KR101668959B1 - Apparatus and Method for controlling AC motor with a rotation matrix - Google Patents

Apparatus and Method for controlling AC motor with a rotation matrix Download PDF

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Publication number
KR101668959B1
KR101668959B1 KR1020150105901A KR20150105901A KR101668959B1 KR 101668959 B1 KR101668959 B1 KR 101668959B1 KR 1020150105901 A KR1020150105901 A KR 1020150105901A KR 20150105901 A KR20150105901 A KR 20150105901A KR 101668959 B1 KR101668959 B1 KR 101668959B1
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South Korea
Prior art keywords
current
position error
variation
voltage
control
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KR1020150105901A
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Korean (ko)
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김래영
김상일
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한양대학교 산학협력단
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation

Abstract

Disclosed are an apparatus and a method for controlling an AC motor using a rotation matrix. The disclosed apparatus for controlling an AC motor includes: a control unit for performing a step of outputting a control value for controlling a control current to flow in the AC motor; a current variation calculator for performing a step of calculating a current variation by using the control value; a voltage variation calculator calculating a voltage variation by using a voltage command value for generating the control value; a location error calculator calculating a location error by using the current variation, the voltage variation, and the rotation matrix; and an estimator estimating a location estimate of a rotor and a speed estimate of the rotor by using the location error.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an AC motor,

Embodiments of the present invention relate to an apparatus and method for controlling an alternating current motor, and more particularly, to a method and apparatus for measuring the position / speed of a rotor without a position sensor / speed sensor, The present invention relates to an apparatus and method for controlling an alternating-current motor using a rotation matrix having characteristics that are robust even under changes in load fluctuation or acceleration in which acceleration is large.

In recent years, AC motors have been actively used in various fields throughout the industry as they are capable of reliable and high performance control along with development of electronic technologies.

AC motors need to know the position of the magnetic flux to control the position and speed of the rotor. In order to control the position and speed of the rotor, the position of the rotor has conventionally been detected using a speed sensor or a position sensor, and the position of the rotor flux has been calculated from the detected position of the rotor. In this method, the position sensor and the speed sensor must necessarily be added to the electric motor, thereby increasing the cost of the parts and the overall cost of the system, and various facilities for utilizing the sensed output signal are additionally required and complicated , And when the sensed value is accompanied by noise, there is a problem that the motor control is difficult.

In recent years, in order to overcome the above-described problem, development of a so-called sensorless motor in which a position sensor and a speed sensor are omitted is being developed.

In general, the method can be divided into a method of controlling by using the counter electromotive force generated when the motor is driven and a method of analyzing and controlling the output current characteristic by injecting a high frequency separate from the control voltage into the motor.

However, the sensorless control method using the counter electromotive force has a problem that the control reliability is low in the low speed region including the peripheral speed, which is a region where the voltage disturbance is relatively high, and can not be controlled in the entire speed region.

Further, when a high frequency separate from the control voltage is injected into the motor, the use range of the control voltage is limited and the transient response performance is deteriorated.

Also, among the sensorless methods using high frequency injection, the heterodyne method has a problem of limiting the bandwidth of the controller by using a low-pass filter.

The method of injecting a square wave on a synchronous rotation coordinate system of the sensorless method by high frequency injection does not need to use low pass. However, when obtaining the position error (x) by measuring the current change corresponding to the injected voltage, 2x) is assumed to be 2x, x can not represent a portion exceeding 45 degrees, and there is a problem that an error increases as the value of 2x becomes larger. In addition, there is a disadvantage that different types of position estimation algorithms are required depending on whether the injected signal is a voltage or a current, a square wave or a sinusoidal wave, and whether a pulsating high frequency pulse or a rotating high frequency pulse is injected.

In addition, the sensorless method using the inductance matrix on the stator coordinate system among the sensorless methods by the high-frequency implantation uses a pseudo-inverse matrix, which is always invertible.

In order to solve the problems of the prior art as described above, in the present invention, the position / speed of the rotor is measured without the position sensor / speed sensor, and the measurement range of the position error of the rotor can be extended. A control apparatus and method for controlling an AC motor using a rotation matrix having a robust characteristic even at a large speed change.

In order to achieve the above object, according to a preferred embodiment of the present invention, there is provided an AC motor control apparatus for controlling an AC motor, comprising: a control unit for outputting a control value for controlling a control current to flow to the AC motor; A current variation calculator for calculating a current variation using the control value; A voltage variation calculator for calculating a voltage variation using a voltage command value for generating the control value; A position error calculator for calculating the position error using the current variation, the voltage variation, and the rotation matrix; And an estimator for estimating a position estimate of the rotor and a velocity estimation value of the rotor using the position error.

According to another aspect of the present invention, there is provided an AC motor control method for controlling an AC motor, comprising: outputting a control value for controlling a control current to flow to the AC motor; Calculating a current change using the control value; Calculating a voltage variation using a voltage command value for generating the control value; Calculating the position error using the current variation, the voltage variation, and the rotation matrix; And estimating a position estimate of the rotor and a velocity estimation value of the rotor using the position error.

The apparatus and method for controlling an AC motor according to the present invention can measure the position / speed of a rotor without using a position sensor / speed sensor, and can extend the measurement range of the position error of the rotor. .

1 is a diagram showing a schematic configuration of a control apparatus for a sensorless AC motor in terms of a synchronous coordinate system, according to an embodiment of the present invention.
2 and 4 are views for explaining a specific operation of a control apparatus for a sensorless AC motor in terms of a synchronous coordinate system according to an embodiment of the present invention.
5 is a diagram showing a schematic configuration of a control apparatus for a sensorless AC motor in terms of a stationary coordinate system, according to an embodiment of the present invention.
6 and 7 are views for explaining a specific operation of a control apparatus for a sensorless AC motor in terms of a still coordinate system according to an embodiment of the present invention.
8 is a diagram showing simulation results of a control apparatus for an alternating-current motor according to an embodiment of the present invention.
9 is a flowchart illustrating a method of controlling an AC motor according to an embodiment of the present invention.

While the invention is susceptible to various modifications and alternative forms, specific embodiments thereof are shown by way of example in the drawings and will herein be described in detail. It should be understood, however, that the invention is not intended to be limited to the particular embodiments, but includes all modifications, equivalents, and alternatives falling within the spirit and scope of the invention. Like reference numerals are used for like elements in describing each drawing.

The terms "first "," second ", and the like can be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component. The term "and / or" includes any combination of a plurality of related listed items or any of a plurality of related listed items.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram showing a schematic configuration of a control apparatus for a sensorless AC motor in terms of a synchronous coordinate system, according to an embodiment of the present invention.

Referring to FIG. 1, an apparatus 100 for controlling an AC motor according to an embodiment of the present invention includes a controller 110 and a position / speed estimator 120. Hereinafter, the function of each component will be described in detail.

The control unit 110 controls the AC electric motor 200 to generate a control current

Figure 112015072781656-pat00001
) To flow. To this end, the AC motor 110 includes a first calculator 111, a current controller 112, a second calculator 113, a first axis converter 114, a PWM inverter 115, a second axis converter 116, And an LPF 117. Hereinafter, the function of each component will be described in detail.

The first calculator 111 calculates the current command value dq of the dq axis

Figure 112015072781656-pat00002
) And an output value of the LPF 115, which will be described below, to generate a mixed signal. The output value of the first calculator 111 is input to the current controller 112.

The second calculator 113 multiplies the output of the current controller 112 by the dq axis high frequency voltage (

Figure 112015072781656-pat00003
) To calculate the voltage command value of the dq axis (
Figure 112015072781656-pat00004
).

The first axis converter 114 converts the voltage command value of the dq axis (

Figure 112015072781656-pat00005
) To the voltage command value of the abc axis (
Figure 112015072781656-pat00006
). The PWM inverter 115 receives the voltage command value of the abc axis (
Figure 112015072781656-pat00007
) To generate the PWM voltage, and accordingly, the control current of the abc axis (
Figure 112015072781656-pat00008
) Flows. That is, the control value output from the controller 110 may be the PWM voltage of the PWM inverter 115. [

Then, the second axis transducer 116 measures the control current of the abc axis (

Figure 112015072781656-pat00009
) To convert the control current of the dq axis (
Figure 112015072781656-pat00010
). The LPF 117 also controls the dq axis control current (
Figure 112015072781656-pat00011
) Was removed (< RTI ID = 0.0 >
Figure 112015072781656-pat00012
), And inputs it to the first calculator 111.

The configuration of the control unit 110 is obvious to those skilled in the art, and thus a detailed description thereof will be omitted.

Next, the position / speed estimation unit 120 estimates the position and speed of the rotor in the AC electric motor 200. [ To this end, the position / speed estimator 120 includes a current variation calculator 121, a voltage variation calculator 122, a position error calculator 123, and an estimator 124. Hereinafter, the function of each component will be described in detail.

The current-variation-value calculator 121 calculates the current value of the dq-

Figure 112015072781656-pat00013
) To calculate the current variation (
Figure 112015072781656-pat00014
And a voltage command value for generating a control current in the control unit 110 of the voltage variation calculator 122
Figure 112015072781656-pat00015
), That is, the output value of the second operator 113,
Figure 112015072781656-pat00016
).

Then, the position error calculator 123 calculates a position error ("

Figure 112015072781656-pat00017
). At this time, the position error calculator 123 further uses the rotation matrix to calculate the position error (
Figure 112015072781656-pat00018
).

Also, the estimator 124 estimates the position error (

Figure 112015072781656-pat00019
) To estimate the position of the rotor (
Figure 112015072781656-pat00020
) And the speed of the rotor
Figure 112015072781656-pat00021
).

Hereinafter, the configuration of the position / speed estimation unit 120 according to the present invention will be described in more detail with reference to FIG. 2 to FIG.

1. Position / velocity estimation on synchronous coordinate system

1.1. Approach to voltage fluctuations for current fluctuations (using reactance matrix)

The output voltage variation of the controller 110 of each control period to sampling period is expressed by Equation 1 below.

Figure 112015072781656-pat00022

Similarly, the variation of the output current of each control period is expressed by Equation 2 below.

Figure 112015072781656-pat00023

From the voltage equation of the AC motor 200, the current variation with respect to the controller output voltage variation of each control period is expressed by Equation 3 below.

Figure 112015072781656-pat00024

here,

Figure 112015072781656-pat00025
The resistance of the stator,
Figure 112015072781656-pat00026
Lt; / RTI >
Figure 112015072781656-pat00027
Is the inductance of the d-axis of the stator,
Figure 112015072781656-pat00028
Represents the inductance of the q-axis of the stator, respectively.

In the case where the control period is very short, if the voltage drop component due to the resistance, which is the first part of the right side term of Equation (3), and the counter electromotive force component proportional to the rotational speed of the AC motor are neglected, Equation 3 can be simplified as shown in Equation Can

Figure 112015072781656-pat00029

Expression (4) can be expressed by the relationship between the voltage variation and the current variation as shown in FIG.

On the other hand, the actual synchronous rotational coordinate system and the estimated synchronous rotational coordinate system

Figure 112015072781656-pat00030
The equation (4) on the actual synchronous coordinate system can be expressed by the equation (5) on the estimated coordinate system.

Figure 112016049366098-pat00141

here,

Figure 112015072781656-pat00032
Denotes a rotation matrix. In this case, Equation (5) can be summarized as Equation (6) below.

Figure 112015072781656-pat00033

here,

Figure 112015072781656-pat00034
,
Figure 112015072781656-pat00035
Respectively.

On the other hand,

Figure 112015072781656-pat00036
To
Figure 112015072781656-pat00037
In the case of approximating the equation and developing the equation,
Figure 112015072781656-pat00038
Exceeds 45 degrees, the polarity with respect to the increase in the position error is changed, failing to estimate the rotor position,
Figure 112015072781656-pat00039
Is not a small value, an error occurs in the calculation of the actual position error.

Therefore, the position error calculator 123 divides the term (A) unrelated to the position error and the term (B) related to the error in the right side term in Equation (6) ) Is shifted to the left side, and the coefficient of the term (B) related to the error is divided by both sides, and is summarized as Equation (7). This

Figure 112015072781656-pat00040
Wow
Figure 112015072781656-pat00041
.

Figure 112015072781656-pat00042

However, equation (7)

Figure 112015072781656-pat00043
, The rotation matrix is multiplied on both sides in Equation (7), and both sides are calculated as Equation (8) below
Figure 112015072781656-pat00044
To be included in the form.

Figure 112015072781656-pat00045

Therefore, the position error expressed by the equation (9) can be calculated from the relationship of the first row of the equation (8) to the relationship of the second row of the equation (8).

Figure 112015072781656-pat00046

This is shown in FIG. 3 as a diagram. By substituting the calculated controller output voltage and the sampled current three times into the equation (9), the position error estimator 123 can obtain the position error and input it to the estimator 124, (

Figure 112015072781656-pat00047
) And the speed of the rotor
Figure 112015072781656-pat00048
). Therefore, the present invention can be applied to any type of signal to be injected
Figure 112015072781656-pat00049
Can be expanded.

1.2. Approach to current variation with voltage variation (using susceptance matrix)

Equation (6) represents the voltage variation by the product of the reactance matrix and the current variation, and Equation (10) represents the current variation by the product of the susceptance matrix and the voltage variation.

Figure 112015072781656-pat00050

At this time, the position error calculator 123 divides the term (C) unrelated to the position error and the term (D) related to the error in the right side term in Equation (11) C) is shifted to the left side, and the coefficient of the term (D) related to the error is divided by both sides and is summarized as shown in Equation (11). This

Figure 112015072781656-pat00051
Wow
Figure 112015072781656-pat00052
.

Figure 112015072781656-pat00053

However, equation (11)

Figure 112015072781656-pat00054
, The rotation matrix is multiplied on both sides of Equation (11), and both sides are multiplied by the following Equation (12)
Figure 112015072781656-pat00055
To be included in the form.

Figure 112015072781656-pat00056

Therefore, the position error expressed by the equation (13) can be calculated by the relationship of the first row of the equation (12) and the relationship of the second row of the equation (12).

Figure 112015072781656-pat00057

This is shown in FIG. 4 as a diagram. By substituting the calculated controller output voltage and the sampled current three times into Equation 13, the position error estimator 123 can obtain the position error and input it to the estimator 124, (

Figure 112015072781656-pat00058
) And the speed of the rotor
Figure 112015072781656-pat00059
).

5 is a diagram showing a schematic configuration of a control apparatus for a sensorless AC motor in terms of a stationary coordinate system, according to another embodiment of the present invention.

Referring to FIG. 5, the controller 500 of the AC motor according to another embodiment of the present invention includes a controller 510 and a position / velocity estimator 520. The control unit 510 includes a first calculator 511, a current controller 512, a second calculator 513, a first axis converter 514, a PWM inverter 515, a second axis converter 516, and an LPF 517 ). The position / speed estimation unit 520 includes a current variation calculator 521, a voltage variation calculator 522, a position error calculator 523, and an estimator 524.

The control device 500 of the AC motor according to Fig. 5 is similar to the control device 500 of the AC motor according to Fig. 1 except that the voltage-variation calculator 522 is connected between the first axis converter 514 and the PWM inverter 515. [ The connection configuration with the apparatus 100 is the same.

Since the configuration of the control unit 510 is obvious to those skilled in the art, a detailed description thereof will be omitted. 6 and 7, the configuration of the position / speed estimation unit 520 according to the present invention will be described in more detail.

2. Position / velocity estimation on periodic coordinate system

2.1. Approach to voltage fluctuations for current fluctuations (using reactance matrix)

The phase voltage equation of the permanent-magnetic-flux alternating-current motor on the stator coordinate system is shown in Equation (14) below.

Figure 112015072781656-pat00060

The stator flux of Equation (14) can be expressed by dividing it by the current portion and the permanent magnet component, which is expressed by Equation (15).

Figure 112015072781656-pat00061

here,

Figure 112015072781656-pat00062
Is an inductance matrix and is expressed by Equation (16) below.

Figure 112015072781656-pat00063

here,

Figure 112015072781656-pat00064
Lt; / RTI >
Figure 112015072781656-pat00065
,
Figure 112015072781656-pat00066
,
Figure 112015072781656-pat00067
Is the inductance of the d-axis of the stator,
Figure 112015072781656-pat00068
Represents the inductance of the q-axis of the stator, respectively.

Meanwhile, in order to obtain the inductance matrix, a matrix composed of the difference between the voltage and the current is calculated. The inductance matrix can be calculated using the inverse matrix or the pseudo-inverse matrix of the matrix relating to the calculated current difference. However, there is a problem that the matrix relating to the current difference does not always have an inverse matrix or a pseudo inverse matrix. Therefore, in the present invention, an inductance matrix is not calculated to obtain rotor position information, and accurate rotor position information is calculated using a rotation matrix about a rotor position without using an inverse function of a matrix relating to a current difference.

Equation (17) summarizes the voltage equation on the fixed coordinate system when Equation (16) is substituted into Equation (15).

Figure 112015072781656-pat00069

Here, if the sampling period is very short, the current differential term can be logarithmically expressed by Equation 25 below.

Figure 112015072781656-pat00070

If the sampling period is very short, ignoring the voltage drop component due to the resistance, which is the first part in the right side of the equation (18), and the counter electromotive force component proportional to the motor rotational speed, the equation (18) can do.

Figure 112015072781656-pat00071

In this case, the term related to the position error in the right side of Equation (19) is divided into terms related to the error, which is expressed by Equation (20).

Figure 112015072781656-pat00072

In addition, the term unrelated to the error is shifted to the left side, and the coefficient of the term related to the error is divided into two sides, and is summarized as the following expression (21). This

Figure 112015072781656-pat00073
Wow
Figure 112015072781656-pat00074
.

Figure 112015072781656-pat00075

However, equation (21)

Figure 112015072781656-pat00076
, The rotation matrix is multiplied on both sides in Equation (21), and both sides are multiplied by the following Equation (22)
Figure 112015072781656-pat00077
To be included in the form.

Figure 112015072781656-pat00078

Therefore, the positional error expressed by the equation (23) can be calculated by the relationship of the first row of the equation (22) and the relationship of the second row of the equation (22).

Figure 112015072781656-pat00079

This can be expressed as shown in Figure 6. The position error estimator 523 can obtain the position error by substituting the calculated controller output voltage and the sampled current three times into the equation (23).

2.2. Approach to current variation with voltage variation (using susceptance matrix)

Equation (19) represents the voltage variation by the product of the reactance matrix and the current variation, and Equation (24) represents the current variation by the product of the susceptance matrix and the voltage variation.

Figure 112015072781656-pat00080

In addition, the position error calculator 123 calculates the position error in the equation (24) by dividing the term related to the position error into the terms related to the error in the right side term, and the term related to the error to the left side And the coefficient of the disagreement is divided into two sides. This

Figure 112015072781656-pat00081
Wow
Figure 112015072781656-pat00082
.

Figure 112015072781656-pat00083

However, equation (25)

Figure 112015072781656-pat00084
Therefore, the rotation matrix is multiplied on both sides of the equation (25), and both sides are calculated as shown in the following equation (26)
Figure 112015072781656-pat00085
To be included in the form.

Figure 112015072781656-pat00086

Therefore, the position error expressed by the equation (27) can be calculated by the relationship of the first row of the equation (26) and the relationship of the second row of the equation (26).

Figure 112015072781656-pat00087

This is shown in FIG. 7 as a diagram. The position error estimating unit 123 can obtain the position error by substituting the equation (27) using the controller output voltage twice and sampled current three times.

8 is a diagram showing simulation results of a control apparatus for an alternating-current motor according to an embodiment of the present invention.

More specifically, FIG. 8 shows a positional error by inducing a positional error arbitrarily in a state where the AC electric motor is fixed. When the actual motor rotor is positioned at 0 degree and the estimated position information is arbitrarily given in the range of -90 to 90 degrees, the position error (FIG. 8 (a)) calculated by the conventional method and the position error (Fig. 8 (b)).

Referring to FIG. 8 (a), in the case of the conventional system, the position error calculated according to the actual position error increase up to about 45 degrees increases, but it decreases rather than the above. In addition, from the vicinity of 30 degrees, it can be seen that the calculated error is not exactly proportional to the actual error.

Referring to FIG. 8 (b), it can be seen that in the case of the present invention, the position error can be accurately calculated up to nearly 90 degrees. In addition, it can be seen that the actual position error and the calculated position error are proportional to each other in almost all the sections.

In summary, the effects of the present invention are as follows.

First, the position error can be obtained by a method such as a square wave, sinusoidal wave, or triangular firing mode. If the injected signal is not at the carrier frequency, but at a frequency significantly greater than the motor speed, the position error can be obtained in the same way.

Also, it is possible to calculate the position error on the synchronous coordinate system and the position error on the stationary coordinate system, both in the pulsed signal injection method in which the high frequency is injected only in the d axis or the q axis on the synchronous coordinate system, or in the rotary signal injection method in which both the d axis and the q axis are injected.

When the position error is measured by the position error calculation method on the synchronous coordinate system, the measurement range can be increased from less than 45 degrees to 90 degrees, and it is possible to measure linearly, so that even when the load fluctuation or acceleration is large, .

In addition, precise sensorless control is possible by achieving precise position error without a home, and high bandwidth can be ensured.

9 is a flowchart illustrating a method of controlling an AC motor according to an embodiment of the present invention. Hereinafter, a process performed in each step will be described.

First, in step 910, a control value for controlling the control current to flow to the AC motor is output.

Next, in step 920, the current value is calculated using the control value, and in step 930, the voltage change value is calculated using the voltage command value for generating the control value.

Thereafter, in step 940, the position error is calculated using the current variation, the voltage variation, and the rotation matrix. In step 950, the position estimate of the rotor and the velocity estimation value of the rotor are estimated using the position error.

The embodiments of the control method of the control apparatuses 100 and 500 of the AC motor according to the present invention have been described and the configurations of the control apparatuses 100 and 500 of the AC motor described with reference to Figs. The present invention is applicable to this embodiment as it is. Hereinafter, a detailed description will be omitted.

In addition, embodiments of the present invention may be implemented in the form of program instructions that can be executed through various computer means and recorded on a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Examples of program instructions, such as magneto-optical and ROM, RAM, flash memory and the like, can be executed by a computer using an interpreter or the like, as well as machine code, Includes a high-level language code. The hardware devices described above may be configured to operate as one or more software modules to perform operations of one embodiment of the present invention, and vice versa.

As described above, the present invention has been described with reference to particular embodiments, such as specific elements, and limited embodiments and drawings. However, it should be understood that the present invention is not limited to the above- Various modifications and variations may be made thereto by those skilled in the art to which the present invention pertains. Accordingly, the spirit of the present invention should not be construed as being limited to the embodiments described, and all of the equivalents or equivalents of the claims, as well as the following claims, belong to the scope of the present invention .

Claims (10)

An alternating-current motor control device for controlling an alternating-current motor, comprising:
A control unit for outputting a control value for controlling the control current to flow to the AC electric motor based on a voltage command value varying with time;
A current variation calculator for calculating a current variation which is a difference between a current control value and a control value immediately before the current control value;
A voltage variation calculator for calculating a voltage variation which is a difference value between a current voltage command value and a voltage command value immediately before the current voltage command value among the voltage command values;
A position error calculator for calculating a position error using the current variation, the voltage variation, and the rotation matrix; And
And an estimator for estimating a position estimate of the rotor and a velocity estimation value of the rotor using the position error,
Wherein the rotation matrix is expressed by the following equation.
Figure 112016049366098-pat00142

here,
Figure 112016049366098-pat00143
The rotation matrix,
Figure 112016049366098-pat00144
Respectively represent the position error. The method according to claim 1,
Wherein the position error calculator calculates the position error using the following equation.

Figure 112016049366098-pat00088


here,
Figure 112016049366098-pat00091
The current variation,
Figure 112016049366098-pat00092
The voltage variation,
Figure 112016049366098-pat00093
Lt; / RTI >
Figure 112016049366098-pat00094
,
Figure 112016049366098-pat00095
,
Figure 112016049366098-pat00096
Is the inductance of the d-axis of the stator,
Figure 112016049366098-pat00097
Represents the inductance of the q-axis of the stator, respectively. 3. The method of claim 2,
Wherein the position error is expressed by the following equation: < EMI ID = 3.0 >

Figure 112015072781656-pat00098
 The method according to claim 1,
Wherein the position error calculator calculates the position error using the following equation.

Figure 112016049366098-pat00099


here,
Figure 112016049366098-pat00102
The current variation,
Figure 112016049366098-pat00103
The voltage variation,
Figure 112016049366098-pat00104
Lt; / RTI >
Figure 112016049366098-pat00105
,
Figure 112016049366098-pat00106
,
Figure 112016049366098-pat00107
Is the inductance of the d-axis of the stator,
Figure 112016049366098-pat00108
Represents the inductance of the q-axis of the stator, respectively. 5. The method of claim 4,
Wherein the position error is expressed by the following equation: < EMI ID = 3.0 >

Figure 112015072781656-pat00109
 The method according to claim 1,
Wherein the position error calculator calculates the position error using the following equation.

Figure 112016049366098-pat00110


here,
Figure 112016049366098-pat00113
The current variation,
Figure 112016049366098-pat00114
The voltage variation,
Figure 112016049366098-pat00115
Lt; / RTI >
Figure 112016049366098-pat00116
,
Figure 112016049366098-pat00117
,
Figure 112016049366098-pat00118
Is the inductance of the d-axis of the stator,
Figure 112016049366098-pat00119
Represents the inductance of the q-axis of the stator, respectively. The method according to claim 6,
Wherein the position error is expressed by the following equation: < EMI ID = 3.0 >

Figure 112015072781656-pat00120
 The method according to claim 1,
Wherein the position error calculator calculates the position error using the following equation.

Figure 112016049366098-pat00121


here,
Figure 112016049366098-pat00124
The current variation,
Figure 112016049366098-pat00125
The voltage variation,
Figure 112016049366098-pat00126
Lt; / RTI >
Figure 112016049366098-pat00127
,
Figure 112016049366098-pat00128
,
Figure 112016049366098-pat00129
Is the inductance of the d-axis of the stator,
Figure 112016049366098-pat00130
Represents the inductance of the q-axis of the stator, respectively. 9. The method of claim 8,
Wherein the position error is expressed by the following equation: < EMI ID = 3.0 >

Figure 112015072781656-pat00131
 An AC motor control method for controlling an AC motor,
Outputting a control value for controlling the control current to flow to the AC electric motor based on a voltage command value varying with time;
Calculating a current change amount that is a difference value between a current control value and a control value immediately before the current control value among the control values;
Calculating a voltage change amount that is a difference value between a current voltage command value and a voltage command value immediately before the current voltage command value among the voltage command values;
Calculating a position error using the current variation, the voltage variation, and a rotation matrix; And
And estimating a position estimate of the rotor and a velocity estimation value of the rotor using the position error,
Wherein the rotation matrix is expressed by the following equation.
Figure 112016049366098-pat00145

here,
Figure 112016049366098-pat00146
The rotation matrix,
Figure 112016049366098-pat00147
Respectively represent the position error.
KR1020150105901A 2015-07-27 2015-07-27 Apparatus and Method for controlling AC motor with a rotation matrix KR101668959B1 (en)

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009060688A (en) * 2007-08-30 2009-03-19 Fuji Electric Systems Co Ltd Controller for synchronous motors
JP2009095135A (en) * 2007-10-09 2009-04-30 Fuji Electric Systems Co Ltd Controller of synchronous electric motor
KR101426485B1 (en) * 2013-06-28 2014-08-06 한양대학교 산학협력단 Device for controlling AC motor

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2009060688A (en) * 2007-08-30 2009-03-19 Fuji Electric Systems Co Ltd Controller for synchronous motors
JP2009095135A (en) * 2007-10-09 2009-04-30 Fuji Electric Systems Co Ltd Controller of synchronous electric motor
KR101426485B1 (en) * 2013-06-28 2014-08-06 한양대학교 산학협력단 Device for controlling AC motor

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
전력전자학회 2015년도 하계학술대회 논문집, 2015.07, 335-336 (2 PAGES) *

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