JP4542797B2 - Control device for synchronous machine - Google Patents

Description

  The present invention relates to a control device for a synchronous machine such as a synchronous motor and a synchronous generator, and in particular, a synchronous machine capable of detecting a rotation angle (rotor magnetic pole position) of a rotor without using a rotor position detector. It relates to the control device.

  In order to perform drive control of the synchronous machine (synchronous motor, synchronous generator), a detector for detecting the rotation angle of the rotor is necessary. However, the drive device using the detector has the following problems. First, the presence of the detector increases the volume of the synchronous machine. This hinders expansion of the output of the synchronous machine. Secondly, maintenance and inspection work for the detector itself is required. This deteriorates the maintenance inspection efficiency. Third, when noise or the like is superimposed on the signal line from the detector, the detected value is disturbed and the control performance is deteriorated. Fourthly, most detectors require a power source for driving the detector, and it is necessary to provide a power source of a different system from that for driving the synchronous machine. This becomes a factor of increasing the burden in the power supply installation space, the power supply line, the cost, and the like.

  For this reason, a method has been developed in which a rotation angle is estimated without using a detector, and drive control is performed based on the estimated rotation angle. This is referred to as “sensorless control”. Major examples of sensorless control that has been known so far include an induced voltage utilization method and a high-frequency voltage superposition method (see, for example, Patent Document 1).

  The former is a technique for estimating the rotation angle by utilizing the induced voltage induced by the rotation of the synchronous machine in the q-axis direction of the synchronous machine control rotary shaft, and the latter is a voltage for controlling the synchronous machine. This is a technique for actively superimposing a high frequency component on a command or current command and estimating the rotation angle by estimating the impedance of the synchronous machine by detecting the response of the corresponding frequency or calculating the evaluation function.

  However, it has been found that in the method of using the induced voltage, the estimation performance deteriorates or cannot be estimated because the induced voltage decreases in the low speed rotation region of the synchronous machine. As a method for solving this problem, there is the latter high-frequency voltage superposition method, which can be estimated even in a low-speed rotation region or zero speed by actively superposing high-frequency voltage or high-frequency current. However, there is a problem that superposition of the high frequency voltage causes an increase in switching loss and an increase in driving power. Therefore, the induced voltage utilization method is used in the normal speed rotation region, and the high frequency voltage superposition method is used in the low speed rotation region that is difficult to estimate by the induced voltage utilization method.

In addition, the magnetic pole position is also detected using the change in the output current ripple of the inverter and the change in the time integral value of the output voltage in each switching section of the PMW control (see, for example, Patent Document 2).
JP 2001-339999 A JP-A-8-205578

However, in the above-described high frequency voltage superimposing method of Patent Document 1, for example, as shown in FIG. 1 of Patent Document 1, a high frequency component is superimposed on the high frequency current command superimposing means 11 and the high frequency current command superimposing means 15 performs high frequency It is necessary to process the voltage / current using a bandpass filter that passes the components, and it is necessary to provide a plurality of such bandpass filters.

  Further, in the method of detecting using the change in the output current ripple and the change in the time integral value of the output voltage in Patent Document 2, the detection is performed by sampling at the same frequency as the switching frequency. If the DC voltage to the inverter changes midway, an error will occur.

  The present invention has been made in view of such a conventional point, and in a sensorless control of a synchronous machine, a simple device configuration does not cause an excessive increase in switching loss and driving power, and an error occurs. It is another object of the present invention to provide a control device for a synchronous machine capable of estimating a magnetic pole position even in a low speed range and when stopped.

In order to achieve the above object, the present invention provides:
In a control device for a synchronous machine that is driven by a converter that converts a DC voltage into an AC voltage or an AC voltage into a DC voltage and controls a synchronous machine having an electric saliency on a rotor,
A voltage applied to the synchronous machine, both of current conducted to the stator of the synchronous machine, asynchronous and the PWM carrier wave period at a higher sampling frequency than the switching frequency of the converter, it is present within one cycle of the carrier phase Means for determining and detecting the sampling time point so as to be irrelevant to the time point corresponding to the value ;
Based on the high-frequency component of the voltage / current equation using the voltage value detected during the sampling period synchronized with the calculation of the current difference value, calculating the difference value of the detection sampling period based on the plurality of current values detected by this means Magnetic pole position estimating means for estimating the magnetic pole position of the synchronous machine.

The present invention also provides:
In the control device for the synchronous machine of the above invention,
Stop of the synchronous machine on the basis of the magnetic pole position estimated by the magnetic pole position estimation means, or detecting a rotational speed of the synchronous machine, or by calculating the PWM modulation rate of the voltage applied to the synchronous machine than a predetermined value Means for detecting whether it is low,
When a stoppage of the synchronous machine or low-speed rotation is detected by this means, or when the modulation rate is lower than a predetermined value, the current input to control the current conducted to the stator of the synchronous machine to command, by superimposing a high-frequency current command frequency component lower than the sampling frequency, or, as the voltage vector output from the converter, a plurality of non-zero voltage vector not collinear at a frequency lower than the sampling frequency characterized in that a means to control so as to output.

  According to the control device for a synchronous machine of the present invention, in the sensorless control of the synchronous machine, the magnetic pole position can be estimated with a simple device configuration without causing an excessive increase in switching loss or driving power and without causing an error. This makes it possible to reduce the size and cost of the apparatus and facilitate maintenance.

  In addition, the magnetic pole position can be estimated even when the synchronous machine is rotating at low speed and when it is stopped.

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.

  The present invention detects high-frequency components of the voltage and current of a synchronous machine at high speed, and estimates the position of the rotor without a rotor position sensor based on the voltage / current equation.

  Hereinafter, embodiments of the present invention based on the above-described concept will be described in detail with reference to the drawings.

(First embodiment)
FIG. 1 is a functional block diagram showing a configuration example of a control device for a synchronous machine that is driven by an inverse converter that converts a DC voltage into an AC voltage according to the present embodiment and that has an electrical saliency in a rotor.

  That is, as shown in FIG. 1, the control device for the synchronous machine of the present embodiment includes a current control unit 1, a voltage command coordinate conversion unit 2, a voltage command PWM modulation unit 3, a current coordinate conversion unit 6, The high-speed A / D conversion means 8 for voltage and current, the rotational phase angle estimation means 7, and the speed estimation PLL means 9 are configured.

  The current control unit 1 causes the actual values of the d-axis current and the q-axis current of the synchronous machine (motor) 5, which are outputs from the current coordinate conversion unit 6, to follow the current command value input to the current control unit 1. In addition, the d-axis voltage command and the q-axis voltage command which are the outputs of the inverse converter (inverter) 4 are operated.

  The voltage command coordinate conversion means 2 uses the d-axis voltage command and the q-axis voltage command that are outputs from the current control means 1 and the position estimation value of the synchronous machine rotor that is the output from the rotation phase angle estimation means 7. , Converted into a three-phase voltage command of the inverse converter 4.

  The current coordinate conversion means 6 uses the position estimation value of the synchronous machine rotor, which is the output from the rotational phase angle estimation means 7, for the three-phase current of the synchronous machine 5, and the d-axis current is a value on the dq coordinate axis And the actual value of the q-axis current.

  The rotational phase angle estimation means 7 is a voltage command PWM modulation means 3 that uses a high-speed A / D conversion means 8 to convert a three-phase gate signal that is output from the voltage command PWM modulation means 3 and the actual value of the current conducted to the synchronous machine 5. The high-frequency component corresponding to the high-frequency term of the voltage / current equation of the synchronous machine 5 is extracted from the obtained voltage command and current response value asynchronously or independently of the modulation period of the obtained high-frequency voltage. Then, the impedance matrix of the synchronous machine 5 is calculated based on the high-frequency current, the rotational phase angle of the synchronous machine 5 is estimated from the phase angle information included in the impedance, and the phase angle estimated value of the synchronous machine rotor is output. .

  Next, the operation of the synchronous machine control device according to the present embodiment configured as described above will be described.

  In the current control unit 1, the d-axis current command IdRef and the q-axis current command IqRef input to the current control unit 1, the d-axis current IdRes output from the current coordinate conversion unit 6, and the actual q-axis current value IqRes Is input, and the d-axis voltage command VdRef and the q-axis voltage command VqRef are obtained and output by proportional-integral control.

In the voltage command coordinate conversion means 2, the d-axis voltage command VdRef and q-axis voltage command VqRef output from the current control means 1 and the estimated rotor position θdet output from the rotational phase angle estimation means 7 are input. 3-phase voltage command VuR by coordinate rotation conversion and 2-phase / 3-phase conversion
ef, VvRef, VwRef are obtained and output.

  In the current coordinate conversion means 6, the three-phase current detection values IuRes, IvRes, IwRes of the synchronous machine 5 and the rotor position estimation value θdet output from the rotation phase angle estimation means 7 are input, and three-phase / 2-phase The actual value IdRes of the d-axis current and the actual value IqRes of the q-axis current are obtained by conversion and coordinate rotation conversion and output.

  In the voltage command PWM modulation means 3, the three-phase voltage command output from the voltage command coordinate conversion means 2 is modulated by pulse width modulation, and the three-phase gate signal Pu, which is an input to the inverse converter 4, Pv and Pw are output.

  In the high-speed A / D conversion means 8, the three-phase gate signals Pu, Pv, Pw output from the voltage command PWM modulation means 3, the DC voltage of the inverter, and the current response values IuRes, IvRes, Using IwRes as an input, it is detected and output at a sampling frequency higher than the switching frequency, either asynchronously or independently of the switching frequency of the inverse converter 4.

  The rotational phase angle estimation means 7 calculates the difference value of the current detection values between a plurality of samplings and the voltage detection value between the samplings by using the voltage and current detection values output from the high-speed A / D conversion means 8 as inputs. Then, each component of the impedance matrix relating to the high frequency component is calculated as the high frequency component of the voltage / current equation of the synchronous machine. Since each component of the impedance matrix includes the rotational phase angle information of the synchronous machine 5, the phase angle can be calculated using each component, and the phase angle estimation value θdet can be calculated from the rotational phase angle estimation means 7. Is output as

  In the present embodiment configured as described above, it is possible to capture a change in a variable that occurs during a PWM carrier cycle, for example, a non-linear change or disturbance of a current, a change at the time of polarity reversal, and a DC voltage change. An advantage of being able to cope with pulsation and the like is obtained.

  Therefore, according to the present embodiment, a highly accurate rotor position estimation value can be obtained with a simple device configuration.

  In particular, in the present embodiment, since the high-speed A / D conversion means 8 performs sampling at a sampling frequency higher than the switching frequency, an error does not occur as in the conventional example, and a high-precision rotor A position estimate can be obtained.

  As described above, the control device for a synchronous machine according to the present embodiment grasps the position (magnetic pole position) of the synchronous machine rotor without using the rotor position sensor, thereby reducing the size, cost, and maintenance. Simplification can be achieved.

  In addition, when the synchronous machine 5 is a generator, the reverse converter 4 becomes a forward converter.

(Second Embodiment)
FIG. 2 is a functional block diagram illustrating a configuration example of a control device for a synchronous machine that is driven by an inverse converter that converts a DC voltage into an AC voltage according to the present embodiment and that has an electrical saliency in a rotor. The same reference numerals are given to the same elements as those in FIG. That is, as shown in FIG. 2, the synchronous machine control device of the present embodiment has a configuration in which a high-frequency current command superimposing unit 10 and a stop state detecting unit 11 are added to the configuration of FIG.

The high-frequency current superimposing means 10 determines whether or not a high-frequency component is superimposed on the current command based on a signal that is an input to the high-frequency current superimposing means 10. A high-frequency current command having a predetermined amplitude and frequency is superimposed on a certain current command value.

  The stop state detection means 11 receives the phase angle estimation value θdet output from the phase angle estimation means 7 as an input, detects the stop state of the synchronous machine, and outputs a signal indicating whether or not it is in the stop state.

  Next, the operation of the synchronous machine control device according to the present embodiment configured as described above will be described.

  The high frequency current superimposing means 10 determines whether or not a high frequency component is superimposed on the current command based on the input signal FlgHF. For example, when FlgHF is a predetermined value, superposition is performed, and otherwise, superposition is not performed. When superposition is performed, the high-frequency current commands IdRefHF and IqRefHF are added to the current commands IdRef1 and IqRef1 that are inputs to the high-frequency current superimposing unit 10, and IdRef2 and IqRef2 that are inputs to the current control unit 1 are calculated and output. When the synchronous machine 5 is driven by the current command superimposed by the high-frequency current superimposing means 10, a plurality of non-zero voltage vectors are included in the three-phase gate signal that is an input to the phase angle estimating means 7 within a predetermined time. Thus, each element of the impedance matrix can be significantly calculated in the phase angle estimation means 7.

  The stop state detection means 11 receives the phase angle estimation value θdet output from the phase angle estimation means 7 as input, determines whether the synchronous machine is in a rotating state or a stopped state, and outputs FlgHF. At that time, in the stop state, the output signal FlgHF outputs a signal that is superposed in the high-frequency current superimposing means 10, and a signal that is not superposed if not in the stop state. For determining the stop state, for example, when the fluctuation range of the estimated phase angle value θdet within a predetermined time is equal to or less than a predetermined value, the stop state is determined.

  In the present embodiment configured as described above, the high frequency component of the current can be generated even when the synchronous machine is stopped, and the magnetic pole position can be accurately estimated based on the high frequency component of the voltage / current. Obtainable.

  In the present embodiment, a higher frequency component than the fundamental wave component (fundamental wave component rotating the current vector of the current conducted to the stator of the synchronous machine) is output to the voltage command PWM modulation means 3. As long as the frequency of the superimposed signal is high to some extent, the amplitude and the frequency may be arbitrary, and it is not necessary to provide the band angle filter in the phase angle estimation means 7 as in the conventional example.

(Third embodiment)
FIG. 3 is a functional block diagram illustrating a configuration example of a control device for a synchronous machine that is driven by an inverse converter that converts a DC voltage into an AC voltage according to the present embodiment and that has an electrical saliency in a rotor. The same elements as those in Fig. 2 are denoted by the same reference numerals, and the description thereof is omitted. That is, as shown in FIG. 3, the synchronous machine control device of the present embodiment has a configuration in which a low-speed rotation state detection unit 12 is added instead of the stop state detection unit 11 of FIG.

  The low speed rotation state detection means 12 receives the rotation speed estimated value output from the speed estimation PLL means 9 as an input, detects the low speed rotation state of the synchronous machine, and outputs a signal indicating whether or not the low speed rotation state is present. .

Next, the operation of the synchronous machine control device according to the present embodiment configured as described above will be described.

  The low speed rotation state detection means 12 receives the rotation speed estimated value ωdet output from the speed estimation PLL means 9, and determines whether or not the synchronous machine 5 is in a low speed rotation state equal to or lower than a predetermined rotation speed. Is output. At this time, in the low speed rotation state, the output signal FlgHF outputs a signal that is superposed in the high-frequency current superimposing means 10, and when it is not in the low speed rotation state, a signal that is not superposed is output. In order to determine the low-speed rotation state, for example, the rotation speed estimated value ωdet is compared with a predetermined value set in advance, and if it is equal to or less than the predetermined value, it is determined that the rotation speed is low.

  In the present embodiment configured as described above, it is possible to generate a high-frequency component of a current even when the synchronous machine rotates at a low speed, and it is possible to accurately perform the estimation of the magnetic pole position based on the high-frequency component of the voltage / current. Can be obtained.

(Fourth embodiment)
FIG. 4 is a functional block diagram showing a configuration example of a control device of a synchronous machine driven by an inverse converter that converts a DC voltage into an AC voltage according to the present embodiment and having an electric saliency in a rotor. The same elements as those in Fig. 2 are denoted by the same reference numerals, and the description thereof is omitted. That is, as shown in FIG. 4, the controller for the synchronous machine of the present embodiment has a configuration in which a low modulation rate detection means 13 is added instead of the stop state detection means 11 of FIG.

  The low modulation rate detection unit 13 receives the modulation rate output from the voltage command PWM modulation unit 3 and detects the low modulation rate state of the synchronous machine 5 (in other words, the low speed rotation state of the synchronous machine 5). A signal indicating whether or not the modulation rate is low is output.

  Next, the operation of the synchronous machine control device according to the present embodiment configured as described above will be described.

  The low modulation rate detection unit 13 receives the modulation rate PWMRate from the voltage command PWM modulation unit 3 and determines whether or not the synchronous machine 5 is in a state equal to or lower than the predetermined modulation rate and outputs FlgHF. At this time, in the low modulation rate state, the output signal FlgHF outputs a signal that is superimposed in the high-frequency current superimposing means 10, and when it is not in the low modulation rate state, a signal that is not superimposed is output. In order to determine the low modulation rate state, for example, the modulation rate PWMRate output from the voltage command PWM modulation means 3 is compared with a predetermined value, and if it is below the predetermined value, the low modulation rate state is determined. To do.

  In the present embodiment configured as described above, a high frequency component of current can be generated even when the modulation rate of the voltage output from the voltage command PWM modulation means is low, and based on the high frequency component of voltage / current. The advantage that the magnetic pole position can be estimated accurately can be obtained.

(Fifth embodiment)
FIG. 5 is a functional block diagram illustrating a configuration example of a control device for a synchronous machine that is driven by an inverse converter that converts a DC voltage into an AC voltage according to the present embodiment and that has an electrical saliency in a rotor. The same reference numerals are given to the same elements as those in FIG. That is, as shown in FIG. 5, the control device for the synchronous machine of the present embodiment adds the stop state detecting means 11 to the configuration of FIG. 1, and outputs the output of the stop state detecting means 11 to the voltage command PWM modulating means 3. The configuration is as entered.

  The voltage command PWM modulation means 3 has a function of selecting and outputting an arbitrary voltage vector in addition to the triangular wave comparison PWM means, and with respect to the modulation period by a signal input to the voltage command PWM modulation means 3 Output a plurality of non-zero voltage vectors.

  The stop state detection means 11 receives the phase angle estimation value θdet output from the phase angle estimation means 7 as an input, detects the stop state of the synchronous machine, and outputs a signal indicating whether or not it is in the stop state.

  Next, the operation of the synchronous machine control device according to the present embodiment configured as described above will be described.

  The voltage command PWM modulation means 3 modulates the voltage command with the input signal FlgVout and outputs a plurality of non-zeros that are not on the same straight line for one modulation period with respect to the three-phase gate signals Pu, Pv, Pw that are output. A signal that outputs a voltage vector at a frequency lower than a sampling frequency for detecting a high frequency component of a current conducted to the stator of the synchronous machine is added. When the synchronous machine is driven by the three-phase gate signal output by the voltage command PWM modulation means 3, the phase angle estimation means 7 can significantly calculate each element of the impedance matrix.

  The stop state detection means 11 receives the phase angle estimated value θdet output from the phase angle estimation means 7 as an input, determines whether the synchronous machine 5 is in a rotating state or a stopped state, and outputs FlgVout. At this time, in the stop state, the output signal FlgVout outputs a signal that adds a plurality of non-zero voltage vectors that are not on the same straight line in the voltage command PWM modulation means 3, and a signal that is not added if not in the stop state. For determining the stop state, for example, when the fluctuation range of the estimated phase angle value within a predetermined time is equal to or less than a predetermined value, the stop state is determined.

  In the present embodiment configured as described above, it is possible to generate high-frequency components by a plurality of voltage vectors that are not on the same straight line even when the synchronous machine is stopped, and to estimate the magnetic pole position based on the high-frequency components of voltage and current It is possible to obtain the advantage that can be implemented accurately.

  In the above description, for the three-phase gate signals Pu, Pv, and Pw, a plurality of non-zero voltage vectors that are not collinear with respect to one modulation period are converted into currents conducted to the stator of the synchronous machine. The voltage command PWM modulation means 3 adds a signal that is output at a frequency lower than the sampling frequency for detecting the high frequency component. Instead of the voltage command PWM modulation means 3, the stop state detection means 11 is added. Based on the output signal FlgVout from, the current vector of the current conducted to the stator of the synchronous machine is rotated with respect to the d-axis current command IdRef and q-axis current command IqRef input to the current control means 1. By adding a predetermined current command correction signal that changes at a higher frequency than the fundamental wave component, the same for one modulation period with respect to the three-phase gate signals Pu, Pv, and Pw It is also possible to add a signal that outputs a plurality of non-zero voltage vectors not on the line at a frequency lower than the sampling frequency for detecting the high frequency component of the current conducted to the stator of the synchronous machine. Good.

(Sixth embodiment)
FIG. 6 is a functional block diagram illustrating a configuration example of a control device for a synchronous machine that is driven by an inverse converter that converts a DC voltage into an AC voltage according to the present embodiment and that has an electrical saliency in a rotor. The same reference numerals are given to the same elements as those in FIG. That is, as shown in FIG. 6, the controller for the synchronous machine of the present embodiment has a configuration in which a low-speed rotation state detection unit 12 is added instead of the stop state detection unit 11 of FIG.

  The low speed rotation state detection means 12 receives the rotation speed estimated value output from the speed estimation PLL means 9 as an input, detects the low speed rotation state of the synchronous machine, and outputs a signal indicating whether or not the low speed rotation state is present. .

Next, the operation of the synchronous machine control device according to the present embodiment configured as described above will be described.

  The low-speed rotation state detection means 12 receives the rotation speed estimated value ωdet output from the speed estimation PLL means 9, and determines whether or not the synchronous machine is in a low-speed rotation state equal to or lower than a predetermined rotation speed to obtain FlgVout. Output. At this time, in the low-speed rotation state, the output signal FlgVout outputs a signal that adds a plurality of non-zero voltage vectors that are not on the same straight line in the voltage command PWM modulation means 3, and a signal that is not added in the case of the low-speed rotation state. . In order to determine the low-speed rotation state, for example, the rotation speed estimated value is compared with a predetermined value set in advance, and if it is equal to or less than the predetermined value, it is determined that the low-speed rotation state.

  In the present embodiment configured as described above, it is possible to generate high-frequency components by a plurality of voltage vectors that are not on the same straight line even when the synchronous machine rotates at a low speed, and the magnetic pole position based on the high-frequency components of voltage and current can be generated. The advantage that the estimation can be performed accurately can be obtained.

  In the above description, the voltage command PWM modulation unit 3 adds a plurality of non-zero voltage vectors that are not on the same straight line based on the output signal FlgVout of the low speed rotation state detection unit 12. Instead of using the PWM modulation means 3, a predetermined current command is supplied to the d-axis current command IdRef and the q-axis current command IqRef input to the current control means 1 based on the output signal FlgVout of the low-speed rotation state detection means 12. A configuration in which a plurality of non-zero voltage vectors that are not on the same straight line are added to the three-phase gate signals Pu, Pv, and Pw from the voltage command PWM modulation means 3 by adding a correction signal. It is good.

(Seventh embodiment)
FIG. 7 is a functional block diagram illustrating a configuration example of a control device for a synchronous machine that is driven by an inverse converter that converts a DC voltage into an AC voltage according to the present embodiment and that has an electrical saliency in a rotor. The same reference numerals are given to the same elements as those in FIG. That is, as shown in FIG. 7, the controller for the synchronous machine of the present embodiment has a configuration in which a low modulation rate detection means 13 is added instead of the stop state detection means 11 of FIG.

  The low modulation rate detection means 13 receives the modulation rate output from the voltage command PWM modulation means 3 as an input, detects the low modulation rate state of the synchronous machine 5, and outputs a signal indicating whether the modulation rate is low or not. To do.

  Next, the operation of the synchronous machine control device according to the present embodiment configured as described above will be described.

  The low modulation rate detection means 13 receives the modulation rate from the voltage command PWM modulation means 3 as input, determines whether or not the synchronous machine is in a state equal to or lower than a predetermined modulation rate, and outputs FlgHF. At that time, in the low modulation rate state, the output signal FlgVout is a signal that adds a plurality of non-zero voltage vectors that are not on the same straight line in the voltage command PWM modulation means 3, and a signal that is not added if it is not in the low modulation rate state. Output. For determining the low modulation rate state, for example, the modulation rate output from the voltage command PWM modulation means is compared with a predetermined value set in advance, and if it is equal to or less than the predetermined value, it is determined that the low modulation rate state is set.

  In the present embodiment configured as described above, even when the modulation rate of the voltage output from the control device is low, it is possible to generate high-frequency components due to a plurality of voltage vectors that are not on the same straight line. It is possible to obtain an advantage that the magnetic pole position can be accurately estimated based on the high-frequency component.

In the above description, the voltage command PWM modulation means 3 adds a plurality of non-zero voltage vectors that are not on the same straight line based on the output signal FlgVout of the low modulation rate detection means 13. Instead of using the PWM modulation means 3, a predetermined current command is supplied to the d-axis current command IdRef and the q-axis current command IqRef input to the current control means 1 based on the output signal FlgVout of the low modulation factor detection means 13. A configuration in which a plurality of non-zero voltage vectors that are not on the same straight line are added to the three-phase gate signals Pu, Pv, and Pw from the voltage command PWM modulation means 3 by adding a correction signal. It is good.

The block diagram which shows the structure of the control apparatus of the synchronous machine which concerns on the 1st Embodiment of this invention. The block diagram which shows the structure of the control apparatus of the synchronous machine which concerns on the 2nd Embodiment of this invention. The block diagram which shows the structure of the control apparatus of the synchronous machine which concerns on the 3rd Embodiment of this invention. The block diagram which shows the structure of the control apparatus of the synchronous machine which concerns on the 4th Embodiment of this invention. The block diagram which shows the structure of the control apparatus of the synchronous machine which concerns on the 5th Embodiment of this invention. The block diagram which shows the structure of the control apparatus of the synchronous machine which concerns on the 6th Embodiment of this invention. The block diagram which shows the structure of the control apparatus of the synchronous machine which concerns on the 7th Embodiment of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Current control means 2 ... Voltage command coordinate conversion means 3 ... Voltage command PWM modulation means 4 ... Inverse converter (or forward converter)
5. Synchronous machine (synchronous motor / synchronous generator)
6 ... Current coordinate conversion means 7 ... Rotation phase angle estimation means 8 ... High speed A / D conversion means 9 ... Rotation speed PLL calculation means 10 ... High frequency current command superposition means 11 ... Stop state detection means 12 ... Low speed rotation state detection means 13 ... Low modulation rate detection means

Claims (7)

In a control device for a synchronous machine that is driven by a converter that converts a DC voltage into an AC voltage or an AC voltage into a DC voltage and controls a synchronous machine having an electric saliency on a rotor,
A voltage applied to the synchronous machine, wherein both the current conducted to the stator of the synchronous machine, the transducer asynchronously and the PWM carrier wave period at a higher sampling frequency than the switching frequency, in one cycle of the carrier phase Means for determining and detecting a sampling time point so as to be irrelevant to a time point corresponding to an existing value ;
Based on the high-frequency component of the voltage / current equation using the voltage value detected during the sampling period synchronized with the calculation of the current difference value, calculating the difference value of the detection sampling period based on the plurality of current values detected by this means And a magnetic pole position estimating means for estimating the magnetic pole position of the synchronous machine. In the control apparatus of the synchronous machine according to claim 1,
It means for detecting a stop of the synchronous machine on the basis of the magnetic pole position estimated by the magnetic pole position estimation means,
When the synchronous machine stop is detected by this means, the current command input to control the current conducted to the stator of the synchronous machine, before hexa sampling of frequency components lower than the frequency a high-frequency current A control device for a synchronous machine, comprising: means for superimposing instructions. In the control apparatus of the synchronous machine according to claim 1,
It means for detecting a rotational speed of the synchronous machine on the basis of the magnetic pole position estimated by the magnetic pole position estimation means,
When the low-speed rotation of the synchronous machine is detected by this means, the current command input to control the current conducted to the stator of the synchronous machine, a high frequency of frequency components lower than the previous hexa sampling frequency A control device for a synchronous machine comprising: means for superimposing a current command. In the control apparatus of the synchronous machine according to claim 1,
Means for calculating a PWM modulation rate of a voltage applied to the synchronous machine and detecting whether the voltage is lower than a predetermined value;
If the modulation rate to be detected is lower than a predetermined value by this means, the electrical current command input to control the current conducted to the stator of the synchronous machine, than before the hexa sampling frequency And a means for superposing a high-frequency current command of a low frequency component. In the control apparatus of the synchronous machine according to claim 1,
It means for detecting a stop of the synchronous machine on the basis of the magnetic pole position estimated by the magnetic pole position estimation means,
When the synchronous machine stop is detected by this means, as the voltage vector outputted from the converter, so as to output a plurality of non-zero voltage vector not collinear at a lower frequency than before hexa sampling frequency And a control device for a synchronous machine. In the control apparatus of the synchronous machine according to claim 1,
It means for detecting a rotational speed of the synchronous machine on the basis of the magnetic pole position estimated by the magnetic pole position estimation means,
When the low-speed rotation of the synchronous machine is detected by this means, as the voltage vector outputted from the converter, to output a plurality of non-zero voltage vector not collinear at a lower frequency than before hexa sampling frequency And a control device for a synchronous machine. In the control apparatus of the synchronous machine according to claim 1,
Means for calculating a PWM modulation rate of a voltage applied to the synchronous machine and detecting whether the voltage is lower than a predetermined value;
When the modulation factor detected by this means is lower than a predetermined value, a plurality of non-zero voltage vectors that are not on the same straight line are detected as high-frequency components of the current as voltage vectors output from the converter. Means for controlling to output at a frequency lower than the sampling frequency.

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