JP5325556B2 - Motor control device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To smoothly switch between a vector control featuring current command calculation unit and voltage phase operation type weak field control, and to improve the efficiency in switching. <P>SOLUTION: The problem is solved by any one of followings or combination of them. 1. A step is provided for reducing a voltage phase acquired from intermediate voltage command values Vdc<SP>*</SP>and Vqc<SP>*</SP>when switching from normal control to voltage phase operation type weak field control. 2. A value acquired by averaging d-axis current detection values is taken as a first d-axis current command value to be input in a d-axis current command calculation unit when returning to the normal control from the voltage phase operation type weak field control. 3. The gain of the d-axis current command calculation unit is switched when returning to the normal control from the voltage phase operation type weak field control. 4. A motor constant (resistance, inductance, power generation constant) identification calculation unit is provided in addition to the normal control and voltage phase operation type weak field control. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to vector control of a motor control device.

  Field weakening control is widely known as control that enables motor drive even in a region where the counter electromotive force generated by the rotation of the motor is higher than the power supply voltage value, that is, a so-called voltage saturation region. In recent years, air conditioners are strongly required to have high APF and high heating power. Since the efficiency in the low speed region greatly contributes to the realization of a high APF, a low speed motor (high efficiency in the low speed region) in which the back electromotive force is high in the low speed rotation region has been used. However, since it is also necessary to realize a high heating power, the motor must be driven to a high speed range by a low speed design motor. In particular, in an air conditioner, a high APF is realized by using a compressor equipped with a low-speed design motor, and a high heating power is realized by increasing the rotation speed by field weakening control. As a control capable of realizing “highly accurate and highly responsive torque control” even in the field weakening control region, voltage phase manipulation type field weakening control is disclosed (Patent Document 1).

  On the other hand, as a method capable of realizing highly accurate torque control in a region (normal region) that is not a voltage saturation region, there is a vector control characterized by including a current command calculation unit (Patent Document 2).

JP 2007-252052 A JP-A-2005-39912

  However, conventionally, no special consideration has been given when switching between vector control (normal control) and voltage phase operation type field weakening control, which are characterized by including a current command calculation unit. Therefore, there may be a switching shock in which the voltage and current are disturbed during switching, or the efficiency may be deteriorated.

  An object of the present invention is to realize a highly accurate and stable control from a low speed range to a high speed range by smoothly switching between normal control and voltage phase operation type field-weakening control and improving efficiency at the time of switching. is there.

  Means for solving the problems are roughly classified into the following four items.

The problem is solved by combining one or more of the following.
1. When switching from the normal control to the voltage phase manipulation type field weakening control, a process for reducing the voltage phase obtained from the intermediate voltage command values Vdc * and Vqc * is provided.
2. When the voltage phase operation type field weakening control returns to the normal control, a value obtained by averaging the d-axis current detection values is set as a first d-axis current command value to be input to the d-axis current command calculation unit.
3. When the voltage phase operation type field weakening control returns to the normal control, the gain of the d-axis current command calculation unit is switched.
4). In addition to normal control and voltage phase manipulation type field weakening control, a motor constant (resistance, inductance, power generation constant) identification calculation unit is provided.
Specifically, the motor control device of the present invention is a permanent magnet motor vector control device that controls an output voltage command value of a power converter that drives a permanent magnet motor. Vector control means including a current command calculation unit that outputs a second current command value by proportional-integral control of the deviation from the d-axis and q-axis current detection values, and the output voltage value of the power converter is limited. A voltage phase value for field weakening control based on a deviation between the q-axis current command value and the q-axis current detection value, and a weakening for compensating the output voltage command value of the power converter. Field vector control means, means for switching between the vector control means and the field weakening vector control means, and at the time of switching from the vector control means to the field weakening field control means, voltage and Compensation means for switching without disturbing the flow, and at the time of switching from the vector control means to the field weakening vector control means, the phase of the output voltage command value of the power converter is reduced, from the vector control means to the The voltage phase value at the time of switching to the field weakening vector control unit is calculated from the d-axis current command value input to the voltage vector calculation unit, and when switching from the vector control unit to the field weakening vector control unit, d A value obtained by filtering the detected current value of the shaft is input to the current command calculation unit as a first current command value.

  According to the present invention, it is possible to smoothly switch between normal control and voltage phase manipulation type field-weakening control, and to realize stable control with high accuracy, high response and high efficiency from a low speed range to a high speed range with a low speed design motor.

  Examples of the present invention are shown below.

  FIG. 1 shows a configuration example of a vector controller for a permanent magnet motor according to a first embodiment of the present invention.

1 is a permanent magnet motor,
2 is a power converter that outputs a voltage proportional to the voltage command values Vu ^* , Vv ^* , and Vw ^* of a three-phase alternating current;
18 is a DC power supply,
3 is a current detector that can detect three-phase alternating currents Iu, Iv, Iw,
4 is a position detector capable of detecting the motor position θ,
5 is a frequency calculation unit for calculating a frequency calculation value ω ₁ from the position detection value θc;
6 is a coordinate converter for outputting the detected values Iuc, Ivc, Iwc of the three-phase alternating currents Iu, Iv, Iw and the detected position values θc of the motor to the d-axis and q-axis detected current values Idc, Iqc,
7 is a deviation between the q-axis current command value and the current detection value from the output voltage limit flag V ₁ ^* _{lmt_flg} ,
A q-axis current deviation switching unit that outputs ΔIq or “zero” to the phase error command calculation unit 8 and the q-axis current command calculation unit 9, respectively;
8 is a phase error command calculating unit that outputs a phase error command value Δθc ^* from the output value ΔIq ₁ of the q-axis current deviation switching unit 7;
9 is a q-axis current command calculation unit that outputs a second q-axis current command value Iq ^** from the output value ΔIq ₂ of the q-axis current deviation switching unit 7;
10 is a second d-axis current command filter processing calculation unit that calculates a second d-axis current command value input to the d-axis current command switching unit 12 when the output voltage limit flag V ₁ ^* _{lmt_flg} is “1”;
11 is the second d-axis that is input to the second d-axis current command switching unit 12 from the deviation _ΔId between the d-axis current command value and the current detection value when the output voltage limit flag V ₁ ^* _{lmt_flg} is “0”. A d-axis current command calculation unit 11 for calculating a current command value;
12 is the second d-axis current command value Id ^** input to the voltage vector calculation unit 14, which is either the output value of the second d-axis current command filter processing calculation unit 10 or the output value of the d-axis current command calculation unit 11. A second d-axis current command switching unit for switching
13 voltage command value Vdc ^**, calculates the power converter output voltage value V ₁ ^* from Vqc ^**, voltage limit value V output voltage value V ₁ ^* is determined from the DC voltage value of the power converter 2 ₁ ^* If _max is less than the output voltage limiting flag V ₁ ^* _{Lmt_flg} "0", if the output voltage value V ₁ ^* has reached V ₁ ^* _max, "1" the output voltage limiting flag V ₁ ^* _{Lmt_flg} The output voltage limit detection unit to be set to
14 calculates voltage command values Vd ^** and Vqc ^** based on the electric constant of the motor 1, the second current command values Id ^** and Iq ^{**, the} frequency calculation value ω ₁ and the phase error command value Δθc ^*. Voltage vector calculator,
A coordinate conversion unit 15 outputs three-phase AC voltage command values Vu ^* , Vv ^* , Vw ^* from the voltage command values Vdc ^** , Vqc ^** and the position detection value θc.

  It is obvious that the same effects as those described below can be obtained even in the case of position sensorless control in which the position detector 4 such as a resolver or encoder is omitted.

  Further, the three-phase AC currents Iu, Iv, and Iw that flow through the motor are estimated from the DC current IDC that flows through the input bus of the power converter 2 instead of the expensive current detector that can detect the three-phase AC current as in FIG. Even in the current sensorless system, the same effects as described below can be obtained.

  The basic operation of the voltage phase manipulation type field weakening control method and the switching method between normal control and field weakening control will be described below.

  The position detection value θc is obtained by detecting the position θ of the motor in the position detector 4 such as a resolver or an encoder.

The frequency calculation unit 5 uses this position detection value θc to obtain the frequency calculation value ω ₁ by (Equation 1).

The output voltage limit detection unit 13 in FIG. 1 calculates the output voltage value V ₁ ^* using the d-axis and q-axis voltage command values Vdc ^** and Vqc ^** by (Equation 2).

Further, the output voltage limit flag V ₁ ^* _{lmt_flg} is created according to ( _Equation 3) using V ₁ ^* and the voltage limit value V ₁ ^* _max .

By this output voltage limit flag V ₁ ^* _{lmt_flg} , control for generating torque is switched between the q-axis current command calculation unit 9 and the phase error command calculation unit 8. The details are as follows.

When the output voltage limit flag V ₁ ^* _{lmt_flg} is “0”, “zero” is input to the phase error command calculation unit 8,
A deviation ΔIq between the first q-axis current command value Iq ^* and the detected current value Iqc is input to the q-axis current command calculation unit 9.

The q-axis current command calculation unit 9 performs a proportional-integral calculation on ΔIq and outputs a second q-axis current command value Iq ^** .

The voltage vector calculation unit 14 uses the second d-axis and q-axis current command values Id ^** and Iq ^** and the motor constant and the frequency calculation value ω ₁ as intermediate voltage command values Vdc ^* and Vqc ^*. Is calculated according to (Equation 4).

ここで、
Ｒ^*：抵抗の設定値
Ｋｅ^*：誘起電圧定数の設定値
Ｌｄ^*：ｄ軸インダクタンスの設定値
Ｌｑ^*：ｑ軸インダクタンスの設定値
である。

here,
R ^* : resistance set value Ke ^* : induced voltage constant set value Ld ^* : d-axis inductance set value Lq ^* : q-axis inductance set value

In a region where the output voltage value V ₁ ^* is not limited, the phase error command value Δθc ^* = 0, and Vdc ^* (= Vdc ^** ), Vqc ^* (= Vqc ^** ) calculated by (Equation 4). Becomes the voltage command value of the power converter, so that the q-axis current command calculation unit controls the torque generation command.

Next, when the output voltage limit flag V ₁ ^* _{lmt_flg} is “1”, “zero” is input to the q-axis current command calculation unit 9, and the second q-axis current command value Iq ^**, which is an output value, is input. Is not updated and the previous value is retained.

The phase error command calculation unit 8 receives a deviation ΔIq between the first q-axis current command value Iq ^* and the detected current value Iqc.

The phase error command calculation unit 8 performs a proportional integration calculation so that ΔIq becomes “zero”, and outputs the calculated value as a phase error command value Δθc ^* .

By using the phase error command value Δθc ^* to increase the phase of the voltage command value, field weakening control can be realized.

  FIG. 2 shows a schematic diagram of the voltage phase operation.

The phase of the new voltage command value is increased by the phase error command value Δθc ^* from the voltage phase θ _V1 ^* of the voltage value V ₁ obtained from the vector arithmetic expressions Vdc ^* and Vqc ^{* of} (Equation 4).

In the actual calculation, new voltage command values Vdc ^** and Vqc ^** are obtained according to (Equation 5) using (Equation 4) and the phase error command value Δθc ^* , and power conversion is performed using Vdc ^** and Vqc ^**. Controls the output voltage value of the unit.

In the case of this method, since the voltage phase is directly manipulated, it is possible to realize stable control with a higher motor torque response than in the case of realizing field-weakening control by controlling the d-axis current command value Id ^* .

On the other hand, in the d-axis current command calculation unit, when the output voltage limit flag V ₁ ^* _{lmt_flg} is “0”, the _{deviation ΔId} between the first d-axis current command value Id ^* and the current detection value Idc is the d-axis current command calculation unit. 11 is input.

  The d-axis current command calculation unit 11 outputs the result of proportional integration calculation of ΔId.

When the output voltage limit flag V ₁ ^* _{lmt_flg} is “0”, the second d-axis current command switching unit 12 outputs the output as the second d-axis current command value Id ^** .

  In the q-axis current command calculation unit 9 and the d-axis current command calculation unit 11, even if the motor constants (resistance, inductance, power generation constant) set by the voltage vector calculation unit 14 do not match the actual values, A second current command value is output so as to match the command value.

  The vector control characterized by comprising current command control has no function of torque shortage by controlling the output voltage by the current command calculation units 9 and 11 having a function of compensating for the difference between the motor constant set value and the actual value. There is an advantage in that the control can be realized.

However, as shown in FIG. 3, the voltage phase is obtained from the second d-axis and q-axis current command values Id ^** and Iq ^** including the correction value according to (Equation 4). When shifting to field weakening control, there is a possibility that it is not the original voltage phase.

  In the above case, since the distribution of reactive current and active current changes, the efficiency may be different.

  The point is characterized by eliminating the phase shift due to the motor constant shift and returning to the original phase.

When the output voltage limit flag V ₁ ^* _{lmt_flg} is “0”, the second d-axis current command value Id ^** input to the voltage vector calculation unit 14 is input to the second d-axis current command filter processing calculation unit 10. Keep it.

When the output voltage limit flag V ₁ ^* _{lmt_flg} becomes “1”, the input value to the second d-axis current command filter processing calculation unit 10 is set to “zero”, and the first order lag filter processing calculation is performed. When the output voltage limit flag V ₁ ^* _{lmt_flg} is “1”, the second d-axis current command switching unit 12 outputs the output of the second d-axis current command filter processing calculation unit 10 to the second d-axis current command value Id. Switch to ^** .

FIG. 4 shows the first d-axis current command value Id ^* , the second d-axis current command value Id ^** , the d-axis current detection value Idc, and the voltage phase command value Δθ _V ^* _set when shifting to field weakening control. Show.

When the output voltage limit flag V ₁ ^* _{lmt_flg} is “1”, the second d-axis current command value Id ^** gradually returns to the original value (approximately “zero”) when the motor constant deviation is not corrected, Accordingly, the voltage phase command value Δθ _V ^* _set returns to the original phase.

Thereafter, the voltage phase command value Δθ _V ^* _set increases according to the phase error command value Δθc ^* , and field weakening control is realized.

Since Id ^** changes gradually according to the time constant set in the second d-axis current command filter processing unit 10, no shock is generated at the time of switching.

  On the other hand, when shifting from the field weakening control to the normal control, the first d-axis current command switching unit 16 inputs the input to the first d-axis current command filter processing calculation unit 17 from the d-axis current detection value Idc to “ Switch to “zero”.

FIG. 5 shows the first d-axis current command value Id ^* , the second d-axis current command value Id ^** , the d-axis current detection value Idc, and the voltage phase command value Δθ _V ^* _set at the time of switching.

The first d-axis current command value Id ^* gradually changes from the value obtained by subjecting the detected d-axis current value Idc to the first-order lag filtering to “zero”.

By the above method, in order to eliminate the deviation between the detected d-axis current value Idc and the first d-axis current command value Id ^* in the d-axis current command calculation unit 11, an extremely large second d-axis current command value Id ^{*. Since *} is not output, stable control can be realized in which the current and voltage do not change suddenly.

  FIG. 6 shows a second embodiment of the present invention.

  In the figure, 1 to 15 and 18 are the same as those in FIG.

  Reference numeral 19 denotes a d-axis current command calculation gain switching unit.

  In 19, gain 1> gain 2.

19, the gain 2 is set in the d-axis current command calculation unit 11 only when the output voltage limit flag V ₁ ^* _{lmt_flg} is changed from “1” to “0”.

By the above method, even when the deviation between the d-axis current detection value Idc and the first d-axis current command value Id ^* is large when switching from field-weakening control to normal control, the d-axis current command calculation unit 11 is extremely large. The current command value is not output and stable control is achieved.

  FIG. 7 shows a third embodiment of the present invention.

  In the figure, 1-9 and 11-18 are the same as FIG.

20 is a phase compensation filter processing calculation unit that performs a first-order lag filtering process of the second d-axis current command value Id ^** that is an input value;
_{Reference numeral} 21 denotes a phase compensation command calculation unit that performs a proportional integral calculation on the output Id ^** _fil of the phase compensation filter processing calculation unit and outputs a phase compensation command value Δθ ^* _adj .

  FIG. 8 shows the voltage phase represented on the dq axis.

When the output voltage limit flag V ₁ ^* _{lmt_flg} becomes “1”, the second d-axis current command switching unit 12 switches the second d-axis current command value Id ^** to “zero” to shift the voltage phase. Restore (Δθ ₀ ).

At that time, the place in which the voltage phase attempts to return instantly to suppress the phase compensation command value [Delta] [theta] ^* _adj, adjusted to vary gradually with the change in the phase compensation command value [Delta] [theta] ^* _adj.

FIG. 9 shows the first d-axis current command value Id ^* , second d-axis current command value Id ^** , d-axis current detection value Idc, voltage phase command value Δθ _V ^* _set , and phase compensation command value at the time of switching. Δθ ^* _adj is shown.

The voltage phase command value Δθ _V ^* _set gradually decreases according to the phase compensation command value Δθ ^* _adj , and then increases by the phase error command value Δθc ^{* for} field weakening control, and shifts to field weakening control.

When shifting from the field weakening control to the normal control, as shown in FIG. 7, the first d-axis current command switching unit 16 and the first d-axis current command filter processing calculation unit 17 are provided as in the first embodiment, Smooth switching is performed by reducing ΔId and eliminating the sudden change in the second d-axis current command value Id ^** .

  Compensation means for shifting from field weakening control to normal control is not shown in the first d-axis current command switching unit 16 and the first d-axis current command filter processing calculation unit 17 but in the second embodiment (FIG. 6). A means for switching the gain by the d-axis current command calculation gain switching unit 19 may be used.

  FIG. 10 shows a fourth embodiment of the present invention.

  In the figure, 1 to 9, 11, 13 to 15 and 18 are the same as in FIG. 1, and 20 and 21 are the same as in FIG.

22, the output voltage limit flag V ₁ ^* _{lmt_flg is used} to switch the d-axis current deviation output to the d-axis current command calculation unit 11 between the d-axis current command value and the detected current value ΔId or “zero”. It is a d-axis current deviation switching unit.

When the output voltage limit flag V ₁ ^* _{lmt_flg} is “1”, the deviation “zero” is input to the d-axis current command calculation unit 11, so the second d-axis current command value Id ^**, which is the output value, is updated. Instead, the previous value is held.

A setting unit 23 inputs the second d-axis current command value Id ^** to the phase compensation filter processing calculation unit 20 only when the output voltage limit flag V ₁ ^* _{lmt_flg} changes from “0” to “1”. is there.

The phase compensation command calculation unit 21 of the present embodiment proportionally controls the value Id ^** _fil that has been subjected to the first-order lag filter processing by the phase compensation filter processing calculation unit 20, and _{corrects the} voltage phase that is shifted due to the deviation of the motor constant to the original value. The compensation value Δθ ^* _cor to return to the phase is output.

Voltage phase command value [Delta] [theta] _V ^* _{The set} is a value obtained by adding the Vdc ^* and Vqc voltage phase theta _V1 ^* obtained from ^* and the phase error command value .DELTA..theta.c ^* and a phase compensation command value [Delta] [theta] ^* _cor.

  FIG. 11 shows the voltage phase represented on the dq axis.

FIG. 12 shows the voltage phase θ _V1 ^* obtained from the first d-axis current command value Id ^* , the second d-axis current command value Id ^** , the d-axis current detection values Idc, Vdc ^*, and Vqc ^* at the time of switching. The phase error command value Δθc ^* , the phase compensation command value Δθ ^* _cor , and the voltage phase command value Δθ _V ^* _set are shown.

Immediately after the output voltage limit flag V ₁ ^* _{lmt_flg} changes from “0” to “1”, the amount of change in the phase compensation command value Δθ ^* _cor is dominant, and the voltage phase command value Δθ _V ^* _set is the original value. Return to phase.

Thereafter, the voltage phase command value Δθ _V ^* _set increases according to the phase error command value Δθc ^* , and field weakening control is realized.

  In the case of the present embodiment, the current command value on the d-axis side may remain “zero” only by manipulating only the voltage phase.

  FIG. 13 shows a fifth embodiment of the present invention.

  In the figure, 1 to 9, 11, 13 to 15, 18, and 22 are the same as those in FIG.

  Reference numeral 24 denotes a motor constant group identification calculation unit that identifies motor constants (resistance R, inductance L, power generation constant Ke).

  Using the identification results of 24, the voltage vector calculation unit 14 determines the output voltage according to (Equation 4).

Thereby, when shifting to field weakening control, there is no deviation in the voltage phase obtained by vector calculation of the second d-axis and q-axis current command values Id ^** and Iq ^** , so that the efficiency does not change. Control can be switched.

  FIG. 14 shows a sixth embodiment of the present invention.

  FIG. 14 is an overall configuration diagram in which the first to fifth embodiments of the present invention are used in a compressor motor control device for an air conditioner.

  14 shows a rectifier circuit 27 that rectifies the AC power supply 25, a converter circuit 28 that boosts and smoothes, and an inverter circuit 29 that controls the rotational speed of the permanent magnet synchronous motor 30 based on the DC voltage output from the converter circuit. The microcomputer 34 that controls the inverter circuit 29 is configured as a main component.

  The converter circuit 28 includes a rectifier circuit 27 that converts the AC voltage of the AC power supply 25 into a DC voltage, and a circuit that boosts the power supply voltage or improves the power factor, and is configured by a smoothing capacitor.

  The rectifier circuit 27 includes a diode bridge 26 and is connected to the output side of the AC power supply 25. The rectifier circuit 27 rectifies the AC voltage of the AC power supply 25 into a DC voltage.

  The inverter circuit 29 includes an IGBT (Insulated Gate Bipolar Transistor) 29a and an IGBT 29a for controlling the rotation speed of the permanent magnet synchronous motor 30 serving as a load based on the DC voltage generated by the converter circuit 28. A diode 29b and a shunt resistor 31 that detects a direct current that flows when the IGBT 29a is energized are provided. The shunt resistor 31 is connected in series with the IGBT 29a. Note that the adjustment of the energization rate of the IGBT 29 a is performed by the control device 34.

  The control device 34 is constituted by a microcomputer. The control device 34 includes an A / D (Analog / Digital) conversion means 34a, a PWM output means 34b, and an inverter control means 34c for controlling the energization rate of the IGBT 29a.

  The control of the inverter circuit 29 by the A / D conversion means 34a, the PWM output means 34b, and the inverter control means 34c will be described.

  The instantaneous value of the power supply current detected by the shunt resistor 31 of the inverter circuit 29 is amplified by the amplifier 32, and the instantaneous value of the power supply current amplified by this amplifier is supplied to the inverter control means via the A / D conversion means 34a. 34c. The inverter control means 34c is to mount the motor drive control described in the first to fifth embodiments.

  With the above configuration, when the motor for an air conditioner compressor is driven, stable control that does not generate voltage / current disturbances, rotational speed fluctuations, or abnormal motor noise when switching between normal control and voltage phase control type field-weakening control. The motor drive for the air conditioner compressor is realized by the inverter control with high accuracy, high response and high efficiency from the low speed range to the high speed range.

It is a control block diagram which shows 1st Example of this invention. It is a vector diagram which shows the change of the voltage phase of voltage phase operation type field-weakening control. It is a vector diagram which shows the relationship between the voltage phase calculated ^| required from Id ^** and Iq ^** , and an original phase. FIG. 4 illustrates changes in current and voltage when shifting to field weakening control in the first embodiment of the present invention. FIG. 6 illustrates changes in current and voltage when shifting to normal control in the first embodiment of the present invention. FIG. It is a control block diagram which shows 2nd Example of this invention. It is a control block diagram which shows 3rd Example of this invention. It is a vector diagram which shows the change of the voltage phase in 3rd Example of this invention. FIG. 6 illustrates changes in current and voltage when shifting to field weakening control in the third embodiment of the present invention. It is a control block diagram which shows 4th Example of this invention. It is a vector diagram which shows the change of the voltage phase in 4th Example of this invention. FIG. 10 illustrates changes in current and voltage when shifting to field weakening control in the fourth embodiment of the present invention. It is a control block diagram which shows 5th Example of this invention. It is a control block diagram which shows 6th Example of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Permanent magnet motor 2 Power converter 3 Current detector 4 Position detector 5 Frequency calculating part 6, 15 Coordinate converting part 7 q-axis current deviation switching part 8 Phase error command calculating part 9 q-axis current command calculating part 10 2nd d-axis current command filter processing calculation unit 11 d-axis current command calculation unit 12 second d-axis current command switching unit 13 output voltage limit detection unit 14 voltage vector calculation unit 16 first d-axis current command switching unit 17 first d-axis current command filter processing calculation unit 18 DC power supply 19 d-axis current command calculation gain switching unit 20 phase compensation filter processing calculation unit 21 phase compensation command calculation unit 22 d-axis current deviation switching unit 23 phase compensation filter processing calculation unit 20 filter work setting unit 24 motor constant group identification calculation unit Id ^* first d-axis current command value Id ^** second d-axis current command value Idc d-axis current detection value Iq ^* first q-axis current command value I q ^** second q-axis current command value Iqc q-axis current detection value V ₁ ^* output voltage value θ _V1 ^* voltage phase tan ⁻¹ (Vdc ^* / Vqc ^* )
θ _d original voltage phase Δθc ^* phase error command value for field weakening control Δθ _v ^* _set voltage phase command value tan ⁻¹ (Vdc ^** / Vqc ^** )
Δθ ^* _adj Phase compensation command value for suppressing sudden phase change Δθ ^* _cor Phase compensation command value to return to the original phase

Claims (2)

In the permanent magnet motor vector control device for controlling the output voltage command value of the power converter that drives the permanent magnet motor,
a vector control means comprising a current command calculation unit that outputs a second current command value by proportional-integral control of the deviation between the d-axis and q-axis current command values and the detected d-axis and q-axis current values;
A power unit for creating a voltage phase value for field-weakening control by a deviation between a q-axis current command value and a q-axis current detection value when the output voltage value of the power converter is limited; Field weakening vector control means for compensating the output voltage command value of the converter;
It means for switching between the field-weakening vector control unit and the vector control unit,
Compensating means for switching without disturbing voltage and current when switching from the vector control means to the field weakening vector control means,
At the time of switching from the vector control means to the field weakening vector control means, the phase of the output voltage command value of the power converter is reduced,
The voltage phase value at the time of switching from the vector control means to the field weakening vector control means is calculated from the d-axis current command value input to the voltage vector calculation unit,
When switching from the vector control means to the field weakening vector control means, a value obtained by filtering the detected d-axis current value is input to the current command calculation unit as a first current command value. apparatus.
The motor control device according to claim 1,
A motor control device capable of switching a gain of a current command calculation unit when switching from the field-weakening vector control means to the vector control means.

Images