WO2018100626A1 - System for controlling permanent magnet synchronous motor, and method for controlling permanent magnet synchronous motor - Google Patents
System for controlling permanent magnet synchronous motor, and method for controlling permanent magnet synchronous motor Download PDFInfo
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- WO2018100626A1 WO2018100626A1 PCT/JP2016/085376 JP2016085376W WO2018100626A1 WO 2018100626 A1 WO2018100626 A1 WO 2018100626A1 JP 2016085376 W JP2016085376 W JP 2016085376W WO 2018100626 A1 WO2018100626 A1 WO 2018100626A1
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- permanent magnet
- synchronous motor
- axis voltage
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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
- H02P21/18—Estimation of position or speed
Definitions
- the present invention relates to a control system for a permanent magnet type synchronous motor, and more particularly to a control system and a control method suitable for specifying a magnetic pole position.
- Permanent magnet synchronous motors that use permanent magnets as a field can obtain a large torque with a small current, so electric vehicles, hybrid cars, trains and other railway vehicles, inverter-driven home appliances (air conditioners, refrigerators, washing machines) It is used in various fields such as elevator hoisting machines.
- the permanent magnet type synchronous motor is driven by a sinusoidal current by a variable voltage / variable frequency inverter.
- the current flowing through the motor is determined as a d-axis component and a q-axis component, and is independent of each other.
- Current control means for controlling the output means for controlling the output voltage of the inverter in response to the voltage commands of the d-axis and q-axis which are outputs of the current control means, and the motor d-state is irrelevant to the d-axis of the motor
- a phase on the rotation coordinate is created, a current having the same phase as the created phase is applied to the motor by the current control means, and the phase value at the time when the q-axis voltage command, which is the output of the current control means, becomes maximum is determined as the magnetic pole of the motor.
- the synchronous motor control device disclosed in Japanese Patent Application Laid-Open No. 2015-15831 has an estimation accuracy of the magnetic pole position under the influence of disturbance or the like in a synchronous motor having no magnetic saliency or low magnetic saliency.
- the bias current is applied to the motor temporarily.
- a first magnetic pole position estimating unit for estimating the magnetic pole position, and a bias current is passed with the magnetic pole position ⁇ 1 as an initial phase, and a feature amount related to a phase difference between the bias current phase and the magnetic pole position is converged to a predetermined value by a convergence calculation.
- a second magnetic pole position estimator that estimates the magnetic pole position ⁇ 2 and a drive controller that controls the driving of the motor based on the difference between the magnetic pole position ⁇ 1 and the magnetic pole position ⁇ 2. It is characterized.
- the control device of Patent Document 1 estimates the magnetic pole position using the fact that the phase of the maximum value of the q-axis voltage becomes the S-pole phase of the motor, but this is a salient pole type permanent magnet synchronous motor. Is effective, but with a non-salient permanent magnet synchronous motor, it is difficult to estimate the maximum value of the q-axis voltage in the first place.
- control device of Patent Document 2 enables estimation of the magnetic pole position for a non-salient permanent magnet type synchronous motor, but the process for estimation is considerably complicated, and the magnetic pole position can be determined quickly and reliably. There is a problem that it is difficult to estimate.
- the present invention provides a control system for a permanent magnet type synchronous motor and a control method therefor, which make it possible to estimate the magnetic pole position of a non-saliency type permanent magnet type synchronous motor while using a q-axis voltage.
- the purpose is to provide.
- the present invention includes a controller for controlling a variable voltage / variable frequency inverter based on a d-axis voltage and a q-axis voltage, and the controller includes a d-axis voltage command and a q-axis voltage.
- Command is generated, a DC component is removed from the q-axis voltage command, a magnetic pole position of a permanent magnet type synchronous motor is estimated based on a signal obtained by removing a DC component from the q-axis voltage command, and the estimated magnetic pole
- It is a control system of a permanent magnet type synchronous motor which drives the permanent magnet type synchronous motor by controlling the inverter using a position.
- FIG. 1 is a block diagram (embodiment of the present invention) of a permanent magnet type synchronous motor system including a permanent magnet type synchronous motor drive system and a permanent magnet type synchronous motor control system.
- FIG. 2 is a block diagram showing a detailed configuration of the magnetic pole position estimation module of the permanent magnet type synchronous motor.
- FIG. 3 is a current vector diagram when the rotating shaft of the permanent magnet type synchronous motor is constrained.
- FIG. 4 is a vector diagram of the voltage at that time.
- FIG. 5 is a waveform diagram for explaining the principle of estimating the magnetic pole position of the salient pole type permanent magnet synchronous motor.
- FIG. 6 is a waveform diagram for explaining the principle of estimating the magnetic pole position of a non-salient permanent magnet type synchronous motor.
- FIG. 7 is a flowchart of the operation of the control system including the operation of estimating the magnetic pole position from the q-axis voltage command Vq * .
- FIG. 1 shows a block configuration diagram of a permanent magnet type synchronous motor system including a drive system 100 for the permanent magnet type synchronous motor 3 and a control system 110 for the permanent magnet type synchronous motor 3.
- the DC voltage of the DC power source 1 of the drive system 100 is converted into an AC having a variable voltage and a variable frequency by an inverter 2.
- the inverter 2 supplies the output to the permanent magnet type synchronous motor 3 to drive the motor 3 at a variable speed.
- the same direction as the magnetic field is the d-axis, and the direction orthogonal to the magnetic field is the q-axis.
- the “permanent magnet type synchronous motor” includes a non-salient pole type permanent magnet type synchronous motor and a salient pole type permanent magnet type synchronous motor.
- a permanent magnet synchronous motor is preferred.
- Non-saliency type means that there is no magnetic saliency or low magnetic saliency.
- the encoder 4, the brake device 5, and the load device 6 are directly connected to the output shaft of the motor 3.
- the encoder 4 generates pulse signals ⁇ A and ⁇ B for detecting the rotation angle, rotation direction, and rotation speed of the motor 3 and an origin signal ⁇ Z indicating a reference position in one rotation of the motor 3.
- the brake device 5 is provided to keep the torque from the load device 6 stationary.
- control system 110 in addition to the case where the load directly connected to the output shaft is unloaded and the motor 3 is stopped, load torque is generated in the output shaft, and the motor 3 is stopped by the brake 5 attached to the output shaft. , The rotational speed of the motor 3 is controlled based on the speed command ( ⁇ * of the speed command module 7) while controlling the release of the brake 5.
- the speed command module 7 outputs a command ⁇ * of the rotation speed of the motor 3 to the speed control module 9.
- the speed calculation module 8 determines the positive or negative rotation of the motor 3 from the phase relationship between the pulse signals ⁇ A and ⁇ B output from the encoder 4, and calculates the rotation speed of the motor 3 from the pulse width of ⁇ A. This is output to the speed control module 9 as a speed output signal ⁇ .
- the speed control module 9 outputs the torque command signal T * of the motor 3 to the q-axis current command module 10 based on the deviation between the speed command ⁇ * and the speed output signal ⁇ .
- the q-axis current command module 10 calculates a q-axis current command Iq * corresponding to the torque command signal T * and outputs this to the current control module 11.
- the q-axis current command Iq * is a command for setting a component orthogonal to the magnetic field direction (N-pole direction of the motor magnet) of the armature current vector of the permanent magnet type synchronous motor 3.
- the d-axis current command module 12 calculates a d-axis current command Id * that is a command having the same direction component as the magnetic field of the armature current vector of the motor 3, and outputs this to the current control module 11.
- the d-axis current may be zero, so that the d-axis current command module 12 normally also has a d-axis current of zero. To d-axis current command Id * .
- the uvw-dq coordinate conversion module 13 converts the output currents iu, iv, iw of the inverter 2 detected by the current detection module 14 based on the d-axis phase command signal ⁇ d * into the d-axis current value Id and the q-axis current value. Iq is converted and output to the current control module 11.
- the current control module 11 calculates the d-axis DC voltage command Vd * so that the d-axis current value Id becomes the d-axis current command Id * , and further the q-axis current value Iq becomes the q-axis current command Iq *.
- the q-axis DC voltage command Vq * is calculated and output to the dq-uvw coordinate conversion module 19.
- the d-axis phase command signal ⁇ d * becomes the d-axis phase signal ⁇ d from the addition module 16.
- the magnetic pole position calculation module 17 operates as an up counter / down counter that determines forward rotation or reverse rotation of the motor 3 based on the phase relationship between the pulse signals ⁇ A and ⁇ B output from the encoder 4. Is output to the addition module 16 as a phase signal ⁇ z from the origin signal ⁇ Z of the encoder 4. The magnetic pole position calculation module 17 resets the counter value to zero at the same time as the origin signal ⁇ Z is input so as to eliminate the error at the time of counting.
- the addition module 16 adds the phase signal ⁇ z from the magnetic pole position calculation module 17 and the offset value ⁇ offset output from the magnetic pole position estimation module 18 to create the d-axis phase signal ⁇ d of the motor 3 and switches the signal Output to the switch 15.
- the dq-uvw coordinate conversion module 19 converts the d-axis DC voltage command Vd * and the q-axis DC voltage command Vq * output from the current control module 11 to 3 based on the phase command signal ⁇ d * of the d-axis magnetic pole. It converts into phase alternating voltage command Vu * , Vv * , Vw * . That is, the dq-uvw coordinate conversion module 19 functions as an inverse conversion module of the uvw-dq coordinate conversion module 13.
- the PWM pulse generation module 20 outputs a PWM pulse signal for driving the inverter 2 in accordance with the output signals Vu * , Vv * , Vw * of the dq-uvw coordinate conversion module 19.
- the inverter 2 performs PWM control based on the PWM pulse signal from the PWM pulse generation module 20, controls the output voltage and output frequency to the motor 3, and controls the rotation speed of the motor 3.
- the “module” is a component for exhibiting a predetermined function, and is realized by software resources and / or hardware.
- the “module” may be rephrased as “device”, “unit”, “means”, “unit”, “unit”, “system”, “element”, or the like.
- the position calculation module 17, the magnetic pole position estimation module 18, and the dq-uvw coordinate conversion module 19 are configured by microcomputer hardware (controller, memory), software executed by the hardware, and a program.
- the controller is, for example, a CPU or an MPU. Software and various data are recorded in the memory.
- the system shown in FIG. 1 may be controlled by the cooperation of a plurality of controllers in addition to being controlled by one controller.
- FIG. 2 is a block diagram illustrating a detailed configuration of the magnetic pole position estimation module 18 of the motor 3.
- the magnetic pole position estimation module 18 includes a DC component removal module 21 that removes a DC component of the q-axis voltage command Vq * of the current control module 11 based on the q-axis voltage command Vq * output from the current control module 11;
- An integration module 22 that integrates the q-axis voltage command Vq * from which the component has been removed, and a phase at which the maximum value is reached from the integration value: ⁇ test (max) is detected, determined, selected, determined, or specified, etc.
- the maximum value detection module 23 for storing this, the phase at which the minimum value is reached: ⁇ test (min) is detected, and the minimum value detection module 24 for recording this, and the maximum value phase: ⁇ test (max) and minimum value phase: the average value of the ⁇ test (min) seeking ( ⁇ test (Vq * max), and a mean value detection module 25 which stores the
- the d-axis current command control module 28 controls the d-axis current command module 12, and the q-axis current command control module 29 controls the q-axis current command module 10.
- the estimation phase signal generation module 26 outputs the estimation phase signal ⁇ test to the signal changeover switch 15. Further, the d-axis phase calculation module 27 calculates the d-axis phase from the average value ( ⁇ test (Vq * max)), and outputs this to the addition module 16 as ⁇ offset.
- FIG. 3 is a vector diagram of current when the rotating shaft of the salient pole type non-salient pole type permanent magnet synchronous motor 3 is restrained by the brake device 5, and FIG. 4 shows the d axis DC voltage command Vd * and FIG. 6 is a voltage vector diagram of a q-axis DC voltage command Vq * .
- FIGS. 3 is a vector diagram of current when the rotating shaft of the salient pole type non-salient pole type permanent magnet synchronous motor 3 is restrained by the brake device 5
- FIG. 4 shows the d axis DC voltage command Vd *
- FIG. 6 is a voltage vector diagram of a q-axis DC voltage command Vq * .
- Id is a d-axis component of the armature current
- Iq is a q-axis component of the armature current
- Id * is the d-axis current command
- Iq * is the q-axis current command
- I 1 is the motor applied current
- Vd is the d-axis component of the armature voltage
- Vq is the q-axis component of the armature voltage
- Vd * is the d-axis voltage command
- Vq * is the q-axis voltage command
- ⁇ represents the angle of difference between the d-axis phase and the motor d-axis phase.
- the d-axis voltage Vd * is a coordinate that rotates in a motor d-axis voltage Vd .omega.1 *
- the motor q-axis voltage Vq is a coordinate that rotates at .omega.1 *
- q-axis voltage Vq * is equation 1, and, equation 2 As shown.
- FIG. 5 is a waveform diagram for explaining the principle of estimating the magnetic pole position of the salient pole type permanent magnet type synchronous motor 3.
- the magnetic pole position estimation module 18 sets the magnetic pole position of the salient pole type permanent magnet type synchronous motor 3 in the phase on the rotational coordinate unrelated to the d axis of the motor 3 while the brake device 5 restrains the motor shaft.
- the q-axis voltage command Vq * (waveform 26) when the current is applied is estimated to be the phase value that is the maximum value (27).
- the magnetic pole position estimation module 18 P ⁇ when the voltage command Vq * reaches the maximum value is estimated as the phase of the south pole.
- FIG. 6 is a waveform diagram for explaining the principle of estimating the magnetic pole position when the permanent magnet type synchronous motor 3 is a non-salient pole type motor.
- FIG. 7 shows the magnetic pole position from the q-axis voltage command Vq *. It is a flowchart explaining the operation
- the peak region 30 of the waveform 29 of the q-axis voltage command Vq * is that of the salient pole type permanent magnet synchronous motor 3.
- the magnetic pole position estimation module 18 uses the fact that the waveform of the q-axis voltage command Vq * is substantially rectangular to estimate the magnetic pole position as follows.
- step S ⁇ b> 1 the signal changeover switch 15 switches the contact point from the point a selected during the normal operation of the motor 3 to the point b in the estimation process.
- the magnetic pole position estimation module 18 determines that the q-axis current command module 10 and the d-axis current command module 12 have a q-axis current command Iq * of “0” and a d-axis current command Id * of “100% ( It is controlled to output “corresponding to the rated current of the permanent magnet type synchronous motor 3)”.
- the magnetic pole position estimation module 18 outputs an estimation phase signal ⁇ test to the signal changeover switch 15 so that the set current (q-axis current, d-axis current) flows to the permanent magnet type synchronous motor 3.
- the module 11 is operated.
- the estimation phase signal ⁇ test is created by the magnetic pole position estimation module 18 as an angular frequency setting value ( ⁇ test) at the time of magnetic pole estimation.
- the waveform 29 in FIG. 6 has a shape in which the peak portion of the q-axis voltage command Vq * is crushed. Therefore, the magnetic pole position estimation module 18 uses the direct current component removal module 21 shown in FIG. 2 to obtain a direct current component ( ⁇ 1 * ⁇ Ld ⁇ I1 + (1/2 ) from the q-axis voltage command Vq * of the current control module 11 in step S2. ) ⁇ ⁇ 1 * ⁇ (Lq ⁇ Ld) ⁇ I1: Refer to Equation 2) to generate the waveform 30.
- the magnetic pole position estimation module 18 uses the waveform 30 to estimate the magnetic pole position. For example, according to the waveform 30, the zero cross points 30 ⁇ / b > A and 30 ⁇ / b > B with the q-axis voltage command Vq * are displayed, so that the magnetic pole position estimation module 18 specifies the median value 34 of the two zero cross points as the S pole phase. Can do.
- step S3 the integration module 22 (FIG. 2) integrates the waveform 30 from which the DC component is removed from the q-axis voltage command Vq * to generate the triangular wave 31 shown in FIG.
- step S4 the maximum value detection module 23 (FIG. 2) specifies ⁇ test (max) 32 at the time when the integral value as the triangular wave 31 becomes the maximum value, and stores this. Further, the minimum value detection module 24 specifies ⁇ test (min) 33 at the time when the integral value becomes the minimum value, and stores this.
- step S5 the average value detection module 25 (FIG. 2) calls the average value ⁇ test (Vq * max) 34 (median value) of the maximum value ⁇ test (max) 32 and the minimum value ⁇ test (min) 33. May be calculated and stored, and the current application is stopped.
- step S6 the magnetic pole position estimation module 18 calculates the d-axis phase ⁇ d ⁇ from the ⁇ test (Vq * max) 34 stored in step S5 based on Equation 3.
- the magnetic pole position estimation module 18 has a non-salient pole type.
- the permanent magnet synchronous motor 3 can also estimate the magnetic pole position based on the q-axis voltage command Vq * .
- step S ⁇ b> 7 the magnetic pole position estimation module 18 temporarily sets ⁇ d ⁇ as ⁇ offset and outputs it to the addition module 16.
- the magnetic pole position calculation module 17 clears the phase ⁇ z of the origin signal ⁇ Z to zero.
- step S8 the signal switching module (switch) 15 switches the contact from point b to point a.
- the drive system 100 releases the brake 5 and rotates the permanent magnet synchronous motor 3 by the normal operation of the permanent magnet synchronous motor 3.
- the magnetic pole position calculation module 17 waits for the origin signal ⁇ Z from the encoder 4 to be generated.
- step S9 the magnetic pole position calculation module 17 stores the phase ⁇ z when the origin signal ⁇ Z is generated as ⁇ z ′, and stops the permanent magnet type synchronous motor 3.
- ⁇ offset ⁇ d ⁇ + ⁇ z ′
- the magnetic pole position can be estimated easily and with high accuracy from the q-axis voltage command Vq * even for the non-salient permanent magnet type synchronous motor 3. Can do.
- the average value ⁇ test (Vq * max) of the maximum value ⁇ test (max) and the minimum value ⁇ test (min) was estimated as the phase of the S pole, but the phase delayed by 90 degrees from the maximum value, or 90 from the minimum value.
- the advanced phase may be estimated as the S-pole phase.
- the present invention is not limited to the above-described embodiment, and can include various modifications.
Abstract
[Problem] To provide a device for controlling a permanent magnet synchronous motor and a method of control therefor that make it possible to estimate magnetic pole positions of a non-salient-pole permanent magnet synchronous motor even while using a q-axis voltage. [Solution] The present invention is a system for controlling a permanent magnet synchronous motor, in which a variable-voltage/variable-frequency inverter is controlled on the basis of a d-axis voltage and a q-axis voltage. The control system generates a d-axis voltage command and a q-axis voltage command, removes a direct current component from the q-axis voltage command, estimates magnetic pole positions of the permanent magnet synchronous motor on the basis of a signal obtained by removing the direct current component from the q-axis voltage command, and makes use of the estimated magnetic pole positions to control the inverter.
Description
本発明は、永久磁石式同期モータの制御システムに係り、磁極位置を特定するのに適した制御システム、及び、制御方法に関する。
The present invention relates to a control system for a permanent magnet type synchronous motor, and more particularly to a control system and a control method suitable for specifying a magnetic pole position.
永久磁石を界磁に利用した永久磁石式同期モータは、少ない電流で大きなトルクを得られるため、電気自動車、ハイブリッドカー、電車等の鉄道車両、インバータ駆動の家電製品（エアコン、冷蔵庫、洗濯機）、エレベータ装置の巻上機等の様々な分野において利用されている。そして、永久磁石式同期モータは、可変電圧・可変周波数のインバータによって正弦波電流によって駆動されるようになってきている。
Permanent magnet synchronous motors that use permanent magnets as a field can obtain a large torque with a small current, so electric vehicles, hybrid cars, trains and other railway vehicles, inverter-driven home appliances (air conditioners, refrigerators, washing machines) It is used in various fields such as elevator hoisting machines. The permanent magnet type synchronous motor is driven by a sinusoidal current by a variable voltage / variable frequency inverter.
このような永久磁石式同期モータを駆動するには、回転子の位置情報が必要であるために、永久磁石式同期モータに、回転子の磁極位置センサーを設けていた。しかしながら、センサーは高価であったり、そして、センサーからの出力値に基いて磁極位置を決定しても、実際の磁極位置との誤差を無視できないことから、センサーレスの永久磁石式同期モータが提案されている（特開２００４－３２９０７号公報）。
In order to drive such a permanent magnet type synchronous motor, position information of the rotor is necessary. Therefore, a rotor magnetic pole position sensor is provided in the permanent magnet type synchronous motor. However, the sensor is expensive, and even if the magnetic pole position is determined based on the output value from the sensor, the error from the actual magnetic pole position cannot be ignored. (Japanese Patent Laid-Open No. 2004-32907).
この公報に係る永久磁石式同期モータの制御装置は、可変電圧・可変周波数のインバータによって駆動される永久磁石式同期モータにおいて、モータに流す電流をｄ軸成分とｑ軸成分とに定めてそれぞれ独立に制御を行う電流制御手段と、電流制御手段の出力であるｄ軸とｑ軸の電圧指令に応じてインバータの出力電圧を制御する手段と、モータの停止状態でモータのｄ軸とは無関係な回転座標上の位相を作成し、該作成した位相と同相の電流を電流制御手段によってモータに印加し、電流制御手段の出力であるｑ軸電圧指令が最大となる時点における位相値をモータの磁極位置として推定する磁極位置推定手段を備えることにより、永久磁石式同期モータがブレーキによって静止保持された停止状態でも、磁極位置情報を有するセンサを用いることなく、モータの磁極位置を推定することができる。
In the permanent magnet synchronous motor control apparatus according to this publication, in a permanent magnet synchronous motor driven by a variable voltage / variable frequency inverter, the current flowing through the motor is determined as a d-axis component and a q-axis component, and is independent of each other. Current control means for controlling the output, means for controlling the output voltage of the inverter in response to the voltage commands of the d-axis and q-axis which are outputs of the current control means, and the motor d-state is irrelevant to the d-axis of the motor A phase on the rotation coordinate is created, a current having the same phase as the created phase is applied to the motor by the current control means, and the phase value at the time when the q-axis voltage command, which is the output of the current control means, becomes maximum is determined as the magnetic pole of the motor. By providing the magnetic pole position estimation means for estimating the position, the sensor having the magnetic pole position information can be obtained even when the permanent magnet type synchronous motor is held stationary by the brake. Without there, it is possible to estimate the magnetic pole position of the motor.
さらに、特開２０１５－１５８３１号公報に係る同期電動機の制御装置は、磁気的突極性を有しない、もしくは、磁気的突極性が低い同期電動機において、外乱等の影響を受けて磁極位置の推定精度が悪化した場合に、電動機の制御を停止させるか、電動機の制御を行うに十分な精度が得られるように磁極位置の再度推定を行うことを目的として、バイアス電流をモータに印加して暫定的に磁極位置を推定する第一の磁極位置推定部と、磁極位置θ１を初期位相としてバイアス電流を流し、収斂演算によりバイアス電流位相と磁極位置との位相差に関連する特徴量を所定値に収斂させることで磁極位置θ２を推定する第二の磁極位置推定部と、磁極位置θ１と磁極位置θ２との差分に基いてモータの駆動を制御する駆動制御部とを備えることを特徴としている。
Furthermore, the synchronous motor control device disclosed in Japanese Patent Application Laid-Open No. 2015-15831 has an estimation accuracy of the magnetic pole position under the influence of disturbance or the like in a synchronous motor having no magnetic saliency or low magnetic saliency. In order to stop the control of the motor or to re-estimate the magnetic pole position so that sufficient accuracy can be obtained to control the motor, the bias current is applied to the motor temporarily. And a first magnetic pole position estimating unit for estimating the magnetic pole position, and a bias current is passed with the magnetic pole position θ1 as an initial phase, and a feature amount related to a phase difference between the bias current phase and the magnetic pole position is converged to a predetermined value by a convergence calculation. A second magnetic pole position estimator that estimates the magnetic pole position θ2 and a drive controller that controls the driving of the motor based on the difference between the magnetic pole position θ1 and the magnetic pole position θ2. It is characterized.
特許文献１の制御装置は、ｑ軸電圧の最大値の位相がモータのＳ極位相になることを利用して磁極位置を推定しているが、これは突極型の永久磁石式同期モータには有効であるものの、非突極型の永久磁石式同期モータでは、そもそもｑ軸電圧の最大値を把握し難いため、磁極位置の推定は容易でない。
The control device of Patent Document 1 estimates the magnetic pole position using the fact that the phase of the maximum value of the q-axis voltage becomes the S-pole phase of the motor, but this is a salient pole type permanent magnet synchronous motor. Is effective, but with a non-salient permanent magnet synchronous motor, it is difficult to estimate the maximum value of the q-axis voltage in the first place.
一方、特許文献２の制御装置は、非突極型の永久磁石式同期モータにとって磁極位置の推定を可能にした反面、推定のための処理が相当に煩雑になり、磁極位置を迅速かつ確実に推定し難いという課題がある。
On the other hand, the control device of Patent Document 2 enables estimation of the magnetic pole position for a non-salient permanent magnet type synchronous motor, but the process for estimation is considerably complicated, and the magnetic pole position can be determined quickly and reliably. There is a problem that it is difficult to estimate.
そこで、本発明は、ｑ軸電圧を利用しながらでも、非突極型の永久磁石式同期モータの磁極位置を推定できるようにする、永久磁石式同期モータの制御システム、及び、その制御方法を提供することを目的とする。
Therefore, the present invention provides a control system for a permanent magnet type synchronous motor and a control method therefor, which make it possible to estimate the magnetic pole position of a non-saliency type permanent magnet type synchronous motor while using a q-axis voltage. The purpose is to provide.
前記目的を達成するために、本発明は、ｄ軸電圧とｑ軸電圧とに基いて、可変電圧・可変周波数のインバータを制御するコントローラを備え、前記コントローラは、ｄ軸電圧指令とｑ軸電圧指令とを生成し、前記ｑ軸電圧指令から直流成分を除去し、前記ｑ軸電圧指令から直流成分を除去した信号に基いて、永久磁石式同期モータの磁極位置を推定し、前記推定した磁極位置を利用して前記インバータを制御することにより前記永久磁石式同期モータを駆動させる、永久磁石式同期モータの制御システムである。
In order to achieve the above object, the present invention includes a controller for controlling a variable voltage / variable frequency inverter based on a d-axis voltage and a q-axis voltage, and the controller includes a d-axis voltage command and a q-axis voltage. Command is generated, a DC component is removed from the q-axis voltage command, a magnetic pole position of a permanent magnet type synchronous motor is estimated based on a signal obtained by removing a DC component from the q-axis voltage command, and the estimated magnetic pole It is a control system of a permanent magnet type synchronous motor which drives the permanent magnet type synchronous motor by controlling the inverter using a position.
本発明によれば、ｑ軸電圧を利用しながらでも、非突極型の永久磁石式同期モータの磁極位置を推定できるようになる。
According to the present invention, it is possible to estimate the magnetic pole position of a non-salient-pole type permanent magnet synchronous motor while using the q-axis voltage.
以下、本発明の実施形態を図面に基いて説明する。図１に、永久磁石式同期モータ３の駆動システム１００と、永久磁石式同期モータ３の制御システム１１０と、を含む永久磁石式同期モータシステムのブロック構成図を示す。図１において、駆動システム１００の直流電源１の直流電圧は、インバータ２によって可変電圧・可変周波数の交流に変換される。インバータ２は、その出力を永久磁石式同期モータ３に供給して、モータ３を可変速駆動させる。永久磁石式同期モータ３では、磁界と同方向がｄ軸になり、磁界に直交する方向がｑ軸になる。
Hereinafter, embodiments of the present invention will be described with reference to the drawings. FIG. 1 shows a block configuration diagram of a permanent magnet type synchronous motor system including a drive system 100 for the permanent magnet type synchronous motor 3 and a control system 110 for the permanent magnet type synchronous motor 3. In FIG. 1, the DC voltage of the DC power source 1 of the drive system 100 is converted into an AC having a variable voltage and a variable frequency by an inverter 2. The inverter 2 supplies the output to the permanent magnet type synchronous motor 3 to drive the motor 3 at a variable speed. In the permanent magnet type synchronous motor 3, the same direction as the magnetic field is the d-axis, and the direction orthogonal to the magnetic field is the q-axis.
“永久磁石式同期モータ”には、非突極型永久磁石式同期モータ、そして、突極型永久磁石式同期モータが含まれるが、本発明の効果を喚起させるためには、非突極型永久磁石式同期モータであることが好ましい。“非突極型”とは、磁気的突極性を有しない、もしくは、磁気的突極性が低い、ことをいう。
The “permanent magnet type synchronous motor” includes a non-salient pole type permanent magnet type synchronous motor and a salient pole type permanent magnet type synchronous motor. A permanent magnet synchronous motor is preferred. “Non-saliency type” means that there is no magnetic saliency or low magnetic saliency.
モータ３の出力軸には、エンコーダ４、ブレーキ装置５、負荷装置６が直結されている。エンコーダ４は、モータ３の回転角、回転方向および回転速度を検出するためのパルス信号ΦＡ、ΦＢと、モータ３の１回転における基準位置を表す原点信号ΦＺを発生する。ブレーキ装置５は負荷装置６からのトルクを静止保持するために設けられている。
The encoder 4, the brake device 5, and the load device 6 are directly connected to the output shaft of the motor 3. The encoder 4 generates pulse signals ΦA and ΦB for detecting the rotation angle, rotation direction, and rotation speed of the motor 3 and an origin signal ΦZ indicating a reference position in one rotation of the motor 3. The brake device 5 is provided to keep the torque from the load device 6 stationary.
制御システム１１０は、出力軸に直結される負荷が無負荷状態でモータ３が停止している場合のほか、出力軸に負荷トルクが生じており、出力軸に付いたブレーキ５によってモータ３の静止が保持している場合、ブレーキ５の解放を制御しながら、速度指令（速度指令モジュール７のω＊）に基いて、モータ３の回転速度を制御する。
In the control system 110, in addition to the case where the load directly connected to the output shaft is unloaded and the motor 3 is stopped, load torque is generated in the output shaft, and the motor 3 is stopped by the brake 5 attached to the output shaft. , The rotational speed of the motor 3 is controlled based on the speed command (ω * of the speed command module 7) while controlling the release of the brake 5.
速度指令モジュール７は、モータ３の回転速度の指令ω＊を速度制御モジュール９に出力する。速度演算モジュール８は、エンコーダ４から出力されたパルス信号ΦＡ、ΦＢの位相関係から、モータ３の正回転又は負回転を判断し、そして、ΦＡのパルス幅からモータ３の回転速度を演算し、これを、速度制御モジュール９に、速度出力信号ωとして、出力する。
The speed command module 7 outputs a command ω * of the rotation speed of the motor 3 to the speed control module 9. The speed calculation module 8 determines the positive or negative rotation of the motor 3 from the phase relationship between the pulse signals ΦA and ΦB output from the encoder 4, and calculates the rotation speed of the motor 3 from the pulse width of ΦA. This is output to the speed control module 9 as a speed output signal ω.
速度制御モジュール９は、速度指令ω＊と速度出力信号ωとの偏差に基いてモータ３のトルク指令信号Ｔ＊をｑ軸電流指令モジュール１０に出力する。ｑ軸電流指令モジュール１０はトルク指令信号Ｔ＊に応じたｑ軸電流指令Ｉｑ＊を演算して、これを電流制御モジュール１１に出力する。ｑ軸電流指令Ｉｑ＊は、永久磁石式同期モータ３の電機子電流ベクトルの磁界方向（モータ磁石のＮ極方向）と直交する成分を設定するための指令である。
The speed control module 9 outputs the torque command signal T * of the motor 3 to the q-axis current command module 10 based on the deviation between the speed command ω * and the speed output signal ω. The q-axis current command module 10 calculates a q-axis current command Iq * corresponding to the torque command signal T * and outputs this to the current control module 11. The q-axis current command Iq * is a command for setting a component orthogonal to the magnetic field direction (N-pole direction of the motor magnet) of the armature current vector of the permanent magnet type synchronous motor 3.
ｄ軸電流指令モジュール１２は、モータ３の電機子電流ベクトルの磁界と同方向成分の指令であるｄ軸電流指令Ｉｄ＊を演算し、これを電流制御モジュール１１に出力する。永久磁石式同期モータ３は、永久磁石により電機子に対する磁界が常時確立しているので、ｄ軸電流は零でよいため、ｄ軸電流指令モジュール１２も、通常、ｄ軸電流が零になるようにｄ軸電流指令Ｉｄ＊を設定する。
The d-axis current command module 12 calculates a d-axis current command Id * that is a command having the same direction component as the magnetic field of the armature current vector of the motor 3, and outputs this to the current control module 11. In the permanent magnet type synchronous motor 3, since the magnetic field for the armature is always established by the permanent magnet, the d-axis current may be zero, so that the d-axis current command module 12 normally also has a d-axis current of zero. To d-axis current command Id * .
ｕｖｗ－ｄｑ座標変換モジュール１３は、ｄ軸位相指令信号θｄ＊に基いて、電流検出モジュール１４が検出したインバータ２の出力電流ｉｕ、ｉｖ、ｉｗをｄ軸電流値Ｉｄ、および、ｑ軸電流値Ｉｑに変換して、電流制御モジュール１１に出力する。
The uvw-dq coordinate conversion module 13 converts the output currents iu, iv, iw of the inverter 2 detected by the current detection module 14 based on the d-axis phase command signal θd * into the d-axis current value Id and the q-axis current value. Iq is converted and output to the current control module 11.
電流制御モジュール１１は、ｄ軸電流値Ｉｄがｄ軸電流指令Ｉｄ＊になるようにｄ軸直流電圧指令Ｖｄ＊を演算し、さらに、ｑ軸電流値Ｉｑがｑ軸電流指令Ｉｑ＊になるようにｑ軸直流電圧指令Ｖｑ＊を演算して、ｄｑ－ｕｖｗ座標変換モジュール１９に出力する。
The current control module 11 calculates the d-axis DC voltage command Vd * so that the d-axis current value Id becomes the d-axis current command Id * , and further the q-axis current value Iq becomes the q-axis current command Iq *. The q-axis DC voltage command Vq * is calculated and output to the dq-uvw coordinate conversion module 19.
モータ３の通常動作において、信号切替スイッチ１５は、ａ側の接点に入っているため、ｄ軸位相指令信号θｄ＊は、加算モジュール１６からのｄ軸位相信号θｄになる。
In the normal operation of the motor 3, since the signal changeover switch 15 is in the contact on the a side, the d-axis phase command signal θd * becomes the d-axis phase signal θd from the addition module 16.
磁極位置演算モジュール１７は、エンコーダ４から出力されるパルス信号ΦＡ、ΦＢの位相関係に基いて、モータ３の正転、又は、その逆転を判断するアップカウンタ／ダウンカウンタとして動作し、このカウンタ値をエンコーダ４の原点信号ΦＺからの位相信号θｚとして加算モジュール１６に出力する。磁極位置演算モジュール１７は原点信号ΦＺが入力されると同時にカウンタ値をゼロにリセットし、カウント時の誤差を無くようにしている。
The magnetic pole position calculation module 17 operates as an up counter / down counter that determines forward rotation or reverse rotation of the motor 3 based on the phase relationship between the pulse signals ΦA and ΦB output from the encoder 4. Is output to the addition module 16 as a phase signal θz from the origin signal ΦZ of the encoder 4. The magnetic pole position calculation module 17 resets the counter value to zero at the same time as the origin signal ΦZ is input so as to eliminate the error at the time of counting.
加算モジュール１６は、磁極位置演算モジュール１７からの位相信号θｚと、磁極位置推定モジュール１８から出力されるオフセット値θｏｆｆｓｅｔと、を加算して、モータ３のｄ軸位相信号θｄを作成し、信号切替スイッチ１５に出力する。
The addition module 16 adds the phase signal θz from the magnetic pole position calculation module 17 and the offset value θoffset output from the magnetic pole position estimation module 18 to create the d-axis phase signal θd of the motor 3 and switches the signal Output to the switch 15.
ｄｑ－ｕｖｗ座標変換モジュール１９は、ｄ軸磁極の位相指令信号θｄ＊に基いて、電流制御モジュール１１から出力された、ｄ軸直流電圧指令Ｖｄ＊、および、ｑ軸直流電圧指令Ｖｑ＊を３相交流電圧指令Ｖｕ＊、Ｖｖ＊、Ｖｗ＊に変換する。すなわち、ｄｑ－ｕｖｗ座標変換モジュール１９は、ｕｖｗ－ｄｑ座標変換モジュール１３の逆変換モジュールとして機能する。
The dq-uvw coordinate conversion module 19 converts the d-axis DC voltage command Vd * and the q-axis DC voltage command Vq * output from the current control module 11 to 3 based on the phase command signal θd * of the d-axis magnetic pole. It converts into phase alternating voltage command Vu * , Vv * , Vw * . That is, the dq-uvw coordinate conversion module 19 functions as an inverse conversion module of the uvw-dq coordinate conversion module 13.
ＰＷＭパルス発生モジュール２０は、ｄｑ－ｕｖｗ座標変換モジュール１９の出力信号Ｖｕ＊、Ｖｖ＊、Ｖｗ＊に応じて、インバータ２を駆動するＰＷＭパルス信号を出力する。インバータ２は、ＰＷＭパルス発生モジュール２０からのＰＷＭパルス信号に基いて、ＰＷＭ制御を行い、モータ３への出力電圧、出力周波数を制御して、モータ３の回転速度を制御する。
The PWM pulse generation module 20 outputs a PWM pulse signal for driving the inverter 2 in accordance with the output signals Vu * , Vv * , Vw * of the dq-uvw coordinate conversion module 19. The inverter 2 performs PWM control based on the PWM pulse signal from the PWM pulse generation module 20, controls the output voltage and output frequency to the motor 3, and controls the rotation speed of the motor 3.
“モジュール”とは、所定の機能を発揮するための構成要素であり、ソフトウェア資源、及び/又は、ハードウェアに、よって実現される。“モジュール”を、“装置”、“器”、“手段”、“部”、“ユニット”、“システム”、又は、“エレメント”等に言い換えてもよい。
The “module” is a component for exhibiting a predetermined function, and is realized by software resources and / or hardware. The “module” may be rephrased as “device”, “unit”, “means”, “unit”, “unit”, “system”, “element”, or the like.
図１において、例えば、速度指令モジュール７、速度演算モジュール８、速度制御モジュール９、ｑ軸電流指令モジュール１０、電流制御モジュール１１、ｄ軸電流指令モジュール１２、ｕｖｗ－ｄｑ座標変換モジュール１３、ｄ極位置演算モジュール１７、磁極位置推定モジュール１８、及び、ｄｑ－ｕｖｗ座標変換モジュール１９は、マイクロコンピュータのハードウェア（コントローラ、メモリ）と、ハードウェアによって実行されるソフトウェア、プログラムによって構成される。コントローラは、例えば、ＣＰＵ、又は、ＭＰＵである。ソフトウェアや各種データは、メモリに記録される。図１に示すシステムは、一つのコントローラによって制御されるほか、複数のコントローラの協同によって制御されてもよい。
In FIG. 1, for example, a speed command module 7, a speed calculation module 8, a speed control module 9, a q-axis current command module 10, a current control module 11, a d-axis current command module 12, a uvw-dq coordinate conversion module 13, and a d pole The position calculation module 17, the magnetic pole position estimation module 18, and the dq-uvw coordinate conversion module 19 are configured by microcomputer hardware (controller, memory), software executed by the hardware, and a program. The controller is, for example, a CPU or an MPU. Software and various data are recorded in the memory. The system shown in FIG. 1 may be controlled by the cooperation of a plurality of controllers in addition to being controlled by one controller.
図２は、モータ３の磁極位置推定モジュール１８の詳細構成を説明するブロック図である。磁極位置推定モジュール１８は、電流制御モジュール１１から出力されたｑ軸電圧指令Ｖｑ＊に基いて、電流制御モジュール１１のｑ軸電圧指令Ｖｑ＊の直流成分を除去する直流成分除去モジュール２１と、直流成分が除去されたｑ軸電圧指令Ｖｑ＊を積分する積分モジュール２２と、積分値から、最大値となる時点の位相：θｔｅｓｔ（ｍａｘ）を検出、判定、選択、決定、或いは、特定する等し、これを記憶する最大値検出モジュール２３と、最小値となる時点の位相：θｔｅｓｔ（ｍｉｎ）を検出等し、これを記録する最小値検出モジュール２４と、最大値位相：θｔｅｓｔ（ｍａｘ）と最小値位相：θｔｅｓｔ（ｍｉｎ）との平均値（θｔｅｓｔ（Ｖｑ＊ｍａｘ）を求めて、これを記憶する平均値検出モジュール２５とを有している。
FIG. 2 is a block diagram illustrating a detailed configuration of the magnetic pole position estimation module 18 of the motor 3. The magnetic pole position estimation module 18 includes a DC component removal module 21 that removes a DC component of the q-axis voltage command Vq * of the current control module 11 based on the q-axis voltage command Vq * output from the current control module 11; An integration module 22 that integrates the q-axis voltage command Vq * from which the component has been removed, and a phase at which the maximum value is reached from the integration value: θtest (max) is detected, determined, selected, determined, or specified, etc. The maximum value detection module 23 for storing this, the phase at which the minimum value is reached: θtest (min) is detected, and the minimum value detection module 24 for recording this, and the maximum value phase: θtest (max) and minimum value phase: the average value of the θtest (min) seeking (θtest (Vq * max), and a mean value detection module 25 which stores the
そして、ｄ軸電流指令制御モジュール２８はｄ軸電流指令モジュール１２を制御し、ｑ軸電流指令制御モジュール２９はｑ軸電流指令モジュール１０を制御する。推定用位相信号生成モジュール２６は、信号切替スイッチ１５に、推定用位相信号θｔｅｓｔを出力する。さらに、ｄ軸位相算出モジュール２７は、平均値（θｔｅｓｔ（Ｖｑ＊ｍａｘ）からｄ軸位相を算出して、これをθｏｆｆｓｅｔとして加算モジュール１６に出力する。
The d-axis current command control module 28 controls the d-axis current command module 12, and the q-axis current command control module 29 controls the q-axis current command module 10. The estimation phase signal generation module 26 outputs the estimation phase signal θtest to the signal changeover switch 15. Further, the d-axis phase calculation module 27 calculates the d-axis phase from the average value (θtest (Vq * max)), and outputs this to the addition module 16 as θoffset.
図３は、突極型、非突極型の永久磁石式同期モータ３の回転軸をブレーキ装置５で拘束した際の電流のベクトル図であり、図４はｄ軸直流電圧指令Ｖｄ＊、及び、ｑ軸直流電圧指令Ｖｑ＊の電圧ベクトル図である。図３、図４において、Ｉｄは電機子電流のｄ軸成分、Ｉｑは電機子電流のｑ軸成分、Ｉｄ＊はｄ軸電流指令、Ｉｑ＊はｑ軸電流指令、Ｉ１はモータ印可電流の大きさ、Ｖｄは電機子電圧のｄ軸成分、Ｖｑは電機子電圧のｑ軸成分、Ｖｄ＊はｄ軸電圧指令、Ｖｑ＊はｑ軸電圧指令、ω１
＊は角周波数指令（＝２πｆ１）、そして、δはｄ軸位相とモータｄ軸位相との差の角度を表している。
FIG. 3 is a vector diagram of current when the rotating shaft of the salient pole type non-salient pole type permanent magnet synchronous motor 3 is restrained by the brake device 5, and FIG. 4 shows the d axis DC voltage command Vd * and FIG. 6 is a voltage vector diagram of a q-axis DC voltage command Vq * . In FIGS. 3 and 4, Id is a d-axis component of the armature current, Iq is a q-axis component of the armature current, Id * is the d-axis current command, Iq * is the q-axis current command, I 1 is the motor applied current Magnitude, Vd is the d-axis component of the armature voltage, Vq is the q-axis component of the armature voltage, Vd * is the d-axis voltage command, Vq * is the q-axis voltage command, ω 1 * is the angular frequency command (= 2πf1) Δ represents the angle of difference between the d-axis phase and the motor d-axis phase.
モータｄ軸電圧Ｖｄ、及び、モータｑ軸電圧Ｖｑと、ｄ＊軸電圧Ｖｄ＊、及び、ｑ＊軸電圧Ｖｑ＊と、の関係は、図４に示したベクトル図のようになる。δをｄ＊軸位相とモータｄ軸位相との差の角度、Ｒａを１相分の電機子抵抗とし、Ｌｄをｄ軸の電機子自己インダクタンスとし、Ｌｑをｑ軸の電機子自己インダクタンスとすると、モータｄ軸電圧Ｖｄをω１＊で回転する座標であるｄ軸電圧Ｖｄ＊と、モータｑ軸電圧Ｖｑをω１＊で回転する座標であるｑ軸電圧Ｖｑ＊は、数式１、及び、数式２のように示される。
The relationship between the motor d-axis voltage Vd and the motor q-axis voltage Vq and the d * -axis voltage Vd * and the q * -axis voltage Vq * is as shown in the vector diagram shown in FIG. If δ is the angle of the difference between the d * -axis phase and the motor d-axis phase, Ra is the armature resistance for one phase, Ld is the d-axis armature self-inductance, and Lq is the q-axis armature self-inductance. , the d-axis voltage Vd * is a coordinate that rotates in a motor d-axis voltage Vd .omega.1 *, the motor q-axis voltage Vq is a coordinate that rotates at .omega.1 * q-axis voltage Vq * is equation 1, and, equation 2 As shown.
図５は、突極型の永久磁石式同期モータ３の磁極位置を推定することの原理を説明するための波形図である。磁極位置推定モジュール１８は、突極型の永久磁石式同期モータ３の磁極位置を、ブレーキ装置５がモータ軸を拘束している状態で、モータ３のｄ軸とは無関係な回転座標上の位相電流が印加されたときのｑ軸電圧指令Ｖｑ＊（波形２６）が最大値（２７）となる位相値に推定している。即ち、数式２において、ｑ軸電圧指令Ｖｑ＊が最大値になる点に着目して、位相θｄ＊がモータ３のＳ極位相になることを利用して、磁極位置推定モジュール１８は、ｑ軸電圧指令Ｖｑ＊が最大値になるときのＰθをＳ極の位相として推定している。
FIG. 5 is a waveform diagram for explaining the principle of estimating the magnetic pole position of the salient pole type permanent magnet type synchronous motor 3. The magnetic pole position estimation module 18 sets the magnetic pole position of the salient pole type permanent magnet type synchronous motor 3 in the phase on the rotational coordinate unrelated to the d axis of the motor 3 while the brake device 5 restrains the motor shaft. The q-axis voltage command Vq * (waveform 26) when the current is applied is estimated to be the phase value that is the maximum value (27). That is, paying attention to the point that the q-axis voltage command Vq * becomes the maximum value in Formula 2, using the fact that the phase θd * becomes the S-pole phase of the motor 3, the magnetic pole position estimation module 18 Pθ when the voltage command Vq * reaches the maximum value is estimated as the phase of the south pole.
この手法は突極型の永久磁石式同期モータ３の場合には有効であるが、非突極型の永久磁石式同期モータ３では、ｑ軸電圧指令Ｖｑ＊の最大値を捉えにくいため磁極位置推定の精度が低くなってしまう。
This method is effective in the case of the salient pole type permanent magnet type synchronous motor 3, but the non-salient type permanent magnet type synchronous motor 3 is difficult to capture the maximum value of the q-axis voltage command Vq * , so that the magnetic pole position The accuracy of estimation is reduced.
図６は、永久磁石式同期モータ３が非突極型モータである場合での磁極位置を推定することの原理を説明する波形図であり、図７は、ｑ軸電圧指令Ｖｑ＊から磁極位置を推定する動作を含む、制御システム１１０の動作を説明するフローチャートである。
FIG. 6 is a waveform diagram for explaining the principle of estimating the magnetic pole position when the permanent magnet type synchronous motor 3 is a non-salient pole type motor. FIG. 7 shows the magnetic pole position from the q-axis voltage command Vq *. It is a flowchart explaining the operation | movement of the control system 110 including the operation | movement which estimates this.
図６に示すように、非突極型永久磁石式同期モータ３では、リアクタンス成分がないため、ｑ軸電圧指令Ｖｑ＊の波形２９のピーク領域３０は、突極型永久磁石式同期モータ３の、ｑ軸電圧指令Ｖｑ＊の波形２６のピーク２７に比較して、緩慢なほぼ平坦状になり、最大値を特定し難い。一方、磁極位置推定モジュール１８は、ｑ軸電圧指令Ｖｑ＊の波形がほぼ矩形波状であることを利用して、次のように、磁極位置を推定している。
As shown in FIG. 6, since the non-saliency permanent magnet type synchronous motor 3 has no reactance component, the peak region 30 of the waveform 29 of the q-axis voltage command Vq * is that of the salient pole type permanent magnet synchronous motor 3. Compared with the peak 27 of the waveform 26 of the q-axis voltage command Vq * , it becomes a slow and almost flat shape, and it is difficult to specify the maximum value. On the other hand, the magnetic pole position estimation module 18 uses the fact that the waveform of the q-axis voltage command Vq * is substantially rectangular to estimate the magnetic pole position as follows.
磁極位置推定モジュール１８は、この推定を、図１に示した原点信号ΦＺの位置（θｚ＝０°）と磁極位置θｄとの関係（θｏｆｆｓｅｔ）を喪失させている場合に開始する。例えば、製品製作時やエンコーダ交換時では、θｏｆｆｓｅｔがキャンセルされるため、制御システム１１０は、推定開始指令を契機に、図７のステップＳ１からステップＳ７までの処理を開始する。
The magnetic pole position estimation module 18 starts this estimation when the relationship (θoffset) between the position of the origin signal ΦZ (θz = 0 °) and the magnetic pole position θd shown in FIG. 1 is lost. For example, since θoffset is canceled at the time of product manufacture or encoder replacement, the control system 110 starts processing from step S1 to step S7 in FIG. 7 in response to the estimation start command.
ステップＳ１において、信号切替スイッチ１５は、接点を、モータ３の通常動作時に選択されるａ点から、推定処理の際のｂ点に切換える。次に、磁極位置推定モジュール１８は、ｑ軸電流指令モジュール１０と、ｄ軸電流指令モジュール１２とを、ｑ軸電流指令Ｉｑ＊が“０”に、ｄ軸電流指令Ｉｄ＊が“１００％（永久磁石式同期モータ３の定格電流に相当）”が出力させるように制御する。
In step S <b> 1, the signal changeover switch 15 switches the contact point from the point a selected during the normal operation of the motor 3 to the point b in the estimation process. Next, the magnetic pole position estimation module 18 determines that the q-axis current command module 10 and the d-axis current command module 12 have a q-axis current command Iq * of “0” and a d-axis current command Id * of “100% ( It is controlled to output “corresponding to the rated current of the permanent magnet type synchronous motor 3)”.
さらに、磁極位置推定モジュール１８は、信号切替スイッチ１５に、推定用位相信号θｔｅｓｔを出力し、設定された電流（ｑ軸電流、ｄ軸電流）が永久磁石式同期モータ３に流れるように電流制御モジュール１１等を動作させる。ここで、推定用位相信号θｔｅｓｔは、磁極推定用時の角周波数設定値（ωｔｅｓｔ）として、磁極位置推定モジュール１８によって作成される。
Further, the magnetic pole position estimation module 18 outputs an estimation phase signal θtest to the signal changeover switch 15 so that the set current (q-axis current, d-axis current) flows to the permanent magnet type synchronous motor 3. The module 11 is operated. Here, the estimation phase signal θtest is created by the magnetic pole position estimation module 18 as an angular frequency setting value (ωtest) at the time of magnetic pole estimation.
図６の波形２９は、ｑ軸電圧指令Ｖｑ＊のピーク部分が潰れた形状になる。そこで、磁極位置推定モジュール１８は、図２に示した直流成分除去モジュール２１において、ステップＳ２で、電流制御モジュール１１のｑ軸電圧指令Ｖｑ＊から直流成分（ω１＊・Ｌｄ・Ｉ１＋（１／２）・ω１＊・（Ｌｑ－Ｌｄ）・Ｉ１：数式２を参照）を除去した波形３０を生成する。
The waveform 29 in FIG. 6 has a shape in which the peak portion of the q-axis voltage command Vq * is crushed. Therefore, the magnetic pole position estimation module 18 uses the direct current component removal module 21 shown in FIG. 2 to obtain a direct current component (ω1 * · Ld · I1 + (1/2 ) from the q-axis voltage command Vq * of the current control module 11 in step S2. ) · Ω1 * · (Lq−Ld) · I1: Refer to Equation 2) to generate the waveform 30.
磁極位置推定モジュール１８は、波形３０を利用して、磁極位置を推定する。例えば、波形３０によれば、ｑ軸電圧指令Ｖｑ＊とのゼロクロス点３０Ａ，３０Ｂが表出されるため、磁極位置推定モジュール１８は、二つのゼロクロス点の中央値３４をＳ極位相として特定することができる。
The magnetic pole position estimation module 18 uses the waveform 30 to estimate the magnetic pole position. For example, according to the waveform 30, the zero cross points 30 </ b > A and 30 </ b > B with the q-axis voltage command Vq * are displayed, so that the magnetic pole position estimation module 18 specifies the median value 34 of the two zero cross points as the S pole phase. Can do.
一方、積分モジュール２２（図２）は、ステップＳ３で、ｑ軸電圧指令Ｖｑ＊から直流成分を除去した波形３０を積分して図６に示した三角波３１を生成する。
On the other hand, in step S3, the integration module 22 (FIG. 2) integrates thewaveform 30 from which the DC component is removed from the q-axis voltage command Vq * to generate the triangular wave 31 shown in FIG.
On the other hand, in step S3, the integration module 22 (FIG. 2) integrates the
その後、最大値検出モジュール２３（図２）は、ステップＳ４において、三角波３１である積分値が最大値となる時点のθｔｅｓｔ（ｍａｘ）３２を特定し、これを記憶する。さらに、最小値検出モジュール２４は、積分値が最小値となる時点のθｔｅｓｔ（ｍｉｎ）３３を特定し、これを記憶する。
Thereafter, in step S4, the maximum value detection module 23 (FIG. 2) specifies θtest (max) 32 at the time when the integral value as the triangular wave 31 becomes the maximum value, and stores this. Further, the minimum value detection module 24 specifies θtest (min) 33 at the time when the integral value becomes the minimum value, and stores this.
次いで、平均値検出モジュール２５（図２）は、ステップＳ５において、最大値θｔｅｓｔ（ｍａｘ）３２と最小値θｔｅｓｔ（ｍｉｎ）３３との平均値θｔｅｓｔ（Ｖｑ＊ｍａｘ）３４（中央値、といってもよい）を算出して、これを記憶して電流印加を停止する。
Next, in step S5, the average value detection module 25 (FIG. 2) calls the average value θtest (Vq * max) 34 (median value) of the maximum value θtest (max) 32 and the minimum value θtest (min) 33. May be calculated and stored, and the current application is stopped.
次に、磁極位置推定モジュール１８は、ステップＳ６において、ステップＳ５で記憶したθｔｅｓｔ（Ｖｑ＊ｍａｘ）３４からｄ軸位相θｄ＾を数式３に基いて計算する。
Next, in step S6, the magnetic pole position estimation module 18 calculates the d-axis phase θd ^ from the θtest (Vq * max) 34 stored in step S5 based on Equation 3.
このようにして、平均値θｔｅｓｔ（Ｖｑ＊ｍａｘ）３４がＳ極（２７０°）の位相として推定、特定、決定、又は、判定等されるために、磁極位置推定モジュール１８は、非突極型の永久磁石式同期モータ３に対しても、ｑ軸電圧指令Ｖｑ＊に基いて、磁極位置を推定することができる。
In this way, since the average value θtest (Vq * max) 34 is estimated, specified, determined, or determined as the phase of the S pole (270 °), the magnetic pole position estimation module 18 has a non-salient pole type. The permanent magnet synchronous motor 3 can also estimate the magnetic pole position based on the q-axis voltage command Vq * .
次に、制御システム１１０は、エンコーダ４の原点信号ΦＺと磁極位置との関係を求める動作に移る。ステップＳ７において、磁極位置推定モジュール１８は、θｄ＾をθｏｆｆｓｅｔとして仮に設定し、加算モジュール１６に出力する。磁極位置演算モジュール１７は原点信号ΦＺの位相θｚをゼロクリアする。
Next, the control system 110 moves to an operation for obtaining the relationship between the origin signal ΦZ of the encoder 4 and the magnetic pole position. In step S <b> 7, the magnetic pole position estimation module 18 temporarily sets θd ^ as θoffset and outputs it to the addition module 16. The magnetic pole position calculation module 17 clears the phase θz of the origin signal ΦZ to zero.
ステップＳ８では、信号切替モジュール（スイッチ）１５が接点をｂ点からａ点に切り換える。駆動システム１００は、永久磁石式同期モータ３の通常運転動作により、ブレーキ５を解放して、永久磁石式同期モータ３を回転させる。磁極位置演算モジュール１７は、エンコーダ４からの原点信号ΦＺが発生するのを待つ。
In step S8, the signal switching module (switch) 15 switches the contact from point b to point a. The drive system 100 releases the brake 5 and rotates the permanent magnet synchronous motor 3 by the normal operation of the permanent magnet synchronous motor 3. The magnetic pole position calculation module 17 waits for the origin signal ΦZ from the encoder 4 to be generated.
ステップＳ９において、磁極位置演算モジュール１７は、原点信号ΦＺ発生時の位相θｚをθｚ’として記憶し、永久磁石式同期モータ３を停止させる。
In step S9, the magnetic pole position calculation module 17 stores the phase θz when the origin signal ΦZ is generated as θz ′, and stops the permanent magnet type synchronous motor 3.
次いで、ステップＳ１０において磁極位置推定モジュール１８は、原点信号発生時の位相θｚ’とｄ軸位相θｄ＾との和をθｏｆｆｓｅｔ（＝θｄ＾＋θｚ’）として設定し、加算モジュール１６に出力する。以上によって、図７のフローチャートを終了する。
Next, in step S 10, the magnetic pole position estimation module 18 sets the sum of the phase θz ′ and the d-axis phase θd ^ when the origin signal is generated as θoffset (= θd ^ + θz ′), and outputs it to the addition module 16. Thus, the flowchart of FIG. 7 ends.
以上説明したように、図１に説明するシステムによれば、非突極型の永久磁石式同期モータ３についても、ｑ軸電圧指令Ｖｑ＊から容易、かつ、高精度に磁極位置を推定することができる。
As described above, according to the system illustrated in FIG. 1, the magnetic pole position can be estimated easily and with high accuracy from the q-axis voltage command Vq * even for the non-salient permanent magnet type synchronous motor 3. Can do.
なお、最大値θｔｅｓｔ（ｍａｘ）と最小値θｔｅｓｔ（ｍｉｎ）との平均値θｔｅｓｔ（Ｖｑ＊ｍａｘ）をＳ極の位相として推定したが、最大値から９０度遅れた位相、あるいは、最小値から９０度進んだ位相をＳ極の位相として推定されてもよい。
The average value θtest (Vq * max) of the maximum value θtest (max) and the minimum value θtest (min) was estimated as the phase of the S pole, but the phase delayed by 90 degrees from the maximum value, or 90 from the minimum value. The advanced phase may be estimated as the S-pole phase.
本発明は、上述した実施形態に限定するものではなく、様々な変形例を含むことができる。
The present invention is not limited to the above-described embodiment, and can include various modifications.
２ インバータ
３ 永久磁石式同期モータ
１１ 電流制御モジュール
１８ 磁極位置推定モジュール
２１ 直流成分除去モジュール
２２ 積分モジュール
２３ 最大値検出モジュール
２４ 最小値検出モジュール
２５ 平均値検出モジュール DESCRIPTION OFSYMBOLS 2 Inverter 3 Permanent magnet type synchronous motor 11 Current control module 18 Magnetic pole position estimation module 21 DC component removal module 22 Integration module 23 Maximum value detection module 24 Minimum value detection module 25 Average value detection module
３ 永久磁石式同期モータ
１１ 電流制御モジュール
１８ 磁極位置推定モジュール
２１ 直流成分除去モジュール
２２ 積分モジュール
２３ 最大値検出モジュール
２４ 最小値検出モジュール
２５ 平均値検出モジュール DESCRIPTION OF
Claims (7)
- ｄ軸電圧とｑ軸電圧とに基いて、可変電圧・可変周波数のインバータを制御するコントローラを備え、
前記コントローラは、
ｄ軸電圧指令とｑ軸電圧指令とを生成し、
前記ｑ軸電圧指令から直流成分を除去し、
前記ｑ軸電圧指令から直流成分を除去した信号に基いて、永久磁石式同期モータの磁極位置を推定し、
前記推定した磁極位置を利用して前記インバータを制御することにより前記永久磁石式同期モータを駆動させる、
永久磁石式同期モータの制御システム。 A controller for controlling a variable voltage / variable frequency inverter based on the d-axis voltage and the q-axis voltage,
The controller is
d-axis voltage command and q-axis voltage command are generated,
Removing a DC component from the q-axis voltage command,
Based on the signal obtained by removing the DC component from the q-axis voltage command, the magnetic pole position of the permanent magnet synchronous motor is estimated,
Driving the permanent magnet synchronous motor by controlling the inverter using the estimated magnetic pole position;
Permanent magnet synchronous motor control system. - 前記コントローラは、
前記信号を利用して、Ｓ極の位相を決定する、
請求項１記載の永久磁石式同期モータの制御システム。 The controller is
Determining the phase of the south pole using the signal;
The control system of the permanent-magnet-type synchronous motor of Claim 1. - 前記コントローラは、
前記信号を積分し、
積分値を利用して、前記Ｓ極の位相を決定する、
請求項２記載の永久磁石式同期モータの制御システム。 The controller is
Integrating the signal,
Determining the phase of the S pole using an integral value;
The control system of the permanent magnet type synchronous motor according to claim 2. - 前記コントローラは、
前記積分値の最大値と最小値とを決定し、
前記最大値と最小値との平均値を前記Ｓ極の位相として決定する、
請求項３記載の永久磁石式同期モータの制御システム。 The controller is
Determining the maximum and minimum values of the integral value;
Determining an average value of the maximum value and the minimum value as the phase of the south pole;
The control system for a permanent magnet type synchronous motor according to claim 3. - 前記コントローラは、
前記最大値から９０度遅れた位相をＳ極の位相として決定する、
請求項４記載の永久磁石式同期モータの制御システム。 The controller is
A phase delayed by 90 degrees from the maximum value is determined as the S-pole phase;
The control system for a permanent magnet type synchronous motor according to claim 4. - 前記コントローラは、
前記最小値から９０度進んだ位相をＳ極の位相として決定する、
請求項４記載の永久磁石式同期モータの制御システム。 The controller is
A phase advanced by 90 degrees from the minimum value is determined as the phase of the south pole,
The control system for a permanent magnet type synchronous motor according to claim 4. - ｄ軸電圧とｑ軸電圧とに基いて、可変電圧・可変周波数のインバータを制御するコントローラが、
ｄ軸電圧指令とｑ軸電圧指令とを生成するステップと、
前記ｑ軸電圧指令から直流成分を除去するステップと、
前記ｑ軸電圧指令から直流成分を除去した信号に基いて、永久磁石式同期モータの磁極位置を推定するステップと、そして、
前記推定した磁極位置を利用して前記インバータを制御することにより前記永久磁石式同期モータを駆動させるステップと、
を実行する、
永久磁石式同期モータの制御方法。 Based on the d-axis voltage and the q-axis voltage, a controller that controls a variable voltage / variable frequency inverter,
generating a d-axis voltage command and a q-axis voltage command;
Removing a DC component from the q-axis voltage command;
Estimating a magnetic pole position of a permanent magnet synchronous motor based on a signal obtained by removing a DC component from the q-axis voltage command; and
Driving the permanent magnet synchronous motor by controlling the inverter using the estimated magnetic pole position;
Run the
Control method of permanent magnet type synchronous motor.
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| JP2018504809A JP6479255B2 (en) | 2016-11-29 | 2016-11-29 | Control system for permanent magnet type synchronous motor and control method for permanent magnet type synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2805989C2 (en) * | 2022-03-29 | 2023-10-24 | Федеральное Государственное Бюджетное Образовательное Учреждение Высшего Образования "Сибирский Государственный Университет Водного Транспорта" (Фгбоу Во "Сгувт") | Control method for synchronous electric motor with excitation from permanent magnets |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108476009B (en) | 2021-08-20 |
| JPWO2018100626A1 (en) | 2018-11-29 |
| CN108476009A (en) | 2018-08-31 |
| JP6479255B2 (en) | 2019-03-06 |
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