JPH09191697A - Vector controlling device for ac motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the response speed of a torque control in an AC motor and let the output torque of an induction motor follow up a torque command value precisely. SOLUTION: In a vector control command value calculating means 1, a magnetizing current command value IdRef and a torque current command value IqRef are calculated, based on a flux command value ΦRef and a torque command value TqRef. Based on these magnetizing current command value and torque current command value, voltage vector command values VdRef, VqRef are calculated by a voltage command value calculating means 2. By adding the angle of the voltage vector command value against a flux direction to the output voltage phase angle of an electric power converter by the feedforward control, the response speed of a current control is increased. Also, by correcting the magnetizing current command value IdRef and the torque current command value IqRef using a flux corrected value ΔΦcalculated by a flux corrected value calculating means 9, the output torque of an induction motor is caused to follow up the torque command value TqRef in consideration of an actual flux change.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vector control device for an AC electric motor which performs vector control of an AC induction motor or a permanent magnet synchronous motor.

[0002]

2. Description of the Related Art In a method of controlling an AC electric motor through a power conversion device such as an inverter that converts DC electric power into AC electric power, the primary current of the electric motor is changed to a magnetic flux direction in order to achieve a high-speed control response. A vector control method is known in which control is performed by separating into a parallel magnetizing current and a torque current in a direction orthogonal to the magnetizing current.

FIG. 23 shows an example of a conventional AC motor vector control device for which an induction motor is controlled.
This conventional vector control device 100 includes vector control command calculation means 101, d-axis current control means 102, q-axis current control means 103, slip angle frequency integration means 104, voltage coordinate conversion means 105, triangular wave generation means 106, and pulse width. It is composed of a modulation (PWM) voltage generating means 107. The inverter has a three-phase output PW with a three-phase output of phase voltage.
This will be described as an M inverter.

Vector control command value calculation means 101
Input the magnetic flux command value ΦRef and the torque command value TqRef, and calculate the magnetizing current command value IdRef,
Torque current command value IqRef, slip angular frequency command value ωsRef
Is output.

[0005]

[Equation 1] However, M: Mutual inductance of the electric motor L2: Secondary inductance of the electric motor R2: Secondary resistance of the electric motor Further, the d-axis current control means 102 calculates the magnetizing current from the magnetizing current command value IdRef output from the vector control command value calculating means 101. The value obtained by subtracting the actual value Id is input, and the magnetic flux axis voltage command value VdRe
Output f.

[0006]

[Equation 2] However, s: differential operator Gp: proportional gain Gi: integral gain The q-axis current control means 103 subtracts the torque current actual value Iq from the torque current command value IqRef output from the vector control command value calculation means 101. The torque axis voltage command value Vq is input by the proportional-plus-integral control expressed by the following Equation 3.
Output Ref.

[0007]

(Equation 3) However, s: Differential operator Gp: Proportional gain Gi: Integral gain Further, the slip angular frequency integrator 104 receives the slip angular frequency command value ωsRef output from the vector control command value calculator 101 as an input, and calculates the integrated value of the input. Output as slip frequency phase angle θs. That is, the operation of the following equation 4 is executed.

[0008]

(Equation 4) However, s: differential operator, and the voltage coordinate conversion means 105 is the d-axis current control means 1
02 and the torque axis voltage command value Vq output from the q-axis current control means 103.
Ref and the inverter output voltage phase angle θ1 which is the sum of the slip frequency phase angle θs and the motor rotor phase angle θr output from the slip angle frequency integrating means 104 are input,
The voltage command values VuRef, VvRef, and VwRef of the U phase, V phase, and W phase are output by the calculation of the following formula 5.

[0009]

(Equation 5) The triangular wave generating means 106 generates and outputs triangular waves TRIp and TRIm having two positive and negative constant angular frequencies ωsw for a three-level output inverter shown in the following equation (6).

[0010]

(Equation 6) Here, θsw = ωsw · t and 2π> θsw ≧ 0.

Then, the PWM voltage generating means 107 outputs the voltage command value Vu of each phase from the voltage coordinate converting means 105.
Ref, VvRef, VwRef and the triangular waves TRIp, TRIm from the triangular wave generating means 106 are input, and the PWM voltage commands VuPWM, VvPWM, VwPWM of each phase are output by the operation of the following formula 7.

[0012]

[Equation 7] For U phase: When VuRef ≧ TRIp: VuPWM = Vdc / 2 When TRIp>VuRef> TRIm: VuPWM = 0 When VuRef ≦ TRIm: VuPWM = −Vdc / 2 For V phase: VvRef ≧ TRIp: VvPWM = Vdc / 2 TRIp>VvRef> TRIm: VvPWM = 0 VvRef ≦ TRIm: VvPWM = −Vdc / 2 W phase: VwRef ≧ TRIp: VwPWM = Vdc / 2 TRIp> When VwRef> TRIm: VwPWM = 0 When VwRef ≦ TRIm: VwPWM = −Vdc / 2 Further, the conventional vector controller for an AC electric motor, which controls a permanent magnet synchronous motor, has a configuration shown in FIG. . This conventional AC motor vector controller 110
Are vector control command calculation means 111, d-axis current control means 112, q-axis current control means 113, voltage coordinate conversion means 115, triangular wave generation means 106, pulse width modulation (PW).
M) Comprised of voltage generation means 117. In this case also, the inverter is a three-phase output PWM inverter with three-phase output of phase voltage.

The vector control command value calculation means 111 receives the magnetic flux current command value ΦRef and the torque command value TqRef as inputs,
The magnetic flux direction current command value IdRef,
Outputs the torque current command value IqRef. However, the magnetic flux direction of the permanent magnet is the d-axis, and the direction orthogonal to the magnetic flux direction is the q-axis.

[0014]

(Equation 8) However, Φf: Permanent magnet magnetic flux Ld: Electric motor d-axis inductance Lq: Electric motor q-axis inductance Further, the d-axis current control means 112 outputs the magnetic flux direction current command value IdRef output from the vector control command value calculation means 111.
The value obtained by subtracting the actual magnetic flux direction current value Id from is input, and the magnetic flux axis voltage command value VdRef is output by the proportional-plus-integral control expressed by the following equation (9).

[0015]

[Equation 9] However, s: differential operator Gp: proportional gain Gi: integral gain The q-axis current control unit 113 subtracts the torque current actual value Iq from the torque current command value IqRef output from the vector control command value calculation unit 111. As input, the following number 10
Torque axis voltage command value by proportional-plus-integral control expressed by the formula
Output VqRef.

[0016]

(Equation 10) However, s: differential operator Gp: proportional gain Gi: integral gain Furthermore, the voltage coordinate conversion means 115 is the d-axis current control means 1.
12 and the torque axis voltage command value VdRe output from the q-axis current control means 113.
Inputting f and the motor rotor phase angle θr, the following equation 11
Voltage command value for each of U-phase, V-phase, and W-phase calculated by the formula
Output VuRef, VvRef, VwRef.

[0017]

[Equation 11] The triangular wave generating means 106 is a triangular wave TRIp, T having two positive and negative constant angular frequencies ωsw for a three-level output inverter shown in the equation (6) as in the case of controlling the induction motor.
Generate and output RIm.

The PWM voltage generating means 117 then outputs the voltage command value Vu of each phase from the voltage coordinate converting means 115.
Ref, VvRef, VwRef and the triangular waves TRIp, TRIm from the triangular wave generating means 106 are input, and the PWM voltage commands VuPWM, VvPWM, VwPWM for each phase are output by the operation of the following formula (12).

[0019]

[Equation 12] For U phase: When VuRef ≥ TRIp: VuPWM = Vdc / 2 When TRIp>VuRef> TRIm: VuPWM = 0 When VuRef ≤ TR Im: VuPWM = -Vdc / 2 For V phase: VvRef ≥ TRIp: VvPWM = Vdc / 2 TRIp>VvRef> TRIm: VvPWM = 0 VvRef ≦ TRIm: VvPWM = −Vdc / 2 W phase: VwRef ≧ TRIp: VwPWM = Vdc / 2 TRIp> When VwRef> TRIm: VwPWM = 0 When VwRef ≦ TRIm: VwPWM = −Vdc / 2 The vector control device of the AC electric motor adopting such a vector control method controls the electric motor output torque and the electric motor magnetic flux. The current and voltage of the motor are regarded as vector quantities, and when viewed from the stator winding of the motor, these values, which are AC quantities, are converted into DC quantities when viewed from the rotating magnetic field, and this is converted into a component parallel to the magnetic flux and this. And the components orthogonal to each other are separated so that they are independently controlled by instantaneous current value control.

[0020]

However, such a conventional AC motor vector control device has the following problems. That is, in the vector control device of the AC motor, the output frequency of the power converter is variable, and the magnitude of the output voltage is variably controlled by performing pulse width modulation (PWM) to realize high-speed response of current control. There is a need to.

However, in order to reduce the output capacity of the power converter, it is necessary to maximize the use of the output voltage, and the output voltage is made variable for vector control so that there is a margin in the upper limit of the output voltage. There is a problem in that the use of the power converter causes an increase in the output capacity of the power conversion device and, as a result, an increase in the volume and weight of the device.

When performing vector control of the permanent magnet synchronous motor, the terminal voltage approaches the maximum output voltage of the power converter and the instantaneous current value control becomes unstable in a region where the rotation speed of the motor is high. In order to prevent the terminal voltage of the power supply from exceeding the maximum output voltage of the power converter, a magnetic flux current is weakened in the direction of the magnetic flux, but this current does not contribute to the motor torque. There is a problem that the heat generation amount of the electric motor and the output capacity of the power conversion device increase due to the flow of the magnetic flux current.

The present invention has been made in view of the above-mentioned problems of the prior art. Even when the magnitude of the output voltage of the power converter for supplying the AC voltage to the AC motor is fixed at the maximum value, the motor torque is high. An object of the present invention is to provide a vector control device for an AC electric motor capable of various controls.

Another object of the present invention is to ensure the stability of the control system while minimizing the weakening magnetic flux current in the vector control of the permanent magnet synchronous motor.

[0025]

According to a first aspect of the present invention, an induction motor is controlled by a primary power source which is supplied to the induction motor through a power converter capable of controlling the magnitude, frequency and phase of an output voltage. In the vector controller of the AC motor, which separates the current into a magnetic flux direction component (magnetizing current) parallel to the magnetic flux of the induction motor and a torque direction component (torque current) orthogonal to the magnetic flux direction component, a magnetic flux command A vector control command value calculating means for calculating a magnetizing current command value, a torque current command value, and a slip angular frequency command value by inputting a value, a torque command value, and a magnetic flux correction value, and the vector control command value calculating means. A voltage command value operation for inputting a magnetizing current command value and a torque current command value and calculating a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. Means and polar coordinate conversion means for inputting the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculation means, and calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction. , Using the DC link voltage of the power converter as an input,
A voltage vector magnitude command value calculating means for calculating a voltage vector magnitude command value, a voltage vector magnitude from the polar coordinate converting means, and a voltage vector magnitude from the voltage vector magnitude command value computing means , And a voltage fixing means for calculating a magnitude of a new voltage vector based on the voltage fixing instruction, and a magnitude of the new voltage vector from the voltage fixing means and the power. Input the DC link voltage of the converter,
Modulation factor calculating means for calculating the modulation factor of the output voltage of the power converter, and slip angle frequency integrating means for integrating the slip angle frequency command value from the vector control command value calculating means and outputting it as a slip frequency phase angle. A magnetic flux correction value calculating means for inputting a magnetizing current command value and a magnetizing current actual value from the vector control command value calculating means, calculating the magnetic flux correction value and giving the calculated magnetic flux correction value as an input to the vector control command value calculating means, An output voltage phase angle of the power converter which is the sum of the angle of the voltage vector from the polar coordinate conversion means, the slip frequency phase angle from the slip angle frequency integration means and the rotor phase angle of the induction motor, and the modulation factor. And a pulse width modulation voltage generating means for inputting the modulation rate from the computing means and outputting a pulse width modulation voltage command value of the output of the power converter. It is.

According to the invention of claim 1, the magnetizing current command value and the torque current command value are calculated based on the magnetic flux command value and the torque command value, and the magnetizing current command value and the torque current command value are calculated. Based on this, the voltage vector command value is calculated.
Then, the angle of the voltage vector command value with respect to the magnetic flux direction is feedforwardly added to the output voltage phase angle of the power converter to speed up the response speed of the current control.

Further, using the magnetic flux correction value, the magnetizing current command value,
By correcting the torque current command value, the output torque of the induction motor is made to follow the torque command value in consideration of the actual change in magnetic flux.

According to a second aspect of the present invention, in the vector control device for an AC electric motor according to the first aspect of the present invention, the torque current command value from the vector control command value calculating means and the actual torque current value are input. Torque current control means for calculating a slip frequency phase angle correction value and adding it to the output voltage phase angle of the power converter is provided.

According to the second aspect of the present invention, the output voltage phase angle of the power converter is corrected by the slip frequency phase angle correction value calculated from the difference between the torque current command value and the actual torque current value. Accurately follows the torque command value.

According to a third aspect of the present invention, a primary current supplied to the induction motor via the power converter capable of controlling the magnitude, frequency and phase of the output voltage is controlled by the induction motor. In a vector control device for an AC motor that separates a magnetic flux direction component (magnetizing current) parallel to the magnetic flux and a torque direction component (torque current) orthogonal to the magnetic flux direction component and controls each independently, the magnetic flux command value and the torque command value A vector control command value calculating means for calculating a magnetizing current command value, a torque current command value, and a slip angular frequency command value using the magnetic flux correction value as an input, and a magnetizing current command value and torque from the vector control command value calculating means. Voltage command value calculating means for calculating a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux, using the current command value as an input; Weighting coefficient calculation means for calculating the first weighting coefficient and the second weighting coefficient by using the angular frequency of the output voltage of the converter, the magnetizing current command value from the vector control command value calculating means, and the magnetizing current actual value. And a vector current from the vector control command value computing means, with a value obtained by multiplying the difference from the above by the first weighting coefficient from the weighting factor computing means as an input, and calculating a magnetic flux direction component voltage correction value. The q-axis current control means for calculating the torque direction component voltage correction value, and the voltage command value, with a value obtained by multiplying the difference between the command value and the actual vector current value by the first weight coefficient from the weight coefficient calculation means as an input. A new magnetic flux direction component voltage command value is obtained by adding the magnetic flux direction component voltage correction value from the d-axis current control means to the magnetic flux direction component voltage command value from the calculation means, and the torque direction from the voltage command value calculation means is obtained. The torque direction component voltage correction value from the q-axis current control means is added to the divided voltage command value to obtain a new torque direction component voltage command value, and these new magnetic flux direction component voltage command value and torque direction component voltage command value are added. And the polar coordinate conversion means for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction, and the DC link voltage of the power conversion device as input, and calculating the command value of the magnitude of the voltage vector. Input voltage vector magnitude command value computing means, voltage vector magnitude from the polar coordinate transformation means and voltage vector magnitude command value from the voltage vector magnitude command value computing means, and voltage fixed command Voltage fixing means for calculating the magnitude of a new voltage vector based on the voltage fixing command, and the magnitude of the new voltage vector and the power conversion. A DC link voltage of the device, and a modulation factor calculating means for calculating a modulation factor of the output voltage of the power converter,
A slip angle frequency integrating means for integrating the slip angular frequency command value from the vector control command value calculating means and outputting it as a slip frequency phase angle, a magnetizing current command value from the vector control command value calculating means, and a magnetizing current actual A value obtained by multiplying the difference from the value by a second weighting coefficient from the weighting coefficient calculating means as an input, calculating the magnetic flux correction value, and giving it to the vector control command value calculating means as an input; The slip frequency phase angle correction value is calculated by inputting a value obtained by multiplying the difference between the torque current command value from the vector control command value calculation means and the actual torque current value by the second weighting coefficient from the weighting coefficient calculation means. Torque current control means for
It is the sum of the angle of the voltage vector from the polar coordinate conversion means, the slip frequency phase angle from the slip angle frequency integration means, the slip frequency phase angle correction value from the torque current control means, and the rotor phase angle of the induction motor. The output voltage phase angle of the power converter and the modulation factor from the modulation factor calculator are input, and a pulse width modulation voltage generator that outputs a pulse width modulation voltage command value of the output of the power converter is provided. It is a thing.

According to the third aspect of the present invention, the magnetizing current command value and the torque current command value are calculated based on the magnetic flux command value and the torque command value, and the magnetizing current command value and the torque current command value are calculated. Based on this, the voltage vector command value is calculated.
Then, the angle of the voltage vector command value with respect to the magnetic flux direction is feedforwardly added to the output voltage phase angle of the power converter to speed up the response speed of the current control.

Further, using the magnetic flux correction value, the magnetizing current command value,
The torque current command value is corrected, the voltage vector command value is corrected using the d-axis current correction value and the q-axis current correction value, and the output voltage phase angle of the power conversion device is corrected by the slip frequency phase angle correction value. This allows the output torque of the induction motor to accurately follow the torque command value in consideration of the actual change in magnetic flux.

According to a fourth aspect of the present invention, a primary current supplied to the induction motor is supplied to the induction motor via a power conversion device capable of controlling the magnitude, frequency and phase of the output voltage for the induction motor as a control target. In a vector control device for an AC motor that separates a magnetic flux direction component (magnetizing current) parallel to the magnetic flux and a torque direction component (torque current) orthogonal to the magnetic flux direction component and controls each independently, the magnetic flux command value and the torque command value A magnetic flux correction value and a secondary resistance correction value are input, and a vector control command value calculating means for calculating a magnetizing current command value, a torque current command value and a slip angular frequency command value, and the vector control command value calculating means A magnetizing current command value, a torque current command value, and the secondary resistance correction value are input, and a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. The voltage command value calculating means for calculating, the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculating means are input, and the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction are set. Polar coordinate conversion means for calculating, the DC link voltage of the power conversion device as an input, voltage vector magnitude command value calculation means for calculating the command value of the voltage vector magnitude, and the voltage vector from the polar coordinate conversion means A voltage for calculating the size of a new voltage vector based on the voltage fixing command, with the command value of the magnitude of the voltage vector and the command value of the magnitude of the voltage vector from the voltage vector calculating means and the voltage fixing command as inputs. The power conversion unit receives the magnitude of the new voltage vector from the voltage fixing unit and the DC link voltage of the power conversion device as inputs, Modulation rate calculating means for calculating the modulation rate of the output voltage of the storage unit, a slip angle frequency integrating means for integrating the slip angle frequency command value from the vector control command value calculating means and outputting it as a slip frequency phase angle, and the vector. A magnetic flux correction value given from the control command value calculation means, the actual magnetization current value, and the secondary resistance correction value is input, and the magnetic flux correction value is calculated and given to the vector control command value calculation means as an input. Value calculation means, the torque current command value from the vector control command value calculation means, the actual torque current value and the torque command value are input, and the secondary resistance correction value is calculated to calculate the vector control command value. Means, voltage command value calculation means, and magnetic flux correction value calculation means as input, secondary resistance correction value calculation means, the angle of the voltage vector from the polar coordinate conversion means, The output voltage phase angle of the power converter which is the sum of the slip frequency phase angle from the slip angle frequency integration means and the rotor phase angle of the induction motor, and the modulation rate from the modulation rate calculation means are input, and the power And a pulse width modulation voltage generating means for outputting a pulse width modulation voltage command value output from the converter.

According to the invention of claim 4, the voltage vector command value is calculated based on the magnetizing current command value and the torque current command value calculated from the magnetic flux command value and the torque command value, and the magnetic flux of the voltage vector command value is calculated. The response speed of the output current is increased by adding the angle to the direction to the output voltage phase angle of the power converter by feedforward.

Further, the magnetic flux correction value calculated from the difference between the magnetizing current command value and the magnetizing current actual value is used to correct the magnetizing current command value and the torque current command value. By correcting the slip angular frequency command value and the voltage vector command value by using the secondary resistance correction value calculated from the difference, the motor output torque accurately follows the torque command value.

According to a fifth aspect of the present invention, a primary current supplied to the induction motor via the power converter capable of controlling the magnitude, frequency and phase of the output voltage is controlled by the induction motor. In a vector control device for an AC motor that separates a magnetic flux direction component (magnetizing current) parallel to the magnetic flux and a torque direction component (torque current) orthogonal to the magnetic flux direction component and controls each independently, the magnetic flux command value and the torque command value A magnetic flux correction value and a secondary resistance correction value are input, and a vector control command value calculating means for calculating a magnetizing current command value, a torque current command value and a slip angular frequency command value, and the vector control command value calculating means A magnetizing current command value, a torque current command value, and the secondary resistance correction value are input, and a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. A voltage command value calculating means for calculating, as an input the angular frequency of the output voltage of the power converter, the first
The weighting factor calculating means for calculating the weighting factor and the second weighting factor, the difference between the magnetizing current command value from the vector control command value calculating means, and the actual magnetizing current value is the first weight from the weighting factor calculating means. The weight coefficient is applied to the difference between the vector current command value and the vector current actual value from the d-axis current control means for calculating the magnetic flux direction component voltage correction value and the value multiplied by the coefficient. A q-axis current control means for calculating a torque direction component voltage correction value by inputting a value multiplied by the first weighting coefficient from the calculation means, and a magnetic flux direction component voltage command value from the voltage command value calculation means for the d axis The magnetic flux direction component voltage correction value from the current control means is added to obtain a new magnetic flux direction component voltage command value, and the torque direction component voltage command value from the voltage command value calculation means is added to the torque from the q-axis current control means. A new torque direction component voltage command value is added by adding the direction component voltage correction values, and these new magnetic flux direction component voltage command value and torque direction component voltage command value are input, and the magnitude of the voltage vector and the magnetic flux direction Polar coordinate conversion means for calculating the angle of the voltage vector, voltage vector magnitude command value computing means for calculating the command value of the voltage vector magnitude by inputting the DC link voltage of the power converter, and the polar coordinate transformation The magnitude of the voltage vector from the means and the magnitude command value of the voltage vector command value of the magnitude of the voltage vector from the means, and the voltage fixing command as an input, based on the voltage fixing command of the new voltage vector The voltage fixing means for calculating the magnitude, the magnitude of the new voltage vector, and the DC link voltage of the power conversion device are input, and the power variation is performed. Modulation factor calculating means for calculating the modulation factor of the output voltage of the device, slip angle frequency integrating means for integrating the slip angle frequency command value from the vector control command value calculating means and outputting as a slip frequency phase angle, and the vector The magnetizing current command value from the control command value calculating means, the actual magnetizing current value, the secondary resistance correction value, and the second weighting coefficient from the weighting coefficient calculating means are input,
A magnetic flux correction value calculation means for calculating the magnetic flux correction value and giving it to the vector control command value calculation means as an input; and a torque current command value from the vector control command value calculation means,
A value obtained by multiplying the difference between the actual torque current value and the second weighting coefficient from the weighting coefficient calculation means, the torque command value, and the q value.
The torque direction component voltage correction value from the axis current control means is input, the secondary resistance correction value is calculated, and the vector control command value calculation means, the voltage command value calculation means, and the magnetic flux correction value calculation means are input. A secondary resistance correction value calculation means for giving,

The output voltage phase angle of the power converter which is the sum of the angle of the voltage vector from the polar coordinate conversion means, the slip frequency phase angle from the slip angle frequency integration means and the rotor phase angle of the induction motor; A pulse width modulation voltage generating means for inputting the modulation rate from the modulation rate calculating means and outputting a pulse width modulation voltage command value of the output of the power converter is provided.

According to the invention of claim 5, the magnetizing current command value and the torque current command value are calculated based on the magnetic flux command value and the torque command value, and the magnetizing current command value and the torque current command value are calculated. Based on this, the voltage vector command value is calculated.
Then, the angle of the voltage vector command value with respect to the magnetic flux direction is feedforwardly added to the output voltage phase angle of the power converter to speed up the response speed of the current control.

Further, using the magnetic flux correction value, the magnetizing current command value,
The torque current command value is corrected, the voltage vector command value is corrected using the d-axis current correction value and the q-axis current correction value, and the slip angular frequency command value and the voltage vector command value are further corrected using the secondary resistance correction value. By correcting and, the output torque of the induction motor accurately follows the torque command value.

According to a sixth aspect of the present invention, a primary current supplied to the induction motor is supplied to the induction motor via a power conversion device capable of controlling the magnitude, frequency and phase of the output voltage for the induction motor as a control target. In a vector control device for an AC motor that separates a magnetic flux direction component (magnetizing current) parallel to the magnetic flux and a torque direction component (torque current) orthogonal to the magnetic flux direction component and controls each independently, the magnetic flux command value and the torque command value A vector control command value calculation unit that receives a magnetic flux estimation value from the magnetic flux estimation value calculation unit and calculates a magnetizing current command value, a torque current command value, and a slip angular frequency command value,
A voltage command value for inputting a magnetizing current command value and a torque current command value from the vector control command value calculation means and calculating a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. Polar coordinate conversion means for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction by inputting the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculation means. And a voltage vector magnitude command value computing means for calculating a command value of the magnitude of the voltage vector by inputting the DC link voltage of the power converter, the magnitude of the voltage vector from the polar coordinate transformation means and the voltage vector. The command value of the magnitude of the voltage vector from the magnitude command value calculating means and the voltage fixing command are input, and a new value is generated based on the voltage fixing command. A voltage fixing means for calculating the magnitude of the voltage vector, a new voltage vector magnitude from the voltage fixing means and a DC link voltage of the power converter are input, and the modulation factor of the output voltage of the power converter is set. Modulation factor calculating means for calculating, slip angle frequency integrating means for integrating the slip angle frequency command value from the vector control command value calculating means and outputting as a slip frequency phase angle, and magnetizing current actual value as an input, the magnetic flux A magnetic flux estimation value calculation means for calculating an estimation value and giving it as an input to the vector control command value calculation means, an angle of a voltage vector from the polar coordinate conversion means, a slip frequency phase angle from the slip angle frequency integration means, and the induction. The output voltage phase angle of the electric power converter, which is the sum of the rotor phase angles of the electric motor, and the modulation factor from the modulation factor calculation means are input, It is obtained by a pulse width modulated voltage generating means for outputting a pulse width modulation voltage command value of the output of the force transducer device.

According to the sixth aspect of the present invention, the voltage vector command value is calculated based on the magnetizing current command value and the torque current command value calculated from the magnetic flux command value and the torque command value, and the magnetic flux of this voltage vector command value is calculated. The response speed of the output current is increased by adding the angle to the direction to the output voltage phase angle of the power converter by feedforward.

In the mode in which the magnitude of the output voltage vector of the power converter is fixed, the magnetizing current command value, the torque current command value, and the slip angular frequency command value are calculated using the estimated magnetic flux value calculated from the actual magnetizing current value. By doing so, the output torque of the electric motor accurately follows the torque command value.

According to a seventh aspect of the present invention, in the vector control device for an AC electric motor according to the sixth aspect, the slip frequency phase angle is inputted with the torque current command value and the torque current actual value from the vector control command value calculating means as inputs. Torque current control means for calculating a correction value and adding it to the output voltage phase angle of the power converter is provided.

According to the seventh aspect of the invention, in the mode in which the magnitude of the output voltage vector of the power conversion is fixed, the magnetizing current command value, the torque current command value, and the slip angular frequency command value are calculated using the estimated magnetic flux value. Further, by correcting the output voltage phase angle of the power converter using the slip frequency phase angle correction value, the motor output torque accurately follows the torque command value.

According to an eighth aspect of the present invention, a primary current supplied to the induction motor is supplied to the induction motor via a power conversion device capable of controlling the magnitude, frequency and phase of the output voltage for the induction motor as a control target. In a vector control device of an AC motor that separates a magnetic flux direction component (magnetizing current) parallel to the magnetic flux and a torque direction component (torque current) orthogonal to the magnetic flux direction component and controls each independently, the magnetic flux command value and the torque command value A magnetic flux estimated value and a secondary resistance correction value are input, and a vector control command value calculating means for calculating a magnetizing current command value, a torque current command value, and a slip angular frequency command value, and the vector control command value calculating means A magnetizing current command value, a torque current command value, and the secondary resistance correction value are input, and a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. The voltage command value calculating means for calculating, the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculating means are input, and the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction are set. Polar coordinate conversion means for calculating, the DC link voltage of the power conversion device as an input, voltage vector magnitude command value calculation means for calculating the command value of the voltage vector magnitude, and the voltage vector from the polar coordinate conversion means A voltage for calculating the size of a new voltage vector based on the voltage fixing command, with the command value of the magnitude of the voltage vector and the command value of the magnitude of the voltage vector from the voltage vector calculating means and the voltage fixing command as inputs. The power conversion unit receives the magnitude of the new voltage vector from the voltage fixing unit and the DC link voltage of the power conversion device as inputs, Ratio calculation means for calculating the modulation ratio of the output voltage of the storage unit, a slip angle frequency integration means for integrating the slip angle frequency command value from the vector control command value calculation means and outputting it as a slip frequency phase angle, and a magnetizing current. The actual value and the secondary resistance correction value are input, and the estimated magnetic flux value is calculated and applied to the vector control command value calculation means as an input, and the torque from the vector control command value calculation means is calculated. A current command value, a torque current actual value, and the torque command value are input, and the secondary resistance correction value is calculated to provide the vector control command value calculation means, the voltage command value calculation means, and the magnetic flux estimated value calculation means. Secondary resistance correction value calculation means given as an input, the angle of the voltage vector from the polar coordinate conversion means, the slip frequency phase angle from the slip angle frequency integration means, and the derivative The output voltage phase angle of the power converter, which is the sum of the rotor phase angles of the conductive motor, and the modulation factor from the modulation factor calculator are input, and the pulse width modulation voltage command value of the output of the power converter is output. And a pulse width modulation voltage generating means.

According to the invention of claim 8, the voltage vector command value is calculated based on the magnetizing current command value and the torque current command value calculated from the magnetic flux command value and the torque command value, and the magnetic flux of the voltage vector command value is calculated. The response speed of the output current is increased by adding the angle to the direction to the output voltage phase angle of the power converter by feedforward.

The magnetizing current command value, the torque current command value, and the voltage vector command value are corrected using the secondary resistance correction value calculated from the difference between the torque current command value and the actual torque current value. In the mode in which the magnitude of the output voltage vector is fixed, the motor output torque accurately follows the torque command value by calculating the magnetizing current command value, torque current command value, and slip angular frequency command value using the estimated magnetic flux value. .

According to a ninth aspect of the present invention, in the vector control device for an AC electric motor according to the eighth aspect, the magnetic flux estimated value calculation means is a motor rotor angular frequency and a slip angular frequency command value from the vector control command value calculation means. And the angle of the voltage vector from the polar coordinate conversion means and the magnitude of the voltage vector from the voltage fixing means are input, and the estimated magnetic flux value is calculated and given to the vector control command value calculation means as input. Is.

According to the ninth aspect of the invention, the magnetizing current command value is calculated using the magnetic flux estimation value calculated based on the slip angular frequency command value, the angle of the voltage vector, the magnitude of the voltage vector, and the motor rotor angular frequency. By accurately calculating the torque current command value and the slip angular frequency command value, the motor output torque accurately follows the torque command value.

According to a tenth aspect of the present invention, in the vector control device for an AC electric motor according to the eighth aspect, the magnetic flux estimated value calculation means is a motor rotor angular frequency and a slip angular frequency command value from the vector control command value calculation means. And the angle of the voltage vector from the polar coordinate conversion means, the magnitude of the voltage vector from the voltage fixing means, and the secondary resistance correction value from the secondary resistance correction value calculation means are input to calculate the estimated magnetic flux value. And is given as an input to the vector control command value calculating means.

According to the tenth aspect of the invention, the magnetizing current command value, torque current command value, voltage vector command value, and magnetic flux are calculated using the secondary resistance correction value calculated from the difference between the torque current command value and the actual torque current value. In the mode in which the estimated value is corrected and the magnitude of the output voltage vector of the power converter is fixed, the magnetic flux estimated value is used to calculate the magnetizing current command value, the torque current command value, and the slip angular frequency command value. The output torque accurately follows the torque command value.

In the eleventh aspect of the present invention, the primary current supplied to the permanent magnet synchronous motor via the power converter capable of controlling the magnitude, frequency and phase of the output voltage is controlled by the permanent magnet synchronous motor. In a vector control device for an AC electric motor, which is separated into a component in the direction parallel to the magnetic flux of the permanent magnet synchronous motor (current in the magnetic flux direction) and a component in the direction orthogonal thereto (torque current), and controls each independently,
Input the magnetic flux command value, torque command value and magnetic flux correction value,
A vector control command value calculating means for calculating the magnetic flux direction current command value and the torque current command value, and the magnetic flux direction current command value and the torque current command value from the vector control command value calculating means are input, and the magnetic flux direction component voltage is input. A voltage command value calculating means for calculating a command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux; and a magnetic flux direction component voltage command value and a torque direction component voltage command value from the voltage command value calculating means. Polar coordinates conversion means for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction as an input,
A voltage vector magnitude command value calculating means for calculating a command value of a voltage vector magnitude by inputting a DC link voltage of the power converter, and a magnitude of the voltage vector and the magnitude of the voltage vector from the polar coordinate transforming means. Voltage fixing means for inputting the command value of the voltage vector magnitude from the command value computing means and the voltage fixing instruction, and calculating a new voltage vector magnitude based on the voltage fixing instruction; and the voltage fixing means. From a new voltage vector from the means and a DC link voltage of the power conversion device as an input, a modulation rate calculation means for calculating the modulation rate of the output voltage of the power conversion device, and the vector control command value calculation means The magnetic flux direction current command value and the actual magnetic flux direction current value are input, and the magnetic flux correction value is calculated and given to the vector control command value calculation means as an input. A correction value calculation means, an output voltage phase angle of the power converter which is the sum of the angle of the voltage vector from the polar coordinate conversion means and the rotor phase angle of the permanent magnet synchronous motor, and the modulation rate from the modulation rate calculation means. And pulse width modulation voltage generating means for outputting a pulse width modulation voltage command value of the output of the power conversion device.

According to the invention of claim 11, the magnetic flux command value,
Calculate the voltage vector command value based on the magnetic flux direction current command value and the torque current command value calculated from the torque command value,
By performing the voltage feedforward control of the permanent magnet synchronous motor based on this voltage vector command value, the motor control is stabilized even in the region where the rotation speed of the motor is high.

Further, by correcting the magnetic flux direction current command value and the torque current command value by using the magnetic flux correction value calculated from the difference between the magnetic flux direction current command value and the actual magnetic flux direction current current value, the motor output torque is changed to the torque command value. To follow exactly.

According to a twelfth aspect of the present invention, in the vector control device for an AC electric motor according to the eleventh aspect, the torque current command value and the torque current actual value from the vector control command value computing means are input, and the torque current actual value is input. A torque current that calculates a torque angle correction value such that its value follows the torque current command value and adds it to the sum of the angle of the voltage vector from the polar coordinate conversion means and the rotor phase angle of the permanent magnet synchronous motor. It is provided with a control means.

According to the invention of claim 12, the magnetic flux direction current command value and the torque current command value are corrected using the magnetic flux correction value, and the torque angle correction calculated from the difference between the torque current command value and the actual torque current value. By correcting the output voltage phase angle of the electric power converter according to the value, the motor output torque accurately follows the torque command value.

According to a thirteenth aspect of the present invention, the primary current supplied to the permanent magnet synchronous motor via the power converter capable of controlling the magnitude, frequency and phase of the output voltage is controlled by the permanent magnet synchronous motor. In a vector control device for an AC electric motor, which separates a component in a direction parallel to the magnetic flux of the permanent magnet synchronous motor (current in the magnetic flux direction) and a component in the direction orthogonal thereto (torque current) and controls each independently,
Vector control command value calculation means for calculating the magnetic flux direction current command value and the torque current command value by inputting the magnetic flux command value, the torque command value, the magnetic flux correction value, and the permanent magnet magnetic flux correction value, and the vector control command value calculation A voltage for inputting a magnetic flux direction current command value and a torque current command value from the means and the permanent magnet magnetic flux correction value, and calculating a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. Polar coordinates for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction by inputting the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculating means A voltage conversion means and a voltage vector magnitude command value calculation means for calculating the command value of the voltage vector magnitude by inputting the DC link voltage of the power conversion device; The voltage vector magnitude from the polar coordinate conversion means, the voltage vector magnitude command value from the voltage vector magnitude command value computing means, and the voltage fixing instruction are input, and a new voltage fixing instruction is generated based on the voltage fixing instruction. A voltage fixing means for calculating the magnitude of the voltage vector, a new voltage vector magnitude from the voltage fixing means and a DC link voltage of the power converter are input, and the modulation factor of the output voltage of the power converter is set. Modulation factor calculating means for calculating,
Magnetic flux correction value calculation means for inputting the magnetic flux direction current command value and actual magnetic flux direction current value from the vector control command value calculation means, calculating the magnetic flux correction value, and giving it as input to the vector control command value calculation means; , The torque control command value from the vector control command value calculating means, the actual torque current value and the torque command value are input, and the permanent magnet magnetic flux correction value is calculated to calculate the vector control command value calculating means and the voltage command. A power conversion which is the sum of the angle of the voltage vector from the polar coordinate conversion means and the rotor phase angle of the permanent magnet synchronous motor, and the permanent magnet magnetic flux correction value calculation means given as an input to the value calculation means and the magnetic flux correction value calculation means. The output voltage phase angle of the device and the modulation factor from the modulation factor calculation means are input, and the pulse width modulation voltage command value of the output of the power conversion device is output. It is obtained by a width-modulated voltage generating means.

According to the thirteenth aspect of the invention, the magnetic flux command value,
Calculate the voltage vector command value based on the magnetic flux direction current command value and the torque current command value calculated from the torque command value,
By performing the voltage feedforward control of the permanent magnet synchronous motor based on this voltage vector command value, the motor control is stabilized even in the region where the rotation speed of the motor is high.

The magnetic flux direction current command value and the torque current command value are corrected using the magnetic flux correction value calculated from the difference between the magnetic flux direction current command value and the actual magnetic flux direction current current value. By correcting the torque current command value and the voltage vector command value by the permanent magnet magnetic flux correction value calculated from the difference from the actual value, the motor output torque accurately follows the torque command value.

According to a fourteenth aspect of the present invention, the primary current supplied to the permanent magnet synchronous motor via the power converter capable of controlling the magnitude, frequency and phase of the output voltage is controlled by the permanent magnet synchronous motor. In a vector control device for an AC electric motor, which separates a component in a direction parallel to the magnetic flux of the permanent magnet synchronous motor (current in the magnetic flux direction) and a component in the direction orthogonal thereto (torque current) and controls each independently,
Input the magnetic flux command value, torque command value and magnetic flux estimated value,
A vector control command value calculating means for calculating the magnetic flux direction current command value and the torque current command value, and the magnetic flux direction current command value and the torque current command value from the vector control command value calculating means are input, and the magnetic flux direction component voltage is input. A voltage command value calculating means for calculating a command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux; and a magnetic flux direction component voltage command value and a torque direction component voltage command value from the voltage command value calculating means. Polar coordinates conversion means for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction as an input,
A voltage vector magnitude command value computing means for calculating a command value of the magnitude of the voltage vector by inputting the DC link voltage of the power conversion device, the magnitude of the voltage vector from the polar coordinate transformation means, and the magnitude of the voltage vector. Voltage commanding means for calculating the new voltage vector magnitude based on the voltage fixing command, and the voltage fixing command from the command value computing means and the voltage fixing command. A new voltage vector magnitude from the means and the DC link voltage of the power converter are input, and a modulation factor calculation means for calculating the modulation factor of the output voltage of the power converter and the actual magnetic flux direction current value are input. , A magnetic flux estimation value calculation means for calculating the magnetic flux estimation value and giving it as an input to the vector control command value calculation means, and a voltage vector from the polar coordinate conversion means. Degree and the output voltage phase angle of the power converter, which is the sum of the rotor phase angle of the permanent magnet synchronous motor, and the modulation factor from the modulation factor calculation means, and pulse width modulation of the output of the power converter. And a pulse width modulation voltage generating means for outputting a voltage command value.

In the fourteenth aspect of the invention, the magnetic flux command value,
Calculate the voltage vector command value based on the magnetic flux direction current command value and the torque current command value calculated from the torque command value,
By performing the voltage feedforward control of the permanent magnet synchronous motor based on this voltage vector command value, the motor control is stabilized even in the region where the rotation speed of the motor is high.

In the mode in which the magnitude of the output voltage vector of the electric power converter is fixed, the magnetic flux estimated current value calculated from the actual magnetic flux direction current value is used to calculate the magnetic flux direction current command value and the torque current command value, whereby the motor is driven. The output torque accurately follows the torque command value.

According to a fifteenth aspect of the present invention, in the vector control device for an AC electric motor according to the fourteenth aspect, the torque current command value and the torque current actual value from the vector control command value calculating means are input, and the torque current actual value is input. A torque current that calculates a torque angle correction value such that its value follows the torque current command value and adds it to the sum of the angle of the voltage vector from the polar coordinate conversion means and the rotor phase angle of the permanent magnet synchronous motor. It is provided with a control means.

According to the fifteenth aspect of the present invention, in the mode in which the magnitude of the output voltage vector of the power converter is fixed, the magnetic flux direction current command value and the torque current command are calculated using the estimated magnetic flux value calculated from the actual magnetic flux direction current value. Value is calculated, and the output voltage phase angle of the power converter is corrected by the torque angle correction value calculated based on the difference between the torque current command value and the actual torque current value. To follow exactly.

According to the sixteenth aspect of the present invention, the primary current supplied to the permanent magnet synchronous motor via the power converter capable of controlling the magnitude, frequency and phase of the output voltage is controlled by the permanent magnet synchronous motor. In a vector control device for an AC electric motor, which separates a component in a direction parallel to the magnetic flux of the permanent magnet synchronous motor (current in the magnetic flux direction) and a component in the direction orthogonal thereto (torque current) and controls each independently,
Vector control command value calculation means for calculating the magnetic flux direction current command value and the torque current command value by inputting the magnetic flux command value, the torque command value, the magnetic flux correction value, and the permanent magnet magnetic flux correction value, and the vector control command value calculation A voltage for inputting the magnetic flux direction current command value, the torque current command value, and the permanent magnet magnetic flux correction value from the means, and calculating the magnetic flux direction component voltage command value and the torque direction component voltage command value in the direction orthogonal to the magnetic flux. Polar coordinates for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction by inputting the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculating means Converting means, voltage vector magnitude command value computing means for calculating the command value of the voltage vector magnitude by inputting the DC link voltage of the power converter, and The voltage vector magnitude from the polar coordinate conversion means and the voltage vector magnitude command value from the voltage vector magnitude command value computing means, and the voltage fixing command are input, and a new voltage is generated based on the voltage fixing command. The voltage fixing means for calculating the magnitude of the vector, the new voltage vector magnitude from the voltage fixing means and the DC link voltage of the power converter are input, and the modulation factor of the output voltage of the power converter is calculated. Inputting the magnitude of the voltage vector from the polar coordinate conversion means and the magnitude of the new voltage vector from the voltage fixing means, the magnetic flux correction value is calculated, and the vector control command value computing means Magnetic flux correction value calculation means to be given as an input to
The magnetic flux direction current command value and the magnetic flux direction current actual value from the vector control command value calculation means are input, and the permanent magnet magnetic flux correction value is calculated to calculate the vector control command value calculation means and the voltage command value calculation means. Inputting the permanent magnet magnetic flux correction value calculating means, the torque current command value from the vector control command value calculating means, and the actual torque current value, and the actual torque current value follows the torque current command value. Torque current control means for calculating such a torque angle correction value, the angle of the voltage vector from the polar coordinate conversion means, the torque angle correction value from the torque current control means, and the rotor phase angle of the permanent magnet synchronous motor. A pulse width modulation voltage of the output of the power conversion device, which is input with the output voltage phase angle of the power conversion device and the modulation ratio from the modulation ratio calculation means. It is obtained by a pulse width modulated voltage generating means for outputting a decree value.

According to the sixteenth aspect of the invention, the magnetic flux command value,
Calculate the voltage vector command value based on the magnetic flux direction current command value and the torque current command value calculated from the torque command value,
By performing the voltage feedforward control of the permanent magnet synchronous motor based on this voltage vector command value, the motor control is stabilized even in the region where the rotation speed of the motor is high.

Further, the output voltage phase angle of the power conversion device is corrected by the torque angle correction value calculated based on the difference between the torque current command value and the actual torque current value, and the magnitude of the voltage command value vector and the output voltage are corrected. A magnetic flux correction value calculated based on the difference between the vector size and the magnetic flux direction current command value using the permanent magnet magnetic flux correction value calculated from the difference between the magnetic flux direction current command value and the actual magnetic flux direction current value. By correcting the torque current command value and the voltage vector command value, the motor output torque accurately follows the torque command value.

According to a seventeenth aspect of the present invention, the primary current supplied to the permanent magnet synchronous motor via the power converter capable of controlling the magnitude, frequency and phase of the output voltage is controlled by the permanent magnet synchronous motor. In a vector control device for an AC electric motor, which separates a component in a direction parallel to the magnetic flux of the permanent magnet synchronous motor (current in the magnetic flux direction) and a component in the direction orthogonal thereto (torque current) and controls each independently,
Vector control command value calculation means for calculating the magnetic flux direction current command value and the torque current command value by inputting the magnetic flux command value, the torque command value, the magnetic flux correction value, and the permanent magnet magnetic flux correction value, and the vector control command value calculation A voltage for inputting the magnetic flux direction current command value, the torque current command value, and the permanent magnet magnetic flux correction value from the means, and calculating the magnetic flux direction component voltage command value and the torque direction component voltage command value in the direction orthogonal to the magnetic flux. Polar coordinates for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction by inputting the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculating means Converting means, voltage vector magnitude command value computing means for calculating the command value of the voltage vector magnitude by inputting the DC link voltage of the power converter, and The voltage vector magnitude from the polar coordinate conversion means and the voltage vector magnitude command value from the voltage vector magnitude command value computing means, and the voltage fixing command are input, and a new voltage is generated based on the voltage fixing command. The voltage fixing means for calculating the magnitude of the vector, the new voltage vector magnitude from the voltage fixing means and the DC link voltage of the power converter are input, and the modulation factor of the output voltage of the power converter is calculated. And a magnetic flux direction current command value and a magnetic flux direction current actual value from the vector control command value calculation means are input, and the magnetic flux correction value is calculated and input to the vector control command value calculation means. Input the magnetic flux correction value calculation means to be given, the magnitude of the voltage vector from the polar coordinate conversion means, and the magnitude of the new voltage vector from the voltage fixing means. Then, the permanent magnet magnetic flux correction value calculation means for calculating the permanent magnet magnetic flux correction value and giving it to the vector control command value calculation means and the voltage command value calculation means, and the torque from the vector control command value calculation means. A current from a current command value and a torque current actual value are inputted, and a torque current control means for calculating a torque angle correction value such that the torque current actual value follows the torque current command value, and a voltage from the polar coordinate conversion means. A vector angle, a torque angle correction value from the torque current control means, and an output voltage phase angle of the power converter which is a sum of a rotor phase angle of the permanent magnet synchronous motor, and a modulation rate from the modulation rate calculation means. And a pulse width modulation voltage generating means for outputting a pulse width modulation voltage command value of the output of the power conversion device.

In the seventeenth aspect of the invention, the magnetic flux command value,
Calculate the voltage vector command value based on the magnetic flux direction current command value and the torque current command value calculated from the torque command value,
By performing the voltage feedforward control of the permanent magnet synchronous motor based on this voltage vector command value, the motor control is stabilized even in the region where the rotation speed of the motor is high.

Further, the output voltage phase angle of the power converter is corrected by the torque angle correction value calculated based on the difference between the torque current command value and the actual torque current value, and the magnetic flux direction current command value and the magnetic flux direction current are further corrected. The magnetic flux direction is calculated using the magnetic flux correction value calculated based on the difference from the actual value and the permanent magnet magnetic flux correction value calculated based on the difference between the voltage command value vector size and the output voltage vector size. By correcting the current command value, the torque current command value, and the voltage vector command value, the motor output torque accurately follows the torque command value.

[0071]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiments of the present invention will be described below in detail with reference to the drawings.

<First Embodiment> FIG. 1 shows a first embodiment of a vector controller for an AC motor according to the present invention. Vector control device 201 for AC electric motor according to the first embodiment
Is a three-phase output pulse width modulation (PW) with a three-level phase voltage output as a power converter (hereinafter referred to as an inverter).
M) drive control of a three-phase AC induction motor by performing vector control of a system inverter. Vector control command value calculation means 1, voltage command value calculation means 2, polar coordinate conversion means 3, voltage vector magnitude command value. The calculation unit 4, the voltage fixing unit 5, the modulation factor calculation unit 6, the PWM voltage generation unit 7, the slip angular frequency integration unit 8, and the magnetic flux correction value calculation unit 9 are included.

The vector control command value calculation means 1 outputs the torque command value TqRef input from the outside, the magnetic flux command value ΦRef input from the outside, and the magnetic flux output by the magnetic flux correction value calculation means 9 based on the calculation processing described later. Using the difference from the correction value ΔΦ, the magnetizing current command value Id
Ref, torque current command value IqRef, slip angle frequency command value ω
Output sRef.

[0074]

(Equation 13) However, M: Mutual inductance of the electric motor L2: Secondary inductance of the electric motor R2: Secondary resistance of the electric motor The value IqRef is input, and the magnetic flux axis voltage command value VdRef and the torque axis voltage command value VqRef are output by the calculation of the following equation (14).

[0075]

[Equation 14] However, R1: Primary resistance of the motor R2: Secondary resistance of the motor L1: Primary inductance of the motor L2: Secondary inductance of the motor M: Mutual inductance of the motor ω1: Inverter output voltage angular frequency ωr: Motor rotor angular frequency Polar coordinate conversion The means 3 is the magnetic flux axis voltage command value VdRef and the torque axis voltage command value VqRef output from the voltage command value calculation means 2.
Using as input, the magnitude | V | of the voltage vector and the angle δ of the voltage vector with respect to the magnetic flux axis are output by calculation based on the following equation 15.

[0076]

(Equation 15) The voltage vector magnitude command value calculation means 4 receives the DC link voltage Vdc of the inverter as an input and outputs a voltage vector magnitude command value | V | Ref in the voltage fixed mode. For example, when | V | Ref is the maximum output voltage of the inverter, it is expressed by the following Expression 16.

[0077]

(Equation 16) The voltage fixing means 5 has a voltage vector magnitude | V | output from the polar coordinate conversion means 3 and a command value of the voltage vector magnitude output from the voltage vector magnitude command value calculation means 4.
Inputs | V | Ref and outputs a new voltage vector magnitude | V | fix according to the voltage fixing command Vfix.

Here, the voltage fixing command Vfix is for fixing the magnitude of the inverter output voltage vector:
Vfix = 1 When the magnitude of the inverter output voltage vector is not fixed: The value of Vfix = 0 is taken. Then, according to the value of the voltage fixing command Vfix, the voltage fixing means 5: When the voltage fixing command Vfix = 1: | V | fix = | V | Ref When the voltage fixing command Vfix = 0: | V | fix = | Output in the form of V | (output the input as it is).

The slip angle frequency integration means 8 receives the slip angle frequency command value ωsRef output from the vector control command value calculation means 1, and outputs the integrated value of the input as the slip frequency phase angle θs. That is, the slip frequency phase angle θs is output by performing the operation of the following Expression 17.

[0080]

[Equation 17] However, s: differential operator Next, the modulation factor calculation means 6 inputs the magnitude | V | fix of the voltage vector output from the voltage fixing means 5 and the inverter DC link voltage Vdc, and the following equation 18 The modulation factor α of the inverter output voltage is output by the calculation of.

[0081]

(Equation 18) In the PWM voltage generation means 7, the inverter output which is the sum of the slip frequency phase angle θs output from the slip angle frequency integration means 8, the angle δ of the voltage vector output from the polar coordinate conversion means 3 and the motor rotor phase angle θr The voltage phase angle θ1 and the modulation rate α output from the modulation rate calculation means 6
By inputting and, U, V,
W3 phase PWM voltage command VuPWM, VvPWM, VwPWM is output.

However, the output voltage phase angles θu, θv, θw of the U, V, and W phases in the equation (20) are obtained based on the calculation of the following equation (19) using the inverter output voltage phase angle θ1. Is.

[0083]

[Equation 19] The inverter output phase voltage is, for example, a three-level output P having one positive and one negative pulse per cycle shown in FIG.
This is a WM waveform, and the PWM voltage commands for the U phase, V phase, and W phase are output by the calculation of the following formula 20 using the output voltage phase angles θu, θv, and θw of each phase. And this PWM
The inverter controls the output voltage based on the voltage command.

[0084]

[Mathematical formula-see original document] If θa = arccos (α), for U phase: When θa> θu ≥ 0: VuPWM = 0 (π-θa)> θu ≥ θa: VuPWM = Vdc / 2 (π + θa)> θu When ≧ (π−θa): VuPWM = 0 (2π−θa)> θu ≧ (π + θa): VuPWM = −Vdc /
2 When 2π> θu ≧ (2π−θa): VuPWM = 0 For V phase: θa> θv ≧ 0: For VvPWM = 0 (π−θa)> θv ≧ θa: VvPWM = Vdc / 2 ( When π + θa)> θv ≧ (π−θa): VvPWM = 0 (2π−θa)> θv ≧ (π + θa): VvPWM = −Vdc /
2 When 2π> θv ≧ (2π−θa): VvPWM = 0 W phase: θa> θw ≧ 0: VwPWM = 0 (π−θa)> θw ≧ θa: VwPWM = Vdc / 2 ( When π + θa)> θw ≧ (π−θa): VwPWM = 0 (2π−θa)> θw ≧ (π + θa): VwPWM = −Vdc /
2 When 2π> θw ≧ (2π−θa): VwPWM = 0 Now, the magnetic flux correction value calculation means 9 is the difference between the magnetization current command value IdRef output from the vector control command value calculation means 1 and the actual magnetization current value Id. Is input and the magnetic flux correction value ΔΦ is output by the proportional-plus-integral control based on the equation (21). Then, the vector control command value calculation means 1 corrects the magnetizing current command value IdRef and the torque current command value IqRef by the magnetic flux correction value ΔΦ and causes the motor output torque to follow the torque command value TqRef.

[0085]

(Equation 21) Thus, according to the vector control device 201 for an AC electric motor of the first embodiment, based on the magnetic flux command value ΦRef, the magnetizing current command value IdRef calculated from the torque command value TqRef, and the torque current command value IqRef. Voltage vector command value VdR
The response speed of the output current can be increased by calculating ef and VqRef and adding the angle of the voltage vector command value with respect to the magnetic flux direction to the output voltage phase angle θ1 of the inverter by feedforward.

Further, by correcting the magnetizing current command value IdRef and the torque current command value IqRef by using the magnetic flux correction value ΔΦ calculated from the difference between the magnetizing current command value IdRef and the actual magnetizing current value Id, the motor output torque is changed to the torque. It is possible to accurately follow the command value TqRef.

In the vector controller for the AC motor according to the first embodiment, the magnetic flux correction value calculating means 9 is shown in FIG.
The magnetic flux correction value calculation means 9-1 having the configuration shown in FIG. The magnetic flux correction value calculation means 9-1 shown in FIG.
Is a first-order lag filter calculation means 91 and an integration calculation means 9
2, the actual magnetizing current value Id is input to the first-order lag filter calculating means 91, and the difference ΔI between its output and the magnetizing current command value IdRef which is the output of the vector control command value calculating means 1.
d is input to the integral calculation means 92, and the value obtained by multiplying the output by the mutual inductance M of the electric motor is the magnetic flux correction value ΔΦ.
Output as Here, the first-order lag filter computing means 9
First-order lag time constant T of 1 and integral gain of integral calculation means 92
Gi is expressed by the following equation 22.

[0088]

(Equation 22) However, Ti: time constant of integral gain R2: secondary resistance of electric motor L2: secondary inductance of electric motor With this configuration, the difference between the magnetic flux command values ΦRef and ΔΦ input to the vector control command value calculation means 1 (ΦRef− ΔΦ)
Is the value of the actual secondary magnetic flux of the induction motor that is the target of control,
And its changes. Therefore, the output torque of the electric motor can easily follow the torque command value TqRef.

<Second Embodiment> Next, a second embodiment of the present invention will be described with reference to FIG. The vector control device for an AC electric motor according to the second embodiment is characterized in that a torque current calculation means 10 is newly added to the vector control device shown in FIG. 1, and other configurations are shown in FIG. The same as that of the first embodiment.

The torque current control means 10 outputs the torque current command value IqRe output from the vector control command value calculation means 1.
The difference between f and the actual torque current value Iq is input, and the value obtained by multiplying this value by the gain G (s) is the slip frequency phase angle correction value Δθ.
Output as s. In other words, by executing the following equation 23,
It is added to the slip frequency phase angle θs which is the output from the slip angular frequency integrating means 8.

[0091]

[Mathematical formula-see original document] [Delta] [theta] s = G (s) * (IqRef-Iq) However, s: differential operator Therefore, the PWM voltage generating means 7 outputs the slip frequency phase angle [theta] s and the torque current output from the slip angular frequency integrating means 8. The inverter output voltage phase angle θ1 given as the sum of the slip frequency phase angle correction value Δθs output from the control means 10, the angle δ of the voltage vector output from the polar coordinate conversion means 3 and the motor rotor phase angle θr, and the modulation rate. The modulation factor α output from the computing means 6 is used as an input, and P of U, V, W3 phases is calculated by the equations (19) and (20).
The WM voltage command VuPWM, VvPWM, VwPWM will be output.

According to the vector control device 202 for an AC motor of the second embodiment, the voltage vector based on the magnetic flux command value ΦRef, the magnetizing current command value IdRef calculated from the torque command value TqRef, and the torque current command value IqRef. Command value VdRef, V
The response speed of the output current can be increased by calculating qRef and adding the angle of the voltage vector command value with respect to the magnetic flux direction to the output voltage phase angle θ1 of the inverter by feedforward.

Further, the magnetic flux correction value ΔΦ calculated from the difference between the magnetizing current command value IdRef and the magnetizing current actual value Id is used to correct the magnetizing current command value IdRef and the torque current command value IqRef. By correcting the inverter output voltage phase angle θ1 with the slip frequency phase angle correction value Δθs calculated from the difference with the actual torque current value Iq, the motor output torque can accurately follow the torque command value TqRef.

<Third Embodiment> Next, a vector control device 203 for an AC electric motor according to a third embodiment of the present invention will be described.
A description will be given based on FIG. Like the first embodiment, the vector control device 203 for an AC electric motor according to the third embodiment drives the three-phase AC induction motor by performing the vector control of the three-phase output PWM inverter with the phase voltage of three-level output. Vector control command value calculation means 1, voltage command value calculation means 2, polar coordinate conversion means 3, voltage vector magnitude command value calculation means 4, voltage fixing means 5,
Modulation factor calculation means 6, PWM voltage generation means 7, slip angle frequency integration means 8, magnetic flux correction value calculation means 9-2, torque current control means 10-1, weight coefficient calculation means 11, d-axis current control means 12 and q. It is composed of the axial current control means 13.

As shown in FIG. 6, the weighting coefficient calculating means 11 includes an absolute value calculating means 111 and a control mode switching judging means 11.
2 and the change rate limit unit 113. The control mode switching determination means 112 inputs the absolute value | ω1 | of the inverter output voltage angular frequency ω1 and outputs the control mode Cmode according to the following condition determination.

When Cmode = 1: | ω1 | ≧ ωCHG2, Cmode = 0 | ω1 | <ωCHG2, Cmode = 1 When Cmode = 0: | ω1 | ≧ ωCHG1, Cmode = 0 | ω1 | <ΩCHG1, Cmode = 1 However, ωCHG2 ≧ ωCHG1 The change rate limit unit 113 includes the control mode switching determination unit 11
The control mode Cmode output from 2 is input, and a value that limits the rising and falling speeds of the value of this control mode Cmode is output as the weighting coefficient K1.

The case where the control mode Cmode changes from 1 to 0 at the timing t = 0 will be described as an example. When the limit value of the change rate is a, the weighting coefficient K1 changes as follows.

When t <0: K1 = 0 1 / a ≧ t> 0: K1 = a × t When t ≧ 1 / a: K1 = 1 Further, the control mode Cmode changes from 0 at timing t = 0. When it changes to 1, the weighting coefficient K1 changes as follows.

When t <0: When K1 = 1 / a ≧ t> 0: When K1 = 1−a × t t ≧ 1 / a: K1 = 0 And the weighting coefficient K1 in each of these cases On the other hand, another weighting coefficient K2 is output as K2 = 1-K1.

The d-axis current control means 12 outputs a weighting coefficient output from the weighting coefficient calculation means 11 to a value obtained by subtracting the actual magnetization current value IdRef from the magnetization current command value IdRef output from the vector control command value calculation means 1. Input the value multiplied by K1,
The magnetic flux axis voltage correction value ΔVd is output by the proportional-plus-integral control expressed by the following equation (24).

[0101]

(Equation 24) However, s: Derivative operator Gp: Proportional gain Gi: Integral gain The magnetic flux axis voltage correction value ΔVd calculated by the d-axis current control means 12 becomes the magnetic flux axis voltage command value VdRef output from the voltage command value calculation means 2. New flux axis voltage command value VdR added
It is input to the polar coordinate conversion means 3 as ef.

The q-axis current control means 13 controls the torque current command value IqRef output from the vector control command value calculation means 1.
The value obtained by subtracting the actual torque current value Iq from is multiplied by the weighting coefficient K1 output from the weighting coefficient calculating means 11 is input, and the torque axis voltage correction value is obtained by the proportional integral control expressed by the following equation 25. Output ΔVq.

[0103]

(Equation 25) However, s: Derivative operator Gp: Proportional gain Gi: Integral gain The torque axis voltage correction value ΔVq calculated by this q-axis current control means 13 becomes the torque axis voltage command value VqRef output from the voltage command value calculation means 2. The added value is input to the polar coordinate conversion means 3 as a new torque axis voltage command value VqRef.

The torque current control means 10-1 is a torque current command value output from the vector control command value calculation means 1.
The value obtained by subtracting the actual torque current value Iq from IqRef is multiplied by the above weighting coefficient K2 output from the weighting coefficient calculation means 11, and the value obtained by multiplying this value by the gain G (s) is set as the slip frequency. Output as the phase angle correction value Δθs. That is,
The following equation 26 is executed.

[0105]

[Mathematical formula-see original document] Δθs = G (s) · K2 · (IqRef−Iq) where s: differential operator The slip frequency phase angle correction value Δθs thus obtained is
The angle δ of the voltage vector output from the polar coordinate conversion means 3.
Is added to the sum of the slip frequency phase angle θs output from the slip angle frequency integration means 8 and the rotor phase angle θr of the electric motor, and input to the PWM voltage generation means 7 as the inverter output voltage phase angle θ1.

The magnetic flux correction value calculating means 9-2 outputs the magnetizing current command value IdRef output from the vector control command value calculating means 1.
The value obtained by subtracting the actual magnetizing current value Id from is multiplied by the weighting coefficient K2 output from the weighting coefficient calculating means 11 is input, and the magnetic flux correction value ΔΦ is obtained by the proportional-plus-integral control represented by the following equation 27. Output.

[0107]

[Equation 27] However, s: differential operator Gp: proportional gain Gi: integral gain, and the vector control command value calculation means 1 uses the magnetic flux correction value ΔΦ output from the magnetic flux correction value calculation means 9-2 to set the magnetizing current command value IdRef and the torque current. The command value IqRef is corrected so that the motor output torque follows the torque command value TqRef.

According to the vector control device 203 for an AC electric motor of the third embodiment, the voltage vector based on the magnetic flux command value ΦRef, the magnetizing current command value IdRef calculated from the torque command value TqRef, and the torque current command value IqRef. Command value VdRef, V
The response speed of the output current can be increased by calculating qRef and adding the angle of the voltage vector command value with respect to the magnetic flux direction to the output voltage phase angle θ1 of the inverter by feedforward.

Further, the magnetizing current command value IdRef and the torque current command value IqRef are corrected using the magnetic flux correction value ΔΦ, the inverter output voltage phase angle θ1 is corrected using the slip frequency phase angle correction value Δθs, and the magnetic flux axis voltage is further corrected. Correction value ΔVd,
By correcting the magnetic flux axis voltage command value VdRef and the torque axis voltage command value VqRef output from the voltage command value calculation means 2 using each of the torque axis voltage correction values ΔVq, the motor output torque is accurately converted into the torque command value TqRef. Can be followed.

<Fourth Embodiment> Next, a vector control device 204 for an AC motor according to a fourth embodiment of the present invention will be described.
It will be described with reference to FIG. Like the first embodiment, the vector control device 204 for an AC electric motor according to the fourth embodiment drives a three-phase AC induction motor by performing vector control of a three-phase output PWM system inverter having a three-level phase voltage output. The vector control command value calculation means 1-1, the voltage command value calculation means 2-1, the polar coordinate conversion means 3, the voltage vector magnitude command value calculation means 4, the voltage fixing means 5, the modulation factor calculation means 6 are controlled. , PWM voltage generation means 7, slip angular frequency integration means 8, magnetic flux correction value calculation means 9-3, and secondary resistance correction value calculation means 14.

The vector control command value calculation means 1-1 outputs the torque command value TqRef inputted from the outside, the magnetic flux command value ΦRef inputted from the outside, and the magnetic flux correction value calculation means 9 based on the calculation processing described later. Of the magnetic flux correction value ΔΦ and the secondary resistance correction value ΔR2 output by the secondary resistance correction value calculation means 14 based on the calculation process described later, and the magnetizing current command is calculated by the following equation 28. The value IdRef, the torque current command value IqRef, and the slip angular frequency command value ωsRef are output.

[0112]

[Equation 28] However, M: Mutual inductance of the electric motor L2: Secondary inductance of the electric motor R2: Secondary resistance of the electric motor The voltage command value calculating means 2 has a magnetizing current command value IdRef and a torque current command output from the vector control command value calculating means 1. Input the value IqRef and the secondary resistance correction value ΔR2 output from the secondary resistance correction value calculation means 14, and output the magnetic flux axis voltage command value VdRef and the torque axis voltage command value VqRef by the calculation of the following formula 29. To do.

[0113]

(Equation 29) However, R1: primary resistance of the motor R2: secondary resistance of the motor L1: primary inductance of the motor L2: secondary inductance of the motor M: mutual inductance of the motor ω1: inverter output voltage angular frequency ωr: motor rotor angular frequency magnetic flux correction As shown in FIG. 8, the value calculation means 9-3 includes a first-order lag filter calculation means 91 and an integration calculation means 92, and the magnetizing current actual value Id is calculated as the first-order lag filter calculation means 9
1 and inputs this output and the difference ΔId between the output of the vector control command value calculation means 1 and the magnetizing current command value IdRef and the secondary resistance correction value ΔR2 from the secondary resistance correction value calculation means 14. The value is input to the calculation means 92, and the value obtained by multiplying the output of the integration calculation means 92 by the mutual inductance M of the electric motor is output as the magnetic flux correction value ΔΦ. Here, the first-order lag time constant T of the first-order lag filter calculating means 91 and the integral gain Gi of the integral calculating means 92 are expressed by the following formula 30.

[0114]

[Equation 30] However, Ti: time constant of integral gain R2: secondary resistance of electric motor L2: secondary inductance of electric motor Secondary resistance correction value calculating means 14 is a torque current command value output from vector control command value calculating means 1-1. A vector control command value calculation means 1 calculates the secondary resistance correction value ΔR2 by the proportional-integral control represented by the following formula 31 using the difference between IqRef and the actual torque current value Iq and the torque command TqRef as input. -1, the voltage command value calculation means 2-1 and the magnetic flux correction value calculation means 9-3.

[0115]

(Equation 31) However, s: Differential operator Grp: Proportional gain Gri: Integral gain Since the other components are the same as those in the first embodiment shown in FIG. 1, detailed description thereof will be omitted.

With the above configuration, according to the fourth embodiment, the voltage vector command value VdRef is calculated based on the magnetizing current command value IdRef and the torque current command value IqRef calculated from the magnetic flux command value ΦRef and the torque command value TqRef. , VqRef is calculated, and the angle of the voltage vector command value with respect to the magnetic flux direction is added to the output voltage phase angle θ1 of the inverter by feedforward, so that the output current response speed can be increased.

Further, the magnetizing current command value IdRef and the torque current command value IqRef are corrected by using the magnetic flux correction value ΔΦ obtained from the difference between the magnetizing current command value IdRef and the actual magnetizing current value Id, and further the torque current command value IqRef is obtained. Correct the slip angle frequency command value ωsRef, the voltage vector command values VdRef and VqRef, and the magnetic flux correction value ΔΦ by using the difference from the actual torque current value Iq and the secondary resistance correction value ΔR2 obtained from the torque command value TqRef. Thus, the motor output torque can be made to accurately follow the torque command value TqRef.

<Fifth Embodiment> Next, a vector controller for an AC electric motor according to a fifth embodiment of the present invention will be described with reference to FIG. The vector control device 205 for an AC electric motor according to the fifth embodiment includes vector control command value calculation means 1-1,
Voltage command value calculation means 2-1, polar coordinate conversion means 3, voltage vector magnitude command value calculation means 4, voltage fixing means 5, modulation factor calculation means 6, PWM voltage generation means 7, slip angular frequency integration means 8, magnetic flux The correction value calculation means 9-4, the weight coefficient calculation means 11, the d-axis current control means 12, the q-axis current control means 13, and the secondary resistance correction value calculation means 14-1 are included.

The secondary resistance correction value calculation means 14-1 outputs from the weighting coefficient calculation means 11 the difference between the torque current command value IqRef output from the vector control command value calculation means 1-1 and the torque current actual value Iq. Value multiplied by the weighting factor K2
The torque axis voltage correction value ΔVq which is the output of the q-axis current control means 13 and the torque command value TqRef are input, and the torque command value TqRef and the torque axis voltage command value VqRef which is the output of the voltage command value calculation means 2-1. By the condition judgment with
The secondary resistance correction value Δ
Output R2.

[0120]

(Equation 32) However, s: differential operator Gr1p, Gr2p: proportional gain Gr1i, Gr2i: integral gain The magnetic flux correction value calculation means 9-4 has the configuration shown in FIG. 10, and the first-order lag filter calculation means 91 and the integration calculation means 9
2, the actual magnetizing current value Id is input to the first-order lag filter calculating means 91, and the weighting coefficient is added to the difference ΔId between the output thereof and the magnetizing current command value IdRef which is the output of the vector control command value calculating means 1-1. The value obtained by multiplying K2 is input to the integral calculation means 92, and the value obtained by multiplying the output by the mutual inductance M of the electric motor is output as the magnetic flux correction value ΔΦ. That is, the magnetic flux correction value ΔΦ is calculated by the calculation according to the following formula 33. Here, the first-order lag time constant T of the first-order lag filter calculating means 91 and the integral gain Gi of the integral calculating means 92 are expressed by the above-mentioned formula 30.

[0121]

[Equation 33] However, s: differential operator M: mutual inductance vector control command value calculation means 1-1 of the electric motor, magnetic flux command value ΦRe
The difference between f and the magnetic flux correction value ΔΦ which is the output of the magnetic flux correction value calculation means 9-4, the torque command value TqRef, and the secondary resistance correction value ΔR2 which is the output of the secondary resistance correction value calculation means 14-1. Is input and the magnetizing current command value IdRe
f, torque current command value IqRef, slip angular frequency command value ωsR
Calculate ef.

The voltage command value calculation means 2-1 includes the magnetizing current command value IdRef, the torque current command value IqRef, and the secondary resistance correction value calculation means 1 from the vector control command value calculation means 1-1.
The secondary resistance correction value ΔR2 from 4-1 is input, and the magnetic flux axis voltage command value VdRef and the torque axis voltage command value VqRef are calculated by the above-mentioned formula 29.

The other components, that is, the polar coordinate conversion means 3, the voltage vector magnitude command value calculation means 4, the voltage fixing means 5, the modulation factor calculation means 6 and the PWM voltage generation means 7 are shown in FIG. The configuration is similar to that of the first embodiment, and the weighting factor calculation means 11 and the d-axis current control means 1 are used.
The 2 and q-axis current control means 13 have the same configuration as that of the third embodiment shown in FIG.

Therefore, the weighting coefficient calculating means 11 is composed of the absolute value calculating means 111, the control mode switching judging means 112 and the change rate limiting section 113 as shown in FIG. 6, and outputs the weighting coefficients K1 and K2.

The d-axis current control means 12 outputs a weighting coefficient output from the weighting coefficient calculation means 11 to a value obtained by subtracting the actual magnetization current value Id from the magnetization current command value IdRef output from the vector control command value calculation means 1. Input the value multiplied by K1,
The magnetic flux axis voltage correction value ΔVd is output by the proportional-plus-integral control represented by the above-mentioned equation 24, and this magnetic flux axis voltage correction value ΔVd is used as the magnetic flux axis voltage command value VdRef output from the voltage command value calculation means 2-1. The new magnetic flux axis voltage command value VdRef is added and input to the polar coordinate conversion means 3.

Further, the q-axis current control means 13 controls the torque current command value Iq output from the vector control command value calculation means 1.
A value obtained by subtracting the actual torque current value Iq from Ref is multiplied by a weighting coefficient K1 output from the weighting coefficient calculating means 11, and the torque axis voltage correction is performed by the proportional-plus-integral control represented by the equation (25). The value ΔVq is output, and this torque axis voltage correction value ΔVq is added to the torque axis voltage command value VqRef output from the voltage command value calculation means 2-1 to give a new torque axis voltage command value VqRef to the polar coordinate conversion means 3. input.

With the above configuration, in the vector control device 205 for the AC electric motor according to the fifth embodiment, the magnetic flux command value Φ
Magnetizing current command value Id calculated from Ref and torque command value TqRef
The voltage vector command values VdRef and VqRef are calculated based on Ref and the torque current command value IqRef, and the angle of the voltage vector command value with respect to the magnetic flux direction is calculated as the output voltage phase angle θ1 of the inverter.
The output current response speed can be increased by adding the feed forward to the output current.

Further, the magnetizing current command value IdRef and the torque current command value IqRef are corrected using the magnetic flux correction value ΔΦ obtained from the difference between the magnetizing current command value IdRef and the actual magnetizing current value Id to obtain the torque current command value IqRef. Using the secondary resistance correction value ΔR2 obtained from the difference between the actual torque current value Iq and the torque command value TqRef, the slip angle frequency command value ωsRef, the voltage vector command value Vd
Ref, VqRef, magnetic flux correction value ΔΦ are corrected, and the magnetic flux axis voltage command value VdRef is used by using the magnetic flux axis voltage correction value ΔVd.
And the torque axis voltage correction value ΔVq are used to correct the torque axis voltage command value VqRef, the motor output torque can accurately follow the torque command value TqRef.

<Sixth Embodiment> Next, a vector controller for an AC electric motor according to a sixth embodiment of the present invention will be described with reference to FIG. The vector control device 206 for an AC electric motor according to the sixth embodiment includes a vector control command value calculation means 1-.
2, voltage command value calculation means 2, polar coordinate conversion means 3, voltage vector magnitude command value calculation means 4, voltage fixing means 5, modulation factor calculation means 6, PWM voltage generation means 7, slip angular frequency integration means 8 and this It is composed of a magnetic flux estimated value calculating means 15 which is a feature of the sixth embodiment.

The estimated magnetic flux value calculating means 15 has a first-order lag filter inside, receives the actual magnetizing current value Id of the electric motor as an input, and calculates the mutual inductance of the electric motor at the output of the first-order lag filter by calculation based on the following equation 34. The value obtained by multiplying M is output as the magnetic flux estimated value Φ_H of the electric motor.

[0131]

(Equation 34) However, R2: secondary resistance of the electric motor L2: secondary inductance of the electric motor M: mutual inductance of the electric motor s: differential operator vector control command value calculation means 1-2, the magnetic flux command value ΦRe
Using f and the torque command value TqRef, the estimated magnetic flux value Φ_H from the estimated magnetic flux value calculation means 15 and the voltage fixed command Vfix as inputs, the magnetization current command value IdRef, the torque current command value IqRef, and the slip angle are calculated by the following equation 35. The frequency command value ωsRef is output. Here, the voltage fixing command Vfix has the following values.

When the magnitude of the inverter output voltage vector is fixed: Vfix = 1 When the magnitude of the inverter output voltage vector is not fixed: Vfix = 0 And it is determined whether the value of these voltage fixing commands Vfix is 0 or 1. As a condition, the magnetizing current command value IdRef, the torque current command value IqRef, and the slip angular frequency command value ωsRef are output based on the following Expression 35.

[0133]

(Equation 35) However, M: mutual inductance of the electric motor L2: secondary inductance of the electric motor R2: secondary resistance of the electric motor Since the other components are the same as those of the first embodiment shown in FIG. 1, detailed description thereof will be omitted. To do.

With the above configuration, the vector control device 206 for the AC electric motor according to the sixth embodiment has the magnetic flux command value Φ.
Magnetizing current command value calculated from Ref and torque command value TqRef
The voltage vector command values VdRef and VqRef are calculated based on IdRef and the torque current command value IqRef, and the angle δ of the voltage vector command value with respect to the magnetic flux direction is calculated as the output voltage phase angle θ of the inverter.
By adding 1 to feed forward, the response speed of the output current can be increased.

In the mode in which the magnitude of the inverter output voltage vector is fixed, the magnetic flux estimated value Φ_H calculated based on the actual magnetizing current value Id is used to generate the magnetizing current command value IdRef,
Torque current command value IqRef and slip angular frequency command value ωsRe
By calculating f, the motor output torque can accurately follow the torque command value Tqref.

<Seventh Embodiment> Next, a vector controller for an AC electric motor according to a seventh embodiment of the present invention will be described with reference to FIG. The AC motor vector control device 207 according to the seventh embodiment is characterized in that the torque current control means 10 is further added to the AC motor vector control device 206 according to the sixth embodiment shown in FIG. The other components are the same as those in the sixth embodiment shown in FIG.

The torque current control means 10 that characterizes this seventh embodiment receives the difference between the torque current command value IqRef output from the vector control command value calculation means 1-2 and the actual torque current value Iq as input. Similar to the case of the second embodiment, the slip frequency phase angle correction value Δθs is calculated based on the equation (23).

The PWM voltage generating means 7 outputs the modulation rate α output from the modulation rate calculating means 6, the slip frequency phase angle θs output from the slip angle frequency integrating means 8, and the torque current control means 10. Input the sum of the angle δ of the voltage vector and the rotor phase angle θr of the motor as the inverter output voltage phase angle θ1,
Based on the formula, U, V, W three-phase PWM voltage command VvPWM, V
Outputs vPWM and VwPWM.

With the above configuration, in the vector control device 207 for the AC electric motor of the seventh embodiment, the magnetic flux command value Φ
Magnetizing current command value calculated from Ref and torque command value TqRef
The voltage vector command values VdRef and VqRef are calculated based on IdRef and the torque current command value IqRef, and the angle δ of the voltage vector command value with respect to the magnetic flux direction is calculated as the output voltage phase angle θ of the inverter.
By adding 1 to feed forward, the response speed of the output current can be increased.

In the mode in which the magnitude of the inverter output voltage vector is fixed, the magnetizing current command value IdRef, using the magnetic flux estimated value Φ_H calculated based on the magnetizing current actual value Id,
Torque current command value IqRef and slip angular frequency command value ωsRe
By calculating f and further correcting the inverter output voltage phase angle θ1 with the slip frequency phase angle correction value Δθs, the motor output torque can accurately follow the torque command value TqRef.

<Embodiment 8> Next, a vector controller for an AC electric motor according to Embodiment 8 of the present invention will be described with reference to FIG.
It will be described based on. The vector control device 208 for an AC electric motor according to the eighth embodiment includes vector control command value calculation means 1-3, voltage command value calculation means 2-1, polar coordinate conversion means 3, voltage vector magnitude command value calculation means 4, Voltage fixing means 5, modulation factor calculating means 6, PWM voltage generating means 7, slip angle frequency integrating means 8, secondary resistance correction value calculating means 14
And a magnetic flux estimated value calculation means 15-1.

The secondary resistance correction value calculation means 14 is the same as that of the fourth embodiment shown in FIG. 7, and the vector control command value calculation means 1-3 outputs the torque current command value IqRef to the actual torque current value Iq. And the torque command value TqRe
Using f and as input, the secondary resistance correction value ΔR2 is obtained by the proportional-plus-integral control expressed by the above-mentioned formula 31, and the vector control command value calculation means 1-3, the voltage command value calculation means 2-1 and the magnetic flux estimation value are obtained. It outputs to the calculation means 15-1.

The estimated magnetic flux value calculation means 15-1 has a first-order lag filter inside, and the actual magnetizing current value Id of the motor and
The secondary resistance correction value ΔR2 which is the output of the secondary resistance correction value calculation means 14 is input, and the mutual inductance of the electric motor is output to the output of the primary lag filter in which the actual magnetizing current value Id is input based on the following formula 36. The value obtained by multiplying M is output as the magnetic flux estimated value Φ_H of the electric motor.

[0144]

[Equation 36] However, s: differential operator R2: secondary resistance of electric motor L2: secondary inductance of electric motor M: mutual inductance of electric motor Vector control command value calculation means 1-3 is a magnetic flux command value ΦRe.
f, torque command value TqRef, and secondary resistance correction value calculation means 14
Secondary resistance correction value ΔR2 from the magnetic flux estimated value calculation means 15
The magnetic flux estimated value Φ_H from −1 and the voltage fixed command Vfix are input, and the magnetizing current command value Id is calculated by the following equation 37.
Ref, torque current command value IqRef, slip angle frequency command value ω
Output sRef.

Also here, the voltage fixing command Vfix takes the following values.

When the magnitude of the inverter output voltage vector is fixed: Vfix = 1 When the magnitude of the inverter output voltage vector is not fixed: Vfix = 0 Then, it is determined whether the value of these voltage fixing commands Vfix is 0 or 1. As a condition, the magnetizing current command value IdRef, the torque current command value IqRef, and the slip angular frequency command value ωsRef are output based on the following formula 37.

[0147]

(37) However, M: mutual inductance of the electric motor L2: secondary inductance of the electric motor R2: secondary resistance of the electric motor Further, the voltage command value calculation means 2-1 and the magnetizing current command value IdRef from the vector control command value calculation means 1-3. Using the torque current command value IqRef and the secondary resistance correction value ΔR2 from the secondary resistance correction value calculating means 14 as inputs, the magnetic flux axis voltage command value VdRef and the torque axis voltage command value VqR are calculated based on the above-mentioned formula 29.
Calculate ef.

The other components are the same as those in the first embodiment shown in FIG. 1, and detailed description thereof will be omitted.

With the above configuration, the vector control device 208 for the AC electric motor according to the eighth embodiment has the magnetic flux command value Φ.
Magnetizing current command value calculated from Ref and torque command value TqRef
The voltage vector command values VdRef and VqRef are calculated based on IdRef and the torque current command value IqRef, and the angle δ of the voltage vector command value with respect to the magnetic flux direction is calculated as the output voltage phase angle θ of the inverter.
By adding 1 to feed forward, the response speed of the output current can be increased.

In the mode in which the magnetizing current command value IdRef, the torque current command value IqRef, the voltage vector command values VdRef and VqRef are corrected using the secondary resistance correction value ΔR2, and the magnitude of the inverter output voltage vector is fixed, By calculating the magnetizing current command value IdRef, the torque current command value IqRef, and the slip angular frequency command value ωsRef using the estimated magnetic flux value Φ_H calculated based on the actual magnetizing current value Id and the secondary resistance correction value ΔR2, the electric motor The output torque can be made to accurately follow the torque command value TqRef.

<Ninth Embodiment> Next, a vector controller for an AC electric motor according to a ninth embodiment of the present invention will be described with reference to FIG.
It will be described based on. The vector control device 209 for an AC electric motor according to the ninth embodiment includes a vector control command value calculation means 1-2, a voltage command value calculation means 2, a polar coordinate conversion means 3,
Voltage vector magnitude command value calculating means 4, voltage fixing means 5, modulation factor calculating means 6, PWM voltage generating means 7, slip angle frequency integrating means 8, and magnetic flux estimated value calculating means 15 which is a feature of the ninth embodiment. -2.

The estimated magnetic flux value calculation means 15-2 has a slip angle frequency command value ωsRef output from the vector control command value calculation means 1-2, an angle δ of the voltage vector output from the polar coordinate conversion means 3, and a fixed voltage. The magnitude of the voltage vector output from the means 5 | V | fix and the motor rotor angular frequency ω
Input r and, and estimate the magnetizing current according to the following formula 38
Id_H and torque current estimated value Iq_H are calculated, and magnetic flux estimated value Φ_H is calculated from these values and output to vector control command value calculation means 1-2.

[0153]

(38) However, R1: primary resistance of the motor R2: secondary resistance of the motor L1: primary inductance of the motor L2: secondary inductance of the motor M: mutual inductance of the motor s: differential operator vector control command value computing means 1-2, Similar to the case of the vector controller 206 of the sixth embodiment shown in FIG. 11, the magnetic flux command value ΦRef, the torque command value TqRef, the magnetic flux estimated value Φ_H from the magnetic flux estimated value calculation means 15-2, and the voltage fixed command Vfix are set. The magnetizing current command value IdRef, the torque current command value IqRef, and the slip angular frequency command value ωsRef are output by using the above-mentioned equation 35 as an input.

The other components are the same as those in the first embodiment shown in FIG. 1, and detailed description thereof will be omitted.

With the above configuration, in the vector control device 209 for the AC motor according to the ninth embodiment, the magnetic flux command value Φ
Magnetizing current command value calculated from Ref and torque command value TqRef
The voltage vector command values VdRef and VqRef are calculated based on IdRef and the torque current command value IqRef, and the angle δ of the voltage vector command value with respect to the magnetic flux direction is calculated as the output voltage phase angle θ of the inverter.
By adding 1 to feed forward, the response speed of the output current can be increased.

In the mode in which the magnitude of the inverter output voltage vector is fixed, the magnetizing current command value IdRe is calculated using the magnetic flux estimated value Φ_H obtained by the calculation based on the equation (38).
f, torque current command value IqRef and slip angular frequency command value ω
By calculating sRef, the motor output torque can accurately follow the torque command value TqRef.

<Embodiment 10> Next, a vector controller for an AC electric motor according to Embodiment 10 of the present invention will be described in detail with reference to FIG. The vector controller 210 for an AC electric motor according to the tenth embodiment has substantially the same configuration as the vector controller 208 according to the eighth embodiment, and has a vector control command value calculating means 1-3 and a voltage command value calculating means 2-.
1, polar coordinate conversion means 3, voltage vector magnitude command value calculation means 4, voltage fixing means 5, modulation factor calculation means 6, PWM
It is composed of a voltage generation means 7, a slip angular frequency integration means 8, a secondary resistance correction value calculation means 14 and a magnetic flux estimation value calculation means 15-3.

The secondary resistance correction value calculation means 14 is similar to that of the eighth embodiment shown in FIG. 13, and the vector control command value calculation means 1-3 outputs the torque current command value IqRef to the actual torque current value Iq. And the torque command value Tq
Ref is used as an input, the secondary resistance correction value ΔR2 is obtained by the proportional-plus-integral control represented by the above-mentioned formula 31, and the vector control command value calculation means 1-3, the voltage command value calculation means 2-1 and the magnetic flux estimation value are obtained. It outputs to the calculating means 15-3.

The magnetic flux estimation value calculating means 15-3, which is a feature of the tenth embodiment, has a different input from the magnetic flux estimation value calculating means 15-1 in the eighth embodiment shown in FIG. The slip angular frequency command value ωsRef output from the value calculation means 1-3, the angle δ of the voltage vector output from the polar coordinate conversion means 3, and the magnitude of the voltage vector output from the voltage fixing means 5 | V | fix , The motor rotor angular frequency ωr, and the secondary resistance correction value ΔR2 output from the secondary resistance correction value calculation means 14 are input, and the following equation 3
Estimated magnetizing current Id_H and estimated torque current based on Equation 9
Iq_H is calculated and the estimated magnetic flux value Φ_H is calculated from these values.
Is calculated and output.

[0160]

[Equation 39] However, R1: primary resistance of the motor R2: secondary resistance of the motor L1: primary inductance of the motor L2: secondary inductance of the motor M: mutual inductance of the motor s: differential operator The vector control command value computing means 1-3 is Magnetic flux command value ΦRe
f, torque command value TqRef, and secondary resistance correction value calculation means 14
Secondary resistance correction value ΔR2 from the magnetic flux estimated value calculation means 15
The magnetic flux estimated value Φ_H from -3 and the voltage fixing command Vfix are input, and the magnetizing current command value is calculated by the above-described formula 37.
Outputs IdRef, torque current command value IqRef, and slip angular frequency command value ωsRef.

Further, the voltage command value calculation means 2-1 is configured so that the magnetizing current command value Id from the vector control command value calculation means 1-3.
Ref, the torque current command value IqRef, and the secondary resistance correction value ΔR2 from the secondary resistance correction value calculation means 14 are input, and the above-mentioned equation 2 is used.
The magnetic flux axis voltage command value VdRef and the torque axis voltage command value VqRef are calculated based on the equation (9).

The other components are the same as those in the first embodiment shown in FIG. 1, and detailed description thereof will be omitted.

With the above configuration, in the vector control device 210 for an AC electric motor according to the tenth embodiment, the magnetizing current command value IdRef and the torque current command value IqRef calculated from the magnetic flux command value ΦRef and the torque command value TqRef are used. By calculating the voltage vector command values VdRef and VqRef and adding the angle δ of the voltage vector command value to the magnetic flux direction to the output voltage phase angle θ1 of the inverter by feedforward, the response speed of the output current can be increased.

Further, the secondary resistance correction value ΔR2 is used to correct the magnetizing current command value IdRef, the torque current command value IqRef, the voltage vector command values VdRef, VqRef, and the magnetic flux estimation value Δ_H, and the magnitude of the inverter output voltage vector is further corrected. In the fixed mode, the motor output torque is set to the torque command by calculating the magnetizing current command value IdRef, the torque current command value IqRef, and the slip angular frequency command value ωsRef using the magnetic flux estimated value Φ_H calculated based on the equation 39. The value TqRef can be accurately followed.

<Eleventh Preferred Embodiment> Next, a vector controller for an AC electric motor according to an eleventh preferred embodiment of the present invention will be described with reference to FIG. The vector controller 211 for an AC electric motor according to the eleventh embodiment drives and controls a permanent magnet synchronous motor by performing vector control of a three-phase output PWM type inverter having a phase voltage of three-level output as an inverter. Command value calculation means 1-
4, voltage command value calculation means 2-2, polar coordinate conversion means 3, voltage vector magnitude command value calculation means 4, voltage fixing means 5, modulation factor calculation means 6, PWM voltage generation means 7 and magnetic flux correction value calculation means 9 -5.

The vector control command value calculation means 1-4 receives the difference between the magnetic flux command value ΦRef and the magnetic flux correction value ΔΦ output from the magnetic flux correction value calculation means 9-5 and the torque command value TqRef as input, and The magnetic flux direction current command value IdRef and the torque current command value IqRef are calculated by the calculation based on the equation (40). Here, the magnetic flux direction of the permanent magnet is the d axis, and the direction orthogonal to the magnetic flux direction is the q axis.

[0167]

(Equation 40) However, Φf: magnetic flux of permanent magnet Ld: d-axis inductance of electric motor Lq: q-axis inductance of electric motor The voltage command value calculation means 2-2 outputs the magnetic flux direction current command value output from the vector control command value calculation means 1-4. IdRef and torque current command value IqRef are input, and the magnetic flux axis voltage command value VdRef and the torque axis voltage command value VqRef are output by the calculation based on the following equation 41.

[0168]

[Formula 41] VdRef = Rd · IdRef−ωr · Lq · IqRef VqRef = Rq · IqRef + ωr · (Ld · IdRef + Φf) where Φf: magnetic flux of permanent magnet ωr: rotor angular frequency of motor Ld: d-axis inductance of motor Lq : Q-axis inductance Rd of electric motor: d-axis resistance of electric motor Rq: q-axis resistance of electric motor The magnetic flux correction value calculation means 9-5 and the magnetic flux direction current command value IdRef output from the vector control command value calculation means 1-4. The difference from the actual value Id of the electric current in the magnetic flux direction of the electric motor is input, and the magnetic flux correction value ΔΦ is calculated by the calculation of the following equation 42 and given to the vector control command value calculation means 1-4.

[0169]

(Equation 42) However, T: first-order lag time constant, and the PWM voltage generation means 7 calculates the modulation rate by the inverter output voltage phase angle θ1 as the sum of the angle δ of the voltage vector from the polar coordinate conversion means 3 and the motor rotor phase angle θr. Using the modulation factor α from the means 6 as an input,
The inverter output PWM voltages VuPWM, VvPWM, and VwPWM for each of the U, V, and W phases are output by the calculation of equations 9 and 20.

The other components are shown in FIG.
Since it is the same as that of the first embodiment shown in FIG.

With the above configuration, the vector control device 211 for an AC electric motor according to the eleventh embodiment also includes the magnetic flux direction current command value IdRef and the torque current command value IqRef calculated from the magnetic flux command value ΦRef and the torque command value TqRef. By calculating the voltage vector command values VdRef and VqRef and performing the voltage feedforward control, it is possible to stabilize the motor control even in a region where the rotation speed of the motor is high.

Further, by correcting the magnetic flux direction current command value IdRef and the torque current command value IqRef using the magnetic flux correction value ΔΦ calculated from the difference between the magnetic flux direction current command value IdRef and the actual magnetic flux direction current value Id, the motor output torque is corrected. Is the torque command value Tq
It is possible to accurately follow Ref.

<Twelfth Preferred Embodiment> Next, a vector controller for an AC electric motor according to a twelfth preferred embodiment of the present invention will be described with reference to FIG. The AC motor vector control device 212 of the twelfth embodiment has a configuration in which a torque current control means 10-2 is further added to the vector control device 211 of the eleventh embodiment. Therefore, the other components are common to the eleventh embodiment.

The torque current control means 10-2 added in the twelfth embodiment inputs the difference between the torque current command value IqRef output from the vector control command value calculation means 1-4 and the actual torque current value Iq. Then, the torque angle correction value Δθ is obtained by the proportional-plus-integral control represented by the following formula 43, and this is output in the form of being added to the motor rotor phase angle θr.

[0175]

[Equation 43] However, s: Derivative operator Gtp: Proportional gain Gti: Integral gain The PWM voltage generation means 7 has an angle δ of the voltage vector output from the polar coordinate conversion means 3 and the torque current control means 10.
-2, the inverter output voltage phase angle θ1 as the sum of the torque angle correction value Δθ and the external motor rotor phase angle θr, and the modulation rate α which is the output from the modulation rate calculation means 6. Inverter output PWM voltage VuPWM, V for each phase of U, V, W based on the above equations 19 and 20
Outputs vPWM and VwPWM.

With the above configuration, the vector control device 212 for an AC electric motor according to the twelfth embodiment also includes the magnetic flux direction current command value IdRef and the torque current command value IqRef calculated from the magnetic flux command value ΦRef and the torque command value TqRef. By calculating the voltage vector command values VdRef and VqRef and performing the voltage feedforward control, it is possible to stabilize the motor control even in a region where the rotation speed of the motor is high.

The magnetic flux direction current command value IdRef and the torque current command value IqRef are corrected using the magnetic flux correction value ΔΦ, and the torque angle correction value Δθ calculated from the difference between the torque current command value IqRef and the actual torque current value Iq. By correcting the inverter output voltage phase angle θ1 with, the motor output torque can accurately follow the torque command value TqRef.

<Thirteenth Preferred Embodiment> Next, a vector controller for an AC electric motor according to a thirteenth preferred embodiment of the present invention will be described with reference to FIG. An AC motor vector control device 213 according to the thirteenth embodiment drives and controls a permanent magnet synchronous motor by performing vector control of a three-phase output PWM system inverter having a phase voltage of three-level output. Calculation means 1-5, voltage command value calculation means 2-3, polar coordinate conversion means 3, voltage vector magnitude command value calculation means 4, voltage fixing means 5, modulation factor calculation means 6, PWM voltage generation means 7, magnetic flux correction. Value calculation means 9-5
And a permanent magnet magnetic flux correction value calculation means 16.

The permanent magnet magnetic flux correction value calculation means 16, which is a feature of this thirteenth embodiment, calculates the difference between the torque current command value IqRef output from the vector control command value calculation means 1-5 and the actual torque current value Iq. , And the torque command value TqRef as input, the permanent magnet magnetic flux correction value ΔΦf is output by the proportional-plus-integral control represented by the following formula 44.

[0180]

[Equation 44] However, s: Differential operator Gfp: Proportional gain Gfi: Integral gain Vector control command value calculation means 1-5 determines the magnetic flux command value ΦRe
The difference between f and the magnetic flux correction value ΔΦ output from the magnetic flux correction value calculation means 9-5, the torque command value TqRef, and the permanent magnet magnetic flux correction value Δ output from the permanent magnet magnetic flux correction value calculation means 16.
By inputting Φf, the magnetic flux direction current command value IdRef and the torque current command value IqRef are calculated by the following equation 45.
And calculate. Also in this case, the magnetic flux direction of the permanent magnet is the d-axis, and the direction orthogonal to the magnetic flux direction is the q-axis.

[0181]

[Equation 45] However, Φf: magnetic flux of permanent magnet Ld: d-axis inductance of electric motor Lq: q-axis inductance of electric motor The voltage command value calculation means 2-3 is a magnetic flux direction current command value output from the vector control command value calculation means 1-5. IdRef, torque current command value IqRef, and permanent magnet magnetic flux correction value ΔΦf which is the output from the permanent magnet magnetic flux correction value calculation means 16 are input, and the magnetic flux axis voltage command value VdRef and the torque axis voltage are calculated by the following equation 46. Output the command value VqRef.

[0182]

[Formula 46] VdRef = Rd ・ IdRef−ωr ・ Lq ・ IqRef VqRef = Rq ・ IqRef + ωr ・ (Ld ・ IdRef + Φf + ΔΦf) where Φf: magnetic flux of permanent magnet ωr: rotor angular frequency Ld of motor: d-axis inductance Lq of motor : Q-axis inductance of electric motor Rd: d-axis resistance of electric motor Rq: q-axis resistance of electric motor Since the other components are the same as those of the eleventh embodiment shown in FIG. 16, detailed description thereof will be given. Omit it.

With the above configuration, in the vector control device 213 for the AC electric motor of the thirteenth embodiment, the magnetic flux direction current command value IdRef and the torque current command value IqRef calculated from the magnetic flux command value ΦRef and the torque command value TqRef are also stored. By calculating the voltage vector command values VdRef and VqRef and performing the voltage feedforward control, it is possible to stabilize the motor control even in a region where the rotation speed of the motor is high.

Further, the magnetic flux correction value ΔΦ is used to correct the magnetic flux direction current command value IdRef and the torque current command value IqRef, and the permanent magnet magnetic flux correction value calculated from the difference between the torque current command value IqRef and the actual torque current value Iq. By correcting the torque current command value IqRef and the voltage vector command values VdRef and VqRef by ΔΦf, the motor output torque is corrected to the torque command value TqRef.
Can be accurately followed.

<Fourteenth Embodiment> Next, a vector controller for an AC electric motor according to a fourteenth embodiment of the present invention will be described with reference to FIG. The AC motor vector control device 214 of the fourteenth embodiment drives and controls the permanent magnet synchronous motor by performing vector control of a three-phase output PWM system inverter with a phase voltage of three-level output. Calculation means 1-6, voltage command value calculation means 2-2, polar coordinate conversion means 3, voltage vector magnitude command value calculation means 4, voltage fixing means 5, modulation factor calculation means 6, PWM voltage generation means 7 and magnetic flux estimation. Value calculation means 15
-4.

The estimated magnetic flux value calculating means 15-4 receives the actual magnetic flux direction value Id as an input and outputs the estimated magnetic flux value Φ_H according to the following equation (47).

[0187]

Φ_H = Ld · Id + Φf where Ld: d-axis inductance of the motor Φf: magnetic flux vector control command value calculation means 1-6 of the permanent magnet, the magnetic flux command value ΦRe
Inputting f, the estimated magnetic flux value Φ_H which is the output of the estimated magnetic flux value calculation means 15-4, the torque command value TqRef, and the voltage fixed command Vfix, the magnetic flux direction current command value IdRef and the torque current are calculated by the following formula 48: The command value IqRef and is output. Here, the voltage fixing command Vfix is for fixing the magnitude of the inverter output voltage vector:
Vfix = 1 When the size of the inverter output voltage vector is not fixed: The value of Vfix = 0 is taken.

[0188]

[Equation 48] However, Φf: magnetic flux of permanent magnet Ld: d-axis inductance of electric motor Lq: q-axis inductance of electric motor Since the other components are the same as those of the eleventh embodiment shown in FIG. The description is omitted.

With the above configuration, the vector controller 214 for an AC electric motor according to the fourteenth embodiment also stores the magnetic flux direction current command value IdRef and the torque current command value IqRef calculated from the magnetic flux command value ΦRef and the torque command value TqRef. By calculating the voltage vector command values VdRef and VqRef and performing the voltage feedforward control, it is possible to stabilize the motor control even in a region where the rotation speed of the motor is high.

In the mode in which the magnitude of the inverter output voltage vector is fixed, the estimated magnetic flux direction value Φ_H calculated from the actual magnetic flux direction current value is used to determine the magnetic flux direction current command value IdRef,
By calculating the torque current command value IqRef, the motor output torque can accurately follow the torque command value TqRef.

<Fifteenth Preferred Embodiment> Next, a vector controller for an AC electric motor according to a fifteenth preferred embodiment of the present invention will be described with reference to FIG. The AC motor vector control device 215 of the fifteenth embodiment has a configuration in which torque current control means 10-2 is further added to the vector control device 214 of the fourteenth embodiment shown in FIG. Therefore, the other components are described in the fourteenth embodiment.
Common with.

The torque current control means 10-2 added in the fifteenth embodiment inputs the difference between the torque current command value IqRef output from the vector control command value calculation means 1-4 and the actual torque current value Iq. Then, the torque angle correction value Δθ is obtained by the proportional-plus-integral control represented by the above-mentioned formula 43, and this is output in the form of being added to the motor rotor phase angle θr.

The PWM voltage generating means 7 outputs the angle δ of the voltage vector output from the polar coordinate conversion means 3 and the torque angle correction value Δθ output from the torque current control means 10-2.
The inverter output voltage phase angle θ1 as the sum of the motor rotor phase angle θr from the outside and the modulation rate α which is the output from the modulation rate calculation means 6 are input, and the above-mentioned mathematical expressions 19 and 2 are used.
Inverter output PWM for each phase of U, V, W based on formula 0
Output voltage VuPWM, VvPWM, VwPWM.

With the above configuration, the vector control device 215 for the AC electric motor according to the fifteenth embodiment also includes the magnetic flux direction current command value IdRef and the torque current command value IqRef calculated from the magnetic flux command value ΦRef and the torque command value TqRef. By calculating the voltage vector command values VdRef and VqRef and performing the voltage feedforward control, it is possible to stabilize the motor control even in a region where the rotation speed of the motor is high.

Further, in the mode in which the magnitude of the inverter output voltage vector is fixed, the magnetic flux direction current command value IdRef and the torque current command value IqRef are corrected using the magnetic flux correction value ΔΦ,
Furthermore, by correcting the inverter output voltage phase angle θ1 with the torque angle correction value Δθ calculated from the difference between the torque current command value IqRef and the actual torque current value Iq, the motor output torque can accurately follow the torque command value TqRef. it can.

<Sixteenth Embodiment> Next, a vector control device for an AC electric motor according to a sixteenth embodiment of the present invention will be described in detail with reference to FIG. An AC motor vector control device 216 according to the sixteenth embodiment is a vector control device for controlling a permanent magnet synchronous motor, and includes a vector control command value calculation means 1-5 and a voltage command value calculation means 2-.
3, polar coordinate conversion means 3, voltage vector magnitude command value calculation means 4, voltage fixing means 5, modulation factor calculation means 6, PWM
Voltage generation means 7, magnetic flux correction value calculation means 9-6, torque current control means 10-2 and permanent magnet magnetic flux correction value calculation means 1
It is composed of 6-1.

The magnetic flux correction value calculation means 9-6 has a magnitude | V | of the voltage vector output from the polar coordinate transformation means 3 and a magnitude | V | fix of a new voltage vector output from the voltage fixing means 5. Using as input, the magnetic flux correction value ΔΦ is obtained by the proportional-plus-integral control represented by the following formula 49 and given to the vector control command value calculation means 1-5.

[0198]

[Equation 49] However, s: differential operator Gp: proportional gain Gi: integral gain The permanent magnet magnetic flux correction means 16-1 outputs the magnetic flux direction current command value IdRe output from the vector control command value calculation means 1-5.
Using the difference between f and the actual magnetic flux direction current value Id as the input,
Vector control command value calculation means 1-5 by obtaining the permanent magnet magnetic flux correction value ΔΦf by proportional-plus-integral control represented by equation (0).
And the voltage command value calculation means 2-3.

[0199]

[Equation 50] However, s: Differential operator Gfp: Proportional gain Gfi: Integral gain Vector control command value calculation means 1-5 determines the magnetic flux command value ΦRe
f, the magnetic flux correction value ΔΦ from the magnetic flux correction value calculation means 9-6, the permanent magnet magnetic flux correction value ΔΦf from the permanent magnet magnetic flux correction value calculation means 16-1 and the torque command value TqRef are input, and the above equation 45 is used. Based on the calculation based on
The Ref and the torque current command value IqRef are output.

The voltage command value calculating means 2-3 has a magnetic flux direction current command value IdRe from the vector control command value calculating means 1-5.
f, the torque current command value IqRef, and the permanent magnet magnetic flux correction value ΔΦf from the permanent magnet magnetic flux correction value calculation means 16-1 are input, and the magnetic flux axis voltage command value VdRef and the torque axis voltage are calculated by the calculation based on the above equation (46). Output the command value VqRef.

The torque current control means 10-2 receives the difference between the torque current command value IqRef output from the vector control command value calculation means 1-5 and the actual torque current value Iq, and is expressed by the above equation (43). The torque angle correction value Δθ is obtained by the proportional-plus-integral control and is output in the form of addition to the motor rotor phase angle θr.

The PWM voltage generating means 7 includes the angle δ of the voltage vector from the polar coordinate converting means 3 and the torque current controlling means 1.
The inverter output voltage phase angle θ1, which is the sum of the torque angle correction value Δθ from 0-2 and the motor rotor phase angle θr, and the modulation rate α from the modulation rate calculation means 6 are input, and the above-mentioned equation 1 is used.
Inverter output PWM voltages VuPWM, VvPWM, and VwPWM of U, V, and W phases are output by calculation based on Equations 9 and 20.

The other components are shown in FIG.
Since it is the same as that of the eleventh embodiment shown in FIG. 6, detailed description thereof will be omitted.

With the above configuration, in the vector control device 216 for the AC electric motor according to the sixteenth embodiment, the magnetic flux direction current command value IdRef and the torque current command value IqRef calculated from the magnetic flux command value ΦRef and the torque command value TqRef are also stored. By calculating the voltage vector command values VdRef and VqRef and performing the voltage feedforward control, it is possible to stabilize the motor control even in a region where the rotation speed of the motor is high.

Further, the inverter output voltage phase angle θ1 is corrected by the torque angle correction value Δθ, and the magnetic flux correction obtained from the difference between the magnitude | V | of the voltage vector command value and the magnitude | V | fix of the output voltage vector. Value ΔΦ and magnetic flux direction current command value Id
Using the permanent magnet magnetic flux correction value ΔΦf obtained from the difference between Ref and the actual magnetic flux direction current value Id, the magnetic flux direction current command value IdRef,
Torque current command value IqRef, voltage vector command value Vdref, Vq
By correcting Ref, the motor output torque can accurately follow the torque command value TqRef.

<Embodiment 17> Next, a vector controller for an AC electric motor according to Embodiment 17 of the present invention will be described with reference to FIG. An AC motor vector control device 217 according to the seventeenth embodiment is a vector control device for controlling a permanent magnet synchronous motor, and includes a vector control command value calculation means 1-5, a voltage command value calculation means 2-3, Polar coordinate conversion means 3, voltage vector magnitude command value calculation means 4,
It is composed of voltage fixing means 5, modulation factor calculating means 6, PWM voltage generating means 7, magnetic flux correction value calculating means 9-6, torque current control means 10-2 and permanent magnet magnetic flux correction value calculating means 16-1. The vector control device 217 of the seventeenth embodiment is different from the vector control device 216 of the sixteenth embodiment shown in FIG.
9-6 and permanent magnet magnetic flux correction value calculation means 16-2, 16-
The input is exchanged with 1.

Therefore, the magnetic flux correction value calculation means 9-5
Is the input of the difference between the magnetic flux direction current command value IdRef output from the vector control command value calculation means 1-5 and the actual magnetic flux direction current value Id, and the magnetic flux correction value ΔΦ is obtained by the calculation based on the above-mentioned formula 42. Vector control command value calculation means 1-
Give 5

The permanent magnet magnetic flux correction value calculation means 16-2 is
Magnitude of voltage vector output from polar coordinate transformation means 3
| V | and the magnitude | V | fix of the new voltage vector output from the voltage fixing means 5 are input, and the permanent magnet magnetic flux correction value ΔΦf is obtained by the proportional-plus-integral control expressed by the following equation 51.
Is calculated and given to the vector control command value calculation means 1-5 and the voltage command value calculation means 2-3.

[0209]

(Equation 51) However, s: Differential operator Gfp: Proportional gain Gfi: Integral gain Vector control command value calculation means 1-5 determines the magnetic flux command value ΦRe
f, the magnetic flux correction value ΔΦ from the magnetic flux correction value calculation means 9-5, the permanent magnet magnetic flux correction value ΔΦf from the permanent magnet magnetic flux correction value calculation means 16-2, and the torque command value TqRef are input, and the above-mentioned equation 45 is used. Based on the calculation based on
The Ref and the torque current command value IqRef are output.

The voltage command value calculation means 2-3 has the magnetic flux direction current command value IdRe from the vector control command value calculation means 1-5.
Using f, the torque current command value IqRef, and the permanent magnet magnetic flux correction value ΔΦf from the permanent magnet magnetic flux correction value calculating means 16-2 as inputs, the magnetic flux axis voltage command value VdRef and the torque axis voltage command are calculated by the equation (46). Output the value VqRef.

The other components are shown in FIG.
Since it is the same as that of the sixteenth embodiment shown in 1, the detailed description thereof will be omitted.

With the above configuration, the vector control device 217 for an AC electric motor according to the seventeenth embodiment also includes the magnetic flux direction current command value IdRef and the torque current command value IqRef calculated from the magnetic flux command value ΦRef and the torque command value TqRef. By calculating the voltage vector command values VdRef and VqRef and performing the voltage feedforward control, it is possible to stabilize the motor control even in a region where the rotation speed of the motor is high.

Further, the inverter output voltage phase angle θ1 is corrected by the torque angle correction value Δθ, and the permanent magnet magnetic flux obtained from the difference between the magnitude of the voltage vector command value | V | and the magnitude of the output voltage vector | V | fix. The magnetic flux direction current command value IdRef, torque current command value IqRef, voltage vector command value Vdref is calculated using the correction value ΔΦf and the magnetic flux correction value ΔΦ obtained from the difference between the magnetic flux direction current command value IdRef and the actual magnetic flux direction current value Id. ， VqRe
By correcting f, the motor output torque can accurately follow the torque command value TqRef.

[0214]

As described above, according to any one of claims 1 to 10, the magnetizing current command value and the torque current command value are calculated based on the magnetic flux command value and the torque command value. , A voltage vector command value is calculated based on these magnetizing current command value and torque current command value, and the angle of this voltage vector command value with respect to the magnetic flux direction is added to the output voltage phase angle of the power converter by feedforward. As a result, the response speed of the torque control of the induction motor can be increased.

Further, by correcting the magnetizing current command value and the torque current command value by using the magnetic flux correction value or the magnetic flux estimated value, the output torque of the induction motor can be accurately converted into the torque command value in consideration of the actual change of the magnetic flux. Can be followed.

By correcting the output voltage phase angle of the power converter using the slip frequency phase angle correction value, the output torque of the induction motor can more accurately follow the torque command value.

According to the invention of any one of claims 11 to 17, the magnetic flux direction current command value and the torque current command value are calculated based on the magnetic flux command value and the torque command value, and these magnetic flux directions are calculated. To secure the stability of the motor control even in the high rotation speed region of the permanent magnet synchronous motor by calculating the voltage vector command value based on the current command value and the torque current command value and performing the voltage feedforward control. You can

Further, a magnetic flux direction current command value using the magnetic flux correction value or the magnetic flux estimation value, and further the permanent magnet magnetic flux correction value,
By correcting the torque current command value, it is possible to make the output torque of the permanent magnet motion motor accurately follow the torque command value by minimizing the magnetic flux direction current.

Further, by correcting the output voltage phase angle of the power converter using the torque angle correction value, the motor output torque can be made to accurately follow the torque command value.

[Brief description of the drawings]

FIG. 1 is a circuit block diagram of a first embodiment of the present invention.

FIG. 2 is a timing chart showing a PWM waveform according to the first embodiment.

FIG. 3 is a block diagram showing another example of magnetic flux correction value calculation means in the first embodiment.

FIG. 4 is a circuit block diagram according to a second embodiment of the present invention.

FIG. 5 is a circuit block diagram of a third embodiment of the present invention.

FIG. 6 is a block diagram showing the configuration of a weighting factor calculation means according to the third embodiment.

FIG. 7 is a circuit block diagram according to a fourth embodiment of the present invention.

FIG. 8 is a block diagram showing a configuration of a magnetic flux correction value calculation means according to the fourth embodiment.

FIG. 9 is a circuit block diagram according to a fifth embodiment of the present invention.

FIG. 10 is a block diagram showing the configuration of magnetic flux correction value calculation means in the fifth embodiment.

FIG. 11 is a circuit block diagram according to a sixth embodiment of the present invention.

FIG. 12 is a circuit block diagram of a seventh embodiment of the present invention.

FIG. 13 is a circuit block diagram of an eighth embodiment of the present invention.

FIG. 14 is a circuit block diagram according to a ninth embodiment of the present invention.

FIG. 15 is a circuit block diagram according to a tenth embodiment of the present invention.

FIG. 16 is a circuit block diagram according to an eleventh embodiment of the present invention.

FIG. 17 is a circuit block diagram according to a twelfth embodiment of the present invention.

FIG. 18 is a circuit block diagram according to a thirteenth embodiment of the present invention.

FIG. 19 is a circuit block diagram according to a fourteenth embodiment of the present invention.

FIG. 20 is a circuit block diagram according to a fifteenth embodiment of the present invention.

FIG. 21 is a circuit block diagram according to a sixteenth embodiment of the present invention.

FIG. 22 is a circuit block diagram of a seventeenth embodiment of the present invention.

FIG. 23 is a circuit block diagram of a conventional example.

FIG. 24 is a circuit block diagram of another conventional example.

[Explanation of symbols]

1, 1-1 to 1-6 Vector control command value calculation means 2, 2-1 to 2-3 Voltage command value calculation means 3 Polar coordinate conversion means 4 Voltage vector magnitude command value calculation means 5 Voltage fixing means 6 Modulation factor Calculation means 7 Pulse width modulation (PWM) voltage generation means 8 Slip angle frequency integration means 9, 9-1 to 9-6 Magnetic flux correction value calculation means 10, 10-1 to 10-2 Torque current control means 11 Weighting coefficient calculation means 12 d-axis current control means 13 q-axis current control means 14, 14-1 Secondary resistance correction value calculation means 15, 15-1 to 15-4 Magnetic flux estimated value calculation means 16, 16-1, 16-2 Permanent magnet magnetic flux Correction value calculation means 201-217 Vector control device

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Internal reference number FI Technical display location H02P 5/408 Z H

Claims (17)

[Claims] 1. A primary current supplied to the induction motor through a power converter capable of controlling the magnitude, frequency and phase of an output voltage for an induction motor as a control target, and a magnetic flux parallel to the magnetic flux of the induction motor. In the vector controller of the AC motor that separates the directional component (magnetizing current) and the torque directional component (torque current) orthogonal to this, and controls each independently, the magnetic flux command value, the torque command value, and the magnetic flux correction value are As input,
A vector control command value calculating means for calculating a magnetizing current command value, a torque current command value, and a slip angular frequency command value, and a magnetizing current command value and a torque current command value from the vector control command value calculating means as inputs, A voltage command value calculation means for calculating a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux, and a magnetic flux direction component voltage command value and a torque direction component voltage from the voltage command value calculation means. With the command value as an input, polar coordinate conversion means for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction, and the DC link voltage of the power conversion device as an input, the command value of the magnitude of the voltage vector is input. Voltage vector magnitude command value calculation means for calculating, voltage vector magnitude from the polar coordinate transformation means and voltage vector magnitude command value computation A command value of the magnitude of the voltage vector from the means and a voltage fixing command, and a voltage fixing means for calculating a new voltage vector magnitude based on the voltage fixing command; and a new voltage fixing means from the voltage fixing means. Of the voltage vector and the DC link voltage of the power converter, the modulation factor calculator for calculating the modulation factor of the output voltage of the power converter, and the slip angular frequency from the vector control command value calculator. A slip angle frequency integrating means for integrating the command value and outputting it as a slip frequency phase angle, a magnetizing current command value from the vector control command value calculating means, and a magnetizing current actual value are input, and the magnetic flux correction value is calculated. And a magnetic flux correction value calculating means to be given as an input to the vector control command value calculating means, an angle of the voltage vector from the polar coordinate converting means, and the slip angular frequency. The output voltage phase angle of the power conversion device, which is the sum of the slip frequency phase angle from the number integration means and the rotor phase angle of the induction motor, and the modulation factor from the modulation factor calculation means are input, and the power conversion device is input. And a pulse width modulation voltage generating means for outputting a pulse width modulation voltage command value of the output of 1. 2. The torque current command value from the vector control command value calculation means and the actual torque current value are input,
The vector control device for an AC electric motor according to claim 1, further comprising a torque current control means for calculating a slip frequency phase angle correction value and adding it to an output voltage phase angle of the power converter. 3. A primary current supplied to the induction motor through a power converter capable of controlling the magnitude, frequency and phase of the output voltage for the induction motor as a control target, and a magnetic flux parallel to the magnetic flux of the induction motor. In the vector controller of the AC motor that separates the directional component (magnetizing current) and the torque directional component (torque current) orthogonal to this, and controls each independently, the magnetic flux command value, the torque command value, and the magnetic flux correction value are As input,
A vector control command value calculating means for calculating a magnetizing current command value, a torque current command value, and a slip angular frequency command value, and a magnetizing current command value and a torque current command value from the vector control command value calculating means as inputs, A voltage command value calculating means for calculating a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux, and an input of an angular frequency of an output voltage of the power conversion device, and a first weighting factor. A weighting factor calculating means for calculating a second weighting factor, a difference between a magnetizing current command value from the vector control command value calculating means, and an actual magnetizing current value is multiplied by a first weighting factor from the weighting factor calculating means. Input value, the d-axis current control means for calculating the magnetic flux direction component voltage correction value, and the difference between the vector current command value from the vector control command value calculation means and the vector current actual value Q-axis current control means for calculating a torque direction component voltage correction value by inputting a value multiplied by the first weight coefficient from the weight coefficient calculation means, and the magnetic flux direction component voltage command value from the voltage command value calculation means The magnetic flux direction component voltage correction value from the d-axis current control means is added to obtain a new magnetic flux direction component voltage command value, and the torque direction component voltage command value from the voltage command value calculation means is added to the q-axis current control means. The torque direction component voltage correction value is added to form a new torque direction component voltage command value, and these new magnetic flux direction component voltage command value and torque direction component voltage command value are input, and the magnitude of the voltage vector and the magnetic flux direction A polar coordinate conversion means for calculating the angle of the voltage vector with respect to, and a voltage vector for calculating a command value of the magnitude of the voltage vector by inputting the DC link voltage of the power conversion device. Magnitude command value computing means, the magnitude of the voltage vector from the polar coordinate transforming means and the command value of the magnitude of the voltage vector from the magnitude command value computing means of the voltage vector, and the voltage fixed command as input, Voltage fixing means for calculating the magnitude of the new voltage vector based on the voltage fixing command, and the input of the magnitude of the new voltage vector and the DC link voltage of the power converter, the output voltage of the power converter Modulation rate calculating means for calculating a modulation rate, slip angle frequency integrating means for integrating the slip angle frequency command value from the vector control command value calculating means and outputting it as a slip frequency phase angle, and vector control command value calculating means The magnetic flux correction is made by inputting a value obtained by multiplying the difference between the magnetizing current command value from Magnetic flux correction value computing means for calculating and giving as an input to the vector control command value computing means, the weighting factor computing means for the difference between the torque current command value from the vector control command value computing means and the actual torque current value. A value multiplied by the second weighting factor from the input, a slip frequency phase angle correction value is calculated, and added to the slip frequency phase angle from the slip angle frequency integrating means; Of the voltage vector, the slip frequency phase angle from the slip angle frequency integration means, the slip frequency phase angle correction value from the torque current control means, and the rotor phase angle of the induction motor, the output of the power converter. A pulse for inputting the voltage phase angle and the modulation rate from the modulation rate calculation means and outputting a pulse width modulation voltage command value of the output of the power conversion device Vector controller for an AC motor comprising a modulation voltage generating means. 4. A magnetic flux parallel to a magnetic flux of the induction motor, wherein a primary current supplied to the induction motor via an electric power conversion device capable of controlling the magnitude, frequency and phase of an output voltage for an induction motor as a control target. In a vector controller for an AC motor that separates a direction component (magnetizing current) and a torque direction component (torque current) orthogonal to the direction component and controls each independently, a magnetic flux command value, a torque command value, and a magnetic flux correction value A vector control command value calculating means for calculating a magnetizing current command value, a torque current command value, and a slip angular frequency command value with the next resistance correction value as an input, and a magnetizing current command value from the vector control command value calculating means and A voltage finger for inputting a torque current command value and the secondary resistance correction value and calculating a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. Polar coordinate conversion for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction by inputting the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculation means Means, a voltage vector magnitude command value computing means for calculating the command value of the magnitude of the voltage vector by inputting the DC link voltage of the power converter, and the magnitude and the voltage of the voltage vector from the polar coordinate transformation means. A voltage fixing means for inputting a command value of the voltage vector magnitude from the vector magnitude command value calculating means and a voltage fixing instruction, and calculating a new voltage vector magnitude based on the voltage fixing instruction, The voltage of the new voltage vector from the voltage fixing means and the DC link voltage of the power converter are input, and the output voltage of the power converter is input. Modulation rate calculating means for calculating a modulation rate, slip angle frequency integrating means for integrating the slip angle frequency command value from the vector control command value calculating means and outputting it as a slip frequency phase angle, and vector control command value calculating means A magnetizing current command value from, a magnetizing current actual value and the secondary resistance correction value as an input, a magnetic flux correction value calculating means for calculating the magnetic flux correction value and giving as an input to the vector control command value calculating means, The torque control command value from the vector control command value calculating means, the actual torque current value and the torque command value are input, and the secondary resistance correction value is calculated to calculate the vector control command value calculating means and the voltage command value. Secondary resistance correction value calculation means given as an input to the calculation means and the magnetic flux correction value calculation means, the angle of the voltage vector from the polar coordinate conversion means, and the slip angular frequency The output voltage phase angle of the power converter, which is the sum of the slip frequency phase angle from the integrator and the rotor phase angle of the induction motor, and the modulation factor from the modulation factor calculator, are input to the power converter. A vector control device for an AC motor, comprising: a pulse width modulation voltage generating means for outputting an output pulse width modulation voltage command value. 5. A primary current supplied to the induction motor through a power converter capable of controlling the magnitude, frequency and phase of the output voltage for the induction motor as a control target is a magnetic flux parallel to the magnetic flux of the induction motor. In a vector controller for an AC motor that separates a direction component (magnetizing current) and a torque direction component (torque current) orthogonal to the direction component and controls each independently, a magnetic flux command value, a torque command value, and a magnetic flux correction value A vector control command value calculating means for calculating a magnetizing current command value, a torque current command value, and a slip angular frequency command value with the next resistance correction value as an input, and a magnetizing current command value from the vector control command value calculating means and A voltage finger for inputting a torque current command value and the secondary resistance correction value and calculating a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. A value calculating means, a weighting coefficient calculating means for calculating a first weighting coefficient and a second weighting coefficient with the angular frequency of the output voltage of the power converter as an input, and a magnetizing current command from the vector control command value calculating means. A d-axis current control means for calculating a magnetic flux direction component voltage correction value by inputting a value obtained by multiplying the difference between the value and the actual magnetizing current value by the first weighting coefficient from the weighting coefficient calculation means, and the vector control command. A q-axis current control for calculating a torque direction component voltage correction value by inputting a value obtained by multiplying the difference between the vector current command value from the value calculation means and the actual vector current value by the first weight coefficient from the weight coefficient calculation means. Means, and a magnetic flux direction component voltage command value from the voltage command value calculation means, and a magnetic flux direction component voltage correction value from the d-axis current control means is added to obtain a new magnetic flux direction component voltage command value. The torque direction component voltage command value from the calculating means is added with the torque direction component voltage correction value from the q-axis current control means to obtain a new torque direction component voltage command value, and these new magnetic flux direction component voltage command values are added. A torque direction component voltage command value is input, polar coordinate conversion means for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction, and a DC link voltage of the power conversion device is input, and the magnitude of the voltage vector is input. A voltage vector magnitude command value calculating means for calculating the command value of, and a voltage vector magnitude command value from the polar coordinate converting means and the voltage vector magnitude command value computing means, A voltage fixing command for inputting the voltage fixing command and calculating the magnitude of a new voltage vector based on the voltage fixing command; and the new voltage vector. A tor size and a DC link voltage of the power converter, and a modulation factor calculating means for calculating a modulation factor of the output voltage of the power converter, and a slip angular frequency command value from the vector control command value calculating means. A slip angle frequency integrating means for integrating and outputting as a slip frequency phase angle, a magnetizing current command value from the vector control command value calculating means, a magnetizing current actual value, the secondary resistance correction value, and the weighting coefficient calculating means. And a torque current command value from the vector control command value calculation unit, the magnetic flux correction value calculation unit calculating the magnetic flux correction value and giving it to the vector control command value calculation unit as an input. And a value obtained by multiplying the difference between the actual torque current value and the second weighting factor from the weighting factor computing means, the torque command value and the torque from the q-axis current control means. A secondary resistance correction value calculation that receives the direction component voltage correction value as an input, calculates the secondary resistance correction value, and gives the vector control command value calculation means, the voltage command value calculation means, and the magnetic flux correction value calculation means as inputs. Means, the angle of the voltage vector from the polar coordinate conversion means, the slip frequency phase angle from the slip angle frequency integration means and the output voltage phase angle of the power converter which is the sum of the rotor phase angle of the induction motor, and A vector control device for an AC electric motor, comprising: a pulse width modulation voltage generating means for inputting a modulation ratio from a modulation ratio calculating means and outputting a pulse width modulation voltage command value of an output of the power converter. 6. A magnetic flux parallel to a magnetic flux of the induction motor, wherein a primary current supplied to the induction motor via an electric power conversion device capable of controlling the magnitude, frequency and phase of an output voltage for an induction motor as a control target. In a vector control device of an AC motor that separates a direction component (magnetizing current) and a torque direction component (torque current) orthogonal to the direction component and controls each independently, a magnetic flux command value, a torque command value, and the estimated magnetic flux value are calculated. A magnetic flux estimation value from the means, and a vector control command value calculation means for calculating a magnetization current command value, a torque current command value, and a slip angular frequency command value; and a magnetization current command from the vector control command value calculation means. The voltage command value calculator for calculating the magnetic flux direction component voltage command value and the torque direction component voltage command value in the direction orthogonal to the magnetic flux by inputting the value and the torque current command value. A polar coordinate conversion means for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction by inputting the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculation means. A voltage vector magnitude command value calculating means for calculating a command value of a voltage vector magnitude by inputting a DC link voltage of the power converter, a magnitude of the voltage vector from the polar coordinate transforming means and a magnitude of the voltage vector. Voltage fixing means for inputting the command value of the voltage vector magnitude from the command value computing means and the voltage fixing instruction, and calculating a new voltage vector magnitude based on the voltage fixing instruction; and the voltage fixing means. The new voltage vector from the means and the DC link voltage of the power converter are input, and the modulation factor of the output voltage of the power converter is set. Modulation factor calculating means for outputting, slip angle frequency integrating means for integrating the slip angle frequency command value from the vector control command value calculating means and outputting as a slip frequency phase angle, and magnetizing current actual value as an input, the magnetic flux A magnetic flux estimation value calculation means for calculating an estimation value and giving it as an input to the vector control command value calculation means, an angle of a voltage vector from the polar coordinate conversion means, a slip frequency phase angle from the slip angle frequency integration means, and the induction. The output voltage phase angle of the power conversion device, which is the sum of the rotor phase angles of the electric motor, and the modulation factor from the modulation factor calculation means are input, and the pulse width modulation voltage command value of the output of the power conversion device is output. A vector control device for an AC electric motor, comprising: a pulse width modulation voltage generating means. 7. The torque current command value from the vector control command value calculation means and the actual torque current value are input,
7. The vector controller for an AC electric motor according to claim 6, further comprising torque current control means for calculating a slip frequency phase angle correction value and adding it to the output voltage phase angle of the power converter. 8. A primary current supplied to the induction motor through a power converter capable of controlling the magnitude, frequency and phase of the output voltage with the induction motor as a control target, and a magnetic flux parallel to the magnetic flux of the induction motor. In a vector control device for an AC motor that separates a direction component (magnetizing current) and a torque direction component (torque current) orthogonal to the direction component and controls each independently, a magnetic flux command value, a torque command value, and a magnetic flux estimated value A vector control command value calculating means for calculating a magnetizing current command value, a torque current command value, and a slip angular frequency command value with the next resistance correction value as an input, and a magnetizing current command value from the vector control command value calculating means and A voltage finger for inputting a torque current command value and the secondary resistance correction value and calculating a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. Polar coordinate conversion for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction by inputting the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculation means Means, a voltage vector magnitude command value computing means for calculating the command value of the magnitude of the voltage vector by inputting the DC link voltage of the power converter, and the magnitude and the voltage of the voltage vector from the polar coordinate transformation means. A voltage fixing means for inputting a command value of the voltage vector magnitude from the vector magnitude command value calculating means and a voltage fixing instruction, and calculating a new voltage vector magnitude based on the voltage fixing instruction, The voltage of the new voltage vector from the voltage fixing means and the DC link voltage of the power converter are input, and the output voltage of the power converter is input. Modulation factor calculating means for calculating the modulation factor, slip angle frequency integrating means for integrating the slip angle frequency command value from the vector control command value calculating means and outputting it as a slip frequency phase angle, magnetizing current actual value and the two With a next resistance correction value as an input, a magnetic flux estimated value calculating means for calculating the magnetic flux estimated value and giving it as an input to the vector control command value calculating means, and a torque current command value from the vector control command value calculating means, A secondary input using the actual torque current value and the torque command value as input, calculating the secondary resistance correction value, and giving the vector control command value calculation means, the voltage command value calculation means, and the magnetic flux estimated value calculation means as inputs. Resistance correction value calculation means, the angle of the voltage vector from the polar coordinate conversion means, the slip frequency phase angle from the slip angle frequency integration means, and the induction motor A pulse width that outputs the pulse width modulation voltage command value of the output of the power conversion device by inputting the output voltage phase angle of the power conversion device that is the sum of the trochanter phase angles and the modulation ratio from the modulation ratio calculation means. A vector control device for an AC electric motor, comprising: a modulation voltage generating means. 9. The motor for estimating the magnetic flux estimation value, the slip angular frequency command value from the vector control command value calculation means, the angle of the voltage vector from the polar coordinate conversion means, the magnitude of the voltage vector from the voltage fixing means, and the electric motor. 9. The vector control device for an AC electric motor according to claim 8, wherein the rotor angular frequency is input, and the estimated magnetic flux value is calculated and given to the vector control command value calculation means as an input. 10. The magnetic flux estimation value calculation means includes: a motor rotor angular frequency; a slip angle frequency command value from the vector control command value calculation means; a voltage vector angle from the polar coordinate conversion means; and the voltage fixing means. Of the voltage vector and the secondary resistance correction value from the secondary resistance correction value calculating means are input, and the magnetic flux estimated value is calculated and given to the vector control command value calculating means as input. A vector control device for an AC electric motor according to claim 8. 11. The permanent magnet synchronous motor is a primary current supplied to the permanent magnet synchronous motor via a power converter capable of controlling the magnitude, frequency and phase of an output voltage, with the permanent magnet synchronous motor as a control target. In the vector controller of the AC motor, which separates the component in the direction parallel to the magnetic flux of the magnetic flux (current in the magnetic flux direction) and the component in the direction perpendicular to this (torque current) and controls each independently, the magnetic flux command value and the torque command Input the value and the magnetic flux correction value,
A vector control command value calculating means for calculating the magnetic flux direction current command value and the torque current command value, and the magnetic flux direction current command value and the torque current command value from the vector control command value calculating means are input, and the magnetic flux direction component voltage is input. A voltage command value calculating means for calculating a command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux; and a magnetic flux direction component voltage command value and a torque direction component voltage command value from the voltage command value calculating means. A polar coordinate conversion means for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction as an input, and a voltage vector for calculating the command value of the magnitude of the voltage vector by inputting the DC link voltage of the power conversion device. Of the voltage vector from the polar coordinate conversion means and the voltage from the magnitude command value calculation means of the voltage vector A command value of the magnitude of the vector and a voltage fixing command are input, voltage fixing means for calculating the magnitude of the new voltage vector based on the voltage fixing command, and a new voltage vector from the voltage fixing means. Modulation factor calculating means for calculating the modulation factor of the output voltage of the power converter by inputting the magnitude and the DC link voltage of the power converter, and the magnetic flux direction current command value and the magnetic flux from the vector control command value calculating means. A directional current actual value is used as an input, and the magnetic flux correction value is calculated and given to the vector control command value calculation means as an input; an angle of the voltage vector from the polar coordinate conversion means and the permanent magnet synchronization. The output voltage phase angle of the power converter, which is the sum of the rotor phase angles of the electric motor, and the modulation factor from the modulation factor calculation means are input, and the output of the power converter is calculated. Vector controller for an AC motor comprising a pulse width modulated voltage generating means for outputting a pulse width modulation voltage command value. 12. A torque angle correction value such that the torque current actual value follows the torque current instruction value by inputting the torque current instruction value and the torque current actual value from the vector control instruction value calculating means. 12. The vector control device for an AC electric motor according to claim 11, further comprising torque current control means for calculating and adding to the sum of the angle of the voltage vector from said polar coordinate conversion means and the rotor phase angle of said permanent magnet synchronous motor. . 13. The permanent magnet synchronous motor is provided with a primary current supplied to the permanent magnet synchronous motor via a power converter capable of controlling the magnitude, frequency and phase of an output voltage for the permanent magnet synchronous motor. In the vector controller of the AC motor, which separates the component in the direction parallel to the magnetic flux of the magnetic flux (current in the magnetic flux direction) and the component in the direction perpendicular to this (torque current) and controls each independently, the magnetic flux command value and the torque command A vector control command value calculation means for calculating a magnetic flux direction current command value and a torque current command value by inputting a value, a magnetic flux correction value and a permanent magnet magnetic flux correction value, and a magnetic flux direction current from the vector control command value calculation means. A command value, a torque current command value, and the permanent magnet magnetic flux correction value are input, and a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. And a magnetic flux direction component voltage command value and a torque direction component voltage command value from the voltage command value calculation unit are input, and the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction. A polar coordinate conversion means for calculating, a voltage vector magnitude command value calculation means for calculating a command value of a voltage vector magnitude by inputting a DC link voltage of the power conversion device, and a voltage vector from the polar coordinate transformation means. And a command value of the voltage vector size from the voltage vector size command value computing means and a voltage fixing command are input, and a new voltage vector size is calculated based on the voltage fixing command. The voltage fixing means, the magnitude of the new voltage vector from the voltage fixing means and the DC link voltage of the power converter are input, and the power Modulation factor calculating means for calculating the modulation factor of the output voltage of the switching device, the magnetic flux direction current command value and the magnetic flux direction current actual value from the vector control command value calculating means are input, and the magnetic flux correction value is calculated. The magnetic flux correction value calculation means given as an input to the vector control command value calculation means, the torque current command value from the vector control command value calculation means, the actual torque current value and the torque command value are input, and the permanent magnet is used. A permanent magnet magnetic flux correction value calculation means for calculating a magnetic flux correction value and giving it as an input to the vector control command value calculation means, voltage command value calculation means, and magnetic flux correction value calculation means, and an angle of the voltage vector from the polar coordinate conversion means. And an output voltage phase angle of the power converter which is a sum of rotor phase angles of the permanent magnet synchronous motor, and a modulation factor from the modulation factor calculating means, AC motor vector control device comprising a pulse width modulated voltage generating means for outputting a pulse width modulation voltage command value of the output of the force transducer device. 14. The permanent magnet synchronous motor is a primary current supplied to the permanent magnet synchronous motor via a power converter capable of controlling the magnitude, frequency and phase of an output voltage for the permanent magnet synchronous motor. In the vector controller of the AC motor, which separates the component in the direction parallel to the magnetic flux of the magnetic flux (current in the magnetic flux direction) and the component in the direction perpendicular to this (torque current) and controls each independently, the magnetic flux command value and the torque command Input the value and the estimated magnetic flux,
A vector control command value calculating means for calculating the magnetic flux direction current command value and the torque current command value, and the magnetic flux direction current command value and the torque current command value from the vector control command value calculating means are input, and the magnetic flux direction component voltage is input. A voltage command value calculating means for calculating a command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux; and a magnetic flux direction component voltage command value and a torque direction component voltage command value from the voltage command value calculating means. A polar coordinate conversion means for calculating the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction as an input, and a voltage vector for calculating the command value of the magnitude of the voltage vector by inputting the DC link voltage of the power conversion device. Of the voltage vector from the polar coordinate conversion means and the voltage from the magnitude command value calculation means of the voltage vector A command value of the magnitude of the vector and a voltage fixing command are input, voltage fixing means for calculating the magnitude of the new voltage vector based on the voltage fixing command, and a new voltage vector from the voltage fixing means. Inputting the magnitude and the DC link voltage of the power converter, the modulation factor calculating means for calculating the modulation factor of the output voltage of the power converter, and the actual value of the magnetic flux direction current as the input to calculate the estimated value of the magnetic flux. And a magnetic flux estimation value calculation means to be given as an input to the vector control command value calculation means, and the output voltage of the power converter which is the sum of the angle of the voltage vector from the polar coordinate conversion means and the rotor phase angle of the permanent magnet synchronous motor. Pulse width modulation voltage generation means for inputting the phase angle and the modulation rate from the modulation rate calculation means and outputting a pulse width modulation voltage command value of the output of the power conversion device; Vector controller for an AC motor comprising equipped. 15. A torque angle correction value for inputting a torque current command value and a torque current actual value from said vector control command value calculating means and for making said torque current actual value follow said torque current command value. The vector control device for an AC electric motor according to claim 14, further comprising a torque current control means for calculating and adding to the sum of the angle of the voltage vector from said polar coordinate conversion means and the rotor phase angle of said permanent magnet synchronous motor. . 16. The permanent magnet synchronous motor is provided with a primary current supplied to the permanent magnet synchronous motor via a power converter capable of controlling the magnitude, frequency and phase of an output voltage for the permanent magnet synchronous motor. In the vector controller of the AC motor, which separates the component in the direction parallel to the magnetic flux of the magnetic flux (current in the magnetic flux direction) and the component in the direction perpendicular to this (torque current) and controls each independently, the magnetic flux command value and the torque command A vector control command value calculation means for calculating a magnetic flux direction current command value and a torque current command value by inputting a value, a magnetic flux correction value and a permanent magnet magnetic flux correction value, and a magnetic flux direction current from the vector control command value calculation means. A command value, a torque current command value, and the permanent magnet magnetic flux correction value are input, and a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. The voltage command value calculating means for calculating and the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculating means are input, and the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction are set. Polar coordinate conversion means for calculating, the DC link voltage of the power conversion device as an input, the voltage vector magnitude command value calculation means for calculating the command value of the voltage vector magnitude, of the voltage vector from the polar coordinate conversion means A voltage for calculating a size of a new voltage vector based on the voltage fixing command by inputting a size and a command value of the voltage vector size from the voltage value commanding means and a voltage fixing command. The fixing means, the magnitude of the new voltage vector from the voltage fixing means, and the DC link voltage of the power conversion device are input, and the power conversion is performed. Modulation factor calculating means for calculating the modulation factor of the output voltage of the device, the magnitude of the voltage vector from the polar coordinate conversion means and the magnitude of the new voltage vector from the voltage fixing means are input, and the magnetic flux correction value is calculated. Then, the magnetic flux correction value calculation means for giving as an input to the vector control command value calculation means, and the magnetic flux direction current command value and the actual magnetic flux direction current value from the vector control command value calculation means are input, and the permanent magnet magnetic flux correction is performed. A permanent magnet magnetic flux correction value calculation means for calculating a value and giving it as an input to the vector control command value calculation means and the voltage command value calculation means; a torque current command value from the vector control command value calculation means; Torque current control means for inputting an actual value and calculating a torque angle correction value such that the actual torque current value follows the torque current command value An output voltage phase angle of the power converter which is the sum of the angle of the voltage vector from the polar coordinate conversion means, the torque angle correction value from the torque current control means and the rotor phase angle of the permanent magnet synchronous motor, and the modulation A vector control device for an AC electric motor, comprising: a pulse width modulation voltage generating means that outputs a pulse width modulation voltage command value of the output of the power conversion device, with the modulation ratio from the ratio calculating means as an input. 17. The permanent magnet synchronous motor is provided with a primary current supplied to the permanent magnet synchronous motor via a power converter capable of controlling the magnitude, frequency and phase of an output voltage for the permanent magnet synchronous motor. In the vector controller of the AC motor, which separates the component in the direction parallel to the magnetic flux of the magnetic flux (current in the magnetic flux direction) and the component in the direction perpendicular to this (torque current) and controls each independently, the magnetic flux command value and the torque command A vector control command value calculation means for calculating a magnetic flux direction current command value and a torque current command value by inputting a value, a magnetic flux correction value and a permanent magnet magnetic flux correction value, and a magnetic flux direction current from the vector control command value calculation means. A command value, a torque current command value, and the permanent magnet magnetic flux correction value are input, and a magnetic flux direction component voltage command value and a torque direction component voltage command value in a direction orthogonal to the magnetic flux. The voltage command value calculating means for calculating and the magnetic flux direction component voltage command value and the torque direction component voltage command value from the voltage command value calculating means are input, and the magnitude of the voltage vector and the angle of the voltage vector with respect to the magnetic flux direction are set. Polar coordinate conversion means for calculating, the DC link voltage of the power conversion device as an input, the voltage vector magnitude command value calculation means for calculating the command value of the voltage vector magnitude, of the voltage vector from the polar coordinate conversion means A voltage for calculating a size of a new voltage vector based on the voltage fixing command by inputting a size and a command value of the voltage vector size from the voltage value commanding means and a voltage fixing command. The fixing means, the magnitude of the new voltage vector from the voltage fixing means, and the DC link voltage of the power conversion device are input, and the power conversion is performed. Modulation factor calculating means for calculating the modulation factor of the output voltage of the device, and the magnetic flux direction current command value and the magnetic flux direction current actual value from the vector control command value calculating means are input, and the magnetic flux correction value is calculated to calculate the magnetic flux correction value. The magnetic flux correction value calculation means given as an input to the vector control command value calculation means, the magnitude of the voltage vector from the polar coordinate transformation means and the magnitude of the new voltage vector from the voltage fixing means are input, and the permanent magnet flux correction is performed. A permanent magnet magnetic flux correction value calculation means for calculating a value and giving it as an input to the vector control command value calculation means and the voltage command value calculation means; a torque current command value from the vector control command value calculation means; Torque current control means for inputting an actual value and calculating a torque angle correction value such that the actual torque current value follows the torque current command value An output voltage phase angle of the power converter which is the sum of the angle of the voltage vector from the polar coordinate conversion means, the torque angle correction value from the torque current control means and the rotor phase angle of the permanent magnet synchronous motor, and the modulation A vector control device for an AC electric motor, comprising: a pulse width modulation voltage generating means that outputs a pulse width modulation voltage command value of the output of the power conversion device, with the modulation ratio from the ratio calculating means as an input.