WO2014034291A1 - 電動機制御装置 - Google Patents
電動機制御装置 Download PDFInfo
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- WO2014034291A1 WO2014034291A1 PCT/JP2013/068955 JP2013068955W WO2014034291A1 WO 2014034291 A1 WO2014034291 A1 WO 2014034291A1 JP 2013068955 W JP2013068955 W JP 2013068955W WO 2014034291 A1 WO2014034291 A1 WO 2014034291A1
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- magnetic flux
- primary magnetic
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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
- H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
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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
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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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
- H02P21/141—Flux estimation
Definitions
- the present invention relates to a technique for controlling a synchronous motor including a field and an armature.
- the present invention relates to a technique for controlling a rotary motor based on a so-called primary magnetic flux, which is a combination of a field magnetic flux generated by the field and an armature reaction magnetic flux generated by an armature current flowing in an armature winding. .
- the primary magnetic flux control is a technique for stably controlling the rotary motor by controlling the primary magnetic flux of the rotary motor according to the command value.
- the phase of the field magnetic flux ⁇ 0 is adopted for the d-axis of the rotational coordinate system
- the phase of the primary magnetic flux ⁇ 1 is adopted for the ⁇ -axis of another rotational coordinate system
- the phase difference of the ⁇ -axis with respect to the d-axis is considered as the load angle ⁇ .
- the ⁇ -axis is adopted at a phase advanced by 90 degrees with respect to the ⁇ -axis.
- the ⁇ c axis and the ⁇ c axis are defined as the control axes of the rotating coordinate system employed in the control of the primary magnetic flux.
- the ⁇ c axis and the ⁇ c axis correspond to the ⁇ axis and the ⁇ axis, respectively, and the phase difference of the ⁇ c axis with respect to the d axis is ⁇ c.
- the command value of the primary magnetic flux ⁇ 1 (hereinafter referred to as “primary magnetic flux command value”) has a ⁇ c-axis component ⁇ *, and the ⁇ c-axis component becomes zero. Therefore, if the primary magnetic flux ⁇ 1 is equal to the primary magnetic flux command value, the ⁇ c-axis component ⁇ 1 ⁇ c of the primary magnetic flux ⁇ 1 is equal to the ⁇ c-axis component ⁇ *, the phase difference ⁇ c is equal to the load angle ⁇ , and the ⁇ c-axis coincides with the ⁇ -axis.
- the ⁇ c-axis component ⁇ 1 ⁇ c and ⁇ c-axis component ⁇ 1 ⁇ c of the primary magnetic flux ⁇ 1 vary due to changes in the primary magnetic flux command value, load fluctuations, the influence of control disturbances, and the like.
- a change in the primary magnetic flux command value or a change in the load causes a transient change in the primary magnetic flux ⁇ 1
- a control disturbance causes a change in the ⁇ c axis / ⁇ c axis.
- a state where there is a control disturbance includes a state in which the voltage command and the voltage applied to the rotary motor are different due to dead time, on-loss, and dead time, or between the device constant of the rotary motor and the device constant assumed by the control system.
- a state where there is a deviation can be exemplified. Therefore, a deviation occurs between the primary magnetic flux ⁇ 1 and the primary magnetic flux command value, and thus a deviation also occurs between the load angle ⁇ and the phase difference ⁇ c.
- the primary magnetic flux control when the primary magnetic flux ⁇ 1 deviates from the primary magnetic flux command value, not only the ⁇ c axis component ⁇ 1 ⁇ c of the primary magnetic flux ⁇ 1 is made equal to the ⁇ c axis component ⁇ * of the primary magnetic flux command value, but also the ⁇ c axis component ⁇ 1 ⁇ c is changed. For example, control for correcting the voltage command value is performed so as to be zero. As a result, the phase difference ⁇ c matches the load angle ⁇ .
- Such primary magnetic flux control can control the torque of the rotary motor in proportion to the ⁇ c axis component of the armature current without depending on the rotational angular velocity.
- Non-Patent Document 6 is adopted by replacing the other prior art documents listed below with the ⁇ / ⁇ axes.
- Non-Patent Document 1 feedback is realized by using the deviation in the ⁇ -axis component without using the ⁇ -axis component of the armature current.
- Non-Patent Document 3 presupposes a range in which the load angle ⁇ can be approximately equal to the sine value sin ⁇ .
- Non-Patent Document 6 the d-axis component and the ⁇ -axis component advanced by 90 degrees are isotropically handled for the inductance of the armature winding. It cannot be applied to certain rotary motors, for example, embedded magnet type rotary motors.
- the feedback amount employed in any prior art document does not include the load angle ⁇ information.
- the ⁇ -axis current and the ⁇ -axis current are employed as feedback amounts
- the ⁇ -axis current is employed as feedback amounts. Not too much.
- the load angle ⁇ is large, the primary magnetic flux cannot be controlled to a desired value.
- the load angle ⁇ also increases. Therefore, in the conventional primary magnetic flux control, it is difficult to appropriately perform stable driving or high-efficiency driving in a region where the torque is large.
- the present invention has been made in view of the above points, and it is an object of the present invention to provide a technique capable of applying primary magnetic flux control to a rotary motor having saliency by performing feedback based on a deviation of primary magnetic flux. It is another object of the present invention to provide primary magnetic flux control that can be driven at a stable and efficient operating point even in a region where the output torque is large.
- the motor control device provides a field magnetic flux generated by the field for a rotary motor including an armature having an armature winding and a rotor that is a field that rotates relative to the armature.
- the primary magnetic flux ([ ⁇ 1]) which is a combination of ( ⁇ 0) and the magnetic flux ( ⁇ a: id ⁇ Ld, iq ⁇ Lq) of the armature reaction generated by the armature current ([I]) flowing through the armature. It is a device to control.
- the first aspect converts the armature current into a first current ([i]) in a rotating coordinate system ( ⁇ c ⁇ c) having a predetermined phase ( ⁇ c) with respect to the rotation of the rotor. Based on the first coordinate conversion unit (101) and a voltage equation when the rotary motor is in a steady state, an induced voltage ( ⁇ * ⁇ ) by a primary magnetic flux command value ([ ⁇ 1 *]) that is a command value of the primary magnetic flux.
- a second aspect of the motor control device is the first aspect, wherein the second calculation unit (103A) uses the estimated value ([ ⁇ 1 ⁇ ]) of the primary magnetic flux as the primary magnetic flux. adopt.
- a third aspect of the motor control device is the second aspect, wherein the predetermined component ( ⁇ c) and the inductance of the armature winding are orthogonal to the field magnetic flux. (Lq), the second component (Ld) in phase with the field magnetic flux of the inductance, the first current, and the field magnetic flux ( ⁇ 0), the estimated value of the primary magnetic flux ([ ⁇ 1 ⁇ ] Is further provided.
- a fourth aspect of the motor control device is the second aspect or the third aspect, in which the predetermined phase ( ⁇ c) and the field magnetic flux of the inductance of the armature winding are determined.
- the first component (Lq) that is orthogonal, the second component (Ld) in phase with the field magnetic flux of the inductance, the first current, the field magnetic flux ( ⁇ 0), and the estimated value of the primary magnetic flux.
- a primary magnetic flux command correction unit (107) that outputs the primary magnetic flux command correction value ([ ⁇ 1 **]) by correcting the primary magnetic flux command value ([ ⁇ 1 *]) using ([ ⁇ 1 ⁇ ]).
- the second calculator (103B) employs the primary magnetic flux command correction value as the primary magnetic flux command value.
- the estimated value may be adopted as the predetermined phase.
- the predetermined phase ( ⁇ c) includes the first voltage command value ([v *]), the resistance value ( ⁇ R ⁇ ) of the armature winding, the first component (Lq), It is obtained from the rotational angular velocity ( ⁇ *) of the rotor and the first current ([i]).
- the second term obtained based on the deviation of the primary magnetic flux functions as feedback for the first voltage command value, so the second term has information on the load angle. Therefore, even if the deviation between the predetermined phase and the load angle is large, it is easy to correct this and perform the primary magnetic flux control. It does not depend on the presence or absence of saliency.
- the third aspect of the motor control device according to the present invention can perform primary magnetic flux control by correcting the deviation of the load angle regardless of the presence or absence of saliency.
- the same degree of accuracy as in the second and third aspects can be obtained regardless of the primary magnetic flux detection method and estimation method.
- First embodiment. 1 and 2 are both vector diagrams for explaining primary magnetic flux control.
- the dq coordinate system based on the phase of the field magnetic flux ⁇ 0 (the d axis is in phase with the field magnetic flux ⁇ 0 and the q axis is advanced by 90 degrees with respect to the d axis) (that is, rotation)
- a ⁇ c- ⁇ c coordinate system is set which leads to a phase difference ⁇ c (with respect to the rotation of the child).
- the voltage applied to the rotary motor (its ⁇ c axis component and ⁇ c axis component are set to v ⁇ c and v ⁇ c, respectively) is adjusted so that the ⁇ c axis coincides with the ⁇ axis in phase with the primary magnetic flux.
- FIG. 1 shows a case where the phase difference ⁇ c matches the load angle ⁇ .
- the magnetic flux ⁇ a of the armature reaction is a combination of the magnetic flux Lq ⁇ iq in the q-axis positive direction and the magnetic flux Ld ⁇ id in the d-axis negative direction.
- the primary magnetic flux is a combination of the magnetic flux ⁇ a and the field magnetic flux ⁇ 0, and takes a positive value ⁇ (which coincides with its command value ⁇ *) on the ⁇ axis (corresponding to the ⁇ c axis in FIG. 1).
- the induced voltage due to the armature reaction can be expressed as a combination of the d-axis negative direction voltage ⁇ ⁇ Lq ⁇ iq and the q-axis negative direction voltage ⁇ ⁇ Ld ⁇ id.
- the ⁇ c-axis component ⁇ 1 ⁇ c and / or the ⁇ c-axis component ⁇ 1 ⁇ c of the primary magnetic flux ⁇ 1 varies due to load variation, control disturbance influence, and the like. Therefore, as shown in FIG. 2, a deviation occurs between the phase difference ⁇ c and the load angle ⁇ . Since the primary magnetic flux does not have a ⁇ -axis component from the definition of the ⁇ axis, the primary magnetic flux that is actually generated is also referred to as a primary magnetic flux ⁇ .
- the ⁇ c-axis component ⁇ 1 ⁇ c of the primary magnetic flux ⁇ is made to coincide with the primary magnetic flux command value (the ⁇ c-axis component ⁇ *), and the ⁇ c-axis component ⁇ 1 ⁇ c of the primary magnetic flux ⁇ is made the primary magnetic flux.
- the induced voltage ⁇ ⁇ ⁇ * needs to appear on the ⁇ c axis.
- the following formulas (1) and (2) are derived based on the voltage equation of the rotary motor. However, the differential operator p was introduced.
- the matrix ⁇ R ⁇ can be grasped as a tensor indicating the resistance of the armature winding, and has the same component R in both the ⁇ c axis and the ⁇ c axis as shown in equation (2).
- the off-diagonal component is zero.
- a current vector [i] [i ⁇ c i ⁇ c] t representing the current flowing through the armature winding was introduced.
- Each of the first terms on the right side of the equations (1) and (2) indicates a voltage drop ⁇ R ⁇ [i].
- the third term in equation (2) is a transient term and can be ignored. This is because the influence of the transient term can also be handled as a deviation between the load angle ⁇ and the phase difference ⁇ c as described above.
- ⁇ ⁇ *.
- phase difference ( ⁇ c ⁇ ) cannot be eliminated by only using the feedforward term [F] as the voltage command value.
- a vector represented by a position obtained by rotating the feedforward term [F] indicated by the position J1 by a phase difference ( ⁇ c ⁇ ) to the leading phase (counterclockwise direction in FIG. 2) should be adopted. It is. This is because the voltage [v] is generated at a position delayed by the phase difference ( ⁇ c ⁇ ) from the voltage command value [v *] only by the feedforward term [F].
- At least one of the components K ⁇ , K ⁇ , K ⁇ , and K ⁇ of the matrix ⁇ K ⁇ that performs an operation on the magnetic flux deviation [ ⁇ ] is non-zero. That is, the matrix ⁇ K ⁇ is a non-zero matrix.
- the feedforward term [F] functions as feedforward based on the armature current
- the feedback term [B] functions as feedback based on the magnetic flux deviation
- the ⁇ c-axis component ( ⁇ 1 ⁇ c) of the magnetic flux deviation is set to the voltage command for both the ⁇ c-axis and the ⁇ c-axis. Feedback can be made to the value [v *].
- the ⁇ c axis component ( ⁇ * ⁇ 1 ⁇ c) of the magnetic flux deviation is fed back to the voltage command value [v *] for both the ⁇ c axis and the ⁇ c axis. it can.
- both the column vectors [K ⁇ K ⁇ ] t and [K ⁇ K ⁇ ] t are non-zero vectors, the magnetic flux components of both axes can be fed back, so that the stability and responsiveness of the control system are improved.
- FIG. 3 is a vector diagram showing a situation where the phase difference ⁇ c is approaching the load angle ⁇ .
- the voltage command value can be determined in consideration of feedback based on the deviation [ ⁇ ] for the primary magnetic flux.
- the matrix ⁇ K ⁇ functioning as a feedback gain may be a diagonal component or a non-diagonal component as long as it is a non-zero matrix.
- Each component may include an integral element.
- FIG. 4 is a block diagram showing the configuration of the motor control device 1 according to the present embodiment and its peripheral devices based on the above concept.
- Rotating motor 3 is a three-phase motor, and includes an armature (not shown) and a rotor that is a field.
- the armature has an armature winding, and the rotor rotates relative to the armature.
- a field magnet is provided with a magnet which generates field magnetic flux, for example, and the case where an interior magnet type is adopted is explained here.
- the motor control device 1 is a device that controls the primary magnetic flux [ ⁇ 1] and the rotation speed (rotation angular velocity in the following example) with respect to the rotary motor 3.
- the primary magnetic flux [ ⁇ 1] is the magnetic flux ⁇ a of the armature reaction generated by the field magnetic flux ⁇ 0 generated by the field magnet and the armature current (this is also the three-phase current [I]) flowing through the armature (FIG. 1).
- the primary magnetic flux [ ⁇ 1] is treated as an observable value or a value that has already been estimated.
- the electric motor control device 1 includes a first coordinate conversion unit 101, a first calculation unit 102, a second calculation unit 103A, a second coordinate conversion unit 104, and an integrator 106.
- the first coordinate conversion unit 101 converts the three-phase current [I] into a current [i] in a ⁇ c- ⁇ c rotating coordinate system that performs primary magnetic flux control.
- the 1st calculation part 102 calculates
- the second calculation unit 103A obtains the voltage command value [v *] in the ⁇ c- ⁇ c rotating coordinate system as the sum of the feedforward term [F] and the feedback term [B].
- the second coordinate conversion unit 104 converts the voltage command value [v *] to a voltage command value [V *] in another coordinate system applied to the rotary motor 3.
- This “other coordinate system” may be, for example, a dq rotation coordinate system, an ⁇ - ⁇ fixed coordinate system (for example, the ⁇ axis is set in phase with the U phase), or uvw It may be a fixed coordinate system or a polar coordinate system. Which coordinate system is adopted as the “other coordinate system” depends on what kind of control the voltage supply source 2 performs.
- [V *] [Vd * Vq *] t (however, the component shown earlier is the d-axis component and will be shown later) Is the q-axis component).
- the integrator 106 calculates the phase ⁇ of the ⁇ c axis with respect to the ⁇ axis based on the rotational angular velocity ⁇ . Based on the phase ⁇ , the first coordinate conversion unit 101 and the second coordinate conversion unit 104 can perform the coordinate conversion described above.
- the rotational angular velocity ⁇ is obtained as the output of the subtractor 109.
- FIG. 5 is a block diagram showing the configuration of the first calculation unit 102 and the second calculation unit 103A.
- “X” surrounded by a circle indicates a multiplier
- “+” surrounded by a circle indicates an adder
- the configuration of the motor control device 1 in the present embodiment further includes a primary magnetic flux estimation unit 105 as compared with the configuration of the motor control device 1 in the first embodiment, as shown in FIG.
- the second calculation unit 103A employs the estimated value [ ⁇ 1 ⁇ ] as the primary magnetic flux [ ⁇ 1].
- the phase of the field magnetic flux ⁇ 0 is adopted as the d-axis, and the q-axis of 90 degrees advance is assumed for this.
- a dq rotation coordinate system rotates at an angular velocity ⁇
- the d-axis voltage vd as the d-axis component of the voltage applied to the rotary motor
- the q-axis voltage vq as the q-axis component of the voltage applied to the rotary motor.
- Equation (7) The first term on the right side of Equation (7) is a magnetic flux (armature reaction) generated by the armature current flowing, and the second term is a magnetic flux contributed by the field magnetic flux ⁇ 0.
- Equation (7) is the ⁇ c-axis component ⁇ 1 ⁇ c of the primary magnetic flux ⁇
- ⁇ is The ⁇ c-axis component ⁇ 1 ⁇ c of the primary magnetic flux ⁇ is shown respectively.
- a vector diagram at this time is shown in FIG.
- the value estimated based on Formula (11) can also be employ
- the voltage command values v ⁇ c * and v ⁇ c * that have already been obtained may be adopted as the voltages v ⁇ c and v ⁇ c to be used, and may be used for estimating a new phase difference ⁇ c.
- FIG. 8 is a block diagram illustrating the structure of the primary magnetic flux estimation unit 105.
- the primary magnetic flux estimation unit 105 includes a delay unit 105a, a load angle estimation unit 105b, an armature reaction estimation unit 105c, a field magnetic flux vector generation unit 105d, and an adder 105e.
- the armature reaction estimation unit 105c receives the phase difference ⁇ c, the d-axis inductance Ld, the q-axis inductance Lq, and the armature currents i ⁇ c and i ⁇ c, and calculates the first term on the right side of Equation (10).
- the expression ⁇ L ⁇ [i] in the first term on the right-hand side of Expression (9) is used, and two hatched lines indicate that two values of the ⁇ c axis component and the ⁇ c axis component are output. .
- the field magnetic flux vector generation unit 105d receives the field magnetic flux ⁇ 0 and calculates the second term on the right side of Equation (10).
- the expression [ ⁇ 0] of the second term on the right-hand side of Expression (9) is used, and two values of the ⁇ c axis component and the ⁇ c axis component are output by two oblique lines.
- the adder 105e realizes addition of the first term and the second term on the right side of each of the equations (9) and (10) by performing addition on each of the two components of the ⁇ c axis component and the ⁇ c axis component, The estimated value [ ⁇ 1 ⁇ ] of the primary magnetic flux is output.
- the voltage command values v ⁇ c * and v ⁇ c * obtained by the second calculator 103A at the previous control timing are used.
- the voltage command values v ⁇ c * and v ⁇ c * obtained by the second calculation unit 103A are delayed by the delay unit 105a, and the phase difference is determined by the load angle estimation unit 105b according to the equation (11) at the next control timing.
- ⁇ c is calculated.
- the voltage command values v ⁇ c * and v ⁇ c * obtained at the present time may be used instead of the voltage command values v ⁇ c * and v ⁇ c * obtained at the previous control timing.
- the delay unit 105a can be omitted.
- direct detection of the primary magnetic flux is not necessary. Further, the primary magnetic flux can be estimated regardless of the presence or absence of the saliency, and the primary magnetic flux control can be performed by correcting the shift of the phase difference ⁇ c.
- the primary magnetic flux can be accurately estimated even in a region where the output torque is large. This stabilizes the driving of the rotary electric motor 3 in a region where the output torque is large. In other words, the region in which the rotary electric motor 3 can be driven stably increases. In addition, it is possible to drive at an efficient operating point even in a region where the output torque is large.
- the configuration of the motor control device 1 in the present embodiment is changed from the second calculation unit 103 ⁇ / b> A to the second calculation unit 103 ⁇ / b> B with respect to the configuration of the motor control device 1 in the second embodiment.
- a primary magnetic flux command correction unit 107 is further provided.
- the primary magnetic flux command correction value [ ⁇ ** ⁇ **] t (hereinafter also referred to as primary magnetic flux command correction value [ ⁇ 1 **]) that satisfies the following equation (12) together with the primary magnetic flux [ ⁇ 1] is It is obtained by equation (13).
- the estimated value [ ⁇ 1 ⁇ ] of the primary magnetic flux described in the second embodiment is introduced.
- FIG. 10 is a block diagram showing the configuration of the first calculation unit 102 and the second calculation unit 103B.
- the feedforward term [F] uses the primary magnetic flux command value [ ⁇ 1 *] instead of the primary magnetic flux command correction value [ ⁇ 1 **]
- this embodiment also includes the first embodiment and the first embodiment.
- the first calculator 102 is employed.
- the primary magnetic flux command correction unit 107 includes a primary magnetic flux command value [ ⁇ 1 *] and an estimated primary magnetic flux value [ ⁇ 1 ⁇ ] (this is calculated by the primary magnetic flux estimation unit 105 as described in the second embodiment). And the primary magnetic flux [ ⁇ 1] estimated by another method is input. Then, the calculation of Expression (13) is performed, and the primary command correction value [ ⁇ 1 **] is output.
- the estimated values ⁇ 1 ⁇ c ⁇ and ⁇ 1 ⁇ c ⁇ are obtained as -sin ( ⁇ ⁇ ) ⁇ ⁇ ⁇ and cos ( ⁇ ⁇ ) ⁇ ⁇ ⁇ , respectively.
- the estimated value ⁇ ⁇ of the primary magnetic flux ⁇ can be calculated using the estimated value of the primary magnetic flux in the ⁇ - ⁇ fixed coordinate system of the rotary motor 3, for example.
- the ⁇ - ⁇ fixed coordinate system has an ⁇ -axis and a ⁇ -axis, and the ⁇ -axis is adopted at a phase advanced by 90 degrees with respect to the ⁇ -axis.
- the ⁇ axis is selected to be in phase with the U phase.
- the estimated value ⁇ ⁇ of the primary magnetic flux ⁇ can be obtained by Expression (17).
- the ⁇ -axis component ⁇ 1 ⁇ ⁇ and the ⁇ -axis component ⁇ 1 ⁇ ⁇ are obtained by integration over the time of the ⁇ -axis component V0 ⁇ and ⁇ -axis component V0 ⁇ of the internal induced voltage ⁇ ⁇ ⁇ , as shown in the equation (18).
- the ⁇ -axis component V0 ⁇ can be calculated as V ⁇ R ⁇ i ⁇ from the ⁇ -axis component V ⁇ of the applied voltage V observed externally and the ⁇ -axis component i ⁇ of the current [I] flowing through the rotary motor 3.
- the ⁇ -axis component V0 ⁇ can be calculated as V ⁇ R ⁇ i ⁇ from the ⁇ -axis component V ⁇ of the applied voltage V observed externally and the ⁇ -axis component i ⁇ of the current [I] flowing through the rotary motor 3.
- the applied voltage V can be obtained from, for example, a three-phase voltage supplied from the voltage supply source 2 to the rotary motor 3 in accordance with FIG.
- the estimated values ⁇ 1 ⁇ c ⁇ and ⁇ 1 ⁇ c ⁇ can be obtained by other methods. That is, the estimated values ⁇ 1 ⁇ c ⁇ and ⁇ 1 ⁇ c ⁇ are obtained by Expression (19) using the phase ⁇ of the ⁇ c axis with respect to the ⁇ axis.
- the ⁇ -axis component ⁇ 1 ⁇ ⁇ and the ⁇ -axis component ⁇ 1 ⁇ ⁇ can be obtained by other methods. Since the applied voltage V can be obtained from the three-phase voltage supplied from the voltage supply source 2 to the rotary motor 3 as described above, the U-phase component Vu, V-phase component Vv, and W-phase component Vw are measured. Is possible. Further, as described above, the three-phase currents Iu, Iv, Iw flowing through the rotary motor 3 can be measured.
- the U-phase component ⁇ 1u ⁇ , the V-phase component ⁇ 1v ⁇ , and the W-phase component ⁇ 1w ⁇ of the estimated value ⁇ ⁇ of the primary magnetic flux ⁇ are obtained by the following equation (20) in the same manner as the equation (18).
- the phase difference ⁇ c can be estimated as follows.
- FIG. 11 corresponds to FIG. 7, but newly adopts the q 'axis.
- the q ′ axis is selected in phase with the voltage V ′.
- the voltage V ′ is a combination of the induced voltage ⁇ ⁇ ⁇ due to the primary magnetic flux and the voltage having the ⁇ c axis component ⁇ ⁇ Ld ⁇ i ⁇ c and the ⁇ c axis component ( ⁇ ⁇ Ld ⁇ i ⁇ c).
- the estimated value of the phase difference ⁇ c is obtained by the sum of the angles ⁇ c ′ and ⁇ . Can do.
- the angles ⁇ c ′ and ⁇ are obtained by the equations (22) and (23), respectively.
- the motor control device 1 includes a microcomputer and a storage device.
- the microcomputer executes each processing step (in other words, a procedure) described in the program.
- the storage device is composed of one or more of various storage devices such as a ROM (Read Only Memory), a RAM (Random Access Memory), a rewritable nonvolatile memory (EPROM (Erasable Programmable ROM), etc.), and a hard disk device, for example. Is possible.
- the storage device stores various information, data, and the like, stores a program executed by the microcomputer, and provides a work area for executing the program.
- microcomputer functions as various means corresponding to each processing step described in the program, or can realize that various functions corresponding to each processing step are realized.
- the motor control device 1 is not limited to this, and various procedures executed by the motor control device 1 or various means or various functions implemented may be realized by hardware.
Abstract
Description
図1及び図2は、いずれも一次磁束制御を説明するベクトル図である。
本実施の形態では、電動機制御装置1が一次磁束[λ1]の推定値[λ1^]を求める技術を説明する。
本実施の形態では、電動機制御装置1が一次磁束[λ1]の推定値あるいは測定値を得た場合に、第2の実施の形態に示された効果を得る技術を紹介する。
一次磁束[λ1]の、第2の実施の形態で示された手法以外の手法による推定を以下に種々例示する。
Claims (9)
- 電機子巻線を有する電機子と、前記電機子と相対的に回転する界磁たる回転子とを含む回転電動機に対し、前記界磁が発生する界磁磁束(Λ0)と、前記電機子に流れる電機子電流([I])によって発生する電機子反作用の磁束(λa:id・Ld,iq・Lq)との合成である一次磁束([λ1])を制御する装置であって、
前記電機子電流を、前記回転子の回転に対して所定の位相(φc)を有する回転座標系(δc-γc)における第1電流([i])に変換する第1座標変換部(101)と、
前記回転電動機の電圧方程式に基づいて、前記一次磁束の指令値たる一次磁束指令値([Λ1*])による誘起電圧(ω*・[Λ1*])と、前記第1電流による電圧降下({R}[i])との和として第1項([F])を求める第1計算部(102)と、
前記一次磁束の前記一次磁束指令値に対する偏差([ΔΛ])へ非零行列({K})で表される演算を行って得られる第2項([B])と前記第1項との和を、前記回転電動機に印加する電圧の、前記回転座標系における指令値たる第1電圧指令値([v*])として求める第2計算部(103A,103B)と、
前記第1電圧指令値を座標変換して、前記回転電動機に印加する電圧の他の座標系における指令値たる第2電圧指令値([V*])へ変換する第2座標変換部(104)と
を備える、電動機制御装置。 - 前記第2計算部(103A)は、前記一次磁束として前記一次磁束の推定値([λ1^])を採用する、請求項1記載の電動機制御装置。
- 前記所定の位相(φc)と、前記電機子巻線のインダクタンスの前記界磁磁束に直交する第1成分(Lq)と、前記インダクタンスの前記界磁磁束と同相の第2成分(Ld)と、前記第1電流と、前記界磁磁束(Λ0)とから、前記一次磁束の前記推定値([λ1^])を求める一次磁束推定部(105)
を更に備える、請求項2記載の電動機制御装置。 - 前記所定の位相(φc)と、前記電機子巻線のインダクタンスの前記界磁磁束に直交する第1成分(Lq)と、前記インダクタンスの前記界磁磁束と同相の第2成分(Ld)と、前記第1電流と、前記界磁磁束(Λ0)と、前記一次磁束の前記推定値([λ1^])を用い、前記一次磁束指令値([Λ1*])を補正して一次磁束指令補正値([Λ1**])を出力する一次磁束指令補正部(107)
を更に備え、
前記第2計算部(103B)は、前記一次磁束指令値として前記一次磁束指令補正値を採用する、請求項2に記載の電動機制御装置。 - 前記所定の位相(φc)と、前記電機子巻線のインダクタンスの前記界磁磁束に直交する第1成分(Lq)と、前記インダクタンスの前記界磁磁束と同相の第2成分(Ld)と、前記第1電流と、前記界磁磁束(Λ0)と、前記一次磁束の前記推定値([λ1^])を用い、前記一次磁束指令値([Λ1*])を補正して一次磁束指令補正値([Λ1**])を出力する一次磁束指令補正部(107)
を更に備え、
前記第2計算部(103B)は、前記一次磁束指令値として前記一次磁束指令補正値を採用する、請求項3に記載の電動機制御装置。 - 前記所定の位相としてその推定値が採用される、請求項3に記載の電動機制御装置。
- 前記所定の位相としてその推定値が採用される、請求項4に記載の電動機制御装置。
- 前記所定の位相としてその推定値が採用される、請求項5に記載の電動機制御装置。
- 前記所定の位相(φc)の前記推定値を、前記第1電圧指令値([v*])と、前記電機子巻線の抵抗値({R})と、前記第1成分(Lq)と、前記回転子の回転角速度(ω*)と、前記第1電流([i])とから求める、請求項3乃至請求項8のいずれか一つに記載の電動機制御装置。
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CN201380044581.2A CN104584419B (zh) | 2012-08-30 | 2013-07-11 | 电动机控制装置 |
US14/424,478 US9479100B2 (en) | 2012-08-30 | 2013-07-11 | Electric motor controller |
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AU2013310516A1 (en) | 2015-04-09 |
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