JP2019213309A - Control method of winding field magnetic type synchronous motor, and control device - Google Patents

Abstract

To provide a control method of a winding field magnetic type synchronous motor, and a control device, capable of accurately performing rotation control by controlling a field magnetic flux stably.SOLUTION: A method of controlling a winding field type synchronous motor (109) includes an f-axis current command value calculation step (113), an f-axis current control step (114), an f-axis non-interference control step (117), and an f-axis voltage output step (105). The f-axis current control step (117) includes a pseudo F/B step (302) of calculating a pseudo F/B voltage command value by pseudo F/B control based on a negative feedback current for an f-axis current command value, a limiting step (303) of limiting a pseudo F/B model voltage command value and outputting an f-axis limiting voltage command value, a reference response processing step (301) of calculating an f-axis current reference response to the f-axis limiting voltage command value, and a first f-axis voltage command value calculating step (206, 204) of calculating a first f-axis voltage command value based on the f-axis limiting voltage command value.SELECTED DRAWING: Figure 3

Description

  The present invention relates to a control method and a control apparatus for a winding field type synchronous motor.

  In Patent Document 1, in the torque control of a field winding type synchronous motor having a field winding on the rotor side, the current flowing through the field winding called f-axis current is changed to change the rotor side. A technique for changing the field magnetic flux of the magnetic field is disclosed.

International Publication No. 2017/014249

  In the field winding type synchronous motor disclosed in Patent Document 1, in addition to the d and q axis voltages applied to the stator, the f axis voltage is controlled in order to change the field magnetic flux in the rotor. . Here, in the d, q, and f axes, the control of the voltage of one axis interferes with the control of the other axis. Therefore, by providing a non-interference control unit that cancels the mutual interference component, the field magnetic flux is provided. Can be controlled in the f-axis.

  The control of the f axis has a property that the response of the field magnetic flux to the applied current is relatively poor. Therefore, when feedback (F / B) control is used to calculate the f-axis voltage command value, it is necessary to increase the F / B gain in order to achieve a desired response. However, when the F / B gain increases, the field magnetic flux may diverge when the control system has a large dead time. On the other hand, if the feedback gain is reduced in order to prevent divergence, the responsiveness deteriorates and it may take time until convergence.

  The present invention has been made paying attention to such problems, and is a wound field type that can accurately control rotation by stably controlling field magnetic flux without using an F / B compensator. It is an object to provide a control method and a control device for a synchronous motor.

  One aspect of the control method of the winding field type synchronous motor of the present invention is to calculate the d-axis and q-axis voltage command values in the stator and the f-axis voltage command value for controlling the magnetic flux in the rotor. Rotational drive is controlled based on voltage command values for the d-axis, q-axis, and f-axis. The control method of the winding field type synchronous motor includes an f-axis current command value calculation step for calculating an f-axis current command value according to a torque command value, and an f-axis current acquired by an f-axis current sensor is f-axis. An f-axis current control step for calculating a first f-axis voltage command value to control to follow the current command value, and an f-axis for canceling interference voltage between the f-axis, d-axis, and q-axis An f-axis non-interference control step for calculating a non-interference voltage, a second f-axis voltage command value is obtained by correcting the first f-axis voltage command value with the f-axis non-interference voltage, and a second f-axis voltage command And an f-axis voltage output step for outputting an f-axis voltage to the rotor winding in accordance with the value. The f-axis current control step performs pseudo F / B control based on the negative feedback current with respect to the f-axis current command value, thereby calculating a pseudo F / B voltage command value, and a pseudo F / B step. Using a reference step model that models the response from the f-axis voltage to the f-axis current by limiting the / B voltage command value and outputting the f-axis limit voltage command value, A norm response processing step for calculating an f-axis current normative response to be a negative feedback current, and a first f-axis voltage command value calculating step for calculating a first f-axis voltage command value based on the f-axis limit voltage command value And having.

  According to one aspect of the present invention, rotation control can be performed with high accuracy by stably controlling the field magnetic flux without using an F / B compensator.

FIG. 1 is a block diagram of a motor control system. FIG. 2 is a detailed block diagram of the f-axis current control unit. FIG. 3 is a detailed block diagram of the f-axis F / F compensator. FIG. 4 is a detailed block diagram of the f-axis current model. FIG. 5 is a detailed block diagram of the f-axis current F / B model. FIG. 6 is a detailed block diagram of the f-axis limit processing unit. FIG. 7 is another example of a detailed block diagram of the f-axis limit processing unit. FIG. 8 is a detailed block diagram of the f-axis F / B compensator. FIG. 9 is a detailed block diagram of the f-axis robust compensator. FIG. 10 is a flowchart showing a motor control process. FIG. 11A is a timing chart showing control processing in the present embodiment and the comparative example. FIG. 11B is a timing chart showing control processing in the present embodiment and the comparative example. FIG. 12A is a timing chart illustrating control processing in the present embodiment and the comparative example. FIG. 12B is a timing chart illustrating control processing in the present embodiment and the comparative example.

  Embodiments of the present invention will be described below with reference to the drawings.

  FIG. 1 is a block diagram of a motor control system 100 controlled by the control method of the present embodiment. The motor control system 100 is applied to, for example, an electric vehicle. In addition to an electric vehicle, for example, the present invention can be applied to a hybrid vehicle or a system other than a vehicle.

  First, an outline of the control of the motor control system 100 will be described. The motor 101 controlled by the motor control system 100 is configured to be able to apply a voltage to the windings of the stator, and the winding field is provided with a winding in the rotor and can change the magnetic flux on the rotor side. Type synchronous motor. In the rotation control of the motor 101, in addition to the d and q axis voltages applied to the stator, the f axis voltage for changing the magnetic flux of the rotor is controlled.

The current command value calculator 113 calculates d, q, and f-axis current command values ( _id ^* , _iq ^* , _if ^* ) according to the torque command value T ^* based on the accelerator opening. The d, q, and f axis current control units 114, 115, and 116 are the actual currents (i) of the motor 101 that are input via the A / D converter 107 and the three-phase / dq AC coordinate converter 108. _d, i _q, i _f) is, the current command value ^{_{(i d *, i q *}} , the first voltage command value so as to follow the ^{_{i f *) (v d_dsh,}} v q_dsh, v f_dsh) calculates the .

In addition, since mutual interference occurs in the control of the d, q, and f axes, in order to cancel this interference, the non-interference control unit 117 performs non-interference based on the outputs from the current control units 114, 115, and 116. Voltages ( _{vd_dcpl} , _{vq_dcpl} , _{vf_dcpl} ) are generated. In the second voltage command value calculation unit 118, the first voltage command value (v _{d_dsh} , v _{q_dsh} , v _{f_dsh} ) and the non-interference voltage (v _{d_dcpl} , v _{q_dcpl} , v _{f_dcpl} ) are added, so that d , Q, and the f-axis second voltage command value (v _d ^* , v _q ^* , v _f ^* ) that does not cause mutual interference is calculated. By adding the non-interference voltage in this way, it is not necessary to consider the influence from the other axes in the voltage control of each of the d, q, and f axes.

For the d and q axes, the second voltage command value (v _d ^* , v _q ^* ) output from the second voltage command value calculation unit 118 is a dq / 3-phase AC coordinate converter 119, PWM The AC voltage (v _u , v _v , v _w ) is applied to the windings of the stator of the motor 101 via the converter 102 and the three-phase voltage type inverter 103.

Regarding the f-axis, the second voltage command value (v _f ^* ) output from the second voltage command value calculation unit 118 is input to the f-axis current output unit 105. The f-axis current output unit 105 generates the f-axis voltage v _f according to the second voltage command value (v _f ^* ) using the DC voltage (V _dc ) of the DC power supply 104, and the f-axis voltage v _f. Is applied to a coil included in the rotor of the motor 101.

  In the motor control system 100, a pulse counter 110, an angular velocity calculator 111, a prefetch compensation unit 112, and the like are provided in order to perform control in consideration of the entire delay component.

  Angular velocity calculator 111, look-ahead compensator 112, current command value calculator 113, d-axis current controller 114, q-axis current controller 115, f-axis current controller 116, non-interference controller 117, second voltage command value The calculation unit 118 and the dq / 3-phase AC coordinate converter 119 may be controlled by a single controller such as a CPU. Further, the PWM converter 102, the f-axis current output unit 105, the A / D converter 107, the three-phase / dq AC coordinate converter 108, the pulse counter 110, and the like are processed by the above-described controller in this embodiment. The control may be performed by a microcomputer other than the controller.

  In the following, each configuration will be described in detail.

  The motor 101 is a winding field type synchronous motor. The wound field synchronous motor has a field winding on the rotor side in addition to the three-phase armature winding on the stator side, and controls the voltage applied to the field winding to control the rotor. The magnetic flux can be changed. Note that when the motor control system 100 is applied to an electric vehicle, the motor 101 serves as a drive source for the vehicle.

The PWM converter 102 is a PWM used to operate a switching element (IGBT or the like) constituting the three-phase voltage type inverter 103 based on the input three-phase voltage command values v _u ^* , v _v ^* , v _w ^*. Duty drive signals (D _uu ^* , D _ul ^* , D _vu ^* , D _vl ^* , D _wu ^* , D _wl ^* ) are generated.

The inverter 103 generates AC voltages v _u , v _v , v _w according to the drive signal generated by the PWM converter 102 using the power source voltage V _dc of the DC power source 104, and the AC voltages v _u , v _v. , V _w are supplied to the motor 101. Note that the DC power source 104 is, for example, a stacked lithium ion battery.

The f-axis current output unit 105 applies the f-axis voltage v _f corresponding to the second f-axis voltage command value v _f ^* to the rotor winding using the power supply voltage V _dc supplied from the DC power supply 104. Thus, the f-axis current _if flows in the rotor winding. Thus, power is supplied from the common DC power source 104 to the windings provided in the stator and the rotor. The power supply voltage V _dc is output to the f-axis current control unit 116 for use in the limiting process described later.

A plurality of current sensors 106 are provided. Two of them, the current sensor 106u and the current sensor 106v, are the u-phase current i _u and the v-phase current i that are at least two phases of the three-phase AC current supplied from the inverter 103 to the motor 101. _v is detected. The detected u-phase current i _u and v-phase current i _v are converted by the A / D converter 107 into u-phase current i _us and v-phase current i _vs which are digital signals, and three-phase / d -Q Input to AC coordinate converter 108. When the current sensor 106 is attached only to two of the three phases, the remaining one-phase w-phase current i _ws can be obtained by the following equation (1).

Further, the other one f-axis current sensor 106f is also provided in the current supply path from the f-axis current output unit 105 to the motor 101, it detects the f axis current i _f. The detected f-axis current _if is converted into a digital signal by the A / D converter 107 and input to the three-phase / dq AC coordinate converter 108.

The magnetic pole position detector 109 detects an ABZ-phase pulse output from a resolver provided in the motor 101. The pulse counter 110 obtains the electrical angle θ _re according to the ABZ-phase pulse acquired by the magnetic pole position detector 109, and converts the electrical angle θ _re into the three-phase / dq AC coordinate converter 108 and the pre-reading compensation unit. To 112.

The angular velocity calculator 111 receives the electrical angle θ _re and obtains the electrical angular velocity ω _re and the motor rotational speed ω _rm based on the time change rate. The motor rotational speed ω _rm is obtained by dividing the electrical angular velocity ω _re by the motor pole pair number p.

Prefetching compensator 112 inputs the electrical angle theta _re and the electrical angular velocity omega _re, the electric angle theta _re, by adding the multiplication value of the dead time of the control system and the electrical angular velocity omega _re has, prefetching Obtain the compensated electrical angle θ _re ^′ . The prefetch compensation unit 112 outputs the electrical angle θ _re ^′ after prefetch compensation to the dq / 3-phase AC coordinate converter 119.

The three-phase / dq AC coordinate converter 108 performs conversion from the three-phase AC coordinate system (uvw axis) to the orthogonal two-axis DC coordinate system (dq axis). Specifically, the d-axis current i _d and the q-axis current i _q are calculated from the following equation (2) with the u-phase current i _us , the v-phase current i _vs and the electrical angle θ _re as inputs.

The current command value calculator 113 receives the torque command value T ^* , the motor rotational speed ω _rm that is the mechanical angular velocity, and the power supply voltage V _dc , and receives the d-axis current command value i _d ^* and the q-axis current command value i _q. ^{* And} f-axis current command value i _f ^* are calculated. The current command value calculator 113 includes a torque command value T ^* , a motor rotation speed ω _rm , a power supply voltage V _dc , a d-axis current command value i _d ^* , a q-axis current command value i _q ^* , and an f-axis. Map data defining the relationship with the current command value i _f ^* is stored in a memory in advance, and the d-axis current command value i _d ^* , the q-axis current command value i _q ^* and f are referred to by referring to this map data. Each shaft current command value i _f ^* is obtained.

The d-axis current control unit 114 includes a first d-axis voltage command value v _{d_dsh} , a d-axis current reference response i _{d_ref} , so that the measured d-axis current i _d follows the d-axis current command value i _d ^* . And the differential value s · _{id_ref} of the d-axis current reference response is calculated. The q-axis current control unit 115 calculates the first q-axis voltage command value v _{q_dsh} and the q-axis current reference response i _{q_ref so} that the q-axis current i _q follows the q-axis current command value i _q ^*. To do. f-axis current control unit 116, as the f-axis current i _f follows a ^* f-axis current command value i _f, the first f-axis voltage command value v _{F_dsh,} f axis current nominal response i _{F_REF,} and, f A differential value s · _{if_ref} of the shaft current reference response is calculated. Of these processes, details of the f-axis current control unit 116 will be described later with reference to FIG. The f-axis current control unit 116 is an example of a block that executes an f-axis current control step.

The non-interference control unit 117 includes the electrical angular velocity ω _re , the d-axis current reference response i _{d_ref} output from the d-axis current control unit 114, the differential value s · i _{d_ref of} the d-axis current reference response, and the q-axis current. inputs and q-axis current nominal response i _{Q_ref} outputted from the control unit 115, the f-axis current nominal response i _{F_REF} output from the f-axis current control unit 116, and a differential value s · i _{F_REF} of f-axis current nominal response _Then , non-interference voltages v _{d_dcpl} , v _{q_dcpl} , and v _{f_dcpl} necessary for canceling the interference voltages from the other two axes with respect to each one axis in the d, q, and f axes are calculated. Note that the non-interference voltage v _{f_dcpl} is output to the f-axis current control unit 116 in order to be used for the limiting process described later. The non-interference control unit 117 is an example of a block that executes an f-axis non-interference control step.

The second voltage command value calculation unit 118 includes three adders corresponding to the d, q, and f axes. The second voltage command value calculation unit 118 adds the non-interference voltage v _{d_dcpl} output from the non-interference control unit 117 to the first d-axis voltage command value v _{d_dsh} output from the d-axis current control unit 114. Thus, the second d-axis voltage command value v _d ^* is calculated. The second voltage command value calculation unit 118 adds the non-interference voltage v _{q_dcpl} that is the output of the non-interference control unit 117 to the first q-axis voltage command value v _{q_dsh} output from the q-axis current control unit 115. Thus, the second q-axis voltage command value v _q ^* is calculated. The second voltage command value calculation unit 118 _adds the f-axis non-interference voltage v _{f_dcpl} output from the non-interference control unit 117 to the first f-axis voltage command value v _{f_dsh} output from the f-axis current control unit 116. By adding, the second f-axis voltage command value v _f ^* is calculated. By adding the non-interference voltage in this way, interference components from the other two axes are canceled in each of the d, q, and f axes, so that each of the d, q, and f axes is treated as a simple first-order lag system. be able to. The second voltage command value calculation unit 118 is an example of a block that executes the f-axis voltage output step. Details of non-interference control will be described later using equations (4) to (8).

The dq / 3-phase AC coordinate converter 119 performs conversion from an orthogonal two-axis DC coordinate system (dq axis) rotating at an electrical angular velocity ω _re to a three-phase AC coordinate system (uvw axis). Specifically, the second d-axis voltage command value v _d ^* , the second q-axis voltage command value v _q ^*, and the pre-read compensation electrical angle θ _re ^′ are input, and coordinate conversion is performed according to the following equation (3). By performing the processing, the voltage command values v _u ^* , v _v ^* , v _w ^* for each phase of uvw are calculated and output.

  Hereinafter, non-interference control in the winding field type motor 101 will be described. First, a voltage equation in the winding field type motor 101 is represented by the following equation (4).

  However, the parameter of Formula (4) is as follows. Of these values, the inductance and resistance are determined by the design of the motor 101.

i _d : d-axis current i _q : q-axis current i _f : f-axis current v _d : d-axis voltage v _q : q-axis voltage v _f : f-axis voltage L _d : d-axis inductance L _q : q-axis inductance L _f : F-axis inductance M: Mutual inductance between stator and rotor L _d ^' : d-axis dynamic inductance L _q ^' : q-axis dynamic inductance L _f ^' : f-axis dynamic inductance M ^' : Stator / rotor Dynamic mutual inductance R _a : Stator winding resistance R _f : Rotor winding resistance ω _re : Electrical angular velocity s: Laplace operator

  Here, if the non-interference control unit 117 ideally calculates the non-interference component, and the non-interference component is added by the second voltage command value calculation unit 118, the other in each of the d, q, and f axes. The interference from the two axes is canceled. Therefore, the voltage equation is diagonalized as shown in the following equation (5).

  That is, models from voltage to current on the d, q, and f axes, that is, normative response models in which voltage is input and current is output are respectively expressed by the following equations (6), (7), and (8). It becomes a first-order lag system as shown in FIG.

  Next, details of the f-axis current control unit 116 will be described with reference to FIG. Since the control on the d and q axes is the same as that on the f axis, a description thereof will be omitted, and only the control on the f axis will be described below.

  FIG. 2 is a detailed block diagram of the f-axis current control unit 116.

In the f-axis current control unit 116, A / D converter f-axis is input from the 107 current i _f is the desired response to the calculated f-axis current command value i _f ^* steady-state error without the current command value calculator 113 The first f-axis voltage command value v _{f_dsh} is calculated so as to follow the characteristics. Further, the f-axis current control unit 116 calculates the f-axis current reference response i _{f_ref} and the differential value s · _{if_ref} of the f-axis current reference response used in the subsequent processing. The f-axis current control unit 116 includes an f-axis F / F (feed forward) compensator 201, an f-axis F / B compensator 202, an f-axis robust compensator 203, and an f-axis limit processing unit 204. Details of each will be described below.

The f-axis F / F compensator 201 receives the f-axis current command value i _f ^* calculated by the current command value calculator 113 as input, and in addition to the f-axis F / F compensation voltage v _{f_ff} , the f-axis current standard The response i _{f_ref} and the differential value s · i _{f_ref} of the f-axis current reference response, which is the differential value, are calculated. The f-axis F / F compensator 201 _outputs the f-axis current reference response i _{f_ref} and the differential value s · i _{f_ref} of the f-axis current reference response, which is a differential value _thereof, to the non-interference control unit 117, and f The shaft current reference response i _{f_ref} is _output to the f-axis F / B compensator 202. Details of the f-axis F / F compensator 201 will be described later with reference to FIG. Although not shown, the f-axis F / F compensator 201 is _supplied with the power supply voltage V _dc output from the DC power supply 104 and the non-interference voltage v _{f_dcpl} output from the non-interference control unit 117. The The f-axis F / F compensator 201 is an example of a block that executes an f-axis current control step.

The f-axis F / B compensator 202 is a compensator that performs general feedback compensation. f-axis F / B compensator 202, with respect to the f-axis current nominal response i _{F_REF} calculated in the f-axis F / F compensator 201, the negative feedback the measured f-axis current i _f by f axis current sensor 106f By performing the F / B processing, the f-axis F / B compensation voltage v _{f_fb} is calculated so that the f-axis current _if follows the f-axis current reference response i _{f_ref} . The f-axis F / B compensator 202 outputs the f-axis F / B compensation voltage v _{f_fb} to the adder 205. Details of the f-axis F / B compensator 202 will be described later with reference to FIG. The f-axis F / B compensator 202 is an example of a block that executes an F / B compensation step. The adder 205 is an example of a block that executes an addition step.

The f-axis robust compensator 203 calculates the first f-axis voltage command value v _{f_dsh} calculated by the f-axis limit processing unit 204 described later and finally output from the f-axis current control unit 116, and the f-axis current _if . Based on the above, the f-axis robust compensation voltage v _{f_rbst} for ensuring the robustness of the system is calculated. The f-axis robust compensator 203 outputs the f-axis robust compensation voltage v _{f_rbst} to the adder 206. Details of the f-axis robust compensator 203 will be described later with reference to FIG.

Two adders 205 and 206 are provided in the preceding stage of the f-axis limit processing unit 204. The adder 205 adds the f-axis F / B compensation voltage v _{f_fb} to the f-axis F / F compensation voltage v _{f_ff} calculated by the f-axis F / F compensator 201, and further, the adder 206 adds the f-axis F / F compensation voltage v _{f_fb} . The robust compensation voltage v _{f_rbst} is added. Then, the final addition value is input to the f-axis limit processing unit 204. Therefore, the f-axis limit processing unit 204 has an f-axis F / B compensation voltage v _{f_fb} that is an F / B compensation value with respect to an f-axis F / F compensation voltage v _{f_ff} that is an F / F command value, and The sum of the f-axis robust compensation voltage v _{f_rbst} that is the f-axis robust compensation value is input.

Then, the f-axis limit processing unit 204 calculates the first f-axis voltage command value v _{f_dsh} by limiting the input voltage command value. The f-axis limit processing unit 204 outputs the f-axis voltage command value v _{f_dsh} to the second voltage command value calculation unit 118 and the f-axis robust compensator 203. In the f-axis limit processing unit 204, the same processing as that of the later-described f-axis limit processing unit 303 described with reference to FIGS. 6 and 7 is performed.

  Next, a detailed configuration of the f-axis F / F compensator 201 will be described with reference to FIG. FIG. 3 is a detailed block diagram of the f-axis F / F compensator 201. The f-axis F / F compensator 201 includes an f-axis current model 301, an f-axis current pseudo F / B model 302, and an f-axis limit processing unit 303.

The f-axis current model 301 is a filter that models the reference response characteristics from the f-axis voltage to the f-axis current. The f-axis current model 301 performs filtering processing on a f-axis F / F compensation voltage v _{f_ff} output from an f-axis limit processing unit 303 described later using a reference response model from voltage to current on the f-axis. Then, the f-axis current normative response i _{f_ref} which is a normative response is calculated and output to the non-interference control unit 117 and the f-axis F / B compensator 202. Further, the f-axis current model 301 _outputs a differential value s · _{if_ref} of the f-axis current reference response, which is a differential value of the f-axis current reference response i _{f_ref,} to the non-interference control unit 117 for use in later processing. To do. Details of the f-axis current model 301 will be described later with reference to FIG. The f-axis current model 301 is an example of a block that executes the normative response processing step.

In the f-axis current pseudo F / B model 302, the f-axis current reference response i output from the f-axis current model 301 with respect to the f-axis current command value i _f ^* calculated by the current command value calculator 113. _{f_ref} is negatively _fed back. The f-axis current pseudo F / B model 302 has a pseudo FB voltage command value v _{f_pse_fb in} order to follow the f-axis current reference response i _{f_ref} with a desired response without a steady deviation with respect to the f-axis current command value i _f ^* . Is calculated and output to the f-axis limit processing unit 303. Details of the f-axis current pseudo F / B model 302 will be described later with reference to FIG. The f-axis current pseudo F / B model 302 is an example of a block that executes a pseudo F / B step.

The f-axis limit processing unit 303 limits the pseudo FB voltage command value v _{f_pse_fb} output from the f-axis current pseudo F / B model 302, calculates the f-axis F / F compensation voltage v _{f_ff} , and adds the adder 205 and output to the f-axis current model 301. Details of the f-axis limit processing unit 303 will be described later with reference to FIGS. The f-axis limit processing unit 303 is an example of a block that executes a limiting step.

Although not shown, the f-axis limit processing unit 303 receives the power supply voltage V _dc output from the DC power supply 104 and the non-interference voltage v _{f_dcpl} output from the non-interference control unit 117. As shown in FIG. 2, the f-axis F / F compensation voltage v _{f_ff} output from the f-axis limit processing unit 303 _{passes through} the adder 205, the adder 206, and the f-axis limit processing unit 204, F-axis voltage command value v _{f_dsh} is calculated. That is, the adder 205, the adder 206, and the f-axis limit processing unit 204 are an example of a block configuration that executes a first f-axis voltage command value calculation step.

Thus, in the f-axis F / F compensator 201, the f-axis current model is not an F / B system in which the measured f-axis current _if is negatively fed back with respect to the f-axis current pseudo F / B model 302. A pseudo F / B system is constructed in which the f-axis current reference response i _{f_ref} calculated in 301 is negatively _fed back. By realizing a pseudo F / B system in this way, F / B control with poor responsiveness can be avoided, so that responsiveness can be improved.

Further, as shown in FIG. 1, since the f-axis voltage v _f is generated by the DC power supply 104, the upper limit of the f-axis voltage v _f is limited by the power supply voltage V _dc of the DC power supply 104 and is saturated. Therefore, an f-axis limit processing unit 303 that models the saturation at the power supply voltage V _dc is provided, and the first f-axis voltage command value v _{f_dsh} is limited to calculate the f-axis F / F compensation voltage v _{f_ff} . The f-axis F / F compensation voltage v _{f_ff in} consideration of voltage saturation is _{fed back} to the f-axis current pseudo F / B model 302, so that the accuracy of rotation control can be improved.

  Next, a detailed configuration of the f-axis current model 301 will be described with reference to FIG. FIG. 4 is a detailed block diagram of the f-axis current model 301. The f-axis current model 301 includes a multiplier 401, a subtractor 402, a divider 403, and an integrator 404.

The multiplier 401 is one of the final outputs of the f-axis current model 301, and multiplies the f-axis current reference response _{if_ref} output from the integrator 404 described later by the rotor winding resistance _Rf. The multiplication result is output to the subtractor 402. This multiplication result corresponds to the voltage value of the normative response.

The subtractor 402 subtracts the voltage value of the normative response output from the multiplier 401 from the f-axis F / F compensation voltage v _{f_ff} output from the f-axis limit processing unit 303 and outputs the subtraction value to the divider 403. To do.

Divider 403 divides the difference calculated by subtractor 402 by f-axis dynamic inductance L _f ^′ and outputs the division result to non-interference control unit 117 and integrator 404. In this way, the differential value s · i _{f_ref of} the f-axis current reference response is calculated.

The integrator 404, the differential value s · i _{F_REF} of f-axis current norms response outputted from the divider 403 integration processing to calculate the f-axis current nominal response i _{F_REF,} non-interference of the f-axis current nominal response i _{F_REF} The data is output to the control unit 117, the f-axis F / B compensator 202, and the multiplier 401.

As described above, in the f-axis current model 301, the f-axis current reference response _{if_ref,} which is one of the final outputs, is multiplied by the rotor winding resistance _Rf by the multiplier 401, and the input f-axis. Negative feedback is _{performed with} respect to the F / F compensation voltage _{vf_ff} . By dividing the negative feedback result value by the f-axis dynamic inductance L _f ^′ by the divider 403, the f-axis current reference response i _{f_ref} based on the f-axis F / F compensation voltage v _{f_ff} and its differential value s • i _{f_ref} can be obtained.

  Next, a detailed configuration of the f-axis current pseudo F / B model 302 will be described with reference to FIG. FIG. 5 is a detailed block diagram of the f-axis current pseudo F / B model 302. The f-axis current pseudo F / B model 302 includes a filter 501, a filter 502, and a subtracter 503.

The filter 501 multiplies the f-axis current command value i _f ^* output from the current command value calculator 113 by the gain G _af , and outputs the filtered value to the subtractor 503.

The filter 502 multiplies the f-axis current reference response if _{f_ref} output from the f-axis current model 301 by the gain G _bf and outputs the filtered value to the subtractor 503.

Then, the subtractor 503 calculates the pseudo F / B voltage command value v _{f_pse_fb} by subtracting the output value of the filter 502 from the output value of the filter 501, and _sends the pseudo FB voltage command value v _{f_pse_fb} to the f-axis limit processing unit 303. Is output. In other words, pseudo F / B control is configured by negative feedback of the f-axis current reference response i _{f_ref} that is not a measured value.

However, the gain G _af and the gain G _bf can be expressed by the following equation (9). However, τ _f is a current control norm response time constant of the f axis.

With this configuration, in the f-axis current pseudo F / B model 302, the f-axis current reference response is not the actually measured f-axis current _if but the f-axis current command value i _f ^* . It is possible to realize pseudo F / B control using i _{f_ref} as the F / B component.

  Next, a detailed configuration of the f-axis limit processing unit 303 will be described with reference to FIG. FIG. 6 is a detailed block diagram of the f-axis limit processing unit 303. The f-axis limit processing unit 303 includes a comparator 601, an inverter 602, a comparator 603, and subtracters 604 and 605.

In a subtractor 604 provided in the preceding stage of the comparator 601, a subtracted value obtained by subtracting the f-axis non-interference voltage v _{f_dcpl} output from the non-interference control unit 117 from the power supply voltage V _dc of the DC power source 104 is obtained. The comparator 601 compares the pseudo FB voltage command value v _{f_pse_fb} , which is an output value from the f-axis current pseudo F / B model 302, with the subtraction value in the subtractor 604, and compares the smaller value to the comparator 603. Is output.

The inverter 602 inverts the sign of the power supply voltage V _dc .

A subtracter 605 is provided in the preceding stage of the comparator 603. In the subtracter 605, a subtraction value obtained by subtracting the f-axis non-interference voltage v _{f_dcpl} output from the non-interference control unit 117 from the output of the inverter 602. Is required. The comparator 603 compares the output value of the comparator 601 with the subtracted value in the subtractor 605 and outputs a larger value to the f-axis current model 301 and the adder 205.

With this configuration, the f-axis limit processing unit 303 _adds the f-axis non-interference voltage v _{f_dcpl} to the pseudo FB voltage command value v _{f_pse_fb} that is the output value of the f-axis current pseudo F / B model 302. In order to obtain a sufficient margin, a limit process based on the power supply voltage V _dc that is offset negatively by the f-axis non-interference voltage v _{f_dcpl} , specifically, the upper limit value is “V _dc −v _{f_dcpl} ” and the lower limit value is “ The limiting process of “−V _dc −v _{f_dcpl} ” is performed.

  Further, the f-axis limit processing unit 303 may be configured as shown in FIG. FIG. 7 is another example of a detailed block diagram of the f-axis limit processing unit 303. In this example, the f-axis limit processing unit 303 includes a comparator 701, an inverter 702, a comparator 703, a subtracter 704, and an adder 705.

An adder 705 is provided in front of the comparator 701, and the adder 705 outputs the f-axis non-interference voltage v _{f_dcpl} output from the non-interference control unit 117 and the f-axis current pseudo F / B model 302. The pseudo FB voltage command value _{vf_pse_fb} is added. Then, the comparator 701 compares the power supply voltage V _dc of the DC power supply 104 with the addition result in the adder 705, and outputs a smaller value to the comparator 703.

The inverter 702 inverts the sign of the power supply voltage V _dc .

  The comparator 703 compares the output from the comparator 701 with the output from the inverter 702 and outputs a large value to the subtractor 704.

The subtractor 704 calculates the f-axis F / F compensation voltage v _{f_ff} by subtracting the f-axis non-interference voltage v _{f_dcpl} output from the non-interference control unit 117 from the output value of the comparator 703. The subtractor 704 outputs the f-axis F / F compensation voltage v _{f_ff} to the f-axis current model 301 and the adder 205 constituting the f-axis current control unit 116.

Even in such a configuration, the f-axis limit processing unit 303 uses the f-axis non-interference voltage v _{f_dcpl} for the pseudo FB voltage command value v _{f_pse_fb} that is the output value of the f-axis current pseudo F / B model 302. In order to obtain a margin for addition, the limiting process based on the power supply voltage V _dc that is negatively offset by the f-axis non-interference voltage v _{f_dcpl} , specifically, the upper limit value is “V _dc −v _{f_dcpl} ” and the lower limit value is “ The limiting process of “−V _dc −v _{f_dcpl} ” is performed.

  Next, details of the f-axis F / B compensator 202 will be described. FIG. 8 is a detailed block diagram of the f-axis F / B compensator 202. The f-axis F / B compensator 202 includes a block 801, a multiplier 802, and a subtracter 803.

A block 801 is a delay filter and performs a delay process for the dead time L of the control system. The block 801 _delays the f-axis current reference response _{if_ref} with respect to the input of the f-axis current _reference response i _{f_ref} output from the f-axis F / F compensator 201, and the f-axis current reference response _{if_ref} and the f-axis current. calculating a dead time after treatment f axis current nominal response i _{F_REF} ^'in order to match the phase of the i _f, and outputs it to the subtractor 803 provided upstream of the multiplier 802. Here, the dead time L of the control system corresponds to a control calculation delay. Block 801 is an example of a block that performs a delay step.

Subtractor 803, from the dead time processed f axis current nominal response i _{F_REF} ^'output from block 801, by subtracting the f axis current i _f which is output from the A / D converter 107 calculates the subtraction result.

Multiplier 802 calculates f-axis F / B compensation voltage v _{f_fb} by multiplying f-axis F / B gain K _f by using the subtraction result in subtractor 803 as an input, and calculates f-axis F / B compensation voltage v _{f_fb.} Is output to the adder 205. The f-axis F / B gain _Kf is determined by adjusting the experiment so that the stability such as the gain margin and the phase margin satisfies a predetermined standard.

With this configuration, the f-axis F / B compensator 202 calculates the f-axis F / B compensation voltage v _{f_fb} based on the f-axis current _if .

  FIG. 9 is a detailed block diagram of the f-axis robust compensator 203. The f-axis robust compensator 203 includes a block 901, a block 902, a block 903, and a subtracter 904.

Block 901 calculates the first f-axis voltage estimated value v _{F_est1} filtering process on the input of the f-axis current i _f which is output from the A / D converter 107, the f-axis voltage estimated value v _{F_est1} The result is output to the subtracter 904. The block 901 is a delay filter having a characteristic of (L _f ^′ · s + R _f ) / (τ _{h_f} · s + 1) including the low-pass filter 1 / (τ _h — _f · s + 1) of the block 903 described later.

Block 902 is the same delay filter as block 801. The block 902 _delays the first f-axis voltage command value v _{f_dsh} output from the f-axis limit processing unit 204 by a dead time L that the control system has to provide a second f-axis voltage estimated value v _{f_est2.} Is calculated. Then, the block 902 outputs the second f-axis voltage estimated value v _{f_est2} to the block 903.

Block 903 is a low-pass filter having a characteristic of 1 / (τ _h — _f · s + 1). The block 903 performs low-pass filtering on the second f-axis voltage estimated value v _{f_est2} output from the block 902, and calculates a third f-axis voltage estimated value v _{f_est3} . Then, the block 903 outputs the third f-axis voltage estimated value v _{f_est3} to the subtractor 904.

The subtractor 904 calculates the f-axis robust compensation voltage v _{f_rbst} to the adder 206 by subtracting the first f-axis voltage estimated value v _{f_est1} from the third f-axis voltage estimated value v _{f_est3} .

As described above, the first f-axis voltage command value v _{f_dsh} is subjected to the processing of the block 901 that is a delay filter and the block 903 that is the low-pass filter, and the first f-axis based on the measurement value. by subtracting the estimated voltage value _v f_est1, f-axis robust compensation voltage v _{F_rbst} for further improving the stability it is calculated.

  FIG. 10 is a flowchart showing the control processing of the motor 101 shown in FIGS. These controls are performed by the controller executing a predetermined program.

In step S <b> 1, current values (u-phase current i _us , v-phase current i _vs , and f-axis current i _f ) are acquired by the A / D converter 107. The pulse counter 110 acquires the electrical angle θ _re based on the ABZ-phase pulse detected by the magnetic pole position detector 109.

In step S2, the angular velocity calculator 111 calculates the motor rotational speed ω _rm and the electrical angular velocity ω _re that are mechanical angular velocities based on the electrical angle θ _re calculated in step S1.

In step S <b> 3, the prefetch compensation unit 112 calculates the preread compensation post-compensation electrical angle θ _re ^′ based on the electrical angle θ _re calculated in step S <b> 2.

In step S4, the three-phase / dq AC coordinate converter 108 determines the d-axis current i _d and the q-axis current i _q based on the u-phase current i _u and the v-phase current i _v calculated in step S1. Is calculated.

In step S5, the current command value calculator 113, in addition to the motor rotation speed ω _rm calculated in step S2, in accordance with the torque command value T ^* calculated by the host device and the power supply voltage V _dc , The d-axis current command value i _d ^* , the q-axis current command value i _q ^* , and the f-axis current command value i _f ^* are calculated.

In step S6, the d-axis current control unit 114, the q-axis current control unit 115, and the f-axis current control unit 116 _perform the first d-axis voltage command value v _{d_dsh} , the d-axis current reference response i _{d_ref} , and the d-axis current. The differential value s · _{id_ref} of the _reference response, the first q-axis voltage command value v _{q_dsh} , the q-axis current reference response i _{q_ref} , the first f-axis voltage command value v _{f_dsh} , the f-axis current reference response i _{f_ref} , and A differential value s · i _{f — ref} of the f-axis current reference response is calculated.

In step S7, the non-interference control unit 117 determines the electrical angular velocity ω _re calculated in step S2, the d-axis current reference response i _{d_ref} calculated in step S6, the differential value s · i _{d_ref of} the d-axis current reference response, Non-interference voltages v _{d_dcpl} , v _{q_dcpl} , and v _{f_dcpl} are calculated according to the q-axis current reference response i _{q_ref} , the f-axis current reference response i _{f_ref} , and the differential value s · i _{f_ref} of the f-axis current reference response.

In step S8, the second voltage command value calculator 118 calculates the first d-axis voltage command value v _{d_dsh} , the first q-axis voltage command value v _{q_dsh} , and the first f calculated in step S6. for each axis voltage value v _{F_dsh,} non-interference voltage v _{D_dcpl} to step S7 is calculated, v _{Q_dcpl,} and, v _{F_dcpl} by adding the second d-axis voltage command value v _d ^*, a second The q-axis voltage command value v _q ^* and the second f-axis voltage command value v _f ^* are calculated.

In step S9, the dq / 3-phase AC coordinate converter 119 receives the second d-axis voltage command value v _d ^* , the second q-axis voltage command value v _q ^* calculated in step S8, and By performing a coordinate change process on the second f-axis voltage command value v _f ^* , voltage command values v _u ^* , v _v ^* , v _w ^* of each phase of uvw are calculated.

In this way, the controller generates a command value for controlling the motor 101 by executing the processes of steps S1 to S9. Among the generated command values, the voltage command values v _u ^* , v _v ^* , v _w ^* calculated in step S 9 are the stator side of the motor 101 via the PWM converter 102 and the inverter 103. Applied to the winding. The second f-axis voltage command value v _f ^* calculated in step S8 is applied to the rotor-side winding of the motor 101 via the f-axis current output unit 105. In this way, rotation control of the motor 101 is performed.

Next, the effect derived by this embodiment is demonstrated using FIG. 11A and 11B. As described above, the f-axis voltage v _f is output at the f-axis current output unit 105 using the power supply voltage V _dc of the DC power supply 104. Therefore, when the second f-axis voltage command value v _f ^* exceeds the power supply voltage V _dc , the f-axis voltage v _f is saturated with the power supply voltage V _dc as the upper limit value. 11A and 11B show a case where the second f-axis voltage command value v _f ^* does not exceed the power supply voltage V _dc .

11A and 11B, the current command value is indicated by a broken line. In the f-axis F / F compensator 201 as in the present embodiment, the current value in the configuration in which pseudo F / B control is performed in which the f-axis current reference response _{if_ref} is negatively _fed back instead of the measured value is indicated by a solid line. . As a comparative example, the current value in the case where the F / B control in which the measured value is negatively fed back is performed is indicated by a one-dot chain line.

  In the present embodiment, the d, q, and f axis current reference responses are omitted because they are substantially the same as the current values indicated by the solid lines. In the comparative example, the d, q, and f axis current normative responses are substantially the same as the current values indicated by the alternate long and short dash lines, and thus the description is omitted. In the present embodiment, it is assumed that the gain of the f-axis F / B compensator 202 is set so that the stability is equivalent to that of the comparative example.

In FIG. 11A (i), the vertical axis represents the d-axis current i _d , in FIG. 11A (ii) the vertical axis represents the q-axis current i _q , and in FIG. 11A (iii) the vertical axis represents the f-axis current i Indicates _f . Moreover, in FIG. 11A (i)-(iii), a horizontal axis shows time passage.

At time t1, torque command value T ^* is applied stepwise. With the step application of the torque command value T ^* , as shown in FIGS. 11A (i) to (iii), the d-axis current command value i _d ^* , the q-axis current command value i _q ^* , and the f-axis current Command value i _f ^* is applied stepwise.

At time t2, in both the present embodiment and the comparative example, the d-axis current i _d , the q-axis current i _q , and the f-axis current _if are respectively the current command value (d-axis current command value i _d ^* , Q-axis current command value i _q ^* and f-axis current command value i _f ^* ) are converged to the target. Here, if both are compared, in the comparative example shown by the alternate long and short dash line, since the decrease in stability due to F / B is compensated by the decrease in F / B gain, the response of convergence is slow. On the other hand, in the present embodiment indicated by the solid line, since the pseudo F / B control is performed, the gain can be set in the f-axis F / F compensator 201 so as to satisfy a desired response. As a result, convergence responsiveness can be accelerated. Then, the current value converges to the current command value at time t4 after time t3.

11B (i) to (iii), FIG. 11B (i) shows the d-axis voltage v _d , FIG. 11B (ii) shows the q-axis voltage v _q , and FIG. 11B (iii) shows the f-axis voltage v Indicates _f .

As shown in these drawings, in each of the d-axis voltage v _d , the q-axis voltage v _q , and the f-axis voltage v _f , the present embodiment indicated by the solid line is more than the comparative example indicated by the alternate long and short dash line. Fast response. Thus, in this embodiment, even if the gain of the f-axis F / B compensator 202 is set so that the stability is the same as that of the comparative example, the f-axis current pseudo F / B model 302 is provided. By providing the shaft F / F compensator 201, the responsiveness can be accelerated.

12A and 12B show a case where the second f-axis voltage command value v _f ^* exceeds the power supply voltage V _dc . The solid line has all the configurations of the present embodiment, that is, the f-axis current pseudo F / B model 302, the f-axis limit processing unit 303 shown in FIGS. 6 and 7, and As shown in FIG. 8, the f-axis F / B compensator 202 shows a case where the dead time L of the control system is considered by the delay filter as shown in a block 801. As an example of a dot-and-dash line, an example having only the f-axis current pseudo F / B model 302 is shown.

  In the comparative example, the current normative responses of the d and q axes substantially coincide with the current value indicated by the alternate long and short dash line. The f-axis current reference response is indicated by a two-dot chain line and does not coincide with the current value.

When the torque command value T ^* is applied stepwise at time t1, as shown in FIGS. 12A (i) to (iii), the d-axis current command value i _d ^* and the q-axis current command value i _q ^*. , And the f-axis current command value i _f ^* is applied stepwise.

In this case, as shown in FIG 12B (iii), in both the comparative example and the present embodiment, the f-axis voltage v _f by f-axis voltage v _f reaches the power supply voltage V _dc saturated.

Referring to FIG. 12A (iii), as shown by the alternate long and short dash line, in the comparative example in which the saturation of the f-axis voltage v _f is not considered, the responsiveness to the command value of the f-axis current _if is lowered. Therefore, the f-axis current i _f shown by a chain line, lowers followability to f axis current nominal response i _{F_REF} indicated by two-dot chain line.

In order to avoid a decrease in stability, the non-interference control unit 117 uses a current reference response instead of an actual current value flowing through the motor 101 for calculation of the non-interference voltage. The followability of the f-axis current _{if to} the f-axis current normative response _{if_ref} is reduced, so that the interference component is not sufficiently canceled, and the non-interference control performance is deteriorated. For this reason, as shown in FIG. 12A (ii), an overshoot of the q-axis current i _q occurs.

On the other hand, in the present embodiment indicated by the solid line, the saturation of the f-axis voltage v _f is considered in the f-axis current control unit 116 in the previous stage of the non-interference control unit 117. Therefore, it is possible to improve the responsiveness of the f-axis current i _f that is generated using up a supply voltage V _dc, followability to f axis current nominal response i _{F_REF} of f-axis current i _f increases. Therefore, since the performance degradation of non-interference control can be suppressed, the currents (i _d , i _q , and i _f ) of each axis can be controlled without impairing the current responsiveness such as overshoot and undershoot. .

In addition, for each current of each axis, the F / F compensator (the f-axis F / F compensator 201 in the f-axis) mainly uses the current command values ( _id ^* , _iq ^* , and , I _f ^* ), the first voltage command values (v _{d_dsh} , v _{q_dsh} , v _{f_dsh} ) for following the current reference response without a steady deviation are calculated. On the other hand, the F / B compensator (f-axis F / B compensator 202 in the f-axis) is used to correct disturbance factors such as parameter errors. For this reason, in the F / F compensator that does not contribute to stability, it is possible to set a gain that achieves desired responsiveness. Therefore, it is not necessary to reduce the gain in order to ensure stability, and a decrease in responsiveness can be suppressed.

  According to the present embodiment, the following effects can be obtained.

  In the control method of the winding field type motor 101 of the present embodiment, the non-interference control unit 117 is provided so that the influence of the voltage on the d-axis and the q-axis need not be considered in the control of the f-axis. Therefore, it can be controlled as a simple first-order lag system.

In this control method, in the f-axis F / F compensator 201 (f-axis current control step) included in the f-axis current controller 116, the f-axis current pseudo F / B model 302 is calculated by the current command value calculator 113. The pseudo FB voltage command value v _{f_pse_fb} is calculated by performing pseudo F / B control using a negative feedback current on the f-axis current command value i _f ^* (pseudo F / B step). The f-axis limit processing unit 303 outputs the f-axis F / F compensation voltage v _{f_ff} by limiting the pseudo FB voltage command value v _{f_pse_fb} (limit step). The f-axis current model 301 which is a norm response processing unit uses the norm response model that models the response from the f-axis voltage to the f-axis current with respect to the f-axis F / F compensation voltage v _{f_ff} . Response _{if_ref} is calculated (normative response processing step).

In this configuration, in the f-axis current pseudo F / B model 302, the negative feedback current used for the pseudo F / B is the f-axis current normative response _{if_ref} calculated by the f-axis current model 301. Therefore, in the f-axis current pseudo F / B model 302, not the F / B control in which the measured f-axis current _if is negative feedback, but the f-axis current reference response _{if_ref} is negative feedback. F / B control is performed. In the f-axis current pseudo F / B model 302, since F / B control is not performed, it is not necessary to reduce the gain in consideration of stability, and a gain satisfying a desired response can be set. Therefore, stability can be ensured without sacrificing responsiveness.

Furthermore, by providing the f-axis limit processing unit 303, saturation characteristics due to the power supply voltage V _dc are considered in the f-axis voltage v _f in the f-axis current output unit 105. Therefore, even when the f-axis voltage v _f is saturated with the power supply voltage V _dc , the saturation is modeled by the f-axis limit processing unit 303, and thus is output from the f-axis F / F compensator 201. the control using the f-axis F / F compensation voltage _v f_ff, followability of the f-axis current nominal response i _{F_REF} of f-axis current i _f is improved. With the improvement of the follow-up of the f-axis current nominal response i _{F_REF,} reduction of non-interference control performance in the non-interference control section 117 using the f axis current nominal response i _{F_REF} is suppressed.

In the control method of the winding field type motor 101 of the present embodiment, the f-axis limit processing unit 303 performs f-axis with respect to the pseudo FB voltage command value v _{f_pse_fb} as shown in FIGS. Limiting processing based on the power supply voltage V _dc offset by the f-axis non-interference voltage v _{f_dcpl} is _performed with a margin for adding the non-interference voltage v _{f_dcpl} . In the limiting process, specifically, the upper limit value is limited to “V _dc −v _{f_dcpl} ” and the lower limit value is limited to “−V _dc −v _{f_dcpl} ”, and the limited first f-axis voltage command value v _{f_dsh} is output. Is done.

With this configuration, when the f-axis non-interference voltage v _{f_dcpl} is added by the second voltage command value calculation unit 118 in the _subsequent stage of the f-axis current control unit 116 having the f-axis limit processing unit 303. Since the upper limit value of the second f-axis voltage command value v _f ^* after the addition is limited to “V _dc ” and the lower limit value to “−V _d ”, the f-axis current output unit 105 uses the power supply voltage V _It is possible to generate the f-axis voltage v _f by making maximum use of _dc .

In the control method of the winding field type motor 101 of the present embodiment, the f-axis current control unit 116 further includes an f-axis F / B compensator 202 (F / B compensation step). As shown in FIG. 8, the f-axis F / B compensator 202 includes a multiplier 802 and a subtracter 803 that multiply the f-axis F / B gain K _f .

In the subtractor 803, the f-axis current _if is negatively _fed back (subtracted) from the f-axis current reference response _{if_ref} calculated in the f-axis current model 301 (reference response processing step) of the f-axis F / F compensator 201. The multiplier 802 multiplies the subtraction result by the f-axis F / B gain K _f to perform F / B control, _thereby calculating the f-axis F / B compensation voltage v _{f_fb} . As shown in FIG. 2, in the adder 205, the f-axis F / B compensation voltage v _{f_fb} is calculated by the f-axis F / F compensation calculated by the f-axis current model 301 of the f-axis F / F compensator 201. It is added to the voltage v _{f_ff} (addition step). Further, a first f-axis voltage command value v _{f_dsh} is obtained based on the addition result.

By providing the f-axis F / B compensator 202 in addition to the f-axis F / F compensator 201, disturbance factors such as parameter errors can be corrected. Since the f-axis F / B compensator 202 uses the f-axis current reference response i _{f_ref} in consideration of the saturation characteristics of the f-axis voltage v _f output from the f-axis current model 301, it is more than necessary. Thus, it is possible to prevent the F / B control from operating and inducing overshoot or undershoot of the f-axis current _if .

As shown in FIG. 8, the f-axis F / B compensator 202 performs a delay process in consideration of the delay time of the control system on the f-axis current reference response _{if_ref} by the block 801. As described above, the f-axis F / B compensation voltage can be calculated using the f-axis current reference response in consideration of the dead time of the control system, so that the accuracy of the F / B control can be improved.

  The embodiment of the present invention has been described above. However, the above embodiment only shows a part of application examples of the present invention, and the technical scope of the present invention is limited to the specific configuration of the above embodiment. Absent.

100 motor control system 101 motor 104 DC power supply 105 f-axis current output unit 116 f-axis current control unit 117 non-interference control unit 118 second voltage command value calculation unit 201 f-axis F / F compensator 202 f-axis F / B compensation 301 f-axis current model 302 f-axis current pseudo F / B model 303 f-axis limit processing unit

Claims (5)

The d-axis and q-axis voltage command values for the stator and the f-axis voltage command value for controlling the magnetic flux in the rotor are calculated, and the rotational drive is performed based on the d-axis, q-axis, and f-axis voltage command values. A method for controlling a winding field type synchronous motor for controlling
An f-axis current command value calculating step for calculating an f-axis current command value according to the torque command value;
an f-axis current control step for calculating a first f-axis voltage command value in order to control the f-axis current acquired by the f-axis current sensor so as to follow the f-axis current command value;
an f-axis non-interference control step for calculating an f-axis non-interference voltage that cancels the interference voltage between the f-axis, the d-axis, and the q-axis;
The first f-axis voltage command value is corrected with the f-axis non-interference voltage to obtain a second f-axis voltage command value, and the rotor winding is applied according to the second f-axis voltage command value. An f-axis voltage output step for outputting an f-axis voltage to the
The f-axis current control step includes:
A pseudo F / B step for calculating a pseudo F / B voltage command value by performing pseudo F / B control based on a negative feedback current with respect to the f-axis current command value;
A limiting step of limiting the pseudo F / B voltage command value and outputting an f-axis limit voltage command value;
a normative response processing step of calculating an f-axis current normative response as the negative feedback current from the f-axis limit voltage command value using a normative response model that models a response from an f-axis voltage to an f-axis current;
And a first f-axis voltage command value calculating step for calculating the first f-axis voltage command value based on the f-axis limit voltage command value. A control method for a winding field type synchronous motor according to claim 1,
In the f-axis voltage output step, the f-axis voltage is generated based on a DC voltage supplied from a DC power supply,
A control method for a winding field type synchronous motor, wherein in the limiting step, the pseudo F / B voltage command value is limited using the DC voltage offset by the f-axis non-interference voltage. A control method for a winding field type synchronous motor according to claim 1 or 2,
The first f-axis voltage command value calculation step further includes:
F / B control voltage calculation step for calculating F / B control voltage by performing F / B control for negative feedback of the f-axis current with respect to the f-axis current reference response;
An addition step of calculating the first f-axis voltage command value by adding the F / B control voltage to the f-axis limit voltage command value.
A control method for a winding field type synchronous motor. A control method for a winding field type synchronous motor according to claim 3,
The f-axis F / B compensation step further includes:
A delay step for performing a delay process in consideration of a delay time of a control system with respect to the f-axis current reference response;
A control method for a winding field type synchronous motor. The d-axis and q-axis voltage command values for the stator and the f-axis voltage command value for controlling the magnetic flux in the rotor are calculated, and the rotational drive is performed based on the d-axis, q-axis, and f-axis voltage command values. A winding field type synchronous motor control device for controlling
The control device includes:
An f-axis current command value calculator for calculating an f-axis current command value according to the torque command value;
an f-axis current control unit for calculating a first f-axis voltage command value in order to control the f-axis current acquired by the f-axis current sensor so as to follow the f-axis current command value;
an f-axis non-interference control unit that calculates an f-axis non-interference voltage that cancels the interference voltage between the f-axis, the d-axis, and the q-axis;
The first f-axis voltage command value is corrected with the f-axis non-interference voltage to obtain a second f-axis voltage command value, and the rotor winding is applied according to the second f-axis voltage command value. And an f-axis voltage output unit that outputs an f-axis voltage.
The f-axis current controller is
A pseudo F / B model for calculating a pseudo F / B voltage command value by performing pseudo F / B control based on a negative feedback current with respect to the f-axis current command value;
A limiting unit that limits the pseudo F / B voltage command value and outputs an f-axis limit voltage command value;
a normative response processing unit that calculates an f-axis current normative response that becomes the negative feedback current from the f-axis limit voltage command value using a normative response model that models a response from an f-axis voltage to an f-axis current;
A winding field type synchronous motor control device, comprising: a first f-axis voltage command value calculation unit that calculates the first f-axis voltage command value based on the f-axis limit voltage command value.

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