JP2004159391A - Control device for three-phase ac motor - Google Patents

Control device for three-phase ac motor Download PDF

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JP2004159391A
JP2004159391A JP2002320685A JP2002320685A JP2004159391A JP 2004159391 A JP2004159391 A JP 2004159391A JP 2002320685 A JP2002320685 A JP 2002320685A JP 2002320685 A JP2002320685 A JP 2002320685A JP 2004159391 A JP2004159391 A JP 2004159391A
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phase
current
axis
value
angle
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JP4168730B2 (en
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Satoru Fujimoto
覚 藤本
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Nissan Motor Co Ltd
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Nissan Motor Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for three-phase AC motor capable of vector control with one current sensor. <P>SOLUTION: This control device for a three-phase AC motor, conducting the vector control by detecting three-phase current, comprises one current sensor 7 for detecting only a current Iu of one of three-phase currents Iu, Iu and Iw; and an other-phase current value estimating part 10 for currents Iv, Iw of remaining two phases using a detected current value Iu of one phase, an electrical angle detection value θ of the motor, and an angle which a composite vector Ia of a d-axis current command value and a q-axis current command value forms relative to a q-axis, that is, a command current phase angle α. This control device ensures the vector control of the three-phase AC motor for controlling to arbitrary d- and q-axis current values while realizing cost by reducing the number of current sensors. <P>COPYRIGHT: (C)2004,JPO

Description

【０００１】
【発明の属する技術分野】
本発明は３相交流電動機のベクトル制御技術に関する。
【０００２】
【従来の技術】
【特許文献１】特開２００１−２５２７７号公報
上記特許文献１には、１つの電流センサを用いて制御を行い、高価な電流センサの使用数を削減した３相交流電動機（以下、モータと記す）の制御方法が記載されている。
【０００３】
【発明が解決しようとする課題】
上記の従来技術においては、インバータ（およびモータ）に流れる直流電流を電流センサで検知して、その直流電流値を制御するという構成になっていたため、モータ出力に比例的に関係するｑ軸電流（トルク軸電流）、およびｄ軸電流（弱め界磁電流）を個別に制御して効率的なモータの運転を行う、いわゆるベクトル制御ができない、という問題があった。
【０００４】
本発明は上記のごとき問題を解決するものであり、一つの電流センサを用いてベクトル制御を可能にした３相交流モータの制御装置を提供することを目的とする。
【０００５】
【課題を解決するための手段】
上記の目的を達成するため、本発明においては、３相電流のうち、１相の電流のみを検出する１個の電流センサを備え、前記検出した１相の電流値と、電動機の電気角検出値と、ｄ軸電流指令値とｑ軸電流指令値との合成ベクトルがｑ軸と成す角度すなわち指令電流位相角αとを用いて、残りの２相の電流値を推定するように構成している。
【０００６】
【発明の効果】
本発明においては、電流センサ数を削減してコストの低減を計りながら、任意のｄ、ｑ軸電流値に制御する３相交流モータのベクトル制御が可能になる、という効果が得られる。
【０００７】
【発明の実施の形態】
以下、本発明の一実施例について図面に基づいて詳述する。図１は、本発明の一実施例を示すブロック図である。
図１において、１〜９の部分は通常の３相同期モータの電流フィードバック制御系と同じであり、電流指令演算部１の一部と他相電流値推定部１０との部分が通常と異なっている。なお、他相電流値推定部１０は通常の電流フィードバック制御系を構成するコンピュータを用いて共通に構成することが出来る。
【０００８】
まず、通常の３相同期モータの電流フィードバック制御系（ベクトル制御）について概略を説明する。
電流指令演算部１では、外部から指令されたトルク指令Ｔ＊に見合ったｄ軸電流指令値Ｉｄ＊およびｑ軸電流指令値Ｉｑ＊を出力する。それらの電流指令値は電流ＰＩ制御部２に入力される。なお、指令電流位相角αについては後述する。 電流ＰＩ制御部２は、ｄ軸電流指令値Ｉｄ＊とｄ軸電流値（現在値）Ｉｄとの偏差に基づき比例積分演算を行ってｄ軸電圧指令値Ｖｄ＊を出力し、同様にｑ軸電流指令値Ｉｑ＊とｑ軸電流値（現在値）Ｉｑとの偏差に基づいてｑ軸電圧指令値Ｖｑ＊を出力する。
上記のｄ軸電圧指令値Ｖｄ＊とｑ軸電圧指令値Ｖｑ＊は、必要に応じて非干渉演算処理を施され、２相３相変換器３により３相電圧指令値Ｖｕ＊、Ｖｖ＊、Ｖｗ＊に変換された後、ＰＷＭ変換部４に与えられ、ＰＷＭ信号に変換される。
インバータ５は上記ＰＷＭ信号に応じて図示しない直流電源（バッテリ等）の電力を３相交流電力変換し、３相モータ６を駆動する。
通常の電流フィードバック制御系においては、３相の各相電流Ｉｕ、Ｉｖ、Ｉｗを３個の電流センサでそれぞれ検出するが、本実施例においては、１個の電流センサ７によって１相の電流（例えばＵ相電流Ｉｕ）のみを検出する。
他相電流値推定部１０では、上記の検出したＵ相電流Ｉｕから他の２相の電流値（例えばＶ相電流ＩｖとＷ相電流Ｉｗ）を推定し、３相の電流Ｉｕ、Ｉｖ、Ｉｗを出力する。なお、他相電流値推定部１０の詳細については後述する。
３相２相変換器９は、上記の３相の電流Ｉｕ、Ｉｖ、Ｉｗをｄ軸電流値Ｉｄおよびｑ軸電流値Ｉｑに変換し、前記電流ＰＩ制御部２にフィードバックする。
回転角検出器８は、３相モータ６の現在回転角（電気角θ）を検出する。この電気角θは、前記２相３相変換器と３相２相変換器１０における座標変換演算および電流指令演算部１と他相電流値推定部１０における演算に用いられる。
【０００９】
以下、本発明の特徴とする電流指令演算部１における指令電流位相角αの演算と他相電流値推定部１０について説明する。
３相交流モータに流れる相電流には図２に示す関係があり、各々が１２０°ずつ位相がずれた正弦波であって、下記（数１）式〜（数３）式で表される。
Ｉｕ＝√（１／３）×Ｉａ×（−ｓｉｎ［θ’］） …（数１）
Ｉｖ＝√（１／３）×Ｉａ×（−ｓｉｎ［θ’＋１２０°］）…（数２）
Ｉｗ＝√（１／３）×Ｉａ×（−ｓｉｎ［θ’＋２４０°］）…（数３）
よってＩｕとθ’を検出すれば、（数１）式よりＩａを算出することができ、このＩａとθ’を用いて（数２）式、（数３）式からＩｖ、Ｉｗを推定することができる。
【００１０】
以下、上記の電流値推定で用いる角度θ’について詳述する。
角度θ’は、モータの回転子とステータのＵ相軸とが成す角度θ（図３参照）に、ｄ軸電流指令値とｑ軸電流指令値との合成ベクトルＩａがｑ軸と成す角度、すなわち指令電流位相角α（以上、図４参照）を加算した値であり、下記（数４）式で示される。
θ’＝θ＋α …（数４）
つまり、Ｕ相電流の位相角θ’とモータ回転子の位相角θ（＝Ｕ相誘起電圧位相角）には、図５に示すように、角度α°だけオフセットした関係があり、Ｕ相電流の位相角０°からα°遅れてモータ回転子角は０°となる。
【００１１】
ここで、図５に示したＵ相電流位相角θ’＝０°の瞬間におけるｄ軸、ｑ軸とＵ軸、Ｖ軸、Ｗ軸との位相関係を図６に示す。図６に示すように、モータ回転子のＮ極方向がｄ軸で、これに直行した軸がｑ軸である。
さらに、この時の電流ベクトルを図７に示す。図７に示したように、Ｕ相電流位相角θ’＝０°であるからＩｕ＝０であり、また３相電流値の総和は０の関係（Ｉｕ＋Ｉｖ＋Ｉｗ＝０）と図５の関係からＩｖ＝−Ｉｗであり、かつ、Ｉｖ＞０である。
よって、この時の３相電流ベクトルの総和（Ｉａ×√（１／３））は図７に示すベクトルとなり、その角度はＵ軸、Ｖ軸間でＵ軸から９０°の位置になる。
【００１２】
さらに、図７に図６で示したｄ軸、ｑ軸を重ねたものを図８に示す。
【００１３】
図８のベクトルＩａをｄ軸とｑ軸にベクトル分解したものがベクトルＩｄおよびベクトルＩｑとなる。ここでベクトルＩａとベクトルＩｑの成す電流位相角をＸとすると、その値はｄ軸とベクトルＩａの成す角Ａからｄ軸とｑ軸の成す角９０°を引いた値であり、下記（数５）式で示される。
Ｘ＝Ａ−９０° …（数５）
ｄ軸とベクトルＩａの成す角Ａは、ｄ軸とＵ軸の成す角αと、Ｕ軸とベクトルＩａの成す角９０°との和に等しく、下記（数６）式で示される。
Ａ＝α＋９０° …（数６）
（数６）式を（数５）式に代入すると、下記（数７）式となる。
Ｘ＝α＋９０−９０＝α …（数７）
したがってＸ＝αあることが判る。
【００１４】
よって、ｄ軸電流指令値Ｉｄ＊とｑ軸電流指令値Ｉｑ＊との合成ベクトルＩａがｑ軸と成す角度すなわち指令電流位相角αを、モータの回転子とステータのＵ相軸とが成す角度θに加えた値θ’を用いることにより、３相のうちの１相の電流値（例えばＵ相電流Ｉｕ）を検出すれば、前記（数１）式〜（数３）式から他の２相の電流値を推定することが出来る。そして上記のようにして求めた３相の電流値を用いて、その時のモータに流れる電流値Ｉｄ、Ｉｑの電流位相が指令値の電流位相αと一致するよう制御することが出来るので、ベクトル制御が可能となる。
【００１５】
図９は、上記の他相電流値推定部１０における演算処理を示すフローチャートである。
図９において、ステップ１では、電流センサ７の検出値Ｉｕ、回転角検出器８の検出値θ、および指令電流位相角αを取り込み、ステップ２へ移行する。
なお、指令電流位相角αは、ｄ軸電流指令値Ｉｄ＊とｑ軸電流指令値Ｉｑ＊との合成ベクトルＩａがｑ軸と成す角度であるから、電流指令演算部１において、ｄ軸電流指令値Ｉｄ＊とｑ軸電流指令値Ｉｑ＊の算出時に同時に求める。
【００１６】
ステップ２では、ステップ１で取り込んだ値を用いて、前記（数１）式から下記（数８）式を用いてＩａを算出し、ステップ３へ移行する。
Ｉａ＝Ｉｕ／〔√（１／３）×（−ｓｉｎ［θ’］）〕 …（数８）
ステップ３では、ステップ２で算出したＩａおよびステップ１での取り込み値を用いて、前記（数２）式からＩｖを算出し、ステップ４へ移行する。
【００１７】
ステップ４では、ステップ２で算出したＩａおよびステップ１での取り込み値を用いて、前記（数３）式からＩｗを算出する。以上で他相電流値推定の演算を終了する。
以下、通常の電流ベクトル制御と同様に３相２相変換でｄｑ軸電流を取得して電流制御を行うことが可能である。
【００１８】
上記のように、本実施例においては、１個の電流センサを用いて検出した１相の電流値から他の２相の電流値を演算で推定することにより、３相交流モータのベクトル制御を行うことが出来る。そのため、電流センサ数を削減してコストの低減を計りながら、任意のｄ、ｑ軸電流値に制御する３相交流モータのベクトル制御が可能になる、という効果が得られる。
【図面の簡単な説明】
【図１】本発明の一実施例を示すブロック図。
【図２】３相電流Ｉｕ、Ｉｖ、Ｉｗの関係を示す図。
【図３】モータの回転子とステータのＵ相軸とが成す角度θを示す図。
【図４】ｄ軸電流指令値とｑ軸電流指令値との合成ベクトルＩａがｑ軸と成す角度、すなわち指令電流位相角αを示す図。
【図５】Ｕ相電流の位相角θ’とモータ回転子の位相角θ（誘起電圧位相角）との関係を示す図。
【図６】Ｕ相電流位相角θ’＝０°の瞬間におけるｄ軸、ｑ軸とＵ軸、Ｖ軸、Ｗ軸との位相関係を示す図。
【図７】Ｕ相電流位相角θ’＝０°の瞬間における電流ベクトルを示す図。
【図８】図７の電流ベクトルに図６で示したｄ軸、ｑ軸を重ねた図。
【図９】他相電流値推定部１０における演算処理を示すフローチャート。
【符号の説明】
１…電流指令演算部 ２…電流ＰＩ制御部
３…２相３相変換器 ４…ＰＷＭ変換部
５…インバータ ６…３相モータ
７…電流センサ ８…回転角検出器
９…３相２相変換器 １０…他相電流値推定部[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a vector control technique for a three-phase AC motor.
[0002]
[Prior art]
[Patent Document 1] Japanese Patent Application Laid-Open No. 2001-25277 discloses a three-phase AC motor (hereinafter referred to as a motor) in which control is performed using a single current sensor to reduce the number of expensive current sensors used. ) Is described.
[0003]
[Problems to be solved by the invention]
In the above prior art, a direct current flowing through an inverter (and a motor) is detected by a current sensor, and the direct current value is controlled. Therefore, the q-axis current ( There is a problem that the so-called vector control in which the motor is operated efficiently by individually controlling the torque axis current) and the d-axis current (field weakening current) cannot be performed.
[0004]
SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and has as its object to provide a control device for a three-phase AC motor that can perform vector control using one current sensor.
[0005]
[Means for Solving the Problems]
In order to achieve the above object, according to the present invention, there is provided one current sensor that detects only one-phase current among three-phase currents, and detects the detected one-phase current value and an electric angle of a motor. The current value of the remaining two phases is estimated using the angle formed by the combined vector of the d-axis current command value and the q-axis current command value with the q-axis, that is, the command current phase angle α. I have.
[0006]
【The invention's effect】
According to the present invention, it is possible to obtain the effect that the vector control of the three-phase AC motor for controlling the current values to arbitrary d and q axes can be performed while reducing the cost by reducing the number of current sensors.
[0007]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, an embodiment of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing one embodiment of the present invention.
In FIG. 1, parts 1 to 9 are the same as the current feedback control system of a normal three-phase synchronous motor, and a part of the current command calculation unit 1 and a part of the other-phase current value estimation unit 10 are different from the usual. I have. The other-phase current value estimating unit 10 can be configured in common by using a computer that forms a normal current feedback control system.
[0008]
First, an outline of a current feedback control system (vector control) of a normal three-phase synchronous motor will be described.
The current command calculator 1 outputs a d-axis current command value Id * and a q-axis current command value Iq * corresponding to a torque command T * commanded from the outside. These current command values are input to the current PI control unit 2. The command current phase angle α will be described later. The current PI control unit 2 outputs a d-axis voltage command value Vd * by performing a proportional integral operation based on a deviation between the d-axis current command value Id * and the d-axis current value (current value) Id, and similarly outputs the q-axis The q-axis voltage command value Vq * is output based on the deviation between the current command value Iq * and the q-axis current value (current value) Iq.
The d-axis voltage command value Vd * and the q-axis voltage command value Vq * are subjected to non-interference calculation processing as necessary, and the two-phase / three-phase converter 3 outputs three-phase voltage command values Vu *, Vv *, After being converted to Vw *, it is provided to the PWM converter 4 and converted to a PWM signal.
The inverter 5 converts the power of a DC power supply (not shown) (not shown) into three-phase AC power according to the PWM signal, and drives the three-phase motor 6.
In a normal current feedback control system, three-phase currents Iu, Iv, and Iw are detected by three current sensors, respectively. In the present embodiment, one-phase current (one current) is detected by one current sensor 7. For example, only the U-phase current Iu) is detected.
The other-phase current value estimating unit 10 estimates current values of the other two phases (for example, the V-phase current Iv and the W-phase current Iw) from the detected U-phase current Iu, and obtains the three-phase currents Iu, Iv, Iw. Is output. The details of the other-phase current value estimating unit 10 will be described later.
The three-phase / two-phase converter 9 converts the three-phase currents Iu, Iv, Iw into a d-axis current value Id and a q-axis current value Iq, and feeds them back to the current PI control unit 2.
The rotation angle detector 8 detects a current rotation angle (electric angle θ) of the three-phase motor 6. The electrical angle θ is used for the coordinate conversion calculation in the two-phase three-phase converter and the three-phase two-phase converter 10 and the calculation in the current command calculator 1 and the other-phase current value estimator 10.
[0009]
Hereinafter, the calculation of the command current phase angle α in the current command calculation unit 1 and the other-phase current value estimation unit 10 which are features of the present invention will be described.
The phase currents flowing through the three-phase AC motor have the relationship shown in FIG. 2, each of which is a sine wave whose phase is shifted by 120 °, and is represented by the following equations (1) to (3).
Iu = √ (１ ／) × Ia × (−sin [θ ′]) (Equation 1)
Iv = √ (１ ／) × Ia × (−sin [θ ′ + 120 °]) (Equation 2)
Iw = √ (１ ／) × Ia × (−sin [θ ′ + 240 °]) (Equation 3)
Therefore, if Iu and θ ′ are detected, Ia can be calculated from Expression (1), and Iv and Iw are estimated from Expressions (2) and (Expression 3) using Ia and θ ′. be able to.
[0010]
Hereinafter, the angle θ ′ used in the current value estimation will be described in detail.
The angle θ ′ is the angle θ (see FIG. 3) formed between the rotor of the motor and the U-phase axis of the stator, the angle formed by the combined vector Ia of the d-axis current command value and the q-axis current command value with the q axis, That is, it is a value obtained by adding the command current phase angle α (refer to FIG. 4), and is represented by the following (Equation 4).
θ ′ = θ + α (Equation 4)
That is, the phase angle θ ′ of the U-phase current and the phase angle θ of the motor rotor (= U-phase induced voltage phase angle) have a relationship offset by an angle α ° as shown in FIG. The motor rotor angle becomes 0 ° delayed from the phase angle 0 ° by α °.
[0011]
Here, FIG. 6 shows the phase relationship between the d-axis, the q-axis, the U-axis, the V-axis, and the W-axis at the moment when the U-phase current phase angle θ ′ = 0 ° shown in FIG. As shown in FIG. 6, the direction of the N pole of the motor rotor is the d-axis, and the axis orthogonal thereto is the q-axis.
FIG. 7 shows the current vector at this time. As shown in FIG. 7, since the U-phase current phase angle θ ′ = 0 °, Iu = 0, and the sum of the three-phase current values is Iv from the relationship of 0 (Iu + Iv + Iw = 0) and FIG. = −Iw and Iv> 0.
Therefore, the sum of the three-phase current vectors (Ia × √ (√)) at this time is the vector shown in FIG. 7, and the angle is 90 ° from the U axis between the U axis and the V axis.
[0012]
Further, FIG. 8 shows a superposition of the d-axis and the q-axis shown in FIG. 6 on FIG.
[0013]
The vector Ia and the vector Iq are obtained by decomposing the vector Ia in FIG. 8 into the d axis and the q axis. Here, assuming that the current phase angle formed by the vector Ia and the vector Iq is X, the value is a value obtained by subtracting the angle 90 ° formed by the d axis and the q axis from the angle A formed by the d axis and the vector Ia. It is shown by the expression 5).
X = A−90 ° (Equation 5)
The angle A formed by the d-axis and the vector Ia is equal to the sum of the angle α formed by the d-axis and the U-axis and the angle 90 formed by the U-axis and the vector Ia, and is expressed by the following equation (6).
A = α + 90 ° (Equation 6)
When the equation (6) is substituted into the equation (5), the following equation (7) is obtained.
X = α + 90−90 = α (Equation 7)
Therefore, it can be seen that X = α.
[0014]
Therefore, the angle formed by the composite vector Ia of the d-axis current command value Id * and the q-axis current command value Iq * with the q-axis, that is, the command current phase angle α, is the angle formed by the rotor of the motor and the U-phase axis of the stator. If the current value of one of the three phases (for example, the U-phase current Iu) is detected by using the value θ ′ added to θ, the other two equations can be obtained from the equations (1) to (3). The current value of the phase can be estimated. Using the three-phase current values obtained as described above, the current phases of the current values Id and Iq flowing through the motor at that time can be controlled so as to match the current phase α of the command value. Becomes possible.
[0015]
FIG. 9 is a flowchart showing a calculation process in the other-phase current value estimating unit 10.
In FIG. 9, in step 1, the detection value Iu of the current sensor 7, the detection value θ of the rotation angle detector 8, and the command current phase angle α are fetched, and the process proceeds to step 2.
The command current phase angle α is an angle formed by the combined vector Ia of the d-axis current command value Id * and the q-axis current command value Iq * with the q-axis. It is obtained at the same time when the value Id * and the q-axis current command value Iq * are calculated.
[0016]
In step 2, Ia is calculated from equation (1) using equation (8) below using the value fetched in step 1, and the process proceeds to step 3.
Ia = Iu / [√ (１ ／) × (−sin [θ ′])] (Equation 8)
In step 3, using the Ia calculated in step 2 and the fetched value in step 1, Iv is calculated from equation (2), and the process proceeds to step 4.
[0017]
In step 4, Iw is calculated from the equation (3) using the Ia calculated in step 2 and the captured value in step 1. This completes the calculation of the other-phase current value estimation.
Hereinafter, it is possible to obtain the dq-axis current by the three-phase to two-phase conversion and perform the current control in the same manner as the normal current vector control.
[0018]
As described above, in the present embodiment, the vector control of the three-phase AC motor is performed by estimating the other two-phase current values from the one-phase current value detected using one current sensor. You can do it. Therefore, it is possible to obtain the effect of enabling vector control of a three-phase AC motor for controlling the current values to arbitrary d and q axes while reducing the cost by reducing the number of current sensors.
[Brief description of the drawings]
FIG. 1 is a block diagram showing one embodiment of the present invention.
FIG. 2 is a diagram showing a relationship among three-phase currents Iu, Iv, and Iw.
FIG. 3 is a diagram showing an angle θ formed between a rotor of a motor and a U-phase axis of a stator.
FIG. 4 is a diagram showing an angle formed by a composite vector Ia of a d-axis current command value and a q-axis current command value with the q-axis, that is, a command current phase angle α.
FIG. 5 is a diagram showing a relationship between a phase angle θ ′ of a U-phase current and a phase angle θ of a motor rotor (induced voltage phase angle).
FIG. 6 is a diagram showing a phase relationship among a d-axis, a q-axis, a U-axis, a V-axis, and a W-axis at a moment when a U-phase current phase angle θ ′ = 0 °.
FIG. 7 is a diagram showing a current vector at a moment when a U-phase current phase angle θ ′ = 0 °.
8 is a diagram in which the d-axis and the q-axis shown in FIG. 6 are superimposed on the current vector in FIG.
FIG. 9 is a flowchart showing a calculation process in the other-phase current value estimating unit 10;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Current command calculation part 2 ... Current PI control part 3 ... Two-phase three-phase converter 4 ... PWM conversion part 5 ... Inverter 6 ... Three-phase motor 7 ... Current sensor 8 ... Rotation angle detector 9 ... Three-phase two-phase conversion Unit 10: Other phase current value estimation unit

Claims (2)

３相交流電動機の回転子の電気角および３相電流を検出して、前記電気角検出値から回転数を算出し、トルク指令値と前記回転数からｄ軸、ｑ軸それぞれの２相電流指令値を算出し、前記電気角検出値を用いて前記３相電流検出値を３相／２相変換してｄ軸、ｑ軸それぞれの２相電流検出値を得て、前記２相電流指令値に前記２相電流検出値を一致させるための制御演算を行って２相電圧指令値を算出し、前記２相電圧指令値を前記電気角を用いて２相／３相変換してＵ相、Ｖ相、Ｗ相の３相電圧指令値を得て、前記３相の電圧指令値に基づいてインバータを制御し、３相交流電動機に供給する電力を制御する３相交流電動機の制御装置において、
前記３相電流のうち、１相の電流のみを検出する１個の電流センサと、
前記検出した１相の電流値と、前記電動機の電気角検出値と、ｄ軸電流指令値とｑ軸電流指令値との合成ベクトルがｑ軸と成す角度すなわち指令電流位相角αとを用いて、残りの２相の電流値を推定する他相電流値推定手段と、
を備えたことを特徴とする３相交流電動機の制御装置。An electrical angle and a three-phase current of the rotor of the three-phase AC motor are detected, a rotation speed is calculated from the detected electrical angle, and a two-phase current command for each of the d-axis and the q-axis is obtained from the torque command value and the rotation speed. The two-phase current command value is obtained by calculating a three-phase / two-phase value of the three-phase current detection value using the electrical angle detection value to obtain a two-phase current detection value for each of the d-axis and the q-axis. A control operation for matching the two-phase current detection values is performed to calculate a two-phase voltage command value. The two-phase voltage command value is converted into two-phase / three-phase using the electrical angle, and the U-phase, A three-phase AC motor control device that obtains V-phase and W-phase three-phase voltage command values, controls an inverter based on the three-phase voltage command values, and controls power supplied to the three-phase AC motor.
One current sensor for detecting only one phase current among the three phase currents;
Using the detected one-phase current value, the electric angle detection value of the electric motor, and the angle formed by the combined vector of the d-axis current command value and the q-axis current command value with the q-axis, that is, the command current phase angle α. A different-phase current value estimating means for estimating the remaining two-phase current values;
A control device for a three-phase AC motor, comprising: 前記他相電流値推定手段は、ｄ軸電流指令値Ｉｄ＊とｑ軸電流指令値Ｉｑ＊との合成ベクトルＩａがｑ軸と成す角度すなわち指令電流位相角αを、モータの回転子とステータのＵ相軸とが成す角度θに加えた値θ’を算出し、その値θ’と検出した１相の電流値Ｉｕから下式を用いてＩａを算出し、前記θ’、ＩａおよびＩｕから下式を用いて他の２相の電流値Ｉｖ、Ｉｗを算出することを特徴とする請求項１に記載の３相交流電動機の制御装置。
Ｉａ＝Ｉｕ／〔√（１／３）×（−ｓｉｎ［θ’］）〕
Ｉｖ＝√（１／３）×Ｉａ×（−ｓｉｎ［θ’＋１２０°］）
Ｉｗ＝√（１／３）×Ｉａ×（−ｓｉｎ［θ’＋２４０°］）The other-phase current value estimating means calculates the angle formed by the composite vector Ia of the d-axis current command value Id * and the q-axis current command value Iq * with the q-axis, that is, the command current phase angle α, by using the motor rotor and the stator. A value θ ′ added to the angle θ formed by the U-phase axis is calculated, Ia is calculated from the value θ ′ and the detected one-phase current value Iu using the following equation, and from the θ ′, Ia and Iu, 2. The control device for a three-phase AC motor according to claim 1, wherein the other two-phase current values Iv and Iw are calculated using the following equation.
Ia = Iu / [√ (１ ／) × (−sin [θ ′])]
Iv = √ (１ ／) × Ia × (−sin [θ ′ + 120 °])
Iw = √ (1/3) × Ia × (−sin [θ ′ + 240 °])
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