JP2010115068A - Motor and motor control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a synchronous motor having a feature capable of performing high-efficiency operation, and a motor control device therefor, related to the synchronous type motor of a permanent magnet field type and a control system equipped with the motor and an inverter. <P>SOLUTION: In the motor having a plurality of salient magnetic poles having armature windings and a plurality of field magnetic poles, the motor is characterized in that the first armature winding or the second armature winding is wound around each salient magnetic pole, and a combination rate of the number of salient magnetic poles of a winding group of first armature windings and the number of salient magnetic poles of a winding group of second armature windings is set to be 2:1. As for the motor, the motor of the permanent magnet field type can be provided in which the disclosed slot combination of he number of salient magnetic poles and the number of field magnetic poles has achievd reduction of the cogging torque. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a permanent magnet field type synchronous motor, and a control system including the motor and an inverter.

  The permanent magnet motor is usually driven by a motor control device combined with an inverter and a controller. This motor control device includes an inverter circuit for driving and controlling the motor such as PWM control, and controls the drive current by ON / OFF operation (PWM control or the like) of the semiconductor switch element of the inverter circuit.

Japanese Patent Publication No. 8-8764

  In a permanent magnet motor, the permanent magnet has the wonderful feature that the characteristic of the magnet does not change forever, but the induced voltage that increases in proportion to the rotation speed becomes a limitation in the system configuration. As a countermeasure against the induced voltage, field weakening control by an inverter is implemented, but this field weakening control causes a large amount of reactive current that does not contribute to motor torque to flow, resulting in reduced efficiency, heat generation, increased inverter current capacity, etc. There are many problems.

  The present invention provides a permanent magnet motor control device in which an induced voltage that increases in proportion to the number of revolutions becomes a problem. The armature winding is provided in a multiphase structure, and the operation mode of the multiphase inverter is changed according to the required operation state. Accordingly, it is an object of the present invention to provide a synchronous motor and a motor control device that are characterized by high efficiency operation in a wide operation region.

  In order to achieve the above object, the present invention provides a motor having a plurality of salient poles having armature windings and a plurality of field poles, each salient pole having a first armature winding or The second armature winding is wound, the number of salient poles of the winding group of the first armature winding, and the number of salient poles of the winding group of the second armature winding. The combination ratio is 2: 1.

  Furthermore, the motor of the present invention is characterized in that a linear motor is configured by combining the field magnetic pole and the salient pole magnetic pole.

  In order to achieve the above object, the present invention provides a motor including P field magnetic poles arranged at equal intervals and M armature salient poles having armature windings. The relationship between the number of magnetic poles P and the salient pole magnetic pole M is as follows, and P: M = 9n ± n: 9n (where n is an integer of 1 or more) The basic unit of the salient pole magnetic pole M is 1 m, 2 m, 3 m , 4 m, 5 m, 6 m, 7 m, 8 m, and 9 m in order, and the salient pole magnetic poles are 1 m and 2 m, 3 m, 4 m and 5 m, 6 m, 7 m and 8 m and 9 m in combination. Each armature phase is made and the basic unit of the salient pole magnetic pole M is repeatedly added.

  Further, in the motor of the present invention, the basic unit of the salient pole magnetic pole M is configured as a three-phase connection by a combination of 1 m and 2 m, 4 m and 5 m, 7 m and 8 m, and another three-phase connection by 3 m, 6 m, and 9 m. The basic unit of the salient pole magnetic pole M is repeatedly added.

  Further, in the motor of the present invention, the basic unit of the salient pole magnetic pole M is configured as six armature phases with combinations of 1 m, 2 m, 3 m, 4 m, 5 m, 6 m, 7 m, 8 m, and 9 m. The basic unit of the magnetic pole M is configured as a six-phase motor that is repeatedly added.

  Furthermore, the motor according to the present invention is characterized in that the field magnetic pole and the salient pole are combined to form a linear motor.

  Furthermore, the present invention provides a motor control apparatus for driving a motor having a salient pole magnetic pole having a plurality of armature windings and a plurality of field magnetic poles by a multiple inverter. The operation mode is switched.

  In the motor control device of the present invention, the salient poles of the motor have a three-phase connection inverter with a combination of 1 m and 2 m, 4 m and 5 m, 7 m and 8 m, and another three-phase connection with 3 m, 6 m, and 9 m. The inverter is composed of multiple inverters, and the operation mode of the inverter is switched according to the required operation state.

  The motor control device of the present invention is characterized by constituting a servo control system that combines a motor, a position detecting device for field magnetic poles, a multiple inverter, and a controller.

  In the motor control device of the present invention, the field magnetic pole includes a permanent magnet.

  According to the motor of the present invention, it is possible to provide a permanent magnet field type motor that realizes a reduction in cogging torque by using the disclosed slot combination of the number of salient poles and the number of field poles.

  Furthermore, the motor control device of the present invention is provided with multiple three-phase armature windings in one rotor, and individually connected to the respective inverter circuits corresponding to the three-phase armature windings. By adopting a system that individually controls the drive current to be supplied to the phase armature winding by each inverter circuit, the armature winding with a low number of turns that is highly efficient in the field-weakening region where the motor speed is the high speed region Since only the wire can be used, the operation efficiency of the motor in the field weakening region can be improved.

  Embodiments of the present invention will be described below with reference to the drawings.

  A first embodiment of the present invention will be described with reference to FIG. The motor of this embodiment includes P field magnetic poles 21 arranged at equal intervals, and an armature provided with M salient poles 13 having armature windings 11, and the movement of the field magnetic poles In a motor that moves by controlling the armature winding current according to the position, the relationship between the number of field poles (P) and the number of salient poles (M) is expressed by the following equation.

P: M = 9n ± n: 9n (where n is an integer of 1 or more) Formula (1)
As a relational expression, the basic unit of the salient pole magnetic pole M is composed of nine salient poles 13 in the order of 1 m, 2 m, 3 m, 4 m, 5 m, 6 m, 7 m, 8 m, and 9 m, and the salient poles are 1 m and 2 m. , 3m, 4m and 5m, 6m, 7m, 8m, and 9m are combined into 6 armature phases, and the basic unit of the salient pole M is repeatedly added. The salient pole magnetic pole 1m can be set arbitrarily).

  In FIG. 1, the number of field magnetic poles 21 made of permanent magnets is eight, but may be ten according to the relationship of equation (1). The field magnetic pole 21 made of a permanent magnet is integrated with the shaft 12 and moves in synchronization with a rotating magnetic field generated by a current flowing through the armature winding 11 of the salient pole magnetic pole 13.

  According to the prior art, in the case of a three-phase motor, the number of magnetic poles of the salient pole magnetic pole 13 needs to be a multiple of 3, and in the case of a six-phase motor, the number of magnetic poles of the salient pole magnetic pole 13 is a multiple of six. It is necessary to be. The present invention shows that nine salient poles can be driven as a six-phase motor. Further, the cogging torque pulsation number is large due to the slot combination by the combination of the salient pole magnetic pole 13 and the field magnetic pole 21 as shown in the equation (1). For example, in a slot combination of field poles composed of 9 salient poles and 8 permanent magnets, the cogging torque pulsation number is 72, and a slot combination of field poles consisting of 9 salient poles and 10 permanent magnets. Then, the cogging torque pulsation number is 90. Generally, the greater the cogging torque pulsation number, the greater the cogging torque reduction effect.

  FIG. 7 shows an embodiment in which a plurality of basic units of the present invention are combined.

  In FIG. 7, when the number of salient poles 13 is 18, the number of field poles 21 made of permanent magnets is 16; however, 20 may be used as shown in equation (1). Similarly, when the number of salient poles 13 is 27, the number of field poles 21 made of permanent magnets may be 24 or 30. In this case, the basic unit of the salient pole M is composed of nine salient poles 13 in the order of 1 m, 2 m, 3 m, 4 m, 5 m, 6 m, 7 m, 8 m, and 9 m, and the salient poles are 1 m and 2 m, Six armature phases are formed by combinations of 3 m, 4 m and 5 m, 6 m, 7 m, 8 m and 9 m, and the basic unit of the salient pole magnetic pole M is repeatedly added. FIG. 7 shows 18 salient poles and 16 field poles. However, the basic unit of the salient poles M of the present invention is added twice repeatedly.

  FIG. 2 shows an armature winding connection diagram of the motor according to the present invention.

  In the motor configuration of FIG. 2, there is one rotor with a permanent magnet 21, but the salient poles are 1m and 2m U phase, 4m and 5m V phase, 7m and 8m W phase, and 6m R Phase, 9m is S phase, 3m is a motor characterized by making 6 armature phases by combination of T phase, 1 set UVW 3 phase connection by (U phase, V phase, W phase), ( This is a basic unit configuration in which two sets of three-phase connections consisting of another set of RST three-phase connections by R phase, S phase, and T phase) are combined.

  FIG. 3 shows the basic concept of the motor according to the present invention.

  FIG. 3 shows that the motor of the present invention can be driven as a 6-slot 8-pole motor and can also be driven as a 3-slot 8-pole motor. By combining these two motors and sharing the 8-pole rotor 20 into one, the 9-slot is formed by combining the 3-phase connection consisting of 6 slots and the 3-phase connection consisting of the other 3 slots into a 2Y connection. The outline which becomes an 8-pole motor is shown. Further, in FIG. 3, the armature winding of the U-phase salient pole magnetic pole of U1 and the armature winding of the salient pole magnetic pole of U2 are shown in a configuration example in series connection. In the V phase and the W phase, the same-phase armature windings are connected in series as in the U phase.

  FIG. 4 shows another armature winding connection diagram of the motor according to the present invention.

  In FIG. 4, the in-phase armature windings of the UVW phase are configured in parallel connection. For example, compared to the case where the number of armature windings in each slot is the same and the armature windings of the same phase are connected in series, the induced voltage of each phase is about half when connected in parallel. It is possible to select a configuration according to these conditions from a system configuration including a circuit. In addition, the number of salient pole armature windings of each of the nine salient pole magnetic base units is the same, and the in-phase armature windings of the UVW phase are connected in parallel, thereby inducing the RST phase. The value can be close to the voltage.

  FIG. 5 shows another armature winding connection diagram of the motor according to the present invention.

  In FIG. 5, the UVW phase and the RST phase are examples in which Δ connection is made, and is a combination in which armature windings of the same phase of the UVW phase are connected in series.

  FIG. 6 shows another armature winding connection diagram of the motor according to the present invention.

  In FIG. 6, the UVW phase is an example in which the △ connection is made and the RST phase is made in the Y connection, and is a combination in which the armature windings in the same phase of the UVW phase are connected in series. As shown in FIG. The child windings may be connected in parallel. Further, the UVW phase can be combined with Y connection and the RST phase with Δ connection.

  FIG. 8 shows another armature winding connection diagram of the motor according to the present invention.

  In FIG. 8, when the salient poles 13 are 18 and the field magnetic pole 21 made of a permanent magnet is 16, the armature of each phase is obtained when the three-phase connection by UVW and the other three-phase connection by RST. The windings are connected in series.

  In FIG. 8, the field magnetic pole 21 is a schematic showing an image of a permanent magnet, and the actual number of field magnetic poles is adjusted to the number as shown in equation (1). The same applies to other drawings.

  In FIG. 9, when there are 18 salient magnetic poles 13 and 16 field magnetic poles 21 made of permanent magnets, when three-phase connection by UVW and another three-phase connection by RST are made, the armature of each phase The windings are configured in parallel connection.

  A motor in which the basic unit of salient poles is repeated a plurality of times (in the case of FIG. 7, the basic unit of salient poles is repeated twice), as shown in FIG. 4, FIG. 5 and FIG. It is possible to select a combination of series connection and parallel connection according to the required specifications of the system configuration.

  FIG. 10 shows another embodiment of the motor according to the present invention.

  In FIG. 10, the rotor 20 is an abduction type, and the combination of the armature windings 11 is in principle the same as the salient pole magnetic basic unit shown in FIG. A salient pole magnetic pole 13 having an armature winding 11 wound around the outer periphery of the armature is provided. On the outer periphery of the armature 10, a permanent magnet 21 magnetized in N and S at equal intervals and a rotor 20 including a yoke through which a magnetic flux passes as a magnetic path of a magnetic circuit are rotatably supported through a gap. .

  In addition, in the multiple connection of armature windings, it is possible to select a combination of Y connection, Δ connection, series connection, and parallel connection in accordance with the required specifications of the system configuration.

  FIG. 11 shows another embodiment of the motor according to the present invention.

  In FIG. 11, the linear motor structure is supported by a support mechanism (not shown) so as to maintain a constant air gap with the armature 10 as the primary side and the portion made of the permanent magnet as the secondary side, and is relatively movable. Indicates. Further, auxiliary magnetic poles 14 are provided at both short portions of the armature for the purpose of reducing the thrust unevenness.

  11A and 11B show examples of combinations of the armature windings 11 wound around the salient pole magnetic poles 13. By connecting the armature windings as shown in FIG. 11 (b), the left and right balance of the magnetic circuit of the RST phase salient pole magnetic poles 13 can be taken, and more stable running is possible.

  Here, the relative distance between the salient pole magnetic pole 13 and the field magnetic pole 21 represented by the formula (1) may be maintained, and the number of permanent magnets may be increased in accordance with the travel stroke.

  FIG. 12 shows another embodiment of the motor according to the present invention.

  In FIG. 12, there are 18 salient poles 13 formed by combining two sets of armature basic units of the linear motor shown in FIG. 11, and auxiliary poles 14 are provided at both short portions of the armature. Thrust increases by adding an armature basic unit. It can also be applied to a cylindrical linear motor.

  Further, in the multiple connection of armature windings, it is possible to freely select a combination of Y connection, Δ connection, series connection, and parallel connection in accordance with the required specifications of the system configuration as in the case of the rotating machine.

  Next, FIG. 13 shows a basic configuration of the control circuit system of the present invention.

  In FIG. 13, a first inverter 1 and a second inverter 2 are connected to the power supply circuit 3, and each inverter is connected to a respective armature winding. The encoder 7 detects the position of the permanent magnet (magnetic pole detection) and the rotation information of the rotor, and supplies the drive controller 5 and the gate circuit controller 6 with the magnetic pole information and the rotation information of the motor. In accordance with an instruction from the drive controller 5, the power circuit in the first inverter 1 and the second inverter 2 is controlled to be turned on / off by the gate circuit controller 6 so that current flows from the power supply circuit 3 to the armature winding. A current sensor 9 is provided between the inverter and the armature winding, and the actual load current value is fed back to the gate circuit controller 6 to control the difference from the command current. Of course, the drive circuit system described here is only an example, and if current sensorless control, magnetic pole position detection sensorless control, or the like is applied, the current sensor 9, the encoder 7 and the like may be omitted depending on the application. Is possible.

  FIG. 14 shows an example of the basic configuration of the control circuit system of the present invention.

  In FIG. 14, the smoothing capacitor 4 is connected to the power supply circuit 3, the first inverter 1 and the second inverter 2 are connected, and each inverter is connected to the respective armature winding. Although the basic configuration of the voltage source inverter is shown in the example of FIG. 14, a control circuit system configuration using a current source inverter may be used.

  In FIG. 14, the output voltage of the bridge inverter is a basic inverter system that outputs two levels of ± E if the DC voltage is E, but a multi-level inverter system may be used. The multi-level inverter system is a mechanism in which a multi-level value can be obtained by dividing a DC voltage into a plurality and selecting one of the output voltages of the inverter, as in the motor of the present invention. In the case of multiple connection, it is effective when switching the operation mode of the multiple inverter according to the required operation state.

  The encoder 7 detects the position of the permanent magnet (magnetic pole detection) and the rotation information of the rotor, and supplies the drive controller 5 and the gate circuit controller 6 with the magnetic pole information and the rotation information of the motor. When the motor of the present invention is applied to a linear motor, a linear encoder may be used as a means for detecting the position information and speed information of the mover.

  Then, in accordance with an instruction from the drive controller 5, the gate circuit controller 6 controls the power elements in the first inverter 1 and the second inverter 2 to turn on and off so that current flows from the power supply circuit 3 to the armature winding. Yes. The drive controller 5 also controls the entire control circuit system while receiving and transmitting external information other than the motor of the present invention.

  A current sensor 9 is provided between the inverter and the armature winding so as to control the difference from the command current by speeding back the actual load current value to the gate circuit controller 6. Of course, the drive circuit system described here is an example, and it is also possible to control by converting the current amount of the other armature winding by the information amount of only one of the current sensors.

  Depending on the configuration of application, if current sensorless control, magnetic pole position detection sensorless control, or the like is applied, a configuration in which the current sensor 9, the encoder 7 and the like are omitted can be employed.

  In the present invention, multiple armature windings are provided in one rotor, and each inverter circuit corresponding to the multi-phase armature winding is individually connected to the rotor, and these multiple windings are based on the required operation state of the motor. In this system, each inverter circuit individually controls the drive current that is passed through the phase armature winding.

  Switching of the operation mode of the multiple inverter according to the requested operation state is performed based on the motor torque, the motor rotation speed, and the motor control area.

  FIG. 15 shows an example of a drive pattern by the motor of the present invention.

  For example, in the motor of the present invention shown in FIG. 1, if the armature windings 11 wound around the nine salient poles 13 are wound with the same number of turns, the induced voltage of the UVW phase is the induced voltage of the RST phase. About twice as large. When a large torque is required at a low motor speed, both the UVW-phase inverter 1 and the RST-phase inverter 2 control the energizing current while maintaining the optimum phase difference between each other, and obtain the maximum torque. In the region, the operation mode is set so that the RST phase with a small number of turns per phase is driven mainly. Further, in the middle speed region, the UVW phase may be driven as the main. At the time of deceleration, both the UVW-phase inverter 1 and the RST-phase inverter 2 may be driven while maintaining the optimum phase difference between them.

  Of course, the combination of powering control and regenerative control of the armature winding of the UVW phase and the armature winding of the RST phase may be combined according to the operation mode.

  In other words, since only a connection with a small number of armature turns can be used when the motor rotation speed is high-speed rotation, the efficiency is increased, and an effect of improving the motor operation efficiency in the field-weakening region can be obtained.

  Also, depending on the application product, an armature winding (not shown) is provided between the armature windings connected to the UVW-phase inverter 1 and the RST-phase inverter 2, and the armature winding in the sleep mode is opened and closed. It is also possible to turn on and off by machine.

  FIG. 16 shows another embodiment of the drive circuit system of the present invention.

  FIG. 16 shows a combination of two or more sets of multiple inverters in the basic control circuit system of the present invention. Each inverter UVW-Y1, UVW-Y2, RST-Y1, RST-Y2, etc., according to instructions from the drive controller 5. It is a system configuration that performs overall control. In the case of a large-capacity motor with a large number of salient poles, this system can be operated by combining a plurality of small inverters in parallel without using a large-capacity inverter.

  FIG. 17 shows an example of the rotor cross-sectional structure of the present invention.

  In FIG. 17, (a) shows a surface magnet type, (b) shows an embedded magnet type, and the number of permanent magnets is configured while maintaining the relationship between the number of field poles P and salient poles M shown below.

P: M = 9n ± n: 9n (where n is an integer of 1 or more)
FIG. 18 shows various configuration examples of the rotor shape of the present invention.

  FIG. 18 shows a mechanism in which the rotor connected to the shaft 12 rotates, and shows (a) inner rotation type, (b) outer rotation type, (c) axial gap type, and (d) hollow type. For example, in the (c) axial gap type, a double-sided axial gap type in which the armature 10 is sandwiched from both sides by two sets of rotors is also possible. Of course, other systems may be configured by combining a plurality of armatures.

  According to the embodiment of the present invention described above, the permanent magnet has the effect of reducing the cogging torque by using a slot combination of nine salient poles and eight (or ten) field poles. A field type motor can be provided.

  Furthermore, the present invention provides multiple three-phase armature windings with six salient poles and three salient poles in one rotor, and each inverter corresponding to these three-phase armature windings. It is possible to provide a system in which a circuit is connected and each inverter circuit individually controls a drive current to be supplied to these three-phase armature windings based on a required operation state of the motor. As a result, it is possible to use only the armature winding with a small number of turns that is highly efficient when the motor speed is high speed rotation in the field weakening area where the motor speed is high speed. The effect which can improve the driving efficiency of a motor is acquired.

  INDUSTRIAL APPLICABILITY According to the motor and the motor control device of the present invention, it can be applied to a conventional permanent magnet field type synchronous type motor and a motor control device for driving them in general.

1 shows a basic configuration of a motor according to the present invention. 1 shows an armature winding connection diagram of a motor according to the present invention. 1 shows a basic concept of a motor according to the present invention. An example of the armature winding connection of the motor by this invention is shown. An example of the armature winding connection of the motor by this invention is shown. An example of the armature winding connection of the motor by this invention is shown. The Example which combined several basic units of this invention is shown. The armature winding wiring diagram which combined several basic units of this invention is shown. An example of the armature winding connection of the motor by this invention is shown. 6 shows another embodiment (external rotation type) of a motor according to the present invention. 6 shows another embodiment (linear motor) of a motor according to the present invention. 6 shows another embodiment (linear motor) of a motor according to the present invention. 1 shows an embodiment of a control circuit system of the present invention. Another embodiment of the control circuit system of the present invention is shown. An example of the motor drive pattern of this invention is shown. Another embodiment of the control circuit system of the present invention is shown. An example of the rotor cross-section of the motor of this invention is shown. An example of the freedom degree of the rotor shape of the motor of this invention is shown.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1, 2 Inverter 3 Power supply circuit 4 Smoothing capacitor 5 Drive controller 6 Gate circuit controller 7 Encoder 8 Load 9 Current sensor 10 Armature 11 Armature winding 12 Shaft 13 Salient pole 14 Auxiliary pole 20 Rotor 21 Field pole

Claims (10)

A plurality of salient poles having armature windings;
In motors with multiple field poles,
Each salient pole has a first armature winding or
The second armature winding is wound,
The combination ratio of the number of salient poles in the winding group of the first armature winding and the number of salient poles in the winding group of the second armature winding is 2: 1. motor. In claim 1,
A motor characterized in that the field magnetic pole and the salient pole magnetic pole are combined to form a linear motor. P field magnetic poles arranged at equal intervals;
In a motor having M salient pole magnetic poles having armature windings,
The relationship between the number of field poles P and the salient pole magnetic pole M is as follows:
P: M = 9n ± n: 9n (where n is an integer of 1 or more)
The basic unit of the salient pole magnetic pole M is composed of nine salient poles in the order of 1 m, 2 m, 3 m, 4 m, 5 m, 6 m, 7 m, 8 m, and 9 m, and the salient pole magnetic poles are 1 m, 2 m, 3 m, and 4 m. And 6 m, 6 m, 7 m and 8 m, 9 m are combined to form six armature phases, and the basic unit of the salient pole magnetic pole M is repeatedly added to the motor. In claim 3,
The basic unit of the salient pole M is configured as a three-phase connection by a combination of 1 m and 2 m, 4 m and 5 m, 7 m and 8 m, and another three-phase connection by 3 m, 6 m, and 9 m. A motor characterized by adding units repeatedly. In claim 3,
The basic unit of the salient pole M is configured as six armature phases by combining 1 m and 2 m, 3 m, 4 m and 5 m, 6 m, 7 m, 8 m, and 9 m. The basic unit of the salient pole M is repeated. A motor characterized by being configured as an additional six-phase motor. In claim 3,
A motor characterized in that the field magnetic pole and the salient pole magnetic pole are combined to form a linear motor. In a motor control device driven by a multiple inverter for a salient pole magnetic pole having a plurality of armature windings and a motor having a plurality of field magnetic poles,
A motor control device that switches an operation mode of the multiple inverter according to a requested operation state.   In claim 7, the salient pole of the motor is a multi-inverter as an inverter of 3 phase connection by combination of 1m and 2m, 4m and 5m, 7m and 8m and another 3 phase connection inverter of 3m, 6m and 9m. A motor control device configured to switch an operation mode of an inverter according to a requested operation state.   8. The motor control device according to claim 7, comprising a servo control system in which a motor, a position detecting device for field magnetic poles, a multiple inverter, and a controller are combined. In claim 7,
The motor control apparatus, wherein the field magnetic pole includes a permanent magnet.

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