JP2016197986A - Control device for permanent magnet type synchronous motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a control device capable of stably controlling a PMSM without reducing a torque control accuracy by simple calculation compared with the conventional art.SOLUTION: A control device for a permanent magnet type synchronous motor comprises: a position estimation error calculation unit 16 that calculates a position estimation error from a γaxis current, a δaxis current, a γaxis voltage, a δaxis voltage, a speed estimation value, and a correction voltage; a speed estimation unit 17 that calculates a speed estimation value from a calculated value of the position estimation error; an integrator 18 that calculates a position estimation value from the speed estimation value; a correction voltage calculation unit 14E that calculates a correction voltage from the γaxis current, the δaxis current, and the speed estimation value; an angle difference calculation unit 12 that calculates an angle difference between a γaxis and a γaxis from the δaxis current; a current coordinate converter 10 that converts a γaxis current and a δaxis current into the γaxis current and the δaxis current by using the angle difference; and a voltage coordinate converter 9 that converts a γaxis voltage and a δaxis voltage into the γaxis voltage and the δaxis voltage by using the angle difference.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a control device for a permanent magnet type synchronous motor, and more specifically, so-called position sensorless control for operating a permanent magnet type synchronous motor by estimating a rotational speed and a magnetic pole position without using a magnetic pole position detector of a rotor. It is about technology.

  As a technique for reducing the cost of a control device for a permanent magnet type synchronous motor (hereinafter also referred to as PMSM), position sensorless control in which the synchronous motor is operated without using a magnetic pole position detector has been put into practical use. In the position sensorless control, the rotor speed and the magnetic pole position are estimated from the PMSM terminal voltage and current information, and current control is performed based on these values to realize desired torque control and speed control.

For example, in Non-Patent Document 1, as shown in FIG. 16, the position error in the speed / position estimator 200 is based on the terminal voltage and current of a PMSM (for example, IPMSM: permanent magnet synchronous motor having an embedded magnet structure) 104. The estimator 201 calculates the expansion induced voltage generated in the direction orthogonal to the N-pole direction of the rotor, and the PI controller 202 and the integrator 203 use the magnetic pole position estimation error Δθ detected from the calculated value to calculate the speed. ω _M and magnetic pole position θ _M are respectively calculated and used to control PMSM 104.
In FIG. 16, 101 calculates the current command values i _γ ^* and i _δ ^* of the control coordinate system (γ-δ orthogonal rotation coordinate system) from the speed command value ω ^* and the estimated speed value ω _M. The speed controller 102 calculates the voltage command values v _γ ^* and v _δ ^* from the current command values i _γ ^* and i _δ ^* , and converts the voltage command values v _γ ^* and v _δ ^* into the position estimated value θ _M. This is a current controller that calculates the three-phase voltage command values v _u ^* , v _v ^* , and v _w ^* by performing coordinate conversion based on the coordinates. Reference numeral 103 denotes a PWM inverter, 105 denotes a load driven by the PMSM 104, 106 denotes a current detector, and 107 denotes a current coordinate converter.

The technique disclosed in Non-Patent Document 1 controls the PMSM 104 after approximating that the speed estimation value ω _M matches the actual speed ω (the speed estimation error is zero). Since the speed estimation error cannot be ignored, there is a problem that the speed estimation error becomes a disturbance and the control stability is lowered.

On the other hand, Patent Document 1 discloses a control device that prevents a reduction in control stability due to a speed estimation error.
FIG. 17 is a block diagram showing a control device according to Patent Document 1 together with a main circuit. First, in the main circuit, 1 is a three-phase AC power source, 2 is a rectifier circuit, 3 is a power converter such as an inverter, 4 is a PMSM, 5u and 5w are current detectors, and 6 is a voltage detector for DC voltage detection. is there.

  The control devices that control the semiconductor switching elements of the power converter 3 include subtractors 21, 24a, 24b, 34, a speed regulator 22, a current command calculator 23, a γ-axis current regulator 25a, a δ-axis current regulator 25b, The voltage coordinate converters 26 and 29, the PWM circuit 27, the current coordinate converters 28 and 30, the q-axis inductance setter 31, the speed / position estimator 32, and the angle difference setter 33 are configured.

In this prior art, in the orthogonal rotation coordinate system synchronized with the rotor of PMSM4, the first and second control points corresponding to the d-axis for the N-pole direction of the rotor, the q-axis for the 90 ° advance direction from the d-axis, and the d-axis. The second estimated axis is defined as γ ₁ axis and γ ₂ axis, and the directions advanced by 90 ° from these axes are defined as δ ₁ axis and δ ₂ axis, respectively.
Then, the current command calculator 23 calculates γ ₁ and δ _1- axis current command values i _γ1 ^* and i _δ1 ^* from the torque command value τ ^*, and also detects the current detection value i to the current command values i _γ1 ^* and i _δ1 ^*. _The γ-axis and δ-axis current regulators 25a and 25b calculate γ ₁ and δ _1- axis voltage command values v _γ1 ^* and v _δ1 ^* so that _γ1 and i _δ1 coincide with each other, and the voltage coordinate converter 26 and the PWM circuit. 27, the semiconductor switching element of the power converter 3 is controlled.

Further, the q-axis inductance setting device 31 removes the disturbance due to the speed estimation error included in the control γ _2- axis angle, so that the control q-axis inductance L is set so that the predetermined evaluation function becomes almost zero. _The speed / position estimator 32 that sets _q ′ and has a magnetic flux observer or the like has a q-axis inductance set value L _q ′, current detection values i _γ2 and i _{δ2 of} γ ₂ and δ ₂ axes, and a voltage command value v _γ2. ^{Based on *} and v _δ2 ^* , the speed estimated value ω ₁ and the angle estimated value θ _γδ2 of the γ ₂ axis are calculated.
The angle difference setter 33 and the subtractor 34 is for reducing the torque control error due to the angular difference between the actual d-axis and the control on the gamma ₂ axis, a d-axis and the gamma _2-axis constantly generating the angle difference setting value theta _ERR0 subtracted from the angle estimate theta _Ganmaderuta2 seeking angle theta _Ganmaderuta1 of gamma _2-axis corrected voltage coordinate converter 26 and the current coordinates of this angle theta _Ganmaderuta1 between by using the coordinate conversion in the converter 28, it is carried out a current control on the gamma ₂ axes coincides with the d-axis.

Japanese Patent No. 5499595 (FIGS. 2, 3, etc.)

Koji Tanaka and Ichiro Miki, “Position Sensorless Control of Embedded Magnet Synchronous Motor Using Extended Inductive Voltage”, IEEJ Transactions D, Vol. 125, no. 9, p 833-838, 2005

According to the prior art described in Patent Document 1, it is possible to stably control the PMSM without removing the speed estimation error and degrading the torque control accuracy.
However, in this prior art, in the voltage coordinate converter 29 and the current coordinate converter 30, the calculation processing for converting the voltage and current from the three-phase amount to the two-phase amount is complicated, so the calculation load can be reduced. There was room for improvement in terms of shortening the computation time.

  SUMMARY OF THE INVENTION Therefore, the problem to be solved by the present invention is to provide a control device for a permanent magnet type synchronous motor that can control the PMSM stably without reducing the torque control accuracy by simplifying the arithmetic processing. .

In order to solve the above problems, the invention according to claim 1 is directed to a permanent magnet that operates a permanent magnet type synchronous motor by a power converter by estimating a rotational speed and a magnetic pole position without using a magnetic pole position detector of a rotor. A control device for a synchronous motor,
The N-pole direction of the rotor of the synchronous motor is the d-axis, the axis in the 90 ° advance direction from the d-axis is the q-axis, the control estimation axis corresponding to the d-axis is the γ ₁ axis, and the γ ₁ axis is 90 The estimated axis in the advance direction is defined as δ ₁ axis, the estimated axis having a predetermined angle difference from the γ ₁ axis is defined as γ ₂ axis, and the estimated axis in the 90 ° advance direction from the γ ₂ axis is defined as δ ₂ axis. In addition, in the control device in which the current and voltage of the synchronous motor are regarded as vectors in an orthogonal rotation coordinate system having the γ ₁ axis, the δ ₁ axis, the γ ₂ axis, and the δ ₂ axis, and used for calculation. ,
gamma _2-axis current, [delta] _2-axis current, gamma _2-axis voltage, [delta] _2-axis voltage, the speed estimated value of the synchronous motor, and, from the correction voltage, the angular difference is the position estimate of the gamma _1-axis and the d-axis Means for calculating the error;
Means for calculating the speed estimation value from the calculation value of the position estimation error;
Means for integrating the speed estimate and calculating a position estimate of the rotor;
The gamma _2-axis current, the [delta] _2-axis current, and means for calculating the correction voltage from the velocity estimation value,
Means for calculating an angular difference between the γ ₁ axis and the γ ₂ axis from the δ ₂ axis current;
Means for converting the current of the γ ₁ axis and the current of the δ ₁ axis into the γ ₂ axis current and the δ ₂ axis current using an angular difference between the γ ₁ axis and the γ ₂ axis;
Means for converting the voltage of the γ ₁ axis and the voltage of the δ ₁ axis into the γ ₂ axis voltage and the δ ₂ axis voltage using an angular difference between the γ ₁ axis and the γ ₂ axis. It is a thing.

According to a second aspect of the present invention, in the control device for the permanent magnet type synchronous motor according to the first aspect, the means for calculating the position estimation error includes the γ _2- axis current, the δ _2- axis current, and the γ _2- axis. voltage, means for calculating the extended electromotive force wherein [delta] _2-axis voltage, and from the speed estimated value, calculated value of the extended induced voltage, means for calculating a correction extended induced voltage from the operational value of the correction voltage, the correction Means for calculating the position estimation error from the calculated value of the extended induced voltage.

According to a third aspect of the present invention, in the control device for a permanent magnet type synchronous motor according to the first or second aspect, the means for calculating the correction voltage and the angle difference between the γ ₁ axis and the γ ₂ axis are calculated. The means for calculating is a speed estimation error included in the calculated value of the position estimation error, and the correction voltage and the γ so as to remove an error between the speed estimation value and the actual speed of the synchronous motor. wherein the _uniaxial is for calculating the angular difference between the gamma ₂ axes.

The invention according to claim 4 is a control device for a permanent magnet type synchronous motor that operates a permanent magnet type synchronous motor by a power converter by estimating a rotational speed and a magnetic pole position without using a magnetic pole position detector of a rotor. And
The N-pole direction of the rotor of the synchronous motor is the d-axis, the axis in the 90 ° advance direction from the d-axis is the q-axis, the control estimation axis corresponding to the d-axis is the γ ₁ axis, and the γ ₁ axis is 90 The estimated axis in the advance direction is defined as δ ₁ axis, the estimated axis having a predetermined angle difference from the γ ₁ axis is defined as γ ₂ axis, and the estimated axis in the 90 ° advance direction from the γ ₂ axis is defined as δ ₂ axis. In addition, in the control device in which the current and voltage of the synchronous motor are regarded as vectors in an orthogonal rotation coordinate system having the γ ₁ axis, the δ ₁ axis, the γ ₂ axis, and the δ ₂ axis, and used for calculation. ,
gamma _2-axis current, [delta] _2-axis current, gamma _2-axis voltage, [delta] _2-axis voltage, the speed estimated value of the synchronous motor, and, from the correction magnetic flux, the angular difference is the position estimate of the gamma _1-axis and the d-axis Means for calculating the error;
Means for calculating the speed estimation value from the calculation value of the position estimation error;
Means for integrating the speed estimate and calculating a position estimate of the rotor;
The gamma _2-axis current, the [delta] _2-axis current, and means for calculating the correction magnetic flux from the speed estimated value,
Means for calculating an angular difference between the γ ₁ axis and the γ ₂ axis from the δ ₂ axis current;
Means for converting the current of the γ ₁ axis and the current of the δ ₁ axis into the γ ₂ axis current and the δ ₂ axis current using an angular difference between the γ ₁ axis and the γ ₂ axis;
Means for converting the voltage of the γ ₁ axis and the voltage of the δ ₁ axis into the γ ₂ axis voltage and the δ ₂ axis voltage using an angular difference between the γ ₁ axis and the γ ₂ axis;
It is equipped with.

According to a fifth aspect of the present invention, in the control device for the permanent magnet type synchronous motor according to the fourth aspect, the means for calculating the position estimation error includes the γ _2- axis current, the δ _2- axis current, and the γ _2- axis. Means for calculating an expansion magnetic flux from the voltage, the δ _2- axis voltage, and the speed estimation value; a means for calculating a correction expansion magnetic flux from the calculation value of the expansion magnetic flux; and a calculation value of the correction magnetic flux; Means for calculating the position estimation error from the calculated value.

According to a sixth aspect of the present invention, in the control device for a permanent magnet type synchronous motor according to the fourth or fifth aspect, the means for calculating the correction magnetic flux and the angular difference between the γ ₁ axis and the γ ₂ axis are calculated. The means for calculating is a speed estimation error included in the calculated value of the position estimation error, and the correction magnetic flux and the γ so as to remove an error between the speed estimation value and the actual speed of the synchronous motor wherein the _uniaxial is for calculating the angular difference between the gamma ₂ axes.

The invention according to claim 7 is a control device for a permanent magnet type synchronous motor that operates a permanent magnet type synchronous motor by a power converter by estimating a rotation speed and a magnetic pole position without using a magnetic pole position detector of a rotor. And
D axis N pole direction of the rotor of the synchronous motor, the q axis 90 ° leading direction of the axis from the d-axis, the axis having a predetermined angle difference from the d-axis d _m-axis, from the d _m-axis q _m-axis in the axial direction advances 90 °, the gamma ₁ axis estimated axis for control corresponding to the d-axis, the [delta] ₁ axis estimated axis for 90 ° leading direction from gamma _1-axis, corresponding to the d _m-axis The control estimated axis is defined as γ ₂ axis, and the estimated axis in the direction advanced by 90 ° from the γ ₂ axis is defined as δ ₂ axis, and the current and voltage of the synchronous motor are defined as the γ ₁ axis and the δ _In a control device that is used as a vector in an orthogonal rotation coordinate system having _one axis, the γ ₂ axis, and the δ ₂ axis,
gamma _2-axis current, [delta] _2-axis current, gamma _2-axis voltage, [delta] _2-axis voltage, the speed estimated value of the synchronous motor, and, from the correction voltage, the angular difference is the position estimate of the gamma _1-axis and the d-axis Means for calculating the error;
Means for calculating the speed estimation value from the calculation value of the position estimation error;
Means for integrating the speed estimate and calculating a position estimate of the rotor;
From the torque command value, q _m-axis current, and, means for calculating the angular difference between the d _m-axis and the d-axis,
Means for conversion using the angular difference between the d _m-axis and the d-axis current of the gamma _1-axis, the [delta] _1-axis current the gamma _2-axis current, the [delta] _2-axis current,
Use of an angle difference between the d _m-axis and the d-axis voltage of the gamma _1-axis, the [delta] _1-axis voltage the gamma _2-axis voltage of, and means for converting the [delta] _2-axis voltage,
The gamma _2-axis current, the [delta] _2-axis current, the q _m-axis current, angular difference between the d-axis and the d _m-axis, and comprises from the speed estimated value, and means for calculating the correction voltage, the It is a thing.

According to an eighth aspect of the present invention, in the control device for the permanent magnet type synchronous motor according to the seventh aspect, the means for calculating the position estimation error includes the γ _2- axis current, the δ _2- axis current, and the γ _2- axis. voltage, means for calculating the extended electromotive force wherein [delta] _2-axis voltage, and from the speed estimated value, calculated value of the extended induced voltage, means for calculating a correction extended induced voltage from the operational value of the correction voltage, the correction Means for calculating the position estimation error from the calculated value of the extended induced voltage.

  According to a ninth aspect of the present invention, there is provided the control device for the permanent magnet type synchronous motor according to the eighth aspect, further comprising means for calculating the position estimation error from an output obtained by passing the calculated value of the corrected expansion induced voltage through a low-pass filter. It is a thing.

The invention according to claim 10 is a control apparatus for a permanent magnet type synchronous motor that estimates a rotational speed and a magnetic pole position without using a magnetic pole position detector of a rotor and operates the permanent magnet type synchronous motor by a power converter. And
D axis N pole direction of the rotor of the synchronous motor, the q axis 90 ° leading direction of the axis from the d-axis, the axis having a predetermined angle difference from the d-axis d _m-axis, from the d _m-axis q _m-axis in the axial direction advances 90 °, the gamma ₁ axis estimated axis for control corresponding to the d-axis, the [delta] ₁ axis estimated axis for 90 ° leading direction from gamma _1-axis, corresponding to the d _m-axis The control estimated axis is defined as γ ₂ axis, and the estimated axis in the direction advanced by 90 ° from the γ ₂ axis is defined as δ ₂ axis, and the current and voltage of the synchronous motor are defined as the γ ₁ axis and the δ _In a control device that is used as a vector in an orthogonal rotation coordinate system having _one axis, the γ ₂ axis, and the δ ₂ axis,
gamma _2-axis current, [delta] _2-axis current, gamma _2-axis voltage, [delta] _2-axis voltage, the speed estimated value of the synchronous motor, and, from the correction magnetic flux, the angular difference is the position estimate of the gamma _1-axis and the d-axis Means for calculating the error;
Means for calculating the speed estimation value from the calculation value of the position estimation error;
Means for integrating the speed estimate and calculating a position estimate of the rotor;
Wherein q _m-axis current from the torque command value, and, means for calculating the angular difference between the d _m-axis and the d-axis,
Means for conversion using the angular difference between the d _m-axis and the d-axis current of the gamma _1-axis, the [delta] _1-axis current the gamma _2-axis current, the [delta] _2-axis current,
Use of an angle difference between the d _m-axis and the d-axis voltage of the gamma _1-axis, the [delta] _1-axis voltage the gamma _2-axis voltage of, and means for converting the [delta] _2-axis voltage,
The gamma _2-axis current, the [delta] _2-axis current, the q _m-axis current, angular difference between the d-axis and the d _m-axis, and, from the speed estimated value, and means for calculating the correction magnetic flux It is a thing.

According to an eleventh aspect of the present invention, in the control device for the permanent magnet type synchronous motor according to the tenth aspect, the means for calculating the position estimation error includes the γ _2- axis current, the δ _2- axis current, and the γ _2- axis. Means for calculating an extended magnetic flux from the voltage, the δ _2- axis voltage, and the speed estimated value; means for calculating a corrected extended magnetic flux from the calculated value of the extended magnetic flux and the calculated value of the correction magnetic flux; and the correction Means for calculating the position estimation error from the calculated value of the expanded magnetic flux.

  According to a twelfth aspect of the present invention, in the controller for a permanent magnet type synchronous motor according to the eleventh aspect, the position estimation error is calculated from an output obtained by passing the calculated value of the corrected extended magnetic flux through a low-pass filter. Is.

According to a thirteenth aspect of the present invention, in the controller for a permanent magnet synchronous motor according to any one of the seventh to twelfth aspects, the speed estimation error component included in the calculated value of the position estimation error is zero. in the q _m-axis current, and those provided with means for calculating the angular difference between the d _m-axis and the d-axis.

Invention provides a controller for a permanent magnet synchronous motor as set forth in any one of claims 7 to 13, satisfying the current the q _m-axis, current amplitude is minimized in the same torque according to claim 14 it is defined as the direction of the axis of the vector, based on the torque command value, the q _m-axis current, and those provided with means for calculating the angular difference between the d _m-axis and the d-axis.

  According to the present invention, in the PMSM speed / position estimation system, the calculation process accompanying the voltage / current coordinate conversion is simplified, and the PMSM can be stabilized without removing the speed estimation error and degrading the torque control accuracy. A controllable control device can be realized.

It is a figure which shows the definition of the coordinate axis in 1st Embodiment of this invention, 2nd Embodiment. It is the block diagram which showed the control apparatus which concerns on 1st Embodiment of this invention with the main circuit. It is a figure which shows the relationship between each coordinate axis, an extended induced voltage vector, and a correction | amendment extended induced voltage vector. It is a block diagram of a transfer characteristic from a magnetic pole position to a position estimation value in the first embodiment of the present invention. It is the block diagram which deform | transformed a part of FIG. It is the block diagram which showed the control apparatus which concerns on 2nd Embodiment of this invention with the main circuit. It is a figure which shows the definition of the coordinate axis in 3rd Embodiment-8th Embodiment of this invention. It is a figure which shows the definition of the coordinate axis in 3rd Embodiment-8th Embodiment of this invention. It is a figure which shows the definition of the coordinate axis in 3rd Embodiment-8th Embodiment of this invention. It is the block diagram which showed the control apparatus which concerns on 3rd Embodiment of this invention with the main circuit. It is the block diagram which showed the control apparatus which concerns on 4th Embodiment of this invention with the main circuit. It is the block diagram which showed the control apparatus which concerns on 5th Embodiment of this invention with the main circuit. It is the block diagram which showed the control apparatus which concerns on 6th Embodiment of this invention with the main circuit. It is the block diagram which showed the control apparatus which concerns on 7th Embodiment of this invention with the main circuit. It is the block diagram which showed the control apparatus which concerns on 8th Embodiment of this invention with the main circuit. It is a block diagram of the prior art described in the nonpatent literature 1. It is a block diagram of the prior art described in patent document 1.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As described above, the PMSM can realize high-performance torque control and speed control by controlling current and voltage on the dq axes of orthogonal rotation coordinates synchronized with the rotor. However, in the case of sensorless control that operates the PMSM without using the magnetic pole position detector, the position of the dq axis cannot be directly detected. For this reason, as described below, the control device assumes the d-q axis estimation axis, that is, the γ-δ axis as a control axis, and treats voltage, current, etc. as vectors on the γ-δ axis. Various operations are performed.

FIG. 1 shows the definition of coordinate axes in the present embodiment.
As shown in the figure, the estimated axis corresponding to the d-axis in the N-pole direction of the rotor of the three-phase PMSM is γ ₁ axis, the direction advanced by 90 ° from γ ₁ axis is δ ₁ axis, and the angular difference θ _{0 is} from γ ₁ axis. gamma ₂ axis axis estimated with a 90 ° leading direction from the gamma _2-axis is defined as [delta] ₂ axis.

That is, in FIG.
θ _r : d-axis angle (magnetic pole position) [u-phase winding reference]
θ _γ1 : γ ₁ axis angle (position estimate) [u-phase winding reference]
θ _γ2 : γ _2- axis angle [u-phase winding reference]
θ ₀ : Angular difference between γ ₁ axis and γ ₂ axis θ _{γ1 err} : Angular difference between γ ₁ axis and d axis (position estimation error)
θ _γ2err : Angular difference between γ ₂ axis and d axis ω _r : Angular velocity of rotor ω ₁ : Speed estimated value of γ ₁ axis and γ ₂ axis.
The difference between the estimated speed value ω ₁ and the angular velocity (actual speed) ω _r of the rotor is defined as a speed estimation error ω _err .

Next, as described above, the difference between the position estimation value θ _γ1 and the magnetic pole position θ _r is defined by Equation 1 as a position estimation error θ _γ1err , and the difference between the γ _2- axis angle θ _γ2 and the magnetic pole position θ _r is defined as The angle difference θ _γ2err is defined by Equation 2.
Further, the speed estimation error ω _err is defined by Equation 3.

Based on the above, the control device according to the first embodiment of the present invention will be described with reference to FIG.
2, some blocks of the main circuit and the control device are denoted by the same reference numerals as those in FIG. 17. First, the configuration of these common parts and the speed control, current control, and voltage control of PMSM. explain.
First, in the main circuit of FIG. 2, 1 is a three-phase AC power source, 2 is a rectifier circuit, 3 is a power converter such as an inverter, 4 is a PMSM, 5u, and 5w are current detectors.

On the other hand, in the control device for controlling the power converter 3, the deviation between the speed command value ω _r ^* obtained by the subtractor 21 and the estimated speed value ω ₁ is input to the speed regulator 22. Then, a torque command value τ ^* that makes the deviation zero is calculated. The current command calculator 23 calculates a γ-axis current command value i _γ ^* and a δ-axis current command value i _δ ^* for generating torque according to the torque command value τ ^* .

The γ-axis current regulator 25a _generates a γ _1- axis voltage command value v _γ1 ^* that makes the deviation between the γ-axis current command value i _γ ^* obtained by the subtractor 24a and the detected γ _1- axis current value i _γ1 zero. Then, the δ-axis current regulator 25b calculates the δ _1- axis voltage command value v so that the deviation between the δ-axis current command value i _δ ^* obtained by the subtractor 24b and the δ _1- axis current detection value i _δ1 is zero. _δ1 ^* is calculated. Here, the detected γ _1- axis current value i _γ1 and the detected δ _1- axis current value i _δ1 are obtained by coordinate-converting each phase current of the PMSM 4 by the current coordinate converter 28.
The voltage coordinate converter 26 performs coordinate conversion of the γ _1- axis voltage command value v _γ1 ^* and the δ _1- axis voltage command value v _δ1 ^* based on the angle θ _γ1 of the γ _1- axis to thereby convert the phase voltage command value v _u ^*. , V _v ^* , v _w ^* are calculated and output to the PWM circuit 27.

The PWM circuit 27 generates a gate signal by performing a PWM operation based on the phase voltage command values v _u ^* , v _v ^* , v _w ^* and the DC voltage detection value (output voltage of the rectifier circuit 2) E _dc , These gate signals are supplied to the power converter 3. The power converter 3 controls on / off of the internal semiconductor switching element according to the gate signal, and controls the terminal voltage of the PMSM 4 to the phase voltage command values v _u ^* , v _v ^* , v _w ^* .

Next, a speed / position estimation system in the control device will be described.
The γ _1- axis voltage command value v _γ1 ^* that is the output of the γ-axis current regulator 25a and the δ _1- axis voltage command value v _δ1 ^* that is the output of the δ-axis current regulator 25b are input to the voltage coordinate converter 9, in this voltage coordinate converter 9, sin [theta ₀ sent from the angle difference calculator _12, is coordinate converted respectively into gamma _2-axis voltage value v γ2 ^_*, δ _2-axis voltage value v _.delta.2 ^* based on the cos [theta] ₀ . As described above, θ ₀ is an angle difference between the γ ₁ axis and the γ ₂ axis.
Also, the γ _1- axis current detection value i _γ1 and the δ _1- axis current detection value i _{δ1 which} are the outputs of the current coordinate converter 28 are input to the current coordinate converter 10, and in the current coordinate converter 10, the sin θ ₀ , Based on cos θ ₀ , the coordinates are converted into a γ _2- axis current detection value i _γ2 and a δ _2- axis current detection value i _δ2 , respectively.

γ _2- axis voltage command value v _γ2 ^* , δ _2- axis voltage command value v _δ2 ^* , γ _2- axis current detection value i _γ2 , δ _2- axis current detection value i _δ2 , and speed estimation value ω ₁ Is input to the device 11E. The expansion induced voltage calculator 11E obtains a γ _2- axis expansion induced voltage calculation value e _exγ2est and a δ _2- axis expansion induced voltage calculation value e _{exδ2est according} to the following Equation 4. The extended induced voltage serves to aggregate the position information separated into the permanent magnet and the inductance of the PMSM 4 into one, and the direction of the extended induced voltage vector coincides with the q axis in FIG.

In the following description, the subscript “est” attached to the symbol of the physical quantity indicates the calculated value. For example, “γ _2- axis expansion induced voltage calculated value e _exγ2est ” is “γ _2- axis expanded induced voltage”. “e _exγ2est ” is used as an abbreviation for “calculated value”.

In operation of the extended induced voltage, gamma _2-axis voltage value v γ2 ^*, δ _2-axis voltage value v _.delta.2 ^* instead the gamma _2-axis voltage detection value v _.gamma.2, using [delta] _2-axis voltage detection value v _.delta.2 Also good. In this case, the γ _2- axis voltage detection value v _γ2 and the δ _2- axis voltage detection value v _δ2 are obtained from the phase voltage or line voltage of the PMSM 4 detected by a voltage detection circuit (not shown) and the position estimated value θ _{γ1. 1-axis} voltage detection value v _.gamma.1, seeking [delta] _1-axis voltage detection value v _.delta.1, the angle of these gamma _1-axis voltage detection value v _.gamma.1, and [delta] _1-axis voltage detection value v _.delta.1, and [delta] ₁ axis and [delta] _2-axis It can be obtained using the difference θ ₀ .

Further, the correction coefficient calculator 13 calculates the correction coefficient K using Equation 5 using the δ _2- axis current detection value i _δ2 calculated by the current coordinate converter 10. The derivation of the correction coefficient K will be described later.

The angle difference calculator 12 calculates sin θ _{0 according} to Equation 6 or Equation 7 using the δ _2- axis current detection value i _δ2 and the correction coefficient K. The derivation of sinθ ₀ will be described later.
At the same time, the angle difference calculator 12 calculates cos θ ₀ using Equation 8.

The correction voltage calculator 14E uses the correction coefficient K, the estimated speed value ω ₁ , the γ _2- axis current detection value i _γ2 , and the δ _2- axis current detection value i _δ2 to calculate the γ _2- axis expansion induced voltage e _exγ2est by Equation 9. and [delta] _2-axis extended electromotive force _{e Exderuta2est} correction voltage _{e Exganma2c} for correcting, calculates the _{e Exderuta2c} respectively.

Subtractor 15a, 15b, as shown in Equation 10, gamma _2-axis extended electromotive force _{e Exganma2est,} the correction voltage _{e Exganma2c} of each axis from the [delta] _2-axis extended electromotive force _{e Exderuta2est,} by subtracting the _{e Exderuta2c} respectively, gamma _2-axis correction extended induced voltage _{ce exγ2est,} obtaining [delta] _2-axis correction extended induced voltage _{ce exδ2est.}

The position estimation error calculator 16 obtains a position estimation error θ _{γ1 errest} shown in Expression 11 from the γ _2- axis corrected extended induced voltage ce _exγ2est and the δ _2- axis corrected extended induced voltage ce _exδ2est . The derivation principle of the position estimation error θ _{γ1 errest} will be described later.

また、積分器１８は、速度推定値ω_１を積分して位置推定値θ_γ１を演算し、電圧座標変換器２６及び電流座標変換器２８に与える。 The speed estimator 17 is composed of a PI controller, and a position estimation error (−θ _{γ1 errest} ) is proportionally and integratedly calculated according to Equation 12 to obtain a speed estimated value ω ₁ .

Further, the integrator 18 integrates the speed estimated value ω ₁ to calculate the position estimated value θ _γ1 and _supplies it to the voltage coordinate converter 26 and the current coordinate converter 28.

Through the above calculation, the speed estimation value ω ₁ and the position estimation value θ _γ1 are calculated so that the position estimation error θ _{γ1 errest} becomes zero, and the γ ₁ axis and the d axis can be matched.

Next, the principle of deriving the position estimation error θ _{γ1 errest} using Equation 11 will be described.
FIG. 3 shows the relationship between each coordinate axis, the extended induced voltage vector calculated by Expression 4, and the corrected extended induced voltage vector calculated by Expression 10.

The extended induced voltage vector is generated in the q-axis direction, as is apparent from Equation 16 described later. The angle difference θ ₀ between the γ ₁ axis and the γ ₂ axis in FIG. 3 is calculated so as to be equal to the angle difference between the extended induced voltage vector and the corrected extended induced voltage vector.
Here, the angle δ _cest of the corrected expansion induced voltage is defined by Equation 13.

The angle difference θ _{γ2 errest} between the d axis and the γ ₂ axis can be expressed by Equation 14 using the angle difference θ ₀ and the angle δ _cest .

従って、数式１４＝数式１５の関係から、前述した数式１１を導出することができる。 Further, the angle difference θ _{γ2 errest} described above can be expressed by Equation 15 using the position estimation error θ _{γ1 errest} and the angle difference θ ₀ .

Therefore, the above-described expression 11 can be derived from the relationship of expression 14 = expression 15.

Next, derivation of the correction coefficient K and the angle difference θ ₀ will be described.
First, in order to derive an arithmetic expression, a block diagram of a transfer characteristic from the rotor magnetic pole position θ _r to the position estimation value θ _γ1 is derived.
The dq axis voltage equation including the extended induced voltage can be expressed by Equation 16. Here, the second term on the right side of Equation 16 is defined as an extended induced voltage.

Equation 16, the coordinate transformation using the angle difference theta _Ganma2err the d-axis and the gamma _2-axis can be expressed by Equation 17.

From Equation 4, Equation 9, Equation 10, and Equation 17, γ _2- axis corrected extended induced voltage ce _exγ2est and δ _2- axis corrected extended induced voltage ce _exδ2est can be expressed by Equation 18.

When the position estimation error θ _{γ1 errest} is linearly approximated in the vicinity of the operating point in the steady state from Expressions 11 and 18, Expressions 20 to 24 are obtained. The operating point in the steady state is the condition of Equation 19.

Equation 11 by Equation 20, a block diagram of a transfer characteristic from the magnetic pole position theta _r to the position estimate theta _.gamma.1 is as shown in FIG. Moreover, if FIG. 4 is deformed by using Equation 3, FIG. 5 is obtained. In these figures, as described above, Δ indicates a value near the operating point.
From FIG. 5, it is clear that the position estimation error Δθ _{γ1 errest} includes the speed estimation error Δω _err , and the coefficient (B + C) of the speed estimation error Δω _err can be expressed by Equation 25 using the correction coefficient K. .

In the steady state, since the γ _2- axis corrected expansion induced voltage ce _exγ2est becomes zero, Expression 26 is obtained using Expression 18, Expression 19, and Expression 24.

From Expression 25 and Expression 26, Expression 27 is obtained.

Controlling (B + C) shown in Expression 27 to zero is nothing but controlling the coefficient (B + C) of the speed estimation error Δω _err in FIG. 5 to zero, so that the position estimation error Δθ _{γ1 errest} has a speed. The estimation error Δω _err is not included, and as a result, the speed / position estimation can be performed stably.

Here, a case where current control is performed by “maximum torque / current control” that minimizes the current amplitude of the PMSM 4 at the same torque will be considered. In this case, the d-axis current and the q-axis current have the relationship shown in Formula 28.

When the position estimation error θ _γ1err is zero, the d-axis current i _d and the q-axis current i _q are equal to the γ _one- axis current i _γ1 and the δ _one- axis current i _δ1 , respectively, and Equations 27, 28, and γ _1-axis current i _.gamma.1, [delta] ₁ axis current i _.delta.1 and gamma _2-axis current i _.gamma.2, the relationship between [delta] _2-axis current i _.delta.2, equation 29 is obtained.

From equation 29, if i _γ2 is controlled to zero, (B + C) can be made zero. For this reason, when the angle difference θ ₀ is arranged under the conditions of B + C = 0 and i _γ2 = 0 using the mathematical expressions 24 to 26, the arithmetic expression of sin θ ₀ is derived as the mathematical expression 6 or the mathematical expression 7 described above. Is possible.
Further, d-axis current _i d When the position estimation error theta _Ganma1err is zero, q-axis current _{i q} is gamma _1-axis current i _.gamma.1, for equal respectively [delta] ₁ axis current i _.delta.1, and Equation 28,, gamma _1-axis current i γ1, δ ₁ axis current i _.delta.1 and gamma _2-axis current i _.delta.2, the relationship between [delta] _2-axis current i _.delta.2, the sin [theta _0, may be computed as a function of [delta] _2-axis current i _.delta.2 using equation 30 .

On the other hand, the correction coefficient K can be derived as Equation 5 based on Equation 6, Equation 24, and Equation 25 described above. Further, the correction coefficient K may be calculated by the expression 31 from the condition that the expression 24, the expression 26, and i _γ2 = 0.

Next, a second embodiment of the present invention will be described.
FIG. 6 is a block diagram showing a control device according to the second embodiment of the present invention together with a main circuit. In the second embodiment, the position estimation error θ _{γ1 errest} in the first embodiment is calculated based on the corrected expanded magnetic flux.
6 differs from FIG. 2 (first embodiment) only in the expanded magnetic flux calculator 11M and the corrected magnetic flux calculator 14M. The other components and functions are the same as those in FIG. Therefore, the description is omitted.

6 first calculates the γ _2- axis expansion induced voltage e _exγ2est and the δ _2- axis expansion induced voltage e _{exδ2est according} to Equation 4 described above. Next, γ ₂ -axis expansion flux ψ _exγ2est and δ ₂ -axis expansion flux ψ _exδ2est are calculated and output from γ ₂ -axis expansion induced voltage e _exγ2est and δ ₂ -axis expansion induced voltage e _exδ2est by the following formula 32.

Further, the correction magnetic flux calculator 14M of FIG. 6 calculates the γ _2- axis correction magnetic flux Ψ _exγ2c and the δ _2- axis correction magnetic flux Ψ _exδ2c by Expression 33.

Then, the subtracters 15a and 15b calculate the γ _2- axis corrected extended magnetic flux cΨ _exγ2est and the δ _2- axis corrected extended magnetic flux cΨ _exδ2est according to Expression 34.

The position estimation error calculator 16 calculates the position estimation error θ _{γ1 errest} using Equation 35 using the γ _2- axis corrected extended magnetic flux cΨ _exγ2est and the δ _2- axis corrected extended magnetic flux cΨ _exδ2est .

This second embodiment differs from the first embodiment only in that an extended magnetic flux is used instead of an extended induced voltage as in the first embodiment in calculating the position estimation error θ _{γ1 errest.} The block diagram of the transfer characteristic from _r to the estimated position value θ _γ1 is represented by FIGS. 4 and 5 as described above. Therefore, if (B + C) in Expression 27 is controlled to zero, the position estimation error does not include the speed estimation error, and stable speed / position estimation can be performed as in the first embodiment.

Next, a third embodiment of the present invention will be described.
7 to 9 show the definition of coordinate axes in the third to eighth embodiments of the present invention.
As shown in FIG. 7, the angular difference of the direction of the axis of the current vector torque / current becomes maximum q _m-axis, d _m-axis to the axis of 90 ° lagging direction from q _m-axis, the d-axis and d _m-axis Is defined as θ ₀ . Further, as shown in FIG. 8, the three-phase N-pole direction of the gamma ₁ axis estimated axis corresponding to the d-axis of the rotor of the PMSM, the estimated axis for 90 ° leading direction from gamma _1-axis and [delta] ₁ axis defined As shown in FIG. 9, the estimated axes of the d _m and q _m axes are defined as γ ₂ and δ ₂ axes.

7 to 9,
θ _r : d-axis angle (magnetic pole position) [u-phase winding reference]
θ _γ1 : γ ₁ axis angle (position estimate) [u-phase winding reference]
θ _γ2 : γ _2- axis angle [u-phase winding reference]
theta _0: (angle difference between = gamma ₁ axis and gamma _2-axis) d-axis and an angular difference between _{d m-axis}
θ _γ1err : Angular difference between γ ₁ axis and d axis (position estimation error)
θ _γ2err : Angular difference between γ ₂ axis and d axis ω _r : Angular speed (actual speed) of rotor
ω ₁ : Speed estimation value of γ ₁ axis and γ ₂ axis.

Here, as described above, the difference between the estimated speed value ω ₁ and the angular speed ω _{r of the} rotor is defined as a speed estimation error ω _err . Further, the position estimation error θ _γ1err is _defined by Equation 1, the angle difference θ _γ2err is _defined by Equation 2, and the speed estimation error ω _err is defined by Equation 3.

Based on the above, a control device according to a third embodiment of the present invention will be described with reference to FIG.
10, parts that are the same as those in FIG. 2 are given the same reference numerals, and descriptions thereof are omitted. In the following, parts different from those in FIG.
That is, in FIG. 10, a current command value vector calculator 29 is provided instead of the angle difference calculator 12 of FIG. The current command value vector calculator 29, based on the torque command value tau ^*, a table q _m-axis current i _qm, and, d-axis and an angular difference between d _m axis (gamma ₁ axis and the gamma _2-axis with calculates the sine value sin [theta ₀ equal to the angle difference) theta _0, computes the cosine value cos [theta] ₀ by equation 8 described above.

I _qm and sin θ ₀ calculated by the current command value vector calculator 29 are input to the correction coefficient calculator 13, and sin θ ₀ and cos θ ₀ are input to the voltage coordinate converter 9 and the current coordinate converter 10.
The correction coefficient calculator 13 calculates the correction coefficient K using Expression 36 using i _qm and sin θ ₀ . The derivation of the correction coefficient K will be described later.

Operations of the correction voltage calculator 14E, the extended induced voltage calculator 11E, the subtractors 15a and 15b, the position estimation error calculator 16, the speed estimator 17, the integrator 18 and the like in this embodiment are the same as those in FIG.
That is, the correction voltage calculator 14E calculates the correction voltages e _exγ2c and e _exδ2c of each axis according to the above-described equation 9, and the subtractors 15a and 15b calculate the γ _2- axis correction expansion induced voltage ce _exγ2est and δ _{2 according} to the equation 10. The axis correction expansion induced voltage ce _exδ2est is calculated.
The position estimation error calculator 16 calculates an angle δ _cest of the corrected expansion induced voltage from the γ _2- axis corrected expansion induced voltage ce _exγ2est and the δ _2- axis corrected expansion induced voltage ce _exδ2est using Equation 13. The direction of the vector of the corrected expansion induced voltage is calculated so as to be generated in the _qm- axis direction as shown in FIG. Accordingly, the position estimation error θ _{γ1 errest} is −θ _{γ1 errest} = δ _{cestest according} to Equations 11 and 13.

The speed estimator 17 obtains the estimated speed value ω _{1 according} to Equation 12, and the integrator 18 integrates the estimated speed value ω ₁ to obtain the estimated position value θ _γ1 .
By the above operation, the position estimation error theta _Ganma1errest speed estimated value omega ₁ and the position estimate to be zero theta _.gamma.1 is calculated, gamma _1-axis and the d-axis, to match gamma ₂ axis and d _m-axis, respectively Can do.

よって、数式２４、数式２６、数式３７を用いて、補正係数Ｋを数式３６のように導出することができる。 Next, derivation of the correction coefficient K will be described.
7, the q _m-axis shown in FIG. 9, when defining the direction of the current vector when performing the "maximum torque / current control" as described above, performs the maximum torque / current control, the position control error theta _Ganma1err is zero In the case of, the mathematical formula 37 is established.

Therefore, the correction coefficient K can be derived as in Expression 36 using Expression 24, Expression 26, and Expression 37.

Further, when the maximum torque / current control, current because vector that matches the _{q m-axis, i dm} = 0, and the use of an angle difference theta ₀ the d-axis and the _{d m-axis,} d, q-axis current and the _{q m} The relationship with the axial current is expressed by Equation 38.

また、数式２７は、数式４０のように変形するこができる。

When Formula 28 is transformed using Formula 38, Formula 39 is obtained.

Also, Equation 27 can be modified as Equation 40.

When the maximum torque / current control is performed when the position estimation error θ _{γ1 errest} is zero, since the relationship of Equation 37 is established, (B + C) can be made zero according to Equations 37, 39, and 40.
As shown in FIG. 5 described above, controlling (B + C) to zero is nothing but controlling the coefficient (B + C) of the speed estimation error Δω _err to zero. Therefore, the position estimation error Δθ _{γ1 errest} has a speed estimation. The error Δω _err is not included, and as a result, speed / position estimation can be performed stably.

Next, a fourth embodiment of the present invention will be described.
FIG. 11 is a block diagram showing a control device according to a fourth embodiment of the present invention together with a main circuit. In the fourth embodiment, in the calculation of the position estimation error θ _{γ1 errest} in the third embodiment, the γ _2- axis corrected extended induced voltage ce _exγ2est and the δ _2- axis corrected extended induced voltage ce _exδ2est are _passed through the low-pass filters 31a and 31b. This is input to the position estimation error calculator 16. The other configurations and functions in FIG. 11 are the same as those in FIG.
According to the fourth embodiment, the position estimation error θ _{γ1 errest} is calculated by using the γ _2- axis corrected extended induced voltage ce _exγ2est and the δ _2- axis corrected extended induced voltage ce _exδ2est that have passed through the low-pass filters 31a and 31b. It is possible to improve the stability by reducing the vibration of the estimation error θ _{γ1 errest} .

Next, a fifth embodiment of the present invention will be described.
FIG. 12 is a block diagram showing a control device according to a fifth embodiment of the present invention together with a main circuit. In the fifth embodiment, a second correction coefficient calculator 32 and a second correction voltage calculator 33E are added to the third embodiment of FIG. 10, and a second output from the correction voltage calculator 33E is added. gamma _2-axis correction voltage _{e exγ2c2,} δ _2-axis correction voltage _{e Exderuta2c2} the subtractor 15a, respectively subtracted from the output of 15b to gamma _2-axis correction extended induced voltage _{ce exγ2est,} with obtaining [delta] _2-axis correction extended induced voltage _{ce Exderuta2est} The corrected extended induced voltages ce _exγ2est and ce _exδ2est for each axis are input to the position estimation error calculator 16.
The corrected extended induced voltages ce _exγ2est and ce _exδ2est of each axis may be input to the position estimation error calculator 16 via the low-pass filters 31a and 31b as in the fourth embodiment of FIG.

In the third embodiment described above, the case where the maximum torque / current control is performed as the current control has been described. However, since the _dm- axis current does not become zero when the maximum torque / current control is not performed, The γ _2- axis component does not become zero, and the position estimation error cannot be calculated accurately.
For this reason, in the fifth embodiment, the second γ _2- axis correction voltage e _exγ2c2 and δ _2- axis correction voltage e _exδ2c2 are added to obtain the corrected expansion induced voltage of each axis, whereby the maximum torque / current is controlled as current control. Even when the control is not performed, the γ _2- axis component of the corrected expansion induced voltage is set to zero so that the position estimation error can be accurately calculated.

12 differs from FIG. 10 (third embodiment) only in the presence / absence of the second correction coefficient calculator 32 and the second correction voltage calculator 33E. Since they are the same as those in FIG.
Hereinafter, the second correction coefficient calculator 32 and the second correction voltage calculator 33E will be described.
Correction coefficient calculator 32, using the sine value sin [theta ₀ and the cosine value cos [theta] ₀ of the angular difference theta ₀ the d-axis and the _{d m-axis,} the second correction factor _{K 2} is calculated by Equation 41. Note that the derivation of the correction factor K ₂ will be described later.

The second correction voltage calculator 33E uses the second correction coefficient K ₂ , the speed estimation value ω ₁ , the γ _2- axis current detection value i _γ2 , and the δ _2- axis current detection value i _δ2 to Γ _2- axis correction voltage e _exγ2c2 and δ _2- axis correction voltage e _exδ2c2 are respectively calculated.

As shown in Equation 43, the subtracters 15a and 15b are _configured to calculate the correction voltages e _exγ2c and e _{exδ2c of} each axis from the γ ₂ axis expansion induced voltage e _exγ2est and the δ ₂ axis expansion induced voltage e _exδ2est and the second correction voltage. e _exγ2c2 and e _exδ2c2 are subtracted, respectively, to _obtain a γ _2- axis corrected extended induced voltage ce _exγ2est and a δ _2- axis corrected extended induced voltage ce _exδ2est .

Next, a description will be given of the second derivation of the correction factor K _2.
From Equation 4, Equation 9, Equation 17, Equation 42, and Equation 43, the γ _2- axis correction expansion induced voltage ce _exγ2est and δ _2- axis correction expansion induction when the second correction voltages e _exγ2c2 and e _exδ2c2 are added and corrected. The voltage ce _exδ2est can be expressed by Equation 44.

The γ _2- axis corrected expansion induced voltage ce _exγ2est in the steady state can be expressed by Expression 45 using Expression 19, Expression 24, and Expression 44.

When not the maximum torque / current control as the current control, Equation 24, Equation 36, from Equation 45, as gamma _2-axis correction extended induced voltage _{ce Exganma2est} becomes zero, calculates the correction factor _{K 2} using Equation 41.
Even if the maximum torque / current control is not performed by correcting the expansion induced voltage of each axis by additionally using the second correction voltages e _exγ2c2 and e _exδ2c2 as in the fifth embodiment, The position estimation error can be calculated accurately.

Next, a sixth embodiment of the present invention will be described.
FIG. 13 is a block diagram showing a control device according to a sixth embodiment of the present invention together with a main circuit. In the sixth embodiment, the position estimation error θ _{γ1 errest} in the third embodiment is calculated based on the corrected expanded magnetic flux.
13 is different from FIG. 10 (third embodiment) only in the expanded magnetic flux calculator 11M and the corrected magnetic flux calculator 14M. The other components and functions are the same as those in FIG. A description thereof will be omitted.

The extended magnetic flux calculator 11M in FIG. 13 calculates the γ _2- axis expansion induced voltage e _exγ2est and the δ _2- axis expansion induced voltage e _exδ2est by the above-described mathematical formula 4, as in FIG. 6 (second embodiment). Then, according to Equation 32 described above, gamma _2-axis extended electromotive force _{e exγ2est,} δ _2-axis extended electromotive force _{e Exderuta2est} from gamma _2-axis expansion flux [psi _Exganma2est, calculates the [delta] _2-axis expansion flux Ψ _exδ2est.

The correction magnetic flux calculator 14M in FIG. 13, according to Equation 33 described above, gamma _2-axis correction flux [psi _Exganma2c, calculates the [delta] _2-axis correction flux _Ψ exδ2c. The correction coefficient K used in Equation 33 is obtained by the correction coefficient calculator 13 as described above.
Then, the subtracters 15a and 15b calculate the γ _2- axis corrected extended magnetic flux cΨ _exγ2est and the δ _2- axis corrected extended magnetic flux cΨ _exδ2est according to the above-described equation 34. The position estimation error calculator 16 calculates the position estimation error θ _{γ1 errest} by the above-described equation 35.

In the sixth embodiment, when calculating the position estimation error θ _{γ1 errest} , the extended magnetic flux is used instead of the extended induced voltage as in the third embodiment, and from the magnetic pole position θ _r to the position estimated value θ _γ1. The block diagram of the transfer characteristic is represented by FIG. 4 and FIG. For this reason, if (B + C) in Expression 27 and Expression 40 is controlled to zero, the position estimation error does not include the speed estimation error, and stable speed / position estimation can be performed as in the third embodiment. .

Next, a seventh embodiment of the present invention will be described.
FIG. 14 is a block diagram showing a control device according to a seventh embodiment of the present invention together with a main circuit. In the seventh embodiment, as in the fourth embodiment, the outputs of the subtracters 15a and 15b are input to the position estimation error calculator 16 via the low-pass filters 31a and 31b. Other configurations and functions Is the same as FIG. 13 (sixth embodiment).
According to the seventh embodiment, as in the fourth embodiment, the value of the corrected extended magnetic flux is not used as it is, but the value that has passed through the low-pass filters 31a and 31b is used, so that the vibration of the position estimation error θ _{γ1 errest} Can be reduced and stability can be improved.

Next, an eighth embodiment of the present invention will be described.
FIG. 15 is a block diagram showing a control device according to an eighth embodiment of the present invention together with a main circuit.
In the fifth embodiment, a second correction coefficient calculator 32 and a second correction magnetic flux calculator 33M are added to the sixth embodiment of FIG. 13, and a second output from the correction magnetic flux calculator 33M is added. Γ ₂ -axis corrected magnetic flux Ψ _exγ2c2 and δ ₂ -axis corrected magnetic flux Ψ _exδ2c2 are subtracted from the outputs of the subtracters 15a and 15b, respectively, to obtain γ ₂ -axis corrected expanded magnetic flux cΨ _exγ2est and δ ₂ -axis corrected expanded magnetic flux cΨ _exδ2est , The corrected expanded magnetic fluxes cΨ _exγ2est and cΨ _exδ2est of each axis are input to the position estimation error calculator 16.
The corrected expanded magnetic fluxes cΨ _exγ2est and cΨ _exδ2est of each axis may be input to the position estimation error calculator 16 via the low-pass filters 31a and 31b as in the seventh embodiment of FIG.

また、減算器１５ａ，１５ｂは、数式４７によりγ_２軸補正拡張磁束ｃΨ_{ｅｘγ２ｅｓｔ}、δ_２軸補正拡張磁束ｃΨ_{ｅｘδ２ｅｓｔ}を演算する。

In FIG. 15, the second correction magnetic flux calculator 33M calculates the second γ _2- axis correction magnetic flux ψ _exγ2c2 and δ _2- axis correction magnetic flux ψ _exδ2c2 using Equation 46.

Further, the subtractors 15a and 15b calculate the γ _2- axis corrected extended magnetic flux cΨ _exγ2est and the δ _2- axis corrected extended magnetic flux cΨ _exδ2est using Expression 47.

The position estimation error calculator 16 calculates the position estimation error θ _{γ1 errest} by the above-described equation 35 using the γ _2- axis corrected extended magnetic flux cΨ _exγ2est and the δ _2- axis corrected extended magnetic flux cΨ _exδ2est .
In the eighth embodiment, in calculating the position estimation error θ _{γ1 errest,} an extended magnetic flux is used instead of an extended induced voltage as in the fifth embodiment, and the maximum torque / Even when current control is not performed, the position estimation error θ _{γ1 errest} can be accurately calculated.

In each embodiment of the present invention, voltage and current coordinate conversion in the voltage coordinate converter 9 and the current coordinate converter 10 is performed between two phase quantities in the γ-δ coordinate system, whereas in FIG. In the prior art shown, the voltage and current coordinate conversion in the voltage coordinate converter 29 and the current coordinate converter 30 is performed in the form of three-phase quantities in the fixed coordinate system → two-phase quantities in the orthogonal rotation coordinate system.
For this reason, according to each embodiment of the present invention, it is possible to simplify the arithmetic processing accompanying the voltage / current coordinate conversion in the speed / position estimation system as compared with the prior art of FIG.

1: Three-phase AC power source 2: Rectifier circuit 3: Power converter 4: Permanent magnet synchronous motor (PMSM)
5u, 5w: current detectors 9, 26: voltage coordinate converter 10, 28: current coordinate converter 11E: extended induced voltage calculator 11M: extended magnetic flux calculator 12: angle difference calculator 13, 32: correction coefficient calculator 14E, 33E: Correction voltage calculator 14M: Correction magnetic flux calculators 15a, 15b: Subtractor 16: Position estimation error calculator 17: Speed estimator 18: Integrators 21, 24a, 24b: Subtractor 22: Speed regulator 23 : Current command calculator 25a: γ-axis current regulator 25b: δ-axis current regulator 27: PWM circuit 29: current command value vector calculators 31a, 31b: low-pass filter

Claims (14)

A control device for a permanent magnet type synchronous motor that estimates a rotational speed and a magnetic pole position without using a rotor magnetic pole position detector and operates a permanent magnet type synchronous motor by a power converter,
The N-pole direction of the rotor of the synchronous motor is the d-axis, the axis in the 90 ° advance direction from the d-axis is the q-axis, the control estimation axis corresponding to the d-axis is the γ ₁ axis, and the γ ₁ axis is 90 The estimated axis in the advance direction is defined as δ ₁ axis, the estimated axis having a predetermined angle difference from the γ ₁ axis is defined as γ ₂ axis, and the estimated axis in the 90 ° advance direction from the γ ₂ axis is defined as δ ₂ axis. In addition, in the control device in which the current and voltage of the synchronous motor are regarded as vectors in an orthogonal rotation coordinate system having the γ ₁ axis, the δ ₁ axis, the γ ₂ axis, and the δ ₂ axis, and used for calculation. ,
gamma _2-axis current, [delta] _2-axis current, gamma _2-axis voltage, [delta] _2-axis voltage, the speed estimated value of the synchronous motor, and, from the correction voltage, the angular difference is the position estimate of the gamma _1-axis and the d-axis Means for calculating the error;
Means for calculating the speed estimation value from the calculation value of the position estimation error;
Means for integrating the speed estimate and calculating a position estimate of the rotor;
The gamma _2-axis current, the [delta] _2-axis current, and means for calculating the correction voltage from the velocity estimation value,
Means for calculating an angular difference between the γ ₁ axis and the γ ₂ axis from the δ ₂ axis current;
Means for converting the current of the γ ₁ axis and the current of the δ ₁ axis into the γ ₂ axis current and the δ ₂ axis current using an angular difference between the γ ₁ axis and the γ ₂ axis;
Means for converting the voltage of the γ ₁ axis and the voltage of the δ ₁ axis into the γ ₂ axis voltage and the δ ₂ axis voltage using an angular difference between the γ ₁ axis and the γ ₂ axis;
A control device for a permanent magnet type synchronous motor. In the control device for the permanent magnet type synchronous motor according to claim 1,
The means for calculating the position estimation error is:
The gamma _2-axis current, the [delta] _2-axis current, the gamma _2-axis voltage, means for calculating the extended electromotive force wherein [delta] _2-axis voltage, and from the speed estimated value,
Means for calculating the corrected extended induced voltage from the calculated value of the extended induced voltage and the calculated value of the corrected voltage;
Means for calculating the position estimation error from the calculated value of the corrected expansion induced voltage;
A control device for a permanent magnet type synchronous motor. In the control device for a permanent magnet type synchronous motor according to claim 1 or 2,
The means for calculating the correction voltage and the means for calculating the angle difference between the γ ₁ axis and the γ ₂ axis are:
The correction voltage, the γ ₁ axis, and the γ so as to remove an error between the speed estimation value and the actual speed of the synchronous motor, which is a speed estimation error included in the calculated value of the position estimation error. A control device for a permanent magnet type synchronous motor, characterized in that an angular difference between _two axes is calculated. A control device for a permanent magnet type synchronous motor that estimates a rotational speed and a magnetic pole position without using a rotor magnetic pole position detector and operates a permanent magnet type synchronous motor by a power converter,
The N-pole direction of the rotor of the synchronous motor is the d-axis, the axis in the 90 ° advance direction from the d-axis is the q-axis, the control estimation axis corresponding to the d-axis is the γ ₁ axis, and the γ ₁ axis is 90 The estimated axis in the advance direction is defined as δ ₁ axis, the estimated axis having a predetermined angle difference from the γ ₁ axis is defined as γ ₂ axis, and the estimated axis in the 90 ° advance direction from the γ ₂ axis is defined as δ ₂ axis. In addition, in the control device in which the current and voltage of the synchronous motor are regarded as vectors in an orthogonal rotation coordinate system having the γ ₁ axis, the δ ₁ axis, the γ ₂ axis, and the δ ₂ axis, and used for calculation. ,
gamma _2-axis current, [delta] _2-axis current, gamma _2-axis voltage, [delta] _2-axis voltage, the speed estimated value of the synchronous motor, and, from the correction magnetic flux, the angular difference is the position estimate of the gamma _1-axis and the d-axis Means for calculating the error;
Means for calculating the speed estimation value from the calculation value of the position estimation error;
Means for integrating the speed estimate and calculating a position estimate of the rotor;
The gamma _2-axis current, the [delta] _2-axis current, and means for calculating the correction magnetic flux from the speed estimated value,
Means for calculating an angular difference between the γ ₁ axis and the γ ₂ axis from the δ ₂ axis current;
Means for converting the current of the γ ₁ axis and the current of the δ ₁ axis into the γ ₂ axis current and the δ ₂ axis current using an angular difference between the γ ₁ axis and the γ ₂ axis;
Means for converting the voltage of the γ ₁ axis and the voltage of the δ ₁ axis into the γ ₂ axis voltage and the δ ₂ axis voltage using an angular difference between the γ ₁ axis and the γ ₂ axis;
A control device for a permanent magnet type synchronous motor. In the control apparatus for the permanent magnet type synchronous motor according to claim 4,
The means for calculating the position estimation error is:
Means for calculating an expanded magnetic flux from the γ _2- axis current, the δ _2- axis current, the γ _2- axis voltage, the δ _2- axis voltage, and the speed estimation value;
Means for calculating the corrected expanded magnetic flux from the calculated value of the expanded magnetic flux and the calculated value of the corrected magnetic flux;
Means for calculating the position estimation error from the calculated value of the corrected expanded magnetic flux;
A control device for a permanent magnet type synchronous motor. In the control device for a permanent magnet type synchronous motor according to claim 4 or 5,
The means for calculating the correction magnetic flux and the means for calculating the angle difference between the γ ₁ axis and the γ ₂ axis are:
It is a speed estimation error included in the calculated value of the position estimation error, and the correction magnetic flux, the γ ₁ axis, and the γ so as to remove an error between the speed estimation value and the actual speed of the synchronous motor. A control device for a permanent magnet type synchronous motor, characterized in that an angular difference between _two axes is calculated. A control device for a permanent magnet type synchronous motor that estimates a rotational speed and a magnetic pole position without using a rotor magnetic pole position detector and operates a permanent magnet type synchronous motor by a power converter,
D axis N pole direction of the rotor of the synchronous motor, the q axis 90 ° leading direction of the axis from the d-axis, the axis having a predetermined angle difference from the d-axis d _m-axis, from the d _m-axis q _m-axis in the axial direction advances 90 °, the gamma ₁ axis estimated axis for control corresponding to the d-axis, the [delta] ₁ axis estimated axis for 90 ° leading direction from gamma _1-axis, corresponding to the d _m-axis The control estimated axis is defined as γ ₂ axis, and the estimated axis in the direction advanced by 90 ° from the γ ₂ axis is defined as δ ₂ axis, and the current and voltage of the synchronous motor are defined as the γ ₁ axis and the δ _In a control device that is used as a vector in an orthogonal rotation coordinate system having _one axis, the γ ₂ axis, and the δ ₂ axis,
gamma _2-axis current, [delta] _2-axis current, gamma _2-axis voltage, [delta] _2-axis voltage, the speed estimated value of the synchronous motor, and, from the correction voltage, the angular difference is the position estimate of the gamma _1-axis and the d-axis Means for calculating the error;
Means for calculating the speed estimation value from the calculation value of the position estimation error;
Means for integrating the speed estimate and calculating a position estimate of the rotor;
From the torque command value, q _m-axis current, and, means for calculating the angular difference between the d _m-axis and the d-axis,
Means for conversion using the angular difference between the d _m-axis and the d-axis current of the gamma _1-axis, the [delta] _1-axis current the gamma _2-axis current, the [delta] _2-axis current,
Use of an angle difference between the d _m-axis and the d-axis voltage of the gamma _1-axis, the [delta] _1-axis voltage the gamma _2-axis voltage of, and means for converting the [delta] _2-axis voltage,
The gamma _2-axis current, the [delta] _2-axis current, the q _m-axis current, the angular difference between the d-axis and the d _m-axis, and, from the speed estimation value, and means for calculating the correction voltage,
A control device for a permanent magnet type synchronous motor. In the control device for the permanent magnet type synchronous motor according to claim 7,
The means for calculating the position estimation error is:
The gamma _2-axis current, the [delta] _2-axis current, the gamma _2-axis voltage, means for calculating the extended electromotive force wherein [delta] _2-axis voltage, and from the speed estimated value,
Means for calculating the corrected extended induced voltage from the calculated value of the extended induced voltage and the calculated value of the corrected voltage;
Means for calculating the position estimation error from the calculated value of the corrected expansion induced voltage;
A control device for a permanent magnet type synchronous motor. In the control device for the permanent magnet type synchronous motor according to claim 8,
A control device for a permanent magnet type synchronous motor, comprising means for calculating the position estimation error from an output obtained by passing a calculated value of the corrected expansion induced voltage through a low-pass filter. A control device for a permanent magnet type synchronous motor that estimates a rotational speed and a magnetic pole position without using a rotor magnetic pole position detector and operates a permanent magnet type synchronous motor by a power converter,
D axis N pole direction of the rotor of the synchronous motor, the q axis 90 ° leading direction of the axis from the d-axis, the axis having a predetermined angle difference from the d-axis d _m-axis, from the d _m-axis q _m-axis in the axial direction advances 90 °, the gamma ₁ axis estimated axis for control corresponding to the d-axis, the [delta] ₁ axis estimated axis for 90 ° leading direction from gamma _1-axis, corresponding to the d _m-axis The control estimated axis is defined as γ ₂ axis, and the estimated axis in the direction advanced by 90 ° from the γ ₂ axis is defined as δ ₂ axis, and the current and voltage of the synchronous motor are defined as the γ ₁ axis and the δ _In a control device that is used as a vector in an orthogonal rotation coordinate system having _one axis, the γ ₂ axis, and the δ ₂ axis,
gamma _2-axis current, [delta] _2-axis current, gamma _2-axis voltage, [delta] _2-axis voltage, the speed estimated value of the synchronous motor, and, from the correction magnetic flux, the angular difference is the position estimate of the gamma _1-axis and the d-axis Means for calculating the error;
Means for calculating the speed estimation value from the calculation value of the position estimation error;
Means for integrating the speed estimate and calculating a position estimate of the rotor;
Wherein q _m-axis current from the torque command value, and, means for calculating the angular difference between the d _m-axis and the d-axis,
Means for conversion using the angular difference between the d _m-axis and the d-axis current of the gamma _1-axis, the [delta] _1-axis current the gamma _2-axis current, the [delta] _2-axis current,
Use of an angle difference between the d _m-axis and the d-axis voltage of the gamma _1-axis, the [delta] _1-axis voltage the gamma _2-axis voltage of, and means for converting the [delta] _2-axis voltage,
The gamma _2-axis current, the [delta] _2-axis current, the q _m-axis current, the angular difference between the d-axis and the d _m-axis, and, from the speed estimation value, and means for calculating the correction magnetic flux,
A control device for a permanent magnet type synchronous motor. In the control device for the permanent magnet type synchronous motor according to claim 10,
The means for calculating the position estimation error includes means for calculating an expanded magnetic flux from the γ _2- axis current, the δ _2- axis current, the γ _2- axis voltage, the δ _2- axis voltage, and the speed estimation value;
Means for calculating a corrected expanded magnetic flux from the calculated value of the expanded magnetic flux and the calculated value of the corrected magnetic flux;
Means for calculating the position estimation error from the calculated value of the corrected expanded magnetic flux;
A control device for a permanent magnet type synchronous motor. In the control device of the permanent magnet type synchronous motor according to claim 11,
A control device for a permanent magnet type synchronous motor, comprising means for calculating the position estimation error from an output obtained by passing the calculated value of the corrected expanded magnetic flux through a low-pass filter. In the control device for a permanent magnet type synchronous motor according to any one of claims 7 to 12,
As the speed estimation error component included in the calculated value of the position estimation error is zero, the q _m-axis current, and further comprising means for calculating the angular difference between the d _m-axis and the d-axis A control device for a permanent magnet type synchronous motor. In the control device for a permanent magnet type synchronous motor according to any one of claims 7 to 13,
The q _m-axis, defined as the axis of satisfying current vector current amplitude in the same torque is minimized,
Based on the torque command value, the q _m-axis current, and the d-axis and the d _m axis controller for a permanent magnet synchronous motor, characterized in that it includes means for calculating the angular difference.

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