JP2000023498A - Control method of ipm motor and its controller - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain wide-range speed control of an IPM motor with a high starting torque, by using as the control signal of its armature rotating magnetic field the rotor-pole positional signal of its model in its computation cycle. SOLUTION: In a control method of an IPM motor 1, there are inputted into a last-computation-cycle signal memory 31 and stored in it for the following computation cycle, γ- and δ-axes voltage commands vγ*, vδ* and γ- and δ-axial currents iγ, iδ which are computed repeatedly at a period tS in a current control portion 20, and a rotor-speed estimating computational value θ'ϕM which is computed in a rotor-speed estimating computer 35 of a speed/magnetic-pole- position estimating computational portion 30. Also, a rotor-magnetic-pole-position estimating computer 36 computes a rotor-magnetic-pole rotational angle θϕM(n) based on a rotor speed θ'ϕM(n) of the model of the IPM motor 1 which is outputted from the rotor-speed estimating computer 35 to use it as a speed feedback signal. Further, a rotor-magnetic-pole rotational angle θϕM(n) of the model is used for γ-δ axis transformations of the currents flowing in the IPM motor 1, and for the PWM control for controlling the rotating magnetic field of the IPM motor 1. Thereby, the wide-range speed control of the IPM motor 1 can be performed with a high starting torque from its zero-speed state.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a synchronous motor having a structure in which a permanent magnet is embedded in a rotor.
rior Permanent Magnet) Related to control of motor speed and armature rotating magnetic field.

[0002]

2. Description of the Related Art A synchronous motor having a structure in which a permanent magnet is embedded in a rotor is disclosed, for example, in Japanese Unexamined Utility Model Publication No. 4-28745.
And Japanese Utility Model Laid-Open Publication No. 3-97354. FIG. 3 shows a conventional drive controller (0-7803-199) for controlling the speed and the armature rotating magnetic field of such an IPM motor without using a detector of the speed and the rotor magnetic pole position.
3-1 / 94, $ 4.00 (c) 1994, Paper presentation at IEEE. FIG.

In this conventional example, as shown in FIG. 3, an IPM motor 1 connected to a load 3, a drive control device 2 for controlling the driving of the IPM motor 1, and an IPM motor 1 and a drive control device 2 are provided. And a signal cable 4 to be connected. An application control unit 10 for controlling the speed and torque of the IPM motor 1 is provided in the drive control device 2.
A current control unit 20 for controlling the current flowing through the armature of the PM motor 1 and the rotating magnetic field, and a speed / magnetic pole position estimation calculating unit 30 for estimating and calculating the speed of the IPM motor 1 and the rotor magnetic pole position
And a power converter 40 for converting a control signal into electric power for driving the IPM motor 1.

In the driving device 2 configured as described above, the power output from the power conversion unit 40 is supplied to the IPM motor 1 via the signal cable 4, and the supplied power is rotated by the IPM motor 1. The load 3 is converted into the torque of the child and the load 3 is driven by the rotational torque. Hereinafter, a method of driving the conventional IPM motor will be described. FIG. 4 is a diagram for explaining a coordinate system handled in the control method of the IPM motor, and FIG. 5 is a control block diagram. First, a coordinate system used in the description of the control method of the IPM motor will be described with reference to FIG. The orthogonal coordinate α-β axis in FIG. 4 is a stationary coordinate axis indicating the position of the armature rotating magnetic field in a stopped state before the operation of the IPM motor is started, and the center of the armature rotating magnetic field exists on the α axis. It indicates that

[0005] The rectangular coordinate dq axis is the position of the magnetic pole of the rotor.
This is a coordinate axis indicating the size, and the magnetic pole of the rotor is large on the d-axis.
It is indicated by the magnitude φ. This coordinate system is the direction of rotation of the rotor
At an angular velocity θ′φ. Θφ is stationary coordinates
The rotation angle from the system α-β axis is represented by an electrical angle.
The coordinate system γ-δ axis is the position and magnitude of the rotating magnetic field of the armature
This coordinate system is the same as the armature rotating magnetic field.
Angular velocity θ '_aSpinning at. Also, θ _aIs stationary
The rotation angle from the coordinate system α-β axis is expressed in electrical angle.
You.

The orthogonal coordinate d _M -q _M axis is a coordinate axis indicating the position and size of the rotor magnetic pole of the model, and the rotor magnetic pole of the model is indicated by the size φ _M on the d _M axis. This coordinate system rotates at an angular velocity θφ _M in synchronization with the rotor of the model. Θφ _M is an angle expressed by an electrical angle of a rotation angle from the stationary coordinate system α-β axis. The Cartesian coordinate γ _M −δ _M axis is
A coordinate axis indicating the position and size of the rotating magnetic field of the model of the armature, the coordinate system is rotated at an angular velocity theta _'a in synchronization with the armature rotating magnetic field of the model. Θφ _M is an angle expressed by an electrical angle of a rotation angle from the stationary coordinate system α-β axis.

[0007] In FIG 5 is a control block diagram, the coordinate converter A24, a current flows through the u layer and v layer of three-phase current flowing to the IPM motor 1 detected by the current detector 42 i _u and i _v Is the speed magnetic pole position estimation calculating unit 30
Using the magnetic pole rotation angle signal θφ _M output from
It is converted into a γ-axis current Iγ and a δ-axis current axis Iδ, which are signals of phase dq-axis coordinates.

Next, the γ-axis current Iγ and the δ-axis current axis Iδ output from the coordinate converter A24 are converted into γ-axis current commands Iγ ^* , δ calculated by the application control unit 10.
By feeding back the shaft current command Iδ ^* , a γ-axis current control deviation signal and a δ-axis current control deviation signal are obtained.
The γ-axis current control deviation signal thus obtained is input to the γ-axis current controller 22, and the δ-axis current control deviation signal is input to the δ-axis current controller 21.

The γ-axis current control deviation signal is amplified by a γ-axis current controller 22 having a proportional-integral calculator,
γ is input as an axis voltage command V.gamma ^* to _V ^* · θ V operator 23. Similarly, the δ-axis current control deviation signal is amplified in the δ-axis current controller 21 having a proportional-integral calculator,
δ is input as -axis voltage V8 ^* to _V ^* · θ V operator 23.

Next, V^*・ Θ_VIn the arithmetic unit 23, the γ axis
Voltage command Vγ^*And δ-axis voltage command Vδ ^*Voltage finger
The size of the quote V^*To V^*= (Vγ^{* 2}+ Vδ^{* 2})^1/2To calculate
And V^*And Vγ^*Electrical angle θ_VTo θ_V= T_an ^-1(Vδ^*/ Vγ^*)
And is output to the PWM controller 25.

Therefore, in the PWM controller 25, the model output from the speed / magnetic pole position
Magnetic pole position calculation value θφ_MAnd the V^*・ Θ_VVoltage command output from arithmetic unit 23
Value V^*And voltage phase angle θ _VFrom the signal, V_u, V_v, V
_WPower converter for outputting the three-phase voltage from the power converter.
The switching signal of the converter is output to power converter 41.

Further, in the power converter 41, the P
Switching of the power converter output from the WM controller 25
In accordance with the switching signal, the power converter 41
The voltage is controlled at the frequency required for driving, and the IPM mode
I for each phase of_u, I_v, I _WCurrent flows. next,
Rotor speed output from the speed / magnetic pole position estimation calculation unit 30
Degree estimation signal θ′φ_MTo the application control unit 10
And the speed command θ′φ output from the speed command device 11
^*And input the deviation signal to the speed controller 12
And amplifies the torque command T^*As the speed controller 12
Output to axis current command calculator 13 and γ-axis current command calculator 14
I do.

The δ-axis current command unit 13 calculates and outputs a δ-axis current command iδ ^* as a function of the torque command T ^* . The γ-axis current command unit 14 calculates and outputs a γ-axis current command iγ ^* as a function of the torque command T ^* .

The operation of the speed / magnetic pole position estimating calculation unit 30 will be described below. The γ-δ axis voltage commands Vγ ^* and V repeatedly calculated by the current control unit 20 in the cycle t _s
δ ^* , γ-δ axis currents iγ and iδ, rotor speed estimation calculation value θ′φ _M of speed / magnetic pole position estimation calculation unit 30 calculated in the same calculation cycle as previous calculation cycle signal storage unit 31 are stored. Γ-δ axis voltage commands Vγ ^* _(n−1) , Vδ ^* _(n−1) , γ−δ in the previous operation cycle (n−1)
Axis current iγ _(n-1) and iδ _(n-1), and inputs a rotor speed model θ'φ _{M (n-1)} to the current model arithmetic unit 32. The current model calculator 32 calculates the γ _M- axis model current iγ in the current calculation cycle (n) based on equations (7) and (8).
_{M (n)} , δ _M- axis model current iδM _(n) is calculated and output.

[0015]

(Equation 5)

In the above equations (7) and (8), R _SM
Is the model value of the resistance R _S for one phase of the armature, and L _dM is d of one phase.
Model values of the axis inductance L _d, L _qM model value of q-axis inductance L _q of one phase, the phi _M is a model value of the rotor flux linkage flux phi of one phase.

Ω_IBIndicates that the motor is rotating at the rated speed
Angular velocity of the armature rotating magnetic field, I_IRIs the rated power of the motor
Flow value, V_IRIs the rated phase voltage of the motor. Calculation cycle
Γ-δ axis current iγ in (n)_(n)And iδ_(n),Also
γ_M−δ _MShaft current iγ_{M (n)}And iδ_{M (n)}The difference between
And the model current error Δiγ_{M (n)}And Δiδ_{M (n)}The formula
It is determined by (9) and (10).

[0018]

(Equation 6)

In the operation cycle (n), γ−
The δ-axis currents i γ _(n) and i δ _(n) are represented by the following equations.

[0020]

(Equation 7)

Here, R _S is the resistance value of one phase of the armature, L _d
Is the d-axis inductance for one phase of the armature, and _Lq is the armature 1
Q-axis inductance for each phase, φ is linkage magnetic flux of rotor magnetic poles, ω _IB is each speed of armature rotating magnetic field at rated speed,
I _IR is the rated current of the motor, V _IR is the rated phase voltage of the motor,
θ ' _{a (n-1)} is the actual angular velocity of the armature rotating magnetic field, θ' φ _(n-1)
The actual angular speed of the rotor, θφ _(n-1) is the actual rotational angle of the rotor magnetic pole position, θ _{a (n-1)} is the actual rotational angle of the armature rotating magnetic field, t _s is the calculation cycle.

Vγ _(n-1) is the phase voltage on the γ-axis, and Vδ _(n-1) is the phase voltage on the δ-axis. Further, the formula of the right-hand side of (11) Section 4 _{[θφ (n-1) -θ a} (n-1) ], the angle difference between the armature rotating magnetic field of the rotor magnetic pole position and the γ-axis theta _{e ( n-1)} .

Where the motor constant R of the model_SM, L_dM, L
_qM, Φ_MIs the actual motor constant R _S, L_d, L_q, Φ
Γ-δ axis actual voltage command Vγ^* _(n-1)And Vδ^*
_(n-1)Are the actual γ-δ axis actual voltage commands Vγ
_(n-1)And Vδ_(n-1)Is equal to
(10) is given by iδ in equation (8)._{M (n)}And iδ in equation (12)
_(n)And substitute θ'φ_(n-1)And formulas
(13) is obtained.

[0024]

(Equation 8)

From the equation (13), the rotor speed θ′φ _{M (n)} of the model in the operation cycle (n) is calculated by the following equation (14).
, Which is equal to the rotor speed θ′φ _(n−1) in the operation cycle (n−1).
By calculating the rotor speed θ′φ _{M (n)} of the model based on 4), the rotor speed θ′φ _(n−1) of the electric motor can be estimated and calculated.

[0026]

(Equation 9)

Next, iγ _{M (n)} of the equation (7 ₎ and the equation (1 ₎
If 1) a iγ a _(n) are substituted into Equation (9) will be summarized Shitafai _(n) formulas (15) is obtained.

[0028]

(Equation 10)

Here, Sgn [θ ′ φ _{M (n)} ] is θ ′
When φM _(n) ≧ 0, 1 θ ′ When φM _(n) <0, by calculating the following equation (16), the rotor magnetic pole position of the model in the calculation cycle (n) can be obtained. θφ _{M (n)} matches the rotor magnetic pole position θφ _(n) in the operation cycle (n).

[0030]

[Equation 11]

Rotor magnetic pole position of the motor by calculating a model rotor magnetic pole position of _{θφ M (n) θφ (n} ) becomes possible estimation calculation in the calculation cycle (n) based on the [0031] above formula (16) .

[0032]

However, the conventional method as described above has the following problems. The allowable load torque is limited to a small value in a low speed range, and the speed control range cannot be widened. . The third term on the right side of the rotor magnetic pole position estimating equation (16) includes the rotor speed θ′φ _(n−1) in the denominator. Therefore, when the motor starts operating from a stopped state, the equation (16) is used.
The denominator of the third term on the right side of is zero. For this reason, when the motor is stopped, Expression (16) cannot be used for estimating the magnetic pole position.

The rotor speed θ′φ _(n−1) included in the third term on the right side of Expression (16) includes θ′φ from Expression (13).
Since the calculation is performed using the value calculated from _(n-1) , the rated speed is 1
In the low speed range of / 10 or less, the estimation error of the rotor magnetic pole position becomes too large. Since an arithmetic expression that corrects the error of the rotor magnetic pole position and the error of the rotor speed calculated in each operation cycle in the next operation cycle is employed, the noise included in the signal used for the operation is calculated. easily influenced.

The present invention has been made in view of the above-mentioned problems of the prior art, and is intended to provide a high starting torque in a low-speed range and realize a drive of an IPM motor which realizes a wider speed control range. It is intended to provide a device.

[0035]

In order to solve the above-mentioned problems, the invention according to claim 1 is based on a method in which an internal signal of a control device of an IPM motor, which is a synchronous motor having a structure in which a permanent magnet is embedded in a rotor, is obtained from an internal signal. Using the rotor magnetic pole position estimation signal and the rotor speed estimation signal obtained by
IP that controls the armature rotating magnetic field and rotor speed of the motor
In the control method of the M motor, the operation cycle (n-1)
Γ-axis real current and δ-axis real current, which are considered by dividing the rotor speed of the model, the armature current and the armature voltage into the γ-axis and the δ-axis of an orthogonal coordinate system synchronized with the armature rotating magnetic field position, and γ Shaft voltage command, δ-axis voltage command, one-phase winding resistance, one-phase d-axis inductance, one-phase q-axis inductance, one-phase rotor magnetic pole linkage flux as motor model constant, rated phase of motor From the voltage, the rated current of the motor, the rated angular frequency of the rotating magnetic field of the motor, and the operation cycle, the γ _M- axis current and δ _M- axis current of the γ _M −δ _M- axis model of the coordinate system synchronized with the position of the armature rotating magnetic field of the model Γ-axis current and δ-axis current in an operation cycle (n) obtained by converting the actual current flowing through the armature into a γ-δ axis component synchronized with the armature rotating magnetic field, and the calculated γ _M Γ _M- axis model obtained from the axis model current and δ _M- axis model current Current error signal and δ _M
From the axis model current error signal, a speed correction term for correcting the rotor speed of the model in the operation cycle (n-1) in accordance with the change in the rotor speed and a speed correction term for correcting the magnetic pole position shift angle are simultaneously added. The rotor speed of the model in the operation cycle (n) obtained by the operation is used as a speed feedback signal to the speed controller, and the rotor speed of the model in the operation cycle (n) and the operation cycle (n-1) Wherein the rotor magnetic pole position signal of the model in an operation cycle (n) obtained by integrating the average value of the rotor speed of the model as a change in the rotor magnetic pole position is used as a control signal of the armature rotating magnetic field. I have.

With this configuration, the rotor speed can be accurately calculated and estimated from the state where the motor rotor speed is zero. In addition, the invention described in claims 2 and 3 shows a specific mathematical expression, and a speed correction term for effectively correcting the magnetic pole position shift angle can be obtained by using the mathematical expression.

[0037]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS First, the calculation cycle (n) for the IPM motor driving device and the .gamma .-. Delta.-axis current i.gamma.
_(n) and known characteristic formulas of iδ _(n) are shown.

[0038]

(Equation 12)

Here, as shown in FIG.
Coordinate axis γ that rotates synchronously_M, Δ_MAnd of the model rotor
Coordinate axis d that rotates in synchronization with the magnetic pole_M, Q_MIs armature times
An ideal model that matches the coordinate γ-δ axis representing the magnetic field
Think. In this ideal model, the angular velocity θ 'of the armature rotating magnetic field of the model_{aM (n-1)}And mo
Dell rotor speed θ'φ_{M (n-1)}Are equal, so θ '
_{aM (n-1)}Is θ 'φ_{M (n-1)}In addition, the current of the operation cycle (n-1) of this model is
iγ_{M (n-1)}And current iδ _{M (n-1)}, Voltage Vγ_{M (n-1)}And voltage V
δ_{M (n-1)}Is converted to the operation cycle (n-1) of the inverter.
Γ-δ axis current iγ_(n-1)And current iδ
_(n-1), Γ-δ axis voltage command Vγ_(n-1) ^*And voltage command Vδ
_(n-1) ^*Model configuration replaced with

As a result, the model current iγ _{M (n)} and the model current iδ in the operation cycle (n) thus configured
The formula of _{M (n)} is as follows.

[0041]

(Equation 13)

Where R _SM is the model value of the resistance value R _S for one phase of the armature, L _dM is the model value of the d-axis inductance L _d for one phase, and L _qM is the model value of the q-axis inductance L _q for one phase. model values, the phi _M model values of flux linkage phi of the rotor flux for one _{phase, θ 'φ M (n-} 1) is the rotor speed of the model.

From the equations (19) to (22), the error currents Δiγ _{M (n)} and Δiδ _{M (n)} of the γ _M −δ _M axis model current are obtained.

[0044]

[Equation 14]

The motor constants of the model, R _SM , L _dM , L
_qM, phi _M is a real constant R _S of each motor, L _d, L _q,
Assuming that it matches φ, substituting iγ _(n) in equation (17) and iγ _{M (n)} in equation (19 ₎ into equation (21) yields equation (23).

[0046]

(Equation 15)

From equation (23), the deviation angle θ of the magnetic pole position is obtained.
_{Find e (n-1)} . _{θ e (n-1) =} K d Δiγ M (n) / θ 'φ (n-1) iδ M (n of ... (25) Equation i? a (18) _(n) and equation (20) ₎ Is substituted into Expression (22) to obtain Expression (26).

[0048]

(Equation 16)

The equation (28) gives the actual rotor speed θ′φ
_(n-1) is the rotor speed of the model θ 'φ _{M (n- 1)} than K _q .DELTA.i
δ _{M (n)} is equal to the reduced speed. However, the value K _q Δiδ _{M (n) to be} added or subtracted for each operation cycle
Is large and the resolution of the calculation is rough, the speed difference between the actual rotor speed θ′φ _(n−1) and the rotor speed θ′φ _{M (n−1)} of the model is expressed by the following equation (29). As described above, the correction is performed in m ₁ calculation cycles.

[0050]

[Equation 17]

However, even if the rotor model speed θ ′ φ _{M (n)} estimated by the calculation of the equation (29) matches the actual rotor speed, that is, even if the estimation error of the rotor speed becomes zero, the rotor magnetic pole position And the deviation angle θ _{e (n−1)} of the armature rotating magnetic field remains uncorrected.

A method for adding a term for correcting the deviation angle of the magnetic pole position to equation (29) will be described below. First, the formula (2
On the right side of ₍ 5), the actual speed of the rotor θ′φ _(n−1) is included in the denominator.
5) becomes impossible to calculate. In addition, when the calculation is performed using the estimated speed including a large error instead of the rotor actual speed θ′φ _(n−1 ) on the right side of Expression (25), the estimated calculation error of the rotor magnetic pole position in the low speed region is reduced. Very large.

An operation method for preventing such an increase in the operation error in a low speed range will be described. Magnetic pole position deviation angle θ
_{e (n-1)} is represented by θ _{eM (n-1)} , and the rotor actual speed θ 'φ
As _(n-1) to _{θ 'φ M (n-1} ), defines the model of the magnetic pole position deviation angle theta _eM the _(n-1) by the following equation (30).

[0054]

(Equation 18)

However, when | θ'φ _{M (n-1)} | ≧ θ'φ _M0 , θ'φ _{MA (n-1)} = θ'φ _{M (n-1)} 0 ≦ θ'φ _{M (n -1)} <θ'φ _M0 , θ 'φ _{MA (n-1)}
= Θ 'φ _M0 −θ' φ _M0 <θ 'φ _{M (n-1)} <0 when θ' φ
_{MA (n-1)} =-θ'φ _M0 The deviation angle θ of the magnetic pole position of the model shown in equation (30).
_The following equation (31) shows a speed correction amount Δθ′φ _{M (n−1)} for correcting 1 / m ₂ of _{eM (n−1)} for each operation cycle.

[0056]

[Equation 19]

Next, the rotation angle θφ of the rotor magnetic pole position of the model
Obtain the arithmetic expression of _{M (n)} . The operation cycles (n) and (n-
The average speed during 1) is calculated by calculating the rotor speed θ ′ φ _{M (n−1)} of the model in the calculation cycle (n ₎ and the calculation cycle (n−1).
Is approximated by the average speed of the rotor speed θ ′ φ _{M (n−1)} of the model in the equation (34).

[0058]

(Equation 20)

When starting operation from a state in which the rotor magnetic pole position is shifted when the motor is stopped, the initial value of θφ _{M in} equation (35) is the initial magnetic pole position shift angle θφ.
_{Using M (0)} makes it possible to calculate the rotor position angle rotation angle θφ _{M (n)} of the model.

Next, the rotation angle θφ _{M (n)} of the rotor magnetic pole position of the model estimated by the calculation method of equation (25) converges to the actual rotation angle θφ _(n) of the rotor magnetic pole position, and This shows that the rotor speed θ′φ _{M (n) of} the model estimated by the calculation method of (33) converges to the actual rotor speed θ ′ φ _(n−1) . Equation (34) by substituting the formula (23) of gamma _M-axis model current error Δiγ _{M (n)} and formula (26) [delta] _M-axis model current error _{Δiδ M (n), θ '} φ M (n), θ '
The following equation (3 ₎ can be obtained by rearranging φ _{M (n-1)} and θ 'φ _(n-1).
6) is obtained.

[0061]

(Equation 21)

Here, Δθ ′ _{ER (n−1)} in the equation (36) is a settling error of the rotor speed estimation, and takes a value represented by the following equation (37).

[0063]

(Equation 22)

In equation (36), Δθ ′ in equation (37)
Θ ′ φ _{M (n)} obtained by substituting _{ER (n−1)} is given by equation (33).
And the following formula (38) is obtained by rearranging θφ _{M (n)} , θφ _{M (n-1)} , and θφ _(n-1) .

[0065]

(Equation 23)

Here, Δθ _{ER (n−1)} in the equation (38) is a settling error of the rotor magnetic pole position estimated rotation angle, and the following equation (3)
Take the value as shown in 9). Also, tθ is given by the following equation (40).
Is a time constant shown in FIG.

[0067]

(Equation 24)

Since the armature rotating magnetic field is controlled in synchronization with the rotation angle θφ _{M (n)} of the rotor pole position of the model, the rotor actual speed θ′φ _(n-1) is obtained in a steady operation state. The rotor model speed θ′φ _{M (n−1)} matches. Thus, the equation (3)
Estimated rotation angle error θ _{ER (n-1) of the} rotor magnetic pole position shown in 9 ₎
Becomes 0.

As a result, the equation (38) indicates that the rotor magnetic pole position rotation angle θφ _{M (n} ) of the model moves toward the rotor magnetic pole position actual rotation angle θφ _(n-1) with a first-order lag time constant tθ. It shows that they converge. At the same time, the settling error Δθ ′ _{ER (n−1} ) of the rotor speed estimation of Expression (37) also converges toward 0, so that Expression (36) expresses the rotor model speed θ′φ _{M (n)}
Rotor actual speed θ'φ but at the first-order lag time constant m ₁ t _s
This indicates that the convergence is made toward _(n-1) .

As described above, according to the present invention,
Rotor speed θ'φ of calculated model _{M (n)}The rotor actual speed
θ'φ_(n)And the model calculated from equation (35)
Dell rotor rotation angle θφ_{M (n)}Is the actual rotation angle of the rotor θφ
_(n)The motor is stopped by using the estimated value
Start calculation and estimation of rotor speed and rotor rotation angle from the state
And a wide range of speed control with high starting torque
Is obtained.

By the above means, the rotor speed and the rotation angle of the rotor magnetic pole position can be calculated with high accuracy even in a low speed region below the rated speed of 1/10, and the motor speed becomes zero.
From this condition, a wide range of speed control can be performed with a high starting torque.

Hereinafter, embodiments of the present invention will be specifically described with reference to the drawings. FIG. 1 is a control block according to the embodiment of the present invention. In FIG. 1, those blocks which have exactly the same functions as those shown in the control block diagram 5 of the prior art are denoted by the same reference numerals. The difference between the present invention and the prior art is that the method of calculating the rotor speed of the model and the rotation angle of the rotor magnetic pole position of the model are different. Are different. Other functions are the same. Therefore, since the blocks 10, 20, and 40 in FIG. 5 have the same function, the description of the embodiment of the present invention is omitted in FIG.

Hereinafter, a model of the present invention different from the prior art will be described.
Rotor speed θ'φ_{M (n)}And model rotor pole position rotation
Angle θφ_{M (n)}An embodiment of the calculation will be described. Current control section
Period t at 20_sΓ-δ axis current repeatedly calculated by
Pressure command Vγ ^*And Vδ^*, Γ-δ axis currents iγ and iδ, and
The rotor speed estimation operation of the speed / magnetic pole position estimation calculation unit 30
Computed in the same computation cycle as the current control unit 20 by the calculator 35
Rotor speed estimation calculation value θ′φ_MIs the previous calculation
Input to the cycle signal storage 31 and the next operation cycle
Stored for

On the other hand, the last operation cycle signal storage 31
Are stored in the previous operation cycle signal storage 31.
Γ-δ axis voltage command V in the previous operation cycle (n-1)
γ^* _(n-1)And Vδ^* _(n-1), Γ-δ axis current iγ_(n-1)When
iδ_(n-1), Estimated operation speed θ′φ_{M (n-1)}And the current model
Output to the arithmetic unit 32. The current model calculator 32 is
The current operation cycle is calculated based on the above equations (19) and (20).
Γ in le (n)_MAxis model current iγ_{M (n)}, Δ_MAxis model
Dell current iδ_{M (n)}Is output.

The model current error calculator 34 calculates the calculation cycle.
Γ-δ axis actual current iγ_(n)And iδ
_(n)Calculated by the current model calculator 32 and output.
In the calculated operation cycle (n)_M−δ_MAxis model
Current iγ_{M (n)}And iδ_{M (n)}And the difference from the above formula
(21) Model current error Δiγ based on (22)_{M (n)},
Δiδ _{M (n)}And outputs it to the rotor speed estimation calculator 35.
You.

The rotor speed estimation calculator 35 calculates the rotor speed from the model current error signals Δiγ _{M (n)} and Δiδ _{M (n)} output from the model current error calculator 34 based on the equation (33). The model speed θ′φ _{M (n)} is calculated, and a speed feedback signal to the speed controller 12 is stored.
1. The model rotor speed signal θ′φ _{M (n)} is output to the rotor magnetic pole position estimation calculator 36.

The rotor magnetic pole position estimating calculator 36 calculates the rotor magnetic pole position of the model based on the equation (35) from the rotor model speed θ′φ _{M (n)} output from the rotor speed estimating calculator 35. Calculate the rotation angle θφ _{M (n)} , and use the coordinate axis converter A
24 and the PWM controller 25. The rotor speed θ′φ _{M (n)} of the model calculated by the above method is used as a speed feedback signal, and the rotor magnetic pole position rotation angle θφ _{M (n)} of the model is further determined by the γ of the current flowing through the IPM motor. By using -δ axis conversion and PWM control for controlling the rotating magnetic field of the IPM motor, a wide range of speed control can be realized with a high starting torque from a state where the motor speed is zero.

FIG. 2 shows an example of control characteristics in a low speed region according to the embodiment of the present invention. 2A shows the relationship between the speed command and time, FIG. 2B shows the relationship between the motor speed and time, FIG. 2C shows the relationship between the estimated motor speed and time,
FIG. 2D shows the relationship between the motor torque and time, and FIG.
FIG. 2F shows the relationship between the motor load torque and time, and FIG. 2F shows the relationship between the motor magnetic pole position shift angle and time. The value on the time axis on the horizontal axis represents 0.15 seconds per 0.1.

As shown in FIG. 2 (D), the motor is stopped by applying a 100% load torque to the motor, and the motor is accelerated from the state of zero speed while maintaining the synchronous state of the armature rotating magnetic field and the rotor magnetic poles. The control characteristics are shown in FIG. Also,
In FIG. 2 (B), there is a portion where the motor rotates in the reverse direction due to the load torque immediately after the start of the start. However, even in such a state, the rotor speed is accurately estimated and the magnetic pole position shift angle is also corrected satisfactorily. It indicates that

[0080]

The present invention has the following effects because it is configured as described above. Since it is possible to accurately calculate and estimate the rotor magnetic pole position and the rotor speed from the state where the motor rotor speed is 0, control of the IPM motor which can obtain a good control characteristic of a wide speed control range with a high starting torque. The device can be realized.

It is hard to be affected by noise included in a signal used for estimating the rotor speed and the rotor magnetic pole position.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a configuration of an IPM motor control device according to an embodiment of the present invention.

FIG. 2 is a control characteristic diagram showing an example of control characteristics of the control device of FIG. 1;

FIG. 3 is a block diagram illustrating a configuration of a driving device of a general IPM motor.

FIG. 4 is a coordinate axis diagram showing a rotor magnetic pole position and an armature rotating magnetic field of the IPM motor.

FIG. 5 is a block diagram showing a conventional example of a control device for an IPM motor.

[Explanation of symbols]

1. IPM motor 2. Drive control device 3. Load 4. Motor main circuit cable 10. Application control unit 11. Speed commander 12. Speed controller 13. δ-axis current command calculator 14. γ-axis current command calculator 20. Current control unit 21. δ-axis current controller 22. γ-axis current controller 23. V ^* · θ _V calculator 24. Coordinate converter A 25. PWM controller 30. Speed / magnetic pole position estimation calculation unit 31. Previous operation cycle signal storage device 32. Current model calculator 34. Model current error calculator 35. Rotor speed estimation calculator 36. Rotor magnetic pole position estimation calculator 37. Rotor speed estimation calculator 38. Rotor magnetic pole position estimation calculator 40. Power conversion section 41. Power converter 42. Current detector

Continuation of the front page (72) Inventor Hidemi Honda 2-1 Kurosaki Castle Stone, Yawatanishi-ku, Kitakyushu-shi, Fukuoka F-term (reference) 5Y576 BB10 DD02 DD07 EE01 EE11 GG02 GG04 HB01 JJ08 JJ17 JJ25 LL14 LL22 LL41

Claims (4)

[Claims] 1. An estimation signal of a rotor magnetic pole position and a rotor speed estimation signal obtained by calculating every period from an internal signal of a control device of an IPM motor which is a synchronous motor having a structure in which a permanent magnet is embedded in a rotor. And a control method of an IPM motor for controlling an armature rotating magnetic field and a rotor speed of the IPM motor by using the armature current and the armature voltage of the model in the operation cycle (n-1). The γ-axis actual current and δ-axis actual current considered separately in the γ-axis and δ-axis of the rectangular coordinate system synchronized with the rotating magnetic field position, the γ-axis voltage command, the δ-axis voltage command, and the one-phase winding as the model constant of the motor Line resistance, d-axis inductance of one phase, q-axis inductance of one phase, flux linkage of rotor magnetic pole of one phase, rated phase voltage of motor, rated current of motor, rated angular frequency of rotating magnetic field of motor, calculation cycle and From
Γ _M − of the coordinate system synchronized with the armature rotating magnetic field position of the model
Calculation cycle (n) obtained by calculating the γ _M- axis current and δ _M- axis current of the δ _M- axis model, and converting the actual current flowing through the armature into a γ-δ axis component synchronized with the armature rotating magnetic field
Γ-axis current and δ-axis current, and γ _M calculated above
From the γ _M- axis model current error signal and the δ _M- axis model current error signal obtained from the axis model current and the δ _M axis model current, respectively, to the change in the rotor speed of the model in the operation cycle (n−1) A speed correction term to be corrected correspondingly and a speed correction term to correct the magnetic pole position deviation angle are simultaneously added, and the calculation is performed. In the calculation cycle (n), the rotor speed of the model is used as a speed feedback signal to the speed controller. In addition to the calculation cycle (n), the calculation cycle (A) is obtained by integrating the average value of the rotor speed of the model in the calculation cycle (n) and the rotor speed of the model in the calculation cycle (n-1) as a change in the rotor magnetic pole position. A method for controlling an IPM motor, wherein the rotor magnetic pole position signal of the model in n) is used as a control signal for an armature rotating magnetic field. 2. An estimation signal of a rotor magnetic pole position and an estimation signal of a rotor speed obtained by calculating at every cycle from an internal signal of a control device of an IPM motor which is a synchronous motor having a structure in which a permanent magnet is embedded in the rotor. In the control method of the IPM motor, which controls the armature rotating magnetic field and the rotor speed of the IPM motor using the above, the rotor speed of the model in the calculation cycle (n-1) is set to θ′φ _{M (n−1)} . The actual γ-axis current is iγ _(n-1) , and the actual δ-axis current is iδ _{(n− )} , which is considered by dividing the armature current and armature voltage into the γ-axis and δ-axis of an orthogonal coordinate system that synchronizes with the armature rotating magnetic field position. ₁₎ , the γ-axis voltage command is Vγ _(n-1) ^* , the δ-axis voltage command is Vδ _(n-1) ^*, and the one-phase winding resistance is R _SM and the one-phase d is a model constant of the motor.
The shaft inductance is L _dM , the q-axis inductance of one phase is L _qM , the flux linkage of the magnetic poles of one phase is φ _M , the rated phase voltage of the motor is V _IR , the rated current of the motor is I _IR , the rotating magnetic field of the motor the rated angular frequency omega _IB of, when the calculation cycle and t _s, the model considered divided into gamma _M-axis and the [delta] _M axis of the coordinate system synchronized with the armature rotating magnetic field position of the model gamma _M-axis current i? _{M (n)} equation (1), and the model of [delta] _M-axis current i? _{M (n)} of the calculation of the equation (2), determine the armature current model, equation 1] Γ-axis current iγ _(n) , δ-axis current iδ _{(n )} , and γ-axis current iδ _(n) in a calculation cycle (n) obtained by converting the actual current flowing through the armature into the γ-axis and δ-axis components synchronized with the armature rotating magnetic field.
From the γ _M- axis model current iγ _{M (n)} and the δ _M- axis model current iδ _{M (n)} calculated by the above equations (1) and (2), γ
_{The M-} axis model current error Δiγ _{M (n)} is calculated by the equation (3), and the δ _M- axis model current error Δiδ _{M (n)} is calculated by the equation (4). Using the model error currents Δiγ _{M (n)} and Δiδ _{M (n)} obtained by the above calculation method, the rotor speed θ ′ φ of the model in the calculation cycle (n) calculated based on Expression (5).
Using the signal _{M (n)} in the calculation of the equation (1) and (2) of gamma _M-axis model current i? _{M (n)} and [delta] _M axis model current i? _{M (n),}
Further, a method of controlling an IPM motor that controls the speed of an IPM motor by using the signal as a speed feedback signal to a speed controller. (Equation 3) However, in equation (5), φ _M of the model is a one-phase linkage flux of the magnetic poles of the motor rotor, and m ₁ and m ₂ are constants larger than 1. In the operation cycle (n), θ′φ _{MA (n-1)} is θ′φ when | θ′φ _{M (n-1)} | ≧ θφ _{M0
MA (n-1)} = θ'φ _{M (n-1)} 0 ≤ θ'φ _{M (n-1)} <θ'φ If _M0 , θ'φ
_{MA (n-1)} = θ'φ _M0- θ'φ _M0 <θ'φ _{M (n-1)} <0 when θ'φ
_{MA (n-1)} =-θ'φ _M0 Here, θ′φ _M0 is a preset speed. 3. A rotor speed θ ′ φ _{M (n)} of a model in a calculation cycle (n) calculated by the method according to claim 2.
And the rotor magnetic pole position rotation angle θφ of the model in the calculation cycle (n) obtained based on the equation (6) from the rotor speed θ ′ φ _M (n-1) of the model in the calculation cycle (n-1).
_A method of controlling an IPM motor that uses an estimated rotation angle of a rotor magnetic pole position to control an AC voltage that generates a rotating magnetic field in an armature synchronizing _{M (n)} with a rotor magnetic pole position. (Equation 4) Here, in equation (6), θφ _{M (n-1)} is the rotation angle of the rotor magnetic pole position of the model in the operation cycle (n-1),
t _S is an operation cycle. 4. An estimation signal of a rotor magnetic pole position and an estimation signal of a rotor speed obtained by calculating at every period from an internal signal of a control device of an IPM motor which is a synchronous motor having a structure in which a permanent magnet is embedded in the rotor. A control device for an IPM motor that controls an armature rotating magnetic field and a rotor speed of an IPM motor using the method described above, wherein the speed and the rotation angle of the rotor speed and the rotor magnetic pole position are estimated by the method according to claim 2 or 3. A control device for an IPM motor, comprising a magnetic pole position estimation calculation unit.