JP2006223089A - Device for controlling vector of synchronous motor - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To improve control performance, in a sensorless vector control by estimated magnetic pole phases of a synchronous motor. <P>SOLUTION: In a controlling device that controls the variable speed of a PM motor 5 by a PWM inverter 4 that performs vector control and that is provided with a phase estimating means that estimates the magnetic pole phases by an observer 8A based on a motor model for performing the vector control, a parameter compensating portion 8D reads out the change characteristics of resistance R and inductance L at the motor model as table data using the present estimated angular velocity ωe of the motor as compensation variations, and these are output as the compensation parameters of the observer 8A every control period or periodically. Parameter compensation based on the changes of a motor current, motor temperature, or on the combination of these parameters, and the direct compensation of the estimated magnetic pole phases are included. <P>COPYRIGHT: (C)2006,JPO&NCIPI

Description

  The present invention relates to a synchronous motor vector control device that controls the speed and torque of a synchronous motor using a permanent magnet as a field source by means of a variable speed drive device such as an inverter, and in particular, in position sensorless vector control of a PM motor. The present invention relates to a compensation technique for improving control performance when a motor model such as a magnetic flux observer is applied to a control algorithm or the like.

  A synchronous machine using a permanent magnet as a field source has a built-in strong damper winding (equivalent to the cage-shaped conductor of the induction machine) on the field side, and can be started by directly turning on the commercial power supply. There are two types: a type in which there is no damper winding, and a type in which voltage and current are controlled by a power converter such as an inverter to generate torque and stabilize.

  The present invention is applied to a motor of a type that does not have a damper or has a weak damper function and cannot be directly started. In the following description, the expression "PM motor" is used to indicate this motor. I will decide.

  FIG. 8 is a block diagram of a PM motor position sensorless vector control device, which is mounted on an electric vehicle, a hybrid electric vehicle, an extruder, a fan, a pump, and the like, and performs speed or torque control by magnetic pole position estimation.

  The control system shown in FIG. 2 is provided with a torque current command iq * and a field current command id * for the d and q2 axes by the speed control calculation means or the torque control calculation means. The current control units 1A and 1B obtain the d-axis and q-axis voltage commands Vd and Vq by comparing the torque current command iq * and the field current command id * with their detected current values iq and id. Is rotated by the coordinate converter 2 to convert the fixed coordinates to obtain two-phase voltage commands Vα and Vβ, and further converted to three-phase voltage commands Vu, Vv and Vw by the two-phase / three-phase converter 3. Based on the command, the armature current of the PM motor 5 by the power converter (PWM inverter) 4 is controlled.

  The three-phase / two-phase converter 6 converts each phase detection current iu, iv, iw of the PM motor 5 into two-phase currents iα, iβ, and these currents are fixed by the rotary coordinate converter 7 → The detection currents id and iq are obtained and used as feedback currents to the current control units 1A and 1B.

  The coordinate conversion units 2 and 7 perform coordinate conversion based on the magnetic pole phase θ of the PM motor, and instead of directly detecting the magnetic pole phase θ from the PM motor, the phase estimation unit 8 estimates the magnetic pole position. In this estimation calculation, the estimated magnetic fluxes λα and λβ are calculated by substituting the voltage commands Vα and Vβ, the current detection signals iα and iβ, and the angular velocity ω (motor rotational speed) into the voltage-current equation of the observer 8A having the motor model. From these, the estimated phase θe is obtained by the arctangent calculation unit 8B. The differential operation unit 8C obtains the estimated angular velocity ωe as the angular velocity ω by differentiating the estimated magnetic flux θe.

Various magnetic pole position estimations using the observer as described above have been proposed as a sensorless vector control method (see, for example, Patent Document 1).
JP 2004-282807 A

  It is known that the resistance R and the inductance L that are actual internal parameters of the PM motor vary depending on the “current value”, “motor temperature”, and “rotational speed” of the PM motor.

  However, in the case of the sensorless vector control device configuration as described above, since the resistance R and inductance L inside the motor model in the observer 8A use fixed values, depending on factors such as the current value, motor temperature, and rotation speed, the actual motor An error occurs between the motor model and the motor model for control, and this is the basis of the estimated phase error.

  This estimated phase error is a fatal defect in torque accuracy and torque responsiveness due to vector control, meaning that the intended torque cannot be output and that the desired acceleration cannot be obtained. These are the problems.

  An object of the present invention is to provide a vector control device for a synchronous motor that can improve control performance in sensorless vector control based on magnetic pole phase estimation of the synchronous motor.

  In order to solve the above-mentioned problem, the present invention sets the resistance R and the inductance L, which are parameters for estimating the magnetic pole phase by the motor model, as either the current “rotational speed”, “current value” or “motor temperature” of the PM motor. A configuration in which parameter compensation means for compensating according to a change in one item or a change in a plurality of items, or a final based on one item or both items of "estimated angular velocity" or "torque command" The phase compensation means for compensating the estimated phase, which is a typical output, is provided and has the following configuration.

(1) A synchronous motor using a permanent magnet as a field source is vector-controlled by a variable speed drive device such as an inverter, and phase estimation means for estimating the magnetic pole phase by an observer based on a motor model is provided for this vector control. In the synchronous motor vector control device,
The phase estimation means uses the current motor speed as a compensation variable, reads the change characteristics of the resistance R and the inductance L in the motor model as table data, and uses these as compensation parameters for the observer at each control cycle or periodically A parameter compensation means for outputting is provided.

(2) A synchronous motor using a permanent magnet as a field source is vector-controlled by a variable speed drive device such as an inverter, and phase estimation means for estimating the magnetic pole phase by an observer based on a motor model is provided for this vector control. In the synchronous motor vector control device,
The phase estimation means uses the current motor current as a compensation variable, reads out the change characteristics of the resistance R and the inductance L in the motor model as table data, and uses these as compensation parameters for the observer at each control cycle or periodically A parameter compensation means for outputting is provided.

(3) A synchronous motor using a permanent magnet as a field source is vector-controlled by a variable speed driving device such as an inverter, and phase estimation means for estimating the magnetic pole phase by an observer based on the motor model is provided for this vector control. In the synchronous motor vector control device,
The phase estimation means uses the current motor temperature as a compensation variable, reads out the change characteristics of the resistance R and the inductance L in the motor model as table data, and uses these as compensation parameters for the observer at each control cycle or periodically A parameter compensation means for outputting is provided.

(4) A phase estimation means is provided for vector control of a synchronous motor using a permanent magnet as a field source by a variable speed drive device such as an inverter, and for estimating the magnetic pole phase by an observer based on a motor model for this vector control. In the synchronous motor vector control device,
The phase estimation means reads at least two of current “motor speed”, “motor current”, and “motor temperature” as compensation variables, reads out the change characteristics of the resistance R and inductance L in the motor model as table data, and Is provided as a compensation parameter of the observer for each control period or periodically.

(5) A phase estimation means is provided for vector control of a synchronous motor using a permanent magnet as a field source by a variable speed drive device such as an inverter and estimating the magnetic pole phase by an observer based on the motor model for this vector control. In the synchronous motor vector control device,
The phase estimation means includes a current compensation speed as a compensation variable, and a phase compensation means for outputting a phase correction amount for correcting the estimated value of the magnetic pole phase at the motor speed as control data for each control period or periodically. It is provided.

(6) A synchronous motor using a permanent magnet as a field source is vector-controlled by a variable speed drive such as an inverter, and phase estimation means for estimating the magnetic pole phase by an observer based on a motor model is provided for this vector control. In the synchronous motor vector control device,
The phase estimation means uses a current torque command as a compensation variable, and a phase compensation means that outputs a phase correction amount for correcting the estimated value of the magnetic pole phase in the torque command as table data for each control period or periodically. It is provided.

(7) A synchronous motor using a permanent magnet as a field source is vector-controlled by a variable speed drive device such as an inverter, and phase estimation means for estimating the magnetic pole phase by an observer based on the motor model is provided for this vector control. In the synchronous motor vector control device,
The phase estimation means uses the current motor speed and torque command as a compensation variable, and sets a phase correction amount for correcting the estimated value of the magnetic pole phase for each combination of the motor speed and torque command as table data for each control cycle or periodically. The phase compensation means for outputting automatically is provided.

  As described above, according to the present invention, the resistance R and the inductance L, which are parameters for estimating the magnetic pole phase by the motor model, are set to any one of the current “rotational speed”, “current value”, and “motor temperature” of the PM motor. Provide parameter compensation means to compensate according to change of one item or changes of multiple items, or at the final output based on one item or both items of "estimated angular velocity" or "torque command" Since the phase compensation means for compensating a certain estimated phase is provided, it is possible to reduce the model error between the actual motor and the motor model for control, and the accuracy of the estimated phase can be greatly increased. As a result, it is possible to improve the torque accuracy and torque response of the position sensorless vector control.

(Embodiment 1)
FIG. 1 is a block diagram showing an embodiment of the present invention. 8 is different from FIG. 8 in that a parameter compensation unit 8D is provided in the phase estimation unit 8. FIG.

  The parameter compensation unit 8D uses the current estimated angular velocity ωe as a compensation variable, reads the change characteristics of the resistance R and the inductance L in the motor model as table data, and uses the resistance R and the inductance L as compensation parameters for the observer 8A for each control period. Or periodically.

  As a result, the observer 8A calculates the estimated magnetic fluxes λα and λβ using the resistance R and the inductance L compensated according to the speed change by the parameter compensation unit 8D as calculation parameters, and the phase estimation unit 8 has an error due to the speed change. The compensated estimated phase θe can be obtained.

  The table data provided in the parameter compensation unit 8D is created by temporarily attaching a position sensor to the PM motor at the manufacturing / testing stage of the apparatus so that the estimated phase and the actually measured phase by the position sensor become the same at an arbitrary rotational speed. It is preferable to adjust the resistance R and the inductance L to obtain compensation data as a result of the adjustment.

  In addition, the finer the step speed of the table data, the better in terms of control performance. However, the table data size can be reduced by reducing the number of data to several points and performing interpolation processing when reading the data.

(Embodiment 2)
FIG. 2 is a block diagram showing an embodiment of the present invention. 8 differs from FIG. 8 in that a parameter compensation unit 8E and a motor current calculation unit 8F are provided in the phase estimation unit 8.

The parameter compensation unit 8E uses the current motor current I ₁ as a compensation variable, reads out the change characteristics of the resistance R and the inductance L in the motor model as table data, and uses the resistance R and the inductance L as compensation parameters for the observer 8A for each control period. Or regularly output.

The motor current calculation unit 8F obtains the current motor current I _{1 according} to the calculation formula shown in the figure using the current commands id * and iq * as variables.

  Accordingly, the observer 8A calculates the estimated magnetic fluxes λα and λβ using the resistance R and the inductance L compensated according to the motor current change by the parameter compensation unit 8E as calculation parameters, and the phase estimation unit 8 causes the motor current change to occur. An estimated phase θe that compensates for the error can be obtained.

  The table data provided in the parameter compensation unit 8E is created by temporarily attaching a position sensor to the PM motor at the manufacturing / testing stage of the apparatus so that the estimated phase and the actually measured phase by the position sensor become the same at an arbitrary primary current. It is preferable to adjust the resistance R and the inductance L to obtain compensation data as a result of the adjustment.

  Further, the smaller the primary current step of the table data is, the better in terms of control performance. However, the table data size can be reduced by reducing the number of data to several points and performing interpolation processing when reading the data.

(Embodiment 3)
FIG. 3 is a block diagram showing an embodiment of the present invention. 8 is different from FIG. 8 in that the phase compensation unit 8G is provided with a parameter compensation unit 8G.

  The parameter compensation unit 8G uses the current motor temperature T as a compensation variable, reads out the change characteristics of the resistance R and the inductance L in the motor model as table data, and uses the resistance R and the inductance L as compensation parameters for the observer 8A for each control period. Or periodically.

  The current temperature T of the PM motor can be obtained by attaching a temperature sensor 5A such as a thermistor to the PM motor 5 and storing and updating the detected value of the temperature sensor 5A in the parameter compensation unit 8G.

  Thus, the observer 8A calculates the estimated magnetic fluxes λα and λβ using the resistance R and the inductance L compensated according to the motor temperature change by the parameter compensation unit 8G as calculation parameters, and the phase estimation unit 8 causes the motor current change to occur. An estimated phase θe that compensates for the error can be obtained.

  The table data provided in the parameter compensation unit 8G is created by temporarily attaching a position sensor to the PM motor at the manufacturing / testing stage of the apparatus so that the estimated phase and the actually measured phase by the position sensor are the same at an arbitrary temperature. It is preferable to adjust the resistance R and the inductance L and obtain compensation data as a result of the adjustment.

  Further, the finer the temperature increment of the table data is, the better from the viewpoint of control performance. However, the table data size can be reduced by reducing the number of data to several points and performing interpolation processing when reading the data.

(Embodiment 4)
The first to third embodiments show a case where compensation data for the resistance R and the inductance L is obtained in accordance with the change in the “rotational speed”, “current value”, or “motor temperature” of the PM motor. By combining a plurality of these variables, the control performance by phase error compensation can be further enhanced.

  FIG. 4 is a block diagram showing an embodiment of the present invention. The phase estimation unit 8 is provided with a parameter compensation unit 8H and a motor current calculation unit 8F similar to the second embodiment, and the same temperature as the third embodiment. A sensor 5A is provided.

  The parameter compensation unit 8H receives the current estimated motor speed ωe, the motor primary current I1, and the motor temperature T as compensation variable inputs, reads out the change characteristics of the resistance R and the inductance L in the motor model as table data, and the resistance R and the inductance L Is output as a compensation parameter of the observer 8A for each control period or periodically.

  The motor current calculation unit 8F obtains the current motor current I1 by the calculation formula shown in the figure using the current commands id * and iq * as variables. For the current temperature T of the PM motor, a temperature sensor such as a thermistor is attached to the PM motor 5, and the detected value of this temperature sensor is stored and updated in the parameter compensation unit 8G.

  As a result, the observer 8A calculates the estimated magnetic fluxes λα and λβ using the resistance R and the inductance L compensated according to each change in the motor speed, the motor primary current, and the motor temperature by the parameter compensation unit 8H as calculation parameters. The phase estimation unit 8 can obtain an estimated phase θe that compensates for an error caused by a change in motor current.

  The table data provided in the parameter compensation unit 8H is created by temporarily attaching a position sensor to the PM motor at the manufacturing / testing stage of the apparatus, and the estimated phase and the actually measured phase by the position sensor at any speed, current, and motor temperature. It is preferable to adjust the resistance R and the inductance L so as to be the same, and obtain compensation data as a result of the adjustment.

  Further, the finer the temperature increment of the table data is, the better from the viewpoint of control performance. However, the table data size can be reduced by reducing the number of data to several points and performing interpolation processing when reading the data.

(Embodiment 5)
FIG. 5 is a block diagram showing an embodiment of the present invention. 8 is different from FIG. 8 in that a phase compensation unit 8I is provided in the phase estimation unit 8. FIG.

  The phase compensation unit 8I uses the current estimated angular velocity ωe as a compensation variable, and reads out the phase correction amount Δθ for correcting the estimated phase θe at the estimated angular velocity ωe as table data at each control cycle or periodically, and this phase correction amount The estimated phase θe is corrected by Δθ.

  Therefore, in the first to fourth embodiments described above, changes in resistance R and inductance L in the motor model based on changes in angular velocity, torque current, etc. are directly compensated, whereas in this embodiment, phase estimation unit 8 The motor model error is compensated for the estimated phase θe which is the final output based on the estimated angular velocity ωe, and the control performance is improved.

  The table data provided in the phase compensator 8I is created by temporarily attaching a position sensor to the PM motor at the manufacturing / testing stage of the apparatus so that the estimated phase and the measured phase by the position sensor are the same at an arbitrary rotational speed. It is preferable to adjust the phase correction amount Δθ to obtain compensation data as a result of the adjustment.

  In addition, the finer the step speed of the table data, the better in terms of control performance. However, the table data size can be reduced by reducing the number of data to several points and performing interpolation processing when reading the data.

(Embodiment 6)
FIG. 6 is a block diagram showing an embodiment of the present invention. 8 is different from FIG. 8 in that the phase estimation unit 8 is provided with a phase compensation unit 8J.

  The phase compensation unit 8J uses the current torque command T as a compensation variable, and reads out the phase correction amount Δθ for correcting the estimated phase θe in the torque command T as table data at each control cycle or periodically, and this phase correction amount The estimated phase θe is corrected by Δθ.

  The current command table 9 obtains D-axis and Q-axis current commands id * and iq * from the torque command T as table data.

  Therefore, also in this embodiment, the motor model error in the phase estimation unit 8 is compensated for the estimated phase θe, which is the final output, based on the torque command T, thereby improving the control performance.

  The table data provided in the phase compensator 8J is created by temporarily attaching a position sensor to the PM motor at the manufacturing / testing stage of the apparatus, and the estimated phase and the actually measured phase by the position sensor become the same at an arbitrary torque command T. Thus, it is preferable to adjust the phase correction amount Δθ and obtain compensation data as a result of the adjustment.

  In addition, the finer the step speed of the table data, the better in terms of control performance. However, the table data size can be reduced by reducing the number of data to several points and performing interpolation processing when reading the data.

(Embodiment 7)
FIG. 7 is a block diagram showing an embodiment of the present invention. 8 is different from FIG. 8 in that the phase estimation unit 8 is provided with a phase compensation unit 8K.

  The phase compensator 8K uses the current torque command T and the estimated angular velocity ωe as compensation variables, and sets a phase correction amount Δθ for correcting the estimated phase θe for each combination of the torque command T and the estimated angular velocity ωe as table data for each control cycle. Alternatively, it is periodically read out and the estimated phase θe is corrected with this phase correction amount Δθ.

  The current command table 9 obtains D-axis and Q-axis current commands id * and iq * from the torque command T as table data.

  Therefore, in this embodiment, the motor model error in the phase estimation unit 8 is compensated for the estimated phase θe, which is the final output, based on the torque command T and the estimated angular velocity ωe, thereby further improving the control performance. Plan.

  The table data provided in the phase compensator 8K is created by temporarily attaching a position sensor to the PM motor at the manufacturing / testing stage of the apparatus, and the estimated phase and the actually measured phase by the position sensor at an arbitrary torque command T and rotation speed. It is preferable to adjust the phase correction amount Δθ so as to be the same, and obtain compensation data as a result of this adjustment.

  In addition, the finer the step speed of the table data, the better in terms of control performance. However, the table data size can be reduced by reducing the number of data to several points and performing interpolation processing when reading the data.

The block block diagram of the vector control apparatus which shows Embodiment 1 of this invention. The block block diagram of the vector control apparatus which shows Embodiment 2 of this invention. The block block diagram of the vector control apparatus which shows Embodiment 3 of this invention. The block block diagram of the vector control apparatus which shows Embodiment 4 of this invention. The block block diagram of the vector control apparatus which shows Embodiment 5 of this invention. The block block diagram of the vector control apparatus which shows Embodiment 6 of this invention. The block block diagram of the vector control apparatus which shows Embodiment 7 of this invention. The block block diagram of the conventional vector control apparatus.

Explanation of symbols

1A, 1B Current control unit 2, 7 Coordinate conversion unit 3 2-phase / 3-phase conversion unit 4 Power converter (PWM inverter)
5 PM motor 5A Temperature sensor 6 3-phase / 2-phase conversion unit 8 Phase estimation unit 8A Observer 8B Inverse tangent calculation unit 8C Differentiation calculation unit 8D, 8E, 8G, 8H Parameter compensation unit 8F Motor current calculation unit 8I, 8J, 8K Phase Compensator 9 Current command table

Claims (7)

A synchronous motor with a permanent magnet as a field source is vector-controlled by a variable speed drive device such as an inverter, and a phase estimation means for estimating a magnetic pole phase by an observer based on a motor model is provided for this vector control. In the vector controller,
The phase estimation means uses the current motor speed as a compensation variable, reads the change characteristics of the resistance R and the inductance L in the motor model as table data, and uses these as compensation parameters for the observer at each control cycle or periodically A vector control device for a synchronous motor, characterized in that parameter compensation means for outputting is provided. A synchronous motor with a permanent magnet as a field source is vector-controlled by a variable speed drive device such as an inverter, and a phase estimation means for estimating a magnetic pole phase by an observer based on a motor model is provided for this vector control. In the vector controller,
The phase estimation means uses the current motor current as a compensation variable, reads out the change characteristics of the resistance R and the inductance L in the motor model as table data, and uses these as compensation parameters for the observer at each control cycle or periodically A vector control device for a synchronous motor, characterized in that parameter compensation means for outputting is provided. A synchronous motor with a permanent magnet as a field source is vector-controlled by a variable speed drive device such as an inverter, and a phase estimation means for estimating a magnetic pole phase by an observer based on a motor model is provided for this vector control. In the vector controller,
The phase estimation means uses the current motor temperature as a compensation variable, reads out the change characteristics of the resistance R and the inductance L in the motor model as table data, and uses these as compensation parameters for the observer at each control cycle or periodically A vector control device for a synchronous motor, characterized in that parameter compensation means for outputting is provided. A synchronous motor with a permanent magnet as a field source is vector-controlled by a variable speed drive device such as an inverter, and a phase estimation means for estimating a magnetic pole phase by an observer based on a motor model is provided for this vector control. In the vector controller,
The phase estimation means reads at least two of current “motor speed”, “motor current”, and “motor temperature” as compensation variables, reads out the change characteristics of the resistance R and inductance L in the motor model as table data, and And a parameter compensation means for outputting the compensation parameter as a compensation parameter of the observer at each control cycle or periodically. A synchronous motor with a permanent magnet as a field source is vector-controlled by a variable speed drive device such as an inverter, and a phase estimation means for estimating a magnetic pole phase by an observer based on a motor model is provided for this vector control. In the vector controller,
The phase estimation means includes a current compensation speed as a compensation variable, and a phase compensation means for outputting a phase correction amount for correcting the estimated value of the magnetic pole phase at the motor speed as control data for each control period or periodically. A vector control device for a synchronous motor, comprising: A synchronous motor with a permanent magnet as a field source is vector-controlled by a variable speed drive device such as an inverter, and a phase estimation means for estimating a magnetic pole phase by an observer based on a motor model is provided for this vector control. In the vector controller,
The phase estimation means uses a current torque command as a compensation variable, and a phase compensation means that outputs a phase correction amount for correcting the estimated value of the magnetic pole phase in the torque command as table data for each control period or periodically. A vector control device for a synchronous motor, comprising: A synchronous motor with a permanent magnet as a field source is vector-controlled by a variable speed drive device such as an inverter, and a phase estimation means for estimating a magnetic pole phase by an observer based on a motor model is provided for this vector control. In the vector controller,
The phase estimation means uses the current motor speed and torque command as a compensation variable, and sets a phase correction amount for correcting the estimated value of the magnetic pole phase for each combination of the motor speed and torque command as table data for each control cycle or periodically. A vector control device for a synchronous motor, characterized in that phase compensation means for output is provided.

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