JP2010088238A5

JP2010088238A5 -

Info

Publication number: JP2010088238A5
Application number: JP2008256337A
Authority: JP
Filing date: 2008-10-01
Publication date: 2012-01-19
Anticipated expiration: 2028-10-01

Description

上記課題を解決するために、本発明の一の観点による同期電動機制御装置は、トルク指令を入力し、前記トルク指令に基づいてｄ軸電流指令を演算するｄ軸電流指令演算部と、前記トルク指令と前記ｄ軸電流指令とに基づいてｑ軸電流指令を演算するｑ軸電流指令演算部とを備え、前記ｄ軸電流指令と前記ｑ軸電流指令とに基づいて同期電動機を駆動する同期電動機制御装置において、前記ｄ軸電流指令演算部が、前記トルク指令に対する前記ｄ軸電流指令のデータテーブルを有し、前記ｄ軸電流指令を前記トルク指令の絶対値に対するテーブル内挿演算をして出力し、前記ｑ軸電流指令演算部が、同期電動機のトルク式を用いて前記ｑ軸電流指令を演算して出力する同期電動機制御装置が適用される。
また、本発明の他の観点による同期電動機制御装置の制御方法は、トルク指令を入力し、前記トルク指令に基づいてｄ軸電流指令を演算するｄ軸電流指令演算部と、前記トルク指令と前記ｄ軸電流指令とに基づいてｑ軸電流指令を演算するｑ軸電流指令演算部とを備え、前記ｄ軸電流指令と前記ｑ軸電流指令とに基づいて同期電動機を駆動する同期電動機制御装置の制御方法において、前記ｄ軸電流指令演算部が、通常運転前に、前記トルク指令に対する前記ｄ軸電流指令のデータテーブルを自動的に作成するデータテーブル作成処理をし、通常運転時に、前記ｄ軸電流指令を前記トルク指令の絶対値に対するテーブル内挿演算をして出力し、同期電動機のトルク式を用いて前記ｑ軸電流指令を演算して出力する、という手順で処理する同期電動機制御装置の制御方法が適用される。
In order to solve the above-described problem, a synchronous motor control device according to an aspect of the present invention includes a d-axis current command calculation unit that inputs a torque command and calculates a d-axis current command based on the torque command, and the torque A synchronous motor that includes a q-axis current command calculation unit that calculates a q-axis current command based on the command and the d-axis current command, and that drives the synchronous motor based on the d-axis current command and the q-axis current command In the control device, the d-axis current command calculation unit has a data table of the d-axis current command with respect to the torque command, and outputs the d-axis current command by table interpolation calculation with respect to the absolute value of the torque command. Then, a synchronous motor control device in which the q-axis current command calculation unit calculates and outputs the q-axis current command using a torque equation of the synchronous motor is applied.
According to another aspect of the present invention, there is provided a control method for a synchronous motor control device, wherein a torque command is input, a d-axis current command calculation unit that calculates a d-axis current command based on the torque command, the torque command, and a q-axis current command calculation unit that calculates a q-axis current command based on the d-axis current command, and a synchronous motor control device that drives the synchronous motor based on the d-axis current command and the q-axis current command. In the control method, the d-axis current command calculation unit performs a data table creation process that automatically creates a data table of the d-axis current command with respect to the torque command before normal operation. a current command output by the table interpolation calculation with respect to the absolute value of the torque command, calculates and outputs the q-axis current command using a torque-type synchronous motor, is treated with the procedure of synchronization The method of motive control device is applied.

このように、図４における一連のＩｄ＊テーブルデータ自動演算の処理では、１分割（最大電流に対する予め定められた分割数毎）の電流振幅Ｉに対して、電流位相θを０°〜９０°まで１分割（電流位相９０度に対する予め定められた分割数毎）ずつ変化させて、変化の度に、ｄ軸電流Ｉｄ、ｑ軸電流Ｉｑ、マグネットによる鎖交磁束φＭｇ、ｄ軸インダクタンスＬｄ、ｑ軸インダクタンスＬｑ、トルクＴを演算して、演算されたトルクＴおよび演算されたｄ軸電流ＩｄをメモリＴｒｑ［ｊ］およびメモリＩｄｒｅｆ［ｊ］に保存する。また、電流位相θの変化が９０°より大きくなれば、電流振幅Ｉを１分割（最大電流に対する予め定められた分割数毎）ずつ変化させて、前述の電流位相θの変化およびそれに伴う演算とメモリ保存を行う。また、前述の電流位相θを１分割（電流位相９０度に対する予め定められた分割数毎）ずつ変化させる過程で、演算されたトルクＴがメモリＴｒｑ［ｊ］より小さければ、演算されたトルクＴおよび演算されたｄ軸電流ＩｄをメモリＴｒｑ［ｊ］およびメモリＩｄｒｅｆ［ｊ］に保存せずに、電流位相θを変化させる。また、電流振幅Ｉを１分割（最大電流に対する予め定められた分割数毎）ずつ変化させる過程で、電流振幅Ｉが最大電流より大きくなれば、一連の処理を終了する。最終的に、保存されたメモリＴｒｑ［ｊ］およびメモリＩｄｒｅｆ［ｊ］が、トルク指令Ｔ＊に対するｄ軸電流指令Ｉｄ＊のテーブルデータと成るのである。
As described above, in the series of Id * table data automatic calculation processing in FIG. 4, the current phase θ is set to 0 ° to 90 ° with respect to the current amplitude I of one division (every predetermined division number with respect to the maximum current). Are changed by one division (predetermined number of divisions with respect to a current phase of 90 degrees), and at each change, the d-axis current Id, the q-axis current Iq, the interlinkage magnetic flux φMg by the magnet, and the d-axis inductance Ld, q The shaft inductance Lq and the torque T are calculated, and the calculated torque T and the calculated d-axis current Id are stored in the memory Trq [j] and the memory Idref [j]. If the change in the current phase θ is greater than 90 °, the current amplitude I is changed by one division (each predetermined number of divisions with respect to the maximum current), and the change in the current phase θ and the calculation accompanying it are as follows. Save memory. If the calculated torque T is smaller than the memory Trq [j] in the process of changing the current phase θ by one division (every predetermined division number for the current phase of 90 degrees), the calculated torque T The current phase θ is changed without saving the calculated d-axis current Id in the memory Trq [j] and the memory Idref [j]. If the current amplitude I becomes larger than the maximum current in the process of changing the current amplitude I by one division (every predetermined number of divisions with respect to the maximum current), a series of processing ends. Finally, the stored memory Trq [j] and memory Idref [j] become table data for the d-axis current command Id * with respect to the torque command T *.

次に、マグネットによる鎖交磁束・インダクタンス演算部１２におけるテーブル内挿演算によりマグネットによる鎖交磁束φＭｇ、ｄ軸インダクタンスＬｄ、ｑ軸インダクタンスＬｑの演算方法について説明する。図３は、マグネットによる鎖交磁束・インダクタンス演算部１２の内部構成を示す図である。図において、１２１はＬｄテーブル内挿演算部、１２２はＬｑテーブル内挿演算部、１２３はφＭｇテーブル内挿演算部である。
Ｌｄテーブル内挿演算部１２１、Ｌｑテーブル内挿演算部１２２、φＭｇテーブル内挿演算部１２３には、それぞれ予め実験やシミュレーションなどで求めた、ｄ軸電流Ｉｄとｄ軸インダクタンスＬｄの関係、ｑ軸電流Ｉｑとｑ軸インダクタンスＬｑの関係、ｑ軸電流Ｉｑとマグネットによる鎖交磁束φＭｇの関係がテーブル化されたものが備えられている。また、それぞれの入力に対して内挿演算を行い、ｄ軸インダクタンスＬｄ、ｑ軸インダクタンスＬｑ、マグネットによる鎖交磁束φＭｇを出力するものである。
図６はｄ軸電流Ｉｄとｄ軸インダクタンスＬｄの関係を示すテーブルデータ、図７はｑ軸電流Ｉｑとｑ軸インダクタンスＬｑの関係を示すテーブルデータ、図８はｑ軸電流Ｉｑとマグネットによる鎖交磁束φＭｇの関係を示すテーブルデータである。なお、図中のＸ、Ｙ、Ｚは正の整数である。
ここで、各テーブルデータは、それぞれ予め実験やシミュレーションなどで求める。各テーブルデータは電流０から最大電流までを何分割かしてデータを取れば十分である。（一方従来技術は、トルク指令に対する最適な電流振幅および電流位相を予め実験やシミュレーションで求める際、電流振幅を何分割かして、また電流位相も何分割かしてその両方を変化させてデータを取る必要があり、本発明に比べ、実験やシミュレーションに手間がかかる。） Next, a calculation method of the interlinkage magnetic flux φMg, the d-axis inductance Ld, and the q-axis inductance Lq by the magnet by the table interpolation calculation in the interlinkage magnetic flux / inductance calculation unit 12 by the magnet will be described. FIG. 3 is a diagram illustrating an internal configuration of the interlinkage magnetic flux / inductance calculation unit 12 using a magnet. In the figure, 121 is an Ld table interpolation calculation unit, 122 is an Lq table interpolation calculation unit, and 123 is a φMg table interpolation calculation unit.
In the Ld table interpolation calculation unit 121, the Lq table interpolation calculation unit 122, and the φMg table interpolation calculation unit 123, the relationship between the d-axis current Id and the d-axis inductance Ld obtained in advance through experiments and simulations, q-axis A table in which the relationship between the current Iq and the q-axis inductance Lq and the relationship between the q-axis current Iq and the linkage flux φMg due to the magnet are tabulated is provided. In addition, an interpolation operation is performed on each input, and a d-axis inductance Ld, a q-axis inductance Lq, and a flux linkage φMg by a magnet are output.
6 is table data showing the relationship between the d-axis current Id and the d-axis inductance Ld, FIG. 7 is table data showing the relationship between the q-axis current Iq and the q-axis inductance Lq, and FIG. 8 is a linkage between the q-axis current Iq and the magnet. It is table data which shows the relationship of magnetic flux (phi) Mg. In the figure, X, Y, and Z are positive integers.
Here, each table data is obtained in advance by experiments and simulations. For each table data, it is sufficient to take data by dividing the current from 0 to the maximum current. (On the other hand, in the prior art, when the optimal current amplitude and current phase for the torque command are obtained in advance through experiments and simulations, the current amplitude is divided into several parts, and the current phase is also divided into several parts to change both. (Compared to the present invention, it takes more time for experiments and simulations.)

Claims

A d-axis current command calculation unit that inputs a torque command and calculates a d-axis current command based on the torque command, and a q-axis current that calculates a q-axis current command based on the torque command and the d-axis current command and a calculation unit, wherein a synchronous motor control device that drives the synchronous motor based on the d-axis current command and said q-axis current command,
The d-axis current command calculation unit has a data table of the d-axis current command with respect to the torque command, and outputs the d-axis current command by performing table interpolation on the absolute value of the torque command,
The q-axis current command calculation unit uses the torque equation of the synchronous motor having the parameters of the number of poles of the synchronous motor, the linkage flux by the magnet, the d-axis inductance, the q-axis inductance, the d-axis current, and the q-axis current. A synchronous motor control device that calculates and outputs a q-axis current command.

The data table is automatically created before normal operation,
One division of a predetermined division number M (M is a positive integer) for a current phase of 90 degrees with respect to a current amplitude per division of a predetermined division number N (N is a positive integer) for the maximum current claims by varying the current phase is substituted into the torque equation of the synchronous motor, wherein the torque efficiency is obtained by storing the torque command and the d-axis current command in the current amplitude and current phase that maximizes Item 2. The synchronous motor control device according to Item 1.

A d-axis current command calculation unit that inputs a torque command and calculates a d-axis current command based on the torque command, and a q-axis current that calculates a q-axis current command based on the torque command and the d-axis current command A control method of a synchronous motor control device, comprising a command calculation unit, and driving a synchronous motor based on the d-axis current command and the q-axis current command,
The d-axis current command calculation unit performs a data table creation process for automatically creating a data table of the d-axis current command for the torque command before normal operation,
During normal operation, the d-axis current command is output by table interpolation with respect to the absolute value of the torque command, and the number of poles of the synchronous motor, linkage flux by the magnet, d-axis inductance, q-axis inductance, d-axis current A method for controlling a synchronous motor control device, wherein the q-axis current command is calculated and output using a torque equation of a synchronous motor having parameters of q-axis current.

In the data table creation process, a predetermined division number M (M is a predetermined number of divisions for a current phase) with respect to a current amplitude for each division of a predetermined division number N (N is a positive integer) for the maximum current. A current phase change process for changing the current phase in increments of one (positive integer) until the current phase at which the torque efficiency is maximized,
A storage process for calculating and storing the torque command and the d-axis current command at a current amplitude and a current phase at which torque efficiency is maximized,
4. The control method for a synchronous motor control device according to claim 3 , wherein the current phase change process and the storage process are repeated until the current amplitude exceeds the maximum current.