CN100463357C - Permanent magnetism synchrounous electromotor control device - Google Patents
Permanent magnetism synchrounous electromotor control device Download PDFInfo
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- CN100463357C CN100463357C CNB2006101064218A CN200610106421A CN100463357C CN 100463357 C CN100463357 C CN 100463357C CN B2006101064218 A CNB2006101064218 A CN B2006101064218A CN 200610106421 A CN200610106421 A CN 200610106421A CN 100463357 C CN100463357 C CN 100463357C
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Abstract
The present invention provided a controller which effectively controls the velocity when starting a permanent magnet synchronous motor in synchronous operation mode. The controller for a permanent magnet synchronous motor, which is equipped with a permanent magnet synchronous motor that has a permanent magnet as a field, a voltage command maker which gets a voltage command to be applied to the above permanent magnet motor, according to a d-axis current command, a q-axis current command, and a frequency command, and a power converting circuit which applies voltage to the above permanent magnet synchronous motor, according to the above voltage command, detects the q-axis current of the permanent magnet synchronous motor when starting the above permanent magnet synchronous motor in synchronous operation mode, and applies gain to the detected q-axis current value, and subtracts the operation results from the above frequency command thereby modifying the frequency command.
Description
Technical field
The present invention relates to a kind of control device that stably drives the permanent magnet synchronous motor of permanent magnet synchronous motor, particularly a kind of control device that is suitable for the permanent magnet synchronous motor of the stabilisation by run-in synchronism pattern starting permanent-magnet synchronous motor the time.
Background technology
As the method for starting permanent-magnet synchronous motor stably, for example there is the spy to drive the control device of the permanent magnet synchronous motor of being put down in writing in 2004-No. 104978 communiques (patent documentation 1).
In the prior art of above-mentioned patent documentation 1, input d shaft current command value, frequency instruction value and real q shaft current are carried out vector calculus, generate the switching signal of each element of inverter.
Use the induced voltage constant of permanent magnet synchronous motor in the vector calculus, but should value because of deviation more or less such as the manufacture process of permanent magnet synchronous motor.Because this deviation causes the stability decreases of motor, therefore detect the d shaft current and the induced voltage constant is adjusted.
In addition, except the method for starting permanent-magnet synchronous motor as mentioned above, only can also carry out the voltage that to be loaded in the permanent magnet synchronous motor and the constant control of V/f of the proportional control of frequency.Stabilisation during about the constant control of V/f for example has the spy to open the method described in 2000-No. 236694 communiques (patent documentation 2).In the above-mentioned prior art, when the constant control of V/f, the change part with the detected value of q shaft current feeds back to frequency instruction value, thereby improves stability.
The correction induced voltage constant of prior art carries out in the synchronous operated method, though the stability decreases to the caused permanent magnet synchronous motor of deviation of the induced voltage constant of permanent magnet synchronous motor provides countermeasure, does not have the countermeasure of record to the load change in the run-in synchronism.
In addition, in the constant control of the V/f of prior art, the change of the detected value of q shaft current is partly fed back to frequency instruction value, improved stability to load change, but in when starting such low-speed region, be easy to be subjected to the influence of the coil resistance of permanent magnet synchronous motor, torque (torque) characteristic degradation.
Like this, though outstanding based on synchronous operated driving method torque characteristics during low speed, be suitable for STARTING OF PERMANENT MAGNET SYNCHRONOUS MOTORS, need take countermeasure to load change.
Patent documentation 1: the spy opens communique 2004-No. 104978
Patent documentation 2: the spy opens communique 2000-No. 236694
Summary of the invention
The objective of the invention is to, provide a kind of the time, suppress the control device of load change effectively by run-in synchronism pattern starting permanent-magnet synchronous motor.
The present invention is a kind of control device of permanent magnet synchronous motor, possesses: have the permanent magnet synchronous motor of permanent magnet as magnetic field; Obtain the voltage instruction value maker that loads the voltage instruction value of giving permanent magnet synchronous motor according to d shaft current command value, q shaft current command value and frequency instruction value; And according in the control device of voltage instruction value to the permanent magnet synchronous motor of the power transformation circuit of permanent magnet synchronous motor on-load voltage, it is characterized in that: the time by run-in synchronism pattern starting permanent-magnet synchronous motor, detect the q shaft current of permanent magnet synchronous motor, detected q shaft current value itself be multiply by gain, its operation result is deducted from frequency instruction value, frequency instruction value is revised.
A kind of control device of permanent magnet synchronous motor possesses: have the permanent magnet synchronous motor of permanent magnet as magnetic field; Obtain the voltage instruction value maker that loads the voltage instruction value of giving described permanent magnet synchronous motor according to d shaft current command value, q shaft current command value and frequency instruction value; And the power transformation circuit of giving described permanent magnet synchronous motor on-load voltage according to described voltage instruction value, it is characterized in that, when starting described permanent magnet synchronous motor by the run-in synchronism pattern, detect d shaft current and described q shaft current, detected d shaft current value is got the difference of itself and described d shaft current command value, q shaft current value is got the difference of itself and described q shaft current command value, obtain and make that this difference is zero 2d shaft current command value and 2q shaft current command value, described 2q shaft current command value be multiply by gain, its operation result is deducted the frequency of amendment command value from described frequency instruction value.
By the present invention, can suppress the speed fluctuation of permanent magnet synchronous motor.
Description of drawings
Fig. 1 is the basic block diagram of relevant permanent magnet synchronous motor of the present invention.
Fig. 2 is the structure chart of the power transformation circuit in the embodiments of the invention 1.
Fig. 3 is the structure chart of the change inhibitor (type 2) in the embodiments of the invention 1.
Fig. 4 is the structure chart of the change inhibitor (type 3) in the embodiments of the invention 1.
Fig. 5 is the structure chart of the control device of electric motor in the embodiments of the invention 2.
Fig. 6 is the structure chart of the current detecting mechanism in the embodiments of the invention 2.
Fig. 7 is the structure chart of the direct current IDC testing agency in the embodiments of the invention 2.
Fig. 8 reproduces the oscillogram of the method for motor current according to direct current for explanation.
The ideograph of the washing machine of Fig. 9 when the present invention is applicable to the drive system of washing machine.
Figure 10 is the Bode diagram under the situation that does not change inhibitor 10.
Figure 11 is the Bode diagram that has under the situation that changes inhibitor 10.
Among the figure: the control device of 1-permanent magnet synchronous motor, 3-voltage instruction value maker, 5-power transformation circuit, 6-permanent magnet synchronous motor, 10-change inhibitor, 12-current detecting mechanism, 21-switch element, the electric current of 41-permanent magnet synchronous motor reproduces arithmetic unit, 46-current detection circuit, 200-washing machine, 201-drive motor (permanent magnet synchronous motor), 205-agitator (bobbing machine (pulsator)), 206-sink.
Embodiment
Fig. 1 is the basic block diagram of the control device of relevant permanent magnet synchronous motor of the present invention.
Among Fig. 1, the control device 1 of permanent magnet synchronous motor, the current detecting mechanism 12, input that has the q shaft current of obtaining in the permanent magnet synchronous motor to be flowed substantially is by current detecting mechanism 12 detected electric currents and the final 3 phase voltage command value (Vu that give permanent magnet synchronous motor 6 that load of output
*, Vv
*, Vw
*) control part 2 and will be according to 3 phase voltage command value (Vu
*, Vv
*, Vw
*) voltage load power transformation circuit 5 to permanent magnet synchronous motor 6.
Control part 2 has: the detected value Iq of input q shaft current, multiply by the change inhibitor 10 of ride gain and output; From frequency instruction value ω
*In deduct the change inhibitor 10 output valve, export the 2nd frequency instruction value ω
*Subtracter 11a; Use d axle and q shaft current command value (Id
*With Iq
*) and the 2nd frequency instruction value ω
*, carry out vector calculus, output d axle and q shaft voltage command value (Vd
*With Vq
*) voltage instruction value maker 3; Output is with d axle and q shaft voltage command value (Vd
*With Vq
*) be transformed into 3 phase axles and load the 3 phase voltage command value (Vu that give permanent magnet synchronous motor 6 from the d/q axial coordinate
*, Vv
*, Vw
*) dq/3 φ converter 4; And to frequency instruction value ω
*Carry out integration and export the integrator 9 of position of magnetic pole θ.
Control part more than 2 is made of microcomputer or DSP semiconductor integrated circuit (s operation control mechanism) such as (Digital Signal Processor), and calculation process is described by software.
Switch element is made of IGBT (Insulated Gate Bipolar Transistor) or MOS FET semiconductor elements such as (Metal Oxide Semiconductor Field Effect Transistor).
Switch element is connected to the last underarm that constitutes U phase, V phase, W phase, and contact of underarm routes to permanent magnet motor 6 on each.Switch element 21 carries out switch motion corresponding to the pulse type pwm pulse signal of being exported by drive circuit 23 (22a, 22b, 22c).By direct voltage source is carried out switch, the alternating voltage of optional frequency is loaded to permanent magnet motor 6, drive motor.
[embodiment 1]
Embodiment 1 to relevant permanent magnet synchronous motor of the present invention describes.
At first contrast Fig. 1, the current detecting mechanism 12 of the q shaft current that circulates to obtaining in the permanent magnet synchronous motor describes.
Because permanent magnet synchronous motor 6 connects for the Y type, as long as so the alternating current that is circulated in the permanent magnet synchronous motor detect 2 just passable more than mutually.In addition, the combination of the phase that is detected is no matter be that any combination can.Current detecting mechanism for example can use CT (Current Transfar), current sense resistor (shunt resistance), adopt the current sensor of Hall element etc.
3 phase principal axis transformations are become the dq axle and obtain the d axle and the mechanism of q shaft current, use 3 φ/dq converter 8 in the present embodiment.3 φ/dq converter 8,2 mutually the alternating currents that current detection circuit (7a and 7b) is detected are according to by 9 couples of frequency instruction value ω of integrator
*Carry out the resulting position of magnetic pole θ of integration, coordinate transform becomes d shaft current and q shaft current, and the detected value Iq of q shaft current is exported to change inhibitor 10.
Next, contrast Fig. 1 describes control part 2.The detected value Iq of the q shaft current that control part 2 is imported by giving multiply by ride gain, and from frequency instruction value ω
*In deduct its operation result and frequency instruction value revised, as the 2nd new frequency instruction value ω
*Use given in advance d axle and q shaft current command value (Id
*And Iq
*) and the 2nd frequency instruction value ω
*, carry out vector calculus, calculate d axle and q shaft voltage command value (Vd
*And Vq
*), by suppressing the caused speed fluctuation of load change like this.
The Bode diagram of use Figure 10 describes the inhibition of speed fluctuation.Figure 10 is not for to change under the situation of inhibitor 10, from loading the q shaft voltage command value Vq that gives permanent magnet synchronous motor
*Bode diagram to the transfer function of the rotational speed omega r of motor.
According to Figure 10, along with the inertia increase of permanent magnet synchronous motor, the peak value of gain also increases, thereby becomes vibration.In addition, gain becomes the frequency of peak value, also increases and reduces along with inertia.
Therefore, the vibration in the big more then low frequency of inertia is big more.Relative therewith, illustrated among Figure 11 under the situation of having added change inhibitor 10, from loading the q shaft voltage command value Vq that gives permanent magnet synchronous motor
*Bode diagram to the transfer function of the rotational speed omega r of permanent magnet synchronous motor.
Figure 11 is the ride gain of change inhibitor 10, the Bode diagram under the situation of usage ratio gain Kdp.According to Figure 11, by adding change inhibitor 10, the peak value of gain reduces.By suppressing speed fluctuation like this.
In the present embodiment, the ride gain of change inhibitor 10, usage ratio gain Kdp.Also promptly, the detected value Iq of the q shaft current imported is amplified Kdp doubly, export to subtracter 11a.Subtracter 11a is from frequency instruction value ω
*In deduct the change inhibitor 10 operation result, the frequency of amendment command value.Also promptly, in the present embodiment, the 2nd frequency instruction value ω
*Obtain by following formula (1).
[formula 1]
ω
*=ω
*-Kdp * Iq ... formula 1
Proportional gain Kdp both can use the steady state value that provides in advance, can suitably change its value according to permanent magnet synchronous motor 6 that is driven or loading condition again.
Contrast Fig. 3 describes adopting the change inhibitor (type 2) 36 that changes the formation of proportional gain Kdp corresponding to the permanent magnet synchronous motor 6 that is driven.
Change inhibitor (type 2) 36 is by the ride gain arithmetic unit 31 of selecting the exclusive disjunction ride gain, store the memory 32 of various control gain or ride gain arithmetic expression and the detected value Iq of the q shaft current imported and the multiplier 33 that proportional gain Kdp multiplies each other constituted in advance.Memory 32 does not need to be arranged in change inhibitor (type 2) 36, and any position that is positioned at the control device 1 of permanent magnet synchronous motor can.
Ride gain arithmetic unit 31, use the information of being imported about permanent magnet synchronous motor (for example motor constant, motor model, drive condition, load characteristic etc.), select optimal proportional gain Kdp in several proportional gains of from memory 32, being stored, export to multiplier 33.
Stored ratio gain Kdp not only in the memory 32 can also store other ride gains (differential gain, incomplete differential gain), exports to multiplier 33.In memory 32, store under the situation of ride gain arithmetic expression, calculate optimal proportion gain Kdp, export to multiplier 33.
And then change inhibitor 10 can also have communication agency.Change inhibitor (type 3) 37 as shown in Figure 4, by ride gain communication agency 34, multiplier 35 formations that multiply each other with detected value Iq and the proportional gain Kdp of the q shaft current that will be imported.
Ride gain communication agency 34 suitably receives proportional gain Kdp, exports to multiplier 35.Multiplier 35 multiplies each other the detected value Iq and the ride gain Kdp of the q shaft current imported, the output operation result.
Voltage instruction value maker 3 is according to the 2nd frequency instruction value ω based on the output of subtracter 11a
*, and d axle and q shaft current command value (Id
*With Iq
*), carry out vector calculus according to following formula (2), calculate d axle and q shaft voltage command value (Vd
*With Vq
*).With d axle and the q shaft voltage command value (Vd that is calculated
*With Vq
*), export to dq/3 φ converter 4.
[formula 2]
Vd
*＝R×Id
*—ω
**×Lq×Iq
*
Vq
*=R * Iq
*+ ω
** Ld * Id
*+ ω
** Ke ... formula 2
Here, R is the coil resistance of permanent magnet synchronous motor 6, and Ld is a d axle inductance, and Lq is a q axle inductance, and Ke is the induced voltage constant.
In the dq/3 φ converter 4, with d axle and q shaft voltage command value (Vd
*With Vq
*), according to passing through 9 couples of frequency instruction value ω of integrator
*Carry out the resulting position of magnetic pole θ of integration, be transformed into 3 phase voltage command value (Vu
*, Vv
*, Vw
*), export to power transformation circuit 5.
Next, contrast Fig. 2 describes power transformation circuit 5.
Constitute the last underarm of U phase, V phase, W phase respectively.Afterwards, contact of underarm is connected to permanent magnet motor 6 on each.This permanent magnet synchronous motor 6, for example rotor is made of permanent magnet, is provided with a plurality of coils that are used for forming AC magnetic field around this rotor, and each coil is connected with the contact of the last underarm of switch element 21.
Voltage instruction value (the Vu of 23 pairs of 3 phases of being imported of drive circuit
*, Vv
*, Vw
*) amplify, the pulse type pwm pulse signal (22a, 22b, 22c) of controlling the switch motion of each switch element 21 is exported to each switch element.
Like this, multiply by ride gain (proportional gain Kdp) for the detected value Iq of q shaft current, and with its operation result from frequency instruction value ω
*In deduct and frequency instruction value revised, calculate the 2nd frequency instruction value ω that makes new advances
*Use the 2nd frequency instruction value ω
*With given in advance d axle and q shaft current command value (Id
*And Iq
*), carry out vector calculus, calculate d axle and q shaft voltage command value (Vd
*And Vq
*), by suppressing the caused speed fluctuation of load change like this.
[embodiment 2]
Contrast Fig. 5～Fig. 8 describes the embodiment 2 of relevant permanent magnet synchronous motor of the present invention.
The d axle that detects in the permanent magnet synchronous motor to be circulated and the 12a of current detecting mechanism of q shaft current, and input is by the 12a of current detecting mechanism detected electric current and the final 3 phase voltage command value (Vu that give permanent magnet synchronous motor 6 that load of output
*, Vv
*, Vw
*) the formation of control part 2a, different with embodiment 1.In the present embodiment, use the detected value of d axle and q shaft current, finally obtain 3 phase voltage command value (Vu
*, Vv
*, Vw
*).
The 12a of current detecting mechanism of d axle that at first, circulates to detecting in the motor and q shaft current describes.
As shown in Figure 6, the 12a of current detecting mechanism is by current detection circuit 7c, reproduce arithmetic unit 41 and 3 phase principal axis transformations are become the dq axle and calculate the d axle and 3 φ of q shaft current (Id and Iq)/dq converter 8a formation according to the electric current that is reproduced the permanent magnet synchronous motor of 3 cross streams electric currents (Iu, Iv, Iw) by the detected direct current IDC of current detection circuit 7c.
In the present embodiment, detect the mechanism of the direct current IDC of power-converting device 5a, use the formation (Fig. 7) that has adopted current sense resistor 45.
Detect the current detection circuit 46 of direct current IDC, the voltage at current sense resistor 45 two ends is inputed to operational amplifier 44 and detect.Operational amplifier 44 for example is made of IC such as operational amplifier (Integrated Circuit).
If switch element 21 is built-in with the shunt resistance that be used for protection switch element in this encapsulation by constituting by 6 switch elements such as IPM (Intelligent Power Module) are accommodated in 1 module in the encapsulation under then a lot of situations.In this case, do not need to add the new current sense resistor that is used for current detecting, can cut down part count, save the space.
Next, contrast Fig. 8 reproduces arithmetic unit 41a to the electric current according to the permanent magnet synchronous motor that is reproduced 3 cross streams electric currents (Iu, Iv, Iw) by current detection circuit 46 detected direct current IDC and describes.
Among Fig. 8, show the pwm pulse signal (22a, 22b, 22c) that the voltage command signal (101a, 101b, 101c) of benchmark triangular wave 100, each phase, the inverter that becomes each phase drive signal, and the input current of each phase (102a～d), and the direct current IDC that is circulated in the current sense resistor 45.
Can learn that from Fig. 8 the direct current IDC of power-converting device 5a changes corresponding to the on off state of the IGBT of each phase.Among Fig. 8, the drive signal of each phase IGBT (22a, 22b, 22c) when being the High level, is connected the upper arm of each phase, when being the Low level, the underarm of each phase is connected.
Load independently pwm pulse signal respectively in fact for the upper arm and the underarm of each phase, the control switch action, but carried out simple and easy demonstration among Fig. 8.In addition, among Fig. 8, be set idle time (dead time) for convenience of explanation and not, but in fact for allow each phase the not short circuit of last underarm and be provided with idle time.
Among Fig. 8, among U and the interval A and D that V upper arm mutually is switched on, can observe the W phase input current of antipolarity having only W phase underarm to be switched on.In addition, be switched on W underarm mutually at V and have only in the interval B and C that the upper arm of U phase is switched on, can observe the W phase input current of same polarity.
The electric current of permanent magnet synchronous motor reproduces and has sampling maintenance (sample hold) function among the arithmetic unit 41a, according to the sampling inhibit signal Tsamp shown in interval A～D of Fig. 8, to the direct current IDC of the power-converting device 5a maintenance of sampling, direct current IDC by the power-converting device 5a that each is interval combines, and exports the motor current of 3 cross streams.
Like this, the direct current IDC that observation changes corresponding to the on off state of each phase IGBT in A～D interval, the direct current IDC by the power-converting device 5a that each is interval combines, and can reproduce the motor current of 3 cross streams.
In addition, in the present embodiment, show the situation of current sense resistor 45 of using as the mechanism of the direct current IDC that detects power-converting device 5a, but in the method in addition, can also wait by the current sensor that adopts CT or Hall element etc. and detect, combine by the direct current IDC with the power-converting device 5a of the interval A～D shown in Fig. 8 this moment too, can reproduce the permanent magnet synchronous motor electric current of 3 cross streams.
Next, contrast Fig. 5 describes control part 2a.
Control part 2a has: from d shaft current command value Id
*Deduct the subtracter 11b of the detected value Id of d shaft current; The operation result of input subtracter 11b multiply by ride gain and exports 2d shaft current command value Id
*D shaft current controller 42; From q shaft current command value Iq
*Deduct the subtracter 11c of the detected value Iq of q shaft current; The operation result of input subtracter 11c multiply by ride gain and exports 2q shaft current command value Iq
*Q shaft current controller 43; Import 2q shaft current command value Iq
*, multiply by the change inhibitor 40 of ride gain and output; From frequency instruction value ω
*In deduct the change inhibitor 40 output valve, export the 2nd frequency instruction value ω
*Subtracter 11d; Use 2d axle and q shaft current command value (Id
*With Iq
*) and the 2nd frequency instruction value ω
*, carry out vector calculus, output d axle and q shaft voltage command value (Vd
*With Vq
*) voltage instruction value maker 3a; Output is with d axle and q shaft voltage command value (Vd
*With Vq
*) be transformed into 3 phase axles from the d/q axial coordinate, and load the 3 phase voltage command value (Vu that give permanent magnet synchronous motor 6
*, Vv
*, Vw
*) dq/3 φ converter 4; And to frequency instruction value ω
*Carry out integration and export the integrator 9 of position of magnetic pole θ.
In the present embodiment, respectively from current instruction value (Id
*With Iq
*) deduct the detected value (Id and Iq) of d axle and q shaft current, for the correcting current command value that circulates, generate 2d axle and q shaft current command value (Id according to the electric current of current instruction value
*With Iq
*), give 2q shaft current command value Iq simultaneously
*Multiply by ride gain, and with its operation result from frequency instruction value ω
*In deduct, by coming the frequency of amendment command value like this, as the 2nd new frequency instruction value ω
*Use the 2nd current instruction value (Id
*With Iq
*) and the 2nd frequency instruction value ω
*, carry out vector calculus, calculate d axle and q shaft voltage command value (Vd
*And Vq
*), by carrying out Current Control like this, suppress the caused speed fluctuation of load change.
In the present embodiment, the ride gain of d axle and q shaft current controller (42 and 43), usage ratio storage gain.Also promptly, obtain by following formula (3) and (4).
[formula 3]
Id
*=Kpd * Δ Id+Kid * (1/s) * Δ Id ... formula 3
[formula 4]
Iq
*=Kpq * Δ Iq+Kiq * (1/s) * Δ Iq ... formula 4
Here, Δ Id is (Id
*-Id), Δ Iq is (Iq
*-Iq), s is a laplacian.
The ride gain of change inhibitor 40, and the gain of use incomplete differential (Kdp/ (1+Tdp * s)).Also promptly, the 2q shaft current command value Iq to being imported
*Carry out the incomplete differential computing, export to subtracter 11d.Subtracter 11d is from the 2nd frequency instruction value ω
*In deduct the change inhibitor 40 operation result, the frequency of amendment command value.Also promptly, in the present embodiment, obtain the 2nd frequency instruction value ω by following formula (5)
*
[formula 5]
ω
*=ω
*-Kdp/ (1+Tdp * s) } * Iq
*Formula 5
Voltage instruction value maker 3a is according to the 2nd frequency instruction value ω based on the output of subtracter 11d
*, and 2d axle and q shaft current command value (Id
*With Iq
*), carry out vector calculus according to following formula (6), calculate d axle and q shaft voltage command value (Vd
*With Vq
*).Compare the employed current instruction value difference of computing with embodiment 1.
[formula 6]
Vd
*＝R×Id
**—ω
**×Lq×Iq
**
Vq
*=R * Iq
*+ ω
** Ld * Id
*+ ω
** Ke ... formula 6
With d axle and the q shaft voltage command value (Vd that is calculated
*With Vq
*), export to dq/3 φ converter 4.
Like this, in the present embodiment, detect d axle and q shaft current, carry out Current Control respectively, use the instruction of the 2nd current instruction value frequency of amendment simultaneously, by suppressing the caused speed fluctuation of load change like this from the direct current IDC of power transformation circuit 5a.
[embodiment 3]
Contrast Fig. 9 describes the embodiment 3 of the control device of relevant permanent magnet synchronous motor of the present invention.
The ideograph of the washing machine 200 when Fig. 9 is applicable to the drive system of washing machine for explanation with the control device 201 of permanent magnet synchronous motor of the present invention.
Washing machine 200 is provided with sink 206 and agitator (bobbing machine) 205 in tank 208, sink 206 is driven by motor 203 with agitator 205.Which, in washing procedure, switch by clutch (clutch) portion 204 as for driving in sink 206 and the agitator 205.
In addition, clutch portion 204 can also be provided with reducing gear.The control device 201 of permanent magnet synchronous motor 202 loads alternating voltages for permanent magnet synchronous motor 203 to drive through connecting up.
Means as the vibration that suppresses tank 208 in the washing procedure or sink 206, employing is by hanging the formation that rod (210a and 210b) is sling the housing of tank 208, and tank 208 sides have vibration attenuation mechanism (209a and 209b), reduce the vibration in the washing procedure.
And then, be provided with gimbal 207 in the sink 206, reduce the uneven caused vibration of washings.In addition, by in the drive system of washing machine, using, can suppress because of caused vibrations such as speed fluctuations based on control device of electric motor of the present invention.
Below list the feature of the invention described above.
(1). the present invention a kind ofly has: have the permanent magnet synchronous motor of permanent magnet as magnetic field; Obtain the voltage instruction value maker that loads the voltage instruction value of giving permanent magnet synchronous motor according to d shaft current command value, q shaft current command value and frequency instruction value; And according in the control device of voltage instruction value to the permanent magnet synchronous motor of the power transformation circuit of permanent magnet synchronous motor on-load voltage, it is characterized in that: the time by run-in synchronism pattern starting permanent-magnet synchronous motor, detect the q shaft current of permanent magnet synchronous motor, on duty to detected q shaft current with gain, its operation result is deducted the frequency of amendment command value from the said frequencies command value.
By this formation, by run-in synchronism pattern starting permanent-magnet synchronous motor the time, detect the q shaft current, by detecting the load change part like this.To multiply by the resulting value of gain to the detected value of the q shaft current that is equivalent to load change part, from frequency instruction value, deduct, thereby can stably drive corresponding to the load change command value of automatically adjusting frequency.
(2). the present invention detects d shaft current and q shaft current, detected d shaft current value is got the difference of itself and d shaft current command value, q shaft current value is got the difference of itself and q shaft current command value, obtain and make that this difference is zero 2d shaft current command value and 2q shaft current command value, on duty to the 2q shaft current with gain, its operation result is deducted the frequency of amendment command value from frequency instruction value.
By this formation, detect d shaft current and q shaft current, and get the detected value of each electric current and the difference of d axle and q shaft current command value, obtain and make that this difference is zero 2d and q shaft current command value, use it to come the computing voltage instruction value, by like this, desirable electric current can circulate in motor.In addition, by with gain its operation result is deducted frequency of amendment command value, variation that can also corresponding loading condition from frequency instruction value to the 2q shaft current is on duty.
(3). among the present invention,, be any in the gain of the proportional gain or the differential gain or incomplete differential with the gain that q shaft current detected value multiplies each other.
Constitute by this, proportional gain is adopted in the gain that detected value or the 2q shaft current command value by transference q shaft current multiplies each other, and can suppress load change by the minimal computational load to control part.In addition, the differential gain or incomplete differential gain are adopted in the gain that detected value or the 2q shaft current command value by transference q shaft current multiplies each other, and can eliminate velocity deviation, suppress load change.
(4). among the present invention, the above-mentioned q shaft current that is circulated in the permanent magnet synchronous motor is obtained according to the electric current that DC side circulated of power-converting device.
Constitute by this,, then can omit motor current sensor, realize the save spaceization of control device of electric motor if go out the q shaft current from the direct current detection of power transformation circuit.
(5). among the present invention,, use the information of the permanent magnet motor that is driven to decide with the gain that the detected value or the 2q shaft current command value of q shaft current multiplies each other.Specifically, be model, the coil resistance of motor, number of poles, induced voltage constant, generating constant, inertia, d shaft current command value, the q shaft current command value of determining motor.In these values, have the communication agency of the storing mechanism or the information of reception of at least one information of storage, use the relevant information of this storing mechanism or the resulting permanent magnet synchronous motor of communication agency, the decision gain.
By this formation, if the gain of multiplying each other with the detected value or the 2q shaft current command value of q shaft current, use the information of the permanent magnet motor that is driven to decide, even then the loading condition at permanent magnet motor has taken place under the situation of variation, also can carry out correspondence at once, thereby can the continuous loading change suppress effect.
(6). the present invention in the washing machine with the permanent magnet synchronous motor that agitator or dehydration washing trough is rotated driving, is characterised in that and uses above-mentioned control device to control.
Constitute by this, can in the full operation of laundry or rinsing or dehydration, suppress load change, prevent imbalance, realize stable washing procedure.
Claims (6)
1. the control device of a permanent magnet synchronous motor possesses: have the permanent magnet synchronous motor of permanent magnet as magnetic field; Obtain the voltage instruction value maker that loads the voltage instruction value of giving described permanent magnet synchronous motor according to d shaft current command value, q shaft current command value and frequency instruction value; And according to the power transformation circuit of described voltage instruction value to described permanent magnet synchronous motor on-load voltage,
When starting described permanent magnet synchronous motor by the run-in synchronism pattern, detect the q shaft current of permanent magnet synchronous motor, detected q shaft current value itself be multiply by gain, its operation result is deducted the frequency of amendment command value from described frequency instruction value.
2. the control device of a permanent magnet synchronous motor possesses: have the permanent magnet synchronous motor of permanent magnet as magnetic field; Obtain the voltage instruction value maker that loads the voltage instruction value of giving described permanent magnet synchronous motor according to d shaft current command value, q shaft current command value and frequency instruction value; And according to the power transformation circuit of described voltage instruction value to described permanent magnet synchronous motor on-load voltage, it is characterized in that,
When starting described permanent magnet synchronous motor by the run-in synchronism pattern, detect d shaft current and described q shaft current, detected d shaft current value is got the difference of itself and described d shaft current command value, q shaft current value is got the difference of itself and described q shaft current command value, obtain and make that this difference is zero 2d shaft current command value and 2q shaft current command value, described 2q shaft current command value be multiply by gain, its operation result is deducted the frequency of amendment command value from described frequency instruction value.
3. the control device of permanent magnet synchronous motor as claimed in claim 1 is characterized in that,
Described gain of multiplying each other with the detected value q shaft current is any in the gain of the proportional gain or the differential gain or incomplete differential.
4. the control device of permanent magnet synchronous motor as claimed in claim 1 is characterized in that,
The described q shaft current that is circulated in the described permanent magnet synchronous motor is obtained according to the electric current that DC side circulated of described power transformation circuit.
5. the control device of permanent magnet synchronous motor as claimed in claim 1 is characterized in that,
Has communication agency at least 1 storing mechanism of storing in the relevant information of the described permanent magnet synchronous motor that driven or the information of reception, use is by the relevant information of described storing mechanism or the resulting described permanent magnet synchronous motor of described communication agency, the gain that the detected value of decision and described q shaft current multiplies each other.
6. washing machine has the permanent magnet synchronous motor that agitator or dehydration washing trough is rotated driving,
Use the control device of the permanent magnet synchronous motor described in the claim 1, control the running of described permanent magnet synchronous motor.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2005203989 | 2005-07-13 | ||
| JP2005203989A JP4607691B2 (en) | 2005-07-13 | 2005-07-13 | Control device for permanent magnet synchronous motor |
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| CN1897456A CN1897456A (en) | 2007-01-17 |
| CN100463357C true CN100463357C (en) | 2009-02-18 |
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| CN102457225A (en) * | 2010-10-29 | 2012-05-16 | 日立空调·家用电器株式会社 | Refrigerating apparatus and controller for permanent magnet synchronous motor |
| CN106160594A (en) * | 2015-04-27 | 2016-11-23 | 比亚迪股份有限公司 | Method and system for permagnetic synchronous motor zero measurement |
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| JP5256009B2 (en) * | 2008-12-12 | 2013-08-07 | 日立アプライアンス株式会社 | Magnet motor speed control device |
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| JP5838038B2 (en) * | 2011-04-22 | 2015-12-24 | サンデンホールディングス株式会社 | Motor control device |
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| US10270380B2 (en) * | 2015-09-04 | 2019-04-23 | Mitsubishi Electric Corporation | Power converting apparatus and heat pump device |
| JP2019080419A (en) * | 2017-10-24 | 2019-05-23 | 株式会社日立産機システム | Power conversion device and control method thereof |
| JP7250995B1 (en) * | 2022-12-21 | 2023-04-03 | 日立ジョンソンコントロールズ空調株式会社 | Motor drive control device, motor device, refrigerating air conditioner, fan device, and drive control method |
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Also Published As
| Publication number | Publication date |
|---|---|
| JP4607691B2 (en) | 2011-01-05 |
| JP2007028721A (en) | 2007-02-01 |
| CN1897456A (en) | 2007-01-17 |
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