JP4622068B2 - Electric motor control device - Google Patents

Electric motor control device Download PDF

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Publication number
JP4622068B2
JP4622068B2 JP2000263297A JP2000263297A JP4622068B2 JP 4622068 B2 JP4622068 B2 JP 4622068B2 JP 2000263297 A JP2000263297 A JP 2000263297A JP 2000263297 A JP2000263297 A JP 2000263297A JP 4622068 B2 JP4622068 B2 JP 4622068B2
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Prior art keywords
motor
temperature
magnetic flux
current
δt
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JP2002078390A (en
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芳信 佐藤
覚 尾崎
新一 石井
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富士電機システムズ株式会社
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Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an electric motor control device for controlling electric motor torque.
[0002]
[Prior art]
FIG. 4 shows an example of a control device that controls the output torque when a permanent magnet type synchronous motor (hereinafter also simply referred to as a synchronous motor) having a surface magnet structure is used as the electric motor.
4, 1 is a current command value i d * from the torque command tau *, the current command calculator for calculating a i q *, 2 denotes a current control unit for obtaining the voltage command value for electric current of the current command value as 3 is an inverter that outputs a voltage according to the voltage command value, 4 is a synchronous motor, 5 is a position detector built in the synchronous motor, 6 is a current detector that detects a current supplied to the synchronous motor, Reference numeral 7 denotes a three-phase / two-phase converter for obtaining a current decomposed into orthogonal two-axis coordinates from the output of the position detector and the output of the current detector (hereinafter, the orthogonal two-axis coordinate system is referred to as a dq axis).
[0003]
The operation will be described.
2 In the reaction theory, the torque τ of the synchronous motor on the d and q axis coordinates, where the d axis is taken in the N pole direction of the rotor and the q axis is taken in the direction of 90 degrees in electrical angle from the d axis, is expressed as follows (1 (Refer to “11. Synchronous Machine Dynamics” published by Maruzen, Shouta Miyairi, “University Lecture Electrical / Mechanical Energy Conversion Engineering”).
τ = P F {Ψ m i q + (L d -L q) i d i q} ... (1)
τ: torque, P F : number of pole pairs, Ψ m : flux linkage generated by a permanent magnet at a reference temperature (T m0 ), i d , i q : d-axis, q-axis current, L d , L q : d-axis , Q-axis inductance In the case of the surface magnet structure, since the d-axis inductance L d and the q-axis inductance L q are equal (L d = L q ), the above equation (1) becomes the following equation (2).
τ = P F Ψ m i q (2)
[0004]
When the torque command τ * is given from the outside, the current command calculator 1 calculates the current command ( id * , iq * ) on the d and q axis coordinates from the following equation (3) (hereinafter referred to as the conventional method). Current command) is calculated.
i d * = 0, i q * = τ * / P F Ψ m (3)
A current detection value on the d and q axis coordinates is obtained from the outputs of the position detector 5 and the current detector 6 by the three-phase / two-phase converter 7, and the current control value is converted into the current detection value by the current control unit 2. By calculating the voltage command value so as to follow, and outputting the voltage according to the voltage command value by the inverter 3, it is possible to obtain a desired torque in the synchronous motor 4.
[0005]
[Problems to be solved by the invention]
The interlinkage magnetic flux Ψ m created by the permanent magnet is proportional to the residual magnetic flux density B r of the permanent magnet. However, it is known that this residual magnetic flux density has a temperature coefficient K Br as shown in FIG. 5 depending on the reference temperature T m0 of the permanent magnet and the current magnet temperature T m1 . For example, the temperature coefficient of the residual magnetic flux density in an Nd—Fe—B magnet, which is a rare earth magnet, is about −0.1 [% / K]. For this reason, the flux linkage created by the permanent magnet also fluctuates due to fluctuations in the magnet temperature, and the desired torque cannot be obtained even if the current command calculator 1 flows the current according to the current command value obtained by equation (3). A problem occurs.
[0006]
For such problems, a method of directly measuring the magnet temperature and correcting it using the value, for example, a method of using infrared rays to directly measure the magnet temperature, a thermocouple attached to the magnet surface, and a slip ring is used. However, there is a problem that the output of the motor is taken out of the electric motor, but there is a problem that the structure of the electric motor becomes complicated due to the mounting of the measuring device and the cost is increased.
The applicant previously proposed a method of estimating the motor temperature from the generated loss calculation value of the motor and the thermal resistance model, and correcting the current command to obtain a desired torque based on the estimated temperature. However, since the heat capacity of the electric motor is not taken into account, it is difficult to estimate a transient temperature change immediately after the start of the electric motor. It's hard to say.
Therefore, an object of the present invention is not to be affected by torque temperature fluctuations without complicating the structure and increasing the cost and without waiting for a time until the temperature of the electric motor settles to a certain temperature. There is.
[0007]
[Means for Solving the Problems]
In order to solve such a problem, in the first aspect of the invention, in the motor control device for controlling the permanent magnet motor incorporating the temperature detection means and the position detection means as sensors ,
The motor temperature is obtained from the generated loss calculation value of the motor, the thermal resistance of the motor, and the heat capacity model, and the magnetic flux by the permanent magnet of the motor is estimated based on the obtained temperature and the temperature detection value from the temperature detection means of the sensor. Magnetic flux calculating means for calculating, and current correcting means for adding a predetermined correction to the current for generating the torque of the motor from the magnetic flux calculation value by the magnetic flux calculating means are provided, and fluctuations due to temperature of the motor torque are suppressed. And
[0008]
In the invention of claim 2 , in the motor control apparatus for controlling the permanent magnet motor incorporating the temperature detection means and the position detection means as sensors,
The motor temperature is obtained from the generated loss calculation value of the motor, the thermal resistance of the motor, and the heat capacity model, and based on the obtained temperature, the temperature detection value from the temperature detection means of the sensor, and the loss of the sensor unit, Magnetic flux calculating means for estimating and calculating the magnetic flux by the permanent magnet, and current correcting means for adding a predetermined correction to the current for generating the torque of the motor from the magnetic flux calculated by the magnetic flux calculating means are provided, and the fluctuation of the motor torque due to temperature It is characterized by suppressing.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
Before describing the embodiment, the principle of the present invention will be described. FIG. 6 shows a thermal resistance and heat capacity model of the synchronous motor. However, the meaning of each code | symbol of FIG. 6 is as follows.
W 0 : Heat generation amount [W] of the synchronous motor, R 1 : Thermal resistance [K / W] from the synchronous motor heating section to the stator, R 2 : Thermal resistance [K / W] from the magnet to the surroundings, R 3 : Heat resistance from synchronous motor heating section to magnet [K / W], C 1 : heat capacity from stator to ambient [J / K], C 2 : heat capacity from magnet to ambient [J / K]
By the way, the loss generated in the synchronous motor includes iron loss such as copper loss proportional to the square of the phase current, hysteresis loss proportional to the rotational speed, and eddy current loss proportional to the square of the rotational speed. Can be expressed by the following equation (4). Where r: winding resistance [Ω], I: phase current [A], ω: rotational speed [r / min], k 1 , k 2 , k 3 : proportionality coefficient.
W 0 = k 1 rI 2 + k 2 ω + k 3 ω 2 (4)
[0010]
Since no current flows through the rotor of the synchronous motor, the generated loss of the synchronous motor is a copper loss and an iron loss for the stator. Therefore, the following description will be made assuming that the heat generation of the synchronous motor is in the stator portion.
Now, assuming that the ambient temperature is T 0 and the generation loss of the synchronous motor is W 0 , the stator temperature T f (t) and magnet temperature T m (t) at a certain time t are expressed by the following equation (5). .
T f (t) = T 0 + ΔT f, T m (t) = T 0 + ΔT m ... (5)
However, ΔT f and ΔT m indicate temperature changes from the ambient temperature of the stator temperature and the magnet temperature.
[0011]
When the Laplace operator is s, the temperature change is expressed by the following equation (6), and the temperature change ΔT m from the ambient temperature of the magnet temperature is a function of the loss of the synchronous motor as shown in equation (7). It is required in the form of
C 1 sΔT f (s) + ΔT f (s) / R 1 + (ΔT f (s) -ΔT m (s)) / R 3 = W 0 (s)
, C 2 sΔT m (s) + ΔT f (s) / R 2 − (ΔT f (s) −ΔT m (s) ) / R 3 = 0
(6)
ΔT m (s) = (W 0 (s) / R 3 ) / {(C 1 s + 1 / R 1 + 1 / R 3 ) (C 2 s
+ 1 / R 2 + 1 / R 3 ) − (1 / R 3 ) 2 } (7)
[0012]
The linkage flux Ψ m1 (also called the current linkage flux) created by the permanent magnet at the current magnet temperature T m1 is expressed by the following equation (8) considering the temperature coefficient of the residual magnetic flux density. The current command on the d and q coordinates is given by equation (9) in consideration of the current flux linkage. By using the new current command values on the d and q coordinates (i d1 * , i q1 * : referred to as new current command values), a desired torque can be obtained even if the flux linkage of the magnet changes due to temperature. It becomes possible.
Ψ m1 = Ψ m0 {1-k Br (T m0 −T m1 )} = Ψ m0 (1 + k Br ΔT m ) (8)
i d1 * = i d0 * = 0
, I q1 * = τ * / P F Ψ m1 = Ψ m0 i q0 * / Ψ m1 = i q0 * / (1 + k Br ΔT m )
≈ (1-k Br ΔT m ) i q0 * (9)
[0013]
FIG. 7 shows a thermal resistance and heat capacity model of a synchronous motor incorporating a sensor having a temperature detecting means and a position detecting means. Differences from FIG. 6 are: R 4 : Thermal resistance from the sensor to the ambient [K / W], R 5 : Thermal resistance from the synchronous motor heating section to the sensor [K / W], C 3 : From the sensor to the ambient The heat capacity [J / K] is increased.
The sensor temperature T s (t) at a certain time t is given by the following equation (10), where ΔT s is the temperature change from the ambient temperature T 0 .
T s (t) = T 0 + ΔT s (10)
Each temperature change from the ambient temperature at this time can be obtained from the following equation (11).
C 1 sΔT f (s) + ΔT f (s) / R 1 + (ΔT f (s) -ΔT m (s)) / R 3 = W 0 (s)
, C 2 sΔT m (s) + ΔT f (s) / R 2 − (ΔT f (s) −ΔT m (s) ) / R 3 = 0
, C 3 sΔT s (s) + ΔT s (s) / R 4 − (ΔT f (s) −ΔT s (s) ) / R 5 = 0
... (11)
[0014]
From the equation (11), the temperature change ΔT m of the magnet and the temperature change ΔT s of the sensor have the relationship shown in the following equation (12), indicating that the temperature change of the magnet can be obtained using the temperature change of the sensor. .
ΔT m = R 5 (C 3 s + 1 / R 4 + 1 / R 5 ) ΔT s (s) / R 3 (C 2 s + 1 / R 2 + 1 / R 3 )
(12)
Therefore, in the invention of claim 1 , when obtaining the temperature change of the magnet, the method for obtaining the generation loss of the synchronous motor and the method for obtaining from the change of the temperature detection value of the sensor using the equation (12) are used in combination. Thus, the temperature change of the magnet is obtained with higher accuracy and the control performance is improved.
[0015]
FIG. 8 shows a thermal resistance and heat capacity model in consideration of the loss of the sensor unit. The loss of the sensor unit is a constant value regardless of the operation of the synchronous motor, and this is defined as W s0 [W]. Each temperature change from the ambient temperature at this time can be obtained from the following equation (13).
C 1 sΔT f (s) + ΔT f (s) / R 1 + (ΔT f (s) -ΔT m (s)) / R 3 = W 0 (s)
, C 2 sΔT m (s) + ΔT f (s) / R 2 − (ΔT f (s) −ΔT m (s) ) / R 3 = 0
, C 3 sΔT s (s) + ΔT s (s) / R 4 − (ΔT f (s) −ΔT s (s) ) / R 5 = W s0 (s)
... (13)
[0016]
From the equation (13), the temperature change ΔT m of the magnet has the relationship shown in the following equation (14), and indicates that the temperature change of the magnet is obtained using the temperature change of the sensor and the loss of the sensor unit.
ΔT m (s) = {R 5 (C 3 s + 1 / R 4 + 1 / R 5 ) ΔT s (s) −R 5 W s0 (s) }
/ {R 3 (C 2 s + 1 / R 2 + 1 / R 3 )} (14)
Therefore, in the invention of claim 2 , in determining the temperature change of the magnet, there are a method for determining the generation loss of the synchronous motor, and a method for determining from the equation (14) using the temperature detection value of the sensor and the loss of the sensor unit. In combination, the temperature change of the magnet is obtained with higher accuracy and the control performance is improved.
[0017]
FIG. 1 is a block diagram showing the principle configuration of the present invention.
As apparent from FIG. 4, compared to the conventional example shown in FIG. 4, a speed detector 9 for detecting the rotational speed of the synchronous motor 4 from the output of the position detector 5, the detected speed value, the thermal resistance and the heat capacity of the motor. The flux linkage calculator 10 that calculates the current flux linkage from the model, and the current command that corrects the current command from the current command calculator 1 using the current flux linkage that is the output of the calculator 10. A corrector 8 is added to the configuration.
That is, the interlinkage magnetic flux calculator 10 obtains the current interlinkage magnetic flux using the generated loss of the electric motor obtained from the current command value and the rotation speed, the thermal resistance of the electric motor, and the heat capacity model. The current command corrector 8 obtains new current command values i d1 * and i q1 * from the current flux linkage and the current command values i d * and i q * obtained by the current command calculator 1. . As in the prior art, the voltage control value is calculated in the current control unit 2 so that the current detection value follows the new current command value, and the inverter 3 outputs the voltage according to the voltage command value. Thus, torque that is not affected by the magnet temperature 4 and does not wait for the time until the temperature of the electric motor settles can be obtained with high accuracy.
[0018]
FIG. 2 is a block diagram showing the first embodiment of the present invention.
Compared to the conventional example shown in FIG. 4, the current linkage flux is calculated from a speed detector 9 for detecting the rotational speed of the synchronous motor 4 from the output of the position detector 5, the detected speed value, the thermal resistance of the motor, and the heat capacity model. Embedded in a motor, a flux linkage calculator 12 that calculates the current flux, a current command corrector 8 that corrects a current command from the current command calculator 1 using the current flux linkage that is the output of the calculator 12, and the motor. The temperature detector 11 is added.
The interlinkage magnetic flux calculator 12 uses the temperature detection value from the temperature detector 11, the generated loss of the motor obtained from the current command value and the rotation speed, the current resistance of the motor and the heat capacity model, and the current linkage. The magnetic flux is obtained, and the current command value i d1 * , i q1 * is obtained from the current flux linkage and the current command value i d * , i q * obtained by the current command calculator 1 as a current command corrector. Obtained by 8. By using this new current command value, a torque that is not affected by the magnet temperature of the synchronous motor 4 and does not wait for the time until the temperature of the motor settles can be obtained with high accuracy.
[0019]
FIG. 3 is a block diagram showing another embodiment of the present invention.
As is apparent from FIG. 3, the only difference is that the interlinkage magnetic flux calculator 12 of FIG. That is, the flux linkage calculator 12 of FIG. 2 uses the temperature detection value from the temperature detector 11, the generated loss of the motor obtained from the current command value and the rotation speed, the current resistance of the motor and the heat capacity model. 3 is different from the above in that the flux linkage calculator 13 in FIG. 3 obtains the current flux linkage in consideration of the loss of the sensor unit in addition to the above. Others are the same as in FIG.
[0020]
【The invention's effect】
According to the present invention, it is possible to perform high-precision motor control that suppresses torque fluctuation due to temperature and does not need to wait for a time until the temperature of the motor settles to some extent. Further, a method in which a method for obtaining the temperature change of the magnet from the generation loss of the synchronous motor and a method of obtaining from the temperature detection value of the sensor are used together, or a method of obtaining from the generation loss of the synchronous motor, the temperature detection value of the sensor, and the sensor unit In combination with the method of obtaining from the loss of the magnet, it is possible to obtain the temperature change of the magnet with higher accuracy.
[Brief description of the drawings]
FIG. 1 is a block diagram showing the principle configuration of the present invention.
FIG. 2 is a block diagram showing a first embodiment of the present invention.
FIG. 3 is a block diagram showing another embodiment of the present invention.
FIG. 4 is a block diagram showing a conventional example.
FIG. 5 is a characteristic diagram showing temperature dependence characteristics of a residual magnetic flux density of a magnet.
FIG. 6 is an explanatory diagram for explaining a thermal resistance and a heat capacity model of the synchronous motor.
FIG. 7 is an explanatory diagram of thermal resistance and heat capacity model of a synchronous motor incorporating a sensor.
FIG. 8 is an explanatory diagram of a thermal resistance and heat capacity model of a synchronous motor in consideration of a loss of a sensor unit.
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 ... Current command calculator, 2 ... Current control part, 3 ... Inverter, 4 ... Synchronous motor, 5 ... Position detector, 6 ... Current detector, 7 ... Three-phase / two-phase converter, 8 ... Current command corrector , 9 ... speed detector, 10, 12, 13 ... interlinkage magnetic flux calculator, 11 ... temperature detector.

Claims (2)

  1. In a motor control device for controlling a permanent magnet motor incorporating temperature detection means and position detection means as sensors ,
    The motor temperature is obtained from the generated loss calculation value of the motor, the thermal resistance of the motor, and the heat capacity model, and the magnetic flux by the permanent magnet of the motor is estimated based on the obtained temperature and the temperature detection value from the temperature detection means of the sensor. Magnetic flux calculating means for calculating, and current correcting means for adding a predetermined correction to the current for generating the torque of the motor from the magnetic flux calculation value by the magnetic flux calculating means are provided, and fluctuations due to temperature of the motor torque are suppressed. An electric motor control device.
  2. In a motor control device for controlling a permanent magnet motor incorporating temperature detection means and position detection means as sensors,
    The motor temperature is obtained from the generated loss calculation value of the motor, the thermal resistance of the motor, and the heat capacity model, and based on the obtained temperature, the temperature detection value from the temperature detection means of the sensor, and the loss of the sensor unit, Magnetic flux calculating means for estimating and calculating the magnetic flux by the permanent magnet, and current correcting means for adding a predetermined correction to the current for generating the torque of the motor from the magnetic flux calculated by the magnetic flux calculating means are provided, and the fluctuation of the motor torque due to temperature The control apparatus of the electric motor characterized by suppressing.
JP2000263297A 2000-08-31 2000-08-31 Electric motor control device Active JP4622068B2 (en)

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JP2008228524A (en) * 2007-03-15 2008-09-25 Hitachi Via Mechanics Ltd Rocking actuator and laser machining device
JP5446494B2 (en) * 2009-06-17 2014-03-19 富士電機株式会社 Control device for permanent magnet type synchronous motor
CN103023415B (en) * 2012-12-27 2015-02-18 黑龙江大学 Method for automatically compensating amplitude-modulation-type space vectors and overcoming unstable torque
JP2015116021A (en) * 2013-12-11 2015-06-22 日立オートモティブシステムズ株式会社 Control device for permanent magnet synchronous motor
EP2894782B1 (en) * 2014-01-13 2018-08-29 Nissan Motor Co., Ltd. Torque estimating system for synchronous electric motor
KR20160049898A (en) 2014-10-28 2016-05-10 현대자동차주식회사 Apparatus and method for toque control, motor controller
JP6396869B2 (en) * 2015-09-09 2018-09-26 日立オートモティブシステムズ株式会社 Motor control device

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