WO2014132395A1 - Dispositif de commande pour machine rotative à courant alternatif - Google Patents

Dispositif de commande pour machine rotative à courant alternatif Download PDF

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Publication number
WO2014132395A1
WO2014132395A1 PCT/JP2013/055427 JP2013055427W WO2014132395A1 WO 2014132395 A1 WO2014132395 A1 WO 2014132395A1 JP 2013055427 W JP2013055427 W JP 2013055427W WO 2014132395 A1 WO2014132395 A1 WO 2014132395A1
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WO
WIPO (PCT)
Prior art keywords
command
current
rotating machine
axis
voltage
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PCT/JP2013/055427
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English (en)
Japanese (ja)
Inventor
伊藤　正人
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三菱電機株式会社
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Priority to PCT/JP2013/055427 priority Critical patent/WO2014132395A1/fr
Publication of WO2014132395A1 publication Critical patent/WO2014132395A1/fr

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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
    • H02P21/22—Current control, e.g. using a current control loop

Definitions

  • the present invention relates to a control device for an AC rotating machine.
  • an adaptive observer converts a d-axis voltage command, a q-axis voltage command, a d-axis current id, and a q-axis current iq on two rotation axis coordinates (dq axes). Based on this, it is described that the angular frequency of the rotor is obtained and outputted, and the integrator obtains and outputs the rotational position of the rotor by integrating the angular frequency of the rotor.
  • the adaptive observer since the adaptive observer is configured on the rotating biaxial coordinates, the frequency component of the voltage input to the adaptive observer can be made direct current even when operating at a high rotational speed, and is inexpensive. Even when a computer is used, the synchronous motor can be controlled at a high rotational speed.
  • Patent Document 2 in a rotating machine control device, a winding resistance is calculated by applying a constant d-axis voltage to the winding when the motor is started, and dividing the d-axis voltage command value by the d-axis current detection value. It is described that the rotational phase angle of the rotor is estimated and calculated using this winding resistance during the operation of the motor. Thereby, according to Patent Document 2, it is said that the rotational phase angle can be estimated with high accuracy even when the temperature of the motor changes.
  • the speed information of an AC rotating machine is obtained by observing the state of the AC rotating machine from a mathematical model of the AC rotating machine using rotating machine constants such as resistance and inductance of the AC rotating machine. And location information. That is, in the technique described in Patent Document 1, it is assumed that the resistance of the AC rotating machine is a predetermined constant value.
  • Patent Document 2 is considered to be a method of calculating resistance by applying a DC voltage to an AC rotating machine and dividing the DC voltage by the current detected at that time.
  • the technique described in Patent Document 2 is premised on that the winding resistance can be accurately calculated as long as a constant d-axis voltage is applied to the winding.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain an AC rotating machine control device that can accurately estimate the resistance value of an AC rotating machine during operation of the AC rotating machine.
  • an AC rotating machine control device is an AC rotating machine control device having a permanent magnet.
  • Current detection means for detecting current
  • current command setting means for setting and outputting a current command that is a current target value to be passed through the AC rotating machine, and the AC rotating machine based on the current command and the rotating machine current
  • Control means for calculating and outputting a voltage command to be applied
  • voltage applying means for applying a voltage to the AC rotating machine based on the voltage command
  • Resistance estimation means for calculating a resistance value, wherein the current command setting means outputs a first current command that is non-zero and a second current command that is zero, and the control means is configured to output the first current command.
  • the resistance estimation means is configured to output the first current command, the first voltage command, and the second voltage command.
  • the resistance value of the AC rotating machine is estimated based on the voltage command of No. 2.
  • one of the two types of current commands (second current command) is set to zero, and the voltage command at that time is changed to an induced voltage generated when the AC rotating machine rotates. It can be equivalent. Therefore, the influence of the induced voltage component can be reduced by subtracting the induced voltage component from the voltage command when the non-zero current command (first current command) is given. Further, by dividing the subtraction result by a non-zero current command, the resistance value R can be estimated with high accuracy even when the AC rotating machine is rotating. That is, the resistance value of the AC rotating machine can be accurately estimated during the operation of the AC rotating machine.
  • FIG. 1 is a diagram illustrating a configuration of a control device for an AC rotating machine according to a first embodiment.
  • FIG. 2 is a flowchart illustrating the operation of the control device for the AC rotating machine according to the first embodiment.
  • FIG. 3 is a diagram illustrating a configuration of the control device for the AC rotating machine according to the second embodiment.
  • FIG. 4 is a flowchart illustrating the operation of the control device for the AC rotating machine according to the second embodiment.
  • FIG. 1 is a diagram illustrating a configuration of the control device 1 of the AC rotating machine M. As illustrated in FIG.
  • the control device 1 of the AC rotating machine M performs position sensorless control. That is, the control device 1 of the AC rotating machine M obtains the position information of the rotor of the AC rotating machine M without using the position sensor, and controls the AC rotating machine M according to the position information of the rotor.
  • the AC rotating machine M is, for example, a permanent magnet synchronous machine having a three-phase winding and a permanent magnet.
  • the AC rotating machine M is, for example, a surface magnet type permanent magnet synchronous machine or a salient pole type permanent magnet synchronous machine.
  • the AC rotating machine M is a surface magnet type permanent magnet synchronous machine.
  • the AC rotating machine M is a salient pole type permanent magnet synchronous machine. The same effect can be obtained also in the case of.
  • the control device 1 operates the AC rotating machine M by supplying AC power (for example, three-phase AC power) to the AC rotating machine M.
  • the control device 1 includes a current detection unit 2, a voltage application unit 3, a control unit 4, a current command setting unit 5, and a resistance estimation unit 6.
  • the current detection means 2 detects the rotating machine current flowing in the winding of the AC rotating machine M.
  • the current detection means 2 detects the current flowing through at least two phase power lines among the three-phase power lines Lu, Lv, Lw connecting the voltage application means 3 and the AC rotation machine M, so that the AC rotation machine M Detects three-phase rotating machine current flowing in the winding.
  • FIG. 1 illustrates the case where the current detection means 2 detects the U-phase rotating machine current iu and the W-phase rotating machine current iw.
  • the current detection means 2 includes a current detector 2u and a current detector 2w.
  • the current detector 2u detects the rotating machine current flowing through the U-phase power line Lu.
  • the current detection means 2 may detect other two phases or may detect all three phases.
  • the current detection means 2 supplies the detection result to the coordinate converter 44.
  • the voltage applying means 3 applies a voltage to the AC rotating machine M based on the three-phase voltage commands Vu *, Vv *, Vw * which are the outputs of the control means 4.
  • the control means 4 receives the current command i ⁇ * from the current command setting means 5 and receives the detected rotating machine currents iu and iw from the current detection means 2.
  • the control means 4 calculates and outputs voltage commands Vu *, Vv *, Vw * to be applied to the AC rotating machine M based on the current command i ⁇ * and the rotating machine currents iu, iw.
  • control means 4 includes a coordinate converter 44, an adder / subtractor 41, a current controller 42, a voltage command setter 46, and a coordinate converter 43.
  • the coordinate converter 44 receives the detected rotating machine currents iu and iw from the current detection means 2. For example, when the detected current is a two-phase current, the coordinate converter 44 estimates the remaining one-phase current (for example, using the symmetry of the three phases) and determines the fixed coordinate system (U The current vector (iu, iv, iw) of (-VW coordinate system) is obtained. The coordinate converter 44 converts a current vector (iu, iv, iw) in a fixed three-axis orthogonal coordinate system (UVW coordinate system) into a current vector in an arbitrary fixed two-axis orthogonal coordinate system ( ⁇ - ⁇ coordinate system). Coordinates are converted to (i ⁇ , i ⁇ ). The coordinate converter 44 supplies the converted ⁇ -axis current i ⁇ to the adder / subtractor 41.
  • the adder / subtractor 41 receives the ⁇ -axis current command i ⁇ * from the current command setting means 5 and receives the ⁇ -axis current i ⁇ from the coordinate converter 44.
  • the adder / subtractor 41 calculates an ⁇ -axis current difference ⁇ i ⁇ that is a difference between the ⁇ -axis current command i ⁇ * and the ⁇ -axis current i ⁇ , and outputs it to the current controller 42.
  • the current controller 42 receives the ⁇ -axis current difference ⁇ i ⁇ from the adder / subtractor 41.
  • the current controller 42 performs proportional-integral control so that the ⁇ -axis current difference ⁇ i ⁇ becomes zero (that is, the difference between the ⁇ -axis current command i ⁇ * and the ⁇ -axis current i ⁇ substantially disappears).
  • the coordinate converter 43 calculates three-phase voltage commands Vu *, Vv *, and Vw * from the ⁇ -axis voltage command V ⁇ * and the ⁇ -axis voltage command V ⁇ *. That is, the coordinate converter 43 converts the voltage command vector (V ⁇ *, V ⁇ *) in an arbitrary fixed 2-axis orthogonal coordinate system ( ⁇ - ⁇ coordinate system) into a fixed 3-axis orthogonal coordinate system (UVW coordinate system).
  • the coordinates are converted into voltage command vectors (Vu *, Vv *, Vw *) at.
  • the coordinate converter 43 outputs the converted three-phase voltage commands Vu *, Vv *, Vw * to the voltage applying means 3.
  • the current command setting means 5 sets the ⁇ -axis current command i ⁇ * and outputs it to the control means 4.
  • the value of iset is, for example, an arbitrary non-zero value, but is preferably a value within the rated current of the AC rotating machine M.
  • the ⁇ -axis voltage command V ⁇ * that is the output of the current controller 42 of the control means 4
  • the second The voltage command V ⁇ 2 * corresponds to the current command i ⁇ 2 *.
  • the resistance estimation means 6 may hold and store the first voltage command V ⁇ 1 * and the second current command V ⁇ 2 * when received. Then, the resistance estimation unit 6 determines the resistance of the AC rotating machine M based on the ⁇ -axis current command i ⁇ * (first current command i ⁇ 1 *), the first voltage command V ⁇ 1 *, and the second current command V ⁇ 2 *. Estimate the value R. Details of the process of estimating the resistance value R by the resistance estimating means 6 will be described below. Note that “ ⁇ ” in the resistance value “R ⁇ ” shown in FIG. 1 indicates that the resistance value R is a calculated value.
  • the following equation (1) is a circuit equation of a surface magnet type permanent magnet synchronous machine (AC rotating machine M) on fixed biaxial orthogonal coordinates when voltage and current are constant.
  • Equation (1) R: resistance value, ⁇ re: rotational speed, ⁇ f: magnetic flux of permanent magnet, ⁇ : angle formed by ⁇ axis and magnetic pole direction.
  • FIG. 2 is a flowchart showing the operation of the control device 1 in the present embodiment.
  • the current command i ⁇ * set that is output from the current command setting means 5, that is, when the first current command i ⁇ 1 * is given, the ⁇ -axis voltage command that is output from the current controller 42 is the first voltage command V ⁇ 1 *, the current command.
  • the first current command i ⁇ 1 * is output from the current command setting means 5 to the control means 4, and the first voltage command V ⁇ 1 * corresponding to the first current command i ⁇ 1 * is the current controller 42 of the control means 4.
  • the resistance estimation means 6 stores the first current command i ⁇ 1 * and the first voltage command V ⁇ 1 *.
  • the resistance value R is calculated as in the following equation (6).
  • the resistance value R is obtained using V ⁇ 2 *.
  • the control means 4 outputs a first voltage command V ⁇ 1 * corresponding to the first current command i ⁇ 1 * and a second voltage command V ⁇ 2 * corresponding to the second current command i ⁇ 2 *.
  • the resistance estimation means 6 estimates the resistance value R of the AC rotating machine M based on the first current command i ⁇ 1 *, the first voltage command V ⁇ 1 *, and the second voltage command V ⁇ 2 *.
  • one of the two types of current commands i ⁇ 1 * and i ⁇ 2 * (first current command i ⁇ 1 *) is set to zero, and the second voltage command V ⁇ 2 * at that time is changed to the AC rotating machine M.
  • the influence of the induced voltage component can be reduced by subtracting the induced voltage component V ⁇ 2 * from the first voltage command V ⁇ 1 * when the first current command i ⁇ 1 * that is not zero is given.
  • the resistance value R can be accurately estimated even when the AC rotating machine M is rotating. That is, the resistance value R of the AC rotating machine M can be accurately estimated during the operation of the AC rotating machine M.
  • the resistance value R of the AC rotating machine M can be estimated while the operation of the AC rotating machine M is continued. Thereby, since it is not necessary to wait until the AC rotating machine M stops, the resistance value R can be estimated in a short time.
  • the resistance estimation means 6 subtracts the second voltage command V ⁇ 2 * from the first voltage command V ⁇ 1 *, and the subtraction result is converted to the first current.
  • the first current command i ⁇ 1 * and the second current command i ⁇ 2 * output by the current command setting means 5 are arbitrary orthogonal coordinates. This is a current command for the ⁇ axis of the ⁇ axis and the ⁇ axis.
  • the first voltage command V ⁇ 1 * and the second voltage command V ⁇ 2 * are ⁇ -axis voltage commands.
  • the configuration related to the ⁇ axis and the configuration related to the ⁇ axis may be interchanged.
  • the first current command i ⁇ 1 * and the second current command i ⁇ 2 * output by the current command setting means 5 are an ⁇ -axis that is arbitrary orthogonal coordinates and This is the current command for the ⁇ axis of the ⁇ axis.
  • the first voltage command V ⁇ 1 * and the second voltage command V ⁇ 2 * are ⁇ -axis voltage commands. Even in this case, since the value of one coordinate axis can be used as a control amount for obtaining two types of current commands and two types of voltage commands, the control device 1 can be simply configured.
  • Embodiment 2 the control device 100 for the AC rotating machine M according to the second embodiment will be described. Below, it demonstrates focusing on a different part from Embodiment 1.
  • FIG. 1 the control device 100 for the AC rotating machine M according to the second embodiment.
  • the first current command i ⁇ 1 * is changed using the fact that the voltage command (second voltage command) V ⁇ 2 * when the second current command i ⁇ 2 * is given is equivalent to the induced voltage component.
  • the induced voltage component obtained by the above equation (4) includes “ ⁇ ” (the angle between the ⁇ axis and the magnetic pole position of the AC rotating machine, that is, the phase angle), the rotation of the AC rotating machine M
  • ⁇ the angle between the ⁇ axis and the magnetic pole position of the AC rotating machine, that is, the phase angle
  • the value of the phase angle ⁇ changes between when the first current command i ⁇ 1 * is given and when the second current command i ⁇ 2 * is given.
  • the value of sin ⁇ in the above equation (4) changes, the induced voltage component calculated by the above equation (4) is shifted by that amount, and an error may occur in the estimated resistance value R. is there.
  • the accuracy is high.
  • a method capable of estimating the resistance value R well is provided.
  • control device 100 of the AC rotating machine M replaces the control unit 4, the current command setting unit 5, and the resistance estimation unit 6 (see FIG. 1) with a control unit 104, a current command setting unit 105, and a resistance estimation. Means 106 are provided.
  • control means 104 In the control means 104, the difference from FIG. 1 is that an adder / subtractor and a current controller are also added to the ⁇ axis. That is, the control means 104 has an adder / subtractor 145 and a current controller 146 instead of the voltage command setter 46 (see FIG. 1).
  • the adder / subtractor 145 receives the ⁇ -axis current command i ⁇ * from the current command setting means 105 and receives the ⁇ -axis current i ⁇ from the coordinate converter 44.
  • the adder / subtractor 145 calculates a ⁇ -axis current difference ⁇ i ⁇ , which is a difference between the ⁇ -axis current command i ⁇ * and the ⁇ -axis current i ⁇ , and outputs it to the current controller 146.
  • the current controller 146 receives the ⁇ -axis current difference ⁇ i ⁇ from the adder / subtractor 145.
  • the current controller 146 performs proportional-integral control so that the ⁇ -axis current difference ⁇ i ⁇ becomes zero (that is, the difference between the ⁇ -axis current command i ⁇ * and the ⁇ -axis current i ⁇ is substantially eliminated).
  • the current command setting means 105 sets the ⁇ -axis current command i ⁇ * and the ⁇ -axis current command i ⁇ * and outputs them to the control means 104.
  • the command i ⁇ * 0 is output as the second current command i2 *.
  • the first voltage command V ⁇ 1 * and the first voltage command V ⁇ 1 * are designated as the second voltage command V ⁇ 2 * and the second voltage command V ⁇ 2 *, respectively, corresponding to the second current command i2 *.
  • the angle (phase angle) formed between the ⁇ axis and the magnetic pole position when the first current command i1 * is given is ⁇ 1, and the ⁇ axis and the magnetic pole position when the second current command i2 * is given.
  • the angle (phase angle) is ⁇ 2.
  • the phase angle ⁇ 1 can be calculated as in the following equation (13). That is, by using the first voltage commands V ⁇ 1 * and V ⁇ 1 * and the second voltage commands V ⁇ 2 * and V ⁇ 2 *, the ⁇ axis and the AC rotating machine M when the first current command i1 * is given.
  • the angle (phase angle) ⁇ 1 formed by can be calculated.
  • the resistance value R includes the value iset of the first current command i1 *, the phase angle ⁇ 1 obtained by the above equation (13), and the following equation (14) which is the square root of the above equation (11).
  • the phase angle ⁇ 1 can be calculated accurately, the induced voltage component can also be accurately determined, and as a result, the resistance value R can also be accurately determined.
  • FIG. 4 is a flowchart showing the operation of the control device 100 in the present embodiment.
  • the first current command i1 * is output from the current command setting means 105 to the control means 104
  • the first voltage command V ⁇ 1 * corresponding to the first current command i1 * is the current controller 42 of the control means 104.
  • From the current controller 146 of the control unit 104 to the resistance estimation unit 106 From the current controller 146 of the control unit 104 to the resistance estimation unit 106.
  • the first voltage command V ⁇ 1 * corresponding to the first current command i1 * is output from the current controller 146 to the resistance estimation unit 106.
  • the resistance estimation means 106 stores the first current command i1 * and the first voltage commands V ⁇ 1 * and V ⁇ 1 *.
  • the current controller 42 outputs the second voltage command V ⁇ 2 * corresponding to the second current command i2 * from the current controller 146 of the control means 104 to the resistance estimation means 106. That is, the resistance estimation means 106 acquires the second voltage commands V ⁇ 2 * and V ⁇ 2 *. At this time, the resistance estimating means 106 may store the second voltage commands V ⁇ 2 * and V ⁇ 2 *.
  • the resistance value R is obtained using the ⁇ -axis and ⁇ -axis second voltage commands V ⁇ 2 * and V ⁇ 2 * such that the ⁇ -axis current is equal to zero.
  • the value of the phase angle ⁇ changes between when the AC rotating machine M is rotating at a high speed and the first current command i1 * is given and when the second current command i2 * is given. Even in this case, the resistance value R can be accurately obtained in accordance with the change in the value of the phase angle ⁇ .
  • the current command setting unit 105 sets the ⁇ -axis current command for the ⁇ -axis and ⁇ -axis, which are arbitrary orthogonal coordinates, to i ⁇ * and ⁇
  • the control means 104 includes an ⁇ -axis voltage command (first voltage command) V ⁇ 1 *, a ⁇ -axis voltage command (first voltage command) V ⁇ 1 * corresponding to the first current command i1 *, and a second current command i2.
  • the resistance value R can be estimated while taking into account the change in the value of the phase angle ⁇ .
  • the value of the phase angle ⁇ changes between when the AC rotating machine M is rotating at a high speed and the first current command i1 * is given and when the second current command i2 * is given. Even in this case, the resistance value R can be accurately obtained in accordance with the change in the value of the phase angle ⁇ .
  • control device for an AC rotating machine is useful for position sensorless control.
  • 1,100 control device 2 current detection means, 3 voltage application means, 4 control means, 5 current command setting means, 6 resistance estimation means.

Abstract

La présente invention concerne un dispositif de commande pour une machine rotative à courant alternatif comportant un aimant permanent. Ce dispositif de commande comprend : un moyen de détection de courant, servant à détecter le courant de machine rotative circulant dans la machine rotative à courant alternatif ; un moyen de réglage de commande de courant, servant à régler et à sortir une commande de courant représentant une valeur cible pour le courant circulant dans la machine rotative à courant alternatif ; un moyen de commande, servant à calculer et à sortir une commande de tension qui est appliquée sur la machine rotative à courant alternatif en se basant sur la commande de courant et sur le courant de machine rotative ; un moyen d'application de tension, servant à appliquer une tension sur la machine rotative à courant alternatif en se basant sur la commande de tension ; et un moyen d'estimation de résistance, servant à calculer la valeur de résistance de la machine rotative à courant alternatif en se basant sur la commande de courant et sur la commande de tension. Le moyen de réglage de commande de courant sort une première commande de courant, qui est non nulle, et une seconde commande de courant, qui est nulle. Le moyen de commande sort une première commande de tension correspondant à la première commande de courant, et une seconde commande de tension correspondant à la seconde commande de courant. Le moyen d'estimation de résistance estime la valeur de résistance de la machine rotative à courant alternatif en se basant sur la première commande de courant, sur la première commande de tension, et sur la seconde commande de tension.
PCT/JP2013/055427 2013-02-28 2013-02-28 Dispositif de commande pour machine rotative à courant alternatif WO2014132395A1 (fr)

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Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006141123A (ja) * 2004-11-11 2006-06-01 Toshiba Corp 回転機制御装置、回転機制御方法および洗濯機
JP2007159212A (ja) * 2005-12-02 2007-06-21 Hitachi Ltd 永久磁石同期モータのベクトル制御装置，インバータモジュール、及び永久磁石同期電動機モータ定数表示システム

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006141123A (ja) * 2004-11-11 2006-06-01 Toshiba Corp 回転機制御装置、回転機制御方法および洗濯機
JP2007159212A (ja) * 2005-12-02 2007-06-21 Hitachi Ltd 永久磁石同期モータのベクトル制御装置，インバータモジュール、及び永久磁石同期電動機モータ定数表示システム

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