WO2019026110A1 - 電動機駆動装置及び電動機起動方法 - Google Patents

電動機駆動装置及び電動機起動方法 Download PDF

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Publication number
WO2019026110A1
WO2019026110A1 PCT/JP2017/027646 JP2017027646W WO2019026110A1 WO 2019026110 A1 WO2019026110 A1 WO 2019026110A1 JP 2017027646 W JP2017027646 W JP 2017027646W WO 2019026110 A1 WO2019026110 A1 WO 2019026110A1
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WIPO (PCT)
Prior art keywords
motor
command value
start condition
voltage
speed command
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PCT/JP2017/027646
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English (en)
French (fr)
Japanese (ja)
Inventor
有澤　浩一
崇 山川
憲嗣 岩崎
Original Assignee
三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2017/027646 priority Critical patent/WO2019026110A1/ja
Priority to CN201780092586.0A priority patent/CN110915122B/zh
Priority to JP2019533732A priority patent/JP6710339B2/ja
Publication of WO2019026110A1 publication Critical patent/WO2019026110A1/ja

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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
    • H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
    • H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
    • H02P1/26—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor
    • H02P1/32—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting an individual polyphase induction motor by star/delta switching

Definitions

  • the present invention relates to a motor drive device and a motor start method.
  • the present invention relates to, for example, a motor drive device for supplying a variable frequency and voltage variable alternating current from an inverter to cause a permanent magnet type synchronous motor to perform variable speed operation, and a motor start method by the motor drive device.
  • the present invention particularly relates to a drive device for an electric motor suitable for use in driving a compressor of refrigeration cycle application equipment such as an air conditioner and a refrigerator.
  • the power consumption is changed by changing the number of rotations of the motor using a variable frequency and variable voltage inverter, and switching the connection state of the stator winding to star connection (Y connection) or delta connection ( ⁇ connection) according to the load.
  • An electric motor drive device is known which has a reduced efficiency and an increased efficiency.
  • an electric motor for a compressor of an air conditioner it is considered to be driven by Y connection under an intermediate condition (low load condition) with high contribution to the annual power consumption, and driven by ⁇ connection under a rated condition (high load condition).
  • ⁇ connection under a rated condition (high load condition).
  • a method of switching the energization of the windings of each phase by detecting the position of the rotor during normal operation is often used.
  • a sensorless system that detects the position based on the induced voltage generated in the winding as the rotor rotates is often used in the motor for driving the compressor.
  • Patent Document 1 detects a current flowing through a winding of a motor, detects a resistance value of the winding from a detection result, and determines a start voltage based on the detected resistance value. Has been proposed.
  • Patent Document 2 detects the current flowing in the stator winding of a permanent magnet synchronous motor and the voltage applied to the stator winding, calculates the position of the rotor based on these detected values, and calculates The rotational speed is detected based on the position of the rotor, and the start voltage instruction value in the start mode is determined by PI control or the like based on the detected current, and the start voltage in the start mode is detected based on the detected rotational speed
  • a motor controller is disclosed which determines a phase indication value.
  • Patent Document 3 discloses a winding switching device for an electric motor, in which the winding is Y-connected at startup, and is switched to ⁇ -connection when reaching a predetermined number of rotations.
  • a reverse blocking semiconductor switch having withstand voltages in both forward and reverse directions is used as a switch for connection switching. Furthermore, it is also described that the surge current is suppressed by setting the frequency of the gate drive signal of the inverter for supplying AC power to the motor lower than usual at the time of start (paragraph 0062).
  • Patent Document 1 In the drive device shown in Patent Document 1, in the case of a motor having a large resistance value of the winding, it is possible to secure a certain degree of calculation accuracy. However, when using a motor with a small resistance value of the winding, the resistance value can not be calculated with sufficient accuracy, and thus there is a problem that the starting voltage can not be accurately adjusted. Moreover, patent document 1 does not consider wire connection switching, and when a wire connection state differs, ensuring of calculation accuracy becomes still more difficult.
  • Patent Document 2 describes that the disclosed motor control device is applicable not only to a Y-connected motor but also to a ⁇ -connected motor (0011).
  • the connection switching is performed, the detected line voltage or phase current differs depending on the connection state. Therefore, depending on the setting of the control gain, the start convergence differs depending on the connection state, which may cause a start failure.
  • the present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a motor drive device capable of reliably starting in a short period of time regardless of the connection state.
  • the motor drive device is A wire connection switching device for switching a wire connection state of a motor winding; An inverter for applying an AC voltage of variable frequency and voltage to the motor to control the speed of the motor; A controller for controlling the inverter and the wire connection switching device; The motor is started under the start condition determined according to the wire connection state.
  • a motor starting method is A wire connection switching device for switching a wire connection state of a motor winding; An inverter for applying an AC voltage of variable frequency and voltage to the motor to control the speed of the motor; A method of driving the electric motor by a motor driving device having a controller for controlling the inverter and the wire connection switching device, The motor is started under the start condition determined according to the wire connection state.
  • the activation since the activation is performed under different activation conditions according to the wire connection state, the activation can be reliably performed in a short time regardless of the wire connection state.
  • FIG. 2 is a functional block diagram showing an example of a control device used in the first embodiment.
  • (A) And (b) is a figure which shows the change pattern of the speed command value used for starting in Embodiment 1, and the change of the voltage command value accompanying the change of speed command value.
  • the motor drive device of the present invention is suitable for driving a compressor of a refrigeration cycle application device.
  • An example of a refrigeration cycle application apparatus is an air conditioner, and the following embodiment applies this invention to the drive device of the electric motor which drives the compressor of an air conditioner.
  • the refrigeration cycle 900 of FIG. 1 can perform heating operation or cooling operation by switching operation of the four-way valve 902.
  • the refrigerant is pressurized by the compressor 904 and sent out, and passes through the four-way valve 902, the indoor heat exchanger 906, the expansion valve 908, the outdoor heat exchanger 910 and the four-way valve 902. Return to compressor 904.
  • the refrigerant is pressurized by the compressor 904 and sent out, and passes through the four-way valve 902, the outdoor heat exchanger 910, the expansion valve 908, the indoor heat exchanger 906 and the four-way valve 902, as shown by the dashed arrow. Return to compressor 904.
  • the indoor heat exchanger 906 acts as a condenser to release heat, and the outdoor heat exchanger 910 acts as an evaporator to absorb heat.
  • the outdoor heat exchanger 910 acts as a condenser to release heat, and the indoor heat exchanger 906 acts as an evaporator to absorb heat.
  • the expansion valve 908 decompresses and expands the refrigerant.
  • the compressor 904 is driven by a motor 7 controlled at variable speed.
  • FIG. 2 is a schematic wiring diagram showing the motor drive device 2 of the first embodiment of the present invention together with the motor 7.
  • the illustrated motor driving device 2 is for driving the motor 7 and includes AC power supply input terminals 2a and 2b, a reactor 8, a rectifier circuit 10, a capacitor 20, an inverter 30, and a connection switching device 60. ,
  • the bus current detection unit 85, the bus voltage detection unit 87, and the control device 100 are included in the motor 7 and includes AC power supply input terminals 2a and 2b, a reactor 8, a rectifier circuit 10, a capacitor 20, an inverter 30, and a connection switching device 60.
  • the bus current detection unit 85, the bus voltage detection unit 87, and the control device 100 is provided to the motor 7 and includes AC power supply input terminals 2a and 2b, a reactor 8, a rectifier circuit 10, a capacitor 20, an inverter 30, and a connection switching device 60.
  • the bus current detection unit 85, the bus voltage detection unit 87, and the control device 100 are included in the motor 7 and the bus
  • the control device 100 may be configured by, for example, a microcomputer (microcomputer) having a CPU (Central Processing Unit), a DSP (Digital Signal Processor), or the like, or may be configured by dedicated hardware. Below, it demonstrates as what is comprised by the microcomputer.
  • the AC power supply input terminals 2a and 2b are connected to an external AC power supply 4, and an AC voltage is applied from the AC power supply 4 to the AC power supply input terminals 2a and 2b.
  • the rectifier circuit 10 rectifies and receives AC power from the AC power supply 4 through the input terminals 2 a and 2 b and the reactor 8.
  • the rectifying circuit 10 is a full-wave rectifying circuit formed by bridge-connecting rectifying elements 11 to 14 such as diodes.
  • the capacitor 20 smoothes the DC voltage rectified by the rectifier circuit 10 and outputs a DC voltage Vdc.
  • the inverter 30 has an inverter main circuit 310 and a drive circuit 350, and the input terminal of the inverter main circuit 310 is connected to the electrode of the capacitor 20.
  • a line connecting the output of the rectifier circuit 10, the electrode of the capacitor 20, and the input terminal of the inverter main circuit 310 is referred to as a DC bus.
  • the inverter 30 is controlled by the control device 100 so that the switching elements 311 to 316 of the six arms of the inverter main circuit 310 are turned on and off to generate three-phase alternating current with variable frequency and variable voltage. Supply.
  • the switching elements 311 to 316 are connected in parallel with rectifying elements 321 to 326 for reflux.
  • the motor 7 is a three-phase permanent magnet synchronous motor, the lead wire of the stator winding is drawn out of the motor 7, and switching to either star connection (Y connection) or delta connection ( ⁇ connection) is performed. Is possible. This switching is performed by the connection switching device 60. Switching by the wire connection switching device 60 is controlled by a switching signal Sc output from the control device 100.
  • FIG. 4 shows the stator winding of the motor 7 and the wire connection switching device 60 in more detail.
  • the first ends 71a, 72a, 73a of the three-phase windings 71, 72, 73 of the U-phase, V-phase, W-phase of the motor 7 are external terminals 71c, 72c, 73c, respectively.
  • the second ends 71b, 72b, 73b of the U-phase, V-phase, W-phase windings 71, 72, 73 are connected to the external terminals 71d, 72d, 73d, respectively, with the outside of the motor 7. Connection is possible.
  • U-phase, V-phase, and W-phase output lines 331, 332, 333 of the inverter 30 are connected to the external terminals 71c, 72c, 73c.
  • the connection switching device 60 is configured by switches 61, 62, 63 in the illustrated example.
  • switches 61, 62, 63 electromagnetic contactors whose contacts are opened and closed electromagnetically are used.
  • a magnetic contactor is also called a relay, a contactor or the like.
  • the common contact 61c of the switching device 61 is connected to the terminal 71d through the lead wire 61e, the normally closed contact 61b is connected to the neutral point node 64, and the normally open contact 61a is an output line of the V phase of the inverter 30.
  • the common contact 62c of the switch 62 is connected to the terminal 72d through the lead wire 62e, the normally closed contact 62b is connected to the neutral point node 64, and the normally open contact 62a is an output line of the W phase of the inverter 30.
  • the common contact 63c of the switch 63 is connected to the terminal 73d through the lead wire 63e, the normally closed contact 63b is connected to the neutral point node 64, and the normally open contact 63a is an output line of the U phase of the inverter 30. Connected to the 331.
  • the bus current detection unit 85 detects the bus current, that is, the input current Idc of the inverter 30.
  • the bus current detection unit 85 includes a shunt resistor inserted in the DC bus and supplies an analog signal indicating a detection result to the control device 100.
  • This signal (detection signal) Idc is converted into a digital signal by an A / D conversion unit (not shown) in the control device 100 and is used for processing in the control device 100.
  • the bus voltage detection unit 87 detects a voltage Vdc between both electrodes of the capacitor 20 as a bus voltage.
  • the bus voltage detection unit 87 includes, for example, a circuit that divides the bus voltage Vdc by a resistor connected in series, and converts it into a signal of a voltage suitable for processing by the microcomputer in the control device 100, for example, a voltage of 5 V or less. Output.
  • This signal (detection signal) Vdc is also converted into a digital signal by an A / D conversion unit (not shown) in the control device 100, and is used for processing inside the control device 100.
  • control device 100 controls the switching of the connection state by the connection switching device 60 and controls the operation of the inverter 30.
  • the control device 100 supplies a switching signal Sc to the wire connection switching device 60 in order to control the switching of the wire connection state by the wire connection switching device 60.
  • the control device 100 generates PWM signals Sm1 to Sm6 and supplies the PWM signals Sm1 to Sm6 to the inverter 30.
  • the inverter 30 includes the drive circuit 350 in addition to the inverter main circuit 310.
  • the drive circuit 350 generates the drive signals Sr1 to Sr6 based on the PWM signals Sm1 to Sm6 to generate drive signals.
  • the switching elements 311 to 316 are controlled to be turned on and off by Sr1 to Sr6 so that a frequency-variable and voltage-variable three-phase AC voltage is applied to the motor 7.
  • the drive signals Sr1 to Sr6 have voltage levels necessary for controlling the switching elements, for example, +15 V to-, while the PWM signals Sm1 to Sm6 are of signal level magnitude (0 to 5 V) of the logic circuit. It is a signal having a magnitude of 15V. Further, while PWM signals Sm1 to Sm6 use the ground potential of control device 100 as a reference potential, drive signals Sr1 to Sr6 respectively have the potentials of negative terminals (emitter terminals) of the corresponding switching elements. As a reference potential.
  • Control of the inverter 30 and the wire connection switching device 60 by the control device 100 includes control of the motor 7 at startup as well as control of the motor 7 during normal operation. In the control at the time of start-up, control device 100 starts up electric motor 7 under a predetermined start-up condition. The start conditions differ depending on whether the motor 7 is in the Y-connection state or in the ⁇ -connection state.
  • the control device 100 includes a start condition memory 101, an operation control unit 102, and an inverter control unit 110.
  • the start condition memory 101 stores a plurality of start conditions.
  • the start conditions include, for example, a change pattern of the speed command value ⁇ * at the time of start, and parameters defining the relationship between the speed command value ⁇ * and the voltage command value V * .
  • Change pattern of the velocity command value omega * is to be specified with respect to time elapsed from the start of activation, how to increase the speed command value of the motor 7 omega *.
  • the speed is represented by the angular velocity (angular frequency) at the electrical angle of the motor 7.
  • the inverter 30 is controlled to output a voltage of a frequency that matches the speed command value ⁇ * .
  • Voltage command value V * is a command value of drive voltage of motor 7.
  • a value representing the amplitude of the drive voltage in the dq coordinate system is used as the command value of the drive voltage.
  • 6 (a) and 6 (b) show examples of the change pattern of the speed command value ⁇ * and the change pattern of the voltage command value V * accompanying the change of the speed command value ⁇ * for Y connection and ⁇ connection, respectively. It is done. 6 (a) and 6 (b), the horizontal axis indicates the elapsed time from the start of activation, and the vertical axis indicates the speed command value ⁇ * and the voltage command value V * .
  • the speed command value ⁇ * and the voltage command value V * linearly increase with the passage of time.
  • the change patterns of the speed command value ⁇ * are the same between FIG. 6 (a) and FIG. 6 (b). That is, the speed command values ⁇ * for the same elapsed time are the same.
  • the change patterns of voltage command value V * are different from each other, and the change pattern of Y connection has a steeper slope. In other words, the voltage command value V * (Y) corresponding to a certain elapsed time in the case of the Y connection is larger than the voltage command value V * ( ⁇ ) in the case of the ⁇ connection corresponding to the same elapsed time.
  • Equation (1) K is a parameter that defines the relationship between ⁇ * and V * .
  • the parameter K is different between the Y connection and the ⁇ connection.
  • the parameter K (Y) in the case of Y connection is set to a larger value than the parameter K ( ⁇ ) in the case of ⁇ connection.
  • K (Y) ⁇ 3 ⁇ K ( ⁇ ) (4) It is determined that However, due to the adjustment after the start of operation, the relationship of equation (4) may not be satisfied.
  • the activation condition memory 101 for example as a change pattern of the speed command value omega *, LUT (lookup table) showing a change in the speed command value omega * with respect to the elapsed time may be stored, the speed the elapsed time as a variable A function (or a parameter defining the function) for obtaining the command value ⁇ * may be stored.
  • the operation control unit 102 receives information indicating a room temperature (temperature of the air conditioning target space) from a temperature sensor (not shown), receives an instruction from an operation unit (not shown), and controls the operation of each part of the air conditioner.
  • the instruction from the operation unit includes information indicating the set temperature, an instruction to start and stop the operation, and the like.
  • the operation unit is configured of, for example, a remote control.
  • the operation control unit 102 selects whether the motor 7 should be Y-connected or ⁇ -connected before starting the motor 7, and outputs a switching signal Sc according to the result of the selection. For example, when the difference between the room temperature and the set temperature is large, the operation control unit 102 determines to use ⁇ connection, sets the target number of revolutions to a relatively high value, performs activation, and the above-mentioned target number of revolutions after activation.
  • the operation control unit 102 selects an operation mode, and causes each part of the control device 100 to operate in the selected operation mode. In order to perform the operation in the selected operation mode, the operation control unit 102 sets the mode signal Ss to a first value, for example, High, at the time of startup, and sets the mode signal Ss to a second value, for example, Low, during normal operation. Do.
  • the operation control unit 102 sets the mode signal Ss to High, and performs startup processing.
  • the activation process is performed by selecting one of a plurality of activation conditions stored in the activation condition memory 101 and using the selected activation condition.
  • the start condition comprises the change pattern of the speed command value ⁇ * and the parameter K.
  • different start conditions are selected for the Y connection and the ⁇ connection.
  • the change pattern of the speed command value ⁇ * the same one is read for Y connection and ⁇ connection, and for parameter K, Y connection and ⁇ connection. Different values are read out.
  • the operation control unit 102 After raising the speed command value ⁇ * to a predetermined value according to the read change pattern, the operation control unit 102 switches to the normal operation mode at that time. At the time of switching to the normal operation mode, the mode signal Ss is set to Low. The mode signal Ss is supplied to the inverter control unit 110.
  • Inverter control unit 110 includes current command generation unit 111, current restoration unit 112, three-phase / two-phase conversion unit 113, position / speed estimation unit 114, speed control unit 115, voltage command calculation unit 116, two-phase / three-phase conversion And a PWM waveform generation unit 118, an integration unit 119, and switch groups 121 and 122.
  • the switch groups 121 and 122 are controlled by the mode signal Ss.
  • the mode signal Ss is Low, as shown in the drawing, the first switch group 121 is in the closed state (off state), and the second switch group 122 is in the open state (on state).
  • the mode signal Ss is High, the first switch group 121 is in the open state (off state) and the second switch group 122 is in the closed state (on state), contrary to the illustration.
  • the mode signal Ss is also supplied to the voltage command calculation unit 116, and the voltage command calculation unit 116 performs different processing during normal operation and startup.
  • the operation control unit 102 sets the mode signal Ss to Low. Therefore, the switch groups 121 and 122 are in the illustrated state. That is, the switch group 121 is in the on state, and the switch group 122 is in the off state.
  • Current command generation unit 111 generates current command value Id * based on speed command value ⁇ * .
  • the current command generation unit 111 determines the current command value Id * such that a torque necessary to rotate the motor 7 is generated at a rotational speed corresponding to the speed command value ⁇ * .
  • the current restoration unit 112 restores the phase currents Iu, Iv, and Iw flowing through the motor 7 based on the current value Idc detected by the bus current detection unit 85.
  • the current restoration unit 112 restores the phase current by sampling the DC current Idc detected by the bus current detection unit 85 at a timing determined based on the PWM signal from the PWM waveform generation unit 118.
  • the three-phase / two-phase conversion unit 113 is based on the current values Iu, Iv, Iw restored by the current restoration unit 112 and the rotor magnetic pole position (electrical angle phase) ⁇ estimated by the position / speed estimation unit 114 described later. Coordinate conversion generates a current in the dq coordinate axis, that is, a d-axis current Id in the d-axis coordinate and a q-axis current Iq in the q-axis coordinate.
  • the position / speed estimation unit 114 is a motor based on the currents Id and Iq generated by the three-phase / two-phase conversion unit 113 and voltage command values Vd * and Vq * generated by the voltage command calculation unit 116 described later. Estimate the velocity of 7 and generate a velocity estimate ⁇ .
  • the speed control unit 115 calculates the q-axis current command value Iq * based on the speed command value ⁇ * given from the operation control unit 102 and the estimated speed value ⁇ generated by the position / speed estimation unit 114.
  • the q-axis current command value Iq * is set to a value that makes the estimated speed value ⁇ coincide with the speed command value ⁇ * .
  • Voltage command calculation unit 116 receives d-axis current Id and q-axis current Iq from three-phase / two-phase conversion unit 113, receives d-axis current command value Id * from current command generation unit 111, and receives q from speed control unit 115.
  • the axis current command value Iq * is received, and based on these, the d axis voltage command value Vd * and the q axis voltage command value Vq * are generated.
  • the voltage command calculation unit 116 performs PI control so that the d-axis current Id matches the d-axis current command value Id * and the q-axis current Iq matches the q-axis current command value Iq * , and the d-axis voltage command value Vd * and q-axis voltage command value Vq * are generated.
  • the d-axis voltage command value Vd * and the q-axis voltage command value Vq * can be obtained by the following calculation.
  • Vd * (Kpd + Kid / s) ⁇ (Id * -Id)
  • Vq * (Kpq + Kiq / s) ⁇ (Iq * -Iq) (6)
  • Kpd is d-axis proportional gain
  • Kpq is q-axis proportional gain
  • Kid is the d-axis integral gain
  • Kiq is the q-axis integral gain
  • s is the Laplace operator.
  • Two-phase / three-phase conversion unit 117 includes bus voltage Vdc detected by bus voltage detection unit 87, d-axis voltage command value Vd * and q-axis voltage command value Vq * calculated by voltage command calculation unit 116, and positions. Based on the rotor magnetic pole position ⁇ estimated by the speed estimation unit 114, the U-phase voltage command value Vu * , the V-phase voltage command value Vv * , the W-phase voltage command value Vw * and the voltage phase ⁇ v are generated.
  • Various methods have been proposed as methods for generating voltage command values Vu * , Vv * and Vw * , and any method may be used as long as it is a control technology capable of driving motor 7.
  • the PWM waveform generation unit 118 generates the PWM signals Sm1 to Sm6 based on the phase voltage command values Vu * , Vv * and Vw * calculated by the two-phase / three-phase conversion unit 117 and the voltage phase ⁇ v.
  • the PWM waveform generation unit 118 has a carrier generation unit 131 and a carrier comparison unit 132, as shown in FIG. 7, for example.
  • the carrier generation unit 131 generates a carrier based on the voltage phase ⁇ v.
  • Carrier comparison unit 132 generates PWM signals Sm1 to Sm6 based on the carrier signal generated by carrier generation unit 131 and phase voltage command values Vu * , Vv * and Vw * calculated by two-phase / three-phase conversion unit 117.
  • the inverter control unit 110 estimates the rotor magnetic pole position ⁇ by the operations of the current restoration unit 112, the three-phase / two-phase conversion unit 113, and the position / speed estimation unit 114, and based on the estimation result.
  • the inverter 30 is controlled by generating a phase voltage command value and generating a PWM waveform based thereon. Such control is called sensorless control because it does not use a position sensor.
  • the mode signal Ss is set to High by the operation control unit 102 during normal operation. Therefore, the switch groups 121 and 122 are in the opposite state to that illustrated. That is, the switch group 122 is in the on state, and the switch group 121 is in the off state.
  • the operation control unit 102 selects whether the motor 7 should be Y-connected or ⁇ -connected at startup, and outputs a switching signal Sc according to the result of the selection.
  • the operation control unit 102 further reads the start condition from the start condition memory 101.
  • the start conditions include the change pattern of the speed command value ⁇ * and the parameter K.
  • the operation control unit 102 outputs the speed command value ⁇ * that changes in accordance with the change pattern of the speed command value ⁇ * included in the read start condition.
  • Speed command value ⁇ * is input to voltage command calculation unit 116 and integration unit 119.
  • the operation control unit 102 supplies the parameter K included in the read start condition to the voltage command calculation unit 116.
  • Voltage command calculation unit 116 generates d-axis voltage command value Vd * and q-axis voltage command value Vq * based on speed command value ⁇ * , mode signal Ss, and parameter K.
  • Voltage command calculation unit 116 generates voltage command value V * based on speed command value ⁇ * output from operation control unit 102 and parameter K, and further, based on voltage command value V * , d-axis voltage The command value Vd * and the q-axis voltage command value Vq * are generated. The generation of the voltage command value V * is performed by obtaining the product of the speed command value ⁇ * and the parameter K.
  • the characteristics of the motor 7 and the parameters indicating the moment of inertia of the mechanical system are stored in advance (in a memory (not shown) inside or outside the voltage command calculation unit 116), and the stored parameters are d axis voltage command value Vd * And q axis voltage command value Vq * is preferably used.
  • the environmental temperature may be detected, and the parameters used to calculate the d-axis voltage command value Vd * and the q-axis voltage command value Vq * may be adjusted according to the detection result.
  • the integration unit 119 estimates the rotor magnetic pole position ⁇ by integrating the speed command value ⁇ * .
  • the two-phase / three-phase conversion unit 117 estimates the voltage command values Vd * and Vq * generated by the voltage command calculation unit 116, the bus voltage Vdc detected by the bus voltage detection unit 87, and the integration unit 119. Based on the rotor magnetic pole position ⁇ , a U-phase voltage command value Vu * , a V-phase voltage command value Vv * , a W-phase voltage command value Vw * and a voltage phase ⁇ v are generated. This process is similar to that during normal operation.
  • the PWM waveform generation unit 118 generates the PWM signals Sm1 to Sm6 based on the phase voltage command values Vu * , Vv * and Vw * calculated by the two-phase / three-phase conversion unit 117 and the voltage phase ⁇ v as in the normal operation.
  • the current value Idc detected by the bus current detection unit 85 is transmitted to the operation control unit 102, and at the time of start-up, the operation control unit 102 determines whether the current flowing to the motor 7 is excessive based on the current value Idc. Make a decision.
  • the current restoration unit 112, the three-phase / two-phase conversion unit 113, and the position / velocity estimation unit 114 operate at the time of activation as in the normal operation, and the estimated velocity value output from the position / velocity estimation unit 114 ⁇ is transmitted to the operation control unit 102, and the operation control unit 102 compares the estimated speed value ⁇ output from the position / speed estimation unit 114 with the speed command value ⁇ * generated by the operation control unit 102. Then, it is determined whether or not it is out of step. For example, when a state in which the difference between the two is larger than a predetermined threshold continues for a predetermined time or more, it is estimated that a step out occurs.
  • FIG. 8 shows the procedure of the process of starting the motor 7 performed by the motor drive device according to the embodiment. This process is performed by the operation control unit 102.
  • the operation control unit 102 When the motor 7 is in the stop state (ST100), the operation control unit 102 repeatedly determines whether or not to start (ST102). For example, when the user gives an instruction to start the operation of the air conditioner via an operation unit (not shown), a start instruction is given from the operation unit to the operation control unit 102 of the control device. In that case, the operation control unit 102 determines that it should be activated. In addition, when an instruction to start the operation automatically is given by the operation unit when the set time is reached (or when the set time has elapsed), the operation control unit 102 stores and sets that. When the time has come (or the set time has passed), it is determined that it should be activated. In addition, when the room temperature approaches the set temperature, the motor may be once stopped.
  • step ST104 If it is determined that the activation should be performed due to any of the above reasons, the process proceeds to step ST104.
  • step ST104 the operation control unit 102 acquires information for selecting a wire connection state.
  • the information for selecting the wire connection state includes information indicating a room temperature and information indicating a set temperature.
  • Information indicating the room temperature is given from a temperature sensor (not shown).
  • Information indicating the set temperature is given from an operation unit (not shown).
  • step ST106 the operation control unit 102 selects a wire connection state.
  • the connection state to be selected may differ depending on the load of the air conditioner. For example, when the difference between the room temperature (temperature detected by a temperature sensor not shown) and the set temperature is large, it is determined that the ⁇ connection is selected, and when the above difference is small, the Y connection is selected. May be In such a case, the connection state is selected based on the set temperature and the room temperature.
  • step ST108 the operation control unit 102 controls the connection switching device 60 based on the connection state selected in step ST106 (ST108). That is, when the wire connection state selected in step ST106 is the same as the actual wire connection state of the wire connection switching device 60, the wire connection switching device 60 maintains the state as it is. When the connection state selected in step ST106 is different from the actual connection state of the connection switching device 60, the connection switching device 60 is caused to execute the switching operation. For example, when the actual connection state of the connection switching device 60 is Y connection while the connection state selected in step ST106 is ⁇ connection, the state is shifted to the ⁇ connection state.
  • step ST108 activation processing is performed (ST110 to ST122).
  • the operation control unit 102 first selects a start-up condition (ST110).
  • a start-up condition different activation conditions are selected according to the connection state selected in step ST106.
  • the selection of the activation condition includes the selection of the change pattern of the speed command value ⁇ * and the selection of the parameter K.
  • step ST110 the process proceeds to step ST112.
  • step ST112 the operation control unit 102 starts the activation process using the selected activation condition.
  • the operation control unit 102 supplies the parameter K to the voltage command calculation unit 116 of the inverter control unit 110.
  • Voltage command calculation unit 116 calculates voltage command value V * by multiplying speed command value ⁇ * by parameter K. Voltage command calculation unit 116 calculates d-axis voltage command value Vd * and q-axis voltage command value Vq * based on voltage command value V * .
  • the integration unit 119 estimates the rotor magnetic pole position ⁇ by integrating the speed command value ⁇ * .
  • the two-phase / three-phase conversion unit 117 calculates the d-axis voltage command value Vd * , the q-axis voltage command value Vq *, the rotor magnetic pole position ⁇ to the V phase voltage command value Vu * , the V phase voltage command value Vv * , the W phase Voltage command value Vw * and voltage phase ⁇ v are calculated.
  • the PWM waveform generation unit 118 generates Pm1 to Pm6 based on the phase voltage command values Vu * , Vv * , Vw * and the voltage phase ⁇ v.
  • the inverter control unit 110 controls the inverter 30 by generating the PWM signals Pm1 to Pm6 based on the speed command value ⁇ * , and tries to start the motor 7.
  • the operation control unit 102 repeats the determination as to whether or not the start is successful (ST114, ST116, ST120).
  • the determination as to whether or not the start-up is successful includes the determination as to whether or not the over-current state is reached (ST114), the determination as to whether or not the step-out state has occurred (ST116), whether or not a predetermined speed is reached.
  • the determination (ST120) is included.
  • the overcurrent state in step ST114 is a state in which the motor current is excessive.
  • the operation control unit 102 determines, based on the current value Idc detected by the bus current detection unit 85, whether the motor current is excessive.
  • step ST118 the operation control unit 102 stops the inverter 30, and changes the start condition.
  • the motor current is changed to be smaller. For example, a smaller value is adopted as the parameter K, and the start condition stored in the start condition memory 101 is updated using this new value. For example, the previously stored value is overwritten with the new value.
  • step ST112 the process returns to step ST112, and the activation is started again.
  • the updated parameter K is used.
  • the rise of voltage command value V * becomes gentler (the rise rate becomes smaller).
  • the step-out state in step ST116 is a state in which the motor can not be started due to insufficient torque. For example, a state where the difference between the estimated speed value ⁇ output from the position / speed estimation unit 114 and the speed command value ⁇ * generated in the operation control unit 102 is larger than a predetermined threshold continues for a predetermined time or more. In this case, the operation control unit 102 estimates that a step out occurs.
  • step ST122 the operation control unit 102 stops the inverter 30, and changes the start condition.
  • the motor current is changed to be larger (the torque is larger).
  • a larger value is adopted as the parameter K, and the start condition stored in the start condition memory 101 is updated using this new value. For example, the previously stored value is overwritten with the new value.
  • step ST112 the process returns to step ST112, and the activation is started again.
  • the updated parameter K is used.
  • the rise of voltage command value V * becomes steeper (the rise rate becomes larger).
  • the predetermined speed is, for example, a speed corresponding to a rotational speed slightly lower than the target rotational speed.
  • the predetermined speed is, for example, a speed slightly higher than the lower limit of the range in which the sensorless control can be performed.
  • step ST124 the startup mode is shifted to the normal operation mode.
  • the processing in the normal operation mode is as described above.
  • the start-up process described with reference to FIG. 8 above can also be performed by an arithmetic device with relatively low processing capacity. That is, in order to perform the above-mentioned processing, the control device 100, in particular, the operation control unit 102 and the inverter control unit 110 do not have to be provided with a high-performance computing device. Therefore, the motor drive device according to the present invention can reliably perform the start-up process with a relatively simple configuration.
  • the phase currents Iu, Iv, Iw are restored from the direct current Idc on the input side of the inverter 30, but current detectors are provided on the output lines 331, 332, 333 of the inverter 30,
  • the detector may be configured to detect the phase current, and in such a case, the phase current detected by the detector may be used instead of the current restored by the current restoration unit 112. In that case, it is determined whether an excessive current is flowing in the motor based on the phase current detected by the above-described detector instead of the bus current detected by the bus current detection unit 85. It is good as well.
  • Second Embodiment In the first embodiment, as the activation condition, and the speed command value omega * change pattern, from the speed command value omega * has decided to store the parameter K for obtaining a voltage command value V *, for failure to execute The value of parameter K is to be adjusted.
  • the change pattern of the speed command value ⁇ * can be adjusted, and when the start fails, the change pattern is adjusted.
  • adjustment of the change pattern can be realized by adjusting the parameters defining the above function.
  • the adjustment of the change pattern can be realized by adjusting the data of the above-mentioned LUT.
  • Such processing can also be performed by the operation control unit 102.
  • the parameter K for obtaining a voltage command value V * from the speed command value omega *.
  • the change pattern of the speed command value ⁇ * and the change pattern of the voltage command value V * are stored as the start conditions. Changing pattern of the voltage command value V *, to the time elapsed from the start of activation, it prescribes how to raise the voltage command value V *.
  • voltage command value V * is a value representing the amplitude of the drive voltage in the dq coordinate system, and inverter 30 generates a phase generated based on voltage command value V *. It is controlled to output a phase voltage that matches the voltage command values Vu * , Vv * , Vw * .
  • the width of the PWM pulse for voltage generation becomes narrow, and the arm short circuit prevention time (dead time) of the inverter and the switching delay time
  • the typical drive voltage may be lower than a value proportional to the frequency of the output voltage of the inverter 30 (corresponding to the speed command value ⁇ * ).
  • voltage command value V * may be set to a value larger than a value proportional to speed command value ⁇ * .
  • FIGS. 9 (a) and 9 (b) Examples of such voltage command values are shown in FIGS. 9 (a) and 9 (b).
  • the voltage command value V * has certain values V0 (Y) and V0 ( ⁇ ) that are greater than zero at zero elapsed time. That is, voltage command value V * (Y) shown in FIG. 9A has a certain value V0 (Y) greater than zero at elapsed time zero, and changes along the curve with the passage of time, K (Y) Asymptotic approximation to the straight line represented by) ⁇ ⁇ * . Similarly, the voltage command value V * ( ⁇ ) shown in FIG. 9 (b) has a certain value V0 ( ⁇ ) greater than zero at elapsed time zero, and changes along the curve with the passage of time, Asymptotic approximation to a straight line represented by ⁇ ) ⁇ ⁇ * .
  • the change pattern of the speed command value ⁇ * is changed in the adjustment of the start condition.
  • the change pattern of the speed command value ⁇ * is changed in the adjustment of the start condition.
  • Such processing may also be performed by the operation control unit 102.
  • a value V * representing the amplitude of the drive voltage in the dq coordinate system is used as the command value of the drive voltage.
  • phase voltage command values Vu * , Vv * and Vw * are generated based on *
  • the present invention is not limited to this, and other command values of drive voltages may be used.
  • the start condition memory 101 stores the parameter K for calculating the other voltage command value.
  • the change pattern of the other voltage command value. The start condition memory 101 may be stored.
  • the start condition is selected according to the connection state, not only the connection state but also environmental conditions such as the difference between room temperature and the set temperature, operation mode (heating or not It is also possible to use different start conditions according to cooling or the like), and the start can be appropriately performed by applying the present invention also in such a case.
  • the start condition is changed according to the wire connection state of the motor, the start can be appropriately performed regardless of the wire connection state.
  • the start condition is determined according to the wire connection state before the start of the motor, the possibility that the motor current becomes excessive or the step out occurs at the start can be reduced. Processing can be performed in a short time.
  • the start-up conditions are adjusted and the start-up is performed again, so either the load is larger than expected or the load is smaller than expected. Even in this case, it is possible to minimize the delay in completing the startup.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Inverter Devices (AREA)
  • Motor And Converter Starters (AREA)
PCT/JP2017/027646 2017-07-31 2017-07-31 電動機駆動装置及び電動機起動方法 WO2019026110A1 (ja)

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