JP2022030283A - Controller for controlling multi-winding motor - Google Patents

Abstract

To prevent a malfunction caused when a phase of a PWM carrier is shifted when a multi-winding motor is controlled using a plurality of inverters.SOLUTION: In a current control unit 23 provided in a control unit 10 of a control device 1, a carrier phase shift processing unit 30 sets a phase shift set value SS so as not to be the same as the phase shift set value SS in other control unit 10 and so that a timing before and after a timing with a control timing A being a reference is not coincident with an application timing B. A current correction angle processing unit 31 obtains a current correction angle φ1 corresponding to a time period from the application timing B to the control timing A. By delaying a magnetic pole position by the current correction angle φ 1, current control is performed. A voltage correction angle processing unit 32 obtains a voltage correction angle φ2 corresponding to a time period from the control timing A to the application timing B. By advancing the magnetic pole position by the voltage correction angle φ2, operation of a voltage command is performed.SELECTED DRAWING: Figure 4

Description

The present invention relates to a control device that controls a multi-winding motor in parallel, and more particularly to a control device that shifts a carrier phase to perform PWM (Pulse Width Modulation) control of an inverter.

Conventionally, a motor control system for driving one motor such as a multi-winding motor by using a plurality of inverters is known. Each of the plurality of inverters is installed corresponding to the windings constituting the multi-winding motor.

A plurality of inverters of such a motor control system are required to be operated in synchronization with the control cycle. Therefore, when the control cycles of all the inverters are synchronized, the PWM carrier used to realize the PWM control is also synchronized.

When the PWM carriers used for multiple inverters are synchronized and the gates of the IGBT (Insulated Gate Bipolar Transistor) are switched at the same time, common mode noise and leakage current are superimposed. There was a problem.

In order to solve such a problem, a method has been proposed in which the phase of the PWM carrier is shifted and controlled by 360 deg / N (N is the number of inverters (the number of windings)) for a plurality of inverters (N is the number of inverters (the number of windings)). For example, see Patent Document 1).

Further, in order to effectively suppress the telluric current flowing from the multi-winding motor side to the power supply side such as an inverter, a method of changing the phase shift amount of the PWM carrier according to the speed command has also been proposed (for example, a patent). See Document 2).

By shifting the phase of the PWM carrier in this way, the common mode noise can be dispersed and the leakage current can be reduced.

By the way, the control device used in the motor control system includes a control unit corresponding to each winding constituting the multi-winding motor, and outputs a gate signal generated by each control unit to an inverter corresponding to the winding. By doing so, control of the multi-winding motor is realized.

FIG. 13 is a diagram illustrating control timing A, application timing B, and the like in a conventional motor control system. The control timing A indicates a timing at which the control unit performs a control operation. Further, the application timing B indicates a timing for latching data input from an external sensor or the like (timing for updating the input data), and indicates a timing for outputting the data to the outside (timing for updating the output data). .. FIG. 13 shows an example of a carrier frequency f = 5 kHz (carrier cycle T = 200 μs) and a control cycle CT = 100 μs when three inverters are used, and each control unit that controls the three inverters ( Of the three control units), the signals in two control units are shown.

The upper part of FIG. 13 shows the timing of the carrier c1 and the like in the control unit of the reference master, and the lower part shows the slave control when the phase shift set value SS = 120deg indicating the phase shift amount of the carrier. The timing of the carrier c2 and the like in the section is shown.

Generally, in a control device used in a motor control system, a control calculation is performed at a control timing A common to a plurality of inverters (a plurality of windings). As the control timing A, the timing at which the polarity changes in the triangular wave of the carrier c1 used by the control unit of the master is used. In the example of FIG. 13, the control timing A is the current FB (feedback) acquisition timing, the voltage command calculation timing, and the encoder data acquisition timing for the control calculation.

In the slave control unit, the control timing A is not the carrier c2 used by the control unit, but the timing at which the polarity changes in the triangular wave of the carrier c1 used by the master control unit. At the control timing A, the voltage command calculation value a is updated.

In this way, the control timing A is determined by the carrier c1 used by the control unit of the master, and is a common timing in all the control units.

Further, in the control device, the input / output signals are applied, that is, the current FB latch and the voltage command are applied at the application timing B different from the control timing A common to the plurality of inverters. As the application timing B, the timing of the peak and valley of the triangular wave of the carrier c1 is used in the control unit of the master. Further, as the application timing B, the timing of the peak and valley of the triangular wave of the carrier c2 is used in the control unit of the slave.

In the example of FIG. 13, the application timing B is the current FB latch timing and the voltage command application timing. At the application timing B, the current FBb is latched and updated as the current FB latch b1, and the voltage command application value b2 is also updated. The current FB latch b1 is used as input data in the control calculation at the control timing A, and the voltage command application value b2 is output as data (output data) obtained by the control calculation at the control timing A.

As described above, the application timing B is independently determined by the carriers c1 and c2 used by each control unit.

The application timing B is set to the timing of the peaks and valleys of the triangular waves of the carriers c1 and c2 in order to avoid the timing at which the gate of the inverter switches and to stabilize the data such as the current FB latch b1.

In this way, the control timing A and the application timing B are periodically repeated in the carriers c1 and c2 used in each control unit.

Japanese Unexamined Patent Publication No. 63-305793 Japanese Unexamined Patent Publication No. 2018-85837

As shown in FIG. 13, the control device latches the current FBb at the application timing B to update (input) the current FB latch b1, and then at the control timing A, the updated current FB latch b1 is updated. Use to perform control operations. Further, the control device obtains the voltage command calculation value a by performing the control calculation at the control timing A, and updates the voltage command calculation value a as the voltage command application value b2 at the subsequent application timing B (output). do).

Here, when the method of Patent Document 1 (method of shifting the phase of the PWM carrier by 360 deg / N to control) is applied to the control device, or the method of Patent Document 2 (phase shift of the PWM carrier according to the speed command). It is assumed that the method of changing the amount) is applied.

In this case, depending on the phase shift set value SS that determines the phase shift amount of the carrier, the control timing A (predetermined timing based on the reference) and the application timing B may match in the slave control unit.

When the control timing A and the application timing B match, the control device uses the current FB latch b1 updated at the application timing B of the same timing in the control operation of the control timing A, or the application timing one scan before. The current FB latch b1 updated in B may be used.

Further, at the application timing B, the control device updates the voltage command calculation value a controlled and calculated at the control timing A at the same timing as the voltage command application value b2, or controls at the control timing A one scan before. The calculated voltage command calculation value a is updated as the voltage command application value b2.

As described above, depending on the timing, the control may become unstable and a malfunction may occur, such as processing using the same scan data or processing using the data one scan before.

Therefore, the present invention has been made to solve the above-mentioned problems, and an object thereof is to prevent a malfunction that occurs when the phase of a PWM carrier is shifted when controlling a multi-winding motor using a plurality of inverters. The purpose is to provide a control device for prevention.

In order to solve the above problem, the control device according to claim 1 includes a plurality of control units and a plurality of power units corresponding to the plurality of control units, and controls one of the plurality of control units. A unit is used as a master, a carrier used by the master is used as a reference phase carrier, a timing at which the polarity of the reference phase carrier changes is set as a control timing A common to the plurality of control units, and each of the plurality of control units has a common control timing A. It is assumed that the timing of the peaks and valleys of the carrier to be used is the application timing B, the control timing A and the application timing B are repeated in the carrier, and each of the plurality of control units is in the application timing B. , The value of the current flowing through the multi-winding motor is latched as a current feedback, and at the control timing A after the application timing B, the predetermined d-axis current command id * and the predetermined q-axis current command iq * are latched. The d-axis voltage command vd * and the q-axis voltage command vq * are controlled by controlling the current so that the deviations between the d-axis current feedback id and the q-axis current feedback iq obtained from the current feedback are zero. Is generated, and the PWM gate signal is based on the three-phase AC voltage commands Vu, Vv, Vw obtained from the d-axis voltage command vd * and the q-axis voltage command vq *, and the carrier used by the control unit. G is generated, the gate signal G is output at the application timing B after the control timing A, and each of the plurality of power units is output by the control unit corresponding to the power unit. In a control device that drives an inverter corresponding to the power unit based on the gate signal G and controls the multi-winding motor in parallel, each of the plurality of control units is provided before and after the control timing A. A carrier phase shift processing unit that sets a phase shift set value SS indicating a phase shift amount with respect to the reference phase carrier so that the predetermined dead band and the application timing B do not match, and the carrier with respect to the reference phase carrier. A carrier phase-shifted by the phase-shift set value SS set by the phase-shift processing unit is generated, and the gate signal G is generated based on the three-phase AC voltage commands Vu, Vv, Vw and the phase-shifted carrier. It is characterized by having a PWM unit and a PWM unit.

Further, in the control device according to claim 2, in the control device according to claim 1, the carrier phase shift processing unit sets a preset carrier frequency to f, and sets the number of motor windings of the multi-winding motor to N. The basic shift calculation unit for calculating the basic shift value SF and the basic shift calculation unit using the formula: (360 / N) × n, where n is the winding position of the multi-winding motor controlled by the control unit. When it is determined that the basic shift value SF calculated by When the angle outside the dead band region is set as the phase shift set value SS and it is determined that the basic shift value SF is not within the dead band region, the basic shift value SF is set to the above. It is characterized by including a shift setting processing unit for setting as a phase shift setting value SS.

Further, in the control device according to claim 1, each of the plurality of control units further corresponds to the time between the application timing B and the control timing A in the control device according to the third aspect. The current correction angle φ1 obtained by the current correction angle processing unit is subtracted from the angle of the magnetic pole position of the multi-winding motor and the current correction angle processing unit for obtaining the current correction angle φ1, and the electric angle θ1 is obtained. And a first coordinate conversion unit that coordinates-converts the latched current feedback into the d-axis current feedback id and the q-axis current feedback iq based on the subtractor obtained by the subtractor. It is characterized by having.

Further, the control device according to claim 4 is the control device according to any one of claims 1 to 3, wherein each of the plurality of control units further performs from the control timing A to the application timing B. The voltage correction angle processing unit for obtaining the voltage correction angle φ2 corresponding to the time between them, and the voltage correction angle φ2 obtained by the voltage correction angle processing unit for the angle of the magnetic pole position of the multi-winding motor. Based on the adder that adds and obtains the electric angle θ2 and the electric angle θ2 obtained by the adder, the d-axis voltage command vd * and the q-axis voltage command vq * are given to the three-phase AC voltage command Vu, It is characterized by having a second coordinate conversion unit that converts coordinates to Vv and Vw.

As described above, according to the present invention, when controlling a multi-winding motor using a plurality of inverters, it is possible to prevent a malfunction that occurs when the phase of the PWM carrier is shifted.

It is an overall view which shows the structural example of the motor control system including the control device by embodiment of this invention. It is a block diagram which shows the structural example of the control part of a master. It is a block diagram which shows the configuration example of the control part of a slave. It is a block diagram which shows the structural example of a current control part. It is a figure explaining the dead band. It is a block diagram which shows the structural example of the carrier phase shift processing part of 1st example. It is a figure which shows the structural example of a dead band table. It is a figure explaining the processing example of the shift setting processing part. It is a block diagram which shows the structural example of the carrier phase shift processing part of the 2nd example. It is a figure which shows the structural example of a shift table. It is a block diagram which shows the structural example of a PWM part. It is a block diagram which shows the structural example of a phase shift circuit. It is a figure explaining the control timing A, the application timing B and the like in the conventional motor control system.

Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings.
[Motor control system]
FIG. 1 is an overall view showing a configuration example of a motor control system including a control device according to an embodiment of the present invention. This motor control system includes a control device 1, a multi-winding motor 2, and an encoder 3. In FIG. 1, the description of the power supply system such as a commercial power supply, a converter, and an inverter is omitted.

The control device 1 includes control units 10-1, 10-2, ..., 10-9, and corresponding power units 11-1, 11-2, ..., 11-9. The control unit 10-1 is a master control unit, and the control units 10-2, ..., 10-9 are slave control units.

Hereinafter, the control units 10-1, 10-2, ..., 10-9 are collectively referred to as the control unit 10, and the power units 11-1, 11-2, ..., 11-9 are collectively referred to. The power unit 11 is referred to, and the slave control units 10-2, ..., 10-9 are collectively referred to as the slave control unit 10.

Further, the power units 11-1, 11-2, ..., 11-9 are input from the corresponding current sensors (not shown), and the control units 10-1, 10-2, ..., 10-9 are input. U-phase output currents iu1, iu2, ..., iu9 and W-phase output currents iw1, iw2, ..., Input from the corresponding power units 11-1, 11-2, ..., 11-9, respectively. iw9 is generically referred to as U-phase output current iu and W-phase output current iw (collectively, output current iu, iw). The output currents iu and iw indicate the feedback values of the current flowing through the multi-winding motor 2.

Further, the gate signals G1, G2, which are output to the power units 11-1, 11-2, ..., 11-9 corresponding to each of the control units 10-1, 10-2, ..., 10-9, respectively. ..., G9 is collectively called the gate signal G.

Further, the three-phase AC voltages e1 *, e2 *, ..., E9 *, which are output to the multi-winding motor 2 by each of the power units 11-1, 11-2, ..., 11-9, are generically referred to. It is called a three-phase AC voltage e *. Note that FIG. 1 shows a configuration directly related to the present invention, and a configuration not directly related to the present invention is omitted.

The control unit 10 vector-controls the windings of the multi-winding motor 2 (here, the 9-winding motor) corresponding to the control unit 10 on the d-axis and the q-axis. The control unit 10 generates a d-axis voltage command vd * and a q-axis voltage command vq * by controlling the current of the d-axis current command id * and the q-axis current command iq *, and converts these into coordinates to perform three-phase. Generates AC voltage commands Vu, Vv, Vw.

The control unit 10 obtains a phase shift set value SS indicating the phase shift amount of the carrier c according to a predetermined condition.

The control unit 10 shifts the phase of the carrier c based on the phase shift set value SS, generates a gate signal G based on the carrier c after the phase shift and the three-phase AC voltage commands Vu, Vv, and Vw, and generates a gate signal G. G is output to the corresponding power unit 11.

The master control unit 10-1 inputs encoder data to be described later from the encoder 3 and generates a magnetic pole position and a torque command based on the encoder data. Then, the control unit 10-1 outputs a synchronization signal, a magnetic pole position, a torque command, and the like to the control unit 10-2.

The control unit 10-2 inputs a synchronization signal, a magnetic pole position, a torque command, and the like from the control unit 10-1, and outputs these data to the control unit 10-3. In this way, the slave control unit 10 inputs these data from the slave control unit 10 on the left side and outputs them to the control unit 10 on the right side. The synchronization signal is used to determine the operation start timing of the current control unit 23, which will be described later, the control timing A common to all the control units 10, the independent application timing B and the like in all the control units 10.

In the embodiment of the present invention, when the slave control unit 10 sets the phase shift set value SS, the control timing A and the control timing A shown in FIG. 13 and the carrier c after the phase shift based on the phase shift set value SS are used. Make sure that the application timing B does not match. Specifically, the slave control unit 10 sets the phase shift set value SS so that the predetermined timing before and after the control timing A and the application timing B do not overlap.

Further, in the embodiment of the present invention, the control unit 10 inputs the output currents iu and iw to latch when generating the gate signal G using the carrier c after the phase shift based on the phase shift set value SS. In order to consider the time from the application timing B to the control timing A in which the current control calculation is actually performed by obtaining the d-axis current feedback id and the q-axis current feedback iq from the output currents iu and iw. Current control is performed by delaying the magnetic pole position.

Further, in the embodiment of the present invention, when the control unit 10 generates the gate signal G by using the carrier c after the phase shift based on the phase shift set value SS, the d-axis voltage command vd * and the q-axis voltage In order to consider the time from the control timing A that calculates the three-phase AC voltage commands Vu, Vv, Vw from the command vq * to the application timing B at which the output is actually performed, the magnetic pole position is advanced by that time. As a result, the three-phase AC voltage commands Vu, Vv, and Vw are calculated.

The power unit 11 inputs a gate signal from the corresponding control unit 10 and switches the DC bus voltage of the inverter based on the gate signal to generate a three-phase AC voltage e *, and a large number of three-phase AC voltages e *. It is supplied to the winding motor 2.

The encoder 3 generates a pulse signal corresponding to the rotation of the multi-winding motor 2 as encoder data. Speed feedback, which is the rotation speed of the encoder 3, can be obtained from the count value of the encoder data.

[Control unit 10-1]
Next, the master control unit 10-1 shown in FIG. 1 will be described. FIG. 2 is a block diagram showing a configuration example of the master control unit 10-1. The control unit 10-1 includes a magnetic pole position calculation unit 20, a speed control unit 21, a master synchronous communication unit 22-1, and a current control unit 23. The master synchronous communication unit 22-1 and the slave synchronous communication unit 22-2 shown in FIG. 3 to be described later are collectively referred to as a synchronous communication unit 22.

The magnetic pole position calculation unit 20 inputs encoder data from the encoder 3 and obtains the magnetic pole position of the multi-winding motor 2 based on the encoder data. Then, the magnetic pole position calculation unit 20 outputs the magnetic pole position to the synchronous communication unit 22-1.

The speed control unit 21 inputs encoder data from the encoder 3 so that the difference between the preset speed command and the speed obtained from the encoder data (rotational speed of the multi-winding motor 2) becomes 0. The torque command is obtained, and the torque command is output to the synchronous communication unit 22-1.

The synchronous communication unit 22-1 of the master inputs the magnetic pole position from the magnetic pole position calculation unit 20, and also inputs the torque command from the speed control unit 21. Then, the synchronous communication unit 22-1 outputs a predetermined synchronization signal and data such as a magnetic pole position and a torque command to the slave synchronous communication unit 22-2 shown in FIG. 3 to be described later. Further, the synchronous communication unit 22-1 outputs the magnetic pole position and the torque command to the current control unit 23.

The current control unit 23 inputs the magnetic pole position and the torque command from the synchronous communication unit 22-1, and inputs the output currents iu1 and iw1 from the corresponding power unit 11-1. Then, the current control unit 23 converts the torque command into the q-axis current command iq * and converts the output currents iu1 and iw1 into coordinates to generate the d-axis current feedback id and the q-axis current feedback iq.

The current control unit 23 generates a gate signal G1 by performing vector control on the d-axis and the q-axis using the q-axis current command iq * and the q-axis current feedback iq based on the magnetic pole position, and the gate signal G1. Is output to the corresponding power unit 11-1. The details of the current control unit 23 will be described later.

[Control unit 10-2]
Next, the slave control unit 10-2 shown in FIG. 1 will be described. FIG. 3 is a block diagram showing a configuration example of the slave control unit 10-2. The control unit 10-2 includes a slave synchronous communication unit 22-2 and a current control unit 23. The configuration of the control unit 10-2 and the configurations of the control units 10-3, ..., 10-9 are the same.

The slave synchronous communication unit 22-2 inputs data such as a synchronization signal, a magnetic pole position, and a torque command from the master synchronous communication unit 22-1 shown in FIG. Then, the synchronous communication unit 22-2 outputs the input synchronous signal and data such as the magnetic pole position and the torque command to the synchronous communication unit 22-3 provided in the control unit 10-3. Further, the synchronous communication unit 22-2 outputs the magnetic pole position and the torque command to the current control unit 23.

The current control unit 23 has the same configuration as the current control unit 23 shown in FIG. 2, and performs the same processing. The details of the current control unit 23 will be described later.

As described above, the synchronization signal and the data such as the magnetic pole position and the torque command are output from the master synchronization communication unit 22-1 to the slave synchronization communication unit 22-2. As a result, all the control units 10 hold the synchronization signal and data such as the magnetic pole position and the torque command.

Then, the control unit 10 determines the operation start timing of the current control unit 23 based on the synchronization signal, and generates the carrier c phase-shifted by the phase shift set value SS. Further, the control unit 10 determines the timing at which the polarity of the triangular wave of the carrier c1 generated by the master control unit 10-1 changes as the common control timing A based on the synchronization signal. Further, the control unit 10 determines the timing of the peaks and valleys of the triangular wave in the carrier c generated by the control unit 10 as the application timing B.

[Current control unit 23]
Next, the current control unit 23 shown in FIGS. 2 and 3 will be described. FIG. 4 is a block diagram showing a configuration example of the current control unit 23.

The current control unit 23 includes a carrier phase shift processing unit 30, a current correction angle processing unit 31, a voltage correction angle processing unit 32, subtractors 33, 38, 39, adders 34, 43, 44, and a coordinate conversion unit 35. , 45, d-axis current command generator 36, torque command converter 37, d-axis current controller 40, q-axis current controller 41, non-interference compensation controller 42, and PWM unit 46.

The carrier phase shift processing unit 30 sets the phase shift setting value SS corresponding to the phase shift amount with respect to the carrier c generated by the PWM unit 46 arbitrarily or by a predetermined process so as to satisfy the following conditions. Specifically, the carrier phase shift processing unit 30 is set so as not to be the same as the phase shift set value SS in the other control units 10, and before and after the control timing A common to all the control units 10 is used as a reference. The phase shift set value SS is set so that the predetermined timing of the above and the application timing B, which is the timing of the peaks and valleys of the carrier c generated by the PWM unit 46, do not match.

The carrier phase shift processing unit 30 outputs the phase shift set value SS to the current correction angle processing unit 31, the voltage correction angle processing unit 32, and the PWM unit 46. The details of the carrier phase shift processing unit 30 will be described later.

The current correction angle processing unit 31 inputs the phase shift set value SS from the carrier phase shift processing unit 30. Then, the current correction angle processing unit 31 obtains the d-axis current feedback id and the q-axis current feedback iq using the latched output currents iu and iw from the application timing B in which the output currents iu and iw are input and latched. The time until the control timing A for performing the current control calculation is obtained. The current correction angle processing unit 31 obtains the current correction angle φ1 corresponding to the time, and outputs the current correction angle φ1 to the subtractor 33.

In this case, the current correction angle processing unit 31 specifies the application timing B based on the synchronization signal and the phase shift set value SS, specifies the control timing A based on the synchronization signal, and from the application timing B to the control timing A. Find the time between.

As a result, in the subtractor 33 described later, the magnetic pole position can be delayed by the time between the application timing B and the control timing A. Then, at the control timing A, it is possible to realize the current control corresponding to the magnetic pole position of the application timing B before the control timing A.

This processing is performed by the current correction angle processing unit 31 of all the control units 10, respectively. This is because when the phase of the carrier c is shifted, the time between the application timing B and the control timing A changes according to the phase.

The voltage correction angle processing unit 32 inputs the phase shift set value SS from the carrier phase shift processing unit 30. Then, the voltage correction angle processing unit 32 actually outputs from the control timing A that calculates the three-phase AC voltage commands Vu, Vv, Vw from the d-axis voltage command vd * and the q-axis voltage command vq *. Find the time until timing B. The voltage correction angle processing unit 32 obtains the voltage correction angle φ2 corresponding to the time, and outputs the voltage correction angle φ2 to the adder 34.

In this case, the voltage correction angle processing unit 32 specifies the control timing A based on the synchronization signal, specifies the application timing B based on the synchronization signal and the phase shift set value SS, and from the control timing A to the application timing B. Find the time between.

As a result, in the adder 34 described later, the magnetic pole position can be advanced by the time between the control timing A and the application timing B. Then, at the control timing A, the control operation corresponding to the magnetic pole position of the application timing B after the control timing can be realized, and at the application timing B, the output processing corresponding to the magnetic pole position of the application timing B is performed. It can be realized.

This processing is performed in the voltage correction angle processing unit 32 of all the control units 10, respectively. This is because when the phase of the carrier c is shifted, the time between the control timing A and the application timing B changes according to the phase.

The subtractor 33 inputs the magnetic pole position from the synchronous communication unit 22, and also inputs the current correction angle φ1 from the current correction angle processing unit 31. Then, the subtractor 33 obtains the electric angle θ1 by subtracting the current correction angle φ1 from the angle of the magnetic pole position, and outputs the electric angle θ1 to the coordinate conversion unit 35.

As a result, the electric angle θ1 is set as the position information delayed by the current correction angle φ1 (the angle corresponding to the time between the application timing B and the subsequent control timing A in the control unit 10) with respect to the magnetic pole position. You can ask.

The adder 34 inputs the magnetic pole position from the synchronous communication unit 22, and also inputs the voltage correction angle φ2 from the voltage correction angle processing unit 32. Then, the adder 34 obtains the electric angle θ2 by adding the voltage correction angle φ2 to the angle of the magnetic pole position, and outputs the electric angle θ2 to the coordinate conversion unit 45.

As a result, the electric angle θ2 is set as the position information advanced by the voltage correction angle φ2 (the angle corresponding to the time between the control timing A and the subsequent application timing B in the control unit 10) with respect to the magnetic pole position. You can ask.

The coordinate conversion unit 35 inputs the output currents iu and iw from the corresponding power unit 11 and also inputs the electric angle θ1 from the subtractor 33, and inputs the U-phase output current iu and the W-phase output current iw to the V-phase output current iv. Ask for.

The coordinate conversion unit 35 coordinates-converts the U-phase output current iu, the W-phase output current iw, and the V-phase output current iv into the d-axis current feedback id and the q-axis current feedback iq based on the electric angle θ1. Then, the coordinate conversion unit 35 outputs the d-axis current feedback id to the subtractor 38, and outputs the q-axis current feedback iq to the subtractor 39.

As a result, the d-axis current feedback id and the q-axis current feedback are used with respect to the output currents iu and iw (latched output currents iu and iw) of the application timing B of the control unit 10 by using the electric angle θ1 of the application timing B. iq is required. The d-axis current feedback id and the q-axis current feedback iq are used in the calculation of the control timing A.

The d-axis current command generator 36 generates a d-axis current command id * by a predetermined operation, and outputs the d-axis current command id * to the subtractor 38. The torque command converter 37 inputs a torque command from the synchronous communication unit 22, converts the torque command into a q-axis current command iq * by a predetermined calculation, and outputs the q-axis current command iq * to the subtractor 39.

The subtractor 38 inputs the d-axis current command id * from the d-axis current command generator 36, and inputs the d-axis current feedback id from the coordinate conversion unit 35. Then, the subtractor 38 obtains the d-axis current deviation by subtracting the d-axis current feedback id from the d-axis current command id *, and outputs the d-axis current deviation to the d-axis current controller 40.

The subtractor 39 inputs the q-axis current command iq * from the torque command converter 37, and inputs the q-axis current feedback iq from the coordinate conversion unit 35. Then, the subtractor 39 obtains the q-axis current deviation by subtracting the q-axis current feedback iq from the q-axis current command iq *, and outputs the q-axis current deviation to the q-axis current controller 41.

The d-axis current controller 40 inputs the d-axis current deviation from the subtractor 38, and obtains the d-axis voltage command vd *'by performing current control by the PI controller so that the d-axis current deviation becomes 0. .. Then, the d-axis current controller 40 outputs the d-axis voltage command vd *'to the adder 43.

As a result, the d-axis current control is performed at the control timing A using the d-axis current feedback id delayed by the current correction angle φ1 with respect to the control timing A, and the d-axis voltage command vd *'is obtained.

The q-axis current controller 41 inputs the q-axis current deviation from the subtractor 39, and obtains the q-axis voltage command vq *'by performing current control by the PI controller so that the q-axis current deviation becomes 0. .. Then, the q-axis current controller 41 outputs the q-axis voltage command vq *'to the adder 44.

As a result, the q-axis current control is performed at the control timing A using the q-axis current feedback iq delayed by the current correction angle φ1 with respect to the control timing A, and the q-axis voltage command vq *'is obtained.

The non-interference compensation controller 42 receives the d-axis voltage command vd *'and the q-axis voltage command vq *'in known processing based on the d-axis voltage command vd *', the q-axis voltage command vq *', and the encoder data. The d-axis voltage compensation value and the q-axis voltage compensation value for compensating for the interference between the two are obtained. Then, the non-interference compensation controller 42 outputs the d-axis voltage compensation value to the adder 43, and outputs the q-axis voltage compensation value to the adder 44.

The adder 43 inputs the d-axis voltage command vd *'from the d-axis current controller 40, inputs the d-axis voltage compensation value from the non-interference compensation controller 42, and inputs the d-axis voltage compensation value to the d-axis voltage command vd *'. By adding the voltage compensation value, the non-interference compensated d-axis voltage command vd * is obtained. Then, the adder 43 outputs the d-axis voltage command vd * to the coordinate conversion unit 45.

The adder 44 inputs the q-axis voltage command vq *'from the q-axis current controller 41, inputs the q-axis voltage compensation value from the non-interference compensation controller 42, and inputs the q-axis voltage command vq *'to the q-axis voltage command vq *'. By adding the voltage compensation values, the non-interference-compensated q-axis voltage command vq * is obtained. Then, the adder 44 outputs the q-axis voltage command vq * to the coordinate conversion unit 45.

The coordinate conversion unit 45 inputs the d-axis voltage command vd * from the adder 43, the q-axis voltage command vq * from the adder 44, and further inputs the electric angle θ2 from the adder 34.

The coordinate conversion unit 45 coordinates-converts the d-axis voltage command vd * and the q-axis voltage command vq * into the three-phase AC voltage commands Vu, Vv, Vw based on the electric angle θ2, and the three-phase AC voltage commands Vu, Vv. , Vw is output to the PWM unit 46.

As a result, the three-phase AC voltage commands Vu, Vv, and Vw are obtained as the voltage commands of the application timing B advanced by the voltage correction angle φ2 with respect to the control timing A. Based on the three-phase AC voltage commands Vu, Vv, Vw and the bus voltage not shown in FIG. 4, the gate signal G is generated by the PWM section 46 in the subsequent stage, and the corresponding power section 11 in the subsequent stage produces three phases. An AC voltage e * is generated and supplied to the multi-winding motor 2.

The PWM unit 46 inputs the three-phase AC voltage commands Vu, Vv, Vw from the coordinate conversion unit 45, and inputs the phase shift set value SS from the carrier phase shift processing unit 30. Then, the PWM unit 46 generates a carrier c whose phase is shifted by the phase shift set value SS with respect to the reference phase carrier based on the synchronization signal.

The PWM unit 46 generates a PWM gate signal G according to the comparison result by comparing the amplitude of the command with the amplitude of the carrier c for each phase of the three-phase AC voltage commands Vu, Vv, and Vw. The PWM unit 46 outputs the gate signal G to the corresponding power unit 11.

[Carrier phase shift processing unit 30]
Next, the carrier phase shift processing unit 30 shown in FIG. 4 will be described in detail. As described above, in the carrier phase shift processing unit 30, the timing before and after and the application timing B based on the common control timing A are set so as not to be the same as the phase shift set value SS in the other control units 10. Set the phase shift setting value SS so that they do not match.

Before explaining the carrier phase shift processing unit 30 in detail, about the reason why the timing before and after the common control timing A is used as a reference and the application timing B do not match when the phase shift setting value SS is set. explain. The area before and after the common control timing A as a reference and which does not match the application timing B (excluding the application timing B) is defined as a dead band.

FIG. 5 is a diagram illustrating a dead band. In the example of FIG. 5, in the triangular wave of the carrier c1 of the reference phase used by the control unit 10-1 of the master, the control timing A is 90,270 deg at which the polarity changes.

The dead band is a region before and after the control timing A is used as a reference. A current dead band DBi1 and a voltage dead band DBv1 are provided before and after the 90 deg control timing A, and a current dead band DBi 2 and a voltage dead band DB v2 are provided before and after the 270 deg control timing A.

When setting the phase shift set value SS, the carrier phase shift processing unit 30 provided in the slave control unit 10 has a peak in the carrier c in which the phase shift set value SS is phase-shifted with respect to the reference phase carrier c1. And the application timing B, which is the timing of the valley, does not match the dead bands DBi1 and DBi2 for current and the dead bands DBv1 and DBv2 for voltage (set the phase shift setting value SS so as not to match).

Here, in the current control processing by the slave control unit 10, the output currents iu and iw (corresponding to the current FBb shown in FIG. 13) are latched at the application timing B and updated as information used for the current control. Ru. Then, the updated output currents iu and iw (corresponding to the current FB latch b1 shown in FIG. 13) are processed to convert an analog signal into a digital signal by the AD converter, and at the control timing A, the analog signal is converted into a digital signal. A control calculation is performed using the updated output currents iu and iw.

When the timing when the conversion process or the like elapses after the application timing B and the control timing A in which the control calculation is performed are the same, the control calculation may use the output currents iu and iw of the scan. Since the output currents iu and iw one scan before are used, the control becomes unstable.

Therefore, as shown in FIG. 5, the current dead bands DBi1 and DBi2 are provided to solve such a problem. That is, in the carrier phase shift processing unit 30 provided in the slave control unit 10, the application timing B is the dead band DBi1 and DBi2 for current in the carrier c whose phase shift is phase-shifted by the phase shift set value SS with respect to the carrier c1 of the reference phase. The phase shift setting value SS is set so as not to match with.

Further, in the calculation of the voltage command by the slave control unit 10, the three-phase AC voltage command Vu, Vv, Vw and the gate signal G (voltage command calculation shown in FIG. 13) are performed by performing the control calculation at the control timing A. (Corresponding to the value a) is obtained, and at the application timing B, the gate signal G (corresponding to the voltage command application value b2 shown in FIG. 13) is updated (output), and multiple windings are performed via the corresponding power unit 11. The motor 2 is controlled.

When the timing when a predetermined processing time elapses after the control timing A and the application timing B are the same, the control of the multi-winding motor 2 at the application timing B is the three-phase AC voltage command of the scan. The control becomes unstable because Vu, Vv, Vw and the gate signal G are used, or the three-phase AC voltage command Vu, Vv, Vw and the gate signal G one scan before are used.

Therefore, as shown in FIG. 5, such a problem is solved by providing the regions of the dead bands DBv1 and DBv2 for voltage. That is, in the carrier phase shift processing unit 30 provided in the slave control unit 10, the application timing B is the dead band DBv1 and DBv2 for voltage in the carrier c whose phase shift is phase-shifted by the phase shift set value SS with respect to the carrier c1 of the reference phase. The phase shift setting value SS is set so as not to match with.

The regions (angle region, time region) of the current dead bands DBi1 and DBi2 and the voltage deadbands DBv1 and DBv2 based on the control timing A differ depending on the carrier frequency f, the control cycle CT, and the like.

(First example / Carrier phase shift processing unit 30)
First, the carrier phase shift processing unit 30 of the first example will be described. FIG. 6 is a block diagram showing a configuration example of the carrier phase shift processing unit 30 of the first example. The carrier phase shift processing unit 30a includes a basic shift calculation unit 50, a shift setting processing unit 51, and a dead band table 52.

The basic shift calculation unit 50 has a preset carrier frequency f, a motor winding number N (= 9), and a winding position n (= 0 to 8) of the multi-winding motor 2 controlled by the control unit 10. ) Is entered. The winding position n is 0 in the case of the master control unit 10-1, and 1 to 8 in the case of the slave control units 10-2, ..., 10-9, respectively.

The basic shift calculation unit 50 divides 360 deg by the number of motor windings N using the number of motor windings N and the winding position n, and multiplies the division result by the winding position n ((360 deg / N) ×. Winding position n) is performed, and the basic shift value SF corresponding to the winding position n is obtained. Then, the basic shift calculation unit 50 outputs the basic shift value SF to the shift setting processing unit 51.

As a result, when there are N power units 11, it is possible to obtain a basic shift value SF in which the phase of each carrier c in the triangular wave is shifted by 360 / Ndeg.

The shift setting processing unit 51 inputs the basic shift value SF from the basic shift calculation unit 50, and reads dead band information from the preset dead band table 52 corresponding to the carrier frequency f, the control cycle CT, and the like. Then, the shift setting processing unit 51 determines whether or not the basic shift value SF is within the dead band region.

When the shift setting processing unit 51 determines that the basic shift value SF is within the dead band region, the shift setting processing unit 51 determines the end angle close to the basic shift value SF among the angles (two end angles) at both ends in the dead band region. select. Then, the shift setting processing unit 51 sets an angle on the selected end angle side that is outside the dead band region (for example, the angle closest to the dead band), and sets the angle as the phase shift setting value SS. It is output to the current correction angle processing unit 31, the voltage correction angle processing unit 32, and the PWM unit 46.

On the other hand, when the shift setting processing unit 51 determines that the basic shift value SF is not within the dead band region, the current correction angle processing unit 31 and the voltage correction angle processing unit 31 use the basic shift value SF as the phase shift setting value SS. Output to unit 32 and PWM unit 46.

FIG. 7 is a diagram showing a configuration example of the dead band table 52. This dead band table 52 is an example in the case of a carrier frequency f = 5 kHz and a control cycle CT = 100 μs, and information of 67 to 74 deg, 109 to 120 deg, 247 to 254 deg, and 289 to 300 deg is set as a dead band region. Has been done.

When FIG. 7 is applied in FIG. 5, the current dead band DBi1 is in the region of 67 to 74 deg, and the voltage dead band DBv1 is in the region of 109 to 120 deg. Further, the dead band DBi2 for current is in the region of 247 to 254 deg, and the dead band DBv2 for voltage is in the region of 289 to 300 deg.

FIG. 8 is a diagram illustrating a processing example of the shift setting processing unit 51. This example shows the processing of the shift setting processing unit 51 provided in the slave control unit 10-4.

In the control unit 10-4, the basic shift calculation unit 50 uses the number of motor windings N = 9 and the winding position n = 3 of the control unit 10-4 by the calculation of (360deg / 9) × 3. The basic shift value SF = 120 deg is obtained.

The shift setting processing unit 51 reads the dead band information from the dead band table 52 shown in FIG. 7, and determines that the basic shift value SF = 120 deg is within the dead band region (109 to 120 deg). Then, the shift setting processing unit 51 selects an end angle 120 deg close to the basic shift value SF = 120 deg among the two end angles (109 deg, 120 deg) in the dead band region.

The shift setting processing unit 51 sets an angle (121 deg in this example) that is an angle on the selected end angle 120 deg side and is outside the dead band region (109 to 120 deg), and sets the angle 121 deg as the phase shift setting value. Output as SS = 121deg.

In this way, as shown in FIG. 8, the phase of the carrier c4'(basic shift value SF = 120 deg) is shifted to the phase of the carrier c4 (phase shift set value SS = 121 deg). Then, the application timing B of the valley of the carrier c4 does not coincide with the region of the voltage dead band DBv1 with respect to the control timing A.

Therefore, the control of the multi-winding motor 2 at the application timing B uses the three-phase AC voltage commands Vu, Vv, Vw and the gate signal G of the scan, or the three-phase AC voltage commands Vu, Vv, Vw one scan before. And the gate signal G is not used, and the three-phase AC voltage commands Vu, Vv, Vw and the gate signal G of the scan are used, so that the control is stable.

(Second example / Carrier phase shift processing unit 30)
Next, the carrier phase shift processing unit 30 of the second example will be described. FIG. 9 is a block diagram showing a configuration example of the carrier phase shift processing unit 30 of the second example. The carrier phase shift processing unit 30b includes a shift setting processing unit 53 and a shift table 54.

The shift setting processing unit 53 has a preset carrier frequency f, a motor winding number N (= 9), and a winding position n (= 0 to 8) of the multi-winding motor 2 controlled by the control unit 10. ) Is entered. The winding position n is 0 in the case of the master control unit 10-1, and 1 to 8 in the case of the slave control units 10-2, ..., 10-9, respectively.

The shift setting processing unit 53 reads out the angle information (deg) corresponding to the number of motor windings N and the winding position n from the preset shift table 54 corresponding to the carrier frequency f, the control cycle CT, and the like. Then, the shift setting processing unit 53 outputs the read angle information as the phase shift setting value SS to the current correction angle processing unit 31, the voltage correction angle processing unit 32, and the PWM unit 46.

FIG. 10 is a diagram showing a configuration example of the shift table 54. This shift table 54 is an example in the case where the carrier frequency f = 5 kHz and the control cycle CT = 100 μs, and the angle information (deg) corresponding to the number of motor windings N and the winding position n is set.

For example, when the number of motor windings N = 9, 0 deg corresponds to the winding position n = 0, 40 deg corresponds to the winding position n = 1, 80 deg corresponds to the winding position n = 2, and the winding. 121 deg and the like are set corresponding to the position n = 3.

The angle information corresponding to the number of motor windings N = 9 and the winding position n = 3 is (360deg / 9) × 3 = 120deg from the calculation formula of ((360deg / N) × winding position n). Should be.

However, as described above, when the phase shift set value SS = 120 deg, the application timing B is one with the dead band region based on the control timing A in the control unit 10-4 corresponding to the winding position n = 3. However, the control becomes unstable.

Therefore, in order to stabilize the control, the angle information corresponding to the number of motor windings N = 9 and the winding position n = 3 is set to 121 deg.

Similarly, the application timing B is the control timing for 121 deg corresponding to the number of motor windings N = 3 and the winding position n = 1, 75 deg corresponding to the number of motor windings N = 5 and the winding position n = 1. The angle is such that it does not match the dead band area with respect to A (see the underlined part).

As described above, by using the shift table 54 shown in FIG. 10, the phase shift set value SS can be directly set, and the processing load is higher than that of the carrier phase shift processing unit 30a of the first example shown in FIG. Can be reduced.

[PWM unit 46]
Next, the PWM unit 46 shown in FIG. 4 will be described in detail. FIG. 11 is a block diagram showing a configuration example of the PWM unit 46. The PWM unit 46 includes a phase shift circuit 60 and a gate signal generation unit 61.

The phase shift circuit 60 inputs the phase shift set value SS from the carrier phase shift processing unit 30, and also inputs the preset carrier frequency f. Then, the phase shift circuit 60 uses a signal having a carrier frequency f based on the synchronization signal to generate a carrier c phase-shifted by the phase shift set value SS, and outputs the carrier c to the gate signal generation unit 61. The details of the phase shift circuit 60 will be described later.

The gate signal generation unit 61 inputs the three-phase AC voltage commands Vu, Vv, Vw from the coordinate conversion unit 45, and inputs the carrier c phase-shifted by the phase shift set value SS from the phase shift circuit 60. Then, the gate signal generation unit 61 compares the amplitude of the command with the amplitude of the carrier c for each phase of the three-phase AC voltage commands Vu, Vv, Vw, and the PWM gate signal G according to the comparison result. To generate. The PWM unit 46 outputs the gate signal G to the corresponding power unit 11.

(Phase shift circuit 60)
Next, the phase shift circuit 60 shown in FIG. 11 will be described in detail. FIG. 12 is a block diagram showing a configuration example of the phase shift circuit 60. The phase shift circuit 60 includes a rising edge determination unit 70, a falling edge determination unit 71, a carrier H shift count unit 72, a carrier L shift count unit 73, a count monitoring unit 74, 75, an up / down count control unit 76, and an up. / A down counter 77 and a carrier generation unit 78 are provided.

The rising edge determination unit 70 inputs a signal having a carrier frequency f set in advance and synchronized with the synchronization signal, detects the rising edge of the signal having a carrier frequency f, and uses the detected signal as a carrier H shift counting unit. Output to 72.

The falling edge determination unit 71 inputs a signal having a carrier frequency f set in advance and synchronized with the synchronization signal, detects the falling edge of the signal having the carrier frequency f, and shifts the detected signal to the carrier L. Output to the count unit 73.

When the carrier H shift count unit 72 inputs a detection signal from the rising edge determination unit 70, the carrier H shift count unit 72 clears the count and starts counting from the detection signal as a starting point. Then, the carrier H shift count unit 72 outputs the count value to the count monitoring unit 74.

When the carrier L shift count unit 73 inputs a detection signal from the falling edge determination unit 71, the carrier L shift count unit 73 clears the count and starts counting from the detection signal as a starting point. Then, the carrier L shift count unit 73 outputs the count value to the count monitoring unit 75.

The count monitoring unit 74 inputs the phase shift set value SS from the carrier phase shift processing unit 30, and also inputs the count value from the carrier H shift count unit 72. Then, when the input count value matches the count setting value corresponding to the phase shift setting value SS, the count monitoring unit 74 outputs a match signal to the up / down count control unit 76.

The count monitoring unit 75 inputs the phase shift set value SS from the carrier phase shift processing unit 30, and also inputs the count value from the carrier L shift count unit 73. Then, when the input count value matches the count setting value corresponding to the phase shift setting value SS, the count monitoring unit 75 outputs a match signal to the up / down count control unit 76.

The up / down count control unit 76 inputs match signals from the count monitoring units 74 and 75, respectively, and outputs an up instruction to the up / down counter 77 when the match signal from the count monitoring unit 74 is input. Further, the up / down count control unit 76 outputs a down instruction to the up / down counter 77 when the match signal from the count monitoring unit 75 is input.

When the match signals from the count monitoring units 74 and 75 are input, the up / down count control unit 76 outputs the pulse of the period signal to the carrier generation unit 78. Here, the period signal is a signal having a pulse after a time (count) of the phase shift set value SS from the timing of the rising edge or the falling edge of the signal having the carrier frequency f based on the synchronization signal.

The up / down counter 77 inputs an up instruction and a down instruction from the up / down count control unit 76, and when the up instruction is input, the count value is increased at a constant rate of increase, and when the down instruction is input, the count value is increased. Is reduced at a constant rate of decrease. Then, the up / down counter 77 outputs the count value to the carrier generation unit 78.

The carrier generation unit 78 inputs a pulse of a period signal from the up / down count control unit 76, and inputs a count value from the up / down counter 77. Then, the carrier generation unit 78 generates a carrier c phase-shifted by the phase shift set value SS with respect to the reference phase carrier based on the pulse and count value of the period signal, and outputs the carrier c to the gate signal generation unit 61. do.

As described above, according to the control device 1 of the embodiment of the present invention, the carrier phase shift processing unit 30 provided in the current control unit 23 of the control unit 10 is the same as the phase shift set value SS in the other control units 10. The phase shift setting value SS is set so that the timing does not become the same and the timing before and after the control timing A and the application timing B do not match.

The current correction angle processing unit 31 obtains the current correction angle φ1 corresponding to the time between the application timing B and the control timing A, and the subtractor 33 subtracts the current correction angle φ1 from the magnetic pole position to obtain the current. The electric angle θ1 which is the magnetic pole position delayed by the correction angle φ1 is obtained.

Thereby, at the control timing A, the current control corresponding to the magnetic pole position of the application timing B can be realized. As a result, highly accurate motor control can be realized.

The voltage correction angle processing unit 32 obtains the voltage correction angle φ2 corresponding to the time between the control timing A and the application timing B, and the adder 34 adds the voltage correction angle φ2 to the magnetic pole position to obtain a voltage. The electric angle θ2, which is the position of the magnetic pole advanced by the correction angle φ2, is obtained.

As a result, at the control timing A, the calculation of the voltage command corresponding to the magnetic pole position of the application timing B can be realized, and at the application timing B, the output processing corresponding to the magnetic pole position of the application timing B can be realized. can. As a result, highly accurate motor control can be realized.

That is, in the embodiment of the present invention, when the multi-winding motor is controlled by using a plurality of inverters, it is possible to prevent a malfunction that occurs when the phase of the PWM carrier is shifted.

Further, in the embodiment of the present invention, since the motor control can be performed by using the carriers c having different phases for each control unit 10, the common mode noise can be dispersed and the leakage current can be reduced.

Further, in the embodiment of the present invention, the electric angle phase used for the current control is generated from the encoder data. Further, the encoder data and the output currents iu and iw used for the current control calculation are acquired at the control timing A, but the latches of the output currents iu and iw are performed at the application timing B. Therefore, when the phase is shifted, the time between the application timing B and the control timing A changes, and a phase difference occurs between the acquired current and the current flowing through the motor. The current correction angle processing unit 31 performs processing for obtaining the current correction angle φ1 in consideration of this phase difference, and as a result, highly accurate current control can be realized.

The same applies to the voltage control, and the voltage correction angle processing unit 32 performs processing for obtaining the voltage correction angle φ2 in consideration of the phase difference, and as a result, highly accurate voltage control can be realized. ..

Although the present invention has been described above with reference to embodiments, the present invention is not limited to the above-described embodiment and can be variously modified without departing from the technical idea.

For example, in the above-described embodiment, the shift setting processing unit 51 of the carrier phase shift processing unit 30a shown in FIG. 6 uses the dead band table 52 to obtain the phase shift setting value SS. Therefore, the phase shift set value SS may be obtained. Further, the shift setting processing unit 53 of the carrier phase shift processing unit 30b shown in FIG. 9 uses the shift table 54 to obtain the phase shift setting value SS, but the phase shift setting value is calculated by a predetermined calculation formula. You may ask for SS.

Further, when the shift setting processing unit 51 of the carrier phase shift processing unit 30a shown in FIG. 6 determines that the basic shift value SF is within the dead band region, of the two end angles in the dead band region, An end angle close to the basic shift value SF was selected, and the phase shift set value SS was obtained. On the other hand, the shift setting processing unit 51 may randomly select one end angle from the two end angles in the dead band region and obtain the phase shift setting value SS.

1 Control device 2 Multi-winding motor 3 Encoder 10 Control unit 11 Power unit 20 Pole position calculation unit 21 Speed control unit 22 Synchronous communication unit 23 Current control unit 30 Carrier phase shift processing unit 31 Current correction angle processing unit 32 Voltage correction Angle processing unit 33, 38, 39 Subtractor 34, 43, 44 Adder 35, 45 Coordinate converter 36 d-axis current command generator 37 Torque command converter 40 d-axis current controller 41 q-axis current controller 42 Non-interference Compensation controller 46 PWM unit 50 Basic shift calculation unit 51, 53 Shift setting processing unit 52 Dead band table 54 Shift table 60 Phase shift circuit 61 Gate signal generation unit 70 Rising edge determination unit 71 Falling edge determination unit 72 Carrier H shift count Part 73 Carrier L shift Count part 74,75 Count monitoring part 76 Up / down count control part 77 Up / down counter 78 Carrier generation part f Carrier frequency N Number of motor windings n Winding position SS Phase shift set value SF Basic shift value φ1 current correction angle φ2 voltage correction angle θ electric angle id * d-axis current command iq * q-axis current command id d-axis current feedback iq q-axis current feedback iu U-phase output current iw W-phase output current iv V-phase output current vd *', vd * d-axis voltage command vq *', vq * q-axis voltage command Vu 3-phase AC voltage command (U phase)
Vv 3-phase AC voltage command (V phase)
Vw 3-phase AC voltage command (W phase)
e * 3-phase AC voltage G gate signal c, c1, c2, c4, c4'carrier

Claims (4)

A plurality of control units and a plurality of power units corresponding to the plurality of control units are provided.
A predetermined control unit among the plurality of control units is used as a master, a carrier used by the master is used as a reference phase carrier, and the timing at which the polarity of the reference phase carrier changes is common to the plurality of control units. It is assumed that the control timing A is defined as the timing of the peaks and valleys of the carrier used by each of the plurality of control units as the application timing B, and the control timing A and the application timing B are repeated in the carrier.
Each of the plurality of control units
At the application timing B, the value of the current flowing through the multi-winding motor is latched as a current feedback, and at the control timing A after the application timing B, a predetermined d-axis current command id * and a predetermined q-axis The d-axis voltage command vd * and the d-axis voltage command vd * are performed by controlling the current so that the deviations between the current command iq * and the d-axis current feedback id and the q-axis current feedback iq obtained from the latched current feedback are zero. Based on the three-phase AC voltage commands Vu, Vv, Vw obtained from the d-axis voltage command vd * and the q-axis voltage command vq *, which generate the q-axis voltage command vq *, and the carrier used by the control unit. Therefore, a PWM gate signal G is generated, and the gate signal G is output at the application timing B after the control timing A.
Each of the plurality of power units
In a control device that drives an inverter corresponding to the power unit and controls the multi-winding motor in parallel based on the gate signal G output by the control unit corresponding to the power unit.
Each of the plurality of control units
A carrier phase shift processing unit that sets a phase shift set value SS indicating a phase shift amount with respect to the reference phase carrier so that a predetermined dead band provided before and after the control timing A and the application timing B do not match. ,
With respect to the reference phase carrier, a carrier phase-shifted by the phase shift set value SS set by the carrier phase shift processing unit is generated, and the three-phase AC voltage commands Vu, Vv, Vw and the phase-shifted carrier are used. Based on this, the PWM unit that generates the gate signal G and
A control device characterized by being equipped with. In the control device according to claim 1,
The carrier phase shift processing unit is
The equation: (360 / N), where f is a preset carrier frequency, N is the number of motor windings of the multi-winding motor, and n is the winding position of the multi-winding motor controlled by the control unit. The basic shift calculation unit that calculates the basic shift value SF by × n,
When it is determined that the basic shift value SF calculated by the basic shift calculation unit is within the dead band region, any end of both ends in the dead band region is selected, and the selected end is selected. When the angle on the side of the dead band that is outside the dead band region is set as the phase shift set value SS and it is determined that the basic shift value SF is not within the dead band region, the basic A shift setting processing unit that sets the shift value SF as the phase shift setting value SS, and
A control device characterized by being equipped with. In the control device according to claim 1 or 2.
Each of the plurality of control units
Further, a current correction angle processing unit for obtaining a current correction angle φ1 corresponding to the time between the application timing B and the control timing A, and a current correction angle processing unit.
A subtractor for obtaining the electric angle θ1 by subtracting the current correction angle φ1 obtained by the current correction angle processing unit from the angle of the magnetic pole position of the multi-winding motor.
A first coordinate conversion unit that coordinates-converts the latched current feedback into the d-axis current feedback id and the q-axis current feedback iq based on the electric angle θ1 obtained by the subtractor.
A control device characterized by being equipped with. The control device according to any one of claims 1 to 3.
Each of the plurality of control units
Further, a voltage correction angle processing unit for obtaining a voltage correction angle φ2 corresponding to the time between the control timing A and the application timing B, and a voltage correction angle processing unit.
An adder that adds the voltage correction angle φ2 obtained by the voltage correction angle processing unit to the angle of the magnetic pole position of the multi-winding motor to obtain the electric angle θ2.
A second coordinate conversion that converts the d-axis voltage command vd * and the q-axis voltage command vq * into the three-phase AC voltage commands Vu, Vv, Vw based on the electric angle θ2 obtained by the adder. Department and
A control device characterized by being equipped with.

Images