JP7353208B2 - Inverter device and control method for inverter device - Google Patents

Description

The present invention relates to an inverter device and a method of controlling the inverter device.

As background technology in this technical field, there is Japanese Patent Application Publication No. 2018-102101 (Patent Document 1). This publication discloses an inverter control technology that automatically generates a current command table and a torque ripple guarantee table used to calculate the d-axis current command value of vector control and the corrected q-axis current command value from the torque command value given to the inverter. ing. Specifically, Patent Document 1 describes a current command table that outputs the d-axis current command value and the q-axis current command value based on the rotation speed (detected value) and the torque command value, and a torque ripple compensation signal. A torque ripple compensation table that outputs the dn-axis component and the qn-axis component, a torque ripple compensation signal synthesis unit that synthesizes the dn-axis component and the qn-axis component of the torque ripple compensation signal and outputs the torque ripple compensation signal, and a d-axis current command value and q An inverter control unit that controls an inverter based on an axial current command value and a torque ripple compensation signal is disclosed, and a current command table and a torque ripple compensation table are generated by automatic adjustment processing.

Japanese Patent Application Publication No. 2018-102101

Patent Document 1 discloses that a torque ripple compensation signal generation process is executed at all operating points, and a current command table is generated by associating d-axis current command values and q-axis current command values with rotational speed and torque, respectively, and creating a table. This document describes a method of associating torque ripple compensation signals with rotational speed and torque, creating a torque ripple compensation table, and controlling an inverter based on this table.

However, in the method of Patent Document 1, in order to update the table, it is necessary to generate a torque ripple compensation signal and to generate a table using the result, which increases the calculation load of selecting the execution timing and the execution time. This calculation load, as well as the calculation load of generating calculation algorithms necessary for execution, may be extremely large.

SUMMARY OF THE INVENTION Therefore, an object of the present invention is to provide an inverter device and a method for controlling the inverter device that does not require the calculation load for updating the correction amount used for controlling the inverter or the generation of calculation algorithms necessary for execution. .

In order to solve the above problems, the present invention provides, for example, a power conversion device that supplies alternating current power to a motor that drives a load, an angle command value of the motor, and a track record corresponding to the angle command value. A main controller that calculates a base torque to eliminate the error based on the error with the value, and a sub-controller that calculates a correction torque based on the error, and a load that is the sum of the base torque and the correction torque. An inverter device that controls the power conversion device using torque, wherein the sub-controller includes a plurality of integrators that input the error and output an integral value according to the number of divisions into which the operating status of the load is divided. a gain setter that sequentially sets the gains of the plurality of integrators while switching them based on the operating conditions; and variable gains provided on the input side and output side of the integrator that are set by the gain setter. The inverter device includes an adder that adds the output of the variable gain on the output side of the integrator and outputs it as the correction torque.

Another example of the present invention is a power conversion device that supplies alternating current power to a motor that drives a load, and an error between an angle command value of the motor and an actual value corresponding to the angle command value. A method for controlling an inverter device, comprising calculating a base torque to eliminate the error based on the error, calculating a correction torque based on the error, and controlling the power conversion device using a load torque obtained by adding the base torque and the correction torque. The correction torque is determined by preparing a number of integral functions that divide the operating condition of the load into a plurality of parts, inputting the error and performing a plurality of integral calculations, and calculating the plurality of integral calculations based on the operating condition. This is a control method for an inverter device in which the gain on the input side and the output side of the inverter is determined by sequentially setting the gains while switching each according to the operating conditions, and adding the output adjusted by the gain on the output side of the integral calculation.

According to the present invention, it is possible to provide an inverter device and a method for controlling the inverter device that does not require a calculation load for updating a correction amount used for controlling an inverter or the generation of a calculation algorithm necessary for execution.

FIG. 3 is a diagram showing a mechanical part of the arm swinging device in Example 1 of the present invention. FIG. 2 is a configuration diagram of a control system of an arm swinging device in Embodiment 1 of the present invention. FIG. 3 is a diagram showing an example of a force due to gravity acting on an arm. FIG. 6 is a diagram showing an example of a change in load torque with respect to the rotation angle θ of an arm. 1 is a diagram showing the configuration of an inverter in Example 1 of the present invention. FIG. FIG. 3 is a diagram showing an example of gain values set by a gain setting device. FIG. 6 is a diagram showing a load torque with respect to an arm angle and a correction torque calculated from an initial value of an integral value of each integrator. It is a figure which shows the command value of an arm angle, and an example of a response when swinging an arm with an initial value of an integral value. FIG. 6 is a diagram showing the load torque and the correction torque calculated from the integral value of each integrator with respect to the arm angle when the integrator value converges. FIG. 6 is a diagram showing a load torque with respect to an arm angle and a correction torque calculated from a convergence value of an integral value of each integrator. It is a figure showing the composition of the inverter in Example 2 of the present invention. FIG. 7 is a diagram showing the correspondence between the dimensions of a correction curve of a sub-controller, an image of a correction shape that can be created based on the dimensions of the sub-controller, and an applied application.

Embodiments of the present invention will be described below with reference to the drawings. Note that the present invention is not limited to the examples described below. Furthermore, in each of the drawings in the following description, the same reference numerals (numbers) are used for common devices and devices, and descriptions of the devices and devices that have already been described may be omitted.

≪Example 1≫
Next, Example 1 of the present invention will be explained using the drawings (FIGS. 1 to 10). In this embodiment, an arm swinging device that swings an arm in a vertical plane using a motor will be described as an example.

FIG. 1 shows a motor 3 and a mechanism section 4 of an arm swinging device in the first embodiment. The mechanism section 4 includes a reduction gear 41 and an arm 42. In this first embodiment, the rotation axis of the motor 3 rotates around the x-axis, and the output is output via the reducer 41 attached to the head of the motor 3, and the output shaft of the reducer 41 also rotates around the x-axis. Rotate. The arm 42 is attached to the output shaft of the reducer 41 and performs a swinging motion within the yz plane. Furthermore, gravitational acceleration acts in the negative direction of the z-axis. Here, the initial position of the arm 42 is a position where the longitudinal axis of the arm 42 is parallel to the y-axis, and when the motor 3 is rotated, the arm 42 reaches a position where the longitudinal axis is parallel to the z-axis. It is an arm swinging device that swings. Note that FIG. 1 only shows the motor 3 and mechanism section 4 of the first embodiment as described above, and does not show the upper controller, power source, inverter, arm angle sensor, electric wires, etc.

Next, the overall configuration of the first embodiment will be explained with reference to FIG. In FIG. 2, the host controller 1 makes a motion plan for the arm 42, and calculates a motor angle command as a command value to the inverter 2 based on the motion plan. Further, the host controller 1 calculates the arm angle as the operating status of the load (arm swinging device) from the sensor information of the arm 42. The inverter 2 determines the torque to be generated by the motor 3 based on the command value from the host controller 1, the operating status, and the response of the motor 3, and the power converter 23 of the inverter 2 (see FIG. 5) generates that torque. Electric power to be applied to the motor 3 is generated and output from the power supply. The motor 3 generates torque from the applied electric power, and rotates the rotating shaft of the motor 3. Further, the rotation angle of the rotor of the motor 3 is detected by a sensor within the motor 3 and transmitted to the inverter 2. In this embodiment, the reducer 41 is a planetary gear with a reduction ratio of 4. This speed reducer 41 reduces the number of rotations of the output shaft of the motor 3 to one-fourth, and amplifies the torque by four times and outputs the same. The arm 42 is firmly attached to the output shaft of the reducer 41, and performs a rocking motion as the output shaft rotates. Sensors are attached to the arm 42, and the arm 42 is configured to acquire information necessary for calculations by the host controller 1 and transmit it.

Next, referring to FIG. 3, the force due to gravity acting on the arm will be explained. Considering the arm 42 as a rigid body, it can be considered that a concentrated load due to gravity acts on the center of gravity of the arm 42. Assuming that the weight of the arm 42 is m, the load due to gravity is mg, which is obtained by multiplying the weight of the arm 42 by the gravitational acceleration g, which is the force acting in the negative direction of the z-axis. When the arm 42 is tilted by an angle θ as shown in the figure, a component force mg·cos θ of mg becomes the force that causes the arm 42 to swing. Here, the torque that attempts to rotate the reducer output shaft due to this force is expressed as load torque.

Next, with reference to FIG. 4, the change in load torque with respect to the rotation angle θ of the arm will be explained. As shown in the figure, the load torque 5 exhibits nonlinear characteristics that depend on the rotation angle of the arm.

Next, the internal configuration of the inverter 2 will be explained. FIG. 5 shows the internal configuration of the inverter 2 in the first embodiment.
In FIG. 5, arm angle and motor angle commands are input to the inverter 2 from the host controller 1. The inverter 2 compares the motor angle command from the host controller 1 with the motor angle of the response, and based on the error (deviation), the main controller 21 generates a base torque to make the error 0 (zero). Calculate. The processing method of the main controller 21 is not particularly limited, but for example, a PID controller is used.

The sub-controller 22 calculates and outputs a correction torque from the arm angle, which is the operating condition outputted from the host controller 1, and the above-mentioned error (deviation). The sub-controller 22 in this first embodiment includes an integrator group 223 consisting of six integrators, an input variable gain 222 placed on the input side of the integrator group 223, and an input variable gain 222 placed on the output side of the integrator group 223. The output variable gain 224 is provided with a variable output gain 224. It also includes a gain setter 221 that determines the gain of each integrator and sets the gain.

The gain setter 221 inputs the arm angle, and calculates and sets the gain for each integrator making up the integrator group 223. The output of each integrator in the integrator group 223 has its gain adjusted by an output variable gain 224 and is output to an adder 225. Adder 225 adds the calculated value from variable output gain 224 and outputs the addition result as correction torque. Then, the calculation result (base gain) of the main controller 21 and the calculation result (correction torque) of the sub-controller 22 are added and input to the power converter 23 . Thereby, the power converter 23 is configured to generate electric power to drive the motor 3 and supply it to the motor 3. Here, the plurality of integrators constituting the integrator group 223 are provided corresponding to the number of divisions of the operating situation (in this example, the arm angle), and the integrators correspond to the transition (progress) of the operating situation. are arranged accordingly. In other words, the arrangement is such that the first integrator can be switched to the second integrator in accordance with the progress of the operating situation.

In this embodiment, the number of integrators is six, but the number of integrators can be determined depending on the characteristics of the controlled object and the control conditions, and there is no need to limit the number of integrators to six. That is, the present invention does not limit the number of integrators to six. Although not shown in the present embodiment, it is assumed that there is processing means downstream of the adder 225 using a gain or a mathematical formula for converting the integral value of the integrator into torque. Further, the gain for converting the integral value into torque and the processing using a mathematical formula may be included in the variable output gain described above.

Next, the operation of this embodiment will be explained using FIGS. 1, 2, and 5.
First, as an initial state, it is assumed that the arm 42 is at an angle of 0 degrees and parallel to the y-axis. Here, explanation will be given assuming that the host controller 1 creates a motion plan for setting the angle of the arm 42 at 90 degrees and performs an operation to execute the plan.

First, the host controller 1 calculates the rotation angle of the motor 3 necessary to move the angle of the arm 42 as planned, and passes it to the inverter 2 as a motor angle command (motor angle command value). Further, the host controller 1 calculates the arm angle from the information of the sensor attached to the arm and passes it to the inverter. In response to these inputs, inverter 2 immediately calculates the error (deviation) between the motor angle command and the actual motor angle, and calculates the torque (base torque) that motor 3 should output in order to eliminate this error. and performs an operation to supply the power necessary for its generation. For this reason, the main controller 21 performs, for example, PID control for the error (deviation), that is, performs proportional, integral, and differential calculations for the error, and processes the sum of these as the manipulated variable, and uses it as the base torque. Output. The base torque is converted into electric power for actually driving the motor 3 by a power converter 23. For example, if the motor is a three-phase AC motor, the power converter 23 generates a three-phase AC voltage to be applied to the U-phase, V-phase, and W-phase of the motor 3.

Here, as described above, in the arm swinging device, a nonlinear load torque that depends on the angle of the arm 42 acts. That is, when an attempt is made to swing the arm 42 from 0 degrees to 90 degrees by operating the motor 3, a load torque due to gravity acts to push the arm back corresponding to the angle of the arm 42 (arm angle). do. For this reason, in the inverter 2, there is a concern that the accuracy of the arm position control may deteriorate if only the base torque that is the output of the main controller 21 is used, due to the influence of the load torque due to gravity. For this reason, a sub-controller 22 is arranged to correct the operation amount so as to eliminate the influence of the load torque.

Here, the conventional sub-controller 22 uses calculation logic using a physical model, a table reflecting the characteristics of the controlled object, and the like. In contrast, the sub-controller 22 in this embodiment includes an integrator group 223 made up of a plurality of integrators that performs calculations according to the arm angle that is the operating situation, a gain setter 221, an adder 225, etc. There is. In this embodiment, the integrator group 223 includes six integrators, and an input variable gain 222 and an output variable gain 224 are installed before and after the integrator. The input variable gain 222 determines whether to execute or stop the integration operation of the integrator group 223, and the output variable gain 224 determines whether or not to output the integral value of the integrator. be. In addition, these gains in this embodiment are not ON-OFF gains such as 0 or 1, but are configured to change continuously between 0 and 1, and the integrator group Execution/stop of the integral operation of each of the 223 integrators and the degree of output of the integral value can also be continuously changed between 0% and 100%. This allows the integrator group to be used by continuously switching each of the 223 integrators instead of digitally switching between operation and stop. In other words, it is possible to generate a smooth output of the sub-controller using a finite number of integrators.

The gain setter 221 specifies these gain values. In this embodiment, the same gain value is used for the input variable gain 222 and the output variable gain 224 for each integrator of the integrator group 223. In the sub-controller 22, we want to perform an operation to cancel the load torque (the influence of gravity) that is dependent on the angle of the arm 42, so each integrator in the integrator group 223 is It is configured to operate with respect to the angle, so that as the arm angle changes, different integrators are operated in sequence. In other words, the first integrator and second integrator are connected near the arm angle of 0 degrees, the second integrator and the third integrator are connected to the arm angle of around 18 degrees, and the second integrator is connected to the arm angle of around 18 degrees. The gain value is set by sequentially and continuously switching the corresponding integrators according to the angle of the arm 42, such that the third integrator is activated.

FIG. 6 shows the gain values set by the gain setter 221. FIG. 6 shows the setting values of the variable gains that control each integrator (first to sixth integrator) of the integrator group 223. The first gain to the sixth gain in FIG. 6 correspond to the gains set in the first to sixth integrators in FIG. 5, respectively. As shown in FIG. 6, the gain (gain setting value) of each integrator changes from the first integrator to the second integrator to the third integrator to the fourth integrator depending on the progression of the arm angle. , the fifth integrator, and the sixth integrator, the value increases and decreases continuously from 0 to the maximum value of 1. In other words, the gain of the first integrator (first gain) is 1 when the arm angle is 0 degrees, and as the arm angle advances, the gain of the first integrator decreases and reaches 0 when the arm angle is 18 degrees. Become. At the same time, the gain of the second integrator (second gain) is 0 at an arm angle of 0 degrees, but increases from 0 as the arm angle progresses, reaching a maximum of 1 at an arm angle of 18 degrees. Meanwhile, the gains of the other integrators (the third to sixth integrators remain at 0). Also, from the arm angle of 18 degrees, the gain of the second integrator (second gain) begins to decrease. The gain of the adjacent third integrator starts increasing from 0. When the arm angle is 36 degrees, the gain of the second integrator becomes 0 and the gain of the third integrator becomes maximum. With such gain settings, adjacent integrators are smoothly switched every 18 degrees of the arm angle.The output of each integrator is adjusted by the output variable gain 224, and aggregated by the adder 225. , is output as a correction torque.Then, this correction torque is added to the base torque that is the output of the main controller 21, and is supplied to the power converter 23.In this way, depending on the arm angle, This makes it possible to generate smooth correction torque.

In this embodiment, the gain has a triangular shape as shown in FIG. 6, but the present invention is not limited to this type of gain. For example, the shape of the gain may be a trapezoid, a trigonometric function, an ellipse, or the like.

The control of this embodiment 1 will be explained in more detail. First, when the arm 42 is to be swung and the arm angle is 0 degrees, the sub-controller 22 uses the gain setter 221 to set the value of the variable gain used for the first integrator from the arm angle. 1, and the other variable gains are set to 0 (see the first gain in FIG. 6). The first gain decreases as the arm angle advances, and at the same time the gain of the adjacent second integrator (second gain in FIG. 6) increases. Thereby, the first integrator and the second integrator perform integration and output the integrated value within the integrator. Then, gain adjustment is performed using the output variable gain 224 of this integral value. It is assumed that the value of the output variable gain and the value of the input variable gain are the same. A correction torque is calculated from the output of the output variable gain 224. That is, the output of the output variable gain 224 is added (synthesized) by an adder 225 after gain adjustment on the output side, and a corrected torque is output. The power converter 23 controls the power converter 23 using a torque obtained by adding the base torque generated by the main controller 21 and the correction torque generated by the sub-controller 22, and outputs electric power to be applied to the motor 3. The motor 3 generates torque using the electric power from the inverter 2, and the torque is amplified by the reducer 41, and the arm 42 starts to swing.

Next, when the arm angle advances and the angle reaches 18 degrees, the sub-controller 22 sets the value of the variable gain used for the second integrator to 1 in the gain setting device 221 based on the arm angle, and Let the value of the variable gain be 0. As the arm angle progresses, the gain of the second integrator decreases from 1 and changes to 0 at 36 degrees. At the same time, the value of the variable gain used in the third integrator is 0 at an arm angle of 18 degrees, increases as the arm angle advances, and is continuously changed to 1 at 36 degrees. Thereby, the second integrator and the third integrator perform integration and output the integrated value within the integrator. Then, from this integral value, a correction torque is calculated in the same manner as described above. The inverter 2 controls the power converter 23 based on the sum of the base torque generated by the main controller 21 and the correction torque generated by the sub-controller 22, and outputs electric power to be applied to the motor 3. The motor 3 generates torque using the electric power from the inverter 2, and the torque is amplified by the reduction gear 41 to continue the swinging motion of the arm 42.

In this way, in the sub-controller 22, the integrator is sequentially switched according to the gain set by the gain setter 221 according to the arm angle, and the correction torque is calculated as the output of the adder 225 using the integral value of the integrator. Output. At the same time, the integrator integrates the error, and the integral value is successively corrected. It is assumed that each integrator is set as an initial value to a value at which a load torque assumed in advance is output.

FIG. 7 shows the state of the load torque with respect to the arm angle and the correction torque calculated from the initial value of the integral value of each integrator. The initial values of each integrator are set in advance as expected, but due to the difference between the actual and assumed values, the corrected torque values 51 to 56 calculated from the load torque 5 and the initial value of each integrator are as shown in the figure. There is a difference.

FIG. 8 shows the command value of the arm angle and the arm angle response when the arm is oscillated while the integral value of each integrator remains at its initial value. As shown in FIG. 7, since there is a difference between the load torque and the correction torque, the response cannot accurately follow the command.

After this, when the arm swinging operation is performed several times, the values of each integrator are corrected by integral calculation due to errors each time.

FIG. 9 shows the state of the corrected torque values 51C to 56C calculated from the load torque 5 and the convergence value of each integrator with respect to the arm angle when the value of the integrator converges by repeating the swinging operation. The value of each integrator is corrected so that the corrected torque and the load torque match as shown.

FIG. 10 shows the command value of the arm angle and the arm angle response when the arm is oscillated in a state where the integral value of each integrator is shown in FIG. 9. Since the load torque and the correction torque match, the response follows the command accurately.

As described above, in the first embodiment, the correction amount used for controlling the inverter can be updated without performing any update-only operation or calculation. For this reason, the inverter has a low calculation load that does not require the selection of the update timing, the calculation load required to execute the update, or the generation of the calculation algorithm required for the update, and it is also highly accurate and can perform high-precision control. The device can be realized.

In this embodiment, the angle of the arm 42 is used as the operating condition for operating the sub-controller 22, but the present invention is not limited to this. That is, for example, the rotation angle and rotation speed of the motor 3 may be used, or an estimated value calculated within the inverter 2 may be used, and the selection may be made depending on the content to be controlled. As an example, if the rotation angle of the motor 3 is the operating condition, and the input integrated by the integrator is the error between the command torque and the estimated torque, an inverter device that cancels the torque pulsation of the motor 3 and smoothes the output torque of the motor 3 is used. can be configured.

≪Example 2≫
Next, Example 2 of the present invention will be described using FIG. 11. This second embodiment has basically the same configuration as the first embodiment described above, but this second embodiment has a configuration in which two sets of sub-controllers are provided. That is, the second embodiment shown in FIG. 11 differs from the first embodiment (see FIG. 5) in that it has a configuration including sub-controllers 22 and 22B.

Therefore, in the configuration of FIG. 11, the same numbers (symbols) as in FIG. 5 are given to the same components as in FIG. 5, and the explanation thereof will be omitted. In FIG. 11, the configuration of the sub-controller 22 is the same as that in FIG. 5. Further, the sub-controller 22B has the same configuration as the sub-controller 22. That is, the sub-controller 22B includes an integrator group 223B, a gain setter 221B, an input variable gain 222B, an output variable gain 224B, and an adder 225B. The operation of this sub-controller 22B is similar to that of the sub-controller 22, so the explanation will be omitted.

Even if there are two or more correction amounts, it can be handled by arranging multiple sets of sub-controllers in parallel. FIG. 12 shows the application of an inverter to such multiple corrections. FIG. 12 shows the dimensions of the correction curve of the sub-controller of the present invention, an image of the correction shape that can be created based on the dimensions of the sub-controller, and applications to which it is assumed to be applied. As shown in FIG. 12, the present invention can be applied to various applications.

In the second embodiment as well, the correction amount used for controlling the inverter can be updated without performing any update-only operation or calculation. Therefore, the calculation load required for selecting the update timing, executing the update, and generating the calculation algorithm required for the update is low, and high precision control is achieved. be able to.

DESCRIPTION OF SYMBOLS 1... Upper controller, 2... Inverter, 3... Motor, 4... Mechanism part, 5... Load torque, 21... Main controller, 22... Sub-controller, 22B... Sub-controller, 23... Power converter, 41... Deceleration Machine, 42... Arm, 51-56... Correction torque value calculated from the initial value of each integrator, 51C-56C... Correction torque value calculated from the convergence value of each integrator, 221... Gain setting device, 222... Input variable Gain, 223... Integrator group, 224... Output variable gain, 225... Adder, 221B... Gain setter, 222B... Input variable gain, 223B... Integrator group, 224B... Output variable gain, 225B... Adder

Claims (10)

a power conversion device that supplies alternating current power to a motor that drives a load; and a main unit that calculates a base torque to eliminate the error based on the error between the angle command value of the motor and the actual value corresponding to the angle command value. comprising a controller and a sub-controller that calculates a correction torque based on the error,
An inverter device that controls the power conversion device using a load torque that is a sum of the base torque and the correction torque,
The sub-controller includes a plurality of integrators that input the error and output an integral value according to the number of divisions of the operating status of the load, and a plurality of integrators that output integral values based on the operating status. A gain setter that is set sequentially while switching each, a variable gain set on the input side and an output side of the integrator set by the gain setter, and an output of the variable gain on the output side of the integrator are added together. and an adder that outputs the correction torque. 2. The inverter device according to claim 1, wherein a plurality of sets of said sub-controllers are installed. 2. The inverter device according to claim 1, wherein the input and output sides of the plurality of integrators have the same gain. 4. The inverter device according to claim 3, wherein the gains on the input side and the output side of the integrator are set by increasing or decreasing values from 0 to 1 according to changes in the operating condition, and are divided into the plurality of gains. The inverter device is characterized in that among the plurality of integrators, the integrators are sequentially switched so that the application is redundantly applied to the adjacent integrators. 5. The inverter device according to claim 4, wherein when increasing or decreasing the gain, the gain is set to a continuous value from 0 to 1 in accordance with the operating condition. A power conversion device is provided that supplies alternating current power to a motor that drives a load, and calculates a base torque for eliminating the error based on the error between the angle command value of the motor and the actual value corresponding to the angle command value. , a control method for an inverter device in which a correction torque is calculated based on the error and the power conversion device is controlled by a load torque obtained by adding the base torque and the correction torque,
The correction torque is determined by preparing a number of integral functions that divide the operating conditions of the load into a plurality of parts, inputting the error and performing a plurality of integral calculations, and calculating the input side of the plurality of integral calculations based on the operating conditions. A control method for an inverter device, in which the gain on the output side is sequentially set while being switched according to the respective operating conditions, and the output is determined by adding the output adjusted by the gain on the output side of the integral calculation. 7. The method of controlling an inverter device according to claim 6, further comprising a plurality of sets of calculation functions for calculating the correction torque. 7. The method of controlling an inverter device according to claim 6, wherein the gain on the input side and the output side of the integral calculation are the same gain. 7. The method for controlling an inverter device according to claim 6, wherein the gain is set by increasing or decreasing a value from 0 to 1 according to the transition of the operating condition, and the gain is set by increasing or decreasing a value from 0 to 1 in accordance with the transition of the operating condition, A method for controlling an inverter device, characterized in that the integral operations are sequentially switched so as to be applied redundantly to the integral calculations. 7. The method for controlling an inverter device according to claim 6, wherein in increasing and decreasing the gain, the gain is set to a continuous value from 0 to 1 in accordance with the operating condition. Control method.

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