WO2004055967A1 - 交流回転電機の磁気騒音低減方法、それを用いるモータ制御装置及び交流回転電機装置 - Google Patents
交流回転電機の磁気騒音低減方法、それを用いるモータ制御装置及び交流回転電機装置 Download PDFInfo
- Publication number
- WO2004055967A1 WO2004055967A1 PCT/JP2003/013303 JP0313303W WO2004055967A1 WO 2004055967 A1 WO2004055967 A1 WO 2004055967A1 JP 0313303 W JP0313303 W JP 0313303W WO 2004055967 A1 WO2004055967 A1 WO 2004055967A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- harmonic
- current
- electric machine
- phase
- component
- Prior art date
Links
Classifications
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/01—Arrangements for reducing harmonics or ripples
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K19/00—Synchronous motors or generators
- H02K19/16—Synchronous generators
- H02K19/36—Structural association of synchronous generators with auxiliary electric devices influencing the characteristic of the generator or controlling the generator, e.g. with impedances or switches
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/44—Circuits or arrangements for compensating for electromagnetic interference in converters or inverters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
Definitions
- the present invention relates to a magnetic noise reduction method for an AC rotating electric machine, a motor control device using the same, and an AC rotating electric machine device.
- Japanese Patent No. 29285854 discloses a waveform of a current supplied to a motor by superimposing a voltage component for canceling a harmonic component included in an induced voltage of the motor on an output voltage of the inverter. It is proposed to reduce the torque pulsation and the noise due to the torque pulsation by approximating the sine wave.
- Japanese Patent Application Laid-Open No. 11-55986 describes that a harmonic component (hereinafter, also simply referred to as “harmonic current”) of a fundamental frequency component of an energizing current is actively superimposed on a motor. It proposes to reduce torque pulsation.
- harmonic current also simply referred to as “harmonic current”
- Japanese Patent Application Laid-Open Nos. 4-200294 and 7-89753 disclose the carrier frequency of a PWM control inverter to a predetermined pattern. It discloses that the electromagnetic noise of the motor is changed by changing the motor. Disclosure of the invention
- an object of the present invention is to provide a magnetic noise reduction method for an AC rotating electric machine that can easily and reliably reduce the magnetic noise of various AC rotating electric machines, and to provide a motor control device using the same.
- Another object of the present invention is to provide an AC rotating electric machine device capable of freely changing the electromagnetic sound of various AC rotating electric machines.
- the method for reducing magnetic noise of an AC rotating electric machine according to claim 1 is based on a fundamental frequency component of a polyphase alternating current supplied to an armature of the multi-phase AC rotating electric machine by n (n is a natural number) times (
- n is a natural number) times
- phase and amplitude of the radial vibration reduction harmonic current may be set to predetermined values by the open control, or the value of the radial vibration reduction harmonic current detected by the feedback control. May be a predetermined value. However, these predetermined values can be changed according to the operating state based on a map of the fundamental wave current amplitude and the number of rotations and the phase and the amplitude stored in advance.
- Magnetic noise is caused by the magnetic force (magnetic excitation force) of the iron core of the AC rotating electric machine. Due to the formed vibration (also called magnetic vibration), this magnetic vibration is a composite vibration of the circumferential vibration and the radial vibration.
- Circumferential vibration of the iron core causes torque ripple, but since the stator core or rotor core has a substantially cylindrical or cylindrical shape, even if these cores vibrate periodically in the circumferential direction, The torsion of air in contact with the iron core due to this vibration, that is, noise, is small.
- radial torsion of the iron core causes radial vibration of the outer or inner peripheral surface of the stator core or rotor core, but since these outer or inner peripheral surfaces are in contact with air, Due to the radial vibration of the stator core or the rotor core, the outer peripheral surface or the inner peripheral surface vibrates in the radial direction, generating large noise.
- torque pulsation is reduced by reducing the circumferential component of the magnetic excitation force
- magnetic noise is reduced by reducing the radial component of the magnetic excitation force
- a harmonic component of a predetermined order of a radial component (also referred to as a radial magnetic excitation force) of a magnetic excitation force usually formed by a rotor magnetomotive force and a stator current (a fundamental frequency component).
- a stator current a fundamental frequency component.
- the higher order harmonic current for radial vibration reduction is superimposed on the stator current (multi-phase AC current). As a result, it was found that magnetic noise can be effectively reduced.
- the superposition of the harmonic current for reducing the radial vibration reduces the magnetic excitation force formed by the rotor magnetomotive force and the stator current (fundamental frequency component) in the same manner as the radial component of the magnetic excitation force. Also, other radial vibrations of the AC rotating electric machine, for example, radial vibrations input from the outside can be reduced.
- the radius of the frequency n times the fundamental frequency The harmonic current for directional vibration reduction is superimposed on the conduction current for torque formation. As a result, it was found that it was possible to reduce the harmonic component of the radial vibration at a frequency n-1 times the fundamental frequency of the current flow. The reason for this will be described later.
- a radial vibration having a frequency that is 6 k + 1 (k is a natural number) times the fundamental frequency component of the stator current of the three-phase AC rotating electric machine as the AC rotating electric machine is provided.
- the radial vibration of the AC rotating electric machine having a frequency of 6 k times the fundamental frequency component is reduced as compared with the case where the superimposition is not performed. .
- the radial having the sixth and 12th frequencies is superimposed by superimposing the 7th and 13th harmonics for radial vibration reduction.
- the harmonic component of the directional vibration is attenuated at the same time as compared with the case where the superposition is not performed.
- the 6th and 1st 2nd harmonic components of radial vibration which were conventionally the first and second most unpleasant magnetic noise components Has been successfully reduced.
- a harmonic component of the radial vibration of the 6th order, 1st and 2nd order by the fundamental current, the 7th order, the 13th order harmonic current for reducing the radial vibration, and the 6th order 1 Set the phase and amplitude of the 7th and 13th harmonic currents for radial vibration reduction so that the amplitude of the solid sum with the harmonic component of the 2nd-order radial vibration is not more than a predetermined value.
- the phases and amplitudes of the 7th-order and 13th-order harmonic currents for radial vibration reduction may be obtained by mathematical operations, may be calculated by the finite element method, or may be determined experimentally. You can do it. As a result, it was found that the 6th and 1st and 2nd harmonic components of radial vibration, which were the first and second most unpleasant magnetic noise components in the past, can be reduced well.
- a harmonic phase current for a frequency n times higher than the phase current of the fundamental frequency component is used in order to reduce radial vibration at a frequency n times the fundamental frequency component of the stator current. It was explained that they are superimposed. Of course, a harmonic current having a higher order than that for reducing the radial vibration of a further order may be superimposed.
- the motor control device includes: a rotational position detecting means for detecting a rotational position of an M-phase (M is a positive integer of 3 or more) synchronous electric rotating machine for a vehicle;
- a motor control device including motor current control means for individually applying a predetermined phase current having a predetermined fundamental frequency and amplitude to each phase winding of the armature of the AC rotary electric machine based on the rotational position;
- the motor current control means superimposes a radial vibration reduction harmonic current having a frequency n times (next) on the basis of a fundamental frequency component of the phase current on the multi-phase AC current, thereby obtaining the AC rotation.
- radial vibrations which are vibrations generated radially around the axis of the rotating shaft of the AC rotary electric machine by an exciting force generated by the electric machine or externally input to the AC rotary electric machine, Attenuates the harmonic component n-1 (next) times the fundamental frequency component.
- a quiet AC rotating electric machine can be realized by using the magnetic noise reduction method of the present invention.
- a rotation angle sensor such as a resolver is usually used to detect the rotation angle of the rotor, but the phase of the motor current or motor voltage, which is known as a so-called sensorless method, is usually used.
- a circuit for estimating the rotation angle of the rotor based on the above may be employed.
- the motor current control means superimposes at least one of the seventh harmonic component and the 13 th harmonic component on the phase current,
- the 6th and 12th harmonic components of the radial vibration generated in the three-phase AC rotating electric machine as the AC rotating electric machine are attenuated as compared with the case where the superposition is not performed. According to this aspect, since the motor control using the above-described magnetic noise reduction method is performed, it is possible to satisfactorily and reliably reduce the magnetic noise.
- the motor current control means superimposes the 19th-order radial vibration reduction harmonic current, thereby producing a harmonic of the 18th-order radial vibration.
- the wave component is attenuated more than when the superimposition is not performed. As a result, quiet operation of the rotating electric machine becomes possible.
- the motor current control means superimposes a 25th-order harmonic current for reducing radial vibration to thereby obtain a harmonic of the radial vibration having a 24th-order frequency.
- the wave component is attenuated more than when the superimposition is not performed. As a result, quiet operation of the rotating electric machine becomes possible.
- the AC rotating electric machine is connected to a vehicle engine or a Z or a wheel shaft, and the motor current control means reduces the radial vibration when the vehicle engine stops.
- the harmonic current is superimposed on the multi-phase alternating current.
- the AC rotating electric machine is connected to a vehicle engine and / or a wheel shaft so as to be capable of regenerative braking, and the motor current control unit is configured to control when the vehicle engine is stopped and when regeneration is stopped.
- the radial current for reducing vibration in the radial direction is superimposed on the polyphase alternating current.
- the motor current control means includes a phase current (radial direction as referred to in the present invention) including at least a fundamental frequency and a harmonic current having a frequency n times the fundamental frequency component.
- the above-mentioned radial vibration reducing harmonic current of n times frequency is reduced or minimized to reduce or minimize the radial vibration of n-1 times the fundamental frequency component due to the vibration reducing harmonic current.
- a harmonic current for radial vibration reduction is superimposed on the phase current.
- the harmonic current for radial vibration reduction may be obtained from a map stored in advance and calculated from a calculation formula. The important point is that the phase current includes not only the fundamental frequency component, but also a harmonic current at n times the frequency.
- a harmonic current for minimizing or reducing radial vibration reduction due to a phase current (actual phase current) including these harmonic currents that is, a harmonic current for radial vibration reduction is superimposed on the phase current.
- the phase and amplitude of the radial vibration reduction harmonic current of the predetermined order to be superimposed change according to the frequency, amplitude, etc. of the fundamental frequency component, they can be determined experimentally in advance or predetermined by the finite element method. It can be stored as a map, and the frequency and amplitude of the fundamental frequency component can be detected, substituted into this map, and read out or calculated. As a result, radial vibration due to an actual phase current including harmonics can be favorably reduced.
- the armature current does not have the nth harmonic current.
- the harmonic current currently included in the current may be subtracted from the magnetic noise reducing harmonic current, and the subtracted harmonic current may be superimposed on the armature current.
- the nth harmonic current for magnetic noise reduction to minimize the n-1st order magnetic noise generated for the fundamental frequency component of the armature current to be energized is determined.
- the nth harmonic current that should be generated by the fundamental frequency component of the armature current is obtained as a mixed harmonic current from a map or a calculation formula stored in advance, and the harmonic for reducing the magnetic noise is obtained.
- the value obtained by subtracting the mixed harmonic current from the wave current may be superimposed on the fundamental frequency component of the armature current to be energized, and used as the target value for armature current control.
- the motor current control means detects a harmonic current having a frequency n times a fundamental frequency component included in the phase current as a mixed harmonic current, When the phase current is only the fundamental frequency component without including the mixed harmonic current, the n-th radial vibration for reducing or minimizing the n-th order harmonic component of the radial vibration.
- the reduction harmonic current is obtained as a feedback pack control target value, and feedback control is performed to converge the difference between the mixed harmonic current and the target value to zero. By doing so, the circuit processing for reducing magnetic noise can be further simplified.
- a harmonic current for reducing magnetic noise that minimizes magnetic noise when the detected armature current is only the fundamental frequency component is obtained.
- feedback control may be performed such that the difference obtained by subtracting the detected harmonic current of the armature current from the harmonic current for reducing magnetic noise is zero.
- Harmonic current excluding the fundamental frequency component from the detected phase current (Referred to as mixed harmonic current).
- one or more predetermined order radial vibration reduction harmonic currents for minimizing one or more predetermined order radial vibrations when the phase current is only the fundamental frequency component are calculated. And use this as the feedback target value.
- feedback control is performed to converge the difference between the mixed harmonic current and the feedback target value to zero. In this way, since the detected phase current finally has only the fundamental frequency component of the phase current and the harmonic current for reducing radial vibration, the radial vibration can be reduced by a simple configuration. Can be minimized.
- the AC rotating electric machine device is an AC rotating electric machine having M (M is a positive integer of 3 or more) phase stator coils, and intermittently controls a stator current of each phase of the synchronous machine.
- An AC rotating electric machine device comprising: an inverter having a transistor element; and an inverter control circuit for intermittently controlling the transistor element based on the detected or estimated rotation angle of the AC rotating electric machine, wherein the inverter control circuit comprises: By performing a process of outputting a harmonic PWM signal having a frequency that is n times (n is an integer of 2 or more) times the fundamental frequency component of the stator current to the inverter, (n ⁇ 1) of the fundamental frequency component can be obtained. )
- a harmonic PWM signal generating means for changing the amplitude of the magnetic sound of the AC rotating electric machine having twice the frequency as compared to a case where the processing is not performed. That.
- the present invention by inputting a harmonic PWM signal of n times the fundamental frequency component of the stator current to the impeller for controlling the stator current of the AC rotating electric machine performing the electric operation or the power generation operation.
- the magnetic noise for example, radial magnetic excitation force
- the AC rotating electric machine having a frequency (n-1) times the fundamental frequency component is increased or decreased as compared with the normal case, and as a result, the AC rotating electric machine is increased.
- Increase or decrease the magnetic sound of This As a result, it is possible to realize an extremely quiet AC rotating electric machine or an AC rotating electric machine having a desired magnetic sound.
- the generation of the same rotating noise as that of the engine can give the driver a sense of security.
- This rotating sound may be similar to the engine sound or may be unique to the AC rotating electric machine.
- the driver can preset the level and frequency of the magnetic sound for each range of the operating state (rotational speed and output level) of the AC rotating electric machine according to his / her preference. It is preferable that the level of the harmonic PWM signal be set so that the increase in torque ripple caused by the harmonic PWM signal does not exceed a predetermined level.
- the circumferential vibration of the iron core causes a torque ripple
- the radial vibration of the iron core generates a magnetic sound on the outer circumferential surface or the inner circumferential surface of the stator core or the rotor core. Therefore, the torque pulsation is changed by changing the circumferential component of the magnetic excitation force, and the magnetic sound can be changed by changing the radial component of the magnetic excitation force.
- a harmonic component of a predetermined order of a radial component also referred to as a radial magnetic exciting force
- a stator current a fundamental frequency component
- n times the fundamental frequency of the stator current Is added to the original stator current Is added to the original stator current.
- the harmonic PWM signal generating means comprises: a first harmonic PWM signal having a frequency of n 1 times a fundamental frequency component of the stator current;
- a second harmonic PWM signal having the following frequency By outputting a second harmonic PWM signal having the following frequency to the impeller, the magnetic sound of the AC rotating machine having a frequency (nl-l) times the fundamental frequency component is obtained. It increases (or decreases) as compared with the case where the processing is not performed, and at the same time, the magnetic sound of the AC rotating electric machine having a frequency (n 2-1) times the fundamental frequency component as compared with the case where the processing is not performed Decrease (or increase). As a result, it is possible to individually change and control the magnetic sounds of a plurality of frequencies generated by the AC rotating electric machine.
- the inverter control circuit has a basic PWM signal generating means for outputting a basic PWM signal for flowing the basic frequency component to each of the stator coils to the inverter.
- a fundamental wave current having a frequency (basic frequency) corresponding to the basic PWM signal can be supplied to the stator coil of the AC rotating electric machine. For example, during electric operation, rotation can be given at a rotational speed corresponding to this fundamental frequency, and during power generation, a stator current having this fundamental frequency can be synchronously rectified.
- the harmonic PWM signal generating means increases the noise generated by the AC rotating electric machine when the harmonic PWM signal generating means is operating rather than stopped. As a result, for example, when a predetermined operating condition of the AC rotating electric machine occurs, or in accordance with the driver's hobby, the AC rotating electric machine generates a larger magnetic sound than originally expected. Can be.
- the harmonic PWM signal generating means reduces the magnetic noise of the AC rotating electric machine when the harmonic PWM signal generating means is operating, rather than when the harmonic PWM signal generating means is stopped. This makes it possible to realize an AC rotating electric machine that is much quieter than in the past.
- the harmonic PWM signal generating means changes the magnetic sound by changing a phase, a Z, or an amplitude of a harmonic current added to the stator current according to a rotation speed. Reduced or increased compared to when the harmonic PWM signal generation means was stopped.
- the amplitude of the harmonic current in the stator current which causes the magnetic noise, changes due to the change in the rotation speed, that is, the frequency of the fundamental current of the stator current (fundamental frequency).
- This makes it possible to realize a silent AC rotating electric machine that always exhibits a magnetic sound reduction effect even if the rotational speed of the AC rotating electric machine changes, or an AC rotating electric machine that generates a magnetic sound of a predetermined frequency.
- n 6 k + 1 (k is a natural number) times the fundamental frequency component of the stator current.
- the harmonic PWM signal generating means converts a seventh harmonic current into a fundamental frequency component of the stator current.
- the sixth harmonic component of the magnetic sound is changed as compared with a case where the superimposition is not commanded. This makes it possible to satisfactorily change the sixth harmonic component of the magnetic sound of the three-phase AC rotating electric machine.
- the sixth harmonic component of the radial magnetic excitation force that generates the magnetic sound component with the largest amplitude can be reduced well.
- the harmonic PWM signal generating means outputs a harmonic PWM signal to be superimposed on a fundamental frequency component of the 13 th harmonic current of the stator current. Accordingly, the 1st and 2nd harmonic components of the magnetic sound are changed as compared with the case where the superposition is not commanded. This makes it possible to satisfactorily change the first and second harmonic components of the magnetic sound of the three-phase AC rotating electric machine. For example, the 1st and 2nd harmonic components of the radial magnetic excitation force that generates the second most annoying magnetic sound component can be reduced favorably.
- the 6th and 12th harmonic signals are output.
- the harmonic component of the magnetic sound having the following frequency is changed as compared with the case where the superimposition is not commanded.
- the 6th and 1st and 2nd harmonic components of the radial magnetic excitation force which generate the first and second most unpleasant magnetic sound components, can be simultaneously and satisfactorily reduced.
- the harmonic PWM signal generating means includes a harmonic PWM signal for superimposing the 19th and Zth or 25th harmonic currents on a fundamental frequency component of the stator current.
- the harmonic components of the magnetic sound having the 18th and Z or 24th frequencies are changed more than when the superimposition is not commanded. This As a result, the 18th and Z or 24th harmonic components of the magnetic sound of the three-phase AC rotating electric machine can be changed.
- the n 1 is 6 k 1 + 1 (k 1 is a natural number)
- the n 2 is 6 k 2 + l (k 2 is a natural number)
- the harmonic The wave PWM signal generating means reduces the magnetic sound of the three-phase AC rotating electric machine as the AC rotating electric machine having a frequency of 6 k1 times the fundamental frequency component as compared with the case where the processing is not performed, and at the same time, The magnetic sound of the three-phase AC rotating electric machine as the AC rotating electric machine having a frequency 6 k 2 (k 2 is a natural number) times the fundamental frequency component is increased as compared with a case where the above processing is not performed.
- the magnetic sound inherent in the three-phase AC rotating electric machine can be reduced, and a magnetic sound having a desired frequency can be output.
- k 1 is 1.
- a desired magnetic sound can be generated while reducing the sixth-order magnetic noise.
- kl is set to 2 ". Thereby, a desired magnetic sound can be generated while reducing the 12th-order magnetic noise.
- k 1 is 3.
- kl is 4. This makes it possible to generate a desired magnetic sound while reducing the 24th-order magnetic noise.
- the harmonic PWM signal generating means includes a harmonic PWM signal having a 7th order and a 13th frequency with respect to a fundamental frequency component of the stator current, a 19th order and a 19th order.
- 2 and 5 A three-phase AC as the AC rotating electric machine having the sixth and first and second frequencies of the fundamental frequency component by performing a process of outputting a harmonic PWM signal having any frequency to the impeller. The processing is performed on the magnetic sound of the rotating electric machine and the magnetic sound of the three-phase AC rotating electric machine as the AC rotating electric machine having at least one of the 19th and 25th frequencies of the fundamental frequency component. Attenuate compared to when not performed. As a result, quieter operation of the rotating electric machine becomes possible.
- the harmonic PWM signal generating means includes: I 1 represents an amplitude of the fundamental frequency of the stator current, In represents an amplitude of a harmonic current of the stator current, t, x,
- the first-phase harmonic component I un corresponds to the first fundamental frequency component I u 1
- the second-phase harmonic component IV n corresponds to the second fundamental frequency component IV 1
- the third-phase harmonic component I wn Is superimposed on the third fundamental frequency component I w1.
- the rotation order of the fundamental frequency components of each phase that is, the phase order
- the rotation order of the n-th harmonic component for vibration reduction of each phase match each other, so that the n-first radial direction is favorably performed. Vibration can be reduced.
- the AC rotating electric machine is detachably connected to a vehicle engine, and the inverter control circuit is When the vehicle engine is stopped, a process of outputting the harmonic PWM signal to the inverter is performed to change the magnetic sound. As a result, it is possible to improve the comfort with respect to vehicle noise when the engine is stopped, in which the magnetic noise of the rotating electric machine is conspicuous.
- the AC rotating electric machine is connected to a vehicle engine and / or an axle so as to be capable of regenerative braking
- the impeller control circuit is configured to stop the vehicle engine and perform regenerative braking. At least one of the times, the process of outputting the harmonic PWM signal to the impeller is performed to change the magnetic sound.
- n which is a magnification of the frequency of the changing harmonic current
- n can include a manufacturing tolerance of the harmonic current generating circuit.
- n may be in the range (n) — 0.1 to (n) + 0.1.
- the operation mode may be any of the electric mode and the power generation mode.
- the harmonic current for reducing the radial vibration (and the harmonic current for changing the radial vibration) may be superimposed in all the rotation ranges.
- the harmonic current for reducing the radial vibration (and the harmonic current for changing the radial vibration) may be superimposed only in the rotational region where the problem occurs.
- phase and amplitude of the harmonic current to be superimposed may be obtained by calculation of mathematical expressions described later, may be calculated by the finite element method, or may be experimentally determined.
- a rotation angle sensor such as a resolver that detects the rotation angle of the rotor, but based on the phase of the motor current or motor voltage, which is known as the so-called sensorless method. Accordingly, a circuit for estimating the rotation angle of the rotor may be employed.
- the armature current of a rotating electrical machine contains several harmonic currents in addition to its fundamental frequency component, and the magnitude of the harmonic current varies depending on the operating conditions of the rotating electrical machine. Calculating the harmonic current for reducing the magnetic noise (and for changing the magnetic noise) for such a complicated waveform of the armature current becomes extremely complicated, and the circuit scale also increases. Therefore, it is assumed that the armature current does not have the nth-order harmonic current, and that the n — 1st radial oscillation is detected or detected for the fundamental frequency component of the armature current.
- the n-th harmonic current which should be generated by the fundamental frequency component of the armature current, is obtained as a mixed harmonic current from a map or a calculation formula stored in advance, and is used for the magnetic noise reduction (and The value obtained by subtracting the mixed harmonic current from the harmonic current (for magnetic noise change) may be superimposed on the fundamental frequency component of the armature current to be energized, and used as the target value for armature current control.
- FIG. 1 is a diagram schematically illustrating a magnetic circuit for one phase of a polyphase AC rotating electric machine.
- FIG. 2 is an equivalent magnetic circuit diagram of FIG.
- FIG. 3 is a block circuit diagram showing an example of a motor control circuit employing the magnetic sound changing method of the present invention.
- FIG. 4 is a block circuit diagram showing an example of a motor control circuit employing the magnetic sound changing method of the present invention.
- FIG. 5 is a block diagram showing an example of a motor control circuit employing the magnetic sound changing method of the present invention.
- FIG. 6 is a block circuit diagram showing an example of a motor control circuit employing the magnetic sound changing method of the present invention.
- FIG. 7 is a block diagram showing an example of a motor control circuit for searching for the magnetic sound changing method of the present invention.
- Figure 8 is a schematic radial cross section of the three-phase synchronous machine used in the experiment.
- Fig. 9 is a waveform diagram (when magnetic noise is not reduced) of each phase current of the three-phase synchronous machine in Fig. 8.
- FIG. 10 is a waveform diagram (when magnetic noise is reduced) of each phase current of the three-phase synchronous machine in FIG.
- Fig. 11 is a frequency spectrum diagram of the phase current of the three-phase synchronous machine in Fig. 8 (when the magnetic noise is not reduced and when the magnetic noise is reduced).
- FIG. 12 is a waveform diagram of the radial excitation force of the three-phase synchronous machine of FIG. 8 (when the magnetic noise is not reduced and when the magnetic noise is reduced).
- FIG. 13 is a frequency spectrum diagram of the radial excitation force of the three-phase synchronous machine of FIG. 8 (when the magnetic noise is not reduced and when the magnetic noise is reduced).
- Fig. 14 is a diagram showing the measurement results (when electrically driven) of the magnetic noise (magnetic sound) of the three-phase synchronous machine in Fig. 8.
- Fig. 15 is a diagram showing the measurement results (at the time of power generation) of the magnetic noise (magnetic sound) of the three-phase synchronous machine of Fig. 8.
- Figure 16 is a flowchart for compensating for changes in rotor magnetic flux temperature.
- Fig. 17 is a schematic diagram of the mouth that reduces the amplitude of the magnetic sound according to the operation mode of the AC rotating electric machine.
- FIG. 18 is a flowchart showing a control operation for reducing magnetic noise of the three-phase AC rotating electric machine and generating a magnetic sound of a predetermined frequency.
- FIG. 19 is a flowchart showing a control operation for reducing the magnetic noise inherent in a three-phase AC rotating electric machine mounted on an engine-driven vehicle under suitable conditions.
- FIG. 20 is a block circuit diagram showing another circuit example.
- FIG. 21 is a block circuit diagram showing an example of the circuit shown in FIG. 20.
- FIG. 22 is a waveform diagram showing signal waveforms (basic wave rotation coordinate system) in FIG. 20.
- FIG. 23 is a waveform diagram showing signal waveforms (stationary coordinate system) of each part in FIG.
- FIG. 24 is a block circuit diagram showing another embodiment.
- FIG. 25 is a block circuit diagram showing another embodiment.
- FIG. 26 is a flowchart showing another embodiment. BEST MODE FOR CARRYING OUT THE INVENTION
- FIG. 1 is a diagram schematically showing a magnetic circuit for one phase of an N-phase AC rotating electric machine
- FIG. 2 is an equivalent magnetic circuit diagram of FIG.
- the magnetic flux ⁇ is formed by the rotor magnetic poles (formed by coils or permanent magnets)
- the rotor magnetomotive force F mag is the magnetomotive force of the magnetic poles of the rotor in the magnetic circuit, that is, the magnetic field strength.
- the magnetic force F coi '1 is a magnetomotive force, that is, a magnetic field strength, formed in the magnetic circuit by the stator current.
- R g is the reluctance of the gap between the stator and the rotor. From Fig. 1 and Fig. 2, magnetic flux ⁇ , magnetic energy W, and radial magnetic excitation force f per phase are
- the magnetic excitation force f is defined as the sum of the square of the rotor magnetomotive force, the square of the stator magnetomotive force, and the product of the rotor magnetomotive force and the stator magnetomotive force.
- I coi 1 is the stator current (phase current of the armature)
- X is the gap width
- S is the area facing the gap
- 0 is the permeability of air
- N is the number of turns of each phase coil of the armature.
- M is the number of phases.
- Rotor magnetomotive force m ⁇ sin ( ⁇ + a) + F sin j ⁇ 6 + fi) + F k sin k ⁇ 9 + y) + F l sin 1 ( ⁇ + ⁇ )
- F i (where i is a subscript) is the amplitude of the i-th component of the rotor magnetomotive force
- I i is the amplitude of the i-th component of the stator current
- ⁇ is the rotation angle of the rotor
- ⁇ , ⁇ , ⁇ , ⁇ , s, t, and u are phase angles
- j, k, L, and m ⁇ n are integer values.
- Equations (4), (5), and (6) are as follows when limited to three-phase AC rotating machines for simplicity.
- equation (11) which is obtained, gives the V-phase additional torsional force fV.
- Equations (4) to (6) ⁇ is the angle of the fundamental wave. It is natural that e is equal to cot if the angular velocity of the fundamental wave is ⁇ , and 2 ⁇ ft if the frequency (fundamental frequency) of the fundamental wave is f. Also, in Equations (4) to (6), the numerical values of 360, 120, and 240 are read as 2 ⁇ , 2 ⁇ 3, and 4 ⁇ / 3, respectively, in actual calculations. It's easy.
- the magnetic sound has a positive correlation with the vector sum of each phase excitation force, but each phase excitation force is expressed by the equations (10), (11), and (12). As shown, it is a linear function of many terms (sum or difference formula).
- the sum of the phase excitation force is calculated by the linear function of the term (hereinafter also referred to as the vector addition term) obtained by separately vector-adding the terms of each phase for the same order (for each frequency).
- the difference equation) is obtained.
- the magnetic sound becomes a problem when the terms forming the vector addition terms in each vector addition term strengthen each other in phase (similar phase), and the phase of each vector addition term becomes In the case of a large difference, the amplitude of the vector addition term becomes small, so this is not a problem.
- the (X — 1) next component of the magnetic sound that causes the current magnetic sound is generated.
- the magnetic sound can be changed (increased or decreased) by superimposing the Xth harmonic current on the fundamental frequency component of the stator current. That is, the amplitude of the vector-added sum can be increased or decreased.
- Equations (10), (11), and (12) the m-th harmonic current component and the n-th harmonic current component are superimposed on the stator current I coi 1.
- (M-1) order, (n-1) order, (n-m) order magnetic excitation force components can be simultaneously changed (increased or decreased).
- the (m-1) order, (n-1) order, (n- m) To generate the following excitation forces, the order of each of these excitation forces and the (m—1), (n—1), and (n—m) orders of the existing magnetic sound It is not easy for all the vector sums to be zero. However, the amplitude of the vector sum of the excitation force of each order is formed It is possible to adjust the phase and amplitude of the superimposed current so as to reduce the magnitude or the desired magnitude.
- the harmonic of the port magnetomotive force F mag of a three-phase AC rotating electric machine depends on the number of poles and the number of status slots, but it is generally the third harmonic component, the fifth harmonic component, and the seventh harmonic. Since the harmonic component is much more dominant than the other harmonic components, the fundamental component, the third harmonic component, the fifth harmonic component, and the seventh harmonic component of the rotor magnetomotive force F mag In the case where the harmonic current for changing the magnetic sound is not superimposed, the generated magnetic sound (magnetic sound) is described below.
- Rotor magnetomotive force ⁇ 3 ⁇ ( ⁇ + ⁇ ) + 3 ⁇ 3 (+ ;?) + ⁇ 8 ⁇ 5 (+) + ⁇ ⁇ 7 3 ⁇ 7 (0+ (5)
- Rotor magnetomotive force F mag F, sm (8 + cc -240) + 3 sin3 ( ⁇ + ⁇ -240) + F 5 sin5 ( ⁇ +7 -240) + 7 sin7 ( ⁇ + ⁇ -240)
- Equations (19), (20), and (21) the term in which the vector sum is 0 is eliminated, and the terms strengthening in phase and the DC component term are extracted as follows. It becomes.
- Item (1) DC component No pulsation, so no magnetic sound
- Item (2) 6th-order component generated by 3rd harmonic of rotor magnetomotive force
- Item (3) Sixth-order component generated by first and fifth harmonics of rotor magnetomotive force
- Item (4) 6th-order component generated by the 1st and 7th harmonics of rotor magnetomotive force The 6th and 12th order pulsating components
- Item (6) 6th order component generated from 5th order of rotor magnetomotive force and 1st order of stator current
- Item (7) 6th order component generated from 7th order of rotor magnetomotive force and 1st order of stator current
- equation (25) the term indicated by term (1) is the DC component of the total excitation force, and this term does not pulsate and does not produce magnetic sound.
- the term shown in (2) is the sixth harmonic component generated by the third harmonic of the rotor magnetomotive force F mag
- the term shown in (3) is the rotor magnetomotive force F mag
- the term shown in (4) is the 6th harmonic generated by the 1st and 7th harmonics of the rotor magnetomotive force F mag
- the wave component, the term shown in (5) is the 1st and 2nd harmonic components generated by the 5th and 7th harmonics of the rotor magnetomotive force F mag, and the term shown in (6) is the rotor magnetomotive force
- the term shown in (7) is the seventh harmonic of the rotor magnetomotive force F mag.
- This is the sixth harmonic component generated by the primary current component (fundamental wave) of the wave and stator current.
- These 6th and 1st order pulsating components cause magnetic noise.
- the magnetic sound of the three-phase AC rotating electric machine is composed of the 6th and 1st 2nd order by the fundamental, 3rd, 5th and 7th harmonic components of the rotor magnetomotive force F mag. It can be seen from Eq. (25) that this is due to the magnetic sound component of.
- Equations (29), (30), and (31) the terms in which the three-phase vector sums reinforce in phase are solid lines, and the terms in which the vector sum is zero are underlined by broken lines. I have.
- Equations (29), (30), and (31) the term where the vector sum is 0 is eliminated, and the terms strengthening in phase and the DC component term are extracted as follows. Is obtained.
- Item (1) DC component Item (8): Sixth-order component generated by the first order of rotor magnetomotive force and seventh order of stator current
- Item (2) Sixth-order component generated by third-order rotor magnetomotive force
- Item (9) 12th-order component generated by first-order rotor magnetomotive force and thirteenth order of stator current
- Item (3) Sixth-order component generated by first and fifth order of rotor magnetomotive force
- Item (10) 12th-order component generated by fifth order of rotor magnetomotive force and seventh order of stator current
- Item (4) 6th-order component generated by first and 7th order of rotor magnetomotive force
- Item (11) 18th-order component generated by 5th order of rotor magnetomotive force and 13th order of stator current
- Item (5) 12th-order component generated by 5th and 7th order of rotor magnetomotive force
- Item (6) 6th order component generated from 5th order of rotor magnetomotive force and 1st order of stator current
- Item (13) 6th order component generated from 1st and 7th order of stator current
- Item c) 6th order component generated from 7th order of rotor magnetomotive force and 1st order of stator current.
- Item (14) 12th order component generated from 1st and 13th order of stator current.
- the term (1) is the DC component term
- the term (2) is the sixth harmonic component generated by the third harmonic of the rotor magnetomotive force F mag
- the term (3) is the primary harmonic component of the rotor magnetomotive force F mag
- the term (4) is the sixth harmonic component generated by the first and seventh harmonics of the rotor magnetomotive force F mag
- the term is the 1st and 2nd harmonic components generated by the 5th and 7th harmonics of the rotor magnetomotive force Fmag
- the term (6) is the 5th harmonic of the rotor magnetomotive force Fmag and 1st harmonic of the stator current.
- the term (7) is generated by the seventh harmonic of the rotor magnetomotive force F mag and the primary current component (fundamental wave) of the stator current. It becomes the sixth harmonic component.
- the term (8) is the sixth harmonic component generated by the first-order component (fundamental wave) of the rotor magnetomotive force F mag and the seventh harmonic of the stator current
- the term (9) is the rotor magnetomotive force F mag
- the 1st and 2nd harmonic components generated by the 1st order component (fundamental wave) of the mag and the 1st 3rd harmonic of the stator current.
- the (10) term is the 5th harmonic of the motor magnetomotive force F mag
- the term (11) is the 5th harmonic of the rotor magnetomotive force F mag and the 13th harmonic of the stator current.
- the 18th-order harmonic component generated by the term (12) is the 6th-order harmonic component generated by the 7th harmonic of the rotor magnetomotive force F mag and the 13th harmonic of the stator current
- the term 13 is the 6th harmonic component generated by the primary component (fundamental wave) and the 7th component of the stator current
- the term 14 is the primary component (fundamental wave) of the stator current.
- 1 3 next 1 2 harmonic formation occurring Ri by the minute. Minutes, (1 5) term is 7-order component and the sixth-order harmonic component by Ri occurring 1 third order component of the stator current.
- Equation (35) the sum of the additive torsional forces shown in equation (35) is the sixth and first and second harmonics. Therefore, the above items (2), (3), (4) and (6) ) If the phase angles and amplitudes of the terms (7), (8), (12), (13), and (15) are set, the above (2), (3) ), (4), (6), (7), (8), (12), (13),
- the vector sum of the term of (15) can be reduced to 0, or reduced or increased, and cancellation or reduction (or increase) of the sixth-order magnetic noise can be realized. Can be.
- phase angles and the amplitudes of the terms (5), (9) ⁇ , (10), and (14) are set, the above (5), (9), The vector sum of the terms (10) and (14) can be reduced to 0, or reduced or increased, and the first and second order magnetic noise can be canceled or reduced. ( ⁇ ⁇ large) can be realized.
- Equation (35) by adjusting the phase and amplitude of the 7th harmonic current component and the 13th harmonic current component in Equation (35), the terms other than the DC term shown in Equation (35) can be obtained.
- the sum of 0 is used to cancel or reduce (or increase) the 6th and 12th harmonic components of magnetic sound, which are the most important in three-phase AC rotating electric machines. it can.
- Equation (36) the sum or difference of each item indicated by the broken line represents the vector sum of the sixth harmonic of the radial magnetic excitation force that is a magnetic sound component, and the sum of the items indicated by the solid line is The sum or difference indicates the vector sum of the sixth harmonic of the excitation force due to the harmonic current for cancellation. Therefore, in equation (36), the phase angle and the amplitude may be determined so that the vector sum of these two becomes zero.
- the following formula shows the cancel condition of the 1st and 2nd harmonics of the magnetic sound.
- Equation (37) the sum or difference of each item indicated by a broken line represents the vector sum of the 1st and 2nd harmonics that constitute the magnetic sound component, and the sum or difference of each item indicated by the solid line is cancelled. It shows the vector sum of the 1st and 2nd harmonics of the excitation force due to the harmonic current used. Therefore, in equation (37), the phase angle and the amplitude may be determined so that the vector sum of these two becomes zero.
- Fig. 3 shows an example of a circuit that superimposes the above harmonic current.
- This motor control circuit is an embodiment that performs feed pack control of the motor current.
- Reference numeral 10 denotes motor current control means for controlling the motor current of the three-phase synchronous machine 107, and has the following configuration.
- Reference numeral 100 denotes a circuit block for amplitude / phase command for specifying the amplitude and phase of the current command value (three-phase AC coordinate system) corresponding to the fundamental wave.
- Reference numeral 101 denotes an amplitude / phase command circuit block that indicates the amplitude and phase of a predetermined-order harmonic current (three-phase AC coordinate system).
- the circuit block 100 for amplitude / phase command determines the amplitude and phase based on a current command (fundamental wave) received from an external control device such as a vehicle control ECU. Further, the circuit block 100 may be constituted by the vehicle control ECU. This external control device has three phases Based on the rotation angle signal (rotational position signal) and torque command of the synchronous machine 107, the current command value as this fundamental wave is calculated.
- the circuit block 101 is calculated by inputting the frequency, amplitude, and phase of the current command (fundamental wave) current into the above equation (13), equation (14), or equation (15). Determines the frequency, amplitude, and phase of the harmonic current of the predetermined order, and outputs the amplitude and phase commands to instruct them.
- the other constants in these formulas are preset according to the purpose.
- the 7th order is calculated so that the calculated values of the formulas (36) and (37) are less than a predetermined value or 0. / Or Determine the amplitude and phase of the third harmonic current.
- Other constants are set in advance as numerical values specific to the AC rotating electric machine.
- the amplitude and phase of the harmonic current are determined so that the calculated value of the equation (36) is equal to or less than a predetermined value or 0. .
- the amplitude and phase of the harmonic current are determined so that the calculated value of the equation (37) becomes a predetermined value or less or 0.
- the 6th and / or 1st order magnetic sound that is, the magnetic Most of the sound can be amplified, reduced, or canceled.
- the circuit block 100 instead of calculating the above formulas, substitute the frequency, phase, and amplitude of the above fundamental frequency component into a map or table corresponding to these formulas in advance, and obtain the phase of the 7th and / or 13th harmonic current.
- the value of the amplitude may be searched.
- the circuit block 100 also calculates the current value based on the calculated amplitude and phase of the fundamental frequency component of the stator current.
- the circuit block 101 can also calculate and output the current value of the harmonic current based on the calculated amplitude and phase of the harmonic current.
- the circuit block 102 periodically calculates a combined three-phase AC current value by adding the fundamental current value and the harmonic current value of each phase determined based on the input information for each phase. .
- the calculated combined three-phase AC current value is a circuit block for coordinate axis conversion 1 0
- the coordinate was converted to d-q axis system by 3 and compared with their detected values (d-q axis) by subtractor 104, and the difference between them was gain-adjusted by current amplifier 400. Thereafter, the circuit block for coordinate axis conversion 104 A outputs a three-phase AC current value.
- the circuit block 104 A generates a PWM control voltage of each phase for eliminating the above difference in the circuit block 105, and the switching element of the three-phase inverter 106 is generated by the three-phase PWM control voltage. And the output voltage of the three-phase inverter 106 is controlled by the three-phase synchronous machine 1 which is a generator motor.
- the three-phase AC current flowing through the three-phase synchronous machine 107 is controlled by applying the control to the stator coil of No. 07, and the fundamental wave current having the frequency, amplitude, and phase specified by the circuit block 100, 101 And the harmonic current. Since this kind of PWM feedback control itself is already well known, detailed description is omitted.
- the three-phase synchronous machine 107 has a built-in rotation angle sensor 108, and the speed and position signal processing circuit block 109 is based on the rotation position signal output from the rotation angle sensor 108 and the speed signal. And the position signal are extracted and input to the circuit block 104A.
- the stator coil current of the three-phase synchronous machine 107 is detected by the current sensor 110, and the coordinate axis conversion circuit block 111 detects the d-axis current detection value and q-axis current detection value. To It is converted and input to the subtractor 104.
- Fig. 4 shows an example of a circuit that superimposes the above harmonic current.
- Reference numeral 100 denotes a circuit block for amplitude / phase command for specifying the amplitude and phase as a current command value (three-phase AC coordinate system) corresponding to the fundamental wave.
- the command value output from the circuit block 100 is subtracted from the command value via the circuit block 300, which converts the three-phase AC coordinate system into a d-q axis system, as in the circuit configuration example 1.
- Output to FFT111 extracts the detected value of the fundamental wave component (three-phase AC coordinate system) from the phase current output from the current detection.
- This detected value is subjected to coordinate conversion by a circuit block 403 for converting a three-phase AC coordinate system into a d-q axis system, and is then compared with the above current command value by a subtractor 104a, and the difference between them is calculated.
- Is output to a circuit block 104 B for coordinate axis conversion through a current controller 410 for gain adjustment.
- the circuit block 104B outputs a three-phase AC current command value for eliminating the difference to the adder 112.
- the 101 is an amplitude / phase command circuit block for specifying the amplitude and phase as a current command value (three-phase AC coordinate system) corresponding to a harmonic of a predetermined order.
- the command value output from the circuit block 100 is sent to the subtractor 104 a via the circuit block 300 that converts the three-phase AC coordinate system to the d_q axis system, as in the circuit configuration example 1.
- the FFT 111 extracts the detected value of the harmonic component (three-phase AC coordinate system) of the predetermined order from the motor current.
- This detected value is subjected to coordinate conversion by a circuit block 404 for converting a three-phase AC coordinate system into a d-q axis system, and is then compared with the current command value by a subtracter 104b.
- the difference is output to a circuit block 104 C for coordinate axis conversion through a current controller 402 for gain adjustment.
- the circuit block 104B outputs to the adder 112 a three-phase AC current command value for eliminating the above difference.
- the circuit block 104C outputs a three-phase AC current command value for eliminating the above difference to the adder 112.
- a circuit block for extracting the position signal and the speed signal from the rotational position signal detected by the circuit block 109 and performing the above coordinate transformation is output to the circuit blocks 104 B, 104 C, 300, and 301. I do.
- the circuit block 105 generates a PWM control voltage for each phase corresponding to the combined three-phase AC current command value added by the adder 111, and the three-phase PWM control voltage is used to generate a three-phase PWM control voltage.
- the switching element of the inverter 106 is intermittently controlled, and the output voltage of the three-phase inverter 106 is applied to the stator coil of the three-phase synchronous machine 107 which is a generator motor.
- the three-phase AC current flowing through 107 is the sum of the fundamental current and the harmonic current having the frequency, amplitude, and phase specified by the circuit blocks 100, 101.
- Circuit configuration example 3 (Circuit configuration example 3)
- Fig. 5 shows an example of a circuit that superimposes the above harmonic current.
- This circuit employs a filter 113 instead of the FFT 111 shown in FIG. 4 to extract a fundamental current detection value and a harmonic current detection value.
- the detection value of the fundamental wave component (three-phase AC coordinate system) is extracted.
- This detected value is subjected to coordinate conversion by the circuit block 4003, which converts the three-phase AC coordinate system to the d-q axis system, and then compared with the current command value for the fundamental wave by the subtractor 104a.
- the difference is output to a circuit block 104B for coordinate axis conversion through a current controller 410 for gain adjustment.
- the circuit block 104B outputs a three-phase AC current command value for eliminating the above difference to the adder 112.
- the subtracter 1 17 subtracts its fundamental wave component (three-phase AC coordinate system) from the phase current signal (three-phase AC coordinate system) detected by the current sensor 110 and extracts its harmonic component.
- the detected harmonic components are coordinate-transformed by a circuit block that converts the three-phase AC coordinate system to the d-q-axis system. After that, it is compared with the current command value for harmonics in the subtractor 104 b and the difference between them is passed through the current controller 402 for gain adjustment. Output to The circuit block 104C outputs the three-phase AC current command value for eliminating the above difference to the adder 112.
- Circuit configuration example 4 (Circuit configuration example 4)
- FIG. 6 shows an example of a circuit for superimposing the above-described harmonic current.
- This motor control circuit is an embodiment in which the motor current is fed-pack controlled only in the three-phase AC coordinate system.
- Reference numeral 100 denotes an amplitude / phase command circuit block for specifying an amplitude and a phase as a current command value (three-phase AC coordinate system) corresponding to a fundamental wave.
- Reference numeral 101 denotes a circuit block for amplitude / phase command for specifying the amplitude and phase as a harmonic current of a predetermined order (three-phase AC coordinate system). The functions of these circuit blocks are the same as in FIG. 3, and the harmonic block 101 calculates the frequency, phase, and amplitude output from the circuit block by the equation (13) or The amplitude and phase of the harmonic are determined by substituting into equation (14) or equation (15), or substantially the same arithmetic processing is performed using a map or a table.
- the amplitude 'phase command output from the circuit blocks 100 and 101 is input to the circuit block 102.
- the circuit block 102 is the amplitude of the input fundamental wave current command value, the amplitude of the phase command and the amplitude of the harmonic current command value.
- the fundamental current command value (three-phase AC coordinate system) and the harmonic current command value (three-phase AC coordinate system) are converted into U-phase and V-phase.
- the values are added and output as the U-phase combined current command value (three-phase AC coordinate system) iu and the V-phase combined current command value (three-phase AC coordinate system) iv.
- the subtracter 300 calculates the detected U-phase current value iu, The difference from the formed current command value iu is obtained, and this difference is output to the circuit block 302 forming the current controller.
- the subtracter 301 obtains the difference between the detected V-phase current detection value iv 'and the V-phase combined current command value iV, and outputs the difference to the circuit block 302 forming the current controller.
- the circuit block 302 forms the U-phase voltage and the V-phase voltage that eliminate the above difference, and the circuit block 105 calculates the U-phase and V-phase PWM voltages corresponding to these U-phase and V-phase voltages. Output.
- the subtraction inversion circuit 303 calculates the analog inversion signal of the difference between the U-phase voltage and the V-phase voltage as a W-phase voltage, and the circuit block 105 calculates the PWM of the W-phase voltage. Calculate and output voltage.
- the three-phase inverter 106 is intermittently controlled according to the duty corresponding to these three-phase PWM voltages.
- Circuit configuration example 5 (Circuit configuration example 5)
- FIG. 7 shows an example of a circuit for superimposing the above-described harmonic current.
- the circuit shown in Fig. 3 is changed to open control.
- the instructions regarding the fundamental current and the harmonic current output from the fundamental circuit block 100 and the harmonic circuit block 101 are input to the circuit block 102.
- the circuit block 102 adds the fundamental current value and the harmonic current value of each phase determined based on the input information for each phase, and periodically calculates the combined three-phase AC current value. calculate.
- the calculated combined three-phase AC current value is coordinate-converted to a d-q axis system by a coordinate axis conversion circuit block 103.
- the gain is adjusted by a current amplifier 400, and then the coordinate axis conversion circuit.
- the circuit block 104 A generates a PWM control voltage for each phase in the circuit block 105, and controls the switching elements of the three-phase inverter 106 intermittently with the three-phase PWM control voltage.
- the output voltage of the three-phase inverter 106 is applied to the stator coil of a three-phase synchronous machine 107 which is a generator motor.
- the three-phase AC current flowing through the three-phase synchronous machine 107 is controlled by the fundamental current and the harmonic current having the frequency, amplitude, and phase specified by the circuit blocks 100, 101. And the sum of
- the three-phase synchronous machine 107 has a built-in rotation angle sensor 108, and the speed / position signal processing circuit block 109 has a speed signal based on the rotation position signal output from the rotation angle sensor 108. And the position signal are extracted and input to the circuit blocks 103 and 104A for coordinate conversion.
- the experiment for reducing the magnetic noise was performed using a three-phase synchronous machine (8 poles, 24 slots, IPM) shown in Fig.8.
- the fundamental current was set to 43 A, and the rotor phase angle was controlled to a value that maximized the torque.
- FIG. 9 shows a three-phase current waveform when the motor is driven without superimposing a harmonic current for reducing magnetic noise on the stator current of the synchronous machine.
- Each phase current contains relatively small harmonic components in addition to its fundamental frequency component.
- FIG. 10 shows a three-phase current waveform when a motor is driven by superimposing a harmonic current for reducing magnetic noise on the stator current shown in FIG.
- the rotation speed was set to 170 rpm.
- the harmonic current for magnetic noise reduction was superimposed by the feedback method using the circuit in Fig.3.
- the frequency spectrum A of the U-phase current shown in Fig. 9 and the frequency spectrum B of the U-phase current superimposed with the harmonic component for magnetic noise reduction shown in Fig. It is shown in Figure 11.
- the left side (indicated by the cross-hatched bar) of the pair of pars shown for each order shows the spectrum A of the U-phase current shown in FIG. 9, and for each order
- the right side (indicated by the hatched par of the horizontal line) of the pair of pars shown shows the spectrum B of the U-phase current shown in FIG.
- the 7th current (7th harmonic component) is the same as the 1st current (fundamental frequency component). It has an amplitude of 3% of the amplitude.
- the 7th current (7th harmonic component) has an amplitude of 12% of the amplitude of the 1st current (fundamental frequency component).
- FIG. 12 shows the change in the radial (radial) excitation force applied to the teeth due to the rotor rotation angle.
- the larger period change waveform C of the two period change waveforms shown in Fig. 12 shows the change in the radial excitation force in the magnetic noise non-reduction mode shown in Fig. 9, and the smaller period change waveform D is The change of the radial excitation force in the magnetic noise non-reduction mode shown in FIG. 10 is shown.
- E indicates the average value of the radial excitation force in the magnetic noise non-reduction mode.
- the radial excitation force has a DC component due to the attraction of the permanent magnet of the rotor.
- F indicates the frequency spectrum of radial excitation force (large periodic waveform) when magnetic noise is not reduced
- G indicates radial excitation force (low cycle) when magnetic noise is reduced.
- (Change waveform) Shows the frequency spectrum of D.
- the frequency spectrum F is indicated by a bar on the left side (represented by a cross-hatched bar) of a pair of pars indicated for each order.
- the frequency spectrum G is indicated by a bar on the right side (indicated by a horizontal hatched par) of a pair of pars indicated for each order.
- Figure 14 shows the measurement results (while electric) of the 6th-order magnetic sound (frequency 60) when the rotation speed was changed in the above experimental machine. From Fig. 14, it can be seen that the 6th-order component of magnetic noise can be reduced well in the high rotation range (approximately 150 rpm or more) where magnetic noise is annoying.
- Figure 15 shows the measurement results (during power generation) of the sixth-order magnetic sound (frequency 60) when the rotation speed was changed in the experimental machine. From Fig.15, almost all rotation range This shows that the sixth-order component of magnetic noise can be reduced. It can also be seen that in the rotation range where the magnetic noise is at a maximum, the sixth-order magnetic noise can be reduced by 20 db by superimposing the harmonic current for reducing the magnetic noise. In Fig.
- the sixth-order magnetic noise increases in some rotation ranges due to the superposition of the seventh-order component of the harmonic current for reducing the magnetic noise.
- the settings are not optimized and are not essential. This reversal of the magnetic noise occurs at a low level of the sixth-order magnetic noise, and its absolute value is also small, so it does not pose a problem.
- the superposition of the 7th harmonic current for magnetic noise reduction can be stopped in the rotation range where magnetic noise reduction is not so expected.
- the harmonic circuit block in each circuit example has a built-in temperature compensation circuit block that compensates for the temperature characteristics of the permanent magnet mounted on the rotor.
- This temperature compensating circuit block reads the output of the temperature sensor built in the AC rotating electric machine 107 and calculates the equation (35) or the equation (35) to compensate for the temperature change of the residual magnetic flux of the permanent magnet. Change the constant in 36) or the equation (37).
- the temperature compensation control operation routine when this temperature compensation circuit block is configured as a microcomputer will be described with reference to a flowchart shown in FIG. This routine is performed periodically.
- the rotor temperature is read from the output signal of a temperature sensor (not shown) built in the AC rotating electric machine 107 (S100), and this rotor temperature is stored in advance in a map showing the relationship between the rotor temperature and a constant. To obtain a constant (S102) and output it (S104).
- An existing temperature sensor mounted on the vehicle may be used instead of the temperature sensor built in the AC rotating electric machine 107.
- a routine when the circuit block for changing the level of the magnetic sound is configured by a microcomputer will be described with reference to a flowchart shown in FIG. This routine is performed periodically.
- the gauge mode of the AC rotating electric machine 107 input from the outside or the rotation speed of the AC rotating electric machine 107 is read (S20'0), and these data (that is, the AC rotating electric machine 1
- the operation mode is stored in advance.
- a constant is obtained by substituting it into a map showing the relationship between the operation mode and the constant (S202), and is output (S204).
- 'A low rotation range and a high rotation range can be set as the operation mode.
- a constant is set so that the primary and secondary magnetic sounds are reduced mainly in the low rotation range, and the sixth-order magnetic noise is mainly reduced in the high rotation range. May be set as described above, and vice versa. That is, instead of changing the amplitude of the magnetic sound according to the change in the operation mode, the order of the main magnetic sound may be changed.
- the circuit blocks except the inverter 106 constitute an inverter control circuit.
- Equations (35), (36) and (37) are used to cancel or change the harmonic component of the rotor magnetomotive force F mag by superimposing the harmonic current on the fundamental current of the stator current.
- harmonics are inevitably superimposed on the fundamental current due to the switching of the inverter, and magnetic noise is generated due to this.
- the switching of this inverter is used to calculate the harmonic current inevitably superimposed on the stator current from the harmonic current for changing the magnetic noise obtained by the above equation. It is sufficient to perform an operation of superimposing the harmonic current obtained by subtracting the torque on the fundamental current.
- a command is read from an external electronic control unit for a vehicle (S300), and the read command is a predetermined magnetic sound different from the actual magnetic sound currently generated by the three-phase AC rotating electric machine. (S302), and if so, the above harmonic circuit block is operated.
- the harmonic circuit block is a circuit block in which the seventh harmonic current is superimposed at a predetermined phase and a predetermined amplitude, respectively. The phase and amplitude of the 7th harmonic current are calculated by this superposition, and the 6th harmonic component of the original radial magnetic excitation force (magnetic sound) of the three-phase AC rotating electric machine is calculated based on the above equation. Set size to cancel Is done.
- This type of rotating electric machine is widely used as, for example, a generator motor or an electric air conditioner for a hybrid vehicle or a torque assist vehicle, and is widely known.
- step S400 it is checked whether the engine is stopped, the motor is operating, or power is being generated by regenerative braking. If so, the above harmonic circuit block is operated (S400). 2) Otherwise, do not operate this harmonic circuit block (S402).
- This harmonic circuit block is a circuit block for superimposing the seventh harmonic current at a predetermined phase and a predetermined amplitude. The phase and amplitude of the 7th harmonic current are calculated by this superposition, and the 6th harmonic component of the original radial magnetic excitation force (magnetic sound) of the three-phase AC rotating electric machine is calculated based on the above equation. You can set the size to cancel.
- Circuit configuration example 6 (Circuit configuration example 6)
- FIG. 20 is a block circuit diagram showing a motor control device of this embodiment
- FIG. 21 is a block circuit diagram showing an example of a coordinate conversion circuit 2
- FIG. 22 is a signal waveform (display of a rotating coordinate system) of each circuit portion.
- FIG. 23 is a waveform diagram showing signal waveforms (in a stationary coordinate system display) of each part of the circuit.
- 1 is a fundamental wave command value generation circuit
- 2 is a harmonic command value generation circuit
- 3 and 4 are adders
- 5 and 6 are subtractors
- 7 and 8 are PI amplifiers (a typical integration circuit).
- 9 is a coordinate conversion circuit
- 10 is a PWM voltage generation circuit
- 11 is a three-phase inverter
- 12 is two current sensors (phase current detection elements)
- 13 is a three-phase synchronous motor generator (for vehicles)
- 14 is a resolver (rotation angle detecting element)
- 15 is a position signal processing circuit
- 16 is a delay compensation circuit
- 17 is a coordinate conversion circuit.
- the components other than the three-phase synchronous motor generator 13 out of the components 1 to 17 constitute the motor control device referred to in the present invention, and include the components 1 to 17 described above.
- the components (circuits) except for the current sensor (phase current detecting element) 12 and the three-phase motor generator (synchronous AC rotating electric machine for vehicle) 13 and the resolver (rotating angle detecting element) are motors referred to in the present invention. It constitutes a current control element or a motor control means.
- the component (circuit) 17 constitutes a phase current detection value coordinate system conversion element referred to in the present invention, and the component (circuit) 1 constitutes a fundamental wave command value output element referred to in the present invention.
- the circuit 2 constitutes the harmonic command value output element referred to in the present invention, and the constituent elements (circuit) 3 to 6 constitute the current deviation calculating element referred to in the present invention, and the constituent elements (circuit) 7 to 11 Constitutes the phase voltage control element referred to in the present invention.
- the three-phase inverter 11 is supplied with power from a DC power supply and generates a three-phase AC voltage.
- the fundamental wave command value generation circuit (fundamental wave command value output element) 1 calculates the target value of the fundamental wave current corresponding to the input torque command value and rotation speed command value, and the d-axis fundamental wave which is the d-axis current component. This is a well-known circuit that converts a command value Id1 * and a q-axis fundamental wave command value Iq1 *, which is a q-axis current component thereof.
- the torque command value is input from an external control device such as a vehicle control ECU, and the fundamental wave command value generating circuit 1 generates a d-axis fundamental wave command value I d 1 * and a q-axis fundamental wave command value based on the torque command value. I Determine q 1 *.
- the fundamental wave command value generation circuit 1 If necessary in determining the axis fundamental wave command value Id1 * and the q-axis fundamental wave command value Iq1 *, besides the torque command value, the voltage of the three-phase impeller 11 / the output signal of the resolver 14 etc. Is input to the fundamental wave command value generation circuit 1.
- the harmonic command value generation circuit 2 calculates the target value of the 6 k + l (k is an integer, k of the fundamental frequency component is 0) next preset harmonic current. This circuit converts the d-axis current component, d-axis harmonic command value I d 6 k + 1 *, and the q-axis current component, q-axis harmonic command value 16 1 £ + 1 *. . Furthermore, the harmonic command value generating circuit 2 is a circuit for generating a harmonic current command value for reducing the radial vibration of the three-phase synchronous motor generator 13.
- 21 is a seventh-order current command value generation circuit
- 22 is a 1st-third current command value generation circuit
- 24 and 25 are coordinate conversion circuits
- 27 and 28 are adders.
- the harmonic command value generation circuit 2 generates only the 7th and 13th harmonic command values in order to reduce the 6th and 1st and 2nd radial vibrations.
- the harmonic command value may be generated and superimposed in the adders 27 and 28 in the same manner.
- the 7th current command value generation circuit 21 is used for the d-axis command value Id * and q-axis command value Iq * input from the fundamental wave command value generation circuit 1 and the 7th order for canceling the 6th radial vibration 9 is a table describing a relationship between an amplitude I 7 * and a phase angle i 37 * of a harmonic command value.
- the amplitude I 7 * and the phase angle ⁇ 7 * of the 7th harmonic command value are functions using the d-axis command value I d * and the q-axis command value I q * on the fundamental wave rotation coordinate system as variables. Value.
- the amplitude I 7 * and the phase angle / 3 7 * of the seventh harmonic command value are values on the fundamental wave rotating coordinate system, but are the same on the stationary coordinate system.
- the tertiary current command value generation circuit 2 and the d-axis command value Id * and q-axis command value Iq * input from the fundamental wave command value generation circuit 1 It is a table that describes the relationship between the amplitude I 13 * and the phase angle 3 1 3 * of the 1st 3rd harmonic command value for use. That is: 1 Amplitude I 13 * and phase angle of the third harmonic command value; 8 13 * are the d-axis command value I d * and q-axis command value I q * on the fundamental wave rotating coordinate system as variables Function value.
- the amplitude 'II 3 * and the phase angle; 8 13 * of the 1 3rd harmonic command value are values on the fundamental wave rotating coordinate system, but they are the same on the stationary coordinate system.
- These data I 7 *,] 3 7 *, 1 13 *, / 3 13 * are stored in the ROM (not shown) of the 7th, 1st and 3rd order current command value generation circuits 21 and 22. ing.
- These data 17 * and 7 * obtained by substituting the d-axis command value Id * and the q-axis command value Iq * into the circuits 21 and 22 are sent to the coordinate conversion circuit 24.
- the data 1 13 * and] 3 1 3 * are output to the coordinate conversion circuit 25.
- the coordinate conversion circuit 24 calculates the amplitude I 7 * of the 7th harmonic current input from the 7th current command value generation circuit 21 and the phase angle (determined based on the phase angle ⁇ of the fundamental wave)] 3 7 *
- the d-axis harmonic command value I d 7 which is the d.-axis component of the 7th harmonic current command value displayed in the fundamental wave rotation coordinate system (also called d-q axis coordinate system or fundamental wave dq coordinate system) * Calculates the q-axis harmonic command value I q 7 *, which is the q-axis component.
- the coordinate conversion circuit 25 determines the amplitude I 13 * and the phase angle of the 1st 3rd harmonic current input from the 1st 3rd current command value generation circuit 22 (based on the phase angle ⁇ of the fundamental wave).
- 3 1 3 * is the d-axis component of the 1st 3rd harmonic current command value displayed in the fundamental wave rotation coordinate system (also called d-q axis coordinate system or fundamental wave dq coordinate system).
- 0 V is a phase compensation rotation angle signal obtained by performing phase compensation on the motor rotation angle 0 output from a delay compensation circuit (phase compensation circuit) 16 described later.
- the circuits 21 and 22 store the table of the d-axis command value Id *, the q-axis command value Iq *, and the amplitude and phase angle of the harmonic command value to be output. Stores a table of the detected rotation angle, voltage, and current, and the amplitude and phase angle of the harmonic command value to be output, and substitutes the detected values of the rotation angle, voltage, and current into this table. May be used to calculate the amplitude and phase angle of the harmonic command value to be output.
- the 7th d-axis harmonic command value Id7 * and the 1st 3rd d-axis harmonic command value Id13 * are added by the adder 27 to obtain the d-axis harmonic command value Id6n. + l *, and the 7th-order q-axis harmonic command value I q 7 * and the 1st 3rd q-axis harmonic command value I q 13 * are added by adder 28 to obtain the q-axis harmonic command value. I q 6 n + 1 *.
- higher order harmonic command values such as the 19th harmonic command value may be formed and added by the adders 27 and 28 in the same manner.
- the d-axis harmonic command value I d 6 n + l * obtained in this way is added to the d-axis fundamental wave command value I d 1 * by the adder 3 to obtain the d-axis command value I d *.
- the noise canceling current command value can be determined by a simple calculation. In other words, each higher harmonic command value can be simplified because only a single frequency component needs to be calculated as shown in equation (38).
- the position signal processing circuit 15 calculates the rotation angle 0 of the stationary coordinate system based on the rotation angle signal from the resolver 14, and calculates the delay compensation circuit 16 and the coordinates. Output to conversion circuit 17.
- the delay compensating circuit 16 is a phase compensating circuit, and outputs the phase-compensated rotation angle 0 V to the coordinate transforming circuits 24 and 25 and a coordinate transforming circuit 9 to be described later. Compensate.
- the coordinate conversion circuit 17 performs a coordinate conversion process on the U-phase current I u and the V-phase current IV detected by the current sensor 12 to obtain d as a current detection value on the rotary coordinate system display.
- the axis detection value Id and the q-axis detection value Iq are output.
- the subtractor 5 subtracts the d-axis detection value Id from the d-axis command value Id * obtained by the above calculation to obtain a deviation ⁇ Id, and the subtractor 6 calculates the q-axis command value I
- the deviation A lq is obtained by subtracting the q-axis detection value I q from q *.
- the PI amplifier 7 amplifies the deviation ⁇ Id to make the deviation ⁇ Id converge to 0 and outputs the corresponding d-axis voltage Vd by PI (proportional-integral), and the PI amplifier 8 outputs the deviation ⁇ Id.
- the deviation ⁇ I q that converges q to 0 is amplified by PI (proportional integral) and the corresponding q-axis voltage V q is output.
- the coordinate conversion circuit 9 converts these voltages V d, V q into three-phase AC voltages V u, V v, V w of the rotating coordinate system using the input phase compensation rotation angle signal ⁇ V, and outputs the PWM voltage.
- the generating circuit 10 converts the three-phase AC voltages Vu, VV, Vw into PWM signal voltages Uu, Uv, Uw, and the three-phase inverter 11 receives the input PWM signal voltages Uu, U Based on v and Uw, the built-in six switching elements are intermittently controlled to create a three-phase AC voltage, which is applied to each phase terminal of the three-phase synchronous motor generator 13.
- the above-described motor control circuit is the same as a normal motor control method except for the harmonic command value generation circuit 2. Since this kind of PWM feedback control itself is already well known, detailed description is omitted.
- the components (circuits) 5 to 11 and 17 collectively control both the fundamental wave command value and the harmonic command value in a feedback manner, thereby simplifying the circuit system. be able to. Therefore, the coordinate conversion circuit 17 can directly convert the detected three-phase AC currents Iu and IV into the fundamental frequency component and the harmonic component without frequency separation. It is possible to prevent the phase delay due to the filter for separation, and to suppress the deterioration of the noise canceling effect due to the calculation error and the control delay.
- Circuit configuration example 7 (Circuit configuration example 7)
- the circuit usage scenario generates harmonic command value generating circuit 2 of the circuit configuration example 1 of Fi one Dopakku type shown in FIG. 2 0 £ 1 axis harmonic command value 1 (1 6 1 £ + 1 *, And the q-axis current component q-axis harmonic command value I q 6 k + l * is the d-axis detection value as the current detection value in the rotating coordinate system generated by the coordinate conversion circuit 17
- Subtractors 20 and 21 subtract from the Id and q-axis detection values Iq to generate Id1 and Iq1 as current detection values.
- d 1 and I ql are subtracted by subtractors 5 and 6, and
- the current sensor 12 and the coordinate conversion circuit 17 are omitted from the feed-pack type circuit configuration example 1 shown in FIG. 20, and the subtracters 5 and 6 and the PIT amplifiers 7 and 8 Replace the controller 18 with an open control type circuit
- the current controller 18 converts the d-axis command value I d * and the q-axis command value I q * into d-axis voltage command values and q-axis voltage command values of predetermined sizes, respectively.
- the coordinate conversion circuit 9 converts these voltage command values of the rotating coordinate system into voltage command values Vu, Vv, Vw of the stationary coordinate system.
- Circuit configuration example 9 (Circuit configuration example 9)
- the fundamental wave command value generating circuit 1 and the harmonic command value generating circuit 2 shown in Fig. 21 are processed by software using a microcomputer, and the fundamental wave command value (rotational coordinate system display) The superimposition of the harmonic command value (displayed in the rotating coordinate system) on) is performed according to specific conditions.
- step S100 After calculating the fundamental wave command value in step S100, it is determined whether or not to perform the harmonic superimposition for reducing the radial vibration based on a predetermined judgment result calculated separately (S1). 0 2) If it is determined not to perform the harmonic superimposition processing, the d-axis command value Id * is set to the d-axis command value Id1 * and the q-axis command value Iq * is set to the q-axis in step S103. As the command value I q 1 *, the harmonic superimposition processing described below is not performed. If it is determined that the harmonic superposition processing is to be performed, the process proceeds to step S104.
- whether or not to perform the harmonic superimposition is determined, for example, by determining whether the rotational speed is less than a predetermined value, and if so, instructing the superimposition of the harmonic, otherwise not superimposing the harmonic. Good.
- the required torque is more than a predetermined value, such as when starting the engine, superposition of harmonics is prohibited and the maximum torque of the motor can be increased. Can be.
- step S104 the obtained fundamental wave command value (d-axis command value Id1 *, q-axis command value Iql *) is substituted into a table to determine the amplitude and phase angle of the 7th harmonic command value. Then, based on the amplitude of the seventh harmonic command value, the phase angle thereof, and the input corrected rotation angle 7V, the seventh harmonic command value based on the rotating coordinate system of the fundamental command value is obtained.
- the 1st and 3rd harmonic command values are obtained by the same processing in step S108 and step S110, and 6 k + 1st order is obtained by the same processing in step S112 and step S114.
- Calculate the harmonic command value add all of these harmonic command values in step S116, and add the combined d-axis harmonic command value Id6n + 1 * and the combined q-axis harmonic command. Find the value I q 6 n + 1 *.
- step S118 the d-axis fundamental command value Id1 * is added to the synthesized d-axis harmonic command value Id6n + 1 *, and the synthesized q-axis harmonic command value Iq6
- the d-axis command value Id * and the q-axis command value Iq * are obtained by adding the q-axis fundamental wave command value Iq, l * to n + 1 *.
- Steps S116 and S118 may be performed collectively or may be performed by dedicated hardware. Further, steps S104 and S106 and steps S108 and SI10 may be performed in parallel by dedicated hardware or may be performed by an analog circuit.
- the 18th magnetic sound is superimposed by the 19th harmonic current component, and the 24th magnetic sound is canceled by the superposition of the 25th harmonic current component. Or it can be reduced.
- stator current in the expression (18) is expressed as the expressions (39), (40), and (41).
- the magnetic noise reduction calculated by the above equation is used. It is preferable to subtract the higher harmonic current contained in the original armature current from the higher harmonic current and superimpose it on the fundamental frequency component of the original armature current.
- stator current I coi 1 has been described with reference to the stationary coordinate axis (angle 0). However, the stator current I coi 1 has been described with reference to the rotating coordinate system (d, q axes). It is of course possible to display it.
- the parameters of the above equation and the amplitude of the harmonic current of a predetermined order for magnetic noise reduction By storing the set with the phase in a table and assigning variable parameters to this table, it is naturally possible to determine the amplitude and phase of the harmonic current for magnetic noise reduction.
- the above processing for reducing magnetic noise can be obtained using software other than dedicated hardware.
Abstract
Description
Claims
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
EP03756669A EP1553693B1 (en) | 2002-10-17 | 2003-10-17 | Ac rotary electric machine magnetic noise reduction method, motor control device and ac rotary electric machine using the same |
DE60318232T DE60318232T2 (de) | 2002-10-17 | 2003-10-17 | Wechselstromelektrodrehmaschine mit verringerungsverfahren für magnetisches rauschen, motorsteuereinrichtung und wechselstromelektrodrehmaschine damit |
US10/868,095 US7151354B2 (en) | 2002-10-17 | 2004-06-16 | Magnetic noise reduction method for AC rotary electric machine, and motor control apparatus and AC rotary electric machine apparatus using the same |
Applications Claiming Priority (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2002303650 | 2002-10-17 | ||
JP2002-303651 | 2002-10-17 | ||
JP2002303651 | 2002-10-17 | ||
JP2002-303650 | 2002-10-17 | ||
JP2003323782 | 2003-09-16 | ||
JP2003323779 | 2003-09-16 | ||
JP2003-323782 | 2003-09-16 | ||
JP2003-323779 | 2003-09-16 |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US10/868,095 Continuation US7151354B2 (en) | 2002-10-17 | 2004-06-16 | Magnetic noise reduction method for AC rotary electric machine, and motor control apparatus and AC rotary electric machine apparatus using the same |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2004055967A1 true WO2004055967A1 (ja) | 2004-07-01 |
Family
ID=32601007
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2003/013303 WO2004055967A1 (ja) | 2002-10-17 | 2003-10-17 | 交流回転電機の磁気騒音低減方法、それを用いるモータ制御装置及び交流回転電機装置 |
Country Status (4)
Country | Link |
---|---|
US (1) | US7151354B2 (ja) |
EP (1) | EP1553693B1 (ja) |
DE (1) | DE60318232T2 (ja) |
WO (1) | WO2004055967A1 (ja) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7170247B2 (en) | 2004-04-14 | 2007-01-30 | Denso Corporation | Method of control of magnetic sound of alternating current rotating machine |
US7176652B2 (en) | 2004-04-15 | 2007-02-13 | Denso Corporation | Motor control apparatus |
CN109508480A (zh) * | 2018-10-23 | 2019-03-22 | 华中科技大学 | 一种构造低频谐波电流计算电机高频电磁力的半解析方法 |
Families Citing this family (72)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP3928575B2 (ja) * | 2003-04-07 | 2007-06-13 | 日産自動車株式会社 | モーター制御装置 |
JP2004343833A (ja) * | 2003-05-13 | 2004-12-02 | Toshiba Corp | モータ制御装置 |
JP4304122B2 (ja) * | 2004-05-25 | 2009-07-29 | 三菱電機株式会社 | 電気車制御装置 |
JP4422567B2 (ja) * | 2004-06-30 | 2010-02-24 | 株式会社日立製作所 | モータ駆動装置,電動アクチュエータおよび電動パワーステアリング装置 |
JP4261523B2 (ja) * | 2004-09-03 | 2009-04-30 | パナソニック株式会社 | モータ駆動装置および駆動方法 |
JP4789720B2 (ja) * | 2006-07-07 | 2011-10-12 | 三洋電機株式会社 | モータ制御装置 |
US7564206B2 (en) * | 2006-12-21 | 2009-07-21 | Kabushiki Kaisha Toshiba | Motor positioning unit |
US7889978B2 (en) * | 2007-02-08 | 2011-02-15 | Jtekt Corporation | Motor controller and electric power steering system |
JP5321449B2 (ja) * | 2007-03-07 | 2013-10-23 | 株式会社安川電機 | モータ制御装置 |
ATE459132T1 (de) | 2007-06-05 | 2010-03-15 | Abb Schweiz Ag | Verfahren zum betrieb einer dreiphasigen rotierenden elektrischen maschine sowie vorrichtung zur durchführung des verfahrens |
JP4483899B2 (ja) * | 2007-06-21 | 2010-06-16 | 日産自動車株式会社 | アキシャルギャップ型回転電機の交流制御装置 |
US8080953B2 (en) | 2007-08-06 | 2011-12-20 | Seiko Epson Corporation | Motor control method and device |
US7768220B2 (en) * | 2008-04-24 | 2010-08-03 | Gm Global Technology Operations, Inc. | Harmonic torque ripple reduction at low motor speeds |
JP5205461B2 (ja) * | 2008-08-28 | 2013-06-05 | 日産自動車株式会社 | 車両の作動音制御装置及び制御方法 |
RU2463699C1 (ru) * | 2008-12-15 | 2012-10-10 | Мицубиси Электрик Корпорейшн | Устройство преобразования мощности для возбуждения электродвигателя |
CA2746356C (en) | 2008-12-15 | 2014-04-15 | Mitsubishi Electric Corporation | Power converting apparatus for motor driving |
CN102365225A (zh) | 2009-03-31 | 2012-02-29 | 奥的斯电梯公司 | 包括空心电感的电梯再生驱动 |
AU2009345031B2 (en) * | 2009-04-23 | 2013-08-29 | Mitsubishi Electric Corporation | Power conversion device |
US8054084B2 (en) * | 2009-05-19 | 2011-11-08 | GM Global Technology Operations LLC | Methods and systems for diagnosing stator windings in an electric motor |
US8354817B2 (en) * | 2009-06-18 | 2013-01-15 | GM Global Technology Operations LLC | Methods and systems for diagnosing stator windings in an electric motor |
US8222855B2 (en) * | 2009-08-28 | 2012-07-17 | General Electric Company | System and method for non-sinusoidal current waveform excitation of electrical machines |
DE102009040745A1 (de) * | 2009-09-08 | 2011-03-17 | Siemens Aktiengesellschaft | Verfahren zur Regelung von Stromrichtern und Anordnung zur Durchführung des Verfahrens |
US8253365B2 (en) * | 2009-10-20 | 2012-08-28 | GM Global Technology Operations LLC | Methods and systems for performing fault diagnostics for rotors of electric motors |
JP5372705B2 (ja) * | 2009-11-04 | 2013-12-18 | 株式会社日立産機システム | 電力変換装置 |
JP5354099B2 (ja) * | 2010-05-25 | 2013-11-27 | トヨタ自動車株式会社 | 回転電機制御システム及び回転電機の磁石温度操作方法 |
US8497698B2 (en) | 2010-08-11 | 2013-07-30 | GM Global Technology Operations LLC | Methods and systems for diagnosing faults for rotors of electric motors |
US9257931B2 (en) * | 2011-01-18 | 2016-02-09 | Daikin Industries, Ltd. | Power conversion apparatus |
US8648555B2 (en) * | 2011-02-28 | 2014-02-11 | Deere & Company | Method and system for controlling an electric motor at or near stall conditions |
US20120274251A1 (en) * | 2011-04-29 | 2012-11-01 | Danfoss Drives A/S | Harmonic noise reduction |
EP2555420B1 (en) * | 2011-08-01 | 2019-10-23 | ABB Schweiz AG | Self-commissioning procedure for inductance estimation in an electrical machine |
US20130096848A1 (en) * | 2011-10-13 | 2013-04-18 | Charles Terrance Hatch | Methods and systems for automatic rolling-element bearing fault detection |
JP6064380B2 (ja) * | 2012-06-11 | 2017-01-25 | 株式会社ジェイテクト | モータ制御装置及び電動パワーステアリング装置 |
JP5741966B2 (ja) | 2012-12-03 | 2015-07-01 | 株式会社デンソー | 交流電動機の制御装置 |
US9018881B2 (en) | 2013-01-10 | 2015-04-28 | GM Global Technology Operations LLC | Stator winding diagnostic systems and methods |
US9663139B2 (en) | 2013-02-26 | 2017-05-30 | Steering Solutions Ip Holding Corporation | Electric motor feedforward control utilizing dynamic motor model |
US9136785B2 (en) * | 2013-03-12 | 2015-09-15 | Steering Solutions Ip Holding Corporation | Motor control system to compensate for torque ripple |
GB201305787D0 (en) * | 2013-03-28 | 2013-05-15 | Trw Ltd | Motor drive circuit and method of driving a motor |
JP5835450B2 (ja) * | 2013-11-27 | 2015-12-24 | 株式会社デンソー | 回転機の制御装置 |
JP6163100B2 (ja) * | 2013-12-27 | 2017-07-12 | 株式会社志賀機能水研究所 | 電力設備 |
US10389289B2 (en) | 2014-02-06 | 2019-08-20 | Steering Solutions Ip Holding Corporation | Generating motor control reference signal with control voltage budget |
US9481262B2 (en) * | 2014-04-02 | 2016-11-01 | GM Global Technology Operations LLC | Electric vehicle and method |
US10003285B2 (en) | 2014-06-23 | 2018-06-19 | Steering Solutions Ip Holding Corporation | Decoupling current control utilizing direct plant modification in electric power steering system |
US9809247B2 (en) | 2015-01-30 | 2017-11-07 | Steering Solutions Ip Holding Corporation | Motor control current sensor loss of assist mitigation for electric power steering |
DE102015205691A1 (de) * | 2015-03-30 | 2016-10-06 | Siemens Aktiengesellschaft | Verfahren zur Geräuschreduzierung eines elektrischen Motors |
DE102016109294A1 (de) * | 2015-05-20 | 2016-11-24 | Asmo Co., Ltd. | Steuerungsvorrichtung für eine rotierende elektrische Maschine |
CN108028601B (zh) * | 2015-10-01 | 2019-11-22 | 三菱电机株式会社 | 电力变换装置以及使用了该电力变换装置的空气调节装置 |
AT517731B1 (de) * | 2015-10-08 | 2018-12-15 | Anton Paar Gmbh | Verfahren zur Ansteuerung eines Elektromotors |
CN105337283B (zh) * | 2015-12-11 | 2018-01-26 | 北京天诚同创电气有限公司 | 降低电机的振动和噪音的方法、装置、控制器及系统 |
US11254469B2 (en) | 2016-04-15 | 2022-02-22 | Green Ox Pallet Technology, Llc | Pallet and container kit |
JP6915612B2 (ja) | 2016-04-19 | 2021-08-04 | 日本電産株式会社 | モータおよび電動パワーステアリング装置 |
DE102016215175A1 (de) * | 2016-08-15 | 2018-02-15 | Brose Fahrzeugteile GmbH & Co. Kommanditgesellschaft, Würzburg | Verfahren zum Betreiben einer elektrischen Maschine und elektrische Maschine |
US10135368B2 (en) | 2016-10-01 | 2018-11-20 | Steering Solutions Ip Holding Corporation | Torque ripple cancellation algorithm involving supply voltage limit constraint |
JP6493349B2 (ja) * | 2016-10-03 | 2019-04-03 | トヨタ自動車株式会社 | 車両制御装置 |
DE102017208769A1 (de) | 2017-05-23 | 2018-11-29 | Volkswagen Aktiengesellschaft | Verfahren und Vorrichtung zur Beeinflussung der akustischen Abstrahlung einer elektrischen Maschine eines Kraftfahrzeuges |
DE102017112388A1 (de) | 2017-06-06 | 2018-12-06 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Verfahren und Vorrichtung zum Betrieb einer Synchronmaschine mit einem dauermagnetischen Rotor |
DE102017128479A1 (de) * | 2017-11-30 | 2019-06-06 | Feaam Gmbh | Elektrische Maschine, Ansteuerungseinheit und Verfahren zum Betreiben einer elektrischen Maschine |
US10386416B2 (en) * | 2017-12-21 | 2019-08-20 | Avo Multi-Amp Corporation | System for magnetic burst testing of large electric motors with portable tester powered by a domestic wall outlet |
WO2019146437A1 (ja) * | 2018-01-25 | 2019-08-01 | 株式会社豊田自動織機 | インバータ装置 |
DE102018115114A1 (de) | 2018-06-22 | 2019-12-24 | Wobben Properties Gmbh | Verfahren zum Steuern eines Generators einer Windenergieanlage |
CN112997395B (zh) * | 2018-11-14 | 2024-01-02 | 东芝三菱电机产业系统株式会社 | 电力转换装置 |
WO2020139820A1 (en) * | 2018-12-24 | 2020-07-02 | Quantentech Limited | Multi-phase motor/generator system with harmonic injection |
JP6849000B2 (ja) | 2019-03-14 | 2021-03-24 | ダイキン工業株式会社 | 直接形の電力変換装置 |
KR20210017699A (ko) * | 2019-08-09 | 2021-02-17 | 현대자동차주식회사 | 모터를 이용한 능동 사운드 발생장치 |
US20210067071A1 (en) * | 2019-08-27 | 2021-03-04 | Hamilton Sundstrand Corporation | Wound field synchronous machine system with increased torque production and method of operation |
CN110829903B (zh) * | 2019-11-06 | 2021-09-24 | 深圳市法拉第电驱动有限公司 | 抑制永磁同步电机电流谐波的控制系统及方法 |
DE102020104437A1 (de) | 2020-02-20 | 2021-08-26 | Bayerische Motoren Werke Aktiengesellschaft | Versatz der Stromgrundwellen bei mehrphasigen Antrieben |
DE102020105630A1 (de) * | 2020-03-03 | 2021-09-09 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Vorrichtung und Verfahren zur Beeinflussung elektromagnetischer Kräfte einer elektrischen Traktionsmaschine |
DE102020123352B4 (de) * | 2020-09-08 | 2022-06-30 | Iav Gmbh Ingenieurgesellschaft Auto Und Verkehr | Verfahren und Vorrichtung zum Betreiben eines mechatronischen Systems mit einem Stromrichter |
CN115085247A (zh) * | 2021-03-15 | 2022-09-20 | 台达电子企业管理(上海)有限公司 | 兼顾母线和电流峰值控制的电能质量补偿系统及方法 |
DE102021119487A1 (de) | 2021-07-27 | 2023-02-02 | Dr. Ing. H.C. F. Porsche Aktiengesellschaft | Elektromaschine |
RU2769972C1 (ru) * | 2021-10-14 | 2022-04-12 | федеральное государственное бюджетное образовательное учреждение высшего образования "Нижегородский государственный технический университет им. Р.Е. Алексеева" (НГТУ) | Способ активного гашения магнитного шума электродвигателя и устройство для его осуществления |
DE102022201195A1 (de) | 2022-02-04 | 2023-08-10 | Brose Fahrzeugteile SE & Co. Kommanditgesellschaft, Würzburg | Verfahren zum Betrieb einer elektrischen Maschine |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1087517A1 (en) * | 1998-05-29 | 2001-03-28 | Hitachi, Ltd. | Motor control device |
EP1211798A2 (en) * | 2000-11-22 | 2002-06-05 | Nissan Motor Co., Ltd. | Motor control apparatus and motor control method |
JP2003174794A (ja) * | 2001-12-04 | 2003-06-20 | Daikin Ind Ltd | ブラシレスdcモータ駆動方法およびその装置 |
Family Cites Families (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5941187A (ja) | 1982-08-31 | 1984-03-07 | Fanuc Ltd | 同期モ−タの駆動方式 |
JPH02219498A (ja) * | 1989-02-16 | 1990-09-03 | Toyota Central Res & Dev Lab Inc | インバータの電流制御装置 |
JP2928594B2 (ja) | 1990-06-22 | 1999-08-03 | 株式会社日立製作所 | 電力変換装置 |
JPH04200294A (ja) | 1990-11-29 | 1992-07-21 | Toshiba Corp | インバータ装置 |
JPH05176584A (ja) | 1991-12-26 | 1993-07-13 | Hitachi Ltd | 電力変換器の制御装置 |
US5691590A (en) * | 1992-10-23 | 1997-11-25 | Nippondenso Co., Ltd. | Alternator with magnetic noise reduction mechanism |
JPH06315259A (ja) * | 1993-04-27 | 1994-11-08 | Nippondenso Co Ltd | Pwm高調波ノイズ低減装置 |
JPH0789753A (ja) | 1993-06-22 | 1995-04-04 | Sekisui Chem Co Ltd | 無機質硬化体の製造方法 |
US5585709A (en) * | 1993-12-22 | 1996-12-17 | Wisconsin Alumni Research Foundation | Method and apparatus for transducerless position and velocity estimation in drives for AC machines |
US5481166A (en) * | 1993-12-30 | 1996-01-02 | Whirlpool Corporation | Motor control for brushless permanent magnet using only three wires |
US5886493A (en) * | 1995-02-16 | 1999-03-23 | The Kansai Electric Power Co., Inc. | Synchronous machine excitation control device for absorbing harmonics superposed onto fundamental current |
JP3346223B2 (ja) * | 1997-06-10 | 2002-11-18 | 株式会社日立製作所 | モータ制御方法及びモータ制御システム |
JPH1155986A (ja) | 1997-08-05 | 1999-02-26 | Hitachi Ltd | 永久磁石回転電機の制御装置 |
JP3813637B2 (ja) * | 1998-09-03 | 2006-08-23 | 三菱電機株式会社 | 交流電動機の制御装置 |
US6493689B2 (en) * | 2000-12-29 | 2002-12-10 | General Dynamics Advanced Technology Systems, Inc. | Neural net controller for noise and vibration reduction |
US6984960B2 (en) * | 2003-08-05 | 2006-01-10 | General Motors Corporation | Methods and apparatus for current control of a three-phase voltage source inverter in the overmodulation region |
-
2003
- 2003-10-17 EP EP03756669A patent/EP1553693B1/en not_active Expired - Lifetime
- 2003-10-17 WO PCT/JP2003/013303 patent/WO2004055967A1/ja active IP Right Grant
- 2003-10-17 DE DE60318232T patent/DE60318232T2/de not_active Expired - Lifetime
-
2004
- 2004-06-16 US US10/868,095 patent/US7151354B2/en not_active Expired - Lifetime
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP1087517A1 (en) * | 1998-05-29 | 2001-03-28 | Hitachi, Ltd. | Motor control device |
EP1211798A2 (en) * | 2000-11-22 | 2002-06-05 | Nissan Motor Co., Ltd. | Motor control apparatus and motor control method |
JP2003174794A (ja) * | 2001-12-04 | 2003-06-20 | Daikin Ind Ltd | ブラシレスdcモータ駆動方法およびその装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP1553693A4 * |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US7170247B2 (en) | 2004-04-14 | 2007-01-30 | Denso Corporation | Method of control of magnetic sound of alternating current rotating machine |
US7176652B2 (en) | 2004-04-15 | 2007-02-13 | Denso Corporation | Motor control apparatus |
CN109508480A (zh) * | 2018-10-23 | 2019-03-22 | 华中科技大学 | 一种构造低频谐波电流计算电机高频电磁力的半解析方法 |
Also Published As
Publication number | Publication date |
---|---|
US20050073280A1 (en) | 2005-04-07 |
EP1553693A1 (en) | 2005-07-13 |
EP1553693A4 (en) | 2006-01-18 |
EP1553693B1 (en) | 2007-12-19 |
DE60318232D1 (de) | 2008-01-31 |
US7151354B2 (en) | 2006-12-19 |
DE60318232T2 (de) | 2008-12-11 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
WO2004055967A1 (ja) | 交流回転電機の磁気騒音低減方法、それを用いるモータ制御装置及び交流回転電機装置 | |
JP5920769B2 (ja) | ブラシレスモータ制御方法及びブラシレスモータ制御装置並びに電動パワーステアリング装置 | |
JP4400835B2 (ja) | 電動機の制御装置 | |
US8653771B2 (en) | Controller for motor | |
JP3366858B2 (ja) | 回転電機の制御装置 | |
JP2005328691A (ja) | モータ制御装置 | |
JP4269881B2 (ja) | 交流回転電機装置 | |
US10862415B2 (en) | Motor controller and power steering device | |
JP2005006420A (ja) | 電動パワーステアリング装置 | |
JP4239886B2 (ja) | 交流回転電機の磁気音制御方法 | |
JP4155155B2 (ja) | 交流回転電機の磁気騒音低減方法及びそれを用いるモータ制御装置 | |
JP2008054386A (ja) | 同期電動機の制御装置 | |
JP2005304237A (ja) | 交流回転電機の磁気音制御方法 | |
US11949353B2 (en) | Motor control device | |
JP5033662B2 (ja) | 電動機駆動システム | |
JP4117554B2 (ja) | モータ制御装置 | |
CN110121837B (zh) | 马达控制装置、马达系统、马达控制方法和集成电路装置 | |
JP4155152B2 (ja) | 交流回転電機装置 | |
JP6988447B2 (ja) | モータの制御方法、およびモータの制御装置 | |
JP2008043175A (ja) | 電動機の制御装置 | |
JP5385374B2 (ja) | 回転電機の制御装置 | |
JP2002233198A (ja) | モータ駆動回路 | |
JP6163375B2 (ja) | ブラシレスモータ制御方法及びブラシレスモータ制御装置 | |
WO2020075620A1 (ja) | モータ制御装置およびパワーステアリング装置 | |
Soeda et al. | Radial Force Suppression Method Using A Redundant Degrees of Freedom of Double-star PMSM |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
WWE | Wipo information: entry into national phase |
Ref document number: 10868095 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2003756669 Country of ref document: EP |
|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE BG CH CY CZ DE DK EE ES FI FR GB GR HU IE IT LU MC NL PT RO SE SI SK TR |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWP | Wipo information: published in national office |
Ref document number: 2003756669 Country of ref document: EP |
|
WWG | Wipo information: grant in national office |
Ref document number: 2003756669 Country of ref document: EP |