JP5145634B2 - PM motor characteristic calculation method and program - Google Patents
PM motor characteristic calculation method and program Download PDFInfo
- Publication number
- JP5145634B2 JP5145634B2 JP2005319072A JP2005319072A JP5145634B2 JP 5145634 B2 JP5145634 B2 JP 5145634B2 JP 2005319072 A JP2005319072 A JP 2005319072A JP 2005319072 A JP2005319072 A JP 2005319072A JP 5145634 B2 JP5145634 B2 JP 5145634B2
- Authority
- JP
- Japan
- Prior art keywords
- current
- axis
- voltage
- control angle
- magnetic flux
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Description
本発明は、ＰＭモータの特性演算方法とプログラムに関するものである。 The present invention relates to a PM motor characteristic calculation method and program.
ＰＭモータ（永久磁石型同期電動機）は、一般産業用等としてインバータ駆動で使用される。ＰＭモータの特性及び制御法を評価するためにはｄｑ軸等価回路が用いられるが、特にモータ設計時には正確なｄｑ軸等価定数の把握ができれば、度重なるモータ試作、制御性評価回数の低減が可能となる。そのためには電磁界解析によるｄｑ軸等価回路定数を算出することが重要となっている。
近年、その電磁界解析によるモータ特性をより高速に、且つ高精度に把握することが求められている。この特性把握に用いられる電磁界解析は、非特許文献１や非特許文献２に開示された電磁界解析技術が用いられている。
A PM motor (permanent magnet type synchronous motor) is used in an inverter drive for general industrial use. A dq-axis equivalent circuit is used to evaluate the characteristics and control method of PM motors. However, it is possible to reduce the number of repeated motor prototypes and controllability evaluations if accurate dq-axis equivalent constants can be obtained, especially during motor design. It becomes. For that purpose, it is important to calculate the dq-axis equivalent circuit constant by electromagnetic field analysis.
In recent years, it has been required to grasp the motor characteristics by the electromagnetic field analysis at higher speed and with higher accuracy. For the electromagnetic field analysis used for grasping the characteristics, the electromagnetic field analysis techniques disclosed in Non-Patent Document 1 and Non-Patent
図６は非特許文献２の図７．１２で示されているような一般的なＰＭモータ特性の計算に使用される等価回路を示したものである。電圧方程を用いて、電磁場解析によりモータ端子電圧を求め、等価回路定数を逆算する手法で等価回路を計算することにより、ＰＭモータのトルク及び回転数から電圧及び電流等を計算している。すなわち、図６の等価回路において、 FIG. 6 shows an equivalent circuit used for calculation of a general PM motor characteristic as shown in FIG. Using the voltage procedure, the motor terminal voltage is obtained by electromagnetic field analysis, and the equivalent circuit is calculated by a method of calculating back the equivalent circuit constant, thereby calculating the voltage and current from the torque and the rotational speed of the PM motor. That is, in the equivalent circuit of FIG.
ｉd'、ｉq'は各軸のトルク分電流、ｉmd、ｉmqは鉄損分電流であり、次式が成り立つ。 i d ′ and i q ′ are torque currents of the respective axes, i md and imq are iron loss currents, and the following equation is established.
軸電圧Ｖd’とＶq’は次式で表される。 The shaft voltages V d ′ and V q ′ are expressed by the following equations.
また、トルクは次式で表される。 The torque is expressed by the following equation.
線間電圧実効値及び相電流実効値は次式で表される。 The line voltage effective value and the phase current effective value are expressed by the following equations.
その他の計算方法としては、磁界解析ソフトと回路方程式ソフトとを組み合わせた方法のものも上述した文献で報告されている。
図６で示す等価回路に基づく特性演算では、鉄心の磁気飽和によるｄ軸とｑ軸のインダクタンスＬｄ、Ｌｑ及びトルクの変動が考慮されていないためトルク−電流の線形性が保たれている領域では比較的精度のよい特性演算は可能であるが、図７で示すようにトルク−電流特性が非線形となる領域では、実測値に対して等価回路により計算した電圧値及びトルク値に誤差が生じる。この誤差を縮小するために電磁界解析と等価回路方式とを連携させたソフトウェアを用いて特性演算を実行すると、精度は向上するが、演算時間が長くなる問題を有している。なお、図７の（ａ）はトルク−電流特性図、（ｂ）は電圧−電流特性図である。 In the characteristic calculation based on the equivalent circuit shown in FIG. 6, in the region where the linearity of torque-current is maintained because fluctuations in the d-axis and q-axis inductances Ld, Lq and torque due to magnetic saturation of the iron core are not considered. Although comparatively accurate characteristic calculation is possible, as shown in FIG. 7, in the region where the torque-current characteristic is nonlinear, an error occurs in the voltage value and the torque value calculated by the equivalent circuit with respect to the actually measured value. If the characteristic calculation is executed using software in which electromagnetic field analysis and an equivalent circuit method are linked in order to reduce this error, the accuracy is improved, but the calculation time is increased. 7A is a torque-current characteristic diagram, and FIG. 7B is a voltage-current characteristic diagram.
また、特性演算時にはＰＭモータの形状等を含む綿密な条件を必要とするが、企業のノウハウ等の存在によって企業間の定数等のデータ授受が円滑に実行できないことに基づき、高精度な特性演算が困難となっている。 In addition, precise calculation including the shape of the PM motor is required for characteristic calculation, but high-accuracy characteristic calculation is based on the fact that data transfer such as constants between companies cannot be performed smoothly due to the existence of company know-how. Has become difficult.
そこで本発明が目的とするところは、特性演算の高速化及び高精度化を実現するＰＭモータの特性計算方法とプログラムを提供することにある。 Accordingly, an object of the present invention is to provide a PM motor characteristic calculation method and program that realizes high-speed and high-precision characteristic calculation.
本発明は、ＰＭモータの特性評価時にｄｑ軸等価回路定数を電磁界解析によって算出するものにおいて、
前記ｄｑ軸等価回路定数のｄ軸磁束λdテーブルとｑ軸磁束λqテーブルを有する磁束テーブル、及び電流Ｉとインバータの制御角γをパラメータとしたトルクテーブを設け、与えられたトルク及び制御角γを用いて電流Ｉを求め、求められた電流Ｉと制御角γから前記磁束テーブルからｄ軸磁束λd及びｑ軸磁束λqを求めると共に、前記電流Ｉと制御角γから演算手段を介して前記等価回路のｄ軸電流ｉd’、ｑ軸電流ｉq’を算出し、これら軸磁束λd、λqと軸電流ｉd’、ｉq’及び電気角速度ωを用いて各軸等価回路の軸電圧Ｖd’とＶq’を求め、この軸電圧Ｖd’、Ｖq’と前記軸電流ｉd’、ｉq’から線間電圧実効値Ｖ1と相電流実効値Ｉ1を求めることを特徴としたものである。
In the present invention, the dq axis equivalent circuit constant is calculated by electromagnetic field analysis when evaluating the characteristics of the PM motor.
A magnetic flux table having a d-axis magnetic flux λ d table and a q-axis magnetic flux λ q table of the dq-axis equivalent circuit constants , and a torque table using the current I and the control angle γ of the inverter as parameters are provided. Is used to determine the current I and the calculated current I and the control angle γ to obtain the d-axis magnetic flux λ d and the q-axis magnetic flux λ q from the magnetic flux table, and from the current I and the control angle γ via the calculation means. The d-axis current i d ′ and q-axis current i q ′ of the equivalent circuit are calculated, and each axis equivalent circuit is calculated using the shaft magnetic fluxes λ d and λ q , the shaft currents i d ′ and i q ′, and the electrical angular velocity ω. The shaft voltage V d ′ and V q ′ are obtained, and the line voltage effective value V 1 and the phase current effective value I 1 are obtained from the shaft voltages V d ′ and V q ′ and the shaft currents i d ′ and i q ′. It is characterized by seeking.
請求項２に記載された本発明は、前記電流Ｉ、制御角γ、電気角速度ωの条件で負荷をかけて電磁界解析により相電圧を求め、得られた相電圧を周波数波数分析して誘起電圧と同位相の成分Ｖq''と誘起電圧より位相が９０°進んだ成分Ｖd''とに分離した後、磁束λdとλqを得て平均トルクを求め、この手段を繰り返すことにより電流Ｉ、制御角γをパラメータとした前記トルクテーブルを作成することを特徴としたものである。
In the present invention described in
請求項３に記載された本発明は、前記算出された線間電圧実効値Ｖ1と予め決められた最大電圧値と比較し、線間電圧実効値Ｖ1＞最大電圧値のときに前記制御角γに任意の値である△γを加算し、線間電圧実効値Ｖ1＜最大電圧値時の電圧値を弱め界磁制御時の線間電圧実効値とすることを特徴としたものである。
The present invention described in
請求項４に記載された本発明は、ＰＭモータの特性評価時にｄｑ軸等価回路定数を電磁界解析によって算出するものにおいて、
前記ｄｑ軸等価回路定数のｄ軸磁束λdテーブルとｑ軸磁束λqテーブルを有する磁束テーブル、及び電流Ｉとインバータの制御角γをパラメータとしたトルクテーブをコンピュータのメモリに設け、与えられたトルク及び制御角γを用いて電流Ｉを求める電流演算手段と、この電流演算手段によって求められた電流Ｉと制御角γから前記磁束からｄ軸磁束λd及びｑ軸磁束λqを求める軸磁束演算手段と、前記電流Ｉと制御角γから前記ｄｑ軸等価回路のｄ軸電流ｉd’、ｑ軸電流ｉq’を算出する軸電流演算手段と、前記軸磁束λd、λqと軸電流ｉd’、ｉq’及び電気角速度ωを用いて各軸等価回路の軸電圧Ｖd’とＶq’を求める軸電圧演算手段と、この軸電圧Ｖd’とＶq’と前記軸電流ｉd’、ｉq’から線間電圧実効値Ｖ1と相電流実効値Ｉ1を求める手段としてコンピュータを機能させることを特徴としたものである。
The present invention described in
A magnetic force table having a d-axis magnetic flux λ d table and a q-axis magnetic flux λ q table of the dq-axis equivalent circuit constants, and a torque table using the current I and the control angle γ of the inverter as parameters are provided in the memory of the computer, and given torque And current calculation means for obtaining the current I using the control angle γ, and axial flux calculation for obtaining the d-axis magnetic flux λ d and the q-axis magnetic flux λ q from the magnetic flux from the current I obtained by the current calculation means and the control angle γ. Means, an axis current calculating means for calculating the d-axis current i d ′ and q-axis current i q ′ of the dq-axis equivalent circuit from the current I and the control angle γ, the axial magnetic fluxes λ d and λ q and the axis current Axis voltage calculation means for obtaining the axis voltages V d ′ and V q ′ of the equivalent circuit of each axis using i d ′, i q ′ and the electrical angular velocity ω, the axis voltages V d ′ and V q ′ and the axis current Find the line voltage effective value V 1 and phase current effective value I 1 from i d ', i q '. It is obtained by characterized by causing a computer to function as means.
請求項５に記載された本発明は、前記電流Ｉ、制御角γ、電気角速度ωの条件で負荷をかけた電磁界解析により相電圧を求め、得られた相電圧を周波数波数分析して誘起電圧と同位相の成分Ｖq''と誘起電圧より位相が９０°進んだ成分Ｖd''とに分離した後、磁束λdとλqを得て平均トルクを求め、この手段を繰り返すことにより電流Ｉ、制御角γをパラメータとした前記トルクテーブルを作成する手段としてコンピュータを機能させることを特徴としたものである。
In the present invention described in
請求項６に記載された本発明は、前記算出された線間電圧実効値Ｖ1と予め決められた最大電圧値と比較し、線間電圧実効値Ｖ1＞最大電圧値のときに前記制御角γに任意の値である△γを加算し、線間電圧実効値Ｖ1＜最大電圧値時の電圧値を弱め界磁制御時の線間電圧実効値の演算手段としてコンピュータを機能させることを特徴としたものである。 The present invention described in claim 6 compares the calculated line voltage effective value V 1 with a predetermined maximum voltage value, and the control is performed when the line voltage effective value V 1 > the maximum voltage value. Δγ, which is an arbitrary value, is added to the angle γ to weaken the voltage value at the time of the line voltage effective value V 1 <maximum voltage value, and cause the computer to function as a calculation means for the line voltage effective value at the time of field control. It is what.
以上のとおり、本発明によれば、トルクテーブル及び磁束テーブルを用意し、任意のトルク及びインバータ制御角を用いてトルクテーブルを補間しながら電流を求めてから等価回路の軸電流、軸電圧を求め、その後に線間電圧、相電流の各実行値を求めるようにしたものである。このため、従来の等価回路による演算よりも正確となり、且つ磁界解析法と等価回路方式の連携解析よりも高速演算が可能となるものである。また、弱め界磁制御時のモータ特性も容易に求めることが出来るものである。 As described above, according to the present invention, a torque table and a magnetic flux table are prepared, and the current is obtained while interpolating the torque table using an arbitrary torque and inverter control angle, and then the shaft current and shaft voltage of the equivalent circuit are obtained. Thereafter, the actual values of the line voltage and the phase current are obtained. Therefore, the calculation is more accurate than the calculation by the conventional equivalent circuit, and the calculation can be performed at a higher speed than the cooperative analysis of the magnetic field analysis method and the equivalent circuit method. Further, the motor characteristics at the time of field weakening control can be easily obtained.
図１は、本発明の実施例を示す説明図で、１はＰＭモータにおけるｄ軸等価回路、２はｑ軸等価回路、３は変換部で各軸の電流ｉd’ｉq’と各軸磁束λd、λq
（Ｉ、γ）相互間の変換を行う。４は電流Ｉとインバータの制御角γとの関係が格納された磁束テーブルで、この磁束テーブル４はｄ軸磁束λd（Ｉ、γ）用４ａとｑ軸磁束λq（Ｉ、γ）用４ｂを有している。５はトルクテーブルである。
ここで、ｄ軸電流ｉd’及びｑ軸電流ｉq’とＩ、γとの関係は次式で表される。
FIG. 1 is an explanatory diagram showing an embodiment of the present invention, where 1 is a d-axis equivalent circuit in a PM motor, 2 is a q-axis equivalent circuit, 3 is a conversion unit, and currents i d 'i q ' of each axis and each axis Magnetic flux λ d, λ q
Conversion between (I, γ) is performed. A magnetic flux table 4 stores the relationship between the current I and the control angle γ of the inverter. The magnetic flux table 4 is for the d-axis magnetic flux λ d (I, γ) 4a and the q-axis magnetic flux λ q (I, γ). 4b. 5 is a torque table.
Here, the relationship between the d-axis current i d ′ and the q-axis current i q ′ and I and γ is expressed by the following equation.
鉄損抵抗ｉmd及びｉmqは次式で表される。 The iron loss resistances i md and imq are expressed by the following equations.
また、軸電圧Ｖd’とＶq’は次式で表される。 The shaft voltages V d ′ and V q ′ are expressed by the following equations.
図２はトルクテーブル５の例を示したもので、モータ特性を計算する場合にはこのテーブルを補間しながら、目的とする電流Ｉ、インバータ制御角γの時の磁束及びトルク値を求める。補間は当該値の中間値を等価回路の両端より計算して求める。 FIG. 2 shows an example of the torque table 5. When calculating the motor characteristics, the magnetic flux and the torque value at the target current I and the inverter control angle γ are obtained while interpolating the table. Interpolation is obtained by calculating an intermediate value of the value from both ends of the equivalent circuit.
図３は上述に基づいてＰＭモータの特性を算出するためのフローチャートを示したものである。ステップＳ１で、演算装置に対して所望する任意のトルクＴと制御角γを与えると、制御部はトルク値Ｔと制御角γを用いてトルクテーブル５を参照し、且つこのデーブルを補間演算しながら電流Ｉを求める。変換部３は、ｄ軸用磁束テーブル４ａ及びｑ軸用磁束テーブル４ｂを参照し、求められた電流Ｉと与えられた制御角γに対応したｄ軸磁束λdとｑ軸用磁束λqを求めると共に、電流Ｉと制御角γを用いて１０式に基づいてｄ軸等価回路の電流ｉd’とｑ軸等価回路の電流ｉq’を演算する（ステップＳ２）。
FIG. 3 is a flowchart for calculating the characteristics of the PM motor based on the above. In step S1, when a desired torque T and a control angle γ are given to the arithmetic unit, the control unit refers to the torque table 5 using the torque value T and the control angle γ, and interpolates this table. The current I is obtained. The
ステップＳ３では、磁束λd、λqと電流ｉd’、ｉq’と電気角速度ωを用いて１３式の演算を実行して軸電圧Ｖd’とＶq’を求め、求められた軸電圧を用いて８式の演算をおこなって線間電圧実行値を求める。また、ステップＳ２で求まった軸電流ｉd’、ｉq’を用いて９式の演算を実行して相電流実効値を求める。 In step S3, the calculation of equation (13) is performed using the magnetic fluxes λ d and λ q , the currents i d ′ and i q ′, and the electrical angular velocity ω to obtain the shaft voltages V d ′ and V q ′. The line voltage execution value is obtained by performing the calculation of equation (8) using the voltage. Further, the calculation of equation (9) is performed using the shaft currents i d ′ and i q ′ obtained in step S2, and the phase current effective value is obtained.
この実施例によれば、トルクテーブルを設け、このテーブルを補間しながら電流を求めるようにしたものであるから、ＰＭモータの特性を等価回路による計算よりも正確であり、磁界解析と等価回路方式との連携解析よりも高速に計算することが可能となる。 According to this embodiment, a torque table is provided, and the current is obtained while interpolating the table. Therefore, the characteristics of the PM motor are more accurate than the calculation by the equivalent circuit, and the magnetic field analysis and the equivalent circuit method are performed. It is possible to calculate at higher speed than the linkage analysis.
図４はトルクテーブル５を電磁界解析の手法によって求める場合の例を示したものである。 FIG. 4 shows an example in which the torque table 5 is obtained by a method of electromagnetic field analysis.
図１で示すように電流I、制御角γ、及び電気角速度ωの条件で負荷をかけた場合の電磁界解析を行って相電圧を求める。得られた相電圧の周波数波数分析を行ってsin(誘起電圧と同位相の成分)とcos(誘起電圧より９０°位相が進んだ成分Ｖd'')に分離する。そして、図４で示すように誘起電圧（相電圧波高値）と同位相の成分をＶq''とし、誘起電圧より９０°位相が進んだ成分をＶd''として次式によりλdとλqを求めた後、電磁界解析によりトルクを求める。
As shown in FIG. 1, an electromagnetic field analysis is performed when a load is applied under the conditions of current I, control angle γ, and electrical angular velocity ω to obtain a phase voltage. The obtained phase voltage is subjected to frequency wave number analysis to be separated into sin (a component having the same phase as the induced voltage) and cos (a component V d ″ whose phase is advanced by 90 ° from the induced voltage). Then, the component of the induced voltage (phase voltage peak value) and the same phase as shown in Figure 4 'and the
次いで、電流I、制御角γをパラメータとし、上記を繰り返すことによって図２で示すトルクテーブルを作成する。したがって、この手法を用いることによって、図１に示す磁束λdとλqのテーブルを電磁界解析の結果により容易に求めることが可能となる。 Next, the torque table shown in FIG. 2 is created by repeating the above using the current I and the control angle γ as parameters. Therefore, by using this method, the table of magnetic fluxes λ d and λ q shown in FIG. 1 can be easily obtained from the result of electromagnetic field analysis.
図５は弱め界磁制御されるPMモータの特性演算方法を示したフローチャートである。この場合も図１で示した磁界テーブルとトルクテーブルを用いた等価回路に基づき算出されるが、ここでは、制御角γに初期値を代入し、線間電圧実効値Ｖ1が最大の電圧値になるまで制御角γに任意の値Δγを加えて繰り返し実行される。Δγとしては、例えばテーブルの値が１０度間隔で、位相の精度が１０度毎でよい場合にはΔγ＝１０となり、例えば、１度毎の精度が欲しい場合にはΔγ＝１となる。このΔγが大きいと電圧精度は悪くなるが、計算時間が速くなり、Δγが小さい場合には、電圧精度は良くなるが、計算時間が遅くなる。
また、Δγの初期値は、弱め界磁制御のみを行うときには基本的に０となり、最大トルク制御を行う場合には、トルクテーブルを使用し、要求するトルクを最も小さい電流で発生する制御角を求めて初期値とする。
FIG. 5 is a flowchart showing a characteristic calculation method for a PM motor that is field-weakened. In this case as well, the calculation is based on the equivalent circuit using the magnetic field table and the torque table shown in FIG. 1. Here, the initial value is substituted into the control angle γ, and the line voltage effective value V 1 is the maximum voltage value. The process is repeatedly executed by adding an arbitrary value Δγ to the control angle γ. Δγ is, for example, Δγ = 10 when the value of the table is 10 degree intervals and the phase accuracy is good every 10 degrees, and Δγ = 1 when, for example, accuracy of every one degree is desired. When Δγ is large, the voltage accuracy is deteriorated, but the calculation time is fast. When Δγ is small, the voltage accuracy is improved, but the calculation time is slow.
The initial value of Δγ is basically 0 when only field weakening control is performed, and when performing maximum torque control, a torque table is used to obtain a control angle that generates the required torque with the smallest current. Use the initial value.
図５において、ステップＳ１１でトルクＴと制御角γを与えると、制御部はトルク値Ｔと制御角γを用いてトルクテーブル５を参照し、且つこのデーブルを補間演算しながら電流Ｉを求める。変換部３は、ｄ軸用磁束テーブル４ａ及びｑ軸用磁束テーブル４ｂを参照し、求められた電流Ｉと制御角γに対応したｄ軸磁束λdとｑ軸用磁束λqを求めると共に、電流Ｉと制御角γを用いて１０式に基づいてｄ軸等価回路の電流ｉd’とｑ軸等価回路の電流ｉq’を演算する（ステップＳ１２）。
In FIG. 5, when the torque T and the control angle γ are given in step S11, the control unit refers to the torque table 5 using the torque value T and the control angle γ, and obtains the current I while interpolating this table. The
ステップＳ１３では、磁束λd、λqと電流ｉd’、ｉq’と電気角速度ωを用いて１３式の演算を実行して軸電圧Ｖd’とＶq’を求め、求められた軸電圧を用いて８式の演算をおこなって線間電圧実行値Ｖ1を求める。また、ステップＳ１２で求まった軸電流ｉd’、ｉq’を用いて９式の演算を実行して相電流実効値Ｉ1を求める。ステップ１４では、求まった電圧Ｖ1が予め定められた最大電圧値と比較され、最大電圧値より線間電圧実行値Ｖ1が大きい場合にはＳ１０において任意の制御角Δγ分をγに加算し、再度Ｓ１１〜Ｓ１４を実行してこれをＶ1＜最大電圧となるまで繰り返す。Ｖ1＜最大電圧となったときの線間電圧実行値Ｖ1とＳ１３で求まった線間電圧実行値Ｖ1が当該弱め界磁時のモータ特性となる。 In step S13, the calculation of equation (13) is performed using the magnetic fluxes λ d and λ q , the currents i d ′ and i q ′, and the electrical angular velocity ω to obtain the shaft voltages V d ′ and V q ′. The line voltage effective value V 1 is obtained by performing the calculation of equation (8) using the voltage. In addition, the phase current effective value I 1 is obtained by executing the calculation of Equation 9 using the shaft currents i d ′ and i q ′ obtained in step S12. In step 14, is compared with the maximum voltage value Motoma' voltage V 1 is predetermined, any of the control angle Δγ content was added to γ in S10 if a large line voltage effective value V 1 than the maximum voltage value Then, S11 to S14 are executed again, and this is repeated until V 1 <maximum voltage. V 1 <the line the line voltage effective value V 1 which Motoma' voltage effective value V 1 and S13 in when the maximum voltage is the motor characteristics of the field-weakening磁時.
したがって、この実施例によれば、弱め界磁時のＰＭモータの特性を、従来の等価回路による計算よりも正確となり、且つ界磁解析と等価回路方式の連携解析よりも高速に演算可能となるものである。 Therefore, according to this embodiment, the characteristics of the PM motor at the time of field weakening are more accurate than the calculation by the conventional equivalent circuit, and can be calculated at a higher speed than the cooperative analysis of the field analysis and the equivalent circuit method. Is.
１… ｄ軸等価回路
２… ｑ軸等価回路
３… 変換部
４… 磁束テーブル
５… トルクテーブル
DESCRIPTION OF SYMBOLS 1 ... d-axis
Claims (6)
前記ｄｑ軸等価回路定数のｄ軸磁束λdテーブルとｑ軸磁束λqテーブルを有する磁束テーブル、及び電流Ｉとインバータの制御角γをパラメータとしたトルクテーブを設け、与えられたトルク及び制御角γを用いて電流Ｉを求め、求められた電流Ｉと制御角γから前記磁束テーブルからｄ軸磁束λd及びｑ軸磁束λqを求めると共に、前記電流Ｉと制御角γから演算手段を介して前記等価回路のｄ軸電流ｉd’、ｑ軸電流ｉq’を算出し、これら軸磁束λd、λqと軸電流ｉd’、ｉq’及び電気角速度ωを用いて各軸等価回路の軸電圧Ｖd’とＶq’を求め、この軸電圧Ｖd’、Ｖq’と前記軸電流ｉd’、ｉq’から線間電圧実効値Ｖ1と相電流実効値Ｉ1を求めることを特徴としたＰＭモータの特性演算方法。 In calculating the dq axis equivalent circuit constant by electromagnetic field analysis when evaluating the characteristics of the PM motor,
A magnetic flux table having a d-axis magnetic flux λ d table and a q-axis magnetic flux λ q table of the dq-axis equivalent circuit constants, and a torque table using the current I and the control angle γ of the inverter as parameters are provided. Is used to determine the current I and the calculated current I and the control angle γ to obtain the d-axis magnetic flux λ d and the q-axis magnetic flux λ q from the magnetic flux table, and from the current I and the control angle γ via the calculation means. The d-axis current i d ′ and q-axis current i q ′ of the equivalent circuit are calculated, and each axis equivalent circuit is calculated using the shaft magnetic fluxes λ d and λ q , the shaft currents i d ′ and i q ′, and the electrical angular velocity ω. The shaft voltage V d ′ and V q ′ are obtained, and the line voltage effective value V 1 and the phase current effective value I 1 are obtained from the shaft voltages V d ′ and V q ′ and the shaft currents i d ′ and i q ′. A characteristic calculation method for a PM motor characterized in that it is obtained.
△γを加算し、線間電圧実効値Ｖ1＜最大電圧値時の電圧値を弱め界磁制御時の線間電圧実効値とすることを特徴とした請求項１又は２記載のＰＭモータの特性演算方法。 The calculated line voltage effective value V 1 is compared with a predetermined maximum voltage value, and when the line voltage effective value V 1 > the maximum voltage value, Δγ which is an arbitrary value is set as the control angle γ. The PM motor characteristic calculation method according to claim 1, wherein the line voltage effective value V 1 <the maximum voltage value is set as the line voltage effective value during field weakening control.
前記ｄｑ軸等価回路定数のｄ軸磁束λdテーブルとｑ軸磁束λqテーブルを有する磁束テーブル、及び電流Ｉとインバータの制御角γをパラメータとしたトルクテーブをコンピュータのメモリに設け、与えられたトルク及び制御角γを用いて電流Ｉを求める電流演算手段と、この電流演算手段によって求められた電流Ｉと制御角γから前記磁束からｄ軸磁束λd及びｑ軸磁束λqを求める軸磁束演算手段と、前記電流Ｉと制御角γから前記ｄｑ軸等価回路のｄ軸電流ｉd’、ｑ軸電流ｉq’を算出する軸電流演算手段と、前記軸磁束λd、λqと軸電流ｉd’、ｉq’及び電気角速度ωを用いて各軸等価回路の軸電圧Ｖd’とＶq’を求める軸電圧演算手段と、この軸電圧Ｖd’とＶq’と前記軸電流ｉd’、ｉq’から線間電圧実効値Ｖ1と相電流実効値Ｉ1を求める手段としてコンピュータを機能させるためのＰＭモータの特性演算用プログラム。 In calculating the dq axis equivalent circuit constant by electromagnetic field analysis when evaluating the characteristics of the PM motor,
A magnetic force table having a d-axis magnetic flux λ d table and a q-axis magnetic flux λ q table of the dq-axis equivalent circuit constants, and a torque table using the current I and the control angle γ of the inverter as parameters are provided in the memory of the computer, and given torque And current calculation means for obtaining the current I using the control angle γ, and axial flux calculation for obtaining the d-axis magnetic flux λ d and the q-axis magnetic flux λ q from the magnetic flux from the current I obtained by the current calculation means and the control angle γ. Means, an axis current calculating means for calculating the d-axis current i d ′ and q-axis current i q ′ of the dq-axis equivalent circuit from the current I and the control angle γ, the axial magnetic fluxes λ d and λ q and the axis current Axis voltage calculation means for obtaining the axis voltages V d ′ and V q ′ of the equivalent circuit of each axis using i d ′, i q ′ and the electrical angular velocity ω, the axis voltages V d ′ and V q ′ and the axis current Find the line voltage effective value V 1 and phase current effective value I 1 from i d ', i q '. PM motor characteristic calculation program for causing a computer to function as a unit.
△γを加算し、線間電圧実効値Ｖ1＜最大電圧値時の電圧値を弱め界磁制御時の線間電圧実効値の演算手段としてコンピュータを機能させるための請求項４又は５記載のＰＭモータの特性演算用プログラム。 The calculated line voltage effective value V 1 is compared with a predetermined maximum voltage value, and when the line voltage effective value V 1 > the maximum voltage value, Δγ which is an arbitrary value is set as the control angle γ. 6. The characteristic calculation of the PM motor according to claim 4 or 5 , wherein the computer functions as a means for calculating the line voltage effective value during field control by weakening the voltage value when the line voltage effective value V 1 <maximum voltage value is added. Program.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005319072A JP5145634B2 (en) | 2005-11-02 | 2005-11-02 | PM motor characteristic calculation method and program |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2005319072A JP5145634B2 (en) | 2005-11-02 | 2005-11-02 | PM motor characteristic calculation method and program |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2007129807A JP2007129807A (en) | 2007-05-24 |
| JP5145634B2 true JP5145634B2 (en) | 2013-02-20 |
Family
ID=38152007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2005319072A Active JP5145634B2 (en) | 2005-11-02 | 2005-11-02 | PM motor characteristic calculation method and program |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP5145634B2 (en) |
Family Cites Families (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3173022B2 (en) * | 1991-03-07 | 2001-06-04 | 株式会社明電舎 | Control device for brushless DC motor |
| JPH08240513A (en) * | 1995-03-01 | 1996-09-17 | Toyota Motor Corp | Apparatus for forming characteristic map of motor |
| JPH1155986A (en) * | 1997-08-05 | 1999-02-26 | Hitachi Ltd | Controller for permanent magnet electric rotating machine |
| JP2000050677A (en) * | 1998-07-27 | 2000-02-18 | Mitsubishi Heavy Ind Ltd | Position sensorless control equipment for permanent magnet type synchronous motor |
| JP2003199382A (en) * | 2001-12-28 | 2003-07-11 | Fujitsu General Ltd | Control method of brushless dc motor |
| JP2004015858A (en) * | 2002-06-04 | 2004-01-15 | Meidensha Corp | Sensorless control system of pm motor position |
| JP3813119B2 (en) * | 2002-11-05 | 2006-08-23 | ダイハツ工業株式会社 | Magnetic flux detection device in hybrid vehicle |
| JP2004236392A (en) * | 2003-01-29 | 2004-08-19 | Aichi Electric Co Ltd | Method for simulating motor and its drive circuit |
| JP4475903B2 (en) * | 2003-09-12 | 2010-06-09 | サンデン株式会社 | Motor control device |
-
2005
- 2005-11-02 JP JP2005319072A patent/JP5145634B2/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| JP2007129807A (en) | 2007-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Weidenholzer et al. | A flux-based PMSM motor model using RBF interpolation for time-stepping simulations | |
| KR101693427B1 (en) | Method for controlling motor | |
| Kaimori et al. | Behavior modeling of permanent magnet synchronous motors using flux linkages for coupling with circuit simulation | |
| JP2009176061A (en) | Inductance table creation method, inductance table creation device, simulation device, and computer program | |
| CN109061475B (en) | Method, device, system and medium for simulating turn-to-turn short circuit fault of permanent magnet synchronous motor | |
| Pinto et al. | dq0-modeling of interior permanent-magnet synchronous machines for high-fidelity model order reduction | |
| Ott et al. | Sensitivity analysis on production tolerances for electric drive systems in automotive application | |
| Bramerdorfer et al. | Identification of a nonlinear PMSM model using symbolic regression and its application to current optimization scenarios | |
| Miller et al. | Performance estimation of interior permanent-magnet brushless motors using the voltage-driven flux-MMF diagram | |
| Jannati et al. | Speed sensorless fault-tolerant drive system of 3-phase induction motor using switching extended kalman filter | |
| JP6206767B2 (en) | Motor control device and generator control device | |
| US7774148B2 (en) | Torque estimator for IPM motors | |
| JP6687228B1 (en) | AC rotating electric machine control device | |
| CN109067276B (en) | High-dynamic robust prediction current control method for permanent magnet synchronous motor | |
| Nguyen et al. | High-speed sensorless control of a synchronous reluctance motor based on an Extended Kalman Filter | |
| Gopalakrishnan et al. | Impact of position sensor accuracy on the performance of propulsion IPM drives | |
| Pina et al. | Modeling and experimental verification of torque transients in interior permanent magnet synchronous motors by including harmonics in d-and q-axes flux linkages | |
| JP5145634B2 (en) | PM motor characteristic calculation method and program | |
| Fischer et al. | Investigation of maximum torque per ampere and maximum efficiency control strategies of a transverse flux machine | |
| Hao et al. | Impact of position sensor accuracy on the performance of IPM drives | |
| Piña et al. | Extended model of interior permanent magnet synchronous motors to include harmonics in d-and q-axes flux linkages | |
| JPH08322300A (en) | Vector controller of induction motor | |
| Patel et al. | Development of a nonlinear loss minimization control of an IPMSM drive with flux estimation | |
| Huang et al. | An approach to improve the torque performance of IPMSM by considering cross saturation applied for hybrid electric vehicle | |
| JP7433445B2 (en) | Motor iron loss calculation device and motor control device equipped with the same |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A621 | Written request for application examination |
Free format text: JAPANESE INTERMEDIATE CODE: A621 Effective date: 20080612 |
|
| A977 | Report on retrieval |
Free format text: JAPANESE INTERMEDIATE CODE: A971007 Effective date: 20110309 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20110426 |
|
| A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20110627 |
|
| RD02 | Notification of acceptance of power of attorney |
Free format text: JAPANESE INTERMEDIATE CODE: A7422 Effective date: 20110627 |
|
| A131 | Notification of reasons for refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A131 Effective date: 20120522 |
|
| A521 | Written amendment |
Free format text: JAPANESE INTERMEDIATE CODE: A523 Effective date: 20120723 |
|
| TRDD | Decision of grant or rejection written | ||
| A01 | Written decision to grant a patent or to grant a registration (utility model) |
Free format text: JAPANESE INTERMEDIATE CODE: A01 Effective date: 20121030 |
|
| A61 | First payment of annual fees (during grant procedure) |
Free format text: JAPANESE INTERMEDIATE CODE: A61 Effective date: 20121112 |
|
| R150 | Certificate of patent or registration of utility model |
Ref document number: 5145634 Country of ref document: JP Free format text: JAPANESE INTERMEDIATE CODE: R150 Free format text: JAPANESE INTERMEDIATE CODE: R150 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20151207 Year of fee payment: 3 |