WO2018016070A1 - Dispositif de commande de moteur - Google Patents

Dispositif de commande de moteur Download PDF

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Publication number
WO2018016070A1
WO2018016070A1 PCT/JP2016/071529 JP2016071529W WO2018016070A1 WO 2018016070 A1 WO2018016070 A1 WO 2018016070A1 JP 2016071529 W JP2016071529 W JP 2016071529W WO 2018016070 A1 WO2018016070 A1 WO 2018016070A1
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Prior art keywords
motor
control
current
command value
value
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PCT/JP2016/071529
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English (en)
Japanese (ja)
Inventor
啓介 植村
酒井　顕
真作 楠部
宰 桝村
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三菱電機株式会社
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Priority to JP2018528181A priority Critical patent/JP6563135B2/ja
Priority to PCT/JP2016/071529 priority patent/WO2018016070A1/fr
Publication of WO2018016070A1 publication Critical patent/WO2018016070A1/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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
    • 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

Definitions

  • the present invention relates to a motor control device, and more particularly to sensorless control for driving a motor without using a position sensor for detecting a rotation angle of a rotor.
  • Patent Document 1 discloses a sensorless system configured to improve estimation accuracy in a low speed region by superimposing a high frequency signal on an inverter output voltage. A control device is described.
  • Patent Document 1 requires a configuration for generating a harmonic signal and further extracting the same frequency component as the harmonic signal. For this reason, there is a risk of cost increase due to the need for a processor with a high processing speed due to the complexity of the control configuration. Furthermore, there is a concern that harmonic components are superimposed on the motor current, which may cause vibration due to torque pulsation and increase in noise. Therefore, it is desired to improve the accuracy of sensorless control in the low speed region without superimposing such harmonic signals.
  • the present invention has been made to solve such problems, and an object of the present invention is to improve control accuracy in a low speed region of sensorless control of a motor with a simple control configuration.
  • a motor control device is a motor control device in which a position sensor is not disposed, and includes a DC power supply, an inverter, a current detection unit, and a control unit.
  • the inverter is configured to convert a DC voltage from a DC power source into an AC voltage applied to the motor.
  • the current detection unit is configured to detect a motor current flowing through the motor.
  • the control unit is configured to generate a control signal for controlling on / off of the plurality of semiconductor switching elements constituting the inverter.
  • the control unit generates a control signal so as to have a timing at which the motor current decreases during the operation of increasing the rotation speed of the motor during the feedback control of the motor current based on the detection value by the current detection unit.
  • the control accuracy in the low speed region of the sensorless control of the motor can be increased with a simple control configuration.
  • FIG. 1 It is a block diagram which shows the structural example of the motor system to which the control apparatus of the motor according to this Embodiment was applied. It is a functional block diagram for demonstrating the control structure by the motor control apparatus according to this Embodiment. It is a functional block diagram for demonstrating the structure of the motor control calculating part shown by FIG. It is a conceptual graph for demonstrating an example of switching of starting control and steady state control. It is a functional block diagram for demonstrating in detail the control action by the steady control calculating part shown by FIG. It is a conceptual diagram for demonstrating the three-phase / two-phase conversion in the coordinate transformation part shown by FIG.
  • FIG. 6 is a conceptual graph for explaining processing for setting a current command value for the ⁇ -axis by the ⁇ -axis control switching unit shown in FIG. 5. It is a wave form diagram which shows the simulation result of the motor current waveform in the low speed area
  • FIG. 1 is a block diagram showing a schematic configuration of a system to which a motor control device according to the present embodiment is applied.
  • motor system 10 drives and controls motor 15 with electric power from AC power supply 12.
  • the motor 15 is provided as a component of various devices.
  • the motor 15 can be provided as an outdoor fan motor of an air conditioner.
  • the AC power supply 12 can be typically constituted by a commercial power supply.
  • the motor 15 is constituted by, for example, a permanent magnet synchronous motor having a permanent magnet on a rotor (rotor) of the motor. In the example of FIG. 1, the motor 15 is configured by a three-phase permanent magnet synchronous motor.
  • the rectifying unit 20 rectifies the AC voltage from the AC power source 12 and outputs it between the power lines PL and NL.
  • the rectifying unit 20 can be typically constituted by a diode bridge. Further, smoothing capacitor 30 is connected between power lines PL and NL. Thereby, a DC voltage is generated between power lines PL and NL.
  • the voltage detector 35 detects the voltage between the power lines PL and NL. A detection signal from the voltage detection unit 35 is input to the control unit 100. Hereinafter, the DC voltage detected by the voltage detection unit 35 is denoted as Vdc.
  • the AC power supply 12, the rectifying unit 20, and the smoothing capacitor 30 constitute an embodiment of a “DC power supply” that outputs a DC voltage.
  • the configuration of the DC power supply is not particularly limited, and the DC power supply can be configured using a power storage device such as a secondary battery, a generator, or the like.
  • the inverter 40 has a general three-phase inverter circuit configuration, converts a DC voltage on the power lines PL and NL into a three-phase AC voltage, and applies it to each phase of the motor 15.
  • Inverter 40 has a general three-phase inverter circuit configuration, and includes power semiconductor switching elements (hereinafter also simply referred to as “switching elements”) Q1 to Q6. Switching elements Q1 to Q6 constitute an upper arm and a lower arm of the U phase, the V phase, and the W phase, respectively.
  • An intermediate node Nu of the U-phase arm that is, a connection node of switching elements Q1 and Q2 connected in series between power lines PL and NL is connected to a U-phase coil winding (not shown) of motor 15 by power line 41U.
  • intermediate node Nv connection node of switching elements Q3 and Q4 of the V-phase arm is connected to a V-phase coil winding (not shown) of motor 15 by power line 41V.
  • Intermediate node Nw (connection node of switching elements Q5 and Q6) of the W-phase arm is connected to a W-phase coil winding (not shown) of motor 15 by power line 41W.
  • the configuration of the inverter 40 shown in FIG. 1 is an example, and the inverter 40 has any function as long as it has a function of converting a DC voltage from a DC power source into an AC voltage applied to the motor 15.
  • a circuit configuration can be applied.
  • a current detection unit 50 for detecting a motor current (phase current) flowing through the motor 15 is disposed on the power lines 41U, 41V, 41W.
  • a detection signal from the current detection unit 50 is input to the control unit 100.
  • the motor current of each phase detected by the current detection unit 50 is also referred to as a U-phase current Iu, a V-phase current Iv, and a W current Iw.
  • motor currents Iu, Iv, and Iw when including three phases, it is also simply referred to as motor currents Iu, Iv, and Iw.
  • the current detection unit 50 has current detectors provided in at least two phases of the power lines 41U, 41V, and 41W.
  • Each current detector can be constituted by a current transformer or a shunt resistor.
  • the control unit 100 can typically be configured by a microcomputer.
  • the control unit 100 controls the output of the motor 15 by controlling the power conversion in the inverter 40 by the control signals S1 to S6.
  • the motor 15 is not provided with a position sensor for detecting the rotation angle of the rotor, and the output of the motor 15 is controlled by sensorless control.
  • Control unit 100 uses DC voltage Vdc from voltage detection unit 35 and motor currents Iu, Iv, Iw from current detection unit 50 to control signals S1 to S6 for controlling on / off of switching elements Q1 to Q6 of inverter 40. Is generated.
  • FIG. 2 is a functional block diagram for illustrating a control configuration by the motor control device according to the present embodiment. 2 and each of a plurality of functional block diagrams described later, the function of each block is to execute a predetermined program (software processing) by the control unit 100 and / or an electronic circuit (hardware) built in the control unit 100. Hardware processing).
  • motor control unit 110 includes a speed command value generation unit 120, a motor control calculation unit 130, and a control signal generation unit 140.
  • the speed command value generation unit 120 generates a speed command value ⁇ * for the motor 15. For example, when the motor 15 is an outdoor fan motor of an air conditioner, the speed command value ⁇ * is generated based on the operating state of the air conditioner.
  • the motor control calculation unit 130 generates a U phase, a V phase, and a W phase of the inverter 40 based on the DC voltage Vdc detected by the voltage detection unit 35 and the motor currents Iu, Iv, Iw detected by the current detection unit 50.
  • Voltage command values Vu *, Vv *, and Vw * are generated.
  • the voltage command values Vu *, Vv *, and Vw * for each phase have the same amplitude and have a sinusoidal AC voltage waveform whose phases are shifted from each other by 120 ° (electrical angle).
  • the motor control calculation unit 130 can control the phase and the phase of the AC voltage so that the rotation speed of the motor 15 matches the speed command value ⁇ *.
  • control signal generator 140 generates control signals S1 to S6 for the switching elements Q1 to Q6 according to the voltage command values Vu *, Vv *, and Vw * for each phase of the inverter 40.
  • control signals S1 to S6 are pulse signals for controlling on / off of switching elements Q1 to Q6.
  • control signal generation section 140 performs pulse width modulation (PWM) control based on voltage comparison between voltage command values Vu *, Vv *, Vw * of each phase and a carrier wave (for example, a triangular wave) having a predetermined frequency.
  • PWM pulse width modulation
  • the control signals S1 to S6 can be generated.
  • the upper arm switching element Q1 is turned on while Vu * is the carrier.
  • the control signals S1 and S2 are generated so that the lower arm switching element Q2 is turned on.
  • the upper arm elements (Q1, Q3, Q5) and the lower arm elements (Q2, Q4, Q6) are crossed at the intersections of the voltage command values Vu *, Vv *, Vw * and the carrier wave. ON / OFF is switched.
  • the three-phase pseudo sine wave voltage by PWM can be applied to the three-phase coil winding (not shown) of the motor 15 from the inverter 40.
  • each phase arm of inverter 40 when both upper and lower arm elements (for example, U-phase switching elements Q1, Q2) of the same arm are turned on, a short circuit path is formed between power lines PL and NL. Therefore, when switching on / off between the upper arm elements (Q1, Q3, Q5) and the lower arm elements (Q2, Q4, Q6), it is common to provide a dead time for both the upper and lower arm elements. It is.
  • FIG. 3 is a functional block diagram for explaining the configuration of the motor control calculation unit 130 shown in FIG.
  • motor control calculation unit 130 includes a start control calculation unit 150, a steady control calculation unit 200, and a control switching unit 160.
  • Each of start control calculation unit 150 and steady control calculation unit 200 is a voltage command value of inverter 40 for operating motor 15 according to speed command value ⁇ * based on DC voltage Vdc and motor currents Iu, Iv, Iw. It has a function of generating Vu *, Vv *, and Vw *.
  • the control switching unit 160 outputs the voltage command values Vu *, Vv *, Vw * from one of the activation control calculation unit 150 and the steady control calculation unit 200 to the control signal generation unit 140 (FIG. 2). .
  • FIG. 4 shows a conceptual graph for explaining an example of switching between start control and steady control by the motor control device according to the present embodiment.
  • start control is first applied.
  • the motor 15 is controlled by the start control so as to rotate at a constant speed after the rotation speed is increased to the start rotation speed ⁇ 1.
  • the voltage command values Vu *, Vv *, and Vw * can be set so that a large amount of reactive current flows in order to start the motor 15 stably.
  • switching from the start control to the steady control is executed.
  • the steady control can be started with respect to the motor 15 from a stable state at a constant rotational speed at the starting rotational speed ⁇ 1.
  • the control switching unit 160 of FIG. 3 uses the voltage command values Vu *, Vv *, and Vw * calculated by the activation control calculation unit 150 (FIG. 3) between times t0 and tx. And output to the control signal generator 140 (FIG. 2).
  • the control switching unit 160 uses the voltage command values Vu *, Vv *, and Vw * calculated by the steady control calculation unit 200 (FIG. 3) to the control signal generation unit 140 (FIG. 2).
  • the steady control calculation unit 200 calculates voltage command values Vu *, Vv *, Vw * by feedback control of the motor currents Iu, Iv, Iw according to the current command values.
  • control switching unit 160 may switch between the start control and the steady control depending on whether the voltage command values Vu *, Vv *, and Vw * from the start control calculation unit 150 or the steady control calculation unit 200 are output. it can.
  • FIG. 5 is a functional block diagram for explaining in detail the control operation by the steady control calculation unit 200 of FIG.
  • steady control calculation unit 200 includes coordinate conversion unit 210, state estimation unit 220 for estimating the magnetic flux, speed, and position of motor 15, magnetic flux command value generation unit 230, and magnetic flux control unit. 240, a current command value fixing unit 250, a ⁇ -axis control switching unit 260, a speed control unit 270, a current control unit 280, and a voltage command calculation unit 290.
  • the coordinate conversion unit 210 converts the three-phase (U, V, W) motor currents Iu, Iv, Iw into the two-phase currents I ⁇ , I ⁇ on the ⁇ - ⁇ axis defined in FIG.
  • FIG. 6 is a conceptual diagram for explaining the three-phase / two-phase conversion in the coordinate conversion unit 210.
  • the U axis, the V axis, and the W axis are three-phase stationary coordinate systems that correspond to the U phase, the V phase, and the W phase of the motor 15 and that have different phases by 120 ° (electrical angle).
  • Motor currents Iu, Iv, Iw and voltage command values Vu *, Vv *, Vw * are current values or voltage values on the U axis, V axis, and W axis.
  • the d-axis indicates the actual magnetic pole axis of the motor 15, and the rotor of the motor 15 is between the U-axis of the stationary coordinate system. It has a phase difference corresponding to the rotational position (rotational angle ⁇ ).
  • the q axis is defined as a coordinate axis orthogonal to the d axis.
  • the ⁇ - ⁇ axes based on the estimated rotation angle ⁇ # of the rotor are further defined. That is, the phase difference between the ⁇ -axis and the U-axis corresponds to the rotor rotation angle estimated value ⁇ #.
  • the ⁇ axis is defined as a coordinate axis orthogonal to the ⁇ axis.
  • the dq axis and the ⁇ - ⁇ axis are coordinate axes that rotate around the origin at the rotational speed ⁇ of the motor 15.
  • the d-axis corresponds to the estimated d-axis
  • the ⁇ -axis corresponds to the estimated q-axis
  • the ⁇ -axis matches, and the q-axis and ⁇ -axis match.
  • the motor 15 is controlled using the rotation angle estimation value ⁇ # having the angle estimation error ⁇ with respect to the actual rotation angle ⁇ that cannot be detected.
  • the rotation angle estimation value ⁇ # is obtained by the state estimation unit 220 as described later.
  • the motor 15 is sensorlessly controlled by so-called vector control using the motor current converted into the rotating coordinate system.
  • vector control using the motor current converted into the rotating coordinate system.
  • the definition of the coordinate system described with reference to FIG. It is possible to perform the motor control by applying the coordinate transformation.
  • state estimation unit 220 estimates magnetic flux using ⁇ -axis current I ⁇ and ⁇ -axis current I ⁇ obtained by coordinate conversion unit and voltage command values V ⁇ * and V ⁇ * of ⁇ -axis and ⁇ -axis.
  • a value ⁇ #, a speed estimation value ⁇ #, and a rotation angle estimation value ⁇ # are output.
  • the state estimation unit 220 can estimate the magnetic flux estimated value ⁇ #, the speed estimated value ⁇ #, and the rotation angle estimated value ⁇ #, for example, according to the following equations (1) to (3).
  • the total magnetic flux vector by the permanent magnet can be estimated by an operation of integrating the voltage obtained by subtracting the voltage drop due to the resistance R of the coil winding from the voltage command value of the ⁇ -axis with a low-pass filter. That is, ⁇ c in equation (1) can be a fixed value corresponding to the cutoff frequency of the low-pass filter. By blocking the frequency component lower than the cutoff frequency ⁇ c, it is possible to prevent the noise error of the input signal from being amplified and increase the error of the estimated magnetic flux ⁇ #.
  • the speed estimation value ⁇ # and the magnetic flux estimation value ⁇ # calculated by the state estimation unit 220 are input to the speed control unit 270 and the magnetic flux control unit 240, respectively.
  • the rotation angle estimation value ⁇ # calculated by the state estimation unit 220 is input to the coordinate conversion unit 210 and used for calculation of the ⁇ -axis current I ⁇ and the ⁇ -axis current I ⁇ . Further, the estimated rotation angle ⁇ # is input to the voltage command calculation unit 290 and used for inverse conversion from the two-phase coordinates ( ⁇ - ⁇ axes) to the three-phase coordinates (U axis, V axis, W axis). It is done. As a result, the error of the rotation angle estimation value ⁇ # decreases the accuracy of the motor control by the steady control calculation unit 200 that performs the feedback control of the motor current through the error in the coordinate conversion of the motor current by the coordinate conversion unit 210. It is understood that
  • the ⁇ -axis current command value I ⁇ * is set by selecting one of the magnetic flux control unit 240 and the current command value fixing unit 250 by the ⁇ -axis control switching unit 260.
  • the current command value fixing unit 250 outputs I ⁇ * const which is a constant value.
  • the magnetic flux command value generation unit 230 generates a magnetic flux command value ⁇ * according to the speed command value ⁇ *.
  • the magnetic flux command value generation unit 230 variably sets the magnetic flux command value ⁇ * according to the speed command value ⁇ * so that the magnetic flux vector is controlled to be constant.
  • the magnetic flux command value generation unit 230 can be configured using a lookup table that predefines the correspondence between the speed command value ⁇ * and the magnetic flux command value ⁇ *.
  • the magnetic flux command value generation unit 230 can be configured by preparing in advance an arithmetic expression for calculating the magnetic flux command value ⁇ * using the speed command value ⁇ * as a variable.
  • the magnetic flux control unit 240 generates the ⁇ -axis current command value I ⁇ * based on the magnetic flux command value ⁇ * from the magnetic flux command value generation unit 230 and the estimated magnetic flux value ⁇ # calculated by the state estimation unit 220. .
  • the ⁇ -axis control switching unit 260 selects one of the current command value I ⁇ * from the magnetic flux control unit 240 and I ⁇ * const from the current command value fixing unit 250, and sets the current command value I ⁇ * of the ⁇ -axis as the current command value I ⁇ *. Output to the control unit 280.
  • FIG. 7 is a conceptual graph for explaining the setting process of the ⁇ -axis current command value I ⁇ * by the ⁇ -axis control switching unit 260 shown in FIG.
  • the threshold value ⁇ t is set higher than the starting rotational speed ⁇ 1.
  • the current command value I ⁇ * from the magnetic flux control unit 240 is used to set the current command value I ⁇ * of the ⁇ axis during the steady control. That is, the ⁇ -axis control switching unit 260 can operate to select one of the magnetic flux control unit 240 and the current command value fixing unit 250 based on the comparison between the speed command value ⁇ * and the threshold value ⁇ t.
  • current control unit 280 includes current command value I ⁇ * output from ⁇ -axis control switching unit 260, current command value I ⁇ * output from speed control unit 270, and coordinate conversion unit 210.
  • Voltage command values V ⁇ * and V ⁇ * are calculated based on the ⁇ -axis current I ⁇ and the ⁇ -axis current I ⁇ calculated by the above.
  • the current command value I ⁇ * corresponds to the “excitation current command value”
  • the current command value I ⁇ * corresponds to the “torque current command value”.
  • the voltage command calculation unit 290 converts the voltage command values V ⁇ * and V ⁇ * calculated by the current control unit 280 from two-phase coordinates ( ⁇ - ⁇ axes) to three-phase coordinates (U axis, V axis, W axis). By doing so, voltage command values Vu *, Vv *, and Vw * for U phase, V phase, and W phase are calculated.
  • the rotation angle estimation value ⁇ # calculated by the state estimation unit 220 is used for the two-phase / three-phase conversion.
  • the output voltage phase ⁇ v of the inverter 40 is expressed by the following equation (4) using the voltage command values V ⁇ * and V ⁇ * by the current control unit 280.
  • the U-phase voltage command value Vu * is expressed by the following equation (5): A sinusoidal voltage with controlled amplitude and phase.
  • the voltage command value Vv * is a sine wave voltage whose phase is delayed by 120 ° (electrical angle) from Vu * in Equation (5), and the voltage command value Vv * is further 120 ° (electrical) from Vv *. Square) Delayed sine wave voltage.
  • the steady control calculation unit 200 (FIGS. 3 and 5) controls the output (rotation speed) of the motor 15 by generating the control signals S1 to S6 of the inverter 40 by feedback control of the motor current. Can do.
  • the steady control calculation unit 200 has a timing at which the amplitude of the motor current that is proportional to the square of the square sum of the ⁇ -axis current I ⁇ and the ⁇ -axis current I ⁇ ( ⁇ (I ⁇ 2 + I ⁇ 2 )) decreases. It will be appreciated that the inverter 40 is controlled to occur.
  • FIG. 8 is a waveform diagram showing a simulation result of the motor current waveform in the low speed region by the motor current control according to the comparative example.
  • U-phase, V-phase and W-phase motor currents Iu, Iv and Iw should ideally be controlled to sine wave currents that are out of phase by 120 ° (electrical angle).
  • pulsation and distortion are generated in the motor currents Iu, Iv, and Iw in the low speed region.
  • the inventors have found that this phenomenon is greatly affected by the distortion of the m-current due to the dead time in the inverter 40 and the occurrence of an output voltage error of the inverter 40. .
  • FIG. 9 is a waveform diagram showing an example of a control signal of the inverter 40 provided with a dead time.
  • FIG. 9 shows waveforms of the control signal S1 of the switching element Q1 (upper arm) and the control signal S2 of the switching element Q2 (lower arm) that constitute the U phase as an example.
  • the ideal switching element can simultaneously change the levels of the control signals S1 and S2 at times t1 and t2. It is.
  • the level of the control signal S1 is changed to turn on the switching element Q1 after the dead time Td has elapsed after the level of the control signal S2 has changed to turn off the switching element Q2 at time t1. .
  • a dead time Td is ensured between the time when the level of the control signal S1 changes and the time when the level of the control signal S2 changes.
  • both the upper arm element and the lower arm element are turned off.
  • an offset error voltage is generated depending on the flow direction of the current flowing in the motor 15 as a load.
  • the absolute value of the error voltage ⁇ Vof is given by the following equation (6).
  • fc in equation (6) is the switching frequency of the inverter 40, and in PWM control, the frequency of the carrier wave corresponds to fc.
  • the motor current and output voltage of the inverter 40 are small. For this reason, since the influence of the error voltage ⁇ Vof due to the dead time becomes large, the error of the inverter output voltage (effective value) and the harmonic distortion of the motor current become large. As a result, as shown in the current waveform of FIG. 9, the motor current may be significantly disturbed.
  • the distortion is propagated to the ⁇ -axis current I ⁇ and the ⁇ -axis current I ⁇ calculated by the coordinate conversion unit 210.
  • estimated magnetic flux value ⁇ #, estimated speed value ⁇ #, and estimated rotational angle value ⁇ # are estimated using voltage command values V ⁇ * and V ⁇ *, and ⁇ -axis current I ⁇ and ⁇ -axis current I ⁇ . The Therefore, the distortion generated in motor currents Iu, Iv, and Iw also propagates to estimated magnetic flux value ⁇ #, estimated speed value ⁇ #, and estimated rotational angle value ⁇ #.
  • the dead time Td provided in the inverter 40 has a great influence on the motor control by the feedback control of the motor current by the steady control calculation unit 200, and causes the disturbance of the motor current waveform as shown in FIG. There is concern.
  • the motor current and the output voltage of inverter 40 become small, so that the influence of the dead time error becomes large.
  • the motor currents Iu, Iv, and Iw also increase in accordance with the current command value I ⁇ *, the distortion of the motor current due to the dead time can be reduced. Further, regarding the output voltage error of the inverter 40, the voltage command value V ⁇ * also increases according to the current command value I ⁇ *, so that the influence of the error voltage ⁇ Vof due to the dead time can be mitigated.
  • FIG. 10 is a waveform diagram showing a simulation result of the motor current waveform by the motor control device according to the present embodiment.
  • FIG. 10 shows a simulation result of the U-phase current Iu among the motor currents Iu, Iv, and Iw. Since the cycle of the motor current Iu is short with respect to the time axis scale in FIG. 10, the envelope of the Iu waveform shows the transition of the amplitude of Iu.
  • the speed command value ⁇ * is set in a pattern as in FIGS. For this reason, activation control is applied until time tx.
  • the current command value is not set in the startup control.
  • the output of the inverter 40 is maintained at a constant startup stability so as to output a predetermined torque. Further, at the time of start-up, a large amount of exciting current (reactive current component) is flowed to ensure starting torque, so that the motor current becomes relatively large.
  • the magnetic flux control unit 240 sets the current command value I ⁇ *.
  • the motor current Iu is also controlled so as to decrease when the motor 15 transitions from the region of ⁇ * ⁇ ⁇ t to the region of ⁇ *> ⁇ t. Is done.
  • the motor current Iu in the low speed region can be secured, so that the influence of the dead time in the low speed region can be alleviated and the feedback control of the motor current can be stabilized.
  • the controllability of the motor 15 can be improved as compared with the case where the magnetic flux control by the magnetic flux controller 240 is performed through steady control. That is, the control accuracy of sensorless control in the low speed region of the motor 15 can be increased with a simple configuration without complicating the control configuration by using harmonic signals as in Patent Document 1.
  • the control example in which the motor current in the low speed region is increased by increasing the ⁇ axis current I ⁇ has been described.
  • the ⁇ axis currents I ⁇ and ⁇ It is also possible to increase the motor current in the low speed region by increasing both of the shaft currents I ⁇ .
  • the current command value I ⁇ * can be adjusted so that * decreases.
  • the motor current of the motor 15 is relatively increased by relatively increasing the motor current at the low speed current.

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Abstract

Un onduleur (40) convertit une tension continue provenant d'une alimentation en courant continu (12) en une tension alternative appliquée à un moteur (15) dans lequel aucun capteur de position n'est disposé. Une unité de détection de courant (50) détecte les courants de moteur (Iu, Iv, Iw) circulant dans le moteur (15). Une unité de commande (100) génère des signaux de commande (S1-S6) pour commander, sur la base d'une tension continue (Vdc) d'entrée de l'onduleur (40) et des valeurs détectées des courants de moteur (Iu, Iv, Iw), la mise en marche/arrêt d'une pluralité d'éléments de commutation à semi-conducteur (Q1-Q6) constituant l'onduleur (40). L'unité de commande (100) commande l'onduleur (40) pendant le contrôle de rétroaction des courants de moteur de sorte qu'il y a un instant auquel les courants de moteur diminuent pendant une opération pour élever la vitesse de rotation du moteur (15).
PCT/JP2016/071529 2016-07-22 2016-07-22 Dispositif de commande de moteur WO2018016070A1 (fr)

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JP2018528181A JP6563135B2 (ja) 2016-07-22 2016-07-22 モータの制御装置
PCT/JP2016/071529 WO2018016070A1 (fr) 2016-07-22 2016-07-22 Dispositif de commande de moteur

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PCT/JP2016/071529 WO2018016070A1 (fr) 2016-07-22 2016-07-22 Dispositif de commande de moteur

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