WO2023209803A1 - Dispositif pour commander une machine rotative à courant alternatif - Google Patents

Dispositif pour commander une machine rotative à courant alternatif Download PDF

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Publication number
WO2023209803A1
WO2023209803A1 PCT/JP2022/018875 JP2022018875W WO2023209803A1 WO 2023209803 A1 WO2023209803 A1 WO 2023209803A1 JP 2022018875 W JP2022018875 W JP 2022018875W WO 2023209803 A1 WO2023209803 A1 WO 2023209803A1
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Prior art keywords
value
demagnetization
axis
setting
flux linkage
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PCT/JP2022/018875
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English (en)
Japanese (ja)
Inventor
英明 徳永
雄也 久野
晃 古川
亮 中村
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三菱電機株式会社
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Priority to PCT/JP2022/018875 priority Critical patent/WO2023209803A1/fr
Publication of WO2023209803A1 publication Critical patent/WO2023209803A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation

Definitions

  • This application relates to a control device for an AC rotating machine.
  • the motor drive device disclosed in Patent Document 1 has the following characteristics: rotational angular velocity, magnetic flux linkage by permanent magnets when no demagnetization occurs, d-axis inductance, d-axis current value, armature winding resistance value, and q-axis Based on the current value, calculate the standard q-axis voltage value when no demagnetization occurs, and compare the standard q-axis voltage value and the actual q-axis voltage value to estimate the amount of demagnetization. ing.
  • Patent Document 1 requires the use of d-axis inductance.
  • the d-axis inductance varies due to magnetic saturation. Therefore, when the setting accuracy of the d-axis inductance deteriorates, the calculation accuracy of the reference q-axis voltage value deteriorates, and the accuracy of demagnetization determination deteriorates.
  • the stator is provided with two or more sets of armature windings, the mutual inductance between the sets also needs to be set accurately.
  • the rotor is provided with a field winding, the inductance of the field winding must also be set accurately. That is, in the technique of Patent Document 1, an erroneous determination occurs unless the inductance characteristics of the AC rotating machine are set accurately.
  • an object of the present application is to provide a control device for an AC rotating machine that can determine demagnetization of a rotor magnet without using the inductance characteristics of the AC rotating machine.
  • the control device for an AC rotating machine controls an AC rotating machine that has a rotor provided with magnets and a stator provided with m sets of armature windings (m is a natural number of 1 or more) to a power converter.
  • a control device for an AC rotating machine that is controlled via a a rotation detection unit that detects a rotational angular velocity in electrical angle of the rotor; a voltage command value calculation unit that calculates a voltage command value for each group; a switching control unit that applies voltage to the armature winding by turning on and off a switching element included in the power converter based on the voltage command value for each set; Based on m sets of the voltage command values, m sets of current values of the armature windings, resistance values of the armature windings, and the rotational angular velocity, the interlinkage magnetic flux interlinking with the armature windings is determined.
  • the voltage equation can be calculated using the inductance characteristics of the AC rotating machine without directly estimating the armature linkage flux due to the magnet and the armature reaction flux due to the d-axis current. It is possible to indirectly estimate armature flux linkage based on m sets of voltage command values, m sets of armature winding current values, armature winding resistance values, and rotational angular velocity. can. Therefore, the armature flux linkage can be estimated without using the inductance characteristics of the AC rotating machine. Based on the comparison result between the estimated value of the armature flux linkage and the demagnetization determination value, it is possible to determine whether demagnetization of the magnet has occurred.
  • FIG. 1 is a schematic configuration diagram of an AC rotating machine and a control device for the AC rotating machine according to Embodiment 1.
  • FIG. 1 is a schematic block diagram of a control device according to Embodiment 1.
  • FIG. 1 is a hardware configuration diagram of a control device according to Embodiment 1.
  • FIG. 5 is a time chart illustrating ringing behavior according to the first embodiment.
  • FIG. 2 is a schematic block diagram of a control device including a winding temperature acquisition unit according to Embodiment 1.
  • FIG. 3 is a diagram illustrating a range of variation in magnetic flux linkage when using a fixed resistance value according to the first embodiment.
  • FIG. 3 is a diagram illustrating a variation range of magnetic flux linkage when using a variable resistance value according to the first embodiment.
  • FIG. 3 is a diagram illustrating demagnetization determination when using one estimated value and one determination value according to the first embodiment.
  • FIG. 3 is a diagram illustrating demagnetization determination when one estimated value and two determination values are used according to the first embodiment.
  • FIG. 3 is a diagram illustrating demagnetization determination when two estimated values and one determination value are used according to the first embodiment.
  • FIG. 3 is a diagram illustrating demagnetization determination when two estimated values and two determination values are used according to the first embodiment.
  • FIG. 3 is a diagram illustrating operating points at which estimated values vary according to the first embodiment.
  • FIG. 1 is a schematic configuration diagram of an AC rotating machine 1, a power converter, and a control device 30 according to the present embodiment.
  • the AC rotating machine 1 includes a stator 18 and a rotor 14.
  • the stator 18 includes a first set of three-phase armature windings Cu1, Cv1, and Cw1 of U1 phase, V1 phase, and W1 phase, and a second set of three-phase armature windings of U2 phase, V2 phase, and W2 phase. Child windings Cu2, Cv2, and Cw2 are provided.
  • the three-phase armature windings of each set may be star-connected or delta-connected.
  • the rotor 14 is provided with magnets.
  • the rotor 14 is provided with a field winding 7. Further, the rotor 14 is also provided with permanent magnets 12 . Demagnetization of the permanent magnet 12 is determined by the demagnetization determination described later.
  • the rotor 14 is provided with a rotation sensor 15 that detects the rotation angle (rotation angle) of the rotor 14.
  • the output signal of the rotation sensor 15 is input to the control device 30.
  • various sensors such as a Hall element, a resolver, or an encoder are used.
  • the rotation sensor 15 may not be provided, and the rotation angle (magnetic pole position) may be estimated based on current information etc. obtained by superimposing a harmonic component on a current command value, which will be described later (so-called sensorless method).
  • Inverter A first set of inverters 4a and a second set of inverters 4b are provided as power converters.
  • the first set of inverters 4a performs power conversion between the DC power supply 2 and the first set of three-phase armature windings.
  • the second set of inverters 4b performs power conversion between the DC power supply 2 and the second set of three-phase armature windings.
  • a high potential side switching element SP1 connected to the high potential side of the DC power supply 2 and a low potential side switching element SN1 connected to the low potential side of the DC power supply 2 are connected in series.
  • Three sets of series circuits (legs) are provided, one for each of the three phases. The connection point of the two switching elements in the series circuit of each phase is connected to the winding of the corresponding phase.
  • the U1 phase high potential side switching element SPu1 and the U1 phase low potential side switching element SNu1 are connected in series, and the connection point of the two switching elements is the U1 phase switching element SPu1. It is connected to armature winding Cu1.
  • the V1 phase high potential side switching element SPv1 and the V1 phase low potential side switching element SNv1 are connected in series, and the connection point between the two switching elements is the V1 phase armature winding Cv1. It is connected to the.
  • the W1 high potential side switching element SPw1 and the W1 phase low potential side switching element SNw1 are connected in series, and the connection point of the two switching elements is connected to the W1 phase armature winding Cw1. It is connected.
  • a high potential side switching element SP2 connected to the high potential side of the DC power supply 2 and a low potential side switching element SN2 connected to the low potential side of the DC power supply 2 are connected in series.
  • Three sets of series circuits (legs) are provided, one for each of the three phases. The connection point of the two switching elements in the series circuit of each phase is connected to the winding of the corresponding phase.
  • the U2 phase high potential side switching element SPu2 and the U2 phase low potential side switching element SNu2 are connected in series, and the connection point of the two switching elements is the U2 phase switching element SPu2. It is connected to armature winding Cu2.
  • the V2 phase high potential side switching element SPv2 and the V2 phase low potential side switching element SNv2 are connected in series, and the connection point between the two switching elements is the V2 phase armature winding Cv2. It is connected to the.
  • the W2 high potential side switching element SPw2 and the W2 phase low potential side switching element SNw2 are connected in series, and the connection point of the two switching elements is connected to the W2 phase armature winding Cw2. It is connected.
  • the first set of inverters 4a and the second set of inverters 4b are connected to one DC power supply 2.
  • One smoothing capacitor 3 is connected to the DC power supply 2 in parallel. Note that a smoothing capacitor may be provided in each of the first set and the second set of inverters 4a and 4b.
  • an IGBT Insulated Gate Bipolar Transistor
  • MOSFET Metal Oxide Semiconductor Field Effect Transistor
  • bipolar transistor with diodes connected in anti-parallel, etc.
  • the gate terminal of each switching element is connected to the control device 30 via a gate drive circuit or the like.
  • Each switching element of the first set of inverters 4a is turned on or off by a switching signal for the first set output from the control device 30.
  • Each switching element of the second set of inverters 4b is turned on or off by a switching signal for the second set output from the control device 30.
  • the DC power supply 2 outputs a DC voltage Vdc to the first and second sets of inverters 4a and 4b.
  • the DC power source 2 may be any device that outputs a DC voltage Vdc, such as a battery, a DC-DC converter, a diode rectifier, a PWM rectifier, or the like.
  • a first set of armature current sensors 5a and a second set of armature current sensors 5b are provided for detecting currents flowing through the armature windings of each phase of the first and second sets.
  • the first and second sets of armature current sensors 5a and 5b are current sensors such as shunt resistors or Hall elements.
  • the output signals of the first set and the second set of armature current sensors 5a, 5b are input to the control device 30.
  • each set of armature current sensors 5a, 5b is provided on an electric wire that connects a series circuit of switching elements of each phase and a winding of each phase.
  • each set of armature current sensors 5a, 5b may be connected in series to a series circuit of switching elements of each phase.
  • each set of current sensors is provided on a wire connecting each set of inverters 4a, 4b and the DC power supply 2, and the current in each phase winding of each set is may be detected.
  • converter 9 is provided as a power converter.
  • Converter 9 has a switching element and performs power conversion between DC power supply 2 and field winding 7 .
  • the converter 9 has a high potential side switching element SP connected to the high potential side of the DC power supply 2 and a low potential side switching element SN connected to the low potential side of the DC power supply 2 connected in series. It is an H-bridge circuit with two sets of connected series circuits.
  • the connection point between the switching element SP1 on the high potential side and the switching element SN1 on the low potential side in the first series circuit 28 is connected to one end of the field winding 7, and the high potential in the second series circuit 29 is connected to one end of the field winding 7.
  • a connection point between the switching element SP2 on the side and the switching element SN2 on the low potential side is connected to the other end of the field winding 7.
  • each switching element of the converter 9 As the switching element of the converter 9, an IGBT with diodes connected in anti-parallel, a bipolar transistor with diodes connected in anti-parallel, a MOSFET, etc. are used.
  • the gate terminal of each switching element is connected to the control device 30 via a gate drive circuit or the like. Therefore, each switching element is turned on or off by a switching signal output from the control device 30.
  • the converter 9 may be replaced with another one, such as by replacing the switching element SN1 on the low potential side of the first series circuit 28 with a diode, or replacing the switching element SP2 on the high potential side of the second series circuit 29 with a diode. It may also be configured as follows.
  • the field current sensor 6 is a current detection circuit that detects a field current value If, which is a current flowing through the field winding 7.
  • field current sensor 6 is provided on an electric wire that connects field winding 7 and converter 9.
  • the field current sensor 6 may be provided at another location where the field current value If can be detected.
  • the output signal of the field current sensor 6 is input to the control device 30.
  • the field current sensor 6 is a current sensor such as a Hall element or a shunt resistor.
  • Control device 30 The control device 30 controls the AC rotating machine 1 via a power converter (in this example, a first set and a second set of inverters 4a, 4b, and a converter 9). As shown in FIG. 2, the control device 30 has functions such as a rotation detection section 31, a current detection section 32, a voltage command value calculation section 33, a switching control section 34, a magnetic flux linkage estimation section 35, and a demagnetization determination section 36. It has a department. Each function of the control device 30 is realized by a processing circuit included in the control device 30. Specifically, as shown in FIG.
  • the control device 30 includes, as a processing circuit, an arithmetic processing device 90 (computer) such as a CPU (Central Processing Unit), a storage device 91 that exchanges data with the arithmetic processing device 90, It includes an input circuit 92 that inputs external signals to the arithmetic processing device 90, an output circuit 93 that outputs signals from the arithmetic processing device 90 to the outside, and a communication circuit 94 that performs data communication with an external device.
  • arithmetic processing device 90 such as a CPU (Central Processing Unit)
  • a storage device 91 that exchanges data with the arithmetic processing device 90
  • It includes an input circuit 92 that inputs external signals to the arithmetic processing device 90, an output circuit 93 that outputs signals from the arithmetic processing device 90 to the outside, and a communication circuit 94 that performs data communication with an external device.
  • the arithmetic processing unit 90 includes an ASIC (Application Specific Integrated Circuit), an IC (Integrated Circuit), a DSP (Digital Signal Processor), an FPGA (Field Programmable Gate Array), various logic circuits, and various signal processing circuits. You can. Further, a plurality of arithmetic processing units 90 of the same type or different types may be provided, and each process may be shared and executed.
  • a RAM Random Access Memory
  • ROM Read Only Memory
  • the input circuit 92 is an A/D to which various sensors such as the rotation sensor 15, each set of armature current sensors 5a and 5b, and the field current sensor 6 are connected, and inputs the output signals of these sensors to the arithmetic processing unit 90. Equipped with converters, etc.
  • the output circuit 93 is connected to electrical loads such as a gate drive circuit that turns on and off the switching elements of the first and second sets of inverters 4a and 4b and the converter 9, and receives control signals from the arithmetic processing unit 90 to these electrical loads. It is equipped with a drive circuit etc. that outputs.
  • the communication circuit 94 communicates with external devices.
  • Each function of each of the control units 31 to 36 provided in the control device 30 is performed by the arithmetic processing device 90 executing software (program) stored in a storage device 91 such as a ROM, and the storage device 91 and input circuit 92. , and other hardware of the control device 30 such as the output circuit 93. Note that various setting data used by each of the control units 31 to 36 and the like are stored in a storage device 91 such as a ROM as part of software (program). Each function of the control device 30 will be described in detail below.
  • Rotation detection section 31 The rotation detection unit 31 detects the magnetic pole position ⁇ of the rotor in electrical angle (rotation angle ⁇ of the rotor) and the rotational angular velocity ⁇ . In the present embodiment, the rotation detection unit 31 detects the magnetic pole position ⁇ (rotation angle ⁇ ) and rotational angular velocity ⁇ in electrical angle based on the output signal of the rotation sensor 15. Note that the electrical angle is the angle obtained by multiplying the mechanical angle of the rotor 14 by the number of pole pairs of the magnet.
  • the magnetic pole position ⁇ is set to the direction of the north pole of the magnets (in this example, electromagnets and permanent magnets) provided on the rotor.
  • the magnetic pole position ⁇ (rotation angle ⁇ ) is the position (angle) of the magnetic pole (N pole) in electrical angle with reference to the armature winding of the U1 phase of the first set.
  • the rotation detection unit 31 is configured to estimate the rotation angle (magnetic pole position) without using a rotation sensor, based on current information etc. obtained by superimposing harmonic components on the current command value. (so-called sensorless method).
  • the current detection unit 32 detects winding currents Ius1, Ivs1, and Iws1 flowing through the first set of three-phase armature windings based on the output signal of the first set of armature current sensors 5a. Further, the current detection unit 32 detects winding currents Ius2, Ivs2, and Iws2 flowing through the second set of three-phase armature windings based on the output signal of the second set of armature current sensors 5b. Note that for each set, two-phase winding currents may be detected, and the remaining one-phase winding current may be calculated based on the detected values of the two-phase winding currents.
  • the current detection unit 32 detects a field current value Ifs, which is the current flowing through the field winding 7, based on the output signal of the field current sensor 6.
  • Voltage command value calculation unit 33 The voltage command value calculation unit 33 calculates the voltage command value for each group.
  • the voltage command value calculation unit 33 calculates the d-axis current command value Ido and the q-axis current command value Iqo for each set using various known methods. For example, the voltage command value calculation unit 33 calculates the d-axis and q-axis current command values Ido and Iqo based on the torque command value, rotational angular velocity ⁇ , etc. using known vector control for each set. Let the first set of d-axis and q-axis current command values be Ido1 and Iqo1, and the second set of d-axis and q-axis current command values as Ido2 and Iqo2. The torque command value may be calculated within the control device 30 or may be transmitted from an external control device.
  • the d-axis is defined in the direction of the north pole of the magnet, and the q-axis is defined in the direction 90 electrical degrees ahead of the d-axis.
  • the voltage command value calculation unit 33 performs known three-phase two-phase conversion and rotational coordinate conversion on the three-phase current detection values Ius, Ivs, and Iws for each set based on the magnetic pole position ⁇ , and converts the three-phase current detection values Ius, Ivs, and Iws into the d-axis
  • the current detection value Ids and the q-axis current detection value Iqs are converted. Let the first set of d-axis and q-axis current detection values be Ids1 and Iqs1, and the second set of d-axis and q-axis current detection values be Ids2 and Iqs2.
  • the voltage command value calculation unit 33 performs known current feedback control for each set based on the d-axis and q-axis current command values Ido, Iqo, and the d-axis and q-axis current detection values Ids, Iqs, A d-axis voltage command value Vdo and a q-axis voltage command value Vqo are calculated.
  • the first set of voltage command values for the d-axis and q-axis are Vdo1 and Vqo1
  • the second set of voltage command values for the d-axis and q-axis are Vdo2 and Vqo2.
  • the voltage command value calculation unit 33 calculates the d-axis voltage command value Vdo and the q-axis voltage command value by known feedforward control based on the d-axis and q-axis current command values Ido and Iqo. Vqo may also be calculated.
  • the voltage command value calculation unit 33 performs known fixed coordinate transformation and two-phase three-phase transformation on the d-axis and q-axis voltage command values Vdo and Vqo for each set based on the magnetic pole position ⁇ .
  • Three-phase voltage command values Vuo, Vvo, and Vwo are calculated.
  • the voltage command values for the three phases in the first set are Vuo1, Vvo1, and Vwo1
  • the voltage command values for the three phases in the second set are Vuo2, Vvo2, and Vwo2.
  • Known modulation such as space vector modulation or two-phase modulation may be applied to each set of three-phase voltage command values.
  • the voltage command values for each set of three phases may be calculated using other known control methods such as V/f control.
  • V/f control When V/f control is performed, a current detection value is not required, so a current sensor may not be provided.
  • Switching control section 34 The switching control unit 34 applies voltage to the armature windings by turning on and off switching elements included in each group of inverters based on the voltage command value for each group. In this embodiment, the switching control unit 34 generates, for each group, a switching signal that turns on and off a plurality of switching elements included in each group of inverters based on three-phase voltage command values Vuo, Vvo, and Vwo. .
  • the switching control unit 34 uses known carrier comparison PWM or space vector PWM.
  • the switching control unit 34 compares the carrier wave with each of the three-phase voltage command values Vuo, Vvo, and Vwo for each group, and based on the comparison results, the switching control unit 34 compares the carrier wave with each of the three-phase voltage command values Vuo, Vvo, and Vwo, Generates a switching signal to turn on and off.
  • the switching control unit 34 When space vector PWM is used, the switching control unit 34 generates a voltage command vector from the three-phase voltage command values Vuo, Vvo, and Vwo, and calculates the seven basic voltage vectors in the PWM cycle based on the voltage command vector. The output time allocation is determined, and based on the output time allocation of the seven basic voltage vectors, a switching signal is generated to turn on and off each switching element in a PWM cycle.
  • the switching control unit 34 turns on and off the switching elements included in the converter 9 and applies a voltage to the field winding 7 .
  • the switching control unit 34 sets the field current command value Ifo based on the torque command value, rotational angular velocity ⁇ , etc., so that the field current detected value Ifs approaches the field current command value Ifo. , changes the field voltage command value Vfo, and turns on/off the plurality of switching elements of the converter 9 by PWM control based on the field voltage command value Vfo. Note that when feedforward control or control using an estimated value of the field current is performed, the field current detection value Ifs may not be used.
  • ⁇ is the rotational angular velocity in electrical angle
  • Ra is the resistance value of the armature winding
  • s is the Laplace operator
  • Ld is the d-axis self-inductance
  • Lq is the q-axis self-inductance.
  • Md is the d-axis mutual inductance between the armature winding sets
  • Mq is the q-axis mutual inductance between the armature winding sets
  • Lmd is the d-axis mutual inductance between the armature winding sets.
  • the armature interlinkage magnetic flux ⁇ a interlinking with the armature winding is determined by the field winding interlinkage magnetic flux ⁇ f according to the field current value If caused by the field winding. and the interlinkage magnetic flux ⁇ f0 due to the permanent magnet.
  • the conditions under which the dq-axis current can be stably controlled to a desired value are as follows. Therefore, by determining the field current during magnetic flux estimation control in consideration of the voltage saturation condition of equation (3), the dq-axis current can be output as the command value, and the magnetic flux can be accurately estimated.
  • equation (1) becomes as follows.
  • armature flux linkage ⁇ a can be expressed by the following equation.
  • FIG. 4 shows waveforms of ringing caused by two sets of armature windings.
  • the current detection values of the first set of armature windings and the second set of armature windings may ring in mutually opposite phases around the current command value of each set. This is due to mutual interference of armature windings between sets.
  • the current detection value may differ from one armature winding to another due to sensor error. Similarly, a difference may occur in the voltage command value calculated based on the detected current value that includes sensor error.
  • the armature linkage magnetic flux ⁇ a can be calculated by using the average value of the voltage command values of all sets and the average value of the current values of all sets. It is possible to make each variable used for more constant, and also to reduce the influence of sensor errors for each armature winding, so it is possible to reduce the calculation error of armature linkage magnetic flux ⁇ a. .
  • the average value of the q-axis voltage value Vqave and the average value of the d-axis current value Idave used for calculating the armature flux linkage ⁇ a , and the average value Iqave of the q-axis current value are given by equations (6) to (8).
  • the armature magnetic flux linkage ⁇ a is calculated by Equation (9), which is a modification of Equation (5), using each average value.
  • the second term in the numerator of formula (9) is the armature reaction magnetic flux generated by the d-axis current value Id.
  • Armature reaction flux is a variable term that varies depending on magnetic saturation characteristics. That is, in order to accurately calculate the armature reaction magnetic flux, map data showing changes in the d-axis inductance Ld and the d-axis mutual inductance Md is required, and if the accuracy of these inductances deteriorates, the equation (9 ), the calculation accuracy of the armature flux linkage ⁇ a deteriorates, and the accuracy of demagnetization determination deteriorates.
  • equation (9) is modified as shown in the following equation.
  • ⁇ d is the d-axis armature flux linkage that interlinks with the armature winding, which is the sum of the armature flux linkage ⁇ a and the armature reaction flux due to the d-axis current. That is, equation (9) has been transformed into an equation for calculating the d-axis armature flux linkage ⁇ d.
  • the armature interlinkage magnetic flux ⁇ a varies due to demagnetization
  • the d-axis inductance Ld and the d-axis mutual inductance Md vary due to magnetic saturation.
  • the demagnetization determination value Th ⁇ can also be set using the right side of equation (10). That is, in a steady state at a certain operating point when no demagnetization occurs, the demagnetization determination value can be set based on the d-axis armature linkage flux ⁇ d calculated from the right side of equation (10). A method for setting the demagnetization determination value will be described later.
  • the flux linkage estimating unit 35 determines whether the armature windings are adjusted based on the m sets of voltage command values, the m sets of armature winding current values, the armature winding resistance values Ra, and the rotational angular velocity ⁇ . Estimate the armature flux linkage. A detected current value or a current command value is used as the current value of each set of armature windings.
  • the demagnetization determination unit 36 determines whether demagnetization of the magnet has occurred based on the comparison result between the estimated value of the flux linkage and the demagnetization determination value.
  • the voltage Armature flux linkage can be estimated indirectly using the equation. Therefore, the armature flux linkage can be estimated without providing map data or the like to accurately calculate each inductance Ld, Md. Based on the comparison result between the estimated value of the armature flux linkage and the demagnetization determination value, it is possible to determine whether demagnetization of the magnet has occurred.
  • demagnetization of the permanent magnet 12 provided in the rotor 14 is determined.
  • the demagnetization determination unit 36 transmits the determination result of the demagnetization determination to an external control device or the like.
  • the user can determine whether or not maintenance of the AC rotating machine 1 is necessary based on the determination result of the occurrence of demagnetization.
  • the demagnetization determination unit 36 may determine the degree of demagnetization based on the comparison result between the estimated value of the flux linkage and the demagnetization determination value. For example, the demagnetization determination unit 36 determines that the degree of demagnetization is greater as the degree of decrease in the estimated value of the flux linkage from the demagnetization determination value is greater.
  • the flux linkage estimation unit 35 uses the average value of the m sets of voltage command values as the m sets of voltage command values, and uses the average value of the m sets of current values as the m sets of current values.
  • the flux linkage estimation unit 35 uses the q-axis voltage command value Vqo as the voltage command value, uses the q-axis current value Iq as the current value, and calculates the estimated value of the armature flux linkage.
  • the d-axis armature flux linkage ⁇ d interlinking with the armature winding is estimated as follows.
  • the flux linkage estimation unit 35 calculates the average value Vqoave of the q-axis voltage command values Vqo1 and Vqo2 of the first and second sets, and the q-axis current values of the first and second sets.
  • the d-axis armature linkage flux ⁇ d is estimated based on the average value Iqave of Iq1 and Iq2, the resistance value Ra of the armature winding, and the rotational angular velocity ⁇ .
  • the q-axis current detection value Iqs or the q-axis current command value Iqo of each group is used as the q-axis current value of each group. Note that when one set of armature windings is provided, the right side of equation (12) is used.
  • the fluctuation range of the resistance value is known through preliminary study, and the fixed resistance value Ra is determined by considering the tolerance and detection rate of demagnetization determination. Therefore, the maximum value Ra_max and minimum value Ra_min of the resistance value variation range are obtained in advance and reflected in the estimated value of ⁇ d.
  • the q-axis current value Iq is constant regardless of the resistance value Ra, so the second term in equation (17) is , depends on the magnitude of the resistance value Ra. Therefore, the second term of equation (17) can be expressed as Ra_max ⁇ Iq and Ra_min ⁇ Iq, respectively, using the maximum value Ra_max and minimum value Ra_min of the resistance.
  • Ra_max ⁇ Iq and Ra_min ⁇ Iq indicate the maximum value and minimum value of Ra ⁇ Iq at each operating point.
  • a winding temperature acquisition section 37 that detects or estimates the winding temperature of the armature winding is provided.
  • a temperature sensor is attached to the armature winding, the output signal of the temperature sensor is input to the control device 30, and the winding temperature acquisition section 37 detects the winding temperature.
  • the winding temperature acquisition unit 37 estimates the winding temperature using an estimation model such as a thermal model based on the operating state such as the current value.
  • the flux linkage estimation unit 35 refers to characteristic data in which the relationship between the winding temperature and the resistance value Ra is set in advance, and estimates the resistance value Ra based on the detected or estimated winding temperature. Then, the flux linkage estimation unit 35 estimates ⁇ d using the estimated resistance value Ra. Therefore, by using a highly accurate resistance value Ra, assuming that there is no error in each sensor detection value, it is possible to estimate ⁇ d with higher accuracy than when using a fixed resistance value Ra.
  • the setting accuracy of the demagnetization determination value Th ⁇ becomes higher when the resistance value Ra is made variable. Therefore, if the winding temperature acquisition section 37 is provided to acquire the winding temperature, it is better to use the variable resistance value Ra also for setting the demagnetization determination value Th ⁇ .
  • FIG. 6 shows the graph of ⁇ d at an operating point with rotational angular velocity ⁇ and q-axis current value Iq (or torque command value) when no demagnetization occurs.
  • Ra_max ⁇ Iq and Ra_min ⁇ Iq, and Vqo_max and Vqo_min are the maximum and minimum values of the fluctuation range of Ra ⁇ Iq at a certain operating point and the q-axis voltage command value Vqo obtained in advance verification. It shows the maximum and minimum values of the fluctuation range.
  • ⁇ d_max_ass of the estimated value of ⁇ d and the minimum value ⁇ d_min_ass of the estimated value of ⁇ d based on a combination of these four values are as shown in the following equation.
  • ⁇ is set to 1.
  • the estimated value of ⁇ d when no demagnetization occurs falls within the range from ⁇ d_min_ass to ⁇ d_max_ass, as shown in the following equation. Therefore, if the estimated value of ⁇ d falls outside the range from ⁇ d_min_ass to ⁇ d_max_ass, it can be determined that demagnetization has occurred.
  • the demagnetization determination unit 36 can determine that demagnetization has occurred when the estimated value of ⁇ d is smaller than the demagnetization determination value Th ⁇ set in advance to ⁇ d_min_ass. In this way, as one index, ⁇ d_max_ass and ⁇ d_min_ass can be used as the demagnetization determination value Th ⁇ .
  • FIG. 7 shows the case where ⁇ d is estimated using the estimated value of the resistance value Ra that is changed according to the winding temperature.
  • the estimated value of ⁇ d fluctuates little with respect to a change in the resistance value Ra.
  • the maximum value ⁇ d_maxerr and the minimum value ⁇ d_minerr of the estimated value of ⁇ d due to the error of each sensor detection value when demagnetization does not occur the fluctuation range is small. Therefore, the fluctuation range is smaller than the maximum value ⁇ d_max and the minimum value ⁇ d_min of the estimated value of ⁇ d when a fixed resistance value Ra is used.
  • the demagnetization determination value Th ⁇ may be set in advance to a value smaller than the minimum value ⁇ d_minerr of the estimated value of ⁇ d taking into account the error of each sensor detection value. That is, the demagnetization determination unit 36 determines that demagnetization has occurred when the estimated value of ⁇ d is smaller than the demagnetization determination value Th ⁇ , which is preset to a value smaller than ⁇ d_minerr. In this way, by estimating ⁇ d using the variable resistance value Ra, it is possible to improve the accuracy of demagnetization determination. Furthermore, it is possible to set a demagnetization determination value Th ⁇ that can determine minute demagnetization.
  • FIG. 8 shows demagnetization determination when using one estimated value of ⁇ d and one demagnetization determination value Th ⁇ .
  • the demagnetization determination unit 36 determines that demagnetization has not occurred when the estimated value of ⁇ d is larger than the demagnetization determination value Th ⁇ .
  • the resistance value Ra used to estimate ⁇ d may be a fixed value or a variable value
  • the resistance value Ra used to set the demagnetization judgment value Th ⁇ may be a fixed value or a variable value
  • Ra for estimating ⁇ d is a fixed value and Ra for setting Th ⁇ is a fixed value
  • the fixed resistance value Ra used for estimating ⁇ d is within the variation range of resistance value. It is preset to an arbitrary value within the range of Ra_min to Ra_max.
  • the demagnetization judgment value Th ⁇ is set in advance to a value that takes into consideration the fluctuation range of the estimated value of ⁇ d due to resistance value fluctuations and errors in each sensor detection value, and is set to a value that will appropriately prevent the occurrence of false positives and false negatives. be done.
  • the demagnetization determination value Th ⁇ is set in advance at each operating point. For example, it is the operating point of the rotational angular velocity ⁇ and the q-axis current command value Iqo.
  • a demagnetization determination value Th ⁇ is preset at each operating point of the rotational angular velocity ⁇ and the q-axis current command value Iqo.
  • the demagnetization determination unit 36 refers to map data in which the relationship between the rotational angular velocity ⁇ , the q-axis current command value Iqo, and the demagnetization determination value Th ⁇ is set in advance, and determines the current rotational angular velocity ⁇ and the current q-axis current command value Iqo.
  • a demagnetization determination value Th ⁇ corresponding to the current value Iq (in this example, the average value Iqave of the q-axis current value) is calculated.
  • the demagnetization determination unit 36 determines the rotational angular velocity ⁇ , the q-axis current value Iq (in this example, Iqave), the q-axis voltage command value Vqoth for setting the determination value, and the q-axis voltage command value Vqoth for setting the determination value. Based on the fixed resistance value Rath, calculate the d-axis armature linkage flux ⁇ dth for setting the judgment value, and subtract the offset value ⁇ from the d-axis armature linkage flux ⁇ dth for setting the judgment value. , the demagnetization determination value Th ⁇ may be set.
  • Vqoth is a q-axis voltage command value for setting a determination value
  • the q-axis voltage command value Vqo when no demagnetization occurs is set in advance.
  • the q-axis voltage command value Vqoth for setting the determination value is set in advance at each operating point.
  • the demagnetization determination unit 36 refers to map data in which the relationship between the rotational angular velocity ⁇ , the q-axis current value Iq, and the q-axis voltage command value Vqoth for setting the determination value is set in advance, and determines the current rotational angular velocity.
  • a q-axis voltage command value Vqoth for determination value setting corresponding to the ⁇ and q-axis current values Iq is calculated.
  • the offset value ⁇ and the fixed resistance value Rath are set so that the occurrence of false positives and false negatives is appropriate, taking into account the fluctuation range of the estimated value of ⁇ d due to fluctuations in resistance value and errors in each sensor detection value. Set in
  • the demagnetization determination value Th ⁇ may be set to a value corresponding to the above-mentioned ⁇ d_min_ass.
  • the demagnetization determination unit 36 uses the preset minimum value Vqo_min of the variation range of the q-axis voltage command value when demagnetization does not occur as the q-axis voltage command value Vqoth for setting the determination value.
  • the demagnetization judgment value Th ⁇ is set using the maximum value Ra_max of a preset resistance value variation range as the fixed resistance value Rath for setting the judgment value.
  • the minimum value Vqo_min of the variation range of the q-axis voltage command value when demagnetization does not occur is preset at each operating point (rotation angular velocity ⁇ and q-axis current value Iq).
  • the demagnetization determination value Th ⁇ is set using equations (23) and (24), and the offset value ⁇ is set to 0.
  • the demagnetization determination value Th ⁇ may be set to a value corresponding to the above-mentioned ⁇ d_max_ass.
  • the demagnetization determination unit 36 uses the preset maximum value Vqo_max of the variation range of the q-axis voltage command value when demagnetization does not occur as the q-axis voltage command value Vqoth for setting the determination value.
  • the demagnetization judgment value Th ⁇ is set using the minimum value Ra_min of a preset resistance value variation range as the fixed resistance value Rath for setting the judgment value.
  • the maximum value Vqo_max of the variation range of the q-axis voltage command value when no demagnetization occurs is set in advance at each operating point (rotation angular velocity ⁇ and q-axis current value Iq).
  • the demagnetization determination value Th ⁇ is set using equations (23) and (24), and the offset value ⁇ is set to 0.
  • the demagnetization determination value Th ⁇ is set in advance to a value that takes into account the fluctuation range of the estimated value of ⁇ d due to the error of each sensor detection value, and makes it appropriate to prevent the occurrence of false positives and false negatives.
  • the demagnetization determination value Th ⁇ may be set in advance to a value smaller than the minimum value ⁇ d_minerr of the estimated value of ⁇ d taking into account the error of each sensor detection value.
  • the demagnetization determination value Th ⁇ is set in advance at each operating point.
  • the demagnetization determination unit 36 determines the rotational angular velocity. ⁇ and q-axis current value Iq (in this example, Iqave), q-axis voltage command value Vqoth for determination value setting, and resistance value Ra estimated according to the winding temperature acquired by the winding temperature acquisition unit 37 Based on this, calculate the d-axis armature linkage magnetic flux ⁇ dth for determination value setting, and subtract the offset value ⁇ from the d-axis armature linkage magnetic flux ⁇ dth for determination value setting to obtain the demagnetization determination value Th ⁇ .
  • Vqoth is a q-axis voltage command value for setting a determination value
  • the q-axis voltage command value Vqo when no demagnetization occurs is set in advance. Similar to equation (23) in (3-1-1), the q-axis voltage command value Vqoth for setting the determination value is set in advance at each operating point.
  • the offset value ⁇ is set so that the estimated value of ⁇ d and the demagnetization determination value Th ⁇ are not too close when no demagnetization occurs. Further, the offset value ⁇ is set in advance to a value that appropriately prevents the occurrence of false positives and false negatives, taking into consideration the fluctuation range of the estimated value of ⁇ d due to the error of each sensor detection value.
  • FIG. 9 shows demagnetization determination when one estimated value of ⁇ d and two demagnetization determination values Th ⁇ are used.
  • the demagnetization determination unit 36 uses a larger demagnetization determination value Th ⁇ H and a smaller demagnetization determination value Th ⁇ L that is smaller than the larger demagnetization determination value Th ⁇ H. By using the two demagnetization determination values Th ⁇ H and Th ⁇ L, it is possible to individually adjust the occurrence of false positives and false negatives.
  • the resistance value Ra used to estimate ⁇ d may be a fixed value or a variable value
  • the resistance value Ra used to set the demagnetization judgment value Th ⁇ may be a fixed value or a variable value
  • the smaller demagnetization determination value Th ⁇ L is set corresponding to the maximum value Ra_max of the resistance value variation range.
  • the demagnetization determination unit 36 sets the smaller demagnetization determination value Th ⁇ L using the following equation.
  • the demagnetization determination unit 36 adds the offset value ⁇ H to the smaller demagnetization determination value Th ⁇ L to set the larger demagnetization determination value Th ⁇ H.
  • the offset value ⁇ H is set in advance to a value that appropriately prevents the occurrence of false positives and false negatives, taking into account the fluctuation range of the estimated value of ⁇ d due to the error of each sensor detection value.
  • the other parameters are the same as those described above, so their explanation will be omitted.
  • the larger demagnetization determination value Th ⁇ H is set corresponding to the minimum value Ra_min of the resistance value variation range.
  • the demagnetization determination unit 36 sets the larger demagnetization determination value Th ⁇ H using the following equation.
  • the demagnetization determination unit 36 subtracts the offset value ⁇ L from the larger demagnetization determination value Th ⁇ H to set the smaller demagnetization determination value Th ⁇ L.
  • the offset value ⁇ L is set in advance to a value that appropriately prevents the occurrence of false positives and false negatives, taking into account the range of variation in the estimated value of ⁇ d due to errors in each sensor detection value.
  • the other parameters are the same as those described above, so their explanation will be omitted.
  • the smaller demagnetization judgment value Th ⁇ L is set to correspond to the maximum value Ra_max of the resistance value variation range
  • the larger demagnetization judgment value Th ⁇ H is set to correspond to the minimum value Ra_min of the resistance value variation range. is set.
  • equation (27) and equation (29) are used.
  • Th ⁇ H and Th ⁇ L are preset to values that will appropriately prevent the occurrence of false positives and false negatives, taking into account the range of variation in the estimated value of ⁇ d due to the error of each sensor detection value.
  • Th ⁇ L may be set to correspond to the minimum value ⁇ d_minerr of the estimated value of ⁇ d considering the error of each sensor detection value.
  • Th ⁇ H may be set in accordance with the maximum value ⁇ d_maxerr of the estimated value of ⁇ d considering the error of each sensor detection value.
  • Th ⁇ H and Th ⁇ L are set in advance at each operating point.
  • the demagnetization determination section 36 determines the d-axis armature chain for determination value setting based on the resistance value Ra estimated according to the winding temperature acquired by the winding temperature acquisition section 37. Calculate the alternating magnetic flux ⁇ dth, subtract the offset value ⁇ L from the d-axis armature linkage magnetic flux ⁇ dth for setting the judgment value, set Th ⁇ L, and set it to the d-axis armature linkage magnetic flux ⁇ dth for the judgment value setting. Th ⁇ H is set by adding the offset value ⁇ H.
  • the offset value ⁇ L is set in consideration of the fluctuation range of the estimated value of ⁇ d due to the error of each sensor detection value and the occurrence of false negatives.
  • the offset value ⁇ H is set in consideration of the fluctuation range of the estimated value of ⁇ d due to the error of each sensor detection value and the occurrence of false positives. By adjusting ⁇ L and ⁇ H, the occurrence of false positives and false negatives can be adjusted individually. ⁇ L may be set to zero, or ⁇ H may be set to zero.
  • FIG. 10 shows demagnetization determination when two estimated values of ⁇ d and one demagnetization determination value Th ⁇ are used.
  • the region in which demagnetization may not occur is an error region that mainly occurs between the actual resistance value and the fixed resistance value, and is the fluctuation range of the estimated value of ⁇ d when demagnetization does not occur.
  • the demagnetization possibility region is a variation range of the estimated value of ⁇ d that may change depending on the degree of demagnetization.
  • the flux linkage estimation unit 35 estimates an estimated value ⁇ dH of the armature flux linkage on the d-axis on the larger side, and an estimated value ⁇ dL for the armature flux linkage on the d-axis on the smaller side.
  • the demagnetization determination unit 36 determines that demagnetization has not occurred when the estimated value ⁇ dL of the smaller interlinkage magnetic flux is larger than the demagnetization determination value Th ⁇ .
  • the demagnetization determination unit 36 determines that demagnetization has occurred when the demagnetization determination value Th ⁇ is between the estimated value ⁇ dL of the smaller magnetic flux linkage and the estimated value ⁇ dH of the larger magnetic flux linkage. It may be determined that demagnetization has occurred, or it may be determined that demagnetization has not occurred. For example, if the occurrence of false positives is suppressed, it is determined that demagnetization has not occurred.
  • the demagnetization determination unit 36 determines that demagnetization has occurred when the estimated value ⁇ dH of the larger interlinkage magnetic flux is smaller than the demagnetization determination value Th ⁇ .
  • the resistance value Ra used to estimate ⁇ d may be a fixed value or a variable value
  • the resistance value Ra used to set the demagnetization judgment value Th ⁇ may be a fixed value or a variable value
  • the flux linkage estimator 35 estimates the estimated value ⁇ dH of the armature flux linkage on the larger side d-axis using the minimum value Ra_min of the preset resistance value variation range.
  • the flux linkage estimating unit 35 estimates the armature flux linkage of the smaller d-axis using the maximum value Ra_max of the preset resistance value variation range. Estimate the value ⁇ dL.
  • the demagnetization determination value Th ⁇ is set in advance to a value that appropriately prevents the occurrence of false positives and false negatives, taking into account the fluctuation range of the estimated value of ⁇ d due to the error of each sensor detection value. Similar to (3-1-1), the demagnetization determination value Th ⁇ is set in advance at each operating point.
  • ⁇ dH estimated using Ra_min must be less than the demagnetization judgment value Th ⁇ . For example, it can be determined that demagnetization has occurred reliably, and the occurrence of false negatives can be suppressed.
  • ⁇ dL estimated using Ra_max may exceed the demagnetization judgment value Th ⁇ . For example, it can be reliably determined that there is no demagnetization, and the occurrence of false positives can be suppressed.
  • ⁇ Pattern 2> where it is not possible to determine whether or not demagnetization has occurred, in order to suppress the occurrence of false positives as much as possible, it is sufficient to perform demagnetization judgment by comparing only ⁇ dH with Th ⁇ , thereby reducing the occurrence of false negatives. If suppressed as much as possible, only ⁇ dL may be compared with Th ⁇ to determine demagnetization.
  • Ra for estimating ⁇ dH and ⁇ dL is a variable value
  • Ra for setting Th ⁇ is a fixed value If Ra for estimation is a variable value, the accuracy of the estimated value of ⁇ d is high. Since there is no need to provide a plurality of estimated values of ⁇ d, the explanation will be omitted.
  • FIG. 11 shows demagnetization determination when two estimated values of ⁇ d and two demagnetization determination values Th ⁇ are used.
  • the flux linkage estimating unit 35 estimates an estimated value ⁇ dH of the armature flux linkage on the d-axis on the larger side and an estimated value ⁇ dL of the armature flux linkage on the d-axis on the smaller side. Further, the demagnetization determination unit 36 uses a larger demagnetization determination value Th ⁇ H and a smaller demagnetization determination value Th ⁇ L.
  • the demagnetization determining unit 36 determines whether the demagnetization is performed when the estimated value ⁇ dH of the larger magnetic flux linkage and the estimated value ⁇ dL of the smaller magnetic flux linkage are larger than the demagnetization judgment value Th ⁇ H of the larger side. It is determined that this has not occurred.
  • the estimated value ⁇ dH of the larger side magnetic flux linkage is larger than the larger side demagnetization judgment value Th ⁇ H
  • the estimated value ⁇ dL of the smaller side magnetic flux linkage is the estimation of the smaller side magnetic flux linkage.
  • the demagnetization determination unit 36 determines that demagnetization has occurred when the larger demagnetization determination value Th ⁇ H is used for the demagnetization determination.
  • the demagnetization determination unit 36 may determine that demagnetization has not occurred. It is determined that this has not occurred.
  • the estimated value ⁇ dH of the larger side magnetic flux linkage is larger than the larger side demagnetization judgment value Th ⁇ H
  • the estimated value ⁇ dL of the smaller side magnetic flux linkage is the estimation of the smaller side magnetic flux linkage.
  • the demagnetization determination unit 36 may determine that demagnetization has occurred, or may determine that demagnetization has occurred, when using the larger demagnetization determination value Th ⁇ H for demagnetization determination.
  • the demagnetization determination unit 36 uses the smaller demagnetization determination value Th ⁇ L for demagnetization determination, it may determine that demagnetization has occurred, or the demagnetization determination unit 36 may determine that demagnetization has occurred. It may be determined that this has not occurred.
  • the estimated value ⁇ dH of the larger side magnetic flux linkage and the estimated value ⁇ dL of the smaller side magnetic flux linkage are the same as the estimated value ⁇ dL of the smaller side magnetic flux linkage and the estimated value ⁇ dH of the larger side magnetic flux linkage.
  • the demagnetization determination unit 36 uses the larger demagnetization determination value Th ⁇ H for the demagnetization determination, the demagnetization determination unit 36 determines that demagnetization has occurred, or the demagnetization determination unit 36 When the smaller demagnetization determination value Th ⁇ L is used for demagnetization determination, it is determined that demagnetization has not occurred.
  • the estimated value of magnetic flux linkage on the larger side ⁇ dH is between the estimated value of magnetic flux linkage on the smaller side ⁇ dL and the estimated value of magnetic flux linkage on the larger side ⁇ dH, and
  • the demagnetization determination unit 36 determines whether the demagnetization is Alternatively, if the demagnetization determination unit 36 uses the smaller demagnetization determination value Th ⁇ L for demagnetization determination, it may determine that demagnetization has occurred, or it may determine that demagnetization has occurred. It may be determined that the
  • the demagnetization determination unit 36 determines whether the larger side flux linkage ⁇ dH and the smaller side estimated value ⁇ dL are smaller than the smaller side demagnetization determination value Th ⁇ L. It is determined that this has occurred.
  • the resistance value Ra used to estimate ⁇ d may be a fixed value or a variable value
  • the resistance value Ra used to set the demagnetization judgment value Th ⁇ may be a fixed value or a variable value
  • the smaller demagnetization judgment value Th ⁇ L is set corresponding to the maximum value Ra_max of the resistance value variation range
  • the larger demagnetization determination value Th ⁇ H is set by adding an offset value ⁇ H to the smaller demagnetization determination value Th ⁇ L.
  • the demagnetization determination unit 36 determines that the estimated value ⁇ dL of the smaller side flux linkage is If it is smaller than the magnetic determination value Th ⁇ L, it can be uniquely determined that demagnetization has occurred with certainty.
  • the larger demagnetization judgment value Th ⁇ H is set corresponding to the minimum value Ra_min of the resistance value fluctuation range.
  • the smaller demagnetization determination value Th ⁇ L may be set by subtracting the offset value ⁇ L from the larger demagnetization determination value Th ⁇ H.
  • the demagnetization determination unit 36 determines that the estimated value ⁇ dH of the larger side flux linkage is larger.
  • the value is larger than the demagnetization determination value Th ⁇ H on the side, it can be uniquely determined that demagnetization has not occurred.
  • the smaller demagnetization judgment value Th ⁇ L is set corresponding to the maximum value Ra_max of the resistance value fluctuation range.
  • the larger demagnetization determination value Th ⁇ H may be set corresponding to the minimum value Ra_min of the resistance value variation range.
  • the estimated value ⁇ dL of the smaller interlinkage flux is the smaller demagnetization judgment value Th ⁇ L. If it is less than , it can be uniquely determined that demagnetization has definitely occurred. In addition, in ⁇ Pattern 2> and ⁇ Pattern 3> for which the judgment result was indeterminate, if the estimated value ⁇ dH of the larger interlinkage flux exceeds the larger demagnetization judgment value Th ⁇ H, It can be uniquely determined that no magnetism is generated.
  • the demagnetization determination unit 36 may correct the demagnetization determination value Th ⁇ based on the rotational angular velocity ⁇ so that it is not easily determined that demagnetization has occurred.
  • the demagnetization determination unit 36 decreases the demagnetization determination value Th ⁇ when the rotational angular velocity ⁇ is in a preset low rotation range.
  • the demagnetization determination unit 36 sets a value obtained by multiplying each demagnetization determination value Th ⁇ calculated by equations (23), (24), etc. by a correction coefficient as the corrected demagnetization determination value Th ⁇ . do.
  • the correction coefficient is set to less than 1 when the rotation angular velocity ⁇ is in the low rotation region, and is set to 1 when the rotation angular velocity ⁇ is neither in the low rotation region nor in the high rotation region.
  • the demagnetization determination unit 36 increases the demagnetization determination value Th ⁇ when the rotational angular velocity ⁇ is in a preset high rotation region. For example, the demagnetization determination unit 36 sets a value obtained by multiplying each demagnetization determination value Th ⁇ calculated by equations (23), (24), etc. by a correction coefficient as the corrected demagnetization determination value Th ⁇ . do.
  • the correction coefficient When the rotation angular velocity ⁇ is in a high rotation region, the correction coefficient is set to be larger than 1, and when the rotation angular velocity ⁇ is not in a high rotation region or a low rotation region, the correction coefficient is set to 1. Note that either the correction in the low rotation region or the correction in the high rotation region may be performed.
  • the demagnetization determination unit 36 determines whether or not to perform the demagnetization determination based on the rotational angular velocity ⁇ , the voltage command value, and the current value, and when it is determined that the demagnetization determination is to be performed, demagnetization has occurred. If it is determined that demagnetization determination is not to be performed, it is not determined whether demagnetization has occurred.
  • the estimated value of ⁇ d may vary periodically.
  • the estimated value of ⁇ d may not be constant and may oscillate around the demagnetization determination value Th ⁇ . Since the accuracy of demagnetization determination decreases at such an operating point, it is better not to perform demagnetization determination. Therefore, by setting in advance the operating point at which the accuracy of demagnetization determination decreases as the operating point at which demagnetization determination is not performed, the accuracy of demagnetization determination can be improved.
  • the accuracy of demagnetization determination can be improved by setting in advance the operating point at which the accuracy of demagnetization determination is improved as the operating point at which demagnetization determination is executed.
  • the demagnetization determination section 36 may change the demagnetization determination value Th ⁇ based on the field current value If.
  • the armature linkage magnetic flux ⁇ a changes according to the field current value If
  • the armature linkage flux ⁇ a of the d-axis changes according to the field current value If.
  • the magnetic flux ⁇ d changes according to the armature linkage magnetic flux ⁇ a, which changes according to the field current value If.
  • the q-axis current command value Iqo is set based on the rotational angular velocity ⁇ and the torque command value
  • the field current command value Ifo is set based on the rotational angular velocity ⁇ and the torque command value.
  • the q-axis current value Iq, the field current value If, and the rotational angular velocity ⁇ uniquely correspond to each other
  • the q-axis voltage command value Vqo also depends on the q-axis current value Iq and the field current value If. and the rotational angular velocity ⁇ .
  • the q-axis voltage command value Vqoth for judgment value setting which is preset for each operating point of the rotational angular velocity ⁇ and the q-axis current value Iq (or torque command value), also depends on the q-axis current value Iq and the field.
  • the current value If and the rotational angular velocity ⁇ uniquely correspond to each other. That is, the field current value If and the q-axis voltage command value Vqoth for setting the determination value uniquely correspond to each other via the reference parameters of the rotational angular velocity ⁇ and the q-axis current value Iq (or torque command value). Therefore, even if the field current value If changes, the accuracy of demagnetization determination can be maintained.
  • the demagnetization determination section 36 corrects the demagnetization determination value Th ⁇ based on the field current value If.
  • the reference field current value If0 when setting the q-axis voltage command value Vqoth for judgment value setting is set in advance for each operating point of the rotational angular velocity ⁇ and the q-axis current value Iq (or torque command value). It is set.
  • the demagnetization determination value Th ⁇ is corrected by adding it to the determination value Th ⁇ .
  • the field current value If is the field current detection value Ifs or the field current command value Ifo.
  • the rotor 14 was provided with the permanent magnets 12 and the field windings 7. However, the rotor 14 may not be provided with the field winding 7 but may be provided with the permanent magnets 12.
  • two sets of armature windings were provided.
  • one or more sets of armature windings may be provided.
  • each set was provided with three-phase armature windings.
  • each set may be provided with armature windings of multiple phases other than three phases (for example, two phases, four phases).

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Abstract

Un dispositif pour commander une machine rotative à courant alternatif est décrit, qui permet de déterminer la démagnétisation d'un aimant de rotor sans utiliser les caractéristiques d'impédance de la machine rotative à courant alternatif. Le dispositif de commande (30) pour une machine rotative à courant alternatif utilise m ensembles de valeurs de commande de tension (Vqo), les valeurs de tension (Iq) de m ensembles d'enroulements d'induit, la valeur de résistance (Ra) des enroulements d'induit, et une vitesse angulaire de rotation (ω) comme base pour estimer un flux d'interliaison lié aux enroulements d'induit, et détermine si une démagnétisation d'un aimant se produit, ou non, sur la base du résultat d'une comparaison de la valeur estimée de flux d'interliaison et d'une valeur de détermination de démagnétisation (Thφ).
PCT/JP2022/018875 2022-04-26 2022-04-26 Dispositif pour commander une machine rotative à courant alternatif WO2023209803A1 (fr)

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WO2015166528A1 (fr) * 2014-04-28 2015-11-05 三菱電機株式会社 Procédé de commande et dispositif de commande de machine rotative à courant alternatif, et dispositif de commande de direction à assistance électrique
JP2015211569A (ja) * 2014-04-28 2015-11-24 三菱電機株式会社 同期機制御装置
JP2019129575A (ja) * 2018-01-23 2019-08-01 株式会社デンソー 交流電動機の制御装置
US11088643B1 (en) * 2020-03-03 2021-08-10 Infineon Technologies Austria Ag Demagnetization sensing for permanent magnet synchronous motor drive

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