WO2020095377A1 - Dispositif d'entraînement de charge, dispositif à cycle de réfrigération et climatiseur - Google Patents

Dispositif d'entraînement de charge, dispositif à cycle de réfrigération et climatiseur Download PDF

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Publication number
WO2020095377A1
WO2020095377A1 PCT/JP2018/041314 JP2018041314W WO2020095377A1 WO 2020095377 A1 WO2020095377 A1 WO 2020095377A1 JP 2018041314 W JP2018041314 W JP 2018041314W WO 2020095377 A1 WO2020095377 A1 WO 2020095377A1
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WIPO (PCT)
Prior art keywords
current
speed
motor
value
command value
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PCT/JP2018/041314
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English (en)
Japanese (ja)
Inventor
慎也 豊留
和徳 畠山
健治 ▲高▼橋
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三菱電機株式会社
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Priority to PCT/JP2018/041314 priority Critical patent/WO2020095377A1/fr
Priority to JP2020556398A priority patent/JP7050951B2/ja
Publication of WO2020095377A1 publication Critical patent/WO2020095377A1/fr

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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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters

Definitions

  • the present invention relates to a load drive device that supplies AC power to a motor to drive a load, a refrigeration cycle device including the load drive device, and an air conditioner including the refrigeration cycle device.
  • the load torque changes in one cycle or multiple cycles of the rotation cycle of the motor.
  • the current supplied to the motor of the compressor also pulsates according to the fluctuation of the load torque.
  • the operating efficiency of the compressor which is the load, decreases.
  • Patent Document 1 discloses a technique for controlling the q-axis current command value so that the pulsating component becomes zero by integral control.
  • the q-axis current command value is a torque current command value.
  • the pulsating component of the torque current command value is an AC component included in the torque current command value.
  • the present invention has been made in view of the above, and an object of the present invention is to obtain a load drive device capable of reliably performing highly efficient drive control.
  • the present invention is a load drive device that supplies AC power to a motor to drive a load.
  • the load driving device includes a rectifier circuit that rectifies an AC voltage and converts the AC voltage into a DC voltage, an inverter that converts DC power output from the rectifier circuit into AC power, and a control device that controls the inverter.
  • the control device includes a speed estimator that calculates a speed estimated value that is an estimated value of a motor rotation speed, and a speed controller that generates a current command value based on a speed deviation that is a deviation between the speed command value and the speed estimated value.
  • the control device includes a filter that removes a specific frequency component from the fluctuation component due to the load fluctuation included in the current command value output from the speed deviation or the speed controller.
  • the control device includes a current controller that calculates a voltage command value that is a command value of a voltage applied to the motor based on a current command value from which a specific frequency component has been removed and a motor current flowing through the motor.
  • the specific frequency component is a frequency component that is determined by the load, and is a frequency component that is a natural number multiple of the mechanical angular frequency that represents the rotation speed of the motor by the rotation angle per unit time.
  • the load drive device of the present invention it is possible to reliably perform highly efficient drive control.
  • FIG. 3 is a block diagram showing an example of a hardware configuration that realizes the functions of the control device according to the first embodiment.
  • FIG. 3 is a block diagram showing another example of the hardware configuration for realizing the function of the control device according to the first embodiment The figure which shows the structural example of the refrigerating-cycle apparatus which concerns on Embodiment 2.
  • a load drive device, a refrigeration cycle device, and an air conditioner according to embodiments of the present invention will be described below in detail with reference to the accompanying drawings.
  • the present invention is not limited to the embodiments described below.
  • FIG. 1 is a circuit diagram showing a configuration example of a load driving device 300 according to the first embodiment.
  • FIG. 2 is a partially enlarged view of the inverter 30 shown in FIG.
  • load drive device 300 temporarily converts an AC voltage output from AC power supply 1 that is a single-phase power supply into a DC voltage, and then once again loads load device 300 inside. It is configured to convert into an AC voltage and drive the motor 7 mounted on the load.
  • the motor 7 can be applied as a drive motor for a compressor included in the refrigeration cycle device.
  • An example of the motor 7 is a three-phase permanent magnet synchronous motor.
  • the load driving device 300 includes a reactor 2, a rectifier circuit 3, a smoothing capacitor 5, a voltage detector 10, an inverter 30, a current detector 40, and a control device 100.
  • Prepare The rectifier circuit 3 and the inverter 30 are electrically connected by the DC buses 12a and 12b.
  • the smoothing capacitor 5 is connected between the high-potential-side DC bus 12a and the low-potential-side DC bus 12b.
  • the rectifier circuit 3 includes four diodes D1, D2, D3, D4.
  • the four diodes D1 to D4 are bridge-connected to form a diode bridge circuit.
  • the rectifier circuit 3 receives the AC voltage output from the AC power supply 1 via the reactor 2.
  • the rectifier circuit 3 rectifies an AC voltage and converts it into a DC voltage.
  • the AC voltage and the DC voltage may be paraphrased as “AC power” and “DC power”, respectively.
  • the rectifier circuit 3 shown in FIG. 1 has a configuration in which four diodes D1, D2, D3, D4 are bridge-connected, but this configuration is adapted to the AC power source 1 which is a single-phase power source.
  • the rectifier circuit 3 is also configured to support a three-phase power supply. Specifically, the six diodes are bridge-connected.
  • the output voltage of the rectifier circuit 3 is applied across the smoothing capacitor 5.
  • the smoothing capacitor 5 smoothes the output voltage of the rectifier circuit 3.
  • the smoothing capacitor 5 is connected to the DC buses 12a and 12b, and the voltage smoothed by the smoothing capacitor 5 is appropriately referred to as "bus voltage".
  • the voltage detector 10 detects the bus voltage.
  • the bus voltage is also the input voltage to the inverter 30.
  • the detected value Vdc of the bus voltage detected by the voltage detector 10 is input to the control device 100.
  • the current detector 40 detects the bus current.
  • the bus current is the current input to the inverter 30.
  • the bus current may be referred to as "input current of inverter 30" or simply "input current”.
  • the detected value Idc of the bus current detected by the current detector 40 is input to the control device 100.
  • An example of the current detector 40 is a shunt resistor.
  • the detected value Idc of the bus current is an analog signal.
  • the analog signal is converted into a digital signal inside the control device 100 by an analog-digital (Analog Digital) converter (not shown).
  • analog-digital (Analog Digital) converter (not shown).
  • Vdc of the bus voltage is converted into a digital signal inside the control device 100. That is, when the detected value Vdc of the bus voltage is an analog signal, it is converted into a digital signal inside the control device 100.
  • a bus voltage is applied to the inverter 30.
  • the inverter 30 drives the motor 7 by converting the DC power output from the rectifier circuit 3 into AC power and supplying the converted AC power to the motor 7, which is a load.
  • the inverter 30 includes a main circuit 310 and a drive circuit 350.
  • the main circuit 310 includes a leg 310A in which an upper arm switching element UP and a lower arm switching element UN are connected in series, a leg 310B in which an upper arm switching element VP and a lower arm switching element VN are connected in series, The leg 310C in which the arm switching element WP and the lower arm switching element WN are connected in series is provided.
  • the leg 310A, the leg 310B, and the leg 310C are connected in parallel with each other.
  • the upper arm switching elements UP, VP, WP and the lower arm switching elements UN, VN, WN are insulated gate bipolar transistors (Insulated Gate Bipolar Transistor: IGBT) is illustrated. Instead of this IGBT, a metal oxide semiconductor field effect transistor (Metal Oxide Semiconductor Field Effect Transistor: MOSFET) may be used.
  • IGBT Insulated Gate Bipolar Transistor
  • MOSFET Metal Oxide Semiconductor Field Effect Transistor
  • the upper arm switching element UP includes a transistor 311 and a diode 312 connected in antiparallel to the transistor 311.
  • the anti-parallel means that the anode side of the diode is connected to the first terminal corresponding to the emitter of the IGBT and the cathode side of the diode is connected to the second terminal corresponding to the collector of the IGBT.
  • the other upper arm switching elements VP and WP and the lower arm switching elements UN, VN and WN are similarly connected.
  • the diode 312 connected in anti-parallel is a parasitic diode included in the MOSFET itself. Can be used.
  • the parasitic diode is also called a body diode. The use of the parasitic diode eliminates the need for individual diodes connected in anti-parallel, so that the number of components can be reduced, leading to cost reduction.
  • the transistors 311 of the upper arm switching elements UP, VP, WP and the lower arm switching elements UN, VN, WN are MOSFETs
  • at least one of the transistors 311 is formed of a wide band gap semiconductor. May be.
  • the wide band gap semiconductor include silicon carbide (SiC), gallium nitride (GaN), gallium oxide (Ga 2 O 3 ), diamond and the like.
  • Wide bandgap semiconductors generally have higher withstand voltage and heat resistance than silicon semiconductors. Therefore, if at least one of the transistors 311 is a MOSFET formed of a wide bandgap semiconductor, the effects of withstand voltage and heat resistance can be obtained.
  • FIG. 2 shows a configuration including three legs in which an upper arm switching element and a lower arm switching element are connected in series, the configuration is not limited to this.
  • the number of legs may be four or more.
  • the circuit configurations of FIGS. 1 and 2 are adapted to the motor 7 which is a three-phase motor.
  • the main circuit 310 is also configured to support the polyphase motor.
  • one leg may include a plurality of pairs of upper and lower arm switching elements.
  • the inverter 30 also has output lines 331, 332, 333.
  • the output line 331 is led out from a connection point 321 between the upper arm switching element UP and the lower arm switching element UN.
  • the output line 332 is led out from a connection point 322 between the upper arm switching element VP and the lower arm switching element VN.
  • the output line 333 is led out from a connection point 323 between the upper arm switching element WP and the lower arm switching element WN.
  • the connection points 321, 322 and 323 form AC terminals.
  • the output line 331 is connected to the first phase (for example, U phase) of the motor 7.
  • the output line 332 is connected to the second phase (for example, V phase) of the motor 7.
  • the output line 333 is connected to the third phase (for example, W phase) of the motor 7.
  • the control device 100 generates the pulse width modulation (Pulse Width Modulation: PWM) signals Sm1 to Sm6 for controlling the operation of the inverter 30 based on the detected value Vdc of the bus voltage and the detected value Idc of the input current. ..
  • PWM Pulse Width Modulation
  • the PWM signals Sm1 to Sm6 are output respectively corresponding to the six upper arm switching elements UP, VP, WP and the lower arm switching elements UN, VN, WN of the main circuit 310.
  • the PWM signals Sm1 to Sm6 are input to the drive circuit 350 of the inverter 30.
  • the drive circuit 350 generates drive signals Sr1 to Sr6 based on the PWM signals Sm1 to Sm6.
  • the upper arm switching elements UP, VP, WP and the lower arm switching elements UN, VN, WN are controlled to be turned on or off by the drive signals Sr1 to Sr6, respectively.
  • a voltage of which at least one of the frequency and the voltage value is controlled that is, a frequency variable or voltage variable voltage is applied to the motor 7, and a load including the motor 7 is driven.
  • the PWM signals Sm1 to Sm6 are signals of the voltage level necessary to control the logic circuit.
  • An example of a voltage level is 0-5V.
  • the PWM signals Sm1 to Sm6 use the ground potential of the control device 100 as a reference potential.
  • the drive signals Sr1 to Sr6 are signals of the voltage level necessary to control the ON operation and the OFF operation of the upper arm switching elements UP, VP, WP and the lower arm switching elements UN, VN, WN. Examples of voltage levels are -15V to + 15V.
  • the drive signals Sr1 to Sr6 have the potential of the low-potential-side terminal of the corresponding switching element as the reference potential. In the example of FIG. 1, the emitter terminal of the IGBT has the reference potential.
  • FIG. 3 is a block diagram showing a configuration example of the control device 100 according to the first embodiment.
  • the control device 100 includes an operation control unit 102 and an inverter control unit 110.
  • the operation control unit 102 receives command information Qe from the outside and generates a speed command value ⁇ * and a stop signal St based on the command information Qe.
  • the stop signal St is a signal for stopping the operation of the inverter 30.
  • the speed command value ⁇ * is a signal for generating a voltage command value that is a command value of the voltage applied to the motor 7. Both the speed command value ⁇ * and the stop signal St are input to the inverter control unit 110.
  • the command information Qe is, for example, the temperature detected by the temperature sensor.
  • Other examples of the command information Qe are information indicating the set temperature instructed from the remote controller, operation mode selection information, operation start and operation end instruction information, and the like.
  • the inverter control unit 110 includes a current restoration unit 111, a coordinate conversion unit 112, a voltage command calculation unit 115, a coordinate conversion unit 116, a PWM signal generation unit 117, an electrical angle phase calculation unit 118, and an excitation current command control. Section 119.
  • the current restoration unit 111 restores the motor currents iu, iv, iw based on the detected value Idc of the bus current detected by the current detector 40.
  • the motor currents iu, iv, iw are currents flowing in the respective phases of the motor 7, that is, currents of the respective phases of the motor 7.
  • the current restoration unit 111 restores the motor currents iu, iv, iw by sampling the detected value Idc of the bus current at the timing determined based on the signal from the PWM signal generation unit 117.
  • the motor current iu may be referred to as “U-phase current”
  • the motor current iv may be referred to as “V-phase current”
  • the motor current iw may be referred to as “W-phase current”.
  • the coordinate conversion unit 112 is a conversion unit that converts the current value of the UVW phase into the current value of the ⁇ - ⁇ axes. More specifically, the coordinate conversion unit 112 uses the electric current phase iu, iv, and iw restored by the current restoration unit 111 as the ⁇ -axis by using the electrical angle phase ⁇ generated by the electrical angle phase calculation unit 118 described later. The current i ⁇ and the ⁇ -axis current i ⁇ are converted.
  • the ⁇ -axis current i ⁇ is an exciting current component
  • the ⁇ -axis current i ⁇ is a torque current component.
  • the excitation current command control unit 119 calculates a ⁇ -axis current command value i ⁇ * suitable for driving the motor 7 with high efficiency based on the ⁇ -axis current i ⁇ . More specifically, the excitation current command control unit 119 obtains the current phase angle at which the output torque is equal to or greater than the set value or becomes the maximum value based on the ⁇ -axis current i ⁇ , and the ⁇ -axis current based on the obtained current phase angle. Calculate the command value i ⁇ *.
  • the ⁇ -axis current command value i ⁇ * is an exciting current command value.
  • the ⁇ -axis current command value i ⁇ * may be calculated based on the current phase angle at which the motor current is equal to or less than the set value or becomes the minimum value.
  • FIG. 3 illustrates the configuration for obtaining the ⁇ -axis current command value i ⁇ * based on the ⁇ -axis current i ⁇
  • the configuration is not limited to this.
  • the ⁇ -axis current command value i ⁇ * may be calculated based on the ⁇ -axis current i ⁇ and the speed command value ⁇ *.
  • the voltage command calculation unit 115 based on the ⁇ -axis current command value i ⁇ *, the ⁇ -axis current i ⁇ , the ⁇ -axis current i ⁇ , and the speed command value ⁇ *, the ⁇ -axis voltage command value V ⁇ * and the ⁇ -axis voltage command.
  • the value V ⁇ * and the estimated speed value ⁇ est are calculated.
  • the ⁇ -axis voltage command value V ⁇ * is an excitation voltage command value
  • the ⁇ -axis voltage command value V ⁇ * is a torque voltage command value.
  • the estimated speed value ⁇ est represents the estimated value of the speed of one cycle for controlling the inverter 30 by an electrical angle. The detailed configuration of the voltage command calculator 115 will be described later.
  • the electrical angle phase calculation unit 118 integrates the estimated speed value ⁇ est to generate the electrical angle phase ⁇ used inside the inverter control unit 110.
  • the coordinate conversion unit 116 is a conversion unit that converts the ⁇ - ⁇ axis voltage command value into a UVW phase voltage command value, that is, a three-phase coordinate system voltage command value. More specifically, the coordinate conversion unit 116 uses the electrical angle phase ⁇ to determine the ⁇ -axis voltage command value V ⁇ * and the ⁇ -axis voltage command value V ⁇ * as a three-phase voltage command that is a voltage command value in a three-phase coordinate system. Convert to values Vu *, Vv *, Vw *.
  • the PWM signal generator 117 generates PWM signals Sm1 to Sm6 based on the three-phase voltage command values Vu *, Vv *, Vw *.
  • the operation control unit 102 When the operation control unit 102 generates the stop signal St described above, the generated stop signal St is given to the PWM signal generation unit 117. Upon receiving the stop signal St, the PWM signal generation unit 117 stops the output of the PWM signals Sm1 to Sm6. As a result, the switching element of the inverter 30 stops the switching operation.
  • the motor currents iu, iv, and iw are restored from the detected value Idc of the input current of the inverter 30, but the configuration is not limited to this.
  • a current detector may be provided in at least two positions of the output lines 331, 332, 333 of the inverter 30, and the phase current may be directly detected by these current detectors.
  • the current restoration unit 111 can be omitted in the inverter control unit 110.
  • FIG. 4 is a block diagram showing a configuration example of the voltage command calculation unit 115 shown in FIG.
  • the voltage command calculator 115 includes a speed estimator 131, adders / subtractors 132, 136, 137, 140, 141, a mechanical angle phase calculator 133, a filter 134, a speed controller 135, and ⁇ -axis current control.
  • addition or subtraction operation is performed according to the plus (+) or minus (-) sign attached to the side.
  • the speed estimator 131 calculates the estimated speed value ⁇ est based on the ⁇ -axis current i ⁇ , the ⁇ -axis current i ⁇ , the ⁇ -axis voltage command value V ⁇ *, and the ⁇ -axis voltage command value V ⁇ *.
  • the estimated speed value ⁇ est is an estimated value corresponding to the rotation speed of the motor 7.
  • the speed of the motor 7 changes due to load fluctuations. Therefore, the speed estimator 131 estimates the rotation speed of the motor 7 that changes due to the load fluctuation, and outputs the speed estimation value ⁇ est corresponding to the estimated rotation speed.
  • the estimated speed estimated value ⁇ est is used for calculating a voltage command value described later.
  • the estimated speed value ⁇ est is an estimated value used inside the control device 100. Inside the control device 100, a change in the electrical angle from 0 to 2 ⁇ is treated as one cycle in correspondence with the control cycle of the inverter 30. Therefore, even if the estimated value of the rotation speed of the motor 7 is the same, the value of the estimated speed value ⁇ est differs depending on the number P of pole pairs of the motor 7. For example, if the number P of pole pairs is 1, the estimated value of the rotation speed of the motor 7 and the estimated speed value ⁇ est match. If the number P of pole pairs is 2, the value of the estimated speed value ⁇ est is twice the estimated value of the rotation speed of the motor 7.
  • the speed estimation value ⁇ est calculated by the speed estimator 131 is input to the adder / subtractor 132.
  • the adder / subtractor 132 calculates a speed deviation ⁇ which is a deviation between the speed command value ⁇ * and the estimated speed value ⁇ est.
  • the mechanical angle phase calculator 133 includes an integrator 133a and a multiplier 133b.
  • the estimated speed value ⁇ est becomes the value of the phase angle represented by the electrical angle by being integrated by the integrator 133a.
  • the output of the integrator 133a is multiplied by the reciprocal of the number P of pole pairs of the motor 7 in the multiplier 133b to obtain the value of the phase angle represented by the mechanical angle.
  • the mechanical angle phase calculator 133 calculates the mechanical angle phase ⁇ me indicating the rotational position of the motor 7 based on the estimated speed value ⁇ est.
  • the filter 134 removes the load fluctuation component included in the speed deviation ⁇ based on the mechanical angle phase ⁇ me.
  • the "removal” referred to here includes the concept of “reduction” in which a part of the load fluctuation component is removed.
  • the word “removal” is used including the concept of "reduction”.
  • a low pass filter or a notch filter can be used as the filter 134.
  • the output obtained by removing the load fluctuation component from the speed deviation ⁇ is input to the speed controller 135 as a new speed deviation ⁇ f.
  • the speed deviation ⁇ may be referred to as a “first speed deviation” and the speed deviation ⁇ f may be referred to as a “second speed deviation”.
  • the function and configuration of the filter 134 will be described later.
  • the speed controller 135 calculates the ⁇ -axis current command value i ⁇ * based on the speed deviation ⁇ f.
  • the ⁇ -axis current command value i ⁇ * is the command value of the ⁇ -axis current i ⁇ at which the speed deviation ⁇ becomes zero, in other words, the command value of the ⁇ -axis current i ⁇ for matching the speed command value ⁇ * and the estimated speed value ⁇ est.
  • An example of the speed controller 135 is a proportional-integral (PI) controller.
  • the filter 134 is provided before the speed controller 135, but the filter 134 may be provided after the speed controller 135.
  • the filter 134 is provided in the subsequent stage of the speed controller 135, the load fluctuation component included in the ⁇ -axis current command value i ⁇ * for matching the speed command value ⁇ * and the estimated speed value ⁇ est is removed.
  • the adder / subtractor 136 calculates the deviation between the ⁇ -axis current command value i ⁇ * and the ⁇ -axis current i ⁇ .
  • the ⁇ -axis current controller 138 is composed of, for example, a PI controller, and operates so as to converge the deviation between the ⁇ -axis current command value i ⁇ * and the ⁇ -axis current i ⁇ to zero.
  • the adder / subtractor 137 calculates the deviation between the ⁇ -axis current command value i ⁇ * and the ⁇ -axis current i ⁇ .
  • the ⁇ -axis current controller 139 is composed of, for example, a PI controller, and operates so as to converge the deviation between the ⁇ -axis current command value i ⁇ * and the ⁇ -axis current i ⁇ to zero.
  • the first non-interference controller 142 includes a multiplier 142a.
  • the first non-interference controller 142 calculates the compensation value V ⁇ ff * of the ⁇ -axis voltage command based on the ⁇ -axis current command value i ⁇ * and the estimated speed value ⁇ est.
  • the ⁇ -axis voltage command compensation value V ⁇ ff * is a compensation value for suppressing mutual interference with the ⁇ -axis due to the ⁇ -axis current command value i ⁇ *.
  • the compensation value V ⁇ ff * of the ⁇ -axis voltage command is calculated by multiplying the ⁇ -axis current command value i ⁇ * by the ⁇ -axis inductance L ⁇ of the motor 7 and the estimated speed value ⁇ est.
  • the first ⁇ -axis voltage command value V ⁇ fb * output from the ⁇ -axis current controller 138 is the ⁇ -axis voltage command value V ⁇ output from the voltage command calculator 115. * It is said.
  • the adder / subtractor 140 compensates for the ⁇ -axis voltage command output from the first non-interference controller 142 from the first ⁇ -axis voltage command value V ⁇ fb *. The value V ⁇ ff * is subtracted. Then, the second voltage command value (V ⁇ fb * ⁇ V ⁇ ff *) output from the adder / subtractor 140 is set as the ⁇ -axis voltage command value V ⁇ * output from the voltage command calculation unit 115.
  • the second non-interference controller 143 includes multipliers 143a and 143c and an adder / subtractor 143b.
  • the second non-interference controller 143 calculates the compensation value V ⁇ ff * of the ⁇ -axis voltage command based on the ⁇ -axis current command value i ⁇ * and the estimated speed value ⁇ est.
  • the ⁇ -axis voltage command compensation value V ⁇ ff * is a compensation value for suppressing mutual interference of the ⁇ -axis current command value i ⁇ * with the ⁇ -axis.
  • the multiplier 143a the ⁇ -axis current command value i ⁇ * is multiplied by the ⁇ -axis inductance L ⁇ of the motor 7.
  • the flux linkage vector ⁇ f of the motor 7 is added to the output of the multiplier 143a.
  • the multiplier 143c multiplies the output of the adder / subtractor 143b by the estimated speed value ⁇ est. Then, the output of the multiplier 143c is input to the adder / subtractor 141 as the compensation value V ⁇ ff * of the ⁇ -axis voltage command.
  • the first ⁇ -axis voltage command value V ⁇ fb * output from the ⁇ -axis current controller 139 is the ⁇ -axis voltage command value V ⁇ output from the voltage command calculator 115. * It is said.
  • the adder / subtractor 141 compensates the ⁇ -axis voltage command, which is the output of the second non-interference controller 143, from the first ⁇ -axis voltage command value V ⁇ fb *.
  • the value V ⁇ ff * is subtracted.
  • the second voltage command value (V ⁇ fb * ⁇ V ⁇ ff *) output from the adder / subtractor 140 is set as the ⁇ -axis voltage command value V ⁇ * output from the voltage command calculation unit 115.
  • the load fluctuation generated by the compressor structure may occur n times as many times as one cycle (n is a natural number) within one cycle in which the motor 7 makes one rotation.
  • n 1
  • n 2
  • the ⁇ -axis current command value i ⁇ * controlled based on the speed deviation ⁇ includes a frequency component that is n times the mechanical angular frequency of the motor 7.
  • the mechanical angular frequency of the motor 7 mentioned here represents the rotational speed of the motor 7 in terms of the rotational angle (radian) per unit time (1 second). If this variation component is included in the ⁇ -axis current command value i ⁇ *, the phase currents of the motor 7 will vary, as described later, and highly efficient operation cannot be performed.
  • the filter 134 is controlled so as to remove a specific frequency component from the speed deviation ⁇ or the ⁇ -axis current command value i ⁇ *, the influence of the load fluctuation is suppressed and the value of the ⁇ -axis current command value i ⁇ * is reduced. Can be made smaller.
  • the “specific frequency component” referred to here is a frequency component that is n times the mechanical angular frequency that represents the rotation speed of the motor 7 in terms of the rotation angle per unit time. “N” is the natural number described above. If the value of the ⁇ -axis current command value i ⁇ * can be reduced, it is possible to reduce the variation in the current of each phase of the motor 7, and it is possible to perform highly efficient operation.
  • FIG. 5 is a first waveform diagram for explaining the effect of the first embodiment.
  • FIG. 6 is a characteristic diagram for explaining the effect of the first embodiment.
  • FIG. 7 is a second waveform chart for explaining the effect of the first embodiment.
  • FIG. 8 is a third waveform chart for explaining the effect of the first embodiment.
  • control in order to reduce the vibration of the motor 7, control is performed so that the speed fluctuation of the motor 7 becomes small, in other words, the speed deviation ⁇ becomes small.
  • the control for reducing the speed deviation ⁇ is generally called “vibration suppression control”.
  • the speed deviation ⁇ can be expressed by the following equation (1) using the output torque ⁇ m of the motor 7, the load torque ⁇ L, and the inertia J of the motor 7.
  • FIG. 5 shows various waveform examples when the vibration suppression control is executed. More specifically, in the upper part of FIG. 5, the rotation speed (hereinafter, simply referred to as “rotation speed”) ⁇ m of the motor 7 is shown by a thin solid line, the estimated speed value ⁇ est is shown by a thick solid line, and the speed is shown. The command value ⁇ * is shown by a broken line. In the upper middle part of FIG. 5, the U-phase current iu is shown by a thin solid line, the V-phase current iv is shown by a thick solid line, and the W-phase current iw is shown by a broken line. In the middle and lower stages of FIG.
  • the ⁇ -axis current command value i ⁇ * is shown by a thin solid line, and the ⁇ -axis current i ⁇ is shown by a thick solid line.
  • the output torque ⁇ m is shown by a solid line and the load torque ⁇ L is shown by a broken line.
  • the output torque ⁇ m follows the fluctuation of the load torque ⁇ L.
  • the vibration suppression control since the output torque ⁇ m shown in the lower part of FIG. 5 is output to the motor 7, the amplitude of the phase current of the motor 7 becomes large. Further, in the vibration suppression control, as shown in the upper middle part of FIG. 5, the peak value of each phase current is large, the time-dependent change of the peak value of each phase current is large, and the peak value of each phase current is large. Vary from phase to phase. Therefore, it is not possible to expect highly efficient operation control in the vibration suppression control.
  • FIG. 6 shows the relationship between the decay rate of the overall value and the time constant of the filter when the high efficiency control is performed.
  • the characteristics shown in FIG. 6 are examples when a low-pass filter is used as the filter 134 shown in FIG.
  • the characteristic shown in FIG. 6 is an example when the load is a single rotary compressor.
  • the horizontal axis of FIG. 6 shows a multiple of the time constant of the low-pass filter (hereinafter referred to as “filter time constant”) determined based on the mechanical angular frequency of the motor 7.
  • filter time constant a multiple of 10 on the horizontal axis means that the filter time constant is set to 10 times the reciprocal of the mechanical angular frequency of the motor 7.
  • the vertical axis of FIG. 6 shows the attenuation rate of the motor current overall value.
  • the overall value is a total value of frequency components up to a certain frequency band after frequency analysis of the motor current.
  • FIG. 6 shows the attenuation rate of the overall value from 0 Hz to 1000 Hz. Note that a small overall value is equivalent to a large overall value attenuation rate. Further, the larger the damping ratio of the overall value, the smaller the variation in the phase current of the motor 7, and thus the more efficient operation becomes possible.
  • the damping ratio of the overall value shown in FIG. 6 is based on the overall value at the time of vibration suppression control shown in FIG. That is, the overall value at the time of the vibration suppression control shown in FIG. 5 is set to the damping rate “0%” in FIG. Further, FIG. 6 shows that the attenuation rate is about 29% when the time constant of the low-pass filter is set to 10 times the mechanical angular frequency, for example. This means that there is an improvement effect of 29% with respect to the overall value at the time of vibration suppression control shown in FIG.
  • FIG. 6 shows two examples of the case where the rotation speed of the motor 7 is 37 rps and the case where it is 80 rps. According to these examples, it is understood that the difference in the rotation speed of the motor 7 does not significantly affect the characteristics with respect to the multiple of the filter time constant.
  • increasing the multiple of the filter time constant means that the cutoff frequency of the filter moves to the low frequency side and the ⁇ -axis current command value i ⁇ * approaches the DC value.
  • the attenuation rate of the overall value is saturated at a value of about 33%, as shown in FIG. From this, the following can be said.
  • the filter time constant is set so that the frequency component n times the mechanical angular frequency of the motor 7 is sufficiently attenuated, the fluctuating frequency component of the load fluctuation is removed from the current command.
  • the limit of the attenuation rate of the overall value is about 33%.
  • the waveform of FIG. 6 has an improvement effect of 33%, which is considered to be the limit value of the attenuation rate of the overall value. Is shown. Considering the actual state of control, it is not always necessary to obtain an improvement effect of 33%. For example, an effect of 10% to 15% reduction, that is, an effect of 28% or more is sufficient. Is. In FIG. 6, when the multiple of the filter time constant is 10, the attenuation rate is about 29%. Therefore, if the multiple of the filter time constant is 10 or more, it can be said that the filter is suitable for the high-efficiency control in the present embodiment.
  • FIGS. 7 and 8 show waveform examples of the same kind as in FIG. 5 when high-efficiency control is performed using the low-pass filter in which the filter time constant shown in FIG. 6 is set to 25 times.
  • the angular velocity information used by the first non-interference controller 142 and the second non-interference controller 143 shown in FIG. 4 is not the estimated speed value ⁇ est but the speed command value ⁇ *. ing.
  • the estimated velocity value ⁇ est is used as shown in FIG. There is.
  • the speed command value ⁇ * is used as the information of the angular speed used in the non-interference controller.
  • the characteristic of the vibration suppression control is that the output torque ⁇ m follows the fluctuation of the load torque ⁇ L, as shown in the lower part of FIG.
  • the ⁇ -axis current i ⁇ * follows the ⁇ -axis current command value i ⁇ * as shown in the middle and lower stages of FIG.
  • the ⁇ -axis current i ⁇ is controlled so as to substantially match.
  • the output torque ⁇ e does not follow the load torque ⁇ L and has a substantially constant value.
  • the peak value of each phase current becomes a constant value, and the variation in peak value of each phase current for each phase is extremely smaller than that in FIG.
  • the attenuation rate of the overall value in the case of the waveform example shown in FIG. 8 is 43.1%.
  • the ⁇ -axis current command value i ⁇ * does not follow the ⁇ -axis current command value i ⁇ * and the ⁇ -axis current command value i ⁇ * and the ⁇ -axis current i ⁇ do not match as shown in the middle and lower stages. I haven't done it. Further, as shown in the lower part of FIG. 7, the output torque ⁇ e contains more components of n times the mechanical angular frequency. As a result, as shown in the upper middle part of FIG. 7, the peak value of each phase current is not constant, and the improvement effect by the high efficiency control is smaller than that in the example of FIG.
  • FIG. 9 is a block diagram showing a configuration example when the filter 134 shown in FIG. 4 is a notch filter.
  • the filter 134 is a notch filter
  • a value that is n times the mechanical angular frequency is set as the filter center frequency.
  • the filter center frequency is adjusted to the fluctuation frequency component due to the load fluctuation, and the fluctuation component due to the load fluctuation is removed from the current command value.
  • a filter with a narrow rejection band is generally used. Therefore, only the band of the fluctuation component due to the load fluctuation is attenuated from the current command value to a low level. Therefore, it is desirable that the filter center frequency be varied according to the motor speed. If the filter center frequency is changed according to the motor speed, it is possible to appropriately remove the fluctuation component that changes according to the set speed.
  • the filter 134 which is a notch filter, can be configured as shown in FIG. 9, for example.
  • the filter 134 includes a multiplier 161, sine value calculators 162 and 166, cosine value calculators 163 and 167, low-pass filters 164 and 165, and adder / subtractors 168 and 169.
  • the speed deviation ⁇ that is the output of the adder / subtractor 132 and the mechanical angle phase ⁇ me that is the output of the mechanical angle phase calculator 133 are input to the filter 134.
  • the multiplier 161 outputs the value of n ⁇ ⁇ me, which is n times the mechanical angle phase ⁇ me, to the sine value calculator 162 and the cosine value calculator 163.
  • the sine value calculator 162 performs a calculation process of ⁇ ⁇ sin (n ⁇ ⁇ me).
  • the output of the sine value calculator 162 is passed through a low pass filter 164 having a time constant Tf.
  • a DC amount can be obtained by passing through the low-pass filter 164. This DC amount is multiplied by the value of sin (n ⁇ ⁇ me) by the sine value calculator 166, and is output to the adder / subtractor 168 as a DC amount in the imaginary axis direction on the complex plane.
  • the cosine value calculator 163 performs a calculation process of ⁇ ⁇ cos (n ⁇ ⁇ me).
  • the output of the cosine value calculator 163 is passed through a low-pass filter 165 having a time constant Tf.
  • a DC amount can be obtained by passing the low pass filter 165.
  • the cosine value calculator 167 multiplies this DC amount by the value of cos (n ⁇ ⁇ me), and outputs it to the adder / subtractor 168 as a DC amount in the real axis direction on the complex plane.
  • the adder / subtractor 168 In the adder / subtractor 168, the DC amount in the imaginary axis direction on the complex plane and the DC amount in the real axis direction on the complex plane are added. As a result, the output of the adder / subtractor 168 becomes the AC amount ⁇ nf due to the n-fold component of the mechanical angular frequency. Then, the adder / subtractor 169 calculates the deviation between the speed deviation ⁇ and the alternating current amount ⁇ nf. The output of the adder / subtractor 169 is an output obtained by removing the AC amount ⁇ nf due to the n-fold component of the mechanical angular frequency from the speed deviation ⁇ , and is input to the speed controller 135 as the second speed deviation ⁇ f. The subsequent operation is as described above.
  • FIG. 10 is a block diagram showing an example of a hardware configuration that realizes the functions of the control device 100 according to the first embodiment.
  • FIG. 11 is a block diagram showing another example of the hardware configuration that realizes the functions of the control device 100 according to the first embodiment.
  • a processor 200 that performs an operation, a memory 202 in which a program read by the processor 200 is stored, and signals are input / output. It may be configured to include the interface 204.
  • the processor 200 may be an arithmetic unit such as an arithmetic unit, a microprocessor, a microcomputer, a CPU (Central Processing Unit), or a DSP (Digital Signal Processor).
  • the memory 202 is a nonvolatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable ROM), EEPROM (registered trademark) (Electrically EPROM). Examples thereof include magnetic disks, flexible disks, optical disks, compact disks, mini disks, and DVDs (Digital Versatile Discs).
  • the memory 202 stores a program that executes the function of the control device 100.
  • the processor 200 transmits / receives necessary information via the interface 204, and the processor 200 executes the program stored in the memory 202 to realize the function of the control device 100.
  • the calculation result by the processor 200 can be stored in the memory 202.
  • the processor 200 and the memory 202 shown in FIG. 10 may be replaced with the processing circuit 203 as shown in FIG.
  • the processing circuit 203 corresponds to a single circuit, a composite circuit, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof.
  • processing in the control device 100 may be executed by the processing circuit 203, and processing not executed by the processing circuit 203 may be executed by the processor 200 and the memory 202.
  • the filter provided in the preceding stage of the speed controller is the deviation between the speed command value and the speed estimated value based on the mechanical angle phase indicating the rotational position of the motor.
  • the fluctuation component due to the load fluctuation included in the first speed deviation is removed.
  • the speed controller generates a current command value based on the second speed deviation output from the filter.
  • the current controller calculates a voltage command value, which is a command value of a voltage applied to the motor, based on the current command value from which the specific frequency component is removed and the motor current.
  • the specific frequency component is a frequency component that is a natural multiple of the mechanical angular frequency.
  • the filter may be provided at a stage subsequent to the speed controller.
  • the speed controller generates the current command value based on the speed deviation which is the deviation between the speed command value and the speed estimated value.
  • the filter removes the fluctuation component due to the load fluctuation included in the current command value, based on the mechanical angle phase indicating the rotational position of the motor.
  • the current controller calculates a voltage command value which is a command value of a voltage applied to the motor based on the motor command and the current command value from which the fluctuation component due to the load fluctuation is removed. Also with this configuration, the pulsating component of the current command value can be reduced, and highly efficient drive control of the motor can be reliably performed.
  • the torque current command value is obtained by using the notch filter before or after the speed controller without performing integral control such that the pulsating component of the torque current command value becomes zero. I try to approach a certain value. As a result, it is possible to reliably avoid the occurrence of a phenomenon in which a desired control gain value cannot be obtained in the control process.
  • the speed command value ⁇ * is used for the angular velocity information used in the non-interference controller.
  • the angular velocity used in the non-interference controller is set to the speed command value ⁇ *, the non-interference controller may not work effectively and the control for causing the actual current to follow the current command value may be delayed.
  • the control for causing the actual current to follow the current command value can be performed quickly. .. As a result, more efficient drive control becomes possible while speeding up control.
  • FIG. 12 is a diagram showing a configuration example of the refrigeration cycle device 500 according to the second embodiment.
  • the refrigeration cycle device 500 according to the second embodiment includes the load drive device 300 described in the first embodiment.
  • the refrigeration cycle device 500 according to the second embodiment can be applied to products including a refrigeration cycle such as an air conditioner, a refrigerator, a freezer, and a heat pump water heater. Note that, in FIG. 12, components having the same functions as those in the first embodiment are designated by the same reference numerals as those in the first embodiment.
  • Refrigeration cycle device 500 includes compressor 501 having motor 7 according to the first embodiment, four-way valve 502, indoor heat exchanger 506, expansion valve 508, and outdoor heat exchanger 510 via refrigerant pipe 512. Installed.
  • a compression mechanism 504 that compresses the refrigerant and a motor 7 that operates the compression mechanism 504 are provided.
  • the refrigeration cycle apparatus 500 can perform heating operation or cooling operation by switching operation of the four-way valve 502.
  • the compression mechanism 504 is driven by the motor 7 whose variable speed is controlled.
  • the refrigerant is pressurized by the compression mechanism 504 and sent out, and passes through the four-way valve 502, the indoor heat exchanger 506, the expansion valve 508, the outdoor heat exchanger 510 and the four-way valve 502. Returning to the compression mechanism 504.
  • the refrigerant is pressurized by the compression mechanism 504 and sent out as shown by the broken line arrow, and passes through the four-way valve 502, the outdoor heat exchanger 510, the expansion valve 508, the indoor heat exchanger 506, and the four-way valve 502. Returning to the compression mechanism 504.
  • the indoor heat exchanger 506 acts as a condenser to release heat
  • the outdoor heat exchanger 510 acts as an evaporator to absorb heat
  • the outdoor heat exchanger 510 acts as a condenser to release heat
  • the indoor heat exchanger 506 acts as an evaporator to absorb heat.
  • the expansion valve 508 reduces the pressure of the refrigerant and expands it.

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

Abstract

Dispositif de commande (100) d'un dispositif d'entraînement de charge (300) comportant une unité de calcul d'instruction de tension (115). L'unité de calcul d'instruction de tension (115) comprend un filtre (134) précédant un dispositif de commande de vitesse (135). Sur la base d'une phase angulaire mécanique indiquant la position de rotation d'un moteur (7), le filtre (134) soustrait une composante de fréquence spécifiée d'une composante de fluctuation résultant d'une fluctuation de charge comprise dans un premier écart de vitesse, qui est un écart entre une valeur d'instruction de vitesse et une valeur d'estimation de vitesse. La composante de fréquence spécifiée est déterminée par la charge et est un nombre naturel multiple d'une fréquence angulaire mécanique obtenue en exprimant une vitesse de rotation du moteur (7) en tant qu'angle de rotation par unité de temps. Le dispositif de commande de vitesse (135) génère une valeur d'instruction de courant sur la base d'un second écart de vitesse délivré par le filtre (134). Des dispositifs de commande de courant (138, 139) calculent chacun une valeur d'instruction de tension, qui est une valeur d'instruction de la tension appliquée au moteur, sur la base d'un courant de moteur et de la valeur d'instruction de courant de laquelle un nombre naturel multiple de la fréquence angulaire mécanique a été soustrait.
PCT/JP2018/041314 2018-11-07 2018-11-07 Dispositif d'entraînement de charge, dispositif à cycle de réfrigération et climatiseur WO2020095377A1 (fr)

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JP2020556398A JP7050951B2 (ja) 2018-11-07 2018-11-07 負荷駆動装置、冷凍サイクル装置及び空気調和機

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WO2024069811A1 (fr) * 2022-09-28 2024-04-04 三菱電機株式会社 Dispositif d'entraînement de moteur et instrument de cycle de réfrigération
WO2024075210A1 (fr) * 2022-10-05 2024-04-11 三菱電機株式会社 Dispositif de conversion de puissance, dispositif d'entraînement de moteur et dispositif d'application de cycle de réfrigération

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JP2010088200A (ja) * 2008-09-30 2010-04-15 Calsonic Kansei Corp 電動モータの制御装置
JP2013059205A (ja) * 2011-09-08 2013-03-28 Nissan Motor Co Ltd モータ制御装置
JP2016082790A (ja) * 2014-10-21 2016-05-16 ダイキン工業株式会社 電動機制御装置、電動機制御システム
JP2016189668A (ja) * 2015-03-30 2016-11-04 Juki株式会社 モータ制御装置、モータ制御方法、ミシン及びそのプログラム
WO2017022081A1 (fr) * 2015-08-04 2017-02-09 三菱電機株式会社 Dispositif de commande de moteur synchrone, dispositif d'entraînement de compresseur et conditionneur d'air

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JP2010088200A (ja) * 2008-09-30 2010-04-15 Calsonic Kansei Corp 電動モータの制御装置
JP2013059205A (ja) * 2011-09-08 2013-03-28 Nissan Motor Co Ltd モータ制御装置
JP2016082790A (ja) * 2014-10-21 2016-05-16 ダイキン工業株式会社 電動機制御装置、電動機制御システム
JP2016189668A (ja) * 2015-03-30 2016-11-04 Juki株式会社 モータ制御装置、モータ制御方法、ミシン及びそのプログラム
WO2017022081A1 (fr) * 2015-08-04 2017-02-09 三菱電機株式会社 Dispositif de commande de moteur synchrone, dispositif d'entraînement de compresseur et conditionneur d'air

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WO2024069811A1 (fr) * 2022-09-28 2024-04-04 三菱電機株式会社 Dispositif d'entraînement de moteur et instrument de cycle de réfrigération
WO2024075210A1 (fr) * 2022-10-05 2024-04-11 三菱電機株式会社 Dispositif de conversion de puissance, dispositif d'entraînement de moteur et dispositif d'application de cycle de réfrigération

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