WO2022176390A1 - 制御装置、モータの駆動装置、制御方法及びプログラム - Google Patents
制御装置、モータの駆動装置、制御方法及びプログラム Download PDFInfo
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- 238000004364 calculation method Methods 0.000 claims description 13
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/26—Power factor control [PFC]
Definitions
- the present disclosure relates to a control device, a motor drive device, a control method, and a program.
- This application claims priority to Japanese Patent Application No. 2021-023546 filed in Japan on February 17, 2021, the contents of which are incorporated herein.
- the DC voltage generated by the converter is supplied to the inverter to control the inverter and drive the motor.
- the voltage output from the converter is smoothed by a large-capacity capacitor.
- the device that drives the motor can be made smaller.
- the capacitance of the capacitor is small, the output voltage of the converter will be more volatile than if the capacitance of the capacitor is larger.
- the influence of the DC voltage fluctuation appears on the motor voltage, the rotation speed and torque fluctuation of the motor increase, and the motor stabilizes.
- fluctuations in the motor current also increase, possibly reducing the operating range.
- An object of the present invention is to provide a control device, a motor drive device, a control method, and a program.
- the control device includes means for setting a voltage command on two axes of a rotating rectangular coordinate system, means for coordinate-converting the voltage command on the two axes into three phases, and means for applying a phase voltage command to the motor through power conversion by an inverter; means for feeding back the terminal current of the motor; power factor angle determining means for determining the power factor angle from the feedback current; and a power factor angle adjusting means for adjusting the power factor angle to the phase used when converting the terminal current of the motor obtained in the above into a rectangular coordinate, wherein the direct current supplied to the inverter A holding unit for holding a relationship between a voltage fluctuation and a phase correction value, a phase used when performing three-phase to two-phase conversion for converting the three phases to two phases, and 2 for converting the two phases to the three phases. a correction value adding means for adding the correction value to at least one of the phases used when performing phase-to-three phase conversion.
- a motor drive device includes the control device and the inverter.
- a control method includes means for setting a voltage command on two axes of a rotating rectangular coordinate system, means for coordinate-converting the voltage command on the two axes into three phases, a means for feeding back the terminal current of the motor, a power factor angle determining means for determining a power factor angle from the feedback current, and a terminal current of the motor obtained by the three phases.
- the program according to the present disclosure includes means for setting a voltage command on two axes of a rotating orthogonal coordinate system, means for coordinate-converting the two-axis voltage command to three phases, and power conversion of the three-phase voltage command by an inverter. a means for feeding back the terminal current of the motor; a power factor angle determining means for determining a power factor angle from the current to be fed back; A power factor angle adjusting means for adjusting the power factor angle to the phase used when converting to the orthogonal coordinates, and correcting the fluctuation and phase of the DC voltage supplied to the inverter to the computer of the control device of the permanent magnet synchronous motor. and the phase used when performing the three-phase to two-phase conversion that converts the three phases to two phases, and the two-phase three-phase conversion that converts the two phases to the three phases. adding the correction value to at least one of the phases used.
- the control device the motor drive device, the control method, and the program according to the present disclosure, even if a fluctuating voltage is input to the inverter, it is possible to suppress torque fluctuations, rotation speed fluctuations, and operating range reduction in the high-speed range of the motor. can.
- FIG. 1 is a diagram illustrating an example of a configuration of a motor driving device according to an embodiment of the present disclosure
- FIG. It is a figure showing an example of composition of a control device by one embodiment of this indication.
- Fig. 4 illustrates an example of a first phase correction function in accordance with an embodiment of the present disclosure
- Fig. 4 illustrates an example of a second phase correction function according to an embodiment of the present disclosure
- 4 is a first diagram illustrating an example of a processing flow of a control device according to an embodiment of the present disclosure
- FIG. FIG. 5 is a second diagram illustrating an example of a processing flow of a control device according to an embodiment of the present disclosure
- 1 is a schematic block diagram showing a configuration of a computer according to at least one embodiment;
- FIG. 1 is a diagram showing the configuration of a motor drive device 1 according to an embodiment of the present disclosure.
- the motor drive device 1 includes a power supply 10, a converter 20, a reactor 30, a first capacitor 40, a second capacitor 50, an inverter 60, a motor 70, a current sensor 80, and a control device 90, as shown in FIG.
- motor drive device 1 controls inverter 60 according to the voltage fluctuation, thereby increasing the torque and rotation of motor 70.
- This device is capable of suppressing the pulsation of the motor current and suppressing the reduction of the operating range by suppressing the pulsation of the motor current.
- a power supply 10 is a power supply that outputs a three-phase AC voltage.
- a three-phase AC voltage output by power supply 10 is input to converter 20 .
- Converter 20 converts a three-phase AC voltage into a DC voltage.
- Converter 20 is, for example, a diode rectifier circuit.
- converter 20 is not limited to a diode rectifier circuit, and may be another rectifier circuit using a switching element or the like.
- the reactor 30 and the first capacitor 40 constitute an LC filter.
- This LC filter removes the voltage fluctuation of the frequency component determined by the resonance frequency due to the inductance of the reactor 30 and the capacitance of the first capacitor 40 from among the voltage fluctuations in the voltage output from the converter 20 .
- the first capacitor 40 is, for example, a film capacitor. Film capacitors generally have a smaller capacity than electrolytic capacitors, but are smaller, lighter, and have a longer life. If the first capacitor 40 is a small-capacity film capacitor, the voltage fluctuation at the input of the inverter 60 will be greater than if the first capacitor 40 is a large-sized, high-capacity electrolytic capacitor.
- the second capacitor 50 is a snubber capacitor.
- the snubber capacitor suppresses voltage fluctuation due to switching noise generated when inverter 60 converts a DC voltage into an AC voltage using a switching element.
- Inverter 60 generates an AC voltage for driving motor 70 from the DC voltage supplied from converter 20 via the above-described LC filter, under the control of control device 90 .
- the inverter 60 includes switching elements SW1, SW2, SW3, SW4, SW5, and SW6.
- the switching elements SW1 to SW6 are semiconductor elements having control terminals (gate terminals in the case of IGBTs and MOSFETs) such as IGBTs (Insulated Gate Bipolar Transistors) and MOSFETs (Metal-Oxide-Semiconductor Field Effect Transistors).
- Motor 70 rotates according to the AC voltage supplied to inverter 60 .
- Motor 70 is, for example, a compressor motor used in an air conditioner.
- a current sensor 80 detects motor currents iu, iv, and iw.
- iu is the motor current corresponding to the u phase in inverter 60 .
- iv is the motor current corresponding to the v phase in inverter 60;
- iw is the motor current corresponding to the w phase in the inverter 60;
- Control device 90 generates a control signal for controlling inverter 60 .
- the control device 90 includes a voltage detection circuit 110a, a current detection circuit 110b, a voltage command generation section 110c, and a PWM (Pulse Width Modulation) duty calculation section 110d (an example of a calculation section).
- V/F Vehicle Frequency
- Control device 90 can be given as a specific example of a motor control method by the control device 90 .
- the voltage detection circuit 110a identifies the voltage Vx between both terminals of the first capacitor 40.
- the voltage detection circuit 110a includes an A/D (Analog to Digital) converter 110a1.
- A/D converter 110 a 1 receives voltage Vx between both terminals of first capacitor 40 .
- the A/D converter 110a1 converts the received voltage Vx into a digital value corresponding one-to-one (that is, a digital value indicating the value of the received voltage).
- the current detection circuit 110b identifies the respective values of the motor currents iu, iv, and iw detected by the current sensor 80.
- ⁇ _cmd is a speed command (electrical angle).
- ⁇ is the output frequency of the inverter 60 .
- vd is the d-axis voltage command.
- vq is the q-axis voltage command.
- vu is a u-phase voltage command.
- vv is a v-phase voltage command.
- vw is a w-phase voltage command.
- id is the d-axis inverter output current.
- iq is the q-axis inverter output current.
- Vx is the voltage between both terminals of the first capacitor 40 detected by the voltage detection circuit 110a.
- ⁇ c1 is a phase correction amount when voltage command vu, voltage command vv and voltage command vw are generated from d-axis voltage command vd and q-axis voltage command vq.
- the voltage command generation unit 110c includes a first function unit f1, a second function unit f2, a third function unit f3, a fourth function unit f4, a fifth function unit f5, a sixth function unit f6, It has a seventh functional part f7, an eighth functional part f8, a ninth functional part f9, and a tenth functional part f10.
- the first function part f1 receives the inverter output current iq from the tenth function part f10.
- the first function unit f1 multiplies the inverter output current iq by a proportionality constant k ⁇ .
- Inverter output current iq is a current that contributes to torque generation by motor 70 .
- the multiplication result of the proportional constant k ⁇ and the inverter output current iq, k ⁇ ⁇ Iq, is as described in Patent Document 1, and is used to prevent step-out by feeding back torque fluctuations to the rotation speed. .
- the second functional unit f2 receives the output of the first functional unit f1. Also, the second function part f2 receives a speed command ⁇ _cmd. The second function part f2 subtracts the output of the first function part f1 from the speed command ⁇ _cmd. The second functional unit f2 outputs the subtraction result as the output frequency ⁇ of the inverter 60 to the third functional unit f3, the fourth functional unit f4, and the eighth functional unit f8.
- the third functional unit f3 receives the output frequency ⁇ of the inverter 60 from the second functional unit f2. Also, the third functional unit f3 receives the inverter output current id from the tenth functional unit f10. The third function unit f3 generates the d-axis voltage command vd by substituting the inverter output current id into the following equation (1). The third function part f3 outputs the generated d-axis voltage command vd to the fifth function part f5.
- the third function unit f3 generates the q-axis voltage command vq by substituting the output frequency ⁇ of the inverter 60 into the following equation (2).
- the third function part f3 outputs the generated q-axis voltage command vq to the fifth function part f5.
- Vqofs is the q-axis voltage offset value. It should be noted that the q-axis voltage offset value Vqofs can be expressed using a proportionality constant K as shown in Equation (3) below.
- the inverter output current id is controlled to be zero by the above equations (1) and (2).
- the d-axis inverter output current id becomes zero, the d-axis inverter output voltage also becomes zero.
- the fourth function part f4 receives the output frequency ⁇ of the inverter 60 from the second function part f2.
- the fourth functional unit d4 integrates the output frequency ⁇ of the inverter 60 along the time axis.
- the fourth functional unit f4 outputs the integration result to the sixth functional unit f6 and the seventh functional unit f7.
- the eighth functional unit f8 receives a digital value indicating the voltage Vx between both terminals of the first capacitor 40 from the voltage detection circuit 110a. Also, the eighth function part f8 receives the output frequency ⁇ of the inverter 60 from the second function part f2. Based on the received digital value, the received output frequency ⁇ , and the first phase correction function Fn1 (an example of the relationship between the fluctuation of the DC voltage supplied to the inverter and the phase correction value), the eighth function unit f8 to determine the correction value ⁇ c1. Also, the eighth function unit f8 receives the received digital value, the received output frequency ⁇ , and the second phase correction function Fn2 (an example of the relationship between the fluctuation of the DC voltage supplied to the inverter and the phase correction value).
- the correction value ⁇ c2 is determined.
- the correction value ⁇ c1 is a correction value for correcting the phase used when the fifth functional unit f5 performs the two-to-three-phase conversion.
- the correction value ⁇ c2 is a correction value for correcting the phase used when the tenth functional unit f10 performs three-phase to two-phase conversion.
- These correction values .theta.c1 and .theta.c2 are for performing control to change the magnitude of the phase according to the variation of the voltage Vx between both terminals of the first capacitor 40.
- FIG. FIG. 3 is a diagram illustrating an example of the first phase correction function Fn1 according to one embodiment.
- FIG. 4 is a diagram illustrating an example of the second phase correction function Fn2 according to one embodiment.
- the first phase correction function Fn1 is a function determined through simulations and experiments in advance, and the correction value ⁇ c1 can be specified from the DC voltage between both terminals of the first capacitor 40 and the voltage required to drive the motor 70. is a function Further, the second phase correction function Fn2 is a function determined in advance by performing simulations and experiments. It is an identifiable function.
- the correction value ⁇ c1 is added to the phases for the two-to-three phase conversion by the seventh functional unit f7. Also, the correction value ⁇ c2 is added to the phase for performing the three-to-two phase conversion in the sixth functional unit f6.
- the first phase correction function Fn1 is a function of the voltage Vx across the first capacitor and the voltage required for the motor 70, and is a function that determines the correction value.
- the voltage required for the motor 70 is obtained by multiplying the output frequency ⁇ of the inverter 60 by the induced voltage coefficient ⁇ d. That is, the first phase correction function Fn1 is a function of the voltage Vx across the first capacitor and the output frequency ⁇ of the inverter 60, and includes the induced voltage coefficient ⁇ d.
- each correction value ⁇ c1 is specified by substituting the voltage Vx across the first capacitor and the output frequency ⁇ of the inverter 60 into the first phase correction function Fn1.
- the eighth functional unit f8 substitutes the voltage Vx and the output frequency ⁇ into the first phase correction function Fn1 to specify the value of the first phase correction function Fn1 (that is, the correction value ⁇ c1).
- the correction value ⁇ c1 specified by the eighth function unit f8 in this way is the correction value used by the seventh function unit f7.
- the second phase correction function Fn2 is a function of the voltage Vx across the first capacitor and the voltage required for the motor 70, and is a function that determines the correction value.
- the voltage required for the motor 70 is obtained by multiplying the output frequency ⁇ of the inverter 60 by the induced voltage coefficient ⁇ d. That is, the second phase correction function Fn2 is a function of the voltage Vx across the first capacitor and the output frequency ⁇ of the inverter 60, and includes the induced voltage coefficient ⁇ d. Then, each correction value ⁇ c2 is specified by substituting the voltage Vx across the first capacitor and the output frequency ⁇ of the inverter 60 into the second phase correction function Fn2.
- the eighth functional unit f8 substitutes the voltage Vx and the output frequency ⁇ into the second phase correction function Fn2 to specify the value of the second phase correction function Fn2 (that is, the correction value ⁇ c2).
- the correction value ⁇ c2 specified by the eighth function unit f8 in this manner is the correction value used by the sixth function unit f6.
- the eighth function unit f8 multiplies the output frequency ⁇ by the induced voltage coefficient ⁇ d, the imaginary number j, the output frequency ⁇ , the q axis is multiplied by the inductance of , and the q-axis current.
- the eighth functional unit f8 may calculate the voltage necessary for the motor 70 by calculating a vector expressed by complex numbers (for example, by using the phasor method).
- the eighth functional unit f8 stores the q-axis inductance in advance, and acquires and uses the inverter output current iq output by the tenth functional unit f10 as the q-axis current.
- the first phase correction function Fn1 and the second phase correction function Fn2 may be the same function or different functions.
- the specification of the correction value ⁇ c1 and the correction value ⁇ c2 is not limited to specifying using functions such as the above-described first phase correction function Fn1 and second phase correction function Fn2.
- the voltage Vx across the first capacitor and the voltage required for the motor 70 are associated with the correction values corresponding to them. value)
- the eighth functional unit f8 specifies the voltage Vx across the first capacitor and the voltage required for the motor 70, and stores the specified voltage Vx of the first capacitor in the data table.
- a correction value stored in association with the voltage Vx across the terminals and the voltage necessary for the motor 70 may be specified as the desired correction value.
- the sixth functional unit f6 receives the integration result from the fourth functional unit f4. Also, the sixth function part f6 receives the correction value ⁇ c2 from the eighth function part f8. A sixth function unit f6 adds a correction value ⁇ c2 to the integration result. That is, the sixth functional unit f6 corrects the integration result of the output frequency ⁇ of the inverter 60 using the correction value ⁇ c2. The sixth functional unit f6 outputs the addition result ⁇ es to the tenth functional unit f10.
- the tenth functional unit f10 receives the addition result ⁇ es from the sixth functional unit f6.
- the tenth functional unit f10 also receives motor currents iu, iv, and iw of the u-phase, the v-phase, and the w-phase from the current detection circuit 110b at predetermined time intervals.
- the tenth function unit f10 converts the motor current iu, the motor current iv, and the motor current iw to the inverter output current id and the inverter output current iq using, for example, the following equation (4). 2-phase conversion.
- the tenth function part f10 outputs the inverter output current id to the third function part f3.
- the tenth functional unit f10 also outputs the inverter output current iq to the first functional unit f1 and the ninth functional unit f1.
- the ninth function unit f9 identifies the power factor angle ⁇ v using the inverter output current iq. This identification may be performed in the same manner as the method described in Patent Document 1, for example.
- the ninth function part f9 outputs the specified power factor angle ⁇ v to the seventh function part f7.
- the seventh function part f7 receives the integration result from the fourth function part f4. Also, the seventh functional unit f7 receives the correction value ⁇ c1 from the eighth functional unit f8. Also, the seventh functional part f7 receives the power factor angle ⁇ v from the ninth functional part f9. A seventh function unit f7 adds the integration result, the correction value ⁇ c1, and the power factor angle ⁇ v. The seventh functional unit f7 outputs the addition result ⁇ v23 to the fifth functional unit f5.
- the fifth function part f5 receives the d-axis voltage command vd and the q-axis voltage command vq from the third function part f3. Also, the fifth functional unit f5 receives the addition result ⁇ v23 from the seventh functional unit f7. For example, the fifth function unit f5 converts the d-axis voltage command vd and the q-axis voltage command vq to the u-phase voltage command vu, the v-phase voltage command vv, and the w-phase voltage Convert to command vw.
- PWM duty calculation unit 110d generates a PWM signal for controlling inverter 60, the duty ratio of which is determined based on the DC voltage between both terminals of first capacitor 40, voltage command vu, voltage command vv, and voltage command vw. to generate For example, in the high-speed range of the motor 70, the PWM duty calculation unit 110d uses the phase ⁇ v23 corrected using the correction value ⁇ c1 to convert the u-phase output from the fifth function unit f5 into 2-3 phases.
- a PWM signal for controlling the inverter 60 having a duty ratio determined based on the voltage command vu, the v-phase voltage command vv, the w-phase voltage command vw, and the DC voltage between both terminals of the first capacitor 40. Generate.
- the voltage detection circuit 110a identifies the voltage Vx between both terminals of the first capacitor 40.
- the voltage detection circuit 110a outputs the identified voltage Vx to the eighth functional unit f8.
- the eighth functional unit f8 acquires the voltage Vx output by the voltage detection circuit 110a (step S1).
- the second functional unit f2 outputs the output frequency ⁇ of the inverter 60 to the eighth functional unit f8.
- the eighth function part f8 acquires the output frequency ⁇ output by the second function part f2.
- the eighth functional unit f8 calculates the voltage required for the motor 70 based on the obtained output frequency ⁇ (step S2). For example, the eighth functional unit f8 calculates the voltage required for the motor 70 by multiplying the output frequency ⁇ by the induced voltage coefficient ⁇ d.
- the eighth function unit f8 identifies the correction value ⁇ c1 from the first phase correction function Fn1. For example, the eighth function unit f8 substitutes the obtained voltage Vx and the calculated voltage necessary for the motor 70 into the first phase correction function Fn1, and specifies the value of the first phase correction function Fn1, that is, the correction value ⁇ c1. (Step S3). The eighth function part f8 outputs the specified correction value ⁇ c1 to the seventh function part f7.
- the seventh functional unit f7 acquires the correction value ⁇ c1 output by the eighth functional unit f8. Also, the seventh functional unit f7 acquires the integration result output by the fourth functional unit f4. Also, the seventh functioning unit f7 acquires the power factor angle ⁇ v output by the ninth functioning unit f9.
- the seventh function unit f7 adds the integration result, the power factor angle ⁇ v, and the correction value ⁇ c1 to calculate the addition result ⁇ v23. That is, the seventh functional unit f7 adds the correction value ⁇ c1 to the phase used for the two-to-three phase conversion, thereby changing the phase to be used for the two-to-three phase conversion to ⁇ v23 (step S4).
- the seventh function part f7 outputs the phase ⁇ v23 to the fifth function part f5.
- the fifth functional unit f5 acquires the phase ⁇ v23 output by the seventh functional unit f7.
- the fifth functional unit f5 acquires the phase ⁇ v23 output by the seventh functional unit f7.
- the fifth functioning unit f5 also acquires the d-axis voltage command vd and the q-axis voltage command vq output by the third functioning unit f3.
- the fifth function unit f5 converts the two-axis voltage commands (that is, the d-axis voltage command vd and the q-axis voltage command vq) to the three-axis voltage commands (that is, the voltage command vu, the voltage command vv, and the voltage command vv) using the phase ⁇ v23. command vw) (step S5).
- the fifth function unit f5 outputs voltage commands for three axes to the PWM duty calculation unit 110d.
- the PWM duty calculation unit 110d acquires the three-axis voltage commands output by the fifth function unit f5. Also, the PWM duty calculation unit 110d acquires the DC voltage Vx output by the voltage detection circuit 110a. The PWM duty calculation unit 110d generates a PWM signal for controlling the inverter 60 based on the three-axis voltage commands output by the fifth function unit f5 and the DC voltage Vx output by the voltage detection circuit 110a. Then, PWM duty calculation section 110 d outputs the generated PWM signal to inverter 60 .
- the voltage detection circuit 110a identifies the voltage Vx between both terminals of the first capacitor 40 .
- the voltage detection circuit 110a outputs the identified voltage Vx to the eighth functional unit f8.
- the eighth functional unit f8 acquires the voltage Vx output by the voltage detection circuit 110a (step S6).
- the second functional unit f2 outputs the output frequency ⁇ of the inverter 60 to the eighth functional unit f8.
- the eighth function part f8 acquires the output frequency ⁇ output by the second function part f2.
- the eighth functional unit f8 calculates the voltage required for the motor 70 based on the obtained output frequency ⁇ (step S7). For example, the eighth functional unit f8 calculates the voltage required for the motor 70 by multiplying the output frequency ⁇ by the induced voltage coefficient ⁇ d.
- the eighth function unit f8 identifies the correction value ⁇ c2 from the second phase correction function Fn2. For example, the eighth function unit f8 substitutes the obtained voltage Vx and the calculated voltage necessary for the motor 70 into the second phase correction function Fn2, and specifies the value of the second phase correction function Fn2, that is, the correction value ⁇ c2. (Step S8). The eighth function unit f8 outputs the identified correction value ⁇ c2 to the sixth function unit f6.
- the sixth functional unit f6 acquires the correction value ⁇ c2 output by the eighth functional unit f8. Also, the sixth functional unit f6 acquires the integration result output by the fourth functional unit f4. The sixth functional unit f6 adds the integration result and the correction value ⁇ c2 to calculate the addition result ⁇ es. That is, the sixth function unit f6 adds the correction value ⁇ c2 to the phase used for the three-to-two phase conversion, thereby changing the phase to be used for the three-to-two phase conversion to ⁇ es (step S9). The sixth functional unit f6 outputs the phase ⁇ es to the tenth functional unit f10.
- the tenth functional unit f10 acquires the phase ⁇ es output by the sixth functional unit f6.
- the tenth functional unit f10 acquires the phase ⁇ es output by the sixth functional unit f6.
- the tenth functional unit f10 also acquires the motor current iu, the motor current iv, and the motor current iw output by the current detection circuit 110b.
- the tenth function unit f10 converts three-axis motor currents (ie, motor current iu, motor current iv, and motor current iw) to two-axis motor currents (ie, inverter output current id and inverter output current) using phase ⁇ es. iq) (step S10).
- the tenth function part f10 outputs the motor currents of the two axes to the first function part f1 and the third function part f3.
- the motor drive device 1 has been described above.
- the eighth functional unit f8 (an example of a holding unit) holds the relationship between the fluctuation of the voltage supplied to the inverter 60 and the phase correction value.
- Correction value addition means (f6, f7) provide phases used when performing three-phase to two-phase conversion for converting three phases to two phases, and two-phase to three-phase conversion for converting two phases to three phases. The correction value is added to at least one of the phases used for .
- the control device 90 can suppress torque fluctuations in the high-speed region of the motor and simultaneously suppress rotational speed fluctuations.
- the current pulsation can be suppressed and the peak value of the current can be lowered compared to the case where the torque fluctuation and the rotation speed fluctuation cannot be suppressed. Torque fluctuation and rotation speed fluctuation can be suppressed, and at the same time, reduction of the operating range can be suppressed.
- correction value ⁇ c1 and the correction value ⁇ c2 may be the same.
- Each of the storage units and storage devices in the embodiments of the present disclosure may be provided anywhere as long as appropriate information transmission/reception is performed. Further, each of the storage units and storage devices may exist in a plurality and store data in a distributed manner within a range in which appropriate information transmission and reception are performed.
- FIG. 7 is a schematic block diagram showing the configuration of a computer according to at least one embodiment.
- the computer 5 includes a CPU 6, a main memory 7, a storage 8, and an interface 9, as shown in FIG.
- the control device 90 described above and each of the other control devices are implemented in the computer 5 .
- the operation of each processing unit described above is stored in the storage 8 in the form of a program.
- the CPU 6 reads out the program from the storage 8, develops it in the main memory 7, and executes the above process according to the program.
- the CPU 6 secures storage areas corresponding to the storage units described above in the main memory 7 according to the program.
- storage 8 examples include HDD (Hard Disk Drive), SSD (Solid State Drive), magnetic disk, magneto-optical disk, CD-ROM (Compact Disc Read Only Memory), DVD-ROM (Digital Versatile Disc Read Only Memory) , semiconductor memory, and the like.
- the storage 8 may be an internal medium directly connected to the bus of the computer 5, or an external medium connected to the computer 5 via the interface 9 or communication line. Further, when this program is distributed to the computer 5 through a communication line, the computer 5 that receives the distribution may develop the program in the main memory 7 and execute the above process.
- storage 8 is a non-transitory, tangible storage medium.
- the above program may implement part of the functions described above.
- the program may be a file capable of realizing the above functions in combination with a program already recorded in the computer system, that is, a so-called difference file (difference program).
- control device 90 described in each embodiment of the present disclosure is understood as follows.
- a control device (90) means (f3) for setting a voltage command on two axes of a rotating orthogonal coordinate system; means (f5) for coordinate-converting the voltage command on the two axes into three phases; means (110d) for applying the three-phase voltage command to a motor (70) through power conversion by an inverter (60); means (110b) for feeding back the terminal current of the motor (70); power factor angle determination means (f9) for determining a power factor angle from the current to be fed back; power factor angle adjusting means (f10) for adjusting the power factor angle to the phase used when converting the terminal current of the motor (70) obtained in the three phases into rectangular coordinates; In a controller (90) for a motor (70) having a holding unit (f8) holding the relationship between the fluctuation of the DC voltage supplied to the inverter (60) and the phase correction value; The correction value is applied to at least one of the phase used when performing the three-phase to two-phase conversion for converting the three phases to two phases;
- the holding section (f8) holds the relationship between the fluctuation of the DC voltage supplied to the inverter (60) and the phase correction value.
- Correction value addition means (f6, f7) provide phases used when performing three-phase to two-phase conversion for converting three phases to two phases, and two-phase to three-phase conversion for converting two phases to three phases. The correction value is added to at least one of the phases used for .
- control device (90) can change the command using the relationship between the DC voltage fluctuation and the phase correction value. As a result, even if the fluctuating voltage is input to the inverter (60), it is possible to suppress torque fluctuations, rotation speed fluctuations, and operating range reduction in the high-speed range of the motor (70).
- a control device (90) is the control device (90) of (1), further comprising a detection unit (110a1) for detecting the variation, wherein the detection unit (110a1) The correction value is determined based on the detection result.
- control device (90) can change the command based on the result detected by the detection section (110a1). As a result, even if voltage fluctuations occur frequently, the voltage after fluctuations can always be detected. Rotation speed fluctuations and reduction in operating range can be suppressed.
- a control device (90) according to a third aspect is the control device (90) according to (1) or (2), wherein the inverter (60) is controlled based on the phase to which the correction value is added.
- control device (90) controls the inverter (60), which can always suppress torque fluctuations, rotation speed fluctuations, and operation range reduction in the high-speed range of the motor (70) even if fluctuating voltage is input to the inverter (60). 60) can be expected to generate a control command.
- a control device (90) is the control device (90) of (3), wherein the computing unit (110d) controls the inverter (60) based on the variation. Generate a control command to
- control device (90) controls the inverter (60), which can always suppress torque fluctuations, rotation speed fluctuations, and operation range reduction in the high-speed range of the motor (70) even if fluctuating voltage is input to the inverter (60). 60) can be expected to generate a control command.
- a control device (90) is the control device (90) of (4), wherein the computing unit (110d) drives the load (70) of the inverter (60).
- the control command is generated based on the voltage required for
- control device (90) controls the inverter (60), which can always suppress torque fluctuations, rotation speed fluctuations, and operation range reduction in the high-speed range of the motor (70) even if fluctuating voltage is input to the inverter (60). 60) can be expected to generate a control command.
- a driving device for a motor (70) includes the control device and the inverter.
- the driving device of the motor (70) can change the command using the relationship between the DC voltage fluctuation and the phase correction value. As a result, even if the fluctuating voltage is input to the inverter (60), it is possible to suppress torque fluctuations, rotation speed fluctuations, and operating range reduction in the high-speed range of the motor (70).
- a drive device (1) for a motor (70) according to a seventh aspect is the drive device (1) for a motor (70) according to (6), comprising: the control device (90); 60) and
- the drive device (1) for the motor (70) can change the command using the relationship between the DC voltage fluctuation and the phase correction value. As a result, even if the fluctuating voltage is input to the inverter (60), it is possible to suppress torque fluctuations, rotation speed fluctuations, and operating range reduction in the high-speed range of the motor (70).
- a control method includes: Means (f3) for setting a voltage command on two axes of a rotating orthogonal coordinate system, means (f5) for coordinate-converting the two-axis voltage command to three phases, and an inverter (60) for converting the three-phase voltage command.
- Means (110d) for applying power to the motor (70) through power conversion; means (110b) for feeding back the terminal current of the motor (70); and power factor angle determining means for determining the power factor angle from the feedback current. (f9), and a power factor angle adjusting means (f10) for adjusting the power factor angle to the phase used when converting the terminal current of the motor (70) obtained in the three phases into rectangular coordinates.
- the correction value is applied to at least one of the phase used when performing the three-phase to two-phase conversion for converting the three phases to two phases and the phase used for performing the two-to-three phase conversion for converting the two phases to the three phases. adding and including.
- the control method can change the command using the relationship between the DC voltage fluctuation and the phase correction value. As a result, even if the fluctuating voltage is input to the inverter (60), it is possible to suppress torque fluctuations, rotation speed fluctuations, and operating range reduction in the high-speed range of the motor (70).
- the correction value is applied to at least one of the phase used when performing the three-phase to two-phase conversion for converting the three phases to two phases and the phase used for performing the two-to-three phase conversion for converting the two phases to the three phases. adding and to run.
- the program can change the command using the relationship between the DC voltage fluctuation and the phase correction value. As a result, even if the fluctuating voltage is input to the inverter (60), it is possible to suppress torque fluctuations, rotation speed fluctuations, and operating range reduction in the high-speed range of the motor (70).
- the control device the motor drive device, the control method, and the program according to the present disclosure, even if a fluctuating voltage is input to the inverter, it is possible to suppress torque fluctuations, rotation speed fluctuations, and operating range reduction in the high-speed range of the motor. can.
Abstract
Description
本願は、2021年2月17日に日本に出願された特願2021-023546号について優先権を主張し、その内容をここに援用する。
以下、図面を参照しながら実施形態について詳しく説明する。
本開示の一実施形態によるモータの駆動装置について説明する。
(モータの駆動装置の構成)
図1は、本開示の一実施形態によるモータの駆動装置1の構成を示す図である。モータの駆動装置1は、図1に示すように、電源10、コンバータ20、リアクトル30、第1コンデンサ40、第2コンデンサ50、インバータ60、モータ70、電流センサ80、制御装置90を備える。
モータの駆動装置1は、モータ70の高速域において、コンバータ20の出力電圧における電圧変動が大きい場合であっても、その電圧変動に応じてインバータ60を制御することにより、モータ70のトルクや回転数の脈動抑制ができるとともに、モータ電流の脈動抑制により運転範囲の縮小も抑制することのできる装置である。
コンバータ20は、三相交流電圧を直流電圧に変換する。コンバータ20は、例えば、ダイオード整流回路である。ただし、コンバータ20は、ダイオード整流回路に限定するものではなく、スイッチング素子などを用いた他の整流回路であってもよい。
インバータ60は、スイッチング素子SW1、SW2、SW3、SW4、SW5、SW6を備える。スイッチング素子SW1~SW6は、例えば、IGBT(Insulated Gate Bipolar Transistor)、MOSFET(Metal-Oxide-Semiconductor Field Effect Transistor)などの制御端子(IGBT、MOSFETの場合、ゲート端子)を有する半導体素子である。
電流センサ80は、モータ電流iu、iv、iwを検出する。iuは、インバータ60におけるu相に対応するモータ電流である。ivは、インバータ60におけるv相に対応するモータ電流である。iwは、インバータ60におけるw相に対応するモータ電流である。
制御装置90は、インバータ60を制御する制御信号を生成する。制御装置90は、図2に示すように、電圧検出回路110a、電流検出回路110b、電圧指令生成部110c、PWM(Pulse Width Modulation)デューティ演算部110d(演算部の一例)を備える。なお、制御装置90によるモータ制御の具体的な手法の例としては、V/F(Variable Frequency)制御などが挙げられる。
図2において、ω_cmdは、速度指令(電気角)である。ωは、インバータ60の出力周波数である。vdは、d軸電圧指令である。vqは、q軸電圧指令である。vuは、u相の電圧指令である。vvは、v相の電圧指令である。vwは、w相の電圧指令である。idは、d軸のインバータ出力電流である。iqは、q軸のインバータ出力電流である。Vxは、電圧検出回路110aが検出した第1コンデンサ40の両端子間の電圧である。θc1は、d軸電圧指令vdおよびq軸電圧指令vqから電圧指令vu、電圧指令vvおよび電圧指令vwを生成する場合の位相の補正量である。
また、第3機能部f3は、次に示す式(2)にインバータ60の出力周波数ωを代入することによって、q軸電圧指令vqを生成する。第3機能部f3は、生成したq軸電圧指令vqを第5機能部f5に出力する。
例えば、モータ70の高速域では、PWMデューティ演算部110dは、補正値θc1を用いて補正された位相θv23を使用して、第5機能部f5が2相3相変換して出力するu相の電圧指令vu、v相の電圧指令vvおよびw相の電圧指令vwと、第1コンデンサ40の両端子間の直流電圧とに基づいてデューティ比を決定した、インバータ60を制御するためのPWM信号を生成する。
次に、モータ70の高速域において、制御装置90がインバータ60を制御するためのPWM信号を生成する場合に行う2相3相変換および3相2相変換の処理について、図5および図6を参照して説明する。まず、制御装置90が行う2相3相変換の処理について説明する。
電圧検出回路110aは、第1コンデンサ40の両端子間の電圧Vxを特定する。電圧検出回路110aは、特定した電圧Vxを第8機能部f8に出力する。第8機能部f8は、電圧検出回路110aが出力した電圧Vxを取得する(ステップS6)。
以上、本開示の第1実施形態によるモータの駆動装置1について説明した。モータの駆動装置1において、第8機能部f8(保持部の一例)は、インバータ60に供給される電圧の変動と位相の補正値との関係を保持する。補正値加算手段(f6、f7)は、前記3相を2相へ変換する3相2相変換を行う場合に用いる位相および前記2相を前記3相へ変換する2相3相変換を行う場合に用いる位相の少なくとも一方に前記補正値を加算する。
図7は、少なくとも1つの実施形態に係るコンピュータの構成を示す概略ブロック図である。
コンピュータ5は、図7に示すように、CPU6、メインメモリ7、ストレージ8、インターフェース9を備える。
例えば、上述の制御装置90、その他の制御装置のそれぞれは、コンピュータ5に実装される。そして、上述した各処理部の動作は、プログラムの形式でストレージ8に記憶されている。CPU6は、プログラムをストレージ8から読み出してメインメモリ7に展開し、当該プログラムに従って上記処理を実行する。また、CPU6は、プログラムに従って、上述した各記憶部に対応する記憶領域をメインメモリ7に確保する。
本開示の各実施形態に記載の制御装置90は、例えば以下のように把握される。
電圧指令を回転直交座標系の2軸で設定する手段(f3)と、前記2軸の電圧指令を3相へ座標変換する手段(f5)と、
前記3相の電圧指令をインバータ(60)による電力変換を経てモータ(70)に印加する手段(110d)と、
前記モータ(70)の端子電流をフィードバックする手段(110b)と、
フィードバックする前記電流から力率角を決定する力率角決定手段(f9)と、
前記3相で得られる前記モータ(70)の端子電流を直交座標に変換する際に用いる位相に前記力率角を加減する力率角加減手段(f10)と、
を有するモータ(70)の制御装置(90)において、
インバータ(60)に供給される直流電圧の変動と位相の補正値との関係を保持する保持部(f8)と、
前記3相を2相へ変換する3相2相変換を行う場合に用いる位相および前記2相を前記3相へ変換する2相3相変換を行う場合に用いる位相の少なくとも一方に前記補正値を加算する補正値加算手段(f6、f7)と、を備える。
電圧指令を回転直交座標系の2軸で設定する手段(f3)と、前記2軸の電圧指令を3相へ座標変換する手段(f5)と、前記3相の電圧指令をインバータ(60)による電力変換を経てモータ(70)に印加する手段(110d)と、前記モータ(70)の端子電流をフィードバックする手段(110b)と、フィードバックする前記電流から力率角を決定する力率角決定手段(f9)と、前記3相で得られる前記モータ(70)の端子電流を直交座標に変換する際に用いる位相に前記力率角を加減する力率角加減手段(f10)と、を有するモータ(70)の制御装置(90)による制御方法であって、
インバータ(60)に供給される直流電圧の変動と位相の補正値との関係を保持することと、
前記3相を2相へ変換する3相2相変換を行う場合に用いる位相および前記2相を前記3相へ変換する2相3相変換を行う場合に用いる位相の少なくとも一方に前記補正値を加算することと、
を含む。
電圧指令を回転直交座標系の2軸で設定する手段(f3)と、前記2軸の電圧指令を3相へ座標変換する手段(f5)と、前記3相の電圧指令をインバータ(60)による電力変換を経てモータ(70)に印加する手段(110d)と、前記モータ(70)の端子電流をフィードバックする手段(110b)と、フィードバックする前記電流から力率角を決定する力率角決定手段(f9)と、前記3相で得られる前記モータ(70)の端子電流を直交座標に変換する際に用いる位相に前記力率角を加減する力率角加減手段(f10)と、を有するモータ(70)の制御装置(90)のコンピュータ(5)に、
インバータ(60)に供給される直流電圧の変動と位相の補正値との関係を保持することと、
前記3相を2相へ変換する3相2相変換を行う場合に用いる位相および前記2相を前記3相へ変換する2相3相変換を行う場合に用いる位相の少なくとも一方に前記補正値を加算することと、
を実行させる。
5・・・コンピュータ
6・・・CPU
7・・・メインメモリ
8・・・ストレージ
9・・・インターフェース
10・・・電源
20・・・コンバータ
30・・・リアクトル
40・・・第1コンデンサ
50・・・第2コンデンサ
60・・・インバータ
70・・・モータ
80・・・電流センサ
90・・・制御装置
110a・・・電圧検出回路
110a1、110b1・・・A/D変換器
110b・・・電流検出回路
110c・・・電圧指令生成部
110d・・・PWMデューティ演算部
f1・・・第1機能部
f2・・・第2機能部
f3・・・第3機能部
f4・・・第4機能部
f5・・・第5機能部
f6・・・第6機能部
f7・・・第7機能部
f8・・・第8機能部
f9・・・第9機能部
f10・・第10機能部
Claims (9)
- 電圧指令を回転直交座標系の2軸で設定する手段と、
前記2軸の電圧指令を3相へ座標変換する手段と、
前記3相の電圧指令をインバータによる電力変換を経てモータに印加する手段と、
前記モータの端子電流をフィードバックする手段と、
フィードバックする前記電流から力率角を決定する力率角決定手段と、
前記3相で得られる前記モータの端子電流を直交座標に変換する際に用いる位相に前記力率角を加減する力率角加減手段と、
を有する永久磁石同期モータの制御装置において、
インバータに供給される直流電圧の変動と位相の補正値との関係を保持する保持部と、
前記3相を2相へ変換する3相2相変換を行う場合に用いる位相および前記2相を前記3相へ変換する2相3相変換を行う場合に用いる位相の少なくとも一方に前記補正値を加算する補正値加算手段と、
を備える制御装置。 - 前記変動を検出する検出部、
を備え、
前記検出部の検出結果に基づいて前記補正値を決定する、
請求項1に記載の制御装置。 - 前記補正値が加算された位相に基づいて、前記インバータを制御する制御指令を生成する演算部、
を備える請求項1または請求項2に記載の制御装置。 - 前記演算部は、
前記変動に基づいて、前記インバータを制御する制御指令を生成する、
請求項3に記載の制御装置。 - 前記演算部は、
前記インバータの負荷を駆動するために必要な電圧に基づいて、前記制御指令を生成する、
請求項4に記載の制御装置。 - 請求項1から請求項5の何れか一項に記載の制御装置と、
前記インバータと、
を備えるモータの駆動装置。 - 前記インバータの入力に設けられ、前記インバータに供給される電圧の変動を抑制するフィルムコンデンサ、
を備える請求項6に記載のモータの駆動装置。 - 電圧指令を回転直交座標系の2軸で設定する手段と、前記2軸の電圧指令を3相へ座標変換する手段と、前記3相の電圧指令をインバータによる電力変換を経てモータに印加する手段と、前記モータの端子電流をフィードバックする手段と、フィードバックする前記電流から力率角を決定する力率角決定手段と、前記3相で得られる前記モータの端子電流を直交座標に変換する際に用いる位相に前記力率角を加減する力率角加減手段と、を有する永久磁石同期モータの制御装置による制御方法であって、
インバータに供給される直流電圧の変動と位相の補正値との関係を保持することと、
前記3相を2相へ変換する3相2相変換を行う場合に用いる位相および前記2相を前記3相へ変換する2相3相変換を行う場合に用いる位相の少なくとも一方に前記補正値を加算することと、
を含む制御方法。 - 電圧指令を回転直交座標系の2軸で設定する手段と、前記2軸の電圧指令を3相へ座標変換する手段と、前記3相の電圧指令をインバータによる電力変換を経てモータに印加する手段と、前記モータの端子電流をフィードバックする手段と、フィードバックする前記電流から力率角を決定する力率角決定手段と、前記3相で得られる前記モータの端子電流を直交座標に変換する際に用いる位相に前記力率角を加減する力率角加減手段と、を有する永久磁石同期モータの制御装置のコンピュータに、
インバータに供給される直流電圧の変動と位相の補正値との関係を保持することと、
前記3相を2相へ変換する3相2相変換を行う場合に用いる位相および前記2相を前記3相へ変換する2相3相変換を行う場合に用いる位相の少なくとも一方に前記補正値を加算することと、
を実行させるプログラム。
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JP4764124B2 (ja) | 2004-12-17 | 2011-08-31 | 三菱重工業株式会社 | 永久磁石型同期モータの制御装置及びその方法 |
JP2013081343A (ja) * | 2011-10-05 | 2013-05-02 | Mitsubishi Heavy Ind Ltd | モータの駆動装置、インバータ制御方法及びプログラム、空気調和機 |
JP2014161140A (ja) * | 2013-02-19 | 2014-09-04 | Hitachi Ltd | 電動機駆動システム |
JP2016092918A (ja) * | 2014-10-31 | 2016-05-23 | ファナック株式会社 | dq三相座標の電流位相を制御するモータ制御装置 |
JP2018125913A (ja) * | 2017-01-30 | 2018-08-09 | 三菱重工サーマルシステムズ株式会社 | モータ制御装置、ロータリ圧縮機システム及びモータ制御方法 |
JP2021023546A (ja) | 2019-08-05 | 2021-02-22 | 山佐株式会社 | 遊技機 |
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JP4764124B2 (ja) | 2004-12-17 | 2011-08-31 | 三菱重工業株式会社 | 永久磁石型同期モータの制御装置及びその方法 |
JP2013081343A (ja) * | 2011-10-05 | 2013-05-02 | Mitsubishi Heavy Ind Ltd | モータの駆動装置、インバータ制御方法及びプログラム、空気調和機 |
JP2014161140A (ja) * | 2013-02-19 | 2014-09-04 | Hitachi Ltd | 電動機駆動システム |
JP2016092918A (ja) * | 2014-10-31 | 2016-05-23 | ファナック株式会社 | dq三相座標の電流位相を制御するモータ制御装置 |
JP2018125913A (ja) * | 2017-01-30 | 2018-08-09 | 三菱重工サーマルシステムズ株式会社 | モータ制御装置、ロータリ圧縮機システム及びモータ制御方法 |
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