JP2014110642A - Synchronous machine control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a synchronous machine control device capable of improving stability and responsibility in current control even when an electric angular velocity of a synchronous machine and a direction of a control axis are changed.SOLUTION: A synchronous machine control device comprises a voltage compensation part 13 adding values obtained by calculating respective changed portions of a γ-axis voltage and a δ-axis voltage depending on change by an electric angular velocity of a synchronous machine 3 and change in a control axial direction of the synchronization machine 3, to a γ-axis voltage command and a δ-axis voltage command respectively. When a permanent magnet flux in the case that the synchronous machine is a permanent magnet synchronous machine, or a magnetic flux generated when a current is applied to a field coil in the case that the synchronous machine is a coil field type, is defined as a field magnetic flux, the voltage compensation part 13 calculates respective changed portions of the γ-axis voltage and the δ-axis voltage by using the electric angular velocity of the synchronous machine 3, the defined field magnetic flux, and a phase of the γ-axis to the d-axis that is a generation direction of the field magnetic flux.

Description

  The present invention relates to a synchronous machine control device provided with power conversion means for rotationally driving a synchronous machine.

  A synchronous machine such as a permanent magnet synchronous motor having a permanent magnet in the rotor or a reluctance motor that generates torque using the magnetic saliency of the rotor is controlled by a synchronous machine control device having power conversion means such as an inverter. Conventionally, it has been widely performed to control the armature current vector in a fixed phase direction with respect to the rotor. For example, in a conventional permanent magnet synchronous machine, the armature current vector is controlled in a direction orthogonal to the permanent magnet magnetic flux axis of the rotor, and the absolute value of the armature current vector is controlled in proportion to the desired torque.

In the reluctance motor, it is known that the absolute value of the armature current vector and the output torque are not proportional, and it is difficult to perform highly accurate torque control with the conventional control method.
Further, when the rotational speed of the permanent magnet synchronous motor increases, the armature voltage increases due to the induced voltage due to the permanent magnet magnetic flux, and this induced voltage exceeds the voltage that can be output by the power conversion means such as an inverter. In order to prevent this, a weak flux control is performed in which a negative armature current vector called a weak current is generated in the permanent magnet magnetic flux axis direction to reduce the armature linkage magnetic flux.
However, since the armature voltage changes when the output torque is different even if the weakening current is the same, it is difficult for the conventional control method to control the armature voltage to a desired value according to the magnitude of the torque.

As an example of a synchronous machine control device that has solved such a problem, there is one disclosed in, for example, Japanese Patent No. 4531751 (Patent Document 1).
A synchronous machine control device disclosed in Patent Document 1 is a torque current calculator that calculates a torque current command that is a torque component of an armature current command from a torque command and a magnetic flux command. A torque current limit generator that generates a magnetizing current command that is a magnetization component of the armature current command and a maximum torque current command that can be generated based on the current limiting value so as not to exceed the limiting value; A torque current command generator comprising three components of a limiter for limiting the torque current command based on the value, and a magnetic flux command generator for calculating a magnetic flux command based on the torque current command from the torque current command generator A magnetic flux calculator that calculates an armature linkage flux based on an armature current or an armature current and an armature voltage of a synchronous machine, and a magnetic flux command and the armature linkage flux Create a magnetizing current command and a flux controller for input to the torque current command generator to.

  The synchronous machine control device disclosed in Patent Document 1 considers the limitation on the output current of the power conversion means by calculating the torque current command while referring to the magnetic flux command and the magnetization current command, and the magnetic flux while referring to the torque current command. Since the command is calculated, it is possible to generate a suitable magnetic flux command reflecting the variation of the torque current command due to the output current limitation.

Japanese Patent No. 4531751

In the synchronous machine control device disclosed in Patent Document 1, it is well known based only on the actual current value and the current command so that the armature current matches the desired armature current command when calculating the voltage command value. Current control calculation is performed by PI (proportional integral) control or the like.
Therefore, although stability and responsiveness of current control in a steady state with small current change can be secured, when the armature current changes greatly or the electrical angular velocity other than the armature current changes, Responsiveness may be reduced.
In particular, the direction of the control axis always changes with respect to the axis (dq axis, which will be described later) fixed on the rotor rotating at the electrical angular speed of the synchronous machine depending on the direction of generation of the armature interlinkage magnetic flux. In order to ensure the reliability, in addition to the change in the electrical angular velocity, the change in the direction of the control axis must be taken into consideration.

  The present invention has been made to solve such problems, and aims to improve the stability and responsiveness of current control when the direction of the control axis changes as well as the electrical angular velocity. It is said.

  The synchronous machine control device according to the present invention includes the synchronous machine on two axes (γδ axis) of a γ-axis that is a direction perpendicular to the γ-axis and a γ-axis that is a generation direction of the armature linkage magnetic flux of the synchronous machine. In the synchronous machine control device to be controlled, a γ-axis voltage and a δ-axis corresponding to a change due to an electrical angular speed of the synchronous machine and a change in a control axis direction of the synchronous machine with respect to an axis fixed on a rotor rotating at the electrical angular speed A voltage compensator for adding a value obtained by calculating each change in voltage to a γ-axis voltage command and a δ-axis voltage command, respectively, and the permanent magnet magnetic flux when the synchronous machine is a permanent magnet synchronous machine or the synchronous machine Is defined as the electric angular velocity of the synchronous machine when the magnetic flux generated when the current is passed through the field winding is defined as the field magnetic flux. The field magnetic flux and the d-axis that is the generation direction of the field magnetic flux By using the phase of the γ-axis against, and thereby we calculate the variation of each of the γ-axis voltage and the δ-axis voltage.

  According to the present invention, it is possible to provide a synchronous machine control device that can improve the stability and responsiveness of current control even when the electrical angular velocity of the synchronous machine or the direction of the control axis changes.

It is a block diagram which shows an example of the synchronous machine control system containing the synchronous machine control apparatus by 1st Embodiment of this invention, a power supply, and a synchronous machine. FIG. 3 is a diagram illustrating an example of a configuration of a magnetic flux calculator in the first embodiment. 6 is a diagram illustrating another configuration example of a magnetic flux calculator in Embodiment 1. FIG. 3 is a diagram illustrating a configuration example of a current command generator according to Embodiment 1. FIG. 3 is a diagram illustrating an example of a configuration of a voltage compensation unit in the first embodiment. FIG. FIG. 10 is a diagram showing another configuration example of the voltage compensation unit in the first embodiment. FIG. 10 is a diagram showing another configuration example of the voltage compensation unit in the first embodiment. FIG. 10 is a diagram showing another configuration example of the voltage compensation unit in the first embodiment. FIG. 10 is a diagram showing another configuration example of the voltage compensation unit in the first embodiment. It is a block diagram which shows an example of the synchronous machine control system containing the synchronous machine control apparatus by Embodiment 2, a power supply, and a synchronous machine. 6 is a diagram illustrating an example of a configuration of a voltage compensation unit according to Embodiment 2. FIG. FIG. 10 is a diagram illustrating another configuration example of the voltage compensation unit in the second embodiment. FIG. 10 is a diagram illustrating another configuration example of the voltage compensation unit in the second embodiment. FIG. 10 is a diagram illustrating another configuration example of the voltage compensation unit in the second embodiment.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
In the drawings, the same reference numerals indicate the same or equivalent ones.
Embodiment 1 FIG.
FIG. 1 is a configuration diagram illustrating an example of a synchronous machine control system including a synchronous machine control device, a power supply, and a synchronous machine according to Embodiment 1 of the present invention.
Hereinafter, the configuration of the synchronous machine control device 1 according to the first embodiment and the function of each component will be described.
First, description will be made in order from the output side of the power conversion means 15, and the flow until generation of a voltage command on the input side of the power conversion means 15 will be described.

In the configuration of the “synchronous machine control device that drives the synchronous machine” in the present embodiment, it is synchronized with the power conversion means 15 including an inverter having a function of converting electric power supplied from the power source 2 into multiphase AC power. The armature winding of the machine 3 is connected.
Then, based on voltage commands vu *, vv *, vw * obtained by a γδ → UVW coordinate converter 14 having a configuration described later, the power conversion means 15 applies a voltage to the synchronous machine 3 to drive the synchronous machine 3. . As a result, an output current is generated in the armature winding of the synchronous machine 3.
The power source 2 is a power source or a battery that outputs a DC voltage. Examples of the power source 2 include a DC voltage obtained from a single-phase or three-phase AC power source by a known converter.

The armature winding current (hereinafter referred to as the armature current), which is the output current of the synchronous machine 3, is detected by the current detection means 16 including a current sensor.
The current detection means 16 is “a configuration in which, when the synchronous machine 3 is a three-phase rotating machine, the output current of all phases of the three-phase output current of the synchronous machine 3 is detected” or “one phase ( For example, the w-phase output current iw is detected from the relationship of iw = −iu−iv using the detected two-phase output currents iu and iv, and the two-phase output current is detected. But it ’s okay.
Further, in addition to the “method of directly detecting the current of each phase”, a “method of detecting the output current from the DC link current flowing between the power supply 2 and the power conversion unit 15” which is a well-known technique may be used.

The position detection means 18 detects the rotor position θ of the synchronous machine 3 using a known resolver, encoder or the like.
The speed calculator 20 performs a differentiation operation based on the detected rotor position θ and calculates the electrical angular speed ω of the synchronous machine 3.
In the present invention, when the synchronous machine 3 is a permanent magnet synchronous machine, the permanent magnet magnetic flux is defined as a field magnetic flux, and when the synchronous machine is a winding field type, a current is passed through the field winding. The magnetic flux generated when the magnetic field is generated is defined as the field magnetic flux.

The rotor position θ of the synchronous machine 3 refers to the angle in the N-pole direction of the field magnetic flux (that is, the defined field magnetic flux) with respect to the axis taken with reference to the u-phase armature winding. The d-axis of the rotating biaxial coordinates (hereinafter referred to as dq-axis) rotating at the rotational speed (electrical angular frequency) ω is determined in the N-pole direction of the field magnetic flux, and the following explanation follows this. The q axis is determined in an orthogonal direction advanced by 90 ° with respect to the d axis.
In the present invention, the generation direction of the armature interlinkage magnetic flux is the γ axis, the orthogonal direction advanced by 90 ° with respect to the γ axis is the δ axis, and hereinafter, the two axes of the γ axis and the δ axis are collectively referred to as the γδ axis. write.

  The magnetic flux calculator 19 is based on at least the output currents iu, iv, iw of the synchronous machine 3 detected by the current detector 16 and the voltage commands vu *, vv *, vw * obtained by the γδ → UVW coordinate converter 14 described later. The estimated value of the armature linkage flux (hereinafter referred to as the estimated armature linkage flux), specifically, the absolute value of the estimated armature linkage flux | Φ | Estimate Φ. The phase ΦΦ of the estimated armature flux linkage refers to the angle of the direction of the estimated armature flux linkage (estimated γ-axis direction) with respect to the d-axis.

FIG. 2 is an example of a configuration diagram of the magnetic flux calculator 19 in the first embodiment.
In FIG. 2, the UVW → dq coordinate converter 101 converts the output currents iu, iv, iw of the synchronous machine 3 into the currents id, iq on the dq axis based on the rotor position θ by the calculation of the following equation (1). Convert.

  The current-type magnetic flux calculator 102 first calculates dq-axis estimated flux linkages Φd and Φq by the calculation of the following equation (2).

Here, Ld: d-axis inductance, Lq: q-axis inductance, and Φm: field magnetic flux of the synchronous machine.
Then, the absolute value | Φ | of the estimated armature linkage flux and the phase の Φ of the estimated armature linkage flux are calculated and output from the dq axis estimated linkage fluxes Φd and Φq by the following calculation.

  In FIG. 1, a magnetic flux calculator 19 a shown below may be used instead of the magnetic flux calculator 19.

FIG. 3 is a diagram illustrating another configuration example of the magnetic flux calculator in the first embodiment.
The magnetic flux calculator 19 a includes a voltage-type magnetic flux calculator 104 instead of the current-type magnetic flux calculator 102 in the magnetic flux calculator 19.
In FIG. 3, the UVW → dq coordinate converter 103 converts the voltage commands vu *, vv *, and vw * into voltage commands vd * on the dq axis based on the rotor position θ by the calculation of the following equation (5). Convert to vq *.

However, the control calculation based on the values of the armature currents iu, iv, iw of the synchronous machine 3 detected by the current detection means 16 in the equation (5) is the three-phase voltages vu, vv, Considering the control calculation delay time (dead time) until it is reflected in vw, coordinate conversion may be performed on the rotor position θ with a phase corrected by the phase correction amount θd1 based on the control calculation delay time.
The voltage-type magnetic flux calculator 104 first calculates dq-axis estimated flux linkages Φd and Φq.

Here, R represents the resistance of the armature winding of the synchronous machine.
Then, the absolute value | Φ | of the estimated armature linkage flux and the phase の Φ of the estimated armature linkage flux are calculated from the dq axis estimated linkage fluxes Φd and Φq by the calculations of Equations (3) and (4). Calculate and output.

The magnetic flux calculator 19 having the current-type magnetic flux calculator 102 shown in FIG. 2 can estimate the magnetic flux regardless of the rotational speed, but uses the inductance value for the magnetic flux estimation. Susceptible to fluctuations in characteristics.
On the other hand, the magnetic flux calculator 19a having the voltage-type magnetic flux calculator 104 shown in FIG. 3 does not use the inductance value and is not easily influenced by the characteristic fluctuation of the synchronous machine 3, but has a low rotational speed or an armature voltage. When is low, the estimation accuracy may decrease due to the influence of disturbance or the like.

As a method of solving these problems, the current-type magnetic flux calculator 102 and the voltage-type magnetic flux calculator 104 are used together, and the current-type magnetic flux calculator 102 is used in a region where the rotation speed is low or the voltage command (modulation factor) is small. A method of switching the magnetic flux calculators may be used so that the voltage type magnetic flux calculator 104 is mainly used when these are increased.
Further, a method may be used in which the outputs of the two types of magnetic flux calculators are averaged while performing weighting with reference to the rotational speed ω or voltage command (modulation rate) so that fine switching can be performed.

The operation on the output side of the power conversion unit 15 has been described above. Hereinafter, a flow until generation of a voltage command on the input side of the power conversion unit 15 will be described in order.
The UVW → γδ coordinate converter 17 converts the output currents iu, iv, iw of the synchronous machine 3 into currents (detected values) iγ, iδ on the γδ axis by the calculation of the following equation (7).

The current command generator 11 calculates γδ-axis current command values iγ * and iδ * from the torque command value τ *, the PN voltage Vpn, the electrical angular velocity ω, and the absolute value | Φ |
FIG. 4 is a diagram illustrating a configuration example of the current command generator in the first embodiment.
The current command generator 11 includes a torque current command generator 201, a magnetic flux command generator 202, and a magnetic flux controller 203.
The torque current command generator 201 is based on a torque command τ * given from the outside of the synchronous machine control device and an armature linkage magnetic flux command Φ * output from a magnetic flux command adjuster 24 described later (8) ) To calculate the torque current command iδ *.

Here, Pm: represents the number of pole pairs of the synchronous machine 3.
The magnetic flux command generator 202 outputs a suitable armature flux linkage command Φ * for the input torque current command iδ *. The output magnetic flux command Φ * may be a magnetic flux command that outputs the maximum torque under a certain condition of the absolute value of the current vector i (of the armature winding of the synchronous machine 1) | i | A magnetic flux command that minimizes losses (including copper loss, iron loss, mechanical loss, etc.) that occur when operating the synchronous machine 3 may be used.
The magnetic flux controller 203 adjusts the (armature linkage) magnetic flux error ΔΦ to 0, and generates a magnetization current command iγ * based on the magnetic flux error ΔΦ. The magnetic flux error ΔΦ is a value calculated by subtracting the absolute value | Φ | of the estimated armature interlinkage magnetic flux from the armature interlinkage magnetic flux command Φ * generated by the magnetic flux command generator 202. Equation (9) is obtained.

Since the γ-axis current iγ is a magnetization current that is a magnetization component of the synchronous machine 3 , the armature flux linkage can be manipulated by the γ-axis current. Specifically, the increase / decrease amount of the magnetizing current and the increase / decrease amount of the armature linkage flux are proportional to each other with the γ-axis inductance Lγ as a proportional coefficient, and a controller for adjusting the magnetic flux error ΔΦ to be 0 An integrator that does not have a direct term is suitable, and the magnetizing current command iγ * is generated by using an integral control calculation such as the following equation (10).

Here, Kf: integral term gain of the magnetic flux controller, s: Laplace operator.
The current controller 12 performs proportional-integral control (PI control) shown in the following equation (11) based on the deviation between the γδ-axis current commands iγ *, iδ * and the γδ-axis currents iγ, iδ. Based on the γδ axis voltage commands vγ * pi and vδ * pi.

Here, Kpγ: current control γ-axis proportional gain, Kiγ: current control γ-axis integral gain, Kpδ: current control δ-axis proportional gain, and Kiδ: current control δ-axis integral gain.
The voltage compensator 13 estimates an armature flux linkage that is an angle of a control axis (that is, a γ axis) with respect to the electrical angular velocity ω and the d axis with respect to the γδ axis voltage commands vγ * pi and vδ * pi based on the PI control. Γδ axis voltage changes vγ * de and vδ * de due to the change in phase ∠Φ of the γδ axis are compensated, and the compensated γδ axis voltage commands vγ * and vδ * are calculated and output.
Described below is the derivation of the changes vγ * de and vδ * de of the γδ axis voltage.
The d-axis voltage vdq-axis voltage vq is expressed by the following equation (12).

Here, p: represents a differential operator (= d / dt).
In the equation (12), when id and iq change little, vd and vq are expressed by the following equation (13).

  The γ-axis voltage vγ and the δ-axis voltage vδ are expressed by the following formula (14).

  When vd and vq of Expression (13) are substituted into Expression (14), vγ and vδ are expressed by the following Expression (15).

  The γ-axis current iγ and the δ-axis current iδ are expressed by the following formula (16).

  From the equation (16), vγ and vδ are expressed by the following equation (17).

  here,

  In other words, vγ and vδ are expressed by the following equation (19).

  From the equation (19), the γδ axis voltage changes vγ * de and vδ * de to be compensated for the γδ axis voltage commands vγ * pi and vδ * pi based on the PI control are expressed by, for example, the following equation (20 ).

By using the expression (20) for the changes vγ * de and vδ * de of the γδ axis voltage to be compensated, the stability of the current control when the direction of the control axis (γ axis) changes with respect to the d axis Responsiveness can be improved.

FIG. 5 is an example of a configuration diagram of the voltage compensation unit in the first embodiment.
The voltage compensator 13 includes a field magnetic flux memory 301, a γ-axis voltage compensator 302, and a δ-axis voltage compensator 303.
The field magnetic flux memory 301 stores the field magnet magnetic flux Φm of the synchronous machine.
The γ-axis voltage compensator 302 and the δ-axis voltage compensator 303 calculate γδ-axis voltage changes vγ * de and vδ * de based on Expression (20).
The γδ → uvw coordinate converter 14 converts the γδ axis voltage commands vγ * and vδ * after compensation by the voltage compensator 13 into uvw phase voltage commands vu *, vv * and vw * based on the following equation (21). Convert coordinates to.

However, the control calculation based on the values of the output currents iu, iv, iw of the synchronous machine 3 detected by the current detection means 5 in the equation (21) is applied to the three-phase voltages vu, vv, vw output from the power conversion means 4. In consideration of the control calculation delay time (dead time) until the reflection, coordinate conversion may be performed with respect to (θ + ∠Φ) with a phase corrected by the phase correction amount θd2 based on the control calculation delay time.
As described above, the power conversion means 15 applies the voltages vu, vv, vw to the synchronous machine 3 based on the voltage commands vu *, vv *, vw *.

According to the present embodiment, the amount of change in the γδ axis voltage corresponding to the change in the phase ΦΦ of the estimated armature flux linkage that is the angle of the control axis (ie, the γ axis) with respect to the electrical angular velocity ω and the d axis is compensated. Therefore, compared with the synchronous machine control device disclosed in Patent Document 1, the current control stability and responsiveness are improved.
Furthermore, by taking into account the actual change in the γδ-axis current (detected value), the responsiveness of the current control when the armature current changes greatly is further improved.

FIG. 6 is a diagram illustrating another configuration example of the voltage compensation unit in the first embodiment, and illustrates a voltage compensation unit 13 a having a configuration different from that of the voltage compensation unit 13.
The voltage compensator 13a includes a field magnetic flux memory 301, a γ-axis voltage compensator 302a, a δ-axis voltage compensator 303a, a δ-axis inductance memory 304, and a γ-axis inductance memory 305.
The δ-axis inductance memory 304 and the γ-axis inductance memory 305 store a δ-axis inductance Lδ and a γ-axis inductance Lγ, respectively.
The γ-axis voltage compensator 302a and the δ-axis voltage compensator 303a calculate γδ-axis voltage changes vγ * de and vδ * de based on the following equation (22).

The voltage compensator 13 is obtained by including “−ω · Lδ · iδ” and “ω · Lγ · iγ” in the first term on the right side of the equation (22) in the changes vγ * de and vδ * de of the γδ axis voltage. Compared with the case of using, the current control response when the armature current greatly changes is further improved.
In addition, when calculating the γδ axis voltage changes vγ * de and vδ * de, instead of the γδ axis current (detected value), a γδ axis current command value that is not affected by noise at the time of detection is used. Also good.

FIG. 7 is a diagram showing another configuration example of the voltage compensation unit in the first embodiment, and shows a voltage compensation unit 13b having a configuration different from the voltage compensation unit 13 and the voltage compensation unit 13a.
The voltage compensator 13b includes a field magnetic flux memory 301, a γ-axis voltage compensator 302b, a δ-axis voltage compensator 303b, a δ-axis inductance memory 304, and a γ-axis inductance memory 305. The γ-axis voltage compensator 302b and the δ-axis voltage compensator 303b calculate γδ-axis voltage changes vγ * de and vδ * de based on the following equation (23).

By using a γδ-axis current command value that is not affected by detection noise or the like in calculating γδ-axis voltage changes vγ * de and vδ * de, the armature current is compared with the case where the voltage compensator 13 is used. As a result, the stability of the current control when the value changes greatly is improved.
In addition, when calculating the changes vγ * de and vδ * de of the γδ-axis voltage, instead of the γδ-axis current (detected value), the weighted average value of iγ and iγ * and the weight of iδ and iδ * An average value may be used.

FIG. 8 is a diagram illustrating another configuration example of the voltage compensation unit in the first embodiment, and illustrates a voltage compensation unit 13c having a configuration different from the voltage compensation unit 13, the voltage compensation unit 13a, and the voltage compensation unit 13b. ing.
The voltage compensator 13c includes a field magnetic flux memory 301, a γ-axis voltage compensator 302c, a δ-axis voltage compensator 303c, a δ-axis inductance memory 304, a γ-axis inductance memory 305, and a δ-axis current weight. A coefficient storage unit 306, numerical storage units 307 and 307a, and a γ-axis current weighting coefficient storage unit 308 are configured.
The δ-axis current weighting factor storage unit 306 and the γ-axis current weighting factor storage unit 308 store a δ-axis current weighting factor kδ and a γ-axis current weighting factor kγ, respectively.
The numerical storage units 307 and 307a store a numerical value of 1.
The γ-axis voltage compensator 302c and the δ-axis voltage compensator 303c calculate γδ-axis voltage changes vγ * de and vδ * de based on the following equation (24).

When the voltage compensator 13 is used by calculating the weighted average value of iγ and iγ * and the weighted average value of iδ and iδ * for calculating the changes vγ * de and vδ * de of the γδ axis voltage As compared with, both the responsiveness and stability of the current control when the armature current changes greatly are improved.
Further, as shown in the equation (18), the values of Lγ and Lδ are values that change depending on the γδ axis currents iγ, iδ, dq currents id, iq, and ΦΦ, and therefore the values of Lγ and Lδ are sequentially corrected. It is good also as such a structure.

FIG. 9 is a diagram illustrating another configuration example of the voltage compensation unit according to the first embodiment, and illustrates the voltage compensation unit 13 and the voltage compensation unit 13d having a configuration different from the voltage compensation unit 13a to the voltage compensation unit 13c. ing.
The voltage compensator 13d includes a field magnetic flux memory 301, a γ-axis voltage compensator 302c, a δ-axis voltage compensator 303c, a δ-axis current weight coefficient memory 306, numerical value memories 307 and 307a, a γ-axis The current weight coefficient storage unit 308, the δ-axis inductance calculator 309, and the γ-axis inductance calculator 310 are configured.
The δ-axis inductance calculator 309 and the γ-axis inductance calculator 310 calculate and output the values of Lδ and Lγ with the torque command τ * and the electrical angular velocity ω as inputs, respectively.

The values of Lγ and Lδ are expressed as functions based on a plurality of parameters of γδ axis currents iγ, iδ, dq currents id, iq, and ΦΦ as shown in Expression (18). Instead of calculating the values of Lγ and Lδ, it is assumed that the values change depending on the torque command τ * and the electrical angular velocity ω, and the values of Lγ and Lδ are output with the torque command τ * and the electrical angular velocity ω as inputs. The δ-axis inductance calculator 309 and the γ-axis inductance calculator 310 are realized in the form of a table or a mathematical expression. The table and mathematical formula are created in advance based on analysis and actual measurement.
By sequentially correcting the values of Lγ and Lδ, the voltage compensation accuracy can be further improved and the stability and responsiveness of the current control can be further improved as compared with the case where the voltage compensator 13c is used.

As described above, the synchronous machine control device according to the first embodiment has two axes (γδ) of the γ axis that is the direction in which the armature flux linkage of the synchronous machine 3 is generated and the direction that is orthogonal to the γ axis. In the synchronous machine control device for controlling the synchronous machine 3 on the shaft), the change due to the electrical angular speed of the synchronous machine 3 and the change in the control axis direction of the synchronous machine with respect to the shaft fixed on the rotor rotating at the electrical angular speed And a voltage compensator 13 for adding the calculated values of the γ-axis voltage and the δ-axis voltage to the γ-axis voltage command and the δ-axis voltage command, respectively. When the magnetic flux generated when a current is passed through a field winding when the synchronous machine 3 is a winding field type when the synchronous machine 3 is a winding field type, the voltage compensation unit 13 is the electrical angular velocity of the synchronous machine 3 and the defined And magnetic flux, using the phase of the γ-axis with respect to the d-axis is the generating direction of the field magnetic flux, we calculate the variation of each of the γ-axis voltage and the δ-axis voltage.
Therefore, compared with the conventional example, the electrical angular velocity, the change amount of each of the γ-axis voltage and the δ-axis voltage according to the change in the direction of the control axis with respect to the shaft fixed on the rotor rotating at the electrical angular velocity of the synchronous machine, Compensation is possible, and the stability and response of the synchronous machine controller current control are improved.

Further, the voltage compensator 13a (see FIG. 6) calculates a change amount of each of the γ-axis voltage and the δ-axis voltage using the inductance on the γδ axis and the detected current value on the γδ axis.
Therefore, compared with the case where the voltage compensator 13 shown in FIG. 5 is used, it is possible to consider the actual change in the γδ axis current value, and the response of the current control when the armature current changes greatly. More improved.
Further, the voltage compensator 13b (see FIG. 7) calculates each change amount of the γ-axis voltage and the δ-axis voltage using the inductance on the γδ axis and the current command value on the γδ axis.
Therefore, it is possible to consider the change in the γδ axis current value while using the current command value on the γδ axis that is not affected by the detection noise, as compared with the case where the voltage compensator 13 shown in FIG. 5 is used. The stability of the current control when the armature current changes greatly is further improved.

Further, the voltage compensator 13c (see FIG. 8) uses the weighted average value of the inductance on the γδ axis, the detected current value on the γδ axis, and the current command value on the γδ axis, and the γ-axis voltage and the δ-axis. The change of each voltage is calculated.
Therefore, as compared with the case where the voltage compensator 13 shown in FIG. 5 is used, it is possible to calculate the change in the γδ axis voltage using both the current detection value on the γδ axis and the current command value. Both the responsiveness and stability of the current control when the armature current changes greatly are improved.
Further, the voltage compensation unit 13d (see FIG. 9) corrects the values of Lγ and Lδ based on the electrical angular velocity and the torque command.
Accordingly, when the inductance value on the γδ axis is not constant as compared with the case where the voltage compensator shown in FIGS. 6 to 8 is used, the inductance on the γδ axis is sequentially increased according to the torque command and the electrical angular velocity. Can be corrected, the voltage compensation accuracy can be further improved, and the stability and responsiveness of current control can be improved.

Embodiment 2. FIG.
In the synchronous machine control device according to the first embodiment described above, when the γδ-axis inductances Lγ and Lδ are not constant values, the torque command τ * and the electrical angular velocity ω are based on a table or mathematical formula created based on analysis or measurement in advance. From these values, the values of Lγ and Lδ are calculated, and the values of Lγ and Lδ are successively corrected.
However, it is not easy to previously create the table or the mathematical formula for calculating the values of Lγ and Lδ from the values of the torque command τ * and the electrical angular velocity ω based on analysis and actual measurement, and requires a lot of man-hours.

In general, the inductances Ld and Lq on the dq axis often change depending only on the dq axis currents id and iq, and can be treated as a constant value if the influence of saturation is ignored. Compared to the above inductances Lγ and Lδ, it is easy to handle in terms of arithmetic processing.
In view of this, in the second embodiment, the γδ-axis voltage changes vγ * de and vδ * de are calculated using the inductances Ld and Lq on the dq-axis.

FIG. 10 shows a synchronous machine control system including the synchronous machine control device 1a, the power source 2, and the synchronous machine 3 in the second embodiment.
The configuration of the synchronous machine control device 1a in the second embodiment is substantially the same as the configuration of the synchronous machine control device 1 in the first embodiment, but dq-axis currents id and iq are added as output signals of the magnetic flux calculator 19. And the addition of the γδ → dq coordinate converter 21 and the configuration of the voltage compensator 13e are different.
The γδ → dq coordinate converter 21 converts the γδ axis current commands iγ * and iδ * into the dq axis current commands id * and iq *.

FIG. 11 is an example of a configuration diagram of the voltage compensator 13e according to the second embodiment.
The voltage compensator 13e includes a field magnetic flux memory 301, a γ-axis voltage compensator 302e, a δ-axis voltage compensator 303e, a d-axis inductance memory 311, and a q-axis inductance memory 312.
The d-axis inductance memory 311 and the q-axis inductance memory 312 store a d-axis inductance Ld and a q-axis inductance Lq, respectively.
The γ-axis voltage compensator 302e and the δ-axis voltage compensator 303e calculate the γδ-axis voltage changes vγ * de and vδ * de by the calculation of the following equation (26).

According to the present embodiment, the amount of change in the γδ axis voltage corresponding to the change in the phase ΦΦ of the estimated armature flux linkage that is the angle of the control axis (ie, the γ axis) with respect to the electrical angular velocity ω and the d axis is compensated. At this time, considering the actual change in the dq-axis current (detected value) based on the dq-axis inductance, the number of steps for preparing the table or formula in advance based on analysis or actual measurement is reduced, and the calculation process is facilitated. In addition, the responsiveness of current control when the armature current changes greatly is further improved.
In addition, when calculating the changes vγ * de and vδ * de of the γδ axis voltage, a dq axis current command value that is not affected by noise at the time of detection is used instead of the dq axis current (detected value). Also good.

FIG. 12 is a diagram illustrating another configuration example of the voltage compensation unit according to the second embodiment, and illustrates a configuration of a voltage compensation unit 13f different from the voltage compensation unit 13e.
The voltage compensator 13f includes a field magnetic flux memory 301, a γ-axis voltage compensator 302f, a δ-axis voltage compensator 303f, a d-axis inductance memory 311, and a q-axis inductance memory 312.
The γ-axis voltage compensator 302f and the δ-axis voltage compensator 303f calculate the γδ-axis voltage changes vγ * de and vδ * de by calculating the following equation.

By calculating the γδ-axis voltage changes vγ * de and vδ * de using the voltage compensator 13f, compared with the case where the voltage compensator 13 is used, the current control when the armature current changes greatly is obtained. Stability is further improved.
Similarly to the case of using the voltage compensation unit 13e, the number of steps for preparing a table or formula for correcting the inductance on the γδ axis in advance based on analysis or actual measurement is reduced, and calculation processing is facilitated.
Also, when calculating the vγ * de and vδ * de changes in the γδ axis voltage, the weighted average value of id and id * and the weighted average value of iq and iq * are used instead of the dq axis current (detected value). It may be used.

FIG. 13 is a diagram showing another configuration example of the voltage compensation unit in the second embodiment, and shows a configuration of a voltage compensation unit 13g different from the voltage compensation unit 13e.
The voltage compensator 13g includes a field magnetic flux memory 301, a γ-axis voltage compensator 302g, a δ-axis voltage compensator 303g, numerical memory 307b and 307c, a d-axis inductance memory 311, and a q-axis inductance memory. 312, a d-axis current weighting coefficient storage unit 313, and a γ-axis current weighting coefficient storage unit 314.
The γ-axis voltage compensator 302g and the δ-axis voltage compensator 303g calculate the γδ-axis voltage changes vγ * de and vδ * de by the calculation of the following equation (28). The numerical storage units 307b and 307c store a numerical value of 1. The d-axis current weighting factor storage unit 313 and the q-axis current weighting factor storage unit 314 store a d-axis current weighting factor kd and a q-axis current weighting factor kq, respectively. The γ-axis voltage compensator 302g and the δ-axis voltage compensator 303g calculate the γδ-axis voltage changes vγ * de and vδ * de by the calculation of the following equation (28).

By calculating the changes vγ * de and vδ * de of the γδ axis voltage using the voltage compensator 13g, compared to the case where the voltage compensator 13 is used, the current control when the armature current changes greatly. Both responsiveness and stability are improved.
Similarly to the case of using the voltage compensation unit 13e, the number of steps for preparing a table or formula for correcting the inductance on the γδ axis in advance based on analysis or actual measurement is reduced, and calculation processing is facilitated.
In general, when the dq-axis currents id and iq change, the dq-axis inductances Ld and Lq change due to the influence of magnetic flux saturation, so that the influence of magnetic saturation may be considered.

FIG. 14 is a diagram showing another configuration example of the voltage compensation unit in the second embodiment, and shows a configuration of a voltage compensation unit 13h different from the voltage compensation unit 13e.
The voltage compensator 13h includes a field magnetic flux storage device 301, a γ-axis voltage compensator 302g, a δ-axis voltage compensator 303g, numerical storage devices 307b and 307c, a d-axis current weight coefficient storage device 313, and a γ-axis. The current weight coefficient storage unit 314, the d-axis inductance calculator 315, and the q-axis inductance calculator 316 are configured.
The d-axis inductance calculator 315 calculates the d-axis inductance Ld from the dq-axis currents id and iq. The q-axis inductance calculator 316 calculates the q-axis inductance Lq from the dq-axis currents id and iq. The d-axis inductance calculator 315 and the q-axis inductance calculator 316, for example, receive the weighted average value of id and id * and the weighted average value of iq and iq * and output the values of Ld and Lq. This is realized in the form of a table or a mathematical expression.
By sequentially correcting the values of Ld and Lq in consideration of magnetic flux saturation, the voltage compensation accuracy is further improved as compared with the case where the voltage compensator 13g is used, and both current control stability and responsiveness are improved. It can be improved.

As described above, the voltage compensator 13e (see FIG. 11) of the synchronous machine control device according to the second embodiment is fixed on the rotor that rotates at the electric angular velocity and the electric angular velocity, and the generation direction of the field magnetic flux. The change in each of the γ-axis voltage and the δ-axis voltage using the inductance on the two axes (dq axis) of the q axis that is perpendicular to the d axis and the d axis, and the current detection value on the dq axis. Is calculated.
Therefore, compared with the case where the voltage compensator 13 shown in FIG. 5 is used, the responsiveness of the current control when the armature current greatly changes can be obtained by considering the actual change of the dq axis current value. As compared with the case where the voltage compensator 13d shown in FIG. 9 is used, the table or formula for correcting the inductance on the γδ axis based on the electrical angular velocity and the torque command is analyzed or measured in advance. The number of man-hours to be created based on this reduces, and the arithmetic processing becomes easy.

Further, the voltage compensator 13f (see FIG. 12) calculates each change amount of the γ-axis voltage and the δ-axis voltage using the inductance on the dq axis and the current command value on the dq axis.
Therefore, compared with the case where the voltage compensator 13 shown in FIG. 5 is used, the change in the dq-axis current value is taken into account while using the current command value on the dq-axis that is not affected by the detection noise. The stability of current control when the child current changes greatly is improved, and the table or formula for correcting the inductance on the γδ axis is the same as in the case of using the voltage compensator 13e shown in FIG. The number of man-hours for creating the data in advance based on the analysis and the actual measurement is reduced, and the arithmetic processing becomes easy.

Further, the voltage compensator 13g (see FIG. 13) uses the weighted average value of the inductance on the dq axis, the current detection value on the dq axis, and the current command value on the dq axis, to calculate the γ axis voltage and the δ axis voltage. The change of each is calculated.
Therefore, as compared with the case where the voltage compensator 13 shown in FIG. 5 is used, by calculating the change in the γδ axis voltage using both the current detection value and the current command value on the dq axis, Both responsiveness and stability of the current control when the child current changes greatly are improved, and the inductance on the γδ axis is corrected similarly to the case where the voltage compensator 13e shown in FIG. 11 is used. The number of steps for preparing the table or formula in advance based on analysis or actual measurement is reduced, and the arithmetic processing is facilitated.

The voltage compensator 13h (see FIG. 14) calculates the d-axis inductance using at least one of the current command value on the dq axis and the detected current value on the dq axis. And a q-axis inductance calculator for calculating q-axis inductance.
Therefore, when Ld and Lq change due to magnetic saturation, the dq axis inductances Ld and Lq change in consideration of the case where the voltage compensator shown in FIGS. 11, 12, and 13 is used. Since each change of the γ-axis voltage and the δ-axis voltage is compensated, the voltage compensation accuracy is further improved and the current response is also improved.

  In the present invention, it is possible to combine the respective embodiments within the scope of the invention or to appropriately modify and omit the respective embodiments.

  The present invention is useful for realizing a synchronous machine control device that can improve the stability and responsiveness of current control even when the electrical angular velocity of the synchronous machine and the direction of the control axis change.

DESCRIPTION OF SYMBOLS 1, 1a Synchronous machine control apparatus 2 Power supply 3 Synchronous machine 11 Current command generator 12 Current controller 13, 13a-13h Voltage compensation part 14 γδ → uvw coordinate converter 15 Power conversion means 16 Current detection means 17 uvw → γδ coordinate conversion Unit 18 Position detection means 19, 19a Magnetic flux calculator 20 Speed calculator 21 γδ → dq coordinate converter 101 uvw → dq coordinate converter 102 Current type magnetic flux calculator 103 uvw → dq coordinate converter 104 Voltage type magnetic flux calculator 201 Torque Current generator 202 Magnetic flux command generator 203 Magnetic flux controller 301 Field magnetic flux memory 302, 302a to 302g γ-axis voltage compensator 303, 303a to 303g δ-axis voltage compensator 304 δ-axis inductance memory 305 γ-axis inductance memory 306 δ-axis current weighting coefficient storage unit 307, 307a to 307c 308 γ-axis current weighting coefficient storage unit 309 δ-axis inductance computing unit 310 γ-axis inductance computing unit 311 d-axis inductance storage unit 312 q-axis inductance storage unit 313 d-axis current weighting factor storage unit 314 q-axis current weighting factor storage unit 315 d-axis inductance calculator 316 q-axis inductance calculator

Claims (9)

In a synchronous machine control device that controls the synchronous machine on two axes of a γ axis that is a generation direction of an armature interlinkage magnetic flux of the synchronous machine and a δ axis that is a direction perpendicular to the γ axis (γδ axis),
Calculates each change of γ-axis voltage and δ-axis voltage according to the change due to the electrical angular velocity of the synchronous machine and the change in the control axis direction of the synchronous machine with respect to the shaft fixed on the rotor rotating at the electrical angular speed A voltage compensation unit for adding the obtained values to the γ-axis voltage command and the δ-axis voltage command,
A field magnet flux is defined as a permanent magnet magnetic flux when the synchronous machine is a permanent magnet synchronous machine or a magnetic flux generated when a current is passed through a field winding when the synchronous machine is a winding field type. Time,
The voltage compensator uses the electrical angular velocity of the synchronous machine, the defined field magnetic flux, and the phase of the γ axis with respect to the d axis, which is the direction of generation of the field magnetic flux, A synchronous machine control device that calculates a change amount of each δ-axis voltage.   The voltage compensator calculates a change amount of each of the γ-axis voltage and the δ-axis voltage using the inductance on the γδ axis and the detected current value on the γδ axis. The synchronous machine control device described.   The voltage compensator calculates a change amount of each of the γ-axis voltage and the δ-axis voltage using the inductance on the γδ axis and a current command value on the γδ axis. The synchronous machine control device described.   The voltage compensator uses a weighted average value of the inductance on the γδ axis, the current detection value on the γδ axis, and the current command value on the γδ axis, and each of the γ-axis voltage and the δ-axis voltage. The synchronous machine control device according to claim 1, wherein a change is calculated.   The said voltage compensation part correct | amends the value of the inductance on the said (gamma) axis | shaft and the inductance on the (delta) axis based on the said electrical angular velocity and a torque instruction | command. The synchronous machine control device described.   The voltage compensator is fixed on the rotor that rotates at the electrical angular velocity and the electrical angular velocity, and the two axes of the d-axis that is the generation direction of the field magnetic flux and the q-axis that is the direction orthogonal to the d-axis. 2. The synchronous machine control according to claim 1, wherein a change amount of each of the γ-axis voltage and the δ-axis voltage is calculated using an inductance on (dq axis) and a current detection value on the dq axis. apparatus.   The voltage compensator calculates a change amount of each of the γ-axis voltage and the δ-axis voltage using the inductance on the dq axis and a current command value on the dq axis. A synchronous machine control device according to claim 1.   The voltage compensator uses the weighted average value of the inductance on the dq axis, the current detection value on the dq axis, and the current command value on the dq axis, respectively, for each of the γ-axis voltage and the δ-axis voltage. 7. The synchronous machine control device according to claim 6, wherein a change amount of the synchronous machine is calculated.   The voltage compensator includes a d-axis inductance calculator that calculates a d-axis inductance using at least one of a current command value on the dq axis and a current detection value on the dq axis, and a q-axis The synchronous machine control device according to any one of claims 6 to 8, further comprising a q-axis inductance calculator that calculates an inductance.