WO2024034113A1 - Dispositif de commande d'onduleur - Google Patents

Dispositif de commande d'onduleur Download PDF

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Publication number
WO2024034113A1
WO2024034113A1 PCT/JP2022/030712 JP2022030712W WO2024034113A1 WO 2024034113 A1 WO2024034113 A1 WO 2024034113A1 JP 2022030712 W JP2022030712 W JP 2022030712W WO 2024034113 A1 WO2024034113 A1 WO 2024034113A1
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Prior art keywords
modulated wave
command value
voltage
inverter
modulation rate
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PCT/JP2022/030712
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English (en)
Japanese (ja)
Inventor
飛路人 中野
嵩大 田中
峻 谷口
信也 山下
永呉 岸本
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日立Astemo株式会社
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Priority to PCT/JP2022/030712 priority Critical patent/WO2024034113A1/fr
Publication of WO2024034113A1 publication Critical patent/WO2024034113A1/fr

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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
    • H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
    • H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
    • H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode

Definitions

  • the present invention relates to an inverter control device.
  • the inverter control device uses a modulated wave such as a rectangular wave that has a small switching frequency.
  • the overmodulation region is an operating region of the inverter in which the voltage command value in the output voltage of the inverter exceeds the maximum output level in the sine wave.
  • the inverter is provided with a dead time, which is a period in which both the upper and lower arms are turned off to prevent short circuits when switching the upper and lower arms.
  • a dead time is a period in which both the upper and lower arms are turned off to prevent short circuits when switching the upper and lower arms.
  • Patent Document 1 discloses a technique for obtaining an output voltage according to a voltage command value in an overmodulation region by taking the fluctuation of the voltage error into consideration in the voltage command value and performing dead time compensation.
  • a dead time is added to a rising edge or a falling edge (hereinafter also referred to as a "pulse edge") of a PWM waveform.
  • the duty ratio of the modulated wave signal exceeds 100%, so switching may not be performed.
  • the duty ratio of the modulated wave signal exceeds 100%, there is no pulse edge that provides dead time, so no dead time occurs, and the dead time compensation value added in advance becomes overcompensation. As a result, the intended output voltage of the inverter may not be obtained.
  • the present invention has been made in view of the above, and aims to reduce voltage errors caused by dead time.
  • an inverter control device of the present invention is an inverter control device that controls an inverter that converts a DC voltage into an AC voltage and applies it to an AC motor, and includes a voltage command value at an output voltage of the inverter.
  • the modulated wave generating section includes a modulation rate command calculation unit that calculates a modulation rate command value representing the voltage command value as a modulation rate of the output voltage, and an actual modulation rate that estimates the actual modulation rate that is the modulation rate in consideration of the dead time of the inverter.
  • the voltage command value corrected by the correction coefficient comprising: a modulation factor estimation section; and a correction coefficient calculation section that calculates a correction coefficient for the voltage command value based on the modulation factor command value and the actual modulation factor.
  • the modulated wave signal is generated based on.
  • FIG. 1 is a configuration diagram of a motor drive system including an inverter control device according to a first embodiment.
  • FIG. 2 is a configuration diagram of a modulated wave generation section shown in FIG. 1.
  • FIG. 3 is a flowchart of processing performed by the modulated wave generation section shown in FIG. 2.
  • FIG. 3 is a diagram showing a waveform of a PWM pulse signal according to a modulated wave signal.
  • FIG. 3 is a configuration diagram of a modulated wave generation section included in an inverter control device according to a second embodiment.
  • FIG. 7 is a configuration diagram of a modulated wave generation section included in an inverter control device according to a third embodiment. 7 is a flowchart of processing performed by the modulated wave generation section shown in FIG. 6.
  • FIG. 1 is a configuration diagram of a motor drive system 1 including an inverter control device 100 according to the first embodiment.
  • the motor drive system 1 is connected to a battery 2, and includes an inverter 10, an inverter control device 100, and an AC motor 3 (hereinafter also referred to as "motor 3").
  • the battery 2 is a DC voltage source for the inverter 10.
  • the DC voltage Vdc of the battery 2 (hereinafter also referred to as "power supply voltage Vdc") is converted by the inverter 10 into a three-phase AC voltage of variable voltage and variable frequency, and is applied to the motor 3.
  • the motor 3 is a synchronous motor that is rotationally driven by application of a three-phase AC voltage.
  • a rotational position sensor 4 is attached to the motor 3 in order to control the phase of the three-phase AC voltage applied from the inverter 10 to match the phase of the induced voltage of the motor 3.
  • the rotational position sensor 4 is composed of, for example, a resolver made of an iron core and a winding.
  • the rotational position sensor 4 may be configured by a GMR sensor or a rotational position sensor using a Hall element.
  • the inverter control device 100 is a device that controls the inverter 10.
  • Inverter control device 100 is configured by, for example, a microcomputer.
  • Inverter control device 100 can realize various functions of inverter control device 100 by executing a predetermined program in a microcomputer.
  • inverter control device 100 may implement some or all of the various functions of inverter control device 100 using a hardware circuit such as a logic IC or FPGA.
  • the inverter control device 100 has various functions such as a current control section 110, a modulated wave generation section 120, a current detection section 130, a rotational position detection section 140, a PWM pulse generation section 150, a drive signal generation section 160, Equipped with.
  • the rotational position detection unit 140 detects the rotational position ⁇ p of the rotor in the motor 3 based on the output signal of the rotational position sensor 4.
  • the current detection unit 130 acquires the three-phase current detection value Iuvw (Iu, Iv, Iw) flowing through the motor 3 from the current sensor Ict.
  • the current detection unit 130 detects the dq-axis current detection value Idq (Id, Iq) by converting these current detection values into three-phase and two-phase based on the rotational position ⁇ p detected by the rotational position detection unit 140. do.
  • Inverter control device 100 has a current control function for controlling the output of motor 3.
  • the current control unit 110 determines that the dq-axis current detection value Idq detected by the current detection unit 130 matches the dq-axis current command value Idq * (Id * , Iq * ) output from a higher-level control device (not shown).
  • the dq-axis voltage command value Vdq * (Vd * , Vq * ) is calculated as the voltage command value of the output voltage of the inverter 10 as shown in FIG.
  • Current control section 110 outputs the calculated dq-axis voltage command value Vdq * to modulated wave generation section 120.
  • Modulated wave generation section 120 calculates a modulated wave based on the voltage command value of the output voltage of inverter 10, and generates a modulated wave signal indicating the calculated modulated wave. Specifically, the modulated wave generation unit 120 converts the dq-axis voltage command value Vdq * output from the current control unit 110 into two-phase to three-phase using the rotational position ⁇ p, thereby converting the dq-axis voltage command value Vuvw into the three-phase voltage command value Vuvw. * Calculate (Vu * , Vv * , Vw * ).
  • Vu * is the U-phase voltage command value
  • Vv * is the V-phase voltage command value
  • Vw * is the W-phase voltage command value.
  • the modulated wave generation section 120 generates a modulated wave signal Dv indicating the modulated wave represented by the three-phase voltage command value Vuvw * , and outputs it to the PWM pulse generation section 150.
  • the modulated wave generation unit 120 selects a modulation method other than sine wave modulation to generate a waveform other than a sine wave, such as a trapezoidal wave or a waveform in which a harmonic of a predetermined order is superimposed on a sine wave.
  • the three-phase voltage command value Vuvw * may be expressed as follows.
  • the modulated wave generation section 120 calculates the modulation factor MF of the output voltage of the inverter 10 based on the power supply voltage Vdc and the dq-axis voltage command value Vdq * outputted from the current control section 110, and generates a modulated wave signal.
  • Modulation factor MF may be output to PWM pulse generation section 150 instead of Dv.
  • the modulated wave generation section 120 may calculate both the modulated wave signal Dv and the modulation factor MF, and output them to the PWM pulse generation section 150. That is, the modulated wave generation section 120 can calculate at least one of the modulated wave signal Dv and the modulation factor MF, and output the calculated signal to the PWM pulse generation section 150.
  • the PWM pulse generator 150 performs three-phase pulse width modulation (PWM) based on the modulated wave signal Dv or modulation factor MF output from the modulated wave generator 120, and controls the switching operation of the inverter 10.
  • a pulse signal P is generated.
  • the PWM pulse generation unit 150 compares a carrier wave that periodically changes depending on the carrier frequency fc and the modulated wave signal Dv. Then, the PWM pulse generation section 150 can generate the PWM pulse signal P by determining the position (phase) of each pulse edge using a well-known method based on the comparison result. In this case, the PWM pulse generation unit 150 may keep the carrier frequency fc constant, or may change the carrier frequency fc according to the rotational speed of the motor 3.
  • the PWM pulse generation unit 150 may generate the PWM pulse signal P by directly calculating the position of each pulse edge based on the modulation factor MF without using the carrier wave and the modulated wave signal Dv. .
  • the PWM pulse generation section 150 may generate the PWM pulse signal P using yet another method.
  • the PWM pulse generation unit 150 may adopt any method as long as it can generate the PWM pulse signal P that controls the inverter 10 at every predetermined control cycle according to the voltage command value of the output voltage of the inverter 10. can do.
  • the drive signal generation section 160 outputs the drive signal DR to the inverter 10.
  • the inverter 10 has a plurality of semiconductor switch elements corresponding to each phase of the three-phase AC voltage, and each semiconductor switch element is controlled on/off by a drive signal DR. Thereby, the output voltage of the inverter 10 is adjusted according to the control of the inverter control device 100.
  • the inverter control device 100 calculates the motor rotational speed ⁇ r based on the time change of the rotational position ⁇ p, and sets the voltage command value so that it matches the speed command value from the host control device. Alternatively, a current command value can be created. Furthermore, when controlling the output torque of the motor 3, the inverter control device 100 can create a current command value (Idq * ) using a relational expression or map between the motor current (Idq) and the motor torque.
  • FIG. 2 is a configuration diagram of the modulated wave generation section 120 shown in FIG. 1.
  • the modulated wave generation unit 120 includes a modulation rate command calculation unit 121, a modulated wave calculation unit 122, a dead time compensation unit 123, an actual modulation rate estimation unit 124, and a correction coefficient calculation unit 125.
  • the modulation rate command calculation unit 121 calculates a modulation rate command value MF * representing the voltage command value at the output voltage of the inverter 10 as a modulation rate of the output voltage. Specifically, the modulated wave generation unit 120 normalizes the three-phase voltage command value Vuvw * calculated as described above by dividing it by the power supply voltage Vdc. The modulation rate command calculation unit 121 calculates the modulation rate command value MF * from the normalized three-phase voltage command value Vuvw * '. For example, the modulation rate command calculation unit 121 converts the normalized three-phase voltage command value Vuvw * ' into ⁇ coordinates, and calculates the vector length using the square root of the sum of squares. The modulation rate command calculation unit 121 then sets the calculated vector length as a modulation rate command value MF * .
  • the modulated wave calculation unit 122 calculates the modulated wave Dv pre before dead time compensation from the normalized voltage command value Vuvw * '.
  • the modulated wave may be a third harmonic wave or a two-phase modulated wave.
  • the dead time compensator 123 outputs a dead time compensation modulated wave Dv dt indicating a dead time compensation value that compensates for voltage errors caused by dead time provided in the inverter 10 .
  • the modulated wave generation unit 120 adds the dead time compensation modulated wave Dv dt output from the dead time compensation unit 123 to the modulated wave Dv pre calculated by the modulated wave calculation unit 122 to generate a modulated wave signal Dv. .
  • Actual modulation rate estimation section 124 estimates an actual modulation rate MF, which is a modulation rate that takes dead time into consideration. Specifically, the actual modulation rate estimation unit 124 estimates the actual modulation rate MF based on the dead time compensation modulated wave Dv dt and the modulated wave signal Dv. Details of the method for estimating the actual modulation factor MF will be described later using FIG. 3.
  • the correction coefficient calculation unit 125 calculates a correction coefficient for the voltage command value based on the modulation factor command value MF * and the actual modulation factor MF. Specifically, the correction coefficient calculating unit 125 calculates the three-phase voltage command value Vuvw by integrating, proportionally integrating (PI control), or moving average the difference value between the modulation factor command value MF * and the actual modulation factor MF. Calculate the correction coefficient of * . When calculating the moving average of the difference, the correction coefficient calculation unit 125 requires samples for one cycle of the electrical angle of the motor 3.
  • the modulated wave generation unit 120 multiplies the normalized three-phase voltage command value Vuvw * ' by the correction coefficient. do.
  • the modulated wave generation section 120 subtracts the correction coefficient from the normalized three-phase voltage command value Vuvw * '. In this way, the modulated wave generation unit 120 can correct the normalized three-phase voltage command value Vuvw * '.
  • the modulated wave generation section 120 generates the modulated wave signal Dv based on the voltage command value corrected by the correction coefficient. Specifically, the modulated wave generation unit 120 adds the dead time compensation modulated wave Dv dt to the modulated wave Dv pre before dead time compensation calculated from the three-phase voltage command value Vuvw * '' corrected by the correction coefficient. By adding them, a modulated wave signal Dv is generated. Thereafter, modulated wave generation section 120 outputs the generated modulated wave signal Dv to PWM pulse generation section 150.
  • FIG. 3 is a flowchart of processing performed by the modulated wave generation section 120 shown in FIG. 2.
  • FIG. 4 is a diagram showing a waveform of a PWM pulse signal according to a modulated wave signal.
  • step S1 the modulated wave generation unit 120 calculates a three-phase voltage command value Vuvw * by converting the dq-axis voltage command value Vdq * outputted from the current control unit 110 from two phases to three phases. Then, the modulated wave generation unit 120 normalizes the three-phase voltage command value Vuvw * by dividing it by the power supply voltage Vdc. Let the normalized three-phase voltage command value be Vuvw * '.
  • step S2 the modulated wave generation unit 120 converts the normalized three-phase voltage command value Vuvw * ' into ⁇ coordinates, and calculates the vector length using the square root of the sum of squares. Then, modulated wave generation section 120 sets the calculated vector length as modulation factor command value MF * .
  • step S3 the modulated wave generation unit 120 multiplies (or subtracts) the normalized three-phase voltage command value from Vuvw * ' by the previously calculated correction coefficient, thereby generating the normalized three-phase voltage command value. Correct Vuvw * '. Let the three-phase voltage command value corrected by the correction coefficient be Vuvw * ''.
  • step S4 the modulated wave generation unit 120 calculates the modulated wave Dv pre of the third harmonic or the two-phase modulated wave from the corrected three-phase voltage command value Vuvw * ''. Then, the modulated wave generation unit 120 adds the dead time compensation modulated wave Dv dt to the calculated modulated wave Dv pre to generate a modulated wave signal Dv.
  • step S5 the modulated wave generation unit 120 determines whether the duty ratio of the modulated wave signal Dv is 0% or less or 100% or more.
  • the waveform of the PWM pulse signal also referred to as "PWM waveform” according to the modulated wave signal Dv is as follows. Since a pulse edge exists, a dead time can be added. On the other hand, when the duty ratio of the modulated wave signal Dv is 0% or less or 100% or more, the PWM waveform corresponding to the modulated wave signal Dv does not have a pulse edge, so that no dead time can be added.
  • the modulated wave generation unit 120 changes the method for estimating the actual modulation factor MF depending on whether the duty ratio of the modulated wave signal Dv is 0% or less or 100% or more. If the duty ratio of the modulated wave signal Dv is 0% or less or 100% or more, the modulated wave generator 120 moves to step S6. If the duty ratio of the modulated wave signal Dv is greater than 0% and less than 100%, the modulated wave generation unit 120 moves to step S7.
  • step S6 the modulated wave generation section 120 converts the modulated wave signal Dv into an actual modulation factor MF. Specifically, the modulated wave generation unit 120 converts the modulated wave signal Dv into ⁇ coordinates, and calculates the vector length using the square root of the sum of squares. Then, the modulated wave generation unit 120 sets the calculated vector length as the actual modulation factor MF. That is, when the duty ratio of the modulated wave signal Dv is 0% or less or 100% or more, the actual modulation rate estimator 124 of the modulated wave generator 120 uses the modulated wave signal Dv from which the dead time compensation value has not been subtracted. to estimate the actual modulation factor MF. After step S6, the modulated wave generation unit 120 moves to step S8.
  • step S7 the modulated wave generation unit 120 subtracts the dead time compensation modulated wave Dv dt from the modulated wave signal Dv, and converts the subtracted modulated wave signal Dv into an actual modulation factor MF. Specifically, the modulated wave generation section 120 subtracts the dead time compensation modulated wave Dv dt from the modulated wave signal Dv. Then, the modulated wave generation unit 120 converts the corrected modulated wave signal Dv into ⁇ coordinates, and calculates the vector length using the square root of the sum of squares. Then, the modulated wave generation unit 120 sets the calculated vector length as the actual modulation factor MF.
  • the actual modulation rate estimator 124 of the modulated wave generator 120 uses the modulated wave signal Dv from which the dead time compensation value has been subtracted. to estimate the actual modulation factor MF.
  • step S8 the modulated wave generation unit 120 calculates a correction coefficient by integrating (or proportional integration or moving average) the difference value between the modulation factor command value MF * and the actual modulation factor MF. If the actual modulation factor MF used here is the value estimated in step S7, the difference value between the modulation factor command value MF * and the actual modulation factor MF becomes zero. This means that when estimated in step S7, dead time can be added, so overcompensation for dead time does not occur, and therefore, correction of the voltage command value is not substantially performed. Modulated wave generation section 120 stores the calculated correction coefficient in a predetermined storage area. The correction coefficient calculated in step S8 is used when the process shown in FIG. 3 is performed next time. After step S8, modulated wave generation section 120 ends the process shown in FIG. 3.
  • the inverter control device 100 of the first embodiment is a device that controls the inverter 10 that converts DC voltage into AC voltage and applies it to the motor 3.
  • the inverter control device 100 of the first embodiment includes a modulated wave generation section 120 that generates a modulated wave signal based on a voltage command value for the output voltage of the inverter 10, and a modulated wave signal that generates a PWM pulse signal that controls the switching operation of the inverter 10. and a PWM pulse generation section 150 that generates the pulse based on the PWM pulse generation section 150.
  • the modulated wave generation unit 120 includes a modulation rate command calculation unit 121 that calculates a modulation rate command value expressing the voltage command value as a modulation rate of the output voltage, and an actual modulation rate that is a modulation rate that takes into account the dead time of the inverter 10. It has an actual modulation rate estimating unit 124 that estimates the actual modulation rate, and a correction coefficient calculation unit 125 that calculates a correction coefficient for the voltage command value based on the modulation rate command value and the actual modulation rate. Modulated wave generation section 120 generates a modulated wave signal based on the voltage command value corrected by the correction coefficient.
  • the inverter control device 100 of the first embodiment can correct the voltage command value to prevent dead time overcompensation when an error occurs between the actual modulation rate and the modulation rate command value.
  • the inverter control device 100 of the first embodiment effectively adjusts the voltage command value because dead time is appropriately compensated when no error occurs between the actual modulation rate and the modulation rate command value. It is possible to eliminate the correction. That is, the inverter control device 100 of the first embodiment can timely correct the voltage command value so that the dead time compensation value is added only when the dead time compensation value should be added. Therefore, the inverter control device 100 of the first embodiment can reduce voltage errors caused by dead time.
  • the inverter control device 100 of the first embodiment can reduce the voltage error caused by dead time, the error between the actual modulation rate and the modulation rate command value is reduced, and when switching the modulated wave using the modulation rate. It is possible to suppress the torque fluctuations that occur.
  • the actual modulation rate estimator 124 calculates the modulated wave signal from which the dead time compensation value has been subtracted. Estimate the actual modulation rate using When the duty ratio of the modulated wave signal is 0% or less or 100% or more, the actual modulation rate estimation unit 124 estimates the actual modulation rate using the modulated wave signal from which the dead time compensation value has not been subtracted.
  • the inverter control device 100 of the first embodiment can timely correct the voltage command value so that the dead time compensation value is not added when the dead time compensation value should not be added, such as in an overmodulation region. can. Therefore, the inverter control device 100 of the first embodiment can reliably reduce voltage errors caused by dead time in the overmodulation region.
  • the correction coefficient calculating section 125 calculates the correction coefficient by integrating, proportionally integrating, or moving average the difference value between the modulation rate command value and the actual modulation rate.
  • the inverter control device 100 of the first embodiment can calculate the correction coefficient using a relatively simple method. Therefore, the inverter control device 100 of the first embodiment can easily reduce voltage errors caused by dead time.
  • FIG. 5 is a configuration diagram of the modulated wave generation section 120 included in the inverter control device 100 of the second embodiment.
  • the actual modulation rate estimation unit 124 of the first embodiment estimates the actual modulation rate MF using the dead time compensation modulated wave Dv dt and the modulated wave signal Dv.
  • the actual modulation factor estimation unit 124 of the second embodiment estimates the actual modulation factor MF based on the detection value of the sensor that detects the voltage applied to the motor 3.
  • the actual modulation factor estimation unit 124 of the second embodiment estimates the actual modulation factor MF using the phase voltage Vuvw (Vu, Vv, Vw) of the motor 3 and the power supply voltage Vdc.
  • the phase voltage Vuvw is a value calculated from the line voltage applied to the motor 3. Line voltage can be detected by known sensors.
  • the actual modulation rate estimation unit 124 of the second embodiment calculates the voltage amplitude Vamp of the phase voltage Vuvw, and divides the calculated voltage amplitude Vamp by (Vdc/2) to calculate the actual modulation rate MF. shall be.
  • the actual modulation factor estimation unit 124 of the second embodiment estimates the actual modulation factor MF based on the detected value of the sensor that detects the voltage applied to the motor 3.
  • the inverter control device 100 of the second embodiment can estimate the actual modulation factor MF without making the determination shown in step S5 of FIG. Can be done. Furthermore, since the inverter control device 100 of the second embodiment can estimate the actual modulation factor MF based on the detected value of the sensor, the inverter control device 100 of the second embodiment can estimate the actual modulation factor MF more accurately than the first embodiment. Therefore, the inverter control device 100 of the second embodiment can easily and reliably reduce voltage errors caused by dead time.
  • FIG. 6 is a configuration diagram of the modulated wave generation section 120 included in the inverter control device 100 of the third embodiment.
  • the modulated wave generation unit 120 of the first embodiment includes a modulation rate command calculation unit 121 and an actual modulation rate estimation unit 124, and calculates a correction coefficient for the three-phase voltage command value Vuvw * .
  • the modulated wave generation unit 120 of the third embodiment includes a two-phase three-phase conversion unit 126 and a voltage estimated value calculation unit 127, and calculates a correction coefficient for the dq-axis voltage command value Vdq * .
  • the voltage estimated value calculation unit 127 calculates a voltage estimated value, which is an estimated value of the output voltage, based on the dead time compensation value of the inverter 10. Specifically, the voltage estimated value calculating unit 127 calculates the dq-axis voltage estimated value Vdq (Vd, Vq) using the dead time compensation modulated wave Dv dt and the modulated wave signal Dv. Details of the calculation method for the dq-axis voltage estimated value Vdq will be described later using FIG. 7.
  • the correction coefficient calculation unit 125 of the third embodiment calculates a correction coefficient for the voltage command value based on the voltage command value and the voltage estimated value. Specifically, the correction coefficient calculation unit 125 of the third embodiment integrates or proportionally integrates (PI control) the difference value between the dq-axis voltage command value Vdq * and the dq-axis voltage estimated value Vdq, thereby adjusting the dq-axis voltage A correction coefficient Kdq (Kd, Kq) of voltage command value Vdq * is calculated.
  • the correction coefficient calculation unit 125 of the third embodiment can also calculate the correction coefficient Kdq of the dq-axis voltage command value Vdq * in the following manner. That is, the correction coefficient calculation unit 125 of the third embodiment converts each of the dq-axis voltage command value Vdq * and the dq-axis voltage estimated value Vdq into an amplitude and a phase. The correction coefficient calculation unit 125 of the third embodiment calculates the difference value between the amplitude of the dq-axis voltage command value Vdq * and the amplitude of the dq-axis voltage estimated value Vdq, and the phase of the dq-axis voltage command value Vdq * and the dq-axis voltage estimation.
  • the correction coefficient calculating unit 125 of the third embodiment calculates the correction coefficient Kdq of the dq-axis voltage command value Vdq * by integrating or proportionally integrating (PI control) each of the amplitude difference value and the phase difference value. It can also be calculated.
  • the modulated wave generation unit 120 of the third embodiment corrects the dq-axis voltage command value Vdq * by subtracting the correction coefficient Kdq from the dq-axis voltage command value Vdq * .
  • the two-phase three-phase converter 126 converts the corrected dq-axis voltage command value Vdq * into a three-phase voltage command value Vuvw * .
  • the modulated wave generation unit 120 of the third embodiment normalizes the converted three-phase voltage command value Vuvw * by dividing it by the power supply voltage Vdc.
  • the modulated wave generation unit 120 of the third embodiment calculates the modulated wave Dv pre from the normalized three-phase voltage command value Vuvw * ' and adds the dead time compensation modulated wave Dv dt .
  • a modulated wave signal Dv is generated.
  • FIG. 7 is a flowchart of processing performed by the modulated wave generation section 120 shown in FIG. 6.
  • step S11 the modulated wave generation unit 120 corrects the dq-axis voltage command value Vdq * by subtracting the previously calculated correction coefficient Kdq from the dq-axis voltage command value Vdq * output from the current control unit 110. do.
  • step S12 the modulated wave generation unit 120 performs two-to-three phase conversion on the dq-axis voltage command value Vdq * corrected by the correction coefficient Kdq, and calculates the corrected three-phase voltage command value Vuvw * .
  • step S13 the modulated wave generation unit 120 normalizes the corrected three-phase voltage command value Vuvw * by dividing it by the power supply voltage Vdc.
  • step S14 the modulated wave generation unit 120 calculates the modulated wave Dv pre of the third harmonic or the two-phase modulated wave from the corrected three-phase voltage command value Vuvw * ''. Then, the modulated wave generation unit 120 adds the dead time compensation modulated wave Dv dt to the calculated modulated wave Dv pre to generate a modulated wave signal Dv.
  • step S15 the modulated wave generation unit 120 determines whether the duty ratio of the modulated wave signal Dv is 0% or less or 100% or more. If the duty ratio of the modulated wave signal Dv is 0% or less or 100% or more, the modulated wave generator 120 moves to step S16. If the duty ratio of the modulated wave signal Dv is greater than 0% and less than 100%, the modulated wave generation unit 120 moves to step S17.
  • step S16 the modulated wave generation unit 120 converts the modulated wave signal Dv into a dq-axis voltage estimated value Vdq. Specifically, the modulated wave generation unit 120 multiplies the modulated wave signal Dv by the power supply voltage Vdc to calculate the three-phase voltage estimated value Vuvw. Then, the modulated wave generation unit 120 performs three-to-two phase conversion on the calculated three-phase voltage estimated value Vuvw, and calculates the dq-axis voltage estimated value Vdq. That is, when the duty ratio of the modulated wave signal Dv is 0% or less or 100% or more, the voltage estimated value calculation unit 127 of the modulated wave generation unit 120 uses the modulated wave signal Dv from which the dead time compensation value has not been subtracted. Then, the dq-axis voltage estimated value Vdq is calculated. After step S16, the modulated wave generation unit 120 moves to step S18.
  • step S17 the modulated wave generation unit 120 subtracts the dead time compensation modulated wave Dv dt from the modulated wave signal Dv, and converts the subtracted modulated wave signal Dv into a dq-axis voltage estimated value Vdq. Specifically, the modulated wave generation unit 120 subtracts the dead time compensation modulated wave Dv dt from the modulated wave signal Dv, multiplies the subtracted modulated wave signal Dv by the power supply voltage Vdc, and obtains the three-phase voltage estimated value Vuvw. Calculate. Then, the modulated wave generation unit 120 performs three-to-two phase conversion on the calculated three-phase voltage estimated value Vuvw, and calculates the dq-axis voltage estimated value Vdq.
  • the voltage estimated value calculation unit 127 of the modulated wave generation unit 120 uses the modulated wave signal Dv from which the dead time compensation value has been subtracted. Then, the dq-axis voltage estimated value Vdq is calculated.
  • step S18 the modulated wave generation unit 120 calculates the correction coefficient Kdq by integrating (or proportional integration) the difference value between the dq-axis voltage command value Vdq * and the dq-axis voltage estimated value Vdq.
  • Modulated wave generation section 120 stores the calculated correction coefficient Kdq in a predetermined storage area. The correction coefficient calculated in step S18 is used when the process shown in FIG. 7 is performed next time. After step S18, modulated wave generation section 120 ends the process shown in FIG. 7.
  • the modulated wave generation unit 120 of the third embodiment includes the voltage estimated value calculation unit 127 that calculates the dq-axis voltage estimated value Vdq, which is the estimated value of the output voltage, based on the dead time compensation value of the inverter 10. , a correction coefficient calculation unit 125 that calculates a correction coefficient Kdq for the dq-axis voltage command value Vdq * based on the dq-axis voltage command value Vdq* and the dq-axis voltage estimated value Vdq.
  • the modulated wave generation unit 120 of the third embodiment generates the modulated wave signal Dv based on the dq-axis voltage command value Vdq * corrected by the correction coefficient Kdq.
  • the inverter control device 100 of the third embodiment corrects the voltage command value in a timely manner so that the dead time compensation value is added only when the dead time compensation value should be added. Can be done. Therefore, like the first embodiment, the inverter control device 100 of the third embodiment can reduce voltage errors caused by dead time.
  • the inverter control device 100 of the third embodiment uses the dq-axis voltage command value Vdq * corrected by the correction coefficient Kdq for various purposes of the inverter control device 100, such as rotor position estimation, magnetic flux estimation, and torque estimation of the motor 3. If you want to use it for other functions, you can easily use the corrected dq-axis voltage command value Vdq * .
  • the present invention is not limited to the above-described embodiments, and includes various modifications.
  • the above embodiments have been described in detail to explain the present invention in an easy-to-understand manner, and the present invention is not necessarily limited to having all the configurations described.
  • each of the above-mentioned configurations, functions, processing units, processing means, etc. may be partially or entirely realized by hardware, for example, by designing an integrated circuit. Further, each of the above-mentioned configurations, functions, etc. may be realized by software by a processor interpreting and executing a program for realizing each function. Information such as programs, tapes, and files that implement each function can be stored in a memory, a recording device such as a hard disk, an SSD (solid state drive), or a recording medium such as an IC card, SD card, or DVD.
  • a recording device such as a hard disk, an SSD (solid state drive), or a recording medium such as an IC card, SD card, or DVD.
  • control lines and information lines are shown that are considered necessary for explanation, and not all control lines and information lines are necessarily shown in the product. In reality, almost all components may be considered to be interconnected.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)

Abstract

Le but de la présente invention est de réduire une différence de tension provoquée par un temps mort. Un dispositif de commande d'onduleur 100 comprend : une unité de génération d'onde modulée 120 qui génère un signal d'onde modulée sur la base d'une valeur d'instruction de tension dans une tension de sortie d'un onduleur 10 ; et une unité de génération d'impulsion MLI 150 qui, sur la base du signal d'onde modulée, génère un signal d'impulsion MLI pour commander une opération de commutation de l'onduleur 10. L'unité de génération d'onde modulée 120 comprend : une unité de calcul d'instruction de facteur de modulation 121 qui calcule une valeur d'instruction de facteur de modulation qui indique une valeur d'instruction de tension en tant que facteur de modulation d'une tension de sortie ; une unité d'estimation de facteur de modulation réel 124 qui estime un facteur de modulation réel qui est un facteur de modulation pour lequel un temps mort de l'onduleur 10 est considéré ; et une unité de calcul de coefficient de correction 125 qui calcule un coefficient de correction de la valeur d'instruction de tension sur la base de la valeur d'instruction de facteur de modulation et du facteur de modulation réel. L'unité de génération d'onde modulée 120 génère un signal d'onde modulée sur la base de la valeur d'instruction de tension corrigée avec le coefficient de correction.
PCT/JP2022/030712 2022-08-12 2022-08-12 Dispositif de commande d'onduleur WO2024034113A1 (fr)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0698595A (ja) * 1992-09-16 1994-04-08 Hitachi Ltd 交流電動機の定数測定方法及び制御装置
JP2008295163A (ja) * 2007-05-23 2008-12-04 Yaskawa Electric Corp Ｐｗｍインバータ装置
WO2009063786A1 (fr) * 2007-11-15 2009-05-22 Kabushiki Kaisha Yaskawa Denki Dispositif de commande de moteur et procédé de commande de celui-ci
JP2012105393A (ja) * 2010-11-08 2012-05-31 Mitsubishi Electric Corp Ｐｗｍインバータ装置
JP2013090551A (ja) * 2011-10-21 2013-05-13 Aisin Aw Co Ltd 回転電機制御装置

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0698595A (ja) * 1992-09-16 1994-04-08 Hitachi Ltd 交流電動機の定数測定方法及び制御装置
JP2008295163A (ja) * 2007-05-23 2008-12-04 Yaskawa Electric Corp Ｐｗｍインバータ装置
WO2009063786A1 (fr) * 2007-11-15 2009-05-22 Kabushiki Kaisha Yaskawa Denki Dispositif de commande de moteur et procédé de commande de celui-ci
JP2012105393A (ja) * 2010-11-08 2012-05-31 Mitsubishi Electric Corp Ｐｗｍインバータ装置
JP2013090551A (ja) * 2011-10-21 2013-05-13 Aisin Aw Co Ltd 回転電機制御装置

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