JP2014204489A - Rotary machine control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a rotary machine control device capable of obtaining a correction coefficient during actual drive operation only by grasping basic electric characteristics without carrying out prior measuring work or analyzing work requiring special facilities for obtaining predetermined mechanical characteristics, and easily suppressing a torque ripple.SOLUTION: A correcting portion 100 computes a torque constant correction command Kt1 by electric circuit analysis on the basis of an electric constant of a motor 10, a current detection value i, a voltage command value v*, and an electric angle θre. A current command generating portion 1 generates a q-axis current command value iq*, on the basis of a torque command value τ*, a torque constant of the motor 10, and a torque constant correction command Kt1.

Description

  The present invention relates to a rotating machine control device that suppresses torque ripple that occurs during rotation of an AC rotating machine.

  As an AC rotating machine, for example, a PM motor (permanent magnet embedded type motor) has a feature of small size and high efficiency, and has been widely used for industrial equipment in recent years. However, since the PM motor has a spatial harmonic in the rotating magnetic field due to its structure, torque ripple appears in the generated torque because the induced voltage includes a harmonic component. Since this can cause problems such as vibration, noise, mechanical resonance, etc., a reduction technique is required.

  As this reduction technique, a current command value that can suppress torque ripple is generated by multiplying the torque command by a correction coefficient, and torque ripple is suppressed by using the current command value (for example, , See Patent Document 1).

Japanese Patent No. 4742658

  In the method described in Patent Document 1 described above, torque ripple can be suppressed with high accuracy. However, in order to obtain necessary mechanical vibration data, prior electromagnetic field analysis (see Paragraph 0019 in the same document). It is necessary to obtain and store the correction coefficient by vibration measurement (see the same paragraph 0032). In order to obtain the correction coefficient in this way, special software is required to install special equipment for measuring mechanical state quantities such as motor torque and vibration, and to perform complex electromagnetic field analysis. There is a problem that complicated parameter acquisition work must be performed.

  In addition, torque ripple factors that are difficult to take into account in measurement or analysis work (for example, mechanical variations such as rotor misalignment and resonance from the load side due to individual manufacturing variations of the rotating machine, torque due to magnet temperature rise) In the case where there is a change in characteristics, etc., these are not reflected in the correction coefficient, so there is also a problem that torque ripple suppression becomes insufficient.

  In the present invention, the basic electrical characteristics can be obtained only by grasping the basic electrical characteristics without performing the prior measurement work and analysis work requiring special equipment for obtaining the predetermined mechanical characteristics. An object of the present invention is to provide a rotating machine control device that can acquire a correction coefficient and can easily suppress torque ripple.

A rotating machine control device according to the present invention includes a current command generating unit that generates a current command value, a current control unit that generates a voltage command value so that a current detection value of the rotating machine follows the current command value, and a voltage command value In a rotating machine control device equipped with a power converter for supplying electric power to a rotating machine based on
A correction unit that calculates the torque constant component of the frequency synchronized with the torque ripple of the rotating machine based on the electric constant of the rotating machine, the current flowing through the rotating machine and the voltage applied to the rotating machine, and outputs it as a torque constant correction command With
The current command generator generates a current command value based on the torque command value, the torque constant of the rotating machine, and the torque constant correction command so as to suppress torque ripple.

  As described above, the rotating machine control device according to the present invention has a frequency synchronized with the torque ripple of the rotating machine by electric circuit analysis based on the electric constant of the rotating machine, the current flowing through the rotating machine, and the voltage applied to the rotating machine. Since it has a correction unit that calculates the torque constant component and outputs it as a torque constant correction command, the torque constant correction command for correcting the current command value for the purpose of torque ripple suppression can be measured and analyzed in advance. Torque ripple suppression by a simple device is possible. In addition, it is possible to suppress torque ripple caused by factors that make measurement and analysis difficult, such as variations in the production of individual rotating machines and fluctuations in torque characteristics associated with magnet temperature rises.

It is a block diagram which shows the structure of the rotary machine control apparatus which is Embodiment 1 of this invention. It is a block diagram which shows the circuit structure in the 1st operation mode of the rotary machine control apparatus which is Embodiment 2 of this invention. It is a block diagram which shows the circuit structure in the 2nd operation mode of the rotary machine control apparatus which is Embodiment 2 of this invention. It is a figure explaining the write-in operation | movement to the 1st memory | storage part 201 in the 1st operation mode of the rotary machine control apparatus which is Embodiment 2 of this invention. It is a figure explaining the read-out operation from the 1st memory | storage part 201 in the 2nd operation mode of the rotary machine control apparatus which is Embodiment 2 of this invention. It is a block diagram which shows the structure of the rotary machine control apparatus which is Embodiment 3 of this invention. It is a block diagram which shows the circuit structure in the 1st operation mode of the rotary machine control apparatus which is Embodiment 4 of this invention. It is a block diagram which shows the circuit structure in the 2nd operation mode of the rotary machine control apparatus which is Embodiment 4 of this invention.

Embodiment 1 FIG.
1 is a block diagram showing a configuration of a rotating machine control apparatus according to Embodiment 1 of the present invention. In FIG. 1, the rotating machine control device includes a current command generator 1, a current controller 2, a dq / three-phase converter 3, a current detector 5, a three-phase / dq converter 6, subtracters 7 and 8, a rotational position. It has a detector 9 and a correction unit 100. Then, a PM motor (hereinafter simply referred to as a motor) 10 as a rotating machine is controlled via the power converter 4.

Next, functional operations of these components will be described.
First, the current command generator 1 generates a q-axis current command value iq based on a torque command value τ * from the host control system, a torque constant correction command Kt1 described later, and a torque constant as a motor constant of the motor 10. * Is calculated and input to the subtractor 7. On the other hand, in the current detection unit 5, the actual current (current detection value) vector i of the motor 10 is detected and input to the three-phase / dq converter 6.
The three-phase / dq converter 6 refers to the electrical angle θre, which is the rotational position information of the motor 10 from the rotational position detector 9 such as an encoder, and converts the actual current vector i into the q-axis actual current iq and the d-axis. The actual current id is converted, the q-axis actual current iq is input to the subtractor 7, and the d-axis actual current id is input to the subtractor 8.

In the subtracter 7, the difference between the q-axis current command value iq * from the current command generation unit 1 and the q-axis actual current iq is calculated and input to the current control unit 2. Further, in the subtracter 8, the difference between the d-axis current command value id * and the d-axis actual current id is calculated and similarly input to the current control unit 2.
The d-axis current command value id * is generally set to id * = 0 according to a known technique, but is set to a value corresponding to field weakening control or the like. In any case, in the present invention, since it is out of the scope of the main part, specific contents are omitted.

In the current control unit 2, the outputs of the subtracters 7 and 8 are zero, that is, the q-axis actual current iq follows the q-axis current command value iq *, and the d-axis actual current id follows the d-axis current command value id *. As described above, the voltage command values vq * and vd * are calculated by PI control or the like and input to the dq / three-phase converter 3. The dq / three-phase converter 3 converts the voltage command values vd * and vq * into a three-phase voltage command value vector v * with reference to the electrical angle θre, and inputs it to the power converter 4.
The power converter 4 outputs a three-phase voltage in accordance with the three-phase voltage command value vector v *, passes currents iq and id equal to the q-axis current command value iq * and the d-axis current command value id *, and a torque command value τ The motor 10 is driven so as to generate a torque equal to *.

Next, the operation of the torque ripple suppression control in the present invention, that is, the operation centered on the correction unit 100 will be described.
The correction unit 100 includes an induced voltage estimation unit 101 and a torque constant correction command generation unit 102. The induced voltage estimation unit 101 includes an electrical constant (motor constant), an actual current vector i, and a three-phase voltage command to the motor 10. Based on the value vector v ^* and the electrical angle θre of the motor 10 detected by the rotational position detector 9, an induced voltage estimated value vector e as an estimated induced voltage of the motor 10 is calculated by the following electrical circuit analysis.

Here, R and L are winding resistance and self-inductance which are electric constants of the motor 10, Pm is the number of pole pairs, s is a differential operator, I is a unit matrix, J is a substitution matrix, F (s ) Represents the gain of the low-pass filter, ωrm represents the mechanical angular velocity, and ωre represents the electrical angular velocity.
This low-pass filter is for removing unnecessary distortion based on computation, and its gain F (s) is not shown in the figure, but is realized by software processing by a microprocessor in the induced voltage estimation unit 101. Is a transfer function of the low-pass filter. Then, the induced voltage estimated value vector e is input to the torque constant correction command generation unit 102.

  1 takes in a three-phase voltage command value v * as a voltage applied to the motor 10 and a three-phase actual current i * as a current flowing through the motor 10. However, when the equation (2) is formed on the d-axis and the q-axis, the voltage is the d-axis voltage command value vd * and q-axis before being converted by the dq / three-phase converter 3. The voltage command value vq * may be taken in as the current by taking in the d-axis actual current id and the q-axis actual current iq after being converted by the three-phase / dq converter 6.

When the equation (2) is calculated by taking in the three-phase voltage and current, the following equation (3) is used to obtain the induced voltage q-axis component by converting the obtained three-phase induced voltage into the dq axis. You can do it.
In FIG. 1, the voltage command value is used as the voltage applied to the motor 10. However, a voltage detection value obtained by providing a voltage detector may be used separately. However, the current command value may be used.

  Next, the operation of the torque constant correction command generation unit 102 will be described. First, based on the q-axis induced voltage estimated value eq in the induced voltage estimated value vector e, the following equation (3) is calculated to obtain the magnet magnetic flux estimated value φm of the motor 10.

The magnet magnetic flux handled here has a proportional relationship with the torque generated in the motor 10, and therefore, the estimated magnetic flux φm obtained by Equation (3) has a frequency component torque synchronized with the torque ripple of the motor 10. Will be included.
Therefore, the magnetic flux estimation value φm is expanded in the Fourier series, and Fourier coefficients φmCn and φmSn for the order n corresponding to the frequency of the torque ripple to be suppressed are extracted by the calculations shown in the equations (4) and (5).

  Here, although not shown, FLPF (s) is a transfer function of a low-pass filter realized by software processing by a microprocessor. Further, Δθest compensates for the phase delay due to the low-pass filter of the gain F (s) in the above equation (2), the delay associated with the A / D conversion in the calculation process, and the like.

  However, the exact value of the Fourier coefficient is expressed by equations (6) and (7), where T is the period of the periodic function φm, as in a mathematical textbook.

  Therefore, when the Fourier coefficients are obtained by applying these equations, it is necessary to repeatedly obtain the average value for one period of the signal, and the calculation load increases. Therefore, in the first embodiment, the formulas (4) and (5) in which the integral calculations of the formulas (6) and (7) are replaced with the low-pass filter calculation are adopted, and in this case, there is no practical problem. I have confirmed.

  As is well known, the order n, that is, the harmonic order of the frequency of the torque ripple, when the motor is driven by a three-phase AC drive by an inverter, the 6th order and its 12th order are usually the main components. .

  From the Fourier coefficient obtained by the equations (4) and (5), the periodic signal φmn of the nth order frequency synchronized with the torque ripple is obtained by the equation (8).

  In the present application, the torque constant is corrected in order to suppress torque ripple, as shown in equation (10) described later. Since the torque and the torque constant are in a reciprocal relationship, and the torque constant is determined by the torque and current of the motor 10 as a whole, the polarity of the periodic signal φmn in equation (8) is reversed and the number of pole pairs Multiplying Pm becomes a torque constant component having a frequency synchronized with the torque ripple, and this is obtained as a torque constant correction command Kt1 by the equation (9).

  The torque constant correction command Kt1 is input to the current command generation unit 1, and the current command generation unit 1 subtracts the torque constant correction command Kt1 from the original torque constant Kt of the motor 10 so as to suppress torque ripple. The q-axis current command value iq * obtained by the calculation shown in Expression (10) using the calculated value as the denominator is generated and input to the subtractor 7.

  By performing current (torque) control using the q-axis current command value iq * calculated by the equation (10), torque equal to the torque command value τ * is generated and torque ripple is set based on the torque constant correction command Kt1. Synchronized harmonic torque can be generated, the original torque ripple is canceled by the harmonic torque, and the motor 10 can be driven with the torque ripple suppressed.

  As described above, in the rotating machine control device according to the first embodiment of the present invention, the correction unit 100 uses the electric constants (R, L), the detected current value i, and the voltage command value v * of the motor 10. An induced voltage estimated value e is obtained by electric circuit analysis, and a torque constant correction command Kt1 for correcting the current command value for the purpose of torque ripple suppression can be obtained from the induced voltage estimated value e. Therefore, the torque constant correction command Kt1 can be acquired in an actual driving operation without performing complicated measurement and analysis work in advance, and torque ripple can be suppressed by a simple device. In addition, it is possible to suppress torque ripple caused by factors that make measurement and analysis difficult, such as variations in the production of individual rotating machines and fluctuations in torque characteristics associated with magnet temperature rises. Thereby, the durability of the motor 10 is also improved.

The correction unit 100 of FIG. 1 includes the induced voltage estimation unit 101 and calculates the torque constant correction command Kt1 from the induced voltage estimated value vector e obtained here. Instead of 101, a torque estimation unit may be provided.
Then, in this torque estimation unit, an estimated torque τ is obtained by an electric circuit analysis based on an arithmetic expression obtained by substituting Equation (11) into Equation (2), and further, in the torque constant correction command generation unit 102, from this estimated torque τ. An estimated torque constant K may be obtained from the equation (12), and a final torque constant correction command Kt1 may be obtained by a method of obtaining a Fourier coefficient from the estimated torque constant K.

  Further, in the above, Fourier coefficients are obtained by the equations (4), (5) or (6), (7), and a frequency signal synchronized with the torque ripple is extracted by the equation (8) using these Fourier coefficients. Although the final torque constant correction command Kt1 is calculated from this frequency signal, a frequency component synchronized with the torque ripple may be extracted by, for example, a bandpass filter without using the Fourier series expansion.

  However, for example, when the speed fluctuates, the equations (4) and (5) for obtaining the Fourier coefficient can be dealt with by varying ωre, but in the case of the band-pass filter method, the coefficient can be recalculated in real time. There is a disadvantage that it is necessary to use a band pass filter, and the configuration becomes complicated.

In the above formulas (4) and (5), one kind of order is set as the harmonic order n of the torque ripple. However, as described above, for example, torque ripples of two kinds of orders of 6th order and 12th order are used. When n = 6 and n = 12, Fourier coefficients are obtained, and two types of torque constant correction commands Kt1 ₆ and Kt1 ₁₂ are obtained from the results of both. The generation unit 1 generates the q-axis current command value iq * based on the equation (13).

  As a result, a plurality of (in this case, sixth and twelfth) frequency components of torque ripple can be simultaneously suppressed.

Embodiment 2. FIG.
The rotating machine control device according to the second embodiment of the present invention is the same as the first embodiment in terms of the operating principle for suppressing torque ripple, but is intended to reduce the calculation processing capacity during operation. is there. Here, the operation is performed in two operation modes, FIG. 2 is a block diagram showing a circuit configuration in the first operation mode for storing data relating to the torque constant correction command, and FIG. 3 shows the data stored in the first operation mode. It is a block diagram which shows the circuit structure in the 2nd operation mode which drives and drives the motor 10, utilizing the torque ripple.

First, the operation in the first operation mode will be described. In this operation mode, a pattern torque command value τ ** is set in advance within a predetermined range as an operation pattern for storing a torque constant correction command. Moreover, as shown in FIG. 2, the 1st memory | storage part 201 is provided.
Then, the current command generation unit 1 generates a q-axis current command value iq ** based on the pattern torque command value τ ** and the torque constant Kt as the motor constant of the motor 10 according to Expression (14).

That is, in the first operation mode, the motor 10 is driven based on the q-axis current command value iq ** without suppressing torque ripple.
Therefore, the first operation mode can be said to be an off-line operation in that it is not the original driving operation required for the motor 10.
At this time, similarly to the first embodiment, the torque constant correction command generation unit 102 obtains the data relating to the torque constant correction command, which is obtained by the calculation of the equations (3) to (5) as the calculation process. The Fourier coefficients φmCn and φmSn are extracted for the pattern torque command value τ **.
This is repeated for each pattern torque command value τ ** set in the operation pattern, and as shown in FIG. 4, the electrical angle θre (or the rotational position information of the motor 10 such as the electrical angular velocity ωre) and the pattern torque command value τ *. The first storage unit 201 stores Fourier coefficients φmCn and φmSn in relation to * (or q-axis current command value iq **).

Further, in this first operation mode, the purpose of calculation is to obtain data related to the torque constant correction command to the last, so that the operation pattern may be a constant speed / constant torque drive pattern, which occurs in actual operation. The complicated variable speed drive to obtain is not necessary.
Therefore, in the case where the power converter 4 is a system in which the switching element is turned on / off by pulse width modulation based on the voltage command value and the carrier signal, the carrier in the power converter 4 is compared with the case of the second operation mode described later. It is possible to set the frequency of the signal low.

  As is well known, in this type of power converter 4, since the generated disturbance has a property of increasing in proportion to the carrier frequency, the disturbance is reduced by setting the carrier frequency low, and more Data on the torque constant correction command can be obtained with high accuracy.

  Next, the operation in the second operation mode shown in FIG. 3 for suppressing torque ripple will be described. In the second operation mode, the first operation mode shown in FIG. 1 is operated in a state where data of Fourier coefficients φmCn and φmSn are already stored in the first storage unit 201.

  The first storage unit 201 receives the torque command value τ * and the electrical angle θre of the motor 10, and the first storage unit 201 relates to the input torque command value τ * and the electrical angle θre, Data of Fourier coefficients φmCn and φmSn is read out. Then, based on these data, the calculation of the equations (8) and (9) is performed, for example, the torque command value τ * as shown in FIG. 5 (or substantially as shown in FIG. 5). The torque constant correction command Kt1 corresponding to the load% equivalent to the torque command value) and the electrical angle θre is output and input to the current command generator 1.

The current command generator 1 uses the torque constant correction command Kt1 to calculate the q-axis current command value iq * that can suppress the torque ripple by performing the calculation of Expression (10) as in the first embodiment. Output and torque ripple suppression.
As described above, in the second operation mode, the correction unit 100 is in a stopped state, and the motor 10 is driven while suppressing torque ripple based on the data stored in the first storage unit 201 offline in the first operation mode. Control is performed.
In other words, the second operation mode can be said to be an online operation in that it is an original driving operation required for the motor 10.

  As described above, in the rotating machine control device according to the second embodiment of the present invention, first, the first operation mode is related to the torque constant correction command for correcting the current command value offline for the purpose of torque ripple suppression. Data is secured, and then, in the second operation mode, a torque constant correction command is generated on the basis of the data on-line, and drive control of the motor 10 can be performed while suppressing torque ripple.

  Although the first operation mode is offline, data relating to the torque constant correction command can be obtained from the operation characteristics using the actual device including the motor 10, and conventional prior complicated measurement and analysis work can be performed. It is possible to suppress torque ripple by a simple device without performing it. In addition, it is possible to suppress torque ripple caused by factors that make measurement and analysis difficult, such as variations in the production of individual rotating machines and fluctuations in torque characteristics associated with magnet temperature rises.

In particular, in the first operation mode, as described above, since the complicated variable speed driving is not necessary, the disturbance is reduced by setting the frequency of the carrier signal in the power converter 4 to be low, and the torque constant is more accurately determined. Data relating to the correction command can be obtained.
Further, in the second operation mode, the data of the torque constant correction command necessary for torque ripple suppression can be easily obtained by reading from the first storage unit 201, so that the calculation capability of the control device, for example, the calculation processing speed can be increased. Even when there is a restriction, the effect of enabling simple torque ripple suppression according to the present invention is obtained.

  In the second embodiment, an example in which Fourier coefficients φmCn and φmSn synchronized with a certain one (n-th order) torque ripple are extracted and stored is shown. However, in the first operation mode, the previous embodiment is used. In the same manner as described in 1, a plurality of extraction operations synchronized with the multi-order torque ripple are performed in parallel, and Fourier coefficients for the multi-order components are stored, respectively. It is also possible to simultaneously suppress a plurality of frequency components of torque ripple by generating a q-axis current command value iq * using equation (13) using a plurality of torque constant correction commands obtained based on the coefficients.

  Further, in the second embodiment, in the first operation mode, Fourier coefficients φmCn and φmSn are extracted as data related to the torque constant correction command based on the calculations of Expressions (3) to (5), and these Fourier coefficients are calculated. In addition, the operation example stored in the first storage unit 201 has been shown, but further, the calculation of Expression (8) and Expression (9) is performed, and as shown in FIG. 5, the torque command value τ ** (or load%) ) And the electrical angle θre, it is also possible to store the torque constant correction command Kt1 in the first storage unit 201.

  Alternatively, in the first operation mode, the following formulas (15) and (16) are further calculated from the Fourier coefficients φmCn and φmSn, so that the data relating to the torque constant correction command is replaced with the Fourier coefficients φmCn and φmSn. An An and a phase θn are stored in the first storage unit 201, and in the second operation mode, a torque constant correction command Kt1 as shown in FIG. Is possible.

Embodiment 3 FIG.
FIG. 6 is a block diagram showing a configuration of a rotating machine control device according to Embodiment 3 of the present invention. The third embodiment includes a correction unit 100 as in the first embodiment.
The difference between the third embodiment and the first embodiment is that a second storage unit 301 is provided in addition to the correction unit 100.

  If there is a result of measurement or analysis in advance regarding a specific type of torque ripple other than that derived from the harmonic component of the induced voltage among the torque ripple generated in the motor 10, for example, cogging torque, the result is As the data related to the additional torque constant correction command, additional Fourier coefficients φamCn and φamSn are calculated, and the torque command value (or q-axis current command value) and the electrical angle are calculated in the same manner as in FIG. It can be stored in advance in the second storage unit 301 in relation to θre.

The operation when the additional Fourier coefficients φamCn and φamSn are stored in the second storage unit 301 will be described.
First, in the same manner as in the first embodiment, the correction unit 100 generates the torque constant correction command Kt1 by the calculation of Expression (3) to Expression (5) and Expression (8) to Expression (10), and the current This torque constant correction command Kt1 is input to the command generation unit 1.

  At the same time, the torque command value τ * and the electrical angle θre of the motor 10 are input to the second storage unit 301, and based on the data stored in the second storage unit 301, the equations (8) and (9) The following equations (18) and (19) corresponding to are calculated and added in the same manner as in FIG. 5 in relation to the torque command value τ * (or load%) and the electrical angle θre. Torque constant correction command Kat is output to the current command generator 1.

  Then, the current command generator 1 outputs the q-axis current command value iq * that can suppress the torque ripple including the specific type of torque ripple by performing the calculation of the following equation (20).

As described above, in the rotating machine control device according to the third embodiment of the present invention, a specific type of torque ripple other than that derived from the harmonic component of the induced voltage, such as cogging torque, is measured or analyzed in advance. When there is a result of the measurement, the second storage unit 301 is provided in which data relating to the additional torque constant correction command Kat for suppressing the specific type of torque ripple is stored in advance by effectively using the measurement and analysis results. In the current command generation unit 1, in addition to the torque constant correction command Kt1 for suppressing the torque ripple derived from the harmonic component of the induced voltage, an additional torque constant correction command Kat obtained from the above data is added to the q-axis current command. Since the value iq * is generated, a simple device suppresses torque ripple including a specific type of torque ripple while the motor 10 Motion control becomes possible.
Since the data related to the specific type of torque ripple required at this time is only a partial component of the torque ripple, an effect of simplifying the preliminary measurement work can be obtained.

  In addition, for each of the torque ripple derived from the harmonic component of the induced voltage and the torque ripple of a specific type other than that, a plurality of orders of torque ripple are also to be suppressed in the same manner as in the previous embodiment, It is also possible to suppress the frequency component torque ripple at the same time.

  Further, in the third embodiment, the example in which the additional correction Fourier coefficients φamCn and φamSn are stored in the second storage unit 301 has been shown, but further, the calculations of Expressions (18) and (19) are performed, and FIG. As shown, an additional torque constant correction command Kat can be stored in the second storage unit 301 in relation to the torque command value τ ** (or load%) and the electrical angle θre.

  Alternatively, by further calculating the following equations (21) and (22) from the additional correction Fourier coefficients φamCn and φamSn, the amplitude An instead of the additional correction Fourier coefficients φamCn and φamSn is obtained as data relating to the additional torque constant correction command. The phase θn can be stored in the second storage unit 301 in advance.

  During the driving operation, the additional correction Fourier coefficients φamCn and φamSn are read out. Based on these data, an additional torque constant correction command Kat is output by calculating as in the following equation (23).

Embodiment 4 FIG.
Embodiment 4 is a combination of Embodiment 2 and Embodiment 3 as appropriate. That is, FIG. 7 is a block diagram showing a circuit configuration in the first operation mode for storing data related to the torque constant correction command. In the first storage unit 401 corresponding to the first storage unit 201 of FIG. In addition, a second storage unit 402 corresponding to the second storage unit 301 of FIG.

  FIG. 8 is derived from the data related to the torque constant correction command for correcting the current command value for the purpose of torque ripple suppression and the harmonic component of the induced voltage stored in the first storage unit 401 in the first operation mode. For correcting the current command value for the purpose of suppressing the specific type of torque ripple obtained from the result of measurement or analysis in advance with respect to a specific type of torque ripple, such as cogging torque, etc. It is a block diagram which shows the circuit structure in the 2nd operation mode which drive-drives the motor 10, suppressing the torque ripple containing the specific type torque ripple using the data regarding a torque constant correction command.

  Since the individual operations have been described in the second embodiment and the third embodiment, the re-recording is omitted here. However, in the rotating machine control device of the fourth embodiment, the above-described two embodiments are described. Both effects can be obtained.

  In other words, although the first operation mode is offline, data relating to the torque constant correction command can be obtained from the operation characteristics using the actual device including the motor 10, and the prior complicated measurement and analysis as in the past. It is possible to suppress torque ripple by a simple device without performing work. In addition, it is possible to suppress torque ripple caused by factors that make measurement and analysis difficult, such as variations in the production of individual rotating machines and fluctuations in torque characteristics associated with magnet temperature rises.

  In particular, in the first operation mode, as described above, since the complicated variable speed driving is not necessary, the disturbance is reduced by setting the frequency of the carrier signal in the power converter 4 to be low, and the torque constant is more accurately determined. Data relating to the correction command can be obtained.

  Further, in the second operation mode, the data of the torque constant correction command necessary for suppressing the torque ripple including the specific type of torque ripple can be easily obtained by reading from the first storage unit 401 and the second storage unit 402. Even when the calculation capability of the control device, for example, the calculation processing speed is limited, the effect of enabling simple torque ripple suppression according to the present invention is obtained.

  It should be noted that the present invention can be freely combined with each other within the scope of the invention, and each embodiment can be appropriately modified or omitted.

1 current command generator, 2 current controller, 3 dq / three-phase converter, 4 power converter,
5 current detector, 6 three-phase / dq converter, 7, 8 subtractor, 9 rotational position detector,
10 PM motor, 100 correction unit, 101 induced voltage estimation unit,
102 torque constant correction command generation unit, 201, 401 first storage unit,
301, 402 Second storage unit.

Claims (9)

A current command generation unit that generates a current command value, a current control unit that generates a voltage command value so that a current detection value of the rotating machine follows the current command value, and supplies power to the rotating machine based on the voltage command value In a rotating machine control device equipped with a power converter
Based on the electric constant of the rotating machine, the current flowing through the rotating machine, and the voltage applied to the rotating machine, a torque constant component having a frequency synchronized with the torque ripple of the rotating machine is calculated by an electric circuit analysis and used as a torque constant correction command. It has a correction unit to output,
The current command generation unit generates the current command value based on a torque command value, a torque constant of the rotating machine, and the torque constant correction command so as to suppress the torque ripple. . The correction unit calculates an induced voltage of the rotating machine based on the electric constant of the rotating machine, the current detection value, the voltage command value, and the rotational position information of the rotating machine, and outputs the estimated induced voltage as an estimated induced voltage. The rotating machine control device according to claim 1, further comprising: a torque constant correction command generation unit configured to generate the torque constant correction command based on the estimated induced voltage. The correction unit calculates a torque of the rotating machine based on the electric constant of the rotating machine, the detected current value, the voltage command value, and the rotational position information of the rotating machine, and outputs the torque as an estimated torque; and The rotating machine control device according to claim 1, further comprising a torque constant correction command generation unit that generates the torque constant correction command based on the estimated torque. The torque constant correction command generation unit includes means for calculating a Fourier coefficient of a frequency component synchronized with a torque ripple of the rotating machine when the estimated induced voltage of claim 2 or the estimated torque of claim 3 is expanded by a Fourier series, A rotating machine control device that generates the torque constant correction command based on the calculated Fourier coefficient of the frequency component. The torque constant correction command generation unit includes a band-pass filter that extracts a frequency component synchronized with the torque ripple of the rotating machine from the estimated induced voltage of claim 2 or the estimated torque of claim 3, and the extracted frequency component includes A rotating machine control device that generates the torque constant correction command based on the command. With the first storage unit, it operates in the first operation mode and the second operation mode,
In the first operation mode, the current command generator generates the current command value based on a pattern torque command value set in a predetermined range as an operation pattern for storing a torque constant correction command and a torque constant of the rotating machine. Data relating to a torque constant correction command obtained in the calculation process of the correction unit when generated and operated in this state is related to the pattern torque command value and rotation position information of the rotating machine, and the first storage unit To remember,
In the second operation mode, the first storage unit reads the data stored in the first operation mode in relation to the torque command value and the rotational position information of the rotating machine, and based on the data The torque constant correction command is calculated, and the current command generation unit generates the current command value based on the torque constant correction command calculated by the first storage unit, the torque command value, and the torque constant of the rotating machine. The rotating machine control device according to any one of claims 1 to 5, wherein the rotating machine control device is configured as described above. When the torque constant correction command for the torque ripple is obtained by measurement or analysis in advance, the data related to the torque constant correction command is used as the torque command value and the rotational position information of the rotating machine. A second storage unit for storing the relationship;
The second storage unit reads the stored data in relation to the torque command value and the rotational position information of the rotating machine, and calculates a torque constant correction command for the specific type of torque ripple based on the data. The current command generation unit includes a torque constant correction command and the torque command value for the specific type of torque ripple calculated by the second storage unit so as to suppress the torque ripple including the specific type of torque ripple. 6. The rotating machine control device according to claim 1, wherein the current command value is generated based on a torque constant of the rotating machine and a torque constant correction command from the correcting unit. . When a torque constant correction command for the torque ripple is obtained in advance by measurement or analysis, the data relating to the torque constant correction command is stored in the torque command value and the rotating machine. A second storage unit that stores information related to the rotational position information is provided, and operates in the first operation mode and the second operation mode.
In the first operation mode, the current command generator generates the current command value based on a pattern torque command value set in a predetermined range as an operation pattern for storing a torque constant correction command and a torque constant of the rotating machine. Data relating to a torque constant correction command obtained in the calculation process of the correction unit when generated and operated in this state is related to the pattern torque command value and rotation position information of the rotating machine, and the first storage unit To remember,
In the second operation mode, the first storage unit reads data related to the torque constant correction command stored in the first operation mode in relation to the torque command value and the rotational position information of the rotating machine. The torque constant correction command is calculated based on the data, and the second storage unit relates the torque command value and the rotational position information of the rotating machine, and stores the torque related to the stored torque ripple of the specific type. Read data related to a constant correction command, calculate a torque constant correction command for the specific type of torque ripple based on the data, and the current command generation unit suppresses the torque ripple including the specific type of torque ripple. The torque constant correction command calculated in the first storage unit and the specific type of torque ripple calculated in the second storage unit. 6. The current command value is generated based on all torque constant correction commands, the torque command value, and the torque constant of the rotating machine. 6. Rotating machine control device. In the case where the power converter is a method of controlling on / off of the switching element by pulse width modulation based on the voltage command value and the carrier signal,
The rotating machine control device according to claim 6 or 8, wherein a frequency of the carrier signal in the first operation mode is set lower than a frequency of the carrier signal in the second operation mode.

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