JP2001086797A - Control device of permanent-magnet synchronous motor - Google Patents
Control device of permanent-magnet synchronous motorInfo
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- JP2001086797A JP2001086797A JP26159999A JP26159999A JP2001086797A JP 2001086797 A JP2001086797 A JP 2001086797A JP 26159999 A JP26159999 A JP 26159999A JP 26159999 A JP26159999 A JP 26159999A JP 2001086797 A JP2001086797 A JP 2001086797A
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- input
- iron loss
- torque
- synchronous motor
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Abstract
Description
【0001】[0001]
【発明の属する技術分野】本発明は、永久磁石形同期電
動機における高精度トルク制御に関するもので、特にそ
のために必要な前記電動機の電気的定数を自動的に計
測、設定する技術に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a high-precision torque control in a permanent magnet synchronous motor, and more particularly to a technique for automatically measuring and setting an electric constant of the motor necessary for the control.
【0002】[0002]
【従来の技術】永久磁石形同期電動機の電気的定数であ
る鉄損コンダクタンスを求める場合には、交流電流を永
久磁石形同期電動機に流し、入力電流と入力電圧及び入
力電力の各値を計測して求めるが、計測作業が煩雑にな
るため、永久磁石形同期電動機をトルク制御する際にお
いても、積極的に前記鉄損コンダクタンスを考慮するこ
とはなかった。2. Description of the Related Art To determine the iron loss conductance, which is the electrical constant of a permanent magnet type synchronous motor, an alternating current is passed through the permanent magnet type synchronous motor, and the input current, input voltage and input power are measured. However, since the measurement work is complicated, the iron loss conductance was not actively taken into consideration even when performing torque control on the permanent magnet synchronous motor.
【0003】[0003]
【発明が解決しようとする課題】永久磁石形同期電動機
を高精度に制御するためには、前記電動機の正確な電気
的定数の把握が不可欠であるが、それらの値を得るため
には多大な作業と各種計測器等を必要とした。本発明は
上述した点に鑑みて創案されたもので、その目的とする
ところは、永久磁石形同期電動機の鉄損コンダクタンス
を自動的に計測し、設定する機能を提供することで上記
計測上の問題点を解決し、さらに電動機の鉄損コンダク
タンスを制御に用いることで、永久磁石形同期電動機に
おける高精度のトルク制御を可能にするものである。In order to control a permanent magnet type synchronous motor with high accuracy, it is indispensable to grasp accurate electric constants of the motor. Work and various measuring instruments were required. SUMMARY OF THE INVENTION The present invention has been made in view of the above points, and has as its object the purpose of automatically measuring and setting the iron loss conductance of a permanent magnet type synchronous motor to provide a function for setting the iron loss conductance. It is an object of the present invention to solve the problems and to use the iron loss conductance of the motor for control, thereby enabling high-precision torque control in a permanent magnet type synchronous motor.
【0004】[0004]
【課題を解決するための手段】上記問題点を解決するた
めに、トルク指令入力を持つトルク制御手段出力と電流
制御手段の第一出力とを切り替えるスイッチと、このス
イッチ出力を指令入力とし前記電動機に電力を供給する
電力変換器を有し、前記電動機に印加される電圧・電流
及び電力の各値を出力とする入力量計測手段を設け、こ
の入力量計測手段出力と前記電流制御手段の第二出力及
び設定記憶手段の第一出力とを入力とする鉄損演算手段
を有し、この鉄損演算手段出力を前記設定記憶手段へ入
力し、前記入力量計測手段出力及び前記設定記憶手段の
第一出力を入力とする磁束演算手段を有し、この出力及
び前記設定記憶手段の第二出力を入力とする鉄損分トル
ク演算手段を有し、この出力とトルク指令を入力とした
鉄損補正手段出力を前記トルク制御手段へ接続して構成
する。In order to solve the above-mentioned problems, a switch for switching between an output of a torque control means having a torque command input and a first output of a current control means, and the output of the switch is used as a command input for the electric motor. A power converter for supplying power to the motor, and input amount measuring means for outputting respective values of voltage / current and electric power applied to the electric motor. Two outputs and a first output of the setting storage means are provided as inputs, and iron loss calculation means is provided.The output of the iron loss calculation means is input to the setting storage means. A magnetic flux calculating means having a first output as an input, iron loss torque calculating means having the output and a second output of the setting storage means as inputs, and an iron loss having the output and a torque command as inputs; Correction means output Configure connected to the torque control means.
【0005】[0005]
【発明の実施の形態】図1に本発明の実施例を示し、こ
の図に基づいて説明する。スイッチ5は、通常運転時に
は、電力変換器2への指令入力として、トルク制御手段
3出力を選択し、永久磁石形同期電動機1の鉄損コンダ
クタンスg0を設定記憶手段8へ設定記憶させたい場合
には、電力変換器2への指令入力として、電流制御手段
4出力を選択する。FIG. 1 shows an embodiment of the present invention, which will be described with reference to FIG. The switch 5 selects the output of the torque control unit 3 as a command input to the power converter 2 during normal operation, and sets and stores the iron loss conductance g0 of the permanent magnet type synchronous motor 1 in the setting storage unit 8. Selects the output of the current control means 4 as a command input to the power converter 2.
【0006】電流制御手段4の第一出力は、所定の周波
数frで大きさの異なる3相交流電流が流れる二つの信
号を出力する。これら二つの信号により、前記電動機1
は周波数frに相当する速度において、二つの異なる電
流モードで運転する。この二つのモード時、電流制御手
段4の第二出力は鉄損演算手段7にそれぞれトリガ信号
を出力し、入力量計測手段6出力の永久磁石形同期電動
機1の入力電力P1、P2と入力電流I1、I2と入力
電圧V1、V2とをそれぞれ鉄損演算手段7に取り込
む。The first output of the current control means 4 outputs two signals through which three-phase alternating currents having different magnitudes flow at a predetermined frequency fr. By these two signals, the motor 1
Operates in two different current modes at a speed corresponding to the frequency fr. In these two modes, the second output of the current control means 4 outputs a trigger signal to the iron loss calculating means 7, respectively, and the input powers P1, P2 and the input current of the permanent magnet type synchronous motor 1 output from the input quantity measuring means 6 are output. I1 and I2 and the input voltages V1 and V2 are taken into the iron loss calculating means 7, respectively.
【0007】鉄損演算手段7は、前記入力電力P1、P
2と入力電流I1、I2と入力電圧V1、V2と永久磁
石形同期電動機1の巻線抵抗Rとを入力し、永久磁石形
同期電動機1の鉄損コンダクタンスg0を演算出力す
る。設定記憶手段8は、鉄損コンダクタンスg0を入力
して設定記憶し、巻線抵抗Rと鉄損コンダクタンスg0
を出力する。The iron loss calculating means 7 calculates the input powers P1, P
2, the input currents I1 and I2, the input voltages V1 and V2, and the winding resistance R of the permanent magnet synchronous motor 1 are input, and the iron loss conductance g0 of the permanent magnet synchronous motor 1 is calculated and output. The setting storage means 8 inputs and stores the iron loss conductance g0, and stores the winding resistance R and the iron loss conductance g0.
Is output.
【0008】磁束演算手段9は、入力電流iと入力電圧
vと巻線抵抗Rとを入力して、永久磁石形同期電動機1
の一次鎖交磁束ベクトルφを演算出力する。鉄損分トル
ク演算手段10は、磁束演算手段9出力である一次鎖交
磁束ベクトルφの大きさの2乗値と設定記憶手段8出力
である鉄損コンダクタンスg0との積に比例する量Tg
を演算出力する。鉄損補正手段11は、トルク指令Tc
と前記鉄損分トルク演算手段10出力Tgとを入力し、
トルク指令TcにTgを加算して、新たなトルク指令T
rを出力する。The magnetic flux calculating means 9 receives the input current i, the input voltage v, and the winding resistance R, and inputs the input current i, the input voltage v, and the winding resistance R.
The primary linkage flux vector φ is calculated and output. The iron loss torque calculating means 10 calculates an amount Tg proportional to the product of the square value of the magnitude of the primary linkage flux vector φ output from the magnetic flux calculating means 9 and the iron loss conductance g0 output from the setting storage means 8.
Is output. The iron loss correction means 11 outputs the torque command Tc
And the iron loss torque calculating means 10 output Tg,
By adding Tg to the torque command Tc, a new torque command T
Output r.
【0009】トルク制御手段3は、前記トルク指令Tr
を入力とし、永久磁石形同期電動機1の出力トルクがト
ルク指令Trに追従する信号を出力する。電力変換器2
は、スイッチ5を介して前記トルク制御手段3出力を入
力し、永久磁石形同期電動機1に電力を供給する。The torque control means 3 is provided with the torque command Tr
And outputs a signal in which the output torque of the permanent magnet type synchronous motor 1 follows the torque command Tr. Power converter 2
Inputs the output of the torque control means 3 via the switch 5 and supplies electric power to the permanent magnet type synchronous motor 1.
【0010】ここで、本発明によって、前述の問題点を
解決できる根拠について説明する。まず第一に、鉄損コ
ンダクタンスg0が測定可能となる根拠について説明す
る。異なる2つの大きさの3相交流電流を流したときの
入力電力P1とP2の関係式は、次式で表される。Here, the basis for solving the above-mentioned problems by the present invention will be described. First, the grounds on which the iron loss conductance g0 can be measured will be described. The relational expression between the input powers P1 and P2 when three different three-phase AC currents flow is represented by the following equation.
【0011】[0011]
【数1】 (Equation 1)
【0012】ここで、Pc1とPc2は銅損、Pm1と
Pm2は機械損、Pi1とPi2は鉄損である。Here, Pc1 and Pc2 are copper losses, Pm1 and Pm2 are mechanical losses, and Pi1 and Pi2 are iron losses.
【0013】銅損は、永久磁石形同期電動機1の巻線抵
抗をRとすると、[0013] The copper loss is expressed as follows, where R is the winding resistance of the permanent magnet type synchronous motor 1.
【0014】[0014]
【数2】 (Equation 2)
【0015】で表される。また、機械損は永久磁石形同
期電動機1の回転速度が同じであることから、## EQU1 ## Further, since the rotational speed of the permanent magnet type synchronous motor 1 is the same as the mechanical loss,
【0016】[0016]
【数3】 の関係となる。(Equation 3) It becomes the relationship.
【0017】鉄損は、永久磁石形同期電動機1の鉄損コ
ンダクタンスg0を用いると、The iron loss is obtained by using the iron loss conductance g0 of the permanent magnet type synchronous motor 1.
【0018】[0018]
【数4】 (Equation 4)
【0019】で表される。よって、(1)式から(2)
式を引いて、(3)、(4)、(5)、(6)、(7)
式を用いて鉄損コンダクタンスg0を求めると、## EQU1 ## Therefore, from equation (1), (2)
Equations (3), (4), (5), (6), (7)
When the iron loss conductance g0 is obtained using the equation,
【0020】[0020]
【数5】 となる。(Equation 5) Becomes
【0021】以上説明したように、永久磁石形同期電動
機1に所定の周波数frで異なる2つの大きさの3相交
流電流を流し、巻線抵抗Rと入力電力P1、P2と入力
電流I1、I2と入力電圧V1、V2とから、鉄損コン
ダクタンスg0を演算することができる。As described above, two different three-phase AC currents are supplied to the permanent magnet synchronous motor 1 at a predetermined frequency fr, and the winding resistance R, the input powers P1, P2, and the input currents I1, I2 And the input voltages V1 and V2, the iron loss conductance g0 can be calculated.
【0022】第二に、前述の鉄損補正手段11出力であ
る新たなトルク指令Trに基づいた、永久磁石形同期電
動機1の出力トルク制御について説明する。図2に永久
磁石形同期電動機1の等価回路ブロックを示し、永久磁
石形同期電動機の等価回路の一部12は、巻線抵抗Rと
永久磁石形同期電動機1の各回転角周波数ωでの鉄損コ
ンダクタンスg0′を除く前記永久磁石形同期電動機1
の等価回路成分を表わす。一般に、永久磁石形同期電動
機1の出力トルクTは、次式で表される。Second, the output torque control of the permanent magnet type synchronous motor 1 based on the new torque command Tr which is the output of the iron loss correction means 11 will be described. FIG. 2 shows an equivalent circuit block of the permanent magnet synchronous motor 1. A part 12 of the equivalent circuit of the permanent magnet synchronous motor includes a winding resistance R and an iron at each rotation angular frequency ω of the permanent magnet synchronous motor 1. The permanent magnet type synchronous motor 1 excluding the loss conductance g0 '
Represents an equivalent circuit component of Generally, the output torque T of the permanent magnet synchronous motor 1 is expressed by the following equation.
【0023】[0023]
【数6】 (Equation 6)
【0024】ここで、式中の、i1は永久磁石形同期電
動機1の入力電流ベクトル、i0は鉄損コンダクタンス
g0′に流れる電流ベクトル、i1′は入力電流ベクト
ルi1から鉄損コンダクタンスg0′に流れる電流ベク
トルi0を減じた電流ベクトル、×はベクトル積をそれ
ぞれ表わす。(9)式より、電流ベクトルi1′を制御
することにより永久磁石形同期電動機1のトルクを制御
できることがわかる。しかしながら、電流ベクトルi1
を検出することはできるが、電流ベクトルi0とi1′
は直接検出することができないため、このままではトル
ク指令Tc通りの出力トルクTが得られない。Here, in the equation, i1 is an input current vector of the permanent magnet synchronous motor 1, i0 is a current vector flowing through the iron loss conductance g0 ', and i1' is a current flowing from the input current vector i1 to the iron loss conductance g0 '. A current vector obtained by subtracting the current vector i0, and x represents a vector product. From equation (9), it can be seen that the torque of the permanent magnet synchronous motor 1 can be controlled by controlling the current vector i1 '. However, the current vector i1
Can be detected, but the current vectors i0 and i1 '
Cannot be directly detected, so that the output torque T according to the torque command Tc cannot be obtained as it is.
【0025】従って、(9)式中の最右辺第2項の鉄損
コンダクタンスg0′分に相当するトルクを計算により
求める。簡単のため、永久磁石形同期電動機1の鉄損は
回転周波数に比例すると仮定すれば、永久磁石形同期電
動機1の各回転角周波数ωでの鉄損コンダクタンスg
0′は、Therefore, the torque corresponding to the iron loss conductance g0 'of the second term on the rightmost side of the equation (9) is obtained by calculation. For simplicity, assuming that the iron loss of the permanent magnet type synchronous motor 1 is proportional to the rotation frequency, the iron loss conductance g at each rotation angular frequency ω of the permanent magnet type synchronous motor 1 is given.
0 'is
【0026】[0026]
【数7】 (Equation 7)
【0027】と表せる。ここで、ωrは鉄損コンダクタ
ンスg0を測定したときの回転角周波数であり、次式で
表される。Can be expressed as follows. Here, ωr is a rotation angular frequency when the iron loss conductance g0 is measured, and is represented by the following equation.
【0028】[0028]
【数8】 (Equation 8)
【0029】よって、鉄損コンダクタンスg0′に流れ
る電流ベクトルi0は、Therefore, the current vector i0 flowing through the iron loss conductance g0 'is
【0030】[0030]
【数9】 (Equation 9)
【0031】と表せる。一方、一次鎖交磁束ベクトルφ
は、It can be expressed as On the other hand, the primary linkage flux vector φ
Is
【0032】[0032]
【数10】 (Equation 10)
【0033】となる。ここで、v0は永久磁石形同期電
動機1の入力電圧ベクトルv1から巻線抵抗Rの電圧降
下分を除いた電圧ベクトルであり、定常状態では、一次
鎖交磁束ベクトルφは(13)式より、次式となる。## EQU1 ## Here, v0 is a voltage vector obtained by removing the voltage drop of the winding resistance R from the input voltage vector v1 of the permanent magnet type synchronous motor 1. In the steady state, the primary interlinkage magnetic flux vector φ is given by the following equation (13). The following equation is obtained.
【0034】[0034]
【数11】 ここで、jは虚数単位である。[Equation 11] Here, j is an imaginary unit.
【0035】(14)式から、電圧ベクトルv0を求め
ると、When the voltage vector v0 is obtained from the equation (14),
【0036】[0036]
【数12】 (Equation 12)
【0037】となる。よって、(10)式と(12)式
と(15)式とを(9)式に代入すると、Is as follows. Therefore, when Equations (10), (12) and (15) are substituted into Equation (9),
【0038】[0038]
【数13】 (Equation 13)
【0039】となり、(16)式最右辺第2項の鉄損コ
ンダクタンスg0′分トルクの大きさは、永久磁石形同
期電動機1の一次鎖交磁束の大きさ|φ|の2乗値と鉄
損コンダクタンスg0の積に比例した値となることがわ
かる。また、永久磁石形同期電動機1の出力トルクは電
流ベクトルi1によって制御しているため、鉄損コンダ
クタンスg0′分のトルクをTgとしてトルク指令Tc
に加えて補正し新たなトルク指令Trとすればよい。The magnitude of the torque corresponding to the iron loss conductance g0 'of the second term on the right-hand side of the equation (16) is determined by the square value of the magnitude of the primary interlinkage magnetic flux | φ | It can be seen that the value is proportional to the product of the loss conductance g0. In addition, since the output torque of the permanent magnet synchronous motor 1 is controlled by the current vector i1, the torque command Tc is defined as Tg where the torque corresponding to the iron loss conductance g0 'is Tg.
And a new torque command Tr may be obtained.
【0040】ここで、磁束演算手段9によって、永久磁
石形同期電動機1の一次鎖交磁束ベクトルφが演算でき
る根拠について説明する。図2の永久磁石形同期電動機
の等価回路から、(13)式の一次鎖交磁束ベクトルφ
は、Here, the reason why the primary flux linkage vector φ of the permanent magnet synchronous motor 1 can be calculated by the magnetic flux calculation means 9 will be described. From the equivalent circuit of the permanent magnet type synchronous motor shown in FIG.
Is
【0041】[0041]
【数14】 [Equation 14]
【0042】と表される。よって、入力電流iの電流ベ
クトルi1と入力電圧vの電圧ベクトルv1と巻線抵抗
Rとから、一次鎖交磁束ベクトルφを演算することがで
きる。## EQU4 ## Therefore, the primary interlinkage magnetic flux vector φ can be calculated from the current vector i1 of the input current i, the voltage vector v1 of the input voltage v, and the winding resistance R.
【0043】以上説明したように、永久磁石形同期電動
機1の一次鎖交磁束ベクトルの大きさ|φ|の2乗値と
鉄損コンダクタンスg0との積に比例した量を、トルク
指令Tcに加えた新たなトルク指令Trに基づいて永久
磁石形同期電動機1の出力トルクTを制御することがで
きる。As described above, the amount proportional to the product of the square value of the magnitude | φ | of the primary flux linkage vector of the permanent magnet type synchronous motor 1 and the iron loss conductance g0 is added to the torque command Tc. The output torque T of the permanent magnet synchronous motor 1 can be controlled based on the new torque command Tr.
【0044】[0044]
【発明の効果】本発明により、永久磁石形同期電動機を
高精度な制御が可能となり、さらにそのために必要な永
久磁石形同期電動機の電気的定数を高精度で自動設定で
きることから多大な作業や各種計測器等が不要となり大
いに有用である。なお、本願において、入力量計測手段
として、理解を容易とするために、センサ等から直接計
測されるよう記述したが、制御信号を加工して構成して
も本願の主旨を損なわないことはいうまでもない。According to the present invention, it is possible to control a permanent magnet type synchronous motor with high accuracy, and furthermore, it is possible to automatically set the electrical constants of the permanent magnet type synchronous motor required for that purpose with high accuracy. Measuring instruments and the like become unnecessary, which is very useful. In the present application, the input amount measuring means is described as being directly measured from a sensor or the like for easy understanding. However, it does not impair the gist of the present application even if the control signal is processed and configured. Not even.
【図1】本発明の一実施例を表すブロック線図である。FIG. 1 is a block diagram showing one embodiment of the present invention.
【図2】永久磁石形同期電動機の等価回路である。FIG. 2 is an equivalent circuit of a permanent magnet type synchronous motor.
1 永久磁石形同期電動機 2 電力変換器 3 トルク制御手段 4 電流制御手段 5 スイッチ 6 入力量計測手段 7 鉄損演算手段 8 設定記憶手段 9 磁束演算手段 10 鉄損分トルク演算手段 11 鉄損補正手段 12 永久磁石形同期電動機の等価回路の一部 DESCRIPTION OF SYMBOLS 1 Permanent magnet type synchronous motor 2 Power converter 3 Torque control means 4 Current control means 5 Switch 6 Input amount measuring means 7 Iron loss calculating means 8 Setting storage means 9 Magnetic flux calculating means 10 Iron loss torque calculating means 11 Iron loss correcting means 12. Part of equivalent circuit of permanent magnet type synchronous motor
Claims (2)
て、トルク指令入力を持つトルク制御手段出力と電流制
御手段の第一出力とを切り替えるスイッチと、このスイ
ッチ出力を指令入力とし前記電動機に電力を供給する電
力変換器を有し、前記電動機に印加される電圧・電流及
び電力の各値を出力とする入力量計測手段を設け、この
入力量計測手段出力と前記電流制御手段の第二出力及び
設定記憶手段の第一出力とを入力とする鉄損演算手段を
有し、この鉄損演算手段出力を前記設定記憶手段入力と
して接続したことを特徴とする前記永久磁石形同期電動
機の制御装置。1. A control device for a permanent magnet type synchronous motor, comprising: a switch for switching between an output of a torque control means having a torque command input and a first output of a current control means; and using the switch output as a command input to supply electric power to the motor. A power converter for supplying, and input amount measuring means for outputting each value of voltage, current and electric power applied to the electric motor, and an output of the input amount measuring means, a second output of the current control means, The permanent magnet type synchronous motor control device according to claim 1, further comprising an iron loss calculating means having the first output of the setting storage means as an input, and connecting the output of the iron loss calculating means as the setting storage means input.
憶手段の第一出力を入力とする磁束演算手段を有し、こ
の出力及び前記設定記憶手段の第二出力を入力とする鉄
損分トルク演算手段を有し、この出力とトルク指令を入
力とする鉄損補正手段出力を新たなトルク指令入力とし
て、前記トルク制御手段へ接続したことを特徴とする請
求項1記載の永久磁石形同期電動機の制御装置。2. An iron loss torque having a magnetic flux calculating means having the input of the input amount measuring means and the first output of the setting storage means as inputs, and having the output and the second output of the setting storage means as inputs. 2. A permanent magnet type synchronous motor according to claim 1, further comprising a calculating means, wherein an output of the iron loss correcting means having the output and the torque command as inputs is connected to the torque control means as a new torque command input. Control device.
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JP26159999A JP4274646B2 (en) | 1999-09-16 | 1999-09-16 | Control device for permanent magnet type synchronous motor |
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JP26159999A JP4274646B2 (en) | 1999-09-16 | 1999-09-16 | Control device for permanent magnet type synchronous motor |
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JP2001086797A true JP2001086797A (en) | 2001-03-30 |
JP4274646B2 JP4274646B2 (en) | 2009-06-10 |
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ID=17364157
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010115063A (en) * | 2008-11-07 | 2010-05-20 | Fanuc Ltd | Controller which calculates power consumption of industrial machine |
CN107493051A (en) * | 2017-09-18 | 2017-12-19 | 南京理工大学 | A kind of ultrahigh speed direct torque control method for permanent magnetic synchronous electric machine based on core loss |
-
1999
- 1999-09-16 JP JP26159999A patent/JP4274646B2/en not_active Expired - Lifetime
Cited By (6)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010115063A (en) * | 2008-11-07 | 2010-05-20 | Fanuc Ltd | Controller which calculates power consumption of industrial machine |
CN101738979A (en) * | 2008-11-07 | 2010-06-16 | 发那科株式会社 | Controller for calculating electric power consumption of industrial machine |
US8278849B2 (en) | 2008-11-07 | 2012-10-02 | Fanuc Ltd | Controller for calculating electric power consumption of industrial machine |
CN101738979B (en) * | 2008-11-07 | 2013-10-23 | 发那科株式会社 | Controller for calculating electric power consumption of industrial machine |
CN107493051A (en) * | 2017-09-18 | 2017-12-19 | 南京理工大学 | A kind of ultrahigh speed direct torque control method for permanent magnetic synchronous electric machine based on core loss |
CN107493051B (en) * | 2017-09-18 | 2019-04-16 | 南京理工大学 | A kind of ultrahigh speed direct torque control method for permanent magnetic synchronous electric machine based on core loss |
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JP4274646B2 (en) | 2009-06-10 |
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