JP2012205434A - Control device of ac rotary machine - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device of an AC rotary machine capable of improving torque responsiveness constrained by a mechanical response of a speed control system.SOLUTION: A control device of an AC rotary machine comprises: power conversion means 3 for outputting an AC voltage to an AC rotary machine 2; current detection means 4 for detecting a current flowing in the AC rotary machine 2; current operation means 5 for converting the detected current to a current on rotating two-axis coordinates; torque operation means 8 for operating an output torque output by the AC rotary machine 2 based on the current on the rotating two-axis coordinates; frequency command calculation means 9 for calculating a frequency command based on the deviation between the torque command and the output torque; a compensator 10 which calculates a frequency compensation amount for frequency command compensation based on the torque command; phase calculation means 6 for calculating a phase of a control coordinate axis set on the rotating two-axis coordinates based on the frequency command after the compensation; and voltage command calculation means 7 for calculating a voltage command to be output to the power conversion means based on the frequency command after the compensation and the phase of the control coordinate axis.

Description

  The present invention relates to a control device for an AC rotating machine provided with power conversion means for driving the AC rotating machine.

When an AC rotating machine is driven by power conversion means such as an inverter, the electrical response is generally faster than the mechanical response. Therefore, a speed command is usually input from the outside to control the speed of the AC rotating machine. A cascade control system is used in which the control system is a major loop, and the current control system that controls the phase current flowing in the phase winding of the AC rotating machine is a minor loop.
However, in the case of a control system that controls torque and power by inputting a desired torque or power command from the outside, if a torque (or power) command is given from the outside and feedback control is performed, rapid speed increase or AC rotation Undesirable events occur, such as exceeding the machine's mechanical speed limit. In order to improve this, a control configuration in which a loop for controlling the speed (frequency) is further added, that is, a control system having a cascade configuration in which the torque (or power) control system is a major loop and the speed (frequency) control system is a minor loop. It has been proposed (see, for example, Patent Document 1).

Japanese Patent No. 4503764 (paragraphs [0024] to [0026], FIG. 5)

  In the device of Patent Document 1, the response of the torque (or power) control system that is a major loop is limited to the mechanical response or less of the speed control system of the minor loop. There is a possibility that a response may not be obtained, and there is a problem that it is difficult to accelerate at a high acceleration rate or to operate at a high torque drive immediately after startup.

  The present invention has been made in order to solve the above-described problems, and is a control device for an AC rotary machine that can improve the response of torque (or electric power) restricted by the mechanical response of the speed control system. The purpose is to provide.

  An AC rotary machine control device according to the present invention is an AC rotary machine control device that receives a torque command from the outside, and a power conversion unit that outputs an AC voltage to the AC rotary machine, and a current that detects a current flowing through the AC rotary machine. Detecting means; current calculating means for converting the current detected by the current detecting means into current on the rotating biaxial coordinates; and torque calculating for calculating the output torque output from the AC rotating machine based on the current on the rotating biaxial coordinates. Means, a frequency command calculating means for calculating a frequency command based on a deviation between the torque command and the output torque calculated by the torque calculating means, a compensator for calculating a frequency compensation amount for correcting the frequency command based on the torque command, , Based on the phase calculation means for calculating the phase of the control coordinate axis set on the rotating biaxial coordinate based on the corrected frequency command, and on the basis of the corrected frequency command and the phase of the control coordinate axis. Te, in which and a voltage command calculation means for calculating a voltage command to be output to the power conversion means.

  Also, the control device for an AC rotating machine according to the present invention is a control device for an AC rotating machine that receives a torque command from the outside, and that detects power flowing in the AC rotating machine and power conversion means for outputting an AC voltage to the AC rotating machine. Current detecting means, current calculating means for converting the current detected by the current detecting means into current on the rotating biaxial coordinates, and output torque output from the AC rotating machine based on the current on the rotating biaxial coordinates Phase compensation for correcting the phase of the control coordinate axis set on the rotating biaxial coordinates, the torque computing means, the frequency command computing means for computing the frequency command based on the deviation between the torque command and the output torque computed by the torque computing means Compensator for calculating the amount based on the torque command, phase calculating means for calculating the phase of the control coordinate axis based on the frequency command and the phase compensation amount, and the control coordinate axis after the frequency command and correction Based on the phase, in which and a voltage command calculation means for calculating a voltage command to be output to the power conversion means.

  The control device for an AC rotating machine according to the present invention is a control device for an AC rotating machine that receives an electric power command from the outside, and that detects power flowing in the AC rotating machine and power conversion means for outputting an AC voltage to the AC rotating machine. Current detection means, current calculation means for converting the current detected by the current detection means into current on the rotating biaxial coordinates, AC rotation based on the voltage command on the rotating biaxial coordinates and the current on the rotating biaxial coordinates Power calculating means for calculating the output power output from the machine, frequency command calculating means for calculating a frequency command based on a deviation between the power command and the output power calculated by the power calculating means, and a frequency compensation amount for correcting the frequency command A compensator that calculates the phase of the control coordinate axis set on the rotating biaxial coordinate based on the corrected frequency command, the corrected frequency command and the control seat. Based on the axis of the phase in which and a voltage command calculation means for calculating a voltage command on the rotation two-axis coordinate output to voltage command and power computing means outputs to the power converter.

  The control device for an AC rotating machine according to the present invention is a control device for an AC rotating machine that receives an electric power command from the outside, and that detects power flowing in the AC rotating machine and power conversion means for outputting an AC voltage to the AC rotating machine. Current detection means, current calculation means for converting the current detected by the current detection means into current on the rotating biaxial coordinates, AC rotation based on the voltage command on the rotating biaxial coordinates and the current on the rotating biaxial coordinates Power calculation means for calculating the output power output by the machine, frequency command calculation means for calculating the frequency command based on the deviation between the power command and the output power calculated by the power calculation means, and set on the rotating biaxial coordinates Compensator for calculating the phase compensation amount for correcting the phase of the control coordinate axis based on the power command, phase calculating means for calculating the phase of the control coordinate axis based on the frequency command and the phase compensation amount, and the frequency command and after correction Based on the phase of the control coordinate axes, in which and a voltage command calculation means for calculating a voltage command on the rotation two-axis coordinate output to voltage command and power computing means outputs to the power converter.

  The control apparatus for an AC rotating machine according to the present invention includes a power conversion unit that outputs an AC voltage to the AC rotating machine, a current detecting unit that detects a current flowing through the AC rotating machine, and a current detected on a rotating biaxial coordinate. Current calculating means for converting to torque, torque calculating means for calculating the output torque output from the AC rotating machine based on the current on the rotating biaxial coordinates, and calculating the frequency command based on the deviation between the torque command and the output torque A frequency command calculating means, a compensator for calculating a frequency compensation amount for correcting the frequency command based on the torque command, and a phase for calculating the phase of the control coordinate axis set on the rotating biaxial coordinate based on the corrected frequency command Since it comprises a calculation means, and a voltage command calculation means for calculating a voltage command to be output to the power conversion means based on the corrected frequency command and the phase of the control coordinate axis, the conventional configuration It can improve the torque response that has been constrained by the mechanical response of the speed control system.

  The control device for an AC rotating machine according to the present invention includes a power conversion unit that outputs an AC voltage to the AC rotating machine, a current detecting unit that detects a current flowing through the AC rotating machine, and a detected current on a rotating biaxial coordinate. Current calculating means for converting the current into torque, torque calculating means for calculating the output torque output from the AC rotating machine based on the current on the rotating biaxial coordinates, and a frequency command based on the deviation between the torque command and the output torque. A frequency command calculating means for calculating, a compensator for calculating a phase compensation amount for correcting the phase of the control coordinate axis set on the rotating biaxial coordinate based on the torque command, and a control coordinate axis based on the frequency command and the phase compensation amount. Phase calculation means for calculating the phase, and voltage command calculation means for calculating a voltage command to be output to the power conversion means based on the frequency command and the phase of the corrected control coordinate axis. , In the conventional configuration can be improved torque response that has been constrained by the mechanical response of the speed control system.

  The control device for an AC rotating machine according to the present invention includes a power conversion unit that outputs an AC voltage to the AC rotating machine, a current detecting unit that detects a current flowing through the AC rotating machine, and a detected current on a rotating biaxial coordinate. Current calculation means for converting the current into current, power calculation means for calculating the output power output from the AC rotating machine based on the voltage command on the rotating biaxial coordinates and the current on the rotating biaxial coordinates, the power command and the output power A frequency command calculation means for calculating a frequency command based on the deviation from the frequency, a compensator for calculating a frequency compensation amount for correcting the frequency command based on the power command, and a rotational biaxial coordinate based on the corrected frequency command. Phase calculation means for calculating the phase of the control coordinate axis set in the above, a voltage command output to the power conversion means based on the corrected frequency command and the phase of the control coordinate axis, and on the rotating biaxial coordinate output to the power calculation means For those and a voltage command calculating means for calculating a voltage command, in the conventional configuration can improve the power responsiveness that has been constrained by the mechanical response of the speed control system.

  The control device for an AC rotating machine according to the present invention includes a power conversion unit that outputs an AC voltage to the AC rotating machine, a current detecting unit that detects a current flowing through the AC rotating machine, and a detected current on a rotating biaxial coordinate. Current calculation means for converting the current into current, power calculation means for calculating the output power output from the AC rotating machine based on the voltage command on the rotating biaxial coordinates and the current on the rotating biaxial coordinates, the power command and the output power A frequency command calculating means for calculating a frequency command based on the deviation from the control unit, a compensator for calculating a phase compensation amount for correcting the phase of the control coordinate axis set on the rotating biaxial coordinate based on the power command, a frequency command, Phase calculation means for calculating the phase of the control coordinate axis based on the phase compensation amount, and voltage command output to the power conversion means and rotation output to the power calculation means based on the frequency command and the corrected phase of the control coordinate axis For those and a voltage command calculation means for calculating a voltage command of the on-axis coordinates, in the conventional configuration can improve the power responsiveness that has been constrained by the mechanical response of the speed control system.

1 is a system configuration diagram according to a control device for an AC rotary machine of Embodiment 1 of the present invention. It is a system block diagram which concerns on the control apparatus of the alternating current rotating machine of Embodiment 2 of this invention. It is a system block diagram which concerns on the control apparatus of the alternating current rotating machine of Embodiment 3 of this invention. It is a system block diagram which concerns on the control apparatus of the alternating current rotating machine of Embodiment 4 of this invention. It is a block diagram of the 2nd compensator which concerns on the control apparatus of the alternating current rotating machine of Embodiment 4 of this invention. It is a system block diagram of the application example which concerns on the control apparatus of the alternating current rotating machine of Embodiment 4 of this invention. It is a structure figure of the system block diagram which concerns on the control apparatus of the alternating current rotating machine of Embodiment 5 of this invention. It is a system block diagram which concerns on the control apparatus of the alternating current rotating machine of Embodiment 6 of this invention.

Embodiment 1 FIG.
The first embodiment relates to a control device for an AC rotating machine according to the present invention that improves torque response by providing a compensator in a torque control system and correcting a frequency command in a short time.
Hereinafter, Embodiment 1 of the present invention will be described with reference to FIG. 1 which is a system configuration diagram related to a control device for an AC rotating machine.

First, the system configuration of the control device for an AC rotating machine according to Embodiment 1 of the present invention will be described.
FIG. 1 shows the configuration of an AC rotating machine control system including an AC rotating machine control device 1 and an AC rotating machine 2 according to Embodiment 1 of the present invention.
Hereinafter, the AC rotating machine 2 will be described mainly by taking a three-phase synchronous machine as an example, but the present invention is not limited to “three-phase” and “synchronous machine”, and other numbers of phases (three The same applies to a rotating machine (for example, an induction machine) different from a synchronous machine or a two-phase rotating machine other than the phase). The AC rotating machine of the present invention can be applied to both “AC motor” and “AC generator”.

  In FIG. 1, an AC rotating machine control device 1 includes an inverter and other power conversion means 3, current detection means 4, current calculation means 5, phase calculation means 6, voltage command calculation means 7, torque It comprises an arithmetic means 8, a frequency command arithmetic means 9 and a compensator 10.

Next, functions and operations of the control device 1 for an AC rotating machine according to Embodiment 1 of the present invention will be described with reference to the system configuration diagram of FIG.
The power conversion means 3 receives a DC power supply from a power supply not described, and based on three-phase voltage commands Vu *, Vv *, Vw * output from a voltage command calculation means 7 described later, the three-phase voltage Vu, Vv and Vw are output and the AC rotating machine 2 is driven.
As a means for supplying a DC power from a power supply not described above, for example, a power supply that directly outputs a DC voltage or a means such as a battery, a single-phase or three-phase AC power supply, a known converter or a known diode ( There is a means for obtaining a DC power source by converting it into a DC voltage by a rectifier circuit using a bridge) and a capacitor.
The current detection means 4 detects the output currents Iu and Iv of the AC rotating machine 2, and the remaining one-phase current Iw is calculated based on the detected Iu and Iv (Iw = −Iu−Iv). The current detection means 4 may be provided in only two phases as shown in FIG. 1 or in all three phases.
The current calculation means 5 is set on the output currents Iu, Iv, Iw of the AC rotating machine 2 detected by the current detection means 4 and the rotating biaxial coordinates (hereinafter referred to as dq axes) output from the phase calculation means 6 described later. Based on the phase θ of the control coordinate axis, the coordinates are converted into currents Id and Iq on the dq axis.
The equation for coordinate-converting the output currents Iu, Iv, Iw to the currents Id, Iq on the dq axis is equation (1).

The phase calculation means 6 integrates a corrected frequency command ω1 *, which will be described later, to determine the phase θ of the control coordinate axis set on the rotating biaxial coordinates. The phase calculation means 6 outputs the phase θ to the current calculation means 5 and the voltage command calculation means 7 described later. At this time, the control calculation delay time until the values of the output currents Iu, Iv, Iw detected by the current detection unit 4 are reflected in the three-phase voltages Vu, Vv, Vw output from the power conversion unit 3 is taken into consideration. The phase output to the current calculation means 5 and the phase output to the voltage command calculation means 7 may be different values. In this case, θx = ∫ω1dt (= θ), θy = θx + θd (θd: based on control calculation delay time) where θx is the phase output to the current calculation means 5 and θy is the phase output to the voltage command calculation means 7. Phase correction amount).
The voltage command calculation means 7 calculates three-phase voltage commands Vu *, Vv *, and Vw * based on a corrected frequency command ω1 *, which will be described later, and currents Id and Iq on the dq axis and phase θ.
As a method of calculating the three-phase voltage commands Vu *, Vv *, and Vw *, the voltage commands Vd * and Vq * on the dq axis are once calculated and the three-phase voltage commands are calculated based on the phase θ and Vd * and Vq *. A method for converting the coordinates to Vu *, Vv *, and Vw * will be described below.

  As an example of a method for calculating the voltage commands Vd * and Vq *, for example, a term obtained by multiplying a frequency command ω1 *, which is similar to the known V / F constant control, by a proportional coefficient (K0) is used. There is a method in which the voltage drop in the line resistance R and the voltage drop caused by the armature reaction are adjusted to a value. This can be expressed by equations (2) and (3).

However, Ld and Lq represent inductances on the dq axis, and K1 and K2 represent correction coefficients.
In order to further stabilize the equations (2) and (3), stabilization compensation voltages Vcd and Vcq may be added as in equations (4) and (5).
Examples of the stabilization compensation voltages Vcd and Vcq include a voltage that compensates for distortion of a frequency current that is an integral multiple of the fundamental frequency as generated due to the shape of the AC rotating machine, or power conversion including an inverter. There is a voltage that is compensated to further stabilize the control system, such as a voltage that compensates for a voltage error caused by the dead time of the means 3. Further, a method of compensating after coordinate conversion to a three-phase voltage command described later may be used.

  Further, in the equations (2) and (3), the dq axis used in the calculation is used to suppress the influence of noise in the current detection environment and the vibration in the first term of each equation. As the currents Id and Iq above, values passed through a filter adjusted to an appropriate response may be used.

Based on the voltage commands Vd *, Vq * obtained by the equations (2), (3) (or (4), (5)) and the phase θ (θy may be substituted for θ) Coordinates are converted to voltage commands Vu *, Vv *, and Vw *.
This coordinate conversion formula is the formula (6).

  The torque calculation means 8 calculates the AC rotating machine output torque τ using the q-axis current Iq of the current on the dq axis. The output torque calculation formula is the formula (7).

  However, Kt is a parameter called a torque constant that represents the ratio of the generated torque to the q-axis current Iq, and is a value specific to each rotating machine. If the AC rotating machine is a rotating machine having a field magnetic flux, Kt is a value determined by the field magnetic flux φ created by a permanent magnet or field winding and the number Pm of rotating machine pole pairs.

  In the first embodiment, Kt uses only the q-axis current Iq for calculating the output torque. However, if the AC rotating machine is a synchronous machine having magnetic saliency, the value of the d-axis current Id is also used. Then, the output torque τ may be calculated according to the equation (8).

  The frequency command calculation means 9 outputs a frequency command ω * based on the deviation between the torque command τ * input from the outside of the AC rotating machine control system and the output torque τ calculated by the torque calculation means 8. Specifically, a deviation Δτ (= τ * −τ) between the torque command τ * and the output torque τ is calculated by the adder / subtractor 11, and a known proportional integration (PI) control calculation using the deviation Δτ as an input is performed. A proportional-integral calculation output ω0 is obtained, and a value obtained by adding a predetermined frequency set value ωset to ω0 is finally output as a frequency command ω *.

Specifically, when τ *> τ where the output torque has not reached the torque command, Δτ> 0, and the operation of increasing the proportional integral calculation output ω0 so as to increase the output torque with respect to the frequency set value ωset is performed. When τ> τ * when the output torque exceeds the torque command, Δτ <0, and the proportional-integral calculation output ω0 is decreased so as to decrease the output torque with respect to the frequency setting value ωset.
When this calculation is expressed by a mathematical formula, the formula (9) is obtained.

  Here, Kcp is a proportional gain of proportional integral (PI) control calculation, Kci is an integral gain of proportional integral (PI) control calculation, and s is a Laplace operator. Note that Kcp = 0, that is, only integral (I) control calculation may be performed.

  If the frequency command ω * is set in this way, the output torque τ follows the torque command τ *, and frequency compensation is performed with a predetermined frequency set value ωset as the center. The AC rotating machine 2 can be driven (accelerated / decelerated) without deviating.

The compensator 10 calculates the frequency compensation amount Δωc based on the torque command τ *. The compensator 10 mainly performs proportional control or differential control on the input, or a control operation that combines both so as to adjust the frequency command ω * in a short time.
When the calculation performed by the compensator 10 is expressed by a mathematical formula, the formula (10) is obtained.

  Here, Ktp is a proportional gain of proportional differential (PD) control calculation, Ktd is a differential gain of proportional integral (PD) control calculation, and s is a Laplace operator. Note that either Ktp or Ktd may be 0.

  The frequency compensation amount Δωc calculated by the compensator 10 is added to the frequency command ω * by the adder / subtractor 12 to become a corrected frequency command ω1 * (= ω * + Δωc). The frequency command ω 1 * is input to the phase calculation means 6 and the voltage command calculation means 7.

  In the feedback control configuration by the torque control system, it is not easy to increase the torque response, but by adding this compensator 10 and correcting the frequency command ω * based on the frequency compensation amount Δωc, the frequency can be shortened in a short time. Since the command ω * can be adjusted, the torque response is improved.

  As described above, in the AC rotating machine control device 1 according to the first embodiment, the compensator 10 is added to the torque control system, so the frequency command ω * can be adjusted in a short time, and the conventional configuration In this case, it is possible to improve the torque response that is restricted by the mechanical response of the speed control system, and there is an effect that desired torque followability can be obtained.

Embodiment 2. FIG.
The second embodiment relates to a control device for an AC rotating machine according to the present invention that improves torque response by providing a compensator in a torque control system and adjusting the phase θ of a control coordinate axis in a short time.

FIG. 2 shows the configuration of an AC rotating machine control system including the AC rotating machine control device 21 and the AC rotating machine 2 according to Embodiment 2 of the present invention. In FIG. 2, the same or corresponding parts as in FIG.
Regarding the second embodiment of the present invention, the function of the compensator 23 for calculating the phase compensation amount Δθc different from the control device 1 for the AC rotating machine according to the first embodiment and the function of the phase calculation means 22 to which the phase compensation amount Δθc is input, The operation will be mainly described with reference to the system configuration diagram of FIG.

  In the second embodiment, the phase compensation amount Δθc is added to the phase obtained by integrating the frequency command ω1 * and the point at which the compensator 23 calculates the phase compensation amount Δθc based on the torque command τ *. The difference from the first embodiment is that the phase θ of the control coordinate axis set on the biaxial coordinate is corrected. Except this point, the configuration is the same as that of the first embodiment.

The compensator 23 calculates the phase compensation amount Δθc based on the torque command τ *. Similar to the compensator 10 of the first embodiment, the compensator 23 is intended to improve torque response, and adjusts the phase θ of the control coordinate axis set on the rotating biaxial coordinate in a short time (mainly Advance the phase).
Specifically, control calculation is performed mainly for proportional control, differential control, or a combination of both. When the calculation performed by the compensator 23 is expressed by a mathematical formula, the formula (11) is obtained.

  However, Ktp1 is a proportional gain of proportional differential (PD) control calculation, Ktd1 is a differential gain of proportional integral (PD) control calculation, and s is a Laplace operator. Note that either Ktp1 or Ktd1 may be 0.

  The phase calculation means 22 integrates the frequency command ω * and further adds a phase compensation amount Δθc to obtain the phase θ of the control coordinate axis set on the rotating biaxial coordinates. The phase calculating means 22 outputs the corrected phase θ to the current calculating means 5 and the voltage command calculating means 7 described later, but the output currents Iu, Iv, Iw detected by the current detecting means 4 are the same as in the first embodiment. In consideration of the control calculation delay time until the value is reflected in the three-phase voltages Vu, Vv and Vw output from the power conversion means 3, the phase output to the current calculation means 5 and the voltage output to the voltage command calculation means 7 are output. The phase may be a different value. In this case, θx = ∫ω1dt + Δθc (= θ), θy = θx + θd (θd: based on the control calculation delay time, where θx is the phase output to the current calculation means 5 and θy is the phase output to the voltage command calculation means 7. Phase correction amount).

  In the feedback control configuration using the torque control system, it is not easy to increase the torque response, but this compensator 23 is added to correct the phase θ of the control coordinate axis set on the rotating biaxial coordinate based on the phase compensation amount Δθc. Since the phase θ of the control coordinate axis can be adjusted in a short time, the torque response is improved.

  In the second embodiment, a compensator that compensates for the frequency command ω * described in the first embodiment is not provided. However, in addition to the configuration of the second embodiment, as described in the first embodiment. A compensator that compensates the frequency compensation amount Δωc for the frequency command ω * may be added.

  As described above, in the control device 21 for an AC rotating machine according to the second embodiment, the compensator 23 is added to the torque control system, so that the phase θ of the control coordinate axis can be adjusted in a short time. With the configuration, it is possible to improve the torque response that is limited by the mechanical response of the speed control system, and there is an effect that desired torque followability can be obtained.

Embodiment 3 FIG.
The third embodiment relates to a control device for an AC rotating machine configured to adjust the phase θ of the control coordinate axis from the relationship between the torque command and the load angle with respect to the control device 21 for the AC rotating machine of the second embodiment. is there.

FIG. 3 shows the configuration of an AC rotating machine control system including the AC rotating machine control device 31 and the AC rotating machine 2 according to Embodiment 3 of the present invention. In FIG. 3, the same or corresponding parts as those in FIG.
With respect to the third embodiment of the present invention, the system configuration diagram of FIG. 3 is used focusing on the functions and operations of the voltage command calculation means 32 and the compensator 33 which are different from the control device 21 of the AC rotating machine according to the second embodiment. explain.

  The voltage command calculation means 32 has the same calculation contents as the voltage command calculation means 7 in the second embodiment, but differs in that voltage commands Vd * and Vq * on the dq axis are output to the compensator 33.

The compensator 33 calculates the phase compensation amount Δθc based on the torque command τ * and the load angle δ. The load angle δ is an angle formed by a d-axis voltage (Vd) vector with respect to the q-axis and a combined vector of the q-axis voltage (Vq) vector, and is obtained by the relationship of Expression (12).
It is generally known that torque can be manipulated by the load angle δ.

  Therefore, the load angle δ is calculated based on the voltage commands Vd * and Vq * on the dq axis calculated by the equations (2), (3) (or (4), (5)) in the voltage command calculating means 32. Then, an appropriate phase compensation amount Δθc is obtained from the relationship between the previously obtained torque command τ * and the load angle δ. Alternatively, the value of the load angle δ itself may be used as the phase compensation amount Δθc.

  In the feedback control configuration by the torque control system, it is not easy to increase the torque response, but this compensator 33 is added, and the rotating biaxial based on the phase compensation amount Δθc obtained by the calculation different from the second embodiment By correcting the phase θ of the control coordinate axis set on the coordinates, the phase θ of the control coordinate axis can be adjusted in a short time, so that torque response is improved.

  As described above, in the control device 31 for an AC rotary machine according to the third embodiment, the compensator 33 is added to the torque control system, so that the phase θ of the control coordinate axis can be adjusted in a short time. With the configuration, it is possible to improve the torque response that is restricted by the mechanical response of the speed control system, and the desired output torque followability can be obtained.

Embodiment 4 FIG.
In the fourth embodiment, a second compensator is further provided with respect to the control device 1 for the AC rotating machine of the first embodiment, and the AC rotating machine is capable of stable control by suppressing output torque and current vibration. The present invention relates to a control device.

FIG. 4 shows the configuration of an AC rotating machine control system including the AC rotating machine control device 41 and the AC rotating machine 2 according to Embodiment 4 of the present invention. FIG. 5 is a configuration diagram of a second compensator that is a component device of the control device 41 of the AC rotating machine.
In FIG. 4, the same or corresponding parts as in FIG.
Regarding the fourth embodiment of the present invention, the system configuration diagram of FIG. 4 and the configuration of FIG. 5 centering on the function and operation of the second compensator 42 added to the control device 1 for an AC rotating machine according to the first embodiment. This will be described with reference to the drawings.

  The second compensator 42 is an overshoot due to vibration, step-out phenomenon, and overshoot that occurs during load change or sudden acceleration when a proportional integral (PI) control system based on current deviation that controls current to a desired value is not configured. It has a function to suppress current phenomenon. In addition to the frequency compensation operation by the compensator 10 of the first embodiment, a second compensator 42 is further added to perform new compensation based on the q-axis current Iq that affects the output torque τ.

In FIG. 5, the second compensator 42 includes two low-pass filters, a first filter 44 and a second filter 45. The cutoff frequency of the second filter 45 is set to about 1/10 to 1/100 of the cutoff frequency of the first filter 44.
The first filter 44 reduces the high frequency component of the q-axis current Iq and outputs Iqf1. The second filter 45 outputs Iqf2 in which a lower frequency component is attenuated with respect to Iqf1.

A value obtained by multiplying the difference between the filtered values Iqf1 and Iqf2 by a predetermined proportional gain Kf is set as a second frequency compensation amount Δωc2 that is the output of the second compensator 42. The second frequency compensation amount Δωc2 is subtracted from the added value.
That is, it is close to a relatively driving frequency band (frequency command ω *) in which a high frequency component such as a current high frequency component caused by the power conversion means 3 included in the q-axis current Iq and a direct current component and a low frequency component are removed. Frequency compensation for the frequency command ω * is performed based only on the frequency component.
The calculations performed by the second compensator 42 and the adder / subtractor 43 are expressed by equations (13) and (14).

The AC rotating machine control device 41 according to the fourth embodiment is obtained by adding a second compensator 42 to the configuration of the AC rotating machine control device 1 according to the first embodiment. The second compensator 42 may be added to the control device 21 (or 31) of the AC rotating machine of the third form).
FIG. 6 shows a system configuration of an AC rotating machine control device 51 in which a second compensator 42 is added to the AC rotating machine control device 21 of the second embodiment.

  As described above, in the AC rotating machine control device 41 according to the fourth embodiment, the second compensator 42 is added to the AC rotating machine control device 1 according to the first embodiment. In other words, in addition to the effect of obtaining the desired torque follow-up, it is possible to improve the torque response, which is limited by the mechanical response of the speed control system in the conventional configuration. Is suppressed, and step-out is prevented and stable control can be realized.

Embodiment 5 FIG.
Embodiment 5 relates to a control device for an AC rotating machine according to the present invention that improves power response by providing a compensator in a power control system and correcting a frequency command in a short time.
FIG. 7 shows the configuration of an AC rotating machine control system including the AC rotating machine control device 61 and the AC rotating machine 2 according to Embodiment 5 of the present invention. In FIG. 7, the same or corresponding parts as those in FIG.
The function and operation of the AC rotary machine control device 61 according to Embodiment 5 of the present invention will be described with reference to the system configuration diagram of FIG.

In FIG. 7, the control device 61 of the AC rotating machine includes power conversion means 3 including an inverter, current detection means 4, current calculation means 5, phase calculation means 6, voltage command calculation means 63, power The calculation means 62, the frequency command calculation means 64, and the compensator 65 are comprised.
These functions and operations will be described below.
The control device 61 of the AC rotating machine is the same as that in the first embodiment with respect to the power conversion means 3, the current detection means 4, the current calculation means 5, and the phase calculation means 6, and therefore the description thereof is omitted. The function and operation of the means 62, voltage command calculation means 63, frequency command calculation means 64 and compensator 65 will be mainly described.

  The voltage command calculation means 63 has the same calculation content as the voltage command calculation means 7 in the first embodiment, but is calculated by equations (2), (3) (or (4), (5)). The difference is that the voltage commands Vd * and Vq * on the shaft are output to the power calculation means 62 described later, and the calculation rotational speed ωr of the AC rotating machine 2 is calculated and output to the divider 67.

If the AC rotary machine 2 is a synchronous rotary machine, the calculated rotational speed ωr of the AC rotary machine 2 coincides with the corrected frequency command ω1 * input to the voltage command calculation means 63, and this frequency ω1 * is used as it is. Alternatively, it is output to the divider 67 after appropriate correction.
If the AC rotating machine 2 is an induction rotating machine, it is output to the divider 67 after frequency correction corresponding to the slip frequency is added to the frequency ω1 *.

  The power calculation means 62 calculates the AC rotating machine output power P using the voltage commands Vd * and Vq * on the dq axis and the currents Id and Iq on the dq axis. The calculation formula of the output power P is the formula (15).

The frequency command calculation means 64 has a frequency based on a value obtained by dividing the deviation ΔP between the power command P * input from the outside of the AC rotating machine control system and the output power P calculated by the power calculation means 62 by the calculated rotation speed ωr. Command ω * is output.
Specifically, the deviation ΔP (= P * −P) between the power command P * and the output power P is calculated by the adder / subtractor 66, and the deviation ΔP is divided by the calculated rotation speed ωr by the divider 67. This value corresponds to Δτ of the first embodiment. A known proportional integration (PI) control calculation is performed on this input to obtain a proportional integration calculation output ω0, and a predetermined frequency set value ωset is added to ω0. The value is finally output as a frequency command ω *.

Specifically, when P *> P where the output power does not reach the power command, ΔP> 0, and the operation is performed to increase ω0 so as to increase the output power with respect to the frequency setting value ωset. When P> P * where the output power exceeds the power command, ΔP <0, and the operation is performed to reduce ω0 so as to decrease the output power with respect to the frequency set value ωset.
This calculation is expressed by equation (16).

  However, Kcp1 is a proportional gain of proportional integral (PI) control calculation, Kci1 is an integral gain of proportional integral (PI) control calculation, and s is a Laplace operator. Note that Kcp1 = 0, that is, only integral (I) control calculation may be performed.

  If the frequency command ω * is set in this manner, the output power P follows the power command P * and frequency compensation is performed with a predetermined frequency set value ωset as the center. The AC rotating machine 2 can be driven without deviating.

  The compensator 65 calculates the frequency compensation amount Δωc based on the power command P *. The compensator 65 mainly performs proportional control or differential control on the input, or a control operation that combines both so as to adjust the frequency command ω * in a short time. When the calculation performed by the compensator 65 is expressed by an equation, the equation (17) is obtained.

Here, Ktp2 is a proportional gain of proportional differential (PD) control calculation, Ktd2 is a differential gain of proportional integral (PD) control calculation, and s is a Laplace operator.
Note that either Ktp2 or Ktd2 may be 0.

  The frequency compensation amount Δωc calculated by the compensator 65 is added to the frequency command ω * by the adder / subtractor 12 to become a corrected frequency command ω1 * (= ω * + Δωc). The frequency command ω1 * is input to the phase calculation means 6 and the voltage command calculation means 63 as in the first embodiment.

  In the feedback control configuration by the power control system, it is not easy to increase the power response, but by adding this compensator 65 and correcting the frequency command ω * based on the frequency compensation amount Δωc, the frequency response can be shortened in a short time. Since the command ω * can be adjusted, the power response is improved.

  The second compensator 42 described in the fourth embodiment can be added to the control device 61 for the AC rotating machine of the fifth embodiment.

  In the AC rotary machine control device 61 according to the fifth embodiment, the frequency command calculation means 64 calculates the deviation ΔP between the power command P * input from the outside and the output power P calculated by the power calculation means 62. The frequency command ω * is output based on the value divided by the rotational speed ωr. However, the deviation ΔP may be directly input to the frequency command calculation means to calculate the frequency command ω *.

As described above, in the AC rotary machine control device 61 according to the fifth embodiment, the compensator 65 is added to the power control system, so the frequency command ω * can be adjusted in a short time, and the conventional configuration Then, there is an effect that it is possible to improve the power response, which is limited by the mechanical response of the speed control system.
In addition, in the AC rotating machine control device 61 according to Embodiment 5, the frequency command ω * is output based on the value obtained by dividing the deviation ΔP by the calculated rotational speed ωr, so that the response of the output power is rotated. There is also an effect that can be made constant regardless of the speed.

Embodiment 6 FIG.
Embodiment 6 relates to a control device for an AC rotating machine according to the present invention that improves power response by providing a compensator in a power control system and adjusting the phase θ of a control coordinate axis in a short time.
FIG. 8 shows the configuration of an AC rotating machine control system including the AC rotating machine control device 71 and the AC rotating machine 2 according to Embodiment 6 of the present invention. In FIG. 8, the same or corresponding parts as in FIG.
With respect to the sixth embodiment of the present invention, the figure mainly focuses on the function and operation of the compensator 72 that calculates the phase compensation amount Δθc based on the power command P * different from the control device 61 for the AC rotating machine according to the fifth embodiment. This will be described with reference to FIG.

The compensator 72 calculates the phase compensation amount Δθc based on the power command P *. Similar to the compensator 65 of the fifth embodiment, the compensator 72 is intended to improve the power response, and adjusts the phase θ of the control coordinate axis set on the rotating biaxial coordinate in a short time (mainly Advance the phase).
Specifically, control calculation is performed mainly for proportional control, differential control, or a combination of both. When the calculation performed by the compensator 72 is expressed by a mathematical expression, the following expression (18) is obtained.

  Here, Ktp3 is a proportional gain of proportional differential (PD) control calculation, Ktd3 is a differential gain of proportional integral (PD) control calculation, and s is a Laplace operator. Note that either Ktp3 or Ktd3 may be 0.

  In the feedback control configuration by the power control system, it is not easy to increase the power response, but by adding this compensator 72, the phase θ of the control coordinate axis set on the rotating biaxial coordinate based on the phase compensation amount Δθc. Since the phase θ of the control coordinate axis can be adjusted in a short time by performing the correction, power responsiveness is improved.

In the control device 71 for an AC rotary machine of the sixth embodiment, the compensator 72 can be configured to calculate the phase compensation amount Δθc based on the load angle δ as shown in the third embodiment.
Further, the second compensator 42 shown in the fourth embodiment may be added to the control device 71 for the AC rotating machine of the sixth embodiment.

  In the AC rotating machine control device 71 of the sixth embodiment, the frequency command calculation means 64 calculates a deviation ΔP between the power command P * input from the outside and the output power P calculated by the power calculation means 62. The frequency command ω * is output based on the value divided by the rotational speed ωr. However, the deviation ΔP may be directly input to the frequency command calculation means to calculate the frequency command ω *.

As described above, in the AC rotating machine control device 71 according to the sixth embodiment, the compensator 72 is added to the power control system, so that the phase θ of the control coordinate axis can be adjusted in a short time, and the conventional In the configuration, there is an effect that it is possible to improve the power responsiveness restricted by the mechanical response of the speed control system.
Further, in the AC rotating machine control device 71 according to the sixth embodiment, the frequency command ω * is output based on the value obtained by dividing the deviation ΔP by the calculated rotational speed ωr. There is also an effect that can be made constant regardless of the speed.

1, 21, 31, 41, 51, 61, 71 AC rotary machine control device, 2 AC rotary machine, 3 power conversion means, 4 current detection means, 5 current calculation means, 6, 22 phase calculation means,
7, 32, 63 Voltage command calculation means, 8 Torque calculation means,
9, 64 Frequency command calculation means 10, 23, 33, 65, 72 compensator,
11, 12, 43, 52, 66 Adder / Subtractor, 42 Second compensator, 67 Divider.

Claims (8)

In the control device for an AC rotating machine that receives a torque command from the outside,
Power conversion means for outputting an AC voltage to an AC rotating machine;
Current detecting means for detecting a current flowing in the AC rotating machine;
Current calculation means for converting the current detected by the current detection means into a current on a rotating biaxial coordinate;
Torque calculating means for calculating an output torque output from the AC rotating machine based on the current on the rotating biaxial coordinates;
Frequency command calculating means for calculating a frequency command based on a deviation between the torque command and the output torque calculated by the torque calculating means;
A compensator for calculating a frequency compensation amount for correcting the frequency command based on the torque command;
Phase calculating means for calculating the phase of the control coordinate axis set on the rotating biaxial coordinate based on the corrected frequency command;
Based on the corrected frequency command and the phase of the control coordinate axis, a voltage command calculation unit that calculates a voltage command to be output to the power conversion unit;
AC rotary machine control device. In the control device for an AC rotating machine that receives a torque command from the outside,
Power conversion means for outputting an AC voltage to an AC rotating machine;
Current detecting means for detecting a current flowing in the AC rotating machine;
Current calculation means for converting the current detected by the current detection means into a current on a rotating biaxial coordinate;
Torque calculating means for calculating an output torque output from the AC rotating machine based on the current on the rotating biaxial coordinates;
Frequency command calculating means for calculating a frequency command based on a deviation between the torque command and the output torque calculated by the torque calculating means;
A compensator for calculating a phase compensation amount for correcting the phase of the control coordinate axis set on the rotating biaxial coordinate based on the torque command;
Phase calculating means for calculating the phase of the control coordinate axis based on the frequency command and the phase compensation amount;
Based on the frequency command and the phase of the corrected control coordinate axis, a voltage command calculation unit that calculates a voltage command to be output to the power conversion unit;
AC rotary machine control device. The compensator further calculates a load angle based on a voltage command on the rotating biaxial coordinates calculated by the voltage command calculation means, and calculates a phase compensation amount based on the torque command and the load angle. 2. The control apparatus for an AC rotating machine according to 2. In a control device for an AC rotating machine that receives an electric power command from the outside,
Power conversion means for outputting an AC voltage to an AC rotating machine;
Current detecting means for detecting a current flowing in the AC rotating machine;
Current calculation means for converting the current detected by the current detection means into a current on a rotating biaxial coordinate;
Power calculating means for calculating output power output from the AC rotating machine based on the voltage command on the rotating biaxial coordinates and the current on the rotating biaxial coordinates;
Frequency command calculation means for calculating a frequency command based on a deviation between the power command and the output power calculated by the power calculation means;
A compensator for calculating a frequency compensation amount for correcting the frequency command based on the power command;
Phase calculating means for calculating the phase of the control coordinate axis set on the rotating biaxial coordinate based on the corrected frequency command;
Based on the corrected frequency command and the phase of the control coordinate axis, a voltage command to be output to the power conversion unit and a voltage command calculation unit to calculate the voltage command on the rotating biaxial coordinates to be output to the power calculation unit When,
AC rotary machine control device. In a control device for an AC rotating machine that receives an electric power command from the outside,
Power conversion means for outputting an AC voltage to an AC rotating machine;
Current detecting means for detecting a current flowing in the AC rotating machine;
Current calculation means for converting the current detected by the current detection means into a current on a rotating biaxial coordinate;
Power calculating means for calculating output power output from the AC rotating machine based on the voltage command on the rotating biaxial coordinates and the current on the rotating biaxial coordinates;
Frequency command calculation means for calculating a frequency command based on a deviation between the power command and the output power calculated by the power calculation means;
A compensator for calculating a phase compensation amount for correcting the phase of the control coordinate axis set on the rotating biaxial coordinate based on the power command;
Phase calculating means for calculating the phase of the control coordinate axis based on the frequency command and the phase compensation amount;
Based on the frequency command and the phase of the corrected control coordinate axis, a voltage command calculation unit that calculates a voltage command output to the power conversion unit and a voltage command on the rotating biaxial coordinate output to the power calculation unit When,
AC rotary machine control device. The compensator further calculates a load angle based on a voltage command on the rotating biaxial coordinates calculated by the voltage command calculation means, and calculates a phase compensation amount based on the power command and the load angle. 5. The control device for an AC rotating machine according to 5. A division for calculating a torque deviation by calculating a calculation rotation speed of the AC rotating machine by the voltage command calculation means, and dividing a deviation between the power command and the output power calculated by the power calculation means by the calculation rotation speed. The controller for an AC rotating machine according to any one of claims 4 to 6, wherein a controller is added, and the frequency command calculation means calculates the frequency command based on the torque deviation. A second compensator for calculating a second frequency compensation amount composed of a frequency component close to the frequency command calculated by the frequency command calculation means is added based on the current on the rotating biaxial coordinates, and the second frequency compensation The control device for an AC rotating machine according to any one of claims 1 to 7, wherein the frequency command is corrected based on a quantity.

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