JP2008295229A - Motor simulation apparatus and motor simulation method - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a motor simulation apparatus which can correspond to voltage/current control-type inverters and which can stably simulate an operation, when a motor is opened. <P>SOLUTION: A rotator angle θ of a simulation motor is obtained from an angle rotation speed command ω, and output currents id and iq and output voltages Vd and Vq on d/q-axes of the inverter 1 of a body to be tested are obtained. Currents which should flow in the simulation motor are obtained as current commands id<SP>*</SP>and iq<SP>*</SP>by the voltages Vd and Vq according to the state equation of the simulation motor. Currents which should flow to the simulation motor are obtained as current commands i<SB>L</SB>d<SP>*</SP>and i<SB>L</SB>q<SP>*</SP>as compensation currents of a dummy load 9, and these are added. Voltage commands Vdo<SP>*</SP>and Vqo<SP>*</SP>on the d/q-axes are generated so that added current commands id<SP>*</SP>+i<SB>L</SB>d<SP>*</SP>and iq<SP>*</SP>+i<SB>L</SB>q<SP>*</SP>match with the currents id and iq, and control signals Vou<SP>*</SP>, Vov<SP>*</SP>and Vow<SP>*</SP>of the output voltage of the simulation load inverter 2 are generated, based on the commands. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a motor simulation device and a motor simulation method for testing an inverter of a device under test using a simulated load device that simulates a motor.

  Conventionally, in an inverter test using a motor as a load, the inverter is replaced with a pseudo load consisting of a combination of L (inductor), R (resistor), and a switch group, which has a limited control freedom and tends to be complicated in configuration. Is used as a simulated load, and the amplitude and phase of the output voltage are controlled to create a state where the motor, which is the actual load, is simulated, and an inverter at any load under any operating condition A system capable of performing the above test has been developed (see, for example, Patent Document 1, Patent Document 2, and Patent Document 3).

  By the way, the inverter has an open loop voltage control type inverter (without a current feedback system) (for example, a V / F control type general-purpose inverter) and a current control type that controls the current flowing to the motor by providing a closed loop. Inverters (for example, vector control inverters).

  In the conventional inverter testing apparatus described above, an inverter testing apparatus having a configuration as shown in FIG. 5 is used for a current control type inverter (Patent Document 1), and for a voltage type inverter, An inverter testing apparatus configured as shown in FIG. 6 has been used.

  In the inverter control apparatus for the current control type inverter shown in FIG. 5, the test inverter 1 and the pseudo load inverter 2 are connected via a transformer 41. The speed N of the IPM motor, the armature resistance R, the inductances Ld, Lq, L on the d and q axes, and the induced voltage constant φa are input to the motor simulation operation control unit 11C. The output currents iu and iw controlled by the current control method of the inverter 1 are detected by the current transformer 8 and input as output currents iu 'and iw', and output voltages vu 'and vw' from the filter (L) 7. Is entered. The impedance between the inverters 1 and 2 varies from resistance to inductance in accordance with each output voltage. That is, the load from the inverter 1 changes due to the impedance change by controlling the amplitude and phase of the output voltage of the inverter 2 with respect to the output voltage of the inverter 1. By controlling the amplitude and phase of the output voltage of the inverter 2, a simulated operation of the motor is realized.

  FIG. 6 shows a configuration example of a voltage control type inverter testing apparatus. In FIG. 6, the control circuit 51 controls the output voltage of the inverter under test 1 to a predetermined value according to the voltage command and the frequency command.

In the motor simulation operation control unit 11D, the voltage phase θ is detected by the voltage phase detection circuit 52 from the output voltages Vu and Vw of the inverter 1. Also, the output currents iu and iw detected by the current transformer 8 are converted from three phases to two phases based on θ to obtain id and iq. The voltage commands Vd ^* and Vq ^* are obtained by comparing the id and iq with id ^* and iq ^* having a current amplitude phase determined based on the load command. The Vd ^* and Vq ^* are converted from two phases to three phases based on θ, thereby obtaining Vou ^* , Vov ^* and Vow ^* . The gate signal of the inverter 2 can be generated by the PWM circuit 53 based on this phase voltage command.

  With the configuration shown in FIG. 6, when the output voltage of the inverter 1 is at a predetermined value, the amplitude and phase of the output current of the inverter 2 are controlled, so that the inverter 1 is in the same state as when the motor is connected to the inverter 1 1 can be performed, and an inverter 1 can be tested by setting an arbitrary load impedance according to an arbitrary operating condition of the motor.

  As described above, in the conventional inverter load test apparatus, when the inverter to be tested is a voltage-controlled inverter (voltage source) and a current-controlled inverter (current source) The inverter testing device had a different configuration. For example, the current control type inverter is the inverter test apparatus shown in FIG. 5, and the voltage control type inverter is the inverter test apparatus shown in FIG. That is, it is necessary to prepare a different inverter test device corresponding to the inverter control device of the device under test.

For this reason, the applicant of the present application has previously applied for a motor simulation device (inverter test device) that does not depend on the method of controlling the inverter under test (application number 2006-300815). FIG. 7 is a diagram showing the configuration of the motor simulation device (inverter test device) filed earlier. The details of the motor simulation device shown in FIG. 7 will be described together in the section of the embodiment of the present invention, and only the outline thereof will be described here. In the motor simulation device 10C shown in FIG. 7, the rotor angle θ of the simulated motor is calculated by the motor angle calculator 17 from the angular rotation speed command (angular rotation speed) ω input to the motor simulation operation control unit 11E, and the device under test is calculated. The feedback currents id and iq on the d and q axes are obtained based on the output currents iu and iw of the body inverter 1 and the rotor angle θ. Further, based on the output voltages Vu and Vw of the inverter 1 and the rotor angle θ, voltages Vd and Vq on the d and q axes are obtained. Then, in the current command calculation unit 18A, the currents to flow through the simulated motor are obtained as current commands id ^* and iq ^{* from} the voltages Vd and Vq and the state equation of the simulated motor, and the current commands id ^* and iq ^* and the feedback current. id and iq are respectively compared, and voltage commands Vdo ^* and Vqo ^* on the d and q axes are generated. Based on the voltage commands Vdo ^* and Vqo ^* , control signals Vou ^* , Vov ^* and Vow ^* for the output voltage of the simulated load inverter 2 are generated. With this configuration, the motor can be used for both open-loop (no current control) voltage-controlled inverters and closed-loop current-controlled inverters, and inverters that do not belong to any control method. A simulation device can be provided.
JP 2003-153546 A JP 2003-153547 A JP 2005-31265 A

  The motor simulation device 10C shown in FIG. 7 is both an open loop (no current control) voltage control type inverter and a closed loop current control type inverter, and an inverter of a control method that does not belong to any of them. Although it is an excellent device that can be used as a compatible motor simulation device, there is a problem in simulating the operation when the motor is open.

  That is, when simulating the opening of the motor, the current flowing from the inverter (device under test) 1 becomes 0 (zero), so that the control operation in the motor simulation operation control unit 11E becomes unstable. The output voltage of (device under test) 1 was also unstable. For this reason, there has been a problem that the operation when the motor is open cannot be simulated.

  The present invention has been made to solve such a problem, and the object thereof is to support both an open-loop voltage-controlled inverter (without current control) and a closed-loop current-controlled inverter. An object of the present invention is to provide a motor simulation device capable of stably simulating the operation when the motor is opened.

The present invention has been made to solve the above problems, and the motor simulation device of the present invention is configured such that a simulated load device is connected to an output of a motor drive inverter that is a device under test, and the simulated load device is A motor simulation device for simulating a motor load of a motor drive inverter, which detects a dummy load connected between lines on the AC output side of the motor drive inverter and serving as an inductance load, and an output current of the motor drive inverter A current detection unit that detects the output voltage of the inverter for driving the motor, a parameter for the operating condition set for the simulated motor load and the characteristics of the simulated motor, and is detected by the voltage detection unit. Based on the output voltage of the motor drive inverter, the simulated motor flows according to the voltage / current equation of the simulated motor. An M model current command calculation unit for calculating a current command of the power to be stored; and a parameter set for the dummy load, and the dummy load based on the output voltage of the motor drive inverter detected by the voltage detection unit An L model current command calculation unit that calculates a current command to flow to the simulated motor as a compensation current for a current flowing through the motor, a current command calculated by the M model current command calculation unit, and a calculation by the L model current command calculation unit A motor simulation operation control unit that adds a current command and controls the output voltage of the simulated load device so that the added current command matches the current detected by the current detection unit. And
With such a configuration, a dummy load that is an inductance load is connected between lines (between phases) on the AC output side of the motor drive inverter of the device under test. Further, the output voltage and output current of the motor driving inverter of the device under test are detected. Then, based on the output voltage of the motor drive inverter, the M model current command calculation unit calculates a current command of the current that should flow as the simulated motor according to the current / voltage equation (state equation) of the simulated motor. In addition, the L model current command calculation unit calculates a current command that should flow to the simulated motor as a compensation current for the current flowing to the dummy load. The current command calculated by the M model current command calculation unit and the current command calculated by the L model current command calculation unit are added to obtain an added current command. Then, the added current command and the output current of the motor drive inverter of the device under test are compared, and the output voltage of the simulated load device is controlled so that the current flowing from the motor drive inverter matches the current command.
As a result, it is possible to cope with both an open-loop (no current control) voltage-controlled inverter and a closed-loop current-controlled inverter, and an inverter with a control method that does not belong to any of them, and It is possible to realize a motor simulation device that can stably perform simulation when the motor is open.

Further, the motor simulation device according to the present invention includes the simulated load device having a simulated load inverter serving as a simulated load, and a reactor connected to an AC output side of the simulated load inverter. An AC output side of the inverter and an AC output side of the motor driving inverter are connected via the reactor.
With such a configuration, the simulated load device is configured by an inverter and a reactor, and the alternating current output side of the simulated load inverter and the alternating current output side of the motor driving inverter are connected via the reactor.
As a result, both the voltage and current control type inverters can be supported, and in addition to the effect that the simulated operation can be stably performed when the motor is opened, the amplitude and phase of the output voltage of the pseudo load device can be easily controlled. can do. Further, the reactor can suppress inrush current when the output voltage difference and phase difference between the two inverters are large.

In the motor simulation device of the present invention, the simulated load inverter is configured to be a three-phase motor simulated load, and the motor simulated operation control unit is input to the motor simulated operation control unit. Based on the motor angle calculation circuit for calculating the rotor angle θ of the simulated motor from the angular rotation speed command signal ω, and the three-phase output current of the motor driving inverter and the rotor angle θ, the three-phase output current is calculated. Based on the first three-phase to two-phase conversion circuit that converts currents id and iq on the d and q axes of the rotor, the three-phase output voltage of the inverter for driving the motor, and the rotor angle θ, Based on the second three-phase to two-phase conversion circuit for converting the three-phase output voltage into the voltages Vd and Vq on the d and q axes of the rotor, the voltages Vd and Vq, and the voltage / current equation of the simulated motor. The current that should flow to the simulated motor Current command id ^*, and M model current calculation unit for obtaining a iq ^*, the voltage Vd, and Vq, on the basis of parameters of the dummy load, the current should flow as a compensation current to the simulated motor, d, in the q-axis L model current command calculation unit obtained as current commands i _L d ^* and i _L q ^* , current commands id ^* and iq ^* output from the M model current command calculation unit, and output from the L model current command calculation unit is the current command _{^{i L d *, i L q}} * and adds, summed current command _{^{id * + i L d *,}} iq * + i L q and an adder for generating a ^*, the current command ^id * + _{i L} d ^* , iq ^* + i _L q ^* and the currents id, iq are respectively compared to generate voltage commands Vdo ^* , Vqo ^* on the d and q axes, and voltage commands on the d, q axes Vdo ^*, Based on qo ^*, the control command signal of the three-phase output voltages of the simulated load inverter ^{Vou *,} Vov ^*, characterized in that it comprises a two-phase three-phase conversion circuit for generating a Vow ^*, a.
With such a configuration, the rotor angle θ of the simulated motor is calculated from the angular rotation speed command signal ω input to the motor simulation operation control unit, and the three-phase output current and the rotor of the motor drive inverter that is the device under test are calculated. Based on the angle θ, currents id and iq on the d and q axes are obtained. Further, the voltages Vd and Vq on the d and q axes are obtained based on the three-phase output voltage of the motor drive inverter and the rotor angle θ. Based on the voltages Vd and Vq and the current / voltage equation (state equation) of the simulated motor, the current to flow through the simulated motor is obtained as current commands id ^* and iq ^* on the d and q axes. Also, based on the parameters of the dummy load, the current that should flow as a compensation current to the simulated motor is obtained as current commands i _L d ^* and i _L q ^* on the d and q axes. Current command ^id *, and iq ^*, * current command _i L _^d, is added to the i L ^{q *, *} current command ^id * ₊ i ^L d, a iq _{^* +} i L ^q _*. The current command _{^{id * + i L d *,}} iq * + i L q * and compared the current id, iq, respectively, d, voltage command on the q-axis ^Vdo *, generates a Vqo ^*. Based on the voltage commands Vdo ^* and Vqo ^* on the d and q axes, control command signals Vou ^* , Vov ^* and Vow ^* for the three-phase output voltage of the simulated load inverter are generated.
As a result, it is possible to cope with both open-loop (no current control) voltage-controlled inverters and closed-loop current-controlled inverters, and inverters with control methods that do not belong to any of them, and It is possible to realize a motor simulation device that can stably perform a simulation when the motor is open.

The motor simulation device of the present invention acquires a signal including phase information of the output voltage from the motor drive inverter instead of the motor angle calculation circuit, and based on the signal, the rotor of the simulation motor And a phase / frequency detector for generating an angle θ and an angular rotation speed signal ω.
With such a configuration, for example, when the motor drive inverter which is a device under test is a voltage type inverter, a signal including the phase information of the output voltage (such as a voltage command signal) is obtained from the inverter, and this is used as a basis. Then, the rotor angle θ and the angular rotation speed signal ω of the simulated motor are generated.
Thereby, in addition to the effect that the simulation operation when the motor is opened can be stably performed, the motor driving inverter as the device under test and the motor simulation device can be easily and synchronously operated.

In addition, the motor simulation device of the present invention generates a rotor angle sensor simulation signal based on the rotor angle θ of the simulated motor obtained from the motor angle calculation circuit and outputs the simulated signal to the motor drive inverter. A simulation control unit is provided.
With such a configuration, for example, an output signal similar to that of a resolver for detecting the rotation angle of the rotor is generated based on the rotor angle θ of the simulated motor obtained from the motor angle calculation circuit.
As a result, in addition to the effect of being able to handle both voltage and current control type inverters and performing a stable simulation operation when the motor is open, the motor simulation device functions as a simulation motor with a rotor angle sensor. Can be made.

ここで、Ｒ：電機子抵抗、Ｌｄ，Ｌｑ：ｄ，ｑ軸インダクタンス、ω：角回転速度、φａ：永久磁石による電機子鎖交磁束、ｐ：微分演算子、
により、前記モータ駆動用インバータの出力電圧Ｖｄ、Ｖｑからｉｄ、ｉｑを求め、これを前記電流指令ｉｄ^＊、ｉｑ^＊とするように求めるように構成されたことを特徴とする。
これにより、Ｍモデル電流指令演算部において、周知のＰＭモータの電圧・電流方程式により、ｄ、ｑ軸上の電圧Ｖｄ、Ｖｑから模擬モータに流れるべき電流を、ｄ、ｑ軸上の電流指令ｉｄ^＊、ｉｑ^＊として容易に求めることができる。 In the motor simulation device of the present invention, when the PM motor is simulated as the simulation motor, the M model current command calculation unit uses the following formula:

Where R: armature resistance, Ld, Lq: d, q-axis inductance, ω: angular rotation speed, φa: armature flux linkage by permanent magnet, p: differential operator,
Thus, id and iq are obtained from the output voltages Vd and Vq of the motor driving inverter, and are obtained as the current commands id ^* and iq ^* .
As a result, in the M model current command calculation unit, the current that should flow from the voltages Vd and Vq on the d and q axes to the simulated motor according to the well-known voltage / current equation of the PM motor, ^{* And} iq ^* can be easily obtained.

In the motor simulation apparatus according to the present invention, when a PM motor is simulated as the simulation motor, the M model current command calculation unit performs the current command id ^* , from the output voltages Vd and Vq of the motor drive inverter. When calculating iq ^*
id ^* = {R · Vd + ω · Lq (Vq−ω · φa)} / (R ² + ω ² · Ld · Lq),
iq ^* = {− ω · Ld · Vd + R (Vq−ω · φa)} / (R ² + ω ² · Ld · Lq),
Here, it is characterized in that it is obtained as R: armature resistance, Ld, Lq: d, q-axis inductance, ω: angular rotation speed, φa: armature interlinkage magnetic flux by permanent magnet.
As a result, in the M model current command calculation unit, the current that should flow from the voltages Vd and Vq on the d and q axes to the simulated motor according to the well-known voltage / current equation of the PM motor, ^{* And} iq ^* can be easily obtained.

In the motor simulation apparatus of the present invention, when the L model current command calculation unit obtains the current commands i _L d ^* and i _L q ^* from the output voltages V d and V q of the motor driving inverter,
i _L d ^* = {R _L · V d + ω · L _L · V q)} / (R ² + ω ² · L _L ² ),
i _L q ^* = {− ω · L _L · Vd + R _L · Vq)} / (R ² + ω ² · L _L ² ),
Here, _{L L} : d and q-axis resistance of dummy load, L _L : d and q-axis inductance of dummy load, and ω: angular rotation speed are obtained. In the current command calculation unit, based on the parameters of the dummy load, the compensation current that should flow from the voltages Vd and Vq on the d and q axes to the simulated motor is converted into the current commands i _L d ^* and i _L q on the d and q axes. ^* Can be easily obtained.

Further, the motor simulation device according to the present invention is based on the current id and iq on the d and q axes obtained by the first 2/3 phase conversion circuit, and on the d and q axes generated by the error amplifier. It is further characterized by further comprising a feedforward calculation unit that generates compensation signals Vd ′ and Vq ′ to be added to the voltage commands Vdo ^* and Vqo ^* , respectively.
With such a configuration, the feedforward signal is added to the voltage commands Vdo ^* and Vqo ^* on the d and q axes of the simulated load inverter, thereby speeding up the response of the output voltage of the simulated load inverter.
Thereby, in addition to the effect of being able to cope with both voltage and current control type inverters and performing a stable simulation operation when the motor is opened, the responsiveness of the motor simulation device can be improved. This is particularly effective when the motor drive inverter that is the device under test is a current-controlled inverter.

ここで、Ｒ：電機子抵抗、Ｌｄ，Ｌｑ：ｄ，ｑ軸インダクタンス、ω：角回転速度、φａ：永久磁石による電機子鎖交磁束、Ｌ：モータ駆動用インバータと模擬負荷用インバータとの間に接続されるインダクタンス、ｐ：微分演算子、により求めるように構成されたことを特徴とする。
これにより、モータ駆動用インバータと模擬負荷用インバータと間に接続されたフィルタのリアクトル（インダクタンスＬ）の影響を考慮して、モータ模擬装置の応答性を改善することができる。 In the motor simulation device of the present invention, compensation signals Vd ′ and Vq ′ to be added to the voltage commands Vdo ^* and Vqo ^* by the feedforward calculation unit,

Here, R: armature resistance, Ld, Lq: d, q axis inductance, ω: angular rotation speed, φa: armature interlinkage magnetic flux by permanent magnet, L: between motor driving inverter and simulated load inverter It is characterized in that it is obtained by an inductance connected to p, p: differential operator.
Thereby, the responsiveness of the motor simulation device can be improved in consideration of the influence of the reactor (inductance L) of the filter connected between the motor drive inverter and the simulation load inverter.

In the motor simulation device of the present invention, compensation signals Vd ′ and Vq ′ to be added to the voltage commands Vdo ^* and Vqo ^* by the feedforward calculation unit,
Vd ′ = R · id−ω (Lq−L) iq,
Vq ′ = ω · (Ld−L) · id + R · iq + ω · φa,
Here, R: armature resistance, Ld, Lq: d, q-axis inductance, ω: angular rotation speed, φa: armature linkage magnetic flux by permanent magnet, L: between motor driving inverter and simulated load inverter It is characterized in that it is determined by the inductance to be connected.
Thereby, the responsiveness of the motor simulation device can be improved in consideration of the influence of the reactor (inductance L) of the filter connected between the motor drive inverter and the simulation load inverter.

In the motor simulation device of the present invention, when the second 2 / 3-phase conversion circuit generates the voltage signals Vd and Vq on the d and q axes, the three-phase line voltage of the motor driving inverter And the phase signal obtained by adding 30 ° to the rotor angle of the simulated motor as input signals, the voltage signals Vd and Vq on the d and q axes are calculated.
With such a configuration, the input three-phase line voltage is handled as a phase voltage by advancing the phase by 30 °.
Thus, the voltage signals Vd and Vq can be generated based on the line voltage of the motor driving inverter that is the device under test. That is, a circuit for generating a phase voltage from the line voltage is not necessary.

The motor simulation method of the present invention is a motor simulation apparatus in which a simulated load device is connected to the output of a motor drive inverter that is a device under test, and the simulated load device is used as a simulated motor load of the motor drive inverter. A motor simulation method, a dummy load installation procedure for installing a dummy load as an inductance load between lines on the AC output side of the motor drive inverter, and a current detection procedure for detecting an output current of the motor drive inverter The voltage detection procedure for detecting the output voltage of the motor drive inverter, the operating conditions set for the simulated motor load and the parameters of the characteristics of the simulated motor are held, and the motor drive inverter detected by the voltage detection procedure is stored. Based on the output voltage, the simulated motor is run according to the voltage / current equation of the simulated motor. An M model current command calculation procedure for calculating a current command for a current to be held, a parameter set for the dummy load, and a dummy drive based on the output voltage of the motor drive inverter detected by the voltage detection procedure L model current command calculation procedure for calculating a current command to flow to the simulated motor as a compensation current for the current flowing through the load, a current command calculated by the M model current command calculation procedure, and a calculation by the L model current command calculation procedure And a motor simulation operation control procedure for controlling the output voltage of the simulated load device so that the added current command and the current detected by the current detection procedure coincide with each other. Features.
By such a procedure, a dummy load which is an inductance load is connected between lines (between phases) on the AC output side of the motor driving inverter of the device under test. Further, the output voltage and output current of the motor driving inverter of the device under test are detected. Then, based on the output voltage of the motor drive inverter, the M model current command calculation unit calculates a current command of the current that should flow as the simulated motor according to the current / voltage equation (state equation) of the simulated motor. In addition, the L model current command calculation unit calculates a current command that should flow to the simulated motor as a compensation current for the current flowing to the dummy load. The current command calculated by the M model current command calculation unit and the current command calculated by the L model current command calculation unit are added to obtain an added current command. Then, the added current command and the output current of the motor drive inverter of the device under test are compared, and the output voltage of the simulated load device is controlled so that the current flowing from the motor drive inverter matches the current command.
As a result, it is possible to cope with both an open-loop (no current control) voltage-controlled inverter and a closed-loop current-controlled inverter, and an inverter with a control method that does not belong to any of them, and It is possible to realize a motor simulation device that can stably perform simulation when the motor is open.

  The motor simulation device of the present invention can be applied to both an open-loop voltage control (no current control) inverter and a closed-loop current control inverter, and an inverter of a control method not belonging to any of them. In addition, the simulation when the motor is open can be performed stably.

  Next, the best mode for carrying out the present invention will be described with reference to the drawings.

[First Embodiment]
FIG. 1 is a diagram showing a configuration example of a first embodiment of a motor simulation device according to the present invention.
In the motor simulation apparatus shown in FIG. 1, a regenerative converter (sine wave converter) 62 as an AC / DC converter is connected to a power input side of an inverter 1 which is a motor driving inverter of a device under test via a chopper circuit 6 and a capacitor C1. And a regenerative converter 63 as an AC / DC converter is connected via a capacitor C2 to the power input side of the inverter 2 which is a simulated load inverter.

The AC output side of the inverter 1 of the device under test is connected to the U, V, and W terminals of the motor simulation device 10, and the AC output side of the inverter 1 is connected to the inverter 2 via the filter (L) 7. Connected to the AC output side. Further, an inductor (inductance load) is connected as a dummy load (LL) 9 between the lines (between phases) on the AC output side of the inverter 1. The dummy load (LL) 9 is constituted by a three-phase Y (star) connection of an inductor in the example shown in the figure, but may be a Δ connection. The dummy load 9 is used to prevent the output voltage of the inverter 1 from becoming zero (0) when the motor simulator 10 simulates the operation when the motor is opened, and the output voltage of the inverter 1 is not unstable. The current I _LL is supplied to the dummy load 9 to stabilize the output voltage.

  Further, after the three-phase AC voltage from the commercial AC power source 3 is applied to the regenerative converter 62 through the transformer 4 and the reactor (inductance) 64, the DC (direct current) voltage obtained at the capacitor C 1 is adjusted by the chopper circuit 6. , And supplied to the inverter 1. In addition, a three-phase AC voltage from the commercial AC power supply 3 is applied to the regenerative converter 63 through the transformer 4, the transformer 61, and the reactor (inductance) 65, and the DC voltage obtained at the capacitor C <b> 2 is supplied to the inverter 2. The transformer 61 separates the inverter 1 and the inverter 2 on the AC power source side so as to be galvanically insulated.

  The regenerative converters 62 and 63 are provided to supply a direct current (DC) voltage to the inverters 1 and 2. That is, the regenerative converters 62 and 63 perform AC / DC conversion on the input AC voltage and store it in the capacitors C1 and C2.

  When simulating the power running operation of the motor, the regenerative converter 62 is controlled to generate a voltage whose amplitude is larger than that of the AC power supply voltage and whose phase is delayed. In-phase current flows, energy is stored in the capacitor C <b> 1, and is supplied to the inverter 1 through the chopper circuit 6. That is, the inverter 1 is supplied with energy from the AC power source.

  On the other hand, the inverter 2 stores the energy supplied from the inverter 1 in the capacitor C2, and also controls the regenerative converter 63 to generate a voltage having a larger amplitude and a more advanced phase than the AC power supply voltage. , A current having a phase opposite to that of the AC voltage applied to the inductance 65 flows, and this current is returned to the AC power source through the transformer 61.

  When simulating the motor regenerative operation, the regenerative converter 62 generates a voltage whose amplitude is larger than that of the AC power supply voltage and whose phase is advanced in reverse to the above, so that a current opposite to the AC voltage applied to the inductance 64 is generated. Flowing. Further, the inverter 2 accumulates the energy from the regenerative converter 63 in the capacitor C2, and supplies this to the inverter 1 from the inverter 2.

  The power running operation and the regenerative operation of the motor described above are determined by the operation state of the inverter 1 and the motor simulation load device.

  Next, the configuration and operation of the motor simulation operation control unit 11 that is a characteristic part of the present invention will be described.

  In the motor simulation operation control unit 11 in the motor simulation device 10, the U-phase and W-phase currents iu and iw of the PWM1 signal output from the inverter 1 are detected by the current transformer 8, and the motor simulation operation control unit 11. Added to. Further, the PWM1 signal is detected by the motor simulated operation control unit 11 by detecting the phase voltages Vu and Vw through the Y (star) connection resistor 15 and the insulation amplifier 14.

Further, the motor simulation operation control unit 11 is inputted and set with an operation condition and motor characteristics of a motor as a load. The operating conditions are a desired angular rotation speed (motor rotation speed) ω and torque (load). Motor characteristics include motor constants and voltage / current equations (state equations). The motor constant is each component of the motor equivalent circuit. Motor constants in the case of a PM motor include: armature resistance R of the motor, d on the motor rotor, motor inductance Ld on the d axis in the q axis, motor inductance Lq on the q axis, motor induced voltage constant φa, And the inductance L of the reactor of the filter 7 is input. Inductance L _L and resistance _RL are input as constants of inductor (LL) 9 serving as a dummy load (however, constants converted on d and q axes).

  In the 2/3 phase conversion circuit (first 2/3 phase conversion circuit) 16A in the motor simulation operation control unit 11, the 3 phase → 2 phase conversion based on the current signals iu and iw taken from the current transformer 8 To calculate currents id and iq in the orthogonal coordinate system of the d axis and the q axis. Note that the rotation angle θ (simulation angle signal) of the rotor of the simulated motor necessary for the calculation of the three-phase → two-phase conversion is obtained by integrating the angular rotation speed command ω with the motor angle calculator 17. Here, the angular rotation speed command ω is determined by, for example, the configuration shown in FIG. 7 of Japanese Patent Application No. 2004-129428.

  Similarly, in the 2 / 3-phase conversion circuit (second 2 / 3-phase conversion circuit) 16B, three-phase to two-phase conversion is performed based on the voltage signals Vu and Vw captured from the insulation amplifier 14, and d, Voltages Vd and Vq in the q-axis orthogonal coordinate system are calculated. The rotor angle θ of the rotor of the simulated motor necessary for the calculation of the three-phase → two-phase conversion is obtained by integrating the angular rotation speed command ω with the motor angle calculator 17. The signals of the voltages Vd and Vq on the d and q axes are output to the M model current command calculation unit 18 and the L model current command calculation unit 19.

FIG. 2 is a diagram for explaining the M model current command calculation unit 18 and the L model current command calculation unit 19.
As shown in FIG. 2, in the motor simulation device of the present invention, the motor simulation device 10 and the inverter (device under test) 1 are connected, and a dummy load (LL) is connected to the output side of the inverter (device under test) 1. 9 is connected to prevent the output voltage of the inverter 1 from becoming unstable when the simulation motor is opened. In order to compensate the current I _LL flowing through the dummy load (LL) 9 in the motor simulation device 10, the motor simulation device 10 uses an M model current command calculation unit 18 that calculates a current command using an M model (motor model). In addition, an L model current command calculation unit 19 that calculates a current command using an L model (dummy load model) is provided.

Based on the output voltage V of the inverter 1, the M model current command calculation unit 18 generates a current command i ^* that should flow as a simulated motor using the M model described later. In addition, the L model current command calculation unit 19 generates a current command i _L ^* for compensating a current flowing through the dummy load 9 using an L model described later, based on the output voltage V of the inverter 1. The current command i ^* output from the M model current command calculation unit 18 and the current command i _L ^* output from the L model current command calculation unit 19 are added and input to the current control unit (ACR) 23. The current control unit (ACR) 23 generates an inverter output voltage command V ^* so that the current command (i _L ^* + i _L ^* ) and the current I flowing through the inverter 2 detected by the current transformer 8 coincide with each other. 2 output voltage is controlled.

  Next, a current command calculation method performed by the M model (motor model) and the M model current command calculation unit 18 described above will be described. As is well known, the voltage / current equation (M model) of the motor expressed by the rotating coordinate system d-axis and q-axis is expressed as follows in the case of a PM motor.

  Where Vd, Vq: d, q-axis armature voltage, id, iq: d, q-axis armature current, R: armature resistance, Ld, Lq: d, q-axis inductance, ω: angular rotation speed (Corresponding to the rotational speed N), P: d / dt, φa: armature interlinkage magnetic flux by a permanent magnet.

  For the sake of simplicity, if the transient term is ignored (the term of the differential operator P is ignored), the following equation is obtained.

  When the above equation is modified, the currents id and iq can be obtained from the voltages Vd and Vq by the following equations.

  That is, if the motor voltages Vd and Vq are known, the current that should flow to the motor (actually the inverter 2 serving as a simulated motor) can be determined based on the motor parameters and the motor operating conditions (for example, the rotational speed). it can.

Therefore, the M model current command calculation unit 18 obtains currents to flow to the simulated motor (inverter 2) as current commands id ^* and iq ^* from the voltages Vd and Vq based on the above equation (3).

On the other hand, the L model current command calculation unit 19 performs a calculation to obtain current commands i _L d ^* and I _L q ^* for flowing the compensation current of the current I _LL flowing through the dummy load (LL) 9 to the simulated motor. . The current commands i _L d ^* and I _L q ^* are obtained by the following equations.

When the above equation is modified, the currents i _L d and i _L q can be obtained from the voltages Vd and Vq according to the following equations.

Where R _L : d of dummy load, q-axis resistance, L _L : d, q-axis inductance of dummy load, ω: angular rotation speed

Accordingly, the L model current command calculation unit 19 obtains the currents that should flow to the simulated motor (inverter 2) from the voltages Vd and Vq as current commands i _L d ^* and i _L q ^* based on the above equation (6).

Further, as shown in FIG. 1, the current commands i _L d ^* and I _L q ^* obtained by the L model current command calculating unit 19 and the current commands id ^{* and} iq calculated by the M model current command calculating unit 18 are used. ^* Is added by the adder 21 to generate a current command id ^* + i _L d ^* on the d-axis and a current command iq ^* + i _L q ^* on the q-axis.

The added current commands id ^* + i _L d ^* and iq ^* + i _L q ^* are compared with the actual currents id and iq detected by the 2 / 3-phase conversion circuit 16A, and amplified by the error amplifiers 20A and 20B. , D, and q-axis voltage commands Vdo ^* and Vqo ^* . The voltage commands Vdo ^* and Vqo ^* on the d and q axes are output to the 2/3 phase conversion circuit (third 2/3 phase conversion circuit) 16C.

In the 2 / 3-phase conversion circuit 16C, two-phase to three-phase conversion is performed on the voltage commands Vdo ^* and Vqo ^* on the d and q axes, and the voltage commands Vou ^* and Vov ^{* for the} U, V, and W phases are performed ^. , Vow ^* is generated, and the inverter 2 is PWM controlled in accordance with the voltage commands Vou ^* , Vov ^* , Vow ^* . Note that the rotation angle θ of the rotor necessary for the calculation of the three-phase → two-phase conversion is obtained by integrating the angular rotation speed command ω with the motor angle calculator 17.

Thus, when the motor simulation device 10 operates as a motor simulation load, the motor voltage (the output voltage of the inverter 1) Vd and Vq is detected, and the current commands id ^* and iq ^* of the M model at this voltage are ( 3) Obtained from the voltage / current equation (state equation) of the equation (3), and obtained the L model current commands i _L d ^* and i _L q ^* from the voltage / current equation of the equation (6) and added them. The output voltage of the inverter 2 is controlled so that currents corresponding to id ^* + i _L d ^* and iq ^* + i _L q ^* flow.

  Further, the configuration example shown in FIG. 1 includes an angle sensor simulation control unit 12. This angle sensor simulation control unit 12 simulates the function of a resolver for detecting a rotation angle that rotates with the rotation shaft of the motor, and returns in response to an excitation signal from the angle sensor I / F in the inverter 1. Signals (sin θ, cos θ) are output. Thereby, the motor simulation device 10 can function as a simulated motor load with a resolver.

[Second Embodiment]
FIG. 3 is a diagram showing a second embodiment of the present invention. The configuration example shown in FIG. 3 is an example in which the motor simulation device 10A is configured to receive a signal including information on the phase θ of the output voltage from the inverter 1A of the device under test.

The inverter 1A of the device under test shown in FIG. 3 is a voltage type inverter and has a very general configuration. In this inverter 1A, the frequency command F is multiplied by the rotation direction (forward rotation: 1 or reverse rotation: −1) by the multiplier 31, and this is integrated by the integrator 32 to obtain the phase θ of the voltage signal, and the sin signal The generators 33A, 33B, and 33C generate sin signals (signals having a phase difference of 2π / 3) for each phase. Then, the multipliers 34A, 34B, and 34C multiply the sin signal of each phase and the voltage command to generate voltage command signals Vu ^* , Vv ^* , and Vw ^* for each phase, and the voltage command signals Vu ^* , Vv ^{* And} Vw ^* are PWM-modulated by the PWM circuit 35, and the switching element (eg, IGBT) of the main circuit 36 is turned on and off.

  Then, the inverter 1A outputs the U-phase sin θ signal generated from the sin signal generator 33A to the phase / frequency detection unit 13 in the motor simulation operation control unit 11A. In addition, the inverter 1 </ b> A generates a rotation direction signal (0: forward rotation, 1: reverse rotation) by the rotation direction signal generation circuit 37 and outputs the rotation direction signal to the phase / frequency detection unit 13.

  The phase / frequency detection unit 13 simulates the rotor angle θ and angle based on the U-phase sin θ signal received from the inverter 1A and the rotation direction signal (0: forward rotation, 1: reverse rotation). A signal of frequency (angular rotational speed) ω is generated. The other components of the motor simulation operation control unit 11A are the same as those shown in FIG.

  As described above, when a signal including information on the phase θ can be obtained from the inverter 1A to be tested, the motor simulation operation control unit 11A and the inverter 1A are synchronized based on the signal to obtain a load simulator for the inverter. It can be performed. Further, the dummy load (LL) 9 makes it possible to stably simulate the operation when the motor is opened.

[Third Embodiment]
FIG. 4 is a diagram showing a third embodiment of the motor simulation device of the present invention. The configuration example shown in FIG. 4 is an example in which an FF (feed forward) calculation unit 22 is newly added to the motor simulation operation control unit 11B as compared with the configuration example shown in FIG. In the case of a current control type inverter or the like, the response as a simulated motor is improved.

  Further, the voltage signal input to the 2/3 phase conversion circuit 16B is set to the line voltage Vuv, Vwu, and 30 ° is added to the phase θ (simulated motor rotor angle signal) obtained from the motor angle calculator 17, The Y-connection resistor 15 (see FIG. 1) is omitted so that the phase of the line voltage matches the phase of the phase voltage.

The FF operation unit 22 generates feedforward compensation signals Vd ′ and Vq ′ from the current feedback signals id and iq according to the following formula, and the feedforward compensation signals Vd ′ and Vq ′ are converted into voltage command signals Vdo ^* , Add to Vqo ^* .

That is, feedforward compensation signals Vd ′ and Vq ′ are generated by the equation (7) obtained by subtracting the inductance L of the filter 7 from the inductances Ld and Lq of the d and q axes, respectively, and these are generated as voltage command signals Vdo ^* and Vqo ^*. , The response of the output voltage of the inverter 2 can be accelerated, thereby improving the response as a motor simulation load. Further, the dummy load (LL) 9 makes it possible to stably simulate the operation when the motor is opened.

  As mentioned above, although embodiment of this invention was described, the motor simulation apparatus of this invention is not limited only to the above-mentioned example of illustration, A various change can be added in the range which does not deviate from the summary of this invention. Of course.

It is a figure which shows the structural example of 1st Embodiment of the motor simulation apparatus of this invention. It is a figure for demonstrating an M model current command calculating part and an L model current command calculating part. It is a figure which shows the structural example of 2nd Embodiment of the motor simulation apparatus of this invention. It is a figure which shows the structural example of 3rd Embodiment of the motor simulation apparatus of this invention. It is a figure which shows the structural example of the conventional inverter test apparatus for testing a current control type inverter. It is a figure which shows the structural example of the conventional inverter test apparatus for testing a voltage type inverter. It is a figure which shows the example of the motor simulation apparatus which does not depend on the control method of the inverter of a to-be-tested object.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1A ... Inverter (motor drive inverter of test object), 2 ... Inverter (simulated load inverter), 3 ... Commercial AC power supply, 4 ... Transformer, 5 ... Rectifier circuit, 6 ... Chopper circuit, 7 ... Filter, 8 ... Current transformer, 10, 10A, 10B, 10C ... Motor simulator, 11, 11A, 11B, 11C, 11D, 11E ... Motor simulation Operation control unit, 12 ... angle sensor simulation control unit, 13 ... phase / frequency detection unit, 14 ... insulation amplifier, 15 ... Y connection resistance, 16A, 16B, 16C ... 2/3 Phase conversion circuit, 17 ... motor angle calculator, 18 ... M model current command calculation unit, 19 ... L model current command calculation unit, 20A, 20B ... error amplifier, 21 ... adder , 22 ... FF (feed forward D) arithmetic unit, 23 ... current control unit, 31 ... multiplier, 32 ... integrator, 33A, 33B, 33C ... sin signal generator, 34A, 34B, 34C ... multiplier 35 ... PWM circuit, 36 ... main circuit, 37 ... rotation direction signal generation circuit, 61 ... transformer, 62 ... regenerative converter, 63 ... regenerative converter, 64 ... reactor (Inductance), 65 ... Reactor (Inductance)

Claims (13)

A motor simulator that connects a simulated load device to the output of a motor drive inverter that is a device under test, and uses the simulated load device as a simulated motor load of the motor drive inverter,
A dummy load connected between lines on the AC output side of the motor drive inverter and serving as an inductance load;
A current detector for detecting an output current of the motor driving inverter;
A voltage detector for detecting an output voltage of the motor drive inverter;
The operating conditions set for the simulated motor load and the parameters of the simulated motor characteristics are retained, and simulation is performed according to the voltage / current equation of the simulated motor based on the output voltage of the motor drive inverter detected by the voltage detector. An M model current command calculation unit that calculates a current command of a current that should flow as a motor;
While holding the parameters set for the dummy load, based on the output voltage of the motor drive inverter detected by the voltage detection unit, a current command to flow to the simulated motor as a compensation current for the current flowing to the dummy load An L model current command calculation unit to be calculated;
The current command calculated by the M model current command calculation unit and the current command calculated by the L model current command calculation unit are added, and the added current command matches the current detected by the current detection unit. A motor simulation operation control unit for controlling the output voltage of the simulation load device,
A motor simulation apparatus comprising: The simulated load device is:
A simulated load inverter to be a simulated load;
A reactor connected to the AC output side of the simulated load inverter,
The motor simulation device according to claim 1, wherein an AC output side of the simulated load inverter and an AC output side of the motor driving inverter are connected via the reactor. The simulated load inverter is configured to be a three-phase motor simulated load,
The motor simulation operation control unit
A motor angle calculation circuit for calculating the rotor angle θ of the simulated motor from the angular rotation speed command signal ω input to the motor simulation operation control unit;
Based on the three-phase output current of the motor drive inverter and the rotor angle θ, the first three-phase-2 that converts the three-phase output current into currents id and iq on the d and q axes of the rotor. A phase conversion circuit;
Based on the three-phase output voltage of the inverter for driving the motor and the rotor angle θ, a second three-phase-2 that converts the three-phase output voltage into voltages Vd and Vq on the d and q axes of the rotor. A phase conversion circuit;
An M model current command calculation unit for obtaining currents to flow through the simulated motor as current commands id ^* and iq ^* on the d and q axes based on the voltages Vd and Vq and the voltage / current equation of the simulated motor;
Based on the voltages Vd and Vq and the parameters of the dummy load, an L model current command for obtaining currents i _L d ^* and i _L q ^* on the d and q axes as currents to flow through the simulated motor as compensation currents An arithmetic unit;
The current commands id ^* and iq ^* output from the M model current command calculation unit and the current commands i _L d ^* and i _L q ^* output from the L model current command calculation unit are added and added. An adder for generating current commands id ^* + i _L d ^* , iq ^* + i _L q ^* ;
An error amplifying circuit that compares the current commands id ^* + i _L d ^* , iq ^* + i _L q ^* with the currents id, iq, respectively, and generates voltage commands Vdo ^* , Vqo ^* on the d and q axes;
A two-phase to three-phase conversion circuit that generates control command signals Vou ^* , Vov ^* , Vow ^* for the three-phase output voltage of the simulated load inverter based on the voltage commands Vdo ^* , Vqo ^* on the d and q axes. When,
The motor simulation apparatus according to claim 2, further comprising: Instead of the motor angle calculation circuit,
A phase / frequency detector that obtains a signal including phase information of the output voltage from the motor drive inverter and generates the rotor angle θ and the angular rotation speed signal ω of the simulated motor based on the signal is provided. The motor simulation apparatus according to claim 3. An angle sensor simulation control unit that generates a simulation signal of a rotor angle sensor based on the rotor angle θ of the simulation motor obtained from the motor angle calculation circuit and outputs the simulation signal to the motor driving inverter is provided. The motor simulation device according to claim 3. When simulating a PM motor as the simulation motor, the M model current command calculation unit

Where R: armature resistance, Ld, Lq: d, q-axis inductance, ω: angular rotation speed, φa: armature flux linkage by permanent magnet, p: differential operator,
6 to obtain id and iq from the output voltages Vd and Vq of the inverter for driving the motor, and obtain them as the current commands id ^* and iq ^*. The motor simulation apparatus in any one of. When simulating a PM motor as the simulation motor, when obtaining the current commands id ^* and iq ^* from the output voltages Vd and Vq of the motor drive inverter by the M model current command calculation unit,
id ^* = {R · Vd + ω · Lq (Vq−ω · φa)} / (R ² + ω ² · Ld · Lq),
iq ^* = {− ω · Ld · Vd + R (Vq−ω · φa)} / (R ² + ω ² · Ld · Lq),
Here, R: armature resistance, Ld, Lq: d, q-axis inductance, ω: angular rotation speed, φa: armature flux linkage by permanent magnet,
The motor simulation device according to claim 3, wherein the motor simulation device is obtained as follows. When obtaining the current commands i _L d ^* and i _L q ^* from the output voltages Vd and Vq of the motor drive inverter by the L model current command calculation unit,
i _L d ^* = {R _L · V d + ω · L _L · V q)} / (R ² + ω ² · L _L ² ),
i _L q ^* = {− ω · L _L · Vd + R _L · Vq)} / (R ² + ω ² · L _L ² ),
Here, R _L is d and q-axis resistance of dummy load, L _L is d and q-axis inductance of dummy load, and ω is angular rotation speed. The motor simulation device according to any one of the above. Based on d and q-axis currents id and iq obtained by the first three-phase to two-phase conversion circuit, d and q-axis voltage commands Vdo ^* and Vqo ^* generated by the error amplifier, respectively. The motor simulation device according to claim 3, further comprising a feedforward calculation unit that generates compensation signals Vd ′ and Vq ′ for addition to the signal. Compensation signals Vd ′ and Vq ′ to be added to the voltage commands Vdo ^* and Vqo ^* by the feedforward calculation unit,

Here, R: armature resistance, Ld, Lq: d, q axis inductance, ω: angular rotation speed, φa: armature interlinkage magnetic flux by permanent magnet, L: between motor driving inverter and simulated load inverter Inductance connected to, p: differential operator,
The motor simulation device according to claim 9, wherein the motor simulation device is obtained by the following equation. Compensation signals Vd ′ and Vq ′ to be added to the voltage commands Vdo ^* and Vqo ^* by the feedforward calculation unit,
Vd ′ = R · id−ω (Lq−L) iq,
Vq ′ = ω · (Ld−L) · id + R · iq + ω · φa,
Here, R: armature resistance, Ld, Lq: d, q axis inductance, ω: angular rotation speed, φa: armature interlinkage magnetic flux by permanent magnet, L: between motor driving inverter and simulated load inverter Inductance connected to,
The motor simulation device according to claim 9, wherein the motor simulation device is obtained by: When the voltage signals Vd and Vq on the d and q axes are generated by the second three-phase to two-phase conversion circuit,
The three-phase line voltage of the motor drive inverter;
A phase signal obtained by adding 30 ° to the rotor angle of the simulated motor;
As the input signal
The motor simulation device according to claim 3, wherein the motor simulation device is configured to calculate the voltage signals Vd and Vq on the d and q axes. A motor simulation method in a motor simulation device in which a simulated load device is connected to an output of a motor drive inverter that is a device under test, and the simulated load device is a simulated motor load of the motor drive inverter,
A dummy load installation procedure for installing a dummy load to be an inductance load between the lines on the AC output side of the motor drive inverter;
A current detection procedure for detecting an output current of the motor drive inverter;
A voltage detection procedure for detecting an output voltage of the motor drive inverter;
The operating conditions set for the simulated motor load and the parameters of the simulated motor characteristics are retained, and simulation is performed in accordance with the voltage / current equation of the simulated motor based on the output voltage of the motor drive inverter detected by the voltage detection procedure. An M model current command calculation procedure for calculating a current command of a current that should flow as a motor;
While holding the parameters set for the dummy load, based on the output voltage of the motor drive inverter detected by the voltage detection procedure, a current command to flow to the simulated motor as a compensation current for the current flowing to the dummy load An L model current command calculation procedure to be calculated;
The current command calculated by the M model current command calculation procedure is added to the current command calculated by the L model current command calculation procedure, and the added current command matches the current detected by the current detection procedure. A motor simulation operation control procedure for controlling the output voltage of the simulated load device,
The motor simulation method characterized by including.

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