JP2000166300A - Start-controlling device of permanent magnet-type synchronous motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To stably start a permanent-magnet-type synchronous motor without using any magnetic pole position detector. SOLUTION: A start-controlling device is provided with setting equipment 19 for setting a current reference value for fixing a magnetic pole position, setting equipment 20 for setting a phase command for fixing the magnetic pole position, and a switching means 18 for setting to an initial current reference value being set by the setting equipment 19 before starting an electric motor and at the same time, giving an initial phase state being set by the setting equipment 20 to the magnetic pole phase signal.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a start control apparatus for a vector-controlled permanent magnet synchronous motor.

[0002]

2. Description of the Related Art FIG. 18 shows an example of the configuration of a conventional variable speed control device for a permanent magnet synchronous motor. A DC 1 obtained from an AC power supply by a rectifier, a PWM converter or the like (not shown) is converted into an AC of an arbitrary frequency and an arbitrary voltage by a power converter (inverter) 2 and is converted into a permanent magnet synchronous motor (PMSM) 3 (hereinafter, referred to as “PMSM”). A main circuit for driving the electric motor 3) is formed, and the output of the power converter 2 is controlled to rotate the electric motor 3 at an arbitrary speed regardless of the electric motor load (not shown). The magnetic pole position of the rotor of the electric motor 3 is detected by the magnetic pole position detector 4 as the electric motor rotation angle θr, which is differentiated by the differentiator 5 to obtain the rotational speed n of the electric motor 3. The rotational speed n is compared with the speed reference generated by the speed reference generator 6 by the comparator 7, and the comparison result, that is, the speed deviation is input to the speed controller 8, and the torque current reference Iq0 is obtained. The current supplied from the power converter 2 to the motor 3, that is, the motor current, is detected by the current detector 9, and this is decomposed into a magnetic flux current and a torque current by the coordinate converter 10. The magnetic flux current and the torque current are compared in comparators 12a and 12b with the magnetic flux current reference Id0 generated by the magnetic flux current reference generator 11 and the torque current reference Iq0 generated by the speed controller 7, respectively. And a torque current deviation are obtained and input to the current controller 13, respectively. The current controller 13 generates a magnetic flux current command and a torque current command for making each deviation zero, converts them into a three-phase voltage command by the coordinate converter 14, and outputs the three-phase voltage command via the PWM pattern generation circuit 15. 2
To gate.

In a permanent magnet type synchronous motor, when the magnetic flux generated by a permanent magnet as a rotor inside the motor and the magnetic flux generated by an armature current Ia flowing through a stator winding are orthogonal to each other, the same current is applied. At the maximum torque. In the vector control of the permanent magnet synchronous motor, the control that satisfies the above-described condition is performed by using the magnetic pole position detection signal obtained by the magnetic pole position detector 4 for the coordinate converters 10 and 14.

Incidentally, there have been proposed several types of control systems that do not use the magnetic pole position detector 4. An example shown in FIG. 19 is also provided. Instead of the magnetic pole position detector 4, a speed detector 16 is provided, and the motor speed n detected by the speed detector 16 is provided.
In addition to the above, the magnetic pole position is calculated by the magnetic pole position calculator 17 using the detected motor current value and the voltage command value to the power converter 2, and the magnetic pole position signal obtained by the calculation is converted to the coordinate converters 10 and 14. Is used as reference phase information used in. In this method, a calculation method in which the speed detector 16 can be omitted has been proposed. In this case, the motor speed n is obtained by differentiating the rotation angle obtained by the magnetic pole position calculator 17.
And input it to the comparator 7.

[0005]

The use of the magnetic pole position detector 4 is indispensable for performing accurate motor control by the method shown in FIG. However, the magnetic pole position detector is more expensive than a speed detector used for controlling the speed of the induction motor. Further, the method shown in FIG. 19 has a problem that the current detection value and the voltage command value are small in an area where the speed is low such as at the time of starting, and the estimation accuracy of the magnetic pole position is low. Cannot calculate the magnetic pole position.

A method of estimating a magnetic pole position at the time of stoppage by applying a current to an armature while a mechanical brake is applied to an electric motor has been proposed. However, a cylindrical permanent magnet having almost no saliency has been proposed. In the case of the synchronous motor used, it is extremely difficult to estimate the magnetic pole position.

SUMMARY OF THE INVENTION Accordingly, an object of the present invention is to provide a start-up control device for a permanent magnet type synchronous motor capable of stably starting a permanent magnet type synchronous motor without using a magnetic pole position detector.

[0008]

In order to achieve the above-mentioned object, the invention according to claim 1 provides a permanent magnet type synchronous motor having a speed deviation and a magnetic flux current deviation in accordance with a given speed standard and magnetic flux current standard. In a starting control device for a permanent magnet type synchronous motor that performs speed control through current control means and a power converter controlled by the current control means so as to be zero, a magnetic flux current command and torque corresponding to a fixed magnetic pole position for starting the motor are provided. The starting current setting means for generating the current command, the starting phase setting means for setting the current phase command for starting the motor, and the starting phase setting means as the initial phase value of the motor current prior to starting the motor. A current phase command is given, and a starting current setting means is set as an initial value of a magnetic flux current reference and a torque current reference inputted to the current control means. Accordingly, characterized by comprising a switching means for switching operation to provide a set flux current command and the torque current command, the.

According to a second aspect of the present invention, in the starting control device for a permanent magnet type synchronous motor according to the first aspect, the starting current setting means determines a magnetic flux current command and a torque current command corresponding to the fixed magnetic pole position. It is characterized by gradually starting up with the time limit.

[0010] The invention according to claim 3 is the invention according to claim 1 or 2.
In the startup control device for a permanent magnet synchronous motor described in (1), the startup current setting means changes the magnetic flux current command and the torque current command corresponding to the fixed magnetic pole position according to the motor speed.

The invention according to claim 4 is the invention according to claims 1 to 3
The start control device for a permanent magnet synchronous motor according to any one of the above, further comprising an attenuating means for attenuating the phase command set by the starting phase setting means according to the motor speed.

The invention according to claim 5 is the invention according to claims 1 to 4
The start control device for a permanent magnet synchronous motor according to any one of the above, further comprising a damping means for attenuating the phase command set by the starting phase setting means according to a correction amount according to the motor rotation angle after starting. It is characterized by the following.

The invention according to claim 6 is the invention according to claims 1 to 5
In the startup control device for a permanent magnet type synchronous motor according to any one of the above, the rotation direction determination means for determining the rotation direction of the synchronous motor, and the phase command set by the startup phase setting means, the rotation direction determination means, Means for jumping according to the set rotation direction.

According to a seventh aspect of the present invention, in the starting control apparatus for a permanent magnet type synchronous motor according to the sixth aspect, the apparatus further comprises a speed judging means for judging that the motor speed has reached a predetermined value. The phase command set by the setting means is jumped by the output of the speed determining means.

The invention according to claim 8 is the invention according to claim 6 or 7.
The start control device for a permanent magnet type synchronous motor according to the above, further comprising a load torque detecting means for detecting a motor load torque, the phase command set by the start phase setting means, the load detected by the load torque detecting means The control is performed according to the torque.

The invention according to claim 9 is the invention according to claim 6 or 7.
In the startup control device for a permanent magnet type synchronous motor described in the above, the rotation direction determination means determines the direction of the load torque from the motor rotation direction when there is no current, the magnetic flux current command and the torque current set by the startup current setting means. A delay unit that makes the command effective after the direction of the load torque is determined is further provided.

According to a tenth aspect of the present invention, in the starting control device for a permanent magnet synchronous motor according to any one of the sixth to ninth aspects, the phase command set by the starting phase setting means is transmitted to the speed determining means. It is characterized in that it is started up gradually with a predetermined time limit according to the output.

According to an eleventh aspect of the present invention, in the starting control apparatus for a permanent magnet type synchronous motor according to the fifth aspect, the correction amount to be attenuated by the damping means is determined by the motor speed,
The adjustment is performed according to at least one of the motor rotation direction and the load torque.

[0019]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing a starting control apparatus for a permanent magnet synchronous motor constructed according to the present invention. In order to explain the present invention, FIG.
17 to FIG. 17, in these figures, the same components as those in FIG. 18 and FIG. 19 described above are denoted by the same reference numerals, and the description thereof is omitted.

<Embodiment 1> FIG. 1 shows an embodiment of the first aspect of the present invention. In this embodiment, before starting the motor 3 in a state in which the magnetic pole position of the motor is not known, a current of a certain fixed amplitude and phase is temporarily applied to the armature to fix the magnetic pole position, and to clarify the magnetic pole position. After that, the electric motor 3 is started. To achieve this, the device of FIG. 1 is based on the device of FIG.
0, and switches 18a and 18b are inserted in front of these comparators so that the outputs of the start-up current setter 19 and the start-up phase setter 20 are guided to the comparators 12a and 12b prior to start-up. . Start-up current setting device 19
Sets an initial magnetic flux current reference and an initial torque current reference when the motor is started. Further, the coordinate converter 1
A switch 18c for switching the magnetic pole position signal applied thereto to the phase signal from the starting phase setter 20 at the time of starting the motor is inserted in the 0, 14 magnetic pole position signal input stage. The switches 18a, 18b, 18c may be three switches interlocked with each other, or may be interlocking contacts of one switch.

In order to start the motor 3 with the magnetic pole position unknown for the motor 3 to which the mechanical brake is applied, first, the contacts of the switches 18a, 18b, 18c are set to the upper side in the drawing, that is, at the time of startup. The current setting unit 19 and the start-time phase setting unit 20 are switched. Start-up current setting device 19
In addition, the start-time phase setting device 20 outputs a preset fixed value so that the output of the power converter 2 becomes a DC current. At the same time as the mechanical brake of the electric motor 3 is released, the rotor magnetic poles of the electric motor 3 start to rotate and are fixed at a certain angular position corresponding to the load torque and the current value. The magnetic pole position of the electric motor 3 in this state is determined by the starting current setting device 19.
And the set value of the start-time phase setting device 20 and the motor 3
Can be easily calculated from the load condition.

More specifically, the position of the magnetic pole of the electric motor 3 is fixed at a position shifted from the position of the magnetic flux generated by the current flowing through the stator by an amount corresponding to the load torque. Assume that the set value of the start-up current setting unit 19 is Ido, the flux component of the stator current, ie, the magnetic flux current, is Ido, the torque component, ie, the torque current, is Iqo, and the phase set value of the start-up phase setter 20 is θref. Kq the torque constant of the motor 3, if .tau.1 to by that load torque applied, the motor magnetic pole position Shitafix ^{is, θfix = θref + tan -1 (} Iqo / Ido) + sin -1 {τl / (kq (Ido 2 + Iqo 2) ^1/2 )}… (1) is fixed. The first and second terms on the right side of equation (1) are the angle of the magnetic flux generated by the current flowing through the stator, and the third term is the angle deviated by the effect of the load.

The magnetic flux φ generated by the armature current Ia at this time
FIG. 2 shows the relationship between the direction of a and the direction of the magnetic flux φm generated by the rotor permanent magnet. For example, in the case of no load, if the torque current Iqo set by the starting current setting unit 19 is set to zero, the magnetic pole position of the electric motor 3 is fixed to the value θref set by the starting phase setting unit 20. In this state, the switch 18
When the contacts a, 18b, and 18c are switched to the lower side in the figure (steady operation side), the magnetic pole position calculator 17 starts the calculation with the phase θref set by the startup phase setter 20 as an initial value, and 3 starts normally. If a mechanical load of about 50% of the motor rating, that is, a load torque τl is already applied when the motor is to be started, if the magnitude of the flowing current is about the rated ^value , the value after sin ^{-1 in} the above equation can be obtained. Since the value in parentheses is 0.5, if the torque current Iqo is set to zero, the magnetic pole will be set to 30 from the set value of the magnetic pole position setter 20.
It is fixed at an angular position shifted by about °. When such a magnetic pole position calculation error occurs, the actual torque generated by the electric motor 3 is obtained by multiplying the torque command value by the cosine of the calculation error angle. If the magnetic pole position calculation error is 30 °, the generated torque of the electric motor 3 is cos 30 ° times the command value, that is, 0.866 times. With such a load, starting can be performed without any particular problem. Therefore, the load condition of the motor does not need to be considered when estimating the initial magnetic pole position at the time of starting. F indicates the attraction force acting on the permanent magnet rotor.

<Embodiment 2> FIG. 3 shows an example of an output waveform of the starting current setting unit 19 in an embodiment of the present invention. According to the first aspect of the invention, as shown in FIG. 3A, a fixed current of a constant value is applied in a stepwise manner in synchronization with the start command to fix the magnetic pole position of the motor. On the other hand, in this embodiment, when fixing the magnetic pole position,
By changing the current flowing through the armature for a certain period of time,
To reduce the generation of impact force when the magnetic pole position is fixed. That is, as shown in FIG. 3B, by applying a ramp-shaped set current so that the current amplitude at the time of fixing the magnetic pole position gradually rises with a certain time limit, the shock generated at the time of fixing the magnetic pole position is reduced.

<Third Embodiment> FIG. 4 shows a third embodiment of the present invention. In the first and second embodiments of the present invention (FIGS. 1 and 3), a constant value of DC current is constantly supplied to fix the magnetic pole position. The vibration generated at the time of fixing the position cannot be suppressed, and the fixing of the magnetic pole position may fail. In order to prevent this, in the present embodiment, the motor 3 is not used until the magnetic pole position is fixed.
In order to change the value of the current flowing through the armature according to the rotation speed n of the motor, the set value of the starting current setting device 19 is changed according to the rotation speed n of the electric motor. Specifically, by changing the amplitude of the magnetic flux component current / torque component current set by the starting current setting unit 19 according to the motor speed n detected by the speed detector 16, generation of shock / vibration is performed. Suppress. FIG. 5 shows an output of the speed detector 16, that is, the motor speed n, and a waveform example of the phase signal given to the coordinate converters 10 and 14 at this time. In the example in this figure,
The output of the starting current setting unit 19, that is, the magnetic flux current reference Id0
-Although both torque current references Iq0 are changed, a method of changing only one of them is also conceivable.

<Fourth Embodiment> FIG. 6 shows a fourth embodiment of the present invention. In the embodiment of the invention according to claim 3 (FIGS. 4 and 5), when an excessive speed occurs due to a load condition or the like when the magnetic pole position is fixed, the current flowing increases accordingly, and as a result, the power converter 2 The rated current may be exceeded. On the other hand, in the present embodiment, the value obtained by multiplying the motor speed n detected by the speed detector 16 by the proportional constant Kdp by the proportional constant circuit 21 is subtracted from the output of the startup phase setting device 20 by the subtractor 22. , Input to the coordinate converters 10 and 14. That is, the proportional constant circuit 21 and the subtractor 22 constitute an attenuating means for the phase at the time of starting, and only the electric angle is changed according to the motor speed n without changing the absolute value of the current. Thereby, while the motor rotor is moving (= until the magnetic pole position is fixed), an operation can be performed such that the magnetic flux φa generated by the armature current Ia approaches the magnetic pole position on the rotor side. In this manner, the vibration generated when the magnetic pole position is fixed can be rapidly attenuated. FIG. 7 shows a waveform example of the motor speed n detected by the speed detector 16 and the phase transmitted to the coordinate converters 10 and 14 at this time.

<Fifth Embodiment> FIG. 8 shows a fifth embodiment of the invention. In the embodiment of the invention according to claims 1 to 4, the position where the magnetic pole position is finally fixed is always the same under the same load condition regardless of the initial position. For this reason, depending on the initial magnetic pole position, there is a possibility that the electric angle is rotated at a maximum of 180 degrees when no load is applied until the magnetic pole position is fixed, and near 270 to 360 degrees depending on the load condition. On the other hand, in the present embodiment, after the motor speed n is integrated by the integrator 23 to obtain the motor rotation angle, the result is multiplied by a constant Kdi, and the result is subtracted from the output of the startup phase setting device 20 by the subtractor 22. Subtraction causes the damping means to act. In the embodiment of the invention according to claim 4 (FIGS. 6 and 7), since the correction term is zero when the motor speed is zero, the output of the start-time phase setting device 20 is used as it is for the coordinate converters 10, 14. According to the present embodiment, the output of the integrator 23 does not become zero even when the motor speed becomes zero.
The motor magnetic pole position can be fixed at a position obtained by adding a certain offset to the output of the start-time phase setting device 20. For this reason, it is possible to reduce the rotation angle of the motor when the magnetic pole position is fixed. FIG. 9 shows an output of the speed detector 16 and a waveform example of a phase signal to the coordinate converter 10 and the coordinate converter 14 at this time. Although the embodiment of FIG. 8 is implemented in combination with the embodiment of the invention according to claim 4, it can be implemented in combination with the embodiment of the invention according to claims 1 to 3.

<Sixth Embodiment> FIG. 10 shows a sixth embodiment of the present invention. In the embodiments of the invention according to claims 3 to 5 (FIGS. 4 to 9), the motor speed n is used for control when the magnetic pole position is fixed, but the motor speed n when the magnetic pole position is fixed is very much higher than the rated value. Often small,
Depending on the resolution of the speed detector 16, a sufficient effect may not be obtained. On the other hand, in the invention according to the present invention, immediately after the magnetic pole fixing is started, the direction in which the magnetic pole position exists (rotation direction) is determined by the rotation direction determiner 24 based on the output of the speed detector 16, and according to the direction. The output of the phase setter 20 at startup is discontinuously advanced or delayed to reduce the angle between the magnetic flux generated by the armature current Ia and the rotor magnetic flux, thereby reducing the time required for fixing the magnetic pole position and the rotation angle. Let it. Theoretically, the greatest effect can be obtained when the phase jump amount is ± 90 °, but the optimum value is 0 ° to 180 ° in consideration of the operation delay time of the rotation direction detector 25 and the friction coefficient of the mechanical system. ° is selected.
Note that when the phase jump amount is 90 °, the maximum rotation angle of the electric motor 3 is the smallest, and when there is no load, the electric angle is 90 ° in electrical angle. FIG. 11 shows an output of the speed detector 16 and a waveform example of a phase signal to the coordinate converters 10 and 14 at this time. Although the embodiment of FIG. 10 is described as being combined with the embodiment of the third and fourth aspects of the invention, it can also be combined with the embodiment of the second and fifth aspects of the invention.

<Seventh Embodiment> FIG. 12 shows a seventh embodiment of the present invention. In the embodiment of the invention according to claim 6 (FIGS. 10 and 11), the magnetic pole fixed phase jumps discontinuously in any case, so that the phase jumps even when there is no need to jump the phase. However, there is one aspect that a small but unnecessary vibration is likely to be caused. On the other hand, in the present embodiment, only when the motor speed n when the magnetic pole is fixed exceeds a certain set value, the speed determiner 25 determines that the phase difference between the initial magnetic pole position and the final magnetic pole fixed position is sufficiently large. Thus, the output of the start-time phase setting device 20 is changed discontinuously. The speed determiner 25 serves as an edge trigger, and once the speed exceeds a certain value, keeps its output even if the speed decreases. Basically, FIGS.
The direction in which the output of the start-time phase setting device 20 jumps is determined after detecting the rotation direction in the same manner as in the embodiment, but the rotation direction need not be detected only when the phase jump amount is set to 180 °. . In this case, the final fixed position of the magnetic pole is on the opposite side of the initial set value, and the effect is maximized. However, since the amount of phase jump is large, the generated impact force may be large. The optimum value of whether the phase jump amount is 180 ° or less depends on the mechanical constant (such as the coefficient of friction) of the system to be applied. FIG. 13 shows an example of the output of the speed detector 16 and the phase input to the coordinate converters 10 and 14 at this time.

<Eighth Embodiment> FIG. 14 shows an eighth embodiment of the present invention. In the embodiments of the invention according to claims 6 and 7 (FIGS. 10 to 13), depending on the relationship between the direction of the load torque .tau.1 and the initial magnetic pole position, the magnetic pole can be fixed stably without particularly jumping the current phase. However, even at that time, the phase of the current may be changed discontinuously to cause extra vibration. According to the present embodiment, the load torque detector 26 for detecting the load torque is provided, and the detected load torque and the rotation direction
Is input to the start-time phase setting device 20, and the current phase jumps only when necessary. Specifically, when a DC current is applied to the armature winding to start the magnetic pole position fixing operation, if the initial rotation direction of the motor 3 is opposite to the load torque direction, the rotor magnetic pole can be set without jumping the phase. Since the position can be fixed stably, the phase does not jump in this case. In this way, unnecessary changes in the current phase can be avoided, and the occurrence of extra vibration can be prevented.

<Ninth Embodiment> FIG. 15 shows a ninth embodiment of the present invention. In an embodiment (FIG. 14) of the invention according to claim 8, the load torque detector 2
6 is required. According to the present embodiment, the timing for starting the current for fixing the magnetic pole position is delayed, the load torque direction is determined from the rotation direction of the electric motor 3 during this time, and then the acceleration is started when the current is started to flow. The embodiment of the invention according to claim 8 (FIG. 1)
The initial rotation direction of the motor in 4) is determined. Simply, if the motor 3 is decelerated when the current starts to flow, it can be determined that there is no need to jump the phase of the current because the load torque direction and the initial motor rotation direction are opposite. If the resolution of the speed detector 16 is low, it is difficult to determine acceleration / deceleration in a very low speed range. In this case, the determination may be made based on the rotation direction after a certain time period has elapsed since the start of current supply.

<Embodiment 10> FIG. 16 shows an example of the output of the speed detector 16 and the waveform of the phase signal to the coordinate converters 10 and 14 according to the tenth embodiment of the present invention. The configuration of the control block in the present embodiment is the same as that of the invention according to claims 6 to 9 (FIGS. 10 to 15). In the invention according to claims 6 to 9, there is a possibility that an impact force is generated when the phase is jumped. According to the present embodiment, when the phase is jumped, as shown in FIG. 16, by continuously changing the phase with a certain time limit, it is possible to reduce extra vibration generated at the time of the phase jump.

<Embodiment 11> FIG. 17 shows an embodiment according to the eleventh aspect of the present invention. In the embodiment of the invention according to claim 5 (FIG. 8), the correction amount by the integrator 23 that obtains the rotation angle from the motor speed n may impair the stability for fixing the magnetic pole position depending on how the gain is applied. There is. In the present embodiment, the operation of the integrator 23 is
An embodiment of the invention according to claims 6 to 9 (FIGS. 10 to 10) is controlled by the output of the rotation direction determiner 24, the speed determiner 25, and the load torque detector 26, and stopping the integration operation as needed. Operation similar to 15) can be performed. Specifically, in the initial state, the correction amount is set to a limit corresponding to the value corresponding to FIG. When the motor speed n exceeds a certain value based on the output of the speed determiner 25, the condition for stopping the integration operation of the integrator 23 is shown in FIG.
Is changed to a value corresponding to Rotation direction determiner 24
If it is determined that there is no need to jump the phase from the output of the load torque detector 26 and the output of the load torque detector 26, the operation similar to the embodiment of FIGS. It can also be done.

[0034]

According to the present invention, the permanent magnet synchronous motor can be started stably by temporarily fixing the magnetic pole position to a preset phase state without using a magnetic pole position detector. . Further, it is possible to configure a control system in which the impact and vibration are small and the rotation amount is small when the magnetic pole position is fixed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment of the invention according to claim 1;

FIG. 2 is a vector diagram for explaining the principle of the invention according to claim 1;

FIG. 3A is a diagram showing an example of an output waveform of a start-up current setting device according to the first embodiment of the present invention, and FIG.
FIG. 4 is a diagram showing an example of an output waveform of a start-up current setting device in the embodiment of the invention according to claim 2.

FIG. 4 is a block diagram showing an embodiment of the invention according to claim 3;

FIG. 5 is a diagram showing an example of an output waveform of a motor speed and start-up current setting device in the embodiment of the invention according to claim 3;

FIG. 6 is a block diagram showing an embodiment of the invention according to claim 4;

FIG. 7 is a diagram showing an example of an input waveform to a motor speed and coordinate converter in the embodiment of the invention according to claim 4;

FIG. 8 is a block diagram showing an embodiment of the invention according to claim 5;

FIG. 9 is a diagram showing an example of an input waveform to a motor speed and coordinate converter in the embodiment of the invention according to claim 5;

FIG. 10 is a block diagram showing an embodiment of the invention according to claim 6;

FIG. 11 is a diagram showing an example of an input waveform to a motor speed and coordinate converter in the embodiment of the invention according to claim 6;

FIG. 12 is a block diagram showing an embodiment of the invention according to claim 7;

FIG. 13 is a diagram showing an example of an input waveform to a motor speed and coordinate converter in the embodiment of the invention according to claim 7;

FIG. 14 is a block diagram showing an embodiment of the invention according to claim 8;

FIG. 15 is a block diagram showing an embodiment of the invention according to claim 9;

FIG. 16 is a diagram showing an example of a waveform of an input wave to a motor speed and coordinate converter in the embodiment of the invention according to claim 10;

FIG. 17 is a block diagram showing an embodiment of the invention according to claim 11;

FIG. 18 is a block diagram of a control device for a permanent magnet synchronous motor according to the related art.

FIG. 19 is a block diagram of another control device according to the related art.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 DC power supply 2 Power converter 3 Permanent magnet synchronous motor (PMSM) 4 Magnetic pole position detector 6 Speed reference generator 8 Speed controller 10 Coordinate converter 11 Flux current reference generator 13 Current controller 14 Coordinate converter 15 Gate Pattern generator 16 Speed detector 17 Magnetic pole position calculator 18a, 18b, 18c Switch 19 Current setting device at startup 20 Phase setting device at startup

Continued on the front page F term (reference) 5H001 AA00 AA01 AB11 AB12 AD00 AD01 AD02 AE01 5H560 BB04 BB12 DA12 DB06 DB07 DC03 DC06 DC12 EB01 EC01 HA03 HA09 RR10 SS07 TT01 TT20 XA02 XA04 XA12 XA13 5H576 BB04 EE10 EE01 DD01 GG02 GG04 HB01 JJ18 JJ22 JJ25 LL01 LL22 LL37 LL38 LL41

Claims (11)

[Claims] 1. A method for controlling a permanent magnet synchronous motor through a current control means and a power converter controlled by the current control means such that the speed deviation and the flux current deviation become zero according to a given speed reference and a magnetic flux current reference. In the starting control device for a permanent magnet type synchronous motor to be controlled, a starting current setting means for generating a magnetic flux current command and a torque current command corresponding to a fixed magnetic pole position for starting the motor, and a current phase command for starting the motor. Starting phase setting means for setting, and a current phase command set by the starting phase setting means as a phase initial value of a motor current prior to starting the motor, and a magnetic flux current reference and torque input to the current control means. A magnetic flux current command and a torque current command set by the start-up current setting means as initial values of a current reference. Activation controller for a permanent magnet type synchronous motor characterized by comprising a switching unit, a for switching operation to obtain. 2. The starting control device for a permanent magnet synchronous motor according to claim 1, wherein said starting current setting means gradually changes a magnetic flux current command and a torque current command corresponding to a fixed magnetic pole position with a predetermined time limit. A start-up control device for a permanent magnet synchronous motor, which is started up. 3. The starting control device for a permanent magnet type synchronous motor according to claim 1, wherein said starting current setting means changes a magnetic flux current command and a torque current command corresponding to a fixed magnetic pole position according to a motor speed. A starting control device for a permanent magnet type synchronous motor, wherein the starting control device is changed. 4. A starting control device for a permanent magnet synchronous motor according to claim 1, wherein the phase command set by the starting phase setting means is attenuated according to the motor speed. A start-up control device for a permanent magnet type synchronous motor, further comprising: 5. The starting control device for a permanent magnet synchronous motor according to claim 1, wherein the phase command set by the starting phase setting means is set according to a motor rotation angle after starting. A starting control device for a permanent magnet type synchronous motor, further comprising a damping means for damping according to a correction amount. 6. The starting control device for a permanent magnet synchronous motor according to claim 1, wherein the starting direction is set by a rotation direction determining unit that determines a rotating direction of the synchronous motor. Means for jumping the set phase command in accordance with the rotation direction determined by the rotation direction determination means. 7. The start control device for a permanent magnet synchronous motor according to claim 6, further comprising speed determination means for determining that the motor speed has reached a predetermined value, wherein the speed is set by the start phase setting means. A starting control device for a permanent magnet type synchronous motor, wherein the phase command is caused to jump by an output of the speed determining means. 8. The starting control device for a permanent magnet synchronous motor according to claim 6, further comprising a load torque detecting means for detecting a motor load torque, wherein the phase command set by the starting phase setting means is provided. In accordance with the load torque detected by the load torque detecting means. 9. The starting control device for a permanent magnet type synchronous motor according to claim 6, wherein said rotation direction determining means determines a direction of a load torque from a rotation direction of the motor when there is no current, and wherein said starting current is determined. A start-up control device for a permanent magnet type synchronous motor, further comprising delay means for validating the magnetic flux current command and the torque current command set by the setting means after the direction of the load torque is determined. 10. A starting control device for a permanent magnet type synchronous motor according to claim 6, wherein a phase command set by said starting phase setting means is set to a predetermined value by an output of said speed judging means. A starting control device for a permanent magnet type synchronous motor characterized by gradually starting up in a timed manner. 11. The start-up control device for a permanent magnet synchronous motor according to claim 5, wherein the correction amount for attenuating by the damping means is at least one of a motor speed, a motor rotation direction, and a load torque. A starting control device for a permanent magnet type synchronous motor, wherein the starting control device is adjusted in accordance with the following.