JP7170601B2 - Motor simulator and its program - Google Patents

Description

The present invention relates to a motor simulator and its program used for verifying a control system in a motor control device that controls a motor provided in a mechanical device.

2. Description of the Related Art In recent years, motor simulators have been used for the purpose of reducing the time required for product development or reducing the cost of product development. Motor simulators are used to test the characteristics of motor controllers without using actual mechanical devices. In other words, by using the motor simulator, it is possible to check the characteristics when the motor control device is used to control the actual mechanical device, and to extract problems that may occur when the actual mechanical device is controlled.

In general, the control system of the motor control device includes a processing section that corrects the influence of fluctuation characteristics of the power supply voltage. When verifying the operation of this processing unit with a motor simulator, the motor simulator needs a mechanism that simulates the power supply environment including the variation characteristics of the power supply voltage.

Non-Patent Document 1 listed below discloses various power supply circuits and describes in detail the operation of these power supply circuits and the waveforms during operation.

Masao Yano and Ryohei Uchida, "Semester University Lecture Power Electronics 3rd Edition", Maruzen Co., Ltd., September 20, 2003, pp. 45-63

As disclosed in Non-Patent Document 1, there are a wide variety of power supply circuits, and power supply environments are also diverse for each power supply circuit. Here, the control of the motor incorporated in the mechanical device in the motor control device is controlled based on the voltage information from the motor. However, the voltage information from the motor may fluctuate depending on the power supply environment for driving the motor. Therefore, in a motor simulator used to verify the control system of a motor control device, in order to simulate the power supply environment, various parameters suitable for the power supply environment are input and calculated, and a power supply environment model suitable for each power supply environment is created. necessary. Therefore, if the power supply circuit is different, it takes a long time to change the power supply environment model that simulates the corresponding power supply environment. Therefore, it takes a long time to use the motor simulator, and there is a problem that it is not possible to easily verify the processing unit that corrects the influence of the fluctuation characteristic of the power supply voltage included in the control system of the motor control device. .

SUMMARY OF THE INVENTION It is an object of the present invention to provide a motor simulator capable of easily verifying a processing unit that corrects the influence of fluctuation characteristics of a power supply voltage included in a control system of a motor control device. With the goal.

In order to solve the above-described problems and achieve the object, the present invention provides a motor control apparatus for controlling a motor driven by an inverter to which a DC voltage obtained by rectifying an AC voltage output from an AC power supply is applied. This is a motor simulator used for verification of the control system in The motor simulator includes a simulated power supply unit that outputs a bus voltage based on a DC voltage, and a simulated inverter unit that generates a voltage signal based on a switching signal output from the motor control unit and the bus voltage. The motor simulator also includes a simulated motor section that generates a motor phase angle signal and a current signal to be output to the motor control device based on the voltage signal. The simulated power supply unit stores voltage fluctuation information including information on voltage fluctuation components that differ for each power supply environment, and adds the voltage fluctuation component to the DC voltage based on the voltage fluctuation information read out from the storage unit to generate a voltage. A bus voltage calculation unit is provided for outputting a voltage signal to which a fluctuation component is added as a bus voltage.

According to the motor simulator of the present invention, the storage unit stores the voltage variation information, which is information on the voltage variation component that differs depending on the power supply environment, and the voltage variation component is converted to the DC voltage based on the voltage variation information read from the storage unit. and a bus voltage calculator that outputs a voltage signal to which a voltage fluctuation component is added as a bus voltage. Therefore, by using the motor simulator according to the present invention, it is possible to easily verify the processing unit that corrects the influence of the fluctuation characteristic of the power supply voltage included in the control system of the motor control device.

1 is a block diagram showing a configuration example of a motor simulator according to Embodiment 1; FIG. FIG. 2 is a block diagram showing a configuration example of main parts in the simulated motor section of Embodiment 1; FIG. 4 is a block diagram showing a configuration example of a simulated power supply unit according to the first embodiment; FIG. FIG. 1 is a first diagram used for explaining the operation of the simulated power supply unit according to the first embodiment; FIG. 4 is a diagram used for explaining a table constructed in a storage unit according to Embodiment 1; A second diagram used for explaining the operation of the simulated power supply unit according to the first embodiment. FIG. 4 is a diagram showing an example of a hardware configuration that implements the functions of the simulated power supply units shown in FIGS. 1 and 3; FIG. 4 is a block diagram showing a configuration example of a simulated power supply unit according to Embodiment 2; A first diagram used for explaining the operation of the simulated power supply unit according to the second embodiment. FIG. 11 is a diagram used for explaining a table constructed in a storage unit according to the second embodiment; FIG. A second diagram used for explaining the operation of the simulated power supply unit according to the second embodiment. Figures showing several examples of verification methods in Embodiment 2

A motor simulator and its program according to embodiments of the present invention will be described in detail below with reference to the accompanying drawings. In addition, the present invention is not limited by the following embodiments.

Embodiment 1.
FIG. 1 is a block diagram showing a configuration example of a motor simulator 1 according to Embodiment 1. As shown in FIG. A motor simulator 1 according to Embodiment 1 includes a simulated inverter section 2 , a simulated motor section 10 , and a simulated power supply section 20 . As shown in FIG. 1, a motor simulator 1 receives a switching signal output from a motor control device 3 . The motor control device 3 is a control device that controls a motor provided in the mechanical device. One example of a motor is a permanent magnet motor, but any motor may be used. A motor simulator 1 is a simulation device used for verification of a control system in the motor control device 3 .

When the motor control device 3 controls a motor provided in a mechanical device, a DC voltage obtained by rectifying an AC voltage output from an AC power supply (not shown) is applied to an inverter (not shown) connected to the motor. be done. A DC voltage applied to the inverter is converted into an AC voltage by a switching signal. An alternating voltage is applied to the motor. The motor is driven by an alternating voltage. The switching signal is a control signal that controls conduction and non-conduction of a semiconductor element (not shown) provided in the inverter.

One example of a switching signal is a Pulse Width Modulation (PWM) signal. The PWM signal is a signal obtained by comparing a sinusoidal phase voltage control value and a triangular carrier wave. A DC phase voltage control value may be used instead of the sinusoidal phase voltage control value. Also, instead of the triangular carrier wave, a sawtooth carrier wave may be used. The frequency of the PWM signal is determined by the fluctuation period of the pulse width of the PWM signal.

The simulated inverter section 2 is a component that simulates an inverter. A switching signal generated by the motor control device 3 and a bus voltage output from a simulated power supply unit 20 described later are input to the simulated inverter unit 2 . The simulated inverter section 2 generates a three-phase voltage signal based on the switching signal and the bus voltage. Three-phase voltage signals are three-phase AC voltage signals, ie AC voltage signals having a phase angle difference of 120° from each other. The three-phase voltage signal is input to simulated motor section 10 . A three-phase voltage signal is an example of a voltage signal, and a single-phase voltage signal can also be used as the voltage signal.

The simulated motor unit 10 is a component that simulates a motor (not shown). The simulated motor section 10 generates a motor phase angle signal and a three-phase current signal based on the three-phase voltage signal. The motor phase angle signal is a signal containing information on the motor phase angle, which is the rotational phase angle of the motor. Three-phase current signals will be described later. The motor phase angle signal and the three-phase current signal generated by the simulated motor unit 10 are input to the motor control device 3 . A three-phase current signal is an example of a current signal. A single-phase current signal can also be used as the current signal.

The simulated power supply unit 20 is a component that simulates the bus voltage, which is the voltage applied to the inverter. Electrical wiring that connects the DC side of the inverter and the power supply is generally called a DC bus. Therefore, the voltage applied to the DC side of the inverter is called "bus voltage". The bus voltage generated by simulated power supply unit 20 is input to simulated inverter unit 2 and motor controller 3 .

Next, the contents of the simulation in the simulated motor section 10 and the operation of the simulated motor section 10 will be described. FIG. 2 is a block diagram showing a configuration example of main parts in the simulated motor section 10 of Embodiment 1. As shown in FIG.

As described above, the simulated motor section 10 generates the three-phase current signal and the motor phase angle signal based on the three-phase voltage signal output from the simulated inverter section 2 . The three-phase voltage signal is a signal containing three-phase voltage values V _u , V _v , and V _w which are voltage values in a three-phase coordinate system of U-phase, V-phase, and W-phase. The three-phase current signal is a signal containing three-phase current values Iu, Iv, and Iw, which are current values in a three-phase coordinate system of _U -phase, _V -phase, and _W -phase. Here, the direction of the magnetic flux generated by the magnetic poles of the motor is defined as the d-axis, and the direction advanced by π/2 from the d-axis is defined as the q-axis. At this time, the voltage equation of the dq coordinate system that defines the characteristics of the motor can be expressed by the following equation (1).

The above equation (1) is a voltage equation when the motor is a permanent magnet motor. In the above equation (1), Vd is the _d -axis component value of the armature voltage, and Vq is the _q -axis component value of the armature voltage. Id is the _d -axis component value of the armature current, and Iq is the _q -axis component value of the armature current. R is the winding resistance, which is the resistance value of the armature winding. Ld is the _d -axis inductance component value, and Lq is the _q -axis inductance component value. φ is the armature flux linkage by the permanent magnets, ω is the electrical angular velocity, and p is the differential operator. The three-phase current values _Iu , _Iv , and _Iw included in the three-phase current signal output from the simulated motor unit 10 are the _d -axis component value Id of the armature current calculated based on the above equation (1). and the q-axis component value I _q can be obtained by converting the current value in the three-phase coordinate system.

Next, the motor torque calculated by the simulated motor unit 10 will be described. First, between the three-phase current values _Iu , Iv, and _Iw and the _d -axis component value Id and the _q -axis component value _Iq in the dq coordinate system, there is a relationship represented by the following equation (2). .

In the above equation (2), _δn is the lead angle of the current vector in the dq coordinate system having the d-axis component value _Id and the _q -axis component value Iq with respect to the d-axis. The motor torque output from the simulated motor unit 10 to the simulated power supply unit 20 can be calculated based on the following equation (3).

In the above equation (3), T _e is the motor torque and its unit is [Nm]. P _n is the number of pole pairs. φ is the armature interlinkage magnetic flux by the permanent magnet, and the unit is [V/rad/s].

FIG. 2 shows an amplifier 23a and integrators 23b and 23c as a control system for generating a motor phase angle from motor torque.

The following equation (4) can be used to obtain the angular velocity ω from the motor torque T _e .

In the above formula (4), J is inertial force, and the unit is [kgm ² ]. t is time, and the unit is [s]. The unit of the angular velocity ω is [rad/s].

Also, the following equation (5) can be used to obtain the motor phase angle θ _s from the angular velocity ω.

In the above equation (5), the unit of the motor phase angle _θs is [rad].

The amplifier 23a and the integrator 23b are components for performing the calculation of the above equation (4). The angular velocity ω can be obtained by giving a gain of the reciprocal of the inertial force J by the amplifier 23a and integrating the output by the integrator 23b. The integrator 23c is a component that performs the calculation of the above equation (5). The motor phase angle can be obtained by further integrating the output of the integrator 23b by the integrator 23c. A signal containing the motor phase angle is input to the motor control device 3 as a motor phase angle signal.

Next, the detailed configuration and operation of the simulated power supply unit 20 will be described with reference to FIGS. 3 to 6. FIG. FIG. 3 is a block diagram showing a configuration example of the simulated power supply unit 20 according to the first embodiment. The simulated power supply unit 20 includes a storage unit 21 and a bus voltage calculation unit 22, as shown in FIG.

FIG. 4 is a first diagram used for explaining the operation of the simulated power supply unit 20 according to the first embodiment. FIG. 5 is a diagram used for explaining the table constructed in the storage unit 21 according to the first embodiment. FIG. 6 is a second diagram used for explaining the operation of the simulated power supply unit 20 according to the first embodiment.

As shown in FIG. 4, the storage unit 21 has a table 21a for storing data of voltage fluctuation components corresponding to the power supply phase angle θ. The table 21a contains the power supply phase angles θ (θ1, θ2, . ) are stored. The power supply phase angle θ represents one cycle of the AC voltage output from the AC power supply as a phase angle from 0° to 360°. Further, in the following description, the voltage fluctuation component stored in the table 21a, that is, a set of data relating to the voltage fluctuation component will be referred to as "voltage fluctuation information". The voltage fluctuation information includes information on voltage fluctuation components that differ for each power supply environment. In the first embodiment, the voltage fluctuation information is obtained by associating the power supply phase angle θ with the voltage fluctuation component.

FIG. 5 shows the relationship between the table size of the table 21a and the resolution of the power phase angle θ. Assuming that the table size of the table 21a is X, the resolution of the power phase angle θ is 360/X [deg]. FIG. 4 shows the waveform of the voltage fluctuation component that changes according to the power supply phase angle θ as an example of the fluctuation component of the bus voltage that changes according to the power supply environment. FIG. 4 shows an example of 2f characteristics having two peak points in one cycle of the power supply phase angle θ. Here, f is the frequency of the AC voltage output from the AC power supply, and the 2f characteristic is related to twice the frequency f of the AC voltage.

The value of the curve K1 corresponding to the power phase angle θ is read into the storage unit 21 and stored in the table 21a. The data stored in the table 21a may be manually input by the operator.

The bus voltage calculator 22 includes a readout section 222 and a calculator 224 as shown in FIG. The calculator 224 includes an adder 224a, a multiplier 224b, and a selector 224c. The reading unit 222 receives the AC power supply phase, which is the input angle signal, associates it with the power supply phase angle θ in the table 21 a, reads out the voltage fluctuation component corresponding to the power supply phase angle θ from the table 21 a, and outputs it to the calculator 224 . Output.

The voltage fluctuation component output from the reading unit 222 is input to the adder 224a and the multiplier 224b. A set DC voltage is input to each of the adder 224a and the multiplier 224b. The adder 224a outputs an addition result obtained by adding the voltage fluctuation component to the DC voltage. Multiplier 224b outputs a multiplication result obtained by multiplying the DC voltage by the voltage fluctuation component. The selector 224c selects either the output of the adder 224a or the output of the multiplier 224b and outputs it as the bus voltage. The operator may arbitrarily set which of the output of the adder 224a and the output of the multiplier 224b is selected by the selector 224c.

As described above, the bus voltage calculation unit 22 adds the voltage fluctuation component read from the storage unit 21 to the DC voltage, and outputs the voltage signal to which the voltage fluctuation component is added as the bus voltage.

FIG. 6 visualizes the flow of processing in the bus voltage calculator 22 . FIG. 6( a ) shows an example of the DC voltage input to the bus voltage calculator 22 . In this description, it is assumed that the DC voltage is a constant voltage of 300V. FIG. 6(b) shows the voltage fluctuation component stored in the table 21a of the storage unit 21 by the waveform of the voltage fluctuation component shown in FIG. In this description, it is assumed that the voltage fluctuation component is a component that fluctuates within a range of ±1V.

FIG. 6(c) shows the power supply phase angle θ that linearly changes with time. The voltage fluctuation component stored in the table 21a is read out by the reading section 222 based on the power supply phase angle θ. The output based on the data read by the reading unit 222 has a waveform that repeats fluctuations for each cycle of the AC voltage, as shown in FIG. 6(d).

The adder 224a outputs the addition result of the waveform of FIG. 6(a) and the waveform of FIG. 6(d). As shown in FIG. 6(e), the output of the adder 224a has a waveform obtained by adding a voltage fluctuation component of ±1V to the DC voltage of 300V.

Further, the multiplier 224b outputs the result of multiplication of the waveform of FIG. 6(a) and the waveform of FIG. 6(d). As shown in FIG. 6(f), the output of the multiplier 224b is an AC voltage waveform that varies in the range of 300V to -300V.

With the above configuration, it is possible to easily verify the processing unit that corrects the influence of the phase angle fluctuation characteristics of the power supply voltage included in the control system of the motor control device.

As described above, according to the first embodiment, the simulated power supply unit adds the voltage fluctuation component read from the storage unit to the DC voltage, and outputs the voltage signal to which the voltage fluctuation component is added as the bus voltage. . In other words, the storage unit of the simulated power supply unit associates the power supply phase angle and the voltage fluctuation component and stores them as voltage fluctuation information. The bus voltage calculator of the simulated power supply unit calculates the bus voltage based on the voltage fluctuation information corresponding to the power supply phase angle input to the bus voltage calculator. Also, the simulated power supply unit applies the calculated bus voltage to the motor control device. As a result, in the control system of the motor control device, it is possible to easily verify the processing unit that corrects the influence of the variation characteristics of the power supply voltage.

Further, according to the first embodiment, the storage unit of the simulated power supply unit can store information about the variation characteristics of the power supply voltage that differ for each power supply environment. As a result, the fluctuation characteristics of the power supply voltage in different power supply environments can be simulated by changing the information to be stored. This eliminates the need to create complex power environment models for each power environment. Therefore, the simulation time including the time required for changing the power supply environment can be shortened compared to the conventional case.

Next, a hardware configuration that implements the functions of the simulated power supply unit 20 according to the first embodiment will be described. All or part of the functions of the simulated power supply unit 20 shown in FIGS. 1 and 3 can be realized by, for example, the hardware configuration shown in FIG. FIG. 7 is a diagram showing an example of a hardware configuration that implements the functions of the simulated power supply unit 20 shown in FIGS. 1 and 3. As shown in FIG. The simulated power supply unit 20 can be configured to include a processor 300 that performs calculations, a memory 302 that stores programs and data read by the processor 300, and an interface 304 that inputs and outputs signals. The table 21 a in the storage unit 21 of the simulated power supply unit 20 can be constructed in the memory 302 .

When the simulated power supply unit 20 shown in FIGS. 1 and 3 is implemented with the configuration shown in FIG. It is realized by executing A part of the functions of the simulated power supply unit 20 may be implemented by a circuit or a controller, and the other parts may be realized by using the processor 300 and the memory 302 .

The processor 300 may be computing means such as an arithmetic unit, a microprocessor, a microcomputer, a CPU (Central Processing Unit), an FPGA (Field-Programmable Gate Array), or a DSP (Digital Signal Processor). The memory 302 may be nonvolatile or volatile such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (Registered Trademark) (Electrically EPROM), and BRAM (Block RAM). can be exemplified.

The processor 300 can perform the above-described processing by exchanging necessary information via the interface 304 and executing the program stored in the memory 302 by the processor 300 . Results of operations by processor 300 may be stored in memory 302 .

Embodiment 2.
FIG. 8 is a block diagram showing a configuration example of the simulated power supply unit 20A according to the second embodiment. In the simulated power supply unit 20A according to the second embodiment, the storage unit 21 is replaced with the storage unit 21A in the configuration of the simulated power supply unit 20 according to the first embodiment shown in FIG. It is replaced with a voltage calculation section 22A. In the simulated power supply unit 20 of the first embodiment, the AC power supply phase is input to the bus voltage calculation unit 22. Instead of this, in the simulated power supply unit 20A of the second embodiment, the bus voltage calculation unit 22A An output start timing signal is input to . The rest of the configuration is the same as or equivalent to the configuration of the first embodiment shown in FIG. 3, and the same or equivalent contents are given the same reference numerals and the same names, and redundant explanations are omitted.

Next, the operation of the main part of the simulated power supply unit 20A in the second embodiment will be described with reference to FIGS. 9 to 12 in addition to FIG. FIG. 9 is a first diagram used for explaining the operation of the simulated power supply unit 20A according to the second embodiment. FIG. 10 is a diagram used for explaining the table constructed in the storage unit 21A of the second embodiment. FIG. 11 is a second diagram used for explaining the operation of the simulated power supply unit 20A according to the second embodiment. FIG. 12 is a diagram showing some examples of verification methods in the second embodiment.

The storage unit 21A has a table 21A1 for storing data of voltage fluctuation components corresponding to time t, as shown in FIG. Table 21A1 stores time t (t1, t2, . . . , tn-1, tn) and voltage fluctuation components (voltage 1, voltage 2, . . . , voltage n-1, voltage n) corresponding to time t. It is The data stored in the table 21A1 is voltage fluctuation information, and the voltage fluctuation information is information on voltage fluctuation components that differ for each power supply environment. In the second embodiment, the calculation period of the motor simulator and the voltage fluctuation component are associated with each other to form the voltage fluctuation information.

FIG. 10 shows the relationship between the table size of the table 21A1 and the resolution of time t. The resolution of time t can be rephrased as a time interval. Assuming that the table size of the table 21A1 is X, the time interval, which is the resolution of time t, can be expressed as ^nm+1 . Here, n is the control period and m is the number of times of masking. The mask count m is a parameter that determines the data sampling time. The number m of times of masking can be set by an arbitrary integer from 0 to 15, for example, by the operator. For example, if the control cycle n of the motor control device 3 is 2 [μsec] and the mask count m is 15, the time interval is 2 [μsec]^(15+1)=65.536 [msec]. Assuming that the table size is X, the entire table can store voltage fluctuation component data from 0 [sec] to n̂(m+1)×(X−1) [sec].

FIG. 9 shows an example of waveforms that reproduce voltage fluctuations that occur in the power supply environment. The value of curve K2 corresponding to time t is read into storage unit 21A and stored in table 21A1. The data stored in the table 21A1 may be manually input by the operator.

In the bus voltage calculator 22A, the output start timing signal instructing the start of output is input to the readout unit 222 . Using the output start timing signal as a starting point, the reading unit 222 sequentially reads the voltage fluctuation components that change with time t from the table 21 A 1 and outputs them to the calculator 224 . The subsequent operation of the arithmetic unit 224 is the same as that of the first embodiment, and the description is omitted here.

FIG. 11 visualizes the flow of processing in the bus voltage calculator 22A. FIG. 11(a) shows an example of the DC voltage input to the bus voltage calculator 22A. In this description, it is assumed that the DC voltage is a constant voltage of 300V. FIG. 11(b) shows the voltage fluctuation component stored in the table 21A1 of the storage unit 21A by the waveform of the voltage fluctuation component shown in FIG. In this description, it is assumed that the voltage value of the voltage fluctuation component is +1V on the positive side and -1V on the negative side.

FIG. 11(c) shows the output start timing signal. The voltage fluctuation components stored in the table 21A1 are read out by the reading section 222 triggered by the output start timing signal. The output based on the data read by the reading unit 222 has a waveform of voltage fluctuation components with the output start timing signal as the starting point, as shown in FIG. 11(d).

The adder 224a outputs the addition result of the waveform of FIG. 11(a) and the waveform of FIG. 11(d). The multiplier 224b outputs the result of multiplication of the waveform of FIG. 11(a) and the waveform of FIG. 11(d). As shown in FIG. 11(e), the output of the adder 224a has a waveform obtained by adding the voltage fluctuation component shown in FIG. 11(d) to the DC voltage of 300V. Also, as shown in FIG. 11(f), the output of the multiplier 224b has a waveform in which the voltage fluctuation component shown in FIG. 11(d) is expanded in the voltage axis direction.

FIG. 12 shows three examples of the verification method according to the second embodiment. Both verification methods are the same up to the point where the output start timing signal is used as a trigger to read the voltage fluctuation component stored in the table 21A1 and the motor control device 3 is operated. Explaining each difference, FIG. 12(a) is a verification method for clearing the final value of the voltage fluctuation component, that is, the last read voltage fluctuation component to 0 after the motor control device 3 is operated. FIG. 12(b) shows a verification method in which the final value of the voltage fluctuation component, that is, the last read voltage fluctuation component is left output after the motor control device 3 is operated. In the case of the waveform examples of this paper, as shown in FIGS. 12(a) and 12(b), there is no difference in the waveforms of the bus voltage, but the voltage fluctuation component stored at the end of the table 21A1 is not 0, the waveform of the bus voltage will be different.

FIG. 12(c) shows a verification method in which after operating the motor control device 3, returning to the initial data, the same series of voltage fluctuation components are output periodically and continuously. The operator can select which verification method to use among FIGS. 12(a), 12(b) and 12(c). By using at least one of the verification methods of FIGS. 12(a), 12(b) and 12(c), it is possible to extract possible problems caused by voltage fluctuations in the power supply environment. This makes it possible to evaluate the behavior of the control system when the motor control device 3 is used to control an actual mechanical device.

As described above, according to the second embodiment, the storage unit of the simulated power supply unit associates the time t representing the calculation cycle of the motor simulator with the voltage fluctuation component and stores them as voltage fluctuation information. The bus voltage calculation unit of the simulated power supply unit calculates the bus voltage based on the voltage fluctuation component corresponding to the time t representing the calculation period input to the bus voltage calculation unit. This makes it possible to easily verify the processing unit that corrects the influence of the time period characteristics of the power supply voltage included in the control system of the motor control device. Furthermore, in the second embodiment as well, there is no need to create a complicated power supply environment model for each power supply environment. Therefore, the simulation time including the time required for changing the power supply environment can be shortened compared to the conventional case.

A program composed of a group of instructions for causing a computer to execute the functions of the motor simulators according to the first and second embodiments may be created and stored in a storage medium. The program held in the storage medium can be read out or developed in the memory of the computer to execute the functions of the motor simulators according to the first and second embodiments described above.

Further, the configurations shown in the above embodiments are examples of the contents of the present invention, and can be combined with other known techniques. It is also possible to omit or change part of

1 motor simulator, 2 simulated inverter unit, 3 motor controller, 10 simulated motor unit, 20, 20A simulated power supply unit, 21, 21A storage unit, 21a, 21A1 table, 22, 22A bus voltage calculation unit, 23a amplifier, 23b , 23c integrator, 222 readout unit, 224 calculator, 224a adder, 224b multiplier, 224c selector, 300 processor, 302 memory, 304 interface.

Claims (5)

A motor simulator used to verify a control system in a motor control device that controls a motor driven by an inverter to which a DC voltage obtained by rectifying an AC voltage output from an AC power supply is applied,
a simulated power supply unit that outputs a bus voltage based on the DC voltage;
a simulated inverter unit that generates a voltage signal based on the switching signal output from the motor control device and the bus voltage;
a simulated motor unit that generates a motor phase angle signal and a current signal to be output to the motor control device based on the voltage signal;
with
The simulated power supply unit includes:
a storage unit that stores voltage fluctuation information including information on a voltage fluctuation component that differs for each power supply environment and is associated with a power supply phase angle that is the phase angle of the AC voltage ;
a bus voltage calculation unit that adds the voltage fluctuation component to the DC voltage based on the voltage fluctuation information read from the storage unit and outputs a voltage signal to which the voltage fluctuation component is added as the bus voltage;
A motor simulator comprising: A motor simulator used to verify a control system in a motor control device that controls a motor driven by an inverter to which a DC voltage obtained by rectifying an AC voltage output from an AC power supply is applied,
a simulated power supply unit that outputs a bus voltage based on the DC voltage;
a simulated inverter unit that generates a voltage signal based on the switching signal output from the motor control device and the bus voltage;
a simulated motor unit that generates a motor phase angle signal and a current signal to be output to the motor control device based on the voltage signal;
with
The simulated power supply unit includes:
a storage unit for storing voltage fluctuation information including information on a voltage fluctuation component that differs for each power supply environment and is associated with an operation cycle of the motor simulator;
a bus voltage calculation unit that adds the voltage fluctuation component to the DC voltage based on the voltage fluctuation information read from the storage unit and outputs a voltage signal to which the voltage fluctuation component is added as the bus voltage;
A motor simulator characterized by comprising : A motor simulator used to verify a control system in a motor control device that controls a motor driven by an inverter to which a DC voltage obtained by rectifying an AC voltage output from an AC power supply is applied,
a simulated power supply unit that outputs a bus voltage based on the DC voltage;
a simulated inverter unit that generates a voltage signal based on the switching signal output from the motor control device and the bus voltage;
a simulated motor unit that generates a motor phase angle signal and a current signal to be output to the motor control device based on the voltage signal;
with
The simulated power supply unit includes:
a storage unit that stores voltage fluctuation information including information on voltage fluctuation components that differ for each power supply environment;
a bus voltage calculation unit that adds the voltage fluctuation component to the DC voltage based on the voltage fluctuation information read from the storage unit and outputs a voltage signal to which the voltage fluctuation component is added as the bus voltage;
with
The bus voltage calculator,
a multiplier that calculates a multiplied value of the voltage fluctuation component and the DC voltage;
an adder that calculates a sum of the voltage fluctuation component and the DC voltage;
A motor simulator comprising: A motor simulator program that operates a computer as a motor simulator used to verify the control system of a motor control device that controls a motor driven by an inverter to which a DC voltage obtained by rectifying the AC voltage output from an AC power supply is applied. and
said computer,
a simulated power supply unit that outputs a bus voltage based on the DC voltage;
a simulated inverter unit that generates a voltage signal based on the switching signal output from the motor control device and the bus voltage; and a motor phase angle signal and a current signal that are output to the motor control device based on the voltage signal. simulated motor part,
function as
the simulated power supply unit,
a storage unit for storing voltage fluctuation information including information on a voltage fluctuation component that differs for each power supply environment and is associated with the power supply phase angle that is the phase angle of the AC voltage ; and the voltage fluctuation information read from the storage unit. a bus voltage calculation unit that adds the voltage fluctuation component to the DC voltage based on and outputs a voltage signal to which the voltage fluctuation component is added as the bus voltage;
A motor simulator program that functions as A motor simulator program that operates a computer as a motor simulator used to verify the control system of a motor control device that controls a motor driven by an inverter to which a DC voltage obtained by rectifying the AC voltage output from an AC power supply is applied. and
said computer,
a simulated power supply unit that outputs a bus voltage based on the DC voltage;
a simulated inverter unit that generates a voltage signal based on the switching signal output from the motor control device and the bus voltage;
a simulated motor unit that generates a motor phase angle signal and a current signal to be output to the motor control device based on the voltage signal;
function as
the simulated power supply unit,
a storage unit for storing voltage fluctuation information including information on a voltage fluctuation component that differs for each power supply environment and is associated with an operation cycle of the motor simulator;
a bus voltage calculation unit that adds the voltage fluctuation component to the DC voltage based on the voltage fluctuation information read from the storage unit and outputs a voltage signal to which the voltage fluctuation component is added as the bus voltage;
function as
Motor simulator program.

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