WO2024057368A1 - Dispositif de commande d'onduleur - Google Patents

Dispositif de commande d'onduleur Download PDF

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Publication number
WO2024057368A1
WO2024057368A1 PCT/JP2022/034104 JP2022034104W WO2024057368A1 WO 2024057368 A1 WO2024057368 A1 WO 2024057368A1 JP 2022034104 W JP2022034104 W JP 2022034104W WO 2024057368 A1 WO2024057368 A1 WO 2024057368A1
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Prior art keywords
dead time
voltage
phase angle
inverter
pulse
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PCT/JP2022/034104
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English (en)
Japanese (ja)
Inventor
飛鳥 鎌田
峻 谷口
永呉 岸本
信也 山下
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日立Astemo株式会社
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Priority to PCT/JP2022/034104 priority Critical patent/WO2024057368A1/fr
Publication of WO2024057368A1 publication Critical patent/WO2024057368A1/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
    • H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
    • H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
    • H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
    • H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation

Definitions

  • the present invention relates to an inverter control device.
  • Inverter control devices that control the switching operation of an inverter that converts DC voltage into AC voltage and applies it to an AC motor using pulse width modulation (hereinafter also referred to as "PWM") are widely used.
  • PWM pulse width modulation
  • this type of inverter control device a technique is known in which the inverter is operated in an overmodulation region where the voltage command value of the inverter output voltage exceeds the maximum output level in the sine wave in order to increase the rotation speed of the AC motor. .
  • the inverter control device is operated in a one-pulse control mode or a three-pulse control mode in which one pulse or three pulses are generated per period of the fundamental wave of the output voltage of the inverter.
  • the inverter control device can switch these control modes depending on the operating range of the AC motor.
  • 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 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.
  • an error hereinafter also referred to as "voltage error”
  • the voltage error caused by this dead time may cause a torque shock in which the motor does not output the torque as instructed when the inverter control device switches the control mode. Therefore, it is important to reduce the voltage error caused by this dead time to prevent torque shock from occurring.
  • Patent Document 1 discloses a technique for performing dead time compensation by correcting a phase threshold value used to generate a switch command for controlling on/off of a switching element of an inverter using a dead time compensation phase in a phase reference synchronous control mode. has been done.
  • the dead time compensation phase is calculated from the detection signal of the current supplied to the motor from the inverter and the fundamental frequency of the voltage command value, so current polarity calculation is required at the switch timing. becomes. That is, in the technique disclosed in Patent Document 1, high-speed current detection is essential to perform dead time compensation, and voltage errors caused by dead time cannot be easily reduced.
  • the present invention has been made in view of the above, and aims to easily reduce voltage errors caused by dead time and suppress torque shock.
  • an inverter control device of the present invention is an inverter control device that controls the switching operation of an inverter that converts a DC voltage into an AC voltage and applies it to an AC motor by pulse width modulation.
  • a dead time compensation unit that performs dead time compensation to compensate for errors in the output voltage of the inverter caused by dead time, and the dead time compensation unit includes a current that indicates a phase angle for outputting the current of the AC motor; The dead time compensation is performed based on a difference between a phase angle and a voltage phase angle for outputting a voltage corresponding to the current.
  • FIG. 1 is a configuration diagram of a motor drive system including an inverter control device according to a first embodiment.
  • FIG. 3 is a configuration diagram of a 3-pulse 1-pulse calculation unit when a current phase angle and a voltage phase angle are input.
  • FIG. 3 is a configuration diagram of a 3-pulse 1-pulse calculating section when a current command value and a voltage command value are input.
  • FIG. 7 is an explanatory diagram of voltage waveforms when voltage errors due to dead time do not occur. (1) An explanatory diagram of the calculation contents of the dead time compensator when ⁇ vi ⁇ is satisfied. (2) An explanatory diagram of the calculation contents of the dead time compensator when ⁇ + ⁇ vi ⁇ is satisfied.
  • FIG. 2 is an explanatory diagram of the effects of the inverter control device shown in FIG. 1 .
  • FIG. 1 An explanatory diagram of the dead time compensator when ⁇ + ⁇ vi ⁇ is satisfied.
  • (4) An explanatory diagram of the calculation contents of the dead time compensator when ⁇ + ⁇ vi ⁇ + ⁇ is satisfied.
  • (6) An explanatory diagram of the calculation contents of the dead time compensator 183 when 2 ⁇ + ⁇ vi ⁇ 2 ⁇ is satisfied.
  • FIG. 2 is an explanatory diagram of the effects of the inverter control device shown in FIG. 1 .
  • FIG. 2 is an explanatory diagram of the effects of the inverter
  • FIG. 7 is a configuration diagram of a 3-pulse 1-pulse calculating section included in the inverter control device of Embodiment 2.
  • FIG. 3 is a configuration diagram of an inverter control device according to a third embodiment.
  • 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 (inverter power section), 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 driven to rotate by applying 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 command section 110, a current control section 120, a current detection section 130, a rotational position detection section 140, a PWM pulse generation section 150, a gate circuit 160, and an SVPWM calculation section. 170, and a 3-pulse/1-pulse calculation section 180.
  • the rotational position detection unit 140 detects the rotational position ⁇ p, which is the position of the rotor of 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.
  • the inverter control device 100 has a current control function for controlling the output of the motor 3.
  • the current command unit 110 calculates the dq-axis current command value Idq* (Id*, Iq*) based on the torque command value T* output from a higher-level control device (not shown).
  • the current command unit 110 outputs the calculated dq-axis current command value Idq* to the current control unit 120, the SVPWM calculation unit 170, and the 3-pulse 1-pulse calculation unit 180.
  • the current command unit 110 may also calculate a current phase angle ⁇ i indicating the phase angle of the dq-axis current command value Idq* from the dq-axis current command value Idq*.
  • the current command unit 110 may output the calculated current phase angle ⁇ i to the current control unit 120, the SVPWM calculation unit 170, and the 3-pulse 1-pulse calculation unit 180.
  • the current control unit 120 sets the dq-axis voltage command value Vdq* (Vd*, Vq*) as the voltage command value of the output voltage of the inverter 10 according to the dq-axis current command value Idq* output from the current command unit 110. calculate. Specifically, the current control unit 120 controls the dq-axis current command value Idq* output from the current command unit 110 and the dq-axis current detection value Idq detected by the current detection unit 130. Calculate the shaft voltage command value Vdq*. The current control unit 120 outputs the calculated dq-axis voltage command value Vdq* to the SVPWM calculation unit 170 and the 3-pulse 1-pulse calculation unit 180.
  • the current control unit 120 may calculate a voltage phase angle ⁇ v indicating a phase angle of the dq-axis voltage command value Vdq* from the dq-axis voltage command value Vdq*.
  • the current control unit 120 may output the calculated voltage phase angle ⁇ v to the SVPWM calculation unit 170 and the 3-pulse 1-pulse calculation unit 180.
  • the 3-pulse 1-pulse calculation unit 180 calculates a modulated wave based on the voltage command value for the output voltage of the inverter 10. That is, the 3-pulse 1-pulse calculating section 180 is a modulated wave calculating section that calculates a modulated wave corresponding to the output voltage of the inverter 10. Specifically, the 3-pulse 1-pulse calculation unit 180 converts the dq-axis voltage command value Vdq* output from the current control unit 120 into 2-phase to 3-phase using the rotational position ⁇ p, thereby converting the dq-axis voltage command value Vdq* into a 3-phase voltage command. The value Vuvw* (Vu*, Vv*, Vw*) is calculated.
  • the 3-pulse 1-pulse calculation section 180 generates a modulated wave signal duvw indicating a modulated wave represented by the 3-phase voltage command value Vuvw*, and outputs it to the PWM pulse generation section 150.
  • the 3-pulse 1-pulse calculation unit 180 can 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 by the waveform.
  • the 3-pulse 1-pulse calculation unit 180 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* output from the current control unit 120, Modulation factor MF may be output to PWM pulse generation section 150 instead of modulated wave signal duvw. Furthermore, the 3-pulse 1-pulse calculation unit 180 may calculate both the modulated wave signal duvw and the modulation factor MF, and output the calculated values to the PWM pulse generation unit 150. That is, the 3-pulse 1-pulse calculating section 180 can calculate at least one of the modulated wave signal duvw and the modulation factor MF.
  • the PWM pulse generation unit 150 performs three-phase pulse width modulation (PWM) based on the modulated wave signal duvw or the modulation rate MF calculated by the three-pulse one-pulse calculation unit 180, and controls the switching operation of the inverter 10.
  • a PWM pulse signal P is generated.
  • the PWM pulse generator 150 compares the modulated wave signal duvw with a carrier that periodically changes depending on the carrier frequency fc. Then, the PWM pulse generation unit 150 generates a PWM pulse by determining the position (phase) of the rising edge and falling edge (hereinafter also referred to as "pulse edge") of each pulse using a well-known method based on the comparison result.
  • a signal P can be generated.
  • 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 and the modulated wave signal duvw.
  • 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 for controlling 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 gate circuit 160 outputs a drive signal DR according to the PWM pulse signal P 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 SVPWM calculation unit 170 calculates a modulated wave when using the space vector pulse width modulation (SVPWM) control mode. That is, the SVPWM calculation unit 170 is a modulated wave calculation unit that calculates a modulated wave corresponding to the output voltage of the inverter 10. Specifically, the SVPWM calculation unit 170 converts the dq-axis voltage command value Vdq* output from the current control unit 120 into two-phase to three-phase using the rotational position ⁇ p to obtain the three-phase voltage command value Vuvw*. Calculate. Then, the SVPWM calculation unit 170 performs dead time compensation on the three-phase voltage command value Vuvw* using the dq-axis current command value Idq*.
  • SVPWM space vector pulse width modulation
  • the SVPWM calculation unit 170 calculates the duty ratio duvw by dividing the three-phase voltage command value Vuvw* after dead time compensation by the power supply voltage Vdc. Then, the SVPWM calculation unit 170 outputs the calculated duty ratio duvw to the PWM pulse generation unit 150.
  • the inverter control device 100 when controlling the rotational speed of the motor 3, 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 3-pulse 1-pulse calculation section 180 when the current phase angle ⁇ i and the voltage phase angle ⁇ v are input.
  • FIG. 3 is a configuration diagram of the 3-pulse 1-pulse calculating section 180 when the current command value Idq* and the voltage command value Vdq* are input.
  • the 3-pulse 1-pulse calculating section 180 includes a dead time compensating section 183, a firing angle calculating section 184, a phase angle calculating section 185, and a duty calculating section 186. Further, the 3-pulse 1-pulse calculation section 180 shown in FIG. 3 includes a modulation rate/voltage phase angle calculation section 181 and a current phase angle calculation section 182.
  • the current phase angle ⁇ i obtained by calculating the amplitude and phase angle with a table for the torque command is directly input to the 3-pulse 1-pulse calculation unit 180, and is obtained using voltage phase control.
  • An example is shown in which the voltage phase angle ⁇ v is directly input to the 3-pulse 1-pulse calculation unit 180.
  • the dq-axis current command value Idq* output from the current command unit 110 is input to the 3-pulse 1-pulse calculation unit 180
  • the dq-axis voltage command value Vdq* output from the current control unit 120 is input to the 3-pulse 1-pulse calculation unit 180.
  • An example of input to the 1-pulse calculation section 180 is shown.
  • the inverter control device 100 may employ either the 3-pulse 1-pulse calculation section 180 shown in FIG. 2 or the 3-pulse 1-pulse calculation section 180 shown in FIG. 3.
  • the inverter control device 100 employs the 3-pulse 1-pulse calculation unit 180 shown in FIG. 3 and controls the switching operation in the 3-pulse control mode.
  • the modulation factor/voltage phase angle calculation unit 181 calculates the modulation factor MF and voltage phase angle ⁇ v based on the dq-axis voltage command value Vdq* of the output voltage of the inverter 10. Specifically, the modulation rate/voltage phase angle calculation unit 181 calculates the square root of the sum of squares of the d-axis voltage command value Vd* and the q-axis voltage command value Vq* output from the current control unit 120. Then, the modulation factor/voltage phase angle calculating section 181 calculates the modulation factor MF by dividing the calculated square root of the sum of squares by the power supply voltage Vdc.
  • the modulation rate/voltage phase angle calculation unit 181 uses Equation 1 to calculate the voltage phase angle ⁇ v from the dq-axis voltage command value Vdq*.
  • the current phase angle calculation unit 182 calculates the current phase angle ⁇ i based on the dq-axis current command value Idq* of the current flowing through the motor 3. Specifically, the current phase angle calculation unit 182 uses Equation 2 to calculate the current phase angle ⁇ i from the dq-axis current command value Idq*.
  • the current phase angle calculation unit 182 may calculate the current phase angle ⁇ i based on the dq-axis current detection value Idq, which is the detection value of the current flowing through the motor 3.
  • the modulation factor/voltage phase angle calculating section 181 may calculate the modulation factor MF and the voltage phase angle ⁇ v based on the detected value of the output voltage of the inverter 10.
  • the dead time compensator 183 performs dead time compensation to compensate for an error in the output voltage caused by the dead time ⁇ of the inverter 10. Specifically, the dead time compensator 183 performs dead time compensation when the switching operation of the inverter 10 is controlled by at least one of the 1-pulse control mode and the 3-pulse control mode.
  • the one-pulse control mode is a control mode in which one pulse is generated per one cycle of the fundamental wave of the output voltage of the inverter 10.
  • the one-pulse control mode is used in a region where the fundamental wave frequency of the output voltage of the inverter 10 is high.
  • the 3-pulse control mode is a control mode in which 3 pulses are generated per period of the fundamental wave of the output voltage of the inverter 10.
  • the 3-pulse control mode is used in a region where the fundamental frequency of the inverter's output voltage is medium.
  • the SVPWM control mode is a control mode in which a carrier and a modulated wave are compared and a pulse is generated depending on the magnitude thereof.
  • the SVPWM control mode is used in a region where the fundamental frequency of the output voltage of the inverter 10 is low.
  • the 3-pulse 1-pulse calculation unit 180 uses the amplitude error ⁇ A calculated as the dead time compensation amount to correct the modulation factor MF used to calculate the firing angle ⁇ of the output voltage. Further, the 3-pulse 1-pulse calculating section 180 corrects the phase angles ⁇ 1 and ⁇ 2 of the output voltage using the phase angle error ⁇ calculated as the dead time compensation amount. In this way, the dead time compensator 183 can perform dead time compensation.
  • the firing angle ⁇ is the pulse width to be adjusted when the number of pulses per period of the fundamental wave of the output voltage is set. There is a relationship as shown in Equation 3 between the firing angle ⁇ and the modulation factor MF.
  • the firing angle ⁇ can be expressed as in Equation 4 using the modulation factor MF.
  • the dead time compensation unit 183 calculates an amplitude error ⁇ A and a phase angle error ⁇ as dead time compensation amounts according to the relationship between the firing angle ⁇ and the difference ⁇ vi. The details of the calculation of the amplitude error ⁇ A and the phase angle error ⁇ by the dead time compensator 183 will be explained using FIGS. 4 to 11.
  • FIG. 4 is an explanatory diagram of voltage waveforms when voltage errors due to dead time do not occur.
  • the switch timings ⁇ 1 to ⁇ 4 in the interval [0, 2 ⁇ ] can be expressed as shown in Equation 5 with respect to the firing angle ⁇ .
  • the amplitude A of the output voltage of the inverter 10 can be expressed as shown in Equation 7 using the Fourier coefficients an and bn of Equation 6.
  • phase angle error ⁇ of the output voltage of the inverter 10 can be expressed as shown in Equation 8 when a voltage error due to dead time does not occur.
  • the dead time compensator 183 calculates the amplitude error ⁇ A and the phase angle error ⁇ as the dead time compensation amount by calculating the above equations 5 to 8 according to the relationship between the firing angle ⁇ and the difference ⁇ vi.
  • FIG. 5 is an explanatory diagram of the calculation contents of the dead time compensator 183 when (1) ⁇ vi ⁇ is satisfied.
  • the upper part (a) of FIG. 5 shows the voltage waveform before dead time compensation.
  • the switch timings ⁇ 1 to ⁇ 4 in the interval [0, 2 ⁇ ] of one period of the fundamental wave can be expressed as shown in Equation 9 from FIG. 4 and Equation 5.
  • the amplitude error ⁇ A and the phase angle error ⁇ vary depending on the range of the difference ⁇ vi between the voltage phase angle ⁇ v and the current phase angle ⁇ i.
  • the amplitude error ⁇ A and the phase angle error ⁇ show different values in each case of (1) to (6) shown in Equation 10 as the range of the difference ⁇ vi between the voltage phase angle ⁇ v and the current phase angle ⁇ i. . Therefore, the dead time compensator 183 calculates the amplitude error ⁇ A and the phase angle error ⁇ separately for each of cases (1) to (6) shown in Equation 10.
  • the dead time compensator 183 adjusts the modulation rate and phase angle at switch timings ⁇ 0 to ⁇ 5 so that the average modulation rate and phase angle in one period of the fundamental wave match those when no voltage error occurs due to dead time.
  • Amplitude error ⁇ A and phase angle error ⁇ which are correction amounts, are calculated.
  • the dead time compensator 183 can calculate the Fourier coefficients an and bn as shown in Equation 12 using the power supply voltage Vdc, firing angle ⁇ , and dead time ⁇ .
  • the dead time compensator 183 can calculate the amplitude A of the output voltage of the inverter 10 as shown in Equation 13 using the Fourier coefficients an and bn of Equation 12.
  • the dead time compensator 183 calculates the amplitude error ⁇ A and phase when (1) ⁇ vi ⁇ is satisfied.
  • the angular error ⁇ can be calculated as shown in Equation 14.
  • FIG. 6 is an explanatory diagram of the calculation contents of the dead time compensator 183 when (2) ⁇ + ⁇ vi ⁇ is satisfied.
  • the dead time compensator 183 can calculate the Fourier coefficients an and bn as shown in Equation 16.
  • the dead time compensator 183 can calculate the amplitude A of the output voltage of the inverter 10 as shown in Equation 17 using the Fourier coefficients an and bn of Equation 16.
  • FIG. 7 is an explanatory diagram of the calculation contents of the dead time compensator 183 when (3) ⁇ + ⁇ vi ⁇ is satisfied.
  • the dead time compensation unit 183 can calculate the above Fourier coefficients a n and b n as shown in Equation 20.
  • the dead time compensator 183 can calculate the amplitude A of the output voltage of the inverter 10 as shown in Equation 21 using the Fourier coefficients an and bn of Equation 20.
  • FIG. 8 is an explanatory diagram of the calculation contents of the dead time compensator 183 when (4) ⁇ + ⁇ vi ⁇ + ⁇ is satisfied.
  • the dead time compensator 183 can calculate the Fourier coefficients an and bn as shown in Equation 24.
  • the dead time compensator 183 can calculate the amplitude A of the output voltage of the inverter 10 as shown in Equation 25 using the Fourier coefficients an and bn of Equation 24.
  • FIG. 9 is an explanatory diagram of the calculation contents of the dead time compensator 183 when (5) ⁇ + ⁇ + ⁇ vi ⁇ 2 ⁇ is satisfied.
  • the dead time compensator 183 can calculate the Fourier coefficients an and bn as shown in Equation 28.
  • the dead time compensation unit 183 can calculate the amplitude A of the output voltage of the inverter 10 using the Fourier coefficients a n and b n of Equation 28, as shown in Equation 29.
  • FIG. 10 is an explanatory diagram of the calculation contents of the dead time compensator 183 when (6) 2 ⁇ + ⁇ vi ⁇ 2 ⁇ is satisfied.
  • the dead time compensator 183 can calculate the Fourier coefficients an and bn as shown in Equation 32.
  • the dead time compensator 183 can calculate the amplitude A of the output voltage of the inverter 10 as shown in Equation 33 using the Fourier coefficients an and bn of Equation 32.
  • FIG. 11 is a table showing the relationship between the difference ⁇ vi between the voltage phase angle ⁇ v and the current phase angle ⁇ i, and the amplitude error ⁇ A and phase angle error ⁇ .
  • the table in FIG. 11 lists the amplitude error ⁇ A and phase angle error ⁇ calculated in each case of FIGS. 5 to 10.
  • the amplitude error ⁇ A and the phase angle error ⁇ show different values as shown in FIG. 11.
  • the 3-pulse 1-pulse calculating section 180 corrects the modulation factor MF used to calculate the firing angle ⁇ of the output voltage using the amplitude error ⁇ A corresponding to the range of the difference ⁇ vi shown in FIG. Further, the 3-pulse 1-pulse calculation unit 180 corrects the phase angles ⁇ 1 and ⁇ 2 of the output voltage using the phase angle error ⁇ corresponding to the range of the difference ⁇ vi shown in FIG. Thereby, the 3-pulse 1-pulse calculating section 180 can cause the inverter 10 to output an output voltage that takes dead time into consideration with respect to the required voltage.
  • the 3-pulse 1-pulse calculating section 180 does not need to correct the modulation factor MF.
  • the 3-pulse 1-pulse calculation unit 180 does not need to correct the phase angles ⁇ 1 and ⁇ 2 of the output voltage.
  • the dead time compensator 183 also calculates the amplitude error ⁇ A and the phase in the case between (6) 2 ⁇ + ⁇ vi ⁇ 2 ⁇ and (1) ⁇ vi ⁇ , such as in the interval [0, ⁇ ].
  • the angular error ⁇ may be calculated by linear interpolation from the amplitude error ⁇ A and the phase angle error ⁇ calculated in each range.
  • the dead time compensator 183 calculates the amplitude error ⁇ A and phase angle error ⁇ between (6) 2 ⁇ + ⁇ vi ⁇ 2 ⁇ and (1) ⁇ vi ⁇ . may be set to zero.
  • the firing angle calculation unit 184 calculates the firing angle ⁇ of the output voltage of the inverter 10 based on the amplitude error ⁇ A calculated as the dead time compensation amount and the modulation factor MF. Specifically, the firing angle calculation unit 184 adds the amplitude error ⁇ A calculated as the dead time compensation amount to the modulation rate MF as a manipulated variable, and calculates the firing angle ⁇ from the modulation rate MF to which the amplitude error ⁇ A is added. Calculate. Specifically, the firing angle calculating section 184 can calculate the firing angle ⁇ using Equation 35.
  • the phase angle calculation unit 185 calculates the phase angles ⁇ 1 and ⁇ 2 of the output voltage of the inverter 10 based on the phase angle error ⁇ calculated as the dead time compensation amount and the electrical angle ⁇ p of the motor 3.
  • the phase angle ⁇ 1 indicates the phase angle of the output voltage at the next control timing.
  • the phase angle ⁇ 2 indicates the phase angle of the output voltage at successive control timings.
  • the phase angle calculation unit 185 sets the electrical angle deviation ⁇ tc per carrier cycle calculated from the electrical angular velocity ⁇ of the motor 3 and the carrier cycle tc to be one sample delay of the phase angle.
  • the phase angle calculation unit 185 calculates phase angles ⁇ 1 and ⁇ 2 by adding the phase angle error ⁇ calculated as the dead time compensation amount to the previous voltage phase angle ⁇ v as a manipulated variable. Specifically, when the rotational speed of the motor 3 is positive, the phase angle calculating section 185 can calculate the phase angles ⁇ 1 and ⁇ 2 using Equation 36.
  • the phase angle calculation unit 185 can calculate the phase angles ⁇ 1 and ⁇ 2 by changing (+ ⁇ /2) on the right side of Equation 36 to ( ⁇ /2). can. Further, Equation 36 indicates phase angles ⁇ 1 and ⁇ 2 of one phase (for example, U phase) of the three phase voltages. When calculating the phase angles ⁇ 1 and ⁇ 2 of other phases (for example, V phase or W phase) of the three-phase voltage, the phase angle calculation unit 185 calculates the phase angles ⁇ 1 and ⁇ 2 calculated by Equation 36 in units of 120 deg. By shifting, the phase angles ⁇ 1 and ⁇ 2 of the other phases can be calculated.
  • Equation 36 indicates phase angles ⁇ 1 and ⁇ 2 of one phase (for example, U phase) of the three phase voltages.
  • the phase angle calculation unit 185 calculates the phase angles ⁇ 1 and ⁇ 2 calculated by Equation 36 in units of 120 deg. By shifting, the phase angles ⁇ 1 and ⁇ 2 of the other phases can be calculated.
  • the duty calculation unit 186 calculates each of the three-phase voltages from the firing angle ⁇ of the output voltage calculated by the firing angle calculation unit 184 and the phase angles ⁇ 1 and ⁇ 2 of the output voltage calculated by the phase angle calculation unit 185.
  • the duty ratio duvw in each phase is calculated to determine the position of each pulse edge (switch timing). Then, the duty calculation unit 186 outputs the calculated duty ratio duvw and the position of each pulse edge to the PWM pulse generation unit 150.
  • the PWM pulse generation section 150 generates a PWM pulse signal P according to the calculated duty ratio duvw and the position of each pulse edge, and outputs it to the gate circuit 160.
  • Gate circuit 160 outputs drive signal DR according to PWM pulse signal P to inverter 10.
  • Each semiconductor switch element of the inverter 10 is controlled on/off by a drive signal DR. Thereby, the output voltage of the inverter 10 is adjusted.
  • FIG. 12 is a diagram illustrating the effects of the inverter control device 100 shown in FIG. 1.
  • the inverter control device 100 of the first embodiment is a device that controls the switching operation of the inverter 10, which converts DC voltage into AC voltage and applies it to the motor 3, by pulse width modulation.
  • the inverter control device 100 of the first embodiment includes a dead time compensator 183 that performs dead time compensation to compensate for an error in the output voltage of the inverter 10 that occurs due to the dead time of the inverter 10.
  • the dead time compensator 183 calculates the dead time based on the difference ⁇ vi between the current phase angle ⁇ i indicating the phase angle for outputting the current of the motor 3 and the voltage phase angle ⁇ v for outputting the voltage corresponding to the current. Perform time compensation.
  • the inverter control device 100 of the first embodiment can perform dead time compensation for the required voltage, as shown in FIG. 12, and can match the output voltage of the inverter 10 with the required voltage. Therefore, the inverter control device 100 of the first embodiment can reduce voltage errors caused by dead time. Furthermore, the dead time compensator 183 of the first embodiment calculates the difference ⁇ vi between the voltage phase angle ⁇ v that can be calculated from the dq-axis voltage command value Vdq* and the current phase angle ⁇ i that can be calculated from the dq-axis current command value Idq*. Based on this, dead time compensation can be performed. Therefore, the inverter control device 100 of the first embodiment does not need to perform high-speed current detection as in the conventional case, and can easily perform dead time compensation. Therefore, the inverter control device 100 of the first embodiment can easily reduce voltage errors caused by dead time when switching from SVPWM control mode to 3-pulse control mode, and can suppress torque shock.
  • the inverter control device 100 of the first embodiment includes a modulation rate/voltage phase angle calculation unit 181 that calculates the modulation rate MF and voltage phase angle ⁇ v of the output voltage, and a current phase angle calculation unit 182 that calculates the current phase angle ⁇ i. and.
  • the inverter control device 100 of the first embodiment includes a firing angle calculation section 184 that calculates the firing angle ⁇ of the output voltage, and a phase angle calculation section 185 that calculates the phase angles ⁇ 1 and ⁇ 2 of the output voltage.
  • the dead time compensator 183 calculates at least one of an amplitude error ⁇ A and a phase angle error ⁇ of the output voltage caused by the dead time as a dead time compensation amount.
  • the firing angle calculation unit 184 calculates the firing angle ⁇ based on the amplitude error ⁇ A calculated as the dead time compensation amount and the modulation factor MF.
  • the phase angle calculation unit 185 calculates phase angles ⁇ 1 and ⁇ 2 based on the phase angle error ⁇ calculated as the dead time compensation amount.
  • the inverter control device 100 of the first embodiment adjusts the firing angle ⁇ and the firing angle ⁇ so as to correct the amplitude error ⁇ A and the phase angle error ⁇ even if the amplitude error ⁇ A and the phase angle error ⁇ vary depending on the range of the difference ⁇ vi.
  • Phase angles ⁇ 1 and ⁇ 2 can be calculated. Therefore, the inverter control device 100 of Embodiment 1 can eliminate the voltage error caused by the dead time even if the voltage error varies depending on the phase difference between the output voltage of the inverter 10 and the current flowing through the motor 3. Appropriate compensation can be provided. Therefore, the inverter control device 100 of the first embodiment can easily and reliably reduce voltage errors caused by dead time and reliably suppress torque shock.
  • the dead time compensator 183 performs dead time compensation when the switching operation is controlled by the 3-pulse control mode.
  • the inverter control device 100 of the first embodiment can easily reduce voltage errors caused by dead time and suppress torque shock when controlled in the 3-pulse control mode.
  • the inverter control device 100 of the first embodiment can suppress the torque shock that occurs when switching from the SVPWM control mode to the 3-pulse control mode as in the conventional case.
  • the inverter control device 100 of the first embodiment can suppress torque shock that occurs when switching from 3-pulse control mode to SVPWM control mode. Therefore, the inverter control device 100 of the first embodiment can stabilize the operation of the motor 3.
  • FIG. 13 is a configuration diagram of a 3-pulse 1-pulse calculating section 180 included in the inverter control device 100 of the second embodiment.
  • FIG. 14 is a table showing the relationship between the difference ⁇ vi between the voltage phase angle ⁇ v and the current phase angle ⁇ i, and the phase angle error ⁇ .
  • Embodiment 2 a case where the inverter control device 100 controls the switching operation in one-pulse control mode will be described as an example.
  • the dead time compensator 183 of the second embodiment calculates only the phase angle error ⁇ as the dead time compensation amount based on the difference ⁇ vi.
  • the phase angle calculation unit 185 of the second embodiment calculates the phase angles ⁇ 1 and ⁇ 2 of the output voltage based on the phase angle error ⁇ calculated as the dead time compensation amount and the electrical angle ⁇ p of the motor 3. Calculate.
  • the firing angle calculation unit 184 of the second embodiment calculates the firing angle ⁇ of the output voltage based on the uncorrected modulation factor MF.
  • the inverter control device 100 of the second embodiment does not need to calculate the amplitude error ⁇ A as the dead time compensation amount and does not need to correct the modulation factor MF, so the control logic is simpler than that of the first embodiment. be able to. Therefore, the inverter control device 100 of the second embodiment can more easily reduce voltage errors caused by dead time and suppress torque shock.
  • the dead time compensator 183 performs dead time compensation when the switching operation is controlled by the one-pulse control mode.
  • the inverter control device 100 of the second embodiment can easily reduce voltage errors caused by dead time and suppress torque shock when controlled in the one-pulse control mode.
  • the inverter control device 100 of the second embodiment can suppress torque shock that occurs when switching from three-pulse control mode to one-pulse control mode.
  • the inverter control device 100 of the second embodiment can suppress torque shock that occurs when switching from one-pulse control mode to three-pulse control mode. Therefore, the inverter control device 100 of the second embodiment can further stabilize the operation of the motor 3.
  • FIG. 15 is a configuration diagram of an inverter control device 100 according to the third embodiment.
  • reducing voltage errors caused by dead time is used not only to suppress torque shock but also to estimate the position of the rotor of the motor 3.
  • the inverter control device 100 of the third embodiment includes an induced voltage estimation axis deviation calculation section 141 and a speed phase estimation section 142 instead of the rotational position detection section 140 (or as a part of the rotational position detection section 140). Be prepared.
  • the other configuration of the inverter control device 100 of the third embodiment is the same as that of the first embodiment.
  • the induced voltage estimation axis deviation calculation unit 141 estimates the induced voltage E0 of the motor 3 from the dq-axis voltage command value Vdq*, the dq-axis current detection value Idq, and the speed command value ⁇ r* that commands the motor rotation speed. Then, the induced voltage estimated axis deviation calculation unit 141 calculates the estimated axis deviation value ⁇ p from the phase of the estimated induced voltage E0.
  • the speed phase estimation unit 142 estimates the rotational position ⁇ p, which is the position of the rotor of the motor 3, from the magnitude
  • a method for estimating the rotational position ⁇ p from the induced voltage E0 estimated using the dq-axis voltage command value Vdq* is disclosed in Japanese Patent No. 3411878.
  • the inverter control device 100 of embodiment 3 can use the method disclosed in Japanese Patent No. 3411878.
  • the inverter control device 100 of the third embodiment can reduce the voltage error caused by dead time, and therefore can improve the accuracy of estimating the rotational position ⁇ p.
  • 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)
  • Inverter Devices (AREA)

Abstract

Le but de la présente invention est de réduire facilement une erreur de tension provoquée par un temps mort, afin de supprimer un choc de couple. Ce dispositif de commande d'onduleur 100 commande, par modulation de largeur d'impulsions, une opération de commutation d'un onduleur 10 qui convertit une tension continue en une tension alternative et applique la tension alternative à un moteur 3. Le dispositif de commande d'onduleur 100 selon un mode de réalisation 1 comprend une unité de compensation de temps mort 183 qui effectue une compensation de temps mort pour compenser une erreur dans la tension de sortie de l'onduleur 10, l'erreur étant provoquée par le temps mort de l'onduleur 10. L'unité de compensation de temps mort 183 effectue une compensation de temps mort sur la base d'une différence θvi entre un angle de phase de courant électrique θi indiquant un angle de phase pour fournir en sortie le courant électrique du moteur 3, et un angle de phase de tension θv pour fournir en sortie une tension qui correspond au courant électrique.
PCT/JP2022/034104 2022-09-12 2022-09-12 Dispositif de commande d'onduleur WO2024057368A1 (fr)

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Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010104151A (ja) * 2008-10-23 2010-05-06 Toyota Motor Corp 交流電動機の制御装置および制御方法
JP2011015566A (ja) * 2009-07-03 2011-01-20 Mitsubishi Electric Corp 電力変換器の制御装置
JP2012105393A (ja) * 2010-11-08 2012-05-31 Mitsubishi Electric Corp Ｐｗｍインバータ装置
JP2012110079A (ja) * 2010-11-15 2012-06-07 Toshiba Corp 位置・速度センサレス制御装置

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010104151A (ja) * 2008-10-23 2010-05-06 Toyota Motor Corp 交流電動機の制御装置および制御方法
JP2011015566A (ja) * 2009-07-03 2011-01-20 Mitsubishi Electric Corp 電力変換器の制御装置
JP2012105393A (ja) * 2010-11-08 2012-05-31 Mitsubishi Electric Corp Ｐｗｍインバータ装置
JP2012110079A (ja) * 2010-11-15 2012-06-07 Toshiba Corp 位置・速度センサレス制御装置

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