WO2016117115A1 - 交流回転機の制御装置 - Google Patents
交流回転機の制御装置 Download PDFInfo
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- WO2016117115A1 WO2016117115A1 PCT/JP2015/051841 JP2015051841W WO2016117115A1 WO 2016117115 A1 WO2016117115 A1 WO 2016117115A1 JP 2015051841 W JP2015051841 W JP 2015051841W WO 2016117115 A1 WO2016117115 A1 WO 2016117115A1
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- angle
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/244—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing characteristics of pulses or pulse trains; generating pulses or pulse trains
- G01D5/24471—Error correction
- G01D5/24476—Signal processing
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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- 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
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- 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
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/03—Synchronous motors with brushless excitation
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- 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
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
- B62D15/02—Steering position indicators ; Steering position determination; Steering aids
- B62D15/021—Determination of steering angle
- B62D15/0235—Determination of steering angle by measuring or deriving directly at the electric power steering motor
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- 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
- B62D5/0481—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 monitoring the steering system, e.g. failures
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/12—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means
- G01D5/14—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage
- G01D5/142—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices
- G01D5/145—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable using electric or magnetic means influencing the magnitude of a current or voltage using Hall-effect devices influenced by the relative movement between the Hall device and magnetic fields
Definitions
- This invention relates to a control device for an AC rotating machine equipped with a magnetic sensor for detecting the angular position of a rotor.
- a lid is disposed between the armature of the motor and the magnetic sensor to suppress the influence of the magnetic field generated by the armature on the sensor.
- Patent Document 1 there is one that improves the accuracy of detecting the angular position.
- the magnetic sensor can accurately detect the magnetic field of the sensor magnet by providing the magnetic induction portion in contact with the holder that holds the sensor magnet (for example, Patent Document 2).
- the velocity signal is analyzed with reference to the angle signal detected by the resolver to calculate a detection error for each frequency component, and an estimated angle error signal obtained by synthesizing the detection error is used.
- an estimated angle error signal obtained by synthesizing the detection error.
- Patent Document 1 the effect of the magnetic field generated by the armature is not exerted on the sensor by providing the lid, but the increase in cost, the deterioration of productivity, and the overall product caused by adding the lid are included. There is concern about an increase in mass.
- Patent Document 2 the influence of a magnetic field other than the magnetic field desired to be detected is suppressed by providing a magnetic induction part. Similarly, the increase in cost, the deterioration of productivity, and the product caused by adding the magnetic induction part There is concern about an increase in the overall mass.
- Patent Document 3 it is possible to reduce the angle error of each frequency component by obtaining the estimated angle error signal using the detection error for each frequency component, but the order component error whose factor is known is also a factor. Since the unknown order component error is corrected without being distinguished, there is a concern that it is overcorrected or undercorrected.
- the Fourier transform is used to frequency-analyze the angle signal detected by the resolver, and data for a plurality of past cycles is required. Therefore, the processing load increases compared to simple correction, and the RAM is If an error occurs in the stored data, there is a possibility of erroneous learning.
- the present invention has been made to solve the above-described problems, and an object of the present invention is to obtain a simple and low-cost control device for an AC rotating machine that can detect the angular position of the rotor with high accuracy.
- An AC rotating machine control apparatus is an AC rotating machine control apparatus that controls an AC rotating machine in which a rotor rotates by a rotating magnetic field formed by a multiphase AC current flowing in an armature winding of a stator.
- the rotation angle of the AC rotating machine by rotating in synchronism with the inverter that applies voltage to the armature winding of the AC rotating machine, the inverter connecting part that connects the armature winding and the inverter, and A magnetic field generator for generating an angle detection magnetic field for detecting the angle, an angle detector for detecting two orthogonal components of the angle detection magnetic field generated by the magnetic field generator as a sine signal and a cosine signal, and AC rotation
- a control calculation unit that controls a voltage applied to the inverter based on the current command of the machine and the angle information obtained from the sine signal and the cosine signal, and the control calculation unit flows to the inverter connection unit Error in angle information due to noise magnetic field generated by phase AC current, phase correction constant determined by current vector of multi
- the detection error of the angle detector due to the noise magnetic field generated by the polyphase alternating current flowing in the inverter connection portion is expressed by the relative positional relationship between the inverter connection portion and the angle detector, and the current vector of the multiphase alternating current. Is corrected using a correction signal whose phase and amplitude are determined by the above. As a result, a simple and low-cost control device for an AC rotating machine that can detect the angular position of the rotor with high accuracy can be obtained.
- FIG. FIG. 1 is a schematic diagram showing the configuration of the control device for an AC rotating machine according to Embodiment 1 of the present invention, together with the AC rotating machine.
- the control device for an AC rotating machine shown in FIG. 1 controls the AC rotating machine 1 and includes an inverter 2, a magnetic field generator 3, an angle detector 4, an inverter connection unit 5, and a control calculation unit 7. Composed.
- the AC rotating machine 1 includes a rotor and a stator, and the rotor is rotated by a rotating magnetic field formed by a three-phase AC current flowing in the armature winding of the stator.
- the AC rotating machine 1 of the first embodiment is not limited to such a form.
- the AC rotating machine 1 may be a field winding type synchronous rotating machine.
- the electrical angle ⁇ e that is the phase in the electrical cycle of the AC rotating machine 1 and the mechanical angle ⁇ m that is the phase in the mechanical cycle of the AC rotating machine 1.
- the rate is different.
- the electrical angle ⁇ e changes at twice the speed of the mechanical angle ⁇ m.
- the electrical angle ⁇ e is expressed by the following formula (1) using the number P of pole pairs and the mechanical angle ⁇ m.
- the inverter 2 converts the DC voltage supplied from the DC power supply by controlling the semiconductor switch according to the switching signal output from the control calculation unit 7.
- the power-converted voltage is applied to the armature winding of the AC rotating machine 1 through the inverter connection unit 5.
- the inverter 2 generates a torque of the AC rotating machine 1 by appropriately applying a voltage to the armature winding of the AC rotating machine 1 according to the electrical angle ⁇ e to flow a three-phase AC current.
- the inverter connection unit 5 connects the armature winding of the AC rotating machine 1 and the inverter 2. As shown in FIG. 1, the inverter connection portion 5 of the first embodiment is composed of three connection lines that respectively flow U-phase, V-phase, and W-phase of a three-phase alternating current.
- the magnetic field generator 3 generates an angle detection magnetic field for detecting the mechanical angle of the AC rotating machine of the AC rotating machine 1 by rotating in synchronization with the rotor.
- a permanent magnet provided at one end of the rotating shaft of the rotor can be used.
- the rotation angle ⁇ sm of the magnetic field generator 3 is equal to the mechanical angle ⁇ m of the AC rotating machine 1, and the following equation (2) is established.
- the following equation (2) is an equation in the case where the initial phases of the rotation angle ⁇ sm and the mechanical angle ⁇ m coincide with each other. However, when the initial phases are different, the initial phase difference may be offset.
- the angle detector 4 detects two orthogonal components of the angle detection magnetic field generated by the magnetic field generator 3 as a sine signal Vsin and a cosine signal Vcos.
- a magnetic sensor provided at a position facing the magnetic field generator 3 on the extension of the rotation axis of the rotor can be used.
- the shaft angle multiplier Psns of the angle detector 4 itself is not 1, it changes between the detection angle ⁇ sns of the angle detector 4 and the rotation angle ⁇ sm of the magnetic field generator 3 as in the case of the electrical angle ⁇ e. The rate will be different.
- the detection angle ⁇ sns is expressed by the following expression (3) using the shaft angle multiplier Psns of the angle detector 4 and the rotation angle ⁇ sm of the magnetic field generator 3.
- the maximum amplitudes of the sine signal Vsin and cosine signal Vcos detected by the angle detector 4 are equal and the phase difference is ⁇ / 2, that is, the offset between the sine signal Vsin and cosine signal Vcos.
- the equation is shown when both errors are zero.
- the above equation (3) can be corrected by offsetting the offset errors esin_ofs and ecos_ofs of the sine signal Vsin and the cosine signal Vcos as shown in the following equation (4). it can.
- the electrical angle ⁇ e of the AC rotating machine 1 uses the pole pair number P of the AC rotating machine 1, the shaft angle multiplier Psns of the angle detector 4, and the detection angle ⁇ sns. Is represented by the following formula (5). That is, the electrical angle ⁇ e of the AC rotating machine 1 is expressed as the detection angle ⁇ sns multiplied by Kp, which is the ratio of the pole pair number of the AC rotating machine 1 and the angle multiplier of the angle detector 4.
- the control calculation unit 7 uses, for example, the electrical angle ⁇ e of the AC rotating machine 1 obtained from the sine signal and the cosine signal detected by the angle detector 4 to coordinate-transform a three-phase AC current flowing through the inverter connection unit 5. Feedback control is performed so that the deviation from the current command is zero. It goes without saying that the same effect can be obtained by other methods as long as a desired current can be obtained, such as feedforward control using the specifications of the AC rotating machine 1 and the inverter 2 and the electrical angle ⁇ e.
- the control calculation unit 7 is constituted by, for example, a microprocessor having a CPU (Central Processing Unit) and a storage unit storing a program.
- CPU Central Processing Unit
- FIG. 2 is a cross-sectional view and a side view showing a relative positional relationship between the angle detector 4 and the inverter connection portion 5 in the control device for an AC rotary machine according to Embodiment 1 of the present invention.
- FIG. 2A shows two detection axes of the angle detector 4, the x axis and the y axis.
- FIG. 2B shows the z-axis along the rotation axis of the rotor.
- the x axis, the y axis, and the z axis are orthogonal to each other.
- FIG. 2 shows a relative distance r and a relative angle ⁇ between the angle detector 4 and the inverter connection portion 5.
- the subscripts of the relative distance r and the relative angle ⁇ represent each phase.
- the relative distance r is expressed by the following equation (6) using the y-axis component ly1 and the relative angle ⁇ .
- FIG. 2 shows an example in which the inverter connection portion 5 is arranged on the positive side (right side) of the y-axis with respect to the angle detector 4, and is represented by the following formula (7).
- the inverter connection unit 5 may be arranged on the negative direction side (left side) of the y-axis with respect to the angle detector 4.
- the three phases of the inverter connection portion 5 may be arranged in a distributed manner on the right and left sides of the y-axis. In that case, the right side of the relational expression of the phase arranged on the left side may be multiplied by -1.
- the length of the inverter connecting portion 5 on the positive side of the z-axis is lz1 and the negative side of the z-axis is based on the position of the angle detector 4 Is 1z2.
- the relative angle formed between the end of the inverter connecting portion 5 on the positive side of the z axis and the angle detector 4 is ⁇ 1
- the end of the inverter connecting portion 5 on the negative side of the z axis and the angle detector 4 are The relative angle formed is ⁇ 2.
- the noise magnetic field Bi generated at the position of the angle detector 4 by the three-phase alternating currents iu1, iv1, and iw1 flowing through the inverter connection portion 5 is expressed by the following equation (8).
- ⁇ 0 represents the magnetic permeability of vacuum.
- FIG. 3 is an explanatory diagram showing current vectors in the rotating coordinate system.
- the absolute value of the current vector is I and the phase angle with respect to the q-axis is ⁇
- the d-axis component id and the q-axis component iq of the current vector are expressed by the following equation (9).
- the electrical angle ⁇ e of the AC rotating machine 1 is obtained from the sine signal Vsin and the cosine signal Vcos detected by the angle detector 4 by the above equations (3) and (5), the three-phase AC current flowing through the inverter connecting portion 5 is obtained.
- Is represented by the following formula (10).
- ⁇ 2 ⁇ Irms is the amplitude of the three-phase alternating current.
- the noise magnetic field Bi generated at the position of the angle detector 4 by the three-phase alternating current flowing through the inverter connecting portion 5 is represented by the following formula (11).
- the angle detection magnetic field Bbase generated by the magnetic field generator 3 at the position of the angle detector 4 is given by the following expression (12).
- the angle detector 4 is actually represented by the following equation (13) in which the noise magnetic field Bi represented by the above equation (11) and the angle detection magnetic field Bbase represented by the above equation (12) are superimposed.
- the synthesized magnetic field Ball is detected.
- the detection value of the angle detector 4 has an error of about 1%. Are superimposed.
- FIG. 4 is a circuit diagram showing the control device for an AC rotating machine according to Embodiment 1 of the present invention, together with the AC rotating machine.
- the control device for the AC rotating machine shown in FIG. 4 controls the AC rotating machine 1, and includes an inverter 2, a magnetic field generator 3, an angle detector 4, an inverter connection unit 5, a current detector 6, and a control calculation.
- the unit 7 is provided.
- DC power supply 8 supplies DC voltage Vdc to inverter 2.
- the DC power supply 8 for example, a device that outputs a DC voltage, such as a battery, a DC-DC converter, a diode rectifier, or a PWM rectifier, can be used.
- the inverter 2 converts the DC voltage Vdc supplied from the DC power supply 8 into a three-phase AC by controlling the semiconductor switches Sup to Swn according to the switching signals Qup to Qwn output from the control calculation unit 7.
- the three-phase alternating current is supplied to the armature winding of the AC rotating machine 1 through the inverter connection portion 5.
- the switching signals Qup, Qun, Qvp, Qvn, Qwp, and Qwn are control signals for turning on and off the semiconductor switches Sup, Sun, Svp, Svn, Swp, and Swn of the inverter 2, respectively.
- semiconductor switches Sup to Swn for example, semiconductor switches such as IGBTs, bipolar transistors, and MOS power transistors, or diodes connected in antiparallel can be used.
- the current detector 6 is provided between the lower arm of each phase of the inverter 2 and the ground of the DC power supply 8 and detects the three-phase AC currents iu1, iv1, and iw1 flowing in the respective phases of the inverter connection unit 5. Instead of detecting all three phases of the three-phase AC current, only two phases are detected using the fact that the vector sum of the three-phase AC current is 0, and the remaining one phase is obtained by calculation. Is also possible. Further, the current detector 6 may be provided between the upper arm of each phase of the inverter 2 and the positive electrode side of the DC power supply 8. Furthermore, the current detector 6 can also calculate a three-phase alternating current as a method of detecting the bus current value by shifting the switching timing of the inverter 2 in order to ensure the current detection time.
- the control calculation unit 7 includes an angle correction calculation unit 20 and a current control unit 21.
- the angle correction calculation unit 20 corrects an error of the sine signal Vsin and the cosine signal Vcos due to a noise magnetic field generated by the three-phase alternating current flowing through the inverter connection unit 5 and outputs the corrected electric angle ⁇ e_hosei.
- the angle correction calculation unit 20 calculates a noise magnetic field based on the current vector obtained from the current commands id * and iq *.
- the current vector can also be obtained from the three-phase alternating currents iu1, iv1, and iw1 detected by the current detector 6. Needless to say, a current vector may be obtained using a value after passing through a low-pass filter or the like for noise removal.
- a case where the current vector is obtained from the current commands id * and iq * will be described.
- the current control unit 21 converts the three-phase alternating currents iu1, iv1, and iw1 flowing through the inverter connection unit 5 into detected currents id1 and iq1 in the rotating coordinate system using the corrected electrical angle ⁇ e_hosei and is input from the outside.
- the voltage commands Vu, Vv, Vw are calculated by feedback control so that the current commands id *, iq * and the detected currents id1, iq1 are equal, and pulse width modulation (corresponding to the voltage commands Vu, Vv, Vw) ( Switching signals Qup to Qwn are output to the inverter 2 by PWM modulation.
- the feedback control of the three-phase alternating currents iu1, iv1, and iw1 may be performed by feedforward control according to the AC rotating machine 1 instead.
- the current detector 6 and the current detector 6 detect 3
- the values of the phase alternating currents iu1, iv1, and iw1 are not essential.
- FIG. 5A is a block diagram of angle correction calculation unit 20 in the control device for an AC rotating machine according to Embodiment 1 of the present invention.
- the angle correction calculation unit 20 according to the first embodiment includes a first angle conversion unit 30, a correction signal calculation unit 31, and a second angle conversion unit 32.
- the first angle converter 30 calculates the detected angle ⁇ sns from the sine signal Vsin and cosine signal Vcos detected by the angle detector 4 according to the above equation (3), and further calculates the electrical angle ⁇ e according to the above equation (5). And output as angle information.
- the correction signal calculation unit 31 obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and supplies the current vector and the phase angle ⁇ to the first angle conversion unit 30.
- the sine signal correction signal hsin and the cosine signal correction signal hcos are calculated from the electrical angle ⁇ e that is the angle information obtained in accordance with the following equation (14).
- the current commands id * and iq * may be used as described above, or the current detector 6 detects the current vector.
- Three-phase alternating currents iu1, iv1, and iw1 may be used.
- phase correction constants ⁇ x and ⁇ y are constants determined by the relative positional relationship between the inverter connection unit 5 and the angle detector 4 and are given by the above equation (11).
- amplitude correction constants Ksin and Kcos are also constants determined by the relative positional relationship between the inverter connection unit 5 and the angle detector 4 and are given by the following equation (15).
- the amplitude correction constants Ksin and Kcos are proportional to the fundamental wave amplitudes Asin and Acos of the sine signal Vsin and the cosine signal Vcos output from the angle detector 4, but the fundamental wave amplitudes Asin and Acos change with environmental temperature and secular change. If it does not change depending on, it may be a constant. On the other hand, when changing due to environmental temperature change or secular change, the fundamental wave amplitudes Asin and Acos may be used as temperature or time variables. When the fluctuation of the fundamental wave amplitude is large, the amplitude correction constant may be obtained by multiplying a part other than the fundamental wave amplitude using the actual fundamental wave amplitude.
- the sine signal correction signal hsin and the cosine signal correction signal hcos are converted into the three-phase alternating currents iu1, iv1, and iw1 flowing through the inverter connecting portion 5.
- the phase and amplitude are adjusted.
- the above equation (14) is obtained by adding the phase by the phase correction constant ⁇ x or ⁇ y and multiplying the amplitude by the amplitude correction constant Ksin or Kcos to the basic alternating current hbase shown in the following equation (16). It has become a thing.
- the sine signal correction signal hsin and the cosine signal correction signal hcos are obtained by multiplying the absolute value of the current vector determined by the current commands id * and iq * or the detection currents id1 and iq1 by the amplitude correction constant.
- a sine wave having a phase value obtained by adding an electrical angle ⁇ e and a phase correction constant to the phase angle ⁇ with respect to the q axis of the current vector determined by the current commands id *, iq * or the detected currents id1, iq1. .
- the phase correction constant and the amplitude correction constant determined by the relative positional relationship between the inverter connection unit 5 and the angle detector 4 are calculated in advance and stored, for example, in a storage unit (not shown) of the control calculation unit 7. It is possible to keep it. If the fluctuation of the fundamental wave amplitude is large, the amplitude correction constant may be stored in a portion other than the fundamental wave amplitude and multiplied by the fundamental wave amplitude during use. Therefore, by using the above equation (14), the sine signal correction signal hsin and the cosine signal correction signal hcos can be calculated by simple calculation only by adjusting the phase and amplitude with respect to the basic alternating current hbase. it can.
- the second angle converter 32 corrects the difference signal between the sine signal Vsin and cosine signal Vcos and the sine signal correction signal hsin and cosine signal correction signal hcos according to the above equations (3) and (5).
- the electrical angle ⁇ e_hosei is calculated.
- the angle information used to calculate the sine signal correction signal hsin and the cosine signal correction signal hcos is the electrical angle ⁇ e, but the angle correction calculation unit 20a as shown in FIG. 5B using the detection angle ⁇ sns is used. It is good.
- the angle correction calculation unit 20a illustrated in FIG. 5B is different from the angle correction calculation unit 20 illustrated in FIG. 5A in a first angle conversion unit 30a and a correction signal calculation unit 31a.
- the first angle conversion unit 30a calculates the detected angle ⁇ sns as angle information from the sine signal Vsin and the cosine signal Vcos detected by the angle detector 4 according to the above equation (3).
- the correction signal calculation unit 31a obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and supplies the current vector, the phase angle ⁇ , and the first angle conversion unit 30a.
- the sine signal correction signal hsin and the cosine signal correction signal hcos are calculated from the detected angle ⁇ sns, which is angle information obtained in this manner, according to the following equation (17).
- an angle correction calculation unit 20b as shown in FIG. 5C may be used.
- the angle correction calculation unit 20b illustrated in FIG. 5C is different from the angle correction calculation unit 20a illustrated in FIG. 5B in the second angle conversion unit 32a and the third angle conversion unit 35.
- the second angle converter 32a corrects the difference signal between the sine signal Vsin and the cosine signal Vcos and the sine signal correction signal hsin and the cosine signal correction signal hcos according to the above equation (3).
- the detection angle ⁇ sns_hosei is calculated.
- the third angle conversion unit 35 calculates the corrected electrical angle ⁇ e_hosei from the corrected detection angle ⁇ sns_hosei according to the above equation (5).
- 5A, 5B, and 5C are examples of the configuration of the angle correction calculation unit, and the angle information that is input to the correction signal calculation unit is the constant obtained by using the angle obtained from the sine signal Vsin and the cosine signal Vcos. Any signal obtained by doubling can be used as a correction signal in the correction signal calculation unit. Needless to say, when the initial phases of the detection angle ⁇ sns and the electrical angle ⁇ e are deviated, it is not simply multiplied by a constant and the offset must be adjusted.
- the electrical angle ⁇ e can be detected with high accuracy by using the corrected electrical angle ⁇ e_hosei in which the influence of the noise magnetic field Bi is reduced instead of the electrical angle ⁇ e including the influence of the noise magnetic field Bi.
- the calculation of the current control unit 21 can be performed using this corrected electrical angle ⁇ e_hosei, so that the current commands id * and iq * can be changed during the coordinate conversion from the three-phase alternating currents iu1, iv1, and iw1 to the detected currents id1 and iq1.
- the error component superimposed at the time of coordinate conversion when obtaining the switching signals Qup to Qwn from the voltage command obtained by using a method such as feedforward control or feedback control can be reduced or eliminated, and the current ripple can be reduced. It is possible to obtain an unprecedented effect that it can be suppressed.
- control device for an AC rotating machine according to the first embodiment when used to assist the steering torque of the electric power steering, torque ripple included in the output torque of the AC rotating machine 1 is suppressed, so that comfort is achieved. A steering feeling can be obtained.
- the three-phase alternating current can be expressed only by the primary (fundamental period) component of the electrical angle ⁇ e.
- the n-order component of the electrical angle ⁇ e (n is 2 or more).
- an equation corresponding to the above equation (14) can be obtained from the superposition property of electromagnetic fields by the same procedure.
- the current command id *, iq * or the detected current id1, iq1 is included in the sine signal correction signal hsin and the cosine signal correction signal hcos.
- the amplitude value obtained by multiplying the absolute value of the current vector by the amplitude correction constant, and the phase angle ⁇ with respect to the q-axis of the current vector of the current command id *, iq * or the detected current id1, iq1, and the nth order of the electrical angle ⁇ e.
- An n-th order sine wave term having a component (n is a natural number of 2 or more) and a phase value added with a phase correction constant is further included.
- both the sine signal correction signal hsin and the cosine signal correction signal hcos are corrected.
- the same effect can be obtained by correcting only one of them. Can be obtained.
- correcting either one of the sine signal correction signal hsin or the cosine signal correction signal hcos due to the processing load or the like has a small effect, but the effect of angle correction.
- the detection error of the angle detector due to the noise magnetic field generated by the polyphase alternating current flowing in the inverter connection portion is determined based on the relative positional relationship between the inverter connection portion and the angle detector and the multiple. Correction is performed using a correction signal whose phase and amplitude are determined by the value of the phase alternating current.
- FIG. FIG. 6A is a block diagram of an angle correction calculation unit 20c in the control device for an AC rotary machine according to Embodiment 2 of the present invention.
- the correction signal calculation unit 31 uses the corrected electric angle ⁇ e_hosei instead of the electric angle ⁇ e. Is different in that the previous value ⁇ e_hosei_old is input.
- the correction signal calculation unit 31 obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and the current vector, the phase angle ⁇ , and the previous value ⁇ e_hosei_old of the corrected electrical angle. Then, the sine signal correction signal hsin and the cosine signal correction signal hcos are calculated according to the following equation (18).
- the previous value acquisition unit 33 is a block that acquires the previous value.
- the corrected electrical angle ⁇ e_hosei obtained at the previous calculation is acquired as the previous value ⁇ e_hosei_old.
- the previous value ⁇ e_hosei_old of the corrected electrical angle is used when calculating the correction signal hsin for the sine signal and the correction signal hcos for the cosine signal, but the previous value ⁇ sns_hosei_old of the detected angle after correction is used.
- An angle correction calculation unit 20d as shown in FIG. 6B may be used.
- the angle correction calculation unit 20d shown in FIG. 6B is different from the angle correction calculation unit 20c in FIG. 6A in a correction signal calculation unit 31a, a second angle conversion unit 32a, and a third angle conversion unit 35.
- the correction signal calculation unit 31a obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and the current vector, the phase angle ⁇ , and the previous value acquisition unit.
- the sine signal correction signal hsin and the cosine signal correction signal hcos are calculated from the previous value ⁇ sns_hosei_old of the post-correction detected angle, which is the angle information obtained at 33, according to the following equation (19).
- the second angle conversion unit 32a calculates the corrected detection angle ⁇ sns_hosei from the difference signal between the sine signal Vsin and cosine signal Vcos and the sine signal correction signal hsin and cosine signal correction signal hcos according to the above equation (3). calculate.
- the third angle conversion unit 35 calculates the corrected electrical angle ⁇ e_hosei from the corrected detection angle ⁇ sns_hosei according to the above equation (5).
- 6A and 6B are examples of the configuration of the angle correction calculation unit, and the angle information that is input to the correction signal calculation unit includes the sine signal Vsin and the cosine signal Vcos, and the sine signal correction signal hsin and the cosine signal.
- Any correction signal can be used as a correction signal by the correction signal calculation unit as long as it is obtained by multiplying the detection angle ⁇ sns obtained from the difference signal with the correction signal hcos. Needless to say, when the initial phases of the detection angle ⁇ sns and the electrical angle ⁇ e are deviated, it is not simply multiplied by a constant and the offset must be adjusted.
- current commands id * and iq * may be used as shown in FIG. 6A, or the current detector 6 detects them.
- the values of the three-phase alternating currents iu1, iv1, and iw1 may be used.
- both the sine signal correction signal hsin and the cosine signal correction signal hcos are corrected.
- the same effect can be obtained by correcting only one of them. Can be obtained.
- correcting either one of the sine signal correction signal hsin or the cosine signal correction signal hcos due to the processing load or the like has a small effect, but the effect of angle correction.
- the angle correction calculation unit uses the previous value of the corrected detection angle ⁇ sns_hosei or the corrected electric angle ⁇ e_hosei in the correction signal calculation unit instead of the detection angle ⁇ sns or the electrical angle ⁇ e.
- the angle information it is possible to generate a correction signal based on a signal with a small angle error, so that it is possible to obtain an unprecedented effect that a highly accurate correction signal can be generated.
- FIG. 7A is a block diagram of angle correction calculation unit 20e in the control device for an AC rotating machine according to Embodiment 3 of the present invention.
- the angle correction calculation unit 20e of the third embodiment shown in FIG. 7A is corrected based on the time change rate ⁇ e of the electrical angle ⁇ e of the AC rotating machine 1 as compared with FIG. 6A of the second embodiment.
- the difference is that a rotation change correction unit 34 that corrects the previous calculation value of the electrical angle ⁇ e_hosei is provided.
- the rotation change correction unit 34 obtains an angle change obtained by multiplying the time ⁇ t from the previous calculation of the corrected electrical angle ⁇ e_hosei to the current calculation by the time change rate ⁇ e of the electrical angle ⁇ e of the AC rotating machine 1.
- the second corrected electric angle is corrected after correcting the previous value ⁇ e_hosei_old of the corrected electric angle, which is the angle information obtained by the previous value acquisition unit 33, as in the following equation (20). It outputs as angle (theta) e_hosei2.
- the amount of change in angle is obtained by the product of the time ⁇ t from the time of calculation of the previous value to the time of the current calculation and the time change rate ⁇ e of the electrical angle ⁇ e of the AC rotating machine 1.
- Other methods may be used as long as the amount of change in angle during the current calculation can be obtained.
- the correction signal calculation unit 31 obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and the current vector, the phase angle ⁇ , and the second corrected electrical angle ⁇ e_hosei2 Then, the sine signal correction signal hsin and the cosine signal correction signal hcos are calculated according to the following equation (21).
- the second corrected electrical angle ⁇ e_hosei2 is used when calculating the sine signal correction signal hsin and the cosine signal correction signal hcos, but FIG. 7B uses the second corrected detection angle ⁇ sns_hosei2. It is good also as the angle correction calculating part 20f like.
- the rotation change correction unit 34a adds the product of the time ⁇ t from the previous calculation of the corrected detection angle ⁇ sns_hosei to the current calculation and the time change rate ⁇ s of the detection angle ⁇ sns of the AC rotating machine 1. Then, after correcting the previous value ⁇ sns_hosei_old of the corrected detection angle, which is the angle information obtained by the previous value acquisition unit 33, as the following equation (22), it is output as the second corrected detection angle ⁇ sns_hosei2.
- the amount of change in angle is obtained by the product of the time ⁇ t from the time of calculating the previous value to the time of the current time and the time change rate ⁇ s of the detected angle ⁇ sns of the AC rotating machine 1.
- Other methods may be used as long as the amount of change in angle during the current calculation can be obtained.
- the correction signal calculation unit 31 obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and the current vector, the phase angle ⁇ , and the second corrected detection angle ⁇ sns_hosei2 Then, the sine signal correction signal hsin and the cosine signal correction signal hcos are calculated according to the following equation (23).
- current commands id * and iq * may be used as shown in FIG. 7A or detected by the current detector 6.
- the values of the three-phase alternating currents iu1, iv1, and iw1 may be used.
- both the sine signal correction signal hsin and the cosine signal correction signal hcos are corrected.
- the same effect can be obtained by correcting only one of them. Can be obtained.
- correcting either one of the sine signal correction signal hsin or the cosine signal correction signal hcos due to the processing load or the like has a small effect, but the effect of angle correction.
- the angle change amount changed from the previous calculation to the current calculation is added to the previous value of the corrected detection angle ⁇ sns_hosei or the previous value of the corrected electrical angle ⁇ e_hosei.
- FIG. 8A is a block diagram of an angle correction calculation unit 20g in the control device for an AC rotary machine according to Embodiment 4 of the present invention.
- the correction signal calculation unit 31b outputs h ⁇ e as a correction signal, and the electrical angle ⁇ e is set to h ⁇ e.
- the points to be corrected differ depending on.
- the correction signal calculation unit 31b obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and from the current vector, the phase angle ⁇ , and the electrical angle ⁇ e,
- the electrical angle correction signal h ⁇ e is calculated according to (24).
- the corrected electrical angle ⁇ e_hosei is calculated by subtracting the electrical angle correction signal h ⁇ e from the electrical angle ⁇ e.
- the three-phase alternating current can be expressed only by the primary (basic period) component of the electrical angle ⁇ e, but the above equation (10) includes the n-order component (n is a natural number of 2 or more) of the electrical angle ⁇ e. Even when a term is included (for example, expressed by a Fourier series), an equation corresponding to the above equation (24) can be obtained by the same procedure from the property of superposition of electromagnetic fields.
- the electrical angle correction signal h ⁇ e has the current command id *, iq * or the absolute value of the current vector of the detected currents id1, iq1.
- the electrical angle ⁇ e is used when calculating the electrical angle correction signal h ⁇ e.
- the angle correction calculation unit 20h as shown in FIG. 8B is different from the angle correction calculation unit 20g in FIG. 8A in the first angle conversion unit 30a, the correction signal calculation unit 31c, and the third angle conversion unit 35.
- the correction signal calculation unit 31c obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and the current vector, the phase angle ⁇ , and the first angle A detection angle correction signal h ⁇ sns is calculated from the detection angle ⁇ sns, which is angle information obtained by the conversion unit 30a, according to the following equation (25).
- the corrected detection angle ⁇ sns_hosei is calculated by subtracting the detection angle correction signal h ⁇ sns from the detection angle ⁇ sns.
- the third angle conversion unit 35 calculates the corrected electrical angle ⁇ e_hosei according to the above equation (5) from the corrected detection angle ⁇ sns_hosei.
- an angle correction calculation unit 20i as shown in FIG. 8C may be used.
- the angle correction calculation unit 20i shown in FIG. 8C is different from the angle correction calculation unit 20g in FIG. 8A in the first angle conversion unit 30a, the correction signal calculation unit 31d, and the third angle conversion unit 35.
- the correction signal calculation unit 31d obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and the current vector, the phase angle ⁇ , and the first angle
- the electrical angle correction signal h ⁇ e is calculated from the detected angle ⁇ sns, which is angle information obtained by the conversion unit 30a, according to the following equation (26).
- the third angle conversion unit 35 calculates the electrical angle ⁇ e from the detection angle ⁇ sns according to the above equation (5).
- the corrected electrical angle ⁇ e_hosei is calculated by subtracting the electrical angle correction signal h ⁇ e from the electrical angle ⁇ e.
- the angle information that is input to the correction signal calculation unit is a constant obtained from the angle obtained from the sine signal Vsin and the cosine signal Vcos. Any signal obtained by doubling can be used as a correction signal in the correction signal calculation unit. Needless to say, when the initial phases of the detection angle ⁇ sns and the electrical angle ⁇ e are deviated, it is not simply multiplied by a constant and the offset must be adjusted.
- current commands id * and iq * may be used as shown in FIG. 8A, or 3 detected by the current detector 6.
- the values of the phase alternating currents iu1, iv1, and iw1 may be used.
- the correction signal calculation unit calculates the detection angle correction signal h ⁇ sns or the electrical angle correction signal h ⁇ e without using the fundamental wave amplitudes of the sine signal Vsin and the cosine signal Vcos.
- an unprecedented effect that the angle error can be corrected with a small correction signal can be obtained.
- FIG. 9A is a block diagram of angle correction calculation unit 20j in the control device for an AC rotary machine according to Embodiment 5 of the present invention.
- the correction signal calculation unit 31b has a corrected electric angle ⁇ e_hoseii instead of the electric angle ⁇ e. Is different in that the previous value ⁇ e_hosei_old is input.
- the correction signal calculation unit 31b obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above formula (9), and the current vector, the phase angle ⁇ , and the previous value ⁇ e_hosei_old of the corrected electrical angle. Then, the electrical angle correction signal h ⁇ e is calculated according to the above equation (24).
- the electrical angle ⁇ e is used when calculating the electrical angle correction signal h ⁇ e.
- the angle correction calculation unit 20k illustrated in FIG. 9B is different from the angle correction calculation unit 20j illustrated in FIG. 9A in a correction signal calculation unit 31c, a first angle conversion unit 30a, and a third angle conversion unit 35.
- the correction signal calculation unit 31c obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and the current vector, the phase angle ⁇ , and the previous value acquisition unit.
- the detection angle correction signal h ⁇ sns is calculated from the previous value ⁇ sns_hosei_old of the corrected detection angle, which is the angle information obtained in 33, according to the above equation (25).
- the third angle conversion unit 35 calculates the corrected electrical angle ⁇ e_hosei according to the above equation (26) from the corrected detection angle ⁇ sns_hosei.
- 9A and 9B are examples of the configuration of the angle correction calculation unit, and the angle information that is input to the correction signal calculation unit is obtained by multiplying the angle obtained from the sine signal Vsin and the cosine signal Vcos by a constant. Can be used as a correction signal in the correction signal calculation unit. Needless to say, when the initial phases of the detection angle ⁇ sns and the electrical angle ⁇ e are deviated, it is not simply multiplied by a constant and the offset must be adjusted.
- current commands id * and iq * may be used as shown in FIG. 9A or detected by the current detector 6.
- the values of the three-phase alternating currents iu1, iv1, and iw1 may be used. Since other configurations and operations are the same as those of the first embodiment, description thereof will be omitted.
- the angle correction calculation unit uses the previous value of the corrected detection angle ⁇ sns_hosei or the corrected electric angle ⁇ e_hosei in the correction signal calculation unit instead of the detection angle ⁇ sns or the electrical angle ⁇ e.
- the angle information it is possible to generate a correction signal based on a signal with a small angle error, so that it is possible to obtain an unprecedented effect that a highly accurate correction signal can be generated.
- the angular error can be corrected with a small correction signal without using the fundamental wave amplitudes of the sine signal Vsin and the cosine signal Vcos. Unprecedented effects can be obtained.
- FIG. 10A is a block diagram of angle correction calculation section 20l in the control device for an AC rotary machine according to Embodiment 6 of the present invention.
- the angle correction calculation unit 20l of the sixth embodiment shown in FIG. 10A is corrected based on the time change rate ⁇ e of the electrical angle ⁇ e of the AC rotating machine 1.
- the difference is that a rotation change correction unit 34 that corrects the previous calculation value of the electrical angle ⁇ e_hosei is provided.
- the correction signal calculation unit 31b obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and the current vector, the phase angle ⁇ , and the second corrected electrical angle ⁇ e_hosei2 Then, the electrical angle correction signal h ⁇ e is calculated according to the above equation (24).
- the corrected electrical angle ⁇ e_hosei is calculated by subtracting the electrical angle correction signal h ⁇ e from the electrical angle ⁇ e.
- the second corrected electrical angle ⁇ e_hosei2 is used when calculating the electrical angle correction signal h ⁇ e.
- the angle correction calculation unit 20m as shown in FIG. 10B using the second corrected detection angle ⁇ sns_hosei2 is used. It is good.
- the correction signal calculation unit 31c obtains the phase angle ⁇ from the current commands id * and iq * input from the outside according to the above equation (9), and also calculates the current vector, the phase angle ⁇ , and the second corrected detection angle ⁇ sns_hosei2 Then, the detection angle correction signal h ⁇ sns is calculated according to the above equation (25).
- the third angle conversion unit 35 calculates the corrected electrical angle ⁇ e_hosei according to the above equation (26) from the corrected detection angle ⁇ sns_hosei.
- 10A and 10B are examples of the configuration of the angle correction calculation unit, and the angle information input to the correction signal calculation unit is obtained by multiplying the angle obtained from the sine signal Vsin and the cosine signal Vcos by a constant. Can be used as a correction signal in the correction signal calculation unit. Needless to say, when the initial phases of the detection angle ⁇ sns and the electrical angle ⁇ e are deviated, it is not simply multiplied by a constant and the offset must be adjusted.
- current commands id * and iq * may be used as shown in FIG. 10A, or 3 detected by the current detector 6.
- the values of the phase alternating currents iu1, iv1, and iw1 may be used. Since other configurations and operations are the same as those of the first embodiment, description thereof will be omitted.
- the angle change amount changed from the previous calculation to the current calculation is added to the previous value of the corrected detection angle ⁇ sns_hosei or the previous value of the corrected electrical angle ⁇ e_hosei.
- the angular error can be corrected with a small correction signal without using the fundamental wave amplitudes of the sine signal Vsin and the cosine signal Vcos. Unprecedented effects can be obtained.
- Embodiment 7 FIG. In the first to sixth embodiments, the case where one armature winding is provided has been described. In the eighth embodiment, a case where a plurality of armature windings are provided will be described. Further, a case where the angle detection magnetic field generated by the magnetic field generator 3 is strong and the angle detector 4 is used in the saturation sensitivity region will be described.
- FIG. 11 is a schematic diagram showing the arrangement of the seventh embodiment.
- the AC rotating machine 1a is a permanent magnet type synchronous rotating machine having first armature windings U1, V1, W1 and second armature windings U2, V2, W2.
- the AC rotating machine 1a includes a rotor and a stator, and the rotor is rotated by a rotating magnetic field formed by a three-phase AC current flowing in the armature winding of the stator.
- a permanent magnet type synchronous rotating machine will be described, a field winding type synchronous rotating machine may be used.
- the three-phase winding will be described here, an AC rotating machine having three or more phases of windings may be used.
- the description will be made with two winding sets here, an AC rotating machine having three or more winding sets may be used.
- the current flowing through the first armature winding and the second armature winding has a phase difference of 30 deg.
- phase difference of 30 deg there is an effect of canceling out the current ripple of the sixth electrical angle when there are two sets of armature windings.
- the inverter 2a includes a first inverter 2a1 that supplies power to the first armature winding and a second inverter 2a2 that supplies power to the second armature winding. Based on the switching signal, the semiconductor switch is turned on / off to convert the DC voltage input from the DC power source and apply the voltage to the armature winding of the AC rotating machine 1a via the inverter connection 5a.
- the AC rotating machine 1a and the inverter 2a are connected by an inverter connecting portion 5a.
- the inverter connection portion 5a includes a first inverter connection portion 5a1 and a second inverter connection portion 5a2.
- the first inverter connection portion 5a1 includes an inverter connection portion 5u1 that supplies a U-phase current to the first armature winding, an inverter connection portion 5v1 that supplies a V-phase current, and an inverter connection portion 5w1 that supplies a W-phase current.
- the inverter connection portion 5a2 includes an inverter connection portion 5u2 for supplying a U-phase current to the second armature winding, an inverter connection portion 5v2 for supplying a V-phase current, and an inverter connection portion 5w2 for supplying a W-phase current.
- the inverter connecting portions 5u2, 5v2, and 5w2 are omitted in order to prevent the figure from being obscured.
- the voltage applied by the first inverter 2a1 is applied to the first armature winding of the AC rotating machine 1a via the first inverter connection portion 5a1, and the voltage applied by the second inverter 2a2 is Then, it is applied to the second armature winding of the AC rotating machine 1a via the second inverter connection part 5a2, and a desired current is passed through the AC rotating machine 1a to generate torque.
- the first current detector 6a1 is provided between the lower arm of each phase of the first inverter 2a1 and the ground of the DC power supply 8, and the three-phase AC current iu1 that flows in each phase of the first inverter connection 5a1. , Iv1, and iw1 are detected. Instead of detecting all three phases of the three-phase AC current, only two phases are detected using the fact that the vector sum of the three-phase AC current is 0, and the remaining one phase is obtained by calculation. Is also possible.
- the first current detector 6a1 may be provided between the upper arm of each phase of the first inverter 2a1 and the positive electrode side of the DC power supply 8. Further, the first current detector 6a1 can also calculate a three-phase alternating current as a method of detecting the bus current value by shifting the switching timing of the first inverter 2a1 in order to secure the current detection time. Is possible.
- the second current detector 6a2 is provided between the lower arm of each phase of the second inverter 2a2 and the ground of the DC power supply 8, and the three-phase AC current iu2 that flows in each phase of the second inverter connection 5a2. , Iv2, and iw2 are detected. Instead of detecting all three phases of the three-phase AC current, only two phases are detected using the fact that the vector sum of the three-phase AC current is 0, and the remaining one phase is obtained by calculation. Is also possible.
- the second current detector 6 a 2 may be provided between the upper arm of each phase of the second inverter 2 a 2 and the positive electrode side of the DC power supply 8. Furthermore, the second current detector 6a2 can also calculate a three-phase alternating current as a method of detecting the bus current value by shifting the switching timing of the second inverter 2a2 in order to secure the current detection time. Is possible.
- the control calculation unit 7a includes an angle correction calculation unit 20 and a current control unit 21a.
- the angle correction calculation unit 20 corrects an error of the sine signal Vsin and the cosine signal Vcos due to a noise magnetic field generated by the three-phase alternating current flowing through the inverter connection unit 5 and outputs the corrected electric angle ⁇ e_hosei.
- the current vector used for the calculation of the noise magnetic field may be obtained from the current commands id * and iq *, or may be obtained from the three-phase alternating currents iu1, iv1, and iw1 detected by the first current detector 6a1. However, it may be obtained from the three-phase alternating currents iu2, iv2, and iw2 detected by the second current detector 6a2. Needless to say, a current vector may be obtained using a value after passing through a low-pass filter or the like for noise removal.
- the current control unit 21a uses the corrected electrical angle ⁇ e_hosei to convert the three-phase alternating currents iu1, iv1, and iw1 flowing through the first inverter connection unit 5a1 to the first detection currents id1 and iq1 in the rotating coordinate system. Convert. Then, the first voltage commands Vu1, Vv1, and Vw1 are calculated by feedback control so that the current commands id * and iq * input from the outside are equal to the first detection currents id1 and iq1.
- the current control unit 21a outputs the switching signals Qup1 to Qwn1 to the first inverter 2a1 by pulse width modulation (PWM modulation) according to the first voltage commands Vu1, Vv1, and Vw1.
- PWM modulation pulse width modulation
- the three-phase alternating currents iu2, iv2, and iw2 flowing through the inverter connection portion 5a2 are converted into second detection currents id2 and iq2 in the rotating coordinate system.
- the second voltage commands Vu2, Vv2, and Vw2 are calculated by feedback control so that the current commands id * and iq * are equal to the second detection currents id2 and iq2.
- the current control unit 21a outputs the switching signals Qup2 to Qwn2 to the second inverter 2a2 by pulse width modulation (PWM modulation) according to the second voltage commands Vu2, Vv2, and Vw2.
- PWM modulation pulse width modulation
- the feedback control of the three-phase alternating currents iu1, iv1, iw1 and the three-phase alternating currents iu2, iv2, and iw2 may instead be feedforward controlled in accordance with the AC rotating machine 1a.
- the values of the three-phase alternating currents iu1, iv1, and iw1 detected by the current detector 6a1 and the first current detector 6a1, the three-phase alternating current iu2 detected by the second current detector 6a2 and the second current detector 6a2. , Iv2, and iw2 are no longer essential.
- FIG. 12 is a cross-sectional view showing the positional relationship between the angle detector 4 and the inverter connecting portion 5a.
- corresponding phases with respect to the angle detector 4 are arranged point-symmetrically.
- the inverter connection portion 5a of the seventh embodiment shown in FIG. 12 is arranged in the positive direction side (right side) of the y-axis compared to the inverter connection portion 5 of the first embodiment shown in FIG. 1 is mainly different from the first inverter connection portion 5a1 and the second inverter connection portion 5a2 disposed on the negative direction side (left side) of the y-axis.
- the three-phase alternating current flowing through the inverter connection 5a is expressed by the following equation (27).
- ⁇ 2 ⁇ Irms is the amplitude of the three-phase alternating current.
- the relationship between the detection angle ⁇ sns and the electrical angle ⁇ e is defined by the above equation (5).
- the detection angle ⁇ sns and the electrical angle ⁇ e are The relationship is expressed by the following formula (29).
- the initial phases of the detection angle ⁇ sns and the electrical angle ⁇ e are different, they are offset by the initial phase difference ⁇ ofs.
- the angle detection magnetic field generated by the magnetic field generator 3 is strong and the angle detector 4 is used in the saturation sensitivity region will be described.
- the magnetic field generated by the magnetic field generator 3 at the position of the angle detector 4 has an intensity that falls within the saturation sensitivity region of the angle detector 4, Not all the noise magnetic fields Bi of the above equation (30) are detected as angles, and components in the same direction as the principal component vector of the magnetic field generated by the magnetic field generator 3 are not detected because they are saturated. . That is, it is considered that the vector in the normal direction is a component that causes an angle error with respect to the principal component vector of the magnetic field generated by the magnetic field generator 3.
- the principal component vector B of the magnetic field generated by the magnetic field generator 3 is expressed by the following equation (31) by converting the above equation (12) into a vector notation.
- the unit vector t in the normal direction of the principal component vector B is expressed by the following equation (32).
- the noise magnetic field vector Bsns detected as the angle error is obtained by projecting the noise magnetic field vector Bi onto the normal vector t. expressed.
- the angle detection magnetic field generated by the magnetic field generator 3 is strong and the angle detector 4 is used in the saturation sensitivity region, it is superimposed on the noise component esin and the cosine signal superimposed on the sine signal by the noise magnetic field.
- the noise component ecos is expressed by the following equation (35). In other words, the sine wave of the (1 ⁇ 2 Psns / P) order component of the electrical angle is further superimposed on the case of the first embodiment represented by the sine wave of the primary component of the electrical angle. Yes.
- the angle correction calculation unit 20 is configured in the same manner as in the first to third embodiments by using the sine signal correction signal hsin as esin and the cosine signal correction signal hcos as ecos, so that a large number of currents flowing through the inverter connection unit are obtained.
- the detection error of the angle detector due to the noisy magnetic field generated by the phase alternating current is a correction signal whose phase and amplitude are determined by the relative positional relationship between the inverter connection part and the angle detector and the value of the multiphase alternating current. Can be used to correct.
- a simple and low-cost control device for an AC rotating machine that can detect the angular position of the rotor with high accuracy can be obtained.
- the three-phase alternating current can be expressed only by the primary (basic period) component of the electrical angle ⁇ e, but the above equation (27) includes the n-order component (n is a natural number of 2 or more) of the electrical angle ⁇ e.
- n is a natural number of 2 or more
- an equation corresponding to the above equation (35) can be obtained by a similar procedure from the property of superposition of electromagnetic fields.
- the sine signal correction signal hsin and the cosine signal correction signal hcos include the current command id *, iq * or the detected current id1.
- the absolute value of the current vector of iq1 is multiplied by an amplitude correction constant, and the phase angle ⁇ with respect to the q-axis of the current vector of the current command id *, iq * or the detected current id1, iq1 is set to ( (n ⁇ 2Psns / P)
- the term of the (n ⁇ 2Psns / P) order sine wave having the order component (n is a natural number of 2 or more) and the phase value added with the phase correction constant Will be further included.
- the current commands id * and iq * may be used as the current vectors used for the calculation of the sine signal correction signal hsin and the cosine signal correction signal hcos, or the three phases detected by the first current detector 6a1.
- the values of the alternating currents iu1, iv1, and iw1 may be used, and the values of the three-phase alternating currents iu2, iv2, and iw2 detected by the second current detector 6a2 may be used.
- the angle error esns that occurs in the detection angle ⁇ sns is expressed by the following equation (36). That is, it is the same as in the case of the first embodiment represented by a sine wave of the (1 ⁇ 2 Psns / P) order component of the electrical angle.
- the angle detection by the noise magnetic field generated by the polyphase alternating current flowing in the inverter connecting portion is configured by using the detection angle correction signal h ⁇ sns as esns and configuring the angle correction calculation unit 20 in the same manner as in the fourth to sixth embodiments.
- the detection error of the detector can be corrected using a correction signal whose phase and amplitude are determined by the relative positional relationship between the inverter connection portion and the angle detector and the value of the polyphase alternating current.
- a correction signal whose phase and amplitude are determined by the relative positional relationship between the inverter connection portion and the angle detector and the value of the polyphase alternating current.
- the three-phase alternating current can be expressed only by the primary (basic period) component of the electrical angle ⁇ e, but the above equation (27) includes the n-order component (n is a natural number of 2 or more) of the electrical angle ⁇ e.
- n is a natural number of 2 or more
- an equation corresponding to the above equation (36) can be obtained by a similar procedure from the property of superposition of electromagnetic fields.
- the electrical angle correction signal h ⁇ e has the current command id *, iq * or the absolute value of the current vector of the detected currents id1, iq1.
- the (n ⁇ 2Psns / P) order component of the electrical angle ⁇ e is added to the phase angle ⁇ with respect to the q axis of the current value of the current command id *, iq * or the current vector of the detected current id1, iq1
- Embodiment 8 FIG.
- a phase difference of 30 deg is provided by the current flowing through the first armature winding and the second armature winding, but in the eighth embodiment, the first armature winding and The current flowing in the second armature winding is different from that of the previous embodiment 7 in that it has the same phase. Since other configurations are the same as those of the seventh embodiment, description thereof is omitted.
- FIG. 12 is a cross-sectional view and a side view showing a relative positional relationship between the angle detector and the inverter connection portion in the control device for an AC rotating machine according to the eighth embodiment of the present invention.
- the first inverter connection portion 5 a 1 and the second inverter connection portion 5 a 2 are arranged so that corresponding phases with respect to the angle detector 4 are point-symmetrically arranged.
- the noise magnetic field generated at the position of the angle detector 4 is 0 as a component generated by the current flowing through the second inverter connection portion 5a2. Yes, only the component generated by the current flowing through the first inverter connection portion 5a1 remains.
- the magnetic field in the angle detector 4 generated by the current flowing in the second inverter connection 5a2 is the current in the inverter connection 5a2.
- the magnetic field is generated by the two-phase connection line that has not failed.
- the magnetic field in the angle detector 4 generated by the current flowing through the first inverter connection 5a1 is a magnetic field generated by the three-phase connection line of the inverter connection 5a1.
- the correction signal is corrected as in the first to seventh embodiments. By doing so, the same effect can be obtained.
- correction signal is represented by a formula as a simple sine wave here
- a table corresponding to the electrical angle may be prepared and mounted in advance if the waveform is difficult to represent by the formula.
- a plurality of inverter connections are arranged so that the noise magnetic field formed by the polyphase alternating current flowing through the inverter connections cancels out at the position of the angle detector.
- the correction signal As in the first to seventh embodiments even at the normal time. There is no. In that case, since the noise magnetic field generated at the time of normality and failure is different, the correction formula may be changed.
- control device for the AC rotating machine according to the present invention can be provided in the electric power steering so that the AC rotating machine 1a generates a torque that assists the steering torque of the steering system.
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Abstract
Description
特許文献1では、蓋部を設けることにより電機子が発生する磁場の影響がセンサに及ばないようにしているが、蓋部を追加することによって生じるコストの増加、生産性の悪化および製品全体の質量の増加が懸念される。
図1は、本発明の実施の形態1に係る交流回転機の制御装置の構成を、交流回転機とともに示す概略図である。図1に示す交流回転機の制御装置は、交流回転機1を制御するものであって、インバータ2、磁場発生器3、角度検出器4、インバータ接続部5、および制御演算部7を備えて構成される。
図6Aは、本発明の実施の形態2に係る交流回転機の制御装置における角度補正演算部20cのブロック図である。図6Aに示す本実施の形態2の角度補正演算部20cは、先の実施の形態1の図5Aと比較して、補正信号演算部31が、電気角θeの代わりに、補正後電気角θe_hoseiの前回値θe_hosei_oldを入力する点が異なっている。
図7Aは、本発明の実施の形態3に係る交流回転機の制御装置における角度補正演算部20eのブロック図である。図7Aに示す本実施の形態3の角度補正演算部20eは、先の実施の形態2の図6Aと比較して、交流回転機1の電気角θeの時間変化率ωeに基づいて、補正後電気角θe_hoseiの前回の演算値を補正する回転変化補正部34を備えている点が異なっている。
図8Aは、本発明の実施の形態4に係る交流回転機の制御装置における角度補正演算部20gのブロック図である。図8Aに示す本実施の形態4の角度補正演算部20gは、先の実施の形態1の図5Aと比較して、補正信号演算部31bが補正信号としてhθeを出力し、電気角θeをhθeにより補正する点が異なっている。
図9Aは、本発明の実施の形態5に係る交流回転機の制御装置における角度補正演算部20jのブロック図である。図9Aに示す本実施の形態5の角度補正演算部20jは、先の実施の形態4の図8Aと比較して、補正信号演算部31bが、電気角θeの代わりに、補正後電気角θe_hoseiの前回値θe_hosei_oldを入力する点が異なっている。
その他の構成および動作については先の実施の形態1と同様であるので説明は省略する。
図10Aは、本発明の実施の形態6に係る交流回転機の制御装置における角度補正演算部20lのブロック図である。図10Aに示す本実施の形態6の角度補正演算部20lは、先の実施の形態5の図9Aと比較して、交流回転機1の電気角θeの時間変化率ωeに基づいて、補正後電気角θe_hoseiの前回の演算値を補正する回転変化補正部34を備えている点が異なっている。
補正信号演算部31bは、外部から入力される電流指令id*、iq*から、上式(9)に従って、位相角θβを求めるとともに、電流ベクトルと位相角θβと第2の補正後電気角θe_hosei2とから、上式(24)に従って、電気角補正信号hθeを算出する。
その他の構成および動作については先の実施の形態1と同様であるので説明は省略する。
先の実施の形態1~6では、電機子巻線が1組の場合について説明したが、本実施の形態8では、複数組の電機子巻線を持つ場合について説明する。また、磁場発生器3が生成する角度検出用磁場が強く、角度検出器4が飽和感度領域において使用される場合についても説明する。
先の実施の形態7では、第1の電機子巻線と第2の電機子巻線に流れる電流で30degの位相差を設けたが、本実施の形態8では第1の電機子巻線と第2の電機子巻線に流れる電流は同一位相であることが先の実施の形態7と異なっている。その他の構成については先の実施の形態7と同様であるので説明は省略する。
Claims (20)
- 固定子の電機子巻線に流れる多相交流電流が形成する回転磁場によって回転子が回転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、
前記交流回転機の前記電機子巻線に電圧を印加するインバータと、
前記電機子巻線と前記インバータとを接続するインバータ接続部と、
前記回転子と同期して回転することにより、前記交流回転機の回転角を検出するための角度検出用磁場を発生する磁場発生器と、
前記磁場発生器が発生する前記角度検出用磁場の互いに直交する2つの成分を正弦信号および余弦信号として検出する角度検出器と、
前記交流回転機の電流指令と、前記正弦信号および前記余弦信号から得られる角度情報とに基づいて前記インバータに印加する電圧を制御する制御演算部と、
を備え、
前記制御演算部は、
前記インバータ接続部に流れる前記多相交流電流が発生するノイズ磁場による前記角度情報の誤差を、
前記インバータ接続部に流れる前記多相交流電流の電流ベクトルと、
前記インバータ接続部と前記角度検出器との相対的な位置関係により決定される位相補正定数および振幅補正定数と、
によって位相および振幅が決定される補正信号を用いて補正し、補正後電気角として出力する角度補正演算部を有し、
前記補正後電気角に基づいて前記インバータを制御する
交流回転機の制御装置。 - 前記角度情報は、電気角、または前記電気角を定数倍したものであり、
前記角度補正演算部は、
前記補正信号として、前記電気角に対する正弦信号用補正信号または余弦信号用補正信号の少なくとも1つを算出し、
前記正弦信号と前記正弦信号用補正信号との差を、補正後の正弦信号として算出し、
前記余弦信号と前記余弦信号用補正信号との差を、補正後の余弦信号として算出し、
前記補正後の正弦信号および前記補正後の余弦信号から得られる補正後の電気角を、前記補正後電気角として出力する
請求項1に記載の交流回転機の制御装置。 - 前記角度情報は、前記角度検出器の検出角、または前記検出角を定数倍したものであり、
前記交流回転機の極対数をP、前記角度検出器の軸倍角をPsnsとするとき、
前記角度補正演算部は、
前記補正信号として、前記検出角に対する正弦信号用補正信号または余弦信号用補正信号の少なくとも1つを算出し、
前記正弦信号と前記正弦信号用補正信号との差を、補正後の正弦信号として算出し、
前記余弦信号と前記余弦信号用補正信号との差を、補正後の余弦信号として算出し、
前記補正後の正弦信号および前記補正後の余弦信号から得られる補正後検出角をKp=P/Psns倍した値から算出される前記補正後電気角を出力する
請求項1に記載の交流回転機の制御装置。 - 前記正弦信号および前記余弦信号のうち、前記ノイズ磁場による誤差が大きい方を第1信号、前記ノイズ磁場による誤差が小さい方を第2信号とするとき、
前記角度補正演算部は、
前記補正信号として、前記第1信号に対する第1信号用補正信号を算出し、
前記第1信号と前記第1信号用補正信号との差を、補正後の第1信号として算出し、
前記補正後の第1信号および前記第2信号から得られる補正後の電気角を、前記補正後電気角として出力する
請求項2または3に記載の交流回転機の制御装置。 - 前記補正信号は正弦波であり、
前記電流ベクトルの絶対値に対して、前記振幅補正定数が乗算された振幅値を有し、
前記電流ベクトルのq軸に対する位相角に対して、電気角または前記補正後電気角の基本周期である1次位相と、前記位相補正定数とが加算された位相値を有する
請求項2から4のいずれか1項に記載の交流回転機の制御装置。 - 前記角度検出器は、飽和感度領域において使用され、
前記交流回転機の極対数をP、前記角度検出器の軸倍角をPsnsとするとき、
前記補正信号は正弦波であり、
前記電流ベクトルの絶対値に対して、前記振幅補正定数が乗算された振幅値を有し、
前記電流ベクトルのq軸に対する位相角に対して、電気角または前記補正後電気角の(1±2Psns/P)次位相と、前記位相補正定数とが加算された位相値を有する
請求項5に記載の交流回転機の制御装置。 - 前記補正信号は、nを2以上の自然数とするn次正弦波の項を更に含み、
前記n次正弦波は、
前記電流ベクトルの絶対値に対して、前記振幅補正定数が乗算された振幅値を有し、
前記電流ベクトルのq軸に対する位相角に対して、電気角または前記補正後電気角のn次位相と、前記位相補正定数とが加算された位相値を有する
請求項5または6に記載の交流回転機の制御装置。 - 前記角度検出器は、飽和感度領域において使用され、
前記補正信号は、nを2以上の自然数とする(n±2Psns/P)次正弦波の項を更に含み、
前記(n±2Psns/P)次正弦波は、
前記電流ベクトルの絶対値に対して、前記振幅補正定数が乗算された振幅値を有し、
前記電流ベクトルのq軸に対する位相角に対して、電気角または前記補正後電気角の(n±2Psns/P)次位相と、前記位相補正定数とが加算された位相値を有する
請求項7に記載の交流回転機の制御装置。 - 前記角度情報は、電気角、または前記電気角を定数倍したものであり、
前記角度補正演算部は、
前記補正信号として、前記電気角に対する電気角補正信号を算出し、
前記電気角と前記電気角補正信号との差を、前記補正後電気角として出力する
請求項1に記載の交流回転機の制御装置。 - 前記角度情報は、前記角度検出器の検出角、または前記検出角を定数倍したものであり、
前記交流回転機の極対数をP、前記角度検出器の軸倍角をPsnsとするとき、
前記角度補正演算部は、
前記補正信号として、前記検出角に対する検出角補正信号を算出し、
前記正弦信号および前記余弦信号から得られる前記検出角と前記検出角補正信号との差をKp=P/Psns倍した値から算出される前記補正後電気角を出力する
請求項1に記載の交流回転機の制御装置。 - 前記交流回転機の極対数をP、前記角度検出器の軸倍角をPsnsとするとき、
前記補正信号は正弦波であり、
前記電流ベクトルの絶対値に対して、前記振幅補正定数が乗算された振幅値を有し、
前記電流ベクトルのq軸に対する位相角に対して、電気角または前記補正後電気角の(1±Psns/P)次位相と、前記位相補正定数とが加算された位相値を有する
請求項9または10に記載の交流回転機の制御装置。 - 前記補正信号は、nを2以上の自然数とする(n±Psns/P)次正弦波の項を更に含み、
前記(n±Psns/P)次正弦波は、
前記電流ベクトルの絶対値に対して、前記振幅補正定数が乗算された振幅値を有し、
前記電流ベクトルのq軸に対する位相角に対して、電気角または前記補正後電気角の(n±Psns/P)次位相と、前記位相補正定数とが加算された位相値を有する
請求項11に記載の交流回転機の制御装置。 - 前記電機子巻線は、第1の電機子巻線および第2の電機子巻線からなり、
前記インバータは、前記第1の電機子巻線に電圧を印加する第1のインバータと、前記第2の電機子巻線に電圧を印加する第2のインバータからなり、
前記インバータ接続部は、前記第1の電機子巻線と前記第1のインバータとを接続する第1のインバータ接続部と、前記第2の電機子巻線と前記第2のインバータとを接続する第2のインバータ接続部からなり、
前記角度補正演算部は、前記第2の電機子巻線、前記第2のインバータ、前記第2のインバータ接続部の少なくとも1つにおいて故障が発生した場合には、前記位相補正定数および前記振幅補正定数を、故障時用の位相補正定数および振幅補正定数に切替えて前記補正信号を算出する
請求項1から12のいずれか1項に記載の交流回転機の制御装置。 - 前記電機子巻線は、第1の電機子巻線および第2の電機子巻線からなり、
前記インバータは、前記第1の電機子巻線に電圧を印加する第1のインバータと、前記第2の電機子巻線に電圧を印加する第2のインバータからなり、
前記インバータ接続部は、前記第1の電機子巻線と前記第1のインバータとを接続する第1のインバータ接続部と、前記第2の電機子巻線と前記第2のインバータとを接続する第2のインバータ接続部からなり、
前記第1のインバータ接続部および前記第2のインバータ接続部は、前記角度検出器の位置において前記ノイズ磁場が相殺されるように配置され、
前記角度補正演算部は、前記第2の電機子巻線、前記第2のインバータ、前記第2のインバータ接続部の少なくとも1つにおいて故障が発生した場合には、故障により相殺しきれなくなったノイズ磁場により生じる電気角の誤差を補正する
請求項1から12のいずれか1項に記載の交流回転機の制御装置。 - 前記角度補正演算部は、前記角度情報として、前記角度補正演算部によって補正後の角度情報の前回演算値を用いる
請求項1から14のいずれか1項に記載の交流回転機の制御装置。 - 前記角度補正演算部は、前記補正後の角度情報の前回演算値を、前回演算時から今回演算時までの時間と前記角度情報の時間変化率との積を加算することにより補正する
請求項15に記載の交流回転機の制御装置。 - 前記制御演算部は、前記電流指令から前記電流ベクトルを取得する
請求項1から16のいずれか1項に記載の交流回転機の制御装置。 - 前記多相交流電流を検出する電流検出器を更に備え、
前記制御演算部は、前記電流検出器が検出する検出電流から前記電流ベクトルを取得する
請求項1から16のいずれか1項に記載の交流回転機の制御装置。 - 前記振幅補正定数は、前記角度検出器が出力する前記正弦信号および前記余弦信号の基本波振幅に比例する
請求項1から18のいずれか1項に記載の交流回転機の制御装置。 - 電動パワーステアリングの操舵トルクを補助するために用いられる
請求項1から19のいずれか1項に記載の交流回転機の制御装置。
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US15/541,601 US10608568B2 (en) | 2015-01-23 | 2015-01-23 | Control device for AC rotary machine |
JP2016570450A JP6238264B2 (ja) | 2015-01-23 | 2015-01-23 | 交流回転機の制御装置 |
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US (1) | US10608568B2 (ja) |
EP (1) | EP3249800B1 (ja) |
JP (1) | JP6238264B2 (ja) |
CN (1) | CN107251404B (ja) |
WO (1) | WO2016117115A1 (ja) |
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WO2019026145A1 (ja) * | 2017-07-31 | 2019-02-07 | 三菱電機株式会社 | 交流回転機の制御装置および電動パワーステアリングの制御装置 |
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CN108631681B (zh) * | 2018-04-18 | 2020-01-21 | 华中科技大学 | 一种旋转变压器周期性误差的在线补偿方法及补偿装置 |
WO2019207754A1 (ja) * | 2018-04-27 | 2019-10-31 | 三菱電機株式会社 | 電動機制御装置 |
JP2020142740A (ja) * | 2019-03-08 | 2020-09-10 | 日本電産エレシス株式会社 | モータ通電制御方法 |
CN110020404B (zh) * | 2019-04-10 | 2023-03-21 | 自然资源部第二海洋研究所 | 一种角度约束的遥感反演流场的矢量数据处理方法 |
US11305810B2 (en) | 2020-04-24 | 2022-04-19 | Steering Solutions Ip Holding Corporation | Method and system to synchronize non-deterministic events |
CN111649774B (zh) * | 2020-06-23 | 2021-12-07 | 北京控制工程研究所 | 一种旋转变压器测角误差硬件自校正系统和方法 |
JP6991297B1 (ja) * | 2020-10-21 | 2022-01-12 | 三菱電機株式会社 | 電流検出装置及び交流回転機の制御装置 |
CN113037159B (zh) * | 2021-03-15 | 2022-08-02 | 哈尔滨工业大学 | 永磁同步电机转子位置偏移误差在线抑制方法 |
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- 2015-01-23 JP JP2016570450A patent/JP6238264B2/ja not_active Expired - Fee Related
- 2015-01-23 WO PCT/JP2015/051841 patent/WO2016117115A1/ja active Application Filing
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WO2019026145A1 (ja) * | 2017-07-31 | 2019-02-07 | 三菱電機株式会社 | 交流回転機の制御装置および電動パワーステアリングの制御装置 |
JPWO2019026145A1 (ja) * | 2017-07-31 | 2019-12-12 | 三菱電機株式会社 | 交流回転機の制御装置および電動パワーステアリングの制御装置 |
CN110999069A (zh) * | 2017-07-31 | 2020-04-10 | 三菱电机株式会社 | 交流旋转电机控制装置及电动助力转向控制装置 |
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Also Published As
Publication number | Publication date |
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US10608568B2 (en) | 2020-03-31 |
JPWO2016117115A1 (ja) | 2017-05-25 |
US20180006590A1 (en) | 2018-01-04 |
EP3249800A4 (en) | 2018-08-08 |
JP6238264B2 (ja) | 2017-11-29 |
CN107251404B (zh) | 2019-08-16 |
EP3249800A1 (en) | 2017-11-29 |
EP3249800B1 (en) | 2019-03-06 |
CN107251404A (zh) | 2017-10-13 |
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