JP2022034471A - AC motor control device and control method - Google Patents

Abstract

To suppress a vibration phenomenon that occurs in a control system of an AC motor driven by a power converter due to the lower resistance of the AC motor due to the high efficiency design of the AC motor, and also prevent the deterioration of the control response such as current control.SOLUTION: A drive device for an AC motor driven by a power converter includes a voltage command generation unit that generates a voltage command value for passing a desired current from a power converter to the AC motor, a current detection unit that detects the value of the current flowing through the AC motor, a stabilized voltage compensation unit that calculates the amount of voltage compensation to stabilize the drive of the AC motor with respect to the voltage command value from the detected current value, and a control gain compensation unit that compensates for the decrease in control gain of the voltage command generation unit due to the amount of the voltage compensation.SELECTED DRAWING: Figure 1

Description

The present invention relates to a control device and a control method for an AC motor used in an electric railway vehicle, an electric vehicle, an industrial inverter, a wind power generation system, a diesel generator system, and the like.

Control devices for AC motors are becoming widespread in a wide range of applications such as home appliances, industrial equipment, and infrastructure. Under such circumstances, the efficiency of the motor control system is increasing due to the increasing demand for energy saving and reduction of the environmental load, and the resistance value of the AC motor tends to be reduced as a part of the efficiency improvement of the AC motor. Further, even when the AC motor is miniaturized, a high-speed motor is often designed in order to maintain the motor output, which also tends to reduce the resistance value of the AC motor.

In this way, as the efficiency and miniaturization of AC motors increase, the resistance value of AC motors tends to become smaller and smaller. As a result, it is known that the resonance characteristic of the secondary system becomes remarkable due to the interference between the dq axes generated inside the AC motor. In particular, when the AC motor is rotating at high speed, the loop gain of the rotation frequency component of the AC motor becomes large, so that the control system tends to become unstable due to vibration of the torque and current of the AC motor.

Therefore, as the resistance of the AC motor becomes lower, the resonance characteristic of the secondary system due to the interference between the dq axes becomes remarkable, and the control system becomes unstable. As a result, excessive vibration is generated in the drive system of the AC motor due to disturbance, etc., and the equipment constituting the drive system may be damaged. Therefore, it is necessary to suppress the vibration phenomenon due to the interference between the dq axes of the AC motor. There is.

Generally, regarding the control method for suppressing the vibration phenomenon due to the interference between dq axes of an AC motor, a voltage command or a frequency command is issued so that the vibration component of the torque or current of the AC motor is detected or estimated and the phase characteristic of the vibration component is improved. A method of compensating and a method of increasing the apparent primary resistance and leakage inductance on the control side so that the equivalent primary resistance and leakage inductance of the AC motor become desired values are known. These methods are disclosed in, for example, Patent Document 1 and Patent Document 2.

In Patent Document 1, based on the detected value of the current flowing through the induction motor, the compensation value of the voltage command and the frequency command is set so that the phase characteristic of the transmission function from the rotation speed fluctuation to the torque fluctuation of the induction motor becomes -270 degrees or more. A technique for avoiding the generation of vibration of an induction motor by controlling it is disclosed.

In Patent Document 2, the current detection value of each phase flowing through the AC motor is multiplied by the value corresponding to the primary resistance value, or the differential result of the current detection value of each phase is multiplied by the value corresponding to the leakage inductance value. Is subtracted from the AC voltage command value of each phase, so that the equivalent primary resistance and leakage inductance of the AC motor can be adjusted to the desired values, and the technology to stabilize the operation of the AC motor is disclosed. There is.

Japanese Patent Application Laid-Open No. 2002-34288 Japanese Unexamined Patent Publication No. 7-107783

The technique disclosed in Patent Document 1 estimates and calculates the torque component current of the induction motor, and multiplies the torque component current passed through the high-pass filter by the gain, from the rotational speed fluctuation of the induction motor to the torque fluctuation. The voltage amplitude compensation command value and the voltage frequency compensation command value for improving the phase characteristics of the transfer function are calculated. The cutoff frequency and the set value of the proportional gain of the high-pass filter that extracts the vibration component of the torque component current are determined based on the motor constant of the induction motor. If this set value is different from the actual value, the effect of improving the phase characteristic at the mechanical resonance frequency of the load machine may be reduced, the effect of suppressing vibration may not be obtained, or the effect of promoting vibration may be promoted. In addition, vibration suppression also occurs when the influence of the calculation delay of vector control is large in the control system, or when there is another time delay element that is not reflected in the design of phase lead / delay compensation in the drive device of the AC motor. It may reduce the effect or promote vibration.

The technique disclosed in Patent Document 2 adjusts the current detection value of an AC motor using an amplifier or a differentiator and negatively feeds it to an AC voltage command to obtain an apparent primary resistance value or leakage inductance value on the control side. It is something to increase. Therefore, when the torque command or current command is changed according to the operation command of the drive device of the AC motor, the output signal of the regulator is AC so as to suppress the change of the current due to the change of the current command. Since the voltage command is compensated, there is a problem that the control response such as the current control and the speed control in the calculation of the AC voltage command is deteriorated. In addition, since the apparent primary resistance value and leakage inductance value are increased on the control side, if the AC motor constant used in the calculation of the AC voltage command is not adjusted according to the gain value of the amplifier or differentiator, AC There are problems such as a constant error between the primary resistance value and the leakage inductance value of the electric motor, a decrease in the control response for calculating the AC voltage command, and a deterioration in torque accuracy due to the current deviation.

Therefore, in view of the above problems, an object of the present invention is to provide a control device and a control method for an AC motor, which suppresses vibration due to interference between dq axes of the AC motor and prevents deterioration of the control response of vector control. Is.

In order to solve the above-mentioned problems when the AC electric motor is driven by the power converter, the AC electric motor control device according to the present invention generates a voltage command value for passing a desired current from the power converter to the AC electric motor. A voltage command generation unit, a current detection unit that detects the current value flowing through the AC motor, and a stabilized voltage compensation that calculates the voltage compensation amount for stabilizing the drive of the AC motor with respect to the voltage command value from the detected current value. It is characterized by including a unit and a control gain compensation unit that compensates for a decrease in the control gain of the voltage command generation unit due to the voltage compensation amount.

According to the present invention, stable and responsiveness is achieved by suppressing the gain of the electric angular frequency ωre component due to the interference between the dq axes of the AC motor with a simple configuration and compensating for the response delay of the current control with respect to the change of the current command. It is possible to realize high motor control.

FIG. 3 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the first embodiment. The figure which shows the definition of the coordinate system and a symbol used in the control of an AC motor. FIG. 3 is a block diagram showing a configuration example of the current command calculation unit 111 of the first embodiment. The block diagram which shows the structural example of the stabilization control unit 110 of Example 1. FIG. FIG. 3 is a block diagram showing a configuration example of the stabilization compensation calculation unit 204 of the first embodiment. The block diagram which shows the structural example of the control voltage compensation calculation unit 205 included in the stabilization control unit 110. The block diagram which shows the transfer characteristic from the voltage input to the current output including the dq axis inter-axis interference loop of a permanent magnet synchronous motor. The block diagram which shows the transfer characteristic from the voltage input to the current output including the dq axis inter-axis interference loop of the permanent magnet synchronous motor when the stabilization compensation control part 204 is added. FIG. 3 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the second embodiment. FIG. 3 is a block diagram showing a configuration example of the stabilization control unit 110b of the second embodiment. The block diagram which shows the structural example of the compensation gain calculation part 206b included in the stabilization control part 110b. The block diagram which shows the structural example of the stabilization compensation calculation unit 204b included in the stabilization control unit 110b. The block diagram which shows the structural example of the control voltage compensation calculation unit 205b included in the stabilization control unit 110b. FIG. 3 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the third embodiment. The block diagram which shows the structural example of the stabilization control unit 110c of Example 3. FIG. The block diagram which shows the structural example of the compensation gain calculation part 206c included in the stabilization control part 110c. FIG. 3 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the fourth embodiment. FIG. 3 is a block diagram showing a configuration example of the stabilization control unit 110d of the fourth embodiment. The block diagram which shows the structural example of the compensation gain calculation part 206d included in the stabilization control part 110d. FIG. 3 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the fifth embodiment. FIG. 3 is a block diagram showing a configuration example of the stabilization control unit 110e of the fifth embodiment. The block diagram which shows the structural example of the compensation gain calculation part 206e provided in the stabilization control part 110e. FIG. 3 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the sixth embodiment. FIG. 3 is a block diagram showing a configuration example of the stabilization control unit 110f of the sixth embodiment. The block diagram which shows the structural example of the compensation gain calculation part 206f included in the stabilization control part 110f. FIG. 3 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the seventh embodiment. FIG. 3 is a block diagram showing a configuration example of the vector control unit 112g of the seventh embodiment. FIG. 3 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the eighth embodiment. FIG. 3 is a block diagram showing a configuration example of the stabilization control unit 110h of the eighth embodiment. The block diagram which shows the structural example of the vibration component extraction part 207h provided in the stabilization control part 110h. The block diagram which shows the structural example of the stabilization compensation calculation unit 204h included in the stabilization control unit 110h. FIG. 3 is a block diagram showing a configuration example of an AC motor control system using a control device for an AC motor, which is a modification of the eighth embodiment. FIG. 3 is a block diagram showing a configuration example of the stabilization control unit 110i, which is a modification of the eighth embodiment. FIG. 3 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the ninth embodiment. FIG. 3 is a block diagram showing a configuration example of the voltage command calculation unit 117j of the ninth embodiment. The figure which shows the schematic structure of a part of the railroad vehicle which concerns on Example 10.

Hereinafter, Examples 1 to 10 of the present invention will be described in detail as embodiments for carrying out the present invention with reference to the drawings. In principle, the same elements are designated by the same reference numerals in all the figures. Further, the later description will be omitted for the parts having the same function. The following examples and modifications may be combined in part or in whole to the extent that they do not contradict each other.

FIG. 1 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the first embodiment. In this configuration example, the AC motor 103 to be controlled, the power converter 102 for driving the AC motor 103, the controller 101 for controlling the power converter 102, and the command generator 105 for generating the torque command Tm ^* of the AC motor 103. The phase current detection unit 121 for detecting the current flowing through the AC motor 103 and the rotation position detection unit 124 for detecting the rotor position of the AC motor 103 are provided.

The AC electric motor 103 is an electric motor controlled by AC power output from the power converter 102. In each embodiment of the present invention, the content of the invention will be described by taking the permanent magnet synchronous motor 103 as an example of the AC motor, but the present invention is applicable to all other AC motors (each of the following). In the embodiment, the AC motor 103 according to the present invention may be expressed as a permanent magnet synchronous motor 103 or simply as an AC motor 103). Further, in each embodiment of the present invention, the AC motor will be described as an example, but the effect of the present invention can be obtained even when the AC generator is the control target.

The power converter 102 is a gate driver that directly drives the input terminals 123a and 123b that supply DC power to the power converter 102, the main circuit unit 132 composed of six switching elements Supp to Swn, and the main circuit unit 132. 133, a DC resistor 134 attached for overcurrent protection of the power converter 102 and a smoothing capacitor 131 are provided. Further, the power converter 102 converts the DC power supplied from the input terminals 123a and 123b into AC power based on the gate command signal generated by the controller 101, and supplies this AC power to the AC motor 103. do.

The phase current detection unit 121 detects the alternating currents iu and iw flowing from the power converter 102 to the alternating current motor (permanent magnet synchronous motor) 103. Further, the phase current detection unit 121 is realized by, for example, a current sensor using a Hall element. The phase current detection unit 121 shown in FIG. 1 is configured to detect an alternating current by two-phase detection, but may be three-phase detection. Further, instead of using the phase current sensor, an AC current value estimated from the current value flowing through the DC resistor 134 attached for overcurrent protection of the power converter 102 may be used.

The rotation position detection unit 124 detects the rotor position (rotation angle) of the AC motor 103. The rotation position detection unit 124 is realized by, for example, a resolver, an encoder, a magnetic sensor, or the like. Further, from the detected rotation position, the vector calculation unit 112 calculates the rotation speed ωr of the AC motor 103. When controlling an AC motor such as an induction motor that does not necessarily need to detect the rotor position, the rotation position detection unit 124 may only detect the rotation speed using, for example, an encoder or the like. Further, without using a rotation position sensor or a speed sensor, the rotation speed ωr and the rotor position θd of the AC motor 103 are estimated based on the voltage command value, the current detection value, etc., and the speed sensorless or the position sensorless is used. It may be configured.

The command generator 105 is a controller located above the controller 101 that generates a torque command Tm ^* to the AC motor 103. The controller 101 controls the generated torque of the AC motor 103 based on the torque command Tm ^* of the command generator 105. As the upper controller, for example, a current controller is used when controlling the current flowing through the AC motor 103, or a speed controller or a position controller is used when controlling the rotation speed or the position. Be done. In each embodiment of the present invention, the command generator 105 operates as a torque controller because it is intended to control torque, but as a higher-level controller, a current controller, a speed controller, or a position is used. It may be configured by using a controller.

The controller 101 includes a current command calculation unit 111, a vector control unit 112, a current detection unit 113, a dq coordinate conversion unit 114, a three-phase coordinate conversion unit 115, a PWM signal controller 116, and a stabilization control unit 110.
Further, the controller 101 has a phase with the current control system based on the AC current detection values Iu and Iw, which are the detection values of the AC currents iu and iw flowing through the AC motor 103, and the torque command Tm ^* from the command generator 105. From the calculation result of the control system, a gate command signal for driving the switching element of the power converter 102 is generated and supplied to the gate driver 133 of the power converter 102.

FIG. 2 is a diagram showing definitions of coordinate systems and symbols used in the control of the AC motor 103 driven by the present invention. In each embodiment of the present invention, the AC motor 103 will be described by taking a permanent magnet synchronous motor as an example.

In FIG. 2, the ab-axis coordinate system defined by the a-axis and the b-axis is a stator coordinate system representing the phase of the stator winding of the permanent magnet synchronous motor 103, and the a-axis is generally a permanent magnet synchronous motor. The u-phase winding phase of the motor 103 is taken as a reference.

The dq-axis coordinate system defined by the d-axis and the q-axis is a rotor coordinate system representing the magnetic pole position of the rotor of the permanent magnet synchronous motor 103, and rotates in synchronization with the rotor magnetic pole position of the permanent magnet synchronous motor 103. do. In the case of a permanent magnet synchronous machine, the d-axis is generally based on the north pole direction of the magnetic pole of the permanent magnet attached to the rotor, and the d-axis is also called the magnetic pole axis.

The dc-qc-axis coordinate system defined by the dc-axis and the qc-axis is the estimated phase of the rotor magnetic pole position of the permanent magnet synchronous motor 103, that is, the coordinate system that the controller 101 assumes in the d-axis and q-axis directions. Yes, also called the control axis. The coordinate axes combined in each coordinate system are all orthogonal to each other.

In each of the above coordinate systems, as shown in FIG. 2, the phases of the d-axis and the dc-axis with respect to the a-axis are represented as θd and θdc, respectively. Further, the deviation of the dc axis with respect to the d axis is expressed as Δθc. Here, when vector control is performed using the rotor magnetic pole position θd of the permanent magnet synchronous motor 103 detected by the rotation position detection unit 124, the dq-axis coordinate system and the dc-qc-axis coordinate system match. , The deviation Δθc of the dc axis with respect to the d axis becomes zero. However, if there is an angle error such as a sensor mounting error in the rotor magnetic pole position of the permanent magnet synchronous motor 103 detected by the rotation position detection unit 124, a deviation Δθc of the dc axis with respect to the d axis will occur.
Next, the configuration of the controller 101 of FIG. 1 will be described in detail in order.

(1) Current command calculation unit 111
The current command calculation unit 111 is based on the drive frequency ω1 of the permanent magnet synchronous motor 103 output from the vector control unit 112, the voltage detection value Ecf of the smoothing capacitor 131, and the torque command Tm ^* output from the command generator 105. , The current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system are calculated and output.

FIG. 3 is a block diagram showing a configuration example of the current command calculation unit 111 of the first embodiment, and includes a magnetic flux amount limit value calculation unit 201, a d-axis current command calculation unit 202, and a q-axis current command calculation unit 203.

The magnetic flux amount limit value calculation unit 201 sets the output voltage limit value of the power converter 102 based on the voltage detection value Ecf of the smoothing capacitor 131 and the drive frequency ω1 of the permanent magnet synchronous motor 103 output from the vector control 112. The magnetic flux amount limit value λlim is calculated and output to the d-axis current command calculation unit 202 and the q-axis current command calculation unit 203. The magnetic flux amount limit value λlim may be a function that is proportional to the voltage detection value Ecf and inversely proportional to the drive frequency ω1. For example, it is calculated by the following equation (1).

The d-axis current command calculation unit 202 sets the d-axis current command value Idc ^* based on the torque command Tm ^* output from the command generator 105 and the magnetic flux amount limit value λlim output from the magnetic flux amount limit value calculation unit 201. Calculate and output.

The q-axis current command calculation unit 203 sets the q-axis current command value Iqc ^* based on the torque command Tm ^* output from the command generator 105 and the magnetic flux amount limit value λlim output from the magnetic flux amount limit value calculation unit 201. Calculate and output.

The current command calculation unit 111 of the first embodiment takes a ratio between the drive frequency ω1 of the permanent magnet synchronous motor 103 and the voltage detection value Ecf of the smoothing capacitor 131 in the calculation of the d-axis and q-axis current commands, and limits the amount of magnetic flux. It is used centrally as the value λlim. As a result, the operation of the d-axis and q-axis current commands can be configured in the reference table in which the torque command Tm ^* and the magnetic flux amount limit value λlim are input. As the reference table for the d-axis current command and the reference table for the q-axis current command, for example, those obtained in advance from a test or analysis may be used.

(2) Vector control unit 112
The vector control unit 112 has the current detection values Idc and Iqc on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114 and the current command value Idc on the dc-qc axis coordinate system output by the current command calculation unit 111. Current control is performed to match ^* and Iqc ^* , respectively. Based on the result of this current control and the drive frequency ω1 of the permanent magnet synchronous motor 103, the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis, which is a rotating coordinate system, are calculated and output.

In addition, the vector control unit 112 also calculates and outputs the drive frequency ω1 and the control phase θdc of the permanent magnet synchronous motor 103. The rotation speed ωr and the magnetic pole position θd detected by the rotation position detection unit 124 may be used as the drive frequency ω1 and the control phase θdc. Further, those in which the rotation speed ωr and the magnetic pole position θd of the permanent magnet synchronous motor 103 are estimated based on the voltage command value, the current detection value, or the like may be used.

(3) Current detection unit 113
The current detection unit 113 calculates the three-phase current detection values Iu, Iv, and Iw from the AC currents iu and iw flowing in the permanent magnet synchronous motor 103 detected by the phase current detection unit 121, and outputs them to the dq coordinate conversion unit 114. do.

(4) dq coordinate conversion unit 114
The dq coordinate conversion unit 114 uses the three-phase current detection values Iu, Iv and Iw output by the current detection unit 113 as the vector control unit 112 based on the magnetic pole position θd of the permanent magnet synchronous motor 103 output by the rotation position detection unit 124. Using the control phase θdc output by, the current detection values Idc and Iqc on the dc-qc axis coordinate system are converted and output.

(5) Three-phase coordinate conversion unit 115
The three-phase coordinate conversion unit 115 adds the stabilization control voltage compensation amounts Vd-stb ^* and Vq-stb ^* output by the stabilization control unit 110 to the voltage command values Vdc ^* and Vqc ^* output by the vector control unit 112. The voltage command values Vdc ^** and Vqc ^** are converted into three-phase AC voltage commands Vu ^** , Vv ^** and Vw ^** based on the control phase θdc output by the vector control unit 112, and the PWM signal controller is used. Output to 116.

(6) PWM signal controller 116
The PWM signal controller 116 generates a triangular wave carrier based on an arbitrary carrier frequency fc and the voltage detection value Ecf of the smoothing capacitor 131, and the triangular wave carrier and the three-phase AC voltage command Vu ^** , Vv ^** and Vw. Compare the magnitude with the modulated wave based on ^** , and perform pulse width modulation (PWM). The switching elements (Sup to Swn) constituting the power converter 102 are on / off controlled by the gate command signal generated by the calculation result of the pulse width modulation.

(7) Stabilization control unit 110
The stabilization control unit 110 has the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. Based on the detected values Idc and Iqc, the stabilized control voltage compensation amounts Vd-stb ^* and Vq-stb ^* are calculated and output. This stabilizes the drive of the AC motor 103 and improves the control characteristics.

Next, the stabilization control unit 110, which is a characteristic portion of the first embodiment, will be described in detail.
FIG. 4 is a block diagram showing a configuration example of the stabilization control unit 110 of the first embodiment, and includes a stabilization compensation calculation unit 204 and a control voltage compensation calculation unit 205.

The stabilization control unit 110 inputs the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system and the current detection values Idc and Iqc on the dc-qc axis coordinate system from the stabilization compensation calculation unit 204. The calculation result obtained by adding / subtracting the output stabilized voltage compensation amounts Vd-dmp ^* and Vq-dmp ^* and the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* output from the control voltage compensation calculation unit 205 is obtained. It is output as the stabilized control voltage compensation amount Vd-stb ^* and Vq-stb ^* .

FIG. 5 is a block diagram showing a configuration example of the stabilization compensation calculation unit 204 included in the stabilization control unit 110, and includes a stabilization compensation d-axis voltage calculation unit 301 and a stabilization compensation q-axis voltage calculation unit 302.

The stabilized compensation calculation unit 204 calculates and outputs the stabilized voltage compensation amounts Vd-dmp ^* and Vq-dmp ^* based on the current detection values Idc and Iqc on the dc-qc axis coordinate system.

ここで、ｄ軸安定化補償ゲインＫｄ－ｓｔｂ^＊は、定数でもよいし、電流指令値、電流検出値、速度などの関数式として演算したものを用いてもよい。 The stabilized voltage compensation amount Vd-dm ^* calculated and output by the stabilized compensation d-axis voltage calculation unit 301 is d-axis stabilized to the current detection value Idc on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. It is a value obtained by multiplying the compensation gain Kd-stb ^* , and has a function of stabilizing the drive of the permanent magnet synchronous motor 103. For example, it is calculated by the following equation (2).

Here, the d-axis stabilization compensation gain Kd-stb ^* may be a constant, or may be calculated as a functional expression such as a current command value, a current detection value, and a speed.

ここで、ｑ軸安定化補償ゲインＫｑ－ｓｔｂ^＊は、定数でもよいし、電流指令値、電流検出値、速度などの関数式として演算したものを用いてもよい。 The stabilized voltage compensation amount Vq-dmp ^* calculated and output by the stabilized compensation q-axis voltage calculation unit 302 is q-axis stabilized to the current detection value Iqc on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. It is a value obtained by multiplying the compensation gain Kq-stb ^* , and has a function of stabilizing the drive of the permanent magnet synchronous motor 103. For example, it is calculated by the following equation (3).

Here, the q-axis stabilization compensation gain Kq-stb ^* may be a constant, or may be calculated as a functional expression such as a current command value, a current detection value, or a velocity.

FIG. 6 is a block diagram showing a configuration example of the control voltage compensation calculation unit 205 included in the stabilization control unit 110, and includes a control voltage d-axis compensation calculation unit 401 and a control voltage q-axis compensation calculation unit 402.

The control voltage compensation calculation unit 205 has a control voltage compensation amount Vd based on the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system and the current detection values Idc and Iqc on the dc-qc axis coordinate system. -Rsp ^* and Vq-rsp ^* are calculated and output.

The control voltage d-axis compensation calculation unit 401 has the current command value Idc ^* on the dc-qc-axis coordinate system output by the current command calculation unit 111 and the current on the dc-qc-axis coordinate system output by the dq coordinate conversion unit 114. The difference from the detected value Idc is used as an input, and the control voltage compensation amount Vd-rsp ^* on the dc axis is calculated and output based on the difference.

The control voltage compensation amount Vd-rsp ^* output by the control voltage d-axis compensation calculation unit 401 is the increase / decrease of the voltage command caused by the fluctuation of the current command value Idc ^* or the current detection value Idc in the vector control having the current control function. By calculating the corresponding voltage compensation value, the voltage command Vdc ^* on the dc axis output from the vector control unit 112 is compensated. For example, it is calculated by the following equation (4).

In equation (4), by multiplying the calculation result by the integrator with the difference between the current command value Idc ^* and the current detection value Idc as the input, the response design value ωc-acr ^* of the current control in the vector control, It corresponds to the voltage control amount of the vector control caused by the fluctuation of the current command value Idc ^* including the response delay of the current control and the current detection value Idc. Further, the control voltage compensation amount Vd-rsp ^* is obtained by multiplying the d-axis stabilization compensation gain Kd-stb ^* used in the stabilization compensation d-axis voltage calculation unit 301. This control voltage compensation amount Vd-rsp ^* compensates for the gain of the current control integral compensator in the vector control unit 112.

この場合の制御電圧補償量Ｖｄ－ｒｓｐ^＊は、ベクトル制御部１１２内の電流制御の比例補償器のゲインを補償することになる。 Although the control voltage compensation amount Vd-rsp ^* here is configured to be calculated using an integrator, it may be calculated by the following equation (5) in a configuration using only a proportional device. Kd-acr in the equation (5) is a proportional gain setting value of the dc axis of the current control in the vector control.

The control voltage compensation amount Vd-rsp ^* in this case compensates for the gain of the current control proportional compensator in the vector control unit 112.

Further, the control voltage compensation amount Vd-rsp ^* may be calculated by a configuration using a differentiator, or may be calculated by a configuration in which a proportional device, an integrator and a differentiator are combined.

As described above, since the control voltage compensation amount Vd-rsp ^* compensates for the response delay of the current control of the vector control unit 112 due to the influence of the stabilization compensation calculation unit 204 against the change of the current command, the vector. The calculation configuration of the control voltage compensation amount may be changed according to the configuration of the voltage command calculation of the control unit 112.

The control voltage q-axis compensation calculation unit 402 has the current command value Iqc ^* on the dc-qc-axis coordinate system output by the current command calculation unit 111 and the current on the dc-qc-axis coordinate system output by the dq coordinate conversion unit 114. The difference from the detected value Iqc is used as an input, and the control voltage compensation amount Vq-rsp ^* on the qc axis is calculated and output based on the difference.

The control voltage compensation amount Vq-rsp ^* output by the control voltage q-axis compensation calculation unit 402 is the increase / decrease of the voltage command caused by the fluctuation of the current command value Iqc ^* or the current detection value Iqc in the vector control having the current control function. By calculating the corresponding voltage compensation value, the voltage command Vqc ^* on the qc axis output from the vector control unit 112 is compensated. For example, it is calculated by the following equation (6).

In equation (6), by multiplying the calculation result by the integrator that inputs the difference between the current command value Iqc ^* and the current detection value Iqc by the response design value ωc-acr ^* of the current control in the vector control, It corresponds to the voltage control amount of the vector control caused by the fluctuation of the current command value Iqc ^* including the response delay of the current control and the current detection value Iqc. Further, the control voltage compensation amount Vq-rsp ^* is obtained by multiplying the q-axis stabilization compensation gain Kq-stb ^* used in the stabilization compensation q-axis voltage calculation unit 302. The control voltage compensation amount Vq-rsp ^* in this case compensates for the gain of the current control integral compensator in the vector control unit 112.

この場合の制御電圧補償量Ｖｑ－ｒｓｐ^＊は、ベクトル制御部１１２内の電流制御の比例補償器のゲインを補償することになる。 Although the control voltage compensation amount Vq-rsp ^* here is configured to be calculated using an integrator, it may be calculated by the following equation (7) in a configuration using only a proportional device. Kq-acr in (Equation 7) is a proportional gain setting value of the qc axis of the current control in the vector control.

The control voltage compensation amount Vq-rsp ^* in this case compensates for the gain of the current control proportional compensator in the vector control unit 112.

Further, the control voltage compensation amount Vq-rsp ^* may be calculated by a configuration using a differentiator, or may be calculated by a configuration in which a proportional device, an integrator and a differentiator are combined.

As described above, since the control voltage compensation amount Vq-rsp ^* compensates for the response delay of the current control of the vector control unit 112 due to the influence of the stabilization compensation calculation unit 204 against the change of the current command, the vector. The calculation configuration of the control voltage compensation amount may be changed according to the configuration of the voltage command calculation of the control unit 112.

Therefore, the control voltage compensation calculation unit 205 calculates the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* so as to compensate for the decrease in the control gain of the vector control unit 112 by the stabilization compensation calculation unit 204. It will be good.

Next, the stabilization principle of the AC motor control when the stabilization control unit 110, which is a feature of the first embodiment, is used will be described.
In the control device of the AC motor, the resonance characteristic of the secondary system becomes remarkable due to the dq interference of the AC motor, and the control system tends to become unstable. In the following, a permanent magnet synchronous motor, which is smaller and more efficient than an induction motor and is being widely used in a wide range of applications, will be described as an example among AC motors.

In general, many permanent magnet synchronous motors are of a high rotation type in order to increase the output, and the resistance value tends to be small. Therefore, in the high-speed range, the resonance characteristic of the secondary system due to the interference between the dq axes inside the permanent magnet synchronous motor tends to be remarkable.

FIG. 7 is a block diagram showing transmission characteristics from a voltage input to a current output including a dq-axis interference loop of a permanent magnet synchronous motor. Here, R1 is the primary resistance value of the permanent magnet synchronous motor, Ld is the d-axis inductance value of the permanent magnet synchronous motor, Lq is the q-axis inductance value of the permanent magnet synchronous motor, Ke is the power generation coefficient of the permanent magnet synchronous motor, and ωre is. It represents the electric angular frequency of the rotation speed of a permanent magnet synchronous motor.

ここで、式（８）において、Ｒ１^＊、Ｌｄ^＊およびＫｅ^＊は、それぞれ電動機定数の制御設定値を表している。また、永久磁石同期電動機１０３の電気角周波数ωｒｅとしては、回転位置検出部１２４で検出した回転速度ωｒや磁極位置θｄに基づいて演算した駆動周波数ω１を用いてもよいし、電圧指令値や電流検出値などに基づいて永久磁石同期電動機１０３の回転速度の電気角周波数を推定した値ωｒｅ＾を用いてもよい。 Further, in the vector control unit 112, the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis are the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system, and the electric angular frequency ωre of the permanent magnet synchronous motor 103. , The motor constants R1, Ld, Lq and Ke are used, for example, calculated by the following equation (8).

Here, in the equation (8), R1 ^* , Ld ^* , and Ke ^* represent the control setting values of the motor constants, respectively. Further, as the electric angular frequency ωre of the permanent magnet synchronous motor 103, the drive frequency ω1 calculated based on the rotation speed ωr detected by the rotation position detection unit 124 and the magnetic pole position θd may be used, or the voltage command value or the current may be used. You may use the value ωre ^ which estimated the electric angular frequency of the rotation speed of the permanent magnet synchronous motor 103 based on the detected value or the like.

In the block diagram shown in FIG. 7, the transfer function Gdq (s) from the d-axis voltage disturbance Δvd to the q-axis current pulsation Δiq can be expressed by the following equation (9).

Further, the d-axis voltage disturbance Δvd uses the voltage command Vqc ^* on the vector-controlled dc-qc axis and the phase error Δθ between the control phase θdc and the actual phase θd caused by the speed disturbance, the voltage disturbance, the torque disturbance, and the like. For example, it can be expressed by the following equation (10).

Therefore, in the control system of the vector-controlled permanent magnet synchronous motor, the transfer function Gθq (s) from the phase error Δθ to the q-axis current pulsation Δiq can be expressed by the following equation (11).

Here, in the high-speed range where the rotation speed of the permanent magnet synchronous motor is sufficiently high, the equation (11) can be approximated as the following equation (12).

Looking at equation (12), since the secondary lag element is included, the natural vibration frequency ωn and the damping ratio ζ of this transmission function Gθq (s) change according to the rotation angular frequency ωre of the permanent magnet synchronous motor. You can see that it does. That is, this is the cause of the instability of the control system in the high speed range.

Here, the general system of the second-order lag element is shown in the following equation (13). In equation (13), ωn represents the natural vibration frequency of the control loop represented by the transfer function Gn (s), and ζ represents the damping coefficient of the control system.

The transfer function Gθq (s) of the control system from the phase error Δθ of the control system including the dq-axis interference loop of the permanent magnet synchronous motor of the above-mentioned equation (12) to the q-axis current pulsation Δiq is the second-order lag element. Compared with the general system equation (13), the following equation (14) can be obtained for the natural vibration frequency ωn and the attenuation coefficient ζ of this control system.

From equation (14), it can be seen that the attenuation coefficient ζ becomes small when the primary resistance value R1 of the permanent magnet synchronous motor is small or when the rotation angular frequency ωre is large. When this attenuation coefficient ζ becomes small, the resonance characteristic of the secondary system due to the interference between the dq axes of the permanent magnet synchronous motor becomes remarkable, the control system tends to become unstable due to disturbance, and the current ripple and torque ripple are likely to occur. Will be excessive.

Therefore, in the first embodiment, by adding the stabilization control unit 110, the attenuation coefficient ζ of the control system including the dq interference loop of the permanent magnet synchronous motor described above is equivalently increased. As a result, current ripple and torque ripple are suppressed to stabilize control.

Next, the stabilization principle of AC motor control by using the stabilization compensation calculation unit 204 of the stabilization control unit 110 will be described.
FIG. 8 is a block diagram showing the transmission characteristics from the voltage input to the current output including the dq-axis interference loop of the permanent magnet synchronous motor 103 when the stabilization compensation calculation unit 204 is added. In the figure, the transmission characteristic of the stabilization compensation d-axis voltage calculation unit 301 in the stabilization compensation calculation unit 204 is Gsd (s), and the transmission characteristic of the stabilization compensation q-axis voltage calculation unit 302 is Gsq (s).

In the block diagram when the stabilization compensation calculation unit 204 of FIG. 8 is added, the transfer function Gdq-stb (s) from the d-axis voltage disturbance Δvd to the q-axis current pulsation Δiq can be expressed by the following equation (15). can.

Therefore, in the control system of the vector-controlled permanent magnet synchronous motor 103 when the stabilization compensation calculation unit 204 is added, the transfer function Gθq'(s) from the phase error Δθ to the q-axis current pulsation Δiq is expressed by the following equation (s). It can be represented by 16).

Here, when the stabilization compensation d-axis voltage calculation unit 301 and the stabilization compensation q-axis voltage calculation unit 302 in the stabilization compensation calculation unit 204 are configured by a proportional device, the transfer function Gθq'(s) described above is as follows. Can be expressed as the equation (17) of.

Further, in the high speed range where the rotation speed of the permanent magnet synchronous motor 103 is sufficiently high, the equation (17) can be approximated as the following equation (18).

In the second-order lag element included in the equation (18) of the transfer function Gθq'' (s), the natural vibration frequency ωn'' and the damping coefficient ζ'' have the relationship of the following equation (19).

Looking at the equation (19), it can be seen that the first term of the damping coefficient ζ ″ is the damping coefficient ζ m of the permanent magnet synchronous motor itself when the stabilization compensation calculation unit 204 is not used. The second and third terms of the attenuation coefficient ζ'' are the transmission characteristic Gsd (s) of the stabilization compensation d-axis voltage calculation unit 301 and the transmission characteristic Gsq (s) of the stabilization compensation q-axis voltage calculation unit 302. Since it is an equation including, it can be seen that it is possible to prevent the attenuation coefficient of this control system from becoming small depending on the design of the transmission characteristics of these stabilization compensation calculation units 204.

When the stabilization compensation calculation unit 204 is used, the damping coefficient ζ c, which is the total value of the second and third terms of the damping coefficient ζ'', is set to an appropriate value, for example, an arbitrary value of 0.1 or more. , It may be set in advance. As a result, regardless of the primary resistance value R1 of the permanent magnet synchronous motor, the damping coefficient of the control system including the influence of the dq-axis interference of the permanent magnet synchronous motor is controlled so as not to become too small, and the permanent magnet synchronous motor is driven. Can be stabilized.

Here, in the description of the stabilization principle according to the first embodiment, the stabilization compensation d-axis voltage calculation unit 301 and the stabilization compensation q-axis voltage calculation unit 302 in the stabilization compensation calculation unit 204 are used as proportional devices, and the stabilization compensation d is used. The proportional gain of the shaft voltage calculation unit 301 is defined as the d-axis stabilization compensation gain Kd-stb ^* , and the proportional gain of the stabilization compensation q-axis voltage calculation unit 302 is defined as the q-axis stabilization compensation gain Kq-stb ^* . In that case, stabilization control can be realized by setting the transmission characteristics Gsd (s) and Gsq (s) as shown in the following equation (20).

Next, the compensation principle of the control response delay of the AC motor control and the motor constant error by using the control voltage compensation calculation unit 205 of the stabilization control unit 110 will be described.
First, when the current command values Idc ^* and Iqc ^* are changed according to the magnitude of the torque command and the voltage detection value Ecf of the smoothing capacitor 131 in the control device of the AC motor, the vector control unit 112 accompanying the change of the current command The current detection values Idc and Iqc fluctuate due to the current control within.

As a result, the stabilized compensation d-axis voltage calculation unit 301 and the stabilization compensation q-axis voltage calculation unit 302 provide the stabilized voltage compensation amounts Vd-dmp ^* and Vq-dmp ^* according to the fluctuations of the current detection values Idc and Iqc. It outputs and compensates for the voltage command value output by the vector control unit 112, which reduces the control response of the current control of the vector control unit 112.
Further, when the stabilization compensation d-axis voltage calculation unit 301 and the stabilization compensation q-axis voltage calculation unit 302 are used as proportional devices, the apparent primary resistance value on the control side is increased, so that the vector control unit 112 In the voltage command calculation, a current deviation occurs due to a setting error of the motor constant, and the torque accuracy deteriorates.

Therefore, when the current command values Idc ^* and Iqc ^* are changed, the regulated voltage compensation amount Vd output by the stabilization compensation calculation unit 204 is not suppressed so as not to suppress the fluctuation of the voltage command value output by the vector control unit 112. -Control voltage d-axis compensation calculation unit 401 and control voltage q-axis compensation calculation unit 402 in the control voltage compensation calculation unit 205 for the fluctuations due to changes in the current command values Idc ^* and Iqc ^* for -dmp ^* and Vq-dmp ^* . Compensates by the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* output by.

Here, when the stabilization compensation d-axis voltage calculation unit 301 and the stabilization compensation q-axis voltage calculation unit 302 in the stabilization compensation calculation unit 204 are used as proportional devices, the control voltage d-axis compensation calculation unit 401 is the current. The difference between the command value Idc ^* and the current detection value Idc is used as an input, and the calculation result obtained by integrating the input values is multiplied by the current control response design value ωc-acr ^* in the vector control unit 112, and further stabilization compensation d. The control voltage compensation amount Vd-rsp ^* may be calculated by multiplying the d-axis stabilization compensation gain Kd-stb ^* set by the shaft voltage calculation unit 301.
Similarly, the control voltage q-axis compensation calculation unit 402 takes the difference between the current command value Iqc ^* and the current detection value Iqc as an input, and the calculation result obtained by integrating the input values is used for the current control in the vector control unit 112. The control voltage compensation amount Vq-rsp ^* is calculated by multiplying the response design value ωc-acr ^* and further multiplying by the q-axis stabilization compensation gain Kq-stb ^* set by the stabilization compensation q-axis voltage calculation unit 302. do it.

As a result, the stabilization compensation calculation unit 204 can compensate for the voltage command increase / decrease amount that hinders the calculation result of the current control of the vector control unit 112, and it is possible to prevent the response deterioration of the current control and the occurrence of torque error. It will be like.

As described above, in the first embodiment, the stabilized voltage compensating means for suppressing the gain of the electric angle frequency ωre component of the AC motor and the control voltage compensating means for compensating for the shortage of the voltage change of the vector control with respect to the change of the voltage command. And are provided. This suppresses vibration due to interference between the dq axes of the AC motor, and makes it possible to improve the control stability and control responsiveness of the control device of the AC motor.

In the second embodiment of the present invention, the AC motor output from the vector control unit 112 in the calculation of the stabilized voltage compensation amounts Vd-dmp ^* and Vq-dmp ^* and the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* . The d-axis stabilization compensation gain Kd-stb ^* and the q-axis stabilization compensation gain Kq-stb ^* are determined based on the drive frequency ω1 or the estimated frequency ωre ^ corresponding to the electric angle frequency of the rotation speed of 103. As a result, the damping coefficient ζ c by the stabilization compensation control can be set to a desired value or more regardless of the rotation speed of the AC motor, and the control device of the AC motor capable of improving the control stability as compared with the first embodiment is realized. can.

FIG. 9 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the second embodiment. In the following, only the differences in the configuration will be described as compared with the first embodiment shown in FIG.
The control device for the AC motor according to the second embodiment can be realized by using the stabilization control unit 110b instead of the stabilization control unit 110 of the first embodiment.

FIG. 10 is a block diagram showing a configuration example of the stabilization control unit 110b of the second embodiment, and includes a stabilization compensation calculation unit 204b, a control voltage compensation calculation unit 205b, and a compensation gain calculation unit 206b.

The stabilization control unit 110b has the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. In addition to the detected values Idc and Iqc, the drive frequency ω1 or the estimated frequency ωre ^, which is equivalent to the electric angular frequency of the rotation speed of the AC motor 103 output from the vector control unit 112, is input, and stabilization control is performed based on these. The voltage compensation amounts Vd-stb ^* and Vq-stb ^* are calculated and output. This stabilizes the drive of the AC motor 103 and improves the control characteristics.

Next, the stabilization control unit 110b, which is a characteristic portion of the second embodiment, will be described in detail.
FIG. 11 is a block diagram showing a configuration example of the compensation gain calculation unit 206b included in the stabilization control unit 110b, and includes a d-axis compensation gain calculation unit 501b and a q-axis compensation gain calculation unit 502b.

The d-axis compensation gain calculation unit 501b calculates the d-axis stabilization compensation gain Kd-stb ^* based on the drive frequency ω1 or the estimated frequency ωre ^, which is equivalent to the rotation speed of the AC motor 103 output from the vector control unit 112. Then, it is output as an input variable to the stabilization compensation calculation unit 204b and the control voltage compensation calculation unit 205b.

ここで、式（２１）において、Ｌｄ^＊は、交流電動機のｄ軸方向（励磁方向）のインダクタンスの制御設定値を、ζｃｄ^＊は、ｄ軸の安定化補償制御による減衰係数の設定値を表している。 The d-axis stabilization compensation gain Kd-stb ^* may be a function proportional to the drive frequency ω1, which is equivalent to the electric angular frequency of the rotation speed of the AC motor. For example, it is calculated by the following equation (21).

Here, in the equation (21), Ld ^* represents the control setting value of the inductance in the d-axis direction (excitation direction) of the AC motor, and ζcd ^* represents the setting value of the damping coefficient by the stabilization compensation control of the d-axis. ing.

The q-axis compensation gain calculation unit 502b calculates the q-axis stabilization compensation gain Kq-stb ^* based on the drive frequency ω1 or the estimated frequency ωre ^, which is equivalent to the rotation speed of the AC motor 103 output from the vector control unit 112. Then, it is output as an input variable to the stabilization compensation calculation unit 204b and the control voltage compensation calculation unit 205b.

ここで、式（２２）において、Ｌｑ^＊は、交流電動機のｑ軸方向（ｄ軸に対して直交する方向）のインダクタンスの制御設定値を、ζｃｑ^＊は、ｑ軸の安定化補償制御による減衰係数の設定値を表している。 The q-axis stabilization compensation gain Kq-stb ^* may be a function proportional to the drive frequency ω1, which is equivalent to the electric angular frequency of the rotation speed of the AC motor. For example, it is calculated by the following equation (22).

Here, in the equation (22), Lq ^* is the control set value of the inductance in the q-axis direction (direction orthogonal to the d-axis) of the AC motor, and ζcq ^* is the attenuation due to the stabilization compensation control of the q-axis. Represents the set value of the coefficient.

FIG. 12 is a block diagram showing a configuration example of the stabilization compensation calculation unit 204b included in the stabilization control unit 110b, and includes a stabilization compensation d-axis voltage calculation unit 301b and a stabilization compensation q-axis voltage calculation unit 302b.
The stabilized compensation calculation unit 204b has d-axis stabilization compensation gain Kd-stb ^* and q-axis stabilization output from the compensation gain calculation unit 206b in addition to the current detection values Idc and Iqc on the dc-qc axis coordinate system. Based on the compensation gain Kd-stb ^* , the regulated voltage compensation amounts Vd-dmp ^* and Vq-dmp ^* are calculated and output.

FIG. 13 is a block diagram showing a configuration example of the control voltage compensation calculation unit 205b included in the stabilization control unit 110b, and includes a control voltage d-axis compensation calculation unit 401b and a control voltage q-axis compensation calculation unit 402b.

The control voltage compensation calculation unit 205b receives the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system, the current detection values Idc and Iqc on the dc-qc axis coordinate system, and the compensation gain calculation unit 206b. Based on the output d-axis stabilization compensation gain Kd-stb ^* and q-axis stabilization compensation gain Kd-stb ^* , the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* are calculated and output.

Next, the principle of improving the stability of the AC motor control when the stabilization control unit 110b, which is a feature of the second embodiment, will be described.
The natural vibration frequency ωn'' and the damping coefficient ζ'' of the second-order lag element included in the transfer function Gθq'' (s) represented by the equation (18) in the above-mentioned Example 1 are the equations (21) and (22). ), The d-axis stabilization compensation gain Kd-stb ^* and the q-axis stabilization compensation gain Kq-stb ^* are used to obtain the relationship of the following equation (23).

Here, assuming that ωre = ω1, Ld = Ld ^* and Lq = Lq ^* hold, the following equation (24) is obtained as the attenuation coefficient ζ'' of this control system.

In the equation (24), the first term of the damping coefficient ζ'' is the damping coefficient ζ m of the AC motor itself, which is a value determined by the rotation speed and the motor constant. The second term (ζcd ^* ) and the third term (ζcq ^* ) of the attenuation coefficient ζ'' are the attenuation coefficient by the control loop of the stabilization compensation d-axis voltage calculation unit 301 and the stabilization compensation q-axis voltage calculation unit 302. Is the increase in.

When the stabilization compensation calculation unit 204b is used, the attenuation coefficient ζcd ^* and the attenuation in the calculation of the equation (21) and the equation (22) d-axis stabilization compensation gain Kd-stb ^* and q-axis stabilization compensation gain Kq-stb ^* . The total value with the coefficient ζ cq ^* may be set to an appropriate value, for example, an arbitrary value of 0.1 or more. As a result, regardless of the rotation speed of the AC motor, the damping coefficient of the control system including the influence of the dq-axis interference of the AC motor is controlled to a desired value or more by the stabilization control, and the drive of the permanent magnet synchronous motor is stabilized. be able to.

Therefore, in the second embodiment, the d-axis stabilization compensation gain Kd-stb ^* and the q-axis stabilization compensation gain Kq-stb ^* are determined based on the rotation speed of the AC motor. As a result, the damping coefficient inside the AC motor can be equivalently set to a desired value or higher by the stabilization compensation control regardless of the rotation speed of the AC motor, and the control device of the AC motor is more stable than in the first embodiment. It is possible to improve the sex and control response.

In the third embodiment, in the calculation of the regulated voltage compensation amounts Vd-dmp ^* and Vq-dmp ^* and the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* , the current command value Idc is added to the rotation speed of the AC motor. Based on ^* and Iqc ^* , the d-axis stabilized compensation gain Kd-stb ^* and the q-axis stabilized compensation gain Kq-stb ^* are determined. This makes it possible to consider the influence of fluctuations due to the current dependence of the inductance value of the AC motor in increasing the damping coefficient inside the AC motor equivalently by the stabilization compensation control, and the control is more stable than in Example 1. It is possible to realize a control device for an AC motor that can improve the performance.

FIG. 14 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the third embodiment. In the following, only the differences in the configuration will be described as compared with the first embodiment shown in FIG.
The control device for the AC motor according to the third embodiment shown in FIG. 14 can be realized by using the stabilization control unit 110c instead of the stabilization control unit 110 of the first embodiment.

FIG. 15 is a block diagram showing a configuration example of the stabilization control unit 110c of the third embodiment, and includes a stabilization compensation calculation unit 204b, a control voltage compensation calculation unit 205b, and a compensation gain calculation unit 206c.

The stabilization control unit 110c has the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. Stabilized control voltage compensation amount Vd-stb based on the detected values Idc and Iqc and the drive frequency ω1 or the estimated frequency ωre ^, which is equivalent to the electric angle frequency of the rotation speed of the AC motor 103 output from the vector control unit 112. ^* And Vq-stb ^* are calculated and output. This stabilizes the drive of the AC motor and improves the control characteristics.

The stabilization control unit 110c has the same configuration as the stabilization control unit 110b of the second embodiment except for the compensation gain calculation unit 206c.

Next, the compensation gain calculation unit 206c, which is a characteristic portion of the third embodiment, will be described in detail.
FIG. 16 is a block diagram showing a configuration example of the compensation gain calculation unit 206c of the third embodiment included in the stabilization control unit 110c, and is a d-axis compensation gain calculation unit 501c, a q-axis compensation gain calculation unit 502c, and a d-axis inductance estimation calculation. A unit 601c and a q-axis inductance estimation calculation unit 602c are provided.

The compensation gain calculation unit 206c has a drive frequency ω1 corresponding to the electric angular frequency of the rotation speed of the AC motor 103 output from the vector control unit 112 and a current on the dc-qc axis coordinate system output by the current command calculation unit 111. Based on the command values Idc ^* and Iqc ^* , the d-axis stabilization compensation gain Kd-stb ^* and the q-axis stabilization compensation gain Kq-stb ^* are calculated and output.

The d-axis inductance estimation calculation unit 601c is an estimation value of the d-axis inductance of the AC motor to be controlled based on the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111. Ld ^ is calculated and output to the d-axis compensation gain calculation unit 501c.

The calculation of the estimated value Ld ^ of the d-axis inductance uses, for example, the d-axis current command value Idc ^* and the q-axis current command value Iqc ^* as input variables, and outputs the d-axis inductance value obtained in advance from actual measurement or analysis. This can be achieved by using a dimension reference table. In addition, instead of the two-dimensional reference table, an approximate formula, a design formula, or a theoretical formula of the d-axis inductance may be used. Further, in the permanent magnet synchronous motor, since the d-axis inductance has a smaller current dependence than the q-axis inductance, the motor constant value may be used.

The q-axis inductance estimation calculation unit 602c is an estimation value of the q-axis inductance of the AC motor to be controlled based on the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111. Lq ^ is calculated and output to the q-axis compensation gain calculation unit 502c.

The calculation of the estimated value Lq ^ of the q-axis inductance uses, for example, the d-axis current command value Idc ^* and the q-axis current command value Iqc ^* as input variables, and outputs the q-axis inductance value obtained in advance from actual measurement or analysis. This can be achieved by using a dimension reference table. Instead of the two-dimensional reference table, an approximate formula, a design formula, or a theoretical formula of the q-axis inductance may be used. Further, since the current dependence of the q-axis inductance is more influenced by the q-axis current than the d-axis current, a one-dimensional reference table or an approximate expression using only the q-axis current command value as an input variable may be used.

The d-axis compensation gain calculation unit 501c is based on the drive frequency ω1 corresponding to the rotation speed of the AC motor 103 output from the vector control unit 112 and the d-axis inductance estimation value Ld ^ output from the d-axis inductance estimation calculation unit 601c. Then, the d-axis stabilization compensation gain Kd-stb ^* is calculated and output as an input variable to the stabilization compensation calculation unit 204b and the control voltage compensation calculation unit 205b.

The d-axis stabilization compensation gain Kd-stb ^* is calculated by, for example, the following equation (25).

The q-axis compensation gain calculation unit 502c is based on the drive frequency ω1 corresponding to the rotation speed of the AC motor 103 output from the vector control unit 112 and the q-axis inductance estimation value Lq ^ output from the q-axis inductance estimation calculation unit 602c. Then, the q-axis stabilization compensation gain Kq-stb ^* is calculated and output as an input variable to the stabilization compensation calculation unit 204b and the control voltage compensation calculation unit 205b.

The q-axis stabilization compensation gain Kq-stb ^* is calculated by, for example, the following equation (26).

In Example 3, the d-axis inductance estimation calculation unit 601c and the q-axis inductance estimation calculation unit 602c may use the current detection values Idc and Iqc as input variables instead of the current command values Idc ^* and Iqc ^* . .. Further, the current command values Idc ^* and Iqc ^* may be passed through a first-order lag filter whose time constant is the response set value of the current control.

Next, the principle of improving the stability of the AC motor control when the stabilization control unit 110c, which is a feature of the present invention, is used will be described.
The natural vibration frequency ωn'' and the damping coefficient ζ'' of the second-order lag element included in the transfer function Gθq'' (s) represented by the equation (18) in the above-mentioned Example 1 are the equations (25) and (26). ), The d-axis stabilization compensation gain Kd-stb ^* and the q-axis stabilization compensation gain Kq-stb ^* are used to obtain the relationship of the following equation (27).

By assuming that ωre = ω1, Ld = Ld ^* and Lq = Lq ^* are satisfied in the equation (23) shown in the second embodiment, the damping coefficients ζcd and ζcq by the stabilization compensation control are set to desired values. Can be controlled. However, if the d-axis inductance value Ld or q-axis inductance Lq of the AC motor fluctuates due to the current dependence of the inductance value of the AC motor, an inductance error occurs and the attenuation coefficients ζcd and ζcq deviate from the desired values. It turns out that it will end up. Depending on the setting of the control setting value Ld ^* of the d-axis inductance and the control setting value Lq ^* of the q-axis inductance, the attenuation coefficients ζcd and ζcq decrease, and the control tends to become unstable.

Therefore, looking at the equation (27) of the attenuation coefficient ζ'' in Example 3, even when the d-axis inductance value Ld and the q-axis inductance Lq of the AC motor fluctuate depending on the magnitude of the current, the d-axis of the AC motor By estimating the inductance value and the q-axis inductance value, it can be seen that the occurrence of the inductance error can be eliminated and the attenuation coefficients ζcd and ζcq by the stabilization compensation control can be controlled to desired values.

Therefore, in the third embodiment, the d-axis stabilization compensation gain Kd-stb ^* and the q-axis stabilization compensation gain Kq-stb ^* are determined based on the estimated inductance value of the AC motor. As a result, it becomes possible to suppress the occurrence of a constant error due to the current dependence of the inductance value of the AC motor, and to equivalently set the damping coefficient inside the AC motor by the stabilization compensation control to a desired value. It is also possible to improve the stability and control response of the control device of the AC motor.

In the fourth embodiment, the voltage command on the dc-qc axis output by the vector control unit 112 in the calculation of the d-axis stabilization compensation gain Kd-stb ^* and the q-axis stabilization compensation gain Kq-stb ^* used in the stabilization control. Based on Vdc ^* and Vqc ^* , the set values ζcd ^* and ζcq ^* of the damping coefficient ζc by stabilization control are changed. As a result, the optimum d-axis attenuation coefficient ζcd ^* and q-axis attenuation coefficient ζcq ^* can be calculated according to the magnitude and deviation of the voltage command, and the control stability can be improved as compared with the first embodiment. A control device for an AC motor can be realized.

FIG. 17 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the fourth embodiment. In the following, only the differences in the configuration will be described as compared with the first embodiment shown in FIG.
The control device for the AC motor according to the fourth embodiment shown in FIG. 17 can be realized by using the stabilization control unit 110d instead of the stabilization control unit 110 of the first embodiment.

FIG. 18 is a block diagram showing a configuration example of the stabilization control unit 110d of the fourth embodiment, and includes a stabilization compensation calculation unit 204b, a control voltage compensation calculation unit 205b, and a compensation gain calculation unit 206d.

The stabilization control unit 110d has the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. The detected values Idc and Iqc, the drive frequency ω1 or the estimated frequency ωre ^ corresponding to the electric angle frequency of the rotation speed of the AC motor 103 output by the vector control unit 112, and the dc-qc axis output by the vector control unit 112. Based on the voltage commands Vdc ^* and Vqc ^* , the stabilized control voltage compensation amounts Vd-stb ^* and Vq-stb ^* are calculated and output. This stabilizes the drive of the AC motor and improves the control characteristics.

The stabilization control unit 110d has the same configuration as the stabilization control unit 110b of the second embodiment except for the compensation gain calculation unit 206d.

Next, the compensation gain calculation unit 206d, which is a characteristic portion of the fourth embodiment, will be described in detail.
FIG. 19 is a block diagram showing a configuration example of the compensation gain calculation unit 206d of the fourth embodiment included in the stabilization control unit 110d, and is a block diagram showing a d-axis compensation gain calculation unit 501d, a q-axis compensation gain calculation unit 502d, and a d-axis inductance estimation calculation. A unit 601c, a q-axis inductance estimation calculation unit 602c, a d-axis attenuation coefficient calculation unit 701d, and a q-axis attenuation coefficient calculation unit 702d are provided.

The compensation gain calculation unit 206d has a drive frequency ω1 corresponding to the electric angular frequency of the rotation speed of the AC motor 103 output from the vector control unit 112, and a current on the dc-qc axis coordinate system output by the current command calculation unit 111. Based on the command values Idc ^* and Iqc ^* and the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis output by the vector control unit 112, the d-axis stabilization compensation gain Kd-stb ^* and q-axis stabilization compensation The gain Kq-stb ^* is calculated and output.

In the configuration of the compensation gain calculation unit 206d, the d-axis inductance estimation calculation unit 601c and the q-axis inductance estimation calculation unit 602c that perform the estimation calculation of the inductance value of the AC motor to be controlled may be the same as those in the third embodiment.

The d-axis attenuation coefficient calculation unit 701d calculates and outputs the attenuation coefficient ζcd ^* of the stabilization compensation control of the d-axis based on the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis output by the vector control unit 112. ..

The q-axis attenuation coefficient calculation unit 702d calculates and outputs the attenuation coefficient ζcd ^* of the stabilization compensation control of the q-axis based on the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis output by the vector control unit 112. ..

The d-axis compensation gain calculation unit 501d has a drive frequency ω1 corresponding to the rotation speed of the AC motor 103 output from the vector control unit 112, and d-axis inductance estimation values Ld ^ and d output from the d-axis inductance estimation calculation unit 601c. The d-axis stabilization compensation gain Kd-stb ^* is calculated and output based on the d-axis attenuation coefficient ζ cd ^* output from the axis damping coefficient calculation unit 701d.

The q-axis compensation gain calculation unit 502d has a drive frequency ω1 corresponding to the rotation speed of the AC motor 103 output from the vector control unit 112, and q-axis inductance estimation values Lq ^ and q output from the q-axis inductance estimation calculation unit 602c. The q-axis stabilization compensation gain Kq-stb ^* is calculated and output based on the q-axis attenuation coefficient ζcq ^* output from the axis attenuation coefficient calculation unit 702d.

Next, the principle of improving the stability of AC motor control when the compensation gain calculation unit 206d, which is a feature of the fourth embodiment, and the specific design of the d-axis attenuation coefficient calculation unit 701d and the q-axis attenuation coefficient calculation unit 702d. The method will be described.

When a phase error Δθ between the control phase θdc and the actual phase θd of the rotor is generated by the disturbance in the controller of the AC motor, the magnitudes of the d-axis voltage disturbance Δvd and the q-axis voltage disturbance Δvq caused by the occurrence of the phase error Δθ. It depends on the magnitude of the d-axis voltage command and the q-axis voltage command output by the controller.

In the case of a permanent magnet synchronous motor, the d-axis voltage disturbance Δvd can be expressed by, for example, the equation (10) shown in the first embodiment, and the q-axis voltage disturbance Δvq can be expressed by the following equation (28). ..

Since the magnitude of the voltage disturbance when the phase error Δθ due to the disturbance occurs varies depending on the magnitude of the d-axis voltage command and the q-axis voltage command, the d-axis attenuation coefficient ζcd ^* and the q-axis set in the stabilization control By changing the damping coefficient ζqd ^* of the AC motor accordingly, it is possible to improve the effect of suppressing the vibration phenomenon due to the interference between the dq axes of the AC motor.

More specifically, when setting the d-axis damping coefficient ζcd ^* and the q-axis damping coefficient ζcq ^* so that the damping coefficient ζc ^* due to stabilization control becomes a desired value, the calculation result of vector control When a certain q-axis voltage command Vqc ^* is larger than the d-axis voltage command Vdc ^* , the ratio of the d-axis attenuation coefficient ζcd ^* to the desired values of the attenuation coefficient ζc ^* is larger than the q-axis attenuation coefficient ζcq ^* . do. This makes it easier to obtain the effect of suppressing the vibration phenomenon due to the dq-axis interference of the AC motor, and improves the control stability.

When the d-axis voltage command Vdc ^* , which is the calculation result of vector control, is larger than the q-axis voltage command Vqc ^* , the ratio of the q-axis attenuation coefficient ζ cq ^* to the desired attenuation coefficient ζ c ^* values is the d-axis. Attenuation coefficient of ζcd ^* is greater than. This makes it easier to obtain the effect of suppressing the vibration phenomenon due to the dq-axis interference of the AC motor, and improves the control stability.

ここで、式（２９）において、ｄ軸の減衰係数ζｃｄ^＊の演算に電圧指令Ｖｄｃ^＊およびＶｑｃ^＊を用いたが、電圧指令の偏角を用いて配分を決定してもよい。 The d-axis attenuation coefficient ζ cd ^* output by the d-axis attenuation coefficient calculation unit 701d to the d-axis compensation gain calculation unit 501d as an input variable is, for example, a voltage command on the dc-qc axis output by the vector control unit 112. Using Vdc ^* and Vqc ^* and the desired attenuation coefficient ζc ^* to be obtained by stabilization compensation control, it can be calculated by the following equation (29).

Here, although the voltage commands Vdc ^* and Vqc ^* are used for the calculation of the d-axis attenuation coefficient ζ cd ^* in the equation (29), the distribution may be determined by using the declination of the voltage command.

ここで、式（３０）において、ｑ軸の減衰係数ζｃｑ^＊の演算に電圧指令Ｖｄｃ^＊およびＶｑｃ^＊を用いたが、電圧指令の偏角を用いて配分を決定してもよい。 The q-axis attenuation coefficient ζ cd ^* output by the q-axis attenuation coefficient calculation unit 702d to the q-axis compensation gain calculation unit 502d as an input variable is, for example, a voltage command on the dc-qc axis output by the vector control unit 112. Using Vdc ^* and Vqc ^* and the desired attenuation coefficient ζc ^* to be obtained by stabilization compensation control, it can be calculated by the following equation (30).

Here, in the equation (30), the voltage commands Vdc ^* and Vqc ^* are used for the calculation of the attenuation coefficient ζcq ^* on the q-axis, but the distribution may be determined by using the declination of the voltage command.

Further, in the fourth embodiment, the d-axis attenuation coefficient ζcd ^* and the q-axis attenuation coefficient ζcq ^* are changed based on the voltage commands Vdc ^* and Vqc ^* , but in the first embodiment, the d-axis stabilization compensation gain Kd-. Even if the stb ^* and the q-axis stabilization compensation gain Kq-stb ^* are changed according to the amplitude of the voltage command and the magnitude of the deviation angle, the same improvement in vibration suppression effect can be expected.

Therefore, in the fourth embodiment, the desired attenuation coefficient ζc ^* of the stabilization control is obtained based on the amplitude and the magnitude of the deviation angle of the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis output by the vector control unit 112. On the other hand, the ratio of the damping coefficient ζcd * on the d-axis and the damping coefficient ζcq ^* on the q-axis is optimized. As a result, the vibration phenomenon between the dq axes due to the disturbance can be suppressed more effectively, and the stability of the control device of the AC motor and the control response can be improved as compared with the first embodiment.

In the fifth embodiment, the voltage command of the vector control is compensated by the stabilized voltage compensation amounts Vd-dmp ^* and Vq-dmp ^* by the stabilization control and the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* . It is not carried out in the stop and low speed range where the influence of the resonance characteristic of the secondary system due to the interference between the dq axes of the AC motor is not remarkable, or the compensation amount is suppressed. As a result, the voltage compensation by the stabilization control can reduce the control response of the vector control in the stop and low speed range, and the increase in the calculation load of the control by the calculation of the compensation amount of the stabilization control can be suppressed. However, it is possible to realize a control device for an AC motor that can improve control stability.

FIG. 20 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the fifth embodiment. In the following, only the differences in the configuration will be described as compared with the first embodiment shown in FIG.
The control device for the AC motor according to the fifth embodiment shown in FIG. 20 can be realized by using the stabilization control unit 110e instead of the stabilization control unit 110 of the first embodiment.

FIG. 21 is a block diagram showing a configuration example of the stabilization control unit 110e of the fifth embodiment, and includes a stabilization compensation calculation unit 204b, a control voltage compensation calculation unit 205b, and a compensation gain calculation unit 206e.

The stabilization control unit 110e has the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. The detected values Idc and Iqc, the drive frequency ω1 or the estimated frequency ωre ^ corresponding to the electric angle frequency of the rotation speed of the AC motor 103 output by the vector control unit 112, and the dc-qc axis output by the vector control unit 112. Based on the voltage commands Vdc ^* and Vqc ^* , the stabilized control voltage compensation amounts Vd-stb ^* and Vq-stb ^* are calculated and output. This stabilizes the drive of the AC motor and improves the control characteristics.

The stabilization control unit 110e has the same configuration as the stabilization control unit 110b of the second embodiment except for the compensation gain calculation unit 206e.

Next, the compensation gain calculation unit 206e, which is a characteristic portion of the fifth embodiment, will be described in detail.
FIG. 22 is a block diagram showing a configuration example of the compensation gain calculation unit 206e of the fifth embodiment included in the stabilization control unit 110e, and is a d-axis compensation gain calculation unit 501d, a q-axis compensation gain calculation unit 502d, and a d-axis inductance estimation calculation. A unit 601c, a q-axis inductance estimation calculation unit 602c, a d-axis attenuation coefficient calculation unit 701e, and a q-axis attenuation coefficient calculation unit 702e are provided.

The compensation gain calculation unit 206e has a drive frequency ω1 corresponding to the electric angular frequency of the rotation speed of the AC motor 103 output from the vector control unit 112, and a current on the dc-qc axis coordinate system output by the current command calculation unit 111. Based on the command values Idc ^* and Iqc ^* and the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis output by the vector control unit 112, the d-axis stabilization compensation gain Kd-stb ^* and q-axis stabilization compensation The gain Kq-stb ^* is calculated and output.

The compensation gain calculation unit 206e has the same configuration as the compensation gain calculation unit 206d of the fourth embodiment except for the d-axis attenuation coefficient calculation unit 701e and the q-axis attenuation coefficient calculation unit 702e.

The d-axis attenuation coefficient calculation unit 701e is based on the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis output by the vector control unit 112 and the drive frequency ω1 of the AC motor output by the vector control unit 112. Stabilization Compensation control damping coefficient ζcd ^* is calculated and output.

The d-axis damping coefficient ζcd ^* output by the d-axis damping coefficient calculation unit 701e to the d-axis compensation gain calculation unit 501d as an input variable does not have a problem of vibration phenomenon due to interference between the dq axes at the drive frequency ω1. In the speed range lower than an arbitrary set speed, the value may be narrowed down to a value smaller than the set value or zero.

The q-axis attenuation coefficient calculation unit 702e is based on the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis output by the vector control unit 112 and the drive frequency ω1 of the AC motor output by the vector control unit 112. Stabilization Compensation control damping coefficient ζcq ^* is calculated and output.

The q-axis damping coefficient ζcq ^* output by the q-axis damping coefficient calculation unit 702e to the q-axis compensation gain calculation unit 502d as an input variable does not have a problem of vibration phenomenon due to interference between the dq-axis drive frequencies, for example. In the speed range lower than an arbitrary set speed, the value may be narrowed down to a value smaller than the set value or zero.

Further, the d-axis damping coefficient ζcd ^* and the q-axis damping coefficient ζcq ^* may be changed in steps according to the drive frequency ω1 after providing hysteresis for an arbitrary set speed. , May be changed in a tapered shape within an arbitrary set speed range.

Therefore, in the fifth embodiment, the stabilized voltage compensation amount Vd-dmp ^* and Vq-dmp ^* by the stabilized control are in the stop and low speed range where the influence of the resonance characteristic of the secondary system due to the interference between the dq axes of the AC motor is small. And control voltage compensation amount Vd-rsp ^* , Vq-rsp ^* compensation amount is suppressed. As a result, the voltage compensation by the stabilization control can reduce the control response of the vector control in the stop and low speed range, and the increase in the calculation load of the control by the calculation of the compensation amount of the stabilization control can be suppressed. However, it is possible to realize a control device for an AC motor that can improve control stability and control response.

Further, in the fifth embodiment, not only the AC motor may decrease the damping coefficients ζcd ^* and ζcq ^* in the stopped and low speed range, but also the damping coefficient may be increased in the high speed range. As a result, in the control device of the AC motor, the compensation amount by the stabilization control can be increased only in the speed range where the influence of the vibration due to the dq-axis interference is large. As a result, it is possible to realize a control device for an AC motor capable of improving the vibration suppression effect and control stability as compared with the first embodiment.

In the sixth embodiment, by limiting the magnitude of the attenuation coefficient set in the stabilization control according to the calculation cycle of the vector control, it is possible to avoid the anxiety phenomenon due to the excessive loop gain of the stabilization control. As a result, it is possible to realize a control device for an AC motor capable of improving control stability as compared with the first embodiment.

FIG. 23 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the sixth embodiment. In the following, only the differences in the configuration will be described as compared with the first embodiment shown in FIG.
The control device for the AC motor according to the sixth embodiment shown in FIG. 23 can be realized by using the stabilization control unit 110f instead of the stabilization control unit 110 of the first embodiment.

FIG. 24 is a block diagram showing a configuration example of the stabilization control unit 110f of the sixth embodiment, and includes a stabilization compensation calculation unit 204b, a control voltage compensation calculation unit 205b, and a compensation gain calculation unit 206f.

The stabilization control unit 110f has the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. The detected values Idc and Iqc, the drive frequency ω1 or the estimated frequency ωre ^ corresponding to the electric angle frequency of the rotation speed of the AC motor 103 output by the vector control unit 112, and the dc-qc axis output by the vector control unit 112. Based on the voltage commands Vdc ^* and Vqc ^* and the calculation cycle Tc of the vector control, the stabilized control voltage compensation amounts Vd-stb ^* and Vq-stb ^* are calculated and output. This stabilizes the drive of the AC motor and improves the control characteristics.

The stabilization control unit 110f has the same configuration as the stabilization control unit 110b of the second embodiment except for the compensation gain calculation unit 206f.

Next, the compensation gain calculation unit 206f, which is a characteristic portion of the sixth embodiment, will be described in detail.
FIG. 25 is a block diagram showing a configuration example of the compensation gain calculation unit 206f included in the stabilization control unit 110f, and is a block diagram showing a d-axis compensation gain calculation unit 501d, a q-axis compensation gain calculation unit 502d, and a d-axis inductance estimation calculation unit 601c, q. It includes an axis inductance estimation calculation unit 602c, a d-axis attenuation coefficient calculation unit 701f, and a q-axis attenuation coefficient calculation unit 702f.

The compensation gain calculation unit 206f has a drive frequency ω1 corresponding to the electric angular frequency of the rotation speed of the AC motor 103 output from the vector control unit 112, and a current on the dc-qc axis coordinate system output by the current command calculation unit 111. Based on the command values Idc ^* and Iqc ^* , the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis output by the vector control unit 112, and the calculation cycle Tc of the vector control, the d-axis stabilization compensation gain Kd- The stb ^* and the q-axis stabilization compensation gain Kq-stb ^* are calculated and output.

The compensation gain calculation unit 206f of the sixth embodiment has the same configuration as the compensation gain calculation unit 206d of the fourth embodiment except for the d-axis attenuation coefficient calculation unit 701f and the q-axis attenuation coefficient calculation unit 702f.

The d-axis attenuation coefficient calculation unit 701f has the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis output by the vector control unit 112, the drive frequency ω1 of the AC motor output by the vector control unit 112, and the calculation cycle Tc of the vector control. Based on the above, the attenuation coefficient ζcd ^* of the stabilization compensation control of the d-axis is calculated and output.

The d-axis attenuation coefficient ζ cd ^* output by the d-axis attenuation coefficient calculation unit 701f to the d-axis compensation gain calculation unit 501d as an input variable depends on, for example, the ratio of the drive frequency ω1 to the vector control calculation cycle Tc. The damping coefficient ζcd ^* of the d-axis is limited to an arbitrary value that does not cause the control instability phenomenon due to the excessive loop gain of the stabilization control. The limit value of the attenuation coefficient ζcd ^* with respect to the ratio of the drive frequency ω1 to the operation cycle Tc of the vector control can be obtained in advance from analysis or experiment.

The q-axis attenuation coefficient calculation unit 702f has the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis output by the vector control unit 112, the drive frequency ω1 of the AC motor output by the vector control unit 112, and the calculation cycle Tc of the vector control. Based on the above, the attenuation coefficient ζcq ^* of the stabilization compensation control of the q-axis is calculated and output.

The q-axis attenuation coefficient ζcq ^* output by the q-axis attenuation coefficient calculation unit 702f to the q-axis compensation gain calculation unit 502d as an input variable depends on, for example, the ratio of the drive frequency ω1 to the vector control calculation cycle Tc. The attenuation coefficient ζcq ^* on the q-axis is limited to an arbitrary value that does not cause control instability due to excessive loop gain of stabilization control. The limit value of the attenuation coefficient ζcq ^* with respect to the ratio of the drive frequency ω1 to the operation cycle Tc of the vector control can be obtained in advance from analysis or experiment.

Therefore, in the sixth embodiment, the magnitude of the attenuation coefficient used in the stabilization control is limited according to the drive frequency ω1 of the AC motor and the calculation cycle Tc of the vector control. As a result, the calculation cycle of the vector control becomes longer, so that the control anxiety phenomenon due to the excessive loop gain of the stabilization control in the high speed range can be avoided, and the control stability can be improved as compared with the first embodiment. A control device for an electric motor can be realized.

In the seventh embodiment, among the stabilization controls, the compensation calculation of the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* that prevent the torque accuracy from being lowered due to the response delay of the vector control and the motor constant error is performed in the vector control. This is done using a current-controlled integrator. As a result, it is possible to realize a drive device for an AC motor capable of improving control stability with a simpler configuration than that of the first embodiment.

FIG. 26 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the seventh embodiment. In the following, only the differences in the configuration will be described as compared with the first embodiment shown in FIG.
The control device for the AC motor according to the seventh embodiment shown in FIG. 26 is realized by using the vector control unit 112g and the stabilization compensation calculation unit 204g instead of the vector control unit 112 and the stabilization control unit 110 of the first embodiment. can.

FIG. 27 is a block diagram showing a configuration example of the vector control unit 112g of the seventh embodiment, and is a block diagram showing a d-axis current command proportional control unit 801 g, a d-axis current command integral control unit 802 g, a q-axis current command proportional control unit 803 g, and a q-axis. It includes a current command integration control unit 804 g, a voltage command calculation unit 805 g, a control voltage d-axis compensation calculation unit 401 g, a control voltage q-axis compensation calculation unit 402 g, and a speed / phase calculation unit 901 g.

The vector control unit 112g detects the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current detection on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. The stabilized voltage compensation amount Vd-dmp ^* and output by the stabilization compensation calculation unit 204g to the voltage commands Vdc ^* and Vqc ^* on the dc-qc axis for vector control of the AC motor based on the values Idc and Iqc. Voltage commands Vdc ^** and Vqc ^* to which the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* are added to prevent the response delay of vector control due to the influence of Vq-dmp ^* and the deterioration of torque accuracy due to the motor constant error. ^* Is calculated and output.

The stabilization compensation calculation unit 204g of the seventh embodiment may have the same configuration as the stabilization compensation calculation unit 204 (FIG. 5) of the first embodiment. That is, the stabilization compensation d-axis voltage calculation unit 301g and the stabilization compensation q-axis voltage calculation unit 302g (not shown) in the stabilization compensation calculation unit 204g are stabilized in the stabilization compensation calculation unit 204 of the first embodiment. It is the same as the compensation d-axis voltage calculation unit 301 and the stabilization compensation q-axis voltage calculation unit 302.

Next, the vector control unit 112g, which is a characteristic portion of the seventh embodiment, will be described in detail.
The d-axis current command proportional control unit 801g detects the current command value Idc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current detection on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. Based on the deviation from the value Idc, a proportional calculation is performed to make the current detection value Idc follow the current command value Idc ^* , and the second d-axis current command value (proportional calculation) Idc-p ^** is output. ..

In the d-axis current command proportional control unit 801g, the second d-axis current command value (proportional operation) Idc-p ^** uses the current control response design value ωc-acr ^* , for example, the following equation ( It is calculated in 31).

The d-axis current command integration control unit 802g detects the current command value Idc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current detection on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. Based on the deviation from the value Idc, an integral calculation is performed to make the current detection value Idc follow the current command value Idc ^* , and the second d-axis current command value (integration calculation) Idc-i ^** is output. ..

In the d-axis current command integration control unit 802g, the second d-axis current command value (integral calculation) Idc-i ^** uses the current control response design value ωc-acr ^* , for example, the following equation ( It is calculated in 32).

The q-axis current command proportional control unit 803g detects the current command value Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current detection on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. Based on the deviation from the value Iqc, a proportional calculation is performed to make the current detection value Iqc follow the current command value Iqc ^* , and the second q-axis current command value (proportional calculation) Iqc-p ^** is output. ..

In the q-axis current command proportional control unit 803g, the second q-axis current command value (proportional operation) Iqc-p ^** uses the current control response design value ωc-acr ^* , for example, the following equation ( It is calculated in 33).

The q-axis current command integration control unit 804g detects the current command value Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current detection on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. Based on the deviation from the value Iqc, an integral calculation is performed to make the current detection value Iqc follow the current command value Iqc ^* , and the current is output as the second q-axis current command value (integration calculation) Iqc-i ^** . ..

In the q-axis current command integration control unit 804g, the second q-axis current command value (integral calculation) Iqc-i ^** uses the current control response design value ωc-acr ^* , for example, the following equation ( It shall be calculated in 34).

Based on the rotor position θd of the AC motor output by the rotation position detection unit 124, the speed / phase calculation unit 901g has a drive frequency ω1 corresponding to the electric angular frequency of the rotation speed of the AC motor and the phase of the dc axis as the control phase. Calculate and output θdc.

The voltage command calculation unit 805g has a second d-axis current command value (proportional calculation) Idc-p ^** output by the d-axis current command proportional control unit 801g and a second d-axis current command integration control unit 802g output. 2 d-axis current command value (integral calculation) Idc-i ^** , second q-axis current command value (proportional calculation) Iqc-p ^** output by q-axis current command proportional control unit 803g, Based on the second q-axis current command value (integration calculation) Iqc-i ^** output by the q-axis current command integration control unit 804g and the drive frequency ω1 of the AC motor output by the speed / phase calculation unit 901g. , Dc-qc The voltage command values Vdc ^* and Vqc ^* on the axis coordinate system are calculated and output.

In the voltage command calculation unit 805g, the voltage command values Vdc ^* and Vqc ^* on the dc-qc axis coordinate system are, for example, in the case of a permanent magnet synchronous motor, the above-mentioned input variables and the control set value R1 ^* of the motor constant. It is calculated by the following equation (35) using Ld ^* , Lq ^* and Ke ^* .

The control voltage d-axis compensation calculation unit 401g has a stabilization compensation calculation unit 204g based on the second d-axis current command value (integration calculation portion) Idc-i ^** output by the d-axis current command integration control unit 802g. The control voltage compensation amount Vd-rsp ^* for preventing the response delay of vector control and the deterioration of torque accuracy due to the influence of the regulated voltage compensation amount Vd-dmp ^* to be output is calculated and output.

The control voltage compensation amount Vd-rsp ^* output by the control voltage d-axis compensation calculation unit 401g is calculated by, for example, the following equation (36).

The control voltage q-axis compensation calculation unit 402g has a stabilization compensation calculation unit 204g based on the second q-axis current command value (integration calculation portion) Iqc-i ^** output by the q-axis current command integration control unit 804g. The control voltage compensation amount Vq-rsp ^* for preventing the response delay of vector control and the deterioration of torque accuracy due to the influence of the regulated voltage compensation amount Vq-dm ^* to be output is calculated and output.

The control voltage compensation amount Vq-rsp ^* output by the control voltage q-axis compensation calculation unit 402g is calculated by, for example, the following equation (37).

In the seventh embodiment, the control voltage d-axis compensation calculation unit 401g and the control voltage q-axis compensation calculation unit 402g are configured by using a proportional device, and the stabilization compensation d-axis voltage calculation unit 301g and the stability in the stabilization compensation calculation unit 204g. It can be realized by using the same proportional device as the compensation q-axis voltage calculation unit 302g.

Therefore, in the seventh embodiment, the proportional device can be used for the calculation of the control voltage compensation amount Vd-rsp ^* and Vq-rsp ^* by utilizing the integrated output of the current control in the vector control. As a result, it is possible to realize a drive device for an AC motor capable of improving control stability with a simpler configuration than that of the first embodiment.

In the eighth embodiment, in the voltage compensation calculation by the stabilized control, the stabilized voltage is based on the current detected values Idc on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114 and the values obtained by extracting the vibration components from Iqc. By calculating the compensation amounts ΔVd-dmp ^* and ΔVq-dmp ^* , the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* for preventing the decrease in torque accuracy due to the response delay of vector control and the motor constant error. Allows the compensation calculation to be omitted. As a result, it is possible to realize a control device for an AC motor having a simpler configuration than that in the first embodiment and capable of improving control stability.

FIG. 28 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the eighth embodiment. In the following, only the differences in the configuration will be described as compared with the first embodiment shown in FIG.
The control device for the AC motor according to the eighth embodiment shown in FIG. 28 can be realized by using the stabilization control unit 110h instead of the stabilization control unit 110 of the first embodiment.

FIG. 29 is a block diagram showing a configuration example of the stabilization control unit 110h of the eighth embodiment, and includes a vibration component extraction unit 207h, a stabilization compensation calculation unit 204h, and a compensation gain calculation unit 206h.
The stabilization control unit 110h corresponds to the current detection values Idc and Iqc on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114 and the electric angular frequency of the rotation speed of the AC motor 103 output by the vector control unit 112. Based on a certain drive frequency ω1 or estimated frequency ωre ^, the stabilized voltage compensation amounts ΔVd-dmp ^* and ΔVq-dmp ^* are calculated and output. This stabilizes the drive of the AC motor and improves the control characteristics.

Here, the compensation gain calculation unit 206h can be realized by using, for example, the same compensation gain calculation unit 206b of the second embodiment.

Next, the vibration component extraction unit 207h and the stabilization compensation calculation unit 204h, which are the characteristic portions of the eighth embodiment, will be described in detail.
FIG. 30 is a block diagram showing a configuration example of the vibration component extraction unit 207h included in the stabilization control unit 110h, and includes a d-axis current primary lag filter 1001h and a q-axis current primary lag filter 1002h.

The vibration component extraction unit 207h calculates and outputs the d-axis current vibration component ΔIdc and the q-axis current vibration component ΔIqc based on the current detection values Idc and Iq on the dc-qc-axis coordinate system output by the dq coordinate conversion unit 114. do.

Here, the d-axis current vibration component ΔIdc and the q-axis current vibration component ΔIqc can be calculated by using, for example, a first-order lag filter. Further, the time constant of the first-order lag filter for extracting the vibration component is shorter than the time constant Tacr ^* , which is the reciprocal of the current control response design value ωc-acr ^* so as not to interfere with the current control response. Just set it.

Further, the vibration component extraction unit 207h extracted the vibration components of the d-axis and q-axis currents by configuring a high-pass filter using a first-order lag filter, but the differential or inexact differential was used to extract the components of the vibration components. Alternatively, a bandpass filter that combines integrals and inexact integrals may be used.

FIG. 31 is a block diagram showing a configuration example of the stabilization compensation calculation unit 204h included in the stabilization control unit 110h, and includes a stabilization compensation d-axis voltage calculation unit 301h and a stabilization compensation q-axis voltage calculation unit 302h.

The stabilized compensation calculation unit 204h has a stabilized voltage compensation amount ΔVd−dmp for stabilizing the drive of the AC motor based on the d-axis current vibration component ΔIdc and the q-axis current vibration component ΔIqc output by the vibration component extraction unit 207h. ^* And ΔVq-dmp ^* are calculated and output.

The stabilized voltage compensation amount ΔVd-dmp ^* is, for example, the d-axis current vibration component ΔIdc output by the vibration component extraction unit 207h multiplied by the d-axis stabilization compensation gain Kd-stb ^* output by the compensation gain calculation unit 206h. , Is calculated by the following equation (38).

Further, the stabilized voltage compensation amount ΔVq-dmp ^* is, for example, the q-axis stabilization compensation gain Kq-stb ^* output by the vibration component extraction unit 207h and output by the compensation gain calculation unit 206h to the q-axis current vibration component ΔIqc. It is multiplied and calculated by the following equation (39).

Here, the d-axis stabilization compensation gain Kd-stb ^* and the q-axis stabilization compensation gain Kq-stb ^* may be constants, or may be functional expressions such as a current command value, a voltage command value, and an AC motor rotation speed. The calculated one may be used.

Next, FIG. 32 is a block diagram showing a configuration example of an AC motor control system using a control device for an AC motor, which is a modification of the eighth embodiment. In the following, only the differences in the configuration will be described as compared with the configuration example of the eighth embodiment shown in FIG. 28.
The control device for the AC motor according to the modified example of the eighth embodiment can be realized by using the stabilization control unit 110i instead of the stabilization control unit 110h of the eighth embodiment shown in FIG. 28.

FIG. 33 is a block diagram showing a configuration example of the stabilization control unit 110i, which is a modification of the eighth embodiment, and includes a vibration component extraction unit 207h, a stability compensation calculation unit 204h, and a compensation gain calculation unit 206h.

The stabilization control unit 110i has the current command values Idc ^* and Iqc ^* on the dc-qc axis coordinate system output by the current command calculation unit 111 and the current on the dc-qc axis coordinate system output by the dq coordinate conversion unit 114. Based on the detected values Idc and Iqc and the drive frequency ω1 or the estimated frequency ωre ^, which is equivalent to the electric angle frequency of the rotation speed of the AC motor 103 output by the vector control unit 112, the stabilized voltage compensation amount ΔVd-dmp ^* and Calculates and outputs ΔVq-dmp ^* . This stabilizes the drive of the AC motor and improves the control characteristics.

Here, in the embodiment, the stabilization control unit 110i extracts the vibration components of the d-axis current and the q-axis current, except that the deviation between the current command value and the current detection value is input to the vibration component extraction unit 207h. It has the same configuration as the stabilization control unit 110h shown in the configuration example of 8.

As described above, in the eighth embodiment, the stabilized voltage compensation amounts ΔVd-dmp ^* and ΔVq-dmp ^* are calculated based on the values obtained by extracting the vibration components from the current detection values Idc and Iqc, and the AC motor is driven. To stabilize and improve the control characteristics. As a result, the compensation calculation for the control voltage compensation amounts Vd-rsp ^* and Vq-rsp ^* can be omitted, so that a control device for an AC motor capable of improving control stability with a simpler configuration than in the first embodiment can be realized.

In the ninth embodiment, in the control device for the AC motor according to the first to eighth embodiments described above, the stabilization control unit or the stabilization compensation calculation unit executes an operation at a cycle different from the calculation cycle of the vector control unit. It is a thing. That is, by setting the calculation cycle of the stabilization control unit or the stabilization compensation calculation unit to a period shorter than the calculation cycle of the vector control, the AC motor capable of further improving the control stability by the stabilization control of the present invention. Control device can be realized.

FIG. 34 is a block diagram showing a configuration example of an AC motor control system using the AC motor control device according to the ninth embodiment. In the following, only the differences in the configuration will be described as compared with the first embodiment shown in FIG.
The control device for the AC motor according to the ninth embodiment shown in FIG. 34 has a voltage command calculation unit 117j and a stabilization of the first embodiment, instead of the configuration including the vector control unit 112 and the stabilization control unit 110 of the first embodiment. The configuration including the stabilization compensation calculation unit 204 constituting the control unit 110 is used.

FIG. 35 is a block diagram showing a configuration example of the voltage command calculation unit 117j of the ninth embodiment, and the voltage command calculation unit 117j constitutes the vector control unit 112 of the first embodiment and the stabilization control unit 110 of the first embodiment. It also includes a control voltage compensation calculation unit 205.

As described above, in the ninth embodiment, the stabilization compensation calculation unit 204 involved in suppressing the gain of the electric angular frequency ωre component of the AC motor 103 and suppressing the vibration of the dq-axis interference, and the vector control unit related to the vector control of the AC motor. The method of binding the configuration including the 112 and the control voltage compensation calculation unit 205 is regrouped according to the calculation cycle. That is, it is easy to execute the calculation cycle of the stabilization compensation calculation unit 204 in the shortest possible calculation cycle.

Therefore, in the ninth embodiment, by setting the calculation cycle of the stabilization control unit or the stabilization compensation calculation unit to the shortest possible cycle, the control of the AC motor capable of further improving the control stability by the stabilization control of the present invention is possible. The device can be realized.

The tenth embodiment is equipped with a control device for an AC motor using any of the configurations of the first to ninth embodiments described above as a part of a railroad vehicle.
FIG. 36 is a diagram showing a schematic configuration of a part of a railroad vehicle according to the tenth embodiment.

The railroad vehicle shown in FIG. 36 has a bogie on which the AC motors 103a and 103b are mounted, and a bogie on which the AC motors 103c and 103d are mounted. Further, the railroad vehicle is equipped with a control device for an AC motor including a controller 101, a power converter 102, a command generator 105, and a phase current detection unit 121.

Here, the railroad vehicle is supplied from the overhead wire via the current collector according to the torque command value Tm ^* generated by the command generator 105 based on the operation command input by the driver via the master controller. The AC electric power 103 is driven by converting the electric power into AC electric power by the power converter 102 and supplying the electric power to the AC electric motor 103. The running of the railroad vehicle is controlled by the AC motor 103 connected to the axle of the railroad vehicle.

In the tenth embodiment, the running control of the railroad vehicle capable of improving the control stability and the control response is realized by mounting the control device of the AC electric motor having the configuration according to any one of the first to ninth embodiments on the railroad vehicle. can do.

Examples 1 to 10 have been described above as embodiments for carrying out the present invention. If it is an AC motor, it can be applied to other motors in the same manner. For example, the same applies to a permanent magnet synchronous motor, a winding type synchronous motor, and a reluctance torque synchronous motor. It can also be applied to the control of a generator as well.

Further, the present invention is not limited to the above-mentioned Examples 1 to 10, and includes various modifications. Each of the above-described embodiments describes the present invention in an easy-to-understand manner, and is not necessarily limited to the one having all the configurations described. Further, it is possible to replace a part of the configuration of the embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. It is possible to add / delete / replace other configurations for some parts. Further, each configuration and each process exemplified in the above-mentioned Examples and Modifications may be appropriately integrated, separated, or the processing order may be changed according to the mounting form and the processing efficiency, and the above-mentioned Examples and Modifications may be performed. The example may be a combination of some or all of them within a consistent range.

101 Controller 102 Power converter 103 AC electric motor 105 Command generator 110 Stabilization control unit 111 Current command calculation unit 112 Vector control unit 113 Current detection unit 114 dq coordinate conversion unit 115 Three-phase coordinate conversion unit 116 PWM signal controller 117 Voltage Command calculation unit 121 Phase current detection unit 123 Input terminal 124 Rotation position detection unit 131 Smoothing capacitor 132 Main circuit unit 133 Gate driver 134 DC resistor 201 Current flux amount limit value calculation unit 202 d-axis current command calculation unit 203 q-axis current Command calculation unit 204 Stabilization compensation calculation unit 205 Control voltage compensation calculation unit 206 Compensation gain calculation unit 207 Vibration component extraction unit 301 Stabilization compensation d-axis voltage calculation unit 302 Stabilization compensation q-axis voltage calculation unit 401 Control voltage d-axis compensation calculation Part 402 Control voltage q-axis compensation calculation unit 501 d-axis compensation gain calculation unit 502 q-axis compensation gain calculation unit 601 d-axis inductance estimation calculation unit 602 q-axis inductance estimation calculation unit 701 d-axis attenuation coefficient calculation unit 702 q-axis attenuation coefficient calculation 801 d-axis current command proportional control unit 802 d-axis current command integration control unit 803 q-axis current command proportional control unit 804 q-axis current command integration control unit 805 voltage command calculation unit 901 speed / phase calculation unit 1001 d-axis current primary delay Filter 1002 q-axis current first-order lag filter

Claims (12)

It is a control device for an AC motor driven by a power converter.
A voltage command generator that generates a voltage command value for passing a desired current from the power converter to the AC motor, and a voltage command generator.
A current detection unit that detects the value of the current flowing through the AC motor,
A stabilized voltage compensating unit that calculates a voltage compensation amount for stabilizing the drive of the AC motor with respect to the voltage command value from the detected current value.
A control device for an AC motor including a control gain compensation unit that compensates for a decrease in control gain of the voltage command generation unit due to the voltage compensation amount. The drive device for an AC motor according to claim 1.
The regulated voltage compensation unit is a control device for an AC motor, characterized in that the voltage compensation amount is a value obtained by multiplying the current value by a gain. The drive device for an AC motor according to claim 2.
The value of the gain to be multiplied by the current value depends on at least one of the rotation speed and inductance of the AC motor, the attenuation coefficient of the control system for the AC motor, the torque command, the current command, and the calculation cycle. A control device for an AC motor that is characterized by being modified. The drive device for an AC motor according to any one of claims 1 to 3.
The control gain compensating unit is a control device for an AC motor, which compensates for the gain of an integral compensator or a proportional compensator included in the voltage command generating unit as compensation for a decrease in the controlled gain. The control device for an AC motor according to any one of claims 1 to 4.
The voltage command generation unit, the regulated voltage compensation unit, and the control gain compensation unit handle signals on the d-axis and the q-axis, which are orthogonal rotation coordinate axes of the AC motor, respectively.
The stabilized voltage compensating unit determines the gain of the d-axis used in the calculation for compensating the voltage command value on the d-axis and the gain of the q-axis used in the calculation for compensating the voltage command value on the q-axis. A control device for an AC motor, characterized in that the voltage command value of the d-axis and the q-axis is changed according to at least one of the voltage command values. The control device for an AC motor according to any one of claims 1 to 5.
The stabilized voltage compensating unit is a control device for an AC motor, characterized in that the voltage compensation amount is suppressed when the operation of the AC motor is stopped and in a low speed range. It is a control device for an AC motor driven by a power converter.
A voltage command generator that generates a voltage command value for passing a desired current from the power converter to the AC motor, and a voltage command generator.
A current detection unit that detects the value of the current flowing through the AC motor,
A control device for an AC motor including a stabilized voltage compensation unit that calculates a voltage compensation amount for stabilizing the drive of the AC motor with respect to the voltage command value based on the current vibration component extracted from the detected current value. The drive device for an AC motor according to claim 7.
The regulated voltage compensating unit is a control device for an AC motor, characterized in that the current vibration component is extracted from the current value or the difference between the current value and the current command value by using a first-order lag filter. The control device for an AC motor according to any one of claims 1 to 8.
A control device for an AC motor, wherein the calculation cycle of the regulated voltage compensation unit is set to a cycle shorter than the calculation cycle of the voltage command generation unit. A railway vehicle equipped with the control device for an AC motor according to any one of claims 1 to 9. It is a control method for an AC motor driven by a power converter.
A voltage command generation step for generating a voltage command value for passing a desired current from the power converter to the AC motor, and a voltage command generation step.
A current detection step for detecting the current value flowing through the AC motor, and
A stabilized voltage compensation step for calculating a voltage compensation amount for stabilizing the drive of the AC motor with respect to the voltage command value from the detected current value, and
A control method for an AC motor having a control gain compensation step for compensating for a decrease in control gain when a voltage command value is generated due to the voltage compensation amount. It is a control method for an AC motor driven by a power converter.
A voltage command generation step for generating a voltage command value for passing a desired current from the power converter to the AC motor, and a voltage command generation step.
A current detection step for detecting the current value flowing through the AC motor, and
A vibration component extraction step for extracting a current vibration component from the detected current value, and a vibration component extraction step.
A control method for an AC motor having a stabilized voltage compensation step for calculating a voltage compensation amount for stabilizing the drive of the AC motor with respect to the voltage command value based on the current vibration component.

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