KR102153312B1 - Permanent magnet synchronous motomethod control apparatus and its method - Google Patents

Abstract

The present invention provides a control apparatus and method for a permanent magnet synchronous motor capable of accurately estimating and controlling a stator resistance value of a permanent magnet synchronous motor.
The apparatus for controlling a permanent magnet synchronous motor according to the present invention includes: a first subtracter for outputting a difference between a rotor angular velocity command value applied from the outside and a rotor angular velocity detection value detected from the permanent magnet synchronous motor as a rotor angular velocity deviation; A proportional integrator proportionally integrating the rotor angular velocity deviation and outputting an electromagnetic torque command value; A second subtractor for outputting a difference between the electromagnetic torque command value and the electromagnetic torque estimated value below as an electromagnetic torque deviation; A third subtractor for outputting a difference between the absolute value of the stator magnetic flux command value applied from the outside and the absolute value of the stator magnetic flux estimated value as follows; A three-stage hysteresis generator outputting three-stage hysteresis values according to the magnitude of the electromagnetic torque deviation; A two-stage hysteresis generator for outputting two-stage hysteresis values according to the magnitude of the stator magnetic flux deviation; A lookup table for outputting a command voltage vector using a 3-stage hysteresis value output from the 3-stage hysteresis generator and a 2-stage hysteresis value output from the 2-stage hysteresis generator; A PWM generator for outputting a PWM signal using the command voltage vector; A three-phase inverter switched to the PWM signal; A three-phase/2-phase converter for converting a three-phase output current output from the three-phase inverter into a two-phase current in a stationary coordinate system; A stator resistance estimator configured to receive the two-phase current and a two-phase voltage of a stationary coordinate system output from the look-up table and output the electromagnetic torque estimate, the absolute value of the stator flux estimate, and the stator flux position; And a region selector for selecting an output voltage vector region at intervals of a predetermined angle using the stator magnetic flux position.

Description

Permanent magnet synchronous motor control device and method TECHNICAL FIELD [PERMANENT MAGNET SYNCHRONOUS MOTOMETHOD CONTROL APPARATUS AND ITS METHOD}

The present invention relates to the control of a permanent magnet synchronous motor, and more particularly, to an apparatus and method for accurately estimating and controlling a resistance value of a permanent magnet synchronous motor.

Among the algorithms for controlling a permanent magnet synchronous motor, there is an algorithm that requires an accurate motor constant. For example, when controlling a motor using DTC (Direct Torque Control), the motor resistance value is required when calculating magnetic flux and torque.

Equation 1 is a torque calculation equation required for torque control in DTC.

는 자속이고,

는 고정자 자속의 위치이다. 위 첨자 s는 정지좌표계 상의 값을 의미하고, 아래 첨자 s는 고정자(stator)를 의미한다.Where Te is the electromagnetic torque,

Is the magnetic flux,

Is the position of the stator flux. The superscript s means the value on the stationary coordinate system, and the subscript s means the stator.

However, the magnetic flux in Equation 1 is obtained by using a resistance value that is one of voltage, current, and motor constant.

) 검출에 오차를 수반하게 된다.As can be seen from Equation 2, when there is an error in the value of the stator resistance (Rs) of the motor, it is obvious that there is an error in calculating the magnetic flux. Stator resistance (Rs) is a value that fluctuates due to heat generation according to the operation of the motor, and its fluctuation range reaches 50%. Due to the information of the stator resistance Rs, which is incorrect in Equation 2, the magnitude of the magnetic flux calculated from Equation 3 and the position of the stator magnetic flux calculated from Equation 4 (

) There is an error in detection.

On the other hand, when controlling a doubly fed induction generator (DFIG) used as a wind power generator, a stator magnetic flux reference vector control is generally used, and the magnitude of the stator magnetic flux uses Equation 3 and the position of the stator magnetic flux uses Equation 4. Is obtained, and for this, Equation 2 is required. Therefore, it is required to accurately estimate the stator resistance value of the motor.

Korean Patent Registration No. 10-0838990 Korean Patent Registration No. 10-0400595

An object of the present invention is to provide an apparatus and method for controlling a permanent magnet synchronous motor capable of accurately estimating and controlling a stator resistance value of a permanent magnet synchronous motor.

The apparatus for controlling a permanent magnet synchronous motor according to the present invention includes: a first subtracter for outputting a difference between a rotor angular velocity command value applied from the outside and a rotor angular velocity detection value detected from the permanent magnet synchronous motor as a rotor angular velocity deviation; A proportional integrator proportionally integrating the rotor angular velocity deviation and outputting an electromagnetic torque command value; A second subtractor for outputting a difference between the electromagnetic torque command value and the electromagnetic torque estimated value below as an electromagnetic torque deviation; A third subtractor for outputting a difference between the absolute value of the stator magnetic flux command value applied from the outside and the absolute value of the stator magnetic flux estimated value as follows; A three-stage hysteresis generator outputting three-stage hysteresis values according to the magnitude of the electromagnetic torque deviation; A two-stage hysteresis generator for outputting two-stage hysteresis values according to the magnitude of the stator magnetic flux deviation; A command voltage vector generator for outputting a command voltage vector using a 3-stage hysteresis value output from the 3-stage hysteresis generator and a 2-stage hysteresis value output from the 2-stage hysteresis generator; A PWM signal generator for outputting a PWM signal by using the command voltage vector; A three-phase inverter that is switched to the PWM signal to convert a DC voltage into an AC voltage; A three-phase/2-phase converter for converting a three-phase output current output from the three-phase inverter into a two-phase current in a stationary coordinate system; A stator resistance estimator for estimating a stator resistance value by receiving the d-axis current of the stationary coordinate system output from the 3-phase/2-phase converter and the d-axis voltage of the stationary coordinate system from the command voltage vector generator; A stator resistance value output from the stator resistance estimator, a two-phase current of the stationary coordinate system, and a two-phase voltage of a stationary coordinate system output from the command voltage vector generator are received, and the electromagnetic torque estimate value, the stator flux estimate absolute value, and the stator flux A torque magnetic flux calculator that outputs a position; And a region selector for selecting an output voltage vector region at intervals of a predetermined angle using the stator magnetic flux position.

Preferably, the stator resistance estimator is characterized in that the two-phase current is input when the permanent magnet synchronous motor is stopped.

Preferably, the stator resistance estimator includes: detection means for detecting an actual value of the d-axis voltage in the stationary coordinate system corresponding to the actual value of the d-axis current in the stationary coordinate system when an actual value of the d-axis current in the stationary coordinate system is increased; Storage means for storing a current sampling value of the actual value of the d-axis current on the stationary coordinate system and the actual value of the d-axis voltage on the stationary coordinate system and a sampling value immediately preceding it; And estimating means for estimating stator resistance by applying the current sampling value and the immediately preceding sampling value to a Kalman filter of a predetermined equation.

In addition, the method for controlling a permanent magnet synchronous motor according to the present invention includes: a first subtraction step of outputting a difference between a rotor angular speed command value applied from the outside and a detected rotor angular speed value detected from the permanent magnet synchronous motor as a rotor angular speed deviation; A proportional integration step of proportionally integrating the rotor angular velocity deviation and outputting an electromagnetic torque command value; A second subtraction step of outputting a difference between the electromagnetic torque command value and the electromagnetic torque estimated value below as an electromagnetic torque deviation; A third subtraction step of outputting a difference between the absolute value of the stator magnetic flux command value applied from the outside and the absolute value of the stator magnetic flux estimated value as follows; A three-stage hysteresis generation step of outputting three-stage hysteresis values according to the magnitude of the electromagnetic torque deviation; A two-stage hysteresis generation step of outputting two-stage hysteresis values according to the magnitude of the stator magnetic flux deviation; A command voltage vector generation step of outputting a command voltage vector using a 3-stage hysteresis value output by the 3-stage hysteresis generation step and a 2-stage hysteresis value output by the 2-stage hysteresis generation step; A PWM signal generation step of outputting a PWM signal using the command voltage vector; A three-phase inverting step of converting a DC voltage into an AC voltage by switching to the PWM signal; A three-phase/2-phase conversion step of converting the three-phase output current output by the three-phase inverting step into a d-axis current and a q-axis current of a stationary coordinate system; A stator resistance estimation step of estimating a stator resistance value by receiving the d-axis voltage of the stationary coordinate system from the step of generating the d-axis current of the stationary coordinate system and the command voltage vector; The stator resistance value output from the stator resistance estimating step, the d-axis current and q-axis current of the stationary coordinate system, and the two-phase voltage of the stationary coordinate system output from the command voltage vector generation step are received, and the electromagnetic torque estimation value and the stator flux estimation value absolute A torque magnetic flux calculation step of outputting a value and a stator magnetic flux position; And a region selection step of selecting an output voltage vector region at intervals of a predetermined angle using the stator magnetic flux position.

According to the method of estimating the resistance value of the permanent magnet synchronous motor of the present invention, the stator resistance value of the permanent magnet synchronous motor can be estimated relatively accurately. Accordingly, the position of the stator magnetic flux can be accurately detected.

1 is a gate signal waveform diagram when dead time is applied according to the prior art;
2 is a control block diagram of a permanent magnet synchronous motor according to the present invention,
Figure 3a is a detailed circuit diagram of a three-phase inverter unit according to the present invention,
3B is an extreme voltage waveform diagram of a three-phase inverter unit according to the present invention,
4A is a d-axis current waveform diagram according to the present invention;
Figure 4b is a three-phase current waveform diagram according to the present invention,
5A and 5B are simulation waveform diagrams when the initial stator resistance is 8.5 ohms, and
6A and 6B are simulation waveform diagrams when the initial stator resistance is 2 ohms.

Terms and words used in the present specification and claims are not limited to the usual or dictionary meanings, and the inventor is based on the principle that the concept of terms can be appropriately defined in order to explain his or her invention in the best way. It should be interpreted as a meaning and concept consistent with the technical idea of the present invention. Therefore, it is understood that the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiments of the present invention, and there may be various equivalents and modifications that can replace them at the time of application shall.

delete

2 is a control block diagram of a permanent magnet synchronous motor according to the present invention.

The control block of the permanent magnet synchronous motor according to the present invention includes a first subtractor 205, a proportional integrator 210, a second subtractor 215, a third subtractor 220, a 3-stage hysteresis generator 225, and a 2-stage Hysteresis generator 230, command voltage vector generator 235, PWM generator 240, 3-phase inverter 245, permanent magnet synchronous motor 250, 3-phase/2-phase converter 255, stator resistance estimator 260 ), a torque magnetic flux calculator 265, and a region selector 270.

)와 영구자석 동기 전동기(250)로부터 검출되는 회전자 각속도 검출치(

)의 차이를 회전자 각속도 편차(

)로 출력한다.The first subtractor 205 is the rotor angular velocity command value applied from the outside (

) And the rotor angular velocity detected from the permanent magnet synchronous motor 250 (

) The difference of the rotor angular velocity deviation (

).

)를 비례 및 적분하여 전자기 토오크 지령치(

)를 출력한다.The proportional integrator 210 is the rotor angular velocity deviation (

) Proportional and integral to the electromagnetic torque command value (

) Is displayed.

)와 고정자 저항 추정기(260)로부터 출력되는 전자기 토오크 추정치(

)의 차이를 전자기 토오크 편차(

)로 출력한다.The second subtractor 215 is the electromagnetic torque command value output from the proportional integrator 210 (

) And the estimated electromagnetic torque output from the stator resistance estimator 260 (

) The difference between electromagnetic torque deviation (

).

)과 고정자 저항 추정기(260)로부터 출력되는 고정자 자속 추정치 절대값(

)의 차이를 고정자 자속 편차(

)로 출력한다.The third subtractor 220 is the absolute value of the stator flux command value applied from the outside (

) And the absolute value of the estimated stator flux output from the stator resistance estimator 260 (

) The difference between stator magnetic flux deviation (

).

)의 크기에 따라 3단(예: (-)값, 0, (+)값)의 히스테리시스 값을 출력한다. 구체적으로, 1) 전자기 토오크 편차(

)가 (-)값으로부터 0으로 증가하면, (-)1을 출력한다. 2) 전자기 토오크 편차(

)가 0으로부터 소정의 양의 제1 기준치 x1까지 증가하면 0을 출력한다. 3) 전자기 토오크 편차(

)가 소정의 양의 제1 기준치 x1을 초과하여 증가하면 1을 출력한다. 역으로, 4) 전자기 토오크 편차(

)가 (+)값으로부터 0까지 감소하면, 1을 출력한다. 5) 전자기 토오크 편차(

)가 0으로부터 소정의 음의 제1 기준치 (-)x1까지 감소하면 0을 출력한다. 6) 전자기 토오크 편차(

)가 소정의 음의 제1 기준치 (-)x1 미만으로 감소하면 (-)1을 출력한다. The three-stage hysteresis generator 225 is the electromagnetic torque deviation output from the second subtractor 215 (

Depending on the size of ), the hysteresis value of 3 stages (ex: (-) value, 0, (+) value) is output. Specifically, 1) electromagnetic torque deviation (

If) increases from (-) to 0, (-)1 is output. 2) Electromagnetic torque deviation (

When) increases from 0 to a predetermined positive first reference value x1, 0 is output. 3) Electromagnetic torque deviation (

When) increases beyond the first reference value x1 of a predetermined amount, 1 is output. Conversely, 4) electromagnetic torque deviation (

When) decreases from (+) to 0, 1 is output. 5) Electromagnetic torque deviation (

When) decreases from 0 to a predetermined negative first reference value (-)x1, 0 is output. 6) Electromagnetic torque deviation (

If) decreases below a predetermined negative first reference value (-)x1, (-)1 is output.

)의 크기에 따라 2단(예: 음의 값, 양의 값)의 히스테리스시 값을 출력한다. 구체적으로, 1) 고정자 자속 편차(

)가 (-)값으로부터 소정의 양의 제2 기준치 x2까지 증가하면 (-)1을 출력한다. 2) 고정자 자속 편차(

)가 소정의 양의 제2 기준치 x2를 초과하면 1을 출력한다. 역으로, 3) 고정자 자속 편차(

)가 (+)값으로부터 소정의 음의 제2 기준치 (-)x2까지 감소하면 1을 출력한다. 4) 고정자 자속 편차(

)가 소정의 음의 제2 기준치 (-)x2 미만으로 감소하면 (-)1을 출력한다. The two-stage hysteresis generator 230 is the stator magnetic flux deviation output from the third subtractor 220 (

Depending on the size of ), the hysteresis value of the second stage (eg negative value, positive value) is output. Specifically, 1) stator magnetic flux deviation (

When) increases from the (-) value to a predetermined amount of the second reference value x2, (-)1 is output. 2) Stator magnetic flux deviation (

When) exceeds the second reference value x2 of a predetermined amount, 1 is output. Conversely, 3) stator flux deviation (

When) decreases from the (+) value to a predetermined negative second reference value (-)x2, 1 is output. 4) Stator magnetic flux deviation (

When) decreases to less than a predetermined negative second reference value (-)x2, (-)1 is output.

)의 히스테리스시 값과 2단 히스테리시스 발생기(230)로부터 출력되는 고정자 자속 편차(

)의 히스테리시스 값을 이용하여 저장된 룩업 테이블로부터 독출되는 표 1의 지령 전압 벡터를 출력한다.The command voltage vector generator 235 is an electromagnetic torque deviation output from the 3-stage hysteresis generator 225 (

) Of the hysteresis value and the stator magnetic flux deviation output from the 2-stage hysteresis generator 230 (

The command voltage vector of Table 1 read from the stored lookup table is output using the hysteresis value of ).

Sector1 Sector2 Sector3 Sector4 Sector5 Sector6 1` One V2(110) V3(010) V4(011) V5(001) V6(101) V1(100) One 0 V7(111) V0(000) V7(111) V0(000) V7(111) V0(000) One -One V6(101) V1(100) V2(110) V3(010) V4(011) V5(001) -One One V3(010) V4(011) V5(001) V6(101) V1(100) V2(110) -One 0 V0(000) V7(111) V0(000) V7(111) V0(000) V7(111) -One -One V5(001) V6(101) V1(100) V2(110) V3(010) V4(011)

The PWM generator 240 generates PWM signals SA, SB, and SC by using the command voltage vector output from the command voltage vector generator 235.

The three-phase inverter 245 converts a DC voltage applied by being controlled to a PWM signal output from the PWM generator 240 to a predetermined AC voltage and provides it to the permanent magnet synchronous motor 250.

)로 변환한다.The three-phase/2-phase converter 255 receives the three-phase output current (ias, ibs, ics) output from the three-phase inverter 245 and receives the two-phase current (

).

)와 지령 전압 벡터 발생기(235)로부터 정지좌표계의 d축 전압(

)을 입력받아 고정자 저항값(Rs)를 추정한다.The stator resistance estimator 260 is the d-axis current of the stationary coordinate system output from the 3-phase/2-phase converter 255 (

) And the d-axis voltage of the stationary coordinate system from the command voltage vector generator 235 (

) And estimate the stator resistance value (Rs).

)그리고 지령 전압 벡터 발생기(235)로부터 정지좌표계의 2상 전압(

)을 입력받아 전자기 토오크 추정치(

), 고정자 자속 추정치 절대값(

). 및 고정자 자속 위치(

)를 출력한다.The torque magnetic flux calculator 265 includes a stator resistance value (Rs) output from the stator resistance estimator 260 and a two-phase current in the stationary coordinate system output from the three-phase/2-phase converter 255 (

) And from the command voltage vector generator 235, the two-phase voltage of the stationary coordinate system (

) And the electromagnetic torque estimate (

), the absolute value of the stator flux estimate (

). And stator magnetic flux position (

) Is displayed.

)를 이용하여 3상 인버터의 출력 전압 벡터 영역을 예컨대, 60도 간격으로 선택한다.The region selector 270 is a stator magnetic flux position output from the torque magnetic flux calculator 265 (

) To select the output voltage vector region of the 3-phase inverter at intervals of 60 degrees, for example.

Equation 5 is a stator voltage equation of a surface-attached permanent magnet synchronous motor.

는 쇄교자속, Ls는 고정자 인덕턴스, Rs는 고정자 저항, vds는 회전좌표계 d축 고정자 전압, vqs는 회전좌표계 q축 고정자 전압, ids는 회전좌표계 d축 고정자 전류, iqs는 회전좌표계 q축 고정자 전류,

이다.here,

Is the flux linkage, Ls is the stator inductance, Rs is the stator resistance, vds is the d-axis stator voltage in the rotary coordinate system, vqs is the q-axis stator voltage in the rotary coordinate system, ids is the d-axis stator current in the rotary coordinate system, and iqs is the rotary coordinate system q-axis stator current. ,

to be.

The torque of the surface-attached permanent magnet synchronous motor can be expressed as in Equation 6, and the torque of the embedded permanent magnet synchronous motor can be expressed as in Equation 7. In the embedded permanent magnet synchronous motor, Ls, expressed as the inductance of the surface-mounted permanent magnet synchronous motor, is represented by Ld and Lq for the d and q axes, respectively, due to the salient polarity.

The torque of the surface-mounted permanent magnet synchronous motor of Equation 6 has no contribution from the d-axis current (ids) of the rotating coordinate system. In addition, there is no contribution of the d-axis current ids of the rotational coordinate system to the torque of the embedded permanent magnet synchronous motor of Equation 7 when the q-axis current iqs of the rotational coordinate system is 0.

Accordingly, according to the present invention, when the permanent magnet synchronous motor is stopped, the q-axis current of the rotational coordinate system is fixed, and the d-axis current of the rotational coordinate system is varied, and the stator resistance calculation equation through the increase rate of voltage and current as shown in Equation 8 Use

By the way, although the stator resistance of Equation 8 can be obtained in the form of a single differential value, that is, kth order and k+1st order, it may cause an error in calculation due to current measurement or the like. Therefore, in order to prevent such an error, a Kalman filter is applied and expressed in a discrete form as in Equations 9 to 13.

는 회전좌표계의 d축 고정자 전압 지령치이다.Here, ids and vds are d-axis current values and d-axis voltage values on the rotational coordinate system, respectively,

Is the d-axis stator voltage command value of the rotating coordinate system.

Here, K is the Kalman filter gain, P is the state covariance, (-) is the expected value, k and k-1 are the present and past values, and Q is the covariance matrix of the process noise ( covariance matrix), R is the covariance matrix of the measurement noise.

According to an embodiment of the present invention, in order to reduce the burden on the control unit due to the matrix operation included in the algorithm, the matrix is processed in a first order, that is, a constant form.

On the other hand, the setpoint voltage is different from the actual value voltage due to the influence of the dead time. The problem of the inconsistency between the voltage command value and the actual voltage value according to the dead time can be eliminated by using the difference between the current value and the previous value as shown in Equation (11). Dead time is a delay time between the switch located on the upper arm and the on time when the switch of the lower arm is turned on and off, thereby preventing a short circuit of the upper and lower arms. 1 is a waveform of a gate signal when a dead time of 5 microseconds is applied. Due to the existence of the dead time, the load voltage increases in the negative load current as opposed to the positive load current.

3A is a detailed circuit diagram of a three-phase inverter unit according to the present invention, and Fig. 3B is a waveform diagram of a pole voltage of a three-phase inverter unit according to the present invention.

In FIG. 3A, during the dead time period, that is, when both Sa+ and Sa- are off, the pole voltage appears as shown in FIG. 3B according to the polarity of the phase current. For a positive load current, the output voltage decreases by the dead time. Therefore, as shown in Equation 18, the pole voltage is corrected in consideration of the polarity of the load current.

는 데드 타임에 의한 전압 왜곡분이고, sign(부호)는 전류의 부호가 양이면 (+)1을, 전류의 부호가 음이면 (-)1을 취한다. 예컨대, ias(k)가 양이면 sign(ias(k))=1을, isa(k)가 음이면 sign(ias(k))=-1이다.here

Is the voltage distortion due to the dead time, and sign (sign) takes (+)1 if the sign of the current is positive, and (-)1 if the sign of the current is negative. For example, if ias(k) is positive, sign(ias(k))=1, and if isa(k) is negative, sign(ias(k))=-1.

According to the present invention, when z(k) is obtained through Equation 11, a voltage command value is used. In the calculation of the d-axis voltage vds of the rotating coordinate system, the voltages of the a, b, and c phases are affected by the three-phase currents ias, ibs and ics of the rotating coordinate system.

However, when ids is used as a rotating coordinate system as in the present invention, the values of the three-phase current ias, ibs, and ics of the rotating coordinate system are maintained in one direction when the d-axis current ids of the rotating coordinate system increases from 0 to a constant value. Therefore, when the difference in the applied voltage is obtained as in Equation 11, the voltage distortion due to the dead time is eliminated.

4A is a d-axis current waveform diagram according to the present invention, and FIG. 4B is a three-phase current waveform diagram according to the present invention.

4, in order to detect the stator resistance (Rs) of the permanent magnet synchronous motor, as shown in FIG. 4A, when the d-axis current ids of the rotating coordinate system increases from 0 to 3A (amperes), ibs from above, The three-phase currents in the order of ias and ics are 2.59A, 0, -2.59A, respectively, and it can be seen that they change in the same shape as the d-axis current ids of the rotating coordinate system. In the simulation waveform shown in FIG. 4B, the a-axis is the case where the position at 0 degrees of the q-axis of the rotational coordinate system is determined.

Therefore, if the d and q-axis currents of the rotational coordinate system are ids=3A and iqs=0A, respectively, when the magnetic flux position is 0 ⁰ as in the simulation of FIG. 30 ⁰ )=2.59A, ics=-ibs=-2.59A. On the other hand, since the current direction has only one sign of + or -, the voltage increase or decrease with respect to the dead time has the same magnitude, and when the differential voltage is applied, the variation of the voltage command value coincides with the variation of the actual voltage value. do. That is, it can be seen that there is a relationship of Equation 19.

)이고, 도 5b는 추정된 고정자 저항값이다.5A and 5B are simulation waveform diagrams when the initial stator resistance is 8.5 ohms, and FIG. 5A is the d-axis current command value of the rotating coordinate system (

), and FIG. 5B is an estimated stator resistance value.

According to FIG. 5, it can be seen that the initial stator resistance setting value is set high as 8.5 Ω, and as the algorithm is performed, the stator resistance value of the actual motor is converged to 6.3 Ω. Here, Q (covariance matrix of process noise) is 1, and R (covariance matrix of measurement noise) is 0.3.

)이고, 도 6b는 추정된 고정자 저항값이다. 6A and 6B are simulation waveform diagrams when the initial stator resistance is 2 ohms, and FIG. 6A is a d-axis current command value (

), and FIG. 6B is an estimated stator resistance value.

According to FIG. 6, it can be seen that the initial stator resistance set value is set as low as 2Ω, and converges to 6.3Ω, which is the actual stator resistance value of the motor as the algorithm is performed. Here, Q (covariance matrix of process noise) is 1, and R (covariance matrix of measurement noise) is 0.1.

The embodiments described in the present specification and the accompanying drawings are merely illustrative of some of the technical ideas included in the present invention. Accordingly, it is obvious that the embodiments disclosed in the present specification are not intended to limit the technical idea of the present disclosure, but to explain the technical idea, and thus the scope of the technical idea of the present disclosure is not limited by these embodiments. Modification examples and specific embodiments that can be easily inferred by those skilled in the art within the scope of the technical idea included in the specification and drawings of the present invention should be interpreted as being included in the scope of the present invention.

205: first subtractor
210: proportional integrator
215: second subtractor
220: third subtractor
225: 3-stage hysteresis generator
230: 2-stage hysteresis generator
235: command voltage vector generator
240: PWM generator
245: 3-phase inverter
250: permanent magnet synchronous motor
255: 3-phase/2-phase converter
260: stator resistance estimator
270: area selector

Claims (6)

A first subtracter for outputting a difference between the rotor angular velocity command value applied from the outside and the rotor angular velocity detection value detected from the permanent magnet synchronous motor as the rotor angular velocity deviation;
A proportional integrator proportionally integrating the rotor angular velocity deviation and outputting an electromagnetic torque command value;
A second subtractor for outputting a difference between the electromagnetic torque command value and the electromagnetic torque estimated value below as an electromagnetic torque deviation;
A third subtractor for outputting a difference between the absolute value of the stator magnetic flux command value applied from the outside and the absolute value of the stator magnetic flux estimated value as follows;
A three-stage hysteresis generator outputting three-stage hysteresis values according to the magnitude of the electromagnetic torque deviation;
A two-stage hysteresis generator for outputting two-stage hysteresis values according to the magnitude of the stator magnetic flux deviation;
A command voltage vector generator for outputting a command voltage vector using a 3-stage hysteresis value output from the 3-stage hysteresis generator and a 2-stage hysteresis value output from the 2-stage hysteresis generator;
A PWM signal generator for outputting a PWM signal by using the command voltage vector;
A three-phase inverter that is switched to the PWM signal to convert a DC voltage into an AC voltage;
A three-phase/2-phase converter for converting a three-phase output current output from the three-phase inverter into a two-phase current in a stationary coordinate system;
A stator resistance estimator for estimating a stator resistance value by receiving the d-axis current of the stationary coordinate system output from the 3-phase/2-phase converter and the d-axis voltage of the stationary coordinate system from the command voltage vector generator;
A stator resistance value output from the stator resistance estimator, a two-phase current of the stationary coordinate system, and a two-phase voltage of a stationary coordinate system output from the command voltage vector generator are received, and the electromagnetic torque estimate value, the stator flux estimate absolute value, and the stator flux A torque magnetic flux calculator that outputs a position; And
A region selector for selecting an output voltage vector region at intervals of a predetermined angle using the stator magnetic flux position,
The stator resistance estimator,
Detection means for detecting an actual value of the d-axis voltage on the stationary coordinate system corresponding to the actual value of the d-axis current on the stationary coordinate system when the actual value of the d-axis current on the stationary coordinate system increases;
Storage means for storing a current sampling value of the actual value of the d-axis current on the stationary coordinate system and the actual value of the d-axis voltage on the stationary coordinate system and a sampling value immediately preceding it; And
Estimating means for estimating stator resistance by applying the current sampling value and the immediately preceding sampling value to a Kalman filter of a predetermined equation
Control device of a permanent magnet synchronous motor comprising a.
The method according to claim 1,
The stator resistance estimator,
The control apparatus for a permanent magnet synchronous motor, characterized in that receiving the two-phase current when the permanent magnet synchronous motor is stopped.
delete A first subtraction step of outputting a difference between the rotor angular velocity command value applied from the outside and the rotor angular velocity detection value detected from the permanent magnet synchronous motor as a rotor angular velocity deviation;
A proportional integration step of proportionally integrating the rotor angular velocity deviation and outputting an electromagnetic torque command value;
A second subtraction step of outputting a difference between the electromagnetic torque command value and the electromagnetic torque estimated value below as an electromagnetic torque deviation;
A third subtraction step of outputting a difference between the absolute value of the stator magnetic flux command value applied from the outside and the absolute value of the stator magnetic flux estimated value as follows;
A three-stage hysteresis generation step of outputting three-stage hysteresis values according to the magnitude of the electromagnetic torque deviation;
A two-stage hysteresis generation step of outputting two-stage hysteresis values according to the magnitude of the stator magnetic flux deviation;
A command voltage vector generation step of outputting a command voltage vector using a 3-stage hysteresis value output by the 3-stage hysteresis generation step and a 2-stage hysteresis value output by the 2-stage hysteresis generation step;
A PWM signal generation step of outputting a PWM signal using the command voltage vector;
A three-phase inverting step of converting a DC voltage into an AC voltage by switching to the PWM signal;
A three-phase/2-phase conversion step of converting the three-phase output current output by the three-phase inverting step into a d-axis current and a q-axis current of a stationary coordinate system;
A stator resistance estimation step of estimating a stator resistance value by receiving the d-axis voltage of the stationary coordinate system from the step of generating the d-axis current of the stationary coordinate system and the command voltage vector;
The stator resistance value output from the stator resistance estimation step, the d-axis current and q-axis current of the stationary coordinate system, and the two-phase voltage of the stationary coordinate system output from the command voltage vector generation step are received, and the electromagnetic torque estimation value, the stator magnetic flux estimation value absolute A torque magnetic flux calculation step of outputting a value and a stator magnetic flux position; And
A region selection step of selecting an output voltage vector region at intervals of a predetermined angle using the stator magnetic flux position,
The stator resistance estimating step,
A detection step of detecting an actual value of the d-axis voltage in the stationary coordinate system corresponding to the actual value of the d-axis current in the stationary coordinate system when the actual value of the d-axis current in the stationary coordinate system increases;
A storage step of storing a current sampling value of the actual value of the d-axis current on the stationary coordinate system and the actual value of the d-axis voltage on the stationary coordinate system and a sampling value immediately before it; And
Estimating step of estimating stator resistance by applying the current sampling value and the immediately preceding sampling value to a Kalman filter of a predetermined equation
Control method of a permanent magnet synchronous motor comprising a.
The method of claim 4, wherein the stator resistance estimating step,
And the d-axis current and the q-axis current are inputted when the permanent magnet synchronous motor is stopped. delete

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