JP5777996B2 - Signal processing apparatus having coordinate transformation processing means, electric motor, and grid interconnection inverter used for renewable energy - Google Patents

Description

  The present invention relates to a signal processing apparatus and the like for coordinate conversion processing (rotary coordinate conversion processing or stationary coordinate conversion processing).

  Conventionally, feedback control systems have been used to control various systems.

  FIG. 3 is a diagram for explaining a basic structure of a general feedback control system.

  The control device 20 controls the control amount to a target value by inputting a control signal corresponding to the control amount that is an output of the control target 10 to the control target 10. The control target 10 includes a plant 11, a detection unit 12, and an operation unit 13, and the control device 20 includes a control unit 21.

  The detection part 12 detects the control amount which is the output of the plant 11, converts it into a feedback signal, and outputs it. The control unit 21 receives a difference between the feedback signal output from the detection unit 12 and a target value input from the outside, and outputs a control signal corresponding to the difference to the operation unit 13. The operation unit 13 converts the control signal input from the control unit 21 into an operation amount for input to the plant 11 and outputs the operation amount.

  The feedback control system is also used, for example, to control the output current of a three-phase inverter. When controlling the output current of the three-phase alternating current, the control amount becomes three output currents. In this case, a device for facilitating the control is incorporated.

  FIG. 4 is a diagram for explaining a basic structure of a feedback control system for controlling three control amounts. Note that the waveforms of the three control amounts are sine waves, and the phases of the waveforms are different by 2π / 3. Such three sine waves can be described as orthographic projections of the respective vectors in a state where the three starting points coincide with each other and three vectors having different directions by 2π / 3 are rotated counterclockwise at a predetermined angular velocity. it can. Therefore, in the following description, changes in each control amount and the like may be described by the concept of rotation.

  The feedback control system shown in FIG. 4 is the feedback control system shown in FIG. 3 in that the control of three control amounts is performed and the control is performed after the three feedback signals are converted into two signals that are easy to control. And different. The plant 31, the detection unit 32, and the operation unit 33 are the same as the plant 11, the detection unit 12, and the operation unit 13 illustrated in FIG. 3 except that there are three inputs and outputs.

  The three-phase / two-phase conversion processing unit 42 converts the three feedback signals Xa, Xb, and Xc input from the detection unit 32 into two sine wave signals Xα and Xβ having phases different from each other by π / 2. . The three-phase / two-phase conversion processing unit 42 performs so-called three-phase / two-phase conversion processing (αβ conversion processing), and converts the feedback signals Xa, Xb, and Xc into α axis components and β axis components that are orthogonal to each other. The sine wave signals Xα and Xβ are generated by disassembling each of them and combining the respective axis components.

  The conversion process performed by the three-phase / two-phase conversion processing unit 42 is represented by a determinant represented by the following expression (1).

なお、フィードバック信号Ｘａ，Ｘｂ，Ｘｃは各制御量を検出したものである。各制御量は所定の角速度で反時計回りに回転するベクトルで表すことができる。したがって、フィードバック信号Ｘａ，Ｘｂ，Ｘｃも所定の角速度で反時計回りに回転するベクトルで表すことができる。また、正弦波信号Ｘα，Ｘβもこれらと同じ角速度で反時計回りに回転するベクトルで表すことができる。

Note that the feedback signals Xa, Xb, and Xc are obtained by detecting each control amount. Each control amount can be represented by a vector that rotates counterclockwise at a predetermined angular velocity. Therefore, the feedback signals Xa, Xb, and Xc can also be represented by vectors that rotate counterclockwise at a predetermined angular velocity. Also, the sine wave signals Xα and Xβ can be represented by vectors that rotate counterclockwise at the same angular velocity.

  The dq conversion processing unit 43 converts the sine wave signals Xα and Xβ input from the three-phase / two-phase conversion processing unit 42 into two signals Xd and Xq in the rotating coordinate system. The rotational coordinate system is an orthogonal coordinate system that has orthogonal d-axis and q-axis and rotates in the same rotational direction at the same angular velocity as a vector indicating each control amount. As a concept opposite to the rotating coordinate system, a non-rotating coordinate system is a stationary coordinate system. The dq conversion processing unit 43 performs so-called rotational coordinate conversion processing (dq conversion processing), and converts the sine wave signals Xα and Xβ of the stationary coordinate system into signals Xd and Xq of the rotational coordinate system.

  The rotating coordinate system is obtained by rotating the coordinate axis in the same rotational direction (counterclockwise) at the same angular velocity as the vector indicating each control amount that rotates in the stationary coordinate system. Therefore, the coordinate conversion from the stationary coordinate system to the rotating coordinate system is a rotation converting process in a direction (clockwise) in which the rotation of the vector rotating the stationary coordinate system is stopped. That is, assuming that the phase of the control amount is θ based on any control amount, the conversion process performed by the dq conversion processing unit 43 is a process of rotating in the opposite direction (clockwise) as much as the phase θ, It is represented by the determinant shown in the following formula (2).

The rotating coordinate system control unit 41 receives the difference between the signals Xd and Xq output from the dq conversion processing unit 43 and the respective target values Xd ^* and Xq ^*, and outputs the signals X′d and X′q corresponding thereto. The result is output to the inverse dq conversion processing unit 44. Since the rotating coordinate system rotates in the same rotational direction at the same angular velocity as the vector indicating each controlled variable, the vectors indicating the signals Xd and Xq in the rotating coordinate system do not rotate, and the signals Xd and Xq change in phase. Depending on the case, the DC signal does not change. Therefore, since the values not related to the phase change can be used as the target values Xd ^* and Xq ^* , the rotating coordinate system control unit 41 can perform the control with high accuracy.

  The inverse dq conversion processing unit 44 converts the signals X′d and X′q input from the rotating coordinate system control unit 41 into two sine wave signals X′α and X′β in the stationary coordinate system. The dq conversion processing unit 43 performs a reverse conversion process. The inverse dq conversion processing unit 44 performs a so-called stationary coordinate conversion process (inverse dq conversion process), and converts the rotation coordinate system signals X′d and X′q into the stationary coordinate system sine wave signals X′α and X. Convert to 'β.

  The conversion from the rotation coordinate system to the stationary coordinate system is a rotation conversion process in which a vector stopped in the rotation coordinate system is rotated in the same direction (counterclockwise) as the rotation direction of the vector indicating each control amount. That is, the conversion process performed by the inverse dq conversion processing unit 44 is a process of rotating in the same direction (counterclockwise) by the phase θ of the reference control amount, and is expressed by a determinant expressed by the following expression (3). The

  The two-phase / three-phase conversion processing unit 45 converts the sine wave signals X′α and X′β input from the inverse dq conversion processing unit 44 into three sine wave signals X′a, X′b, and X′c. To convert. The two-phase / three-phase conversion processing unit 45 performs so-called two-phase / three-phase conversion processing (reverse αβ conversion processing), and performs reverse conversion processing from the three-phase / two-phase conversion processing unit 42. is there.

  The conversion process performed by the two-phase / three-phase conversion processing unit 45 is represented by a determinant represented by the following expression (4).

  The operation unit 33 converts the sine wave signals X′a, X′b, and X′c input from the two-phase / three-phase conversion processing unit 45 into operation amounts to be input to the plant 31 and outputs them.

  As in the above-described example, generally, the dq conversion process is used as the rotation coordinate conversion process for converting the sine wave signals Xα and Xβ of the stationary coordinate system to the signals Xd and Xq of the rotation coordinate system, and the signal of the rotation coordinate system is used. An inverse dq conversion process is used as a static coordinate conversion process for converting X′d and X′q into sinusoidal signals X′α and X′β in the static coordinate system.

JP 2009-44897 A

  However, there is a problem that complicated calculation is required for analysis of a system including dq conversion processing or inverse dq conversion processing. That is, the dq conversion process and the inverse dq conversion process are each represented by a matrix of 2 rows and 2 columns, as shown in the equations (2) and (3). Each element of the matrix includes the phase θ, and the phase θ changes with time. Therefore, all elements of the matrix change with time. Therefore, it is necessary to perform complicated calculations for analysis of a system including these.

For example, the system shown in FIG. 5 is represented by a matrix shown in the following equation (5). In order to calculate this matrix, a complicated calculation process is required.

  The present invention has been conceived under the circumstances described above, and even in a system including a signal processing device for coordinate transformation processing (rotational coordinate transformation processing or stationary coordinate transformation processing), etc., system analysis It is an object of the present invention to provide a signal processing device or the like that can facilitate the processing.

  In order to solve the above problems, the present invention takes the following technical means.

  The signal processing apparatus provided by the first aspect of the present invention includes two sine wave signals Xα and Xβ having a phase difference of π / 2 and two signals Xd in a rotating coordinate system, which are expressed in a stationary coordinate system. , Xq is a signal processing device that performs coordinate conversion based on the phase θ of the reference sine wave signal, with ± 1 and ± j as matrix elements, and diagonalizing the rotation matrix for complex display Coordinate conversion processing means using a rotation matrix expressed by multiplying the matrix and its inverse matrix from the left and right of the diagonalized rotation matrix using the matrix and its inverse matrix To do.

  The electric motor provided by the second aspect of the present invention includes two sine wave signals Xα and Xβ having a phase difference of π / 2 and two signals Xd and Xq expressed in a stationary coordinate system and a rotational coordinate system. Is a motor that performs coordinate conversion based on the phase θ of a sine wave signal as a reference, the matrix element having ± 1 and ± j as matrix elements, and the diagonal matrix of the complex display rotation matrix, and its matrix Coordinate conversion processing means using a rotation matrix expressed by multiplying the matrix and its inverse matrix from the left and right of the diagonalized rotation matrix using an inverse matrix is provided.

  The grid-connected inverter used for the renewable energy provided by the third aspect of the present invention is represented by a stationary coordinate system, and two sine wave signals Xα and Xβ whose phases are different from each other by π / 2 and rotation. A grid-connected inverter used for renewable energy for coordinate conversion between two signals Xd and Xq of a coordinate system based on a phase θ of a reference sine wave signal, and ± 1 and ± j are matrixes A rotation matrix expressed by multiplying the matrix and its inverse matrix from the left and right of the diagonalized rotation matrix by using a matrix and a matrix that diagonalizes the rotation matrix of the complex representation and its inverse matrix Coordinate conversion processing means using

The signal processing apparatus provided by the fourth aspect of the present invention provides a phase of a sine wave signal that is expressed in a stationary coordinate system and that uses two sine wave signals Xα and Xβ having a phase difference of π / 2 as a reference. A signal processing device that converts two signals Xd and Xq in a rotating coordinate system based on θ, and that uses the following determinant to calculate the signals Xd and Xq from the sine wave signals Xα and Xβ. Conversion processing means is provided.

The signal processing device provided by the fifth aspect of the present invention provides a phase of a sine wave signal represented by a stationary coordinate system and having two sine wave signals Xα and Xβ having a phase difference of π / 2 as a reference. A signal processing device that converts two signals Xd and Xq in a rotating coordinate system based on θ, and that uses the following determinant to calculate the signals Xd and Xq from the sine wave signals Xα and Xβ. Conversion processing means is provided.

  In a preferred embodiment of the present invention, there is further provided three-phase / two-phase conversion processing means for converting three sine wave signals having phases different from each other by 2π / 3 to the two sine wave signals Xα and Xβ. .

The signal processing apparatus provided by the sixth aspect of the present invention uses two signals Xd and Xq expressed in a rotating coordinate system based on the phase θ of a sine wave signal as a reference, and A signal processing device that converts two sine wave signals Xα and Xβ having a phase difference of π / 2, and uses the following determinant to calculate the sine wave signals Xα and Xβ from the signals Xd and Xq. A processing means is provided.

The signal processing apparatus provided by the seventh aspect of the present invention uses two signals Xd and Xq expressed in a rotating coordinate system based on the phase θ of a sine wave signal as a reference, and A signal processing device that converts two sine wave signals Xα and Xβ having a phase difference of π / 2, and uses the following determinant to calculate the sine wave signals Xα and Xβ from the signals Xd and Xq. A processing means is provided.

  In a preferred embodiment of the present invention, there is further provided two-phase / three-phase conversion processing means for converting the two sine wave signals Xα and Xβ into three sine wave signals having phases different from each other by 2π / 3. .

  In a preferred embodiment of the present invention, the three sine wave signals are output current signals of respective phases of three-phase alternating current.

According to the present invention, a matrix (hereinafter referred to as “transformation matrix”) used in coordinate transformation processing (including rotational coordinate transformation processing means or stationary coordinate transformation processing means) is represented by the product of three matrices. ing. The left side matrix (T) and the right side matrix (T ⁻¹ ) are inverse matrices of each other, and the central matrix is a diagonal matrix. Therefore, when calculating the product of the transformation matrices, the product of the matrix (T) and the matrix (T ⁻¹ ) becomes the unit matrix, and the product of the central matrices is calculated. Further, since the central matrix is a diagonal matrix of exponential functions, calculation is easy. Therefore, analysis of the system including the signal processing device can be facilitated.

  Other features and advantages of the present invention will become more apparent from the detailed description given below with reference to the accompanying drawings.

It is a block diagram for demonstrating the signal processing apparatus which concerns on 1st Embodiment. It is a block diagram for demonstrating the signal processing apparatus which concerns on 2nd Embodiment. It is a figure for demonstrating the basic structure of a general feedback control system. It is a figure for demonstrating the basic structure of the feedback control system for controlling three control amounts. FIG. 2 is a diagram illustrating an exemplary system.

  Embodiments of the present invention will be specifically described below with reference to the drawings.

  FIG. 1 is a block diagram for explaining a signal processing apparatus according to the present invention. FIG. 4A is a rotating coordinate conversion processing device that performs rotating coordinate conversion processing, and FIG. 4B is a stationary coordinate conversion processing device that performs stationary coordinate conversion processing.

  A rotating coordinate conversion processing device 1 shown in FIG. 1A is a signal processing device that performs rotating coordinate conversion processing, and includes a rotating coordinate conversion processing unit 1a. Based on the input phase θ, the rotating coordinate conversion processing unit 1a converts the input two sine wave signals Xα and Xβ of the stationary coordinate system into two signals Xd and Xq of the rotating coordinate system and outputs them. . The phases of the sine wave signals Xα and Xβ are different from each other by π / 2. The phase θ is the phase of the reference sine wave signal, and is acquired when the sine wave signals Xα and Xβ are input. For example, when the rotational coordinate conversion processing device 1 is used as a control device for performing output current control of a grid-connected inverter system that supplies power to a three-phase power system, the system of one of the three phases The phase of the voltage signal is detected and input to the rotational coordinate conversion processing unit 1a as the phase θ.

但し、ｊは虚数単位であり、exp（）は自然対数の底ｅの指数関数であり、

である。なお、Ｔ^-1は、Ｔの逆行列である。 The rotation coordinate conversion processing unit 1a performs rotation coordinate conversion processing using a determinant represented by the following equation (6).

Where j is the imaginary unit, exp () is the exponential function of the base e of the natural logarithm,

It is. T ⁻¹ is an inverse matrix of T.

となり、オイラーの公式より、exp(ｊθ)＝ｃｏｓθ＋ｊｓｉｎθ、exp(−ｊθ)＝ｃｏｓθ−ｊｓｉｎθを代入して計算すると、

であることが、確認できる。

From the Euler's formula, calculating by substituting exp (jθ) = cos θ + jsin θ and exp (−jθ) = cos θ−jsin θ,

It can be confirmed that

但し、ｊは虚数単位であり、exp（）は自然対数の底ｅの指数関数であり、

である。なお、Ｔ^-1は、Ｔの逆行列である。 In addition, the rotation coordinate conversion process part 1a can also perform a rotation coordinate conversion process using the determinant shown to (7) Formula.

Where j is the imaginary unit, exp () is the exponential function of the base e of the natural logarithm,

It is. T ⁻¹ is an inverse matrix of T.

であることが、確認できる。 In this case as well,

It can be confirmed that

  The stationary coordinate transformation processing device 2 shown in FIG. 1B is a signal processing device that performs stationary coordinate transformation processing, and includes a stationary coordinate transformation processing unit 2a. Based on the input phase θ, the stationary coordinate transformation processing unit 2a converts the input two signals X′d and X′q of the rotational coordinate system into two sine signals whose phases are different from each other by π / 2 in the stationary coordinate system. It converts into wave signals X′α and X′β and outputs them. The phase θ is the phase of the reference sine wave signal, and is acquired when the signals X′d and X′q are input. For example, when the static coordinate transformation processing device 2 is used as a control device for performing output current control of a grid-connected inverter system that supplies power to a three-phase power system, the system of one of the three phases The phase of the voltage signal is detected and input to the stationary coordinate conversion processing unit 2a as the phase θ.

但し、ｊは虚数単位であり、exp（）は自然対数の底ｅの指数関数であり、

である。なお、Ｔ^-1は、Ｔの逆行列である。 The stationary coordinate transformation processing unit 2a performs stationary coordinate transformation processing using a determinant represented by the following equation (8).

Where j is the imaginary unit, exp () is the exponential function of the base e of the natural logarithm,

It is. T ⁻¹ is an inverse matrix of T.

となり、オイラーの公式より、exp(ｊθ)＝ｃｏｓθ＋ｊｓｉｎθ、exp(−ｊθ)＝ｃｏｓθ−ｊｓｉｎθを代入して計算すると、

であることが、確認できる。

From the Euler's formula, calculating by substituting exp (jθ) = cos θ + jsin θ and exp (−jθ) = cos θ−jsin θ,

It can be confirmed that

但し、ｊは虚数単位であり、exp（）は自然対数の底ｅの指数関数であり、

である。なお、Ｔ^-1は、Ｔの逆行列である。 The stationary coordinate transformation processing unit 2a can also perform stationary coordinate transformation processing using a determinant represented by the following equation (9).

Where j is the imaginary unit, exp () is the exponential function of the base e of the natural logarithm,

It is. T ⁻¹ is an inverse matrix of T.

であることが、確認できる。 In this case as well,

It can be confirmed that

As shown in the above equations (6) to (9), a matrix (hereinafter referred to as a “transformation matrix”) used for each coordinate transformation process in the rotational coordinate transformation processing unit 1a and the stationary coordinate transformation processing unit 2a is as follows. It is represented by the product of three matrices. The left side matrix T and the right side matrix T ⁻¹ are mutually inverse matrices, and the central matrix is a diagonal matrix. Therefore, when calculating the product of the transformation matrices, the product of the matrix T and the matrix T ⁻¹ becomes the unit matrix, and the product of the central matrices is calculated. Further, since the central matrix is a diagonal matrix of exponential functions, calculation is easy.

行列Ｔと行列Ｔ^-1との積は単位行列となるので無視することができ、中央の行列が対角行列なので対角要素どうしの積を計算すればよく、各対角要素が指数関数なので計算が容易になっている。 For example, the system shown in FIG. 5 is represented by a matrix shown in the following equation (10).

Since the product of the matrix T and the matrix T ⁻¹ is a unit matrix, it can be ignored. Since the central matrix is a diagonal matrix, the product of diagonal elements can be calculated, and each diagonal element is an exponential function. Calculation is easy.

  Since the calculation of the products of the transformation matrices is facilitated, the calculation is facilitated in the analysis of the system including the rotating coordinate transformation processing device 1 or the stationary coordinate transformation processing device 2. Thereby, even in a system including a signal processing device for rotational coordinate conversion processing or stationary coordinate conversion processing, system analysis can be facilitated.

であってもよい。 Note that the matrix T and the matrix T ⁻¹ of the transformation matrix are not limited to those described above. The matrix T and the matrix T ⁻¹ of the transformation matrix in the case of using the determinants shown in the equations (6) and (8) are,

It may be.

とすることができる。 Therefore, if the matrix T and the matrix T ⁻¹ of the transformation matrix are h ≠ 0,

It can be.

であってもよい。 Note that the matrix T and the matrix T ⁻¹ of the transformation matrix when using the determinants shown in the equations (7) and (9) are, for example,

It may be.

とすることができる。 Therefore, if the matrix T and the matrix T ⁻¹ of the transformation matrix are h ≠ 0,

It can be.

  In the above embodiment (hereinafter referred to as “first embodiment”), the case where the sine wave signals Xα and Xβ of the stationary coordinate system and the signals Xd and Xq of the rotating coordinate system are mutually converted has been described. It is not limited to this. For example, the present invention can also be applied to a signal processing apparatus that mutually converts three sine wave signals Xa, Xb, and Xc having mutually different phases by 2π / 3 and signals Xd and Xq of the rotating coordinate system. Hereinafter, an example of such a signal processing device will be described as a second embodiment.

  FIG. 2 is a block diagram for explaining a signal processing apparatus according to the second embodiment. FIG. 4A is a rotating coordinate conversion processing device that converts three sine wave signals Xa, Xb, and Xc in the stationary coordinate system that are different from each other by 2π / 3 to signals Xd and Xq in the rotating coordinate system. In FIG. 5B, the signals X′d and X′q in the rotating coordinate system are converted into three sine wave signals X′a, X′b and X′c in the stationary coordinate system which are different in phase by 2π / 3. It is a stationary coordinate transformation processing apparatus.

  The rotating coordinate conversion processing device 1 ′ shown in FIG. 5A includes a rotating coordinate conversion processing unit 1 a and a three-phase / two-phase conversion processing unit 1 b. The rotation coordinate conversion processing unit 1a is the same as that according to the first embodiment (see FIG. 1A).

  The three-phase / two-phase conversion processing unit 1b converts the three sine wave signals Xa, Xb, and Xc that are different in phase by 2π / 3 from each other to two sine wave signals Xα and Xβ that are different in phase by π / 2. Then, it is output to the rotation coordinate conversion processing unit 1a. The three-phase / two-phase conversion processing unit 1b performs so-called three-phase / two-phase conversion processing (αβ conversion processing), and converts the sine wave signals Xa, Xb, Xc into orthogonal α-axis components and β-axis components. The sine wave signals Xα and Xβ are generated by disassembling each of them and combining the respective axis components. The conversion process performed by the three-phase / two-phase conversion processing unit 1b is represented by the determinant shown in the above equation (1).

  For example, in the control device for performing output current control of a grid-connected inverter system that supplies power to a three-phase power system, the rotational coordinate conversion processing device 1 ′ outputs three feedback signals that detect the output current of each phase. It is used for signal processing (42 and 43 in FIG. 4) for converting into two signals of the rotating coordinate system.

  A stationary coordinate transformation processing device 2 'shown in FIG. 2B includes a stationary coordinate transformation processing unit 2a and a two-phase / three-phase transformation processing unit 2b. The stationary coordinate conversion processing unit 2a is the same as that according to the first embodiment (see FIG. 1B).

  The two-phase / three-phase conversion processing unit 2b receives two sinusoidal signals X′α and X′β that are input from the stationary coordinate conversion processing unit 2a and are different in phase by π / 2 from each other by 2π / 3. The signal is converted into two sine wave signals X′a, X′b, and X′c. The two-phase / three-phase conversion processing unit 2b performs so-called two-phase / three-phase conversion processing (reverse αβ conversion processing). What is the three-phase / two-phase conversion processing unit 1b (see FIG. 2 (a))? The reverse conversion process is performed. The conversion process performed by the two-phase / three-phase conversion processing unit 2b is represented by the determinant shown in the above equation (4).

  The stationary coordinate transformation processing device 2 ′ is, for example, a control device for performing output current control of a grid-connected inverter system that supplies power to a three-phase power system. It is used for signal processing (44 and 45 in FIG. 4) for converting into three sinusoidal signals for conversion into quantities.

  Also in the second embodiment, since the central matrix of the matrix (transformation matrix) used for each coordinate transformation process in the rotational coordinate transformation processing unit 1a and the stationary coordinate transformation processing unit 2a is a diagonal matrix of an exponential function, the rotational coordinate transformation process In the analysis of the system including the device 1 ′ or the static coordinate transformation processing device 2 ′, the calculation becomes easy. Thereby, even in a system including a signal processing device for rotational coordinate conversion processing or stationary coordinate conversion processing, system analysis can be facilitated.

  The signal processing apparatus according to the present invention is not limited to the above-described embodiment. The specific configuration of each part of the signal processing apparatus according to the present invention can be modified in various ways. For example, it can be applied to a grid interconnection inverter used for an electric motor or renewable energy. When applied to a grid-connected inverter used for electric motors and renewable energy, the amount of calculation can be greatly reduced, and the control frequency can be increased accordingly, and more accurate and faster control can be realized.

DESCRIPTION OF SYMBOLS 1,1 'Rotating coordinate transformation processing apparatus 1a Rotating coordinate transformation processing part 1b Three-phase / two-phase transformation processing part 2,2' Static coordinate transformation processing apparatus 2a Static coordinate transformation processing part 2b Two-phase / three-phase transformation processing part

Claims (10)

The phase θ of the reference sine wave signal is expressed between the two sine wave signals Xα and Xβ having a phase difference of π / 2 and the two signals Xd and Xq of the rotating coordinate system, which are expressed in the stationary coordinate system. A signal processing device for coordinate transformation based on:
The matrix and its inverse matrix are multiplied from the left and right of the diagonalized rotation matrix by using ± 1 and ± j as matrix elements, and a matrix for diagonalizing the rotation matrix of the complex display and its inverse matrix A signal processing apparatus comprising coordinate conversion processing means using a rotation matrix expressed by the above. The phase θ of the reference sine wave signal is expressed between the two sine wave signals Xα and Xβ having a phase difference of π / 2 and the two signals Xd and Xq of the rotating coordinate system, which are expressed in the stationary coordinate system. An electric motor for coordinate conversion based on
The matrix and its inverse matrix are multiplied from the left and right of the diagonalized rotation matrix by using ± 1 and ± j as matrix elements, and a matrix for diagonalizing the rotation matrix of the complex display and its inverse matrix An electric motor comprising coordinate conversion processing means using a rotation matrix expressed by the above. The phase θ of the reference sine wave signal is expressed between the two sine wave signals Xα and Xβ having a phase difference of π / 2 and the two signals Xd and Xq of the rotating coordinate system, which are expressed in the stationary coordinate system. Based on a grid-connected inverter used for renewable energy for coordinate transformation,
The matrix and its inverse matrix are multiplied from the left and right of the diagonalized rotation matrix by using ± 1 and ± j as matrix elements, and a matrix for diagonalizing the rotation matrix of the complex display and its inverse matrix A grid interconnection inverter used for renewable energy, characterized by comprising coordinate conversion processing means using a rotation matrix expressed by the above. Based on the phase θ of the sine wave signal as a reference, the two sine wave signals Xα and Xβ having a phase difference of π / 2 expressed in the stationary coordinate system are converted into two signals Xd and Xq of the rotating coordinate system. A signal processing device for conversion,
Using the following determinant, comprising rotational coordinate conversion processing means for calculating the signals Xd, Xq from the sine wave signals Xα, Xβ,
A signal processing apparatus.

Based on the phase θ of the sine wave signal as a reference, the two sine wave signals Xα and Xβ whose phases are different from each other by π / 2 expressed in the stationary coordinate system are converted into two signals Xd and Xq of the rotating coordinate system. A signal processing device for conversion,
Using the following determinant, comprising rotational coordinate conversion processing means for calculating the signals Xd, Xq from the sine wave signals Xα, Xβ,
A signal processing apparatus.

Three-phase / two-phase conversion processing means for converting three sine wave signals having phases different from each other by 2π / 3 to the two sine wave signals Xα and Xβ,
The signal processing apparatus according to claim 4 or 5. Two signals Xd and Xq expressed in the rotating coordinate system are converted into two sine wave signals Xα and Xβ having a phase difference of π / 2 in the stationary coordinate system based on the phase θ of the reference sine wave signal. A signal processing device for
Using the following determinant, comprising static coordinate conversion processing means for calculating the sine wave signals Xα, Xβ from the signals Xd, Xq,
A signal processing apparatus.

Two signals Xd and Xq expressed in the rotating coordinate system are converted into two sine wave signals Xα and Xβ having a phase difference of π / 2 in the stationary coordinate system based on the phase θ of the reference sine wave signal. A signal processing device for
Using the following determinant, comprising static coordinate conversion processing means for calculating the sine wave signals Xα, Xβ from the signals Xd, Xq,
A signal processing apparatus.

Two-phase / three-phase conversion processing means for converting the two sine wave signals Xα and Xβ into three sine wave signals having phases different from each other by 2π / 3,
The signal processing apparatus according to claim 7 or 8.   The signal processing apparatus according to claim 6 or 9, wherein the three sine wave signals are output current signals of respective phases of three-phase alternating current.

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