WO2014171233A1 - 制御装置 - Google Patents
制御装置 Download PDFInfo
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- WO2014171233A1 WO2014171233A1 PCT/JP2014/056676 JP2014056676W WO2014171233A1 WO 2014171233 A1 WO2014171233 A1 WO 2014171233A1 JP 2014056676 W JP2014056676 W JP 2014056676W WO 2014171233 A1 WO2014171233 A1 WO 2014171233A1
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- 230000003252 repetitive effect Effects 0.000 claims abstract description 10
- 230000010354 integration Effects 0.000 claims description 12
- 230000004069 differentiation Effects 0.000 claims description 7
- 230000005540 biological transmission Effects 0.000 claims description 4
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- 238000000034 method Methods 0.000 description 44
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- 238000010586 diagram Methods 0.000 description 8
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- 230000007274 generation of a signal involved in cell-cell signaling Effects 0.000 description 3
- 230000004044 response Effects 0.000 description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P. I., P. I. D.
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/01—Arrangements for reducing harmonics or ripples
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02J—CIRCUIT ARRANGEMENTS OR SYSTEMS FOR SUPPLYING OR DISTRIBUTING ELECTRIC POWER; SYSTEMS FOR STORING ELECTRIC ENERGY
- H02J3/00—Circuit arrangements for ac mains or ac distribution networks
- H02J3/18—Arrangements for adjusting, eliminating or compensating reactive power in networks
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/42—Circuits or arrangements for compensating for or adjusting power factor in converters or inverters
- H02M1/4208—Arrangements for improving power factor of AC input
- H02M1/4283—Arrangements for improving power factor of AC input by adding a controlled rectifier in parallel to a first rectifier feeding a smoothing capacitor
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B70/00—Technologies for an efficient end-user side electric power management and consumption
- Y02B70/10—Technologies improving the efficiency by using switched-mode power supplies [SMPS], i.e. efficient power electronics conversion e.g. power factor correction or reduction of losses in power supplies or efficient standby modes
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/30—Reactive power compensation
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E40/00—Technologies for an efficient electrical power generation, transmission or distribution
- Y02E40/40—Arrangements for reducing harmonics
Definitions
- the present invention is based on an observable amount for a system to be controlled (hereinafter referred to as “control target system”) that operates based on a control input and obtains an observable amount that varies periodically.
- control target system an observable amount for a system to be controlled
- the present invention relates to a technique for outputting an input.
- An active filter has been proposed as one method for solving the problem.
- the active filter performs an operation that does not allow the harmonic component of the load current to flow to the AC power supply.
- a parallel type active filter is connected to an AC power source via a connected reactor.
- the compensation current from the parallel active filter is reduced.
- the parallel active filter is connected to the AC power source together with the load as described above. Therefore, the parallel active filter including the interconnection reactor and the load can be collectively understood as a control target system.
- the parallel active filter operates based on the control input, it is understood that the control target system also operates based on the control input.
- the compensation current varies depending on the power supply phase of the AC power supply. Therefore, in the system to be controlled, an observable amount that periodically fluctuates as a compensation current can be obtained.
- the control input is determined based on a deviation between a command value and a detection value (hereinafter referred to as “compensation current command value” and “compensation current detection value”) for the compensation current.
- the system to be controlled operates based on a control input determined based on an observable amount that varies periodically.
- control input of the parallel active filter is based on the deviation between the compensation current command value and the compensation current detection value. More specifically, the control input is obtained as the sum of a constant multiple of the integral value of the deviation and a constant multiple of the result of accumulating the deviation corresponding to the power supply phase.
- control input obtained in this way has an insufficient effect of canceling the higher-order harmonic components.
- the present invention provides a periodic steep change in the target value (“compensation current command value” in the above example) of the observable amount (in the above example, “compensation current command value”).
- the purpose is to make the control input, and thus the observable, follow the responsiveness with a good response.
- the present invention is based on the control input (Vid, Viq), and the controllable system (2, 4, 6, 8) can obtain the observable variable (id, iq) that varies periodically.
- At least proportional-integral control is performed with respect to a deviation between the target value of the observable quantity and periodically changing command values (id *, iq *) and the observable quantity.
- a second aspect of the control device is the first aspect, in which the deviation processing unit (714, 715) is configured such that the command value (id *, iq *) and the observable amount (id , Iq) is multiplied by a first gain (Kpd, Kpq) and a proportional calculator (714p, 715p) that outputs a result (idp, iqp), and a second gain (Kid, An integration calculator (714i, 715i) that outputs a value (idi, iqi) multiplied by (Kiq), and a first adder (714i, 715i) that outputs at least the output of the proportional calculator and the output of the integral calculator 714s, 715s).
- the integration unit repeatedly accumulates the output of the first adder for each period of the command value, and outputs a result (idr1, iqr1) obtained by multiplying the accumulation result by a third gain (Krd, Krq).
- the second adder (718, 719) that outputs the control input (Vid, Viq) by adding the output of the repeat controller (716, 717), the first adder, and the output of the repeat controller. ).
- a third aspect of the control device is the second aspect, wherein the integration calculator is operated after a predetermined time elapses after the controlled system (2, 4, 6, 8) is started. (714i, 715i) operates.
- a fourth aspect of the control device is the second aspect or the third aspect thereof, wherein the deviation processing unit (714, 715) differentiates the deviation, and determines the result of the differentiation as a result of the differentiation. It further has a differential calculator (714d, 715d) that outputs a result (idd, iqd) obtained by multiplying four gains (Kdd, Kdq).
- the first adder (714s, 715s) includes an output (idp, iqp) of the proportional calculator (714p, 715p), an output (idi, iqi) of the integral calculator (714i, 715i), and the differential calculator. Output and add.
- a fifth aspect of the control device is any one of the second to fourth aspects, wherein the repetitive controller (716, 717) delays an input value by the period. And a third adder (716s, 717s) that adds the output of the first adder (714s, 715s) and the output of the delay unit and inputs to the delay unit. And multipliers (716c, 717c) that multiply the third gain (Krd, Krq) to obtain the output of the iterative controller.
- a sixth aspect of the control device is the fifth aspect, wherein the third adder (716s, 717s) transmits a low-pass signal to the output of the delay unit (716b, 717b). After processing, addition with the output of the first adder (714s, 715s) is performed.
- a seventh aspect of the control device is any one of the second to sixth aspects, wherein the second adder (718, 719) is in the first phase of the period.
- the output (idr1, iqr1) of the iterative controller (716, 717) is added to the output (ido, iqo) of the first adder (714s, 715s) in the second phase of the cycle, and the control input (Vid, Viq) is output.
- the first phase and the second phase are different.
- the control input and thus the observable amount are the response to the periodic steep change.
- the control device of the present invention not only the result of integrating the deviation according to the control timing, but also the result is further integrated by the controller repeatedly for each cycle of the command value.
- the harmonic component of the power supply current immediately after startup is reduced.
- the stability in the controlled system is improved.
- the fifth aspect of the control device according to the present invention contributes to the configuration of the second aspect.
- the stability in the controlled system is improved.
- the control input and thus the observable amount are the response to the periodic steep change.
- the first phase and the second phase can be selected so as to follow well.
- the block diagram which shows an example of the form for implementing this invention.
- the block diagram which shows the structure of a proportional-plus-integral controller and a repetition controller.
- the block diagram which shows the structure of a proportional-plus-integral controller and a repetition controller.
- the block diagram which shows an example of a comparison technique.
- the graph which shows the waveform of various quantities in the technique concerning this Embodiment.
- the graph which shows the waveform of various quantities in a comparison technique.
- the graph which shows the waveform of various quantities in the technique concerning this Embodiment.
- the graph which shows the waveform of various quantities in the technique concerning this Embodiment.
- the graph which shows the waveform of various quantities in the technique concerning this Embodiment The graph which shows the waveform of various quantities in the technique concerning this Embodiment.
- the graph which shows the waveform of various quantities in the technique concerning this Embodiment The graph which shows the waveform of various quantities in a comparison technique.
- the graph which shows the waveform of various quantities in a comparison technique The graph which shows the waveform of various quantities in a comparison technique.
- the graph which shows the waveform of various quantities in a comparison technique The graph which shows the waveform of various quantities in a comparison technique.
- the graph which shows the waveform of various quantities in a comparison technique The graph which shows the waveform of various quantities in a comparison technique.
- the graph which shows the waveform of various quantities in a comparison technique The graph which shows the waveform of various quantities in a comparison technique.
- control system that operates based on a control input and obtains an observable amount that varies periodically will be described by taking as an example a configuration including a load through which a load current flows from an AC power source and a parallel active filter.
- the system to be controlled need not be limited to this example.
- FIG. 1 is a block diagram showing an example of an embodiment for carrying out the present invention.
- a three-phase AC power supply 1 supplies a load 2 with a three-phase load current Io.
- the parallel active filter 6 is connected to the AC power supply 1 via a three-phase interconnection reactor 4.
- the parallel active filter 6 outputs a three-phase compensation current Ic.
- the compensation current Ic is assumed to have a positive direction from the parallel active filter 6 to the AC power supply 1, and the sum of the power supply current Is flowing from the AC power supply 1 and the compensation current Ic is the load current Io. .
- the parallel active filter 6 includes an inverter 61 and a capacitor 62, for example.
- Inverter 61 inputs / outputs compensation current Ic to charge / discharge capacitor 62 to / from DC voltage Vdc.
- the inverter 61 is a voltage source inverter, and three current paths (not shown) are connected in parallel to the capacitor 62, and two switching elements (not shown) are provided in each current path.
- the active filter control device 7 includes a transformer 701, a phase detector 702, dq converters 703 and 711, high-pass filters 704 and 705, subtractors 707, 712 and 713, proportional-integral controllers 708, 714 and 715, adders 709, 718, 719 and a repeat controller 716,717.
- the transformer 701 detects one phase of the three-phase voltage Vs of the AC power supply 1 and supplies it to the phase detector 702.
- the phase detector 702 transmits the detected phase ⁇ t to the dq converters 703 and 711.
- the dq converter 703 performs three-phase / two-phase conversion on the detected load current Io.
- the d-axis and the q-axis are rotating coordinate systems that rotate in synchronization with the phase detected by the phase detector 702.
- FIG. 1 illustrates a case where the load currents ir and it for two phases are detected as such.
- the dq converter 711 performs three-phase / two-phase conversion on the detected compensation current Ic to obtain a d-axis current id and a q-axis current iq.
- the compensation current Ic is also three-phase, the d-axis current id and the q-axis current iq can be obtained if two of these are detected.
- FIG. 1 exemplifies a case where currents for two phases are detected as such.
- the high-pass filters 704 and 705 remove the DC component of the d-axis component and the q-axis component of the load current Io, respectively.
- a component synchronized with the phase of the AC power supply 1 appears as a DC component in both the d-axis component and the q-axis component. That is, if there is no harmonic component in the load current Io, the d-axis component and the q-axis component are DC. Therefore, the high-pass filters 704 and 705 output only the harmonic component of the d-axis component and the q-axis component of the load current Io.
- the high-pass filters 704 and 705 output the command values of the d-axis current id and the q-axis current iq of the compensation current Ic if the correction on the d-axis described later is ignored.
- the command value iq * of the q-axis current iq can be obtained from the high pass filter 705. Further, the fundamental wave power factor can be improved by configuring the command value iq * of the q-axis current iq so as to compensate the DC component without using the high-pass filter 705.
- the command value id * of the d-axis current id is corrected to correspond to the fluctuation of the DC voltage Vdc with respect to the output of the high-pass filter 704. Specifically, it is corrected as follows.
- the subtractor 707 obtains the deviation between the DC voltage Vdc supported by the capacitor 62 and its command value Vdc *.
- the proportional-integral controller 708 performs proportional-integral control on the deviation obtained from the subtractor 707 to obtain a correction value.
- the correction value is added to the output of the high pass filter 704 by the adder 709. As a result, a d-axis current command value id * that is less affected by fluctuations in the DC voltage Vdc is obtained from the adder 709.
- the subtracters 712 and 713 output deviations ⁇ id and ⁇ iq, respectively.
- the deviation ⁇ id is obtained by subtracting the d-axis current id from the command value id *.
- Deviation ⁇ iq is obtained by subtracting q-axis current iq from command value iq *.
- the proportional-integral controllers 714 and 715 perform proportional-integral control on the deviations ⁇ id and ⁇ iq, respectively, and output values ido and iqo that are the results of proportional-integral calculation.
- the repetitive controller 716 cooperates with the adder 718, integrates the value ido for each cycle of the command value id *, and outputs the voltage command value Vid.
- the iterative controller 717 cooperates with the adder 719, accumulates the value iqo every period of the command value iq *, and outputs the voltage command value Viq. That is, the iterative controller 716 and the adder 718 can be understood as an integrating unit, and the iterative controller 717 and the adder 719 can be understood as an integrating unit.
- the command values id * and iq * are, for example, here, since the AC power supply 1 supplies a three-phase voltage, and in a steady state, the command values id * and iq * have a period that is 1/6 times the period of the three-phase voltage. Synchronize.
- the drive signal generation circuit 8 generates a drive signal G for driving the parallel active filter 6 based on the voltage command values Vid and Viq. Since the configuration of the drive signal generation circuit 8 having such a function is well known, a description thereof is omitted here.
- the voltage command values Vid and Viq indirectly control the parallel active filter 6. Therefore, it can be said that the configuration including the load 2, the interconnecting reactor 4, the parallel active filter 6, and the drive signal generation circuit 8 is a control target system, and the active filter control device 7 is a control device that controls the control target system.
- the observable amount obtained from the control target system is the compensation current Ic (particularly, the d-axis current id and the q-axis current), the target values of the observable amount are the command values id * and iq *, and the control input Can be grasped as the voltage command values Vid and Viq.
- the low-pass filter 9 is desirably provided, for example, between the interconnected reactor 4 and the transformer 701 from the viewpoint of removing the ripple of the compensation current Ic.
- the low-pass filter 9 is shown for only one phase, but in reality it is provided for three phases.
- the load 2 is an air conditioner including an inverter 23 and a compressor 24 that is controlled by the inverter 23 and compresses a refrigerant (not shown).
- the load 2 further includes a converter 21 and a low-pass filter 22 inserted in parallel between the converter 21 and the inverter 23 in order to supply DC power to the inverter 23.
- FIG. 2 is a block diagram showing the configuration of the proportional-plus-integral controller 714 and the iterative controller 716, including the connection relationship with the adder 718 and the subtractor 712. Since the proportional-plus-integral controller 714 processes the deviation ⁇ id, it is hereinafter also referred to as a deviation processing unit.
- the deviation processing unit 714 includes a proportional calculator 714p, an integral calculator 714i, and an adder 714s.
- the proportional calculator 714p outputs the result idp obtained by multiplying the deviation ⁇ id between the command value id * and the d-axis current id by the gain Kpd.
- Integral calculator 714i outputs a value idi obtained by multiplying the integral of deviation ⁇ id by gain Kid.
- the adder 714s adds at least the output of the proportional calculator 714p and the output of the integral calculator 714i, and outputs a value ido.
- the repetition controller 716 repeatedly accumulates the value ido for each period of the command value id *, and outputs a value idr1 obtained by multiplying the accumulation result by the gain Krd.
- the adder 718 adds the value idr1 output from the iterative controller 716 and the value ido output from the adder 714s, and outputs a voltage command value Vid.
- FIG. 3 is a block diagram showing the configuration of the proportional-plus-integral controller 715 and the iterative controller 717, including the connection relationship with the adder 719 and the subtractor 713. Since the proportional-plus-integral controller 715 processes the deviation ⁇ iq, it is hereinafter also referred to as a deviation processing unit.
- the deviation processing unit 715 includes a proportional calculator 715p, an integral calculator 715i, and an adder 715s.
- the proportional calculator 715p outputs a result iqp obtained by multiplying the deviation ⁇ iq between the command value iq * and the q-axis current iq by the gain Kpq.
- the integration calculator 715i outputs a value iqi obtained by multiplying the integral of the deviation ⁇ iq by Kiq.
- the adder 715s adds at least the output of the proportional calculator 715p and the output of the integral calculator 715i and outputs a value iqo.
- the iterative controller 717 repeatedly accumulates the value iq for each cycle of the command value iq *, and outputs a value iqr1 obtained by multiplying the accumulated result by the gain Krq.
- the adder 719 adds the value iqr1 output from the iterative controller 717 and the value iqo output from the adder 715s, and outputs a voltage command value Viq.
- the deviation processing units 714 and 715 operate according to a predetermined control timing shorter than the power cycle.
- FIG. 4 is a block diagram showing an example of another technique (hereinafter referred to as “comparative technique”).
- the configuration in the comparison technique is different from the configuration shown in FIG. 1 in that the input to the iterative controllers 716 and 717 is not the values ido and iqo output by the proportional-plus-integral controllers 714 and 715 but the deviations ⁇ id and ⁇ iq. Only the changes are different.
- the output of the deviation processing units 714 and 715 is integrated to generate the voltage command values Vid and Viq
- the deviation ⁇ id, ⁇ iq is integrated to generate voltage command values Vid and Viq.
- the values output from the iterative controllers 716 and 717 are different from each other as values idr1 and iqr1 in FIG. 1 and values idr2 and iqr2 in FIG.
- FIG. 5 is a graph showing waveforms of various quantities in the technique according to the present embodiment
- FIG. 6 is a graph showing waveforms of various quantities in the comparative technique.
- the power supply current Is is shown in the first stage from the top
- the d-axis current id and its command value id * are shown in the second stage
- the q-axis current iq and its command value iq * are shown in the third stage, respectively.
- Time is adopted on the horizontal axis.
- the d-axis current id follows the command value id * and the q-axis current iq follows the command value iq * well.
- the q-axis current iq has substantially overlapping waveforms although its command value iq * exhibits a periodic steep change.
- the d-axis current id has a waveform that substantially overlaps the command value id *, but the q-axis current iq has the command value iq * periodically.
- the ringing becomes large at the time of showing a steep change.
- the harmonic component of the power supply current Is is much more marked when the technique according to the present embodiment is adopted than when the comparative technique is adopted. Has been reduced.
- FIGS. 7 and 8 are graphs showing various quantities immediately after starting the control target system when the technology according to the present embodiment is employed.
- the horizontal axis is the time from the starting point.
- the power supply current Is and the compensation current Ic are shown in the first stage from the top, the d-axis current id and its command value id * in the second stage, and the q-axis current iq and its command value in the third stage.
- the value idi output from the integration calculator 714i in the first stage from the top in FIG. 8 and the value idr1 output from the repeat controller 716 in the second stage are shown.
- the followability of the d-axis current id to the command value id * is significantly inferior compared to the steady state immediately after startup. This is also reflected in the waveforms of values idi and idr1. In particular, after about 0.02 seconds have elapsed since startup, the d-axis current id is in reverse phase to the command value id *. Further, although d-axis current id is in phase with the command value id * after about 0.07 seconds have elapsed since startup, the difference between the two is large until about 0.15 seconds have elapsed after startup. For this reason, the waveform of the power supply current Is also increases in harmonic components until it reaches a steady state.
- the q-axis current iq immediately after the start is in phase with the command value iq *, but the difference from the command value iq * is large compared to the steady state (especially when the command value iq * changes sharply).
- 9 and 10 are graphs showing various quantities immediately after starting the control target system when the technique according to the present embodiment is employed and the gains Kid and Kiq are set to zero. The time taken from the starting point is used for the horizontal axis.
- the value idi is 0 because the gain Kid is 0. Thus, if the value idi is set to 0, the difference between the d-axis current id and the command value id * is small. Similarly, the deviation between the q-axis current iq and the command value iq * is also reduced.
- 11 and 12 employ the technique according to the present embodiment, and when the gains Kid and Kiq are set to 0 only during a period from when the activation starts until 0.15 seconds elapses, the above control target system is activated. It is a graph which shows various quantities immediately after. The horizontal axis is the time from the starting point.
- the waveforms shown in FIG. 11 and FIG. 12 coincide with the waveforms shown in FIG. 9 and FIG. 10 during the period from immediately after startup until 0.15 seconds have passed, and 0.15 seconds have passed since immediately after startup. After that, it almost coincides with the waveforms shown in FIGS.
- the technique according to the present embodiment seems to be inferior to the comparative technique, but this is not the case. This is because, as will be described later, even in the comparison technique, a desired operation should not be performed in a steady state for a predetermined period immediately after startup.
- FIG. 13 and FIG. 14 are graphs showing various quantities immediately after starting the control target system in the comparative technique (see FIG. 4).
- FIG. 15 and FIG. 16 are graphs showing various quantities immediately after starting the control target system when the gains Kid and Kiq are set to 0 only in a period until 0.15 seconds have passed since the start in the comparative technique. It is. In both cases, the horizontal axis is the time from the starting point.
- 17 and 18 show various quantities immediately after starting the control target system when the comparison technique is adopted and the gains Krd and Krq are set to 0 only during the period from the start of the operation until 0.15 seconds elapses. It is a graph which shows. The horizontal axis is the time from the starting point.
- the technology according to the present embodiment is not inferior in this respect.
- the iterative controllers 716 and 717 cooperate with the adders 718 and 719, respectively, accumulate the values ido and iq for each cycle of the command values id * and iq *, and the voltage command values Vid, Viq is output.
- the adder 718 adds the value idr1 output from the iterative controller 716 to the value ido output from the adder 714s and outputs a voltage command value Vid.
- the adder 719 adds the value iqr1 output from the iterative controller 717 to the value iqo output from the adder 715s, and outputs a voltage command value Viq.
- the values “ido” and “idr1” added by the adder 718 may correspond to different phases in the cycle. Further, the values iqo and iqr1 added by the adder 719 may correspond to different phases in the period.
- Such a method contributes to the reduction of the harmonic component of the power supply current Is when the frequency of the control timing for controlling the operation of the deviation processing units 714 and 715 is not an integral multiple of the frequency of the power supply, for example. In this way, it is well known in, for example, Patent Document 2 that cumulative control is repeatedly performed by accumulating values having different phases.
- the adder 718 adds the value idr1 in the first phase to the value ido in the second phase, and outputs a voltage command value Vid.
- the adder 719 adds the value idq1 in the first phase with the value iqo in the second phase, and outputs a voltage command value Viq.
- the first phase and the second phase can be selected so that iq follows with good responsiveness.
- the first phase and the second phase can be set by repeatedly controlling the controllers 716 and 717 using the phase ⁇ t detected by the phase detector 702.
- the deviation processing unit 714 further includes a differential calculator 714d.
- the differential operator 714d differentiates the deviation ⁇ id and outputs a result idd obtained by multiplying the result of the differentiation by the gain Kdd.
- the adder 714s adds the value idp output from the proportional calculator 714p, the value idi output from the integral calculator 714i, and the value idd output from the differential calculator 714d, and outputs the result.
- the deviation processing unit 715 further includes a differentiation calculator 715d.
- the differential operator 715d differentiates the deviation ⁇ iq, and outputs a result iqd obtained by multiplying the result of the differentiation by the gain Kdq.
- the adder 715s adds the value iqp output from the proportional calculator 715p, the value iqi output from the integral calculator 715i, and the value iqd output from the differential calculator 715d, and outputs the result.
- the repetition controller 716 includes, for example, a delay unit 716b, an adder 716s, and a multiplier 716c.
- the delay unit 716b outputs the input value with a delay of the period of the command value id *, and FIG. 2 illustrates the case where a storage device is employed.
- the adder 716s adds the output of the adder 714s and the output of the delay unit 716b and inputs the sum to the delay unit 716b.
- the multiplier 716c multiplies the output of the delay unit 716b by the gain Krd to obtain the output of the iterative controller 716.
- the repetition controller 717 includes, for example, a delay unit 717b, an adder 717s, and a multiplier 717c.
- the delay unit 717b outputs the input value with a delay of the period of the command value iq *, and FIG. 3 illustrates the case where a storage device is employed.
- the adder 717s adds the output of the adder 714s and the output of the delay unit 717b and inputs the sum to the delay unit 717b.
- the multiplier 717c multiplies the output of the delay unit 717b by the gain Krq to obtain the output of the iterative controller 717.
- the adders 716 s and 717 s perform addition with the outputs of the adders 714 s and 715 s after performing low-pass transmission processing on the outputs of the delay units 716 b and 717 b. This is because instability in the high frequency band such as resonance between the power supply impedance and the capacitor of the low-pass filter 9 is prevented, and stability in the controlled system is improved.
- low-pass filters 716a and 717a are provided in the repetitive controllers 716 and 717 in order to perform such low-pass transmission processing.
- the above description is an example, and the present invention is not limited to the above description.
- the above components can be combined with each other or omitted as long as the effects of the present invention are not impaired.
- the low-pass filters 717a and 716a may be omitted.
- the deviation processing unit 715 sets the gain Kid to 0 by the deviation processing unit 714 in a predetermined period immediately after startup.
- the gain Kiq need not be zero.
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Abstract
Description
Claims (13)
- 制御入力(Vid,Viq)に基づいて動作し、周期的に変動する可観測量(id,iq)が得られる制御対象システム(2,4,6,8)に対し、前記可観測量に基づいて前記制御入力を出力する制御装置(7)であって、
前記可観測量の目標値であって周期的に変動する指令値(id*,iq*)と、前記可観測量との偏差に対して、少なくとも比例積分制御を行う偏差処理部(714,715)と、
前記偏差処理部の出力(ido,iqo)を前記指令値の周期毎に積算して前記制御入力を生成する積算部(716,717,718,719)と
を備える制御装置。 - 前記偏差処理部(714,715)は、
前記指令値(id*,iq*)と前記可観測量(id,iq)との偏差に対して第1ゲイン(Kpd,Kpq)を乗算した結果(idp,iqp)を出力する比例演算器(714p,715p)と、
前記偏差の積分に第2ゲイン(Kid,Kiq)を乗算した値(idi,iqi)を出力する積分演算器(714i,715i)と、
少なくとも前記比例演算器の出力と前記積分演算器の出力とを加算して出力する第1加算器(714s,715s)と
を有し、
前記積算部は、
前記第1加算器の出力を前記指令値の周期毎に繰返して累加し、当該累加の結果に第3ゲイン(Krd,Krq)を乗算した結果(idr1,iqr1)を出力する繰返し制御器(716,717)と、
前記第1加算器の出力と、前記繰返し制御器の出力とを加算して、前記制御入力(Vid,Viq)を出力する第2加算器(718,719)と
を備える、請求項1に記載の制御装置。 - 前記制御対象システム(2,4,6,8)が起動後、所定時間が経過してから前記積分演算器(714i,715i)が動作する、請求項2に記載の制御装置。
- 前記偏差処理部(714,715)は、
前記偏差を微分し、当該微分の結果に第4ゲイン(Kdd,Kdq)を乗算した結果(idd,iqd)を出力する微分演算器(714d,715d)
を更に有し、
前記第1加算器(714s,715s)は前記比例演算器(714p,715p)の出力(idp,iqp)と前記積分演算器(714i,715i)の出力(idi,iqi)と前記微分演算器の出力とを加算して出力する、請求項2又は請求項3に記載の制御装置。 - 前記繰返し制御器(716,717)は、
入力した値を前記周期で遅延して出力する遅延部(716b,717b)と、
前記第1加算器(714s,715s)の出力と前記遅延部の出力とを加算して前記遅延部に入力する第3加算器(716s,717s)と、
前記第3ゲイン(Krd,Krq)を乗算して前記繰返し制御器の出力を得る乗算器(716c,717c)と
を有する、請求項2又は請求項3に記載の制御装置。 - 前記第3加算器(716s,717s)は、前記遅延部(716b,717b)の出力に対して低域透過処理を行ってから前記第1加算器(714s,715s)の出力との加算を行う、請求項5記載の制御装置。
- 前記第2加算器(718,719)は、前記周期の第1の位相における前記繰返し制御器(716,717)の出力(idr1,iqr1)を、前記周期の第2の位相における前記第1加算器(714s,715s)の出力(ido,iqo)と加算して前記制御入力(Vid,Viq)を出力し、
前記第1の位相と前記第2の位相とが相違する、請求項2又は請求項3に記載の制御装置。 - 前記繰返し制御器(716,717)は、
入力した値を前記周期で遅延して出力する遅延部(716b,717b)と、
前記第1加算器(714s,715s)の出力と前記遅延部の出力とを加算して前記遅延部に入力する第3加算器(716s,717s)と、
前記第3ゲイン(Krd,Krq)を乗算して前記繰返し制御器の出力を得る乗算器(716c,717c)と
を有する、請求項4記載の制御装置。 - 前記第3加算器(716s,717s)は、前記遅延部(716b,717b)の出力に対して低域透過処理を行ってから前記第1加算器(714s,715s)の出力との加算を行う、請求項8記載の制御装置。
- 前記第2加算器(718,719)は、前記周期の第1の位相における前記繰返し制御器(716,717)の出力(idr1,iqr1)を、前記周期の第2の位相における前記第1加算器(714s,715s)の出力(ido,iqo)と加算して前記制御入力(Vid,Viq)を出力し、
前記第1の位相と前記第2の位相とが相違する、請求項4記載の制御装置。 - 前記第2加算器(718,719)は、前記周期の第1の位相における前記繰返し制御器(716,717)の出力(idr1,iqr1)を、前記周期の第2の位相における前記第1加算器(714s,715s)の出力(ido,iqo)と加算して前記制御入力(Vid,Viq)を出力し、
前記第1の位相と前記第2の位相とが相違する、請求項5記載の制御装置。 - 前記第2加算器(718,719)は、前記周期の第1の位相における前記繰返し制御器(716,717)の出力(idr1,iqr1)を、前記周期の第2の位相における前記第1加算器(714s,715s)の出力(ido,iqo)と加算して前記制御入力(Vid,Viq)を出力し、
前記第1の位相と前記第2の位相とが相違する、請求項6記載の制御装置。 - 前記第2加算器(718,719)は、前記周期の第1の位相における前記繰返し制御器(716,717)の出力(idr1,iqr1)を、前記周期の第2の位相における前記第1加算器(714s,715s)の出力(ido,iqo)と加算して前記制御入力(Vid,Viq)を出力し、
前記第1の位相と前記第2の位相とが相違する、請求項9記載の制御装置。
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