WO2009119123A1 - 冷凍装置 - Google Patents

冷凍装置 Download PDF

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Publication number
WO2009119123A1
WO2009119123A1 PCT/JP2009/050055 JP2009050055W WO2009119123A1 WO 2009119123 A1 WO2009119123 A1 WO 2009119123A1 JP 2009050055 W JP2009050055 W JP 2009050055W WO 2009119123 A1 WO2009119123 A1 WO 2009119123A1
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Prior art keywords
value
axis current
command value
identification mode
current command
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PCT/JP2009/050055
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English (en)
French (fr)
Japanese (ja)
Inventor
佳明 栗田
達夫 安藤
邦明 高塚
孝 大石
励 笠原
健 木下
健太郎 三浦
Original Assignee
日立アプライアンス株式会社
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Priority to CN200980105536.7A priority Critical patent/CN101946136B/zh
Publication of WO2009119123A1 publication Critical patent/WO2009119123A1/ja

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    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B49/00—Arrangement or mounting of control or safety devices
    • F25B49/02—Arrangement or mounting of control or safety devices for compression type machines, plants or systems
    • F25B49/025—Motor control arrangements
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/70—Control systems characterised by their outputs; Constructional details thereof
    • F24F11/80—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air
    • F24F11/83—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air by controlling the supply of heat-exchange fluids to heat-exchangers
    • F24F11/84—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air by controlling the supply of heat-exchange fluids to heat-exchangers using valves
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F24—HEATING; RANGES; VENTILATING
    • F24F—AIR-CONDITIONING; AIR-HUMIDIFICATION; VENTILATION; USE OF AIR CURRENTS FOR SCREENING
    • F24F11/00—Control or safety arrangements
    • F24F11/70—Control systems characterised by their outputs; Constructional details thereof
    • F24F11/80—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air
    • F24F11/83—Control systems characterised by their outputs; Constructional details thereof for controlling the temperature of the supplied air by controlling the supply of heat-exchange fluids to heat-exchangers
    • F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
    • F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
    • F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
    • F25B2600/00—Control issues
    • F25B2600/02—Compressor control
    • F25B2600/021—Inverters therefor
    • 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
    • Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
    • Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
    • Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating

Definitions

  • the present invention relates to a refrigeration apparatus such as an air conditioner or a refrigerator, and more particularly to a refrigeration apparatus that variably controls the rotation speed of a permanent magnet synchronous motor that drives a compressor of a refrigeration cycle by an inverter device.
  • vector control for an inverter device in order to realize high-efficiency operation.
  • vector control uses motor constants (specifically, resistance, induced voltage, and inductance), it is necessary to set the motor constants in advance.
  • the motor constant varies depending on variations at the time of manufacturing the motor and operating conditions, and there is a possibility that a deviation occurs between the preset set value and the actual value.
  • a vector control apparatus has been proposed in which motor constants are identified immediately before or during actual operation and the motor constant setting value is automatically corrected (see, for example, JP 2007-49843 A).
  • a vector control device described in Japanese Patent Application Laid-Open No. 2007-49843 includes a current detector that detects a three-phase alternating current, and coordinates that convert the detected value of the three-phase alternating current into a d-axis current detection value and a q-axis current detection value.
  • a vector control for calculating a d-axis voltage command value and a q-axis voltage command value based on the set value of the motor constant, the rotational speed command value, the second d-axis current command value, and the second q-axis current command value
  • Three-phase AC between the calculation unit (voltage command calculation unit), d-axis voltage command value, and q-axis voltage command value Includes a coordinate converter for converting the voltage command values, a power
  • the d-axis current is controlled to “zero” and “a predetermined value other than zero”, and the difference between the second d-axis current command value and the difference between the d-axis current detection values in these two control states. (Or the difference between the first d-axis current command values), and the ratio between the difference between the d-axis current command values and the difference between the detected d-axis current values (or the difference between the first d-axis current command values). Is multiplied by the set value of the d-axis inductance to correct the set value of the d-axis inductance.
  • the ratio between the second q-axis current command value and the q-axis current detection value (or the first q-axis current command value) is set to the q-axis.
  • the q-axis inductance setting value is corrected by multiplying the inductance setting value.
  • the motor constant identification accuracy affects the motor control performance (specifically, drive efficiency, response speed, stability, etc.).
  • the inductance identification accuracy is related to motor maximum torque control. And driving efficiency is greatly affected.
  • the d-axis current command value is controlled to “zero” and “predetermined value other than zero”, and the difference between the second d-axis current command value and the difference between the d-axis current detection values in these two control states. Based on the above, the d-axis inductance is identified. For this reason, there is room for improvement in terms of inductance identification accuracy because it is easily affected by current ripples and phase variations.
  • An object of the present invention is to provide a refrigeration apparatus that can improve the identification accuracy of inductance and improve the operation efficiency.
  • the present invention provides a refrigeration apparatus comprising a compressor of a refrigeration cycle, a permanent magnet synchronous motor that drives the compressor, and an inverter device that variably controls the rotational speed of the motor by vector control.
  • the inverter device includes an inverter circuit that generates AC power from DC power and supplies the AC power to the motor, a current detection unit that detects an input DC current or an output AC current of the inverter circuit, and a d detected from the current detected by the current detection unit.
  • a current detection calculation unit for calculating an axis current detection value and a q-axis current detection value, and correcting the first d-axis current command value based on a deviation between the first d-axis current command value and the d-axis current detection value.
  • a first d-axis current command value is generated based on a deviation between the first q-axis current command value and the detected q-axis current value.
  • the second q-axis current finger A q-axis current command calculation unit that generates a value, a d-axis based on a motor constant setting value including an inductance setting value, a rotation speed command value, a second d-axis current command value, and a second q-axis current command value
  • a voltage command calculation unit that calculates a voltage command value and a q-axis voltage command value; an inverter control unit that controls an inverter circuit based on the d-axis voltage command value and the q-axis voltage command value; and a first q-axis current command value
  • An identification mode control unit for fixing the first d-axis current command value to a predetermined set value while fixing the rotation speed command value for a predetermined time as an identification mode during vector control operation in which ,
  • the difference between the second d-axis current command value and the first d-axis current command value in the identification mode is integrated to calculate an average value, and based on this, the correction amount
  • FIG. 1 is a schematic diagram showing a configuration of an air conditioner according to an embodiment of the present invention.
  • an air conditioner 110 has a refrigeration cycle in which a compressor 101, an indoor heat exchanger 102, an indoor expansion valve 104, an outdoor heat exchanger 105, and an accumulator 107 are sequentially connected.
  • a compressor 101 an indoor heat exchanger 102, an indoor expansion valve 104, an outdoor heat exchanger 105, and an accumulator 107 are sequentially connected.
  • the refrigerant compressed by the compressor 101 is condensed and liquefied by the outdoor heat exchanger 105, and then reduced by the indoor expansion valve 104 and evaporated by the indoor heat exchanger 102. It returns to the compressor 101.
  • the indoor heat exchanger 102 and the indoor expansion valve 104 are provided in the indoor unit 109, and the indoor unit 109 is provided with an indoor blower 103 for promoting heat exchange.
  • the compressor 101, the outdoor heat exchanger 105, the accumulator 107, and the like are provided in the outdoor unit 108, and the outdoor unit 108 is provided with an outdoor blower 106 for promoting heat exchange.
  • the compressor 101 is driven by a permanent magnet synchronous motor 111, and the rotation speed (operation frequency) of the motor 111 is variably controlled by an inverter device 210. Thereby, it respond
  • FIG. 2 is a schematic diagram showing the configuration of the inverter device 210.
  • the inverter device 210 converts the AC power from the AC power source 251 into DC power, and generates AC power from the DC power generated by the converter circuit 225 and supplies the AC power to the motor 111.
  • the inverter 221, the microcomputer 231 that controls the inverter circuit 221 via the driver circuit 232, the high voltage generated by the converter circuit 225 is adjusted to a control power supply of about 5 V or 15 V, for example, the microcomputer 231, the driver circuit 232, etc. ,
  • a voltage detection circuit 234 that detects the output DC voltage of the converter circuit 225, a current detection circuit 233 that detects the input DC current of the inverter circuit 221 using the shunt resistor 224, and an outside temperature thermistor 261.
  • a detection circuit 262 Outside temperature to detect the outside temperature using A detection circuit 262, a discharge temperature detection circuit 264 that detects the discharge temperature of the compressor 101 using the discharge temperature thermistor 263, and a discharge pressure detection circuit 266 that detects the discharge pressure of the compressor 101 using the discharge pressure sensor 265. It has.
  • the converter circuit 225 is a circuit in which a plurality of rectifying elements 226 are bridge-connected, and converts AC power from the AC power supply 251 into DC power.
  • the inverter circuit 221 is a circuit in which a plurality of switching elements 222 are connected in a three-phase bridge.
  • a flywheel element 223 is provided along with the switching element 222 so that the switching element 222 regenerates a counter electromotive force generated at the time of switching.
  • the driver circuit 232 controls a switching operation of the switching element 222 by amplifying a weak signal (a PWM signal described later) from the microcomputer 231. Thereby, AC power is generated by the inverter circuit 221 and its frequency is controlled.
  • an electromagnetic contactor 253 for operating or stopping the motor 111, a power factor improving reactor 252, and a smoothing capacitor 270 are connected. Further, an inrush current limiting resistor 254 is provided in parallel with the electromagnetic contactor 253 so that the electromagnetic contactor 253 that is closed when the power is turned on does not weld due to an excessive inrush current flowing through the smoothing capacitor 270.
  • the microcomputer 231 has a sensorless type vector control function. That is, the drive current of the motor 111 (in other words, the output AC current of the inverter circuit 221) is reproduced based on the input DC current of the inverter circuit 221 detected by the current detection circuit 233, and the AC current is A current sensor for detection is not required. Further, the rotational speed and phase (magnetic pole position) of the motor 111 are estimated, and a speed sensor and a magnetic pole position sensor are not required. Details of such vector control will be described below.
  • FIG. 3 is a block diagram showing a functional configuration of the microcomputer 231.
  • FIG. 4 is a block diagram showing the functional configuration of the speed / phase estimation unit shown in FIG. 3
  • FIG. 5 shows the functional configuration of the motor constant identification unit and vector control calculation unit shown in FIG. FIG.
  • the microcomputer 231 uses the speed / phase estimation unit 18 for estimating the rotation speed detection value ⁇ and the phase detection value ⁇ dc of the motor 111, the DC current Ish detected by the current detection circuit 233, and the like.
  • a current reproduction unit 19 that estimates 111 drive currents (current detection values of three-phase alternating current) Iu, Iv, and Iw, and current detection values Iu, Iv, and Iw of three-phase alternating current based on the phase detection value ⁇ dc.
  • the q-axis current command generation unit 12 that generates the first qc-axis current command value Iqc * and the first dc-axis current command value Idc * so that the deviation between ⁇ * and the rotational speed detection value ⁇ becomes zero .
  • D-axis current command generation to generate Generator 13, motor constant setting unit 14 for outputting motor constant setting values (specifically, resistance setting value r * , induced voltage setting value Ke * , and virtual inductance setting value L * ), and a first dc axis Calculate dc-axis voltage command value Vdc * and qc-axis voltage command value Vqc * based on current command value Idc * , first qc-axis current command value Iqc * , motor constant setting value, rotation speed command value ⁇ *, etc.
  • motor constant setting unit 14 for outputting motor constant setting values (specifically, resistance setting value r * , induced voltage setting value Ke * , and virtual inductance setting value L * )
  • a first dc axis Calculate dc-axis voltage command value Vdc * and qc-axis voltage command value Vqc * based on current command value Idc * , first qc-axis current command value Iqc * , motor constant setting
  • the vector control calculation unit 15 that performs the dc-axis voltage command value Vdc * and the qc-axis voltage command value Vqc * dc-axis voltage command value based on the phase detection value ⁇ dc and three-phase AC voltage command values Vu * , Vv * , Vw biaxial / three-phase converting unit 16 that converts to *, the voltage command value of three-phase AC Vu *, Vv *, Vw * to generate and output to the driver circuit 232, respectively proportional to the PWM signal (pulse width modulation signal) Do And a WM output unit 17.
  • the current reproduction unit 19 is based on the DC current Ish detected by the current detection circuit 233 and the three-phase AC voltage command values Vu * , Vv * , Vw * calculated by the 2-axis / 3-phase conversion unit 16.
  • the three-phase AC current detection values Iu, Iv, and Iw are estimated.
  • the three-phase / two-axis conversion unit 20 converts the three-phase AC current detection values Iu, Iv, and Iw into the dc-axis current detection value Idc and the qc-axis current based on the phase detection value ⁇ dc estimated by the speed / phase estimation unit 18.
  • the detection value Iqc is converted (see Equation 1 below). As shown in FIG.
  • the dq axis is the motor rotor axis
  • the do-qo axis is the motor maximum torque axis
  • the dc-qc axis is the estimated axis of the control system
  • the do-qo axis and dc-qc axis An axis error with respect to the axis is defined as ⁇ c.
  • the speed / phase estimation unit 18 includes an axis error calculation unit 21 that calculates an axis error ⁇ c, a zero generation unit 22 that gives a zero command to the axis error ⁇ c, a speed calculation unit 23 that estimates a rotational speed detection value ⁇ , and a phase And a phase calculator 24 for estimating the detected value ⁇ c.
  • the axis error calculation unit 21 includes a dc-axis voltage command value Vdc * , a qc-axis voltage command value Vqc * , a dc-axis current detection value Idc, a qc-axis current detection value Iqc, motor constant setting values r * , Ke * , L * , Then, the axis error ⁇ c is calculated based on the rotational speed command value ⁇ * (see the following formula 2).
  • the speed calculation unit 23 estimates the rotation speed detection value ⁇ so that the axis error ⁇ c calculated by the axis error calculation unit 21 becomes zero.
  • the zero generator 22 and the rotation speed calculator 23 constitute a PLL control circuit.
  • the speed calculation unit 23 estimates that the rotation speed detection value ⁇ is increased because the dc-qc axis of the control system is advanced from the do-qo axis of the maximum motor torque.
  • the shaft error ⁇ c is negative, for example, the dc-qc axis of the control system is delayed from the do-qo axis of the motor maximum torque, so that the rotational speed detection value ⁇ is estimated to be decreased.
  • the d-axis current command generation unit 12 is configured such that the deviation between the rotation speed detection value ⁇ estimated by the speed calculation unit 23 and the rotation speed command value ⁇ * generated by the speed command generation unit 10 becomes zero. A first qc-axis current command value is generated.
  • the phase calculation unit 24 integrates the rotational speed detection value ⁇ estimated by the speed calculation unit to calculate the phase ⁇ dc of the control system.
  • the vector control calculation unit 15 includes a q-axis current command calculation unit 31, a d-axis current command calculation unit 33, and a voltage command calculation unit 34.
  • the q-axis current command calculation unit 31 calculates the first qc-axis current command value Iqc * based on the difference between the first qc-axis current command value Iqc * calculated by the subtraction unit 30 and the qc-axis current detection value Iqc.
  • the second qc-axis current command value Iqc ** is generated by correction.
  • the d-axis current command calculation unit 33 calculates the first dc-axis current command value based on the difference between the first dc-axis current command value Idc * calculated by the subtraction unit 32 and the dc-axis current detection value Idc. Idc * is corrected to generate a second dc-axis current command value Idc ** .
  • the 2-axis / 3-phase converter 16 converts the dc-axis voltage command value Vdc * and the qc-axis current detection value Vqc * into a 3-phase AC voltage command value based on the phase detection value ⁇ dc estimated by the speed / phase estimation unit 18. Conversion into Vu * , Vv * , Vw * (see Equation 4 below).
  • the motor constant identification unit 14 includes an identification mode control unit 35, an input switching unit 36, an integration unit 37, a storage unit 38, and an addition unit 39 in order to identify the virtual inductance L described above.
  • the identification mode control unit 35 receives, for example, the rotational speed detection value ⁇ estimated by the speed / phase estimation unit 18 during the vector control mode operation of the motor 111, and the rotational speed detection value ⁇ is set to a predetermined value. It is determined whether or not ⁇ 1 has been reached. For example, when the rotational speed detection value ⁇ reaches the predetermined value ⁇ 1 (in other words, when the rotational speed detection value ⁇ rises or falls to the predetermined value ⁇ 1), the identification mode is set as the identification mode for a predetermined time, the speed command generator 10 and the d-axis current command. The generation unit 13 is instructed in the identification mode, and the input switching unit 36 is switched to the connected state. In the present embodiment, the identification mode is executed by repeating a predetermined number of times (for example, three times) set in advance.
  • the speed command generation unit 10 fixes the rotational speed command value ⁇ * to the current value in accordance with the identification mode command.
  • the d-axis current command generation unit 13 fixes the first d-axis current command value Idc * to a predetermined set value Idc * _at in accordance with the identification mode command.
  • the predetermined set value Idc * _at is preferably set to be relatively small in order to avoid the influence of the inverter eddy current and the motor magnetic saturation, and the identification accuracy is ensured while taking into account the current detection resolution and calculation error of the control device. Therefore, for example, it may be set in the range of about 1/10 to 1/2 of the rated current of the motor.
  • the addition unit 39 adds the error ⁇ L * _all stored in the storage unit 38 and the virtual inductance initial setting value L * _0, and uses this as the virtual inductance setting value L * , so that the voltage command calculation unit 34 of the vector control calculation unit 15. And output to the speed / phase estimation unit 18.
  • the inverter device 120 drives the permanent magnet synchronous motor 111 by sensorless vector control, calculates the axis error ⁇ c using the above formula 2, and estimates the phase ⁇ dc.
  • the rotational speed ⁇ of the motor 111 that is, the rotational speed N of the compressor 101
  • the motor 111 is started in three operation control modes (positioning mode, synchronous operation mode, and vector control operation mode). First, in the positioning mode, the rotor magnetic pole of the motor 111 is positioned by increasing the dc axis current while setting the qc axis current to zero.
  • the rotational speed ⁇ of the motor 111 (that is, the rotational speed N of the compressor 101) is increased while the dc-axis current is fixed.
  • the rotational speed of the motor 111 (that is, the rotational speed N of the compressor 101) reaches about the rated value of about 5 to 10
  • the mode shifts to the vector control operation mode, and the qc-axis current is increased.
  • the identification mode is set for a predetermined time,
  • the first d-axis current command value Id * is fixed to a predetermined set value Idc * _at while fixing the speed command value ⁇ * .
  • the identification accuracy of the virtual inductance L can be increased while suppressing the influence of current ripple and phase variation. Moreover, the identification accuracy of the virtual inductance L can be improved by executing the identification mode in accordance with the operating conditions such as the rotation speed of the compressor 101 and repeatedly performing the preset number of times. Therefore, the driving efficiency can be improved.
  • the identification mode control unit 35 receives the rotational speed detection value ⁇ estimated by the speed / phase estimation unit 18 and the rotational speed detection value ⁇ reaches a predetermined value ⁇ 1.
  • the identification mode may be executed when the direct current Ish reaches a predetermined value Ish1 (see FIG. 7 described above).
  • the discharge pressure Pd of the compressor 101 detected by the discharge pressure detection circuit 266 may be input, and the identification mode may be executed when the discharge pressure Pd reaches a predetermined value Pd1 (see FIG. 8).
  • the discharge temperature Td detected by the discharge temperature detection circuit 264 may be input, and the identification mode may be executed when the discharge temperature Td reaches a predetermined value Td1 (see FIG. 9).
  • the outside air temperature Ta detected by the outside air temperature detection circuit 262 may be input, and the identification mode may be executed when the outside air temperature Ta reaches a predetermined Ta1 (see FIG. 10). In these cases, the same effect as described above can be obtained.
  • the present invention is not limited to this. That is, for example, it may be fixed to predetermined setting values (Idc * _at1, Idc * _at2, Idc * _at3) that differ depending on the number of repetitions of the identification mode (for example, the first time, the second time, and the third time) (see FIG. 11). ).
  • the first dc-axis current command value Idc * is fixed to a predetermined set value Idc * _at4.
  • Idc * _at5 where Idc * _at4 ⁇ Idc * _at5
  • the d-axis current command calculation unit 33 and the q-axis current command calculation unit 31 input the inductance set value L * identified by the motor constant identification unit 14. Based on this, the control gain may be adjusted (see Equation 9 below). In this case, the same effect as described above can be obtained. While the above description has been made with reference to exemplary embodiments, it will be apparent to those skilled in the art that the invention is not limited thereto and that various changes and modifications can be made within the spirit of the invention and the scope of the appended claims.
  • FIG. 4 is a block diagram illustrating a functional configuration of a speed / phase estimation unit illustrated in FIG. 3.
  • FIG. 4 is a block diagram illustrating a functional configuration of a motor constant identification unit and a vector control calculation unit illustrated in FIG. 3. It is a figure showing a motor rotor axis

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Physics & Mathematics (AREA)
  • Thermal Sciences (AREA)
  • Control Of Ac Motors In General (AREA)
  • Air Conditioning Control Device (AREA)
PCT/JP2009/050055 2008-03-28 2009-01-07 冷凍装置 WO2009119123A1 (ja)

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JP2008-085704 2008-03-28
JP2008085704A JP4194645B1 (ja) 2008-03-28 2008-03-28 冷凍装置

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KR102150312B1 (ko) 2013-11-25 2020-09-01 삼성전자주식회사 공기 조화기 및 그 제어방법
JP6206593B2 (ja) * 2014-07-31 2017-10-04 三菱電機株式会社 回生コンバータ装置の制御装置
JP6327093B2 (ja) * 2014-10-01 2018-05-23 三菱電機株式会社 除湿機
JP6712104B2 (ja) * 2015-09-10 2020-06-17 日立ジョンソンコントロールズ空調株式会社 直流電源装置および空気調和機
CN113654225B (zh) * 2021-08-06 2023-03-24 青岛海尔空调器有限总公司 压缩机的控制方法、系统及空调器

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