WO2014171009A1 - 交流回転機の制御装置 - Google Patents

交流回転機の制御装置 Download PDF

Info

Publication number
WO2014171009A1
WO2014171009A1 PCT/JP2013/061635 JP2013061635W WO2014171009A1 WO 2014171009 A1 WO2014171009 A1 WO 2014171009A1 JP 2013061635 W JP2013061635 W JP 2013061635W WO 2014171009 A1 WO2014171009 A1 WO 2014171009A1
Authority
WO
WIPO (PCT)
Prior art keywords
vector
rotating machine
estimated
speed
magnetic flux
Prior art date
Application number
PCT/JP2013/061635
Other languages
English (en)
French (fr)
Japanese (ja)
Inventor
河原　邦宏
伊藤　正人
覚 寺島
Original Assignee
三菱電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to JP2013544958A priority Critical patent/JP5512054B1/ja
Priority to PCT/JP2013/061635 priority patent/WO2014171009A1/ja
Priority to TW102139043A priority patent/TWI501538B/zh
Publication of WO2014171009A1 publication Critical patent/WO2014171009A1/ja

Links

Images

Classifications

    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed

Definitions

  • the present invention relates to a control device for an AC rotating machine.
  • Patent Document 1 in a control apparatus for a synchronous motor, an adaptive observer is based on a d-axis voltage command, a q-axis voltage command, a d-axis current, and a q-axis current on the rotating biaxial coordinates (dq axes). It is described that the angular frequency of the rotor is obtained and output, 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.
  • adaptive observation means uses an estimated magnetic flux phase, an estimated current vector, an estimated magnetic flux vector, and an estimated speed based on an amplified deviation vector, a current deviation vector, and a voltage command vector. Is output.
  • the rotational position detection means detects the rotational position of the AC rotating machine
  • the magnetic flux vector detection means detects the magnetic flux vector from the detected rotational position, and outputs the detected magnetic flux vector to the adaptive observation means.
  • the adaptive observation means gives a predetermined magnitude to the amplification gain that is multiplied by the detected magnetic flux vector and the magnetic flux deviation vector of the estimated magnetic flux vector in the speed range where the estimated speed is small, and multiplies the magnetic flux deviation vector in the other speed ranges.
  • Patent Document 1 describes a method for realizing position sensorless control by estimating the rotational position and speed of a permanent magnet synchronous rotating machine using an adaptive observer operating on rotating two-axis coordinates.
  • a method for realizing position sensorless control by estimating the rotational position and speed of a permanent magnet synchronous rotating machine using an adaptive observer operating on rotating two-axis coordinates.
  • it since there is no current deviation that is an estimation error of the adaptive observer at zero speed, it may be difficult to estimate the rotational position.
  • stability and drive performance may be reduced due to the influence of voltage error or constant error in the low speed range.
  • a rotating machine secondary magnetic flux vector created from position information estimated by using the saliency of second rotating position detecting means for example, a rotating position detector or a permanent magnet synchronous rotating machine directly attached to an AC rotating machine.
  • second rotating position detecting means for example, a rotating position detector or a permanent magnet synchronous rotating machine directly attached to an AC rotating machine.
  • Patent Document 2 can solve the problem of Patent Document 1, but since the rotating machine secondary magnetic flux vector created by the second rotational position detecting means is added to the input of the speed estimator, the amplification gain is increased. When it is set to 0 and the adaptive observer is switched to the single operation, the term including the rotating machine secondary magnetic flux vector is instantaneously lost from the input of the speed estimator, and the discontinuity of the estimated speed may increase.
  • 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 capable of suppressing discontinuity in estimated speed.
  • an AC rotating machine control device uses an AC rotating machine position information to match a detected current vector with a current command vector.
  • AC rotating machine control means for generating a voltage command vector, voltage applying means for applying a voltage to the AC rotating machine based on the voltage command vector, and a secondary magnetic flux vector for calculating a secondary magnetic flux vector in the AC rotating machine Computing means; and adaptive observation means for obtaining and outputting an estimated rotational position and an estimated speed according to the voltage command vector, the detected current vector, and the secondary magnetic flux vector, and the adaptive observation means, Whether or not a secondary magnetic flux vector is used can be switched by a switching gain, and the adaptive observation means can detect a variation in estimated speed that occurs when the switching gain is switched. Characterized in that it has a compensating means for compensating.
  • the compensating means compensates for the fluctuation in the estimated speed that occurs when the switching gain is switched.
  • the integral addition amount calculator calculates a compensation amount so as to compensate for a fluctuation in estimated speed that occurs when the switching gain is switched, generates an addition amount using the compensation amount, and supplies it to the speed estimator.
  • the speed estimator can perform proportional integral control and add the added amount to the integral term in the result of the proportional integral control to obtain the estimated speed. That is, since the estimated speed can be obtained while compensating for the fluctuation of the estimated speed that occurs when the switching gain is switched, the discontinuity of the estimated speed can be suppressed.
  • 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 diagram showing a configuration of the adaptive observer in the first embodiment.
  • FIG. 3 is a vector diagram showing the secondary magnetic flux vector in the first embodiment.
  • FIG. 4 is a diagram showing the relationship between the switching gain Kw and the estimated speed ⁇ r ⁇ in the first embodiment.
  • FIG. 5 is a diagram showing the operation in the first embodiment with time on the horizontal axis.
  • FIG. 6 is a diagram showing a configuration of the adaptive observer in the second embodiment.
  • FIG. 7 is a diagram showing the addition amount ⁇ ′ when the attenuator is a first-order lag element in the second embodiment.
  • FIG. 8 is a diagram showing the addition amount ⁇ ′ when the attenuator is linear attenuation in the second embodiment.
  • FIG. 9 is a diagram showing a configuration of an adaptive observer in the third embodiment.
  • FIG. 10 is a diagram illustrating the operation of Kwfil in the third embodiment.
  • Embodiment 1 FIG. A control device 100 for an AC rotating machine according to a first embodiment will be described.
  • the control device 100 is a control device that drives an AC rotating machine (for example, a permanent magnet synchronous rotating machine) M at a variable speed.
  • the control device 100 uses the estimated rotation position by the adaptive observation means (for example, the adaptive observation means 33) and the detected rotation position of the AC rotating machine M detected by a different second means (for example, the rotation position detection means 34). It has the function of performing vector control in combination.
  • FIG. 1 is a diagram illustrating an overall configuration of a control device 100 for an AC rotating machine.
  • the direction of the rotating machine secondary magnetic flux vector estimated by the adaptive observer 11 is defined as the d axis
  • the direction orthogonal thereto is defined as the q axis.
  • an ⁇ axis- ⁇ axis coordinate system is considered as an arbitrary fixed two-axis orthogonal coordinate system, for example, the ⁇ axis is set to 0 [rad], and the phase is an angle from the ⁇ axis to the d axis.
  • the u-axis and ⁇ -axis of the fixed 3-axis orthogonal coordinate system may coincide.
  • the control device 100 includes an AC rotating machine control means 31, a voltage application means 5, a current detection means 6, a rotational position detection means 34, a secondary magnetic flux vector calculation means 32, and an adaptive observation means 33.
  • AC rotary machine control means 31 uses the AC rotary machine position information to create a voltage command vector so that the detected current vector matches the current command vector.
  • the AC rotating machine control means 31 includes an id command calculator 1, a speed controller 2, a 3-phase / 2-phase converter 8, a current controller 3, and a 2-phase / 3-phase converter 4.
  • the id command calculator 1 supplies the created d-axis current command id * to the current controller 3.
  • the speed controller 2 receives the speed command ⁇ * from the outside (for example, a host controller not shown) and receives the estimated speed ⁇ r ⁇ from the adaptive observation means 33.
  • the speed controller 2 creates a q-axis current command iq * so that the estimated speed ⁇ r ⁇ follows the speed command ⁇ *.
  • the speed controller 2 supplies the created q-axis current command iq * to the current controller 3.
  • the three-phase / two-phase converter 8 receives the detected currents iu, iv, iw from the current detection means 6 and receives the estimated rotation position ⁇ 1 from the adaptive observation means 33 as AC rotating machine position information.
  • the two-phase / three-phase converter 4 converts the detected current vector (iu, iv, iw) of the u-axis-v-axis-w-axis coordinate system (fixed coordinate system) into the d-axis-q-axis based on the estimated rotational position ⁇ 1. Coordinates are converted to a detected current vector (id, iq) in the coordinate system (rotating coordinate system).
  • the three-phase / two-phase converter 8 supplies the converted detected current vector (id, iq) to the current controller 3 and the adaptive observation means 33.
  • the current controller 3 receives the d-axis current command id * from the id command computing unit 1, receives the q-axis current command iq * from the speed controller 2, and receives the d-axis detection current id and the q-axis detection current iq in three phases / Received from the two-phase converter 8.
  • the current controller 3 creates the d-axis voltage command vd * so that the d-axis detection current id follows the d-axis current command id *, and causes the q-axis detection current iq to follow the q-axis current command iq *.
  • Q-axis voltage command vq * is created.
  • the current controller 3 creates the voltage command vector (vd *, vq *) so that the detected current vector (id, iq) matches the current command vector (id *, iq *).
  • the current controller 3 outputs the created voltage command vector (vd *, vq *) to the 2-phase / 3-phase converter 4 and the adaptive observation means 33.
  • the 2-phase / 3-phase converter 4 receives the voltage command vector (vd *, vq *) from the current controller 3 and receives the estimated rotational position ⁇ 1 from the adaptive observation means 33 as AC rotating machine position information.
  • the two-phase / three-phase converter 4 converts the voltage command vector (vd *, vq *) of the d-axis-q-axis coordinate system (rotation coordinate system) based on the estimated rotation position ⁇ 1 into the u-axis-v-axis-w-axis. Coordinates are converted to voltage command vectors (vu *, vv *, vw *) in the coordinate system (fixed coordinate system).
  • the two-phase / three-phase converter 4 supplies the converted voltage command vector (vu *, vv *, vw *) to the voltage applying means 5.
  • the voltage application means 5 receives voltage command vectors (vu *, vv *, vw *) from the 2-phase / 3-phase converter 4.
  • the voltage applying means 5 applies a voltage to the AC rotating machine M based on voltage command vectors (vu *, vv *, vw *). In response to this, power is supplied from the voltage application means 5 to the AC rotating machine M, and the AC rotating machine M is driven.
  • the current detection means 6 detects currents iu, iv, iw flowing through the AC rotating machine.
  • the current detection means 6 includes, for example, a plurality of current detectors (for example, a plurality of current transformers) 6u to 6w, and the currents iu, iv, iw flowing through the AC rotating machine using the plurality of current detectors 6u to 6w. Is detected.
  • the current detection means 6 supplies the detected currents iu, iv, iw to the three-phase / two-phase converter 8.
  • Rotational position detection means 34 detects the rotational position ⁇ r of the AC rotating machine.
  • the rotational position detector 34 includes, for example, a rotational position detector (for example, an encoder) 9 and detects the rotational position ⁇ r of the AC rotating machine using the rotational position detector 9.
  • the rotational position detector 34 supplies the detected rotational position ⁇ r to the secondary magnetic flux vector calculator 32.
  • the secondary magnetic flux vector calculating means 32 calculates the secondary magnetic flux vector in the AC rotating machine M according to the detected rotational position ⁇ r and the estimated rotational position ⁇ 1, for example, according to the deviation between the detected rotational position ⁇ r and the estimated rotational position ⁇ 1.
  • the secondary magnetic flux vector calculation means 32 includes a subtractor 22 and a secondary magnetic flux calculator 10.
  • the subtractor 22 receives the detected rotational position ⁇ r from the rotational position detecting means 34 and receives the estimated rotational position ⁇ 1 from the adaptive observation means 33.
  • the subtractor 22 subtracts the estimated rotational position ⁇ 1 from the detected rotational position ⁇ r to obtain a position deviation ⁇ and supplies it to the secondary magnetic flux calculator 10.
  • the secondary magnetic flux calculator 10 receives the position deviation ⁇ from the subtractor 22.
  • the secondary magnetic flux calculator 10 creates a dq-axis secondary magnetic flux vector ⁇ rL ⁇ from the position deviation ⁇ .
  • the secondary magnetic flux calculator 10 supplies the dq axis secondary magnetic flux vector ⁇ rL ⁇ to the adaptive observation means 33.
  • the adaptive observation means 33 determines the estimated rotational position ⁇ 1 and the estimated speed ⁇ r ⁇ according to the voltage command vector (vd *, vq *), the detected current vector (id, iq), and the dq-axis secondary magnetic flux vector ⁇ rL ⁇ . Find and output.
  • the adaptive observation unit 33 includes the adaptive observer 11 and the integrator 7.
  • the adaptive observer 11 receives the voltage command vector (vd *, vq *) from the current controller 3 of the AC rotating machine control means 31 and receives the detected current vector (id, iq) from the three phases / phases of the AC rotating machine control means 31.
  • the dq-axis secondary magnetic flux vector ⁇ rL ⁇ is received from the secondary magnetic flux calculator 10 of the secondary magnetic flux vector calculator 32.
  • the adaptive observer 11 obtains the estimated speed ⁇ r ⁇ and the estimated primary angular frequency ⁇ 1 from the voltage command vector (vd *, vq *), the detected current vector (id, iq), and the dq-axis secondary magnetic flux vector ⁇ rL ⁇ . .
  • the adaptive observer 11 supplies the estimated speed ⁇ r ⁇ to the speed controller 2 of the AC rotating machine control means 31 and supplies the estimated primary angular frequency ⁇ 1 to the integrator 7.
  • the integrator 7 receives the primary angular frequency ⁇ 1 from the adaptive observer 11.
  • the integrator 7 integrates the estimated primary angular frequency ⁇ 1 to obtain the estimated rotational position ⁇ 1.
  • the integrator 7 sends the estimated rotational position ⁇ 1 to the 3-phase / 2-phase converter 8, the 2-phase / 3-phase converter 4 of the AC rotating machine control means 31, and the subtractor 22 of the secondary magnetic flux vector calculation means 32, respectively. Supply.
  • FIG. 2 is a diagram showing an internal configuration of the adaptive observer 11.
  • the adaptive observer 11 includes a magnetic flux / current estimator 12, a speed estimator 13, a Kw calculator 14, and an integral addition calculator 15 as shown in FIG.
  • the magnetic flux / current estimator 12 receives the voltage command vector (vd *, vq *) from the current controller 3 of the AC rotating machine control means 31, and receives the detected current vector (id, iq) of 3 of the AC rotating machine control means 31.
  • the dq-axis secondary magnetic flux vector ⁇ rL ⁇ is received from the secondary magnetic flux calculator 10 of the secondary magnetic flux vector calculation means 32. Further, the magnetic flux / current estimator 12 receives the estimated speed ⁇ r ⁇ from the speed estimator 13.
  • the speed estimator (proportional integral controller) 13 receives the current deviation es and the estimated secondary magnetic flux vector ⁇ r ⁇ from the magnetic flux / current estimator 12, and receives the dq-axis secondary magnetic flux vector ⁇ rL ⁇ of the secondary magnetic flux vector calculation means 32. Received from the secondary magnetic flux calculator 10. Speed estimator 13 receives addition amount ⁇ from integral addition amount calculator 15 and switching gain Kw from Kw calculator 14.
  • the speed estimator 13 performs proportional integral control from the current deviation es, the estimated secondary magnetic flux vector ⁇ r ⁇ , the dq-axis secondary magnetic flux vector ⁇ rL ⁇ , and the switching gain Kw, and adds an amount ⁇ to the integral term in the result of the proportional integral control. Are added to obtain the estimated speed ⁇ r ⁇ .
  • the speed estimator 13 supplies the estimated speed ⁇ r ⁇ to the magnetic flux / current estimator 12 and the Kw calculator 14 and outputs it to the speed controller 2 of the AC rotating machine control means 31.
  • the Kw calculator 14 receives the estimated speed ⁇ r ⁇ from the speed estimator 13.
  • the Kw calculator 14 creates a switching gain Kw based on the estimated speed ⁇ r ⁇ .
  • the Kw calculator 14 switches the switching gain Kw in a binary manner based on the estimated speed ⁇ r ⁇ .
  • the Kw calculator 14 switches the switching gain Kw from the first value to the second value.
  • the first value is a value larger than 0, for example, 1.
  • the second value is closer to 0 than the first value, and is 0, for example.
  • the Kw calculator 14 switches the switching gain Kw from the second value to the first value when the estimated speed ⁇ r ⁇ becomes smaller than the threshold value ⁇ k1.
  • the upward threshold value ⁇ k2 and the downward threshold value ⁇ k1 may be different from each other, for example.
  • the threshold value ⁇ k2 may be a value larger than the threshold value ⁇ k1.
  • the Kw calculator 14 supplies the switching gain Kw to the integral addition calculator 15 and the speed estimator 13.
  • the integral addition amount calculator 15 receives the estimated secondary magnetic flux vector ⁇ r ⁇ from the magnetic flux / current estimator 12, receives the switching gain Kw from the Kw calculator 14, and calculates the dq-axis secondary magnetic flux vector ⁇ rL ⁇ as a secondary magnetic flux vector. Received from the secondary magnetic flux calculator 10 of the means 32. The integral addition amount calculator 15 calculates an addition amount ⁇ to be added to the integral term of the speed estimator (proportional integral controller) 13 according to the change of the switching gain Kw. The integral addition amount calculator 15 supplies the addition amount ⁇ to the speed estimator 13.
  • the secondary magnetic flux calculator 10 uses a position deviation ⁇ that is a deviation between the detected rotational position ⁇ r acquired by the rotational position detector 9 and the estimated rotational position ⁇ 1 estimated by the adaptive observer 11. Then, calculations shown in the following formulas 2 and 3 are performed to create a dq-axis secondary magnetic flux vector ⁇ rL ⁇ shown in the following formula 1.
  • ⁇ f is an induced voltage constant set in the control device 100 in advance.
  • the position deviation ⁇ and the secondary magnetic flux vector can be obtained. is not.
  • the rotational position detection means 34 may have a position estimation means that uses the saliency of the AC rotating machine M instead of the rotational position detector 9. Further, when the saliency is used, it is possible to directly obtain the position deviation ⁇ . However, the present invention is also applicable to such a case.
  • ⁇ s ⁇ is the estimated primary magnetic flux vector
  • ⁇ r ⁇ is the estimated secondary magnetic flux vector
  • vs is the primary voltage vector
  • ⁇ is the estimated primary current vector
  • R is the primary resistance.
  • L is the primary winding inductance
  • h1, h2, h3, and h4 are adaptive observer gains.
  • the speed estimator 3 performs PI control (proportional integral control) shown in Formula 10, and adds the addition amount ⁇ shown in Formula 11 to the integral term (term related to 1 / s in Formula 10) in the result of the proportional integral control. Then, the estimated speed ⁇ r ⁇ is obtained.
  • PI control proportional integral control
  • Kap is a PI controller proportional gain
  • ⁇ api is a PI controller breakpoint angular frequency
  • s is a Laplace operator
  • Kw is a switching gain
  • ⁇ r ⁇ ′ is an estimated speed before the addition amount ⁇ is added. It is.
  • the Kw calculator 14 creates a switching gain Kw based on the estimated speed ⁇ r ⁇ .
  • FIG. 4 shows the relationship between the switching gain Kw and the estimated speed ⁇ r ⁇ .
  • the threshold value ⁇ k1 is a speed at which switching is performed in the downward direction when the estimated speed ⁇ r ⁇ decreases.
  • the threshold value ⁇ k2 is a speed at which switching is performed in the upward direction when the estimated speed ⁇ r ⁇ increases.
  • the switching gain Kw can be prevented from repeatedly changing at high speed due to the vibration component of the estimated speed ⁇ r ⁇ . The switching operation of Kw can be stabilized.
  • Integral addition amount calculator 15 refers to the value of switching gain Kw and calculates an addition amount ⁇ to be added to the PI controller integral term of the acceleration estimator.
  • Formula 11 shows a calculation formula of the compensation amount ⁇ r to be used for the addition amount ⁇ .
  • the compensation amount ⁇ r corresponds to the amount that changes when the switching gain Kw is switched in Equation 11. That is, the integral addition amount calculator 15 calculates the compensation amount ⁇ r so as to compensate for the fluctuation of the estimated speed ⁇ r ⁇ ′ that occurs when the switching gain Kw is switched, and generates the addition amount ⁇ using the compensation amount ⁇ r. And supplied to the speed estimator 13. As a result, the speed estimator 13 performs proportional integral control, and adds the addition amount ⁇ to the integral term in the result of the proportional integral control to obtain the estimated speed ⁇ r ⁇ .
  • the speed estimator 13 includes a proportional-plus-integral controller 13a, an adder 13b, and a setter 13c.
  • the proportional-plus-integral controller 13a performs proportional-integral control as shown in Equation 10, for example, calculates the estimated speed ⁇ r ⁇ ', and supplies it to the adder 13b.
  • the setter 13c supplies the set addition amount ⁇ to the adder 13b while setting the addition amount ⁇ received from the integral addition amount calculator 15 with the responsiveness set in the proportional integration controller 13a, for example.
  • the adder 13b adds the addition amount ⁇ to the estimated speed ⁇ r ⁇ 'to obtain the estimated speed ⁇ r ⁇ .
  • the compensation amount ⁇ r becomes the acceleration estimator 13.
  • the compensation amount ⁇ r is accelerated.
  • the addition amount ⁇ ⁇ r so that it is subtracted from the integral term of the PI controller of the estimator 13 (see FIG. 5).
  • FIG. 5 shows the operation of the main variables during acceleration / deceleration according to the present embodiment, with the horizontal axis as time.
  • TP1 is an interval from acceleration from the stop until the switching gain Kw is switched from a first value (for example, 1) to a second value (for example, 0).
  • TP2 is a section from when the switching gain Kw is switched to the second value (for example, 0) until the acceleration is finished.
  • TP3 is a section from the end of acceleration to the start of deceleration.
  • TP4 is a section from when deceleration starts until Kw switches from a second value (for example, 0) to a first value (for example, 1).
  • TP5 is a section from when the switching gain Kw is switched to a first value (for example, 1) to when it stops.
  • the operation during acceleration when the switching gain Kw is switched from the first value (for example, 1) to the second value (for example, 0) is as follows.
  • the addition amount ⁇ + ⁇ r corresponding to the compensation amount ⁇ r expressed by the equation 11 is added to the integral term.
  • the integral term is settled with the responsiveness set in the PI controller for speed estimation after the interval TP2.
  • the integral term is a value that gradually approaches 0 from + ⁇ r (for example, with the responsiveness set in the PI controller) as the addition amount ⁇ corresponding to the compensation amount ⁇ r shown in Equation 11. Is added.
  • the operation at the time of deceleration when the switching gain Kw is switched from the second value (for example, 0) to the first value (for example, 1) is as follows.
  • the integral term is settled with the responsiveness set in the PI controller for speed estimation after the interval TP5.
  • the integral term is gradually increased from ⁇ r to 0 (for example, with the responsiveness set in the PI controller) as the addition amount ⁇ corresponding to the compensation amount ⁇ r shown in Equation 11. Add some value.
  • the adaptive observation means 33 does not have the integral addition amount calculator 15.
  • the switching gain Kw is switched from the first value (for example, 1) to the second value (for example, 0).
  • the term including the dq-axis secondary magnetic flux vector ⁇ rL ⁇ disappears instantaneously, and the estimated speed ⁇ r ⁇ 'from the interval TP1 to the interval TP2 as indicated by a one-dot chain line in FIG. Discontinuities can increase.
  • the speed controller 13 calculates the estimated speed ⁇ r ⁇ ′ in the adaptive observation means 33, the acceleration at which the switching gain Kw is switched from the second value (for example, 0) to the first value (for example, 1).
  • the acceleration at which the switching gain Kw is switched from the second value (for example, 0) to the first value (for example, 1).
  • a term including the dq-axis secondary magnetic flux vector ⁇ rL ⁇ that has disappeared appears instantaneously as shown in Equation 10, for example, and the estimated speed ⁇ r from the interval TP4 to the interval TP5 as indicated by a one-dot chain line in FIG.
  • the discontinuity of ⁇ ' may increase.
  • the adaptive observation means 33 includes the integral addition amount calculator 15.
  • the integral addition amount calculator 15 and the speed estimator 13 compensate for fluctuations in the estimated speed that occur when the switching gain is switched.
  • the integral addition amount calculator 15 calculates the compensation amount ⁇ r so as to compensate for the fluctuation of the estimated speed ⁇ r ⁇ ′ that occurs when the switching gain Kw is switched, and generates the addition amount ⁇ using the compensation amount ⁇ r.
  • the speed estimator 13 can perform proportional integral control and add the addition amount ⁇ to the integral term in the result of the proportional integral control to obtain the estimated speed ⁇ r ⁇ . Can be suppressed. Therefore, the speed estimation discontinuity at the time of switching the switching gain Kw can be eliminated, and smooth acceleration / deceleration can be realized.
  • the speed is estimated by proportional-integral control by a controller (proportional-integral controller) 13.
  • the integral addition amount calculator 15 calculates the compensation amount ⁇ r so as to compensate for the fluctuation of the estimated speed ⁇ r ⁇ ′ that occurs when the switching gain Kw is switched, and uses the compensation amount ⁇ r to calculate the addition amount ⁇ . Generated and supplied to the speed estimator 13.
  • the speed estimator 13 adds the fluctuation amount of the estimated speed to the integral term of the proportional-plus-integral controller 13a, and settles with the response set in the proportional-plus-integral controller 13a. Thereby, the continuity of the estimated speed ⁇ r ⁇ at the time of switching the switching gain Kw can be improved.
  • Embodiment 2 the control device 200 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 200 for the AC rotating machine M according to the second embodiment.
  • the addition amount ⁇ calculated by the integral addition amount calculator 15 is settled with the responsiveness set in the proportional-plus-integral controller 13a.
  • the addition amount ⁇ itself is arbitrarily set. Provide attenuation characteristics.
  • the adaptive observation means 233 of the control device 200 has an adaptive observer 211 as shown in FIG. 6 instead of the adaptive observer 11 (see FIG. 2).
  • the adaptive observer 211 includes a speed estimator 213 instead of the speed estimator 13 (see FIG. 2), and further includes an adder 218 and an attenuator 219.
  • FIG. 6 is a diagram showing an internal configuration of the adaptive observer 211.
  • the speed estimator 213 does not include, for example, the adder 13b and the setter 13c.
  • the proportional-integral controller 13 a of the speed estimator 213 performs proportional-integral control, and supplies the obtained estimated speed ⁇ r ⁇ ′ to the adder 218.
  • the attenuator 219 gives an arbitrary attenuation characteristic to the addition amount ⁇ obtained by the integral addition amount calculator 15, and outputs the attenuated addition amount ⁇ ′ to the adder 218.
  • the adder 218 adds the estimated speed ⁇ r ⁇ ′ and the attenuated addition amount ⁇ ′ to create the estimated speed ⁇ r ⁇ .
  • the adder 218 supplies the estimated speed ⁇ r ⁇ to the magnetic flux / current estimator 12 and the Kw calculator 14 and outputs it to the speed controller 2 of the AC rotating machine control means 31.
  • FIG. 7 shows the operation of the addition amount ⁇ ′ when the horizontal axis is time.
  • the addition amount ⁇ is given to the attenuator 219 at the switching time Tk, and thereafter the attenuator 219 attenuates the addition amount ⁇ with the characteristic shown in Equation 12.
  • the addition amount ⁇ ′ attenuated by the attenuator 219 is added to the output of the speed estimator 213 (that is, the estimated speed ⁇ r ⁇ ′) to create the estimated speed ⁇ r ⁇ .
  • Equation 12 ⁇ is a time constant and s is a Laplace operator.
  • FIG. 8 shows the operation of the attenuated addition amount ⁇ ′ when the attenuator 219 has a linear attenuation characteristic.
  • the addition amount ⁇ is given to the attenuator 219 at the switching time Tk, and then the attenuator 219 linearly attenuates the addition amount ⁇ to 0 with an arbitrary attenuation time ⁇ .
  • the addition amount ⁇ ′ attenuated by the attenuator 219 is added to the output of the speed estimator 213 (that is, the estimated speed ⁇ r ⁇ ′) to create the estimated speed ⁇ r ⁇ .
  • This action eliminates the discontinuity in speed estimation when switching the switching gain Kw, and allows smooth acceleration / deceleration.
  • the adaptive observation unit 233 includes the attenuator 219 that attenuates the input signal with an arbitrary characteristic.
  • the attenuator 219 attenuates the addition amount ⁇ with an arbitrary attenuation characteristic and supplies it to the adder 218.
  • the adder 218 adds the addition amount ⁇ ′ attenuated by the attenuator 219 to the estimated speed ⁇ r ⁇ ′ calculated by the speed estimator 213 to obtain the estimated speed ⁇ r ⁇ . Thereby, the discontinuity of the estimated speed ⁇ r ⁇ can be further suppressed.
  • the attenuator 219 has, for example, a first-order lag characteristic.
  • the estimated speed ⁇ r ⁇ can be obtained by adding the addition amount ⁇ ′ attenuated by the first-order lag characteristic to the estimated speed ⁇ r ⁇ ′ calculated by the speed estimator 213. Therefore, when the discontinuity of the estimated speed ⁇ r ⁇ corresponds to the first-order lag characteristic, the discontinuity of the estimated speed ⁇ r ⁇ can be effectively suppressed.
  • the attenuator 219 has, for example, a linear attenuation characteristic.
  • the estimated speed ⁇ r ⁇ can be obtained by adding the amount of addition ⁇ ′ attenuated by the linear attenuation characteristic by the attenuator 219 to the estimated speed ⁇ r ⁇ ′ calculated by the speed estimator 213. Therefore, the attenuator 219 can be configured easily.
  • Embodiment 3 the control device 300 for the AC rotating machine M according to the third embodiment will be described. Below, it demonstrates focusing on a different part from Embodiment 1.
  • FIG. 3 the control device 300 for the AC rotating machine M according to the third embodiment.
  • the addition amount ⁇ calculated by the integral addition amount calculator 15 is added to the integral term of the proportional integral controller 13a of the speed estimator 13 to ensure the continuity of the estimated speed ⁇ r ⁇ .
  • continuity is imparted to the switching gain Kw itself.
  • the adaptive observation means 333 of the control device 300 includes an adaptive observer 311 as shown in FIG. 9 instead of the adaptive observer 11 (see FIG. 2).
  • the adaptive observer 311 includes a speed estimator 313 instead of the speed estimator 13 (see FIG. 2), does not include the integral addition amount calculator 15, and further includes a continuous characteristic adder 320.
  • FIG. 9 is a diagram illustrating an internal configuration of the adaptive observer 311.
  • the continuous characteristic imparting device 320 imparts a continuous characteristic that continuously changes the input switching gain Kw in terms of time, and its output is a switching gain Kwfil to which the continuous characteristic is imparted.
  • the continuous characteristic imparted to the switching gain Kw by the continuous characteristic imparting device 320 may be any characteristic that provides temporal continuity to the switching gain Kw. Examples include the first-order lag characteristic shown in Formula 12 and FIG. 7, and the characteristic that changes linearly in proportion to time from the switching time of the switching gain Kwfil as shown in FIG.
  • the speed estimator 313 does not include, for example, the adder 13b and the setter 13c.
  • the proportional-plus-integral controller 313a of the speed estimator 313 performs the proportional-integral control shown in Formula 13, for example, and obtains the estimated speed ⁇ r ⁇ .
  • Formula 13 is different from Formula 10 in that the switching gain Kw is changed to the switching gain Kwfil.
  • FIG. 10 shows the operation of main variables when the characteristic of the continuous characteristic assigner 320 is the first-order lag characteristic.
  • the switching gain Kwfil to which the continuous characteristic is given continuously changes with the first order lag characteristic.
  • the term including the dq-axis secondary magnetic flux vector ⁇ rL ⁇ in Expression 13 can be continuously changed.
  • the estimated speed corresponding to the dq-axis secondary magnetic flux vector ⁇ rL ⁇ can be continuously changed, so that the discontinuity of speed estimation at the time of switching of the switching gain Kw can be eliminated, and smooth acceleration / deceleration can be achieved. Can be realized.
  • the adaptive observation unit 333 includes the continuous characteristic imparting unit 320 that imparts the temporal continuous characteristic to the input signal.
  • the continuous characteristic imparting unit 320 imparts a temporal continuous characteristic to the switching gain Kw, and supplies the switching gain Kwfil to which the continuous characteristic is imparted to the speed estimator 313.
  • the proportional-plus-integral controller 313a of the speed estimator 313 can perform the proportional-integral control using the switching gain Kwfil to which the continuous characteristic is given, and can obtain the estimated speed ⁇ r ⁇ .
  • the discontinuity of the estimated speed ⁇ r ⁇ can be suppressed.
  • the characteristic of the continuous characteristic assigner 320 of the adaptive observation unit 333 is, for example, a first-order lag characteristic.
  • proportional integral control is performed using the switching gain Kwfil to which the continuous characteristic of the first-order lag characteristic is given, and the estimated speed ⁇ r ⁇ can be obtained. Therefore, when the discontinuity of the estimated speed ⁇ r ⁇ corresponds to the first-order lag characteristic, the discontinuity of the estimated speed ⁇ r ⁇ can be effectively suppressed.
  • the characteristic of the continuous characteristic assigner 320 of the adaptive observation unit 333 is, for example, a linear characteristic. Accordingly, the proportional integral control is performed using the switching gain Kwfil to which the continuous characteristic of the linear characteristic is given by the continuous characteristic giving unit 320, and the estimated speed ⁇ r ⁇ can be obtained. Therefore, the continuous characteristic imparting device 320 can be configured easily.
  • control device for an AC rotating machine is useful for controlling the AC rotating machine.
  • Voltage application means 31 AC rotating machine control means, 32 secondary magnetic flux vector calculation means, 33, 233, 333 adaptive observation means, 100, 200, 300 control device, M AC rotating machine.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
PCT/JP2013/061635 2013-04-19 2013-04-19 交流回転機の制御装置 WO2014171009A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP2013544958A JP5512054B1 (ja) 2013-04-19 2013-04-19 交流回転機の制御装置
PCT/JP2013/061635 WO2014171009A1 (ja) 2013-04-19 2013-04-19 交流回転機の制御装置
TW102139043A TWI501538B (zh) 2013-04-19 2013-10-29 交流旋轉機之控制裝置

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2013/061635 WO2014171009A1 (ja) 2013-04-19 2013-04-19 交流回転機の制御装置

Publications (1)

Publication Number Publication Date
WO2014171009A1 true WO2014171009A1 (ja) 2014-10-23

Family

ID=51031150

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2013/061635 WO2014171009A1 (ja) 2013-04-19 2013-04-19 交流回転機の制御装置

Country Status (3)

Country Link
JP (1) JP5512054B1 (zh)
TW (1) TWI501538B (zh)
WO (1) WO2014171009A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113572394A (zh) * 2021-07-20 2021-10-29 华南理工大学 一种在线标定和补偿同步电机伺服系统转矩波动的方法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002091558A1 (fr) * 2001-04-24 2002-11-14 Mitsubishi Denki Kabushiki Kaisha Systeme de controle d'un moteur synchronise
WO2010109528A1 (ja) * 2009-03-26 2010-09-30 三菱電機株式会社 交流回転機の制御装置
JP2012023862A (ja) * 2010-07-14 2012-02-02 Mitsubishi Electric Corp 交流回転機の制御装置

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2002091558A1 (fr) * 2001-04-24 2002-11-14 Mitsubishi Denki Kabushiki Kaisha Systeme de controle d'un moteur synchronise
WO2010109528A1 (ja) * 2009-03-26 2010-09-30 三菱電機株式会社 交流回転機の制御装置
JP2012023862A (ja) * 2010-07-14 2012-02-02 Mitsubishi Electric Corp 交流回転機の制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113572394A (zh) * 2021-07-20 2021-10-29 华南理工大学 一种在线标定和补偿同步电机伺服系统转矩波动的方法

Also Published As

Publication number Publication date
JP5512054B1 (ja) 2014-06-04
TWI501538B (zh) 2015-09-21
TW201442412A (zh) 2014-11-01
JPWO2014171009A1 (ja) 2017-02-16

Similar Documents

Publication Publication Date Title
JP4989075B2 (ja) 電動機駆動制御装置及び電動機駆動システム
JP6014401B2 (ja) 電動機制御装置
JP5130031B2 (ja) 永久磁石モータの位置センサレス制御装置
JP5351859B2 (ja) ベクトル制御装置、及び電動機制御システム
JP6367332B2 (ja) インバータ制御装置及びモータ駆動システム
RU2664782C1 (ru) Устройство управления для вращающейся машины переменного тока
WO2010109528A1 (ja) 交流回転機の制御装置
WO2016035298A1 (ja) モータ駆動装置およびブラシレスモータ
JP2011147287A (ja) 電動機の磁極位置推定装置
KR101840509B1 (ko) 동기전동기 센서리스 벡터제어를 위한 회전각 추정장치
JP2004289959A (ja) 永久磁石形同期電動機の制御方法及び装置
JP2009060688A (ja) 同期電動機の制御装置
JP5515885B2 (ja) 電気車制御装置
JP5648310B2 (ja) 同期モータの制御装置、及び同期モータの制御方法
JP2008141824A (ja) 同期電動機制御装置
JP5190155B2 (ja) 交流回転機の制御装置および制御方法
JP6541092B2 (ja) 永久磁石同期電動機の制御装置
JP5512054B1 (ja) 交流回転機の制御装置
JP4680754B2 (ja) Ｄｃブラシレスモータのロータ角度推定方法及びｄｃブラシレスモータの制御装置
JP2004120834A (ja) Ｄｃブラシレスモータの制御装置
JP6707050B2 (ja) 同期電動機の制御装置
JP6664288B2 (ja) 電動機の制御装置
JP7251424B2 (ja) インバータ装置及びインバータ装置の制御方法
JP5326284B2 (ja) 同期電動機の制御装置
KR100696118B1 (ko) 동기 릴럭턴스 모터의 토크 제어 장치 및 방법

Legal Events

Date Code Title Description
ENP Entry into the national phase

Ref document number: 2013544958

Country of ref document: JP

Kind code of ref document: A

121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 13882150

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 13882150

Country of ref document: EP

Kind code of ref document: A1