WO2010024195A1 - Dispositif permettant de supprimer des perturbations dans un moteur électrique, et procédé permettant de supprimer des perturbations - Google Patents

Dispositif permettant de supprimer des perturbations dans un moteur électrique, et procédé permettant de supprimer des perturbations Download PDF

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Publication number
WO2010024195A1
WO2010024195A1 PCT/JP2009/064631 JP2009064631W WO2010024195A1 WO 2010024195 A1 WO2010024195 A1 WO 2010024195A1 JP 2009064631 W JP2009064631 W JP 2009064631W WO 2010024195 A1 WO2010024195 A1 WO 2010024195A1
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Prior art keywords
disturbance
compensation current
motor
compensation
current
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PCT/JP2009/064631
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English (en)
Japanese (ja)
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裕吾 只野
岳夫 秋山
昌克 野村
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株式会社明電舎
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Priority to JP2010526679A priority Critical patent/JP5088414B2/ja
Publication of WO2010024195A1 publication Critical patent/WO2010024195A1/fr

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    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • H02P29/02—Providing protection against overload without automatic interruption of supply
    • H02P29/032—Preventing damage to the motor, e.g. setting individual current limits for different drive conditions

Definitions

  • the present invention relates to an apparatus and a disturbance suppressing method for suppressing torque pulsation (disturbance) generated in an electric motor in a torque control apparatus for an electric motor that drives a rotating machine.
  • Rotating electrical machines such as electric motors have structural magnetic flux distortion and cogging torque, and therefore generate torque pulsations that contribute to vibration and noise according to the rotation.
  • various factors such as the magnetic imperfection of the motor structure, the response / current error of the inverter power supply that drives it, and the characteristics of the mechanical system are complicatedly related.
  • the mechanical resonance point and the torque pulsation frequency component coincide with each other, generating an excessive shaft torsion torque, which adversely affects operating characteristics and damages the system. There is a danger of.
  • a disturbance suppression method using a disturbance observer has been considered for a long time.
  • the torque pulsation is regarded as a disturbance, and the disturbance is estimated by, for example, a general minimum-dimensional observer method and added to the command value so as to suppress it.
  • a disturbance observer has a frequency band condition that can be suppressed, and the suppression effect generally decreases in a high frequency region.
  • Another method is to reduce the harmonic current of the motor.
  • Rotational coordinate transformation is performed that rotates at a frequency that is an integral multiple of the frequency of the fundamental wave component of the current flowing through the motor, and its harmonic current is extracted and suppressed to zero by the PI controller.
  • a technique has been proposed in which the harmonic velocity electromotive force is regarded as a disturbance, a disturbance observer is configured and added to a command value, and the disturbance is suppressed (for example, see Patent Document 2).
  • a general repetitive controller is used in combination to alleviate the problem of disturbance observer. That is, paying attention to the fact that the torque pulsation of the motor has periodicity, periodic disturbances are repeatedly compensated by the controller, and other non-periodic disturbances are suppressed by using a normal disturbance observer.
  • the compensation signal may be returned to cause a divergence phenomenon.
  • Patent Document 2 a rotational coordinate transformation of a harmonic that rotates at an integral multiple of the fundamental wave component frequency of the current flowing through the motor is performed, and the harmonic current of that component is extracted and is zeroed by the PI controller. Oppressed. At this time, the harmonic electromotive force is regarded as a disturbance, and a disturbance observer for estimating the disturbance is configured and added to the current command value on the harmonic rotation coordinates to suppress the harmonic current.
  • this method can suppress the harmonic current flowing in the motor, the torque pulsation cannot always be suppressed with high accuracy, and it does not cope with complicated electromechanical characteristics such as a multi-inertia system and an inverter response.
  • An object of the present invention is to provide a disturbance suppressing device and a disturbance suppressing method for an electric motor that can suppress disturbance of a complicated electric motor system and can perform stable control while suppressing periodic torque pulsation.
  • the present invention performs a Fourier transform for each arbitrary pulsation frequency component, configures a periodic disturbance observer compensator so that two Fourier coefficients are 0, and compensates the compensation current with a vector control inverter. Is superposed on the current command value, and has the following configuration and method.
  • the controller converts the command value of the electric motor into d and q-axis current command values of a rotating coordinate system in vector control, and controls the motor by current control of the inverter according to the current command values.
  • the controller detects a periodic pulsation of the motor as a DC value by a frequency component extraction means of Fourier transform, estimates a periodic disturbance on the frequency component by a periodic disturbance observer compensator, and suppresses the periodic disturbance.
  • a periodic disturbance observer compensator that superimposes a compensation current on the d and q axis current command values is provided with means for suppressing the disturbance.
  • the frequency characteristic of the control system composed of the inverter and the motor is expressed as a set of complex vectors by system identification, and the periodic disturbance observer compensator estimates the periodic disturbance using a complex vector corresponding to an arbitrary frequency. Means are provided.
  • the periodic disturbance observer compensator includes a disturbance observer filter having different characteristics on the command value and detected value sides.
  • the present invention is characterized by comprising means for variably setting the characteristics of the periodic disturbance observer compensator and the Fourier transform unit in accordance with the rotational speed.
  • the Fourier coefficient of the pulsation compensation current is learned and recorded in advance by the periodic disturbance observer compensator, and the Fourier coefficient is similarly processed at a plurality of operating points to obtain the rotational speed and A compensation current Fourier coefficient table using torque as an input parameter or an approximation function is generated, and means for providing a pulsation compensation current by feedforward control is provided.
  • the compensation current Fourier coefficient table or the approximate function includes a detected temperature value of the motor as a parameter.
  • Periodic disturbance suppression by the feedforward control is performed only when the rotational speed or torque command value exceeds a certain rate of change, and switching to periodic disturbance suppression by feedback is performed during other steady or quasi-steady operation. It is characterized by.
  • the periodic disturbance observer compensator is applied to different frequency components, and parallelizes them to simultaneously suppress periodic disturbances of a plurality of frequency components.
  • the periodic disturbance is a detected value of shaft torque of the motor, and the disturbance of shaft torque of the motor is suppressed.
  • the periodic disturbance is a pulsation component of the electric motor frame, and suppresses the electric motor frame disturbance.
  • the periodic disturbance is a pulsation component of the rotation speed detection value or rotation position detection value of the motor, and suppresses the disturbance of the speed of the motor or the disturbance of the rotation position.
  • the periodic disturbance is a pulsating component of the electric current of the motor, and suppresses the disturbance of the electric current of the electric motor.
  • Compensation current cosine Fourier coefficient table value A and compensation current sine Fourier coefficient table of torque ripple frequency components learned in a steady operation state (steady torque command / steady rotation speed) designated when torque ripple suppression control is executed by the controller A Fourier coefficient compensation table for generating a two-dimensional Fourier coefficient compensation table using the value B as a variable for the torque command T ref * and the rotational speed ⁇ ;
  • the Fourier coefficient table values A and B at that time are read out from the Fourier coefficient compensation table from the torque command T ref * and the rotational speed ⁇ in the operating state of the motor, and the Fourier coefficient table values A and B and the controller Compensation current cosine Fourier coefficient A * and compensation current sine Fourier coefficient B * for extracting torque ripple frequency components by Fourier transform are synthesized to generate compensation current cosine Fourier coefficient synthesis value A ′ and compensation current sine Fourier coefficient synthesis value B ′.
  • the compensation table, synthesizing means, and compensation current generating section are provided with means for individually generating an amplitude M and a phase ⁇ or a Fourier coefficient with a plurality of order components and generating a compensation current by synthesizing them according to these orders. It is characterized by that.
  • the controller converts the command value of the motor into a d, q-axis current command value of a rotating coordinate system in vector control, and controls the motor by current control of the inverter according to the current command value.
  • the controller detects a periodic pulsation of the motor as a direct current value by a frequency component extraction means of Fourier transform, estimates a periodic disturbance on the frequency component by a periodic disturbance observer, and suppresses the periodic disturbance. Further, the disturbance is suppressed by a periodic disturbance observer compensator that superimposes a compensation current on the d and q axis current command values.
  • the frequency characteristic of the control system including the inverter and the motor is expressed as a set of complex vectors by system identification, and the periodic disturbance observer compensator estimates the periodic disturbance using a complex vector corresponding to an arbitrary frequency. It is characterized by that.
  • the amplitude M and phase ⁇ of the torque ripple compensation current learned in the steady operation state (steady torque command / steady rotational speed) designated when the torque ripple suppression control is executed by the controller, or the compensation current cosine Fourier of the torque ripple frequency component A coefficient table value A and a compensation current sine Fourier coefficient table value B are generated as a two-dimensional compensation table using the torque command T ref * and the rotational speed ⁇ as variables,
  • the amplitude M and phase ⁇ or Fourier coefficient table values A and B at that time are read from the compensation table from the torque command T ref * and the rotational speed ⁇ in the operating state of the motor, and the amplitude M and phase ⁇ or Fourier Using the coefficient table values A and B and the rotational phase ⁇ of the motor at that time, a table compensation current is generated,
  • the compensation current and the table compensation current when torque ripple suppression control is executed by the controller are combined and superimposed on the d and q axis current command values.
  • the block diagram of the torque pulsation compensation apparatus by a system identification apparatus The block diagram of the torque pulsation compensation apparatus by a system identification apparatus.
  • the block diagram of a disturbance suppression control system The block diagram of a disturbance suppression control system.
  • FIG. 1 The block diagram of the disturbance suppression control system of Embodiment 2.
  • FIG. 1 The block diagram of the disturbance suppression control system of Embodiment 2.
  • FIG. 6 is a configuration diagram of a disturbance suppression control system of a third embodiment.
  • FIG. 1 The block diagram of the disturbance suppression control system of Embodiment 4.
  • FIG. 1 The block diagram of the disturbance suppression control system of Embodiment 4.
  • FIG. 10 is a configuration diagram of a disturbance suppression control system according to a fifth embodiment.
  • FIG. 10 is a configuration diagram of a disturbance suppression control system of a seventh embodiment.
  • FIG. 10 is a configuration diagram of a disturbance suppression device according to an eighth embodiment.
  • FIG. 10 is a configuration diagram of a disturbance suppression device according to a ninth embodiment.
  • FIG. 10 is a configuration diagram of a disturbance suppression device according to a tenth embodiment.
  • FIG. 11 The block diagram of the disturbance suppression apparatus of Embodiment 11.
  • FIG. 11 The block diagram of the disturbance suppression apparatus of Embodiment 11.
  • FIG. 18 is a configuration diagram of a disturbance suppression device according to a twelfth embodiment.
  • FIG. 13 The block diagram of the disturbance suppression apparatus of Embodiment 13.
  • FIG. 13 The block diagram of the disturbance suppression apparatus of Embodiment 13.
  • FIG. 14 The block diagram of the disturbance suppression apparatus of Embodiment 14.
  • FIG. 14 The block diagram of the disturbance suppression apparatus of Embodiment 14.
  • FIG. 1 shows the configuration of a disturbance suppression device for an electric motor according to the present invention.
  • An electric motor 1 that is a generation source of torque pulsation and some load device 2 are coupled by a shaft 3, and the shaft torque is measured by a torque meter 4 and input to a controller 5.
  • the rotor position information of the electric motor is input using a rotational position sensor 6 such as a rotary encoder.
  • the controller 5 is equipped with torque pulsation suppression means, and gives the inverter 7 a command value obtained by adding a torque pulsation compensation current to the current command value generated based on the torque command value (or speed command value).
  • the controller 5 detects torque pulsation from the torque detection value by the shaft torque meter 4, but this form is only an example, and vibration detection by an acceleration sensor installed in the frame, rotation speed fluctuation detection by an encoder, etc., or current In place of detection of current pulsation by a sensor, it is possible to suppress disturbance of the motor shaft, disturbance of the frame of the motor, suppression of disturbance of the speed of the motor or disturbance of the rotational position, and suppression of disturbance of the current of the motor.
  • Torque pulsation is known to occur periodically according to the rotor position due to the structure of the motor.
  • the torque pulsation of the three-phase motor is mainly a frequency 6 ⁇ n times the electrical rotation fundamental frequency (n is a positive integer: hereinafter, the 6-fold component is expressed as 6f, the 12-fold component is expressed as 12f, etc.) It is also known that the component becomes large.
  • 1f and 2f torque pulsations may appear due to incompleteness of the inverter power supply, current sensor offset, and the like. Further, in a system in which axial torsional resonance can occur as shown in FIG. 1, a pulsation component close to the mechanical resonance point is amplified and appears in the detected axial torque value.
  • the torque pulsation in which these various frequency components are mixed is extracted based on Fourier transform. That is, the controller 5 in FIG. 1 performs a Fourier transform for each arbitrary order on the shaft torque meter detection value T det using information on the motor rotor phase ⁇ .
  • the Fourier series is defined by Equation 1 and Equation 2 below.
  • ⁇ represents an electrical angular frequency
  • Tr represents one cycle of a pulsating component that is arbitrarily defined.
  • the integration of the Fourier transform can be simply changed to a low-frequency pass filter (low-pass filter) having an arbitrary time constant. That is, any means for extracting a high frequency component (torque pulsation) as a direct current value may be used.
  • Equation 2 the Fourier coefficients T An and T Bn expressed by Equation 2 output a DC value if the motor rotation speed and the pulsation component that is a periodic disturbance are constant in an arbitrary period. If some control is given and both of these coefficients are zero and steady, it means that the torque pulsation of the frequency component has been suppressed.
  • the Fourier transform is performed for each arbitrary pulsation frequency component
  • the periodic disturbance observer compensator is configured so that the two Fourier coefficients are 0, and the compensation current is superimposed on the current command value of the vector control inverter.
  • FIG. 2 develops control blocks based on the system configuration of FIG.
  • the command value conversion unit 11 converts the torque command value T ref into the d-axis and q-axis current command values I do and I qo of the rotation dq coordinate system in vector control (for example, maximum torque control), and converts it into a current command value. Torque pulsation is suppressed by superimposing torque pulsation compensation current.
  • the compensation current i qc is superimposed on the q-axis current command value, but may be applied to the d-axis current or both the d-axis and the q-axis.
  • the inverter 12 is a general electric motor drive device that realizes current vector control in the d-axis and q-axis converted from the three-phase rotational coordinates, and drives the electric motor load 13.
  • the sine / cosine wave generator 14 sets the rotor phase angle ⁇ of the motor load 13 and the order n of the pulsating component to be suppressed, and generates a sine / cosine wave having a reference frequency.
  • the sine / cosine wave and an arbitrary Fourier transform period Tr are set, and the shaft torque detection value T det is Fourier transformed based on Equation 2, and the nth-order Fourier coefficients T An and T Bn are obtained.
  • the periodic disturbance observer compensator 16 is configured so that the Fourier coefficients T An and T Bn of the pulsation component are 0 (that is, the pulsation is suppressed). Details of this portion will be described in an embodiment described later.
  • the outputs I An and I Bn of the periodic disturbance observer compensator 16 are the Fourier coefficients of the compensation current signal, and the n-th order sine and cosine waves are respectively multiplied by the multipliers 17A and 17B and inversely converted. That is, it is restored as a compensation current signal having a time waveform.
  • the restored pulsation compensation current iqc * is superimposed on the q-axis current command value iq0 * of the vector control inverter 7 by an adder.
  • torque estimated by an observer or the like from the inverter current or speed detection value may be used, or the motor housing frame vibration or the like is detected by an acceleration sensor, It is also conceivable to perform vibration suppression.
  • the process starts by grasping in advance the frequency characteristics of the motor drive system.
  • the system identification device 18 inputs the white noise signal as a torque pulsation compensation current to the actual system and superimposes it on the current command value in any steady operation state (FIG. 3 shows the q-axis current). Although they are superimposed, they may be d-axis or both).
  • System input / output data is obtained using the detected shaft torque value as a system output signal.
  • the frequency transfer function is complex as shown in Equation 3. Expressed as a set of vectors. The elements of the set correspond to complex vectors indicating gain / phase characteristics in each frequency component.
  • Psys ⁇ identification system
  • m frequency component division element number
  • P Am m-th element identification system real part
  • P Bm m-th element identification system imaginary part
  • the division element number m will be described.
  • the frequency component necessary for identification is DC to 5 kHz and the resolution is 1 Hz
  • the periodic disturbance (torque pulsation) of the frequency component and the pulsation for suppressing it using the complex vector of Equation 3 that means system characteristics
  • the relationship between the Fourier coefficient of the compensation current signal and the detected torque pulsation value can be grasped.
  • the periodic disturbance since these relationships are all expressed by a DC component by Fourier transform, the periodic disturbance also becomes a DC value at that frequency.
  • a disturbance suppression control system considering only one arbitrary frequency component is considered, and a periodic disturbance observer compensator for estimating and compensating for the periodic disturbance is configured. That is, an error from the compensation current command value is obtained from the detected axial torque pulsation value via the inverse system of Equation 4 (reciprocal of the complex vector), and the error is regarded as a periodic disturbance current corresponding to the periodic disturbance. Then, the error compensation amount is superimposed as a compensation current command value so as to cancel the disturbance.
  • the characteristic P sys (n-order component) of the real system 19 is considered to be represented by a one-dimensional complex vector at a certain frequency component, as in Equation 4.
  • the compensation current i qcn is given to the input, and the pulsation compensation torque T cn is generated so as to cancel the periodic disturbance torque T rpln . Since the torque pulsation is extracted by Fourier transform, the Fourier coefficients T An and T Bn of the detected torque pulsation value are obtained via the response transfer function G FT of the Fourier transform unit 20. These are replaced with the complex vector T An + T Bn i.
  • the nth-order disturbance observer 21 obtains current input information including the disturbance current using the reciprocal of the frequency transfer function identified in Formula 4 (not including the disturbance), and subtracts the compensation current command value therefrom.
  • the periodic disturbance currents dI An and dI Bn are estimated.
  • GOBS is used to insert an arbitrary filter (for example, a low-pass filter) to suppress the influence of residual pulsation and disturbance estimation error during Fourier transform extraction and stabilize pulsation compensation.
  • the periodic disturbance is estimated as described above, and the compensation current i qcn is generated by subtracting the currents dI An and dI Bn corresponding to the disturbance from the target value (usually 0 when the periodic disturbance is suppressed).
  • FIG. 5 shows the disturbance suppression effect when the present embodiment is applied. From the top, the waveforms are the detected shaft torque value [Nm], the torque pulsation Fourier coefficient [Nm], the compensation current Fourier coefficient [A], and the torque pulsation amplitude evaluation value [Nm]. As an example, only the 12th pulsation component is shown.
  • the filter characteristics of G OBS and G LPF can be set separately in consideration of pulsation extraction by Fourier transform, communication / calculation delay time, and the like.
  • the disturbance suppression characteristics can be obtained in which the filter characteristics on the command value side and the detection value side of the periodic disturbance observer are set separately, and the detection system delay and the like are taken into account.
  • two Fourier coefficients of the pulsation compensation current are recorded in the memory in the steady state at the arbitrary operating point.
  • Such a memory recording process is performed in advance in the same manner at each operating point, and a compensation current Fourier coefficient table having the rotational speed and the torque command value as inputs is created.
  • an approximate function using the rotation speed and the torque command value as parameters may be used.
  • two compensation current Fourier coefficients are read from the table according to the operating point, and a pulsation compensation current is generated and applied by feedforward.
  • FIG. 8 is a configuration example of this embodiment. The difference from FIG. 2 is that the rotational speed W m is obtained from the rotor phase angle ⁇ by the rotational speed calculation unit 22 and the compensation current Fourier coefficient I is obtained from this and the torque command value T ref by the compensation table 23 (or compensation approximate function). Reads An and I Bn .
  • the Fourier coefficient of the pulsation compensation current is learned in advance and can be suppressed only by reading the coefficient, it is possible to instantly cope with a sudden change in the operating point such as the rotational speed and torque. Is possible.
  • FIG. 9 is a configuration example of this embodiment.
  • the part different from FIG. 8 is to measure the temperature t of the motor load 13 and incorporate this temperature t as a compensation parameter of the compensation table 23.
  • the periodic disturbance suppression control in which shaft torque detection is fed back and the feedforward compensation method based on the learned compensation table (or approximate expression) are switched and used.
  • a rotation speed or a torque command value is used as a reference for switching control.
  • the feedforward operation can be minimized by using the means for switching the operation state as described above. Can be.
  • FIG. 10 A configuration diagram of this embodiment is shown in FIG. 10, where 24 1 to 24 n are control elements for suppressing pulsation components according to the first to nth orders of the Fourier series, and the compensation current signals i qc1 to i qcn by these are controlled. The signals are superimposed on each other by an adder 25 to obtain a torque pulsation compensation signal i qc .
  • a plurality of torque pulsations can be suppressed simultaneously. Further, since these can be simultaneously suppressed in parallel, it is an effective means even when disturbance suppression of one frequency component adversely affects periodic disturbance of another frequency component.
  • the acceleration sensor 8 detects the vibration of the frame / housing of the motor and feeds it back.
  • the disturbance suppression control method is the same as in the above embodiments.
  • the current sensor 9 detects the current of the three-phase line that supplies power from the inverter 7 to the pulsation compensation target electric motor 1, and suppresses the current disturbance.
  • the estimated disturbance torque pulsation can be suppressed by suppressing the inverter current disturbance using the detected inverter current value or by using the estimated torque value converted from the inverter current.
  • the Fourier transform is performed for each arbitrary pulsation frequency component, and the periodic disturbance observer is configured so that the two Fourier coefficients are 0, thereby performing stable control in the entire frequency band.
  • the “on-line compensation method” is obtained. According to this online compensation method, torque ripple can be suppressed by always online feedback even for a system having variable speed and load fluctuation.
  • it since it has a function of automatically adjusting the periodic disturbance observer model using the system identification result expressed by a one-dimensional complex vector, it can be implemented in a multi-inertia resonance system.
  • the “online compensation method” is constantly learning, it is possible to cope with changes in the motor and inverter characteristics over time.
  • the learning algorithm since the learning algorithm always needs to be operated, the computation load is relatively high. Even when the load device of the motor is changed, the system needs to be re-identified, and learning time is required, so it can respond quickly to variable speed operation and torque changes. There is a problem with inferiority.
  • the eleventh embodiment and the following twelfth to fourteenth embodiments can suppress torque ripple by on-line compensation that can cope with changes in electric motors and inverters over time, and reduce computation load, eliminate the need for re-identification of the system, and have responsiveness.
  • the present invention proposes a control device and method capable of suppressing torque ripple.
  • FIG. 14 shows a block configuration of the torque control apparatus for an electric motor according to the present embodiment, and shows a case where torque ripple suppression is performed by an on-line compensation method for controlling an inverter of a current vector control method.
  • the current vector control unit 31 of the inverter 7 is synchronized with the motor rotation coordinates by the coordinate conversion unit 33 from the motor drive currents i u , i v , i w detected by the current sensor 32 and the rotor rotation angle ⁇ of the motor 1.
  • the motor current is controlled by comparison with the d and q axis current detection values converted into the current of the dq axis orthogonal rotation coordinate system.
  • the rotor rotation angle ⁇ is obtained from the encoder waveform abz by the rotational position sensor 6 together with the speed ⁇ by the speed / phase detector 34.
  • the torque / id, iq conversion unit 35 determines the d-axis and q-axis current command values i of the rotation dq coordinate system in vector control from the torque command value T ref from the controller 5 and the motor rotation speed ⁇ . d * (I do ), i q0 * (I qo ), and among these current command values, the q-axis current command value i q0 * is superimposed on the torque pulsation compensation current i qcm to obtain a current vector control command value. .
  • the controller 5 is equipped with torque ripple suppression control means.
  • the torque ripple suppression control means include a sine / cosine wave generator 14, a Fourier transform unit 15, and a periodic disturbance observer compensator 16 shown in FIG. 2.
  • the pulsation compensation currents such that the Fourier coefficients T An and T Bn of the pulsation components become zero are obtained by the multipliers 17A and 17B, and the pulsation compensation current i qc * is the q-axis current command value i q0 * To make a compensation signal.
  • a compensation current generation unit that suppresses in a feedforward manner is added using a compensation table learned in advance.
  • this compensation current generation means an amplitude / phase compensation table 36 and a compensation current generator 37 are provided.
  • the amplitude / phase compensation table 36 records the amplitude M and the phase ⁇ of the torque ripple compensation current i qc * learned in the steady operation state (steady torque command / steady rotation speed) designated when the torque ripple suppression control is executed by the controller 5. To do. This operation is similarly recorded at a plurality of steady operation points to generate a two-dimensional amplitude table and phase table using the torque command T ref * and the rotational speed ⁇ as variables. Information between data is interpolated by linear interpolation or the like.
  • the compensation current generation unit 37 reads the current amplitude M and phase ⁇ from the operating state (torque command / rotation speed) from the amplitude / phase compensation table 36, and the read amplitude M and phase ⁇ are the rotational phase at that time.
  • Table compensation current i qct * M ⁇ sin (n ⁇ + ⁇ ) is generated using ⁇ (n is the compensation order).
  • the generated table compensation current i qct * is combined with the online compensation current iqc * to obtain a q-axis current command value i qcm * .
  • the table compensation current i qct because it generates a compensation current instantaneously from the learned compensation current table to obtain the amplitude and phase, a suitable compensation current even when the speed change or torque change occurs rapidly Can be output.
  • the online compensation feedback loop works, so the error in the table compensation current can be corrected.
  • FIG. 15 shows a block configuration of the torque control apparatus for an electric motor according to the present embodiment, and the basic configuration and operation are the same as those in FIG. 14, but errors in the amplitude M and phase ⁇ of the compensation current generated in the compensation table 36 are shown.
  • An online compensation feedback loop is constructed from the controller 5 to correct.
  • M * is a compensation current amplitude command value (on-line compensation)
  • ⁇ * is a compensation current phase command value (on-line compensation)
  • the synthesizers 38 and 39 use these as the compensation current amplitude M ⁇ phase ⁇ .
  • the compensation current amplitude value (composite value) M ′ and the compensation current phase value (composite value) ⁇ ′ to the compensation current generator 37 are combined.
  • the table compensation current i qct * and the online compensation current i qc * are combined after the generation of the compensation current. However, in the present embodiment, they are combined in the state of amplitude and phase. That is, the compensation table amplitude value M and the compensation table phase value ⁇ are combined with the online compensation amplitude value M * and the online compensation phase value ⁇ * , respectively, and the combined compensation current amplitude value M ′ and the combined compensation current phase value ⁇ ′. Is generated.
  • the table error can be grasped and corrected with an intuitively easy-to-understand state quantity such as amplitude and phase, and the compensation current generator 37 can be gathered in one place.
  • FIG. 16 shows a block configuration of the torque control apparatus for an electric motor according to the present embodiment, which is replaced with a cosine Fourier coefficient and a sine Fourier coefficient instead of the compensation table amplitude M and phase ⁇ in the twelfth embodiment (FIG. 15). .
  • the compensation table 40 generates a compensation current cosine Fourier coefficient table value A and a compensation current sine Fourier coefficient table value B according to the torque command T ref * and the rotational speed ⁇ , and the controller 5 calculates the online compensation current cosine Fourier coefficient A * .
  • the online compensation current sine Fourier coefficient B * is generated, and the synthesizers 38 and 39 synthesize these to obtain a compensation current cosine Fourier coefficient synthesis value A ′ and a compensation current sine Fourier coefficient synthesis value B ′.
  • the controller 5 equipped with the torque ripple suppression control function basically uses a technique for extracting and suppressing the torque ripple frequency component by Fourier transform (or a similar technique).
  • Fourier transform or a similar technique.
  • FIG. 2 there are real and imaginary components of a complex vector corresponding to two Fourier coefficients, and the amplitude value and phase value of the compensation current are calculated using these components.
  • the real part component of the compensation current generated by the periodic disturbance observer compensator 16 is defined as B (I Bn ), and the imaginary part component is defined as A (I An ). From these, the amplitude M and the phase ⁇ are obtained as follows.
  • the compensation table is generated or the online compensation is performed after obtaining the amplitude M and the phase ⁇ . While the compensation current characteristic is easy to understand intuitively, the above-described arithmetic conversion is required. It was.
  • a compensation table is generated in the state of two Fourier coefficients A and B before being converted into amplitude and phase, and online compensation is also synthesized in the state of the Fourier coefficient.
  • the compensation current i qc * is generated at the final stage.
  • FIG. 17 shows a case where the configuration of the eleventh embodiment is parallelized. (This is the same for the other embodiments, so the explanation is omitted in the drawing.)
  • FIG. 17 shows that the two compensation components 36A and 36B individually generate the amplitude M and the phase ⁇ with the two order components.
  • the two compensation current generators 37A and 37B generate compensation currents for two orders, and simultaneously suppress torque ripple for these two orders.
  • the Fourier transform is performed for each arbitrary pulsation frequency component
  • the periodic disturbance observer compensator is configured so that the two Fourier coefficients are 0, and the compensation current is set to the current of the vector control inverter. Since it is superposed on the command value, it is possible to suppress disturbances in a complicated electric motor system and to perform stable control in which periodic torque pulsation is suppressed.
  • a compensation current that has been learned in advance is used in combination to generate a compensation current that is suppressed in a feed-forward manner. Torque ripple suppression can be suppressed.

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Abstract

La présente invention concerne un dispositif et un procédé permettant de supprimer des perturbations dans des systèmes de moteur électrique complexes et de fournir un contrôle stable permettant de supprimer des pulsations périodiques de couple, etc. Selon l'invention, un contrôleur (5) convertit une valeur de régulation de couple d'un moteur électrique (1) en des valeurs de régulation de courant axial d et q d'un système de coordonnées de rotation dans une commande de vecteur, et contrôle le couple du moteur électrique en régulant le courant d'un inverseur (7) en fonction des valeurs de régulation de courant. En outre, le contrôleur détecte des pulsations périodiques de couple d'un dispositif de charge (2) et du moteur électrique sous la forme de valeurs de courant continu à partir des valeurs détectées de couple axial en utilisant une transformée de Fourier qui sert de moyen d'extraction de composante de fréquence. D'autre part, le contrôleur estime des perturbations périodiques des composantes de fréquence au moyen d'un dispositif d'observation de perturbations périodiques, et il superpose les courants de compensation aux valeurs de régulation de courant axial d et q de telle sorte que les perturbations périodiques sont supprimées, ce qui permet ainsi de supprimer les perturbations. Les caractéristiques de fréquence du système de régulation de couple sont représentées sous la forme d'une agrégation des vecteurs complexes par identification du système, et le dispositif d'observation de perturbations périodiques estime des perturbations périodiques en utilisant les vecteurs complexes correspondant à des fréquences arbitraires.
PCT/JP2009/064631 2008-08-26 2009-08-21 Dispositif permettant de supprimer des perturbations dans un moteur électrique, et procédé permettant de supprimer des perturbations WO2010024195A1 (fr)

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