JP2023122773A - Motor system, processing method, and program - Google Patents

Abstract

To provide a motor system that can reduce problems caused by discontinuities in command values when switching from open control to vector control.SOLUTION: The motor system is for operating by switching from open control for controlling a motor in accordance with a speed command without reflecting a state of the motor to vector control for controlling the motor by reflecting an actual or estimated state of the motor. The motor system includes a first calculation unit. During the open control, on the basis of the state of the motor during the open control, the first calculation unit calculates a first integral value of a torque and a first integral value of voltages of a d-axis and a q-axis, and replaces a second integral value of the torque calculated by a processing unit that executes the vector control and a second integral value of the voltages of the d-axis and the q-axis by the calculated first integral value of the torque and the first integral value of the voltages of the d-axis and the q-axis.SELECTED DRAWING: Figure 3

Description

The present disclosure relates to motor systems, processing methods, and programs.

As a method for controlling a motor, there is a method called sensorless control in which the motor is controlled by open control without detecting the state of the motor. Patent Document 1 discloses, as a related technique, a technique related to control of a synchronous motor.

JP 2007-282319 A

By the way, when switching from open control in which the motor is controlled according to a speed command without reflecting the state of the motor to vector control in which the motor is controlled by reflecting the actual or estimated state of the motor, the The command values generated before and after switching may become discontinuous, causing problems with the motor.

Therefore, there is a demand for a technique that can reduce problems caused by discontinuity of command values when switching from open control to vector control.

The present disclosure has been made to solve the above problems, and includes a motor system, a processing method, and a motor system capable of reducing defects caused by discontinuity of command values when switching from open control to vector control. and to provide programs.

In order to solve the above-described problems, the motor system according to the present disclosure changes from open control in which the motor is controlled according to a speed command without reflecting the state of the motor to reflecting the actual or estimated state of the motor. A motor system that operates by switching to vector control for controlling the motor, wherein, during the open control, based on the state of the motor during the open control, a first integral value of torque, the d-axis and the q-axis , the second integrated value of the torque calculated by the processing unit that executes the vector control, and the second integrated value of the d-axis and q-axis voltages are calculated as the A first calculation unit that replaces a first integrated value of torque with a first integrated value of voltage on the d-axis and the q-axis.

The processing method executed by the motor system according to the present disclosure varies from open control in which the motor is controlled according to a speed command without reflecting the state of the motor to control in which the actual or estimated state of the motor is reflected. A processing method executed by a motor system operated by switching to vector control to control, wherein during the open control, based on the state of the motor during the open control, a first integral value of torque, the d-axis and calculating a first integral value of the voltage on the q-axis, calculating a second integral value of the torque calculated by the processing unit that executes the vector control, and second integral values of the voltage on the d-axis and the q-axis; and substituting a first integrated value of the torque and a first integrated value of the d-axis and the q-axis voltages.

The program according to the present disclosure switches from open control that controls the motor according to a speed command without reflecting the state of the motor to vector control that controls the motor while reflecting the actual or estimated state of the motor. During the open control, the computer of the motor system that is operated by the motor system calculates a first integrated value of the torque and the first integrated values of the d-axis and q-axis voltages based on the state of the motor during the open control. and the second integral value of the torque calculated by the processing unit that executes the vector control, the second integral value of the d-axis and the q-axis voltage, the first integral value of the torque calculated, and the replacing the voltages of the d-axis and the q-axis with the first integral values.

According to the control device, motor system, control method, and program according to the present disclosure, it is possible to reduce problems caused by discontinuity of command values when switching from open control to vector control.

It is a figure showing an example of composition of a motor system by one embodiment of this indication. It is a figure showing an example of composition of a control device by one embodiment of this indication. FIG. 4 is a diagram illustrating an example of a configuration of a voltage command generator according to an embodiment of the present disclosure; FIG. FIG. 22 is a diagram illustrating an example of a configuration of a ninth functional unit according to an embodiment of the present disclosure; FIG. FIG. 20 is a diagram illustrating an example of a configuration of a tenth functional unit according to an embodiment of the present disclosure; FIG. FIG. 22 is a diagram illustrating an example of a configuration of a twelfth functional unit according to an embodiment of the present disclosure; FIG. FIG. 4 is a diagram illustrating an example of a processing flow of a control device according to an embodiment of the present disclosure; FIG. 1 is a schematic block diagram showing a configuration of a computer according to at least one embodiment; FIG.

<Embodiment>
Hereinafter, embodiments will be described in detail with reference to the drawings. A motor system according to an embodiment of the present disclosure will be described.
(Configuration of motor system)
FIG. 1 is a diagram showing an example configuration of a motor system 1 according to an embodiment of the present disclosure. The motor system 1 includes, as shown in FIG. Prepare. The motor system 1 seamlessly performs control when switching between open control when the motor 70 rotates at low speed and vector control when the motor 70 rotates at high speed (i.e., continuously changes the rotation speed of the motor 70 when switching). It is a system that can be controlled.

A power supply 10 is a power supply that outputs a three-phase AC voltage. A three-phase AC voltage output by power supply 10 is input to converter 20 .

Converter 20 converts a three-phase AC voltage into a DC voltage. Converter 20 is, for example, a diode rectifier circuit. However, converter 20 is not limited to a diode rectifier circuit, and may be another rectifier circuit using a switching element or the like.

Reactor 30 and first capacitor 40 form an LC filter. This LC filter removes the voltage fluctuation of the frequency component determined by the resonance frequency due to the inductance of the reactor 30 and the capacitance of the first capacitor 40 from among the voltage fluctuations in the voltage output from the converter 20 . The first capacitor 40 is, for example, an electrolytic capacitor.

The second capacitor 50 is a snubber capacitor. The snubber capacitor suppresses voltage fluctuation due to switching noise generated when inverter 60 converts a DC voltage into an AC voltage using a switching element.

Inverter 60 generates an AC voltage for driving motor 70 from the DC voltage supplied from converter 20 via the LC filter described above, based on control by control device 100 (that is, a PWM signal to be described later). The inverter 60 includes switching elements SW1, SW2, SW3, SW4, SW5, and SW6. The switching elements SW1 to SW6 are semiconductor elements having control terminals (gate terminals in the case of IGBTs and MOSFETs) such as IGBTs (Insulated Gate Bipolar Transistors) and MOSFETs (Metal-Oxide-Semiconductor Field Effect Transistors). Motor 70 is an AC motor that rotates according to the AC voltage supplied to inverter 60 .

The current sensor 80 is, for example, a current transformer CT. A current sensor 80 detects motor currents Iu, Iv, and Iw. Motor current Iu is the motor current corresponding to the U phase in inverter 60 . Motor current Iv is a motor current corresponding to the V phase in inverter 60 . Motor current Iw is a motor current corresponding to the W phase in inverter 60 . Note that the current sensor 80 detects two of the motor currents Iu, Iv, and Iw, and the remaining one is detected by a seventh function unit F7, which will be described later, because the sum of the motor currents Iu, Iv, and Iw is zero. It may be calculated as follows.

A locating device 90 locates the rotor of the motor 70 . For example, the position specifying device 90 includes a speed sensor 90a, and uses the detection result of the speed sensor 90a to specify the position of the rotor of the motor 70 as the phase θ based on the phase (0 degrees) of the voltage command vu*. . Further, for example, the position identifying device 90 includes an identification unit 90a that identifies the detection result of the current sensor 80, and determines the position of the rotor of the motor 70 based on the identification result (eg, integrated value) identified by the identification unit 90a. It may be specified as the phase θ based on the phase (0 degrees) of the voltage command vu*. The position specifying device 90 outputs the specified phase θ to the control device 100 .

The position specifying device 90 includes a speed sensor 90a, and the position specifying device 90 uses the detection result of the speed sensor 90a to specify the position of the rotor of the motor 70 with reference to the phase (0 degrees) of the voltage command vu*. The position of the rotor of the motor 70 is set to the phase (0 degree) of the voltage command vu* based on the phase θ and the identification result (for example, integrated value) identified by the identification unit 90a. is generally different from the phase θ specified by the position specifying device 90 on the basis of .

(Configuration of control device)
FIG. 2 is a diagram illustrating an example configuration of the control device 100 according to an embodiment of the present disclosure. As shown in FIG. 2, the control device 100 includes a voltage detection circuit 110a, a current detection circuit 110b, a voltage command generation section 110c, a switch 110d, a PWM (Pulse Width Modulation) duty calculation section 110e, and a switch 110f. Control device 100 generates a control signal for controlling inverter 60 before and after switching switch 110d. For example, when the speed command (rotation speed command) ω* of the motor 70 is less than a predetermined rotation speed, the control device 100 generates a control signal for open control. Then, control device 100 outputs the generated control signal for open control to inverter 60 . Further, when the speed command ω* of the motor 70 reaches a predetermined number of revolutions, the control device 100 switches the switch 110d by a control signal for switching the switch 110d to generate a control signal for vector control. Then, control device 100 outputs the generated control signal for vector control to inverter 60 . Note that the speed command ω* is a speed command defined by a mechanical angle.

The voltage detection circuit 110a identifies the voltage Vx between both terminals of the first capacitor 40 . For example, the voltage detection circuit 110a includes an A/D (Analog to Digital) converter 110a1. A/D converter 110 a 1 receives voltage Vx between both terminals of first capacitor 40 . The A/D converter 110a1 converts the received voltage Vx into a digital value (that is, a digital value indicating the value of the received voltage) vdc corresponding to the received voltage Vx on a one-to-one basis. The voltage detection circuit 110a outputs the digital value vdc to the PWM duty calculation section 110e.

The current detection circuit 110b identifies values of the motor currents Iu, Iv, and Iw detected by the current sensor 80, respectively. For example, the current detection circuit 110b includes an A/D converter 110b1. A/D converter 110b1 receives motor currents Iu, Iv, and Iw, respectively. The A/D converter 110b1 converts the received motor currents Iu, Iv, and Iw into digital values corresponding to the received motor currents Iu, Iv, and Iw on a one-to-one basis (that is, the respective current values digital value). The current detection circuit 110b outputs the specified motor current values Iu, Iv, and Iw to the voltage command generator 110c.

FIG. 3 is a diagram showing an example of the configuration of the voltage command generator 110c according to an embodiment of the present disclosure. As shown in FIG. 3, the voltage command generation unit 110c includes a first function unit F1, a second function unit F2, a third function unit F3, a fourth function unit F4, a fifth function unit F5, a sixth function unit F6, It has a seventh functional part F7, an eighth functional part F8, a ninth functional part F9, a tenth functional part F10, an eleventh functional part F11, and a twelfth functional part F12. In FIG. 3, ω* is a speed command. Im* is the current amplitude command. θ is the phase identified by the position identifying device 90 .

The speed command ω* is input to the first functional unit F1, the second functional unit F2 and the tenth functional unit F10. The current amplitude command Im* is input to the fifth function unit F5. The phase θ specified by the position specifying device 90 is input to the seventh functional section F7, the eighth functional section F8 and the thirteenth functional section F13. The motor current values Iu and Iv specified by the current detection circuit 110b are input to the seventh function unit F7. Also, the motor current values Iu, Iv, and Iw specified by the current detection circuit 110b are input to the fourth function unit F4.

The first functional unit F1 generates control signals for controlling the switches 110d and 110f based on the speed command ω*. The first functional unit F1 then outputs the generated control signal to the switches 110d and 110f.

For example, if speed command ω* is less than a predetermined threshold, first function F1 generates a control signal that connects switch 110d to fifth function F5. The first functional unit F1 then outputs the generated control signal to the switch 110d. Further, for example, when the speed command ω* is greater than or equal to a predetermined threshold value, the first function unit F1 generates a control signal that connects the switch 110d to the thirteenth function unit F13. The first functional unit F1 then outputs the generated control signal to the switch 110d.

The second function unit F2 considers the pole logarithm P from the speed command ω* defined by the mechanical angle by multiplying the speed command ω* with the pole logarithm P of the motor 70 as a constant. (multiplied by the logarithm P) to generate the speed command P×ω*. The first function unit F1 outputs the generated speed command P×ω* to the second function unit F2.

The third function unit F3 generates a U-phase phase command θ* by integrating the speed command P×ω* generated by the second function unit F2. The third functional unit F3 outputs the generated phase command θ* to the sixth functional unit F6 and the switch 110f.

The fourth function unit F4 identifies the current amplitude by detecting the maximum value of the motor current value Iu. For example, the fourth function unit F4 confirms that the currents Iu, Iv, and Iw are not overcurrents. When the currents Iu, Iv, and Iw are not overcurrent, the fourth function unit F4 performs full-wave rectification on the motor current values Iu, Iv, and Iw sampled at sufficiently short time intervals compared to the cycle of the U-phase current. Identify the signal as the current amplitude Im. The fourth function unit F4 then outputs the specified current amplitude Im to the fifth function unit F5. Also, the fourth function unit F4 stops the motor system 1 when the currents Iu, Iv, and Iw are overcurrents.

The fifth function unit F5 generates a voltage amplitude Vm according to the difference between the current amplitude command Im* and the current amplitude Im. The fifth functional unit F5 then outputs the generated voltage amplitude Vm to the sixth functional unit F6.

For example, when the current amplitude command Im* and the current amplitude Im are the same, the fifth function unit F5 generates a desired voltage amplitude Vm1 corresponding to the current amplitude command Im* on a one-to-one basis. The fifth functional unit F5 then outputs the generated voltage amplitude Vm1 to the sixth functional unit F6. Further, when the current amplitude command Im* is larger than the current amplitude Im, a voltage corresponding to the difference between the current amplitude command Im* and the current amplitude Im, which is larger than the desired voltage amplitude Vm1, is applied so that the current amplitude Im becomes large. Generate amplitude V2. The fifth functional unit F5 then outputs the generated voltage amplitude Vm2 to the sixth functional unit F6. Further, when the current amplitude command Im* is smaller than the current amplitude Im, a voltage corresponding to the difference between the current amplitude command Im* and the current amplitude Im, which is smaller than the desired voltage amplitude Vm1, is applied so that the current amplitude Im becomes smaller. Generate amplitude V3. The fifth functional unit F5 then outputs the generated voltage amplitude Vm3 to the sixth functional unit F6.

The sixth function unit F6 generates a U-phase voltage command vu*, a V-phase voltage command vv*, and a W-phase voltage command vw* based on the U-phase phase command θ* and the voltage amplitude Vm.

For example, when the voltage amplitude is Vm and the phase command is θ*, the sixth function unit F6 generates Vmsin θ* as the voltage command vu*. Further, the sixth function unit F6 generates Vmsin(θ*-(2π/3)) as the voltage command vv*. Also, the sixth function unit F6 generates Vmsin(θ*+(2π/3)) as the voltage command vw*. Then, the sixth function unit F6 outputs the generated voltage commands vu*, vv*, and vw* to the PWM duty calculation unit 110e. Note that the voltage commands vu*, vv*, and vw* generated here by the sixth function unit F6 are the voltage commands in the open state because the control reflects only the U-phase current amplitude Im.

The sixth functional unit F6 then outputs the generated voltage commands vu*, vv*, and vw* to the switch 110d and the fourteenth functional unit F14.

A seventh function unit F7 calculates a motor current value Iw corresponding to the W phase from the motor current values Iu and Iv. Specifically, the seventh function unit F7 calculates a current value obtained by adding a minus sign to the sum of the motor current value Iu and the motor current value Iv as the motor current value Iw corresponding to the W phase. The calculation of the seventh function part F7 is based on the idea that the sum of the currents of the U-phase, V-phase, and W-phase is zero. Also, the seventh functional unit F7 receives a phase command θ* from the third functional unit F3 in open control, and receives a phase θ from the position specifying device 90 in vector control. Then, the seventh function unit F7 converts the motor current Iu, the motor current Iv, and the motor current Iw into the motor current Id and the motor current Iq using, for example, Equation (1).

Note that the phase is represented as θ in equation (1). In the open control, the phase command θ* output by the third functional unit F3 is substituted for the phase θ in equation (1), and in the vector control, the phase θ output by the position specifying device 90 is substituted for the phase θ in equation (1). should be substituted. Then, the seventh functional part F7 outputs the motor current Id and the motor current Iq to the ninth functional part F9 and the twelfth functional part F12.

If the phase θ specified by the position specifying device 90 can be directly specified using the speed sensor 90a or the like, the phase θ can be specified with high accuracy. Therefore, the motor current Id and the motor current Iq after conversion using equation (1) are values close to the true motor current Id and the motor current Iq with high accuracy. Further, when the phase θ specified by the position specifying device 90 is indirectly specified by calculation using the detection result of the current sensor 80 or the like, the phase θ becomes an estimated value. Therefore, the converted motor current Id and motor current Iq using equation (1) are estimates of the true motor current Id and motor current Iq (that is, generally, the estimated value Iγ of the motor current Id and (referred to as the estimated value I.delta. of the motor current Iq). However, in the embodiment of the present disclosure, the accuracy of the phase θ specified by the position specifying device 90 is low, and the motor current Id and the motor current Iq are estimates of the true motor current Id and motor current Iq (that is, generally , the estimated value Iγ of the motor current Id, and the estimated value Iδ of the motor current Iq) will also be described using the descriptions of the motor current Id and the motor current Iq. A motor current iq is a current that contributes to torque generation by the motor 70 .

The eighth functional unit F8 differentiates the phase θ specified by the position specifying device 90 to generate the speed (rotational speed) ω. The eighth functional part F8 outputs the generated velocity ω to the ninth functional part F9 and the tenth functional part F10.

FIG. 4 is a diagram showing an example of the configuration of the ninth functional unit F9 according to an embodiment of the present disclosure. The ninth function part F9 includes a function part F9a and a function part F9b.

The functional part F9a includes a functional part F9a1, a functional part F9a2, a functional part F9a3, a functional part F9a4, and a functional part F9a5.

The functional unit F9a1 multiplies the motor current Id and the motor current Iq. The functional unit F9a1 outputs the multiplication result Id×Iq to the functional unit F9a2.

The functional unit F9a2 multiplies the multiplication result Id×Iq by the functional unit F9a1 by the number of pole pairs P and the difference between the d-axis inductance Ld of the motor 70 and the q-axis inductance Lq of the motor 70 (Ld−Lq). The functional unit F9a2 outputs the multiplication result (Id×Iq)×P(Ld−Lq) to the functional unit F9a4.

Functional unit F9a3 multiplies the motor current Iq by the number of pole pairs P of the motor 70 and the induced voltage constant Φ of the motor 70 . The functional unit F9a3 outputs the multiplication result Iq×P×Φ to the functional unit F9a4.

The function unit F9a4 adds the multiplication result (Id×Iq)×P(Ld−Lq) by the function unit F9a2 and the multiplication result Iq×P×Φ by the function unit F9a3. The functional unit F9a4 outputs the addition result (Id×Iq)×P(Ld−Lq)+Iq×P×Φ to the functional unit F9a5.

The functional unit F9a5 multiplies the addition result of the functional unit F9a4 by the reciprocal of the speed control integral gain Ki in the tenth functional unit F10, which will be described later. The functional unit F9a5 outputs the multiplication result ((Id×Iq)×P(Ld−Lq)+Iq×P×Φ)/Ki to the tenth functional unit F10.

The functional unit F9b includes a functional unit F9b1, a functional unit F9b2, a functional unit F9b3, a functional unit F9b4, a functional unit F9a5, a functional unit F9b6, a functional unit F9b7, a functional unit F9b8, and a functional unit F9b9.

The functional part F9b1 multiplies the speed ω by the pole logarithm P. Functional unit F9b1 outputs the multiplication result ω×P to functional unit F9b2, functional unit F9b5, and functional unit F9b8.

The functional part F9b2 multiplies the motor current Iq by the multiplication result ω×P of the functional part F9b1. The functional unit F9b2 outputs the multiplication result Iq×ω×P to the functional unit F9b3.

The functional unit F9b3 multiplies the multiplication result Iq×ω×P by the functional unit F9b2 by the q-axis inductance Lq of the motor 70 . The functional unit F9b3 outputs the multiplication result Iq×ω×P×Lq to the functional unit F9b4.

The function part F9b4 adds the multiplication result Iq×ω×P×Lq by the function part F9b3 and the voltage command vd* after conversion by the fourteenth function part F14 described later. The function part F9b4 outputs the addition result Iq×ω×P×Lq+vd* to the twelfth function part F12.

The function part F9b5 multiplies the motor current Id by the multiplication result ω×P of the function part F9b1. The functional unit F9b5 outputs the multiplication result Id×ω×P to the functional unit F9b6.

The functional unit F9b6 multiplies the multiplication result Id×ω×P by the functional unit F9b5 by the d-axis inductance Ld of the motor 70 . The functional unit F9b6 outputs the multiplication result Id×ω×P×Ld to the functional unit F9b7.

The function unit F9b7 subtracts the multiplication result Iq×ω×P×Lq by the function unit F9b3 from the voltage command vq* after conversion by the fourteenth function unit F14, which will be described later. The functional unit F9b7 outputs the subtraction result vq*−Iq×ω×P×Lq to the functional unit F9b9.

The functional unit F9b8 multiplies the multiplication result ω×P by the functional unit F9b1 by the induced voltage constant Φ of the motor 70 . The functional unit F9b8 outputs the multiplication result ω×P×Φ to the functional unit F9b9.

The functional unit F9b9 subtracts the multiplication result ω×P×Φ by the functional unit F9b8 from the subtraction result vq*−Iq×ω×P×Lq by the functional unit F9b7. The functional unit F9b9 outputs the subtraction result vq*-ω×P×(Iq×Lq+Φ) to the twelfth functional unit F12.

FIG. 5 is a diagram showing an example of the configuration of the tenth functional unit F10 according to an embodiment of the present disclosure. The tenth functional unit F10 includes a functional unit F10a1, a functional unit F10a2, a functional unit F10a3, a functional unit F10a4, and a functional unit F10a5.

The functional unit F10a1 subtracts the speed ω from the speed command ω*. The functional unit F10a1 outputs the subtraction result ω*−ω to the functional units F10a2 and F10a4.

The functional unit F10a2 integrates the subtraction result ω*−ω by the functional unit F10a1. Functional unit F10a2 outputs the integration result (ω*−ω)/s to functional unit F10a3. However, when open control is performed, the integration result (ω*−ω)/s by the function unit F10a2 is the multiplication result by the function unit F9a5 of the ninth function unit F9 ((Id×Iq)×P(Ld− Lq)+Iq×P×Φ)/Ki.

Functional unit F10a3 multiplies the output of functional unit F10a2 by speed control integral gain Ki. Functional unit F10a3 outputs the multiplication result to functional unit F10a5.

The functional unit F10a4 multiplies the result of the subtraction by the functional unit F10a1 by the speed control proportional gain Kp. Functional unit F10a4 outputs the multiplication result to functional unit F10a5.

The functional unit F10a5 adds the multiplication result of the functional unit F10a3 and the multiplication result Kp(ω*−ω) of the functional unit F10a4. Functional part F10a5 outputs the addition result to eleventh functional part F11 as torque command T*.

The eleventh function unit F11 generates current commands Id* and Iq* according to the torque command T*. However, when open control is being performed, the eleventh function unit F11 generates the current commands Id* and Iq* based on the torque calculated by the ninth control unit F9. The eleventh function unit F11 then outputs the generated current commands Id* and Iq* to the twelfth function unit F12.

FIG. 6 is a diagram showing an example of the configuration of the twelfth function unit F12 according to one embodiment of the present disclosure. The twelfth function part F12 includes a function part F12a and a function part F12b.

The functional part F12a includes a functional part F12a1, a functional part F12a2, a functional part F12a3, a functional part F12a4, and a functional part F12a5.

Functional unit F12a1 subtracts motor current Id from motor current command Id*. Functional unit F12a1 outputs the subtraction result Id*-Id to functional unit F12a2 and functional unit F12a4.

The functional unit F12a2 integrates the subtraction result Id*-Id obtained by the functional unit F12a1. Functional unit F12a2 outputs the integration result (Id*-Id)/s to functional unit F12a3. However, when the open control is performed, the integration result (Id*-Id)/s by the function unit F12a2 is the subtraction result vq*-ω×P×(Iq×Lq+Φ ).

The function part F12a3 multiplies the output of the function part F12a2 by the d-axis current control integral gain Kid of the motor . The functional part F12a3 outputs the multiplication result to the functional part F12a5.

The functional unit F12a4 multiplies the subtraction result Id*-Id by the functional unit F12a1 by the d-axis current control proportional gain Kpd of the motor . Functional unit F12a4 outputs the multiplication result Kpd (Id*-Id) to functional unit F12a5.

The functional unit F12a5 adds the multiplication result of the functional unit F12a3 and the multiplication result Kpd(Id*-Id) of the functional unit F12a4. The function part F12a5 outputs the addition result to the thirteenth function part F13 as the d-axis voltage command vd* of the motor 70. FIG.

The functional unit F12b includes a functional unit F12b1, a functional unit F12b2, a functional unit F12b3, a functional unit F12b4, and a functional unit F12b5.

Functional unit F12b1 subtracts motor current Iq from motor current command Iq*. Functional unit F12b1 outputs the subtraction result Iq*-Iq to functional unit F12b2 and functional unit F12b4.

The functional unit F12b2 integrates the subtraction result Iq*-Iq by the functional unit F12b1. The functional part F12b2 outputs the integration result (Iq*-Iq)/s to the functional part F12b3. However, when open control is performed, the integration result (Iq*-Iq)/s by the function unit F12b2 is replaced with the addition result Iq×ω×P×Lq+vd* by the function unit F9b4 of the ninth function unit F9. .

The functional part F12b3 multiplies the output of the functional part F12b2 by the q-axis current control integral gain Kiq of the motor 70 . The functional part F12b3 outputs the multiplication result to the functional part F12b5.

The functional unit F12b4 multiplies the subtraction result Iq*-Iq by the functional unit F12b1 by the q-axis current control proportional gain Kpq of the motor . Functional unit F12b4 outputs the multiplication result Kpq (Iq*-Iq) to functional unit F12b5.

The functional unit F12b5 adds the multiplication result of the functional unit F12b3 and the multiplication result Kpq (Iq*-Iq) of the functional unit F12b4. The function part F12b5 outputs the result of addition to the thirteenth function part F13 as the q-axis voltage command vq* for the motor 70 .

The thirteenth function unit F13 generates voltage commands vu*, vv*, vw* according to the d-axis voltage command vd* of the motor 70 and the q-axis voltage command vq* of the motor 70 . For example, the thirteenth function unit F13 converts the d-axis voltage command vd* and the q-axis voltage command vq* into voltage commands vu*, vv*, vw* using equation (2).

The thirteenth functional unit F13 outputs the voltage commands vu*, vv*, vw* to the switch 110d.

The fourteenth function unit F14 generates a d-axis voltage command vd* for the motor 70 and a q-axis voltage command vq* for the motor 70 according to the voltage commands vu*, vv*, vw* in the open control. For example, the fourteenth function unit F14 converts the voltage commands vu*, vv*, vw* into the d-axis voltage command vd* and the q-axis voltage command vq* using equation (3).

The fourteenth function part F14 outputs the d-axis voltage command vd* and the q-axis voltage command vq* to the ninth function part F9.

(Processing performed by the control device)
FIG. 7 is a diagram illustrating an example of a processing flow of the control device 100 according to an embodiment of the present disclosure. Next, processing in open control of the control device 100 for switching from open control to vector control will be described with reference to FIG. Here, as processing in the open control of the control device 100, in order to replace the integral values of the functional unit F10a2 shown in FIG. 5 and the functional units F12a2 and F12b2 shown in FIG. The processing performed by is explained.

The functional unit F9a1 multiplies the motor current Id by the motor current Iq (step S1). The functional unit F9a1 outputs the multiplication result Id×Iq to the functional unit F9a2.

The functional unit F9a2 multiplies the multiplication result Id×Iq by the functional unit F9a1 by the number of pole pairs P and the difference (Ld−Lq) between the d-axis inductance Ld of the motor 70 and the q-axis inductance Lq of the motor 70 (step S2). . The functional unit F9a2 outputs the multiplication result (Id×Iq)×P(Ld−Lq) to the functional unit F9a4.

Functional unit F9a3 multiplies motor current Iq by pole pair number P of motor 70 and induced voltage constant Φ of motor 70 (step S3). The functional unit F9a3 outputs the multiplication result Iq×P×Φ to the functional unit F9a4.

The function unit F9a4 adds the multiplication result (Id×Iq)×P(Ld−Lq) by the function unit F9a2 and the multiplication result Iq×P×Φ by the function unit F9a3 (step S4). The functional unit F9a4 outputs the addition result (Id×Iq)×P(Ld−Lq)+Iq×P×Φ to the functional unit F9a5.

The functional unit F9a5 multiplies the addition result of the functional unit F9a4 by the reciprocal of the speed control integral gain Ki in the tenth functional unit F10 (step S5). The functional unit F9a5 outputs the multiplication result ((Id×Iq)×P(Ld−Lq)+Iq×P×Φ)/Ki to the tenth functional unit F10. As a result, the integral value of the functional unit F10a2 of the tenth functional unit F10 is replaced with the integral value actually integrated.

The functional unit F9b1 multiplies the speed ω by the pole logarithm P (step S6). Functional unit F9b1 outputs the multiplication result ω×P to functional unit F9b2, functional unit F9b5, and functional unit F9b8.

The functional unit F9b2 multiplies the motor current Iq by the multiplication result ω×P of the functional unit F9b1 (step S7). The functional unit F9b2 outputs the multiplication result Iq×ω×P to the functional unit F9b3.

The functional unit F9b3 multiplies the multiplication result Iq×ω×P by the functional unit F9b2 by the q-axis inductance Lq of the motor 70 (step S8). The functional unit F9b3 outputs the multiplication result Iq×ω×P×Lq to the functional unit F9b4.

The functional unit F9b4 adds the multiplication result Iq×ω×P×Lq by the functional unit F9b3 and the converted voltage command vd* by the fourteenth functional unit F14 (step S9). The function part F9b4 outputs the addition result Iq×ω×P×Lq+vd* to the twelfth function part F12. As a result, the integral value of the functional unit F12a2 of the twelfth functional unit F12 is replaced with the integral value actually integrated.

The functional unit F9b5 multiplies the motor current Id by the multiplication result ω×P of the functional unit F9b1 (step S10). The functional unit F9b5 outputs the multiplication result Id×ω×P to the functional unit F9b6.

The functional unit F9b6 multiplies the multiplication result Id×ω×P by the functional unit F9b5 by the d-axis inductance Ld of the motor 70 (step S11). The functional unit F9b6 outputs the multiplication result Id×ω×P×Ld to the functional unit F9b7.

The functional unit F9b7 subtracts the multiplication result Iq×ω×P×Lq by the functional unit F9b3 from the converted voltage command vq* by the fourteenth functional unit F14 (step S12). The functional unit F9b7 outputs the subtraction result vq*−Iq×ω×P×Lq to the functional unit F9b9.

The functional unit F9b8 multiplies the multiplication result ω×P by the functional unit F9b1 by the induced voltage constant Φ of the motor 70 (step S13). The functional unit F9b8 outputs the multiplication result ω×P×Φ to the functional unit F9b9.

The functional unit F9b9 subtracts the multiplication result ω×P×Φ by the functional unit F9b8 from the subtraction result vq*−Iq×ω×P×Lq by the functional unit F9b7 (step S14). The functional unit F9b9 outputs the subtraction result vq*-ω×P×(Iq×Lq+Φ) to the twelfth functional unit F12. As a result, the integral value of the functional unit F12b2 of the twelfth functional unit F12 is replaced with the integral value actually integrated.

(Effect)
The motor system 1 according to an embodiment of the present disclosure has been described above. The motor system 1 performs a vector control that controls the motor 70 by reflecting the actual or estimated state of the motor 70 from open control that controls the motor 70 according to a speed command without reflecting the state of the motor 70. It is a motor system that operates by switching to During the open control, the motor system 1 calculates a first integrated value of torque and a first integrated value of the d-axis and q-axis voltages based on the state of the motor 70 during the open control. The second integral value of the torque calculated by the processing units that execute vector control (function unit F10a2 of tenth function unit F10, function units F12a2 and F12b2 of twelfth function unit F12), A first calculation unit (ninth function unit F9) that replaces the second integrated value of voltage with the calculated first integrated value of torque and the first integrated value of voltages on the d-axis and the q-axis.

As a result, the integral value of the functional unit F10a2 of the tenth functional unit F10 is replaced with the integral value actually integrated. Therefore, the voltage commands vu*, vv*, and vw* output by the thirteenth function unit F13 when the switches 110d and 110f are switched and vector control is performed are the voltage commands vu* output by the sixth function unit F6. , vv*, vw* and continuous voltage values (command values). As a result, when the open control is switched to the vector control, problems caused by discontinuity of the command value can be reduced.

Further, when the open control is being performed, the eleventh function unit F11 generates the current commands Id* and Iq* that achieve the maximum torque, so that the motor 70 is in any state. The required current can always be supplied. Therefore, the motor 70 never loses synchronization and becomes uncontrollable (that is, it does not enter a state called out-of-step). When the first function unit F1 switches the switches 110d and 110f to switch from open control to vector control, the eleventh function unit F11 generates current commands Id* and Iq* corresponding to the torque command T*. As a result, it is possible to reduce power that would have been wasted as reactive power when current commands Id* and Iq* that achieve maximum torque were supplied to motor 70 .

It should be noted that the order of the processes in the embodiment of the present disclosure may be changed as long as appropriate processes are performed.

Each of the storage units and storage devices (including registers and latches) in the embodiments of the present disclosure may be provided anywhere as long as appropriate information is transmitted and received. Further, each of the storage units and storage devices may exist in a plurality and store data in a distributed manner within a range in which appropriate information transmission and reception are performed.

Although the embodiments of the present disclosure have been described, the motor system 1, control device 100, and other control devices described above may have a computer system therein. The process of the above-described processing is stored in a computer-readable recording medium in the form of a program, and the above-described processing is performed by reading and executing this program by a computer. Specific examples of computers are shown below.
FIG. 8 is a schematic block diagram showing the configuration of a computer according to at least one embodiment.
The computer 5 includes a CPU 6, a main memory 7, a storage 8, and an interface 9, as shown in FIG.
For example, each of the motor system 1 , control device 100 and other control devices described above is implemented in the computer 5 . The operation of each processing unit described above is stored in the storage 8 in the form of a program. The CPU 6 reads out the program from the storage 8, develops it in the main memory 7, and executes the above process according to the program. In addition, the CPU 6 secures storage areas corresponding to the storage units described above in the main memory 7 according to the program.

Examples of the storage 8 include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory). , semiconductor memory, and the like. The storage 8 may be an internal medium directly connected to the bus of the computer 5, or an external medium connected to the computer 5 via the interface 9 or communication line. Further, when this program is distributed to the computer 5 via a communication line, the computer 5 that receives the distribution may develop the program in the main memory 7 and execute the above process. In at least one embodiment, storage 8 is a non-transitory, tangible storage medium.

Further, the program may implement part of the functions described above. Furthermore, the program may be a file capable of realizing the above functions in combination with a program already recorded in the computer system, that is, a so-called difference file (difference program).

While several embodiments of the disclosure have been described, these embodiments are examples and do not limit the scope of the disclosure. Various additions, omissions, replacements, and modifications may be made to these embodiments without departing from the scope of the disclosure.

<Appendix>
The control device 100, the motor system 1, the processing method, and the program described in each embodiment of the present disclosure are understood, for example, as follows.

(1) A motor system (1) according to a first aspect,
Open control that controls the motor (70) according to a speed command without reflecting the state of the motor (70), and vector control that controls the motor (70) by reflecting the actual or estimated state of the motor. A motor system that operates by switching to
During the open control, based on the state of the motor (70) during the open control, a first integrated value of torque and a first integrated value of the d-axis and q-axis voltages are calculated to perform the vector control. The second integrated value of the torque calculated by the processing unit (F10, F12) to be executed, the second integrated value of the d-axis and the q-axis voltage, the calculated first integrated value of the torque, the d and a first calculation unit (F9) for replacing the voltages of the q-axis and the q-axis with first integrated values.

This motor system (1) can reduce problems caused by discontinuity of command values when switching from open control to vector control.

(2) A motor system (1) according to a second aspect is the motor system (1) of (1),
The first computing unit is
A first integral value of the torque may be calculated based on a d-axis motor current and a q-axis motor current corresponding to the motor during the open control.

As a result, in the motor system (1), when the open control is switched to the vector control, it is possible to reduce problems caused by the discontinuity of the command values.

(3) A motor system (1) according to a third aspect is the motor system (1) of (1) or (2),
The first computing unit is
Based on the d-axis motor current, the q-axis motor current, the speed, the d-axis voltage command, and the q-axis voltage command according to the motor under open control, the d-axis and q-axis A first integrated value of the voltage may be calculated.

As a result, the motor system (1) can reduce problems caused by discontinuity of the command value when the open control is switched to the vector control.

(4) A motor system (1) according to a fourth aspect is the motor system (1) according to any one of (1) to (3),
a second calculation unit (F9) that calculates current commands for the d-axis and the q-axis that can achieve maximum torque during the open control;
may be provided.

As a result, the motor system (1) can reduce problems caused by discontinuity of the command value when the open control is switched to the vector control.

(5) A processing method executed by the motor system according to the fifth aspect includes:
The motor (70) is controlled by reflecting the actual or estimated state of the motor (70) from open control in which the motor (70) is controlled according to the speed command without reflecting the state of the motor (70). A processing method executed by a motor system (1) that operates by switching to vector control that
A process of calculating a first integrated value of torque and a first integrated value of d-axis and q-axis voltages during the open control based on the state of the motor during the open control, and executing the vector control. The second integral value of the torque calculated by the unit and the second integral value of the d-axis and the q-axis voltage are calculated by the first integral value of the torque and the voltage of the d-axis and the q-axis replacing with the first integral value;
including.

As a result, the processing method executed by the motor system can reduce problems caused by discontinuity of command values when switching from open control to vector control.

(6) A program according to the sixth aspect,
The motor (70) is controlled by reflecting the actual or estimated state of the motor (70) from open control in which the motor (70) is controlled according to the speed command without reflecting the state of the motor (70). In the computer (5) of the motor system (1) that operates by switching to the vector control that
During the open control, based on the state of the motor (70) during the open control, a first integrated value of torque and a first integrated value of the d-axis and q-axis voltages are calculated to perform the vector control. The second integrated value of the torque calculated by the processing unit to be executed, the second integrated value of the d-axis and the q-axis voltage, the first integrated value of the calculated torque, the d-axis and the q-axis replacing with the first integrated value of the voltage of .

As a result, the program can reduce problems caused by discontinuity of command values when switching from open control to vector control.

1 Motor system 5 Computer 6 CPU
7 main memory 8 storage 9 interface 10 power supply 20 converter 30 reactor 40 first capacitor 50 second capacitor 60 inverter 70... Motor 80... Current sensor 90... Position specifying device 100... Control device 110a... Voltage detection circuits 110a1, 110b1... A/D converter 110b... Current detection circuit 110c ... Voltage command generators 110d, 110f ... Switch 110e ... PWM duty calculator

Claims (6)

A motor system that operates by switching from open control in which the motor is controlled according to a speed command without reflecting the state of the motor to vector control in which the motor is controlled by reflecting the actual or estimated state of the motor. hand,
A process of calculating a first integrated value of torque and a first integrated value of d-axis and q-axis voltages during the open control based on the state of the motor during the open control, and executing the vector control. The second integral value of the torque calculated by the unit and the second integral value of the d-axis and the q-axis voltage are calculated by the first integral value of the torque and the voltage of the d-axis and the q-axis a first calculation unit that replaces the first integral value;
A motor system with The first computing unit is
calculating a first integral value of the torque based on a d-axis motor current and a q-axis motor current corresponding to the motor under open control;
The motor system according to claim 1. The first computing unit is
Based on the d-axis motor current, the q-axis motor current, the speed, the d-axis voltage command, and the q-axis voltage command according to the motor under open control, the d-axis and q-axis calculating a first integral value of the voltage;
The motor system according to claim 1 or 2. a second calculation unit that calculates current commands for the d-axis and the q-axis that can achieve maximum torque during the open control;
4. The motor system according to any one of claims 1 to 3, comprising: A motor system that operates by switching from open control that controls the motor according to a speed command without reflecting the state of the motor to vector control that controls the motor while reflecting the actual or estimated state of the motor. A processing method for
A process of calculating a first integrated value of torque and a first integrated value of d-axis and q-axis voltages during the open control based on the state of the motor during the open control, and executing the vector control. The second integral value of the torque calculated by the unit and the second integral value of the d-axis and the q-axis voltage are calculated by the first integral value of the torque and the voltage of the d-axis and the q-axis replacing with the first integral value;
The processing method performed by the motor system, including A motor system computer that operates by switching from open control that controls the motor according to a speed command without reflecting the state of the motor to vector control that controls the motor while reflecting the actual or estimated state of the motor. to the
A process of calculating a first integrated value of torque and a first integrated value of d-axis and q-axis voltages during the open control based on the state of the motor during the open control, and executing the vector control. The second integral value of the torque calculated by the unit and the second integral value of the d-axis and the q-axis voltage are calculated by the first integral value of the torque and the voltage of the d-axis and the q-axis replacing with the first integral value;
program to run.

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