WO2011077829A1 - モータ制御装置及びその磁極位置検出方法 - Google Patents
モータ制御装置及びその磁極位置検出方法 Download PDFInfo
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- WO2011077829A1 WO2011077829A1 PCT/JP2010/069041 JP2010069041W WO2011077829A1 WO 2011077829 A1 WO2011077829 A1 WO 2011077829A1 JP 2010069041 W JP2010069041 W JP 2010069041W WO 2011077829 A1 WO2011077829 A1 WO 2011077829A1
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
Definitions
- the present invention relates to a motor control device that drives a motor without using a position sensor and a speed sensor, and a magnetic pole position detection method thereof.
- a control device using magnetic saturation of the motor is known.
- the motor control device include the following.
- the power corresponding to the AC current command id1 * is applied in the direction of the rotation coordinate d-axis of the synchronous motor being stopped, and the detected rotation coordinates generated by the AC current command id1 * are detected.
- the convergence calculation of the magnetic pole position estimated value ⁇ ⁇ is executed, and the converged magnetic pole position estimated value ⁇ ⁇ is estimated as the true value of the magnetic pole position ⁇ of the synchronous motor.
- the motor control device uses the magnetic saturation of the motor, that is, the difference in inductance Ld between the N pole and the S pole, and compares the difference between the positive and negative current passing times of the motor current generated by the minute voltage pulse to rotate the motor.
- the polarity of the child magnetic pole was discriminated.
- the magnetic saturation of a motor has different characteristics depending on the magnetic material used, and neodymium magnets used in industrial applications have a high magnet operating point. In other words, the magnetization characteristics of the magnetic circuit formed by the stator and the rotor when no motor current is flowing are close to the saturation state of the hysteresis represented by the BH curve. It was difficult to observe the effects of.
- the present invention provides a motor control device and a control method thereof that perform magnetic pole position detection robustly without being affected by magnetic saturation of the motor rotor, using a magnetic pole detection technique that utilizes the hysteresis characteristics of the motor. Objective.
- an AC voltage command based on a permanent magnet motor a d-axis voltage command that is a magnetic flux direction of the permanent magnet motor, and a q-axis voltage command that is orthogonal thereto is provided.
- a power converter that is applied to the permanent magnet motor by PWM control, a current detector that detects a motor current flowing through the permanent magnet motor in synchronization with a period of the PWM control, and a current profile generator that generates a current profile And a search voltage calculator that calculates a search voltage pulse based on the current profile and adds the search voltage pulse to the d-axis voltage command, and detects a magnetic pole position of the permanent magnet motor based on the motor current and the search voltage pulse.
- the magnetic pole position detector includes a code detector that detects the polarity of the exploration voltage pulse, and a first multiplication that multiplies the output value of the code detector by a predetermined gain.
- the output of the first multiplier, the second and third multipliers for multiplying the two-phase current detection value of the motor current for each component, and the outputs of the second and third multipliers.
- a filter for extracting the respective peak values Icos and Isin of the two-phase current detection value synchronized with the period of the exploration voltage pulse, and the inverse of calculating the magnetic pole position by the arctangent calculation of the peak values Icos and Isin.
- a motor control device including a tangent calculator is applied.
- the polarity detector generates a subtractor for calculating a deviation between the current profile and the polarity discrimination evaluation current, and a pulse train having a frequency twice that of the exploration voltage pulse.
- a compensation amount selector that outputs 0 [rad] or ⁇ [rad] as the phase correction amount based on the output of the strain direction discriminator.
- the polarity discrimination evaluation current calculator includes a bandpass filter in which the natural angular frequency is set to be the same as the frequency set in the current profile, and d of the motor current A motor control device that extracts the same frequency as the exploration pulse voltage from the axial current value is applied.
- a voltage amplitude calculator that calculates an amplitude of a voltage command value input to the power converter, and a maximum amplitude that the amplitude of the voltage command value can be output by the power converter.
- a motor control device including a current profile corrector that corrects the amplitude or frequency of the current profile is applied.
- an AC voltage command based on a d-axis voltage command that is a magnetic flux direction of the permanent magnet motor and a q-axis voltage command that is orthogonal to the d-axis voltage command is obtained by PWM control.
- a step of applying to the permanent magnet motor a step of detecting a motor current flowing through the permanent magnet motor in synchronization with the period of the PWM control, a step of calculating a search voltage pulse based on the generated current profile, and a search voltage
- a magnetic pole position detection method including a step of newly setting the magnetic pole position.
- the magnetic pole position is detected robustly against the influence of the magnetic saturation of the motor rotor and the fluctuation of the applied voltage to the motor, so that the magnetic pole position can be detected with high accuracy in a short time.
- FIG. 1 is a block diagram of a motor control device according to a first embodiment of the present invention.
- 3 is a detailed block diagram of a magnetic pole position detector 106 according to the same embodiment.
- FIG. It is a detailed block diagram of a polarity detector 109 according to the embodiment. It is a figure explaining distortion of a current profile and generated current. It is a figure explaining the hysteresis characteristic and magnetization locus which the motor 101 has. It is a figure which shows the electric current waveform generate
- FIG. 1 is a block diagram of a motor control device I according to the first embodiment of the present invention.
- the motor control apparatus I includes a motor 101, a current detector 102, a power converter 103, a three-phase two-phase converter 104, a dq converter 105, a magnetic pole A position detector 106, a current controller 107, a polarity discrimination evaluation current calculator 108, a polarity detector 109, a search voltage calculator 110, a current profile generator 111, and adders 112 and 113 are provided.
- the motor 101 is a permanent magnet motor to be controlled.
- the following motor control is performed in a coordinate system having a magnetic flux direction (d axis) of the motor 101 and a direction (q axis) orthogonal thereto.
- the current detector 102 detects a current flowing through the motor 101 in synchronization with a period in which PWM control described later is performed, and outputs it as a three-phase current (iu, iv, iw).
- the power converter 103 performs PWM control on a DC bus voltage obtained by rectifying an input AC voltage for each PWM switching period, and later described d-axis and q-axis voltage commands (V * sd, V *). sq), and a voltage command is generated based on an added value of a magnetic pole position ⁇ and a phase correction amount ⁇ , which will be described later, and applied to the motor 101.
- the three-phase to two-phase converter 104 converts a three-phase current (iu, iv, iw) into a two-phase alternating current (is ⁇ , is ⁇ ).
- the dq converter 105 converts a two-phase alternating current (is ⁇ , is ⁇ ) into a d-axis and q-axis current (isd, isq).
- the magnetic pole position detector 106 detects the magnetic pole position ⁇ based on a two-phase alternating current (is ⁇ , is ⁇ ) and a search voltage pulse Vposi described later.
- the current controller 107 performs control so that the d-axis and q-axis current commands (i * sd, i * sq) and the d-axis and q-axis currents (isd, isq) match, and the d-axis and q-axis voltage commands ( V * sd, V * sq) is output.
- the polarity discrimination evaluation current calculator 108 is composed of a band-pass filter, extracts the same frequency as the exploration pulse voltage from the d-axis current isd, and outputs it as the polarity discrimination evaluation current idh.
- the natural angular frequency of the filter is set to be the same as the frequency set in the current profile Iposi described later.
- the polarity detector 109 discriminates the polarity of the rotor magnetic pole based on the polarity discrimination evaluation current idh and the current profile Iposi, and outputs a phase correction amount ⁇ . The operation of the polarity detector 109 will be described later.
- the search voltage calculator 110 receives a current profile Iposi described later, calculates a search voltage pulse Vposi by multiplying the time differential value of the current profile Iposi by the inductance setting value Ld *, and detects the magnetic pole position detector 106 and the adder 112. Output to. Since the current profile Iposi is a triangular wave signal, the search voltage pulse Vposi is a rectangular wave signal and has the same period. The search voltage pulse Vposi is a search voltage for detecting the magnetic pole position.
- the inductance set value Ld * is determined by a motor design value, a trial run adjustment value, an auto-tuning method performed before starting, or the like.
- the “current profile” here refers to a current change pattern that occurs when the movement of the magnet operating point built in the motor follows a minor loop of hysteresis characteristics when the exploration voltage pulse Vposi is applied to the motor.
- the exploration voltage pulse Vposi which is set in advance, is created in consideration of the condition that the generated voltage is less than the maximum voltage that can be output by the power converter and the generated current is less than the motor rated current. This makes it unnecessary to take into account the effects of.
- This current change pattern is a triangular wave-shaped current command signal having a constant cycle with the same amplitude positive and negative with zero as the center, and is set by the current peak value and the rate of change or frequency.
- the current profile generator 111 generates a current profile Iposi that matches the motor 101 and outputs it to the polarity detector 109 and the search voltage calculator 110.
- the output current profile Iposi has a constant rate of change, and the frequency thereof is the same as the exploration pulse voltage.
- the cycle in which the current profile Iposi is generated is synchronized with the cycle of the PWM control, similarly to the detection of the three-phase current (iu, iv, iw) in the current detector 102. Further, at least four times of current detection is performed within the generation period of the current profile Iposi. It is not limited to this, for example, the current detection cycle is performed at the PWM control cycle, and the PWM switching cycle is set to a half cycle, and the current profile Iposi is generated at a cycle more than twice the PWM switching cycle. That's fine.
- the adder 112 adds the exploration voltage pulse Vposi to the d-axis voltage command V * sd and outputs a new d-axis voltage command V * sd.
- the adder 113 adds the magnetic pole position ⁇ and the phase correction amount ⁇ , and outputs a new magnetic pole position ⁇ to the power converter 103.
- FIG. 2 is a detailed block diagram of the magnetic pole position detector 106 according to the present embodiment.
- the magnetic pole position detector 106 includes a sign detector 201, multipliers 202 and 203, a gain amplifier 204, filter units 205 and 206, and an arctangent calculator 207.
- the magnetic pole position ⁇ is calculated in synchronization with the period in which the exploration voltage pulse Vposi is added to the d-axis voltage command V * sd, that is, the generation period of the current profile Iposi.
- the sign detector 201 outputs 1 when the polarity of the exploration voltage pulse Vposi is positive, and -1 when it is negative.
- the gain amplifier 204 multiplies the output of the code detector 201 by a gain Gh.
- Multipliers 202 and 203 multiply the output of the gain amplifier 204 for each of the ⁇ and ⁇ components of the two-phase alternating current (is ⁇ , is ⁇ ).
- the filter units 205 and 206 receive the respective outputs of the multipliers 202 and 203 and extract the peak values (Icos and Isin) of the two-phase alternating currents (is ⁇ and is ⁇ ).
- the denominators of the filter units 205 and 206 are configured as s + ⁇ cv, the numerator is an incomplete differentiator of s ⁇ ⁇ c (s is a differential operator), and the natural angular frequencies ⁇ cv and ⁇ c are predetermined values in consideration of detection delay prevention.
- the filter units 205 and 206 extract the peak value of the current using the differential element in the numerator, and remove the switching noise using the low-pass filter element in the denominator.
- the arc tangent calculator 207 calculates the magnetic pole position ⁇ by the arc tangent calculation of the peak values (Icos, Isin).
- the magnetic pole position detector 106 detects the magnetic pole position ⁇ based on the two-phase alternating current (is ⁇ , is ⁇ ) and the search voltage pulse Vposi.
- the magnetic pole position ⁇ cannot be determined as the rotor magnetic pole.
- FIG. 4 is a diagram for explaining the distortion of the current profile Iposi and the generated current Ireal, and also shows the exploration voltage pulse Vposi that causes the generation of the current Ireal. It can be seen that the generated current Ireal is distorted by the influence of the hysteresis loop.
- FIG. 4 shows a case where the current detection cycle is Ts, and current detection is performed four times within one cycle of the current profile Iposi, which is a triangular wave signal.
- FIG. 5 is a diagram for explaining the hysteresis characteristic and the magnetization locus of the motor 101, FIG.
- FIG. 5 (a) is a diagram for explaining the hysteresis characteristic (major loop) of the motor 101
- FIG. FIG. 5C is a diagram for explaining a partial hysteresis characteristic (minor loop) of 101
- FIG. 5C is a diagram illustrating magnetization by an applied voltage VdN when the N pole is a positive side of voltage application and the S pole is a negative side of voltage application
- FIG. 5D is a diagram for explaining the locus
- FIG. 5D is a diagram for explaining the magnetization locus by the applied voltage VdS when the S pole is the positive side for voltage application and the N pole is the negative side for voltage application.
- FIG. 6 is a diagram for explaining the change of the magnetic resistance Rm in an approximate manner.
- a motor having a permanent magnet as a rotor has a hysteresis characteristic (major loop) shown in FIG.
- An arrow at the center of the hysteresis characteristic in FIG. 5A indicates an initial magnetization curve, and a magnetization locus is drawn counterclockwise from Path A to Path B.
- the applied voltage VdN in FIG. 5C and the applied voltage VdS in FIG. This produces a partial hysteresis magnetization locus called a minor loop shown in the enlarged view of b).
- the magnetization locus by the applied voltage VdN shown in FIG. 5C follows the order of vxyz shown in the right diagram of FIG. At this time, the generated current idN has a difference in distortion of the current waveform in each region because the magnetoresistance Rm in the vx region is larger than the magnetoresistance Rm in the yz region (shaded portion).
- the magnetization locus by the applied voltage VdS shown in FIG. 5D follows the order of yzvx shown in the right diagram of FIG. At this time, the generated current idS is in reverse order to the current idN.
- the inductance Ld decreases as the magnetic resistance Rm increases, the current response generated at that time becomes steeper. Conversely, when the magnetic resistance Rm is small, the current response is slow. Thus, the current generated by the influence of the hysteresis loop is distorted, and the current idS has a waveform like the current idN.
- FIG. 6 is a diagram showing a current waveform generated based on the current profile Iposi.
- FIG. 6 shows the current generated based on the current profile Iposi observed as a two-phase alternating current (is ⁇ , is ⁇ ). This is because in an embedded magnet motor, the inductance Ld is small in the direction in which the pole of the permanent magnet in the rotor exists (N pole or S pole) because the magnetic resistance Rm is large, and the inductance Ld in the direction in which no pole exists. Therefore, the peak value of the current changes based on the inductance distribution.
- the magnetic path of the magnetic flux is locally narrowed at the bridge portion of the stator slot by the current generated based on the current profile Iposi.
- the magnetic resistance is large and the inductance Ld is small, and the inductance Ld is large at the center of the stator core, so that the peak value of the two-phase alternating current (is ⁇ , is ⁇ ) changes. This phenomenon appears when the motor 101 to be controlled incorporates a stator core.
- the magnetic pole position detector 106 detects the magnetic pole position ⁇ .
- the first half cycle in one cycle of the applied voltage VdN, the first half cycle reaches the point where the magnetic resistance Rm is minimized via the operating point P of the hysteresis loop on the magnetic circuit. It also has a process of returning to the vicinity of the operating point via x, and in the latter half period, it reaches from the vicinity of the operating point via y to the point where the magnetic resistance Rm is maximum, and then passes through z to the vicinity of the operating point. The process of returning to
- the magnetic resistance Rm is as shown in FIG. It can be approximated as follows. That is, the magnetoresistance Rm exists as a change of two cycles in one cycle of the applied voltage VdN, and the magnitude of the magnetoresistance Rm is larger between vx near the N pole side and yz near the S pole side. In contrast, the value in the z region is smaller than the x region, and the value in the y region is smaller than the v region.
- the current Ireal generated by the exploration voltage pulse Vposi appears as a frequency twice that of the exploration voltage pulse Vposi.
- This frequency component changes in amplitude when applied to the N pole and when applied to the S pole due to the inductance change described above. That is, when applied to the N side, the negative amplitude of the frequency component twice as large as the exploration voltage pulse Vposi increases, and when applied to the S side, the positive amplitude increases.
- the polarity of the rotor magnetic pole is based on the above-described principle, and the polarity detector 109 described below utilizes whether the fluctuation amplitude as described above is large on the positive side or large on the negative side. It has become.
- the method uses the hysteresis characteristic of the motor, the magnetic pole can be detected without being affected by the magnetic saturation of the motor rotor.
- FIG. 3 is a detailed block diagram of the polarity detector 109 according to this embodiment.
- the polarity detector 109 includes a subtractor 301, a multiplier 302, a pulse generator 303, a distortion direction discriminator 304, and a compensation amount selector 305.
- the subtractor 301 calculates a deviation between the current profile Iposi and the polarity discrimination evaluation current idh.
- the multiplier 302 multiplies the output of the subtracter 301 and the output of the pulse generator 303 that generates a pulse train having a frequency twice the exploration pulse voltage Vposi.
- the direct current component of the multiplication result includes information indicating whether the above-described fluctuating amplitude is large on the positive side or large on the negative side, that is, in which direction the distortion is distorted.
- the distortion direction discriminator 304 is a low-pass filter or an integrator, and receives the output of the multiplier 302 to remove noise. In this way, the strain direction discriminator 304 discriminates the polarity of the magnetic pole based on the polarity of the extracted DC component, that is, the strain information of the varying amplitude.
- the compensation amount selector 305 outputs 0 [rad] as the phase correction amount ⁇ if the output of the strain direction discriminator 304 is positive, and ⁇ [rad] if the output is negative.
- ⁇ [rad] is output as the phase correction amount ⁇ if the output of the strain direction discriminator 304 is positive, and 0 [rad] is output if the output is negative.
- the polarity detector 109 determines the polarity of the rotor magnetic pole based on the polarity determination evaluation current idh and the current profile Iposi, and outputs 0 [rad] or ⁇ [rad] as the phase correction amount ⁇ .
- the motor control device determines the polarity of the rotor magnetic poles using the hysteresis characteristics of the motor, so regardless of the magnitude of the magnetic saturation of the motor rotor, Also, by taking into account the current profile Iposi that surely enters the hysteresis loop, the magnetic pole position detection can be realized in a short time and with high accuracy.
- FIG. 7 is a block diagram of a motor control device according to the second embodiment of the present invention.
- the motor control device J according to the second embodiment includes a current profile generator 111a instead of the current profile generator 111, and a new subtractor 401, current profile modifier 402, and voltage amplitude calculator 403. Unlike the motor control device I according to the first embodiment, the rest is configured similarly. Therefore, in the following, for convenience of explanation, overlapping explanation will be omitted as appropriate, and differences from the first embodiment will be mainly described.
- the current profile generator 111a has a function of lowering a frequency or peak value set therein by an instruction signal from a current profile corrector 402 described later.
- the subtractor 401 calculates the difference between the amplitude value of the command voltage calculated by the voltage amplitude calculator 403 and the maximum voltage amplitude value that can be output by the power converter 103.
- the current profile corrector 402 Based on the difference calculated by the subtractor 401, the current profile corrector 402 sends an instruction signal to the current profile generator 111a when the command voltage exceeds the maximum voltage, that is, when the calculation result of the subtractor 401 is positive. Is output.
- the current profile generator 111a gradually increases the period so as to decrease the frequency of the triangular current change pattern generated as the current profile Iposi, and executes until the calculation result of the subtractor 401 becomes negative.
- the upper limit of the period increase is set in advance, and for example, when it exceeds 5 Ts, the peak value of the current amplitude is decreased.
- the rate of decrease is, for example, every 10% of the initial set value. In this way
- the search voltage pulse Vposi output from the search voltage calculator 110 is adjusted to be small.
- the motor control device J includes the current profile corrector 402 that corrects the current profile Iposi in consideration of the maximum voltage amplitude value that the power converter 103 can output.
- the magnetic pole position can be detected robustly against fluctuations in the DC bus voltage due to a decrease in the input power supply voltage. This is particularly effective when the power converter 103 is composed of a voltage-type inverter because the current profile Iposi is similarly corrected for fluctuations in the input power supply voltage to the power converter.
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Abstract
Description
特許文献1のモータ制御装置では、交流電流指令id1*に対応した電力を、停止している同期モータの回転座標d軸方向に印加し、帰還検出した「 交流電流指令id1*によって発生する回転座標q軸方向の電流iq'の振幅値」を用いて、 磁極位置推定値θ^の収斂演算を実行し、 収斂した磁極位置推定値θ^を同期モータの磁極位置θの真値として推定する。
モータの磁気飽和は、使用する磁性材料によってその特性が異なり、さらに、産業用途で用いられるネオジウム磁石は磁石動作点が高い。すなわち、モータ電流が流れていない状態での固定子と回転子で形成される磁気回路の磁化特性は、B-H曲線で表されるヒステリシスの飽和状態の近傍にあるので、微小な電圧では飽和の影響を観測することは難しかった。
まず、図1を参照しつつ、本発明の第1実施形態に係るモータ制御装置Iの構成について説明する。図1は、本発明の第1実施形態に係るモータ制御装置Iのブロック図である。
電流検出器102は、後述のPWM制御が行われる周期に同期してモータ101に流れる電流を検出し、3相電流(iu,iv,iw)として出力する。
電力変換器103は、図示していないが、入力される交流電圧を整流した直流母線電圧をPWMスイッチング周期ごとにPWM制御して、後述のd軸及びq軸電圧指令(V*sd,V*sq)と、後述の磁極位置θと位相補正量Δθの加算値に基づいて電圧指令を生成し、モータ101に印加する。
dq変換器105は、2相の交流電流(isα,isβ)をd軸及びq軸電流(isd,isq)に変換する。
磁極位置検出器106は、2相の交流電流(isα,isβ)と後述の探査電圧パルスVposiに基づき磁極位置θを検出する。
電流制御器107は、d軸及びq軸電流指令(i*sd,i*sq)、d軸及びq軸電流(isd,isq)が一致するように制御し、d軸及びq軸電圧指令(V*sd,V*sq)を出力する。
極性検出器109は、極性判別評価電流idhと電流プロファイルIposiに基づき回転子磁極の極性を判別し、位相補正量Δθを出力する。極性検出器109の動作については後述する。
インダクタンス設定値Ld*は、モータ設計値、試運転調整値又は起動前に行われるオートチューニング手法等で決定される。
この電流変化パターンは、ゼロを中心にして正負に同じ振幅をもつ一定周期の三角波状の電流指令信号であり、その電流ピーク値と、変化率もしくは周波数によって設定されている。
電流プロファイルIposiが発生される周期は、電流検出器102における3相電流(iu,iv,iw)の検出と同様に、PWM制御の周期と同期している。また、少なくとも電流プロファイルIposiの発生周期内に4回以上の電流検出が行われる。これに限定するものではないか、例えば、電流検出の周期をPWM制御の周期で行い、かつ、PWMスイッチング周期の半周期とし、さらにPWMスイッチング周期の2倍以上の周期で電流プロファイルIposiを発生すればよい。
加算器113は、磁極位置θと位相補正量Δθを加算し、新たに磁極位置θとして電力変換器103に出力する。
ゲイン増幅器204は、符号検出器201の出力にゲインGhを乗算する。
乗算器202、203は、2相の交流電流(isα,isβ)のα、βの成分毎にゲイン増幅器204の出力を乗算する。
逆正接演算器207は、ピーク値(Icos,Isin)の逆正接演算により、磁極位置θを算出する。
図4は、電流プロファイルIposiと発生電流Irealの歪みを説明する図であり、電流Irealの発生を引き起こす探査電圧パルスVposiも合わせて図示している。発生電流Irealは、ヒステリシスループの影響により歪んでいる様子がわかる。
なお、図4では、電流検出の周期をTsとし、三角波状の信号である電流プロファイルIposiの1周期内に4回の電流検出が行われる場合を図示している。
図5は、モータ101が有するヒステリシス特性と磁化軌跡を説明する図であり、図5(a)は、モータ101が有するヒステリシス特性(メジャーループ)を説明する図、図5(b)は、モータ101が有する部分的なヒステリシス特性(マイナーループ)を説明する図、図5(c)は、N極を電圧印加の正側、S極を電圧印加の負側としたときの印加電圧VdNによる磁化軌跡を説明する図、図5(d)は、S極を電圧印加の正側、N極を電圧印加の負側としたときの印加電圧VdSによる磁化軌跡を説明する図、図5(e)は磁気抵抗Rmの変化を近似して説明する図である。
図5(d)に示す印加電圧VdSによる磁化軌跡は、図5(b)の右図中に示すy-z-v-xの順をたどる。このとき、発生する電流idSは、電流idNとは逆順となっている。
このようにして、ヒステリシスループの影響により発生する電流は歪み、上記電流idSは、電流idNのような波形になるのである。
これは、埋め込み磁石モータにおいては、回転子中の永久磁石の極が存在する(N極あるいはS極)方向では、磁気抵抗Rmが大きいためインダクタンスLdは小さくなり、極が存在しない方向ではインダクタンスLdが大きくなるため、インダクタンス分布に基づき電流のピーク値が変化することを示している。
このヒステリシスループの影響で、図4のように発生電流Irealに歪みが生じているのは上述のとおりである。このときの歪み成分は印加した探査電圧パルスVposiの周波数の2倍の周波数を多く含んでいる。この理由は下記のように説明できる。
このように、モータのヒステリシス特性を利用した手法であるので、モータ回転子の磁気飽和の影響を受けることなしに磁極検出を行うことができる。
乗算器302は、減算器301の出力と、探査パルス電圧Vposiの2倍の周波数のパルス列を発生するパルス発生器303の出力を乗算する。
この乗算結果の直流成分は、上述した変動する振幅が、正側に大きいのか負側に大きいのか、つまりどちらに歪んでいるかの情報を含んでいる。
補償量選定器305は、モータ101が埋め込み磁石モータの場合は、歪方向判別器304の出力が正であれば0[rad]、負であればπ[rad]を位相補正量Δθとして出力し、また、表面磁石モータの場合は、歪方向判別器304の出力が正であればπ[rad]、負であれば0[rad]を位相補正量Δθとして出力する。
このようにして、極性検出器109は、極性判別評価電流idhと電流プロファイルIposiに基づき回転子磁極の極性を判別し、0[rad]又はπ[rad]を位相補正量Δθとして出力する。
以上、本発明の第1実施形態に係るモータ制御装置Iについて説明した。次に、図7を参照しつつ、本発明の第2実施形態に係るモータ制御装置Jについて説明する。図7は、本発明の第2実施形態に係るモータ制御装置のブロック図である。
減算器401は、電圧振幅演算器403によって演算される指令電圧の振幅値と、電力変換器103が出力可能な最大電圧振幅値と差を算出する。
電流プロファイル発生器111aは、この指示信号により、電流プロファイルIposiとして発生する三角状の電流変化パターンの周波数を下げるように、周期を徐々に増加させ、減算器401の演算結果が負になるまで実行する。また、周期増加の上限を予め設定し、例えば、5Tsを超えた場合は、電流振幅のピーク値を減少させるようにしている。その減少率は例えば、初期設定値の10%毎といったようにしている。このようにして、
探査電圧演算器110が出力する探査電圧パルスVposiが小さくなるように調整する。
102 電流検出器
103 電力変換器
104 3相2相変換器
105 dq変換器
106 磁極位置検出器
107 電流制御器
108 極性判別評価電流演算器
109 極性検出器
110 探査電圧演算器
111、111a 電流プロファイル発生器
112、113 加算器
201 符号検出器
202、203、302 乗算器
204 ゲイン増幅器
205、206 フィルタ器
207 逆正接演算器
301、401 減算器
303 パルス発生器
304 歪方向判別器
305 補償量選定器
402 電流プロファイル修正器
403 電圧振幅演算器
Claims (6)
- 永久磁石モータと、
該永久磁石モータの磁束方向であるd軸電圧指令とこれに直交するq軸電圧指令に基づく交流電圧指令を、PWM制御によって前記永久磁石モータに印加する電力変換器と、
前記永久磁石モータに流れるモータ電流を前記PWM制御の周期に同期して検出する電流検出器と、
電流プロファイルを生成する電流プロファイル発生器と、
前記電流プロファイルに基づき探査電圧パルスを演算して、前記d軸電圧指令に加算する探査電圧演算器と、
前記モータ電流と、前記探査電圧パルスに基づき前記永久磁石モータの磁極位置を検出する磁極位置検出器と、
前記モータ電流のd軸電流値から前記永久磁石モータの磁極極性を判別するための極性判別評価電流を演算する極性判別評価電流演算器と、
前記極性判別評価電流と前記電流指令との偏差から前記磁極極性を判別して位相補正量を出力する極性検出器と、を備えることを特徴とするモータ制御装置。 - 請求項1に記載のモータ制御装置であって、
前記磁極位置検出器は、前記探査電圧パルスの極性を検出する符号検出器と、
該符号検出器の出力値に所定のゲインを乗算する第1の乗算器と、
前記第1の乗算器の出力に、前記モータ電流の2相電流検出値を成分毎に乗算する第2、第3の乗算器と、
該第2及び第3の乗算器の出力を用いて、前記探査電圧パルスの周期に同期した前記2相電流検出値のそれぞれのピーク値Icos、Isinを抽出するフィルタ器と、
前記ピーク値Icos、Isinの逆正接演算により磁極位置を算出する逆正接演算器と、を備えることを特徴とするモータ制御装置。 - 請求項1に記載のモータ制御装置であって、
前記極性検出器は、前記電流プロファイルと前記極性判別評価電流との偏差を演算する減算器と、
前記探査電圧パルスの2倍の周波数のパルス列を生成するパルス発生器と、
前記減算器の出力と前記パルス列を乗算する第4の乗算器と、
該乗算器の出力をローパスフィルタ又は積分器を介して重畳した直流成分の極性を判別する歪方向判別器と、
該歪方向判別器の出力に基づいて0[rad]又はπ[rad]を前記位相補正量として出力する補償量選定器と、を備えることを特徴とするモータ制御装置。 - 請求項1に記載のモータ制御装置であって、
前記極性判別評価電流演算器は、固有角周波数を前記電流プロファイルに設定された周波数と同一に設定されたバンドパスフィルタで構成され、前記モータ電流のd軸電流値から探査パルス電圧と同じ周波数を抽出することを特徴とするモータ制御装置。 - 請求項1乃至4に記載のいずれかのモータ制御装置であって、
前記電力変換器に入力される電圧指令値の振幅を演算する電圧振幅演算器と、
前記電圧指令値の振幅が、前記電力変換器で出力可能な最大電圧値以上になる場合には、前記電流プロファイルの振幅あるいは周波数を修正する電流プロファイル修正器と、を備えることを特徴とするモータ制御装置。 - 永久磁石モータの磁束方向であるd軸電圧指令とこれに直交するq軸電圧指令に基づく交流電圧指令を、PWM制御によって前記永久磁石モータに印加する工程と、
該永久磁石モータに流れるモータ電流を前記PWM制御の周期に同期して検出する工程と、
生成された電流プロファイルに基づき探査電圧パルスを演算する工程と、
探査電圧パルスと前記d軸電圧指令の加算値を、新たにd軸電圧指令とする工程と、
前記モータ電流と、前記探査電圧パルスに基づき前記永久磁石モータの磁極位置を検出する工程と、
前記モータ電流のd軸電流値から前記永久磁石モータの磁極極性を判別するための極性判別評価電流を演算する工程と、
前記極性判別評価電流と前記電流プロファイルとの偏差から前記磁極極性を判別する工程と、
前記磁極極性の判別結果により、0[rad]又はπ[rad]を前記位相補正量として出力する工程と、
前記磁極位置と前記位相補正量を加算し、新たに磁極位置とする工程と、を備えることを特徴とするモータ制御装置の磁極位置検出方法。
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