JP7357112B2 - Rotating machine control device - Google Patents

Description

The present disclosure relates to a rotating machine control device that controls a rotating machine.

Conventionally, position sensorless magnetic flux control using direct torque control (DTC) is known as a method for driving a synchronous rotating machine (synchronous motor). For example, Patent Document 1 discloses position sensorless magnetic flux control.

Furthermore, methods for reducing torque ripple are conventionally known. For example, Non-Patent Document 1 and Non-Patent Document 2 disclose methods for reducing torque ripple.

Japanese Patent Application Publication No. 2020-178429

Yukinori Inoue, Shigeo Morimoto, Masayuki Sanada, "Torque ripple reduction by direct torque control of embedded magnet synchronous motors including high-speed motors", 2006 IEEJ Industrial Application Division Conference, 1-4, p. 173-176 Yuki Terayama, Shinichi Hoshi, "Torque ripple suppression control using estimated flux linkage harmonic components considering magnetic saturation of PMSM," IEEJ Transactions D, Vol. 141, No. 4, pp. 366-373

In position sensorless magnetic flux control, it is desired to effectively reduce torque ripple.

Therefore, an object of the present disclosure is to provide a rotating machine control device that can effectively reduce torque ripple in position sensorless magnetic flux control.

A rotating machine control device according to an aspect of the present disclosure includes a magnetic flux estimation unit that estimates a rotating machine magnetic flux that is a magnetic flux of a synchronous rotating machine, and an estimated magnetic flux that is the estimated rotating machine magnetic flux and a detected current of the synchronous rotating machine. A command amplitude, which is the amplitude of the command magnetic flux, is generated by performing feedback control using a first inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and a second inner product of the detected current. a command amplitude generation unit, specifying a magnet phase that is the phase of the magnet magnetic flux based on the estimated magnetic flux and the detected current, and setting the magnet phase as a dm axis and leading the magnet phase by 90 degrees; a magnetization characteristic specifying unit that specifies the qm-axis magnetic flux of the estimated magnetic flux, the qm-axis current of the detected current, and the harmonic component of the magnet phase using dm-qm coordinates defined as the qm-axis; a ripple compensation specifying unit that specifies a ripple compensation phase using a ripple compensation torque obtained based on the harmonic component; and a ripple compensation specifying unit that specifies a command magnetic flux vector phase based on the ripple compensation phase and a torque command or a rotational speed command. and a command magnetic flux generating section that generates the command magnetic flux based on the command amplitude and the command magnetic flux vector phase.

A rotating machine control device according to an aspect of the present disclosure includes a magnetic flux estimation unit that estimates a rotating machine magnetic flux that is a magnetic flux of a synchronous rotating machine, and an estimated magnetic flux that is the estimated rotating machine magnetic flux and a detected current of the synchronous rotating machine. A command amplitude, which is the amplitude of the command magnetic flux, is generated by performing feedback control using a first inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and a second inner product of the detected current. a command amplitude generation unit, specifying a magnet phase that is the phase of the magnet magnetic flux based on the estimated magnetic flux and the detected current, and setting the magnet phase as a dm axis and leading the magnet phase by 90 degrees; a magnetization characteristic specifying unit that specifies the qm-axis magnetic flux of the estimated magnetic flux, the qm-axis current of the detected current, and the harmonic component of the magnet phase using dm-qm coordinates defined as the qm-axis; a ripple compensation specifying section that specifies ripple compensation torque based on the harmonic component; and a command magnetic flux vector based on the ripple compensation phase specified by the resonance section based on the ripple compensation torque and the torque command or rotational speed command. It includes a command phase identifying section that identifies a phase, and a command magnetic flux generating section that generates the command magnetic flux based on the command amplitude and the command magnetic flux vector phase.

A rotating machine control device according to an aspect of the present disclosure includes a magnetic flux estimation unit that estimates a rotating machine magnetic flux that is a magnetic flux of a synchronous rotating machine, and an estimated magnetic flux that is the estimated rotating machine magnetic flux and a detected current of the synchronous rotating machine. A command amplitude, which is the amplitude of the command magnetic flux, is generated by performing feedback control using a first inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and a second inner product of the detected current. a command amplitude generation unit, specifying a magnet phase that is the phase of the magnet magnetic flux based on the estimated magnetic flux and the detected current, and setting the magnet phase as a dm axis and leading the magnet phase by 90 degrees; a ripple compensation specifying unit that specifies a ripple compensation phase using a resonance section based on a ripple compensation torque including a pulsation component of the qm-axis current of the detected current using a dm-qm coordinate with a qm axis; and a command phase identification unit that identifies a command magnetic flux vector phase based on the command amplitude and the command magnetic flux vector phase, and a command magnetic flux generation unit that generates the command magnetic flux based on the command amplitude and the command magnetic flux vector phase. .

According to the rotating machine control device according to one aspect of the present disclosure, torque ripple can be effectively reduced in position sensorless magnetic flux control.

FIG. 1 is a block diagram of a rotating machine control device, etc. according to the first embodiment. FIG. 2 is a diagram for explaining the αβ coordinate system, the dq coordinate system, and the dmqm coordinate system. FIG. 3 is a block diagram of a position sensorless control section of the rotating machine control device of FIG. 1. FIG. 4 is a block diagram of a command amplitude generation section of the position sensorless control section of FIG. 3. FIG. 5 is a block diagram of the magnetization characteristic specifying section of the position sensorless control section of FIG. 3. FIG. 6 is a block diagram of the Fourier transform section of the magnetization characteristic specifying section of FIG. 5. FIG. 7 is a diagram showing a magnetic energy table generated by the magnetization characteristic specifying section of FIG. FIG. 8 is a block diagram of the ripple compensation specifying section of the position sensorless control section of FIG. 3. FIG. 9 is a block diagram of the ripple torque specifying section of the ripple compensation specifying section of FIG. 8. FIG. 10 is a block diagram of the ripple phase identifying section of the ripple compensation identifying section of FIG. 8. FIG. 11 is a block diagram of the command phase specifying section of the position sensorless control section of FIG. 3. FIG. 12 is a block diagram of the command amplitude generation section of the rotating machine control device according to the second embodiment. FIG. 13 is a block diagram of a magnetization characteristic specifying section of a rotating machine control device according to a third embodiment. FIG. 14 is a block diagram of another magnetization characteristic specifying section of the rotating machine control device according to the third embodiment. FIG. 15 is a block diagram of a position sensorless control section of a rotating machine control device according to a fourth embodiment. FIG. 16 is a block diagram of the command phase specifying section of the position sensorless control section of FIG. 15. FIG. 17 is a block diagram of a command phase identification section of a rotating machine control device according to a fifth embodiment. FIG. 18 is a block diagram of a command phase identification section of a rotating machine control device according to a sixth embodiment. FIG. 19 is a block diagram of a command phase identification section of a rotating machine control device according to a seventh embodiment. FIG. 20 is a block diagram of a command phase identification section of a rotating machine control device according to an eighth embodiment. FIG. 21 is a block diagram of a command phase identification section of a rotating machine control device according to a ninth embodiment. FIG. 22 is a block diagram of a rotating machine control device, etc. according to the tenth embodiment. FIG. 23 is a block diagram of the position sensorless control section of the rotating machine control device of FIG. 22. FIG. 24 is a block diagram of the ripple compensation specifying section of the position sensorless control section of FIG. 23. FIG. 25 is a block diagram of the command phase identification section of the position sensorless control section of FIG. 23. FIG. 26 is a block diagram of a position sensorless control section of a rotating machine control device according to a thirteenth embodiment. FIG. 27 is a block diagram of the command phase specifying section of the position sensorless control section of FIG. 26. FIG. 28 is a block diagram of a command phase identification section of a rotating machine control device according to the fourteenth embodiment. FIG. 29 is a block diagram of a command phase identification section of a rotating machine control device according to a fifteenth embodiment. FIG. 30 is a block diagram of a command phase identification section of a rotating machine control device according to a sixteenth embodiment. FIG. 31 is a block diagram of a command phase identification section of a rotating machine control device according to the seventeenth embodiment. FIG. 32 is a block diagram of a command phase identification section of a rotating machine control device according to the eighteenth embodiment. FIG. 33 is a block diagram of a rotating machine control device, etc. according to the nineteenth embodiment. FIG. 34 is a block diagram of the position sensorless control section of the rotating machine control device of FIG. 33. FIG. 35 is a block diagram of the ripple compensation specifying section of the position sensorless control section of FIG. 34. FIG. 36 is a graph showing a torque waveform in a rotating machine.

Hereinafter, a specific example of a rotating machine control device according to one aspect of the present disclosure will be described with reference to the drawings. The embodiments shown here are all specific examples of the present disclosure. Therefore, the numerical values, shapes, components, arrangement and connection forms of the components, steps (processes) and order of steps, etc. shown in the following embodiments are merely examples and are not intended to limit the present disclosure. . Furthermore, each figure is a schematic diagram and is not necessarily strictly illustrated.

Note that comprehensive or specific aspects of the present disclosure may be realized by a system, a method, an integrated circuit, a computer program, or a computer-readable recording medium such as a CD-ROM. It may be realized by any combination of programs and recording media.

(First embodiment)
As shown in FIG. 1, the rotating machine control device 100 includes a first current sensor 102, a second current sensor 104, a position sensorless control section 106, and a duty generation section 108. The rotating machine control device 100 is connected to a PWM (Pulse Width Modulation) inverter 300 and a synchronous rotating machine 400.

The position sensorless control unit 106 performs position sensorless magnetic flux control of the synchronous rotating machine 400. The position sensorless control unit 106 is configured to perform position sensorless magnetic flux control operation of the synchronous rotating machine 400. In this embodiment, during the period in which the position sensorless magnetic flux control operation is being performed, the rotation speed (rotation speed) of the rotor of the synchronous rotating machine 400 is changed to the rotation speed (rotation speed) of the rotating machine current applied to the synchronous rotating machine 400 (synchronous rotation speed). speed). Position sensorless magnetic flux control operation is operation that does not use position sensors such as encoders and resolvers. In this specification, for convenience of explanation, an operation in which the rotating machine magnetic flux is controlled using the estimated phase of the rotating machine magnetic flux is referred to as a magnetic flux control operation. The rotating machine magnetic flux is a concept that includes both the armature linkage flux on the three-phase AC coordinates applied to the synchronous rotating machine 400 and the magnetic flux obtained by coordinate transformation of this armature linkage flux. In this specification, "amplitude" may simply refer to magnitude (absolute value).

Some or all of the elements of the rotating machine control device 100 may be provided by a control application executed on a DSP (Digital Signal Processor) or a microcomputer. A DSP or microcomputer may include a core, memory, A/D conversion circuitry, and peripherals such as communication ports. Furthermore, some or all of the elements of the rotating machine control device 100 may be configured by logic circuits.

(Summary of control by rotating machine control device 100)
The rotating machine control device 100 generates _duties D _u , D v , D _w from command torque T _e ^* and phase currents i _u , i _w . The PWM inverter 300 generates voltage vectors _{v u} , v _{v , v w to be applied to the synchronous rotating machine 400 from the duties Du , D v , D w .} The command torque T _e ^* is given to the rotating machine control device 100 from the host control device. The command torque T _e ^* represents the torque that the motor torque should follow.

An overview of the operation of the rotating machine control device 100 will be described below. Phase currents i _u and i _w are detected by current sensors 102 and 104 (first current sensor 102 and second current sensor 104). When performing position sensorless magnetic flux control operation, the position sensorless control unit 106 generates command voltage vectors v _{u *} , v v ^*, _{v w *} from command torque T _e ^* and phase currents i u ^, i _w ^. be done. Each component of the command voltage vectors v _u ^* , v _v ^* , v _w ^* corresponds to a U-phase voltage, a V-phase voltage, and a W-phase voltage on the three-phase AC coordinates, respectively. The duty generation _unit 108 generates duties _Du , _Dv ^, and _Dw from the command voltage vectors vu ^* , _{vv *} , and vw ^* . The duties D _u , D _v , and D _w are input to the PWM inverter 300 . Through such control, the synchronous rotating machine 400 is controlled so that the torque follows the command torque T _e ^* .

Below, the rotating machine control device 100 may be explained based on α-β coordinates. Further, the rotating machine control device 100 may be explained based on the dq coordinates. Further, the rotating machine control device 100 may be explained based on dm-qm coordinates. FIG. 2 shows α-β coordinates, dq coordinates, and dm-qm coordinates. The α-β coordinates are fixed coordinates. The α-β coordinate is also called a stationary coordinate or an alternating current coordinate. The α-axis is set as an axis extending in the same direction as the U-axis (omitted in FIG. 2). The U-axis corresponds to the U-phase winding of the rotating machine control device 100. The β axis is perpendicular to the α axis. The dq coordinates are rotational coordinates. The dq coordinate is a coordinate system in which the d-axis is the phase of the rotor of the synchronous rotating machine 400, and the q-axis is a phase 90 degrees ahead of the phase. The dm-qm coordinates are rotational coordinates. The dm axis is the magnet phase θ dm, which is the phase of the magnet magnetic flux Ψ _am , which is the estimated magnetic flux of the permanent magnet of the synchronous rotating machine ₄₀₀ , and the qm axis is the phase that is 90 degrees ahead of the magnet phase θ _dm . The coordinate system is

(Position sensorless control unit 106)
Returning to FIG. 1, the position sensorless control unit 106 executes a position sensorless magnetic flux control operation in which the command amplitude is set so that the amplitude of the rotating machine magnetic flux converges to the target amplitude. The position sensorless magnetic flux control operation is executed while referring to the command phase θ _s ^* obtained from the phase (estimated phase θ _s ) of the rotating machine magnetic flux estimated based on the magnetic flux estimation unit 112 (described later). The target amplitude is the amplitude that the rotating machine magnetic flux should ultimately reach. The command amplitude is the amplitude that the amplitude of the rotating machine magnetic flux should follow.

As shown in FIG. 3, the position sensorless control unit 106 includes a u, w/α, β conversion unit 110, a magnetic flux estimation unit 112, a phase identification unit 114, a torque estimation unit 116, a command amplitude generation unit 118, and a magnetization characteristic identification unit. 120, a ripple compensation specifying section 122, a command phase specifying section 124, a command magnetic flux generating section 126, a voltage command generating section 128, and an α, β/u, v, w converting unit 130.

In the position sensorless control unit 106, the u, w/α, β conversion unit 110 converts the phase currents i _u and i _w into shaft currents i _α and i _β . Axial currents i _α and i _β are a collective description of α-axis current i _α and β-axis current i _β on the α-β coordinate of the synchronous rotating machine 400. The rotating machine magnetic flux is estimated by the magnetic flux estimation unit 112 (estimated magnetic flux Ψ _s is determined). The α-axis component and β-axis component of the estimated magnetic flux Ψ _s are written as estimated magnetic flux Ψ _α and Ψ _β , respectively. The phase specifying unit 114 estimates the phase of the rotating machine magnetic flux from the estimated magnetic flux Ψ _s (the estimated phase θ _s of the estimated magnetic flux Ψ _s is determined). The motor torque is estimated by the torque estimation unit 116 from the estimated magnetic flux Ψ _s and the shaft currents i _α and i _β (estimated torque T _e is determined). The command amplitude generation unit 118 generates the command amplitude |Ψ _s ^* | from the estimated magnetic flux Ψ _s and the shaft currents i _α and i _β . The magnetization characteristic specifying unit 120 specifies the harmonic component nθ _dm of the qm-axis current i _qm and the magnet phase θ _dm from the estimated magnetic flux Ψ _s and the axis currents i _α , i _β . The ripple compensation specifying unit 122 specifies the ripple compensation phase θ _ripple from the qm-axis current i _qm and the harmonic component nθ _dm . The command phase specifying unit 124 determines the command phase (command flux vector phase) of the command magnetic flux vector Ψ _s ^* from the estimated phase θ _s of the estimated magnetic flux Ψ _s , the command torque T _e ^* , the estimated torque T _e , and the ripple compensation phase θ _ripple . ) θ _s ^* is found. _The command magnetic flux generation unit ¹²⁶ determines the command magnetic flux vector Ψ _s ^* from the command amplitude |Ψ s * | and the command phase θ _s ^* . The α-axis component and β-axis component of the commanded magnetic flux vector Ψ _s ^* are written as α-axis commanded magnetic flux Ψ _α ^* and β-axis commanded magnetic flux Ψ _β ^* , respectively. The voltage _command generation unit 128 calculates command shaft voltages v α ^* , _{v β} ^* from command ^magnetic fluxes Ψ _α *, Ψ β *, estimated magnetic fluxes Ψ _α , Ψ _β , and shaft currents i _α , i _β ^. The command shaft voltages v _α ^* and v _β ^* are a collective description of the α-axis command shaft voltage v _α ^* and the β-axis command shaft voltage v _β ^* on the α-β coordinate of the synchronous rotating machine 400. The α, β/u, v, w conversion unit 130 converts the command shaft voltages v _α ^* , v _β ^* into command voltage vectors v _u ^* , v _v ^* , v _w ^* .

In the position sensorless magnetic flux control operation, such control causes the motor torque to follow the command torque T _e ^* , and the rotating machine magnetic flux to follow the command magnetic flux vector Ψ _s ^* . As a result, the speed of the synchronous rotating machine 400 follows the command speed ω _ref ^* . As mentioned above, when expressing "the position sensorless control unit 106 executes a position sensorless magnetic flux control operation that sets the command amplitude so that the amplitude of the rotating machine magnetic flux converges to the target amplitude", it means "target amplitude". ” corresponds to the command amplitude |Ψ _s ^* |. Considering this, hereinafter, the command amplitude |Ψ _s ^* | may be referred to as the target amplitude |Ψ _s ^* |.

In this specification, the shaft currents i _α and i _β do not mean currents that actually flow through the synchronous rotating machine 400, but current values that are transmitted as information. Command shaft voltage v _α ^* , v _β ^* , estimated magnetic flux Ψ _s , estimated phase θ _s , command phase θ _s ^* , estimated torque T _e , command torque T _e ^* , command amplitude | Ψ _s ^* | (target amplitude | Ψ _s ^* |), command magnetic flux vector Ψ _s ^* , command voltage vector v _u ^* , v _v ^* , v _w ^* , command speed ω _ref ^* , magnet phase θ _dm , harmonic component nθ _dm , and qm-axis current i _qm etc. also mean values transmitted as information.

The components of the position sensorless control section 106 shown in FIG. 3 will be described below.

(u, w/α, β conversion unit 110)
The u, w/α, β converter 110 converts the phase currents i _u , i _w into shaft currents i _α , i _β . Specifically, the u, w/α, β conversion unit 110 converts the phase currents i u , i w into shaft currents i α , i β using equations (1) and (2), and converts the phase currents i _u , i _w into shaft currents i _α , i _β . Output i _α and i _β .

(Magnetic flux estimation unit 112)
The magnetic flux estimation unit 112 estimates the rotating machine magnetic flux that is the magnetic flux of the synchronous rotating machine 400, and outputs the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ) that is the estimated rotating machine magnetic flux. The magnetic flux estimation unit 112 calculates the estimated magnetic flux Ψ _s from the shaft currents i _α , i _β and the command shaft voltages v _α ^* , v _β ^* when performing the position sensorless magnetic flux control operation. Specifically, the magnetic flux estimating unit 112 uses Equation (3) and Equation (4) to obtain the estimated magnetic fluxes Ψ _α and Ψ _β . Ψ _α | _t=0 and Ψ _β | _t=0 in Equations (3) and (4) are the initial values of the estimated magnetic fluxes Ψ _α and Ψ _β , respectively. R in equations (3) and (4) is the winding resistance of the synchronous rotating machine 400. When the magnetic flux estimator 112 is incorporated in a digital control device such as a DSP or a microcomputer, the integrator required for the calculations in equations (3) and (4) may be configured as a discrete system. In this case, a value derived from the current control cycle may be added or subtracted from the estimated magnetic fluxes Ψ _α and Ψ _β one control cycle before.

(Phase identification unit 114)
The phase identifying unit 114 identifies the estimated phase θ _s that is the phase of the estimated magnetic flux Ψ _s based on the estimated magnetic flux Ψ _s (estimated magnetic fluxes Ψ _α , Ψ _β ). In this embodiment, the phase specifying unit 114 calculates the estimated phase θ _s from the estimated magnetic flux Ψ _s . Specifically, the phase identifying unit 114 calculates the estimated phase θ _s from the estimated magnetic flux Ψ _s using equation (5). For example, the phase identifying unit 114 is a known phase estimator.

(Torque estimation unit 116)
The torque estimation unit 116 calculates the estimated torque T _e based on the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ) and the detected current i. In this embodiment, the detected current i is the shaft currents i _α and i _β , and the torque estimator 116 calculates the estimated torque T _e from the estimated magnetic flux Ψ _s and the shaft currents i _α and i _β . Specifically, the torque estimation unit 116 calculates the estimated torque T _e from the estimated magnetic flux Ψ _s and the shaft currents i _α and i _β using equation (6). P in equation (6) is the number of pole pairs of the synchronous rotating machine 400.

(Command amplitude generation unit 118)
The command amplitude generation unit 118 generates a first inner product of the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ), which is the estimated rotating machine magnetic flux, and the detected current i of the synchronous rotating machine 400 , or the permanent By executing feedback control using the second inner product of the estimated magnetic flux Ψ _am of the magnet and the detected current i, a command amplitude |Ψ _s ^* |, which is the amplitude of the command magnetic flux, is generated. As shown in FIG. 4, in this embodiment, the command amplitude generation unit 118 generates the command amplitude |Ψ _s ^* | by executing feedback control using the second inner product.

The command amplitude generation unit 118 generates a reactive power component using virtual inductance (inductance of the synchronous rotating machine 400) L _qm , shaft currents i _α , i _β , and estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ). The error variable ε shown is calculated. Specifically, first, the command amplitude generation unit 118 estimates the armature reaction magnetic flux (calculates the estimated armature reaction magnetic flux L _qm i ). The α-axis component and β-axis component of the estimated armature reaction magnetic flux L _qm i are written as estimated armature reaction magnetic flux L _qm i _α and estimated armature reaction magnetic flux L _qm i _β , respectively. The estimated armature reaction flux L _qm i _α is the product of the virtual inductance L _qm and the shaft current i _α , and the estimated armature reaction flux L _qm i _β is the product of the virtual inductance L _qm and the shaft current i _β . be. Next, the command amplitude generation unit 118 generates, from the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ) and the estimated armature reaction magnetic flux L _qm i (estimated armature reaction magnetic flux L _qm i _α , L _qm i _β ), The estimated magnetic flux (estimated magnetic flux) Ψ _am of the permanent magnet of the synchronous rotating machine 400 is determined. The α-axis component and β-axis component of the magnet magnetic flux Ψ _am are written as estimated magnet magnetic flux Ψ _{a mα} and Ψ _{am β} , respectively. Specifically, the command amplitude generation unit 118 obtains the magnet magnetic flux Ψ _{a mα} by subtracting the estimated armature reaction magnetic flux L _qm i _α from the estimated magnetic flux Ψ _α . Further, the command amplitude generation unit 118 obtains the magnet magnetic flux Ψ _{a mβ} by subtracting the estimated armature reaction magnetic flux L _qm i _β from the estimated magnetic flux Ψ _β , as shown in equation (8). Next, the command amplitude generation unit 118 calculates the error variable ε from the magnet magnetic fluxes Ψ _{a mα} , Ψ _{am β} and the shaft currents i _α , i _β as shown in Equation (9).

As shown in equation (9) and FIG. 4, the command amplitude generation unit 118 uses the difference between the estimated magnetic flux Ψ _am of the permanent magnet of the synchronous rotating machine 400 and the detected current i of the synchronous rotating machine 400 as the error variable ε. Calculate the inner product (second inner product).

Note that the error variable ε can also be obtained by calculating the inner product (first inner product) of the estimated magnetic flux Ψ _am of the synchronous rotating machine 400 and the detected current i of the synchronous rotating machine 400.

Therefore, as shown in equation (10), the command amplitude generation unit 118 uses the estimated magnetic flux Ψ _s of the synchronous rotating machine 400 and the detected current i of the synchronous rotating machine 400 as the error variable ε instead of the second inner product. It may be configured to calculate an inner product (first inner product) with .

As shown in FIG. 4, the command amplitude generation section 118 includes a subtracter 132, a P gain 134, an I gain 136, an integrator 138, an adder 140, and an adder 142. The command amplitude generation unit 118 sets a target value of the error variable ε, that is, a target value ε ^* of the calculation result of the first inner product or the second inner product. Here, the command amplitude generation unit 118 sets the target value ε ^* of the calculation result of the first inner product or the second inner product to zero. The adder 142 adds the absolute value |ΔΨ| of the calculated magnetic flux deviation ΔΨ| and Ψ _{a_nominal} , which is the nominal value of the estimated magnetic flux Ψ _am , to generate the command amplitude |Ψ _s ^* |.

In this way, the command amplitude generation unit 118 generates the command amplitude |Ψ _s ^* | by performing feedback control using the error variable ε.

(Magnetization characteristic identification unit 120)
As shown in FIG. 5, the magnetization characteristic identifying unit 120 identifies the magnet phase θ dm (see FIG. 2), which is the phase of the magnet magnetic flux Ψ _am , based on the estimated magnetic flux Ψ _s and the detected current i, and determines the magnet phase θ _dm (see FIG. 2). Using _dm -qm coordinates where dm is the dm axis and the phase advanced by 90 degrees with respect to the magnet phase θ _dm is the qm axis, the qm-axis magnetic flux Ψ _qm of the estimated magnetic flux Ψ _s and the qm-axis current i of the detected current i _qm and the harmonic component nθ _dm of the magnet phase θ _dm are specified. The qm-axis magnetic flux Ψ _qm is the qm-axis component of the estimated magnetic flux Ψ _s , and the qm-axis current i _qm is the qm-axis component of the detected current i.

The magnetization characteristic specifying unit 120 includes a magnet magnetic flux specifying unit 144, a magnet phase specifying unit 146, an α, β/qm converting unit 148, an α, β/qm converting unit 150, a harmonic component specifying unit 152, a Fourier transform unit 154, and It has a magnetic energy identifying section 156.

The magnet magnetic flux identifying unit 144 determines the magnet magnetic flux Ψ _am based on the virtual inductance (inductance of the synchronous rotating machine 400) L _qm , the shaft currents i _α , i _β , and the estimated magnetic flux Ψ _s (estimated magnetic fluxes Ψ _α , Ψ _β ). Identify. Specifically, the magnet magnetic flux specifying unit 144 calculates the magnet magnetic flux Ψ _{a mα} using equation (11), and calculates the magnet magnetic flux Ψ _{a mβ} using equation (12). As shown in FIG. 2, the magnet magnetic flux Ψ _{a mα} is the α-axis component of the magnet magnetic flux Ψ _am , and the magnet magnetic flux Ψ _{a mβ} is the β-axis component of the magnet magnetic flux Ψ _am .

The magnet phase specifying unit 146 determines the magnet phase θ _dm from the magnet magnetic flux Ψ _{a mα} and the magnet magnetic flux Ψ _{a mβ} using equation (13).

The α, β/qm conversion unit 148 converts the axial currents i _α and i _β into a qm-axis current i _qm . Specifically, the α, β/qm conversion unit 148 converts the axis currents i _α and i _β into a qm-axis current i qm using equation (14) _, and outputs the qm-axis current i _qm .

The α, β/qm conversion unit 150 converts the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ) into a qm-axis magnetic flux Ψ _qm . Specifically, the α, β/qm conversion unit 150 converts the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ) into the qm-axis magnetic flux _{Ψ qm} using equation (15), Output.

The harmonic component specifying unit 152 determines a harmonic component nθ _dm of the magnet phase θ _dm . Specifically, the harmonic component identification unit 152 multiplies the magnet phase θ _dm by the order n to obtain the harmonic component nθ _dm , and outputs the harmonic component nθ _dm .

The Fourier transform unit 154 obtains the magnetic flux Ψ _qmcn and the magnetic flux Ψ _qmsn from the qm-axis magnetic flux Ψ _qm and the harmonic component nθ _dm .

As shown in FIG. 6, the Fourier transform section 154 includes an amplifier 158, a multiplier 160, a low-pass filter 162, a multiplier 164, and a low-pass filter 166.

The amplifier 158 doubles the qm-axis magnetic flux Ψ _qm .

The multiplier 160 multiplies the doubled qm-axis magnetic flux Ψ _qm by cosn θ _dm .

The low-pass filter 162 outputs a magnetic flux Ψ _qmcn from the qm-axis magnetic flux Ψ _qm that has been amplified twice and multiplied by cosn θ _dm .

The multiplier 164 multiplies the doubled qm-axis magnetic flux Ψ _qm by sinnθ _dm .

The low-pass filter 166 outputs a magnetic flux Ψ _qmsn from the qm-axis magnetic flux Ψ _qm that has been amplified twice and multiplied by sinn θ _dm .

Returning to FIG. 5, the magnetic energy specifying unit 156 calculates magnetic energy W' _qmcn from the magnetic flux Ψ _qmcn using equation (16), and calculates magnetic energy W _{' qmsn} from the magnetic flux ψ _qmsn using equation (17).

The magnetic energy specifying unit 156 creates a magnetic energy table 168 as shown in FIG. 7 using the obtained results. FIG. 7A is a table showing values of magnetic energy W′ _qmcn corresponding to values of qm-axis current i _qm . FIG. 7B is a table showing values of magnetic energy W′ _qmsn corresponding to values of qm-axis current i _qm .

(Ripple compensation specifying unit 122)
As shown in FIG. 8, the ripple compensation specifying unit 122 specifies the ripple compensation phase θ _ripple using the ripple compensation torque T _ripple obtained based on the qm-axis current i _qm and the harmonic component nθ _dm . The ripple compensation specifying section 122 includes a magnetic energy table 168, a ripple torque specifying section 170, and a ripple phase specifying section 172.

The ripple compensation specifying unit 122 calculates the magnetic energy W' based on the qm-axis current i _qm output from the α, β/qm converting unit 148 and the magnetic energy table 168 (see FIG. 7) created by the magnetic energy specifying unit 156. Find _qmcn and magnetic energy W _{' qmsn} . Specifically, the ripple compensation specifying unit 122 selects the value of the magnetic energy W′ _qmcn corresponding to the value of the qm-axis current i qm output from _the α, β/qm converting unit 148 from the magnetic energy table 168. and output it. Further, the ripple compensation specifying unit 122 selects and outputs the value of the magnetic energy W′ _qmsn corresponding to the value of the qm-axis current i _qm output from the α, β/qm converting unit 148 from the magnetic energy table 168. .

As shown in FIG. 9, the ripple torque identifying section 170 includes an adder 174, a multiplier 176, a multiplier 178, a subtracter 180, and a multiplier 182.

Adder 174 adds harmonic component nθ _dm of magnet phase θ _dm and adjustment phase Δθ. For example, the adjustment phase Δθ is input from the outside.

Multiplier 176 multiplies W′ _qmsn by cos(nθ _dm +Δθ).

Multiplier 178 multiplies W′ _qmcn by sin(nθ _dm +Δθ).

The subtractor 180 subtracts W' _qmcn sin (nθ _dm +Δθ) from W' _qmsn cos (nθ _dm +Δθ).

Multiplier 182 calculates ripple compensation torque T _ripple using equation (18). n is the order, and P is the number of pole pairs of the synchronous rotating machine 400.

As shown in FIG. 10, the ripple phase identifying section 172 includes a multiplier 184.

The multiplier 184 calculates the ripple compensation phase θ _ripple using the ripple compensation torque T _ripple and the adjustment gain K _ripple according to equation (19). The adjustment gain K _ripple is a known constant. Further, τ _s is a motor time constant, and τ _s is a differential operator.

(Command phase identification unit 124)
Returning to FIG. 3, the command phase identifying unit 124 identifies the command magnetic flux vector phase based on the ripple compensation phase θ _ripple and the torque command or rotational speed command. Here, an example based on a torque command will be shown. The command magnetic flux vector phase is the command phase θ _s ^* . That is, in this embodiment, as shown in FIG. 2, the command phase θ _s ^* is the phase of the command magnetic flux vector Ψ _s ^* . In the present embodiment, the command phase specifying unit 124 adds the torque phase Δθ _s , the ripple compensation phase θ _ripple , and the estimated phase θ _s for converging the estimated torque T _e to the command torque T _e ^* , thereby Specify the command phase θ _s ^* . That is, the command phase specifying unit 124 uses the torque phase Δθ _s , the ripple compensation phase θ _ripple , and the estimated phase θ _s to specify the command phase θ _s ^* .

As shown in FIG. 11, the command phase identification unit 124 includes a subtracter 186, a PI compensator 188, an adder 190, and an adder 192.

A subtracter 186 subtracts the estimated torque T _e from the command torque T _e ^* to obtain a deviation.

The PI compensator 188 determines the torque phase Δθ _s by proportional-integral control to converge the deviation determined by the subtractor 186 to zero.

Adder 190 adds the torque phase Δθ _s and the ripple compensation phase θ _ripple .

Adder 192 further adds estimated phase θ _s to torque phase Δθ _s and ripple compensation phase θ _ripple to obtain command phase θ _s ^* .

(Command magnetic flux generation unit 126)
Returning to FIG. 3, the command magnetic flux generation unit 126 generates the command magnetic fluxes Ψ _α ^* and Ψ _β ^* based on the command amplitude |Ψ _s ^* | and the command phase θ _s ^* . In the present embodiment, the command magnetic flux generation unit 126 calculates the command magnetic flux vector Ψ _s ^* (command magnetic flux Ψ _α ^* , Ψ _β ^* ) based on the command amplitude |Ψ _s ^* | and the command phase θ _s ^* . . In this embodiment, the command magnetic flux generation unit 126 determines the command magnetic flux vector Ψ _s ^* (command magnetic flux Ψ _α ^* , Ψ _β ^* ) from the command amplitude |Ψ _s ^* | and the command phase θ _s ^* . Specifically, the command magnetic flux generation unit 126 calculates the command magnetic fluxes Ψ _α ^* and Ψ _β ^* using equations (20) and (21).

(Voltage command generation unit 128)
The voltage command generation unit 128 uses the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ), the shaft currents i _α , i _β , and the command magnetic flux vector Ψ _s ^* (command magnetic flux Ψ _α ^* , Ψ _β ^* ). , command axis voltages v _α ^* and v _β ^* are determined. First, the voltage command generation unit 128 subtracts the estimated magnetic flux Ψ _α from the command magnetic flux Ψ _α ^* to obtain these deviations (magnetic flux deviation ΔΨ _α : Ψ _α ^* −Ψ _α ). Further, the voltage command generation unit 128 subtracts the estimated magnetic flux Ψ _β from the command magnetic flux Ψ _β ^* to obtain these deviations (magnetic flux deviation ΔΨ _β : Ψ _β ^* −Ψ _β ). Then, the voltage command generation unit 128 uses the magnetic flux deviations ΔΨ _α and ΔΨ _β and the shaft currents i _α and i _β to obtain command shaft voltages v _α ^* and v _β ^* . Specifically, the voltage command generation unit 128 calculates the α-axis command shaft voltage v _α ^* using the magnetic flux deviation ΔΨ _α and the shaft current i _α according to equation (22). Further, the voltage command generation unit 128 calculates the β-axis command shaft voltage v _β ^* using the magnetic flux deviation ΔΨ _β and the shaft current i _β according to equation (23). Here, T _s is the control period.

(α, β/u, v, w conversion unit 130)
The α, β/u, v, w conversion unit 130 converts the command axis voltages v _α ^* , v _β ^* into command voltage vectors v _u ^* , v _v ^* , v _w ^* . Specifically, the α, β/u, v, w conversion unit 130 converts the command axis voltages v _α ^* , v _β ^* into command voltage vectors v _u ^* , v _v ^* , v _w ^* using equation (24). command voltage vectors v _u ^* , v _v ^* , v _w ^* are output.

Returning to FIG. 1, the remaining components of the rotating machine control device 100 and the components connected to the rotating machine control device 100 will be described below.

(First current sensor 102, second current sensor 104)
Known current sensors can be used as the first current sensor 102 and the second current sensor 104. In this embodiment, the first current sensor 102 is provided to measure the phase current i _u flowing through the u phase. The second current sensor 104 is provided to measure the phase current i _w flowing through the w phase. However, the first current sensor 102 and the second current sensor 104 may be provided to measure currents of two phases in a combination other than the two phases of the u-phase and the w-phase.

(Duty generation unit 108)
The duty generation unit ₁₀₈ generates duties D u , D _v ^, D _w from the command voltage vectors v _u ^* , v v _* , v _w ^* . In the present embodiment, the duty generation unit 108 converts each component of the command voltage vectors v _u ^* , v _v ^* , v _w ^* into duties D _u , D _v , D _w of each phase. As a method for generating the duties D _u , D _v , and D _w , a method used in a general voltage type PWM inverter may be used. For example, the duties D _u , D _v , D _w are determined by dividing the command voltage vectors v _u ^* , v _v ^* , v _w ^* by half the voltage value V _dc of the DC power supply of the PWM inverter 300, which will be described later. It may be obtained by In this case, the duty D _u is 2×v _u ^* /V _dc . Duty D _v is 2×v _v ^* /V _dc . The duty D _w is 2×v _w ^* /V _dc . The duty generation unit 108 outputs duties _Du , _Dv , and _Dw .

(PWM inverter 300)
PWM inverter 300 includes a DC power supply and a conversion circuit, and the conversion circuit converts DC voltage into voltage vectors v _u , v _v , v _w by PWM control. PWM inverter 300 applies the converted voltage vectors v _u , v _v , v _w to synchronous rotating machine 400 .

(Synchronous rotating machine 400)
The synchronous rotating machine 400 is a control target of the rotating machine control device 100. A voltage vector is applied to the synchronous rotating machine 400 by the PWM inverter 300 . “A voltage vector is applied to the synchronous rotating machine 400” refers to voltage being applied to each of the three phases (U phase, V phase, W phase) on the three-phase AC coordinate in the synchronous rotating machine 400. . In this embodiment, each of the three phases (U phase, V phase, W phase) is selected from two types: a high voltage phase with a relatively high voltage and a low voltage phase with a relatively low voltage. The synchronous rotating machine 400 is controlled so that one of the following occurs.

The synchronous rotating machine 400 is, for example, a permanent magnet synchronous motor. Examples of permanent magnet synchronous motors include IPMSM (Interior Permanent Magnet Synchronous Motor) and SPMSM (Surface Permanent Magnet Synchronous Motor). The IPMSM has saliency in which the d-axis inductance Ld and the q-axis inductance Lq are different (generally, reverse saliency where Lq>Ld), and reluctance torque can be used in addition to magnetic torque. Therefore, the driving efficiency of the IPMSM is extremely high. As the synchronous rotating machine 400, a synchronous reluctance motor can also be used.

(Effects, etc.)
The rotating machine control device 100 according to the first embodiment includes a magnetic flux estimation unit 112 that estimates the rotating machine magnetic flux that is the magnetic flux of the synchronous rotating machine 400, and an estimated magnetic flux Ψ _s that is the estimated rotating machine magnetic flux and the synchronous rotation. Command magnetic flux _Ψ A command amplitude generation unit 118 generates a command amplitude |Ψ _s ^* | which is the amplitude of _α ^* and Ψ _β ^* , and a magnet phase θ which is the phase of the magnet magnetic flux Ψ _am based on the estimated magnetic flux Ψ _s and the detected current i. _dm , and using the dm-qm coordinate with the magnet phase θ _dm as the dm axis and the qm axis as the phase advanced by 90 degrees with respect to the magnet phase θ _dm , we can calculate the qm-axis magnetic flux Ψ _qm of the estimated magnetic flux Ψ _s . A magnetization characteristic specifying unit 120 that specifies the qm-axis current i _qm of the detection current i and the harmonic component nθ _dm of the magnet phase θ _dm , and ripple compensation obtained based on the qm-axis current i _qm and the harmonic component nθ _dm . A ripple compensation specifying unit 122 that specifies the ripple compensation phase θ _ripple using the torque T _ripple , and a command phase specifying unit that specifies the command phase θ _s ^* based on the ripple compensation phase θ _ripple and the torque command or rotational speed command. 124, and a command magnetic flux generation unit 126 that generates command magnetic fluxes Ψ _α ^* and Ψ _β ^* based on command amplitude |Ψ _s ^* | and command phase θ _s ^* .

According to this, the magnet phase θ _dm can _be specified, and the estimated magnetic flux _Ψ The qm-axis magnetic flux Ψ _qm of _s , the qm-axis current i _qm of the detection current i, and the harmonic component nθ _dm of the magnet phase θ _dm can be specified, and can be obtained based on the qm-axis current i _qm and the harmonic component nθ _dm . The ripple compensation phase θ _ripple can be specified using the ripple compensation torque T _ripple , and the command phase θ _s ^* can be specified based on the ripple compensation phase θ _ripple and the torque command or rotational speed command, so in position sensorless magnetic flux control, Torque ripple can be effectively reduced.

Furthermore, the rotating machine control device 100 according to the first embodiment includes a phase identifying unit 114 that identifies an estimated phase _{θ s that} is a phase of the estimated magnetic flux Ψ _s based on the estimated magnetic flux Ψ _s ; The command phase specifying unit 124 further includes a torque estimating unit 116 that calculates an estimated torque T _e based on the detected current i, and a command phase specifying unit 124 that calculates a torque phase Δθ s and a torque phase Δθ _s for converging the estimated torque T _e to the command torque T _e ^* . The command phase θ _s ^* is specified by adding the ripple compensation phase θ _ripple and the estimated phase θ _s .

According to this, the command ^phase θ s * can be determined by adding the torque phase Δθ _s for converging the estimated torque T _e to the command torque T _e ^* , the ripple compensation phase θ _ripple , and the estimated phase _{θ s} Therefore, torque ripple can be further effectively reduced in position sensorless magnetic flux control.

Further, in the rotating machine control device 100 according to the first embodiment, the command amplitude generation unit 118 sets the target value of the calculation result of the first inner product or the second inner product to zero.

According to this, it is possible to flow a current that generates a field magnetic flux in the direction of the magnetic flux Ψ _am of the permanent magnet of the synchronous rotating machine 400, so that torque ripple can be further effectively reduced.

(Second embodiment)
Hereinafter, a rotating machine control device according to a second embodiment, which is configured by partially changing the rotating machine control device 100 according to the first embodiment, will be described. Here, regarding the rotating machine control device according to the second embodiment, components similar to those of the rotating machine control device 100 will be given the same reference numerals as they have already been explained, and detailed explanation thereof will be omitted. The explanation will focus on the differences from the machine control device 100.

FIG. 12 is a block diagram of the command amplitude generation unit 118a of the rotating machine control device according to the second embodiment.

As shown in FIG. 12, in the rotating machine control device according to the second embodiment, the command amplitude generating section 118 is changed from the rotating machine control device 100 according to the first embodiment to a command amplitude generating section 118a. It consists of

Commanded amplitude generation section 118a differs from commanded amplitude generation section 118 mainly in that it does not include adder 142. The command amplitude generation unit 118a outputs the value obtained by the adder 140 as the command amplitude |Ψ _s ^* |.

As described above, the command amplitude generation section 118a does not need to include the adder 142.

(Third embodiment)
Hereinafter, a rotating machine control device according to a third embodiment, which is configured by partially changing the rotating machine control device 100 according to the first embodiment, will be described. Here, regarding the rotating machine control device according to the third embodiment, components similar to those of the rotating machine control device 100 will be given the same reference numerals as they have already been explained, and detailed explanation thereof will be omitted. The explanation will focus on the differences from the machine control device 100.

FIG. 13 is a block diagram of the magnetization characteristic specifying section 120b of the rotating machine control device according to the third embodiment. FIG. 14 is a block diagram of another magnetization characteristic specifying section 120c of the rotating machine control device according to the third embodiment.

As shown in FIG. 13, in the rotating machine control device according to the third embodiment, the magnetization characteristic specifying section 120 is changed from the rotating machine control device 100 according to the first embodiment to a magnetization characteristic specifying section 120b. It consists of

The magnetization characteristic specifying section 120b mainly differs from the magnetization characteristic specifying section 120 in that it further includes an armature reaction magnetic flux specifying section 194.

The armature reaction magnetic flux identification unit 194 multiplies the shaft current i _α by the virtual inductance L _qm to obtain and output the estimated armature reaction magnetic flux L _qm i _α , and multiplies the shaft current i _β by the virtual inductance L _qm . By doing so, the estimated armature reaction magnetic flux L _qm i _β is determined and output.

The α, β/qm conversion unit 150 converts the estimated armature reaction magnetic fluxes L _qm i _α and L _qm i _β into a qm-axis magnetic flux Ψ _qm . Specifically, the α, β/qm conversion unit 150 converts the estimated armature reaction magnetic flux L _qm i _α , L _qm i _β into the qm-axis magnetic flux Ψ _qm using equation (25), Output _qm .

As described above, the magnetization characteristic specifying section 120b may further include the armature reaction magnetic flux specifying section 194.

Note that the magnetization characteristic specifying section 120b shown in FIG. 13 may be the magnetization characteristic specifying section 120c shown in FIG. 14.

As shown in FIG. 14, the magnetization characteristic specifying section 120c is mainly different from the magnetization characteristic specifying section 120b in that it has an armature reaction magnetic flux specifying section 194c instead of the armature reaction magnetic flux specifying section 194. . That is, the armature reaction magnetic flux specifying section 194c is arranged after the α, β/qm converting section 148. Then, the armature reaction magnetic flux identification unit 194c multiplies the qm-axis current i qm output from the α, β/qm conversion unit 148 by the virtual inductance L _qm , thereby outputting the qm-axis magnetic flux _{Ψ qm .} Therefore, compared to the magnetization characteristic specifying section 120b, the magnetization characteristic specifying section 120c does not require the α,β/qm converting section 150, and can have a simpler configuration.

As described above, the magnetization characteristic specifying section 120b may be replaced with the magnetization characteristic specifying section 120c having the armature reaction magnetic flux specifying section 194c.

(Fourth embodiment)
Hereinafter, a rotating machine control device according to a fourth embodiment, which is configured by partially changing the rotating machine control device 100 according to the first embodiment, will be described. Here, regarding the rotating machine control device according to the fourth embodiment, components similar to those of the rotating machine control device 100 will be given the same reference numerals as they have already been explained, and detailed explanation thereof will be omitted. The explanation will focus on the differences from the machine control device 100.

FIG. 15 is a block diagram of the position sensorless control unit 106c of the rotating machine control device according to the fourth embodiment. FIG. 16 is a block diagram of the command phase identification section 124c of the position sensorless control section 106c of FIG. 15.

As shown in FIG. 15, in the rotating machine control device according to the fourth embodiment, the position sensorless control section 106 is changed from the rotating machine control device 100 according to the first embodiment to a position sensorless control section 106c. It consists of

The position sensorless control section 106c differs from the position sensorless control section 106 mainly in that it has a command phase specifying section 124c instead of the command phase specifying section 124.

In this embodiment, the command speed ω _ref ^* is given to the position sensorless control unit 106c. The command speed ω _ref ^* represents the speed that the synchronous rotating machine 400 should follow. The position sensorless control unit 106c generates command voltage vectors v _{u *} ^, _v v ^* , v _{w *} ^from command speed ω _ref ^* and phase currents i _u , i _w . Through such control, the synchronous rotating machine 400 is controlled so that its speed follows the command speed ω _ref ^* .

As shown in FIG. 16, the command phase identifying section 124c includes an integrator 200 and an adder 202. The command phase identifying unit 124c identifies the command phase θ _s ^* based on the ripple compensation phase θ _ripple and the rotational speed command.

Integrator 200 integrates command speed ω _ref ^* .

Adder 202 adds ripple compensation phase θ _ripple to the value obtained by integrator 200 to specify command phase θ _s ^* .

As described above, the rotating machine control device may include the position sensorless control section 106c instead of the position sensorless control section 106.

(Fifth embodiment)
Hereinafter, a rotating machine control device according to a fifth embodiment, which is configured by partially changing the rotating machine control device according to the fourth embodiment, will be described. Here, regarding the rotating machine control device according to the fifth embodiment, the same components as those of the rotating machine control device according to the fourth embodiment will be given the same reference numerals as they have already been explained, and the details will be explained in detail. A detailed explanation will be omitted, and the explanation will focus on the differences from the rotating machine control device according to the fourth embodiment.

FIG. 17 is a block diagram of a command phase identifying section 124d of the rotating machine control device according to the fifth embodiment.

As shown in FIG. 17, the rotating machine control device according to the fifth embodiment differs from the rotating machine control device according to the fourth embodiment in that the command phase identifying section 124c is changed to a command phase identifying section 124d. configured.

The command phase identifying unit 124d (1) identifies the amount of movement Δθ for each control cycle by which the estimated phase θ _s , which is the phase of the estimated magnetic flux Ψ _s , should be moved, using a rotation speed command to the synchronous rotating machine 400; (2) Specify the command phase θ _s ^* using the specified movement amount Δθ and the ripple compensation phase θ _ripple . The command phase specifying unit 124d includes an adder 202, a multiplier 204, and an adder 206.

The multiplier 204 multiplies the command speed ω _ref ^* by T _s to obtain the movement amount Δθ. Here, T _s is the control period.

The adder 202 adds the ripple compensation phase θ _ripple to the movement amount Δθ.

Adder 206 specifies command phase θ _s ^* by adding estimated phase θ _s to the value obtained by adder 202 .

As described above, the command phase identification unit 124d may include the adder 202, the multiplier 204, and the adder 206.

The rotating machine control device according to the fifth embodiment further includes a phase identifying unit 114 that identifies an estimated phase θ _s that is the phase of the estimated magnetic flux Ψ _s based on the estimated magnetic flux Ψ _s , and a command phase identifying unit 124 d , (1) Specify the movement amount Δθ for each control cycle by which the estimated phase Ψ _s should move using the rotation speed command to the synchronous rotating machine 400, and (2) Specify the movement amount Δθ and the ripple compensation phase θ that are specified. The command phase θ _s ^* is specified using _{the ripple} and the estimated phase θ _s .

According to this, the command phase θ _s ^* can be specified using the amount of movement Δθ for each control cycle in which the estimated phase Ψ _s should move, the ripple compensation phase θ _ripple , and the estimated phase θ _s . , torque ripple can be reduced more effectively.

(Sixth embodiment)
Hereinafter, a rotating machine control device according to a sixth embodiment, which is configured by partially changing the rotating machine control device according to the fifth embodiment, will be described. Here, regarding the rotating machine control device according to the sixth embodiment, the same components as those of the rotating machine control device according to the fifth embodiment will be given the same reference numerals as they have already been explained, and the details will be explained. A detailed explanation will be omitted, and the explanation will focus on the differences from the rotating machine control device according to the fifth embodiment.

FIG. 18 is a block diagram of the command phase identification unit 124e of the rotating machine control device according to the sixth embodiment.

As shown in FIG. 18, the rotating machine control device according to the sixth embodiment differs from the rotating machine control device according to the fifth embodiment in that the command phase identifying section 124d is changed to a command phase identifying section 124e. configured.

The command phase specifying unit 124e further uses the estimated torque T _e to specify the command phase θ _s ^* . The command phase specifying unit 124e includes an adder 202, an adder 206, a multiplier 208, a high-pass filter 210, a sign inverter 212, a PI compensator 214, and an adder 216.

Multiplier 208 multiplies the command speed ω _ref ^* by T _s to obtain ω _ref ^* T _s .

High-pass filter 210 outputs torque T _H from estimated torque T _e .

Sign inverter 212 inverts the sign of torque T _H .

The PI compensator 214 determines Δω _ref ^* T _s from the torque −T _H .

Adder 216 adds ω _ref ^* T _s determined by multiplier 208 and Δω _ref ^* T _s determined by PI compensator 214 to determine torque phase Δθ _s .

Adder 202 adds ripple compensation phase θ _ripple to torque phase Δθ _s .

Adder 206 specifies command phase θ _s ^* by adding estimated phase θ _s to the value obtained by adder 202 .

As described above, the command phase identification unit 124e may include the adder 202, the adder 206, the multiplier 208, the high-pass filter 210, the sign inverter 212, the PI compensator 214, and the adder 216.

The rotating machine control device according to the sixth embodiment further includes a torque estimation unit 116 that calculates the estimated torque T _e based on the estimated magnetic flux Ψ _s and the detected current i, and the command phase identification unit 124e The command phase θ _s ^* is further specified using T _e .

According to this, the command phase θ _s ^* can be specified using the estimated torque T _e , so that torque ripple can be further effectively reduced in the position sensorless magnetic flux control.

(Seventh embodiment)
Hereinafter, a rotating machine control device according to a seventh embodiment, which is configured by partially changing the rotating machine control device according to the fourth embodiment, will be described. Here, regarding the rotating machine control device according to the seventh embodiment, the same components as those of the rotating machine control device according to the fourth embodiment are given the same reference numerals as they have already been explained, and their details will be explained. A detailed explanation will be omitted, and the explanation will focus on the differences from the rotating machine control device according to the fourth embodiment.

FIG. 19 is a block diagram of a command phase identification unit 124f of a rotating machine control device according to a seventh embodiment.

As shown in FIG. 19, the rotating machine control device according to the seventh embodiment differs from the rotating machine control device according to the fourth embodiment in that the command phase identifying section 124c is changed to a command phase identifying section 124f. configured.

The command phase specifying unit 124f includes an integrator 200, an adder 202, a high-pass filter 218, a gain multiplier 220, and a subtracter 222.

The high-pass filter 218 outputs the torque T _H from the estimated torque T _e .

Gain multiplier 220 multiplies torque T _H by gain K ₁ .

The subtractor 222 subtracts K ₁ T _H from the command speed ω _ref ^* .

Integrator 200 integrates the value determined by subtractor 222.

Adder 202 specifies command phase θ _s ^* by adding ripple compensation phase θ _ripple to the value obtained by integrator 200 .

As described above, the command phase identification unit 124f may include an integrator 200, an adder 202, a high-pass filter 218, a gain multiplier 220, and a subtracter 222.

(Eighth embodiment)
Hereinafter, a rotating machine control device according to an eighth embodiment, which is configured by partially changing the rotating machine control device according to the seventh embodiment, will be described. Here, regarding the rotating machine control device according to the eighth embodiment, the same components as those of the rotating machine control device according to the seventh embodiment will be given the same reference numerals as they have already been explained, and the details will be explained. A detailed explanation will be omitted, and the explanation will focus on the differences from the rotating machine control device according to the seventh embodiment.

FIG. 20 is a block diagram of a command phase identification unit 124g of the rotating machine control device according to the eighth embodiment.

As shown in FIG. 20, the rotating machine control device according to the eighth embodiment differs from the rotating machine control device according to the seventh embodiment in that the command phase specifying section 124f is changed to a command phase specifying section 124g. configured.

The command phase specifying unit 124g includes an adder 202, a multiplier 204, an adder 206, a high-pass filter 218, a gain multiplier 220, and a subtracter 222.

The adder 202 adds the ripple compensation phase θ _ripple to the movement amount Δθ obtained by the multiplier 204 .

Adder 206 specifies command phase θ _s ^* by adding estimated phase θ _s to the value obtained by adder 202 .

As described above, the command phase identification unit 124g may include the adder 202, the multiplier 204, the adder 206, the high-pass filter 218, the gain multiplier 220, and the subtracter 222.

(Ninth embodiment)
Hereinafter, a rotating machine control device according to a ninth embodiment, which is configured by partially changing the rotating machine control device according to the eighth embodiment, will be described. Here, regarding the rotating machine control device according to the ninth embodiment, the same components as those of the rotating machine control device according to the eighth embodiment will be given the same reference numerals as they have already been explained, and the details will be explained. A detailed explanation will be omitted, and the explanation will focus on the differences from the rotating machine control device according to the eighth embodiment.

FIG. 21 is a block diagram of a command phase identification unit 124h of a rotating machine control device according to the ninth embodiment.

As shown in FIG. 21, the rotating machine control device according to the ninth embodiment is different from the rotating machine control device according to the eighth embodiment in that the command phase identifying section 124g is changed to a command phase identifying section 124h. configured.

The command phase specifying unit 124h includes an adder 202, an adder 206, a multiplier 208, a PI compensator 214, an adder 216, a low-pass filter 224, and a subtracter 226.

Multiplier 208 multiplies the command speed ω _ref ^* by T _s to obtain ω _ref ^* T _s .

The low-pass filter 224 outputs the torque T _L from the estimated torque T _e .

The subtractor 226 obtains torque -T _H by subtracting the estimated torque T _e from the torque T _L .

The PI compensator 214 determines Δω _ref ^* T _s from the torque −T _H .

Adder 216 adds ω _ref ^* T _s determined by multiplier 208 and Δω _ref ^* T _s determined by PI compensator 214 to determine torque phase Δθ _s .

Adder 202 adds ripple compensation phase θ _ripple to torque phase Δθ _s determined by adder 216 .

Adder 206 specifies command phase θ _s ^* by adding estimated phase θ _s to the value obtained by adder 202 .

As described above, the command phase identification unit 124h may include the adder 202, the adder 206, the multiplier 208, the PI compensator 214, the adder 216, the low-pass filter 224, and the subtracter 226.

(Tenth embodiment)
Hereinafter, a rotating machine control device 100j according to a tenth embodiment, which is configured by partially changing the rotating machine control device 100 according to the first embodiment, will be described. Here, regarding the rotating machine control device 100j according to the tenth embodiment, the same components as those of the rotating machine control device 100 will be given the same reference numerals as they have already been explained, and detailed explanation thereof will be omitted. The explanation will focus on the differences from the rotating machine control device 100.

As shown in FIG. 22, the rotating machine control device 100j includes a first current sensor 102, a second current sensor 104, a position sensorless control section 106j, and a duty generation section 108. The rotating machine control device 100j is connected to a PWM (Pulse Width Modulation) inverter 300 and a synchronous rotating machine 400.

The position sensorless control unit 106j performs position sensorless magnetic flux control of the synchronous rotating machine 400. The position sensorless control unit 106j is configured to perform position sensorless magnetic flux control operation of the synchronous rotating machine 400. In this embodiment, during the period in which the position sensorless magnetic flux control operation is being performed, the rotation speed (rotation speed) of the rotor of the synchronous rotating machine 400 is changed to the rotation speed (rotation speed) of the rotating machine current applied to the synchronous rotating machine 400 (synchronous rotation speed). speed). Position sensorless magnetic flux control operation is operation that does not use position sensors such as encoders and resolvers. In this specification, for convenience of explanation, an operation in which the rotating machine magnetic flux is controlled using the estimated phase of the rotating machine magnetic flux is referred to as a magnetic flux control operation. The rotating machine magnetic flux is a concept that includes both the armature linkage flux on the three-phase AC coordinates applied to the synchronous rotating machine 400 and the magnetic flux obtained by coordinate transformation of this armature linkage flux. In this specification, "amplitude" may simply refer to magnitude (absolute value).

Some or all of the elements of the rotating machine control device 100j may be provided by a control application executed in a DSP (Digital Signal Processor) or a microcomputer. A DSP or microcomputer may include a core, memory, A/D conversion circuitry, and peripherals such as communication ports. Furthermore, some or all of the elements of the rotating machine control device 100j may be configured by logic circuits.

(Summary of control by rotating machine control device 100j)
The rotating machine control device 100j generates duties D _u , D _v , D _w from command torque T _e ^* and phase currents _{i u} , i _w . The PWM inverter 300 generates voltage vectors _{v u} , v v , _{v w} to be applied to the synchronous rotating machine 400 from the duties Du , D _v , D _w . The command torque T _e ^* is given to the rotating machine control device 100j from the host control device. The command torque T _e ^* represents the torque that the motor torque should follow.

An overview of the operation of the rotating machine control device 100j will be described below. Phase currents i _u and i _w are detected by current sensors 102 and 104 (first current sensor 102 and second current sensor 104). When the position sensorless magnetic flux control operation is executed, the position sensorless control unit 106j generates command voltage vectors v _{u *} ^, v _v ^*, v _{w *} from the command torque T _e ^* and phase currents i u , i _w ^. be done. Each component of the command voltage vectors v _u ^* , v _v ^* , v _w ^* corresponds to a U-phase voltage, a V-phase voltage, and a W-phase voltage on the three-phase AC coordinates, respectively. The _duty generation unit 108 generates duties _Du , _Dv ^, and _Dw from the command voltage vectors vu ^* , _{vv *} , and vw ^* . The duties D _u , D _v , and D _w are input to the PWM inverter 300 . Through such control, the synchronous rotating machine 400 is controlled so that the torque follows the command torque T _e ^* .

Below, the rotating machine control device 100j may be explained based on α-β coordinates. Further, the rotating machine control device 100j may be explained based on the dq coordinates. Further, the rotating machine control device 100j may be explained based on dm-qm coordinates. FIG. 2 shows α-β coordinates, dq coordinates, and dm-qm coordinates. The α-β coordinates are fixed coordinates. The α-β coordinate is also called a stationary coordinate or an alternating current coordinate. The α-axis is set as an axis extending in the same direction as the U-axis (omitted in FIG. 2). The U-axis corresponds to the U-phase winding of the rotating machine control device 100. The β axis is perpendicular to the α axis. The dq coordinates are rotational coordinates. The dq coordinate is a coordinate system in which the d-axis is the phase of the rotor of the synchronous rotating machine 400, and the q-axis is a phase 90 degrees ahead of the phase. The dm-qm coordinates are rotational coordinates. The dm axis is the magnet phase θ dm, which is the phase of the magnet magnetic flux Ψ _am , which is the estimated magnetic flux of the permanent magnet of the synchronous rotating machine 400, and the qm axis is the phase that is 90 degrees ahead _of the magnet phase θ _dm . The coordinate system is

(Position sensorless control unit 106j)
Returning to FIG. 22, the position sensorless control unit 106j executes a position sensorless magnetic flux control operation in which the command amplitude is set so that the amplitude of the rotating machine magnetic flux converges to the target amplitude. The position sensorless magnetic flux control operation is executed while referring to the command phase θ _s ^* obtained from the phase (estimated phase θ _s ) of the rotating machine magnetic flux estimated based on the magnetic flux estimation unit 112 (described later). The target amplitude is the amplitude that the rotating machine magnetic flux should ultimately reach. The command amplitude is the amplitude that the amplitude of the rotating machine magnetic flux should follow.

As shown in FIG. 23, the position sensorless control unit 106j includes a u, w/α, β conversion unit 110, a magnetic flux estimation unit 112, a phase identification unit 114, a torque estimation unit 116, a command amplitude generation unit 118, and a magnetization characteristic identification unit. 120, a ripple compensation specifying section 122j, a command phase specifying section 124j, a command magnetic flux generating section 126, a voltage command generating section 128, and an α, β/u, v, w converting unit 130.

In the position sensorless control unit 106j, the u, w/α, β conversion unit 110 converts the phase currents i _u and i _w into shaft currents i _α and i _β . Axial currents i _α and i _β are a collective description of α-axis current i _α and β-axis current i _β on the α-β coordinate of the synchronous rotating machine 400. The rotating machine magnetic flux is estimated by the magnetic flux estimation unit 112 (estimated magnetic flux Ψ _s is determined). The α-axis component and β-axis component of the estimated magnetic flux Ψ _s are written as estimated magnetic flux Ψ _α and Ψ _β , respectively. The phase specifying unit 114 estimates the phase of the rotating machine magnetic flux from the estimated magnetic flux Ψ _s (the estimated phase θ _s of the estimated magnetic flux Ψ _s is determined). The motor torque is estimated by the torque estimation unit 116 from the estimated magnetic flux Ψ _s and the shaft currents i _α and i _β (estimated torque T _e is determined). The command amplitude generation unit 118 generates the command amplitude |Ψ _s ^* | from the estimated magnetic flux Ψ _s and the shaft currents i _α and i _β . The magnetization characteristic specifying unit 120 specifies the harmonic component nθ _dm of the qm-axis current i _qm and the magnet phase θ _dm from the estimated magnetic flux Ψ _s and the axis currents i _α , i _β . The ripple compensation specifying unit 122j specifies the ripple compensation torque T _ripple from the qm-axis current i _qm and the harmonic component nθ _dm . The command phase identification unit 124j determines the command phase (command flux vector phase) of the command magnetic flux vector Ψ _s ^* from the estimated phase θ _s of the estimated magnetic flux Ψ _s , the command torque T _e ^* , the estimated torque T _e , and the ripple compensation torque T _ripple . ) θ _s ^* is found. _The command magnetic flux generation unit ¹²⁶ determines the command magnetic flux vector Ψ _s ^* from the command amplitude |Ψ s * | and the command phase θ _s ^* . The α-axis component and β-axis component of the commanded magnetic flux vector Ψ _s ^* are written as α-axis commanded magnetic flux Ψ _α ^* and β-axis commanded magnetic flux Ψ _β ^* , respectively. The voltage _command generation unit 128 calculates command shaft voltages v α ^* , v _β ^* from command ^magnetic fluxes Ψ _α *, Ψ β *, estimated magnetic fluxes Ψ _{α ,} Ψ _β , and shaft currents i _α , i _β ^. The command shaft voltages v _α ^* and v _β ^* are a collective description of the α-axis command shaft voltage v _α ^* and the β-axis command shaft voltage v _β ^* on the α-β coordinate of the synchronous rotating machine 400. The α, β/u, v, w conversion unit 130 converts the command shaft voltages v _α ^* , v _β ^* into command voltage vectors v _u ^* , v _v ^* , v _w ^* .

In the position sensorless magnetic flux control operation, such control causes the motor torque to follow the command torque T _e ^* , and the rotating machine magnetic flux to follow the command magnetic flux vector Ψ _s ^* . As a result, the speed of the synchronous rotating machine 400 follows the command speed ω _ref ^* . As mentioned above, when expressing "the position sensorless control unit 106j executes a position sensorless magnetic flux control operation that sets the command amplitude so that the amplitude of the rotating machine magnetic flux converges to the target amplitude", it is expressed as "target amplitude". ” corresponds to the command amplitude |Ψ _s ^* |. Considering this, hereinafter, the command amplitude |Ψ _s ^* | may be referred to as the target amplitude |Ψ _s ^* |.

In this specification, the shaft currents i _α and i _β do not mean currents that actually flow through the synchronous rotating machine 400, but current values that are transmitted as information. Command shaft voltage v _α ^* , v _β ^* , estimated magnetic flux Ψ _s , estimated phase θ _s , command phase θ _s ^* , estimated torque T _e , command torque T _e ^* , command amplitude | Ψ _s ^* | (target amplitude | Ψ _s ^* |), command magnetic flux vector Ψ _s ^* , command voltage vector v _u ^* , v _v ^* , v _w ^* , command speed ω _ref ^* , magnet phase θ _dm , harmonic component nθ _dm , and qm-axis current i _qm etc. also mean values transmitted as information.

The components of the position sensorless control unit 106j shown in FIG. 23 will be described below.

(Ripple compensation specifying unit 122j)
As shown in FIG. 24, the ripple compensation specifying unit 122j specifies the ripple compensation torque T _ripple based on the qm-axis current i _qm and the harmonic component nθ _dm . The ripple compensation specifying section 122j includes a magnetic energy table 168 and a ripple torque specifying section 170.

The ripple compensation specifying unit 122j determines the magnetic energy W' based on the qm-axis current i _qm output from the α, β/qm converting unit 148 and the magnetic energy table 168 (see FIG. 7) created by the magnetic energy specifying unit 156. Find _qmcn and magnetic energy W _{' qmsn} . Specifically, the ripple compensation specifying unit 122j selects the value of the magnetic energy W′ _qmcn corresponding to the value of the qm-axis current i qm output from the α,β _/ qm converting unit 148 from the magnetic energy table 168. and output it. Furthermore, the ripple compensation specifying unit 122j selects and outputs the value of the magnetic energy W′ _qmsn corresponding to the value of the qm-axis current i _qm output from the α, β/qm converting unit 148 from the magnetic energy table 168. .

(Command phase identification unit 124j)
Returning to FIG. 23, the command phase specifying unit 124j determines the command magnetic flux vector based on the ripple compensation phase θ _ripple specified by the resonance unit 189 (described later) based on the ripple compensation torque T _ripple and the torque command or rotational speed command. Identify the phase. Here, an example based on a torque command will be shown. The command magnetic flux vector phase is the command phase θ _s ^* . That is, in this embodiment, as shown in FIG. 2, the command phase θ _s ^* is the phase of the command magnetic flux vector Ψ _s ^* . In the present embodiment, the command phase specifying unit 124j adds the torque phase Δθ _s , the ripple compensation phase θ _ripple , and the estimated phase θ _s for converging the estimated torque T _e to the command torque T _e ^* , thereby Specify the command phase θ _s ^* . That is, the command phase identification unit 124j identifies the command phase θ _s ^* using the torque phase Δθ _s , the ripple compensation phase θ _ripple , and the estimated phase θ _s .

As shown in FIG. 25, the command phase specifying section 124j includes a subtracter 186, a PI compensator 188, a resonance section 189, an adder 190, and an adder 192.

The subtracter 186 subtracts the estimated torque T _e and the ripple compensation torque T _ripple from the command torque T _e ^* to obtain a deviation ΔT.

The PI compensator 188 determines the torque phase Δθ _s by proportional-integral control to converge the deviation ΔT determined by the subtractor 186 to zero.

The resonance unit 189 specifies the ripple compensation phase θ _ripple using the deviation ΔT according to equation (26). b ₀ is a coefficient and a preset constant. Further, ξ is a damping coefficient, ω _n is a natural frequency, and s is a transfer function.

In this way, the resonance unit 189 specifies the ripple compensation phase θ _ripple based on the ripple compensation torque T _ripple . For example, the resonator 189 is a resonator.

Adder 190 adds the torque phase Δθ _s and the ripple compensation phase θ _ripple .

Adder 192 further adds estimated phase θ _s to torque phase Δθ _s and ripple compensation phase θ _ripple to obtain command phase θ _s ^* .

(Effects, etc.)
The rotating machine control device 100j according to the tenth embodiment includes a magnetic flux estimation unit 112 that estimates the rotating machine magnetic flux that is the magnetic flux of the synchronous rotating machine 400, and an estimated magnetic flux Ψ _s that is the estimated rotating machine magnetic flux and synchronous rotation. Command magnetic flux _Ψ A command amplitude generation unit 118 generates a command amplitude |Ψ _s ^* | which is the amplitude of _α ^* and Ψ _β ^* , and a magnet phase θ which is the phase of the magnet magnetic flux Ψ _am based on the estimated magnetic flux Ψ _s and the detected current i. _dm , and using the dm-qm coordinate with the magnet phase θ _dm as the dm axis and the qm axis as the phase advanced by 90 degrees with respect to the magnet phase θ _dm , we can calculate the qm-axis magnetic flux Ψ _qm of the estimated magnetic flux Ψ _s . A magnetization characteristic specifying unit 120 _that specifies the qm-axis current i _qm of the detection current i and the harmonic component nθ _{dm of the magnet phase θ dm} , and a ripple compensation torque T based on the qm-axis current i _qm and the harmonic component nθ _dm . The _ripple compensation specifying unit 122j specifies the ripple, and the command phase θ _s ^* is specified based on the ripple compensation phase θ _ripple specified by the resonance unit 189 based on the ripple compensation torque T _ripple and the torque command or rotational speed command. It includes a command phase specifying section 124j and a command magnetic flux generating section 126 that generates command magnetic fluxes Ψ _α ^* and Ψ _β ^* based on command amplitude |Ψ _s ^* | and command phase θ _s ^* .

According to this, the magnet phase θ _dm can _be specified, and the estimated magnetic flux _Ψ The qm-axis magnetic flux Ψ _qm of _s , the qm-axis current i _qm of the detected current i, and the harmonic component nθ dm of the magnet phase θ _dm can be specified, and ripple compensation is performed based on the qm-axis current i _qm and the harmonic component _{nθ dm .} Since the torque T _ripple can be specified and the command phase θ _s ^* can be specified based on the ripple compensation phase θ _ripple specified based on the ripple compensation torque T _ripple and the torque command or rotational speed command, in position sensorless magnetic flux control, Torque ripple can be effectively reduced.

Furthermore, in the tenth embodiment, as described with reference to FIG. 25, since the ripple compensation phase θ _ripple is determined using the estimated torque T _e , the torque ripple can be reduced with high accuracy.

Further, the rotating machine control device 100j according to the tenth embodiment includes a phase identifying unit 114 that identifies an estimated phase _{θ s that} is a phase of the estimated magnetic flux Ψ _s based on the estimated magnetic flux Ψ s, and an estimated magnetic flux Ψ _s . The command phase specifying unit 124j further includes a torque estimating unit 116 that calculates an estimated torque T _e based on the detected current i, and a command phase specifying unit 124j that calculates a torque phase Δθ s and a torque phase Δθ _s for converging the estimated torque T _e to the command torque T _e ^* . The command phase θ _s ^* is specified by adding the ripple compensation phase θ _ripple and the estimated phase θ _s .

According to this, the command phase θ ^{s *} can be determined by adding the torque phase Δθ _s for converging the estimated torque T _e to the command torque T _e *, ^the ripple compensation phase θ _ripple , and the estimated phase _{θ s} Therefore, torque ripple can be further effectively reduced in position sensorless magnetic flux control.

Further, in the rotating machine control device 100j according to the tenth embodiment, the command amplitude generation unit 118 sets the target value of the calculation result of the first inner product or the second inner product to zero.

According to this, it is possible to flow a current that generates a field magnetic flux in the direction of the magnetic flux Ψ _am of the permanent magnet of the synchronous rotating machine 400, so that torque ripple can be further effectively reduced.

(Eleventh embodiment)
Hereinafter, a rotating machine control device according to an eleventh embodiment, which is configured by partially changing the rotating machine control device 100j according to the tenth embodiment, will be described. Here, regarding the rotating machine control device according to the eleventh embodiment, components similar to those of the rotating machine control device 100j are given the same reference numerals as they have already been explained, and detailed explanation thereof will be omitted. The explanation will focus on the differences from the machine control device 100j.

FIG. 12 is a block diagram of the command amplitude generation unit 118a of the rotating machine control device according to the second embodiment.

As shown in FIG. 12, in the rotating machine control device according to the eleventh embodiment, the command amplitude generation unit 118 is changed from the rotating machine control device 100j according to the tenth embodiment to a command amplitude generation unit 118a. It consists of

(Twelfth embodiment)
Hereinafter, a rotating machine control device according to a twelfth embodiment, which is constructed by partially changing the rotating machine control device 100j according to the tenth embodiment, will be described. Here, regarding the rotating machine control device according to the twelfth embodiment, components similar to those of the rotating machine control device 100j are given the same reference numerals as they have already been explained, and detailed explanation thereof will be omitted. The explanation will focus on the differences from the machine control device 100j.

FIG. 13 is a block diagram of the magnetization characteristic specifying section 120b of the rotating machine control device according to the third embodiment. FIG. 14 is a block diagram of another magnetization characteristic specifying section 120c of the rotating machine control device according to the third embodiment.

As shown in FIG. 13, in the rotating machine control device according to the twelfth embodiment, the magnetization characteristic specifying section 120 is changed from the rotating machine control device 100j according to the tenth embodiment to a magnetization characteristic specifying section 120b. It consists of

Note that the magnetization characteristic specifying section 120b shown in FIG. 13 may be the magnetization characteristic specifying section 120c shown in FIG. 14.

(13th embodiment)
Hereinafter, a rotating machine control device according to a thirteenth embodiment, which is constructed by partially changing the rotating machine control device 100j according to the tenth embodiment, will be described. Here, regarding the rotating machine control device according to the thirteenth embodiment, components similar to those of the rotating machine control device 100j are given the same reference numerals as they have already been explained, and detailed explanation thereof will be omitted. The explanation will focus on the differences from the machine control device 100j.

FIG. 26 is a block diagram of the position sensorless control section 106k of the rotating machine control device according to the thirteenth embodiment. FIG. 27 is a block diagram of the command phase identification section 124k of the position sensorless control section 106k of FIG. 26.

As shown in FIG. 26, in the rotating machine control device according to the thirteenth embodiment, the position sensorless control section 106j is changed from the rotating machine control device 100j according to the tenth embodiment to a position sensorless control section 106k. It consists of

The position sensorless control section 106k differs from the position sensorless control section 106j mainly in that it has a command phase specifying section 124k instead of the command phase specifying section 124j.

In this embodiment, the command speed ω _ref ^* is given to the position sensorless control unit 106k. The command speed ω _ref ^* represents the speed that the synchronous rotating machine 400 should follow. The position sensorless control unit 106k generates command ^voltage vectors v _{u *} ^, _v v ^* , v _{w *} from command speed ω _ref ^* and phase currents i _u , i _w . Through such control, the synchronous rotating machine 400 is controlled so that its speed follows the command speed ω _ref ^* .

As shown in FIG. 27, the command phase identification section 124k includes a resonance section 189, an integrator 200, and an adder 202. The command phase identifying unit 124k identifies the command phase θ _s ^* based on the ripple compensation phase θ _ripple and the rotational speed command.

The resonator 189 specifies the ripple compensation phase θ _ripple based on the ripple compensation torque T _ripple . For example, the resonator 189 specifies the ripple compensation phase θ _ripple by replacing ΔT in the above equation (26) with T _ripple .

Integrator 200 integrates command speed ω _ref ^* .

Adder 202 adds ripple compensation phase θ _ripple to the value obtained by integrator 200 to specify command phase θ _s ^* .

As described above, the rotating machine control device may include the position sensorless control section 106k instead of the position sensorless control section 106j.

(Fourteenth embodiment)
Hereinafter, a rotating machine control device according to a fourteenth embodiment, which is configured by partially changing the rotating machine control device according to the thirteenth embodiment, will be described. Here, regarding the rotating machine control device according to the fourteenth embodiment, the same components as those of the rotating machine control device according to the thirteenth embodiment are given the same reference numerals as they have already been explained, and the details thereof will be explained. A detailed explanation will be omitted, and the explanation will focus on the differences from the rotating machine control device according to the thirteenth embodiment.

FIG. 28 is a block diagram of a command phase identification unit 124l of a rotating machine control device according to the fourteenth embodiment.

As shown in FIG. 28, the rotating machine control device according to the fourteenth embodiment differs from the rotating machine control device according to the thirteenth embodiment in that the command phase identifying section 124k is changed to a command phase identifying section 124l. configured.

The command phase identifying unit 124l (1) identifies the amount of movement Δθ for each control cycle by which the estimated phase θ _s , which is the phase of the estimated magnetic flux Ψ _s , should be moved, using a rotation speed command to the synchronous rotating machine 400; (2) Specify the command phase θ _s ^* using the specified movement amount Δθ and the ripple compensation phase θ _ripple . The command phase identification unit 124l includes a resonance unit 189, an adder 202, a multiplier 204, and an adder 206.

The multiplier 204 multiplies the command speed ω _ref ^* by T _s to obtain the movement amount Δθ. Here, T _s is the control period.

The adder 202 adds the ripple compensation phase θ _ripple to the movement amount Δθ.

Adder 206 specifies command phase θ _s ^* by adding estimated phase θ _s to the value obtained by adder 202 .

As described above, the command phase identification unit 124l may include the resonance unit 189, the adder 202, the multiplier 204, and the adder 206.

The rotating machine control device according to the fourteenth embodiment further includes a phase identifying unit 114 that identifies an estimated phase θ _s that is the phase of the estimated magnetic flux Ψ _s based on the estimated magnetic flux Ψ _s , and a command phase identifying unit 124 l. , (1) Specify the movement amount Δθ for each control cycle by which the estimated phase Ψ _s should move using the rotation speed command to the synchronous rotating machine 400, and (2) Specify the movement amount Δθ and the ripple compensation phase θ that are specified. The command phase θ _s ^* is specified using _{the ripple} and the estimated phase θ _s .

According to this, the command phase θ _s ^* can be specified using the amount of movement Δθ for each control cycle in which the estimated phase Ψ _s should move, the ripple compensation phase θ _ripple , and the estimated phase θ _s . , torque ripple can be reduced more effectively.

(15th embodiment)
Hereinafter, a rotating machine control device according to a fifteenth embodiment, which is configured by partially changing the rotating machine control device according to the fourteenth embodiment, will be described. Here, regarding the rotating machine control device according to the 15th embodiment, the same components as those of the rotating machine control device according to the 14th embodiment will be given the same reference numerals as they have already been explained, and the details will be explained. A detailed explanation will be omitted, and the explanation will focus on the differences from the rotating machine control device according to the fourteenth embodiment.

FIG. 29 is a block diagram of a command phase identification unit 124m of a rotating machine control device according to the fifteenth embodiment.

As shown in FIG. 29, the rotating machine control device according to the fifteenth embodiment is different from the rotating machine control device according to the fourteenth embodiment in that the command phase specifying section 124l is changed to a command phase specifying section 124m. configured.

The command phase specifying unit 124m further uses the estimated torque T _e to specify the command phase θ _s ^* . The command phase identification unit 124m includes a resonance unit 189, an adder 202, an adder 206, a multiplier 208, a high-pass filter 210, a sign inverter 212, a PI compensator 214, an adder 216, and a subtracter 217. .

Multiplier 208 multiplies the command speed ω _ref ^* by T _s to obtain ω _ref ^* T _s .

High-pass filter 210 outputs torque T _H from estimated torque T _e .

Sign inverter 212 inverts the sign of torque T _H .

The PI compensator 214 determines Δω _ref ^* T _s from the torque −T _H .

Adder 216 adds ω _ref ^* T _s determined by multiplier 208 and Δω _ref ^* T _s determined by PI compensator 214 to determine torque phase Δθ _s .

The subtracter 217 subtracts T _e from -T _ripple .

The resonator 189 specifies the ripple compensation phase θ _ripple based on the ripple compensation torque T _ripple . For example, the resonator 189 specifies the ripple compensation phase θ _ripple by replacing ΔT in the above equation (26) with -T _ripple -T _e .

Adder 202 adds ripple compensation phase θ _ripple to torque phase Δθ _s .

Adder 206 specifies command phase θ _s ^* by adding estimated phase θ _s to the value obtained by adder 202 .

As described above, the command phase identification unit 124m includes the resonance unit 189, the adder 202, the adder 206, the multiplier 208, the high-pass filter 210, the sign inverter 212, the PI compensator 214, the adder 216, and the subtracter 217. It may have.

The rotating machine control device according to the fifteenth embodiment further includes a torque estimation unit 116 that calculates the estimated torque T _e based on the estimated magnetic flux Ψ _s and the detected current i, and the command phase identification unit 124 m The command phase θ _s ^* is further specified using T _e .

According to this, the command phase θ _s ^* can be specified using the estimated torque T _e , so that torque ripple can be further effectively reduced in the position sensorless magnetic flux control.

(16th embodiment)
Hereinafter, a rotating machine control device according to a sixteenth embodiment, which is configured by partially changing the rotating machine control device according to the thirteenth embodiment, will be described. Here, regarding the rotating machine control device according to the 16th embodiment, the same components as those of the rotating machine control device according to the 13th embodiment are given the same reference numerals as they have already been explained, and the details thereof will be explained. A detailed explanation will be omitted, and the explanation will focus on the differences from the rotating machine control device according to the thirteenth embodiment.

FIG. 30 is a block diagram of a command phase identification unit 124n of a rotating machine control device according to the sixteenth embodiment.

As shown in FIG. 30, the rotating machine control device according to the sixteenth embodiment is different from the rotating machine control device according to the thirteenth embodiment in that the command phase specifying section 124k is changed to a command phase specifying section 124n. configured.

The command phase identification section 124n includes a resonance section 189, an integrator 200, an adder 202, a subtracter 217, a high pass filter 218, a gain multiplier 220, and a subtracter 222.

The high-pass filter 218 outputs the torque T _H from the estimated torque T _e .

Gain multiplier 220 multiplies torque T _H by gain K ₁ .

The subtractor 222 subtracts K ₁ T _H from the command speed ω _ref ^* .

Integrator 200 integrates the value determined by subtractor 222.

The subtracter 217 subtracts T _e from -T _ripple .

The resonator 189 specifies the ripple compensation phase θ _ripple based on the ripple compensation torque T _ripple . For example, the resonator 189 specifies the ripple compensation phase θ _ripple by replacing ΔT in the above equation (26) with -T _ripple -T _e .

Adder 202 specifies command phase θ _s ^* by adding ripple compensation phase θ _ripple to the value obtained by integrator 200 .

As described above, the command phase identification section 124n may include the resonance section 189, the integrator 200, the adder 202, the subtracter 217, the high-pass filter 218, the gain multiplier 220, and the subtracter 222.

(Seventeenth embodiment)
Hereinafter, a rotating machine control device according to a seventeenth embodiment, which is configured by partially changing the rotating machine control device according to the sixteenth embodiment, will be described. Here, regarding the rotating machine control device according to the 17th embodiment, the same components as those of the rotating machine control device according to the 16th embodiment will be given the same reference numerals as they have already been explained, and the details will be explained. A detailed explanation will be omitted, and the explanation will focus on the differences from the rotating machine control device according to the sixteenth embodiment.

FIG. 31 is a block diagram of a command phase identification unit 124p of a rotating machine control device according to the seventeenth embodiment.

As shown in FIG. 31, the rotating machine control device according to the seventeenth embodiment is different from the rotating machine control device according to the sixteenth embodiment in that the command phase specifying section 124n is changed to a command phase specifying section 124p. configured.

The command phase identification unit 124p includes a resonance unit 189, an adder 202, a multiplier 204, an adder 206, a subtracter 217, a high-pass filter 218, a gain multiplier 220, and a subtracter 222.

The adder 202 adds the ripple compensation phase θ _ripple to the movement amount Δθ obtained by the multiplier 204 .

Adder 206 specifies command phase θ _s ^* by adding estimated phase θ _s to the value obtained by adder 202 .

As described above, the command phase specifying section 124p includes the resonating section 189, the adder 202, the multiplier 204, the adder 206, the subtracter 217, the high-pass filter 218, the gain multiplier 220, and the subtracter 222. Good too.

(18th embodiment)
Hereinafter, a rotating machine control device according to an eighteenth embodiment, which is configured by partially changing the rotating machine control device according to the seventeenth embodiment, will be described. Here, regarding the rotating machine control device according to the 18th embodiment, the same components as those of the rotating machine control device according to the 17th embodiment are given the same reference numerals as they have already been explained, and the details thereof will be explained. A detailed explanation will be omitted, and the explanation will focus on the differences from the rotating machine control device according to the seventeenth embodiment.

FIG. 32 is a block diagram of the command phase identification unit 124q of the rotating machine control device according to the eighteenth embodiment.

As shown in FIG. 32, the rotating machine control device according to the 18th embodiment differs from the rotating machine control device according to the 17th embodiment in that the command phase specifying section 124p is changed to a command phase specifying section 124q. configured.

The command phase identification unit 124q includes a resonance unit 189, an adder 202, an adder 206, a multiplier 208, a PI compensator 214, an adder 216, a subtracter 217, a low-pass filter 224, and a subtracter 226.

Multiplier 208 multiplies the command speed ω _ref ^* by T _s to obtain ω _ref ^* T _s .

The low-pass filter 224 outputs the torque T _L from the estimated torque T _e .

The subtractor 226 obtains torque -T _H by subtracting the estimated torque T _e from the torque T _L .

The PI compensator 214 determines Δω _ref ^* T _s from the torque −T _H .

Adder 216 adds ω _ref ^* T _s determined by multiplier 208 and Δω _ref ^* T _s determined by PI compensator 214 to determine torque phase Δθ _s .

Adder 202 adds ripple compensation phase θ _ripple to torque phase Δθ _s determined by adder 216 .

Adder 206 specifies command phase θ _s ^* by adding estimated phase θ _s to the value obtained by adder 202 .

As described above, the command phase identification unit 124q includes the resonance unit 189, the adder 202, the adder 206, the multiplier 208, the PI compensator 214, the adder 216, the subtracter 217, the low-pass filter 224, and the subtracter 226. may have.

(19th embodiment)
Hereinafter, a rotating machine control device 100r according to a nineteenth embodiment, which is configured by partially changing the rotating machine control device 100 according to the first embodiment, will be described. Here, regarding the rotating machine control device 100r according to the nineteenth embodiment, the same components as those of the rotating machine control device 100 will be given the same reference numerals as they have already been explained, and detailed explanation thereof will be omitted. The explanation will focus on the differences from the rotating machine control device 100.

As shown in FIG. 33, the rotating machine control device 100r is configured by changing the position sensorless control unit 106 from the rotating machine control device 100 according to the first embodiment to a position sensorless control unit 106r.

As shown in FIG. 34, the position sensorless control section 106r is configured by changing the magnetization characteristic specifying section 120 and the ripple compensation specifying section 122 from the position sensorless control section 106 to a ripple compensation specifying section 122r.

As shown in FIG. 35, the ripple compensation identifying unit 122r identifies the magnet phase θ _dm , which is the phase of the magnet magnetic flux Ψ _am , based on the estimated magnetic flux Ψ _s and the detected current i, and sets the magnet phase θ _dm as the dm axis. And, using dm- _qm coordinates with the qm axis being a phase that is 90 degrees ahead of the magnet phase θ _dm , _resonance is The ripple compensation phase θ _ripple is specified by the unit 189. Specifically, the ripple compensation identifying unit 122r identifies the magnet phase θ _dm , which is the phase of the magnet magnetic flux Ψ _am , based on the estimated magnetic flux Ψ _s and the detected current i. Then, the ripple compensation specifying unit 122r determines the qm-axis current of the detected current i using a dm-qm coordinate in which the magnet phase θ _dm is the dm axis and the phase advanced by 90 degrees with respect to the magnet phase θ _dm is the qm axis. Find i _qm . Then, the ripple compensation specifying unit 122r determines the ripple compensation torque T _ripple that includes the pulsation of the qm-axis current i _qm of the detected current i. Then, the ripple compensation specifying unit 122r specifies the ripple compensation phase θ _ripple by the resonance unit 189 based on the ripple compensation torque T _ripple that includes the pulsation of the qm-axis current i _qm of the detected current i. The ripple compensation specifying unit 122r includes a magnet flux specifying unit 144, a magnet phase specifying unit 146, an α, β/qm converting unit 148, a torque component specifying unit 228, and a resonance unit 189.

The torque component specifying unit 228 determines a ripple compensation torque T _ripple that includes a pulsation component of the qm-axis current i _qm . Specifically, the torque component specifying unit 228 calculates the ripple compensation torque T _ripple including the pulsation of the qm-axis current i _qm using equation (27).

The resonance unit 189 specifies the ripple compensation phase θ _ripple based on the ripple compensation torque T _ripple that includes the pulsation of the qm-axis current i _qm . Specifically, the resonance unit 189 specifies the ripple compensation phase θ _ripple based on the ripple compensation torque T _ripple including the pulsation of the qm-axis current i _qm using equation (28). b ₀ is a coefficient and a preset constant. Further, ξ is a damping coefficient, ω _n is a natural frequency, and s is a transfer function.

In this way, the resonance unit 189 specifies the ripple compensation phase θ _ripple based on the ripple compensation torque T _ripple that includes the pulsation of the qm-axis current i _qm . For example, the resonator 189 is a resonator.

Note that, for example, the position sensorless control section 106r may include a command amplitude generation section 118a instead of the command amplitude generation section 118. For example, the position sensorless control unit 106r includes, in place of the command phase identification unit 124, a command phase identification unit 124c, a command phase identification unit 124d, a command phase identification unit 124e, a command phase identification unit 124f, a command phase identification unit 124g, Alternatively, the command phase specifying section 124h may be included, and the command speed ω _ref ^* may be given to the position sensorless control section 106r.

FIG. 36 is a graph showing a torque waveform in a rotating machine. Specifically, FIG. 36 is a graph showing the torque in the rotating machine when control of the rotating machine by the rotating machine control device is simulated. Here, after driving the rotating machine control device to control the rotating machine using the method according to the comparative example, the rotating machine control device was driven using the method according to the example to control the rotating machine. The rotating machine was assumed to be a motor having a harmonic component in the magnetic flux of the magnet, and the rotating machine was controlled so that the rotational speed was 3600 r/min and 50% of the rated load. The method according to the comparative example is the same as the method described in Non-Patent Document 1, and the method according to the example is the same as the method using the rotating machine control device 100r.

As shown in FIG. 36, when the rotating machine control device is driven by the method according to the example, the torque ripple rate is reduced by about 22% compared to when the rotating machine control device is driven by the method according to the comparative example. I was able to do that. The torque ripple rate is determined by (maximum torque - minimum torque)/average torque.

Further, when the rotating machine control device is driven by a method similar to the method by the rotating machine control device 100 of the first embodiment, and by a method similar to the method by the rotating machine control device 100j of the tenth embodiment, Even when the rotating machine control device was driven by the method according to the comparative example, the torque ripple rate was able to be reduced compared to the case where the rotating machine control device was driven by the method according to the comparative example.

(Effects, etc.)
The rotating machine control device 100r according to the nineteenth embodiment includes a magnetic flux estimation unit 112 that estimates the rotating machine magnetic flux that is the magnetic flux of the synchronous rotating machine 400, and an estimated magnetic flux Ψ _s that is the estimated rotating machine magnetic flux and the synchronous rotation. Command magnetic flux _Ψ A command amplitude generation unit 118 generates a command amplitude |Ψ _s ^* | which is the amplitude of _α ^* and Ψ _β ^* , and a magnet phase θ which is the phase of the magnet magnetic flux Ψ _am based on the estimated magnetic flux Ψ _s and the detected current i. _dm is specified, and using the dm-qm coordinate with the magnet phase θ _dm as the dm axis and the qm axis as the phase advanced by 90 degrees with respect to the magnet phase θ _dm , the pulsation of the qm-axis current i _qm of the detected current i is calculated. The ripple compensation specifying unit _122r specifies the ripple compensation phase θ _ripple by the resonance unit 189 based on the ripple compensation torque T _ripple including It includes a command phase identifying section 124 that identifies _s ^* , and a command magnetic flux generating section 126 that generates command magnetic fluxes Ψ _α ^* and Ψ _β ^* based on command amplitude |Ψ _s ^* | and command phase θ _s ^* .

According to this, the magnet phase θ _dm can _be specified, and the estimated magnetic flux _Ψ The qm-axis magnetic flux Ψ _qm of _s and the qm-axis current i _qm of the detection current i can be specified, and the ripple compensation phase θ _ripple is calculated based on the ripple compensation torque T _ripple that includes the pulsation of the qm-axis current i _qm of the detection current i. Since the command phase θ _s ^* can be specified based on the ripple compensation phase θ _ripple and the torque command or rotational speed command, torque ripple can be effectively reduced in position sensorless magnetic flux control.

(Other embodiments, etc.)
The rotating machine control device according to one aspect of the present disclosure has been described above based on the first to nineteenth embodiments, but the present disclosure is not limited to these embodiments. Unless departing from the spirit of the present disclosure, various modifications that can be thought of by those skilled in the art may be made to this embodiment, and configurations constructed by combining components of different embodiments may also be implemented using one or more of the present disclosure. may be included within the scope of the embodiments.

In the first embodiment described above, a case has been described in which the rotating machine control device 100 includes the torque estimating section 116 and the phase specifying section 114, but the present invention is not limited to this. For example, the rotating machine control device does not need to include the torque estimation section 116 and the phase identification section 114. In this case, for example, the rotating machine control device may acquire the estimated torque T _e and the estimated phase θ _s from the outside. Further, for example, as shown in FIG. 16, the command phase θ _s ^* may be specified without using the estimated torque T _e and the estimated phase θ _s .

Further, in the first embodiment described above, a case has been described in which the rotating machine control device 100 includes the torque estimating section 116, but the present invention is not limited to this. For example, the rotating machine control device does not need to include the torque estimation unit 116. In this case, for example, the rotating machine control device may acquire the estimated torque T _e from the outside. Further, for example, as shown in FIG. 17, the command phase θ _s ^* may be specified without using the estimated torque T _e . The same applies to the second to ninth embodiments.

Note that in the embodiments described above, each component may be configured with dedicated hardware, or may be realized by executing a software program suitable for each component. Each component may be realized by a program execution unit such as a CPU (Central Processing Unit) or a processor reading and executing a software program recorded on a recording medium such as a hard disk or a semiconductor memory.

Note that the following cases are also included in the present disclosure.

(1) Each of the above devices is specifically a computer system composed of a microprocessor, ROM, RAM, hard disk unit, display unit, keyboard, mouse, etc. A computer program is stored in the RAM or hard disk unit. Each device achieves its function by the microprocessor operating according to the computer program. Here, a computer program is configured by combining a plurality of instruction codes indicating instructions to a computer in order to achieve a predetermined function.

(2) Some or all of the components constituting each of the above devices may be composed of one system LSI (Large Scale Integration). A system LSI is a super-multifunctional LSI manufactured by integrating multiple components onto a single chip, and specifically, it is a computer system that includes a microprocessor, ROM, RAM, etc. . A computer program is stored in the RAM. The system LSI achieves its functions by the microprocessor operating according to the computer program.

(3) Some or all of the components constituting each of the above devices may be configured from an IC card or a single module that is removably attached to each device. The IC card or the module is a computer system composed of a microprocessor, ROM, RAM, etc. The IC card or the module may include the super-multifunctional LSI described above. The IC card or the module achieves its functions by the microprocessor operating according to a computer program. This IC card or this module may be tamper resistant.

(4) The present disclosure may be the method described above. Moreover, it may be a computer program that implements these methods by a computer, or it may be a digital signal composed of the computer program.

The present disclosure also provides the computer program or the digital signal on a computer-readable recording medium, such as a flexible disk, hard disk, CD-ROM, MO, DVD, DVD-ROM, DVD-RAM, BD (Blu-ray). (Registered Trademark) Disc), semiconductor memory, or the like. Alternatively, the signal may be the digital signal recorded on these recording media.

Further, in the present disclosure, the computer program or the digital signal may be transmitted via a telecommunication line, a wireless or wired communication line, a network typified by the Internet, data broadcasting, or the like.

The present disclosure also provides a computer system including a microprocessor and a memory, wherein the memory stores the computer program, and the microprocessor may operate according to the computer program.

Furthermore, the program or the digital signal is recorded on the recording medium and transferred, or the program or the digital signal is transferred via the network or the like to be executed by another independent computer system. You can also use it as

(5) The above embodiments and other embodiments may be combined.

The present disclosure can be widely used in rotating machine control devices that control rotating machines.

100, 100j, 100r rotating machine control device 102 first current sensor 104 second current sensor 106, 106c, 106j, 106k, 106r position sensorless control unit 108 duty generation unit 110 u, w/α, β conversion unit 112 magnetic flux estimation unit 114 Phase identification unit 116 Torque estimation unit 118, 118a Command amplitude generation unit 120, 120b, 120c Magnetization characteristic identification unit 122, 122j Ripple compensation identification unit 124, 124c, 124d, 124e, 124f, 124g, 124h, 124j, 124k, 124l , 124m, 124n, 124p, 124q Command phase identification unit 126 Command magnetic flux generation unit 128 Voltage command generation unit 130 α, β/u, v, w conversion unit 132, 180, 186, 222, 226 Subtractor 134 P gain 136 I Gain 138, 200 Integrator 140, 142, 174, 190, 192, 202, 206, 216 Adder 144 Magnet flux identification section 146 Magnet phase identification section 148, 150 α, β/qm conversion section 152 Harmonic component identification section 154 Fourier transform section 156 Magnetic energy identification section 158 Amplifier 160, 164, 176, 178, 182, 184, 204, 208 Multiplier 162, 166, 224 Low pass filter 168 Magnetic energy table 170 Ripple torque identification section 172 Ripple phase identification section 188, 214 PI compensator 189 Resonance section 194, 194c Armature reaction magnetic flux identification section 210, 218 High pass filter 212 Sign inverter 220 Gain multiplier 228 Torque component identification section

Claims (9)

a magnetic flux estimation unit that estimates rotating machine magnetic flux that is the magnetic flux of the synchronous rotating machine;
Using a first inner product of the estimated magnetic flux, which is the estimated rotating machine magnetic flux, and the detected current of the synchronous rotating machine, or a second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current. a command amplitude generation unit that generates a command amplitude that is the amplitude of the command magnetic flux by executing feedback control;
A magnet phase, which is the phase of the magnet magnetic flux, is specified based on the estimated magnetic flux and the detected current, and the magnet phase is set as the dm axis, and the phase advanced by 90 degrees with respect to the magnet phase is set as the qm axis. Using the qm coordinates, specify the qm-axis magnetic flux of the estimated magnetic flux, the qm-axis current of the detected current, and the harmonic component of the magnet phase, and specify the magnetic energy from the qm-axis magnetic flux and the harmonic component. a magnetization characteristic specifying section;
a ripple compensation specifying unit that specifies a ripple compensation phase using a ripple compensation torque obtained based on the qm-axis current, the harmonic component , and the magnetic energy ;
a command phase identification unit that identifies a command magnetic flux vector phase by adding the ripple compensation phase and a phase generated from a torque command or a rotational speed command;
a command magnetic flux generation unit that generates the command magnetic flux based on the command amplitude and the command magnetic flux vector phase;
Rotating machine control device. a magnetic flux estimation unit that estimates rotating machine magnetic flux that is the magnetic flux of the synchronous rotating machine;
Using a first inner product of the estimated magnetic flux, which is the estimated rotating machine magnetic flux, and the detected current of the synchronous rotating machine, or a second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current. a command amplitude generation unit that generates a command amplitude that is the amplitude of the command magnetic flux by executing feedback control;
A magnet phase, which is the phase of the magnet magnetic flux, is specified based on the estimated magnetic flux and the detected current, and the magnet phase is set as the dm axis, and the phase advanced by 90 degrees with respect to the magnet phase is set as the qm axis. Using the qm coordinates, specify the qm-axis magnetic flux of the estimated magnetic flux, the qm-axis current of the detected current, and the harmonic component of the magnet phase, and specify the magnetic energy from the qm-axis magnetic flux and the harmonic component. a magnetization characteristic specifying section;
a ripple compensation specifying unit that specifies ripple compensation torque based on the qm-axis current, the harmonic component, and the magnetic energy ;
a command phase specifying unit that specifies a command magnetic flux vector phase by adding the ripple compensation phase specified by the resonance unit based on the ripple compensation torque and the phase generated from the torque command or rotational speed command;
a command magnetic flux generation unit that generates the command magnetic flux based on the command amplitude and the command magnetic flux vector phase;
Rotating machine control device. a magnetic flux estimation unit that estimates rotating machine magnetic flux that is the magnetic flux of the synchronous rotating machine;
Using a first inner product of the estimated magnetic flux, which is the estimated rotating machine magnetic flux, and the detected current of the synchronous rotating machine, or a second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current. a command amplitude generation unit that generates a command amplitude that is the amplitude of the command magnetic flux by executing feedback control;
A magnet phase, which is the phase of the magnet magnetic flux, is specified based on the estimated magnetic flux and the detected current, and the magnet phase is set as the dm axis, and the phase advanced by 90 degrees with respect to the magnet phase is set as the qm axis. a ripple compensation specifying unit that uses the qm coordinate to specify a ripple compensation phase using a resonance section based on a ripple compensation torque that includes a pulsating component of the qm-axis current of the detected current;
a command phase identification unit that identifies a command magnetic flux vector phase by adding the ripple compensation phase and a phase generated from a torque command or a rotational speed command;
a command magnetic flux generation unit that generates the command magnetic flux based on the command amplitude and the command magnetic flux vector phase;
Rotating machine control device. further comprising: a phase identifying unit that identifies an estimated phase that is a phase of the estimated magnetic flux based on the estimated magnetic flux; and a torque estimating unit that calculates an estimated torque based on the estimated magnetic flux and the detected current;
The command phase identifying unit identifies the command magnetic flux vector phase by adding the torque phase for converging the estimated torque to the command torque, the ripple compensation phase, and the estimated phase.
The rotating machine control device according to any one of claims 1 to 3. The command phase specifying unit (1) specifies the amount of movement of the estimated phase, which is the phase of the estimated magnetic flux, for each control cycle using the rotation speed command to the synchronous rotating machine, and (2) specifying the command magnetic flux vector phase using the specified movement amount and the ripple compensation phase;
The rotating machine control device according to any one of claims 1 to 3. further comprising a phase identifying unit that identifies an estimated phase that is a phase of the estimated magnetic flux based on the estimated magnetic flux,
The command phase identifying unit (1) identifies the amount of movement of the estimated phase for each control cycle using the rotational speed command to the synchronous rotating machine, and (2) determines the amount of movement that the estimated phase should move by using the rotational speed command to the synchronous rotating machine. specifying the command magnetic flux vector phase using the ripple compensation phase and the estimated phase;
The rotating machine control device according to any one of claims 1 to 3. further comprising a torque estimator that calculates an estimated torque based on the estimated magnetic flux and the detected current,
The command phase identification unit further uses the estimated torque to identify the command magnetic flux vector phase.
The rotating machine control device according to claim 5. further comprising a torque estimator that calculates an estimated torque based on the estimated magnetic flux and the detected current,
The command phase identification unit further uses the estimated torque to identify the command magnetic flux vector phase.
The rotating machine control device according to claim 6. The command amplitude generation unit sets a target value of the calculation result of the first inner product or the second inner product to zero.
The rotating machine control device according to any one of claims 1 to 3.

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