WO2013124991A1 - 電動機の磁極位置推定装置およびそれを用いた制御装置 - Google Patents
電動機の磁極位置推定装置およびそれを用いた制御装置 Download PDFInfo
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- WO2013124991A1 WO2013124991A1 PCT/JP2012/054300 JP2012054300W WO2013124991A1 WO 2013124991 A1 WO2013124991 A1 WO 2013124991A1 JP 2012054300 W JP2012054300 W JP 2012054300W WO 2013124991 A1 WO2013124991 A1 WO 2013124991A1
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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
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
Definitions
- the disclosed embodiment relates to a magnetic pole position estimation device for an electric motor and a control device using the same.
- a magnetic pole position estimation device that estimates the magnetic pole position of a motor having saliency is known, and as such a magnetic pole position estimation device, a magnetic pole position of an electric motor is estimated by superimposing a harmonic component on a PWM signal. It has been known.
- each phase of a three-phase winding is defined as one period of three consecutive carrier cycles, and a period of 1/3 (the first The original command value is tripled in one carrier wave cycle, and the high frequency component is superimposed in the remaining 2/3 period (two remaining carrier cycles) to estimate the magnetic pole position of the motor.
- the original command value for driving the electric motor can be updated only every three periods of the carrier wave.
- One aspect of the embodiments has been made in view of the above, and a magnetic pole position estimation device and an electric motor that can estimate the magnetic pole position without affecting the update period of the voltage command for driving the electric motor
- An object of the present invention is to provide a control device.
- the motor control device includes a superimposed component generation unit, an inverter unit, a current detection unit, and a magnetic pole position estimation unit.
- the superimposition component generation unit generates a superimposition voltage command whose vector direction in the coordinate system set on the stator of the motor is 90 degrees different from the superimposition voltage command generated last time at a predetermined cycle.
- the inverter unit outputs a drive voltage based on a drive voltage command on which the superimposed voltage command is superimposed to the electric motor.
- the current detection unit detects a current flowing through each phase of the electric motor at the predetermined period, and outputs a current detection value.
- the magnetic pole position estimation unit detects the magnetic pole position of the electric motor based on the amount of change in the detected current value.
- a magnetic pole position estimation device for a motor that can estimate a magnetic pole position without affecting the update period of a voltage command for driving the motor and a control device using the same are provided. can do.
- FIG. 1 is a diagram illustrating a configuration of a motor control device according to a first embodiment.
- FIG. 2A is a diagram for explaining the space vector modulation method.
- FIG. 2B is a diagram for explaining the space vector modulation method.
- FIG. 3 is a diagram illustrating an example of the relationship between the voltage vector and ⁇ in the ⁇ axis coordinate system.
- FIG. 4 is a diagram showing changes in the time period of the pilot voltage.
- FIG. 5 is a flowchart showing pilot voltage generation processing of the superimposed component generation unit.
- FIG. 6 is a diagram illustrating a change in the ⁇ -axis component of the pilot voltage output from the superimposed component generation unit.
- FIG. 7 is a diagram illustrating a configuration of the magnetic pole position estimation unit.
- FIG. 1 is a diagram illustrating a configuration of a motor control device according to a first embodiment.
- FIG. 2A is a diagram for explaining the space vector modulation method.
- FIG. 2B is a diagram for
- FIG. 8 is a flowchart showing the magnetic pole position estimation processing of the magnetic pole position estimation unit.
- FIG. 9 is a diagram illustrating the relationship between the pilot voltage and the carrier wave.
- FIG. 10 is a diagram illustrating a configuration of a control device according to the second embodiment.
- FIG. 11 is a diagram illustrating an example of the relationship between the voltage vector and ⁇ according to the second embodiment.
- FIG. 12 is a diagram illustrating a change in the time period of the pilot voltage according to the second embodiment.
- FIG. 13 is a diagram illustrating a change in the ⁇ -axis component of the pilot voltage according to the second embodiment.
- FIG. 14 is a flowchart illustrating pilot voltage generation processing of the superimposed component generation unit according to the second embodiment.
- FIG. 15 is a diagram illustrating a configuration of a magnetic pole position estimation unit according to the second embodiment.
- FIG. 16 is a flowchart showing the magnetic pole position estimation processing of the magnetic pole position estimation unit according to the second embodiment.
- the motor control device includes a magnetic pole position estimation device.
- the motor control device is simply referred to as “control device”.
- this invention is not limited by embodiment shown below.
- FIG. 1 is a diagram illustrating a configuration of a control device according to the first embodiment.
- the control device 1 includes an inverter unit 10, a current detection unit 20, and a control unit 30.
- the control device 1 is connected between the DC power source 2 and the motor 3, converts the DC voltage Vdc supplied from the DC power source 2 into an AC voltage by the inverter unit 10, and outputs the AC voltage to the motor 3. Make it work.
- the electric motor 3 is an electric motor having saliency, and includes a stator 3a having an armature winding and a rotor 3b in which a plurality of permanent magnets are embedded in a rotor core and arranged in the circumferential direction.
- Examples of the electric motor 3 include an embedded permanent magnet synchronous motor (Interior Permanent Magnet Synchronous Motor).
- the inverter unit 10 includes switching elements Q1 to Q6, diodes D1 to D6, and a smoothing capacitor C1. Switching elements Q1 to Q6 are connected in a three-phase bridge, and diodes D1 to D6 are connected in antiparallel to switching elements Q1 to Q6, respectively.
- the switching elements Q1 to Q6 are controlled based on the drive signals S1 to S6 output from the control unit 30, and a voltage corresponding to the drive signals S1 to S6 (hereinafter referred to as drive voltage) is supplied to the electric motor. Output to 3.
- semiconductor elements such as IGBTs and MOSFETs are used as the switching elements Q1 to Q6.
- the current detection unit 20 detects currents flowing in the U-phase, V-phase, and W-phase between the inverter unit 10 and the electric motor 3, and the current detection values I U , I V , I W are detected as the detection results. Output.
- the detected current value I U is an instantaneous value of the U-phase current
- the detected current value IV is an instantaneous value of the V-phase current
- the detected current value I W is an instantaneous value of the W-phase current.
- a current sensor using a Hall element that is a magnetoelectric conversion element can be used as the current detection unit 20.
- the control unit 30 includes a three-phase / two-phase coordinate conversion unit 31, a rotation coordinate conversion unit 32, a current command output unit 33, a current control unit 34, a counter unit 35, a superimposed component generation unit 36, and an addition unit. 37, 38, a drive signal generator 39, and a magnetic pole position estimator 40.
- the control unit 30 has a function as a magnetic pole position estimation device, and can estimate the magnetic pole position ⁇ of the rotor 3b in the electric motor 3 (hereinafter sometimes referred to as the magnetic pole position ⁇ of the electric motor 3).
- the three-phase / two-phase coordinate conversion unit 31 converts the current detection values I u , I V , and I W into two orthogonal ⁇ -axis components on fixed coordinates, and detects the current detection value I ⁇ in the ⁇ -axis direction. obtain a current vector of the ⁇ -axis coordinate system with beta axial current detection value I beta and vector components.
- the ⁇ axis coordinate system is an orthogonal coordinate system set on the stator 3a of the electric motor 3, and is also called a stator coordinate system.
- the current detection unit 20 may be provided with a three-phase / two-phase coordinate conversion unit 31.
- the rotational coordinate conversion unit 32 performs coordinate conversion on the components of the ⁇ axis coordinate system output from the three-phase / two-phase coordinate conversion unit 31 based on the magnetic pole position ⁇ of the electric motor 3. As a result, the rotation coordinate conversion unit 32 calculates the q-axis current detection value I q and the d-axis current detection value I d that are the q-axis component and the d-axis component of the dq-axis rotation coordinate system that rotates corresponding to the rotor 3b. Obtained and output to the current control unit 34.
- the magnetic pole position ⁇ of the electric motor 3 is a magnetic pole position viewed from the ⁇ axis coordinate system.
- the current command output unit 33 generates a q-axis current command I q * and a d-axis current command I d * based on a torque command T * input from the outside and outputs the q-axis current command I d * to the current control unit 34.
- the q-axis current command I q * is a q-axis component current command
- the d-axis current command I d * is a d-axis component current command.
- the current control unit 34 Based on the q-axis current command I q * , the d-axis current command I d * , the q-axis current detection value I q , the d-axis current detection value I d, and the magnetic pole position ⁇ of the motor 3, the current control unit 34 The ⁇ axis command component V ⁇ * and ⁇ axis command component V ⁇ * of the system are generated and output as drive voltages.
- the current control unit 34 adjusts the q-axis voltage command V q * so that the deviation between the q-axis current command I q * and the q-axis current detection value I q becomes zero, and the d-axis current command
- the d-axis voltage command V d * is adjusted so that the deviation between I d * and the detected d-axis current value I d is zero.
- the current control unit 34 converts the q-axis voltage command V q * and the d-axis voltage command V d * into the components of the ⁇ -axis coordinate system based on the magnetic pole position ⁇ of the electric motor 3, and the drive voltage command ⁇
- An axis command component V ⁇ * and a ⁇ axis command component V ⁇ * are generated.
- the superimposition component generation unit 36 uses a voltage vector V h (hereinafter sometimes referred to as a pilot voltage V h ) as a superimposition voltage command for superimposing the ⁇ -axis command component V ⁇ * and the ⁇ -axis command component V ⁇ * . Generate. Specifically, superimposed component generating unit 36, for each predetermined cycle, orientation vector in the ⁇ -axis coordinate system to generate a 90-degree different pilot voltage V h for the pilot voltage V h generated last.
- pilot voltage V h is the ⁇ -axis command component V .alpha.h is ⁇ -axis component, constituted by the ⁇ -axis command component V Betah a ⁇ -axis component.
- the adding unit 37 adds the ⁇ -axis command component V ⁇ * input from the current control unit 34 and the ⁇ -axis command component V ⁇ h input from the superimposed component generating unit 36, and generates an ⁇ -axis command component V ⁇ 1 *. Is output to the drive signal generator 39. Further, the adding unit 38 adds the ⁇ -axis command component V ⁇ * input from the current control unit 34 and the ⁇ -axis command component V ⁇ h input from the superimposed component generating unit 36 to generate the ⁇ -axis command component V ⁇ 1 * is output to the drive signal generator 39.
- the drive signal generation unit 39 drives the inverter unit 10 using the space vector modulation method based on the ⁇ -axis command component V ⁇ 1 * and ⁇ -axis command component V ⁇ 1 * output from the addition units 37 and 38. ⁇ S6 are generated.
- FIG. 2A and 2B are diagrams for explaining the space vector modulation method.
- an arbitrarily set time period T S is represented by 2T V.
- FIG. 2A shows voltage vectors V 0 to V 7 in the space vector modulation.
- the command vector Vs * is formed using two adjacent voltage vectors V 1 and V 2 .
- Voltage vector V 1 (100) turns U-phase upper switching element Q1 ON, U-phase lower switching element Q4 OFF, and V-phase and W-phase upper switching elements Q2 and Q3 OFF in inverter unit 10.
- the lower switching elements Q5 and Q6 of the V phase and the W phase are turned on.
- voltage vector V 2 (110) turns U-phase and V-phase upper switching elements Q1, Q2 ON, U-phase and V-phase lower switching elements Q4, Q5, and W-phase upper switching elements.
- Q3 is turned OFF, and the W-phase lower switching element Q6 is turned ON.
- the switching state of each phase in the time period T is as shown in FIG. 2B.
- the ON times t 1 and t 2 shown in FIG. 2B are calculated by the following formulas (1) and (2).
- ⁇ V is the phase angle from the voltage vector V 1 to the voltage command vector Vs *
- is the amplitude of the voltage command vector Vs *
- V max is the inverter unit. 10 maximum output voltage.
- the voltage command vector Vs * is updated every half cycle T V of the arbitrarily set time cycle T S , and the OFF times t 0 and t 7 are turned on from the half cycle T V. The remaining time obtained by subtracting t 1 and t 2 is divided and set. Similarly, the voltage command vector Vs * is set in the other quadrants.
- the magnetic pole position estimation unit 40 estimates the magnetic pole position ⁇ of the electric motor 3 based on the amount of change in the current detection values I ⁇ and I ⁇ input from the three-phase / two-phase coordinate conversion unit 31, and uses the estimation result as the rotation coordinates.
- the data is output to the conversion unit 32 and the current control unit 34.
- the control device 1 uses the pilot voltage V h generated by the superimposed component generation unit 36 in a predetermined cycle and having a phase different by 90 degrees, and the drive voltage command for driving the motor 3 using the current flowing in each phase of the motor 3.
- the magnetic pole position ⁇ of the electric motor 3 can be easily estimated without affecting the update cycle.
- the estimation of the magnetic pole position ⁇ will be described more specifically.
- the current / voltage equation in the ⁇ -axis coordinate system can be expressed as the following equation (3).
- V ⁇ and V ⁇ indicate the components of the voltage of the electric motor 3 in the ⁇ axis coordinate system.
- I ⁇ and I ⁇ indicate the components of the current flowing through the motor 3 in the ⁇ axis coordinate system.
- R represents the armature resistance of the motor 3
- L and l represent the inductance of the armature reaction of the motor 3.
- K e represents the induced voltage constant of the electric motor 3
- ⁇ r represents the magnetic pole rotation speed.
- the pilot voltage Vh is included in the drive voltage based on the q-axis voltage command Vq * and the d-axis voltage command Vd * , which are drive voltage commands, as the output voltage of the inverter unit 10.
- Vq * the q-axis voltage command
- Vd * the d-axis voltage command
- FIG. 3 is a diagram illustrating an example of the relationship between voltage vectors V h0 and V h1 and ⁇ in the ⁇ axis coordinate system.
- the voltage vector V h0 is a vector having a phase difference ⁇ [deg] in the positive direction of the ⁇ -axis and an amplitude V inj1 (> 0), and is represented by the following equation (4).
- the voltage vector V h1 is a vector having a phase difference ⁇ + 90 [deg] in the positive direction of the ⁇ -axis and an amplitude V inj1 (> 0), and is represented by the following equation (5).
- T V is the update cycle of the drive signal generating unit 39 that performs spatial vector modulation.
- Figure 4 is a graph showing changes in the time period T of the pilot voltage V h. Therefore, the average voltage in the time period T can be set to 0, thereby reducing the torque ripple.
- FIG. 5 is a diagram illustrating changes in V ⁇ h and V ⁇ h that are ⁇ -axis components of the pilot voltage V h output from the superimposed component generation unit 36
- FIG. 6 illustrates a pilot voltage generation process of the superimposed component generation unit 36. It is a flowchart which shows.
- the superimposition component generation unit 36 relies on the count value CNT of the counter unit 35 that repeatedly outputs the count value CNT in the order of 0, 1, 2, 3, and the ⁇ -axis component and ⁇ of the pilot voltage V h
- An ⁇ -axis command component V ⁇ h and a ⁇ -axis command component V ⁇ h that are axis components are generated.
- superimposed component generator 36 in ⁇ -axis coordinate system, and to generate a pilot voltage V h which is a direction of 90 degrees with respect to the pilot voltage V h previously generated every time period T v .
- superimposed component generator 36 in ⁇ -axis coordinate system can also generate a pilot voltage V h which is a direction of -90 degrees relative to the pilot voltage V h previously generated every time period T v.
- the magnetic pole position estimation unit 40 as it is possible to detect the current corresponding to the pilot voltage V h generated by the superimposed component generating unit 36, has elapsed since the count value CNT of the counter unit 35 is changed a predetermined time Later, the count value CNT is determined.
- FIG. 7 is a diagram illustrating a configuration of the magnetic pole position estimation unit 40.
- the magnetic pole position estimation unit 40 includes difference calculation units 50 and 51, one sample delay units 52 and 53, and a ⁇ calculation unit 54, and operates using T / 4 as a sample period.
- the one-sample delay unit 52 delays the difference value ⁇ I ⁇ output from the difference calculation unit 50 by one sample time, and outputs it to the ⁇ calculation unit 54. Further, the one-sample delay unit 53 delays the difference value ⁇ I ⁇ output from the difference calculation unit 51 by one sample time, and outputs it to the ⁇ calculation unit 54.
- FIG. 8 is a flowchart showing the magnetic pole position estimation processing of the magnetic pole position estimation unit 40.
- ⁇ I ⁇ h2 I ⁇ h2 -I ⁇ h1
- ⁇ I ⁇ h2 I ⁇ h2 -I ⁇ h1
- ⁇ I ⁇ h1 I ⁇ h1 -I ⁇ h0
- ⁇ I ⁇ h1 I ⁇ h1 -I ⁇ h0 .
- the magnetic pole position estimation unit 40 determines the count value CNT of the counter unit 35 (step S20).
- the magnetic pole position estimation unit 40 calculates the magnetic pole position ⁇ based on the following equation (18) (step S21).
- the following equation (18) is obtained by approximating the current first-order derivative with the current difference in the above equation (13).
- the magnetic pole position estimation unit 40 calculates the magnetic pole position ⁇ based on the following formula (19) (step S22).
- the following equation (19) is obtained by approximating the current first-order derivative with the current difference in the above equation (14).
- the magnetic pole position estimation unit 40 calculates the magnetic pole position ⁇ based on the following equation (20) (step S23).
- the following equation (20) is obtained by approximating the current first-order derivative with the current difference in the above equation (15).
- the magnetic pole position estimation unit 40 calculates the magnetic pole position ⁇ based on the following equation (21) (step S24).
- the following equation (21) is obtained by approximating the current first-order derivative with the current difference in the above equation (16).
- the control device 1 includes the superimposed component generation unit 36 and the magnetic pole position estimation unit 40.
- Superimposed component generating unit 36 generates a pilot voltage V h as a direction parallel vector for ⁇ axis or ⁇ axes of the ⁇ -axis coordinate system, and the pilot voltage V h to the direction of the vector previously generated A pilot voltage V h different by 90 degrees is generated at a predetermined period.
- the pilot voltage V h generated by the superimposed component generation unit 36 is superimposed on the drive voltage command as a superimposed voltage command and input to the inverter unit 10. Thereby, the inverter part 10 outputs a drive voltage with respect to the electric motor 3 based on the drive voltage command on which the superimposed voltage command was superimposed.
- the magnetic pole position estimation unit 40 detects the current flowing through each phase of the electric motor 3 at a predetermined period, and estimates the magnetic pole position ⁇ of the electric motor 3 based on the current change amount of each phase.
- control device 1 can generate the desired pilot voltage V h at every predetermined period, and can estimate the magnetic pole position ⁇ based on the current change amount of each phase of the electric motor 3.
- the magnetic pole position ⁇ can be easily estimated, and the update period of the drive voltage command for driving the electric motor 3 is not affected. . Moreover, it is possible to estimate the magnetic pole position ⁇ of the time electric motor 3 for 3/4 of the time period T from the start of superimposition of the pilot voltage V h , and repeatedly at the time of 1/4 of the time period T, Therefore, the responsiveness of the magnetic pole position estimation can be improved.
- the drive signal generation unit 39 generates the drive signals S1 to S6 for driving the inverter unit 10 using the space vector modulation method.
- the drive signal generation unit 39 uses the carrier wave comparison modulation method (PWM modulation).
- PWM modulation carrier wave comparison modulation method
- the drive signals S1 to S6 may be generated using a method.
- the counter unit 35 sets the time period T to be twice as long as the time period Tc of the carrier wave, and changes the count value CNT by setting the time period T to four periods.
- the timing at which the counter unit 35 changes the count value CNT is a peak and a valley of the carrier wave as shown in FIG.
- FIG. 9 shows the relationship between the pilot voltage V h ( ⁇ -axis command component V ⁇ h and ⁇ -axis command component V ⁇ h ) and the carrier when the drive signals S 1 to S 6 are generated by the carrier signal comparison modulation method in the drive signal generator 39. It is a figure which shows a relationship.
- the drive signal generation unit 39 obtains output voltage commands V U * , V V * , and V W * based on the ⁇ -axis command component V ⁇ 1 * and the ⁇ -axis command component V ⁇ 1 * input from the addition units 37 and 38. .
- the drive signal generation unit 39 compares the output voltage commands V U * , V V * , V W * and the carrier wave of the time period T c to generate drive signals S1 to S6 that are PWM signals, and an inverter unit 10 is output.
- the position ⁇ is estimated.
- the drive signals S1 to S6 are generated using the carrier wave comparison modulation method in the drive signal generation unit 39, the drive signals S1 to S6 are generated using the space vector modulation method.
- the magnetic pole position ⁇ of the electric motor 3 can be easily estimated.
- the time period T 4T V
- the length is not limited to such an example.
- the time period T 4 mT V (m is an integer of 2 or more)
- the time period T 2 mT c (m is 2). Or an integer greater than or equal to).
- the superimposition component generation unit 36 generates the pilot voltage V h at a predetermined period so that the phase difference differs by 90 degrees in the positive direction.
- the superimposition component generation unit 36 generates the pilot voltage V h.
- the generation method is not limited to this.
- the superimposition component generation unit 36 may generate the pilot voltage V h at a predetermined period so that the direction of the vector in the ⁇ axis coordinate system has a phase difference of 90 degrees in the negative direction.
- torque ripple can be reduced, and the magnetic pole position ⁇ of the electric motor 3 can be estimated by a simpler arithmetic expression.
- the superimposed component generation unit 36 may reverse the direction of the pilot voltage V h having a phase difference of 90 degrees between the positive direction and the negative direction every period mT (m is a natural number). Torque ripple can be reduced.
- superimposed component generating unit 36 may generate a different pilot voltage V h alternating phase difference positive and negative directions.
- V h pilot voltage
- the magnetic pole position estimation unit 40 can similarly estimate the magnetic pole position ⁇ by providing a filter that removes the induced voltage component of the electric motor 3. .
- the counter unit 35 outputs the count value CNT to the superimposed component generation unit 36 and the magnetic pole position estimation unit 40.
- the count value CNT is output to the superimposed component generation unit 36 and the magnetic pole position estimation unit 40, respectively.
- a counter to be generated may be provided.
- the configuration of the two-level inverter (FIG. 1) has been described as an example of the inverter unit 10.
- a multi-level inverter such as a three-level inverter or a matrix converter can be used as the inverter unit 10.
- Various changes are possible.
- control device is different from the control device 1 according to the first embodiment in that a method for generating the pilot voltage V h by the superimposed component generation unit, and a method for estimating the magnetic pole position ⁇ by the magnetic pole position estimation unit, Is different.
- FIG. 10 is a diagram illustrating a configuration of a control device according to the second embodiment.
- the configuration of the control unit 30 ⁇ / b> A that is different from the control device 1 according to the first embodiment is shown to avoid redundant description, and other configurations are omitted.
- the same components as those in the first embodiment are denoted by the same reference numerals, and redundant description will be omitted as appropriate.
- the control device 1A includes a three-phase / two-phase coordinate conversion unit 31, a rotation coordinate conversion unit 32, a current command output unit 33, a current control unit 34,
- the counter unit 35 includes a superimposed component generation unit 36A, addition units 37 and 38, a drive signal generation unit 39, and a magnetic pole position estimation unit 40A.
- the control device 1A has the same configuration as that of the control device 1 according to the first embodiment except for the superimposed component generation unit 36A and the magnetic pole position estimation unit 40A.
- the current / voltage equation in the ⁇ axis coordinate system set on the stator 3a of the electric motor 3 can be expressed as the above equation (3).
- the current / voltage equation of the above equation (3) excluding the component of the driving voltage frequency is expressed by the following equation (22): It can be approximated as follows. This formula (22) is the same as the above formula (6).
- the pilot voltage Vh is included in the drive voltage based on the q-axis voltage command Vq * and the d-axis voltage command Vd * , which are drive voltage commands, as the output voltage of the inverter unit 10.
- Vq * the q-axis voltage command
- Vd * the d-axis voltage command
- FIG. 11 is a diagram showing an example of the relationship between voltage vectors V h0 , V h1 , V h2 and ⁇ in the ⁇ axis coordinate system.
- the voltage vector V h0 is a vector of the phase difference ⁇ [deg] from the positive direction of the ⁇ axis
- the voltage vector V h1 is a vector of the phase difference ⁇ + 90 [deg] from the positive direction of the ⁇ axis
- the voltage vector V h2 is ⁇ It is a vector of phase difference ⁇ + 180 [deg] from the positive direction of the axis.
- the voltage vectors V h0 , V h1 , and V h2 are vectors having an amplitude V inj2 (> 0).
- the superposition time of the voltage vector V h0 is time t h0
- the voltage differential vector is approximated by a difference vector.
- the current / voltage equations at time t h1 and time t h2 can be expressed as shown in the following equations (28) and (29), respectively. .
- the above equation (30) can be rewritten as shown in the following equation (31) with respect to the magnetic pole position ⁇ of the electric motor 3. Therefore, the magnetic pole position ⁇ of the electric motor 3 can be estimated by detecting the current change of each phase at time t h1 and time t h2 .
- the superimposed voltage vector V h1 is superimposed.
- a voltage vector V h2 having a phase difference of 90 [deg] is superimposed on the voltage vector V h1 .
- the time t the phase difference from the positive direction of the ⁇ axis in h1 phi + 90 superimposes the voltage vector V h1 of [deg]
- the present invention is not limited to this.
- the magnetic pole position ⁇ of the electric motor 3 can be estimated with a simple arithmetic expression even if the voltage vector V h1 is superimposed.
- the voltage vector V h0 set a phi at time t h0 to any one of 0, 90, 180, 270 [deg], at time t h1 ⁇ + 90 [deg] ( or phi-90 [ deg]) and the voltage vector V h1 is superimposed.
- the voltage vector V h2 is superimposed as ⁇ + 180 [deg] (or ⁇ 180 [deg]) at time t h2 .
- a second-order difference value is detected from the current change of each phase at time t h0 and time t h1 and the current change of each phase at time t h1 and time t h2 , and the above equations (32) to (35) are detected.
- the magnetic pole position ⁇ of the electric motor 3 can be estimated by a calculation based on a simple calculation expression such as.
- T V is the update cycle of the drive signal generating unit 39 that performs spatial vector modulation.
- FIG. 12 is a graph showing changes in the time period T of the pilot voltage V h. Therefore, the average voltage in the time period T can be set to 0, thereby reducing the torque ripple.
- FIG. 13 is a diagram illustrating changes in V ⁇ h and V ⁇ h that are ⁇ -axis components of the pilot voltage V h output from the superimposed component generation unit 36A.
- FIG. 14 illustrates a pilot voltage generation process of the superimposed component generation unit 36A. It is a flowchart which shows.
- the superimposition component generation unit 36A generates the ⁇ -axis component and ⁇ of the pilot voltage V h based on the count value CNT of the counter unit 35 that repeatedly outputs the count value CNT in the order of 0, 1, 2, and 3.
- An ⁇ -axis command component V ⁇ h and a ⁇ -axis command component V ⁇ h that are axis components are generated.
- the superimposed component generation unit 36 repeatedly generates the pilot voltage V h in the direction of 90 degrees with respect to the pilot voltage V h generated last time in the ⁇ axis coordinate system for each time period T v. Yes.
- the superimposed component generation unit 36A can repeatedly generate the pilot voltage V h in the direction of ⁇ 90 degrees with respect to the pilot voltage V h generated last time in the ⁇ axis coordinate system for each time period T v .
- FIG. 15 is a diagram illustrating a configuration of the magnetic pole position estimation unit 40A.
- the magnetic pole position estimation unit 40A includes difference calculation units 60 to 63, 1-sample delay units 64 and 65, and a ⁇ calculation unit 66, and operates using T / 4 as a sample period.
- Difference calculation unit 62 obtains the difference value [Delta] I alpha from the difference calculation unit 60, and calculates the second-order difference delta 2 I alpha with such difference value [Delta] I alpha and one sample time difference value obtained before [Delta] I alpha Output. Further, the difference calculation unit 63 obtains the difference value [Delta] I beta from the difference calculation unit 61, such difference value [Delta] I beta and one sample time calculating a second difference value delta 2 I beta between the difference values [Delta] I beta previously acquired And output.
- the 1-sample delay unit 64 delays the second-order difference value ⁇ 2 I ⁇ output from the difference calculation unit 62 by one sample time, and outputs the delayed result to the ⁇ calculation unit 66. Further, the 1-sample delay unit 65 delays the second-order difference value ⁇ 2 I ⁇ output from the difference calculation unit 63 by one sample time and outputs it to the ⁇ calculation unit 66.
- the ⁇ calculation unit 66 outputs the second-order difference values ⁇ 2 I ⁇ and ⁇ 2 I ⁇ output from the difference calculation units 62 and 63 and the second-order difference one sample time before output from the one-sample delay units 64 and 65.
- the magnetic pole position ⁇ is estimated based on the values ⁇ 2 I ⁇ and ⁇ 2 I ⁇ .
- FIG. 16 is a flowchart showing the magnetic pole position estimation processing of the magnetic pole position estimation unit 40A.
- ⁇ 2 I ⁇ h2 ⁇ I ⁇ h2 ⁇ I ⁇ h1
- ⁇ 2 I ⁇ h2 ⁇ I ⁇ h2 ⁇ I ⁇ h1
- ⁇ 2 I ⁇ h1 ⁇ I ⁇ h1 ⁇ I ⁇ h0
- ⁇ 2 I ⁇ h1 ⁇ I ⁇ h1 ⁇ I ⁇ h0 .
- ⁇ I ⁇ h2 I ⁇ h2 ⁇ I ⁇ h1
- ⁇ I ⁇ h2 I ⁇ h2 ⁇ I ⁇ h1
- ⁇ I ⁇ h1 I ⁇ h1 ⁇ I ⁇ h0
- ⁇ I ⁇ h1 I ⁇ h1 ⁇ I ⁇ h0
- ⁇ I ⁇ h0 I ⁇ h0 ⁇ I ⁇ h ⁇ 1
- ⁇ I ⁇ h0 I ⁇ h0 ⁇ I ⁇ h ⁇ 1 .
- the magnetic pole position estimation unit 40A determines the count value CNT of the counter unit 35 (step S40).
- the magnetic pole position estimation unit 40A estimates the magnetic pole position ⁇ of the electric motor 3 based on the following equation (37) (step S41).
- the following equation (37) is obtained by approximating the current second-order derivative with the current difference in the above equation (32).
- the magnetic pole position estimation unit 40A estimates the magnetic pole position ⁇ of the electric motor 3 based on the following formula (38) (step S42).
- the following formula (38) is obtained by approximating the current second-order derivative by the current difference in the above formula (33).
- the magnetic pole position estimation unit 40A estimates the magnetic pole position ⁇ of the electric motor 3 based on the following formula (39) (step S43).
- the following formula (39) is obtained by approximating the current second-order derivative by the current difference in the above formula (34).
- the magnetic pole position estimation unit 40A estimates the magnetic pole position ⁇ of the electric motor 3 based on the following formula (40) (step S44).
- the following formula (40) is obtained by approximating the current second-order derivative with the current difference in the above formula (35).
- the magnetic pole position estimation unit 40A sets the difference values ⁇ 2 I ⁇ and ⁇ 2 I ⁇ output from the difference calculation units 62 and 63 as ⁇ 2 i ⁇ h1 and ⁇ 2 i ⁇ h1 , and a one-sample delay unit
- the difference values ⁇ 2 I ⁇ and ⁇ 2 I ⁇ one sample time before output from 64 and 65 are set as ⁇ 2 i ⁇ h2 and ⁇ 2 i ⁇ h2 , and the above formulas (37) to (40) are calculated.
- the magnetic pole position ⁇ of the electric motor 3 is estimated.
- the control device 1A includes the superimposed component generation unit 36A and the magnetic pole position estimation unit 40A.
- the superimposed component generator 36A generates the pilot voltage V h as a vector having a phase difference of 45 degrees with respect to the ⁇ axis or ⁇ axis of the ⁇ ⁇ axis coordinate system, and the direction of the vector is the pilot voltage V h generated last time.
- the pilot voltage V h that differs by 90 degrees with respect to is generated at a predetermined period.
- the estimation of the magnetic pole position ⁇ in the magnetic pole position estimation unit 40A can be performed based on a simple arithmetic expression, and the update period of the drive voltage command for driving the electric motor 3 is not affected.
- the magnetic pole position ⁇ of the electric motor 3 can be estimated at the time period T after the superimposition of the pilot voltage V h is started, and further, the magnetic pole position ⁇ of the electric motor 3 is estimated by repeating the time period 1 ⁇ 4 of the time period T. Therefore, the responsiveness of the magnetic pole position estimation can be improved.
- the drive signal generation unit 39 generates the drive signals S1 to S6 for driving the inverter unit 10 using the space vector modulation method.
- the example is the same as the example described in the column of the first embodiment.
- a carrier wave comparison modulation method can also be used.
- the counter unit 35 sets the time period T to be twice as long as the time period Tc of the carrier wave, and changes the count value CNT by setting the time period T to four periods.
- the timing at which the counter unit 35 changes the count value CNT is the peak and valley of the carrier wave.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Control Of Motors That Do Not Use Commutators (AREA)
Abstract
Description
まず、第1の実施形態に係る制御装置について説明する。図1は、第1の実施形態に係る制御装置の構成を示す図である。
次に、第2の実施形態に係る制御装置について説明する。第2の実施形態に係る制御装置は、第1の実施形態に係る制御装置1に対し、重畳成分生成部によるパイロット電圧Vhの生成方法と、磁極位置推定部による磁極位置θの推定方法とが異なる。
2 直流電源
3 電動機
3a 電動機の固定子
10 インバータ部
20 電流検出部
30、30A 制御部
31 3相/2相座標変換部31(電流検出部)
36、36A 重畳成分生成部
39 駆動信号生成部
40、40A 磁極位置推定部
50、51、60~63 差分演算部(電流差分演算部)
54、66 θ演算部(磁極位置演算部)
Claims (10)
- 電動機の固定子上に設定された座標系でのベクトルの向きが前回生成した重畳電圧指令に対して90度異なる重畳電圧指令を所定周期で生成する重畳成分生成部と、
前記重畳電圧指令を重畳した駆動電圧指令に基づいた駆動電圧を前記電動機へ出力するインバータ部と、
前記電動機の各相に流れる電流を前記所定周期で検出して、電流検出値を出力する電流検出部と、
前記電流検出値の変化量に基づき、前記電動機の磁極位置を検出する磁極位置推定部と
を備える電動機の制御装置。 - 前記重畳成分生成部は、
前記前回生成した重畳電圧指令に対して前記座標系でのベクトルの向きが正方向または逆方向に90度ずつ異なるように前記重畳電圧指令を繰り返し生成する
ことを特徴とする請求項1に記載の電動機の制御装置。 - 前記座標系の2軸をα軸およびβ軸とした直交座標軸とし、
前記重畳電圧指令のベクトルの向きは、前記α軸または前記β軸に対して平行である
ことを特徴とする請求項2に記載の電動機の制御装置。 - 前記座標系の軸をα軸およびβ軸とした直交座標軸とし、
前記重畳電圧指令のベクトルクの向きは、前記α軸または前記β軸に対して45度の位相差をもつ
ことを特徴とする請求項2に記載の電動機の制御装置。 - 前記電流検出部は、
前記電動機の各相に流れる電流の値を前記直交座標系の電流検出値に変換して出力し、
前記磁極位置推定部は、
前記電流検出部から出力される電流検出値の1階差分値を演算する電流差分演算部と、
前記1階差分値に基づき、前記電動機の磁極位置を求める磁極位置演算部と
を備えることを特徴とする請求項3に記載の電動機の制御装置。 - 前記電流検出部は、
前記電動機の各相に流れる電流の値を前記直交座標系の電流検出値に変換して出力し、
前記磁極位置推定部は、
前記電流検出部から出力される電流検出値の2階差分値を演算する電流差分演算部と、
前記2階差分値に基づき、前記電動機の磁極位置を求める磁極位置演算部と
を備えることを特徴とする請求項4に記載の電動機の制御装置。 - 前記重畳電圧指令を重畳した駆動電圧指令に基づき、前記駆動電圧指令毎に、空間ベクトル変調法によって時間周期内で異なる複数の駆動信号を生成して前記インバータ部へ出力する駆動信号生成部を備え、
前記電流検出部は、
前記時間周期のnT/2(nは自然数)で前記電流検出値を前記磁極位置推定部へ出力する
ことを特徴とする請求項1~6のいずれか1項に記載の電動機の制御装置。 - 前記重畳電圧指令を重畳した駆動電圧指令と搬送波との比較に基づく搬送波比較変調法によって、駆動信号を生成して前記インバータ部へ出力する駆動信号生成部を備え、
前記電流検出部は、
前記電流検出値を前記三角波状の搬送波の山および/または谷のタイミングで前記磁極位置推定部へ出力する
ことを特徴とする請求項1~6のいずれか1項に記載の電動機の制御装置。 - 前記電動機は、
埋め込み型永久磁石同期電動機である
ことを特徴とする請求項1~8のいずれか1項に記載の電動機の制御装置。 - 電動機の固定子上に設定された座標系でのベクトルの向きが前回生成した重畳電圧指令に対して90度異なる重畳電圧指令を所定周期で生成する重畳成分生成部と、
前記重畳電圧指令を重畳した駆動電圧指令に基づいて駆動される電動機の各相に流れる電流を前記所定周期で検出して、電流検出値を出力する電流検出部と、
前記電流検出値の変化量に基づき、前記電動機の磁極位置を検出する磁極位置推定部と
を備える電動機の磁極位置推定装置。
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