JP5369493B2 - Control device for permanent magnet type synchronous motor - Google Patents

Description

  The present invention relates to a control device for a permanent magnet type synchronous motor, and more particularly to a technique for automatically adjusting a control constant of a current command calculation means for outputting desired torque and magnetic flux.

  Permanent magnet type synchronous motors (hereinafter also referred to as PMSM) have a surface magnet structure permanent magnet type synchronous motor (hereinafter also referred to as SPMSM) and an embedded magnet type permanent magnet type synchronous motor (hereinafter also referred to as IPMSM) depending on the structure of the rotor. It is roughly divided into two types. Among these, the IPMSM can use not only the magnet torque generated by the permanent magnet of the rotor but also the reluctance torque generated by the saliency of the rotor, so that the output is more controlled than the SPMSM by optimally controlling the current. There is a feature that can increase the size of the electric motor.

  By the way, PMSM can realize high-performance control by taking current, magnetic flux, and terminal voltage as vectors and performing current control on the d and q axes that are rotating coordinate axes that rotate in synchronization with the rotor. it can. Here, with respect to the d and q axes, the direction of the magnetic pole of the permanent magnet is defined as the d axis, and the direction advanced 90 ° from the d axis is defined as the q axis. Conventionally, a method of controlling the d-axis current to zero and controlling the q-axis current in proportion to the torque command value has been often used. However, in recent years, a technique for reducing the size and increasing the efficiency of the drive system by actively controlling the d-axis current has been put into practical use.

For example, Non-Patent Document 1 discloses a technique for controlling the d-axis current to an operating point that maximizes the torque / current by utilizing the reluctance torque of IPMSM. In Non-Patent Document 1, this is called “maximum torque / current control”.
Further, Non-Patent Document 1 discloses that the d-axis armature reaction when a d-axis current is passed is used to reduce the interlinkage magnetic flux of the armature winding (hereinafter also simply referred to as magnetic flux), and the terminal voltage of the motor. Is also disclosed that controls the output voltage below the maximum output voltage due to power converter restrictions. In Non-Patent Document 1, this is called “weakening magnetic flux control”.
By utilizing the technique disclosed in Non-Patent Document 1, the IPMSM can be operated with high efficiency and the maximum speed can be increased.

On the other hand, Patent Document 1 and Patent Document 2 use the “maximum torque / current control” and “weakening magnetic flux control” disclosed in Non-Patent Document 1 to operate the PMSM with high efficiency and simultaneously realize torque control. A method is described.
FIG. 1 is a block diagram of a PMSM speed control apparatus to which the techniques described in Patent Document 1 and Patent Document 2 are applied.

  In FIG. 1, first, the main circuit will be described. Reference numeral 50 denotes a three-phase AC power source, and the rectifier circuit 60 rectifies the three-phase AC voltage of the power source 50 to convert it into a DC voltage. This DC voltage is supplied to a power converter 70 composed of a PWM inverter, and is converted into a predetermined three-phase AC voltage for driving the permanent magnet type synchronous motor 80.

Next, the configuration and operation of the control device will be described.
The voltage detector 12 detects the input voltage E _dc of the power converter 70. The magnetic pole position detector 90 detects the magnetic pole position θ ₁ of the electric motor 80, and the speed detector 91 detects the speed ω ₁ of the electric motor 80.
The deviation between the speed command value ω ^* and the detected speed value ω ₁ is calculated by the subtractor 16, and this deviation is amplified by the speed regulator 17 to calculate the torque command value τ ^* .
The voltage limit value calculator 22 calculates the voltage limit value V _align substantially in proportion to the input voltage E _dc . This voltage limit value V _align is a value equal to or lower than the maximum output voltage of the power converter 70 determined from the input voltage E _dc .

From the torque command value τ ^* , the voltage limit value V _alim, and the speed detection value ω ₁ , the current command calculation unit 18 maximizes the torque / current under the condition that the terminal voltage of the motor 80 is less than or equal to the maximum output voltage of the power converter 70. And d and q-axis current command values i _d ^* and i _q ^* that output a desired torque are calculated. Details of the current command calculation unit 18 will be described later.
The current coordinate converter 14 detects the phase current detection values i _u and i _w detected by the u-phase current detector 11u and the w-phase current detector 11w, respectively, based on the magnetic pole position detection value θ ₁ and detects the d and q-axis currents. Coordinates are converted to values i _d and i _q .

The deviation between the d-axis current command value i _d ^* and the detected d-axis current value i _d is calculated by the subtractor 19a, and this deviation is amplified by the d-axis current regulator 20a to calculate the d-axis voltage command value v _d ^* . To do. On the other hand, a deviation between the q-axis current command value i _q ^* and the q-axis current detection value i _q is calculated by the subtractor 19b, and this deviation is amplified by the q-axis current regulator 20b to be q-axis voltage command value v _q ^*. Is calculated.
These d and q axis voltage command values v _d ^* and v _q ^* are converted into phase voltage command values v _u ^* , v _v ^* , and v _w ^* by the voltage coordinate converter 15 based on the magnetic pole position detection value θ _1. The

The PWM circuit 13 generates a gate signal to be _supplied to the power converter 70 from the phase voltage command values v _u ^* , v _v ^* , v _w ^* and the input voltage E _dc . The power converter 70 controls the internal semiconductor switching element based on this gate signal, thereby controlling the terminal voltage of the permanent magnet type synchronous motor 80 to the phase voltage command values v _u ^* , v _v ^* , v _w ^* . To do.

Next, FIG. 2 is a block diagram showing an internal configuration of the current command calculation unit 18.
In FIG. 2, a magnetic flux command calculator 111 calculates a first magnetic flux command value Ψ ₀ ^* from a torque command value τ ^* . The magnetic flux command value Ψ ₀ ^* is calculated under the condition that the torque / current is maximized, but it is difficult to perform this calculation online. Therefore, a magnetic flux table that defines a magnetic flux command value that maximizes the torque / current is prepared in advance, and the first magnetic flux command value Ψ ₀ ^* is calculated using this magnetic flux table during operation.
The magnetic flux limit value calculator 141 calculates the magnetic flux limit value Ψ _lim by Equation 1 in order to limit the terminal voltage of the electric motor 80 to be equal to or lower than the maximum output voltage of the power converter 70.

The second magnetic flux command value ψ ^* is calculated by the output limiter 142 by limiting the upper limit value of the first magnetic flux command value ψ ₀ ^* to the magnetic flux limit value ψ _lim .
The load angle adjuster 132 amplifies a deviation between the torque command value τ ^* calculated by the subtracter 131 and the torque calculation value τ _calc to calculate the load angle command value δ ^* . The load angle adjuster 132 is constituted by a proportional integration amplifier. The torque calculation value τ _calc is calculated by Equation 2 from the d and q axis current command values i _d ^* and i _q ^* by the torque calculator 134.

The current command calculator 133 calculates d and q-axis magnetic flux command values Ψ _d ^* and Ψ _q ^* from the magnetic flux command value Ψ ^* and the load angle command value δ ^*, and further, d and q-axis magnetic flux command value Ψ _d. D, q-axis current command values i _d ^* , i _q ^* are calculated from ^* , Ψ _q ^* . The arithmetic expressions are as shown in Expression 3 and Expression 4, respectively.

Japanese Patent No. 3640120 (paragraphs [0032] to [0037], FIG. 1, FIG. 2, etc.) Japanese Patent No. 3570467 (paragraphs [0017] to [0027], FIGS. 1 to 5 etc.) Yoji Takeda, Nobuyuki Matsui, Shigeo Morimoto, Yukio Honda, “Design and Control of Embedded Magnet Synchronous Motor”, p.23-p.24, p.26-p.27, October 25, 2001, Inc. Issued by Ohm

  In the magnetic flux command calculator 111 shown in FIG. 2, the magnetic flux command value that maximizes the torque / current is calculated using the magnetic flux table as described above. This magnetic flux table needs to be calculated according to the electric constant of the permanent magnet type synchronous motor 80, and since the calculation is relatively complicated, the adjustment of the control constant in the current command calculation unit 18 becomes complicated. There is.

  Therefore, the problem to be solved by the present invention is to automatically adjust the control constant in the current command calculation means for outputting the desired torque and magnetic flux, and to realize the high-efficiency operation and torque control of the permanent magnet type synchronous motor more easily than before. The present invention provides a control device for a permanent magnet type synchronous motor.

In order to solve the above problem, the invention according to claim 1 includes means for automatically adjusting the control constant of the current command calculation means (the current command calculation unit 18) described in Patent Document 1 or Patent Document 2. It is.
That is, in the first aspect of the invention, the magnetic pole direction of the rotor of the permanent magnet type synchronous motor is defined as the d axis, and the direction advanced 90 ° from the d axis is defined as the q axis, and the current, terminal voltage, and magnetic flux of the motor are defined. As a vector on the d and q axes,
Current command calculation means for calculating a current command value for outputting desired torque and magnetic flux, means for controlling the terminal voltage to control the current to a current command value, and control constants of the current command calculation means Automatic adjustment means for automatic adjustment,
The current command calculation means includes a magnetic flux command calculation means for calculating a magnetic flux command value by a magnetic flux table having a torque command value as input, a means for calculating a load angle command value of the motor from the torque command value, and the load angle Means for calculating the current command value from the command value and the magnetic flux command value,
The automatic adjustment means includes means for changing a q-axis current adjustment value as a parameter, d-axis current calculation means for calculating a d-axis current adjustment value from the q-axis current adjustment value, the d-axis current adjustment value, and the q Torque calculating means for calculating a torque adjustment value from the axis current adjustment value, magnetic flux calculating means for calculating a magnetic flux adjustment value from the d-axis current adjustment value and the q-axis current adjustment value, the torque adjustment value and the magnetic flux Means for adjusting the output of the magnetic flux table from the adjustment value.
Thus, by providing the means for automatically adjusting the magnetic flux command value as the control constant of the current command calculating means, it is possible to simplify the adjustment work of the control constant, which has been complicated conventionally.

The invention according to claim 2 is provided with means for automatically adjusting the control constant of the current command calculation means while replacing the current command calculation means in claim 1 with another configuration.
That is, the current command calculation means in claim 2 is:
A magnetic flux command calculating means for calculating a magnetic flux command value by a magnetic flux table having the torque command value as an input; a load angle command calculating means for calculating a first load angle command value by a load angle table having the torque command value as an input; First torque calculation means for calculating torque from the current command value, and a load angle for calculating a load angle correction value by amplifying a deviation between the torque command value and the torque calculation value by the first torque calculation means Adjustment means; addition means for calculating the second load angle command value by adding the first load angle command value and the load angle correction value; the second load angle command value and the magnetic flux command value And calculating means for calculating the current command value.
The automatic adjustment means is
a means for changing a q-axis current adjustment value as a parameter; a d-axis current calculation means for calculating a d-axis current adjustment value from the q-axis current adjustment value; and the d-axis current adjustment value and the q-axis current adjustment value. Second torque calculating means for calculating a torque adjustment value, magnetic flux calculating means for calculating a magnetic flux adjustment value from the d-axis current adjustment value and the q-axis current adjustment value, the d-axis current adjustment value and the q-axis Load angle calculating means for calculating a load angle adjustment value from the current adjustment value, means for adjusting the output of the magnetic flux table from the torque adjustment value and the magnetic flux adjustment value, the torque adjustment value and the load angle adjustment value And means for adjusting the output of the load angle table.

The invention according to claim 3 is provided with means for automatically adjusting a control constant of the current command calculation means while replacing the current command calculation means in claim 1 with another configuration.
That is, the current command calculation means according to claim 3 is first configured by a magnetic flux command calculation means for calculating a magnetic flux command value by a magnetic flux table having a torque command value as an input, and a q-axis current table having the torque command value as an input. Q-axis current command calculation means for calculating the q-axis current command value, first torque calculation means for calculating torque from the d-axis current command value and the second q-axis current command value, and the torque command value Q-axis current command adjusting means for amplifying a deviation from the torque calculation value by the first torque calculation means to calculate a q-axis current command correction value; the first q-axis current command value and the q-axis current command; Adding means for adding a correction value to calculate the second q-axis current command value; means for calculating the d-axis current command value from the second q-axis current command value and the magnetic flux command value; Have.
The automatic adjustment means includes means for changing the q-axis current adjustment value as a parameter, d-axis current calculation means for calculating a d-axis current adjustment value from the q-axis current adjustment value, the d-axis current adjustment value, and the second torque calculation means for calculating a torque adjustment value from the q-axis current adjustment value, magnetic flux calculation means for calculating a magnetic flux adjustment value from the d-axis current adjustment value and the q-axis current adjustment value, and the torque adjustment Means for adjusting the output of the magnetic flux table from the value and the magnetic flux adjustment value, and means for adjusting the output of the q-axis current table from the torque adjustment value and the q-axis current adjustment value. .

According to a fourth aspect of the present invention, in any one of the first to third aspects, the upper limit value of the magnetic flux command value in the current command calculation means is limited.
Thereby, the terminal voltage of the permanent magnet type synchronous motor can be limited to the maximum output voltage or less of the power converter that supplies power to the motor.

According to a fifth aspect of the present invention, in any one of the first to fourth aspects, the d-axis current calculation means constituting the automatic adjustment means calculates the d-axis current adjustment value under the condition that the torque / current is maximized. Is.
As a result, the output of the magnetic flux table, the load angle table, or the q-axis current table can be adjusted to a condition that maximizes the torque / current.

The invention according to claim 6 is the input value of the magnetic flux table, the load angle table, or the q-axis current table as the initial value of the q-axis current adjustment value in the automatic adjustment means according to any one of claims 1 to 5. The value is proportional to.
Thereby, the adjustment time of the control constant can be shortened.

  According to the present invention, in the automatic adjustment means for automatically adjusting the control constant of the current command calculation means, the torque adjustment value, the magnetic flux adjustment value, etc. are calculated based on the d-axis current adjustment value and the q-axis current adjustment value, and the torque adjustment is performed. Magnetic flux command value, load angle command value, etc. as control constants for current command computing means by using magnetic flux adjustment value, load angle adjustment value, etc. at the time when convergence of computation is determined by the magnitude relationship between the value and torque command value Can be adjusted automatically. Thereby, the highly efficient operation and torque control of the permanent magnet type synchronous motor can be realized more easily than before.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
First, the first embodiment of the present invention corresponding to claim 1 includes means for automatically adjusting the control constant of the current command calculation unit 18 in FIG. 1 described above. Specifically, when the output of the magnetic flux command calculator 111 in FIG. 2 is calculated by a magnetic flux table having a broken line approximation function as shown in FIG. 3, the torque command value τ ^* [1] at the break point the tau ^* [3] flux command value Ψ ₀ ^* [1] corresponding to ~Ψ ₀ ^* [3] is obtained so as to automatically adjust.

FIG. 4 shows a block diagram (block diagram of automatic adjustment means) for automatically adjusting the magnetic flux command value Ψ ₀ ^* [k] (k = 1, 2, 3) at one break point in FIG.
In FIG. 4, the integrator 301 integrates the q-axis current adjustment value increase amount i _qstep per sample period to calculate the q-axis current adjustment value i _qM . The d-axis current calculator 302 considers the d and q-axis inductances L _d and L _q of the motor 80 so that the torque / current becomes the maximum from the q-axis current adjustment value i _qM to the d-axis current adjustment value i _dM. Then, calculation is performed according to Equation 5.

The torque calculator 303 calculates the torque adjustment value τ _M from Equation 6 using the d and q axis current adjustment values i _dM and i _qM .

Further, the magnetic flux calculator 305 calculates the magnetic flux adjustment value Ψ _M by Equation 7 from the d and q-axis current adjustment values i _dM and i _qM .

When the torque adjustment value τ _M becomes equal to or greater than the torque command value τ ^* [k], the operation completion determination unit 304 outputs a sample command to the sample hold circuit 306, and the sample hold circuit 306 outputs the magnetic flux adjustment value Ψ _M. Is stored in the magnetic flux command value Ψ ₀ ^* [k].
In the above configuration, the operation completion determination unit 304 and the sample and hold circuit 306 constitute a magnetic flux table output adjustment unit.

Next, the principle of automatic adjustment of the magnetic flux command value Ψ ₀ ^* [k] according to the block diagram of FIG. 4 will be described with reference to FIG. FIG. 5 shows the case of IPMSM where L _d <L _q .
From Equation 5, the current vector that maximizes the torque / current is the operating point on the dotted curve in FIG. On the other hand, from Equation 6, the current vector for controlling the torque τ to the command value τ ^* [k] is the operating point on the curve indicated by the solid line.
Therefore, the current vector capable of controlling the torque τ to the command value τ ^* [k] and maximizing the torque / current is the intersection (1) of these two curves.

Therefore, by calculating the d-axis current adjustment value i _{dM according} to Equation 5 while increasing the q-axis current adjustment value i _qM that is the output of the integrator 301, the current adjustment value vectors i _dM and i _qM Move in the direction of the arrow on the dotted curve of the maximum condition. On the other hand, from Equation 6, since the torque τ is an increasing function of the q-axis current adjustment value i _qM , the torque adjustment value τ _M is equal to or greater than the torque command value τ ^* [k], and thus the current adjustment value vector i _dM. , I _qM can be detected to have reached the intersection (1) in FIG.
The magnetic flux command value Ψ ₀ ^* [k] may be adjusted to the magnetic flux adjustment value Ψ _M calculated by Expression 7 by obtaining the current vector at the intersection (1).

As described above, according to the first embodiment, in the magnetic flux command calculator 111 that calculates the magnetic flux command value Ψ ₀ ^* by the magnetic flux table that receives the torque command value τ ^* , as shown in FIG. The magnetic flux command value Ψ ₀ ^* can be automatically adjusted using the value τ ^* , the torque adjustment value τ _M, and the magnetic flux adjustment value Ψ _M.

Next, a second embodiment of the present invention will be described. This second embodiment is an improvement of the automatic adjustment means in the first embodiment described above, and corresponds to the inventions according to claims 1 and 6.
FIG. 6 shows a block diagram of automatic adjustment means in the second embodiment, and FIG. 7 shows a vector diagram for explaining the principle of automatic adjustment.

The block diagram of FIG. 6 differs from the block diagram of FIG. 4 _{only in} the calculation method of the q-axis current adjustment value i _qM and the calculation content of the calculation completion determination unit 304, and the description will be focused on these points.
In FIG. 6, the initial value of the q-axis current adjustment value i _qM is set to τ ^* [k] / Ψ _m by the gain 311, the integrator 301 and the subtractor 312, and the q-axis current adjustment value increase amount from this initial value. by subtracting the integrated value of i _QSTEP, reduce the q-axis current adjustment value _{i qM.} At this time, in FIG. 7, the current adjustment value vectors i _dM and i _{qM move} on the dotted curve of the maximum torque / current condition in the direction of the arrow with the intersection (2) as the initial value.

When the torque adjustment value τ _M becomes equal to or less than the torque command value τ ^* [k], the calculation completion determination unit 304 in FIG. 6 calculates because the current adjustment value vectors i _dM and i _qM have reached the intersection (1) in FIG. The sample hold circuit 306 stores the magnetic flux adjustment value Ψ _M in the magnetic flux instruction value Ψ ₀ ^* [k].
The initial value τ ^* [k] / Ψ _m of the q-axis current adjustment value i _{qM is} the q-axis current that controls the torque τ to the command value τ ^* [k] when the d-axis current is controlled to zero from Equation 6. Therefore, the intersection (2) exists near the intersection (1). Therefore, according to the second embodiment, the magnetic flux command value Ψ ₀ ^* can be automatically adjusted in a shorter time than the first embodiment.

Next, a third embodiment of the present invention corresponding to claim 2 will be described. In the PMSM speed control apparatus shown in FIG. 1, the third embodiment is configured such that the current command calculation unit 18 has a configuration different from that shown in FIG. 2 and includes automatic adjustment means for the magnetic flux command value and the load angle command value. It is a thing.
FIG. 8 shows a block diagram of the current command calculation unit 18 in the third embodiment. The block diagram of FIG. 8 differs only in the calculation method of the load angle command value δ ^* in the block diagram shown in FIG. 2, and the description will be focused on this point.

In FIG. 8, a load angle command calculator 112 calculates a feedforward compensation value δ ₀ ^* as a first load angle command value using a load angle table having a polygonal line approximation function shown in FIG. The load angle adjuster 132 amplifies a deviation between the torque command value τ ^* calculated by the subtractor 131 and the torque calculation value τ _calc and calculates a correction value δ _PI ^* of the load angle command value. The load angle adjuster 132 is composed of a proportional integration amplifier.
The adder 135 adds the feedforward compensation value δ ₀ ^* and the correction value δ _PI ^* to calculate a load angle command value δ ^* as a second load angle command value.
The current command value calculation according to the block diagram of FIG. 8 is characterized in that the load angle command value δ ^* can be made highly responsive by feedforward compensation.
In order to distinguish the torque calculator 134 in FIG. 8 from the torque calculator 303 in FIG. 10 described below, the former is referred to as first torque calculator in the claims, and the latter is referred to as second torque calculator. To do.

FIG. 10 shows a block diagram of a means for automatically adjusting the magnetic flux command value and the load angle command value in the third embodiment, and corresponds to the invention according to claims 2 and 6. The block diagram of FIG. 10 automatically adjusts the load angle command values δ ₀ ^* [1] to δ ₀ ^* [3], which are break points of the load angle command calculator 112 shown in FIG. 9, in the block diagram of FIG. Means to do this are added, and the description will be focused on these points.
In FIG. 10, the magnetic flux / load angle calculator 321 calculates the magnetic flux adjustment value Ψ _M using Equation 7 and calculates the load angle adjustment value δ _M using Equation 8.

The sample hold circuits 306 and 322 adjust the magnetic flux adjustment value Ψ _M and the load angle according to the sample command from the calculation completion determination unit 304 that detects that the torque adjustment value τ _M is equal to or less than the torque command value τ ^* [k]. the values [delta] _M, the magnetic flux command value Ψ ₀ ^* [k], respectively stored in the load angle command value δ ₀ ^* [k].
In the above configuration, the calculation completion determination unit 304 and the sample hold circuit 306 constitute a magnetic flux table output adjustment means, and the calculation completion decision unit 304 and the sample hold circuit 322 constitute a load angle table output adjustment means.

Next, a fourth embodiment of the present invention corresponding to claim 3 will be described. In the fourth embodiment, the current command calculation unit 18 has a configuration different from that shown in FIGS. 2 and 8 and includes automatic adjustment means for the magnetic flux command value and the q-axis current command value.
FIG. 11 is a block diagram of the current command calculation unit 18 in the fourth embodiment.

In FIG. 11, a q-axis current command calculator 212 calculates a feedforward compensation value i _q0 ^* as a first q-axis current command value using a q-axis current table having a polygonal line approximation function shown in FIG. . The q-axis current command adjuster 232 amplifies a deviation between the torque command value τ ^* calculated by the subtractor 231 and the torque calculation value τ _calc and calculates a correction value i _dPI ^* of the q-axis current command value. The q-axis current command controller 232 is configured by a proportional integration amplifier.
The adder 235 calculates the q-axis current command value i _q ^* as the second q-axis current command value by adding the feedforward compensation value i _q0 ^* and the correction value i _qPI ^* . Further, the d-axis current command calculator 232 calculates a d-axis current command value i _d ^* from the magnetic flux command value Ψ ^* and the q-axis current command value i _q ^* by using Equation 9.
The torque calculation value τ _calc is calculated from the current command values i _d ^* and i _q ^* by the torque calculator 234 using the equation 2.

FIG. 13 shows a block diagram of a means for automatically adjusting the magnetic flux command value and the q-axis current command value in the fourth embodiment, and corresponds to the invention according to claims 3 and 6. The block diagram of FIG. 13 automatically adjusts q-axis current command values i _q0 ^* [1] to i _q0 ^* [3], which are break points of the q-axis current command calculator 212 in FIG. The means to do is added.
That is, in FIG. 13, the sample hold circuit 332 detects the q-axis current adjustment value based on the sample command from the calculation completion determination unit 304 that has detected that the torque adjustment value τ _M is equal to or less than the torque command value τ ^* [k]. i _qM is _stored in the q-axis current command value i _q0 ^* [k].
In the above configuration, the operation completion determination unit 304 and the sample hold circuit 306 constitute an output adjustment unit for the magnetic flux table, and the operation completion determination unit 304 and the sample hold circuit 332 constitute an output adjustment unit for the q-axis current table. ing.

  In each of the above-described embodiments, the example in which the magnetic pole position and speed of the motor are detected by the detector has been described. The present invention is also applicable to a control device that performs

It is a block diagram of the speed control apparatus which applied the technique disclosed by patent document 1 and patent document 2. FIG. It is a block diagram of the current command calculating part in the embodiment of the present invention. It is a graph which shows a broken line approximation function (input / output relationship of a magnetic flux command calculator). It is a block diagram of the automatic adjustment means in 1st Embodiment of this invention. It is a vector diagram for demonstrating the principle of the automatic adjustment means in 1st Embodiment of this invention. It is a block diagram of the automatic adjustment means in 2nd Embodiment of this invention. It is a vector diagram explaining the principle of the automatic adjustment means in 2nd Embodiment of this invention. It is a block diagram of the electric current command calculating part in 3rd Embodiment of this invention. It is a graph which shows the input-output relationship of the load angle command calculator in FIG. It is a block diagram of the automatic adjustment means in 3rd Embodiment of this invention. It is a block diagram of the electric current command calculating part in 4th Embodiment of this invention. It is a graph which shows the input / output relationship of the q-axis current command calculator in FIG. It is a block diagram of the automatic adjustment means in 4th Embodiment of this invention.

Explanation of symbols

11u u-phase current detector 11w w-phase current detector 12 voltage detector 13 PWM circuit 14 current coordinate converter 15 voltage coordinate converter 16 subtractor 17 speed adjuster 18 current command calculators 19a and 19b subtractor 20a d-axis current Controller 20b q-axis current regulator 22 Voltage limit value calculator 50 Three-phase AC power supply 60 Rectifier circuit 70 Power converter 80 Permanent magnet type synchronous motor 90 Magnetic pole position detector 91 Speed detector 111 Magnetic flux command calculator 112 Load angle command Calculator 131 Subtractor 132 Load angle controller 133 Current command calculator 134 Torque calculator 135 Adder 141 Magnetic flux limit value calculator 142 Output limit value 212 q-axis current command calculator 231 Subtractor 232 q-axis current command controller 233 d-axis current command calculator 234 torque calculator 235 adder 301 integrator 302 d-axis current calculator 303 torque Calculation unit 304 Calculation completion determination unit 305 Magnetic flux calculation units 306, 322, 332 Sample hold circuit 311 Gain 312 Subtractor 321 Magnetic flux / load angle calculation unit

Claims (6)

The magnetic pole direction of the rotor of the permanent magnet type synchronous motor is defined as the d axis, and the direction advanced by 90 ° from the d axis is defined as the q axis, and the current, terminal voltage and magnetic flux of the motor are regarded as vectors on the d and q axes,
Current command calculation means for calculating a current command value for outputting desired torque and magnetic flux;
Means for controlling the terminal voltage to control the current to a current command value;
Automatic adjustment means for automatically adjusting the control constant of the current command calculation means;
With
The current command calculation means includes
Magnetic flux command calculating means for calculating a magnetic flux command value by a magnetic flux table having the torque command value as an input;
Means for calculating a load angle command value of the electric motor from the torque command value;
Means for calculating the current command value from the load angle command value and the magnetic flux command value;
Have
The automatic adjustment means includes
means for changing the q-axis current adjustment value as a parameter;
D-axis current calculation means for calculating a d-axis current adjustment value from the q-axis current adjustment value;
Torque calculating means for calculating a torque adjustment value from the d-axis current adjustment value and the q-axis current adjustment value;
Magnetic flux calculating means for calculating a magnetic flux adjustment value from the d-axis current adjustment value and the q-axis current adjustment value;
Means for adjusting the output of the magnetic flux table from the torque adjustment value and the magnetic flux adjustment value;
A control device for a permanent magnet type synchronous motor. The magnetic pole direction of the rotor of the permanent magnet type synchronous motor is defined as the d axis, and the direction advanced by 90 ° from the d axis is defined as the q axis, and the current, terminal voltage and magnetic flux of the motor are regarded as vectors on the d and q axes,
Current command calculation means for calculating a current command value for outputting desired torque and magnetic flux;
Means for controlling the terminal voltage to control the current to a current command value;
Automatic adjustment means for automatically adjusting the control constant of the current command calculation means;
With
The current command calculation means includes
Magnetic flux command calculating means for calculating a magnetic flux command value by a magnetic flux table having the torque command value as an input;
A load angle command calculating means for calculating a first load angle command value by a load angle table having the torque command value as an input;
First torque calculating means for calculating torque from the current command value;
Load angle adjusting means for amplifying a deviation between the torque command value and the torque calculated value by the first torque calculating means to calculate a load angle correction value;
Adding means for adding the first load angle command value and the load angle correction value to calculate a second load angle command value;
Means for calculating the current command value from the second load angle command value and the magnetic flux command value;
Have
The automatic adjustment means includes
means for changing the q-axis current adjustment value as a parameter;
D-axis current calculation means for calculating a d-axis current adjustment value from the q-axis current adjustment value;
Second torque calculating means for calculating a torque adjustment value from the d-axis current adjustment value and the q-axis current adjustment value;
Magnetic flux calculating means for calculating a magnetic flux adjustment value from the d-axis current adjustment value and the q-axis current adjustment value;
Load angle calculation means for calculating a load angle adjustment value from the d-axis current adjustment value and the q-axis current adjustment value;
Means for adjusting the output of the magnetic flux table from the torque adjustment value and the magnetic flux adjustment value;
Means for adjusting the output of the load angle table from the torque adjustment value and the load angle adjustment value;
A control device for a permanent magnet type synchronous motor. The magnetic pole direction of the rotor of the permanent magnet type synchronous motor is defined as the d axis, and the direction advanced by 90 ° from the d axis is defined as the q axis, and the current, terminal voltage and magnetic flux of the motor are regarded as vectors on the d and q axes,
Current command calculation means for calculating a current command value for outputting desired torque and magnetic flux;
Means for controlling the terminal voltage to control the current to a current command value;
Automatic adjustment means for automatically adjusting the control constant of the current command calculation means;
With
The current command calculation means includes
Magnetic flux command calculating means for calculating a magnetic flux command value by a magnetic flux table having the torque command value as an input;
Q-axis current command calculation means for calculating a first q-axis current command value by a q-axis current table having the torque command value as an input;
first torque calculating means for calculating torque from the d-axis current command value and the second q-axis current command value;
Q-axis current command adjustment means for amplifying a deviation between the torque command value and the torque calculation value by the first torque calculation means to calculate a q-axis current command correction value;
Adding means for calculating the second q-axis current command value by adding the first q-axis current command value and the q-axis current command correction value;
Means for calculating the d-axis current command value from the second q-axis current command value and the magnetic flux command value;
Have
The automatic adjustment means includes
means for changing the q-axis current adjustment value as a parameter;
D-axis current calculation means for calculating a d-axis current adjustment value from the q-axis current adjustment value;
Second torque calculating means for calculating a torque adjustment value from the d-axis current adjustment value and the q-axis current adjustment value;
Magnetic flux calculating means for calculating a magnetic flux adjustment value from the d-axis current adjustment value and the q-axis current adjustment value;
Means for adjusting the output of the magnetic flux table from the torque adjustment value and the magnetic flux adjustment value;
Means for adjusting the output of the q-axis current table from the torque adjustment value and the q-axis current adjustment value;
A control device for a permanent magnet type synchronous motor. In the control device according to any one of claims 1 to 3,
A control device for a permanent magnet type synchronous motor, wherein an upper limit value of the magnetic flux command value is limited. In the control device according to any one of claims 1 to 4,
The d-axis current calculation means calculates the d-axis current adjustment value under conditions that maximize torque / current. In the control device according to any one of claims 1 to 5,
The automatic adjustment means sets the initial value of the q-axis current adjustment value to a value proportional to an input value of the magnetic flux table, the load angle table, or the q-axis current table. Electric motor control device.

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