WO2005006534A1 - 空気調和機の圧縮機用電動機駆動装置 - Google Patents
空気調和機の圧縮機用電動機駆動装置 Download PDFInfo
- Publication number
- WO2005006534A1 WO2005006534A1 PCT/JP2004/010367 JP2004010367W WO2005006534A1 WO 2005006534 A1 WO2005006534 A1 WO 2005006534A1 JP 2004010367 W JP2004010367 W JP 2004010367W WO 2005006534 A1 WO2005006534 A1 WO 2005006534A1
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- WIPO (PCT)
- Prior art keywords
- current
- phase
- inverter
- duty
- motor
- Prior art date
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Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C28/00—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids
- F04C28/08—Control of, monitoring of, or safety arrangements for, pumps or pumping installations specially adapted for elastic fluids characterised by varying the rotational speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B35/00—Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for
- F04B35/04—Piston pumps specially adapted for elastic fluids and characterised by the driving means to their working members, or by combination with, or adaptation to, specific driving engines or motors, not otherwise provided for the means being electric
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/15—Controlling commutation time
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0201—Current
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0202—Voltage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04B—POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS
- F04B2203/00—Motor parameters
- F04B2203/02—Motor parameters of rotating electric motors
- F04B2203/0209—Rotational speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C2240/00—Components
- F04C2240/40—Electric motor
- F04C2240/403—Electric motor with inverter for speed control
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F04—POSITIVE - DISPLACEMENT MACHINES FOR LIQUIDS; PUMPS FOR LIQUIDS OR ELASTIC FLUIDS
- F04C—ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT MACHINES FOR LIQUIDS; ROTARY-PISTON, OR OSCILLATING-PISTON, POSITIVE-DISPLACEMENT PUMPS
- F04C2270/00—Control; Monitoring or safety arrangements
- F04C2270/09—Electric current frequency
Definitions
- the present invention relates to a compressor motor driving device that drives a compressor motor such as a brushless DC motor at an arbitrary rotation speed.
- Fig. 9 shows a system configuration for performing this type of position sensorless sine wave drive.
- the DC voltage from the DC power supply 1 is converted into an AC voltage by the inverter 2, and the brushless motor 3 is driven by the AC voltage.
- This brushless motor 3 is composed of a stator 4 on which three phase windings / wires 4 u, 4 V, and 4 w, each of which is Y-connected around a neutral point, and a rotor on which a magnet is mounted 5 is provided.
- U-phase terminal 8 u at non-connection end of U-phase winding 4 u, V-phase terminal 8 v at non-connection end of V-phase winding 4 V, W-phase terminal 8 at non-connection end of W-phase winding 4 w w is connected.
- the control unit 6 controls the inverter 2.
- Current sensors 7 V and 7 w detect the output current of inverter 2.
- the inverter 2 has three series circuits for a U-phase, a V-phase, and a W-phase in which a pair of switching elements are connected in series in a relationship between an upstream side and a downstream side of the current. A DC voltage output from the DC power supply 1 is applied to these series circuits.
- the series circuit for the U phase is composed of an upstream switching element 12 u and a downstream switching element 13 u.
- the series circuit for the V phase is composed of an upstream switching element 12v and a downstream switching element 13v.
- the series circuit for the W phase is composed of an upstream switching element 12 w and a downstream switching element 13 w.
- the free wheel diodes 14u, 14V, 14w, 15u, 15v, 15w are connected in parallel with each switching element.
- the brushless motor is connected to the interconnection point of the switching elements 12 u and 13 u, the interconnection point of the switching elements 12 V and 13 V, and the interconnection point of the switching elements 12 w and 13 w in the inverter 2.
- 3 terminals 8 u, 8 V and 8 w are connected respectively.
- the induced voltage estimating means 17 The induced voltage of the brushless motor 3 is estimated, and the rotor position speed estimating means 18 estimates the rotational position and the rotational speed of the brushless motor 3 from the induced voltage.
- the PWM signal generating means 9 generates a PWM (pulse width modulation) signal from the difference signal between the detected rotation speed and the target speed, the detected rotation position, and the phase current. 2 are supplied to the base of each switching element. As a result, the brushless motor 3 is driven to reach the target speed.
- Patent Document 1 Japanese Patent Laid-Open Publication No. 2000-350489, etc. "Position Sensorless Motor Control Device” (Claim 1, FIG. 1) Disclosure of the Invention
- the present invention solves the above-mentioned problems, detects phase current accurately with an inexpensive configuration, and has excellent stability at start-up.
- An object of the present invention is to provide an excellent motor drive device for a compressor.
- Induced voltage estimating means for estimating the induced voltage of the motor from the input voltage value of the impeller and the current of each phase;
- Rotor position / velocity estimating means for estimating a rotor magnetic pole position and a rotational speed of the electric motor based on the estimated induced voltage
- An angle PI calculating means for proportionally integrating the estimated rotor magnetic pole position to obtain an angle correction value; a speed PI calculating means for performing a proportional integration from the target speed and the estimated rotational speed to output a current command value;
- PWM signal generation means for generating a PWM signal for controlling the inverter based on the two correction values
- an input current is detected at one of the inverter bus current (input current) lines, and each phase current of the three-phase motor is calculated from the input current, so that a system can be provided at low cost.
- the setting of the proportional term gain in the current PI Therefore, stable driving at the time of starting can be realized.
- the time difference between the rising and falling portions between the signals of each phase of UVW needs to be about 5 microseconds or more. Therefore, as described in claim 2, by detecting the phase current by correcting the duty so that the time difference does not become 5 microseconds or less, the phase current can be reliably detected.
- the current proportional gain of the current PI proportional integral
- FIG. 1 is a block diagram showing the configuration of an embodiment of the compressor motor driving device according to the present invention.
- FIG. 2 is a diagram showing an example of the temporal change in the phase current state of the compressor motor.
- Figure 4 shows the state of current flowing to the compressor motor and inverter when the PWM signal changes
- Figure 5 Diagram showing an example of changes in the PWM signal
- Figure 6 Figure 5 shows the state of current flowing to the compressor motor and inverter when the PWM signal changes
- Figure 7 Diagram showing an example of changes in the PWM signal
- FIG. 1 is a block diagram showing the configuration of the present embodiment.
- the DC voltage supplied by the DC power supply 1 is converted by the inverter 2 into an AC voltage having a desired frequency and voltage, and supplied to the brushless motor 3.
- the inverter 2 is controlled by the control unit 6 for switching.
- the brushless motor 3 has three phase windings 4 u, 4 V,
- U-phase terminal 8 u at unconnected end of U-phase winding 4 u
- V-phase terminal 8 V at unconnected end of V-phase winding 4 V
- W-phase terminal 8 w at unconnected end of W-phase winding 4 w Is connected.
- the inverter 2 has three series circuits, one for the U phase, one for the V phase, and one for the W phase, in which a pair of switching elements are connected in series in a relationship between the upstream side and the downstream side of the current.
- the DC voltage output from the DC power supply 1 is applied to these series circuits.
- the series circuit for the U phase is composed of an upstream switching element 12 u and a downstream switching element 13 u.
- the series circuit for the V phase is composed of an upstream switching element 12v and a downstream switching element 13v.
- the series circuit for the W phase is composed of an upstream switching element 12 w and a downstream switching element 13 w.
- the free wheel diodes 14U, 14V, 14W, 15U, 15V, 15W are connected in parallel with each switching element.
- the brushless motor is connected to the interconnection point of the switching elements 12u and 13u, the interconnection point of the switching elements 12V and 13V, and the interconnection point of the switching elements 12w and 13w in the inverter 2.
- 3 terminals 8 u, 8 V and 8 w are connected respectively.
- the DC voltage applied to the inverter 2 is converted into a three-phase AC voltage by a circuit such as a switching element in the inverter 2 described above, and thereby the brushless motor 3 is driven.
- control unit 6 In order to achieve a target speed given from the outside, the control unit 6 generates a drive signal for driving each switching element in the inverter 2 from an error between the target speed and the estimated current speed. I have.
- a current sensor (for example, a shunt resistor) 11 is provided on the N-side line of the inverter bus (DC-side input line). Saden The current detecting means 11 a detects the phase current of the brushless motor 3 from the voltage generated across the current sensor 11.
- the induced voltage estimating means 17 calculates the induced voltage of the brushless motor 3 from the phase current, the output voltage calculated by the PWM signal generating means 9 and the information of the inverter applied voltage detected by the inverter applied voltage detecting means 16. presume.
- the rotor position / velocity estimating means 18 calculates the position of the brushless motor 3 from the induced voltage.
- the angle PI calculating means 20 obtains an “angle correction value” by proportionally integrating the information on the rotor magnetic pole angle.
- the speed PI calculation means 21 calculates a “current command value” by performing a proportional integral calculation on a difference between the target speed and the estimated speed.
- the current PI calculation means 22 calculates a “current correction value” of the voltage command value by performing a proportional integral calculation from the current command value and the phase current detected by the current detection means 11.
- the PWM signal generating means 9 generates a “PWM signal” for driving the brushless motor 3 based on the complementary value iH.
- the duty of the PWM signal is appropriately corrected by duty correction means 19, and then converted into a drive signal by the base driver 10.
- the inverter 2 is controlled such that the rotor speed becomes the target speed based on information such as the deviation between the estimated rotation speed of the rotor 5 and a target speed given from the outside.
- the phase voltages (vu, vv, vw) applied to the windings of each phase are obtained from the information on the inverter applied voltage detected by the voltage detecting means 16.
- the induced voltage values eu, ev, and ew force S induced in the windings of each phase can be obtained by the calculations of the following equations (1), (2), and (3).
- the value obtained by converting the estimated speed cm into the electrical angular speed is used as / dt.
- D ( u) / dt, d (iv) / dt, d (iw) / dt are obtained by first-order Euler approximation.
- the w-phase current value iw is obtained by using equation (15).
- R is the resistance per phase of the coil spring
- 1a is the leakage inductance per winding phase
- La is the average effective inductance per winding phase ⁇ :
- L as is the winding inductance It is the amplitude of the effective inductance per phase.
- phase current values iu, iv, and iw are sine waves
- the equation (4) ), (5), and (6) are simplified as in the following equations (7), (8), and (9), and the induced voltage estimating means 17 calculates the induced voltages eu, ev and ew are finally output.
- the rotor position / speed estimating means 18 estimates the angle 0m by correcting the estimated angle (position) recognized by itself with an error of the induced voltage values eu, ev, and ew to converge to a true value. Further, the velocity com is estimated by calculating the fluctuation value of the estimated angle ⁇ , and these estimated values are respectively sent to the angle ⁇ I calculation means 20 and the speed ⁇ I calculation means 21. Supply.
- e wm em-sin ( ⁇ m + ⁇ ⁇ - 240 °) ⁇ (; L 0)
- em the induced voltage amplitude value is obtained by matching the amplitude values of the thrust voltages eu, ev, and ew.
- a difference ⁇ is obtained by subtracting the induced voltage reference value e sm from the estimated induced voltage value e S.
- the angle ⁇ I calculating means 20 corrects by proportionally integrating the estimated angle 0 m so that the deviation ⁇ becomes 0. Is transmitted to the PWM signal generation means 9.
- the speed PI calculating means 21 performs a proportional integral from the difference ⁇ between the target speed ⁇ * and the estimated speed com by the equation (1 2) so that the rotation speed of the rotor 5 becomes the target speed, and the current command value I * is created and supplied to the current / I calculation means 22.
- the current PI calculation means 22 performs a proportional integration using the equation (13) from the difference ⁇ I between the current command value I * and the detected current in order to flow the current command value I * to the stator 4, The obtained current correction value is supplied to the PWM signal generation means 9.
- the PWM signal generating means 9 calculates the voltage V * to be output based on the two correction values from the angle PI calculating means 20 and the current calculating means 22, and outputs to each phase from the voltage value V *.
- the voltage V s * (s: phase u / vZw) is obtained by equation (14).
- Vu * V *-s i n ( ⁇ m + ⁇ ⁇ )
- V ⁇ * V * sin ( ⁇ m + i3 ⁇ - 1 20 °)
- Vw * V *-s in ( ⁇ m + ⁇ — 240 °) ⁇ (14)
- FIG. 2 is a diagram showing the state of the phase current flowing through the windings and wires of each phase of the brushless motor 3 for each electrical angle break.
- the inverter bus shows 0 at timing 1 as shown in FIG.
- a current flows through the U-phase winding 4u
- a current flows through the V-phase winding 4V.
- phase current of the brushless motor 3 appears on the inverter bus depending on the states of the switching elements 12 u, 12 V, 12 w, 13 u, 13 v, and 13 w of the inverter 2. You can see that. If the current for two phases can be determined at the two close timings as described above,
- the other one-phase current is obtained from the relational expression.
- the duty correction means 19 checks the P WM signal generated by the P WM signal generation means 9 in order to avoid the above-mentioned problem, and by any chance, as shown in FIG. When there is no time difference between the rising and falling parts of each other, as shown in Fig. 3, the time difference between the rising and falling parts between the signals of each phase of UVW should not be less than 5 microseconds. Correct the duty. Specifically, the on-timing of the U-phase is delayed and the on-timing of the W-phase is advanced.
- the duty-corrected PWM signal is supplied to the base dryno 10.
- the base driver 10 drives each of the switching elements 12u, 12V, 12w, 13u, 13v, and 13w with a sine wave drive using the PWM whose duty is appropriately corrected in this way. .
- the phase current detecting means 11a refers to the duty information INF of the PWM signal output from the duty correcting means 19, and based on the principle described in FIG. 2, converts the brushless motor to the inverter bus current. Judge which phase current of 3 appears, and convert the input current to each of the three phases. This phase current is used in the induced voltage estimation calculation in the induced voltage estimation means 17 as described above.
- the estimated angle ⁇ ⁇ is created by using the deviation ⁇ between the estimated electromotive force value and the induced voltage reference value, and a sinusoidal phase current is caused to flow, so that the brushless motor 3 Sinusoidal drive is realized. Then, when it is necessary to detect the phase current flowing through the windings of each phase of the brushless motor 3 in order to establish the control loop in the control unit 6, it is simple without changing the algorithm for estimating the induced voltage. Since the phase current can be detected reliably and reliably, an inexpensive system can be provided. Now, as shown in FIG. 8, when the compressor is started, the required torque T q changes significantly. This is due to a sudden change from a state in which the compressor is stopped and there is no pressure difference between suction and discharge, to a rapid compression of the refrigerant to a pressure difference between suction and discharge. The
- the current PI calculation means 22 sets the value of the current proportional gain KP in multiple stages according to the time shown in FIG. 8 to suppress the occurrence of torque shortage and overcurrent.
- the current proportional gain KP is larger than the arrow 1, the control becomes too sensitive and overcurrent flows to each switching element of the inverter 2. If it is smaller than the arrow 2, the gain is insufficient and the response is poor, resulting in poor torque Prevention This problem is prevented from occurring due to multi-step fine settings.
- the current proportional gain KP value is stored in the startup data setting means 22a using a memory such as an EEPROM that can be read and written from the outside of the control unit 6.
- a memory such as an EEPROM that can be read and written from the outside of the control unit 6.
- the capacity of a compressor using a three-phase motor for a compressor A value corresponding to each load can be obtained by storing a value corresponding to the load difference due to a difference or the like in the activation data setting means 22a, and the value of the electronic control device can be changed without changing the ROM of the microcomputer. Can be shared. Industrial potential
- the present invention can be applied to various devices using a brushless motor other than those for a compressor.
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
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JP2003-274514 | 2003-07-15 | ||
JP2003274514 | 2003-07-15 |
Publications (1)
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WO2005006534A1 true WO2005006534A1 (ja) | 2005-01-20 |
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PCT/JP2004/010367 WO2005006534A1 (ja) | 2003-07-15 | 2004-07-14 | 空気調和機の圧縮機用電動機駆動装置 |
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Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3327290A1 (en) * | 2016-11-29 | 2018-05-30 | Mitsubishi Heavy Industries Thermal Systems, Ltd. | Rotational speed control device, rotary compressor system, control system, and rotational speed control method |
TWI761084B (zh) * | 2021-02-22 | 2022-04-11 | 致揚科技股份有限公司 | 真空泵裝置及其操作方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001037281A (ja) * | 1999-05-18 | 2001-02-09 | Matsushita Electric Ind Co Ltd | 電動機のトルク制御装置 |
JP2003189670A (ja) * | 2001-12-14 | 2003-07-04 | Matsushita Electric Ind Co Ltd | 電動機駆動装置及びそれを用いた冷凍装置 |
JP2003199388A (ja) * | 2001-12-27 | 2003-07-11 | Sharp Corp | モータ駆動装置 |
-
2004
- 2004-07-14 WO PCT/JP2004/010367 patent/WO2005006534A1/ja not_active Application Discontinuation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2001037281A (ja) * | 1999-05-18 | 2001-02-09 | Matsushita Electric Ind Co Ltd | 電動機のトルク制御装置 |
JP2003189670A (ja) * | 2001-12-14 | 2003-07-04 | Matsushita Electric Ind Co Ltd | 電動機駆動装置及びそれを用いた冷凍装置 |
JP2003199388A (ja) * | 2001-12-27 | 2003-07-11 | Sharp Corp | モータ駆動装置 |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP3327290A1 (en) * | 2016-11-29 | 2018-05-30 | Mitsubishi Heavy Industries Thermal Systems, Ltd. | Rotational speed control device, rotary compressor system, control system, and rotational speed control method |
TWI761084B (zh) * | 2021-02-22 | 2022-04-11 | 致揚科技股份有限公司 | 真空泵裝置及其操作方法 |
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