JP2023124890A - Motor device, motor control method, program, and recording medium - Google Patents

Abstract

To provide a motor device capable of accurately controlling the phase current of each phase to improve the torque in a switched reluctance motor including six-phase windings, a motor control method, a program, and a recording medium.SOLUTION: A motor control device (100) includes a switch inverter unit (20) that supplies power to each of the phases of six-phase windings and a control unit (30) that controls each switch included in the switch inverter unit. The control unit (30) detects a phase current supplied to each phase from the switch inverter unit (20), derives from the phase currents a d-axis component, a q-axis component, and a DC component in a rotary shaft coordinate system of a rotor (11), and vector controls the phase currents supplied to the six-phase windings on the basis of the d-axis component, the q-axis component, and the DC component.SELECTED DRAWING: Figure 1

Description

The present invention relates to a motor device, a motor control method, a program, and a recording medium, and particularly relates to a motor device, a motor control method, a program, and a recording medium for a switched reluctance motor using a ferromagnetic material in its rotor.

BACKGROUND ART Conventionally, three-phase motors have been used as power sources in various technical fields because they can control the number of rotations by changing the frequency of alternating current and can obtain a stable number of rotations. Furthermore, a switched reluctance motor using a ferromagnetic material in the rotor has also been proposed (see, for example, Patent Document 1). Further, a motor device including a plurality of systems of polyphase windings each having a plurality of phases has also been proposed.

A conventional motor device with two systems of three-phase windings has an A-phase coil, an E-phase coil, and a C-phase coil as the three-phase windings of the first system, and a D-phase coil as the three-phase winding of the second system. It has a coil, a B-phase coil, and an F-phase coil. In such conventional motor devices, a switch corresponding to each phase is used to alternately switch the timing at which current flows through the windings of each phase, so that current flows appropriately to the coils of each phase and the switch is activated. A reluctance motor can be rotated.

Japanese Patent Application Publication No. 2016-103957

In such conventional motor devices and motor control methods, phase currents flowing through each coil are detected and each switch of the switch inverter section is switched by vector control. In addition, in vector control, the current component in the coil's phase coordinate system (ABCDEF) and the current component in the rotor's rotating coordinate system (d axis, q axis) are transformed using a transformation matrix and an inverse transformation matrix, and the rotor's current component is transformed using a transformation matrix and an inverse transformation matrix. It controls the changes in the magnetic field that acts on the salient poles. The transformation matrix and inverse transformation matrix used at this time transform the phase currents flowing through the six-phase coils into d-axis and q-axis components of a rotating coordinate system.

However, in the conversion in conventional motor control devices and motor control methods, the d-axis and q-axis components of the three phases A, C, and E, and the d-axis and q-axis components of the three phases B, D, and F are calculated. Therefore, the DC component flowing between the three phases A, C, and E and the three phases B, D, and F is not subject to control, making it impossible to accurately control the phase current in all six phases. The inventor of the present application has found that this is difficult.

The present invention was made in view of the above-mentioned conventional problems, and it is possible to accurately control the phase current of each phase to improve torque in a switched reluctance motor equipped with a six-phase winding. The purpose of the present invention is to provide a motor device, a motor control method, a program, and a recording medium.

In order to solve the above problems, a motor device of the present invention includes a rotor arranged to be rotatable around a rotating shaft, and a stator having a plurality of teeth portions formed on the inner periphery thereof. The tooth part is a switched reluctance motor in which six-phase windings consisting of A phase, B phase, C phase, D phase, E phase, and F phase are wound, and the rotor is made of a ferromagnetic material. The motor device includes a switch inverter unit that supplies power to each phase of the six-phase winding, and a control unit that controls each switch included in the switch inverter unit, and the control unit controls the switch inverter unit. detects the phase current supplied to each phase from the phase current, derives a d-axis component, a q-axis component, and a DC component in the rotational coordinate system of the rotor from the phase current, and calculates the d-axis component and the The phase current supplied to the six-phase winding is vector-controlled based on the q-axis component and the DC component.

In such a motor device of the present invention, the control unit derives the d-axis component, the q-axis component, and the DC component in the rotational coordinate system of the rotor from the phase current, and converts the phase current into the d-axis component, the q-axis component, and the DC component. Based on this, vector control of the phase currents supplied to the six-phase windings makes it possible to accurately control the phase currents of each phase and improve torque.

Further, in one aspect of the present invention, the control unit converts the phase coordinate system to the rotating coordinate system using a 6-by-6 transformation matrix that includes the DC component, and An inverse transformation matrix of 6 rows and 6 columns is used to perform inverse transformation from the rotational coordinate system to the phase coordinate system.

Further, one aspect of the present invention includes an angle sensor that detects an angle of the rotor with respect to the stator, and the control unit calculates the angular velocity of the rotor from the detection result of the angle sensor, and calculates the angle and the angle of the rotor. The q-axis component is derived based on the angular velocity.

Further, in one aspect of the present invention, the control unit calculates an induced voltage in the rotating coordinate system, calculates an estimated angular velocity and an estimated angle of the rotor based on the induced voltage, and calculates the estimated angular velocity and the estimated angle of the rotor. A δ-axis component and a γ-axis component of the voltage command value are derived based on the angular velocity, and the δ-axis component and the γ-axis component are used as the d-axis component and the q-axis component, respectively.

Moreover, in order to solve the above-mentioned problem, the motor control method of the present invention includes a rotor rotatably arranged around a rotating shaft, and a stator in which a plurality of teeth portions are formed on the inner periphery, Six-phase windings consisting of A phase, B phase, C phase, D phase, E phase, and F phase are wound around the plurality of teeth, and the rotor is a switched reluctance composed of a ferromagnetic material. A method for controlling a motor device, which is a motor, wherein phase currents supplied to each phase of the six-phase winding are detected, and from the phase currents, a d-axis component and a q-axis component in a rotational coordinate system of the rotor are determined. The phase current supplied to the six-phase winding is vector-controlled based on the d-axis component, the q-axis component, and the DC component.

Moreover, in order to solve the above-mentioned problem, the program of the present invention has a rotor arranged rotatably around a rotation axis, and a stator in which a plurality of teeth parts are formed on the inner periphery, Six-phase windings consisting of A phase, B phase, C phase, D phase, E phase, and F phase are wound around the teeth of the motor, and the rotor is a switched reluctance motor made of ferromagnetic material. A program for controlling a certain motor device, the program having a computer detect a phase current supplied to each phase of the six-phase winding, and detecting a d-axis component in a rotating coordinate system of the rotor from the phase current. and a procedure for deriving a q-axis component and a DC component, and a procedure for vector-controlling the phase current supplied to the six-phase winding based on the d-axis component, the q-axis component, and the DC component. It is characterized by causing

Moreover, in order to solve the above-mentioned problem, the recording medium of the present invention has a rotor arranged rotatably around a rotation axis, and a stator in which a plurality of teeth parts are formed on the inner periphery. A switched reluctance motor in which six-phase windings consisting of A phase, B phase, C phase, D phase, E phase, and F phase are wound around the plurality of teeth, and the rotor is made of a ferromagnetic material. A recording medium storing a program for controlling a motor device, the computer having a procedure for detecting a phase current supplied to each phase of the six-phase winding, and detecting the rotation of the rotor from the phase current. A procedure for deriving the d-axis component, the q-axis component, and the DC component in the coordinate system, and the phase current to be supplied to the six-phase winding based on the d-axis component, the q-axis component, and the DC component. A program is recorded that causes the vector control procedure to be executed.

The present invention provides a motor device, a motor control method, a program, and a recording medium that can accurately control the phase current of each phase to improve torque in a switched reluctance motor equipped with six-phase windings. be able to.

FIG. 1 is a schematic diagram showing a structural example of a motor device 100 according to a first embodiment. 2 is a timing chart showing control of the switch inverter unit 20 in the motor device 100, and shows signals applied to each phase switch of the switch inverter unit 20. 3 is a graph schematically showing phase currents flowing through coils of the motor section 10. FIG. 4(a) is a schematic diagram showing the relationship between the coordinate systems in the motor section 10, FIG. 4(a) shows the relationship between the αβ coordinate system which is the stationary coordinate system and the phase coordinate system of the ABCDEF phase, and FIG. 4(b) is the stationary coordinate system. The relationship between the αβ coordinate system, which is the rotational coordinate system of the rotor 11, and the dq coordinate system, which is the rotational coordinate system of the rotor 11, is shown. FIG. 5A is a diagram schematically showing a rotational coordinate system in the motor unit 10. FIG. 5A shows the d-axis and q-axis in the rotor 11 and stator 12, and FIG. It shows the relationship between the coordinate system and the dq coordinate system, which is a rotating coordinate system. It is a control flow diagram explaining vector control in control part 30 of a 1st embodiment. It is a control flow diagram explaining vector control in control part 30 of a 2nd embodiment. FIG. 2 is a control block diagram schematically showing an induced voltage observer in a γδ coordinate system that is an estimated coordinate system. FIG. 7 is a block diagram illustrating calculation of an estimated angular velocity ω _M and an estimated angle θ _M in sensorless control in the second embodiment.

(First embodiment)
Embodiments of the present invention will be described in detail below with reference to the drawings. Identical or equivalent constituent elements, members, and processes shown in each drawing are denoted by the same reference numerals, and redundant explanations will be omitted as appropriate. FIG. 1 is a schematic diagram showing a structural example of a motor device 100 according to the present embodiment. As shown in FIG. 1, the motor device 100 includes a motor section 10, a switch inverter section 20, and a control section 30.

As shown in FIG. 1, the motor section 10 of this embodiment includes a rotor 11 and a stator 12 arranged around the rotor 11. Furthermore, rotor teeth (salient poles) made of ferromagnetic material are arranged along the outer periphery of the rotor 11 . The stator 12 also includes a core back portion and a plurality of teeth portions 13 formed to protrude from the inner periphery of the core back portion. Further, a winding (coil) 14 is wound around each tooth portion 13 in order as an A1 phase winding to an F1 phase winding, and an A2 phase winding to an F2 phase winding. In the example shown in FIG. 1, the motor device 100 constitutes a switched reluctance motor with 10 salient poles and 12 slots. The number P of salient poles and the number S of slots of the motor section 10 are not limited to 10 poles and 12 slots, but have a ratio of P:S=5:6. Furthermore, the method of winding each phase around the teeth portion 13 is not limited to concentrated winding, but may also be distributed winding.

The core back portion is a portion disposed on the outside of the rotor 11 so as to circumferentially surround the outer periphery of the rotor 11, and a plurality of teeth portions 13 are formed protruding from the inner periphery at equal intervals. Known materials can be used for the core back portion, and the constituent material and structure are not limited. Furthermore, a separate member such as a motor housing is provided on the outer periphery of the core back portion.

The teeth portions 13 are protruding portions formed to protrude toward the rotor 11 from the inner circumferential surface of the core back portion, and each tooth portion 13 is formed with the same length and shape and is arranged at equal intervals. A gap is provided between each tooth portion 13 to form a slot. A winding 14 is wound around each tooth portion 13 and the slot, and a magnetic field is generated in the tooth portion 13 when current flows through the winding 14 .

As shown in FIG. 1, each winding 14 is arranged in order along the circumference of the stator 12: A1 phase, B1 phase, C1 phase, D1 phase, E1 phase, F1 phase, A2 phase, B2 phase, C2 phase, D2 phase. Twelve slots are arranged for the phase, E2 phase, and F2 phase, and the six-phase winding has two periods, making up a total of 12 slots. Here, the A1 phase winding to F1 phase winding and the A2 phase winding to F2 phase winding constitute the A phase winding to F phase winding by combining the corresponding phases. In other words, among the A-phase winding to F-phase winding, the first partial winding is the A1-phase winding to F1-phase winding, and the second partial winding is the A2-phase winding to F2-phase winding. As an example of mutual connection of the A-phase winding to F-phase winding, which are 6-phase windings, one end of each winding is connected to a common neutral point, and the other end is connected to each phase of the switch inverter section 20. A star connection can be used.

As mentioned above, the A-phase winding to F-phase winding constitutes 6 slots in one period, and one period is 360 degrees in electrical angle, so there is a phase difference of 60 degrees in electrical angle between each phase. It is said that Further, the A phase and the C phase, the C phase and the E phase, the B phase and the D phase, and the D phase and the F phase are arranged with a phase difference of 120 degrees in electrical angle. Therefore, among the six phases, the three-phase combination of A phase, E phase, and C phase, and the three-phase combination of D phase, B phase, and F phase are three-phase alternating current with a phase difference of 120 degrees in electrical angle. It consists of

The switch inverter section 20 has six switch groups (groups A to F) connected in parallel between a power supply voltage (+V) and a ground voltage (0V). Two switches are connected in series in each switch group, and a total of 12 switches are used to control the switch A phase to switch F of the 6-phase switch inverter corresponding to the A phase winding to F phase winding of the motor section 10. The phase is composed of Although a six-phase switched inverter is used here as the switched inverter section 20, an improved nine-switch inverter using nine switches may also be used.

Each switch has a drain connected to the power supply voltage side (upstream side) and a source connected to the ground voltage side (downstream side). Further, when a MOSFET (Metal-Oxide-Semiconductor Field Effect Transistor) is used as each switch, an equivalent circuit is formed in which a parasitic diode is connected in parallel and reversely between the source and the drain. Further, the operation of each switch is controlled by the control section 30.

The control section 30 is a calculation section that performs information processing according to a predetermined program and controls each section of the motor device 100, and is realized by a CPU (Central Processing Unit) or the like. Further, the control section 30 acquires information from each section of the motor device 100 and performs arithmetic processing according to a program. The control unit 30 may be connected to a memory device, an input/output device, a display device, etc., and may record programs and data, output and display calculation results, etc. Further, the control unit 30 executes the method for controlling the motor device 100 according to the present invention by reading a program recorded on a recording medium and executing the program.

The control unit 30 detects the current value supplied from the switch inverter unit 20 to each phase of the motor unit 10 and the output of the angle sensor provided in the motor unit 10, and performs vector control based on the detected current value and angle. This section performs the following steps and supplies an on signal or an off signal to each switch of the switch inverter section 20. Details regarding the configuration and operation of the control unit 30 will be described later.

FIG. 2 is a timing chart showing control of the switch inverter unit 20 in the motor device 100, and shows signals applied to each phase switch of the switch inverter unit 20. The horizontal axis in FIG. 2 indicates electrical angle (degrees), and the vertical axis indicates on and off signals applied to each switch. As shown in FIG. 2, an on signal and an off signal are applied alternately by 180 degrees (π) to each of the A-phase to F-phase switches. Furthermore, the phases of the A-phase to F-phase ON signals and OFF signals are shifted by 60 degrees (π/3). Furthermore, signals that are inverted with respect to each other and have a phase difference of 180 degrees (π) are applied to the A phase and the D phase, the B phase and the E phase, and the C phase and the F phase. In other words, two three-phase alternating current signals of A phase, C phase, E phase and B phase, D phase, F phase are applied to each switch of A phase to F phase. Therefore, the winding A1 to winding F1 and the winding A2 to winding F2 are controlled by the switches A phase to F phase, and function as a motor having a total of six phases, each having two three-phase motors. .

FIG. 3 is a graph schematically showing the phase current flowing through the coils of the motor section 10. As shown in FIG. As shown in Fig. 3, the current flowing in the A-phase winding and the current flowing in the D-phase winding are sine waves with the same phase, and the A-phase is offset by the DC component (+DC) in the positive direction, and the D-phase is offset by a direct current component (-DC) in the negative direction. Therefore, the sum of the current values of the A phase and D phase is always zero. Although only the A phase and the D phase are shown here, the same applies to the C phase and the F phase, and the E phase and the B phase.

Next, a coordinate system for explaining vector control by the control unit 30 will be explained using FIGS. 4 and 5. FIG. 4 is a schematic diagram showing the relationship between the coordinate systems in the motor unit 10. FIG. 4(a) shows the relationship between the αβ coordinate system, which is a stationary coordinate system, and the phase coordinate system of the ABCDEF phase, and FIG. shows the relationship between the αβ coordinate system, which is a stationary coordinate system, and the dq coordinate system, which is a rotating coordinate system of the rotor 11. FIG. 5 is a diagram schematically showing the rotational coordinate system in the motor section 10. FIG. 5(a) shows the d-axis and the q-axis in the rotor 11 and the stator 12, and FIG. 5(b) shows the estimated coordinates. The relationship between the γδ coordinate system, which is a system, and the dq coordinate system, which is a rotating coordinate system, is shown. As shown in Figures 4 and 5, the dq axis of the rotating coordinate system is rotated by an electrical angle θ from the αβ axis of the stationary coordinate system, and the γδ axis of the estimated coordinate system lags behind the dq axis by Δθ. , the difference between the γ-axis and the α-axis at that time is the estimated angle θ _M.

FIG. 6 is a control flow diagram illustrating vector control in the control unit 30 of this embodiment. The control section 30 controls the switch inverter section 20 to supply current to the motor section 10 while detecting the angle and current of the motor section 10 . As shown in FIG. 6, the control section 30 includes a conversion section 31, a speed PI control section 32, a current control section 33, and an inverse conversion section 34.

Suppose that when performing vector control of a 6-phase switched reluctance motor, 3-phase vector control is performed after combining two phases: A phase and D phase, B phase and E phase, and C phase and F phase. . In this case, as shown in Figures 2 and 3, the current values of the two phases are offset from each other in the positive and negative directions, so when controlling using the total current, the DC components +DC and -DC cancel each other out. Therefore, it becomes difficult to accurately control the phase currents of all six phases. Therefore, in the motor device 100 and the control method of the present invention, vector control is applied to each of the three phases A, C, and E, and the three phases B, D, and F, and the DC component DC is also controlled. Subject to derivation and control.

The circuit equation of a switched reluctance motor is expressed by the following general formula. Here, v is voltage, R is resistance, L is inductance, i is current, θ is the angle of the rotor 11, and ω is the angular velocity of the rotor 11. In order to find the d-axis inductance and the q-axis inductance, it is necessary to find a circuit equation in the dq coordinate system.
The phase current flowing through each phase is expressed by the following current matrix, where the DC component is I _dc and the amplitude is I _ac1 . Since the current matrix includes I _dc , which is a DC component, phases having the same AC component but different DC components can be handled as different currents, and vector control can be performed in consideration of the DC component. Here, θ=ωt.

Further, a transformation matrix for performing coordinate system transformation from a phase coordinate system to a stationary coordinate system and a coordinate system transformation from a stationary coordinate system to a rotating coordinate system is as shown below.
Further, an inverse transformation matrix for performing coordinate system transformation from a rotating coordinate system to a stationary coordinate system and from a stationary coordinate system to a phase coordinate system is as shown below.
As described above, both the transformation matrix and the inverse transformation matrix are represented by 6 rows and 6 columns including DC components. Thereby, the six-phase current matrix described above can be calculated using a transformation matrix and an inverse transformation matrix, and accurate six-phase vector control including DC components can be performed.

Also,
Then, the circuit equation in the dq coordinate system is expressed by the following formula.
where v _d is the d-axis component of the voltage, v _q is the q-axis component of the voltage, v _dc is the DC component of the voltage, i _d is the d-axis component of the current, and i _q is the d-axis component of the current. is the q-axis component, and i _dc is the DC component of the current.

As shown in FIG. 6, in the control unit 30, the phase currents i _a , i _b , _ic , i _d , _{i e ,} if flowing through the motor unit 10 and the rotor 11 detected by the angle sensor of the motor unit 10 Obtain the angle θ. The conversion unit 31 converts the d-axis component i d, the q-axis component i _q , and the DC component i of the current based on the acquired phase currents i _a , i _b , i _c , i _d , _{i e} , _if and the angle θ. Derive _dc . The above-described current matrix and transformation matrix are used to derive each component of the current. The d-axis component i _d , the q-axis component i _q , and the DC component i _dc of the current derived by the converter 31 are transmitted to the current controller 33 .

The speed PI control unit 32 calculates the angular speed ω from the amount of change in the angle θ obtained from the angle sensor, and derives the target q-axis component i _q ^* by comparing it with the target angular speed ω ^* . The target q-axis component i _q ^* derived by the speed PI control section 32 is transmitted to the current control section 33 .

The current control unit 33 controls the d-axis component i _d , the q-axis component i _q , the DC component i _dc , the target d-axis component i _d ^* , the target DC component i _dc ^* , and the target q of the current supplied from the conversion unit 31 . Using the axis component i _q ^* , vector control is performed for each of the three phases: A phase, C phase, E phase, D phase, F phase, and B phase. Through vector control by the current control unit 33, the d-axis component v _d1 , the q-axis component v _q1 , the DC component v _dc1 and the d-axis component v of the target voltage in the dq coordinate axes for the A phase C phase E phase and the D phase F phase B phase are controlled. _d2 , the q-axis component v _q2 , and the DC component v _dc2 are determined. The d-axis component v _d1 , the q-axis component v _q1 , the DC component v _dc1 and the d-axis component v _d2 , the q-axis component v _q2 , and the DC component v _dc2 of the target voltage determined by the current control unit 33 are converted to the inverse converter 34 transmitted to.

The inverse conversion unit 34 converts the target voltage on the dq coordinate axes based on the d-axis component v _d1 , the q-axis component v _q1 , the DC component v _dc1 and the d-axis component v _d2 , the q-axis component v _q2 , the DC component v _dc2 and the angle θ. Then, the on signal/off signal, which is the control signal for each phase switch of the switch inverter section 20, is determined. The above-described current matrix and inverse transformation matrix are used to determine the control signal for each phase switch. The control signal determined by the inverse conversion section 34 is input to each phase switch of the switch inverter section 20.

As described above, in the motor device 100 and the control method of the present embodiment, the control unit 30 derives the d-axis component, the q-axis component, and the DC component of the current in the rotational coordinate system of the rotor 11 from the phase current of the motor unit 10. The phase current supplied to the six-phase winding is vector-controlled based on the d-axis component, q-axis component, and DC component. Thereby, in the six-phase switched reluctance motor, it becomes possible to accurately control the phase current in each phase of the motor section 10 and improve the torque.

(Second embodiment)
Next, a second embodiment of the present invention will be described using FIG. 7. Description of contents that overlap with those of the first embodiment will be omitted. FIG. 7 is a control flow diagram illustrating vector control in the control unit 30 of this embodiment. This embodiment differs from the first embodiment in that sensorless control is performed by estimating the angle θ of the rotor 11 in the motor section 10 without using an angle sensor. As shown in FIG. 7, the control section 30 includes a conversion section 31, a speed PI control section 32, a current control section 33, an inverse conversion section 34, and an observer 35.

As shown in FIG. 7, the control unit 30 obtains phase currents i _a , i _b , _ic , i _d , _{i e} , if flowing through the motor unit 10 . The conversion unit 31 calculates the estimated δ-axis component i _δ of the current based on _the acquired phase currents i _a , i _b , _ic , i _d , i _e , if and the estimated angle θ _M derived by the observer 35. An estimated γ-axis component i _γ and a DC component i _dc are derived. The above-described current matrix and transformation matrix are used to derive each component of the current. The γ-axis component i _γ , the δ-axis component i _δ , and the DC component i _dc of the current derived by the converter 31 are transmitted to the observer 35 .

The observer 35 calculates the induced voltage in the rotating coordinate system by setting the difference between the dq axis of the rotating coordinate system and the γδ axis of the estimated coordinate system as Δθ, as shown in FIG. 5(b). Further, an estimated angle θ _M and an estimated angular velocity ω _M of the rotor 11 are calculated based on the estimated voltages v _γ and v _δ in the γδ axis of the estimated coordinate system, the estimated currents i _γ and i _δ , and the induced voltage. The estimated angle θ _M calculated by the observer 35 is transmitted to the converter 31 and the inverse transformer 34 , and the estimated angular velocity ω _M is transmitted to the speed PI controller 32 .

The speed PI control unit 32 calculates the angular speed ω _M from the amount of change in the estimated angle θ _M calculated by the observer 35, and derives the target γ-axis component i _γ ^* by comparing it with the target angular speed ω ^* . The target γ-axis component i _γ ^* derived by the speed PI control unit 32 is transmitted to the current control unit 33.

The current control unit 33 _controls the γ-axis component i _γ and δ-axis component i δ of the current supplied from the conversion unit 31, the DC component i _dc , the target γ-axis component i _γ ^* , the target DC component i _dc ^* , and the target δ. Using the axis component i _δ ^* , vector control is performed for each of the three phases A, C, and E, and the D, F, and B phases. Through vector control by the current control unit 33, the γ-axis component v _dγ1 , the δ-axis component v _δ1 , the DC component v _dc1 and the γ-axis component v of the target voltage on the γδ coordinate axis for the A phase C phase E phase and the D phase F phase B phase are controlled. _γ2 , δ-axis component v _δ2 , and DC component v _dc2 are determined. The γ-axis component v _γ1 , the δ-axis component v _δ1 , the DC component v _dc1 and the γ-axis component v _γ2 , the δ-axis component v _δ2 , and the DC component v _dc2 of the target voltage determined by the current control unit 33 are converted to the inverse converter 34 transmitted to.

The inverse conversion unit 34 converts the γ-axis component v γ1 , the δ-axis component v _δ1 , the DC component v _dc1 , the γ-axis component v _γ2 , the δ-axis component v _δ2 , the DC component v _dc2 and the _estimated angle θ _M of the target voltage on the γδ coordinate axis. Based on this, on/off signals, which are control signals for each phase switch of the switch inverter section 20, are determined. The above-described current matrix and inverse transformation matrix are used to determine the control signal for each phase switch. The control signal determined by the inverse conversion section 34 is input to each phase switch of the switch inverter section 20.

Next, calculation of the estimated angle θ _M and the estimated angular velocity ω _M in the estimated coordinate system in the observer 35 will be explained. In order to perform sensorless control of the motor device 100 of this embodiment, the observer 35 uses the circuit equation shown in [Equation 7] after transforming it into the following form including an extended induced voltage term. Here, the first to third terms have the same content as when generating an extended induced voltage term when controlling a normal three-phase motor without a sensor. Further, the fourth term and the fifth term are extended induced voltage terms.

As shown in FIG. 5(b), the γδ axis, which is the estimated coordinate system, differs from the dq axis, which is the rotating coordinate system, by Δθ. Therefore, by coordinate transformation that rotates the dq coordinate system by Δθ, the dq coordinates Convert the system to the γδ coordinate system. At this time, a non-rotated matrix and an inverse matrix are used for the DC component. Further, the number of salient poles is assumed to be p. The circuit equation in the estimated coordinate system finally obtained is as follows. The third and fourth terms in the obtained circuit equation correspond to disturbances.

FIG. 8 is a control block diagram schematically showing the induced voltage observer in the γδ coordinate system, which is the estimated coordinate system. In FIG. 8, subscripts for the dq-axis components, which are the rotating coordinate system, and the γδ-axis components, which are the estimated coordinate system, are omitted. As shown in FIG. 8, the observer 35 _derives estimated currents i _γ and i _δ using a motor model based on estimated voltages v γ and v _δ and disturbances _ed and e _q . Furthermore, the derived estimated currents i _γ and i _δ are input to the inverse motor model, and the difference between the estimated voltages v _γ and v _δ and the calculation results of the inverse motor model is applied to a low-pass filter (K _L /T _LS +1). is input. The outputs of the low-pass filter become estimated disturbances e^ _d and e^ _q . Since the induced voltage on the d-axis in the dq coordinate system is zero, the angular error Δθ between the γδ estimated coordinate system and the dq rotating coordinate system can be determined by the following equation.

Furthermore, the observer 35 performs PI control using the angular error Δθ derived from [Equation 10] described above. FIG. 9 is a control block diagram illustrating calculation of estimated angular velocity ω _M and estimated angle θ _M in sensorless control in this embodiment. In order to calculate the estimated angular velocity ω _M and the estimated angle θ _M from the angular error Δθ, a control block as shown in FIG. 9(a) may be used. However, in the motor device 100 of this embodiment, since the target angle θ _ref is unknown, the control block of FIG. 9(a) is not established.

However, the angular error Δθ is the difference between the target angle θ _ref and the estimated angle θ _M , and Δθ = θ _ref - θ _M. In order to execute control to set Δθ to 0, FIG. It can be rewritten as b). Furthermore, when the block diagram of FIG. 9(b) is expanded, it becomes the block diagram of FIG. 9(c). Therefore, by using the angular error Δθ obtained by [Equation 10], the observer 35 can calculate the estimated angular velocity ω _M and the estimated angle θ _M. Further, as shown in FIG. 7, by using the estimated angular velocity ω _M and estimated angle θ _M calculated by the observer 35, the control unit 30 rotates the 6-phase switched reluctance motor by vector control only by calculation in the estimated coordinate system. can be done.

As described above, in the motor device 100 and the control method of the present embodiment, the control unit 30 calculates the induced voltage in the rotational coordinate system from the phase current of the motor unit 10, and calculates the estimated angular velocity ω of the rotor 11 based on the induced voltage. _M and estimated angle θ _M are calculated. Furthermore, based on the estimated angular velocity ω _M and estimated angle θ _M , the γ-axis component, δ-axis component, and DC component of the voltage command value in the rotational coordinate system of the rotor 11 are derived, and the γ-axis component, δ-axis component, and DC component are calculated. Based on the components, the phase currents supplied to the six-phase windings are vector-controlled. Thereby, in the six-phase switched reluctance motor, even if the motor unit 10 is not equipped with an angle sensor, it is possible to control the phase current in each phase and drive the motor to rotate by sensorless control.

The present invention is not limited to the embodiments described above, and various modifications can be made within the scope of the claims, and embodiments obtained by appropriately combining technical means disclosed in different embodiments. are also included within the technical scope of the present invention.

100...Motor device 10...Motor section 20...Switch inverter section 30...Control section 11...Rotor 12...Stator 13...Teeth section 14...Winding 31...Converting section 32...Speed PI control section 33...Current control section 34... Inverse conversion unit 35...observer

Claims (7)

It has a rotor that is rotatably arranged around a rotating shaft, and a stator that has a plurality of teeth formed on its inner periphery. A motor device which is a switched reluctance motor in which six-phase windings consisting of phase, E phase and F phase are wound, and the rotor is made of a ferromagnetic material,
a switch inverter section that supplies power to each phase of the six-phase winding;
and a control unit that controls each switch included in the switch inverter unit,
The control unit detects the phase current supplied to each phase from the switch inverter unit,
Deriving a d-axis component, a q-axis component, and a DC component in a rotating coordinate system of the rotor from the phase current,
A motor device characterized in that the phase current supplied to the six-phase winding is vector-controlled based on the d-axis component, the q-axis component, and the DC component. The motor device according to claim 1,
The control unit converts the phase coordinate system to the rotating coordinate system using a 6-by-6 transformation matrix including the DC component, and converts a 6-by-6 inverse transformation matrix including the DC component. A motor device characterized in that the rotational coordinate system is used to perform inverse transformation from the rotational coordinate system to the phase coordinate system. The motor device according to claim 1 or 2,
comprising an angle sensor that detects the angle of the rotor with respect to the stator,
The motor device is characterized in that the control unit calculates the angular velocity of the rotor from the detection result of the angle sensor, and derives the q-axis component based on the angle and the angular velocity. The motor device according to claim 1 or 2,
The control unit calculates an induced voltage in the rotating coordinate system, calculates an estimated angular velocity and an estimated angle of the rotor based on the induced voltage, and calculates δ of a voltage command value based on the estimated angle and the estimated angular velocity. A motor device characterized in that an axis component and a γ-axis component are derived, and the δ-axis component and the γ-axis component are used as the d-axis component and the q-axis component, respectively. It has a rotor that is rotatably arranged around a rotating shaft, and a stator that has a plurality of teeth formed on its inner periphery. A method for controlling a motor device which is a switched reluctance motor in which a six-phase winding consisting of phase, E phase and F phase is wound, and the rotor is made of a ferromagnetic material, the method comprising:
detecting a phase current supplied to each phase of the six-phase winding;
Deriving a d-axis component, a q-axis component, and a DC component in a rotating coordinate system of the rotor from the phase current,
A method for controlling a motor device, characterized in that the phase current supplied to the six-phase winding is vector-controlled based on the d-axis component, the q-axis component, and the DC component. It has a rotor that is rotatably arranged around a rotating shaft, and a stator that has a plurality of teeth formed on its inner periphery. A program for controlling a motor device that is a switched reluctance motor in which six-phase windings consisting of phase, E phase, and F phase are wound, and the rotor is made of a ferromagnetic material, the program comprising:
to the computer,
a step of detecting a phase current supplied to each phase of the six-phase winding;
a procedure for deriving a d-axis component, a q-axis component, and a DC component in a rotating coordinate system of the rotor from the phase current;
A program for causing vector control of the phase current supplied to the six-phase winding based on the d-axis component, the q-axis component, and the DC component. It has a rotor that is rotatably arranged around a rotating shaft, and a stator that has a plurality of teeth formed on its inner periphery. A recording medium that records a program for controlling a motor device that is a switched reluctance motor in which six-phase windings consisting of phase, E phase, and F phase are wound, and the rotor is made of a ferromagnetic material,
to the computer,
a step of detecting a phase current supplied to each phase of the six-phase winding;
a procedure for deriving a d-axis component, a q-axis component, and a DC component in a rotating coordinate system of the rotor from the phase current;
A computer-readable record that records a program for executing a procedure for vector-controlling the phase current supplied to the six-phase winding based on the d-axis component, the q-axis component, and the DC component. Medium.