JP2016163364A - Control system, receiving device, and method for controlling the same - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control system capable of predicting an output voltage command and controlling a three-phase AC motor even when a communication abnormality occurs.SOLUTION: A control system 1 comprises: a three-phase power converter 11 which applies voltage to a three-phase AC motor 4 on the basis of an output voltage command; a voltage command receiving processor 100 which outputs the output voltage command to the three-phase power converter 11; a current controller 16 which generates a voltage command; a voltage command transmitter 17 which transmits a voltage command and a confirmation signal; and a voltage command receiver 18 which receives the voltage command and the confirmation signal, and determines whether communication is normal on the basis of the confirmation signal. The voltage command receiving processor 100 comprises a prediction calculator 102, and a voltage command selector 103. The prediction calculator generates a prediction voltage command on the basis of the output output voltage command and an output voltage command one sampling before the output output voltage command. The voltage command selector outputs the received voltage command as the output voltage command when the communication is normal, and outputs the generated prediction voltage command as the output voltage command when the communication is not normal.SELECTED DRAWING: Figure 1

Description

  The present invention relates to a control system for a three-phase AC motor, a receiving device, and a control method therefor.

  Patent Document 1 describes a control system that controls the operation of a three-phase AC motor. FIG. 4 is a block diagram showing an example of the configuration of such a control system.

  The control system 1a shown in FIG. 4 includes a three-phase AC power converter 11, a current detector 12, a phase detector 13, a current component converter 14, a command converter 15, a current controller 16, a voltage It has a command transmitter 17a and a voltage command receiver 18a. The current component converter 14, the command converter 15, the current controller 16, and the voltage command transmitter 17a constitute the transmission device 2a, and the voltage command receiver 18a constitutes the reception device 3a.

The three-phase AC power converter 11 applies a voltage to the three-phase AC motor 4 based on an output voltage command V (k) ^* that specifies a voltage to be applied to the three-phase AC motor 4.

  The current detector 12 detects the input current i from the three-phase AC power converter 11 to the three-phase AC motor 4 and outputs the detection result to the current component converter 14.

  The phase detector 13 detects the phase information θ (k) of the rotor of the three-phase AC motor 4 and outputs the detection result to the current component converter 14.

The current component converter 14 converts the detected current component into a d-axis current component based on the input current i detected by the current detector 12 and the phase information θ (k) detected by the phase detector 13. It is converted into a d-axis current i _d and a q-axis current i _q which is a q-axis current component orthogonal to the d-axis, and is output to the current controller 16.

The command converter 15 receives a torque command T ^* that is a control command for controlling the operation of the three-phase AC motor 4, and the d-axis current and the output torque of the three-phase AC motor 4 follow the torque command T ^*. A d-axis current command i _d ^* and a q-axis current command i _q ^* that specify the q-axis current are generated and output to the current controller 16.

The current controller 16 specifies a dq voltage command v _dq that specifies a voltage such that the d-axis current i _d follows the d-axis current command i _d ^* and the q-axis current i _q follows the q-axis current command i _q ^{*. *} Is generated and output to the voltage command transmitter 17a.

The voltage command transmitter 17a transmits the dq voltage command v _dq ^* output from the current controller 16 as a transmission voltage command v _tx ^* to the voltage command receiver 18a by serial communication or the like.

The voltage command receiver 18a receives the transmission voltage command v _tx ^* transmitted from the voltage command transmitter 17a and outputs it to the three-phase AC power converter 11 as an output voltage command v (k) ^* .

  By transmitting a command from the voltage command transmitter 17a to the voltage command receiver 18a, a configuration for the command converter 15 to generate a command for the current controller 16 and the three-phase AC power converter 11 are provided apart from each other. It is possible to reduce the restrictions on the arrangement.

JP 11-196564 A

However, in the control system 1a shown in FIG. 4, an abnormality occurs in communication between the voltage command transmitter 17a and the voltage command receiver 18a, and the voltage command receiver 18a cannot receive the transmission voltage command v _tx ^*. There is a problem that the three-phase AC motor 4 cannot be controlled.

  An object of the present invention is to provide a control system, a receiving device, and a control method thereof that can control the three-phase AC motor even when a communication abnormality occurs in order to solve the above-described problems. .

  In order to solve the above-described problems, a power conversion device according to the present invention includes a three-phase AC power converter that applies a voltage to a three-phase AC motor based on an output voltage command, and the three-phase AC power conversion that converts the output voltage command. A voltage command reception processor for outputting to the device, a command generator for generating a voltage command, a voltage command generated by the command generator, and a confirmation signal for determining whether or not the communication is normal The voltage command transmitter, the voltage command and the confirmation signal transmitted from the voltage command transmitter are received, and whether or not the communication with the voltage command transmitter is normal based on the received confirmation signal. A voltage command receiver for determining, wherein the voltage command reception processor outputs an output voltage command output to the three-phase AC power converter and an output voltage command output before one sampling of the output voltage command. Based on A prediction calculator that generates a predicted voltage command that is an output voltage command after pulling, and a voltage command received by the voltage command receiver when the voltage command receiver determines that the communication is normal. When the voltage command receiver determines that the communication is not normal, the voltage that outputs the predicted voltage command generated by the prediction calculator to the three-phase AC power converter as the output voltage command. A command selector.

  In order to solve the above-described problem, a receiving device according to the present invention is a receiving device that receives a voltage command from a transmitting device, and whether or not the voltage command and communication transmitted from the transmitting device are normal. A voltage command receiver that determines whether or not communication with the transmitter is normal based on the received confirmation signal, and a voltage command receiver based on the output voltage command. A voltage command reception processor that outputs the output voltage command to a three-phase AC power converter that applies a voltage to a phase AC motor, and the voltage command reception processor is output to the three-phase AC power converter Based on the output voltage command and the output voltage command output one sampling before the output voltage command, a prediction calculator that generates a predicted voltage command that is an output voltage command after one sampling, and the voltage command receiver When the communication is determined to be normal, the voltage command received by the voltage command receiver is used as the prediction calculation when the voltage command receiver determines that the communication is not normal. A voltage command selector that outputs the predicted voltage command generated by the converter to the three-phase AC power converter as the output voltage command.

  In order to solve the above problem, a control method for a receiving device according to the present invention is a control method for a receiving device that receives a voltage command from a transmitting device, and the voltage command transmitted from the transmitting device. And a step of receiving a confirmation signal for determining whether or not the communication is normal, and determining whether or not the communication with the transmission device is normal based on the received confirmation signal, and an output voltage command The step of outputting the output voltage command to a three-phase AC power converter that applies a voltage to a three-phase AC motor based on the output voltage command, the output voltage command output to the three-phase AC power converter, and the output voltage command Based on the output voltage command output before one sampling, a step of generating a predicted voltage command that is an output voltage command after one sampling, and when the communication is determined to be normal, It has been a voltage command, wherein when the communication is determined not to be normal, including the steps of outputting a predicted voltage command said generated in the three-phase AC power converter as the output voltage command.

  According to the control system, the receiving device, and the control method thereof according to the present invention, it is possible to predict the output voltage command and control the three-phase AC motor even when a communication abnormality occurs.

It is a block diagram which shows the structure of the control system which concerns on one Embodiment of this invention. It is a block diagram which shows the structure of the prediction calculator shown in FIG. It is a figure which shows the relationship between an output voltage command vector and an estimated voltage command vector. It is a block diagram which shows the structure of a related control system.

  Embodiments of the present invention will be described below.

  FIG. 1 is a diagram showing a configuration of a control system 1 according to an embodiment of the present invention. In FIG. 1, the same components as those in FIG.

  A control system 1 shown in FIG. 1 includes a three-phase AC power converter 11, a current detector 12, a phase detector 13, a current component converter 14, a command converter 15, and a current controller (command generator). ) 16, a voltage command transmitter 17, a voltage command receiver 18, and a voltage command reception processor 100. The current component converter 14, the command converter 15, the current controller 16, and the voltage command transmitter 17 constitute the transmission device 2, and the voltage command receiver 18 and the voltage command reception processor 100 constitute the reception device 3. . Compared with the control system 1a shown in FIG. 4, the point that the transmission device 2a is changed to the transmission device 2 is different from the point that the reception device 3a is changed to the reception device 3. The transmitter 2 is different from the transmitter 2a in that the voltage command transmitter 17a is changed to the voltage command transmitter 17. The receiving device 3 is different from the receiving device 3a in that the voltage command receiver 18a is changed to the voltage command receiver 18 and the voltage command reception processor 100 is added.

The voltage command transmitter 17 transmits the dq voltage command vector v _dq ^* corresponding to the torque command T ^* (control command) output from the current controller 16 to the voltage command receiver 18 as the transmission voltage command vector v _tx ^*. To do. Further, the voltage command transmitter 17 together with the transmission voltage command vector v _tx ^* , a communication confirmation signal SUM for determining whether or not the communication between the voltage command transmitter 17 and the voltage command receiver 18 is normal. Is transmitted to the voltage command receiver 18.

The voltage command receiver 18 receives the communication confirmation signal SUM transmitted from the voltage command transmitter 17, and determines whether or not the communication with the voltage command transmitter 17 is normal based on the communication confirmation signal SUM. The communication confirmation result Chk indicating the determination result is output to the voltage command reception processor 100. For example, the voltage command receiver 18 determines whether or not the communication with the voltage command transmitter 17 is normal using a checksum method. In addition, the voltage command receiver 18 receives the transmission voltage command vector v _tx ^* transmitted from the voltage command transmitter 17 and outputs it to the voltage command reception processor 100 as a received voltage command vector v _rx ^* .

The voltage command reception processor 100 converts the output voltage command vector v (k) ^* into the three-phase AC power converter 11 according to the communication confirmation result Chk and the received voltage command vector v _rx ^* from the voltage command receiver 18. Output to.

  The voltage command reception processor 100 includes a voltage command storage device 101, a prediction calculator 102, and a voltage command selector 103.

The voltage command storage device 101 stores the output voltage command vector v (k) ^* output to the three-phase AC power converter 11 before one sampling as the output voltage command vector v (k−1) ^* before one sampling. To do.

The predictive calculator 102 outputs the output voltage command vector v (k) ^* output to the three-phase AC power converter 11 and the output voltage command vector v (k−) one sampling before stored in the voltage command storage 101. 1) Based on ^* , the predicted voltage command vector v (k + 1) ^* after one sampling is calculated and output to the voltage command selector 103.

When the communication confirmation result Chk indicates that the communication is normal, the voltage command selector 103 uses the received voltage command vector v _rx ^* output from the voltage command receiver 18 as the output voltage command vector v (k). ^* Is output to the three-phase AC power converter 11. On the other hand, when the communication confirmation result Chk indicates that the communication is not normal, the voltage command selector 103 uses the predicted voltage command vector v (k + 1) ^* output from the prediction calculator 102 as the output voltage command vector v ( k) As ^* , it outputs to the three-phase alternating current power converter 11.

  Next, the configuration of the predictive calculator 102 will be described with reference to the block diagram shown in FIG.

  The prediction calculator 102 shown in FIG. 2 includes a voltage component converter 1021 and a voltage command prediction calculator 1022.

The voltage component converter 1021 converts the output voltage command vector v (k−1) ^* before one sampling into an a-axis voltage component (a-axis voltage component v _a (k−1) ^* ) and a b-axis orthogonal to the a-axis. (B-axis voltage component v _b (k−1) ^* ). The voltage component converter 1021 converts the output voltage command vector v (k) ^* into an a-axis voltage component v _a (k) ^* and a b-axis voltage component v _b (k) ^* . The voltage component converter 1021 converts the a-axis voltage components v _a (k−1) ^* and v _a (k) ^* and the b-axis voltage components v _b (k−1) ^* and v _b (k) ^* into voltages. It outputs to the command prediction calculator 1022. When the a axis and the b axis are rotated by a phase θ around the axes orthogonal to the a axis and the b axis, respectively, they coincide with the d axis and the q axis.

The voltage command prediction computing unit 1022 outputs the a-axis voltage component v _a (k−1) ^* , v _a (k) ^* and the b-axis voltage component v _b (k−1) ^* , output from the voltage component converter 1021. Based on v _b (k) ^* , a predicted voltage command vector v _x (k + 1) ^* is calculated. Hereinafter, a method for calculating the predicted voltage command vector v _x (k + 1) ^* will be described in detail.

FIG. 3 is a diagram showing a relationship among the output voltage command vector v (k−1) ^* , the output voltage command vector v (k) ^*, and the predicted voltage command vector v _x (k + 1) ^* before one sampling.

In FIG. 3, θ (k) is a phase based on the a-axis voltage component v _a (k) ^* of the output voltage command vector v (k) ^* , and θ (k−1) is the output voltage before one sampling. The phase is based on the a-axis voltage component v _a (k−1) ^* of the command vector v (k−1) ^* .

The output voltage command vector v (k) ^* , the output voltage command vector v (k−1) ^* before one sampling, and the predicted voltage command vector v _x (k + 1) ^* are respectively ^converted into an a-axis voltage component and a b-axis voltage component. When expressed separately, the following equation (1) is obtained. Note that the slope of the predicted voltage command vector v _x (k + 1) ^* is shifted from the output voltage command vector v (k) ^* by Δθ2 as shown in FIG.

In equation (1), v _a (k) ^* is the a-axis voltage component of the output voltage command vector v (k) ^* , and v _b (k) ^* is the b-axis voltage of the output voltage command vector v (k) ^*. V _a (k−1) ^* is an a-axis voltage component of the output voltage command vector v (k−1) ^* before one sampling, and v _b (k−1) ^* is an output before one sampling. The b-axis voltage component of the voltage command vector v (k−1) ^* , v _ax (k + 1) ^* is the a-axis voltage component of the predicted voltage command vector v _x (k + 1) ^* , and v _bx (k + 1) ^* is This is the b-axis voltage component of the predicted voltage command vector v _x (k + 1) ^* .

The outer product of the output voltage command vector v (k) ^* and the output voltage command vector v (k−1) ^* one sampling before is expressed as the following equation (2).

In equation (2), Δθ1 is the phase information θ (k) when outputting the output voltage command vector v (k) ^* and the phase information when outputting the output voltage command vector v (k−1) ^* one sampling before. It is a phase difference with θ (k−1). | V (k) ^* | is the absolute value of the output voltage command vector v (k) ^* , and | v (k-1) ^* | is the output voltage command vector v (k-1) ^* one sampling before ^. Is the absolute value of.

The phase difference Δθ1 is a phase difference between samplings as shown in FIG. If the sampling period is very short, the phase difference Δθ1 becomes very small, and sin Δθ1 in the equation (2) can be approximated to Δθ1. In this case, the expression (2) is expressed as the following expression (3).

From the equation (3), the phase difference Δθ1 is expressed as the following equation (4).

Furthermore, if the phase difference Δθ1 is small, the rotational speed of the three-phase AC motor 4 during the sampling period can be regarded as being substantially constant. In general, since the rotational speed and the magnitude of the absolute value of the voltage command are in a proportional relationship, if the rotational speed is constant, the absolute value of the voltage command is equal. Therefore, it is equal to the magnitude of the size and before one sampling of the output voltage command vector v (k-1) ^* of the absolute value of the output voltage command vector v (k) ^* absolute value. In this case, the expression (4) is expressed as the following expression (5).

Here, when the sampling period is very short and the rotation speed is almost unchanged, the phase difference Δθ2 between the output voltage command vector v (k) ^* and the predicted voltage command vector v _x (k + 1) ^* is also equal to the phase difference Δθ1. Also, the magnitude of the absolute value of the output voltage command vector v (k) ^* is equal to the magnitude of the absolute value of the predicted voltage command vector v _x (k + 1) ^* .

Therefore, the predicted voltage command vector v _x (k + 1) ^* is expressed as the following equation (6).

Further, when the a-axis voltage component v _ax (k + 1) ^* of the predicted voltage command vector v _x (k + 1) ^* in Expression (6) is solved, it is expressed as Expression (7).

Here, the product of the absolute value of the output voltage command vector v (k) ^* in equation (7) and cos θ (k) becomes the a-axis voltage component of the output voltage command vector v (k) ^* in equation (1). Since the multiplication value of the absolute value of the output voltage command vector v (k) ^* and sin θ (k) is the b-axis voltage component of the output voltage command vector v (k) in Equation (1), Equation (7) is It is expressed as the following formula (8).

Similarly, when the b-axis voltage component v _bx (k + 1) ^* of the predicted voltage command vector v (k + 1) ^* in Expression (6) is solved, it is expressed as Expression (9).

From the above, the voltage command prediction calculator 1022 can calculate the predicted voltage command vector v _x (k + 1) ^* using the equations (8) and (9).

Thus, according to this embodiment, the control device 10 includes the three-phase AC power converter 11 that applies a voltage to the three-phase AC motor 4 based on the output voltage command vector v (k) ^* , and the output voltage command vector. The voltage command reception processor 100 that outputs v (k) ^* to the three-phase AC power converter 11, the current controller 16 that generates the voltage command, the voltage command generated by the current controller 16 and the communication confirmation signal SUM The voltage command transmitter 17 that transmits the voltage command and the voltage command and the signal confirmation communication SUM transmitted from the voltage command transmitter 17 are received, and the communication with the voltage command transmitter 17 is normal based on the communication confirmation signal SUM. Voltage command receiver 18 for determining whether or not.

The voltage command reception processor 100 outputs the output voltage command vector v (k) ^* output to the three-phase AC power converter 11 and the output voltage command vector v output one sampling before the output voltage command vector v (k) ^*. Based on (k−1) ^* , communication is normal between the predictive calculator 102 that generates a predicted voltage command vector v _x (k + 1) ^* that is an output voltage command after one sampling, and the voltage command receiver 18. If determined, the voltage command received by the voltage command receiver 18 is output as an output voltage command vector v (k) ^* , and if the voltage command receiver 18 determines that the communication is not normal, A voltage command selector 103 that outputs a predicted voltage command vector generated by the prediction calculator 102 as an output voltage command vector v (k) ^* .

Therefore, even when an abnormality occurs in communication between the voltage command transmitter 17 and the voltage command receiver 18, the three-phase AC motor 4 can be controlled based on the predicted voltage command vector v _x (k + 1) ^*. .

  Although the present invention has been described based on the drawings and examples, it should be noted that those skilled in the art can easily make various modifications and corrections based on the present disclosure. Therefore, it should be noted that these variations and modifications are included in the scope of the present invention. For example, functions and the like included in each block can be rearranged so as not to be logically contradictory, and a plurality of blocks can be combined into one or divided.

DESCRIPTION OF SYMBOLS 1 Control system 2 Transmission apparatus 3 Reception apparatus 4 Three-phase alternating current motor 11 Three-phase alternating current power converter 12 Current detector 13 Phase detector 14 Current component detector 15 Command converter 16 Current controller (command generator)
DESCRIPTION OF SYMBOLS 17 Voltage command transmitter 18 Voltage command receiver 100 Voltage command reception processor 101 Voltage command memory | storage device 102 Prediction calculator 103 Voltage command selector 1021 Voltage component converter 1022 Voltage command prediction calculator

Claims (4)

A three-phase AC power converter for applying a voltage to the three-phase AC motor based on the output voltage command;
A voltage command reception processor for outputting the output voltage command to the three-phase AC power converter;
A command generator for generating a voltage command;
A voltage command transmitter that transmits a voltage command generated by the command generator and a confirmation signal for determining whether communication is normal;
A voltage command receiver that receives a voltage command and a confirmation signal transmitted from the voltage command transmitter and determines whether or not communication with the voltage command transmitter is normal based on the received confirmation signal And comprising
The voltage command reception processor is:
Based on the output voltage command output to the three-phase AC power converter and the output voltage command output before one sampling of the output voltage command, a predicted voltage command that is an output voltage command after one sampling is generated. A predictive calculator,
When the voltage command receiver determines that the communication is normal, the voltage command received by the voltage command receiver is determined by the voltage command receiver when the communication is determined not normal. A voltage command selector that outputs the predicted voltage command generated by the prediction calculator to the three-phase AC power converter as the output voltage command;
A control system comprising: The control system according to claim 1,
The output voltage command is an output voltage command vector v (k) represented by an a-axis voltage component v _a (k) and a b-axis voltage component v _b (k) that are voltage components of the a-axis and b-axis orthogonal to each other. ) ^* , And the output voltage command before one sampling is an output voltage command vector v (k) represented by an a-axis voltage component v _x (k−1) and a b-axis voltage component v _x (k−1). -1) ^* , and the predicted voltage command is a predicted voltage command vector v _x (k + 1) ^* represented by an a-axis voltage component v _ax (k + 1) and a b-axis voltage component v _bx (k + 1).
The prediction calculator calculates an a-axis voltage component v _ax (k + 1) and a b-axis voltage component v _bx (k + 1) of the predicted voltage command vector v _x (k + 1) ^* using the following formula: Control system.

A receiving device that receives a voltage command from a transmitting device,
A confirmation signal transmitted from the transmission device for determining whether or not the voltage command and communication are normal is received, and communication with the transmission device is normal based on the received confirmation signal A voltage command receiver for determining whether or not
A voltage command receiving processor that outputs the output voltage command to a three-phase AC power converter that applies a voltage to a three-phase AC motor based on an output voltage command;
The voltage command reception processor is:
Based on the output voltage command output to the three-phase AC power converter and the output voltage command output before one sampling of the output voltage command, a predicted voltage command that is an output voltage command after one sampling is generated. A predictive calculator,
When the voltage command receiver determines that the communication is normal, the voltage command received by the voltage command receiver is determined by the voltage command receiver when the communication is determined not normal. A voltage command selector that outputs the predicted voltage command generated by the prediction calculator to the three-phase AC power converter as the output voltage command;
A receiving apparatus comprising: A control method of a receiving device that receives a voltage command from a transmitting device,
A confirmation signal transmitted from the transmission device for determining whether or not the voltage command and communication are normal is received, and communication with the transmission device is normal based on the received confirmation signal Determining whether or not,
Outputting the output voltage command to a three-phase AC power converter that applies a voltage to the three-phase AC motor based on the output voltage command;
Based on the output voltage command output to the three-phase AC power converter and the output voltage command output before one sampling of the output voltage command, a predicted voltage command that is an output voltage command after one sampling is generated. Steps,
When it is determined that the communication is normal, the received voltage command is used. When the communication is determined not to be normal, the generated predicted voltage command is used as the output voltage command. Outputting to a three-phase AC power converter;
A control method for a receiving apparatus.

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