WO2019087644A1 - Dispositif et procédé de commande de moteur - Google Patents

Dispositif et procédé de commande de moteur Download PDF

Info

Publication number
WO2019087644A1
WO2019087644A1 PCT/JP2018/036636 JP2018036636W WO2019087644A1 WO 2019087644 A1 WO2019087644 A1 WO 2019087644A1 JP 2018036636 W JP2018036636 W JP 2018036636W WO 2019087644 A1 WO2019087644 A1 WO 2019087644A1
Authority
WO
WIPO (PCT)
Prior art keywords
command value
voltage command
axis
value
wave control
Prior art date
Application number
PCT/JP2018/036636
Other languages
English (en)
Japanese (ja)
Inventor
健二 福田
敬夢 高田
Original Assignee
澤藤電機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 澤藤電機株式会社 filed Critical 澤藤電機株式会社
Priority to CN201880042412.8A priority Critical patent/CN110800206A/zh
Priority to DE112018005734.8T priority patent/DE112018005734T5/de
Publication of WO2019087644A1 publication Critical patent/WO2019087644A1/fr

Links

Images

Classifications

    • 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
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • H02P21/0021—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control using different modes of control depending on a parameter, e.g. the speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • 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
    • 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
    • H02P21/12—Stator flux based control involving the use of rotor position or rotor speed sensors
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2209/00—Indexing scheme relating to controlling arrangements characterised by the waveform of the supplied voltage or current
    • H02P2209/13—Different type of waveforms depending on the mode of operation

Definitions

  • the present invention relates to a motor control device and a motor control method which suppress torque fluctuation at the time of switching between sine wave control and rectangular wave control in the control of a PM motor.
  • Electric motors are used as power sources for many home appliances and machinery.
  • a permanent magnet is provided on the rotor side
  • an armature winding is provided on the stator side
  • a PM (Permanent Magnet) motor permanent magnet motor
  • a three-phase voltage command value Vu based on a torque command value instructed from the outside (a control unit of the upper level of the system, etc.) and the current torque T of the PM motor.
  • the three-phase voltage command values Vu, Vv, Vw are compared by a triangular wave to generate the drive signals Su, Sv, Sw while generating Vv, Vw.
  • the generation of the drive signals Su, Sv, Sw is often performed by switching between sine wave control and rectangular wave control according to the operation condition of the PM motor.
  • operation control is performed by sine wave control (PWM control) using a sine wave pattern with high motor efficiency in the middle and low speed rotation operating regions, and in the high speed rotation and high torque operating region, output voltage Operation control is performed by rectangular wave control using a rectangular wave pattern capable of high output and high output.
  • PWM control sine wave control
  • output voltage Operation control is performed by rectangular wave control using a rectangular wave pattern capable of high output and high output.
  • the sine wave pattern is a pattern of the drive signals Su, Sv, Sw generated by the triangular wave comparison of the three-phase voltage command values Vu, Vv, Vw whose amplitude peak does not exceed the apex of the triangular wave.
  • each of the three-phase voltage command values Vu, Vv, and Vw crosses the triangular wave twice in one electrical angle period, and the Hi period and the Low period are in one electrical angle period. It is a pattern of the drive signals Su, Sv, and Sw generated once each.
  • this overmodulation pattern is a three-phase voltage command value larger than the amplitude forming the sine wave pattern and smaller than the amplitude forming the rectangular wave pattern. It is a pattern of drive signals Su, Sv and Sw generated by Vu, Vv and Vw.
  • the present invention has been made in view of the above circumstances, and makes it possible to perform torque control by a command value even at the time of switching the control mode, and suppress motor torque fluctuation at the time of switching and is excellent in responsiveness and motor control method.
  • the purpose is to provide
  • An inverter 20 for causing the drive current Iu, Iv, Iw of three-phase AC to flow down to the PM motor 10, drive current detection units 12u, 12v for obtaining the values of the drive currents Iu, Iv, (Iw)
  • the angle detection unit 14 for acquiring the electrical angle ⁇ of the PM motor 10, and the drive currents Iu, Iv, and (Iw) acquired by the drive current detection units 12u and 12v based on the electrical angle ⁇
  • the d-axis current command value Id * and the q-axis current command value Iq * are set based on the torque command value T * from the outside and the three-phase / dq converter 22 that converts Id and q-axis feedback current value Iq.
  • Control unit 40 which generates d-axis voltage command value Vd and q-axis voltage command value Vq in the wave control mode, and voltage phase ⁇ v and voltage command value
  • the rectangular wave control unit 50 that generates the d axis voltage command value Vd and the q axis voltage command value Vq in the rectangular wave control mode, and the sine wave control unit 50 generates the d axis voltage command value Vd and the q axis voltage command value Vq 40 and the switching unit 24 which switches between the rectangular wave control unit 50 and the dq / 3 phase conversion unit which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw 32 and a drive signal generation unit 36 for generating drive signals Su, Sv and Sw for switching the inverter 20 by comparing the three-phase voltage command values Vu, Vv and Vw with the triangular wave of a predetermined
  • is acquired, and the transition voltage command value
  • the above problem is solved by providing a motor control device 100 which outputs and generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value
  • the inverter 20 which makes the PM motor 10 flow down three-phase AC drive currents Iu, Iv, Iw, the drive current detectors 12 u, 12 v which acquire the values of the drive currents Iu, Iv, (Iw)
  • the angle detection unit 14 for acquiring the electrical angle ⁇ of the PM motor 10, and the drive currents Iu, Iv, and (Iw) acquired by the drive current detection units 12u and 12v based on the electrical angle ⁇
  • the d-axis current command value Id * and the q-axis current command value Iq * are set based on the torque command value T * from the outside and the three-phase / dq converter 22 that converts Id and q-axis feedback current value Iq.
  • Control unit 40 which generates d-axis voltage command value Vd and q-axis voltage command value Vq in the wave control mode, and voltage phase ⁇ v and voltage command value
  • the rectangular wave control unit 50 that generates the d axis voltage command value Vd and the q axis voltage command value Vq in the rectangular wave control mode, and the sine wave control unit 50 generates the d axis voltage command value Vd and the q axis voltage command value Vq 40 and the switching unit 24 which switches between the rectangular wave control unit 50 and the dq / 3 phase conversion unit which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw 32 and a drive signal generation unit 36 for generating drive signals Su, Sv and Sw for switching the inverter 20 by comparing the three-phase voltage command values Vu, Vv and Vw with the triangular wave of a predetermined
  • the transition data Ifb for calculating the initial value Id * 1 of the d-axis current command value and the initial value Iq * 1 of the q-axis current command value while outputting to the wave control unit 40 is the d-axis feedback current value Id, q.
  • the mode transition unit 80 The voltage command value
  • in which Sv and Sw are sine wave patterns or overmodulation patterns is acquired, and the transition voltage command value
  • the voltage is continuously reduced to the sine wave mode transition voltage value
  • the inverter 20 for causing the drive current Iu, Iv, Iw of three-phase alternating current to flow down to the PM motor 10, the drive current detection units 12u, 12v for acquiring the values of the drive currents Iu, Iv, (Iw)
  • the angle detection unit 14 for acquiring the electrical angle ⁇ of the PM motor 10, and the drive currents Iu, Iv, and (Iw) acquired by the drive current detection units 12u and 12v based on the electrical angle ⁇
  • the d-axis current command value Id * and the q-axis current command value Iq * are set based on the torque command value T * from the outside and the three-phase / dq converter 22 that converts Id and q-axis feedback current value Iq.
  • Control unit 40 which generates d-axis voltage command value Vd and q-axis voltage command value Vq in the wave control mode, and voltage phase ⁇ v and voltage command value
  • the rectangular wave control unit 50 that generates the d axis voltage command value Vd and the q axis voltage command value Vq in the rectangular wave control mode, and the sine wave control unit 50 generates the d axis voltage command value Vd and the q axis voltage command value Vq 40 and the switching unit 24 which switches between the rectangular wave control unit 50 and the dq / 3 phase conversion unit which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw 32 and a drive signal generation unit 36 for generating drive signals Su, Sv and Sw for switching the inverter 20 by comparing the three-phase voltage command values Vu, Vv and Vw with the triangular wave of a predetermined
  • is acquired, and the transition voltage command value
  • the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the rectangular wave control unit 50 are used as the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value.
  • the transition data Ifb for calculating the initial value Id * 1 of the d-axis current command value and the initial value Iq * 1 of the q-axis current command value while outputting to the wave control unit 40 is the d-axis feedback current value Id, q.
  • output from the rectangular wave control unit 50 at the time of switching from the rectangular wave control mode to the sine wave control mode is acquired as an initial value of the transition voltage command value
  • in which Sv and Sw are sine wave patterns or overmodulation patterns is acquired, and the transition voltage command value
  • the voltage is continuously reduced to the sine wave mode transition voltage value
  • the switching unit 24 switches to a sine wave control mode by the sine wave control unit 40, Immediately after switching to the sine wave control mode, the initial value Vd1 of the d-axis voltage command value, the initial value Vq1 of the q-axis voltage command value, the initial value Id * of the d-axis current command value, the q-axis current Motor control characterized by generating a switching d-axis voltage command value Vd and a switching q-axis voltage command value Vq based on the initial value Iq * 1 of the command value and outputting the same to the dq / 3-phase converter 32.
  • the above problem is solved by providing the device 100. (5) The middle position of the falling edge of the triangular wave intersects the zero position of the rising edge of the three-phase voltage command values Vu, Vv, Vw, and the frequency of the triangular wave is set to the three-phase voltage command values Vu, Vv, Vw.
  • the above problem is solved by providing the motor control device 100 according to any one of the above (1) to (4), which is maintained at an integer multiple of an odd number 3 of the frequency.
  • An inverter 20 for causing the drive current Iu, Iv, Iw of three-phase AC to flow down to the PM motor 10, drive current detection units 12u, 12v for obtaining the values of the drive current Iu, Iv, (Iw)
  • the angle detection unit 14 for acquiring the electrical angle ⁇ of the PM motor 10, and the drive currents Iu, Iv, and (Iw) acquired by the drive current detection units 12u and 12v based on the electrical angle ⁇
  • the d-axis current command value Id * and the q-axis current command value Iq * are set based on the torque command value T * from the outside and the three-phase / dq converter 22 that converts Id and q-axis feedback current value Iq.
  • Control unit 40 which generates d-axis voltage command value Vd and q-axis voltage command value Vq in the wave control mode, and voltage phase ⁇ v and voltage command value
  • the rectangular wave control unit 50 that generates the d axis voltage command value Vd and the q axis voltage command value Vq in the rectangular wave control mode, and the sine wave control unit 50 generates the d axis voltage command value Vd and the q axis voltage command value Vq 40 and the switching unit 24 which switches between the rectangular wave control unit 50 and the dq / 3 phase conversion unit which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw
  • a drive signal generating unit 36 for generating drive signals Su, Sv, Sw for switching the inverter 20 by comparing 32 with the three-phase voltage command values Vu, Vv, Vw and a triangular wave of
  • the inverter 20 for causing the drive current Iu, Iv, Iw of three-phase AC to flow down to the PM motor 10, the drive current detection units 12u, 12v for acquiring the values of the drive currents Iu, Iv, (Iw)
  • the angle detection unit 14 for acquiring the electrical angle ⁇ of the PM motor 10, and the drive currents Iu, Iv, and (Iw) acquired by the drive current detection units 12u and 12v based on the electrical angle ⁇
  • the d-axis current command value Id * and the q-axis current command value Iq * are set based on the torque command value T * from the outside and the three-phase / dq converter 22 that converts Id and q-axis feedback current value Iq.
  • Control unit 40 which generates d-axis voltage command value Vd and q-axis voltage command value Vq in the wave control mode, and voltage phase ⁇ v and voltage command value
  • the rectangular wave control unit 50 that generates the d axis voltage command value Vd and the q axis voltage command value Vq in the rectangular wave control mode, and the sine wave control unit 50 generates the d axis voltage command value Vd and the q axis voltage command value Vq 40 and the switching unit 24 which switches between the rectangular wave control unit 50 and the dq / 3 phase conversion unit which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw
  • a drive signal generating unit 36 for generating drive signals Su, Sv, Sw for switching the inverter 20 by comparing 32 with the three-phase voltage command values Vu, Vv, Vw and a triangular wave of
  • the transition data Ifb for calculating the initial value Id * 1 of the d-axis current command value and the initial value Iq * 1 of the q-axis current command value while outputting to the wave control unit 40 is the d-axis feedback current value Id, q.
  • the mode transition unit 80 Acquiring the voltage command value
  • the above-mentioned subject is solved by providing the motor control method according to the above (7), characterized in that the switching unit 24 further includes the step of switching to the control mode by the sine wave control unit 40.
  • An inverter 20 for causing the drive current Iu, Iv, Iw of three-phase AC to flow down to the PM motor 10, drive current detection units 12u, 12v for obtaining the values of the drive currents Iu, Iv, (Iw)
  • the angle detection unit 14 for acquiring the electrical angle ⁇ of the PM motor 10, and the drive currents Iu, Iv, and (Iw) acquired by the drive current detection units 12u and 12v based on the electrical angle ⁇
  • the d-axis current command value Id * and the q-axis current command value Iq * are set based on the torque command value T * from the outside and the three-phase / dq converter 22 that converts Id and q-axis feedback current value Iq.
  • Control unit 40 which generates d-axis voltage command value Vd and q-axis voltage command value Vq in the wave control mode, and voltage phase ⁇ v and voltage command value
  • the rectangular wave control unit 50 that generates the d axis voltage command value Vd and the q axis voltage command value Vq in the rectangular wave control mode, and the sine wave control unit 50 generates the d axis voltage command value Vd and the q axis voltage command value Vq 40 and the switching unit 24 which switches between the rectangular wave control unit 50 and the dq / 3 phase conversion unit which converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw
  • a drive signal generating unit 36 for generating drive signals Su, Sv, Sw for switching the inverter 20 by comparing 32 with the three-phase voltage command values Vu, Vv, Vw and a triangular wave of
  • the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the rectangular wave control unit 50 are used as the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value.
  • the d-axis feedback current value Id includes transition data Ifb for calculating the initial value Id * 1 of the d-axis current command value and the initial value Iq * 1 of the q-axis current command value while outputting to the sine wave control unit 40.
  • the above problems are solved by providing a motor control method. (10) The middle position of the falling edge of the triangular wave intersects with the zero position of the rising edges of the three-phase voltage command values Vu, Vv, Vw, and the frequency of the triangular wave is set to the three-phase voltage command values Vu, Vv, Vw.
  • the above problem is solved by providing the motor control method according to any one of the above (6) to (9), which is maintained at an integer multiple of an odd number 3 of the frequency.
  • the drive signal is continuously generated between the sine wave pattern (over modulation pattern) and the rectangular wave pattern while performing torque control in the rectangular wave control mode when switching the control mode. Change to Thereby, it is possible to switch the control mode smoothly with little torque fluctuation. In addition, re-switching is possible even during the transition period, and responsiveness is high. Further, since torque control is performed in the transition period in the rectangular wave control mode, even if there is a change in the torque command value, the power supply voltage, or the rotational speed of the PM motor during the transition period, these changes are reflected as needed. There is no torque fluctuation at the time of mode switching.
  • FIG. 1 is a block diagram of a motor control device 100 according to the present invention.
  • the motor control device 100 controls the operation of the PM motor (permanent magnet motor) 10.
  • the inverter 20 causes the PM motor 10 to flow the three-phase AC drive currents Iu, Iv, Iw.
  • Drive current detection units 12u and 12v that obtain the values of the drive currents Iu, Iv and (Iw), an angle detection unit 14 that obtains the electric angle ⁇ of the PM motor 10, and drive current detection units 12u and 12v.
  • a three-phase / dq converter 22 for converting the acquired drive current Iu, Iv, (Iw) into a d-axis feedback current value Id, a q-axis feedback current value Iq, and an instruction from the outside (the upper control unit etc.
  • the inverter 20 constituting the motor control device 100 performs switching operation according to the Hi-Low drive signals Su, Sv and Sw outputted from the drive signal generation unit 36, and from a known DC power supply unit 18 such as a battery. Is converted into three-phase AC voltage based on the drive signals Su, Sv, Sw, and output. As a result, three-phase drive currents Iu, Iv, and Iw of which phases are shifted by 1 ⁇ 3 period (2 / 3 ⁇ (rad)) respectively flow down to the armature winding of the PM motor 10.
  • the PM motor 10 is provided with permanent magnets on the rotor side, and is provided with three-phase armature windings on the stator side, and the above-described drive current Iu is applied to the three-phase armature windings. By flowing Iv and Iw respectively, the magnetic pole and magnetic flux of each armature winding are continuously changed to rotate the rotor.
  • IPM Interior Permanent Magnet
  • drive current detection units 12 u and 12 v known current sensors capable of acquiring the drive currents Iu, Iv and Iw flowing down by the switching operation of the inverter 20 without contact can be used.
  • two drive currents Iu and Iv among the drive currents Iu, Iv and Iw are obtained and converted into d-axis and q-axis feedback current values Id and Iq.
  • the angle detection part 14 the well-known angle sensor which can acquire the angle of a rotor can be used. Above all, it is particularly preferable to acquire the electrical angle ⁇ of the PM motor 10 using a resolver rotation angle sensor.
  • the acquisition of the electrical angle ⁇ and the drive currents Iu and Iv is preferably performed at the timing of the peak and the valley of the triangular wave, and is preferably used in each part of the motor control apparatus 100 for each half cycle of the triangular wave.
  • the electrical angle ⁇ acquired by the angle detection unit 14 is also output to the angular velocity calculation unit 16, and the angular velocity calculation unit 16 calculates an electrical angular velocity ⁇ (rad / s) from the input electrical angle ⁇ . Output to each part of
  • the three-phase / dq conversion unit 22 obtains the drive current Iu, Iv, (Iw) obtained by the drive current detection units 12u, 12v based on the electrical angle ⁇ (rad) of the PM motor 10 obtained by the angle detection unit 14.
  • Three-phase to two-phase conversion and rotational coordinate conversion are performed on the values of d, and drive currents Iu, Iv, and (Iw) are converted to d-axis current values (current values for magnetic flux) Id and q-axis current values (current values for torque) Iq Convert. Then, these are output to the switching unit 24 as the d-axis feedback current value Id and the q-axis feedback current value Iq.
  • the switching unit 24 is a switching circuit that switches the method of generating the d-axis voltage command value Vd and the q-axis voltage command value Vq in accordance with the operating condition (torque, rotational speed) of the PM motor 10.
  • the PM motor 10 When operating in the area A (sine wave control area A) of FIG. 2, the PM motor 10 is operated in the sine wave control mode by the sine wave control unit 40. Further, when the PM motor 10 operates in the region B (rectangular wave control region B) of FIG. 2 with high rotational speed and high torque, the control of the PM motor 10 is switched to the rectangular wave control unit 50 and the rectangular wave control mode is selected. Make it work.
  • the switching value (switching line C) between the sine wave control area A and the rectangular wave control area B changes with the voltage value of the DC power supply unit 18. It is preferable that the switching value for each voltage value of the DC power supply unit 18 be preset in a memory unit or the like (not shown), and the switching unit 24 appropriately acquire and use the switching value according to the voltage value of the DC power supply unit 18 . In addition, when there is no matching voltage value, it is preferable to use an appropriate switching value acquired from the switching value of the voltage before and after by calculation or the like. And when the driving
  • a hysteresis width is given to the switching value at the time of switching from the sine wave control mode to the rectangular wave control mode and the switching value at the time of switching from the rectangular wave control mode to the sine wave control mode. It is preferable to prevent the frequent switching operation of the
  • the configuration and operation of the sine wave control unit 40 will be described. Since the configuration of the sine wave control unit 40 described below is an example suitable for the present invention, it is not limited to the following configuration, and any other sine wave control mechanism may be used.
  • a torque command value T * is output from the control unit or the like of the host system.
  • the torque command value T * is a torque serving as an operation target of the PM motor 10.
  • the torque command value T * is input to the current command value setting unit 402 of the sine wave control unit 40 when the switching unit 24 selects the sine wave control unit 40. Further, the current torque T of the PM motor 10 is input to the current command value setting unit 402 from the torque calculation unit 404.
  • the torque calculation unit 404 has an induced voltage constant ⁇ a as a motor parameter of the PM motor 10, a d-axis inductance Ld, a q-axis inductance Lq, and the like.
  • the induced voltage constant ⁇ a, the d-axis inductance Ld, and the q-axis inductance Lq may be fixed values set in advance, or appropriate values set in advance according to the temperature and operating conditions of the PM motor 10, for example, a data table You may make it acquire suitably from etc.
  • the torque calculation unit 404 generates these values and the d-axis and q-axis feedback current values Id and Iq described later or the d-axis and q-axis current command values Id * and Iq * output from the current command value generation unit 406.
  • the present torque T of the PM motor 10 is calculated based on, for example, the following equation. In this example, the torque T is calculated based on the d-axis and q-axis current command values Id * and Iq * .
  • T P ( ⁇ aIq * + (Ld ⁇ Lq) Id * Iq * ) [N ⁇ m]
  • P number of poles of permanent magnet of PM motor
  • ⁇ a induced voltage constant
  • Ld d-axis inductance
  • Lq q-axis inductance
  • current command value setting unit 402 sets current command value Ia * such that torque T takes torque command value T * based on torque command value T * and current torque T
  • current command value generation unit 406 Output to The current command value Ia * may be calculated by an operation such as integral control or proportional control.
  • a limiter value may be set to the current command value Ia *, and the limiter value may be read out from the table data in accordance with the electrical angular velocity ⁇ and the power supply voltage Vdc. Alternatively, only the maximum value of the limiter may be set and used.
  • current command value generation unit 406 obtains current phase angle ⁇ i of current command value Ia * input from current command value setting unit 402 from table data etc., and generates current command value Ia * and current phase angle ⁇ i. Based on the command, the d-axis current command value Id * and the q-axis current command value Iq * are calculated and output to the voltage command value generation unit 416 of the sine wave control unit 40.
  • the motor voltage is obtained from the well-known arithmetic equation and the above-mentioned motor parameters (.phi.a, Ld, Lq), electric angular velocity .omega., D-axis and q-axis current command values Id * and Iq *.
  • the d-axis and q-axis current command values Id * and Iq * so as not to exceed the value of K ⁇ Vdc (K: voltage utilization setting value), between the sine wave control area and the rectangular wave control area It is possible to provide an over modulation control and a flux-weakening control area on the medium, and to improve the output in the medium and high speed operation area. Also, by changing the voltage utilization factor K, the d-axis and q-axis current command values Id * and Iq * can be set with an arbitrary voltage utilization factor.
  • the adjustment of the d-axis and q-axis current command values Id * and Iq * using the voltage utilization factor K is performed using the above-mentioned motor parameters ( ⁇ a, Ld and Lq), the electric angular velocity ⁇ from the angular velocity calculation unit 16, and DC It is preferable to carry out by known voltage control, proportional control, integral control or the like based on the power supply voltage Vdc or the like from the power supply unit 18. Alternatively, it may be calculated by calculation such as integral control or proportional control with respect to the current phase angle ⁇ i. Furthermore, current limiters may be provided as necessary for the d-axis current command value Id * and the q-axis current command value Iq * .
  • the d-axis and q-axis current command values Id * and Iq * input to the voltage command value generation unit 416 are branched into two, and one is input to the non-interference control unit 414.
  • the non-interference control unit 414 calculates velocity electromotive force components that interfere between the d-axis and q-axis current command values Id * and Iq * , and controls the current as d-axis and q-axis voltage command values Vd 'and Vq'. It is output to the part 410.
  • the other of the d-axis and q-axis current command values Id * and Iq * is subjected to current control after the subtraction unit 412 subtracts the d-axis and q-axis feedback current values Id and Iq into fluctuation components ⁇ Id and ⁇ Iq. Input to the part 410.
  • the current control unit 410 includes, for example, a current integration control unit 410a and a current proportional control unit 410b.
  • the fluctuation components ⁇ Id and ⁇ Iq input to the current control unit 410 are branched into two, and the current integration control unit 410a and the current proportional Input to each of the control units 410b. Then, well-known current integration control is performed in the current integration control unit 410a. Also, known current proportional control is performed in the current proportional control unit 410b.
  • the output from the current proportional control unit 410b is added and the d-axis voltage is added.
  • a command value Vd and a q-axis voltage command value Vq are generated.
  • the d-axis voltage command value Vd and the q-axis voltage command value Vq are output to the control signal generation unit 30 via the switching unit 24.
  • Current control unit 410 sets the maximum voltage (one-pulse rectangular wave voltage) at which three-phase voltage command values Vu, Vv, Vw based on d-axis, q-axis voltage command values Vd, Vq become output limits of inverter 20. It is preferable to provide a limiter unit that limits the voltage not to be in the vicinity of the The limiter unit is preferably provided in the previous stage to which the output from the current proportional control unit 410b is added. Further, it is preferable to set the limit voltage of the limiter unit according to the number of synchronizations of the triangular wave set by the synchronization control unit 420 described later.
  • the d-axis and q-axis voltage command values Vd ′ ′ and Vq ′ ′ of the previous stage to which the output of the current proportional control unit 410 b is added are output to the polar coordinate conversion unit 418 of the sine wave control unit 40.
  • Polar coordinate conversion is performed in step (d) to obtain a voltage phase ⁇ v and a voltage command value
  • polar coordinate conversion unit 418 outputs voltage phase ⁇ v to synchronization control unit 420 and mode transition unit 80.
  • is output to linear correction unit 38 and mode transition unit 80.
  • the synchronous control unit 420 of the sine wave control unit 40 generates carrier setting information Sc of a triangular wave to be described later from the voltage phase ⁇ v, the electrical angular velocity ⁇ , and the electrical angle ⁇ obtained by the polar coordinate conversion unit 418. Output to The carrier setting information Sc will be described later.
  • the configuration of the rectangular wave control unit 50 described below is an example suitable for the present invention, and is not limited to the following configuration, and any other rectangular wave control mechanism may be used.
  • the switching unit 24 controls the PM motor 10 to a sine wave control unit when the PM motor 10 is operated in the high rotation speed / high torque operation region B beyond the switching value (switching line C) in FIG. 2. 40 is switched to the rectangular wave control unit 50. The switching operation at this time will be described later.
  • torque command value T * is input to voltage phase setting unit 502 of rectangular wave control unit 50.
  • the d-axis feedback current value Id and the q-axis feedback current value Iq are input to the torque calculation unit 504 of the rectangular wave control unit 50.
  • the torque calculation unit 504 has motor parameters in the same manner as the torque calculation unit 404 of the sine wave control unit 40, and the current of the PM motor 10 is obtained from these motor parameters and the d-axis and q-axis feedback current values Id and Iq.
  • the torque T is calculated and output to the voltage phase setting unit 502.
  • voltage phase setting unit 502 generates voltage phase ⁇ v such that PM motor 10 operates with a target torque from integral torque command value T * and torque T by integral control, proportional control, or the like.
  • the voltage command value generation unit 516 of the rectangular wave control unit 50 and the synchronization control unit 520 are output.
  • the synchronization control unit 520 generates carrier setting information Sc for setting a triangular wave from the voltage phase ⁇ v, the electrical angular velocity ⁇ , and the electrical angle ⁇ .
  • the carrier setting information Sc will be described later. Further, the synchronization control unit 520 crosses the triangular wave and the three-phase voltage command values Vu, Vv, Vw twice in one cycle of the three-phase voltage command values Vu, Vv, Vw, that is, The voltage command value
  • by synchronization control unit 520 sets the value of voltage command value
  • that forms this rectangular wave is also preferably used as a rectangular wave forming voltage value
  • voltage command value generation unit 516 generates d-axis voltage command value Vd and q-axis voltage command from voltage phase ⁇ v input from voltage phase setting unit 502 and voltage command value
  • the rectangular wave control unit 50 may have a correction unit 70 that corrects a fluctuation component due to an offset or the like.
  • a correction unit 70 that corrects a fluctuation component due to an offset or the like.
  • an example of the correction unit 70 is shown below.
  • the configuration of the correction unit 70 described below is an example suitable for the present invention, and is not limited to the following configuration.
  • the correction unit 70 illustrated in the present example includes a smoothing unit 72, a correction current generation unit 74, a correction voltage generation unit 76, and a voltage command value correction unit 78. Then, the smoothing unit 72 of the correction unit 70 smoothes the d-axis and q-axis feedback current values Id and Iq input through the switching unit 24 by performing, for example, moving average processing or annealing processing.
  • the smoothing process is a process of smoothing the input signal (d-axis, q-axis feedback current values Id, Iq) by performing the process of the following equation (1) at an arbitrary cycle. means.
  • A is an input value (d-axis, q-axis feedback current value Id, Iq)
  • B is an output value after the averaging process of the immediately preceding cycle
  • K is an averaging constant
  • C is an output It is a value (estimated d axis, q axis current command value Id * , Iq * ).
  • pseudo estimated d-axis current command value Id * and estimated q-axis current command value Iq * are obtained by smoothing the fluctuation components caused by the offsets and amplitude imbalances of drive currents Iu, Iv, Iw. It is generated. Then, the estimated d-axis and q-axis current command values Id * and Iq * are output to the correction current generation unit 74.
  • the correction current generation unit 74 receives the d-axis feedback current value Id and the q-axis feedback current value Iq, respectively.
  • the correction current generation unit 74 generates the estimated d-axis current command value Id * generated by the smoothing unit 72 .
  • the d-axis feedback current value Id and the q-axis feedback current value Iq are respectively subtracted from the estimated q-axis current command value Iq * .
  • the d-axis correction current ⁇ Id and the q-axis correction current ⁇ Iq as fluctuation components are generated.
  • the d-axis correction current ⁇ Id and the q-axis correction current ⁇ Iq are output to the correction voltage generation unit 76.
  • the d-axis correction current ⁇ Id and the q-axis correction current ⁇ Iq are offsets and amplitudes from the estimated d-axis and q-axis current command values Id * and Iq * obtained by smoothing offset and amplitude imbalance components (variation components). Since the d-axis and q-axis feedback current values Id and Iq including the component of the balance (the fluctuation component) are respectively subtracted, the reverse phase of the fluctuation component is basically taken.
  • the correction voltage generation unit 76 generates the d-axis correction voltage ⁇ Vd from the d-axis correction current ⁇ Id and the q-axis correction current ⁇ Iq input from the correction current generation unit 74, for example, by proportional control with predetermined correction gains (Kd, Kq).
  • the q axis correction voltage ⁇ Vq is generated and output to the voltage command value correction unit 78.
  • Voltage command value correction unit 78 outputs d-axis voltage command value Vd and q-axis voltage command value Vq which output d-axis correction voltage ⁇ Vd and q-axis correction voltage ⁇ Vq input from correction voltage generation unit 76 from voltage command value generation unit 516 Add to each. Therefore, the d-axis and q-axis voltage command values Vd and Vq generated in this way are the opposite voltages of the offset and amplitude imbalance components generated in the drive currents Iu, Iv and Iw (d-axis, q-axis correction voltages ⁇ Vd, ⁇ Vq) Will be added.
  • the d-axis voltage command value Vd and the q-axis voltage command value Vq are input to the control signal generation unit 30 via the switching unit 24.
  • the d-axis voltage command value Vd and the q-axis voltage command value Vq corrected by the above correction unit 70 are driven by the offset and the voltage opposite to the amplitude imbalance component as described above.
  • the offset or the like of the PM motor 10 is corrected and eliminated.
  • the carrier setting information Sc maintains the frequency of the triangular wave generated by the triangular wave generator 34 in an appropriate state.
  • the central position of the falling edge of the triangular wave intersects the zero position of the rising of the three-phase voltage command values Vu, Vv, Vw.
  • the frequency of the triangular wave is an integer multiple of three of the three-phase voltage command values Vu, Vv and Vw, that is, 9, 15, 21 and 27 times (hereinafter this multiple will be the synchronization number) It is a thing.
  • the number of synchronizations of the triangular wave is set according to the electrical angular velocity ⁇ . Further, the reason for setting the frequency of the triangular wave to an integer multiple of odd three of the frequency of the three-phase voltage command values Vu, Vv, Vw will be described later.
  • the voltage phase ⁇ v used to generate the carrier setting information Sc a voltage obtained from the d-axis and q-axis voltage command values Vd ′ ′ and Vq ′ ′ (before output addition of the current proportional control unit 410b)
  • the phase ⁇ v or the voltage phase ⁇ v branched before the correction unit 70 (where proportional control is performed) is used.
  • the voltage phase ⁇ v includes a proportional control component which is a short-term vibration component
  • the period of the triangular wave (carrier setting information Sc) also vibrates in a short period according to the proportional control component.
  • the synchronous control units 420 and 520 cross the center position of the triangular wave and the zero position of the three-phase voltage command value Vu (Vv, Vw) based on the voltage phase ⁇ v and the electrical angle ⁇ , and the triangular wave frequency is set.
  • the cycle of the triangular wave is set such that the number of synchronizations (three-phase voltage command values Vu, Vv, and an integer multiple of odd 3 of the frequency of Vw) is obtained.
  • the synchronization control units 420 and 520 change the setting information of the cycle in conjunction with the change of the electrical angular velocity ⁇ , and follow the above-mentioned state and maintain the triangular wave.
  • the synchronization control units 420 and 520 lower the number of synchronizations by one step to set and output the carrier setting information Sc. If the electrical angular velocity ⁇ falls below a predetermined value, the number of synchronizations is increased by one step to set and output the carrier setting information Sc. Note that the value of the electrical angular velocity ⁇ for changing the number of synchronizations is stored in advance in a data table etc. for each synchronization number, and the synchronization control units 420 and 520 select the corresponding synchronization number from the data table according to the input electrical angular velocity ⁇ . It is preferable to acquire and set.
  • the correction gain (Kd, Kq) of the correction voltage generation unit 76, the time constant of the smoothing unit 72, the gain of each control, etc. are adjusted and reset in conjunction with the change of the cycle of the triangular wave.
  • control signal generator 30 Since the configuration of the control signal generation unit 30 described below is an example suitable for the present invention, it is not limited to the following configuration, and any other control signal generation mechanism may be used.
  • the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the sine wave control unit 40 or the rectangular wave control unit 50 are input to the dq / 3 phase conversion unit 32 of the control signal generation unit 30.
  • the control signal generation unit 30 generates d-axis and q-axis voltage command values Vd and Vq and voltage command value
  • a linear correction unit 38 may be provided to correct non-linearity of the output voltage with the fundamental wave component.
  • the correction value used by the linear correction unit 38 is preferably set in correspondence with, for example, the modulation factor or the voltage command value
  • input to the linear correction unit 38 is obtained from the d-axis and q-axis voltage command values Vd ′ ′ and Vq ′ ′ (before output addition of the current proportional control unit 410b).
  • Synchronous control does not include short-term vibration components of the d-axis correction voltage ⁇ Vd and q-axis correction voltage ⁇ Vq of the correction unit 70) before the voltage command value
  • ) output from the unit 520 is used.
  • the correction value fluctuates due to the influence of the vibration component.
  • the three-phase voltage command values Vu, Vv, Vw and the drive signals Su, Sv, Sw at the subsequent stages also fluctuate, which causes fluctuation of the output voltage, current, torque.
  • the correction value is set based on the relatively stable voltage command value
  • not including the proportional control component it is possible to make the gains of the current proportional control unit 410b and the correction voltage generation unit 76 large. Can be improved.
  • the electrical angle ⁇ from the angle detection unit 14 and the electrical angular velocity ⁇ from the angular velocity calculation unit 16 are input to the dq / 3 phase conversion unit 32, and the inverter 20 switches based on the electrical angle ⁇ and the electrical angular velocity ⁇ .
  • a predicted electrical angle ⁇ 'at a new timing for operation is calculated, and the d-axis and q-axis voltage command values Vd and Vq are converted into three-phase voltage command values Vu, Vv and Vw based on the predicted electrical angle ⁇ '. , And output to the drive signal generator 36.
  • the drive signal generation unit 36 includes a triangular wave generation unit 34.
  • the above-mentioned carrier setting information Sc is input to the triangular wave generation unit 34, and a triangular wave having a cycle based on the carrier setting information Sc is generated.
  • the triangular wave at this time has the center position of the falling edge of the triangular wave intersecting the zero position of the rising edges of the three-phase voltage command values Vu, Vv, Vw according to the carrier setting information Sc from the synchronization control unit 420, 520.
  • the three-phase voltage command values Vu, Vv, and Vw become a triangular wave that is an integer multiple of three.
  • the drive signal generation unit 36 compares the triangular wave with the three-phase voltage command values Vu, Vv and Vw, respectively.
  • the amplitude of the triangular wave increases or decreases according to the above carrier setting information Sc. Therefore, the three-phase voltage command values Vu, Vv, Vw are adjusted by a conversion factor proportional to the amplitude of the triangle wave, and the triangle wave comparison is performed using the adjusted three-phase voltage command values Vu, Vv, Vw.
  • Hi-Low drive signals Su, Sv and Sw are generated.
  • the internal switching elements are turned on / off by the drive signals Su, Sv, Sw output from the drive signal generation unit 36, and the DC power from the DC power supply unit 18 is AC voltage based on the drive signals Su, Sv, Sw Convert to and output.
  • alternating-current drive currents Iu, Iv, Iw whose phases are shifted by 1/3 period (2 / 3 ⁇ (rad)) respectively flow down to the armature winding of the PM motor 10.
  • the PM motor 10 rotates at a torque corresponding to the torque command value T * .
  • FIG. 4 is an operation flowchart at the time of switching from the sine wave control mode to the rectangular wave pattern control mode.
  • FIG. 5 is an operation flowchart at the time of switching from the rectangular wave control mode to the sine wave control mode.
  • the sine wave control unit 40 In the sine wave control mode, the sine wave control unit 40 generates the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the torque command value T * , and the d-axis voltage command value Vd and the q-axis voltage Drive signals Su, Sv and Sw are generated based on the command value Vq.
  • the drive signals Su, Sv, and Sw at this time have a sine wave pattern or an overmodulation pattern when the sine wave control unit 40 enables the overmodulation control or the flux-weakening control.
  • the sine wave control unit 40 When the sine wave control unit 40 does not have the overmodulation control function or the flux-weakening control function, it has a sine wave pattern.
  • the PM motor 10 is controlled in operation by the drive signals Su, Sv, Sw of the sine wave pattern or the overmodulation pattern (step S102).
  • polar coordinate conversion section 418 of sine wave control section 40 calculates the d-axis and q-axis voltage command values Vd ′ ′ and Vq ′ ′ before the current proportional control component in current control section 410 is added as described above.
  • mode transition unit 80 obtains voltage phase ⁇ v and voltage command value
  • fluctuate as needed, and the initial values of the initial voltage phase ⁇ v1 and the transition voltage command value
  • are obtained from the d-axis and q-axis voltage command values Vd ′ ′ and Vq ′ ′ not including the proportional control component. It is possible to stabilize the output during the transition period which will be described later because there is little short-term fluctuation.
  • Step S106 Yes
  • the switching unit 24 immediately switches the generation unit of the d-axis voltage command value Vd and the q-axis voltage command value Vq from the sine wave control unit 40 to the rectangular wave control unit 50 (step S108).
  • the control unit switches to the rectangular wave control unit 50, whereby steps S203 and S204 described below are performed.
  • the d-axis and q-axis voltage command values Vd and Vq to be output are output to the sine wave control unit 40 as the initial values Vd1 and Vq1 of the d-axis and q-axis voltage command values, and the d-axis feedback current value Id and q-axis feedback Transition data Ifb is calculated based on current value Iq.
  • the mode transition unit 80 acquires from the synchronization control unit 520 a rectangular wave formation voltage value
  • the mode transition unit 80 continuously changes the transition voltage command value
  • from an initial value (
  • the synchronous control unit 520 does not depend on the torque command value T *, and the voltage command value
  • the initial voltage phase ⁇ v1 is only output when switching the control unit to the rectangular wave control unit 50, and thereafter becomes a voltage phase ⁇ v corresponding to the torque command value T * . Therefore, the d-axis and q-axis voltage command values Vd and Vq in the transition period from step S114 to step S116 are generated based on the voltage phase ⁇ v and the transition voltage command value
  • is the voltage command value
  • step S116 If the transition voltage command value
  • the drive signals Su, Sv, Sw are sineed while performing torque control by the voltage phase ⁇ v.
  • the wave pattern (or overmodulation pattern) is continuously changed to a rectangular wave pattern. Therefore, it is possible to switch the control mode smoothly with little torque fluctuation.
  • the rectangular wave control unit 50 In the rectangular wave control mode, the rectangular wave control unit 50 generates the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the torque command value T * , and the d-axis voltage command value Vd and the q-axis voltage Drive signals Su, Sv and Sw are generated based on the command value Vq.
  • the drive signals Su, Sv and Sw at this time basically have a rectangular wave pattern of one pulse as described above.
  • the PM motor 10 is controlled in operation by the drive signals Su, Sv, Sw of this rectangular wave pattern (step S202).
  • the d-axis and q-axis voltage command values Vd and Vq output from the rectangular wave control unit 50 are sent to the voltage command value generation unit 416 of the sine wave control unit 40
  • the value is output as the initial value Vd1, Vq1 directly or through the mode transition unit 80 (step S203).
  • interference components between the d-axis and q-axis of the non-interference control unit 414 (d-axis and q-axis voltage command values Vd ', Vq') Are respectively subtracted, and then input to the current integration control unit 410 a to be an integral value of the current control unit 410.
  • the integral value or the like of the current control unit 410 does not participate in the control of the PM motor 10.
  • the initial values Vd1 and Vq1 change at any time according to the fluctuation of the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the rectangular wave control unit 50.
  • the mode transition unit 80 acquires the d-axis feedback current value Id and the q-axis feedback current value Iq from the three-phase / dq conversion unit 22. Then, the transition data Ifb for calculating the initial value Id * 1 of the d-axis current command value and the initial value Iq * 1 of the q-axis current command value are calculated (step S204). Note that this transition data Ifb is, for example, the integral value of the integral control unit in the current command value setting unit 402, the current command value generation unit 406, and the like obtained by calculation using the d-axis and q-axis feedback current values Id and Iq.
  • Step S206 Yes
  • the mode transition unit 80 acquires the voltage command value
  • for example, use a preset fixed value such as the upper limit value of the voltage command value
  • the mode transition unit 80 continuously changes the transition voltage command value
  • from the initial value (
  • the synchronization control unit 520 does not depend on the torque command value T * , and the shift voltage command value
  • the initial value (
  • is a voltage command value during rectangular wave control, and is a final value of transfer voltage command value
  • step S216 If the transition voltage command value
  • the current command value setting unit 402 and the current command value generation unit 406 calculate the initial value Id * 1 of the d-axis current command value and the initial value Iq * 1 of the q-axis current command value based on the transition data Ifb.
  • the voltage command value generation unit 416 outputs the same.
  • the sine wave control unit Immediately after switching to 40, based on the initial values Vd1, Vq1 of these d-axis and q-axis voltage command values, the initial value Id * 1 of d-axis current command value, and the initial value Iq * 1 of q-axis current command value.
  • the switching d-axis voltage command value Vd and the switching q-axis voltage command value Vq are generated and output to the control signal generator 30 (step S222).
  • the PM motor 10 is controlled by the drive signals Su, Sv, Sw based on the switching d-axis voltage command value Vd and the switching q-axis voltage command value Vq.
  • the motor control device 100 shifts completely to the sine wave control mode by the sine wave control unit 40 (step S224).
  • the sine wave control unit 40 generates d-axis and q-axis voltage command values Vd and Vq from the d-axis current command value Id * and the q-axis current command value Iq * corresponding to the torque command value T *.
  • the PM motor 10 is controlled in operation by the drive signals Su, Sv, Sw of the sine wave pattern or the overmodulation pattern.
  • the drive signals Su, Sv, Sw are rectangular while performing torque control by the voltage phase ⁇ v.
  • the wave pattern is continuously changed to a sine wave pattern (or overmodulation pattern), and switching to the sine wave control mode is performed when the sine wave pattern (or overmodulation pattern) is obtained.
  • the switching time d-axis, q-axis voltage command values Vd, Vq are generated based on the initial value Iq * 1) of the q-axis current command value, and the operation control of the PM motor 10 is performed. For this reason, it is possible to switch the control mode smoothly and continuously with little control torque fluctuation before and after the switching of the control unit.
  • is performed during the transition period at the time of mode switching. Therefore, even when the operating condition of the PM motor 10 changes during the transition period and it becomes necessary to switch again, it is possible to shift to the reswitching operation as it is.
  • step S218 switching to the sine wave control mode can be performed at step S218 to step S224.
  • step S110 switching to step S116 as it is, and then the rectangular wave control mode by the rectangular wave control unit 50 Control can be continued.
  • the motor control device 100 and the motor control method according to the present invention can cope with reswitching of the control mode also during the transition period, and also the voltage phase based on the torque command value T * during the transition period. Since torque control is performed by ⁇ v, operation control with excellent responsiveness can be performed.
  • the sine wave control unit 40 of the motor control device 100 corresponds to overmodulation control and flux-weakening control, and has a rectangular wave forming voltage value
  • equivalent to that of the rectangular wave control unit 50 in the control area of the overmodulation pattern.
  • the triangular wave of the motor control device 100 and the motor control method according to the present invention will be described.
  • the central position of the falling edge of the triangular wave intersects the rising zero position of the three-phase voltage command values Vu, Vv, Vw as described above, and the frequency of the three-phase voltage command values Vu, Vv, Vw
  • the frequency is an integer multiple of three odd numbers.
  • FIG. 6 (a1) a triangular wave with three-phase voltage command values Vu and Vv when the frequency of the triangular wave is six times (an integer multiple of 3 of even numbers) of the three-phase voltage command value Vu (Vv, Vw)
  • the schematic diagram of a comparison is shown.
  • 6 (a2) and 6 (a3) show drive signals Su and Sv generated by this triangular wave comparison.
  • FIG. 6 (a4) shows the output line voltage Vuv between the U-phase and the V-phase at this time.
  • FIG. 6 (b1) the triangular wave comparison with the three-phase voltage command values Vu and Vv when the frequency of the triangular wave is nine times (integer multiple of 3 of odd number) of the three-phase voltage command value Vu (Vv, Vw)
  • Shows a schematic diagram of 6 (b2) and 6 (b3) show drive signals Su and Sv generated by this triangular wave comparison.
  • FIG. 6 (b4) shows the output line voltage Vuv between the U-phase and the V-phase at this time.
  • the frequency of the triangular wave is an integral multiple of three of the three-phase voltage command values Vu, Vv, Vw
  • the zero position of the three-phase voltage command value Vu and the triangular wave are shown in the portion shown by the one-dot chain line in FIG. And the center position of both intersect in the falling area.
  • the slopes of the three-phase voltage command values Vu, Vv, Vw partially approximate the triangle wave (the two overlap).
  • the drive signals Su, Sv, and Sw change from a sine wave pattern (overmodulation pattern) to a rectangular wave pattern, there is a possibility that a discontinuous or abrupt change may occur. It becomes.
  • the frequency of the triangular wave is an integer multiple of the odd number 3 of the three-phase voltage command values Vu, Vv, Vw, as shown by the one-dot chain line in FIG. 6 (b1)
  • the falling region of the three-phase voltage command value Vu The zero position at crosses at the center position of the rising of the triangular wave. That is, in the case of an integer multiple of three, the zero position in the falling region of the three-phase voltage command values Vu, Vv, Vw basically intersects in the rising region of the triangular wave, and the three-phase voltage command value Vu, The zero positions in the rising regions of Vv and Vw intersect in the falling region of the triangular wave. For this reason, the continuity of the drive signals Su, Sv, Sw is well maintained, and stable drive signals Su, Sv, Sw can be generated.
  • the waveform of the output line voltage Vuv becomes asymmetric in the upper and lower.
  • an offset component or distortion may occur in the drive currents Iu, Iv, Iw, which is not preferable as a control signal of the PM motor 10.
  • the frequency of the triangular wave is set to an integer multiple of three of the three-phase voltage command values Vu, Vv, Vw, as shown in FIG. 6 (b4)
  • the waveform of the output line voltage Vuv is vertical and horizontal. It becomes symmetrical.
  • the output line voltages Vvw and Vwu have symmetry, and stable control of the PM motor 10 is possible.
  • the last voltage phase ⁇ v in the sine wave control mode is taken as the initial voltage phase ⁇ v1.
  • is output to the voltage phase setting unit 502 and torque control is performed by the voltage phase ⁇ v, and the rectangular wave formation voltage value
  • Va1 increases continuously to
  • is from the last voltage command value
  • the drive signals Su, Sv, and Sw change continuously from the rectangular wave pattern to the sine wave pattern (or overmodulation pattern) to the sine wave pattern (or overmodulation pattern).
  • switching to the sine wave control unit 40 is performed.
  • the aforementioned switching d-axis voltage command value Vd and switching q-axis voltage command value Vq are outputted, and thereafter, the control mode is completely shifted to the sine wave control mode.
  • torque control is performed by the voltage phase ⁇ v based on the torque command value T * even during the transition period at the time of switching.
  • the middle position of the falling edge of the triangular wave intersects the rising zero position of the three-phase voltage command values Vu, Vv, Vw, and the three-phase voltage command value Vu
  • the frequency of an integer multiple of three of the frequencies of Vv and Vw is used.
  • the motor control device 100 and the motor control method described in this embodiment are an example, and the configuration, operation, and configuration of each step of the control signal generation unit 30, the sine wave control unit 40, the rectangular wave control unit 50, etc. Can be modified and implemented without departing from the scope of the present invention.

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Inverter Devices (AREA)

Abstract

Le problème décrit par la présente invention est de fournir un dispositif de commande de moteur et un procédé de commande de moteur permettant une commande de couple par une valeur de commande même pendant la commutation de modes de commande, de supprimer une variation de couple pendant la commutation, et une excellente réactivité. La solution selon l'invention porte sur un dispositif de commande de moteur (100) et un procédé de commande de moteur, dans lesquels lors du passage d'un mode de commande d'onde sinusoïdale à un mode de commande d'onde carrée, la dernière phase de tension θv pendant le mode de commande d'onde sinusoïdale est délivrée à une unité de réglage de phase de tension (502) en tant que phase de tension initiale θv1, et une valeur de commande de tension de transition |Va'| est augmentée en continu de la dernière valeur de commande de tension |Va| pendant le mode de commande d'onde sinusoïdale à une valeur de tension de formation d'onde carrée |Va1| tout en effectuant une commande de couple par la phase de tension θv. Ceci permet à des signaux d'entraînement Su, Sv, Sw générés d'avoir la continuité maintenue pendant la commutation, permettant une commutation sans à-coups des modes de commande avec une faible variation de couple.
PCT/JP2018/036636 2017-11-02 2018-10-01 Dispositif et procédé de commande de moteur WO2019087644A1 (fr)

Priority Applications (2)

Application Number Priority Date Filing Date Title
CN201880042412.8A CN110800206A (zh) 2017-11-02 2018-10-01 电机控制装置和电机控制方法
DE112018005734.8T DE112018005734T5 (de) 2017-11-02 2018-10-01 Motorsteuervorrichtung und Motorsteuerverfahren

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2017212503A JP6951945B2 (ja) 2017-11-02 2017-11-02 モータ制御装置及びモータ制御方法
JP2017-212503 2017-11-02

Publications (1)

Publication Number Publication Date
WO2019087644A1 true WO2019087644A1 (fr) 2019-05-09

Family

ID=66331773

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2018/036636 WO2019087644A1 (fr) 2017-11-02 2018-10-01 Dispositif et procédé de commande de moteur

Country Status (4)

Country Link
JP (1) JP6951945B2 (fr)
CN (1) CN110800206A (fr)
DE (1) DE112018005734T5 (fr)
WO (1) WO2019087644A1 (fr)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN112994560B (zh) * 2019-12-16 2022-10-11 山东大学 方波电机矢量控制算法

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000050686A (ja) * 1998-07-29 2000-02-18 Toyota Motor Corp 交流電動機の駆動制御装置
JP2011115033A (ja) * 2009-11-30 2011-06-09 Aisin Aw Co Ltd 電動機駆動装置の制御装置
JP2014082865A (ja) * 2012-10-16 2014-05-08 Mitsubishi Heavy Ind Ltd モータシステム、モータ制御装置、プログラム、及び、モータ制御方法

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP3633270B2 (ja) 1998-03-26 2005-03-30 トヨタ自動車株式会社 モータ制御装置およびモータ制御方法
JP4353304B2 (ja) * 2008-02-19 2009-10-28 トヨタ自動車株式会社 モータ駆動制御装置
JP2010178444A (ja) * 2009-01-28 2010-08-12 Toyota Motor Corp 回転電機制御システム
JP2010183661A (ja) * 2009-02-03 2010-08-19 Toyota Motor Corp 回転電機制御システム
JP2013005618A (ja) * 2011-06-17 2013-01-07 Toyota Motor Corp インバータ制御装置および車両
EP2733008A4 (fr) * 2011-07-14 2015-10-07 Toyota Motor Co Ltd Dispositif d'entraînement de véhicule

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000050686A (ja) * 1998-07-29 2000-02-18 Toyota Motor Corp 交流電動機の駆動制御装置
JP2011115033A (ja) * 2009-11-30 2011-06-09 Aisin Aw Co Ltd 電動機駆動装置の制御装置
JP2014082865A (ja) * 2012-10-16 2014-05-08 Mitsubishi Heavy Ind Ltd モータシステム、モータ制御装置、プログラム、及び、モータ制御方法

Also Published As

Publication number Publication date
DE112018005734T5 (de) 2020-07-23
CN110800206A (zh) 2020-02-14
JP6951945B2 (ja) 2021-10-20
JP2019088050A (ja) 2019-06-06

Similar Documents

Publication Publication Date Title
US8102141B2 (en) Inverter device
JP4205157B1 (ja) 電動機の制御装置
JP5916526B2 (ja) 電力変換器制御装置および多重巻線型電動機駆動装置
US20120032620A1 (en) Control device
US20160352269A1 (en) Apparatus for controlling rotary electric machine
JP7126910B2 (ja) モータ制御装置及びモータ制御方法
JP7094859B2 (ja) モータ制御装置及びモータ制御方法
JP5790390B2 (ja) 交流モータの制御装置および制御方法
CN109104134B (zh) 交流旋转电机的控制装置
JP2013141345A (ja) モータ制御装置及び空気調和機
WO2019087644A1 (fr) Dispositif et procédé de commande de moteur
JP5135794B2 (ja) モータ制御方法
JP3586593B2 (ja) モータ制御装置
JP7042568B2 (ja) モータ制御装置及びモータ制御方法
JP5549537B2 (ja) 回転機の制御装置
JP5326444B2 (ja) 回転機の制御装置
JP2017205017A (ja) 空気調和機のモータ制御装置及び空気調和機
JP2019115114A (ja) モータの制御方法、およびモータの制御装置
JP2005168140A (ja) モータ制御装置及びその制御方法
JP6513161B1 (ja) 回転電機の制御装置
JP2010063336A (ja) 回転機の制御装置
JPH11164597A (ja) 誘導電動機のベクトル制御装置
JP2022134403A (ja) インバータの制御装置
RU2419954C1 (ru) Устройство управления электродвигателем
JP2022042224A (ja) 回転電機制御システム

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 18872967

Country of ref document: EP

Kind code of ref document: A1

122 Ep: pct application non-entry in european phase

Ref document number: 18872967

Country of ref document: EP

Kind code of ref document: A1