JP3832443B2 - AC motor control device - Google Patents

AC motor control device Download PDF

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Publication number
JP3832443B2
JP3832443B2 JP2003089571A JP2003089571A JP3832443B2 JP 3832443 B2 JP3832443 B2 JP 3832443B2 JP 2003089571 A JP2003089571 A JP 2003089571A JP 2003089571 A JP2003089571 A JP 2003089571A JP 3832443 B2 JP3832443 B2 JP 3832443B2
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axis
motor
current
value
control
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JP2004297966A (en
Inventor
善尚 岩路
和明 戸張
保夫 能登原
常博 遠藤
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株式会社日立製作所
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an AC motor control device and a module using the same.
[0002]
[Prior art]
The paper “Development of an inverter-controlled fully automatic washing machine” in the 1999 IEEJ Tokyo Branch Ibaraki branch research presentation describes the use of “open-loop vector control” with a motor current sensorless, low-resolution position detector. Has been.
[0003]
On the other hand, as a conventional technique provided with a magnetic pole position detector and an electric motor current sensor, there is a control device described in Japanese Patent Laid-Open No. 2000-324881. As a motor current detector, a motor winding current is directly detected, and a voltage command is created so that the command current and the detected current coincide with each other in a rotating coordinate system.
[0004]
[Patent Document 1]
JP 2000-324881 A Non-Patent Document 1
1999 IEEJ Tokyo Branch Ibaraki Branch Research Presentation Paper “Development of Inverter-Controlled Fully Automatic Washing Machine”
[0005]
[Problems to be solved by the invention]
An object of the present invention is to provide a control device for an AC motor that does not suffer from a shortage of torque from a low speed range without being affected by fluctuations in motor constants or mounting errors of a Hall element or the like.
[0006]
[Means for Solving the Problems]
One feature of the present invention is to estimate the d-axis and q-axis motor currents Id and Iq of the rotating coordinate system, and the electric power so that the estimated currents Idc and Iqc coincide with the current command values Id * and Iq *. It is to control the output voltage of the converter 2.
[0007]
Another feature of the present invention is that the rotation in the AC motor is input with the input DC current detection value of the power converter that receives DC as the input and the output as AC and the rotation phase obtained from the position detection signal of the AC motor. A current estimation unit that outputs estimated current values of the d-axis and q-axis AC motors of the coordinate system, a d-axis current control unit that performs control so that the estimated current value approaches a d-axis current command value, and the estimated current A q-axis current control unit that performs control so that the value approaches the q-axis current command value.
[0008]
The other features of the present invention are as described in the claims.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0010]
<First embodiment>
FIG. 1 shows an example of the configuration of a control device for a permanent-magnet electric motor according to an embodiment of the present invention.
[0011]
FIG. 1 shows an electrical angle of a power converter 2 and a permanent magnet synchronous motor 1 that are input to a DC power source 21 that outputs an output voltage proportional to a three-phase AC voltage command value Vu * to Vw * to the permanent magnet synchronous motor 1. A magnetic pole position detector 3 that can detect a position detection value θi every 60 ° 3, a speed calculation unit 4 that calculates a rotational speed ω 1 * of the permanent magnet synchronous motor 1 from the position detection value θi, a position detection value θi and a rotational speed ω 1 From the phase calculation unit 5 for calculating the rotational phase θ * of the motor from * , the input DC bus current detection value IDC of the power converter 2, and the d-axis (corresponding to the magnetic flux axis) and q-axis (corresponding to the torque axis) of the rotating coordinate system Current estimation unit 6 for calculating estimated values Idc and Iqc, conversion coefficient 7 for calculating q-axis current command value Iq * from torque command value τ * , motor constants and current command values Id * and Iq *, and rotational speed ω 1 * voltage reference value Vd based on *, electrodeposition of calculating the Vq * Vector operation unit 8, the d-axis current command value Id * and the d-axis current estimated value d-axis current control unit 9 for outputting a ΔVd in accordance with the deviation of the Idc, the q-axis current command value Iq * and the q-axis current estimated value Iqc Q-axis current control unit 10 that outputs ΔVq according to the deviation, and outputs voltage command values Vu * to Vw * of three-phase alternating current from voltage reference values Vd * , Vq * , current control outputs ΔVd, ΔVq, and rotation phase θ *. The coordinate conversion unit 11 is configured.
[0012]
The DC power source 21 is a primary or secondary battery, or, like the DC power source 211, the AC power source output from the commercial power source or the generator 23 is rectified by the rectifier 22 to charge or discharge the capacitor or battery. May be created. In the following embodiments, the DC power supply is similarly created, and thus the description in the following embodiments is omitted.
[0013]
The torque command value τ * and the d-axis current command value Id * are given by a host device. For example, the torque command value τ * is given according to the operation of the input device. The same applies to the following embodiments.
[0014]
Components 1 to 5, 7, and 11 have the same configuration as the open-loop type vector control in the low-resolution position detector announced in the speed control type described in the prior art.
[0015]
First, the basic operation when the open loop type vector control is applied to the torque control device will be described.
[0016]
Q-axis current command value Iq * and the d-axis current command Id * in accordance with the motor current Iq from a torque command value tau *, in order to control the Id, as shown by the previously (number 1) in the voltage vector operation unit 8, d The voltage reference values Vd * and Vq * for the axis and the q axis are calculated to control the converter output voltage.
[0017]
[Expression 1]
[0018]
here,
R 1 * : resistance setting value, Ld * , Lq * : d-axis and q-axis inductance setting value Ke * : induced voltage constant setting value, ω 1 * : rotational speed, and magnetic pole position detector 3 The magnetic pole position for every electrical angle of 60 degrees can be grasped. In this embodiment, the position detection value θi at this time is
[0019]
[Expression 2]
[0020]
Here, i = 0, 1, 2, 3, 4, and 5.
[0021]
The speed calculation unit 4 can calculate the rotation speed ω 1 * of the average speed in the shortest 60 ° section from the position detection value θi.
[0022]
[Equation 3]
[0023]
Here, Δθ: θi−θ (i−1), Δt: time until detection of the position detection signal in the 60-degree section, however, the average over the 120-degree section or more due to the mounting error of the magnetic pole position detector actually. The reality is that it uses speed.
[0024]
The phase calculation unit 5 calculates the rotation phase θ * as shown in Equation (4) using the position detection value θi and the rotation speed ω 1 * to control the reference phase of the electric motor 1.
[0025]
[Expression 4]
[0026]
The above is the basic configuration of voltage control and phase control in the open loop vector control system.
[0027]
When high torque is required during torque control operation, it is necessary to flow a large current commensurate with the torque. When high torque is required for a continuous time, the winding resistance value R inside the motor increases with time due to heat generated by the motor current. Then, since the resistance set value R * calculated by the voltage vector calculation unit 8 and the actual resistance value R do not coincide with each other, it is impossible to supply a voltage necessary for the electric motor 1, and as a result, a current necessary for generating torque is generated. There is a concern that it will not flow and torque will fall short.
[0028]
Therefore, in this embodiment, the d-axis and q-axis currents Idc and Iqc of the rotating coordinate system are estimated from the DC current IDC flowing through the input DC bus of the power converter, and these signals match the respective command values. As described above, the signals ΔVd and ΔVq corresponding to the current deviation are obtained by the d-axis and q-axis current control units 9 and 10, and the sum of the output of the voltage vector calculation unit 8 and the addition unit is obtained. I am trying to fix. As a result, even if R * set by the voltage vector calculation unit 8 and the actual resistance value R do not coincide with each other, the output voltage is controlled so that the motor current coincides with the current command value. Highly accurate torque control can be realized.
[0029]
In this embodiment, the voltage reference values Vd * and Vq * are calculated using the current command values Id * and Iq * in the eight voltage vector calculation units, but Idc and Iqc estimated from the DC current IDC are used. However, the same effect can be obtained.
[0030]
<Second embodiment>
FIG. 2 illustrates another embodiment of the present invention. This embodiment is a torque control device for a permanent magnet same-machine motor that controls the output voltage of a converter only by d-axis and q-axis current control without performing output voltage vector calculation. 2, reference numerals 1 to 7, 9 to 11, and 21 are the same as those in FIG. The difference from FIG. 1 shown in the previous embodiment is that the voltage vector calculation unit 8 is omitted. Even if the voltage vector calculation unit 8 is omitted,
Since the output voltage of the converter is controlled by the current control units 9 and 10 so that Idc and Iqc coincide with the command values, high-accuracy torque control without torque shortage can be realized with an inexpensive configuration. .
[0031]
<Third embodiment>
FIG. 3 illustrates another embodiment of the present invention. The present embodiment is a torque control device for a permanent magnet electric motor of a type in which current command values Id ** and Iq ** are obtained from outputs of d-axis and q-axis current command calculation units 12 and 13. In FIG. 3, reference numerals 1 to 7, 11,
21 is the same as that of FIG. Reference numeral 8 'denotes a voltage vector calculation unit for calculating the voltage reference values Vd *** and Vq *** based on the motor constants, the signals Id ** and Iq **, and the rotational speed ω 1 * , and 12 denotes Id * and Idc. A d-axis current command calculation unit that outputs Id ** according to the deviation, and 13 is a q-axis current command calculation that outputs Iq ** according to the deviation between Iq * and Iqc. Using these signals Id ** and Iq ** , the voltage reference values Vd *** and Vq *** shown in Equation (5) are calculated, and the converter output voltage is controlled.
[0032]
[Equation 5]
[0033]
Even in such a system, if it is considered that Id * and Idc, and Iq * and Iqc match each other, it is apparent that the same operation as in the above-described embodiment can be obtained.
[0034]
<Fourth embodiment>
Up to the first to third embodiments described above, there has been a method of performing an interpolation calculation of the rotational phase θ * using the rotational speed ω 1 * on the basis of the position detection value θi detected by the magnetic pole position detector 3. However, in the medium and high speed range, it is necessary to perform speed averaging processing due to variations in position detection signals caused by mounting errors of the Hall elements, and this calculation delay has caused a problem of "high response". . Thus, by making the torque control device position sensorless control, it is possible to eliminate the influence of variations in the position detection signal and achieve high response.
[0035]
FIG. 4 shows a configuration example of this embodiment. 4, reference numerals 1, 2, 3, 6, 7 to 11 and 21 of the constituent elements are the same as those in FIG. In other configurations, the first phase error Δθ * , which is the difference between the rotational phase command θ ** and the actual rotor phase θ, is calculated based on the voltage command values Vd ** and Vq ** and the current estimation values Idc and Iqc. A second difference that is the difference between the estimated position error calculator 14 and the position detection value θi (i = 0, 1, 2, 3, 4, 5) output from the magnetic pole position detector 3 and the rotational phase command θ ** . the subtractor 15 for obtaining the phase error [Delta] [theta] ** combination unit 16 for obtaining a third phase error [Delta] [theta] *** from the first phase error [Delta] [theta] * and the second phase error [Delta] [theta] **, third phase error [Delta] [theta] frequency calculating unit for calculating a frequency instruction omega 1 ** transducer using ***, 18 is constituted by a phase command calculator 18 to obtain the rotational phase command theta ** integrates the signal omega 1 ** .
[0036]
The axis error calculation unit 14 calculates a first phase error Δθ * (= θ ** − θ), which is a difference signal between the actual rotor phase θ and the rotation phase command θ ** , according to the equation (6).
[0037]
[Formula 6]
[0038]
This equation is a position error calculation method in the position sensorless driving method disclosed in Japanese Patent Application Laid-Open No. 2001-251889.
[0039]
The combination unit 16 uses the first phase error Δθ * and the second phase error Δθ ** described above to calculate the third phase error Δθ *** using one of the following three methods. Calculate.
[0040]
The first method is an addition value or an average value of the first phase error Δθ * and the second phase error Δθ ** .
[0041]
In the second method, the larger one of the absolute values of the first phase error Δθ * and the second phase error Δθ ** is selected. In the third method, a phase error having a small absolute value is selected as a method used when there is a large variation in the position detector mounting, contrary to the second method.
[0042]
Next, the frequency calculation unit 17 will be described with reference to FIG. The third phase error Δθ *** that is the output of the combination unit 16 is compared with “zero”. The output signal of the proportional calculation unit 17A that multiplies the deviation signal by the proportional gain KP PLL and the output signal of the integration calculation unit 17B that performs integration processing by multiplying the deviation signal by the integral gain KI PLL are added to the frequency of the converter. Command ω 1 ** is calculated.
[0043]
The phase command calculation unit 18 integrates the frequency command ω 1 ** as shown by the number (7) to calculate the phase command θ **, and the power converter according to θ ** via the coordinate conversion unit 11. 2 controls the phase of the output.
[0044]
[Expression 7]
[0045]
In this way, by using the two types of information of “position detection signal” and “phase error estimated from voltage and current”, it is not necessary to perform speed averaging processing due to variations in position detection signal. A “responsive” torque control system can be realized.
[0046]
In the fourth embodiment, the control calculation of the “axis error calculation unit 14” and the “d-axis and q-axis current control units 9 and 10” is performed using Idc and Iqc estimated from the DC current IDC. The same effect can be obtained by using the d-axis and q-axis current values calculated from the AC current detection value of the motor and the rotational phase command in the motor current detection means.
[0047]
<Fifth embodiment>
In the fourth embodiment, the second phase error Δθ ** is obtained from the output of the magnetic pole position detector 3 and the position detection value θi (i = 0, 1, 2, 3, 4, 5) as actual position information. It was determined from the rotational phase command θ ** . Since the fourth embodiment can detect only in six phases and is easily affected by the mounting error of the magnetic pole position detector 3, as a countermeasure against this, the fifth embodiment is shown in FIGS. The rotational phase θ * is used, and this is obtained from the rotational phase command θ ** .
[0048]
Hereinafter, an example of the fifth embodiment will be described with reference to FIG. The components indicated by the same reference numerals as those of the embodiments described so far are the same.
[0049]
The speed calculation unit 4 calculates the rotation speed ω 1 * from the position detection value θi according to the number (3), and the phase calculation unit 5 uses the position detection value θi and the rotation speed ω 1 * to calculate the rotation phase θ * . Calculation is performed according to the number (4). Using the subtractor 15, the difference between the phase command θ ** and the phase θ * is obtained to obtain a second phase error. Reference numeral 16 denotes the combination unit shown in the fourth embodiment. In FIG. 6, the addition unit is shown as the first method described above.
[0050]
Next, the function and effect provided by the fifth embodiment will be described. In the control configuration of FIG. 6, consider a case where there is an error between the constants set in the voltage vector calculation unit 8 and the axis error calculation unit 14 and the actual motor constants.
[0051]
First, consider a case where the second phase error Δθ ** is not added to the adding unit which is the combination unit 16. The frequency command ω 1 ** is calculated from the first phase error Δθ * calculated by the axis error calculation unit 14, and the voltage vector calculation unit 8 calculates the d-axis and the q-axis as shown by the equation (8). Voltage commands Vd ** and Vq ** are calculated.
[0052]
[Equation 8]
[0053]
Here, if a phase error Δθ, which is a deviation between the phase command θ ** which is a signal of the “control reference axis” and the rotational phase θ * which is a signal of the “magnetic flux axis of the motor”, is generated due to a setting error of the motor constant. The coordinate transformation matrix from the control axis (d c −q c ) to the real axis (dq) is the number (9).
[0054]
[Equation 9]
[0055]
When Δθ is generated, the d-axis and q-axis motor applied voltages Vd and Vq created on the control side are expressed by the formula (10) when expressed using the motor constant setting values using the formulas (8) and (9). ).
[0056]
[Expression 10]
[0057]
On the other hand, similarly, when the d-axis and q-axis motor applied voltages Vd and Vq are expressed using motor constants, they can be expressed by the number (11).
[0058]
[Expression 11]
[0059]
Here, when the current control is performed with the relationship of the right side of the number (10) = the number (11) and the Id * set to “zero” and the Iq * set to the “predetermined value”, the current control of the d axis and the q axis is performed. The output values ΔVd and ΔVq of the units 9 and 10 can be expressed by the numbers (12) and (13), respectively.
[0060]
[Expression 12]
[0061]
[Formula 13]
[0062]
Further, when the axis error calculation unit 14 substitutes the number (8) for the first phase error Δθ * calculated by the number (6), the number (14) is obtained.
[0063]
[Expression 14]
[0064]
Again, since Iq * = Iqc and Id * = Idc = 0 by the action of the current control unit, Δθ * can be expressed by the number (15).
[0065]
[Expression 15]
[0066]
By substituting the outputs ΔVd and ΔVq of the current control unit expressed by the equations (12) and (13) into the equation (15), the first phase error Δθ * becomes the equation (16).
[0067]
[Expression 16]
[0068]
Here, when the second phase error Δθ ** is not added to the adding unit, the frequency calculating unit 17 compares the first phase error Δθ * expressed by the equation (16) with “zero” and the deviation thereof. As a result of performing PI (proportional + integral) calculation with a signal, Δθ * is “zero” at a constant speed. That is, at a constant speed, the molecular component of the number (16) has the relationship of the number (17).
[0069]
[Expression 17]
[0070]
When the phase error Δθ generated at a constant speed is obtained from this number (17), the number (18) is obtained.
[0071]
[Formula 18]
[0072]
From equation (18), it can be seen that the magnitude of the phase error Δθ occurs in relation to the setting error (Lq * −Lq) of the q-axis inductance Lq.
[0073]
Next, a motor torque equation in the case where this phase error Δθ exists is derived.
[0074]
Equation (19) shows the motor torque equation on the dq axis.
[0075]
[Equation 19]
[0076]
Here, P m : Considering a coordinate transformation matrix from the motor pole pair logarithmic control axis (d c −q c ) to the real axis (dq), when current control is performed with Id * set to “zero” The number (20) is obtained.
[0077]
[Expression 20]
[0078]
From the equation (20), when the phase error Δθ approaches ± π / 2 [rad], the “cos Δ · Iqc · Ke” component decreases even if the q-axis current estimated value Iqc is generated according to the command value, It can be seen that τ m decreases in the “zero” direction.
[0079]
That is, there is a relationship of Lq * setting error → phase error Δθ generation → motor torque τ m decrease.
[0080]
Therefore, as in the present embodiment shown in FIG. 6, when the second phase error Δθ ** is added to the adding unit that is the combination unit, the first phase error Δθ * is used as an instruction signal for correcting the first phase error Δθ *. .
[0081]
Here, the second phase error Δθ ** (corresponding to the phase error Δθ) is a deviation between the rotational phase θ ** which is a signal of the “control reference axis” and the phase command θ * which is a signal of the “magnetic flux axis of the motor”. ) Is obtained by the subtractor 15 as shown by the number (21).
[0082]
[Expression 21]
[0083]
Further, in the addition unit, the second phase error Δθ ** is added to the first phase error Δθ * to calculate the third phase error Δθ *** as shown by the equation (22).
[0084]
[Expression 22]
[0085]
By calculating the frequency command ω 1 ** of the converter with this third phase error Δθ *** and further obtaining the rotational phase command θ ** from the signal ω 1 ** , the reference axis for vector control is Correctly corrected (corresponding to the magnetic flux axis of the electric motor), it is possible to realize high-accuracy torque control proportional to the q-axis current value Iq as shown by the equation (19).
[0086]
<Sixth embodiment>
In the fifth embodiment, the second phase error Δθ ** is adopted as the “teaching signal for correcting the reference axis of the vector control”, but in this embodiment, the second phase error Δθ ** is used, The q-axis inductance setting error ΔLq ^ used for the setting constants of the voltage vector calculation unit 8 ″, the axis error calculation unit 14 ′, and the q-axis current control unit 10 ′ is calculated and used to automatically set the q-axis inductance. Do.
[0087]
FIG. 7 illustrates the configuration of this embodiment. In FIG. 7, reference numerals 1 to 7, 9, 11, 15 to 18, and 21 of the constituent elements are the same as those in FIG. Then, the q-axis inductance calculation unit 19 estimates the q-axis inductance setting error ΔLq ^ (= Lq * −Lq) from the third phase error Δθ ** . The voltage vector calculation unit 8 ″ calculates the voltage reference values Vd * and Vq * based on the motor constant, the current command values Id * and Iq * , the frequency command ω 1 **, and the q-axis inductance setting error ΔLq ^. The q-axis current control unit 10 ′ corrects the current control gain based on the q-axis inductance setting error ΔLq ^, and the axis error calculation unit 14 ′ further determines the voltage command values Vd ** and Vq ** and the estimated current value. Based on Idc, Iqc and q-axis inductance setting error ΔLq ^, a first phase error Δθ * is obtained.
[0088]
Next, the effect which this invention brings about is demonstrated.
[0089]
As described above, in the frequency calculation unit 17, the number (17) is established at a constant speed, and the number (23) is obtained by modifying the equation.
[0090]
[Expression 23]
[0091]
From this, ΔLq (= Lq * −Lq) is obtained.
[0092]
[Expression 24]
[0093]
That is, the estimated value ΔLq ^ of ΔLq can be obtained by using Ld * instead of Ld in the calculation shown in Equation (25). Note that Ld is less affected by current saturation and there is no actual harm even if Ld = Ld * .
[0094]
[Expression 25]
[0095]
Here, * represents a set value or a command value.
[0096]
Here, an example of the q-axis inductance calculation unit 19 which is the calculation content of the number (25) will be described with reference to FIG. The second phase error Δθ ** is input to the function generator generator 19A that calculates tan (Δθ ** ) and the function generator 19B that calculates cos (Δθ ** ).
The output signals 19A and 19B are input to a divider 19C. In 19C, a division operation is performed, and the output value is multiplied by an induced electromotive force constant Ke * of the motor. The multiplication value is input to the divider 19D together with the q-axis current estimated value Iqc. Here, Iqc is used instead of Iq * in the number (26).
[0097]
The output signal tan (Δθ ** ) of the function generator 19A is input to the multiplier 19E, the output signal of 19A is squared, and the difference between the d-axis inductance setting value Ld * and the q-axis inductance setting value Lq * . The value (Ld * −Lq * ) is multiplied. This multiplication value is input to the subtraction unit 19F together with the output signal of the division unit 19D, and the output value becomes the q-axis inductance setting error ΔLq ^.
[0098]
Here, if the motor has Ld≈Lq * (small saliency), the number (25) is
It can also be simplified as the number (26).
[0099]
[Equation 26]
[0100]
Next, a method for reflecting the q-axis inductance setting error ΔLq ^ obtained by calculation as described above to the control system will be described.
[0101]
The voltage vector calculation unit 8 ″ calculates the number (27) using the signal ΔLq ^.
[0102]
[Expression 27]
[0103]
Similarly, the axis error calculation unit 14 ′ calculates the number (28) using the q-axis inductance setting error ΔLq ^.
[0104]
[Expression 28]
[0105]
In this way, by correcting the set value of the q-axis inductance shown in the equations (27) and (28), the correction of Lq * → phase error Δθ: “zero” → the generation of the motor torque τ m according to the command value, High-precision position sensorless control can be realized.
[0106]
Furthermore, the proportional gain of the q-axis current control unit 10 ′ can be changed using ΔLq ^. The configuration of the q-axis current control unit 10 ′ is illustrated in FIG.
[0107]
The deviation signal ΔIq between the signal Iq * and the signal Iqc is input to the proportional calculation unit 10′A together with the q-axis inductance setting error ΔLq ^. The proportional calculation unit 10′A calculates the proportional gain KP ACR according to the number (29) using the q-axis inductance setting error ΔLq ^, and multiplies the gain KP ACR by the deviation signal ΔIq to obtain an output signal.
[0108]
[Expression 29]
[0109]
Where ωc: open loop response frequency of current control system [rad / s]
Next, the output signal of the integration operation unit 10'B, which has been integrated by multiplying the signal ΔIq by the integration gain KI ACR, and the output signal of the proportional operation unit 10'A are added to obtain the output voltage of the converter. A signal ΔVq to be corrected is calculated.
[0110]
Here, by calculating the proportional gain KP ACR based on the q-axis inductance setting error ΔLq ^, a highly responsive torque response as set can be obtained even when there is a q-axis inductance setting error.
[0111]
In the present embodiment, the control gain of the q-axis current control unit is corrected based on the q-axis inductance setting error ΔLq ^. An effect is obtained.
[0112]
<Seventh embodiment>
In the previous embodiment, the method of adding the third phase error Δθ *** to the second phase error Δθ ** and the first phase error Δθ * in the adding unit has been described. As another method, the second phase error Δθ ** is not added by the adder, and the second phase error Δθ *** is equal to the first phase error Δθ * without adding the second phase error Δθ ** . Since it is possible to calculate the q-axis inductance setting error ΔLq ^ from the phase error Δθ **, it is clear that the same effect as in this embodiment can be obtained.
[0113]
FIG. 10 illustrates the configuration. The difference from the embodiment shown in FIG. 7 is that the first phase error Δθ *, which is the output of the axis error calculation unit 14 ′, is directly input to the frequency calculation unit 17.
[0114]
Since the operational effects of this embodiment are the same as those of the previous embodiment, the description thereof is omitted.
[0115]
<Eighth embodiment>
An example in which the present invention is applied to a module will be described with reference to FIG. This example shows an embodiment of the first example. Here, the speed calculation unit 4, the phase calculation unit 5, the current estimation unit 6, the constant 7, the voltage vector calculation unit 8, the d-axis current control unit 9, the q-axis current control unit 10, and the coordinate conversion unit 11 are a one-chip microcomputer. It is configured using. In addition, the one-chip microcomputer and the power converter are housed in one module configured on the same base. The module here means “standardized structural unit” and is composed of separable hardware / software components. In addition, although it is preferable that it is comprised on the same board | substrate on manufacture, it is not limited to the same board | substrate. From this, it may be configured on a plurality of circuit boards built in the same housing. In other embodiments, the same configuration can be adopted.
[0116]
【The invention's effect】
ADVANTAGE OF THE INVENTION According to this invention, the control apparatus of the alternating current motor which does not produce a torque shortage from a low speed range can be provided, without receiving the influence of the fluctuation | variation of an electric motor constant, or attachment errors, such as a Hall element.
[Brief description of the drawings]
FIG. 1 is an example of a configuration diagram of a torque control circuit of a permanent magnet synchronous motor showing an embodiment of the present invention.
FIG. 2 is an example of a configuration diagram of a torque control circuit of a permanent magnet synchronous motor showing another embodiment of the present invention.
FIG. 3 is an example of a configuration diagram of a torque control circuit of a permanent magnet synchronous motor showing another embodiment of the present invention.
FIG. 4 is an example of a configuration diagram of a torque control circuit of a permanent magnet synchronous motor showing another embodiment of the present invention.
5 is an example of an explanatory diagram of a frequency calculation unit 15 in the apparatus of FIG.
FIG. 6 is an example of a configuration diagram of a torque control circuit of a permanent magnet synchronous motor showing another embodiment of the present invention.
FIG. 7 is an example of a configuration diagram of a torque control circuit of a permanent magnet synchronous motor showing another embodiment of the present invention.
8 is an example of an explanatory diagram of a q-axis inductance calculation unit 19 in the apparatus of FIG.
9 is an example of an explanatory diagram of a q-axis current control unit 10 ′ in the apparatus of FIG.
FIG. 10 is an example of a configuration diagram of a torque control circuit of a permanent magnet synchronous motor showing another embodiment of the present invention.
FIG. 11 is an example of a configuration diagram illustrating an embodiment of the present invention.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Permanent magnet synchronous motor, 2 ... Power converter, 3 ... Magnetic pole position detector, 4 ... Speed calculating part, 5 ... Phase calculating part, 6 ... Current estimation part, 8, 8 ', 8 "... Voltage vector calculating part , 9 ... d-axis current control unit, 10 ... q-axis current control unit, 11 ... coordinate conversion unit, 14 ... axis error calculation unit, 16 ... combination unit, 17 ... frequency calculation unit, 18 ... phase command calculation unit, 19 ... q-axis inductance calculation unit, 21... DC power supply, IDC... input DC bus current detection value, .DELTA..theta. * ... first phase error, .DELTA..theta. ** ... second phase error, .DELTA..theta. *** ... third phase error, ΔLq ^: q-axis inductance setting error, θ ** : phase command, θ * : phase.

Claims (11)

  1. Using the input DC current detection value of the power converter that outputs direct current as the input and direct current as the output, and the rotational phase obtained from the position detection signal of the AC motor, as inputs,
    A current estimator for outputting estimated current values of the d-axis and q-axis AC motors of the rotating coordinate system in the AC motor;
    A d-axis current command calculation unit that performs control so that the estimated current value approaches the first d-axis current command value and outputs a second d-axis current command value;
    A q-axis current command calculation unit that performs control so that the estimated current value approaches the first q-axis current command value and outputs a second q-axis current command value;
    With the second d-axis current command value, the second q-axis current command value, the constant of the AC motor and the rotational speed obtained from the position detection signal as inputs,
    A control apparatus for an AC motor having a voltage vector calculation unit that outputs output voltage reference values for d-axis and q-axis.
  2. A module comprising: the control device for an AC motor according to claim 1; and a power converter that converts direct current into alternating current.
  3. A motor current detecting means for detecting a motor current value flowing through the AC motor, and outputting a d-axis and a q-axis motor current of the rotating coordinate system from the motor current value and the rotation phase command;
    A subtraction unit that outputs a phase error by inputting a position detection signal and the rotation phase command;
    A motor control device comprising: a q-axis inductance calculation unit that outputs a q-axis inductance value of the AC motor based on the phase error and a q-axis current detection value.
  4. A motor current detecting means for detecting a motor current value flowing in the AC motor, and outputting a d-axis current and a q-axis motor current of the rotation coordinate system from the motor current value and the rotation phase command;
    an axis error calculation unit that outputs a first phase error between the rotation phase command and the rotation phase of the AC motor, using the d-axis and q-axis output voltage reference values and the d-axis and q-axis motor currents as inputs; ,
    A subtraction unit that outputs a second phase error by receiving a position detection signal and the rotation phase command;
    A combination unit for inputting the first phase error and the second phase error and outputting a third phase error;
    A frequency calculator that outputs an output frequency of the power converter so that the third phase error approaches zero;
    A phase command calculator that outputs the rotational phase command with the output frequency as an input ;
    A motor control device comprising: a q-axis inductance calculating unit that outputs a q-axis inductance value of the AC motor based on the second phase error and a q-axis current detection value .
  5. In either claim 3 or 4,
    A speed calculator that outputs the rotational speed of the electric motor from the position detection signal;
    A phase calculator that outputs a rotational phase from the rotational speed and the position detection signal;
    The subtraction unit outputs the second phase error with the rotation phase and the rotation phase command as inputs, and a control device for an AC motor.
  6. In either claim 3 or 4,
    The q-axis inductance calculation unit creates a tangent signal and a cosine signal of the second phase error, divides the tangent signal by the cosine signal, and then multiplies the reciprocal of the induced electromotive force constant of the AC motor. Further, the q-axis inductance value is calculated by dividing by a q-axis current command value or a current estimated value, and the control apparatus for an AC motor is characterized in that the q-axis inductance value is calculated.
  7. In claim 4 ,
    A control apparatus for an AC motor, wherein the axis error calculation unit uses the q-axis inductance value for calculation.
  8. In claim 4 ,
    The control apparatus for an AC motor, wherein the output voltage reference value is calculated using the q-axis inductance value.
  9. In claim 4 ,
    a q-axis current control unit or a q-axis current command calculation unit;
    Using the q-axis inductance value,
    A control device for a permanent magnet synchronous motor, wherein the control constant of the q-axis current control unit or the control constant of the q-axis current command calculation unit is modified.
  10. In any of claims 3 and 4 ,
    The control apparatus for an AC motor, wherein the motor current detection means estimates the d-axis and q-axis motor currents from an input DC current detection value of the power converter.
  11. 5. A module comprising: the control device for an AC motor according to claim 3; and a power converter that converts direct current into alternating current.
JP2003089571A 2003-03-28 2003-03-28 AC motor control device Expired - Fee Related JP3832443B2 (en)

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US10/809,530 US7075266B2 (en) 2003-03-28 2004-03-26 Apparatus for controlling an a. c. motor

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JP4552576B2 (en) * 2003-09-30 2010-09-29 ダイキン工業株式会社 Magnetic pole position estimation method, magnetic pole position estimation apparatus, inverter control method, and inverter control apparatus
JP4847060B2 (en) 2005-07-15 2011-12-28 日立オートモティブシステムズ株式会社 AC motor drive device and control method thereof
JP4655871B2 (en) * 2005-10-19 2011-03-23 株式会社日立製作所 Field weakening vector control device and module for permanent magnet synchronous motor
JP4730073B2 (en) * 2005-12-02 2011-07-20 株式会社日立製作所 Permanent magnet synchronous motor vector controller, inverter module, and permanent magnet synchronous motor motor constant display system
JP4611216B2 (en) * 2006-01-26 2011-01-12 日立オートモティブシステムズ株式会社 AC motor control device and control method
JP4881635B2 (en) * 2006-03-15 2012-02-22 株式会社日立カーエンジニアリング Vector controller for permanent magnet motor
JP2006230200A (en) * 2006-06-05 2006-08-31 Hitachi Ltd Control unit of ac motor
JP4519864B2 (en) 2007-01-29 2010-08-04 三菱電機株式会社 AC rotating machine electrical constant measuring method and AC rotating machine control apparatus used for carrying out this measuring method
JP5453714B2 (en) * 2007-02-08 2014-03-26 株式会社ジェイテクト Motor control device and electric power steering device
JP5156352B2 (en) 2007-11-30 2013-03-06 株式会社日立製作所 AC motor control device
JP5150366B2 (en) * 2008-05-23 2013-02-20 株式会社日立産機システム Vector control equipment
JP5396906B2 (en) * 2009-02-24 2014-01-22 日産自動車株式会社 Electric motor drive control device
CN102326329B (en) 2009-03-30 2015-12-16 株式会社日立制作所 The control device of alternating current machine and AC machine drive system
JP5645902B2 (en) * 2012-10-25 2014-12-24 株式会社日本製鋼所 Synchronous motor control method and apparatus

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