WO2010070723A1 - 電動機駆動用電力変換装置 - Google Patents
電動機駆動用電力変換装置 Download PDFInfo
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- WO2010070723A1 WO2010070723A1 PCT/JP2008/072789 JP2008072789W WO2010070723A1 WO 2010070723 A1 WO2010070723 A1 WO 2010070723A1 JP 2008072789 W JP2008072789 W JP 2008072789W WO 2010070723 A1 WO2010070723 A1 WO 2010070723A1
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2009—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for braking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L50/00—Electric propulsion with power supplied within the vehicle
- B60L50/50—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells
- B60L50/51—Electric propulsion with power supplied within the vehicle using propulsion power supplied by batteries or fuel cells characterised by AC-motors
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/14—Dynamic electric regenerative braking for vehicles propelled by ac motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
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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
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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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
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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
- H02P21/22—Current control, e.g. using a current control loop
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2200/00—Type of vehicles
- B60L2200/26—Rail vehicles
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/10—Electrical machine types
- B60L2220/14—Synchronous machines
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/10—Vehicle control parameters
- B60L2240/12—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/527—Voltage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/529—Current
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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
- H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
- H02P2209/13—Different type of waveforms depending on the mode of operation
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/70—Energy storage systems for electromobility, e.g. batteries
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- 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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- AC motors have been used for power in the field of industrial equipment, home appliances, and transportation such as automobiles and electric cars.
- a DC power source or an AC power source is required.
- a motor-driven power conversion device using a DC power supply as an input power supply a configuration in which an AC voltage of an arbitrary frequency is generated by an inverter circuit by using a DC voltage supplied from the DC power supply as an input is driven. is there.
- a motor drive power converter using an AC power supply as an input power supply a converter circuit is provided on the input side, and an AC voltage received by the converter circuit is temporarily converted into a DC voltage, and this DC voltage is converted into an inverter circuit.
- a configuration in which an AC motor is driven by supplying to the motor is used.
- a motor drive power conversion device 300 receives a single-phase AC voltage from an AC power supply 230 as a main circuit and converts it into a DC voltage.
- a capacitor 1 serving as a DC power source, an inverter 2 serving as a second power conversion unit that converts a DC voltage of the capacitor 1 to an AC voltage of an arbitrary frequency, and an AC motor (hereinafter simply referred to as “motor”) 6 are configured.
- Converter 220 is preferably a single-phase two-level PWM converter or a single-phase three-level PWM converter
- inverter 2 is preferably a voltage-type inverter such as a three-phase two-level PWM inverter or a three-phase three-level PWM inverter. is there.
- the main circuit configuration is well known, and thus detailed description thereof will not be given here.
- the converter 220 as the first power conversion unit receives a single-phase AC voltage from the AC power supply 230, converts it to a DC voltage, and outputs it to the capacitor 1.
- the converter 220 is preferably a so-called PWM converter that performs AC-DC conversion using a switching element (not shown) such as an IGBT, and its main circuit configuration is well-known, so detailed description thereof is omitted here. .
- the second controller 100 uses the rotor mechanical angle ⁇ m, the three-phase currents iu, iv, iw, the torque command T *, and the capacitor voltage EFC to generate the gate signal U , V, W, X, Y, Z are generated and output to the inverter 2.
- the current command adjustment value dV is a control output generated by the current command adjustment unit 80, and the detailed configuration of the current command adjustment unit 80 will be described later.
- the modulation factor calculator 30 is a sum of a d-axis voltage command vd * that is the sum of the d-axis current error pde and the d-axis feedforward voltage vdFF, and a q that is the sum of the q-axis current error pqe and the q-axis feedforward voltage vqFF. From the shaft voltage command vq *, the reference phase angle ⁇ e, and the capacitor voltage EFC, a modulation factor PMF that is a voltage amplitude index is calculated based on the following equation.
- the control phase angle calculation unit 40 is a sum of a d-axis voltage command vd * that is the sum of the d-axis current error pde and the d-axis feedforward voltage vdFF, and a q-axis current error pqe and the q-axis feedforward voltage vqFF.
- the control phase angle ⁇ is calculated from the q-axis voltage command vq * and the reference phase angle ⁇ e based on the following equation (11).
- the voltage command / PWM signal generation unit 50 includes a pulsation suppression signal calculation unit 71 that receives the capacitor voltage EFC and generates a pulsation suppression signal BTPMFCMP, and multiplies the modulation factor PMF by the pulsation suppression signal BTPMFCMP. Then, PMFM, which is a voltage command amplitude command signal, is generated.
- the configuration of the pulsation suppression signal calculation unit 71 will be described later.
- the voltage command calculation unit 55 generates a U-phase voltage command Vu *, a V-phase voltage command Vv *, and a W-phase voltage command Vw *, which are three-phase voltage commands, based on the following equation from the signal PMFM and the control phase angle ⁇ . Generate.
- Vu * PMFM ⁇ sin ⁇ (13)
- Vv * PMFM ⁇ sin ( ⁇ (2 ⁇ ⁇ / 3))
- Vw * PMFM ⁇ sin ( ⁇ (4 ⁇ ⁇ / 3))
- the U-phase voltage command Vu *, V-phase voltage command Vv *, and W-phase voltage command Vw * generated by the voltage command calculation unit 55 are compared with the carrier signal CAR by the comparators 61 to 63, and the gate signals U, Inverted gate signals X, Y, and Z are generated via V and W and the inverting circuits 64-66.
- the carrier signal CAR is one of the signals selected by the selection switch 59 by the pulse mode switching processing unit 60 functioning as a pulse mode switching unit, and is generated by the asynchronous multi-pulse carrier signal generation unit 57. Any one of a pulse (generally around 1 kHz) carrier signal A, a synchronous three-pulse carrier signal B generated by the synchronous three-pulse carrier generator 58, or a zero value C selected in the synchronous one-pulse mode is Selection is made via the selection switch 59.
- the asynchronous multi-pulse carrier signal A and the synchronous 3-pulse carrier signal B take values from ⁇ 1 to 1 with zero as the center.
- the asynchronous multi-pulse carrier signal is a carrier signal having a frequency determined independently of the inverter output frequency FINV, and the frequency is about 1000 Hz.
- the synchronous carrier signal if used, the number of pulses and the pulse position included in each of the positive half cycle and the negative half cycle of the inverter output voltage are equal, and the voltage applied to the electric motor 6 has positive / negative symmetry. Therefore, it is possible to prevent current vibration and torque pulsation from occurring in the electric motor 6 and to drive stably.
- a configuration for finely adjusting the pulse mode switching timing may be added according to the control phase angle ⁇ , and an effect of suppressing the ripple of the motor current at the time of switching the pulse mode is obtained.
- the capacitor voltage EFC is passed through an LPF (not shown) to generate a signal having only the DC component by removing the AC component, and this signal is added to the signal EFCBP1 by the adder 73. May be added to the signal EFCBP2 to generate the signal EFCBP2.
- FIG. 5 is a diagram illustrating an example of an internal state of the pulsation suppression signal calculation unit 71 in the first embodiment.
- FIG. 5 shows an example in which the center value of the capacitor voltage EFC is 3000V.
- the signal EFCBP1 has a ripple component removed by the function of the BPF 72, and becomes a signal including only the power supply 2f component (see the waveform at the upper stage in the figure).
- the pulsation suppression signal BTPMFCMP which is the output of the pulsation suppression signal calculation unit 71, is input to the multiplier 70 of the voltage command / PWM signal generation unit 50 and multiplied by the modulation factor PMF (see FIG. 3).
- the modulation factor PMF By multiplying the pulsation suppression signal BTPMFCMP by the modulation factor PMF, it is possible to generate the voltage command amplitude command signal PMFM that cancels the pulsation component due to the power supply 2f component of the capacitor voltage EFC.
- the region in which the modulation factor PMF is set to 0.95 has been described as being around 120 Hz (120 Hz ⁇ 30 Hz) of the inverter output frequency FINV, but this is an example when the frequency of the AC power supply 230 is 60 Hz It is. This is because 120 Hz corresponds to a 2f component of 60 Hz. On the other hand, when the frequency of the AC power supply 230 is 50 Hz, the 2f component is 100 Hz, and therefore, the region where the modulation factor PMF is set to 0.95 is around 100 Hz (100 Hz ⁇ 30 Hz) of the inverter output frequency FINV.
- the operation point A ⁇ B ⁇ C1 ⁇ D ⁇ E and the control operation point transition.
- the modulation factor PMF reaches 1.0
- the current command adjustment amount dV is generated, and the flux weakening control is performed by the d-axis current command id * including the current command adjustment amount dV.
- FIG. 10 is a diagram for explaining a control state in the first embodiment of the present invention, and shows an example of control when the motor 6 is started and the power running acceleration is performed from the state where the motor 6 is stopped.
- the operating points A, B, C, D, and E in FIG. 10 correspond to the operating points A, B, C, D, and E shown in FIG. 9, respectively.
- FIG. 11 is a diagram illustrating a configuration example of the motor driving power conversion device according to the second embodiment of the present invention, and is a first power conversion unit in the configuration of the motor driving power conversion device illustrated in FIG. 1. A more detailed configuration of the converter 220 is shown. In the configuration of FIG. 11, the same components as those in FIG. 1 have already been described. Therefore, here, the description will be given focusing on the components related to the second embodiment.
- FIG. 12 is a diagram showing a first configuration example of DC voltage command generation unit 210 in the second embodiment shown in FIG.
- FIG. 13 is a diagram showing a second configuration example of DC voltage command generation unit 210 in the second embodiment shown in FIG.
- the current command (d-axis current command id *, q-axis current command iq *) is generated so that the modulation factor PMF matches the modulation factor command PMF *.
- the modulation factor PMF can be reduced to, for example, 0.95 by reducing the induced voltage of the motor 6 while reducing the output voltage of the inverter 2 while maintaining the output torque of the motor 6 at a predetermined command value.
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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Life Sciences & Earth Sciences (AREA)
- Sustainable Development (AREA)
- Sustainable Energy (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
2 第二の電力変換部(インバータ)
3,4,5 電流検出器
6 電動機
7 回転検出器
8 電圧検出器
10 電流指令生成部
11 d軸基本電流指令生成部
14 加算器
15 q軸電流指令生成部
20 d軸電流制御部
21 q軸非干渉演算部
22 d軸非干渉演算部
23 q軸電流制御部
30 変調率演算部
40 制御位相角演算部
50 電圧指令/PWM信号生成部
55 電圧指令演算部
57 非同期多パルスキャリア信号生成部
58 同期3パルスキャリア生成部
59 選択スイッチ
60 パルスモード切替処理部
61~63 比較器
64~66 反転回路
69 インバータ角周波数演算部
70 掛算器
71 脈動抑制信号演算部
72 バンドパスフィルタ(BPF)
73 加算器
74 割算器
80 電流指令調整部
81 リミッタ
82 増幅器
84 引算器
85 変調率指令生成部
90 三相-dq軸座標変換部
95 基準位相角演算部
100 第二の制御部
150 電圧振幅指標演算部
200 第一の制御部
210 直流電圧指令生成部
211 電圧制御部
212 電流制御部
213 PWM信号生成部
214 電流検出器
220 第一の電力変換部(コンバータ)
230 交流電源
240 直流電圧指令テーブル
250 変調率指令テーブル
251 引算器
252 リミッタ
253 比例積分器
254 加算器
280 直流電圧制御部
300 電動機駆動用電力変換装置
図1は、本発明の実施の形態1における電動機駆動用電力変換装置の構成例を示す図である。なお、図1は、交流電動機として永久磁石同期電動機を制御する場合の構成を一例として示している。
ここで、PPは電動機6の極対数である。
ω=dθe/dt…(3)
この際、インバータ出力角周波数ωを2πで除算したインバータ出力周波数FINVも併せて算出される。
pde=(K3+K4/s)・(id*-id) …(5)
上式において、K1,K3は比例ゲイン、K2,K4は積分ゲインである。
なお、pqe,pdeは必要に応じて、制御に使用するか否か(つまりpqe,pdeの値をゼロとするか否か)を選択可能な制御系としてもよい。
vqFF=(R1+s・Lq)・iq*+ω・(Ld・id*+φa) …(7)
上式において、R1は電動機6の一次巻線抵抗(Ω)、Ldはd軸インダクタンス(H)、Lqはq軸インダクタンス(H)、φaは永久磁石磁束(Wb)、sは微分演算子である。
VMmax=(√6/π)・EFC…(9)
VM*=sqrt(vd*2+vq*2)…(10)
THV=tan-1(vd*/vq*)…(12)
Vv*=PMFM・sin(θ-(2・π/3))…(14)
Vw*=PMFM・sin(θ-(4・π/3))…(15)
ここで、LIM( )は、( )内の値の上下限をそれぞれ、上記した手法に従って制限する関数を表現している。
実施の形態1では、電動機駆動用電力変換装置に対する電流指令を調整するための電流指令調整量を好適に制御し、あるいはパルスモードの切り替えを好適に制御することにより、インバータ2の出力する電圧のパルス幅の調整を可能とし、インバータ2の出力電圧に含まれる電源2f成分を打ち消す制御を効果的に行うことができる構成について開示した。実施の形態2では、さらに、コンバータ220を制御するためのコンバータ電圧指令を好適に生成することで、電動機6に流す電流を効果的に小さくすることができる構成について開示する。
Claims (17)
- 交流電源に接続され、前記交流電源からの交流電圧を直流電圧に変換する第一の電力変換部と、前記第一の電力変換部に接続され、直流電圧を交流電圧に変換して交流電動機へ出力する第二の電力変換部と、前記第一の電力変換部を制御する第一の制御部と、前記第二の電力変換部を制御する第二の制御部とを有してなる電動機駆動用電力変換装置において、
前記第二の制御部は、
少なくともトルク指令に基づいて前記交流電動機の電流指令を生成する電流指令生成部と、
前記電流指令に基づいて前記交流電動機へ印加すべき電圧振幅指標を演算する電圧振幅指標演算部と、
少なくとも前記電圧振幅指標と前記交流電動機の周波数とに基づいて前記電流指令を調整するための電流指令調整量を生成する電流指令調整部と、
前記直流電圧に基づいて脈動抑制信号を生成する脈動抑制信号生成部と、
を有し、
前記電流指令調整量により調整された前記電流指令と前記脈動抑制信号とを含む制御信号に基づいて前記第二の電力変換部へのPWM信号を生成して出力することを特徴とする電動機駆動用電力変換装置。 - 前記第二の制御部は、前記交流電動機の周波数が所定の範囲に存在する場合に、前記第二の電力変換部が出力する電圧を前記直流電圧に応じて出力可能な最大電圧未満の所定値に制御することを特徴とする請求項1に記載の電動機駆動用電力変換装置。
- 前記第二の制御部は、前記電流指令生成部と前記電流指令調整部とによって、前記トルク指令に前記交流電動機の出力するトルクを一致させる制御が行われる際、前記トルク指令に基づくトルク一定曲線上で且つ電圧制限曲線の内側の電流指令を選択することを特徴とする請求項2に記載の電動機駆動用電力変換装置。
- 前記電流指令調整部は、前記交流電動機の周波数に基づいて前記電圧振幅指標の目標値である電圧振幅目標指令を生成する電圧振幅目標指令生成部を有してなることを特徴とする請求項1に記載の電動機駆動用電力変換装置。
- 前記電流指令調整部は、前記電圧振幅目標指令と前記電圧振幅指標との偏差に基づいて前記電流指令調整量を生成することを特徴とする請求項4に記載の電動機駆動用電力変換装置。
- 前記電圧振幅目標指令生成部は、前記交流電動機の周波数が所定の範囲に存在する場合、前記第二の電力変換部の出力電圧を前記直流電圧に応じて出力可能な最大電圧未満の所定値にならしめる前記電圧振幅目標指令を生成することを特徴とする請求項4に記載の電動機駆動用電力変換装置。
- 前記電流指令生成部は、
前記トルク指令から前記交流電動機の磁束成分電流である第一のd軸電流指令を生成し、前記電流指令調整量により前記第一のd軸電流指令を調整して第二のd軸電流指令を生成し、前記トルク指令と前記第二のd軸電流指令とに基づいてトルク成分電流である第一のq軸電流指令を生成し、
前記電圧振幅指標演算部は、
前記第二のd軸電流指令と前記第一のq軸電流指令とに基づいて前記電圧振幅指標を演算する
ことを特徴とする請求項1に記載の電動機駆動用電力変換装置。 - 前記第二の制御部は、
前記第二の電力変換部のパルスモードを切り替えるパルスモード切替部と、
少なくとも前記交流電動機の周波数と非同期に前記PWM信号を生成する非同期パルスモードと、前記交流電動機の周波数と同期して前記PWM信号を生成する同期パルスモードとを含む複数のパルスモードのうちの一つを、前記パルスモード切替部の制御にて選択するパルスモード選択部と、
を有し、
前記交流電動機の周波数が前記交流電源の周波数の2倍の周波数を中心とする所定の範囲に存在する場合、前記パルスモードとして前記同期パルスモードを選択することを特徴とする請求項1に記載の電動機駆動用電力変換装置。 - 前記第二の制御部は、
前記第二の電力変換部のパルスモードを切り替えるパルスモード切替部と、
少なくとも前記交流電動機の周波数と非同期に前記PWM信号を生成する非同期パルスモードと、前記交流電動機の周波数と同期して生成される電圧半周期のパルス数が3である前記PWM信号を生成する同期3パルスモードとを含む複数のパルスモードのうちの一つを、前記パルスモード切替部の制御にて選択するパルスモード選択部と、
を有し、
前記交流電動機の周波数が前記交流電源の周波数の2倍の周波数を中心とする所定の範囲に存在する場合に、前記パルスモードとして前記同期3パルスモードを選択することを特徴とする請求項1に記載の電動機駆動用電力変換装置。 - 前記パルスモード選択部は、少なくとも前記脈動抑制信号を含まない前記電圧振幅指標に基づいて前記パルスモードを選択することを特徴とする請求項8または9に記載の電動機駆動用電力変換装置。
- 交流電源に接続され、前記交流電源からの交流電圧を直流電圧に変換する第一の電力変換部と、前記第一の電力変換部に接続され、直流電圧を交流電圧に変換して交流電動機へ出力する第二の電力変換部と、前記第一の電力変換部を制御する第一の制御部と、前記第二の電力変換部を制御する第二の制御部とを有してなる電動機駆動用電力変換装置において、
前記第二の制御部は、
少なくともトルク指令に基づいて前記交流電動機の電流指令を生成する電流指令生成部と、
前記電流指令に基づいて前記交流電動機へ印加すべき電圧振幅指標を演算する電圧振幅指標演算部と、
を有し、
前記第一の制御部は、
前記直流電圧の目標値である直流電圧指令を生成する直流電圧指令生成部と、
前記直流電圧と前記直流電圧指令とを一致させる制御を行う直流電圧制御部と、
を有し、
前記交流電動機の周波数が所定の範囲に存在する場合であり、かつ、前記第二の電力変換部の出力電圧が前記直流電圧に応じて出力可能な最大電圧未満の所定値として設定されるとき、
前記直流電圧指令生成部は、前記第二の電力変換部の出力電圧を前記所定値に一致させる直流電圧指令を生成して出力することを特徴とする電動機駆動用電力変換装置。 - 前記直流電圧指令生成部は、前記交流電動機の周波数に基づいて前記直流電圧指令を生成すること
を特徴とする請求項11に記載の電動機駆動用電力変換装置。 - 前記直流電圧指令生成部は、前記電圧振幅指標に基づいて前記直流電圧指令を生成すること
を特徴とする請求項11に記載の電動機駆動用電力変換装置。 - 前記直流電圧指令生成部は、前記交流電動機の周波数と前記電圧振幅指標とに基づいて前記直流電圧指令を生成することを特徴とする請求項11に記載の電動機駆動用電力変換装置。
- 前記直流電圧指令生成部は、前記交流電動機の周波数に基づいて前記電圧振幅指標の目標値を生成し、前記電圧振幅指標の目標値と前記電圧振幅指標とに基づいて前記直流電圧指令を生成すること
を特徴とする請求項11に記載の電動機駆動用電力変換装置。 - 前記所定の範囲は、前記交流電源の周波数の2倍の周波数を中心とする範囲であることを特徴とする請求項2、6、8、9または11の何れか1項に記載の電動機駆動用電力変換装置。
- 前記所定値は、前記第二の電力変換部の出力電圧が前記直流電圧下で出力可能な最大電圧の90%以上100%未満の値であることを特徴とする請求項2、6または11の何れか1項に記載の電動機駆動用電力変換装置。
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- 2008-12-15 CN CN200880132313.5A patent/CN102246410B/zh not_active Expired - Fee Related
- 2008-12-15 US US13/119,893 patent/US8258735B2/en not_active Expired - Fee Related
- 2008-12-15 EP EP08878891.4A patent/EP2360831B1/en not_active Not-in-force
- 2008-12-15 WO PCT/JP2008/072789 patent/WO2010070723A1/ja active Application Filing
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JP2012120430A (ja) * | 2010-11-30 | 2012-06-21 | Ls Industrial Systems Co Ltd | 二重化された制御部を有するマルチレベルインバータ |
JP2013212002A (ja) * | 2012-03-30 | 2013-10-10 | Toshiba Corp | モータ制御装置 |
JPWO2016121751A1 (ja) * | 2015-01-28 | 2017-04-27 | 株式会社東芝 | インバータ制御装置及びモータ駆動システム |
US10158305B2 (en) | 2015-01-28 | 2018-12-18 | Kabushiki Kaisha Toshiba | Inverter controller and motor driving system |
TWI690143B (zh) * | 2019-04-02 | 2020-04-01 | 瑞昱半導體股份有限公司 | 電壓轉換器 |
WO2023105761A1 (ja) * | 2021-12-10 | 2023-06-15 | 三菱電機株式会社 | 電力変換装置、電動機駆動装置及び冷凍サイクル適用機器 |
Also Published As
Publication number | Publication date |
---|---|
US8258735B2 (en) | 2012-09-04 |
KR20110066220A (ko) | 2011-06-16 |
JP4819970B2 (ja) | 2011-11-24 |
CN102246410B (zh) | 2014-06-04 |
EP2360831B1 (en) | 2019-05-29 |
US20110175558A1 (en) | 2011-07-21 |
JPWO2010070723A1 (ja) | 2012-05-24 |
EP2360831A4 (en) | 2014-10-15 |
CN102246410A (zh) | 2011-11-16 |
CA2746356C (en) | 2014-04-15 |
EP2360831A1 (en) | 2011-08-24 |
CA2746356A1 (en) | 2010-06-24 |
KR101199038B1 (ko) | 2012-11-07 |
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