WO2017221320A1 - モータの制御装置、及び、制御方法 - Google Patents
モータの制御装置、及び、制御方法 Download PDFInfo
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- WO2017221320A1 WO2017221320A1 PCT/JP2016/068365 JP2016068365W WO2017221320A1 WO 2017221320 A1 WO2017221320 A1 WO 2017221320A1 JP 2016068365 W JP2016068365 W JP 2016068365W WO 2017221320 A1 WO2017221320 A1 WO 2017221320A1
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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
- H02P27/02—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using supply voltage with constant frequency and variable amplitude
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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
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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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
-
- 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
- H02P21/20—Estimation of torque
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
- H02P23/0027—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
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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
- 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
- H02P27/12—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 pulsing by guiding the flux vector, current vector or voltage vector on a circle or a closed curve, e.g. for direct torque control
Definitions
- the present invention relates to a motor control device and a control method.
- a voltage phase control method is known as one of control methods for motors and the like.
- the phase command value is calculated according to the torque command value, and the amplitude command value is calculated using a predetermined modulation rate.
- a voltage corresponding to the phase command value and the amplitude command value is applied to the motor.
- feedback control is performed on a phase command value in order to improve the accuracy of motor rotation control.
- the estimated torque value is obtained from the current flowing through the motor, and the phase command value is controlled so that the deviation between the estimated torque value and the estimated torque value is suppressed.
- the current flowing to the motor is first measured, and the phase command value is controlled based on the measured current. Since such feedback control is based on the measured current value, the responsiveness is not sufficiently high. For example, if noise occurs in the current flowing through the motor, the noise is amplified without being suppressed, and rotation control may become unstable.
- An object of the present invention is to stably perform rotation control of a motor.
- a motor control method for controlling an applied voltage applied to a motor via an inverter by voltage phase control.
- This control method is based on a phase command value calculating step for calculating a phase command value used for voltage phase control by feedforward control based on a torque command value to the motor, and voltage phase control according to the drive voltage of the inverter.
- Amplitude command value calculation step for calculating the amplitude command value to be used
- a voltage command value calculation step for calculating a voltage command value to the motor according to the phase command value and the amplitude command value, and according to the voltage command value
- a voltage applying step of applying an applied voltage from the inverter to the motor is based on a phase command value calculating step for calculating a phase command value used for voltage phase control by feedforward control based on a torque command value to the motor, and voltage phase control according to the drive voltage of the inverter.
- FIG. 1 is a block diagram of a motor control device according to the first embodiment.
- FIG. 2 is a block diagram of a motor control device according to the second embodiment.
- FIG. 3 is a diagram showing a correlation between the torque command value T * and the phase command value ⁇ * .
- FIG. 4 is a diagram showing a correlation between the first signal Pv and the phase command value ⁇ * .
- FIG. 5 is a block diagram of a motor control device according to the third embodiment.
- FIG. 6 is a block diagram of a motor control device according to the fourth embodiment.
- FIG. 7 is a diagram showing a correlation between the signal ⁇ T * and the phase command value ⁇ * .
- FIG. 1 is a block diagram of a motor control device according to the first embodiment.
- the control device 100 applies three-phase voltages v u , v v , v w to the motor 200 based on inputs of the modulation factor command value M * and the torque command value T * .
- the modulation factor command value M * is a value determined by the structure of the motor 200 and the like, for example, a predetermined value such as “1.0” is used. Further, the torque command value T * changes according to the accelerator opening.
- the control device 100 includes a phase generator 1, an amplitude generator 2, a dq axis voltage converter 3, a stabilization filter 4, a phase converter 5, a PWM converter 6, an inverter 7, a battery 8, a voltage sensor 9, and a rotation sensor 10. And an angular velocity calculator 11. Further, the position of the rotor of the motor 200 is detected by the rotation sensor 10.
- Phase generating unit 1 in accordance with the control device 100 the torque command value is input from the outside T *, the phase command value alpha * calculated by the feed-forward control using a voltage phase control, calculated dq phase command value alpha * Output to the shaft voltage converter 3.
- the phase generation unit 1 stores a table, and calculates the phase command value ⁇ * using this table. This feedforward control is performed based on a transfer function that models the voltage phase control of the motor 200.
- the phase generation unit 1 is an example of a phase command value calculation unit in which a phase command value calculation step is executed.
- the amplitude generation unit 2 receives the modulation factor command value M * from outside the control device 100 and the DC voltage v dc of the battery 8 measured by the voltage sensor 9.
- the battery 8 supplies a DC voltage v dc as a drive voltage to the inverter 7.
- the amplitude generation unit 2 calculates the amplitude command value v a * based on these inputs, and outputs the calculated amplitude command value v a * to the dq-axis voltage conversion unit 3. Specifically, the calculation of the amplitude command value v a * is performed using the following equation.
- the amplitude generation unit 2 is an example of an amplitude command value calculation unit in which an amplitude command value calculation step is executed.
- the dq-axis voltage conversion unit 3 uses the phase command value ⁇ * and the amplitude command value v a * to determine the d-axis voltage command value v d * and the q-axis voltage command value v based on the following equations. q Calculate * . Then, the dq-axis voltage conversion unit 3 outputs the d-axis voltage command value v d * and the q-axis voltage command value v q * to the stabilization filter 4.
- the stabilization filter 4 is a filter that suppresses vibration in the resonance frequency band of the current flowing to the motor 200 using a known technique.
- the stabilization filter 4 performs filtering on the d-axis voltage command value v d * and the q-axis voltage command value v q * according to the rotational speed ⁇ of the motor 200 output from the angular velocity calculator 11. .
- the stabilization filter 4 performs a filtering process in which changes in amplitude and phase are transiently suppressed, and the final d-axis voltage command value v d ** and the final q-axis voltage command value v q Calculate ** .
- the stabilization filter 4 outputs the final d-axis voltage command value v d ** and the final q-axis voltage command value v q ** to the phase converter 5.
- the frequency of the d-axis voltage command value v d * and the q-axis voltage command value v q * is sufficiently small with respect to the resonance frequency of the current flowing through the motor 200, the current flowing through the motor 200 is resonant. Therefore, the stabilization filter 4 may not be provided.
- the phase converter 5 determines the dq axis based on the rotor phase ⁇ output from the rotation sensor 10 with respect to the final d-axis voltage command value v d ** and the final q-axis voltage command value v q ** .
- Phase conversion from to uvw phase Specifically, the phase converter 5 performs phase conversion based on the following expression, and calculates three-phase voltage command values v u * , v v * , v w * . Then, the phase converter 5 outputs the three-phase voltage command values v u * , v v * , v w * to the PWM converter 6.
- the PWM converter 6 performs a known dead time compensation process, a voltage utilization rate improvement process, and the like based on the three-phase voltage command values v u * , v v * , v w * , and the DC voltage v dc , and is driven. Signals D uu * , D ul * , D vu * , D vl * , D wu * and D wl * are generated.
- the drive signals D uu * , D ul * , D vu * , D vl * , D wu * , and D wl * are input to each of the switching elements of the inverter 7 constituted by three-phase six arms.
- the inverter 7 uses the DC voltage v dc supplied from the battery 8 to switch each of the switching elements based on drive signals D uu * , D ul * , D vu * , D vl * , D wu * , and D wl * .
- the inverter 7 applies three-phase voltages vu, vv, vw to the motor 200. In other words, the three-phase voltages v u , v v and v w are applied voltages to the motor 200.
- the phase generation unit 1 executes the feedforward step to calculate the phase command value ⁇ * .
- the amplitude generator 2 executes an amplitude calculation step to calculate the amplitude command value v a * .
- the dq-axis voltage conversion unit 3, the stabilization filter 4, and the phase converter 5 are examples of voltage command value calculation units.
- the voltage command value calculation unit executes a voltage command value calculation step based on the input of the phase command value ⁇ * and the amplitude command value v a * , to thereby obtain a three-phase voltage command value v u * , v v * , v Calculate w * .
- PWM converter 6 is an example of the voltage applying unit via the inverter 7, the three-phase voltage command values v u *, v v *, v three-phase voltage corresponding to w * v u, v v, v w a, it is applied to the motor 200 as the applied voltage.
- feedback control control based on the detected value of the current flowing to the motor 200 is performed. Therefore, compared with feedforward control that does not use the detected value, the responsiveness of feedback control is low. Therefore, by performing only the feedforward control, the responsiveness can be made higher than when performing the feedback control. Therefore, for example, even when noise occurs in the current flowing through the motor 200, the noise is suppressed before being amplified, and thus the stability of the motor 200 can be improved.
- phase generation unit 1 calculates the phase command value ⁇ * according to the torque command value T *.
- the phase generation unit 1 further calculates the phase command value ⁇ * according to the amplitude command value v a * and the rotation speed ⁇ .
- FIG. 2 is a block diagram of a motor control device according to the second embodiment.
- the phase generation unit 1 includes an input signal conversion unit 21 and a command value generation unit 22.
- the input signal converter 21, in addition to the torque command value T *, the amplitude command value v a * outputted from the amplitude generator 2, and the rotational speed ⁇ is input outputted from the angular velocity calculator 11. Then, the input signal converter 21 calculates the first signal Pv based on these input values and the following expression. Then, the input signal conversion unit 21 outputs the calculated first signal Pv to the command value generation unit 22.
- the command value generation unit 22 calculates a phase command value ⁇ * corresponding to the first signal Pv with reference to a previously stored table.
- a phase command value ⁇ * corresponding to the first signal Pv with reference to a previously stored table.
- An example of the relationship between the first signal Pv set in the table and the phase command value ⁇ * is shown in FIG.
- FIG. 3 is a diagram showing a correlation between a torque command value T * and a phase command value ⁇ * in a general synchronous motor.
- FIG. 4 is a diagram showing a correlation between the first signal Pv and the phase command value ⁇ * .
- the case where the rotational speed ⁇ is ⁇ 1 and the amplitude command value v a * is v a1 * is indicated by a solid line, and the rotational speed ⁇ is ⁇ 2 .
- the case where the amplitude command value v a * is v a1 * is indicated by a one-dot broken line, the rotation speed ⁇ is ⁇ 1 , and the amplitude command value v a * is v a2 *. This is indicated by a two-dot broken line.
- the correlation between the torque command value T * and the phase command value ⁇ * varies depending on the amplitude command value v a * and the rotational speed ⁇ . Therefore, when the phase command value ⁇ * is obtained only in accordance with the torque command value T * , the phase generation unit 1 determines the torque command value T * for each value of the amplitude command value v a * and the rotational speed ⁇ . And the correlation between the phase command value ⁇ * and the phase command value ⁇ * .
- the processing load on the phase generator 1 becomes large. turn into. Therefore, in the present embodiment, the first signal Pv is used for calculating the phase command value ⁇ * .
- FIG. 4 is a diagram showing a correlation between the first signal Pv and the phase command value ⁇ * in a general synchronous motor. According to this correlation, even if the amplitude command value v a * and the rotation speed ⁇ change, the variation in the correlation between the first signal Pv and the phase command value ⁇ * is small. Therefore, the phase command value ⁇ * can be indicated by using a linear function having the first signal Pv as a variable, as indicated by a broken line. Therefore, the phase generation unit 1 can accurately calculate the phase command value ⁇ * using the first signal Pv and a linear function indicated by a broken line in FIG.
- R is a winding resistance
- ⁇ is a flux linkage
- L d is a d-axis inductance
- L q is a q-axis inductance
- the interlinkage magnetic flux ⁇ and the d-axis inductance L d are determined by the configuration of the motor 200. Therefore, it can be seen that the phase command value ⁇ * changes only in accordance with the first signal Pv. Thus, it is possible to obtain the phase command value alpha * in accordance with only the first signal Pv, while reducing the load on the phase generation unit 1 can be determined with high precision phase command value alpha *.
- the amplitude command value v a * can be regarded as constant. Therefore, among the parameters constituting the first signal Pv, a signal may be obtained using the torque command value T * and the rotation speed ⁇ , and the phase command value ⁇ * may be calculated according to the signal. Conversely, when the rotational speed ⁇ does not change, the torque command value T *, and obtains a signal with an amplitude command value v a *, may calculate the phase command value alpha * in accordance with the signal .
- the first signal Pv calculated by the input signal converter 21 is proportional to the torque command value T * and the rotation speed ⁇ of the motor 200, and the amplitude command value v a *.
- This parameter is inversely proportional to.
- the phase command value ⁇ * can be regarded as changing only in accordance with the first signal Pv, regardless of the amplitude command value v a * and the rotational speed ⁇ . Therefore, the calculation of the phase command value alpha *, the torque command value T *, * amplitude command value v a, and, more carried out using three parameters of the rotational speed omega, calculates a first signal Pv, the first signal
- the processing load can be reduced by using Pv. Specifically, it becomes easy to create a table based on experiments and analysis, and CPU resources (data recording capacity and calculation load) can be reduced.
- a signal is obtained according to the other and the torque command value T *
- the phase command value ⁇ * may be obtained according to the signal.
- a signal is obtained according to the rotational speed ⁇ and the torque command value T *
- the phase command value ⁇ * is obtained according to the signal. You may ask for it. By doing in this way, the processing load of the phase generation unit 1 can be further reduced.
- FIG. 5 is a schematic configuration diagram of a motor control device according to the third embodiment.
- the input signal conversion unit 21 calculates the second signal ⁇ v based on the amplitude command value v a * and the rotation speed ⁇ using the following equation.
- the input signal conversion unit 21 outputs the calculated second signal ⁇ v to the command value generation unit 22.
- the second term on the right side changes according to the reciprocal of the second signal ⁇ v . That is, the second signal ⁇ v contributes to the change in the phase command value ⁇ * . Therefore, the calculation accuracy of the phase command value ⁇ * can be improved by using the second signal ⁇ v in addition to the first signal Pv.
- the second signal ⁇ v corresponding to the amplitude command value v a * and the rotation speed ⁇ is used as the second signal, but the present invention is not limited to this.
- the rotational speed ⁇ may be used as the second signal.
- the amplitude command value v a * may be used as the second signal.
- the phase generator 1 uses the second signal ⁇ v that is proportional to the rotational speed ⁇ and inversely proportional to the amplitude command value v a * in addition to the first signal Pv. Calculate the command value ⁇ * .
- the second signal ⁇ v contributes to the phase command value ⁇ * . Therefore, the calculation accuracy of the phase command value ⁇ * can be further increased by using the second signal ⁇ v .
- FIG. 6 is a block diagram of a motor control device according to the fourth embodiment.
- a three-phase voltage v u is input to the motor 200 via the u-phase wiring
- a three-phase voltage vv is input via the v-phase wiring
- a three-phase voltage v w is input via the w-phase wiring.
- the u-phase wiring is provided with a current sensor 31u
- the v-phase wiring is provided with a current sensor 31v.
- the u-phase current value i u detected by the current sensor 31 u and the v-phase current value i v detected by the current sensor 31 v are output to the phase converter 32.
- the phase converter 32 performs coordinate conversion from the UVW phase to the dq axis by performing coordinate conversion represented by the following expression. Since the sum of i u , i v , and i w , which are three-phase currents, becomes zero, the w-phase current i w can be expressed as “ ⁇ i u ⁇ i v ”.
- the phase converter 32 As shown in equation (12), the phase converter 32, u-phase current value i u, and, with respect to v-phase current value i v, is the rotational phase ⁇ electrical angle output from the rotation sensor 10 Based on the coordinate conversion, the d-axis current value i d and the q-axis current value i q are calculated. Then, the phase converter 32 outputs the d-axis current value i d and the q-axis current value i q to the torque calculator 33.
- the torque calculator 33 stores a table indicating the relationship between the d-axis and q-axis current values in the motor 200 and the torque. Torque calculator 33 uses this table, based on the d-axis current value i d and the q-axis current value i q, it calculates the estimated torque T cal. In other words, the estimated torque T cal is a torque according to the current value of the motor 200.
- the phase generation unit 1 includes a subtractor 34, a PI calculator 35, and an adder 36 in addition to the input signal conversion unit 21 and the command value generation unit 22.
- the subtractor 34 subtracts the estimated torque Tcal from the torque command value T * and outputs the subtraction result to the PI calculator 35 as a torque difference Tdiff .
- PI calculator 35 When PI calculator 35 receives torque difference T diff , PI calculator 35 performs PI amplification calculation and outputs the calculation result to adder 36.
- the subtractor 34 and the PI calculator 35 generate a phase command value used for feedback control.
- the adder 36 adds the phase command value generated by the command value generation unit 22 and the phase command value generated by the PI calculator 35, and uses the addition value as the phase command value ⁇ *, as a dq axis voltage conversion unit. 3 is output. By doing in this way, in the phase production
- feedback control is further performed by the subtractor 34 and the PI calculator 35 in addition to the feedforward control.
- the torque calculator 33 estimates the estimated torque T cal from the current flowing through the motor 200, and the subtractor 34 calculates a torque difference T diff that is a deviation between the torque command value T * and the estimated torque T cal. . Then, the PI calculator 35 calculates the phase command value so as to suppress the torque difference T diff . In this way, feedback control is performed.
- a steady deviation may occur in the torque of the motor 200.
- a steady deviation in the motor 200 is suppressed, so that rotation control can be stabilized.
- the phase generator 1 uses one or a plurality of signals composed of the torque command value T * , the amplitude command value v a * , and the rotation speed ⁇ .
- the example of calculating the phase command value ⁇ * has been described.
- details of the configuration of these signals will be described.
- the focus is the first term of Equation (8), is proportional to the torque command value T *, in proportion to the rotation speed omega, and the first signal that is inversely proportional to the amplitude command value v a *
- the phase command value ⁇ * was calculated using Pv.
- the signal output from the input signal converter 21, the torque command value T *, * amplitude command value v a, and, need to be configured by a combination as fall all rotational speed ⁇ is.
- the A group is a signal configured by combining all of the torque command value T * , the amplitude command value v a * , and the rotation speed ⁇ . There is one type of A group signal.
- the B group is a signal composed of two of the torque command value T * , the amplitude command value v a * , and the rotation speed ⁇ . There are three types of B group signals.
- Group C is a signal that uses the torque command value T * , the amplitude command value v a * , and the rotational speed ⁇ as they are. There are three types of C group signals.
- a signal used for calculating the phase command value ⁇ * is determined.
- the selected signal in order to obtain the phase command value ⁇ * with high accuracy, at least one of the torque command value T * , the amplitude command value v a * , and the rotation speed ⁇ must be included. . Table 2 shows the selection of such signals.
- the A group when only one signal is selected, the A group includes all of the torque command value T * , the amplitude command value v a * , and the rotation speed ⁇ . from, " ⁇ 1> ⁇ T * / v a * " is selected.
- An example using ⁇ 1> is shown in the second embodiment.
- (Ii) shows a case where one signal is selected from the A group and one signal is selected from the B group.
- (Iii) shows a case where one signal is selected from the A group and one signal is selected from the C group.
- a * ".
- (Iv) shows a case where two signals are selected from the B group.
- the selected signal a torque command value T *, * amplitude command value v a, and, it is necessary to each of the rotational speed ⁇ are included one or more. Therefore, " ⁇ 08> ⁇ T *, T * / v a * ", " ⁇ 09> ⁇ T *, ⁇ / v a * ", and, " ⁇ 10> T * / v a *, ⁇ / v a * "
- An example using ⁇ 09> is shown in the third embodiment.
- (V) shows a case where one signal is selected from the B group and one signal is selected from the C group.
- FIG. 7 is a diagram showing the correlation between ⁇ T * and the phase command value ⁇ * .
- 1 / v a * corresponds to the, by storing the correlation between .omega.T * and the phase command value alpha *, using the two signals ⁇ 11>, the alpha * with greater precision Can be sought.
- the torque command value T *, * amplitude command value v a, and contains one or more of the rotational speed ⁇ is selected.
- the signal is selected to be The signal thus selected includes all of the elements resulting from the phase command value ⁇ * indicated by the first term on the right side of the equation (8). Therefore, the phase command value ⁇ * can be calculated with high accuracy.
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Abstract
Description
図1は、第1実施形態におけるモータの制御装置のブロック図である。
第1実施形態においては、位相生成部1がトルク指令値T*に応じて位相指令値α*を算出する例について説明した。第2実施形態では、位相生成部1が、さらに、振幅指令値va *、及び、回転速度ωに応じて位相指令値α*を算出する例について説明する。
第2実施形態においては、位相生成部1が、第1信号Pvを用いて位相指令値α*を算出する例について説明した。第3実施形態においては、位相生成部1が、第1信号に加えて、さらに第2信号ωvを用いて位相指令値α*を算出する例について説明する。
上述の第1実施形態から第3実施形態までにおいては、位相生成部1がフィードフォワード制御により位相指令値α*を算出する例について説明した。第4実施形態では、位相生成部1が、フィードフォワード制御に加えてフィードバック制御を行う例について説明する。
第1実施形態から第4の実施形態までにおいては、位相生成部1が、トルク指令値T*、振幅指令値va *、及び、回転速度ωにより構成される信号を1つ又は複数用いて、位相指令値α*を算出する例について説明した。第5実施形態では、これらの信号の構成の詳細について説明する。
Claims (7)
- インバータを介してモータへ印加される印加電圧を電圧位相制御によって制御するモータの制御方法であって、
前記モータへのトルク指令値に基づいて、フィードフォワード制御により、前記電圧位相制御に用いる位相指令値を算出する位相指令値算出ステップと、
前記インバータの駆動電圧に応じて、前記電圧位相制御に用いる振幅指令値を算出する振幅指令値算出ステップと、
前記位相指令値、及び、前記振幅指令値に応じて、前記モータへの電圧指令値を算出する電圧指令値算出ステップと、
前記電圧指令値に応じて、前記インバータから前記印加電圧を前記モータに印加させる電圧印加ステップと、
を備える、モータの制御方法。 - 請求項1に記載のモータの制御方法であって、
前記位相指令値算出ステップにおいて、前記トルク指令値に加えて、前記振幅指令値、及び、前記モータの回転速度のうち少なくとも一方のパラメータに基づいて、前記位相指令値を算出する、
モータの制御方法。 - 請求項1又は2に記載のモータの制御方法であって、
前記位相指令値算出ステップにおいて、
前記トルク指令値に比例し、前記モータの回転速度に比例し、かつ、前記振幅指令値に反比例する第1信号を生成し、
前記第1信号を変数とする関数を用いて、前記位相指令値を算出する、
モータの制御方法。 - 請求項3に記載のモータの制御方法であって、
前記位相指令値算出ステップにおいて、
前記モータの回転速度に比例し、かつ、前記振幅指令値に反比例する第2信号を生成し、
前記第1信号、及び、前記第2信号に基づいて、前記位相指令値を算出する、
モータの制御方法。 - 請求項1に記載のモータの制御方法であって、
前記位相指令値算出ステップにおいて、前記トルク指令値、前記振幅指令値、及び、前記モータの回転速度のうちの1つ以上のパラメータを選択して信号を構成し、当該信号を1つ又は複数用いて前記位相指令値を算出し、
前記位相指令値の算出に用いられる信号において、前記トルク指令値、前記振幅指令値、及び、前記モータの回転速度のそれぞれが、少なくとも1つ以上用いられている、
モータの制御方法。 - 請求項1から5のいずれか1項に記載のモータの制御方法であって、
前記位相指令値算出ステップにおいて、前記フィードフォワード制御、及び、前記トルク指令値と前記モータのトルクの推定値との差分に基づくフィードバック制御により、前記位相指令値を算出する、
モータの制御方法。 - インバータを介してモータへ印加される印加電圧を電圧位相制御によって制御するモータの制御装置であって、
前記モータへのトルク指令値に基づいて、前記電圧位相制御に用いる位相指令値をフィードフォワード制御により算出する位相指令値算出部と、
前記インバータの駆動電圧に応じて、前記電圧位相制御に用いる振幅指令値を算出する振幅指令値算出部と、
前記位相指令値、及び、前記振幅指令値に応じて、前記モータへの電圧指令値を算出する電圧指令値算出部と、
前記電圧指令値に応じて、前記インバータへの駆動信号を生成する電圧印加部と、
前記駆動信号に応じて動作して、前記印加電圧を前記モータに印加するインバータと、
を備える、モータの制御装置。
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