WO2021199410A1 - Control device for three-phase alternating current rotating machine - Google Patents

Abstract

Provided is a control device for a three-phase alternating current rotating machine enabling accurate estimation of a CT gain imbalance. This control device for a three-phase alternating current rotating machine defines, as a reference, a preset detection signal out of current of at least two phases that has been detected, detects an inter-phase gain error of a reference phase and a non-reference phase from a d-axis current and an electrical angle, and causes the gain of a current detector of the non-reference phase to be reflective of a computation result of the inter-phase gain error. The foregoing makes it possible to accurately estimate the CT gain imbalance.

Description

Control device for three-phase AC rotating machine

This disclosure relates to a control device for a three-phase AC rotary machine.

Patent Document 1 discloses a control device for a three-phase AC rotary machine. The control device estimates the CT gain imbalance by extracting information corresponding to the 2f pulsation of the dq-axis current when the motor is energized, and appropriately corrects the CT gain imbalance.

Japanese Patent Application Laid-Open No. 6-121569

However, the control device described in Patent Document 1 uses the torque command value as information corresponding to the 2f pulsation of the dq axis current when the motor is energized. In a motor control device that includes a current control system based on speed feedback control, when CT correction calculation processing is performed while the motor is being driven, the CT gain of the entire device's round-trip transmission characteristics is determined by setting the current control loop and the speed control loop outside it. It may also attenuate the ripple frequency generated by the imbalance. In this case, the CT gain imbalance cannot be estimated accurately.

This disclosure was made to solve the above-mentioned problems. An object of the present disclosure is to provide a control device for a three-phase AC rotating machine capable of accurately estimating CT gain imbalance.

The control device for the three-phase AC rotor according to the present disclosure includes a current detector that detects the current of at least two phases of the three phases of the three-phase AC rotor, and A / D of the current detected by the current detector. The A / D converter that converts, the coordinate conversion unit that converts three-phase coordinates and dq coordinates to each other, the current command value that is the control input of the current, and the current detected by the current detector are converted into the coordinate conversion unit. A voltage command value, which is a control input of the voltage, is generated based on the difference from the current feedback value converted by dq coordinates in, and the voltage command value is corrected so as to cancel the interference between the dq axes based on the current command value. Of the current control unit, the power converter that generates a three-phase voltage based on the voltage command value and supplies it to the three-phase AC rotating machine, and the current of at least two phases detected by the current detector. It is detected by a current detection gain error detection unit that defines a preset detection signal as a reference and detects the interphase gain error between the reference phase and the non-reference phase from the d-axis current and the electric angle, and the current detection gain error detection unit. It is provided with a current detection gain correction control calculation unit that reflects the calculation result of the interphase gain error in the gain of the current detector in the non-reference phase.

The control device for the three-phase AC rotor according to the present disclosure includes a current detector that detects the current of at least two phases of the three phases of the three-phase AC rotor, and A / D of the current detected by the current detector. The A / D converter that converts, the coordinate conversion unit that converts three-phase coordinates and dq coordinates to each other, the current command value that is the control input of the current, and the current detected by the current detector are converted into the coordinate conversion unit. A voltage command value, which is a control input of the voltage, is generated based on the difference from the current feedback value converted by dq coordinates in, and the voltage command value is corrected so as to cancel the interference between the dq axes based on the current command value. Of the current control unit, the power converter that generates a three-phase voltage based on the voltage command value and supplies it to the three-phase AC rotating machine, and the current of at least two phases detected by the current detector. A current detection gain error detection unit that defines a preset detection signal as a reference and detects the interphase gain error between the reference phase and the non-reference phase from the d-axis current error signal and the electric angle, and the current detection gain error detection unit. It is provided with a current detection gain correction control calculation unit that reflects the calculation result of the interphase gain error detected by the above in the gain of the current detector in the non-reference phase.

The control device for the three-phase AC rotor according to the present disclosure includes a current detector that detects the current of at least two phases of the three phases of the three-phase AC rotor, and A / D of the current detected by the current detector. The A / D converter that converts, the coordinate conversion unit that converts three-phase coordinates and dq coordinates to each other, the current command value that is the control input of the current, and the current detected by the current detector are converted into the coordinate conversion unit. A voltage command value, which is a control input of the voltage, is generated based on the difference from the current feedback value converted by dq coordinates in, and the voltage command value is corrected so as to cancel the interference between the dq axes based on the current command value. Of the current control unit, the power converter that generates a three-phase voltage based on the voltage command value and supplies it to the three-phase AC rotating machine, and the current of at least two phases detected by the current detector. It is provided with a current detection gain error detection unit that defines a preset detection signal as a reference and detects an interphase gain error between a reference phase and a non-reference phase from the d-axis current and the electric angle.

According to the present disclosure, a phase gain error between the reference phase and the non-reference phase is detected. Therefore, the CT gain imbalance can be estimated accurately.

It is a block diagram of the control device of the three-phase AC rotary machine in Embodiment 1. FIG. It is a block diagram of the current control part of the control device of the three-phase AC rotary machine in Embodiment 1. FIG. It is a block diagram of the three-phase current calculation part of the control device of the three-phase AC rotary machine in Embodiment 1. FIG. It is a figure which shows the characteristic waveform which shows the relationship between the d-axis current observation value and the electric angle when there is a V-phase gain error in the system to which the control device of the three-phase AC rotary machine in Embodiment 1 is applied. It is a figure which shows the characteristic waveform which shows the relationship between the d-axis current observation value and the electric angle when there is a W phase gain error in the system to which the control device of the three-phase AC rotary machine in Embodiment 1 is applied. The figure which shows the characteristic waveform which shows the relationship between the d-axis current observation value and the electric angle at the time of having a V-phase gain error and a W-phase gain error in the system to which the control device of the three-phase AC rotary machine according to Embodiment 1 is applied. Is. This is the first example of the block diagram of the current detection gain error detection unit of the control device of the three-phase AC rotary machine according to the first embodiment. This is a second example of a block diagram of a current detection gain error detection unit of a control device for a three-phase AC rotary machine according to the first embodiment. It is a figure which shows the behavior example with respect to the electric angle of the sample hold control signal and the polarity designation signal of the control device of the three-phase AC rotary machine in Embodiment 1. FIG. It is a figure which shows the behavior example with respect to the electric angle of the sample hold control signal and the polarity designation signal of the control device of the three-phase AC rotary machine in Embodiment 1. FIG. It is a block diagram of the current detection gain correction control calculation part of the control device of the three-phase AC rotary machine in Embodiment 1. FIG. It is a hardware block diagram of the control device of the three-phase AC rotary machine in Embodiment 1. FIG. It is a block diagram of the control device of the three-phase AC rotary machine in Embodiment 2. It is a figure which shows the characteristic waveform which shows the relationship between the d-axis current observation value and the electric angle when there is a W phase gain error in the system to which the control device of the three-phase AC rotary machine in Embodiment 2 is applied. A characteristic waveform showing the relationship between the d-axis current observed value and the electric angle and the detection timing of the W-phase gain error when there is a W-phase gain error in the system to which the control device of the three-phase AC rotor according to the second embodiment is applied. It is a figure which shows. A characteristic waveform showing the relationship between the d-axis current observed value and the electric angle when there is a VW phase gain error and the detection range of the W phase gain error in the system to which the control device of the three-phase AC rotating machine according to the second embodiment is applied. It is a figure which shows. It is a block diagram of the three-phase current calculation part of the control device of the three-phase AC rotary machine in Embodiment 2. FIG. It is a block diagram of the 1st example of the current detection gain error detection part of the control device of the three-phase AC rotary machine in Embodiment 2. FIG. It is a block diagram of the 2nd example of the current detection gain error detection part of the control device of the three-phase AC rotary machine in Embodiment 2. FIG. It is a figure which shows the behavior example with respect to the electric angle of the sample hold control signal and the polarity designation signal of the control device of the three-phase AC rotary machine in Embodiment 1. FIG. It is a block diagram of the current detection gain correction control calculation unit of the control device of the three-phase AC rotary machine in Embodiment 2. It is a block diagram of the 1st example of the control device of the three-phase AC rotary machine in Embodiment 3. It is a block diagram of the 2nd example of the control device of the three-phase AC rotary machine in Embodiment 3. It is a block diagram of the current control part of the control device of the three-phase AC rotary machine in Embodiment 3. It is a block diagram of the current detection gain error detection part in the 1st example of the control device of the three-phase AC rotary machine in Embodiment 3. It is a block diagram of the current detection gain error detection part in the 2nd example of the control device of the three-phase AC rotary machine in Embodiment 3. It is a block diagram of the current detection gain error detection part of the control device of the three-phase AC rotary machine in Embodiment 4. It is a block diagram of a part of the current detection gain error detection part of the control device of the three-phase AC rotary machine in Embodiment 4. It is a flowchart for demonstrating the adjustment algorithm by the control device of the three-phase AC rotary machine in Embodiment 1 to Embodiment 3. It is a flowchart for demonstrating the adjustment algorithm by the control device of the three-phase AC rotary machine in Embodiment 1 to Embodiment 3. It is a block diagram of the main part of the control device of the three-phase AC rotary machine in Embodiment 5.

The embodiment will be described according to the attached drawings. In each figure, the same or corresponding parts are designated by the same reference numerals. The duplicate description of the relevant part will be simplified or omitted as appropriate.

Embodiment 1.
FIG. 1 is a block diagram of a control device for a three-phase AC rotating machine according to the first embodiment. FIG. 2 is a block diagram of the current control unit of the control device for the three-phase AC rotary machine according to the first embodiment. FIG. 3 is a block diagram of a three-phase current calculation unit of the control device for the three-phase AC rotary machine according to the first embodiment.

As shown in FIG. 1, the control device 20 of the motor 1 includes a current control unit 2, a dq-three-phase conversion unit 3, a three-phase-dq conversion unit 4, a power converter 5, a current detector 6a, and a current detector. 6b, current detector 6c, A / D converter 7a, A / D converter 7b, A / D converter 7c, rotation position detector 8, differential calculation unit 9, three-phase current calculation unit 10, and current detection gain error. It has a detection unit 11 and a current detection gain correction control calculation unit 12.

As shown in FIG. 2, the current control unit 2 includes a d-axis current control unit 21, a q-axis current control unit 22, and a non-interfering control unit 23.

In a normal state, the control device 20 includes a current control unit 2, a dq-three-phase conversion unit 3, a three-phase-dq conversion unit 4, a power converter 5, a current detector 6a, a current detector 6b, and a current detector 6c. The motor 1 is controlled by the A / D converter 7a, the A / D converter 7b, the A / D converter 7c, the rotation position detector 8, the differential calculation unit 9, and the three-phase current calculation unit 10. At this time, the motor 1 rotates so as to have the d-axis current command value id ^* and the q-axis current command value iq ^*.

At this time, the rotation position detector 8 detects the rotor position (electrical angle) θre of the motor 1. The differential calculation unit 9 outputs the electric angular velocity ωre by time-differentiating the θre. The current detector 6a, the current detector 6b, and the current detector 6c detect the U-phase current iu, the V-phase current iv, and the W-phase current iwa, which are three-phase currents flowing through the motor 1, respectively. The A / D converter 7a, the A / D converter 7b, and the A / D converter 7c use the U-phase current iu, the V-phase current iv, and the W-phase current iwa as the current detection value ius, the current detection value, and the ivs. It is converted to the current detection value iws, respectively.

As shown in FIG. 3, the three-phase current calculation unit 10 outputs the current detection value ius as a reference signal without operating it. The three-phase current calculation unit 10 multiplies the current detection value ivs and the current detection value iws by the gain imbalance correction value cor_ivs and the gain imbalance correction value cor_iws, respectively, to obtain the gain-corrected current detection value i'v. The gain-corrected current detection value i'w is output.

The three-phase-dq conversion unit 4 converts the gain-corrected three-phase current detection values ius, i'v, and i'w on the control coordinate (dq) axis by θre. The current control unit 2 receives the input of the converted current observation value id on the d-axis and the current observation value iq on the q-axis. The current control unit 2 receives inputs of the electric angular velocity ωre, the d-axis current command value id ^*, and the q-axis current command value iq ^* . In the current control unit 2, the d-axis current control unit 21 generates a ^{d-axis voltage command value vd ** for controlling from id_er, which is the difference between id *} and id, to a desired d-axis current value. The q-axis current control unit 22 generates a ^{q-axis voltage command value vq ** for controlling from iq_er, which is the difference between iq *} and iq, to a desired q-axis current value. Both the d-axis current control unit 21 and the q-axis current control unit 22 have a so-called PI control compensator configuration, and as a result, the steady-state deviation has the property of converging to zero.

The non-interfering control unit 23 calculates voltage components that interfere with each other between the dq axes based on ^{id *} and iq ^*. The non-interference control unit 23 reduces the control error due to mutual interference by correcting the calculation result with the voltage command value vd ^** on the d-axis and the voltage command value vq ^{** on the q-axis.} The result of the d-axis correction calculation is vd ^* . The result of the q-axis correction calculation is vq ^* .

The dq-three-phase conversion unit 3 converts vd ^* and vq ^* output from the current control unit 2 into dq-three-phase on the dq axis by θre. The power converter 5 receives an input of a value converted by the dq-three-phase converter 3 as a three-phase AC voltage command signal. The power converter 5 controls the motor 1 as a three-phase AC rotating machine so as to generate a desired dq-axis current by the AC output.

Next, CT correction will be described without using figures.

In the CT gain imbalance of each phase, the CT gain of the U phase is used as a reference. The V phase is (1-α) times larger than the U phase. The W phase is (1-β) times larger than the U phase. At this time, the following equations (1) and (2) are established.

Based on Eqs. (1) and (2), the d-axis current observed value id is the error α, W phase, and reference phase between the reference U-phase current amplitude Au, the V phase, and the reference phase U phase. It is expressed by the following equation (3) with the error β from the U phase as a parameter.

For the sine wave of the first term on the left side of Eq. (3), the error α is used as the amplitude parameter. The sine wave is synchronized with a period twice that of the V-phase current, which is 2π / 3 delayed with respect to the U-phase current. The sine wave of the second term on the left side of (3) uses an error β as an amplitude parameter. The sine wave is synchronized with a period twice that of the W-phase current, which is 2π / 3 ahead of the U-phase current.

From Eq. (3), the d-axis current observed value id becomes equally zero when there is no CT gain imbalance and the error α and the error β are zero. When the error α is not zero, the d-axis current observed value id is an added waveform of a sine wave having a phase synchronized with the V-phase current at a frequency twice that of the U-phase current. When the error β is not zero, the d-axis current observed value id is an added waveform of a sine wave having a phase synchronized with the W-phase current at a frequency twice that of the U-phase current. The frequencies of these sine waves are the same. The amplitude of these sine waves is proportional to the amount of error. These sine waves have waveforms that are out of phase with each other.

The method of independently detecting the error α and the error β by utilizing the property that the sine wave becomes zero periodically will be described below.

When only the error α is detected from the waveform of the d-axis current observed value id, the value of the error β may be invalidated regardless of the value of the error β. Specifically, the sample may be held at the timing when the sine function of the second term on the right side of the equation (3) becomes zero. The specific timing is expressed by the following equation (4).

However, in equation (4), N is an integer.

When the d-axis current observed value id is sample-held at the timing of Eq. (4), if N is an even number, an error is detected in the positive electrode property with respect to the error α. When N is an odd number, an error is detected in the negative electrode property with respect to the error α.

When only the error β is detected from the waveform of the d-axis current observed value id, the value of the error α may be invalidated regardless of the value of the error α. Specifically, the sample may be held at the timing when the sine function of the first term on the right side of the equation (3) becomes zero. The specific timing is expressed by the following equation (5).

However, in equation (5), N is an integer.

When the d-axis current observed value id is sample-held at the timing of equation (5), if N is an even number, an error is detected as a negative electrode with respect to the error β. When N is an odd number, an error is detected in the positive electrode property with respect to the error β.

In order to help the above understanding, a specific waveform will be described with reference to FIGS. 4 to 6.
FIG. 4 is a diagram showing a characteristic waveform showing the relationship between the d-axis current observed value and the electric angle when there is a V-phase gain error in the system to which the control device of the three-phase AC rotating machine according to the first embodiment is applied. FIG. 5 is a diagram showing a characteristic waveform showing the relationship between the d-axis current observed value and the electric angle when there is a W-phase gain error in the system to which the control device of the three-phase AC rotating machine according to the first embodiment is applied. FIG. 6 shows a characteristic waveform showing the relationship between the d-axis current observed value and the electric angle when there is a V-phase gain error and a W-phase gain error in the system to which the control device of the three-phase AC rotating machine according to the first embodiment is applied. It is a figure which shows.

FIG. 4 shows the electric angle waveform of the d-axis current observed value id when the error α is set to the non-zero value Δ and the error β is set to zero based on the equation (3). The electric angle θre on the horizontal axis is defined by an angle corresponding to one cycle of the U-axis current. The solid line waveform in FIG. 4 is the waveform of the d-axis current observed value id when α = Δ. In the solid line waveform of FIG. 4, the frequency is twice the U-phase current frequency. In the solid line waveform of FIG. 4, the phase lags 2 / 3π with respect to the U-phase current frequency. The dotted line waveform in FIG. 4 is a waveform when the error α is set to twice Δ. In the dotted line waveform of FIG. 4, the period and phase are the same as the period and phase of the solid line waveform of FIG. In the dotted line waveform of FIG. 4, the amplitude is twice the amplitude of the solid line waveform of FIG. Therefore, the amplitude information has a magnitude of error α.

FIG. 5 shows the electric angle waveform of the d-axis current observed value id when the error β is set to the non-zero value Δ and the error β is set to zero based on the equation (3). The electric angle θre on the horizontal axis is defined by an angle corresponding to one cycle of the U-axis current. The solid line waveform in FIG. 5 is the waveform of the d-axis current observed value id when β = Δ. In the solid line waveform of FIG. 5, the frequency is twice the U-phase current frequency. In the solid line waveform of FIG. 4, the phase advances 2 / 3π with respect to the U-phase current frequency. The dotted line waveform in FIG. 5 is a waveform when the error β is set to twice Δ. In the dotted line waveform of FIG. 5, the period and phase are the same as the period and phase of the solid line waveform of FIG. In the dotted line waveform of FIG. 5, the amplitude is twice the amplitude of the solid line waveform of FIG. Therefore, the amplitude information has a magnitude of error β.

FIG. 6 shows the electric angle waveform of the d-axis current observed value id when the error α and the error β are set to non-zero Δ based on the equation (3). The alternate long and short dash line in FIG. 6 is a waveform component due to an error α and is the first term component on the right side of Eq. (3). The dotted line in FIG. 6 is the waveform component due to the error β and is the second term component on the right side of Eq. (3). The solid line in FIG. 6 is the d-axis current observed value id of Eq. (3).

In FIG. 6, the white arrow indicates the timing of Eq. (4). The downward white arrow is an arrow when N is an even number. The upward white arrow is an arrow when N is an odd number. At this timing, the d-axis current observed value id becomes the same value as the waveform component due to the error α. In this case, the d-axis current observed value id is not affected by the error β.

In FIG. 6, the black arrow indicates the timing of Eq. (5). In FIG. 6, the downward black arrow is an arrow when N is an odd number. The upward black arrow is an arrow when N is an even number. At this timing, the d-axis current observed value id becomes the same value as the waveform component due to the error β. In this case, the d-axis current observed value id is not affected by the error α.

Next, using FIGS. 7 and 8, a block that realizes the contents described with reference to FIGS. 4 to 6 will be described.
FIG. 7 is a first example of a block diagram of a current detection gain error detection unit of the control device of the three-phase AC rotary machine according to the first embodiment. FIG. 8 is a second example of a block diagram of the current detection gain error detection unit of the control device of the three-phase AC rotary machine according to the first embodiment.

As shown in FIG. 7, the current detection gain error detection unit 11 accepts inputs of the electric angle θre and the d-axis current observed value id. The current detection gain error detection unit 11 outputs the V-phase gain error Er_ivs and the W-phase gain error Er_iws.

In the current detection gain error detection unit 11, the phase determination unit 111 determines the timing when the electric angle θre reaches a preset value. The phase determination unit 111 outputs the sample hold control signal t_v and the sample hold control signal t_w at the timing.

The sample hold control signal t_v is output at the timing when the electric angle θre is an even number in N in equation (4). The sample hold control signal t_w is output at the timing when the electric angle θre is an odd number of N in the equation (4).

The first sample hold unit 112 sample-holds the d-axis current observed value id at the timing when the sample hold control signal t_v is input. Therefore, the first sample hold unit 112 outputs after generating a positive V-phase gain error Er_ivs having a magnification set in advance with respect to the error α.

The second sample hold unit 113 sample-holds the d-axis current observed value id at the timing when the sample hold control signal t_w is input. Therefore, the second sample hold unit 113 generates and outputs a positive electrode W-phase gain error Er_iws having a magnification set in advance with respect to the error β.

The current detection gain error detection unit 11 can sample up to four errors α and error β in one cycle of the electric angle at a timing synchronized with the frequency doubled with reference to the U-phase electric angle.

In the example of FIG. 7, two of the four positive electrode timings are selected in order to simplify the process.

On the other hand, when the motor 1 operates at an extremely low speed, the detection sampling cycle of the current detection gain error signal may be shortened. In this case, as in the example of FIG. 8, the maximum number of samplings in one cycle of the electric angle may be four.

In FIG. 8, the current detection gain error detection unit 11 receives inputs of the electric angle θre and the d-axis current observation value id. The current detection gain error detection unit 11 outputs a V-phase gain error Er_ivs, a W-phase gain error Er_iws, a polarity designation signal p / n1, and a polarity designation signal p / n2.

The polarity designation signal p / n1 is a signal that switches to H or L at the timing when N in Eq. (4) becomes an integer. For example, the polarity designation signal p / n1 becomes H in a state where N is an even number. For example, the polarity designation signal p / n1 becomes L in a state where N is an odd number.

The polarity designation signal p / n2 is a signal that switches to H or L at the timing when N in Eq. (5) becomes an integer. For example, the polarity designation signal p / n1 becomes H in a state where N is an even number. For example, the polarity designation signal p / n1 becomes L in a state where N is an odd number.

The first sample hold unit 112 sample-holds the d-axis current observed value id at the timing when N in Eq. (4) becomes an integer. At this time, the polarity inversion means 115 outputs the polarity-inverted signal during the period when the gain error signal has the opposite polarity. In this case, the switch unit 116 selects a signal whose polarity is inverted. As a result, all of the detection polarities of the V-phase gain error Er_ivs become positive.

The second sample hold unit 113 sample-holds the d-axis current observed value id at the timing when N in Eq. (5) becomes an integer. At this time, the polarity inversion means 117 outputs the polarity-inverted signal during the period when the gain error signal has the opposite polarity. In this case, the switch unit 118 selects the signal whose polarity is inverted. As a result, all the detection polarities of the V-phase gain error Er_iws become positive.

Next, with reference to FIG. 9, an example of the behavior of the sample hold control signal t_v and the polarity designation signal p / n1 with respect to the electrical angle is shown.
FIG. 9 is a diagram showing an example of the behavior of the sample hold control signal and the polarity designation signal of the control device of the three-phase AC rotary machine according to the first embodiment with respect to the electric angle.

In FIG. 9, the sample hold control signal t_v is a signal whose electric angle θre rises from 0 to 1 when N in Eq. (4) is an integer. The sample hold control signal t_v is supplied to the first sample hold unit 112 at the rising edge.

Next, with reference to FIG. 10, an example of the behavior of the sample hold control signal t_w and the polarity designation signal p / n2 with respect to the electrical angle is shown.
FIG. 10 is a diagram showing an example of the behavior of the sample hold control signal and the polarity designation signal of the control device of the three-phase AC rotary machine according to the first embodiment with respect to the electric angle.

In FIG. 10, the sample hold control signal t_w is a signal whose electric angle θre rises from 0 to 1 when N in the equation (5) is an integer. The sample hold control signal t_w is supplied to the second sample hold unit 113 at the rising edge.

Next, the current detection gain correction control calculation unit 12 will be described with reference to FIG.
FIG. 11 is a block diagram of the current detection gain correction control calculation unit of the control device for the three-phase AC rotary machine according to the first embodiment.

In FIG. 11, the first amplifier 121 receives the input of the V-phase gain error Er_ivs, which is the output of the current detection gain error detection unit 11, and then outputs the V-phase gain error Er_ivs at a preset magnification.

Switch 125 selects ON / OFF of V-phase gain correction control. The control signal of the switch 125 is CT_gain_tune. When the switch 125 is ON, the switch 125 selects and outputs the signal of the first amplifier 121. When the switch 125 is OFF, 0 is selected and then output.

The first integrator 122 inputs the output of the first amplifier 121 and integrates at a preset sampling rate. The first initial value is 1 at the time of initial adjustment. The first initial value is set to the convergence value of the first integrator 122 at the time of the previous operation except for the initial adjustment. The output of the first integrator 122 is the V-phase gain imbalance correction value cor_ivs.

The second amplifier 123 receives the input of the W-phase gain error Er_iws, which is the output of the current detection gain error detection unit 11, and then outputs the W-phase gain error Er_ivs at a preset magnification.

Switch 126 selects ON / OFF of W phase gain correction control. The control signal of the switch 126 is CT_gain_tune. When the switch 126 is ON, the switch 126 selects and outputs the signal of the second amplifier 123. When the switch 126 is OFF, 0 is selected and output.

The second integrator 124 inputs the output of the second amplifier 123 and integrates at a preset sampling rate. The second initial value is 1 at the time of initial adjustment. The second initial value is set to the convergence value of the second integrator 124 at the time of the previous operation except for the initial adjustment. The output of the second integrator 124 is the W-phase gain imbalance correction value cor_iws.

Note that the first initial value and the second set value are based on the premise that the convergence values during the previous operation and the current operation are very small from the viewpoint of accelerating the convergence of the integrator. In this case, the first initial value and the second set value are set to the convergence value of the vessel. At the time of initial setting, there is no convergence value of the previous integrator. Therefore, the first initial value and the second set value are set to 1, which is a value when there is no error.

The V-phase gain unbalance correction value cor_ivs and the W-phase gain unbalance correction value cor_iws are input to the three-phase current calculation unit 10. As a result, gain-corrected current detection values i'v and i'w can be obtained. In this way, the gain error er_ivs detected by the current detection gain error detection unit 11 in the three-phase current calculation unit 10, the three-phase-dq conversion unit 4, the current detection gain error detection unit 11, and the current detection gain correction control calculation unit 12. , A feedback control loop that functions to make er_iws zero is configured.

In FIG. 11, the three-phase current calculation unit 10 (not shown) cancels out the effects of the CT imbalance of each phase independently, individually, and simultaneously, and the current detection values ius, i'in which the CT gain imbalance is corrected are corrected. Get v, i'w. As a result, the current ripple and torque ripple caused by the CT gain imbalance are canceled out.

According to the first embodiment described above, the current detection gain error detection unit 11 detects the current detection gain error during the normal rotation operation of the motor 1 without providing a dedicated mode. Therefore, the CT gain imbalance is accurately estimated and corrected without being affected by the one-round transmission characteristic of the control system, without changing the wiring of the device, and without requiring a special mode for error measurement. be able to.

However, the control device 20 observes the amplitude of the vibration of the d-axis current observed value id at a preset timing. Therefore, the DC value needs to be zero in the waveform of the d-axis current observed value id. Therefore, the specific applicable period is limited to the period in which the ^{d-axis current command value id * is set to zero.}

The condition in which this embodiment functions favorably is that the U-phase amplitude Au, which is a parameter of the amplitude magnification on the right side of the equation (3), is large. The larger the value of the U-phase amplitude Au, the better the S / N of the current detection gain error detection, and the larger the detection magnification. In order to satisfy this condition, the current detection gain error detection unit 11 may function under the condition that the absolute value ^{of the current command iq * on the q-axis is larger than the preset value.} On the other hand, when ^{the absolute value of the current command iq * on} the q-axis is near zero, the U-phase amplitude Au becomes close to zero. As a result, the S / N of the current detection gain error detection becomes worse, and the detection magnification becomes close to zero. In this case, the current detection gain correction control may be turned off.

In the present embodiment, the compensator of the control loop is the integrators 122 and 124 of the current detection gain correction control calculation unit 12. The compensator of the control loop is a so-called type 1 control system. In this case, the compensator of this control loop is a system that converges the steady-state deviation to zero.

Actually, the steady-state deviation does not become zero due to the influence of the detection noise of the current detection gain error detection unit 11. Generally, the DC value of noise is almost zero. Therefore, if high-frequency noise is generated from another system, the influence of the noise can be mitigated by setting the intersection frequency of the feedback control loop low with respect to the noise. As a result, the steady-state deviation caused by noise can be reduced.

Further, the control loop can be turned ON / OFF by the switches 125 and 126, and when it is turned OFF, the values of the two integrators 122 and 124 at the timing immediately before the OFF are held. Therefore, the control loop operates seamlessly and stably. For example, if the switch is turned off when the convergence of the feedback control loop is confirmed by a means provided separately, or if the speed of the motor 1 is less than a preset value, the switch is turned off to open and close the control loop. It can be easily managed.

Further, when the error correction loop is type 1 and stationary tracking control is performed, even if the detection gain of the current detection gain error detection unit 11 fluctuates, only the open loop gain of the error correction loop fluctuates, and the current detection gain. The output of the correction control calculation unit 12 does not change and becomes a correct value.

Next, an example of the control device 20 will be described with reference to FIG.
FIG. 12 is a hardware configuration diagram of the control device for the three-phase AC rotary machine according to the first embodiment.

Each function of the control device 20 can be realized by a processing circuit. For example, the processing circuit includes at least one processor 100a and at least one memory 100b. For example, the processing circuit includes at least one dedicated hardware 200.

When the processing circuit includes at least one processor 100a and at least one memory 100b, each function of the control device 20 is realized by software, firmware, or a combination of software and firmware. At least one of the software and firmware is written as a program. At least one of the software and firmware is stored in at least one memory 100b. At least one processor 100a realizes each function of the control device 20 by reading and executing a program stored in at least one memory 100b. At least one processor 100a is also referred to as a central processing unit, a processing unit, an arithmetic unit, a microprocessor, a microcomputer, and a DSP. For example, at least one memory 100b is a non-volatile or volatile semiconductor memory such as RAM, ROM, flash memory, EPROM, EEPROM, magnetic disk, flexible disk, optical disk, compact disk, mini disk, DVD, or the like.

When the processing circuit includes at least one dedicated hardware 200, the processing circuit is realized by, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC, an FPGA, or a combination thereof. NS. For example, each function of the control device 20 is realized by a processing circuit. For example, each function of the control device 20 is collectively realized by a processing circuit.

For each function of the control device 20, a part may be realized by the dedicated hardware 200, and the other part may be realized by software or firmware. For example, the function of the current detection gain correction control calculation unit 12 is realized by a processing circuit as dedicated hardware 200, and at least one processor 100a has at least one function other than the function of the current detection gain correction control calculation unit 12. It may be realized by reading and executing a program stored in one memory 100b.

In this way, the processing circuit realizes each function of the control device 20 by hardware 200, software, firmware, or a combination thereof.

Embodiment 2.
FIG. 13 is a block diagram of the control device for the three-phase AC rotary machine according to the second embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.

In FIG. 13, "a" is added to the end of the block number of the portion different from the first embodiment. Specifically, there are three parts that differ from the first embodiment: a three-phase current calculation unit 10a, a current detection gain error detection unit 11a, and a current detection gain correction control calculation unit 12a.

In the second embodiment, the control device 20 restores the current detection value of the remaining one phase from the current detection value of the two phases of the three-phase currents iu, iv, and iw. For example, the control device 20 restores the current detection value of the U phase from the current values of the V phase and the W phase.

At this time, the three-phase current detection values ius, ivs, and iws are represented by equations (6) to (8).

Here, Av is the detected V-phase current amplitude. Aw is the detected W-phase current amplitude. θre is the electrical angle. φ is the energization phase angle. Ov is the detected V-phase offset. Ow is the detected W phase offset.

The control loop performs three-phase −dq conversion on the control coordinate (dq) axis according to the electric angle θre, detects the observed currents id and iq, and makes them follow ^{the current command values id *} and iq ^*. At this time, non-interference control is performed so that id and iq do not interfere with each other. In this case, the observed d-axis current id is expressed by the following equation (9).

Here, consider the case where the d-axis current command value id ^* is set to zero. At this time, the energization phase angle φ becomes zero. Further, the offset of each phase detection signal is also adjusted to be zero in advance. In this case, the three-phase current detection values ivs and iws are represented by the following equations (10) and (11).

Eq. (12) can be obtained based on Eqs. (10) and (11).

1/2 of the right side of equation (12) is a DC offset. The DC offset is canceled in the feedback control in which the d-axis current command value id ^{* is set to zero.} As a result, the following equation (13) is obtained.

In equation (13), the d-axis current id is defined by the 2f component, which is the frequency of the second-order component of the electric angle of the motor 1. Here, if there is no CT gain imbalance, the following equation (14) holds.

In this case, the d-axis current id becomes equal to zero. On the other hand, if there is a CT gain imbalance, the right-hand side of Eq. (13) does not become zero, and the cosine wave function becomes effective. Therefore, the pulsation of the 2f component occurs. The current pulsation of the 2f becomes a pulsation of the torque of the motor 1.

Next, a CT gain error detection method will be described without using a figure.

In the CT gain imbalance of each phase, the CT gain of the V phase is used as a reference. The W phase is (1-β) times larger than the V phase. At this time, the following equation (15) holds.

Based on Eqs. (13) and (15), the d-axis current observed value id is described below with the reference V-phase current amplitude Av and the error β between the W-phase and the V-phase as the reference phase as parameters. It is expressed by the equation (16) of.

For the cosine wave on the left side of Eq. (16), the error β is used as the amplitude parameter. The cosine wave is synchronized with a period twice the V-phase current.

From Eq. (16), the d-axis current observed value id becomes equally zero when there is no CT gain imbalance and the error β is zero. When the error β is not zero, the d-axis current observed value id is an added waveform of a sine wave having a phase synchronized with the U, V, and W phase currents at a frequency twice that of the U, V, and W phase currents. The amplitude of the cosine wave is proportional to the amount of error. The waveform is synchronized with the electrical angular phase of the cosine wave, U, V, and W phase currents.

The error β appears as a periodic function in the d-axis current observed value id. The error β is synchronized with the electrical angular phase of each phase current waveform. In this case, the sample may be held at the timing when the amplitude of the equation (16) becomes maximum. The specific timing is expressed by the following equation (17).

However, in equation (17), N is an integer.

When the d-axis current observed value id is sample-held at the timing of equation (17), if N is an even number, an error is detected in the positive electrode property with respect to the error β. When N is an odd number, the error is detected by the negative electrode property with respect to the error β.

In order to help the above understanding, a specific waveform description will be given with reference to FIGS. 14 to 16.
FIG. 14 is a diagram showing a characteristic waveform showing the relationship between the d-axis current observed value and the electric angle when there is a W-phase gain error in the system to which the control device of the three-phase AC rotating machine according to the second embodiment is applied. FIG. 15 shows the relationship between the d-axis current observed value and the electric angle when there is a W-phase gain error in the system to which the control device of the three-phase AC rotor according to the second embodiment is applied, and the detection timing of the W-phase gain error. It is a figure which shows the characteristic waveform shown. FIG. 16 shows the relationship between the d-axis current observed value and the electric angle and the detection range of the W phase gain error when there is a VW phase gain error in the system to which the control device of the three-phase AC rotor according to the second embodiment is applied. It is a figure which shows the characteristic waveform.

FIG. 14 shows the electric angle waveform of the d-axis current observed value id when the error β is set to the non-zero value Δ based on the equation (16). The electric angle θre on the horizontal axis is defined by the angle for one cycle of the V-axis current defined by the equation (10). The solid line waveform in FIG. 14 is the d-axis current observed value id waveform when β = Δ. In the solid line waveform of FIG. 14, the frequency is twice the U-phase current frequency. In the solid line waveform of FIG. 14, the phase is synchronized with the cosine wave waveform for a sine wave that is twice the U-phase current frequency. The dotted line waveform in FIG. 14 is a waveform when the error β is set to twice Δ. In the dotted line waveform of FIG. 14, the period and phase are the same as the period and phase of the solid line waveform of FIG. In the dotted line waveform of FIG. 14, the amplitude is twice the amplitude of the solid line waveform of FIG. Therefore, the amplitude information has a magnitude of error β.

FIG. 15 shows the electric angle waveform of the d-axis current observed value id when the error β is set to the non-zero value Δ based on the equation (16). The electric angle θre on the horizontal axis is defined by the angle for one cycle of the V-axis current defined by the equation (10). The arrow indicates the timing of Eq. (17). The down arrow is an arrow when N is an even number. The upward arrow is an arrow when N is an odd number. The down arrow indicates the timing of the maximum value of the vibration amplitude of the d-axis current observed value id that occurs with respect to the error β. The upward arrow indicates the timing of the minimum value of the d-axis current observed value id vibration amplitude generated with respect to the error β. When the error β is detected by the positive electrode property, the sample may be held at the timing when N is an even number. When the sampling period is shortened, the information when N is an odd number may be inverted and used.

FIG. 16 shows an example of synchronous detection without sampling. In the dotted line of FIG. 16, the range of the electric angle θre in which the d-axis current observed value id becomes negative corresponds to the period in which the polarity of the error information is reversed. In FIG. 16, the range is indicated by a white arrow. In this range, error information with inverted polarity is used. The inverted d-axis current observed value id is shown by the solid line in FIG. As a result, the same detection waveform as the error information in the range of the black arrow in which the d-axis current observed value id is in the range of the positive electric angle θre can be obtained. In this example, the stability of the error-corrected feedback loop caused by the phase circumference due to sampling is guaranteed when the sampling period at the time of extremely low speed rotation becomes long.

Next, the CT correction method will be described.
FIG. 17 is a block diagram of a three-phase current calculation unit of the control device for the three-phase AC rotary machine according to the second embodiment. FIG. 18 is a block diagram of a first example of the current detection gain error detection unit of the control device for the three-phase AC rotary machine according to the second embodiment. FIG. 19 is a block diagram of a second example of the current detection gain error detection unit of the control device for the three-phase AC rotary machine according to the second embodiment.

As shown in FIG. 17, the three-phase current calculation unit 10a outputs the current detection value ius as a reference signal without operating it. The three-phase current calculation unit 10 multiplies the current detection value iws by the gain imbalance correction value cor_iws and outputs the gain-corrected current detection value i'v. The three-phase current calculation unit 10 outputs the value calculated by the following equation (18) as the U-phase current detection value i'u.

As shown in FIG. 18, the current detection gain error detection unit 11a accepts inputs of the electric angle θre and the d-axis current observed value id. The current detection gain error detection unit 11a outputs the W phase gain error Er_iws.

In the current detection gain error detection unit 11a, the phase determination unit 11a1 outputs the sample hold control signal t_w after determining the timing when the electric angle θre reaches a preset value.

The sample hold control signal t_w is output at the timing when the electric angle θre is an even number of N in the equation (17).

The second sample hold unit 11a3 sample-holds the d-axis current observed value id at the timing when the sample hold control signal t_w is input. Therefore, the second sample hold unit 11a3 generates and outputs a positive W-phase gain error Er_iws having a magnification set in advance with respect to the error β.

In the example of FIG. 18, one of the two positive electrode timings is selected in order to simplify the process.

On the other hand, when the motor 1 operates at an extremely low speed, the detection sampling cycle of the current detection gain error signal may be shortened. In this case, as in the example of FIG. 19, the maximum number of samplings in one cycle of the electric angle may be two.

In FIG. 19, the current detection gain error detection unit 11a receives inputs of the electric angle θre and the d-axis current observation value id. The current detection gain error detection unit 11a outputs the W phase gain error Er_iws.

In the current detection gain error detection unit 11a, the phase determination unit 11a1 outputs the sample hold control signal t_w and the polarity designation signal p / n after determining the timing when the electric angle θre reaches a preset value.

The polarity designation signal p / n is switched to H or L at the timing when N in Eq. (17) becomes an integer. For example, the polarity designation signal p / n becomes H in a state where N is an even number. For example, the polarity designation signal p / n becomes L in a state where N is an odd number.

The second sample hold unit 11a3 sample-holds the d-axis current observed value id at the timing when N in Eq. (17) becomes an integer. At this time, the polarity inversion means 11a7 outputs the polarity-inverted signal during the period when the gain error signal has the opposite polarity. In this case, the switch unit 11a8 selects a signal whose polarity is reversed. As a result, all of the detection polarities of the W phase gain error Er_iws become positive.

Next, with reference to FIG. 20, an example of the behavior of the sample hold control signal t_w and the polarity designation signal p / n with respect to the electrical angle is shown.
FIG. 20 is a diagram showing an example of the behavior of the sample hold control signal and the polarity designation signal of the control device of the three-phase AC rotary machine according to the first embodiment with respect to the electric angle.

In FIG. 20, the sample hold control signal t_w is a signal in which the electric angle θre rises from 0 to 1 when N in the equation (17) is an integer. The sample hold control signal t_w is supplied to the second sample hold unit 11a3 at the rising edge.

Next, the current detection gain correction control calculation unit 12a will be described with reference to FIG.
FIG. 21 is a block diagram of the current detection gain correction control calculation unit of the control device for the three-phase AC rotary machine according to the second embodiment.

In FIG. 21, the second amplifier 12a3 receives the input of the W-phase gain error er_iws, which is the output of the current detection gain error detection unit 11a, and then outputs the W-phase gain error er_iws at a preset magnification.

Switch 12a6 selects ON / OFF of W phase gain correction control. The control signal of the switch 12a6 is CT_gain_tune. When the switch 12a6 is ON, the switch 12a6 selects and outputs the signal of the second amplifier 12a3. When the switch 12a6 is OFF, 0 is selected and then output.

The second integrator 12a4 inputs the output of the second amplifier 12a3 and integrates at a preset sampling rate. The second initial value is 1 at the time of initial adjustment. The second initial value is set to the convergence value of the second integrator 124 at the time of the previous operation except for the initial adjustment. The output of the second integrator 124 is the W-phase gain imbalance correction value cor_iws.

The W-phase gain imbalance correction value cor_iws is input to the three-phase current calculation unit 10a. As a result, gain-corrected current detection values i'us and i'w can be obtained. As described above, the gain error er_iws detected by the current detection gain error detection unit 11a in the three-phase current calculation unit 10a, the three-phase-dq conversion unit 4, the current detection gain error detection unit 11a, and the current detection gain correction control calculation unit 12a. A feedback control loop is constructed that functions so that is zero.

According to the second embodiment described above, the same effect as that of the embodiment can be obtained.

Embodiment 3.
FIG. 22 is a block diagram of a first example of the control device for the three-phase AC rotary machine according to the third embodiment. FIG. 23 is a block diagram of a second example of the control device for the three-phase AC rotary machine according to the third embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.

In the third embodiment, the control device 20 ^{functions effectively even when the d-axis current command value id *} is weakened and is non-zero in applications such as magnetic flux control.

When the d-axis current command value id ^* is set to non-zero for applications such as weakening magnetic flux control, the d-axis current observed value id becomes non-zero. At this time, due to the current control system, the d-axis current observed value id follows the d-axis current command value id ^* without error even if there is no current detection gain error. Therefore, if there is no current detection gain error, the d-axis current observed value id becomes the d-axis current command value id ^* . At this time, the id error signal id_er, which is the difference between the d-axis current command value id ^* and the d-axis current observed value id, becomes zero.

When the control band of the current control system is wide band, the id error signal id_er is a signal having no DC component of the d-axis current observed value id and whose polarity is inverted. Therefore, when the d-axis current command value id ^* is set to non-zero for applications such as weakening magnetic flux control, a signal in which the polarity of the id error signal id_er is inverted may be used.

FIG. 22 is substantially the same as FIG. FIG. 23 is substantially the same as FIG. Hereinafter, the current control unit 2 having a difference and the current detection gain error detection units 11 and 11a will be described.

FIG. 24 is a block diagram of the current control unit of the control device for the three-phase AC rotary machine according to the third embodiment. FIG. 25 is a block diagram of the current detection gain error detection unit in the first example of the control device for the three-phase AC rotary machine according to the third embodiment. FIG. 26 is a block diagram of the current detection gain error detection unit in the second example of the control device for the three-phase AC rotary machine according to the third embodiment.

As shown in FIG. 24, the current control unit 2 outputs the id error signal id_er.

As shown in FIG. 25, the current detection gain error detection unit 11 inputs an id error signal id_er instead of accepting an input of the d-axis current observation value id. In the current detection gain error detection unit 11, the polarity inversion unit 119 inverts the polarity of the id error signal id_er.

Although not shown, even in the configuration corresponding to FIG. 5, the current detection gain error detection unit 11 inputs the id error signal id_er instead of accepting the input of the d-axis current observation value id. In the current detection gain error detection unit 11, the polarity inversion unit 119 inverts the polarity of the id error signal id_er.

As shown in FIG. 26, the current detection gain error detection unit 11a inputs an id error signal id_er instead of accepting an input of the d-axis current observation value id. In the current detection gain error detection unit 11a, the polarity inversion unit 119a inverts the polarity of the id error signal id_er.

Although not shown, even in the configuration corresponding to FIG. 15, the current detection gain error detection unit 11 inputs the id error signal id_er instead of accepting the input of the d-axis current observation value id. In the current detection gain error detection unit 11, the polarity inversion unit 119 inverts the polarity of the id error signal id_er. The switching logic of the switch unit 11a8 is reversed.

According to the third embodiment described above, ^{even when the d-axis current command value id *} is set to non-zero for applications such as weakening magnetic flux control, the current ripple and torque ripple caused by the CT gain imbalance are canceled. be able to.

Embodiment 4.
FIG. 27 is a block diagram of the current detection gain error detection unit of the control device for the three-phase AC rotary machine according to the fourth embodiment. FIG. 28 is a block diagram of a part of the current detection gain error detection unit of the control device of the three-phase AC rotary machine according to the fourth embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.

In the fourth embodiment, the control device 20 does not include the current detection gain correction control calculation unit 12. The control device 20 uses the current detection gain error detection unit 11 as a CT gain error sensor. Specifically, the control device 20 determines the presence / absence of a current detection gain error and measures the amount of error with respect to the operating device. The control device 20 manually adjusts the measured gain error.

As shown in FIG. 27, ius is added as an input signal to the current detection gain error detection unit 11. The current detection gain error detection unit 11 outputs a polarity reversal value −β of the V phase detection gain error α based on the U phase and the W phase detection gain error β based on the U phase.

As shown in FIG. 27, the control device 20 includes a normalization unit 30. The normalization unit 30 normalizes the d-axis current observed value id by the three-phase current detected value is.

The normalization unit 30 normalizes the d-axis current observed value id by the three-phase current detected value ius based on the following equation (19).

The error α and the error β are detected at the timing when the following equation (20) is established.

As for the normalized d-axis current observed value id, the first sample hold unit 112 and the second sample hold unit 113 accept the input of the normalized d-axis current observed value id. The first sample hold unit 112 outputs an error α. The second sample hold unit 113 outputs an error −β.

FIG. 28 simulates the left side of equation (20). In FIG. 28, the functional block 301 multiplies the d-axis current observed value id by (-2√2). The width (Au) detection unit 302 receives an input of the three-phase current detection value ius. The width (Au) detection unit 302 outputs the amplitude Au. The multiplication function block 303 uses the output of the function block 301 as a numerator. The multiplication function block 303 uses the output of the width (Au) detection unit 302 as the denominator.

According to the fourth embodiment described above, the CT gain imbalance can be easily estimated and corrected by extracting the necessary signal from the device without adding a special function.

Here, the adjustment algorithms according to the first to third embodiments will be described.
29 and 30 are flowcharts for explaining the adjustment algorithm by the control device of the three-phase AC rotating machine according to the first to third embodiments.

In the first to third embodiments, there are two key techniques for CT gain imbalance correction control. The first key is the current detection gain error detection technology. The corresponding functional block is the current detection gain error detection unit 11. The second key is the current gain correction control technology having a closed loop configuration. The corresponding functional block is the current detection gain correction control calculation unit 12.

In the current detection gain error detection technology, considering that the detection sampling cycle is synchronized with the electrical angle cycle, when performing CT gain imbalance correction control, the rotation speed around the phase due to sampling should be negligible. Is desirable. In other words, it is desirable to turn on the control after the speed reaches a preset speed or higher.

When determining whether the control error has converged to zero after the control is turned on by the current gain correction control technology of the closed loop configuration, it is desirable to perform it within the period when there is no sudden change in the current. In other words, it is desirable that the convergence test is performed within the constant acceleration period, constant velocity period, and constant deceleration period, which is the period during which the current is constant. During periods other than the above, the control may be turned off and the convergence value immediately before turning off may be maintained.

FIG. 29 is an example of an algorithm considering the operating conditions of the current detection gain error detection technology.

In step S1, it is determined whether or not the motor speed and the reference phase amplitude are equal to or higher than the preset values. If the determination in step S1 is NO, the process in step S1 is performed. If the determination in step S1 is YES, the process in step S2 is performed.

In step S2, the initial value is set to the previous convergence value for all the integrators inside the current detection gain correction control calculation unit 12. After that, the process of step S3 is performed. In step S3, the CT gain imbalance correction control is turned on.

After that, the control of step S4 is performed. In step S4, it is determined whether or not the motor speed and the reference phase amplitude are equal to or higher than the preset values. If the determination in step S4 is YES, the process in step S4 is performed. If the determination in step S4 is NO, the process in step S5 is performed.

In step S5, the integrator output immediately after the determination in step S4 becomes NO is stored as a convergence value. After that, the process of step S6 is performed. In step S6, the CT gain imbalance correction control is turned off. After that, the process of step S1 is performed.

FIG. 30 is an example of an algorithm considering the operating conditions of the current gain correction control technology.

In step S11, the CT gain imbalance correction control is turned off. After that, the process of step S12 is performed. In step S12, the timer counter is initialized. After that, the process of step S13 is performed.

In step S13, it is determined whether or not the motor operation mode is a constant acceleration period, a constant velocity period, or a constant deceleration period. If the determination in step S13 is NO, the process in step S11 is performed. If the determination in step S13 is YES, the process in step S14 is performed.

In step S14, the timer counter is incremented by 1. After that, the process of step S15 is performed. In step S15, the CT gain imbalance correction control is turned on. After that, the process of step S16 is performed. In step S16, it is determined whether or not the timer counter is equal to or longer than the convergence time of the CT gain imbalance correction control.

If the determination in step S16 is NO, the process in step S13 is performed. If the determination in step S16 is YES, the process in step S17 is performed.

In step S17, the integrator output in the current detection gain correction control calculation unit 12 immediately after the determination in step S16 becomes YES is stored as a convergence value. After that, the process of step S18 is performed. In step S18, the CT gain imbalance correction control is turned off. After that, the process of step S13 is performed.

If these algorithms are applied, CT gain imbalance correction control will function properly. As a result, torque ripple caused by CT gain imbalance can be effectively suppressed.

Note that the algorithm may be applied by combining FIGS. 29 and 30.

Embodiment 5.
FIG. 31 is a block diagram of a main part of the control device of the three-phase AC rotary machine according to the fifth embodiment. The same or corresponding parts as those of the first embodiment are designated by the same reference numerals. The explanation of the relevant part is omitted.

In the fifth embodiment, the current detection gain error abnormality determination unit 13 accepts inputs of the gain imbalance correction value cor_ivs, the gain imbalance correction value cor_iws, the gain error abnormality determination threshold value CT_gain_errthrs1, and the gain error abnormality determination threshold value CT_gain_errthrs2.

The gain error abnormality determination threshold value CT_gain_errthrs1 is set to a value larger than the gain error abnormality determination threshold value CT_gain_errthrs2. For example, the gain error abnormality determination threshold value CT_gain_errthrs1 and the gain error abnormality determination threshold value CT_gain_errthrs2 are set in advance. For example, the gain error abnormality determination threshold value CT_gain_errthrs1 and the gain error abnormality determination threshold value CT_gain_errthrs2 are set based on the local results.

The current detection gain error abnormality determination unit 13 makes an abnormality determination when any two of the following conditions 1 to 4 are satisfied.

Condition 1: cor_ivs ≧ CT_gain_errthrs1
Condition 2: cor_iws ≧ CT_gain_errthrs1
Condition 3: cor_ivs ≤ CT_gain_errthrs2
Condition 4: cor_iws ≤ CT_gain_errthrs2

The current detection gain error abnormality determination unit 13 outputs the gain error abnormality determination result.

The current detection gain error abnormality output unit 14 outputs an abnormality when the gain error abnormality determination result from the current detection gain error abnormality determination unit 13 indicates an abnormality. The current detection gain error abnormality output unit 14 outputs an abnormality by means such as light, sound, characters, video, and communication.

According to the fifth embodiment described above, the current detection gain error abnormality output unit 14 outputs an abnormality when the gain error abnormality determination result from the current detection gain error abnormality determination unit 13 indicates an abnormality. Therefore, the state of the current detection gain error abnormality can be grasped externally. As a result, appropriate measures can be taken.

Note that each embodiment may be freely combined, or each embodiment may be appropriately modified or omitted.

In addition, in the current control of a three-phase AC rotating machine, if the control is performed using a system that handles current information by converting the coordinates in a rotating coordinate system, a synchronous machine (permanent magnet field, winding field, etc.) , Asynchronous machine (induction machine, etc.) can be applied in principle.

As described above, the control device for the three-phase AC rotor of the present disclosure can be used for the system for controlling the three-phase AC rotor.

1 motor, 2 current control unit, 3 dq-three-phase converter, 4 three-phase-dq converter, 5 power converter, 6a, 6b, 6c current detector, 7a, 7b, 7c A / D converter, 8 Rotation position detector, 9 differential calculation unit, 10 three-phase current calculation unit, 11 current detection gain error detection unit, 12 current detection gain correction control calculation unit, 13 current detection gain error abnormality judgment unit, 14 current detection gain error abnormality output Department, 20 control device, 100a processor, 100b memory, 200 hardware

Claims (5)

1. A current detector that detects the current of at least two of the three phases of a three-phase AC rotary machine,
   An A / D converter that A / D converts the current detected by the current detector,
   A coordinate conversion unit that converts three-phase coordinates and dq coordinates to each other,
   Based on the difference between the current command value, which is the control input of the current, and the current feedback value, which is the current feedback value obtained by converting the current detected by the current detector into dq coordinates by the coordinate conversion unit, the voltage command value, which is the control input of the voltage, is set. A current control unit that generates and corrects the voltage command value so as to cancel the interference between the dq axes based on the current command value.
   A power converter that generates a three-phase voltage based on the voltage command value and supplies it to the three-phase AC rotary machine.
   Current detection that defines a preset detection signal of at least two phases of current detected by the current detector as a reference and detects the phase gain error between the reference phase and the non-reference phase from the d-axis current and the electrical angle. Gain error detector and
   A current detection gain correction control calculation unit that reflects the calculation result of the interphase gain error detected by the current detection gain error detection unit in the gain of the current detector in the non-reference phase.
   A control device for a three-phase AC rotary machine equipped with.
2. A current detector that detects the current of at least two of the three phases of a three-phase AC rotary machine,
   An A / D converter that A / D converts the current detected by the current detector,
   A coordinate conversion unit that converts three-phase coordinates and dq coordinates to each other,
   Based on the difference between the current command value, which is the control input of the current, and the current feedback value, which is the current feedback value obtained by converting the current detected by the current detector into dq coordinates by the coordinate conversion unit, the voltage command value, which is the control input of the voltage, is set. A current control unit that generates and corrects the voltage command value so as to cancel the interference between the dq axes based on the current command value.
   A power converter that generates a three-phase voltage based on the voltage command value and supplies it to the three-phase AC rotary machine.
   A preset detection signal out of at least two phases of current detected by the current detector is defined as a reference, and the interphase gain error between the reference phase and the non-reference phase is detected from the error signal of the d-axis current and the electric angle. Current detection gain error detection unit and
   A current detection gain correction control calculation unit that reflects the calculation result of the interphase gain error detected by the current detection gain error detection unit in the gain of the current detector in the non-reference phase.
   A control device for a three-phase AC rotary machine equipped with.
3. The control device for a three-phase AC rotary machine according to claim 1 or 2, wherein the current detection gain correction control calculation unit includes an integrator.
4. A current detector that detects the current of at least two of the three phases of a three-phase AC rotary machine,
   An A / D converter that A / D converts the current detected by the current detector,
   A coordinate conversion unit that converts three-phase coordinates and dq coordinates to each other,
   Based on the difference between the current command value, which is the control input of the current, and the current feedback value, which is the current feedback value obtained by converting the current detected by the current detector into dq coordinates by the coordinate conversion unit, the voltage command value, which is the control input of the voltage, is set. A current control unit that generates and corrects the voltage command value so as to cancel the interference between the dq axes based on the current command value.
   A power converter that generates a three-phase voltage based on the voltage command value and supplies it to the three-phase AC rotary machine.
   Current detection that defines a preset detection signal of at least two phases of current detected by the current detector as a reference and detects the phase gain error between the reference phase and the non-reference phase from the d-axis current and the electrical angle. Gain error detector and
   A control device for a three-phase AC rotary machine equipped with.
5. A current detection gain error abnormality determination unit that determines whether or not the interphase gain error value between the reference phase and the non-reference phase is equal to or greater than the threshold value.
   A current detection gain error abnormality output unit that outputs an abnormality when the interphase gain error value is determined by the current detection gain error abnormality determination unit to be equal to or greater than the threshold value.
   The control device for a three-phase alternating current rotating machine according to any one of claims 1 to 4, wherein the three-phase alternating current rotating machine is provided.

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