WO2020003770A1 - モータ制御装置、モータ制御方法、およびモータシステム - Google Patents

モータ制御装置、モータ制御方法、およびモータシステム Download PDF

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Publication number
WO2020003770A1
WO2020003770A1 PCT/JP2019/018903 JP2019018903W WO2020003770A1 WO 2020003770 A1 WO2020003770 A1 WO 2020003770A1 JP 2019018903 W JP2019018903 W JP 2019018903W WO 2020003770 A1 WO2020003770 A1 WO 2020003770A1
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WIPO (PCT)
Prior art keywords
motor
command value
motor control
control device
torque
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PCT/JP2019/018903
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English (en)
French (fr)
Japanese (ja)
Inventor
祐一 高野
友博 福村
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日本電産株式会社
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Priority to CN201980044204.6A priority Critical patent/CN112335171A/zh
Publication of WO2020003770A1 publication Critical patent/WO2020003770A1/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
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop

Definitions

  • the present disclosure relates to a motor control device, a motor control method, and a motor system for a synchronous motor.
  • Vector control algorithms are used to control synchronous motors such as permanent magnet synchronous motors.
  • a maximum torque / current (MTPA: Maximum Torque Per Per Ampere) control for maximizing the torque with respect to the current has been put to practical use.
  • the MTPA control is a control for selecting a current vector having a minimum magnitude from current vectors that generate the same torque.
  • the magnitude of the current vector is referred to as “norm” in this specification.
  • the determination of such a current vector can be performed as follows. First, a table (or map) in which a number of values of torque are associated with a current vector that realizes each value with the minimum norm is prepared. When a torque command value is received during motor control, a corresponding current vector is read from the table.
  • the motor control device described in Japanese Patent Laid-Open Publication No. 2016-100982 is provided with a map that defines the relationship between the inductance and the current vector in order to reduce the amount of data in the table.
  • Embodiments of the present disclosure provide a new motor control device and a new motor control method that realize minimum current / torque control instead of maximum torque / current control. Further, an embodiment of the present disclosure provides a motor system including the motor control device.
  • a motor control device is, in an exemplary embodiment, a motor control device that determines a command value of a current vector in a dq coordinate system that rotates in synchronization with a rotor based on a torque command value. If the coefficients are defined by the magnet flux linkage [psi a motor a, the coefficient is defined by the difference of the d-axis inductance L d and q-axis inductance L q b, and a memory that records pole pairs N pp Prepare.
  • a motor system includes, in an exemplary embodiment, the motor control device described above, a motor drive circuit connected to the motor control device, and a motor connected to the motor drive circuit.
  • an inverse algorithm that derives a current vector from torque is performed, and therefore, a table or a map that requires an excessive amount of data is used. Without conversion, the conversion from the torque command value to the current command value becomes possible.
  • FIG. 1 is a diagram schematically illustrating a configuration of a non-limiting exemplary embodiment of a motor control system according to the present disclosure.
  • FIG. 2 is a diagram illustrating an example of a hardware configuration of a motor control device according to the present disclosure.
  • FIG. 3 is a flowchart illustrating an example of a procedure of a process according to the embodiment of the present disclosure.
  • FIG. 4 is a block diagram illustrating a configuration example of an embodiment of a motor control device according to the present disclosure.
  • Equation 1 is derived on the assumption that a sinusoidal current flows through the three-phase stator windings with a phase difference of 2 ⁇ / 3. In addition, the spatial harmonic components of the inductance and the linkage magnetic flux are ignored. If these harmonic components cannot be ignored, a small pulsation appears in the torque, but since the harmonic components do not affect the average torque, the average torque (stationary component) is equal to the torque of Expression 1.
  • the first term on the right side of Equation 1 is “magnet torque”, and the second term is “reluctance torque”.
  • Non saliency motors L d and the L q is the same size, in for example a surface magnet type motor (SPM), the torque is only magnet torque of the first term.
  • SPM surface magnet type motor
  • SRM switched reluctance motor
  • the torque is only the reluctance torque of the second term.
  • the torque of an embedded motor (IPM) in which a permanent magnet is embedded inside a rotor has a total value of a magnet torque and a reluctance torque.
  • Current vector is a vector for the d-axis current I d and the q-axis current I q as defined in the dq coordinate system and components can also be represented by the phase angle beta 1 proceeds from the norm I a and q-axis.
  • the norm of the current vector may be referred to as “current norm”
  • the leading phase angle of the current vector from the q-axis may be referred to as “current phase angle” or simply “phase angle”.
  • the torque T can also be expressed by the following equation (3).
  • Efficient motor control is called high-efficiency control, a typical example of which is MTPA (Maximum Torque Per Per Ampere) control.
  • MTPA Maximum Torque Per Per Ampere
  • the current phase angle is determined so that the maximum torque is obtained for a certain current norm. Since the current norm is proportional to the copper loss, it can be said that the MTPA determines the current phase angle so that the maximum torque is obtained for a predetermined copper loss.
  • an actual motor has losses such as iron loss and wind loss in addition to copper loss, MTPA does not always provide an optimum efficiency solution.
  • MTPA is widely used because it is easy to model. Especially in a low speed / high torque region where copper loss is dominant, MTPA gives a solution sufficiently close to the optimal solution.
  • the MTPA problem is to find the current phase angle ⁇ 1 that maximizes the torque T under the condition that the current norm Ia is constant.
  • Equation 4 obtained by differentiating Equation 3 with the current phase angle ⁇ 1 is set to 0.
  • Equation 5 is obtained.
  • one of the two values defining the current vector is fixed, and the other value is calculated using the MTPA condition.
  • conventional MTPA control for example, provisionally determined current norm I a from the torque command value T, seeking current phase angle beta 1 to its current norm I a.
  • I a current norm
  • there is a method of repeatedly calculating As a countermeasure, there is a method of repeatedly calculating. However, this increases the calculation time, and it is not practical how many times the calculation is to be performed to obtain sufficient accuracy.
  • Conventional methods attempt to solve problems to be solved by the inverse method by the forward solution method.
  • a minimum current for realizing the torque T is obtained by referring to a look-up table.
  • a table in which a number of different torques T and two variables of “current norm and current phase angle” (or “Id and Iq”) that realize each torque T with the minimum current is calculated in advance.
  • the motor control device reads two variables of “current norm and current phase angle” (or “Id and Iq”) by referring to the table.
  • the pre-calculation can be performed using a solver calculation or the like. According to this method, it is necessary to recreate the entire table for each motor. Also, if the same motor is used and the permanent magnet magnetic flux or the inductance changes, the table needs to be rewritten, so that it is not possible to cope with a change in the temperature characteristics and a change with time of the motor.
  • a vector having x as a q-axis component and y as a d-axis component is determined as a current vector command value.
  • the ratio of the torque command value T to the number of pole pairs Npp is T / Npp .
  • c T / N pp .
  • Equation 1 defining the torque equation can be transformed into the following equation.
  • the reference torque T 0 can be obtained by substituting the reference voltage V 0 [V], the reference current I 0 [A], and the reference electric angular velocity ⁇ 0 [rad / sec] into a voltage equation different for each motor. .
  • c 1 when the torque T of Equation 8 is equal to the reference torque T 0, it may be normalized a and b.
  • the coefficient c is a parameter that depends on the torque T, so that the magnitude of the coefficient c is determined when a torque command value is given. Further, the coefficients a and b have specific magnitudes depending on the motor. For this reason, the “inverse method” means that when the magnitude of the coefficient c is specified under the coefficients a and b specific to the motor, the norm (x 2 + Y 2 ) is to be determined.
  • the norm (x 2 + y 2 ) is expressed by the following equation based on the relationship between x and y in Equation 8.
  • the coefficients a and b are determined, and when the torque command value is given, the coefficient c is determined.
  • x that minimizes the function f (x) of Expression 9 is calculated.
  • y is obtained based on the following equation.
  • the current vector is determined by the values of x and y. x that minimizes f (x) makes the derivative of f (x) zero. From this, x is the solution of the following equation:
  • Equation 11 The quartic equation of Equation 11 does not have a third-order term of the unknown x. Focusing on this, the present inventor derived the parameter u using Ferrari's method in order to solve this quartic equation algebraically. The parameter u was found to have the value shown in Equation 10 below.
  • the motor control device reads the values of the coefficients a, b, and c stored in the memory 20 from the memory 20 and determines the value of the parameter u based on the above equation. Next, the motor control device substitutes the value of the parameter u into the following equation.
  • the motor control device After determining the value of x in this way, the motor control device substitutes the value of x into Expression 10 to obtain y.
  • the torque command value T when the torque command value T is given, it is possible to determine a current vector that realizes the torque command value T with the minimum norm by an algebraic solution. According to the embodiment of the present disclosure, there is no need to prepare a table having a huge data amount in advance and store it in the memory.
  • the motor control device can determine the current vector only by performing the calculation based on the above equation once, and there is no theoretical error. If the above calculation is performed every time the torque command value is updated, a current vector with the norm minimized can be immediately obtained.
  • FIG. 1 is a diagram illustrating a schematic configuration of a motor system according to an embodiment of the present disclosure.
  • a motor system 1000 shown in FIG. 1 includes a permanent magnet synchronous motor (hereinafter, simply referred to as “motor”) 300 including a rotor 30 and a stator 32, and a motor that applies a voltage to a winding 34 of the stator 32 of the motor 300. It includes a drive circuit 200, a current sensor 250 for measuring a current flowing through the winding 34, and a motor control device 100 connected to the motor drive circuit 200.
  • a permanent magnet synchronous motor hereinafter, simply referred to as “motor”
  • motor that applies a voltage to a winding 34 of the stator 32 of the motor 300.
  • It includes a drive circuit 200, a current sensor 250 for measuring a current flowing through the winding 34, and a motor control device 100 connected to the motor drive circuit 200.
  • the rotor 30 in the present embodiment has a plurality of permanent magnets embedded in a core. Embodiments of the present disclosure are not limited to this example.
  • the rotor 30 may rotate by generating only reluctance torque without having a permanent magnet.
  • the rotor 30 can take various forms.
  • Motor drive circuit 200 is a power converter having an inverter as a main circuit.
  • the main circuit includes a plurality of power semiconductor elements (not shown in FIG. 1) as constituent elements.
  • the motor control device 100 generates and outputs a control signal (gate signal) for switching each power semiconductor element in the motor drive circuit 200.
  • the current sensor 250 is a current transformer (CT: Current @ Transformer), but the example of the current sensor 250 is not limited to this.
  • CT Current @ Transformer
  • the illustrated motor control device 100 includes a processor 10 functioning as a “digital operation circuit”, and a memory 20 storing a software program for controlling the operation of the processor 10.
  • Processor 10 can be an integrated circuit (IC) chip, such as a CPU or a digital signal processor.
  • the memory 20 is a recording medium storing a computer program for controlling the operation of the processor 10.
  • the memory 20 does not need to be a single recording medium, but may be a collection of a plurality of recording media.
  • the memory 20 may include a semiconductor volatile memory such as a RAM, a semiconductor nonvolatile memory such as a flash ROM, and a storage device such as a hard disk drive, as described later. At least a part of the memory 20 may be a removable recording medium.
  • the motor control device 100 in FIG. 1 determines a command value of a current vector in a dq coordinate system that rotates in synchronization with the rotation of the rotor 30 based on a torque command value.
  • the processor (digital operation circuit) 10 of the motor control device 100 executes the following processing.
  • a vector having x as a q-axis component and y as a d-axis component is determined as a current vector command value.
  • the torque command value can be input to the processor 10 from an external host computer or controller. Further, a torque command value may be generated inside the processor 10 based on a signal given to the processor 10 from a computer or a controller.
  • the memory 20 stores a lookup table including a plurality of different values for the coefficient a and / or the coefficient b depending on the state of the motor 300.
  • the state of the motor 300 may include the operating temperature of the motor, the degree of magnetic saturation, the degree of demagnetization of the permanent magnet when the rotor 30 has a permanent magnet, and the period of use.
  • the processor 10 updates the value of the coefficient a and / or the coefficient b recorded in the memory 20 according to the change in the magnetic flux linkage ⁇ a , the d-axis inductance L d , and / or the q-axis inductance L q.
  • the coefficient a is defined by the magnetic flux linkage ⁇ a , and thus depends on the strength of the permanent magnet of the motor 300. Permanent magnet strength can be reduced by thermal demagnetization during motor operation. Therefore, when the strength of the permanent magnet changes, the value of the coefficient a may be updated based on the change.
  • the operating temperature or the winding current of the motor may be detected, and the coefficient a may be changed according to the temperature and / or the winding current.
  • the relationship between the temperature and / or the winding current and the coefficient a can be stored in the memory as table data. Further, a function approximating this relationship may be stored in the memory.
  • Coefficient b is to be defined by the difference of the d-axis inductance L d and q-axis inductance L q, if the inductance is changed by the magnetic saturation may update the coefficient b on the basis of the change.
  • the relationship between the winding current and the coefficient b can also be stored in the memory as table data.
  • the processor 10 upon receiving the measured value of the current vector, determines the command value of the voltage vector based on the difference between the measured value of the current vector and the command value of the current vector.
  • the motor 300 according to the present embodiment is an embedded permanent magnet synchronous motor, the motor according to the present disclosure is not limited to this example.
  • FIG. 2 is a diagram illustrating an example of a hardware configuration of the motor control device 100 in the motor module according to the present disclosure.
  • the motor control device 100 may have, for example, a hardware configuration illustrated in FIG.
  • the motor control device 100 in this example includes a CPU 154, a PWM circuit 155, a ROM (read only memory) 156, a RAM (random access memory) 157, and an I / F (input / output interface) 158, which are connected to each other by a bus. I have. Other circuits or devices (such as AD converters) not shown may be connected to the bus.
  • the PWM circuit 155 supplies a PWM signal to the motor drive circuit 200 in FIG.
  • a program and data that define the operation of the CPU 154 are stored in at least one of the ROM 156 and the RAM 157.
  • Such a motor control device 100 can be realized by, for example, a 32-bit general-purpose microcontroller.
  • Such a microcontroller may consist of, for example, one or more integrated circuit chips.
  • various operations performed by the motor control device 100 are defined by a program stored in the memory 20. By updating part or all of the contents of the program, it is possible to change part or all of the operation of the motor control device 100.
  • a program update may be performed using a recording medium storing the program, or may be performed by wired or wireless communication. Communication can be performed using the I / F 158 in FIG.
  • a part of various operations performed by the motor control device 100 for example, a part of a vector calculation may be executed by a hardware circuit dedicated to the calculation.
  • step S1 the CPU 154 receives an input of a torque command value.
  • step S2 the CPU 154 determines coefficients a, b, and c that define the above quartic equation.
  • the coefficient c has a magnitude depending on the torque command value received in step S1.
  • step S3 the CPU 154 calculates a solution of the quartic equation using the solution formula.
  • step S4 the CPU 154 determines a d-axis current command value and a q-axis current command value from the solution of the quartic equation.
  • step S5 the CPU 154 updates or maintains the values of the coefficients a and b. Updates may be performed when the state of the motor changes.
  • the motor control device 100 in the motor system 1000 of the present embodiment generates the d-axis current command value id * and the q-axis current command value iq * from the torque command value T by the above processing.
  • a current command value generation module that performs the operation.
  • the motor control device 100 includes a current control circuit 12, a first coordinate conversion circuit 14A, and a PWM circuit 16.
  • the current control circuit 12 determines a d-axis voltage command value Vd * and a q-axis voltage command value Vq * from the d-axis current command value id * and the q-axis current command value iq * .
  • the first coordinate conversion circuit 14A converts the voltage command value from the dq coordinate system to the UVW coordinate system.
  • PWM circuit 16 the voltage command value output from the first coordinate conversion circuit 14A (V u *, V v *, V w *) for generating a pulse width modulated signal based on.
  • the configuration and operation of these circuits 12, 14A, 16 follow known examples.
  • the motor control device 100 further includes a second coordinate conversion circuit 14B, a position detection circuit 18A, and a speed calculation circuit 18B.
  • the second coordinate conversion circuit 14B three-phase U supplied from the inverter to the motor 300, V, detected values i u winding current of W, for i v, and converts the dq coordinate system UVW coordinate system.
  • Position detection circuit 18A detects a mechanical angle position theta m of the rotor in the motor 300.
  • Speed calculation circuit 18B calculates the mechanical angular omega m of the rotor from the mechanical angle position theta m of the rotor.
  • a second coordinate conversion circuit 14B d-axis current is converted to the dq coordinate system i d, the q-axis current i q, given to the current control circuit 12, respectively, d-axis current command value i d * and the q-axis current It is compared with the command value iq * .
  • a typical example of the current control circuit 12 is a proportional-integral (PI) controller.
  • the electrical angle position of the rotor theta is calculated from the mechanical angular position theta m of the rotor. Is used for coordinate conversion between the dq coordinate system and the UVW coordinate system. Mechanical angular omega m of the rotor can be used to determine the torque command value T.
  • a gate driver that generates a gate drive signal for switching a transistor in the inverter based on the PWM signal may be provided at a stage preceding the inverter of the motor drive circuit 200.
  • Part or all of the above circuits can be realized by an integrated circuit device.
  • Such an integrated circuit device can typically be formed by one or more semiconductor components.
  • the integrated circuit device includes an A / D converter that converts an analog signal from a position sensor into a digital signal, and an A / D converter that converts an analog signal from a sensor (not shown) that detects a current flowing through a winding of the motor 300 into a digital signal. / D converter.
  • At least a part of the inverter may be included in the integrated circuit device.
  • Such an integrated circuit device is typically realized by connecting one or more semiconductor chips to one another in one package.
  • Part or all of the integrated circuit device can be realized by, for example, writing a program specific to the present disclosure in a general-purpose microcontroller unit (MCU).
  • MCU general-purpose microcontroller unit
  • the motor control device, the motor control method, and the motor system of the present disclosure can be used for various synchronous motors that require high-efficiency operation.
  • SYMBOLS 10 DESCRIPTION OF SYMBOLS 10 ... Processor (digital arithmetic circuit), 20 ... Memory, 100 ... Motor control device, 200 ... Motor control device, 300 ... Motor, 1000 ... Motor system

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PCT/JP2019/018903 2018-06-29 2019-05-13 モータ制御装置、モータ制御方法、およびモータシステム WO2020003770A1 (ja)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116101128A (zh) * 2023-02-10 2023-05-12 阿尔特汽车技术股份有限公司 集成式动力总成系统主动发热方法、装置、设备及介质

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006353091A (ja) * 2005-06-17 2006-12-28 Gm Global Technology Operations Inc 車両用の埋め込み永久磁石同期機のオンライン最小銅損制御
JP2013031256A (ja) * 2011-07-27 2013-02-07 Toshiba Mitsubishi-Electric Industrial System Corp 同期電動機の駆動装置
JP2016226270A (ja) * 2015-06-02 2016-12-28 エルエス産電株式会社Lsis Co., Ltd. 同期機の運転方法
WO2016207936A1 (ja) * 2015-06-22 2016-12-29 三菱電機株式会社 モータ制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006353091A (ja) * 2005-06-17 2006-12-28 Gm Global Technology Operations Inc 車両用の埋め込み永久磁石同期機のオンライン最小銅損制御
JP2013031256A (ja) * 2011-07-27 2013-02-07 Toshiba Mitsubishi-Electric Industrial System Corp 同期電動機の駆動装置
JP2016226270A (ja) * 2015-06-02 2016-12-28 エルエス産電株式会社Lsis Co., Ltd. 同期機の運転方法
WO2016207936A1 (ja) * 2015-06-22 2016-12-29 三菱電機株式会社 モータ制御装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN116101128A (zh) * 2023-02-10 2023-05-12 阿尔特汽车技术股份有限公司 集成式动力总成系统主动发热方法、装置、设备及介质

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