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    • 专利摘要:
    "ELECTRIC MOTOR CONTROL DEVICE". In a main magnetic flux control, feedback is performed based on a deviation from a main magnetic flux. An electric motor controller (1) includes a first coordinate conversion unit (101) that converts a three-phase current ([I]) into a current ([i]) in a deltac-gamac rotary coordinate system, a first unit calculation (102) which obtains a supply term ([F]), a second calculation unit (103A) which obtains a voltage command value ([v *]) in the deltac-gamac rotary coordinate system as a sum of the supply term ([F]) and a feedback term ([B]), a second coordinate conversion unit (104) that converts coordinates of the voltage command value ([v *]) into one voltage command value ([I]) of a voltage to be applied to a rotating electric motor (3) in another coordinate system, and an integrator (106) that calculates a phase (theta) of a deltac axis with with respect to an axis based on a command value (omega *) of an angular speed of rotation.
    公开号:BR112015004312B1
    申请号:R112015004312-7
    申请日:2013-07-11
    公开日:2021-04-27
    发明作者:Takeshi Araki；Naoto Kobayashi；Nobuki Kitano
    申请人:Daikin Industries, Ltd；
    IPC主号:
    专利说明:

    TECHNICAL FIELD
    [001] The present invention relates to a technique for controlling a synchronous motor comprising a field and an armature.
    [002] More particularly, the present invention relates to a technique for controlling a rotary electric motor based on a so-called main magnetic flux which is a synthesis of a field flux that the field generates and a magnetic flux of a reaction of armature generated by a armature current flowing in the armature. BACKGROUND TECHNIQUE
    [003] Conventionally, several controls of a rotating electric motor have been proposed based on a main magnetic flux, that is, controls of a so-called main magnetic flux. In summary, the control of the main magnetic flux is a technique to stably control the rotary electric motor with the control of the main magnetic flux of the rotary electric motor according to a command value of the same.
    [004] It is assumed, for example, that a phase flow of field A0 is employed on a d axis in the rotary coordinate system, a phase of a main magnetic flux À1 is employed on an δ axis in another coordinate system rotary, and a phase difference of the δ axis with respect to the d axis is a loading angle 9. Here, however, a y axis is employed in a forward phase of 90 degrees with respect to the δ axis. In addition, an δc axis and a yc axis are defined as control axes in the rotating coordinate system that is used to control the main magnetic flux. The δc axis and the yc axis correspond to the δ axis and the y axis, respectively, and a phase difference of the δc axis with respect to the d axis is assumed to be 9c.
    [005] In this case, a master magnetic flux command value Àl (hereinafter referred to as a "master magnetic flux command value") has a component axis component δc Aδ *, and a component axis yc is zero. Therefore, when the main magnetic flux Àl is equal to the command value of the main magnetic flux, the axis component δc Xlδc of the main magnetic flux À1 will be equal to the axis component δc Aδ *, the phase difference 9c will be equal to the angle load 9, and the δc axis will coincide with the δ axis.
    [006] The δc Xlδc axis component and the ycÀlyc axis component of the main magnetic flux Àl vary with a change in the command value of the main magnetic flux, a change in a load, an influence of control disturbance, and / or the like . For example, changing the command value of the main magnetic flux and the change in load calls for a transient change in the main magnetic flux Àl, and the control disturbance calls for a variation in the yc / δc axis. As states where the control disturbance occurs, for example, the state where a voltage applied to the rotary electric motor is different from a voltage command due to the influence of a time delay, a loss, and a dead time, and a state where there is a deviation between a constant in the rotating electric motor device and that assumed by a control system. Therefore, there is a deviation between the main magnetic flux Àl and the command value of the main magnetic flux, consequently also a deviation between the charge angle 9 and the phase difference 9c.
    [007] In the control of the main magnetic flux, where there is a deviation between the main magnetic flux Àl and the command value of the main magnetic flux, a control, for example, of a voltage command value to be corrected is carried out in a way that the axis component δc Xlδc of the main magnetic flux Àl may be equal to the axis component δc of the command value of the main magnetic flux and the axis component yc Àlyc of the main magnetic flux Àl may become zero. The phase difference 9c is therefore coincident with the load angle 9
    [008] In such a control of the main magnetic flux, the control is made with a torque of the rotating electric motor that is formed in direct proportion to a component of the yc axis of an armature current, not depending on its angular speed of rotation.
    [009] Among the following documents of the prior art, in the Non-Patent Document 6, the yc axis and the δc axis are exchanged and used, as compared with those in the other prior art documents. DOCUMENTS FROM THE PREVIOUS TECHNIQUE PATENT DOCUMENTS
    [0010] Patent Document 1: Japanese Patent No. 3672761.
    [0011] Patent Document 2: Published Gazette of Japanese Patent Application No. 4-91693 NON-PATENT DOCUMENTS
    [0012] Non-Patent Document 1: Hotta, Asano and Tsuneshiro, "Method of controlling Position Sensorless DC brushless motor", 1988 Tokai-Section Joint Conference of the Institutes of Electrical and Related Engineers, p. 161
    [0013] Non-Patent Document 2: Kaku and Tsuneshiro, "A NovelTechnique for a DC Brushless Motor Having No Position-Sensors", 1990 Tokai-Section Joint Conference of the Institutes of Electrical Engineers, p. 172.
    [0014] Non-Patent Document 3: Kaku, Yamamura and Tsune-shiro, "A Novel Technique for a DC Brushless Motor Having No Position-Sensors", IEEJ Transaction on Industry Applications, 1991, Volume 111, No. 8, pp. 639 to 644.
    [0015] Non-Patent Document 4: Urita, Tsukamoto and Tsune-shiro, "Constant estimation method for synchronous machines with the primary magnetic flux controlled", 1998 Tokai-Section Joint Conference of the Institutes of Electrical Engineers, p. 101.
    [0016] Non-Patent Document 5: Urita, Yamamura and Tsune-shiro, "On General Purpose Inverter for Synchronous Motor Drive", IEEJ Transaction on Industry Applications, 1999, Volume 119, No. 3, pp. 707 to 712.
    [0017] Non-Patent Document 6: Yabe and Sakanobe, "A Sensor-less Drive of IPM Moor with Over-modulation PWM", The Papers of Joint Technical Meeting on Rotating Machinery, IEE Japan, 2001 (159), pp. 7 to 12. SUMMARY OF THE INVENTION PROBLEMS TO BE SOLVED BY THE INVENTION
    [0018] In Patent Document 1, feedback is obtained with the use of a deviation in a δ-axis component, not with the use of a y-axis component of the armature current. In addition, in Non-Patent Document 3, a range is assumed in which the load angle Φ can also approach a sinus sin valor value of the same.
    [0019] In any of the above documents, however, except for Non-Patent Document 6, with respect to an armature winding inductance, a d-axis component thereof and a y-axis component which is a 90 degree phase advance with it they are treated isotropically, and the technique cannot be applied to a rotating electric motor with a so-called protrusion, such as an internal permanent magnet rotating electric motor.
    [0020] In addition, the amount of feedback employed in any of the prior art documents does not include any load angle information 9. For example, a δ-axis current and a y-axis current are used in Patent Document 2 and in Non-Patent Documents 1, 2, 3 and 6 and the δ axis current is used in Patent Document 1 and in Non-Patent Documents 4 and 5, respectively, for the amount of feedback. For this reason, in an area where the charge angle 9 is large, the main magnetic flux cannot be controlled to a desired value. When a large torque is emitted, the load angle 9 will also become large. Therefore, in controlling conventional main magnetic flux, it is difficult to properly perform a stable drive or a high efficiency drive in the area where the torque is large.
    [0021] In order to solve the above problem, an objective of the present invention is to provide a technique to apply the control of the main magnetic flux to the rotating electric motor even showing a protrusion when executing a feedback based on the deviation of the main magnetic flux. Another objective of the present invention is to provide a control of the main magnetic flux in which a drive can be performed at a stable and high efficiency operating point even in an area where an output torque is large. MEANS TO SOLVE THE PROBLEMS
    [0022] An electric motor controller according to the present invention is a device for controlling a main magnetic flux ([Àl]) in a rotary electric motor including an armature with an armature winding and a rotor which is a field that rotates with In relation to the armature, the main magnetic flux being a synthesis of a field flux (A0) that the field generates and a magnetic flux (Àa: id Ld, iq Lq) of an armature reaction generated by an armature current ([I ]) that flows in the armature.
    [0023] A first aspect of the electric motor controller according to the present invention includes a first coordinate conversion unit (101) that converts the armature current into a first current ([i]) in a rotating coordinate system (δc - yc) presenting a predetermined phase (9c) with respect to the rotation of the rotor, a first calculation unit (102) that will add an inductive voltage (® *. [Al *]) by a command value of the main magnetic flux ( [Al *]) which is a command value of the main magnetic flux and a voltage drop ({R} [i]) by the first current based on a voltage equation, each time, when the electric motor obtains a first term ([F]), a second calculation unit (103A, 103B) that adds up said first term and a second term ([B]) obtained by executing an operation expressed by a nonzero matrix ({K}) in a deviation ([AA]) of the main magnetic flux from the command value of the main magnetic flux to obtain a first voltage command value ([v *]) which is a voltage command value to be applied to the rotary electric motor in the rotary coordinate system, and a second coordinate conversion unit (104) that converts the coordinates from the first voltage command value to a second voltage command value ([V *]) which is a voltage command value to be applied to the rotary electric motor in the other coordinate system.
    [0024] A second aspect of the electric motor controller according to the present invention is the first aspect thereof in which the second calculation unit (103A) employs an estimate value ([ÀlA]) of the main magnetic flux as the magnetic flux main.
    [0025] A third aspect of the electric motor controller according to the present invention, which is the second aspect thereof, additionally includes a main magnetic flux estimation unit (105) which obtains the estimation value ([ÀlA]) of the main magnetic flux of the predetermined phase (9c), a first component (Lq) orthogonal to the field flux of an inductance of the armature winding, a second component (Ld) in phase with the field flux of the inductance, the first current, and the field flow (A0).
    [0026] A fourth aspect of the electric motor controller according to the present invention, which is the second or third aspect thereof, additionally includes a main magnetic flux control correction unit (107) which corrects the control value of the main magnetic flux ([Al *]) to emit a master magnetic flux command correction value ([Al **]) using the predetermined phase (9c), a first component (Lq) orthogonal to the field flux of an inductance of the armature winding, a second component (Ld) in phase with the inductance field flow, the first current, the field flow (A0), and the estimate value ([AT]) of the magnetic flow main. The second calculation unit (103B) employs the master magnetic flux command correction value as the master magnetic flux command value.
    [0027] An estimated value of the predetermined phase can be used as the predetermined phase. For example, the predetermined phase (9c) is obtained from the first voltage command value ([v *]), a resistance value ({R}) of the armature winding, the first component (Lq), a speed rotation angle (® *) of the rotor, and the first chain ([i]). EFFECTS OF THE INVENTION
    [0028] In the electric motor controller of the first aspect according to the present invention, since the second term obtained based on the deviation of the main magnetic flux works as a feedback for the voltage command value, the second term presents information of a load angle, and even when the deviation between the predetermined phase and the load angle is large, it will be easier to perform the main magnetic flux control while correcting the deviation. In addition, the control of the main magnetic flux does not depend on whether there is a protrusion or not.
    [0029] In the electric motor controller of the second aspect according to the present invention, it is not necessary to perform a direct detection of the main magnetic flux.
    [0030] In the electric motor controller of the third aspect according to the present invention, it is possible to perform the control of the main magnetic flux while correcting the deviation of the load angle, regardless of whether or not there is a protrusion.
    [0031] In the electric motor controller of the fourth aspect according to the present invention, it is possible to obtain precision at the same level with the second or third aspect, regardless of a method of detecting or estimating the main magnetic flux.
    [0032] These and other objectives, characteristics, aspects and advantages of the present invention will become evident from the following detailed description of the present invention, when taken in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS
    [0033] Figures 1 to 3 are vector diagrams that illustrate a first preferred embodiment.
    [0034] Figures 4 and 5 are block diagrams that illustrate the preferred embodiment.
    [0035] Figure 6 is a block diagram illustrating a second preferred embodiment.
    [0036] Figure 7 is a vector diagram illustrating the preferred second embodiment.
    [0037] Figure 8 is a block diagram illustrating the second preferred embodiment.
    [0038] Figures 9 and 10 are block diagrams that illustrate a third preferred embodiment.
    [0039] And Figure 11 is a vector diagram that illustrates a variation. DESCRIPTION OF THE ACCOMPLISHMENTS
    [0040] In the following embodiments, the description will be made with a three-phase internal permanent magnet rotary electric motor taken as an example. It is obvious that a multiphase rotary electric motor, unlike the three-phase, is also applicable, as well as a rotary electric motor different from an internal permanent magnet type. FIRST PREFERRED ACHIEVEMENT
    [0041] Figures 1 and 2 are vector diagrams, each illustrating a control of the main magnetic flux.
    [0042] In the control of the main magnetic flux, an δc-yc coordinate system that is in phase advance is adjusted with a dq coordinate system (a d axis in phase with an A0 field flow, a q axis is in advance 90 degree phase with the d axis) with reference to a field flow phase A0 (that is, with the rotation of a rotor), by a phase difference 9c. Then, a voltage to be applied to the rotary electric motor (an axis component y and an axis component δ of the same are assumed to be vyc and vδc, respectively) is adjusted so that an axis δc can coincide with an axis δ, which is in phase with the main magnetic flux.
    [0043] First, Figure 1 shows a case where the difference in phase 9c coincides with the charge angle 9. As shown in Figure 1, a magnetic flux Aa of an armature reaction is a synthesis of a magnetic flux Lq. ip in a positive direction of the q axis and a magnetic flux Ld. id in a negative direction of the d axis. Then, the main magnetic flux is a synthesis of the magnetic flux Àa and the field flux A0 and assumes a positive value Aδ (coinciding with a command value Aδ * of the same) on the δ axis (coinciding with the δc axis in Figure 1) .
    [0044] An inductive voltage ®. Aδ (= ®. Aδ *) by the main magnetic flux appears on a yc axis (here, coinciding with a y axis). In addition, for the purpose of explanatory convenience, when it is understood that the inductive voltage ®. A0 in a case where the armature reaction is disregarded (in other words, the magnetic flux Àa = 0) is assumed to be an inductive voltage by the field flow, the inductive voltage ®. A0 will appear on the q axis.
    [0045] Therefore, the inductive voltage by the armature reaction is represented as a synthesis of a voltage ®. Lq. iq in the negative direction of the d axis and a voltage ®. Ld. Id in a negative direction of the q axis.
    [0046] With the introduction of a resistance value R of a armature winding, a voltage drop by a armature current appears as a voltage R. iδc on the δc axis and as a voltage R. iyc on the yc axis.
    [0047] Therefore, assuming that the yc axis component and the δc axis component of the voltage to be applied to the rotary electric motor are a vyc voltage and a vδc voltage, respectively, when the main magnetic flux coincides with the value for controlling the main magnetic flux, vyc - R. iyc = ®. Aδ *, vδc = R. iδc will be true, as shown in Figure 1.
    [0048] Now, the δc Xlδc axis component and / or the ycÀlyc component of the main magnetic flux Àl vary with a variation in load, an influence of control disturbance, and / or the like. Therefore, as shown in Figure 2, a deviation appears between the phase difference ΦC and the load angle 9. From the definition of the δ axis, since the magnetic flux does not present any component of the y axis, the magnetic flux main which actually occurs is also referred to as an Aδ main magnetic flux.
    [0049] In the rotating coordinate system δc-yc in which the main magnetic flux control is carried out, a control is made so that the axis component δc Xlδc of the main magnetic flux Aδ can coincide with (an axis component δc Aδ * do) command value of the main magnetic flux and the yc axis component Àlyc of the main magnetic flux Aδ can coincide with the (a yc axis component Ay * - 0 do) command value of the main magnetic flux.
    [0050] In order to make the δc Xlδc axis component coincident with the δc Aδ * axis component of the command value of the main magnetic flux, the inductive voltage ®. Aδ * on the yc axis must appear. Also taking into account the voltage drop in the armature winding, it is necessary to adjust the voltage command value as a sum of the inductive voltage ®. Aδ * and the voltage drop. Here, the sum is represented as a power term [F] = [Fy Fδ] t (the first component represents the yc axis component and the last component represents the δc axis component: the exponent "t" represents a transposition of a matrix: the same applies to the following, unless otherwise indicated). Equations (1) and (2) are derived from a voltage equation for a rotating electric motor, where a differential operator p is introduced.

    [0051] In Equation (1), it can be understood that a matrix {R} is a tensor that indicates a resistance of the armature winding, and, as shown in Equation (2), the matrix {R} has the same component R both on the δc axis and on the yc axis and components outside the diagonal are zeros. In addition, a current vector [i] = [iyc iδc] t is introduced indicating a current flowing in the armature winding. The first term on the right side of each of Equations (1) and (2) represents a voltage drop {R} [i]. The third term in Equation (2) is a transitory term and can be disregarded. This is due to the fact that an influence of the transient term can also be treated as the deviation between the charge angle Φ and the phase difference Φβ, as described above.
    [0052] Furthermore, assuming that both the δc axis and the δ axis rotate with respect to the d axis at an angular velocity ® that is equal to a command value ® * of the angular velocity, ® = ® *. With proper execution of the main magnetic flux control, ® = ® * is true.
    [0053] When the phase difference Φc is equal to the load angleΦ, since the axis component δc Aδ * of the command value of the main magnetic flux [Al *] = [0Aδ *] t in the rotating coordinate system δc -yc coincides with the main magnetic flux Aδ, the supply term [F] will be the voltage command value [v *] for the rotary electric motor (see also Figure 1).
    [0054] When the y-axis does not coincide with the yc-axis, however, the phase (Φc - Φ) will not be resolved using only the supply term [F] as the voltage command value. In the control of the main magnetic flux, since no control is made based on the deviation from the voltage command value [v *] of the voltage [v] to be applied to the rotary electric motor, a voltage deviation [ve ] = [v] - [v *]. The phase difference (9c - 9) therefore remains. Therefore, in order to resolve the phase difference (90 - 9) (in order to make 9c = 9), how the voltage command value [v *] = [vyc * vδc] must be determined with respect to the flow main magnetic Aδ, a vector represented in a position obtained with the rotational transfer of the supply term [F] represented in a position J1 must be used to be in phase advance by the phase difference (9c - 9) (in the direction of direction) counterclockwise in Figure 2). This is due to the fact that only with the supply term [F], a voltage [v] appears in a phase delayed position with the voltage command value [v *] by the phase difference (9c - 9) .
    [0055] The operation of the matrix of such a rotational transfer of the vector, however, cannot be performed. This is due to the fact that the loading angle 9 that actually arises is not known.
    [0056] As is clear from Figure 2, the difference between the J1 and J2 positions is caused by the difference [AA] = [0-Àlyc Aδ * -Xlδc] t between the magnetic flux in the control of the main magnetic flux, which assumes the command value of the main magnetic flux Aδ * in the rotating coordinate system δc-yc (on the δc axis), and the main magnetic flux Aδ that effectively appears in the rotating coordinate system δ-y (on the δ axis). The difference is understood, by the substances of the same, as the deviation of the magnetic flux in relation to the command value of the main magnetic flux.
    [0057] Therefore, with the calculation of the voltage command value [v *] with the sum of the feedback term [B] = [By Bδ] t and the supply term [F] (see Figure 3), despite the presence of the voltage deviation [ve], it is possible to reduce the difference between the supply term [F] and the voltage [v]. Now, the feedback term [B], however, can be obtained by Equations (3) and (4).

    [0058] At least one of the components Kyy, Kyδ, Kδy and Kδδ in a matrix {K} to perform an arithmetic operation on the deviation [AA] of the magnetic flux is not zero. In other words, the matrix {K} is a nonzero matrix.
    [0059] The feed term [F] functions as a feed based on the armature current and the feed term [B] works as a feed based on the deviation of the magnetic flux.
    [0060] When the two elements of a column vector [Kyy Kδy] that form the matrix {K} are not zero, for example, the yc axis component (-Àlyc) of the magnetic flux deviation can be fed back into the voltage command value [v *] with respect to both the yc axis and the δc axis. Alternatively, when the two elements of a column vector [Kyδ Kδδ] t are not zero, the axis component δc (Aδ * -Xlδc) of the magnetic flux deviation can be fed back into the voltage command value [v *] with both the yc axis and the δc axis.
    [0061] Furthermore, when both column vectors [Kyy Kδy] t and [Kyδ Kδδ] t are non-zero vectors, the magnetic flux component of both axes can be fed back, so it is possible to improve stability and stability. control system responsibility.
    [0062] Since the feedback term [B] functions as the feedback based on the deviation [AA] with respect to the voltage command value, if the phase difference 9c is deviated with respect to the load angle 9, it will become easier to perform main magnetic flux control with offset correction. In accordance with Figure 3, the deviation [AA] decreases, the phase difference 9c approaches the load angle 9, and the yc axis approaches the y axis. Then, when such feedback proceeds and the yc axis becomes coincident with the y axis, Àlyc = 0 and Xlδc = Aδ *, and the state shown in Figure 1 will be reached. In other words, Figure 3 is a vector diagram showing a condition as the phase difference 9c approaches the charge angle 9.
    [0063] As is clear from Equation (4), the voltage command value can be determined taking into account the feedback based on the [AA] deviation of the main magnetic flux. The matrix {K} that functions as a feedback gain may or may not have a diagonal component or a component outside the diagonal, only if the matrix {K} is a non-zero matrix. In addition, each component can include an integral element.
    [0064] Based on the above idea, Figure 4 is a block diagram showing a configuration of an electric motor controller 1 according to the present embodiment and its peripheral devices.
    [0065] A rotary electric motor 3 is a three-phase electric motor, and includes an armature not shown and a rotor that is a field. As a good technical sense, the armature has a armature winding and the rotor rotates with respect to the armature. The field includes, for example, a magnet that generates a field flow. Here, the description will be made in a case where a type of internal permanent magnet is adopted.
    [0066] A voltage supply source 2 includes, for example, a voltage control type inverter and a control unit thereof, and applies a three-phase voltage to the rotary electric motor 3 based on a three-phase voltage command value [ V *] = [Vu * Vv * Vw *] t. A three-phase current [I] = [Iu Iv Iw] t thus flows on the rotary electric motor 3. The components that the voltage command value [V *] and the three-phase current [I] have are, for example, described as a phase U component, a phase V component, and a phase W component, in that order.
    [0067] Electric motor controller 1 is a device for controlling the main magnetic flow [Al] and the speed of rotation (hereinafter, shown as the angular speed of rotation) in the rotary electric motor 3. The main magnetic flow [Àl] is a synthesis of the field flux A0 that a field magnet generates and the magnetic flux Aa (see the components of Figure 1, i. Ld, iq. Lq in Figure 1) of the armature reaction generated by the armature current (ie also the three-phase current [I]) that flows in the armature. The magnitude of the magnetic flux [Àl] is an Aδ component on the effective δ axis, and is represented as [Al] = [Alyc Alδc] t in the rotating coordinate system δc-yc. In the present embodiment, the main magnetic flux [Àl] is treated as an observable value or an already estimated value.
    [0068] Electric motor controller 1 includes a first coordinate conversion unit 101, a first calculation unit 102, a second calculation unit 103A, a second coordinate conversion unit 104, and an integrator 106.
    [0069] The first coordinate conversion unit 101 converts the three-phase current [I] into a current [i] in the rotary coordinate system δc-yc where the main magnetic flux control is performed.
    [0070] The first calculation unit 102 obtains the power term [F]. The second calculation unit 103A obtains the voltage command value [v *] in the rotating coordinate system δc-yc as a sum of the supply term [F] and the feedback term [B].
    [0071] The second coordinate conversion unit 104 performs a coordinate conversion of the voltage command value [v *] into a voltage command value [V *] of a voltage to be applied to the rotary electric motor 3 in the other coordinate system. This "other coordinate system" can be, for example, a rotary coordinate system dq, a fixed coordinate system α-β (for example, the axis α is adjusted in phase with the phase U), or a coordinate system fixed uvw, or a polar coordinate system. Which of the coordinate systems is used as "another coordinate system" depends on which control the voltage supply source 2 performs. For example, when the voltage command value [V *] is set in the rotary coordinate system dq, [V *] = [Vd * Vq *] t (where the first component is the axis component d and the last component is the q axis component).
    [0072] Integrator 106 calculates a phase θ of the δc axis with respect to the α axis based on the angular speed of rotation ®. Based on phase θ, the first coordinate conversion unit 101 and the second coordinate conversion unit 104 can perform the above coordinate conversion. The angular speed of rotation ® is obtained as an output of a substrate 109. The angular speed of rotation ® is obtained by subtracting a value multiplied Km times, in a constant multiplier unit 108, from the axis component yc iyc of the current [ i] that had its DC component removed in a high-pass filter 110, from a command value ® * of the angular speed of rotation in a subtractor 109. When the control of the main magnetic flux is properly performed, ® = ® *, as described above.
    [0073] Figure 5 is a block diagram showing configurations of the first calculation unit 102 and the second calculation unit 103A. In Figure 5, a reference sign "x" surrounded by a circle represents a multiplier, a reference sign "+" surrounded by a circle represents an adder, and a circle to which the reference signs "+ -" are linked represents a subtractor. Since the resistance value R, the command value of the main magnetic flux Aδ * = 0 on the yc axis, the feedback gains Kyy, Kyb, Kδy and Kδδ are already known, these can be adjusted in the first calculation unit 102 and in the second calculation unit 103A. SECOND ACHIEVEMENT
    [0074] The present embodiment shows a technique in which the electric motor controller 1 obtains an estimate value [ÀlA] of the main magnetic flux [Xl].
    [0075] As shown in Figure 6, the configuration of the electric motor controller 1 of the present embodiment additionally includes a main magnetic flux estimation unit 105 that of the electric motor controller 1 of the first embodiment. Like the main magnetic flux [Xl], the second calculation unit 103A employs the estimate value [XlA] of the same.
    [0076] In general, the field flow phase A0 is used on the d axis, and a q axis that is in a 90 degree phase advance with it is assumed. When such a rotary coordinate system dq rotates at angular velocity ®, with the introduction of a d-axis voltage vd which is a component of the d-axis of the voltage to be applied to the rotary electric motor, of a q-axis voltage vq which is a q-axis component of the voltage to be applied to the rotary electric motor, a d-axis inductance Ld which is a d-axis component of the armature winding inductance, a q-axis inductance Lq which is an axis component q of the inductance of the armature winding, and of the differential operator p, Equation (5) will be maintained.

    [0077] The above equation is expressed in a rotating coordinate system Ç-n that has an Ç axis that rotates while maintaining the y-phase difference with respect to the axis of an n-axis in a 90-degree phase advance with the axis Ç, the following Equations (6), (7), and (8) being maintained. It is noted that an axis component Ç ié of the armature current, an axis component in the armature current, an axis component Ç vé and an axis component n vn of the voltage to be applied to the rotary electric motor are introduced, and an axis component Ç ÀÇ and an axis component Аn of the main magnetic flux. Here, it is not assumed that the control of the main magnetic flux is performed.

    [0078] The first term on the right side of Equation (7) is a magnetic flux (armature reaction) generated by the armature current flow, and the second term is a magnetic flux that contributes to the A0 field flux.
    [0079] Since Equations (6), (7) and (8) are maintained, notwithstanding the difference in phase y, if the difference in phase y is replaced by the difference in phase 9c, in other words, the coordinate system rotary Ç-n is replaced by the rotary coordinate system δc-yc, and the meanings of Equations (6), (7) and (8) will not be changed. Once the phase of the effective main magnetic flux Aδ showing the charge angle 9 with respect to the d axis is assumed on the δ axis, with the above substitution, the value ÇC will represent the component of the δc Xlδc axis of the main magnetic flux Aδ and the Àn value will represent the yc Àlyc axis component of the magnetic flux Aδ in Equation (7). The vector diagram, at this point, is shown in Figure 7.
    [0080] Therefore, from the phase difference 9c, the axis inductance d Ld, the axis inductance q Lq, the armature currents iyc and iδc, and the field flow A0, the magnetic flux estimate value [ Àl], [XlA] = [XlycAXlδcA] t will be obtained by Equations (9) and (10).

    [0081] Here, a field flow vector is introduced [A0] = [A0.sinc9c A0. cos9c] t, representing the field flow A0 in the rotating coordinate system δc-yc.
    [0082] Furthermore, it can be understood that a matrix {L} in Equation (9) is a coefficient of the current vector [iyc iδc] of the first term on the right side in Equation (10) and a tensor in which the inductance of the winding of induced is expressed in the rotating coordinate system δc-yc. When the rotating electric motor does not show any protrusion, since Ld = Lq, as is clear from Figure 10, the component outside the diagonal of the matrix {L} will be zero. In other words, Equation (10) can be used in the rotary electric motor with a protrusion.
    [0083] It can be understood that the first term on the right side of each of Equations (9) and (10) is the magnetic flux caused by the armature reaction.
    [0084] In addition, the 9c phase difference can employ an estimated value based on Equation (11). In this case, the voltages used vyc and vδc can use the voltage command values already obtained vyc * and vδc * to be used to estimate a new phase difference 9c.
    [0085] Figure 8 is a block diagram showing a configuration of the main magnetic flux estimation unit 105. The main magnetic flux estimation unit 105 includes a delay unit 105a, a load angle estimation unit 105b , an armature reaction estimation unit 105c, a field flow vector generation unit 105d, and an adder 105e.
    [0086] The armature reaction estimation unit 105c still introduces the 9c phase difference, the d-axis inductance Ld, the q-axis inductance Lq, and the armature currents iyc and iδc, and calculates the first term on the right side of Equation (10). Figure 8 uses the expression {L} [i] of the first term on the right side of Equation (9), and the two values of the yc axis component and the δc axis component that are emitted are indicated by two bars.
    [0087] The field flow vector generation unit 105d introduces field flow A0 and calculates the second term on the right side of Equation (10). Figure 8 uses the expression [A0] of the second term on the right side of Equation (9), and the two values of the yc axis component and the δc axis component that are emitted are indicated by two bars.
    [0088] The adder 105e performs the addition on the two components, the yc axis component and the δc axis component, to obtain the addition of the first term and the second term on the right side in each of Equations (9) and (10 ), and outputs the estimated value [ÀlA] of the main magnetic flux.
    [0089] In order to estimate the phase difference 9c, the voltage command values vyc * and vδc * obtained by the second calculation unit 103A in the immediately preceding control time are used. In other words, the delay unit 105a delays the voltage command values vyc * and vδc * obtained by the second calculation unit 103A and the load angle estimation unit 105b calculates the phase difference 9c according to Equation ( 11) in the control time immediately following. In addition, instead of using the voltage command values vyc * and vδc * obtained in the immediately preceding control time, the voltage command values vyc * and vδc * that were obtained at this point in time can be used. In this case, the delay unit 105a can be omitted.
    [0090] In the present embodiment, it is not necessary to perform direct detection of the main magnetic flux. In addition, the main magnetic flux can be estimated, regardless of whether or not there is a protrusion, and the control of the main magnetic flux is performed while correcting the phase difference offset 9c.
    [0091] Thus, with the execution of the main magnetic flux estimate with phase difference 9c, which is a parameter with a strong correlation with an output torque, it is possible to estimate the main magnetic flux with high precision even in the area where the output torque is large. This makes a drive of the rotary electric motor 3 stable in the area where the output torque is large, in other words, an area is extended where the rotary electric motor 3 can be stably driven. In addition, even in the area where the output torque is large, the rotary electric motor 3 can be driven in a highly efficient operating point. THIRD ACHIEVEMENT
    [0092] In the present embodiment, a technique is shown to obtain the effect shown in the second embodiment, when the electric motor controller 1 obtains the estimate value or a measured value of the main magnetic flux [Xl].
    [0093] As shown in Figure 9, the motor controller 1 of the present embodiment has a constitution in which the second calculation unit 103A is replaced by a second calculation unit 103B and a main magnetic flow control correction unit 107 is additionally included in the constitution of the electric motor controller 1 of the second embodiment.
    [0094] Now, it is assumed that the main magnetic flux [Xl] = [Xlyc Xlδc] t is estimated by a different method than the one shown in the second embodiment. A correction value [Ay ** Aδ **] t of the main magnetic flux command (hereinafter, also referred to as a main magnetic flux command correction value [Al **]), which satisfies the following Equation (12) together with the main magnetic flux [Xl], it is obtained by Equation (13). In this equation, the estimate value [ÀlA] of the main magnetic flux is introduced, which is described in the second embodiment. In addition, for easy understanding, a y-axis component Ay * of the command value of the main magnetic flux is also clearly specified (effectively, Ay * = 0).

    [0095] With the execution of the main magnetic flux control in the second embodiment, the right side of Equation (12) becomes zero. Therefore, when the main magnetic flux control is performed on the main magnetic flux [Àl] based on the command correction value of the main magnetic flux [Al **] obtained by Equation (13), the same effect can be obtained as produced in the second preferred embodiment. In other words, it is natural that it is not necessary to perform direct detection of the magnetic flux, and it is also possible to perform the control of the main magnetic flux while correcting the 9c phase difference deviation, depending on the method of measuring or estimating. the main magnetic flux [Àl], regardless of whether or not there is a protrusion.
    [0096] In this case, it is not necessary to replace the command value of the main magnetic flux [Al *] in the supply term [F] with the command correction value of the main magnetic flux [Al **]. As can be understood from Figure 2, this is due to the fact that the inductive voltage ®. Aδ * appearing on the yc axis to be determined, regardless of whether or not there is a deviation [AA].
    [0097] On the other hand, the feedback term [B] is determined based on the deviation between the main magnetic flux [Àl] and the command correction value of the main magnetic flux [Al **]. Therefore, with the introduction of the magnetic flux deviation, [AA '] = [Ay ** - Àlyc Aδ ** - Xlδc] t, the feedback term [B] is obtained by the following equations.

    [0098] Figure 10 is a block diagram showing a configuration of the first calculation unit 102 and a second calculation unit 103B. As described above, since the power term [F] uses the command value of the main magnetic flux [Al *], instead of the command correction value of the main magnetic flux [Al **], the first calculation unit 102 is also employed in the present embodiment, as in the first and second peripheral embodiments.
    [0099] On the other hand, since the calculation to obtain the feed-in term [B] uses the command correction value of the main magnetic flux [Al **], the second calculation unit 103B will present a configuration that is slightly different that of the second calculation unit 103A. Specifically, since Ay * = 0 in the second calculation unit 103A, this is not introduced, but is prepared in the second calculation unit 103A. On the other hand, in the second calculation unit 103b, the axis component yc Ay ** of the command correction value of the main magnetic flux [Al **] is introduced. In addition, although the command value Aδ * is entered in the second calculation unit 103A, the axis component δc Aδ ** of the command correction value of the main magnetic flux [Al **] will be entered in the second calculation unit 103B . In the configuration shown in Figure 10, other configurations will be the same as the configuration shown in Figure 5.
    [00100] The main magnetic flux control correction unit 107 still introduces the main magnetic flux control value [Al *], the estimate value [ÀlA] of the main magnetic flux (calculated by the magnetic flux estimation unit) main 105, as described in the second embodiment), and the magnetic flux [Àl] that is estimated by another method. Then, with the execution of the calculation of Equation (13), the command correction value of the main magnetic flux [Al **] is emitted. VARIATIONS
    [00101] Estimates of the main magnetic flux [Àl] by methods other than the method shown in the second embodiment will be exemplified below.
    [00102] With reference to Figure 7, taking into account the yc axis component (vyc-R. Iyc) and the δc axis component (vδc-R. Iδc) of an internal inductive voltage ®. Aδ, the estimate values ÀlycA and XlδcA of the main magnetic flux Aδ are obtained as - (vδc-R. Iδc) / ® (vyc-R. Iyc) / w, respectively.
    [00103] Furthermore, when the estimate value AδA of the main magnetic flux Aδ is obtained, with reference to Figure 7, adjusting X = Φ-ΦC. an estimate value% A of the% angle will be obtained by Equation (16).

    [00104] Therefore, the estimate values ÀlycA and XlδcA are obtained as -sin (XA). AδAe cos (XA). AδA, respectively.
    [00105] Now, the estimate value AδA of the main magnetic flux Aδ can be calculated using, for example, the estimate value of the main magnetic flux in the fixed coordinate system α-β of the rotary electric motor 3. Here, the fixed coordinate system α-β presents the α axis and the β axis, and employs the β axis in the 90-degree phase advance with the α axis. As previously described, for example, the α axis is adopted in phase with the U phase.
    [00106] With the introduction of an axis component α XlαA, and an axis component β XlβA of the estimate value AδA of the main magnetic flux Aδ, the estimate value AδA of the main magnetic flux Aδ will be obtained by Equation (17) .

    [00107] Now, as shown in Equation (18), the axis component α XlαA and axis component β XlβA can be obtained by integrating the axis component α V0α and the axis component β V0β of the internal inductive voltage ®. Aδ with respect to time. The axis component α V0α can be calculated as Vα-R. iα of a component of axis α Vα of an applied voltage V observed outside and a component of axis α iα of the current [I] flowing in the rotary electric motor 3. Similarly, the component of axis β V0β can be calculated as Vβ-R . iβ of an β Vβ axis component of the observed applied voltage V and an iβ component of the current [i] flowing in the rotary electric motor 3. The applied voltage V is obtained, for example, from the three-phase voltage supplied from the supply source of power 2 for the rotary electric motor 3 in accordance with Figure 4.

    [00108] Furthermore, when the α XlαA axis and the β XlβA axis component are obtained, the estimation values ÀlycA and 7lδcA may also be obtained by another method. In other words, the estimate values ÀlycA and XlδcA can be obtained by Equation (19) using the phase θ of the δc axis with respect to the α axis.

    [00109] In addition, the axis component α XlαA and the axis component β XlβA can be obtained by another method. As described above, once the applied voltage V can be obtained from the three-phase voltage supplied from the power supply source 2 to the rotary electric motor 3, the U Vu phase component, the V Vv phase component, and the phase W Vw can be measured. As described above, the three-phase current Iu, Iv and Iw flowing in the rotary electric motor 3 can be measured. Therefore, the phase component U ÀluA, the phase component V ÀlvA, and the phase component W XlwA of the estimate value AδA of the main magnetic flux Aδ can be obtained by Equation (20), as by Equation (18).

    [00110] With the execution of the coordinate conversion of the UVW phases and the fixed coordinate system α-β, the axis component α ÀlaA and the axis component β XlβA can be obtained by equation (21). Therefore, with the additional use of Equation (19), the estimate values ÀlycA and XlδcA can be obtained.

    [00111] When the complete integration is performed in the integral calculation of Equations (18) and (20), the DC component will be superimposed and the error in the estimation of the magnetic flux will therefore become greater. Therefore, it is preferable to perform the well-known incomplete integration.
    [00112] In addition, instead of Equation (11), the phase difference Φc can be estimated as follows. Although Figure 11 corresponds to Figure 7, a q 'axis is used again. Here, the axis q 'is adopted in phase with a voltage V'. The voltage V 'is a synthesis of the inductive voltage ®. Aδ flowed by the main magnetic flux and a voltage presenting a component of axis δc ®. Ld. Iyc and a yc axis component (-®. Ld.iδc).
    [00113] With the introduction of a front phase angle Φc 'of the yc axis seen from the q axis and of a front phase angle Ç of the q axis seen from the q axis, an estimated value of the phase difference 9c can be obtained as a sum of the angles 9 'and ^ - Then, the angles 9' and Ç can be obtained by Equations (22) and (23), respectively.

    [00114] In any of the preferred embodiments described above, the electric motor controller 1 includes a microcomputer and a memory device. The microcomputer performs each step of the process (in other words, each procedure) described in a program. The above memory device may consist of one or a plurality of memory devices, such as an exclusive read-only memory (ROM), a random access memory (RAM), a rewritable non-volatile memory, (programmable and erasable ROM (EPROM) or similar), a hard disk drive, and the like. The memory device stores various information and data and the like in it, it also stores a program to be executed by the microcomputer, and provides a work area for executing the program.
    [00115] It can be understood that the microcomputer works as several means corresponding to each of the process steps described in the program, or that the microcomputer implements several functions corresponding to each of the process steps. In addition, electric motor controller 1 is not limited to it, and some or all of the various procedures performed by electric motor controller 1, or some or all of the various means or various functions implemented by electric motor controller 1 can be achieved. by hardware.
    [00116] While the invention has been shown and described in detail, the foregoing description is in all respects illustrative and not restrictive. Therefore, it is understood that countless modifications and variations can be devised without departing from the scope of the invention.
    权利要求:
    Claims (8)
    [0001]
    1. Electric motor controller, which is a device for controlling a main magnetic flux ([À1]) in a rotary electric motor that includes a armature with a armature winding and a rotor which is a field that rotates with respect to the armature, the main magnetic flux being a synthesis of a field flux (A0) that the field generates and a magnetic flux (Àa: id. Ld, iq. Lq) of an armature reaction generated by an armature current ([I]) flowing in the armature, comprising: a first coordinate conversion unit (101) which converts the armature current into a first current ([i]) in a rotating coordinate system (δc-yc) presenting a predetermined phase (90) with respect to the rotation of the rotor, a first calculation unit (102) that adds an inductive voltage (® *. [A1 *]) by a main magnetic flux command value ([A1 *]) which is a command value of the main magnetic flux and a voltage drop ({R} [i]) by the first u-based current a voltage equation of the rotating electric motor to obtain a first term ([F]), a second calculation unit (103A, 103B) that adds the first term and a second term ([B]) obtained by executing an operation expressed by a nonzero matrix ({Z}) in a deviation ([ΔA]) of the main magnetic flux from the main magnetic flux command value to obtain a first voltage command value ([v *]) which is a command value of a voltage to be applied to the rotary electric motor in the rotary coordinate system; a second coordinate conversion unit (104) that converts coordinates of the first voltage command value to a second voltage command value ([V *]) which is a voltage command value to be applied to the rotary electric motor in another coordinate system, characterized by the fact that the second calculation unit (103A) employs an estimate value ([À1A]) of the main magnetic flux as the main magnetic flux.
    [0002]
    2. Electric motor controller, according to claim 1, characterized by the fact that it additionally comprises: a main magnetic flux estimation unit (105) which obtains the estimation value ([ÀF]) of the main magnetic flux of the phase predetermined (9c), a first component (Lq) orthogonal to the field flow of an armature winding inductance, a second component (Ld) in phase with the inductance field flow, the first current, and the field flow ( A0).
    [0003]
    3. Electric motor controller according to claim 1, characterized by the fact that it additionally comprises: a main magnetic flux control correction unit (107) that corrects the main magnetic flux control value ([A1 *] ) to output a master magnetic flux command correction value ([A1 **]) using the predetermined phase (9c), a first component (Lq) orthogonal to the field flow of an inductance of the armature winding , a second component (Ld) in phase with the inductance field flow, the first current, the field flow (A0), and the estimate value ([À1A]) of the main magnetic flux, where the second calculation unit (103B) employs the main magnetic flux command correction value as the main magnetic flux command value.
    [0004]
    4. Electric motor controller according to claim 2, characterized by the fact that it additionally comprises: a main magnetic flux control correction unit (107) which corrects the main magnetic flux control value ([A1 *] ) to issue a master magnetic flux command correction value ([A1 **]) using the predetermined phase (9c), the first component (Lq), the second component (Ld), the first current, the field flow (A0), and the estimate value ([À1A]) of the main magnetic flux, where the second calculation unit (103B) employs the main magnetic flux command correction value as the magnetic flux command value main.
    [0005]
    5. Electric motor controller, according to claim 2, characterized by the fact that an estimated value of the predetermined phase is used as the predetermined phase.
    [0006]
    6. Electric motor controller, according to claim 3, characterized by the fact that an estimated value of the predetermined phase is used as the predetermined phase.
    [0007]
    7. Electric motor controller, according to claim 4, characterized by the fact that an estimated value of the predetermined phase is used as the predetermined phase.
    [0008]
    8. Electric motor controller according to any of claims 5 to 7, characterized by the fact that the estimated value of the predetermined phase (9c) is obtained from the main magnetic flux command value ([A1 *]), from a resistance value ({R}) of the armature winding, the first component (Lq), an angular speed of rotation (® *) of the rotor, and the first current ([i]).
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    同族专利:
    公开号 | 公开日
    JP5494760B2|2014-05-21|
    US20150229258A1|2015-08-13|
    CN104584419A|2015-04-29|
    WO2014034291A1|2014-03-06|
    EP2892147A1|2015-07-08|
    CN104584419B|2018-01-12|
    BR112015004312A2|2017-07-04|
    AU2013310516A1|2015-04-09|
    BR112015004312A8|2019-08-13|
    EP2892147B1|2018-09-05|
    ES2690535T3|2018-11-21|
    AU2013310516B2|2016-01-07|
    EP2892147A4|2016-08-03|
    JP2014050172A|2014-03-17|
    US9479100B2|2016-10-25|
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    法律状态:
    2018-12-04| B06F| Objections, documents and/or translations needed after an examination request according [chapter 6.6 patent gazette]|
    2019-12-24| B06U| Preliminary requirement: requests with searches performed by other patent offices: procedure suspended [chapter 6.21 patent gazette]|
    2021-03-23| B09A| Decision: intention to grant [chapter 9.1 patent gazette]|
    2021-04-27| B16A| Patent or certificate of addition of invention granted|Free format text: PRAZO DE VALIDADE: 20 (VINTE) ANOS CONTADOS A PARTIR DE 11/07/2013, OBSERVADAS AS CONDICOES LEGAIS. |
    优先权:
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    JP2012-189804|2012-08-30|
    JP2012189804A|JP5494760B2|2012-08-30|2012-08-30|Electric motor control device|
    PCT/JP2013/068955|WO2014034291A1|2012-08-30|2013-07-11|Electric motor control device|
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