WO2016129125A1 - Dispositif de commande de moteur électrique et système de commande de véhicule - Google Patents

Dispositif de commande de moteur électrique et système de commande de véhicule Download PDF

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Publication number
WO2016129125A1
WO2016129125A1 PCT/JP2015/054042 JP2015054042W WO2016129125A1 WO 2016129125 A1 WO2016129125 A1 WO 2016129125A1 JP 2015054042 W JP2015054042 W JP 2015054042W WO 2016129125 A1 WO2016129125 A1 WO 2016129125A1
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Prior art keywords
frequency
position estimation
carrier
voltage command
drive device
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PCT/JP2015/054042
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English (en)
Japanese (ja)
Inventor
晃大 寺本
良範 山下
将 加藤
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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/JP2015/054042 priority Critical patent/WO2016129125A1/fr
Priority to DE112015006161.4T priority patent/DE112015006161T5/de
Priority to JP2016574615A priority patent/JP6203435B2/ja
Publication of WO2016129125A1 publication Critical patent/WO2016129125A1/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
    • 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
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal

Definitions

  • the present invention relates to an electric motor drive device that performs drive control of a synchronous motor and a vehicle drive system in which the electric motor drive device is mounted on a railway vehicle.
  • the former method is a method that utilizes the feature that the magnitude of the induced voltage is proportional to the speed of the synchronous motor.
  • the magnitude of the induced voltage becomes smaller in the zero speed or low speed region and becomes S / N. Since the ratio deteriorates, it is difficult to accurately estimate the rotor magnetic pole position of the synchronous motor.
  • the latter method using the saliency is different from the driving frequency of the synchronous motor, and applies a voltage command for position estimation higher than the driving frequency to the synchronous motor, and synchronizes according to the voltage command for position estimation.
  • a synchronous motor current flowing in the motor is detected, and position estimation is performed by utilizing the fact that the magnitude of the synchronous motor current changes depending on the rotor magnetic pole position depending on the saliency.
  • the method of reducing the magnitude of the noise itself generated from the synchronous motor has a smaller amplitude of the voltage command for position estimation. It becomes difficult to accurately estimate the rotor magnetic pole position.
  • Patent Document 1 As a technique for improving the sound quality of the latter noise, for example, there is a technique described in Patent Document 1 below.
  • the technique described in Patent Document 1 has a feature that, when a specific frequency component stands out among sounds audible to humans, humans feel uncomfortable, so the frequency of the voltage command for position estimation applied to the synchronous motor Is intentionally changed randomly so that the sound of a specific frequency component does not stand out, thereby reducing discomfort felt by humans.
  • the present invention has been made in view of the above, and is capable of accurately estimating the rotor magnetic pole position, and uncomfortable feeling caused by the generation of noise accompanying the application of the position estimation voltage command to the synchronous motor.
  • An object of the present invention is to obtain an electric motor drive device that can effectively reduce the motor.
  • the present invention is an electric motor driving device that drives a synchronous motor, a modulated wave generating unit that outputs a modulated wave, a carrier wave generating unit that outputs a carrier wave, A switching signal generation unit that outputs a switching signal by comparing the carrier wave and the modulated wave; and a power conversion unit that includes a switching element that operates according to the switching signal and supplies power to the synchronous motor.
  • the power conversion unit has a high-frequency superimposed sensorless mode for estimating a magnetic pole position of the synchronous motor by applying a position estimation voltage having a frequency higher than that of the fundamental wave to the synchronous motor, and the modulated wave generation unit
  • the high-frequency superimposed sensorless mode a fundamental wave and a voltage command for position estimation having a higher frequency than the fundamental wave are generated, and A signal on which the voltage command for estimation is superimposed is output as the modulated wave, and the carrier wave generation unit varies the frequency of the carrier wave independently of the voltage command for position estimation in the high frequency superimposed sensorless mode. It is characterized by that.
  • FIG. 1 is a block diagram showing a configuration of an electric motor drive device according to a first embodiment.
  • FIG. 3 is a block diagram illustrating an example of a specific configuration of a position estimation unit according to Embodiment 1. Waveform diagram of position estimation current amplitude obtained by each current amplitude calculator shown in FIG. The figure which serves for operation
  • a synchronous motor drive device (hereinafter referred to as “motor drive device”) according to an embodiment of the present invention will be described with reference to the accompanying drawings.
  • this invention is not limited by embodiment shown below.
  • a control method for driving the synchronous motor by estimating the magnetic pole position of the synchronous motor by applying to the synchronous motor a voltage obtained by superimposing a position estimation voltage having a frequency higher than that of the fundamental wave on the fundamental wave is referred to as “high frequency superposition”
  • sensorless control a state in which a power conversion unit, which will be described later, operates by high-frequency superimposed sensorless control
  • high-frequency superimposed sensorless mode a state in which a power conversion unit, which will be described later, operates by high-frequency superimposed sensorless control
  • induced voltage-based sensorless control the control method that estimates the magnetic pole position of the synchronous motor using the induced voltage generated in the synchronous motor and drives the synchronous motor.
  • the power converter operates by induced voltage-based sensorless control. This state is referred to as “induced voltage utilizing sensorless mode”.
  • FIG. 1 is a block diagram showing the configuration of the electric motor drive device according to the first embodiment.
  • the electric motor drive device 1 according to the first embodiment includes a power conversion unit 2, a control unit 3, current detectors 9 a and 9 b, and a voltage detector 10 as a configuration for driving the synchronous motor 50. It is the structure which has.
  • the power converter 2 has a function of converting DC power supplied from the DC power source 60 into AC power having a variable voltage and variable frequency and supplying the AC power to the synchronous motor 50.
  • the control unit 3 includes a carrier wave generation unit 5, a modulated wave generation unit 6, a switching signal generation unit 7, and a position estimation unit 8.
  • the voltage detector 10 is a detector that detects the DC voltage EFC that the DC power source 60 applies to the power converter 2.
  • the DC voltage EFC is used, for example, for calculating modulation waves ⁇ u, ⁇ v, ⁇ w, which will be described later.
  • the DC voltage EFC detected by the voltage detector 10 is input to the modulated wave generator 6.
  • the current detectors 9a and 9b are detectors that detect currents for two phases among the three-phase currents flowing from the power conversion unit 2 into the synchronous motor 50.
  • the currents detected by the current detectors 9a and 9b are input to the position estimation unit 8.
  • the current detector 9a is arranged in the U phase and the current detector 9b is arranged in the W phase.
  • the current detectors 9a and 9b may be arranged in the U phase and the V phase. However, they may be arranged in the V phase and the W phase. Further, current detectors may be arranged in all of the U phase, the V phase, and the W phase to detect the current for three phases.
  • the above power conversion operation in the power conversion unit 2 is performed by driving a plurality of semiconductor switch elements constituting the power conversion unit 2 by the switching signals SWu, SWv, and SWw generated by the switching signal generation unit 7. Refer to FIG. 21 described later for the detailed configuration of the power conversion unit 2.
  • the carrier wave generation unit 5 generates a carrier wave (also referred to as “carrier”) Ca that is based on a triangular wave and has a higher frequency than the fundamental wave of the modulated wave.
  • the frequency of the carrier wave Ca is basically the switching frequency of the power converter 2.
  • the frequency range of a general carrier wave may be limited by the power capacity of the power conversion unit used in the application to which it is applied.
  • the frequency range is about 500 Hz to 2000 Hz.
  • the frequency range of the carrier wave is 500 Hz to 2000 Hz.
  • the modulated wave generation unit 6 generates a U phase, a V phase, and a W phase based on the q axis voltage command Vq *, the d axis voltage command Vd *, the modulation factor PMF, and the estimated phase angle ⁇ e of the synchronous motor estimated by the position estimation unit 8. Generate a fundamental wave of phase modulation.
  • a signal in which a signal having a higher frequency than the fundamental frequency also referred to as a voltage command for position estimation
  • W phase It generates as ⁇ u, ⁇ v, ⁇ w.
  • the frequency range of a general position estimation voltage command is limited as described later.
  • the frequency range is about several hundred Hz to about 500 Hz for electric railway applications and 1000 Hz or less for general industrial applications.
  • the frequency range of the voltage command for position estimation is 100 Hz to 500 Hz.
  • the modulation waves ⁇ u, ⁇ v, ⁇ w generated by the modulation wave generation unit 6 and the carrier wave Ca generated by the carrier wave generation unit 5 are input to the switching signal generation unit 7.
  • the switching signal generator 7 compares the signal values of the modulated waves ⁇ u, ⁇ v, ⁇ w that change from time to time with the signal value of the carrier wave Ca, and based on the magnitude relationship between the signal values, the switching signals SWu, SWv, SWw.
  • PWM modulation Pulse Width Modulation: hereinafter referred to as “PWM modulation”
  • the power conversion unit 2 is a two-level inverter
  • the following signals are generated as switching signals SWu, SWv, SWw output to the power conversion unit 2 according to the magnitude relationship between the modulated waves ⁇ u, ⁇ v, ⁇ w and the carrier wave Ca.
  • the DC voltage applied to the power conversion unit 2 is a DC voltage input.
  • the switching signals SWu, SWv, SWw generated by the switching signal generator 7 are input to the power converter 2.
  • PWM modulation is performed based on the above-described switching signals SWu, SWv, SWw, DC power is converted into three-phase AC power, and the synchronous motor 50 is driven.
  • control unit 3 includes a processor logically configured in a hardware circuit such as a microcomputer (DSP), a DSP (Digital Signal Processor), or an FPGA. A plurality of control units and a plurality of storage units may cooperate to execute the above function.
  • DSP microcomputer
  • DSP Digital Signal Processor
  • FPGA field-programmable gate array
  • the synchronous motor 50 has a characteristic that the inductance changes according to the rotor magnetic pole position, so-called saliency.
  • voltage commands Vup *, Vvp * superimposed with three-phase AC position estimation voltage commands Vuh, Vvh, Vwh output from the position estimation voltage generation unit in the modulated wave generation unit 6.
  • the synchronous motor currents iu, iv, iw calculated by the detected currents of the current detectors 9a, 9b include the position estimation voltage commands Vuh, Vvh, Vwh and Currents of the same frequency component (hereinafter referred to as “position estimation current”) iuh, ivh, iwh are included.
  • position estimation current Currents of the same frequency component
  • the amplitudes of these position estimation currents iuh, ivh, iwh include components that change in accordance with the rotor magnetic pole position of the synchronous motor 50.
  • the rotor magnetic pole position is obtained using this property. Note that the method for obtaining the rotor magnetic pole position by superimposing the position estimation voltage command on the drive voltage command does not use a sensor that directly obtains the rotor magnetic pole position, and the position estimation voltage command is higher than the fundamental frequency. Therefore, it is generally referred to as “high frequency superimposed sensorless control”.
  • FIG. 2 is a block diagram illustrating an example of a specific configuration of the position estimation unit 8 according to the first embodiment.
  • the position estimation unit 8 includes an adder 16, position estimation current extractors 17u, 17v, and 17w, current amplitude calculators 18u, 18v, and 18w, and a position calculator 19.
  • the adder 16 adds the U-phase and W-phase synchronous motor currents iu and iw to obtain the V-phase synchronization.
  • the motor current iv is obtained.
  • each position estimation current iuh, ivh, iwh is extracted using a bandpass filter, a notch filter, or the like.
  • it is necessary to design the band-pass filter and the notch filter so that the same frequency component as the position estimation voltage command superimposed by the modulation wave generation unit can be extracted.
  • the position estimation currents iuh, ivh, iwh extracted by the position estimation current extractors 17u, 17v, 17w are input to the individually provided current amplitude calculators 18u, 18v, 18w, respectively, for position estimation.
  • the position estimation current amplitudes Iuh, Ivh, Iwh, which are the amplitude values of the currents iuh, ivh, iwh, are calculated.
  • each position estimation current amplitude Iuh, Ivh, Iwh there are no particular restrictions on the calculation method of each position estimation current amplitude Iuh, Ivh, Iwh in this case, but for example, Fourier transform is performed, or position estimation current iuh,
  • the amplitude can be obtained based on the autocorrelation value obtained by squaring ivh and iwh.
  • the same frequency information as the position estimation voltage command superimposed by the modulation wave generator for example, Tn in the equation (2): period of the position estimation current
  • the position calculator 19 calculates the estimated phase angle ⁇ e of the synchronous motor 50 based on the position estimation current amplitudes Iuh, Ivh, Iwh obtained by the current amplitude calculators 18u, 18v, 18w.
  • the position calculator 19 is not limited to the method described below, and any other method can be used as long as it can calculate the estimated phase angle ⁇ e based on the position estimation current amplitudes Iuh, Ivh, Iwh. Various methods may be applied.
  • an offset Ih is superimposed on the position estimation current amplitudes Iuh, Ivh, Iwh obtained by the current amplitude calculators 18u, 18v, 18w, and 1 of the position (electrical angle) of the synchronous motor 50 is superimposed. It changes with a period of / 2.
  • the position calculator 19 first calculates the position calculation signals dIu, dIv, dIw by subtracting the offset Ih from the position estimation current amplitudes Iuh, Ivh, Iwh, as shown in the following equation (3).
  • the offset Ih can be obtained from the following equation (4) because the current amplitudes Iuh, Ivh, and Iwh for position estimation are in a three-phase equilibrium.
  • the estimated phase angle ⁇ e in the synchronous motor 50 can be calculated by performing an inverse cosine calculation on any one of the position calculation signals dIu, dIv, and dIw represented by the equation (3).
  • An operation for performing an inverse cosine operation is required, and an inverse cosine function must be stored in advance, which leads to an increase in calculation amount and storage capacity, which is not a good idea. Therefore, in the first embodiment, a method of calculating the estimated phase angle ⁇ e of the synchronous motor 50 using linear approximation without using an inverse cosine function is employed. Hereinafter, this method will be described.
  • the center position ⁇ M of each section is given by the following equation (5) from the relative relationship of the position calculation signals dIu, dIv, dIw obtained from the equation (3). It is divided into six sections (I to VI) that give the desired value.
  • each section (I to VI) among the position calculation signals dIu, dIv, dIw, the one that crosses zero at the center of each section is a function of “sin” and “ ⁇ sin”. , The function of “ ⁇ sin” is approximated as a straight line, and is linearly approximated. Based on the following equation (6), the center position ⁇ M of each section (I to VI) and the estimated phase angle ⁇ e of the synchronous motor 50 ( ⁇ the synchronous motor 50 The deviation ⁇ ML from the phase angle ⁇ ) is obtained.
  • dI_uvw in the equation (6) is a value on the vertical axis when zero crossing is performed at the center position ⁇ M of each section (I to VI) among the position calculation signals dIu, dIv, and dIw.
  • Iha is a change amount of the position estimation currents iuh, ivh, iwh depending on the synchronous motor position
  • (Iha / 2) is an amplitude of the position calculation signals dIu, dIv, dIw.
  • (Iha / 2) may be obtained from the square root of the sum of squares of dIu, dIv, and dIw as in the following equation (7).
  • the estimated phase angle ⁇ e of the synchronous motor 50 can be obtained by adding the deviation ⁇ ML obtained from the equation (6) and the center position ⁇ M.
  • FIG. 5 is a block diagram showing a specific configuration of the modulated wave generator 6 shown in FIG.
  • the modulated wave generation unit 6 includes a coordinate conversion unit 22, a position estimation voltage generation unit 23, adders 25 u, 25 v, 25 w, and a modulation wave calculation unit 26.
  • the coordinate conversion unit 22 receives the d-axis voltage command Vd *, the q-axis voltage command Vq *, and the estimated phase angle ⁇ e estimated by the position estimation unit 8. In accordance with the estimated phase angle ⁇ e, the coordinate conversion unit 22 converts the d-axis voltage command Vd * and the q-axis voltage command Vq *, which are driving voltage commands in dq coordinates, into a U-phase voltage, which is a driving voltage command in three-phase AC coordinates.
  • the command Vu *, the V-phase voltage command Vv *, and the W-phase voltage command Vw * are converted.
  • the U-phase voltage command Vu *, the V-phase voltage command Vv *, and the W-phase voltage command Vw * are collectively expressed as “drive voltage commands Vu *, Vv *, Vw *”.
  • the new voltage commands Vup *, Vvp *, and Vwp * input to the modulated wave calculation unit 26 include position estimation voltage commands Vuh, Vw *, Vw *, relative to the original drive voltage commands Vu *, Vv *, Vw *. Vvh and Vwh are superimposed.
  • the position estimation voltage commands Vuh, Vvh, Vwh will be described later.
  • the position estimation voltage generator 23 estimates the rotor magnetic pole position of the synchronous motor 50, and the position estimation voltage is different in frequency from the drive voltage commands Vu *, Vv *, Vw * output from the coordinate converter 22. Commands Vuh, Vvh, Vwh are generated. These position estimation voltage commands Vuh, Vvh, Vwh may be any as long as they have different frequencies from the drive voltage commands Vu *, Vv *, Vw *, but the position estimation unit described in the first embodiment.
  • the configuration of 8 requires a three-phase balanced AC position estimation voltage command.
  • FIG. 6 An example of these three-phase AC position estimation voltage commands Vuh, Vvh, Vwh is shown in FIG.
  • the power converter 2 is a triangular wave comparison PWM inverter (when the carrier wave Ca is a triangular wave)
  • each three-phase AC position estimation voltage command signal is PWM-modulated by this triangular wave comparison PWM inverter.
  • Tc of the triangular wave used is one section
  • the signal has a period Tn which is one period.
  • the frequency of the voltage command for position estimation of the three-phase AC is preferably 1/3 or less of the frequency of the carrier wave Ca.
  • it may not be a rectangular wave synchronized with the peaks and valleys of the triangular wave, it may be a sinusoidal voltage command value as shown in FIG.
  • the phase relationship may be set asynchronously. Therefore, in the first embodiment, the position estimation voltage generation unit 23 and the carrier wave generation unit 5 are configured independently, and thereby the frequency of the position estimation voltage commands Vuh, Vvh, Vwh and the frequency of the carrier wave Ca are respectively set. Set independently.
  • the modulation wave calculation unit 26 calculates the modulation waves ⁇ u, ⁇ v, ⁇ w standardized by the DC voltage EFC from the input voltage commands Vup *, Vvp *, Vwp * and the DC voltage EFC, and outputs them to the switching signal generation unit 7. To do.
  • the unit since the position estimation voltage commands Vuh, Vvh, and Vwh are added to the signal line of the drive voltage command, the unit is “[V]: volts”, but the DC voltage EFC is used. It may be configured to be generated in the same unit as the standardized modulated wave and added to the signal lines of the modulated waves ⁇ u, ⁇ v, ⁇ w.
  • the carrier wave generation unit 5 is devised in order to reduce unpleasant noise caused by the position estimation voltage commands Vuh, Vvh, and Vwh.
  • FIG. 8 is a diagram showing a specific configuration of the carrier wave generation unit 5 shown in FIG.
  • the carrier wave generation unit 5 includes a random number generation unit 31 and a triangular wave generation unit 32.
  • FIG. 6 illustrates the case where the frequency of the carrier wave is fixed, but the feature of the electric motor drive device according to Embodiment 1 is that the frequency of the carrier wave is varied randomly.
  • the random number generation unit 31 has a random number generation function therein, and is configured to output information or a signal of a carrier frequency corresponding to the generated random number to the triangular wave generation unit 32.
  • the triangular wave generation unit 32 changes the period or frequency of the generated triangular wave according to the carrier frequency information or signal generated by the random number generation unit 31.
  • the triangular wave generated by the triangular wave generation unit 32 is input to the switching signal generation unit 7 as the carrier wave Ca.
  • the subsequent operation is also as described above, and a detailed description thereof is omitted here.
  • the carrier wave frequency may be changed continuously or discretely with the passage of time, or may be changed discontinuously. Further, the carrier frequency may be periodically changed or may be changed according to a parameter unrelated to time.
  • FIG. 9 is a block diagram showing a configuration of a modulated wave generating unit 6A different from FIG.
  • the output of the position estimation voltage generator 23 via the filter 24 is added to the output of the coordinate converter 22, that is, the signal line of the UVW coordinate system.
  • the output of the position estimation voltage generator 23A may be added to the input of the coordinate converter 22A, that is, the signal line of the dq coordinate system by the adders 25q and 25d.
  • the position estimation voltage generation unit 23A outputs position estimation voltage commands Vdh and Vqh in the dq coordinate system.
  • the switching signals SWu, SWv, SWw are generated using a randomly varied carrier wave.
  • the noise generated from the synchronous motor 50 is mixed with the noises of a plurality of spread frequency components.
  • the carrier frequency is FC
  • the frequency of the position estimation voltage command is WH
  • the fundamental frequency is F1
  • n, m, and k are arbitrary integers
  • the noise source generated by the superposition of the position estimation voltage command The frequency can be expressed by the following equation (9).
  • FIG. 10 is a diagram showing an example of a loudness curve indicating the frequency characteristics of the ear with respect to a pure tone, which is one of human auditory characteristics.
  • the horizontal axis represents the frequency [kHz] of the pure sound
  • the vertical axis represents the sound pressure level decibel (dB) value with the minimum audible value of normal human ears as the reference sound pressure for each frequency. The smaller the value, the more sensitive the frequency is for human hearing.
  • human auditory characteristics are sensitive between 1 and 6 kHz. In particular, the region between 2 kHz and 4 kHz is a more sensitive region. Furthermore, it turns out that a sensitivity worsens with a low frequency sound.
  • the sideband wave shifted by the frequency of the position estimation voltage command centering on the carrier frequency component or the lower harmonic component of the carrier frequency.
  • the peak of the frequency component (hereinafter referred to as “the side band component of the position estimation voltage”) is included in the frequency band of 1 kHz to 6 kHz that is sensitive to human hearing, which may cause discomfort to humans. It was. Therefore, in the electric motor drive device according to the first embodiment, noise reduction is achieved by focusing on the sideband component of the position estimation voltage, not the pure frequency component of the position estimation voltage. More specifically, the modulation of the carrier frequency is considered so that no noise spectrum peak is included between 2 and 4 kHz, more preferably between 1 and 6 kHz.
  • the carrier frequency is preferably 1 kHz or less, more preferably 500 Hz or less.
  • the frequency of the position estimation voltage command is 1/3 or less of the carrier frequency.
  • the frequency of the position estimation voltage command value is preferably about several tens of times the fundamental frequency.
  • FIG. 11 is a graph showing the frequency analysis result of the synchronous motor drive sound according to the presence or absence of random modulation, where the horizontal axis indicates the frequency [Hz] and the vertical axis indicates the synchronous motor drive sound [dB]. .
  • the broken line indicates a waveform when random modulation is not performed, whereas the solid line indicates a waveform when random modulation is performed.
  • the frequency WH of the position estimation voltage command is 250 Hz and the carrier frequency FC is 750 Hz. Therefore, the peak of the pure tone component that causes noise Appears at 1250 Hz, 1500 Hz, 1750 Hz, 2000 Hz, and 2250 Hz.
  • the fundamental frequency F1 is 10 Hz or less, and since the sound pressure level of the fundamental wave F1 component is low, it does not appear as a peak of a pure sound component that causes noise. As shown in these waveforms, it can be understood that the peak of the pure tone component that causes noise is reduced by random modulation.
  • the frequency WH of the position estimation voltage command and the carrier frequency FC are set to have a 1: 3 relationship, and thus an integer multiple component of 250 Hz appears continuously.
  • FIG. 13 and FIG. 14 have a plurality of peaks in a sensitive region of human auditory characteristics, so the discomfort is reduced compared to the case of only a single frequency component as in the example of FIG. There is no change in feeling noise.
  • Patent Document 1 the frequency of the voltage command for position estimation as described in paragraph [0037] of the document is synchronized with the carrier wave.
  • the method of the first embodiment is largely different in that the carrier wave generation unit 5 operates asynchronously regardless of the superimposed position estimation voltage command and varies the carrier wave frequency for PWM modulation. Yes.
  • the process for extracting the current for position estimation (the position estimation shown in FIG. 2 is the configuration of the first embodiment).
  • the current extractor 17 and the current amplitude calculator 18) need to be replaced with ones corresponding to variable frequencies, which complicates the apparatus and increases the cost.
  • the processing of the position estimation current extractor 17 is performed. Therefore, the setting of the extraction frequency of the band-pass filter or the like is only required to be a fixed frequency (frequency of the voltage command for position estimation), and the filter configuration can be simplified. An increase can also be suppressed. In particular, if the frequency of the voltage command for position estimation is fixed to a single frequency, the noise can be reduced without deteriorating the SN ratio of the voltage command for position estimation.
  • the frequency characteristic of the position estimation voltage may be varied while the filter characteristic of the position estimation current extractor 17 is within the allowable range. If the filter characteristic of the position estimation current extractor 17 is within the allowable range, the magnetic pole A decrease in position estimation accuracy can be suppressed.
  • the merit of variably operating the frequency or amplitude of the position estimation voltage command of about several hundred Hz is small. In order to improve the position estimation accuracy, it is better to superimpose a single frequency to improve the signal S / N ratio.
  • the method of setting the frequency of the voltage command for position estimation to a single frequency is easier to extract high-frequency signals than the method of variably operating the voltage command for position estimation superimposed for noise reduction. The effect that the load can be reduced is also obtained.
  • the carrier wave is described as a triangular wave.
  • a sawtooth wave may be used, or an intermediate waveform between a triangular wave and a sawtooth wave may be used.
  • the frequency of the triangular wave, sawtooth wave, and their intermediate waveforms may be varied randomly.
  • the frequency may be fixed and the triangular wave, sawtooth wave, and intermediate waveform may be switched randomly.
  • One example is control of switching the upward and downward inclinations of the triangular wave at random.
  • a configuration in which the carrier frequency is increased or decreased at a constant ratio or a configuration in which the carrier frequency is repeatedly increased and decreased at a constant ratio may be used. However, it is more desirable to vary the carrier frequency randomly from the viewpoint of noise reduction.
  • the frequency of the carrier wave is set to the frequency of the position estimation voltage command. Therefore, the rotor magnetic pole position can be accurately estimated, and the discomfort caused by the generation of noise accompanying the application of the position estimation voltage command to the synchronous motor can be effectively performed. Can be reduced.
  • Embodiment 2 an electric motor drive device capable of variable speed driving from zero speed to high speed by using the “high-frequency superimposed sensorless control” described in the first embodiment and mainly “induced voltage-less sensorless control” will be described.
  • FIG. 20 is a diagram for explaining the operation when the synchronous motor is accelerated using the motor drive device of the second embodiment.
  • the control mode is switched from “high frequency superimposed sensorless control” to “induced voltage-based sensorless control” at a time T1 when the rotational speed of the synchronous motor reaches a predetermined rotational speed S1 to a higher rotational speed.
  • the synchronous motor can be driven.
  • high-frequency superposition sensorless control generates high-frequency noise because the position estimation voltage is superimposed as shown in FIG. 20, but the carrier frequency is the same as in the first embodiment.
  • the noise is reduced by performing random modulation that makes the frequency variable randomly between desired carrier frequencies H1 and H2.
  • the carrier frequency may be single.
  • the position estimation voltage may not be superimposed. It can be seen that the peak of a pure tone component that causes noise is generated by PWM modulation with a single frequency carrier wave.
  • the frequency of the carrier wave is varied at random as in “high-frequency superimposed sensorless control” as shown in FIG.
  • the configuration With this configuration, the noise during driving by “sensor-less control using induced voltage” has a noise spectrum as shown in FIG. 16 and can be reduced.
  • the carrier wave generation unit has the same maximum value of the carrier frequency in the high frequency superimposed sensorless mode and the maximum value of the carrier frequency in the induced voltage sensorless mode, and the minimum value of the carrier frequency in the high frequency superimposed sensorless mode.
  • the carrier frequency is varied so that the minimum value of the carrier frequency in the sensorless mode using the induced voltage is the same.
  • the rotor magnetic pole position in the driven synchronous motor can be accurately estimated from the zero speed to the high speed range, and the position estimation voltage command is applied to the synchronous motor. It is possible to effectively reduce the discomfort caused by the accompanying noise generation and the discomfort caused by the noise change associated with switching the control mode.
  • Embodiment 3 FIG. In the third embodiment, a vehicle drive system in which the motor drive device described in the first embodiment is applied to an electric vehicle will be described.
  • FIG. 21 is a diagram showing a configuration of a vehicle drive system according to Embodiment 3 in which the electric motor drive device according to Embodiment 1 is applied to a railway vehicle.
  • the vehicle drive system 100 according to the third embodiment includes a synchronous motor 101, a power conversion unit 102, an input circuit 103, and a control unit 108.
  • the synchronous motor 101 corresponds to the synchronous motor 50 shown in FIG. 1 and is mounted on a railway vehicle.
  • the power conversion unit 102 corresponds to the power conversion unit 2 illustrated in FIG. 1 and includes switching elements 104a, 105a, 106a, 104b, 105b, and 106b.
  • the power converter 102 converts the DC voltage supplied from the input circuit 103 into an AC voltage having an arbitrary frequency and an arbitrary voltage, and drives the synchronous motor 101.
  • the control unit 108 corresponds to the control unit 3 illustrated in FIG. That is, the control unit 108 includes the carrier wave generation unit 5, the modulated wave generation unit 6, the switching signal generation unit 7, and the position estimation unit 8 described in the first embodiment.
  • the control unit 108 generates switching signals SWu, SWv, SWw for controlling the power conversion unit 102.
  • the input circuit 103 includes a switch, a filter capacitor, a filter reactor, and the like. One end of the input circuit 103 is connected to the overhead line 110 via the current collector 111, and the other end is connected to the wheel 113. And is connected to a rail 114 having a ground potential.
  • the input circuit 103 receives supply of DC power or AC power from the overhead line 110 and generates DC power to be supplied to the power conversion unit 102.
  • the typical value of the carrier frequency is about 500 [Hz] to 2000 [Hz]
  • the frequency of the voltage command for position estimation is set to 1/3 or less of the carrier frequency. For this reason, there is a high possibility that noise generated by superposition of the voltage command for position estimation is concentrated between 1 and 6 kHz. Therefore, by applying the electric motor drive device according to the first embodiment to the vehicle drive system, it is possible to accurately estimate the rotor magnetic pole position in the synchronous motor that drives the vehicle, and to send the position estimation voltage command to the synchronous motor. It is possible to effectively reduce discomfort caused by generation of noise accompanying application.
  • Embodiment 4 FIG.
  • a switching element made of a wide band gap semiconductor such as silicon carbide (SiC) is applied to the material of the switching element provided in the power conversion unit 2 in consideration of the human auditory characteristics described in the first embodiment.
  • SiC silicon carbide
  • the carrier frequency is set to 10 kHz or higher
  • the peak of the pure tone component that causes noise is set to 10 kHz or higher so that the noise at the time of high frequency voltage superposition can be reduced.
  • the switching element used in the power conversion unit 2 has a configuration in which a semiconductor transistor element (IGBT, MOSFET, etc.) made of silicon (Si) and a semiconductor diode element made of silicon are connected in antiparallel. Is common.
  • IGBT semiconductor transistor element
  • MOSFET MOSFET
  • the technique described in the first embodiment can be used for the power conversion unit 2 including this general switching element.
  • the typical value of the carrier frequency is generally about 750 [Hz] to 1.5 [kHz] due to the problem of switching element loss in a power converter having a relatively large capacity, such as for electric railways.
  • a switching element formed using silicon as a material it is often difficult to operate the power conversion unit at a carrier frequency of 10 kHz or more.
  • the technique of the first embodiment is not limited to a switching element formed using silicon as a material.
  • a switching element made of a wide band gap semiconductor such as silicon carbide (SiC), which has recently been attracting attention as a low loss and high breakdown voltage semiconductor element, for the power converter instead of silicon.
  • silicon carbide which is one of the wide band gap semiconductors, has the feature that it can be used at a high temperature as well as greatly reducing the loss generated in the semiconductor element compared to silicon. If an element made of silicon carbide is used as the switching element provided in the power conversion unit, the allowable operating temperature of the switching element module can be raised to the high temperature side, so that the carrier frequency is increased and the carrier frequency is 10 kHz or higher. The power conversion unit 2 can be operated.
  • a wide band gap semiconductor is used for the switching element of the power conversion unit 2 of the electric motor driving device described in the first embodiment.
  • the carrier frequency is set to 10 kHz or more, noise caused by applying the position estimation voltage commands Vuh, Vvh, Vwh to the synchronous motor can be reduced. Therefore, as described in the first embodiment, the carrier wave
  • the frequency of the carrier wave generated from the generation unit 5 may be varied randomly, but a sufficient noise reduction effect can be obtained even with a single frequency.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

La présente invention est pourvue : d'une unité de génération d'ondes de modulation (6) pour générer des ondes de modulation (αu, αv, αw) ; d'une unité de génération d'ondes porteuses (5) pour générer des ondes porteuses (Ca) ; d'une unité de génération de signaux de commutation (7) pour comparer les ondes porteuses (Ca) et les ondes de modulation (αu, αv, αw) et pour ainsi générer des signaux de commutation (SWu, SWv, SWw) ; et d'une unité de conversion de courant électrique (2) qui comporte un élément de commutation pour effectuer une opération de commutation sur la base des signaux de commutation (SWu, SWv, SWw). L'unité de génération d'ondes porteuses (5) fait varier la fréquence des ondes porteuses (Ca) indépendamment de la fréquence de la commande de tension d'estimation de position.
PCT/JP2015/054042 2015-02-13 2015-02-13 Dispositif de commande de moteur électrique et système de commande de véhicule WO2016129125A1 (fr)

Priority Applications (3)

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PCT/JP2015/054042 WO2016129125A1 (fr) 2015-02-13 2015-02-13 Dispositif de commande de moteur électrique et système de commande de véhicule
DE112015006161.4T DE112015006161T5 (de) 2015-02-13 2015-02-13 Motorantriebseinrichtung und Fahrzeugantriebssystem
JP2016574615A JP6203435B2 (ja) 2015-02-13 2015-02-13 電動機駆動装置および車両駆動システム

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