JP2008154361A - Power conversion equipment - Google Patents

Power conversion equipment Download PDF

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JP2008154361A
JP2008154361A JP2006339575A JP2006339575A JP2008154361A JP 2008154361 A JP2008154361 A JP 2008154361A JP 2006339575 A JP2006339575 A JP 2006339575A JP 2006339575 A JP2006339575 A JP 2006339575A JP 2008154361 A JP2008154361 A JP 2008154361A
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current
current signal
signal
vibration component
observer
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JP4888101B2 (en
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Seitaro Ota
清太郎 大田
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Yaskawa Electric Corp
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Yaskawa Electric Corp
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Abstract

<P>PROBLEM TO BE SOLVED: To provide power conversion equipment which can get a good current response property even in case that the model of an observer does not accord. <P>SOLUTION: It includes an observer (11), a vibration component extractor (14), the first subtractor (12), and the second subtractor (13). It generates an estimated difference current signal Idif by reducing the estimated current signal Iobs being the output of the observer 11 from the detected current signal Ifb, and extracts the vibration components Ivib from the estimated difference current signal Idif, and further extracts only the vibration component current signal Ivib to be removed with a vibration component current extractor (14), and uses the current signal Ifb2 subtracted from the detected current signal Ifb as the current feedback signal of a current controller 2. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

本発明は、例えば、工作機械におけるテーブルやロボットアームのような負荷機械を駆動する電力変換装置に関する。   The present invention relates to a power conversion device that drives a load machine such as a table or a robot arm in a machine tool.

従来の電力変換装置は、電圧指令Ｖｒｅｆと測定電流Ｉｆｂとを電流オブザーバ部に入力し、生成される電流推定信号Ｉｏｂを電流フィードバック制御部で使用することで、良好な電流応答特性を得られるようにしていた（例えば、特許文献１参照）。
図５は従来の電力変換装置のブロック図である。図５において、１０１は直流電動機、１０２は電力変換回路、１０３は実電流観測部、１０４は電流フィードバック制御部、１０５は電流オブザーバ部である。 The conventional power converter can obtain a good current response characteristic by inputting the voltage command Vref and the measurement current Ifb to the current observer unit and using the generated current estimation signal Iob in the current feedback control unit. (For example, refer to Patent Document 1).
FIG. 5 is a block diagram of a conventional power converter. In FIG. 5, 101 is a DC motor, 102 is a power conversion circuit, 103 is an actual current observation unit, 104 is a current feedback control unit, and 105 is a current observer unit.

図５を用いて従来の電力変換装置の動作を説明する。電流指令Ｉｒｅｆと電流推定信号Ｉｏｂとを電流フィードバック制御部１０４に入力し、モータ電圧指令Ｖｒｅｆを生成する。電流フィードバック制御部１０４の動作は式（１）のようにフィードバックゲインをｋａとする比例制御で構成される。
Ｖｒｅｆ＝ｋａ＊（Ｉｒｅｆ−Ｉｏｂ） （１）
電流フィードバック制御部１０４は比例制御としたが、式（２）のように比例積分制御で構成してもよい。電力変換回路１０２は電圧指令Ｖｒｅｆを入力して直流電動機１０１の駆動電流を生成する。実電流観測部１０３は直流電動機１０１の駆動電流を検出し、測定電流Ｉｆｂとして出力する。モータ電圧指令Ｖｒｅｆと測定電流Ｉｆｂとを電流オブザーバ部１０５に入力し、電流オブザーバ１０５は次のようにして電流推定信号Ｉｏｂを生成する。ただし、ｓは微分演算子、Ｒは抵抗、Ｌはインダクタンスを示す。Ｌ１、Ｌ２はオブザーバのゲインである。
Ｉｏｂ＊ｓ＝−Ｒ＊Ｉｏｂ／Ｌ＋Ｌ１＊（Ｉｆｂ−Ｉｏｂ）＋（Ｖｏｂ＋Ｖｒｅｆ）／Ｌ
Ｖｏｂ＊ｓ＝Ｌ２＊（Ｉｆｂ−Ｉｏｂ） （２）
このように、従来の電力変換装置は、電流オブザーバ１０５の出力である推定電流信号Ｉｏｂを用いて電流フィードバック制御部１０４のフィードバック信号として使用することで、フィードバックゲインを高く設定することができるので、温度などの影響による直流電動機１０１と電力変換回路１０２とパラメータ変動や、電源の変動などが生じる際も、良好な電流応答特性を得られる。
特開２００３−１４３８９６（第５−６頁、図１） The operation of the conventional power conversion device will be described with reference to FIG. The current command Iref and the current estimation signal Iob are input to the current feedback control unit 104, and a motor voltage command Vref is generated. The operation of the current feedback control unit 104 is configured by proportional control with a feedback gain ka as shown in Equation (1).
Vref = ka * (Iref−Iob) (1)
Although the current feedback control unit 104 is proportional control, it may be configured by proportional-integral control as shown in Equation (2). The power conversion circuit 102 receives the voltage command Vref and generates a drive current for the DC motor 101. The actual current observation unit 103 detects the drive current of the DC motor 101 and outputs it as the measurement current Ifb. The motor voltage command Vref and the measured current Ifb are input to the current observer unit 105, and the current observer 105 generates the current estimation signal Iob as follows. Here, s is a differential operator, R is a resistance, and L is an inductance. L1 and L2 are observer gains.
Iob * s = −R * Iob / L + L1 * (Ifb−Iob) + (Vob + Vref) / L
Vob * s = L2 * (Ifb-Iob) (2)
Thus, since the conventional power converter can be used as a feedback signal of the current feedback control unit 104 using the estimated current signal Iob that is the output of the current observer 105, the feedback gain can be set high. Good current response characteristics can also be obtained when there are fluctuations in parameters, power supply fluctuations, and the like between the DC motor 101 and the power conversion circuit 102 due to the influence of temperature or the like.
JP2003-143896 (page 5-6, FIG. 1)

従来の電力変換装置は、電流フィードバック制御部のフィードバック信号として電流オブザーバ部により生成される推定電流信号を用いているので、オブザーバ部のモデルが電力変換回路のモデルと一致しない場合や、電流検出値に誤差がある場合は理想的な推定電流信号を得ることができないので良好な電流応答特性を得ることができないという問題があった。
本発明はこのような問題点に鑑みてなされたものであり、検出電流信号から電流応答に影響を与える振動成分のみを除去することで、オブザーバのモデルが一致しない場合でも良好な電流応答特性を得ることができる電力変換装置を提供することを目的とする。 Since the conventional power conversion device uses the estimated current signal generated by the current observer unit as the feedback signal of the current feedback control unit, if the model of the observer unit does not match the model of the power conversion circuit, the current detection value When there is an error, an ideal estimated current signal cannot be obtained, so that a good current response characteristic cannot be obtained.
The present invention has been made in view of such problems, and by removing only the vibration component that affects the current response from the detected current signal, a good current response characteristic can be obtained even when the observer models do not match. It aims at providing the power converter device which can be obtained.

上記問題を解決するため、本発明は、次のように構成したのである。   In order to solve the above problem, the present invention is configured as follows.

請求項１に記載の発明は、電流指令と電流信号基づいて電圧指令を生成する電流制御器と、キャリア信号を発生するキャリア信号発生器と、前記キャリア信号と前記電圧指令とを比較しゲート信号を生成する比較器と、前記ゲート信号から駆動電圧を生成するインバータ回路と、を備えた電力変換装置において、モータの検出電流信号と前記電圧指令に基づいて振動成分を除去した電流信号を生成する電流信号生成器を備えることを特徴とするものである。
請求項２に記載の発明は、請求項１記載の電力変換装置において、前記電流信号生成器は、前記検出電流信号と前記電圧指令に基づいて推定電流信号を生成するオブザーバと、前記検出電流信号から前記推定電流信号を減じて推定差電流信号を生成する第１減算器と、前記推定差電流信号の振動成分を抽出する振動成分抽出器と、前記検出電流信号から前記振動成分を減じる第２減算器と、を備えることを特徴とするものである。
請求項３に記載の発明は、請求項１記載の電力変換装置において、前記電流信号生成器は、前記電流指令と前記電圧指令に基づいて推定電流信号を生成するオブザーバと、前記検出電流信号から前記推定電流信号を減じて推定差電流信号を生成する第１減算器と、前記推定差電流信号の振動成分を抽出する振動成分抽出器と、前記検出電流信号から前記振動成分を減じる第２減算器と、を備えることを特徴とするものである。
請求項４に記載の発明は、請求項２または３記載の電力変換装置において、前記オブザーバは、前記電圧指令または前記検出電流信号または前記推定電流信号をフィルタリングするフィルタを備えること特徴とするものである。
請求項５に記載の発明は、請求項２乃至４記載の電力変換装置において、前記振動成分抽出器は、任意のローパスフィルタ、または任意のハイパスフィルタ、または任意の帯域制限フィルタ、または任意の帯域通過フィルタであることを特徴とするものである。
請求項６に記載の発明は、請求項２乃至５記載の電力変換装置において、前記振動成分抽出器は、任意の周波数帯域の振動成分を抽出した信号に任意のゲインを乗じた信号を出力することを特徴とするものである。
請求項７に記載の発明は、請求項１乃至６記載の電力変換装置において、インバータ回路は直流モータを駆動することを特徴とするものである。
請求項８に記載の発明は、請求項１乃至６記載の電力変換装置において、インバータ回路は交流モータを駆動することを特徴とするものである。 According to the first aspect of the present invention, a current controller that generates a voltage command based on a current command and a current signal, a carrier signal generator that generates a carrier signal, a gate signal that compares the carrier signal and the voltage command And a inverter circuit that generates a drive voltage from the gate signal, and generates a current signal from which vibration components are removed based on the detected current signal of the motor and the voltage command A current signal generator is provided.
According to a second aspect of the present invention, in the power conversion device according to the first aspect, the current signal generator generates an estimated current signal based on the detected current signal and the voltage command, and the detected current signal. A first subtractor for subtracting the estimated current signal from the first subtractor to generate an estimated difference current signal; a vibration component extractor for extracting a vibration component of the estimated difference current signal; and a second subtracting the vibration component from the detected current signal. And a subtractor.
According to a third aspect of the present invention, in the power conversion device according to the first aspect, the current signal generator includes an observer that generates an estimated current signal based on the current command and the voltage command, and the detected current signal. A first subtracter for generating an estimated difference current signal by subtracting the estimated current signal; a vibration component extractor for extracting a vibration component of the estimated difference current signal; and a second subtraction for subtracting the vibration component from the detected current signal. And a vessel.
According to a fourth aspect of the present invention, in the power converter according to the second or third aspect, the observer includes a filter that filters the voltage command, the detected current signal, or the estimated current signal. is there.
According to a fifth aspect of the present invention, in the power conversion device according to the second to fourth aspects, the vibration component extractor is an arbitrary low-pass filter, an arbitrary high-pass filter, an arbitrary band-limiting filter, or an arbitrary band. It is a pass filter.
According to a sixth aspect of the present invention, in the power conversion device according to any of the second to fifth aspects, the vibration component extractor outputs a signal obtained by multiplying a signal obtained by extracting a vibration component in an arbitrary frequency band by an arbitrary gain. It is characterized by this.
A seventh aspect of the present invention is the power converter according to any one of the first to sixth aspects, wherein the inverter circuit drives a DC motor.
The invention described in claim 8 is the power converter according to any one of claims 1 to 6, wherein the inverter circuit drives an AC motor.

請求項１または２に記載の発明によると、検出電流信号の振動成分のみを除去することができるので、良好な電流応答特性の電力変換装置を提供することができる。
また、請求項３に記載の発明によると、オブザーバに入力する電流値を電流指令とすることで、誤差の少ない推定電流信号を得ることができ、検出電流信号の振動成分の除去精度が上がるため良好な電流応答特性の電力変換装置を提供することができる。
また、請求項４に記載の発明によると、オブザーバに入力する信号はフィルタ処理された信号なので、誤差の少ない推定電流信号を得ることができ、検出電流信号の振動成分の除去精度が上がり、良好な電流応答特性の電力変換装置を提供することができる。
また、請求項５乃至８記載の発明によると、検出電流信号の振動成分のみを除去することができ、良好な電流応答特性の電力変換装置を提供することができる。 According to the first or second aspect of the invention, since only the vibration component of the detected current signal can be removed, it is possible to provide a power conversion device with good current response characteristics.
According to the third aspect of the present invention, an estimated current signal with less error can be obtained by using the current value input to the observer as a current command, and the accuracy of removing the vibration component of the detected current signal is increased. A power conversion device having good current response characteristics can be provided.
According to the invention described in claim 4, since the signal input to the observer is a filtered signal, an estimated current signal with little error can be obtained, and the accuracy of removing the vibration component of the detected current signal is improved, which is good. It is possible to provide a power conversion device having an excellent current response characteristic.
In addition, according to the fifth to eighth aspects of the present invention, it is possible to remove only the vibration component of the detected current signal, and to provide a power converter having a good current response characteristic.

以下、本発明の実施の形態について図を参照して説明する。   Hereinafter, embodiments of the present invention will be described with reference to the drawings.

図１は、本発明の電力変換装置の第１実施例の構成を示すブロック図である。図において、１は電力変換装置、２は電流制御器、３は比較器、４はインバータ回路、５はキャリア信号発生器、１０は電流信号生成器、１１はオブザーバ、１２は第１減算器、１３は第２減算器、１４は振動成分抽出器である。
本発明が従来技術と異なる部分は電流信号生成器がオブザーバと振動成分抽出器と第１減算器、第２減算器とを備えて、モータの検出電流信号の振動成分を除去した電流信号を電流制御器のフィードバック信号として使用している部分である。
図１を用いて、本発明の電力変換装置の動作を説明する。電力変換装置１は電流指令Ｉｒｅｆと電流信号Ｉｆｂ２とを電流制御器２に入力し、電圧指令Ｖｒｅｆを生成する。電流信号Ｉｆｂ２の生成方法については後述する。電流制御器２が比例制御である場合は、式（３）のようにして電圧指令Ｖｒｅｆを生成する。ただし、ｋａはフィードバックゲインである。
Ｖｒｅｆ＝ｋａ＊（Ｉｒｅｆ−Ｉｆｂ２） （３）
電流制御器２は比例積分制御、もしくは比例積分微分制御であってもよい。電流制御器２で生成されたＶｒｅｆは比較器３に入力されキャリア信号発生器５から出力されるキャリア信号Ｖｃａｒと比較してＶｒｅｆ≧Ｖｃａｒの時ＯＮ、Ｖｒｅｆ＜Ｖｃａｒの時ＯＦＦとなるようなゲート信号を生成する。比較器３から出力されるゲート信号をインバータ回路４にて処理して駆動電圧を生成し負荷であるモータを駆動する。 FIG. 1 is a block diagram showing the configuration of the first embodiment of the power conversion apparatus of the present invention. In the figure, 1 is a power converter, 2 is a current controller, 3 is a comparator, 4 is an inverter circuit, 5 is a carrier signal generator, 10 is a current signal generator, 11 is an observer, 12 is a first subtractor, Reference numeral 13 denotes a second subtracter, and reference numeral 14 denotes a vibration component extractor.
The present invention is different from the prior art in that the current signal generator includes an observer, a vibration component extractor, a first subtractor, and a second subtracter, and a current signal obtained by removing the vibration component of the detected current signal of the motor. This part is used as a feedback signal for the controller.
The operation of the power conversion device of the present invention will be described with reference to FIG. The power converter 1 inputs the current command Iref and the current signal Ifb2 to the current controller 2 and generates a voltage command Vref. A method for generating the current signal Ifb2 will be described later. When the current controller 2 is proportional control, the voltage command Vref is generated as shown in Expression (3). However, ka is a feedback gain.
Vref = ka * (Iref−Ifb2) (3)
The current controller 2 may be proportional-integral control or proportional-integral-derivative control. The Vref generated by the current controller 2 is input to the comparator 3 and compared with the carrier signal Vcar output from the carrier signal generator 5, and is turned on when Vref ≧ Vcar, and turned off when Vref <Vcar. Generate a signal. The gate signal output from the comparator 3 is processed by the inverter circuit 4 to generate a drive voltage to drive a motor as a load.

次に、電流検出信号Ｉｆｂ２を生成するための動作について説明する。電流信号Ｉｆｂ２は電流検出信号生成器１０にて生成される。モータ電圧指令Ｖｒｅｆとモータの検出電流信号Ｉｆｂとをオブザーバ１１に入力して、式（４）のように状態変数を推定電流信号Ｉｏｂｓ、推定外乱電圧Ｖｏｂｓとする２次のオブザーバとして構成する。ただし、ｓは微分演算子、Ｒは抵抗、Ｌはインダクタンスを示す。Ｌ１、Ｌ２はオブザーバのゲインである。
Ｉｏｂｓ＊ｓ＝−Ｒ＊Ｉｏｂｓ／Ｌ＋Ｌ１＊（Ｉｆｂ−Ｉｏｂｓ）
＋（Ｖｏｂｓ＋Ｖｒｅｆ）／Ｌ
Ｖｏｂｓ＊ｓ＝Ｌ２＊（Ｉｆｂ−Ｉｏｂｓ） （４）
また、オブザーバ１１は推定電流信号Ｉｏｂｓを状態変数とする１次のオブザーバであってもよい。オブザーバ１１を１次のオブザーバとして構成する場合は式（５）のようして推定電流信号Ｉｏｂｓを生成する。ただし、Ｌ３はオブザーバのゲインである。
Ｉｏｂｓ＊ｓ＝−Ｒ＊Ｉｏｂｓ／Ｌ＋Ｌ３（Ｉｆｂ−Ｉｏｂｓ）＋Ｖｒｅｆ／Ｌ （５）
オブザーバ１１により生成された推定電流信号Ｉｏｂｓ、およびモータの電流信号Ｉｆｂは減算器１３に入力され、電流信号Ｉｆｂから推定電流信号Ｉｏｂｓを減算する処理を行って推定差電流信号Ｉｄｉｆを生成する。推定差電流信号Ｉｄｉｆは振動成分抽出器１４に入力される。振動成分抽出器１４では、推定差電流信号Ｉｄｉｆから除去したい振動成分Ｉｖｉｂのみを抽出するフィルタとなっている。除去したい振動成分Ｉｖｉｂがある周波数帯域以上の信号であれば振動成分抽出器１４をハイパスフィルタとして構成すればよい。また、除去したい振動成分Ｉｖｉｂがある周波数帯域以下の信号であれば振動成分抽出器１４をローパスフィルタとして構成すればよい。また、除去したい振動成分Ｉｖｉｂがある範囲の周波数帯域であれば振動成分抽出器１４を帯域通過フィルタとして構成すればよい。また、除去したい振動成分Ｉｖｉｂがある範囲以外の周波数帯域であれば振動成分抽出器１４を帯域制限フィルタとして構成すればよい。また、任意のローパスフィルタ、または任意のハイパスフィルタ、または任意の帯域通過フィルタ、または任意の帯域制限フィルタにより抽出された信号に任意のゲインを乗じて出力してもよい。 Next, an operation for generating the current detection signal Ifb2 will be described. The current signal Ifb2 is generated by the current detection signal generator 10. The motor voltage command Vref and the motor detection current signal Ifb are input to the observer 11 and configured as a secondary observer having the state variables as the estimated current signal Iobs and the estimated disturbance voltage Vobs as shown in equation (4). Here, s is a differential operator, R is a resistance, and L is an inductance. L1 and L2 are observer gains.
Iobs * s = −R * Iobs / L + L1 * (Ifb−Iobs)
+ (Vobs + Vref) / L
Vobs * s = L2 * (Ifb-Iobs) (4)
The observer 11 may be a primary observer having the estimated current signal Iobs as a state variable. When the observer 11 is configured as a primary observer, the estimated current signal Iobs is generated as shown in Equation (5). Here, L3 is the gain of the observer.
Iobs * s = −R * Iobs / L + L3 (Ifb−Iobs) + Vref / L (5)
The estimated current signal Iobs generated by the observer 11 and the motor current signal Ifb are input to the subtractor 13, and a process of subtracting the estimated current signal Iobs from the current signal Ifb is performed to generate the estimated difference current signal Idif. The estimated difference current signal Idif is input to the vibration component extractor 14. The vibration component extractor 14 is a filter that extracts only the vibration component Ivib to be removed from the estimated difference current signal Idif. If the vibration component Ivib to be removed is a signal having a frequency band or higher, the vibration component extractor 14 may be configured as a high-pass filter. If the vibration component Ivib to be removed is a signal having a frequency band or less, the vibration component extractor 14 may be configured as a low-pass filter. Further, the vibration component extractor 14 may be configured as a band-pass filter if the vibration component Ivib to be removed is in a certain frequency range. Further, the vibration component extractor 14 may be configured as a band limiting filter in a frequency band outside the range where there is a vibration component Ivib to be removed. Further, a signal extracted by an arbitrary low-pass filter, an arbitrary high-pass filter, an arbitrary band-pass filter, or an arbitrary band-limiting filter may be multiplied and output by an arbitrary gain.

振動成分抽出器１４により生成された振動成分Ｉｖｉｂ、および検出電流信号Ｉｆｂは減算器１２に入力されて検出電流信号Ｉｆｂから振動成分Ｉｖｉｂを減算して電流信号Ｉｆｂ２を生成する。   The vibration component Ivib generated by the vibration component extractor 14 and the detected current signal Ifb are input to the subtractor 12, and the vibration component Ivib is subtracted from the detected current signal Ifb to generate a current signal Ifb2.

このように電流制御器２で用いる電流信号Ｉｆｂ２は検出電流信号Ｉｆｂから任意の振動成分が除去された信号であるため、良好な電流応答を得ることができる。   As described above, the current signal Ifb2 used in the current controller 2 is a signal obtained by removing an arbitrary vibration component from the detected current signal Ifb, so that a good current response can be obtained.

図２は、本発明の電力変換装置の第２実施例の構成を示すブロック図である。本発明の第２実施例の電力変換装置は、第１実施例の電力変換装置と電流検出信号生成器が異なるだけであるため、図２における電流検出信号生成器１０´の動作について説明する。電流信号生成器１０´は電流信号生成器１０と同じく、オブザーバ１１と第１減算器１２と第２減算器１３と振動成分抽出器１４とを備えているが、オブザーバ１１に入力される信号が電圧指令Ｖｒｅｆと電圧指令Ｉｒｅｆとなっている。したがって、オブザーバ１１が状態変数を推定電流信号Ｉｏｂｓ、推定外乱電圧Ｖｏｂｓとする２次のオブザーバとして構成した場合、式（６）のようにして推定電流信号Ｉｏｂｓを生成する。
Ｉｏｂｓ＊ｓ＝−Ｒ＊Ｉｏｂｓ／Ｌ＋Ｌ１＊（Ｉｒｅｆ−Ｉｏｂｓ）
＋（Ｖｏｂｓ＋Ｖｒｅｆ）／Ｌ
Ｖｏｂｓ＊ｓ＝Ｌ２＊（Ｉｒｅｆ−Ｉｏｂｓ） （６）
また、オブザーバ１１が推定電流信号Ｉｏｂｓを状態変数とする１次のオブザーバとして構成した場合は式（７）のようにして推定電流信号Ｉｏｂｓを生成する。
Ｉｏｂｓ＊ｓ＝−Ｒ＊Ｉｏｂｓ／Ｌ＋Ｌ３（Ｉｒｅｆ−Ｉｏｂｓ）＋Ｖｒｅｆ／Ｌ （７）
オブザーバ１１により生成された推定電流信号Ｉｏｂｓ、および検出電流信号Ｉｆｂは第２減算器１３に入力され、検出電流信号Ｉｆｂから推定電流信号Ｉｏｂｓを減算する処理を行い、振動成分抽出器１４に入力される。振動成分抽出器１４では、除去したい振動成分Ｉｖｉｂのみを抽出するフィルタとなっている。除去したい振動成分Ｉｖｉｂがある周波数帯域以上の信号であれば振動成分抽出器１４をハイパスフィルタとして構成すればよい。また、除去したい振動成分がある周波数帯域以下の信号であれば振動成分抽出器１４をローパスフィルタとして構成すればよい。また、除去したい振動成分Ｉｖｉｂがある範囲の周波数帯域であれば振動成分抽出器１４を帯域通過フィルタとして構成すればよい。また、除去したい振動成分Ｉｖｉｂがある範囲以外の周波数帯域であれば振動成分抽出器１４を帯域制限フィルタとして構成すればよい。また、任意のローパスフィルタ、または任意のハイパスフィルタ、または任意の帯域通過フィルタ、または任意の帯域制限フィルタにより抽出された信号に任意のゲインを乗じて出力してもよい。 FIG. 2 is a block diagram showing the configuration of the second embodiment of the power converter of the present invention. Since the power conversion device of the second embodiment of the present invention is different from the power conversion device of the first embodiment only in the current detection signal generator, the operation of the current detection signal generator 10 ′ in FIG. 2 will be described. Similar to the current signal generator 10, the current signal generator 10 ′ includes an observer 11, a first subtractor 12, a second subtractor 13, and a vibration component extractor 14, but a signal input to the observer 11 is received. The voltage command Vref and the voltage command Iref are provided. Therefore, when the observer 11 is configured as a secondary observer having the state variables as the estimated current signal Iobs and the estimated disturbance voltage Vobs, the estimated current signal Iobs is generated as shown in Equation (6).
Iobs * s = −R * Iobs / L + L1 * (Iref−Iobs)
+ (Vobs + Vref) / L
Vobs * s = L2 * (Iref−Iobs) (6)
When the observer 11 is configured as a primary observer using the estimated current signal Iobs as a state variable, the estimated current signal Iobs is generated as shown in Expression (7).
Iobs * s = −R * Iobs / L + L3 (Iref−Iobs) + Vref / L (7)
The estimated current signal Iobs and the detected current signal Ifb generated by the observer 11 are input to the second subtractor 13, a process of subtracting the estimated current signal Iobs from the detected current signal Ifb, and input to the vibration component extractor 14. The The vibration component extractor 14 is a filter that extracts only the vibration component Ivib to be removed. If the vibration component Ivib to be removed is a signal having a frequency band or higher, the vibration component extractor 14 may be configured as a high-pass filter. If the vibration component to be removed is a signal having a frequency band or less, the vibration component extractor 14 may be configured as a low-pass filter. Further, the vibration component extractor 14 may be configured as a band-pass filter if the vibration component Ivib to be removed is in a certain frequency range. Further, the vibration component extractor 14 may be configured as a band limiting filter in a frequency band outside the range where there is a vibration component Ivib to be removed. Alternatively, a signal extracted by an arbitrary low-pass filter, an arbitrary high-pass filter, an arbitrary band-pass filter, or an arbitrary band-limiting filter may be multiplied and output by an arbitrary gain.

振動成分抽出器１４により生成された振動成分Ｉｖｉｂ、および検出電流信号Ｉｆｂは第１減算器１２に入力されて検出電流信号Ｉｆｂから振動成分Ｉｖｉｂを減算して電流信号Ｉｆｂ２を生成する。   The vibration component Ivib generated by the vibration component extractor 14 and the detected current signal Ifb are input to the first subtractor 12, and the vibration component Ivib is subtracted from the detected current signal Ifb to generate a current signal Ifb2.

このように電流制御器２で用いる電流信号Ｉｆｂ２は検出電流信号Ｉｆｂから任意の振動成分Ｉｖｉｂが除去された信号であるため良好な電流応答を得ることができる。また、オブザーバに入力される電流値として電流指令Ｉｒｅｆを用いることで、検出電流信号Ｉｆｂの検出誤差が多い場合であっても精度良く検出電流信号Ｉｆｂの振動を除去することができるため、良好な電流応答を得ることができる。   As described above, the current signal Ifb2 used in the current controller 2 is a signal obtained by removing an arbitrary vibration component Ivib from the detected current signal Ifb, so that a good current response can be obtained. Further, since the current command Iref is used as the current value input to the observer, the vibration of the detection current signal Ifb can be accurately removed even when the detection error of the detection current signal Ifb is large. A current response can be obtained.

図３は、本発明の電力変換装置の第３実施例の構成を示すブロック図である。本発明の第３実施例の電力変換装置は、第１実施例の電力変換装置と電流信号生成器が異なるだけであるため、図３における電流信号生成器１０´´の動作について説明する。電流信号生成器１０´´は、オブザーバ１１と第１減算器１２と第２減算器１３と振動成分抽出器１４とフィルタ１５とフィルタ１６とを備えていて、オブザーバ１１には検出電流信号Ｉｆｂをフィルタ１５でフィルタ処理した信号と、モータ電圧指令Ｖｒｅｆをフィルタ１６でフィルタ処理した信号とを入力して推定電流信号Ｉｏｂｓを生成する。図３では検出電流信号Ｉｆｂと電圧指令Ｖｒｅｆとの両方の信号をフィルタ処理しているが、どちらか一方の信号をフィルタ処理しても良い。オブザーバ１１と第１減算器１２と第２減算器１３と振動成分抽出器１４の動作は第１の実施例と同じである。   FIG. 3 is a block diagram showing the configuration of the third embodiment of the power converter of the present invention. Since the power converter of the third embodiment of the present invention is different from the power converter of the first embodiment only in the current signal generator, the operation of the current signal generator 10 ″ in FIG. 3 will be described. The current signal generator 10 ″ includes an observer 11, a first subtracter 12, a second subtractor 13, a vibration component extractor 14, a filter 15, and a filter 16, and the observer 11 receives the detected current signal Ifb. The estimated current signal Iobs is generated by inputting the signal filtered by the filter 15 and the signal obtained by filtering the motor voltage command Vref by the filter 16. In FIG. 3, both the detection current signal Ifb and the voltage command Vref are filtered, but either signal may be filtered. The operations of the observer 11, the first subtractor 12, the second subtractor 13, and the vibration component extractor 14 are the same as those in the first embodiment.

図４は、本発明の電力変換装置の第４の実施例の構成を示すブロック図である。本発明の第４実施例の電力変換装置は第２実施例の電力変換装置と電流信号生成器が異なるだけであるため、図４における電流信号生成器１０´´´の動作について説明する。電流信号生成器１０´´´は、オブザーバ１１と第１減算器１２と第２減算器１３と振動成分抽出器１４とフィルタ１６とフィルタ１７とを備えていて、オブザーバ１１には電圧指令Ｖｒｅｆをフィルタ１６でフィルタ処理した信号と電流指令Ｉｒｅｆをフィルタ１７でフィルタ処理した信号とを入力して推定電流信号Ｉｏｂｓを生成する。図４では電流指令Ｉｒｅｆと電圧指令Ｖｒｅｆとの両方の信号をフィルタ処理しているが、どちらか一方の信号をフィルタ処理しても良い。オブザーバ１１と第１減算器１２と第２減算器１３と振動成分抽出器１４の動作は第２の実施例と同じである。   FIG. 4 is a block diagram showing the configuration of the fourth embodiment of the power converter of the present invention. Since the power converter of the fourth embodiment of the present invention is different from the power converter of the second embodiment only in the current signal generator, the operation of the current signal generator 10 '' 'in FIG. 4 will be described. The current signal generator 10 ″ ″ includes an observer 11, a first subtracter 12, a second subtractor 13, a vibration component extractor 14, a filter 16, and a filter 17. The observer 11 receives a voltage command Vref. The signal filtered by the filter 16 and the signal obtained by filtering the current command Iref by the filter 17 are input to generate the estimated current signal Iobs. In FIG. 4, both signals of the current command Iref and the voltage command Vref are filtered, but either signal may be filtered. The operations of the observer 11, the first subtractor 12, the second subtractor 13, and the vibration component extractor 14 are the same as those in the second embodiment.

負荷としては、主に直流モータ、交流モータなどの電気モータに適用される。   The load is mainly applied to an electric motor such as a DC motor or an AC motor.

本発明の第１実施例を示す電力変換装置のブロック図The block diagram of the power converter device which shows 1st Example of this invention. 本発明の第２実施例を示す電力変換装置のブロック図The block diagram of the power converter device which shows 2nd Example of this invention. 本発明の第３実施例を示す電力変換装置の電流検出信号生成器のブロック図The block diagram of the electric current detection signal generator of the power converter device which shows 3rd Example of this invention. 本発明の第４実施例を示す電力変換装置の電流検出信号生成器のブロック図The block diagram of the electric current detection signal generator of the power converter device which shows 4th Example of this invention. 従来の電力変換装置のブロック図Block diagram of a conventional power converter

符号の説明Explanation of symbols

１ 電力変換装置
２ 電流制御器
３ 比較器
４ インバータ回路
５ キャリア信号発生器
１０ 電流信号生成器
１１ オブザーバ
１２ 第１減算器
１３ 第２減算器
１４ 振動成分抽出器
１５ フィルタ
１６ フィルタ
１７ フィルタ
１０１ 直流電動機
１０２ 電力変換回路
１０３ 実電流観測部
１０４ 電流フィードバック制御部
１０５ 電流オブザーバ部 DESCRIPTION OF SYMBOLS 1 Power converter 2 Current controller 3 Comparator 4 Inverter circuit 5 Carrier signal generator 10 Current signal generator 11 Observer 12 First subtractor 13 Second subtractor 14 Vibration component extractor 15 Filter 16 Filter 17 Filter 101 DC motor 102 power conversion circuit 103 real current observation unit 104 current feedback control unit 105 current observer unit

Claims (8)

電流指令と電流信号に基づいて電圧指令を生成する電流制御器と、キャリア信号を発生するキャリア信号発生器と、前記キャリア信号と前記電圧指令とを比較しゲート信号を生成する比較器と、前記ゲート信号から駆動電圧を生成するインバータ回路と、を備えた電力変換装置において、
モータの検出電流信号と前記電圧指令に基づいて振動成分を除去した電流信号を生成する電流信号生成器を備えることを特徴とする電力変換装置。 A current controller that generates a voltage command based on a current command and a current signal; a carrier signal generator that generates a carrier signal; a comparator that compares the carrier signal and the voltage command to generate a gate signal; and In a power converter comprising: an inverter circuit that generates a drive voltage from a gate signal;
A power conversion device comprising: a current signal generator that generates a current signal from which a vibration component is removed based on a detected current signal of a motor and the voltage command. 前記電流信号生成器は、前記検出電流信号と前記電圧指令に基づいて電流推定信号を生成するオブザーバと、前記検出電流信号から前記電流推定信号を減じて推定差電流信号を生成する第１減算器と、前記推定差電流信号の振動成分を抽出する振動成分抽出器と、前記検出電流信号から前記振動成分を減じる第２減算器と、を備えることを特徴とする請求項１記載の電力変換装置。   The current signal generator includes an observer that generates a current estimation signal based on the detected current signal and the voltage command, and a first subtractor that generates an estimated difference current signal by subtracting the current estimation signal from the detection current signal The power conversion device according to claim 1, further comprising: a vibration component extractor that extracts a vibration component of the estimated difference current signal; and a second subtracter that subtracts the vibration component from the detected current signal. . 前記電流信号生成器は、前記電流指令と前記電圧指令に基づいて電流推定信号を生成するオブザーバと、前記検出電流信号から前記電流推定信号を減じて推定差電流信号を生成する第１減算器と、前記推定差電流信号の振動成分を抽出する振動成分抽出器と、前記検出電流信号から前記振動成分を減じる第２減算器と、を備えることを特徴とする請求項１記載の電力変換装置。   The current signal generator includes an observer that generates a current estimation signal based on the current command and the voltage command, and a first subtractor that generates an estimated difference current signal by subtracting the current estimation signal from the detection current signal. The power converter according to claim 1, further comprising: a vibration component extractor that extracts a vibration component of the estimated difference current signal; and a second subtractor that subtracts the vibration component from the detected current signal. 前記オブザーバは、前記電圧指令または前記検出電流信号または前記推定電流信号をフィルタリングするフィルタを備えること特徴とする請求項２または３記載の電力変換装置。   The power converter according to claim 2, wherein the observer includes a filter that filters the voltage command, the detected current signal, or the estimated current signal. 前記振動成分抽出器は、任意のローパスフィルタ、または任意のハイパスフィルタ、または任意の帯域制限フィルタ、または任意の帯域通過フィルタであることを特徴とする請求項２乃至４記載の電力変換装置。   5. The power converter according to claim 2, wherein the vibration component extractor is an arbitrary low-pass filter, an arbitrary high-pass filter, an arbitrary band-limiting filter, or an arbitrary band-pass filter. 前記振動成分抽出器は、任意の周波数帯域の振動成分を抽出した信号に任意のゲインを乗じた信号を出力することを特徴とする請求項２乃至５記載の電力変換装置。   6. The power converter according to claim 2, wherein the vibration component extractor outputs a signal obtained by multiplying a signal obtained by extracting a vibration component in an arbitrary frequency band by an arbitrary gain. インバータ回路は直流モータを駆動することを特徴とする請求項１乃至６記載の電力変換装置。   7. The power converter according to claim 1, wherein the inverter circuit drives a DC motor. インバータ回路は交流モータを駆動することを特徴とする請求項１乃至６記載の電力変換装置。   The power converter according to claim 1, wherein the inverter circuit drives an AC motor.
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JP2013225993A (en) * 2012-04-22 2013-10-31 Denso Corp Controller for ac motor
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