WO2015156003A1 - Vector control device, inverter embedding same, and inverter-motor set device embedding same - Google Patents

Vector control device, inverter embedding same, and inverter-motor set device embedding same Download PDF

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Publication number
WO2015156003A1
WO2015156003A1 PCT/JP2015/050191 JP2015050191W WO2015156003A1 WO 2015156003 A1 WO2015156003 A1 WO 2015156003A1 JP 2015050191 W JP2015050191 W JP 2015050191W WO 2015156003 A1 WO2015156003 A1 WO 2015156003A1
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voltage
calculation unit
value
motor
vector
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PCT/JP2015/050191
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French (fr)
Japanese (ja)
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戸張　和明
満 倉橋
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株式会社日立産機システム
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Publication of WO2015156003A1 publication Critical patent/WO2015156003A1/en

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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
    • 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

Definitions

  • the present invention relates to AC motor drive control technology.
  • field weakening command calculation described in Patent Document 1 is based on the integral calculation value of the deviation between the output voltage command value and the output voltage value as a d-axis current command.
  • a vector control device that includes a section and performs field-weakening control.
  • An object of the present invention is to suppress the occurrence of a situation where restart is required even when a DC voltage fluctuation occurs, a vector control device capable of stable torque control operation, an inverter incorporating the same, and an inverter incorporating the same It is to realize a set device of an inverter and a motor.
  • the present invention is configured as follows.
  • the vector control device of the present invention calculates a power converter that supplies power to the AC motor, an output voltage command value of the AC converter, and outputs the calculated output voltage command value to the power
  • a vector calculator that outputs to the converter, a current control calculator that instructs the vector calculator to supply a current value that the power converter supplies to the AC motor, and a command calculator.
  • the command calculation unit includes a voltage modulation rate calculation unit that calculates a voltage modulation rate based on the output voltage command output from the vector calculator, and the voltage modulation rate calculated by the voltage modulation rate calculation unit or the AC motor. Based on the voltage phase supplied to the current control calculation unit, and a field command control unit for performing field weakening control by supplying a current command to the current control calculation unit, and a torque command value supplied to the current control calculation unit based on the voltage modulation rate Or it has an overcurrent control part which adjusts an electric current command value.
  • a vector control device capable of suppressing the occurrence of a situation where a restart is necessary and capable of stable torque control operation, an inverter incorporating the same, and the same are incorporated.
  • a setting device of an inverter and a motor can be realized.
  • FIG. 1 is a schematic configuration diagram of a vector control device (AC motor drive control device) according to a first embodiment of the present invention.
  • an AC motor 1 outputs a motor torque obtained by synthesizing a torque component due to magnetic flux of a permanent magnet and a torque component due to inductance of an armature winding.
  • the power converter 2 outputs a voltage value proportional to the voltage command values V u * , V v * , and V w * of the three-phase AC, and varies the output voltage and the rotation frequency of the AC motor 1.
  • the DC power source 2 a supplies a DC voltage value E dc to the power converter 2.
  • the current detector 3 detects the three-phase AC currents I u , I v , I w of the AC motor 1 and outputs detection values I uc , I vc , I wc .
  • the coordinate conversion unit 4 detects the three-phase alternating currents I u , I v , I w detected by the current detector 3, I uc , I vc , I wc, and the position detection value supplied from the position detector 5. Based on ⁇ dc , current detection values I dc and I qc of the d-axis and q-axis are calculated and output.
  • the position detector 5 is a resolver or encoder that can detect the position ⁇ of the motor 1, and outputs the position detection value ⁇ dc to the coordinate conversion units 4 and 16 and the speed calculation unit 6.
  • the speed calculation unit 6 receives the position detection value ⁇ dc from the position detector 5, calculates the speed calculation value ⁇ of the AC motor 1, and outputs the calculated speed calculation value ⁇ .
  • the d-axis current command setting unit 7 outputs a d-axis current command value I d0 * which is a value of “0” or “negative polarity” stored in the current command setting unit 7. Further, the torque command setting unit 8 outputs a torque command value ⁇ 0 * which is a “positive / negative polarity” value including “0” stored in the torque command setting unit 8.
  • the first modulation factor setting unit 9 outputs the modulation factor command K h1 * stored in the first modulation factor setting unit 9 and entering “field weakening control”. The first modulation factor setting unit 9 outputs the modulation factor command K h2 * stored in the second modulation factor setting unit 10 and entering the “torque command correction control”.
  • the command values stored in the setting units 7 to 10 may be fixed, or may be changeable by a host control computer.
  • the command calculation unit 11 includes a d-axis current command value I d0 * and a torque command value ⁇ 0 * given from the current command setting unit 7 and the torque command setting unit 8, the first modulation factor setting unit 9, and the first modulation rate setting unit 9.
  • a new d-axis current command I d * and a new torque command value ⁇ * are output from the DC voltage value E dc given by
  • the current command conversion unit 12 uses the torque command value ⁇ * calculated by the command calculation unit 11, the d-axis current command value I d *, and the electric constants (L d , L q , K e ) of the AC motor 1.
  • the q-axis current command value I q * is output.
  • L d is d-axis inductance
  • L q is shaft inductance
  • K e is an induced voltage constant.
  • the d-axis current control calculation unit 13 is supplied with a deviation (I d * ⁇ I dc ) between the d-axis current command value I d * calculated by the calculator 25 and the current detection value I dc.
  • the second d-axis current command value Id ** is calculated from I d * ⁇ I dc ) and output.
  • the q-axis current control calculation unit 14 is supplied with a deviation (I q * ⁇ I qc ) between the q-axis current command value I q * calculated by the calculator 26 and the current detection value I qc, and this deviation ( The current command value I q ** of the second q axis is calculated from I q * ⁇ I qc ) and output.
  • the voltage vector calculation unit 15 is supplied with the second current command values I d ** and I q ** and the speed calculation value ⁇ , and the electric constants (R, L d , L q , and K e of the AC motor 1 are supplied. ) And the second current command values I d ** and I q ** and the speed calculation value ⁇ , the d-axis and q-axis voltage command values V dc * and V qc * are calculated and output.
  • R represents resistance.
  • the coordinate conversion unit 16 generates a voltage command value for a three-phase AC from the voltage command values V dc * and V qc * supplied from the voltage vector calculation unit 15 and the position detection value ⁇ dc supplied from the position detector 5.
  • V u * , V v * , and V w * are calculated and output to the power converter 2.
  • the current command conversion unit 12 uses the torque command value ⁇ * , the d-axis current command value I d *, and the electric constant of the AC motor 1 to calculate the q-axis corresponding to the torque command value ⁇ * according to the following equation (1).
  • Current command I q * is calculated.
  • the d-axis current control calculation unit 13 receives the d-axis current command value I d * and the current detection value I dc, and the q-axis current control calculation unit 14 inputs the q-axis current command value I. q * and the current detection value I qc are input.
  • the d-axis current control calculation unit 13 and the q-axis current control calculation unit 14 have current detection values I dc and I qc of each component as current command values I d * and I q * according to the following equation (2). Proportional integral calculation is performed so as to follow, and current command values I d ** and I q ** of the second d-axis and q-axis are output.
  • K pd is a proportional gain for d-axis current control
  • K id is an integral gain for d-axis current control
  • K pq is a proportional gain for q-axis current control
  • K iq is an integral gain for q-axis current control
  • ⁇ ACR is a response angular frequency (rad / s) of current control.
  • the obtained second current command values I d ** and I q ** , the electric constants (R, L d , L q , and K e ) and the speed calculation value of the AC motor 1 are obtained.
  • the voltage command values V dc * and V qc * shown in the following equation (3) are calculated using ⁇ , and the output of the power converter 2 is controlled.
  • the position detector 5 such as a resolver, encoder, or magnetic pole position detector detects the position ⁇ of the AC motor 1 and obtains a position detection value ⁇ dc .
  • the coordinate conversion units 4 and 16 perform coordinate conversion represented by the following equations (Equation 4) and (Equation 5) using the position detection value ⁇ dc .
  • the command calculation unit 11 includes a voltage modulation rate calculation unit 11a, a d-axis current correction calculation unit 11b, a torque command correction calculation unit 11c, and calculators 112 to 115.
  • the field modulation control unit is configured by the voltage modulation rate calculation unit 11a and the d-axis current correction calculation unit 11b
  • the overcurrent control unit is configured by the voltage modulation rate calculation unit 11a and the torque command correction calculation unit 11c.
  • the d-axis current correction calculation unit 11b generates the d-axis current command value I d * on the negative side so that the voltage modulation factor K h described above does not exceed the first modulation factor command K h1 * for performing field-weakening control. Let me go.
  • the calculator 114 calculates K h1 * ⁇ K h and supplies the calculation result to the d-axis current correction calculation unit 11 b.
  • the d-axis current correction calculation unit 11b may be configured to be proportional + integral calculation or integral calculation.
  • FIG. 3 shows the control characteristics when the torque command correction calculation unit 11c of the present invention is not provided, and shows the control characteristics when the torque control is performed in the high rotation range and the DC voltage value E dc is greatly reduced at that time. It is a graph to show. The time shown on the horizontal axis indicates seconds.
  • the motor torque command is step-changed from 0 to ⁇ 0 * at the time indicated by A surrounded by a circle, and the DC voltage supplied to the power converter 2 from the time indicated by B surrounded by a circle. and the value E dc stepwise reduced.
  • the d-axis current command value I d * increases to the limit value (a field in which field weakening control cannot be performed).
  • the d-axis and q-axis currents (I d , I q ) are not generated to be the same as the current command values (I d * , I q * ). That is, in some cases, an “overcurrent trip” is reached.
  • FIG. 4 shows the relationship between the average value of the line voltage (V u ⁇ V v ) between the U phase and V phase of the power converter 2 and the voltage modulation factor K h at this time.
  • the line voltage (V u ⁇ V v ) decreases in the right section from the time indicated by B surrounded by a circle, but the modulation calculated from the line voltage (V u ⁇ V v )
  • the rate (V u ⁇ V v ) / ( ⁇ 3 ⁇ E dc ) is 1.15 p. u. It can be seen that the number has increased.
  • the commanded torque correcting section 11c so as not to exceed the second modulation rate instruction K h2 * of the voltage modulation ratio K h executes a torque command correction control acts to decrease the torque command value tau 0 * do. That is, the torque command correction calculation unit 11c is configured to output the correction amount ⁇ * to the calculator 113 (adder) by proportional + integral calculation or integral calculation, and is supplied from the torque command generation unit 8 to the calculator 113. Torque command value ⁇ 0 * has a function to automatically correct. The corrected ⁇ 0 * is output from the computing unit 113 as ⁇ * .
  • FIG. 5 is a graph showing control characteristics when torque control is performed in the high rotation range using the first embodiment of the present invention and the DC voltage value E dc is greatly reduced.
  • the horizontal axis in FIG. 5 indicates time (seconds).
  • the commanded torque correcting part 11c As a result, the signal ⁇ * increases to the opposite polarity side and is added to the command value ⁇ 0 * from the torque command setting unit 8 by the calculator 113 to obtain the torque command value ⁇ *, and torque command correction control is performed. Is called.
  • the voltage modulation rate K h since the voltage modulation rate K h does not constantly exceed the second modulation rate K h2 * , the voltage modulation rate K h is the limit value 1.15p which is the second modulation rate K h2 *. . u. Can be controlled within.
  • the d-axis and q-axis currents (I d , I q ) are generated according to the current command values (I d * , I q * ). That is, an “overcurrent trip” is not reached, and a stable torque control operation can be performed.
  • FIG. 6 also shows the relationship between the average value of the line voltage (V u ⁇ V v ) between the U phase and the V phase of the power converter 2 and the voltage modulation factor K h at this time.
  • the line voltage (V u ⁇ V v ) decreases in the right section from the circled point B, but the calculated voltage modulation factor (V u ⁇ V v ) / ( ⁇ 3 ⁇ Edc) is a limiting value of 1.15 p. u.
  • the control is performed by the following second modulation factor command K h2 * .
  • the first and second modulation factor commands K h1 * and K h2 * may be set according to the relationship of the following equation (7).
  • the present invention does not lead to an overcurrent trip even when the DC voltage supplied to the power converter is rapidly reduced, and can realize a stable torque control operation.
  • the AC motor 1 is a permanent magnet synchronous motor, but may be an induction motor.
  • the first modulation factor command K h1 is set to 1.0 p. u.
  • the second modulation factor command K h2 is 1.15 p. u.
  • the first modulation factor command K h1 may be set to 1.0 p. u.
  • the second modulation factor command K h2 is 1.15 p. u.
  • the second modulation factor command K h2 is 1.15 p. u.
  • Other values below are also possible.
  • FIG. 7 is a schematic configuration diagram of a vector control device (AC motor drive control device) according to a second embodiment of the present invention.
  • the second embodiment is applied to a vector control apparatus in which a position detector such as a resolver or an encoder is omitted.
  • reference numerals 1 to 4, 7 to 16, and 2a denote the same components as those in FIG. Therefore, in the second embodiment, a detailed description of the same components as those in the first embodiment is omitted, and different portions will be described.
  • the phase error estimation unit 17 includes voltage command values V dc * and V qc * from the voltage vector calculation unit 15, current detection values I dc and I qc from the coordinate conversion unit 4, and a speed estimation value ⁇ .
  • the phase error estimation unit 17 supplies the estimated value ⁇ c of the phase error to the speed estimation unit 18 as an estimated value ⁇ c * via the calculator 27. Then, the speed estimation unit 18 calculates the speed estimation value ⁇ ⁇ so that the phase error estimation value ⁇ c * is set to “0”.
  • the phase estimation unit 19 integrates the speed estimation value ⁇ ⁇ supplied from the speed estimation unit 18 and outputs a position estimation value ⁇ dc ⁇ .
  • the position estimation value ⁇ dc ⁇ output from the phase estimation unit 19 is supplied to the coordinate conversion units 4 and 16.
  • the present invention can also be applied to the position sensorless control method described above.
  • the same effect as in the first embodiment can be obtained. Furthermore, in the second embodiment of the present invention, an expensive position detector can be omitted, so that an effect equivalent to that of the first embodiment can be obtained while being inexpensive.
  • the AC motor 1 may be either a permanent magnet synchronous motor or an induction motor.
  • FIG. 8 is a schematic configuration diagram of a vector control apparatus (AC motor drive control apparatus) according to a third embodiment of the present invention.
  • the present invention is applied to a phase calculation type vector control device that performs field-weakening control by controlling the phase.
  • components 1 to 6, 8, 16, 2a are the same as those in FIG. Therefore, in the third embodiment, a detailed description of the same components as those in the first embodiment is omitted, and different portions will be described.
  • the d-axis current command setting unit 7 ′ outputs “0”.
  • the voltage phase limit value setting unit 20 outputs a voltage phase limit value ⁇ v — lmt for performing “torque command correction control”.
  • the command calculation unit 11 ′ receives the torque command value ⁇ 0 * given from the torque command setting unit 8, the voltage phase limit value ⁇ v — lmt from the voltage phase limit value setting unit 20, and the voltage vector calculation unit 15.
  • the supplied vector voltage command value V dc **, and V qc ** is supplied with a DC voltage E dc supplied from the DC power supply 2a, the torque command value tau * and the modulation rate limit flag V lmt _ flg Output.
  • a command calculation unit 11 ′ includes a torque command correction calculation unit 11′c, a voltage phase calculation unit 11′d, a voltage modulation rate calculation unit 11′a, a modulation rate limit detection unit 11′e, And arithmetic units 30 and 31.
  • the voltage modulation rate calculation unit 11′a, the voltage phase calculation unit 11′d, and the torque command correction calculation unit 11′c constitute a field weakening control unit, and the voltage modulation rate calculation unit 11′a and the modulation rate limit detection
  • the overcurrent control unit is configured by the unit 11′e.
  • the voltage modulation factor K h ′ is calculated by the following equation (9) using the voltage command values V dc ** and V qc ** and the DC voltage value E dc .
  • the modulation rate limit flag V lmt — flg is set. to "0", when it reaches the voltage modulation ratio K H_lmt, and outputs the modulation rate limit flag V lmt _ flg as "1".
  • the voltage phase calculation section 11'd supplied voltage command value V dc **, using V qc **, and calculates the voltage phase theta v by the following equation (10).
  • the voltage phase theta v from the voltage phase calculation section 11'd is subtracted from the limit value theta v _ lmt supplied from the limit value setting unit 20 of the voltage phase, a torque command correction calculating section 11'c.
  • the torque command correction calculating section 11'C is proportional + in integral operation or integral operation takes a configuration that outputs the correction amount .DELTA..tau *, correction amount .DELTA..tau * is output from the commanded torque correcting part 11'C, operation
  • the torque command ⁇ 0 * is added by the controller 30 and the torque command value ⁇ 0 * is automatically corrected.
  • the corrected ⁇ 0 * is output from the command calculation unit 11 ′ as ⁇ * .
  • the current command conversion unit 12 ′ calculates the calculated torque command value ⁇ * , the detected d-axis current value I dc, and the electric constants (L d , L q , K e ) of the AC motor 1.
  • the q-axis current command value I q * is calculated by the following equation (11).
  • the output from the current command setting unit 7 'current detection value I dc from the coordinate transformation unit 4 is subtracted by the calculator 29, it is supplied to the current deviation output section 21 of the d-axis as a deviation [Delta] I d. current deviation output section 21 of the d-axis, using the modulation rate limit flag V lmt _ flg, and outputs a deviation [Delta] I d or "0".
  • the current command value I q * from the current command conversion unit 12 ′ is subtracted from the current detection value I qc from the coordinate conversion unit 4 by the calculator 28 to obtain a deviation ⁇ I q and a q-axis current deviation output unit. 22 is supplied.
  • current deviation output section 22 of the q-axis using the modulation rate limit flag V lmt _ flg, the deviation or "0" of the current instruction value I q * and the current detection value I qc of the q-axis, [Delta] I q1, [Delta] I and outputs it as q2.
  • d-axis current control calculation section 13a is output values [Delta] I d is input from the current deviation output section 21 of the d-axis, which calculates the second d-axis current command value I d ** from [Delta] I d output.
  • the q-axis current control calculation unit 14a receives the output value ⁇ I q2 of the q-axis current deviation output unit 22, calculates a second q-axis current command value I q ** from ⁇ I q2 , and outputs it.
  • phase difference calculation unit 23 when the modulation rate limit flag V lmt _ flg is "1", proportional to the first q-axis current command I q * and the q-axis current detection value I qc of the deviation [Delta] I q1 + The integral calculation is performed, and the calculated value is output as the phase correction command value ⁇ c * .
  • the input signals ⁇ I d and ⁇ I q2 of the d-axis and q-axis current control calculation units 13a and 14a are both “0”, and the output values I d ** and I q * The calculation of * is not updated and the previous value is retained.
  • the modulation rate limit flag V lmt _ flg from calculation unit 11 ' is observed when the "1" or "0", the internal switching state of the q-axis current deviation output section 22 and the d-axis current deviation output section 21 Will be explained.
  • the modulation rate limit flag V lmt _ flg is "0"
  • the terminal 22a and 22b are connected, and further state that the terminal 22c and 22d are connected.
  • the terminals 21b and 21c are connected, and the terminal 21a is disconnected.
  • field weakening control can be realized without generating the d-axis current command value I d * . Even in such a vector control apparatus that performs field weakening control, if the present invention is used, an operation that suppresses an “overcurrent trip” can be performed as in the first embodiment.
  • the field-weakening control is performed by torque control so as not to exceed the voltage phase limit value, and the d-axis current command value is not generated.
  • the predetermined modulation command value K h — lmt ” is 1.15 p. u. From the above, 1.27 p. u. If the time is set up to the maximum, the voltage utilization rate can be used to the limit.
  • the AC motor 1 may be a permanent magnet synchronous motor or an induction motor.
  • the AC motor 1 is a permanent magnet synchronous motor, but may be an induction motor.
  • FIG. 10 is a schematic configuration diagram of an inverter device for industrial / construction equipment according to a fourth embodiment of the present invention.
  • the vector control device 24a has the same configuration as the vector control device (AC motor drive control device) shown in FIG. 1, and performs the same operation. For this reason, the detailed description about the vector control device 24a is omitted. However, the motor 1 and the position detector 5 in FIG. 1 are not included in the vector control device 24a. It is connected to an external motor via a terminal (not shown) formed in the vector control device 24a. In addition, the position detection value ⁇ dc is supplied from an external position detector via a terminal (not shown) formed in the vector control device 24a.
  • the industrial / construction inverter 24 has a built-in vector controller 24a equipped with a controller board on which a microcomputer and programmable LSI are mounted and a power converter.
  • the d-axis current command value stored in the d-axis current command setting unit 7 and the torque command value stored in the torque command setting unit 8 are set by a command from the operation panel of the industrial / construction inverter 24.
  • field-weakening control can be performed appropriately, and a situation where an overcurrent trip occurs due to a DC voltage fluctuation and a restart is required can be avoided.
  • the first current command values I d * and I q * and the current detection values I dc and I qc are used to generate the second current command values I d ** and I q *. * was created, and the vector control calculation was performed using the second current command value.
  • the first d-axis current command I d * ( 0) and the primary delay signal I qctd of the q-axis current detection value I qc , the speed command value ⁇ * and the electric constant of the AC motor 1, and the voltage command values V dc * and V qc according to the following equation (13) :
  • the present invention can also be applied to a vector control calculation that calculates * .
  • voltage correction values ⁇ V d * and ⁇ V q * are created from the current detection values I dc and I qc to the first current command values I d * and I q * , and the voltage correction values and the first current
  • the vector control calculation method for calculating the voltage command values V dc * and V qc * according to the following equation (14) using the command values I d * and I q * , the speed detection value ⁇ , and the electric constant of the AC motor 1 It is also possible to apply.
  • the three-phase AC currents I u to I w detected by the expensive current detector 3 are used.
  • the present invention is also applicable to a “low cost system” that reproduces three-phase motor currents I u ⁇ , I v ⁇ , I w ⁇ from a direct current flowing through a one-shunt resistor attached to Can respond.
  • a vector control device in which the AC motor 1 shown in FIG. 1 or FIG. 7 is connected to the inverter (an inverter incorporating the vector control device) in the fourth embodiment is incorporated.
  • the inverter an inverter incorporating the vector control device
  • d-axis current Control calculation unit 14, 14 ', 14a ... q-axis current control calculation unit, 15, 15' ... voltage vector calculation unit, 17 ... phase error estimation unit DESCRIPTION OF SYMBOLS 18 ... Speed estimation part, 19 ... Phase estimation part, 20 ... Voltage phase limit value setting part, 21 ... Current deviation output part of d axis, 22 ... Current deviation output of q axis , 23... Phase error command calculation unit, 24... Industrial and construction machine inverter, 24 a... Vector control device

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  • Control Of Ac Motors In General (AREA)

Abstract

Provided is a vector control device that prevents a situation requiring a restart from occurring and can perform a stable torque control operation even when DC voltage fluctuation occurs. A voltage modulation factor calculation unit (11a) of a command calculation unit (11) calculates a voltage modulation factor supplied to a motor, and when the voltage modulation factor (Kh) exceeds a first modulation factor command (Kh1*), a field-weakening control is performed by the operation of a d-axis current modification calculation unit (11b) of the command calculation unit (11). When the voltage modulation factor (Kh) exceeds a second modulation factor command (Kh2*), a torque command modification calculation unit (11c) of the command calculation unit (11) controls a torque command so that the voltage modulation factor (Kh) does not exceed the second modulation factor command (Kh2*). This makes it possible to perform an appropriate field-weakening control and avoid a situation in which an overcurrent trip occurs and a restart is required due to DC voltage fluctuation.

Description

ベクトル制御装置、それを組み込んだインバータ及びそれを組み込んだインバータとモータとのセット装置Vector control device, inverter incorporating the same, and inverter and motor setting device incorporating the same
　本発明は、交流モータのドライブ制御技術に関する。 The present invention relates to AC motor drive control technology.
　交流モータの弱め界磁制御域におけるドライブ制御技術としては、特許文献１に記載された、出力電圧指令値と出力電圧値との偏差の積分演算値を、ｄ軸電流指令とする、弱め界磁指令演算部を備え、弱め界磁制御を行うベクトル制御装置がある。 As a drive control technique in the field weakening control region of an AC motor, field weakening command calculation described in Patent Document 1 is based on the integral calculation value of the deviation between the output voltage command value and the output voltage value as a d-axis current command. There is a vector control device that includes a section and performs field-weakening control.
特開２００６－２０４１１号公報JP 2006-20411 A
　上記のようなベクトル制御装置においては、電力変換器に供給される直流電圧が急激に低下する状態が発生する場合がある。例えば、複数の電力変換器が一つの共通バッテリに接続されている場合に、ある電力変換器の電力使用量が大となった場合、他の電力変換器への供給電圧が低下する場合がある。 In the vector control device as described above, there may occur a state where the DC voltage supplied to the power converter rapidly decreases. For example, when a plurality of power converters are connected to one common battery and the power usage of a certain power converter becomes large, the supply voltage to other power converters may decrease. .
　このような場合、電力変換器への供給電圧の低下により、モータ電流が電流指令の通りに流れず、弱め界磁制御が不能となり、再起動が必要となることが考えられる。 In such a case, it is conceivable that the motor current does not flow according to the current command due to a decrease in the supply voltage to the power converter, the field weakening control becomes impossible, and a restart is necessary.
　しかしながら、特許文献１に記載の技術では、上述のような、電力変換器への供給電圧の低下による弱め界磁制御不能となる事態に対しては考慮がなされておらず、電力変換器への供給電圧の低下により、モータ電流が電流指令の通りに流れず、場合によっては再起動が必要となる問題があった。 However, in the technique described in Patent Document 1, no consideration is given to the situation where the field-weakening control becomes impossible due to a decrease in the supply voltage to the power converter as described above, and the supply voltage to the power converter is not considered. As a result, the motor current does not flow according to the current command, and in some cases, a restart is required.
　本発明の目的は、直流電圧変動が生じた場合でも、再起動が必要となる事態の発生を抑制し、安定なトルク制御運転が可能なベクトル制御装置、それを組み込んだインバータ及びそれを組み込んだインバータとモータとのセット装置を実現することである。 An object of the present invention is to suppress the occurrence of a situation where restart is required even when a DC voltage fluctuation occurs, a vector control device capable of stable torque control operation, an inverter incorporating the same, and an inverter incorporating the same It is to realize a set device of an inverter and a motor.
　上記目的を達成するため、本発明は以下のように構成される。 In order to achieve the above object, the present invention is configured as follows.
　本発明のベクトル制御装置は、交流モータを駆動するため、該交流モータに電力を供給する電力変換器と、上記交流変換器の出力電圧指令値を演算し、演算した出力電圧指令値を上記電力変換器に出力するベクトル演算器と、上記電力変換器が上記交流モータに供給する電流値を上記ベクトル演算器に指令する電流制御演算部と、指令演算部とを備える。 In order to drive an AC motor, the vector control device of the present invention calculates a power converter that supplies power to the AC motor, an output voltage command value of the AC converter, and outputs the calculated output voltage command value to the power A vector calculator that outputs to the converter, a current control calculator that instructs the vector calculator to supply a current value that the power converter supplies to the AC motor, and a command calculator.
　そして、指令演算部は、上記ベクトル演算器が出力した出力電圧指令に基づいて、電圧変調率を演算する電圧変調率演算部と、該電圧変調率演算部が演算した電圧変調率又は上記交流モータに供給される電圧位相に基づいて、上記電流制御演算部に電流指令を供給して弱め界磁制御を行う弱め界磁制御部と、上記電圧変調率に基づいて、上記電流制御演算部に供給するトルク指令値又は電流指令値を調整する過電流制御部とを有する。 The command calculation unit includes a voltage modulation rate calculation unit that calculates a voltage modulation rate based on the output voltage command output from the vector calculator, and the voltage modulation rate calculated by the voltage modulation rate calculation unit or the AC motor. Based on the voltage phase supplied to the current control calculation unit, and a field command control unit for performing field weakening control by supplying a current command to the current control calculation unit, and a torque command value supplied to the current control calculation unit based on the voltage modulation rate Or it has an overcurrent control part which adjusts an electric current command value.
　本発明によれば、直流電圧変動が生じた場合でも、再起動が必要となる事態の発生を抑制し、安定なトルク制御運転が可能なベクトル制御装置、それを組み込んだインバータ及びそれを組み込んだインバータとモータとのセット装置を実現することができる。 According to the present invention, even when a DC voltage fluctuation occurs, a vector control device capable of suppressing the occurrence of a situation where a restart is necessary and capable of stable torque control operation, an inverter incorporating the same, and the same are incorporated. A setting device of an inverter and a motor can be realized.
本発明の第１の実施例であるベクトル制御装置の概略構成図である。It is a schematic block diagram of the vector control apparatus which is 1st Example of this invention. 図１に示した指令演算部の内部構成図である。It is an internal block diagram of the command calculating part shown in FIG. 本発明のトルク指令修正演算部を設けない場合の制御特性を示すグラフである。It is a graph which shows the control characteristic when not providing the torque command correction calculating part of this invention. 図３の例における電力変換器のＵ相とＶ相と間の線間電圧（Ｖｕ－Ｖｖ）の平均値と電圧変調率Ｋｈとの関係を示すグラフである。4 is a graph showing a relationship between an average value of a line voltage (V u −V v ) between a U phase and a V phase of the power converter in the example of FIG. 3 and a voltage modulation factor K h . 本発明の第１の実施例を用いて、高回転域においてトルク制御を行い、その際に直流電圧値Ｅｄｃを大きく低下させた場合の制御特性を示すグラフである。It is a graph which shows the control characteristic at the time of performing torque control in the high rotation area using the 1st example of the present invention, and reducing DC voltage value Edc greatly in that case. 電力変換器のＵ相とＶ相間の線間電圧（Ｖｕ－Ｖｖ）の平均値と電圧変調率Ｋｈの関係を示すグラフである。Is a graph showing the relationship between the average value and the voltage modulation ratio K h of U phase and the V phase line voltage of the power converter (V u -V v). 本発明の第２の実施例であるベクトル制御装置の概略構成図である。It is a schematic block diagram of the vector control apparatus which is 2nd Example of this invention. 本発明の第３の実施例であるベクトル制御装置の概略構成図である。It is a schematic block diagram of the vector control apparatus which is the 3rd Example of this invention. 本発明の第３の実施例における指令演算部の内部構成図である。It is an internal block diagram of the instruction | command calculating part in the 3rd Example of this invention. 本発明の第４の実施例である産業・建機用インバータ装置の概略構成図である。It is a schematic block diagram of the inverter apparatus for industrial and construction machines which is the 4th Example of this invention.
　以下、添付図面を用いて本発明の実施形態を詳細に説明する。 Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.
　（第１の実施例）
　図１は、本発明の第１の実施例であるベクトル制御装置（交流モータのドライブ制御装置）の概略構成図である。 (First embodiment)
FIG. 1 is a schematic configuration diagram of a vector control device (AC motor drive control device) according to a first embodiment of the present invention.
　図１において、交流モータ１は、永久磁石の磁束によるトルク成分と電機子巻線のインダクタンスによるトルク成分を合成したモータトルクを出力する。電力変換器２は、３相交流の電圧指令値Ｖｕ ＊、Ｖｖ ＊、Ｖｗ ＊に比例した電圧値を出力し、交流モータ１の出力電圧と回転周波数とを可変する。 In FIG. 1, an AC motor 1 outputs a motor torque obtained by synthesizing a torque component due to magnetic flux of a permanent magnet and a torque component due to inductance of an armature winding. The power converter 2 outputs a voltage value proportional to the voltage command values V u * , V v * , and V w * of the three-phase AC, and varies the output voltage and the rotation frequency of the AC motor 1.
　直流電源２ａは、電力変換器２に直流電圧値Ｅｄｃを供給する。また、電流検出器３は、交流モータ１の３相の交流電流Ｉｕ、Ｉｖ、Ｉｗを検出し、検出値Ｉｕｃ、Ｉｖｃ、Ｉｗｃを出力する。 The DC power source 2 a supplies a DC voltage value E dc to the power converter 2. The current detector 3 detects the three-phase AC currents I u , I v , I w of the AC motor 1 and outputs detection values I uc , I vc , I wc .
　座標変換部４は、電流検出器３が検出した３相の交流電流Ｉｕ、Ｉｖ、Ｉｗの検出値Ｉｕｃ、Ｉｖｃ、Ｉｗｃと、位置検出器５から供給される位置検出値θｄｃとから、ｄ軸およびｑ軸の電流検出値Ｉｄｃ、Ｉｑｃを算出して出力する。 The coordinate conversion unit 4 detects the three-phase alternating currents I u , I v , I w detected by the current detector 3, I uc , I vc , I wc, and the position detection value supplied from the position detector 5. Based on θ dc , current detection values I dc and I qc of the d-axis and q-axis are calculated and output.
　位置検出器５は、モータ１の位置θを検出できるレゾルバやエンコーダであり、位置検出値θｄｃを座標変換部４、１６、速度演算部６に出力する。 The position detector 5 is a resolver or encoder that can detect the position θ of the motor 1, and outputs the position detection value θ dc to the coordinate conversion units 4 and 16 and the speed calculation unit 6.
　また、速度演算部６は、位置検出器５から位置検出値θｄｃが入力され、交流モータ１の速度演算値ωを演算し、演算した速度演算値ωを出力する。 The speed calculation unit 6 receives the position detection value θ dc from the position detector 5, calculates the speed calculation value ω of the AC motor 1, and outputs the calculated speed calculation value ω.
　ｄ軸の電流指令設定部７は、この電流指令設定部７に格納している「０」あるいは「負極性」の値であるｄ軸の電流指令値Ｉｄ０ ＊を出力する。また、トルク指令設定部８は、このトルク指令設定部８に格納している「０」を含む「正負極性」の値であるトルク指令値τ０ ＊を出力する。また、第１の変調率設定部９は、この第１の変調率設定部９に格納し、「弱め界磁制御」に入る変調率指令Ｋｈ１ ＊を出力する。また、第１の変調率設定部９は、この第２の変調率設定部１０が格納し、「トルク指令修正制御」に入る変調率指令Ｋｈ２ ＊を出力する。 The d-axis current command setting unit 7 outputs a d-axis current command value I d0 * which is a value of “0” or “negative polarity” stored in the current command setting unit 7. Further, the torque command setting unit 8 outputs a torque command value τ 0 * which is a “positive / negative polarity” value including “0” stored in the torque command setting unit 8. The first modulation factor setting unit 9 outputs the modulation factor command K h1 * stored in the first modulation factor setting unit 9 and entering “field weakening control”. The first modulation factor setting unit 9 outputs the modulation factor command K h2 * stored in the second modulation factor setting unit 10 and entering the “torque command correction control”.
　設定部７～１０に格納されている上記指令値は、固定されていてもよいし、上位の制御コンピュータにより、変更可能となっていてもよい。 The command values stored in the setting units 7 to 10 may be fixed, or may be changeable by a host control computer.
　指令演算部１１は、電流指令設定部７及びトルク指令設定部８から与えられるｄ軸の電流指令値Ｉｄ０ ＊とトルク指令値τ０ ＊と、第１の変調率設定部９及び第１の変調率設定部９から与えられる第１と第２の変調率指令Ｋｈ１ ＊、Ｋｈ２ ＊と、電圧ベクトル演算部１５から与えられるベクトル電圧指令値Ｖｄｃ ＊、Ｖｑｃ ＊と、直流電源２ａから与えられる直流電圧値Ｅｄｃとから、新たなｄ軸の電流指令Ｉｄ ＊と新たなトルク指令値τ＊とを出力する。 The command calculation unit 11 includes a d-axis current command value I d0 * and a torque command value τ 0 * given from the current command setting unit 7 and the torque command setting unit 8, the first modulation factor setting unit 9, and the first modulation rate setting unit 9. First and second modulation rate commands K h1 * and K h2 * given from modulation rate setting unit 9, vector voltage command values V dc * and V qc * given from voltage vector calculation unit 15, and DC power supply 2a A new d-axis current command I d * and a new torque command value τ * are output from the DC voltage value E dc given by
　電流指令変換部１２は、指令演算部１１にて演算されたトルク指令値τ＊とｄ軸の電流指令値Ｉｄ ＊および交流モータ１の電気定数（Ｌｄ、Ｌｑ、Ｋｅ）を用いて、ｑ軸の電流指令値Ｉｑ ＊を出力する。なお、Ｌｄはｄ軸インダンクタンス、Ｌｑは軸インダクタンス、Ｋｅは誘起電圧定数である。 The current command conversion unit 12 uses the torque command value τ * calculated by the command calculation unit 11, the d-axis current command value I d *, and the electric constants (L d , L q , K e ) of the AC motor 1. The q-axis current command value I q * is output. L d is d-axis inductance, L q is shaft inductance, and K e is an induced voltage constant.
　ｄ軸電流制御演算部１３は、演算器２５にて演算されたｄ軸の電流指令値Ｉｄ ＊と電流検出値Ｉｄｃとの偏差（Ｉｄ ＊－Ｉｄｃ）が供給され、この偏差（Ｉｄ ＊－Ｉｄｃ）から第２のｄ軸の電流指令値Ｉｄ＊＊を演算して出力する。 The d-axis current control calculation unit 13 is supplied with a deviation (I d * −I dc ) between the d-axis current command value I d * calculated by the calculator 25 and the current detection value I dc. The second d-axis current command value Id ** is calculated from I d * −I dc ) and output.
　ｑ軸電流制御演算部１４は、演算器２６にて演算されたｑ軸の電流指令値Ｉｑ ＊と電流検出値Ｉｑｃとの偏差（Ｉｑ ＊－Ｉｑｃ）が供給され、この偏差（Ｉｑ ＊－Ｉｑｃ）から第２のｑ軸の電流指令値Ｉｑ ＊＊を演算して出力する。 The q-axis current control calculation unit 14 is supplied with a deviation (I q * −I qc ) between the q-axis current command value I q * calculated by the calculator 26 and the current detection value I qc, and this deviation ( The current command value I q ** of the second q axis is calculated from I q * −I qc ) and output.
　また、電圧ベクトル演算部１５は、第２の電流指令値Ｉｄ ＊＊、Ｉｑ ＊＊および速度演算値ωが供給され、交流モータ１の電気定数（Ｒ、Ｌｄ、Ｌｑ、Ｋｅ）と第２の電流指令値Ｉｄ ＊＊、Ｉｑ ＊＊および速度演算値ωに基づいて、ｄ軸およびｑ軸の電圧指令値Ｖｄｃ ＊、Ｖｑｃ ＊を演算して出力する。なお、Ｒは抵抗を示す。 The voltage vector calculation unit 15 is supplied with the second current command values I d ** and I q ** and the speed calculation value ω, and the electric constants (R, L d , L q , and K e of the AC motor 1 are supplied. ) And the second current command values I d ** and I q ** and the speed calculation value ω, the d-axis and q-axis voltage command values V dc * and V qc * are calculated and output. R represents resistance.
　座標変換部１６は、電圧ベクトル演算部１５から供給される電圧指令値Ｖｄｃ ＊、Ｖｑｃ ＊と、位置検出器５から供給される位置検出値θｄｃとから、３相交流の電圧指令値Ｖｕ ＊、Ｖｖ ＊、Ｖｗ ＊を演算して電力変換部２に出力する。 The coordinate conversion unit 16 generates a voltage command value for a three-phase AC from the voltage command values V dc * and V qc * supplied from the voltage vector calculation unit 15 and the position detection value θ dc supplied from the position detector 5. V u * , V v * , and V w * are calculated and output to the power converter 2.
　次に、本発明の第１の実施例における特徴である「指令演算部１１」のトルク制御方式についての基本動作について説明する。 Next, the basic operation of the torque control method of the “command calculation unit 11”, which is a feature in the first embodiment of the present invention, will be described.
　電流指令変換部１２において、トルク指令値τ＊とｄ軸の電流指令値Ｉｄ ＊および交流モータ１の電気定数とを用いて、次式（１）によりトルク指令値τ＊に応じたｑ軸の電流指令Ｉｑ ＊を演算する。 The current command conversion unit 12 uses the torque command value τ * , the d-axis current command value I d *, and the electric constant of the AC motor 1 to calculate the q-axis corresponding to the torque command value τ * according to the following equation (1). Current command I q * is calculated.
Figure JPOXMLDOC01-appb-M000001
Figure JPOXMLDOC01-appb-M000001
　また、ｄ軸の電流制御演算部１３には、ｄ軸の電流指令値Ｉｄ ＊と電流検出値Ｉｄｃとが入力され、ｑ軸の電流制御演算部１４にはｑ軸の電流指令値Ｉｑ ＊と電流検出値Ｉｑｃとが入力される。 The d-axis current control calculation unit 13 receives the d-axis current command value I d * and the current detection value I dc, and the q-axis current control calculation unit 14 inputs the q-axis current command value I. q * and the current detection value I qc are input.
　ｄ軸の電流制御演算部１３及びｑ軸の電流制御演算部１４は、次式（２）に従い、電流指令値Ｉｄ ＊、Ｉｑ ＊に、各成分の電流検出値Ｉｄｃ、Ｉｑｃが追従するよう比例積分演算を行い、第２のｄ軸およびｑ軸の電流指令値Ｉｄ ＊＊、Ｉｑ ＊＊を出力する。 The d-axis current control calculation unit 13 and the q-axis current control calculation unit 14 have current detection values I dc and I qc of each component as current command values I d * and I q * according to the following equation (2). Proportional integral calculation is performed so as to follow, and current command values I d ** and I q ** of the second d-axis and q-axis are output.
Figure JPOXMLDOC01-appb-M000002
Figure JPOXMLDOC01-appb-M000002
　なお、Ｋｐｄはｄ軸の電流制御の比例ゲイン、Ｋｉｄはｄ軸の電流制御の積分ゲイン、Ｋｐｑはｑ軸の電流制御の比例ゲイン、Ｋｉｑはｑ軸の電流制御の積分ゲイン、ωＡＣＲは電流制御の応答角周波数（ｒａｄ／ｓ）である。 K pd is a proportional gain for d-axis current control, K id is an integral gain for d-axis current control, K pq is a proportional gain for q-axis current control, K iq is an integral gain for q-axis current control, ω ACR is a response angular frequency (rad / s) of current control.
　さらに、電圧ベクトル演算部１５において、得られた第２の電流指令値Ｉｄ ＊＊、Ｉｑ ＊＊と交流モータ１の電気定数（Ｒ、Ｌｄ、Ｌｑ、Ｋｅ）および速度演算値ωを用いて、次式（３）に示す電圧指令値Ｖｄｃ ＊、Ｖｑｃ ＊を演算し、電力変換器２の出力を制御する。 Further, in the voltage vector calculation unit 15, the obtained second current command values I d ** and I q ** , the electric constants (R, L d , L q , and K e ) and the speed calculation value of the AC motor 1 are obtained. The voltage command values V dc * and V qc * shown in the following equation (3) are calculated using ω, and the output of the power converter 2 is controlled.
Figure JPOXMLDOC01-appb-M000003
Figure JPOXMLDOC01-appb-M000003
　一方、レゾルバ、エンコーダ、磁極位置検出器などの位置検出器５では、交流モータ１の位置θを検出し、位置検出値θｄｃを得る。 On the other hand, the position detector 5 such as a resolver, encoder, or magnetic pole position detector detects the position θ of the AC motor 1 and obtains a position detection value θ dc .
　座標変換部４、１６では、上記位置検出値θｄｃを用いて、次式（数４）、（数５）に示す座標変換を行っている。 The coordinate conversion units 4 and 16 perform coordinate conversion represented by the following equations (Equation 4) and (Equation 5) using the position detection value θ dc .
Figure JPOXMLDOC01-appb-M000004
Figure JPOXMLDOC01-appb-M000004
Figure JPOXMLDOC01-appb-M000005
Figure JPOXMLDOC01-appb-M000005
　次に、図２を用いて、指令演算部１１の内部構成を説明する。 Next, the internal configuration of the command calculation unit 11 will be described with reference to FIG.
　図２において、指令演算部１１は、電圧変調率演算部１１ａと、ｄ軸電流修正演算部１１ｂと、トルク指令修正演算部１１ｃと、演算器１１２～１１５と備えている。電圧変調率演算部１１ａと、ｄ軸電流修正演算部１１ｂとにより、弱め界磁制御部が構成され、電圧変調率演算部１１ａと、トルク指令修正演算部１１ｃとにより、過電流制御部が構成される。 2, the command calculation unit 11 includes a voltage modulation rate calculation unit 11a, a d-axis current correction calculation unit 11b, a torque command correction calculation unit 11c, and calculators 112 to 115. The field modulation control unit is configured by the voltage modulation rate calculation unit 11a and the d-axis current correction calculation unit 11b, and the overcurrent control unit is configured by the voltage modulation rate calculation unit 11a and the torque command correction calculation unit 11c. .
　電圧変調率１１ａでは、電圧指令値Ｖｄｃ ＊、Ｖｑｃ ＊と直流電圧Ｅｄｃとが供給され、これらの値及び次式（６）を用いて、電圧変調率Ｋｈを演算する。 In the voltage modulation rate 11a, voltage command values V dc * and V qc * and a DC voltage E dc are supplied, and the voltage modulation rate K h is calculated using these values and the following equation (6).
Figure JPOXMLDOC01-appb-M000006
Figure JPOXMLDOC01-appb-M000006
　ｄ軸電流修正演算部１１ｂでは、上述の電圧変調率Ｋｈが弱め界磁制御を行う第１の変調率指令Ｋｈ１ ＊を超えないように、ｄ軸の電流指令値Ｉｄ ＊を負側に発生させて行く。演算器１１４は、Ｋｈ１ ＊－Ｋｈを演算し、演算結果をｄ軸電流修正演算部１１ｂに供給する。ｄ軸電流修正演算部１１ｂは、比例＋積分演算あるいは積分演算の構成にすれば良い。 The d-axis current correction calculation unit 11b generates the d-axis current command value I d * on the negative side so that the voltage modulation factor K h described above does not exceed the first modulation factor command K h1 * for performing field-weakening control. Let me go. The calculator 114 calculates K h1 * −K h and supplies the calculation result to the d-axis current correction calculation unit 11 b. The d-axis current correction calculation unit 11b may be configured to be proportional + integral calculation or integral calculation.
　以上が、トルク制御系の基本動作である。 The above is the basic operation of the torque control system.
　ここからは、本発明の第１の実施例における特徴である「トルク指令修正演算部１１ｃの効果」について説明を行う。 From here, the “effect of the torque command correction calculation unit 11c”, which is a feature of the first embodiment of the present invention, will be described.
　最初に、トルク指令修正演算部１１ｃを設けない場合の制御特性について述べる。 First, control characteristics when the torque command correction calculation unit 11c is not provided will be described.
　図３は、本発明のトルク指令修正演算部１１ｃを設けない場合の制御特性であり、高回転域においてトルク制御を行い、その際に直流電圧値Ｅｄｃを大きく低下させた場合の制御特性を示すグラフである。なお、横軸に示す時間は秒を示す。 FIG. 3 shows the control characteristics when the torque command correction calculation unit 11c of the present invention is not provided, and shows the control characteristics when the torque control is performed in the high rotation range and the DC voltage value E dc is greatly reduced at that time. It is a graph to show. The time shown on the horizontal axis indicates seconds.
　図３中の、丸で囲ったＡで示した時点で、モータトルク指令を０からτ０ ＊までステップ変化させ、丸で囲ったＢで示した時点から、電力変換器２に供給する直流電圧値Ｅｄｃを階段的に低下させている。 In FIG. 3, the motor torque command is step-changed from 0 to τ 0 * at the time indicated by A surrounded by a circle, and the DC voltage supplied to the power converter 2 from the time indicated by B surrounded by a circle. and the value E dc stepwise reduced.
　丸で囲ったＡで示した時点で、電圧変調率Ｋｈが第１の変調率指令Ｋｈ１ ＊を超えると、ｄ軸電流修正演算部１１ｂの作用で、演算器１１２に供給される信号ΔＩｄ ＊が負側に増加し弱め、界磁制御が行われる。 When the voltage modulation rate K h exceeds the first modulation rate command K h1 * at the time indicated by A surrounded by a circle, a signal ΔI supplied to the calculator 112 is operated by the d-axis current correction calculation unit 11b. d * increases and weakens to the negative side, and field control is performed.
　しかし、丸で囲ったＢで示した時点から、直流電圧値Ｅｄｃが低下するので、ｄ軸の電流指令値Ｉｄ ＊は制限値まで増加してしまう（弱め界磁制御ができない領域となる）。 However, since the DC voltage value E dc decreases from the time indicated by B surrounded by a circle, the d-axis current command value I d * increases to the limit value (a field in which field weakening control cannot be performed).
　この領域に陥ってしまうと、電圧変調率Ｋｈが正弦波駆動可能な制限値１．１５ｐ．ｕ．まで増加してしまい、ｄ軸およびｑ軸の電流（Ｉｄ、Ｉｑ）は電流指令値（Ｉｄ ＊、Ｉｑ ＊）と同一となるようには発生しない。つまり、場合によっては「過電流トリップ」に至ってしまう。 When would fall into this region, the voltage modulation ratio K h sinusoidal drivable limit 1.15P. u. The d-axis and q-axis currents (I d , I q ) are not generated to be the same as the current command values (I d * , I q * ). That is, in some cases, an “overcurrent trip” is reached.
　このときの電力変換器２のＵ相とＶ相と間の線間電圧（Ｖｕ－Ｖｖ）の平均値と電圧変調率Ｋｈとの関係を図４に示している。図４において、丸で囲ったＢで示した時点から右の区間では、線間電圧（Ｖｕ－Ｖｖ）が低下しているが、線間電圧（Ｖｕ－Ｖｖ）から計算した変調率（Ｖｕ－Ｖｖ）／（√３・Ｅｄｃ）は制限値の１．１５ｐ．ｕ．まで増加していることがわかる。 FIG. 4 shows the relationship between the average value of the line voltage (V u −V v ) between the U phase and V phase of the power converter 2 and the voltage modulation factor K h at this time. In FIG. 4, the line voltage (V u −V v ) decreases in the right section from the time indicated by B surrounded by a circle, but the modulation calculated from the line voltage (V u −V v ) The rate (V u −V v ) / (√3 · E dc ) is 1.15 p. u. It can be seen that the number has increased.
　そこで、本発明の第１の実施例においては、図２中の「ｄ軸電流修正演算部１１ｂ」と「トルク指令修正演算部１１ｃ」を同時に用いて、直流電圧値Ｅｄｃが大きく低下した場合でも電流指令値通りの電流を発生させる。 Therefore, in the first embodiment of the present invention, with reference in FIG. 2 as "d-axis current correction calculation unit 11b" to "commanded torque correcting part 11c" at the same time, when the DC voltage value E dc is greatly reduced However, it generates the current according to the current command value.
　以下、ｄ軸電流修正演算部１１ｂとトルク指令修正演算部１１ｃとの動作について詳細に説明を行う。 Hereinafter, operations of the d-axis current correction calculation unit 11b and the torque command correction calculation unit 11c will be described in detail.
　図２において、トルク指令修正演算部１１ｃでは、電圧変調率Ｋｈがトルク指令修正制御を実行する第２の変調率指令Ｋｈ２ ＊を超えないように、トルク指令値τ０ ＊を減少させる働きをする。つまり、トルク指令修正演算部１１ｃは、比例＋積分演算あるいは積分演算で補正量Δτ＊を演算器１１３（加算器）に出力する構成を取り、トルク指令発生部８から演算器１１３に供給されるトルク指令値τ０ ＊が自動的に修正する機能を持っている。修正されたτ０ ＊はτ＊として演算器１１３から出力される。 2, the commanded torque correcting section 11c, so as not to exceed the second modulation rate instruction K h2 * of the voltage modulation ratio K h executes a torque command correction control acts to decrease the torque command value tau 0 * do. That is, the torque command correction calculation unit 11c is configured to output the correction amount Δτ * to the calculator 113 (adder) by proportional + integral calculation or integral calculation, and is supplied from the torque command generation unit 8 to the calculator 113. Torque command value τ 0 * has a function to automatically correct. The corrected τ 0 * is output from the computing unit 113 as τ * .
　図５は、本発明の第１の実施例を用いて、高回転域においてトルク制御を行い、その際に直流電圧値Ｅｄｃを大きく低下させた場合の制御特性を示すグラフである。なお、図５の横軸は時間（秒）を示している。 FIG. 5 is a graph showing control characteristics when torque control is performed in the high rotation range using the first embodiment of the present invention and the DC voltage value E dc is greatly reduced. The horizontal axis in FIG. 5 indicates time (seconds).
　図３に示した例と同様に、図５中の丸で囲ったＡで示した時点で、トルク指令値を「０」からτ０ ＊までステップ変化させ、丸で囲ったＢで示した時点から、直流電圧値Ｅｄｃを階段的に低下させている。 Similarly to the example shown in FIG. 3, at the time indicated by A in circle in FIG. 5, the torque command value is step-changed from “0” to τ 0 *, and the time indicated by B in circle Thus, the DC voltage value E dc is lowered stepwise.
　上記Ａで示した時点で電圧変調率Ｋｈが第１の変調率指令Ｋｈ１ ＊を超えると、ｄ軸電流修正演算部１１ｂの作用で、信号ΔＩｄ ＊が負側に増加し、ｄ軸電流指令設定部７からの指令値Ｉｄ０ ＊と演算器１１２にて加算され、ｄ軸電流指令値Ｉｄ ＊となって、弱め界磁制御が行われる。 When the voltage modulation rate K h exceeds the first modulation rate command K h1 * at the time indicated by A above, the signal ΔI d * increases to the negative side due to the action of the d-axis current correction calculation unit 11b, and the d-axis The command value I d0 * from the current command setting unit 7 is added to the calculator 112 to obtain the d-axis current command value I d *, and field weakening control is performed.
　丸で囲ったＢで示した時点からは、変調率Ｋｈが第２の変調率指令Ｋｈ２ ＊（１．１５ｐ．ｕ．以下の値を設定）を超えるので、トルク指令修正演算部１１ｃの作用で、信号Δτ＊が逆極性側に増加し、トルク指令設定部８からの指令値τ０ ＊と演算器１１３にて加算され、トルク指令値τ＊となって、トルク指令修正制御が行われる。 From the time indicated in the circled B, since the modulation factor K h exceeds the second modulation rate instruction K h2 * (set the 1.15p.u. following values), the commanded torque correcting part 11c As a result, the signal Δτ * increases to the opposite polarity side and is added to the command value τ 0 * from the torque command setting unit 8 by the calculator 113 to obtain the torque command value τ *, and torque command correction control is performed. Is called.
　この方式においては、電圧変調率Ｋｈは定常的に第２の変調率Ｋｈ２ ＊を超えることはないので、電圧変調率Ｋｈは第２の変調率Ｋｈ２ ＊である制限値１．１５ｐ．ｕ．以内で制御することができる。その結果、ｄ軸およびｑ軸の電流（Ｉｄ、Ｉｑ）は電流指令値（Ｉｄ ＊、Ｉｑ ＊）の通りに発生することになる。つまり「過電流トリップ」に至ることはなく、安定なトルク制御運転を行うことができる。 In this method, since the voltage modulation rate K h does not constantly exceed the second modulation rate K h2 * , the voltage modulation rate K h is the limit value 1.15p which is the second modulation rate K h2 *. . u. Can be controlled within. As a result, the d-axis and q-axis currents (I d , I q ) are generated according to the current command values (I d * , I q * ). That is, an “overcurrent trip” is not reached, and a stable torque control operation can be performed.
　このときの電力変換器２のＵ相とＶ相間の線間電圧（Ｖｕ－Ｖｖ）の平均値と電圧変調率Ｋｈの関係も図６に示す。 FIG. 6 also shows the relationship between the average value of the line voltage (V u −V v ) between the U phase and the V phase of the power converter 2 and the voltage modulation factor K h at this time.
　図６において、丸で囲ったＢ点から右の区間では、線間電圧（Ｖｕ－Ｖｖ）が低下しているが、計算した電圧変調率（Ｖｕ－Ｖｖ）／（√３・Ｅｄｃ）は制限値１．１５ｐ．ｕ．以下の第２の変調率指令Ｋｈ２ ＊で制御されていることがわかる。第１と第２の変調率指令Ｋｈ１ ＊、Ｋｈ２ ＊は、次式（７）の関係で設定すれば良い。 In FIG. 6, the line voltage (V u −V v ) decreases in the right section from the circled point B, but the calculated voltage modulation factor (V u −V v ) / (√3 · Edc) is a limiting value of 1.15 p. u. It can be seen that the control is performed by the following second modulation factor command K h2 * . The first and second modulation factor commands K h1 * and K h2 * may be set according to the relationship of the following equation (7).
Figure JPOXMLDOC01-appb-M000007
Figure JPOXMLDOC01-appb-M000007
　以上のように、本発明の第１の実施例においては、電圧変調率Ｋｈが、第１の変調率指令Ｋｈ１ ＊を超えると、弱め界磁制御を行い、電圧変調率Ｋｈが、第２の変調率指令Ｋｈ２ ＊を超えると、トルク指令を制御して、電圧変調率Ｋｈが、第２の変調率指令Ｋｈ２ ＊を超えないように制御する。 As described above, in the first embodiment of the present invention, when the voltage modulation factor K h exceeds the first modulation factor command K h1 * , field weakening control is performed, and the voltage modulation factor K h is When the modulation rate command K h2 * exceeds the value, the torque command is controlled so that the voltage modulation rate K h does not exceed the second modulation rate command K h2 * .
　したがって、弱め界磁制御を適切に行うことが出来るとともに、直流電圧変動により、過電流トリップが生じ、再起動が必要となる事態を回避することができる。つまり、本発明は、電力変換器に供給される直流電圧が急激に低下した場合でも過電流トリップに至らず、安定なトルク制御運転を実現することができる。 Therefore, it is possible to appropriately perform field-weakening control and avoid a situation where an overcurrent trip occurs due to a DC voltage fluctuation and a restart is required. That is, the present invention does not lead to an overcurrent trip even when the DC voltage supplied to the power converter is rapidly reduced, and can realize a stable torque control operation.
　なお、第１の実施例では、交流モータ１は永久磁石同期モータであったが、誘導モータであっても良い。 In the first embodiment, the AC motor 1 is a permanent magnet synchronous motor, but may be an induction motor.
　また、第１の変調率指令Ｋｈ１を１．０ｐ．ｕ．とし、第２の変調率指令Ｋｈ２を１．１５ｐ．ｕ．としてもよいし、第１の変調率指令Ｋｈ１を１．０ｐ．ｕ．とし、第２の変調率指令Ｋｈ２を１．１５ｐ．ｕ．以下の１．１０ｐ．ｕ．としてもよい。さらに、第２の変調率指令Ｋｈ２は１．１５ｐ．ｕ．以下のその他の値とすることも可能である。 Further, the first modulation factor command K h1 is set to 1.0 p. u. And the second modulation factor command K h2 is 1.15 p. u. The first modulation factor command K h1 may be set to 1.0 p. u. And the second modulation factor command K h2 is 1.15 p. u. The following 1.10 p. u. It is good. Further, the second modulation factor command K h2 is 1.15 p. u. Other values below are also possible.
　（第２の実施例）
　次に、本発明の第２の実施例について説明する。 (Second embodiment)
Next, a second embodiment of the present invention will be described.
　図７は、本発明の第２の実施例であるベクトル制御装置（交流モータのドライブ制御装置）の概略構成図である。 FIG. 7 is a schematic configuration diagram of a vector control device (AC motor drive control device) according to a second embodiment of the present invention.
　第２の実施例は、レゾルバやエンコーダなどの位置検出器を省略したベクトル制御装置に適用したものである。 The second embodiment is applied to a vector control apparatus in which a position detector such as a resolver or an encoder is omitted.
　図７において、符号１～４、７～１６、２ａは、図１のものと同一の物を示している。したがって、第２の実施例については、第１の実施例と同等のものについての詳細な説明は省略し、異なる部分について説明する。 In FIG. 7, reference numerals 1 to 4, 7 to 16, and 2a denote the same components as those in FIG. Therefore, in the second embodiment, a detailed description of the same components as those in the first embodiment is omitted, and different portions will be described.
　図７において、位相誤差推定部１７は、電圧ベクトル演算部１５からの電圧指令値Ｖｄｃ ＊、Ｖｑｃ ＊と、座標変換部４からの電流検出値Ｉｄｃ、Ｉｑｃと、速度推定値ω＾と、モータ定数とに基づいて、位相推定値θｄｃ＾と交流モータ１の位相θとの偏差である位相誤差Δθ（＝θｄｃ＾－θ）を次式（８）により推定演算する。 In FIG. 7, the phase error estimation unit 17 includes voltage command values V dc * and V qc * from the voltage vector calculation unit 15, current detection values I dc and I qc from the coordinate conversion unit 4, and a speed estimation value ω. Based on ^ and the motor constant, a phase error Δθ (= θ dc ^ −θ), which is a deviation between the estimated phase value θ dc ^ and the phase θ of the AC motor 1, is estimated and calculated by the following equation (8).
Figure JPOXMLDOC01-appb-M000008
Figure JPOXMLDOC01-appb-M000008
　位相誤差推定部１７は、位相誤差の推定値Δθｃを、演算器２７を介して推定値Δθｃ ＊として速度推定部１８に供給する。そして、速度推定部１８は、位相誤差の推定値Δθｃ ＊を「０」にするように、速度推定値ω＾を演算する。 The phase error estimation unit 17 supplies the estimated value Δθ c of the phase error to the speed estimation unit 18 as an estimated value Δθ c * via the calculator 27. Then, the speed estimation unit 18 calculates the speed estimation value ω ^ so that the phase error estimation value Δθ c * is set to “0”.
　位相推定部１９は、速度推定部１８から供給された速度推定値ω＾を積分し、位置推定値θｄｃ＾を出力する。 The phase estimation unit 19 integrates the speed estimation value ω ^ supplied from the speed estimation unit 18 and outputs a position estimation value θ dc ^.
　そして、位相推定部１９から出力された位置推定値θｄｃ＾は座標変換部４、１６に供給される。 Then, the position estimation value θ dc ^ output from the phase estimation unit 19 is supplied to the coordinate conversion units 4 and 16.
　上述した位置センサレス制御方式にも、本発明を適用することができる。 The present invention can also be applied to the position sensorless control method described above.
　本発明の第２の実施例においても、第１の実施例と同様な効果を得ることができる。さらに、本発明の第２の実施例においては、高価な位置検出器を省略することができるので、安価でありながら、実施例１と同等な効果を得ることができる。 In the second embodiment of the present invention, the same effect as in the first embodiment can be obtained. Furthermore, in the second embodiment of the present invention, an expensive position detector can be omitted, so that an effect equivalent to that of the first embodiment can be obtained while being inexpensive.
　なお、第２の実施例においても、交流モータ１は、永久磁石同期モータ、誘導モータのいずれであっても良い。 In the second embodiment, the AC motor 1 may be either a permanent magnet synchronous motor or an induction motor.
　（第３の実施例）
　次に、本発明の第３の実施例について説明する。 (Third embodiment)
Next, a third embodiment of the present invention will be described.
　図８は、本発明の第３の実施例であるベクトル制御装置（交流モータのドライブ制御装置）の概略構成図である。 FIG. 8 is a schematic configuration diagram of a vector control apparatus (AC motor drive control apparatus) according to a third embodiment of the present invention.
　本発明の第３の実施例は、位相を制御することにより、弱め界磁制御を行う位相演算型のベクトル制御装置に、本発明を適用したものである。 In the third embodiment of the present invention, the present invention is applied to a phase calculation type vector control device that performs field-weakening control by controlling the phase.
　図８において、構成要素の１～６、８、１６、２ａは、図１のものと同一の物を示している。したがって、第３の実施例については、第１の実施例と同等のものについての詳細な説明は省略し、異なる部分について説明する。 In FIG. 8, components 1 to 6, 8, 16, 2a are the same as those in FIG. Therefore, in the third embodiment, a detailed description of the same components as those in the first embodiment is omitted, and different portions will be described.
　図８において、ｄ軸の電流指令設定部７’は、「０」を出力する。 In FIG. 8, the d-axis current command setting unit 7 ′ outputs “0”.
　電圧位相の制限値設定部２０は、「トルク指令修正制御」を行う電圧位相の制限値θｖ＿ｌｍｔを出力する。 The voltage phase limit value setting unit 20 outputs a voltage phase limit value θ v — lmt for performing “torque command correction control”.
　指令演算部１１’は、トルク指令設定部８から与えられるトルク指令値τ０ ＊と、電圧位相の制限値設定部２０からの電圧位相の制限値θｖ＿ｌｍｔと、電圧ベクトル演算部１５から供給されるベクトル電圧指令値Ｖｄｃ ＊＊、Ｖｑｃ ＊＊と、直流電源２ａから供給される直流電圧値Ｅｄｃとが供給され、トルク指令値τ＊および変調率制限フラグＶｌｍｔ＿ｆｌｇを出力する。 The command calculation unit 11 ′ receives the torque command value τ 0 * given from the torque command setting unit 8, the voltage phase limit value θ v — lmt from the voltage phase limit value setting unit 20, and the voltage vector calculation unit 15. the supplied vector voltage command value V dc **, and V qc **, is supplied with a DC voltage E dc supplied from the DC power supply 2a, the torque command value tau * and the modulation rate limit flag V lmt _ flg Output.
　次に、図９を用いて、指令演算部１１’の内部構成について説明する。 Next, the internal configuration of the command calculation unit 11 'will be described with reference to FIG.
　図９において、指令演算部１１’は、トルク指令修正演算部１１’ｃと、電圧位相演算部１１’ｄと、電圧変調率演算部１１’ａと、変調率制限検出部１１’ｅと、演算器３０、３１とを備える。電圧変調率演算部１１’ａと、電圧位相演算部１１’ｄと、トルク指令修正演算部１１’ｃとにより弱め界磁制御部が構成され、電圧変調率演算部１１’ａと、変調率制限検出部１１’ｅとにより過電流制御部が構成される。 In FIG. 9, a command calculation unit 11 ′ includes a torque command correction calculation unit 11′c, a voltage phase calculation unit 11′d, a voltage modulation rate calculation unit 11′a, a modulation rate limit detection unit 11′e, And arithmetic units 30 and 31. The voltage modulation rate calculation unit 11′a, the voltage phase calculation unit 11′d, and the torque command correction calculation unit 11′c constitute a field weakening control unit, and the voltage modulation rate calculation unit 11′a and the modulation rate limit detection The overcurrent control unit is configured by the unit 11′e.
　電圧変調率演算部１１’ａでは、電圧指令値Ｖｄｃ ＊＊、Ｖｑｃ ＊＊と、直流電圧値Ｅｄｃとを用いて、次式（９）により電圧変調率Ｋｈ’を演算する。 In the voltage modulation factor calculation unit 11′a, the voltage modulation factor K h ′ is calculated by the following equation (9) using the voltage command values V dc ** and V qc ** and the DC voltage value E dc .
Figure JPOXMLDOC01-appb-M000009
Figure JPOXMLDOC01-appb-M000009
　また、電圧変調率Ｋｈ’が供給された変調率制限検出部１１’ｅでは、電圧変調率Ｋｈ’が所定の変調指令値Ｋｈ＿ｌｍｔより小さい場合は、変調率制限フラグＶｌｍｔ＿ｆｌｇを「０」とし、電圧変調率Ｋｈ＿ｌｍｔに到達した場合は、変調率制限フラグＶｌｍｔ＿ｆｌｇを「１」として出力する。 In addition, in the modulation rate limit detection unit 11′e to which the voltage modulation rate K h ′ is supplied, when the voltage modulation rate K h ′ is smaller than the predetermined modulation command value K h — lmt , the modulation rate limit flag V lmt — flg is set. to "0", when it reaches the voltage modulation ratio K H_lmt, and outputs the modulation rate limit flag V lmt _ flg as "1".
　さらに、電圧位相演算部１１’ｄでは、供給された電圧指令値Ｖｄｃ ＊＊、Ｖｑｃ ＊＊を用いて、次式（１０）により電圧位相θｖを演算する。 Furthermore, the voltage phase calculation section 11'd, supplied voltage command value V dc **, using V qc **, and calculates the voltage phase theta v by the following equation (10).
Figure JPOXMLDOC01-appb-M000010
Figure JPOXMLDOC01-appb-M000010
　また、演算器３１にて、電圧位相演算部１１’ｄからの電圧位相θｖが、電圧位相の制限値設定部２０から供給される制限値θｖ＿ｌｍｔから減算され、トルク指令修正演算部１１’ｃに供給される。 Further, in the arithmetic unit 31, the voltage phase theta v from the voltage phase calculation section 11'd, is subtracted from the limit value theta v _ lmt supplied from the limit value setting unit 20 of the voltage phase, a torque command correction calculating section 11'c.
　トルク指令修正演算部１１’ｃは、電圧位相θｖがトルク指令修正制御に入る電圧位相の制限値θｖ＿ｌｍｔを超えないように、トルク指令値τ０ ＊を減少させる働きをする。つまり、トルク指令修正演算部１１’ｃは、比例＋積分演算あるいは積分演算で補正量Δτ＊を出力する構成を取り、トルク指令修正演算部１１’ｃから出力された補正量Δτ＊は、演算器３０にてトルク指令τ０ ＊と加算され、トルク指令値τ０ ＊を自動的に修正する機能を持っている。修正されたτ０ ＊はτ＊として指令演算部１１’から出力される。 Commanded torque correcting section 11'c, as not to exceed the limit value theta v _ lmt voltage phase voltage phase theta v enters the torque command correction control, and serves to reduce the torque command value tau 0 *. That is, the torque command correction calculating section 11'C is proportional + in integral operation or integral operation takes a configuration that outputs the correction amount .DELTA..tau *, correction amount .DELTA..tau * is output from the commanded torque correcting part 11'C, operation The torque command τ 0 * is added by the controller 30 and the torque command value τ 0 * is automatically corrected. The corrected τ 0 * is output from the command calculation unit 11 ′ as τ * .
　図８において、電流指令変換部１２’は、演算されたトルク指令値τ＊と、ｄ軸の電流検出値Ｉｄｃと、交流モータ１の電気定数（Ｌｄ、Ｌｑ、Ｋｅ）とを用いて、次式（１１）によりｑ軸の電流指令値Ｉｑ ＊を演算する。 In FIG. 8, the current command conversion unit 12 ′ calculates the calculated torque command value τ * , the detected d-axis current value I dc, and the electric constants (L d , L q , K e ) of the AC motor 1. The q-axis current command value I q * is calculated by the following equation (11).
Figure JPOXMLDOC01-appb-M000011
Figure JPOXMLDOC01-appb-M000011
　また、電流指令設定部７’からの出力は座標変換部４からの電流検出値Ｉｄｃが演算器２９にて減算され、偏差ΔＩｄとしてｄ軸の電流偏差出力部２１に供給される。ｄ軸の電流偏差出力部２１は、変調率制限フラグＶｌｍｔ＿ｆｌｇを用いて、偏差ΔＩｄあるいは「０」を出力する。 Further, the output from the current command setting unit 7 'current detection value I dc from the coordinate transformation unit 4 is subtracted by the calculator 29, it is supplied to the current deviation output section 21 of the d-axis as a deviation [Delta] I d. current deviation output section 21 of the d-axis, using the modulation rate limit flag V lmt _ flg, and outputs a deviation [Delta] I d or "0".
　また、電流指令変換部１２’からの電流指令値Ｉｑ ＊は、演算器２８にて座標変換部４からの電流検出値Ｉｑｃが減算され、偏差ΔＩｑしてｑ軸の電流偏差出力部２２に供給される。ｑ軸の電流偏差出力部２２は、変調率制限フラグＶｌｍｔ＿ｆｌｇを用いて、ｑ軸の電流指令値Ｉｑ ＊と電流検出値Ｉｑｃとの偏差あるいは「０」を、ΔＩｑ１、ΔＩｑ２として出力する。 The current command value I q * from the current command conversion unit 12 ′ is subtracted from the current detection value I qc from the coordinate conversion unit 4 by the calculator 28 to obtain a deviation ΔI q and a q-axis current deviation output unit. 22 is supplied. current deviation output section 22 of the q-axis, using the modulation rate limit flag V lmt _ flg, the deviation or "0" of the current instruction value I q * and the current detection value I qc of the q-axis, [Delta] I q1, [Delta] I and outputs it as q2.
　ｄ軸電流制御演算部１３ａは、ｄ軸の電流偏差出力部２１からの出力値ΔＩｄが入力され、ΔＩｄから第２のｄ軸電流指令値Ｉｄ ＊＊を演算し出力する。 d-axis current control calculation section 13a is output values [Delta] I d is input from the current deviation output section 21 of the d-axis, which calculates the second d-axis current command value I d ** from [Delta] I d output.
　また、ｑ軸電流制御演算部１４ａは、ｑ軸の電流偏差出力部２２の出力値ΔＩｑ２が入力され、ΔＩｑ２から第２のｑ軸電流指令値Ｉｑ ＊＊を演算し出力する。 Further, the q-axis current control calculation unit 14a receives the output value ΔI q2 of the q-axis current deviation output unit 22, calculates a second q-axis current command value I q ** from ΔI q2 , and outputs it.
　また、位相差指令演算部２３では、変調率制限フラグＶｌｍｔ＿ｆｌｇが「１」のとき、第１のｑ軸電流指令Ｉｑ ＊とｑ軸電流検出値Ｉｑｃの偏差ΔＩｑ１を比例＋積分演算し、その演算値が、位相修正指令値Δθｃ ＊として出力される。このとき、電圧ベクトル演算部１５’では、ｄ軸およびｑ軸の電流制御演算部１３ａ、１４ａの入力信号ΔＩｄ、ΔＩｑ２は、共に「０」で、出力値Ｉｄ ＊＊、Ｉｑ ＊＊の演算は更新されず、前回値を保持した状態となる。 Further, the phase difference calculation unit 23, when the modulation rate limit flag V lmt _ flg is "1", proportional to the first q-axis current command I q * and the q-axis current detection value I qc of the deviation [Delta] I q1 + The integral calculation is performed, and the calculated value is output as the phase correction command value Δθ c * . At this time, in the voltage vector calculation unit 15 ′, the input signals ΔI d and ΔI q2 of the d-axis and q-axis current control calculation units 13a and 14a are both “0”, and the output values I d ** and I q * The calculation of * is not updated and the previous value is retained.
　ここで、指令演算部１１’からの変調率制限フラグＶｌｍｔ＿ｆｌｇが「１」又は「０」のときにおける、ｑ軸電流偏差出力部２２及びｄ軸電流偏差出力部２１の内部のスイッチング状態を説明する。 Here, the modulation rate limit flag V lmt _ flg from calculation unit 11 'is observed when the "1" or "0", the internal switching state of the q-axis current deviation output section 22 and the d-axis current deviation output section 21 Will be explained.
　変調率制限フラグＶｌｍｔ＿ｆｌｇが「１」の場合は、ｑ軸電流偏差出力部２２においては、端子２２ｂと２２ｃとが接続された状態となり、端子２２ａ及び２２ｄは非接続状態となる。ｄ軸電流偏差出力部２１においては、端子２１ａと２１ｃとが接続された状態となり、端子２１ｂは非接続状態となる。 If the modulation rate limit flag V lmt _ flg is "1", in the q-axis current deviation output section 22, a state where the terminal 22b and 22c are connected, terminals 22a and 22d is in a non-connected state. In the d-axis current deviation output unit 21, the terminals 21a and 21c are connected, and the terminal 21b is disconnected.
　また、変調率制限フラグＶｌｍｔ＿ｆｌｇが「０」の場合は、ｑ軸電流偏差出力部２２においては、端子２２ａと２２ｂとが接続され、さらに端子２２ｃと２２ｄとが接続された状態となる。ｄ軸電流偏差出力部２１においては、端子２１ｂと２１ｃとが接続された状態となり、端子２１ａは非接続状態となる。 Further, if the modulation rate limit flag V lmt _ flg is "0", in the q-axis current deviation output section 22, and the terminal 22a and 22b are connected, and further state that the terminal 22c and 22d are connected . In the d-axis current deviation output unit 21, the terminals 21b and 21c are connected, and the terminal 21a is disconnected.
　次に、位相修正指令値Δθｃ ＊と電圧指令値Ｖｄｃ ＊、Ｖｑｃ ＊により、次式（１２）に示すように新たな電圧指令値Ｖｄｃ ＊＊、Ｖｑｃ ＊＊が演算される。 Next, new voltage command values V dc ** and V qc ** are calculated from the phase correction command value Δθ c * and the voltage command values V dc * and V qc * as shown in the following equation (12). .
Figure JPOXMLDOC01-appb-M000012
Figure JPOXMLDOC01-appb-M000012
　つまり、出力電圧が制限されている領域では、ｑ軸の電流指令値Ｉｑ ＊と電流検出値Ｉｑｃとが一致するように、Δθｃ ＊を介して出力電圧を制御する。 That is, in the region where the output voltage is limited, as the current command value I q * and the current detection value I qc of the q-axis coincide, to control the output voltage via the [Delta] [theta] c *.
　すると、ｄ軸の電流指令値Ｉｄ ＊を発生させない状態で、弱め界磁制御を実現することができる。このような、弱め界磁制御を行うベクトル制御装置においても、本発明を用いれば、第１実施例と同様に「過電流トリップ」を抑制する運転を行うことができる。 Then, field weakening control can be realized without generating the d-axis current command value I d * . Even in such a vector control apparatus that performs field weakening control, if the present invention is used, an operation that suppresses an “overcurrent trip” can be performed as in the first embodiment.
　つまり、本発明の第３の実施例によれば、電圧位相制限値を超えないように、トルク制御することにより弱め界磁制御を行い、かつ、ｄ軸電流指令値を発生させないように、制御することにより、過電流トリップが生じ、再起動が必要となる事態を回避することができる。 That is, according to the third embodiment of the present invention, the field-weakening control is performed by torque control so as not to exceed the voltage phase limit value, and the d-axis current command value is not generated. Thus, it is possible to avoid a situation where an overcurrent trip occurs and a restart is required.
　なお、所定の変調指令値Ｋｈ＿ｌｍｔ」は、正弦波駆動の限界である１．１５ｐ．ｕ．以上から１パルス駆動の限界である１．２７ｐ．ｕ．までの間で設定すれば電圧利用率を極限まで使用することができる。 The predetermined modulation command value K h — lmt ” is 1.15 p. u. From the above, 1.27 p. u. If the time is set up to the maximum, the voltage utilization rate can be used to the limit.
　また、ｑ軸の電圧値Ｖｑ成分が「０」になるまで弱め界磁制御を行うとすると、「所定の位相指令値」はπ／２程度であれば問題はない。 Further, if field-weakening control is performed until the q-axis voltage value V q component becomes “0”, there is no problem if the “predetermined phase command value” is about π / 2.
　なお、第３の実施例においても、交流モータ１は、永久磁石同期モータ、誘導モータのいずれであっても良い。
交流モータ１は永久磁石同期モータであったが、誘導モータであっても良い。 In the third embodiment, the AC motor 1 may be a permanent magnet synchronous motor or an induction motor.
The AC motor 1 is a permanent magnet synchronous motor, but may be an induction motor.
　また、第２の実施例と同様な構成により、位相誤差推定部、速度推定部、位相推定部を追加し、位置検出器５を省略することも可能である。 Also, with the same configuration as in the second embodiment, it is possible to add a phase error estimator, a velocity estimator, and a phase estimator and omit the position detector 5.
　（第４の実施例）
　次に、本発明の第４の実施例について説明する。 (Fourth embodiment)
Next, a fourth embodiment of the present invention will be described.
　図１０は、本発明の第４の実施例である産業・建機用インバータ装置の概略構成図である。 FIG. 10 is a schematic configuration diagram of an inverter device for industrial / construction equipment according to a fourth embodiment of the present invention.
　図１０において、ベクトル制御装置２４ａは、図１に示したベクトル制御装置（交流モータのドライブ制御装置）と同様な構成となっており、同様な動作を行う。このため、ベクトル制御装置２４ａについての詳細な説明は省略する。ただし、図１におけるモータ１及び位置検出器５は、ベクトル制御装置２４ａには、含まれていない。ベクトル制御装置２４ａに形成された端子（図示せず）を介して外部のモータと接続される。また、外部の位置検出器から、ベクトル制御装置２４ａに形成された端子（図示せず）を介して、位置検出値θｄｃが供給される構成となっている。 10, the vector control device 24a has the same configuration as the vector control device (AC motor drive control device) shown in FIG. 1, and performs the same operation. For this reason, the detailed description about the vector control device 24a is omitted. However, the motor 1 and the position detector 5 in FIG. 1 are not included in the vector control device 24a. It is connected to an external motor via a terminal (not shown) formed in the vector control device 24a. In addition, the position detection value θ dc is supplied from an external position detector via a terminal (not shown) formed in the vector control device 24a.
　産業・建設用インバータ２４は、マイクロコンピュータやプログラミング可能なＬＳＩが搭載されたコントローラ基板と電力変換器を搭載したベクトル制御装置２４ａを内蔵している。 The industrial / construction inverter 24 has a built-in vector controller 24a equipped with a controller board on which a microcomputer and programmable LSI are mounted and a power converter.
　産業・建設用インバータ２４の操作パネルからの指令により、ｄ軸電流指令設定部７に格納されるｄ軸電流指令値及びトルク指令設定部８に格納されるトルク指令値が設定される。 The d-axis current command value stored in the d-axis current command setting unit 7 and the torque command value stored in the torque command setting unit 8 are set by a command from the operation panel of the industrial / construction inverter 24.
　本発明の第４の実施例においても、弱め界磁制御を適切に行うことが出来るとともに、直流電圧変動により、過電流トリップが生じ、再起動が必要となる事態を回避することができる。 Also in the fourth embodiment of the present invention, field-weakening control can be performed appropriately, and a situation where an overcurrent trip occurs due to a DC voltage fluctuation and a restart is required can be avoided.
　上述した第１～第４の実施例においては、第１の電流指令値Ｉｄ ＊、Ｉｑ ＊と電流検出値Ｉｄｃ、Ｉｑｃから第２の電流指令値Ｉｄ ＊＊、Ｉｑ ＊＊を作成し、この第２の電流指令値を用いてベクトル制御演算を行ったが、ｄ軸およびｑ軸の電流制御演算部を持たずに、第１のｄ軸の電流指令Ｉｄ ＊（＝０）とｑ軸の電流検出値Ｉｑｃの一次遅れ信号Ｉｑｃｔｄ、速度指令値ω＊と交流モータ１の電気定数を用いて、次式（１３）に従い電圧指令値Ｖｄｃ ＊、Ｖｑｃ ＊を演算するベクトル制御演算にも適用することはできる。 In the first to fourth embodiments described above, the first current command values I d * and I q * and the current detection values I dc and I qc are used to generate the second current command values I d ** and I q *. * Was created, and the vector control calculation was performed using the second current command value. However, the first d-axis current command I d * ( = 0) and the primary delay signal I qctd of the q-axis current detection value I qc , the speed command value ω * and the electric constant of the AC motor 1, and the voltage command values V dc * and V qc according to the following equation (13) : The present invention can also be applied to a vector control calculation that calculates * .
Figure JPOXMLDOC01-appb-M000013
Figure JPOXMLDOC01-appb-M000013
　さらに、第１の電流指令値Ｉｄ ＊、Ｉｑ ＊に電流検出値Ｉｄｃ、Ｉｑｃから、電圧補正値ΔＶｄ ＊、ΔＶｑ ＊を作成し、この電圧補正値と、第１の電流指令値Ｉｄ ＊、Ｉｑ ＊、速度検出値ω、交流モータ１の電気定数を用いて、次式（１４）に従い電圧指令値Ｖｄｃ ＊、Ｖｑｃ ＊を演算するベクトル制御演算方式にも適用することも可能である。 Furthermore, voltage correction values ΔV d * and ΔV q * are created from the current detection values I dc and I qc to the first current command values I d * and I q * , and the voltage correction values and the first current The vector control calculation method for calculating the voltage command values V dc * and V qc * according to the following equation (14) using the command values I d * and I q * , the speed detection value ω, and the electric constant of the AC motor 1 It is also possible to apply.
Figure JPOXMLDOC01-appb-M000014
Figure JPOXMLDOC01-appb-M000014
　また、上述した第１～４の実施例は、高価な電流検出器３で検出した３相の交流電流Ｉｕ～Ｉｗを使用する方式であったが、電力変換器２の過電流検出用に取り付けているワンシャント抵抗に流れる直流電流から、３相のモータ電流Ｉｕ＾、Ｉｖ＾、Ｉｗ＾を再現し、この再現電流値を用いる「低コスト・システム」にも本発明は対応することができる。 In the first to fourth embodiments described above, the three-phase AC currents I u to I w detected by the expensive current detector 3 are used. The present invention is also applicable to a “low cost system” that reproduces three-phase motor currents I u ^, I v ^, I w ^ from a direct current flowing through a one-shunt resistor attached to Can respond.
　また、本発明のさらなる実施例としては、第４の実施例におけるインバータ（ベクトル制御装置を組み込んだインバータ）に、図１や図７に示した交流モータ１を接続した、ベクトル制御装置を組み込んだインバータとモータとのセット装置がある。 As a further embodiment of the present invention, a vector control device in which the AC motor 1 shown in FIG. 1 or FIG. 7 is connected to the inverter (an inverter incorporating the vector control device) in the fourth embodiment is incorporated. There is a set device of an inverter and a motor.
　１・・・交流モータ、２・・・電力変換器、２ａ・・・直流電源、３・・・電流検出器、４、１６・・・座標変換部、５・・・位置検出部、６・・・速度演算部、７・・・ｄ軸の電流指令設定部、８・・・トルク指令設定部、９・・・第１の変調率指令設定部、１０・・・第２の変調率指令設定部、１１、１１’・・・指令演算部、１１ａ、１１’ａ・・・電圧変調率演算部、１１ｂ・・・ｄ軸電流修正演算部、１１ｃ、１１’ｃ・・・トルク指令修正演算部、１１’ｄ・・・電圧位相演算部、１１’ｅ・・・変調率制限検出部、１２、１２’・・・電流指令変換部、１３、１３’、１３ａ・・・ｄ軸電流制御演算部、１４、１４’、１４ａ・・・ｑ軸電流制御演算部、１５、１５’・・・電圧ベクトル演算部、１７・・・位相誤差推定部、１８・・・速度推定部、１９・・・位相推定部、２０・・・電圧位相の制限値設定部、２１・・・ｄ軸の電流偏差出力部、２２・・・ｑ軸の電流偏差出力部、２３・・・位相誤差指令演算部、２４・・・産業・建機用インバータ、２４ａ・・・ベクトル制御装置 DESCRIPTION OF SYMBOLS 1 ... AC motor, 2 ... Power converter, 2a ... DC power supply, 3 ... Current detector, 4, 16 ... Coordinate conversion part, 5 ... Position detection part, 6. ..Speed calculation unit, 7... D-axis current command setting unit, 8... Torque command setting unit, 9... First modulation factor command setting unit, 10. Setting unit 11, 11 '... command calculation unit, 11a, 11'a ... voltage modulation rate calculation unit, 11b ... d-axis current correction calculation unit, 11c, 11'c ... torque command correction Calculation unit, 11'd ... Voltage phase calculation unit, 11'e ... Modulation rate limit detection unit, 12, 12 '... Current command conversion unit, 13, 13', 13a ... d-axis current Control calculation unit, 14, 14 ', 14a ... q-axis current control calculation unit, 15, 15' ... voltage vector calculation unit, 17 ... phase error estimation unit DESCRIPTION OF SYMBOLS 18 ... Speed estimation part, 19 ... Phase estimation part, 20 ... Voltage phase limit value setting part, 21 ... Current deviation output part of d axis, 22 ... Current deviation output of q axis , 23... Phase error command calculation unit, 24... Industrial and construction machine inverter, 24 a... Vector control device

Claims (10)

  1. 　交流モータを駆動するため、該交流モータに電力を供給する電力変換器と、
    　上記交流変換器の出力電圧指令値を演算し、演算した出力電圧指令値を上記電力変換器に出力するベクトル演算器と、
    　上記電力変換器が上記交流モータに供給する電流値を上記ベクトル演算器に指令する電流制御演算部と、
    　上記ベクトル演算器が出力した出力電圧指令に基づいて、電圧変調率を演算する電圧変調率演算部と、該電圧変調率演算部が演算した電圧変調率又は上記交流モータに供給される電圧位相に基づいて、上記電流制御演算部に電流指令を供給して弱め界磁制御を行う弱め界磁制御部と、上記電圧変調率に基づいて、上記電流制御演算部に供給するトルク指令値又は電流指令値を調整する過電流制御部とを有する指令演算部と、
    　を備えることを特徴とするベクトル制御装置。     A power converter for supplying power to the AC motor in order to drive the AC motor;
    A vector calculator that calculates an output voltage command value of the AC converter, and outputs the calculated output voltage command value to the power converter;
    A current control calculation unit that instructs the vector calculator to supply a current value that the power converter supplies to the AC motor;
    Based on the output voltage command output by the vector calculator, the voltage modulation factor calculator that calculates the voltage modulation factor, the voltage modulation factor calculated by the voltage modulation factor calculator, or the voltage phase supplied to the AC motor Based on the voltage modulation rate, the torque command value or the current command value supplied to the current control calculation unit is adjusted based on the voltage modulation rate and the field weakening control unit that supplies a current command to the current control calculation unit. A command calculation unit having an overcurrent control unit;
    A vector control apparatus comprising:
  2. 　請求項１に記載のベクトル制御装置において、
    　上記弱め界磁制御部は、上記電圧変調率が第１の電圧変調率を超えるとｄ軸の電流指令値を調整して弱め界磁制御を行うｄ軸電流修正演算部を有し、上記過電流制御部は、上記電圧変調率が第１の電圧変調率より大の第２の電圧変調率を超えないように上記トルク指令値を調整して過電流制御を行うトルク指令修正演算部を有することを特徴とするベクトル制御装置。     The vector control device according to claim 1,
    The field weakening control unit includes a d-axis current correction calculation unit that adjusts the d-axis current command value to perform field weakening control when the voltage modulation rate exceeds the first voltage modulation rate, and the overcurrent control unit includes: And a torque command correction calculation unit that performs overcurrent control by adjusting the torque command value so that the voltage modulation rate does not exceed a second voltage modulation rate that is greater than the first voltage modulation rate. Vector control device.
  3. 　請求項１に記載のベクトル制御装置において、
    　上記弱め界磁制御部は、上記電圧位相が電圧位相制限値を超えないように上記トルク指令値を調整するトルク指令修正演算部を有し、上記過電流制御部は、上記電圧変調率が変調率指令値以上のとき、電流指令値を調整する変調率制限部を有することを特徴とするベクトル制御装置。     The vector control device according to claim 1,
    The field weakening control unit includes a torque command correction calculation unit that adjusts the torque command value so that the voltage phase does not exceed a voltage phase limit value, and the overcurrent control unit is configured such that the voltage modulation rate is a modulation rate command. A vector control device comprising a modulation rate limiting unit that adjusts the current command value when the value is equal to or greater than the value.
  4. 　請求項２に記載のベクトル制御装置において、
    　上記第１の電圧変調率は、１．０ｐ．ｕ．であり、上記第２の電圧変調率は、１．１５ｐ．ｕ．であることを特徴とするベクトル制御装置。     The vector control device according to claim 2, wherein
    The first voltage modulation factor is 1.0 p. u. And the second voltage modulation factor is 1.15 p. u. A vector controller characterized by the above.
  5. 　請求項３に記載のベクトル制御装置において、
    　上記変調率指令値は、１．１５ｐ．ｕ．以上１．２７ｐ．ｕ．以下であり、上記電圧位相制限値はπ／２であることを特徴とするベクトル制御装置。     The vector control device according to claim 3, wherein
    The modulation factor command value is 1.15 p. u. 1.27p. u. A vector control apparatus, wherein the voltage phase limit value is π / 2.
  6. 　請求項１に記載のベクトル制御装置において、
    　上記交流モータは、誘導モータあるいは永久磁石同期モータであることを特徴とするベクトル制御装置。     The vector control device according to claim 1,
    The vector control apparatus, wherein the AC motor is an induction motor or a permanent magnet synchronous motor.
  7. 　請求項１に記載のベクトル制御装置において、
    　上記交流モータの位置検出器と、この位置検出器が検出した位置に基づいて、上記交流モータの速度を演算する速度演算部とをさらに備え、
    　上記ベクトル演算部は、上記速度演算部が演算した上記交流モータの速度と、上記電流制御演算部から指令された電流値とに基づいて、上記交流変換器の出力電圧指令値を演算することを特徴とするベクトル制御装置。     The vector control device according to claim 1,
    A position detector for the AC motor, and a speed calculation unit for calculating the speed of the AC motor based on the position detected by the position detector;
    The vector calculation unit calculates the output voltage command value of the AC converter based on the speed of the AC motor calculated by the speed calculation unit and the current value commanded from the current control calculation unit. A featured vector controller.
  8. 　請求項１に記載のベクトル制御装置において、
    　上記交流モータの回転推定値を積分して求めた位相推定値と上記電圧位相との偏差である位相誤差の推定演算を行う位相誤差推定部と、この位相誤差推定部が推定した位相誤差に基づいて上記交流モータの速度を推定する速度推定部とをさらに備え、
    　上記ベクトル演算部は、上記速度推定部が推定した上記交流モータの速度と、上記電流制御演算部から指令された電流値とに基づいて、上記交流変換器の出力電圧指令値を演算することを特徴とするベクトル制御装置。     The vector control device according to claim 1,
    Based on the phase error estimated by the phase error estimator and a phase error estimator that performs a phase error estimation calculation that is a deviation between the phase estimated value obtained by integrating the estimated rotation value of the AC motor and the voltage phase. A speed estimation unit for estimating the speed of the AC motor,
    The vector calculation unit calculates the output voltage command value of the AC converter based on the speed of the AC motor estimated by the speed estimation unit and the current value commanded from the current control calculation unit. A featured vector controller.
  9. 　請求項１に記載のベクトル制御装置と、
    　上記ベクトル制御装置に、上記交流モータの電流指令値及びトルク指令値を設定する操作パネルと、
    　を備えることを特徴とするベクトル制御装置を組み込んだインバータ。     A vector control device according to claim 1;
    An operation panel for setting the current command value and torque command value of the AC motor in the vector control device;
    An inverter incorporating a vector controller characterized by comprising:
  10. 　請求項９に記載のインバータと、
    　上記インバータに組み込まれた上記ベクトル制御装置から電力が供給される交流モータと、
    　を備えることを特徴とするベクトル制御装置を組み込んだインバータとモータとのセット装置。     An inverter according to claim 9;
    An AC motor to which electric power is supplied from the vector control device incorporated in the inverter;
    An inverter and motor set device incorporating a vector control device characterized by comprising:
PCT/JP2015/050191 2014-04-08 2015-01-06 Vector control device, inverter embedding same, and inverter-motor set device embedding same WO2015156003A1 (en)

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