WO2018061342A1 - インバータ装置 - Google Patents
インバータ装置 Download PDFInfo
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- WO2018061342A1 WO2018061342A1 PCT/JP2017/022643 JP2017022643W WO2018061342A1 WO 2018061342 A1 WO2018061342 A1 WO 2018061342A1 JP 2017022643 W JP2017022643 W JP 2017022643W WO 2018061342 A1 WO2018061342 A1 WO 2018061342A1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M5/00—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases
- H02M5/40—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc
- H02M5/42—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters
- H02M5/44—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac
- H02M5/453—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal
- H02M5/458—Conversion of ac power input into ac power output, e.g. for change of voltage, for change of frequency, for change of number of phases with intermediate conversion into dc by static converters using discharge tubes or semiconductor devices to convert the intermediate dc into ac using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/12—Arrangements for reducing harmonics from ac input or output
- H02M1/126—Arrangements for reducing harmonics from ac input or output using passive filters
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/14—Arrangements for reducing ripples from dc input or output
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/02—Conversion of ac power input into dc power output without possibility of reversal
- H02M7/04—Conversion of ac power input into dc power output without possibility of reversal by static converters
- H02M7/06—Conversion of ac power input into dc power output without possibility of reversal by static converters using discharge tubes without control electrode or semiconductor devices without control electrode
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
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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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
-
- 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
-
- 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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
- H02P29/50—Reduction of harmonics
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/0003—Details of control, feedback or regulation circuits
- H02M1/0016—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters
- H02M1/0022—Control circuits providing compensation of output voltage deviations using feedforward of disturbance parameters the disturbance parameters being input voltage fluctuations
-
- 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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
Definitions
- This invention relates to an inverter device.
- a general three-phase inverter device smoothes voltage pulsations caused by a diode bridge by providing a capacitor and a reactor in a smoothing circuit.
- it is necessary to use a large capacitor or reactor, which causes a problem of cost increase and volume increase.
- the largest frequency component generated in the DC link voltage is 6 times the power supply frequency (300 Hz for 50 Hz, 360 Hz for 60 Hz), and 100 rps when the number of motor pole pairs is 3.
- the beat phenomenon becomes most noticeable in the vicinity of (300 Hz) or 120 rps (360 Hz).
- the voltage applied to the motor is pulsated according to the DC voltage by setting the modulation rate to a maximum modulation rate that can be set.
- the motor current pulsation or beat occurs according to the voltage pulsation of the motor.
- an object of the present invention is to provide an inverter device that can suppress the pulsation and beat of the motor current without reducing the voltage utilization rate.
- an inverter device of the present invention is A converter unit that full-wave rectifies the three-phase AC voltage and outputs a DC voltage including a pulsating component having a frequency six times the frequency of the three-phase AC voltage;
- An inverter unit that converts a DC voltage including the pulsating component from the converter unit into an AC voltage and outputs the AC voltage to the motor;
- the d-axis voltage of the pulsating component included in the DC voltage in the rotation coordinates with the N-pole direction of the permanent magnet embedded in the rotor of the motor as the d-axis and the direction perpendicular to the d-axis as the q-axis
- a control device that controls the inverter unit so that Vd is ahead of the q-axis voltage Vq.
- the DC voltage from the converter unit is included in the rotation coordinates in which the N-pole direction of the permanent magnet embedded in the rotor of the motor is the d-axis and the direction perpendicular to the d-axis is the q-axis.
- the control unit controls the inverter so that the d-axis voltage Vd of the generated pulsation component is ahead of the q-axis voltage Vq, so that the output voltage to the motor can be pulsated without reducing the voltage utilization rate.
- the phase of the output voltage to the motor can be controlled, and the pulsation and beat of the motor current can be suppressed.
- the control device (100) controls the inverter unit (22) so that the d-axis voltage Vd of the pulsation component included in the DC voltage is 90 degrees ahead of the q-axis voltage Vq in the rotational coordinate. To do.
- control unit controls the inverter unit so that the d-axis voltage Vd of the pulsation component included in the DC voltage from the converter unit is 90 degrees ahead of the q-axis voltage Vq in the rotational coordinates.
- the control device A phase detector for detecting the phase of the three-phase AC voltage; A pulsation component phase determination unit that determines a phase of a pulsation component included in the DC voltage based on the phase of the three-phase AC voltage detected by the phase detection unit; Based on the phase of the pulsating component included in the DC voltage determined by the pulsating component phase determining unit, the d-axis voltage Vd of the pulsating component included in the DC voltage is advanced by 90 degrees from the q-axis voltage Vq. As described above, the output voltage phase correction unit corrects the phase of the output voltage output from the inverter unit.
- the pulsation component since the phase of the pulsation component included in the DC voltage is determined by the pulsation component phase determination unit based on the phase of the three-phase AC voltage detected by the phase detection unit, the pulsation component can be configured with a simple configuration. Can be detected. Based on the phase of the pulsating component included in the determined DC voltage, the output voltage phase correcting unit is configured such that the d-axis voltage Vd of the pulsating component included in the DC voltage is advanced by 90 degrees from the q-axis voltage Vq. Thus, the phase of the output voltage output from the inverter unit is corrected, so that the pulsation and beat of the motor current can be reliably suppressed.
- the control device controls the inverter unit such that the locus of the voltage vector on the dq axis of the rotation coordinate of the output voltage output from the inverter unit (22) is circular.
- control unit controls the inverter unit so that the locus of the voltage vector on the dq axis of the rotation coordinate of the output voltage output from the inverter unit is circular, so that the motor current Pulsation and beats can be reliably suppressed.
- the output voltage phase correction unit is The output voltage output from the inverter unit (22) is set so that the d-axis voltage Vd of the pulsating component having a frequency six times the frequency of the three-phase AC voltage has a phase advanced by 90 degrees from the q-axis voltage Vq.
- the second to Nth output voltage phase correction units for correcting the phase of the output voltage output from the inverter unit (22).
- the pulsation component having a frequency six times the frequency of the three-phase AC voltage but also the harmonic component that is an integral multiple of the pulsation component having the frequency six times that of the three-phase AC voltage is orthogonal to the d axis.
- the d-axis voltage Vd of the harmonic component that is an integral multiple of the pulsating component of 6 times the frequency is 90 degrees ahead of the q-axis voltage Vq.
- An LC filter having a reactor connected between one output end of the converter unit and one input end of the inverter unit, and a capacitor connected between the input ends of the inverter unit,
- the resonance frequency of the LC filter is a frequency that is at least six times the commercial frequency of the three-phase AC voltage input to the converter unit, and attenuates a current having the same frequency as the carrier frequency of the inverter unit
- the characteristics of the LC filter are set.
- an inverter device that can reduce the pulsation of the motor current when the DC link voltage pulsates due to the power supply frequency can be realized.
- FIG. 1 is a configuration diagram of an inverter device according to a first embodiment of the present invention.
- FIG. 2 is a configuration diagram of the Vdc pulsation component phase detector of the inverter device.
- FIG. 3 is a block diagram of the compensation signal generator of the inverter device.
- FIG. 4 is a diagram showing a pulsation waveform of the DC link voltage of the inverter device.
- FIG. 5 is a diagram showing the zero cross detection signal, the DC link voltage, the pulsating component of the DC link voltage, and the waveform of the compensation signal.
- FIG. 6 is a diagram for explaining the compensation phase of the voltage vector in the dq coordinate system.
- FIG. 7 is a diagram for explaining the compensation gain of the voltage vector in the dq coordinate system.
- FIG. 1 is a configuration diagram of an inverter device according to a first embodiment of the present invention.
- FIG. 2 is a configuration diagram of the Vdc pulsation component phase detector of the inverter
- FIG. 8 is a diagram showing a plurality of Vdc pulsation waveforms having different frequencies in the inverter device according to the second embodiment of the present invention.
- FIG. 9 is a configuration diagram of a compensation signal generation unit of the inverter device.
- FIG. 10 is a diagram for explaining the relationship between Vq pulsation and Vd pulsation with respect to Vdc pulsation.
- FIG. 11B is a vector diagram when the phase difference ⁇ p> 0 of the Vd pulsation with respect to the Vq pulsation.
- FIG. 11C is a vector diagram when the phase difference ⁇ p ⁇ 0 of the Vd pulsation with respect to the Vq pulsation.
- FIG. 1 shows a block diagram of an inverter device according to a first embodiment of the present invention.
- the inverter device includes a converter unit 21 including six diodes D11 to D16 constituting a three-phase diode bridge circuit, and six switching elements S11 constituting a three-phase bridge circuit. To S16, and a control device 100 for controlling the inverter unit 22. Further, the inverter device includes an inductor Ldc connected between the positive output end of the converter unit 21 and the positive input end of the inverter unit 22, and a capacitor Cdc connected between the input ends of the inverter unit 22. I have. The inductor Ldc and the capacitor Cdc constitute an LC filter.
- the converter unit 21 rectifies the three-phase AC voltage from the three-phase AC power source 10 into a direct current, converts the rectified DC voltage into a desired three-phase AC voltage by the inverter unit 22, and outputs it to the motor 23.
- control device 100 detects a zero cross of the line voltage of the three-phase AC voltage, a zero cross detector 101, and outputs a signal representing the phase ⁇ Vdc of the Vdc pulsation component based on the zero cross signal.
- Unit 102 compensation signal generation unit 103 that outputs compensation signal ⁇ h based on a signal representing phase ⁇ Vdc of Vdc pulsation component from Vdc pulsation component phase detection unit 102, and subtracting actual speed ⁇ from speed command ⁇ * subtractor 104 to the voltage command v d * on the basis of a signal from the adder-subtractor 104, v a motor control unit 105 for outputting the q *, v d * from the motor control unit 105, v the q * to polar conversion a polar coordinate conversion unit 106, a subtractor 107 for adding the compensation signal theta h from the voltage phase command theta ** the compensation signal generation unit 103 from the polar coordinate converter 106, press
- the zero-cross detection unit 101 outputs a zero-cross signal representing the zero-cross of the AC waveform based on the line voltage of the three-phase AC voltage from the three-phase AC power supply 10.
- the zero cross detection unit 101 is an example of a phase detection unit.
- the Vdc pulsation component phase detection unit 102 outputs a triangular wave synchronized with the zero cross signal based on the zero cross signal (rectangular wave) from the zero cross detection unit 101, as shown in FIG. 102a, and a multiplier 102b that multiplies the signal that represents the Vdc pulsation component from the Vdc pulsation component phase calculation unit 102a by 6 and outputs a signal that represents the phase ⁇ Vdc of the Vdc pulsation component.
- the Vdc pulsation component phase detection unit 102 is an example of a pulsation component phase determination unit.
- the compensation signal generation unit 103 adds a signal representing the phase ⁇ Vdc of the Vdc pulsation component from the Vdc pulsation component phase detection unit 102 and the phase correction amount k ⁇ (fixed value).
- the gain correction amount k a multiplier 103c is a fixed value.
- the compensation signal generation unit 103 is an example of an output voltage phase correction unit.
- FIG. 3 shows the waveform of the phase theta Vdc of Vdc pulsating component, and the waveform of Vdc, and the waveform of Vdc pulsation, the waveform of the compensation signal theta h.
- the resonance frequency of the LC filter is a frequency that is at least six times the commercial frequency of the three-phase AC voltage input to the converter unit 21 and attenuates a current having the same frequency as the carrier frequency of the inverter unit 22.
- the characteristics of the LC filter are set so as to be the frequency. That is, this LC filter does not have an effect of smoothing commercial frequency components.
- FIG. 10 shows the relationship between the Vq pulsation and the Vd pulsation with respect to the Vdc pulsation, and the phase difference between the Vd pulsation and the Vq pulsation is ⁇ p.
- ⁇ indicates the frequency of pulsation of Vd and Vq.
- the motor rotation speed is 300 Hz at 100 rps, and at this time, the beat is the largest.
- Vd and Vq are defined with constant phase as in the following equation (3).
- phase difference ⁇ p 0 between Vd and Vq, that is, if Vd and Vq are in phase
- the vector diagram is as shown in FIG. 11A, and the amplitude of this vector is the sum of both vectors.
- FIG. 5 shows waveforms of the zero cross detection signal, the DC link voltage, the pulsating component of the DC link voltage, and the compensation signal.
- Vd may be 90 degrees ahead of Vq, so the phase is compensated so as to draw a counterclockwise circular locus as shown in the vector diagram of FIG. Just do it.
- the voltage vector v is It is represented by
- r is the average value V dc_ave of the output voltage
- the converter unit 21 has rotational coordinates in which the N-pole direction of the permanent magnet embedded in the rotor of the motor 23 is the d-axis and the direction orthogonal to the d-axis is the q-axis.
- the voltage utilization factor is reduced by controlling the inverter unit 22 with the control device 100 so that the d-axis voltage Vd of the pulsation component included in the DC voltage from the control unit 100 is in a phase advanced by 90 degrees from the q-axis voltage Vq.
- the phase of the output voltage to the motor 23 can be controlled in accordance with the pulsation of the output voltage to the motor 23, and the pulsation and beat of the motor current can be suppressed.
- the phase of the pulsation component included in the DC voltage by the Vdc pulsation component phase detection unit 102 (pulsation component phase determination unit). Therefore, the phase of the pulsating component can be detected with a simple configuration.
- the compensation signal generating unit 103 is configured so that the d-axis voltage Vd of the pulsating component included in the DC voltage is advanced by 90 degrees from the q-axis voltage Vq. Since the phase of the output voltage output from the inverter unit is corrected by the (output voltage phase correction unit), the pulsation and beat of the motor current can be reliably suppressed.
- control unit 100 controls the inverter unit 22 so that the locus of the voltage vector on the dq axis of the rotation coordinate of the output voltage output from the inverter unit 22 becomes circular, thereby pulsating the motor current. And beats can be reliably suppressed.
- the resonance frequency of the LC filter composed of the inductor Ldc and the capacitor Cdc is a frequency that is 6 times or more the commercial frequency of the three-phase AC voltage input to the converter unit 21 and the carrier frequency of the inverter unit 22
- the inverter device that compensates for the pulsating component of 6 times the power supply frequency has been described.
- the DC link voltage is not limited to 6 times the power supply frequency (in the case of three phases), It contains multiples of its harmonics.
- a current pulsation is generated in the same manner as a pulsation having a power supply frequency of 6 times, while the current pulsation can be suppressed by injecting a compensation signal according to the same principle.
- FIG. 9 shows a configuration diagram of the compensation signal generation unit 210 of the inverter device of the second embodiment.
- the inverter device of the second embodiment has the same configuration as that of the inverter device of the first embodiment except for the compensation signal generation unit 210, and FIG.
- the compensation signal generation unit 210 adds the signal representing the phase ⁇ Vdc of the Vdc pulsation component from the Vdc pulsation component phase detection unit 102 (shown in FIG. 1) and the phase correction amount k ⁇ 1 .
- a multiplier 203-1 for correcting and outputting a compensation signal ⁇ h1 .
- the first output voltage phase correction unit is configured by the adder / subtractor 201-1, the phase ⁇ sine wave conversion unit 202-1 and the multiplier 203-1.
- the compensation signal generator 210 multipliers 200-2, 200-3,... That multiply the signal representing the phase ⁇ Vdc of the Vdc pulsation component from the Vdc pulsation component phase detector 102 by 2, 3,. , a 200-N, the multiplier 200-2,200-3, ..., signal and the phase correction amount from 200-N k ⁇ 2, k ⁇ 3 , ..., subtractor for each addition of k ⁇ N 201-2,201- , 201-N and the phase that converts the signals added by the adder / subtractors 201-2, 201-3,.
- 200-N and adders / subtracters 201-2, 201-3,..., 201-N and phase ⁇ sine wave converters 202-2, 202-3,. , N, and multipliers 203-2, 203-3,..., 203-N form second to Nth output voltage phase correction units.
- the compensation signal generator 210 adds the compensation signals ⁇ h1 , ⁇ h2 , ⁇ h3 ,..., ⁇ hN from the multipliers 203-1, 203-2, 203-3,. has a subtracter 204 for outputting a compensation signal theta h.
- the inverter device having the above-described configuration, not only the pulsation component having a frequency six times the frequency of the three-phase AC voltage but also the harmonic component that is an integral multiple of the pulsation component having the frequency six times that of the three-phase AC voltage, Inverter unit 22 so that the d-axis voltage Vd of the harmonic component that is an integral multiple of the pulsating component of 6 times the frequency is 90 degrees ahead of the q-axis voltage Vq in the rotation coordinate with the orthogonal direction as the q-axis.
- the pulsation and beat of the motor current can be similarly suppressed for those harmonic components.
- the inverter device of the second embodiment has the same effect as the inverter device of the first embodiment.
- the resonance frequency of the LC filter is a frequency that is six times or more the commercial frequency of the three-phase AC voltage input to the converter unit 21 and the same as the carrier frequency of the inverter unit 22.
- the characteristics of the LC filter are set so that the current having the frequency is attenuated, the LC filter is not limited to this.
- an LC filter having a resonance frequency less than 6 times the commercial frequency of the three-phase AC voltage input to the converter unit 21 is used.
- the inverter device of the third embodiment has the same effect as the first embodiment and the inverter device.
- SYMBOLS 10 Three-phase alternating current power supply 21 ... Converter part 22 ... Inverter part 23 ... Motor 100 ... Control apparatus 101 ... Zero cross detection part (phase detection part) 102... Vdc pulsation component phase detection unit (pulsation component phase determination unit) 102a ... Vdc pulsation component phase calculation unit 102b ... multiplier 103 ... compensation signal generation unit (output voltage phase correction unit) DESCRIPTION OF SYMBOLS 103a ... Adder / Subtractor 103b ... Phase ⁇ Sine wave converter 103c ... Multiplier 104 ... Adder / Subtractor 105 ... Motor controller 106 ... Polar coordinate converter 107 ...
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Abstract
Description
三相交流電圧を全波整流して、上記三相交流電圧の周波数の6倍の周波数の脈動成分を含む直流電圧を出力するコンバータ部と、
上記コンバータ部からの上記脈動成分を含む直流電圧を交流電圧に変換してモータに出力するインバータ部と、
上記モータの回転子に埋め込まれた永久磁石のN極方向をd軸とし、上記d軸と位相が直交する方向をq軸とする回転座標において、上記直流電圧に含まれる脈動成分のd軸電圧Vdがq軸電圧Vqより進み位相になるように、上記インバータ部を制御する制御装置と
を備えたことを特徴とする。
上記制御装置(100)は、上記回転座標において、上記直流電圧に含まれる脈動成分のd軸電圧Vdがq軸電圧Vqよりも90度進み位相になるように、上記インバータ部(22)を制御する。
上記制御装置は、
上記三相交流電圧の位相を検出する位相検出部と、
上記位相検出部により検出された上記三相交流電圧の位相に基づいて、上記直流電圧に含まれる脈動成分の位相を決定する脈動成分位相決定部と、
上記脈動成分位相決定部により決定された上記直流電圧に含まれる脈動成分の位相に基づいて、上記直流電圧に含まれる脈動成分のd軸電圧Vdがq軸電圧Vqよりも90度進み位相になるように、上記インバータ部から出力される出力電圧の位相を補正する出力電圧位相補正部と
を有する。
上記制御装置は、上記インバータ部(22)から出力される出力電圧の上記回転座標のdq軸上における電圧ベクトルの軌跡が円形になるように、上記インバータ部を制御する。
上記出力電圧位相補正部は、
上記三相交流電圧の周波数の6倍の周波数の上記脈動成分のd軸電圧Vdがq軸電圧Vqよりも90度進み位相になるように、上記インバータ部(22)から出力される出力電圧の位相を補正する第1出力電圧位相補正部と、
上記三相交流電圧の周波数の6N倍(N=2,3,…,m(mは正の整数))の周波数の上記脈動成分のd軸電圧Vdがq軸電圧Vqよりも90度進み位相になるように、上記インバータ部(22)から出力される出力電圧の位相を補正する第2~第N出力電圧位相補正部と
を有する。
上記コンバータ部の一方の出力端と上記インバータ部の一方の入力端との間に接続されたリアクトルと、上記インバータ部の入力端間に接続されたコンデンサとを有するLCフィルタを備え、
上記LCフィルタの共振周波数が、上記コンバータ部に入力される上記三相交流電圧の商用周波数の6倍以上の周波数であり、かつ、上記インバータ部のキャリア周波数と同じ周波数を有する電流を減衰させる周波数になるように、上記LCフィルタの特性が設定されている。
図1はこの発明の第1実施形態のインバータ装置の構成図を示している。
dq座標上でのモータの電圧方程式は、次の(1)式で表せることが知られている。
ここで、vd:d軸電圧
vq:q軸電圧
id:d軸電流
iq:q軸電流
Ld:d軸インダクタンス
Lq:q軸インダクタンス
Ra:モータ巻線抵抗
Λa:永久磁石による電気子鎖交磁束
ωer:電気角速度
ωer = ω
のときに最小(=1/G(jw)が最大)となり、電流Id,Iqの脈動が最大となる(電流脈動やビートが発生)。
50×6 = 300Hz
となり、モータ23の極対数が3の場合、モータ回転数が100rpsで300Hzとなるため、このとき、ビートが最も大きく発生する。
ωer = ωdc
となる回転数の時に最も流れる。
次に、電気子電流Iaの脈動成分を最小化することを考える。
Ia2 =Id2+Iq2
の関係であるので、Id、Iqそれぞれの脈動成分を最小化すれば、Iaも最小となる。
ここで、Id、Iqの周波数応答関数の分子に注目し、Vdc脈動周波数ωdcとインバータ指令周波数ωerとが、
ωdc = ωer
の関係とすると、上記(1)式を利用して、
が得られ、この(5)式の分子のみに着目し、ωdcをωerに置き換えると、
が得られる。
Vd=jVq
となるから、上記(6)式は、
となり、この(7)式の右辺第2項がなくなり、
となる。
Ra <<ωer×Ld
ならId,Iqはほぼ0となる。
図5はゼロクロス検出信号と直流リンク電圧と直流リンク電圧の脈動成分と補償信号の波形を示している。図5に示すように、300Hzの脈動成分において、VdがVqより90度進み位相であればよいので、図6に示すベクトル図のように反時計回りの円軌跡を描くように位相を補償させればよい。
dq軸上における電圧ベクトルの軌跡が完全な円状になればよいので、そのような位相振幅を求める。
で表される。ここで、rは出力電圧の平均値Vdc_ave、vは出力電圧の(最大値Vdc_max-平均値Vdc_ave)であるが、変調率が1付近であれば、
となるので、位相θは、
で計算できる。ゲイン=θなので、この(11)式からゲインを求めることができる。
上記第1実施形態では、電源周波数の6倍の脈動成分に対して補償するインバータ装置について説明したが、実際には直流リンク電圧には電源周波数の6倍(3相の場合)以外にも、その倍数の高調波が含まれている。
上記第1,第2実施形態では、LCフィルタの共振周波数が、コンバータ部21に入力される三相交流電圧の商用周波数の6倍以上の周波数であり、かつ、インバータ部22のキャリア周波数と同じ周波数を有する電流を減衰させる周波数になるように、LCフィルタの特性を設定したが、LCフィルタはこれに限らない。
21…コンバータ部
22…インバータ部
23…モータ
100…制御装置
101…ゼロクロス検出部(位相検出部)
102…Vdc脈動成分位相検出部(脈動成分位相決定部)
102a…Vdc脈動成分位相演算部
102b…逓倍器
103…補償信号生成部(出力電圧位相補正部)
103a…加減算器
103b…位相→正弦波変換部
103c…乗算器
104…加減算器
105…モータ制御部
106…極座標変換部
107…加減算器
108…PWM信号生成部
109…PWM変調部
200-2,200-3,…,200-N…逓倍器(第1出力電圧位相補正部)
201-1,201-2,201-3,…,201-N…加減算器
202-1,202-2,202-3,…,202-N…位相→正弦波変換部
203-1,203-2,203-3,…,203-N…乗算器
204…加減算器
210…補償信号生成部
Cdc…コンデンサ
D11~D16…ダイオード
Ldc…インダクタ
S11~S16…スイッチング素子
Claims (6)
- 三相交流電圧を全波整流して、上記三相交流電圧の周波数の6倍の周波数の脈動成分を含む直流電圧を出力するコンバータ部(21)と、
上記コンバータ部(21)からの上記脈動成分を含む直流電圧を交流電圧に変換してモータ(23)に出力するインバータ部(22)と、
上記モータ(23)の回転子に埋め込まれた永久磁石のN極方向をd軸とし、上記d軸と位相が直交する方向をq軸とする回転座標において、上記直流電圧に含まれる脈動成分のd軸電圧Vdがq軸電圧Vqより進み位相になるように、上記インバータ部(22)を制御する制御装置(100)と
を備えたことを特徴とするインバータ装置。 - 請求項1に記載のインバータ装置において、
上記制御装置(100)は、上記回転座標において、上記直流電圧に含まれる脈動成分のd軸電圧Vdがq軸電圧Vqよりも90度進み位相になるように、上記インバータ部(22)を制御することを特徴とするインバータ装置。 - 請求項1または2に記載のインバータ装置において、
上記制御装置(100)は、
上記三相交流電圧の位相を検出する位相検出部(101)と、
上記位相検出部(101)により検出された上記三相交流電圧の位相に基づいて、上記直流電圧に含まれる脈動成分の位相を決定する脈動成分位相決定部(102)と、
上記脈動成分位相決定部(102)により決定された上記直流電圧に含まれる脈動成分の位相に基づいて、上記直流電圧に含まれる脈動成分のd軸電圧Vdがq軸電圧Vqよりも90度進み位相になるように、上記インバータ部(22)から出力される出力電圧の位相を補正する出力電圧位相補正部(103,210)と
を有することを特徴とするインバータ装置。 - 請求項1から3までのいずれか1つに記載のインバータ装置において、
上記制御装置(100)は、上記インバータ部(22)から出力される出力電圧の上記回転座標のdq軸上における電圧ベクトルの軌跡が円形になるように、上記インバータ部(22)を制御することを特徴とするインバータ装置。 - 請求項3に記載のインバータ装置において、
上記出力電圧位相補正部(210)は、
上記三相交流電圧の周波数の6倍の周波数の上記脈動成分のd軸電圧Vdがq軸電圧Vqよりも90度進み位相になるように、上記インバータ部(22)から出力される出力電圧の位相を補正する第1出力電圧位相補正部(201-1,202-1,203-1)と、
上記三相交流電圧の周波数の6N倍(N=2,3,…,m(mは正の整数))の周波数の上記脈動成分のd軸電圧Vdがq軸電圧Vqよりも90度進み位相になるように、上記インバータ部(22)から出力される出力電圧の位相を補正する第2~第N出力電圧位相補正部(200-2,200-3,…,200-N,202-1,202-2,202-3,…,202-N,203-1,203-2,203-3,…,203-N)と
を有することを特徴とするインバータ装置。 - 請求項1から5までのいずれか1つに記載のインバータ装置において、
上記コンバータ部(21)の一方の出力端と上記インバータ部(22)の一方の入力端との間に接続されたリアクトル(Ldc)と、上記インバータ部(22)の入力端間に接続されたコンデンサ(Cdc)とを有するLCフィルタを備え、
上記LCフィルタの共振周波数が、上記コンバータ部(21)に入力される上記三相交流電圧の商用周波数の6倍以上の周波数であり、かつ、上記インバータ部(22)のキャリア周波数と同じ周波数を有する電流を減衰させる周波数になるように、上記LCフィルタの特性が設定されていることを特徴とするインバータ装置。
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