WO2012029451A1 - 同期電動機の駆動システム - Google Patents
同期電動機の駆動システム Download PDFInfo
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- WO2012029451A1 WO2012029451A1 PCT/JP2011/067002 JP2011067002W WO2012029451A1 WO 2012029451 A1 WO2012029451 A1 WO 2012029451A1 JP 2011067002 W JP2011067002 W JP 2011067002W WO 2012029451 A1 WO2012029451 A1 WO 2012029451A1
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- drive system
- pulse
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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
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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
- H02P21/04—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for very low speeds
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/03—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for very low speeds
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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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- 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
-
- 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
- H02P6/20—Arrangements for starting
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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
- H02P6/28—Arrangements for controlling current
Definitions
- the present invention relates to a synchronous motor drive system, and more particularly, to a synchronous motor drive system suitable for controlling a synchronous motor by estimating a magnetic pole position of a rotor without a sensor.
- motor drive devices are used for rotational speed control, torque assist devices, and positioning control for fans, pumps, compressors, conveyors, elevators, and the like.
- motor drive devices small and highly efficient permanent magnet motors (synchronous motors) are widely used.
- PM motor permanent magnet motor
- a position sensor such as a resolver or Hall IC is indispensable.
- sensorless control that performs PM motor rotation speed and torque control without using this position sensor has become widespread.
- the cost of the position sensor (the cost of the sensor itself and the cost of the sensor wiring) can be reduced, and the size of the device can be reduced and it can be used in poor environments because the sensor is no longer needed. There is a big merit because it becomes possible.
- sensorless control of a PM motor directly detects an induced voltage (speed electromotive voltage) generated by the rotation of the rotor and drives the PM motor as rotor position information, or a mathematical formula of a target motor.
- a position estimation technique for estimating and calculating the rotor position from the model is employed.
- a major problem with these sensorless control methods is the position detection method during low-speed operation.
- most sensorless controls in practical use are based on the induced voltage (speed electromotive voltage) generated by the PM motor. Therefore, the sensitivity is lowered in the stop / low speed range where the induced voltage is small, and the position information is noisy. It will be buried in.
- a position sensorless system in a low speed region based on 120-degree conduction control of a PM motor is known, and the PM motor can be controlled even in a speed region where the induced voltage is small (for example, Patent Documents). 1).
- An object of the present invention is to provide a synchronous motor drive system that can realize driving near zero speed.
- the present invention provides a three-phase synchronous motor, an inverter that supplies alternating current power to the three-phase synchronous motor and includes a plurality of switching elements, and the three-phase synchronous motor.
- a controller for selecting two phases to be energized from among the three-phase windings and controlling the energization of the inverter by a pulse width modulation operation in six energization modes.
- the terminal potential of the non-energized phase of the motor or the stator winding connection point potential (neutral point potential) of the three-phase synchronous transmitter is detected, and the energization mode is sequentially switched based on the detected value of the potential.
- a drive system for a synchronous motor having an energization mode determiner wherein the controller is a positive rotation torque with respect to the synchronous motor as a line voltage waveform of energized phases in each of the six energization modes.
- the controller is a positive rotation torque with respect to the synchronous motor as a line voltage waveform of energized phases in each of the six energization modes.
- the synchronous motor A voltage command corrector that corrects an applied voltage command for the current phase, and applies the line voltage of the energized phase to the synchronous motor.
- the non-conduction phase terminal potential or the detected value of the stator winding connection point potential (neutral point potential) of the three-phase synchronous transmitter is energized.
- Each sampling is performed in synchronization with the positive pulse voltage of the phase and the negative pulse voltage, the sampling value is compared with a reference voltage for each detection value, and the energization is performed according to the result of the level comparison.
- a mode switching trigger generator for outputting a mode switching trigger signal for sequentially switching the mode in the forward direction and the reverse direction, and the energization mode determiner of the controller is a mode switching trigger output by the mode switching trigger generator The energization mode is sequentially switched based on the signal.
- the controller includes a PWM generator that performs pulse width modulation by comparing a triangular wave carrier and a voltage command corresponding to a voltage applied to the two energized phases,
- the voltage command corrector generates the positive pulse voltage and the negative pulse voltage by applying a correction voltage to the two energized phase voltage commands.
- the controller alternately outputs the positive pulse voltage and the negative pulse voltage in each of the six energization modes, and the positive pulse voltage. And a negative pulse voltage pulse train, a zero voltage is output and applied to the synchronous motor.
- the controller repeats two kinds of voltages, a positive pulse voltage and a zero voltage, or a negative pulse voltage and a zero voltage in each of the six energization modes.
- a pulse voltage having a polarity opposite to the positive pulse voltage or the negative pulse voltage is applied to the synchronous motor after being applied to the synchronous motor and the combination of the voltages is repeated a plurality of times.
- the controller changes the pulse width of the negative pulse voltage in the energized phase when gradually accelerating the synchronous motor from the low speed to the positive rotation direction.
- the pulse width of the positive pulse voltage is gradually increased to accelerate, and then the negative pulse width is gradually shortened to accelerate in the forward direction, or the synchronous motor is gradually reversed from a low speed.
- the pulse width of the positive pulse voltage in the energized phase is not substantially changed, the pulse width of the negative pulse voltage is gradually expanded to accelerate, and then the width of the positive pulse is increased. It is gradually shortened to accelerate in the reverse direction.
- the controller uses a microprocessor, uses a complementary operation of a three-phase PWM function provided in the microprocessor, and uses an external gate array circuit.
- the two switching devices of the phase corresponding to the non-energized phase of the inverter are turned off.
- the controller uses a single-chip microcomputer, and the single-chip microcomputer is an energized phase among six gate signals output from the controller to the inverter. These two phases output pulses that complementarily operate the upper and lower switching elements, respectively, and the remaining non-conducting phases are such that the upper and lower switching elements are turned off.
- the synchronous motor drive system described in (1) is provided, and an electric hydraulic pump is driven as a load of the synchronous motor.
- FIG. 1 is a block diagram showing the overall configuration of a synchronous motor drive system according to an embodiment of the present invention. It is explanatory drawing of the line voltage to two phases selected in each energization mode in the drive system of the synchronous motor by one Embodiment of this invention. It is a block diagram which shows the structure of the voltage command correction
- Timing chart which shows operation
- FIG. 1 is a block diagram showing the overall configuration of a synchronous motor drive system according to an embodiment of the present invention.
- the drive system of the synchronous motor of the present embodiment includes a voltage command generator (V * generator) 1, a controller 2, an inverter 3, and a synchronous motor (PM motor) 4.
- V * generator voltage command generator
- PM motor synchronous motor
- the PM motor 4 is a three-phase synchronous motor in which a plurality of permanent magnets are held on a rotor.
- the V * generator 1 is a controller positioned above the controller 2 that generates an applied voltage command V * to the PM motor 4.
- the output of the V * generator can be regarded as the output of the current controller.
- the controller 2 operates to apply a voltage corresponding to the command V * to the PM motor 4 by performing pulse width modulation (PWM).
- PWM pulse width modulation
- the controller 2 is configured to correspond to the negative applied voltage command V * so that the PM motor 4 reverses when the negative applied voltage command V * is generated.
- the controller 2 calculates an applied voltage to the PM motor 4 based on the applied voltage command V *, and generates a pulse width modulated wave (PWM) signal to the inverter 3.
- the controller 2 includes a PWM generator 5, an energization mode determiner 6, a gate signal switch 7, a voltage command corrector 8, and a mode switch trigger generator 9.
- the characteristic configuration of the present embodiment is a voltage command corrector 8, a reverse threshold generator 13 and a comparator 14 in the mode switching trigger generator 9.
- the voltage command corrector 8 corrects the voltage command V * applied to the PM motor 4 generated by the V * generator 1. By correcting the applied voltage command V *, it is possible to prevent step-out in the case of reverse rotation during forward rotation and to enable reverse rotation. The detailed configuration will be described with reference to FIG. The operation will be described later with reference to FIGS. 4 and 6 to 13.
- the applied voltage command V * of the V * generator 1 is applied to the PWM generator 5 as it is.
- the voltage command corrector 8 corrects the voltage command V * applied to the PM motor 4 generated by the V * generator 1 when the rotation speed of the PM motor 4 is low and is rotating forward or reverse.
- the PWM generator 5 creates a pulse wave modulated PWM wave based on the output of the V * generator 1 corrected by the voltage command corrector 8.
- the PWM wave generated by the PWM generator 5 is supplied to two switching elements among the six switching elements Sup, Sun, Svp, Svn, Swp, Swn of the inverter 3.
- the supply destination of the PWM wave is switched. This switching destination is determined based on a command from an energization mode determiner 6 described later.
- the energization mode determiner 6 sequentially outputs mode commands for determining the six switching modes of the inverter main circuit unit 3.
- the energization mode determiner 6 switches the energization mode according to a signal generated by the mode switching trigger generator 9.
- the mode switching trigger generator 9 generates a trigger signal for switching the energization mode.
- the mode switching trigger generator 9 includes a non-energized phase selector 10, a normal rotation threshold generator 11, a comparator 12, a reverse rotation threshold generator 13, and a comparator 14.
- the non-energized phase selector 10 selects a non-energized phase based on the mode command output by the energized mode determiner 6 and samples the non-energized phase potential. Details of the non-energized phase selector 10 will be described later with reference to FIG.
- the normal rotation threshold generator 11 generates a voltage that becomes a threshold in the normal rotation direction with respect to the electromotive voltage of the PM motor 4.
- the comparator 12 compares the voltage of the non-energized phase with the normal rotation threshold value and generates a mode switching trigger signal in the normal rotation direction. Details of the normal rotation threshold generator 11 and the comparator 12 will be described later with reference to FIGS. 18 and 19.
- the reverse threshold generator 13 generates a voltage that becomes a threshold in the reverse direction with respect to the electromotive voltage of the PM motor 4.
- the comparator 14 compares the voltage of the non-energized phase with the reverse threshold and generates a mode switching trigger signal in the reverse direction. Details of the reverse threshold generator 13 and the comparator 14 will be described later with reference to FIGS. 16 and 17.
- the inverter 3 generates a three-phase AC voltage from the DC voltage of the DC power supply 31 by the PWM signal of the controller 2, thereby controlling the PM motor 4.
- the inverter 3 directly drives the DC power source 31 that supplies power to the inverter, the inverter main circuit unit 32 that includes six switching elements Sup, Sun, Svp, Svn, Swp, and Swn, and the inverter main circuit unit 32.
- Output pre-driver 33 is an inverter main circuit unit 32 that includes six switching elements Sup, Sun, Svp, Svn, Swp, and Swn.
- the switching element Sup is a switching element of the U-phase upper arm
- the switching element Sun is a switching element of the U-phase lower arm, and both are connected in series.
- the midpoint of the switching elements Sup, Sun is connected to the U-phase coil Lu of the PM motor 4.
- the switching element Svp is a switching element of the V-phase upper arm
- the switching element Svn is a switching element of the V-phase lower arm, and both are connected in series.
- a midpoint of the switching elements Svp and Svn is connected to the V-phase coil Lv of the PM motor 4.
- the switching element Swp is a switching element of the W-phase upper arm
- the switching element Swn is a switching element of the W-phase lower arm, and both are connected in series.
- a midpoint of the switching elements Swp and Swn is connected to the W-phase coil Lw of the PM motor 4.
- energization mode 1 in which a current flows from the U-phase coil Lu to the V-phase coil Lv by the UV pulse.
- energization mode 4 in which a current flows from the V-phase coil Lv to the U-phase coil Lu by the VU pulse.
- FIG. 2 is an explanatory diagram of line voltages to two phases selected in each energization mode in the synchronous motor drive system according to the embodiment of the present invention.
- FIG. 2A shows the line voltage applied to the U-phase coil Lu and the V-phase coil Lv
- FIG. 2B shows the line-to-line applied to the V-phase coil Lv and the W-phase coil Lw
- 2C shows the line voltage applied to the W-phase coil Lw and the U-phase coil Lu
- 2D shows the six energization modes described above
- FIG. 2E shows the switching elements energized on the upper arm side among the six switching elements
- FIG. 2F shows the six energization modes. Among these switching elements, a switching element energized on the lower arm side is shown.
- the line voltage to two phases in one energization mode selected in each energization mode is a positive or negative pulse train.
- the line voltage to the two phases in one energization mode selected in each energization mode alternates between a positive pulse and a negative pulse.
- a wide positive pulse a narrow negative pulse is applied, and thereafter, four positive pulses and four negative pulses are alternately applied, such as a positive pulse.
- 2E and 2F show switching elements that are energized to obtain a wide pulse.
- FIG. 1 shows switching elements that are energized to obtain a wide pulse.
- FIG. The illustrated upper arm side switching element Svp and lower arm side switching element Swn are energized.
- the upper arm side switching element Swp and the lower arm side switching element Svn shown in FIG. 1 are energized.
- a zero potential is provided between the positive pulse and the negative pulse.
- torque in the forward rotation direction is generated only by the conventional positive pulse (VW pulse), whereas in this embodiment, a wide positive pulse (VW pulse) is intentionally generated.
- a narrow negative pulse (WV pulse) is output.
- FIG. 3 is a block diagram showing a configuration of a voltage command corrector used in the synchronous motor drive system according to the embodiment of the present invention.
- FIG. 4 is an operation explanatory diagram of the voltage command corrector used in the synchronous motor drive system according to the embodiment of the present invention.
- the voltage command corrector 8 includes a gain multiplier 81 that halves and outputs the value of the input voltage command V *, a sign inverter 82 that inverts the sign of the input value, and an adder that adds the input signal 83a, 83b, 83c, a subtractor 84 that performs subtraction, a VDC / 2 generator 85 that outputs half the value of the DC power supply of the inverter, and a ⁇ V generator 86 that calculates a correction amount ⁇ V to be applied to the voltage command V *. It consists of.
- the voltage command corrector 8 simultaneously applies the voltage command V * to the line voltage of the energized phase, and simultaneously applies a negative pulse if the voltage command V * is positive and a positive pulse if the voltage command V * is negative. Command value correction is performed. Therefore, the voltage multiplier V * is temporarily halved by the gain multiplier 81. Thereafter, the value obtained by adding the VDC / 2 output from the VDC / 2 generator 85 to the value is the first command value VX0, and the value obtained by inverting the sign and adding the VDC / 2 generator 85VDC / 2 is the second command value. A command value is once created as VY0. The command value VX0 and the command value VY0 correspond to respective phase voltage commands for the two phases to be energized.
- the adder 83c adds the correction amount ⁇ V to the first command value VX0, and subtracts the correction amount ⁇ V from the second command value VY0. These calculated values are output as final first voltage command VX1 and second voltage command VY1, respectively.
- FIG. 5 is a block diagram showing a configuration of a three-phase PWM generator and a gate signal switch used in the synchronous motor drive system according to the embodiment of the present invention.
- the three-phase PWM generator 5 includes a zero generator 51 for generating zero, and switches 52u, 52v, 52w for selecting voltage commands for each phase in accordance with the mode command output from the energization mode determiner 6 shown in FIG.
- a comparator 53u, 53v, 53w for generating a pulse width modulation signal by comparing the three-phase voltage commands Vu *, Vv *, Vw * and a triangular wave carrier, and a triangular wave carrier generator 54 for generating a triangular wave carrier,
- sign inverters 55u, 55v, 55w for inverting the sign of the PWM pulse.
- the gate signal switching unit 7 includes switches 71, 7, 73, 74, 75, and 76 that switch between valid / invalid of the PWM signal according to the mode command output from the energization mode determiner 6 shown in FIG. Has been.
- the voltage commands VX1 and VY1 corrected by the voltage command corrector 8 described with reference to FIG. 3 are assigned to voltage commands of any two phases among the three phases. It is switched according to the mode by the switches 52u, 52v, 52w. Further, for the sake of convenience, zero is given to a phase that is not energized (non-energized phase), and the signal of the zero generator 51 is assigned. For example, when energizing the VW phase, the U phase is a non-energized phase.
- the PWM signals Pup0, Pvp0, Pwp0 are the gate signals of the switching elements Sup, Svp, Swp in the inverter 3, and the PWM signals Pun0, Pvn0, Pwn0 operate as the gate signals of the switching elements Sun, Svn, Swn. Since the upper and lower switches of these switching elements are complementarily operated by the sign inverter 55, a non-energized phase cannot be made as it is. Therefore, according to the mode, the switches 71,..., 76 are switched to zero to forcibly turn off the upper and lower switching elements simultaneously. By doing so, a non-energized phase can be generated in a state where the complementary function by the triangular wave comparison is utilized as it is.
- FIGS. 6 to 9 and FIGS. 10 to 13 are timing charts showing operations of the voltage command corrector and the three-phase PWM generator used in the synchronous motor drive system according to the embodiment of the present invention.
- 10 to 13 are timing charts showing three-phase PWM signals when the correction amount of the voltage command corrector used in the synchronous motor drive system according to the embodiment of the present invention is changed.
- FIGS. 6 to 9 show changes in waveforms due to the addition of the correction amount ⁇ V by the voltage command corrector 8.
- FIG. 6A shows command values VX0 and VY0 which are values inside the voltage command corrector 8.
- the voltage commands VX1 and VY1 have waveforms equal to the command values VX0 and VY0.
- the comparators 53u, 53v, 53w shown in FIG. 5 create PWM pulses by comparing the magnitude relationship between these voltage commands VX1, VY1 and the triangular wave carrier.
- the triangular wave carrier shown in FIG. 6C changes between 0 and VDC.
- the up period of the triangular wave carrier is defined as Tc1, and the down period is defined as Tc0.
- the obtained waveform is the PWM signal PX in FIG. 6D, and the inverted signal is the PWM signal PXn in FIG. 6E.
- the voltage finger VY1 and the triangular wave carrier are compared, and PWM signals PY (FIG. 6 (F)) and PYn (FIG. 6 (G)) are obtained.
- the waveform corresponding to the line voltage of the energized phase is the difference between the PWM signals PX and PY, as shown in FIG. In this PWM method, a pulse train is output at a frequency twice the carrier frequency.
- FIG. 7 shows how PWM is created when the correction amount ⁇ V is added.
- the correction amount ⁇ V is a rectangular wave as shown in FIG. 7B synchronized with the period of Tc1 and Tc0 of the triangular wave carrier.
- the waveforms of the voltage commands VX1 and VY1 are as shown in FIG. 7C, and as a result, the line voltage waveform is as shown in FIG. 7H.
- FIG. 8 shows how PWM is created when the voltage command V * is a negative value. Also in this case, by adding a correction amount ⁇ V similar to that in FIG. 7B, it is possible to alternately apply a positive pulse and a negative pulse to the line voltage. Since the voltage command V * is negative, it can be confirmed from FIG. 8H that the average value of the line voltage is also negative.
- a positive pulse and a negative pulse having the same pulse width are alternately generated in the line voltage (FIG. 9 (H)).
- 10A to 10H show the line voltage Vvw in the mode 3 state as an example of the line voltage waveform of the two phases that are energized.
- the motor applies the minimum pulse width of the positive pulse and the negative pulse necessary for voltage detection of the non-conduction phase.
- the width of the positive pulse is increased while the width of the negative pulse (VW pulse) is kept to a minimum.
- the width of the positive pulse is 50% of the whole.
- the motor should definitely rotate in the forward direction. Therefore, the detection of the electromotive voltage of the non-energized phase when the negative pulse is applied is performed with respect to the voltage command so far, and the negative pulse is maintained at a predetermined minimum width until FIG. From D), the average voltage is increased by narrowing the width of the negative pulse.
- the negative pulse disappears completely, and thereafter, the width of the positive pulse is gradually increased to match the increase of the voltage command V *.
- the negative pulse width may be increased while maintaining the positive pulse width.
- the pulse width of the negative pulse or the positive pulse is secured until the zero voltage disappears.
- a method is also conceivable. In these cases, the system is suitable for a system that requires a high response to decelerate from a driving state with a high rotational speed to a reverse rotation at once.
- FIG. 14 is a block diagram showing a configuration of a non-energized phase selector used in the synchronous motor drive system according to the embodiment of the present invention.
- FIG. 15 is a timing chart showing the operation of the non-conduction phase selector used in the synchronous motor drive system according to the embodiment of the present invention.
- the non-energized phase selector 10 includes a non-energized phase selection unit 101 that determines which phase to select in accordance with the mode command, and a non-energized phase selection unit 101 that allows a three-phase voltage to be selected.
- Switch 102 for selecting a non-energized phase
- sample holders 103A and 103B for sampling and holding the voltage of the non-energized phase. Two sample holders are provided, each sampling the non-energized phase voltage when applying a positive pulse voltage and the non-energized phase electromotive voltage when applying a negative pulse voltage, and outputting the values as signals B1 and B2, respectively. To do.
- FIG. 15 shows waveforms of respective parts when the mode command is the energization mode 3. Since the energization mode 3 is VW-phase energization as shown in FIG. 2, the non-energized phase selection unit 101 switches the switch 102 to select the U-phase voltage Vu that is the non-energized phase, and the sample Output to the holders 103A and 103B.
- FIG. 15B shows the U-phase voltage Vu which is a non-conduction phase.
- the sample holder 103A samples and holds the voltage Vu at the falling edge of the positive VW pulse shown in FIG. 15A, and outputs it as a signal B1 as shown in FIG. 15C.
- the sample holder 103A samples and holds the voltage Vu at the rising edge of the negative WV pulse shown in FIG. 15A, and outputs it as a signal B2 as shown in FIG. 15D.
- Signals B1 and B2 are given to comparators 12 and 13 (FIG. 1), respectively, and compared with the normal rotation threshold value and the reverse rotation threshold value, and the increase / decrease of the mode is determined from the magnitude relationship with the threshold value.
- the difference from the conventional example is that a reverse threshold generator 13 and its comparator 14 are added, and mode switching in the reverse direction is possible.
- FIG. 16 is a block diagram showing a configuration of a reverse threshold generator used in the synchronous motor drive system according to the embodiment of the present invention.
- FIG. 17 is a timing chart showing the operation of the comparator used in the synchronous motor drive system according to the embodiment of the present invention.
- the reverse threshold generator 13 includes a reverse / positive side reference voltage setting unit 131, a reverse / negative side reference voltage setting unit 132, and a changeover switch 133.
- the mode command is 1, 3 or 5
- the threshold value is the reference voltage Vhyp set by the reverse / positive side reference voltage setter 131
- the mode command is 2, 4 or 6.
- the comparator 14 compares this threshold value with the induced voltage of the non-energized phase and generates a mode switching trigger. As a result, even if the rotor position rotates in the reverse direction, an appropriate mode is selected.
- FIG. 17 shows the relationship between the energization mode, the non-energized phase, and the electromotive voltage of the non-energized phase when a negative pulse is applied.
- a non-energized phase voltage B2 as shown is generated and repeatedly increases and decreases.
- This non-energized phase voltage B2 is the output of the sample holder 103B of the non-energized phase selector 10 described in FIG.
- the comparator 14 shown in FIG. 1 compares the non-energized phase voltage B2 with the reference voltage Vhyp or the reference voltage Vhyn, and outputs a reverse mode switching trigger C2 shown in FIG.
- FIG. 18 is a block diagram showing a configuration of a normal rotation threshold generator used in the synchronous motor drive system according to the embodiment of the present invention.
- FIG. 19 is a timing chart showing the operation of the comparator used in the synchronous motor drive system according to the embodiment of the present invention.
- the normal rotation threshold value generator 11 includes a normal rotation / positive side reference voltage setting device 111, a normal rotation / negative side reference voltage setting device 112, and a changeover switch 113.
- the mode command is 1, 3, or 5
- the changeover switch 113 is set to the 1 side
- the threshold value is set to the reference voltage Vhxp set by the normal rotation / positive side reference voltage setter 111
- the mode command is 2, 4, or 6.
- the selector switch 113 is set to the 2 side
- the threshold value is set to the reference voltage Vhxn set by the forward / negative reference voltage setting unit 112.
- the comparator 12 compares this threshold value with the induced voltage of the non-energized phase and generates a mode switching trigger. As a result, an appropriate mode is selected when the rotor position is normal.
- FIG. 19 shows the relationship between the energization mode, the non-energized phase, and the electromotive voltage of the non-energized phase when a positive pulse is applied.
- a non-energized phase voltage B1 as shown is generated and repeatedly increases and decreases.
- This non-energized phase voltage B1 is the output of the sample holder 103A of the non-energized phase selector 10 described in FIG.
- the comparator 12 shown in FIG. 1 compares the non-conduction phase voltage B1 with the reference voltage Vhxp or the reference voltage Vhxn, and outputs a normal rotation mode switching trigger C1 shown in FIG.
- the mode switching trigger C1 output from the comparator 12 and the mode switching trigger C2 output from the comparator 14 are input to the energization mode determination unit 6 shown in FIG.
- the PM motor is rotating forward and the energization mode is 3 at that time.
- the energization mode is sequentially switched to 3, 4, and 5 in the case of normal rotation, and sequentially switched to 3, 2, and 1 in the case of reverse rotation.
- the mode switching trigger C1 is input, it is a forward mode switching trigger, so the energization mode determination unit 6 generates the gate signal switch 7 and the mode switching trigger at the timing when the mode switching trigger C1 is input.
- the energization mode 4 which is the next forward rotation mode is output to the device 9.
- the mode switching trigger C2 when the mode switching trigger C2 is input, it is a reverse mode switching trigger, so the energization mode determination unit 6 sends the gate signal switching unit 7 and the mode switching trigger generator 9 to the timing at which the mode switching trigger C2 is input.
- the energization mode 2 which is the next reverse side mode is output.
- the threshold voltage (Vhyp, Vhyn) is set on the positive side and the negative side by the reverse rotation threshold generator 13 for reverse rotation during forward rotation and even when reverse rotation continues.
- the comparator 14 can generate a trigger for mode switching (direction for returning the mode) by comparing with the electromotive voltage.
- FIG. 20 is an explanatory diagram of an effect when a positive pulse and a negative pulse are alternately applied as a line voltage in the synchronous motor drive system according to the embodiment of the present invention.
- FIG. 20 schematically shows a two-phase line voltage waveform to be energized and a phase current waveform at that time.
- FIG. 20A and 20B show the conventional line voltage and phase current waveform.
- current ripple occurs in the current waveform due to the influence of the positive pulse voltage.
- FIG. 20D the current ripple becomes large in the case of a voltage waveform as shown in FIG. 20C, for example.
- the change width of the voltage is severe, and a large amount of harmonics flows to the motor, and heat generation due to harmonic loss may be a problem.
- the waveform in FIG. To drop.
- the line voltage to two phases in one energization mode selected in each energization mode as shown in FIG. Is configured to alternately apply a positive pulse and a negative pulse.
- a zero voltage is arranged between the positive pulse and the negative pulse.
- harmonics included in the line voltage can be greatly reduced, and the current ripple can be reduced as shown in FIG. Further, the width required for the negative pulse can be reduced to the minimum.
- the pulse width of the negative pulse voltage is preferably as short as possible to suppress the current ripple. However, in order to detect the non-conduction phase voltage, a certain pulse width is required.
- the width of the negative pulse is secured to 2 ⁇ s or more and 20 ⁇ s or less. By adjusting to this range, it is possible to prevent an increase in current ripple and to secure a pulse width necessary for detecting the non-conduction phase voltage.
- FIG. 21 is an explanatory diagram of another example of the line voltage to two phases selected in each energization mode in the synchronous motor drive system according to the embodiment of the present invention.
- FIG. 21A shows the line voltage applied to the U-phase coil Lu and the V-phase coil Lv
- FIG. 21B shows the line-to-line applied to the V-phase coil Lv and the W-phase coil Lw
- FIG. 21C shows the line voltage applied to the W-phase coil Lw and the U-phase coil Lu
- FIG. 21D shows the six energization modes described above
- FIG. 21E shows the switching elements energized on the upper arm side among the six switching elements
- FIG. 21F shows the six energization modes. Among these switching elements, a switching element energized on the lower arm side is shown.
- a positive pulse, a zero voltage, a negative pulse, and a zero voltage are alternately applied as the line voltage.
- the normal operation is only forward rotation, and if reverse rotation is detected as an abnormal operation, there is no problem even if the frequency of outputting negative pulses is low.
- one negative pulse is output after a plurality of positive pulse voltages are repeatedly output.
- Such a waveform can also be created by the voltage command corrector 8 of the controller 2.
- FIGS. 22 and 23 are block diagrams showing the system configuration of a synchronous motor drive system according to an embodiment of the present invention.
- the same reference numerals as those in FIG. 1 indicate the same parts.
- Reference numeral 7 denotes the gate signal switch 7 shown in FIG. 1, which is configured by an AND circuit.
- Reference numerals 1, 2 ′ are portions obtained by removing the V * generator 1 and the controller 2 shown in FIG. 1 from the gate signal switch 7 and are constituted by a microprocessor. In the gate signal switch 7, whether to enable or disable the PWM signal is determined by the output port signal of the microprocessors 1, 2 ′.
- reference numerals 1 and 2 correspond to the V * generator 1 and the controller 2 shown in FIG. 1, and all functions are combined into one digital computing unit (for example, Single chip microcomputer microprocessor, DSP, dedicated gate array, etc.).
- the digital arithmetic unit outputs pulses for complementary operation of the upper and lower switching elements for the two energized phases, and the remaining non-energized phases for the upper and lower switching elements. Has a function to turn off. Thereby, a smaller motor drive system can be realized.
- the method using the neutral point potential of the PM motor the method based on the virtual neutral point potential, or the intermediate potential of the DC voltage of the inverter
- the method can be applied to any method.
- the neutral point potential of the PM motor the voltage is lower by a voltage drop due to the inductance of the coil of the non-conducting phase than when the potential of the non-conduction phase voltage is used.
- the neutral point potential of the non-energized phase voltage it is necessary to wire in three places, but since the neutral point is one place, it is possible to use one line for voltage detection. .
- FIGS. 24 and 25 are block diagrams showing the configuration of an electric hydraulic pump system using a synchronous motor drive system according to an embodiment of the present invention.
- FIG. 24 shows an electric hydraulic pump system that is driven while the vehicle is idling. It is used not only when idling is stopped, but also for securing hydraulic pressure to transmissions, clutches, brakes, etc., in a vehicle such as a hybrid vehicle in which the engine is completely stopped.
- the synchronous motor drive system 23 is the same as that shown in FIG. 22, and includes a command generator 1G, a controller 2, an inverter 3, and an electric pump 24.
- the electric pump 24 includes a motor 4 and a pump 25.
- the hydraulic circuit 50 includes a mechanical pump 52 that is driven by the engine 51, a tank 53 that stores oil, and a check valve 54 that prevents backflow from the mechanical pump 52 to the electric pump 24.
- the relief valve 55 for keeping the hydraulic pressure below the set value is provided, but in the system of the present invention, this can be deleted.
- FIG. 25A shows the rotation speeds of the mechanical pump and the electric pump
- FIG. 25B shows the hydraulic pressure generated by the mechanical pump and the electric pump.
- the electric pump While the engine is rotating and the mechanical pump generates sufficient hydraulic pressure, the electric pump is stopped and the hydraulic pressure is generated by the mechanical pump.
- the rotation decreases at the same time, and the discharge pressure of the mechanical pump starts to decrease.
- the electric pump starts and starts generating hydraulic pressure.
- the check valve 54 is opened and the electric pump 24 secures the hydraulic pressure.
- the electric pump is started prior to stopping the mechanical pump, that is, the engine so that the hydraulic pressure by the electric pump becomes a sufficient value when the hydraulic pressure by the mechanical pump becomes equal to or lower than the hydraulic pressure supplied by the electric pump when the engine is stopped. More specifically, it is desirable to set this at the time of instructing the engine stop or before or after that.
- the electric pump is driven until the hydraulic pressure of the mechanical pump exceeds the hydraulic pressure supplied by the electric pump when the engine is stopped. It is good.
- the electric pump may be driven to a rotational speed at which the hydraulic pressure of the mechanical pump becomes a predetermined value by the engine, or the driving time of the electric pump may be set based on the time from the start of engine restart.
- the synchronous motor drive system according to the present invention does not cause any problem because the rotor position can be estimated even in the stopped state and the reverse rotation state.
- the relief valve 55 can be eliminated as shown in FIG. As a result, there is no useless movement of the electric pump, and a highly efficient and silent electric hydraulic system can be provided.
- the present embodiment it is possible to realize extremely low speed driving in both forward and reverse directions from a stopped state while the control configuration is substantially the same as that of the conventional 120-degree energization sensorless system.
- four-quadrant driving near zero speed which has been difficult to realize in the past, can be realized without using the rotor position sensor of the PM motor, and downsizing and improved reliability of the system can be achieved.
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Abstract
Description
かかる構成により、同期電動機を零速度近傍での駆動を実現できるものとなる。
最初に、図1を用いて、本実施形態による同期電動機の駆動システムの全体構成について説明する。
図1は、本発明の一実施形態による同期電動機の駆動システムの全体構成を示すブロック図である。
図2は、本発明の一実施形態による同期電動機の駆動システムにおける、各通電モードにて選択した2つの相への線間電圧の説明図である。
図3は、本発明の一実施形態による同期電動機の駆動システムに用いる電圧指令補正器の構成を示すブロック図である。図4は、本発明の一実施形態による同期電動機の駆動システムに用いる電圧指令補正器の動作説明図である。
図5は、本発明の一実施形態による同期電動機の駆動システムに用いる三相PWM発生器とゲート信号切替器の構成を示すブロック図である。
図6~図9は、本発明の一実施形態による同期電動機の駆動システムに用いる電圧指令補正器と三相PWM発生器の動作を示すタイミングチャートである。図10~図13は、本発明の一実施形態による同期電動機の駆動システムに用いる電圧指令補正器の補正量を変えた場合の、三相PWM信号を示すタイミングチャートである。
図14は、本発明の一実施形態による同期電動機の駆動システムに用いる非通電相選択器の構成を示すブロック図である。図15は、本発明の一実施形態による同期電動機の駆動システムに用いる非通電相選択器の動作を示すタイミングチャートである。
図16は、本発明の一実施形態による同期電動機の駆動システムに用いる逆転閾値発生器の構成を示すブロック図である。図17は、本発明の一実施形態による同期電動機の駆動システムに用いる比較器の動作を示すタイミングチャートである。
図18は、本発明の一実施形態による同期電動機の駆動システムに用いる正転閾値発生器の構成を示すブロック図である。図19は、本発明の一実施形態による同期電動機の駆動システムに用いる比較器の動作を示すタイミングチャートである。
図20は、本発明の一実施形態による同期電動機の駆動システムにおいて、線間電圧として正パルスと負パルスを交互に印加した場合の効果の説明図である。
図21は、本発明の一実施形態による同期電動機の駆動システムにおける、各通電モードにて選択した2つの相への線間電圧の他の例の説明図である。
図22及び図23は、本発明の一実施形態による同期電動機の駆動システムのシステム構成を示すブロック図である。なお、図1と同一符号は同一部分を示している。
図24及び図25は、本発明の一実施形態による同期電動機の駆動システムを用いた電動油圧ポンプシステムの構成を示すブロック図である。
2…制御器
3…インバータ
4…同期電動機(PMモータ)
5…PWM発生器
6…通電モード決定器
7…ゲート信号切替器
8…電圧指令補正器
9…モード切替トリガー発生器
10…非通電相電位選択器
11…正転閾値発生器
12,14…比較器
13…正逆転閾値発生器
31…直流電源
32…インバータ主回路部
33…出力プリドライバ
Claims (9)
- 三相同期電動機と、
該三相同期電動機に交流電力を供給するとともに複数のスイッチング素子により構成されるインバータと、
前記三相同期電動機の三相巻線のうち、通電する2つの相を選択し、6通りの通電モードにて、パルス幅変調動作によって前記インバータを通電制御する制御器とを有し、
該制御器は、前記三相同期電動機の非通電相の端子電位,あるいは,前記三相同期伝送器の固定子巻線接続点電位(中性点電位)を検出し、該電位の検出値に基づいて前記通電モードを順次切り替える通電モード決定器を有する同期電動機の駆動システムであって、
前記制御器は、前記6通りの通電モードのそれぞれにおける通電相の線間電圧波形として、前記同期電動機に対して正回転のトルクを発生させる極性の正パルス電圧と、前記同期電動機に対して逆回転のトルクを発生させる逆パルス電圧と、零電圧の3種類の電圧の繰り返し波形を前記同期電動機に供給するために、前記同期電動機に対する印加電圧指令を補正する電圧指令補正器を備え、
前記通電相の線間電圧を前記同期電動機に印加することを特徴とする同期電動機の駆動システム。 - 請求項1記載の同期電動機の駆動システムにおいて、
前記非通電相の端子電位,あるいは,前記三相同期伝送器の固定子巻線接続点電位(中性点電位)の検出値に対して、通電相の前記正パルス電圧、ならびに前記負パルス電圧に同期してそれぞれのサンプリングを行い、
該サンプリング値を、それぞれの検出値に対する基準電圧とレベル比較し、
該レベル比較の結果に応じて、前記通電モードを正転方向、ならびに逆転方向に順次切り替えるモード切替トリガー信号を出力するモード切替トリガー発生器を備え、
前記制御器の前記通電モード決定器は、該モード切替トリガー発生器が出力するモード切替トリガー信号に基づいて、前記通電モードを順次切り替えることを特徴とする同期電動機の駆動システム。 - 請求項1記載の同期電動機の駆動システムにおいて、
前記制御器は、三角波キャリアと前記2つの通電相への印加電圧に相当する電圧指令とを比較してパルス幅変調を行うPWM発生器を備え、
前記電圧指令補正器は、前記2つの通電相電圧指令に対して、補正電圧を加えることで、前記正パルス、ならびに負パルスの電圧を生成することを特徴とする同期電動機の駆動システム。 - 請求項1記載の同期電動機の駆動システムにおいて、
前記制御器は、前記6通りの通電モードのそれぞれにおいて、前記正パルス電圧と前記負パルス電圧を交互に出力するものとし、かつ、前記正パルス電圧と負パルス電圧のパルス列の間に、零電圧を出力して、前記同期電動機に印加することを特徴とする同期電動機の駆動システム。 - 請求項1記載の同期電動機の駆動システムにおいて、
前記制御器は、前記6通りの通電モードのそれぞれにおいて、正パルス電圧と零電圧の2種類の電圧、あるいは負パルス電圧と零電圧を繰り返して前記同期電動機に印加し、かつ、該電圧の組み合わせを複数回の繰り返した後に、前記正パルス電圧あるいは負パルス電圧とは逆極性のパルス電圧を前記同期電動機に印加することを特徴とする同期電動機の駆動システム。 - 請求項4若しくは請求項5のいずれかに記載の同期電動機の駆動システムにおいて、
前記制御器は、前記同期電動機を低速から徐々に正回転方向に加速する際、前記通電相における負パルス電圧のパルス幅を変更せず、前記正パルス電圧のパルス幅を徐々に拡大して加速し、その後、負パルスの幅を徐々に短くして正転方向に加速するものとし、
あるいは、前記同期電動機を低速から徐々に逆回転方向に加速する際には、前記通電相における正パルス電圧のパルス幅を実質的に変更せず、前記負パルス電圧のパルス幅を徐々に拡大して加速し、その後、正パルスの幅を徐々に短くして逆転方向に加速することを特徴とする同期電動機の駆動システム。 - 請求項1に記載の同期電動機の駆動システムにおいて、
前記制御器は、マイクロプロセッサーを用い、
該マイクロプロセッサーに備えられた三相PWM機能の相補動作を用い、かつ、外付けゲートアレイ回路を用いて前記インバータの非通電相に相当する相の2つのスイッチングデバイスをオフすることを特徴とする同期電動機の駆動システム。 - 請求項1に記載の同期電動機の駆動システムにおいて、
前記制御器は、シングルチップ・マイコンを用い、
該シングルチップ・マイコンは、前記制御器から前記インバータに出力される6つのゲート信号のうち、通電相の2相は、それぞれ上下スイッチング素子を相補動作するパルスを出力し、残りの非通電相は上下のスイッチング素子をオフすることを特徴とする同期電動機の駆動システム。 - 請求項1に記載の同期電動機の駆動システムを備え、
前記同期電動機の負荷として、電動油圧ポンプを駆動することを特徴とする同期電動機を用いた電動油圧ポンプシステム。
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- 2011-07-26 US US13/816,296 patent/US8766575B2/en not_active Expired - Fee Related
- 2011-07-26 CN CN201180041779.6A patent/CN103081344B/zh not_active Expired - Fee Related
- 2011-07-26 WO PCT/JP2011/067002 patent/WO2012029451A1/ja active Application Filing
- 2011-07-26 JP JP2012531753A patent/JP5436681B2/ja not_active Expired - Fee Related
- 2011-07-26 EP EP11821469.1A patent/EP2613435B1/en not_active Not-in-force
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Cited By (11)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US8878480B2 (en) | 2011-09-01 | 2014-11-04 | Hitachi Automotive Systems, Ltd. | Synchronous motor drive system and synchronous motor |
JP2013223355A (ja) * | 2012-04-17 | 2013-10-28 | Hitachi Automotive Systems Ltd | 同期電動機の駆動システム |
EP2654200A3 (en) * | 2012-04-17 | 2015-12-02 | Hitachi Automotive Systems, Ltd. | Drive system for synchronous electrical motor |
WO2015182352A1 (ja) * | 2014-05-28 | 2015-12-03 | 日立オートモティブシステムズ株式会社 | 同期電動機の制御装置およびそれを用いたドライブシステム |
JP2015226375A (ja) * | 2014-05-28 | 2015-12-14 | 日立オートモティブシステムズ株式会社 | 同期電動機の制御装置およびそれを用いたドライブシステム |
US9923502B2 (en) | 2014-05-28 | 2018-03-20 | Hitachi Automotive Systems, Ltd. | Synchronous motor control apparatus and drive system using the same |
JP2019024465A (ja) * | 2017-08-03 | 2019-02-21 | グローブライド株式会社 | 電動リール |
JP2020156208A (ja) * | 2019-03-20 | 2020-09-24 | トヨタ自動車株式会社 | モータシステム |
JP7156118B2 (ja) | 2019-03-20 | 2022-10-19 | 株式会社デンソー | モータシステム |
WO2021235010A1 (ja) * | 2020-05-18 | 2021-11-25 | 日立Astemo株式会社 | モータ制御装置及びモータ制御方法 |
WO2024062936A1 (ja) * | 2022-09-22 | 2024-03-28 | 日立Astemo株式会社 | モータ制御装置及びモータ制御方法 |
Also Published As
Publication number | Publication date |
---|---|
US20130243625A1 (en) | 2013-09-19 |
EP2613435B1 (en) | 2015-09-09 |
JPWO2012029451A1 (ja) | 2013-10-28 |
EP2613435A4 (en) | 2014-06-25 |
JP5436681B2 (ja) | 2014-03-05 |
CN103081344A (zh) | 2013-05-01 |
CN103081344B (zh) | 2014-08-20 |
EP2613435A1 (en) | 2013-07-10 |
US8766575B2 (en) | 2014-07-01 |
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