned inverter; Generation is about the revolution command generator of the revolution instruction of above-mentioned synchronous machine; Generate above-mentioned pulse-width control signal according to above-mentioned revolution instruction, output to the controller of above-mentioned inverter, wherein, above-mentioned controller is by the sampling apparatus of sequential sampling by the detected inverter current of above-mentioned inverter current detector; The sample rate current value that extracts according to the sampling by above-mentioned sampling apparatus is reproduced the electric current transcriber of the alternating current that flows through above-mentioned synchronous machine; The alternating current coordinate transform of reproducing by above-mentioned electric current transcriber be supposed the dc axle of the magnetic pole axle of above-mentioned synchronous machine inside and with the qc axle of above-mentioned dc axle quadrature on the dq coordinate transformation device of electric current; Electric current composition on the qc axle that obtains according to the coordinate transform by above-mentioned dq coordinate transformation device generates the torque current command generating device about the torque current instruction of above-mentioned synchronous machine; Instruct according to instruction of above-mentioned revolution and above-mentioned torque current, what each on above-mentioned dc axle of computing and the above-mentioned qc axle applied voltage instruction applies the voltage instruction arithmetic unit; Phase calculation device according to the above-mentioned revolution command calculations interchange phase place relevant with the driving frequency of above-mentioned synchronous machine; According to the interchange phase place that calculates by above-mentioned phase calculation device above-mentioned each applied the dq inverse transformation device that the voltage instruction coordinate transform is the three-phase alternating voltage instruction; Generate the pulse-width control signal generating apparatus of pulse-width control signal according to above-mentioned three-phase alternating voltage instruction; Calculate with above-mentioned dc-qc axle with as the quantity of state arithmetic unit of the suitable quantity of state of the error angle of the d-q axle of the actual magnetic pole axis of above-mentioned synchronous machine; Phase place correcting device according to the above-mentioned interchange phase place of above-mentioned state correction constitutes.
When constituting the speed control unit of above-mentioned synchronous machine, be more preferably and add following key element.
(1) the above-mentioned quantity of state of difference operation of the electric current composition on the qc axle that obtains according to coordinate transform of above-mentioned quantity of state arithmetic unit and the torque current instruction that generates by above-mentioned torque current command generating device by above-mentioned dq coordinate transformation device.
(2) if the q axle inductance of above-mentioned synchronous machine is designated as Lq, winding resistance is designated as R, electric current composition on the qc axle that coordinate transform by above-mentioned dq coordinate transformation device is obtained is designated as Iqc, electric current composition on the dc axle that coordinate transform by above-mentioned dq coordinate transformation device is obtained is designated as Idc, and the electric angle frequency instruction that obtains from above-mentioned revolution instruction is designated as ω 1 *, the voltage instruction that applies on the above-mentioned dc axle is designated as Vdc *, the voltage instruction that applies on the above-mentioned qc axle is designated as Vqc *, then as above-mentioned quantity of state, above-mentioned quantity of state arithmetic unit according to following formula (2) promptly
Formula (2)
Δθ c = tan - 1 V dc * - R · I dc + ω 1 * L q · I qc V qc * - R · I qc - ω 1 * L q · I dc
Come computing axis error Δ θ c.
(3) possess according to what on above-mentioned dc axle and the above-mentioned qc axle each applied that voltage instruction and above-mentioned phase calculation device calculate and exchange phase place, the voltage-phase arithmetic unit of computing voltage instruction phase place; Be used to instruct the interrupt generating equipment of interrupt signal of sampling in each particular phases of the voltage instruction phase place of above-mentioned voltage-phase arithmetic unit computing for above-mentioned sampling apparatus output.
(4) possess each phase polarity of the three-phase alternating voltage instruction of the above-mentioned dq inverse transformation device of computing output, export the polarity arithmetic unit of the polar signal of each phase; Respond the change in polarity of above-mentioned arbitrary phase polar signal, output is used to instruct the interrupt generating equipment of interrupt signal of sampling for above-mentioned sampling apparatus.
(5) possesses the signed magnitude arithmetic(al) device of absolute value of each phase of the three-phase alternating voltage instruction of the above-mentioned dq inverse transformation device of computing output; When in the absolute value of above-mentioned each phase, having the absolute value of 2 phases to become similar value, be used to instruct the interrupt generating equipment of interrupt signal of sampling for above-mentioned sampling apparatus output.
(6) possesses the substracting unit of the difference of electric current composition on the dc axle that the coordinate transform of computing by above-mentioned dq coordinate transformation device obtain and the instruction of d shaft current; The constant of the machine correcting device that is used to calculate the constant of the machine that applies voltage instruction on the above-mentioned qc axle according to the operation result correction of above-mentioned substracting unit.
(7) at least above-mentioned inverter and above-mentioned controller and above-mentioned inverter current detector moduleization.
In addition, the invention provides a kind of air conditioner, it possesses the speed control unit of the speed of synchronous machine and the above-mentioned synchronous machine of control,
The speed control unit of this synchronous machine is any one in the speed control unit of above-mentioned synchronous machine.
If according to above-mentioned device, the quantity of state that causes by the axis error Δ θ of the d-q axle of synchronous machine and Control Shaft dc-qc axle of computing then, this quantity of state as correction, correction is asked driving frequency from the electric angle frequency instruction that the revolution instruction obtains, calculate the interchange phase place from this driving frequency, and then, reproduce the alternating current of synchronous machine according to the electric current that the inverter current sampling is obtained, according to the interchange phase place alternating current that is reproduced is carried out the dq coordinate transform and ask torque current, when generating torque current instruction (instruction of q shaft current) from this torque current, according to instruct the electric angle frequency instruction computing dc axle that obtains and on the qc axle each to apply voltage instruction from torque current instruction and revolution, according to exchanging phase place each voltage instruction is carried out the instruction of dq inverse transformation generation three-phase alternating voltage, instruction generates pulse-width control signal according to three-phase alternating voltage, according to this pulse-width control signal control inverter, even therefore do not have magnetic pole position sensor no current transducer, synchronous machine is stablized and rotation at high speed.
Promptly, carry out FEEDBACK CONTROL in fact and be the suitable quantity of state of error angle according to dc-qc axle and d-q axle, only revise the inclined to one side control of axle, the conditioning ring gain that is used to carry out the control that axle revises partially can be the response time about number 10ms, reproduce current of electric from inverter current, if the processing time that generates actual torque current from the electric current that is reproduced carries out according to processing cycle of about 1/5 of conditioning ring gain then be just very abundant.Therefore, even omit speed control or current controller,, high speed rotating under the synchronous machine stable status can be made by being used in the needed time lag of processing of detecting torque current.
Description of drawings
Fig. 1 is the block diagram of system configuration of example 1 that the control device of synchronous machine of the present invention is shown.
Fig. 2 is that the magnetic pole axle that illustrates with synchronous machine is the polar plot of d-q reference axis with the relation of controlling the supposition axle dc-qc axle of going up supposition of benchmark.
Fig. 3 is the block diagram that the internal structure of ω 1 corrector in the example 1 of the present invention is shown.
Fig. 4 is the block diagram that the internal structure of the detection current processor in the invention process form 1 is shown.
Fig. 5 is the oscillogram of action that is used for illustrating the detection current processor of the invention process form 1.
Fig. 6 is the block diagram that the internal structure of ω 1 corrector in the example 2 of control device of synchronous machine of the present invention is shown.
Fig. 7 is the block diagram that the internal structure of the controller in the form 3 of speed control unit of synchronous machine of the present invention is shown.
Fig. 8 is the oscillogram of action that is used for illustrating the controller of the invention process form 3.
Fig. 9 A～9C is the oscillogram of effect that is used for illustrating the controller of the invention process form 3.
Figure 10 is the block diagram that the internal structure of the controller in the example 4 of speed control unit of synchronous machine of the present invention is shown.
Figure 11 is the oscillogram of action that is used for illustrating the controller of the invention process form 4.
Figure 12 is the block diagram that the structure of signed magnitude arithmetic(al) device in the example 5 of speed control unit of synchronous machine of the present invention and interrupt generator is shown.
Figure 13 is the oscillogram that is used for illustrating the action of the signed magnitude arithmetic(al) device of the invention process form 5 and interrupt generator.
Figure 14 is the block diagram that the internal structure of the controller in the example 6 of speed control unit of synchronous machine of the present invention is shown.
Figure 15 is the oblique view of structure of example 7 that the speed control unit of synchronous machine of the present invention is shown.
Figure 16 is useful in oblique view in the air-conditioner outdoor unit to the speed control unit of synchronous machine of the present invention.
Embodiment
Below, an example of the present invention is described with reference to the accompanying drawings.
Example 1
Fig. 1 is the block diagram of system configuration of example 1 that the speed control unit of synchronous machine of the present invention is shown.Among Fig. 1, the speed control unit of synchronous machine constitutes to possess and is used for providing revolution instruction ω r to synchronous machine 5 *Revolution instruction ω r * Revolution command generator 1; The interchange of computing synchronous machine 5 applies voltage, according to this operation result, generates the pulse-width signal (pwm signal) as pulse-width control signal, is applied to the controller 2 on the inverter 3; Inverter 3 by this pwm signal driving; The DC power supply 4 of supply capability on inverter 3; Detect the current detector (inverter current detector) 6 of the inverter current I0 that supplies to inverter 3 from DC power supply 4, export a side as controlling object, for example connecting the synchronous machine 5 that constitutes by the magnet motor in the interchange of inverter 3.
Controller 2 constitutes possesses conversion gain device 7; Integrator 8; Detect current processor 9; Torque current instruction (Iq *) generator 10; Id *Generator 11; Voltage instruction arithmetic unit 12; Dq inverse transformer 13; PWM generator 14; ω 1 corrector 15 and adder 16.
Conversion gain device 7 uses the number of poles P of synchronous machine 5 the revolution instruction ω r of revolution command generator 1 output *Be transformed to electric angle frequency instruction (driving frequency instruction) ω 1 of synchronous machine 5 *, the electric angle frequency instruction ω 1 of institute's conversion *Output to voltage instruction arithmetic unit 12 and adder 16.Adder 16 is electric angle frequency instruction ω 1 *With calculate driving frequency ω 1c after correction amount ω 1 addition of ω 1 corrector 15 output, result of calculation is outputed to integrator 8.Integrator 8 constitutes the interchange phase theta dc of operation control device inside, calculates the phase place arithmetic unit that exchanges phase theta dc that is associated with the driving frequency of synchronous machine 5.
Detecting current processor 9 and constitute the inverter current I0 that detects according to current detector 6, is the electric current composition computing of the synchronous machine 5 on the rotatable coordinate axis (dc/qc axle) Idc, Iqc.Torque current command generator 10 constitutes according to the electric current composition Iqc on the qc axle that detects current processor 9 outputs (actual torque current), and computing is as the torque current command generating device of the q shaft current instruction Iq of torque current instruction.Id *Generator 11 constitutes d shaft current instruction Id takes place *D shaft current command generating device.Voltage instruction arithmetic unit 12 constitutes according to Id *, Iq *, ω 1 *, computing is applied to the voltage instruction Vdc of the synchronous machine 5 on the dc-qc axle *, Vqc *Apply the voltage instruction arithmetic unit.Dq inverse transformer 13 constitutes the voltage instruction Vdc on the dc-qc axle *, Vqc *Be transformed to the three-phase alternating voltage instruction vu on the three-phase alternating current axle *, vv *, vw *The dq inverse transformation device.PWM generator 14 constitutes according to three-phase alternating voltage instruction vu *, vv *, vw *, generate pwm signal, the pwm signal that generates is outputed to the pulse-width control signal generating apparatus of inverter 3.
ω 1 corrector 15 constitutes the quantity of state that computing is produced by the axis error Δ θ of the d-q axle of synchronous machine 5 and Control Shaft dc-qc axle, according to electric angle frequency instruction (driving frequency instruction) ω 1 of its operation result computing for synchronous machine 5 *The quantity of state arithmetic unit of correction amount ω 1.Adder 16 constitutes the electric angle frequency instruction ω 1 of conversion gain device 7 outputs *With correction amount ω 1 addition of ω 1 corrector 15 outputs, calculate the phase place correcting device of driving frequency ω 1c.That is, adder 16 is revised and is exchanged phase theta dc, electric angle frequency instruction ω 1 for according to the correction amount ω 1 as quantity of state *With correction ω 1 addition, revise electric angle frequency instruction ω 1 *, calculate driving frequency ω 1c.
Detection current processor 9 constitutes possesses current sampler 91; Electric current reconstructor 92; Dq coordinate converter 93.Current sampler 91 constitutes the instantaneous value of the inverter current I0 of sequential sampling current detector 6 detections, the electric current of sampling is outputed to the sampling apparatus of electric current reconstructor 92.Electric current reconstructor 92 constitutes the sample rate current value according to current sampler 91 samplings, reproduces to flow into alternating current Iuc, the Ivc of synchronous machine 5, the electric current transcriber of Iwc.Dq coordinate converter 93 constitute the alternating current that electric current reconstructor 92 is reproduced be transformed to the magnetic pole axle of having supposed synchronous machine 5 inside the dc axle and with the qc axle of this dc axle quadrature on the electric current composition, promptly as the electric current composition Idc on the dc-qc axle of rotatable coordinate axis, the dc coordinate transformation device of Iqc.
Inverter 3 is made of main circuit part 31 and the gate driver 32 that applies door pulse signal on each switch element of main circuit part 31, wherein, main circuit part 31 is made up of the diode that switch element Sup, Sun, Svp, Svn, Swp, Swn and reverse parallel connection are connected on each switch element.
DC power supply 4 constitutes possesses diode bridge 42 and filtering capacitor 43, and the AC signal rectification from AC power 41, the ripple component in the signal that has suppressed to be included in by rectification with filtering capacitor 43 is applied to direct voltage V0 on the inverter 3.
Secondly, the operating principle of example 1 is described.Conversion gain device 7 is according to the rotate instruction ω r of the output of rotate instruction generator *, the electric angle frequency instruction ω 1 of computing synchronous machine 5 *, operation result is outputed to voltage instruction arithmetic unit 12 and adder 16.In voltage instruction arithmetic unit 12, according to electric angle frequencies omega 1 *, current-order Id *, Iq *, to be applied to by following (3) formula computing and to apply voltage Vdc on the synchronous machine 5 *, Vqc *
[formula 3]
V dc * = R · I d * - ω 1 * L q · I q *
V qc * = ω 1 * · L d · I d * + R · I q * + K e · ω 1 *
In the formula, R: motor resistance, Ld:d axle inductance, Lq:q axle inductance, Ke: the generating constant of motor.
(3) formula is the arithmetic expression that can obtain from the universal model of synchronous machine, offers the current-order Id of voltage instruction arithmetic unit 12 *, Iq *Respectively at Id *Generator 11, Iq *Generate in the generator 10.D shaft current instruction Id *When having used the motor of non-salient pole type, be provided as Id usually as synchronous machine 5 *=0.On the other hand, when having used the motor of salient pole type, be maximum in order to make efficient as synchronous machine 5, negative value is provided.Iq as the torque current instruction *, the current detection value Iqc from the qc axle of obtaining current detecting processor 9 obtains by computing.
Secondly, at Iq *In the generator 10, for example according to following (4) formula computing Iq *
[formula 4]
I q * = 1 1 + T r · s · I qc
Under the situation of vector control, the output as speed control provides Iq mostly *, and in controller 2 of the present invention, generate Iq from detected value Iqc *
That is, as known to, under steady state, owing to become Iqc=Iq from (4) formula *, therefore become from control device and supply with synchronous machine 5 for the necessary magnitude of voltage of loading condiction, can realize vector control.Its result, the simplified control system significantly of comparing with vector control in the past can improve the stability of control system.
Apply voltage Vdc when accessing according to (3) formula *, Vqc *The time, in dq inverse transformer 13, apply voltage Vdc to what in (3) formula, obtain *, Vqc *Coordinate transform is the three-phase alternating voltage instruction vu on the three-phase alternating current axle *, vv *, vw *Then, in PWM generator 14, alternating voltage instruction vu *, vv *, vw *Be transformed to pwm signal, conversion pwm signal output to gate driver 32.Gate driver 32 is according to this pwm signal (pulse signal) driving switch element Sup, Sun, and Svp, Svn, Swp, Swn for synchronous machine 5, applies and Vdc *, Vqc *Suitable voltage.
On the other hand, in ω 1 corrector 15, as shown in Figure 2, the magnetic pole axle of the reality in the synchronous machine 5 as the d axle, with d axle quadrature the axle as the q axle, and then a reference axis of supposing in control device is calculated the quantity of state suitable with axis error Δ θ as the dc/qc axle as correction amount ω 1.
Specifically, ω 1 corrector 15 as shown in Figure 3, by as computing (subtraction) Iq *Constitute with the adder 17 of the subtracter of the difference of Iqc and the modified gain device 18 that in the output of adder 17, multiply by gain K0 as the ratio key element.At Iq *Be under the steady state with Iqc that both are consistent, but when acceleration and deceleration or when load taking place disturbing, between produces skew.For example, disturb if load torque takes place, then d-q axial ratio dc-qc axle lags behind, and increases axis error Δ θ.In this case, Iqc also increases.Otherwise, when having reduced the load interference, its opposite phenomenon takes place.Thereby, if observation Iq *Poor with Iqc then can access the information of relevant axis error Δ θ.In addition, in the structure of Fig. 3, not necessarily be limited to and access correct Δ θ value.And, do not need high-accuracy arithmetic Δ θ from making the dc-qc axle purpose consistent with the d-q axle, as long as know whether and exist axle partially, describe in the structure example 2 below when making Δ θ precision good.
Under the situation that dc-qc axial ratio d-q axle lags behind, become the value of " just " as the Δ ω 1 of the output of ω 1 corrector 15.If the correction amount ω 1 according to " just " revises electric angle frequency instruction ω 1 *, then the driving frequency ω 1c of synchronous machine 5 raises, and the dc-qc axle turns back to d-q axle one side, and the dc-qc axle is consistent with the d-q axle, can make axis error Δ θ become 0.Otherwise when dc-qc axial ratio d-q axle was leading, Δ ω 1 became the value of " bearing ".If the Δ ω 1 according to " bearing " revises electric angle frequency instruction ω 1 *, then the driving frequency ω 1c of synchronous machine 5 reduces, and interchange phase theta dc becomes negative in proper order, and the dc-qc axle is consistent with the d-q axle, can make axis error Δ θ become 0.
Secondly, according to Fig. 4 the concrete structure that detects current processor 9 is described.Detect current processor 9 and constitute the current sampler 91 that possesses sampling inverter current I0; Electric current reconstructor 92; Dq coordinate converter 93.Current sampler 91 is by instruct vu according to three-phase alternating voltage *, vv *, vw *, the sampling time setting apparatus 911 of the timing that inverter current I0 is sampled in the decision timing that is used for instructing in order; According to sampling time setting apparatus 911, set and to sample/2 timer 912a, the 912b of time of inhibit signal; Acceptance is from the signal of each timer 912a, 912b, 2 sampling/retainers (S/H) 913a, the 913b of inverter current I0 sampling/maintenance; The signal turner 914 of the symbol of signal upset is constituted.
Electric current reconstructor 92 is by instruct vu according to three-phase alternating voltage *～vw *, the electric current that obtains by sampling is distributed to the three-phase electricity flow valuve Iuc of U, V, W phase, the detected value distributor 921 of Ivc, Iwc; According to signal, switch 3 switch 922a, 922b, 922c from the input of current sampler 91 from detected value distributor 921; Computing constitutes from the subtracter 16 of 2 current value I max, Imin of current sampler 91 outputs poor (Imid).
Among Fig. 4, become respectively and three-phase alternating voltage instruction vu as the Imid of current detection value Imax, the Imin of the output of current sampler 91 and computing in electric current reconstructor 92 *～vw *The current value that is associated of magnitude relationship.For example, at three-phase alternating voltage instruction vu *～vw *Relation be vu *＞vv *＞vw *Situation under, Imax becomes the electric current of U phase, Imid becomes the electric current of V phase, Imin becomes the electric current of W phase.According to Fig. 5 this concrete example is described.
Among Fig. 5, (a) be three-phase alternating voltage instruction vu *～vw *The triangular wave that uses in the pwm signal, carrier wave, (b) by pulse-width modulation the waveform of pwm pulse signal of each phase, (c) be the switching mode of the on off state of expression converter 3, (d) be the current waveform of the three-phase alternating current that in synchronous machine 5, flows through, (e) be current waveform by current detector 6 detected converter current I0, (f) be the electric current I max that the sampling by current sampler 91 obtains, the waveform of Imin (g) is the waveform of the reproduction electric current I uc～Iwc of each phase of having been reproduced by electric current reconstructor 92.
The magnitude relationship of the instruction of three-phase alternating voltage shown in Fig. 5 is vu *＞vv *＞vw *Example, if the driving frequency ω 1c of triangular wave carrier frequency ratio synchronous machine 5 is fully high, then can be considered as constantly during three-phase alternating voltage instruction the one-period for the waveform of triangular wave carrier, become (a) such waveform.At this moment, the waveform of pwm pulse signal becomes shown in (b).The pwm pulse waveform means respectively that when F=1 (switch level is " 1 ") switch element Sup, the Svp of the upside of inverter 3, Swp connect, and switch element Sun, the Svn of downside, Swn turn-off.Now, if the alternating current of supposition synchronous machine 5 is the situations of (d), then inverter current I0 becomes (e) such waveform.And, under the situation of (5), there are 4 following switching modes, the current value in each pattern is as follows.
(1) switching mode 1:
Switch element Sup=ON, Svp=ON, Swp=ON → I0=0
(2) switching mode 2:
Sup＝ON，Svp＝ON，Swp＝OFF→I0＝Iu+Iv＝-Iw
(3) switching mode 3:
Sup＝ON，Svp＝OFF，Swp＝OFF→I0＝Iu
(4) switching mode 4:
Sup＝OFF，Svp＝OFF，Swp＝OFF→I0＝0
That is, in switching mode 2, the current value of the phase (being the W phase in this case) of observation voltage instruction minimum when switching mode 3, is observed the current value (being the U phase in this case) of the phase of voltage instruction maximum in addition.That is, in the half period of triangular wave carrier, in collector current I0, comprise the current information of " voltage maximal phase " and " voltage is minimum mutually ".
Thus, if with the timing sampling collector current I0 of the arrow of (e), then can distinguish the electric current I min (being the W phase in this case) of the minimum phase of sampled voltage and the electric current I max of voltage maximal phase (be in this case U mutually time) (Fig. 5 (f)).This sampling timing is by 911 decisions of sampling time setting apparatus.By sampling time setting apparatus 911, according to the magnitude relationship of voltage instruction and the relation of switching mode, in the sampling time of electric current that decision is used for the sampled voltage maximal phase and the minimum electric current mutually of voltage, in 2 timer 912a, 912b, set the sampling time according to the time that is determined.In sampling/ retainer 913a, 913b,, carry out sampling/maintenance of inverter current I0 according to the signal that each timer takes place.In addition, because therefore the upset of the symbol of Imin correctly revises symbol by signal turner 914.
In addition under the situation of three-phase alternating current, only otherwise connect mid point, then Iu+Iv+Iw=0 sets up, so current value (the being the V phase in this case) Imid of phase can obtain by the difference of using subtracter 16 computing Imax and Imin in the middle of the voltage.In addition, in electric current reconstructor 92, difference Imax, Imin, Imid distributes to U, V, W phase.That is, in detected value distributor 921,, use 3 switch 922a～922c, distribute current detection value mutually according to each according to the magnitude relationship that applies voltage instruction of each phase.If distributed the current value of each phase, then use dq coordinate converter 93 the current value I uc of each phase, Ivc, Iwc are transformed to the electric current composition Idc of dc-qc axle, Iqc.
According to the Iqc that obtains like this, according to (4) computing Iq *, and then the Iq from obtaining by computing *Ask correction amount ω 1 with the difference of Iqc by ω 1 corrector 15, by revise electric angle frequency instruction Δ ω 1 with correction amount ω 1 *, generate driving frequency ω 1c, can realize vector control.
Like this, in this example, the action that detects current processor 9 is the most complicated.Particularly the frequency along with triangular wave carrier raises, and operational capability becomes important factor.But, in this example, owing to the vector control of " vector control of belt sensor " different structure with in the past, so the calculation process time that can extend and be used for this control.
That is, in the control structure of this example, as shown in Figure 1, the control that the axle that " FEEDBACK CONTROL " of carrying out in fact just undertaken by ω 1 corrector 15 is revised partially.The gain of the conditioning ring of ω 1 in the purposes of the compressor of fan, pump, air-conditioning etc., can be the response time about number 10ms for example.Thus, if the detection current processing that detects current processor 9 carry out with processing cycle of about 1/5 of this response time then be just very abundant.That is, can detect current processing according to the cycle of number ms.
Different therewith, in the past be in the no transducer control of basic structure with " vector control of belt sensor ", owing to use a plurality of speed controls, current controller, speed estimator, position estimator etc. to constitute feedback control system, therefore be difficult to set the control response time of each key element, the result need improve arithmetic speed.As its result, detect current processing and also need handle according to several 100 μ s levels.
Like this, if according to this example, then because according to Iq *Ask correction amount ω 1 with the difference of Iqc, revise electric angle frequency instruction ω 1 according to correction amount ω 1 *Ask ω 1c, therefore can extend and detect the response time of current processor 9, can not use magnetic pole position sensor or current sensor, make the stable and rotation at high speed of synchronous machine 5, can seek to realize minimizing and the simplification of control structure of hardware configuration key element.
Example 2
Secondly, the example 2 of the speed control unit of synchronous machine of the present invention is described according to Fig. 6.This example replaces ω 1 corrector 15, has used ω 1 corrector 15B, and other structure is identical with Fig. 1's.Promptly, in example 1, owing to simplify the computing of axis error Δ θ, carry out the control of axis error Δ θ through ω 1 corrector 15, therefore consider if condition differences such as rotary speeies, then the gain of ω 1 conditioning ring changes, and sometimes with the stability of damage control system, thereby replaces ω 1 corrector 15 and has used ω 1 corrector 15B.
ω 1 corrector 15B is by the axis error arithmetic unit 19 of computing axis error Δ θ accurately; Setting is as setting apparatus 20a, the 20b of the winding resistance R of constant of the machine; Setting is as setting apparatus 21a, the 21b of the q axle inductance L q of constant of the machine; Idc and ω 1 *Carry out the multiplier 22a of multiplying; ω 1 *The multiplier 22b that carries out multiplying with Iqc; Respectively Vdc *, the output of setting apparatus 20a, the output of setting apparatus 21b carries out the adder 17a as subtracter of plus and minus calculation; Respectively Vqc *, setting apparatus 20b, 21a output carry out the adder 17b as subtracter of plus and minus calculation; Ask the arc tangent line arithmetic unit 23 of its arc tangent line from the output of adder 17a and adder 17b; The zero command generator 24 of the instruction of " zero " is provided for the axis error inferred value Δ θ c of arithmetic unit 23 outputs; Axis error inferred value Δ θ c and " zero " are carried out the adder 17c as subtracter of plus and minus calculation; Gain constitutes for the gain setting device 25 as the ratio key element of K.
In axis error arithmetic unit 19, according to Vdc *, Vqc *, ω 1 *, Idc, Iqc, according to following (5) formula, infer computing axis error Δ θ.
[formula 5]
Δθ C = tan - 1 V dc * - R · I dc + ω 1 * L q · I qc V qc * - R · I qc - ω 1 * L q · I dc
That is, in axis error computing 19, carry out the computing of the molecule in (5) formula, carry out the computing of the denominator of (5) formula with multiplier 22a, setting apparatus 21a, setting apparatus 20b, adder 17b with setting apparatus 20a, multiplier 22b, setting apparatus 21b, adder 17a.From this operation result arc tangent line arithmetic unit 23 computing axis error inferred value Δ θ c.
Like this, in this example, when asking axis error inferred value Δ θ c, obtain than ω 1 corrector 15 more input informations owing to use, therefore compare computing axis error inferred value Δ θ c accurately with above-mentioned example, can contribute at the aspect of performance that improves no transducer control.
In addition, because in ω 1 corrector 15B, provide " zero " as the desired value of axis error inferred value from zero command generator 24 to adder 17c, multiply by proportional gain K for the output of adder 17c and revise, so the set point of gain setting device 25 becomes the directly related amount of response that gains with decision ω 1 conditioning ring.There is not the dependence of control system for velocity conditions or loading condiction in its result, can improve the overall response characteristic of control system than above-mentioned example.
Example 3
Secondly, the example 3 of the control device of synchronous machine of the present invention is described according to Fig. 7.
This example is reset according to the interchange phase theta dc of integrator 8 outputs and is applied voltage instruction Vdc *The voltage-phase arithmetic unit 26 of computing voltage instruction phase theta v as the voltage-phase arithmetic unit, and being used to instruct the interrupt generator 27 of interrupt signal S of sampling to constitute controller 2C for detecting current processor 9 outputs as interrupt generating equipment in each particular phases of voltage instruction phase theta v, other structure is identical with Fig. 1's.
The elemental motion of controller 2C in this example and example 1 are much at one.But, make when detecting current processor 9 actions, have feature in the specific timing of voltage instruction phase theta v as trigger impulse generation interrupt signal this point.
Specifically, in voltage-phase arithmetic unit 26 according to following (6) formula computing voltage instruction phase theta v.
[formula 6]
θv = θ dc + π 2 + tan - 1 ( - V dc * V qc * )
(6) the θ v and the relation of voltage instruction phase place are shown in Fig. 8 (a).According to the value of voltage instruction phase theta v, in interrupt generator 27, at the timing generation interrupt signal S shown in Fig. 8 (b).Interrupt signal S is respectively at θ v=30 degree, and 90 spend, 150 degree ..., the moment of 330 degree takes place.Detect in the current processor 9 if interrupt signal S is input to, the current sampler 91 that then detects current processor 9 interrupt signal S as trigger impulse sequential sampling inverter current.If current sampler 91 then can access following effect according to the intervening sequences sampling inverter current of θ v=60 degree.
Specifically, shown in Fig. 9 (A), in the three-phase alternating voltage instruction, if the waveform (Fig. 9 C) of the inverter current I0 in the waveform (Fig. 9 B) of the inverter current I0 near the A point (the θ v=30 degree) and near the B point (the θ v=60 degree) is compared, then aspect the pulse duration of inverter current I0, produce very big difference as can be known.Under the situation of A point sampling, the electric current of Iu, Iw as I0 flow during equate that each all is the broad pulse width in addition, and different therewith, if at the B point sampling, then short between the flow periods of Iu.In the waveform of the inverter current I0 of reality, owing to produce the coupling that switch motion causes, so the electric current of the such narrow pulsewidth of the Iu of sample graph 9C is extremely difficult.In addition, under the situation of correct θ v=60 degree, become 0 fully during the Iu.That is, under near the situation of having carried out the detection current processing B point, can not reproduce the whole current of electric of three-phase, and only can reproduce Iw.The scope of the phenomenon of carrier frequency high more this " can not electric current reconstructor " enlarges more, is to use inverter current I0 to carry out the internal problem of the method that current of electric detects.
But, under the situation of controller 2C in this example, owing to only be to make in the timing shown in Fig. 9 B to detect current processor 9 actions, therefore undesirable situation such shown in Fig. 9 C can not take place usually, shown in Fig. 9 B, can detect electric current according to the good timing of condition all the time.
In addition, in this example, during the one-period for the voltage-phase instruction (0＜θ v＜360 degree), only carry out 6 times (per 60 degree) and detect current processing.In this case, though worry the influence that current detecting postpones, be out of question under the structure of the controller 2C in this example.That is, as illustrating in the example 1, in controller 2C, because FEEDBACK CONTROL only is axis error control, therefore easy systems stabilisation also can be stablized even control response reduces.As narration in the example 1, detect current processor 9 and can carry out in addition according to the number ms cycle.Suppose to carry out the detection current processing every 5ms, then fundamental frequency is so long as just can use more than the 33Hz (1/ (0.005 * 6)).Under the situation of synchronous machine 5, the high speed rotating purposes that reaches several 100Hz owing to fundamental frequency is a lot, therefore can both be suitable for the present invention in nearly all frequency band.
If according to this example, even then there is not magnetic pole position sensor no current transducer, also can be all the time with stable control system high speed rotating synchronous machine 5.
Example 4
Secondly, according to Figure 10 the 4th example of the present invention is described.This example replaces controller 2 to use controller 2D, and other structure is identical with Fig. 1's.
Specifically, newly added the alternating voltage instruction vu of each phase of computing *～vw *Symbol (polarity), export the symbolic operation device 28 as the polarity arithmetic unit of the polar signal of each phase; According to the polar signal of symbolic operation device 28 output, be used to instruct the interrupt generator 27D of sampled signal S of sampling as interrupt generating equipment for detecting current processor 9 outputs.
Secondly, the action of controller 2D is described.The elemental motion of controller 2D and example 1 are much at one.But, when making 9 actions of detection current processor, at three-phase alternating voltage instruction vu *～vw *The timing that changes of polarity have feature as trigger impulse generation interrupt signal this point.
Specifically, in example 3, when generating interrupt signal S, used voltage-phase instruction θ v, and shown in (6) formula, in the computing of θ v, needed to use the arc tangent line, this is the processing for the complexity of asking θ v, needs spended time.And, in order to monitor the timing of interrupt signal S, when upgrading the voltage instruction phase place, need all carry out computing at every turn at every turn.Therefore, in example 3, this is treated as bottleneck, has limited the value of overall operation time and carrier frequency etc.
Different therewith, in this example,, utilize the polarity information of alternating voltage instruction for solving the problem points in the example 3.Specifically, as shown in figure 11, for alternating voltage instruction vu *～vw *, shown in Figure 11 (b)～(d), ask the variation of the polarity of each phase with symbolic operation device 28.Each phase apply voltage instruction at θ v=30 degree, 90 the degree, 150 the degree ..., the moment of 330 degree takes place.Therefore, interrupt generator 27D is with θ v=30 degree, and 90 spend, 150 degree ..., the timings of 330 degree, promptly at the polar signal pu of each phase, pv, interrupt signal S shown in (e), takes place in the rising of pw and the timing of decline.Its result owing to can access the identical signal with Fig. 8 (b), does not therefore need the such computing of (6) formula, and interrupt signal S can take place.
Like this, if according to this example, then can enough speed control units of realizing high performance synchronous machine than example 3 simpler structures.
Example 5
Secondly, according to Figure 12 example 5 of the present invention is described.This example replaces symbolic operation device 28 to use signed magnitude arithmetic(al) device 29, replaces interrupt signal generator 27D to use interrupt signal generator 27E, and other structure is identical with example 4.
Signed magnitude arithmetic(al) device 29 constitutes computing and exports three-phase alternating voltage instruction vu *～vw *The signed magnitude arithmetic(al) device of absolute value, interrupt generator 27E constitutes when the absolute value that 2 phases are arranged in the absolute value of signed magnitude arithmetic(al) device 29 output becomes approximate value, is used to instruct the interrupt generating equipment of interrupt signal S of sampling for detecting current processor 9 outputs.
In example 4, interrupt signal takes place in the polarity of working voltage instruction phase place when its symbol upset, and if should handle with software implementation, then for the upset of detected symbol, will produce the delay of execution cycle part.That is, because the upset of symbol becomes the comparison with last sub-value, in any case therefore also will produce delay.Particularly at the fundamental frequency height, under the situation near carrier frequency, this postpones to increase, and is difficult to carry out the detection current processing under the ideal conditions such shown in Fig. 9 (A).
Therefore, in example 5, in order to solve such problem, absolute value with the instruction of signed magnitude arithmetic(al) device 29 computing three-phase alternating voltages, this operation result is outputed to interrupt generator 27E, in interrupt generator 27E, as shown in figure 13, the absolute value that applies voltage instruction of each phase is compared, select 2 big values in each phase absolute value, selected both poor of computing is when this difference for example becomes " zero ", when perhaps becoming the scope below the predetermined value, that is, with the timing more approaching, for example than both values, with than θ v=30 degree, 90 degree, 150 degree ... interrupt signal S faster regularly takes place in 330 degree.If carry out such processing, then, can in interrupt signal S, not produce delay, otherwise can also make the generation timing advance of interrupt signal as implementing form 4.
Like this,, then can according to circumstances at random make the starting timing slip that detects current processor 9, improve the degree of freedom of setting if according to this example.In addition, if use example 3, though also can obtain identical effect, because therefore (6) formula of use is handled complicated.Different therewith, in this example,, therefore can simplify calculation process owing to just the size of the absolute value of alternating voltage instruction is compared processing.
Like this, if according to this example, then can enough speed control units of realizing the synchronous machine that performance is higher than example 4 simpler structures.
Example 6
Secondly, the structure of example 6 of the present invention is described according to Figure 14.This example replaces controller 2 to use controller 2F, and other structure is identical with Fig. 1's.
In the controller 2F of this example, newly be provided with computing d shaft current instruction Id *With the difference of Idc as the subtracter 35 of substracting unit and be used to revise the current controller 36 of the set point Ke in the voltage instruction arithmetic unit 12F according to the output of subtracter 35.This current controller 36 constitutes the output according to subtracter 35, revises the constant of the machine correcting device that is used to calculate the constant of the machine that applies voltage instruction on the qc axle.
That is, in above-mentioned each example, the feedback control system in the controller only is to revise the control system of axis error, will produce following problem sometimes as its result.For example, owing to the size for the electric current that flows into synchronous machine 5 is uncontrolled, therefore the set point shown in (3) formula is whole values, if having skew in the constant of the machine of Shi Yonging here, then current of electric becomes the different electric current of and instruction.For example,, also may produce excessive zero load electric current, perhaps undertension take place, cause the undesirable situation of step-out etc. in when load even without load.Particularly, because synchronous machine 5 possesses the feature as high performance electrode, therefore do not need to flow through in large quantities idle current.In order to keep the efficient of synchronous machine 5 the biglyyest, need be according to the mechanism of commands for controlling d shaft current composition.
Therefore, in order to solve such problem, in example 6, use subtracter 35 and current controller 36 to revise the interior set point Ke of voltage instruction arithmetic unit 12F.In current controller 36, at Id *In the difference of Idc, be considered as having taken place in the constant of the machine in (3) formula following the influence of specification error of the generating constant K e of motor, from Id *The current controller 36 that is used as integral element with the difference of Idc is asked Δ Ke, according to Δ Ke, revises the set point Ke in the voltage instruction arithmetic unit 12F.The item of generating constant K e very earth effect synchronous machine 5 apply voltage.Thus, in order to revise the item of this generating constant K e, make Idc and Id *Consistent is the most effective.Certainly, in low regime, owing to the item influence of the R that compares with the item of Ke is big, so in this case also can modified R.
In addition, current controller 36 can only be realized with integral element.In addition, be in order to revise the deviation of constant Idc in this control, control response can lag behind.That is,, therefore in above-mentioned each example, can both be suitable for the structure of example 6 owing to can lag behind than axis error control system.
Like this, if according to this example,, therefore can realize the speed control unit of high performance synchronous machine even then also can carry out correspondence for the constant change of generator or the specification error of generator constant.
Example 7
Secondly, the structure of example 7 of the present invention is described according to Figure 15.This example is controller 2, inverter 3, and current detector 6 and diode bridge 42 one change into a module.When carrying out this modularization, be provided with the revolution instruction terminal of the revolution command generator 1 of free micro mechanism one-tenth, the input terminal of AC power 41, the splicing ear of the splicing ear of filtering capacitor 43 and synchronous machine 5, other parts all are housed in the module.In module, accommodating and using control of microcomputer device 2, with the inverter 3 of switch driver formation, by the current detector 6 that shunt resistance constitutes, diode bridge 42.
Modularizations such as controllers 2 time, if use the parts of above-mentioned each example, then can be enough high performance parts realize the speed control unit of the synchronous machine of no magnetic pole position sensor no current transducer, modularization can be easily carried out in microcomputer realization that simultaneously can enough cheapnesss.
Like this,, then can be treated to parts by power module, make assembling easily if according to this example, simultaneously can the overall miniaturization of implement device.
Example 8
Secondly, the structure of example 8 of the present invention is described according to Figure 16.This example is that the speed control unit of synchronous machine of the present invention is useful in example in the air-conditioner outdoor unit, inside at air-conditioner outdoor unit 37, employed speed control unit in the example 1～7 any has been installed, and the synchronous machine 5 as power source is housed in the compressor of air conditioner 38 simultaneously.
In order to become the environment of high temperature step-down, the inner motor of installing has to adopt position-sensor-free in the inside of compressor 38.
Therefore, when being useful in the air-conditioner outdoor unit, use the speed control unit of synchronous machine of the present invention to the speed control unit of position-sensor-free and no current transducer.The speed control unit of synchronous machine of the present invention has can realize not having magnetic pole position sensor, but also can realize the feature of no current transducer.Its result makes overall simple in structure of device, and when making control device self miniaturization, the wirings that can also shorten in the off-premises station 37 are handled, can the overall miniaturization of implement device.
As described above, if according to the present invention,, also can make the stable and rotation at high speed of synchronous machine even then there is not magnetic pole position sensor no current transducer.

Claims (1)

1. the control device of a permanent-magnetic electric machine is controlled permanent-magnetic electric machine by current of electric, and wherein above-mentioned current of electric is the current of electric of calculating according to from the detected current value of direct current shunt resistance of direct current one side that is connected inverter, it is characterized in that:
Generate the current instruction value of the torque axis composition that gives above-mentioned motor according to the torque axis composition of above-mentioned current of electric, generate according to this current instruction value and to be used to drive the pulse duration control signal of above-mentioned inverter, and give above-mentioned inverter this pulse duration control signal and drive above-mentioned motor.
CN2005101272767A 2002-07-10 2003-07-03 Speed controller of synchronous motor Expired - Fee Related CN1783692B (en)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2002200800A JP3972124B2 (en) 2002-07-10 2002-07-10 Synchronous motor speed control device
JP200800/2002 2002-07-10

Related Parent Applications (1)

Application Number Title Priority Date Filing Date
CNB031465145A Division CN1279688C (en) 2002-07-10 2003-07-03 Speed controller for synchronous machine

Publications (2)

Publication Number Publication Date
CN1783692A true CN1783692A (en) 2006-06-07
CN1783692B CN1783692B (en) 2010-05-05

Family

ID=29997133

Family Applications (2)

Application Number Title Priority Date Filing Date
CN2005101272767A Expired - Fee Related CN1783692B (en) 2002-07-10 2003-07-03 Speed controller of synchronous motor
CNB031465145A Expired - Fee Related CN1279688C (en) 2002-07-10 2003-07-03 Speed controller for synchronous machine

Family Applications After (1)

Application Number Title Priority Date Filing Date
CNB031465145A Expired - Fee Related CN1279688C (en) 2002-07-10 2003-07-03 Speed controller for synchronous machine

Country Status (4)

Country Link
JP (1) JP3972124B2 (en)
KR (1) KR100531455B1 (en)
CN (2) CN1783692B (en)
TW (1) TWI229493B (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101459401B (en) * 2007-12-10 2011-10-26 株式会社日立产机系统 Position sensorless controller for permanent magnet motor
CN101488700B (en) * 2007-10-22 2012-01-25 东芝开利株式会社 Inverter and refrigeration cycle device
US8618756B2 (en) 2011-12-19 2013-12-31 Industrial Technology Research Institute Systems and method for controlling electric motors
CN101647193B (en) * 2007-03-27 2014-11-12 松下电器产业株式会社 Motor control device, its control method, and motor device
CN103715959B (en) * 2012-09-28 2017-03-01 株式会社电装 Control device for alternating current generator

Families Citing this family (45)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4529596B2 (en) * 2004-09-02 2010-08-25 富士電機システムズ株式会社 AC motor drive system
JP4455981B2 (en) * 2004-11-30 2010-04-21 株式会社日立産機システム Synchronous motor drive device
FR2880215B1 (en) * 2004-12-23 2007-02-09 Schneider Electric Ind Sas DEVICE AND METHOD FOR CONTROLLING AN ELECTRIC POWER CONVERTER AND CONVERTER COMPRISING SUCH A DEVICE
CN100377492C (en) * 2005-02-07 2008-03-26 天津大学 Asynchronous electric motor speed adjusting method based on dynamic potential control with kinetic force
JP2006230169A (en) * 2005-02-21 2006-08-31 Toshiba Corp Controller for synchronous machine
CN1941605B (en) * 2005-09-29 2012-03-21 台达电子工业股份有限公司 AC servo driver without current sensor
JP4655871B2 (en) * 2005-10-19 2011-03-23 株式会社日立製作所 Field weakening vector control device and module for permanent magnet synchronous motor
JP4989075B2 (en) * 2006-01-11 2012-08-01 株式会社日立産機システム Electric motor drive control device and electric motor drive system
JP4602921B2 (en) * 2006-03-07 2010-12-22 株式会社日立産機システム Motor control device and motor control method
JP4988329B2 (en) * 2006-12-28 2012-08-01 株式会社日立産機システム Beatless control device for permanent magnet motor
JP4984916B2 (en) * 2007-01-25 2012-07-25 パナソニック株式会社 Motor drive device
DE502007003311D1 (en) * 2007-07-26 2010-05-12 Baumueller Nuernberg Gmbh System for determining the position and speed of a permanent magnet rotor of an electrical machine
JP5156352B2 (en) 2007-11-30 2013-03-06 株式会社日立製作所 AC motor control device
KR100976309B1 (en) * 2007-12-28 2010-08-16 엘에스산전 주식회사 Apparatus for controlling inverter
KR100973632B1 (en) * 2008-07-01 2010-08-02 이춘서 Install apparatus of heating wire for pipe using roller
JP5314989B2 (en) * 2008-10-02 2013-10-16 本田技研工業株式会社 Motor phase current estimation device
JP4746667B2 (en) * 2008-11-26 2011-08-10 本田技研工業株式会社 Motor phase current estimation device and motor magnetic pole position estimation device
WO2010116815A1 (en) 2009-03-30 2010-10-14 株式会社日立製作所 Ac motor control device and ac motor driving system
TWI401863B (en) * 2010-04-13 2013-07-11 Shihlin Electric & Eng Corp Apparatus and method of suppressing the regenerative voltage of motor
JP5292363B2 (en) * 2010-06-30 2013-09-18 株式会社日立製作所 AC motor control device and control method
TWI403068B (en) * 2010-07-23 2013-07-21 Univ Nat Sun Yat Sen Power converting device
JP5177195B2 (en) 2010-09-21 2013-04-03 株式会社デンソー Rotating machine control device
CN102615550B (en) * 2011-01-28 2015-07-08 上海英威腾工业技术有限公司 Alternating current servo control device adopting electronic gear and use method thereof
JP5382069B2 (en) * 2011-07-04 2014-01-08 株式会社安川電機 Inverter device and electric motor drive system
JP5373863B2 (en) * 2011-08-04 2013-12-18 シャープ株式会社 Synchronous motor drive device and equipment having refrigeration cycle provided with the same
JP5664588B2 (en) * 2012-04-20 2015-02-04 株式会社安川電機 Power regeneration device and power conversion device
JP2014180148A (en) * 2013-03-15 2014-09-25 Hitachi Appliances Inc Motor controller
KR101956991B1 (en) 2016-11-25 2019-03-12 현대자동차주식회사 Method for controlling dual inverter
CN109458338B (en) * 2018-12-13 2021-10-29 青岛海尔空调器有限总公司 Method for controlling rotating speed of single-rotor compressor
CN109654021B (en) * 2018-12-13 2021-07-23 重庆海尔空调器有限公司 Method and apparatus for controlling rotation speed of single rotor compressor
CN109751232B (en) * 2018-12-13 2021-07-23 重庆海尔空调器有限公司 Method for inhibiting fluctuation of rotating speed of air conditioner compressor
CN109707629B (en) * 2018-12-13 2021-10-29 青岛海尔空调器有限总公司 Method for controlling fluctuation of rotational speed of compressor
CN109441821B (en) * 2018-12-13 2021-10-29 青岛海尔空调器有限总公司 Method for controlling rotational speed of compressor
CN109737063B (en) * 2018-12-13 2021-07-23 重庆海尔空调器有限公司 Method for controlling fluctuation of rotating speed of air conditioner compressor
CN109458337B (en) * 2018-12-13 2021-10-29 青岛海尔空调器有限总公司 Method for controlling rotating speed of single-rotor compressor
CN109469614B (en) * 2018-12-13 2021-11-23 青岛海尔空调器有限总公司 Method for controlling rotating speed of single-rotor compressor
CN109681429B (en) * 2018-12-13 2021-10-29 青岛海尔空调器有限总公司 Method for controlling fluctuation of rotating speed of single-rotor compressor
CN109751244B (en) * 2018-12-13 2021-07-23 重庆海尔空调器有限公司 Method and device for inhibiting rotating speed fluctuation of single-rotor compressor of air conditioner
CN109723646B (en) * 2018-12-13 2021-07-23 重庆海尔空调器有限公司 Method and device for controlling rotating speed of compressor
CN109458336B (en) * 2018-12-13 2021-10-29 青岛海尔空调器有限总公司 Method for controlling rotation speed of single-rotor compressor
CN109404284B (en) * 2018-12-13 2021-07-23 重庆海尔空调器有限公司 Method and device for inhibiting rotating speed fluctuation of air conditioner single-rotor compressor
CN109723647B (en) * 2018-12-13 2021-07-23 重庆海尔空调器有限公司 Method and device for inhibiting rotating speed fluctuation of air conditioner single-rotor compressor
CN112039383B (en) * 2019-05-14 2022-03-29 麦克维尔空调制冷(武汉)有限公司 Motor control method, motor control device and motor system
CN112448619A (en) * 2019-09-04 2021-03-05 青岛海尔空调电子有限公司 Phase current detection method of motor based on PWM control and air conditioner
KR102677373B1 (en) * 2021-03-22 2024-06-20 엘에스일렉트릭(주) Apparatus for controlling inverter

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2712470B2 (en) * 1989-01-23 1998-02-10 松下電器産業株式会社 Inverter current detection device
CN1059057C (en) * 1998-12-21 2000-11-29 成都希望电子研究所 Quasi-superconductor speed stabilizing system
JP3411878B2 (en) * 2000-03-06 2003-06-03 株式会社日立製作所 Method for estimating rotor position of synchronous motor, control method without position sensor, and control device

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN101647193B (en) * 2007-03-27 2014-11-12 松下电器产业株式会社 Motor control device, its control method, and motor device
CN101488700B (en) * 2007-10-22 2012-01-25 东芝开利株式会社 Inverter and refrigeration cycle device
CN101459401B (en) * 2007-12-10 2011-10-26 株式会社日立产机系统 Position sensorless controller for permanent magnet motor
US8618756B2 (en) 2011-12-19 2013-12-31 Industrial Technology Research Institute Systems and method for controlling electric motors
CN103715959B (en) * 2012-09-28 2017-03-01 株式会社电装 Control device for alternating current generator

Also Published As

Publication number Publication date
TW200405647A (en) 2004-04-01
CN1783692B (en) 2010-05-05
KR20040005681A (en) 2004-01-16
JP2004048868A (en) 2004-02-12
CN1469542A (en) 2004-01-21
TWI229493B (en) 2005-03-11
KR100531455B1 (en) 2005-11-28
CN1279688C (en) 2006-10-11
JP3972124B2 (en) 2007-09-05

Similar Documents

Publication Publication Date Title
CN1279688C (en) Speed controller for synchronous machine
CN1278483C (en) Motor control device
CN1283041C (en) Method or controlling permanent magnet synchronous motor-air conditioner compressor system without speed sensor
CN1042081C (en) system for controlling a brushless DC motor
CN1276575C (en) Controller for PWM/PAM motor and method for controlling air conditioner and motor having controller
CN1533021A (en) Contrl device and control method for AC motor
CN1905351A (en) Motor controller, washing machine, air conditioner and electric oil pump
CN101051806A (en) Novel electric driving control system and method for vehicle air conditioner compressor
CN1902813A (en) Motor controller
CN1835383A (en) Controlling device and its regulating method of synchronous motor
WO2012098873A1 (en) Power conversion device
CN1667942A (en) Rotor position presuming method and apparatus, motor control method, compressor and program
CN1741367A (en) Position-sensorless control circuit
CN1956317A (en) Field weakening vector controller for permanent magnet synchronous motor and module
CN1463484A (en) Inverter control method and its device
JP2007166690A (en) Motor control device
CN1715095A (en) Electrically operated drive controller, electrically operated drive control method and its program
CN1783694A (en) Synchronous motor driving apparatus
CN1716758A (en) Control device and module for permanent magnet synchronous motor
CN1822489A (en) Apparatus and method using drive multi-phase motor of magnetic pole position detector
CN1667941A (en) Control apparatus, dual chip inverter and single chip inverter of AC motors
CN1669209A (en) Motor drive control with a single current sensor using space vector technique
CN101064483A (en) Device and method for controlling power converting device
CN106655913A (en) Three-phase inverter topology structure with adjustable DC bus voltage and method of adopting structure to realize dynamic DC bus voltage adjustment
CN102780433A (en) Instantaneous torque control method of brushless direct-current motor based on direct-current control

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
ASS Succession or assignment of patent right

Owner name: HITACHI AIR-CONDITIONING SYSTEM CO., LTD.

Free format text: FORMER OWNER: HITACHI AIR-CONDITIONING SYSTEM CO., LTD.; APPLICANT

Effective date: 20070316

C41 Transfer of patent application or patent right or utility model
TA01 Transfer of patent application right

Effective date of registration: 20070316

Address after: Tokyo, Japan

Applicant after: Hitachi Appliances, Inc.

Address before: Tokyo, Japan

Applicant before: Hitachi Appliances, Inc.

Co-applicant before: Hitachi Home & Life Solutions, Inc.

C14 Grant of patent or utility model
GR01 Patent grant
C41 Transfer of patent application or patent right or utility model
TR01 Transfer of patent right

Effective date of registration: 20160818

Address after: Hongkong, China

Patentee after: Johnson Controls Hitachi air conditioning technology (Hong Kong) Co.,Ltd.

Address before: Tokyo, Japan

Patentee before: Hitachi Appliances, Inc.

TR01 Transfer of patent right

Effective date of registration: 20180703

Address after: Tokyo, Japan

Patentee after: HITACHI-JOHNSON CONTROLS AIR CONDITIONING, Inc.

Address before: Hongkong, China

Patentee before: Johnson Controls Hitachi air conditioning technology (Hong Kong) Co.,Ltd.

TR01 Transfer of patent right
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20100505

CF01 Termination of patent right due to non-payment of annual fee