JPH08331900A - Controller for electric rotating machine - Google Patents

Abstract

PURPOSE: To obtain a controller for electric rotating machine in which highly accurate control can be carried out by compensating for the effect of demagnetization caused by the temperature variation of field, i.e., a permanent magnet. CONSTITUTION: The temperature demagnetization characteristics of a field magnet is stored in a flux table 51 and a flux Λmg is determined for a measured temperature tmg . Reduction ΔT in the output torque due to demagnetization is then determined based on the flux Λmg The reduction ΔT is added to a torque command T* thus compensating for the reduction of output torque due to demagnetization of permanent magnet.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a rotating electric machine, and is particularly useful when applied to a device having a permanent magnet as a field.

[0002]

2. Description of the Related Art For example, in the control of an inverter-driven permanent magnet synchronous motor (PM motor), the rotational speed of the permanent magnet synchronous motor is detected, and the rotational speed command is used in speed control and the torque control is used in torque control. The current command is fed back to generate a three-phase current or voltage, and the inverter is controlled.

In this case, when performing constant output operation with the power supply voltage kept constant, as a measure for increasing the maximum rotation speed and widening the operation speed, a current for canceling the magnetic flux of the permanent magnet is passed through the armature winding. So-called demagnetization control has been proposed in which the induced voltage is reduced equivalently.

FIG. 7 illustrates this demagnetization control. It shows a constant current voltage increase characteristic in the constant torque range, and the maximum speed at which the motor terminal voltage and the maximum value of the power supply voltage match (base speed n _{0 in the} figure). After that, a current determined by the number of revolutions as a constant output range (broken line at full load, one-dot chain line at no load) is passed to perform demagnetization control to increase the maximum number of revolutions.

On the other hand, the inventors of the present invention have previously proposed a hybrid excitation type permanent magnet having a structure shown in FIGS. 8 to 11 which is provided with a DC field winding in addition to the permanent magnet in order to further expand the operating speed range. We are proposing a magnet synchronous machine.

In FIG. 8, 1 is an armature as a stator,
Reference numeral 2 is an iron core of this armature, 3 is an armature winding, and 4 is a cylindrical yoke. Among these, the armature core 2 is a stratified core divided into two in the axial direction. When the one side portion of the armature core 2 is the N pole side iron core 2a for convenience and the other one side portion is the S pole side iron core 2b for the sake of convenience, the N pole side iron core 2a and the S pole side iron core 2b are provided between them. It is provided along the axial direction so as to sandwich the ring-shaped DC field winding 5 shown in FIG. The N pole side iron core 2a and the S pole side iron core 2b are magnetically coupled and mechanically supported by the yoke 4.

The armature winding 3 is provided so as to straddle the N pole side iron core 2a and the S pole side iron core 2b.

The field winding 5 is obtained by insulating the electric wire 5a wound in a ring shape as shown in FIG. 11, and has a sufficient number of turns so as to generate a necessary magnetomotive force in accordance with the power source capacity and machine dimensions. It is wound.

On the other hand, the rotor 11 has a rotor core 12 and PM.
The rotor core 12 and the PM 13 are supported and fixed to a yoke 14 connected to a shaft 15.

At this time, the rotor iron core 12 is composed of a salient pole portion 12a which is partially made of an iron core and an iron core portion which covers the PM 13, and the iron core portion which covers the salient pole portion 12a and the PM 13 is N pole side iron core 2a and S pole side iron core 2b of the stator
And the salient pole-like portion 12a
Is an N-pole salient pole-shaped portion 1 corresponding to the N-pole iron core 2a of FIG.
2aN (omitted in FIG. 8) and an S pole side salient pole-like portion 12aS corresponding to the S pole side iron core 2b.

That is, the salient pole portion 12a is the N of the stator.
The N pole side salient pole portions 12aN and the S pole side salient pole portions are provided so as to correspond to the axial lengths of the pole side iron core 2a and the S pole side iron core 2b, and have a constant width in the circumferential direction. It exists as 12aS. Then, the N pole PM13 and the iron core portion are arranged adjacent to each other in the circumferential direction on the N pole side salient pole portion 12aN as shown in FIG. 9A, and also on the S pole side salient pole portion 12aS in the circumferential direction. The S pole PM13 and the iron core portion are arranged adjacent to each other as shown in FIG. 9 (b). Moreover, in the axial direction, the N pole side salient pole-like portion 12aN and the iron core portion covering the S pole PM13 are arranged side by side, and the N pole PM13 is also formed.
And an S-pole-side salient pole-shaped portion 12aS that covers the core.

Further, the PM 13 is of a so-called embedded type, the PM 13 is covered with an iron core portion, and the surface of the rotor is formed by the iron core. In this case, since the PM 13 and the salient pole-shaped portion 12 a are fixed to the yoke 14,
A slit 20 is present between 13 and the salient pole-shaped portion 12a. For this reason, FIG.
The non-magnetic reinforcing plate 21 shown in (c) is inserted for reinforcement.

Further, a copper bar or the like is fitted to the iron core portion which covers the salient pole portion 12a and the PM 13 so that the slot 22 penetrates in the axial direction and the rotor iron core 12 and the non-magnetic reinforcing plate 21 are integrated. Aluminum die casting is applied,
A current path is formed with the end ring.

As a result, in the rotor 11, as shown in FIG. 10, the N pole side salient pole portions 12aN, the N pole side PM 13 and the iron core portion covering the PM poles are alternately arranged in the circumferential direction, and the field is axially arranged. The S pole side salient pole-like portion 12aS and the S pole PM1 are separated by 5 windings.
3 and the iron core part covering this are alternately arranged in the circumferential direction,
Moreover, the salient pole portion 12a, the PM 13 and the iron core portion covering the PM 13 are arranged side by side in the axial direction. Further, the salient pole portions 12a are formed in the same number as the number of poles of the PM 13 in the circumferential direction.

Next, the control principle of the hybrid excitation type permanent magnet synchronous machine will be described. FIG. 12 is an equivalent circuit diagram including the iron loss of the hybrid excitation type permanent magnet synchronous machine. This equivalent circuit is divided into a d-axis and a q-axis. In the figure, V _d and V _q are the d-axis and q-axis components of the armature voltage,
I _d and I _q are the d-axis and q-axis components of the armature current, R ₁ is the armature resistance, R _c is the equivalent iron loss resistance, L _d is the direct axis inductance, L _q is the horizontal axis inductance, and ω is the power source angle. frequency,
Λ is the armature winding interlinkage magnetic flux, I _cd and I _cq are the current iron loss, and I
_d ′ and I _q ′ are current load components.

As can be seen from FIG. 12, the following equations (1) and (2) are established for the current.

[0017]

[Equation 1]

When Λ _m is the interlinkage magnetic flux of only the permanent magnet, M _f is the mutual inductance between the field winding and the armature winding, and I _f is the exciting current, the following equation (3) is obtained. To establish. Λ = Λ _m + M _f I _f (3)

Based on the above equations (1) and (2), FIG.
When the voltage equation in the case of (1) is created, the following equation (4) is obtained.

[0020]

[Equation 2]

The torque is given by the following equation (5).

[0022]

(Equation 3)

As a result, in the hybrid excitation type permanent magnet synchronous machine, the current I _d ′,
By adjusting three quantities, I _q ′ and magnetic flux Λ,
This is possible. Further, here, I _d ′ = kI _q ′ ·
.. (6), Equation (7) is obtained from Equation (5).

[0024]

[Equation 4]

As can be seen from the above equation (7), when the ratio k of the direct axis component to the horizontal axis component of the current and the magnetic flux Λ for any speed ω _r and torque T are known, the current I _q ′ is known. Can be determined.

Here, the control of the hybrid excitation type permanent magnet synchronous machine will be described with reference to FIG.

FIG. 13 is a block diagram showing a control device for a hybrid excitation type permanent magnet synchronous machine. This example shows a current control type. In the figure, the torque command T ^* is input to the k arithmetic circuit 21 and the Λ arithmetic circuit 22,
In these arithmetic circuits 21 and 22, k ^* and Λ ^* corresponding to the motor speed ω _r are extracted from the k table and Λ table.

I of the next stage of the k operation circuit 21_q′ Arithmetic circuit 2
3, the ratio k of the straight axis and the horizontal axis shown in the above equation (6) is k.^*And to
Luc command T^*, Magnetic flux Λ^*Is the current q-axis from the above equation (7)
Minute I _q′ Is obtained.

In the multiplier 24, the current I _q ′ is multiplied by k ^* to obtain the current d-axis component I _d ′.

I _d ′ by the multiplier 24 and Λ calculator 2
2 and Λ ^* , the I _cq calculator 25 obtains the iron loss current I _cq . Then, the adder 26 obtains I _q ′ + I _cq to obtain the output I _q .

Also, I_cdIn the calculator 27, the current q component and R
_cEquivalent iron loss resistance R from calculator 28 _cAnd the above formula
(2) Iron loss current I_cdGet. Then, in the adder 29
I_d′ + I_cdGet and output I_dGet.

In the three-phase current calculation circuit 30, the three-phase currents i _u ^* , i _v ^* , i _w ^* of the following equation (8) are calculated from the outputs I _q , I _d and the output θ of the position detector 31. obtain.

[0033]

(Equation 5)

In the current control circuit 32, the three-phase currents i _u , i
The control output of the inverter 33 is obtained by _v and i _w .

The rotation detector PS of the motor 34 is connected to the speed detection circuit 35 in addition to the position detection circuit 31 for obtaining the output θ, and is supplied to the above-mentioned k arithmetic circuit 21, Λ arithmetic circuit 22 and R _c arithmetic circuit 28. Get the input velocity ω _r .

Further, the exciting current calculation circuit 36 receives the Λ calculation circuit output Λ as an input and outputs i _f ^* to the DC current control circuit 37 for field control.

The k table of the k operation circuit 21 and the Λ table of the Λ operation circuit 22 are formed as follows. FIG.
As shown in, when the torque T is commanded and the speed ω _r is given, there are infinite k and Λ that satisfy the torque T and the speed ω _r , and therefore, the ratio of this I _d ′ and I _q ′. The maximum torque control or the maximum efficiency control can be performed by the value of k or the magnetic flux Λ.

Here, considering the case of performing maximum efficiency control, the following equation (9) holds for arbitrary k and Λ.

[0039]

(Equation 6)

Then, the terminal voltage V ₁ is obtained by the following equation (10) from the above equation (4), and the primary current I ₁ becomes the equation (11).

[0041]

(Equation 7)

Further, the loss is as follows. Inverter loss W _INV = k ₁ I ₁ ² + k ₂ I ₁ Motor loss Primary copper loss W _cu = R ₁ (I _d ² + I _q ² ) Iron loss W _fe = R _c (I _cd ² + I _cq ² ) where: R _c = R _co · (f / f ₀ ) ^0.4 ... f <Reference speed f ₀ = R _co … f ≧ f ₀ Mechanical loss W _mc = k ₀ × n ^1.6 Stray loss W _st = 0.2 W _cu

As a result, the total loss W _total is given by the following equation. W _total = W _INV + 1.2W _cu + W _fe + W _mc + W _st

Therefore, the efficiency η is as follows. (1) Driving η = ω _r T × 100 / (ω _r T + W _total ) (2) Regeneration η = (ω _r T + W _total ) × 100 / ω _r T

Therefore, by fixing T and ω _r and changing k and Λ, k and Λ that maximize the efficiency η can be obtained.

The maximum efficiency operation in the above description is
This is done by tabulating k and Λ, but
When controlling in the stem, the calculation becomes complicated.
Is the exciting current that maximizes the efficiency at any operating point.
I_d, Torque current I_qAnd the magnetic field Λ can be tabulated.
By, the calculation time is shortened. in this case,
I_d, I _qThe table creation algorithm for
As in the case of table creation, I obtained by k, Λ
_d, I_qIs the table data, and Λ is the table
Use the data.

Block for maximum efficiency control in an actual system
FIG. 14 shows the configuration of the network. In FIG. 14, I_d, I_q, Λ
Command I by table_d ^*, I_q ^*, Λ^*Is output,
V_d ^*, V_q ^*To obtain direct-interlaced coordinate axis conversion, 2-phase to 3-phase conversion
After that, the PWM inverter and then the armature voltage are controlled.
And Λ^*To V_f ^*As a field with PWM chopper
It is in control.

In the above description, the maximum efficiency control has been described. In the maximum torque control, when the torque T and the speed ω _r are given, the primary current I ₁ is the minimum as the maximum torque. Then, k, Λ or I _d , I _q , Λ can be obtained.

That is, I _q ′ is obtained from the equation (8), I _d and I _q are obtained from the equation (1), and I ₁ is obtained from the equation (11). That is, k, Λ or I _d , I _q , Λ that minimizes I ₁ for any ω _r , T may be found by iterative calculation.

[0050]

In the control of the hybrid excitation type permanent magnet synchronous machine as described above, when a complicated control system such as maximum efficiency control and maximum torque control is adopted, the current command table is previously calculated by off-line calculation. I _d table and I _q table are prepared in advance, and the excitation component current I _d and the torque component current I are determined according to the torque T and the speed ω _r that is the rotation speed of the hybrid excitation permanent magnet synchronous machine.
Determine _q . The output torque T at this time is expressed by the following equation (12).
Is represented by

T = p {(Λ _m + M _f I _f ) I _q + ω (L _d −L _q ) I _d I _q } (12) where p: number of pole pairs, ω: electrical angular velocity, Λ _m : magnet Interlinkage magnetic flux M _f : Mutual inductance between armature winding and field winding I _f : Field current, I _d , I _q : Excitation component, torque component current L _d , L _q : Straight axis, horizontal axis Inductance

Here, a permanent magnet (for example, PM1 in FIG. 10) used in the above-mentioned off-line calculation based on the equation (12) is used.
The magnetic flux of 3) is a constant value at the reference temperature.

However, the flux linkage Λ of the permanent magnets
_As shown in FIG. 15, _m changes depending on the temperature, and the demagnetization rate increases particularly at high temperatures. Therefore, as is apparent from the expression (12), in this case, the demagnetization causes the output torque to decrease, resulting in deterioration of the control accuracy.

In view of the above-mentioned conventional technique, the present invention provides a control device for a rotating electric machine capable of compensating for a change in interlinkage magnetic flux due to demagnetization of a permanent magnet due to temperature change and performing highly accurate control. The purpose is to provide.

[0055]

The structure of the present invention for achieving the above object is characterized by the following points.

(1) In a controller of a rotary electric machine having a permanent magnet as a field, a temperature sensor for detecting the temperature of the permanent magnet and a magnetic flux table storing demagnetization characteristics corresponding to the temperature of the permanent magnet are stored. The magnetic flux based on the temperature detected by the temperature sensor is obtained from the magnetic flux table, and the amount of decrease in torque is calculated from the difference between this magnetic flux and the magnetic flux at the reference temperature, and the torque command is corrected based on this amount of decrease. At the same time, the corrected torque command thus corrected is used as a command value for the rotating electric machine.

(2) The rotating electric machine is a hybrid excitation type permanent magnet synchronous machine having a field winding as well as a permanent magnet as a field.

(3) In a controller of a rotary electric machine having a field winding together with a permanent magnet as a field, a temperature sensor for detecting the temperature of the permanent magnet and a demagnetization characteristic corresponding to the temperature of the permanent magnet are stored. The magnetic flux table based on the temperature detected by the temperature sensor is used to obtain the magnetic flux based on the temperature detected by the temperature sensor, and the magnetic flux supplied to the field winding to compensate for this difference based on the difference between this magnetic flux and the magnetic flux at the reference temperature. The field current command that is the command of the field current to be corrected is corrected, and the corrected field current command thus corrected is used as a command value for the rotating electric machine.

(4) In a controller of a rotary electric machine having a permanent magnet as a field, a voltage command value supplied to the rotary electric machine, a feedback current obtained by feeding back the current supplied to the rotary electric machine, and information such as speed are input. In addition to having a motor model in the dq coordinate system that simulates the operation of the rotating electrical machine, the present magnetic flux is obtained using this motor model, while the decrease in torque is calculated by the difference between this magnetic flux and the magnetic flux at the reference temperature. Calculate and correct the torque command based on this decrease, and use this corrected torque command as a command value for the rotating electric machine.

(5) In a controller of a rotary electric machine having a field winding together with a permanent magnet as a field, a voltage command value supplied to the rotary electric machine, a feedback current obtained by feeding back a current supplied to the rotary electric machine, and a field magnet. It has a motor model in the dq coordinate system that simulates the operation of the rotating electric machine by inputting information such as the field current, which is the current supplied to the winding, and speed, and also obtains the current magnetic flux using this motor model. On the other hand, the torque decrease amount is calculated from the difference between this magnetic flux and the magnetic flux at the reference temperature, the torque command is corrected based on this decrease amount, and this corrected torque command is used as the command value for the rotating electric machine. .

(6) In (4) or (5) above, a current command value is used instead of the above feedback current.

(7) In a controller of a rotary electric machine having a field winding together with a permanent magnet as a field, a voltage command value supplied to the rotary electric machine, a feedback current obtained by feeding back a current supplied to the rotary electric machine, and a field magnet. It has a motor model in the dq coordinate system that simulates the operation of the rotating electric machine by inputting information such as the field current, which is the current supplied to the winding, and speed, and also obtains the current magnetic flux using this motor model. On the other hand, based on the difference between this magnetic flux and the magnetic flux at the reference temperature, the field current command, which is the command for the field current supplied to the field winding in order to compensate for this difference, is corrected, and the corrected field Use the magnetic current command as the command value for the rotating electric machine.

(8) A current command value is used instead of the above feedback current.

[0064]

According to the present invention having the above-mentioned structure, the magnetic flux during the actual operation of the rotating electric machine is obtained as the output of the magnetic flux table or the motor model. Next, the torque command or the field current command is corrected based on this magnetic flux. This compensates for the effect of demagnetization, which depends on the temperature of the permanent magnet.

[0065]

Embodiments of the present invention will now be described in detail with reference to the drawings. In each of the embodiments, a demagnetization compensation unit is added to the control device shown in FIG. Therefore, the demagnetization compensation unit according to each embodiment is extracted and shown in FIG.
Based on FIG. 6, each embodiment will be described by assigning the same numbers to the same portions as FIG. At this time, the overlapping description with FIG. 14 will be omitted.

FIG. 1 is a block diagram showing the demagnetization compensating section I according to the first embodiment of the present invention and showing it along with the vicinity thereof. In this embodiment, the temperature of the permanent magnet is monitored to correct the torque command.

As shown in FIG. 1, the demagnetization compensation unit I has a magnetic flux table 51, a pole pair number setting unit 52, a multiplier 53, a subtractor 54 and an adder 55.

The magnetic flux table 51 is a data table that stores the demagnetization characteristics of the magnetic flux depending on the temperature created by a data sheet of a permanent magnet (PM13 in FIG. 10, the same applies hereinafter), and is a temperature sensor such as a thermistor. The detected temperature t _mg [° C.] of the permanent magnet is supplied as temperature information. As a result, the magnetic flux table 51 sends out information on the magnetic flux Λ _mg corresponding to the temperature t _mg .

The pole pair number setting unit 52 multiplies the magnetic flux Λ _mg by the number of pole pairs and outputs it. Multiplier 53 feeds back I _q
The torque current command I _q ^* , which is the output of the table 42, is multiplied by the output (pΛ _mg ) of the pole pair number setting unit 52. The subtracter 54 outputs the output (pΛ) of the multiplier 53 from the torque command T ^*.
_mg I _q ^* ) is subtracted. The adder 55 adds the output of the subtractor ^{_{54 (T * -pΛ mg I q}} *) to the torque command T ^*.

On the other hand, the I _d table 41 and the I _q table 4
2 and Λ table 43 are all magnetic flux Λ at the reference temperature.
It is created based on _t . Accordingly, the torque command _{^{T * = p {Λ t I}} q * + (L d -L q) I d * I q *}
Can be expressed as Here, if the actual magnetic flux is Λ _mg , T ^* = p {Λ _mg I _q ^* + (L _d −L _q ).
I _d ^* I _q ^* }.

Therefore, the decrease ΔT in the output torque at this time can be expressed by the following equation (13). ΔT = p (Λ _t −Λ _mg ) I _q ^* (13)

Such a calculation is performed by the subtractor 54, and the adder 55 performs the calculation of the following equation (14). T ^* ′ = T ^* + ΔT (14)

Thus, the I _d table 41, the I _q table 42, and the Λ table 43 are supplied with the corrected torque command T ^* 'in which ΔT is added to the torque command T ^* as a compensation amount of the torque due to demagnetization. Since this correction torque command T ^* 'compensates for the amount of torque decrease due to demagnetization of the permanent magnet due to temperature change, it is possible to perform control that accurately follows the command value.

Since this embodiment corrects the torque command T ^* , the field winding 5Λ table 43 and the field control are not limited to the hybrid excitation type permanent magnet synchronous machine as long as it has a field by a permanent magnet. It can also be applied to a rotary electric machine such as a permanent magnet synchronous machine having no part (see FIG. 14).

FIG. 2 is a block diagram showing the demagnetization compensating section II according to the second embodiment of the present invention and showing it in the vicinity thereof. As shown in the figure, this embodiment has a magnetic flux table 51 similar to that of the first embodiment.
The temperature of the permanent magnet is monitored in the same manner as in the above embodiment, except that the field current command _If ^* is corrected. That is, the present embodiment compensates for the demagnetization component of the permanent magnet by paying attention to the fact that the hybrid excitation type permanent magnet synchronous machine can be magnetized by passing a DC field current through the field winding 5. It was done like this.

Therefore, the demagnetization compensation unit II of this embodiment has a magnetic flux table 51, a subtractor 62, a field current converter 63 and an adder 64. The subtractor 62 calculates the temperature t _mg which is the output of the magnetic flux table 51 from the magnetic flux Λ _{t at the} reference temperature.
Which reduces the magnetic flux Λ _mg at. Field current converting section 63 is to create a field current correction amount [Delta] I _f for compensating the reduced磁分ΔΛ which is the output of the subtracter 62. The adder 64 adds the field current correction amount ΔI _f to the field current command I _f ^* that is the output of the field current converter 44 (see FIG. 14), and outputs the corrected field current command I _f ^* that is the output ^. ′ Is supplied to the adder 45 (see FIG. 14).

That is, in this embodiment, the following equation (15),
By performing the calculation of (16), the field current correction amount ΔI
Seeking _f . ΔΛ = Λ _t −Λ _mg (15) ΔI _f = ΔΛ / M _f (16)

Therefore, the DC field current I _f flows through the field winding 5 based on the corrected field current command I _f ^* 'corrected by the field current correction amount ΔI _f , and the demagnetization component is compensated.

FIG. 3 is a block diagram showing the demagnetization compensating section III according to the third embodiment of the present invention and showing it in the vicinity thereof. As shown in the figure, in this embodiment, the torque command T ^* is corrected using a motor model.
The only difference is the portion for obtaining the magnetic flux Λ _mg from the embodiment of. Therefore, the same parts as those in FIG.

As shown in FIG. 3, the demagnetization compensation section III has a motor model 71, a pole pair number setting section 52, a multiplication section 53, a subtractor 54 and an adder 55.

The motor model 71 uses the d-axis and q-axis voltage commands V _d ^* , V _q ^* , the excitation component current I _d , the torque component current I _q , the field current I _f and the speed ω _{r shown} in FIG. Input each amount of electrical angular frequency ω obtained by processing in the logarithmic setting unit 72,
This is a kind of simulator that electronically realizes a motor equivalent to the hybrid excitation type permanent magnet synchronous machine 34 (see FIG. 14) by processing these data.

The above hybrid excitation type permanent magnet synchronous machine 3
The voltage equations in the rotating coordinate (dq coordinate) system of 4 are the following equations (17) and (18). _{V d = R 1 I d -ωL} q I q ... (17) V q = R 1 I q + ωL d I d + ω (Λ mg + M f I f) ... (18) However, R _1: armature resistance, ω : Electrical angular frequency V _d , V _q : d-axis, q-axis voltage

Here, according to the d-axis and q-axis voltage commands V _d ^* , V _q ^{* of the} _d- q-axis current control system, the excitation and torque currents I _d , I _q , the field current I _f, and the electrical angular frequency ω. The magnetic flux Λ _mg of the magnet at the current temperature can be obtained by the following equation (19) obtained by modifying the equation (18). Λ _mg = V _q ^* / ω-R ₁ I _q / ω-L _d I _d −M _f I _f (19)

Thus, the magnetic flux Λ _mg obtained by the equation (19)
The correction torque command T ^* ′ is obtained by performing the same processing as that of the first embodiment by using.

When noise is added to the excitation component and torque component currents I _d and I _q to be fed back, the excitation component and torque component current commands I _d ^* and I _q ^* may be used instead of them.

This case is shown in FIG. 4 as a fourth embodiment. As shown in the figure, the motor model 8 of the demagnetization compensation unit IV
1 differs only in that the excitation and torque current commands I _d ^* and I _q ^* are input to the motor model 71 and used. Therefore, the same parts as those in FIG.

The magnetic flux Λ _mg in this embodiment is expressed by the following equation (20).
Ask by

Λ _mg = V _q ^* / ω-R ₁ I _q ^* / ω-L _d I _d −M _f I _f (20)

FIG. 5 is a block diagram showing the demagnetization compensating section V according to the fifth embodiment of the present invention and showing it along with the vicinity thereof. As shown in the figure, the present embodiment corrects the field current command _If ^* using a motor model.
Only the part for obtaining the magnetic flux Λ _mg is different from the second embodiment. Therefore, the same parts as those in FIG.

As shown in FIG. 5, the demagnetization compensator V has a third
The motor model 71 is the same as that of the above embodiment. Therefore, the equation to calculate the _mg lambda based on (19), the magnetic flux 'seek, the correction field current I _f ^*' compensation field current I _f ^* based on lambda _mg DC field current I _f based on By supplying the field winding 5, demagnetization of the permanent magnet is compensated.

FIG. 6 is a block diagram showing the demagnetization compensation section VI according to the sixth embodiment of the present invention and showing it along with its vicinity. As shown in the figure, this embodiment is similar to the motor model 71 of the fifth embodiment shown in FIG.
It is replaced with the motor model 81 in the embodiment. Therefore, the magnetic flux Λ _mg is calculated based on the equation (20), and the correction field current _If ^* is supplied to the DC field winding 5 as in the fifth embodiment, so that the demagnetization component of the permanent magnet is reduced. To compensate.

The third to sixth embodiments using the motor models 71 and 81 as described above are particularly useful when the temperature of the permanent magnet cannot be monitored.

Since the third and fourth embodiments are for correcting the torque command T ^* , the field winding 5, the Λ table 43, and the field controller are not provided like the first embodiment. It can also be applied to rotary electric machines such as magnet synchronous machines by setting I _f = 0.

[0094]

As described above in detail with reference to the embodiments, according to the present invention, the demagnetization component due to the temperature of the permanent magnet can be compensated, so that accurate control corresponding to the command value can be realized. can do.

[Brief description of drawings]

FIG. 1 is a block diagram showing a demagnetization compensation unit according to a first embodiment of the present invention, which is extracted and shown in the vicinity thereof.

FIG. 2 is a block diagram showing a demagnetization compensation unit according to a second embodiment of the present invention, which is extracted and shown in the vicinity thereof.

FIG. 3 is a block diagram showing a demagnetization compensation unit according to a third embodiment of the present invention, which is extracted and shown in the vicinity thereof.

FIG. 4 is a block diagram showing a demagnetization compensation unit according to a fourth embodiment of the present invention, which is extracted and shown in the vicinity thereof.

FIG. 5 is a block diagram showing a demagnetization compensation unit according to a fifth embodiment of the present invention and showing it along with its vicinity.

FIG. 6 is a block diagram showing a demagnetization compensation unit according to a sixth embodiment of the present invention and showing it along with its vicinity.

FIG. 7 is a characteristic diagram of a constant torque range and a constant output range.

FIG. 8 is a configuration diagram of an example of a hybrid excitation type PM motor.

FIG. 9 is a configuration diagram of each part of the rotor.

FIG. 10 is a perspective view of a rotor.

FIG. 11 is a configuration diagram of an excitation winding.

FIG. 12 is an equivalent circuit diagram of a hybrid excitation type permanent magnet synchronous motor.

FIG. 13 is a block diagram of a control device for a hybrid excitation type permanent magnet synchronous motor.

FIG. 14 is a block diagram of a control device (actual machine) of a hybrid excitation type permanent magnet synchronous motor.

FIG. 15 is a graph showing temperature characteristics of a permanent magnet.

[Explanation of symbols]

5 field winding 51 magnetic flux table 71, 81 motor model t _mg temperature Λ _mg , Λ _t magnetic flux T ^* torque command T ^* 'correction torque command _{If f} ^* field current command I _f ^* ' corrected field current command V _d ^* d-axis voltage command V _q ^* q-axis voltage command I _d Excitation component current I _q Torque component current I _d ^* Excitation component current command I _q ^* Torque component current command ω _r Speed

Claims (8)

[Claims] 1. A controller of a rotary electric machine having a permanent magnet as a field, comprising: a temperature sensor for detecting a temperature of the permanent magnet; and a magnetic flux table storing a demagnetization characteristic corresponding to the temperature of the permanent magnet. Then, while the magnetic flux based on the temperature detected by the temperature sensor is obtained from the magnetic flux table, the decrease amount of torque is calculated from the difference between this magnetic flux and the magnetic flux at the reference temperature, and the torque command is corrected based on this decrease amount. A controller for a rotating electric machine, wherein the corrected torque command thus corrected is used as a command value for the rotating electric machine. 2. The control device for a rotary electric machine according to claim 1, wherein the rotary electric machine is a hybrid excitation type permanent magnet synchronous machine having a field winding together with a permanent magnet as a field. 3. A controller of a rotary electric machine having a field winding together with a permanent magnet as a field, wherein a temperature sensor for detecting the temperature of the permanent magnet and a demagnetization characteristic corresponding to the temperature of the permanent magnet are stored. A magnetic flux table is provided, and the magnetic flux based on the temperature detected by the temperature sensor is obtained from the magnetic flux table, while the magnetic flux is supplied to the field winding in order to compensate for this difference based on the difference between this magnetic flux and the magnetic flux at the reference temperature. A controller for a rotating electric machine, which corrects a field current command, which is a command for a field current, and uses the corrected corrected field current command as a command value for the rotating electric machine. 4. A controller of a rotary electric machine having a permanent magnet as a field, wherein a voltage command value to be supplied to the rotary electric machine, a feedback current obtained by feeding back a current supplied to the rotary electric machine, and information such as speed are input. While having a motor model in the dq coordinate system that simulates the operation of the rotary electric machine, while obtaining the current magnetic flux using this motor model, the decrease in torque is calculated from the difference between this magnetic flux and the magnetic flux at the reference temperature. Then, the controller for the rotating electric machine is characterized in that the torque command is corrected based on the reduced amount, and the corrected torque command thus corrected is used as a command value for the rotating electric machine. 5. A control device for a rotating electric machine having a field winding together with a permanent magnet as a field, wherein a voltage command value to be supplied to the rotating electric machine, a feedback current obtained by feeding back a current supplied to the rotating electric machine, and a field winding. It has a motor model in the dq coordinate system that simulates the operation of the rotating electric machine by inputting information such as the field current, which is the current supplied to the line, and the speed, and also uses this motor model to determine the current magnetic flux. The difference between this magnetic flux and the magnetic flux at the reference temperature is used to calculate the torque decrease amount, and the torque command is corrected based on this decrease amount, and this corrected torque command is used as the command value for the rotating electric machine. A control device for a rotating electric machine that is characteristic. 6. The control device for a rotary electric machine according to claim 4 or 5, wherein a current command value is used instead of the feedback current. 7. A controller of a rotary electric machine having a field winding together with a permanent magnet as a field, wherein a voltage command value supplied to the rotary electric machine, a feedback current obtained by feeding back a current supplied to the rotary electric machine, and a field winding. It has a motor model in the dq coordinate system that simulates the operation of the rotating electric machine by inputting information such as the field current, which is the current supplied to the lines, and the speed, and also calculates the current magnetic flux using this motor model. A field current command, which is a command for the field current supplied to the field winding in order to compensate for this difference based on the difference between this magnetic flux and the magnetic flux at the reference temperature, and the corrected field A controller for a rotating electrical machine, wherein the current command is a command value for the rotating electrical machine. 8. The control device for a rotary electric machine according to claim 7, wherein a current command value is used instead of the feedback current.