WO2013136829A1 - 電力変換装置、電動機駆動システム、搬送機、昇降装置 - Google Patents

電力変換装置、電動機駆動システム、搬送機、昇降装置 Download PDF

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WO2013136829A1
WO2013136829A1 PCT/JP2013/050349 JP2013050349W WO2013136829A1 WO 2013136829 A1 WO2013136829 A1 WO 2013136829A1 JP 2013050349 W JP2013050349 W JP 2013050349W WO 2013136829 A1 WO2013136829 A1 WO 2013136829A1
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Prior art keywords
voltage
current
phase
frequency
sensitivity
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PCT/JP2013/050349
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English (en)
French (fr)
Japanese (ja)
Inventor
陽一郎 荒川
雄作 小沼
戸張　和明
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株式会社 日立産機システム
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Priority to DE201311000837 priority Critical patent/DE112013000837T5/de
Priority to CN201380007974.6A priority patent/CN104106207B/zh
Publication of WO2013136829A1 publication Critical patent/WO2013136829A1/ja

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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

Definitions

  • the present invention relates to a power conversion device, and an electric motor drive system, a transporter, and a lifting device provided with the power conversion device.
  • a voltage-type inverter is represented as a motor driving device that converts DC power into AC power to drive the motor.
  • a power converter is frequently used.
  • Recent power converters do not actually measure the rotational state of the rotor by attaching a position sensor, speed detector, etc. to the motor, but estimate the rotational state of the rotor from back electromotive voltage information generated in the motor. Therefore, a control method that performs highly accurate control amount estimation is used.
  • the motor control method for estimating the rotation state of the rotor from the back electromotive voltage information is difficult to apply because the back electromotive voltage becomes absolutely small near the extremely low speed of the motor. It is. Therefore, as a control amount estimation method at a low speed, there is a method using the saliency of the electric motor.
  • Patent Document 1 describes a magnetic pole position detection device that estimates a magnetic pole position that represents the rotation state of a rotor, particularly using the saliency of a permanent magnet synchronous motor.
  • This magnetic pole position detection device generates an alternating magnetic field in a predetermined phase of the motor, detects a high-frequency current (or voltage) of a component orthogonal to this phase, and estimates the magnetic pole position of the motor rotor based on this Calculate.
  • This technique estimates the magnetic pole position of the motor rotor by using the characteristic (electric saliency) that the electric inductance of the motor rotor changes with respect to the superimposed phase. That is, the magnetic pole position is estimated based on the saliency by measuring the inductance from the correlation between the high frequency voltage and the pulsating current.
  • This method makes it possible to accurately estimate the operation information of the electric motor without using a sensor for detecting the rotation state of the rotor. Thereby, the cost of a sensor and a cable for outputting a detection signal of the sensor, and the trouble of installing them can be reduced. Furthermore, inappropriate behavior of the motor drive due to sensor assembly error, noise due to the surrounding environment, sensor failure, and the like can be suppressed.
  • a method for controlling an electric motor that generates a high-frequency current by adding a high-frequency voltage to a voltage command uses a local inductance near the current operating point.
  • a magnetic flux saturation phenomenon occurs, and the saliency of local inductance tends to decrease nonlinearly. Therefore, the sensitivity of magnetic pole position detection using saliency deteriorates in a high load region, and as a result, there is a problem that current pulsation and torque vibration increase. In some cases, there is a risk of step-out.
  • the present invention has been made with respect to the above-described problems, and its main purpose is to prevent out-of-step in a high load region and to keep the drive of the motor safe.
  • the purpose is to estimate the detection sensitivity of the magnetic pole position based on the polarity.
  • a power converter according to the present invention is detected by a voltage converter that converts a DC voltage into an AC voltage and outputs it to an AC motor having saliency, a current detector that detects a current flowing through the AC motor, and a current detector.
  • Current extraction means for extracting a high-frequency current from the measured current, and the magnetic pole position of the rotor of the AC motor is estimated based on the high-frequency current extracted by the current extraction means, and changes at a period different from the rotation period of the rotor.
  • the superposition voltage phase adjustment means for outputting a high-frequency voltage phase command value for adjusting the phase on which the alternating voltage is superimposed,
  • Current control means for outputting a fundamental voltage command for controlling the current flowing through the AC motor, and a superimposed voltage phase shift method for adjusting the high-frequency voltage phase command value
  • a voltage superimposing means for superimposing the alternating voltage on the fundamental voltage command and outputting it to the voltage converting means based on the high frequency voltage phase command value adjusted by the superposed voltage phase shifting means, and the high frequency extracted by the current extracting means
  • Sensitivity calculation means for calculating the sensitivity to the estimation of the magnetic pole position based on the current and the high-frequency voltage phase command value adjusted by the superimposed voltage phase shift means.
  • An electric motor starting system includes the above power conversion device and an AC electric motor.
  • the conveyance machine by this invention is provided with the said power converter device, an alternating current motor, and the conveyance part which operate
  • a lifting device includes the power conversion device, an AC motor, a lifting unit, and a winding mechanism that moves the lifting unit up and down using a driving force generated by the AC motor.
  • the present invention it is possible to estimate the magnetic pole position detection sensitivity based on the saliency of the electric motor.
  • FIG. 1 is a configuration diagram of an electric motor drive system 110a according to a first embodiment of the present invention.
  • the electric motor drive system 110 a includes a power conversion device 101 a and an electric motor 1.
  • the power conversion device 101a includes an electric motor control device 100a, a voltage conversion unit 3, and a current detection unit 2.
  • FIG. 2 (a) schematically shows an example of the waveform of each phase of the three-phase alternating current flowing from the power conversion device 101a to the electric motor 1.
  • FIG. 2 (a) schematically shows an example of the waveform of each phase of the three-phase alternating current flowing from the power conversion device 101a to the electric motor 1.
  • FIG. 2 (a) schematically shows an example of the waveform of each phase of the three-phase alternating current flowing from the power conversion device 101a to the electric motor 1.
  • FIG. 2 (a) schematically shows an example of the waveform of each phase of the three-phase alternating current flowing from the power conversion device 101a to the electric motor 1.
  • FIG. 2 (a) schematically shows an example of the waveform of each phase of the three-phase alternating current flowing from the power conversion device 101a to the electric motor 1.
  • FIG. 2 (a) schematically shows an example of the waveform of each phase of the three-phase alternating current flowing from the power conversion device 101a to the electric motor 1.
  • FIG. 2 (a) schematically
  • FIG. 2B is a current locus obtained by converting one cycle of the three-phase alternating current waveform shown in FIG. 2A into a stator coordinate system by a general three-phase two-phase conversion.
  • the current trajectory in FIG. 2B can be considered separately into a circular orbit component corresponding to the sine wave component in FIG. 2A and a vibration component that vibrates at a high frequency with respect to the circular orbit component.
  • this circular orbit component is referred to as a fundamental wave component
  • the vibration component is referred to as a high frequency component.
  • the current at each moment in the current locus in FIG. 2B can be represented by a vector I from the origin.
  • This current vector I is expressed by the following equation (1).
  • I1 is a fundamental wave current vector representing the fundamental wave component of the current
  • Ih is a high frequency current vector representing the high frequency component of the current. That is, the three-phase alternating current flowing from the power converter 101a to the electric motor 1 can be expressed as the rotation of the fundamental current vector I1 plus the vibration of the high-frequency current vector Ih.
  • I Il + Ih (1)
  • Equation (2) The three-phase AC voltage applied from the power conversion device 101a to the electric motor 1 is also expressed by the following equation (2) by converting it into the stator coordinate system, as in the three-phase AC current described above. It can be represented by a voltage vector V.
  • V1 is a fundamental voltage vector that represents a fundamental component of voltage
  • Vh is a high-frequency voltage vector that represents a high-frequency component of voltage.
  • FIG. 3 (a) schematically shows a fundamental wave current vector I1 at a certain moment in the current locus of FIG. 2 (b) and a fundamental wave voltage vector V1 corresponding thereto.
  • the phases of the fundamental wave current vector I1 and the fundamental wave voltage vector V1 with respect to the ⁇ phase (u phase) are defined as a fundamental wave current phase ⁇ i1 and a fundamental wave voltage phase ⁇ v1, respectively.
  • the motor 1 is a synchronous motor using a permanent magnet as a rotor.
  • the angular velocity of the fundamental wave current phase ⁇ i1 that is, the rotational speed of the fundamental wave current vector I1
  • the angular velocity of the fundamental wave voltage vector V1 that is, the rotational velocity of the fundamental wave voltage vector V1
  • ⁇ r the respective norms of the fundamental wave current vector I1 and the fundamental wave voltage vector V1 are normalized so that different physical quantities of voltage and current are schematically represented on the same stator coordinate plane. is doing.
  • FIG. 3B schematically shows a high-frequency current vector Ih at a certain moment in the current locus of FIG. 2B and a high-frequency voltage vector Vh corresponding thereto.
  • the phases of the high-frequency current vector Ih and the high-frequency voltage vector Vh with respect to the ⁇ phase (u phase) are defined as a high-frequency current phase ⁇ ih and a high-frequency voltage phase ⁇ vh, respectively.
  • the motor control device 100a is a voltage type inverter that modulates and outputs a voltage command by a modulation signal such as PWM.
  • the high-frequency current vector Ih and the high-frequency voltage vector Vh include a component due to the modulation signal in addition to the above-described component due to the superimposed voltage.
  • the component due to the superimposed voltage is dominant, and the component due to the modulation signal can be ignored.
  • the vibration frequency of the high-frequency current vector Ih and the high-frequency voltage vector Vh is sufficiently larger than the fundamental frequency that is a value near the rotation speed ⁇ r.
  • the high-frequency current vector Ih and the high-frequency voltage vector Vh observed on the stator coordinate plane are represented by the fundamental current vector I1 and the fundamental voltage vector V1, as shown in FIG. A linear trajectory is drawn around each end point (operation point). That is, the end point of the fundamental wave current vector I1 is defined as the start point of the high-frequency current vector Ih. Further, the end point of the fundamental wave voltage vector V1 is defined as the start point of the high-frequency voltage vector Vh.
  • Equation (3) If attention is paid only to the high-frequency component in Equation (3), the voltage drop due to the resistance value r can be sufficiently ignored. Therefore, the fluctuation of the magnetic flux due to the high frequency voltage vector Vh can be approximated by the product of the local inductance matrix L and the high frequency current vector Ih. Therefore, Formula (3) can be transformed into the following Formula (4).
  • the inductance matrix L of the equation (4) has anisotropy corresponding to the position of the rotor. Therefore, when the electrical angle phase corresponding to the magnetic pole position of the rotor with respect to the ⁇ phase (u phase) is defined as the magnetic pole position ⁇ d, the inductance matrix L can be expressed as a function of the magnetic pole position ⁇ d.
  • the inductance in the direction parallel to the magnetic flux by the magnet embedded in the rotor is minimized, and the inductance in the direction orthogonal to the direction is maximized. It has special characteristics. Such a characteristic is called saliency.
  • the difference between the high frequency current phase ⁇ ih and the high frequency voltage phase ⁇ vh in this case is defined as a phase difference ⁇ ivh.
  • the vicinity of the zero point can be approximated as a straight line.
  • the slope of this straight line is defined as the magnetic pole position estimation sensitivity K ⁇ ( ⁇ 0) based on the saliency.
  • the following relationship (7) is established between the phase difference ⁇ ivh and the phase difference ⁇ vhd using this sensitivity K ⁇ .
  • ⁇ ivh K ⁇ ⁇ ⁇ vhd (7)
  • the magnetic pole position ⁇ d can always be matched. That is, the magnetic pole position ⁇ d can be known from the value of the high-frequency voltage phase ⁇ vh.
  • phase difference ⁇ ivh and the phase difference ⁇ vhd as described above changes depending on the magnitude of the saliency of the electric motor 1. This is shown in FIG. FIG. 4B shows that the absolute value of the sensitivity K ⁇ increases as the saliency increases, and the absolute value of the sensitivity K ⁇ decreases as the saliency decreases.
  • the saliency of the electric motor 1 is the anisotropy of inductance in the electric motor 1.
  • the current magnetic flux linked to the rotor gradually increases accordingly.
  • the inductance of the rotor gradually decreases due to the magnetic saturation phenomenon.
  • the phase in which the current is efficiently converted into torque (effective current direction) and the phase in which the inductance is maximized are substantially the same in the motor 1, and the inductance in the phase direction increases as the current increases. descend.
  • the inductance of the electric motor 1 is reduced, the saliency, that is, the anisotropy of the rotor inductance is also relatively lost.
  • the motor drive system 110a estimates the sensitivity K ⁇ in order to solve such a problem, and outputs a warning indicating that the sensitivity is insufficient when the estimation result falls below a predetermined reference value. Thereby, the step-out in the high load region is prevented in advance, and the drive of the electric motor 1 is maintained safely. This point will be described in detail later.
  • the above is the magnetic pole position detection principle based on the saliency in the present invention.
  • the current detection means 2 detects the instantaneous value of the three-phase alternating current flowing from the voltage conversion means 3 to the motor 1, that is, the above-described current vector I, and outputs the detection result to the current extraction means 6.
  • the current detection means 2 is realized by a current sensor using a Hall element, for example.
  • the voltage conversion means 3 converts a DC voltage from a DC power supply (not shown) into a three-phase AC voltage based on the voltage vector command V * generated by the motor control device 100a, and outputs it to the motor 1. At this time, the three-phase AC voltage output from the voltage conversion means 3 to the electric motor 1 is represented by the voltage vector V described above.
  • the voltage conversion means 3 is realized by an inverter using, for example, a MOSFET (Metal-Oxide-Semiconductor Field-Effect Transistor) or an IGBT (Insulated Gate Bipolar Transistor) as a switching element.
  • MOSFET Metal-Oxide-Semiconductor Field-Effect Transistor
  • IGBT Insulated Gate Bipolar Transistor
  • the electric motor 1 is a three-phase synchronous motor and operates with a three-phase AC voltage from the voltage conversion means 3.
  • the electric motor 1 is a permanent magnet synchronous motor having the saliency as described above, and is configured such that a rotor in which a plurality of permanent magnets are incorporated rotates inside a stator. The details of the configuration of the electric motor 1 are not shown.
  • the motor control device 100a includes a torque command generation unit 4, a current control unit 5, a current extraction unit 6, a superimposed voltage phase adjusting unit 7, a superimposed voltage phase shift unit 8, a voltage superimposing unit 9, a sensitivity calculating unit 10, and an alarm issuing unit 11. It has.
  • the electric motor control device 100a is configured by a ROM (Read Only Memory), a RAM (Random Access Memory), a CPU (Central Processing Unit), a program, and the like. In other words, each of the above-described units included in the motor control device 100a is realized as a process executed by the CPU according to a program.
  • FIG. 5 is a configuration diagram of an electric motor drive system 110b according to a comparative example.
  • the electric motor drive system 110b includes the electric motor 1 common to FIG. 1 and a power conversion device 101b.
  • the power conversion device 101b includes a voltage conversion unit 3 and a current detection unit 2 that are common to those in FIG. 1, and an electric motor control device 100b.
  • the motor control device 100b includes torque command generation means 4, current control means 5, current extraction means 6, superposed voltage phase adjustment means 7 and voltage superposition means 9 as components common to the motor control apparatus 100a of FIG. Yes.
  • the superimposed voltage phase shift means 8, the sensitivity calculation means 10 and the alarm issuing means 11 of FIG. 1 are not provided. That is, the motor control device 100a in FIG. 1 is characterized in that it includes a superimposed voltage phase shift means 8, a sensitivity calculation means 10, and an alarm issuing means 11 as compared with the motor control device 100b in FIG.
  • the torque command generation means 4 outputs a torque command ⁇ * for the electric motor 1 to the current control means 5 based on a request from the host system.
  • the current extraction unit 6 extracts the fundamental wave current vector I1 and the high frequency current vector Ih from the current vector I detected by the current detection unit 2. Then, the fundamental current vector I 1 is output to the current control unit 5, and the high-frequency current vector Ih is output to the superimposed voltage phase adjustment unit 7. A specific method for extracting the fundamental wave current vector I1 and the high-frequency current vector Ih from the current vector I in the current extraction means 6 will be described in detail later.
  • the superposed voltage phase adjusting unit 7 uses the high frequency current vector Ih from the current extracting unit 6 to detect the high frequency voltage phase command value ⁇ vh as a target value for the high frequency voltage phase ⁇ vh according to the magnetic pole position detection principle based on the saliency as described above. * Determine. Specifically, the high-frequency current phase ⁇ ih is obtained from the high-frequency current vector Ih, and based on this, the high-frequency voltage phase command value ⁇ vh * is output so that the high-frequency current phase ⁇ ih matches the high-frequency voltage phase ⁇ vh.
  • the determined high-frequency voltage phase command value ⁇ vh * is output to the current control means 5 and the voltage superimposing means 9.
  • the high-frequency voltage phase command value ⁇ vh * is output to the current control means 5 as information for estimating the magnetic pole position ⁇ d.
  • a high frequency voltage phase command value is used as information for adjusting the phase for superimposing an alternating voltage as described later on the fundamental voltage vector command V 1 * from the current control means 5.
  • Output ⁇ vh * is used as information for adjusting the phase for superimposing an alternating voltage as described later on the fundamental voltage vector command V 1 * from the current control means 5.
  • the current control unit 5 calculates a fundamental wave current vector command I1 * as a target value for the fundamental wave current vector I1 based on the torque command ⁇ * input from the torque command generation unit 4. Then, the fundamental wave voltage vector command V1 * as a target value for the fundamental wave voltage vector V1 is set so that the fundamental wave current vector I1 included in the current vector I flowing through the electric motor 1 matches the fundamental wave current vector command I1 *. Determine and output.
  • the current control means 5 estimates the magnetic pole position ⁇ d based on the high-frequency voltage phase command value ⁇ vh * from the superimposed voltage phase adjustment means 7 when calculating the fundamental wave current vector command I1 * . That is, the torque output from the electric motor 1 that is a synchronous motor is expressed as a function of the fundamental wave current vector I1 and the magnetic pole position ⁇ d. Therefore, in order to keep the torque constant, it is necessary to synchronize the fundamental wave current phase ⁇ i1 and the magnetic pole position ⁇ d to make the difference constant and to control the amplitude of the fundamental wave current vector I1. In order to do this, it is necessary to estimate the magnetic pole position ⁇ d.
  • the high-frequency voltage phase command value ⁇ vh * is output from the superimposed voltage phase adjusting means 7 as described above, it can be regarded as substantially coincident with the magnetic pole position ⁇ d. Therefore, to estimate the magnetic pole position ⁇ d from the high-frequency voltage phase command value Shitavh *, it can be calculated * fundamental current command vector I1.
  • the voltage superimposing means 9 adjusts and outputs the high frequency voltage vector command Vh * as a target value for the high frequency voltage vector Vh based on the high frequency voltage phase command value ⁇ vh * from the superimposed voltage phase adjusting means 7.
  • the norm waveform of the high-frequency voltage vector Vh is a rectangular wave that changes periodically, as will be described later.
  • the frequency of this rectangular wave that is, the vibration frequency of the high-frequency voltage vector Vh is sufficiently larger than the rotational speed ⁇ r of the rotor as described above.
  • the voltage superimposing means 9 determines and outputs a high frequency voltage vector command Vh * so that an alternating voltage corresponding to such a rectangular wave is output with respect to the high frequency voltage phase command value ⁇ vh * .
  • the fundamental voltage vector command V1 * from the current control means 5 and the high-frequency voltage vector command Vh * from the voltage superimposing means 9 are added and output to the voltage conversion means 3 as the voltage vector command V * . That is, in the voltage vector command V * output from the motor control device 100a to the voltage conversion means 3, the alternating voltage according to the high frequency voltage vector command Vh * is generated by the voltage superimposing means 9 with respect to the fundamental voltage vector command V1 * . Are superimposed.
  • the operations of the voltage superimposing means 9 and the current extracting means 6 that play a central role in detecting the magnetic pole position based on the saliency will be described in detail.
  • the magnetic pole positions of the electric motor 1 can be detected by operating in cooperation with each other.
  • the saliency of the electric motor 1 is the property of inductance in the electric motor 1.
  • inductance information it is necessary to obtain a voltage vector Vh and a current vector Ih generated thereby.
  • the high-frequency voltage vector Vh is a rectangular wave, and the phase of the rectangular wave and the detection timing of the current vector I are synchronized.
  • FIG. 6 is a diagram illustrating an example of the high-frequency voltage vector Vh and the high-frequency current vector Ih in the motor control apparatus 100b of the comparative example.
  • FIG. 6A shows a norm waveform example of the high-frequency voltage vector Vh and the high-frequency current vector Ih. In these norm waveforms, the displacement in the phase direction that is inverted by 180 ° from the high-frequency voltage phase ⁇ vh and the high-frequency current phase ⁇ ih is shown as a negative value.
  • FIGS. 6B and 6C show examples of the high-frequency voltage vector Vh and the high-frequency current vector Ih on the stator coordinate plane with reference to the stator of the electric motor 1 corresponding to FIG. Each is shown.
  • the norm of the high-frequency voltage vector Vh shows a positive value in the periods (1) and (2). ing. During these periods, the norm of the high-frequency current vector Ih increases at a rate of change corresponding to the local inductance. On the other hand, in the periods (3) and (4), the norm of the high-frequency voltage vector Vh shows a negative value. In these periods, the norm of the high-frequency current vector Ih decreases at a reduction rate corresponding to the local inductance.
  • the timing for sampling the vector I is synchronized. This is repeated at each cycle. That is, the current extraction unit 6 acquires the current vector I in accordance with the timing of each current vector detection point shown on the norm waveform of the high-frequency current vector Ih in FIG. In this way, the current extraction means 6 can alternately acquire the upper and lower peak values and the center value of the high-frequency current vector Ih as the current vector I.
  • the current extraction means 6 can extract the high-frequency current vector Ih and the fundamental current vector I1 from the current vector I by acquiring the current vector I as described above. That is, the high-frequency current vector Ih can be obtained by subtracting the current vector I detected last time from the current vector I detected this time. Further, by calculating the average of the current vector I within a predetermined period, the fundamental wave current vector I1 can be obtained by canceling the high frequency component from the current vector I. Thus, by extracting the high-frequency current vector Ih and the fundamental wave current vector I1 from the current vector I, they can be obtained separately from each other.
  • the high-frequency voltage vector Vh is output as a rectangular wave, and the voltage superimposing means 9 and the current extracting means 6 are operated in cooperation, whereby the high-frequency current vector Ih and the fundamental current are detected from the detected current vector I.
  • Vector I1 can be determined.
  • the magnetic pole position of the electric motor 1 can be detected by the magnetic pole position detection principle based on the saliency as described above.
  • the electric motor drive system 110b according to the comparative example has the configuration as described above.
  • the motor drive system 110a according to the first embodiment of the present invention shown in FIG. 1 will be described focusing on the difference from the motor drive system 110b of FIG. 5 according to the above comparative example.
  • the motor control device 100a further includes a superimposed voltage phase shift means 8, a sensitivity calculation means 10, and an alarm issuing means 11 in addition to the components included in the motor control device 100b of FIG. Yes.
  • the superposed voltage phase shift means 8 receives the high frequency voltage phase command value ⁇ vh * from the superposed voltage phase adjustment means 7.
  • the superimposed voltage phase shift means 8 adjusts the high frequency voltage phase command value ⁇ vh * by adding a predetermined phase shift amount. Then, the adjusted value is output to the voltage superimposing means 9 and the sensitivity calculating means 10 as the shifted high-frequency voltage phase command value ⁇ vh ** .
  • FIG. 7 is an explanatory diagram of the superimposed voltage phase shift means 8.
  • FIG. 7A is a diagram showing an example of the internal configuration of the superimposed voltage phase shift means 8.
  • the superimposed voltage phase shift means 8 has a superimposed pattern generating means 71 and a signal selector 72.
  • the signal selector 72 selects any one of the three shift amount candidate values ⁇ vh1, ⁇ vh2, and ⁇ vh3 and outputs it as a phase shift amount.
  • the shift amount candidate value selected by the signal selector 72 is sequentially switched according to the superposition pattern signal input from the superposition pattern generation means 71.
  • the superposition pattern generating means 71 outputs a superposition pattern signal for determining a shift amount candidate value to be selected to the signal selector 72. At this time, the superimposition pattern generation means 71 changes the superposition pattern signal at the sampling period when the current extraction means 6 samples the current vector I as described above, or at a positive multiple. Thereby, the phase shift amount output from the signal selector 72 is sequentially switched between ⁇ vh1, ⁇ vh2, and ⁇ vh3.
  • phase shift amount output from the signal selector 72 is added to the high frequency voltage phase command value ⁇ vh * input to the superimposed voltage phase shift means 8. Then, it is outputted from the superimposed voltage phase shift means 8 as the shifted high frequency voltage phase command value ⁇ vh ** .
  • FIG. 7B is a diagram showing an example of input / output signals of the superimposed voltage phase shift means 8 of FIG.
  • ⁇ vh1 20 °
  • ⁇ vh2 0 °
  • ⁇ vh3 ⁇ 20 °.
  • the high-frequency voltage phase command value ⁇ vh * that is an input signal to the superimposed voltage phase shift means 8 increases in synchronization with the drive frequency of the electric motor 1.
  • the phase of the shifted high-frequency voltage phase command value ⁇ vh ** which is an output signal from the superimposed voltage phase shift means 8, is shifted by a predetermined amount in the positive and negative directions.
  • phase shift amount candidate values ⁇ vh1, ⁇ vh2, and ⁇ vh3 are selected as the phase shift amount.
  • the phase shift amount applicable in the superimposed voltage phase shift means 8 is not limited to these examples. If it is a real number in the range of ⁇ 45 ° to 45 °, the superimposed voltage phase shift means 8 sets at least two kinds of arbitrary values as shift amount candidate values, and selects one of them as a phase shift amount. Is possible.
  • the voltage superimposing means 9 has a high frequency based on the high frequency voltage phase command value ⁇ vh * from the superimposed voltage phase adjusting means 7 as described above.
  • the voltage vector command Vh * was adjusted.
  • the voltage superimposing means 9 is the high-frequency voltage phase after the shift output from the superposed voltage phase shifting means 8 as described above. Based on the command value ⁇ vh ** , the high-frequency voltage vector command Vh * is adjusted.
  • FIG. 8 is a diagram illustrating an example of the high-frequency voltage vector Vh and the high-frequency current vector Ih in the motor control device 100a of the present invention.
  • FIG. 8A shows a norm waveform example of the high-frequency voltage vector Vh and the high-frequency current vector Ih similar to FIG. 6A and an example of the shifted high-frequency voltage phase command value ⁇ vh ** .
  • the high-frequency voltage phase command value ⁇ vh ** after the shift corresponds to the example of FIG. 7 (b).
  • FIGS. 8B and 8C show examples of the high-frequency voltage vector Vh and the high-frequency current vector Ih on the stator coordinate plane corresponding to FIG. 8A, respectively.
  • the slopes of the high-frequency voltage vector Vh and the high-frequency current vector Ih are different from each other. That is, the inclination of these vectors changes according to the change in the amount of phase shift superimposed on the high-frequency voltage phase command value ⁇ vh ** after the shift. Note that the inclination of these vectors represents the phase of each vector. That is, the slope of the high frequency voltage vector Vh represents the high frequency voltage phase ⁇ vh, and the slope of the high frequency current vector Ih represents the high frequency current phase ⁇ ih.
  • the superimposed voltage phase shift means 8 adjusts the high frequency voltage phase command value ⁇ vh * from the superimposed voltage phase adjustment means 7 by changing the phase shift amount as described above, and the shifted high frequency voltage phase command value ⁇ vh *. Output as * .
  • FIGS. 8B and 8C two or more trajectories of the high-frequency voltage vector Vh and the high-frequency current vector Ih have different inclinations (that is, phases) on the stator coordinate plane. Draw a line segment.
  • the superimposed voltage phase shift means 8 can adjust the high-frequency voltage phase command value ⁇ vh * in this way.
  • the high-frequency voltage vector Vh and the high-frequency current vector Ih corresponding to the periods (3) and (4) are represented as a high-frequency voltage vector Vh1 and a high-frequency current vector Ih1, respectively.
  • the high-frequency voltage vector Vh and the high-frequency current vector Ih corresponding to the periods (1), (2), (5), and (6) are represented as a high-frequency voltage vector Vh2 and a high-frequency current vector Ih2, respectively (7)
  • the high-frequency voltage vector Vh and the high-frequency current vector Ih corresponding to the period (8) are represented as a high-frequency voltage vector Vh3 and a high-frequency current vector Ih3, respectively.
  • these vectors appear alternately by periodically changing the amount of phase shift superimposed in the shifted high-frequency voltage phase command value ⁇ vh ** .
  • the sensitivity calculation means 10 obtains high-frequency current phases ⁇ ih1, ⁇ ih2, and ⁇ ih3 for the high-frequency current vectors Ih1, Ih2, and Ih3 extracted by the current extraction means 6, respectively. Then, using these high-frequency current phases ⁇ ih1, ⁇ ih2, ⁇ ih3 and the shifted high-frequency voltage phase command value ⁇ vh ** output from the superimposed voltage phase shift means 8 at that time, the phase difference between them ⁇ ivh1, ⁇ ivh2, and ⁇ ivh3 are respectively calculated.
  • the shifted high-frequency voltage phase command value ⁇ vh ** represents the phase of each of the high-frequency voltage vectors Vh1, Vh2, and Vh3.
  • phase differences ⁇ ivh1, ⁇ ivh2, and ⁇ ivh3 calculated as described above represent the phase differences between the high-frequency current vectors Ih1, Ih2, and Ih3 and the corresponding high-frequency voltage vectors Vh1, Vh2, and Vh3, respectively. Yes.
  • the sensitivity calculation means 10 After calculating the phase differences ⁇ ivh1, ⁇ ivh2, and ⁇ ivh3 as described above, the sensitivity calculation means 10 subsequently uses the phase differences ⁇ ivh1 and ⁇ ivh3 to respond to the saliency of the electric motor 1 by the method described below.
  • the estimated sensitivity K ⁇ is estimated.
  • the phase difference ⁇ vhd between the high-frequency voltage phase ⁇ vh and the magnetic pole position ⁇ d is 0 as described above. That is, the high-frequency voltage phase command value ⁇ vh * output from the superimposed voltage phase adjusting means 7 coincides with the magnetic pole position ⁇ d.
  • the phase difference ⁇ ivh1 represents the phase difference ⁇ ivh between the high-frequency current phase ⁇ ivh and the high-frequency voltage phase ⁇ vh when the high-frequency voltage phase ⁇ vh is shifted from the magnetic pole position ⁇ d by the phase shift amount ⁇ vh1.
  • phase difference ⁇ ivh3 represents the phase difference ⁇ ivh between the high-frequency current phase ⁇ ivh and the high-frequency voltage phase ⁇ vh when the high-frequency voltage phase ⁇ vh is shifted from the magnetic pole position ⁇ d by the phase shift amount ⁇ vh3.
  • FIG. 9 illustrates the relationship between the high-frequency voltage phase ⁇ vh and the phase differences ⁇ ivh1 and ⁇ ivh3 as described above with respect to the phase difference ⁇ ivh and the phase difference ⁇ vhd shown in FIG. This is shown on the graph.
  • the phase difference ⁇ ivh1 corresponds to a point 91 on the graph.
  • the coordinates of this point 91 can be represented by ( ⁇ vh1, ⁇ ivh1).
  • the phase difference ⁇ ivh3 corresponds to a point 92 on the graph.
  • the coordinates of the point 92 can be expressed by ( ⁇ vh3, ⁇ ivh3).
  • the sensitivity K ⁇ is defined by the slope of a straight line near the zero point in the graph of FIG. That is, the sensitivity K ⁇ can be calculated by the following equation (8) as the slope of the linear function connecting the points 91 and 92.
  • K ⁇ ( ⁇ ivh3- ⁇ ivh1) / ( ⁇ vh3- ⁇ vh1) ... (8)
  • the sensitivity calculation means 10 estimates the sensitivity K ⁇ according to the saliency of the electric motor 1 by calculating the sensitivity K ⁇ as described above. Then, the calculated sensitivity K ⁇ is output to the alarm issuing means 11.
  • the superimposed voltage phase adjusting means 7 can adjust the high-frequency voltage phase command value ⁇ vh * according to the magnetic pole position detection principle based on the saliency as described above by using the phase difference ⁇ ivh2 at this time.
  • the electric motor 1 can be driven by the same method as that described in the electric motor drive system 110b of FIG. 5 according to the comparative example.
  • the alarm issuing means 11 compares the absolute value of the sensitivity K ⁇ from the sensitivity calculation means 10 with a predetermined reference value. As a result, when the absolute value of the sensitivity K ⁇ is lower than the reference value, it is determined that the sensitivity is insufficient, and an alarm indicating the fact is output. For example, by outputting an alarm sound or turning on an alarm lamp, the system user is warned and urged to take measures according to the situation. In addition, by outputting an alarm signal to the host system, the host system that receives the alarm signal may perform necessary control such as torque limitation.
  • the sensitivity calculation means 10 continuously calculates the sensitivity K ⁇ while the electric motor 1 is being driven, and if the absolute value falls below a predetermined reference value, an alarm is issued. An alarm is output by the issuing means 11.
  • the sensitivity K ⁇ is calculated from the phase differences ⁇ ivh1 and ⁇ ivh3.
  • other combinations of phase differences for example, combinations of ⁇ ivh1 and ⁇ ivh2, or ⁇ ivh2 and ⁇ ivh3 Sensitivity K ⁇ can also be obtained from a set or the like. That is, the sensitivity K ⁇ can be calculated from any two phase differences. Therefore, the phase shift amount switched by the superimposed voltage phase shift means 8 can be an arbitrary value of two or more. However, it is preferable to select one or more values from the positive and negative values as the phase shift amount within the range of ⁇ 45 ° to 45 °. In any case, the same effect as described in the above embodiment can be obtained.
  • phase shift amount switching pattern is not limited to the example shown in FIG. That is, any switching pattern can be used as long as two or more phase shift amounts are switched without deviation in the sampling period of the current vector I by the current extraction means 6 or a positive multiple of the sampling period. In any case, the same effect as described in the above embodiment can be obtained.
  • the power conversion device 101a includes the voltage conversion means 3 and the motor control device 100a.
  • the current extraction unit 6 extracts a high-frequency current vector Ih from the current vector I detected by the current detection unit 2.
  • the superimposed voltage phase adjusting means 7 estimates the magnetic pole position ⁇ d of the rotor of the electric motor 1 and superimposes a phase for superimposing an alternating voltage that changes at a period different from the rotation period of the rotor.
  • a high-frequency voltage phase command value ⁇ vh * for adjustment is output.
  • the current control means 5 estimates the magnetic pole position ⁇ d and outputs a fundamental voltage vector command V1 * for controlling the current vector I flowing through the motor 1. Also, superimposed voltage phase shifting means 8 adjusts the high-frequency voltage phase command value Shitavh *, and outputs a high-frequency voltage phase command value after the shift ⁇ vh **. Based on the shifted high-frequency voltage phase command value ⁇ vh ** , the voltage superimposing means 9 superimposes the alternating voltage on the fundamental voltage vector command V1 * and outputs it to the voltage converting means 3.
  • the sensitivity calculation means 10 determines the magnetic pole position ⁇ d based on the high-frequency current vector Ih extracted by the current extraction means 6 and the shifted high-frequency voltage phase command value ⁇ vh ** adjusted by the superimposed voltage phase shift means 8. A sensitivity K ⁇ for estimation is calculated. Since it did in this way, the detection sensitivity of magnetic pole position (theta) d by the saliency of the electric motor 1 can be estimated.
  • the superposed voltage phase shift means 8 has two or more loci whose high-frequency current vectors Ih have different phases on the stator coordinate plane with the stator of the electric motor 1 as a reference.
  • the high-frequency voltage phase command value ⁇ vh * is adjusted so as to draw a line segment.
  • the phase shift amount Shitavh1 by adding the ⁇ vh2 and high-frequency voltage phase command value periodically switched at least two or more of ⁇ vh3 ⁇ vh *, and to adjust the high-frequency voltage phase command value Shitavh * .
  • the sensitivity calculation means 10 can calculate the high-frequency current phases ⁇ ih1, ⁇ ih2, and ⁇ ih3 for the high-frequency current vectors Ih1, Ih2, and Ih3, respectively, and can calculate the sensitivity K ⁇ based on these.
  • the superimposed voltage phase shift means 8 periodically switches the phase shift amounts ⁇ vh1 and ⁇ vh3 and adds them to the high frequency voltage phase command value ⁇ vh * .
  • the voltage superimposing means 9 superimposes the high-frequency voltage vector Vh1 on the fundamental voltage vector command V1 * according to the shifted high-frequency voltage phase command value ⁇ vh ** added with the phase shift amount ⁇ vh1, and also performs phase shift.
  • the high-frequency voltage vector Vh3 is superimposed on the fundamental voltage vector command V1 * in accordance with the shifted high-frequency voltage phase command value ⁇ vh ** added with the amount ⁇ vh3.
  • the sensitivity calculation means 10 calculates the phase difference ⁇ ivh1 between the high-frequency current vector Ih1 and the high-frequency voltage vector Vh1, and the phase difference ⁇ ivh3 between the high-frequency current vector Ih3 and the high-frequency voltage vector Vh3, and these calculated positions. Based on the phase difference, the sensitivity K ⁇ is calculated using the above equation (8). That is, as shown in FIG. 9, by calculating the inclination between the coordinate point 91 corresponding to the set of the phase shift amount ⁇ vh1 and the phase difference ⁇ ivh1, and the coordinate point 92 corresponding to the set of the phase shift amount ⁇ vh3 and the phase difference ⁇ ivh3. Then, the sensitivity K ⁇ is calculated. Since it did in this way, sensitivity Kdeltatheta can be correctly calculated by simple calculation.
  • the superimposed voltage phase shift means 8 can select one or more values as a phase shift amount from positive and negative values within a range of ⁇ 45 ° to 45 °. In this way, the sensitivity calculation means 10 can reliably calculate the sensitivity K ⁇ .
  • the alarm issuing means 11 outputs an alarm based on the sensitivity K ⁇ calculated by the sensitivity calculating means 10. Since it did in this way, it warns that it is difficult to maintain the driving
  • FIG. 10 is an overall configuration diagram of an electric motor drive system 110c according to the second embodiment of the present invention.
  • the electric motor drive system 110 c includes a power conversion device 101 c and the electric motor 1.
  • the power conversion device 101 c includes an electric motor control device 100 c, a voltage conversion unit 3, and a current detection unit 2.
  • the electric motor 1, the voltage conversion means 3, and the current detection means 2 are the same as the electric motor drive system 110a shown in FIG.
  • the difference between the motor control device 100c of the present embodiment and the motor control device 100a described in the first embodiment will be described.
  • the motor control device 100c is different from the motor control device 100a shown in FIG. 1 in that a superimposed voltage amplitude adjusting unit 12 is added.
  • the superposed voltage amplitude adjusting means 12 determines the amplitude of the high frequency voltage vector command Vh * output from the voltage superposing means 9 based on the high frequency current vector Ih from the current extracting means 6 and the sensitivity K ⁇ from the sensitivity calculating means 10.
  • a high frequency voltage amplitude command VhAmp * for adjustment is determined.
  • the alternating voltage by the rectangular wave as described above is superimposed on the fundamental voltage vector command V1 * from the current control means 5.
  • Adjust the amplitude Thereby, the amplitude of the alternating voltage, which was a fixed value in the first embodiment, is adjusted according to the magnitude of the sensitivity K ⁇ in the present embodiment.
  • the norm of the high frequency current vector Ih needs to be sufficiently larger than the detection error of the current vector I by the current detecting means 2.
  • the norm of the high-frequency current vector Ih is large, there are disadvantages such as torque pulsation increases in the electric motor 1 and electromagnetic noise increases. Therefore, it is desirable to limit the norm of the high-frequency current vector Ih to a minimum size within a range necessary for calculating the high-frequency current phase ⁇ ih.
  • the high-frequency current phase ⁇ ih and the high-frequency voltage phase ⁇ vh corresponding to a certain axis error are correspondingly obtained as shown in FIG.
  • the absolute value of the phase difference ⁇ ivh is small. Therefore, the influence of the norm of the high-frequency current vector Ih on the detection accuracy of the phase difference ⁇ ivh is relatively large. Therefore, in such a case, the norm of the high-frequency current vector Ih needs to be relatively large in order to calculate the high-frequency current phase ⁇ ih.
  • the absolute value of the sensitivity K ⁇ is large, the absolute value of the phase difference ⁇ ivh with respect to the axis error is correspondingly increased. Therefore, the magnitude of the norm of the high-frequency current vector Ih is detected by the phase difference ⁇ ivh. The effect on accuracy is relatively small. Therefore, in this case, the norm of the high-frequency current vector Ih may be small. Thus, it can be seen that the minimum norm of the high-frequency current vector Ih necessary for calculating the high-frequency current phase ⁇ ih is determined according to the sensitivity K ⁇ .
  • the superimposed voltage amplitude adjusting means 12 calculates a high frequency current amplitude command IhAmp * as a command value for the norm of the high frequency current vector Ih based on the sensitivity K ⁇ using the following equation (9).
  • K is an arbitrary constant.
  • the value of the constant K may be changed according to the situation. For example, when it is desired to accurately detect the magnetic pole position ⁇ d by increasing the detection accuracy of the phase difference ⁇ ivh, it is important to increase K or to suppress the torque pulsation and electromagnetic noise of the motor 1 at a higher frequency than the accuracy of the magnetic pole position ⁇ d. If desired, K can be reduced.
  • the superimposed voltage amplitude adjusting unit 12 calculates a high frequency current amplitude IhAmp representing the norm based on the high frequency current vector Ih from the current extracting unit 6. Then, the high-frequency voltage amplitude command VhAmp * is determined so that the high-frequency current amplitude IhAmp matches the high-frequency current amplitude command IhAmp * and is output to the voltage superimposing means 9.
  • the superimposed voltage amplitude adjusting means 12 is controlled by the voltage superimposing means 9 based on the sensitivity K ⁇ calculated by the sensitivity calculating means 10.
  • the amplitude of the alternating voltage superimposed on the vector command V1 * is adjusted. Since it did in this way, the alternating voltage superimposed with respect to fundamental wave voltage vector command V1 * can be optimized dynamically according to sensitivity K (DELTA) (theta).
  • the amount of alternating voltage superimposed is reduced to suppress noise, and conversely, under the operating conditions where the absolute value of the sensitivity K ⁇ is small, the alternating voltage superimposed amount is increased to increase the necessary position. Accuracy can be ensured.
  • FIG. 11 is an overall configuration diagram of an electric motor drive system 110d according to the third embodiment of the present invention.
  • the electric motor drive system 110d includes a power conversion device 101d and the electric motor 1.
  • the power conversion device 101d includes an electric motor control device 100d, a voltage conversion unit 3, and a current detection unit 2.
  • the electric motor 1, the voltage conversion means 3, and the current detection means 2 are the same as the electric motor drive system 110a shown in FIG.
  • the difference between the motor control device 100d of this embodiment and the motor control device 100a described in the first embodiment will be described.
  • the motor control device 100 d is different from the motor control device 100 a shown in FIG. 1 in that the alarm control means 11 is not provided and the sensitivity K ⁇ from the sensitivity calculation means 10 is input to the torque command generation means 4. It is a point that has been.
  • the torque command generation means 4 adjusts the torque command ⁇ * for the electric motor 1 based on the sensitivity K ⁇ from the sensitivity calculation means 10.
  • the fundamental wave voltage vector command V1 * output from the current control means 5 to the voltage conversion means 3 is adjusted to adjust the current vector I. To prevent a decrease in sensitivity K ⁇ . The principle will be described below.
  • the decrease in the absolute value of the sensitivity K ⁇ occurs when a magnetic saturation phenomenon occurs due to an increase in the amount of current in the electric motor 1 as described above, and thereby the saliency deteriorates. Therefore, when the sensitivity K ⁇ is deteriorated, the absolute value of the fundamental wave current vector I1 is not increased any more, so that the sensitivity K ⁇ can be prevented from being lost and the subsequent step-out can be prevented from occurring. .
  • the torque command generating means 4 restricts the absolute value of the torque command ⁇ * from increasing further.
  • the absolute value of the torque command ⁇ * is decreased.
  • the current control means 5 that receives the torque command ⁇ * suppressed in this way outputs a fundamental voltage vector command V1 * corresponding to the torque command ⁇ * after the suppression. As a result, the decrease in the sensitivity K ⁇ is suppressed and the operation of the electric motor 1 can be maintained.
  • the current control unit 5 is controlled by the torque command generation unit 4 based on the sensitivity K ⁇ calculated by the sensitivity calculation unit 10.
  • the fundamental voltage vector command V1 * is adjusted and output so as to limit the current vector I flowing through the electric motor 1. Since it did in this way, it can prevent that sensitivity K (DELTA) (theta) reduces more than needed, and can prevent the out-of-step of the electric motor 1 beforehand.
  • the fundamental voltage vector output from the current control unit 5 is suppressed by the torque command generation unit 4 suppressing the torque command ⁇ * based on the sensitivity K ⁇ from the sensitivity calculation unit 10.
  • the command V1 * is adjusted to suppress the decrease in sensitivity K ⁇ .
  • such an operation may be performed only by the current control means 5.
  • the absolute value of the fundamental wave vector I1 when sensitivity is lowered is set in advance.
  • the torque command ⁇ * from the torque command generation means 4 is determined .
  • the fundamental voltage vector command V1 * is determined based on the preset absolute value of the fundamental current vector I1 when the sensitivity is lowered. Even if it does in this way, the effect similar to the above can be acquired.
  • FIG. 12 is an overall configuration diagram of an electric motor drive system 110e according to the fourth embodiment of the present invention.
  • the electric motor drive system 110e includes a power conversion device 101e and the electric motor 1.
  • the power conversion device 101e includes an electric motor control device 100e, a voltage conversion unit 3, and a current detection unit 2.
  • the electric motor 1, the voltage conversion means 3, and the current detection means 2 are the same as the electric motor drive system 110a shown in FIG.
  • the difference between the motor control device 100e of the present embodiment and the motor control device 100a described in the first embodiment will be described.
  • the motor control device 100e is different from the motor control device 100a shown in FIG. 1 in that reactive current command generating means 13 is added.
  • the reactive current command generation means 13 compares the absolute value of the sensitivity K ⁇ from the sensitivity calculation means 10 with a predetermined reference value. As a result, when the absolute value of the sensitivity K ⁇ is lower than the reference value, a predetermined signal is output to the current control unit 5. Upon receiving this signal, the current control means 5 adjusts and outputs the value of the fundamental voltage vector command V1 * so that the reactive current in the current vector I increases. Thereby, when the absolute value of the sensitivity K ⁇ is lowered, the reactive current is increased in the current vector I.
  • the reactive current is a current that does not contribute to the generation of torque in the electric motor 1 and is a loss during operation.
  • the reason why the reactive current is increased in the current vector I when the absolute value of the sensitivity K ⁇ decreases will be described.
  • the decrease in the absolute value of the sensitivity K ⁇ occurs when the magnetic flux in the phase direction of the effective current is saturated in the electric motor 1. Therefore, in such a case, the reactive current that hardly occurs during normal operation is intentionally increased, thereby further increasing the magnetic flux saturation in the phase direction of the reactive current. As a result, anisotropy of inductance is relatively generated, and the sensitivity K ⁇ can be recovered.
  • the reactive current command generation means 13 compares the absolute value of the sensitivity K ⁇ with a predetermined reference value, and outputs a predetermined signal when the absolute value of the sensitivity K ⁇ falls below the reference value. In response to this signal, the current control means 5 is operated so as to increase the reactive current command until the sensitivity K ⁇ maintains the reference value. As a result, it is possible to output a higher torque from the electric motor 1 than in the third embodiment while preventing step-out. However, in this case, the operating efficiency of the electric motor 1 deteriorates as the reactive current increases.
  • the current control means 5 is a signal output from the reactive current command generation means 13 based on the sensitivity K ⁇ calculated by the sensitivity calculation means 10. Accordingly, the fundamental voltage vector command V1 * is adjusted and output so as to increase the reactive current flowing through the electric motor 1. Since it did in this way, it can prevent that sensitivity K (DELTA) (theta) reduces more than needed, and can prevent the out-of-step of the electric motor 1 beforehand. Furthermore, while performing this, a higher torque can be output from the electric motor 1 than the electric motor control device 100d described in the third embodiment.
  • FIG. 13 is an overall configuration diagram of a conveyor 130 according to the fifth embodiment of the present invention.
  • the transport machine 130 includes the electric motor 1, a power conversion device 131, a power voltage mechanism 132, and a transport unit 133. Note that any one of the power conversion devices 101a, 101c, 101d, and 101e described in the first to fourth embodiments can be used as the power conversion device 131.
  • the electric motor 1 is the same as that described in the first to fourth embodiments.
  • the power conversion device 131 controls the operation of the electric motor 1 by the method described in the first to fourth embodiments.
  • the driving force generated by the electric motor 1 is transmitted to the transport unit 133 via the power transmission mechanism 132.
  • the transport unit 133 operates using this driving force to transport an installed baggage or the like from a predetermined position to another predetermined position.
  • the present invention can also be applied to a conveyor.
  • FIG. 14 is an overall configuration diagram of an elevating device 140 according to a sixth embodiment of the present invention.
  • the elevating device 140 includes the electric motor 1, the power conversion device 141, a winding mechanism 142, a wire 143, and an elevating unit 144.
  • the power conversion device 141 any of the power conversion devices 101a, 101c, 101d, and 101e described in the first to fourth embodiments can be used.
  • the electric motor 1 is the same as that described in the first to fourth embodiments.
  • the power converter 141 controls the operation of the electric motor 1 by the method described in the first to fourth embodiments.
  • the hoisting mechanism 142 moves the elevating unit 144 up and down by hoisting and lowering the wire 143 connected to the elevating unit 144 using the driving force generated by the electric motor 1.
  • the present invention can also be applied to a lifting device.
  • FIG. 15 is a diagram for explaining the principle of sensitivity detection error due to a transient phenomenon. This figure shows the relationship between the high-frequency voltage phase ⁇ vh and the phase difference ⁇ ivh when the axis error is caused by a transient phenomenon on the graph of the phase difference ⁇ ivh and the phase difference ⁇ vhd as shown in FIGS. Is.
  • the superimposed voltage phase adjustment means 7 adjusts the high-frequency voltage phase command value ⁇ vh * according to the magnetic pole position detection principle based on the saliency by using the phase difference ⁇ ivh2 between the high-frequency current vector Ih2 and the high-frequency voltage vector Vh2 at this time. To do.
  • phase difference ⁇ vhd between the high-frequency voltage phase ⁇ vh and the magnetic pole position ⁇ d is not 0 due to an axis error caused by a transient phenomenon.
  • the phase difference ⁇ ivh1 with respect to the phase shift amount ⁇ vh1 corresponds to a point 151 on the graph
  • the phase difference ⁇ ivh3 with respect to the phase shift amount ⁇ vh3 corresponds to a point 152 on the graph. Therefore, as described in the first embodiment, when the sensitivity K ⁇ is obtained from the slope of the linear function connecting these points, a value different from the actual value is calculated.
  • the sensitivity calculation means 10 obtains the phase difference ⁇ ivh2 between the high-frequency current vector Ih2 and the high-frequency voltage vector Vh2 when the phase shift amount ⁇ vh2 is 0, and compares the absolute value with a predetermined reference value.
  • the phase difference ⁇ ivh2 should be almost zero. Therefore, when the absolute value of the phase difference ⁇ ivh2 exceeds the reference value, an axis error due to a transient phenomenon has occurred, and the adjustment of the superimposed phase of the alternating voltage by the superimposed voltage phase adjusting means 7 has not converged. It can be judged. Therefore, in this case, since the sensitivity K ⁇ cannot be calculated correctly, it is preferable to stop the output by stopping the calculation of the sensitivity K ⁇ by the sensitivity calculation means 10.

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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)
PCT/JP2013/050349 2012-03-13 2013-01-11 電力変換装置、電動機駆動システム、搬送機、昇降装置 WO2013136829A1 (ja)

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