JP2005086920A - Method for controlling synchronous motor-driving device - Google Patents

Method for controlling synchronous motor-driving device Download PDF

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JP2005086920A
JP2005086920A JP2003316894A JP2003316894A JP2005086920A JP 2005086920 A JP2005086920 A JP 2005086920A JP 2003316894 A JP2003316894 A JP 2003316894A JP 2003316894 A JP2003316894 A JP 2003316894A JP 2005086920 A JP2005086920 A JP 2005086920A
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pwm control
synchronous
synchronous motor
control
inverter
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Fukashi Uehara
深志 上原
Hisafumi Nomura
尚史 野村
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Fuji Electric Co Ltd
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Fuji Electric Systems Co Ltd
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<P>PROBLEM TO BE SOLVED: To provide a control method which is suitable, when a desired AC voltage is output from an inverter in order to execute variable speed control to a synchronous motor to a region exceeding the basic number of revolutions, for example, by executing one of the non-synchronous PWM control of a carrier frequency of 10 kHz, the synchronous PWM control of five pulses, the synchronous PWM control of three pulses, or the synchronous PWM control of one pulse. <P>SOLUTION: The output of proportional integrating circuits 33, 34 during the synchronous PWM control is limited by a prescribed limit value by the control mode discriminating circuit 19, constituting a controller 30 for the synchronous motor 3 and either of the output limitation circuit 31 and the output limitation circuit 32, when the non-synchronous PWM control and the synchronous PWM control are switched. <P>COPYRIGHT: (C)2005,JPO&NCIPI

Description

この発明は、永久磁石形同期電動機をインバータにより可変速駆動する同期電動機駆動装置の制御方法に関する。   The present invention relates to a method for controlling a synchronous motor driving apparatus that drives a permanent magnet synchronous motor at a variable speed by an inverter.

例えば、電気自動車の車両駆動用電動機として使用される永久磁石形同期電動機を、より広い回転数領域でインバータを介して可変速駆動するための制御装置に対して、下記特許文献１など種々の制御方法が知られている。   For example, for a control device for driving a permanent magnet type synchronous motor used as a vehicle driving motor of an electric vehicle via an inverter in a wider rotational speed range, various controls such as the following Patent Document 1 are provided. The method is known.

図４は、この種の同期電動機駆動装置の従来例を示す回路構成図であり、この図において、１は蓄電池，整流電源などの直流電源、２は半導体電力変換回路などから構成されるインバータ、３はインバータ２より給電される永久磁石形同期電動機などの同期電動機、４は直流電源１の端子電圧ＶDCを検出する電圧検出器、５はインバータ２から同期電動機３への電流を検出する電流検出器、６は同期電動機３の回転数Ｎ，磁極位置θを検出するためのレゾルバなどの位置検出器、８は運転指令回路、１０はインバータ２を介して可変速駆動される同期電動機３が運転指令回路８からのトルク指令Ｔ* に基づいたトルクを出力しつつ回転するための制御装置である。 FIG. 4 is a circuit configuration diagram showing a conventional example of this type of synchronous motor drive device, in which 1 is a DC power source such as a storage battery and a rectifying power source, 2 is an inverter composed of a semiconductor power conversion circuit, etc. 3 is a synchronous motor such as a permanent magnet type synchronous motor fed by an inverter 2, 4 is a voltage detector for detecting a terminal voltage V DC of the DC power source 1, and 5 is a current for detecting a current from the inverter 2 to the synchronous motor 3. A detector, 6 is a position detector such as a resolver for detecting the rotational speed N of the synchronous motor 3 and the magnetic pole position θ, 8 is an operation command circuit, and 10 is a synchronous motor 3 driven at a variable speed via the inverter 2. This is a control device for rotating while outputting torque based on the torque command T * from the operation command circuit 8.

この制御装置１０には電流指令回路１１、３相／２相変換回路１２、加算演算器１３，１４、比例積分回路１５，１６、軸電圧演算回路１７、電圧演算回路１８、制御モード判別回路１９、速度検出回路２０、電圧指令回路２１、過電流検出回路２２を備えている。なお、これらの制御要素は全て周知の技術により形成されている。   The control device 10 includes a current command circuit 11, a three-phase / two-phase conversion circuit 12, addition calculators 13 and 14, proportional integration circuits 15 and 16, an axial voltage calculation circuit 17, a voltage calculation circuit 18, and a control mode determination circuit 19. A speed detection circuit 20, a voltage command circuit 21, and an overcurrent detection circuit 22. These control elements are all formed by a well-known technique.

図４に示した同期電動機駆動装置の動作を、図面を参照しつつ、以下に説明する。   The operation of the synchronous motor driving device shown in FIG. 4 will be described below with reference to the drawings.

図５は、インバータ２を介して可変速駆動される同期電動機３としての永久磁石形同期電動機の回転数に対する代表的な特性図である。この図の例では、同期電動機３の回転数が零から基底回転数Ｎb まで、すなわち図示の特性域１の区間では全界磁制御のトルク一定運転を行い、また、基底回転数Ｎb から許容最高回転数ＮMAX まで、すなわち図示の特性域２の区間では弱め界磁制御の定出力運転を行うことを示している。従って、特性域１の区間では同期電動機３の回転数の上昇に応じてその誘起電圧も上昇するので、同期電動機３から所定のトルクが得られるように、インバータ２が出力する電圧も同期電動機３の回転数の上昇に応じて高くなるように制御している。 FIG. 5 is a typical characteristic diagram with respect to the number of rotations of a permanent magnet type synchronous motor as the synchronous motor 3 driven at a variable speed via the inverter 2. In the example of this figure, the constant-torque operation of all field control is performed from zero to the base rotational speed N b , that is, in the section of the characteristic region 1 shown in the figure, and the allowable maximum is determined from the base rotational speed N b. It shows that constant output operation of field weakening control is performed up to the rotation speed N MAX , that is, in the section of the characteristic region 2 shown in the figure. Accordingly, in the section of the characteristic area 1, the induced voltage increases as the rotational speed of the synchronous motor 3 increases, so that the voltage output from the inverter 2 is also the synchronous motor 3 so that a predetermined torque can be obtained from the synchronous motor 3. It is controlled so as to increase as the number of revolutions increases.

図６は、同期電動機３の基底回転数Ｎb 付近でのインバータ２のＰＷＭ制御を説明する波形図である。 Figure 6 is a waveform diagram for explaining the PWM control of the inverter 2 in the vicinity of base speed N b of the synchronous motor 3.

図６において、同期電動機３の回転数が零から図示のＮ1 までは、例えば、キャリア周波数が１０ｋＨｚの非同期ＰＷＭ制御により所望の交流電圧をインバータ２が出力し、前記回転数がＮ1 を越えると前記非同期ＰＷＭ制御から５パルスの同期ＰＷＭ制御に切替わり、この５パルスの同期ＰＷＭ制御により所望の交流電圧をインバータ２が出力し、また、前記回転数が図示のＮ2 を越えると前記５パルスの同期ＰＷＭ制御から３パルスの同期ＰＷＭ制御に切替わり、この３パルスの同期ＰＷＭ制御により所望の交流電圧をインバータ２が出力し、さらに、前記回転数が基底回転数Ｎb を越えると１パルスの同期ＰＷＭ制御を行うようにしている。 In FIG. 6, when the rotational speed of the synchronous motor 3 is from zero to N 1 in the figure, for example, the inverter 2 outputs a desired AC voltage by asynchronous PWM control with a carrier frequency of 10 kHz, and the rotational speed exceeds N 1 . The asynchronous PWM control is switched to the 5-pulse synchronous PWM control, and the inverter 2 outputs a desired AC voltage by the 5-pulse synchronous PWM control. When the rotational speed exceeds N 2 in the figure, the 5 switching instead the synchronous PWM control to the synchronous PWM control of the three pulses of the pulse, a desired AC voltage by the synchronous PWM control of the three pulses output by the inverter 2, further wherein the rotational speed exceeds the base speed N b when 1 Pulse synchronous PWM control is performed.

すなわち、図６に示すように、非同期ＰＷＭ制御における変調率がλ1 に達したら（回転数Ｎ1 ）、非同期ＰＷＭ制御から５パルスの同期ＰＷＭ制御に切替え、また、５パルスの同期ＰＷＭ制御での変調率がλ2 に達したら（回転数Ｎ2 ）、５パルスの同期ＰＷＭ制御からの３パルスの同期ＰＷＭ制御に切替え、さらに、３パルスの同期ＰＷＭ制御での変調率がλ3 に達したら（回転数Ｎ3 ）、１パルスの同期ＰＷＭ制御に切替えている。このとき、上述のそれぞれの切替点で、インバータ２が出力する交流電圧に変動が生じないように、切替後のＰＷＭ制御の変調率を調整している。なお図６において、同期電動機３が基底回転数Ｎb 以上の高速域（図５の特性域２）で１パルスの同期ＰＷＭ制御を行っているのは、インバータ２から出力できる交流電圧がより高くできるためである。 That is, as shown in FIG. 6, when the modulation rate in the asynchronous PWM control reaches λ 1 (rotation speed N 1 ), the asynchronous PWM control is switched to the 5-pulse synchronous PWM control, and the 5-pulse synchronous PWM control is performed. When the modulation factor reaches lambda 2 (rotational speed N 2), switches to 3 pulses of the synchronous PWM control of the synchronous PWM control of the 5 pulse, further reach the third modulation rate lambda in the synchronous PWM control of the three-pulse Then (rotation speed N 3 ), it is switched to synchronous PWM control of 1 pulse. At this time, the modulation rate of the PWM control after switching is adjusted so that the AC voltage output from the inverter 2 does not vary at each switching point described above. In FIG. 6, the synchronous motor 3 is performing synchronous PWM control of one pulse at base speed N b or more high speed region (characteristic region 2 in FIG. 5) is higher AC voltage that can be output from the inverter 2 This is because it can.

図７は、図５に示した特性域１での同期電動機３のフェザー図である。この図では同期電動機３の突極比が１（ｄ軸成分のリアクタンスとｑ軸成分のリアクタンスの比率が１）で、同期電動機３の巻線抵抗による電圧降下分を無視したときの状態を示し、また、Ｖｍは同期電動機３の誘起電圧、Ｖｉはインバータ２の出力電圧、Ｉq はトルク電流（ｑ軸電流とも称する）、Ｘq はｑ軸成分のリアクタンスをそれぞれ示している。 FIG. 7 is a feather diagram of the synchronous motor 3 in the characteristic region 1 shown in FIG. This figure shows a state where the salient pole ratio of the synchronous motor 3 is 1 (the ratio of the reactance of the d-axis component and the reactance of the q-axis component is 1) and the voltage drop due to the winding resistance of the synchronous motor 3 is ignored. Further, Vm is an induced voltage of the synchronous motor 3, Vi is an output voltage of the inverter 2, Iq is a torque current (also referred to as a q-axis current), and Xq is a reactance of the q-axis component.

すなわち、特性域１では同期電動機３の回転数が増大して、同期電動機３の誘起電圧がＶｍ1 からＶｍ2 に増大すると、インバータ２の出力電圧もＶｉ1 からＶｉ2 に増大させて、トルク電流Ｉq が常に一定になるような制御をしている。従って、特性域１では同期電動機３が所望の出力トルク（トルク電流Ｉq ）になるために、インバータ２の出力電圧Ｖｍを制御する。また、このときには同期電動機３は全界磁運転するために、減磁電流Ｉd （ｄ軸電流Ｉd とも称する）は流さない。 That is, when the rotational speed of the synchronous motor 3 is increased in the characteristic region 1 and the induced voltage of the synchronous motor 3 is increased from Vm 1 to Vm 2 , the output voltage of the inverter 2 is also increased from Vi 1 to Vi 2. Control is performed so that the current I q is always constant. Accordingly, in the characteristic area 1, the output voltage Vm of the inverter 2 is controlled so that the synchronous motor 3 has a desired output torque (torque current I q ). At this time, since the synchronous motor 3 is operated in the whole field, no demagnetizing current I d (also referred to as d-axis current I d ) flows.

図８は、図５に示した特性域２での同期電動機３のフェザー図である。この図では、図７と同様に、同期電動機３の突極比が１で、巻線抵抗による電圧降下分を無視したときの状態を示し、Ｖｍは同期電動機３の誘起電圧、Ｖｉはインバータ２の出力電圧、Ｖq はｑ軸成分の電圧、Ｖd はｄ軸成分の電圧、Ｉq はトルク電流、Ｉd は減磁電流、Ｘq はｑ軸成分のリアクタンス、Ｘd はｄ軸成分のリアクタンスをそれぞれ示している。 FIG. 8 is a feather diagram of the synchronous motor 3 in the characteristic region 2 shown in FIG. In this figure, as in FIG. 7, the salient pole ratio of the synchronous motor 3 is 1, and the voltage drop due to the winding resistance is ignored. Vm is the induced voltage of the synchronous motor 3, Vi is the inverter 2 Output voltage, V q is q-axis component voltage, V d is d-axis component voltage, I q is torque current, I d is demagnetizing current, X q is q-axis component reactance, X d is d-axis component The reactances are shown respectively.

すなわち、特性域２では同期電動機３の誘起電圧Ｖｍはインバータ２の出力電圧Ｖｉの最大値より大きいので、減磁電流Ｉd を流す制御を行う。このときは、前記出力電圧Ｖｍと誘起電圧Ｖｉとこれらの電圧間の位相角βとに対応したトルク電流Ｉq および減磁電流Ｉd が流れ、それぞれのリアクタンスによる電圧成分Ｉd ・Ｘd およびＩq ・Ｘq も図示のようになる。従って、この特性域２では前記位相角βを調整することにより、同期電動機３が所望の出力トルク（トルク電流Ｉq ）になる制御が行われる。 That is, the induced voltage Vm of the characteristic region 2 synchronous motor 3 is greater than the maximum value of the output voltage Vi of the inverter 2 performs control to flow a demagnetizing current I d. At this time, a torque current I q and a demagnetizing current I d corresponding to the output voltage Vm, the induced voltage Vi, and the phase angle β between these voltages flow, and voltage components I d · X d and I q and X q are as shown in the figure. Therefore, in this characteristic region 2, the synchronous motor 3 is controlled to have a desired output torque (torque current I q ) by adjusting the phase angle β.

制御装置１０を構成する電流指令回路１１では、運転指令回路８からの運転指令としてのトルク指令Ｔ* （トルクの大きさとその極性）と速度検出回路２０により得られる同期電動機３の回転角速度ωなどから下記数１式の演算に基づいて、ｑ軸電流の指令値Ｉq *とｄ軸電流の指令値Ｉd *とを導出している。
［数１］
Ｔ*＝ｐnΦＩq *＋ｐn（Ｌd−Ｌq）Ｉd *・Ｉq *
ここで、ｐn は同期電動機３の極対数、Φは同期電動機３の電機子鎖交磁束数、Ｌd はｄ軸成分のインダクタンス、Ｌq はｑ軸成分のインダクタンスである。 In the current command circuit 11 constituting the control device 10, the torque command T * (the magnitude of the torque and its polarity) as the operation command from the operation command circuit 8, the rotational angular velocity ω of the synchronous motor 3 obtained by the speed detection circuit 20, etc. The q-axis current command value I q * and the d-axis current command value I d * are derived from the following equation (1).
[Equation 1]
T * = p n ΦI q * + p n (L d −L q ) I d * · I q *
Here, pn is the number of pole pairs of the synchronous motor 3, Φ is the number of armature linkage magnetic fluxes of the synchronous motor 3, L d is the d-axis component inductance, and L q is the q-axis component inductance.

また制御装置１０を構成する軸電圧演算回路１７では、ｑ軸成分の電圧指令Ｖq *とｄ軸成分の電圧指令Ｖd *とを導出するために、下記数２式の演算を行っている。 In addition, the shaft voltage calculation circuit 17 constituting the control device 10 performs the calculation of the following formula 2 in order to derive the q-axis component voltage command V q * and the d-axis component voltage command V d * . .

Figure 2005086920
ここで、ｒは同期電動機３の電機子抵抗、ωは同期電動機３の回転角速度、Ｌd はｄ軸成分のインダクタンス、Ｌq はｑ軸成分のインダクタンス、Φは同期電動機３の電機子鎖交磁束数であり、また、Ｉ1 は比例積分回路１５の出力値、Ｉ2 は比例積分回路１６の出力値である。
Figure 2005086920
 Here, r is the armature resistance of the synchronous motor 3, ω is the rotational angular velocity of the synchronous motor 3, L d is the d-axis component inductance, L q is the q-axis component inductance, and Φ is the armature linkage of the synchronous motor 3. The number of magnetic fluxes, I 1 is the output value of the proportional integration circuit 15, and I 2 is the output value of the proportional integration circuit 16.

また制御装置１０を構成する電圧演算回路１８では、軸電圧演算回路１７の出力であるｑ軸成分の電圧指令Ｖq *とｄ軸成分の電圧指令Ｖd *と電圧検出器４で検出された直流電源１の端子電圧ＶDCとからインバータ２が出力電圧Ｖｉの大きさに相当する前記変調率λと位相角βとを演算している。この演算の際に、後述の制御モード判別回路１９の出力により、図６で説明したそれぞれ切替点におけるインバータ２の出力電圧Ｖｉに変動が生じないように、切替直後の変調率λを調整している。 In the voltage calculating circuit 18 constituting a control device 10 was also detected by the voltage command V d * and the voltage detector 4 of the voltage command V q * and d-axis component of the q-axis component, which is the output axis voltage calculation circuit 17 From the terminal voltage V DC of the DC power supply 1, the inverter 2 calculates the modulation factor λ and the phase angle β corresponding to the magnitude of the output voltage Vi. During this calculation, the modulation rate λ immediately after switching is adjusted so that the output voltage Vi of the inverter 2 at each switching point described in FIG. Yes.

すなわち、制御モード判別回路１９では、電圧演算回路１８からの変調率λと速度検出回路２０が出力する同期電動機３の回転数Ｎに対応する回転角速度ωと電圧検出器４で検出された直流電源１の端子電圧ＶDCとから先述の非同期ＰＷＭ制御、５パルスの同期ＰＷＭ制御、３パルスの同期ＰＷＭ制御、１パルスの同期ＰＷＭ制御の内のいずれを行うかを判定し、その判定結果を出力している。 That is, in the control mode discriminating circuit 19, the modulation power λ from the voltage calculation circuit 18, the rotational angular velocity ω corresponding to the rotation speed N of the synchronous motor 3 output from the speed detection circuit 20, and the DC power source detected by the voltage detector 4. 1 terminal voltage V DC is used to determine whether asynchronous PWM control, 5-pulse synchronous PWM control, 3-pulse synchronous PWM control, or 1-pulse synchronous PWM control is performed, and the determination result is output. doing.

さらに、制御装置１０を構成する電圧指令回路２１では前記判定結果と、電圧演算回路１８からの変調率λと位相角βと、速度検出回路２０により得られる同期電動機３の回転角速度ωと磁極位置θとに基づきインバータ２の出力電圧Ｖｉに対応するＰＷＭ制御された電圧指令Ｖｉ* を生成している。 Further, in the voltage command circuit 21 constituting the control device 10, the determination result, the modulation factor λ and the phase angle β from the voltage calculation circuit 18, the rotational angular velocity ω and the magnetic pole position of the synchronous motor 3 obtained by the speed detection circuit 20. Based on θ, a PWM-controlled voltage command Vi * corresponding to the output voltage Vi of the inverter 2 is generated.

また、過電流検出回路２２ではインバータ２から同期電動機３への電流が予め定めた上限値を越えたときに、これを検知して、例えば、インバータ２の電力変換動作を停止させ、インバータ２を構成するスイッチング素子などの損傷を防止するようにしている。
特開平９−４７１００号公報 （第４〜５頁，第１図など） Further, the overcurrent detection circuit 22 detects when the current from the inverter 2 to the synchronous motor 3 exceeds a predetermined upper limit value, for example, stops the power conversion operation of the inverter 2 and turns off the inverter 2. Damage to the constituent switching elements is prevented.
Japanese Patent Laid-Open No. 9-47100 (pages 4-5, FIG. 1, etc.)

図４に示した従来の同期電動機駆動装置では、同期電動機３の電流に基づくフイードフォワード補償制御を行っている。すなわち、運転指令回路８からの同期電動機３へのトルク指令Ｔ* に対応するｑ軸電流の指令値Ｉq *およびｄ軸電流の指令値Ｉd *と、同期電動機３の前記電流を３相／２相変換して得られるｑ軸電流Ｉq およびｄ軸電流Ｉd との偏差を加算演算器１３，１４で求め、それぞれの偏差が零になるように比例積分回路１５，１６で調節演算し、それぞれの演算結果からｑ軸成分の電圧指令Ｖq *とｄ軸成分の電圧指令Ｖd *とを導出している。 In the conventional synchronous motor driving device shown in FIG. 4, feedforward compensation control based on the current of the synchronous motor 3 is performed. That is, the q-axis current command value I q * and the d-axis current command value I d * corresponding to the torque command T * from the operation command circuit 8 to the synchronous motor 3 and the current of the synchronous motor 3 are three-phased. A deviation between the q-axis current I q and the d-axis current I d obtained by the two-phase conversion is obtained by the addition computing units 13 and 14 and adjusted by the proportional integration circuits 15 and 16 so that each deviation becomes zero. The q-axis component voltage command V q * and the d-axis component voltage command V d * are derived from the respective calculation results.

しかしながら、先述の非同期ＰＷＭ制御から同期ＰＷＭ制御に切替わるとき、または同期ＰＷＭ制御から非同期ＰＷＭ制御に切替わるとき、若しくは同期電動機３が基底回転数Ｎb を越えた領域で動作中に比例積分回路１５，１６のうちの何れかの出力が飽和状態になると、電圧演算回路１８が出力する位相角βが適正値を逸脱し、その結果、インバータ２へのＰＷＭ制御された電圧指令Ｖｍ* も適正値を外れ、インバータ２から同期電動機３への電流に擾乱が発生する恐れがあった。 However, when the mode changes to the synchronous PWM control from the asynchronous PWM control described above, or synchronization is performed when the mode changes to the asynchronous PWM control from the PWM control or synchronous motor 3 is proportional integrating circuit during operation in the region beyond the base speed N b When the output of any one of 15 and 16 is saturated, the phase angle β output from the voltage calculation circuit 18 deviates from an appropriate value, and as a result, the PWM-controlled voltage command Vm * to the inverter 2 is also appropriate. There was a possibility that the current from the inverter 2 to the synchronous motor 3 might be disturbed.

この発明の目的は、前記問題点を解決する同期電動機駆動装置の制御方法を提供することにある。   An object of the present invention is to provide a method for controlling a synchronous motor drive apparatus that solves the above-described problems.

この第１の発明は、同期電動機が所定の回転数より低い回転数領域ではインバータから非同期ＰＷＭ制御により出力される交流電力を給電し、前記電動機が前記所定の回転数より高い回転数領域では前記インバータから１パルス運転を含む同期ＰＷＭ制御により出力される交流電力を給電することにより前記電動機を可変速駆動する同期電動機駆動装置において、
前記非同期ＰＷＭ制御から同期ＰＷＭ制御に切替わるときには、前記同期電動機の電流に基づくフイードフォワード補償制御のための比例積分演算結果の値に対して予め定めた制限値に基づく制限動作を行わせ、前記同期ＰＷＭ制御から非同期ＰＷＭ制御に切替わるときには、前記制限動作を解除することを特徴とする制御方法を行う。 In the first aspect of the invention, AC power is supplied from the inverter by asynchronous PWM control when the synchronous motor is lower than the predetermined rotational speed, and the motor is operated when the electric motor is higher than the predetermined rotational speed. In the synchronous motor drive device that drives the electric motor at a variable speed by supplying AC power output by synchronous PWM control including one-pulse operation from an inverter,
When switching from the asynchronous PWM control to the synchronous PWM control, a limit operation based on a predetermined limit value is performed on the value of the proportional-integral calculation result for the feedforward compensation control based on the current of the synchronous motor, When switching from the synchronous PWM control to the asynchronous PWM control, the control method is characterized in that the limiting operation is released.

また第２の発明は前記同期電動機駆動装置において、
前記非同期ＰＷＭ制御から同期ＰＷＭ制御に切替わるときには、前記同期電動機の電流に基づくフイードフォワード補償制御のための比例積分演算結果の値に対して予め定めた第１制限値に基づく制限動作を行わせ、その後、前記制限動作を第２制限値（第１制限値≧第２制限値）に到達するまで所定の時間勾配で継続させ、前記同期ＰＷＭ制御から非同期ＰＷＭ制御に切替わるときには、前記制限動作を解除することを特徴とする制御方法を行う。 According to a second aspect of the present invention, there is provided the synchronous motor drive device,
When switching from the asynchronous PWM control to the synchronous PWM control, a limiting operation based on a predetermined first limiting value is performed on the value of the proportional-integral calculation result for the feedforward compensation control based on the current of the synchronous motor. After that, the limit operation is continued at a predetermined time gradient until reaching the second limit value (first limit value ≧ second limit value), and when the synchronous PWM control is switched to the asynchronous PWM control, the limit operation is performed. A control method characterized by canceling the operation is performed.

この発明の同期電動機駆動装置の制御方法によれば、前記制限値を設けることにより、非同期ＰＷＭ制御動作中の同期電動機のトルク制御精度が向上すると共に、非同期ＰＷＭ制御から同期ＰＷＭ制御へ切替わる動作、または同期ＰＷＭ制御から非同期ＰＷＭ制御へ切替わる動作を滑らかに行うことができる。   According to the control method of the synchronous motor drive device of the present invention, by providing the limit value, the torque control accuracy of the synchronous motor during the asynchronous PWM control operation is improved and the operation for switching from the asynchronous PWM control to the synchronous PWM control is performed. Alternatively, the operation for switching from synchronous PWM control to asynchronous PWM control can be performed smoothly.

図１は、この発明の実施の形態を示す同期電動機駆動装置の回路構成図であり、図４に示した従来例構成と同一機能を有するものには同一符号を付して、その説明を省略する。   FIG. 1 is a circuit configuration diagram of a synchronous motor drive device showing an embodiment of the present invention. Components having the same functions as those of the conventional configuration shown in FIG. To do.

すなわち、図１に示した制御装置３０には、電流指令回路１１、３相／２相変換回路１２、加算演算器１３，１４、軸電圧演算回路１７、電圧演算回路１８、制御モード判別回路１９、速度検出回路２０、電圧指令回路２１、過電流検出回路２２の他に、出力制限回路３１または出力制限回路３２のいずれかが追加され、さらに、比例積分回路１５，１６に代えて、出力制限動作機能を有する比例積分回路３３，３４を備えている。   That is, the control device 30 shown in FIG. 1 includes a current command circuit 11, a three-phase / two-phase conversion circuit 12, an addition calculator 13 and 14, an axis voltage calculation circuit 17, a voltage calculation circuit 18, and a control mode determination circuit 19. In addition to the speed detection circuit 20, the voltage command circuit 21, and the overcurrent detection circuit 22, either the output limiting circuit 31 or the output limiting circuit 32 is added, and the output limiting circuit is replaced with the proportional integration circuits 15 and 16. Proportional integration circuits 33 and 34 having an operation function are provided.

図２は、この発明の同期電動機駆動装置の第１の実施例を説明する波形図であり、図１に示した出力制限回路３１と比例積分回路１５，１６に関連した動作波形図である。   FIG. 2 is a waveform diagram for explaining the first embodiment of the synchronous motor driving device of the present invention, and is an operation waveform diagram related to the output limiting circuit 31 and the proportional integration circuits 15 and 16 shown in FIG.

すなわち、図２において、同期電動機３の回転数Ｎが上昇し、時刻ｔ1 で回転数がＮ1 になると、制御モード判別回路１９がこれを検知して制御モード切替信号を出力し、非同期ＰＷＭ制御から５パルスの同期ＰＷＭ制御に移行すると共に、比例積分回路３３，３４は、出力制限回路３１からの制限指令により、それぞれの出力値を図示の制限値Ａに制限する。その後、比例積分回路３３，３４の出力を制限値Ａに制限したまま、同期電動機３の回転数Ｎが時刻ｔ2 で回転数がＮ2 になると、５パルスの同期ＰＷＭ制御から３パルスの同期ＰＷＭ制御に移行し、また、同期電動機３の回転数Ｎが時刻ｔ3 で回転数がＮ3 、すなわち、基底回転数Ｎb になると、３パルスの同期ＰＷＭ制御から１パルスの同期ＰＷＭ制御に移行し、時刻ｔ4 で回転数がＮ4 になるまで上昇する。 That is, in FIG. 2, when the rotational speed N of the synchronous motor 3 rises and the rotational speed reaches N 1 at time t 1 , the control mode determination circuit 19 detects this and outputs a control mode switching signal, and the asynchronous PWM While shifting from control to 5-pulse synchronous PWM control, the proportional integration circuits 33 and 34 limit each output value to the illustrated limit value A in response to a limit command from the output limit circuit 31. After that, when the rotation speed N of the synchronous motor 3 becomes N 2 at time t 2 while the outputs of the proportional integration circuits 33 and 34 are limited to the limit value A, the synchronization of 3 pulses is started from the 5-pulse synchronous PWM control. When the control shifts to PWM control, and the rotation speed N of the synchronous motor 3 reaches the rotation speed N 3 at the time t 3 , that is, the base rotation speed N b , the three-pulse synchronous PWM control changes to the one-pulse synchronous PWM control. The rotational speed increases until the rotational speed reaches N 4 at time t 4 .

次に、同期電動機３の回転数がＮ4 から時刻ｔ5 でＮ5 、すなわち、基底回転数Ｎb に下降すると、１パルスの同期ＰＷＭ制御から３パルスの同期ＰＷＭ制御に移行し、また、時刻ｔ6 で回転数がＮ6 に下降すると、３パルスの同期ＰＷＭ制御から５パルスの同期ＰＷＭ制御に移行し、さらに、時刻ｔ7 で回転数がＮ7 に下降すると、制御モード判別回路１９がこれを検知して制御モード切替信号を消滅させ、５パルスの同期ＰＷＭ制御から非同期ＰＷＭ制御に移行すると共に、比例積分回路３３，３４は制限値Ａでの制限動作が解除され、時刻ｔ8 でほぼ定常状態に戻る。 Then, N 5 at time t 5 speed from N 4 of the synchronous motor 3, i.e., when lowered to the base speed N b, shifts from the synchronous PWM control of one pulse to the synchronous PWM control of the three pulses, also, When the rotation speed at time t 6 is lowered to the N 6, 3 pulses of the synchronization shifts from the PWM control to the synchronous PWM control of the 5 pulse, further, when the rotation speed at time t 7 is lowered to the N 7, the control mode determination circuit 19 Is detected, the control mode switching signal is extinguished, and the 5-pulse synchronous PWM control is shifted to the asynchronous PWM control, and the proportional integration circuits 33 and 34 are released from the limiting operation at the limiting value A, and time t 8 Almost return to the steady state.

すなわち、図２の実施例１の動作波形図に示したように、制限値Ａを設けることにより、電圧演算回路１８が出力する位相角βが適正値になるのでインバータ２が非同期ＰＷＭ制御動作中の同期電動機３のトルク制御精度が向上すると共に、非同期ＰＷＭ制御−同期ＰＷＭ制御間の切替動作を滑らかに行うことができる。なお、上述の制限値Ａの値は、同期電動機３の負荷の状態、すなわち、同期電動機３が出力すべきトルクなどから、実験により設定することが行われる。   That is, as shown in the operation waveform diagram of the first embodiment of FIG. 2, by providing the limit value A, the phase angle β output from the voltage calculation circuit 18 becomes an appropriate value, so that the inverter 2 is in the asynchronous PWM control operation. The torque control accuracy of the synchronous motor 3 can be improved, and the switching operation between the asynchronous PWM control and the synchronous PWM control can be performed smoothly. Note that the value of the limit value A is set by experiment from the load state of the synchronous motor 3, that is, the torque that the synchronous motor 3 should output.

図３は、この発明の同期電動機駆動装置の第２の実施例を説明する波形図であり、図１に示した出力制限回路３２と比例積分回路１５，１６に関連した動作波形図である。   FIG. 3 is a waveform diagram for explaining a second embodiment of the synchronous motor driving apparatus of the present invention, and is an operation waveform diagram related to the output limiting circuit 32 and the proportional integration circuits 15 and 16 shown in FIG.

すなわち、図３において、同期電動機３の回転数Ｎが上昇し、時刻ｔ1 で回転数がＮ1 になると、制御モード判別回路１９がこれを検知して制御モード切替信号を出力し、非同期ＰＷＭ制御から５パルスの同期ＰＷＭ制御に移行すると共に、比例積分回路３３，３４は、出力制限回路３２からの制限指令により、それぞれの出力値を図示の制限値Ｂに制限する。その後、比例積分回路３３，３４の出力を制限値Ｂから図示の時間Ｔで制限値Ｃに達する制限動作を行いつつ、同期電動機３の回転数Ｎが時刻ｔ2 で回転数がＮ2 になると、５パルスの同期ＰＷＭ制御から３パルスの同期ＰＷＭ制御に移行し、また、同期電動機３の回転数Ｎが時刻ｔ3 で回転数がＮ3 、すなわち、基底回転数Ｎb になると、３パルスの同期ＰＷＭ制御から１パルスの同期ＰＷＭ制御に移行し、時刻ｔ4 で回転数がＮ4 になるまで上昇する。 That is, in FIG. 3, when the rotational speed N of the synchronous motor 3 increases and the rotational speed reaches N 1 at time t 1 , the control mode determination circuit 19 detects this and outputs a control mode switching signal. The control is shifted from the control to the 5-pulse synchronous PWM control, and the proportional integration circuits 33 and 34 limit the respective output values to the illustrated limit value B by the limit command from the output limit circuit 32. After that, when the output of the proportional integration circuits 33 and 34 is limited to reach the limit value C at the time T shown in the figure from the limit value B, the rotational speed N of the synchronous motor 3 becomes N 2 at time t 2. , 5 pulse shifts from the synchronous PWM control to the synchronous PWM control of the three pulses, also speed N 3 rotational speed N of the synchronous motor 3 at time t 3, i.e., at a base speed N b, 3 pulses From the synchronous PWM control to the one-pulse synchronous PWM control, and the rotational speed is increased to N 4 at time t 4 .

次に、同期電動機３の回転数がＮ4 から時刻ｔ5 でＮ5 、すなわち、基底回転数Ｎb に下降すると、１パルスの同期ＰＷＭ制御から３パルスの同期ＰＷＭ制御に移行し、また、時刻ｔ6 で回転数がＮ6 に下降すると、３パルスの同期ＰＷＭ制御から５パルスの同期ＰＷＭ制御に移行し、さらに、時刻ｔ7 で回転数がＮ7 に下降すると、制御モード判別回路１９がこれを検知して制御モード切替信号を消滅させ、５パルスの同期ＰＷＭ制御から非同期ＰＷＭ制御に移行すると共に、比例積分回路３３，３４は制限値Ｃでの制限動作が解除され、時刻ｔ8 でほぼ定常状態に戻る。 Then, N 5 at time t 5 speed from N 4 of the synchronous motor 3, i.e., when lowered to the base speed N b, shifts from the synchronous PWM control of one pulse to the synchronous PWM control of the three pulses, also, When the rotation speed at time t 6 is lowered to the N 6, 3 pulses of the synchronization shifts from the PWM control to the synchronous PWM control of the 5 pulse, further, when the rotation speed at time t 7 is lowered to the N 7, the control mode determination circuit 19 Is detected, the control mode switching signal is extinguished, and the 5-pulse synchronous PWM control is shifted to the asynchronous PWM control, and the proportional integration circuits 33 and 34 are released from the limiting operation at the limit value C, and time t 8 Almost return to the steady state.

すなわち、図３の実施例２の動作波形図に示したように、制限値Ｂおよび制限値Ｃと時間Ｔを設けることにより、電圧演算回路１８が出力する位相角βがより適正値になるのでインバータ２が非同期ＰＷＭ制御動作中の同期電動機３のトルク制御精度が向上すると共に、非同期ＰＷＭ制御から同期ＰＷＭ制御への切替動作をより滑らかに行うことができ、また、非同期ＰＷＭ制御から同期ＰＷＭ制御への切替動作も滑らかに行うことができる。なお、上述の制限値ＢおよびＣの値と時間Ｔの値は、同期電動機３の負荷の状態、すなわち、同期電動機３が出力すべきトルクなどから、実験により設定することが行われる。   That is, as shown in the operation waveform diagram of the second embodiment in FIG. 3, by providing the limit value B, the limit value C, and the time T, the phase angle β output from the voltage calculation circuit 18 becomes a more appropriate value. The torque control accuracy of the synchronous motor 3 during the asynchronous PWM control operation of the inverter 2 is improved, the switching operation from the asynchronous PWM control to the synchronous PWM control can be performed more smoothly, and the asynchronous PWM control to the synchronous PWM control can be performed. Switching operation to can be performed smoothly. Note that the above-described limit values B and C and the value of time T are set by experiment from the load state of the synchronous motor 3, that is, the torque to be output by the synchronous motor 3.

なお、上述の動作説明では、永久磁石形同期電動機などの同期電動機３の突極比が１の例で説明したが、この発明の制御方法は、埋込磁石形同期電動機など逆突極性を有する同期電動機にも適用でき、さらに、直流電源１を整流電源とした一般産業用の同期電動機駆動装置にも適用できる。   In the above description of the operation, the example in which the salient pole ratio of the synchronous motor 3 such as a permanent magnet type synchronous motor is 1 has been described. However, the control method of the present invention has a reverse saliency such as an embedded magnet type synchronous motor. The present invention can also be applied to a synchronous motor, and can also be applied to a general industrial synchronous motor driving apparatus using a DC power source 1 as a rectifying power source.

この発明の実施の形態を示す同期電動機駆動装置の回路構成図1 is a circuit configuration diagram of a synchronous motor driving device showing an embodiment of the present invention. この発明の第１の実施例の動作を説明する波形図Waveform diagram for explaining the operation of the first embodiment of the present invention この発明の第２の実施例の動作を説明する波形図Waveform diagram for explaining the operation of the second embodiment of the present invention 従来例を示す同期電動機駆動装置の回路構成図Circuit diagram of a synchronous motor driving device showing a conventional example 図４の動作を説明する特性図Characteristic diagram for explaining the operation of FIG. 図４の動作を説明する波形図Waveform diagram explaining the operation of FIG. 図４の動作を説明するフェザー図Feather diagram explaining the operation of FIG. 図４の動作を説明するフェザー図Feather diagram explaining the operation of FIG.

符号の説明Explanation of symbols

１…直流電源、２…インバータ、３…同期電動機、４…電圧検出器、５…電流検出器、６…位置検出器、８…運転指令回路、１０…制御装置、１１…電流指令回路、１２…３相／２相変換回路、１３，１４…加算演算器、１５，１６…比例積分回路、１７…軸電圧演算回路、１８…電圧演算回路、１９…制御モード判別回路、２０…速度検出回路、２１…電圧指令回路、２２…過電流検出回路、３０…制御装置、３１，３２…出力制限回路、３３，３４…比例積分回路。
DESCRIPTION OF SYMBOLS 1 ... DC power source, 2 ... Inverter, 3 ... Synchronous motor, 4 ... Voltage detector, 5 ... Current detector, 6 ... Position detector, 8 ... Operation command circuit, 10 ... Control apparatus, 11 ... Current command circuit, 12 ... 3 phase / 2 phase conversion circuit, 13, 14 ... addition calculator, 15, 16 ... proportional integration circuit, 17 ... shaft voltage calculation circuit, 18 ... voltage calculation circuit, 19 ... control mode discrimination circuit, 20 ... speed detection circuit , 21 ... voltage command circuit, 22 ... overcurrent detection circuit, 30 ... control device, 31, 32 ... output limiting circuit, 33, 34 ... proportional integration circuit.

Claims (2)

同期電動機が所定の回転数より低い回転数領域ではインバータから非同期ＰＷＭ制御により出力される交流電力を給電し、前記電動機が前記所定の回転数より高い回転数領域では前記インバータから１パルス運転を含む同期ＰＷＭ制御により出力される交流電力を給電することにより前記電動機を可変速駆動する同期電動機駆動装置において、
前記非同期ＰＷＭ制御から同期ＰＷＭ制御に切替わるときには、前記同期電動機の電流に基づくフイードフォワード補償制御のための比例積分演算結果の値に対して予め定めた制限値に基づく制限動作を行わせ、
前記同期ＰＷＭ制御から非同期ＰＷＭ制御に切替わるときには、前記制限動作を解除することを特徴とする同期電動機駆動装置の制御方法。 The synchronous motor supplies AC power output by the asynchronous PWM control from the inverter when the rotational speed is lower than the predetermined rotational speed, and includes one pulse operation from the inverter when the electric motor is higher than the predetermined rotational speed. In a synchronous motor driving device that drives the electric motor at a variable speed by feeding AC power output by synchronous PWM control,
When switching from the asynchronous PWM control to the synchronous PWM control, a limit operation based on a predetermined limit value is performed on the value of the proportional-integral calculation result for the feedforward compensation control based on the current of the synchronous motor,
The control method for a synchronous motor drive device, wherein the restriction operation is canceled when the synchronous PWM control is switched to the asynchronous PWM control. 同期電動機が所定の回転数より低い回転数領域ではインバータから非同期ＰＷＭ制御により出力される交流電力を給電し、前記電動機が前記所定の回転数より高い回転数領域では前記インバータから１パルス運転を含む同期ＰＷＭ制御により出力される交流電力を給電することにより前記電動機を可変速駆動する同期電動機駆動装置において、
前記非同期ＰＷＭ制御から同期ＰＷＭ制御に切替わるときには、前記同期電動機の電流に基づくフイードフォワード補償制御のための比例積分演算結果の値に対して予め定めた第１制限値に基づく制限動作を行わせ、その後、前記制限動作を第２制限値（第１制限値≧第２制限値）に到達するまで所定の時間勾配で継続させ、
前記同期ＰＷＭ制御から非同期ＰＷＭ制御に切替わるときには、前記制限動作を解除することを特徴とする同期電動機駆動装置の制御方法。
The synchronous motor supplies AC power output by the asynchronous PWM control from the inverter when the rotational speed is lower than the predetermined rotational speed, and includes one pulse operation from the inverter when the electric motor is higher than the predetermined rotational speed. In a synchronous motor driving device that drives the electric motor at a variable speed by feeding AC power output by synchronous PWM control,
When switching from the asynchronous PWM control to the synchronous PWM control, a limiting operation based on a predetermined first limiting value is performed on the value of the proportional-integral calculation result for the feedforward compensation control based on the current of the synchronous motor. Then, the limit operation is continued at a predetermined time gradient until the second limit value (first limit value ≧ second limit value) is reached,
The control method for a synchronous motor drive device, wherein the restriction operation is canceled when the synchronous PWM control is switched to the asynchronous PWM control.
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