WO2019073599A1 - モータ駆動装置、及びこれを備える冷凍サイクル装置、並びにモータ駆動方法 - Google Patents

モータ駆動装置、及びこれを備える冷凍サイクル装置、並びにモータ駆動方法 Download PDF

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Publication number
WO2019073599A1
WO2019073599A1 PCT/JP2017/037212 JP2017037212W WO2019073599A1 WO 2019073599 A1 WO2019073599 A1 WO 2019073599A1 JP 2017037212 W JP2017037212 W JP 2017037212W WO 2019073599 A1 WO2019073599 A1 WO 2019073599A1
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Prior art keywords
motor
axis
current
torque
control unit
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PCT/JP2017/037212
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English (en)
French (fr)
Japanese (ja)
Inventor
能登原　保夫
悟士 隅田
奥山　敦
田村　建司
浩二 月井
上田　和弘
Original Assignee
日立ジョンソンコントロールズ空調株式会社
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Application filed by 日立ジョンソンコントロールズ空調株式会社 filed Critical 日立ジョンソンコントロールズ空調株式会社
Priority to PCT/JP2017/037212 priority Critical patent/WO2019073599A1/ja
Priority to TW106145904A priority patent/TWI662782B/zh
Publication of WO2019073599A1 publication Critical patent/WO2019073599A1/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
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting

Definitions

  • the present invention relates to a motor drive device and the like for driving a motor.
  • Patent Document 1 describes that the motor is controlled so as to make the difference between the output torque of the motor and the load torque (pulsating torque) of the compressor zero.
  • Patent Document 2 describes that the peak value of the motor current is kept approximately constant.
  • Patent Document 1 can suppress the vibration of the compressor, it causes an increase in loss of a motor or the like (motor or circuit component).
  • the technique described in Patent Document 2 although loss of a motor or the like can be reduced, vibration of the compressor is relatively large. That is, the suppression of the vibration of the compressor and the reduction of the loss of the motor or the like are in a trade-off relationship.
  • this invention makes it a subject to provide the motor drive device etc. which are compatible in suppression of a vibration, and reduction of a loss.
  • the present invention is characterized in that the excitation current of the d-axis is changed according to the change of the torque current of the q-axis in the rotational coordinate system of the motor.
  • FIG. 7 is an explanatory view showing a load torque of a compressor, an output torque of a motor, a rotational speed, and a motor current when the motor is rotated once at a mechanical angle in torque control.
  • FIG. 6 is an explanatory view showing a load torque of a compressor, an output torque of a motor, a rotational speed, and a motor current when the motor is rotated once at a mechanical angle in constant current control.
  • FIG. 5 is a Bode diagram in the case of using a predetermined transfer function in the motor drive device according to the first embodiment of the present invention. It is an experimental result which shows the waveform of the motor current of a dq coordinate system at the time of driving a motor on predetermined conditions based on "high efficiency torque control" of 1st Embodiment of this invention. It is an experimental result which shows the waveform of the three-phase motor current at the time of driving a motor on predetermined conditions based on "high efficiency torque control" of 1st Embodiment of this invention.
  • FIG. 1 is an explanatory view of an air conditioner 100 provided with a motor drive device according to the first embodiment.
  • the air conditioner 100 (refrigerating cycle device) is a device that performs air conditioning such as cooling operation and heating operation.
  • the air conditioner 100 includes an outdoor unit Go, an indoor unit Gi, and a remote control Re.
  • the outdoor unit Go houses the compressor 11 (see FIG. 2), the outdoor heat exchanger 13 and the like.
  • the indoor unit Gi accommodates the indoor heat exchanger 14 (see FIG. 2), the indoor fan Fi, and the like.
  • the outdoor unit Go and the indoor unit Gi are connected via a pipe k and connected via a communication line (not shown).
  • the remote control Re transmits an operation signal such as an operation / stop command, a change of the set temperature, a change of the operation mode, and the like to the indoor unit Gi.
  • FIG. 2 is a block diagram of the air conditioner 100 provided with the motor drive device 50.
  • the air conditioner 100 includes a refrigerant circuit 10, an outdoor fan Fo, and an indoor fan Fi.
  • the air conditioner 100 is provided with the motor M, the converter 20, the inverter 30, the electric current detector 40, and the motor drive device 50 other than the above-mentioned structure.
  • the refrigerant circuit 10 is a circuit through which the refrigerant circulates, and includes a compressor 11 (load), a four-way valve 12, an outdoor heat exchanger 13, an indoor heat exchanger 14, and an expansion valve 15. Ru.
  • the compressor 11 is a device that compresses a gaseous refrigerant, and is connected to the rotor of the motor M.
  • the compressor 11 has a characteristic that the load torque (pulsating torque) periodically changes in the compression process of the refrigerant.
  • a compressor 11 although a rotary compressor and a reciprocating compressor are mentioned, for example, it is not limited to this.
  • the motor M is, for example, a permanent magnet synchronous motor, and is connected to the compressor 11.
  • a salient pole type synchronous motor salient pole machine
  • the four-way valve 12 is a valve that switches the flow direction of the refrigerant. That is, at the time of heating operation (solid arrow in FIG. 2), the four-way valve 12 is controlled such that the indoor heat exchanger 14 functions as a condenser and the outdoor heat exchanger 13 functions as an evaporator. On the other hand, at the time of cooling operation (broken line arrow in FIG. 2), the four-way valve 12 is controlled so that the outdoor heat exchanger 13 functions as a condenser and the indoor heat exchanger 14 functions as an evaporator.
  • the refrigerant circuit 10 includes the compressor 11, the condenser (one of the outdoor heat exchanger 13 and the indoor heat exchanger 14), the expansion valve 15, and the evaporator (the outdoor heat exchanger 13 and the indoor heat exchanger 14). And the other are sequentially connected in an annular fashion via the four-way valve 12. Then, the refrigerant circulates in a known refrigeration cycle (heat pump cycle) in the refrigerant circuit 10 based on an operation signal from the remote control Re (see FIG. 1) and detection values of various sensors (not shown).
  • a known refrigeration cycle heat pump cycle
  • the outdoor heat exchanger 13 is a heat exchanger in which heat exchange is performed between the outside air and the refrigerant.
  • the outdoor fan Fo is a fan that sends outside air to the outdoor heat exchanger 13 and is installed near the outdoor heat exchanger 13.
  • the indoor heat exchanger 14 is a heat exchanger in which heat exchange is performed between indoor air (air in a space to be air-conditioned) and a refrigerant.
  • the indoor fan Fi is a fan that sends indoor air to the indoor heat exchanger 14, and is installed near the indoor heat exchanger 14.
  • the expansion valve 15 is a valve that reduces the pressure of the refrigerant condensed by the above-described "condenser". The refrigerant decompressed by the expansion valve 15 is led to the aforementioned "evaporator”.
  • Converter 20 is a power converter that converts an AC voltage applied from AC power supply E into a DC voltage.
  • the inverter 30 is a power converter that converts a DC voltage applied from the converter 20 into an AC voltage and applies the AC voltage to the winding of the motor M.
  • a three-phase full bridge inverter can be used.
  • the current detector 40 is, for example, a shunt resistor, and detects a current supplied from the converter 20 to the inverter 30.
  • the detection value of the current detector 40 is output to the control unit 51 of the motor drive device 50 described below.
  • the motor drive device 50 drives the motor M to drive the compressor 11 coupled to the motor M at variable speeds.
  • the motor drive device 50 includes a control unit 51.
  • the control unit 51 includes electronic circuits such as a central processing unit (CPU), a read only memory (ROM), a random access memory (RAM), and various interfaces. Then, the program stored in the ROM is read and expanded in the RAM, and the CPU executes various processing.
  • FIG. 3 is an explanatory view showing a load torque of the compressor 11, an output torque of the motor M, a rotational speed, and a motor current when the motor M is rotated once at a mechanical angle in torque control (as appropriate). See).
  • the “torque control” is control for changing the output torque of the motor M so as to match the load torque of the compressor 11.
  • the load torque of the compressor 11 periodically pulsates.
  • the load torque shown by a broken line is pulsating once in the process of the motor M making one rotation at a mechanical angle.
  • the output torque (solid line) shown in FIG. 3 is made to coincide with the load torque (broken line), and the rotational speed of the motor M is made constant. Vibration and noise of the compressor 11 are thereby suppressed.
  • the crest value of the motor current fluctuates significantly with the fluctuation of the load torque, the loss of the motor M and the like (motor M and circuit components) becomes a relatively large value although not shown.
  • FIG. 4 is an explanatory view showing a load torque of the compressor 11, an output torque of the motor M, a rotational speed, and a motor current when the rotor of the motor M is rotated once at a mechanical angle in constant current control. See Figure 2 as appropriate).
  • the "constant current control” is control to make the output torque of the motor M constant regardless of the fluctuation of the load torque.
  • “high efficiency torque control” refers to the control unit 51 (see FIG. 2) according to the change in q-axis torque current I q in the dq coordinate system (rotational coordinate system) of the motor in which cyclical fluctuations in load torque occur. There is a control to vary the excitation current I d of d axis. The details of “high efficiency torque control” will be described later.
  • FIG. 5 is a block diagram of the control unit 51 provided in the motor drive device 50.
  • the control unit 51 includes a three-phase / two-axis conversion unit 51a, an axis error calculation unit 51b, a PLL circuit 51c, an integrator 51d, a subtractor 51e, and a speed control unit 51f. And a speed fluctuation suppression control unit 51g.
  • the control unit 51 further includes an adder 51h, a subtractor 51i, an optimal phase control unit 51j, another subtractor 51k, a current control unit 51m, and a voltage command calculation unit 51n. , A 2-axis / 3-phase converter 51r, and a PWM signal generator 51s.
  • the control unit 51 reproduces the currents (I u , I v , I w ) of the three-phase coordinate system based on the detection value of the current detector 40 (see FIG. 2). Then, the value of the reproduced current (I u , I v , I w ) is input to the three-phase / two-axis conversion unit 51a as a current detection value.
  • the three-phase / two-axis conversion unit 51a is based on the phase ⁇ dc of the rotor of the motor M (see FIG. 2), and generates currents (I u , I v , I w ) of the three-phase coordinate system It is converted into current detection values (I dc , I qc ).
  • the direction of the actual magnet magnetic flux ⁇ ⁇ ⁇ ⁇ in the motor M is d axis, and the axis orthogonal to the d axis is q axis.
  • the subscript “c” in the current detection value (I dc , I qc ) means that it is based on the detection value of the current or the like.
  • the axis error calculation unit 51 b estimates an axis error ⁇ between the real axis and the control axis regarding the magnet flux of the motor M. More specifically, the axis error computing unit 51b is an axis error between the phase of the actual magnet flux ⁇ ⁇ ⁇ ⁇ in the motor M and the phase ⁇ dc (control phase) which is the computation result of the integrator 51d described later.
  • ⁇ is calculated using the following equation (1).
  • R shown in the equation (1) is a winding resistance of the motor M
  • ⁇ r is a calculation result of the rotational speed of the motor M.
  • L dc is d-axis inductance of the motor M
  • L qc is q-axis inductance of the motor M
  • the superscript “*” attached to the d-axis voltage command V d * or the like represents that it is a command value.
  • the momentary axis error ⁇ that is the calculation result of the axis error calculator 51b is output to a PLL circuit 51c (Phase Locked Loop) shown in FIG.
  • the control unit 51 estimates the momentary axis error ⁇ based on the instantaneous value of the torque current I qc and the instantaneous value of the excitation current I dc .
  • the control unit 51 controls the motor M without using a position sensor based on the axis error ⁇ .
  • Formula (2) which is a principle formula (principle formula derived from the predetermined formula regarding the motor M) regarding calculation of axial error (DELTA) (theta) of the motor M is shown below for reference.
  • Equation (2) the third and fourth terms of the denominator are differential terms including differential operations, and the third and fourth terms of the numerator are also differential terms.
  • equation (3) shown below has been used in a form in which the differential terms whose processing is relatively complicated are omitted.
  • the time differential value of the excitation current I dc and the torque current I qc becomes substantially zero, so that the axis error ⁇ can be properly calculated also by the equation (3).
  • the torque current I qc is changed to resist the periodic load torque, and the excitation current I dc is also changed according to the torque current I qc. ing.
  • equation (1) is used in order to calculate the momentary axis error ⁇ with high accuracy.
  • the PLL circuit 51c shown in FIG. 5 calculates the rotational speed ⁇ r of the motor M based on PI control (Proportional Integral control) so that the above-mentioned axis error ⁇ becomes zero.
  • PI control Proportional Integral control
  • the integrator 51 d calculates the phase ⁇ dc of the rotor of the motor M by integrating the rotational speed ⁇ r .
  • Speed control unit 51f based on the rotational speed deviation [Delta] [omega r inputted from the subtractor 51e, for example, by the PI control, and calculates a torque current command I q0 * corresponding to the average torque of the motor M.
  • the speed fluctuation suppression control unit 51 g calculates a pulsating torque current command I qsin * that changes in a sinusoidal manner, in order to suppress the speed fluctuation associated with the periodic torque fluctuation of the motor M. Specifically, the speed variation suppression control unit 51g performs rotation based on the rotation speed command ⁇ r * and the rotation speed deviation ⁇ r , for example, using a transfer function G (s) shown in the following equation (4). Pulsating torque current command I qsin * is calculated such that speed deviation ⁇ r becomes zero.
  • the subscript “sin” of the pulsating torque current command I qsin * indicates that the waveform is sinusoidal (sin curve shape). Further, s shown in the equation (4) is a Laplace operator, K 1 , K 2 and K 3 are control coefficients, and ⁇ 0 is a predetermined center frequency.
  • the transfer function G (s) shown in the equation (4) has a characteristic that it has sensitivity (gain) at a predetermined center frequency ⁇ 0 and almost no sensitivity to other frequencies. Therefore, by setting the value of the central frequency ⁇ 0 to the rotational speed command ⁇ r * , the speed fluctuation suppression control unit 51 g can be configured to react only to the angular frequency of the rotational speed command ⁇ r * . Thereby, it is possible to without raising almost the sensitivity of a frequency different from the rotational speed command omega r *, the rotation speed command omega r * of high sensitivity (high gain of). There is also an advantage that the rotational speed deviation ⁇ r can be made substantially zero.
  • a transfer function G (s) shown in the following equation (5) may be used instead of the equation (4).
  • K 4 and K 5 shown in the equation (5) are control coefficients, and ⁇ 0 is a predetermined center frequency.
  • FIG. 6 is a Bode diagram when the transfer function G (s) of equation (5) is used. As shown in FIG. 6, the gain and the phase are largely changed in the vicinity of the predetermined center frequency ⁇ 0 . As described above, by using the transfer function G (s) such as equation (5), it is possible to achieve high sensitivity (high gain) of the rotational speed command ⁇ r * .
  • the adder 51h shown in FIG. 5 is the sum of torque current command I q0 * , which is the calculation result of speed control unit 51 f, and pulsation torque current command I qsin * , which is the calculation result of speed variation suppression control unit 51 g (I By taking q0 * + I qsin * ), a new torque current command I q * is calculated.
  • the torque current command I q0 * is a current command value corresponding to the average torque of the motor M.
  • the pulsating torque current command I qsin * is a current command value for suppressing a periodic torque fluctuation.
  • the subtractor 51i shown in FIG. 5 is a difference between the torque current command I q * , which is the calculation result of the adder 51 h , and the torque current I qc (detection value), which is the calculation result of the three-phase / two-axis converter 51a.
  • I q * the torque current command
  • I qc detection value
  • Ke shown in equation (6) is the induced voltage constant, L d is d-axis inductance of the motor M, L q is q-axis inductance of the motor M.
  • the excitation current command I d * has been calculated based on the temporal average value of the torque current command I q * in equation (6).
  • the optimum phase control unit 51 j uses the equation (6) to calculate the exciting current command I d * based on the instantaneous value (rather than the temporal average value) of the torque current command I q * . Is calculated.
  • control unit 51 periodically changes the torque current I q in the positive region and periodically changes the excitation current I d in the negative region (see FIG. 7A). Then, the control unit 51, as the absolute value of the torque current I q is small, so that also decreases the absolute value of the exciting current I d. It is to be noted that each of the above-mentioned "positive side area” and “negative side area” includes a value of zero.
  • control unit 51 changes the excitation current Id in a sine wave so as to be in reverse phase to the sine wave torque current I q (see FIG. 7A).
  • the control unit 51 increases the torque current I q and increases the absolute value of the excitation current I d (negative value).
  • the loss can be reduced, such as a motor M.
  • the control unit 51 reduces the torque current I q .
  • the absolute value of the excitation current I d negative value
  • the current control unit 51m generates a second excitation current command I d ** such that the difference ⁇ I d that is the calculation result of the subtractor 51k and the difference ⁇ I q that is the calculation result of another subtractor 51i become zero. And a second torque current command I q ** .
  • Voltage command calculation unit 51 n is based on second excitation current command I d ** and second torque current command I q ** , using a known voltage equation to obtain voltage commands (V d * , V q * ).
  • the two-axis / three-phase conversion unit 51r generates three-phase voltage commands (V u * , V d * , V q * ) based on the phase ⁇ dc which is the calculation result of the integrator 51 d . Convert to V v * , V w * ).
  • the PWM signal generation unit 51s generates a PWM signal based on PWM control (Pulse Width Modulation control) based on the three-phase voltage commands (V u * , V v * , V w * ).
  • PWM control Pulse Width Modulation control
  • the PWM signal switches on / off of each switching element (not shown) of the inverter 30 (see FIG. 2).
  • FIG. 13A is a comparative example showing the waveform of the motor current in the dq coordinate system when the motor M is driven under the conditions shown in Table 1 based on the “torque control”.
  • the horizontal axis in FIG. 13A is the crank angle of the compressor 11 (see FIG. 2), and the vertical axis is the motor current (excitation current I d , torque current I q ).
  • the torque current I q changes in a sine wave so as to resist the periodically changing load torque.
  • the crank angle of the compressor 11 mechanical angle of the motor M
  • the excitation current Id is constant.
  • FIG. 13B is a comparative example showing waveforms of three-phase motor currents when the motor M is driven under the conditions shown in Table 1 based on “torque control”.
  • the horizontal axis in FIG. 13B is the crank angle of the compressor 11 (see FIG. 2), which corresponds to the crank angle in the horizontal axis of FIG. 13A. That is, the waveform diagram shown in FIG. 13B is obtained as a result of controlling the torque current I q and the excitation current I d of the motor M as shown in FIG. 13A.
  • the vertical axis in FIG. 13B is three-phase motor current (current of U-phase, V-phase, W-phase).
  • FIG. 7A is an experimental result showing a waveform of a motor current in a dq coordinate system when the motor M is driven under the conditions shown in Table 1 based on the “high efficiency torque control” of the present embodiment.
  • the control unit 51 sinusoidally changes the torque current I q so as to resist the periodically changing load torque. Further, the control unit 51 changes the excitation current Id in a sine wave so that the phase is opposite to that of the torque current Iq .
  • FIG. 7B is an experimental result showing a waveform of a three-phase motor current when the motor M is driven under the conditions shown in Table 1 based on the “high efficiency torque control” of this embodiment.
  • the crank angle on the horizontal axis in FIG. 7B corresponds to the crank angle on the horizontal axis in FIG. 7A.
  • the control unit 51 increases the absolute value of the excitation current I d (negative value) (see FIG. 7A). This makes it possible to reduce the peak of the peak value of the three-phase motor current because the reluctance torque is utilized to the maximum.
  • FIG. 13A even if the peak value of the torque current I q is relatively small (see FIG. 7A), a sufficient torque (pulsating torque) to resist the load torque can be obtained.
  • the control unit 51 reduces the absolute value of the excitation current I d (negative value). As a result, it is possible to suppress the wasteful flow of the three-phase motor current.
  • the crest value in the vicinity of the crank angle of 40 ° and 400 ° of the compressor 11 is smaller than that of the comparative example shown in FIG. 13B.
  • the peak value of the three-phase motor current in the region where output torque is almost unnecessary can be made close to zero. As a result, the loss of the motor M and the like can be significantly reduced as compared with the prior art.
  • the output torque T of the motor M is given by the following equation (7).
  • P m shown in the equation (7) is a pole pair number.
  • the exciting current i d by optimally controlled according to the torque current i q, it is possible to maximize the output torque T of the motor M (minimizing motor current).
  • FIG. 8 is a graph showing an effective value of motor current and motor copper loss in a comparative example, and an effective value of motor current and motor copper loss in the present embodiment.
  • a comparative example is an experimental result at the time of driving motor M on the conditions shown in Table 1 based on the above-mentioned "torque control.” Moreover, the motor M is driven under the conditions shown in Table 1 also in the present embodiment in which "high efficiency torque control" is performed.
  • the effective value of the motor current is smaller than that of the comparative example.
  • the motor copper loss is significantly reduced as compared with the comparative example.
  • the control unit 51 in accordance with the variation of the torque current I q, it executes the "high-efficiency torque control" to vary the excitation current I d.
  • the control unit 51 executes the "high-efficiency torque control" to vary the excitation current I d.
  • control unit 51 estimates the axial error ⁇ every moment based on the above equation (1) based on the instantaneous value of the torque current I qc and the instantaneous value of the excitation current I dc .
  • the axis error ⁇ can be calculated with high accuracy, and consequently, “high efficiency torque control” can be appropriately performed.
  • the second embodiment is different from the first embodiment in that a control unit 51A (see FIG. 9) of the motor drive device includes a torque pulsation estimation unit 51t (see FIG. 9).
  • the configuration of the speed fluctuation suppression control unit 51Ag (see FIG. 9) is different from that of the first embodiment.
  • the other aspects are the same as in the first embodiment. Therefore, only the parts different from the first embodiment will be described, and the descriptions of the overlapping parts will be omitted.
  • FIG. 9 is a block diagram of a control unit 51A provided in the motor drive device according to the second embodiment.
  • the control unit 51A includes a torque pulsation estimation unit 51t, a speed fluctuation suppression control unit 51Ag, and the like.
  • the torque pulsation estimation unit 51t estimates a torque pulsation component (periodic disturbance) in the motor M.
  • FIG. 10 is a configuration diagram including a torque pulsation estimation unit 51t of the motor drive device.
  • the torque pulsation estimation unit 51t includes a proportional gain calculation unit 511t and multipliers 512t and 513t.
  • the proportional gain calculation unit 511t multiplies the axis error ⁇ , which is the calculation result of the axis error calculation unit 51b, by a predetermined proportional gain (2J / P).
  • J included in the proportional gain (2J / P) is the inertia of the compressor 11 and the motor M, and P is the number of poles of the motor M.
  • the multiplier 512t calculates the square of the rotational speed ⁇ r of the motor M, which is the calculation result of the PLL circuit 51c.
  • the other multiplier 513t calculates a torque pulsation component ⁇ T m by multiplying the calculation result of the proportional gain calculation unit 511t and the calculation result of the multiplier 512t.
  • the torque pulsation component ⁇ T m is input to a speed fluctuation suppression control unit 51Ag (see FIG. 11) to be described next.
  • FIG. 11 is an explanatory diagram of the speed fluctuation suppression control unit 51Ag provided in the control unit 51A of the motor drive device.
  • the speed variation suppression control unit 51Ag includes a signal generation unit g1, a Fourier transform unit g2, an integral compensator g3, and a Fourier inverse transform unit g4.
  • the signal generator g1 generates signals of sin component and cos component of the rotational speed command ⁇ r * .
  • the Fourier transform unit g2 receives the torque pulsation component ⁇ T m and extracts the sin component and the cos component (first-order component) by Fourier transformation.
  • the integral compensator g3 is an integrator that calculates a predetermined sin component and cos component for zeroing the frequency component of the torque pulsation component ⁇ T m extracted by the Fourier transform unit g2.
  • the inverse Fourier transform unit g4 converts the calculation result (sin component and cos component) of the integral compensator g3 into a pulsation torque current command I qsin * by inverse Fourier transform.
  • Figure 12A is an explanatory diagram showing a relationship between a torque current i q and the q-axis inductance L q of the motor M.
  • the horizontal axis in FIG. 12A is the torque current iq
  • the vertical axis is the q-axis inductance Lq .
  • a calculation formula or data table indicating such a relationship may be stored in advance in the control unit 51, and the control unit 51 may calculate the q-axis inductance L q based on the momentary torque current i q .
  • the control unit 51 based on the torque current i q, estimated every moment of the q-axis inductance L q of the motor M, based on the q-axis inductance L q, estimates the axis error [Delta] [theta].
  • FIG. 12B is an explanatory diagram showing the relationship between the excitation current i d and the d-axis inductance L d of the motor M.
  • the horizontal axis in FIG. 12B is the excitation current i d is a negative value is obtained by multiplying the (-1) (-i d), the vertical axis represents the d-axis inductance L d.
  • the absolute value of the excitation current i d of the motor M approaches zero, d-axis inductance L d is gradually increased.
  • control unit 51 may calculate the d-axis inductance L d. By this, it is possible to calculate the axis error ⁇ of the above-mentioned equation (1) with higher accuracy.
  • the control unit 51 may estimate both the q-axis inductance L q and the d-axis inductance L d , or may estimate one of them.
  • the control unit 51 N order component included in the torque current i q (i.e., N order components in the Fourier analysis) in response to changes in, may be to vary the excitation current i d.
  • N is a natural number.
  • the control unit 51 may be changed excitation current i d. That is, in the torque current i q, orders based on the respective extraction result of different frequency components, the control unit 51 may be changed excitation current i d. By this, the vibration of the compressor 11 can be suppressed more effectively.
  • the present invention is not limited thereto. That is, the same control can be performed by using a value related to the vibration of the compressor 11 or the motor M (for example, the vibration acceleration of the motor M) or the fluctuation range of the axis error ⁇ .
  • the second embodiment the same applies to the second embodiment.
  • FIG. 5 was illustrated as the control part 51 with which the motor drive device 50 is equipped in 1st Embodiment, it does not restrict to this. That is, as the configuration of the control unit 51, another known configuration regarding position sensorless vector control may be used.
  • each embodiment demonstrated the structure which controls the motor M by a position sensor-less, it does not restrict to this.
  • each embodiment can be applied to a configuration in which the rotational position of the motor M is detected by a sensor (not shown). When such a sensor is provided, it is not necessary to calculate the axis error ⁇ .
  • each embodiment demonstrated the structure which drives the compressor 11 of the air conditioner 100 by the motor M, it does not restrict to this.
  • each embodiment can be applied to a configuration in which a motor (M) drives a compressor (load) that may cause periodic torque fluctuations, such as a refrigeration cycle apparatus such as a refrigerator.
  • each embodiment the compressor 11 in which one torque fluctuation occurs in one mechanical angle rotation of the motor M has been described, but the present invention is not limited thereto.
  • each embodiment can be applied to a reciprocating compressor widely used in a refrigeration cycle apparatus such as a refrigerator as well as a twin rotary compressor.
  • each embodiment is described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to one having all the configurations described. Moreover, it is possible to add, delete, and replace other configurations for part of the configurations of the respective embodiments.
  • each configuration, function, processing unit, processing means, etc. described above may be realized by hardware, for example, by designing part or all of them with an integrated circuit. Further, the mechanisms and configurations indicate what is considered to be necessary for the description, and not all the mechanisms and configurations are necessarily shown on the product.
  • Air Conditioner (Refrigeration Cycle Equipment) 10 Refrigerant circuit 11 Compressor 12 Four-way valve 13 Outdoor heat exchanger (condenser, evaporator) 14 Indoor heat exchanger (evaporator, condenser) DESCRIPTION OF SYMBOLS 15 Expansion valve 20 Converter 30 Inverter 40 Current detector 50 Motor drive device 51, 51A Control part 51a 2 axis conversion part 51b Axis

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PCT/JP2017/037212 2017-10-13 2017-10-13 モータ駆動装置、及びこれを備える冷凍サイクル装置、並びにモータ駆動方法 WO2019073599A1 (ja)

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000278982A (ja) * 1999-03-24 2000-10-06 Hitachi Ltd 永久磁石式同期モータの制御方法
JP2007259686A (ja) * 2005-08-26 2007-10-04 Sanyo Electric Co Ltd モータ制御装置
JP2010057217A (ja) * 2008-08-26 2010-03-11 Meidensha Corp 電動機のトルク脈動抑制装置および抑制方法
JP2012016276A (ja) * 2006-04-11 2012-01-19 Nsk Ltd モータ駆動制御装置及びこれを使用した電動パワーステアリング装置
WO2015129042A1 (ja) * 2014-02-28 2015-09-03 三菱電機株式会社 永久磁石式回転電動機の制御装置
JP2016082637A (ja) * 2014-10-14 2016-05-16 日立アプライアンス株式会社 モータ制御装置、圧縮機、空気調和機およびプログラム

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JP4481262B2 (ja) * 2006-03-17 2010-06-16 日本電産サーボ株式会社 ステッピングモータの制御装置
JP5462906B2 (ja) * 2012-04-16 2014-04-02 山洋電気株式会社 モータ制御装置
JP5791848B2 (ja) * 2013-04-10 2015-10-07 三菱電機株式会社 永久磁石型モータの制御装置

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000278982A (ja) * 1999-03-24 2000-10-06 Hitachi Ltd 永久磁石式同期モータの制御方法
JP2007259686A (ja) * 2005-08-26 2007-10-04 Sanyo Electric Co Ltd モータ制御装置
JP2012016276A (ja) * 2006-04-11 2012-01-19 Nsk Ltd モータ駆動制御装置及びこれを使用した電動パワーステアリング装置
JP2010057217A (ja) * 2008-08-26 2010-03-11 Meidensha Corp 電動機のトルク脈動抑制装置および抑制方法
WO2015129042A1 (ja) * 2014-02-28 2015-09-03 三菱電機株式会社 永久磁石式回転電動機の制御装置
JP2016082637A (ja) * 2014-10-14 2016-05-16 日立アプライアンス株式会社 モータ制御装置、圧縮機、空気調和機およびプログラム

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