JP2011254681A - Position sensorless controller of synchronous machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To integrate phase estimation information of each inverter into one information even if unbalance exists in voltage and current information from multiplex winding, to make control elements common and to simplify communication of control information in an integration processing in position sensorless control of a synchronous machine constituted in multiplex winding.SOLUTION: One winding of the synchronous machine constituted in duplex winding is driven by a master inverter and remaining windings are driven by a slave inverter. Both the inverters calculate estimation phase angles Δφ^and Δφ^from a voltage command on a rotation coordinate, a current detection signal and a circuit constant and estimation speed of a motor. An average value operation portion 20 obtains an average value of the estimation phase angle, and a speed estimation portion 12 operates estimation speed ω^from the average value. A position integration portion 13 time-integrates estimation speed and calculates an estimation reference phase θ^. Average value calculation includes a structure performed after speed estimation or a structure performed after position integration.

Description

  The present invention relates to a control device for a synchronous machine using a permanent magnet as a field source, and in particular, position sensorless control for controlling torque and speed by estimating a magnetic pole phase from voltage and current information of a synchronous machine having a multiple winding configuration. Relates to the device.

  A variable speed control that controls torque and speed by combining a position sensor and an inverter is applied to a synchronous machine using a permanent magnet as a field magnet. As a technique to further extend this and realize torque and speed control without using a position sensor, control the torque and speed by estimating the magnetic pole phase (rotation phase of the field magnetic pole) from the voltage and current information of the synchronous machine. There is a position sensorless control method.

  There are various types of sensorless control methods, and a typical method is the method described in Document 1 (Non-Patent Document 1). This method has the following features compared to other methods.

  (1) Magnetic saliency in which the inductance (Ld, Lq) of the d-axis and the q-axis is different in the 2-axis theory where the field axis is the d-axis and the phase advanced by 90 ° in terms of electrical angle is the q-axis. The present invention can also be applied when (Ld ≠ Lq).

  (2) In a synchronous machine with saliency, Ld and Lq need to be set individually. However, in the method of Document 1, when transient response performance is not required, only Lq is set as a motor model parameter. Can also work. Therefore, adjustment is easy.

  (3) Compared with other methods using the same-dimensional magnetic flux observer, the control configuration is simple and the amount of calculation is small.

  FIG. 4 shows a control block diagram proposed in Document 1, and this block diagram is composed of the following elements.

The speed controller 1 (Velocity Controller) 1 calculates a current command corresponding to a motor torque command by calculating a deviation between the speed command ω ^* _re and the estimated speed ω ^ _re output from the speed estimator 10 by proportional integration (PI). i ^* is output.

The current controller 2 (Current Controller) 2 calculates the deviation between the current command i ^* output from the speed controller 1 and the current detection signal i output from the output current detector 6 of the inverter 4 by an operation such as proportional integration. A voltage command v ^* corresponding to the motor torque command is output.

The two-phase / three-phase AC coordinate conversion unit (γ-δ / uvw) 3 performs three-dimensional conversion by rotating coordinate conversion and two-phase / three-phase conversion in which the voltage command output from the current control unit 2 is synchronized with the rotation phase of the field. This is converted into a phase AC voltage command, and a voltage command is given to the inverter 4. Here, the estimated phase θ ^ _re , which is the output of the phase estimation unit 9, is used as the reference phase for the rotation coordinate transformation.

  The inverter 4 is amplified to a voltage equivalent to a voltage command using pulse width modulation (PWM) control or the like and supplied to the motor.

  A motor 5 serving as a permanent magnet synchronous motor (IPMSM) is a synchronous motor that is driven at a variable speed by an inverter 4. In addition, although it describes as an electric motor in the literature 1, it is applicable also to a generator only by changing the polarity of a torque command.

  A current detector (i detection) 6 detects a current flowing from the inverter 4 to the motor 5 and outputs a current detection signal i.

The three-phase AC / two-phase coordinate conversion unit (γ-δ / uvw) 7 is a current synchronized with the three-phase / two-phase conversion function for converting the current detection component of the three-phase AC into a biaxial component and the rotational phase of the field. It is a coordinate converter which has the rotation coordinate conversion function converted into a component. Here, the estimated phase θ ^ _re , which is the output of the phase estimation unit 9, is used as the reference phase for the rotation coordinate transformation.

A disturbance observer 8 estimates the expansion induced voltage e ^ of the motor 5. FIG. 5 shows a calculation block diagram of the disturbance observer 8. The inside of the wavy line is the actual motor unit. The disturbance observer 8 receives the voltage v inputted to the motor and the detected component of the flowing current i as inputs, and the motor circuit constant ( R, Ld, Lq), the estimated angular velocity ω ^ _re, and the low-pass filter (Filter) are used to estimate the extended induced voltage e ^. This extended induced voltage has a characteristic that it has the same load angle although the amplitude component is different from the no-load induced electromotive force component caused by the magnetic flux generated by the permanent magnet.

  A phase estimation unit (Position Estimation) 9 estimates the rotor phase of the motor 5 from the expansion induced voltage e ^ of the motor 5.

FIG. 6 shows a calculation block diagram of the phase estimation unit 9. Although the description of the function of extracting the phase θ _re from the biaxial component of the extended induced voltage e ^ estimated by the disturbance observer 8 is omitted in the input unit of FIG. 6, this phase calculation is actually used. Then, an error phase Δθ _re between the phase θ _re of the extended induced voltage e ^ and the phase information θ ^ _re used for the coordinate transformation of the three-phase AC / two-phase coordinate transformation unit 7 is calculated, and is further calculated as P (s ) And a quadratic function of K (s), and a new estimated phase θ ^ _re is output.

A velocity estimation unit (Velocity Estimation) 10 time-differentiates the phase estimation result of the phase estimation unit 9 and outputs an estimated velocity ω ^ _re .

  Various methods have been reported for the phase estimator 9 and the velocity estimator 10 described above, and the example of Document 1 is described here as an example.

  In the control block diagram of FIG. 4, the phase estimator and the speed estimator are complicated, and FIG. This is a modified version of the phase and velocity estimation parts, and although the names and notations are different, the functions 1 to 9 are the same as those in FIG. Below, only the part which is different compared with FIG. 4 is demonstrated.

The tan ⁻¹ function calculation unit 11 calculates the phase of the estimated e ^ of the expansion induced voltage, regards this as a phase that is delayed by 90 ° with respect to the rotation direction as the estimated magnetic flux axis, and sets this phase as the phase angle Δφ ^ _e0. Output. This has the same meaning as the phase difference (θ _re −θ ^ _re ) in FIG.

The speed estimation unit 12 considers that the phase angle Δφ ^ _e0 is generated due to an error between the actual speed and the estimated speed, and corrects the estimated speed ω ^ _re by _performing proportional integral control on this phase angle.

The position integration unit 13 integrates the corrected estimated speed ω ^ _re to generate a reference phase θ ^ (θ _{re in} FIG. 4) for rotational coordinate conversion. When this reference phase θ ^ coincides with the field phase of the actual machine, the phase angle Δφ ^ _e0 converges to zero.

Note that the current command conversion unit 14 applies the rotational coordinate conversion to the current control system, so that the torque command T ^* from the speed control unit 1 and the current command on the dq axis from the field command φ ^* (or angular frequency ω). Convert to i ^* ( _id ^* , _iq ^* ).

Sensorless control of salient-pole permanent magnet synchronous motor based on the extended induced voltage model, Shinji Ichikawa Kenshi Ishikawa Mitsuo Hamada Shinji Miki Shigeru Okuma, IEEJ Transactions 2002/12. 122 · D, 12, 1088-1096

  In recent years, the performance of magnetic materials for permanent magnets and the technology to manufacture large-sized magnets have been developed, making it possible to manufacture devices with permanent magnets as field sources even in large-capacity synchronous machines. It was. However, when a large-capacity synchronous machine is driven at a variable speed by an inverter, the output current rating of the single inverter is limited, so a multi-phase winding (3-phase x multiple winding) configuration with the synchronous machine winding divided In some cases, each three-phase winding is driven by a plurality of inverters.

  To achieve position sensorless control that eliminates the need for position sensors that detect the rotational phase of field magnetic poles in a system in which multiple winding synchronous machines are driven individually by multiple inverters for each winding, The magnetic pole phase is estimated from the voltage and current information of the inverter, but the magnetic pole phase may not match. As it is, each will estimate a different phase. However, the actual machine has one rotor and only one actual rotational phase. Therefore, how to integrate the position information estimated by calculation from individual voltage and current information in a plurality of inverters into one becomes a problem.

  The voltage and current imbalance factors include mechanical unbalance factors such as machining and assembly errors of the iron core and the eccentricity of the rotor shaft, and electrical imbalances such as adjustment errors of the current detection sensor. Factors are considered. Since these are factors that cannot be avoided in manufacturing, a function for integrating the phase estimation information of each inverter into one is necessary as a countermeasure to cope with even a certain difference.

  An object of the present invention is to provide unbalanced voltage and current information from multiple windings in position sensorless control in which a synchronous machine having a multiple winding configuration is driven by a plurality of inverters and a magnetic pole phase is estimated by an observer. Even in this case, the phase estimation information of each inverter can be integrated into one, and a position sensorless control device that can simplify control element commonization and control information communication in this integration processing is provided.

In order to solve the above-mentioned problems, the present invention drives one winding of a synchronous machine having a multi-winding configuration by a master inverter, and drives the remaining windings by respective slave inverters. A means for calculating an estimated phase angle Δφ ^ _e of “a voltage component including phase information of a speed electromotive force generated by a field magnetic flux” from the above voltage command, current detection signal, motor circuit constant and estimated speed, A configuration that calculates the estimated speed ω ^ _re from the average value of these estimated phase angles, a configuration that calculates an estimated phase that is time-integrated from the average value of the estimated speed, and an average value of the estimated phase that is time-integrated from the estimated speed It is configured to calculate the reference phase θ ^, and the average speed and reference phase calculation are transmitted between the master inverter and slave inverter with estimated speed or estimated phase and reference phase. The following apparatus is characterized.

(1) The master inverter is configured to supply a driving current to one winding of a synchronous machine having a multi-winding configuration by converting a voltage command synchronized with the rotational phase of the field into a multi-phase alternating current and converting the power to a multi-phase alternating current. Similarly, each slave inverter also supplies a drive current to the other windings of the synchronous machine of the multi-winding configuration by reversely converting the voltage command synchronized with the rotational phase of the field into multi-phase alternating current and power amplification. With configuration,
Each of the master inverter and each slave inverter includes means for applying a reverse rotation coordinate conversion obtained by converting a voltage command into an alternating current and a reverse phase rotation coordinate conversion to convert the current component in synchronization with the rotation phase of the field, Means for calculating an estimated phase angle of `` a voltage component including phase information of a speed electromotive force generated by a field magnetic flux '' from a voltage command of each winding, a current detection signal of each winding, a circuit constant of the synchronous machine, and an estimated speed,
In a position sensorless control device for a synchronous machine provided with phase estimation means that uses an estimated reference phase θ ^ obtained based on the estimated phase angle as the rotational phase,
And the estimated phase angle [Delta] [phi ^ _e1 master inverter is calculated, and the average computing means for slave inverter to average the estimated phase angle [Delta] [phi ^ _e2 computed, estimated speed operation for obtaining an estimated velocity omega ^ _re from the averaged estimated phase angle Means for integrating the estimated speed to obtain the reference estimated phase θ ^, and means for making this a rotational phase of the field common to the master inverter and the slave inverter. .

(2) The master inverter is configured to supply a drive current to one winding of a synchronous machine having a multi-winding configuration by performing reverse rotation coordinate conversion and power amplification of a voltage command synchronized with the rotation phase of the field into multi-phase AC. Similarly, each slave inverter also supplies a drive current to the other windings of the synchronous machine of the multi-winding configuration by reversely converting the voltage command synchronized with the rotational phase of the field into multi-phase alternating current and power amplification. With configuration,
Each of the master inverter and each slave inverter includes means for applying a reverse rotation coordinate conversion obtained by converting a voltage command into an alternating current and a reverse phase rotation coordinate conversion to convert the current component in synchronization with the rotation phase of the field, Means for calculating an estimated phase angle of `` a voltage component including phase information of a speed electromotive force generated by a field magnetic flux '' from a voltage command of each winding, a current detection signal of each winding, a circuit constant of the synchronous machine, and an estimated speed,
In a position sensorless control device for a synchronous machine provided with phase estimation means that uses an estimated reference phase θ ^ obtained based on the estimated phase angle as the rotational phase,
An estimated speed calculating means for obtaining an estimated speed ω ^ ₁ from the estimated phase angle Δφ ^ _e1 calculated by the master inverter; an estimated speed calculating means for determining an estimated speed ω ^ ₂ from the estimated phase angle Δφ ^ _e2 calculated by the slave inverter; Average calculating means for averaging the estimated speed ω ^ ₁ and estimated speed ω ^ ₂ , integrating calculating means for integrating the average estimated speed ω ^ _re to obtain the reference estimated phase θ ^, Means is provided for setting the rotation phase of the field common to the slave inverters.

(3) The master inverter is configured to supply a drive current to one winding of a synchronous machine having a multi-winding configuration by converting a voltage command synchronized with the rotational phase of the field into a multi-phase alternating current and reversely rotating coordinate conversion and power amplification. Similarly, each slave inverter also supplies a drive current to the other windings of the synchronous machine of the multi-winding configuration by reversely converting the voltage command synchronized with the rotational phase of the field into multi-phase alternating current and power amplification. With configuration,
Each of the master inverter and each slave inverter includes means for applying a reverse rotation coordinate conversion obtained by converting a voltage command into an alternating current and a reverse phase rotation coordinate conversion to convert the current component in synchronization with the rotation phase of the field, Means for calculating an estimated phase angle of `` a voltage component including phase information of a speed electromotive force generated by a field magnetic flux '' from a voltage command of each winding, a current detection signal of each winding, a circuit constant of the synchronous machine, and an estimated speed,
In a position sensorless control device for a synchronous machine provided with phase estimation means that uses an estimated reference phase θ ^ obtained based on the estimated phase angle as the rotational phase,
Estimated speed calculating means for obtaining an estimated velocity omega ^ _re1 from the estimated phase angle [Delta] [phi ^ _e1 master inverter is calculated, and the integral calculation means for obtaining an estimated phase theta ^ ₁ by integrating the estimated speed omega ^ _re1, the slave inverter estimated speed calculating means for obtaining an estimated velocity omega ^ _re2 from the calculated estimated phase angle [Delta] [phi ^ _e2, and integral calculation means for obtaining an estimated phase theta ^ ₂ by integrating the estimated speed omega ^ _re2, the estimated phase theta ^ ₁ And an average calculating means for obtaining the reference estimated phase θ ^ by averaging the estimated phases θ ^ ₂ .

  (4) The phase estimation means is provided in the master inverter, the slave inverter is provided with means for transmitting the calculated estimated phase angle or estimated speed or estimated phase to the master inverter, and the master inverter shares the calculated estimated reference phase. Means is provided for transmitting each slave inverter as data.

As described above, according to the present invention, one winding of a synchronous machine having a multiple winding configuration is driven by a master inverter, and the remaining windings are respectively driven by slave inverters. Means for calculating an estimated phase angle Δφ ^ _e of “voltage component including phase information of speed electromotive force generated by field magnetic flux” from voltage command, current detection signal, motor circuit constant and estimated speed, and A configuration that calculates the estimated speed ω ^ _re from the average value of the estimated phase angle, a configuration that calculates an estimated phase that is time-integrated from the average value of the estimated speed, and a reference phase from the average value of the estimated phase that is time-integrated of the estimated speed It is configured to calculate θ ^, and these average value calculation and reference phase calculation are structures in which the estimated speed or estimated phase transmission and reference phase are transmitted between the master inverter and the slave inverter. Therefore, even when there is imbalance in the voltage and current information from the multiple windings, the phase estimation information of each inverter can be integrated into one, and the control elements can be shared with this integration process. Communication of control information can be simplified.

  Specifically, the existing control system can be used for the master inverter and slave inverter, and the same control calculation software and control gain are used when compared with the case of driving with a single inverter and the case of driving with multiple inverters. Yes, many parts can be shared.

In addition, the transmission data between the inverters is only Δφ ^ _e2 from the slave inverter and the estimated reference phase θ ^ from the master inverter, and is expressed by two-axis components or three-phase components such as current and voltage components. Compared with the case of transmitting what is to be transmitted, since these phase data are scalar values, the amount of communication data can be greatly reduced compared to the transmission of voltage or current.

1 is a control block diagram of a position sensorless control device for a synchronous machine in Embodiment 1. FIG. The control block diagram of the position sensorless control apparatus of the synchronous machine in Embodiment 2. FIG. The control block diagram of the position sensorless control apparatus of the synchronous machine in Embodiment 3. FIG. The control block diagram of the conventional position sensorless control apparatus. FIG. 5 is a calculation block diagram of a disturbance observer in FIG. 4. FIG. 5 is a calculation block diagram of the phase estimation unit 9 in FIG. 4. The simplified control block diagram of the conventional position sensorless control apparatus.

(Embodiment 1)
FIG. 1 is a control block diagram of a position sensorless control device for a synchronous machine according to the present embodiment, in which a double-winding synchronous machine 5 is individually driven for each winding by two inverters 4 and 4a.

Circuit elements 1 to 8 and 11 to 14 in FIG. 1 are the same as those in FIG. 7, and the portion corresponding to FIG. 7 will be described. A field control is performed by a speed control system and a current control system to which rotational coordinate transformation is applied. Voltage command v ₁ ^* of coordinates synchronized with the rotation phase of the output voltage is obtained, and the voltage command v ^* _uvw1 obtained by inversely rotating the voltage command to multi-phase alternating current based on the estimated reference phase θ ^ is obtained, and further PWM modulation control is performed. The current of one winding of the synchronous machine 5 is controlled by amplifying the power by the inverter 4 by means of the above. Then, an alternating current component flowing in the winding of the synchronous machine 5 is detected by the current detector 6, and the current component is subjected to rotational coordinate conversion opposite to the reverse rotational coordinate conversion and synchronized with the rotational phase of the field. Convert to component i ₁ .

On the other hand, the disturbance observer 8 and the tan ⁻¹ function calculation unit 11 etc. determine the “field magnetic flux” from the voltage command v ₁ ^* on the inverter rotation coordinate, the current detection signal i ₁ , the circuit constant of the synchronous machine, and the estimated speed ω ^ _re. The phase angle Δφ ^ _e1 of “the voltage component including the phase information of the speed electromotive force generated by” is obtained, the estimated speed ω ^ _re is corrected using the phase angle, and the corrected estimated speed is used as the position integration unit 13 The position sensorless control is made possible by integrating the time to generate the estimated reference phase θ ^.

Here, in this embodiment, the double-winding synchronous machine 5 is expanded to a device configuration in which each inverter is individually driven by two inverters, and the circuit elements 1 to 8 and 11 to 14 in FIG. The configuration is a master inverter, and the configuration by the circuit elements 2a to 4a, 6a to 8a, and 11a corresponding to the circuit elements 2 to 4, 6 to 8, and 11 of the master inverter is added to form a slave inverter. In this slave inverter, the current control of the other winding of the synchronous machine 5 is performed as a current command i ^* common to the master inverter, the expansion induced voltage is estimated by the disturbance observer 8a, and the expansion induced voltage by the tan ⁻¹ function calculation unit 11a. Find the phase angle Δφ ^ _e2 .

Further, the estimated phase angle Δφ ^ _e2 calculated by the slave inverter is transmitted to the master inverter, and conversely, the estimated phase θ ^ determined by the master inverter is transmitted to the slave inverter as common data.

In the master inverter, the estimated phase angle Δφ ^ _e2 transmitted from the slave inverter and the estimated phase angle Δφ ^ _e1 calculated by itself are averaged by the phase angle average calculating unit 20, and speed estimation is performed using this average phase information. The unit 12 performs speed estimation, and this estimated speed is set as a common estimated angular speed ω ^ _re of both inverters, and the position integrating unit 13 integrates to obtain a common estimated reference phase θ ^ of both inverters. This estimated reference phase θ ^ is transferred to the next stage internally in the master inverter, and the next stage processing is similarly performed by transmission to the slave inverter.

  Therefore, there is a difference in the phase angle of the expansion induced voltage estimated from the different voltage and current detection information from the multiple windings, but the master inverter and the slave inverter are integrated into one by averaging the phase estimation information of both inverters. By applying it to the rotational coordinate transformation by the integrated estimated reference phase θ ^ that has been processed, it is possible to operate as if it were one inverter after the speed estimation, and position sensorless of the synchronous machine 5 with multiple windings. Can control.

In addition, in the integration process, common control elements and communication of control information can be simplified. In other words, as a position sensorless control device, the existing control system can be diverted, and the same control calculation software and control gain can be used when compared with the case of driving with a single inverter and the case of driving with multiple inverters. Can be shared. In addition, the transmission data between the inverters is only two pieces of phase angle Δφ ^ _e2 and reference phase θ ^, and these data are scalar values. Therefore, generally, the current and voltage components are two-axis components or three-phase components. The amount of communication data can be greatly reduced as compared with the case where the data is transmitted.

  Although FIG. 1 shows an example of a double-winding synchronous machine, it can be easily expanded by increasing the number of phases to be averaged even for a synchronous machine having a large multiplex number.

(Embodiment 2)
FIG. 2 is a control block diagram of the position sensorless control device for the synchronous machine in the present embodiment. Compared to the first embodiment, the estimated phase angle Δφ ^ _e1 and the estimated phase angle Δφ ^ _e2 acquired from two inverters are shown in FIG. Instead, the estimated speeds ω ^ ₁ and ω ^ ₂ are changed.

In FIG. 2, the master inverter and the slave inverter are provided with speed estimation units 12 and 12a for estimating the speed from changes in the estimated phase angle Δφ ^ _e1 and the estimated phase angle Δφ ^ _e2 , respectively. The “estimated speeds ω ^ ₁ , ω ^ ₂ ” from the estimators ₁₂ , 12 a are averaged, and the average estimated speed is set as a common estimated angular speed ω ^ _re for both inverters. The common estimated reference phase θ ^ of the inverters. This estimated reference phase θ ^ is transferred internally in the master inverter and transmitted to the slave inverter.

  Therefore, in the present embodiment, as in the first embodiment, the master inverter and the slave inverter have a difference in the phase angle of the extended induced voltage estimated from different voltages and current information from the multiple windings. By integrating the phase estimation information, it can be integrated into one, and by applying the rotation coordinate transformation by this integrated processing estimated reference phase θ ^, after the speed estimation, it is operated as if it were one inverter. Position sensorless control of the synchronous machine 5 with multiple windings can be performed. Further, it is possible to simplify the sharing of control elements and the communication of control information in the integration process.

In FIG. 2, the speed estimators 12 and 12a obtain the estimated speed ω ^ _re by performing proportional integral control on the phase angle Δφ ^ _e1 and the phase angle Δφ ^ _e2 , respectively. There seems to be a possibility that the integrated value gradually becomes a big difference with the passage of time. However, since this estimated speed is actually used for the calculation of the expansion induced voltage of the magnetic flux observer as shown in FIG. 5, feedback via this is applied, so the estimated speed is actually between the two inverters. Is suppressed to a certain degree and does not cause an abnormal speed difference.

  Although FIG. 2 shows an example of a double-winding synchronous machine, it can be easily expanded by increasing the number of phases to be averaged even for a synchronous machine having a large multiplex number.

(Embodiment 3)
FIG. 3 is a control block diagram of the position sensorless control apparatus for a synchronous machine in the present embodiment. In contrast to the second embodiment, the estimated phase θ ^ ₁ instead of the estimated speed ω ^ _re obtained from two inverters. , Θ ^ ₂ is changed.

In FIG. 3, the master inverter and the slave inverter are provided with position integration units 13 and 13a for estimating the reference phase (reference position) by the integration calculation of the estimated speeds from the speed estimation units 12 and 12a, respectively, and the phase average calculation unit 22 averages the estimated phases θ ^ ₁ and θ ^ ₂ from the position integrators 13 and 13a, and sets the average estimated phase as an average estimated reference phase θ ^ common to both inverters. The differentiation calculation unit 23 obtains the estimated speed ω ^ _re ^′ by differentiating the average estimated reference phase θ ^. These estimated angular velocities ω ^ _re ′ and estimated reference phase θ ^ are transferred internally in the master inverter, and the estimated reference phase θ ^ is transmitted to the slave inverter.

  Therefore, in this embodiment, as in the first and second embodiments, the master inverter and the slave inverter have a difference in the phase angle of the extended induced voltage estimated from different voltages and current information from the multiple windings. By integrating the phase estimation information of the inverters, they can be integrated into one, and by applying the rotation coordinate transformation based on the estimated estimation reference phase θ ^ that has been integrated, the phase estimation is as if it were one inverter. The position sensorless control of the multiple winding synchronous machine 5 can be performed. Further, it is possible to simplify the sharing of control elements and the communication of control information in the integration process.

  In FIG. 3, since there are an integral term for speed estimation in the speed estimation units 12 and 12a and an integral term for phase estimation in the position integration units 13 and 13a, the values of these integrators are time. There appears to be a gradual difference over time. However, since the reference phase applied to the rotating coordinate converter of both inverters is actually the same, even if an estimated phase deviation occurs between both inverters, there is a difference in the phase of the expanded induced electromotive force that has been converted to rotating coordinates. Appears, and feedback is applied to suppress the deviation of each estimated phase from expanding. Therefore, in this embodiment as well as the second embodiment, speed estimation and phase estimation do not diverge to an abnormal deviation.

  Although FIG. 2 shows an example of a double-winding synchronous machine, it can be easily expanded by increasing the number of phases to be averaged even for a synchronous machine having a large multiplex number.

3, 3a, 7, 7a Coordinate conversion unit 4, 4a Inverter 5 Motor 8, 8a Disturbance observer 10, 12, 12a Speed estimation unit 11, 11a Tan-1 function calculation unit 13, 13a Position integration unit 20 Phase angle average calculation unit 21 Speed average calculation unit 22 Phase average calculation unit 23 Differentiation calculation unit

Claims (4)

The master inverter is configured to supply a drive current to one winding of a multi-winding synchronous machine by performing reverse rotation coordinate conversion and power amplification of a voltage command synchronized with the rotational phase of the field to multiphase AC. Similarly, the inverter is configured to supply a driving current to each of the other windings of the synchronous machine of the multi-winding configuration by performing reverse rotation coordinate conversion and power amplification of the voltage command synchronized with the rotational phase of the field to multiphase AC,
Each of the master inverter and each slave inverter includes means for applying a reverse rotation coordinate conversion obtained by converting a voltage command into an alternating current and a reverse phase rotation coordinate conversion to convert the current component in synchronization with the rotation phase of the field, Means for calculating an estimated phase angle of `` a voltage component including phase information of a speed electromotive force generated by a field magnetic flux '' from a voltage command of each winding, a current detection signal of each winding, a circuit constant of the synchronous machine, and an estimated speed,
In a position sensorless control device for a synchronous machine provided with phase estimation means that uses an estimated reference phase θ ^ obtained based on the estimated phase angle as the rotational phase,
And the estimated phase angle [Delta] [phi ^ <sub>e1</sub> master inverter is calculated, and the average computing means for slave inverter to average the estimated phase angle [Delta] [phi ^ <sub>e2</sub> computed, estimated speed operation for obtaining an estimated velocity omega ^ <sub>re</sub> from the averaged estimated phase angle Means for integrating the estimated speed to obtain the reference estimated phase θ ^, and means for making this a rotational phase of the field common to the master inverter and the slave inverter. Position sensorless control device for synchronous machine. The master inverter is configured to supply a drive current to one winding of a multi-winding synchronous machine by performing reverse rotation coordinate conversion and power amplification of a voltage command synchronized with the rotational phase of the field to multiphase AC. Similarly, the inverter is configured to supply a driving current to each of the other windings of the synchronous machine of the multi-winding configuration by performing reverse rotation coordinate conversion and power amplification of the voltage command synchronized with the rotational phase of the field to multiphase AC,
Each of the master inverter and each slave inverter includes means for applying a reverse rotation coordinate conversion obtained by converting a voltage command into an alternating current and a reverse phase rotation coordinate conversion to convert the current component in synchronization with the rotation phase of the field, Means for calculating an estimated phase angle of `` a voltage component including phase information of a speed electromotive force generated by a field magnetic flux '' from a voltage command of each winding, a current detection signal of each winding, a circuit constant of the synchronous machine, and an estimated speed,
In a position sensorless control device for a synchronous machine provided with phase estimation means that uses an estimated reference phase θ ^ obtained based on the estimated phase angle as the rotational phase,
An estimated speed calculating means for obtaining an estimated speed ω ^ ₁ from the estimated phase angle Δφ ^ _e1 calculated by the master inverter; an estimated speed calculating means for determining an estimated speed ω ^ ₂ from the estimated phase angle Δφ ^ _e2 calculated by the slave inverter; Average calculating means for averaging the estimated speed ω ^ ₁ and estimated speed ω ^ ₂ , integrating calculating means for integrating the average estimated speed ω ^ _re to obtain the reference estimated phase θ ^, A position sensorless control device for a synchronous machine, comprising means for setting a rotational phase of a field common to slave inverters. The master inverter is configured to supply a drive current to one winding of a multi-winding synchronous machine by performing reverse rotation coordinate conversion and power amplification of a voltage command synchronized with the rotational phase of the field to multiphase AC. Similarly, the inverter is configured to supply a driving current to each of the other windings of the synchronous machine of the multi-winding configuration by performing reverse rotation coordinate conversion and power amplification of the voltage command synchronized with the rotational phase of the field to multiphase AC,
Each of the master inverter and each slave inverter includes means for applying a reverse rotation coordinate conversion obtained by converting a voltage command into an alternating current and a reverse phase rotation coordinate conversion to convert the current component in synchronization with the rotation phase of the field, Means for calculating an estimated phase angle of `` a voltage component including phase information of a speed electromotive force generated by a field magnetic flux '' from a voltage command of each winding, a current detection signal of each winding, a circuit constant of the synchronous machine, and an estimated speed,
In a position sensorless control device for a synchronous machine provided with phase estimation means that uses an estimated reference phase θ ^ obtained based on the estimated phase angle as the rotational phase,
Estimated speed calculating means for obtaining an estimated velocity omega ^ _re1 from the estimated phase angle [Delta] [phi ^ _e1 master inverter is calculated, and the integral calculation means for obtaining an estimated phase theta ^ ₁ by integrating the estimated speed omega ^ _re1, the slave inverter estimated speed calculating means for obtaining an estimated velocity omega ^ _re2 from the calculated estimated phase angle [Delta] [phi ^ _e2, and integral calculation means for obtaining an estimated phase theta ^ ₂ by integrating the estimated speed omega ^ _re2, the estimated phase theta ^ ₁ A position sensorless control device for a synchronous machine, further comprising an average calculating means for obtaining the reference estimated phase θ ^ by averaging the estimated phase θ ^ ₂ .   The phase estimation means is provided in the master inverter, the slave inverter is provided with means for transmitting the calculated estimated phase angle or estimated speed or estimated phase to the master inverter, and the master inverter uses the calculated estimated reference phase as common data. The position sensorless control device for a synchronous machine according to any one of claims 1 to 3, further comprising means for transmitting to the slave inverter.

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