JP5699489B2 - Electric motor drive - Google Patents

Description

  The present invention relates to a motor drive device that drives a multi-winding motor formed of a plurality of primary windings at a variable speed by vector control.

  FIG. 3 is a circuit configuration diagram of this type of electric motor drive device including the configuration of Patent Document 1 below.

  In FIG. 3, reference numeral 1 denotes a commercial power supply, an AC power supply such as a private power generation facility, 2 a multi-winding motor formed by a plurality of primary windings, and 3 a pulse generator connected to the output shaft of the multi-winding motor 2. Reference numerals 4 and 6 denote signal lines and power lines between the first motor driving device 10, the second motor driving device 20, and the Nth motor driving device 30 and the pulse generator 3, if necessary. This is a switch that closes or opens according to a command from the operation sequence circuit.

  This multi-winding motor 2 has a configuration disclosed in, for example, Japanese Patent Application Laid-Open No. 2008-109769, and its feature is that a primary winding coil is formed by winding a plurality of strands on the same path. Thus, the multi-winding motor is capable of reducing the number of motor drive devices without producing multiple coils and without being limited by the number of motor drive devices to be operated.

  Further, in FIG. 3, the first motor drive device 10, the second motor drive device 20, and the Nth motor drive device 30 are all motor drive devices having the same configuration, and each comprises a forward converter, a smoothing capacitor, and an inverse converter. Vector control of inverter circuits 11, 21 and 31, current detectors 12, 22, and 32 for detecting the current output from the inverter, and a multi-winding motor 2 as a conventional example of this type of motor drive device. It comprises vector control circuits 13, 23, 33 to be performed, or vector control circuits 13a, 23a, 33a as an embodiment of the motor drive device of the present invention.

  In the configuration of the conventional motor driving device shown in FIG. 3, the first motor driving device 10 is on the master side, and the second motor driving device 20 and the Nth motor driving device 30 are on the slave side. The switch 4 is closed and the switches 5 and 6 are opened, and the vector control circuit 13 of the first motor driving device 10 inputs the output signal of the pulse generator 3 to control the speed of the multi-winding motor 2. The vector control circuits 23 and 33 of the second motor drive device 20... N motor drive device 30 have a function of performing current control by vector control. 4 and 5 for explaining only the current control of the multi-winding motor 2, and only the part actually used is shown in FIG.

  That is, FIG. 4 shows a detailed circuit configuration of the vector control circuit 13 when performing speed control and current control of the multi-winding motor 2 by vector control as the master side, and FIG. A detailed circuit configuration of the vector control circuit 23 when only the current control of the multi-winding motor 2 is performed by the vector control without performing the control is shown.

In FIG. 4, the speed command calculation circuit 71 outputs a speed command value ω _r ^* that changes according to a predetermined acceleration / deceleration gradient and finally matches the commanded speed setting value. Further, the speed controller 73 sets the deviation between the speed command value ω _r ^* and the speed detection value ω _r of the multi-winding motor 2 obtained by passing the output signal of the pulse generator 3 through the speed detection circuit 72 to zero. The adjustment calculation is performed, and the calculation result is output as the torque command value τ ^* of the multi-winding motor 2.

The magnetic flux command calculation circuit 74 calculates the secondary magnetic flux command value Φ ₂ ^* of the multi-winding motor 2 while corresponding to the speed detection value ω _r , and is a constant value up to the rated rotational speed of the motor. output, the secondary flux command value [Phi ₂ ^* in addition, at the rated speed or performs a calculation of the two reducing in inverse proportion to the rotational speed rotor flux command value [Phi ₂ ^*. The secondary magnetic flux command value Φ ₂ ^* output from the magnetic flux command calculation circuit 74 is transmitted to the subsequent stage such as the division calculator 75 and the excitation current calculation circuit 76.

From the torque command value τ ^* and the secondary magnetic flux command value Φ ₂ ^* , the current command value i _M ^* parallel to the secondary magnetic flux of the motor of the primary current of the multi-winding motor 2 according to the following equations 1 and 2 ^. (Hereinafter also referred to as M-axis current command value i _M ^* ) and current command value i _T ^* (hereinafter also referred to as T-axis current command value i _T ^* ) orthogonal to the secondary magnetic flux are derived.
[Equation 1]
i _M ^* = (1 / Lm) × Φ ₂ ^*
Here, Lm is the excitation inductance of the multi-winding motor 2.
[Equation 2]
i _T ^* = τ ^* / Φ ₂ ^*
That is, the excitation current calculation circuit 76 performs the calculation of the above formula 1, and the division calculator 75 performs the calculation of the above formula 2.

The three-phase / two-phase converter 85 converts i _u and i _w as primary current detection values detected by the current detector 12 into a known coordinate conversion based on an angle value θ ^* described later. Current detection value i _M (hereinafter also referred to as M-axis current detection value i _M ) parallel to the secondary magnetic flux of the primary current of the multi-winding motor 2 and current detection value i orthogonal to the secondary magnetic flux _T (hereinafter also referred to as a T-axis current detection value i _T ) is derived.

Further, the T-axis current regulator 78 performs an adjustment calculation to make the deviation between the T-axis current command value i _T ^* and the detected T-axis current value i _T zero, and this calculation result is used as the T-axis of the multi-winding motor 2. Output as voltage command value v _T ^* . Similarly, the M-axis current regulator 79 performs an adjustment calculation that makes a deviation between an M-axis current command value i _M ^{* `,} which will be described later, and the detected M-axis current value i _M zero, and uses the calculation result as a multi-winding motor. 2 as the M-axis voltage command value v _M ^* .

The two-phase / three-phase converter 80 performs a well-known coordinate transformation based on an angle value θ ^* described later to convert the T-axis voltage command value v _T ^* and the M-axis voltage command value v _M ^* into a three-phase voltage command. The values V _u ^* , V _v ^* , and V _w ^* are derived.

In the inverter circuit 11 to which these three-phase voltage command values V _u ^* , V _v ^* , and V _w ^* are input, it is converted into a three-phase AC voltage having an amplitude and a frequency corresponding to each voltage command value. The wire motor 2 is supplied.

The slip frequency calculator 81 uses a well-known arithmetic expression from the secondary resistance value R ₂ of the multi-winding motor ₂ and the input T-axis current command value i _T ^* and secondary magnetic flux command value Φ ₂ ^*. Thus, the slip frequency ω _sl of the multi-winding motor 2 is obtained. Further, with respect to the primary frequency ω _{1 of the} multi-winding motor 2 obtained by adding the slip frequency ω _sl and the speed detection value ω _{r of} the multi-winding motor 2 by the addition computing unit 82, the axis deviation is compensated. The primary frequency command value ω ₁ ^* obtained by adding the frequency correction value Δω obtained from the generator 88 by the addition calculator 83 is passed through the integrator 84, so that the U-phase winding of the multi-winding motor 2 and the secondary magnetic flux are An angle value θ ^* to be formed is derived.

The three-phase / two-phase converter 86 performs known coordinate conversion on the primary voltages v _u and v _w of the multi-winding motor 2 based on the angle value θ ^* , and the motor of the primary voltage of the multi-winding motor 2 is obtained. The detected voltage value v _M parallel to the secondary magnetic flux (hereinafter also referred to as M-axis voltage detected value v _M ) and the detected voltage value v _T orthogonal to the secondary magnetic flux (hereinafter also referred to as T-axis voltage detected value v _T). ) And are derived.

In the induced voltage magnetic flux calculator 87, the above-described M-axis voltage detection value v _M , T-axis voltage detection value v _T , M-axis current detection value i _M , T-axis current detection value i _T and the primary frequency command value ω ₁ ^*. In accordance with the following formulas 3 and 4 based on the above, the M-axis induced voltage value Em, the T-axis induced voltage value Et, and the secondary magnetic flux estimated value Φ ₂ ^ of the multi-winding motor 2 are derived.
[Equation 3]
Em = v _M −R ₁ · i _M −L ₁ (di / dt) i _M
+ Jω ₁ ^* · L ₁ · i _T
[Equation 4]
Et = v _T −R ₁ · i _T −L ₁ (di / dt) i _T
-Jω ₁ ^*・ L ₁・ i _M
In the above formulas 3 and 4, R ₁ is the primary resistance of the multi-winding motor 2, L ₁ is the primary inductance of the multi-winding motor 2, and j is an imaginary unit.

The secondary magnetic flux estimated value Φ ₂ ^ of the multi-winding motor 2 is derived by dividing the T-axis induced voltage value Et by the primary frequency command value ω ₁ ^* .

The magnetic flux adjuster 89 sets the adjustment calculation value that makes the deviation between the secondary magnetic flux command value Φ ₂ ^* and the secondary magnetic flux estimated value Φ ₂ ^ to zero as the M-axis current correction value Δi _M ^* of the multi-winding motor 2. Output. Also,
Adders 77, excitation current operation circuit 76 outputs a ^*, a new M-axis current command value i _M the sum of the M-axis current command value i _M ^* and the M-axis current correction value .DELTA.i _M ^* to be output doing.

  Note that all the components in the vector control circuit 13 shown in FIG. 4 use well-known techniques.

FIG. 5 is a detailed circuit configuration diagram of the vector control circuit 23 when only the current control of the multi-winding motor 2 is performed by the above-described vector control. The T-axis current regulator 78, the M-axis current regulators 79, 2 Each of phase / 3-phase converter 80 and 3-phase / 2-phase converter 85 has the same function as that shown in FIG. 4 and is transmitted from the vector control circuit 13 shown in FIG. Current control is performed by vector control based on control signals such as current command value i _T ^* , M-axis current command value i _M ^* ,, angle value θ ^* , and primary frequency command value ω ₁ ^* .

  Further, as shown in FIG. 3, the inverter circuit 21 includes a forward converter, a smoothing capacitor, and an inverse converter, and the electrical output rating is the same as that of the inverter circuit 11 described above, but the PWM control in the inverse converter is performed. In this case, the carrier signal is synchronized with the carrier synchronization signal sent from the inverter circuit 11 that controls the master.

  Note that the vector control circuit 33 in the Nth motor drive device 30 shown in FIG. 3 performs the same operation as the vector control circuit 23 shown in FIG.

  In the configuration in which one multi-winding motor 2 is controlled at a variable speed by a plurality of motor drive devices as shown in FIG. 3, for example, when one of the plurality of motor drive devices fails, the failed motor The rotation operation of the multi-winding motor 2 is continued in the state of reduced gear operation with the drive device disconnected. Even when the multi-winding motor 2 does not require a rated output, in order to improve the overall operating efficiency, the number of motor drive units to be disconnected from the plurality of motor drive devices is set, and the remaining motor drive The rotating operation of the multi-winding motor 2 is performed in the state of reduction operation by the apparatus. In this case, the disconnected motor drive device is also used for variable speed drive of other motors.

JP 2010-41890 A

  In the conventional example of this type of motor drive device shown in FIGS. 3 to 5, the first motor drive device 10, the second motor drive device 20, and the Nth motor drive device 30 are provided for each winding of the multi-winding motor 2. Correspondingly, as shown in the figure, the first motor drive device 10 in which the switch 4 is closed controls the master that performs speed control and current control of the multi-winding motor 2, and the switches 5 and 6 are opened. Each of the second motor drive device 20 and the Nth motor drive device 30 that are in operation is the current of the multi-winding motor 2 based on the T-axis current command value, M-axis current command value, etc. transmitted from the first motor drive device 10. Control, that is, slave control is performed.

However, in the case of a multi-winding motor having a strong interference due to magnetic coupling between windings, such as a multi-winding motor 2 in which a primary winding coil is formed by winding a plurality of strands on the same path, the winding As the internal constants such as the leakage inductance and the excitation inductance of each line fluctuate, the M-axis current command value i _M ^*, which is output from the addition calculator 77 that forms the vector control circuit 13 that controls the master ^, is obtained. Based on this, the vector control circuits 23 and 33 for controlling the slave cannot operate the motor with the secondary magnetic flux generated by the multi-winding motor 2 in a stable state. As a result, the multi-winding motor 2 There are problems that the rotational speed of the motor fluctuates and the primary current pulsates.

  An object of the present invention is to solve the above problems and provide an electric motor drive apparatus suitable for driving a single multi-winding motor at a variable speed by vector control.

In order to solve the above problems, the present invention provides a motor drive device for each winding of a multi-winding motor having a speed detector, and performs speed control based on the speed detection value of the speed detector and vector control. The multi-winding motor is controlled at a variable speed by a master-side motor driving device that performs current control of the multi-winding motor and a slave-side motor driving device that performs current control of the multi-winding motor by vector control. In the motor drive device to drive,
An operation signal and a carrier synchronization signal are sent from the master-side motor drive device to the slave-side motor drive device, and T-axis current command values i _T ^* and M determined by the vector control circuit of the master-side motor drive device The shaft current command value i _M ^* , the magnetic flux command value φ ₂ ^* , the primary frequency command value ω ₁ ^*, and the angle value θ ^* are sent, and based on these command values, A T-axis current adjustment calculation for performing an adjustment calculation to make the deviation between the T-axis current command value i _T ^* and the T-axis current detection value i _T zero, the primary frequency command value ω ₁ ^* , the T-axis voltage detection value V _T , M-axis voltage detection value V _M , T-axis current detection value i _T , magnetic flux calculation for calculating magnetic flux estimated value φ ₂ ^{^} from M-axis current detected value i _M , magnetic flux command value φ ₂ ^* and magnetic flux estimated value φ ₂ Magnetic flux adjustment to calculate M-axis current correction value Δi _M ^* from deviation from ^{^} It is characterized in that M-axis current adjustment calculation is performed to perform calculation and adjustment calculation to make the deviation between the M-axis current command value i _M ^* and the detected M- axis current value i _M zero.

  According to this invention, the adjusting means for making the deviation between the secondary magnetic flux command value and the secondary magnetic flux estimated value of the multi-winding motor zero in each of the master side motor driving device and the slave side motor driving device. As a result, the secondary magnetic flux generated by the multi-winding motor can be made more stable even in the case of a multi-winding motor having strong interference due to magnetic coupling between the windings.

FIG. 3 is a partial detailed circuit diagram of this embodiment of the present invention. FIG. 3 is a partial detailed circuit diagram of this embodiment of the present invention. Circuit diagram of the motor drive device 3 is a partial detailed circuit configuration diagram of FIG. 3 as a conventional example. 3 is a partial detailed circuit configuration diagram of FIG. 3 as a conventional example.

  The configuration shown in FIG. 3 shows a case where the first motor driving device 10 is on the master side and the second motor driving device 20... The Nth motor driving device 30 is on the slave side, and the switch 4 is closed. At the same time, the switches 5 and 6 are opened, and the vector control circuit 13a of the first motor drive device 10 inputs the output signal of the pulse generator 3, and performs current control by speed control and vector control of the multi-winding motor 2. The vector control circuits 23a and 33a of the second motor drive device 20 and the Nth motor drive device 30 perform current control of the multi-winding motor 2 by vector control as a slave operation with respect to the first motor drive device 10.

  1 and 2, in the electric motor drive device as an embodiment of the present invention, only the part actually used is extracted and shown. That is, FIG. 1 shows a detailed circuit configuration diagram of the vector control circuit 13a when performing speed control and current control of the multi-winding motor 2 by vector control as the master side, and FIG. 2 shows speed control as the slave side. The detailed circuit configuration of the vector control circuit 23a when only the current control of the multi-winding motor 2 is performed by vector control without performing is shown.

The vector control circuit 13a shown in FIG. 1 is similar to the vector control circuit 13 shown in FIG. 4, and the secondary magnetic flux command value Φ ₂ ^* and the secondary magnetic flux estimated value Φ ₂ of the multi-winding motor _{2 are the same.} While having the magnetic flux regulator 89 that makes the deviation from ^ zero, basically the same control calculation operation is performed, and the same T as the conventional vector control circuit 13 is applied to the vector control circuit 23a shown in FIG. In addition to the shaft current command value i _T ^* , the angle value θ ^* , the primary frequency command value ω ₁ ^*, etc., an excitation current calculation circuit 76 that outputs the M-axis current command value i _M ^* output from the addition calculator 77 is output. The M-axis current command value i _M ^* to be transmitted and the secondary magnetic flux command value Φ ₂ ^* output from the magnetic flux command calculation circuit 74 are newly transmitted.

FIG. 2 is a detailed circuit configuration diagram of the vector control circuit 23a when only the current control of the multi-winding motor 2 is performed by the above-described vector control. The T-axis current regulator 78, the M-axis current regulators 79, 2 Phase / three-phase converter 80 and three-phase / two-phase converters 85 and 86 have the same functions as those shown in FIGS. 1 and 4 described above, and are transmitted from vector control circuit 13a shown in FIG. For vector control based on control signals such as T-axis current command value i _T ^* , M-axis current command value i _M ^* , angle value θ ^* , primary frequency command value ω ₁ ^* , secondary magnetic flux command value Φ ₂ ^* To control the current.

Further, in the magnetic flux calculator 87a forming the vector control circuit 23a, the secondary magnetic flux estimated value is obtained by dividing the T-axis induced voltage value Et derived according to the equation 4 by the primary frequency command value ω ₁ ^* described above. Φ ₂ ^ has been obtained.

The magnetic flux adjuster 89 adjusts the deviation between the secondary magnetic flux command value Φ ₂ ^* and the secondary magnetic flux estimated value Φ ₂ ^ to zero based on proportional / integral computation or proportional / integral / differential computation. Is output as the M-axis current correction value Δi _M ^* of the multi-winding motor 2. Further, the addition calculator 77 sets the addition value of the M-axis current command value i _M ^* output from the excitation current calculation circuit 75 and the M-axis current correction value Δi _M ^* as a new M-axis current command value i _M ^{* ,.} Output.

  That is, the vector control circuit 23a includes an addition calculator 77, a three-phase / two-phase converter 86, an induced voltage magnetic flux calculator 87, in addition to the same components as those of the conventional vector control circuit 23 shown in FIG. Each of the magnetic flux calculator 87a and the magnetic flux adjuster 89 in which a part of the calculation function is omitted is provided as an additional function.

  Therefore, by using the vector control circuit 23a provided with the magnetic flux regulator 89, the primary winding coil is formed between a plurality of windings such as a multi-winding motor 2 formed by winding a plurality of strands on the same path. Even in a multi-winding motor having strong interference due to magnetic coupling, the secondary magnetic flux generated by the multi-winding motor 2 can be made more stable, so that the rotational speed of the multi-winding motor 2 fluctuates, The phenomenon that the primary current pulsates can be suppressed.

  Note that the vector control circuit 33a in the Nth motor drive device 30 shown in FIG. 3 performs the same operation as the vector control circuit 23a shown in FIG.

  DESCRIPTION OF SYMBOLS 1 ... AC power source, 2 ... Multi-winding motor, 3 ... Pulse generator, 4-6 ... Switch, 10 ... 1st motor drive device, 20 ... 2nd motor drive device, 30 ... Nth motor drive device, 11, 21 , 31 ... inverter circuit, 12, 22, 32 ... current detector, 13, 23, 33 ... vector control circuit, 13a, 23a, 33a ... vector control circuit, 71 ... speed command calculation circuit, 72 ... speed detection circuit, 73 ... speed controller, 74 ... magnetic flux command calculation circuit, 75 ... division calculator, 76 ... excitation current calculation circuit, 77 ... addition calculator, 78 ... T-axis current controller, 79 ... M-axis current controller, 80 ... 2 Phase / three-phase converter, 81 ... slip frequency calculator, 82, 83 ... addition calculator, 84 ... integrator, 85, 86 ... three-phase / two-phase converter, 87 ... induced voltage flux calculator, 87a ... flux Arithmetic unit, 88 ... Axis deviation compensator, 9 ... the flux regulator.

Claims (1)

A motor drive device is provided for each winding of a multi-winding motor having a speed detector, and speed control based on the speed detection value of the speed detector and current control of the multi-winding motor by vector control are performed. In the motor driving device that drives the multi-winding motor at a variable speed by a master-side motor driving device and a slave-side motor driving device that performs current control of the multi-winding motor by vector control.
An operation signal and a carrier synchronization signal are sent from the master-side motor drive device to the slave-side motor drive device, and T-axis current command values i _T ^* and M determined by the vector control circuit of the master-side motor drive device The shaft current command value i _M ^* , the magnetic flux command value φ ₂ ^* , the primary frequency command value ω ₁ ^*, and the angle value θ ^* are sent, and based on these command values, A T-axis current adjustment calculation for performing an adjustment calculation to make the deviation between the T-axis current command value i _T ^* and the T-axis current detection value i _T zero, the primary frequency command value ω ₁ ^* , the T-axis voltage detection value V _T , M-axis voltage detection value V _M , T-axis current detection value i _T , magnetic flux calculation for calculating magnetic flux estimated value φ ₂ ^{^} from M-axis current detected value i _M , magnetic flux command value φ ₂ ^* and magnetic flux estimated value φ ₂ Magnetic flux adjustment to calculate M-axis current correction value Δi _M ^* from deviation from ^{^} An electric motor driving apparatus, wherein an M-axis current adjustment calculation is performed to perform an calculation and an adjustment calculation to make a deviation between the M-axis current command value i _M ^* and the detected M- axis current value i _M zero.

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