JP7042568B2

JP7042568B2 - Motor control device and motor control method

Info

Publication number: JP7042568B2
Application number: JP2017146210A
Authority: JP
Inventors: 健二福田
Original assignee: Sawafuji Electric Co Ltd
Current assignee: Sawafuji Electric Co Ltd
Priority date: 2017-07-28
Filing date: 2017-07-28
Publication date: 2022-03-28
Anticipated expiration: 2037-07-28
Also published as: JP2019030095A; CN110785923A; DE112018003835T5; WO2019021745A1

Description

本発明は、特に矩形波制御時のモータの駆動電流のオフセット等を補正するモータ制御装置及びモータ制御方法に関するものである。 The present invention particularly relates to a motor control device and a motor control method for correcting an offset of a motor drive current during square wave control.

多くの家電や機械設備の動力源として電動モータが使用されている。このうち、回転子側に永久磁石を設け、固定子側に電機子巻線を設け、この電機子巻線の磁界を制御することで回転子を回転させるＰＭ（ＰｅｒｍａｎｅｎｔＭａｇｎｅｔ）モータ（永久磁石モータ）は、界磁損失が存在しないため低損失、高効率であり、近年の省エネルギー化の流れから大型の機械機器にも多く採用されている。そして、このＰＭモータの制御方法としては、外部（システムの上位の制御部等）から指示されるトルク指令値と、ＰＭモータの現在のトルクＴとから所定の駆動信号Ｓｕ、Ｓｖ、Ｓｗを生成し、この駆動信号Ｓｕ、Ｓｖ、Ｓｗによってインバータをスイッチング動作させ、これにより出力する３相交流の駆動電流Ｉｕ、Ｉｖ、Ｉｗで行う事が一般的である。また、この駆動信号Ｓｕ、Ｓｖ、Ｓｗの生成は、ＰＭモータの運転状況に応じて正弦波制御と矩形波制御とを切り換えて行うものが多い。この制御方法では、中・低速回転の動作領域では正弦波制御（ＰＷＭ制御）にてＰＭモータを動作制御（駆動信号Ｓｕ、Ｓｖ、Ｓｗの生成）し、高速回転・高トルクの動作領域では高出力が可能な矩形波制御にて動作制御を行う。ただし、正弦波制御の場合でも矩形波制御の場合でも、ＰＭモータの制御にはインバータが出力するモータの駆動電流Ｉｕ、Ｉｖ、Ｉｗのフィードバック電流の情報とＰＭモータの電気角の情報が必要となる。 Electric motors are used as a power source for many home appliances and machinery. Of these, a permanent magnet is provided on the rotor side, an armature winding is provided on the stator side, and a PM (Permanent Magnet) motor (permanent magnet motor) that rotates the rotor by controlling the magnetic field of the armature winding. ) Has low loss and high efficiency because there is no field loss, and is widely used in large machinery and equipment due to the recent trend of energy saving. Then, as a control method of this PM motor, predetermined drive signals Su, Sv, Sw are generated from the torque command value instructed from the outside (upper control unit of the system, etc.) and the current torque T of the PM motor. However, it is common that the inverter is switched by the drive signals Su, Sv, and Sw, and the drive currents Iu, Iv, and Iw of the three-phase alternating current output by the switching operation are used. Further, in many cases, the drive signals Su, Sv, and Sw are generated by switching between sine wave control and rectangular wave control according to the operating condition of the PM motor. In this control method, the PM motor is controlled by sine wave control (PWM control) in the operating region of medium / low speed rotation (generation of drive signals Su, Sv, Sw), and is high in the operating region of high speed rotation / high torque. The operation is controlled by the square wave control that can output. However, in both sine wave control and square wave control, PM motor control requires information on the feedback currents of the motor drive currents Iu, Iv, and Iw output by the inverter and information on the electrical angle of the PM motor. Become.

しかしながら、電気角取得のための角度センサの精度やインバータのスイッチング素子の応答バラつき等により駆動電流Ｉｕ、Ｉｖ、Ｉｗにオフセットが生じる場合があり、このオフセットはモータの振動の発生やトルク低下、損失等の要因となる。特に、矩形波制御では電圧位相によりモータのトルクを直接制御することが一般的であるため、フィードバック電流中のオフセット成分に対する補正処理がされず、オフセットによる影響が顕著に表れる傾向が高い。 However, the drive currents Iu, Iv, and Iw may be offset due to the accuracy of the angle sensor for acquiring the electric angle and the response variation of the switching element of the inverter. It becomes a factor such as. In particular, in the square wave control, since the torque of the motor is generally directly controlled by the voltage phase, the offset component in the feedback current is not corrected, and the influence of the offset tends to be noticeable.

ここで、図４に三相の駆動電流Ｉｕ、Ｉｖ、Ｉｗと、これを３相／ｄｑ変換したｄ軸、ｑ軸電流のシミュレーショングラフを示す。尚、図４（ａ）が振幅にアンバランスが存在する場合の駆動電流Ｉｕ、Ｉｖ、Ｉｗのシミュレーショングラフであり、図４（ｂ）はこれを３相／ｄｑ変換したｄ軸、ｑ軸電流のシミュレーショングラフである。また、図４（ｃ）はオフセットが存在する場合の駆動電流Ｉｕ、Ｉｖ、Ｉｗのシミュレーショングラフであり、図４（ｄ）はこれを３相／ｄｑ変換したｄ軸、ｑ軸電流のシミュレーショングラフである。 Here, FIG. 4 shows a simulation graph of three-phase drive currents Iu, Iv, and Iw, and d-axis and q-axis currents obtained by converting them into three-phase / dq. Note that FIG. 4A is a simulation graph of drive currents Iu, Iv, and Iw when there is an unbalanced amplitude, and FIG. 4B is a d-axis and q-axis current obtained by converting the drive currents Iu, Iv, and Iw into three phases / dq. It is a simulation graph of. Further, FIG. 4 (c) is a simulation graph of drive currents Iu, Iv, and Iw when an offset exists, and FIG. 4 (d) is a simulation graph of d-axis and q-axis current obtained by converting the drive currents Iu, Iv, and Iw into three phases / dq. Is.

先ず、図４（ｂ）、（ｄ）の破線で示すように、駆動電流Ｉｕ、Ｉｖ、Ｉｗに振幅アンバランスやオフセットが存在しない場合、ｄ軸電流、ｑ軸電流は一定値を示す。しかしながら、駆動電流Ｉｕ、Ｉｖ、Ｉｗに振幅アンバランスやオフセットが存在する場合、ｄ軸電流、ｑ軸電流には図４（ｂ）、（ｄ）の実線で示すような変動が生じる。従って、オフセットや振幅アンバランスを抑制するためには、この変動成分を補正、もしくは除去、平滑することが有効と考えられる。 First, as shown by the broken lines in FIGS. 4 (b) and 4 (d), when there is no amplitude imbalance or offset in the drive currents Iu, Iv, and Iw, the d-axis current and the q-axis current show constant values. However, when the drive currents Iu, Iv, and Iw have an amplitude imbalance or an offset, the d-axis current and the q-axis current fluctuate as shown by the solid lines in FIGS. 4 (b) and 4 (d). Therefore, in order to suppress offset and amplitude imbalance, it is considered effective to correct, remove, or smooth this fluctuation component.

そして、この問題点に関し下記［特許文献１］では、駆動電流Ｉｕ、Ｉｖ、Ｉｗの１周期分の平均値やローパスフィルタによって各相のオフセット量を算出し、これにより駆動信号を補正してオフセットを修正する発明が開示されている。 Regarding this problem, in the following [Patent Document 1], the offset amount of each phase is calculated by the average value for one cycle of the drive currents Iu, Iv, and Iw and the low-pass filter, and the drive signal is corrected and offset. The invention that modifies the above is disclosed.

特開２００１－２９８９９２号公報Japanese Unexamined Patent Publication No. 2001-298992

しかしながら、［特許文献１］に記載の発明は、三相交流の駆動電流Ｉｕ、Ｉｖ、Ｉｗそれぞれの１周期分の平均値が必要なためオフセット量の算出に時間を要し、応答性が悪いという問題点がある。また、［特許文献１］に記載のローパスフィルタを用いてオフセット量を算出する構成ではモータの動作状態が変化する度にオフセット補正に遅れが生じる虞があり、これも応答性が悪いという問題点がある。また、オフセット量を３相で個別に算出し、それぞれ個別にオフセット補正を行うため、ある相への補正が他の相へ悪影響を及ぼす可能性が有る。また、上記の平均値やローパスフィルタを用いて補正量を算出する方法では、三相間の振幅アンバランスを検出できず、その補正を行うことができないという問題点がある。 However, the invention described in [Patent Document 1] requires an average value for one cycle of each of the three-phase alternating current drive currents Iu, Iv, and Iw, so that it takes time to calculate the offset amount and the responsiveness is poor. There is a problem. Further, in the configuration in which the offset amount is calculated using the low-pass filter described in [Patent Document 1], there is a possibility that the offset correction may be delayed every time the operating state of the motor changes, which also has a problem of poor responsiveness. There is. Further, since the offset amount is calculated individually for each of the three phases and the offset correction is performed individually for each phase, the correction to one phase may adversely affect the other phase. Further, the method of calculating the correction amount using the above-mentioned average value or the low-pass filter has a problem that the amplitude imbalance between the three phases cannot be detected and the correction cannot be performed.

本発明は上記事情に鑑みてなされたものであり、矩形波制御おけるオフセットや振幅アンバランスの補正を高い応答性で行うことが可能なモータ制御装置及びモータ制御方法の提供を目的とする。 The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a motor control device and a motor control method capable of correcting offset and amplitude imbalance in rectangular wave control with high responsiveness.

本発明は、
（１）ＰＭモータ１０に３相交流の駆動電流Ｉｕ、Ｉｖ、Ｉｗを出力するインバータ２０と、前記駆動電流Ｉｕ、Ｉｖ、（Ｉｗ）の値を取得する駆動電流検出部１２ｕ、１２ｖと、前記ＰＭモータ１０の電気角θを取得する角度検出部１４と、前記電気角θに基づいて電気角速度ωを算出する角速度演算部１６と、前記電気角θに基づいて前記駆動電流検出部１２ｕ、１２ｖが取得した駆動電流Ｉｕ、Ｉｖ、（Ｉｗ）をｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑに変換する３相／ｄｑ変換部２２と、
矩形波制御時に、トルク指令値Ｔ^＊に基づく電圧位相θｖを出力するトルク制御部５０２と、前記電圧位相θｖに基づいてｄ軸、ｑ軸電圧指令Ｖｄ、Ｖｑを生成する電圧指令生成部５１６と、を有する矩形波制御部５０と、
前記ｄ軸、ｑ軸電圧指令を補正する線形補正部３８と、前記線形補正部３８が補正したｄ軸、ｑ軸電圧指令に基づいて３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗを生成するｄｑ／３相変換部３２と、前記３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗと三角波とを比較して前記インバータ２０をスイッチングする駆動信号Ｓｕ、Ｓｖ、Ｓｗを生成する駆動信号生成部３６と、を備えた制御信号生成部３０と、を有するモータ制御装置において、
前記ｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑをそれぞれ平滑して推定ｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊を生成する平滑部７２と、
前記矩形波制御部５０が、前記推定ｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊から前記ｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑをそれぞれ減算してｄ軸、ｑ軸補正電流ΔＩｄ、ΔＩｑをそれぞれ生成する補正電流生成部７４と、
前記ｄ軸、ｑ軸補正電流ΔＩｄ、ΔＩｑからｄ軸、ｑ軸補正電圧ΔＶｄ、ΔＶｑを生成する補正電圧生成部７６と、
前記ｄ軸、ｑ軸補正電圧ΔＶｄ、ΔＶｑを前記ｄ軸、ｑ軸電圧指令Ｖｄ、Ｖｑにそれぞれ加算して前記制御信号生成部３０に出力する電圧指令補正部７８と、同期制御部５２０と、をさらに有し、
前記同期制御部５２０は、前記電気角速度ωに基づいて前記三角波の周波数を前記３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗの周波数の奇数の３の整数倍とするキャリア設定情報Ｓｃを設定して前記駆動信号生成部３６に出力するとともに、前記三角波と前記３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗとが前記３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗの１周期の間で２回交差し三角波比較により生成される駆動信号が１パルスの矩形波となるような矩形波形成電圧｜Ｖａ’｜を設定して前記電圧指令生成部５１６と前記線形補正部３８とに出力し、
前記電圧指令生成部５１６は前記電圧位相θｖと前記矩形波形成電圧｜Ｖａ’｜に基づいてｄ軸、ｑ軸電圧指令Ｖｄ、Ｖｑを生成するとともに、前記線形補正部３８は前記矩形波形成電圧｜Ｖａ’｜に基づいて前記ｄ軸、ｑ軸電圧指令を補正し、さらに駆動信号生成部３６は前記キャリア設定情報Ｓｃに基づいた周期の三角波により前記３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗとの三角波比較を行うことを特徴とするモータ制御装置１００を提供することにより、上記課題を解決する。
（２）正弦波制御同期制御部４２０を備えるとともに、正弦波制御時に、トルク指令値に基づいてｄ軸、ｑ軸電流指令を算出し、このｄ軸、ｑ軸電流指令に基づいてｄ軸、ｑ軸電圧指令を生成する正弦波制御部４０と、
ｄ軸電圧指令、ｑ軸電圧指令の生成を前記正弦波制御部４０と矩形波制御部５０とで切り替える切替部２４と、をさらに有し、
前記正弦波制御同期制御部４２０は、電気角速度ωに基づいて三角波の周波数を３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗの周波数の奇数の３の整数倍とするキャリア設定情報Ｓｃを設定して駆動信号生成部３６に出力することを特徴とする上記（１）記載のモータ制御装置１００を提供することにより、上記課題を解決する。
（３）インバータ２０からＰＭモータ１０に出力される３相交流の駆動電流Ｉｕ、Ｉｖ、（Ｉｗ）の値を取得する駆動電流取得ステップと、
前記ＰＭモータ１０の電気角θを取得する電気角取得ステップと、
前記電気角θに基づいて電気角速度ωを算出するステップと、
前記駆動電流Ｉｕ、Ｉｖ、（Ｉｗ）をｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑに変換するフィードバック電流生成ステップと、
矩形波制御時に、トルク指令値Ｔ^＊に基づく電圧位相θｖを生成する電圧位相生成ステップと、
前記電圧位相θｖと前記電気角速度ωに基づいて三角波比較に用いる三角波を設定するためのキャリア設定情報Ｓｃを生成するステップと、
三角波比較により生成される駆動信号が１パルスの矩形波となるような矩形波形成電圧｜Ｖａ’｜を出力するステップと、
前記電圧位相θｖと前記矩形波形成電圧｜Ｖａ’｜に基づいてｄ軸、ｑ軸電圧指令Ｖｄ、Ｖｑを生成するｄｑ電圧指令生成ステップと、
前記ｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑをそれぞれ平滑して推定ｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊を生成する電流指令生成ステップと、
前記推定ｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊から前記ｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑをそれぞれ減算してｄ軸、ｑ軸補正電流ΔＩｄ、ΔＩｑをそれぞれ生成する補正電流生成ステップと、
前記ｄ軸、ｑ軸補正電流ΔＩｄ、ΔＩｑからｄ軸、ｑ軸補正電圧ΔＶｄ、ΔＶｑを生成する補正電圧生成ステップと、
前記ｄ軸、ｑ軸補正電圧ΔＶｄ、ΔＶｑを前記ｄ軸、ｑ軸電圧指令Ｖｄ、Ｖｑにそれぞれ加算する補正ステップと、
前記補正ステップで補正されたｄ軸、ｑ軸電圧指令Ｖｄ’、Ｖｑ’を前記矩形波形成電圧｜Ｖａ’｜に基づいて更に補正した後、３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗに変換し、前記キャリア設定情報Ｓｃに基づく周波数が前記３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗの周波数の奇数の３の整数倍の三角波と前記３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗとを比較して駆動信号Ｓｕ、Ｓｖ、Ｓｗを生成する駆動信号生成ステップと、
前記駆動信号Ｓｕ、Ｓｖ、Ｓｗにより前記インバータ２０をスイッチング動作させ駆動電流Ｉｕ、Ｉｖ、Ｉｗを出力する駆動ステップと、を有することを特徴とするモータ制御方法を提供することにより、上記課題を解決する。
（４）ＰＭモータ１０の運転状況に応じてｄ軸、ｑ軸電圧指令の生成を正弦波制御と矩形波制御で切り替えるステップと、
正弦波制御時に、トルク指令値に基づいてｄ軸、ｑ軸電流指令を算出し、このｄ軸、ｑ軸電流指令に基づいてｄ軸、ｑ軸電圧指令を生成するステップと、
正弦波制御時に、電圧位相θｖと電気角速度ωに基づいて周波数が３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗの周波数の奇数の３の整数倍となる三角波を設定するためのキャリア設定情報Ｓｃを生成するステップと、をさらに有することを特徴とする上記（３）記載のモータ制御方法を提供することにより、上記課題を解決する。 The present invention
(1) The inverter 20 that outputs the three-phase AC drive currents Iu, Iv, and Iw to the PM motor 10, the drive current detectors 12u, 12v that acquire the values of the drive currents Iu, Iv, and (Iw), and the above. The angle detection unit 14 that acquires the electric angle θ of the PM motor 10, the angular speed calculation unit 16 that calculates the electric angle velocity ω based on the electric angle θ, and the drive current detection units 12u, 12v based on the electric angle θ. The 3-phase / dq conversion unit 22 that converts the drive currents Iu, Iv, (Iw) acquired by the company into the d-axis and q-axis feedback currents Id and Iq.
A torque control unit 502 that outputs a voltage phase θv based on the torque command value T ^* during square wave control, and a voltage command generation unit 516 that generates d-axis, q-axis voltage commands Vd, and Vq based on the voltage phase θv. , And a square wave control unit 50 having
A linear correction unit 38 that corrects the d-axis and q-axis voltage commands , and dq / that generates three-phase voltage commands Vu, Vv, and Vw based on the d-axis and q-axis voltage commands corrected by the linear correction unit 38. A three-phase conversion unit 32 and a drive signal generation unit 36 for generating drive signals Su, Sv, Sw to switch the inverter 20 by comparing the three-phase voltage commands Vu, Vv, Vw with a triangular wave are provided. In the motor control device including the control signal generation unit 30
The smoothing portion 72 that smoothes the d-axis and q-axis feedback currents Id and Iq to generate the estimated d-axis and q-axis current commands Id ^* and Iq ^* , respectively.
The square wave control unit 50 subtracts the d-axis and q-axis feedback currents Id and Iq from the estimated d-axis and q-axis current commands Id ^* and Iq ^* to obtain the d-axis and q-axis correction currents ΔId and ΔIq, respectively. The correction current generation unit 74 that generates each, and
The correction voltage generation unit 76 that generates the d-axis and q-axis correction voltages ΔVd and ΔVq from the d-axis and q-axis correction currents ΔId and ΔIq.
The voltage command correction unit 78, the synchronization control unit 520, and the voltage command correction unit 78 that add the d-axis and q-axis correction voltages ΔVd and ΔVq to the d-axis, q-axis voltage commands Vd and Vq, respectively, and output them to the control signal generation unit 30. Has more,
The synchronous control unit 520 sets carrier setting information Sc that makes the frequency of the triangular wave an odd multiple of 3 of the frequencies of the voltage commands Vu, Vv, and Vw of the three phases based on the electric angular velocity ω. While outputting to the drive signal generation unit 36, the triangular wave and the three-phase voltage commands Vu, Vv, Vw intersect twice during one cycle of the three-phase voltage commands Vu, Vv, Vw, and the triangle wave is compared. A square wave forming voltage | Va'| is set so that the generated drive signal becomes a one-pulse square wave, and is output to the voltage command generation unit 516 and the linear correction unit 38.
The voltage command generation unit 516 generates d-axis, q-axis voltage commands Vd, and Vq based on the voltage phase θv and the square wave forming voltage | Va'|, and the linear correction unit 38 generates the square wave forming voltage. The d-axis and q-axis voltage commands are corrected based on | Va'|, and the drive signal generation unit 36 receives the three-phase voltage commands Vu, Vv, and Vw by means of a triangular wave having a period based on the carrier setting information Sc. The above-mentioned problem is solved by providing the motor control device 100 characterized by performing the triangular wave comparison of the above.
(2) Sine wave control Synchronous control unit 420 is provided, and during sine wave control, the d-axis and q-axis current commands are calculated based on the torque command value, and the d-axis and q-axis current commands are calculated based on the d-axis and q-axis current commands. A sine wave control unit 40 that generates a q-axis voltage command,
Further, it has a switching unit 24 for switching the generation of the d-axis voltage command and the q-axis voltage command between the sine wave control unit 40 and the square wave control unit 50.
The sine wave control synchronous control unit 420 is driven by setting carrier setting information Sc that makes the frequency of the triangular wave an integral multiple of an odd number 3 of the frequencies of the three-phase voltage commands Vu, Vv, and Vw based on the electric angular velocity ω. The above problem is solved by providing the motor control device 100 according to the above (1), which is characterized by outputting to the signal generation unit 36.
( 3 ) A drive current acquisition step for acquiring the values of the three-phase alternating current drive currents Iu, Iv, and (Iw) output from the inverter 20 to the PM motor 10.
The electric angle acquisition step for acquiring the electric angle θ of the PM motor 10 and
The step of calculating the electric angular velocity ω based on the electric angle θ,
A feedback current generation step for converting the drive currents Iu, Iv, (Iw) into d-axis and q-axis feedback currents Id and Iq, and
A voltage phase generation step that generates a voltage phase θv based on the torque command value T ^* during square wave control,
A step of generating carrier setting information Sc for setting a triangular wave used for triangular wave comparison based on the voltage phase θv and the electric angular velocity ω, and a step of generating the carrier setting information Sc.
A step of outputting a square wave forming voltage | Va'| such that the drive signal generated by the triangular wave comparison becomes a one-pulse rectangular wave, and
A dq voltage command generation step that generates d-axis, q-axis voltage commands Vd, and Vq based on the voltage phase θv and the square wave forming voltage | Va'|
The current command generation step of smoothing the d-axis and q-axis feedback currents Id and Iq to generate the estimated d-axis and q-axis current commands Id ^* and Iq ^* , respectively.
With the correction current generation step of subtracting the d-axis and q-axis feedback currents Id and Iq from the estimated d-axis and q-axis current commands Id ^* and Iq ^* to generate the d-axis and q-axis correction currents ΔId and ΔIq, respectively. ,
The correction voltage generation step of generating the d-axis and q-axis correction voltages ΔVd and ΔVq from the d-axis and q-axis correction currents ΔId and ΔIq.
A correction step of adding the d-axis and q-axis correction voltages ΔVd and ΔVq to the d-axis and q-axis voltage commands Vd and Vq, respectively.
The d-axis and q-axis voltage commands Vd'and Vq'corrected in the correction step are further corrected based on the square wave forming voltage | Va'|, and then converted into three-phase voltage commands Vu, Vv and Vw. , The frequency based on the carrier setting information Sc is driven by comparing the triangular wave having an odd multiple of 3 of the frequencies of the three-phase voltage commands Vu, Vv, Vw and the three-phase voltage commands Vu, Vv, Vw. A drive signal generation step for generating signals Su, Sv, Sw, and
The problem is solved by providing a motor control method characterized by having a drive step in which the inverter 20 is switched and operated by the drive signals Su, Sv, Sw to output drive currents Iu, Iv, Iw. do.
(4) A step of switching the generation of d-axis and q-axis voltage commands between sine wave control and square wave control according to the operating condition of the PM motor 10.
During sine wave control, the d-axis and q-axis current commands are calculated based on the torque command value, and the d-axis and q-axis voltage commands are generated based on the d-axis and q-axis current commands.
During sine wave control, carrier setting information Sc is generated to set a triangular wave whose frequency is an odd multiple of 3 of the frequencies of the three-phase voltage commands Vu, Vv, and Vw based on the voltage phase θv and the electric angular velocity ω. The above problem is solved by providing the motor control method according to the above (3), which further comprises the steps to be performed.

本発明に係るモータ制御装置及びモータ制御方法は、矩形波制御時にｄ軸、ｑ軸フィードバック電流を平滑処理して推定ｄ軸、ｑ軸電流指令を生成し、この推定ｄ軸、ｑ軸電流指令を用いてｄ軸、ｑ軸電流の変動成分の補正を行う。このため、優れた応答性で矩形波制御時におけるモータの駆動電流のオフセットや振幅アンバランスの補正を行うことができる。また、本発明に係るモータ制御装置及びモータ制御方法はｄｑ二相状態で補正を行うため、ある相への補正が他の相へ悪影響を及ぼすことも無い。 The motor control device and the motor control method according to the present invention smooth the d-axis and q-axis feedback currents during rectangular wave control to generate estimated d-axis and q-axis current commands, and the estimated d-axis and q-axis current commands. Is used to correct the fluctuation components of the d-axis and q-axis currents. Therefore, it is possible to correct the offset and the amplitude imbalance of the drive current of the motor at the time of rectangular wave control with excellent responsiveness. Further, since the motor control device and the motor control method according to the present invention perform correction in the dq two-phase state, the correction to one phase does not adversely affect the other phase.

本発明に係るモータ制御装置のブロック図である。It is a block diagram of the motor control device which concerns on this invention. 本発明に係るモータ制御装置の三角波と電圧指令Ｖｕの位置関係を説明する図である。It is a figure explaining the positional relationship between the triangular wave of the motor control device which concerns on this invention, and the voltage command Vu. 本発明に係るモータ制御装置及び制御方法の効果を示すグラフである。It is a graph which shows the effect of the motor control device and the control method which concerns on this invention. ３相電流のオフセットおよび振幅アンバランスとｄｑ軸電流の変動成分を説明する図である。It is a figure explaining the offset and amplitude unbalance of a three-phase current, and the fluctuation component of a dq axis current.

本発明に係るモータ制御装置１００及びモータ制御方法の実施の形態について図面に基づいて説明する。ここで、図１は本発明に係るモータ制御装置１００のブロック図である。先ず、本発明に係るモータ制御装置１００は、ＰＭモータ（永久磁石モータ）１０の動作を制御するものであり、このＰＭモータ１０に３相交流の駆動電流Ｉｕ、Ｉｖ、Ｉｗを出力するインバータ２０と、この駆動電流Ｉｕ、Ｉｖ、（Ｉｗ）の値を取得する駆動電流検出部１２ｕ、１２ｖと、ＰＭモータ１０の電気角θを取得する角度検出部１４と、駆動電流検出部１２ｕ、１２ｖが取得した駆動電流Ｉｕ、Ｉｖ、（Ｉｗ）をｄ軸フィードバック電流Ｉｄ、ｑ軸フィードバック電流Ｉｑに変換する３相／ｄｑ変換部２２と、外部（システムの上位の制御部等）から指示されるトルク指令値Ｔ^＊に応じたｄ軸電圧指令Ｖｄ’、ｑ軸電圧指令Ｖｑ’を出力する正弦波制御部４０と矩形波制御部５０と、ｄ軸電圧指令Ｖｄ’、ｑ軸電圧指令Ｖｑ’に基づいてインバータ２０の駆動信号Ｓｕ、Ｓｖ、Ｓｗを生成する制御信号生成部３０と、ＰＭモータ１０の運転状況に応じてＰＭモータ１０の制御を矩形波制御部５０と正弦波制御部４０とで切り替える切替部２４と、を有している。 An embodiment of the motor control device 100 and the motor control method according to the present invention will be described with reference to the drawings. Here, FIG. 1 is a block diagram of the motor control device 100 according to the present invention. First, the motor control device 100 according to the present invention controls the operation of the PM motor (permanent magnet motor) 10, and the inverter 20 outputs the three-phase AC drive currents Iu, Iv, and Iw to the PM motor 10. The drive current detection units 12u and 12v for acquiring the values of the drive currents Iu, Iv and (Iw), the angle detection unit 14 for acquiring the electric angle θ of the PM motor 10, and the drive current detection units 12u and 12v The 3-phase / dq conversion unit 22 that converts the acquired drive currents Iu, Iv, (Iw) into the d-axis feedback current Id and q-axis feedback current Iq, and the torque instructed from the outside (upper control unit of the system, etc.). The d-axis voltage command Vd'and q-axis voltage command Vq'corresponding to the command value T ^* are output to the sinusoidal wave control unit 40 and the rectangular wave control unit 50, and the d-axis voltage command Vd'and q-axis voltage command Vq'. Based on this, the control signal generation unit 30 that generates the drive signals Su, Sv, Sw of the inverter 20, and the rectangular wave control unit 50 and the sinusoidal wave control unit 40 control the PM motor 10 according to the operating condition of the PM motor 10. It has a switching unit 24 for switching.

また、ＰＭモータ１０は、前述のように回転子側に永久磁石を設けるとともに、固定子側に３相の電機子巻線を設け、この３相の電機子巻線に交流の駆動電流Ｉｕ、Ｉｖ、Ｉｗをそれぞれ流下させることで各電機子巻線の磁極及び磁束を連続的に変化させ、回転子を回転させるものである。尚、ＰＭモータ１０としては永久磁石を回転子に埋め込んだＩＰＭ（ＩｎｔｅｒｉｏｒＰｅｒｍａｎｅｎｔＭａｇｎｅｔ）モータを用いることが好ましい。 Further, the PM motor 10 is provided with a permanent magnet on the rotor side and a three-phase armature winding on the stator side as described above, and the AC drive current Iu is provided on the three-phase armature winding. By flowing Iv and Iw respectively, the magnetic poles and magnetic flux of each armature winding are continuously changed to rotate the rotor. As the PM motor 10, it is preferable to use an IPM (Interior Permanent Magnet) motor in which a permanent magnet is embedded in a rotor.

また、角度検出部１４としては、回転子の角度を取得可能な周知の角度センサを用いることができる。また、角度検出部１４は回転子の機械角を取得して、この機械角から電気角θを演算等で算出するようにしても良いが、回転子内の永久磁石の極対数と同じ数の回転子極数を有するレゾルバ回転角センサを用い、ＰＭモータ１０の電気角θを直接取得することが好ましい。 Further, as the angle detection unit 14, a well-known angle sensor capable of acquiring the angle of the rotor can be used. Further, the angle detection unit 14 may acquire the mechanical angle of the rotor and calculate the electric angle θ from this mechanical angle by calculation or the like, but the number is the same as the number of pole pairs of the permanent magnet in the rotor. It is preferable to directly acquire the electric angle θ of the PM motor 10 by using a resolver rotation angle sensor having the number of rotor poles.

また、駆動電流検出部１２ｕ、１２ｖはインバータ２０から出力される駆動電流Ｉｕ、Ｉｖ、Ｉｗを非接触で取得可能な周知の電流センサを用いることができる。尚、本例では駆動電流Ｉｕ、Ｉｖ、Ｉｗのうちの２つの駆動電流Ｉｕ、Ｉｖを取得し、ｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑに変換する例を示している。また、上記の電気角θと駆動電流Ｉｕ、Ｉｖの取得は、後述の三角波の頂点と谷の両方のタイミングで行い、三角波の半周期毎に後述のモータ制御装置１００の各部にて使用することが好ましい。 Further, the drive current detection units 12u and 12v can use a well-known current sensor that can acquire the drive currents Iu, Iv and Iw output from the inverter 20 in a non-contact manner. In this example, two drive currents Iu and Iv out of the drive currents Iu, Iv and Iw are acquired and converted into d-axis and q-axis feedback currents Id and Iq. Further, the above-mentioned electric angle θ and the drive currents Iu and Iv are acquired at the timings of both the apex and the valley of the triangular wave described later, and are used in each part of the motor control device 100 described later every half cycle of the triangular wave. Is preferable.

次に、本発明に係るモータ制御装置１００の各部の構成、動作及び本発明に係るモータ制御方法を説明する。先ず、インバータ２０は制御信号生成部３０から出力される駆動信号Ｓｕ、Ｓｖ、Ｓｗにより内部のスイッチング素子がオン・オフし、位相が１／３周期（２／３π（ｒａｄ））づつずれた交流の駆動電流Ｉｕ、Ｉｖ、ＩｗをＰＭモータ１０の電機子巻線にそれぞれ流下させる。これにより、ＰＭモータ１０の電機子巻線は磁極及び磁束が連続的に変化して回転磁界を発生する。そして、回転子はこの回転磁界との引力及び斥力によって回転動作する。 Next, the configuration and operation of each part of the motor control device 100 according to the present invention and the motor control method according to the present invention will be described. First, in the inverter 20, the internal switching element is turned on and off by the drive signals Su, Sv, and Sw output from the control signal generation unit 30, and the phase is shifted by 1/3 cycle (2 / 3π (rad)). The drive currents Iu, Iv, and Iw of the above are allowed to flow down to the armature winding of the PM motor 10, respectively. As a result, the armature winding of the PM motor 10 continuously changes the magnetic pole and the magnetic flux to generate a rotating magnetic field. Then, the rotor rotates by the attractive force and the repulsive force with the rotating magnetic field.

このとき、駆動電流検出部１２ｕ、１２ｖがインバータ２０の出力する駆動電流Ｉｕ、Ｉｖの値を取得して３相／ｄｑ変換部２２に出力する（駆動電流取得ステップ）。また、角度検出部１４がＰＭモータ１０の電気角θ（ｒａｄ）を取得して３相／ｄｑ変換部２２に出力する（電気角取得ステップ）。これにより、３相／ｄｑ変換部２２はＰＭモータ１０の電気角θに基づいて駆動電流Ｉｕ、Ｉｖ、（Ｉｗ）に対する３相２相変換及び回転座標変換を行い、駆動電流Ｉｕ、Ｉｖ、（Ｉｗ）をｄ軸電流（磁束分電流）Ｉｄとｑ軸電流（トルク分電流）Ｉｑとに変換する（フィードバック電流生成ステップ）。そして、これらをｄ軸フィードバック電流Ｉｄ、ｑ軸フィードバック電流Ｉｑとして切替部２４に出力する。 At this time, the drive current detection units 12u and 12v acquire the values of the drive currents Iu and Iv output by the inverter 20 and output them to the three-phase / dq conversion unit 22 (drive current acquisition step). Further, the angle detection unit 14 acquires the electric angle θ (rad) of the PM motor 10 and outputs it to the three-phase / dq conversion unit 22 (electric angle acquisition step). As a result, the 3-phase / dq conversion unit 22 performs 3-phase 2-phase conversion and rotational coordinate conversion for the drive currents Iu, Iv, (Iw) based on the electric angle θ of the PM motor 10, and the drive currents Iu, Iv, ( Iw) is converted into a d-axis current (magnetic flux component current) Id and a q-axis current (torque component current) Iq (feedback current generation step). Then, these are output to the switching unit 24 as the d-axis feedback current Id and the q-axis feedback current Iq.

また、角度検出部１４が取得した電気角θは角速度演算部１６にも出力され、この角速度演算部１６は入力した電気角θから電気角速度ω（ｒａｄ／ｓ）を算出し、各部に出力する。 Further, the electric angle θ acquired by the angle detection unit 14 is also output to the angular velocity calculation unit 16, and the angular velocity calculation unit 16 calculates the electric angular velocity ω (rad / s) from the input electric angle θ and outputs it to each unit. ..

切替部２４はＰＭモータ１０の運転状況に応じてｄ軸電圧指令Ｖｄ’、ｑ軸電圧指令Ｖｑ’の生成方法を切り換える切り替え回路であり、ＰＭモータ１０が予め設定されている高回転速度、高トルクの動作領域で動作する場合には、ｄ軸電圧指令Ｖｄ’、ｑ軸電圧指令Ｖｑ’の生成を正弦波制御部４０から矩形波制御部５０に切り替える。これにより、ＰＭモータ１０は中・低速回転動作時ではトルク変動の少ない正弦波制御により動作制御され、高速回転・高トルク動作時には高出力が可能な矩形波制御で動作制御される。 The switching unit 24 is a switching circuit that switches the generation method of the d-axis voltage command Vd'and the q-axis voltage command Vq' according to the operating condition of the PM motor 10, and the PM motor 10 has a preset high rotation speed and high speed. When operating in the torque operating region, the generation of the d-axis voltage command Vd'and the q-axis voltage command Vq'is switched from the sine wave control unit 40 to the square wave control unit 50. As a result, the PM motor 10 is controlled by a sine wave control with little torque fluctuation during medium / low speed rotation operation, and is controlled by a square wave control capable of high output during high speed rotation / high torque operation.

次に、正弦波制御部４０の構成及び動作を説明する。尚、以下で説明する正弦波制御部４０の構成は本発明に好適な一例であるから、下記の構成に限定されるわけではなく、他の如何なる正弦波制御機構を用いても良い。 Next, the configuration and operation of the sine wave control unit 40 will be described. Since the configuration of the sine wave control unit 40 described below is an example suitable for the present invention, the configuration is not limited to the following, and any other sine wave control mechanism may be used.

先ず、上位システムの制御部等からトルク指令値Ｔ^＊が出力される。このトルク指令値Ｔ^＊はＰＭモータ１０の動作目標となるトルクである。そして、このトルク指令値Ｔ^＊は切替部２４が正弦波制御部４０を選択している場合、正弦波制御部４０のトルク制御部４０２に入力する。また、トルク制御部４０２にはトルク計算部４０４からＰＭモータ１０の現在のトルクＴが入力する。 First, the torque command value T ^* is output from the control unit of the host system or the like. This torque command value T ^* is the torque that is the operating target of the PM motor 10. Then, this torque command value T ^* is input to the torque control unit 402 of the sine wave control unit 40 when the switching unit 24 selects the sine wave control unit 40. Further, the current torque T of the PM motor 10 is input from the torque calculation unit 404 to the torque control unit 402.

ここで、トルク計算部４０４はＰＭモータ１０のモータパラメータとしての誘起電圧定数φａ、ｄ軸インダクタンスＬｄ、ｑ軸インダクタンスＬｑ等を有している。尚、誘起電圧定数φａ、ｄ軸インダクタンスＬｄ、ｑ軸インダクタンスＬｑは予め設定された固定値としても良いし、ＰＭモータ１０の温度や動作状況に応じて予め設定された適切な値を例えばデータテーブル等から適宜取得するようにしても良い。そして、トルク計算部４０４はこれらの値と、ｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑもしくは電流指令生成部４０６から出力されるｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊に基づいて、ＰＭモータ１０の現在のトルクＴを例えば下記式に基づいて算出する。尚、本例ではｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊に基づいてトルクＴを算出する例を示している。
Ｔ＝Ｐ（φａＩｑ^＊＋（Ｌｄ－Ｌｑ）Ｉｄ^＊Ｉｑ^＊）［Ｎ・ｍ］
Ｐ：ＰＭモータの永久磁石の極対数
φａ：誘起電圧定数
Ｌｄ：ｄ軸インダクタンス
Ｌｑ：ｑ軸インダクタンス Here, the torque calculation unit 404 has an induced voltage constant φa, a d-axis inductance Ld, a q-axis inductance Lq, and the like as motor parameters of the PM motor 10. The induced voltage constants φa, d-axis inductance Ld, and q-axis inductance Lq may be preset fixed values, or appropriate values preset according to the temperature and operating conditions of the PM motor 10 may be set as, for example, a data table. It may be obtained from such sources as appropriate. Then, the torque calculation unit 404 is based on these values and the d-axis, q-axis current commands Id ^* , Iq ^* output from the d-axis, q-axis feedback currents Id, Iq or the current command generation unit 406, and the PM motor. The current torque T of 10 is calculated based on, for example, the following equation. In this example, an example of calculating the torque T based on the d-axis, q-axis current commands Id ^* , and Iq ^* is shown.
T = P (φaIq ^* + (Ld-Lq) Id ^* Iq ^* ) [Nm]
P: Number of pole pairs of permanent magnet of PM motor φa: Induced voltage constant Ld: d-axis inductance Lq: q-axis inductance

そして、トルク制御部４０２はトルク指令値Ｔ^＊と現在のトルクＴとから、ＰＭモータ１０が目標のトルクで動作する電流指令値Ｉａ^＊を設定し、電流指令生成部４０６に出力する。尚、電流指令値Ｉａ^＊は積分制御、比例制御などの演算により算出しても良い。 Then, the torque control unit 402 sets the current command value Ia * in which the PM motor 10 operates at the target torque from the torque command value T ^* and the current torque T, and outputs the current command value Ia ^* to the current command generation unit 406. The current command value Ia ^* may be calculated by operations such as integral control and proportional control.

電流指令生成部４０６はトルク計算部４０４と同様のモータパラメータを有するとともに、角速度演算部１６からの電気角速度ωと、図示しない電源部からの電源電圧Ｖｄｃが入力する。そして、電流指令生成部４０６はトルク制御部４０２からの電流指令値Ｉａ^＊、電源電圧Ｖｄｃ、及びモータパラメータ、電気角速度ωを用いた所定の演算や電圧制御によりｄ軸電流指令Ｉｄ^＊、ｑ軸電流指令Ｉｑ^＊を算出し、正弦波制御部４０の電圧指令生成部４１６に出力する。尚、このとき、後述の電圧指令の大きさ｜Ｖａ｜がＫ×Ｖｄｃ（Ｋ：電圧利用率設定値）の値を超えないようにｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊を調整することで、正弦波制御領域と矩形波制御領域との間に過変調制御領域を設けることが可能となり、中高速動作領域での出力向上を図ることができる。また、電流指令値Ｉａ^＊、ｄ軸電流指令Ｉｄ^＊、ｑ軸電流指令Ｉｑ^＊には必要に応じて電流リミッタを設けても良い。 The current command generation unit 406 has the same motor parameters as the torque calculation unit 404, and the electric angular velocity ω from the angular velocity calculation unit 16 and the power supply voltage Vdc from the power supply unit (not shown) are input. Then, the current command generation unit 406 uses the current command value Ia ^* from the torque control unit 402, the power supply voltage Vdc, the motor parameters, and the d-axis current command Id ^* and q-axis by predetermined calculation and voltage control using the electric angular velocity ω. The current command Iq ^* is calculated and output to the voltage command generation unit 416 of the sine wave control unit 40. At this time, the d-axis and q-axis current commands Id ^* and Iq ^* are adjusted so that the magnitude | Va | of the voltage command described later does not exceed the value of K × Vdc (K: voltage utilization rate set value). This makes it possible to provide an overmodulation control area between the sine wave control area and the square wave control area, and it is possible to improve the output in the medium- and high-speed operation areas. Further, a current limiter may be provided for the current command value Ia ^* , the d-axis current command Id ^* , and the q-axis current command Iq ^* , if necessary.

ここで、電圧指令生成部４１６の好適な一例を説明する。先ず、電圧指令生成部４１６に入力したｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊は２分岐して、一方は非干渉制御部４１４に入力する。そして、非干渉制御部４１４にてｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊間で干渉する速度起電力成分が算出され、ｄ軸、ｑ軸電圧指令Ｖｄ’’、Ｖｑ’’として電流制御部４１０に出力される。また、ｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊の他方は、減算部４１２においてｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑが減算されて変動成分ΔＩｄ、ΔＩｑとされた後、電流制御部４１０に入力する。そして、電流制御部４１０において、適宜、電流積分制御、電流比例制御等の電流制御が施されるとともに、非干渉制御部４１４からのｄ軸、ｑ軸電圧指令Ｖｄ’’、Ｖｑ’’が適切な位置で加算されｄ軸電圧指令Ｖｄ’、ｑ軸電圧指令Ｖｑ’が生成される。そして、この電流制御部４１０における電流制御によりｄ軸、ｑ軸電流指令の変動成分（駆動電流Ｉｕ、Ｉｖ、Ｉｗのオフセットや振幅アンバランス成分）は低減もしくは平滑化する。 Here, a suitable example of the voltage command generation unit 416 will be described. First, the d-axis, q-axis current commands Id ^* , and Iq ^* input to the voltage command generation unit 416 are branched into two, and one is input to the non-interference control unit 414. Then, the non-interference control unit 414 calculates the velocity electromotive force component that interferes between the d-axis and q-axis current commands Id ^* and Iq ^* , and controls the current as the d-axis and q-axis voltage commands Vd'' and Vq''. It is output to the unit 410. Further, the other of the d-axis and q-axis current commands Id ^* and Iq ^* is obtained by subtracting the d-axis and q-axis feedback currents Id and Iq in the subtraction unit 412 to obtain variable components ΔId and ΔIq, and then the current control unit 410. Enter in. Then, in the current control unit 410, current control such as current integration control and current proportional control is appropriately performed, and the d-axis, q-axis voltage commands Vd ″ and Vq'' from the non-interference control unit 414 are appropriate. The d-axis voltage command Vd'and the q-axis voltage command Vq'are generated at various positions. Then, the fluctuation components of the d-axis and q-axis current commands (offsets and amplitude imbalance components of the drive currents Iu, Iv, and Iw) are reduced or smoothed by the current control in the current control unit 410.

尚、電圧指令生成部４１６にはｄ軸、ｑ軸電圧指令Ｖｄ’、Ｖｑ’に基づく電圧指令Ｖｕ、Ｖｖ、Ｖｗがインバータ２０の出力限界となる最大電圧（１パルスの矩形波電圧となる電圧）の近傍とならないように制限するリミッタ部を設けることが好ましい。このリミッタ部の制限電圧は後述の正弦波制御同期制御部４２０が設定する三角波の同期数に準じて設定することが好ましい。 In the voltage command generation unit 416, the voltage commands Vu, Vv, and Vw based on the d-axis and q-axis voltage commands Vd'and Vq'are the maximum voltage (voltage that becomes the square wave voltage of one pulse) that is the output limit of the inverter 20. It is preferable to provide a limiter portion that limits the voltage so that it does not become in the vicinity of). The limit voltage of this limiter unit is preferably set according to the number of triangular wave synchronizations set by the sine wave control synchronization control unit 420 described later.

また、正弦波制御部４０は、電流制御部４１０のｄ軸、ｑ軸電圧指令Ｖｄ’’’、Ｖｑ’’’を取得して極座標変換を行い電圧位相θｖと電圧指令の大きさ｜Ｖａ｜を取得する極座標変換部４１８と、この極座標変換部４１８で得られた電圧位相θｖと電気角速度ωと電気角θとから後述する三角波のキャリア設定情報Ｓｃを生成し三角波生成部３４に出力する正弦波制御同期制御部４２０と、を有している。尚、キャリア設定情報Ｓｃに関しては後述する。 Further, the sine wave control unit 40 acquires the d-axis, q-axis voltage commands Vd'', Vq'''' of the current control unit 410, performs polar coordinate conversion, and performs voltage phase θv and the magnitude of the voltage command | Va | A sine wave that generates carrier setting information Sc for a triangular wave, which will be described later, from the voltage phase θv, the electric angular velocity ω, and the electric angle θ obtained by the polar coordinate conversion unit 418, and outputs the sine wave to the triangular wave generation unit 34. It has a wave control synchronous control unit 420 . The carrier setting information Sc will be described later.

そして、電流制御部４１０から出力したｄ軸電圧指令Ｖｄ’、ｑ軸電圧指令Ｖｑ’は切替部２４を介して制御信号生成部３０に入力する。ここで、制御信号生成部３０の好適な一例を説明する。尚、以下で説明する制御信号生成部３０の構成は本発明に好適な一例であるから、下記の構成に限定されるわけではなく、他の如何なる制御信号生成機構を用いても良い。 Then, the d-axis voltage command Vd'and the q-axis voltage command Vq' output from the current control unit 410 are input to the control signal generation unit 30 via the switching unit 24. Here, a suitable example of the control signal generation unit 30 will be described. Since the configuration of the control signal generation unit 30 described below is an example suitable for the present invention, the configuration is not limited to the following, and any other control signal generation mechanism may be used.

先ず、電流制御部４１０から出力したｄ軸電圧指令Ｖｄ’、ｑ軸電圧指令Ｖｑ’は制御信号生成部３０のｄｑ／３相変換部３２に入力する。尚、制御信号生成部３０は、ｄｑ／３相変換部３２の前段に矩形波制御時、過変調制御時におけるｄ軸、ｑ軸電圧指令Ｖｄ’、Ｖｑ’と電圧指令Ｖｕ、Ｖｖ、Ｖｗとの非線形性を補正するための線形補正部３８を有していても良い。尚、この線形補正部３８で用いる補正値は矩形波形成電圧｜Ｖａ’｜と対応して設定する。 First, the d-axis voltage command Vd'and the q-axis voltage command Vq' output from the current control unit 410 are input to the dq / 3-phase conversion unit 32 of the control signal generation unit 30. In addition, the control signal generation unit 30 has the d-axis and q-axis voltage commands Vd', Vq'and the voltage commands Vu, Vv, Vw in the front stage of the dq / 3 phase conversion unit 32 during rectangular wave control and overmodulation control. It may have a linear correction unit 38 for correcting the non-linearity of the above. The correction value used in the linear correction unit 38 is set in correspondence with the rectangular wave forming voltage | Va'|.

また、ｄｑ／３相変換部３２には角度検出部１４からの電気角θと角速度演算部１６からの電気角速度ωが入力し、この電気角θと電気角速度ωとに基づいてインバータ２０がスイッチング動作を行う新たなタイミングの予測電気角θ’を算出し、この予測電気角θ’に基づいてｄ軸、ｑ軸電圧指令Ｖｄ’、Ｖｑ’を３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗに変換し、駆動信号生成部３６に出力する。 Further, the electric angle θ from the angle detection unit 14 and the electric angular velocity ω from the angular velocity calculation unit 16 are input to the dq / 3 phase conversion unit 32, and the inverter 20 switches based on the electric angle θ and the electric angular velocity ω. Calculates the predicted electrical angle θ'of the new timing of operation, and converts the d-axis, q-axis voltage commands Vd', Vq'to the three-phase voltage commands Vu, Vv, Vw based on this predicted electrical angle θ'. Then, it is output to the drive signal generation unit 36.

駆動信号生成部３６は三角波生成部３４を有しており、この三角波生成部３４にはキャリア設定情報Ｓｃが入力して、このキャリア設定情報Ｓｃに基づいた周期の三角波を生成する。 The drive signal generation unit 36 has a triangular wave generation unit 34, and carrier setting information Sc is input to the triangular wave generation unit 34 to generate a triangular wave having a period based on the carrier setting information Sc.

そして、駆動信号生成部３６はこの三角波と電圧指令Ｖｕ、Ｖｖ、Ｖｗとをそれぞれ三角波比較する。このとき、三角波の振幅は後述のキャリア設定情報Ｓｃによって増減する。よって、電圧指令Ｖｕ、Ｖｖ、Ｖｗを三角波の振幅と比例する換算係数によって調整し、この調整後の電圧指令Ｖｕ、Ｖｖ、Ｖｗを用いて三角波比較を行う。これにより、Ｈｉ－Ｌｏｗの駆動信号Ｓｕ、Ｓｖ、Ｓｗが生成される。この駆動信号Ｓｕ、Ｓｖ、Ｓｗはインバータ２０に出力され、インバータ２０はこの駆動信号Ｓｕ、Ｓｖ、Ｓｗによりスイッチング動作して３相交流の駆動電流Ｉｕ、Ｉｖ、Ｉｗを出力し、ＰＭモータ１０を動作させる。 Then, the drive signal generation unit 36 compares the triangular wave with the voltage commands Vu, Vv, and Vw, respectively. At this time, the amplitude of the triangular wave increases or decreases according to the carrier setting information Sc described later. Therefore, the voltage commands Vu, Vv, and Vw are adjusted by a conversion coefficient proportional to the amplitude of the triangular wave, and the triangular wave comparison is performed using the adjusted voltage commands Vu, Vv, and Vw. As a result, Hi-Low drive signals Su, Sv, and Sw are generated. The drive signals Su, Sv, and Sw are output to the inverter 20, and the inverter 20 switches by the drive signals Su, Sv, and Sw to output three-phase AC drive currents Iu, Iv, and Iw, and outputs the PM motor 10. Make it work.

また、切替部２４はＰＭモータ１０が高回転速度、高トルクの動作領域で動作すると、ＰＭモータ１０の制御を正弦波制御部４０から矩形波制御部５０に切り替える。これにより、トルク指令値Ｔ^＊は矩形波制御部５０のトルク制御部５０２に入力する。また、矩形波制御部５０のトルク計算部５０４にはｄ軸フィードバック電流Ｉｄ、ｑ軸フィードバック電流Ｉｑが入力する。尚、トルク計算部５０４は正弦波制御部４０のトルク計算部４０４と同様にモータパラメータを有しており、これらモータパラメータとｄ軸、ｑ軸フィードバック電流Ｉｄ、ＩｑとからＰＭモータ１０の現在のトルクＴを算出して、トルク制御部５０２に出力する。そして、トルク制御部５０２は、トルク指令値Ｔ^＊とトルクＴとから、ＰＭモータ１０が目標のトルクで動作するような電圧位相θｖを積分制御、比例制御などにより生成する（電圧位相生成ステップ）。そして、矩形波制御部５０の電圧指令生成部５１６と同期制御部５２０に出力する。 Further, when the PM motor 10 operates in the operating region of high rotation speed and high torque, the switching unit 24 switches the control of the PM motor 10 from the sine wave control unit 40 to the rectangular wave control unit 50. As a result, the torque command value T ^* is input to the torque control unit 502 of the rectangular wave control unit 50. Further, the d-axis feedback current Id and the q-axis feedback current Iq are input to the torque calculation unit 504 of the square wave control unit 50. The torque calculation unit 504 has motor parameters similar to the torque calculation unit 404 of the sine wave control unit 40, and the current motor 10 is obtained from these motor parameters and the d-axis and q-axis feedback currents Id and Iq. The torque T is calculated and output to the torque control unit 502. Then, the torque control unit 502 generates a voltage phase θv from the torque command value T ^* and the torque T so that the PM motor 10 operates at the target torque by integral control, proportional control, or the like (voltage phase generation step). .. Then, it is output to the voltage command generation unit 516 and the synchronization control unit 520 of the rectangular wave control unit 50.

同期制御部５２０は電圧位相θｖと電気角速度ωと電気角θとから三角波比較に用いる三角波を設定するためのキャリア設定情報Ｓｃを生成する。そして、三角波生成部３４に出力する。ここで、キャリア設定情報Ｓｃが設定する三角波は、三角波の周波数が電圧指令Ｖｕ、Ｖｖ、Ｖｗの周波数の奇数の３の整数倍、即ち、９、１５、２１、２７倍など（以後、この倍数を同期数とする）であり、かつ図２中の点Ａに示す三角波の立ち下がりの中央位置と電圧指令Ｖｕの立ち上がりのゼロ位置とがクロスすることが好ましい。尚、三角波の同期数は電気角速度ωに応じて設定される。そして、同期制御部５２０は電圧位相θｖと電気角θとに基づいて三角波の中央位置と電圧指令Ｖｕのゼロ位置とがクロスする三角波の周期を設定すると同時に、三角波の周波数が設定された同期数となるような三角波の周期を設定する。また、同期制御部５２０は電気角速度ωの変化に連動して周期の設定情報を変化させ、三角波を上記の状態に追従、維持させる。さらに、同期制御部５２０は電気角速度ωが予め設定された所定の値を超えた場合、同期数を１段階下げてキャリア設定情報Ｓｃを設定し出力する。また、電気角速度ωが予め設定された所定の値を下回った場合、同期数を１段階上げてキャリア設定情報Ｓｃを設定し出力する。尚、同期数を変化させる電気角速度ωの値は同期数毎にデータテーブル等に予め記憶しておき、同期制御部５２０は入力した電気角速度ωに応じて対応する同期数をデータテーブルから取得し設定を行う事が好ましい。このとき、同期数を上下する電気角速度ωにはヒステリシス幅を持たせることが好ましい。これらの同期制御部５２０の動作は正弦波制御同期制御部４２０においても基本的に同じである。尚、これらの三角波の周期の変化と連動して、後述の補正電圧生成部７６の補正ゲイン（Ｋｄ、Ｋｑ）、平滑部７２の時定数、各制御のゲイン等は調整され再設定される。 The synchronous control unit 520 generates carrier setting information Sc for setting a triangular wave to be used for triangular wave comparison from the voltage phase θv, the electric angular velocity ω, and the electric angle θ. Then, it is output to the triangular wave generation unit 34. Here, in the triangular wave set by the carrier setting information Sc, the frequency of the triangular wave is an integral multiple of an odd number of 3 of the frequencies of the voltage commands Vu, Vv, and Vw, that is, 9, 15, 21, 27 times, and the like (hereinafter, this). It is preferable that the multiple is the synchronous number) and the center position of the falling edge of the triangular wave shown at the point A in FIG. 2 and the zero position of the rising edge of the voltage command Vu cross. The number of synchronizations of the triangular wave is set according to the electric angular velocity ω. Then, the synchronization control unit 520 sets the period of the triangular wave at which the center position of the triangular wave and the zero position of the voltage command Vu cross each other based on the voltage phase θv and the electric angle θ, and at the same time, the frequency of the triangular wave is set. Set the period of the triangular wave so that Further, the synchronous control unit 520 changes the cycle setting information in conjunction with the change in the electric angular velocity ω, and makes the triangular wave follow and maintain the above state. Further, when the electric angular velocity ω exceeds a predetermined value set in advance, the synchronization control unit 520 reduces the number of synchronizations by one step to set and output the carrier setting information Sc. Further, when the electric angular velocity ω falls below a predetermined value set in advance, the number of synchronizations is increased by one step to set and output the carrier setting information Sc. The value of the electric angular velocity ω that changes the synchronization number is stored in advance in a data table or the like for each synchronization number, and the synchronization control unit 520 acquires the corresponding synchronization number from the data table according to the input electric angular velocity ω. It is preferable to set it. At this time, it is preferable to give a hysteresis width to the electric angular velocity ω that fluctuates the number of synchronizations. The operation of these synchronous control units 520 is basically the same in the sine wave control synchronous control unit 420 . In conjunction with the change in the period of these triangular waves, the correction gain (Kd, Kq) of the correction voltage generation unit 76, the time constant of the smoothing unit 72, the gain of each control, and the like, which will be described later, are adjusted and reset.

また、同期制御部５２０は三角波と電圧指令Ｖｕ、Ｖｖ、Ｖｗとが、電圧指令Ｖｕ、Ｖｖ、Ｖｗの１周期の間で２回交差する、即ち、三角波比較により生成される駆動信号Ｓｕ、Ｓｖ、Ｓｗが１パルスの矩形波となるような矩形波形成電圧｜Ｖａ’｜を取得し電圧指令生成部５１６に出力する。尚、同期制御部５２０による矩形波形成電圧｜Ｖａ’｜の設定は、２点で交差する矩形波形成電圧｜Ｖａ’｜の値を予め三角波の同期数毎にデータテーブルに設定しておき、同期制御部５２０が三角波の同期数を決定すると同時に、この同期数と対応した矩形波形成電圧｜Ｖａ’｜を選択して設定することが好ましい。そして、同期制御部５２０はこの矩形波形成電圧｜Ｖａ’｜を電圧指令生成部５１６及び線形補正部３８に出力する。 Further, in the synchronous control unit 520, the triangular wave and the voltage commands Vu, Vv, Vw intersect twice during one cycle of the voltage commands Vu, Vv, Vw, that is, the drive signals Su, Sv generated by the triangular wave comparison. , Acquires a square wave forming voltage | Va'| such that Sw becomes a square wave of one pulse, and outputs the voltage command generation unit 516. For the setting of the square wave formation voltage | Va'| by the synchronization control unit 520, the value of the square wave formation voltage | Va'| that intersects at two points is set in advance in the data table for each number of synchronizations of the triangular wave. It is preferable that the synchronization control unit 520 determines the synchronization number of the triangular wave, and at the same time, selects and sets the square wave forming voltage | Va'| corresponding to this synchronization number. Then, the synchronous control unit 520 outputs this rectangular wave forming voltage | Va'| to the voltage command generation unit 516 and the linear correction unit 38.

電圧指令生成部５１６は、トルク制御部５０２から入力した電圧位相θｖと、同期制御部５２０から入力した矩形波形成電圧｜Ｖａ’｜とから、ｄ軸電圧指令Ｖｄ、ｑ軸電圧指令Ｖｑを生成する（ｄｑ電圧指令生成ステップ）。 The voltage command generation unit 516 generates a d-axis voltage command Vd and a q-axis voltage command Vq from the voltage phase θv input from the torque control unit 502 and the square wave forming voltage | Va'| input from the synchronous control unit 520. (Dq voltage command generation step).

ここで本発明に係るモータ制御装置１００の矩形波制御部５０は、本発明の特徴的な構成として平滑部７２と、補正電流生成部７４と、補正電圧生成部７６と、電圧指令補正部７８と、を備えた補正部７０を有している。 Here, the square wave control unit 50 of the motor control device 100 according to the present invention has a smoothing unit 72, a correction current generation unit 74, a correction voltage generation unit 76, and a voltage command correction unit 78 as characteristic configurations of the present invention. The correction unit 70 is provided with the above.

そして、補正部７０の平滑部７２は、切替部２４を介して入力したｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑを例えば移動平均処理もしくはなまし処理を行ってそれぞれ平滑化する。尚、ここでのなまし処理とは、入力信号（ｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑ）に対し、任意の周期ごとに下記（１）式の処理を行う事で平滑化する処理を意味する。
Ｃ＝Ｂ（１－Ｋ）＋Ｋ×Ａ・・・・（１）
ここで、Ａは入力値（ｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑ）であり、Ｂは直前の周期のなまし処理後の出力値であり、Ｋはなまし定数であり、Ｃが出力値（推定ｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊）である。 Then, the smoothing unit 72 of the correction unit 70 smoothes the d-axis, q-axis feedback currents Id, and Iq input via the switching unit 24 by performing, for example, a moving average process or a smoothing process, respectively. The smoothing process here means a process of smoothing the input signal (d-axis, q-axis feedback current Id, Iq) by performing the process of the following equation (1) every arbitrary cycle. do.
C = B (1-K) + K × A ... (1)
Here, A is an input value (d-axis, q-axis feedback current Id, Iq), B is an output value after the smoothing process of the immediately preceding cycle, K is a smoothing constant, and C is an output value. (Estimated d-axis, q-axis current command Id ^* , Iq ^* ).

この平滑化処理により、オフセット等による変動成分が平滑化された疑似的な推定ｄ軸電流指令Ｉｄ^＊、推定ｑ軸電流指令Ｉｑ^＊が生成される（電流指令生成ステップ）。そして、これら推定ｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊は補正電流生成部７４に出力される。 By this smoothing process, a pseudo estimated d-axis current command Id ^* and an estimated q-axis current command Iq ^* in which fluctuation components due to offset or the like are smoothed are generated (current command generation step). Then, these estimated d-axis, q-axis current commands Id ^* , and Iq ^* are output to the correction current generation unit 74.

また、補正電流生成部７４にはｄ軸フィードバック電流Ｉｄ、ｑ軸フィードバック電流Ｉｑがそれぞれ入力しており、補正電流生成部７４は平滑部７２で生成された推定ｄ軸電流指令Ｉｄ^＊、推定ｑ軸電流指令Ｉｑ^＊からｄ軸フィードバック電流Ｉｄ、ｑ軸フィードバック電流Ｉｑをそれぞれ減算する。これにより、変動成分としてのｄ軸補正電流ΔＩｄ、ｑ軸補正電流ΔＩｑが生成される（補正電流生成ステップ）。そして、これらｄ軸補正電流ΔＩｄ、ｑ軸補正電流ΔＩｑを補正電圧生成部７６に出力する。尚、このｄ軸補正電流ΔＩｄ、ｑ軸補正電流ΔＩｑは、オフセットや振幅アンバランスの成分（変動成分）が平滑化した推定ｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊からオフセットや振幅アンバランスの成分（変動成分）を含むｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑをそれぞれ減算したものであるから、基本的に変動成分の逆相をとる。 Further, the d-axis feedback current Id and the q-axis feedback current Iq are input to the correction current generation unit 74, respectively, and the correction current generation unit 74 receives the estimated d-axis current command Id ^* and the estimated q generated by the smoothing unit 72. The d-axis feedback current Id and the q-axis feedback current Iq are subtracted from the shaft current command Iq ^* , respectively. As a result, the d-axis correction current ΔId and the q-axis correction current ΔIq as fluctuation components are generated (correction current generation step). Then, these d-axis correction currents ΔId and q-axis correction currents ΔIq are output to the correction voltage generation unit 76. The d-axis correction current ΔId and q-axis correction current ΔIq are offset and amplitude unbalanced from the estimated d-axis, q-axis current commands Id ^* and Iq ^* in which the offset and amplitude imbalance components (fluctuation components) are smoothed. Since the d-axis, q-axis feedback currents Id, and Iq including the component (variable component) of are subtracted, basically the reverse phase of the variable component is taken.

また、補正電圧生成部７６は、補正電流生成部７４から入力したｄ軸補正電流ΔＩｄ、ｑ軸補正電流ΔＩｑから、例えば所定の補正ゲイン（Ｋｄ、Ｋｑ）による比例制御等によりｄ軸補正電圧ΔＶｄ、ｑ軸補正電圧ΔＶｑを生成し（補正電圧生成ステップ）、電圧指令補正部７８に出力する。 Further, the correction voltage generation unit 76 has a d-axis correction voltage ΔVd from the d-axis correction current ΔId and the q-axis correction current ΔIq input from the correction current generation unit 74 by, for example, proportional control by a predetermined correction gain (Kd, Kq). , Q-axis correction voltage ΔVq is generated (correction voltage generation step) and output to the voltage command correction unit 78.

電圧指令補正部７８は、補正電圧生成部７６から入力したｄ軸補正電圧ΔＶｄ、ｑ軸補正電圧ΔＶｑを電圧指令生成部５１６から出力したｄ軸電圧指令Ｖｄ、ｑ軸電圧指令Ｖｑにそれぞれ加算してｄ軸電圧指令Ｖｄ’、ｑ軸電圧指令Ｖｑ’を生成する（補正ステップ）。ここで、ｄ軸、ｑ軸電圧指令Ｖｄ’、Ｖｑ’は、前述のようにオフセットや振幅アンバランス成分（変動成分）の逆相のｄ軸、ｑ軸補正電圧ΔＶｄ、ΔＶｑが加算されたものである。即ち、ｄ軸、ｑ軸電圧指令Ｖｄ’、Ｖｑ’には駆動電流Ｉｕ、Ｉｖ、Ｉｗに生じるオフセットや振幅アンバランス分の逆の電圧（ｄ軸、ｑ軸補正電圧ΔＶｄ、ΔＶｑ）が加味されたものである。 The voltage command correction unit 78 adds the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq input from the correction voltage generation unit 76 to the d-axis voltage command Vd and the q-axis voltage command Vq output from the voltage command generation unit 516, respectively. The d-axis voltage command Vd'and the q-axis voltage command Vq'are generated (correction step). Here, the d-axis and q-axis voltage commands Vd'and Vq' are obtained by adding the offset and amplitude unbalanced components (fluctuation components) opposite-phase d-axis and q-axis correction voltages ΔVd and ΔVq as described above. Is. That is, the opposite voltage (d-axis, q-axis correction voltage ΔVd, ΔVq) of the offset and amplitude imbalance generated in the drive currents Iu, Iv, and Iw is added to the d-axis and q-axis voltage commands Vd'and Vq'. It is an offset.

ここで図３に、補正部７０を備えていない従来の矩形波制御部の使用でオフセットが生じている駆動電流Ｉｕ、Ｉｖ、Ｉｗのグラフと、同条件にて補正部７０を備えた矩形波制御部５０を使用したときの駆動電流Ｉｕ、Ｉｖ、Ｉｗのグラフを示す。尚、図３（ａ）は補正部７０を備えていない矩形波制御部の駆動電流Ｉｕ、Ｉｖ、Ｉｗのグラフであり、図３（ｂ）は補正部７０を備えた矩形波制御部５０の駆動電流Ｉｕ、Ｉｖ、Ｉｗのグラフである。 Here, FIG. 3 shows a graph of drive currents Iu, Iv, and Iw in which offset occurs due to the use of a conventional rectangular wave control unit that does not have a correction unit 70, and a rectangular wave that has a correction unit 70 under the same conditions. The graph of the drive current Iu, Iv, Iw when the control unit 50 is used is shown. 3A is a graph of the drive currents Iu, Iv, and Iw of the rectangular wave control unit without the correction unit 70, and FIG. 3B is a graph of the rectangular wave control unit 50 with the correction unit 70. It is a graph of the drive current Iu, Iv, Iw.

図３から、補正部７０を備えていない矩形波制御部の駆動電流Ｉｕ、Ｉｖ、Ｉｗは波形の中心位置が上下にズレたオフセットが生じているのに対し、補正部７０を備えた矩形波制御部５０の駆動電流Ｉｕ、Ｉｖ、Ｉｗは波形の中心位置にズレが無くオフセットが解消されていることがわかる。これは、補正部７０によるｄ軸、ｑ軸補正電圧ΔＶｄ、ΔＶｑの加算により駆動電流Ｉｕ、Ｉｖ、Ｉｗのオフセットが補正され解消したことを意味している。 From FIG. 3, the drive currents Iu, Iv, and Iw of the square wave control unit without the correction unit 70 have an offset in which the center position of the waveform is vertically displaced, whereas the square wave with the correction unit 70 is provided. It can be seen that the drive currents Iu, Iv, and Iw of the control unit 50 have no deviation in the center position of the waveform and the offset is eliminated. This means that the offsets of the drive currents Iu, Iv, and Iw are corrected and eliminated by the addition of the d-axis and q-axis correction voltages ΔVd and ΔVq by the correction unit 70.

そして、これらｄ軸電圧指令Ｖｄ’、ｑ軸電圧指令Ｖｑ’は切替部２４を介して制御信号生成部３０に入力する。そして、正弦波制御部４０の時と同様に、線形補正部３８を介してｄｑ／３相変換部３２にて３相の電圧指令Ｖｕ、Ｖｖ、Ｖｗに変換される。 Then, these d-axis voltage command Vd'and q-axis voltage command Vq'are input to the control signal generation unit 30 via the switching unit 24. Then, as in the case of the sine wave control unit 40, the voltage commands Vu, Vv, and Vw of the three phases are converted by the dq / three-phase conversion unit 32 via the linear correction unit 38.

そして、駆動信号生成部３６において、三角波比較が行われ駆動信号Ｓｕ、Ｓｖ、Ｓｗが生成される（駆動信号生成ステップ）。尚、このときの三角波は同期制御部５２０からのキャリア設定情報Ｓｃによって、周波数が電圧指令Ｖｕ、Ｖｖ、Ｖｗの奇数の３の整数倍の三角波となる。 Then, in the drive signal generation unit 36, a triangular wave comparison is performed and drive signals Su, Sv, and Sw are generated (drive signal generation step). The triangular wave at this time becomes a triangular wave whose frequency is an odd multiple of 3 of the voltage commands Vu, Vv, and Vw according to the carrier setting information Sc from the synchronization control unit 520.

そして、この駆動信号Ｓｕ、Ｓｖ、Ｓｗによりインバータ２０をスイッチング動作させる。これにより三相交流の駆動電流Ｉｕ、Ｉｖ、ＩｗがＰＭモータ１０に出力される（駆動ステップ）。そして、この駆動電流Ｉｕ、Ｉｖ、ＩｗによってＰＭモータ１０がトルク指令値Ｔ^＊に応じたトルクで回転動作する。このとき、この駆動電流Ｉｕ、Ｉｖ、Ｉｗの基となるｄ軸電圧指令Ｖｄ’、ｑ軸電圧指令Ｖｑ’は前述のように変動成分とは逆相のｄ軸補正電圧ΔＶｄ、ｑ軸補正電圧ΔＶｑがそれぞれ加算されてオフセットや振幅アンバランスの成分（変動成分）が補正されているから、この駆動電流Ｉｕ、Ｉｖ、Ｉｗで動作するＰＭモータ１０のオフセットや振幅アンバランスは解消され、矩形波制御時であっても低振動かつ高効率で回転動作することができる。 Then, the inverter 20 is switched by the drive signals Su, Sv, and Sw. As a result, the three-phase alternating current drive currents Iu, Iv, and Iw are output to the PM motor 10 (drive step). Then, the PM motor 10 rotates with a torque corresponding to the torque command value T ^* by the drive currents Iu, Iv, and Iw. At this time, the d-axis voltage command Vd'and q-axis voltage command Vq', which are the basis of the drive currents Iu, Iv, and Iw, are the d-axis correction voltage ΔVd and the q-axis correction voltage having the opposite phase to the fluctuation component as described above. Since ΔVq is added to correct the offset and amplitude imbalance components (fluctuation components), the offset and amplitude imbalance of the PM motor 10 operating at the drive currents Iu, Iv, and Iw are eliminated, and the square wave is used. Even during control, it can rotate with low vibration and high efficiency.

以上のように、本発明に係るモータ制御装置１００及びモータ制御方法は、矩形波制御時にｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑを平滑処理して推定ｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊を生成するとともに、この推定ｄ軸、ｑ軸電流指令Ｉｄ^＊、Ｉｑ^＊からｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑを減算し、変動成分としてのｄ軸、ｑ軸補正電流ΔＩｄ、ΔＩｑを生成する。そして、このｄ軸、ｑ軸補正電流ΔＩｄ、ΔＩｑからｄ軸、ｑ軸補正電圧ΔＶｄ、ΔＶｑを生成した後、電圧指令生成部５１６から出力したｄ軸、ｑ軸電圧指令Ｖｄ、Ｖｑにそれぞれ加算することで変動成分を補正する。このため、ｄ軸、ｑ軸フィードバック電流Ｉｄ、Ｉｑの瞬時値によって変動成分の補正が可能となる。これにより、極めて高い応答性で矩形波制御時におけるＰＭモータ１０の駆動電流Ｉｕ、Ｉｖ、Ｉｗのオフセットおよび振幅アンバランスの補正を行うことができる。また、本発明に係るモータ制御装置１００及びモータ制御方法は、ｄｑ二相状態、即ちｄ軸、ｑ軸電圧指令Ｖｄ’、Ｖｑ’の状態で補正を行う。即ち、各相（Ｕ相、Ｖ相、Ｗ相）への補正を個別に行うものではないため、ある相への補正が他の相へ悪影響を及ぼすことも無い。 As described above, in the motor control device 100 and the motor control method according to the present invention, the d-axis, q-axis feedback currents Id, and Iq are smoothed during rectangular wave control to estimate d-axis, q-axis current commands Id ^* , and Iq. ^{* Is} generated, and the d-axis and q-axis feedback currents Id and Iq are subtracted from the estimated d-axis and q-axis current commands Id ^* and Iq ^* to obtain the d-axis and q-axis correction currents ΔId and ΔIq as variable components. Generate. Then, after the d-axis and q-axis correction voltages ΔVd and ΔVq are generated from the d-axis and q-axis correction currents ΔId and ΔIq, they are added to the d-axis and q-axis voltage commands Vd and Vq output from the voltage command generation unit 516, respectively. By doing so, the fluctuation component is corrected. Therefore, the fluctuation component can be corrected by the instantaneous values of the d-axis and q-axis feedback currents Id and Iq. This makes it possible to correct the offset and amplitude imbalance of the drive currents Iu, Iv, and Iw of the PM motor 10 during rectangular wave control with extremely high responsiveness. Further, the motor control device 100 and the motor control method according to the present invention perform correction in the dq two-phase state, that is, in the d-axis, q-axis voltage commands Vd', Vq'. That is, since the correction to each phase (U phase, V phase, W phase) is not performed individually, the correction to one phase does not adversely affect the other phase.

尚、本例で示したモータ制御装置１００の各部の構成、機構、モータ制御方法の手順等は一例であるから上記の例に限定されるわけでは無く、本発明は本発明の要旨を逸脱しない範囲で変更して実施することが可能である。 Since the configuration, mechanism, procedure of the motor control method, etc. of each part of the motor control device 100 shown in this example is an example, the present invention is not limited to the above example, and the present invention does not deviate from the gist of the present invention. It is possible to change and implement within the range.

１０ＰＭモータ
１２ｕ、１２ｖ駆動電流検出部
１４角度検出部
２０インバータ
２２３相／ｄｑ変換部
３０制御信号生成部
５０２トルク制御部
５１６電圧指令生成部
７２平滑部
７４補正電流生成部
７６補正電圧生成部
７８電圧指令補正部
１００モータ制御装置
Ｉｕ、Ｉｖ、Ｉｗ駆動電流
Ｉｄ、Ｉｑｄ軸、ｑ軸フィードバック電流
Ｉｄ^＊、Ｉｑ^＊推定ｄ軸、ｑ軸電流指令（矩形波制御時）
ΔＩｄ、ΔＩｑｄ軸、ｑ軸補正電流（矩形波制御時）
Ｖｄ、Ｖｑｄ軸、ｑ軸電圧指令（矩形波制御時）
ΔＶｄ、ΔＶｑｄ軸、ｑ軸補正電圧（矩形波制御時）
Ｓｕ、Ｓｖ、Ｓｗ駆動信号
Ｔ^＊トルク指令値
θ 電気角
θｖ電圧位相 10 PM motor
12u, 12v drive current detector
14 Angle detector
20 Inverter
22 3-phase / dq converter
30 Control signal generator
502 Torque control unit
516 Voltage command generator
72 Smooth part
74 Corrected current generator
76 Correction voltage generator
78 Voltage command correction unit
100 motor controller
Iu, Iv, Iw drive current
Id, IQ d-axis, q-axis feedback current
Id ^* , Iq ^* Estimated d-axis, q-axis current command (during square wave control)
ΔId, ΔIq d-axis, q-axis correction current (when controlling a square wave)
Vd, Vq d-axis, q-axis voltage command (when controlling square wave)
ΔVd, ΔVq d-axis, q-axis correction voltage (when controlling square wave)
Su, Sv, Sw drive signal
T ^* Torque command value
θ electrical angle
θv voltage phase

Claims

An inverter that outputs a three-phase alternating current drive current to the PM motor,
A drive current detector that acquires the value of the drive current,
An angle detection unit that acquires the electric angle of the PM motor,
An angular velocity calculation unit that calculates the electrical angular velocity based on the electrical angle,
A three-phase / dq conversion unit that converts the drive current acquired by the drive current detection unit based on the electric angle into d-axis and q-axis feedback currents.
A square wave control unit having a torque control unit that outputs a voltage phase based on a torque command value and a voltage command generation unit that generates d-axis and q-axis voltage commands based on the voltage phase during rectangular wave control.
A linear correction unit that corrects the d-axis and q-axis voltage commands, a dq / 3-phase conversion unit that generates a three-phase voltage command based on the d-axis and q-axis voltage commands corrected by the linear correction unit, and the above. A control signal generation unit including a drive signal generation unit that generates a drive signal for switching the inverter by comparing a three-phase voltage command and a triangular wave .
In the motor control device with
The rectangular wave control unit smoothes the d-axis and q-axis feedback currents to generate an estimated d-axis and q-axis current command, and the estimated d-axis and q-axis current commands are used to generate the d-axis and q. A correction current generator that generates d-axis and q-axis correction currents by subtracting the instantaneous values of the axis feedback currents, respectively, and a correction voltage generation unit that generates d-axis and q-axis correction voltages from the d-axis and q-axis correction currents, respectively. Further, it has a voltage command correction unit, a voltage command correction unit, and a synchronization control unit, which add the d-axis and q-axis correction voltages to the d-axis and q-axis voltage commands and output them to the control signal generation unit.
The synchronous control unit sets carrier setting information in which the frequency of the triangular wave is an integral multiple of an odd number of 3 of the frequency of the voltage command of the three phases based on the electric angular velocity, and outputs the carrier setting information to the drive signal generation unit. , The square wave forming voltage such that the triangular wave and the three-phase voltage command intersect twice during one cycle of the three-phase voltage command and the drive signal generated by the triangle wave comparison becomes a one-pulse square wave. Is set and output to the voltage command generation unit and the linear correction unit.
The voltage command generation unit generates d-axis and q-axis voltage commands based on the voltage phase and the square wave forming voltage, and the linear correction unit generates the d-axis and q-axis voltage based on the square wave forming voltage. A motor control device characterized in that a command is corrected and a drive signal generation unit performs a triangular wave comparison with the three-phase voltage command by a triangular wave having a period based on the carrier setting information .

A sine wave control synchronous control unit is provided, and during sine wave control, d-axis and q-axis current commands are calculated based on the torque command value, and d-axis and q-axis voltage commands are calculated based on the d-axis and q-axis current commands. With a sine wave control unit that produces
It further has a switching unit for switching the generation of the d-axis voltage command and the q-axis voltage command between the sine wave control unit and the square wave control unit.
The sine wave control synchronous control unit sets carrier setting information in which the frequency of the triangular wave is an integral multiple of an odd number of 3 of the frequency of the three-phase voltage command based on the electric angular velocity, and outputs the carrier setting information to the drive signal generation unit. The motor control device according to claim 1, wherein the motor control device is characterized.

The drive current acquisition step to acquire the value of the three-phase AC drive current output from the inverter to the PM motor,
The electric angle acquisition step for acquiring the electric angle of the PM motor, and
The step of calculating the electric angular velocity based on the electric angle, and
A feedback current generation step that converts the drive current into a d-axis and q-axis feedback current,
A voltage phase generation step that generates a voltage phase based on the torque command value during square wave control,
A step of generating carrier setting information for setting a triangular wave used for triangular wave comparison based on the voltage phase and the electric angular velocity, and
A step of outputting a square wave forming voltage such that the drive signal generated by the triangular wave comparison becomes a one-pulse square wave, and
A dq voltage command generation step for generating a d-axis and q-axis voltage command based on the voltage phase and the square wave forming voltage , and
The current command generation step of smoothing the d-axis and q-axis feedback currents to generate the estimated d-axis and q-axis current commands, respectively.
A correction current generation step of subtracting the instantaneous values of the d-axis and q-axis feedback currents from the estimated d-axis and q-axis current commands to generate d-axis and q-axis correction currents, respectively.
The correction voltage generation step of generating the d-axis and q-axis correction voltage from the d-axis and q-axis correction current,
A correction step of adding the d-axis and q-axis correction voltages to the d-axis and q-axis voltage commands, respectively.
The d-axis and q-axis voltage commands corrected in the correction step are further corrected based on the square wave forming voltage, then converted into three-phase voltage commands, and the frequency based on the carrier setting information is the voltage of the three-phase. A drive signal generation step of comparing a triangular wave having an odd multiple of 3 with an odd frequency of the command and the voltage command of the three phases to generate a drive signal, and
A motor control method comprising: a drive step for switching an inverter with the drive signal and outputting a drive current.

A step to switch the generation of d-axis and q-axis voltage commands between sine wave control and square wave control according to the operating conditions of the PM motor.
During sine wave control, the d-axis and q-axis current commands are calculated based on the torque command value, and the d-axis and q-axis voltage commands are generated based on the d-axis and q-axis current commands.
Further having, during sine wave control, a step of generating carrier setting information for setting a triangular wave whose frequency is an integral multiple of an odd number of 3 of the frequency of the three-phase voltage command based on the voltage phase and the electrical angular velocity. 3. The motor control method according to claim 3.