JP5387899B2 - 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 that does not use a magnetic pole position detector, and more particularly to a technique for accurately estimating the armature resistance of a motor and calculating the magnetic pole position of a rotor with high accuracy. Is.

In order to reduce the cost of a control device for a permanent magnet type synchronous motor, so-called sensorless control, which is operated without using a magnetic pole position detector, has been put into practical use. In the sensorless control, torque control and speed control are realized by calculating the magnetic pole position and speed of the rotor from information on the terminal voltage and current of the electric motor, and performing current control based on these.
For example, in Patent Document 1 and Non-Patent Document 1, an expansion induced voltage generated in a direction orthogonal to the axis (d axis) of the actual rotor in the magnetic pole direction is calculated, and the magnetic pole position is calculated from the angle of the expansion induced voltage. Sensorless control technology is disclosed that detects a calculation error (angle difference between the d-axis and the γ-axis, which is a virtual control axis), and calculates the magnetic pole position and speed using this calculation error. .

In the prior art disclosed in Patent Document 1 and Non-Patent Document 1, when the motor is operated at a low speed, the setting error of the armature resistance and the temperature change increase the calculation error of the expansion induced voltage and hence the magnetic pole position. There are problems such as control error and inability to operate.
Therefore, a conventional technique in which the armature resistance is accurately estimated according to the operating state of the motor and high-precision sensorless control is performed is known as follows.

  For example, in Patent Document 2, the temperature of the armature winding is estimated from the permanent magnet magnetic flux calculated from the voltage equation of the electric motor, and the magnetic pole position is calculated by accurately estimating the motor constant such as the armature resistance based on this. Technology is disclosed. Non-Patent Document 2 discloses a sensorless control technique for estimating an armature resistance and a permanent magnet magnetic flux from an error in an estimated current value calculated based on a voltage equation of an electric motor.

Japanese Patent No. 3411878 (paragraphs [0132] to [0141], FIG. 1, FIG. 8, etc.) JP-A-2008-92649 (Claims 3 to 5, Claims 9 and 11, paragraphs [0014], [0022] to [0026], FIG. 1, FIG. 3, etc.)

Takashi Aihara, Akio Toba, Takao Yanase, Akihide Mashimo, and Kenji Endo, “Sensorless Torque Control of Salient-Pole Synchronous Motor at Zero-Speed Operation”, IEEE TRANSACTIONS ON POWER ELECTRONICS, VOL. 14, NO.1, JANUARY 1999 Tetsuya Fukumoto, Shigenori Togashi, Satoshi Inoue, Yoichi Hayashi, “High-performance IPMSM position sensorless vector control by simultaneous on-line identification of stator resistance and permanent magnet flux linkage”, IEEJ Semiconductor Power Conversion Study Materials, SPC-08 -80, p.41-p.46

The armature resistance estimation technique disclosed in Patent Document 2 can be applied only when the current is small at high speed because it is necessary to accurately estimate the permanent magnet magnetic flux. Here, Patent Document 2 describes a method for preventing an estimation error from becoming excessive by stopping the estimation calculation of the armature resistance at a low speed or when the current is large, but immediately before stopping the estimation calculation. If the estimation error becomes large, the armature resistance estimation value is held with a large error, and the calculation error of the magnetic pole position may be increased.
Further, the armature resistance estimation technique disclosed in Non-Patent Document 2 can be applied when at least one of speed and current is larger than Equation 25 in the document.
That is, in the prior art disclosed in Patent Document 2 and Non-Patent Document 2, there is a problem that the estimation error of the armature resistance becomes large depending on the operating conditions of the motor.

  Accordingly, an object of the present invention is to provide a control device for a permanent magnet type synchronous motor that enables highly accurate sensorless control by reducing an estimation error of armature resistance.

In order to solve the above problems, a control device according to claim 1 is a control device for a permanent magnet type synchronous motor driven by a power converter, and an armature resistance estimation means for estimating an equivalent armature resistance of the motor. And a control device comprising: a speed estimation unit that calculates a speed estimation value using an equivalent armature resistance estimation value; and an electrical angle calculation unit that calculates a magnetic pole position estimation value from the speed estimation value.
The armature resistance estimation means includes
Means for calculating an error of the estimated value of the equivalent armature resistance based on a voltage equation of the motor;
Means for amplifying the error and calculating an equivalent armature resistance correction value;
Means for adding the initial set value of the equivalent armature resistance of the motor and the equivalent armature resistance correction value to calculate the equivalent armature resistance estimated value;
Means for controlling the gain of the means for calculating the equivalent armature resistance correction value in accordance with the detected current value of the motor and the estimated speed value.
According to the present invention, it is possible to execute the estimation calculation only in the operating condition in which the equivalent armature resistance can be accurately calculated, and it is possible to prevent the estimation error of the equivalent armature resistance from becoming excessive.

A control device according to a second aspect of the present invention is the control device according to the first aspect, in which the means for calculating the equivalent armature resistance correction value is embodied.
That is, the means for calculating the equivalent armature resistance correction value is
Means for obtaining a deviation between a product of the error of the equivalent armature resistance estimation value and a first weighting factor and a product of the equivalent armature resistance correction value and a second weighting factor;
Means for amplifying and integrating the deviation to calculate the equivalent armature resistance correction value;
Means for controlling the first weighting factor and the second weighting factor according to the current detection value and the speed estimation value.

A control device according to a third aspect of the present invention is the control device according to the first or second aspect, in which means for calculating an error of an equivalent armature resistance estimation value is embodied.
That is, the means for calculating the error of the equivalent armature resistance estimated value is
Means for estimating the terminal voltage of the motor from the detected current value, the estimated speed value, and the estimated equivalent armature resistance value, and a terminal voltage estimation error that is a deviation between the estimated terminal voltage value of the motor and a terminal voltage command value And means for calculating an error of the estimated equivalent armature resistance value from the terminal voltage estimation error and the detected current value.

A control device according to a fourth aspect of the present invention is the control device according to the second or third aspect, in which means for controlling the first weighting factor and the second weighting factor is embodied.
That is, the means for controlling the first weighting factor and the second weighting factor is:
Means for calculating a first voltage change amount from the estimated speed value, the temperature coefficient of the permanent magnet, and the permanent magnet magnetic flux at a reference temperature;
Means for calculating a second voltage change amount from the current detection value, the temperature coefficient of the armature winding, and the armature resistance at a reference temperature;
Means for controlling the first weighting coefficient and the second weighting coefficient from the first voltage change amount and the second voltage change amount.

The control device according to claim 5 is the control device according to claim 2 or 3, wherein the control device for controlling the first weighting factor and the second weighting factor is embodied, and is different from claim 4. It is a configuration.
That is, the means for controlling the first weighting factor and the second weighting factor is:
Means for calculating a first voltage change amount from the speed estimation value, the thermal resistance of the permanent magnet, the temperature coefficient of the permanent magnet, and the permanent magnet magnetic flux at the reference temperature;
Means for calculating a second voltage change amount from the current detection value, the thermal resistance of the armature winding, the temperature coefficient of the armature winding, and the armature resistance at the reference temperature;
Means for controlling the first weighting coefficient and the second weighting coefficient from the first voltage change amount and the second voltage change amount.
Thereby, even when the permanent magnet temperature and the armature winding temperature are different, the first voltage change amount and the second voltage change amount can be accurately calculated.

A control device according to a sixth aspect of the present invention is the control device according to the second or third aspect, in which means for controlling the first weighting factor and the second weighting factor is embodied. Are different configurations.
That is, the means for controlling the first weighting factor and the second weighting factor is:
Means for calculating a first voltage change amount from the speed estimation value, the thermal resistance of the permanent magnet, the temperature coefficient of the permanent magnet, and the permanent magnet magnetic flux at the reference temperature;
The current detection value, the thermal resistance of the armature winding, the temperature coefficient of the armature winding, the armature resistance at the reference temperature, the thermal resistance of the wiring, the temperature coefficient of the wiring, and the wiring resistance at the reference temperature are used as the second voltage. Means for calculating the amount of change;
Means for controlling the first weighting coefficient and the second weighting coefficient from the first voltage change amount and the second voltage change amount.
Thereby, even when the wiring resistance between the electric motor and the power converter cannot be ignored, the first voltage change amount and the second voltage change amount can be accurately calculated.

  According to the present invention, it is possible to accurately estimate the equivalent armature resistance and calculate the magnetic pole position with high accuracy while operating the permanent magnet type synchronous motor. As a result, torque control accuracy at low speed and Sensorless control with excellent stability can be realized.

It is a block diagram of the speed control system which concerns on embodiment of this invention. It is a vector diagram which shows the relationship of d, q axis | shaft and (gamma), (delta) axis. It is a block diagram of the armature resistance estimation means in Example 1 of this invention. It is a graph which shows the function of the weighting factor in Examples 2-4 of the present invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram of a speed control system according to this embodiment.
First, the calculation of the speed estimated value ω ₁ and the magnetic pole position estimated value θ ₁ will be described.
The permanent magnet type synchronous motor 80 controls the torque and speed by dividing the motor current into a d-axis of the rotor (axis in the magnetic pole direction of the rotor) and a q-axis advanced 90 degrees from the d-axis. It is possible to control with high accuracy. However, when the magnetic pole position detector is not provided, the d and q axes cannot be directly detected. For this reason, γ and δ axes of orthogonal rotation coordinates corresponding to the d and q axes are assumed in the control device, and control calculation is performed on the γ and δ axes.
FIG. 2 is a vector diagram showing the relationship between the d and q axes and the γ and δ axes. In FIG. 2, ω ₁ is the estimated rotor speed (rotational angular speeds of γ and δ axes), ω _r is the actual speed value (rotating angular speeds of d and q axes), and θ _err is the γ and δ axes and d, q This is the angle difference from the shaft (magnetic pole position calculation error).

In FIG. 1, the speed estimation means 31 is based on a γ-axis voltage command value v _γ ^* , a δ-axis voltage command value v _δ ^* , a γ-axis current detection value i _γ , and a δ-axis current detection value i _δ. An angular difference θ _err between the γ and δ axes and the d and q axes is calculated based on the 80 voltage equation, and the estimated angular speed ω ₁ is calculated by amplifying the angular difference θ _err .
For the calculation of the angle difference θ _err in the speed estimation means 31, the equivalent armature resistance estimated value R _aest obtained by the armature resistance estimation means 41 is used. Here, the equivalent armature resistance is defined by the sum of the armature resistance of the motor 80 and the wiring resistance between the motor 80 and the power converter 70.
The electrical angle calculator 32 integrates the speed estimated value ω ₁ output from the speed estimating means 31 to calculate the magnetic pole position estimated value θ ₁ .
By these calculations, the angle difference θ _err can be converged to zero, and the speed estimated value ω ₁ and the magnetic pole position estimated value θ ₁ can be converged to true values.

Next, a method for controlling the speed of the permanent magnet synchronous motor 80 using the magnetic pole position estimated value θ ₁ and the speed estimated value ω ₁ will be described.
The deviation between the speed command value ω ^* and the estimated speed value ω ₁ is calculated by the subtractor 16, and the deviation is amplified by the speed regulator 17 to calculate the torque command value τ ^* . From the torque command value τ ^* and the estimated speed value ω ₁ , the current command calculator 18 outputs γ, δ such that a desired torque is output under the condition that the terminal voltage of the electric motor 80 is equal to or lower than the maximum output voltage of the power converter 70. The shaft current command values i _γ ^* and i _δ ^* are calculated.

Also, 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 are respectively converted into γ and δ-axis currents by the current coordinate converter 14 using the magnetic pole position estimation value θ _1. Coordinates are converted to detected values i _γ and i _δ .
The deviation between the γ-axis current command value i _γ ^* and the detected γ-axis current value i _γ is calculated by the subtractor 19a, and this deviation is amplified by the γ-axis current regulator 20a to obtain the γ-axis voltage command value v _γ ^* . Calculate. On the other hand, the difference between the δ-axis current command value i _δ ^* and the detected δ-axis current value i _δ is calculated by the subtractor 19b, and this deviation is amplified by the δ-axis current regulator 20b to be amplified by the δ-axis voltage command value v _δ. ^* Is calculated.

The γ and δ-axis voltage command values v _γ ^* and v _δ ^* are converted by the voltage coordinate converter 15 into phase voltage command values v _u ^* , v _v ^* , and v _w ^* using the magnetic pole position estimated value θ _1. .
The rectifier circuit 60 supplies a DC voltage obtained by rectifying the three-phase AC voltage of the three-phase AC power supply 50 to a power converter 70 such as an inverter.
The PWM circuit 13 calculates the output voltage of the power converter 70 from the phase voltage command values v _u ^* , v _v ^* , v _w ^* and the input voltage detection value E _dc detected by the input voltage detection circuit 12. A gate signal for controlling to v _u ^* , v _v ^* , and v _w ^* is generated. The power converter 70 performs on / off control of the internal semiconductor switching element based on the gate signal, and controls the terminal voltage of the electric motor 80 to the phase voltage command values v _u ^* , v _v ^* , v _w ^* .

  Next, the configuration and operation of the armature resistance estimation means 41 of FIG. 1 will be described with reference to the following first to fourth embodiments.

FIG. 3 is a block diagram of the armature resistance estimating means 41 in the first embodiment, and corresponds to claims 1 and 2.
The armature resistance estimation error calculator 110 calculates an equivalent armature resistance estimation error calculation value R _aerrest from the γ, δ axis current detection values i _γ , i _δ , the δ axis voltage command value v _δ ^*, and the speed estimation value ω _1. Ask.

Here, the details of the armature resistance estimation error calculator 110 using the technique of claim 3 will be described.
From the δ-axis voltage equation of the electric motor, the δ-axis voltage estimated value v _δest is calculated by Equation 1.

Next, an equivalent armature resistance estimation error calculation value R _aerrest is _obtained by Equation 2.

The equivalent armature resistance estimation error calculation value R _aerrest is inverted in sign by the inverting amplifier 111 and multiplied by the first weight coefficient W _Ra . Here, with respect to the first weighting factor _WRa , (1- _WRa ) is set as the second weighting factor (the sum of both is set to "1"), and the first and second weighting factors _WRa , ( 1−W _Ra ) is set to “1” for all upper limit values and “zero” for both lower limit values.
At this time, the transfer function from the true value R _a of the equivalent armature resistance to the equivalent armature resistance estimated value R _aest is in the relationship of Equation 3.

From Equation 3, in proportion to the first weighting factor _{W Ra,} the transfer function from the true value _{R a} of the equivalent armature resistance to equivalent armature resistance estimate _{R aest} gain (equivalent armature resistance correction value _{R acomp} It is clear that the gain of the means for calculating can be controlled.
When the operating condition that can calculate the equivalent armature resistance correctly is satisfied, for example, when the speed of the motor 80 is low or the δ-axis current is large from the information of the estimated speed value ω ₁ or the detected δ-axis current value i _δ When it is determined, the equivalent armature resistance estimation error calculation value R is controlled by controlling the first weighting factor W _Ra to “1”, that is, the second weighting factor (1−W _Ra ) to “zero”. _The equivalent armature resistance correction value R _acomp is calculated by integrating the _aerrest . In other words, the inverting amplifier 111 in FIG. 3, the first weighting factor _W Ra (= 1), the subtracter 112, the armature resistance estimated gain _{G Ra,} using an integrator 113, an equivalent armature resistance correction value _{R acomp} the formula 4 is calculated.

The initial setting value of the equivalent armature resistance, the average temperature during the armature resistance _{R a (AVE),} the armature resistance _{R a (AVE),} the average temperature the armature resistance calculator 114 is the ambient temperature _{T a} Is calculated by Equation (5). Note that, as described above, Equation 5 is based on the fact that the equivalent armature resistance is represented by the sum of the armature resistance and the wiring resistance.

Here, the ambient temperature T _a is a constant value set in advance, or may be used any of the detected value by the temperature detecting circuit.
As shown in Equation 6, the adder 115 in FIG. 3 adds the equivalent armature resistance _{Ra (AVE)} at the average temperature and the equivalent armature resistance correction value R _acomp to calculate the equivalent armature resistance estimated value R _aest. Is calculated.

By the above processing, the equivalent armature resistance estimate _{R aest} as equivalent armature resistance estimation error calculation value _{R Aerrest} becomes zero is computed, the equivalent armature resistance estimate _{R aest} converges to the true value.

On the other hand, when the operating conditions are such that the equivalent armature resistance cannot be calculated correctly, for example, when it is determined from the information of ω ₁ or i _δ that the speed of the motor 80 is high or the δ-axis current is small, the first By reducing the weighting factor W _Ra from “1”, that is, by increasing the second weighting factor (1−W _Ra ) from “zero”, the equivalent armature resistance estimation error correction value R _{aerrest is} corrected. _Decrease the gain up to the value R _acomp .
In FIG. 3, when the first weighting factor W _{Ra is controlled} to “zero” and the second weighting factor (1−W _Ra ) is set to “1”, the equivalent armature resistance estimation error calculation value R _aerrest is _input to the integrator 113. Since the equivalent armature resistance correction value R _acomp is negatively fed back to the input side of the integrator 113, the equivalent armature resistance correction value R _acomp becomes zero. As a result, the equivalent armature resistance estimation value R _aest is equal to the armature resistance _{Ra (AVE)} at the average temperature, which is an initial setting value.

As described above, the equivalent armature resistance can be accurately estimated as a result by executing the estimation calculation only when the speed condition and the current condition capable of correctly calculating the equivalent armature resistance are satisfied. Moreover, execution and stop of the estimation calculation of the equivalent armature resistance can be performed smoothly only by changing the first weighting coefficient _WRa .

Next, in the second embodiment of the present invention, the first weight coefficient W _Ra and the second weight coefficient (1-W _Ra ) are equivalent to the first voltage change amount caused by the temperature change of the permanent magnet magnetic flux. This is calculated from the second voltage change amount resulting from the temperature change of the armature resistance, and corresponds to claim 4.
First, the first δ-axis voltage change amount as the first voltage change amount due to the temperature change of the permanent magnet magnetic flux, and the second voltage change amount as the second voltage change amount due to the temperature change of the equivalent armature resistance. Will be described.
The first δ-axis voltage change amount is equal to the product of the change amount of the permanent magnet magnetic flux and the speed. On the other hand, the second δ-axis voltage change amount is equal to the product of the change amount of the equivalent armature resistance and the δ-axis current.
Here, the amount of change of the permanent magnet magnetic flux due to the temperature change from the time of no load is expressed by Equation 7.

Further, the amount of change from the no-load of the equivalent armature resistance R _a due to temperature changes, as shown in Equation 8, the change from no load of the armature resistance R _w, the wiring resistance R ₁ No It is the sum of the change from the load.

Next, in the case where the wiring resistance can be ignored and the permanent magnet temperature and the armature winding temperature are equal, the first weighting factor W _Ra is calculated from the first δ-axis voltage change amount and the second δ-axis voltage change amount. A calculation method of the evaluation function x for obtaining the second weighting coefficient (1-W _Ra ) will be described.
When the permanent magnet temperature and the armature winding temperature are equal, the thermal resistance R _{thm of} the permanent magnet and the thermal resistance R _thw of the armature winding are equal, and the thermal time constant T _thm of the permanent magnet and the heat of the armature winding It is equal to the time constant T _thw . From the ratio of the change amount of the permanent magnet magnetic flux shown in Equation 7 and the change amount of the equivalent armature resistance shown in Equation 8, the evaluation function x is calculated by Equation 9.

  The first term on the right side of the evaluation function x shown in Equation 9 is proportional to the first δ-axis voltage change amount, and the second term on the right side is proportional to the second δ-axis voltage change amount. For this reason, when the evaluation function x is greater than zero, the equivalent armature resistance can be accurately estimated using the δ-axis voltage equation.

FIG. 4 shows a function for calculating the first weighting factor _WRa and the second weighting factor (1- _WRa ) from the evaluation function x.
When the evaluation function x is smaller than zero, the first weight coefficient W _{Ra is set} to “zero”, and the second weight coefficient (1−W _Ra ) is set to “1”. When the evaluation function x is between zero and the threshold value x _th1 , the first weighting factor W _Ra is increased from “zero” to “1” in proportion to the evaluation function x, and the second weighting factor ( 1-W _Ra ) is decreased from “1” to “zero”.
When the evaluation function x is larger than the threshold value _xth1 , the first weighting factor W _{Ra is set} to “1”, and the second weighting factor (1-W _Ra ) is set to “zero”.

Next, the third embodiment of the present invention is an improvement of the calculation method of the evaluation function x so that the second embodiment can be applied even when the permanent magnet temperature and the armature winding temperature are different. Correspond. In this embodiment, the evaluation function x is calculated by Equation 10 in consideration of the difference between the thermal resistance R _thm of the permanent magnet and the thermal resistance R _thw of the armature winding.

The calculation of the first weight coefficient W _Ra and the second weight coefficient (1-W _Ra ) may be performed in the same manner as in the second embodiment.

The fourth embodiment of the present invention is improved so that the second embodiment can be applied even when the wiring resistance cannot be ignored, and corresponds to claim 6.
That is, in Equation 7 described above, the iron loss Q _iron of the motor is approximated to zero, and in Equation 8, the ratio of the _motor loss Q _motor and the wiring loss Q ₁ is the armature resistance R _w and the wiring resistance R ₁ . The evaluation function x is calculated by Equation 11 by approximating that it is equal to the ratio.

The calculation of the first weight coefficient W _Ra and the second weight coefficient (1-W _Ra ) may be performed in the same manner as in the second embodiment.

11u u-phase current detection circuit 11w w-phase current detection circuit 12 input voltage detection circuit 13 PWM circuit 14 current coordinate converter 15 voltage coordinate converter 16 subtractor 17 speed regulator 18 current command calculator 19a subtractor 19b subtractor 20a γ Axis current regulator 20b δ axis current regulator 31 Speed estimation means 32 Electrical angle calculator 41 Armature resistance estimation means 50 Three-phase AC power supply 60 Rectifier circuit 70 Power converter 80 Permanent magnet synchronous motor 110 Armature resistance estimation error calculation 111 Inverting amplifier 112 Subtractor 113 Integrator 114 Average temperature armature resistance calculator 115 Adder

Claims (6)

A control device for a permanent magnet type synchronous motor driven by a power converter, wherein armature resistance estimating means for estimating an equivalent armature resistance of the motor and an estimated armature resistance value are used to calculate an estimated speed value In a control apparatus comprising: a speed estimation unit that performs an electrical angle calculation unit that calculates a magnetic pole position estimation value from the speed estimation value;
The armature resistance estimation means includes
Means for calculating an error of the estimated value of the equivalent armature resistance based on a voltage equation of the motor;
Means for amplifying the error and calculating an equivalent armature resistance correction value;
Means for adding the initial set value of the equivalent armature resistance of the motor and the equivalent armature resistance correction value to calculate the equivalent armature resistance estimated value;
Means for controlling the gain of the means for calculating the equivalent armature resistance correction value according to the current detection value of the motor and the speed estimation value;
A control device for a permanent magnet type synchronous motor. In the control device for the permanent magnet type synchronous motor according to claim 1,
Means for calculating the equivalent armature resistance correction value,
Means for obtaining a deviation between a product of the error of the equivalent armature resistance estimation value and a first weighting factor and a product of the equivalent armature resistance correction value and a second weighting factor;
Means for amplifying and integrating the deviation to calculate the equivalent armature resistance correction value;
Means for controlling the first weighting factor and the second weighting factor in response to the current detection value and the speed estimation value;
A control device for a permanent magnet type synchronous motor. In the control device for a permanent magnet type synchronous motor according to claim 1 or 2,
Means for calculating an error of the equivalent armature resistance estimation value,
Means for estimating a terminal voltage of the motor from the current detection value, the speed estimation value and the equivalent armature resistance estimation value;
Means for calculating a terminal voltage estimation error which is a deviation between the terminal voltage estimated value of the electric motor and a terminal voltage command value;
Means for calculating an error of the equivalent armature resistance estimation value from the terminal voltage estimation error and the current detection value;
A control device for a permanent magnet type synchronous motor. In the control device for a permanent magnet type synchronous motor according to claim 2 or 3,
The means for controlling the first weighting factor and the second weighting factor are:
Means for calculating a first voltage change amount from the estimated speed value, the temperature coefficient of the permanent magnet, and the permanent magnet magnetic flux at a reference temperature;
Means for calculating a second voltage change amount from the current detection value, the temperature coefficient of the armature winding, and the armature resistance at a reference temperature;
Means for controlling the first weighting factor and the second weighting factor from the first voltage change amount and the second voltage change amount;
A control device for a permanent magnet type synchronous motor. In the control device for a permanent magnet type synchronous motor according to claim 2 or 3,
The means for controlling the first weighting factor and the second weighting factor are:
Means for calculating a first voltage change amount from the speed estimation value, the thermal resistance of the permanent magnet, the temperature coefficient of the permanent magnet, and the permanent magnet magnetic flux at the reference temperature;
Means for calculating a second voltage change amount from the current detection value, the thermal resistance of the armature winding, the temperature coefficient of the armature winding, and the armature resistance at the reference temperature;
Means for controlling the first weighting factor and the second weighting factor from the first voltage change amount and the second voltage change amount;
A control device for a permanent magnet type synchronous motor. In the control device for a permanent magnet type synchronous motor according to claim 2 or 3,
The means for controlling the first weighting factor and the second weighting factor are:
Means for calculating a first voltage change amount from the speed estimation value, the thermal resistance of the permanent magnet, the temperature coefficient of the permanent magnet, and the permanent magnet magnetic flux at the reference temperature;
The current detection value, the thermal resistance of the armature winding, the temperature coefficient of the armature winding, the armature resistance at the reference temperature, the thermal resistance of the wiring, the temperature coefficient of the wiring, and the wiring resistance at the reference temperature are used as the second voltage. Means for calculating the amount of change;
Means for controlling the first weighting factor and the second weighting factor from the first voltage change amount and the second voltage change amount;
A control device for a permanent magnet type synchronous motor.

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