KR102088183B1 - Motor control device and elevator using the same - Google Patents

Abstract

An online control mode in which torque ripple suppression is performed by the torque ripple suppression unit 80 and torque ripple suppression by the torque ripple suppression unit 80, according to a switching condition calculated from the magnetic characteristics of the AC motor 9, At the same time, three control modes are a learning control mode in which the suppression control parameter storage unit 120 stores the suppression control parameters, and an offline control mode in which torque ripple is suppressed by the suppression control parameters stored in the suppression control parameter storage unit 120. And a control unit 150 that executes an operation sequence for selecting one of them.

Description

Motor control device and elevator using the same

The present invention relates to a motor control device such as a three-phase AC motor and an elevator using the same.

AC motors, especially PM motors (Permanent Magnet Synchronous Motors), have characteristics of small size and high efficiency, and have been widely used in industrial equipment and the like in recent years.

However, since the PM motor, because of its structure, includes a harmonic component in the induced voltage, it is an order component (hereinafter, referred to as a 6f component) of the order component of an integer multiple (mainly 6 times) of the electric angle of the motor relative to the generated torque. It has a torque ripple, which is a vibrating disturbance. Since this torque ripple can cause problems such as vibration, noise, and mechanical resonance, a reduction technique (hereinafter referred to as torque ripple suppression control) is required.

In order to perform torque ripple suppression control, it is necessary to acquire information corresponding to the target torque ripple. The method includes a feed-forward method (hereinafter referred to as an FF method) in which information is obtained by performing a test or analysis in advance and stored in a control device, and a feedback method (hereinafter referred to as an FB method) acquired online during motor driving. Is called).

The former FF method has the advantage of being capable of suppressing high-response torque ripple, while the complicated pre-acquisition of torque ripple information is required, and the pre-acquisition of torque ripple information due to motor or device aging is appropriate. There is a disadvantage that it is not a thing.

The latter FB method has an advantage in that it does not require complicated pre-acquisition of torque ripple information, and has an advantage that appropriate torque ripple suppression control can be performed in response to aging of a motor or device, while torque response of torque ripple suppression is possible. There are disadvantages that it cannot be made higher than the ripple frequency, and that the technical barrier of acquiring information corresponding to torque ripple online is also high.

Therefore, a learning control method combining these two methods has been proposed (for example, see Patent Document 1 below). That is, when driving as an online FB method, the torque ripple suppression command value is stored, and when high responsiveness is required, the FF method is operated using the stored suppression command value, or basically. Is a method of driving as the FF method, and updating the suppression command value in the FB method during normal operation.

(Advanced technical literature)

(Patent document)

(Patent Document 1) Japanese Patent 5434369

In this way, the learning method can perform the torque ripple suppression control in a form combining the advantages of both by appropriately switching between the FF method and the FB method. However, when the timing of the switchover is not appropriate, the wrong suppression command value is learned, so the setting of the operation sequence for managing the switchover timing becomes important. In particular, it is particularly problematic when it is not possible to accurately grasp the transmission characteristics of torque ripple, such as when estimating torque ripple based on motor parameters from electrical information for simplification of the system.

In order to control the torque ripple suppression, it is necessary to estimate the information of the 6f component online, but there are cases in which this becomes very difficult in the RL circuit model on the commonly used rotational coordinates (dq coordinates).

_q의 변화를 나타낸 일례이다. 이 도면에 있어서의 기울기가 q축의 인덕턴스가 되지만, 여기서 문제가 되는 것은 이하의 두 가지이다.15 is a q-axis magnetic flux when the q-axis current i _q is increased while the PM motor is controlled at a certain speed.

_It is an example showing the change of _q . Although the inclination in this drawing becomes the inductance of the q-axis, the following two are the problems.

(Ⅰ) The change in the fundamental wave component of the inductance, ie, the inductance changes with the current due to the magnetic saturation of the motor.

(Ii) Changes in the harmonic component of the inductance, ie, the inductance forms a hysteresis minor loop.

_q가 복수의 값을 취할 수 있기 때문에, q축 자속

_q가 작은 루프를 형성하도록 하는 변화를 하는 것이다.Here, the hysteresis minor loop is a q-axis magnetic flux for the same q-axis current i _q in the enlarged view of FIG. 15.

_{Since q} can take multiple values, the q-axis magnetic flux

_The change is to make _q form a small loop.

Regarding the above (iii), since the inductance becomes saturation and decreases as the current increases, there is a problem in that the transmission characteristics of torque are different due to errors in the circuit model of the motor recognized by the controller and the circuit model of the actual motor. do.

As for the above-mentioned (ii), since the value of the inductance differs depending on the rotor position even with the same current, since it has a harmonic component according to the electric angle of the motor, like a torque ripple, a hysteresis minor loop is formed. In the case of having such a characteristic, even if the inductance is set to change according to the current in consideration of the magnetic saturation characteristic, the inductance seen in the coordinates of the harmonic changes according to the position of the rotor. That is, even if the transmission characteristics of the torque are correct, the transmission characteristics of the torque ripple are different, and thus it is difficult to obtain accurate torque ripple information.

The present invention has been made to solve the above-described problems, and when torque ripple suppression control is performed in response to changes in motor speed or magnetic characteristics, torque ripple suppression control is possible with high precision by appropriately managing the operation sequence. It is an object to provide a motor control device and an elevator using the same.

The motor control apparatus according to the present invention includes an alternating current motor, a current detection unit that detects at least two of three phase currents, a current control unit that generates a voltage command value in a control coordinate axis using the detected current value, and a voltage command value. A torque estimator for estimating the torque of the AC motor based on the eddy current detection value, a torque ripple suppressor for generating a suppression command for suppressing torque ripple of the AC motor based on the estimated torque, and the suppression command A suppression control parameter storage unit for storing a suppression control parameter to be performed in correspondence with the speed and current command value of the alternating-current motor is provided, and by the torque ripple suppression unit according to a switching condition calculated from the magnetic characteristics of the alternating-current motor. Torque ripple suppression is performed by an online control mode that performs torque ripple suppression and the torque ripple suppression unit. At the same time, one of three control modes: a learning control mode in which the suppression control parameter is stored in the suppression control parameter storage section, and an offline control mode in which torque ripple is suppressed by the suppression control parameter stored in the suppression control parameter storage section 1 It has a control unit that executes an operation sequence for selecting a dog.

In addition, the elevator of the present invention, the motor control device of the above configuration, the car (car), the balance weight (balance weight), the rope connecting the car and the counterweight, and the driving force of the AC motor It is equipped with a drive sheave which rotates and the rope is wound.

The motor control apparatus of the present invention and an elevator using the same are operation sequences for selecting one of three control modes: an online control mode, a learning control mode, and an offline control mode, according to a switching condition based on the magnetic characteristics of the AC motor. Since it is made to execute, this makes it possible to learn appropriate suppression control parameters and to effectively suppress torque ripple.

1 is a block diagram showing the configuration of a motor control device according to Embodiment 1 of the present invention.
2 is a block diagram showing an example of the configuration of a torque ripple compensation command generation unit of the motor control device according to Embodiment 1 of the present invention.
3 is a block diagram showing the operation of the online control mode of the motor control device according to the first embodiment of the present invention.
4 is a block diagram showing the operation of the learning control mode of the motor control device according to the first embodiment of the present invention.
5 is a block diagram showing the operation of the off-line control mode of the motor control device according to the first embodiment of the present invention.
6 is a flowchart showing a sequence of switching operation of a control mode in the motor control device according to the first embodiment of the present invention.
7 is a graph schematically showing a switching operation sequence of a control mode in the motor control device according to the first embodiment of the present invention.
8 is a graph schematically showing another switching operation sequence of the control mode in the motor control device according to the first embodiment of the present invention.
9 is a graph schematically showing another switching operation sequence of the control mode in the motor control device according to the first embodiment of the present invention.
10 is a block diagram showing the configuration of a motor control device according to Embodiment 2 of the present invention.
11 is a block diagram showing the operation of the online control mode of the motor control device according to the second embodiment of the present invention.
12 is a block diagram showing the operation of the learning control mode of the motor control device according to the second embodiment of the present invention.
13 is a block diagram showing the operation of the off-line control mode of the motor control device according to the second embodiment of the present invention.
14 is a flowchart showing a sequence of switching operation of a control mode in the motor control device according to the fourth embodiment of the present invention.
15 is a characteristic diagram showing an example of a magnetic saturation characteristic of an AC motor.
It is a schematic block diagram in Embodiment 5 which applied the motor control apparatus in this invention to an elevator.
17 is a flowchart showing a sequence of switching operation of a control mode in the motor control device provided in the elevator of Embodiment 5 of the present invention.

Embodiment 1.

1 is a block diagram showing the configuration of a motor control device according to Embodiment 1 of the present invention.

The motor control device according to the first embodiment of the present invention controls the PM motor (hereinafter, simply referred to as a motor) 9 which is an AC motor through the power converter 3. This motor control device is a current command generator 10 that outputs a current command value i ^* _d , i ^* _q based on the torque command value τ ^* , and a three-phase to dq converter from the output of the current command generator 10 Subtractor (6, 7) for subtracting the output of 5), current control unit (1) for generating voltage command values v ^* _d , v ^* _q in the control coordinate axis using the output of these subtractors (6, 7), The dq-phase converter 2 which generates a three-phase alternating voltage based on the voltage command value v ^* _d , v ^* _q from the current control unit 1, and the motor based on the output of the dq-phase converter 2 (9) A power converter (3) for controlling the power supplied to the motor, a current detector (4) for detecting at least two phase currents among the three phase currents supplied to the motor (9), and an encoder for detecting the rotational position of the motor (9) 3-phase-d for converting the detected current obtained from the rotational position detector 8, current detector 4 of the back into d-axis current i _d and q-axis current i _q of the control coordinate axis q The converter 5 is provided.

In addition, the motor control device of the first embodiment of the motor 9 includes a torque ripple suppression unit 80 that generates a suppression command for suppressing torque ripple of the motor 9, and suppression control parameters for suppressing torque ripple. The suppression control parameter storage unit 120 for storing in correspondence with the speed and the current command value, and the control unit 150 such as the torque ripple suppression unit 80 and a microcomputer for controlling the suppression control parameter storage unit 120 Have

Then, the torque ripple suppression unit 80 calculates a torque estimate value τ of the motor 9 based on the voltage command value v ^* _dq , the current detection value i ^* _dq , and the rotation position θ _re of the motor 9. Torque ripple compensation signal τ ^* _rip as a suppression command to suppress torque ripple of the motor 9 based on the rotational position θ _re of the motor 90 and the torque estimation value τ from the torque estimation unit 90 It includes a torque ripple compensation command generation unit 100 to generate and output to the current command generation unit 10.

The control unit 150 controls the operation of the torque ripple suppression unit 80 and the suppression control parameter storage unit 120, the speed of the motor 9, and the magnetic characteristics of the motor 9 (previous) On-line suppression control mode for suppressing torque ripple by the torque ripple suppressor 80 according to the switching conditions (ω _{re_low} , ω _{re_high} , i _{q_mg} , i _{q_hys} to be described later) set based on the inductance characteristics shown in FIG. Wow, the torque ripple suppression unit 80 performs torque ripple suppression, and at the same time, the learning control mode for storing the suppression control parameters in the suppression control parameter storage unit 120 and the suppression stored in the suppression control parameter storage unit 120 The operation sequence for selecting one of the three control modes of the offline control mode for suppressing torque ripple by the control parameter is executed.

2 is a block diagram showing an example of the configuration of the torque ripple compensation command generation unit 100. In addition, the structure and operation of each part shown in FIGS. 1 and 2 are further clarified by the following operation description.

Next, in the motor control device having the above configuration, the operation of the online control mode to estimate the power of the motor 9 from the voltage and current supplied to the motor 9, and suppress torque ripple based on the estimated power It will be described with reference to FIG. 3.

The torque estimator 90 is composed of a motor constant, a real current vector i _dq consisting of the dq-axis actual currents i _q and i _d , and a voltage command value v ^* _d , v ^* _q to the motor 9 Based on the voltage vector v ^* _dq and the electric angle θ _re of the motor detected by the rotational position detector 8, the induced voltage estimate vector as the estimated induced voltage of the motor 9 by the following operation (1) is calculated. e _dq is estimated.

[Equation 1]

Where R is the winding resistance of the motor, L is the magnetic inductance, P _m is the number of pole pairs, s is the differential operator, ω _rm is the angular speed of the machine, ω _re is the speed of the motor 9 ( Electrical angular velocity).

Further, the torque estimating unit 90 estimates the torque of the motor 9 by the following equation (2) based on the induced voltage estimation vector e _dq and the real current vector i _dq obtained by the above equation (1). , This torque estimate τ is output to the torque ripple compensation command generation unit 100.

[Equation 2]

The torque ripple compensation command generation unit 100 extracts a vibration component included in the torque estimation value τ to generate a torque ripple compensation signal τ ^* _rip that eliminates the vibration, and the torque ripple compensation signal τ ^* _rip is a current command generation unit (10). In addition, there are a number of known techniques for generating a torque ripple compensation signal τ ^* _rip based on this torque estimation value τ, but here, as an example, the torque ripple compensation command generation unit 100 having the configuration shown in FIG. Is hiring.

In FIG. 2, first, the pulsation component included in the torque estimate value τ is extracted from the extraction unit 101a constituting the processing unit 101. As the calculation method, any known technique can be used, but for example, the following calculation (3) can be used with reference to the Fourier series expansion with respect to the torque estimate τ.

[Equation 3]

Where τ _Cn is the cosine coefficient of the torque estimate τ, τ _Sn is the sine coefficient of the torque estimate τ, F _LPF (s) is the gain of the low pass filter, n is the torque ripple order, Δθ _est is the actual torque of the torque estimate τ It is a compensation value of the phase for compensating the estimated delay of and is set in the phase compensation part 101b constituting the processing part 101. Moreover, the compensation set value Δθ _est in this case is determined in advance from an actual measurement or a model and is set in advance.

Next, the cosine coefficients τ _Cn and the sine coefficients τ _Sn obtained by the processing unit 101 are input to subtractors 102a and 103a, respectively. The subtractors 102a and 103a and the suppression control units 102b and 103b calculate the torque ripple amplitude suppression value by calculation of the following equation (4), and the torque ripple compensation cosine coefficient τ ^* _Cn , and the torque ripple compensation sine coefficient τ ^* _Sn is calculated, and output to multipliers 105b and 106b, respectively.

[Equation 4]

Here, G _rip (s) is the transmission characteristics of the suppression control units 102b and 103b, and τ ^** _Cn and τ ^** _Sn represent torque ripple suppression command values.

The multipliers 105b and 106b and the adder 107 perform calculation of the following equation (5) to convert to a periodic signal as a conversion signal synchronized with the torque ripple period, and the torque ripple compensation signal τ ^* _rip is output, The torque ripple compensation signal τ ^* _rip is input to the current command generation unit 10 to suppress torque ripple.

In addition, the periodic signal generating units 105a and 106a are electric angular velocities obtained by differentiating the electric angle θ _re of the motor 9 obtained from the rotational position detector 8 in the differentiator 108 (hereinafter simply referred to as speed) ω Based on _re , a periodic signal subjected to phase compensation is generated by the phase compensation set value Δθ _i corresponding to the control delay of the current control system.

[Equation 5]

However, Δθ _i represents the set value of phase compensation based on the control delay of the control system. In this case, the phase compensation set value Δθ _i is determined from an actual measurement or a model and is set in advance.

Next, the operation of the learning control mode shown in Fig. 4 will be described.

In this learning control mode, in addition to performing the operation of the above-described online control mode, the suppression control section 102b further comprising the suppression control parameter storage section 120 is in an operating state and constitutes the torque ripple compensation command generation section 100. , 103b) torque ripple compensation cosine coefficient τ ^* _Cn , and torque ripple compensation sine coefficient τ ^* _Sn , as a suppression control parameter for generating a torque ripple compensation signal τ ^* _rip , the speed ω _re of the motor 9 And the q-axis current command value i ^* _q .

Next, the operation of the offline control mode shown in Fig. 5 will be described.

In this offline control mode, the torque estimation unit 90 is in a stopped state. For this reason, the control operation of the suppression control part 102b, 103b of the torque ripple compensation command generation part 100 is also in the stopped state. Therefore, in this case, the suppression control parameter τ ^* _Cn corresponding to the speed ω _re and the q-axis current command value i ^* _q of the motor 9 stored in the suppression control parameter storage unit 120 by the control unit 150, τ ^* _Sn is read and output to the multipliers 105b and 106b. Thereby, the calculation based on the above-mentioned equations (4) and (5) is performed, and a torque ripple compensation signal τ ^* _rip is generated offline from the torque ripple compensation command generation unit 100, and this torque ripple compensation signal is generated. Torque ripple is suppressed by inputting τ ^* _rip to the current command generator 10.

Next, a sequence operation for switching the three control modes to each other will be described. This is the q-axis showing (a) the switching conditions for setting the appropriate control mode for the speed ω _re of the motor 9, and (b) the magnetic characteristics of the motor 9 (inductance characteristics shown in FIG. 15 previously). It is divided into the switching conditions for setting the appropriate control mode for the current command value i ^* _q .

First, the switching conditions for setting an appropriate control mode for the speed ω _re of the motor 9 in (a) will be described.

At the first start-up, since the torque ripple frequency is low and the response of the online control cannot be made high, it starts in the offline control mode. Then, the off-line control mode is continued as a starting period until the speed ω _re of the motor 9 becomes equal to or _greater than a predetermined first speed threshold ω _{re_low} set in advance.

Here, as an example of setting the first speed threshold ω _{re_low} described above, a case will be described in which the torque ripple is intended to operate in an offline control mode until a frequency equal to or higher than the speed response ω _sc is described. As described above, since the torque ripple is vibration generated by an order component of an integer multiple of the electric angle of the motor, the frequency becomes nω _re . Therefore, the speed conditions in which the torque ripple frequency at which the response speed is more than ω _{sc ω sc <nω re ⇔ω re>} ω sc / n. That is, when ω _{re_low} > ω _sc / n [rad / sec] is set, the operation of the offline control mode can be continued until the torque ripple becomes a frequency equal to or higher than the speed response.

Even if the speed ω _re of the motor 9 becomes equal to or higher than the first speed threshold ω _{re_low} , the suppression control parameters τ ^* _Cn , τ ^* _Sn continue to change during acceleration / deceleration, so learning of the suppression control parameters τ ^* _Cn , τ ^* _Sn Does not perform, and shifts to the online control mode.

When the acceleration / deceleration is completed and the normal operation is entered, the control is shifted from the online control mode to the learning control mode, and the suppression control parameters τ ^* _Cn , τ ^* _Sn are correlated with the speed ω _re of the motor 9 and the q-axis current command value i ^* _q. It is stored in the suppression control parameter storage section 120.

In addition, in this normal operation, if the speed ω _re of the motor 9 is too high, the torque ripple may become a high frequency that exceeds the band of the control system. In such a case, it is difficult to appropriately suppress the torque ripple, and the suppression control parameters τ ^* _Cn and τ ^* _Sn obtained at that time are also not appropriate. Therefore, when the predetermined second speed threshold ω _{re_high} (> ω _{re_low} ) is set in _advance , and the speed ω _re of the motor 9 is equal to or greater than the second speed threshold ω _{re_high} , the mode shifts to the online control mode or learning control mode. Without going to the offline control mode.

Here, an example of setting the second speed threshold ω _{re_high} described above will be described. In the present embodiment, since the q-axis current command value i ^* _q is corrected to suppress torque ripple through the current control unit 1, the frequency of the correction signal is equal to or greater than the current control response ω _{cc in} the current control unit 1 In that case, the effect is attenuated. That is, a precisely-line control function is when between the torque ripple frequency nω _re and the current control response ω _cc the relationship _{ω cc> nω re ⇔ω re <} ω cc / n is satisfied. Therefore, by setting ω _{re_high} <ω _cc / n [rad / sec], it is possible to operate an appropriate online control mode or a learning control mode.

Next, a description will be given of a case where the motor 9 has an inductance characteristic as shown in Fig. 15 with respect to the switching condition for setting an appropriate control mode for the magnetic characteristics of the motor 9 in (b) above. .

From the inductance characteristics of the motor 9 as shown in Fig. 15, the switching threshold of each control mode is set in advance for the q-axis current command value i ^* _q . First, in the case of 100% or less of the rating, the learning control mode is in a steady state. Next, since magnetic saturation starts from the time when the rating exceeds 100% and the inductance decreases, it is difficult to obtain appropriate suppression control parameters τ ^* _Cn , τ ^* _Sn even if the magnetic saturation starts to be in a steady state. Therefore, it does not shift to the learning control mode, but operates only as the online control mode. The condition of the q-axis current command value i ^* _q at which magnetic saturation starts is set as the first current threshold value i _{q_mg} .

Further, since the hysteresis minor loop of inductance appears from around 200% of the rating, appropriate suppression control parameters τ ^* _Cn , τ ^* _Sn are not obtained. Since then, a margin is provided, and, for example, when the q-axis current command value i ^* _q becomes a value corresponding to a load of 150% or more, it is always operated as an offline control mode. The condition of the q-axis current command value i ^* _q in which this hysteresis minor loop appears is set as the second current threshold value i _{q_hys} (> i _{q_mg} ).

Thus, in the first embodiment of the present invention, the control unit 150 adjusts the conditions of both the speed ω _re of the motor 9 and the magnetic properties of the motor 9 (in particular, inductance properties here), and performs online control mode and learning. An operation sequence for selecting one of three control modes of control mode and offline control mode is executed.

The operation sequence when the control unit 150 selects and switches three control modes in this case is shown in the flowchart of FIG. 6. In addition, symbol S means a processing step.

That is, after starting, step S101 is executed, and the operation starts as an offline control mode. During the operation of the off-line control mode, in step S102, the determination of the switching condition regarding the speed ω _re of the motor 9 is performed. That is, it is determined whether the speed ω _re of the motor 9 is equal to or _greater than the first speed threshold ω _{re_low} .

Further, in step S103, determination of the switching condition regarding the inductance characteristic (q-axis current command value i ^* _q ) is performed. That is, it is determined whether the q-axis current command value i ^* _q is equal to or less than the second current threshold value i _{q_hys} .

If at least one of step S102 and step S103 is negative, the offline control mode is continued. On the other hand, only when both of step S102 and step S103 are positive, step S104 is executed to shift to the online control mode.

During operation in the online control mode, in step S105, determination of the switching condition regarding the inductance characteristic (q-axis current command value i ^* _q ) is performed. That is, it is determined whether the q-axis current command value i ^* _q is equal to or less than the first current threshold value i _{q_mg} .

Further, in steps S106 and S107, the determination of the switching condition with respect to the speed ω _re is performed. That is, in step S106, it is determined whether or not the motor is accelerating or decelerating and is in a normal state. In step S107, it is determined whether the speed ω _re of the motor 9 is equal to or less than the second speed threshold ω _{re_high} .

When at least one of step S105 and step S106 is negative, the determination by steps S102 and S103 is further performed to determine whether or not to continue the online control mode.

If both of Step S105 and S106 are positive, the determination by Step S107 is made, and if it is negative, Step S101 is executed to shift to the offline control mode. If affirmative in step S107, step S108 is executed to shift to the learning control mode.

During the operation in the learning control mode, determinations are made in steps S105, S106, and S107, and it is determined whether the learning control mode continues or the offline control mode or the online control mode is shifted.

7 is a graph schematically showing the switching of the control mode.

In FIG. 7, the horizontal axis is divided by the switching conditions of the first speed threshold ω _{re_low} and the second speed threshold ω _{re_high} , and the vertical axis is divided by the switching conditions of the first current threshold i _{q_mg} and the second current threshold i _{q_hys} . Each is divided into 9 regions (I) to (~). In this case, the offline control mode is selected in areas (I) to (III), (VI), (Ⅶ) to (Ⅸ), and the online control mode is selected in the area (IV) when it is not in the normal state. In the state, the learning control mode is selected, and in the region V, the online control mode is selected.

As described above, in the first embodiment, the online control mode, the learning control mode, and the offline control mode are set in accordance with both conditions of the speed ω _re of the motor 9 and the magnetic characteristics of the motor 9 (in particular, inductance characteristics here). Since an operation sequence for selecting one of the three control modes is provided, learning of appropriate suppression control parameters is enabled, and torque ripple can be effectively suppressed.

In addition, it is not limited to the case where each control mode is allocated to each of the regions (I) to (VIII) shown in Fig. 7, and as shown in Fig. 8, for example, the q-axis current command value i ^* _q is i _{q_mg} <i ^* _{If q} <i _{q_hys} (area (V) in FIG. 8) is satisfied, a learning control mode may be selected instead of the online control mode. In addition, if the q-axis current command value i ^* _q satisfies i _q > i _{q_hys} (area (VI) in FIG. 8), the learning control mode cannot be performed, but an online control mode may be selected instead of the offline control mode.

In the first embodiment, the online control mode, the learning control mode, and the offline mode are set in accordance with the conditions of both the speed ω _re of the motor 9 and the q-axis current command value i ^* _q , which is the magnetic characteristic of the motor 9. Although three control modes of the control mode are selected and switched, but not limited to this, as shown in Fig. 9, only one of the three control modes is selected according to the conditions of the q-axis current command value i ^* _q . You can do it.

That is, in FIG. 9, when the q-axis current command value i ^* _q is equal to or greater than the second current threshold i _{q_hys} (in the case of regions (III), (VI), ())), the offline control mode is selected, and the second current In the case of a threshold i _{q_hys} or less (areas (I), (II), (IV), (V), (Ⅶ), (Ⅷ)), the learning control mode is selected.

Embodiment 2.

10 is a block diagram showing the configuration of a motor control device according to a second embodiment of the present invention. In the second embodiment of the present invention, FIG. 11 shows a block diagram during operation of the online control mode, FIG. 12 shows a block diagram during operation of the learning control mode, and FIG. 13 shows operation of the offline control mode. Each block diagram is shown.

The feature of the second embodiment is that instead of the rotational position detector 8 of the first embodiment, a rotational position estimating unit 130 is provided, and the estimated rotational position estimation value θ _re is used for the control operation.

Since the other configuration is the same as that of the first embodiment shown in Figs. 1 and 2, detailed description is omitted here.

The rotational position estimation of the motor 9 is largely divided into two methods: a method using an induced voltage and a method for directly estimating a position using a high frequency voltage when the motor 9 has saliency. In the former method, it is possible to estimate the rotational position only from the electrical information, but it is impossible to estimate the position in the low-speed region where the induced voltage is lowered. On the other hand, in the latter method, it is possible to estimate the position from the low speed region to the zero speed region, but it is necessary to apply a high frequency voltage that may cause noise or vibration.

For this reason, the estimation of the rotational position of the motor 9 generally sets an arbitrary speed threshold ω _sh and uses a high frequency voltage in a low speed region where the speed ω _re of the motor 9 is lower than this speed threshold ω _sh Is adopted, and a method using an induction voltage is employed in a medium speed region or higher above the speed threshold ω _sh , and both methods are often used by switching.

Thus, in the second embodiment, the first speed threshold ω _{re_low} for switching the control mode is matched with the switching speed threshold ω _sh of the above-described induction voltage use and high-frequency use, that is, ω _sh (switching speed threshold) = Set to be ω _{re_low} (first speed threshold). Therefore, the control unit 150 employs a method using a high-frequency voltage in the low-speed region below the first speed threshold ω _{re_low} with respect to the rotation position estimation unit 130 to calculate the rotation position estimate θ _re , and _{Above the} medium-speed region above the speed threshold ω _{re_low} , a method using an induced voltage is employed to calculate the estimated rotation position θ _re . In this way, the control unit 150 controls the rotation position estimating unit 130 to switch the calculation method of the rotation position estimation value θ _{re with} the first speed threshold ω _{re_low} as a boundary.

In this way, in the low speed region below the first speed threshold ω _{re_low} , the rotational position estimating unit 130 estimates the rotational position estimation value θ _re using a high-frequency voltage, but in this case, the torque ripple suppression unit 80 , It operates in the offline control mode, and it is possible to prevent the torque ripple suppressing unit 80 from adversely affecting the rotation position estimate θ _re in the control operation in the low-speed region.

In addition, in the high-speed region above the first speed threshold ω _{re_low} , the rotational position estimator 130 estimates the rotational position estimate θ _re using an induced voltage, but in this case, the torque ripple suppression unit 80 controls online It is operated in a mode or a learning control mode, and it is possible to prevent the torque ripple suppressor 80 from adversely affecting the use of the rotation position estimate θ _re in the control operation in the high-speed region, and to learn appropriate suppression control parameters. do.

Other configurations and operational effects are the same as those in the first embodiment, and thus detailed description is omitted here.

Embodiment 3.

Since the configuration of the motor control device in the third embodiment is the same as that in the first embodiment shown in Figs. 1 and 2, detailed description of the configuration is omitted here.

A feature of the third embodiment is the first speed threshold ω for switching the control mode using the speed ω _{re_v} and the constant margin speed ω _{re_m at} which the motor 9 and a load device (not shown) connected therein resonate. Set _{re_low} . That is, it is set so that ω _{re_low} (first speed threshold) = ω _{re_v} (the speed at which the motor and the load device resonate) + ω _{re_m} (margin speed).

As a result, it is possible to learn appropriate suppression control parameters because the motor 9 operates as an online control mode or a learning control mode only when the torque ripple of the motor 9 itself becomes dominant by avoiding the influence of mechanical resonance.

Embodiment 4.

Since the basic configuration of the motor control device in the fourth embodiment is the same as that in the first embodiment shown in Figs. 1 and 2, detailed description of the configuration will be omitted here.

Features of the present embodiment 4, showing the temperature detector is not detecting the temperature t _m with respect to the motor 9 and maryeonham addition, sets the temperature thresholds t _{m_high} with respect to the detected temperature t _m being. In addition, when t _{m_high} <t _m , the control unit 150 operates as an offline control mode.

Thereby, it is possible to avoid the high temperature region in which the characteristics of the motor 9 greatly change, and to operate as an on-line control mode or a learning control mode, thereby enabling learning of appropriate suppression control parameters.

In the fourth embodiment, an operation sequence when the control unit 150 selects and switches three control modes based on the switching conditions is shown in the flowchart of FIG. 14.

In FIG. 14, as compared with FIG. 6, the determination of the switching condition for the temperature t _m in step S202 is added to the determination of transition from the online control mode to the learning control mode, and when the determination in S202 is negative, offline control is performed. In the mode (step S101), the process moves to the learning control mode (step S202) only when it is affirmative.

In addition, the motor control apparatus of the present invention is not limited only to the configuration of the above-described embodiments 1 to 4, and within the range not departing from the gist of the present invention, the above-described respective embodiments 1 to 4 can be freely It is possible to combine or appropriately modify and omit the structures of the first to fourth embodiments.

Embodiment 5.

FIG. 16 is a configuration diagram showing an example in which the motor control devices of Embodiments 1 to 4 are applied to control a motor that rotates a driving sheave 205 provided on a hoisting machine for elevating an elevator car.

In the elevator in the fifth embodiment, the car 203 and the counterweight 204 are wound around and connected to the drive sheave 205 as a hoisting machine through the rope 202. Then, the drive sheave 205 is connected to the rotating shaft of the PM motor 9, and is driven to rotate by the PM motor 9. In addition, this elevator is equipped with a rotational position detector 8 and a control device 201 to drive and control the PM motor 9 to raise and lower the car 203 in the hoistway.

The control device 201 in this case is composed of the rest of the parts except for the PM motor 9 and the rotational position detector 8 in Figs. 1 and 2, and the basic configuration is shown in Figs. 1 and 2 Since it is the same as that of Embodiment 1 shown in the above, detailed description of the configuration is omitted here.

In the fifth embodiment, a weight detector (not shown) is provided for the car 203, and the weight threshold M _{m_high} is previously _set for the detected car weight M _m and the weight M _w of the counterweight 204. Setting, the control unit 150 is set to operate as an offline control mode when | M _{m_high} -M _w | <| M _m -M _w |.

When the car weight M _m is heavier than any weight, the PM motor 9 is driven with a high torque from the start. That is, there may be a case where a current that exceeds the current threshold i _{q_hys} (> i _{q_mg} ) in which a hysteresis minor loop appears from the start-up may be required.

Therefore, in the fifth embodiment, when it is possible to predict in advance that such a hysteresis minor loop appears, it can be operated as an offline control mode in advance, and thereafter, whether to shift to an online control mode or a learning control mode. Since the weight threshold M _{m_high} and the current threshold i _{q_hys} are determined in duplicate, it is possible to more safely learn appropriate suppression control parameters.

In the fifth embodiment, an operation sequence when the control unit 150 selects and switches three control modes is shown in the flowchart of FIG. 17. In addition, symbol S means a processing step.

In FIG. 17, as compared with FIG. 6, as the determination of transition from the offline control mode to the online control mode, the determination of the switching condition for the vehicle weight M _m is added in step S203, and the determination result in step S203 is negative. If it is, the mode is shifted to the offline control mode (step S101), and to the online control mode (step S103) only when affirmative.

In addition, although the elevator of this Embodiment 5 was demonstrated on the premise that the motor control apparatus of Embodiment 1 was provided, it is not limited to this, The motor provided with the structures of other Embodiments 2-4 It is possible to apply a control device.

Claims (12)

AC motor,
A current detector for detecting at least two phase currents out of three phases;
A current control unit for generating a voltage command value in a control coordinate axis using the current detection value detected by the current detection unit;
A torque estimator for estimating the torque of the AC motor based on the voltage command value and the current detection value;
A torque ripple suppression unit generating a suppression command for suppressing torque ripple of the AC motor based on the estimated torque estimated by the torque estimation unit;
Suppression control parameter storage unit stores the suppression control parameter for generating the suppression command in correspondence with the speed and current command value of the AC motor.
In addition to having,
An online control mode in which torque ripple suppression is performed by the torque ripple suppression unit and storage of suppression control parameters is not performed in the suppression control parameter storage unit, and torque ripple suppression is performed by performing torque ripple suppression by the torque ripple suppression unit. Three control modes are provided: a learning control mode for storing suppression control parameters in the suppression control parameter storage unit, and an offline control mode for suppressing torque ripple by suppression control parameters stored in the suppression control parameter storage unit,
And a control unit for executing an operation sequence for selecting one of the online control mode and the learning control mode according to a switching condition calculated from the magnetic characteristics of the AC motor.
Motor control device.
The method of claim 1,
The control unit is a motor control device that executes an operation sequence for selecting one of the online control mode and the learning control mode according to a switching condition calculated from the magnetic flux of the current of the AC motor.
The method of claim 1,
The control unit is a motor control device that executes an operation sequence for selecting one of the online control mode and the learning control mode according to a switching condition calculated from magnetic saturation of the AC motor.
The method of claim 3,
The control unit does not select the learning control mode when the AC motor self-saturates in the case of executing the operation sequence.
AC motor,
A current detector for detecting at least two phase currents out of three phases;
A current control unit for generating a voltage command value in a control coordinate axis using the current detection value detected by the current detection unit;
A torque estimator for estimating the torque of the AC motor based on the voltage command value and the current detection value;
A torque ripple suppression unit generating a suppression command for suppressing torque ripple of the AC motor based on the estimated torque estimated by the torque estimation unit;
Suppression control parameter storage unit stores the suppression control parameter for generating the suppression command in correspondence with the speed and current command value of the AC motor.
In addition to having,
On-line control mode in which torque ripple suppression is performed by the torque ripple suppression unit and the suppression control parameter storage is not performed by the suppression control parameter storage unit according to a switching condition calculated from the magnetic characteristics of the AC motor, and The torque ripple suppression is performed by the torque ripple suppression unit, and the torque ripple suppression is performed by the learning control mode in which the suppression control parameters are stored in the suppression control parameter storage unit and the suppression control parameters stored in the suppression control parameter storage unit. Has a control unit for executing an operation sequence for selecting one of the three control modes of the offline control mode,
In the case of executing the operation sequence, the control unit does not select the learning control mode when the magnetic characteristic of the magnetic flux to the current of the AC motor forms a hysteresis minor loop.
Motor control device.
AC motor,
A current detector for detecting at least two phase currents out of three phases;
A current control unit for generating a voltage command value in a control coordinate axis using the current detection value detected by the current detection unit;
A torque estimator for estimating the torque of the AC motor based on the voltage command value and the current detection value;
A torque ripple suppression unit generating a suppression command for suppressing torque ripple of the AC motor based on the estimated torque estimated by the torque estimation unit;
Suppression control parameter storage unit stores the suppression control parameter for generating the suppression command in correspondence with the speed and current command value of the AC motor.
In addition to having,
On-line control mode in which torque ripple suppression is performed by the torque ripple suppression unit and the suppression control parameter storage is not performed by the suppression control parameter storage unit according to a switching condition calculated from the magnetic characteristics of the AC motor, and The torque ripple suppression is performed by the torque ripple suppression unit, and the torque ripple suppression is performed by the learning control mode in which the suppression control parameters are stored in the suppression control parameter storage unit and the suppression control parameters stored in the suppression control parameter storage unit. Has a control unit for executing an operation sequence for selecting one of the three control modes of the offline control mode,
In the case of executing the operation sequence, the control unit sets a current threshold or torque threshold corresponding to a condition in which the magnetic characteristic of the magnetic flux to the current of the AC motor forms a hysteresis minor loop, and the current threshold or the torque Selecting the learning control mode according to a threshold
Motor control device.
The method according to any one of claims 1 to 6,
In the case of executing the operation sequence, the control unit selects one of the three control modes according to a speed threshold calculated from transmission characteristics from a torque command value to a torque estimate value.
The method according to any one of claims 1 to 6,
When the speed estimation unit is installed in the AC motor, the control unit selects one of the three control modes in accordance with the operation conditions of the speed estimation unit when executing the operation sequence.
The method according to any one of claims 1 to 6,
When the AC motor is connected to an arbitrary load device, the control unit selects one of the three control modes according to a speed threshold calculated from the resonance characteristics of the load device when executing the operation sequence. Motor control device.
The method according to any one of claims 1 to 6,
In the case of executing the operation sequence, the control unit selects one of the three control modes according to a temperature threshold calculated from the temperature characteristic of the AC motor.
The motor control device according to any one of claims 1 to 6,
Car,
A balance weight,
A rope connecting between the car and the counterweight,
A drive sheave that is rotated by the driving force of the AC motor and the rope is wound.
Equipped with an elevator.
The method of claim 11,
In the case of executing the operation sequence, the controller selects one of the three control modes according to a weight threshold calculated based on the weight of the car and the weight of the counterweight.

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