JP6649561B2 - Phase velocity estimator using polyphase low resolution detector signal - Google Patents

Description

The present invention relates to a rotor of an AC motor represented by a synchronous motor (a brushless DC motor, a permanent magnet type synchronous motor, a field winding type synchronous motor, etc.) provided with a polyphase low resolution detector represented by a Hall sensor. The present invention relates to a phase / velocity estimating device for presumably detecting the phase / velocity.

In the present invention, the angle, position, and phase of the rotor are used synonymously. These units are rad. Further, an amount substantially equivalent to a phase, such as a cosine value or a sine value of the phase, is simply referred to as a phase. The estimated value, the approximate value, the filtered value, and the like of the phase are collectively referred to as the phase equivalent value. The phase equivalent value of the rotor is simply abbreviated as the rotor phase equivalent value.

In the present invention, the relative value of the two phases is called a phase deviation. An estimated value, an approximate value, a filtered value, and the like of the phase deviation are collectively referred to as a phase deviation equivalent value.

In the present invention, the angular velocity, speed, and frequency of the rotor are used synonymously. These units are rad / s. When the angular speed of the rotor is considered, it is referred to as speed, and when the frequency of the alternating signal reflecting the rotor speed is considered, it is referred to as frequency. These estimated values, approximate values, command values, filter processing values, and the like are referred to as speed equivalent values or frequency equivalent values. In the present invention, the speed equivalent value and the frequency equivalent value have substantially the same meaning. As is well known to those skilled in the art, the fundamental wave component frequency of a signal from a polyphase low resolution detector mounted on an AC motor (hereinafter abbreviated as a polyphase low resolution detector signal) is determined by the electric speed of the AC motor rotor. (Electrical angular velocity). Note that the rotor speed equivalent value is simply abbreviated as the rotor speed equivalent value.

In the present invention, a phase locked loop is simply referred to as a PLL.

The present invention is applicable to drive control of a polyphase AC motor having a polyphase low-resolution detector, but in order to clarify and embody the description of the present invention, a three-phase synchronous motor is used as an example. Take it up and explain. In addition, the present invention may target two or more phases as the polyphase low-resolution detector signal, but in order to clarify the description, basically, the case of three phases will be described. . Precautions when applying the present invention to a polyphase low-resolution detector signal other than a three-phase signal will be described in a supplementary manner as appropriate. The above embodiments do not lose the generality of the invention.

In order for a three-phase synchronous motor to accurately generate a predetermined torque, it is necessary to know the phase of the rotor accurately. When speed control is performed, speed information of the rotor is also required. The phase and speed detection of the rotor can be easily performed by mounting a phase speed detector such as an encoder and a resolver on the rotor. However, these phase velocity detectors have problems in terms of thermal / electrical / mechanical robustness, wiring layout, mounting space for the detector, cost, and the like.

A position / velocity detector capable of overcoming these problems simultaneously is a polyphase low-resolution detector represented by a Hall sensor. A three-phase synchronous motor generally uses a multi-phase (three-phase) low-resolution detector corresponding to a three-phase winding. If the signal from the polyphase low-resolution detector is based on a three-phase pure sine signal, the three-phase pure sine signal contains a harmonic component and a high-frequency component. It is roughly classified into a three-phase distortion sine signal. If one of the three phases is picked up and the signal waveform is viewed, the former waveform is rectangular (square) and the latter waveform is a distorted alternating signal.

It is not always easy to accurately determine the rotor phase from the distorted alternating signal. Originally, a polyphase low-resolution detector that outputs a rectangular signal has been frequently used. FIG. 1 is an example of a three-phase rectangular signal. One cycle of the rectangular signal corresponds to 2π [rad] (electrical angle evaluation) of the rotor phase. As is clear from the figure, the U-phase signal hu, V-phase signal hv, and W-phase signal hw from the multi-phase low-resolution detector each have a phase difference of 2π / 3 [rad].

As shown in Patent Documents 1 and 2, generally, a tripled pulse signal is detected through edge detection of a U-phase signal hu, a V-phase signal hv, and a W-phase signal hw from a polyphase low-resolution detector. e6 is generated (see FIG. 8), and the phase or speed of the rotor is calculated based on the tripled pulse signal e6. In this case, since the electrical angle 2π [rad] corresponds to six pulses, the rotor phase can be detected with an accuracy of π / 3 [rad]. However, the detection accuracy of π / 3 [rad] is not sufficiently accurate for full-scale application to torque control and speed control, and sufficient torque control performance and speed control performance cannot be obtained.

Therefore, in these applications, the tripled pulse signal is further multiplied to increase the number of pulses corresponding to an electrical angle of 2π [rad]. However, as the speed increases, it becomes more difficult to accurately and stably multiply the pulse signal. In addition, the method based on edge detection requires a dedicated hardware electronic circuit. The method is vulnerable to environmental changes such as temperature changes and humidity changes due to the hardware electronic circuit. In addition, when the polyphase low-resolution detector signal is not a three-phase rectangular signal but a three-phase distortion sine signal, the above-described phase / velocity detection technique specialized for the three-phase rectangular signal cannot be applied at all. there were.

Minoru Suzuki: "Method of Detecting Magnetic Pole Position of Three-Phase Brushless Motor", JP-A-5-76196 (1991-9-12) Rei Miyauchi / Akihiro Kirito: "Rotation angle detector", JP-A-10-111304 (1996-10-3)

SUMMARY OF THE INVENTION The present invention has been made under the above background, and has as its object the versatility of being applicable to any polyphase low-resolution detector signal such as a polyphase rectangular signal and a polyphase distortion sine signal. It is an object of the present invention to provide a phase velocity estimating apparatus which can be mounted only with a sophophore, is inexpensive, is robust against environmental changes, and can be applied in a wide speed range from low to high.

In order to achieve the above object, the invention of claim 1 receives an N (N ≧ 2) -phase signal from a polyphase low-resolution detector mounted on an AC motor as an input signal, and processes the N-phase signal. A phase speed estimating device that generates at least one of a rotor phase equivalent value (rotor phase equivalent value) and a rotor speed equivalent value (rotor speed equivalent value) in real time and externally outputs the same; An N-phase to two-phase conversion means for converting the N-phase signal into a two-phase signal and a rotor phase equivalent value generated by a phase speed generating means described later are used as feedback to convert the converted two-phase signal into a quasi-DC signal. The quasi-direct-current signal is re-converted into a variable characteristic filter that changes the characteristic according to the coefficient signal, and the re-converted quasi-DC signal is processed to generate a filtered signal. The phase of the fundamental wave component of the phase signal and the equivalent value of the rotor phase Fundamental wave phase deviation extracting means for extracting a fundamental wave phase deviation equivalent value between the two, and subjecting the extracted fundamental wave phase deviation equivalent value to PLL processing and phase correction processing to obtain a rotor phase equivalent value, Phase speed generating means for generating at least one of the speed equivalent values in real time.

According to a second aspect of the present invention, in the phase velocity estimating apparatus according to the first aspect, the phase velocity generating means is used as the coefficient signal for varying the characteristic of the variable characteristic filter in the fundamental wave phase deviation extracting means. The rotor speed equivalent value generated over time is used for feedback.

A third aspect of the present invention is the phase velocity estimating apparatus according to the first aspect, wherein the coefficient signal for varying the characteristic of the variable characteristic filter in the fundamental wave phase deviation extracting means is fed forward from the N-phase signal. It is characterized by using a signal generated in a targeted manner.

According to a fourth aspect of the present invention, in the phase velocity estimating apparatus according to the first aspect, the phase velocity generating means performs the phase correction processing after the PLL processing.

According to a fifth aspect of the present invention, in the phase velocity estimating apparatus according to the first aspect, the phase velocity generating means performs the PLL processing after the phase correction processing.

The effects of the present invention will be described. First, the effect of the invention of claim 1 will be described. FIG. 3 shows a typical embodiment according to the first aspect of the present invention. The following effects are apparent from this figure and the description of this figure (described later).

{Circle around (1)} The phase velocity estimating apparatus according to the first aspect of the present invention does not require any restriction on the polyphase low-resolution detector signal, which is limited to either a polyphase rectangular signal or a polyphase distortion sine signal. That is, according to the first aspect of the present invention, the effect of having high versatility with respect to the polyphase low resolution detector signal can be obtained.
{Circle over (2)} The phase velocity estimating apparatus according to the first aspect of the present invention includes an N-phase two-phase conversion unit, a fundamental wave phase deviation extracting unit, and a phase velocity generating unit, all of which are easily realized by digital arithmetic elements. . In other words, there is an effect that the package can be easily implemented using only the software (see FIGS. 3 to 7).
(3) As a result, the phase velocity estimating apparatus according to the first aspect of the present invention has the effect of being inexpensive to mount and having high robustness to environmental changes.
{Circle over (4)} Since the phase velocity estimating apparatus according to the first aspect of the present invention does not require a multiplication technique, according to the first aspect of the present invention, an effect that it can be applied in a wide speed range from a low speed to a high speed is obtained.

Next, the effect of the invention of claim 2 will be described. According to the second aspect of the present invention, the coefficient signal used by the fundamental wave phase deviation extracting means uses the rotor speed equivalent value generated by the phase speed generating means as feedback. As a result, when the feedback loop operates stably, it is possible to extract the fundamental wave phase deviation equivalent value with high accuracy, and further, it is possible to generate the rotor phase equivalent value and the rotor speed equivalent value with high accuracy. The effect is obtained. As a result, the effect that the effect of claim 1 can be enhanced can be obtained. Note that the stability of the feedback loop can be ensured by inserting an appropriately designed low-pass filter into the feedback loop (see FIG. 3 and related description below).

Next, the effect of the invention of claim 3 will be described. According to the third aspect of the present invention, the coefficient signal used in the fundamental wave phase deviation extracting means is generated in a feedforward manner from the N-phase signal without passing through the phase velocity generating means. In this case, as apparent from FIG. 7, the feedback loop related to the generation of the coefficient signal (ω2n ＾ ′) disappears. As a result, the effect that the coefficient signal is stably generated is obtained. As a result, an effect is obtained that the stable operation of the fundamental wave phase deviation extracting means and the phase velocity generating means can be enhanced. As a result, the effect of stably obtaining the effect of claim 1 is obtained.

Subsequently, the effect of the invention of claim 4 will be described. According to the fourth aspect of the present invention, the phase velocity generating means performs the phase correction processing after the PLL processing. That is, the PLL processing and the phase correction processing can be separately performed. As a result, an effect can be obtained if the phase velocity generating means can be designed and realized easily and easily. As a result, the effect that the effect of claim 1 can be enhanced can be obtained.

Subsequently, the effect of the invention of claim 5 will be described. According to the fifth aspect of the present invention, the phase velocity generating means performs the PLL processing after the phase correction processing. That is, the PLL processing and the phase correction processing can be separately performed. As a result, an effect can be obtained if the phase velocity generating means can be designed and realized easily and easily. As a result, the effect that the effect of claim 1 can be enhanced can be obtained.

  "A diagram showing an example of a polyphase low-resolution detector signal"   "A diagram showing an example in which a phase velocity estimator according to the present invention is applied to a vector control system for a three-phase permanent magnet synchronous motor"   "A diagram showing an exemplary embodiment of a phase velocity estimator according to the present invention"   "A diagram showing an exemplary embodiment of a fundamental phase deviation extractor according to the present invention"   "A diagram showing an exemplary embodiment of a phase velocity generator according to the present invention"   "A diagram showing an exemplary embodiment of a phase velocity generator according to the present invention"   "A diagram showing an exemplary embodiment of a phase velocity estimator according to the present invention"   "A diagram showing the principle of generating a tripled pulse signal by detecting edges of a three-phase rectangular signal"

Hereinafter, preferred embodiments of the present invention will be specifically described with reference to the drawings.

FIG. 2 shows a basic structure of an embodiment in which the phase velocity estimating device of the present invention is applied to a three-phase permanent magnet synchronous motor (AC motor). In the figure, the synchronous motor is driven by vector control requiring rotor phase information. The devices in FIG. 2 are specifically as follows. 1 is a synchronous motor (AC motor), 2 is a current detector, 3 is a power converter, 4a and 4b are 3 phase to 2 phase converters, 2 phase to 3 phase converters, and 5a and 5b are vectors. A rotator, 6 is a current controller, 7 is a command converter for converting a torque command value to a current command value, 8 is a speed controller, and 11 is a device for converting an electric speed estimate to a machine speed estimate. The speed factor converters each mean. In the example of FIG. 2, since it is assumed that the speed of the synchronous motor is controlled, the torque command value is obtained as an output signal of the speed controller. When performing torque control, a torque command value is directly applied from the outside. The functions of the above-described various devices are well known to those skilled in the art, and a description thereof will be omitted. Devices directly related to the present invention are a polyphase low-resolution detector 9 mounted on the synchronous motor 1 and a phase speed estimator 10 that realizes the phase speed estimating device according to the present invention. In FIG. 1, for simplicity, a plurality of scalar signals are regarded as one vector signal, and a plurality of scalar signal lines are represented by one thick signal line. In the present invention, the number of output signals (in other words, the number of phases) of the polyphase low-resolution detector is two or more, and is represented as one vector signal line. Similar drawing rules are applied to the following drawings.

FIG. 3 shows a typical example of the internal configuration of the phase velocity estimator 10 in FIG. This device 10 is an N-phase to two-phase converter 10-1 which realizes N-phase to two-phase conversion means, and a fundamental wave phase deviation extractor 10- which realizes a fundamental wave phase deviation extraction means. 2. In order to generate a coefficient signal fed back to the fundamental wave phase deviation extractor by filtering the generated frequency equivalent value (speed equivalent value) in addition to the phase velocity generator 10-3 which realizes the phase velocity generating means. Of the low pass filter 10-4.

The N-phase to 2-phase converter 10-1 is a matrix SN2T of 2 rows and N columns (hereinafter abbreviated as 2 × N) which plays a role of converting an N-phase signal into a two-phase signal. If the polyphase low resolution detector signal is hN and the two-phase signal output from the N-phase two-phase converter is vh (see FIG. 3), the function of the N-phase two-phase converter 10-1 is as follows. It is described by an expression.

When the polyphase low-resolution detector signal is a two-phase signal, the N-phase to two-phase converter 10-1 has a 2 × 2 unit matrix. When the polyphase low-resolution detector signal is a polyphase signal having three or more phases, the N-phase to two-phase converter 10-1 is given by the following equation.
A in the expression (2) is an arbitrary constant.

When the polyphase low-resolution detector signal is a three-phase signal (that is, when N = 3), the polyphase low-resolution detector signal hN and the N-phase two-phase converter 10-1 are expressed by the following equations, respectively. .

A fundamental wave phase deviation extractor 10-2 for extracting a fundamental wave phase deviation equivalent value between the phase of the fundamental wave component of the two-phase signal vh, which is the output signal of the N-phase two-phase converter, and the rotator phase equivalent value. There are various implementations of. FIG. 4 shows an embodiment of the present invention. The fundamental wave phase deviation extractor 10-2 in FIG. 4 mainly includes a vector rotator 10-2a, a variable characteristic filter 10-2b that changes characteristics according to a coefficient signal (ω2 ＾ ′), and an arc tangent device 10-2c. It is configured.

The vector rotator 10-2a is a 2 × 2 matrix defined as in the following equation.
As a cosine / sine value constituting an element of the vector rotator R, a rotor phase equivalent value (more specifically, a cosine / sine phase equivalent value) generated by the phase speed generator 10-3 is utilized by feedback. (See FIG. 3).

Functions of the vector rotator 10-2a is a two-phase signal vh from N-phase two-phase converter 10-1, is to re-converting quasi-DC signal vh ^~ to. This reconversion is described as follows.
The prefix T in equation (5) means transposition.

Variable characteristic filter 10-2b changing the properties in accordance with the coefficient signal (^ 2n ^ ') processes the quasi DC signal vh ^~ which is reconverted to produce a filtered signal vf ^~. The function of the variable characteristic filter is ^to remove harmonic components, high frequency components, noise components, and the like included in the quasi DC signal vh. Examples of the variable characteristic filter for this function include a variable low-pass filter that changes the pass band, a variable band stop filter that changes the rejection band, a variable notch filter that changes the rejection band, and a filter using a combination of these. . The relationship between the input and output signals of the variable characteristic filter is described as the following equation.
Since both input and output signals of the variable characteristic filter are 2 × 1 vector signals, the variable characteristic filter is a two-input two-output filter. The two-input two-output filter is simply realized by arranging two one-input one-output filters in parallel.

Filtered Signal unwanted components from the quasi-DC signal vh ^~ is removed vf ^~ is basically the only fundamental wave components of the two-phase signal vh. Therefore, if the filtered signal is processed by the arctangent 10-2c, the fundamental wave between the phase of the fundamental wave component of the two-phase signal and the rotor phase equivalent value (θα ＾ ′) is obtained.
(7) the right side of the equation means that by using a 2x1 vector signal vf 2 elements ^- are calculated in a range of phase of the vector signal (-π~ + π).

In the embodiment of FIG. 3, according to the invention of claim 2, a phase velocity generator is used as a coefficient signal (ω2 （′) for varying the characteristic of the variable characteristic filter 10-2b in the fundamental wave phase deviation extractor 10-2. Uses the low-pass filter 10-4 to process the real-time generated frequency equivalent value (ωα ＾) (substantially the estimated rotor speed ω2n ＾, see FIG. 3), and then uses it as feedback.

It is sent to the degree generator 10-3. FIG. 5 shows an embodiment of the phase velocity generator 10-3 according to the first and fourth aspects of the present invention. The phase velocity generator 10-3 mainly includes a phase controller 10-3a, a phase integrator 10-3b, a cosine sine generator 10-3c, a vector rotation type phase corrector 10-3d, and an addition type phase corrector 10. -3e. The phase controller 10-3a, the phase integrator 10-3b, and the cosine sine generator 10-3c perform the PLL process, and the vector rotation type phase corrector 10-3d and the addition type phase corrector 10-3e perform the phase process. Correction processing is being performed.

The output signal of the phase speed generator 10-3 in the embodiment of FIG. 5 has both a rotor phase equivalent value and a rotor speed equivalent value. As the rotor phase equivalent value, two types of the angle itself and the cosine sine value are output. As for the cosine sine value, two types of signals are output: a signal before processing and a signal after processing by the rotary phase corrector 10-3d. The signal (ωα ＾) in the figure is a frequency equivalent value that is also a rotor speed equivalent value (ω2n ＾) (see FIG. 3). Hereinafter, each device constituting the phase velocity generator 10-3 will be described in detail.

The phase controller 10-3a, the phase integrator 10-3b, and the cosine sine generator 10-3c that perform the PLL processing will be described. The phase controller 10-3a is described by an m-th order rational polynomial of the differential operator s. That is, it is described by the following equation (8).

The phase controller 10-3a and the phase integrator 10-3b perform a PLL process described by the following equation, and the frequency equivalent value / rotor speed equivalent value (ωαω) and the rotor phase equivalent value (θα ＾ ′). ) Is output.
(1 / b) on the right side of the equation (9b) corresponds to the phase integrator 10-3b. The cosine sine generator 10-3c takes this cosine sine value for the rotor phase equivalent value (θα ＾ ′) and converts it into a 2 × 1 vector.

In the embodiment of FIG. 5, according to the invention of claim 4, a phase correction process is performed on the signal after the PLL process. The principle of the correction phase is the following addition processing.
Generally, the mounting position (electrical angle evaluation) of the polyphase low-resolution detector is not necessarily the same as the reference stator winding position (electrical angle evaluation), and has a phase difference (position angle difference) θ0. In the vector control of the synchronous motor, the phase of the rotor evaluated from the position of the U-phase winding is required. Therefore, a phase correction process that matches the phase difference is required. Equation (10) is mathematically equivalent to the following equation.

The vector rotation type phase corrector 10-3d of FIG. 5 performs the phase correction processing based on the equation (11), and the addition type phase corrector 10-3e performs the phase correction processing based on the equation (10). It is.

FIG. 6 shows an embodiment of the phase velocity generator 10-3 according to the first and fifth aspects of the present invention. In the present embodiment, the phase velocity generator 10-3 mainly includes an addition type phase corrector 10-3e, a phase controller 10-3a, a phase integrator 10-3b, and a cosine sine generator 10-3c. Is done. First, the addition-type phase corrector 10-3e performs a phase correction process, and then the phase controller 10-3a, the phase integrator 10-3b, and the cosine sine generator 10-3c perform a PLL process. That is, first, the phase correction processing is performed, and the phase-corrected signal is subjected to the PLL processing. A series of processes based on this procedure is described as follows using mathematical expressions.
In the present embodiment, as indicated by (12c), the two types of rotor phase equivalent values (θα ＾ and θα ＾ ') are the same. The operation of the cosine sine generator 10-3 is the same as that of the embodiment of FIG. When only the rotor speed equivalent value is output, the phase difference θ0 may be replaced with zero. When the phase difference θ0 is zero, the vector rotation type phase corrector is a unit matrix (see equation (4)). This applies to both embodiments of FIGS. 5 and 6.

In the embodiment of FIG. 3, according to the second aspect of the present invention, the rotor speed equivalent value generated by the phase speed generator is fed back as the coefficient signal (ω2n ＾ ′) used in the fundamental wave phase deviation extractor 10-2. used. Instead, according to the invention of claim 3, a coefficient signal (ω2n ＾ ′) used in the fundamental wave phase deviation extractor 10-2 is generated from a polyphase low-resolution detector signal in a feedforward manner. You can do it. FIG. 7 is an example of this embodiment. The coefficient signal (ω2n ＾ ′) used for the fundamental wave phase deviation extractor 10-2 is generated in a feedforward manner by using the polyphase low-resolution detector signal hN for the simple speed estimator 10-5, and the fundamental wave phase Input to the deviation extractor. The embodiment of FIG. 7 also shows an example in which a signal obtained by processing a frequency equivalent value (ωα ＾) with a low-pass filter is output as a rotor speed equivalent value (ω2n ＾).

As the coefficient signal (ω2n ＾ ′) used in the fundamental wave phase deviation extractor 10-2, another value corresponding to the rotor speed may be used. For example, in a vector control system that performs speed control as shown in FIG. 2, a mechanical speed command value (ω2m *) may be used in a feedforward manner as in the following equation.
Note that Np in the above equation is the number of pole pairs, and is used to convert a mechanical speed command value into an electric speed command value.

The coefficient signal (ω2n ＾ ‘) used in the fundamental wave phase deviation extractor 10-2 may be a signal obtained by combining different signals, such as a combined signal of an electric speed command value and a rotor speed estimated value.

In the embodiment using FIG. 2, an example is shown in which a permanent magnet synchronous motor having a permanent magnet in a rotor is used as an AC motor. The present invention is not limited to this, but can be applied to other AC motors. The embodiment of the present invention itself when the present invention is applied to another AC motor is not substantially different from the case where the present invention is applied to the system of FIG. Therefore, further description is omitted.

The present invention relates to a vector control system for an AC motor typified by a synchronous motor (a brushless DC motor, a permanent magnet type synchronous motor, a field winding type synchronous motor, etc.) equipped with a polyphase low resolution detector typified by a hall sensor. It is suitable for application to

DESCRIPTION OF SYMBOLS 1 AC motor 2 Current detector 3 Power converter 4a Three-phase two-phase converter 4b Two-phase three-phase converter 5a Vector rotator 5b Vector rotator 6 Current controller 7 Command converter 8 Speed controller 9 Polyphase low resolution Detector 10 Phase speed estimator 10-1 N-phase two-phase converter 10-2 Fundamental wave phase deviation extractor 10-2a Vector rotator 10-2b Variable characteristic filter 10-2c Arc tangent device 10-3 Phase speed generator 10-3a Phase controller 10-3b Phase integrator 10-3c Cosine sine generator 10-3d Vector rotation type phase corrector 10-3e Addition type phase corrector 10-4 Low pass filter 10-5 Simple speed estimator 11 Speed Transform coefficient unit

Claims (5)

An N (N ≧ 2) phase signal from a polyphase low-resolution detector mounted on an AC motor is received as an input signal, the N-phase signal is processed, and a rotor phase equivalent value (rotor phase equivalent value) is processed. A phase speed estimating apparatus for generating at least one of a rotor speed equivalent value (rotor speed equivalent value) in real time and outputting the same to an external device,
N-phase to two-phase conversion means for converting the N-phase signal to a two-phase signal;
Using a rotor phase equivalent value generated by a phase speed generating means described later, using feedback, the converted two-phase signal is reconverted into a quasi-DC signal, and a variable characteristic filter that changes characteristics according to a coefficient signal is used. Processing the re-converted quasi-DC signal to generate a filtered signal, and using the generated filtered signal, the difference between the phase of the fundamental wave component of the two-phase signal and the rotor phase equivalent value. Fundamental wave phase deviation extracting means for extracting a fundamental wave phase deviation equivalent value,
Phase speed generating means for performing PLL processing and phase correction processing on the extracted fundamental wave phase deviation equivalent value to generate at least one of a rotor phase equivalent value and a rotor speed equivalent value in real time. A phase velocity estimating apparatus characterized by the above-mentioned. 2. The method according to claim 1, wherein said fundamental speed phase deviation extracting means uses the rotor speed equivalent value generated in real time by said phase speed generating means as said coefficient signal for varying characteristics of said variable characteristic filter. 2. The phase velocity estimating apparatus according to claim 1. 2. The phase velocity according to claim 1, wherein a signal generated in a feedforward manner from said N-phase signal is used as said coefficient signal for varying the characteristic of said variable characteristic filter in said fundamental wave phase deviation extracting means. Estimation device. 2. The phase velocity estimating apparatus according to claim 1, wherein said phase velocity generating means performs said phase correction processing after said PLL processing. 2. The phase velocity estimating apparatus according to claim 1, wherein said phase velocity generating means performs said PLL processing after said phase correction processing.