WO2022154027A1 - モータ制御装置およびそれを備えた駆動システム - Google Patents
モータ制御装置およびそれを備えた駆動システム Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
-
- 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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/185—Circuit arrangements for detecting position without separate position detecting elements using inductance sensing, e.g. pulse excitation
-
- 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
- H02P2207/00—Indexing scheme relating to controlling arrangements characterised by the type of motor
- H02P2207/05—Synchronous machines, e.g. with permanent magnets or DC excitation
Definitions
- the present invention relates to a motor control device that controls an AC synchronous motor by sensorless control, and a drive system including the motor control device.
- the AC synchronous motor is an electric motor that has a permanent magnet built into the rotor and is configured to operate by receiving the supply of AC current, including brushless DC motors and stepping motors.
- electric motors other than those that receive direct current and change the direction of winding current using a rectifier are included in the category of AC motors, and electric motors that have a permanent magnet built into the rotor. Is included in the category of synchronous motors.
- a typical motor control device for an AC synchronous motor controls an inverter that converts DC to AC, and supplies AC current from that inverter to the electric motor.
- the inverter In order to properly control the inverter, information on the rotor position is required. Therefore, the inverter is controlled by using the output of the rotor position detector that detects the rotation position of the rotor.
- a method of driving an AC motor by estimating the rotor position and controlling the inverter based on the estimated rotor position is called “position sensorless control” or simply “sensorless control”.
- position sensorless control or simply “sensorless control”.
- the sensorless control has an advantage that it can be applied to a motor in which the rotor position detector cannot be physically arranged and a motor in which the rotor position detector cannot withstand the usage environment.
- the rotor position is estimated by the induced voltage method in typical sensorless control.
- the induced voltage method is a method in which an induced voltage is obtained by an operation based on a motor model using a voltage command and a current detected value, and the rotor position is estimated using the induced voltage. More specifically, a ⁇ rotating coordinate system having an axis error of ⁇ with respect to the dq axis of the dq rotating coordinate system that rotates in synchronization with the rotor is assumed. The induced voltage is estimated on the ⁇ axis of the ⁇ rotating coordinate system, and PLL (phase lock loop) control is performed to output the estimated speed so that ⁇ becomes zero (Patent Document 1).
- PLL phase lock loop
- Patent Document 2 a method of estimating the rotor magnetic flux position on the dq axis using an adaptive observer and estimating the velocity so that the d-axis component of the rotor magnetic flux becomes zero.
- the induced voltage is small in the low speed range including zero velocity, it is difficult to estimate the induced voltage, so another method is used. Specifically, the high-frequency voltage command is superimposed on the voltage command on the dq axis, and the response of the current to the high-frequency voltage command is detected to calculate the information on the rotor position included in the motor inductance. As a result, the axis error ⁇ is obtained, and the velocity is estimated so that the axis error ⁇ becomes zero (Patent Document 3).
- the method of superimposing a high frequency voltage causes a problem of vibration caused by a high frequency current.
- the frequency of the high frequency voltage is less than several hundred Hz at most, the period of position calculation is long.
- the response of the position calculation is further lowered by demodulating the high frequency voltage command having a not so high frequency into the response of the current on the dq axis. Therefore, as long as the high-frequency superposition method is used, the responsiveness of the position calculation in the low-speed region is limited.
- the amount that can be calculated is not the rotor position itself, but the position error ⁇ .
- the responsiveness of the PLL controller is limited.
- the estimation accuracy deteriorates when ⁇ becomes large due to sudden acceleration / deceleration or sudden load. Therefore, a deviation is generated in ⁇ calculated in each of the low speed region and the medium and high speed region. Therefore, the estimated position may be disturbed or chattering may occur in the switching region between the estimation for the low speed range (low speed estimation) and the estimation for the medium and high speed range (medium and high speed estimation).
- one embodiment of the present invention provides a motor control device capable of estimating the rotor position at high speed and thereby realizing control having excellent responsiveness, and a drive system including the motor control device.
- One embodiment of the present invention provides a motor control device that controls an AC synchronous motor by sensorless control that does not use a rotor position sensor.
- This motor control device determines the position of the rotor of the AC synchronous motor on the fixed coordinate system and the position of the rotor of the AC synchronous motor on the fixed coordinate system with the first position estimator that estimates the position of the rotor of the AC synchronous motor according to the first estimation method.
- a drive for driving the AC synchronous motor based on the estimation results of the second position estimator, the first position estimator, and the second position estimator, which are estimated according to a second estimation method different from the first estimation method.
- Including control means included in the second position estimator, the first position estimator, and the second position estimator, which are estimated according to a second estimation method different from the first estimation method.
- both the first estimation method and the second estimation method estimate the position of the rotor on the fixed coordinate system
- both the first position estimator and the second position estimator estimate the position. Can be done at high speed. Therefore, the control of the AC synchronous motor based on the estimation results of the first position estimator and the second position estimator has excellent responsiveness.
- both the first estimation method and the second estimation method estimate the rotor position without estimating the error in the rotor position.
- the position of the rotor can be estimated at high speed without estimating the error of the rotor position, so that the AC synchronous motor can be controlled with excellent responsiveness.
- both the first estimation method and the second estimation method are PLL (Phase Locked Loop) control that outputs the estimated speed of the rotor so that the error in the rotor position becomes zero. Estimate the position of the rotor without using. With this configuration, high-speed position estimation is possible, so the AC synchronous motor can be controlled with excellent responsiveness.
- PLL Phase Locked Loop
- the first position estimator outputs an estimated position signal having a variation of two cycles with respect to the rotation of the rotor corresponding to one electric angle period of the stator, and the second position estimator. Outputs an estimated position signal having a variation of one cycle with respect to the rotation of the rotor corresponding to one electrical angle cycle of the stator.
- the first position estimator outputs an estimated position signal having a variation of two cycles with respect to the rotation of the rotor corresponding to one electric angle period of the stator
- the second position estimator Outputs an estimated position signal having a fluctuation of one cycle with respect to the rotation of the rotor corresponding to one electric angle cycle of the stator
- the motor control device outputs the estimated position signal of the first position estimator to the stator. It further includes a periodic converter that converts a periodic signal having a variation of one period with respect to the rotation of the rotor corresponding to one electric angle period into an estimated position signal.
- the first position estimator of the AC synchronous motor is based on a current ripple generated in the winding current of the AC synchronous motor when a position detection voltage vector is applied to the AC synchronous motor.
- the position of the rotor is estimated by capturing the change in inductance.
- Such a first position estimator is suitable for estimating the rotor position in a low speed range including zero speed.
- the second position estimator estimates the position of the rotor based on the extended induced voltage estimate.
- Such a second position estimator is suitable for estimating the rotor position in the medium to high speed range where a significant induced voltage is generated.
- a first estimated position signal which is an estimated position signal output by the first position estimator
- a second estimated position signal which is an estimated position signal output by the second position estimator
- the drive control means drives the AC synchronous motor according to the combined estimated position generated by the estimated position synthesizer.
- an appropriate composite estimated position can be obtained by switching the first estimated position signal and the second estimated position signal, or by weighting and synthesizing them. Since the switching or weighted synthesis of the first and second estimated position signals is performed according to the rotation speed of the rotor or the length of the extended induced voltage vector, it is possible to generate a composite estimated position that accurately represents the rotor position in a wide rotation speed range. Thereby, the AC synchronous motor can be appropriately controlled.
- the first position estimator outputs an estimated position signal having a fluctuation of two cycles with respect to the rotation of the rotor corresponding to one electric angle cycle of the stator, and the second position estimator outputs one electric of the stator.
- the estimated position signal of the first position estimator is used as the rotor corresponding to one electric angular cycle of the stator. It is preferable to include a periodic converter that converts a periodic signal having a fluctuation of one cycle with respect to rotation into an estimated position signal, and use the estimated position signal generated by this periodic converter as the first estimated position signal.
- both the first and second estimated position signals are periodic signals having a fluctuation of one cycle with respect to the rotation of the rotor corresponding to one electric angle cycle of the stator, they can be easily combined. , A reasonable synthetic estimated position can be obtained.
- the combined estimated position is also a periodic signal having a fluctuation of one cycle with respect to the rotation of the rotor corresponding to one electric angle cycle of the stator.
- the motor control device comprises a first compensator and a second compensator that compensate for the first estimated position signal and the second estimated position signal according to the motor current and the rotor rotation speed, respectively. Including further. In another embodiment, the motor control device further includes a composite estimated position compensator that compensates for the composite estimated position according to the motor current and the rotor rotation speed.
- the first position estimator of the AC synchronous motor is based on a current ripple generated in the winding current of the AC synchronous motor when a position detection voltage vector is applied to the AC synchronous motor.
- the position of the rotor is estimated by capturing the change in inductance.
- the estimated position synthesizer generates the combined estimated position without using the first estimated position signal in a high speed region where the rotation speed of the rotor is equal to or higher than a predetermined value. Further, in the high speed region, the application of the position detection voltage vector is stopped.
- One embodiment of the present invention provides a drive system including an AC synchronous motor, an inverter that supplies an AC current to the AC synchronous motor, and the above-mentioned motor control device that controls the inverter.
- the AC synchronous motor can be driven with excellent responsiveness.
- FIG. 1A is a block diagram for explaining a configuration of a drive system including a motor control device according to an embodiment of the present invention.
- FIG. 1B is a block diagram for explaining a functional configuration of a controller included in the motor control device.
- FIG. 2A is a block diagram showing a configuration example of a weighted position estimator of the controller.
- FIG. 2B is a block diagram showing another configuration example of the weighted position estimator of the controller.
- FIG. 3 is an electric circuit diagram for explaining a configuration example of an inverter included in the motor control device.
- 4A and 4B show voltage vectors corresponding to the eight states of the inverter.
- FIG. 5 is an electric circuit diagram showing a model of an AC motor, and shows a three-phase motor model connected by ⁇ .
- FIG. 5 is an electric circuit diagram showing a model of an AC motor, and shows a three-phase motor model connected by ⁇ .
- FIG. 6A shows an example of waveform diagrams of voltage, current, and current differentiation when the AC motor M is rotating at a low speed (including a stopped state).
- FIG. 6B shows another waveform diagram example of voltage, current, and current differentiation when the AC motor M is rotating at a low speed (including a stopped state).
- FIG. 7 is an electric circuit diagram showing a model of an AC motor, showing a Y-connected three-phase motor model.
- FIG. 8 shows an example of an ideal sine wave inductance on UVW fixed coordinates.
- 9A, 9B and 9C show the inductances L ⁇ , L ⁇ , M ⁇ on the ⁇ fixed coordinate system, the inductances Ld, Lq, Mdq and the inductance on the dq rotating coordinate system with respect to the ideal sinusoidal inductance.
- An example in which the m, n, and s components of are calculated and plotted is shown.
- 10A, 10B and 10C show an example of calculating the current differential value when three kinds of voltage vectors are applied from the inductance of an ideal sine wave. In FIGS.
- FIG. 11A, 11B and 11C the above three types of voltage vectors are input to the three-phase surface magnet type motor in a state where the q-axis current of the motor is zero in the magnetic analysis, and the rotor positions are shown.
- the current differential value when the electric angle is rotated by one cycle is shown.
- FIG. 11D shows the three-phase signals Us, Vs, and Ws for position estimation.
- FIG. 11E shows the two-phase signals ⁇ s and ⁇ s for position estimation on the ⁇ fixed coordinate system, and the estimated position obtained based on them.
- 12A and 12B show the results obtained by magnetic analysis of the motor inductance Lu, Lv, Lw, Muv, Mvw, Mwu and the interlinkage magnetic flux of each phase coil when FIGS.
- FIG. 11A to 11E are obtained. Each is shown. 13A and 13B show the results of magnetic analysis of the motor inductance Lu, Lv, Lw, Muv, Mvw, Mwu and the interlinkage magnetic flux of each phase coil when the q-axis current is positive. 13C and 13D show the results of magnetic analysis of the motor inductance Lu, Lv, Lw, Muv, Mvw, Mwu and the interlinkage magnetic flux of each phase coil when the q-axis current is negative.
- FIG. 14A shows the position estimation three-phase signals Us, Vs, and Ws when the q-axis current is positive.
- FIG. 14B shows the three-phase signals Us, Vs, and Ws for position estimation when the q-axis current is negative.
- FIG. 14A shows the position estimation three-phase signals Us, Vs, and Ws when the q-axis current is positive.
- FIG. 14B shows the three-phase signals Us, Vs, and Ws for position estimation when the
- FIG. 14C shows the estimated positions calculated for each of the positive and negative q-axis currents.
- FIG. 14D shows the error of the estimated position with respect to the ideal estimated angle for each of the positive and negative q-axis currents.
- FIG. 15A shows the estimated position after translation correction.
- FIG. 15B shows the error of the estimated position after the translation correction.
- FIG. 16A shows the estimated position after harmonic correction.
- FIG. 16B shows the error of the estimated position after harmonic correction.
- 17A and 17B show the results of converting the inductance on the UVW fixed coordinates shown in FIG. 12A into the inductance in the ⁇ fixed coordinate system and the dq rotating coordinate system, respectively.
- FIG. 17C shows the corresponding components m, n, s.
- FIG. 18A, 18B and 18C show current derivative values obtained using three voltage vectors with zero motor current, respectively.
- FIG. 18D shows position estimation three-phase signals Us, Vs, and Ws composed of differences in current differential values of the same phase.
- FIG. 18E shows the estimated position calculated from the position estimation three-phase signals Us, Vs, and Ws.
- 19A, 19B and 19C show the current when a current of zero for the U phase, positive for the V phase and negative for the W phase is applied to the motor wire by fixed phase excitation and the motor is forcibly rotated from the outside. The acquisition result of the differential value is shown.
- FIG. 20A shows position estimation three-phase signals Us, Vs, and Ws constructed by using only two types of voltage vectors from the results of the current differential values of FIGS.
- FIG. 20B shows the result of calculating the estimated position using the three-phase signals for position estimation Us, Vs, and Ws.
- FIG. 21A shows an example in which the three-phase signals Us, Vs, and Ws for position estimation are configured by the difference of the in-phase from the results of the current differential values of FIGS. 18A, 18B, and 18C.
- FIG. 21B shows the result of calculating the estimated position using the three-phase signals for position estimation Us, Vs, and Ws.
- FIG. 22A shows the position estimation three-phase signals Us, Vs, Ws obtained by doubling the signals Vs, Ws of FIG. 21A and recalculating.
- FIG. 22B shows the result of calculating the estimated position using them.
- FIG. 23 shows a two-cycle signal generated by the first estimation method using pulse application and a one-cycle signal generated by the second estimation method using extended induced voltage.
- FIG. 24 is a flowchart for explaining a process by a cycle converter that converts a two-cycle signal into a one-cycle signal.
- FIG. 25 shows an example of the periodic conversion result by the process of FIG. 24.
- FIG. 26 is a flowchart showing an example of weighted synthesis or switching synthesis of the first and second estimated position signals by the estimated position synthesizer.
- FIG. 27 shows an example of the processing result of the weighted composition or the switching composition by the process of FIG. 26.
- FIG. 28 shows the experimental results regarding the sudden acceleration operation.
- FIG. 29 shows the experimental results regarding the sudden stop operation.
- FIG. 30 shows the result of conducting an experiment of sudden stop operation with compensation (correction) for the estimated position.
- both the first and second estimation methods are on the fixed coordinate system without using the PLL control that outputs the estimated speed of the rotor so that the position error ⁇ of the rotor in the rotating coordinate system becomes zero. Estimate the position of the rotor. Therefore, since high-speed position estimation is possible, motor control with excellent responsiveness can be realized.
- the first estimation method is a method of obtaining an estimated position in the ⁇ fixed coordinate system based on the current ripple generated by the voltage applied in each PWM control cycle, and is suitable for estimating the rotor position in the low speed range. It is an estimation method.
- the second estimation method is a method of obtaining an estimated position in the ⁇ fixed coordinate system by applying a minimum dimensional observer to the calculation of the extended induced voltage, and is an estimation method suitable for estimating the rotor position in the medium to high speed range.
- the second estimation method for example, the methods described in Non-Patent Document 1 and Patent Document 7 can be adopted.
- the estimation results of both the first and second estimation methods are switched based on the estimated speed or the extended induced voltage vector length, or weighted and combined to obtain the final estimated position (composite estimation). Position).
- high response and smooth sensorless control can be realized in the entire speed range including when the motor is stopped without using PLL control.
- the problem that the estimated positions obtained by the first estimation method and the second estimation method are different can be solved by applying compensation so that each estimated position approaches the true position.
- the estimated position (first estimated position) by the first estimation method using current ripple detection causes a large error due to the motor current. Therefore, the first estimated position is compensated depending on the motor current.
- the first estimation method depending on the S / N ratio (signal-to-noise ratio) of the current ripple detection, a digital filter may have to be used, and a delay in the estimation position calculation may occur depending on the speed. Therefore, the estimation results by the first and second estimation methods are weighted after compensation by current and velocity so as to approach the true estimated value, and then the final estimated position (composite estimated position) is obtained. do.
- the estimated position error due to the load and speed is reduced, and stable control transition (transition of estimation method) can be performed. ..
- FIG. 1A is a block diagram for explaining a configuration of a drive system including a motor control device according to an embodiment of the present invention.
- the motor control device 100 is a device (AC motor control device) for driving an AC motor M (AC synchronous motor). More specifically, the motor control device 100 controls the AC motor M without using a rotor position detector (rotor position sensor) that detects the position of the rotor of the AC motor M, that is, by so-called sensorless control.
- Drive M The AC motor M is a synchronous motor in which a permanent magnet is built in a rotor, and more specifically, it may be a surface magnet type synchronous motor (SPMSM).
- SPMSM surface magnet type synchronous motor
- the AC motor M is a three-phase permanent magnet synchronous motor, and has a U-phase winding 5u, a V-phase winding 5v, and a W-phase winding 5w.
- winding 5uvw when these windings are generically referred to, they are referred to as "winding 5uvw".
- FIG. 1A shows an example in which the winding 5uvw is Y-connected, but as described later, the winding 5uvw may be ⁇ -connected.
- the motor control device 100 has a feedback system including a position control loop, a speed control loop, and a current control loop, and performs position servo control for controlling the rotor position of the AC motor M in response to a position command. It is configured to do.
- vector control is adopted for current control.
- the command from the outside is not limited to the position command, but may be a speed command or a torque command (current command).
- the position control loop is not used when the speed command is given. When a torque command is given, only the current control loop is used, not the position control loop and the speed control loop.
- the rotor position is estimated using the signal obtained by the current differential detector 4uvw without using the rotor position detector. More specifically, a position estimation signal representing fluctuations in the inductance of each phase winding of the AC motor M is created based on the current differential value, and the rotor position is estimated based on the position estimation signal.
- surface magnet type synchronous motors do not have salient poles, so it is said that magnetic pole detection using inductance changes is not possible.However, when using magnets with strong magnetic force such as neodymium magnets, magnetic saturation of the iron core causes them. The inductance changes slightly.
- the motor control device 100 includes a controller 1, current detectors 3u, 3v, 3w, and current differential detectors 4u, 4v, 4w, and is configured to control the inverter 2.
- the inverter 2 converts the direct current supplied from the direct current power source 7 into an alternating current and supplies it to the winding 5uvw of the alternating current motor M.
- a drive system is composed of a motor control device 100, an inverter 2, and an AC motor M.
- the inverter 2 and the AC motor M are connected by three current lines 9u, 9v, 9w (hereinafter, collectively referred to as "current line 9uvw”) corresponding to the U phase, the V phase, and the W phase.
- Current detectors 3u, 3v, 3w and current differential detectors 4u, 4v, 4w are arranged in each of these current lines 9uvw.
- the current detectors 3u, 3v, 3w (hereinafter collectively referred to as "current detector 3uvw”) are line currents flowing through the current line 9uvw of the corresponding phase, that is, U-phase line current Iu, V-phase line current Iv.
- the current differential detectors 4u, 4v, 4w are the time changes of the line current flowing through the current line 9uvw of the corresponding phase, that is, the U phase, V phase and It is a current differential value detecting means for detecting the current differential value dIu, dIv, dIw of the W phase (hereinafter, collectively referred to as "current differential value dIuvw").
- phase current iuvw the line current flowing through the winding 5uvw of each phase. ..
- phase current iuvw the phase current flowing through the winding 5uvw of each phase.
- the line current and the phase current have values corresponding to the winding current flowing through the winding 5uvw of the AC motor M.
- the controller 1 controls the inverter 2 based on the position command ⁇ cmd.
- the controller 1 has a form as a computer, and includes a processor (CPU) 1a and a memory 1b as a recording medium for recording a program executed by the processor 1a.
- FIG. 1B is a block diagram for explaining the functional configuration of the controller 1.
- the controller 1 is configured to realize the functions of a plurality of function processing units by executing a program by the processor 1a.
- the plurality of functional processing units include a position controller 11, a speed controller 12, a current controller 13, a PWM generator 14, a weighted position estimator 15, and a speed estimator 16.
- the current controller 13 includes a dq current controller 131, an inverse dq converter 132, a two-phase three-phase converter 133, a three-phase two-phase converter 134, and a dq converter 135.
- the weighted position estimator 15 is a signal output by the current differential detector 4uvw, that is, a current differential value dIuvw and a detection current value I ⁇ , I ⁇ supplied from the three-phase two-phase converter 134 (I ⁇ , I ⁇ in the drawing) .
- the position controller 11 generates a speed command ⁇ cmd for matching the rotor position with the position command ⁇ cmd based on the estimated position ⁇ , and supplies the speed command ⁇ cmd to the speed controller 12. In this way, the position control loop is configured.
- the estimated position ⁇ of the rotor is also supplied to the speed estimator 16.
- the speed controller 12 generates current commands Idcmd and Iqcmd (denoted as Id and qcmd in the drawings) for matching the rotor speed with the speed command ⁇ cmd based on the estimated speed ⁇ , and the current controller 13 Supply to. In this way, the speed control loop is configured.
- the current controller 13 is supplied with the line current Iuvw (correctly, the detected value of the line current Iuvw) detected by the current detector 3uvw.
- the current controller 13 refers to a U-phase voltage command Vu, a V-phase voltage command Vv, and a W-phase voltage command Vw (hereinafter, collectively referred to as "voltage command Vuvw") for matching the line current Iuvw with the current commands Idcmd and Iqcmd. ) Is generated and supplied to the PWM generator 14. In this way, the current control loop is configured.
- the PWM generator 14 is a pulse width modulation signal generation means that generates a PWM control signal (pulse width modulation signal) according to the voltage command Vuvw and supplies it to the inverter 2.
- a voltage corresponding to the voltage command Vuvw is applied between the windings 5uvw of the AC motor M via the current line 9uvw.
- the speed controller 12 generates a d-axis current command Idcmd and a q-axis current command Iqcmd according to the dq rotating coordinate system and supplies them to the current controller 13.
- the dq rotating coordinate system is a rotating coordinate system in which the magnetic flux direction of the rotor of the AC motor M is defined as the d-axis and the direction orthogonal to the d-axis is defined as the q-axis, and the rotor rotates according to the rotation angle (electrical angle) of the rotor.
- the three-phase two-phase converter 134 converts the three-phase line current Iuvw detected by the current detector 3uvw into two-phase current values I ⁇ and I ⁇ in the ⁇ coordinate system, which is a two-phase fixed coordinate system.
- the dq converter 135 converts the two-phase current values I ⁇ and I ⁇ of the ⁇ coordinate system into the d-axis current value Id and the q-axis current value Iq of the dq rotating coordinate system.
- the current values Id and Iq of this dq rotating coordinate system (denoted as Id and q in the drawings) are supplied to the dq current controller 131.
- the dq current controller 131 is a d-axis voltage command Vdcmd which is a voltage command of the dq rotation coordinate system so that the d-axis current value Id and the q-axis current value Iq match the d-axis current command Idcmd and the q-axis current command Iqcmd, respectively. And generate the q-axis voltage command Vqcmd.
- the voltage commands Vdcmd and Vqcmd (indicated as Vd and q cmd in the drawing) are the voltage commands V ⁇ cmd and V ⁇ cmd in the ⁇ coordinate system (indicated as I ⁇ and ⁇ cmd in the drawing) in the inverse dq converter 132. Coordinates are converted to.
- the voltage commands V ⁇ cmd and V ⁇ cmd of the ⁇ coordinate system are coordinate-converted into the three-phase voltage command Vuvw by the two-phase three-phase coordinate converter 133.
- This three-phase voltage command Vuvw is supplied to the PWM generator 14.
- the estimated position ⁇ is used for the coordinate conversion calculation between the dq rotating coordinate system and the ⁇ coordinate system, and is used for the speed estimation calculation in the speed estimator 16.
- the current controller 13 is a drive control means that controls the PWM generator 14 to drive the AC motor M according to the estimated position ⁇ supplied from the weighted position estimator 15.
- FIG. 2A is a block diagram for explaining a configuration example of the weighted position estimator 15.
- the weighted position estimator 15 includes a first position estimator 151 and a second position estimator 152.
- the weighted position estimator 15 further includes an estimated position synthesizer 153.
- the first position estimator 151 estimates the rotor position (angle) on the ⁇ coordinate system, which is a fixed coordinate system, according to the first estimation method.
- the second position estimator 152 estimates the rotor position (angle) on the ⁇ coordinate system according to the second estimation method.
- the first estimation method and the second estimation method are different position estimation methods from each other.
- the first position estimator 151 calculates the estimated position of the rotor of the AC motor M based on the current differential value dIuvw detected by the current differential detector 4uvw.
- the second position estimator 152 calculates the estimated position ⁇ of the rotor of the AC motor M based on the ⁇ voltage command values V ⁇ cmd and V ⁇ cmd and the ⁇ current detection values I ⁇ and I ⁇ .
- the first position estimator 151 outputs an estimated position signal having a variation of two cycles with respect to the rotation of the rotor corresponding to one electric angle cycle of the stator of the AC motor M.
- the second position estimator 152 outputs an estimated position signal having a variation of one cycle with respect to the rotation of the rotor corresponding to one electric angle cycle of the stator of the AC motor M. Therefore, the weighted position estimator 15 makes the estimated position signal ⁇ 1pre generated by the first position estimator 151 fluctuate by one cycle with respect to the rotation of the rotor corresponding to one electric angle cycle of the stator. It further includes a periodic converter 154 that converts to the signal ⁇ 1 .
- the weighted position estimator 15 further includes a first compensator 161 and a second compensator 162.
- the combined estimated position signal ⁇ new after this compensation becomes the output of the weighted position estimator 15, that is, the estimated position ⁇ .
- FIG. 3 is an electric circuit diagram for explaining a configuration example of the inverter 2.
- Three-phase bridge circuits 20u, 20v, and 20w are connected in parallel between a pair of power supply lines 8A and 8B connected to the DC power supply 7.
- a capacitor 26 for smoothing is further connected between the pair of feeding lines 8A and 8B.
- bridge circuit 20uvw The bridge circuits 20u, 20v, 20w (hereinafter, collectively referred to as “bridge circuit 20uvw”) are referred to as upper arm switching elements 21u, 21v, 21w (hereinafter, collectively referred to as “upper arm switching element 21uvw”). , 22u, 22v, 22w (hereinafter, collectively referred to as “lower arm switching element 22uvw”) and a series circuit.
- a current line 9uvw for connecting the corresponding winding 5uvw of the AC motor M is connected to the midpoints 23u, 23v, 23w between the upper arm switching element 21uvw and the lower arm switching element 22uvw. Has been done.
- the switching elements 21uvw and 22uvw are typically power MOS transistors, and incorporate parasitic diodes 24u, 24v, 24w; 25u, 25v, 25w that are connected in the opposite direction to the DC power supply 7.
- the current differential detector 4uvw is configured to detect the current differential value dIuvw, which is the time differential value of the linear current Iuvw flowing through the current line 9uvw of each phase.
- the PWM control signal supplied from the controller 1 is input to the gate of the switching elements 21uvw and 22uvw, whereby the switching elements 21uvw and 22uvw are turned on / off.
- the pair of the upper arm switching element 21uvw and the lower arm switching element 22uvw of each bridge circuit 20uvw is controlled so that when one is on, the other is off.
- the PWM control signal value that controls the upper arm switching element 21uvw to be on and the lower arm switching element 22uvw to be off is defined as "1", and the upper arm switching element 21uvw is off and the lower arm switching element 22uvw is on.
- the PWM control signal value to be controlled is defined as "0".
- the PWM control signal can take eight patterns (states) that can be represented by a three-dimensional vector. These eight patterns (states) are (1,0,0), (1,1,0), (0,1,0), (0,1,1), (0,0,1), ( The components can be expressed as 1,0,1), (0,0,0), (1,1,1). Of these, the first six patterns (1,0,0), (1,1,0), (0,1,0), (0,1,1), (0,0,1), (1,0,1) corresponds to a state in which a voltage is applied between the windings 5uvw of the AC motor M. The remaining two patterns (0,0,0), (1,1,1) correspond to a state in which no voltage is applied between the windings 5 uvw.
- FIG. 4A shows voltage vectors V0 to V7 corresponding to the above eight patterns (states).
- V5 (0,0,1), and V6 (1,0,1) can be represented by six voltage vectors that divide a section of an electric angle of 360 degrees into six equal parts. ..
- the voltage vectors V0 (0,0,0) and V7 (1,1,1) are zero voltage vectors in which no voltage is applied between the windings 5uvw.
- the kuten (comma) that separates the vector components may be omitted.
- expressions such as "applying a voltage vector” mean that the inverter 2 is controlled in a state represented by the voltage vector, and a voltage corresponding to the control is applied to the AC motor M. ..
- the first position estimator 151 estimates the rotor position in the low speed region (including the stopped state) where the rotor rotation speed is low according to the first estimation method.
- the second position estimator 152 estimates the rotor position in the medium to high speed range where the rotor rotation speed is relatively high according to the second estimation method.
- the first estimation method used for the rotor position estimation in the low speed range will be described first, and then the second estimation method used for the rotor position estimation in the medium and high speed range will be described.
- FIG. 5 is an electric circuit diagram showing a model of the AC motor M, and shows a three-phase motor model connected by ⁇ .
- the voltage equation of this model is as shown in the following equation (1).
- the term of induced voltage can be ignored when the rotational speed of the motor is sufficiently low, and the time-varying component of inductance is sufficiently smaller than the time-varying component of current, so the inductance It is assumed that the term of time derivative can be ignored.
- equation (2) is obtained by setting the inductance matrix on the UVW coordinate system as Muvw, obtaining the inverse matrix M -1 uvw, and describing the phase current differential value using this.
- the line current Iuvw can be detected by the ⁇ -connected motor.
- the relationship between the line current Iuvw and the phase current iuvw of each phase winding, and the relationship between their time derivatives are as shown in the following equation (3).
- equation (2) is modified to describe the differential value of the linear current Iuvw with respect to the time t when the voltage vectors V1 (100), V3 (010), and V5 (001) are applied. It is as shown in equation (4).
- the line of the period during which the voltage vector (000) or (111) is applied By detecting the current differential value, almost the same value can be obtained, and by subtracting it, it can be substantially canceled, so it is ignored here.
- the section of the voltage drop of the winding resistor R may be omitted.
- the line current differential value without the voltage drop term is shown here.
- the three-phase signals Us, Vs, and Ws for position estimation when using the current differential values when three types of voltage vectors V1 (100), V3 (010), and V5 (001) are applied are as shown in the following equation (5).
- gu, gv, and gw are the current differential detection gains of each line current.
- the following equation (5) defines the three-phase signals Us, Vs, and Ws for position estimation so that the difference in current differentiation of the in-phase is confined to the gains gu, gv, and gw of each phase.
- the three-phase signal for position estimation becomes a cyclic symmetric polynomial as in equation (6) below.
- Such a three-phase signal for position estimation is defined so that even if the motor is magnetically saturated and the inductance fluctuates when a high torque is generated, the effect appears equivalently to the three phases, so that the position detection error occurs. It is suppressed.
- the three types of voltage vectors for position detection are not limited to V1 (100), V3 (010), and V5 (001), but for example, three types of voltages V2 (011), V6 (101), and V4 (110).
- a three-phase signal for position estimation can be derived in the same manner.
- the three-phase signal for position estimation is defined by the following equation (7). be able to.
- the position estimation three-phase signal is as shown in Eq. (8).
- the equation (9) is obtained, and the equation is equivalent to that when the detection gains are all the same in the equation (6).
- the current derivative may be detected only for two phases, and the current derivative of the remaining one phase may be obtained by calculation using the relationship that the sum of currents of all phases is zero.
- the rotor estimated position can be obtained as shown in the following equation (11).
- the normalized self-inductances Lu, Lv, and Lw of each phase are set as in the following equation (12) by using the motor electric angle ⁇ and the normalized inductance amplitude ⁇ .
- the standardized self-inductances Lu, Lv, and Lw are normalized by the inductance offset L0.
- 6A and 6B show an example of waveform diagrams of voltage, current, and current differentiation when the AC motor M is rotating at a low speed (including a stopped state).
- 6A and 6B (a) show waveforms of the U-phase line voltage applied to the U-phase current line 9u.
- 6A and 6B (b) show waveforms of the V-phase line voltage applied to the V-phase current line 9v.
- FIG. 6A and FIG. 6B (c) show waveforms of the W phase line voltage applied to the W phase current line 9w. Further, (d), (e), and (f) of FIGS.
- FIGS. 6A and 6B show changes in the U-phase line current Iu, the V-phase line current Iv, and the W-phase line current Iw output by the current detector 3uvw, respectively. .. (G) (h) (i) of FIGS. 6A and 6B show the time derivative values of the U-phase, V-phase and W-phase linear currents, that is, the U-phase current differential value dIu, the V-phase current differential value dIv and the W-phase. The changes in the current differential value dIw are shown, respectively, and correspond to the output of the current differential detector 4uvw.
- the inverter 2 is a three-phase inverter composed of six switching elements 21uvw and 22uvw, and is connected to the U-phase, V-phase, and W-phase windings 5uvw of the AC motor M. Connect one terminal to either the power supply voltage Vdc (PWM voltage) or the ground potential (0V).
- Vdc PWM voltage
- 0V the state where the upper arm switching element 21uvw is off
- V0 (0,0,0) to V7 (1,1,1) there are eight types of voltage vectors generated, V0 (0,0,0) to V7 (1,1,1). Of these, V0 (0,0,0) and V7 (1,1,1) are zero voltage vectors in which all winding terminals have the same potential and the voltage applied between the windings 5uvw becomes zero. The remaining six voltage vectors V1 to V6 are non-zero voltage vectors to which a voltage is applied between the windings 5uvw.
- the PWM generator 14 generates a PWM control signal for turning on / off the switching elements 21uvw and 22uvw of the inverter 2 by comparing each phase voltage command Vuvw output from the current controller 13 with the triangular wave carrier signal.
- the PWM frequency (frequency of the triangular wave carrier signal) is 14 kHz, which corresponds to a period of about 70 ⁇ sec.
- the phase voltage command Vuvw is low, the period of the zero voltage vectors V0 and V7 in which no voltage is applied between the windings 5uvw becomes long.
- 6A and 6B show waveforms in a state where the AC motor M is stopped, with the period T0 of the zero voltage vector V0 and the period T7 of the zero voltage vector V7 being approximately half of the PWM cycle.
- the PWM generator 14 has a function of applying voltage vectors V1, V3, V5 (position detection voltage vectors) for rotor position detection during the period of the zero voltage vector V0 or V7. have.
- the time for applying the position detection voltage vector is sufficiently short compared to the PWM cycle (for example, about 70 ⁇ sec), and further sufficiently short compared to half of the PWM cycle. More specifically, the time for applying the position detection voltage vector is preferably 10% or less, more preferably 5% or less of the PWM cycle.
- V2 (110) is preferably applied for the same time as the position detection voltage vector to cancel the current due to the position detection voltage vector.
- FIG. 6A shows an example in which such an inverting voltage vector is applied
- FIG. 6B shows an example in which the inverting voltage vector is not applied.
- the position detection voltage vectors V1, V3, V5 and the inverting voltage vectors V4, V6, V2 that cancel them are applied to the U phase, V phase, and W phase in this order for each PWM cycle.
- the influence of the voltage vector application for position detection is made uniform in the three phases.
- the timing corresponding to the application of the position detection voltage vector is the current differential value acquisition timing (indicated by the symbol “ ⁇ ”) at which the current differential value should be sampled.
- the output of the current detector 3uvw is sampled at the current value acquisition timing (indicated by the symbol " ⁇ ") during the period when the voltage vector for driving the motor is applied. ..
- the three-phase signals Us, Vs, Ws for position estimation can be obtained. Further, the motor electric angle ⁇ can be obtained by performing the calculation of the equation (11). Such an operation is performed by the first position estimator 151 (see FIGS. 2A and 2B). When two types of voltage vectors are used, the three-phase signals Us, Vs, and Ws for position estimation can be obtained by performing the calculation of the equation (7) instead of the equation (5).
- the current differential value when the voltage vector is V7 (111) or V0 (000) is also acquired, and the position detection voltage vector is obtained. It may be subtracted from the current differential value acquired when V1 (100), V3 (010), and V5 (001) are applied.
- the voltage equation for the phase of the UVW fixed coordinate system is as shown in the following equation (24) using the motor-induced voltage e.
- the voltage equation on the ⁇ fixed coordinate system can be obtained as in equation (25). Can be defined.
- the inductance matrix in each coordinate system is calculated from the equation (28), and the inductance on the ⁇ fixed coordinate system or the dq rotating coordinate system is expressed using m, n, and s in the equation (29). ), (31).
- FIG. 8 shows an example of an ideal sine wave inductance on UVW fixed coordinates.
- the amplitudes of self-inductance and mutual inductance are 0.1 and 0.02, respectively, and the offsets are 1.3 and -0.11, respectively, assuming a sine wave with a phase shift of 120 ° between the phases. ..
- the inductances L ⁇ , L ⁇ , M ⁇ ⁇ , and dq rotating coordinate system on the ⁇ fixed coordinate system are used by using equations (29), (30), and (31).
- the inductance Ld, Lq, Mdq, and m, n, s components are calculated and plotted, they are as shown in FIGS. 9A, 9B, and 9C.
- FIGS. 10A, 10B and 10C show the results of calculating the current differential value from the inductance of the ideal sine wave shown in FIG. 8 using the equation (4).
- FIG. 10A shows the current differential value when the voltage vector V1 (100) is applied
- FIG. 10B shows the current differential value when the voltage vector V3 (010) is applied
- FIG. 10C shows the voltage vector V5 (001).
- the current differential value when applied is shown. All show changes in the current differential values of the U phase, V phase, and W phase with respect to the rotor electric angle.
- the detection gain and voltage were set to 1.
- FIGS. 11A to 11E show the current differential value of the case and the result of the position estimation calculated using the equations (5) and (11).
- FIG. 11A shows the current differential value when the voltage vector V1 (100) is applied
- FIG. 11B shows the current differential value when the voltage vector V3 (010) is applied
- FIG. 11C shows the voltage vector V5 (001).
- FIG. 11D shows the position estimation three-phase signals Us, Vs, and Ws calculated by the equation (5). Further, FIG.
- 11E shows the two-phase signals ⁇ s and ⁇ s for position estimation on the ⁇ fixed coordinate system calculated by the equation (11), and the estimated position ⁇ obtained based on them.
- the three-phase signals Us, Vs, and Ws for position estimation have waveforms in which harmonics are superimposed, they can be generally regarded as sine waves, and it can be seen that the estimated position ⁇ can be calculated.
- FIGS. 11A to 11E show the motor inductance Lu, Lv, Lw, Muv, Mvw, Mwu and the interlinkage magnetic flux of each phase coil (winding) in the state where FIGS. 11A to 11E are obtained by magnetic analysis. The obtained results are shown respectively. From the comparison with FIG. 8, the inductance deviates from the ideal sine wave, and as shown in equation (13), the ratio ⁇ (standardized inductance amplitude) between the inductance offset amount and its amplitude is high. It can be seen that the existence of the following term is the reason why the three-phase signals Us, Vs, and Ws for position estimation in FIG. 11D are not ideal sine waves.
- FIGS. 13A, 13B, 13C and 13D show the results of magnetic analysis of the motor inductance Lu, Lv, Lw, Muv, Mvw, and Mwu and the interlinkage magnetic flux of each phase coil (winding) when the q-axis current is positive.
- 13C and 13D show the results of magnetic analysis of the motor inductance Lu, Lv, Lw, Muv, Mvw, Mwu and the interlinkage magnetic flux of each phase coil (winding) when the q-axis current is negative. show.
- the positive and negative definitions of the rotor electric angle are defined in the direction in which the rotor electric angle advances positively (advance angle direction) when there is no load and the q-axis current is positive.
- the direction of the torque generated when the q-axis current is positive is defined as the positive direction of the rotor electric angle.
- the interlinkage magnetic flux of the coil deviates in the advance angle direction (torque generation direction) when the q-axis current is positive and in the delay angle direction (torque generation direction) when the current is negative, as compared with the case where the current is zero.
- the inductance the amplitude changes depending on the difference in the reluctance in the positive or negative direction of the d-axis, and harmonics due to the slot combination are included.
- the phases of the self-inductances Lu, Lv, Lw and the mutual inductances Muv, Mvw, and Mwu can all be considered to shift in the same direction as the phase shift of the interlinkage magnetic flux of the coil.
- FIG. 14A, 14B and 14C show the analysis results of the position estimation three-phase signal and the estimated position when the q-axis current is applied.
- FIG. 14A shows the position estimation three-phase signals Us, Vs, and Ws calculated by the equation (5) when the q-axis current is positive.
- FIG. 14B shows the position estimation three-phase signals Us, Vs, and Ws calculated by the equation (5) when the q-axis current is negative.
- FIG. 14C shows the estimated position ⁇ calculated by the equation (11) for each of the cases where the q-axis current is positive and negative.
- FIG. 14C also shows the rotor electric angle used for the analysis (true value in the analysis) as an ideal estimated angle.
- FIG. 14D shows an error of the estimated position with respect to the ideal estimated angle (estimated angle error) for each of the cases where the q-axis current is positive and negative.
- the estimated position ⁇ is in the positive direction (torque generation direction) when the q-axis current is positive, and in the negative direction (torque generation direction) when the q-axis current is negative, compared to the ideal estimated angle. You can see that it shifts. If the deviation of the estimated position ⁇ from the ideal estimated angle becomes large, the torque decreases, and in the worst case, the motor may step out.
- a correction amount represented by a function of the q-axis current is introduced.
- This translation correction is an operation of shifting the estimated position ⁇ by the absolute value of the correction amount C1 (first correction amount) in the torque generation direction.
- the estimated angle error (see Fig. 14D), which was about ⁇ 50 ° before the correction, is suppressed within ⁇ 20 °, and the estimation error due to the phase shift of the inductance due to the increase in the q-axis current (increase in the absolute value). Can be found to be solved by this correction.
- the proportional equation was used as a function of the q-axis current, but if a correction amount using a function containing higher-order terms related to the q-axis current is introduced and translational correction is performed, the change in the q-axis current can be obtained. A value closer to the ideal estimated value can be obtained.
- harmonic correction (second correction) is further performed to reduce the estimated angle error.
- the harmonic correction amount C2 is a function of the estimated position ⁇ and the q-axis current value Iq. More specifically, the harmonic correction amount C2 is a harmonic using the estimated position ⁇ (also referred to as the estimated position ⁇ C1 after translation correction) as the phase. It is the product of the component and the function of the q-axis current value.
- the function of the q-axis current value is the q-axis current value itself, but it may be a function obtained by multiplying the q-axis current value by a proportionality constant, and includes higher-order terms. It may be a function.
- n 3
- the corrected estimated position ⁇ C2 and the estimated angle error are as shown in FIGS. 16A and 16B, respectively.
- the phase offset ⁇ may be selected so as to reduce the estimation error.
- the estimated position error is suppressed to less than ⁇ 8 ° by performing harmonic correction in addition to translation correction.
- the torque ripple due to the estimated position error can be reduced.
- the harmonic corrections of the examples of FIGS. 16A and 16B only the third-order harmonics were reduced, but higher-order harmonic corrections may be performed, and similar to the translation correction, the q-axis current is higher.
- Estimated position error can be further reduced by making corrections with a correction amount that includes the following terms.
- the translation correction may be omitted and only the harmonic correction may be performed.
- the corrected estimated position ⁇ C2 is as shown in the following equation (35).
- ⁇ C2 ⁇ -Iq ⁇ Sin (n ⁇ + ⁇ ) ⁇ ⁇ ⁇ (35) Further, the harmonic correction may be omitted and only the translation correction may be performed.
- the correction amounts C1 and C2 are determined by using a function for the q-axis current value Iq and the estimated position ⁇ before correction, but instead of using the function, the correction amount is tabulated in advance. It may be changed. Further, instead of generating the correction amount using a function or a table, the corresponding estimated position itself after correction may be made into a table.
- the surface magnet type motor has been described, but even when the embedded magnet type motor is used, the inductance waveform shifts due to the shift of the interlinkage magnetic flux of the coil, and it is estimated. It is similar that harmonics are superimposed on the value.
- FIG. 17A and 17B convert the inductance on the UVW fixed coordinates shown in FIG. 12A into the inductance in the ⁇ fixed coordinate system and the dq rotating coordinate system using the equations (29), (30), and (31). The results are shown below.
- FIG. 17C shows the corresponding components m, n, s.
- the position can be estimated with sufficient accuracy even with a surface magnet type motor having a small salient pole ratio, such that the salient pole ratio when not excited is about 7% on average, and further, depending on the rotor electric angle, is about 1%. You can see that.
- a three-phase surface magnet type motor is prepared as an actual motor under the same conditions as the above analysis, the PWM pattern is applied to this motor, and a current transformer whose gain fluctuates due to saturation of the magnetic material due to the magnitude of the current is currented.
- the results of acquiring the current differential value and estimating the position using the differential detector 4uvw are shown below.
- FIG. 18A, 18B and 18C show current differential values obtained using three types of voltage vectors V1 (100), V3 (010) and V5 (001) with zero motor current, respectively.
- FIG. 18D shows the position estimation three-phase signals Us, Vs, and Ws constructed according to the equation (5) from the difference between the current differential values of the in-phase.
- FIG. 18E shows the estimated position calculated from the position estimation three-phase signals Us, Vs, Ws according to the equation (11). When the current is zero, it can be seen that the estimated position can be calculated in the same way as the analysis result.
- 19A, 19B and 19C show the current when a current of zero for the U phase, positive for the V phase and negative for the W phase is applied to the motor wire by fixed phase excitation and the motor is forcibly rotated from the outside.
- the acquisition result of the differential value is shown.
- 19A, 19B, and 19C show the results of applying the voltage vectors V1 (100) and V3 (010, V5 (001), respectively, to obtain the current differential values.
- the relationship with the angular phase is d-axis excitation at a rotor electrical angle of 0 °, q-axis excitation at 90 °, and reverse d-axis excitation at 180 °.
- a U-phase signal with a pattern of voltage vector V1 (100) see FIG. 19A
- a V-phase signal with a pattern of voltage vector V3 (010) see FIG. 19B
- the W-phase signal of the voltage vector V5 (001) pattern see FIG. 19C
- the V-phase and W-phase signals of the magnetic material constituting the current transformer of the current differential detector 4uvw Due to the effect of saturation, it is attenuated by about half.
- FIG. 20A is a three-phase position estimation using the equation (7) using only two types of voltage vectors V5 (001) and V3 (010) from the results of the current differential values of FIGS. 18A, 18B and 18C.
- the result of constructing the signals Us, Vs, and Ws is shown.
- FIG. 20B shows the result of calculating the estimated position ⁇ by the equation (11) using the position estimation three-phase signals Us, Vs, Ws.
- the signal Vs and the signal Ws are signals having different phase differences, they are composed of differences of signals having different gains. Since signals with different gains are subtracted, the three-phase signal cannot be calculated well, and the estimated position cannot be calculated correctly.
- the three-phase signal for position estimation seems to have a simple offset. Further, in this example, since the absolute values of the currents of the V phase and the W phase are equalized, it can be said that the behavior is similar to the case where the gains of the V phase and the W phase are equal and an offset occurs. However, in reality, the current of the UVW phase changes with time, and the gain of each phase also behaves without any special constraint. Therefore, in reality, the position estimation three-phase signal changes in a complicated manner according to the motor current depending on the term appearing by the sum or difference of the gains in the equation (8). Therefore, it is difficult to make a correction.
- a current differential detector using an element having a structure capable of avoiding saturation of the magnetic material.
- an element such as a current transformer using an air-core coil.
- FIG. 21A shows an example in which the position estimation three-phase signals Us, Vs, and Ws are configured by in-phase differences using the equation (5) from the results of the current differential values of FIGS. 18A, 18B, and 18C.
- FIG. 21B shows the result of calculating the estimated position by the equation (11) using the three-phase signals for position estimation Us, Vs, and Ws. It can be seen that the estimated position can be calculated by suppressing the influence of the gain of the current differential detector 4uvw by subtracting the signals of the same phase. The distortion of the estimated position is caused by the gains gu, gv, and gw that enclose the entire equation appearing in the equation (6).
- the position estimation three-phase signals Us, Vs, and Ws obtained by doubling the signals Vs and Ws of FIG. 21A and recalculating are shown in FIG. 22A, and the result of calculating the estimated position by the equation (11) using them is shown in FIG. It is shown in 22B. It can be seen that the three-phase signal for position estimation has a symmetrical shape in the three phases, and the distortion of the estimated position is eliminated.
- the correction of multiplying the position estimation three-phase signal by the gain according to the current is replaced with the operation of changing the current differential detection gains gu, gv, and gw (hereinafter collectively referred to as "guvw") according to the current.
- guvw the gain guvw of each phase may be determined according to the function of the following equation (36) based on the absolute value
- the gain of the current differential detection with respect to the motor current may be measured in advance and fitted by the equation (36) to determine the constants I 1 , I 2 , g 1 , and g 2 . Further, the fitting result may be tabulated and the gain guvw of each phase according to the current may be determined by referring to the table.
- the gain guvw may be determined by a function obtained by adding a higher-order term according to the equation (36).
- the change in signal amplitude is not due to the gain of the current differential detector 4uvw.
- d-axis excitation is performed to strengthen the magnetic flux of the magnet
- reverse d-axis excitation is performed to weaken the magnetic flux of the magnet.
- a detection element made of a magnetic material such as a current transformer can be used for the current differential detector 4uvw even when the current ripple is minute. Will be. As a result, the current differential value can be detected with high sensitivity.
- the initial excitation position may be out of phase.
- an initial position estimation method using magnetic saturation see, for example, Non-Patent Document 2
- the two-cycle signal of the estimated position is used for one cycle.
- the second position estimator 152 estimates the position of the rotor on the ⁇ coordinate system by the extended induced voltage observer. Since this method is a method described in detail in Non-Patent Document 1 and Patent Document 7, only an outline is given here.
- the voltage equation of the motor in the ⁇ coordinate system can be written as the following equation (37) using the differential operator p (time differential operator).
- the second term of the equation (38) includes terms that depend on the motor position ⁇ , and this is defined as the extended induced voltage vector e (Equation (40)).
- the symbol " ⁇ " in the equation is a differential operator representing the first-order time derivative whose range of action is only the variable (only iq in the equation (38)). same as below.
- equations (41) and (42) are obtained.
- equation (42) which is the time derivative of the extended induced voltage
- the first derivative of the d-axis current id, the second derivative of the q-axis current iq, and the first derivative of the angular velocity ⁇ were all approximated to zero.
- the minimum dimensional state observer (extended induced voltage observer) for obtaining the extended induced voltage estimated value e ⁇ (wherein the symbol “ ⁇ ” represents the estimated value; the same applies hereinafter) is given by Eqs. (43) and (44).
- the observer gain G may be set so as to be proportional to the absolute value of the velocity, for example.
- ⁇ can be obtained by time-integrating Eq. (46), and the extended induced voltage estimated value e ⁇ can be obtained by performing variable transformation again as in Eq. (47).
- the estimated position is given as in Eq. (48) by taking the declination of the extended induced voltage.
- the second position estimator 152 obtains the current detection values I ⁇ and I ⁇ of the ⁇ fixed coordinate system from the three-phase two-phase converter 134 (see FIG. 1B) in the equation (46).
- the current command values V ⁇ cmd and V ⁇ cmd of the ⁇ fixed coordinate system are obtained from the inverse dq converter 132 (see FIG. 1B) and used as the voltage detection value v in the equation (46).
- the second position estimator 152 obtains the induced voltage estimated value e ⁇ (e ⁇ ⁇ , e ⁇ ⁇ ) by the equation (47), and further obtains the rotor estimated position ⁇ 2 by the equation (48).
- the first position estimator 151 estimates the position based on the fluctuation of the inductance due to the rotation of the rotor, in other words, by utilizing the fact that the inductance depends on the rotation position of the rotor. Therefore, the estimated position signal generated by the first position estimator 151 has a variation of two cycles with respect to the rotation of the rotor corresponding to one electric angle cycle of the stator. Therefore, as described above, the estimated position signal generated by the first position estimator 151 by the periodic transducer 154 (see FIGS. 2A and 2B) is relative to the rotation of the rotor corresponding to one electric angular period of the stator. It is converted into a first estimated position signal having a fluctuation of one cycle.
- the first position estimator 151 which calculates the position information included in the motor inductance by detecting the current ripple, fluctuates by two cycles with one cycle of the electric angle as shown by equations (11) and (14). Signal is obtained.
- the second position estimator 152 that calculates the estimated position according to equations (47) and (48) by the extended induced voltage observer obtains a signal that fluctuates by one cycle with one electrical angle cycle.
- FIG. 23 shows the results of plotting for two cycles of the electric angle.
- the position estimation with the extended induced voltage (second estimation method by the second position estimator 152)
- the estimated position of one cycle is obtained for the rotation of one electric angle of the rotor, whereas the position estimation by applying a pulse is obtained.
- the first estimation method by the first position estimator 151 it can be seen that the estimated positions of two cycles are obtained with respect to the rotation of one electric angle of the rotor.
- FIG. 24 shows an example of processing for periodic conversion by the periodic converter 154. This process is repeatedly executed at a predetermined calculation cycle.
- the "one-cycle signal” corresponds to one cycle of the electric angle from the lower limit value (specifically 0) to the upper limit value msk (value corresponding to one cycle of the electric angle. For example, 2048).
- a signal that repeats changes that increase monotonically according to the rotor position.
- the "two-cycle signal” is a rotor from the lower limit value to the upper limit value msk / 2 (half of the value corresponding to one cycle of the electric angle) corresponding to one half cycle of the electric angle.
- the one-cycle signal is a signal having one cycle in one cycle of the electric angle
- the two-cycle signal is a signal having two cycles in one cycle of the electric angle.
- the second estimation method using the extended induced voltage generates a one-cycle signal
- the first estimation method using pulse application generates a two-cycle signal.
- the two-cycle signal has a section that matches the one-cycle signal and a section in which the value deviates from the one-cycle signal by half the electric angle.
- a one-cycle signal is continuously generated only by the current two-cycle signal (two-cycle signal in the calculation cycle) in each calculation cycle. Can be generated as a target.
- step S1 the absolute value wk1 of the difference between the previous (previous calculation cycle) 1-cycle signal value 1cyc_t-1 and the current (current calculation cycle) 2-cycle signal value 2cyc_t is obtained (step S1). It is determined whether the absolute value wk1 of the difference is less than a quarter of the value msk (for example, 2048) of one electric angle (step S2, first determination). If wk1 ⁇ msk / 4 (step S2: YES), it is determined that the cycles are correct, and the two-cycle signal value 2cyc_t is tentatively used as the current one-cycle signal value 1cyc_t (step S3).
- msk for example, 2048
- step S2 If wk1 ⁇ msk / 4 (step S2: NO), it is determined that there is a half-cycle deviation, and 2cyc_t + msk / 2, which is obtained by adding half of the 1 electric angle value msk to the 2-cycle signal value 2cyc_t, is calculated. It is tentatively used as the current 1-cycle signal value 1cyc_t (step S4).
- the processing based on this first determination cannot be processed correctly due to measurement noise.
- step S2 NO
- the signal value is one cycle.
- the one-cycle signal value 1cyc_t obtained by performing the processing (steps S3 and S4) based on the first determination (step S2) and the one-cycle signal 1cyc_t-1 of the previous calculation cycle The absolute value wk2 of the difference is obtained (step S5), and a second determination is made (step S6). That is, if msk / 4 ⁇ wk2 ⁇ 3 * msk / 4 (step S6: YES), the one-cycle signal value 1cyc_t (step S3, S4) obtained based on the first determination (step S2) is half.
- the periodic signal value 1cyc_t is output.
- the value msk of one cycle of the electric angle may be set to a power of 2 (that is, 2 n (where n is a natural number)), and the mod operation may be replaced with the bit operation of the logical product (AND).
- the correct one-period signal to be given at a certain time can be obtained, for example, by using an initial position estimation method using the saturation of the iron core (see Non-Patent Document 2).
- FIG. 25 shows the result of converting the two-cycle signal obtained by the first estimation method of obtaining the estimated position by current ripple into a one-cycle signal according to the procedure of FIG. 24 when the motor is in the same drive state as in FIG. ..
- the value msk of one electric angle was set to 2048. It can be seen that a good one-cycle signal is generated.
- the estimated position signal to be used is switched according to the estimated speed or the extended induced voltage vector length, or two types of estimated position signals are weighted and combined. As a result, a probable estimated position can be obtained in the entire speed range, and therefore sensorless control in the entire speed range becomes possible.
- FIG. 26 shows an example of processing by the estimation position synthesizer 153 (see FIGS. 2A and 2B).
- the estimated position synthesizer 153 weights and synthesizes the first and second estimated position signals ⁇ 1C and ⁇ 2C after being compensated by the first and second compensators 161 and 162, respectively.
- the first and second estimated position signals ⁇ 1 and ⁇ 2 before compensation are weighted and combined.
- the rotor estimated positions represented by the first estimated position signals ⁇ 1C and ⁇ 1 in the first estimated direction using pulse application are collectively referred to as “first estimated position ⁇ PWM ”.
- the rotor estimated positions represented by the second estimated position signals ⁇ 2C and ⁇ 2 by the second estimated method using the extended induced voltage are collectively referred to as “second estimated position ⁇ EMF ”.
- the weighting of the estimated position is a sawtooth wavy weighting calculation. Specifically, the difference div of the second estimated position ⁇ EMF with respect to the first estimated position ⁇ PWM is obtained (step S11). It is checked whether this difference div is out of the range of half of the value msk (for example, 2048) of one electric angle period. That is, it is examined whether or not dif ⁇ msk / 2 (step S12) and whether or not dif> msk / 2 (step S14).
- msk for example, 2048
- step S12 If dif ⁇ msk / 2 (step S12: YES), the variable wk3 is assigned the value msk + dif obtained by adding the difference dif to the value msk of one electric angle period (step S13). If dif> msk / 2 (step S14: YES), the variable wk3 is assigned the value msk-dim obtained by subtracting the difference dif from the value msk of one electric angle period (step S15).
- Step S16 If the difference dif is within half the range of the value msk of one electric angle period (-msk / 2 ⁇ dif ⁇ msk / 2) (NO in both steps S12 and S14), the difference dif is assigned to the variable wk3. (Step S16). Then, according to the following equation (49), the values ⁇ ⁇ wk3 weighted to the variable wk by the weighting coefficient ⁇ (0 ⁇ ⁇ ⁇ 1) are added to the first estimated position ⁇ PWM , and the value msk of one electric angle is added to the values ⁇ ⁇ wk3. The remainder operation Mod (operator%) is performed to obtain the weighted composite estimated position ⁇ WT (step S17).
- ⁇ WT ( ⁇ PWM + ⁇ ⁇ wk3)% msk... (49)
- wk3 div (step S16)
- the remainder calculation Mod (operator%) is a calculation for converting the synthesis result into an estimated position signal that periodically changes in a sawtooth pattern in the range of 0 to msk.
- the difference dif between the two estimated positions ⁇ PWM and ⁇ EMF is obtained (step S11), and if the difference dif is within ⁇ msk / 2, the value exceeds msk / 2.
- FIG. 27 shows the result of calculation using the equation (50) for the estimated position ⁇ WT .
- ⁇ EMF is offset for visual clarity, but in reality, ⁇ EMF and ⁇ PWM show almost the same value.
- the first estimation method and the second estimation method can be appropriately performed according to the rotation speed of the rotor. It can be weighted and the estimation method can be smoothly transitioned.
- An example is shown in Equation (51).
- the estimated speed is ⁇
- the weighting start speed is ⁇ s
- the weighting end speed is ⁇ e
- the weighting coefficient ⁇ is changed (linearly) in proportion to the estimated speed ⁇ .
- ⁇ 0
- only the estimation result by the first estimation method is used.
- ⁇ 1, and only the estimation result by the second estimation method is used.
- of the extended induced voltage may be used instead of the estimated velocity ⁇ , or the weighting coefficient ⁇ may be defined by another function (non-linear function) instead of proportional (linear).
- the weighting coefficient ⁇ switches from 0 to 1 at the velocity ⁇ s . This substantially corresponds to switching the estimation method at a specific speed, that is, switching synthesis, instead of weighting.
- the weighted composition according to the configuration of FIG. 2A is expressed by a mathematical formula as shown in the first line of the equation (52).
- the first line of the formula (52) can be transformed like the third line of the same formula.
- the first term of the third line of the same equation represents the weighted composition before compensation
- the second term of the third line of the same equation represents the compensation after the weighted composition. Therefore, substantially equivalent processing is possible by any of the configurations of FIGS. 2A and 2B.
- the compensation (correction) by the first compensator 161 may be the process described with reference to FIGS. 15 and 16 described above (see equations (34) and (35)).
- FIG. 28 shows the results of plotting the transition of the weighting coefficient ⁇ , the time change of the estimated speed ⁇ , and the combined estimated position ⁇ new at this time.
- the weighting coefficient ⁇ changes linearly according to the speed between 600 and 1200 [r / min], and the composite estimated position ⁇ new after weighting changes smoothly without major fluctuation even during sudden acceleration. Recognize.
- Patent Document 8 discloses a control method for a synchronous motor that realizes rapid and constant acceleration / deceleration performance between a low speed range and a high speed range without requiring a magnetic pole position detector. .. Patent Document 8 shows the experimental results of ⁇ 1300 [r / min] forward and reverse rotation at an acceleration rate of 1.5 [s]. The acceleration rate in the above embodiment is about 30 times the acceleration rate of Patent Document 8.
- the weighting start speed ⁇ s and end speed ⁇ e are the upper limit of the speed to which the first estimation method using pulse application can be applied and the lower limit of the speed at which the accuracy of the second estimation method using extended induced voltage estimation can be sufficiently obtained. It may be determined based on.
- FIG. 29 shows the time change of the weighting coefficient ⁇ , the estimated speed ⁇ , the weighted composite estimated position ⁇ new, and the q-axis current iq in this case.
- a large error of about 30 degrees in the electrical angle is the composite estimation position. It is occurring in. This occurs when there is a large deviation between the two estimation results by the first and second estimation methods, and there is a case of step-out when the error of the combined estimation position becomes larger.
- the estimated position shifts due to the change in the inductance phase of the motor due to the application of the q-axis current iq (see FIGS. 14A and 14B described above), and this is an extension. This is the effect of the delay (delay of the estimated value with respect to the speed) caused by the filter or the like used for the second estimation method using the induced voltage.
- This problem can be solved by the action of the first and second compensators 161, 162 (see FIG. 2A). That is, compensation is added to the first and second estimated position signals ⁇ 1 and ⁇ 2 obtained by the first and second estimation methods according to the dq-axis current id, iq and the estimated speed ⁇ , and the compensation is provided.
- the added first and second estimated position signals ⁇ 1C and ⁇ 2C are weighted and combined. Compensation for the first and second estimated position signals ⁇ 1 and ⁇ 2 so as to be proportional to the primary coupling a ⁇ iq + b ⁇ ⁇ (where a and b are constants) of the q-axis current iq and the estimated velocity ⁇ .
- FIG. 2A compensation is added to the first and second estimated position signals ⁇ 1 and ⁇ 2 obtained by the first and second estimation methods according to the dq-axis current id, iq and the estimated speed ⁇ , and the compensation is provided.
- FIG. 30 shows the results of an experiment under the same operating conditions as the experimental example of FIG. 29. Even during the period in which the first and second estimation methods transition due to a sudden stop due to a sudden load, a substantial error does not occur in the composite estimation position, and a smooth composite estimation position is obtained.
- the degree of compensation can be set by adjusting in advance.
- an encoder for position detection is attached to the motor to detect the ideal position (true position), and the degree of compensation is such that the deviation between the estimated position and the ideal position becomes small at an arbitrary dq-axis current or speed. Should be determined. If the degree of compensation is made into a function or a table by making such adjustments, the position detector becomes unnecessary after that.
- the above compensation can be performed because the position estimators 151 and 152 output the estimated position on the motor fixed coordinate system.
- the estimated position cannot be directly corrected, and the motor parameter for calculating the position error ⁇ is adjusted to be true. It is difficult because it is necessary to be able to obtain an estimated position.
- the estimated position on the fixed coordinate system is estimated by two types of estimation by current ripple (first estimation method) and estimation by extended induced voltage (second estimation method), and by transitioning them, it is high. It was shown that stable sensorless control is possible in response. In the velocity region (medium and high speed region) where estimation by extended induced voltage (second estimation method) is performed, position estimation by current ripple (first estimation method) is essentially performed except when corresponding to sudden deceleration. Not needed.
- the voltage vector pattern applied for the first estimation method is the time width that can be used to apply the drive voltage for driving the motor (the time during which the drive voltage is applied during the PWM control cycle). It causes a problem of narrowing the voltage and a problem of high frequency noise generated by the current oscillating in the cycle of the product of the number of voltage vector patterns and the PWM control cycle.
- the position detection voltage vector patterns of FIGS. 6A and 6B are applied in the speed range (high speed range exceeding the weighting end speed ⁇ e ) using only the result of the estimation of the extended induced voltage (second estimation method). It is preferable to control the PWM generator 14 (see FIG. 1B) so as not to do so.
- FIG. 1B described above shows a configuration in which a command position is given from the outside to perform position control, but the position controller 11 is omitted and a command speed is given to the speed controller 12 from the outside to perform speed control. You may. Further, the speed controller 12 may be omitted, and a command current may be applied to the dq current controller 131 from the outside to perform torque control.
- non-interference control of the dq axis may be performed, or field weakening control may be added according to the velocity.
- the observer represented by the equations (43) and (44) was used for the estimation of the extended induced voltage used in the description of the above embodiment, but the extended induced voltage vector represented by the equation (40) was used. May be used as it is.
- the weighted position estimator 15 may be configured by using another position estimator capable of calculating the estimated position on the motor fixed coordinate system without going through the estimation of the position error ⁇ .
- the weighted position estimator 15 may be provided with three or more position estimators that output the estimated positions on the motor fixed coordinate system, and may be configured to synthesize the estimated positions by them.
- a position estimator that outputs an estimated position on a fixed coordinate system there are three position estimators: a position estimator that uses current ripple, a position estimator that uses extended induced voltage, and a position estimator that uses a magnetic flux observer. It is also possible to use a vessel and weight the estimated positions by them for synthesis. As a result, a more accurate position estimator can be configured.
- the current ripple (current differential value) is directly detected by the current differential detector 4uvw, but instead of having the current differential detector 4uvw, the amount of change (variation) of the current is detected. You may. For example, the current values before and after the application of the position detection voltage vector may be detected, and the difference between them may be used as a value representing the current ripple.
- Controller 2 Inverter 3u, 3v, 3w: Current detector 4u, 4v, 4w: Current differential detector 5u, 5v, 5w: Winding 11: Position controller 12: Speed controller 13: Current controller 14: PWM generator 15: Weighted position estimator 16: Velocity estimator 100: Motor control device 131: dq current controller 132: Inverse dq converter 135: dq converter 151: First position estimator 152: Second position estimator 153: Estimated position synthesizer 154: Periodic converter 161: First compensator 162: Second compensator 163: Combined position compensator
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Abstract
Description
この高調波補正量C2を、並進補正後の推定位置θC1からさらに差し引く。それにより、高調波補正後の推定位置θC2は、次式(34)のとおりとなる。
n=3の場合、補正後の推定位置θC2および推定角度誤差は、図16Aおよび図16Bにそれぞれ示すとおりとなる。ここで、位相オフセットδは推定誤差を小さくするように選べばよい。
また、高調波補正を省いて、並進補正のみを行ってもよい。
wk3=difの場合(ステップS16)の場合には、θPWM+ρ×wk3=θPWM+ρ(θEMF-θPWM)=(1-ρ)θPWM+ρθEMFとなり、第1推定位置θPWMおよび第2推定位置θEMFが重み付けされて合成されていることが分かる。剰余演算Mod(演算子%)は、合成結果を0~mskの範囲でノコギリ波状に周期変化する推定位置信号とするための演算である。
=(1-ρ)(θ1+Δθ1)+ρ(θ2+Δθ2)
=(1-ρ)θ1+ρθ2+{(1-ρ)Δθ1+ρΔθ2} …(52)
なお、第1補償器161による補償(補正)は、前述の図15および図16を参照して説明した処理であってもよい(式(34)(35)参照)。
2 :インバータ
3u,3v,3w :電流検出器
4u,4v,4w :電流微分検出器
5u,5v,5w :巻線
11 :位置制御器
12 :速度制御器
13 :電流制御器
14 :PWM生成器
15 :重み付け位置推定器
16 :速度推定器
100 :モータ制御装置
131 :dq電流制御器
132 :逆dq変換器
135 :dq変換器
151 :第1位置推定器
152 :第2位置推定器
153 :推定位置合成器
154 :周期変換器
161 :第1補償器
162 :第2補償器
163 :合成位置補償器
Claims (11)
- ロータ位置センサを用いないセンサレス制御によって交流同期モータを制御するモータ制御装置であって、
固定座標系上での前記交流同期モータのロータの位置を第1推定方法に従って推定する第1位置推定器と、
固定座標系上での前記交流同期モータのロータの位置を前記第1推定方法とは異なる第2推定方法に従って推定する第2位置推定器と、
前記第1位置推定器および前記第2位置推定器の推定結果に基づいて、前記交流同期モータを駆動する駆動制御手段と、
を含む、モータ制御装置。 - 前記第1推定方法および前記第2推定方法は、いずれも、ロータ位置の誤差の推定を行うことなく、ロータの位置を推定する、請求項1に記載のモータ制御装置。
- 前記第1推定方法および前記第2推定方法は、いずれも、ロータ位置の誤差がゼロとなるようにロータの推定速度を出力するPLL(フェーズ・ロック・ループ)制御を用いることなく、ロータの位置を推定する、請求項1に記載のモータ制御装置。
- 前記第1位置推定器が、ステータの1電気角周期に相当するロータの回転に対して2周期の変動を持つ推定位置信号を出力し、
前記第2位置推定器が、ステータの1電気角周期に相当するロータの回転に対して1周期の変動を持つ推定位置信号を出力する、
請求項1~3のいずれか一項に記載のモータ制御装置。 - 前記第1位置推定器が、ステータの1電気角周期に相当するロータの回転に対して2周期の変動を持つ推定位置信号を出力し、
前記第2位置推定器が、ステータの1電気角周期に相当するロータの回転に対して1周期の変動を持つ推定位置信号を出力し、
前記モータ制御装置が、前記第1位置推定器の推定位置信号を、ステータの1電気角周期に相当するロータの回転に対して1周期の変動を持つ周期信号の推定位置信号に変換する周期変換器をさらに含む、請求項1~3のいずれか一項に記載のモータ制御装置。 - 前記第1位置推定器が、前記交流同期モータに位置検出電圧ベクトルを印加した際に当該交流同期モータの巻線電流に生じる電流リプルに基づいて当該交流同期モータのインダクタンスの変化を捉えてロータの位置を推定する、請求項1~5のいずれか一項に記載のモータ制御装置。
- 前記第2位置推定器が、拡張誘起電圧推定値に基づいてロータの位置を推定する、請求項1~6のいずれか一項に記載のモータ制御装置。
- 前記第1位置推定器が出力する推定位置信号である第1推定位置信号と、前記第2位置推定器が出力する推定位置信号である第2推定位置信号とを、前記ロータの回転速度または拡張誘起電圧ベクトル長に応じて、切り換えるか、または重み付けして合成して、合成推定位置を生成する推定位置合成器をさらに含み、
前記駆動制御手段は、前記推定位置合成器が生成する前記合成推定位置に従って前記交流同期モータを駆動する、請求項7に記載のモータ制御装置。 - モータ電流およびロータ回転速度に応じて前記第1推定位置信号および前記第2推定位置信号をそれぞれ補償する第1補償器および第2補償器をさらに含むか、または、
モータ電流およびロータ回転速度に応じて前記合成推定位置を補償する合成推定位置補償器をさらに含む、請求項8に記載のモータ制御装置。 - 前記第1位置推定器が、前記交流同期モータに位置検出電圧ベクトルを印加した際に当該交流同期モータの巻線電流に生じる電流リプルに基づいて当該交流同期モータのインダクタンスの変化を捉えてロータの位置を推定するものであり、
前記推定位置合成器は、ロータの回転速度が所定値以上となる高速度域において、前記第1推定位置信号を用いずに前記合成推定位置を生成し、
前記高速度域において、前記位置検出電圧ベクトルの印加を停止する、請求項8または9に記載のモータ制御装置。 - 交流同期モータと、
前記交流同期モータに交流電流を供給するインバータと、
前記インバータを制御する、請求項1~10のいずれか一項に記載のモータ制御装置と、
を含む、駆動システム。
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- 2022-01-12 EP EP22739432.7A patent/EP4280452A1/en active Pending
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TW202249412A (zh) | 2022-12-16 |
CN116802988A (zh) | 2023-09-22 |
EP4280452A1 (en) | 2023-11-22 |
JP2022110307A (ja) | 2022-07-29 |
KR20230131267A (ko) | 2023-09-12 |
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