JP5788057B1 - Synchronous machine controller - Google Patents

Abstract

Provided is a synchronous machine control device capable of estimating the temperature of a permanent magnet with high accuracy while driving a synchronous machine having a permanent magnet as a field without directly attaching a temperature detector to the permanent magnet. . A magnetic flux estimator 6 for estimating an armature flux linkage of the synchronous machine 1 based on a rotational speed, a voltage command and a current command of the synchronous machine 1, and a magnet temperature estimating means 7 for estimating the temperature of a permanent magnet. The magnet temperature estimation means 7 inputs the current command and the output of the magnetic flux estimator 6, and the electric current command under the condition that the temperature of the permanent magnet is a predetermined temperature T 1 and the electric machine estimated by the magnetic flux estimator 6. The temperature of the permanent magnet based on the estimated value of the interlinkage magnetic flux and the amount of change in the armature linkage magnetic flux when the temperature of the permanent magnet changes to a temperature T2 different from the predetermined temperature T1 based on the predetermined temperature T1. Is estimated. [Selection] Figure 1

Description

  The present invention relates to a synchronous machine control device that is a control device for a synchronous machine having a permanent magnet as a field.

As is well known, when a synchronous machine having a permanent magnet as a field is controlled by a synchronous machine control device having a power conversion means such as an inverter, energization to the armature winding of the synchronous machine or iron loss of the synchronous machine itself is known. As the temperature rises due to, etc., the strength of magnetization of the field permanent magnet, that is, a phenomenon called `` demagnetization '' in which the magnetic flux decreases, and when the temperature exceeds the allowable temperature, the temperature drops to room temperature. However, a phenomenon called “irreversible demagnetization” occurs in which the magnetic flux does not return to the state before demagnetization occurs.
For this reason, when controlling a synchronous machine having a permanent magnet as a field, it is necessary to control at least the temperature of the permanent magnet to be equal to or lower than an allowable temperature at which irreversible demagnetization occurs.
However, it is difficult to attach the temperature detector directly to the permanent magnet because of the space problem in the structure of the synchronous machine and the surroundings being protected by a case. Many electric motors often have a permanent magnet inside the rotor, which is an even greater obstacle to mounting the temperature detector. For this reason, in order to perform control so that the temperature can be mainly suppressed to an allowable temperature or lower, a technique for indirectly measuring or estimating the temperature of the permanent magnet or the magnetic flux correlated with the temperature of the permanent magnet by some method is required. .

  As an example of a synchronous machine control device that solves such a problem, a q-axis voltage manipulated variable when demagnetization has not occurred in a permanent magnet in control using rotational biaxial coordinate (dq axis) conversion. Is stored as a map, and the q-axis voltage manipulated variable, which is an output of the PI controller when the synchronous machine is current-controlled by proportional integral (PI) control, and the map (demagnetized in the permanent magnet). There is a conventional apparatus in which the amount of demagnetization is calculated based on the q-axis voltage manipulated variable (when there is no occurrence) and the rotational angular velocity ω. (For example, Patent Document 1)

  As another example of a similar control device, when energizing the armature winding (stator winding), first, among the map data for each of the plurality of power supply voltages stored in the reference field current map, The map data corresponding to the battery terminal voltage output from the voltage detector is selected, and the torque and angle detected by the torque sensor from the map data for each of a plurality of predetermined reference magnet temperatures included in the selected map data. Map data corresponding to the rotation speed and q-axis current (which means field current in the present invention described later) output from the calculation unit is selected, and a predetermined reference magnet temperature corresponding to the selected map data is selected as the magnet temperature. There is a conventional apparatus that has a magnet temperature estimation unit that is set as an estimated value. (For example, Patent Document 2)

  As another example of a similar control device, step ST1 for measuring the rotational speed and current / voltage, step ST3 for estimating the temperature of the winding based on the measured values of the rotational speed and current / voltage, Step ST4 for estimating the resistance of the winding based on the estimated value of the winding temperature, Step ST5 for estimating the temperature of the rotor magnet unit based on the estimated value of the winding temperature, and the winding Estimated in the previous two steps, step ST6 for estimating the normal value of the induced voltage based on the estimated value of temperature, step ST7 for estimating the actual value of the induced voltage based on the estimated value of the winding resistance. A normal value and an actual value of the induced voltage coefficient are compared, and when the difference exceeds a predetermined threshold value, it is determined that demagnetization has occurred, and the demagnetization of the rotor magnet unit is sequentially performed. Judge state There are conventional devices to so that. (For example, Patent Document 3)

Japanese Patent No. 4223880 Japanese Patent No. 4652176 JP 2005-192325 A Japanese Patent No. 4672236 Japanese Patent No. 5291184

  In the conventional apparatus shown in Patent Document 1, although it is possible to determine whether or not demagnetization has occurred, a method for obtaining the magnet temperature is not disclosed, and some method for converting the magnet temperature from the demagnetized state is separately required. There was a problem of becoming. In particular, in order to determine the presence / absence of “irreversible demagnetization”, it is necessary to grasp the magnet temperature.

  In the conventional apparatus shown in Patent Document 2, in order to create a lot of map data for estimating the magnet temperature by measuring while changing the magnet temperature for many parameters including the torque, the rotation speed, and the power supply voltage, There has been a problem that a great effort is required to create these map data.

  In the conventional apparatus shown in Patent Document 3, in the demagnetization detection method of the permanent magnet motor of Patent Document 3, the ratio between the temperature increase of the armature winding and the temperature increase of the rotor permanent magnet is experimentally determined in advance. The temperature of the permanent magnet is estimated based on the temperature of the armature winding, but the thermal time constant differs greatly between the armature winding and the permanent magnet. Since other factors also affect, it is difficult to uniquely determine the temperature rise of the rotor permanent magnet with respect to the temperature rise of the armature winding, and the magnet temperature based on the temperature of the armature winding for various conditions There is a problem that it is not easy to accurately estimate the value.

  The present invention has been made to solve the above-described problems in the conventional synchronous machine control device, and a temperature detector is directly attached to a permanent magnet while driving a synchronous machine having a permanent magnet as a field. An object of the present invention is to provide a synchronous machine control device capable of estimating the temperature of a permanent magnet with high accuracy.

The synchronous machine control device according to the present invention is a power conversion means for outputting a voltage based on a voltage command to a synchronous machine having a permanent magnet as a field,
Current detecting means for detecting an armature current of the synchronous machine;
Position detecting means for estimating or detecting the rotor position of the synchronous machine;
Current control on the rotation orthogonal two-axis (dq axis) coordinates based on the current command and the armature current coordinate-converted on the rotation orthogonal two-axis (dq axis) coordinates based on the rotor position. A current controller that generates the voltage command by performing
A magnetic flux estimator that estimates an armature linkage magnetic flux of the synchronous machine based on a rotation speed of the synchronous machine calculated from a change in the rotor position, the voltage command, and the current command, and a temperature of the permanent magnet A magnet temperature estimating means for estimating
The magnet temperature estimation means includes a first magnetic flux map indicating a correlation between the current command and the armature linkage magnetic flux under a condition where the temperature of the permanent magnet is a predetermined temperature T1, and the current command and the permanent magnet. The magnetic flux change map showing the correlation with the change amount of the armature linkage magnetic flux when the temperature of the armature is changed to a temperature T2 different from the temperature T1 with respect to the temperature T1,
The temperature of the permanent magnet is estimated based on the estimated value of the armature flux linkage estimated by the magnetic flux estimator, the first magnetic flux map, and the magnetic flux change map .

The present invention relates to power conversion means for outputting a voltage based on a voltage command to a synchronous machine having a permanent magnet as a field, current detection means for detecting an armature current of the synchronous machine, and estimating a rotor position of the synchronous machine Alternatively , based on the position detection means to detect, the current command and the armature current coordinate-converted on the rotation orthogonal biaxial (dq axis) coordinates based on the rotor position, the rotation orthogonal biaxial (dq A current controller that generates the voltage command by performing current control on the (axis) coordinate, and based on the rotation speed of the synchronous machine calculated from the change in the rotor position, the voltage command, and the current command. A magnetic flux estimator for estimating an armature interlinkage magnetic flux of a synchronous machine; and a magnet temperature estimating means for estimating a temperature of the permanent magnet, wherein the magnet temperature estimating means has a condition that the temperature of the permanent magnet is a predetermined temperature T1. Before A first magnetic flux map showing a correlation between a current command and the armature interlinkage magnetic flux, and the temperature when the temperature of the current command and the permanent magnet changes to a temperature T2 different from the temperature T1 based on the temperature T1. A magnetic flux change map indicating a correlation with the change amount of the armature interlinkage magnetic flux, and the estimated value of the armature interlinkage magnetic flux estimated by the magnetic flux estimator, the first magnetic flux map, and the magnetic flux change map . Since the temperature of the permanent magnet is estimated based on the current command, the temperature of the armature is estimated while grasping the change of the armature linkage magnetic flux with respect to the change of the magnet temperature that differs according to the current command. Therefore, it is possible to obtain a remarkable effect that is not possible in the past, such that the temperature of the permanent magnet can be accurately estimated under changing current (load) conditions.

BRIEF DESCRIPTION OF THE DRAWINGS It is a figure which shows Embodiment 1 of this invention, and is a figure which shows the whole synchronous machine system including the synchronous machine control apparatus and the synchronous machine 1. FIG. It is a figure which shows Embodiment 1 of this invention, and is a figure which shows the whole synchronous machine system containing the other embodiment of a synchronous machine control apparatus, and the synchronous machine 1. FIG. It is a figure which shows Embodiment 1 of this invention, and is a block diagram which shows an example of a structure of the magnet temperature estimation means 7. FIG. FIG. 5 is a diagram showing the first embodiment of the present invention, and is a conceptual diagram of a first magnetic flux map 71 constituting the magnet temperature estimating means 7. FIG. 5 is a diagram showing the first embodiment of the present invention and a conceptual diagram of a magnetic flux change map 70 constituting the magnet temperature estimating means 7. FIG. 5 is a diagram illustrating the first embodiment of the present invention, and is a diagram illustrating an example of a demagnetization ratio of a d-axis magnetic flux with respect to a magnet temperature increase of 10 ° C. under a plurality of currents Id and Iq on a dq axis. is there. It is a figure which shows Embodiment 2 of this invention, and is a block diagram which shows an example of a structure of the magnet temperature estimation means 7a. It is a figure which shows Embodiment 2 of this invention, and is a conceptual diagram of the 2nd magnetic flux map 72 which comprises the magnet temperature estimation means 7a. It is a figure which shows Embodiment 3 of this invention, and is a block diagram which shows an example of a structure of the magnet temperature estimation means 7b. It is a figure which shows Embodiment 3 of this invention, and is a conceptual diagram which shows an example of the correlation with the magnet temperature and d-axis magnetic flux on the conditions of the electric current Id and Iq on a fixed dq axis. It is a figure which shows Embodiment 4 of this invention, and is a figure which shows the whole synchronous machine system including the synchronous machine control apparatus and the synchronous machine 1. FIG. It is a figure which shows Embodiment 5 of this invention, and is a figure which shows the whole synchronous machine system including the synchronous machine control apparatus and the synchronous machine 1. FIG. It is a figure which shows Embodiment 6 of this invention, and is a figure which shows the whole synchronous machine system containing the synchronous machine control apparatus and the synchronous machine 1. FIG.

Embodiment 1 FIG.
A synchronous machine control device according to Embodiment 1 of the present invention will be described with reference to FIG.
The synchronous machine control device according to the present invention has a current command (in the present invention, on the rotation orthogonal two-axis (dq axis) coordinates (hereinafter abbreviated as dq axis) from a host system not shown in FIG. It is assumed that the torque command is given from the current command Id *, Iq *) or higher system. As an example of the host system, when the present invention is applied to an electric vehicle (EV) or a hybrid vehicle vehicle including both an internal combustion engine and a motor, and further to an electric vehicle such as a railway vehicle, There are vehicle control devices that determine the current command or torque command according to the input amount of the accelerator (notch) and brake from the driver (operator), the vehicle speed, and various input amounts, etc. In addition, factory automation (FA), elevator There are host systems that generate current commands based on various factors in applications.
Further, the estimated temperature value Tmag of the permanent magnet that forms the field of the synchronous machine 1 estimated by the synchronous machine control device of the present invention is transmitted to the higher system, and the estimated value is used for controlling the higher system. You may do it. However, in the present invention, the host system that gives the current command is not limited, and the description of the host system is limited to the above example.
FIG. 1 is a system configuration diagram including the synchronous machine 1 for explaining the synchronous machine control device according to the first embodiment. In addition, the synchronous machine 1 in this invention has a permanent magnet as a field.

Hereinafter, the configuration of the synchronous machine control device for driving the synchronous machine 1 according to the first embodiment and the function of the components will be described.
First, regarding the configuration necessary for driving the synchronous machine 1 in the first embodiment, the flow from the output side of the power conversion means 2 to the generation of the voltage command on the input side of the power conversion means 2 will be described.

In the configuration of the synchronous machine control device that drives the synchronous machine 1 according to the first embodiment of the present invention, a well-known PWM (pulse) that converts electric power supplied from the power source 23 into multiphase AC power and outputs a multiphase AC voltage. Width modulation) A voltage command obtained by a current controller 5 having a configuration described later, strictly speaking, an output from the current controller 5 is connected to the power conversion means 2 including an inverter and the armature winding of the synchronous machine 1. The electric power based on the multiphase AC voltage command obtained by converting the coordinate command by the coordinate converter 21b based on the rotor position θ of the synchronous machine 1 obtained by the position detecting means 4 having the configuration described later. The conversion means 2 outputs a multiphase voltage to the synchronous machine 1 and drives the synchronous machine 1. As a result, an output current is generated in the armature winding of the synchronous machine 1. The output current generated in the armature winding is hereinafter referred to as an armature current.
The power supply 23 according to the first embodiment of the present invention includes a power supply that outputs a DC voltage, a battery such as a battery, or a power supply that obtains a DC voltage from a single-phase or three-phase AC power supply by a known converter. 23.

  The armature current that is the output current of the synchronous machine 1 is detected by the current detection means 3 including a current sensor. In addition, when the synchronous machine 1 is a three-phase rotating machine, the current detection means 3 detects the armature current of all phases among the three-phase armature currents iu, iv, iw of the synchronous machine 1, or The armature current iw of one phase (for example, w phase) is obtained from the relationship of iw = −iu−iv in a three-phase equilibrium state using the detected armature currents iu and iv of the two phases. A configuration for detecting two-phase armature currents may be used. Further, in addition to the method of directly detecting the armature current of each phase, a method of detecting the armature current based on a DC link current flowing between the power supply 13 and the power conversion means 2, which is a well-known technique, may be used.

  The position detection means 4 detects the rotor position θ of the synchronous machine 1 using a known resolver, encoder, or the like, or estimates by calculation using a voltage command, an armature current, or the like. Here, the rotor position θ of the synchronous machine 1 generally indicates an angle in the N-pole direction of the permanent magnet with respect to the axis taken with reference to the u-phase armature winding. Further, a rotation orthogonal biaxial coordinate (hereinafter referred to as dq axis) that rotates at the rotational speed (electrical angular frequency ω) of the synchronous machine 1 is defined, and the d axis is in the N-pole direction of the permanent magnet as usual. That is, it is determined in the field magnetic flux direction, and the q axis is determined in the orthogonal direction advanced by 90 ° with respect to the d axis. The following description also follows the definition of this coordinate axis.

The position detection means 4 in FIG. 1 shows an example in which the rotor position θ of the synchronous machine 1 is detected using a known resolver, encoder, etc., but a voltage command or armature is applied by applying a known adaptive observer or the like. The rotor position θ may be estimated from the current or the like.
FIG. 2 is a system configuration diagram including the synchronous machine control device including the position detector 4a for obtaining the rotor position θ by the estimation calculation and the synchronous machine 1, unlike FIG. The configuration of the position detection means 4a can be realized by the configuration shown in Patent Documents 4 and 5, for example, and is therefore omitted in the text.

Note that the difference between FIG. 1 and FIG. 2 is only the portion related to the position detection means 4 (4a), and the other configurations are the same.
In the embodiment described later, description will be made based on an example in which the rotor position θ of the synchronous machine 1 is detected using the known resolver, encoder, etc. of FIG. 1, but the known adaptive observer of FIG. Needless to say, the present invention can also be applied to a method of estimating the rotor position θ from a voltage command, an armature current, or the like.

The coordinate converter 21a converts the armature currents iu, iv, and iw of the synchronous machine 1 into currents Id and Iq on the dq axis based on the rotor position θ by the calculation of equation (1).

The current controller 5 outputs the voltage commands Vd * and Vq * on the dq axis so that the currents Id and Iq on the dq axis match the desired current commands Id * and Iq *. The current controller 5 performs proportional integral control (PI control) of equation (2) based on the deviation between the current command Id *, Iq * on the dq axis and the current Id, Iq on the dq axis. To generate voltage commands (current feedback control commands) Vd * and Vq * on the dq axis.
Here, Kpd is a current control d-axis proportional gain, Kid is a current control d-axis integral gain, Kpq is a current control q-axis proportional gain, Kiq is a current control q-axis integral gain, and s is a Laplace operator. The inverse 1 / s of the Laplace operator s means one time integration.
In addition, the current controller 5 calculates a voltage feedforward term using motor parameters such as an inductance value and a resistance value and the rotational speed ω, and applies a known voltage non-interference control that is added to the current feedback control command. The voltage commands Vd * and Vq * on the dq axis may be obtained as voltage commands.

In order to perform the voltage feedforward control, it is necessary to input the rotational speed ω, which is not described as the input of the current controller 5 in FIG. 1 (FIG. 2), to the current controller 5, and the position detection means 4 (or A differential operation is performed using the rotor position θ detected in 4a) to obtain a rotational speed ω.
The voltage commands Vd * and Vq * on the dq axes output from the current controller 5 are converted into voltage commands vu * and vv * based on the rotor position θ by the calculation of the expression (3) in the coordinate converter 21b. , Vw * and output to the power conversion means 2.
As described above, the power conversion means 2 outputs the voltages vu, vv, vw to the synchronous machine 1 by a known PWM (pulse width modulation) method or the like based on the voltage commands vu *, vv *, vw *.
The above is the configuration necessary for driving the synchronous machine 1 in the first embodiment.

Next, the magnetic flux estimator 6 and the magnet temperature estimator 7 which are the components necessary for estimating the temperature of the permanent magnet forming the field of the synchronous machine 1, which is a feature of the present invention, will be described.
The magnetic flux estimator 6 uses the rotational speed ω, the voltage commands Vd * and Vq * on the dq axes, and the current commands Id * and Iq * on the dq axes (dq instead of Id * and Iq *). The state quantity related to the armature linkage magnetic flux Φ is estimated based on the currents Id and Iq on the axis). The armature interlinkage magnetic flux Φ refers to a combined magnetic flux of a permanent magnet magnetic flux Φm and a magnetic flux (armature reaction magnetic flux) Φa generated by the armature current.

As a suitable method for estimating the state quantity related to the armature linkage magnetic flux Φ, the voltages Vd and Vq on the dq axis and the d axis component Φd of the armature linkage flux Φ (hereinafter referred to as d axis magnetic flux), The absolute value of the armature linkage flux Φ by the calculation of equation (4), which is a relational expression with the q-axis component Φq (hereinafter referred to as q-axis magnetic flux), and if necessary, the calculation of equation (5). There is a method for obtaining | Φ |.
Here, Ld: inductance in the d-axis direction (hereinafter referred to as d-axis inductance), Lq: inductance in the q-axis direction (hereinafter referred to as q-axis inductance), R: resistance (the armature winding of the synchronous machine 1) When the resistance is mainly and the influence of the wiring resistance between the synchronous machine 1 and the power conversion means 2 is so large that it cannot be ignored, the wiring resistance is also taken into consideration). The Laplace operator s means one time differentiation, but it is not necessary to consider the derivative term in the steady state.

In the configuration of FIGS. 1 and 2 in the first embodiment, since the actual values of the voltages Vd and Vq on the dq axis are unknown, dq is substituted for the voltages Vd and Vq on the dq axis. By using the voltage commands Vd * and Vq * on the axis and calculating the equation (6), the d-axis component Φde of the estimated value Φe of the armature linkage magnetic flux Φ (hereinafter referred to as the estimated d-axis magnetic flux), the q-axis The absolute value | Φe | of the estimated value Φe of the armature flux linkage Φ is obtained by the calculation of the component Φqe (hereinafter referred to as the q-axis magnetic flux estimated value) and the equation (7) as necessary.
At that time, since the q-axis voltage command Vq * is 0 and Φde = 0 before the start of driving of the synchronous machine 1 (stopped state), a predetermined value is used as an initial value of Φde at the start of driving of the synchronous machine 1. A permanent magnet magnetic flux value (Φm0) is given.

The rotor position θ detected by the position detector 4 (or 4a) is included in the input of the magnetic flux estimator 6 in FIG. 1 (FIG. 2). This is based on the rotor position θ. It is assumed that the process of obtaining the rotational speed ω by performing the differential operation is included in the process of the magnetic flux estimator 6, and if the process is performed by another component, the magnetic flux estimator 6 is not necessarily required. Does not need to include the rotor position θ.
In the calculation of the equation (6), it is possible to ignore the term including the Laplace operator s in the equation (5) on the assumption that the change in current is gentle.

FIG. 3 is a configuration diagram showing an example of the configuration of the magnet temperature estimation means 7 in the synchronous machine control device according to the first embodiment.
As shown in FIG. 3, the magnet temperature estimation means 7, which is one of the features of the synchronous machine control device according to Embodiment 1 of the present invention, includes a first magnetic flux map 71, a magnetic flux change map 70, and a magnet temperature conversion unit 79. When the synchronous machine 1 is driven with the current commands Id * and Iq * on the dq axes, the estimated d-axis magnetic flux Φde estimated by the magnetic flux estimator 6, the first magnetic flux map 71, and the magnetic flux change Based on the map 70, the estimated permanent magnet temperature Tmag of the synchronous machine 1 is output.

FIG. 4 is a conceptual diagram of the first magnetic flux map 71, and ranges of current commands Id * and Iq * on the dq axes necessary for driving the synchronous machine 1 in the entire operation region (in FIG. Assuming the range of d-axis current command Id * is -100 [A] to 0 [A] and the range of q-axis current command Iq * is -100 [A] to +100 [A]. , The correlation between the current commands Id * and Iq * on the dq axes when the permanent magnet of the synchronous machine 1 is at the temperature T1 and the d-axis component of the armature flux linkage Φ (referred to as Φd1) This is obtained by mapping using a known or well-known magnetic field analysis tool.
(At the time of correlation mapping, association with the currents Id and Iq on the dq axis may be used instead of the current commands Id * and Iq *, and the same applies to the following mappings.)
Based on the first magnetic flux map 71, the current commands Id * and Iq * on the dq axes are transferred to the d-axis component Φd1 of the armature linkage flux Φ under the condition that the permanent magnet of the synchronous machine 1 is at the temperature T1. Convert and output.
If the mapped current command condition does not match the current command given when the synchronous machine 1 is driven, an estimated value is output using linear interpolation or approximation. (Similar methods are used for other maps.)

  FIG. 5 is a conceptual diagram of the magnetic flux change map. In the range of current commands Id * and Iq * on the dq axes necessary for driving the synchronous machine 1 in the entire operation region, Current command Id on the dq axis when the permanent magnet of the synchronous machine 1 changes from temperature T1 to temperature T2 different from temperature T1 by ΔT0 on the premise that the current commands Id * and Iq * are constant. The correlation between *, Iq * and the amount of change of the d-axis component of the armature flux linkage Φ (referred to as ΔΦd0) is obtained and mapped using actual machine experiments or a well-known magnetic field analysis tool.

  Based on the magnetic flux change map 70, the armature chain when the current command Id * and Iq * on the dq axis is changed by ΔT0 from the temperature T1 to the temperature T2 different from the temperature T1 by the permanent magnet of the synchronous machine 1 It is converted into a change amount ΔΦd0 of the d-axis component of the magnetic flux Φ and output. The temperatures T1 and T2 are preferably set to the upper and lower limits of the temperature change range of the permanent magnet that can be changed by driving the synchronous machine 1 (forming the field of the synchronous machine 1). In the present invention, the magnitude relationship between the temperatures T1 and T2 does not matter.

The magnet temperature conversion unit 79 estimates the d-axis magnetic flux estimated value Φde (at the temperature T1) estimated by the magnetic flux estimator 6 when the synchronous machine 1 is driven with the current commands Id * and Iq * on the dq axes. From the d-axis component Φd1 of the armature linkage flux Φ obtained from the first magnetic flux map 71 and the change amount ΔΦd0 of the d-axis component of the armature linkage flux Φ obtained from the flux change map 70, based on the equation (8). The estimated permanent magnet temperature Tmag of the synchronous machine 1 is output.
With the above configuration, the temperature of the permanent magnet of the synchronous machine 1 when the synchronous machine 1 is driven with the current commands Id * and Iq * on the dq axes can be estimated.

  In the above-described configuration, the method of estimating the temperature of the permanent magnet using the estimated d-axis magnetic flux Φde is shown, but the absolute value of the estimated value Φe of the armature linkage flux Φ instead of the estimated d-axis magnetic flux Φde It is also possible to estimate using Φe |.

  In this case, the first magnetic flux map 71a indicates that the permanent magnet of the synchronous machine 1 is in the entire range of the current commands Id * and Iq * on the dq axes necessary for driving the synchronous machine 1 in the entire operation region. The correlation between the current commands Id * and Iq * on the dq axes in the state of temperature T1 and the absolute value of the armature linkage magnetic flux Φ (referred to as | Φ1 |) Etc. are used to find and map them. Based on the first magnetic flux map 71a, the current commands Id * and Iq * on the dq axes are calculated based on the absolute value | Φ1 of the armature linkage magnetic flux Φ under the condition that the permanent magnet of the synchronous machine 1 is at the temperature T1. Convert to | and output.

In addition, the magnetic flux change map 70a shows the current command Id * on the dq axis in the entire range of the current command Id * and Iq * on the dq axis necessary for driving the synchronous machine 1 in the entire operation region. Assuming that Iq * is constant, current commands Id * and Iq * on the dq axis and armature flux linkage when the permanent magnet of synchronous machine 1 changes from temperature T1 to temperature T2 by ΔT0 The correlation with the amount of change of the absolute value of Φ (referred to as | ΔΦ0 |) is obtained and mapped using actual machine experiments or a well-known magnetic field analysis tool. Based on the magnetic flux change map 70a, the current command Id *, Iq * on the dq axis is changed to the armature interlinkage magnetic flux Φ when the permanent magnet of the synchronous machine 1 is changed by ΔT0 from the temperature T1 to the temperature T2. Absolute change |
Convert to ΔΦ0 | and output.

  If these output values are used, the absolute value of the armature flux linkage estimated value Φe estimated by the magnetic flux estimator 6 when the synchronous machine 1 is driven by the current commands Id * and Iq * on the dq axes | Φe And the absolute value | Φ1 | of the armature linkage magnetic flux Φ obtained from the first magnetic flux map 71a and the change amount | ΔΦ0 | of the absolute value of the armature linkage magnetic flux Φ obtained from the magnetic flux change map 70a Similarly, the permanent magnet temperature estimated value Tmag of the synchronous machine 1 can be output.

Next, the principle of estimating the permanent magnet temperature of the synchronous machine 1 by the above method will be described.
The relational expression between the currents Id and Iq on the dq axis and the d-axis magnetic flux Φd and the q-axis magnetic flux Φq is expressed by using the d-axis inductance Ld, the q-axis inductance Lq, and the permanent magnet magnetic flux Φm as follows: Become.
If the d-axis current Id and the d-axis inductance Ld are constant, if the permanent magnet magnetic flux Φm changes due to a temperature change of the permanent magnet, the change appears in the d-axis magnetic flux Φd. Therefore, if the correlation between the d-axis magnetic flux Φd under the current Id and Iq conditions on the predetermined dq axis and the temperature Tm of the permanent magnet is known, the temperature Tm of the permanent magnet can be estimated.
However, the correlation between the permanent magnet magnetic flux Φm, that is, the d-axis magnetic flux Φd and the temperature Tm of the permanent magnet differs depending on the magnetic saturation state of the synchronous machine 1 that changes depending on the magnitude of the armature current.

For example, when a permanent magnet having a characteristic of demagnetizing at a rate of 1% with respect to a magnet temperature increase of 10 ° C. in a single state not incorporated in the motor is incorporated as a field magnet of the synchronous machine 1, magnetic saturation is caused. In the relaxed state (the absolute value of the q-axis current Iq is small, light load conditions, etc.), the demagnetization of the d-axis magnetic flux Φd is approximately 1% with respect to a temperature increase of 10 ° C. as in the case of the single unit. Occur.
However, in the magnetic saturation state where the absolute value of the q-axis current is large, the demagnetization occurs at a rate of 0.6 to 1.0% with respect to the temperature increase of 10 ° C. Is not uniform for current conditions. (The amount of change depends not only on the q-axis current Iq but also on the d-axis current Id.)

FIG. 6 is a table showing an example of the demagnetization ratio of the d-axis magnetic flux Φd with respect to a magnet temperature increase of 10 ° C. under conditions of currents Id and Iq on a plurality of dq axes.
In practice, the permanent magnet magnetic flux Φm changes and the magnetic saturation state slightly changes due to the temperature change of the permanent magnet. Therefore, even if the currents Id and Iq on the dq axis are constant, When the temperature changes, the values of the d-axis inductance Ld and the q-axis inductance Lq also change.

Therefore, when the temperature Tm of the permanent magnet changes, both the d-axis inductance Ld and the permanent magnet magnetic flux Φm change, and the magnitude of the change with respect to the magnet temperature change depends on the dq-axis current Id and Iq (that is, the load condition). Different.
That is, when the estimated d-axis magnetic flux Φde is obtained from the equation (6), it is separated into the armature reaction magnetic flux (Ld · Id) and the permanent magnet magnetic flux Φm caused by the d-axis inductance Ld and the d-axis current Id. It is difficult to obtain a direct correlation between the permanent magnet temperature Tm and the permanent magnet magnetic flux Φm.

Therefore, in order to accurately estimate the temperature of the permanent magnet, it is necessary to grasp the correlation between the temperature Tm of the permanent magnet and the d-axis magnetic flux Φd for each of the current Id and Iq conditions on various dq axes. There is.
Therefore, in the first embodiment of the present invention, the magnet state estimating means 7 includes the first magnetic flux map 71, the magnetic flux change map 70, and the magnet temperature conversion unit 79, and the current command Id * on the dq axis. , Iq *, when the synchronous machine 1 is driven, the estimated permanent magnet temperature of the synchronous machine 1 based on the d-axis magnetic flux estimated value Φde estimated by the magnetic flux estimator 6, the first magnetic flux map 71, and the magnetic flux change map 70. Tmag is output.

In the permanent magnet temperature estimation according to the first embodiment of the present invention, when the permanent magnet temperature is estimated based on the d-axis magnetic flux estimated value Φde that is in the same direction as the field magnetic flux, the change in the magnet temperature can be seen from equation (9). Therefore, the sensitivity of the magnetic flux change with respect to the magnet temperature change can be improved, and the temperature estimation accuracy of the permanent magnet is improved.
However, as can be seen from the relationship between the equations (5) and (9), the change caused by the temperature change of the permanent magnet also appears in the absolute value | Φ | of the armature interlinkage magnetic flux. It goes without saying that the temperature of the permanent magnet can be estimated using the absolute value | Φ | instead of the d-axis component of the interlinkage magnetic flux.

The above is the description of the synchronous machine control device according to the first embodiment.
According to the first embodiment, the magnet temperature is estimated while accurately grasping the change in the armature linkage magnetic flux with respect to the change in the magnet temperature depending on the current command (magnetic saturation state of the synchronous machine). There is an effect that the temperature of the permanent magnet can be accurately estimated under any current (load) conditions without directly attaching a temperature detector to the.
Further, if the permanent magnet temperature estimation is performed based on the d-axis component armature linkage magnetic flux in the same direction as the field magnetic flux, the sensitivity of the magnetic flux change to the magnet temperature change can be improved, and the temperature of the permanent magnet can be estimated. The effect of improving accuracy is also obtained.

Embodiment 2. FIG.
Next, a synchronous machine control device according to Embodiment 2 of the present invention will be described.
The system configuration diagram in the second embodiment is the same as that in FIG. 1, but is different from the first embodiment in that the magnet temperature estimating means 7 is replaced with the magnet temperature estimating means 7a described below.
Hereinafter, the configuration of the magnet temperature estimating means 7a different from that of the first embodiment will be mainly described, and description of other identical portions will be appropriately omitted.

FIG. 7 is a configuration diagram showing an example of the configuration of the magnet temperature estimation means 7a in the synchronous machine control device according to the second embodiment.
As shown in FIG. 7, the magnet state estimating means 7a, which is one of the features of the synchronous machine control device according to Embodiment 2 of the present invention, is converted into a first magnetic flux map 71, a second magnetic flux map 72, and a magnet temperature conversion. Unit 79a, and when the synchronous machine 1 is driven by the current commands Id * and Iq * on the dq axes, the estimated d-axis magnetic flux Φde estimated by the magnetic flux estimator 6 and the first magnetic flux map 71 Based on the second magnetic flux map 72, the permanent magnet temperature estimated value Tmag of the synchronous machine 1 is output.
Note that the first magnetic flux map 71 has the same configuration as that shown in FIG. 4 of the first embodiment, and a description thereof will be omitted.

  In the first embodiment described above, the magnet state estimating means 7 determines that “the current commands Id * and Iq * on the dq axes and the armature linkage flux Φ d when the permanent magnet of the synchronous machine 1 is at the temperature T1. “Correlation with shaft component Φd1” and “d-axis of current commands Id * and Iq * on dq axis and armature linkage flux Φ when permanent magnet of synchronous machine 1 changes from temperature T1 to T2 by ΔT0 The temperature of the permanent magnet under the various current Id and Iq conditions on the dq axis necessary for accurately estimating the temperature of the permanent magnet from the two correlation information “correlation with the component variation ΔΦd0” The correlation between Tm and d-axis magnetic flux Φd is obtained.

  On the other hand, in the second embodiment described here, the magnet state estimating means 7a “in the state where the permanent magnet of the synchronous machine 1 is at the temperature T1, the current commands Id * and Iq * on the dq axes and the armature chain Correlation with d-axis component Φd1 of magnetic flux Φ (same as in the first embodiment) ”and“ current commands Id * and Iq * on the dq axes when the permanent magnet of the synchronous machine 1 is at temperature T2 and the armature The current Id on the various dq axes necessary for accurately estimating the temperature of the permanent magnet from the two correlation information of “correlation with the d-axis component of the flux linkage Φ (referred to as Φd2)” The difference from the first embodiment is that the correlation between the temperature Tm of the permanent magnet and the d-axis magnetic flux Φd under the Iq condition is obtained.

  FIG. 8 is a conceptual diagram of the second magnetic flux map 72. In the entire range of current commands Id * and Iq * on the dq axes necessary for driving the synchronous machine 1 in the entire operation region, the synchronous machine is shown. The correlation between the current command Id * and Iq * on the dq axis and the d-axis component Φd2 of the armature flux linkage Φ when the permanent magnet of 1 is at the temperature T1 is experimentally used or a well-known magnetic field analysis tool. It is obtained by mapping using the above.

Based on the second magnetic flux map 72, the current commands Id * and Iq * on the dq axes are transferred to the d-axis component Φd2 of the armature linkage flux Φ under the condition that the permanent magnet of the synchronous machine 1 is at the temperature T2. Convert and output.
The magnet temperature conversion unit 79a uses the d-axis magnetic flux estimated value Φde estimated by the magnetic flux estimator 6 and the first magnetic flux map 71 when the synchronous machine 1 is driven with the current commands Id * and Iq * on the dq axes. The permanent magnet temperature of the synchronous machine 1 based on the equation (10) from the d-axis component Φd1 of the armature linkage flux Φ obtained and the d-axis component Φd2 of the armature linkage flux Φ obtained from the second magnetic flux map 72. The estimated value Tmag is output.
With the above configuration, the temperature of the permanent magnet of the synchronous machine 1 when the synchronous machine 1 is driven with the current commands Id * and Iq * on the dq axes can be estimated.

In the second embodiment of the invention, it is also possible to estimate using the absolute value | Φe | of the estimated value Φe of the armature linkage magnetic flux Φ instead of the d-axis magnetic flux estimated value Φde.
In this case, the second magnetic flux map 72a indicates that the permanent magnet of the synchronous machine 1 is in the entire range of the current commands Id * and Iq * on the dq axes necessary for driving the synchronous machine 1 in the entire operation region. The correlation between the current commands Id * and Iq * on the dq axes at the temperature T2 and the absolute value of the armature linkage flux Φ (referred to as | Φ2 |) Etc. are used to find and map them. Based on the second magnetic flux map 72a, the current commands Id * and Iq * on the dq axes are calculated based on the absolute value | Φ2 of the armature linkage magnetic flux Φ under the condition that the permanent magnet of the synchronous machine 1 is at the temperature T2. Convert to | and output.

  If these output values are used, the absolute value of the armature flux linkage estimated value Φe estimated by the magnetic flux estimator 6 when the synchronous machine 1 is driven by the current commands Id * and Iq * on the dq axes | Φe And the absolute value | Φ1 | of the armature linkage magnetic flux Φ obtained from the first magnetic flux map 71a and the absolute value | Φ2 | of the armature linkage magnetic flux Φ obtained from the second magnetic flux map 72a. The estimated permanent magnet temperature Tmag of the synchronous machine 1 can be output to

The above is the description of the synchronous machine control device according to the second embodiment.
According to the second embodiment, as in the first embodiment, the magnet temperature can be accurately determined while accurately grasping the change in the armature linkage magnetic flux with respect to the change in the magnet temperature depending on the current command (magnetic saturation state of the synchronous machine). Therefore, the temperature of the permanent magnet can be accurately estimated under all current (load) conditions without directly attaching a temperature detector to the permanent magnet.

Embodiment 3 FIG.
Next, a synchronous machine control device according to Embodiment 3 of the present invention will be described.
The system configuration diagram in the third embodiment is the same as that in FIG. 1, but is different from the first and second embodiments in that the magnet temperature estimating means 7 is replaced with the magnet temperature estimating means 7b described below.
Hereinafter, the configuration of the magnet temperature estimating means 7b different from Embodiments 1 and 2 will be mainly described, and description of other identical portions will be omitted as appropriate.

FIG. 9 is a configuration diagram showing an example of the configuration of the magnet temperature estimation means 7b in the synchronous machine control device according to the second embodiment.
The magnet state estimation means 7b, which is one of the features of the synchronous machine control device according to Embodiment 3 of the present invention, has a temperature T1 of the permanent magnet in addition to the first magnetic flux map 71 and the second magnetic flux map 72. , T2 is characterized by having a magnetic flux map indicating the correlation between the current commands Id * and Iq * on the dq axis and the d-axis component of the armature flux linkage Φ under a temperature condition different from T2.

  In FIG. 9, the third magnetic flux map 73 is the same as the first magnetic flux map 71 and the second magnetic flux map 72 at the temperature T3 where the temperature of the permanent magnet is different from the temperatures T1 and T2. Current command Id * and Iq * on all dq axes and d-axis component of armature linkage flux Φ on dq axes necessary for driving in the operation range The correlation with (Φd3) is obtained and mapped using an actual machine experiment or a well-known magnetic field analysis tool.

  In addition, a magnetic flux map showing the correlation between the current commands Id * and Iq * on the dq axis and the d-axis component of the armature flux linkage Φ under conditions of temperatures different from the temperatures T1, T2, and T3. However, if the number of maps becomes large, a large amount of labor is required for creation, so the number of maps is kept to the minimum necessary.

  As described above, in the magnetic saturation state in which the absolute value of the q-axis current is large, the change of the d-axis magnetic flux Φd with respect to the magnet temperature change is not uniform with respect to the current condition, and can be changed by driving the synchronous machine 1. When the temperature change range of the permanent magnet (which forms the field of the synchronous machine 1) is large, the change of the d-axis magnetic flux Φd with respect to the magnet temperature change is not uniform with respect to the current condition even if the current condition is fixed. There is. In general, as the temperature of the permanent magnet increases, the change of the d-axis magnetic flux Φd with respect to the magnet temperature tends to increase. In view of this phenomenon, such a phenomenon is obtained by obtaining the magnetic flux map for three or more temperature conditions. The temperature of the permanent magnet can be accurately estimated.

  FIG. 10 is a conceptual diagram showing an example of the correlation between the magnet temperature Tm and the d-axis magnetic flux under the conditions of currents Id and Iq on a certain dq axis. In the example of the figure, the temperature change range of the permanent magnet that can be changed by driving the synchronous machine 1 (forming the field of the synchronous machine 1) is T1 to T3, and d with respect to the magnet temperature change in the vicinity of the temperature T2. 1 shows a synchronous machine 1 having a characteristic in which the change (ratio) of the axial magnetic flux Φd changes. In such a case, the correlation between the current commands Id * and Iq * on the dq axis and the d-axis component of the armature flux linkage Φ under the three magnet temperature conditions of temperatures T1, T2, and T3 is shown. A configuration having a magnetic flux map is desirable.

The above is the description of the synchronous machine control device according to the third embodiment.
According to the third embodiment, by providing a plurality of magnetic flux maps for current commands under different permanent magnet temperature conditions, even when the temperature change range of the permanent magnet that can be changed by driving the synchronous machine 1 is large, Since it is possible to more accurately correct the change in the armature linkage magnetic flux with respect to different magnet temperature changes according to the current command, there is an effect of improving the temperature estimation accuracy of the permanent magnet.

Embodiment 4 FIG.
Next, a synchronous machine control device according to Embodiment 4 of the present invention will be described.
FIG. 11 is a system configuration diagram including the synchronous machine 1 for explaining the synchronous machine control device according to the fourth embodiment.

  As shown in FIG. 11, the synchronous machine control apparatus according to Embodiment 4 of the present invention adds temperature detecting means 8 for detecting the armature winding temperature of the synchronous machine 1, and the magnetic flux estimator 6a uses the rotational speed. The armature linkage magnetic flux of the synchronous machine 1 is estimated based on the voltage command, the current command, and the armature winding temperature.

In the following, description will be made centering on the configuration of the magnetic flux estimator 6a different from the first to third embodiments and the newly added temperature detecting means 8, and description of other identical parts will be omitted as appropriate.
The magnetic flux estimator 6a calculates the d axis by calculating the equation (6) based on the rotational speed ω, the voltage commands Vd * and Vq * on the dq axes, and the current commands Id * and Iq * on the dq axes. The magnetic flux estimated value Φde and the q-axis magnetic flux estimated value Φqe are obtained. In that case, the point which newly considers the temperature change of resistance R differs from Embodiment 1-3.

  The resistance of the armature winding that is the main component of the resistance R of the synchronous machine 1 has a temperature characteristic in which the resistance value varies depending on the armature winding temperature Ta. If the change in the q-axis voltage command Vq * due to the temperature change of the resistor R is at a level that does not affect the estimated d-axis magnetic flux Φde, the temperature change of the resistor R may not be considered. When the resistance of the child winding is large, an error is likely to occur in the d-axis magnetic flux estimated value Φde.

Accordingly, when the resistance of the armature winding is large, the temperature change of the resistance R is corrected and the calculation of the equation (6) is performed so that the d-axis magnetic flux estimated value Φde with a small error can be obtained. The child winding temperature Ta is estimated by the temperature detecting means 8, and the temperature of the resistance (value) R is corrected based on the estimated temperature.
The temperature detection means 8 performs a temperature correction of the resistance (value) R by obtaining a correlation between the armature winding temperature Ta and the resistance R in advance using a known temperature sensor or the like.

The above is the description of the synchronous machine control device according to the fourth embodiment.
According to the fourth embodiment, by detecting the armature winding temperature and reflecting the temperature in the armature linkage magnetic flux estimation operation of the synchronous machine 1, the estimation accuracy of the armature linkage flux is improved. As a result, the temperature estimation accuracy of the permanent magnet is improved.

Embodiment 5 FIG.
Next, a synchronous machine control device according to Embodiment 5 of the present invention will be described.
FIG. 12 is a system configuration diagram including the synchronous machine 1 for explaining the synchronous machine control device according to the fifth embodiment.

As shown in FIG. 12, the synchronous machine control device according to Embodiment 5 of the present invention limits the current command on the dq axis based on the permanent magnet temperature estimated value Tmag estimated by the magnet temperature estimating means 7. Command restriction means 9 is added.
In the current command on the dq axes in FIG. 12, for convenience, the command before limitation on the input side of the current command limiting unit 9 is Id0 *, Iq0 *, and the command on the output side of the current command limiting unit 9 after limitation. Are Id * and Iq *.
Hereinafter, a description will be given centering on the configuration of the newly added current command limiting means 9, and description of other identical parts will be omitted as appropriate.

One of the purposes for estimating the temperature Tm of the permanent magnet of the synchronous machine 1 is to suppress the temperature below an allowable temperature at which irreversible demagnetization occurs.
When the armature current (effective value) of the synchronous machine 1 increases, the overall temperature of the synchronous machine 1 including the permanent magnet also increases due to heat generated in the synchronous machine 1 (heat generated by the resistance of the armature winding, etc.). The demagnetization of the permanent magnet further proceeds. Furthermore, when the temperature exceeds the allowable temperature, there is a possibility of irreversible demagnetization in which the magnetic flux does not return to the state before demagnetization occurs even when the temperature falls to room temperature.

Thus, when the temperature of the synchronous machine 1 rises, the current command limiting means 9 limits the current command on the dq axes in accordance with the permanent magnet temperature estimated value Tmag to reduce the armature current (effective value). Thus, the temperature is further suppressed.
The correlation between the estimated permanent magnet temperature value Tmag and the current command limit value is set according to the driving conditions such as the rotational speed of the synchronous machine 1 that are related to the iron loss, the heat capacity of the synchronous machine 1 and the cooling performance.

As a simple method, as shown in the equation (11), the square sum of squares of Id * and Iq * is less than or equal to the current limit value (Ilim) expressed as a function of the estimated permanent magnet temperature Tmag. The current commands Id * and Iq * on the dq axis may be adjusted.

The above is the description of the synchronous machine control device according to the fifth embodiment.
According to the fifth embodiment, since the current command is limited when the temperature of the permanent magnet forming the field of the synchronous machine 1 is increased, the armature current (effective value) that causes the magnet temperature increase can be reduced as a result. There is an effect of preventing irreversible demagnetization of the permanent magnet.

Embodiment 6 FIG.
Next, a synchronous machine control device according to Embodiment 6 of the present invention will be described.
FIG. 13 is a system configuration diagram including the synchronous machine 1 for explaining the synchronous machine control device according to the sixth embodiment.
As shown in FIG. 13, the synchronous machine control device according to Embodiment 6 of the present invention restricts the torque command to the synchronous machine 1 based on the permanent magnet temperature estimated value Tmag estimated by the magnet temperature estimating means 7. Means 10 and current command generation means 11 for generating the current command based on the limited torque command are added.

In the torque command for the synchronous machine 1 in FIG. 13, for convenience, the command before limiting on the input side of the torque command limiting means 10 is τ0 *, and the command on the output side of the current command limiting means 9 after limiting is τ *. .
Hereinafter, description will be made centering on the configuration of the newly added torque command limiting means 10 and current command generating means 11, and description of other identical parts will be omitted as appropriate.

In the above-described fifth embodiment, when the temperature of the synchronous machine 1 rises, the current command on the dq axis is limited by the current command limiting means 9 according to the estimated permanent magnet temperature Tmag, and the armature current (effective By reducing the value), a further temperature rise is suppressed.
On the other hand, in the sixth embodiment of the present invention, the torque command limiting means 10 limits the torque command for the synchronous machine 1 in accordance with the estimated permanent magnet temperature Tmag, thereby reducing the armature current (effective value). Thus, the temperature is further suppressed.

The torque command limiting means 10 limits the torque command τ0 * (before limitation) in the host system as shown in the above-described first embodiment in accordance with the estimated permanent magnet temperature Tmag, and the torque (after limitation). Outputs command τ *.
The correlation between the estimated permanent magnet temperature value Tmag and the torque command limit value is set according to the driving conditions such as the rotational speed of the synchronous machine 1 that are related to the iron loss, the heat capacity and the cooling performance of the synchronous machine 1.

  For example, when the estimated permanent magnet temperature Tmag exceeds a certain threshold, it is judged that the permanent magnet temperature has approached the temperature that will cause irreversible demagnetization, and the torque command is lowered, or in the extreme, it is set to “0”. After that, the torque command τ * (after limitation) is output. Further, the torque command limit value may be gradually decreased as the permanent magnet temperature estimated value Tmag increases.

The current command generation means 11 in FIG. 13 generates current commands Id * and Iq * on the dq axes, which are control commands, based on the torque command (after limitation) τ *. In the case of the synchronous machine 1 having a permanent magnet as a field as in the present invention, d-axis currents Id and q that can generate the same torque.
It is known that there are an infinite number of combinations with the shaft current Iq, and it is appropriate to meet the desired conditions (for example, maximum efficiency conditions, minimum current conditions, etc.) for the torque command τ * (after limitation). It is sufficient to output current commands Id * and Iq * on the dq axis, but in order to more effectively suppress the temperature rise of the synchronous machine 1 and prevent irreversible demagnetization, the current for the same torque is minimized. It is more preferable to select Id * and Iq * so as to satisfy the following conditions.

  Further, the optimum values of the current commands Id * and Iq * on the dq axes corresponding to various torques of the synchronous machine 1 are measured and mapped in advance, and the torque command τ during operation (after limitation) is mapped. A method of obtaining current commands Id * and Iq * on the dq axes according to τ * by referring to * as needed in the map may be used.

The above is the description of the synchronous machine control device according to the sixth embodiment.
According to the sixth embodiment, since the torque command is limited when the temperature of the permanent magnet forming the field of the synchronous machine 1 rises, the armature current (effective value) that causes the magnet temperature rise can be reduced as a result. There is an effect of preventing irreversible demagnetization of the permanent magnet.

As apparent from the above description, the present invention has the following features, for example.
Feature A1: As illustrated in the first embodiment (FIGS. 1 to 6), etc., power conversion means 2 that outputs a voltage based on a voltage command to a synchronous machine 1 having a permanent magnet as a field, Current detection means 3 for detecting the armature current of the synchronous machine 1, position detection means 4 for estimating or detecting the rotor position of the synchronous machine 1, and rotation orthogonal biaxial (d) based on the current command and the rotor position A current controller 5 that generates the voltage command by performing current control on the rotation orthogonal two-axis coordinate based on the armature current coordinate-converted on the -q axis), and a change in the rotor position The magnetic flux estimator 6 for estimating the armature linkage magnetic flux of the synchronous machine 1 based on the rotation speed of the synchronous machine 1 calculated from the voltage command and the current command, and the magnet temperature for estimating the temperature of the permanent magnet A synchronous machine control device comprising an estimation means 7, The stone temperature estimating means 7 includes a first magnetic flux map 71 showing a correlation between the current command and the armature linkage flux under the condition that the temperature of the permanent magnet is a predetermined temperature T1, and the current command and the permanent magnet. The magnetic flux estimator 6 is provided with a magnetic flux change map 70 showing a correlation with the armature interlinkage magnetic flux change amount when the magnet temperature changes to a temperature T2 different from the temperature T1 on the basis of the temperature T1. Is a synchronous machine control device that estimates the temperature of the permanent magnet based on the estimated armature flux linkage value, the first magnetic flux map 71, and the magnetic flux change map 70, and a current command (magnetic saturation state of the synchronous machine). ), The magnet temperature is estimated while accurately grasping the change in the armature linkage magnetic flux for different magnet temperature changes, so it is permanent under any current (load) conditions without attaching a temperature detector directly to the permanent magnet. Magnet temperature It can be estimated with high accuracy.
Feature A2: As exemplified in the first embodiment (FIGS. 1 to 6) and the like, in the synchronous machine control device of feature A1, the armature linkage magnetic flux of the synchronous machine 1 estimated by the magnetic flux estimator 6 is the field magnetic flux. And the magnet temperature estimating means 7 has the current command and d of the armature linkage flux under the condition that the temperature of the permanent magnet is a predetermined temperature T1. A first magnetic flux map 71 showing a correlation with the axis component, and a change amount of the d-axis component of the armature linkage magnetic flux when the temperature of the current command and the permanent magnet is changed to a temperature T2 different from the temperature T1. A second magnetic flux change map 70 showing a correlation with the d-axis component of the armature flux linkage estimated value estimated by the magnetic flux estimator 6, the first magnetic flux map 71, and the magnetic flux change map 70 Is a synchronous machine control device for estimating the temperature of the permanent magnet based on By estimating the permanent magnet temperature based on the armature linkage magnetic flux of the d-axis component that is in the same direction as the bundle, the sensitivity of the magnetic flux change to the magnet temperature change can be improved, and the temperature estimation accuracy of the permanent magnet is improved. To do.
Feature A3: as exemplified in the second embodiment (FIGS. 7 and 8), etc., to the synchronous machine 1 having a permanent magnet as a field, power conversion means 2 that outputs a voltage based on a voltage command; Current detection means 3 for detecting the armature current of the synchronous machine 1, position detection means 4 for estimating or detecting the rotor position of the synchronous machine 1, and rotation orthogonal biaxial (d) based on the current command and the rotor position A current controller 5 that generates the voltage command by performing current control on the rotation orthogonal two-axis coordinate based on the armature current coordinate-converted on the -q axis), and a change in the rotor position The magnetic flux estimator 6 for estimating the armature linkage magnetic flux of the synchronous machine 1 based on the rotation speed of the synchronous machine 1 calculated from the voltage command and the current command, and the magnet temperature for estimating the temperature of the permanent magnet A synchronous machine control device comprising an estimation means 7a The magnet temperature estimating means 7a includes a first magnetic flux map 71 indicating a correlation between the current command and the armature linkage magnetic flux under the condition that the temperature of the permanent magnet is a predetermined temperature T1, and the permanent magnet A second magnetic flux map 72 showing a correlation between the current command and the armature flux linkage under the condition of a temperature T2 that is different from the temperature T1, and the armature estimated by the magnetic flux estimator 6; A synchronous machine control device that estimates the temperature of the permanent magnet based on an estimated value of linkage flux, a first magnetic flux map 71, and a second magnetic flux map 72, and according to a current command (magnetic saturation state of the synchronous machine) Since the magnet temperature is estimated while accurately grasping the change in the armature flux linkage for different magnet temperature changes, the temperature of the permanent magnet can be measured under any current (load) conditions without attaching a temperature detector directly to the permanent magnet. Accurately It can be constant.
Feature A4: As illustrated in the third embodiment (FIGS. 9 and 10), etc., in the synchronous machine control device of feature A3, the magnet temperature estimating means 7b includes the first magnetic flux map 71 and the second magnetic flux map 72. In addition, a plurality of magnetic flux maps showing the correlation between the current command and the armature interlinkage magnetic flux under the condition that the temperature of the permanent magnet is different from the temperatures T1 and T2 are estimated by the magnetic flux estimator 6. A synchronous machine control device that estimates the temperature of the permanent magnet based on the armature flux linkage estimated value and the plurality of magnetic flux maps including the first magnetic flux map 71 and the second magnetic flux map 72, By providing a plurality of magnetic flux maps for current commands under conditions of different permanent magnet temperatures, even when the temperature change range of the permanent magnets that can be changed by driving the synchronous machine 1 is large, the magnet temperatures differ according to the current commands. Since the change of the armature linkage magnetic flux with respect to the degree change can be corrected more accurately, the temperature estimation accuracy of the permanent magnet is improved.
Feature A5: As exemplified in the fourth embodiment (FIG. 11) and the like, in the synchronous machine control device of any one of the characteristics A1 to A4, the temperature detecting means 8 for detecting the armature winding temperature of the synchronous machine 1 is provided. The magnetic flux estimator 6a is a synchronous machine control device that estimates an armature linkage flux of the synchronous machine 1 based on the rotation speed, the voltage command, the current command, and the armature winding temperature. By detecting the armature winding temperature and reflecting this temperature in the armature flux linkage estimation operation of the synchronous machine 1, the armature flux linkage estimation accuracy is improved. As a result, the temperature estimation accuracy of the permanent magnet is improved. improves.
Feature A6: current that limits the current command according to the estimated temperature of the permanent magnet in the synchronous machine control device of any one of features A1 to A5, as exemplified in the fifth embodiment (FIG. 12) This is a synchronous machine control device provided with a command limiting means 9 and limits the current command when the temperature of the permanent magnet forming the field of the synchronous machine 1 rises. As a result, the armature current (effective value) that causes the magnet temperature to rise ) Can be reduced, and irreversible demagnetization of the permanent magnet can be prevented.
Feature A7: As exemplified in the sixth embodiment (FIG. 13) and the like, in the synchronous machine control device according to any one of the characteristics A1 to A5, a torque command to the synchronous machine 1 is issued according to the estimated temperature of the permanent magnet. A synchronous machine control device comprising a torque command limiting means 10 for limiting and a current command generating means 11 for generating the current command based on the limited torque command, and a permanent magnet that forms a field of the synchronous machine 1 Since the torque command is limited when the temperature rises, the armature current (effective value) that causes the magnet temperature rise can be reduced as a result, and the irreversible demagnetization of the permanent magnet can be prevented.
Feature B1: As exemplified in Embodiments 1 to 6 (FIGS. 1 to 13), etc., power conversion means for outputting a voltage based on a voltage command to a synchronous machine having a permanent magnet as a field, and the electric machine of the synchronous machine Current detection means for detecting a child current, position detection means for estimating or detecting a rotor position of the synchronous machine, and generating the voltage command based on a current command, an output of the current detection means, and an output of the position detection means A current controller for controlling the armature current via the power conversion means, and a magnetic flux for estimating the armature linkage flux of the synchronous machine based on the rotational speed of the synchronous machine, the voltage command, and the current command. An estimator; and a magnet temperature estimating means for estimating the temperature of the permanent magnet, wherein the magnet temperature estimating means inputs the current command and the output of the magnetic flux estimator, and the temperature of the permanent magnet is a predetermined temperature. Article T1 The current command below, the armature flux linkage estimated value estimated by the magnetic flux estimator, and the temperature of the permanent magnet is changed to a temperature T2 different from the predetermined temperature T1 based on the predetermined temperature T1. Since the temperature of the permanent magnet is estimated based on the amount of change in the armature linkage flux when the magnet temperature is changed, the magnet temperature is determined while grasping the change in the armature linkage flux for different magnet temperature changes according to the current command. As a result of the estimation, it is possible to obtain an unprecedented remarkable effect that the temperature of the permanent magnet can be accurately estimated under changing current (load) conditions without directly attaching the temperature detector to the permanent magnet.

In the present invention, each embodiment can be appropriately modified or omitted within the scope of the invention, and the embodiments can be combined as necessary.
In each figure, the same reference numerals indicate the same or corresponding parts, and in the second to sixth embodiments, the description of the same parts as those in the previous embodiment is omitted, and the points different from the previous embodiments are mainly described. It is described as.

1 permanent magnet synchronous machine, 2 power conversion means,
3 current detection means, 4, 4a position detection means,
5 Current controller 6, 6a Magnetic flux estimator,
7, 7a, 7b Magnet temperature estimation means, 8 Temperature detection means,
9 current command limiting means, 10 torque command limiting means,
11 current command generation means, 21a, 21b coordinate converter,
22 adder / subtractor, 23 power supply,
70 magnetic flux change map, 71 first magnetic flux map,
72 second magnetic flux map, 73 third magnetic flux map,
79, 79a, 79b Magnet temperature conversion section.

Claims (7)

Power conversion means for outputting a voltage based on a voltage command to a synchronous machine having a permanent magnet as a field,
Current detecting means for detecting an armature current of the synchronous machine;
Position detecting means for estimating or detecting the rotor position of the synchronous machine;
Current control on the rotation orthogonal two-axis (dq axis) coordinates based on the current command and the armature current coordinate-converted on the rotation orthogonal two-axis (dq axis) coordinates based on the rotor position. A current controller that generates the voltage command by performing
A magnetic flux estimator that estimates an armature linkage magnetic flux of the synchronous machine based on a rotation speed of the synchronous machine calculated from a change in the rotor position, the voltage command, and the current command, and a temperature of the permanent magnet A magnet temperature estimating means for estimating
The magnet temperature estimation means includes a first magnetic flux map indicating a correlation between the current command and the armature linkage magnetic flux under a condition where the temperature of the permanent magnet is a predetermined temperature T1, and the current command and the permanent magnet. The magnetic flux change map showing the correlation with the change amount of the armature linkage magnetic flux when the temperature of the armature is changed to a temperature T2 different from the temperature T1 with respect to the temperature T1,
A synchronous machine control device, wherein the temperature of the permanent magnet is estimated based on an estimated value of the armature flux linkage estimated by the magnetic flux estimator, a first magnetic flux map, and a magnetic flux change map . Power conversion means for outputting a voltage based on a voltage command to a synchronous machine having a permanent magnet as a field,
Current detecting means for detecting an armature current of the synchronous machine;
Position detecting means for estimating or detecting the rotor position of the synchronous machine;
Current control on the rotation orthogonal two-axis (dq axis) coordinates based on the current command and the armature current coordinate-converted on the rotation orthogonal two-axis (dq axis) coordinates based on the rotor position. A current controller that generates the voltage command by performing
A magnetic flux estimator for estimating an armature linkage magnetic flux of the synchronous machine based on the rotational speed of the synchronous machine calculated from the change of the rotor position, the voltage command, and the current command; and
A magnet temperature estimating means for estimating the temperature of the permanent magnet;
The armature linkage flux of the synchronous machine estimated by the flux estimator is an armature linkage flux of the d-axis component that is in the same direction as the field flux,
The magnet temperature estimation means includes a first magnetic flux map indicating a correlation between the current command and a d-axis component of the armature linkage magnetic flux when the temperature of the permanent magnet is a predetermined temperature T1, and the current command And a magnetic flux change map showing a correlation between a change amount of the d-axis component of the armature linkage magnetic flux when the temperature of the permanent magnet changes to a temperature T2 different from the temperature T1,
The magnet temperature estimating means estimates the temperature of the permanent magnet based on the d-axis component of the estimated value of the armature linkage flux estimated by the magnetic flux estimator, the first magnetic flux map, and the magnetic flux change map. A synchronous machine control device characterized by: Power conversion means for outputting a voltage based on a voltage command to a synchronous machine having a permanent magnet as a field,
Current detecting means for detecting an armature current of the synchronous machine;
Position detecting means for estimating or detecting the rotor position of the synchronous machine;
Current control on the rotation orthogonal two-axis (dq axis) coordinates based on the current command and the armature current coordinate-converted onto the rotation orthogonal two-axis (dq axis) coordinates based on the rotor position. A current controller that generates the voltage command by performing
A magnetic flux estimator for estimating an armature linkage magnetic flux of the synchronous machine based on the rotational speed of the synchronous machine calculated from the change of the rotor position, the voltage command, and the current command; and
A magnet temperature estimating means for estimating the temperature of the permanent magnet;
The magnet temperature estimation means includes a first magnetic flux map indicating a correlation between the current command and the armature linkage magnetic flux under a condition where the temperature of the permanent magnet is a predetermined temperature T1, and the temperature of the permanent magnet is a temperature. A second magnetic flux map showing a correlation between the current command and the armature flux linkage under a condition of a temperature T2 different from T1,
The magnet temperature estimation means receives the current command and the output of the magnetic flux estimator, and estimates the armature flux linkage estimated value, the first magnetic flux map, and the second magnetic flux estimated by the magnetic flux estimator. A synchronous machine control device, wherein the temperature of the permanent magnet is estimated based on a map . In the synchronous machine control device according to claim 3,
In addition to the first magnetic flux map and the second magnetic flux map, the magnet temperature estimation means includes the current command and the armature linkage under the condition that the temperature of the permanent magnet is different from the temperatures T1 and T2. With multiple magnetic flux maps showing correlation with magnetic flux,
The temperature of the permanent magnet is determined based on the armature flux linkage estimated value estimated by the magnetic flux estimator and the plurality of magnetic flux maps including the first magnetic flux map and the second magnetic flux map. A synchronous machine control device characterized in that the temperature estimation means estimates . In the synchronous machine control device according to any one of claims 1 to 4,
Comprising temperature detecting means for detecting the temperature of the armature winding of the synchronous machine;
Magnetic flux estimator, the said rotational speed and said voltage command and the current command based on the temperature of the armature winding, characterized that you estimate the armature flux linkage synchronous machine control device. In the synchronous machine control device according to any one of claims 1 to 5,
A synchronous machine control device, comprising: current command limiting means for limiting the current command according to the temperature of the permanent magnet estimated by the magnetic flux estimator . In the synchronous machine control device according to any one of claims 1 to 5 ,
Torque command limiting means for limiting a torque command to the synchronous machine according to the temperature of the permanent magnet estimated by the magnetic flux estimator ; and
A synchronous machine control device comprising: current command generation means for generating the current command based on a torque command limited by the torque command limiting means .