JP2001352800A

JP2001352800A - Constant identification method of synchronous motor and control unit with constant identification function therefor

Info

Publication number: JP2001352800A
Application number: JP2000172355A
Authority: JP
Inventors: Shuichi Fujii; 秋一藤井; Sukeatsu Inazumi; 祐敦稲積; Noriaki Sueyoshi; 礼明末吉
Original assignee: Yaskawa Electric Corp
Current assignee: Yaskawa Electric Corp
Priority date: 2000-06-08
Filing date: 2000-06-08
Publication date: 2001-12-21

Abstract

PROBLEM TO BE SOLVED: To obtain automatically q-axis inductance Lq of a synchronous motor with high precision by using a control unit of a synchronous motor. SOLUTION: A rotor is set in the state of stop. A q-axis current command is set as a first q-axis current command value. A d-axis current command is set as a first d-axis current command value. A d-axis current step command having a prescribed height is applied to the control unit. A voltage value is obtained by subtracting a voltage of the amount of voltage drop due to primary resistance of the motor from a d-axis voltage command value produced corresponding to deviation of the d-axis current detection value to the step command. The voltage value is integrated over a first integration time which is previously determined, and an integration value vd- sum is produced. Variation Δid of the d-axis current detection value at the end time of integration to the d-axis current detection value at the start time of integration is produced. Similar calculation is executed to the q-axis, and integration values vq- sum and Δiq are produced. K=(vq-sum/vd-sum).(Δid/Δiq) is calculated. Known d-axis inductance Ld is used, and q-axis inductance is calculated by using a formula Lq=KLd.

Description

DETAILED DESCRIPTION OF THE INVENTION

【０００１】[0001]

【発明の属する技術分野】本発明は、同期電動機のｑ軸
電流指令に対するｑ軸電流検出値の偏差に対応するｑ軸
電圧指令、及びｄ軸電流指令に対するｄ軸電流検出値の
偏差に対応するｄ軸電圧指令をそれぞれ演算し、前記ｑ
軸電圧指令及びｄ軸電圧指令に基づいて同期電動機の駆
動電流を制御する同期電動機の制御装置（インバータ装
置）を用いて同期電動機の定数を同定する同期電動機の
定数同定方法、および同期電動機の定数同定機能付き制
御装置に関する。The present invention relates to a q-axis voltage command corresponding to a deviation of a q-axis current detection value from a q-axis current command of a synchronous motor, and a deviation of a d-axis current detection value from a d-axis current command. The respective d-axis voltage commands are calculated, and q
Synchronous motor constant identification method for identifying synchronous motor constants using synchronous motor control device (inverter device) that controls synchronous motor drive current based on shaft voltage command and d-axis voltage command, and synchronous motor constants The present invention relates to a control device with an identification function.

【０００２】[0002]

【従来の技術】従来の電動機の定数同定は電動機の無負
荷試験・負荷試験などによって行われていた（以下、従
来技術１と記す）。2. Description of the Related Art Conventionally, constant identification of a motor has been performed by a no-load test and a load test of the motor (hereinafter referred to as prior art 1).

【０００３】またインバータ等の制御装置を用いて電動
機定数を自動で測定を行う方法については、特開昭６０
−１８３９５３（以下、従来技術２と記す）に、d-q電
流指令に基づいてインバータ回路に可変電圧可変周波数
の３相ベクトル制御信号を出力する座標変換器と、該変
換器の出力量を制御して前記電動機を駆動する制御装置
を備えた誘導電動機制御システムの制御演算定数設定方
法が記載されている。A method for automatically measuring a motor constant using a control device such as an inverter is disclosed in
-183953 (hereinafter referred to as Conventional Technique 2), a coordinate converter that outputs a three-phase vector control signal of a variable voltage variable frequency to an inverter circuit based on a dq current command, and an output amount of the converter is controlled. A method for setting a control operation constant of an induction motor control system including a control device for driving the motor is described.

【０００４】この従来技術２においては、制御装置に電
動機の電動機定数を演算する電動機定数演算器を備えて
いる。そうして、実運転前に、該演算器は電動機の一つ
の定数の測定条件に応じた指令信号を出力し、該指令信
号に従って座標変換器はインバータ回路を制御して、電
動機に交流または直流を供給する。次に、インバータ回
路の３相出力電圧をd-q変換して電動機定数演算器に入
力し、電動機定数演算器は、該入力したｄ軸電圧検出値
およびｑ軸電圧検出値に基づいて電動機の電動機定数を
演算し、この演算された電動機定数に基づいて制御装置
の制御演算定数を設定する。In the prior art 2, the control device includes a motor constant calculator for calculating the motor constant of the motor. Then, before the actual operation, the arithmetic unit outputs a command signal according to the measurement condition of one constant of the motor, and the coordinate converter controls the inverter circuit according to the command signal, and the AC or DC is supplied to the motor. Supply. Next, the three-phase output voltage of the inverter circuit is dq-converted and input to a motor constant calculator, and the motor constant calculator calculates the motor constant of the motor based on the input d-axis voltage detection value and q-axis voltage detection value. Is calculated, and a control calculation constant of the control device is set based on the calculated motor constant.

【０００５】特開平５−２９７０８０（以下、従来技術
３と記す）には、同期電動機の電動機定数法が記載され
ている。この方法においては、ステップ電流指令を与え
たときに流れる電流の立ち上がり波形から時定数を測定
して電動機定数を求める方法である。Japanese Patent Laid-Open No. Hei 5-297080 (hereinafter referred to as Prior Art 3) describes a motor constant method for a synchronous motor. In this method, a motor constant is obtained by measuring a time constant from a rising waveform of a current flowing when a step current command is given.

【０００６】特開平6−２７３４９６（以下、従来技術
４と記す）にはｄ軸またはｑ軸に交流電圧指令を与え
て、電流検出値からインダクタンスを求める電動機定数
演算方法および電動機定数演算器の発明が記載されてい
る。従来技術４においては、電動機定数演算器からの測
定信号により、速度指令ω1＊及びｑ軸電圧指令Ｖ1ｑ＊
を０に設定し、ｄ軸の電圧指令として交流信号に直流バ
イアスが重畳された信号を与える。この信号が座標変換
器３に入力されて３相電圧指令信号に変換されると、イ
ンバータ２からは交流電動機１に単相交流電流を流す信
号が出力される。すなわち交流電動機１の回転が停止さ
れた状態で電動機１に電流が流れる。この電流が電流検
出器で検出され、この検出電流が座標変換器に入力され
ると、座標変換器でｄ−ｑ変換されて電流成分Ｉ1ｑ，
Ｉ1ｄが出力される。そしてｄ軸の電流成分Ｉ1ｄをフー
リエ級数に展開して、その基本波成分のフーリエ係数と
ｄ軸電圧指令値に従って電動機定数を演算する。Japanese Patent Application Laid-Open No. Hei 6-273496 (hereinafter referred to as Prior Art 4) discloses a motor constant calculation method for obtaining an inductance from a detected current value by applying an AC voltage command to a d-axis or a q-axis, and an invention of a motor constant calculator. Is described. In the prior art 4, the speed command ω1 * and the q-axis voltage command V1q * are obtained based on the measurement signal from the motor constant calculator.
Is set to 0, and a signal in which a DC bias is superimposed on an AC signal is given as a d-axis voltage command. When this signal is input to the coordinate converter 3 and converted into a three-phase voltage command signal, the inverter 2 outputs a signal for passing a single-phase AC current to the AC motor 1. That is, a current flows through the electric motor 1 while the rotation of the AC motor 1 is stopped. This current is detected by the current detector, and when the detected current is input to the coordinate converter, the coordinate converter converts the current into dq, and the current components I1q,
I1d is output. The d-axis current component I1d is developed into a Fourier series, and the motor constant is calculated according to the Fourier coefficient of the fundamental wave component and the d-axis voltage command value.

【０００７】[0007]

【発明が解決しようとする課題】インダクタンスを求め
る方法は、基本的には、交流信号を与え、そのときの電
圧値と電流値からインピーダンスを求め、そのインピー
ダンスのうち、リアクタンス成分を交流の角周波数で除
算する。しかし、従来の方法には、次のような問題があ
る。前掲の従来技術１においては人手によって行うため
工程が多くなり、個人差などのばらつきも生じるなどの
問題点がある。従来技術２は、前記したように誘導電動
機に関するものであり、同期電動機に対して同様に適用
することはできない。また、従来技術３は、ｄ軸とｑ軸
のインダクタンス値が等しい非突極型の同期電動機に対
しては効果的であるが、ｄ軸とｑ軸のインダクタンス値
が異なる突極型や逆凸極型の同期電動機には適用できな
いという問題点がある。従来技術４はインダクタンスを
求める方法として基本的な方法であるが、永久磁石を有
する同期電動機においては永久磁石によって磁軸（ｄ
軸）が定まるので、ｄ軸電圧指令を零とした状態で、ｑ
軸インダクタンスを測定するためにｑ軸に信号を加える
と、次に記すように、トルクが発生し、電動機（回転
子）が動くという問題点がある。Basically, a method for obtaining an inductance is to apply an AC signal, obtain an impedance from a voltage value and a current value at that time, and, of the impedance, determine a reactance component of the AC angular frequency. Divide by. However, the conventional method has the following problems. In the above-mentioned prior art 1, there are problems that the number of steps is increased due to manual operation and variations such as individual differences occur. Prior art 2 relates to an induction motor as described above, and cannot be similarly applied to a synchronous motor. Further, the prior art 3 is effective for a non-salient pole type synchronous motor in which the d-axis and q-axis inductance values are equal, but the salient pole type or the reverse convex type in which the d-axis and q-axis inductance values are different. There is a problem that it cannot be applied to a polar synchronous motor. Prior Art 4 is a basic method for obtaining inductance, but in a synchronous motor having a permanent magnet, the magnetic axis (d) is determined by the permanent magnet.
Axis) is determined, so that with the d-axis voltage command set to zero, q
When a signal is applied to the q-axis to measure the shaft inductance, there is a problem that a torque is generated and the electric motor (rotor) moves as described below.

【０００８】一般に、同期電動機の電圧・電流方程式
は、In general, the voltage / current equation of a synchronous motor is

【０００９】[0009]

【数１】 (Equation 1)

【００１０】ここで、Rは一次抵抗、φ鎖交磁束,Ldはｄ
軸インダクタンス、Lqはｑ軸インダクタンス、idはｄ軸
電流、iqはｑ軸電流、vdはｄ軸電圧、vqはｑ軸電圧、ω
は電動機（回転子）の回転速度である。Where R is the primary resistance, φ flux linkage, and Ld is d
Axis inductance, Lq is q axis inductance, id is d axis current, iq is q axis current, vd is d axis voltage, vq is q axis voltage, ω
Is the rotation speed of the electric motor (rotor).

【００１１】定常状態では電圧・電流方程式は次式で表
される。In the steady state, the voltage / current equation is expressed by the following equation.

【００１２】[0012]

【数２】 (Equation 2)

【００１３】したがって、定常状態でインダクタンスを
求めるにはｑ軸電流を流す必要がある。しかし、ｑ軸電
流を流すと、電動機にトルクが与えられ、その結果、回
転子が加速されので定常状態を維持することができな
い。その結果、定常状態でインダクタンスを求めるため
には負荷をかけることが必要になり、この理由で電動機
単体でインダクタンスを同定することは困難であるとい
う問題が生じる。Therefore, it is necessary to supply a q-axis current to obtain the inductance in a steady state. However, when the q-axis current flows, a torque is applied to the electric motor, and as a result, the rotor is accelerated, so that the steady state cannot be maintained. As a result, it is necessary to apply a load in order to obtain the inductance in a steady state, and for this reason, it is difficult to identify the inductance by the motor alone.

【００１４】本発明の１つの目的は、通常は測定し難い
ｑ軸インダクタンスLqを高い精度で、かつ、同期電動機
の制御装置を使用して自動的に求めることにある。本発
明の他の目的は、同期電動機の制御装置を用いて自動
で、かつ、電動機に負荷をかけない状態で、同期電動機
のｑ軸インダクタンスを同定することにある。An object of the present invention is to automatically obtain a q-axis inductance Lq which is usually difficult to measure with high accuracy and using a synchronous motor control device. Another object of the present invention is to identify the q-axis inductance of a synchronous motor automatically using a control device for the synchronous motor without applying a load to the motor.

【００１５】[0015]

【課題を解決するための手段】この課題を解決するた
め、本発明の第１の同期電動機の定数同定方法は、回転
子を停止した状態のもとで実施され、次の処理過程を含
んでいる。その処理過程は、ｑ軸電流指令を第１のｑ軸
電流指令値に設定し、ｄ軸電流指令を第１のｄ軸電流指
令値に設定し、第１のｄ軸電流指令値に対して所定の高
さをもつｄ軸電流指令をステップ指令として前記制御装
置に与え、ｄ軸電流指令の前記ステップ指令に対するｄ
軸電流検出値の偏差に対応して生成されるｄ軸電圧指令
値から電動機の一次抵抗による電圧降下分の電圧を減算
して得られる電圧値を予め定められた第１の積分時間積
分して積分値vd_sumを生成し、積分開始時点のｄ軸電流
検出値に対する積分終了時のｄ軸電流検出値の変化量Δ
idを生成する第１の積分過程と、ｄ軸電流指令を第２の
ｄ軸電流指令値に設定し、ｑ軸電流指令を第２のｑ軸電
流指令値に設定し、第２のｑ軸電流指令値に対して所定
の高さをもつｑ軸電流指令をステップ指令として前記制
御装置に与え、ｑ軸電流指令の前記ステップ指令に対す
るｑ軸電流検出値の偏差に対応して生成されるｑ軸電圧
指令値から電動機の一次抵抗による電圧降下分の電圧を
減算して得られる電圧値を予め定められた第２の積分時
間積分してその積分値vq_sumを生成し、積分開始時点の
ｑ軸電流検出値に対する積分終了時のｑ軸電流検出値の
変化量Δiqを生成する第２の積分過程と、インダクタン
ス比Ｋを、式 K = (vq_sum/vd_sum)・(Δid/Δiq) によって算出し、既知のｄ軸インダクタンスLdを用い
て、ｑ軸インダクタンスを、式 Lq = KLd によって算出する演算過程である。In order to solve this problem, a first method for identifying a constant of a synchronous motor according to the present invention is performed with the rotor stopped, and includes the following processing steps. I have. In the processing, the q-axis current command is set to a first q-axis current command value, the d-axis current command is set to a first d-axis current command value, and the first d-axis current command value is set. A d-axis current command having a predetermined height is given to the controller as a step command, and d-axis current command corresponding to the step command of the d-axis current command is given.
The voltage value obtained by subtracting the voltage corresponding to the voltage drop due to the primary resistance of the motor from the d-axis voltage command value generated corresponding to the deviation of the shaft current detection value is integrated for a predetermined first integration time. An integrated value vd_sum is generated, and a change amount Δ of the detected d-axis current value at the end of integration with respect to the detected d-axis current value at the start of integration Δ
a first integration process for generating id, a d-axis current command set to a second d-axis current command value, a q-axis current command set to a second q-axis current command value, and a second q-axis current command A q-axis current command having a predetermined height with respect to the current command value is given to the control device as a step command, and q generated in response to a deviation of the q-axis current detection value from the step command of the q-axis current command. A voltage value obtained by subtracting the voltage corresponding to the voltage drop due to the primary resistance of the motor from the shaft voltage command value is integrated for a predetermined second integration time to generate an integrated value vq_sum, and the q-axis at the start of the integration is obtained. A second integration process for generating a change amount Δiq of the q-axis current detection value at the end of integration with respect to the current detection value, and an inductance ratio K are calculated by the equation K = (vq_sum / vd_sum) · (Δid / Δiq), Using the known d-axis inductance Ld, the q-axis inductance is given by the equation Lq = KLd. It is a calculation process of calculating me.

【００１６】本発明は、第１の積分過程と第２の積分過
程を実行する時間的順序には限定されない。また、この
方法を実施するときには、、第１のｄ軸電流指令値を設
定した後、所定の時間が経過した後にｄ軸電流指令のス
テップ指令を入力し、第２のｑ軸電流指令値を設定した
後、所定の時間が経過した後にｑ軸電流指令のステップ
指令を入力し、第１のｄ軸電流指令値と第２のｑ軸電流
指令値とを等しく設定し、前記第１および第２の積分時
間を相等しく設定し、前記ｄ軸電流指令のステップ指令
の所定の高さとｑ軸電流指令のステップ指令の所定の高
さとを等しく設定するすることが望ましい。The present invention is not limited to the temporal order in which the first and second integration steps are performed. When this method is performed, a step command of a d-axis current command is input after a predetermined time has elapsed after setting a first d-axis current command value, and a second q-axis current command value is set. After the setting, after a predetermined time has elapsed, a step command of the q-axis current command is input, the first d-axis current command value and the second q-axis current command value are set to be equal, and the first and second q-axis current command values are set. It is preferable to set the integration time of step 2 to be equal and set the predetermined height of the step command of the d-axis current command equal to the predetermined height of the step command of the q-axis current command.

【００１７】本発明の第２の同期電動機の定数同定方法
は、次の処理過程を含んでいる。すなわち、同期電動機
の定数を同定するときには、回転子速度指令を停止に設
定して一定値のｄ軸電流指令を与えて回転子を一定の位
相に引き込んで停止させ、予め設定された周波数と振幅
をもつ交流ｑ軸電流指令をｑ軸に与え、そのときのｑ軸
電圧指令値の振幅とｑ軸電流検出値の振幅からｑ軸イン
ピーダンスを求め、ｑ軸インピーダンスのうちリアクタ
ンス成分を前記ｑ軸電流指令の角周波数で除算してｑ軸
インダクタンスを求める。A second method for identifying a constant of a synchronous motor according to the present invention includes the following processing steps. That is, when identifying the constant of the synchronous motor, the rotor speed command is set to stop, a d-axis current command of a constant value is given, the rotor is pulled into a certain phase and stopped, and a preset frequency and amplitude are set. Is given to the q-axis, the q-axis impedance is determined from the amplitude of the q-axis voltage command value and the amplitude of the q-axis current detection value at that time, and the reactance component of the q-axis impedance is converted to the q-axis current. The q-axis inductance is obtained by dividing by the commanded angular frequency.

【００１８】この方法において、交流ｑ軸電流指令の振
幅を、ｄ軸電流指令の値を超えないように設定するか、
または、交流ｑ軸電流指令の周波数を、当該交流ｑ軸電
流指令の周期が回転子の回転の時定数よりも小さくなる
ように設定することが望ましい。In this method, the amplitude of the AC q-axis current command is set so as not to exceed the value of the d-axis current command,
Alternatively, it is desirable to set the frequency of the AC q-axis current command such that the cycle of the AC q-axis current command is smaller than the time constant of the rotation of the rotor.

【００１９】本発明の第１の同期電動機の定数同定機能
付き制御装置は、ｑ軸電流指令に対するｑ軸電流検出値
の偏差に対応するｑ軸電圧指令を演算するｑ軸電流コン
トローラ及びｄ軸電流指令に対するｄ軸電流検出値の偏
差に対応するｄ軸電圧指令を演算するｄ軸電流コントロ
ーラを有し、前記ｑ軸電圧指令およびｄ軸電圧指令に基
づいて制御された同期電動機の３相駆動電流をd-q変換
してｑ軸電流検出値およびｄ軸電流検出値を生成してそ
れぞれｑ軸電流コントローラおよびｄ軸電流コントロー
ラに供給する座標変換手段とを有する。A first control device with a constant identification function for a synchronous motor according to the present invention comprises a q-axis current controller for calculating a q-axis voltage command corresponding to a deviation of a q-axis current detection value from a q-axis current command, and a d-axis current. A d-axis current controller that calculates a d-axis voltage command corresponding to a deviation of the d-axis current detection value from the command, and a three-phase drive current of the synchronous motor controlled based on the q-axis voltage command and the d-axis voltage command To dq conversion to generate a q-axis current detection value and a d-axis current detection value, and supply the q-axis current detection value and the d-axis current detection value to the q-axis current controller and the d-axis current controller, respectively.

【００２０】前記制御装置は、通常動作態様と定数同定
態様の動作態様を有し、定数同定時には、同期電動機の
回転子を停止状態に設定する。制御装置は、通常動作態
様と定数同定態様とを切り替えるスイッチ手段と、定数
同定時においてｑ軸電圧指令およびｄ軸電圧指令と、ｑ
軸電流検出値およびｄ軸電流検出値とを入力して、定数
同定用のｄ軸電流指令およびｑ軸電流指令をそれぞれｄ
軸電流コントローラおよびｑ軸電流コントローラに出力
する電動機定数同定器とを有し、電動機定数同定器は、
電動機定数の同定が開始されると、ｑ軸電流指令を第１
のｑ軸電流指令値に設定し、ｄ軸電流指令を第１のｄ軸
電流指令値に設定し、第１のｄ軸電流指令値に対して所
定の高さをもつｄ軸電流指令をステップ指令として前記
ｄ軸電流コントローラに与え、前記ｄ軸電流指令の前記
ステップ指令に対するｄ軸電流検出値の偏差に対応して
生成されるｄ軸電圧指令値から電動機の一次抵抗による
電圧降下分の電圧を減算して得られる電圧値を予め定め
られた第１の積分時間積分して積分値vd_sumを生成し、
積分開始時点のｄ軸電流検出値に対する積分終了時のｄ
軸電流検出値の変化量Δidを生成する第１の積分処理
と、ｄ軸電流指令を第２のｄ軸電流指令値に設定し、ｑ
軸電流指令を第２のｑ軸電流指令値に設定し第２のｑ軸
電流指令値に対して所定の高さをもつｑ軸電流指令をス
テップ指令として前記ｑ軸電流コントローラに与え、前
記ｑ軸電流指令の前記ステップ指令に対するｑ軸電流検
出値の偏差に対応して生成されるｑ軸電圧指令値から電
動機の一次抵抗による電圧降下分の電圧を減算して得ら
れる電圧値を予め定められた第２の積分時間積分して積
分値vq_sumを生成し、積分開始時点のｑ軸電流検出値に
対する積分終了時のｑ軸電流検出値の変化量Δiqを生成
する第２の積分処理と、インダクタンス比Ｋを、式 K = (vq_sum/vd_sum)・(Δid/Δiq) によって算出し、既知のｄ軸インダクタンスLdを用い
て、ｑ軸インダクタンスを、式 Lq = KLd によって算出する演算処理を実行する。The control device has an operation mode of a normal operation mode and a constant identification mode. When the constant is identified, the rotor of the synchronous motor is set to a stopped state. The control device includes: switch means for switching between a normal operation mode and a constant identification mode; a q-axis voltage command and a d-axis voltage command when the constant is identified;
The d-axis current detection value and the d-axis current detection value are input, and the d-axis current command and the q-axis current command
A motor constant identifier for outputting to the axis current controller and the q-axis current controller, wherein the motor constant identifier is
When the identification of the motor constant is started, the q-axis current command is
, The d-axis current command is set to the first d-axis current command value, and the d-axis current command having a predetermined height with respect to the first d-axis current command value is set in the step. A voltage corresponding to a voltage drop due to the primary resistance of the motor from a d-axis voltage command value generated in response to a deviation of the d-axis current detection value from the step command of the d-axis current command given to the d-axis current controller as a command. Is subtracted to obtain a integral value vd_sum by integrating a voltage value obtained by a predetermined first integration time,
D at the end of integration with respect to d-axis current detection value at the start of integration
A first integration process for generating a change amount Δid of the detected shaft current value, a d-axis current command set to a second d-axis current command value, and q
Setting the axis current command to a second q-axis current command value, giving the q-axis current command having a predetermined height with respect to the second q-axis current command value as a step command to the q-axis current controller, A voltage value obtained by subtracting the voltage corresponding to the voltage drop due to the primary resistance of the motor from the q-axis voltage command value generated in accordance with the deviation of the q-axis current detection value from the step command of the shaft current command is predetermined. A second integration process for generating an integrated value vq_sum by performing the integration for the second integration time, generating a variation Δiq of the q-axis current detection value at the end of integration with respect to the q-axis current detection value at the start of integration, The ratio K is calculated by the equation K = (vq_sum / vd_sum) · (Δid / Δiq), and the calculation processing of calculating the q-axis inductance by the equation Lq = KLd is performed using the known d-axis inductance Ld.

【００２１】本発明の第２の同期電動機の定数同定機能
付き制御装置は、通常動作態様と定数同定態様の動作態
様を有し、定数同定時には、同期電動機の回転子の速度
を停止に設定する。The second control device with a constant identification function of the synchronous motor according to the present invention has an operation mode of a normal operation mode and a constant identification mode. When the constant is identified, the speed of the rotor of the synchronous motor is set to stop. .

【００２２】前記制御装置は、通常動作態様と定数同定
態様とを切り替えるスイッチ手段と電動機定数同定手段
とを有し、前記電動機定数同定手段は、同期電動機の定
数同定時において、定数同定初期時に回転子速度が停止
に設定されたとき、回転子を一定の位相に引き込んで停
止させるために、一定値のｄ軸電流指令を前記ｄ軸電流
コントローラに出力し、回転子が一定の位相に引き込ま
れて停止したときには、予め設定された振幅と周波数を
もつ交流ｑ軸電流指令をｑ軸に与え、そのときのｑ軸電
圧指令値の振幅とｑ軸電流検出値の振幅から、ｑ軸イン
ピーダンスを求め、ｑ軸インピーダンスのうちリアクタ
ンス成分を前記ｑ軸電流指令の角周波数で除算してｑ軸
インダクタンスを求める機能を有する。The control device has switch means for switching between a normal operation mode and a constant identification mode, and a motor constant identification means, and the motor constant identification means rotates at the time of constant identification at the time of constant identification of the synchronous motor. When the rotor speed is set to stop, a d-axis current command of a constant value is output to the d-axis current controller in order to draw the rotor to a certain phase and stop the rotor, and the rotor is drawn to a certain phase. When stopped, an AC q-axis current command having a preset amplitude and frequency is given to the q-axis, and a q-axis impedance is obtained from the amplitude of the q-axis voltage command value and the amplitude of the q-axis current detection value at that time. , The q-axis impedance is obtained by dividing the reactance component of the q-axis impedance by the angular frequency of the q-axis current command.

【００２３】[0023]

【作用】まず、本発明の第１の同期電動機の定数同定方
法および第１の同期電動機の定数同定機能付き制御装置
の作用原理について説明する。First, the principle of operation of the first synchronous motor constant identification method and the first synchronous motor control apparatus with a constant identification function of the present invention will be described.

【００２４】次式（３）は、固定子の３相電流（また
は、α−β相電流）をｄ−ｑ変換した電圧・電流方程式
である。The following equation (3) is a voltage / current equation obtained by dq converting the three-phase current (or α-β phase current) of the stator.

【００２５】[0025]

【数３】 (Equation 3)

【００２６】式（３）をインバータ装置中に組み込むた
めに、同期電動機のd-q座標系における電圧・電流方程
式は次の離散値系に展開される。In order to incorporate the equation (3) into the inverter device, the voltage / current equation in the dq coordinate system of the synchronous motor is developed into the following discrete value system.

【００２７】[0027]

【数４】 (Equation 4)

【００２８】ここでＴはサンプリング周期で、ｋはサン
プリング周期Ｔを単位として測られた離散時刻である。Here, T is a sampling period, and k is a discrete time measured in units of the sampling period T.

【００２９】本発明の同期電動機定数同定方法において
は、電動機を停止状態にして実施されるので、式（４）
の右辺第３項は０になる。電動機を停止状態にする方法
は任意であるが、例えば、定数同定のためにｑ軸電流が
流れても回転子が回転しない程度に大きな負荷を与えて
おく。または、例えば、Ｕ相コイルに直流を流して回転
子が回転しないようにロックする。この場合には、直流
は、回転子がｑ軸電流によってトルクを受けても回転し
ない程度に十分に大きな値に設定される。In the synchronous motor constant identification method of the present invention, since the motor is stopped, the equation (4) is used.
Of the right-hand side becomes zero. The method of stopping the motor is arbitrary, but, for example, a large load is applied so that the rotor does not rotate even if a q-axis current flows for identification of a constant. Alternatively, for example, a DC is supplied to the U-phase coil to lock the rotor so as not to rotate. In this case, the DC is set to a value large enough that the rotor does not rotate even if it receives torque by the q-axis current.

【００３０】いま、iq = 0に設定して（本発明の技術思
想ににおいては、iqは必ずしも０である必要はないけれ
ど、できるだけ簡単なモデルで本発明の原理を説明する
ために、ここではこのような設定で説明する。後述のid
= 0と置くのも同様な理由による）ｄ軸電流指令をステ
ップ入力すると、ｄ軸電圧・電流方程式の離散値形は次
式で表される。Now, iq is set to 0 (iq is not necessarily 0 in the technical idea of the present invention, but in order to explain the principle of the present invention with a model as simple as possible, An explanation will be given with such a setting.
When the d-axis current command is step-input, the discrete value form of the d-axis voltage / current equation is expressed by the following equation.

【００３１】[0031]

【数５】 (Equation 5)

【００３２】同様に電動機を停止状態にしたまま、id =
0に設定してｑ軸電流指令をステップ入力すると、ｑ軸
電圧電流方程式の離散値形から、同様な計算によって次
式のように、ｑ軸インダクタンスLqを求めることができ
る。Similarly, with the motor stopped, id =
When the q-axis current command is set to 0 and the step input is performed, the q-axis inductance Lq can be obtained from the discrete value form of the q-axis voltage / current equation by the same calculation as the following equation.

【００３３】[0033]

【数６】 (Equation 6)

【００３４】式（８）および（９）によって求められる
ｄ軸およびｑ軸インダクタンスは、電動機に印加されて
いるｄ軸電圧vdおよびｑ軸電圧vqを正確に知ることがで
きる場合には正しい値を得ることができるけれど、通
常、同期電動機のベクトル制御に使用されるインバータ
装置は、ｄ軸電圧vdおよびｑ軸電圧vqの実際値を検出す
る機能を備えていない。したがって、式（８）および式
（９）によってインダクタンスを演算するときには、ｄ
軸電圧vdおよびｑ軸電圧vqの代わりにｄ軸電圧指令vd-r
efおよびｑ軸電圧vq-refが使用され、その結果、誤差が
導入される。The d-axis and q-axis inductances obtained by the equations (8) and (9) have correct values if the d-axis voltage vd and the q-axis voltage vq applied to the motor can be accurately known. Although it can be obtained, the inverter device usually used for vector control of the synchronous motor does not have a function of detecting the actual values of the d-axis voltage vd and the q-axis voltage vq. Therefore, when calculating the inductance by the equations (8) and (9), d
D-axis voltage command vd-r instead of axis voltage vd and q-axis voltage vq
ef and q-axis voltage vq-ref are used, which introduces errors.

【００３５】このように、式（８）および（９）によっ
て実際に求められるｄ軸およびｑ軸インダクタンスのそ
れぞれは電圧誤差を含んでいるけれど、インダクタンス
比（K = Lq/Ld）は、分母子の誤差因子が約分されて、
式（８）および（９）によって算出されるLqまたはLdの
それぞれよりも誤差が少なくなる。一方、Ldは、他の方
法を用いて比較的正確な値を得ることができる。As described above, each of the d-axis and q-axis inductances actually obtained by the equations (8) and (9) includes a voltage error, but the inductance ratio (K = Lq / Ld) is determined by the denominator and the denominator. Error factor is reduced to
The error is smaller than each of Lq or Ld calculated by equations (8) and (9). On the other hand, Ld can obtain a relatively accurate value using another method.

【００３６】本発明は、この点に着目して式（８）およ
び（９）からインダクタンス比Ｋを求め、他の方法で求
めた正確なｄ軸インダクタンスLd*を用いて式KLd*=Lq*
によって正確なｑ軸インダクタンスLq*を求める。In the present invention, focusing on this point, the inductance ratio K is obtained from the equations (8) and (9), and the equation KLd * = Lq * is obtained by using the accurate d-axis inductance Ld * obtained by another method.
To obtain an accurate q-axis inductance Lq *.

【００３７】この方法で正確なｑ軸インダクタンスを得
るためには、精度が高いインダクタンス比Ｋを得ること
が必要である。そのためには、積分値vd_sumおよび積分
値vq_sumを求めるとき、積分条件を同一にすることが望
ましい。本発明においては、ｄ軸電流指令とｑ軸電流指
令の初期設定値（第１のｄ軸電流指令値と第２のｑ軸電
流指令値）を同一にし、積分時間をも同一にする。ま
た、ステップ指令の高さも同一にする。このようにし
て、誤差因子が分母子約分できるようなLd、Lqを得るこ
とができる。In order to obtain an accurate q-axis inductance by this method, it is necessary to obtain a highly accurate inductance ratio K. For that purpose, it is desirable to make the integration conditions the same when obtaining the integral value vd_sum and the integral value vq_sum. In the present invention, the initial setting values (the first d-axis current command value and the second q-axis current command value) of the d-axis current command and the q-axis current command are made the same, and the integration time is made the same. Also, the height of the step command is made the same. In this way, Ld and Lq can be obtained such that the error factor can be reduced to the denominator and child.

【００３８】なお、ｄ軸電流指令またはｑ軸電流指令を
初期設定した後、ぞれぞれの軸のステップ指令を電流コ
ントローラに入力する前に所定時間経過させる理由は、
その初期設定前に行われた処理の履歴を完全に消去する
ためである。After the d-axis current command or the q-axis current command is initialized, the reason why a predetermined time elapses before the step command for each axis is input to the current controller is as follows.
This is to completely erase the history of the processing performed before the initial setting.

【００３９】次に、本発明の第２の同期電動機の定数同
定方法および第２の同期電動機の定数同定機能付き制御
装置の作用原理について説明する。この方法および装置
の作用は、回転子を固定する作用と、交流ｑ軸電流指令
によって発生するｑ軸電圧指令とｑ軸電流検出値からｑ
軸インダクタンスLqを演算する作用を含んでいる。Next, the principle of operation of the second synchronous motor constant identification method and the second synchronous motor constant identification function control device of the present invention will be described. The operation of this method and apparatus is based on the operation of fixing the rotor, the q-axis voltage command generated by the AC q-axis current command, and the q-axis current detection value.
This includes an operation of calculating the shaft inductance Lq.

【００４０】回転子の固定は、ｄ軸電流によって行われ
る。すなわち、ｄ軸電流コントローラに一定値のｄ軸電
流指令を与えるとともに速度指令を０に設定する。この
設定によって、過渡状態においてはｄ軸電流のみならず
ｑ軸電流も流れるけれど、電動機速度ωが０になると電
動機は定常状態になる。The fixing of the rotor is performed by the d-axis current. That is, a constant d-axis current command is given to the d-axis current controller, and the speed command is set to zero. With this setting, not only the d-axis current but also the q-axis current flows in the transient state, but when the motor speed ω becomes 0, the motor enters a steady state.

【００４１】定常状態においては、回転子は特定の位相
に引き込まれて停止し、無負荷時にはｑ軸電流は０にな
る。このときのｄ軸電流は回転子を特定の引き込み位相
に維持するように作用する。このように、回転子を特定
位置にロックしておいて所定周波数の交流ｑ軸電流指令
をｑ軸電流コントローラに与えて前掲の方法でLqを定め
る。In the steady state, the rotor is pulled into a specific phase and stops, and the q-axis current becomes 0 when there is no load. The d-axis current at this time acts to maintain the rotor at a specific pull-in phase. In this way, the rotor is locked at a specific position, and an AC q-axis current command of a predetermined frequency is given to the q-axis current controller to determine Lq by the above-described method.

【００４２】この方法においては、ｑ軸電流はトルクを
発生するので、交流ｑ軸電流指令によって生じたｑ軸電
流によって回転子が回転することをｄ軸電流の作用で阻
止する。そのために、本発明は２つの方法を用いる。第
１の方法は、ｄ軸電流による回転子のロックを損なわな
い程度に、ｑ軸電流指令の振幅を小さくする。第２の方
法は、交流ｑ軸電流指令の周期を回転子の回転の時定数
に比べて十分に小さい値に設定する。すなわち、回転子
の回転がｑ軸電流によって生じるトルク変化に追随でき
ない程度に交流ｑ軸電流指令の周波数を高くする。In this method, since the q-axis current generates torque, the rotation of the rotor due to the q-axis current generated by the AC q-axis current command is prevented by the action of the d-axis current. To that end, the present invention uses two methods. In the first method, the amplitude of the q-axis current command is reduced to such an extent that the rotor is not locked by the d-axis current. In the second method, the cycle of the AC q-axis current command is set to a value sufficiently smaller than the time constant of the rotation of the rotor. That is, the frequency of the AC q-axis current command is increased to such an extent that the rotation of the rotor cannot follow the torque change caused by the q-axis current.

【００４３】これらの方法のいずれか、または両者を用
いることによって回転子を特定位相に固定しながら、ｑ
軸インダクタンスを同定することができる。While using either or both of these methods to lock the rotor to a particular phase,
The shaft inductance can be identified.

【００４４】[0044]

【発明の実施の形態】以下本発明の実施形態を図面に基
づいて説明する。Embodiments of the present invention will be described below with reference to the drawings.

【００４５】図１は本発明の同期電動機制御装置の第１
の実施形態のブロック図である。図１において、速度コ
ントローラ１は速度指令ω_refと速度検出値ω_fb（後
述の速度演算器から出力される）の偏差を入力してｑ軸
電流指令iq_refを生成する。ｑ軸電流コントローラ２
は、ｑ軸電流指令iq_refに対するｑ軸電流検出値iq_fb
の偏差が０になるようにｑ軸電圧指令vqを出力する。同
様に、ｄ軸電流コントローラ3は、ｄ軸電流指令値id_re
fに対するｄ軸電流検出値id_fbが０になるようにｄ軸電
圧指令vdを生成する。ベクトル制御回路４は、ｑ軸電圧
指令vq及びｄ軸電圧指令vdを入力し、電圧の大きさ(Vd²
+Vq²)^1/2と位相tan^-1(Vq/Vd)とのデータに変換してイン
バータ回路５に指令として与える。インバータ回路5は
これらの指令と後述の位相演算器８の出力θに基づいて
同期電動機６にｕ相、ｖ相、ｗ相電流Iu、Iv、Iwを出力
する。位置検出器７は同期電動機６に取り付けられ、同
期電動機６の回転子の回転角度を検出する。位相演算器
８は位置検出器7の出力信号を使用して、回転子の位相
角θを演算する。座標変換器９はこの位相角θと電動機
に流れる３相電流のうちの任意の２相を入力してｄ−ｑ
変換し、ｑ軸電流検出値lq_fb及びｄ軸電流検出値id_fb
を出力する。速度演算器１０は位置検出器７の出力信号
から電動機の回転速度検出値ω_fbを演算する。FIG. 1 shows a first embodiment of a synchronous motor control device according to the present invention.
FIG. 3 is a block diagram of the embodiment. In FIG. 1, a speed controller 1 receives a deviation between a speed command ω_ref and a detected speed value ω_fb (output from a speed calculator described later) to generate a q-axis current command iq_ref. q-axis current controller 2
Is the q-axis current detection value iq_fb with respect to the q-axis current command iq_ref.
The q-axis voltage command vq is output so that the deviation of. Similarly, the d-axis current controller 3 outputs the d-axis current command value id_re
The d-axis voltage command vd is generated such that the d-axis current detection value id_fb for f becomes 0. The vector control circuit 4 receives the q-axis voltage command vq and the d-axis voltage command vd and receives the voltage magnitude (Vd ²
+ Vq ² ) ^1/2 and phase tan ^-1 (Vq / Vd) are converted into data and given to the inverter circuit 5 as a command. The inverter circuit 5 outputs u-phase, v-phase, and w-phase currents Iu, Iv, and Iw to the synchronous motor 6 based on these commands and an output θ of a phase calculator 8 described later. The position detector 7 is attached to the synchronous motor 6, and detects the rotation angle of the rotor of the synchronous motor 6. The phase calculator 8 uses the output signal of the position detector 7 to calculate the phase angle θ of the rotor. The coordinate converter 9 receives the phase angle θ and any two phases of the three-phase current flowing through the motor, and inputs d−q
Converted, q-axis current detection value lq_fb and d-axis current detection value id_fb
Is output. The speed calculator 10 calculates the rotation speed detection value ω_fb of the electric motor from the output signal of the position detector 7.

【００４６】電動機定数同定部１４はｑ軸電圧指令vq、
ｄ軸電圧指令vd、ｑ軸電流検出値iq-fbおよびｄ軸電流
検出値id-fbを入力して電動機定数同定プログラムに記
述されている手順にしたがって、ｑ軸インダクタンスを
計算する。このプログラムは、図示されていない記録媒
体に記録されて制御装置の所定の位置に配置されてい
る。The motor constant identification unit 14 outputs a q-axis voltage command vq,
The d-axis voltage command vd, the q-axis current detection value iq-fb, and the d-axis current detection value id-fb are input, and the q-axis inductance is calculated according to the procedure described in the motor constant identification program. This program is recorded on a recording medium (not shown) and arranged at a predetermined position of the control device.

【００４７】スイッチ１２は、通常動作時にはｑ軸電流
コントローラ２と速度コントローラ１とを接続し（以
下、通常動作接続と記す）、同定動作時にはｑ軸電流コ
ントローラ２と電動機定数同定部１４とを接続する（以
下、同定動作接続と記す）。スイッチ１３は、通常動作
時には上位装置から転送されるｄ軸電流指令id_refをｄ
軸電流コントローラ３に接続し（以下、通常動作接続と
記す）、同定動作時にはｄ軸電流コントローラ３と電動
機定数同定部１４とを接続する（以下、同定動作接続と
記す）。The switch 12 connects the q-axis current controller 2 and the speed controller 1 during normal operation (hereinafter referred to as normal operation connection), and connects the q-axis current controller 2 and the motor constant identification unit 14 during identification operation. (Hereinafter referred to as identification operation connection). The switch 13 outputs the d-axis current command id_ref transferred from the host device during normal operation to d.
The d-axis current controller 3 is connected to the shaft current controller 3 (hereinafter, referred to as a normal operation connection), and the d-axis current controller 3 is connected to the motor constant identification unit 14 during the identification operation (hereinafter, referred to as an identification operation connection).

【００４８】図２は本発明の電動機定数同定部１４が電
動機の定数同定を実施する処理の流れを示すフローチャ
ートである。以下、図２にしたがって電動機定数同定部
１４の動作を説明する。FIG. 2 is a flowchart showing the flow of the process in which the motor constant identification unit 14 of the present invention performs the identification of the constant of the motor. Hereinafter, the operation of the motor constant identification unit 14 will be described with reference to FIG.

【００４９】ここでは、一次抵抗Ｒ及びｄ軸インダクタ
ンスLdは他の方法によって既知であることを前提にして
説明する。The following description is based on the premise that the primary resistance R and the d-axis inductance Ld are known by another method.

【００５０】ｑ軸インダクタンスの同定が開始される前
に、電動機の回転子の速度ωを０に固定する。この回転
速度ωの０設定は、回転子に重い負荷を与えて固定して
もよいし、または、３相交流のいずれか１相のみに直流
を与えて回転子を一定位相に引き込むことによって実現
することができる。回転速度ωをどのようにして０設定
するかは、本実施形態とは関係がないので、本実施形態
では、回転速度ωが０に設定されていることを前提とし
て説明を進める。Before the identification of the q-axis inductance is started, the speed ω of the rotor of the electric motor is fixed to zero. This setting of the rotation speed ω may be fixed by applying a heavy load to the rotor, or by applying a direct current to only one of the three-phase alternating currents and pulling the rotor to a constant phase. can do. How to set the rotation speed ω to 0 is not related to the present embodiment, and therefore, in the present embodiment, the description will be made on the assumption that the rotation speed ω is set to 0.

【００５１】ｑ軸インダクタンスの同定を行うためにス
イッチ１２、１３を同定動作接続に切り替える。ｑ軸イ
ンダクタンスの同定が開始されると、まずｑ軸電圧の積
分値vq_sumとｄ軸電圧の積分値vd_sumを零にクリアする
（ステップＳ１）。そして、電流指令をid_ref＝0とiq_
ref＝0に設定して（ステップＳ２）運転を開始する（ス
テップＳ３）。この状態で電流が定常状態に落ち着くま
で一定時間待つ（ステップＳ４）。本実施例では100ms
とした。次にｄ軸電流指令を所定のｄ軸電流指令設定値
に設定し、ステップ指令としてｄ軸電流コントローラ３
に入力する（ステップＳ５）。本実施例では、定格電流
の20％とした。同時にこのときのｄ軸電流検出値id1_fb
を積分開始時のｄ軸電流検出値として変数id_initに保
存する（ステップＳ６）。次に、電圧指令値vd_refから
一次抵抗による電圧ドロップ分としてR・id_fbを減算し
た値にサンプリング周期Ｔを乗算して、その乗算結果に
ｄ軸電圧の積分値vd_sumを加算して新積分値vd_sumとす
る（ステップＳ８）。この積分動作をサンプリング周期
毎に所定時間繰り返す（ステップＳ７）。ここで、所定
時間は電流コントローラのゲインによる電流の立ち上が
り時間及び電流制御の処理のサンプリング時間から適切
な値に決定する。所定時間が経過したら、vd_sumの積分
を中止し、このときのｄ軸電流検出値の値をid fin=id2
_fbとして保存し、電圧指令値を積分している間のｄ軸
電流値の変化Δid=id fin−id_initを計算する（ステッ
プＳ９）。To identify the q-axis inductance, the switches 12 and 13 are switched to an identification operation connection. When the identification of the q-axis inductance is started, first, the integral value vq_sum of the q-axis voltage and the integral value vd_sum of the d-axis voltage are cleared to zero (step S1). Then, the current command is set to id_ref = 0 and iq_
ref = 0 is set (step S2), and the operation is started (step S3). In this state, it waits for a certain time until the current settles to the steady state (step S4). 100 ms in this embodiment
And Next, the d-axis current command is set to a predetermined d-axis current command set value, and the d-axis current controller 3 is set as a step command.
(Step S5). In this embodiment, it is set to 20% of the rated current. At the same time, the detected d-axis current value id1_fb
Is stored in the variable id_init as a d-axis current detection value at the start of integration (step S6). Next, a value obtained by subtracting R · id_fb as the voltage drop due to the primary resistance from the voltage command value vd_ref is multiplied by the sampling period T, and the multiplication result is added to the integral value vd_sum of the d-axis voltage to obtain a new integral value vd_sum. (Step S8). This integration operation is repeated for a predetermined time for each sampling cycle (step S7). Here, the predetermined time is determined to be an appropriate value from the rise time of the current by the gain of the current controller and the sampling time of the current control processing. After a lapse of a predetermined time, the integration of vd_sum is stopped, and the value of the d-axis current detection value at this time is set as id fin = id2
_fb, and calculates a change Δid = id fin−id_init of the d-axis current value during integration of the voltage command value (step S9).

【００５２】次にｑ軸についてｄ軸と同様に処理を行い
vq_sium及びΔiqを求める。すなわち、まず電流指令をi
d_ref＝0とiq_ref＝0に設定する（ステップＳ１０）。
この状態で電流が定常状態に落ち着くまで一定時間待つ
（ステップＳ１１）。ここでは、一例として100msとし
た。次にｑ軸電流指令を所定のｑ軸電流指令設定値に設
定し、ステップ指令としてｑ軸電流コントローラ２に入
力する（ステップＳ１２）。ここでは、定格電流の20％
とした。同時にこのときのｑ軸電流検出値iq1_fbを積分
開始時のｑ軸電流検出値として変数iq_initに保存する
（ステップＳ１３）。次に、ｑ軸電圧指令値vdから一次
抵抗による電圧ドロップ分としてR・iq_fdを減算した値
にサンプリング周期Ｔを乗算して、その乗算結果にｑ軸
電圧の積分値vｑ_sumを加算して新積分値vｑ_sumとする
（ステップＳ１５）。この積分動作をサンプリング周期
毎に所定時間繰り返す（ステップＳ１４）。所定の積分
時間が経過したとき、vd_sumの積分を中止し、このとき
のｑ軸電流検出値の値をiq_ fin=iｑとして保存し、電
圧指令値を積分している間のｑ軸電流値の変化Δiq=iq_
fin−iq_initを計算する（ステップＳ16）。Next, the q axis is processed in the same manner as the d axis.
Find vq_sium and Δiq. That is, first, the current command is set to i
d_ref = 0 and iq_ref = 0 are set (step S10).
In this state, a predetermined time is waited until the current settles in a steady state (step S11). Here, it was set to 100 ms as an example. Next, the q-axis current command is set to a predetermined q-axis current command set value, and input to the q-axis current controller 2 as a step command (step S12). Here, 20% of the rated current
And At the same time, the q-axis current detection value iq1_fb at this time is stored in the variable iq_init as the q-axis current detection value at the start of integration (step S13). Next, a value obtained by subtracting R · iq_fd as the voltage drop due to the primary resistance from the q-axis voltage command value vd is multiplied by the sampling period T, and the multiplication result is added to the integral value vq_sum of the q-axis voltage to obtain a new integration. The value is set to vq_sum (step S15). This integration operation is repeated for a predetermined time for each sampling cycle (step S14). When a predetermined integration time has elapsed, the integration of vd_sum is stopped, the value of the q-axis current detection value at this time is stored as iq_fin = iq, and the q-axis current value during integration of the voltage command value is stored. Change Δiq = iq_
fin-iq_init is calculated (step S16).

【００５３】これらの値からｄ軸インダクタンスとｑ軸
インダクタンスの比K K=(vq_sum/vd_sum)・(Δid/Δiq) を求め、Lq＝K・Ldよりｑ軸インダクタンスLqを求める
（ステップＳ１７）。そして制御装置の運転を停止して
（ステップＳ１８）同定を終了する。From these values, the ratio of the d-axis inductance to the q-axis inductance KK = (vq_sum / vd_sum) · (Δid / Δiq) is obtained, and the q-axis inductance Lq is obtained from Lq = K · Ld (step S17). Then, the operation of the control device is stopped (step S18), and the identification is terminated.

【００５４】ここで、ステップＳ２およびステップＳ１
０において電流指令をid_ref＝0とiq_ref＝0に設定して
いるのは、ｑ軸およびｄ軸それぞれについての測定の初
期条件を同一に揃えるためである。しかし、本発明にお
いては、積分開始時および積分終了時におけるｄ軸電流
検出値およびｑ軸電流検出値の差が必要であるので、こ
れらの電流指令値は必ずしも０である必要はない。本実
施例では、ｄ軸の積分時間とｑ軸の積分時間は等しく設
定されている。また、ｄ軸およびｑ軸のステップ指令の
高さも同一に設定されている。Here, step S2 and step S1
The reason why the current command is set to id_ref = 0 and iq_ref = 0 at 0 is to make the initial conditions of measurement for the q-axis and the d-axis the same. However, in the present invention, the difference between the detected d-axis current value and the detected q-axis current value at the start of integration and at the end of integration is required, and therefore these current command values need not always be zero. In this embodiment, the integration time of the d-axis and the integration time of the q-axis are set equal. The heights of the d-axis and q-axis step commands are also set to be the same.

【００５５】図示されていない記録媒体は、同期電動機
の定数同定時に、回転子が停止している状態のもとで、
定数同定を実行する手順を記述しているプログラムを記
録している。該プログラムは、所定の準備処理を実行
し、該準備処理が終了すると定数同定を開始し、ｑ軸電
流指令を第１のｑ軸電流指令値に設定し、ｄ軸電流指令
を第１のｄ軸電流指令値に設定し、第１のｄ軸電流指令
値に対して所定の高さをもつｄ軸電流指令をステップ指
令としてｄ軸電流コントローラに入力し、積分開始時点
として定められた時刻におけるｄ軸電流検出値を保存
し、前記ｄ軸電流指令に対するｄ軸電流検出値の偏差に
対応して生成されたｄ軸電圧指令値から電動機の一次抵
抗による電圧降下分の電圧を減算して得られる電圧値を
所定の積分時間積分してｄ軸積分値vd_sumを生成し、前
記積分開始時点のｄ軸電流検出値に対する積分終了時点
のｄ軸電流検出値の変化量Δidを生成し、ｄ軸電流指令
を第２のｄ軸電流指令値に設定し、ｑ軸電流指令を第２
のｑ軸電流指令値に設定し、第２のｑ軸電流指令に対し
て所定の高さをもつｑ軸電流ステップ指令をｑ軸電流コ
ントローラに入力し、積分開始時点として定められた時
刻におけるｑ軸電流検出値を保存し、ｑ軸電流指令に対
するｑ軸電流検出値の偏差に対応して生成されるｑ軸電
圧指令値から電動機の一次抵抗による電圧降下分の電圧
を減算して得られる電圧値を予め定められた第２の時間
積分して積分値vq_sumを生成し、前記積分開始時点のｑ
軸電流検出値に対する積分終了時のｑ軸電流検出値の変
化量Δiqを生成し、インダクタンス比Ｋを、式 K = (vq_sum/vd_sum)・(Δid/Δiq) によって算出し、既知のｄ軸インダクタンスLdを用い
て、ｑ軸インダクタンスを、式 Lq = KLd によって算出する手順を含んでいる。The recording medium (not shown) is used to identify the constants of the synchronous motor, with the rotor stopped.
Records a program describing the procedure for performing constant identification. The program executes a predetermined preparation process, starts constant identification when the preparation process ends, sets the q-axis current command to the first q-axis current command value, and sets the d-axis current command to the first d-axis current command. An axis current command value is set, a d-axis current command having a predetermined height with respect to the first d-axis current command value is input to the d-axis current controller as a step command, and the d-axis current command at the time set as the integration start time is set. The d-axis current detection value is stored, and the voltage is obtained by subtracting the voltage of the voltage drop due to the primary resistance of the motor from the d-axis voltage command value generated corresponding to the deviation of the d-axis current detection value from the d-axis current command. The integrated voltage value is integrated for a predetermined integration time to generate a d-axis integrated value vd_sum, and a change amount Δid of the d-axis current detection value at the integration end time with respect to the d-axis current detection value at the integration start time is generated. The current command is set to the second d-axis current command value, and the q-axis Current command
Is input to the q-axis current controller, and a q-axis current step command having a predetermined height with respect to the second q-axis current command is input to the q-axis current controller. A voltage obtained by storing the detected axis current value and subtracting the voltage corresponding to the voltage drop due to the primary resistance of the motor from the q-axis voltage command value generated corresponding to the deviation of the q-axis current detected value from the q-axis current command. The value is integrated for a predetermined second time to generate an integrated value vq_sum, and q
A change amount Δiq of the q-axis current detection value at the end of the integration with respect to the shaft current detection value is generated, and an inductance ratio K is calculated by an equation K = (vq_sum / vd_sum) · (Δid / Δiq), and a known d-axis inductance is calculated. It includes a procedure for calculating the q-axis inductance by using the equation Lq = KLd using Ld.

【００５６】上記の第１の実施形態において、先にｄ軸
について積分し（第１の積分処理）、次にｑ軸について
積分（第２の積分処理）する実施例を説明したが、本発
明は、積分処理の時間的順序には限定されない。したが
って、先にｑ軸について積分し、次にｄ軸について積分
しても同様の結果を得る。In the above-described first embodiment, an example has been described in which integration is first performed on the d-axis (first integration processing), and then integration is performed on the q-axis (second integration processing). Is not limited to the temporal order of the integration process. Therefore, the same result is obtained by integrating first on the q-axis and then on the d-axis.

【００５７】次に、本発明の同期電動機の定数同定機能
付き制御装置の第２の実施形態を説明する。図３は同期
電動機の制御装置に本発明の第２の実施形態を適用する
部分のブロック図である。本実施形態の同期電動機の制
御装置は、電動機定数同定部１５を除いては図１の制御
装置と実質的に同等である。また、図３には、本実施形
態の定数同定の第１の実施例を実施するために必要な信
号線のみが記載されている。Next, a description will be given of a second embodiment of a control device with a constant identification function for a synchronous motor according to the present invention. FIG. 3 is a block diagram of a portion in which the second embodiment of the present invention is applied to a control device for a synchronous motor. The control device of the synchronous motor of the present embodiment is substantially the same as the control device of FIG. 1 except for the motor constant identification unit 15. FIG. 3 shows only signal lines necessary for carrying out the first example of the constant identification of the present embodiment.

【００５８】図３において、速度コントローラ１は、速
度指令ω_refと速度検出値ω_fbとを入力し、ω_refと
ω_fbとが一致するようにｑ軸電流指令iq_ref を生成
し、通常動作接続されているスイッチ１２を介して該電
流指令をｑ軸電流コントローラ２に供給する。ｑ軸電流
コントローラ２は、ｑ軸電流指令iq_refにｑ軸電流検出
値iq_fbが一致するようにｑ軸電圧指令vqを生成する。
同様に、ｄ軸電流コントローラ３は、ｄ軸電流指令値id
_refにｄ軸電流検出値id_fbが一致するようにｄ軸電圧
指令vdを生成する。ｑ軸電流コントローラの出力vq及び
ｄ軸電流コントローラの出力vdはそれぞれｑ軸及びｄ軸
電圧指令としてベクトル制御回路４に入力され、電圧の
大きさと位相のデータに変換されインバータ回路５に指
令として与えられる。インバータ回路5はこの指令を基
に同期電動機６に電圧を出力する。ここでは同期電動機
６に取り付けた位置検出器７の信号を使用して、位相演
算器８で位相を計算する。In FIG. 3, the speed controller 1 inputs a speed command ω_ref and a detected speed value ω_fb, generates a q-axis current command iq_ref so that ω_ref and ω_fb coincide with each other, and operates normally connected switches. The current command is supplied to the q-axis current controller 2 via the control unit 12. The q-axis current controller 2 generates the q-axis voltage command vq such that the detected q-axis current value iq_fb matches the q-axis current command iq_ref.
Similarly, the d-axis current controller 3 outputs the d-axis current command value id
The d-axis voltage command vd is generated such that the d-axis current detection value id_fb matches _ref. The output vq of the q-axis current controller and the output vd of the d-axis current controller are input to the vector control circuit 4 as q-axis and d-axis voltage commands, respectively, converted into voltage magnitude and phase data, and given to the inverter circuit 5 as commands. Can be The inverter circuit 5 outputs a voltage to the synchronous motor 6 based on this command. Here, the phase calculator 8 calculates the phase using the signal of the position detector 7 attached to the synchronous motor 6.

【００５９】座標変換器9はこの位相と電動機に流れる
相電流を入力してｄ−ｑ変換してｑ軸電流検出値iq_fb
およびｄ軸電流検出値id_fbとして出力する。速度演算
器１０は位置検出器７の信号から電動機の回転速度ω_f
bを演算して速度コントローラ１へ出力する。スイッチ
１２、１３は、制御装置の通常動作態様と定数同定動作
態様とを切り換えることも図１の実施態様と同様であ
る。すなわち、スイッチ１２が速度コントローラ１をｑ
軸電流コントローラに接続するとき、スイッチ１２の通
常動作接続と記し、スイッチ１２が電動機定数同定部１
５をｑ軸電流コントローラに接続するとき、スイッチ１
２の同定動作接続と記す。同様に、スイッチ１３が上位
装置から転送されたｄ軸電流指令id_refをｄ軸電流コン
トローラ３に接続するとき、スイッチ１３の通常動作接
続と記し、スイッチ１３が電動機定数同定部１５をｄ軸
電流コントローラに接続するとき、スイッチ１３の同定
動作接続と記す。電動機定数同定部１５は、ｑ軸電圧指
令vq及びｑ軸電流検出値iq_fbを用いてｑ軸インダクタ
ンスLqを演算する。The coordinate converter 9 inputs this phase and the phase current flowing through the motor, and performs dq conversion to perform q-axis current detection value iq_fb.
And a d-axis current detection value id_fb. The speed calculator 10 calculates the rotation speed ω_f of the motor from the signal of the position detector 7.
b is calculated and output to the speed controller 1. The switches 12 and 13 switch between the normal operation mode and the constant identification operation mode of the control device in the same manner as the embodiment of FIG. That is, the switch 12 sets the speed controller 1 to q
When connected to the shaft current controller, the switch 12 is referred to as a normal operation connection, and the switch 12 is connected to the motor constant identification unit 1.
5 is connected to the q-axis current controller, switch 1
This is referred to as connection 2 of the identification operation. Similarly, when the switch 13 connects the d-axis current command id_ref transferred from the host device to the d-axis current controller 3, the switch 13 is referred to as a normal operation connection of the switch 13, and the switch 13 connects the motor constant identification unit 15 to the d-axis current controller. Is connected to the switch 13 as an identification operation connection. The motor constant identification unit 15 calculates the q-axis inductance Lq using the q-axis voltage command vq and the q-axis current detection value iq_fb.

【００６０】図４は、図３の電動機定数同定部1５の構
成図である。電動機定数同定部1５は、絶対値演算部４
１、４２と、ローパスフィルタ４３、４４とLq演算処理
部４５とを有する。絶対値演算部４１、４２は、入力し
たｑ軸電圧指令vq_ref、ｑ軸電流検出値iq_fbの絶対値
をそれぞれ演算する。ローパスフィルタ４３、４４は絶
対値演算部４１、４２の出力を平均してそれぞれｑ軸電
圧指令vq_ref、ｑ軸電流検出値iq_fbの平均値Vq_amp、I
q_ampを生成する。Lq演算処理部４５は、ローパスフィ
ルタ４３、４４の出力Vq_amp、Iq_ampを、それぞれｑ軸
電圧の振幅およびｑ軸電流の振幅としてｑ軸インダクタ
ンスLqを演算する。FIG. 4 is a configuration diagram of the motor constant identification unit 15 of FIG. The motor constant identification unit 15 includes an absolute value calculation unit 4
1 and 42, low-pass filters 43 and 44, and an Lq calculation processing unit 45. The absolute value calculation units 41 and 42 calculate the absolute values of the input q-axis voltage command vq_ref and the detected q-axis current value iq_fb, respectively. The low-pass filters 43 and 44 average the outputs of the absolute value calculation units 41 and 42, respectively, and average the q-axis voltage command vq_ref and the average value Vq_amp of the q-axis current detection value iq_fb, I
Generate q_amp. The Lq calculation processing unit 45 calculates the q-axis inductance Lq using the outputs Vq_amp and Iq_amp of the low-pass filters 43 and 44 as the amplitude of the q-axis voltage and the amplitude of the q-axis current, respectively.

【００６１】図５は本実施形態の処理の流れを示すフロ
ーチャートである。以下、図４および図５にしたがって
本実施態様を説明する。本実施形態においても、電動機
を停止させて定数を同定する。本実施形態においては、
次のようにして電動機を停止させる。先ず、スイッチ１
２を通常動作接続して速度指令ω_refを０に設定すると
共に、スイッチ１３を同定動作接続して一定値のｄ軸電
流指令id_refを電動機定数同定部１５からｄ軸電流コン
トローラ３に与える。この設定によって、過渡状態にお
いてはｄ軸電流のみならずｑ軸電流iqも流れ、ωが０に
なって電動機は定常状態になる。この定常状態において
は、回転子は特定位相に引き込まれて停止し、無負荷時
にはｑ軸電流iqは０になる。このときのｄ軸電流id_fb
は回転子を特定の引き込み位相に維持するように作用す
る。本実施形態においては、この初期設定におけるｄ軸
電流指令として電動機定格電流の20％の電流指令を与え
る（ステップＳ１）。FIG. 5 is a flowchart showing the flow of the processing of this embodiment. Hereinafter, this embodiment will be described with reference to FIGS. Also in this embodiment, the motor is stopped to identify the constant. In the present embodiment,
Stop the motor as follows. First, switch 1
2 is connected in the normal operation mode, the speed command ω_ref is set to 0, and the switch 13 is connected in the identification operation mode to provide a constant d-axis current command id_ref from the motor constant identification unit 15 to the d-axis current controller 3. With this setting, not only the d-axis current but also the q-axis current iq flows in the transient state, ω becomes 0, and the electric motor enters a steady state. In this steady state, the rotor is pulled into a specific phase and stops, and the q-axis current iq becomes 0 when there is no load. D-axis current id_fb at this time
Act to maintain the rotor in a particular retract phase. In the present embodiment, a current command of 20% of the motor rated current is given as the d-axis current command in the initial setting (step S1).

【００６２】次に、電動機定数同定部１５は、スイッチ
１２を同定動作側に切り換えて、ｑ軸に予め定められた
周波数をもち、ｄ軸電流指令の大きさよりも振幅が小さ
い範囲で予め与えられた振幅の交流ｑ軸電流指令をｑ軸
電流コントローラ２に与える。本実施例においては周波
数60Hz、電流の振幅を電動機定格電流の20％ととしてｑ
軸電流指令を与える（ステップＳ２）。Next, the motor constant identification unit 15 switches the switch 12 to the identification operation side, and is given in advance in a range having a predetermined frequency on the q-axis and an amplitude smaller than the magnitude of the d-axis current command. To the q-axis current controller 2. In this embodiment, the frequency is 60 Hz, and the amplitude of the current is 20% of the rated motor current.
A shaft current command is given (step S2).

【００６３】定常状態に落ち着くまで一定時間（本実施
例では2秒間）待ち（ステップＳ３）、そのときのｑ軸
電圧指令値vqの振幅の大きさ及びｑ軸電流検出値iq_fb
の振幅の大きさを読み込む。ここでは、ｑ軸電圧指令及
びｑ軸電流検出値のそれぞれについて絶対値をとってロ
ーパスフィルタを通すことによって、それぞれの平均値
を求め、この平均値を振幅の大きさVq_amp及びIq_ampと
している。A predetermined period of time (2 seconds in this embodiment) is waited for to reach a steady state (step S3), and the magnitude of the q-axis voltage command value vq and the detected q-axis current value iq_fb at that time.
Read the magnitude of the amplitude of. Here, an absolute value of each of the q-axis voltage command and the q-axis current detection value is taken and passed through a low-pass filter to obtain an average value, and these average values are used as amplitude magnitudes Vq_amp and Iq_amp.

【００６４】この振幅Vq_ampとｑ軸電流の振幅Iq_ampか
ら、インピーダンスZをFrom the amplitude Vq_amp and the amplitude Iq_amp of the q-axis current, the impedance Z is calculated.

【００６５】[0065]

【数７】 (Equation 7)

【００６６】から求める（ステップＳ４）。(Step S4).

【００６７】このZと既知の一次抵抗値R1からリアクタ
ンス成分 Z_X = (Z² -R1²)^1/2 を求める（ステップＳ４）。A reactance component Z _X = (Z ² −R 1 ² ) ^1/2 is obtained from Z and the known primary resistance value R 1 (step S 4).

【００６８】このリアクタンス成分Z_X及び電流指令の角
周波数ω＝2πfを用い、次式 Lq = Z_X/ω からｑ軸インダクタンスLqを求める（ステップＳ５）。[0068] Using the angular frequency omega = 2 [pi] f the reactance component Z _X and the current command, it obtains the q-axis inductance Lq from the following equation Lq = Z _X / ω (step S5).

【００６９】本実施例では、ｑ軸交流電流指令として、
予め定められた周波数をもち、ｄ軸電流指令の大きさよ
りも振幅が小さい範囲で予め与えられた振幅の交流ｑ軸
電流指令を与えたけれど、別の実施例においては、電動
機の回転の立ち上げまたは立ち下げ時定数に比較して周
期が充分に短く、任意の振幅の交流ｑ軸電流指令をｑ軸
電流コントローラ２に与える。In this embodiment, the q-axis AC current command is
Although an AC q-axis current command having a predetermined frequency and a predetermined amplitude in a range where the amplitude is smaller than the magnitude of the d-axis current command is given, in another embodiment, the rotation of the motor is started up. Alternatively, an AC q-axis current command having an arbitrary amplitude and a shorter cycle than the fall time constant is given to the q-axis current controller 2.

【００７０】次に、第２の実施形態の更に他の実施例に
ついて説明する。図６は、本実施形態の更に他の実施例
のブロック図である。本実施例は同定用ｑ軸電流指令の
代わりに同定用ｑ軸電圧指令vqを与えるようにしたもの
で、この場合には、ｑ軸電圧指令が電動機定数同定部１
５から直接ベクトル制御回路４に与えられる。したがっ
て、図６にスイッチ１６として示されているように、図
３の、スイッチ１２の代わりに、ベクトル制御回路４と
ｑ軸電流コントローラ２および電動機定数同定部１５と
の間の接続を切り替えるスイッチが設けられている。通
常動作時にはｑ軸電流コントローラ２とベクトル制御回
路４とが接続され、同定動作時には電動機定数同定器１
５とベクトル制御回路４とが接続される。実施方法は図
３の第１の実施例と同様である。Next, still another example of the second embodiment will be described. FIG. 6 is a block diagram of still another example of the present embodiment. In this embodiment, an identification q-axis voltage command vq is given instead of the identification q-axis current command. In this case, the q-axis voltage command is
5 to the vector control circuit 4 directly. Therefore, as shown as a switch 16 in FIG. 6, instead of the switch 12 in FIG. 3, a switch for switching the connection between the vector control circuit 4 and the q-axis current controller 2 and the motor constant identification unit 15 is provided. Is provided. During normal operation, the q-axis current controller 2 and the vector control circuit 4 are connected, and during identification operation, the motor constant identifier 1
5 and the vector control circuit 4 are connected. The implementation method is the same as that of the first embodiment shown in FIG.

【００７１】[0071]

【発明の効果】以上説明したように、本発明の第１の実
施形態によれば、LdおよびLqについてそれぞれ同様の測
定を行ってその比をとって算出した係数を使うことによ
って電圧誤差の影響がなくなりまたは低減させることが
できるので、通常は測定し難いｑ軸インダクタンスLqを
高い精度で、かつ、同期電動機の制御装置を使用して自
動的に求めることができる効果がある。As described above, according to the first embodiment of the present invention, the same measurement is performed for each of Ld and Lq, and the influence of the voltage error is obtained by using the coefficient calculated by taking the ratio. Can be eliminated or reduced, so that there is an effect that the q-axis inductance Lq, which is usually difficult to measure, can be obtained with high accuracy and automatically using a synchronous motor control device.

【００７２】本発明の第２の実施形態によれば、ｄ軸電
流として直流を流して回転子を停止状態にロックしてｑ
軸電流電流指令を与えてインピーダンスを求めることに
よって、ｑ軸電流を流しても回転子を回転させることな
く停止させたままLqを求めることが可能になり、この電
動機定数同定方法によって得られたLqを使うことによっ
て高性能な電動機制御を実現することができる効果があ
る。According to the second embodiment of the present invention, a direct current is supplied as a d-axis current to lock the rotor in a stopped state, and
By giving the shaft current command and finding the impedance, it becomes possible to find Lq without stopping the rotor even when the q-axis current flows, and to obtain Lq obtained by this motor constant identification method. There is an effect that high-performance motor control can be realized by using.

[Brief description of the drawings]

【図１】本発明の同期電動機制御装置の第１の実施形態
のブロック図である。FIG. 1 is a block diagram of a first embodiment of a synchronous motor control device of the present invention.

【図２】図１の電動機定数同定部が電動機の定数同定を
実施する処理の流れを示すフローチャートである。FIG. 2 is a flowchart showing a flow of a process in which a motor constant identification unit in FIG. 1 performs constant identification of a motor.

【図３】同期電動機の制御装置の第２の実施形態のブロ
ック図である。FIG. 3 is a block diagram of a second embodiment of the control device for the synchronous motor.

【図４】図３の電動機定数同定部の構成図である。FIG. 4 is a configuration diagram of a motor constant identification unit of FIG. 3;

【図５】第２の実施形態の処理の流れを示すフローチャ
ートである。FIG. 5 is a flowchart illustrating a flow of a process according to a second embodiment.

【図６】第２の実施形態の他の実施例のブロック図であ
る。FIG. 6 is a block diagram of another example of the second embodiment.

[Explanation of symbols]

１電動機定数同定器２ｑ軸電流コントローラ３ｄ軸電流コントローラ４ベクトル制御回路５インバータ回路６同期電動機７速度検出器８位相演算器９座標変換器１０速度演算器１２、１３、１６スイッチ１４、１５電動機定数同定部 Reference Signs List 1 motor constant identifier 2 q-axis current controller 3 d-axis current controller 4 vector control circuit 5 inverter circuit 6 synchronous motor 7 speed detector 8 phase calculator 9 coordinate converter 10 speed calculator 12, 13, 16 switch 14, 15 Motor constant identification unit

フロントページの続き (72)発明者末吉礼明福岡県北九州市八幡西区黒崎城石２番１号株式会社安川電機内Ｆターム(参考） 2G016 BA03 BB01 BB02 BC00 BD06 BD14 5H576 BB06 BB10 DD05 EE01 FF05 HB01 JJ03 JJ22 JJ26 LL07 LL22 LL39 LL40 LL41 Continuation of the front page (72) Inventor Reaki Sueyoshi 2-1 Kurosaki Castle Stone, Yawatanishi-ku, Kitakyushu-shi, Fukuoka F-term (reference) 2G016 BA03 BB01 BB02 BC00 BD06 BD14 5H576 BB06 BB10 DD05 EE01 FF05 HB01 JJ03 JJ22 JJ26 LL07 LL22 LL39 LL40 LL41

Claims

[Claims]

A true magnetic axis of the synchronous motor is a d-axis, an axis advanced by 90 ° from the d-axis is a q-axis, a q-axis voltage command corresponding to a deviation of a q-axis current detection value from a q-axis current command, and A control device for a synchronous motor that calculates a d-axis voltage command corresponding to a deviation of a d-axis current detection value from a d-axis current command and controls a drive current of the synchronous motor based on the q-axis voltage command and the d-axis voltage command In the method for identifying the constant of the synchronous motor using: the rotor is set to a stopped state, the q-axis current command is set to the first q-axis current command value, and the d-axis current command is set to the first d-axis current command. A current command value, a d-axis current command having a predetermined height with respect to the first d-axis current command value is given to the control device as a step command, and the d-axis current command corresponding to the step command of the d-axis current command is given. D-axis voltage command generated corresponding to the deviation of the detected value A voltage value obtained by subtracting the voltage corresponding to the voltage drop due to the primary resistance of the motor from the motor is integrated for a predetermined first integration time to generate an integrated value vd_sum, and the integration with respect to the d-axis current detection value at the start of the integration is performed. A first integration process for generating a change amount Δid of the d-axis current detection value at the time of termination, a d-axis current command set to a second d-axis current command value, and a q-axis current command set to a second q-axis current Command value, a q-axis current command having a predetermined height with respect to the second q-axis current command value is given as a step command to the control device, and q-axis current detection for the q-axis current command in response to the step command is performed. A voltage value obtained by subtracting the voltage corresponding to the voltage drop due to the primary resistance of the motor from the q-axis voltage command value generated corresponding to the value deviation is integrated for a second predetermined integration time, and the integrated value is obtained. Generate vq_sum and calculate the q-axis current detection value at the start of integration. A second integration process for generating a change amount Δiq of the q-axis current detection value at the end of the integration is executed, and an inductance ratio K is calculated by the equation K = (vq_sum / vd_sum) · (Δid / Δiq) A constant identification method for a synchronous motor, wherein a q-axis inductance is calculated by an equation Lq = KLd using the d-axis inductance Ld.

2. After setting a first d-axis current command value, a step command of a d-axis current command is given after a predetermined time has passed, and after setting a second q-axis current command value, a predetermined After a lapse of time, a step command of a q-axis current command is given, the first d-axis current command value and the second q-axis current command value are set equal, and the first and second integration times are set equal. And
2. The method according to claim 1, wherein a predetermined height of the step command of the d-axis current command is set to be equal to a predetermined height of the step command of the q-axis current command.

3. A d-axis is a true magnetic axis of the synchronous motor, a q-axis is an axis advanced by 90 ° from the d-axis, a q-axis voltage command corresponding to a deviation of a q-axis current detection value from a q-axis current command, and A control device for a synchronous motor that calculates a d-axis voltage command corresponding to a deviation of a d-axis current detection value from a d-axis current command and controls a drive current of the synchronous motor based on the q-axis voltage command and the d-axis voltage command In the method for identifying the constants of the synchronous motor using the method, when identifying the constants of the synchronous motor, the rotor speed command is set to stop and a constant d-axis current command is given to set the rotor to a constant phase. Pull in and stop, give an AC q-axis current command with a preset frequency and amplitude to the q-axis, obtain the q-axis impedance from the amplitude of the q-axis voltage command value and the amplitude of the q-axis current detection value at that time, q-axis impedance Constant identification method of the synchronous motor, characterized in that the reactance component is divided by the angular frequency of the q-axis current command determining the q-axis inductance.

4. The method for identifying a constant of a synchronous motor according to claim 3, wherein the amplitude of the AC q-axis current command is set so as not to exceed the value of the d-axis current command.

5. The constant identification of the synchronous motor according to claim 3, wherein the frequency of the AC q-axis current command is set such that the cycle of the AC q-axis current command is smaller than the time constant of the rotation of the rotor. Method.

6. A d-axis as a true magnetic axis of the synchronous motor, a q-axis as an axis advanced by 90 ° from the d-axis, a q-axis voltage command corresponding to a deviation of a q-axis current detection value from a q-axis current command, and A control device for a synchronous motor that calculates a d-axis voltage command corresponding to a deviation of a detected d-axis current value from a d-axis current command and supplies a drive current for the synchronous motor based on the q-axis voltage command and the d-axis voltage command In the method for identifying the constants of the synchronous motor using the method, when identifying the constants of the synchronous motor, the rotor speed command is set to stop and a constant d-axis voltage command is given to set the rotor to a constant phase. Pull in and stop, give an AC q-axis voltage command having a preset frequency and amplitude to the q-axis, obtain the q-axis impedance from the amplitude of the q-axis voltage command value and the amplitude of the q-axis current detection value at that time, This q-axis impedance Constant identification method of the synchronous motor an out reactance component is divided by the angular frequency of the q-axis current command and obtains the q-axis inductance Lq.

7. A d-axis is a true magnetic axis of the synchronous motor, a q-axis is an axis advanced by 90 ° from the d-axis, and a q-axis voltage command corresponding to a deviation of a q-axis current detection value from a q-axis current command is calculated. Q
A d-axis current controller for calculating a d-axis voltage command corresponding to a deviation of a detected d-axis current value from the d-axis current command; and a synchronous motor controlled based on the q-axis voltage command and the d-axis voltage command. The three-phase drive current of d-
a synchronous motor control device having a q-axis current detection value and a coordinate conversion means for generating a q-axis current detection value and a d-axis current detection value and supplying them to the q-axis current controller and the d-axis current controller, respectively, It has an operation mode of a normal operation mode and a constant identification mode, and at the time of constant identification, sets the rotor of the synchronous motor to a stopped state. The control device includes: a switch unit for switching between a normal operation mode and a constant identification mode; At the time of identification, a q-axis voltage command and a d-axis voltage command, a q-axis current detection value and a d-axis current detection value are input, and the d-axis current command and the q-axis current command for constant identification are respectively converted to a d-axis current controller. And motor constant identification means for outputting to the q-axis current controller, wherein the motor constant identification means outputs a q-axis current command when the identification of the motor constant is started. 1, a d-axis current command is set to a first d-axis current command value, and a d-axis current command having a predetermined height with respect to the first d-axis current command value is set. A step command is given to the d-axis current controller, and a voltage drop due to the primary resistance of the electric motor is calculated from a d-axis voltage command value generated corresponding to a deviation of the d-axis current detection value from the step command of the d-axis current command. A voltage value obtained by subtracting the voltage is integrated for a predetermined first integration time to generate an integral value vd_sum, and a change in the d-axis current detection value at the end of integration with respect to the d-axis current detection value at the start of integration A first integration process for generating an amount Δid; a d-axis current command set to a second d-axis current command value; a q-axis current command set to a second q-axis current command value; The q-axis current command having a predetermined height with respect to the current command value is Applied to the q-axis current controller, the q
A voltage value obtained by subtracting the voltage corresponding to the voltage drop due to the primary resistance of the motor from the q-axis voltage command value generated in accordance with the deviation of the q-axis current detection value from the step command of the shaft current command is predetermined. Integral value obtained by integrating the second integration time
vq_sum is generated, and a second integration process is performed to generate a variation Δiq of the q-axis current detection value at the end of integration with respect to the q-axis current detection value at the start of integration, and the inductance ratio K is calculated by the equation K = ( vq_sum / vd_sum) ・ (Δid / Δiq), and using the known d-axis inductance Ld, the q-axis inductance is calculated by the equation Lq = KLd. apparatus.

8. A d-axis is a true magnetic axis of the synchronous motor, an q-axis is an axis advanced by 90 ° from the d-axis, and calculates a q-axis voltage command corresponding to a deviation of a q-axis current detection value from a q-axis current command. Q
An axis current controller and a d-axis current controller that calculates a d-axis voltage command corresponding to a deviation of the d-axis current detection value with respect to the d-axis current command, and is controlled based on the q-axis voltage command and the d-axis voltage command. Control of a synchronous motor having d-q conversion of a three-phase drive current of the synchronous motor to generate a q-axis current detection value and a d-axis current detection value and to supply the generated q-axis current detection value and the d-axis current controller to the q-axis current controller and the d-axis current controller In the device, the control device has an operation mode of a normal operation mode and a constant identification mode, and at the time of constant identification, sets the speed of the rotor of the synchronous motor to stop, and the control device performs the normal operation mode and the constant identification mode. Switching means and a motor constant identification means, wherein the motor constant identification means rotates at the time of constant identification initial stage at the time of constant identification of the synchronous motor. When the speed is set to stop, the d-axis current command of a constant value is output to the d-axis current controller in order to draw the rotor to a certain phase and stop, and the rotor is drawn into the certain phase. Then, an AC q-axis current command having a preset amplitude and frequency is given to the q-axis, and a q-axis impedance is obtained from the amplitude of the q-axis voltage command value and the amplitude of the q-axis current detection value at that time. A control device having a function of identifying a constant of a synchronous motor, having a function of obtaining a q-axis inductance by dividing a reactance component of the shaft impedance by the angular frequency of the q-axis current command.

9. A first absolute value calculating unit and a second absolute value calculating unit for inputting a q-axis voltage command value and a q-axis current detection value and calculating respective absolute values, respectively. And an output of the first absolute value calculation unit and an output of the second absolute value calculation unit to generate an average value.
And the output of the first and second low-pass filters as the amplitude Vq_amp of the q-axis voltage command value and the amplitude Iq_amp of the q-axis current detection value, respectively, and the q-axis impedance Z is expressed by the following equation: Z = (Vq_amp / 3 ^{1 / 2} ) has an Lq calculation processing unit that calculates the q-axis reactance from the q-axis impedance Z, calculates the q-axis reactance by the angular frequency of the AC q-axis voltage command value, and calculates the q-axis inductance Lq. A control device with a constant identification function for a synchronous motor according to claim 8.

10. A true magnetic axis of the synchronous motor is defined as a d-axis, and an axis advanced by 90 ° from the d-axis is defined as a q-axis.
A q-axis current controller for calculating a q-axis voltage command corresponding to the deviation of the detected shaft current value; and a d-axis current controller for calculating a d-axis voltage command corresponding to the deviation of the d-axis current detection value for the d-axis current command. A three-phase drive current of the synchronous motor controlled based on the q-axis voltage command and the d-axis voltage command is dq-converted to generate a q-axis current detection value and a d-axis current detection value, A recording medium recording a program describing a procedure for identifying a constant of a synchronous motor using a control device for a synchronous motor having a coordinate conversion means for supplying to a d-axis current controller, the program comprising: A procedure for executing constant identification while the rotor is stopped sometimes is described. The program executes predetermined preparation processing, and when the preparation processing is completed, the constant Start, the q-axis current command is set to the first q-axis current command value, the d-axis current command is set to the first d-axis current command value, and the first d-axis current command value is set. A d-axis current command having a predetermined height is given as a step command to the d-axis current controller, and a d-axis current detection value at a time determined as an integration start time is stored, and the d-axis current corresponding to the d-axis current step command is stored. The voltage value obtained by subtracting the voltage corresponding to the voltage drop due to the primary resistance of the motor from the d-axis voltage command value generated corresponding to the deviation of the detected value is integrated for a predetermined first integration time, and the d-axis is integrated. A first integration process for generating an integrated value vd_sum and generating a change amount Δid of the d-axis current detection value at the integration end time with respect to the d-axis current detection value at the integration start time; Axis current command value, and set the q-axis current command to the second q-axis current command. A q-axis current command having a predetermined height with respect to the second q-axis current command value set as a command value is given as a step command to the q-axis current controller, and the q-axis current at a time set as the integration start time The detected value is stored, and the voltage value obtained by subtracting the voltage corresponding to the voltage drop due to the primary resistance of the motor from the q-axis voltage command value generated corresponding to the deviation of the q-axis current detection value from the q-axis current command is calculated. A second integration time integration performed in advance to generate an integrated value vq_sum, and a change Δiq of the q-axis current detection value at the end of integration with respect to the q-axis current detection value at the start of the integration.
Is calculated by the equation K = (vq_sum / vd_sum) · (Δid / Δiq). Using the known d-axis inductance Ld, the q-axis inductance is calculated by the equation Lq = KLd A recording medium storing a program, characterized by including a procedure for calculating by a computer.