WO2012124372A1 - 永久磁石式回転電機 - Google Patents
永久磁石式回転電機 Download PDFInfo
- Publication number
- WO2012124372A1 WO2012124372A1 PCT/JP2012/050989 JP2012050989W WO2012124372A1 WO 2012124372 A1 WO2012124372 A1 WO 2012124372A1 JP 2012050989 W JP2012050989 W JP 2012050989W WO 2012124372 A1 WO2012124372 A1 WO 2012124372A1
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- magnet type
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- type rotating
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- rotating electrical
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/12—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using detecting coils using the machine windings as detecting coil
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/12—Stationary parts of the magnetic circuit
- H02K1/14—Stator cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
-
- 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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
- H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/03—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with a magnetic circuit specially adapted for avoiding torque ripples or self-starting problems
Definitions
- This invention relates to a permanent magnet type rotating electrical machine that can detect the position of a rotor without a sensor (can be driven without a rotation sensor).
- an embedded magnet type motor having saliency is used (for example, Patent Document 2).
- a permanent magnet is embedded in a rotor core, and the stator core is formed as an integral structure, which is an opening shape, so that the initial magnetic pole position at the time of power-on can be detected.
- Patent Document 2 when the stator core has an integral structure, the state of magnetic saturation inside the core is easily changed by the load current of the motor. For this reason, the magnitude of the inductance of the motor changes depending on the load current, resulting in an increase in position detection error or step-out during sensorless driving, and there is a problem that it cannot be applied to positioning control.
- the present invention has been made to solve the above-described problems, and an object of the present invention is to obtain a permanent magnet type rotating electrical machine capable of detecting the position of a rotor with high accuracy during sensorless driving.
- a permanent magnet type rotating electrical machine includes a rotor having a plurality of magnetic poles arranged at equal intervals, and a stator having a plurality of teeth and armature windings, and torque is applied to the armature windings.
- This is a permanent magnet type rotating electrical machine in which a high frequency voltage having a different frequency and amplitude is applied to the voltage to be generated, and the magnetic pole position of the rotor is estimated using a current locus of the measured high frequency current.
- the permanent magnet type rotating electrical machine of the present invention when the high frequency current measured when the high frequency voltage is applied is dq converted, the current locus on the dq axis becomes an elliptical shape, and the load current and rotation The angle variation width of the major axis of the ellipse with respect to the child position is formed so as to obtain a predetermined position estimation resolution. Therefore, it is possible to obtain a permanent magnet type rotating electrical machine that can detect the position of the rotor with high accuracy during sensorless driving.
- the slot opening ratio, the salient pole ratio of the rotating electrical machine corresponding to the ratio of the major axis to the minor axis of the current locus, and the major axis of the current locus ellipse It is explanatory drawing which shows the relationship with the fluctuation
- FIG. 1 is a general explanatory diagram showing a method for detecting the magnetic pole position of a permanent magnet type rotating electrical machine.
- a permanent magnet type rotating electrical machine is applied with a driving voltage superimposed with a high frequency voltage for detecting the magnetic pole position, and the magnetic pole position is estimated by processing the measured current waveform of each phase current. .
- the ideal inductance distribution is an ideal sine wave shape having a vibration component of 2 times at an electrical angle of 360 degrees, and does not cause phase shift or distortion even when the load current changes. It is. Therefore, the current waveform with respect to the rotor position at the time of applying the high frequency voltage also has an ideal sine wave shape having a vibration component twice at an electrical angle of 360 degrees.
- the inductance distribution does not cause a phase shift or distortion depending on the load current, so that when the load current is energized, an ellipse shifted in the q-axis direction that is the drive current direction. A trajectory will be drawn. However, after the q-axis current offset processing for the drive current is performed, the current locus becomes the same elliptical locus both when there is no load and when it is loaded.
- FIG. 4 shows an actual inductance distribution obtained as a result of the investigation on the rotor position of an actual permanent magnet type rotating electrical machine.
- the actual inductance distribution includes a high frequency component (distortion component) in the inductance distribution, and thus has a shape different from an ideal sine wave shape, and the magnitude of the amplitude of the inductance distribution depends on the magnitude of the energization current. It can be seen that a phase shift occurs.
- the current locus after the offset processing for the drive current is performed is shown in FIG.
- FIG. 6 in an actual permanent magnet type rotating electrical machine, the ellipse is inclined even when there is no load due to the non-sinusoidal inductance (the major axis of the ellipse rotates), and the ellipse is further inclined during load. You can see that it changes.
- an error at the time of magnetic pole position estimation becomes large, and positioning control cannot be executed with high accuracy.
- a permanent magnet type rotating electrical machine that applies a high frequency voltage having a frequency and amplitude different from a voltage for generating torque to the armature winding and estimates the magnetic pole position of the rotor using a current locus of the high frequency current.
- the motor performance condition (current response condition) necessary for the rotation sensorless drive is clarified based on the sensorless drive theory described above.
- the current response conditions required for the rotation sensorless drive must satisfy the following conditions 1 to 3 at the same time. I understood.
- condition 1 the current locus on the dq axis of the high-frequency current has an elliptical shape
- the error of the normal sensor is about ⁇ 3%.
- the ratio of the major axis to the minor axis of the ellipse (motor salient pole ratio) is 5% or less, in the worst case, the difference between the currents on the dq axis is buried in the sensor error, and the position is estimated. May not be able to run.
- the elliptical shape of the current locus corresponds to the fact that the inductance distribution has a fundamental wave component, and corresponds to the fact that the permanent magnet type rotating electrical machine has saliency.
- condition 2 reducing the angular fluctuation range of the major axis of the ellipse with respect to the load current
- the magnetic field analysis of the permanent magnet type rotating electrical machine and the simulation of the rotation sensorless drive resulted in the angular fluctuation range of the load current. Is proportional to the number of pole pairs of the motor and inversely proportional to the resolution of the magnetic pole position detection and the torque pulsation rate of the motor.
- the q-axis current also has a fluctuation of ⁇ B / 2 during a constant speed control. appear. Therefore, it is necessary to set the position error so as to be within the range of the magnetic pole position detection resolution A, and the condition can be expressed by the following equation (1).
- the fluctuation range H of the inclination of the ellipse at no load and at the rated load needs to be a value represented by the following equation (2).
- the fluctuation range S with respect to the long axis rotor position of the current locus ellipse needs to be a value represented by the following equation (4).
- the above description is the current response condition of the motor suitable for the rotation sensorless drive.
- the target resolution in the rotation sensorless drive is 200 pulses / rotation or more
- the motor torque pulsation width is 0.1 (10%)
- the inductance distribution has a non-sinusoidal shape due to the generation of harmonic components accompanying magnetic saturation and slots, so the magnetic structure for optimizing the inductance distribution was unknown. Therefore, for the permanent magnet type rotating electric machine suitable for the rotation sensorless drive that satisfies all the above conditions 1 to 3 at the same time, the rotor and stator shapes were examined by magnetic field analysis. A representative example of the result of magnetic field analysis is shown in FIG.
- FIG. 7 shows that it is necessary to select the IPM structure in order to satisfy the condition 1.
- a 10-pole 12-slot structure may be selected with the SPM structure.
- the saliency of condition 1 cannot be ensured, so that it cannot be applied to rotation sensorless driving.
- a permanent magnet type rotating electrical machine that can satisfy all of the conditions 1 to 3 simultaneously has an IPM structure, 10 poles and 12 slots, and a slot opening width ratio of 0.6 or more. I understood.
- the structure of the permanent magnet type rotating electrical machine according to the first embodiment of the present invention will be described in detail.
- FIG. 8 is a cross-sectional view showing the structure of the permanent magnet type rotating electric machine according to Embodiment 1 of the present invention.
- this permanent magnet type rotating electrical machine includes a stator 10 and a rotor 20.
- the stator 10 has a stator core 11 and an armature winding 12, and the rotor 20 has a rotor core 21 and a permanent magnet 22.
- the permanent magnets 22 are inserted into ten holes provided at equal intervals in the circumferential direction on the inner side of the outer peripheral surface of the rotor core 21.
- a stator core 11 having cylindrical teeth provided with an armature winding 12 that generates a rotating magnetic field for rotating the rotor 20 is divided into N stator blocks in the circumferential direction.
- the stator core 11 is set so as to satisfy the following expression (5).
- FIG. 9 shows the relationship between the slot opening ratio and the phase shift (inductance phase shift) between the major axis at the time of no load and the major axis at the time of loading of the current locus ellipse by magnetic field analysis.
- the relationship between the slot opening ratio, the salient pole ratio of the rotating electrical machine corresponding to the ratio of the major axis to the minor axis of the current locus, and the variation of the major axis of the current locus ellipse with respect to the rotor position is calculated.
- the slot opening ratio was a value represented by the following equation (6).
- the phase shift between the no-load major axis and the loaded major axis of the current trajectory ellipse is reduced while ensuring the ratio of the major axis to the minor axis of the current locus ellipse of 1.06 or more.
- the slot opening ratio is optimally 0.6 or more. This is because by increasing the slot opening ratio, the slot leakage magnetic flux can be reduced, and the change in the state of magnetic saturation inside the stator core 11 due to the load current and the rotor position can be suppressed. .
- the lower limit value of the slot opening ratio is set to 0.6.
- the slot opening ratio is further increased, the ratio between the major axis and the minor axis of the ellipse of the current locus becomes larger, and the current locus ellipse is reduced. It is possible to reduce the phase shift between the long axis under load and the long axis under load, and to reduce the fluctuation of the long axis of the current locus ellipse with respect to the rotor position. Therefore, it can be seen that the closer the slot opening ratio is to 1.0, the more suitable the motor is for rotation sensorless driving.
- the circumferential size Lb of the teeth is set to satisfy the following equation (7), where D is the inner diameter dimension of the stator core 11 and N is the number of circumferential divisions of the stator block.
- FIG. 11 shows the calculated values.
- the slot opening ratio was a value represented by the following equation (8).
- the ratio of the major axis to the minor axis of the ellipse of the current locus is the teeth width ratio.
- the number increases rapidly at 0.57 or less. This is because the change in the state of magnetic saturation inside the stator core 11 due to the load current and the rotor position can be suppressed by reducing the teeth width ratio. It can be seen that the motor is suitable for sensorless driving.
- Embodiment 1 of the present invention the stator core 11 is divided in the circumferential direction, and the magnetic characteristics in the divided portion of the stator 10 are also deteriorated, so that the iron core can be stably magnetically saturated. Also by this, the change of the magnetic saturation state in the stator core 11 due to the load current and the rotor position can be suppressed.
- stable magnetic saturation of the iron core suppresses changes in the state of magnetic saturation inside the stator core 11, and the current locus ellipse has a long axis at no load and a long axis at load.
- the phase shift can be reduced, and the fluctuation of the long axis of the current locus ellipse with respect to the rotor position can be reduced.
- P and N are set so that P / (the greatest common divisor of P and N) is an odd number.
- the current locus on the dq axis becomes elliptical, and the load current and rotation
- the angle variation width of the major axis of the ellipse with respect to the child position is formed so as to obtain a predetermined position estimation resolution. Therefore, it is possible to obtain a permanent magnet type rotating electrical machine that can detect the position of the rotor with high accuracy during sensorless driving.
- FIG. FIG. 12 is a cross-sectional view showing the structure of the permanent magnet type rotating electric machine according to the second embodiment of the present invention.
- R0 and R1 are set to satisfy R0> R1.
- the magnetomotive high-frequency magnetic flux of the rotor 20 can be reduced, and the fluctuation of the major axis of the current locus ellipse with respect to the rotor position can be reduced.
- the position dependency of the inductance can be further reduced.
- the magnetic pole position can be estimated without using a motor rotation detecting device such as an optical encoder or a resolver. Therefore, it is possible to reduce the number of parts and failure elements, and it is possible to achieve high reliability and cost reduction. It is also possible to use in combination with an optical encoder or resolver.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
- Iron Core Of Rotating Electric Machines (AREA)
- Control Of Ac Motors In General (AREA)
- Permanent Magnet Type Synchronous Machine (AREA)
- Permanent Field Magnets Of Synchronous Machinery (AREA)
Abstract
Description
そのため、センサレス駆動時に回転子の位置を高精度に検出することができる永久磁石式回転電機を得ることができる。
まず、図1を参照しながら、永久磁石式回転電機のセンサレス駆動時における磁極位置の検出方法について説明する。図1は、永久磁石式回転電機の磁極位置の検出方法を示す一般的な説明図である。図1において、永久磁石式回転電機には、磁極位置検出用の高周波電圧が重畳された駆動電圧が印加され、測定された各相電流の電流波形を処理することによって、磁極位置が推定される。
そのため、センサレス駆動時に回転子の位置を高精度に検出することができる永久磁石式回転電機を得ることができる。
図12は、この発明の実施の形態2に係る永久磁石式回転電機の構造を示す断面図である。図12において、回転子20の外半径をR0とし、回転子20表面の曲率半径をR1とすると、R0およびR1を、R0>R1となるように設定している。
Claims (4)
- 複数の磁極が等間隔に配置された回転子と、
複数のティースおよび電機子巻線を有する固定子と、を備え、
前記回転子は、回転子鉄心の外周面よりも内側に、周方向に等間隔に設けられたP個の孔に挿入された永久磁石を有し、
前記固定子は、前記回転子を回転させるための回転磁界を発生する前記電機子巻線が設けられた円筒形状のN個のティースを有する固定子鉄心が、周方向にN個の固定子ブロックに分割され、
周方向に隣り合う前記固定子鉄心の先端部間の周方向隙間をLaとし、前記ティースの周方向の大きさをLbとし、前記固定子鉄心の内径寸法をDとした場合に、0.6<La/(πD/N-Lb)<1.0となるように設定されるとともに、PおよびNが、P/(PとNとの最大公約数)が奇数となるように設定されている
永久磁石式回転電機。 - 前記固定子のティースの周方向の大きさLbが、0.57<Lb/(πD/N)となるように設定されている
請求項1に記載の永久磁石式回転電機。 - 前記回転子の外半径をR0とし、前記回転子表面の曲率半径をR1とした場合に、R0およびR1が、R0>R1となるように設定されている
請求項1または請求項2に記載の永久磁石式回転電機。 - 回転検出装置を用いずに、位置決め制御が実行される
請求項1から請求項3までの何れか1項に記載の永久磁石式回転電機。
Priority Applications (6)
Application Number | Priority Date | Filing Date | Title |
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KR1020137026035A KR101506417B1 (ko) | 2011-03-15 | 2012-01-18 | 영구 자석식 회전 전기 기기 |
JP2013504586A JP5329005B2 (ja) | 2011-03-15 | 2012-01-18 | 永久磁石式回転電機 |
US14/005,429 US9537380B2 (en) | 2011-03-15 | 2012-01-18 | Permanent-magnet type rotating electrical machine |
DE112012001251T DE112012001251T5 (de) | 2011-03-15 | 2012-01-18 | Drehende elektrische Maschine des Permanentmagnettyps |
CN201280013582.6A CN103444053B (zh) | 2011-03-15 | 2012-01-18 | 永磁铁式旋转电机 |
TW101102492A TWI462435B (zh) | 2011-03-15 | 2012-01-20 | 永久磁鐵式旋轉電機 |
Applications Claiming Priority (2)
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JP2011056677 | 2011-03-15 | ||
JP2011-056677 | 2011-03-15 |
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PCT/JP2012/050989 WO2012124372A1 (ja) | 2011-03-15 | 2012-01-18 | 永久磁石式回転電機 |
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US (1) | US9537380B2 (ja) |
JP (1) | JP5329005B2 (ja) |
KR (1) | KR101506417B1 (ja) |
CN (1) | CN103444053B (ja) |
DE (1) | DE112012001251T5 (ja) |
TW (1) | TWI462435B (ja) |
WO (1) | WO2012124372A1 (ja) |
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JP5619225B1 (ja) * | 2013-07-04 | 2014-11-05 | 東芝エレベータ株式会社 | 同期電動機の制御装置 |
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CN104253498A (zh) * | 2013-06-27 | 2014-12-31 | 株式会社安川电机 | 旋转电机、旋转电机的控制器及旋转电机的控制方法 |
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JP5619225B1 (ja) * | 2013-07-04 | 2014-11-05 | 東芝エレベータ株式会社 | 同期電動機の制御装置 |
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Also Published As
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US20140001908A1 (en) | 2014-01-02 |
US9537380B2 (en) | 2017-01-03 |
TW201238212A (en) | 2012-09-16 |
CN103444053B (zh) | 2016-04-13 |
DE112012001251T5 (de) | 2013-12-05 |
KR101506417B1 (ko) | 2015-03-26 |
JPWO2012124372A1 (ja) | 2014-07-17 |
CN103444053A (zh) | 2013-12-11 |
KR20130127532A (ko) | 2013-11-22 |
TWI462435B (zh) | 2014-11-21 |
JP5329005B2 (ja) | 2013-10-30 |
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