JP4677592B2 - Operation method to prevent turbulence and step-out during low-speed and low-load operation when operating two or more PMSMs with one inverter - Google Patents

Operation method to prevent turbulence and step-out during low-speed and low-load operation when operating two or more PMSMs with one inverter Download PDF

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JP4677592B2
JP4677592B2 JP2006337805A JP2006337805A JP4677592B2 JP 4677592 B2 JP4677592 B2 JP 4677592B2 JP 2006337805 A JP2006337805 A JP 2006337805A JP 2006337805 A JP2006337805 A JP 2006337805A JP 4677592 B2 JP4677592 B2 JP 4677592B2
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満 高橋
佳一 上村
義彦 清水
篤 上林
起洙 崔
盛男 朱
旻洙 金
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株式会社上村工業
インテック エフエイ カンパニー リミテッド
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Description

本発明はＰＭＳＭ(Permanent Magnet Synchronous Motor、永久磁石同期電動機）の運転方法、詳しくは単一のインバータ装置にて２台以上のＰＭＳＭを定格回転よりも低負荷状態の運転時、すなわち低速回転速度の運転時に発生する乱調・脱調を防止するようにした運転方法に関するものである。   The present invention relates to a method for operating a PMSM (Permanent Magnet Synchronous Motor), more specifically, when a single inverter device is used to operate two or more PMSMs in a load state lower than the rated rotation, that is, at a low rotational speed. The present invention relates to an operation method that prevents turbulence and step-out occurring during operation.

一般に、ＰＭＳＭは定格回転速度による運転時においてＰＭＳＭを最も効率よく運転するため、主に直軸電流Ｉｄ＝０制御（モータ発生電圧と電流の位相を同相とする制御）が採用されていて、この場合電流が最小値となっている。
なし Generally, in order to operate PMSM most efficiently during operation at the rated rotational speed, PMSM mainly employs direct axis current Id = 0 control (control in which the motor generated voltage and current are in phase). If the current is the minimum value.
None

しかしながら、ＰＭＳＭを使用する条件によっては、ＰＭＳＭを定格回転速度ではなく回転速度を低速にして運転させたいときがある。このような場合、負荷も回転速度の３乗に比例して低下する軽負荷となるので、最悪、脱調を生ずる可能性が高くなる。また脱調しないまでも乱調振動が発生して安定した運転ができないという課題がある。特に１台のインバータにより２台以上のＰＭＳＭを並列運転するときは電流値が大幅に低減した状態でそれぞれの負荷（例えば送風ファンなど）の若干の特性の相違によって内部相差角の差に基因する振動が発生して運転ができなくなることがあるという課題があった。   However, depending on the conditions under which PMSM is used, there are times when it is desired to operate PMSM at a lower rotation speed than the rated rotation speed. In such a case, since the load also becomes a light load that decreases in proportion to the cube of the rotation speed, the possibility of causing a step-out in the worst case increases. Further, there is a problem that even if it does not step out, turbulent vibration occurs and stable operation cannot be performed. In particular, when two or more PMSMs are operated in parallel by one inverter, the current value is greatly reduced, which is caused by the difference in internal phase difference angle due to a slight difference in characteristics of each load (for example, a blower fan). There has been a problem that vibration may occur and operation may become impossible.

本発明は、１台のインバータにて２台以上のＰＭＳＭを該ＰＭＳＭの定格回転速度より低い回転速度の低負荷状態にて運転する場合の制御方式であって、該２台以上の同期運転中のＰＭＳＭのうちいずれか１つのＰＭＳＭの発生する電圧値・電流値を検出し、検出した電流値がＰＭＳＭの乱調振動、ひいては脱調が発生する既定の電流値以下になったとき、その電流値の進み角度（逆起電力よりの角度）を大にして内部相差角を大きくすることによって同期回転する２台以上のＰＭＳＭの乱調・脱調を防止することができる。また２台以上の各ＰＭＳＭに回転子の位置検出装置を設けて２台以上のＰＭＳＭのうちいずれか１台の回転子磁極位置の信号を検出するようにし、該ＰＭＳＭの発生する逆起電力（磁極の発生する電圧）とインバータの出力電圧間の内部相差角を大きくするようにインバータの出力電圧の位相を変えることにより電流値を増加することができ、これによりＰＭＳＭの乱調・脱調を防止することができることとなることによって、かかる課題を解決するようにしたのである。   The present invention is a control method in a case where two or more PMSMs are operated by a single inverter in a low load state at a rotational speed lower than the rated rotational speed of the PMSM, and the two or more PMSMs are in a synchronized operation. The voltage value / current value generated by any one of the PMSMs is detected, and when the detected current value is equal to or less than the predetermined current value at which the PMSM's turbulent vibration and thus step-out occurs, the current value By increasing the advance angle (angle from the back electromotive force) and increasing the internal phase difference angle, it is possible to prevent turbulence / step-out of two or more PMSMs rotating synchronously. In addition, a rotor position detection device is provided in each of two or more PMSMs so that a signal of the rotor magnetic pole position of any one of the two or more PMSMs is detected, and the counter electromotive force ( The current value can be increased by changing the phase of the output voltage of the inverter to increase the internal phase difference angle between the voltage generated by the magnetic poles) and the output voltage of the inverter. By being able to do so, we tried to solve this problem.

本発明は、高価な位置検出装置あるいは高度且つ複雑で時間のかかる演算を要しない簡易な制御方法により、単一のインバータ装置にて２台以上のＰＭＳＭを定格回転速度より相当に低い回転速度でも乱調・脱調させることなく安定且つ静粛を維持して運転することができるという効果を生ずる。   The present invention allows two or more PMSMs to be operated at a rotational speed substantially lower than the rated rotational speed by a single inverter device by an expensive position detection device or a simple control method that does not require sophisticated, complicated and time-consuming computation. There is an effect that the vehicle can be operated stably and silently without being distorted or stepped out.

単一のインバータ装置にて２台以上のＰＭＳＭを低速回転でも乱調・脱調させることなく運転することができるので、１Ｃ１Ｍの場合に比較して設備費を低コストにて実現することができるという効果を生ずる。   Because two or more PMSMs can be operated without turbulence / step-out even at low speeds with a single inverter device, the equipment cost can be realized at a lower cost compared to the case of 1C1M. Produces an effect.

本発明は、１台の三相交流を電源とするインバータにて２台以上のＰＭＳＭを該ＰＭＳＭの定格回転速度より低い回転速度の低負荷状態にて運転する制御方式であって、該２台以上の同期運転中のＰＭＳＭのうちいずれか１つのＰＭＳＭの発生する電圧値・電流値を検出し、検出した電流値がＰＭＳＭの乱調・脱調が発生する既定の電流値以下になったとき、その電流値の進み角度を大にして内部相差角を大きくすることにより、１台のインバータにて２台以上のＰＭＳＭの低負荷運転時の乱調・脱調を防止して安定運転するようにしたのである。   The present invention is a control system in which two or more PMSMs are operated in a low load state at a rotational speed lower than the rated rotational speed of the PMSM by an inverter using a single three-phase alternating current as a power source. When the voltage value / current value generated by any one of the PMSMs in the above synchronous operation is detected, and the detected current value is equal to or lower than the predetermined current value at which PMSM irregularity / step-out occurs, By increasing the lead angle of the current value and increasing the internal phase difference angle, a single inverter can be used for stable operation by preventing turbulence and step-out during low-load operation of two or more PMSMs. It is.

また、２台以上の各ＰＭＳＭに回転子の位置検出装置を設けて、２台以上のＰＭＳＭのうちいずれか１台の回転子磁極位置の信号を検出し、該ＰＭＳＭの発生する逆起電力とインバータの出力電圧間の内部相差角を大きくするようにインバータの出力電圧を調整することにより、１台のインバータにて２台以上のＰＭＳＭの低負荷運転時の乱調・脱調を防止するようにしたのである。   Further, a rotor position detecting device is provided in each of two or more PMSMs, and a signal of a rotor magnetic pole position of any one of the two or more PMSMs is detected, and a counter electromotive force generated by the PMSMs is detected. By adjusting the output voltage of the inverter so that the internal phase difference angle between the output voltages of the inverters is increased, it is possible to prevent turbulence and step-out during low load operation of two or more PMSMs with one inverter. It was.

図１に示すように単一のインバータ装置１にて２台以上のＰＭＳＭ２を運転する場合の使用例の１つとして送風ファン３の運転がある。通常、ＰＭＳＭ２は定格回転速度の状態で運転されることが想定されているが、条件によって回転速度を低下（定格回転速度の７０％以下）させて使用することが望まれることがある。この場合、負荷トルクは回転速度の２乗に比例して低下するので、ＰＭＳＭ２の必要とする電流もトルクに比例して低減し、これはＰＭＳＭの内部相差角δが小さくなることを意味しており、２台以上のＰＭＳＭ２が１台のインバータ１に接続されていると、電流値が大幅に低減した状態（回転速度５０％時で約２５％）でそれぞれの送風ファン負荷の若干の特性の相違（負荷トルクが小さくなるために送風ファン負荷の微小な差が現れる）およびインバータ装置１の出力ケーブルの長さの違いによるインピーダンスの相違による内部相差角の差に基因して各機に電流値の差が生じ、これに伴う乱調振動が発生して安定した運転ができず脱調に至ることがある。そこで同期運転中の２台以上のＰＭＳＭ２の電流値をインバータ装置１のＩＧＢＴ（Insulated Gate Bipolar Transistor）回路（図示してない）の出力側で検出し、予め検出しておいた乱調・脱調を生ずる限界点となる既定の電流値より低下したときに進み方向に増加させる演算機能を用いて、電流値の進み角度を大にして内部相差角を大きくすることによりＰＭＳＭ２の乱調・脱調を避けて低速回転速度でも安定した回転を維持して運転するようにしたのである。   As shown in FIG. 1, there is an operation of the blower fan 3 as one example of use when operating two or more PMSMs 2 with a single inverter device 1. Normally, PMSM2 is assumed to be operated at a rated rotational speed, but it may be desired to use the rotational speed at a reduced speed (70% or less of the rated rotational speed) depending on conditions. In this case, since the load torque decreases in proportion to the square of the rotational speed, the current required by the PMSM2 also decreases in proportion to the torque, which means that the PMSM internal phase difference angle δ decreases. When two or more PMSM2s are connected to one inverter 1, the current value is greatly reduced (about 25% at a rotation speed of 50%), and some characteristics of each fan fan load are The current value in each machine is based on the difference (a small difference in the fan fan load appears because the load torque is small) and the difference in internal phase angle due to the difference in impedance due to the difference in the length of the output cable of the inverter device 1 This causes a difference between the above and a turbulent vibration associated therewith, which may cause a stable operation and a step-out. Therefore, the current values of two or more PMSMs 2 in synchronous operation are detected at the output side of an IGBT (Insulated Gate Bipolar Transistor) circuit (not shown) of the inverter device 1 to detect the turbulence / step-out detected in advance. By using a calculation function that increases in the advance direction when the current value drops below a predetermined current value that is the limit point that occurs, avoiding PMSM2 turbulence or step-out by increasing the current angle advance angle and increasing the internal phase difference angle Therefore, it was designed to maintain a stable rotation even at a low rotation speed.

すなわち図２のベクトル図に示すように、インバータ装置１より供給する電流の位相θをＰＭＳＭ２の逆起電力より進相とするが、その数値としては１５°以上、望ましくは２０°以上の進相角とし、内部相差角δを大きくすることにより電流を増加し、２台以上のＰＭＳＭ２を乱調・脱調させないで運転することができることとなる。電流の位相角を誘起電圧より進めると、内部相差角δがδ＋Δδと大きくなり、また電流値も大きくなって、負荷特性の相違により生ずる２台以上のＰＭＳＭ２間の有効電流の出入りが原因の乱調トルクがＩ2Ｒ損失の増加等により制動され低減されるので、乱調ひいては脱調を防止し、さらには微少な振動等の発生も抑制することができることとなるのである。 That is, as shown in the vector diagram of FIG. 2, the phase θ of the current supplied from the inverter device 1 is advanced from the back electromotive force of the PMSM 2, and the numerical value is 15 ° or more, preferably 20 ° or more. By increasing the internal phase difference angle δ, the current is increased, and two or more PMSMs 2 can be operated without being tuned or stepped out. When the current phase angle is advanced from the induced voltage, the internal phase difference angle δ increases to δ + Δδ, and the current value also increases. Since the torque is braked and reduced due to an increase in I 2 R loss, etc., it is possible to prevent turbulence and thus step-out, and to suppress the occurrence of minute vibrations.

なお図において、
Ｖ0 ； インバータ出力電圧（一定値）
Ｅ1／Ｅ2 ； ＰＭＳＭの逆起電力（または誘起電圧）（前／後：一定値）
Ｉ1／Ｉ2 ； インバータの出力電流（前／後）
δ1／δ2 ； 内部相差角（前／後）
θ1／θ2 ； ＰＭＳＭの誘起電圧と電流の位相差（前／後）
である。即ちＩ1 ・の進み力率ｃｏｓθ1 ・からＩ2 ・のｃｏｓθ2へと進み角θを大にし、内部相差角をδ1からδ2へと大にすることが可能となるのである。 In the figure,
V 0 ; Inverter output voltage (constant value)
E 1 / E 2 ; Back electromotive force (or induced voltage) of PMSM (before / after: constant value)
I 1 / I 2 ; Inverter output current (front / rear)
δ 1 / δ 2 ; Internal phase difference angle (front / rear)
θ 1 / θ 2 ; PMSM induced voltage and current phase difference (front / rear)
It is. I.e. the lead angle θ from I 1 · a leading power factor cos [theta] 1 · to I 2 · of cos [theta] 2 large west, it from becoming possible to the atmospheric and the internal phase difference angle to [delta] 2 from [delta] 1.

簡易な位置検出装置付のＰＭＳＭの場合は、１台のインバータ装置に接続した２台以上のＰＭＳＭのうちのいずれか１台の発生する逆起電力（誘起電力，ＰＭＳＭの端子電力）を検出し演算し、該逆起電力とインバータ装置の出力電圧との間の内部相差角を大きくしてインバータ装置の出力電流を増加して乱調・脱調を防止するようにしたのである。ＰＭＳＭへの電流の増加によりＩ2Ｒ損失の増加等によってそれらの微小トルクを吸収することおよび内部相差角の大きくなることにより安定な運転範囲への移行を確実にすることができることとなる。 In the case of a PMSM with a simple position detector, the back electromotive force (induced power, PMSM terminal power) generated by any one of two or more PMSMs connected to one inverter device is detected. By calculating, the internal phase difference angle between the counter electromotive force and the output voltage of the inverter device is increased to increase the output current of the inverter device, thereby preventing turbulence and step-out. By increasing the current to the PMSM, the minute torque is absorbed by increasing the I 2 R loss and the internal phase difference angle is increased, so that the transition to the stable operating range can be ensured.

本発明は、１台のインバータ装置により運転する２台以上のＰＭＳＭにおいて、該ＰＭＳＭを定格回転速度のほか低回転速度にて使用する状況で広く利用することができるものである。   The present invention can be widely used in a situation where two or more PMSMs operated by one inverter device are used at a low rotational speed in addition to the rated rotational speed.

回路例図Example circuit diagram ベクトル図Vector illustration

符号の説明Explanation of symbols

１はインバータ装置
２はＰＭＳＭ
３は送風ファン 1 is an inverter device 2 is PMSM
3 is a blower fan

Claims (2)

１台のインバータにて２台以上のＰＭＳＭ（永久磁石同期電動機）を該ＰＭＳＭの定格回転速度より低い回転速度の低負荷状態にて運転する制御方式であって、該２台以上の同期運転中のＰＭＳＭのうちいずれか１つのＰＭＳＭの発生する電圧値・電流値を検出し、検出した電流値がＰＭＳＭの乱調・脱調が発生する既定の電流値以下になったとき、その電流値の進み角度を大にして内部相差角を大きくすることにより、１台のインバータにて２台以上のＰＭＳＭの低速度で且つ低負荷運転時の乱調・脱調を防止して安定運転するようにしたことを特徴とする１台のインバータにて２台以上のＰＭＳＭを運転する際の低速度且つ低負荷運転時の乱調・脱調を防止する運転方法。   A control method in which two or more PMSMs (permanent magnet synchronous motors) are operated by a single inverter in a low load state at a rotational speed lower than the rated rotational speed of the PMSM, and the two or more units are in synchronous operation. The voltage value / current value generated by any one of the PMSMs is detected, and when the detected current value falls below a predetermined current value at which PMSM turbulence / step-out occurs, the advance of the current value By increasing the angle and increasing the internal phase difference angle, two or more PMSMs can be operated at a low speed with a single inverter to prevent turbulence and step-out during low-load operation, thereby ensuring stable operation. An operation method for preventing turbulence and step-out during low speed and low load operation when operating two or more PMSMs with one inverter. ２台以上の各ＰＭＳＭに回転子の位置検出装置を設けて２台以上のＰＭＳＭのうちいずれか１台の回転子磁極位置の信号を検出するようにし、該ＰＭＳＭの発生する逆起電力とインバータの出力電圧間の内部相差角を大きくするようにインバータの出力電流を増加する請求項１に記載の運転方法。   A rotor position detecting device is provided in each of two or more PMSMs to detect a signal of the rotor magnetic pole position of any one of the two or more PMSMs, and a counter electromotive force generated by the PMSM and an inverter The operation method according to claim 1, wherein the output current of the inverter is increased so as to increase the internal phase difference angle between the output voltages of the inverters.
JP2006337805A 2006-12-15 2006-12-15 Operation method to prevent turbulence and step-out during low-speed and low-load operation when operating two or more PMSMs with one inverter Active JP4677592B2 (en)

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JP2000166295A (en) * 1998-11-20 2000-06-16 Yuji Akiyama Group operation control method and system of synchronous motor

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Publication number Priority date Publication date Assignee Title
JP2000166295A (en) * 1998-11-20 2000-06-16 Yuji Akiyama Group operation control method and system of synchronous motor

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