JP2009060688A - Controller for synchronous motors - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To drive a permanent-magnet synchronous motor at variable speed by vector control without position sensor without the influence of armature resistance. <P>SOLUTION: In a controller for synchronous motors, an adaptive current observer 110 estimates armature current based on a model of an embedded permanent-magnet synchronous motor 101. An inverse transfer function matrix computing means 111 carries out the following processing based on an inverse matrix of transfer functions up to the deviation between detections values and estimate values on the γ and δ axes of armature current: it separates the deviation of γ- and δ-axis currents to a component in proportion to angular error and a component in proportion to resistance error. Then the computing means outputs an estimated angular error Δθ<SB>#</SB>and an estimated resistance error ΔR<SB>S#</SB>. An angle-speed-primary resistance estimator 112 computes the following based on the estimated angular error Δθ<SB>#</SB>and the estimated resistance error ΔR<SB>S#</SB>output from the inverse transfer function matrix computing means 111: an estimated speed value ω<SB>r#</SB>=ω<SB>1</SB>, an estimated angle value θ<SB>#</SB>, and an estimated armature resistance value R<SB>S#</SB>. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a control apparatus for a synchronous motor, and is particularly suitable for application to a control method for driving a permanent magnet synchronous motor at a variable speed by position sensorless vector control.

  Permanent magnet synchronous motors have the advantage of being smaller and more efficient than induction motors, and are applied to transportation fields such as electric vehicles and railway vehicles as well as elevators. In particular, an electric motor drive device in a transportation field such as a railway vehicle is required to be capable of variable speed operation and torque control in a wide range from a very low speed to a weak field operation range. As such a permanent magnet synchronous motor control method, Non-Patent Document 1 discloses a method of realizing permanent magnet synchronous motor speed sensorless vector control by using an observer for estimating magnetic flux.

FIG. 4 is a block diagram showing a schematic configuration of a conventional synchronous motor control device.
In FIG. 4, the embedded permanent magnet synchronous motor 001 is connected to a synchronous motor control device 000 that drives the embedded permanent magnet synchronous motor 001 at a variable speed, and is connected to the rotating shaft of the embedded permanent magnet synchronous motor 001. Is connected to a load 002.
Here, the synchronous motor control device 000 includes a power conversion device 004, a rotating two-phase / three-phase coordinate converting unit 005, a three-phase / rotating two-phase coordinate converting unit 006, a current control unit 007, and a current command value creating unit 008. , A speed PID adjuster 009, an armature current magnetic flux observer 010, an angle error calculating means 011, a speed / angle calculating means 012 and subtractors 013, 014, 015 are provided on the output side of the synchronous motor control device 000. Current detecting means 003 for detecting the UVW phase currents i _u , i _v , i _w supplied to the embedded permanent magnet synchronous motor 001 is provided.

The subtractor 013 can calculate a deviation between the speed command value ω ^* given to the control device 000 for the synchronous motor and the estimated speed value ω _{r #} output from the speed / angle calculation unit 012.
Speed PID controller 009, the deviation between the output velocity command value omega ^* and the speed estimated value omega _{r #} subtractor 013 so that the zero velocity command value omega ^* and the speed estimated value omega _{r #} and the The torque command value T ^* can be calculated by performing the PID calculation of the deviation.

The current command value creating means 008 can calculate the current command values iγ ^* and iδ ^* of the γδ axis based on the torque command value T ^* output from the speed PID adjuster 009. The axis estimated as the direction parallel to the magnetic pole of the magnet of the embedded permanent magnet synchronous motor 001 was taken as the γ axis, and the direction perpendicular to the γ axis was taken as the δ axis.
The three-phase / rotation two-phase coordinate conversion unit 006 performs a speed / angle calculation after the two-phase conversion of the detected values of the UVW phase currents i _u , i _v , i _w detected by the current detection unit 003 on the αβ axis. By performing rotational coordinate conversion of the estimated angle value θ _# output from the means 012, current detection values iγ and iδ on the γδ axis can be calculated.

The subtracters 014 and 015 are the deviations between the current command values iγ ^* and iδ ^* output from the current command value creation unit 008 and the detected current values iγ and iδ output from the three-phase / rotation two-phase coordinate conversion unit 006. Can be calculated respectively.
The current control unit 007 is configured to output a voltage command value vγ ^* on the γδ axis so that a deviation between the current command values iγ ^* and iδ ^* output from the subtracters 014 and 015 and the detected current values iγ and iδ becomes zero. vδ ^* can be calculated.

The rotating two-phase / three-phase coordinate conversion unit 005 performs reverse rotation conversion of the voltage command values vγ ^* and vδ ^* of the γδ axis based on the estimated angle value θ _# output from the speed / angle calculation unit 012 to obtain a fixed two-phase. The voltage command values v _u , v _v , and v _w can be calculated by performing the two-phase / three-phase conversion after the conversion to the above value.
The power conversion device 004 drives the embedded permanent magnet synchronous motor 001 based on the voltage command values v _u , v _v , v _w output from the rotating two-phase / three-phase coordinate conversion unit 005, thereby The permanent magnet synchronous motor 001 can be controlled at a variable speed.

The armature current magnetic flux observer 010 is based on the voltage command values vγ ^* and vδ ^* output from the current control means 007, and the value uγδ obtained by subtracting the voltage drop at the resistance. A child current magnetic flux (a magnetic flux generated by a current flowing through the stator winding) is estimated, and a deviation between the armature current estimated magnetic flux λγδ _# and the apparent armature current magnetic flux λγδ ^* can be calculated.

The angle error calculation means 011 calculates the angle error Δθ of the magnetic pole position based on the deviation between the armature current estimated magnetic flux λγδ _# output from the armature current magnetic flux observer 010 and the apparent armature current magnetic flux λγδ ^*. Can do.
The speed / angle calculating unit 012 can calculate the estimated speed value ω _{r #} and the estimated angle value θ _# based on the angular error Δθ output from the angular error calculating unit 011.

When the speed command value ω ^* is given to the synchronous motor control device 000, the difference between the speed command value ω ^* and the estimated speed value ω _{r #} output from the speed / angle calculation means 012 is the subtractor 013. And output to the speed PID adjuster 009. Then, the speed PID adjuster 009 performs PID calculation so that the deviation between the speed command value ω ^* and the speed estimated value ω _{r #} becomes zero, and sends the torque command value T ^* to the current command value creating means 008. Outputs the value T ^* . Then, the current command value preparing unit 008 receives the torque command value T ^* from the speed PID controller 009, a current command value i? ^* Based on the torque command value T ^*, calculates i? ^*, A subtracter 014,015 Respectively.

On the other hand, the current detection means 003 detects the UVW phase currents i _u , i _v , i _w supplied to the embedded permanent magnet synchronous motor 001 and sends the detected values to the three-phase / rotation two-phase coordinate conversion means 006. Output. Then, the three-phase / rotation two-phase coordinate conversion means 006 converts the detected values of the UVW phase currents i _u , i _v , i _w into the two-phase conversion of the αβ axis, and then outputs the angle output from the speed / angle calculation means 012 By performing rotational coordinate conversion of the estimated value θ _# , current detection values iγ and iδ are calculated and output to the subtracters 014 and 015, respectively.

Then, the subtracter 014,015, the current command value i? ^*, I? ^* And the current detection value i?, Receives the i?, Respectively, the current command value i? ^*, I? ^* And the current detection value i?, The deviation between the i?, Respectively Calculate and output to the current control means 007. Then, the current control unit 007, current command value i? ^{*,? *} And the current detection value i?, The voltage command value so that the deviation between the i? Is zero v? ^*, Calculates v? ^*, Rotating two-phase / three-phase It outputs to the coordinate conversion means 005.

The rotary two-phase / three-phase coordinate conversion unit 005, the voltage command values v? ^*, Receives the v? ^*, The voltage command value based on the output from the speed and angle calculating means 012 angle estimate theta _# v? ^*, The voltage command values v _u ^* , v _v ^* , and v _w ^* are calculated by performing two-phase three-phase conversion after reverse rotation conversion of vδ ^* and conversion to a fixed two-phase value, and the power conversion device 004 Output to. Then, the power conversion device 004 drives the embedded permanent magnet synchronous motor 001 based on the voltage command values v _u ^* , v _v ^* , v _w ^* to change the embedded permanent magnet synchronous motor 001 to a variable speed. Control.

In addition, the current detection values iγ and iδ calculated by the three-phase / rotation two-phase coordinate conversion unit 006 are output to the armature current magnetic flux observer 010 and the voltage command value vγ ^* calculated by the current control unit 007 ^. , Vδ ^* is output to the armature current magnetic flux observer 010. The armature current flux observer 010 calculates the following equation (1) based on the voltage command values vγ ^* and vδ ^* output from the current control means 007 and the value uγδ obtained by subtracting the voltage drop at the resistor. To estimate the armature current magnetic flux of the embedded permanent magnet synchronous motor 001 and output the deviation between the armature current estimated magnetic flux λγδ _# and the apparent armature current magnetic flux λγδ ^* to the angle error calculating unit 011 To do.

However,
uγδ: value obtained by subtracting the voltage drop due to resistance from the biaxial inverter voltage p: differential operator λγδ _# : biaxial armature current estimation magnetic flux ω ₁ : speed estimated value (= ω _{r #} ) (primary frequency and equal)
Φ _m : Magnet magnetic flux (αI−Jω ₁ ): Feedback gain λγδ ^* of armature current magnetic flux observer 010: Apparent armature current magnetic flux of two axes. In the expression (1), the complex number display is represented by a matrix display. Also,

である。ただし、
Ｌ_d：ｄ軸インダクタンス
Ｌ_q：ｑ軸インダクタンス
Ｒ_S：電機子抵抗
である。

It is. However,
L _d : d-axis inductance L _q : q-axis inductance R _S : armature resistance.

In equation (1), the armature current flux observer 010 receives as input the voltage command values vγ ^* and vδ ^* output from the current control means 007 and a value uγδ obtained by subtracting the voltage drop at the resistor. Magnetic flux λγδ _# can be calculated. In the equation (2), the armature current flux observer 010 calculates an apparent armature current flux λγδ ^* and calculates a deviation (λγδ _# −λγδ ^* ) from the armature current estimated flux λγδ _# as an angular error calculating means. 011 can be output.
Then, upon receiving the deviation (λγδ _# −λγδ ^* ) between the armature current estimated magnetic flux λγδ _# and the apparent armature current magnetic flux λγδ ^* , the angle error calculating means 011 calculates the angle error Δθ of the magnetic pole position, and the velocity Output to angle calculation means 012
Here, when the embedded permanent magnet synchronous motor 001 is in a steady state (when the angle error Δθ is small), the angle error calculation unit 011 uses the γ-axis component of the magnetic flux estimation error to obtain the following (3). The angle error Δθ can be obtained by the equation.

  Further, when the embedded permanent magnet synchronous motor 001 is in the starting state (when the angle error Δθ is large), the angle error calculation unit 011 can obtain the angle error Δθ by the following equation (4).

Upon receiving the angle error Δθ, the speed / angle calculation means 012 calculates the speed estimated value ω _{r #} and the angle estimated value θ _# , outputs the speed estimated value ω _{r #} to the subtractor 013, and also estimates the angle. By outputting the value θ _# to the rotating two-phase / three-phase coordinate converting means 005 and the three-phase / rotating two-phase coordinate converting means 006, an embedded permanent magnet synchronous motor can be used without using a position sensor for detecting the magnetic pole position. 001 can be driven at a variable speed.
Here, the speed / angle calculating means 012 can obtain the speed estimated value ω _{r #} = ω ₁ by the following equation (5).

Further, the speed / angle calculating means 012 can obtain the estimated angle value θ _# by the following equation (6).

Satoshi Murakami, Hiroki Kanno, Kenji Kamai, Yoichi Hayashi, Tetsuya Fukumoto: "Design method of permanent magnet synchronous motor speed sensorless vector control system using adaptive observer", IEEJ Semiconductor Power Conversion Study Group, SPC-02-85

However, in the method using the armature current magnetic flux observer 010 in FIG. 4 in order to calculate the estimated speed value ω _{r #} and the estimated angle value θ _# , the value uγδ obtained by subtracting the voltage drop at the resistor from the inverter voltage is Since this is an input to the child current magnetic flux observer 010, there is a problem that an error occurs in the estimated angle value θ _# when the armature resistance fluctuates. In particular, at a low speed, the ratio of the voltage drop due to the armature resistance in the output voltage increases, so the error of the armature resistance has a large effect on the estimated angle value θ _# , and the torque accuracy at the low speed is deteriorated.
Accordingly, an object of the present invention is to provide a synchronous motor control device capable of driving a permanent magnet synchronous motor at a variable speed by position sensorless vector control without being affected by armature resistance.

  In order to solve the above-described problem, according to the control apparatus for a synchronous motor according to claim 1, the armature current is estimated based on the current detection means for detecting the armature current of the synchronous motor and the model of the synchronous motor. An adaptive current observer, and an inverse matrix of a transfer function from an angle estimation error of an axis deviation and a resistance estimation error of an armature to a deviation between the detected value and the estimated value of the two axes of the armature current, Based on the component proportional to the angle error separated by the inverse transfer function matrix calculating means and the inverse transfer function matrix calculating means for separating the current deviation of the current into a component proportional to the angle error and a component proportional to the resistance error A position estimator that estimates the magnetic pole position, and a power converter that performs variable speed control of the synchronous motor based on a voltage command value generated using the estimated magnetic pole position.

Further, according to the control apparatus for a synchronous motor according to claim 2, further comprising a resistance estimator that estimates an armature resistance based on a component proportional to a resistance error separated by the inverse transfer function matrix calculating unit, The adaptive current observer estimates the armature current based on the armature resistance estimated by the resistance estimator.
According to the control apparatus for a synchronous motor according to claim 3, the current detection means for detecting the armature current of the synchronous motor, the adaptive current observer for estimating the armature current based on the model of the synchronous motor, A stabilization compensator that extracts a component that is proportional only to the resistance error and a component that includes an angle error from the deviation between the detected value and the estimated value of the two axes of the armature current, and is extracted by the stabilization compensator. A position estimator for estimating a magnetic pole position based on a component including an angle error, a resistance estimator for estimating an armature resistance based on a component proportional only to the resistance error extracted by the stabilization compensator, and And a power converter that performs variable speed control of the synchronous motor based on a voltage command value generated using the estimated magnetic pole position.

According to the control apparatus for a synchronous motor as set forth in claim 4, the adaptive current observer estimates an armature current based on an armature resistance estimated by the resistance estimator.
According to the control apparatus for a synchronous motor as set forth in claim 5, the gain of the adaptive current observer is set so that the relationship between the angle error and the deviation between the detected value of the two axes and the estimated value becomes a DC amount. It is characterized by being.

  As described above, according to the present invention, by using the inverse matrix of the transfer function up to the deviation between the two-axis detected value and the estimated value of the armature current, the component proportional to the angle error and the resistance error are proportional. Since the permanent magnet synchronous motor can be driven at a variable speed by position sensorless vector control while simultaneously identifying the armature resistance, the armature resistance fluctuates. Even in this case, the position accuracy in the low speed region can be improved.

In addition, by extracting the component proportional to the angle error and the component proportional only to the resistance error from the deviation between the detected value and the estimated value of the two axes of the armature current, the resistance error can be reduced without depending on the angle error. When the armature resistance fluctuates, the permanent magnet synchronous motor can be driven at a variable speed by position sensorless vector control while estimating the armature resistance independently of the angle error. However, the positional accuracy in the low speed range can be improved.
Furthermore, when controlling an embedded permanent magnet synchronous motor, the gain of the angle estimation system can be made constant regardless of the operating conditions by adjusting the gain of the adaptive current observer, and the response of the speed estimation is A control device for a synchronous motor can be configured so as not to be affected by operating conditions.

Hereinafter, a control apparatus for a synchronous motor according to an embodiment of the present invention will be described with reference to the drawings.
FIG. 1 is a block diagram showing a schematic configuration of a synchronous motor control device according to a first embodiment of the present invention.
In FIG. 1, a controller 100 for a synchronous motor that drives the embedded permanent magnet synchronous motor 101 at a variable speed is connected to the embedded permanent magnet synchronous motor 101. Is connected to a load 102.

Here, the synchronous motor control device 100 includes a power conversion device 104, a rotating two-phase / three-phase coordinate converting means 105, a three-phase / rotating two-phase coordinate converting means 106, a current control means 107, and a current command value creating means 108. , A speed PID adjuster 109, an adaptive current observer 110, an inverse transfer function matrix calculating means 111, an angle / speed / primary resistance estimator 112, and subtractors 113, 114, 115 are provided on the output side of the synchronous motor control device 100 Are provided with current detection means 103 for detecting the UVW phase currents i _u , i _v , i _w supplied to the embedded permanent magnet synchronous motor 101.

  Note that the power converter 104, the rotating two-phase / three-phase coordinate converting means 105, the three-phase / rotating two-phase coordinate converting means 106, the current control means 107, the current command value creating means 108, the speed PID adjuster 109, and the subtractor 113. , 114, 115 are the power conversion device 004, rotating two-phase / three-phase coordinate converting means 005, three-phase / rotating two-phase coordinate converting means 006, current control means 007, current command value creating means 008, speed PID. The same operation as that of the adjuster 009 and the subtracters 013, 014, and 015 can be performed.

The adaptive current observer 110 can estimate the armature current based on the model of the embedded permanent magnet synchronous motor 101. Here, when the adaptive current observer 110 estimates the armature current, the armature resistance estimated value R _{S #} estimated by the angle / speed / primary resistance estimator 112 is used as a model of the embedded permanent magnet synchronous motor 101. Can be used as parameters.
The inverse transfer function matrix calculating means 111 calculates the deviation between the axis deviation angle estimation error Δθ _# and the armature resistance estimation error ΔR _{S #} to the deviation between the current detection values iγ, iδ and the current estimation values iγ _# , iδ _# on the γδ axis. Is separated into a component proportional to the angle error and a component proportional to the resistance error, and an angle estimation error Δθ _# and a resistance estimation error ΔR _{S #} are output. be able to.

The angle / velocity / primary resistance estimator 112 uses the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} output from the inverse transfer function matrix calculation unit 111 to estimate the speed ω _{r #} = ω ₁ , angle estimation The value θ _# and the armature resistance estimated value R _{S #} can be calculated.
The detected current values iγ and iδ calculated by the three-phase / rotating two-phase coordinate conversion means 106 are output to the adaptive current observer 110 and the voltage command values vγ ^* and vδ calculated by the current control means 107 are output. ^* Is output to the adaptive current observer 110. Further, the armature resistance estimated value R _{S #} calculated by the angle / speed / primary resistance estimator 112 is output to the adaptive current observer 110.

Then, the adaptive current observer 110 uses the state equations relating to the current detection values iγ, iδ on the γδ axis and the current estimation values iγ _# , iδ _# on the γδ axis, thereby detecting the current detection values iγ, iδ on the γδ axis and the γδ axis. Deviations (hereinafter also referred to as current errors) from the current estimated values iγ _# and iδ _# are calculated and output to the inverse transfer function matrix calculating unit 111.
Here, the equation of state regarding the current detection values iγ and iδ on the γδ axis and the current estimation values iγ _# and iδ _# on the γδ axis can be expressed by the following equation (7).

However,
i γ _# , i δ _# : current estimated value R _{s # of the} γδ axis: armature resistance estimated values g ₁₁ , g ₁₂ , g ₂₁ , g ₂₂ : feedback gain of the adaptive current observer 110. Further, the feedback gain of the adaptive current observer 110 can be given by the following equation (8).

However,
g _c : Control variable that determines the pole of (positive value)
It is.
When the inverse transfer function matrix calculation means 111 receives the deviation between the detected current values iγ and iδ on the γδ axis and the estimated current values iγ _# and iδ _{# on} the γδ axis, the estimated value and the detected value on the γδ axis of the armature current are estimated. Based on the inverse matrix of the transfer function up to the deviation from the value, the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} are calculated and output to the angle / speed / primary resistance estimator 112.
Here, when it can be considered that the inverter output frequency and the rotational speed of the embedded permanent magnet synchronous motor 101 coincide with each other, the current detection values iγ and iδ on the γδ axis are calculated from the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #.} And the inverse matrix of the transfer function up to the deviation between the current estimated values iγ _# and iδ _# of the γδ axis can be given by the following equation (9).

However, the coefficients B _{11 to} B ₂₂ can be set as in the following equation (10).

On the other hand, when the inverter output frequency and the rotational speed of the embedded permanent magnet synchronous motor 101 are different, the error between the primary frequency and the rotational speed is taken into account, and the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} are The inverse matrix of the transfer function up to the deviation between the detected current values iγ, iδ on the γδ axis and the estimated current values iγ _# , iδ _# on the γδ axis can be given by the following equation (11).

However, the coefficients B _{11 to} B ₂₂ can be set as in the following expression (12).

Further, in the equation (11), the relationship between the coefficients B _{11 to} B ₂₂ can be given by the following equation (13).

  For this reason, when the relationship of the following (14) Formula is satisfy | filled, (11) Formula can be made into the same form as (9) Formula.

ただし、過渡的な状態を考慮すると、逆伝達関数行列算出手段１１１にて算出される伝達関数の逆行列および実際の角度θから角度推定値θ_#までの閉ループ伝達関数の中に不安定な極が存在しないようにする必要がある。
このため、ｍ₀≧０の場合、ｆ（ｍ₀）＝１、ｍ₀＜０の場合、ｆ（ｍ₀）＝−１とすることができる。また、ｍ₀ｍ₁≧０の場合、ｈ₁＝｜ｍ₁｜、ｈ₀＝｜ｍ₀｜、ｍ₀ｍ₁＜０の場合、ｈ₁＝｜ｍ₀｜＋｜ｍ₀｜｜ｍ₁｜ｋ´とすることができる。

However, in consideration of a transient state, an unstable pole is included in the inverse matrix of the transfer function calculated by the inverse transfer function matrix calculating unit 111 and the closed loop transfer function from the actual angle θ to the estimated angle θ _#. Need to be absent.
Therefore, in the case of m ₀ ≧ 0, when the _{f (m 0) = 1,} m 0 <0, f (m 0) = - can be 1 to. When m ₀ m ₁ ≧ 0, h ₁ = | m ₁ |, h ₀ = | m ₀ |, and when m ₀ m ₁ <0, h ₁ = | m ₀ | + | m ₀ || m ₁ | k ′.

Hereinafter, the point that the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} can be estimated simultaneously by using the inverse matrix of the transfer function calculated by the inverse transfer function matrix calculating unit 111 will be described.
First, when the γδ axis of the synchronous motor control device 100 has an angle error Δθ from the dq axis of the embedded permanent magnet synchronous motor 001, the state equation of the embedded permanent magnet synchronous motor 001 viewed from the γδ axis is as follows: It can be given by equation (15).

  However, C is a rotational coordinate transformation matrix for converting the amount of the dq axis into the γδ axis, and can be given by the following equation (16). When Δθ> 0, the γδ axis is delayed by Δθ compared to the dq axis of the embedded permanent magnet synchronous motor 001.

  When the equation (7) is subtracted from the equation (15), an error equation can be given by the following equation (17).

Note that F ₁ (x) and F ₂ (x) are 2 × 2 matrices including a trigonometric function with the angle error Δθ as a variable.
Here, in F ₁ (x) and F ₂ (x), they are approximated as cos Δθ = cos ₂ Δθ = 1, sin Δθ = Δθ, and sin 2Δθ = 2Δθ. Further, when Δω = d / dtΔθ and the value of the equation (8) is used as the feedback gain of the adaptive current observer 110, the equation (17) can be rewritten as the following equation (18).

However, the coefficients B _{11 to} B ₂₂ can be set as shown in Equation (12). In this case, the characteristic equation of the feedback gain of the adaptive current observer 110 can be given by the following equation (19), and the adaptive current observer 110 operates stably.

Then, by using the equation (18), as shown in the following equation (20), the deviation between the detected current values iγ, iδ of the γδ axis and the estimated current values iγ _# , iδ _# of the γδ axis, the angle error Δθ And the relationship of armature resistance estimation error (R _S −R _{S #} ).

Then, by substituting the equation (20) into the equation (9), the angle estimation error Δθ _# when the deviation between the detected current values iγ, iδ of the γδ axis and the estimated current values iγ _# , iδ _# of the γδ axis is eliminated, and When the resistance estimation error ΔR _{S #} is obtained, it can be expressed by the following equation (21), and the output from the angle error and the resistance error to the inverse transfer function can be expressed by a first-order lag system.

When the angle / velocity / primary resistance estimator 112 receives the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} , the speed estimation value ω _{r # is} obtained by using the following equations (22) to (24). = Ω ₁ , estimated angle value θ _#, and estimated armature resistance value R _{S #} can be calculated.
The angle / speed / primary resistance estimator 112 calculates the speed estimated value ω _{r #} = ω ₁ , the angle estimated value θ _# and the armature resistance estimated value R _{S #} , and then subtracts the speed estimated value ω _{r #} . 113, the estimated angle value θ _# is output to the rotating two-phase / three-phase coordinate converting means 105 and the three-phase / rotating two-phase coordinate converting means 106, and the armature resistance estimated value R _{S #} is output to the adaptive current observer 110. The adaptive current observer 110 can accurately output a current error proportional to the angle error Δθ.

However,
Kθ _p : proportional gain of speed estimator Kθ _i : integral gain of speed estimator K _Rp : proportional gain of resistance estimator K _Ri : integral gain of resistance estimator
Thus, a component proportional to the component and the resistance error is proportional to the angular error and separated can be estimated, the armature resistance R _s simultaneously identified while the position sensorless vector embedded permanent magnet type synchronous motor by the control 101 can be driven at a variable speed, so that the position accuracy in the low speed region can be improved even when the armature resistance R _s varies.

FIG. 2 is a block diagram showing a schematic configuration of the synchronous motor control device according to the second embodiment of the present invention.
In FIG. 2, the embedded permanent magnet synchronous motor 201 is connected to a synchronous motor control device 200 that drives the embedded permanent magnet synchronous motor 201 at a variable speed, and is connected to the rotating shaft of the embedded permanent magnet synchronous motor 201. Is connected to a load 202.
Here, the synchronous motor control device 200 includes a power conversion device 204, a rotating two-phase / three-phase coordinate converting means 205, a three-phase / rotating two-phase coordinate converting means 206, a current control means 207, and a current command value creating means 208. , A speed PID adjuster 209, an adaptive current observer 210, a stabilization compensator 211, an angle / speed / primary resistance estimator 212, and subtractors 213, 214, and 215 are provided on the output side of the synchronous motor controller 200. Current detecting means 203 for detecting the UVW phase currents i _u , i _v , i _w supplied to the embedded permanent magnet synchronous motor 201 is provided.

  The power conversion device 204, the rotating two-phase / three-phase coordinate converting means 205, the three-phase / rotating two-phase coordinate converting means 206, the current control means 207, the current command value creating means 208, the speed PID adjuster 209, and the subtractor 213 , 214, and 215 are the power conversion device 004, the rotating two-phase / three-phase coordinate converting means 005, the three-phase / rotating two-phase coordinate converting means 006, the current control means 007, the current command value creating means 008, and the speed PID. The same operation as that of the adjuster 009 and the subtracters 013, 014, and 015 can be performed.

The adaptive current observer 210 can estimate the armature current based on the model of the embedded permanent magnet synchronous motor 201. Here, when the adaptive current observer 210 estimates the armature current, the armature resistance estimated value R _{S #} estimated by the angle / speed / primary resistance estimator 212 is used as the model of the embedded permanent magnet synchronous motor 201. Can be used as parameters. Further, the gain of the adaptive current observer 210 can be set so that the relationship between the angular error Δθ, the detected current values iγ, iδ, and the torque axis component of the deviation between the estimated current values iγ _# , iδ _# is a DC amount. .

The stabilization compensator 211 extracts a component that is proportional only to the resistance error and a component that includes an angle error from the deviation between the current detection values iγ and iδ of the γδ axis and the current estimation values iγ _# and iδ _# to obtain an angle estimation error. Δθ _# and resistance estimation error ΔR _{S #} can be output.
Based on the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} output from the stabilization compensator 211, the angle / velocity / primary resistance estimator 212 determines the estimated speed value ω _{r #} = ω ₁ and the estimated angle value θ. _{# And} armature resistance estimated value R _{S #} can be calculated.

Then, the current detection values iγ and iδ calculated by the three-phase / rotation two-phase coordinate conversion unit 206 are output to the adaptive current observer 210 and the voltage command values vγ ^* and vδ calculated by the current control unit 207 are output. ^* Is output to the adaptive current observer 210. Further, the armature resistance estimated value R _{S #} calculated by the angle / speed / primary resistance estimator 212 is output to the adaptive current observer 210.

Then, the adaptive current observer 210 uses the state equations relating to the current detection values iγ, iδ and the current estimation values iγ _# , iδ _# of the γδ axis of the γδ axis, thereby detecting the current detection values iγ, iδ of the γδ axis and the γδ axis. Deviations from the estimated current values i γ _# and i δ _# are calculated and output to the stabilization compensator 211.
Here, the state equation of the adaptive current observer 210 can be expressed by the above equation (7). The feedback gain of the adaptive current observer 210 can be given by the following equation (25) by using the control variables α _a , α _b , α _c , α _d .

However, the control variables α _c and α _d can be given by the following equations (26) and (27).

Here, the coefficient B ₁₁₀ .about.B ₂₁₁ can be set by the following equation (28).

When using the feedback gain of the adaptive current observer 210, the component of the angle error Δθ in the current error used for position estimation can be obtained as follows.
That is, an error state equation obtained by taking the difference between the state equation of the embedded permanent magnet synchronous motor 201 and the state equation of the adaptive current observer 210 of the equation (7) can be expressed as the following equation (29).

  From the equation (29), the relationship among the current error, the angle error, and the resistance error can be obtained as in the following equation (31).

However, the coefficients B ₁₂ and B ₂₂ can be set as in the following equation (32).

In the equation (31), the element (s + α _a ) (B ₂₁₁ s + B ₂₁₀ ) −α _d (B ₁₁₁ s + B ₁₁₀ ) of the second row and first column of the matrix representing the transfer function from the angle and resistance error to current error is the angle This is the numerator of the transfer function from the error Δθ to the torque axis current error (iδ−iδ _# ).
Then, by substituting the following equation (33) obtained from equations (26) and (27) of the feedback gain of the adaptive current observer 210 into equation (31) and extracting the torque axis current error (iδ−iδ _# ), (34) is obtained.

The equation (34), the transfer function from angular error Δθ until the torque axis current error (i?-I? _#) When ignoring the resistance error is understood to be represented by a direct current amount of B _211.
When the stabilization compensator 211 receives the deviation between the detected current values iγ and iδ on the γδ axis and the estimated current values iγ _# and iδ _# on the γδ axis, the stabilization compensator 211 includes a component proportional to only the resistance error and a component including an angle error. And the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} are calculated and output to the angle / velocity / primary resistance estimator 212.
Here, the transfer function G (s) of the stabilization compensator 211 can be given by the following equation (35).

  However, F (s) can be expressed as the following equation (36).

The angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} when the deviations between the detected current values iγ, iδ on the γδ axis and the estimated current values iγ _# , iδ _# on the γδ axis are given by (37 ).

However, m ₀ and m ₁ can be expressed as in the following equation (38).

When m ₀ m ₁ ≧ 0, h ₁ = | m ₁ |, h ₀ = | m ₀ |, and when m ₀ m ₁ <0, h ₁ = | m ₀ | + | m ₀ || m ₁ | k ′.
Here, the resistance estimation error ΔR _{S #} output from the stabilization compensator 211 is a value irrelevant to the angle error Δθ, and only the component proportional to the resistance error (R _S −R _{S #} ) is estimated. Can be input to the instrument. In addition, the angle estimation error Δθ _# is affected by the resistance error, but it is possible to estimate the resistance independently of the angle error Δθ. Therefore, when the resistance estimation is converged, the effect of the resistance error is ignored. can do.

When the angle / velocity / primary resistance estimator 212 receives the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} , the speed estimation value ω _{r # is} obtained by using the above equations (22) to (24). = Ω ₁ , estimated angle value θ _#, and estimated armature resistance value R _{S #} can be calculated.
Then, the angle / speed / primary resistance estimator 212 calculates the speed estimated value ω _{r #} = ω ₁ , the angle estimated value θ _# and the armature resistance estimated value R _{S #} , and then subtracts the speed estimated value ω _{r #} . 213, the angle estimation value θ _# is output to the rotating two-phase / three-phase coordinate converting means 205 and the three-phase / rotating two-phase coordinate converting means 206, and the armature resistance estimated value R _{S #} is output to the adaptive current observer 210. Can be output.

As a result, the resistance error can be estimated without depending on the angle error Δθ, and the permanent magnet synchronous motor 201 can be controlled by position sensorless vector control while estimating the armature resistance R _s independently of the angle error Δθ. since it is possible to shift the drive, even when the armature resistance R _s varies, it is possible to improve the positional accuracy of the low-speed range.
Furthermore, by adjusting the gain of the adaptive current observer 210, the gain of the angle estimation system can be made constant regardless of the operating conditions, and the control apparatus 200 for the synchronous motor is controlled so that the response of the speed estimation is not affected by the operating conditions. Can be configured.

FIG. 3 is a block diagram showing a schematic configuration of the synchronous motor control device according to the third embodiment of the present invention.
In FIG. 3, the surface magnet type permanent magnet synchronous motor 301 is connected to a synchronous motor control device 300 that drives the surface magnet type permanent magnet synchronous motor 301 at a variable speed, and is connected to the rotating shaft of the surface magnet type permanent magnet synchronous motor 301. Is connected to a load 302.

Here, the synchronous motor controller 300 includes a power converter 304, a rotating two-phase / three-phase coordinate converter 305, a three-phase / rotary two-phase coordinate converter 306, a current controller 307, and a current command value generator 308. , A speed PID regulator 309, an adaptive current observer 310, a stabilization compensator 311, an angle / speed / primary resistance estimator 312, and subtractors 313, 314, and 315 are provided on the output side of the synchronous motor controller 300. Current detecting means 303 for detecting the UVW phase currents i _u , i _v , i _w supplied to the surface magnet type permanent magnet synchronous motor 301 is provided.

  It should be noted that the power converter 304, the rotating two-phase / three-phase coordinate converting means 305, the three-phase / rotating two-phase coordinate converting means 306, the current control means 307, the current command value creating means 308, the speed PID adjuster 309, and the subtractor 313. 314, 315 are the power converter 004, rotating two-phase / three-phase coordinate converting means 005, three-phase / rotating two-phase coordinate converting means 006, current control means 007, current command value creating means 008, speed PID. The same operation as that of the adjuster 009 and the subtracters 013, 014, and 015 can be performed.

The adaptive current observer 310 can estimate the armature current based on the model of the surface magnet type permanent magnet synchronous motor 301. Here, when the adaptive current observer 310 estimates the armature current, the armature resistance estimated value R _{S #} estimated by the angle / speed / primary resistance estimator 312 is used as the model of the surface magnet type permanent magnet synchronous motor 301. Can be used as parameters.

The stabilization compensator 311 extracts a component proportional to only a resistance error and a component including an angle error from the deviation between the current detection values iγ and iδ on the γδ axis and the current estimation values iγ _# and iδ _#, and an angle estimation error. Δθ _# and resistance estimation error ΔR _{S #} can be output.
The angle / velocity / primary resistance estimator 312 is based on the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} output from the stabilization compensator 311, and the estimated speed value ω _{r #} = ω ₁ and the estimated angle value θ. _{# And} armature resistance estimated value R _{S #} can be calculated.

The detected current values iγ and iδ calculated by the three-phase / rotating two-phase coordinate conversion unit 306 are output to the adaptive current observer 310 and the voltage command values vγ ^* and vδ calculated by the current control unit 307 are output. ^* Is output to the adaptive current observer 310. Further, the armature resistance estimated value R _{S #} calculated by the angle / speed / primary resistance estimator 312 is output to the adaptive current observer 310.

Then, the adaptive current observer 310 uses the state equations relating to the current detection values iγ, iδ and the current estimation values iγ _# , iδ _# of the γδ axis on the γδ axis, thereby detecting the current detection values iγ, iδ on the γδ axis and the γδ axis. Deviations from the estimated current values i γ _# and i δ _# are calculated and output to the stabilization compensator 311.
Here, the state equation of the adaptive current observer 310 can be expressed by the following equation (39).

However,
L _s : Primary inductance.
The feedback gain of the adaptive current observer 310 can be given by the following equation (40).

The angle error and resistance error included in the deviation between the current detection values iγ, iδ and the current estimation values iγ _# , iδ _# when the feedback gain of the adaptive current observer 310 is used can be obtained as follows.
That is, an error state equation obtained by calculating a difference between the state equation of the surface magnet type permanent magnet synchronous motor 301 and the state equation of the adaptive current observer 310 of the equation (39) can be expressed as the following equation (41).

However, the coefficient B ₁₁ .about.B ₂₂ can be expressed by the following equation (42).

When controlling the surface magnet type permanent magnet synchronous motor 301, the magnetic flux axis current iγ = 0 is often controlled within the rated speed range. Therefore, in the case of the magnetic flux axis current iγ = 0, in this embodiment, by using the equation (39) so that the influence of the resistance is eliminated, the angle error is calculated using the component that is the product of the angle error and the coefficient B _11. Estimate.
When the stabilization compensator 311 receives the deviation between the detected current values iγ and iδ on the γδ axis and the estimated current values iγ _# and iδ _# on the γδ axis, the stabilization compensator 311 includes a component that is proportional only to the resistance error and a component that includes an angle error. And the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} are calculated and output to the angle / velocity / primary resistance estimator 312.
Here, the transfer function G (s) of the stabilization compensator 311 can be given by the following equation (43).

  However, F (s) can be expressed as the following equation (44).

Here, β ₀ and β ₁ are positive adjustment gains, which can be set according to the response of the speed estimation system.
The angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} when the deviations between the detected current values iγ, iδ on the γδ axis and the estimated current values iγ _# , iδ _# on the γδ axis are given by (45 ).

When the angle / speed / primary resistance estimator 312 receives the angle estimation error Δθ _# and the resistance estimation error ΔR _{S #} , the estimated speed value ω _{r # is} obtained by using the above equations (22) to (24). = Ω ₁ , estimated angle value θ _#, and estimated armature resistance value R _{S #} can be calculated.
The angle / speed / primary resistance estimator 312 calculates the estimated speed value ω _{r #} = ω ₁ , the estimated angle value θ _#, and the estimated armature resistance value R _{S #} , and then subtracts the estimated speed value ω _{r #} . 313, the angle estimation value θ _# is output to the rotating two-phase / three-phase coordinate conversion means 305 and the three-phase / rotation two-phase coordinate conversion means 306, and the armature resistance estimation value R _{S #} is output to the adaptive current observer 310. Can be output.
Here, in the resistance estimator, it is possible to prevent the angular error component that becomes a disturbance from being included, and it is possible to accurately estimate the armature resistance.

It is a block diagram which shows schematic structure of the control apparatus of the synchronous motor which concerns on 1st Embodiment of this invention. It is a block diagram which shows schematic structure of the control apparatus of the synchronous motor which concerns on 2nd Embodiment of this invention. It is a block diagram which shows schematic structure of the control apparatus of the synchronous motor which concerns on 3rd Embodiment of this invention. It is a block diagram which shows schematic structure of the control apparatus of the conventional synchronous motor.

Explanation of symbols

100, 200, 300 Synchronous motor control device 101, 201 Implantable permanent magnet synchronous motor 301 Surface magnet type permanent magnet synchronous motor 102, 202, 302 Load 103, 203, 303 Current detection means 104, 204, 304 Power converter 105, 205, 305 Rotating two-phase / three-phase coordinate converting means 106, 206, 306 Three-phase / rotating two-phase coordinate converting means 107, 207, 307 Current control means 108, 208, 308 Current command value creating means 109, 209, 309 Speed PID adjuster 110, 210, 310 Adaptive current observer 111 Inverse transfer function matrix calculating means 211, 311 Stabilizing compensator 112, 212, 312 Angle / velocity / primary resistance estimator 113, 114, 115, 213, 214, 215, 313, 314, 315 subtractor

Claims (5)

Current detection means for detecting the armature current of the synchronous motor;
An adaptive current observer for estimating an armature current based on the model of the synchronous motor;
Based on the inverse matrix of the transfer function from the angle estimation error of the axis deviation and the resistance estimation error of the armature to the deviation between the detected value and the estimated value of the two axes of the armature current, An inverse transfer function matrix calculating means for separating a component proportional to the error and a component proportional to the resistance error;
A position estimator for estimating a magnetic pole position based on a component proportional to the angle error separated by the inverse transfer function matrix calculating means;
A control apparatus for a synchronous motor, comprising: a power converter that performs variable speed control of the synchronous motor based on a voltage command value generated using the estimated magnetic pole position. A resistance estimator for estimating an armature resistance based on a component proportional to the resistance error separated by the inverse transfer function matrix calculating means;
2. The synchronous motor control device according to claim 1, wherein the adaptive current observer estimates an armature current based on an armature resistance estimated by the resistance estimator. Current detection means for detecting the armature current of the synchronous motor;
An adaptive current observer for estimating an armature current based on the model of the synchronous motor;
A stabilizing compensator for extracting a component proportional only to a resistance error and a component including an angle error from the deviation between the detected value and the estimated value of the two axes of the armature current;
A position estimator for estimating a magnetic pole position based on a component including an angle error extracted by the stabilization compensator;
A resistance estimator for estimating an armature resistance based on a component proportional only to the resistance error extracted by the stabilization compensator;
A control apparatus for a synchronous motor, comprising: a power converter that performs variable speed control of the synchronous motor based on a voltage command value generated using the estimated magnetic pole position.   4. The synchronous motor control device according to claim 3, wherein the adaptive current observer estimates an armature current based on an armature resistance estimated by the resistance estimator.   5. The synchronous motor according to claim 3, wherein the gain of the adaptive current observer is set such that a relationship between the angular error and a deviation between the detected value and the estimated value of the two axes is a DC amount. Control device.

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