WO2022195918A1 - 同期機制御装置および同期機制御方法、並びに電気車 - Google Patents
同期機制御装置および同期機制御方法、並びに電気車 Download PDFInfo
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- 230000001360 synchronised effect Effects 0.000 title claims abstract description 131
- 238000000034 method Methods 0.000 title claims description 11
- 230000004907 flux Effects 0.000 claims abstract description 190
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- 238000013461 design Methods 0.000 description 2
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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
- H02P25/00—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details
- H02P25/02—Arrangements or methods for the control of AC motors characterised by the kind of AC motor or by structural details characterised by the kind of motor
- H02P25/022—Synchronous motors
- H02P25/024—Synchronous motors controlled by supply frequency
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
- H02P21/10—Direct field-oriented control; Rotor flux feed-back control
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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
- H02P21/141—Flux estimation
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
Definitions
- the present invention relates to a synchronous machine control device and a synchronous machine control method for driving a synchronous machine such as a synchronous motor, and an electric vehicle using the same.
- Patent Document 1 and Patent Document 2 are known as conventional technologies related to stabilization control.
- Patent Document 1 reduces the gain of current control with respect to the resonance frequency of the motor by controlling the voltage in the opposite direction based on the oscillation component of the current detection value.
- the gain characteristic with respect to the resonance frequency of the motor is controlled by controlling the rotation phase angle based on the vibration component of the current detection value.
- the voltage is controlled according to the current, so the current value is multiplied by the inductance in the control calculation.
- the inductance considered here corresponds to the dynamic inductance, which changes with magnetic saturation. Dynamic inductance is also difficult to adapt control parameters. Therefore, it is difficult to perform stabilization control with high precision.
- the present invention provides a synchronous machine control device and a synchronous machine control method that can appropriately perform stabilization control of a synchronous machine, and an electric vehicle equipped with a synchronous machine controlled by this synchronous machine control device.
- a synchronous machine control device controls a power converter to which a synchronous machine is connected, and calculates a first magnetic flux command value from a current command value of the synchronous machine.
- a voltage calculation unit and a damping ratio control unit that creates a correction amount for the voltage command value based on the vibration component of the magnetic flux value so that the vibration component is damped.
- a synchronous machine control method is a method of controlling a power converter to which a synchronous machine is connected, wherein a first magnetic flux command value is calculated from a current command value of the synchronous machine. Then, the magnetic flux value of the synchronous machine is estimated from the current detection value of the synchronous machine, the voltage command value of the power converter is created so that the first magnetic flux command value and the magnetic flux value match, and based on the oscillating component of the magnetic flux value , the correction amount of the voltage command value is created so that the vibration component is attenuated.
- an electric vehicle according to the present invention is driven by a synchronous machine, and includes a power converter connected to the synchronous machine and supplying power to the synchronous machine, and a power converter. and a synchronous machine control device for controlling, the synchronous machine control device being the synchronous machine control device according to the present invention.
- FIG. 1 is a functional block diagram showing the configuration of a synchronous machine control device that is Embodiment 1.
- FIG. FIG. 3 is a functional block diagram showing the configuration of a PI controller in a second dq-axis magnetic flux command calculator 25 (FIG. 1); 2 is a functional block diagram showing the configuration of a damping ratio control section 27 (FIG. 1);
- FIG. 3 is a functional block diagram showing the configuration of a voltage vector calculator 19 based on Equation (1);
- FIG. 3 is a block diagram showing a modeled configuration of the control system of Example 1.
- FIG. 4 is a Bode diagram showing an example of gain characteristics of the control system of Example 1.
- FIG. 4 is a Bode diagram showing an example of gain characteristics of the control system of Example 1.
- FIG. 4 is a Bode diagram showing an example of gain characteristics of the control system of Example 1.
- FIG. 8 is a Bode diagram showing an example of gain characteristics of a control system of a comparative example;
- FIG. It is a block diagram which shows the structure of the damping-ratio control part in the synchronous machine control apparatus which is a modification.
- FIG. 7 is a functional block diagram showing the configuration of a synchronous machine control device that is Embodiment 2;
- FIG. 11 is a functional block diagram showing the configuration of a damping ratio control section 27A (FIG. 10);
- FIG. 11 is a functional block diagram showing the configuration of a voltage vector calculator 19A (FIG. 10);
- FIG. 11 is a block diagram showing a configuration of a damping ratio control unit in a synchronous machine control device that is a modified example of the second embodiment;
- FIG. 11 is a functional block diagram showing the configuration of a synchronous machine control device that is Embodiment 3;
- FIG. 15 is a functional block diagram showing the configuration of a damping ratio control section 27B (FIG. 14);
- FIG. 14 is a functional block diagram showing the configuration of a voltage vector calculator 19B (FIG. 14);
- 4 is a vector diagram showing a voltage vector and a magnetic flux vector;
- FIG. FIG. 4 is a waveform diagram showing gate signals and voltage command values in one-pulse control;
- FIG. 11 is a functional block diagram showing the configuration of a synchronous machine control device that is Embodiment 4;
- FIG. 20 is a functional block diagram showing the configuration of a voltage vector calculator 19C (FIG. 19);
- FIG. 11 is a block diagram showing the configuration of an electric vehicle that is Embodiment 5;
- the synchronous machine to be controlled is a permanent magnet synchronous motor (hereinafter referred to as "PMSM” (abbreviation for Permanent Magnet Synchronous Motor)).
- PMSM Permanent Magnet Synchronous Motor
- FIG. 1 is a functional block diagram showing the configuration of a synchronous machine control device that is Embodiment 1 of the present invention.
- a computer system such as a microcomputer functions as the synchronous machine control device shown in FIG. 1 by executing a predetermined program (the same applies to other embodiments).
- PMSM 1 and DC voltage source 9 are connected to the AC side and DC side of power converter 2, respectively.
- the power converter 2 converts the DC power from the DC voltage source 9 into AC power and outputs the AC power to the PMSM 1 .
- the PMSM 1 is rotationally driven by this AC power.
- the power converter 2 includes an inverter main circuit made up of semiconductor switching elements. DC power is converted into AC power by turning on/off the semiconductor switching element by a gate signal.
- the semiconductor switching element for example, an IGBT (Insulated Gate Bipolar Transistor) is applied.
- Phase current detector 3 detects three-phase motor currents flowing from power converter 2 to PMSM 1, that is, U-phase current Iu, V-phase current Iv, and W-phase current Iw, and detects U-phase current values Iuc and V, respectively. It is output as the phase current detection value Ivc and the W-phase current detection value Iwc.
- a Hall CT Current Transformer or the like is applied as the phase current detector 3 .
- a magnetic pole position detector 4 detects the magnetic pole position of the PMSM 1 and outputs magnetic pole position information ⁇ * .
- a resolver or the like is applied as the magnetic pole position detector 4 .
- the frequency calculator 5 calculates speed information ⁇ 1 * from the magnetic pole position information ⁇ * output by the magnetic pole position detector 4 by time differentiation calculation or the like, and outputs the calculated speed information ⁇ 1 * .
- a coordinate conversion unit 7 converts Iuc, Ivc, and Iwc output from the phase current detector into dq-axis current detection values Idc and Iqc in a rotating coordinate system according to the magnetic pole position information ⁇ * , and converts Idc and Iqc to Output.
- the dq-axis magnetic flux estimator 23 refers to a lookup table (table data) based on the dq-axis current detection values Idc and Iqc output from the coordinate converter 7 to estimate dq-axis magnetic flux estimated values ⁇ dc and ⁇ qc. .
- the lookup table (table data) referred to by the dq-axis magnetic flux estimator 23 is table data representing the correspondence between Idc, Iqc and ⁇ dc, ⁇ qc, and is stored in a storage device (not shown) included in the synchronous machine control device of the present embodiment. is stored in Note that a predetermined function (such as an approximate expression) may be used instead of the lookup table.
- a first dq-axis magnetic flux command calculation unit 21 refers to a lookup table (table data) based on the dq-axis current command values Idc * and Iqc * given from a host controller or the like, and calculates a first dq-axis magnetic flux command. Calculate and output the values ⁇ d * and ⁇ q * .
- the lookup table (table data) referred to by the first dq-axis magnetic flux command calculation unit 21 is table data representing the correspondence between Idc * , Iqc * and ⁇ d * , ⁇ q * , and is used in the synchronous machine control device of the present embodiment. is stored in a storage device (not shown) provided by the . Note that a predetermined function (such as an approximate expression) may be used instead of the lookup table.
- a second dq -axis magnetic flux command calculation unit 25 controls the second dq -axis It calculates and outputs the magnetic flux command values ⁇ d ** and ⁇ q ** .
- FIG. 2 is a functional block diagram showing the configuration of the PI controller in the second dq-axis magnetic flux command calculator 25 (FIG. 1).
- the adder/subtractor 81 causes the first d-axis magnetic flux command value ⁇ d * and the d-axis magnetic flux estimated value ⁇ dc and the difference ( ⁇ d * ⁇ dc) is calculated, and the proportional gain (K P ) is multiplied by the calculated difference value by the proportional device 87 .
- the calculated difference value is integrated by the integrator 83, and the integral value is multiplied by the integral gain (K I ) by the proportional device 85 .
- the difference calculation value multiplied by the proportional gain KP and the integral value multiplied by the integral gain KI are added by the adder 89 to calculate the second d-axis magnetic flux command value ⁇ d ** .
- an adder/subtractor 91 calculates the first q-axis magnetic flux command value ⁇ q * and the q-axis magnetic flux estimated value ⁇ qc.
- a difference ( ⁇ q * ⁇ qc) is calculated, and the proportional gain (K P ) is multiplied by the calculated difference value by the proportional device 97 .
- the calculated difference value is integrated by the integrator 93 and the integral value is multiplied by the integral gain (K I ) by the proportional device 95 .
- the difference calculation value multiplied by the proportional gain KP and the integral value multiplied by the integral gain KI are added by the adder 99 to calculate the second q-axis magnetic flux command value ⁇ q ** .
- the damping ratio control unit 27 shown in FIG. 1 extracts an oscillating component of the motor magnetic flux, and according to the extracted oscillating component, a voltage command value for damping this oscillating component (hereinafter referred to as a “stabilizing voltage command value”). ).
- the damping ratio control unit 27 extracts the vibration component of the d-axis magnetic flux based on the first d-axis magnetic flux command value ⁇ d * and the d-axis magnetic flux estimated value ⁇ dc.
- a d-axis stabilization voltage command value Vdd * for damping the vibration component is created according to the vibration component.
- the value of the damping ratio in the motor's response (current, etc.) to the voltage command is usually set by the motor constant (armature winding resistance, armature winding inductance, etc.) and is difficult to control.
- such a damping ratio is controlled by the damping ratio control section 27 so as to equivalently suppress the oscillation of the response.
- FIG. 3 is a functional block diagram showing the configuration of the damping ratio control section 27 (FIG. 1).
- the first-order lag of the first d-axis magnetic flux command ⁇ d * is calculated by the first-order lag calculator 61.
- the reciprocal of the cutoff angular frequency ⁇ c of the control system is used as the time constant of the first-order lag.
- an adder/subtractor 63 calculates a difference ( ⁇ dc ⁇ ( ⁇ d * first-order lag)) between the d-axis magnetic flux estimated value ⁇ dc and the first-order lag of the first d-axis magnetic flux command ⁇ d * .
- a vibration component of the calculated difference value is extracted by a high-pass filter 65 (the transfer function of which is shown in FIG. 3).
- a gain (2 ⁇ ) is multiplied by the proportional device 67 to the extracted vibration component.
- ⁇ is a control parameter related to the degree of damping of the vibration component. That is, ⁇ corresponds to the damping ratio in the response of the motor, and is a constant set arbitrarily (where 0 ⁇ 1) independently of the damping ratio in the response of the motor in the control system. Therefore, ⁇ is hereinafter referred to as "damping ratio".
- the multiplier 69 multiplies the vibration component of the d-axis magnetic flux multiplied by the gain (2 ⁇ ) by the absolute value of the velocity information ⁇ 1 * of the PMSM 1 (FIG. 1). As a result, the magnetic flux value is converted into a voltage value to create the d-axis stabilized voltage command value Vdd * .
- the absolute value of the speed information ⁇ 1 * is calculated by the absolute value calculator 68 (ABS).
- the voltage vector calculation unit 19 shown in FIG. 1 creates a voltage command value using an inverse model of the motor model whose state quantity is the magnetic flux of the motor.
- the inverse model of the motor model is given by the equation It is represented by a voltage equation like (1).
- the inverse model represented by equation (1) is applied, where ⁇ d and ⁇ q are the second d-axis magnetic flux command value ⁇ d ** and the second q-axis magnetic flux command value ⁇ q ** , respectively. , ⁇ 1 be velocity information ⁇ 1 * .
- the voltage vector calculation unit 19 creates the d-axis voltage command value Vd * based on the Vd calculated by the equation (1) and the d-axis stabilized voltage command value Vdd * output by the damping ratio control unit 27. Output. Further, the voltage vector calculation unit 19 outputs Vq calculated by Equation (1) as the q-axis voltage command value Vq * .
- Equation (1) the magnetic saturation of the motor is taken into account in Equation (1).
- Equation (2) When magnetic fluxes (dq-axis magnetic fluxes ⁇ d, ⁇ q) are used as state quantities, the voltage equation is represented by Equation (2) in consideration of magnetic saturation.
- the winding resistance R is sufficiently small, so the effect of the first term of equation (2) on motor control is relatively small. Therefore, even if Ld, Lq, and Ke are set to constant values by approximation as shown in Equation (1), the influence on motor control is small. Therefore, the voltage vector calculator 19 in the first embodiment creates the voltage command using the above equation (1).
- the dq-axis voltage command values Vd * and Vq * are calculated based on the second dq-axis magnetic flux command values ⁇ d ** and ⁇ q ** created by the second dq-axis magnetic flux command calculation unit 25. created. Therefore, even in the high-speed region, the d-axis magnetic flux estimated value ⁇ dc and the q-axis magnetic flux estimated value ⁇ qc match the second d-axis magnetic flux command value ⁇ d ** and the second q-axis magnetic flux command value ⁇ q ** , respectively, with high accuracy. can be made Therefore, according to the synchronous machine control device according to the first embodiment, it is possible to control the high speed rotation of the PMSM 1 .
- the influence of the temperature dependence of the magnetic flux is mitigated by the PI controller or the I controller provided in the second dq-axis magnetic flux command calculation unit 25. Therefore, the table data or function used to calculate the magnetic flux ( ⁇ d, ⁇ q) may be table data or a function (approximation formula or the like) that does not include the temperature as a variable but only the current as a variable. As a result, the calculation load of the synchronous machine control device can be reduced, and the parameter identification time can be shortened.
- Idc and Iqc can match Id* and Iq*, respectively, through magnetic flux. controlled by In this case, a current control system is substantially constructed.
- the first dq-axis magnetic flux command computing unit 21 and the dq-axis magnetic flux estimating unit 23 each use independent table data or functions, so that control can be performed in consideration of mutual interference between axes.
- the first dq-axis magnetic flux command calculator 21 and the dq-axis magnetic flux estimator 23 respectively generate dq-axis magnetic flux command values ( ⁇ d * , ⁇ q * ) and dq-axis current command values (Id * , Iq * ). and a table data or function representing the correspondence between the dq-axis magnetic flux estimated values ( ⁇ dc, ⁇ qc) and the dq-axis current detection values (Idc, Iqc).
- a PMSM that is greatly affected by magnetic saturation is used and an accurate torque response is required. It is suitable for application to electric vehicles such as electric vehicles that are
- the lookup table, table data, and function which are information representing the correspondence between magnetic flux and current in the PMSM 1, can be set based on actual measurements, magnetic field analysis, and the like.
- FIG. 4 is a functional block diagram showing the configuration of the voltage vector calculator 19 based on the inverse model represented by Equation (1).
- R, Ld, Lq, and Ke are the winding resistance, d-axis inductance, q-axis inductance, and magnetic flux of the PMSM 1, respectively.
- the differentiator 45 calculates differentiation of ⁇ d ** . Further, the adder/subtractor 44 calculates the difference ( ⁇ d ** -Ke) between ⁇ d ** and Ke. The calculated difference value is multiplied by R/Ld by the proportional device 46 .
- An adder 47 adds the differential operation value by the differentiator 45 and the difference operation value multiplied by the gain R/Ld by the proportionalor 46 . Also, the multiplier 48 multiplies ⁇ 1 * and ⁇ q ** . Further, the adder/subtractor 49 subtracts the multiplied value by the multiplier 48 and the d-axis stabilization voltage command value Vdd * created by the damping ratio control unit 27 (FIG. 1) from the addition operation value by the adder 47. be. This creates Vd * .
- the differentiator 35 calculates differentiation of ⁇ q ** . Also, ⁇ q ** is multiplied by R/Lq by the proportional device 36 .
- An adder 37 adds the differential operation value by the differentiator 35 and ⁇ q ** multiplied by R/Lq by the proportional device 36 .
- the multiplier 38 multiplies ⁇ 1 * and ⁇ d ** .
- the adder 39 adds the addition calculated value by the adder 37 and the multiplied value by the multiplier 38 . This creates Vq * .
- the voltage command value (the d-axis voltage value output by the adder 47) calculated using the voltage equation (equation (1)) with the motor magnetic flux as the state quantity is the motor magnetic flux (d-axis magnetic flux). It is corrected by a voltage command value (d-axis stabilization voltage command value Vdd * ) corresponding to the vibration component.
- PMSM1 can be controlled stably.
- the coordinate transformation unit 11 shown in FIG. 1 converts the dq-axis voltage command values Vd * and Vq * for the power converter 2 output by the voltage vector calculation unit 19 into the magnetic pole position information ⁇ * detected by the magnetic pole position detector 4.
- the three-phase voltage command values Vu * , Vv * , and Vw * for the power converter 2 are created and output by performing coordinate conversion using the three-phase voltage command values.
- the DC voltage detector 6 detects the voltage of the DC voltage source 9 and outputs DC voltage information Vdc.
- PWM controller 12 shown in FIG. 1 receives three-phase voltage command values Vu * , Vv * , Vw * from coordinate conversion unit 11, and receives DC voltage information Vdc from DC voltage detector 6. Based on these, A gate signal to be given to the power converter 2 is created and output by pulse width modulation.
- the PWM controller 12 uses, for example, a triangular wave as a carrier signal and creates a gate signal by pulse width modulation using a three-phase voltage command value as a modulating wave.
- FIG. 5 is a block diagram showing the modeled configuration of the control system of the first embodiment including the PMSM1.
- FIG. 5 shows from the input of the second dq-axis magnetic flux command calculator 25 (FIG. 1) to the output of the PMSM 1 (FIG. 1).
- the model in FIG. 5 includes control delay portions 71 and 73 (e ⁇ ts ) representing the control delays of the differentiators 35 and 45, and a control delay portion representing the control delay between the voltage vector calculation portion 19 and the PMSM 1. 77, 79(e ⁇ ts ).
- FIG. 6 is a Bode diagram showing an example of gain characteristics of the control system of the first embodiment modeled as shown in FIG. That is, FIG. 6 shows the result of examination of the gain characteristic by the inventor using the open-loop transfer function in FIG.
- the value of the damping ratio ⁇ in the gain setter 75 of the damping ratio control section is set to zero. In this case, the damping ratio control section 27 does not operate substantially. Therefore, as shown in FIG. 6, resonance (51) occurs at the motor fundamental frequency.
- FIG. 7 is a Bode diagram showing an example of gain characteristics of the control system of the first embodiment modeled as shown in FIG.
- the value of the damping ratio ⁇ in the gain setter 75 of the damping ratio control section is set to 0.04.
- the damping ratio control section 27 since the damping ratio control section 27 operates, the resonance (51A) at the motor fundamental frequency is suppressed. That is, the motor magnetic flux is prevented from oscillating at the motor fundamental frequency, and the control stability is improved.
- FIG. 8 is a Bode diagram showing an example of the gain characteristics of the control system of the comparative example.
- FIG. 8 is an example of the result of examination by the inventors of the present invention.
- FIG. 9 is a block diagram showing the configuration of the damping ratio control section in the synchronous machine control device that is a modification of the first embodiment.
- the d-axis magnetic flux estimated value ⁇ dc is input to the high-pass filter 65 in the damping ratio control section, and the high-pass filter 65 extracts the vibration component of the d-axis magnetic flux estimated value ⁇ dc.
- the configuration of the damping ratio control section can be simplified.
- the vibration component of the difference between the d-axis magnetic flux estimated value ⁇ dc and the first d-axis magnetic flux command value ⁇ d * is extracted, the first d-axis magnetic flux command value ⁇ d * Even if V fluctuates greatly, the vibration component of the motor magnetic flux (d-axis magnetic flux) can be accurately extracted.
- the means for extracting the vibration component of the motor magnetic flux is not limited to the high-pass filter 65 in the first embodiment, and various means capable of extracting the vibration component of the fundamental frequency can be applied. For example, Fourier series expansion, Fourier transform, bandpass filter, etc. can be applied.
- the synchronous Machine resonance can be suppressed. Therefore, the control stability of the synchronous machine is improved.
- a second magnetic flux command value is created so that the magnetic flux of the synchronous machine matches the first magnetic flux command value, and a voltage command value is created using the second magnetic flux command value, thereby stabilizing the synchronous machine up to the high speed range.
- the synchronous machine since the voltage command value is created using the magnetic flux as the state quantity, the synchronous machine can be stably controlled even if the inductance of the synchronous machine changes due to magnetic saturation.
- FIG. 10 is a functional block diagram showing the configuration of a synchronous machine control device that is Embodiment 2 of the present invention.
- the damping ratio control unit 27A in the second embodiment extracts the vibration component of the q-axis magnetic flux based on the first q-axis magnetic flux command value ⁇ q * and the q-axis magnetic flux estimated value ⁇ qc.
- a q-axis stabilization voltage command value Vqd * for damping the vibration component is created according to the vibration component.
- FIG. 11 is a functional block diagram showing the configuration of the damping ratio control section 27A (FIG. 10) in the second embodiment.
- the high-pass filter 165 extracts the vibration component of the calculated difference value between the q-axis magnetic flux estimated value ⁇ qc and the first-order lag of the first q-axis magnetic flux command value ⁇ q * . be.
- a gain (2 ⁇ ) is multiplied by the proportional device 167 to the extracted vibration component.
- a multiplier 169 multiplies the vibration component of the q-axis magnetic flux multiplied by the gain (2 ⁇ ) by the absolute value of the velocity information ⁇ 1 * of the PMSM 1 (FIG. 10).
- the magnetic flux value is converted into a voltage value to create the q-axis stabilized voltage command value Vqd * .
- FIG. 12 is a functional block diagram showing the configuration of the voltage vector calculator 19A (FIG. 10) in the second embodiment.
- the voltage vector calculation unit 19A uses the inverse model of the motor model represented by the voltage equation of formula (1) above.
- the adder/subtractor 39A adds the multiplied value by the multiplier 38 to the addition calculated value by the adder 37, and the damping ratio control section 27A (FIG. 10 ) is subtracted from the q-axis stabilization voltage Vqd * produced by Thus, the q-axis voltage command value Vq * is created.
- FIG. 13 is a block diagram showing the configuration of a damping ratio control section in a synchronous machine control device that is a modification of the second embodiment.
- the q-axis magnetic flux estimated value ⁇ qc is input to the high-pass filter 165 in the damping ratio control section, and the high-pass filter 165 extracts the vibration component of the q-axis magnetic flux estimated value ⁇ qc.
- the configuration of the damping ratio control section can be simplified.
- the vibration component of the difference between the q-axis magnetic flux estimated value ⁇ qc and the first q-axis magnetic flux command value ⁇ q * is extracted, the first q-axis magnetic flux command value ⁇ q * Even if V fluctuates greatly, the vibration component of the motor magnetic flux (q-axis magnetic flux) can be extracted with high accuracy.
- the voltage command value of the power converter is corrected according to the vibration component of the magnetic flux so that the magnetic flux of the synchronous machine matches the first magnetic flux command value. , the resonance of the synchronous machine can be suppressed. Therefore, the control stability of the synchronous machine is improved.
- a second magnetic flux command value is created so that the magnetic flux of the synchronous machine matches the first magnetic flux command value, and a voltage command value is created using the second magnetic flux command value.
- a synchronous machine can be stably controlled up to a high speed range.
- the voltage command value is created using the magnetic flux as the state quantity, so even if the inductance of the synchronous machine changes due to magnetic saturation, the synchronous machine can be stably controlled.
- FIG. 14 is a functional block diagram showing the configuration of a synchronous machine control device that is Embodiment 3 of the present invention.
- the damping ratio control unit 27B in the third embodiment controls the first d-axis magnetic flux command value ⁇ d * and the first q-axis magnetic flux command value ⁇ q * , the d-axis magnetic flux estimated value ⁇ dc and the q-axis Based on the magnetic flux estimation value ⁇ qc, the oscillating component of the dq-axis magnetic flux is extracted, and the stabilized voltage command phase correction amount ⁇ d * for damping this oscillating component is created according to the extracted oscillating component.
- FIG. 15 is a functional block diagram showing the configuration of the damping ratio control section 27B (FIG. 14) in the third embodiment.
- the primary lag calculator 251 calculates the primary lag ⁇ qf * of the first q-axis magnetic flux command ⁇ q * .
- a first-order lag calculator 252 calculates a first-order lag ⁇ df * of the first d-axis magnetic flux command ⁇ d * .
- the reciprocal of the cutoff angular frequency ⁇ c of the control system is used as the time constant of the first-order lag.
- an adder/subtractor 253 calculates the difference ( ⁇ qc ⁇ qf * ) between the q-axis magnetic flux estimated value ⁇ qc and the first-order lag ⁇ qf * of the first q-axis magnetic flux command ⁇ q * .
- a vibration component of the calculated difference value is extracted by a high-pass filter 255 (the transfer function of which is shown in FIG. 15).
- An adder/subtractor 254 calculates the difference ( ⁇ dc ⁇ df * ) between the d-axis magnetic flux estimated value ⁇ dc and the first-order lag ⁇ df * of the first d-axis magnetic flux command ⁇ d * .
- a vibration component of the calculated difference value is extracted by the high-pass filter 256 (the transfer function is shown in FIG. 15).
- the vibration components of the q-axis magnetic flux and the d-axis magnetic flux are extracted by the high-pass filters 255 and 256, respectively.
- the oscillatory component of the q-axis magnetic flux extracted by the high-pass filter 255 is multiplied by ⁇ qf * by the multiplier 257 .
- the oscillation component of the d-axis magnetic flux extracted by the high-pass filter 256 is multiplied by ⁇ df * by the multiplier 258 .
- An adder 259 adds the multiplied value by the multiplier 257 and the multiplied value by the multiplier 258 .
- the addition calculated value by the adder 259 corresponds to the inner product of the magnetic flux command vector and the vibration component vector of the magnetic flux.
- ⁇ qf * and ⁇ df * are also input to the sum-of-squares calculator 260 in addition to the multipliers 257 and 258 .
- the sum-of-squares calculator 260 calculates the sum of the square of ⁇ qf * and the square of ⁇ df * .
- the sum-of-squares calculated value (( ⁇ qf * ) 2 +( ⁇ df * ) 2 ) by the sum-of-squares calculator 260 and the added value by the adder 259 are input to the divider 261 .
- the divider 261 divides the sum of squares calculated by the sum of squares calculator 260 by the added value of the adder 259 ((added value) ⁇ (sum of squares)).
- the value divided by the divider 261 is multiplied by the gain (2 ⁇ ) by the proportional device 262 .
- the stabilized voltage command phase correction amount ⁇ d * is created.
- FIG. 16 is a functional block diagram showing the configuration of the voltage vector calculator 19B (FIG. 14) in the third embodiment.
- the voltage vector calculation unit 19B in the third embodiment has a coordinate conversion unit 40 that corrects the phase of the voltage command value according to the stabilized voltage command phase correction amount ⁇ d * created by the damping ratio control unit 27B. .
- the coordinate conversion unit 40 rotates the phase of the voltage command value (voltage command vector (Vd0 * , Vq0 * )) created using the voltage equation according to the stabilized voltage command phase correction amount ⁇ d * .
- ⁇ d * is created according to the amplitude-directional oscillating component of the magnetic flux vector. Therefore, the oscillation of the motor magnetic flux, that is, the motor current is suppressed, so the control stability of the PMSM 1 is improved.
- a voltage equation with current as a state quantity is used to create a voltage command value.
- the direction of the current and voltage changes with time, and the relationship is not constant.
- a voltage equation with magnetic flux as a state quantity is used. In this case, if the primary resistance component is ignored, voltage and magnetic flux are orthogonal.
- FIG. 17 is a vector diagram showing voltage vectors and magnetic flux vectors.
- the magnetic flux vector ⁇ and the voltage vector V are orthogonal to each other. Therefore, the amplitude direction of the magnetic flux corresponds to the direction orthogonal to the amplitude direction of the voltage, that is, the phase direction of the voltage vector.
- the resonance of PMSM 1 is can be suppressed.
- the voltage phase is corrected and controlled, even if the output voltage of the power converter 2 (for example, an inverter) is in a region close to the limit (upper limit) of the voltage that can be output, resonance is ensured. can be suppressed. For example, in FIG. 17, even if it is difficult to correct the magnitude of the voltage vector V, it is possible to correct the phase and change Vd and Vq to suppress fluctuations in the magnetic flux vector.
- the output voltage of the power converter 2 for example, an inverter
- the third embodiment resonance of the synchronous machine can be suppressed in a region close to the voltage limit.
- the third embodiment is suitable for driving and controlling a synchronous machine by one-pulse control as shown in FIG.
- FIG. 18 is a waveform diagram showing U-phase gate signals (Su+ * , Su- * ) and U-phase voltage command value Vu * in 1-pulse control.
- U-phase gate signals Su+ * and Su- * are gate signals supplied to the U-phase upper arm and the U-phase lower arm of power converter 2 (three-phase inverter), respectively.
- the PWM controller 12 outputs a square-wave gate signal that repeats ON/OFF at the fundamental frequency in one-pulse control. Therefore, the magnitude of the voltage output by power converter 2 is maintained at a constant value. Therefore, although it is difficult to correct the magnitude of the voltage value, resonance can be suppressed by correcting the phase of the voltage.
- the vibration of the synchronous machine can be suppressed by correcting the phase of the voltage command.
- FIG. 19 is a functional block diagram showing the configuration of a synchronous machine control device that is Embodiment 4 of the present invention.
- the adder/subtractor 15 converts the stabilized voltage command phase correction amount ⁇ d * created by the damping ratio control unit 27B from the magnetic pole position detection value ⁇ 0 * by the magnetic pole position detector 4. subtracted. A subtraction value ( ⁇ 0 * ⁇ d * ) by the adder/subtractor 15 is used in the frequency calculator 5, the coordinate converter 7 and the coordinate converter 11 as the magnetic pole position information ⁇ * .
- the rotating coordinate axes for control used in the three-phase/dq conversion in the coordinate conversion section 7 and the rotating coordinate axes for control used in the dq/three-phase conversion in the coordinate conversion section 11 are rotated according to ⁇ d * .
- FIG. 20 is a functional block diagram showing the configuration of the voltage vector calculator 19C (FIG. 19) in the fourth embodiment.
- a voltage vector calculation unit 19C in the fourth embodiment does not include the coordinate conversion unit 40 as in the third embodiment (FIG. 16). Therefore, the voltage vector calculation unit 19C does not correct the d-axis voltage value and the q-axis voltage value calculated based on the inverse model represented by the equation (1), and sets the d-axis voltage command value Vd* and It is output as the q-axis voltage command value Vq*.
- the stabilized voltage command phase correction amount ⁇ d * is generated in the same manner as in the third embodiment . Not executed.
- the position information ⁇ * is obtained by subtracting the stabilized voltage command phase correction amount ⁇ d * from the magnetic pole position detection value ⁇ 0 * , and the vector control is executed using this position information ⁇ * . Thereby, the phase of the voltage vector can be substantially controlled.
- a magnetic pole position estimated value by sensorless control may be used instead of the magnetic pole position detection value ⁇ 0 * detected by the magnetic pole position detector 4 (for example, resolver) in the fourth embodiment (FIG. 19).
- PLL Phase Locked Loop
- the resonance of the synchronous machine can be reliably suppressed even in the sensorless control, so the stability of the sensorless control is improved.
- FIG. 21 is a block diagram showing the configuration of an electric vehicle that is Embodiment 5 of the present invention. Note that the electric vehicle in the fifth embodiment is an electric vehicle.
- the motor control device 100 controls AC power supplied from the power converter 2 (inverter) to the PMSM 1 .
- a DC voltage source 9 eg a battery
- Power converter 2 (inverter) is controlled by motor control device 100 to convert DC power from DC voltage source 9 into AC power.
- the motor control device 100 one of the synchronous machine control devices of the first to fourth embodiments is applied.
- the PMSM1 is mechanically connected to the transmission 101.
- Transmission 101 is mechanically connected to drive shaft 105 via differential gear 103 to provide mechanical power to wheels 107 . Thereby, the wheel 107 is rotationally driven.
- PMSM 1 may be directly connected to differential gear 103 without going through transmission 101 .
- each of the front and rear wheels of the vehicle may be driven by independent PMSMs and inverters.
- motor vibration can be damped at a wide range of operating points corresponding to a wide range of speeds and torques from low to high levels in an electric vehicle.
- Example 3 or Example 4 described above is preferable.
- Embodiments 1 to 4 of the present invention can be applied not only to the electric vehicles described above, but also to electric vehicles including electric railroad vehicles, and produce the above-described functions and effects.
- the vibration of the motor can be suppressed, so the ride comfort of the driver and passengers is improved.
- the synchronous machine to be controlled is not limited to the PMSM, and may be a synchronous reluctance motor, a permanent magnet synchronous generator, a wound field synchronous motor, a wound field synchronous generator, or the like.
- the PMSM may be either an embedded magnet type or a surface magnet type, or may be either an abductor type or an adduction type.
- the semiconductor switching elements that make up the inverter main circuit are not limited to IGBTs, and may be MOSFETs (Metal Oxide Semiconductor Field Effect Transistors).
- the synchronous machine control device can be applied as a control device in various synchronous machine drive systems including a synchronous machine, a power converter for driving the synchronous machine, and a control device for controlling the power converter.
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Abstract
Description
式は式(2)のように表される。
Claims (14)
- 同期機が接続される電力変換器を制御する同期機制御装置において、
前記同期機の電流指令値から第一磁束指令値を演算する第一磁束指令演算部と、
前記同期機の電流検出値から前記同期機の磁束値を推定する磁束推定部と、
前記第一磁束指令値と前記磁束値が一致するように前記電力変換器の電圧指令値を作成する電圧演算部と、
前記磁束値の振動成分に基づいて、前記振動成分が減衰するように、前記電圧指令値の補正量を作成する減衰比制御部と、
を備えることを特徴とする同期機制御装置。 - 請求項1に記載の同期機制御装置において、
さらに、前記第一磁束指令値と前記磁束値が一致するように第二磁束指令値を演算する第二磁束指令演算部を備え、
前記電圧演算部は、前記第二磁束指令値と、前記同期機の速度とに基づいて、前記電圧指令値を作成することを特徴とする同期機制御装置。 - 請求項1に記載の同期機制御装置において、
前記補正量によって、前記電圧指令値の電圧値が補正されることを特徴とする同期機制御装置。 - 請求項1に記載の同期機制御装置において、
前記減衰比制御部は、前記磁束値と前記第一磁束指令値との差分値から前記振動成分を抽出することを特徴とする同期機制御装置。 - 請求項1に記載の同期機制御装置において、
前記減衰比制御部は、前記磁束値から前記振動成分を抽出することを特徴とする同期機制御装置。 - 請求項1に記載の同期機制御装置において、
前記減衰比制御部は、前記振動成分をハイパスフィルタによって抽出することを特徴とする同期機制御装置。 - 請求項1に記載の同期機制御装置において、
前記磁束値がd軸磁束値であり、前記電圧指令値がd軸電圧指令値であることを特徴とする同期機制御装置。 - 請求項1に記載の同期機制御装置において、
前記磁束値がq軸磁束値であり、前記電圧指令値がq軸電圧指令値であることを特徴とする同期機制御装置。 - 請求項1に記載の同期機制御装置において、
前記補正量によって、前記電圧指令値の位相が補正されることを特徴とする同期機制御装置。 - 請求項9に記載の同期機制御装置において、
前記減衰比制御部は、前記振動成分の前記磁束値の振幅方向の成分に基づいて、前記電圧指令値の前記位相を補正する前記補正量を作成することを特徴とする同期機制御装置。 - 請求項9に記載の同期機制御装置において、
前記電圧指令値の前記位相が、前記補正量に応じて回転されることにより、前記位相が補正されることを特徴とする同期機制御装置。 - 請求項9に記載の同期機制御装置において、
前記電圧指令値の制御座標軸が前記補正量に応じて回転されることにより、前記位相が補正されることを特徴とする同期機制御装置。 - 同期機が接続される電力変換器を制御する同期機制御方法において、
前記同期機の電流指令値から第一磁束指令値を演算し、
前記同期機の電流検出値から前記同期機の磁束値を推定し、
前記第一磁束指令値と前記磁束値が一致するように前記電力変換器の電圧指令値を作成し、
前記磁束値の振動成分に基づいて、前記振動成分が減衰するように、前記電圧指令値の補正量を作成することを特徴とする同期機制御方法。 - 同期機によって駆動される電気車において、
前記同期機に接続され、前記同期機に電力を供給する電力変換器と、
前記電力変換器を制御する同期機制御装置と、
を備え、
前記同期機制御装置は、
前記同期機の電流指令値から第一磁束指令値を演算する第一磁束指令演算部と、
前記同期機の電流検出値から前記同期機の磁束値を推定する磁束推定部と、
前記第一磁束指令値と前記磁束値が一致するように前記電力変換器の電圧指令値を作成する電圧演算部と、
前記磁束値の振動成分に基づいて、前記振動成分が減衰するように、前記電圧指令値の補正量を作成する減衰比制御部と、
を備えることを特徴とする電気車。
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JPH1189277A (ja) * | 1997-09-08 | 1999-03-30 | Nissan Motor Co Ltd | リラクタンスモータの制御装置 |
JP2016149822A (ja) * | 2015-02-10 | 2016-08-18 | 株式会社デンソー | スイッチトリラクタンスモータの制御装置 |
JP2020178439A (ja) * | 2019-04-18 | 2020-10-29 | 三菱電機株式会社 | 電動機の制御装置 |
WO2021186842A1 (ja) * | 2020-03-17 | 2021-09-23 | 日立Astemo株式会社 | 同期機制御装置および同期機制御方法、並びに電気車 |
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JPH1189277A (ja) * | 1997-09-08 | 1999-03-30 | Nissan Motor Co Ltd | リラクタンスモータの制御装置 |
JP2016149822A (ja) * | 2015-02-10 | 2016-08-18 | 株式会社デンソー | スイッチトリラクタンスモータの制御装置 |
JP2020178439A (ja) * | 2019-04-18 | 2020-10-29 | 三菱電機株式会社 | 電動機の制御装置 |
WO2021186842A1 (ja) * | 2020-03-17 | 2021-09-23 | 日立Astemo株式会社 | 同期機制御装置および同期機制御方法、並びに電気車 |
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