CN1860675A - Motor operation control device - Google Patents
Motor operation control device Download PDFInfo
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- CN1860675A CN1860675A CNA2004800284436A CN200480028443A CN1860675A CN 1860675 A CN1860675 A CN 1860675A CN A2004800284436 A CNA2004800284436 A CN A2004800284436A CN 200480028443 A CN200480028443 A CN 200480028443A CN 1860675 A CN1860675 A CN 1860675A
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- 230000015572 biosynthetic process Effects 0.000 description 24
- 238000005755 formation reaction Methods 0.000 description 18
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
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Abstract
There is provided a motor operation control device capable of performing stable speed control even at a low rotation speed near to zero. A power conversion unit (3) converts DC current to AC current for supply to a motor (4). Current detection means (8) detects current flowing in the winding of the motor according to the voltage generated in a resistor (6) connected to a current input route for the power conversion unit. Rotor speed estimation means (9) estimates the rpm of the motor according to the torque component of the voltage instruction value supplied to the motor, the excitation component, and the current detected by the current detection means. Waveform generation means (15) generates a drive waveform signal for driving the power conversion unit according to the torque component of the voltage instruction value, the excitation component, and the motor rpm estimated by the rotor speed estimation means. Excitation correction control means (16) increases the excitation component of the voltage instruction value while keeping the motor rpm estimated by the rotor speed estimation means (9) within a range not greater than a predetermined value.
Description
Technical field
The present invention relates to detect the winding current of motor and utilize PWM to control the operation controller of the motor that motor is controlled.
Background technology
As this operation controller, disclosed a kind of operation controller (for example with reference to the open 2002-95282 communique of Japan's special permission application), this operation controller has: the voltage applying circuit that motor is applied voltage; Detect two current sensors of the electric current of two motor wirings in three motor wirings respectively; One side is revised the error, the one side that comprise in the rotor electrical degree presumed value one by one according to the relation of these voltages and electric current and motor is applied the drive control component that drives with voltage according to this presumed value; And the polarity judging parts of in motor rotates, judging regulation rotor polarity constantly, the polarity judging parts comprise: control voltage applying circuit, the feasible judgement voltage application portion part that applies the judgement of regulation with voltage; And the judging part that changes, carries out polarity judging according to the electric current of current sensor senses.
When the compressor to air conditioner carries out the dynamic Control running, for example make the compressor driving motor running, but, also require further to reduce rotating speed in order to raise the efficiency with the such low rotating speed of 10rps.So, need be with the utmost point low speed steady running of 5rps or 3rps.In addition, because the direction of rotation of compressor driving motor is unidirectional, therefore do not need to make the motor antiport.But, in the forced draft fan that is provided with in the off-premises station for air conditioner etc. owing to make the direction of rotation of motor reverse because of the influence of outdoor wind etc. sometimes, so the rotating speed of motor that must be in making counter-rotating turn back to after zero, to the direction rotation of routine.Therefore, these motor require the low-speed region in just changeing or comprise in the low-speed region of its zero both sides, carry out stable control.
Above-mentioned operation controller in the past owing to accelerate to the rotating speed of regulation, therefore needs to quicken the torque of usefulness when drive motor, thus in the bigger scope of current ratio, detect rotating speed, thus it is little to detect error, can carry out stable control.
But, if will adopt this operation controller to the motor that drives with the cooler compressor of low-speed running, perhaps the motor to the forced draft fan that drives air-conditioner outdoor unit adopts this operation controller, although and the forced draft fan of this air-conditioner outdoor unit does not drive owing to natural wind and with low speed rotation or reverse rotation yet, must infer its rotating speed according to the little winding current of numerical value during then owing to low speed rotation, therefore the problem that exists is, accuracy of detection reduces, the Motor Control instability.In addition, when the motor that makes reverse rotation is converted to conventional direction, because must be by comprising zero low rotation speed area, therefore such instability control is inevitable.
The present invention proposes in order to solve the above problems just, and its purpose is to be provided at the operation controller that in approaching zero the low speed rotation, also can stably carry out the motor of speed control.
Even other purpose of the present invention be to provide the motor reverse rotation, also can be to the operation controller of the motor of forward travel direction conversion stably.
Summary of the invention
In order to achieve the above object, the operation controller of the motor that the present invention the 1st aspect is relevant has
DC converting is interchange and supply power of electric motor converter unit;
The current detecting part of the electric current of motor winding is flow through in detection;
According to the electric current that torque component, excitation component and the current detecting part of the voltage instruction value of supplying with motor detects, infer the spinner velocity of motor speed and infer arithmetic unit;
Infer the waveform that motor speed that arithmetic unit infers generates the drive waveforms signal that the driving power converter unit uses according to torque component, excitation component and the spinner velocity of voltage instruction value and generate parts; And
Infer motor speed that arithmetic unit infers in smaller or equal to the scope of setting the time at spinner velocity, increase the excitation correction control unit of the excitation component of voltage instruction value.
According to the present invention, even in approaching zero low speed rotation, also can stably carry out speed control.In addition, though the motor reverse rotation, also can be to forward travel direction conversion stably.
Description of drawings
Figure 1 shows that the part frame circuit diagram of the 1st example formation of the motor operation control device that the present invention is relevant.
Fig. 2 for explanation the 1st example shown in Figure 1 action usefulness, with the desired value state of excitation component electric current and the relevant sequential chart of representing of the desired value of inferring rotating speed and torque component electric current of motor.
Figure 3 shows that the part frame circuit diagram of the 2nd example formation of the motor operation control device that the present invention is relevant.
Figure 4 shows that the part frame circuit diagram of the 3rd example formation of the motor operation control device that the present invention is relevant.
That Fig. 5 uses for each example variation of the relevant motor operation control device of explanation the present invention, with the desired value state of excitation component electric current and the relevant sequential chart of representing of the desired value of inferring rotating speed and torque component electric current of motor.
Label declaration
1 DC power source unit
2 filtering capacitors
3 Power Conversion unit
4 motor
6 resistors
7 direct voltage detecting units
8 current detecting units
9 spinner velocities are inferred arithmetic element
10 integral units
11,13,14 PI control units
12 arithmetic elements
15 waveform synthesis units
16 excitations are proofreaied and correct control unit
17 spinner velocities are inferred control unit
18 speed selection unit
19 Iqref setup units
20 Iqref selected cells
21,22,24 subtracters
23 adders
Embodiment
Below, the desirable example shown in describes the present invention in detail with reference to the accompanying drawings.Figure 1 shows that the part frame circuit diagram of the 1st example formation of the motor operation control device that the present invention is relevant.
In Fig. 1, between the output of the positive side of DC power source unit 1 and minus side, filtering capacitor 2 and Power Conversion unit 3 are connected in parallel.Power Conversion unit 3 is will carry out 6 switch elements that reverse parallel connection connects with diode to afterflow carry out three-phase bridge and connect and constitute, and the switch element of the phase winding of motor 4 and side just is with the interlinkage of the switch element of minus side, promptly be connected with the output of three-phase alternating voltage.
In addition, between the minus side brachium pontis of the three-phase part of the minus side of DC power source unit 1 and Power Conversion unit 3, connect resistor 6 respectively, have again, direct voltage detecting unit 7 is connected in parallel with filtering capacitor 2, and have motor control unit 101, this motor control unit 101, carries out conducting to the switch element that constitutes Power Conversion unit 3 and controls with shutoff as the current detection value of voltage generation and the dc voltage detection value of current/voltage detecting unit 7 detections according to resistor 6.
Below, the detailed formation of motor control unit 101 is described.Provide rotating speed of target ω ref from the outside to this motor control unit 101, add each detected value of the voltage that voltage that each resistance 6 produces respectively and direct voltage detecting unit 7 detect simultaneously.Wherein, current detecting unit 8 is added the detected value of the voltage that each resistance 6 produces respectively.This current detecting unit 8 calculates the torque component electric current I q and the excitation component electric current I d that are converted into the coordinate on the armature spindle according to these voltage detecting values and motor rotor estimated position θ est described later.Spinner velocity is inferred arithmetic element 9 and is connected with this current detecting unit 8.
The voltage that the arithmetic element 9 of inferring spinner velocity detects according to torque component electric current I q and excitation component electric current I d, direct voltage detecting unit 7 and the d axle component Vd and the q axle component Vq of voltage instruction value described later, that calculates rotor infers rotational speed omega est.The rotational speed omega est that infers that this spinner velocity is inferred arithmetic element 9 is added on integral unit 10, subtracter 21 and the excitation correction control unit 16.
10 pairs of integral units are inferred rotational speed omega est and are carried out integration, export as motor rotor estimated position θ est.Subtracter 21 deducts from rotating speed of target ω ref and infers rotational speed omega est, is added on the PI control unit 11.Excitation proofread and correct control unit 16 spinner velocity infer motor that arithmetic element 9 infers infer rotational speed omega est be in smaller or equal to the scope of setting in the time, the corrected value Idref2 of the excitation component of output voltage command value.
The output of this subtracter 22, be that the desired value Iqref of torque component electric current and the difference of torque component electric current I q are added on the PI control unit 13, carry out ratio and integral operation here, the q axle component Vq of output voltage command value.Encouraging component from the magnetic of arithmetic element 12 output is that the desired value Idref1 of stream is added on the adder 23, and here with the corrected value Idref2 addition of the excitation component of voltage instruction value, its result is added on the subtracter 24 as the desired value Idref that encourages current weight.
Subtracter 24 deducts excitation component electric current I d from the desired value Idref of excitation component electric current, is added on the PI control unit 14.The output of 14 pairs of subtracters 24 of PI control unit, be that the desired value Idref of excitation component electric current and the difference of excitation component electric current I d are carried out ratio and integral operation, thus the q axle component Vq of output voltage command value.
From the q axle component Vq of the voltage instruction value of PI control unit 13 output and from the d axle component Vd of the voltage instruction value of PI control unit 14 outputs, be added in aforesaid spinner velocity and infer on the arithmetic element 9, also be added on the waveform synthesis unit 15.Waveform synthesis unit 15 is according to q axle component Vq, the d axle component Vd of voltage instruction value, the voltage signal and the rotor estimated position θ est of direct voltage detecting unit 7, driving voltage Vu, Vv on the stator axis of calculating motor 4, Vw, corresponding with this driving voltage again, the drive waveforms signal of the switch element of generation driving power converter unit 3.
Below, the action of above-mentioned such the 1st example that constitutes is described.The voltage of supplying with from DC power source unit 1 utilizes filtering capacitor 2 to carry out filtering, and supply power converter unit 3, Power Conversion unit 3 utilize motor control unit 101 to drive, and are three-phase alternating current with DC converting, supplies with motor 4.At this moment, the voltage of supply power converter unit 3 utilizes direct voltage detecting unit 7 to detect, and the winding current of motor 4 utilizes current detecting unit 8 to detect by resistor 6.This current detecting unit 8 is corresponding with rotor estimated position θ est, the current transformation of three-phase part is torque component electric current I q and excitation component electric current I d with the coordinate representation on the armature spindle after, export.
At this moment, in motor control unit 101, rotating speed of target ω ref and infer rotational speed omega est and be added on the subtracter 21, its difference utilizes PI control unit 11 to carry out ratio and integral operation, as the desired value Iqref output of torque component electric current.The desired value Iqref of this torque component electric current is to arithmetic element 12 input, and the computing of here stipulating is transformed to the desired value Iqref1 of excitation component electric current.
In addition, spinner velocity infer motor that arithmetic element 9 infers infer rotational speed omega est be in smaller or equal to the scope of setting in the time, excitation is proofreaied and correct the corrected value Idref2 of control unit 16 output excitation component electric currents.The desired value Idref1 of excitation component electric current and its corrected value Idref2 carry out addition with adder 23, as the desired value Idref output of excitation component electric current.
Then, utilize the difference of the desired value Iqref and the torque component electric current I q of subtracter 22 calculating torque current weights, this difference is carried out ratio and integral operation with PI control unit 13, as the q axle component Vq output of voltage instruction value.In addition, utilize subtracter 24 to calculate the desired value Idref of excitation component electric current and the difference of excitation component electric current I d, this difference is carried out ratio and integral operation with PI control unit 14, as the d axle component Vd output of voltage instruction value.Then, these q axles component Vq and d axle component Vd are added in spinner velocity and infer on arithmetic element 9 and the waveform synthesis unit 15.In addition, infer rotational speed omega est and utilize integral unit 10 to carry out integration,, be added on current detecting unit 8 and the waveform synthesis unit 15 as rotor estimated position θ est output.
In waveform synthesis unit 15, q axle component Vq, d axle component Vd, rotor estimated position θ est and direct voltage Vdc according to voltage instruction value, driving voltage Vu, Vv on the stator axis of calculating motor 4, Vw, corresponding with this driving voltage again, the drive waveforms signal of the switch element of generation driving power converter unit 3.
Here, above-mentioned spinner velocity is inferred the winding current of arithmetic element 9 according to motor, utilize the circuit equation of motor, that comes calculating motor infers rotational speed omega est, this infers 10 pairs of integral units rotational speed omega est and carries out integration, by like this as the rotor estimated position θ est output of motor.In this case, the circuit equation of motor is represented with following formula.
Vd＝(R+PLd)×Id-ω×Lq×Iq ……(1)
Vq＝ω×Lq×Id+(R+PLq)×Iq+ω×φ ……(2)
In the formula
P: differential operator
R: winding resistance
Ld:d axle inductance
Lq:q axle inductance
ω: rotating speed
φ: induced voltage coefficient
According to the circuit equation of this motor, then in rotational speed omega hour, the 1st on the right of the 2nd on the left side of formula (1), formula (2) and the 3rd 's value reduces.In addition, because the winding resistance R of motor forms the loss of motor,, design lessly as far as possible therefore in order to improve motor efficiency.In addition,,, control, be less value therefore in order to raise the efficiency because excitation component electric current I d does not directly help the driving of motor.In addition, torque component electric current I q is the electric current that produces motor torque, when the rotating speed of motor hangs down, because the load of motor is also little, is less value therefore.
In the error of current detecting unit 8, component (gain error of amplifying circuit etc.) that is directly proportional with detected value and the fixed component (bias voltage etc.) that has nothing to do with detected value, arranged, if current value is less, the relative error that forms owing to fixed component increases.Because above-mentioned motor control unit 101 is inferred rotating speed according to current value, so the error of current value is big more, the error of rotating speed is also big more.So, when rotating speed is low, be difficult to make the stable rotation of motor.
Promptly, when starting motor, as mentioned above, the rotating speed that needs to quicken usefulness owing to the rotating speed that accelerates to regulation, at this moment because current ratio is bigger, the error of therefore inferring is few, drives at picture that rotating speed is difficult to stable the rotation with under the situation smaller or equal to the 10rps running the motor of compressor of air conditioner.In addition,,, have no alternative but low speed control in the prescribed limit that comprises zero rotating speed, also be difficult to stable control motor in this case when the forced draft fan that reverses because of outdoor wind action returns when just changeing for the forced draft fan of the off-premises station of air conditioner.
In this example, in the time of in the rotational speed omega est that spinner velocity is inferred the motor that arithmetic element 9 infers is in smaller or equal to the scope of setting, excitation is proofreaied and correct the corrected value Idref2 of control unit 16 output excitation component electric currents, the excitation component Vd of voltage instruction value is increased, by can under the positive and negative both sides' that comprise zero rotating speed slow-speed of revolution situation, stably controlling like this.
Fig. 2 infers the sequential chart of the relevant expression of desired value Iqref of inferring rotational speed omega est and torque component electric current of the motor of arithmetic element 9 for state and the spinner velocity that will utilize excitation to proofread and correct the desired value Idref of the excitation component electric current that control unit 16 obtains.
This is in the influence of using outdoor wind and the direction of rotation counter-rotating of the forced draft fan of reverse rotation, thereby when being conventional direction, the rotational speed omega est that infers that infers arithmetic element 9 from spinner velocity proofreaies and correct control unit 16 inputs to excitation, utilizing excitation to proofread and correct control unit 16 controls, make and arrive reverse certain rotating speed (lower limit that is equivalent to the prescribed limit of low speed, in the time of for example-100rpm), produce and only to strengthen the corrected value Idref2 that exciting current such as 1.5A use, (for example+80rpm) time, make that to strengthen the corrected value Idref2 that exciting current uses be 0 arriving certain rotating speed of forward.
By like this, because the motor speed of counter-rotating is low, arrival infer rotational speed omega est low, infer rotary speed precision and descend and make the unsettled rotating speed of control (for example-60rpm) before, can increase the desired value Idref of excitation component electric current, so the precision that can guarantee to infer rotational speed omega est, situation that can be stable.
In addition, because afterwards at the rotating speed (upper limit, for example 80rpm that are equivalent to the prescribed limit of low speed) that arrives the precision that to guarantee to infer rotational speed omega est, stable control, reduce the desired value Idref of excitation component electric current, therefore can suppress to carry out high efficiency running because of encouraging the loss that current weight Id increases.But owing to the motor of Driven Compressor can not reverse, so the low-speed region of forward (for example 0-80rpm) is corresponding with the prescribed limit of low speed of the present invention.
In addition, why the precision that rotational speed omega est is promptly inferred in the output that spinner velocity is inferred arithmetic element 9 descends, and its reason is, because this is just changeing medium speed and is descending, the accuracy of detection of electric current descends relatively, therefore when rotating speed descends, precision descends gradually, finally causes control unstable.So, increase gradually by the desired value Idref that makes the excitation component electric current, can realize stable control.
In addition, when the desired value Idref that makes the excitation component electric current sharply changes,, therefore has the easy problem of unstable of control because the voltage vector that motor is applied sharply changes.As shown in Figure 2, in this example, control like this, when promptly the motor in making counter-rotating is just changeing, arrive certain reverse rotating speed (for example-100rpm) time, along with rotating speed increases, corresponding corrected value Idref2 is increased to a certain value (for example 1.5A) from zero, otherwise at certain rotating speed that arrives forward (for example+60rpm) time, along with rotating speed increases, the corresponding corrected value Idref2 that reduces gradually, making it is zero.By like this, can stablize the control motor.
Generally speaking, if increase excitation component electric current I d, then the loss in the motor increases, if reduce excitation component electric current I d, then improves motor efficiency.In this example and since arrive certain rotating speed of forward (for example+60rpm) time, along with rotating speed increases, the corresponding corrected value Idref2 that reduces gradually, making it is zero, therefore can control motor expeditiously.
In addition, variation as the 1st example that illustrates with Fig. 1 and Fig. 2, be when the desired value Iqref of torque component electric current is big, reduce excitation and proofread and correct the corrected value Idref2 of the excitation component electric current of control unit 16, by proofreading and correct like this, can suppress the loss that increases because of excitation component electric current I d, and stable control motor.That is, if the desired value Iqref of torque component electric current is bigger, then the winding current owing to motor also increases, even therefore excitation component electric current I d is so not big, and the precision that also can guarantee to infer rotational speed omega est.
In addition, another variation as the 1st example that illustrates with Fig. 1 and Fig. 2, the output that is excitation correction control unit 16 is not corresponding variation with rotating speed, replace after arrival regulation rotating speed and export as the function in elapsed time, even the rotation speed change at motor does not have under the situation of bigger variation like this, also can access and above-mentioned same effect.
Figure 3 shows that the part frame circuit diagram of the 2nd example formation of the motor operation control device that the present invention is relevant.In the drawings, for the identical key element of Fig. 1 of expression the 1st example, additional same label, and omit its explanation.This example is such formation, the excitation that it is removed among Fig. 1 is proofreaied and correct control unit 16 and adder 23, replace to infer and add spinner velocity in the outgoing route of arithmetic element 9 and infer control unit 17 at spinner velocity, this spinner velocity infer control unit 17 this infer rotational speed omega est1 enter certain prescribed limit (for example-100rpm～+ 60rpm) time, according to the rotating speed before reducing, infer present rotating speed, rotational speed omega est2 is inferred in output, in addition when inferring rotational speed omega est1 and be in scope smaller or equal to a certain value, that selects that spinner velocity infers control unit 17 infers rotational speed omega est2, infer rotational speed omega est1 with what replace that spinner velocity infers arithmetic element 9, be added on integral unit 10 and the subtracter 21, above-mentioned formation point is different with the formation of the 1st example, adopts same formation with the 1st example in addition.In addition, spinner velocity is inferred control unit 17 and speed selection unit 18 and rotating speed of the present invention to replace inferring arithmetic unit corresponding.
The following describes the action of the 2nd example, below special be that the center describes with the component part different with the 1st example shown in Figure 1.As previously mentioned, as the motor of the compressor that drives air conditioner, be when turning round below the 10rps at rotating speed, be difficult to stablize control.In addition,,, have no alternative but low speed control in the prescribed limit that comprises zero rotating speed, also be difficult to stable control motor in this case when the forced draft fan that reverses because of outdoor wind action returns when just changeing as the forced draft fan of the off-premises station of air conditioner.
This example is at forced draft fan of air conditioner etc., when the load inertia that is connected with motor is big, if inferring the error of rotational speed omega est increases, then according to the time rate of change that arrives the high-speed region before this low-speed region etc. decide prediction low-speed region infer rotational speed omega est, shown in Figure 2 as described above, gradually reduce the rotating speed of the motor in the counter-rotating, become under the zero state at rotating speed, it is rotated in the forward, increase its rotating speed, on this situation, spinner velocity infer control unit 17 according to the motor in the counter-rotating infer rotational speed omega est1 reduce gradually arrive a certain value (for example-100rpm) before infer rotational speed omega est and time rate of change thereof, calculate corresponding and rotating speed that change, as inferring rotational speed omega est2 output with elapsed time after this.
A certain value that rotational speed omega est1 becomes negative direction is being inferred (for example-100rpm) before in speed selection unit 18, that selects that spinner velocity infers arithmetic element 9 infers rotational speed omega est1, as inferring rotational speed omega est output, surpass a certain value of negative direction (a certain value that for example-100rpm) becomes positive direction afterwards (for example+80rpm) before inferring rotational speed omega est1, that selects that spinner velocity infers control unit 17 infers rotational speed omega est2, as inferring rotational speed omega est output, further inferring a certain value that rotational speed omega est1 becomes positive direction (for example+80rpm) afterwards again, that selects that spinner velocity infers arithmetic element 9 infers rotational speed omega est1, as inferring rotational speed omega est output.
By like this, low owing to the rotating speed at the motor that reverses, as to infer rotating speed precision reduces to be controlled in the unsettled low-speed region, with infer rotational speed omega est switch to precision higher infer rotational speed omega est2, therefore the precision that can guarantee to infer rotational speed omega est can prevent to control unsettled situation.
In addition, since after the rotating speed that arrives the precision of inferring rotational speed omega est1 can guarantee to calculate, can stablize control according to electric current (for example+80rpm), switch to by what spinner velocity inferred that arithmetic element 9 produces and infer rotational speed omega est1, therefore can stablize the control motor.
Figure 4 shows that the part frame circuit diagram of the 3rd example formation of the motor operation control device that the present invention is relevant.In the drawings, for the identical key element of Fig. 3 of expression the 2nd example, additional same label, and omit its explanation.This example has Iqref setup unit 19 and Iqref selected cell 20 between PI control unit 11 and subtracter 22, this Iqref setup unit 19 is when the error of inferring rotational speed omega est1 of being inferred arithmetic element 9 generations by spinner velocity is big, be speed selection unit 18 select spinner velocities infer control unit 17 infer rotational speed omega est2 the time, desired value Iqref1 according to the torque component electric current of exporting from PI control unit 11 before this infers the desired value Iqref of present torque component electric current, the set point Iqref2 of output torque current component, this Iqref selected cell 20 is in the speed selection unit 18 when selecting spinner velocities to infer the output of control unit 17, the desired value Iqref2 of the torque component electric current of selection Iqref setup unit 19 is with the desired value Iqref1 of the torque component electric current of replacement PI control unit 11, its desired value Iqref as present torque component electric current is added on the subtracter 22, the premises is different with the formation of the 2nd example, adopts same formation with the 2nd example beyond this.In addition, above-mentioned Iqref setup unit 19 and the torque of the present invention of Iqref selected cell 20 formations replace inferring arithmetic unit.
The following describes the action of the 3rd example, below special be that the center describes with the component part different with the 2nd example shown in Figure 3.Here, Iqref setup unit 19 monitors from the desired value Iqref1 of the present torque component electric current of PI control unit 11 outputs, according to this result, the desired value Iqref that infers at its later torque component electric current, the set point Iqref2 of output torque current component.Iqref selected cell 20 in the speed selection unit 18 select that spinner velocities infer control unit 17 infer rotational speed omega est2, as inferring rotational speed omega est when output, the set point Iqref2 of the torque component electric current of selection Iqref setup unit 19 is with the desired value Iqref1 of the torque component electric current of replacement PI control unit 11 outputs, with its desired value Iqref as present torque component electric current, be added on the subtracter 22, have again in the speed selection unit 18 select spinner velocities infer arithmetic element 9 infer rotational speed omega est1 the time, stop to select the set point Iqref2 of the torque current component of Iqref setup unit 19, select the desired value Iqref1 of the torque current component of PI control unit 11 simultaneously, as the desired value Iqref output of torque current component.State shown in the Iqref shown in Fig. 2 is that according to the selection mode of inferring rotating speed of speed selection unit 18, the set point Iqref2 of the torque component electric current of use Iqref setup unit 19 outputs is as the desired value Iqref of torque current component.
By like this, because the desired value Iqref of torque current component is stable, can suppress to produce the change of torque, therefore improve and infer rotational speed omega est and be to use precision when inferring rotational speed omega est2, can stablize the control motor.In addition, owing to before the direction of rotation of motor becomes conventional direction, can set big as far as possible torque and produce electric current, therefore can make the rotating speed of motor arrive rotating speed of target ω esf at short notice.
In addition, variation as the 2nd example that illustrates with Fig. 3 and Fig. 2, be to replace speed selection unit 18, to synthesize and infer with the rotational speed omega est2 that infers that infers control unit 17 from spinner velocity from the rotational speed omega est1 that infers of rotor speed estimating arithmetic element 9, also can carry out stable running control at low-speed region.As inferring the synthetic method of rotational speed omega est1 and ω est2, can adopt the method that they are synthetic by a certain percentage, perhaps also can change synthetic ratio according to rotating speed, make that the situation of low speed increases the ratio of inferring rotational speed omega est2 more.In addition, also can come calculating upper limit value and lower limit, limit or proofread and correct the output that spinner velocity is inferred arithmetic element 9 with the speed that spinner velocity is inferred before control unit 17 reduces according to speed.
In addition, for formation as the Fig. 3 shown in the 2nd example, promptly for having the formation that spinner velocity is inferred control unit 17 and speed selection unit 18, can add the excitation that constitutes the 1st example and proofread and correct control unit 16, by strengthening the control of exciting current simultaneously, thereby make the control of motor more stable, even near 0rpm, also can stablize control.
Fig. 5 is the sequential chart of this relation of expression, carry out following control, when promptly the motor in will reversing is changed into conventional direction and is increased its speed, be equivalent to low-speed region from-100rpm between+the 60rpm, with infer rotational speed omega est switch to precision higher infer rotational speed omega est2, in the time of with this switching, make the desired value Iqref time to time change of excitation component electric current, only corrected value Idref2 increases, when breaking away from low-speed region along conventional direction rotation, time to time change, making corrected value Idref2 is zero, turns back to the desired value Idref of original excitation component electric current.By like this, even near 0rpm, also can stablize control.
In addition, same as described above, for formation as the Fig. 4 shown in the 3rd example, promptly for having the formation that spinner velocity is inferred control unit 17 and speed selection unit 18 and Iqref setup unit 19 and Iqref selected cell 20, can add the excitation that constitutes the 1st example and proofread and correct control unit 16, by strengthening the control of exciting current simultaneously, thereby make the control of motor more stable, even near 0rpm, also can stablize control.
In addition, in above-mentioned each example, be that each minus side brachium pontis with Power Conversion unit 3 resistance that is connected in series detects the electric current that flows through the motor winding, but also can be for example in a current path between filtering capacitor 2 and the Power Conversion unit 3, be connected resistance and replace above-mentioned method, by being the chronometry both end voltage of conducting state, can detect the electric current that flows through the motor winding at each switch element that makes Power Conversion unit 3.
Claims (6)
1. the operation controller of a motor is characterized in that, has
DC converting is interchange and supply power of electric motor converter unit;
The current detecting part of the electric current of described motor winding is flow through in detection;
According to the electric current that torque component, excitation component and the described current detecting part of the voltage instruction value of supplying with motor detects, infer the spinner velocity of motor speed and infer arithmetic unit;
Inferring motor speed that arithmetic unit infers according to torque component, excitation component and the described spinner velocity of described voltage instruction value generates the waveform that drives the drive waveforms signal of using described Power Conversion unit and generates parts; And
In described spinner velocity is inferred the scope of motor speed smaller or equal to setting that arithmetic unit infers, increase the excitation correction control unit of the excitation component of described voltage instruction value.
2. the operation controller of motor as claimed in claim 1 is characterized in that,
When the control assembly with the direction of rotation counter-rotating that makes motor, described excitation correction control unit surpass setting at the rotating speed of the direction of rotation counter-rotating back of motor motor, stop the increase control of the excitation component of described voltage instruction value.
3. the operation controller of a motor is characterized in that, has
DC converting is interchange and supply power of electric motor converter unit;
The current detecting part of the electric current of described motor winding is flow through in detection;
According to the electric current that torque component, excitation component and the described current detecting part of the voltage instruction value of supplying with motor detects, infer the spinner velocity of motor speed and infer arithmetic unit;
Infer motor speed that arithmetic unit infers when being in the prescribed limit of low speed at described spinner velocity, enter rotating speed before the prescribed limit according to this rotating speed, the rotating speed of inferring present rotating speed and output replaces inferring arithmetic unit; And
Infer parts or rotating speed according to torque component, excitation component and the described spinner velocity of described voltage instruction value and replace inferring the motor speed that parts are inferred, generate the waveform that drives the drive signal of using described Power Conversion unit and generate parts.
4. the operation controller of motor as claimed in claim 3 is characterized in that,
Described waveform generates parts when described motor reverses, and can produce the output that makes motor deceleration and make its direction of rotation counter-rotating, and
Comprise the speed selection parts, these speed selection parts are selected, make at described motor along the time with the reverse rotation of the direction of rotation of regulation, infer motor speed that arithmetic unit infers at described spinner velocity and be under the situation outside the described prescribed limit, described spinner velocity is inferred motor speed that arithmetic unit infers supply with described waveform and generate parts; Infer motor speed that arithmetic unit infers when being reduced in the described prescribed limit at described spinner velocity, described rotating speed is replaced inferring motor speed that parts infer supply with described waveform and generate parts; After the counter-rotating of the direction of rotation of motor, when motor speed surpasses described prescribed limit, described spinner velocity is inferred motor speed that arithmetic unit infers supply with described waveform and generate parts.
5. the operation controller of motor as claimed in claim 3 is characterized in that,
Have deviation, generate the torque component of described voltage instruction value and the torque arithmetic unit of excitation component according to the presumed value of speed value of setting and motor speed;
Presumed value according to described motor speed enters described prescribed limit torque component in the past, infers the torque component of described voltage instruction value and the torque of output and replaces inferring arithmetic unit; And
When described speed selection parts select described spinner velocity to infer the rotating speed of arithmetic unit output, select torque to replace inferring the parts of the torque component that parts infer.
6. the operation controller of motor as claimed in claim 4 is characterized in that,
Have deviation, generate the torque component of described voltage instruction value and the torque arithmetic unit of excitation component according to the presumed value of speed value of setting and motor speed;
Presumed value according to described motor speed enters described prescribed limit torque component in the past, infers the torque component of described voltage instruction value and the torque of output and replaces inferring arithmetic unit; And
When described speed selection parts select described spinner velocity to infer the rotating speed of arithmetic unit output, select torque to replace inferring the parts of the torque component that parts infer.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP344116/2003 | 2003-10-02 | ||
| JP2003344116A JP2005110470A (en) | 2003-10-02 | 2003-10-02 | Operation controller for motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1860675A true CN1860675A (en) | 2006-11-08 |
| CN100448160C CN100448160C (en) | 2008-12-31 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNB2004800284436A Expired - Lifetime CN100448160C (en) | 2003-10-02 | 2004-09-17 | Motor operation control device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP2005110470A (en) |
| CN (1) | CN100448160C (en) |
| WO (1) | WO2005034335A1 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509694B (en) * | 2009-03-16 | 2012-12-26 | 宁波德业变频技术有限公司 | DC frequency converting air-conditioner compressor intelligent controller and control method thereof |
| CN102882460A (en) * | 2011-07-13 | 2013-01-16 | 东芝开利株式会社 | Inverter device |
| CN107531232A (en) * | 2015-04-07 | 2018-01-02 | 株式会社电装 | Electronic device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005171843A (en) * | 2003-12-10 | 2005-06-30 | Toshiba Kyaria Kk | Fan control device |
| JP2009038867A (en) * | 2007-07-31 | 2009-02-19 | Daikin Ind Ltd | Motor drive controller |
| DE112012006959T5 (en) * | 2012-09-28 | 2015-06-18 | Mitsubishi Electric Corporation | Heat pump device, air conditioning and freezer |
| WO2018016070A1 (en) * | 2016-07-22 | 2018-01-25 | 三菱電機株式会社 | Motor control device |
| CN109217756A (en) * | 2018-10-22 | 2019-01-15 | 上海电力学院 | Based on mixing artificial neural network reference adaptive Vector Control System of Induction Motor method |
| WO2023243087A1 (en) * | 2022-06-17 | 2023-12-21 | 三菱電機株式会社 | Electric motor control device |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05328778A (en) * | 1992-05-19 | 1993-12-10 | Fuji Electric Co Ltd | Inertia estimating device for brushless motor |
| JPH07143798A (en) * | 1993-11-22 | 1995-06-02 | Meidensha Corp | Speed sensorless vector controller |
| JP4475368B2 (en) * | 2000-03-10 | 2010-06-09 | 富士電機システムズ株式会社 | Speed sensorless vector controller |
| JP3668870B2 (en) * | 2001-08-09 | 2005-07-06 | 株式会社日立製作所 | Synchronous motor drive system |
| JP3651595B2 (en) * | 2001-12-13 | 2005-05-25 | 株式会社東芝 | Inverter device for washing machine and inverter device for washing dryer |
| JP3661642B2 (en) * | 2001-12-27 | 2005-06-15 | 株式会社日立製作所 | Motor control device and control method thereof |
| JP3843391B2 (en) * | 2002-01-17 | 2006-11-08 | 株式会社日立製作所 | Synchronous motor drive |
| JP3672876B2 (en) * | 2002-02-26 | 2005-07-20 | 株式会社東芝 | Vector control inverter device and rotary drive device |
| JP3637897B2 (en) * | 2002-02-28 | 2005-04-13 | 三菱電機株式会社 | Synchronous motor drive device, inverter device, and synchronous motor control method |
-
2003
- 2003-10-02 JP JP2003344116A patent/JP2005110470A/en active Pending
-
2004
- 2004-09-17 CN CNB2004800284436A patent/CN100448160C/en not_active Expired - Lifetime
- 2004-09-17 WO PCT/JP2004/013654 patent/WO2005034335A1/en active Application Filing
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101509694B (en) * | 2009-03-16 | 2012-12-26 | 宁波德业变频技术有限公司 | DC frequency converting air-conditioner compressor intelligent controller and control method thereof |
| CN102882460A (en) * | 2011-07-13 | 2013-01-16 | 东芝开利株式会社 | Inverter device |
| CN102882460B (en) * | 2011-07-13 | 2015-07-15 | 东芝开利株式会社 | Inverter device |
| CN107531232A (en) * | 2015-04-07 | 2018-01-02 | 株式会社电装 | Electronic device |
| CN107531232B (en) * | 2015-04-07 | 2020-01-07 | 株式会社电装 | Motor device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN100448160C (en) | 2008-12-31 |
| WO2005034335A1 (en) | 2005-04-14 |
| JP2005110470A (en) | 2005-04-21 |
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