WO2015166528A1 - 交流回転機の制御装置および制御方法、並びに電動パワーステアリング装置 - Google Patents
交流回転機の制御装置および制御方法、並びに電動パワーステアリング装置 Download PDFInfo
- Publication number
- WO2015166528A1 WO2015166528A1 PCT/JP2014/061854 JP2014061854W WO2015166528A1 WO 2015166528 A1 WO2015166528 A1 WO 2015166528A1 JP 2014061854 W JP2014061854 W JP 2014061854W WO 2015166528 A1 WO2015166528 A1 WO 2015166528A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- voltage
- current
- winding
- sum
- difference
- Prior art date
Links
Images
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
-
- 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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P21/08—Indirect field-oriented control; Rotor flux feed-forward 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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/16—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the circuit arrangement or by the kind of wiring
- H02P25/22—Multiple windings; Windings for more than three phases
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
Definitions
- the present invention relates to a control device and control method for an AC rotating machine having a plurality of winding sets, and an electric power steering apparatus provided with the control device for an AC rotating machine.
- an average voltage command is obtained based on a deviation between an average value (average current) of output currents of each inverter and an average current command, and each inverter
- each inverter By calculating the difference voltage command based on the difference between the difference between the output currents (difference current) and the difference current command, and returning the average voltage command and the difference voltage command to the voltage command of each winding set, the unbalanced current is output. Is reduced.
- Patent Document 1 realizes non-interference by controlling the average current and differential current of each inverter. If the specifications of the plurality of winding sets are exactly the same, the voltage command for outputting the same current is also the same, but in reality, there is a specification difference between the winding sets due to manufacturing variations and the like. Exists.
- the voltage command difference for outputting equal current becomes large.
- the difference voltage command vector obtained by feeding back the difference current becomes large.
- the voltage command vector is limited to one that can be expressed within the saturation voltage. That is, even if the differential voltage command vector is a vector having two-axis freedom, the direction is changed in a form projected onto the saturation voltage circle.
- the saturation voltage cannot be used in one group due to the difference in specifications. For this reason, the output torque can be reduced by being limited by the specification difference where the saturation voltage can be used.
- control device for a three-phase rotating machine described in Patent Document 2 controls the control gain ratio between the sum current and the difference current of each inverter according to the reference frequency, so that an overcurrent flows in a normal system. To prevent that.
- no countermeasure is taken against the normal output torque which decreases due to the difference in specifications. Further, when the gain of the difference current is lowered, the current ripple increases in each winding set.
- the rotation speed at which the voltage is saturated differs between when the current command is large and when the current command is small. Therefore, if the gain of the difference current is reduced according to the rotation speed, the gain of the difference current decreases when the current command is not saturated. Therefore, the current ripple becomes large in the low output and high rotation region. For example, when used in an electric power steering apparatus, there is a risk of increased noise transmitted through the steering system and deterioration of feeling through the steering wheel.
- the present invention has been made to solve the above-described problems, and even when there is a specification difference between the winding sets, the voltage command is used up to the saturation voltage in each winding set.
- An object of the present invention is to obtain a control device and a control method for an AC rotating machine capable of performing the above.
- a control device for an AC rotating machine is a control device for an AC rotating machine that controls an AC rotating machine having a first winding set and a second winding set, and a current flowing through the first winding set and Based on a current detector that detects currents flowing through the second winding group, a sum current that is the sum of the current of the first winding group and the current of the second winding group, and the current command of the AC rotating machine Based on the sum voltage calculation unit that calculates the sum voltage of the rotating two-axis coordinate system and the difference current that is the difference between the current of the first winding group and the current of the second winding group, the rotating two-axis coordinate system A difference voltage calculation unit that calculates a difference voltage between the first voltage calculation unit, a first voltage calculation unit that calculates a voltage command of the first winding set based on a sum of the sum voltage and the difference voltage, and a difference between the sum voltage and the difference voltage On the basis of the second voltage calculation unit for calculating the voltage command of the second winding set,
- a voltage saturation determination unit that generates a voltage saturation determination signal for reducing the gain of at least one axial component of the rotating biaxial coordinate system.
- control method for an AC rotating machine is a control method for an AC rotating machine that controls an AC rotating machine having a first winding group and a second winding group, and flows to the first winding group.
- a current detection step for detecting the current and the current flowing in the second winding group, a sum current that is the sum of the current in the first winding group and the current in the second winding group, and a current command for the AC rotating machine, Based on the sum voltage calculation step for calculating the sum voltage of the rotating two-axis coordinate system and the difference current that is the difference between the current of the first winding group and the current of the second winding group.
- a difference voltage calculation step for calculating a difference voltage of the coordinate system; a first voltage calculation step for calculating a voltage command for the first winding set based on a sum of the sum voltage and the difference voltage; A second voltage calculation step for calculating a voltage command for the second winding set based on the difference between the first winding set and the first winding set. Based on at least one of the voltage and current relating to the second winding set, it is determined whether the voltage is saturated in the first winding set or the second winding set, and the first winding set or the second winding set is determined.
- a voltage saturation determination step for generating a voltage saturation determination signal for lowering the gain of at least one axial component of the rotating biaxial coordinate system when it is determined that the voltage is saturated in the winding set It is.
- the voltage saturation determination unit includes the first winding based on at least one of the voltage and current relating to the first winding set and the second winding set.
- the rotating biaxial coordinates A voltage saturation determination signal for reducing the gain of at least one axial component of the system is generated. Therefore, it is possible to obtain a control device and a control method for an AC rotating machine that can use a voltage command up to a saturation voltage in each winding group even when there is a specification difference between the winding groups.
- FIG. FIG. 1 is a block diagram showing an AC rotating machine control apparatus according to Embodiment 1 of the present invention together with an AC rotating machine.
- the AC rotating machine 1 will be described by taking a permanent magnet type synchronous rotating machine having two winding sets as an example.
- the present invention is not limited to this, and two or more winding sets are used.
- the present invention can be applied even to a permanent magnet type synchronous rotating machine or a field winding type synchronous rotating machine.
- the control device for the AC rotating machine includes a position detection unit 2, a first current detection unit 3, a second current detection unit 4, a voltage saturation determination unit 5, a first voltage calculation unit 6, and a second voltage.
- a calculation unit 7, a first voltage application unit 8, and a second voltage application unit 9 are provided.
- the position detection unit 2 detects the rotational position ⁇ of the AC rotating machine 1 using a position detector such as a Hall element, a resolver, or an encoder. Instead of providing the position detector 2, an alternating current is generated based on the current of the first winding set and the current of the second winding set detected by the first current detector 3 and the second current detector 4, respectively.
- the rotational position ⁇ of the rotating machine 1 may be estimated.
- the first current detection unit 3 detects currents i1u, i1v, i1w flowing in the first winding sets U1, V1, W1 of the AC rotating machine 1 using a current detector such as a shunt resistor or a Hall element.
- the second current detection unit 4 detects currents i2u, i2v, i2w flowing in the second winding sets U2, V2, W2 of the AC rotating machine 1 using a current detector such as a shunt resistor or a Hall element.
- the voltage saturation determination unit 5 generates a voltage saturation determination signal vsat_flg that indicates whether or not the voltage is saturated in the first winding group or the second winding group, using the voltage or current.
- the first voltage calculation unit 6 includes current commands id *, iq *, differential current commands ⁇ id *, ⁇ iq *, currents i1u, i1v, i1w of the first winding set detected by the first current detection unit 3, and second Based on the current i2u, i2v, i2w of the second winding set detected by the current detection unit 4 and the voltage saturation determination signal vsat_flg generated by the voltage saturation determination unit 5, the voltage command v1u * of the first winding set , V1v *, v1w * are calculated.
- the second voltage calculation unit 7 includes current commands id *, iq *, differential current commands ⁇ id *, ⁇ iq *, currents i1u, i1v, i1w of the first winding set detected by the first current detection unit 3, and second Based on the current i2u, i2v, i2w of the second winding set detected by the current detection unit 4 and the voltage saturation determination signal vsat_flg generated by the voltage saturation determination unit 5, the voltage command v2u * of the second winding set , V2v *, v2w * are calculated.
- the first power application unit 8 uses a power converter such as an inverter or a matrix converter to modulate the voltage commands v1u *, v1v *, and v1w * of the first winding set using an existing technique such as PWM or PAM. Thus, a voltage is applied to the first winding set U1, V1, W1 of the AC rotating machine 1.
- a power converter such as an inverter or a matrix converter to modulate the voltage commands v1u *, v1v *, and v1w * of the first winding set using an existing technique such as PWM or PAM.
- the second power application unit 9 uses a power converter such as an inverter or a matrix converter to modulate the voltage commands v2u *, v2v *, and v2w * of the second winding set using an existing technique such as PWM or PAM.
- a voltage is applied to the second winding set U2, V2, W2 of the AC rotating machine 1.
- the first voltage calculation unit 6 includes a first dq coordinate converter 10, a second dq coordinate converter 11, a first three-phase coordinate converter 20, a difference current calculator 211, a subtractor 212, and a difference current controller 213. It has a sum voltage calculator 314 composed of a difference voltage calculator 214, a sum current calculator 311, a subtractor 312, and a sum current controller 313, and an adder 401.
- the second voltage calculator 7 includes a first dq coordinate converter 10, a second dq coordinate converter 11, a second three-phase coordinate converter 21, a difference current calculator 211, a subtractor 212, and a difference current controller 213.
- a difference voltage calculation unit 214, a sum current calculation unit 311, a subtraction unit 312, and a sum current control unit 313, a sum voltage calculation unit 314, and a subtraction unit 402 are included.
- the first dq coordinate converter 10 has two rotation axes based on the currents i1u, i1v, i1w of the first winding set detected by the first current detector 3 and the rotational position ⁇ detected by the position detector 2. Currents i1d and i1q on (dq axes) are calculated.
- the second dq coordinate converter 11 is configured to rotate two axes based on the currents i2u, i2v, i2w of the second winding set detected by the second current detector 4 and the rotational position ⁇ detected by the position detector 2. Currents i2d and i2q on (dq axes) are calculated.
- the difference current calculator 211 calculates a difference current that is the difference between the current of the first winding group and the current of the second winding group. Specifically, the difference current calculator 211 calculates the second winding set calculated by the second dq coordinate converter 11 from the currents i1d and i1q of the first winding set calculated by the first dq coordinate converter 10. The currents i2d and i2q are respectively subtracted to calculate difference currents id_dif and iq_dif which are the differences between the current of the first winding group and the current of the second winding group.
- the subtractor 212 subtracts the difference currents id_dif and iq_dif calculated by the difference current calculator 211 from the difference current commands ⁇ id * and ⁇ iq *, respectively, to calculate the deviations did_dif and diq_dif.
- the differential current commands ⁇ id * and ⁇ iq * are set to 0 will be described, but a setting value other than 0 may be used.
- the current controller 213 performs proportional integral control or proportional control with a control gain determined by the voltage saturation determination signal vsat_flg so that the deviations did_dif and diq_dif calculated by the subtractor 212 coincide with zero, and the two rotation axes
- the differential voltages vd_dif * and vq_dif * on (dq axis) are calculated.
- the difference voltage calculation unit 214 determines the difference currents id_dif, iq_dif, the difference current commands ⁇ id *, ⁇ iq *, and the voltage saturation determination signal vsat_flg, which are the differences between the currents of the first winding group and the second winding group. Based on this, the differential voltages vd_dif * and vq_dif * on the two rotation axes (dq axes) are calculated.
- the sum current calculator 311 calculates a sum current that is the sum of the current of the first winding group and the current of the second winding group. Specifically, the sum current calculator 311 includes the currents i1d and i1q of the first winding set calculated by the first dq coordinate converter 10 and the second winding set calculated by the second dq coordinate converter 11. The currents i2d and i2q are added together to calculate sum currents id_sum and iq_sum which are the sum of the current of the first winding group and the current of the second winding group.
- the subtractor 312 subtracts the sum current id_sum and iq_sum calculated by the sum current calculator 311 from the value obtained by multiplying the current commands id * and iq * by K2, and calculates the deviations id_sum and diq_sum.
- K2 is set to 2 (constant).
- the current controller 313 performs proportional integral control or proportional control with a control gain determined by the voltage saturation determination signal vsat_flg so that the deviations did_sum and diq_sum calculated by the subtractor 312 are both equal to 0, and the two rotation axes Sum voltages vd_sum * and vq_sum * on (dq axis) are calculated.
- the sum voltage calculation unit 314 is based on the sum current id_sum, iq_sum, the current command id *, iq *, and the voltage saturation determination signal vsat_flg, which is the sum of the current of the first winding set and the current of the second winding set.
- the sum voltages vd_sum * and vq_sum * on the two rotation axes (dq axes) are calculated.
- the adder 401 adds the sum voltage vd_sum * calculated by the current controller 313 and the difference voltage vd_dif * calculated by the current controller 213 as a d-axis component on the two rotation axes (dq axes). After multiplying by K, the d-axis voltage command v1d ′ * of the first winding set is calculated, and as the q-axis component, the sum voltage vq_sum * calculated by the current controller 313 and the difference calculated by the current controller 213 are calculated. The voltage vq_dif * is added and then multiplied by K to calculate the q-axis voltage command v1q ′ * of the first winding set.
- K is set to 0.5 (constant).
- the subtractor 402 subtracts the difference voltage vd_dif * calculated by the current controller 213 from the sum voltage vd_sum * calculated by the current controller 313 as a d-axis component on the two rotation axes (dq axes). After multiplying by K, the d-axis voltage command v2d ′ * of the second winding set is calculated, and the q-axis component is calculated by the current controller 213 from the sum voltage vq_sum * calculated by the current controller 313. The difference voltage vq_dif * is subtracted and then multiplied by K to calculate the q-axis voltage command v2q ′ * of the second winding set.
- K2 is set to 2 and K is set to 0.5
- a coefficient may be multiplied in the calculation process to obtain an average voltage instead of a sum voltage.
- the first three-phase coordinate converter 20 uses the voltage commands v1u *, v1v *, v1w for the first winding set. * Is calculated.
- the second three-phase coordinate converter 21 uses the voltage commands v2u *, v2v *, v2w for the second winding set based on the voltage commands v2d ′ *, v2q ′ * on the two rotation axes calculated by the subtractor 402. * Is calculated.
- the relational expression between the voltage and current in the AC rotating machine 1 is that the d-axis voltage of the first winding set is v1d, the q-axis voltage is v1q, the d-axis voltage of the second winding set is v2d, and the q-axis voltage is Assuming v2q, it is expressed by the following equation (1).
- s is a differential operator of Laplace transform
- R is resistance
- ⁇ electrical angular velocity
- ⁇ magnetic flux
- Ld is d-axis self-inductance
- Lq is q-axis self-inductance
- Md is d-axis mutual inductance
- Mq Indicates q-axis mutual inductance.
- Equation (2) comparing Equation (2) with Equation (4), replacing Ld in Equation (4) with Ld + Md, Lq with Lq + Mq, and doubling the induced voltage term, it is equivalent to Equation (2).
- Expression (3) is compared with Expression (4), Ld in Expression (4) is replaced with Ld-Md, Lq is replaced with Lq-Mq, and the induced voltage term is set to 0, so that Expression (3) Is equivalent to In Patent Document 1, the control is performed using the sum voltage of the formula (2) and the difference voltage of the formula (3) to make the formula (1) non-interfering.
- the d-axis voltage and the q-axis voltage are limited according to the saturation voltages Vmax1 and Vmax2 as shown in the following equation (5).
- the voltage commands v1d ′ * and v1q ′ * on the two rotation axes calculated by the adder 401 are saturated in the actual output voltage as represented by the equation (5). Limited by voltage Vmax1.
- the voltage commands v2d ′ * and v2q ′ * on the two rotation axes calculated by the subtractor 402 are saturated in the actual output voltage as represented by the equation (5). Limited by voltage Vmax2.
- Equation (1) R, ⁇ , Ld, Lq, Md, and Mq of the first winding group and the second winding group were set to be equal values. Due to factors such as variations, the first winding group and the second winding group are different. Hereinafter, the case where only the R is different between the first winding group and the second winding group and the voltages supplied to the first winding group and the second winding group are equal will be described.
- Vmax1 Vmax2, but the same applies to the case of Vmax1 ⁇ Vmax2.
- R the same applies to the case where the magnetic flux and the inductance are different between the first winding group and the second winding group.
- the expression (6) is expressed by the following expression (7). Can be deformed.
- the first winding set and the second winding set have different voltage vectors. Therefore, for example, even when the first winding set is used up to the saturation voltage, the second winding set can be used only up to a voltage lower than the saturation voltage due to the influence of the specification difference.
- FIG. 2 is an explanatory diagram showing voltage vectors of each winding set in the conventional AC motor control device.
- a vector 600a is an average voltage vector obtained by halving a sum voltage vector obtained by proportional integral control or the like
- a vector 601a is a voltage vector obtained by halving a difference voltage vector obtained by proportional integral control or the like.
- a vector 602a represents a voltage vector of the first winding set not considered for voltage saturation
- a vector 603a represents a voltage vector of the second winding set not considered for voltage saturation.
- the first winding set is shortened to the voltage vector 612a, and the second winding set is shortened from the voltage vector 603a.
- the voltage vector 613a is obtained.
- the voltage vector 612a can use the voltage saturation circle 620 as much as possible, but the voltage vector 613a is set to have a margin up to the voltage saturation circle 620.
- the gain of the difference current is not reduced, and in the voltage saturation region where a larger output torque is required, the d axis in the rotating current biaxial coordinate system of the difference current The output torque is maximized by reducing the component gain.
- FIG. 3 is an explanatory diagram showing voltage vectors of each winding set in the control device for an AC rotary machine according to Embodiment 1 of the present invention.
- a vector 600b is an average voltage vector obtained by halving a sum voltage vector obtained by proportional integral control or the like
- a vector 601b is a voltage vector obtained by halving a difference voltage vector obtained by proportional integral control or the like.
- Vector 602b represents a voltage vector of the first winding set not considered for voltage saturation
- vector 603b represents a voltage vector of the second winding set not considered for voltage saturation.
- the first winding set is shortened to the voltage vector 612b and the second winding set is shortened to the voltage vector 603b.
- the voltage vector 613b is obtained.
- the voltage saturation circle 620 can be used as much as possible for both the voltage vector 612b and the voltage vector 613b by the degree of freedom in the d-axis component of the differential voltage. Therefore, even if the voltage is saturated in one winding set due to the influence of the specification difference between the first winding set and the second winding set, the saturation voltage can be used in both winding sets. Torque can be improved.
- the voltage saturation determination unit determines whether the first winding group or the second winding group is based on at least one of the voltage and current related to the first winding group and the second winding group. It is determined whether or not the voltage is saturated in the winding group, and when it is determined that the voltage is saturated in the first winding group or the second winding group, at least one of the rotating two-axis coordinate system A voltage saturation determination signal for reducing the gain of the axial component of is generated. Therefore, it is possible to obtain a control device and a control method for an AC rotating machine that can use a voltage command up to a saturation voltage in each winding group even when there is a specification difference between the winding groups.
- the voltage saturation determination unit 5 simply uses the voltage or current to determine whether or not the voltage is saturated in the first winding group or the second winding group.
- the voltage saturation determination signal vsat_flg Explained to generate.
- FIG. 4 is a configuration diagram showing a voltage saturation determination unit 5a in the control device for an AC rotary machine according to Embodiment 2 of the present invention.
- the voltage saturation determination unit 5a turns on the voltage saturation determination signal vsat_flg, for example, when the right side of the equation (11) is equal to or greater than the left side, and turns off the voltage saturation determination signal vsat_flg otherwise.
- Hysteresis may be provided between the ON determination threshold and the OFF determination threshold so that the voltage saturation determination signal vsat_flg is not hunted.
- the voltage saturation determination signal vsat_flg needs to be used when calculating the sum voltages vd_sum * and vq_sum *, the previous values of the sum voltages vd_sum * and vq_sum * are used to generate the voltage saturation determination signal vsat_flg. Good.
- the voltage saturation determination unit 5a generates the voltage saturation determination signal vsat_flg based on the sum voltage, thereby performing simple voltage saturation determination without confirming the voltage saturation status of each group. Can do.
- FIG. 5 is a configuration diagram showing a voltage saturation determination unit 5b in the control device for an AC rotary machine according to Embodiment 3 of the present invention.
- the voltage saturation determination unit 5b generates a voltage saturation determination signal vsat_flg based on the voltage commands v1d '* and v1q' * of the first winding set.
- the voltage saturation is determined based only on the voltage command of the first winding set, but the voltage saturation is determined only based on the voltage commands v2d ′ * and v2q ′ * of the second winding set.
- the voltage saturation may be determined based on both the voltage command for the first winding group and the voltage command for the second winding group.
- the voltage saturation determination unit 5b turns on the voltage saturation determination signal vsat_flg, for example, when the left side of the equation (12) is equal to or greater than the right side, and turns off the voltage saturation determination signal vsat_flg otherwise. .
- the first winding is used to generate the voltage saturation determination signal vsat_flg.
- the previous value of the set of voltage commands v1d ′ * and v1q ′ * may be used.
- Hysteresis may be provided between the ON determination threshold and the OFF determination threshold so that the voltage saturation determination signal vsat_flg is not hunted.
- the voltage saturation determination unit 5b generates the voltage saturation determination signal vsat_flg based on at least one of the voltage command for the first winding group and the voltage command for the second winding group. The situation can be checked and an accurate voltage saturation determination can be performed.
- FIG. 4 In the second embodiment and the third embodiment, the voltage saturation is determined based on the voltage command such as the sum voltage and the voltage command of the first winding group.
- FIG. 6 The case where voltage saturation is determined using the voltage saturation determination unit 5c shown in FIG. FIG. 6 is a configuration diagram showing a voltage saturation determination unit 5c in the control device for an AC rotary machine according to Embodiment 4 of the present invention.
- the voltage saturation determination unit 5c generates a voltage saturation determination signal vsat_flg based on the sum currents id_sum and iq_sum and the current commands id * and iq *.
- a control expression represented by Expression (13) may be used.
- the voltage saturation determination unit 5c turns on the voltage saturation determination signal vsat_flg when the left side of the equation (13) is equal to or greater than the right side, and turns off the voltage saturation determination signal vsat_flg otherwise.
- Hysteresis may be provided between the ON determination threshold and the OFF determination threshold so that the voltage saturation determination signal vsat_flg is not hunted.
- the voltage saturation determination unit 5c generates the voltage saturation determination signal vsat_flg based on the sum current and the current command, so that the voltage saturation can be determined from the latest measured value that is not the previous command. . Moreover, the calculation using the voltage command can be reduced by determining the voltage saturation based on the difference between the detected current and the current command.
- Embodiment 5 FIG.
- the first winding set and the second winding set have a phase difference that cancels out the torque ripple of the sixth component of the electrical angular velocity, compared to the first embodiment. Is different. Hereinafter, this case will be described.
- FIG. 7 is an explanatory diagram showing a possible range of the voltage vector of the first winding set in the control device for an AC rotating machine according to the fifth embodiment of the present invention.
- the range of the voltage command for each phase is limited by the power supply voltage, so that the settable voltage vector is limited to the inside of the regular hexagon 700.
- the same voltage vector can be output at any rotational position as long as it is a voltage vector 702a that fits inside a circle 701a inscribed in the regular hexagon 700. It is known that the voltage utilization rate can be improved by setting this state to a modulation rate of 100% and using various modulation methods such as space vector modulation.
- FIG. 8 is another explanatory diagram showing a possible range of the voltage vector of the first winding set in the control device for an AC rotary machine according to Embodiment 5 of the present invention.
- the voltage vector 702b determined according to the circle 701b exceeding the regular hexagon 700 at some angles shown in FIG. 8 the angle exceeding the regular hexagon 700 is limited to the inside of the regular hexagon 700. .
- FIGS. 9A and 9B are explanatory diagrams showing voltage vectors in two winding sets having different phases in the control device for an AC rotating machine according to Embodiment 5 of the present invention.
- U1, V1, and W1 in the first winding group are advanced in phase by 30 ° with respect to U2, V2, and W2 in the second winding group.
- the voltage vector 713c of the second winding set is limited by the regular hexagon 710.
- the sum of the voltage vectors of the first winding group and the second winding group cancels the output fluctuations.
- FIG. 10 illustrates an example of current and torque when the phase difference between the first winding group and the second winding group is 30 ° in the control device for an AC rotary machine according to Embodiment 5 of the present invention.
- FIG. 10 since the electrical angular frequency is 120 Hz with a modulation rate greater than 100%, the 720 Hz ripple appearing in any output of the d-axis current, the q-axis current, and the torque is the electrical angular velocity sixth-order component. Become.
- torque ripple is generated in each of the first winding group and the second winding group, but the torque ripple of the first winding group and the torque ripple of the second winding group are in opposite phases, and the first The torque ripple of the electrical angular velocity 6th order component included in the sum of the output torque of the winding set and the output torque of the second winding set becomes small due to the canceling effect.
- the phase difference is 30 ° will be described, but the phase difference between the first winding group and the second winding group is not limited to 30 °.
- FIG. 11 shows the current and torque when the phase difference between the first winding group and the second winding group is 22.5 ° in the control device for an AC rotary machine according to Embodiment 5 of the present invention. It is explanatory drawing which illustrates this. Even in this calculation example, when the electrical angular frequency is 120 Hz with a modulation rate larger than 100%, as in the example in which the phase difference is 30 °, any output of the d-axis current, the q-axis current, and the torque can be obtained. A torque ripple of 720 Hz, which is a sixth-order electrical angular velocity component, is generated.
- the torque ripple of the first winding group and the torque ripple of the second winding group are substantially in opposite phases, and a canceling effect can be obtained although not as much as when the phase difference is 30 °.
- the torque ripple of the sixth component of the electrical angular velocity included in the sum of the output torque of the wire set and the output torque of the second winding set becomes small.
- the torque ripple of the electrical angular velocity sixth-order component becomes almost the same size.
- FIG. 3 when the voltage is saturated in one winding set due to the difference in the specifications of the first winding set and the second winding set, up to the saturation voltage is used in both winding sets.
- the electrical angular velocity 6th order component of the torque ripple of the first winding set and the electrical angular speed 6th order component of the torque ripple of the second winding set are the same in magnitude and reversed in phase.
- the torque ripple of the electrical angular velocity 6th order component included in the sum of the output torque of the wire set and the output torque of the second winding set can be reduced by the canceling effect.
- Embodiment 6 FIG.
- the gain of the d-axis component in the rotating biaxial coordinate system of the difference current is reduced in the voltage saturation region.
- the state shown in FIG. 2 and the state shown in FIG. 3 are transitioned to cause torque ripple.
- Embodiment 6 of the present invention a case will be described in which the gain of the d-axis component in the rotating biaxial coordinate system of the difference current is set to 0 in the voltage saturation region.
- FIG. 12 is an explanatory diagram showing voltage vectors of each winding set in the control device for an AC rotary machine according to Embodiment 6 of the present invention.
- a vector 600c is an average voltage vector obtained by halving a sum voltage vector obtained by proportional integral control or the like
- a vector 601c is a voltage vector obtained by halving a difference voltage vector obtained by proportional integral control or the like.
- Vector 602c represents a voltage vector of the first winding set not considered for voltage saturation
- vector 603c represents a voltage vector of the second winding set not considered for voltage saturation.
- the first winding set is shortened to the voltage vector 612c and the second winding set is shortened to the voltage vector 603c.
- the voltage vector 613c is obtained.
- the voltage saturation circle 620 can be used to the maximum for both sets of windings even for low frequency target value fluctuations.
- the saturation voltage can be used in both winding sets. Torque can be improved. Further, when the differential voltage is obtained by the proportional-integral control, the magnitude relationship of the Vq components of the voltage vector 601c and the voltage vector 611c can be matched by generating a voltage vector as shown in FIG. Therefore, reset windup can be suppressed by correctly calculating the integral term.
- Embodiment 7 FIG.
- the gain of the d-axis component in the rotating current biaxial coordinate system of the difference current is set to 0 in the voltage saturation region, but the absolute value of the d-axis component of the difference voltage vector is greater than the absolute value of the q-axis component. Is too large, that is, when the angle formed with the Vq axis in FIG. 12 is small, the differential voltage command vector becomes large, and when it overlaps with the Vq axis, it becomes infinite.
- Embodiment 7 of the present invention a case where the gain of the q-axis component in the rotating biaxial coordinate system of the difference current is set to 0 in the voltage saturation region will be described.
- FIG. 13 is an explanatory diagram showing voltage vectors of each winding set in the control device for an AC rotary machine according to Embodiment 7 of the present invention.
- a vector 600d is an average voltage vector obtained by halving a sum voltage vector obtained by proportional integral control or the like
- a vector 601d is a voltage vector obtained by halving a difference voltage vector obtained by proportional integral control or the like.
- 602d is a voltage vector of the first winding set that is not considered for voltage saturation
- vector 603d is a voltage vector of the second winding set that is not considered for voltage saturation.
- the first winding set is shortened to the voltage vector 612d and the second winding set is shortened to the voltage vector 603d.
- the voltage vector 613d is obtained.
- the voltage saturation circle 620 can be used to the maximum for both sets of windings even for low frequency target value fluctuations.
- the saturation voltage can be used in both winding sets. Torque can be improved. Further, when the differential voltage is obtained by the proportional-integral control, the magnitude relationship of the Vd components of the voltage vector 601d and the voltage vector 611d can be matched by generating a voltage vector as shown in FIG. Therefore, reset windup can be suppressed by correctly calculating the integral term.
- Embodiment 8 FIG.
- the gain of at least one axis component in the rotating biaxial coordinate system of the difference current is reduced or set to 0 in the voltage saturation region, but there is a detection error of current or angle. Appears as a fluctuation of the sum voltage.
- the torque ripple of the sixth component of the electrical angular velocity generated due to the specification difference can be reduced by the canceling effect by reducing the gain of the difference current, but it cannot be completely removed, and the reluctance
- the torque ripple of the electrical angular velocity 12th order component cannot be offset and remains.
- T the generated torque
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
Description
特許文献1に記載された交流電動機制御装置は、各インバータの平均電流および差電流を制御することにより、非干渉化を実現している。なお、複数の巻線組の諸元が全く同じであれば、等しい電流を出力するための電圧指令も等しくなるが、実際には、製造ばらつき等によって、巻線組間には諸元差が存在する。
そのため、巻線組間に諸元差が存在する場合であっても、各巻線組で電圧指令を飽和電圧まで使用することができる交流回転機の制御装置および制御方法を得ることができる。
図1は、この発明の実施の形態1に係る交流回転機の制御装置を、交流回転機とともに示す構成図である。
そのため、巻線組間に諸元差が存在する場合であっても、各巻線組で電圧指令を飽和電圧まで使用することができる交流回転機の制御装置および制御方法を得ることができる。
上記実施の形態1では、電圧飽和判定部5が、単に、電圧または電流を用いて、第1巻線組または第2巻線組において電圧が飽和しているか否かを示す電圧飽和判定信号vsat_flgを生成すると説明した。
上記実施の形態2では、電圧飽和判定部5aが、和電圧に基づいて簡易的に電圧飽和の判定を実行したが、この発明の実施の形態3では、図5に示した電圧飽和判定部5bを用いて電圧飽和を判定する場合について説明する。図5は、この発明の実施の形態3に係る交流回転機の制御装置における電圧飽和判定部5bを示す構成図である。
上記実施の形態2および実施の形態3では、和電圧および第1巻線組の電圧指令等といった電圧指令に基づいて電圧飽和の判定を実行したが、この発明の実施の形態4では、図6に示した電圧飽和判定部5cを用いて電圧飽和を判定する場合について説明する。図6は、この発明の実施の形態4に係る交流回転機の制御装置における電圧飽和判定部5cを示す構成図である。
この発明の実施の形態5では、上記実施の形態1に対して、第1巻線組と第2巻線組とで、電気角速度6次成分のトルクリプルを相殺するような位相差を有することが異なっている。以下、この場合について説明する。
上記実施の形態1では、電圧飽和領域において、差電流の回転2軸座標系におけるd軸成分のゲインを低下させたが、制御応答周波数付近の目標値変動に対しては、d軸差電流が目標に追従したりしなかったりするので、図2に示した状態と図3に示した状態とを遷移することになり、トルクリプルが発生する要因となる。
上記実施の形態6では、電圧飽和領域において、差電流の回転2軸座標系におけるd軸成分のゲインを0としたが、差電圧ベクトルのd軸成分の絶対値がq軸成分の絶対値よりも著しく大きい場合、すなわち図12においてVq軸となす角が小さい場合には、差電圧指令ベクトルが大きくなり、Vq軸と重なった場合には、無限大の大きさとなる。
上記実施の形態6および実施の形態7では、電圧飽和領域において、差電流の回転2軸座標系における少なくとも一方の軸成分のゲインを低下または0としたが、電流や角度の検出誤差がある場合には、和電圧の変動として現れる。
Claims (16)
- 第1巻線組および第2巻線組を有する交流回転機を制御する交流回転機の制御装置であって、
前記第1巻線組に流れる電流および前記第2巻線組に流れる電流をそれぞれ検出する電流検出部と、
前記第1巻線組の電流と前記第2巻線組の電流との和である和電流と、前記交流回転機の電流指令とに基づいて、回転2軸座標系の和電圧を演算する和電圧演算部と、
前記第1巻線組の電流と前記第2巻線組の電流との差である差電流に基づいて、回転2軸座標系の差電圧を演算する差電圧演算部と、
前記和電圧と前記差電圧との和に基づいて、前記第1巻線組の電圧指令を演算する第1電圧演算部と、
前記和電圧と前記差電圧との差に基づいて、前記第2巻線組の電圧指令を演算する第2電圧演算部と、
前記第1巻線組および前記第2巻線組に係る電圧および電流の少なくとも一方に基づいて、前記第1巻線組または前記第2巻線組において電圧が飽和しているか否かを判定するとともに、前記第1巻線組または前記第2巻線組において電圧が飽和していると判定された場合に、回転2軸座標系の少なくとも一方の軸方向成分のゲインを下げるための電圧飽和判定信号を生成する電圧飽和判定部と、
を備えた交流回転機の制御装置。 - 前記第1巻線組と前記第2巻線組とは、電気角速度6次成分のトルクリプルを相殺するような位相差を有する
請求項1に記載の交流回転機の制御装置。 - 前記第1巻線組と前記第2巻線組との位相差は、(30±60×n)°である
請求項2に記載の交流回転機の制御装置。 - 前記差電圧演算部は、電圧飽和時に回転2軸座標系におけるq軸成分のゲインを低下させる
請求項1から請求項3までの何れか1項に記載の交流回転機の制御装置。 - 前記差電圧演算部は、電圧飽和時に回転2軸座標系におけるq軸成分のゲインを0とする
請求項1から請求項4までの何れか1項に記載の交流回転機の制御装置。 - 前記差電圧演算部は、電圧飽和時に回転2軸座標系におけるd軸成分のゲインを低下させる
請求項1から請求項5までの何れか1項に記載の交流回転機の制御装置。 - 前記差電圧演算部は、電圧飽和時に回転2軸座標系におけるd軸成分のゲインを0とする
請求項1から請求項6までの何れか1項に記載の交流回転機の制御装置。 - 前記和電圧演算部は、電圧飽和時に回転2軸座標系におけるd軸成分のゲインを低下させる
請求項1から請求項7までの何れか1項に記載の交流回転機の制御装置。 - 前記和電圧演算部は、電圧飽和時に回転2軸座標系におけるd軸成分のゲインを、前記差電圧演算部のd軸成分のゲインと同じ比率で低下させる
請求項1から請求項8までの何れか1項に記載の交流回転機の制御装置。 - 前記和電圧演算部は、電圧飽和時に回転2軸座標系におけるd軸成分のゲインを低下させる
請求項1から請求項9までの何れか1項に記載の交流回転機の制御装置。 - 前記和電圧演算部は、電圧飽和時に回転2軸座標系におけるq軸成分のゲインを、前記差電圧演算部のq軸成分のゲインと同じ比率で低下させる
請求項1から請求項10までの何れか1項に記載の交流回転機の制御装置。 - 前記電圧飽和判定部は、前記和電圧に基づいて、前記電圧飽和判定信号を生成する
請求項1から請求項11までの何れか1項に記載の交流回転機の制御装置。 - 前記電圧飽和判定部は、前記第1巻線組の電圧指令および前記第2巻線組の電圧指令の少なくとも一方に基づいて、前記電圧飽和判定信号を生成する
請求項1から請求項11までの何れか1項に記載の交流回転機の制御装置。 - 前記電圧飽和判定部は、前記和電流と前記電流指令とに基づいて、前記電圧飽和判定信号を生成する
請求項1から請求項11までの何れか1項に記載の交流回転機の制御装置。 - 請求項1から請求項14までの何れか1項に記載の交流回転機の制御装置を備えた
電動パワーステアリング装置。 - 第1巻線組および第2巻線組を有する交流回転機を制御する交流回転機の制御方法であって、
前記第1巻線組に流れる電流および前記第2巻線組に流れる電流をそれぞれ検出する電流検出ステップと、
前記第1巻線組の電流と前記第2巻線組の電流との和である和電流と、前記交流回転機の電流指令とに基づいて、回転2軸座標系の和電圧を演算する和電圧演算ステップと、
前記第1巻線組の電流と前記第2巻線組の電流との差である差電流に基づいて、回転2軸座標系の差電圧を演算する差電圧演算ステップと、
前記和電圧と前記差電圧との和に基づいて、前記第1巻線組の電圧指令を演算する第1電圧演算ステップと、
前記和電圧と前記差電圧との差に基づいて、前記第2巻線組の電圧指令を演算する第2電圧演算ステップと、
前記第1巻線組および前記第2巻線組に係る電圧および電流の少なくとも一方に基づいて、前記第1巻線組または前記第2巻線組において電圧が飽和しているか否かを判定するとともに、前記第1巻線組または前記第2巻線組において電圧が飽和していると判定された場合に、回転2軸座標系の少なくとも一方の軸方向成分のゲインを下げるための電圧飽和判定信号を生成する電圧飽和判定ステップと、
を有する交流回転機の制御方法。
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
CN201480078655.9A CN106464182B (zh) | 2014-04-28 | 2014-04-28 | 交流旋转电机的控制装置、控制方法及电动助力转向装置 |
JP2016515776A JP6188931B2 (ja) | 2014-04-28 | 2014-04-28 | 交流回転機の制御装置および制御方法、並びに電動パワーステアリング装置 |
US15/124,727 US9712096B2 (en) | 2014-04-28 | 2014-04-28 | Control apparatus and control method for AC rotary machine, and electric power steering apparatus |
EP14890878.3A EP3139490B1 (en) | 2014-04-28 | 2014-04-28 | Ac rotating machine control device and control method, and electric power steering device |
PCT/JP2014/061854 WO2015166528A1 (ja) | 2014-04-28 | 2014-04-28 | 交流回転機の制御装置および制御方法、並びに電動パワーステアリング装置 |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
PCT/JP2014/061854 WO2015166528A1 (ja) | 2014-04-28 | 2014-04-28 | 交流回転機の制御装置および制御方法、並びに電動パワーステアリング装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2015166528A1 true WO2015166528A1 (ja) | 2015-11-05 |
Family
ID=54358282
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2014/061854 WO2015166528A1 (ja) | 2014-04-28 | 2014-04-28 | 交流回転機の制御装置および制御方法、並びに電動パワーステアリング装置 |
Country Status (5)
Country | Link |
---|---|
US (1) | US9712096B2 (ja) |
EP (1) | EP3139490B1 (ja) |
JP (1) | JP6188931B2 (ja) |
CN (1) | CN106464182B (ja) |
WO (1) | WO2015166528A1 (ja) |
Cited By (9)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017187601A1 (ja) * | 2016-04-28 | 2017-11-02 | 三菱電機株式会社 | 角度検出装置および電動パワーステアリングの制御装置 |
JP2017208901A (ja) * | 2016-05-17 | 2017-11-24 | 株式会社デンソー | 回転機の制御装置 |
WO2018087917A1 (ja) * | 2016-11-14 | 2018-05-17 | 三菱電機株式会社 | モータ制御装置、およびそのモータ制御装置を備えた電動パワーステアリングの制御装置 |
JP2018121523A (ja) * | 2018-04-13 | 2018-08-02 | キヤノン株式会社 | モータ制御装置及び画像形成装置 |
CN108423063A (zh) * | 2017-02-15 | 2018-08-21 | 株式会社万都 | 用于控制电动转向系统的电机的设备和方法 |
WO2019038815A1 (ja) * | 2017-08-21 | 2019-02-28 | 三菱電機株式会社 | 電力変換装置および電動パワーステアリング装置 |
CN109562756A (zh) * | 2016-08-12 | 2019-04-02 | 株式会社电装 | 旋转电机的故障检测装置 |
US10602009B2 (en) | 2016-05-31 | 2020-03-24 | Canon Kabushiki Kaisha | Motor control apparatus, sheet conveyance apparatus, and image forming apparatus |
WO2023209803A1 (ja) * | 2022-04-26 | 2023-11-02 | 三菱電機株式会社 | 交流回転機の制御装置 |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US10696175B2 (en) | 2017-08-16 | 2020-06-30 | Ford Global Technologies, Llc | Variable inverter output |
CN108400745B (zh) * | 2018-03-26 | 2020-12-04 | 杭州先途电子有限公司 | 一种电机控制方法及装置 |
CN109560737B (zh) * | 2019-01-04 | 2020-10-16 | 深圳市福瑞电气有限公司 | 一种永磁同步电机控制中抑制高速过流的方法及装置 |
EP3832882A1 (en) * | 2019-12-03 | 2021-06-09 | ABB Schweiz AG | Method of controlling a multi-phase electrical machine |
Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06153569A (ja) * | 1992-11-04 | 1994-05-31 | Fanuc Ltd | Acサーボモータの電流制御方法 |
JPH10262399A (ja) * | 1997-03-18 | 1998-09-29 | Yaskawa Electric Corp | 誘導電動機の制御装置 |
JP2008067582A (ja) * | 2006-09-11 | 2008-03-21 | Kayaba Ind Co Ltd | モータ制御装置、モータ制御方法およびアクチュエータ |
JP2013230019A (ja) * | 2012-04-26 | 2013-11-07 | Denso Corp | 3相回転機の制御装置 |
JP2014003765A (ja) * | 2012-06-15 | 2014-01-09 | Denso Corp | モータ制御装置、及び、これを用いた電動パワーステアリング装置 |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2614788B2 (ja) | 1991-04-24 | 1997-05-28 | 株式会社日立製作所 | 交流電動機制御装置 |
US9954472B2 (en) * | 2013-11-08 | 2018-04-24 | Mitsubishi Electric Corporation | Control apparatus for AC rotary machine |
US20150145462A1 (en) * | 2013-11-25 | 2015-05-28 | Rockwell Automation Technologies, Inc. | Method and apparatus for current auto balancing for parallel converter systems |
US9735773B2 (en) * | 2014-04-29 | 2017-08-15 | Allegro Microsystems, Llc | Systems and methods for sensing current through a low-side field effect transistor |
-
2014
- 2014-04-28 US US15/124,727 patent/US9712096B2/en active Active
- 2014-04-28 EP EP14890878.3A patent/EP3139490B1/en active Active
- 2014-04-28 JP JP2016515776A patent/JP6188931B2/ja not_active Expired - Fee Related
- 2014-04-28 CN CN201480078655.9A patent/CN106464182B/zh not_active Expired - Fee Related
- 2014-04-28 WO PCT/JP2014/061854 patent/WO2015166528A1/ja active Application Filing
Patent Citations (5)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH06153569A (ja) * | 1992-11-04 | 1994-05-31 | Fanuc Ltd | Acサーボモータの電流制御方法 |
JPH10262399A (ja) * | 1997-03-18 | 1998-09-29 | Yaskawa Electric Corp | 誘導電動機の制御装置 |
JP2008067582A (ja) * | 2006-09-11 | 2008-03-21 | Kayaba Ind Co Ltd | モータ制御装置、モータ制御方法およびアクチュエータ |
JP2013230019A (ja) * | 2012-04-26 | 2013-11-07 | Denso Corp | 3相回転機の制御装置 |
JP2014003765A (ja) * | 2012-06-15 | 2014-01-09 | Denso Corp | モータ制御装置、及び、これを用いた電動パワーステアリング装置 |
Non-Patent Citations (1)
Title |
---|
See also references of EP3139490A4 * |
Cited By (18)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2017187601A1 (ja) * | 2016-04-28 | 2017-11-02 | 三菱電機株式会社 | 角度検出装置および電動パワーステアリングの制御装置 |
JPWO2017187601A1 (ja) * | 2016-04-28 | 2018-07-19 | 三菱電機株式会社 | 角度検出装置および電動パワーステアリングの制御装置 |
US11150075B2 (en) | 2016-04-28 | 2021-10-19 | Mitsubishi Electric Corporation | Angle detection device and electric power steering control device |
JP2017208901A (ja) * | 2016-05-17 | 2017-11-24 | 株式会社デンソー | 回転機の制御装置 |
US10602009B2 (en) | 2016-05-31 | 2020-03-24 | Canon Kabushiki Kaisha | Motor control apparatus, sheet conveyance apparatus, and image forming apparatus |
CN109562756B (zh) * | 2016-08-12 | 2022-04-01 | 株式会社电装 | 旋转电机的故障检测装置 |
CN109562756A (zh) * | 2016-08-12 | 2019-04-02 | 株式会社电装 | 旋转电机的故障检测装置 |
WO2018087917A1 (ja) * | 2016-11-14 | 2018-05-17 | 三菱電機株式会社 | モータ制御装置、およびそのモータ制御装置を備えた電動パワーステアリングの制御装置 |
CN109952701B (zh) * | 2016-11-14 | 2022-06-10 | 三菱电机株式会社 | 电动机控制装置及具备该电动机控制装置的电动助力转向控制装置 |
CN109952701A (zh) * | 2016-11-14 | 2019-06-28 | 三菱电机株式会社 | 电动机控制装置及具备该电动机控制装置的电动助力转向控制装置 |
EP3531554A4 (en) * | 2016-11-14 | 2019-10-23 | Mitsubishi Electric Corporation | MOTOR CONTROL DEVICE AND CONTROL DEVICE FOR AN ELECTRIC POWER STEERING DEVICE WITH THIS MOTOR CONTROL DEVICE |
US11130518B2 (en) | 2016-11-14 | 2021-09-28 | Mitsubishi Electric Corporation | Motor control apparatus and electric power steering control apparatus equipped with the motor control apparatus |
CN108423063B (zh) * | 2017-02-15 | 2021-05-25 | 株式会社万都 | 用于控制电动转向系统的电机的设备和方法 |
US10919566B2 (en) | 2017-02-15 | 2021-02-16 | Mando Corporation | Apparatus and method for controlling motor for electric power steering system |
CN108423063A (zh) * | 2017-02-15 | 2018-08-21 | 株式会社万都 | 用于控制电动转向系统的电机的设备和方法 |
WO2019038815A1 (ja) * | 2017-08-21 | 2019-02-28 | 三菱電機株式会社 | 電力変換装置および電動パワーステアリング装置 |
JP2018121523A (ja) * | 2018-04-13 | 2018-08-02 | キヤノン株式会社 | モータ制御装置及び画像形成装置 |
WO2023209803A1 (ja) * | 2022-04-26 | 2023-11-02 | 三菱電機株式会社 | 交流回転機の制御装置 |
Also Published As
Publication number | Publication date |
---|---|
EP3139490B1 (en) | 2021-04-28 |
EP3139490A4 (en) | 2017-12-27 |
US20170019048A1 (en) | 2017-01-19 |
US9712096B2 (en) | 2017-07-18 |
CN106464182A (zh) | 2017-02-22 |
CN106464182B (zh) | 2020-04-28 |
EP3139490A1 (en) | 2017-03-08 |
JP6188931B2 (ja) | 2017-08-30 |
JPWO2015166528A1 (ja) | 2017-04-20 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
JP6188931B2 (ja) | 交流回転機の制御装置および制御方法、並びに電動パワーステアリング装置 | |
JP5957704B2 (ja) | 電動機制御装置 | |
JP5409727B2 (ja) | 交流電動機の速度制御装置 | |
JP5992113B2 (ja) | 交流回転機の制御装置 | |
JP2009290929A (ja) | 永久磁石形同期電動機の制御装置 | |
US10411634B2 (en) | Controller anti-windup for permanent magnet synchronous machines | |
JP6115392B2 (ja) | モータ制御装置 | |
JP2009261103A (ja) | モータ制御装置 | |
JP7032522B2 (ja) | 電動機制御装置 | |
JP2007135345A (ja) | 磁石モータ制御装置 | |
JP2018057170A (ja) | 交流電動機の制御装置 | |
JP6358834B2 (ja) | 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 | |
JP2004120834A (ja) | Dcブラシレスモータの制御装置 | |
JP2016220364A (ja) | 永久磁石同期電動機の制御装置 | |
JP6417881B2 (ja) | 誘導モータの制御装置 | |
JP5744227B2 (ja) | 交流回転機の制御装置及び交流回転機の制御装置を備えた電動パワーステアリング装置 | |
JP2013188074A (ja) | 誘導モータの制御装置および制御方法 | |
JP6032047B2 (ja) | モータ制御装置 | |
WO2015105093A1 (ja) | 電動機の制御装置 | |
JP2015220944A (ja) | 同期電動機のセンサレス駆動装置 | |
JP6464559B2 (ja) | 電動機の制御装置 | |
JP7225561B2 (ja) | モータ制御方法、及び、モータ制御装置 | |
JP7163641B2 (ja) | 同期電動機の制御装置 | |
JP2007143275A (ja) | Dcブラシレスモータのロータ角度推定方法及びdcブラシレスモータの制御装置 | |
JP5333839B2 (ja) | モータ制御装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 14890878 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2016515776 Country of ref document: JP Kind code of ref document: A |
|
REEP | Request for entry into the european phase |
Ref document number: 2014890878 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 2014890878 Country of ref document: EP |
|
WWE | Wipo information: entry into national phase |
Ref document number: 15124727 Country of ref document: US |
|
NENP | Non-entry into the national phase |
Ref country code: DE |