WO2017122490A1 - Motor control system - Google Patents
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- WO2017122490A1 WO2017122490A1 PCT/JP2016/087466 JP2016087466W WO2017122490A1 WO 2017122490 A1 WO2017122490 A1 WO 2017122490A1 JP 2016087466 W JP2016087466 W JP 2016087466W WO 2017122490 A1 WO2017122490 A1 WO 2017122490A1
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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
Definitions
- the present invention relates to a motor control system.
- Patent Document 1 Various motor control system technologies for driving an AC motor by an inverter have been proposed.
- the harmonic current component of the motor current increases as the motor speed increases. Therefore, if a motor current including a harmonic current component is used for feedback control as it is, the harmonic current component tends to be amplified in the overmodulation / rectangular wave modulation region. Therefore, there is a problem that the current control amount is saturated or fluctuates, current control in the overmodulation / rectangular wave modulation region becomes unstable, and the motor torque cannot be stably controlled.
- the present invention has been made in view of the above problems, and an object of the present invention is to provide a motor control system capable of stably controlling the torque of an AC motor by an inverter.
- the motor control system of the present invention that solves the above problem is a motor control system that drives and controls an AC motor by an inverter, calculates a voltage command value based on a target current command value, and based on the voltage command value
- a current control unit that generates a modulation wave command value of the inverter; a phase current detection unit that detects a phase current value output from the inverter to the AC motor in accordance with the modulation wave command value; the voltage command value;
- a harmonic current estimator that calculates a harmonic current component estimated value of the phase current value based on a modulated wave command value, and the current control unit calculates the phase current value and the harmonic current component estimated value.
- the target current command value is used for feedback correction.
- the torque of the AC motor can be stably controlled by the inverter.
- the figure which shows the relationship between a motor rotation speed and a motor input current The figure explaining the motor control system concerning a 1st embodiment.
- FIG. 1 is a diagram showing the relationship between the motor speed and the motor input current, and shows the state of the motor input current from the sine wave modulation region to the overmodulation / rectangular wave modulation region.
- the sine wave modulation region shifts to the overmodulation / rectangular wave modulation region, and the harmonic current component included in the motor input current increases.
- the current control amount is saturated or fluctuates, current control in the overmodulation / rectangular wave modulation region becomes unstable, and the motor Torque cannot be controlled stably.
- the harmonic current component tends to be amplified instead of being suppressed.
- the harmonic current detected by the phase current detector is compared with the current command value, and a higher harmonic voltage is applied to the motor in order to reduce the current deviation.
- the harmonic component of the current is large in the overmodulation region, the current deviation is large, and voltage saturation occurs when a voltage command value exceeding the voltage value that can be actually applied is generated. As a result, a voltage for realizing the fundamental current becomes insufficient, and the harmonic current increases. By repeating this phenomenon, the harmonic current is amplified and the current control system becomes unstable.
- the present invention provides a motor control system that drives and controls the motor 4 using the inverter 3.
- the inverter output voltage which greatly affects the stability of the current control system during overmodulation.
- a harmonic current estimator that estimates the harmonic current from the harmonic voltage, and subtracting the estimated harmonic current from the motor current detected by the phase current detector, only the fundamental current of the motor current is obtained. provide feedback. Thereby, the influence of the harmonic current can be reduced even in the overmodulation / rectangular wave modulation region, and current control can be performed stably.
- FIG. 2 is a configuration diagram of the motor control system according to the first embodiment.
- the motor control system includes a high voltage power supply 1, a smoothing capacitor 2, an inverter 3, a motor (AC motor) 4, a rotation speed sensor 5, a phase current detector 100, a phase current detection unit 110, and a current control unit. 120, a current controller 130, a two-phase three-phase converter 140, a modulation wave generator 150, three-phase two-phase converters 160 and 170, and a harmonic current estimator 180.
- the high voltage power supply 1 is a power supply circuit for driving the system.
- the smoothing capacitor 2 is connected between the high-voltage power supply 1 and the inverter 3 to reduce voltage fluctuation.
- the inverter 3 has a DC side connected to the smoothing capacitor 2 and a three-phase AC side connected to the motor 4.
- the motor 4 is connected to the three-phase AC side of the inverter 3.
- the rotation speed sensor 5 is connected to the motor 4 and acquires the rotation speed and angle information of the motor 4.
- the phase current detector 100 is connected to the UVW phase between the three-phase AC side of the inverter 3 and the motor 4, and detects the UVW phase current output from the inverter 3 to the motor 4.
- the phase current detection unit 110 detects the phase current detected from the phase current detector 100 and inputs the phase current value to the three-phase / two-phase conversion unit 170.
- the current control unit 120 is connected to the inverter 3 and outputs a voltage calculated from the current command.
- the current control unit 120 calculates voltage commands (voltage command values) vd * and vq * based on the target current commands id and iq, and generates a modulation wave command value for the inverter 3 based on the voltage commands vd * and vq *. To do.
- the current control unit 120 includes a current controller 130, a two-phase / three-phase conversion unit 140, and a modulated wave generation unit 150 as its internal functions.
- the current controller 130 receives the deviations ⁇ id and ⁇ iq between the target current command (target current command value) id and iq and the feedback current, and calculates the voltage commands vd * and vq *.
- the current controller 130 is connected to the two-phase / three-phase converter 140 and outputs voltage commands vd * and vq *.
- the two-phase / three-phase conversion unit 140 is connected between the current controller 130 and the modulated wave generation unit 150, and the rotation speed of the motor 4 that acquires the two-phase voltage value acquired from the current controller 130 from the rotation speed sensor 5. Using ⁇ e and angle information, it is converted into a three-phase voltage value and output to the modulated wave generator 150.
- the modulated wave generator 150 is connected between the two-phase three-phase converter 140 and the inverter 3, changes the ON / OFF time ratio of the voltage value acquired from the two-phase three-phase converter 140, and is applied to the inverter 3. Adjust the average power.
- the three-phase / two-phase conversion unit 160 is connected between the modulation wave generation unit 150 and the harmonic current estimation unit 180, and the three-phase voltage acquired from the modulation wave generation unit 150 is obtained from the rotation speed sensor 5. Using the rotation speed ⁇ e and angle information, it is converted into a two-phase voltage.
- the three-phase / two-phase converter 170 is connected between the phase current detector 110 and the current controller 120, and the rotational speed ⁇ e of the motor 4 that acquires the three-phase current acquired from the phase current detector 110 from the rotational speed sensor 5. And angle information are used to convert to a two-phase current.
- the harmonic current estimation unit 180 is connected between the current control unit 120 via the three-phase / two-phase conversion unit 160 and the phase current detection unit 110 via the three-phase / two-phase conversion unit 170.
- the harmonic currents (harmonic current component estimated values) idh * and iqh * are estimated using the two-phase voltage that is the difference between the modulated wave command value and the voltage command value obtained from the above.
- the harmonic current estimation unit 180 estimates the harmonic currents idh * and iqh * using the harmonic voltages vdh * and vqh * in the output voltage of the inverter 3.
- the motor control system of this embodiment subtracts the estimated current (harmonic current idh *, iqh *) estimated by the harmonic current estimation unit 180 from the motor current (phase current value) detected by the phase current detector 100.
- the fundamental current component of the motor current is computed (fundamental current computation unit), and only the calculated fundamental current component of the motor current is fed back to the current controller 130 of the current control unit 120.
- the current control unit 120 feedback corrects the target current commands id and iq using the fed back fundamental wave current component. Specifically, deviations ⁇ id and ⁇ iq between the target current commands id and iq and the feedback current are input to the current controller 130.
- FIG. 4 shows waveforms of the U-phase output voltage vu in the overmodulation region and the U-phase voltage command vu * generated by the modulation wave generator.
- the U-phase output voltage vu ** includes a fundamental wave component and a harmonic component, while the U-phase voltage command vu * is substantially only the fundamental wave component. Therefore, the UVW phase harmonic voltage (vuh *, vvh *, vwh *) included in the output voltage of the inverter 3 can be expressed by the following equation (1).
- the above formula (1) is the UVW phase harmonic voltage (vuh *, vvh *, vwh *) expressed in the UVW phase static coordinate system.
- the dq axis harmonic voltage ( vdh *, vqh *) can be expressed by the following equation (2).
- the dq-axis harmonic voltage included in the output voltage of the inverter 3 is estimated.
- dq axis voltage command (vd, vq) in the above equation (4) matches the dq axis voltage command (vd **, vq **) generated by the modulated wave generator, and the dq axis voltage command generated by the current controller.
- Vd *, vq * and dq-axis harmonic voltage (vdh *, vqh *) calculated by the harmonic current estimator. (5) is derived by converting to.
- FIG. 3 is a configuration diagram of a motor control system according to the second embodiment.
- the same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
- the motor control system includes a seamless rectangular wave processing unit 200 and a PWM / rectangular wave modulator 210 instead of the modulated wave generating unit 150 of the first embodiment.
- the seamless rectangular wave processing unit 200 is connected between the two-phase three-phase converter 140 and the PWM / rectangular wave modulator 210, and the voltage acquired from the current controller 130 via the two-phase three-phase converter 140. Convert command to trapezoidal wave command value.
- the PWM / rectangular wave modulator 210 is connected between the seamless rectangular wave processing unit 200 and the inverter 3, and changes the ON / OFF time ratio of the voltage value of the trapezoidal wave command value acquired from the seamless rectangular wave processing unit 200. Thus, the average power applied to the inverter 3 is adjusted.
- FIG. 4 is a diagram illustrating the output voltage and voltage command waveforms of the motor control system according to the present embodiment.
- FIG. 4 shows waveforms of the U-phase output voltage vu and the U-phase voltage command vu * in the overmodulation region.
- the U-phase output voltage vu has the same waveform as the U-phase voltage command vu ** generated by the modulation wave generation unit 150 (seamless rectangular wave processing unit 200), and includes a fundamental wave component and a harmonic component.
- the U-phase voltage command vu * obtained from the dq-axis voltage command (vd *, vq *) generated by the current controller 130 from the two-phase / three-phase converter 140 is substantially only the fundamental wave component. Therefore, the U-phase harmonic voltage vuh * can be calculated by subtracting the U-phase voltage command vu * from the U-phase voltage command vu **.
- FIG. 5 is a diagram showing the harmonic current calculation logic of the motor control system according to the present embodiment.
- FIG. 5 shows the harmonic current calculation logic in the harmonic current estimation unit 180.
- Compensates for the interference component of the dq axis of the voltage command and can be expanded even if the motor control constant changes, and by including the rotational speed ⁇ e, which is the electric frequency of the motor, It is possible to control according to the excellent robustness.
- ⁇ e which is the electric frequency of the motor
- the load is detected by differentiating the rotational speed, and the control structure that feedback controls the torque so that the load torque and the torque command coincide with each other so that the load on the motor changes in a stepwise manner.
- the present invention is not limited to the above-described embodiments, and various designs can be made without departing from the spirit of the present invention described in the claims. It can be changed.
- the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described.
- a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment.
Abstract
The purpose of the present invention is to obtain a motor control system which can stably control the torque of an alternating current motor by using an inverter. A motor control system of the present invention is provided with: a current control unit 120 which calculates a voltage command value on the basis of a target current command value and generates a modulation wave command value of an inverter 3 on the basis of the voltage command value; a phase current detecting unit 110 which detects a phase current value output from the inverter 3 to an alternating current motor 4 according to the modulation wave command value; and a harmonic wave current estimating unit 180 which calculates a harmonic wave current component estimation value of the phase current value on the basis of the voltage command value and the modulation wave command value, the motor control system being characterized in that the current control unit 120 performs feedback correction on the target current command value by using the phase current value and the harmonic wave current component estimation value.
Description
本発明は、モータ制御システムに関する。
The present invention relates to a motor control system.
インバータにより交流モータを駆動するモータ制御システムの技術が種々提案されている（特許文献１）。
Various motor control system technologies for driving an AC motor by an inverter have been proposed (Patent Document 1).
モータ電流は、モータ回転数が上昇するにつれて高調波電流成分が増大する。したがって、高調波電流成分を含んだモータ電流をそのままフィードバック制御に用いると、過変調・矩形波変調領域において高調波電流成分が増幅される傾向にある。したがって、電流制御量が飽和あるいは大幅に変動し、過変調・矩形波変調領域での電流制御が不安定になり、モータのトルクを安定に制御できないという課題がある。
¡The harmonic current component of the motor current increases as the motor speed increases. Therefore, if a motor current including a harmonic current component is used for feedback control as it is, the harmonic current component tends to be amplified in the overmodulation / rectangular wave modulation region. Therefore, there is a problem that the current control amount is saturated or fluctuates, current control in the overmodulation / rectangular wave modulation region becomes unstable, and the motor torque cannot be stably controlled.
本発明は、上記課題に鑑みてなされたものであり、その目的とするところは、インバータにより交流モータのトルクを安定に制御できるモータ制御システムを提供することである。
The present invention has been made in view of the above problems, and an object of the present invention is to provide a motor control system capable of stably controlling the torque of an AC motor by an inverter.
上記課題を解決する本発明のモータ制御システムは、インバータにより交流モータを駆動制御するモータ制御システムであって、目標電流指令値に基づいて電圧指令値を演算し、該電圧指令値に基づいて前記インバータの変調波指令値を生成する電流制御部と、前記変調波指令値に応じて前記インバータから前記交流モータに出力される相電流値を検知する相電流検知部と、前記電圧指令値及び前記変調波指令値に基づいて前記相電流値の高調波電流成分推定値を演算する高調波電流推定部とを備え、前記電流制御部は、前記相電流値と前記高調波電流成分推定値とを用いて前記目標電流指令値をフィードバック補正することを特徴とする。
The motor control system of the present invention that solves the above problem is a motor control system that drives and controls an AC motor by an inverter, calculates a voltage command value based on a target current command value, and based on the voltage command value A current control unit that generates a modulation wave command value of the inverter; a phase current detection unit that detects a phase current value output from the inverter to the AC motor in accordance with the modulation wave command value; the voltage command value; A harmonic current estimator that calculates a harmonic current component estimated value of the phase current value based on a modulated wave command value, and the current control unit calculates the phase current value and the harmonic current component estimated value. The target current command value is used for feedback correction.
本発明によれば、インバータにより交流モータのトルクを安定に制御できる。なお、上記した以外の課題、構成及び効果は、以下の実施形態の説明により明らかにされる。
According to the present invention, the torque of the AC motor can be stably controlled by the inverter. Problems, configurations, and effects other than those described above will be clarified by the following description of the embodiments.
次に、本発明の実施形態について図面を用いて説明する。
Next, an embodiment of the present invention will be described with reference to the drawings.
図１は、モータ回転数とモータ入力電流との関係を示す図であり、正弦波変調領域から過変調・矩形波変調領域でのモータ入力電流の状態を表している。
FIG. 1 is a diagram showing the relationship between the motor speed and the motor input current, and shows the state of the motor input current from the sine wave modulation region to the overmodulation / rectangular wave modulation region.
モータ回転数は、上昇して高くなるに連れて正弦波変調領域から過変調・矩形波変調領域に移行し、モータ入力電流に含まれている高調波電流成分が増大する。このモータ入力電流の高調波電流成分を含んだモータ電流がフィードバックされると、電流制御量が飽和あるいは大幅に変動し、過変調・矩形波変調領域での電流制御が不安定になり、モータのトルクを安定に制御できない。
As the motor rotation speed increases and becomes higher, the sine wave modulation region shifts to the overmodulation / rectangular wave modulation region, and the harmonic current component included in the motor input current increases. When the motor current including the harmonic current component of the motor input current is fed back, the current control amount is saturated or fluctuates, current control in the overmodulation / rectangular wave modulation region becomes unstable, and the motor Torque cannot be controlled stably.
過変調領域における電流フィードバック系の振る舞いとして、高調波電流成分は抑制されることなく逆に増幅される傾向にある。これは以下の原理に基づく。電流フィードバック制御器では相電流検出器で検出された高調波電流は電流指令値と比較され、その電流偏差を小さくするためにより大きな高調波電圧がモータに印加される。特に、過変調領域においては電流の高調波成分が大きいため、電流偏差は大きくなり実際に印加できる電圧値を超過した電圧指令値が生じることによって電圧飽和が起こる。これにより、基本波電流を実現するための電圧が不足することになり、高調波電流が増加する。この現象が繰り返されることによって、高調波電流の増幅が起こり、電流制御系に不安定が生じる。
As a behavior of the current feedback system in the overmodulation region, the harmonic current component tends to be amplified instead of being suppressed. This is based on the following principle. In the current feedback controller, the harmonic current detected by the phase current detector is compared with the current command value, and a higher harmonic voltage is applied to the motor in order to reduce the current deviation. In particular, since the harmonic component of the current is large in the overmodulation region, the current deviation is large, and voltage saturation occurs when a voltage command value exceeding the voltage value that can be actually applied is generated. As a result, a voltage for realizing the fundamental current becomes insufficient, and the harmonic current increases. By repeating this phenomenon, the harmonic current is amplified and the current control system becomes unstable.
上記の問題点を解決するため、本発明は、インバータ３を用いてモータ４を駆動制御するモータ制御システムにおいて、過変調時の電流制御系の安定性に大きな影響を及ぼすインバータの出力電圧中の高調波電圧から高調波電流を推定する高調波電流推定部を設けて、そこで推定した高調波電流を、相電流検出器で検出したモータ電流から減算することにより、モータ電流の基本波電流のみをフィードバックする。これにより、過変調・矩形波変調領域でも高調波電流の影響を低減することができ、電流制御を安定に行うことができる。
In order to solve the above-described problems, the present invention provides a motor control system that drives and controls the motor 4 using the inverter 3. In the inverter output voltage, which greatly affects the stability of the current control system during overmodulation. By providing a harmonic current estimator that estimates the harmonic current from the harmonic voltage, and subtracting the estimated harmonic current from the motor current detected by the phase current detector, only the fundamental current of the motor current is obtained. provide feedback. Thereby, the influence of the harmonic current can be reduced even in the overmodulation / rectangular wave modulation region, and current control can be performed stably.
図２は、第１実施形態に係わるモータ制御システムの構成図である。
FIG. 2 is a configuration diagram of the motor control system according to the first embodiment.
モータ制御システムは、高圧電源１と、平滑コンデンサ２と、インバータ３と、モータ（交流モータ）４と、回転速度センサ５と、相電流検出器１００と、相電流検知部１１０と、電流制御部１２０と、電流制御器１３０と、２相３相変換部１４０と、変調波生成部１５０と、３相２相変換部１６０、１７０と、高調波電流推定部１８０とを有する。
The motor control system includes a high voltage power supply 1, a smoothing capacitor 2, an inverter 3, a motor (AC motor) 4, a rotation speed sensor 5, a phase current detector 100, a phase current detection unit 110, and a current control unit. 120, a current controller 130, a two-phase three-phase converter 140, a modulation wave generator 150, three-phase two- phase converters 160 and 170, and a harmonic current estimator 180.
高圧電源１は、システム駆動用の電源回路である。平滑コンデンサ２は、高圧電源１とインバータ３の間に接続されており、電圧の変動を小さくする。インバータ３は、直流側が平滑コンデンサ２に接続され、３相交流側はモータ４に接続される。モータ４は、インバータ３の３相交流側に接続される。回転速度センサ５は、モータ４に接続され、モータ４の回転速度と角度情報を取得する。
The high voltage power supply 1 is a power supply circuit for driving the system. The smoothing capacitor 2 is connected between the high-voltage power supply 1 and the inverter 3 to reduce voltage fluctuation. The inverter 3 has a DC side connected to the smoothing capacitor 2 and a three-phase AC side connected to the motor 4. The motor 4 is connected to the three-phase AC side of the inverter 3. The rotation speed sensor 5 is connected to the motor 4 and acquires the rotation speed and angle information of the motor 4.
相電流検出器１００は、インバータ３の３相交流側とモータ４との間のＵＶＷ相に接続され、インバータ３からモータ４に出力されるＵＶＷ相電流を検出する。相電流検知部１１０は、相電流検出器１００から検出された相電流を検知し、３相２相変換部１７０に相電流値を入力する。
The phase current detector 100 is connected to the UVW phase between the three-phase AC side of the inverter 3 and the motor 4, and detects the UVW phase current output from the inverter 3 to the motor 4. The phase current detection unit 110 detects the phase current detected from the phase current detector 100 and inputs the phase current value to the three-phase / two-phase conversion unit 170.
電流制御部１２０は、インバータ３に接続され、電流指令から算出した電圧を出力する。電流制御部１２０は、目標電流指令id、iqに基づいて電圧指令（電圧指令値）vd*、vq*を演算し、電圧指令vd*、vq*に基づいてインバータ３の変調波指令値を生成する。電流制御部１２０は、その内部機能として、電流制御器１３０と、２相３相変換部１４０と、変調波生成部１５０を有している。
The current control unit 120 is connected to the inverter 3 and outputs a voltage calculated from the current command. The current control unit 120 calculates voltage commands (voltage command values) vd * and vq * based on the target current commands id and iq, and generates a modulation wave command value for the inverter 3 based on the voltage commands vd * and vq *. To do. The current control unit 120 includes a current controller 130, a two-phase / three-phase conversion unit 140, and a modulated wave generation unit 150 as its internal functions.
電流制御器１３０は、目標電流指令（目標電流指令値）id、iqとフィードバック電流との偏差Δid、Δiqを入力とし、電圧指令vd*,vq*を演算する。電流制御器１３０は、２相３相変換部１４０に接続されており、電圧指令vd*,vq*を出力する。
The current controller 130 receives the deviations Δid and Δiq between the target current command (target current command value) id and iq and the feedback current, and calculates the voltage commands vd * and vq *. The current controller 130 is connected to the two-phase / three-phase converter 140 and outputs voltage commands vd * and vq *.
２相３相変換部１４０は、電流制御器１３０と変調波生成部１５０の間に接続され、電流制御器１３０から取得した２相の電圧値を回転速度センサ５から取得したモータ４の回転速度ωｅと角度情報を用いて３相の電圧値に変換し、変調波生成部１５０に出力する。変調波生成部１５０は、２相３相変換部１４０とインバータ３の間に接続され、２相３相変換部１４０から取得した電圧値のON/OFF時間比率を変化させて、インバータ３にかかる平均電力を調整する。
The two-phase / three-phase conversion unit 140 is connected between the current controller 130 and the modulated wave generation unit 150, and the rotation speed of the motor 4 that acquires the two-phase voltage value acquired from the current controller 130 from the rotation speed sensor 5. Using ωe and angle information, it is converted into a three-phase voltage value and output to the modulated wave generator 150. The modulated wave generator 150 is connected between the two-phase three-phase converter 140 and the inverter 3, changes the ON / OFF time ratio of the voltage value acquired from the two-phase three-phase converter 140, and is applied to the inverter 3. Adjust the average power.
３相２相変換部１６０は、変調波生成部１５０と高調波電流推定部１８０の間に接続され、変調波生成部１５０から取得した３相電圧を、回転速度センサ５から取得したモータ４の回転速度ωｅと角度情報を用いて２相電圧に変換する。３相２相変換部１７０は、相電流検知部１１０と電流制御部１２０の間に接続され、相電流検知部１１０から取得した３相電流を回転速度センサ５から取得したモータ４の回転速度ωｅと角度情報を用いて２相電流に変換する。
The three-phase / two-phase conversion unit 160 is connected between the modulation wave generation unit 150 and the harmonic current estimation unit 180, and the three-phase voltage acquired from the modulation wave generation unit 150 is obtained from the rotation speed sensor 5. Using the rotation speed ωe and angle information, it is converted into a two-phase voltage. The three-phase / two-phase converter 170 is connected between the phase current detector 110 and the current controller 120, and the rotational speed ωe of the motor 4 that acquires the three-phase current acquired from the phase current detector 110 from the rotational speed sensor 5. And angle information are used to convert to a two-phase current.
高調波電流推定部１８０は、３相２相変換部１６０を介して電流制御部１２０と、３相２相変換部１７０を介して相電流検知部１１０との間に接続され、電流制御部１２０から取得した変調波指令値と電圧指令値の差である２相電圧を用いて、高調波電流（高調波電流成分推定値）idh*,iqh*を推定する。
The harmonic current estimation unit 180 is connected between the current control unit 120 via the three-phase / two-phase conversion unit 160 and the phase current detection unit 110 via the three-phase / two-phase conversion unit 170. The harmonic currents (harmonic current component estimated values) idh * and iqh * are estimated using the two-phase voltage that is the difference between the modulated wave command value and the voltage command value obtained from the above.
高調波電流推定部１８０は、インバータ３の出力電圧中の高調波電圧vdh*,vqh*を用いて高調波電流idh*,iqh*を推定する。本実施形態のモータ制御システムは、高調波電流推定部１８０で推定した推定電流（高調波電流idh*,iqh*）を、相電流検出器１００で検出したモータ電流（相電流値）から減算することにより、モータ電流の基本波電流成分を演算し（基本波電流演算部）、その算出したモータ電流の基本波電流成分のみを電流制御部１２０の電流制御器１３０にフィードバックする。
The harmonic current estimation unit 180 estimates the harmonic currents idh * and iqh * using the harmonic voltages vdh * and vqh * in the output voltage of the inverter 3. The motor control system of this embodiment subtracts the estimated current (harmonic current idh *, iqh *) estimated by the harmonic current estimation unit 180 from the motor current (phase current value) detected by the phase current detector 100. Thus, the fundamental current component of the motor current is computed (fundamental current computation unit), and only the calculated fundamental current component of the motor current is fed back to the current controller 130 of the current control unit 120.
電流制御部１２０は、フィードバックされた基本波電流成分を用いて目標電流指令id、iqをフィードバック補正する。具体的は、目標電流指令id、iqとフィードバック電流との偏差Δid、Δiqを電流制御器１３０に入力する。
The current control unit 120 feedback corrects the target current commands id and iq using the fed back fundamental wave current component. Specifically, deviations Δid and Δiq between the target current commands id and iq and the feedback current are input to the current controller 130.
次に、高調波電流推定部１８０での高調波電流推定法について詳細に説明する。過変調領域におけるＵ相出力電圧vuと、変調波生成器で生成したＵ相電圧指令vu*の波形を図４に示す。Ｕ相出力電圧vu**は、基本波成分と高調波成分を含んでおり、一方、Ｕ相電圧指令vu*は、ほぼ基本波成分のみである。よって、インバータ３の出力電圧に含まれるＵＶＷ相の高調波電圧（vuh*,vvh*,vwh*）は、以下の式（１）で表せる。
Next, the harmonic current estimation method in the harmonic current estimation unit 180 will be described in detail. FIG. 4 shows waveforms of the U-phase output voltage vu in the overmodulation region and the U-phase voltage command vu * generated by the modulation wave generator. The U-phase output voltage vu ** includes a fundamental wave component and a harmonic component, while the U-phase voltage command vu * is substantially only the fundamental wave component. Therefore, the UVW phase harmonic voltage (vuh *, vvh *, vwh *) included in the output voltage of the inverter 3 can be expressed by the following equation (1).
上記式（１）は、ＵＶＷ相静止座標系で表したＵＶＷ相高調波電圧（vuh*,vvh*,vwh*）であり、これをｄｑ軸回転座標系に変換すると、ｄｑ軸高調波電圧（vdh*,vqh*）は、下記の式（２）で表すことができる。
The above formula (1) is the UVW phase harmonic voltage (vuh *, vvh *, vwh *) expressed in the UVW phase static coordinate system. When this is converted into the dq axis rotational coordinate system, the dq axis harmonic voltage ( vdh *, vqh *) can be expressed by the following equation (2).
以上により、インバータ３の出力電圧中に含まれるｄｑ軸高調波電圧を推定する。
As described above, the dq-axis harmonic voltage included in the output voltage of the inverter 3 is estimated.
次に、上記式（２）とモータ４の電圧方程式を用いて、ｄｑ軸高調波電圧（idh*,iqh*）の推定式を導出する。下記の式（３）に示すモータ４の電圧方程式を、ｄｑ軸電流の時間微分系に変換して整理すると、下記の式（４）が算出される。
Next, using the above equation (2) and the voltage equation of the motor 4, an estimation equation for the dq axis harmonic voltage (idh *, iqh *) is derived. When the voltage equation of the motor 4 shown in the following equation (3) is converted into a time differential system of dq axis current and arranged, the following equation (4) is calculated.
vd：ｄ軸電圧[V]、vq：ｑ軸電圧[V]、R：モータ相抵抗[W]、ωe：モータ電気周波数 [rad/s]，id：ｄ軸電流[A]、iq：ｑ軸電流[A]、Ld：ｄ軸インダクタンス、Lq: ｑ軸インダクタンス、ke：逆起電力定数[V/rad/s]
上記式（４）のｄｑ軸電圧（vd,vq）は変調波生成部で生成したｄｑ軸電圧指令（vd**,vq**）と一致し、かつ電流制御器で生成したｄｑ軸電圧指令（vd*,vq*）と高調波電流推定部で算出したｄｑ軸高調波電圧（vdh*,vqh*）の和で表すことができるため、式（４）を高調波成分に着目した電圧方程式に変換すると式（５）が導出される。 vd: d-axis voltage [V], vq: q-axis voltage [V], R: motor phase resistance [W], ωe: motor electrical frequency [rad / s], id: d-axis current [A], iq: q Axial current [A], Ld: d-axis inductance, Lq: q-axis inductance, ke: counter electromotive force constant [V / rad / s]
The dq axis voltage command (vd, vq) in the above equation (4) matches the dq axis voltage command (vd **, vq **) generated by the modulated wave generator, and the dq axis voltage command generated by the current controller. (Vd *, vq *) and dq-axis harmonic voltage (vdh *, vqh *) calculated by the harmonic current estimator. (5) is derived by converting to.
上記式（４）のｄｑ軸電圧（vd,vq）は変調波生成部で生成したｄｑ軸電圧指令（vd**,vq**）と一致し、かつ電流制御器で生成したｄｑ軸電圧指令（vd*,vq*）と高調波電流推定部で算出したｄｑ軸高調波電圧（vdh*,vqh*）の和で表すことができるため、式（４）を高調波成分に着目した電圧方程式に変換すると式（５）が導出される。 vd: d-axis voltage [V], vq: q-axis voltage [V], R: motor phase resistance [W], ωe: motor electrical frequency [rad / s], id: d-axis current [A], iq: q Axial current [A], Ld: d-axis inductance, Lq: q-axis inductance, ke: counter electromotive force constant [V / rad / s]
The dq axis voltage command (vd, vq) in the above equation (4) matches the dq axis voltage command (vd **, vq **) generated by the modulated wave generator, and the dq axis voltage command generated by the current controller. (Vd *, vq *) and dq-axis harmonic voltage (vdh *, vqh *) calculated by the harmonic current estimator. (5) is derived by converting to.
以上により、モータ電流に含まれるｄｑ軸高調波電圧を推定する。
From the above, the dq-axis harmonic voltage included in the motor current is estimated.
上記のようにして推定したｄｑ軸高調波電流（idh*,iqh*）を、相電流検出器１００で検出したモータ４のｄｑ軸電流から減算することにより、モータ電流の基本波成分のみを電流制御器１３０にフィードバックすることができる。
By subtracting the dq axis harmonic current (idh *, iqh *) estimated as described above from the dq axis current of the motor 4 detected by the phase current detector 100, only the fundamental wave component of the motor current is obtained as a current. Feedback can be provided to the controller 130.
図３は、第２実施形態に係わるモータ制御システムの構成図である。第１実施形態と同様の構成要素には、同一の符号を付することでその詳細な説明を省略する。
FIG. 3 is a configuration diagram of a motor control system according to the second embodiment. The same components as those in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
モータ制御システムは、第１実施形態の変調波生成部１５０の代わりに、シームレス矩形波処理部２００と、ＰＷＭ・矩形波変調器２１０を有している。シームレス矩形波処理部２００は、２相３相変換部１４０とＰＷＭ・矩形波変調器２１０との間に接続されており、電流制御器１３０から２相３相変換部１４０を介して取得した電圧指令を台形波指令値に変換する。ＰＷＭ・矩形波変調器２１０は、シームレス矩形波処理部２００とインバータ３の間に接続されており、シームレス矩形波処理部２００から取得した台形波指令値を電圧値のON/OFF時間比率を変化させて、インバータ３にかかる平均電力を調整する。
The motor control system includes a seamless rectangular wave processing unit 200 and a PWM / rectangular wave modulator 210 instead of the modulated wave generating unit 150 of the first embodiment. The seamless rectangular wave processing unit 200 is connected between the two-phase three-phase converter 140 and the PWM / rectangular wave modulator 210, and the voltage acquired from the current controller 130 via the two-phase three-phase converter 140. Convert command to trapezoidal wave command value. The PWM / rectangular wave modulator 210 is connected between the seamless rectangular wave processing unit 200 and the inverter 3, and changes the ON / OFF time ratio of the voltage value of the trapezoidal wave command value acquired from the seamless rectangular wave processing unit 200. Thus, the average power applied to the inverter 3 is adjusted.
図４は、本実施形態にかかるモータ制御システムの出力電圧と電圧指令の波形を説明する図である。図４には、過変調領域におけるＵ相出力電圧vuとＵ相電圧指令vu*の波形が示されている。
FIG. 4 is a diagram illustrating the output voltage and voltage command waveforms of the motor control system according to the present embodiment. FIG. 4 shows waveforms of the U-phase output voltage vu and the U-phase voltage command vu * in the overmodulation region.
Ｕ相出力電圧vuは、変調波生成部１５０（シームレス矩形波処理部２００）で生成したＵ相電圧指令vu**と同一波形であり、基本波成分と高調波成分を含んでいる。一方、電流制御器１３０で生成したｄｑ軸電圧指令（vd*,vq*）を２相３相変換部１４０より取得されたＵ相電圧指令vu*は、ほぼ基本波成分のみである。よって、Ｕ相電圧指令vu**からＵ相電圧指令vu*を減算することにより、Ｕ相高調波電圧vuh*を算出できる。
The U-phase output voltage vu has the same waveform as the U-phase voltage command vu ** generated by the modulation wave generation unit 150 (seamless rectangular wave processing unit 200), and includes a fundamental wave component and a harmonic component. On the other hand, the U-phase voltage command vu * obtained from the dq-axis voltage command (vd *, vq *) generated by the current controller 130 from the two-phase / three-phase converter 140 is substantially only the fundamental wave component. Therefore, the U-phase harmonic voltage vuh * can be calculated by subtracting the U-phase voltage command vu * from the U-phase voltage command vu **.
図５は、本実施形態にかかるモータ制御システムの高調波電流計算ロジックを示す図である。図５には、高調波電流推定部１８０での高調波電流計算ロジックが示されている。
FIG. 5 is a diagram showing the harmonic current calculation logic of the motor control system according to the present embodiment. FIG. 5 shows the harmonic current calculation logic in the harmonic current estimation unit 180.
電圧指令のｄｑ軸の干渉成分を補償しており、モータ制御定数が変化しても式展開が可能であり、またモータの電気周波数である回転速度ωeが含まれることにより、モータの実速度に応じた制御が可能となりロバスト性に優れている。すなわち、モータ制御システムが過変調となる運転状態において、負荷変動によってモータの速度が変動した場合にも回転速度を用いた高応答な電流制御を実現できるため、モータ停止状態から高速回転状態まで安定したモータ制御システムを提供できる利点がある。更に、回転速度を微分して負荷トルクを検出し、負荷トルクとトルク指令とが一致するようにトルクをフィードバック制御する制御構成にすることで、モータの負荷がステップ状に変化する急激な負荷変動をする場合にも安定した高応答なトルク制御ができるモータ制御システムを提供できる利点がある。
Compensates for the interference component of the dq axis of the voltage command, and can be expanded even if the motor control constant changes, and by including the rotational speed ωe, which is the electric frequency of the motor, It is possible to control according to the excellent robustness. In other words, in a driving state in which the motor control system is overmodulated, even when the motor speed fluctuates due to load fluctuations, high-response current control using the rotation speed can be realized, so that stable operation from the motor stop state to the high-speed rotation state is possible. There is an advantage that a motor control system can be provided. Furthermore, the load is detected by differentiating the rotational speed, and the control structure that feedback controls the torque so that the load torque and the torque command coincide with each other so that the load on the motor changes in a stepwise manner. There is an advantage that it is possible to provide a motor control system that can perform stable and highly responsive torque control even in the case of performing the above.
以上、本発明の実施形態について詳述したが、本発明は、前記の実施形態に限定されるものではなく、特許請求の範囲に記載された本発明の精神を逸脱しない範囲で、種々の設計変更を行うことができるものである。例えば、前記した実施の形態は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施形態の構成の一部を他の実施形態の構成に置き換えることが可能であり、また、ある実施形態の構成に他の実施形態の構成を加えることも可能である。さらに、各実施形態の構成の一部について、他の構成の追加・削除・置換をすることが可能である。
Although the embodiments of the present invention have been described in detail above, the present invention is not limited to the above-described embodiments, and various designs can be made without departing from the spirit of the present invention described in the claims. It can be changed. For example, the above-described embodiment has been described in detail for easy understanding of the present invention, and is not necessarily limited to one having all the configurations described. Further, a part of the configuration of an embodiment can be replaced with the configuration of another embodiment, and the configuration of another embodiment can be added to the configuration of an embodiment. Furthermore, it is possible to add, delete, and replace other configurations for a part of the configuration of each embodiment.
１ 高圧電源
２ 平滑コンデンサ
３ インバータ
４ モータ（交流モータ）
５ 回転速度センサ
１００ 相電流検出器
１１０ 相電流検知部
１２０ 電流制御部
１３０ 電流制御器
１４０ ２相３相変換部
１５０ 変調波生成部
１６０ ３相２相変換部
１７０ ３相２相変換部
１８０ 高調波電流推定部
２００ シームレス矩形波処理部
２１０ ＰＷＭ・矩形波変調器 1 High Voltage Power Supply 2Smoothing Capacitor 3 Inverter 4 Motor (AC Motor)
5Rotational Speed Sensor 100 Phase Current Detector 110 Phase Current Detection Unit 120 Current Control Unit 130 Current Controller 140 Two Phase Three Phase Conversion Unit 150 Modulated Wave Generation Unit 160 Three Phase Two Phase Conversion Unit 170 Three Phase Two Phase Conversion Unit 180 Higher Wave current estimating unit 200 Seamless rectangular wave processing unit 210 PWM / rectangular wave modulator
２ 平滑コンデンサ
３ インバータ
４ モータ（交流モータ）
５ 回転速度センサ
１００ 相電流検出器
１１０ 相電流検知部
１２０ 電流制御部
１３０ 電流制御器
１４０ ２相３相変換部
１５０ 変調波生成部
１６０ ３相２相変換部
１７０ ３相２相変換部
１８０ 高調波電流推定部
２００ シームレス矩形波処理部
２１０ ＰＷＭ・矩形波変調器 1 High Voltage Power Supply 2
5
Claims (6)
- インバータにより交流モータを駆動制御するモータ制御システムであって、
目標電流指令値に基づいて電圧指令値を演算し、該電圧指令値に基づいて前記インバータの変調波指令値を生成する電流制御部と、
前記変調波指令値に応じて前記インバータから前記交流モータに出力される相電流値を検知する相電流検知部と、
前記電圧指令値及び前記変調波指令値に基づいて前記相電流値の高調波電流成分推定値を演算する高調波電流推定部と、を備え、
前記電流制御部は、前記相電流値と前記高調波電流成分推定値とを用いて前記目標電流指令値をフィードバック補正することを特徴とするモータ制御システム。 A motor control system that drives and controls an AC motor using an inverter,
A current control unit that calculates a voltage command value based on a target current command value and generates a modulation wave command value of the inverter based on the voltage command value;
A phase current detector for detecting a phase current value output from the inverter to the AC motor in accordance with the modulated wave command value;
A harmonic current estimator that calculates a harmonic current component estimated value of the phase current value based on the voltage command value and the modulation wave command value;
The current control unit feedback corrects the target current command value using the phase current value and the harmonic current component estimated value. - 前記相電流値と前記高調波電流成分推定値に基づいて前記相電流値の基本波電流成分を演算する基本波電流成分演算部と、を備え、
前記電流制御部は、前記基本波電流成分を用いて前記目標電流指令値をフィードバック補正することを特徴とする請求項１に記載のモータ制御システム。 A fundamental wave current component computing unit that computes a fundamental current component of the phase current value based on the phase current value and the harmonic current component estimated value;
The motor control system according to claim 1, wherein the current control unit feedback corrects the target current command value using the fundamental wave current component. - 前記高調波電流推定部は、前記インバータの出力電圧中の高調波電圧に基づき、高調波電流を推定することを特徴とする請求項１又は２に記載のモータ制御システム。 3. The motor control system according to claim 1, wherein the harmonic current estimation unit estimates a harmonic current based on a harmonic voltage in the output voltage of the inverter.
- 前記交流モータの回転速度を検出する回転速度センサを備え、
前記高調波電流推定部は、前記電圧指令値及び前記変調波指令値及び前記回転速度に基づいて前記相電流値の高調波電流成分推定値を演算することを特徴とする請求項１から請求項３のいずれか一項に記載のモータ制御システム。 A rotation speed sensor for detecting the rotation speed of the AC motor;
The said harmonic current estimation part calculates the harmonic current component estimated value of the said phase current value based on the said voltage command value, the said modulation wave command value, and the said rotational speed, The Claim 1 characterized by the above-mentioned. The motor control system according to claim 3. - 前記電流制御部は、前記回転速度に基づいて２相の電圧値を３相の電圧値に変換することを特徴とする請求項４に記載のモータ制御システム。 The motor control system according to claim 4, wherein the current control unit converts a two-phase voltage value into a three-phase voltage value based on the rotation speed.
- 前記電流制御部により生成された３相の電圧値を前記交流モータの回転速度に基づいて２相の電圧値に変換する３相２相変換部を有することを特徴とする請求項５に記載のモータ制御システム。 6. The three-phase two-phase conversion unit that converts a three-phase voltage value generated by the current control unit into a two-phase voltage value based on a rotation speed of the AC motor. Motor control system.
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| PCT/JP2016/087466 WO2017122490A1 (en) | 2016-01-12 | 2016-12-16 | Motor control system |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113994587A (en) * | 2019-06-26 | 2022-01-28 | 株式会社丰田自动织机 | Control device for motor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013094031A (en) * | 2011-10-27 | 2013-05-16 | Hitachi Automotive Systems Ltd | Control device of induction motor for driving vehicle |
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2016
- 2016-12-16 JP JP2017561555A patent/JPWO2017122490A1/en active Pending
- 2016-12-16 WO PCT/JP2016/087466 patent/WO2017122490A1/en active Application Filing
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2013094031A (en) * | 2011-10-27 | 2013-05-16 | Hitachi Automotive Systems Ltd | Control device of induction motor for driving vehicle |
Non-Patent Citations (1)
| Title |
|---|
| LERDUDOMSAK SMITH ET AL.: "Harmonic Currents Estimation and Compensation for Current Control System of IPMSM in Overmodulation Range", POWER CONVERSION CONFERENCE -NAGOYA, 18 June 2007 (2007-06-18), XP031178636 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113994587A (en) * | 2019-06-26 | 2022-01-28 | 株式会社丰田自动织机 | Control device for motor |
| CN113994587B (en) * | 2019-06-26 | 2023-09-01 | 株式会社丰田自动织机 | Control device for motor |
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| JPWO2017122490A1 (en) | 2018-08-30 |
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