WO2015177878A1 - Dispositif de commande de machine tournante et procédé de correction d'erreur de tension - Google Patents

Dispositif de commande de machine tournante et procédé de correction d'erreur de tension Download PDF

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Publication number
WO2015177878A1
WO2015177878A1 PCT/JP2014/063385 JP2014063385W WO2015177878A1 WO 2015177878 A1 WO2015177878 A1 WO 2015177878A1 JP 2014063385 W JP2014063385 W JP 2014063385W WO 2015177878 A1 WO2015177878 A1 WO 2015177878A1
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WO
WIPO (PCT)
Prior art keywords
rotating machine
voltage
voltage correction
command
power
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PCT/JP2014/063385
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English (en)
Japanese (ja)
Inventor
伊藤　正人
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三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2014/063385 priority Critical patent/WO2015177878A1/fr
Publication of WO2015177878A1 publication Critical patent/WO2015177878A1/fr

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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
    • H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors

Definitions

  • the present invention relates to a control device for a rotating machine and a voltage error correction method for driving the rotating machine using a power semiconductor or the like.
  • a switching operation is performed by providing a time lag called dead time (hereinafter expressed as Td).
  • Td dead time
  • the voltage pulse generated by switching becomes a voltage pulse shorter by Td time than that indicated by the command value from the outside. Therefore, the output voltage from the power converter is insufficient with respect to the voltage command.
  • the theoretical value ⁇ V of the undervoltage is widely known from Td as follows when the carrier frequency is fc and the DC voltage of the power converter is Vdc. The control performance of the machine may be deteriorated.
  • the S / W method is a method of correcting indirectly by adding the undervoltage theoretical value of equation (1) to the voltage command (see, for example, Patent Document 1). Since this correction process is performed by a microcomputer or the like, the S / W calculation process increases, but the addition of H / W is unnecessary, so there is no cost increase.
  • the correction by S / W uses the equation (1), but the actual undervoltage is not the same as (1), but is multiplied by k which is a Td correction coefficient as in the equation (2). .
  • the Td correction coefficient (k) is variable as a function of only the current.
  • the Td correction coefficient is influenced by the stray capacitance of the wiring between the power converter and the rotating machine in addition to the current. It may change. In particular, when the wiring length is as short as several meters, the stray capacitance of the wiring can be almost ignored. However, when the wiring length exceeds several tens of meters, the Td correction coefficient changes so that the influence of the stray capacitance of the wiring cannot be ignored. Therefore, when the Td correction coefficient is a function of only the current, the voltage error cannot be corrected correctly due to the stray capacitance of the wiring. That is, in some cases, the voltage error correction may be excessive or insufficient, and the control performance may be deteriorated.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a control device for a rotating machine and a voltage error correction method capable of improving control performance.
  • a control device for a rotating machine converts a DC power supplied from the outside into an AC power to generate a driving power for the rotating machine.
  • a voltage command generation unit that generates a voltage command for driving the rotating machine for the power conversion unit based on a command from the outside, and driving the rotating machine by adding a voltage correction amount to the voltage command for driving the rotating machine
  • a voltage adding unit that corrects the voltage command for use, and a plurality of voltage correction patterns used in the calculation of the voltage correction amount, and based on the voltage command for driving the rotating machine and the current flowing through the rotating machine
  • a voltage correction pattern determination unit that calculates a physical quantity related to stray capacitance between the power converter and the rotating machine, and selects a voltage correction pattern corresponding to the calculated physical quantity from the plurality of voltage correction patterns; Characterized in that it comprises a voltage correction amount calculation unit for calculating the voltage correction amount based on the value of the current flowing through the voltage correction pattern determination unit voltage correction pattern and the
  • the control device for a rotating machine according to the present invention produces an effect that the control performance of the rotating machine can be improved.
  • FIG. 1 is a diagram illustrating a configuration example of a control device for a rotating machine according to the first embodiment.
  • FIG. 2 is a diagram illustrating a configuration example of the power conversion unit.
  • FIG. 3 is a diagram illustrating an example of switching control in the power conversion unit.
  • FIG. 4 is a diagram illustrating an example of a voltage correction pattern.
  • FIG. 5 is a diagram for explaining the operation of the voltage correction pattern determination unit according to the first embodiment.
  • FIG. 6 is a diagram illustrating an example of a voltage correction pattern stored in the voltage correction pattern storage unit according to the first embodiment.
  • FIG. 7 is a diagram illustrating a configuration example of a control device for a rotating machine according to the second embodiment.
  • FIG. 8 is a diagram for explaining the operation of the voltage correction pattern determination unit according to the second embodiment.
  • FIG. 9 is a diagram illustrating an example of a voltage correction pattern stored in the voltage correction pattern storage unit according to the second embodiment.
  • FIG. 1 is a diagram illustrating a configuration example of a control device for a rotating machine according to the first embodiment.
  • the control device for a rotating machine according to the present embodiment is a device that generates a drive voltage to be applied to the rotating machine 1, and includes a current detection unit 2, a power conversion unit 3, a voltage addition unit 4, a voltage command generation unit 5, and a voltage.
  • a correction amount calculation unit 6 and a voltage correction pattern determination unit 7 are provided.
  • the rotating machine 1 is a rotating machine such as a three-phase induction motor or a three-phase permanent magnet synchronous machine, that is, a rotating machine having three-phase windings.
  • the current detector 2 detects the U-phase rotating machine current iu, the V-phase rotating machine current iv, and the W-phase rotating machine current iw flowing through the rotating machine 1.
  • the power conversion unit 3 includes, for example, six semiconductor switches as shown in FIG. 2, that is, the upper arm side semiconductor switch UP31, the semiconductor switch VP32 and the semiconductor switch WP33, the lower arm side semiconductor switch UN34, and the semiconductor switch.
  • This is a three-phase inverter having VN 35 and semiconductor switch WN36.
  • the switching control unit 37 turns each semiconductor switch on and off based on the addition voltage command from the voltage addition unit 4, so that a pulsed U-phase voltage (Vu) is generated from the DC voltage Vdc.
  • the V-phase voltage (Vv) and the W-phase voltage (Vw) are generated and applied to the rotating machine 1.
  • the semiconductor switch UP31 and the semiconductor switch UN34 are simultaneously turned ON and short-circuited, as shown in FIG. Switching is performed by shifting the ON / OFF timing by the dead time Td.
  • the voltage adding unit 4 adds the voltage correction amounts from the voltage correction amount calculating unit 6 to the rotating machine driving voltage command from the voltage command generating unit 5 and outputs the result.
  • the voltage command generator 5 generates and outputs a three-phase rotating machine drive voltage command based on a command value (position command, speed command, torque command, current command or voltage command) given from the outside. For example, when a speed command is given from the outside, v / f control, vector control (speed proportional integral control, current proportional integral control) or the like is performed to generate a rotating machine driving voltage command.
  • the voltage correction amount calculation unit 6 includes a DC voltage Vdc (see FIG. 2) applied to the power conversion unit 3, a short-circuit prevention time Td, a semiconductor switch ON / OFF frequency fc, and a voltage correction pattern determination unit 7. Based on the voltage correction pattern as an output and the rotating machine current (iu, iv, iw) of each phase detected by the current detector 2, the U-phase voltage correction amount ⁇ Vu and V-phase voltage correction are performed according to the equation (3). An amount ⁇ Vv and a W-phase voltage correction amount ⁇ Vw are calculated and output.
  • “sgn ()” represents a sign operation function, “1” if the argument (iu, iv, iw) is positive, “ ⁇ 1” if it is negative, “ ⁇ 1” if it is zero, “ “0” is output.
  • “Ktd ()” is a function indicating the voltage correction pattern output from the voltage correction pattern determination unit 7. For example, as shown in FIG. Is output as a voltage correction coefficient ktd.
  • the voltage correction pattern determination unit 7 includes an impedance calculation unit 71 and a voltage correction pattern storage unit 72.
  • the impedance calculation unit 71 is a wiring between the power conversion unit 3 and the rotating machine 1 based on the rotating machine currents iu, iv, iw detected by the current detecting unit 2 and the rotating machine driving voltage command generated by the voltage command generating unit 5. And the impedance including the rotating machine 1 is calculated.
  • the operation of the impedance calculation unit 71 is shown below.
  • the impedance calculation unit 71 is not always operating, and is operated only when necessary.
  • the time required is when the voltage correction pattern storage unit 72 described later selects a voltage correction pattern. For example, when the rotating machine 1 is driven for the first time or the wiring between the power conversion unit 3 and the rotating machine 1 is changed. In some cases, this is performed before the rotating machine 1 is driven.
  • the operation when the impedance calculation unit 71 performs impedance calculation will be described.
  • the operation when the command input to the voltage command generator 5 is a voltage command will be described.
  • the voltage command input to the voltage command generation unit 5 is, for example, an AC voltage expressed by equation (4).
  • V a represents a voltage amplitude
  • f a represents a frequency
  • V a and f a are arbitrary values, but it is desirable that f a be larger than the rated frequency of the rotating machine 1 so that the shaft of the rotating machine 1 does not move during impedance calculation. By making the shaft of the rotating machine 1 not move, the rotating machine current is stabilized and the impedance can be calculated with high accuracy.
  • the voltage command generator 5 is such that the U phase and the V phase have values opposite to those in the equation (4), as in the equation (5), and A rotating machine driving voltage command (V u — ref , V v — ref , V w — ref ) in which the W phase has the same value as that in the expression (4) is generated and output.
  • Impedance computing section 71 by using the rotating machine current iw and the rotating machine size V a driving voltage command W-phase when are given rotary machine driving voltage command indicated by (5),
  • the real part R (resistance value) and the imaginary part X (reactance) of the impedance are calculated by the calculations of the equations (6) and (7), and R and X are output to the voltage correction pattern storage unit 72.
  • the denominator of (6) Formula and (7) Formula is calculating
  • the voltage correction pattern storage 72 stores a plurality of voltage correction coefficient patterns (hereinafter referred to as voltage) prepared in advance according to the real part R and the imaginary part X of the impedance obtained by the expressions (6) and (7).
  • voltage voltage correction coefficient patterns
  • the patterns are divided into # 1 to # 8 patterns according to the real part R and the imaginary part X.
  • a voltage corresponding to the classification of # 1 to # 8 is selected from the voltage correction patterns as shown in FIG. 5 and the voltage correction pattern shown in FIG. 6 change the impedance between the power converter 3 and the rotating machine 1 by changing the wiring length between the power converter 3 and the rotating machine 1.
  • the voltage correction coefficient ktd at that time is measured in advance and created and stored. Further, in the present embodiment, eight voltage correction patterns are used as shown in FIGS. 5 and 6, but this is an example, and depending on the wiring length and the wiring diameter between the power converter 3 and the rotating machine 1, etc. It is not always eight. A larger number of voltage correction patterns may be prepared, or fewer than eight voltage correction patterns may be used.
  • the impedance calculation unit 71 of the voltage correction pattern determination unit 7 calculates the impedance between the power conversion unit 3 and the rotating machine 1 and calculates the calculated impedance.
  • the voltage correction amount calculation unit 6 calculates the voltage correction amount based on the voltage correction pattern corresponding to.
  • the voltage adding unit 4 corrects the rotating machine driving voltage command using the voltage correction amount calculated by the voltage correction amount calculating unit 6.
  • FIG. FIG. 7 is a diagram illustrating a configuration example of a control device for a rotating machine according to the second embodiment.
  • the control device for a rotating machine according to the present embodiment includes a voltage correction pattern determination unit 7 that is included in the control device for a rotating machine according to the first embodiment (see FIG. 1). 17 is replaced. Since the components other than the voltage correction pattern determination unit 17 are the same as those in the first embodiment, description thereof will be omitted.
  • the voltage correction coefficient ktd varies depending on the stray capacitance between the power conversion unit 3 and the rotating machine 1, but this stray capacitance often varies depending on the wiring length if the wiring diameter is the same. That is, it can be said that the change in the wiring length is the change in the stray capacitance. Further, it is known that when the wiring length changes, if the wiring diameter is the same, the resistance value of the wiring changes in proportion to the wiring length. That is, if the change in the resistance value of the wiring is known, the change in the stray capacitance can be known.
  • the voltage correction pattern determination unit 17 calculates a resistance value between the power conversion unit 3 and the rotating machine 1, and based on the calculated resistance value, a voltage correction used by the voltage correction amount calculation unit 6. Determine the pattern. The detailed operation of the voltage correction pattern determination unit 17 will be described below.
  • the voltage correction pattern determination unit 17 includes a resistance calculation unit 171 and a voltage correction pattern storage unit 172.
  • the resistance calculation unit 171 is configured to calculate the electric power conversion unit 3 and the rotating machine from the rotating machine current (iu, iv, iw) of each phase detected by the current detecting unit 2 and the rotating machine driving voltage command generated by the voltage command generating unit 5.
  • the resistance value including the wiring between 1 and the rotating machine 1 is calculated. The operation of the resistance calculation unit 171 is shown below.
  • the resistance calculation unit 171 does not always operate like the impedance calculation unit 71 described in the first embodiment, and operates only when necessary.
  • the time when it is necessary is when the voltage correction pattern is selected in the voltage correction pattern storage unit 172 described later. For example, when the rotating machine 1 is driven for the first time or the wiring between the power conversion unit 3 and the rotating machine 1 is changed. In some cases, this is performed before the rotating machine 1 is driven.
  • the resistance calculation unit 171 calculates the resistance value.
  • the voltage command input to the voltage command generation unit 5 is, for example, a DC voltage expressed by equation (8).
  • V a is an arbitrary value.
  • the voltage command generator 5 is such that the U phase and the V phase have opposite signs to the equation (8), as in the equation (9), and A rotating machine driving voltage command (V u — ref , V v — ref , V w — ref ) in which the W phase has the same value as in the equation (8) is generated and output.
  • Resistance calculating unit 171 by using the rotating machine current iw and magnitude V a of the rotating machine voltage command W-phase when are given rotary machine driving voltage command shown in equation (9), (10 ) the resistance value R a is calculated by calculating the equation, and outputs the voltage correction pattern storage unit 172.
  • Voltage correction pattern storage unit 172 selects one of the voltage correction pattern which was prepared in advance according to the resistance value R a obtained in (10). For example, divided into a pattern of # 1 to # 3 depending on the resistance value R a as shown in FIG. Then, according to each pattern, for example, a voltage corresponding to the classification of # 1 to # 3 is selected from the voltage correction patterns as shown in FIG. 8 and the voltage correction pattern in FIG. 9 change the resistance value between the power converter 3 and the rotating machine 1 by changing the wiring length between the power converter 3 and the rotating machine 1 or the like. The voltage correction coefficient ktd at this time is measured in advance and created and stored. Moreover, in this Embodiment, although the voltage correction pattern was made into three like FIG. 8, FIG. 9, this is an example and depends on the wiring length, the wiring diameter, etc. between the power converter 3 and the rotary machine 1, etc. It is not always three. Many more voltage correction patterns may be prepared, or two.
  • the resistance calculation unit 171 of the voltage correction pattern determination unit 17 calculates the resistance value R a of between rotary machine 1 and the power conversion unit 3, voltage correction amount calculation unit 6 on the basis of the voltage correction pattern corresponding to the calculated resistance value R a is decided to calculate the voltage correction amount.
  • the amount of calculation can be reduced as compared with the first embodiment.
  • the impedance and resistance values are obtained and the voltage correction amount is calculated using the corresponding voltage correction pattern.
  • other physical quantities are obtained and the voltage correction pattern corresponding to this is obtained. May be used. That is, another physical quantity related to the stray capacitance between the power conversion unit 3 and the rotating machine 1 may be obtained, and the voltage correction quantity may be calculated using a voltage correction pattern corresponding to the obtained physical quantity.
  • the stray capacitance itself can be easily obtained, the stray capacitance may be obtained and a voltage correction pattern corresponding to the stray capacitance may be used.
  • control device for a rotating machine is useful as a device for generating a driving voltage for the rotating machine.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

L'invention concerne un dispositif de commande de machine tournante comprenant : une unité de conversion de courant (3) pour convertir un courant en courant continu fournie de l'extérieur en un courant en courant alternatif afin de générer le courant d'attaque destinée à une machine tournante (1) ; une unité de génération d'instruction de tension (5) pour générer une instruction de tension d'attaque de machine tournante destinée à l'unité de conversion de courant (3) en fonction d'une instruction externe ; une unité d'addition de tension (4) pour additionner une quantité de correction de tension à l'instruction de tension d'attaque de machine tournante afin de corriger l'instruction de tension d'attaque de machine tournante ; une unité de détermination de modèle de correction de tension (7) pour stocker une pluralité de modèles de correction de tension utilisés dans le calcul de la quantité de correction de tension, calculer une grandeur physique relative à la capacité flottante entre l'unité de conversion de courant (3) et la machine tournante (1) sur la base de l'instruction de tension d'attaque de machine tournante et du courant circulant dans la machine tournante (1), et sélectionner parmi les modèles de correction de tension le modèle de correction de tension correspondant à la grandeur physique calculée ; et une unité de calcul de quantité de correction de tension (6) pour calculer la quantité de correction de tension sur la base du modèle de correction de tension sélectionné par l'unité de détermination de modèle de correction de tension (7) et de la valeur du courant circulant dans la machine tournante.
PCT/JP2014/063385 2014-05-20 2014-05-20 Dispositif de commande de machine tournante et procédé de correction d'erreur de tension WO2015177878A1 (fr)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022239113A1 (fr) * 2021-05-11 2022-11-17 三菱電機株式会社 Dispositif d'entraînement de moteur et unité extérieure de climatiseur le comprenant

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH05260755A (ja) * 1992-03-09 1993-10-08 Japan Steel Works Ltd:The インバータ制御方法およびインバータ制御装置
JP2756049B2 (ja) * 1991-07-25 1998-05-25 三菱電機株式会社 インバータ装置の出力電圧誤差補正装置
JP2001298992A (ja) * 2000-04-18 2001-10-26 Toyota Motor Corp モータの制御装置
WO2008053538A1 (fr) * 2006-10-31 2008-05-08 Mitsubishi Electric Corporation Convertisseur de puissance
JP2010028941A (ja) * 2008-07-17 2010-02-04 Denso Corp 回転機の制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2756049B2 (ja) * 1991-07-25 1998-05-25 三菱電機株式会社 インバータ装置の出力電圧誤差補正装置
JPH05260755A (ja) * 1992-03-09 1993-10-08 Japan Steel Works Ltd:The インバータ制御方法およびインバータ制御装置
JP2001298992A (ja) * 2000-04-18 2001-10-26 Toyota Motor Corp モータの制御装置
WO2008053538A1 (fr) * 2006-10-31 2008-05-08 Mitsubishi Electric Corporation Convertisseur de puissance
JP2010028941A (ja) * 2008-07-17 2010-02-04 Denso Corp 回転機の制御装置

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2022239113A1 (fr) * 2021-05-11 2022-11-17 三菱電機株式会社 Dispositif d'entraînement de moteur et unité extérieure de climatiseur le comprenant
JP7511753B2 (ja) 2021-05-11 2024-07-05 三菱電機株式会社 モータ駆動装置およびそれを有する空気調和装置の室外機

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