JPWO2022003886A5

JPWO2022003886A5 -

Info

Publication number: JPWO2022003886A5
Application number: JP2022532938A
Authority: JP
Filing date: 2020-07-02
Publication date: 2022-10-27
Anticipated expiration: 2040-07-02

Description

本開示に係るモータ制御装置は、モータの三相の電機子巻線に流れるモータ電流を検出する電流検出部と、外部から入力される目標回転角速度と前記電流検出部が検出した前記モータ電流とに基づいて電圧指令値を生成して、前記モータの実回転角速度を制御するベクトル制御器と、前記ベクトル制御器で生成された前記電圧指令値に応じて、前記モータに電力を供給する電力変換器と、前記モータのモータパラメータと前記電力変換器のインバータパラメータとを同定する同定器とを備え、前記同定器は、前記三相のうちの少なくとも二相の前記モータ電流を第１の値と第２の値とにそれぞれ制御することで前記モータの回転子を第１の位置に停止させ、前記回転子を前記第１の位置に停止させた状態で、前記ベクトル制御器が生成した前記電圧指令値と前記電流検出部が検出した前記モータ電流とを取得し、前記電圧指令値と前記モータ電流とに基づいて前記モータパラメータと前記インバータパラメータとを求めるものであり、前記同定器は、１回目のサンプリング時に、前記三相のうちの少なくとも二相の前記モータ電流を前記第１の値と前記第２の値とにそれぞれ制御することで前記モータの前記回転子を前記第１の位置に停止させ、前記回転子を前記第１の位置に停止させた状態で、前記ベクトル制御器が生成した前記電圧指令値と前記電流検出部が検出した前記モータ電流とを取得し、それぞれ、第１の電圧指令値および第１のモータ電流とし、２回目のサンプリング時に、前記三相のうちの少なくとも二相の前記モータ電流を前記第１の値および前記第２の値とは異なる第４の値および第５の値とにそれぞれ制御することで前記モータの前記回転子を第２の位置に停止させ、前記回転子を前記第２の位置に停止させた状態で、前記電圧指令値と前記モータ電流とを取得して、それぞれ、第２の電圧指令値および第２のモータ電流とし、前記第１および第２の電圧指令値と前記第１および第２のモータ電流とに基づいて前記モータパラメータと前記インバータパラメータとを求めるものであって、前記三相のうちの少なくとも二相の前記モータ電流を前記第１の値と前記第２の値とにそれぞれ制御することで前記モータの前記回転子を前記第１の位置に停止させて同定を行う方法を第１の同定方法とし、前記三相のうちの少なくとも二相の前記モータ電流を前記第１の値と前記第２の値とにそれぞれ制御することで前記モータの前記回転子を前記第１の位置に停止させ、その後、段階的に、前記三相のうちの少なくとも二相の前記モータ電流を前記第１の値および前記第２の値とは異なる前記第４の値および前記第５の値とにそれぞれ制御することで前記モータの前記回転子を前記第２の位置に停止させて同定を行う方法を第２の同定方法としたとき、前記同定器は、前記第１の同定方法および前記第２の同定方法の中から前記回転子の位置ごとに同定方法を予め設定しておき、前記回転子を停止させる位置に応じて前記同定方法を変更して同定を行うものである。 A motor control device according to the present disclosure includes a current detection unit that detects a motor current flowing through a three-phase armature winding of a motor, a target rotational angular velocity input from the outside, and the motor current detected by the current detection unit. and a vector controller for controlling the actual rotational angular velocity of the motor by generating a voltage command value based on a power converter for supplying power to the motor according to the voltage command value generated by the vector controller. and an identifier that identifies motor parameters of the motor and inverter parameters of the power converter, wherein the identifier identifies the motor current of at least two of the three phases as a first value. stopping the rotor of the motor at a first position by controlling respectively to a second value and, with the rotor stopped at the first position, the voltage generated by the vector controller; A command value and the motor current detected by the current detection unit are obtained, and the motor parameter and the inverter parameter are obtained based on the voltage command value and the motor current . At the time of the second sampling, the rotor of the motor is moved to the first position by controlling the motor current of at least two of the three phases to the first value and the second value, respectively. With the rotor stopped at the first position, the voltage command value generated by the vector controller and the motor current detected by the current detection unit are obtained. and the first motor current, and at the second sampling, the motor current of at least two of the three phases is set to a fourth value different from the first value and the second value and a fifth value to stop the rotor of the motor at the second position, and with the rotor stopped at the second position, the voltage command value and the motor a second voltage command value and a second motor current, respectively, and the motor parameter based on the first and second voltage command values and the first and second motor currents. and the inverter parameter, the rotor of the motor by controlling the motor current of at least two phases out of the three phases to the first value and the second value, respectively is stopped at the first position for identification, and the motor current of at least two of the three phases is set to the first value and the second value, respectively. Control to stop the rotor of the motor at the first position, and thereafter, stepwise, reduce the motor current of at least two of the three phases to the first value and the second value. is controlled to the fourth value and the fifth value different from each other so that the rotor of the motor is stopped at the second position and identified as a second identification method, The identifier presets an identification method for each position of the rotor from among the first identification method and the second identification method, and selects the identification method according to the position at which the rotor is stopped. is changed to perform identification .

Claims

a current detector that detects a motor current flowing through the three-phase armature winding of the motor;
a vector controller that controls the actual rotational angular velocity of the motor by generating a voltage command value based on the target rotational angular velocity input from the outside and the motor current detected by the current detection unit;
a power converter that supplies power to the motor according to the voltage command value generated by the vector controller;
an identifier that identifies motor parameters of the motor and inverter parameters of the power converter;
The identifier is
The rotor of the motor is stopped at a first position by controlling the motor current of at least two of the three phases to a first value and a second value, respectively, and the rotor is stopped at the first position. 1, the voltage command value generated by the vector controller and the motor current detected by the current detection unit are acquired, and based on the voltage command value and the motor current, the A motor parameter and the inverter parameter are obtained ,
The identifier is
At the time of the first sampling, the rotor of the motor is moved to the first position by controlling the motor current of at least two of the three phases to the first value and the second value, respectively. and the rotor is stopped at the first position, the voltage command value generated by the vector controller and the motor current detected by the current detection unit are obtained, With a voltage command value of 1 and a first motor current,
controlling the motor current of at least two phases out of the three phases to a fourth value and a fifth value different from the first value and the second value, respectively, at the time of the second sampling; The rotor of the motor is stopped at a second position, and with the rotor stopped at the second position, the voltage command value and the motor current are obtained, Let the voltage command value and the second motor current be
determining the motor parameter and the inverter parameter based on the first and second voltage command values and the first and second motor currents,
By controlling the motor current of at least two of the three phases to the first value and the second value, respectively, the rotor of the motor is stopped at the first position for identification. The first identification method is the method of
stopping the rotor of the motor at the first position by controlling the motor current of at least two of the three phases to the first value and the second value, respectively; By stepwise controlling the motor current of at least two of the three phases to the fourth value and the fifth value different from the first value and the second value, respectively When the method of identifying by stopping the rotor of the motor at the second position is the second identification method,
The identifier is
An identification method is preset for each position of the rotor from among the first identification method and the second identification method, and identification is performed by changing the identification method according to the position at which the rotor is stopped. I do,
motor controller.

the motor parameter is an armature winding resistance of the armature winding of the motor;
the inverter parameter is the dead time reduction voltage of the motor;
The identifier is
having motor voltage information defining the relationship between the actual voltage of the motor, the motor current, and the armature winding resistance;
The rotor of the motor is stopped at the first position by controlling the motor current of at least two of the three phases to the first value and the second value, respectively, and the rotation is performed. With the motor stopped at the first position, the voltage command value generated by the vector controller and the motor current detected by the current detection unit are acquired, and the actual voltage of the motor is By subtracting the dead time reduction voltage from the voltage command value and adding the dead time compensation voltage corresponding to the dead time reduction voltage identified by the identifier, the voltage command value and the determining the armature winding resistance and the dead time reduction voltage using the motor current and the motor voltage information;
The motor control device according to claim 1.

the first position of the rotor is a position where none of the motor currents of the three phases is zero;
3. A motor control device according to claim 2.

When the motor currents of the three phases are respectively the first value, the second value, and the third value, the magnitudes of the dead time reduction voltages of the three phases are all the same. in the case of
The identifier is
The rotor of the motor is stopped at the first position by controlling the three-phase motor current to the first value, the second value, and the third value , respectively. and
The identifier is
of the signs of the first value, the second value, and the third value, such that two are positive and one is negative, or two are negative and one is positive, setting the first value, the second value and the third value;
4. A motor control device according to claim 3.

When the value of the motor current is positive or negative and the absolute value of the motor current is equal to or greater than a threshold value as the saturation region,
When the motor currents of the three phases are respectively the first value, the second value, and the third value within the saturation region, the magnitude of the dead time reduction voltage of the three phases are all the same ,
The identifier is
Of the signs of the first value, the second value and the third value, two are positive and one is negative, or two are negative and one is positive. setting a value of 1, the second value, and the third value within the saturation region of the motor current;
5. A motor control device according to claim 4.

the motor parameter is an armature winding resistance of the armature winding of the motor;
wherein the inverter parameter is the dead time reduction voltage of the motor;
A motor control device according to claim 5 .

the first position and the second position of the rotor are positions at which one of the three phases of the motor current is zero;
7. A motor control device according to claim 6 .

If the following condition 2 holds,
Condition 2: satisfying all three of the following (i) to (iii);
(i): Of the phase motor currents, one phase motor current is zero, and the remaining two phase motor currents are the same in magnitude and opposite in sign.
(ii): the magnitudes of the remaining two-phase motor currents are different between the first sampling time and the second sampling time;
(iii): the magnitude of the dead time reduction voltage in the remaining two phases of the motor current is the same between the first sampling and the second sampling;
The identifier is
Among the three phases of the motor current, the motor current of one phase is zero, and the absolute values of the motor currents of the remaining two phases are the same and the signs are opposite.
The first value and the fourth value are set at two different points in the region where the motor current is positive, and the second value and the fifth value are set at the regions where the motor current is negative. set at each of two different points to identify the armature winding resistance and the dead time reduction voltage;
The motor control device according to claim 7 .

the d-axis phase of the motor current during the first sampling and the d-axis phase of the motor current during the second sampling are different from each other,
a phase difference between the d-axis phase of the motor current at the first sampling and the d-axis phase of the motor current at the second sampling is not π;
A motor control device according to claim 8 .

When the value of the motor current is positive or negative and the region in which the absolute value of the motor current is equal to or greater than a threshold value is defined as a saturation region, in the saturation region of the motor current, the value of the dead time reduction voltage of the three phases is if all match,
The identifier is
Among the saturation regions, a region in which the value of the motor current is positive and the absolute value of the motor current is equal to or greater than a threshold is defined as a first region, and the value of the motor current is negative and the absolute value of the motor current is equal to or greater than the threshold. When the area of is the second area,
Among the three-phase motor currents, the first motor current is set so that the motor current of one phase is zero and the absolute values of the motor currents of the remaining two phases are the same and the signs are opposite. setting a value within the first region and setting the second value within the second region;
Among the three phases of the motor current, the motor current of one phase is zero, and the absolute values of the motor currents of the remaining two phases are the same and the signs are opposite. setting a value within the first region and setting the fifth value within the second region;
identifying the armature winding resistance and the dead time reduction voltage;
A motor control device according to claim 8 .

The d-axis phase of the motor current at the first sampling and the d-axis phase of the motor current at the second sampling are the same phase or different phases,
11. A motor control device according to claim 10 .

After identifying the armature winding resistance or when the armature winding resistance is known, the identifier determines, based on the armature winding resistance, identifying the dead time reduction voltage;
A motor control device according to any one of claims 2 to 11 .

Utilizing the relationship that the actual voltage of the motor is obtained by subtracting the dead time reduction voltage from the voltage command value and adding the dead time compensation voltage corresponding to the dead time reduction voltage identified by the identifier. Then, using the armature winding resistance, the voltage command value, the motor current, and the motor voltage information, determine the dead time reduction voltage,
13. A motor control device according to claim 12 .

When the value of the motor current is positive or negative and the region in which the absolute value of the motor current is less than a threshold value is defined as a non-saturation region,
The identifier is
After identifying the armature winding resistance by performing the first sampling and the second sampling, three-phase dead time reduction voltage in the non-saturation region based on the identified armature winding resistance to identify
The motor control device according to any one of claims 10-13 .