WO2014181942A1 - 교류 모터의 제어 방법 - Google Patents
교류 모터의 제어 방법 Download PDFInfo
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- WO2014181942A1 WO2014181942A1 PCT/KR2013/010783 KR2013010783W WO2014181942A1 WO 2014181942 A1 WO2014181942 A1 WO 2014181942A1 KR 2013010783 W KR2013010783 W KR 2013010783W WO 2014181942 A1 WO2014181942 A1 WO 2014181942A1
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- voltage
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- motor
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- hvmc
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/28—Stator flux based control
- H02P21/30—Direct torque control [DTC] or field acceleration method [FAM]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/025—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using field orientation; Vector control; Direct Torque Control [DTC]
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
-
- 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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
- H02P21/26—Rotor flux based control
-
- 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
- H02P27/06—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 using dc to ac converters or inverters
- H02P27/08—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 using dc to ac converters or inverters with pulse width modulation
-
- 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
- H02P27/06—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 using dc to ac converters or inverters
- H02P27/08—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 using dc to ac converters or inverters with pulse width modulation
- H02P27/085—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 using dc to ac converters or inverters with pulse width modulation wherein the PWM mode is adapted on the running conditions of the motor, e.g. the switching frequency
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2220/00—Electrical machine types; Structures or applications thereof
- B60L2220/10—Electrical machine types
- B60L2220/16—DC brushless machines
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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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
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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
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
Definitions
- the present invention relates to a control method of an alternating current motor, and more particularly, to a control method of an alternating current motor capable of safe and efficient driving under high speed and direct current voltage limitation conditions.
- variable speed motor driving technology the application of variable speed electric motors instead of steam turbines or hydraulic drive sources is rapidly increasing in various industrial applications including turbo compressors.
- the biggest advantage of the variable speed motor drive system is its high efficiency and low vibration.
- AC motors including permanent magnet synchronous motors (PMSM) are widely used as electric motors for such high-speed applications because of their excellent efficiency.
- a speed sensor is needed for the wide speed control of such a variable speed AC motor.
- the speed sensor has structural problems of its own, and the process of designing and processing the motor is complicated, and the axial length of the motor increases when attached. There is a problem that miniaturization of the entire system becomes difficult.
- the conventional current control method has to use the voltage only within the linear limit voltage at high speed, the efficiency is low, there is a problem that there is instability due to digital delay time for the closed loop current control.
- the present invention is to provide a control method of an AC motor capable of driving stably and efficiently under high speed and DC terminal voltage limit conditions.
- the step of receiving a torque command value, generating a command current from the torque command value, using the generated command current CVC current control mode Generating a command voltage in the step of switching to an HVMC voltage control mode when the command voltage enters a voltage limit region, generating a command voltage in the HVMC voltage control mode, and the CVC current control mode or HVMC Controlling the torque of the AC motor by using the command voltage generated in the voltage control mode.
- the AC motor may switch to the HVMC voltage control mode.
- the generating of the command voltage in the CVC current control mode may include: calculating the current command value by dividing the torque command value by a torque constant, subtracting a current value fed back from the AC motor, and subtracting the subtracted value. And generating the command voltage using the same.
- the constant torque region may operate in the CVC current control mode, and the weak magnetic flux region may operate in the HVMC voltage control mode.
- the voltage limiting region corresponds to a circle boundary line inscribed in the hexagonal space voltage vector of the dq axis.
- the command voltage has the voltage limiting region as the limit voltage, and in the HVMC voltage control mode.
- the reference voltage may have a limit voltage corresponding to a boundary of the hexagonal space voltage vector.
- a voltage corresponding to a point where a constant torque trajectory and the rotating hexagonal space voltage vector intersect may be determined as the command voltage.
- Vectors of the command voltages (v * d_HVMC and v * q_HVMC ) on the d-axis and the q-axis selected at the crossing points may be expressed as follows.
- ⁇ r is the rotational speed of the AC motor
- P is the number of poles
- L s is the inductance of the stator
- ⁇ pm is the linkage flux of the AC motor
- T e * is the torque command value
- the method may further include estimating the position of the AC motor using the torque command value, the current of the AC motor, the command voltage generated in the CVC current control mode or the HVMC voltage control mode.
- the AC motor is a permanent magnet synchronous motor (PMSM), the torque line may be made in a straight form.
- PMSM permanent magnet synchronous motor
- the current control method is used at a low speed, and the voltage control method utilizing the entire voltage limit is used at high speed and voltage limit conditions, so that the AC motor can be efficiently and safely controlled at high speed and voltage limit conditions. Can be.
- the maximum voltage is utilized in the HVMC voltage control mode, which allows motor torque to be much larger than using the CVC current control method only in the weak magnetic flux region, thereby minimizing the CVC operating area and increasing efficiency.
- FIG. 1 is a graph showing a rotation speed and torque change of a permanent flux synchronous motor (PMSM) in a turbo charger (EATC) system according to an embodiment of the present invention.
- PMSM permanent flux synchronous motor
- EATC turbo charger
- FIG. 2 is a block diagram of a permanent magnet synchronous motor control apparatus according to an embodiment of the present invention.
- FIG. 3 is a view for explaining a control method of the permanent magnet synchronous motor control apparatus according to an embodiment of the present invention.
- FIG. 4 is a diagram for describing a space voltage vector having a hexagonal shape.
- 5 and 6 are diagrams for explaining a process for deriving a stator voltage in the HVMC voltage control mode.
- FIG. 8 shows an experimental result using the permanent magnet synchronous motor control method according to an embodiment of the present invention.
- the present invention relates to a control method of an AC motor, and the AC motor according to an embodiment of the present invention may be applied to an electrically assisted turbo charger (EATC) system capable of operating at high speed.
- the turbocharger consists of a turbine and a compressor connected by a common shaft attached to a bearing system, which converts energy from the engine's exhaust to compressed air.
- the AC motor according to the embodiment of the present invention is composed of a stator and a rotor, and includes all kinds of AC motors driven by AC power.
- a permanent magnet synchronous motor (PMSM) will be described as an AC motor.
- Permanent magnet synchronous motors are motors that use permanent magnets. Permanent magnet synchronous motors (PMSMs) allow turbochargers to operate faster than with exhaust gas. This allows turbocharger (EATC) systems to generate more energy and increase combustion efficiency. And turbocharger (EATC) systems generate boost only when a certain amount of kinetic energy is present in the exhaust gas.
- FIG. 1 is a graph showing a rotation speed and torque change of a permanent flux synchronous motor (PMSM) in a turbo charger (EATC) system according to an embodiment of the present invention.
- PMSM permanent flux synchronous motor
- EATC turbo charger
- the position sensorless control is required from the point of rotation speed ( ⁇ rpm ) of the permanent flux synchronous motor PMSM from 5000r / min, while the boost threshold is about 50,000r / min. Begins at the point.
- the permanent flux synchronous motor (PMSM) also delivers a value equivalent to 136% of the measured torque while the rotational speed ( ⁇ rpm ) is accelerated from 50,000 r / min to 100,000 r / min, and the torque value (T e ) It is gradually decreased at the point of 0.9 seconds.
- FIG. 2 is a block diagram of a permanent magnet synchronous motor control apparatus according to an embodiment of the present invention
- Figure 3 is a view for explaining a control method of a permanent magnet synchronous motor control apparatus according to an embodiment of the present invention
- 4 is a diagram for describing a space voltage vector having a hexagonal shape.
- the permanent magnet synchronous motor control apparatus provides the command voltage values V dq r * of the final magnetic flux axis (D axis) and the rotational force axis (Q axis) to the permanent flux synchronous motor (PMSM) 305.
- a calculator 310 a current vector controller 320, a voltage vector controller 330, a position velocity estimator 340, and a PWM controller 350.
- the permanent magnet synchronous motor (PMSM) 305 is a synchronous motor using a permanent magnet, and has excellent characteristics of high speed durability and high driving speed, so that it can be used as a motor for industrial and hybrid electric vehicles.
- the permanent magnet synchronous motor (PMSM) 305 has an inductance symmetrical unlike the embedded permanent magnet synchronous motor (IPMSM).
- the permanent magnet synchronous motor includes a stator and a rotor, in which v r dq and i r dq represent stator voltage vectors and current vectors of the dq axis in the basic frame of the rotor, respectively. .
- R s represents the stator resistance
- ⁇ r is the angle of rotation of the rotor
- ⁇ r is the angular velocity of the rotor
- K T represents the torque constant.
- J is also Represents a matrix.
- L s is the inductance of the stator
- ⁇ pm is a permanent flux linkage (PM flux linkage)
- the stator voltage of the permanent magnet synchronous motor is proportional to the sum of the permanent magnet linkage flux ( ⁇ pm ) and the stator inductance (L s ), which is the permanent magnet linkage flux ( ⁇ pm ) or the stator inductance (L s).
- Increasing) may lower the boost threshold shown in FIG. 2.
- the rotation speed of the permanent magnet synchronous motor PMSM is increased.
- the boost threshold can be lowered, thereby enabling position sensorless control of the permanent magnet synchronous motor PMSM even at a low speed.
- the current vector controller 320 when the rotational speed of the permanent magnet synchronous motor (PMSM) is low, the current vector controller 320 operates in a current vector controller (CVC) current control mode. 330 operates in a hexagonal voltage modulation controller (HVMC) voltage control mode.
- CVC current vector controller
- HVMC hexagonal voltage modulation controller
- the current vector control unit 320 includes a torque (T e) is in the constant torque region of the low-speed is kept constant to operate the permanent magnet synchronous motor (PMSM) in the current control mode CVC (Current vector controller), the voltage vector control ( 330) operates the torque (T e) a reduction in area of high-speed stands for (flux weakening region) in the permanent magnet synchronous motor as HVMC (Hexagon voltage modulation controller) voltage control mode (PMSM).
- HVMC Harmonic modulation controller
- the computing unit 310 calculates the share of the input torque command (T e *), a torque constant (K T), the command current vector (i r * dq). The operation unit 310 subtracts the current value i r dq fed back from the rotor of the permanent magnet synchronous motor PMSM from the calculated command current vector i r * dq .
- the current vector control unit 320 formed of a PI (proportional-integral) current vector regulator (PI_CVC) uses the difference value between the command current vector (i r * dq ) and the current (i r dq ) of the fed-up coordinate system stator.
- the voltage vector v r * dq_CVC is output.
- the synchronous coordinate system stator current i r dq fed back is controlled by the current control vector unit 320 to follow the command current vector i r * dq , and the command by the current control.
- the voltage vector v r * dq_CVC is transferred to the permanent magnet synchronous motor (PMSM) 305 within the voltage limit.
- PMSM permanent magnet synchronous motor
- the PWM controller 350 performs PWM switching control of the operation of the permanent magnet synchronous motor (PMSM) 305 in response to the output command voltage (v r * dq ).
- the position speed estimator 340 estimates the position and rotation speed of the permanent magnet (PMSM) in the area corresponding to the position sensorless. That is, as shown in Figure 3, the torque reference value (T e *), the command voltage vector (v r * dq) coordinate-converted command voltage vector and the coordinate transformation (v s * dq), the stator current vector (i r dq)
- the position speed estimating unit 340 may determine the angular velocity of the rotor ( ) And rotation angle ( ) To compensate for the torque error.
- command voltage vector (v * dq_CVC ) is always as shown in FIG. Within a linear voltage corresponding to the radius, where V dc represents the DC link voltage.
- reference numerals V 1 to V 6 denote voltages of the vector sum of the d-axis applied voltage v r * ds and the q-axis applied voltage v r * qs , and are inscribed in a hexagonal region. Is the area where voltage synthesis is possible linearly. Denotes the maximum synthesized voltage value that can be linearly synthesized voltage in the circle region.
- the hexagonal region indicates a region where voltage synthesis is possible by a space vector pulse width modulation (PWM) method, and the hatched region except the inscribed circle region of the hexagonal region is a nonlinear voltage modulation region.
- PWM space vector pulse width modulation
- stator voltage v r ds may be expressed by Equation 2 below.
- the stands in area voltage vector controller 330 Operates in HVMC voltage control mode.
- the HVMC voltage control mode is to utilize all of the hexagons shown in FIG. 4, and the hexagonal boundary line shown in FIG. 4 corresponds to a limit voltage for utilizing the maximum voltage in a wide driving region to improve efficiency.
- FIG. 5 and 6 are diagrams for explaining a process for deriving a stator voltage in the HVMC voltage control mode.
- FIG. 5 is a diagram for describing a process for deriving stator voltages v r q and v r d between a torque line and a rotating hexagon on a synchronized dq voltage.
- the point where the constant torque trajectory and the rotating hexagon intersect becomes the command voltage vector v * dq_HVMC in the HVMC voltage control mode.
- the torque line (constant torque trajectory) is parallel to the q-axis and formed in a straight line. If other motors, including embedded permanent magnet synchronous motors (IPMSM), are used instead of permanent magnet synchronous motors (IPMSM), the torque lines may be curved.
- IPMSM embedded permanent magnet synchronous motors
- IPMSM permanent magnet synchronous motors
- the command voltage vector (v * dq_HVMC ) on the d-axis and the q-axis selected at the intersection point may be expressed by Equations 4 and 5 below.
- M n and B n represent constant values given in the respective hexagonal sectors.
- HVMC voltage control mode is a way to find the above the hexagon limit to rotate the voltage that satisfies the current with respect to the torque command (T e * ) input as shown in Figure 5, the intersection is a command because the hexagon is rotated It vibrates on a constant torque trajectory.
- the torque value is adjusted around the set torque line by selecting the command voltage vector v * dq_HVMC (marked in red in FIG. 5).
- the HVMC voltage control mode is switched in the weak magnetic flux region to improve the voltage utilization rate in the weak magnetic flux region. . Therefore, the command voltage vector (v * dq_CVC ) is extended to the outer portion of the circle inscribed in the hexagon, and then adjusted to the hexagonal voltage limit using the minimum magnitude-error overmodulation to be output as the command voltage vector (v * dq_HVMC ). It is possible to use the maximum voltage in the weak magnetic flux region.
- the HVMC Switch when the command voltage enters the voltage limit region (outer part of the circle inscribed in the hexagon) as the rotation speed of the permanent magnet synchronous motor PMSM increases, the HVMC Switch to voltage control mode. It can also switch to HVMC voltage control mode, even at low speeds, even when voltage limitations occur due to a lack of available voltage.
- the d-axis voltage component v r d selected according to the increase of the rotation speed increases in the negative direction while the q-axis voltage component v r q decreases. Therefore, according to the embodiment of the present invention, it is possible to realize automatic driving of the weak magnetic flux region and use of the maximum voltage even without a separate control operation or coefficient correction.
- FIG. 7 shows the trajectory of the current vectors i r q and i r d of the stator according to the torque command value on the dq current plane.
- the stator's current vector in the CVC current control mode moves along a constant torque line while the mode is changed. Also, the magnitude of the current vector decreases in the HVMC voltage control mode because the maximum voltage is used in the HVMC voltage control mode.
- This feature increases the PM flux linkage (PM pm ) of the permanent magnet synchronous motor (PMSM), enabling sensorless operation even at low speeds.
- PMSM permanent magnet synchronous motor
- the problem of abnormal current change at very high speed can be solved by lowering the reference speed boundary.
- This limitation of the CVC current control mode region has the advantage of increasing the efficiency of the inverter through low PWM switching frequency.
- FIG 8 shows the experimental results using the permanent magnet synchronous motor control method according to an embodiment of the present invention
- each graph is an estimated rotor speed ( ⁇ rpm ), torque command (T e * ) and the actual permanent magnet the torque of the synchronous motor (PMSM) (T e), shows the change in the current (i r dq), flux-linkage of the estimated stator (flux linkage, ⁇ s) passing through the stator.
- the weak magnetic flux region proceeds at a rotational speed of about 120,000 r / min. That is, according to the embodiment of the present invention, since the high speed is converted to the HVMC voltage mode, the torque ( ⁇ rpm ) of the permanent magnet synchronous motor PMSM can be prevented from decreasing before 120,000 r / min.
- the rotational speed of the permanent magnet synchronous motor (PMSM) from 50,000 r / min to 150,000 r / min in about 0,55 seconds (0.1 ⁇ 0.65 seconds) Acceleration can be greatly improved compared to the prior art in that ( ⁇ r ) can be increased.
- PMSM permanent magnet synchronous motor
- the permanent magnet (PSMS) synchronous motor control apparatus is to be installed in the EATC system coupled to the automatic engine plant, the CVC current control mode by not operating the current control mode in the weak magnetic flux region Mode conversion can proceed smoothly from HVMC voltage control mode.
- the maximum voltage is utilized in the HVMC voltage control mode, which allows motor torque to be much larger than using the CVC current control method only in the weak magnetic flux region, thereby minimizing the CVC operating area and increasing efficiency.
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Abstract
Description
Claims (9)
- 토크 지령치를 입력받는 단계,상기 토크 지령치로부터 지령 전류를 생성하고, 생성된 상기 지령 전류를 이용하여 CVC 전류 제어 모드에서의 지령 전압을 생성하는 단계,상기 지령 전압이 전압 제한 영역에 진입할 경우 HVMC 전압 제어 모드로 절환하고, 상기 HVMC 전압 제어 모드에서의 지령 전압을 생성하는 단계, 그리고상기 CVC 전류 제어 모드 또는 HVMC 전압 제어 모드에서 생성된 지령 전압을 이용하여 교류 모터의 토크를 제어하는 단계를 포함하는 교류 모터의 제어 방법.
- 제1항에 있어서,상기 교류 모터의 회전 속도가 증가하여 상기 지령 전압이 전압 제한 영역에 진입할 경우 상기 HVMC 전압 제어 모드로 절환하는 교류 모터의 제어 방법.
- 제1항에 있어서,상기 CVC 전류 제어 모드에서의 지령 전압을 생성하는 단계는,상기 토크 지령치를 토크 상수로 나누어 상기 전류 지령치를 산출하는 단계,상기 교류 모터로부터 피드백된 전류 값을 차감하는 단계, 그리고상기 차감된 값을 이용하여 상기 지령 전압을 생성하는 단계를 포함하는 교류 모터의 제어 방법.
- 제2항에 있어서,정토크 영역에서는 상기 CVC 전류 제어 모드로 동작하고, 약자속 영역에서는 상기 HVMC 전압 제어 모드로 동작하는 교류 모터의 제어 방법.
- 제4항에 있어서,상기 전압 제한 영역은 d-q축의 육각형 공간 전압 벡터에 내접하는 원의 경계선에 대응하는 영역이며,상기 CVC 전류 제어 모드에서는,상기 지령 전압은 상기 전압 제한 영역을 한계 전압으로 가지며,상기 HVMC 전압 제어 모드에서는,상기 지령 전압이 상기 육각형 공간 전압 벡터의 경계선에 대응하는 한계 전압을 가지는 교류 모터의 제어 방법.
- 제5항에 있어서,상기 HVMC 전압 제어 모드에서는,토크 선(constant torque trajectory)과 회전하는 상기 육각형 공간 전압 벡터가 교차하는 지점에 대응하는 전압을 상기 지령 전압으로 결정하는 교류 모터의 제어 방법.
- 제1항에 있어서,상기 토크 지령치, 상기 교류 모터의 전류, 상기 CVC 전류 제어 모드 또는 HVMC 전압 제어 모드에서 생성된 지령 전압을 이용하여 상기 교류 모터의 위치를 추정하는 단계를 더 포함하는 교류 모터의 제어 방법.
- 제6항에 있어서,상기 교류 모터는 영구자석 동기모터(PMSM)이며, 상기 토크 선은 직선 형태로 이루어진 교류 모터의 제어 방법.
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