JPH01133585A - Torque control type rotary electric machine - Google Patents

Abstract

PURPOSE:To permit the reduction of an oscillating torque surely and quickly, by a method wherein the amount of control, necessary for making the oscillating torque zero, is operated from rotary accelerations in respective rotating angular positions during one turn of a main rotary shaft. CONSTITUTION:A rotating speed omegaR is fluctuated in accordance with a remaining difference TM-TG= Tr between the electromagnetic torque TM of an electromotive element and the load torque TG of a compressor. The time interval of a rotating pulse signal, obtained by sampling the rotating angular position phiR of a rotor based on the rotating speed omegaR, is obtained while the speed NF of rotation and the acceleration N'F of the rotation are obtained from the time interval. The speed NF and the acceleration N'F of the rotation, thus obtained, are compared with a commanding speed NC and a commanding acceleration N'C to obtain N and N'. A torque control system effects proportional and integral operation with respect to respective amounts of difference and determines a current command (ic) so as to nullify respective differences.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates generally to rotary electric machines in which load elements are driven by electric elements, and particularly to a torque control device suitable for reducing vibration in rotary electric machines. .

[Prior Art] A hermetic rotary compressor will be described as an example of a rotating machine driven by an electric element.

FIGS. 22 and 23 are a longitudinal cross-sectional view and an A-A cross-sectional view showing the conventional structure of a hermetic rotary compressor. In these figures, reference numeral 1 is a container that houses an electric element and a compression element therein. Reference numeral 2 denotes a stator of an electric element, which is fixed to the inner periphery of the container 1. Inside the stator 2, a rotor 3, which is an electric element that is fitted onto the main shaft 4 and rotates together with the main shaft 4, is arranged. The main shaft 4 has a main bearing 5 and an end bearing 6.
Supported by These bearings 5 and 6 are fastened to a cylinder block 7. Cylinder block 7 is fixed to container 1. A compression chamber 12 is formed in the cylinder block 7, and a roller 8 which is eccentrically integrated with the main shaft 4 is provided in the compression chamber 12, and is biased against the surface of the roller 8 by a spring 10. Vane 9
are arranged, and these constitute the compression element.

With this configuration, when the main shaft 4 is rotationally driven by the electric element, refrigerant gas is sucked in from the suction accumulator 11 provided outside the container 1, and is brought to a predetermined pressure by the roller 8 in the compression chamber 12. It is pressurized to a maximum of 100 mL and is discharged out of the case in the direction of the arrow.

A rotary compressor with such a structure was disclosed in Japanese Patent Application Laid-Open No. 58-187.
It is disclosed in Japanese Patent No. 635.

By the way, in a compressor with such a structure.

While the electric element outputs a substantially constant torque over time, the gas absorption torque within the compression element varies significantly during one rotation of the main shaft 4. Then, the difference between this gas absorption torque and the electromagnetic torque, that is, the residual torque, acts as an excitation torque on the container 1, causing a problem that large vibrations in the rotational direction are induced in the entire compressor. .

FIG. 24 schematically shows, as an example, the causes of vibration in a rotary compressor. Each rotation system of the compression element and the electric element (rotor 3. roller 8.
Gas compression torque TG and electromagnetic torque TM act on the main shaft 4) and the fixed system (stator 2, block 7, container 1) as shown in the figure, respectively. In addition, in the figure, clockwise rotation is shown as positive, and counterclockwise rotation is shown as negative.

In this case, the equations of motion of the rotating system and fixed system are: These are the inertia torques of the rotating system and fixed system, respectively.

JR and Js are the moments of inertia of the rotating system and fixed system, respectively, T a-'r M corresponds to the residual torque (= excitation torque), K is the spring constant of the compressor support spring, and φR is the moment of inertia of the rotating system is the rotation angle and the rotational angular velocity dt of one rotation system. Therefore, the rotation speed ω8 of the rotation system is detected, and from equation (1), T
s-Ta=O, and the electromagnetic torque TM and load torque Ta
By being balanced, the excitation torque in equation (2) is eliminated, and vibration in the rotational direction of the container, which is a cause of vibration and noise in rotating machinery, can be suppressed.

Furthermore, as shown in Jikai No. 60-223181,
The load torque Ta of the compressor varies greatly during one rotation, but it is a periodic pulsating load that is repeated over one rotation,
Focus on the fact that the load torque value does not change much if you focus on a certain rotation angle.

There is also a conventional example in which torque control is performed by a method in which the rotation speed detected at each rotation angle is fed back at the same angle after one rotation.

[Problem to be solved by the invention]

However, the rotational speed variation curve and the load torque Ta variation curve generally have different phases. FIG. 25 shows a load torque curve and a rotor rotational speed fluctuation curve in a rotary compressor. As you can see from the figure, the rotation speed changes.

The phase lags behind the torque fluctuation, and the point where the rotational speed becomes minimum is several tens of degrees behind the peak value of the load torque.

Therefore, if the rotational speed of the rotor is detected and the motor output is increased when the detected speed is lower than the commanded speed, and the motor output is decreased when the detected speed is higher than the commanded speed, the torque control as described above is performed. Due to this phase delay, there is a problem that the motor output torque cannot be completely synchronized with the load torque, and some kind of phase correction means is required.

However, this phase correction is difficult to implement for the following reasons. That is, as shown in FIG. 26, the torque component of the rotary compressor includes harmonic components such as second order, third order, etc., in addition to the rotational first order component corresponding to the operating frequency of the compressor. They have a certain phase difference from each other. Referring to equation (1), the rotational speed ωR has an integral relationship with the excitation torque ΔTr. Here, rotation n
Next (7) Focusing on the excitation torque component ΔTn, by integrating ΔTn=ΔT no sinn ωt,
It can be seen that the n-order component of the rotational speed has a phase delay of □ with respect to the n-order component of the torque. In fact, the rotor rotational speed of n 2 is a combination of all of these n-order components, and since the ratio of these components varies depending on the operating conditions, there is a problem that the optimum phase correction angle cannot be easily determined.

The present invention has been made in view of the above-mentioned problems, and its object is to synchronize the motor output torque with the load torque at each rotation angle of the rotor without phase delay, thereby eliminating excitation torque, and reliably and promptly. An object of the present invention is to provide a torque control device for a rotating electric machine that can achieve low vibration.

[Means to solve the problem]

The present invention is a torque control device for a rotary electric machine, which includes an electric element and a load element connected to the electric element via a rotating main shaft and rotationally driven by the electric element, in which each rotation of the rotating main shaft during one rotation is performed. The electromagnetic torque of the electric element is controlled so that the difference between the electromagnetic torque of the electric element and the load torque of the load element is zero at each rotation angle of the spindle by detecting the rotational acceleration in angle and feeding it back. It is characterized by the fact that it is made to do so.

[Effect]

The rotational acceleration wn=t obtained by differentiating the rotational speed changes in the same phase as the torque fluctuation, and the present invention uses this for torque control, so there is no need for phase correction as described in the section regarding the problem.

In other words, according to the present invention, the control amount necessary to make the excitation torque zero is calculated from the rotational acceleration at each rotational angle position during one rotation of the rotating main shaft, and the load torque is calculated at each rotational angle without phase delay. This allows the output torque of the electric element to follow fluctuations.

Excitation torque can be reduced reliably and quickly.

〔Example〕

Hereinafter, an embodiment in which the present invention is applied when an inverter drives a rotary compressor, which is a type of rotating machine driven by an electric element (DC motor), will be described.
The figure shows a compressor according to this embodiment, which has almost the same structure as the conventional compressor shown in Figs. 22 and 23, so only the different parts will be explained, and the same parts will be By attaching the reference numerals, the explanation thereof will be omitted.

In FIG. 2, the rotor 3 of the electric element 20 and the compression element 2
One end of the rotating main shaft 4, which is directly connected to the main roller 8, is extended and a gear 22, which is a rotational position detecting member, is fixed, and this gear 22 rotates integrally with the main shaft 4.

A position detection sensor (for example, an electrode pickup, a gap sensor, etc.) 23 is fixed to the container 1, and a gear 22
The tooth arrangement is detected and a sinusoidal signal corresponding to the rotational angular position of the main shaft 4 is output.

3 to 7 show a series of processes for determining the rotational speed and rotational acceleration of the rotating main shaft 4 from the sinusoidal signal detected by the position detection sensor 23. Now, the third
As shown in the figure, when the gear 22 rotates, the position detection sensor 2
From 3 onwards, a sinusoidal detection waveform 24 as shown in FIG.
is output.

The rotation pulse signal 25 shown in FIG. 5 is converted into a pulse train by shaping the waveform based on the threshold vehicle pressure 27.
It is. Each pulse width T1g T of this pulse time series 25
el...T, is measured, and its reciprocal N I= 1/
``1' The rotation speed N at each time can be found from t.1
FIG. 6 shows the rotation speed 28 at each rotation angle during rotation. On the other hand, the rotational acceleration combination at each time is 1
Rotation speed NI at one pulse of rotation pulse signal 25 and (i
-1) From the rotation speed Ni-1 during pulse, the eclipse r =
(NtNt-i)/T. Alternatively, the rotation speed N * + at the time of (i + 1) pulses
Good after obtaining t = (Nl+1-Ni-x) /
It can be obtained from (Ts +T1+1), or it can be similarly obtained from three-point interpolation of N1-□*Ni and Nt+t. FIG. 7 shows the rotational acceleration 101 at each rotation angle during one rotation.

FIG. 8 shows another method of calculating rotational speed and rotational acceleration from detected pulses. The pulse width of the detection pulse 25 at one cycle interval is measured, and each pulse width T□, T2°, . . . TI is measured while shifting the measurement position by half a cycle. Its reciprocal N + = 1/T.

Find the rotational speed of each point from
x, Ni+z and pulse width T1, “”Nt=(N
It can also be obtained as I+IN 1-1 )/T s .

FIG. 9 shows the overall configuration of the torque control device of this embodiment. That is, the detection signal 24 obtained by the position detection sensor 23 is converted into a rotation pulse signal 25 by the waveform shaping circuit 29,
CPU 3 of microcomputer 38 via interface 30
Sent to 1. The rotation pulse signal 25 interrupts and activates the microcomputer 38, and executes a series of detection-calculation-command operations. That is, the pulse interval of the one-rotation pulse signal 25 is clocked by a microcomputer built-in timer to obtain the above-mentioned time interval T.
Find I, and calculate the rotational speed N+ and rotational acceleration from this. Then, the current command value to be applied to the electric element 20 of the compressor, which is necessary for this rotational acceleration 1 to be O and for the rotational speed Nl to be equal to the commanded speed Nc, is calculated and output. This control signal is then sent to the control section 34 to form a chopper signal that drives the pace driver 35. This current control operation of the pace driver 35 causes the inverter 36 to
performs torque control by controlling the winding current supplied to the electric element 20, so that the compressor rotational speed is always equal to the command speed with fluctuations below a certain allowable value.

Further, the rotor rotational acceleration is constantly controlled so as to be minimized at each rotation angle. These series of control loops are R
It is written in OM33.

The control flow of this torque control device will be explained in detail with reference to the block i diagram shown in FIG. Note that S shown in Figure 1 is a Laplace operator, and - indicates an integral S element. Electromagnetic torque TM (105
), the load torque To of the compressor acts as a disturbance, the residual torque T M - T a =ΔT becomes the excitation torque, and the one rotational speed ωR varies according to ωR = □ΔT.

R8 Using the built-in timer of the microcomputer 38, the pulse time tF(') of the rotation pulse signal 25 obtained by sampling the rotational angular position φR of the rotor based on the rotational speed ωR using the gear 23, etc. Measure. The microcomputer 38 has an interval ΔTF(k)=tF(') between the pulse time tF(') and (k-1) pulse time tF(k-k).
) Find tF("-1). Then, by the method explained in Fig. 2, the rotation speed NF(") at the time of k pulse
(28), calculate the rotational acceleration F(')(101).

In addition, in Fig. 1, the rotational acceleration at the time of pulse N F C'
), the rotation speed NF(k
) and (k-1) Forward differential method NFC') using pulse rotation speed NFC'-") = (NF(")-NF
(k-")) /ΔTp("), but instead of this, as mentioned above, the rotation speed Np('+") during the (k+1) pulse and the rotation during the (k-1) pulse Speed NFC
NFC') = (NF(ゝ+') -N FC'-")) / (ΔTF(')+
ΔTF('-'')) may be used, or a backward difference method, three-point interpolation, or the like may be used.

Alternatively, by adopting the detection method according to FIG. 8 described above, (k+
1) Rotation speed during pulse N F (″÷1) and (k-1
) = (NFC') = (NF
It may be calculated as ("+')-NFC'-"))/ΔT F (ゝ). However, it should be noted that the rotational acceleration NF(k) during K pulse is determined only after the rotational speed NF("+") during (k+1) pulse is determined. This is only possible if the control system has a dead time of

Np(') (28) obtained in this way, and -
NFC') (101) are each fed back,
Commanded speed Nc and commanded acceleration Nc (Nc =
When constant, N c =0. ) compared to
Obtain the deviations ΔN(') (102) and ΔN(k) (103).

The torque control system uses PI (proportional) for each deviation amount.
(integral) control operation so that each deviation becomes equal to zero. In other words, the current command value 1c (k) at the pulse time of the microcomputer that determines the electromagnetic output torque of the electric element
(104) is calculated according to the following formula.

I n i c (k) = Knc ・(Kpn+ ) ΔN
(') +Here, the first term is the manipulated variable for the speed deviation ΔN('), and the second term is the manipulated variable for the acceleration deviation ΔN(k). Kpn, Kpa* K1n+ Kt
a is a proportional gain and an integral gain of the speed deviation and acceleration deviation, respectively, and K fi Cp K II a is a conversion constant that converts the proportional + integral value of the speed deviation and acceleration deviation, respectively, into a current command value. Current command value i obtained in this way
From c(') to electromagnetic torque TM(
ゝ) (105) is T'M(') = KDA ・KT-i
c(''). Here, KDA is a D/A conversion constant between digital quantity and analog output in the microcomputer, and NI is a current-torque conversion constant (torque constant).

Considering the physical meaning of the above equation, it is as follows. 1st
FIG. 3 shows a curve of the load torque Ta during one rotation and a curve of the electromagnetic torque TH when no torque control is performed. The shaded area surrounded by the curve TM and the horizontal axis is the energy required to drive the compressor during one rotation. Now, in order to make the rotation speed of the compressor equal to the command speed Nc on average, the area surrounded by this electromagnetic torque curve should be made equal to the area surrounded by the load torque curve.The first term of the above equation is It corresponds to this magnitude, so to speak, and corresponds to the DC component of the current supplied to the electric element. On the other hand, in order to prevent rotational pulsation at each rotation angle, it is necessary to make the fft magnetic torque curve equal to the load torque curve.
The second term in the above equation corresponds to the size of this reservoir (therefore, it changes from positive to negative at each rotation angle), which is the alternating current component of the current (see FIG. 14).

FIG. 10 shows a second embodiment of the torque control device based on the present invention. As for controlling the rotational speed, it is sufficient that the average speed of one rotation is equal to the commanded speed, so in FIG. Detection and control are performed once per rotation.

In other words, regarding one rotation speed, the rotation pulse signal 25 generated during one rotation of the rotor is frequency-divided by the counter 39 to input one pulse per rotation. n rotations) time 1.
1 and (n-1) pulses (i.e. (n-1) rotations)
The detected speed NFn corresponding to the average speed of one revolution is calculated from the difference ΔTn from the time t1-1, and this detected speed Np, (
100) is fed back and compared with the command speed Nc to obtain a one-rotation speed deviation ΔN, (108), thereby controlling the speed. The acceleration detection and control system is the same as that shown in FIG.

FIG. 11 shows a third embodiment of the invention.

This means that when the number of pulses of the rotation pulse signal 25 during one rotation is n pulses, n integrators (109) for integral control for acceleration deviation are prepared and switched every time a pulse of the rotation pulse signal 25 is input. use. This allows each integrator (
109) corresponds to each rotation angle, and operates to integrate the past rotational acceleration deviation manual force at the same angle independently for each angle. This is an effective method when fluctuations in load torque have a periodic nature.

FIG. 12 shows a fourth embodiment, in which instead of the feedback of the detected rotational speed NFC'') (28) in FIG. 11, the one-rotation average detected rotational speed (1
00) using feedback. Other parts are similar to the embodiment shown in FIG.

In each of the above embodiments, the rotational acceleration at each rotational angle during one rotation is fed back at each rotational angle during the same one rotation, in other words, the rotational acceleration at each rotational angle during the current one rotation. is fed back at the same rotation angle during one current rotation, so to speak, feedback is performed in real time. In contrast, in the embodiment described below, in the case of a load torque that repeats periodic fluctuations, the rotational acceleration at each rotation angle during one rotation is
Feedback is provided at each rotation angle after rotation.

The overall configuration of the torque control device of this embodiment will be explained with reference to FIG. 9. A detection signal 24 obtained by a zero position detection sensor 23 is converted into a rotation pulse signal 25 by a waveform shaping circuit 29 and sent to a microcomputer via an interface 30. 38 CPUs 31
sent to. This rotation pulse signal 25 causes the microcomputer 3 to
8 is activated by an interrupt and executes a series of detection-calculation-command operations.

That is, the pulse interval of the one-rotation pulse signal 25 is clocked by a microcomputer built-in timer to obtain the time interval Ts shown in FIG. The current command value to be given to the electric element 20 of the compressor necessary for
2, store the data until it is needed. Next, the data stored in the RAM 32 one revolution before is stored in the CP
The chopper signal is read out by U31 and sent to the control unit 34 as a control signal to drive the pace driver 35. f8 of this pace driver 35. Through the flow control operation, the inverter 36 controls the amount of winding current supplied to the electric element 20 to perform torque control so that the compressor rotational speed is always equal to the command speed within a certain tolerance value or less.
Moreover, the rotor rotational acceleration is constantly controlled so as to be minimized. These series of control loops are written in the ROM 33.

The control flow of this control circuit system will be explained in detail with reference to the block diagram shown in FIG. In addition, S shown in the figure is a Laplace operator, - is an integral element, -ST
indicates the dead time element of time T. The load torque TO of the compressor acts as a disturbance to the electromagnetic torque TM of the electric element, and the residual torque T H - T a =ΔTr
becomes the excitation torque.

The rotation speed ωR varies by R8 according to ωR=□ΔTr. The pulse time tF(
') to measure. The microcomputer 38 outputs a pulse time t F
(') and (k −1) pulse time tF (k 1
) interval ΔTp(') = t F(') - t F(
'-1). Then, the rotational speed Np(') during the pulse is determined by the method explained using FIGS. 3 to 7, and the rotational acceleration NFC') during the pulse is determined using this. In addition, in FIGS. 13 and 14, in order to obtain the acceleration (NFC') during the pulse, (k+1) the rotational speed during the pulse NFC'+") and (k-1) the rotational speed during the pulse N F
(k-1) using the central difference formula NF('') = (N
F("+")NF('-1)) / (A TF(')
+ A Tp('-''1)), but as mentioned above, the forward difference formula NFC') = (NF(')
-NF('-”)) /ΔT F(') or,
A backward difference formula, three-point interpolation, etc. may also be used. or,
Using the method described in Fig. 8, the rotational acceleration 1' during the pulse is calculated.
JF(') may also be used. On the other hand, in the same way as described in the embodiment of FIG. 10, the number of pulses n during one rotation of the rotor is divided by the counter 39 to sample one pulse per rotation, and the pulse clock time tn at n rotations and ( n-1
) From the time j n-1 during rotation, ΔTn = t, n -
t n-t is determined, and a rotational speed NFn=60/ΔTF-(100) corresponding to the average speed of one rotation is calculated.

The rotational speed NFn (100) and rotational acceleration 1''JF(') (101) obtained in this way are fed back, and the commanded speed Nc and commanded acceleration Nc (
During steady operation with a constant Ne'', it is compared with Mc=o), and the speed deviation ΔN□ (108) and the acceleration deviation ΔF (
k) (103) is obtained. However, in this example,
The acceleration Np(') of the pulse in the n-th rotation is determined by using the periodicity of the fluctuation at the same angle ((n+)
1) n dead time elements e-'' shown in FIG.
It is fed back via (106). Furthermore, as shown in FIG. 15 for the acceleration deviation ΔNF('), each integrator is operated by switching for each pulse input, as in the embodiment shown in FIG. 11, as shown in FIG. They can be operated independently corresponding to each rotation angle.

As a result, the current command value i at the time of pulse in the nth rotation is
c(') (104) is calculated according to the following equation.

Here, the first term is the manipulated variable for the speed deviation ΔNn, which is controlled by PI (proportional/integral) control, and the second term is at the (n - 1)th rotation and is controlled by ■ (integral).
It is controlled by control.

Note that in FIG. 15, a proportional control term may be added to the acceleration control system. In the figure, Kpn, Kr. .

K n c is a conversion constant between the proportional gain, the integral gain, the proportional + integral value of the speed deviation, and the current command value of the speed feedback system, respectively. Similarly, K I a t...K1
．． , is the gain for the first to nth pulses, KaC
is a conversion constant between the integral value of the speed deviation and the current command value.

Next, FIG. 16 shows an example of a control system configured using the acceleration detection method shown in FIG. 8. Here, as mentioned above, the rotational acceleration f'JF(') during the pulse is determined by (
k+1) Rotational speed during pulse NF('+1)=1/
This is after t t = ('+') has been determined, and further calculation time is required to actually calculate it on the microcomputer, so in Fig. 16, NF(k) is fed back after (k+2) pulses. It's sampling time. Then, in Fig. 16, at the time when NFC') is fed back, the (k+2)th integrator output of the n-divided integrator is made, and this is added to the average speed loop output, and the pulse current command value 1c (k ) is obtained.

Here, rotational acceleration NFC') and current command value iC(')
Figure 17 shows the positional relationship of ・Rotational speed NF
C') and rotational acceleration NFC') are measured values at the time of pulse detection due to the difference method, whereas the current command value 1
c(k) is the interval output value from the time of (k-1) pulse detection to the time of pulse detection. therefore.

For example, there are two possible types of detected acceleration to be reflected in the current command value 1c(k): N F (k-1) and NFC').

The first method is to determine the acceleration reflected in the current command value ic(') as an average value between times (k-1) and (k-1).

The second method is to focus on the k-pulse acceleration Np ('') (acceleration deviation 6 times (') = -Mゝ), add a condition to this, and calculate ic ('') and ic (k + 1 ).

For example, divide it into two ways, NF(')>0 and NF(')<O, and set NF('')>O; i c(')/i c('') to the larger one (ΔN(')< O) Add ΔN (”).

NF (') <O; i c (') / i c ("+"
) to the smaller one of (Δ勺(')＞O) Δ内(') is added.

One possible method is to do this. This method is particularly effective in reducing detection errors when the detection pulses include detection errors.

FIG. 18 and FIG. 19 show these two types of NoJ method.

Current command value ic at pulse time for n rotations obtained in this way
(') (104) to electromagnetic torque TM ('') of the electric element
(105) is TM(k) = KO/A ・Kr-1c
(k) is determined. Here, Ko/^ is a D/A conversion constant between a digital quantity in the microcomputer and an analog output, and KT is a current-torque conversion constant (torque constant).

Considering the physical meaning of the above equation, it is as follows. The curve of the load torque To during one rotation In Fig. 13, which shows the curve of the electromagnetic torque TM without torque control, the area surrounded by the curve TM and the vertical and horizontal axes represents the energy required to drive the compressor during one rotation. It is. Now, in order to make the rotation speed of the compressor equal to the command speed Nc on average,
The area covered by this electromagnetic torque curve may be made equal to the area covered by the load torque curve. The first term in the above equation corresponds to this magnitude, so to speak, and corresponds to the DC component of the current supplied to the electric element. On the other hand, in order to prevent rotational pulsation at each rotation angle, it is necessary to equalize the electromagnetic torque curves in the load torque curve, and the second term in the above equation is the size for this purpose (therefore, the positive and negative at each rotation angle). ), which corresponds to the AC component of the current (see Figure 14).
.

The integral term in the second term indicates the current output for the torque pulsation corresponding to each pulse detection position, and the second term performs repeated learning control for periodic load torque fluctuations, and the current command value gradually changes. The load pattern will gradually approach a pulsating load pattern.

FIG. 20 shows another embodiment of the present invention, which includes:
In Fig. 15, the average rotational speed NFl per rotation is (100
), the rotational speed NFC') (28) at each rotational angle position during one rotation is calculated and fed back, and the acceleration detection and control system is as shown in Fig. It is similar to

FIG. 21 shows the JJ method for determining the acceleration command Nc when the compressor is in an accelerating or decelerating state. The speed command Nc (k) at the time of k pulses is the speed command Nc at the time of (k-1) pulses.
If it is different from (''), it is speed increase or deceleration mode.

In this case, the difference ΔNC(') = NC(') - NC
('-''), and on the other hand, the speed command Nc ('-'') at the time of pulse
”), the period T'c(') = 60/Nc('')
is calculated, and the acceleration command eclipse c(k) is obtained from Nc(')=ΔNC(')/Tc(').

Above, an embodiment has been described in which 1-herc control is performed when the electric element is driven by an inverter to operate a hermetic rotary compressor, but the present invention is not limited to this.
This can be an effective torque control means for all rotary electric machines driven by electric elements.

〔Effect of the invention〕

As is clear from the above description, according to the present invention, in a rotary electric machine having a load element driven by an electric element, mismatch between the electromagnetic torque of the electric element and the load torque fluctuation can be eliminated, and the excitation torque can be significantly reduced. This results in a significant reduction in the rotational vibrations of the machine. Furthermore, since the response of the control system can be made faster, the torque control execution range can be expanded to a higher speed range, and vibrations can be reduced over a wider rotational speed range. As a result, it can contribute to downsizing the entire system, saving power through variable speed operation over a wide range, and improving comfort.

[Brief explanation of the drawing]

FIG. 1 is a control block diagram of an embodiment of the present invention, FIG. 2 is a vertical sectional view of a compressor according to an embodiment of the present invention, FIGS. 3, 4, 5, 6, Figure 7. FIG. 8 is a diagram showing a method for determining rotational speed and rotational acceleration from a rotation detection signal, FIG. 9 is a schematic configuration diagram of a torque control device according to an embodiment of the present invention, and FIGS. 10, 11, and 12. The figures are respectively shown in Section 2 of the present invention. 13 and 14 are diagrams for explaining the present invention in detail. FIG. 15 is a control block diagram of another embodiment of the present invention, and FIG. 16 is a control block diagram of the third and fourth embodiments. 20 are control block diagrams showing still another embodiment of the present invention, FIGS. 17, 18, and 19 are diagrams showing one method of determining the current command value, and FIG. 21 is a control block diagram showing another embodiment of the present invention. FIG. 22 and FIG. 23 are longitudinal cross-sectional views and A-A cross-sectional views of a conventional compressor, and FIG. 24 is a diagram illustrating the torque generated in the compressor. FIG. 25 is a diagram showing fluctuations in torque and rotational speed during one rotation, and FIG. 26 is a diagram showing rotational order components of the torque waveform. 4...Rotating main shaft, 20...Electric element, 21... Compression element. Z Fig. 4 Rotating main shaft 23, key 7 key P ≠ Fig. 3 Fig. 4 Measure 5 Measure 2 Fig. 7 Fig. g Fig. q Fig. 13 Fig. 14 Fig. 17 Fig. 73 Fig. F1 Shi1d Fresci[NJMiman I9 Not shown Zf) 1 decision! Figure 21 Figure 12 Pressing room Figure 24, /-day)

Claims (1)

[Scope of Claims] 1. A torque control device for a rotating electric machine comprising an electric element and a load element connected to the electric element via a rotating main shaft and rotationally driven by the electric element, the rotating main shaft Detects the rotational acceleration at each rotation angle during one rotation of the rotary main shaft, and feeds this back to make the difference between the electromagnetic torque of the electric element and the load torque of the load element zero at each rotation angle of the rotating main shaft, A torque control device for a rotating electric machine, characterized in that the electromagnetic torque of an electric element is controlled. 2. Detect the rotational acceleration at each rotational angle during one rotation of the rotational spindle, feed it back and compare it with the commanded rotational acceleration at each rotational angle during the same one rotation as the above-mentioned one rotation of the rotational spindle. 2. The torque control device for a rotating electric machine according to claim 1, wherein the electromagnetic torque of the electric element is controlled so as to reduce the deviation to zero. 3. Detect the rotational acceleration at each rotational angle during one rotation of the rotational spindle, feed it back at each rotational angle during the next rotation of the rotational spindle, compare it with the commanded rotational acceleration, and set the deviation to zero. 2. The torque control device for a rotating electric machine according to claim 1, wherein the electromagnetic torque of the electric element is controlled so as to achieve the following. 4. One rotation of the rotating spindle is divided into n equal parts, and a position detection pulse is generated every n dividing angles, and the rotational acceleration in each divided angle section is detected from the pulse interval. 3. The torque control device for a rotating electric machine according to claim 2, wherein the torque is fed back and compared with the commanded rotational acceleration during each divided angle section of one rotation, which is the same as the rotation. 5. One revolution of the rotating spindle is divided into n equal parts, and a position detection pulse is generated every n dividing angles. The rotational acceleration in each divided angle section is detected from the pulse interval, and this is used to calculate the rotational acceleration for the next one of the rotating spindle.
4. The torque control device for a rotating electric machine according to claim 3, wherein the torque is fed back and compared with the command rotational acceleration during each divided angle section of the same rotation. 6. A patent that has n acceleration control calculation areas corresponding to each divided section, and these control calculation areas are switched each time a position detection pulse is detected to operate independently of other control calculation areas. A torque control device for a rotating electric machine according to claim 4 or 5. 7. In addition to the rotational acceleration information, the electromagnetic torque of the electric element is controlled based on information on the rotational speed at the current rotational angle of the rotating main shaft or the average rotational speed during one rotation. The torque control device for a rotating electric machine according to any one of Items 1 to 6.