JP2011030354A - Drive system of electric motor having a plurality of stator windings - Google Patents

Drive system of electric motor having a plurality of stator windings Download PDF

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JP2011030354A
JP2011030354A JP2009173212A JP2009173212A JP2011030354A JP 2011030354 A JP2011030354 A JP 2011030354A JP 2009173212 A JP2009173212 A JP 2009173212A JP 2009173212 A JP2009173212 A JP 2009173212A JP 2011030354 A JP2011030354 A JP 2011030354A
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stator windings
electric motor
windings
stator
inverters
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JP4768056B2 (en
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Takashi Okamoto
敬 岡本
Takeshi Furuya
剛 古屋
Akira Yamaguchi
晃 山口
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Fanuc Corp
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Fanuc Corp
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Priority to DE102010025961.6A priority patent/DE102010025961B4/en
Priority to CN201010236827.4A priority patent/CN101964627B/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
    • H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
    • H02P25/22—Multiple windings; Windings for more than three phases
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/74—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors controlling two or more ac dynamo-electric motors

Abstract

<P>PROBLEM TO BE SOLVED: To provide a drive system of an electric motor which can perform optimum control not causing a current variation at each stator winding and a current fluctuation. <P>SOLUTION: The drive system of the electric motor comprises the electric motor which has a plurality of stator windings C1, C2 which are independent as electric circuits and in which the plurality of stator windings are wound to different teeth or tooth groups, a plurality of inverters I1, I2 connected to the plurality of stator windings respectively, and a plurality of servo circuits S1, S2 which are connected to the plurality of inverters respectively and calculate and output voltage commands to the respective corresponding inverters on the basis of the same current command received from a host control device and individual current feedback detected as currents flowing in the respective corresponding stator windings. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

本発明は、それぞれ電気回路として独立した複数の多相固定子巻線を有する電動機の駆動システムに関する。   The present invention relates to a motor drive system having a plurality of independent multiphase stator windings as electric circuits.

電動機の大容量化を実現する方法として、内部にそれぞれ電気回路として独立した複数の三相固定子巻線を有する１台の電動機を複数台のインバータで駆動することが行われている。下記特許文献１には、多重巻きされた複数の三相固定子巻線に接続された複数のインバータに対して同一の電流指令で駆動すると振動が発生するという問題を解決するために、全てのインバータを同一の電圧指令すなわちＰＷＭ（Pulse Width Modulation：パルス幅変調）指令にて駆動する方式が開示されている。   As a method for realizing an increase in the capacity of an electric motor, driving one electric motor having a plurality of independent three-phase stator windings inside each as an electric circuit is driven by a plurality of inverters. In Patent Document 1 below, in order to solve the problem that vibration occurs when driving with the same current command for a plurality of inverters connected to a plurality of three-phase stator windings that have been wound in multiple turns, A system is disclosed in which inverters are driven by the same voltage command, that is, a PWM (Pulse Width Modulation) command.

下記特許文献１に開示される多重巻き構造の電動機では、複数の巻線が同じティース（歯）に巻かれて同じスロットに挿入されるため、巻線相互の絶縁確保のために追加的に絶縁紙等が必要となる。絶縁紙を追加することは、スロット内に巻くことができる銅線が占める空間が制限され、銅線の断面を細くする必要が生じ、同じ電流での電動機の発熱が増加し、電動機の特性を落とすことにつながる。   In the electric motor having a multiple winding structure disclosed in Patent Document 1 below, since a plurality of windings are wound around the same tooth (tooth) and inserted into the same slot, additional insulation is provided to ensure mutual insulation between the windings. Paper is required. The addition of insulating paper limits the space occupied by the copper wire that can be wound in the slot, necessitates a thinner copper wire, increases the heat generation of the motor at the same current, and improves the characteristics of the motor. It will lead to dropping.

一方、巻線の構成として絶縁紙が少なくなるように複数の巻線を周方向に分散させた電動機が知られている。下記特許文献２には、各巻線が周方向に分散された電動機の構造が開示されている。この構造の電動機では、回転子（ロータ）の軸心と固定子（ステータ）の軸心との間にずれ、すなわち、心ずれがあると、固定子と回転子との間のエアギャップが巻線ごとに異なるため、逆起電圧、インダクタンス等の巻線定数が異なってしまう。そのため、下記特許文献１に開示されるように全てのインバータを同じ電圧指令で駆動すると、心ずれに起因した顕著な電流アンバランスが発生してしまう。   On the other hand, an electric motor in which a plurality of windings are dispersed in the circumferential direction so as to reduce the number of insulating papers is known as a winding configuration. Patent Document 2 below discloses a structure of an electric motor in which each winding is dispersed in the circumferential direction. In an electric motor having this structure, if there is a deviation between the rotor (rotor) axis and the stator (stator) axis, that is, there is a misalignment, the air gap between the stator and the rotor is wound. Since each line is different, winding constants such as back electromotive force and inductance are different. For this reason, when all inverters are driven with the same voltage command as disclosed in Patent Document 1 below, a significant current imbalance due to misalignment occurs.

特開平１０−４２５８９号公報Japanese Patent Laid-Open No. 10-42589 特公平５−６４５４４号公報Japanese Patent Publication No. 5-64544

本発明は、上述した問題点に鑑みてなされたものであり、その目的は、複数の固定子巻線が分散して巻かれている電動機や、複数の固定子巻線が同一のティース又はティース群に多重巻きされている電動機に対して、固定子巻線ごとの電流のばらつきや、電流の振動を生じることがない最適な制御を与える電動機駆動システムを提供することにある。   The present invention has been made in view of the above-described problems, and an object of the present invention is to provide an electric motor in which a plurality of stator windings are distributed and a plurality of stator windings having the same teeth or teeth. An object of the present invention is to provide an electric motor drive system that gives an optimal control to a motor that is wound in multiple groups without causing variations in current for each stator winding and vibration of the current.

上記目的を達成するために、本発明の第一の面によれば、それぞれ電気回路として独立した複数の固定子巻線を有し、該複数の固定子巻線の各々が異なるティース又はティース群に巻かれている電動機と、該複数の固定子巻線の各々にそれぞれ接続される複数のインバータと、該複数のインバータの各々にそれぞれ接続され、上位制御装置から受取る同一の電流指令と、それぞれ対応する固定子巻線を流れる電流として検出される個別の電流フィードバックと、に基づいて、それぞれ対応するインバータへの電圧指令を計算して出力する複数のサーボ回路と、を具備する電動機駆動システムが提供される。   To achieve the above object, according to the first aspect of the present invention, each of the plurality of stator windings has a plurality of independent stator windings, each of which is a different tooth or group of teeth. A plurality of inverters connected to each of the plurality of stator windings, the same current command received from the host controller, respectively connected to each of the plurality of inverters, and And a plurality of servo circuits that calculate and output voltage commands to the corresponding inverters based on individual current feedback detected as currents flowing through the corresponding stator windings, respectively. Provided.

また、本発明の第二の面によれば、それぞれ電気回路として独立した複数の固定子巻線を有し、該複数の固定子巻線の各々が他の少なくとも一つの固定子巻線とともに同一のティース又はティース群に多重巻きされて複数の固定子巻線群が形成されている電動機と、該複数の固定子巻線の各々にそれぞれ接続される複数のインバータと、該固定子巻線群ごとに設けられ、それぞれ、対応する固定子巻線群に属する複数の固定子巻線に対応する複数のインバータに接続され、上位制御装置から受取る同一の電流指令と、該固定子巻線群に対応する複数の固定子巻線を流れる電流として検出される複数の電流フィードバックの合計値又は平均値と、に基づいて、該固定子巻線群に属する複数の固定子巻線に対応する複数のインバータへの同一の電圧指令を計算して出力する複数のサーボ回路と、を具備する電動機駆動システムが提供される。   Further, according to the second aspect of the present invention, each of the plurality of stator windings has the same stator together with at least one other stator winding. A plurality of stator winding groups formed by multiple windings on the teeth or teeth group, a plurality of inverters connected to each of the plurality of stator windings, and the stator winding group The same current command received from the host controller connected to the plurality of inverters corresponding to the plurality of stator windings belonging to the corresponding stator winding group, and the stator winding group Based on a total value or an average value of a plurality of current feedbacks detected as currents flowing through a corresponding plurality of stator windings, a plurality of stator windings corresponding to a plurality of stator windings belonging to the stator winding group Identical power to the inverter Motor drive system comprising a plurality of servo circuit configured to calculate a command, is provided.

電気的に独立な巻線同士が異なるティース又はティース群に巻かれている電動機の場合、回転子の軸心と固定子の軸心との間にずれ（心ずれ）があると、巻線ごとに巻線の電気的特性（逆起電圧、インダクタンス等）が異なってしまう。そのため、全ての巻線を同一の電圧指令（ＰＷＭ指令）にて駆動すると、巻線を流れる電流は巻線ごとに異なる電流値を持つこととなる。本発明の第一の面による電動機駆動システムにあっては、各巻線に対応するサーボ回路に同一の電流指令が与えられるため、各巻線の電流が同じ値となる。   In the case of an electric motor in which electrically independent windings are wound on different teeth or groups of teeth, if there is a misalignment (center misalignment) between the rotor axis and the stator axis, The electrical characteristics (back electromotive force, inductance, etc.) of the windings are different. Therefore, when all the windings are driven with the same voltage command (PWM command), the current flowing through the windings has a different current value for each winding. In the motor drive system according to the first aspect of the present invention, the same current command is given to the servo circuit corresponding to each winding, so that the current of each winding has the same value.

巻線が他の巻線とともに同一のティース又はティース群に多重巻きされて巻線群が形成されている電動機の場合、巻線群内の複数の巻線に対応する複数のインバータを同じ電流指令で個別にＰＷＭ駆動すると、一方の巻線に流れた電流によってティース内に発生する磁束が、他方の巻線の起電圧となり、電流制御が安定せず、電流が振動的になってしまう。本発明の第二の面による電動機駆動システムにあっては、同一の電圧指令（ＰＷＭ指令）にて電流の振動を抑えることが可能である。   In the case of a motor in which a winding group is formed by winding multiple windings on the same tooth or group of teeth together with other windings, multiple inverters corresponding to multiple windings in the winding group have the same current command When the PWM drive is performed individually, the magnetic flux generated in the teeth by the current flowing in one winding becomes the electromotive voltage of the other winding, current control is not stable, and the current becomes oscillating. In the electric motor drive system according to the second aspect of the present invention, it is possible to suppress current vibration with the same voltage command (PWM command).

本発明による電動機駆動システムの第一実施形態において対象となる電動機の巻線構造を示す図である。It is a figure which shows the winding structure of the electric motor used as object in 1st embodiment of the electric motor drive system by this invention. 本発明による電動機駆動システムの第一実施形態の構成を示す図である。It is a figure which shows the structure of 1st embodiment of the electric motor drive system by this invention. 本発明による電動機駆動システムの第二実施形態において対象となる電動機の巻線構造を示す図である。It is a figure which shows the winding structure of the motor used as object in 2nd embodiment of the electric motor drive system by this invention. 本発明による電動機駆動システムの第二実施形態の構成を示す図である。It is a figure which shows the structure of 2nd embodiment of the electric motor drive system by this invention. 本発明による電動機駆動システムの第三実施形態において対象となる電動機の巻線構造を示す図である。It is a figure which shows the coil | winding structure of the electric motor used as object in 3rd embodiment of the electric motor drive system by this invention. 本発明による電動機駆動システムの第三実施形態の構成を示す図である。It is a figure which shows the structure of 3rd embodiment of the electric motor drive system by this invention. 本発明による電動機駆動システムの第四実施形態において対象となる電動機の巻線構造を示す図である。It is a figure which shows the winding structure of the electric motor used as object in 4th embodiment of the electric motor drive system by this invention. 本発明による電動機駆動システムの第四実施形態の構成を示す図である。It is a figure which shows the structure of 4th embodiment of the electric motor drive system by this invention.

以下、添付図面を参照して本発明の実施形態について説明する。図１は、本発明による電動機駆動システムの第一実施形態において対象となる電動機の巻線構造を示す図であり、図２は、その第一実施形態の構成を示す図である。第一実施形態における電動機においては、コイル（単位巻線）Ｕ１、…、Ｕ４、Ｖ１、…、Ｖ４、Ｗ１、…、Ｗ４が図１に示されるように配置される。そして、図２に示されるように、Ｕ１、Ｕ２、Ｖ１、Ｖ２、Ｗ１、及びＷ２が接続され、電気回路として独立した三相固定子巻線Ｃ１が形成されている。同様に、Ｕ３、Ｕ４、Ｖ３、Ｖ４、Ｗ３、及びＷ４が接続され、電気回路として独立した三相固定子巻線Ｃ２が形成されている。   Hereinafter, embodiments of the present invention will be described with reference to the accompanying drawings. FIG. 1 is a diagram showing a winding structure of an electric motor as a target in the first embodiment of the electric motor drive system according to the present invention, and FIG. 2 is a diagram showing a configuration of the first embodiment. In the electric motor according to the first embodiment, coils (unit windings) U1,..., U4, V1,..., V4, W1, ..., W4 are arranged as shown in FIG. As shown in FIG. 2, U1, U2, V1, V2, W1, and W2 are connected to form an independent three-phase stator winding C1 as an electric circuit. Similarly, U3, U4, V3, V4, W3, and W4 are connected to form an independent three-phase stator winding C2 as an electric circuit.

このように第一実施形態における電動機は、それぞれ電気回路として独立した２個の三相固定子巻線Ｃ１及びＣ２を備え、三相固定子巻線Ｃ１及びＣ２は、異なるティース群に巻かれている。そして、三相固定子巻線Ｃ１には、電力変換回路としてのＰＷＭインバータＩ１が接続されている。さらに、ＰＷＭインバータＩ１には、サーボ回路Ｓ１が接続されている。同様に、三相固定子巻線Ｃ２にはＰＷＭインバータＩ２が接続され、ＰＷＭインバータＩ２にはサーボ回路Ｓ２が接続されている。   As described above, the electric motor according to the first embodiment includes two three-phase stator windings C1 and C2 that are independent as electric circuits, and the three-phase stator windings C1 and C2 are wound around different tooth groups. Yes. A PWM inverter I1 as a power conversion circuit is connected to the three-phase stator winding C1. Further, a servo circuit S1 is connected to the PWM inverter I1. Similarly, a PWM inverter I2 is connected to the three-phase stator winding C2, and a servo circuit S2 is connected to the PWM inverter I2.

サーボ回路Ｓ１及びＳ２には、共通の上位制御回路から同一の電流指令が与えられる。サーボ回路Ｓ１は、受取った電流指令と、三相固定子巻線Ｃ１を流れる電流として検出される電流フィードバックと、に基づいて、ＰＷＭインバータＩ１への電圧指令を計算して出力する。同様に、サーボ回路Ｓ２は、受取った電流指令と、三相固定子巻線Ｃ２を流れる電流として検出される電流フィードバックと、に基づいて、ＰＷＭインバータＩ２への電圧指令を計算して出力する。   The same current command is given to the servo circuits S1 and S2 from a common host control circuit. The servo circuit S1 calculates and outputs a voltage command to the PWM inverter I1 based on the received current command and a current feedback detected as a current flowing through the three-phase stator winding C1. Similarly, the servo circuit S2 calculates and outputs a voltage command to the PWM inverter I2 based on the received current command and a current feedback detected as a current flowing through the three-phase stator winding C2.

このように、第一実施形態では、電気的に独立した複数の三相固定子巻線がそれぞれ異なるティース群に巻かれた電動機の場合に、各々の巻線はそれぞれインバータに接続され、各インバータはそれぞれサーボ回路に接続され、各サーボ回路は上位制御装置から同一の電流指令を受取る駆動システムとして構成されている。そして、各サーボ回路は、上位制御装置から受取った電流指令と電動機の電流フィードバックとから、インバータへの電圧指令を計算し、接続されているインバータに送る。   Thus, in the first embodiment, in the case of a motor in which a plurality of electrically independent three-phase stator windings are wound around different tooth groups, each winding is connected to an inverter, and each inverter Are connected to servo circuits, and each servo circuit is configured as a drive system that receives the same current command from the host controller. Each servo circuit calculates a voltage command to the inverter from the current command received from the host controller and the current feedback of the motor, and sends it to the connected inverter.

第一実施形態では、２個の三相固定子巻線が異なるティース群に巻かれているため、２個の三相固定子巻線を同一の電流指令で駆動しても電流が振動的にならない。また、心ずれがあった場合、三相固定子巻線の電気的特性が異なってくるが、２個の三相固定子巻線が同一の電流指令にて制御されるため、三相固定子巻線ごとの電流のばらつきを生じることなく制御することが可能である。なお、各相（Ｕ相、Ｖ相、及びＷ相）のコイルの構成として、単一のコイルとして又は複数のコイルを直列または並列接続して構成することは、設計的な選択事項である。   In the first embodiment, since the two three-phase stator windings are wound around different tooth groups, even if the two three-phase stator windings are driven with the same current command, the current is oscillated. Don't be. Also, if there is a misalignment, the electrical characteristics of the three-phase stator windings will differ, but since the two three-phase stator windings are controlled by the same current command, the three-phase stator Control can be performed without causing variations in current for each winding. In addition, as a coil configuration of each phase (U-phase, V-phase, and W-phase), it is a design choice to configure a single coil or a plurality of coils connected in series or in parallel.

図３は、本発明による電動機駆動システムの第二実施形態において対象となる電動機の巻線構造を示す図であり、図４は、その第二実施形態の構成を示す図である。第二実施形態における電動機においては、コイル（単位巻線）Ｕ１、…、Ｕ４、Ｖ１、…、Ｖ４、Ｗ１、…、Ｗ４が図３に示されるように第一実施形態と同様に配置される。そして、図４に示されるように、Ｕ１、Ｖ１、及びＷ１が接続され、電気回路として独立した三相固定子巻線Ｃ１が形成されている。また、同様に、電気回路として独立した更に３個の三相固定子巻線Ｃ２、Ｃ３、及びＣ４が形成されている。   FIG. 3 is a diagram showing a winding structure of an electric motor as a target in the second embodiment of the electric motor drive system according to the present invention, and FIG. 4 is a diagram showing a configuration of the second embodiment. In the electric motor in the second embodiment, coils (unit windings) U1, ..., U4, V1, ..., V4, W1, ..., W4 are arranged in the same manner as in the first embodiment as shown in FIG. . As shown in FIG. 4, U1, V1, and W1 are connected to form an independent three-phase stator winding C1 as an electric circuit. Similarly, three more three-phase stator windings C2, C3, and C4 that are independent as an electric circuit are formed.

このように第二実施形態における電動機は、それぞれ電気回路として独立した４個の三相固定子巻線Ｃ１、Ｃ２、Ｃ３、及びＣ４を備え、三相固定子巻線Ｃ１、Ｃ２、Ｃ３、及びＣ４は、異なるティース群に巻かれている。そして、第一実施形態と同様に、三相固定子巻線Ｃ１、Ｃ２、Ｃ３、及びＣ４に対応して、ＰＷＭインバータＩ１、Ｉ２、Ｉ３、及びＩ４、並びに、サーボ回路Ｓ１、Ｓ２、Ｓ３、及びＳ４が設けられている。各ＰＷＭインバータ及び各サーボ回路の動作は、第一実施形態における各ＰＷＭインバータ及び各サーボ回路の動作と同様である。   As described above, the electric motor according to the second embodiment includes four three-phase stator windings C1, C2, C3, and C4 that are independent of each other as an electric circuit, and includes three-phase stator windings C1, C2, C3, and C4 is wound around different teeth. Similarly to the first embodiment, corresponding to the three-phase stator windings C1, C2, C3, and C4, the PWM inverters I1, I2, I3, and I4, and the servo circuits S1, S2, S3, And S4. The operation of each PWM inverter and each servo circuit is the same as the operation of each PWM inverter and each servo circuit in the first embodiment.

したがって、第二実施形態においても、４個の三相固定子巻線が異なるティース群に巻かれているため、４個の三相固定子巻線を同一の電流指令で駆動しても電流が振動的にならない。また、心ずれがあった場合、三相固定子巻線の電気的特性が異なってくるが、４個の三相固定子巻線が同一の電流指令にて制御されるため、三相固定子巻線ごとの電流のばらつきを生じることなく制御することが可能である。   Therefore, also in the second embodiment, since the four three-phase stator windings are wound around different tooth groups, even if the four three-phase stator windings are driven with the same current command, current is not generated. It does not become vibration. Also, if there is a misalignment, the electrical characteristics of the three-phase stator windings will differ, but since the four three-phase stator windings are controlled by the same current command, the three-phase stator windings Control can be performed without causing variations in current for each winding.

図５は、本発明による電動機駆動システムの第三実施形態において対象となる電動機の巻線構造を示す図であり、図６は、その第三実施形態の構成を示す図である。第三実施形態における電動機においては、コイル（単位巻線）Ｕ１ａ、…、Ｕ４ａ、Ｖ１ａ、…、Ｖ４ａ、Ｗ１ａ、…、Ｗ４ａ、Ｕ１ｂ、…、Ｕ４ｂ、Ｖ１ｂ、…、Ｖ４ｂ、Ｗ１ｂ、…、Ｗ４ｂが図５に示されるように配置される。そして、図６に示されるように、Ｕ１ａ、Ｕ２ａ、Ｖ１ａ、Ｖ２ａ、Ｗ１ａ、及びＷ２ａが接続され、電気回路として独立した三相固定子巻線Ｃ１が形成されている。また、同様に、電気回路として独立した更に３個の三相固定子巻線Ｃ２、Ｃ３、及びＣ４が形成されている。   FIG. 5 is a diagram showing a winding structure of an electric motor as a target in the third embodiment of the electric motor drive system according to the present invention, and FIG. 6 is a diagram showing a configuration of the third embodiment. In the motor according to the third embodiment, coils (unit windings) U1a,..., U4a, V1a,..., V4a, W1a, ..., W4a, U1b, ..., U4b, V1b, ..., V4b, W1b, ..., W4b Are arranged as shown in FIG. As shown in FIG. 6, U1a, U2a, V1a, V2a, W1a, and W2a are connected to form an independent three-phase stator winding C1 as an electric circuit. Similarly, three more three-phase stator windings C2, C3, and C4 that are independent as an electric circuit are formed.

また、第三実施形態では、三相固定子巻線Ｃ１（Ｕ１ａ−Ｕ２ａ、Ｖ１ａ−Ｖ２ａ、Ｗ１ａ−Ｗ２ａで構成される）と、三相固定子巻線Ｃ２（Ｕ１ｂ−Ｕ２ｂ、Ｖ１ｂ−Ｖ２ｂ、Ｗ１ｂ−Ｗ２ｂで構成される）とが、図５に示されるように同じティース群に多重に巻かれ、１個の固定子巻線群Ｇ１を構成している。同様に、三相固定子巻線Ｃ３（Ｕ３ａ−Ｕ４ａ、Ｖ３ａ−Ｖ４ａ、Ｗ３ａ−Ｗ４ａで構成される）と、三相固定子巻線Ｃ４（Ｕ３ｂ−Ｕ４ｂ、Ｖ３ｂ−Ｖ４ｂ、Ｗ３ｂ−Ｗ４ｂで構成される）とが、同じティース群に多重に巻かれ、もう１個の固定子巻線群Ｇ２を構成している。   In the third embodiment, the three-phase stator winding C1 (configured with U1a-U2a, V1a-V2a, and W1a-W2a) and the three-phase stator winding C2 (U1b-U2b, V1b-V2b, W1b-W2b) is wound around the same teeth group as shown in FIG. 5 and constitutes one stator winding group G1. Similarly, a three-phase stator winding C3 (configured with U3a-U4a, V3a-V4a, W3a-W4a) and a three-phase stator winding C4 (configured with U3b-U4b, V3b-V4b, W3b-W4b) Are wound around the same group of teeth in a multiple manner to form another stator winding group G2.

そして、図６に示されるように、第一実施形態及び第二実施形態と同様に、三相固定子巻線Ｃ１、Ｃ２、Ｃ３、及びＣ４には、それぞれ、ＰＷＭインバータＩ１、Ｉ２、Ｉ３、及びＩ４が接続されている。   As shown in FIG. 6, similarly to the first embodiment and the second embodiment, the three-phase stator windings C1, C2, C3, and C4 have PWM inverters I1, I2, I3, And I4 are connected.

また、図６に示されるように、固定子巻線群Ｇ１に対してサーボ回路Ｓ１が設けられている。サーボ回路Ｓ１は、固定子巻線群Ｇ１に属する２個の三相固定子巻線Ｃ１及びＣ２に対応する２個のＰＷＭインバータＩ１及びＩ２に接続されている。同様に、固定子巻線群Ｇ２に対してサーボ回路Ｓ２が設けられている。サーボ回路Ｓ２は、固定子巻線群Ｇ２に属する２個の三相固定子巻線Ｃ３及びＣ４に対応する２個のＰＷＭインバータＩ３及びＩ４に接続されている。   As shown in FIG. 6, a servo circuit S1 is provided for the stator winding group G1. The servo circuit S1 is connected to two PWM inverters I1 and I2 corresponding to the two three-phase stator windings C1 and C2 belonging to the stator winding group G1. Similarly, a servo circuit S2 is provided for the stator winding group G2. The servo circuit S2 is connected to two PWM inverters I3 and I4 corresponding to the two three-phase stator windings C3 and C4 belonging to the stator winding group G2.

サーボ回路Ｓ１及びＳ２には、共通の上位制御回路から同一の電流指令が与えられる。サーボ回路Ｓ１は、三相固定子巻線Ｃ１を流れる電流として検出される電流フィードバックと、三相固定子巻線Ｃ２を流れる電流として検出される電流フィードバックと、に基づいて、それらの電流フィードバックの合計値又は平均値を計算する。そして、サーボ回路Ｓ１は、受取った電流指令と、計算した合計値又は平均値と、に基づいて、ＰＷＭインバータＩ１及びＩ２への同一の電圧指令を計算して出力する。サーボ回路Ｓ２は、サーボ回路Ｓ１の動作と同様の動作をする。   The same current command is given to the servo circuits S1 and S2 from a common host control circuit. The servo circuit S1 is based on a current feedback detected as a current flowing through the three-phase stator winding C1 and a current feedback detected as a current flowing through the three-phase stator winding C2. Calculate the total or average value. The servo circuit S1 calculates and outputs the same voltage command to the PWM inverters I1 and I2 based on the received current command and the calculated total value or average value. The servo circuit S2 performs the same operation as that of the servo circuit S1.

このように、第三実施形態では、同じティース又はティース群に多重巻されている複数の巻線が一つの巻線群として構成される電動機の場合に、多重巻された巻線群内の複数の巻線がそれぞれ複数のインバータに接続され、一つの巻線群に対応する各インバータは一つのサーボ回路に接続され、サーボ回路から各インバータへは同一の電圧指令を与えるように構成されている。   As described above, in the third embodiment, in the case of an electric motor in which a plurality of windings wound in the same tooth or group of teeth are configured as one winding group, a plurality of windings in the winding group that are wound in a plurality of turns. Are connected to a plurality of inverters, each inverter corresponding to one winding group is connected to one servo circuit, and the same voltage command is given from the servo circuit to each inverter. .

第三実施形態に係る電動機においては、回転子の軸心と固定子の軸心との間にずれ（心ずれ）があった場合、同じ巻線群となる２個の巻線の電気的特性のばらつきは小さいが、異なる巻線群の２個の巻線の電気的特性のばらつきが大きくなる。図６においては、各巻線群の電流を制御するサーボ回路のそれぞれに同じ電流指令を与え、巻線群を構成する２個の巻線の合計電流値又は平均電流値に基いて電流を制御し、巻線群を構成する２個の巻線にそれぞれ接続されている２個のインバータにはサーボ回路から同じ電圧指令（ＰＷＭ指令）が与えられる。   In the electric motor according to the third embodiment, when there is a deviation (center deviation) between the axis of the rotor and the axis of the stator, the electrical characteristics of the two windings in the same winding group The variation in the electrical characteristics of two windings of different winding groups becomes large. In FIG. 6, the same current command is given to each servo circuit that controls the current of each winding group, and the current is controlled based on the total current value or the average current value of the two windings constituting the winding group. The same voltage command (PWM command) is given from the servo circuit to the two inverters respectively connected to the two windings constituting the winding group.

第三実施形態に係る駆動システムによれば、異なる巻線群では異なるティース群に巻かれており、心ずれによって巻線群ごとの電気的特性が異なるが、巻線群ごとに同一の電流指令を与えるため、心ずれに起因する電流のばらつきを生じることなく制御することが可能である。また、各巻線群を構成する２個の巻線は同じティース群に多重巻きされているため、対応するインバータを個別にＰＷＭ制御すると電流が振動的になってしまうが、本駆動システムでは、巻線群を構成する２つの巻線に対応するインバータに同一の電圧指令（ＰＷＭ指令）を与えるため、電流が振動的にならない。   According to the drive system according to the third embodiment, different winding groups are wound around different tooth groups, and the electrical characteristics of each winding group differ due to misalignment, but the same current command is used for each winding group. Therefore, it is possible to control without causing variations in current due to misalignment. In addition, since the two windings constituting each winding group are multiplexly wound in the same tooth group, when the corresponding inverters are individually PWM controlled, the current becomes oscillating. Since the same voltage command (PWM command) is given to the inverters corresponding to the two windings constituting the line group, the current does not vibrate.

図７は、本発明による電動機駆動システムの第四実施形態において対象となる電動機の巻線構造を示す図であり、図８は、その第四実施形態の構成を示す図である。第三実施形態が４個の電気的に独立な三相固定子巻線により２個の固定子巻線群が形成される例であったのに対し、第四実施形態は、８個の電気的に独立な三相固定子巻線により２個の固定子巻線群が形成される例である。かかる相違点があるのみだけなので、その説明は省略する。   FIG. 7 is a diagram showing a winding structure of an electric motor as a target in the fourth embodiment of the electric motor drive system according to the present invention, and FIG. 8 is a diagram showing a configuration of the fourth embodiment. The third embodiment is an example in which two stator winding groups are formed by four electrically independent three-phase stator windings, whereas the fourth embodiment has eight electric windings. This is an example in which two stator winding groups are formed by three independent stator windings. Since there is only such a difference, the description is omitted.

以上、本発明の実施形態について述べてきたが、もちろん本発明はこれに限定されるものではない。例えば、本実施形態においては、回転磁界発生用に三相交流が使用されているが、三相交流以外の多相交流が使用されてもよい。   As mentioned above, although embodiment of this invention has been described, of course, this invention is not limited to this. For example, in the present embodiment, three-phase alternating current is used for generating a rotating magnetic field, but multiphase alternating current other than three-phase alternating current may be used.

Ｃ１、Ｃ２、…、Ｃ８ 三相固定子巻線
Ｇ１、Ｇ２ 固定子巻線群
Ｉ１、Ｉ２、…、Ｉ８ ＰＷＭインバータ
Ｓ１、Ｓ２、Ｓ３、Ｓ４ サーボ回路 C1, C2, ..., C8 Three-phase stator winding G1, G2 Stator winding group I1, I2, ..., I8 PWM inverter S1, S2, S3, S4 Servo circuit

Claims (2)

それぞれ電気回路として独立した複数の固定子巻線を有し、該複数の固定子巻線の各々が異なるティース又はティース群に巻かれている電動機と、
該複数の固定子巻線の各々にそれぞれ接続される複数のインバータと、
該複数のインバータの各々にそれぞれ接続され、上位制御装置から受取る同一の電流指令と、それぞれ対応する固定子巻線を流れる電流として検出される個別の電流フィードバックと、に基づいて、それぞれ対応するインバータへの電圧指令を計算して出力する複数のサーボ回路と、
を具備する電動機駆動システム。 An electric motor having a plurality of independent stator windings each as an electric circuit, each of the plurality of stator windings being wound around a different tooth or group of teeth;
A plurality of inverters respectively connected to each of the plurality of stator windings;
A corresponding inverter connected to each of the plurality of inverters based on the same current command received from the host controller and individual current feedback detected as a current flowing through the corresponding stator winding. Multiple servo circuits that calculate and output voltage commands to
An electric motor drive system comprising: それぞれ電気回路として独立した複数の固定子巻線を有し、該複数の固定子巻線の各々が他の少なくとも一つの固定子巻線とともに同一のティース又はティース群に多重巻きされて複数の固定子巻線群が形成されている電動機と、
該複数の固定子巻線の各々にそれぞれ接続される複数のインバータと、
該固定子巻線群ごとに設けられ、それぞれ、対応する固定子巻線群に属する複数の固定子巻線に対応する複数のインバータに接続され、上位制御装置から受取る同一の電流指令と、該固定子巻線群に対応する複数の固定子巻線を流れる電流として検出される複数の電流フィードバックの合計値又は平均値と、に基づいて、該固定子巻線群に属する複数の固定子巻線に対応する複数のインバータへの同一の電圧指令を計算して出力する複数のサーボ回路と、
を具備する電動機駆動システム。 Each has a plurality of independent stator windings as an electric circuit, and each of the plurality of stator windings is wound together with at least one other stator winding in the same tooth or group of teeth to be fixed in a plurality An electric motor in which a winding group is formed;
A plurality of inverters respectively connected to each of the plurality of stator windings;
The same current command received from the host controller, provided for each stator winding group, connected to a plurality of inverters corresponding to a plurality of stator windings belonging to the corresponding stator winding group, A plurality of stator windings belonging to the stator winding group based on a total value or an average value of a plurality of current feedbacks detected as currents flowing through the plurality of stator windings corresponding to the stator winding group A plurality of servo circuits that calculate and output the same voltage command to a plurality of inverters corresponding to the line;
An electric motor drive system comprising:
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CN106788002A (en) * 2017-03-24 2017-05-31 上海理工大学 Vidacare corp and electrical equipment

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JP4768056B2 (en) 2011-09-07

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