CN103795316A - Vector control apparatus, motor control apparatus using same, and air conditioner - Google Patents
Vector control apparatus, motor control apparatus using same, and air conditioner Download PDFInfo
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- CN103795316A CN103795316A CN201310486541.5A CN201310486541A CN103795316A CN 103795316 A CN103795316 A CN 103795316A CN 201310486541 A CN201310486541 A CN 201310486541A CN 103795316 A CN103795316 A CN 103795316A
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- 239000013598 vector Substances 0.000 title claims abstract description 116
- 230000004907 flux Effects 0.000 claims abstract description 20
- 238000012360 testing method Methods 0.000 claims description 15
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-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F25—REFRIGERATION OR COOLING; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS; MANUFACTURE OR STORAGE OF ICE; LIQUEFACTION SOLIDIFICATION OF GASES
- F25B—REFRIGERATION MACHINES, PLANTS OR SYSTEMS; COMBINED HEATING AND REFRIGERATION SYSTEMS; HEAT PUMP SYSTEMS
- F25B49/00—Arrangement or mounting of control or safety devices
- F25B49/02—Arrangement or mounting of control or safety devices for compression type machines, plants or systems
- F25B49/025—Motor control arrangements
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- Mechanical Engineering (AREA)
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- General Engineering & Computer Science (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The invention provides a vector control apparatus, a motor control apparatus using the same, and an air conditioner. The vector control apparatus can drives a motor to have the output breakdown torque for motor control. Electric power is provided to the motor to enable output of an electric power converter to drive the motor. If the output is in an output voltage saturation state, a weak magnetic output voltage phase used for setting the output voltage of the electric power converter is controlled to more than 180 degrees relative to the main magnetic flux direction of magnetic field magnetic poles of the motor. Or, in a region where the relation between the output torque of the motor and the q axis current is a non-linear relation, the weak magnetic output voltage phase used for setting the output voltage of the electric power converter is controlled.
Description
Technical field
The present invention relates to the vector control apparatus of Motor Control and use its control device of electric motor, air conditioner.
Background technology
Be equipped on the motor (motor) of air conditioner etc. by control device of electric motor control/driving.This control device of electric motor is configured to possesses vector control apparatus.
The control device of electric motor strong request miniaturization/components number Xiao Minus, the high efficiency/high output that in air conditioner etc., use, developed the technology that realizes in a large number these requirements.
For the requirement of the high efficiency of control device of electric motor, general application permanent magnet motor is as motor, but for further high efficiency, the vector control apparatus that control device of electric motor is possessed is made an effort, and carries out in the time of the common running of air conditioner (low speed rotation territory) and becomes high efficiency motor designs.
But in the control method of existing control device of electric motor or its vector control apparatus possessing, if make motor become high efficiency design under low speed rotation, high output will become difficulty.For example, due to the induced voltage that occurs to be directly proportional to rotary speed (rotating speed of unit interval) at motor, therefore power converter output voltage and rotary speed proportionally increase (with reference to Figure 11 (a)).
But, as described later, in the time that the rotary speed of motor exceedes specified value, produce the output voltage of power converter and exceed the region that voltage can be provided of power converter, i.e. voltage saturation region.In such voltage saturation region, cannot make larger (with reference to Figure 11 (a)) of voltage amplitude of the output voltage of power converter.
As weak magnetic control system (the weak field control) mode that expands driving scope in such voltage saturation region, for example, in patent documentation 1, following technology is disclosed: in the confined situation of output voltage values of power converter, by the deviation of the current instruction value of q axle and the current detection value of q axle, the deviation that makes the reference axis of control and the magnetic flux axle of motor is the command value of phase error, carries out thus weak magnetic control system.
Patent documentation
Patent documentation 1:JP JP 2007-252052 communique
Carry out in the mode of weak magnetic control system thereby carry out computing phase error command value in the disclosed difference according to the current detection value of the current instruction value of q axle and q axle of described patent documentation 1, the output voltage of power converter is controlled on the lower stable state of voltage (voltage-saturated condition) ground that can export at power converter.But, as described later, in the output voltage phase place of power converter and the q shaft current of motor, within exceeding the scope of 90 degree, output voltage phase place becomes nonlinear relation, the region that exceedes 90 degree in output voltage phase place is difficult to control, thereby has the such problem (with reference to Fig. 7, Figure 12, Figure 13) of breakdown torque that can not be driven into electronic function output.
Summary of the invention
For this reason, the present invention proposes in order to solve such problem points, and its object is, provide the breakdown torque that can be driven into electronic function output Motor Control vector control apparatus and use its control device of electric motor, air conditioner.
In order to solve described problem and to reach object of the present invention, form as described below.
; be characterised in that; vector control apparatus of the present invention is based on provide electric power to make the output of electric motor driven power converter to motor; in the time that this is output as output voltage saturation condition, be to be more than 180 degree with respect to the main flux direction of the field pole of described motor by the weak magnetic output voltage phase control of the output voltage for stipulating described power converter.
In addition, control device of electric motor of the present invention is characterised in that to possess described vector control apparatus, and drive control motor.
In addition, air conditioner of the present invention is characterised in that to possess described control device of electric motor.
In addition, being formed in the form carrying out an invention of other describes.
The effect of invention
According to the present invention, can provide can be by motor driven to the vector control apparatus of the Motor Control of the breakdown torque that can export and use its control device of electric motor, air conditioner.
Accompanying drawing explanation
Fig. 1 is the figure that represents the formation of the inside of the related vector control apparatus of the 1st execution mode of the present invention.
Fig. 2 is the associated figure that the formation that represents the related control device of electric motor of the 1st execution mode of the present invention and this control device of electric motor and DC power supply also have motor.
Fig. 3 represents that with emulation be the figure that makes the characteristic of motor load increasing with certain proportion under constant state by the related vector control portion of the 1st execution mode of the present invention in the case of making motor rotary speed command value, (a) represent voltage-phase, (b) represent torque, (c) represent rotary speed.
Fig. 4 is the figure that the vector control of the output voltage for make motor output limit torque raising by the related vector control portion of the 1st execution mode of the present invention is described, (a) represent Assumption torque and the relation of exporting torque, (b) being that voltage-phase is the voltage vector-diagram of the each voltage in the situation below 90 degree, is (c) voltage vector-diagram that voltage-phase exceedes the each voltage in the situation of 90 degree.
Fig. 5 is the figure that represents the vector control portion in the mode of comparative example 1.
Fig. 6 represents that be the figure that makes the characteristic of motor load increasing with certain proportion under constant state by the 10A of vector control portion in the mode of comparative example 1 in the case of making motor rotary speed command value, (a) represent voltage-phase, (b) represent torque, (c) represent rotary speed.
Fig. 7 is explanation makes the vector control of the output voltage of motor output limit torque raising figure by the vector control portion in the mode of comparative example 1, (a) represent torque current and the relation of exporting torque, (b) being that voltage-phase is the voltage vector-diagram of the each voltage in the situation below 90 degree, is (c) voltage vector-diagram that voltage-phase exceedes the each voltage in the situation of 90 degree.
Fig. 8 is the figure of an example of the motor output limit torque while representing that weak magnetic control in the situation of the vector control apparatus that relatively uses the 1st execution mode of the present invention is processed and in the vector control apparatus of comparative example.
Fig. 9 is the figure that represents the formation of the inside of the related air conditioner of the 2nd execution mode of the present invention.
Figure 10 is the figure that represents the characteristic of the compressor driving motor that is equipped on the related air conditioner of the 2nd execution mode of the present invention.
Figure 11 is illustrated in comparative example 2, export the figure of the characteristic of torque in the situation of set-point, use control device of electric motor drive motor take motor, (a) relation of the expression rotary speed of motor and the output voltage of power converter and output current, (b) represents the rotary speed of motor and the relation of output torque.
Figure 12 is the figure that is illustrated in output voltage phase place in comparative example 1 and the relation of output torque and q shaft current.
Figure 13 is the figure that is illustrated in the rotary speed of motor in comparative example 1 and the relation of motor output torque.In addition, transverse axis is rotary speed, and the longitudinal axis is motor output torque.
Symbol description
10,10A vector control apparatus, vector control portion
21,906 control device of electric motor
22 DC power supply
23 motor (permanent magnet synchronous motor)
24 power converters
25 DC bus current testing circuits
26 control device
31 electric current recapiulations
32 position Sensorless Control portions
33 speed command generating units
34 coordinate converting section
35 pwm pulse generating units
41 power converter main circuits
42 gate drivers
100 voltage vector operational parts
101 torque instruction operational parts
102 q shaft current ordering calculation portions
Operational part is estimated in 103 torques
104 torque input switching parts
105 q shaft current input switching parts
106 d shaft current input switching parts
107 output voltage restriction test sections
111,511 phase error ordering calculation portions
112 2q shaft current ordering calculation portions
113 2d shaft current ordering calculation portions
121～124 comparators
504 q shaft current input switching part B
505 q shaft current input switching part A
900 air conditioners
901 off-premises stations
902 indoor sets
903 pipe arrangements
904 compressors
905 compressor driving motors
907,908 heat exchangers
909 forced draft fans
Embodiment
The form (hereinafter referred to as " execution mode ") of the invention for implementing the application is described with reference to accompanying drawing below.
(the 1st execution mode)
With reference to Fig. 1～Fig. 4, the related vector control apparatus 10 of the 1st execution mode of the present invention is described.In addition, also hold concurrently the control device of electric motor 21 that possesses vector control apparatus 10 is described.
In the 1st execution mode, in control device of electric motor 21, apply the control method that vector control apparatus 10 of the present invention carries out, carry out computing phase error command value by the difference of motor torque command value and torque estimated value, thereby carry out weak magnetic control system.
［ vector control apparatus: it is 1 years old ］
Fig. 1 represents the formation of the inside of the related vector control apparatus 10 of the 1st execution mode of the present invention.Wherein, vector control apparatus 10 is as control device of electric motor 21(Fig. 2) inscape and possess wherein, also carry out the contact of signal between the two, first, control device of electric motor 21 is first described, afterwards, then describe vector control apparatus 10 in detail.
The associated > of < control device of electric motor and DC power supply, motor
Fig. 2 is the formation and this control device of electric motor 21 and the DC power supply 22 associated figure of motor 23 in addition that represents the related control device of electric motor 21 of the 1st execution mode of the present invention.
In Fig. 2, control device of electric motor 21 is accepted direct current power from DC power supply 22, is transformed to 3 cross streams electric power.In addition, motor (permanent magnet synchronous motor) 23 is provided 3 cross streams electric power from control device of electric motor 21, and quilt is driven control and rotates, thereby rotarilys actuate load (not shown).
Next the detailed of control device of electric motor 21 be described.
< control device of electric motor >
In Fig. 2, as described, control device of electric motor 21 possesses following key element and forms: power converter 24, and it is transformed to the direct current power providing from DC power supply 22 3 cross streams electric power of variable voltage variable frequency; DC bus current testing circuit 25, the DC bus current of power converter 24 is flow through in its detection; With control device 26, it carries out vector control take the DC bus current information 25A being detected by DC bus current testing circuit 25 as basis.
" power converter "
In addition, power converter 24 possesses following key element and forms: power converter main circuit 41, it is by IGBT(Insulated Gate Bipolar Transistor, insulated gate bipolar transistor) etc. the diode element that is connected with anti-parallel connection of thyristor form; With gate drivers 42, it is based on from PWM(Pulse Width Modulation described later, pulse width modulation) the pwm pulse signal 35A of pulse generate portion 35 produces IGBT(Sup, Sun, Svp, Svn, Swp, the Swn to power converter main circuit 41) signal.
Be connected in series with IGBT and form IGBT(Sup, the Sun of a phase (leg)) be connected between DC power supply 22, upper arm (Sup) separately and the tie point of underarm (Sun) become ac output end of U phase.
Similarly, be connected in series and form IGBT(Svp, the Svn of a phase) be connected to 22 of DC power supply, upper arm (Svp) separately and the tie point of underarm (Svn) become ac output end of V phase.
In addition, be connected in series and form IGBT(Swp, the Swn of a phase) be connected to 22 of DC power supply, upper arm (Swp) separately and the tie point of underarm (Swn) become ac output end of W phase.
Suitably control above IGBT(Sup, Sun, Svp, Svn, Swp, Swn by being situated between by control device 26 by gate drivers 42), the direct current power of DC power supply 22 is transformed to the 3 cross streams electric power (3 cross streams voltage Vu, Vv, Vw, 3 cross streams electric current I u, Iv, Iw) of variable voltage variable frequency, and exports from ac output end of described U phase, V phase, W phase.
" control device "
In addition, control device 26 possesses following key element and forms: vector control portion (vector control apparatus) 10, electric current recapiulation 31, position Sensorless Control portion 32, speed command generating unit 33, coordinate converting section 34 and pwm pulse generating unit 35.
In addition, vector control portion 10 as described, is also vector control apparatus 10.In addition, using as described later 10A(Fig. 5 of vector control portion of comparative example 1) formation time, in Fig. 2, the square of vector control portion 10 is equivalent to the 10A of vector control portion.
Electric current recapiulation 31 is with the detected DC bus current information of DC bus current testing circuit 25 (I
dC) 2A is basis, using the phase current information that flows through described permanent magnet synchronous motor (motor) 23 as reproducing electric current (I
dc, I
qc) and reproduce.Then, by this reproduction electric current (I
dc, I
qc) 31A, 31B export to vector control portion 10 and position Sensorless Control portion 32.
In addition, obtaining of the phase current information from DC bus current testing circuit 25 described later in electric current recapiulation 31 can, with general fashions such as the modes of disclosed mode in JP 2004-48886 communique or use current sensor, do not made specific to the detection mode of phase current information.
Position Sensorless Control portion 32 is used described reproduction electric current (I
dc, I
qc) (31A, 31B) and apply voltage instruction value (V
d *, V
q *) estimate motor rotary speed ω
c(32A) with rotatable phase θ
dc(32B).Then, by motor rotary speed ω
c(32A) signal is exported to vector control portion 10.In addition, by rotatable phase θ
dc(32B) signal is exported to electric current recapiulation 31 and coordinate converting section 34.
In addition, the motor rotary speed ω that position Sensorless Control portion 32 carries out
cwith rotatable phase θ
dcestimation can, with having used the general fashions such as the mode of position transducer, not make specific to the detection mode of rotary speed and rotatable phase.
Speed command generating unit 33 produces motor rotary speed command value ω
1 *(33A), and by this signal export to vector control portion 10.
In addition, narrating in detail in the back about vector control portion 10.
Coordinate converting section 34 is by the described voltage instruction value (V that applies
d *, V
q *) be transformed to exchange and apply voltage instruction value (Vu
*, Vv
*, Vw
*), and this signal 34A is outputed to pwm pulse generating unit 35.
Pwm pulse generating unit 35 applies voltage instruction value (Vu based on described interchange
*, Vv
*, Vw
*) and carrier signal (producing pwm pulse generating unit 35 is inner) generate pwm pulse signal 35A, and this signal 35A is exported to the gate drivers 42 that power converter 24 possesses.
" DC bus current testing circuit "
DC bus current testing circuit 25 is connected with the DC bus of the minus side of DC power supply 22, from being mixed with the electric current I of Pulsating Flow of U phase, V phase, W phase
dCobtain phase current information.(information of the phase current) 25A using the phase current information obtaining as DC bus current information and export to electric current recapiulation 31.
In addition, obtaining of phase current information from DC bus current testing circuit 25 can or have been used the general fashions such as the mode of current sensor by disclosed mode in described JP 2004-48886 communique, do not make specific to the detection mode of phase current information.
［ vector control apparatus: they are 2 years old ］
Describe vector control apparatus 10 in detail referring again to Fig. 1.
As described, Fig. 1 represents the formation of the inside of the related vector control apparatus 10 of the 1st execution mode of the present invention in detail.
In Fig. 1, vector control apparatus 10 possesses: operational part 103, phase error ordering calculation portion 111,2q shaft current ordering calculation portion 112,2d shaft current ordering calculation portion 113, voltage vector operational part 100, output voltage restriction test section 107 are estimated in torque instruction operational part 101, q shaft current ordering calculation portion 102, torque.
In addition, vector control apparatus 10 possesses comparator 121～124.
In addition, vector control apparatus 10 also possesses torque input switching part 104, q shaft current input switching part 105, d shaft current input switching part 106 and forms.
In addition, the reference axis of the main flux direction of the magnet that so-called d axle is motor rotor, so-called q axle is and the rotatable coordinate axis of the rectangular right angle orientation of described d axle.
In addition, apply voltage instruction value V from vector control apparatus 10 outputs
d *, V
q *.In addition, apply voltage instruction value V
d *be the apply voltage instruction relevant to d axle, apply voltage instruction value V
q *the apply voltage instruction relevant to q axle.
In Fig. 1, comparator 121 is inputted to motor rotary speed command value ω
1 *with the motor rotary speed ω estimating
c, and its difference is exported to torque instruction operational part 101 and q shaft current ordering calculation portion 102.
" torque instruction operational part "
Torque instruction operational part 101 is according to motor rotary speed command value ω
1 *with the motor rotary speed ω estimating
cdifference carry out computing torque instruction value τ
*.
" q shaft current ordering calculation portion "
Q shaft current ordering calculation portion 102 is according to motor rotary speed command value ω
1 *with the motor rotary speed ω estimating
cdifference carry out computing q shaft current command value I
q *.
" torque estimation operational part "
Torque estimates that operational part 103 is based on motor 23(Fig. 2) electric constant and reproduce current value (I
dc, I
qc) carry out computing torque estimated value τ
c.
The estimation of the torque that in addition, torque estimation operational part 103 carries out can be by basis to apply voltage instruction value (V
d *, V
q *) and reproduce current value (I
dc, I
qc) be basic power converter output power and motor rotary speed estimated value (the motor rotary speed estimating) ω
ccarry out the mode of Assumption torque or used the general fashions such as the mode of torque sensor, do not make specific to the detection mode of torque.
" various comparator "
To comparator 122 input torque command value τ
*with torque estimated value τ
c, and its difference delta τ is exported to torque input switching part 104.
In addition, " 0 " in the input of comparator 124 means d shaft current command value I
d *be 0.
" various input switching part "
The output voltage limit markers V that torque input switching part 104 is exported based on output voltage restriction test section 107
1lim-flg, by torque instruction value τ
*with torque estimated value τ
cdifference delta τ or meaning 0 value " 0 " as signal delta τ
1and export to phase error ordering calculation portion 111.
In addition, about output voltage limit markers V
1lim-flg, narration in the back.
Q shaft current input switching part 105 is based on output voltage limit markers V
1lim-flg, by q shaft current command value I
q *reproduce current value I with q axle
qcdifference delta I
q, or " 0 " as signal delta I
q1and export to 2q shaft current ordering calculation portion 112.
D shaft current input switching part 106 is based on output voltage limit markers V
1lim-flg, by d shaft current command value I
d *reproduce current value I with d axle
dcdifference delta I
d, or " 0 " as signal delta I
d1and export to 2d shaft current ordering calculation portion 113.
" phase error ordering calculation portion "
Phase error ordering calculation portion 111 is according to the output valve Δ τ of torque input switching part 104
1carry out command value (phase error command value) the Δ θ of output phase error
c *.
" 2q shaft current ordering calculation portion "
2q shaft current ordering calculation portion 112 is according to the output valve Δ I of q shaft current input switching part 105
q1export 2q shaft current command value I
q *.
" 2d shaft current ordering calculation portion "
2d shaft current ordering calculation portion 113 is according to the output valve Δ I of d shaft current input switching part 106
d1export 2d shaft current command value I
d *.
" voltage vector operational part "
Voltage vector operational part 100 possesses not shown vector control output voltage operational part and output voltage limiting unit.And, in described vector control output voltage operational part, based on 2d shaft current command value I
d *with 2q shaft current command value I
q *carry out vectors control output voltage V
1(Fig. 4 (b), (c)).
In addition, in described output voltage limiting unit, by vector control output voltage V
1amplitude at power converter 24(Fig. 2) (power converter can provide voltage V for the voltage that can provide
0, Fig. 4 (b), (c)) the scope of amplitude in, and vector control output voltage V 1 is transformed to vector control output voltage V
1lim(Fig. 4 (b), (c)).
Next, the vector control output voltage V of voltage vector operational part 100 based on described
1limwith phase error command value (weak magnetic phase place) Δ θ
c *carry out transformation vector control output voltage V
1limphase place, the weak magnetic output voltage V of union
1l θ.
And then, with reference to motor 23(Fig. 2) electric constant, motor rotary speed ω
ccarry out computing and export to apply voltage instruction value (V
d *, V
q *).
" output voltage restriction test section "
What output voltage restriction test section 107 was exported according to voltage vector operational part 100 applies voltage instruction value (V
d *, V
q *) carry out computing output voltage amplitude V
1 *, at output voltage amplitude V
1 *be less than power converter 24(Fig. 2) the voltage that can provide (power converter can provide voltage V
0) situation under, by output voltage limit markers V
1lim-flgbe set as " 0 ", at output voltage amplitude V
1 *arrive power converter voltage V can be provided
0situation under, by output voltage limit markers V
1lim-flgbe set as " 1 ".
By above formation, applying the output voltage amplitude V of voltage instruction value
1 *what be greater than power converter can provide voltage V
0the situation of output voltage saturation condition under, vector control portion 10 carries out weak magnetic control system, at output voltage amplitude V
1 *under constant state, by torque instruction value τ
*with torque estimated value τ
cdifference delta τ carry out computing phase error command value Δ θ
c *, control thus output voltage phase place (voltage-phase) V of power converter
θ.
By carrying out this weak magnetic control system, can under output voltage saturation condition, be that 180 degree are controlled voltage-phase with Shangdi with respect to magnet magnetic flux.
Driving explanation > when the torque limit of < based on emulation
Illustrate by described vector control portion 10 and make motor rotary speed command value ω with reference to Fig. 3, Fig. 4
1 *for making motor load with the characteristic in the situation of certain proportion increase under constant state.
Fig. 3 represents make motor rotary speed command value ω by the related vector control portion 10 of the 1st execution mode of the present invention with emulation
1 *for making the figure of motor load with the characteristic of the data in the situation of certain proportion increase under constant state, (a) represent that voltage-phase ［ deg ］, (b) represent that torque ［ Nm ］, (c) represent rotary speed ［ rpm ］.In addition, the transverse axis of Fig. 3 (a) and (b), (c) is time ［ s ］, illustrates the phenomenon of the general several seconds degree that voltage-phase and torque respond.
Fig. 4 is explanation makes the vector control of the output voltage of motor output limit torque raising figure by the related vector control portion 10 of the 1st execution mode of the present invention, (a) represent Assumption torque and the relation of exporting torque, (b) being that voltage-phase is the voltage vector-diagram of the each voltage in the situation below 90 degree, is (c) voltage vector-diagram that voltage-phase exceedes the each voltage in the situation of 90 degree.
" voltage-phase is the motor characteristics of 90 degree when following "
First, account for voltage phase place is the motor characteristic below 90 degree.
Sending on one side the rotary speed that instruction makes motor (motor rotary speed, rotating cycle/point) is specified value ω
1 *(solid line of Fig. 3 (c)) makes motor torque increase (Fig. 3 (b)) with certain proportion on one side.In addition, in the process that this rotary speed is increased, motor rotary speed estimated value ω
calthough accurate also can with motor rotary speed command value ω
1 *inconsistent, but substantially follow.
In the process that this motor torque is increased with certain proportion, as shown in Fig. 3 (a), by voltage-phase V
θincrease and carry out weak magnetic control system.
In addition, voltage-phase V
θbe equivalent to by with torque instruction value τ
*with the difference of torque estimated value τ c be the phase error command value Δ θ that calculates of basis
c *what calculate applies voltage instruction value (V
d *, V
q *) voltage-phase.
In addition, in Fig. 4 (b), (c), d
caxle (d axle) is the main flux direction of the magnet of rotor, q
caxle (q axle) is and described d
cthe rectangular right angle orientation of axle (d axle).And described voltage-phase 90 degree are with q
caxle (q axle) is benchmark.Therefore, if be equivalent to 180 degree take the main flux direction of magnet as benchmark.
In addition, due to q
caxle and d
caxle is the concept in vector control portion (vector control apparatus) 10, although therefore the q axle in motor and d axle use the symbol of difference, the vector correlation of each key element is basic identical.
In addition, suitably by weak magnetic output voltage V
1l θvoltage-phase V
θsimplify and be called " weak magnetic output voltage phase place " or " voltage-phase ".
In addition, the vector that represents each voltage is now sought for Fig. 4 (b).In Fig. 4 (b), vector control output voltage V 1 as described, the 2d shaft current command value I based on Fig. 1
d *with 2q shaft current command value I
q *carry out computing.By this vector control output voltage V
1be limited in power converter voltage V can be provided
0the scope of amplitude in and the voltage of conversion is vector control output voltage V
1lim.
And then, the weak magnetic phase delta θ of the command value based on phase error
c *carry out transformation vector control output voltage V
1limphase place (voltage-phase V
θ), the weak magnetic output voltage V of union
1l θ.
In addition, due in weak magnetic output voltage V
1l θin comprise and d
cthe reverse component of voltage of main flux direction of axial magnet, therefore has the effect that back electromotive force is reduced by rotor.
" motor characteristic when voltage-phase is 90 degree above (surpassing) "
Further increase and weak magnetic output voltage V at motor torque
1l θvoltage-phase V
θfrom q
caxle rises in the situation that exceedes 90 degree, in other words, exceedes the situation of 180 degree (Fig. 4 (c)) from magnet magnetic flux, is also as long as do not reach the output voltage phase place limit (voltage-phase limits value V
θ lim *, Fig. 3 (a)), can stably control.
Therefore, due to weak magnetic output voltage phase place V
θcontinue with the proportionate relationship of output torque, therefore as shown in Figure 4 (a), Assumption torque continues with the proportionate relationship of output torque, can not become non-linear.
For this reason, as shown in Figure 3 (b), torque estimated value τ
cfollow torque instruction value τ
*, and there is not the difference of stable state.
In addition, as shown in Fig. 3 (a), weak magnetic output voltage phase place V
θalso with respect to voltage-phase limits value V
θ lim *leave allowance.
Therefore, at voltage-phase V
θweak magnetic control system also can be carried out in the region that is 90 degree above (surpassing), as shown in Figure 3 (c), after the given time, motor rotary speed ω
cfollow motor rotary speed command value ω
1 *, become basically identical state.
In addition, as shown in Figure 4 (c), due to weak magnetic output voltage V
1l θphase place be 90 degree above (surpass), with respect to the flow direction of magnet be 180 degree above (surpassing) also can drive, therefore do not arrive the output voltage phase place limit (voltage-phase limits value V
θ lim *) time, as Fig. 4 (a) until output torque to and reach the torque of motor output limit, Assumption torque and output torque all keep linear relation.
In addition, more than 90 (surpass), being 180 degree above (surpass) with respect to the flow direction of magnet, torque tau is being exported in region
cwith q shaft current (q axle reproduces current value) I
qcrelation under, as described later as shown in Figure 7, be to exist to become the region of nonlinear possibility.
So, at 10(Fig. 2 of vector control portion of the present embodiment) formation in, weak magnetic output voltage phase place V under output voltage saturation condition
θbecome 180 degree from the main flux direction of magnet more than, the situation of (surpassing), also can carry out weak magnetic control system.In other words, can be driven into the breakdown torque of electronic function output.
< obvious property > of the present invention
As described, by the formation of the vector control portion 10 at the 1st execution mode shown in Fig. 1, power converter 24 outputs are equivalent under output voltage saturation condition by phase error command value Δ θ
c *and applied voltage instruction value (V by weak magnetic control system
d *, V
q *) voltage, wherein phase error command value Δ θ
c *based on torque instruction value τ
*with torque estimated value τ
cdifference and calculate.In other words, to export under output voltage saturation condition be the voltage of phase places more than 180 degree with respect to magnet magnetic flux to power converter 24.
Torque when < drives improves example >
The raising example of the torque while next, illustrating that with reference to Fig. 8 physical device drives.In addition, Fig. 5～Fig. 7 narration in the back as a comparative example.
Fig. 8 is the figure of an example of the motor output limit torque that represented to compare weak magnetic control in the situation of the vector control apparatus 10 that uses the 1st execution mode of the present invention shown in Fig. 1 time processed and in the vector control apparatus 10A of comparative example described later 1.
In Fig. 8, the value on the summit of the figure representing with symbol 800 is the value of the output limit torque of comparative example 1 described later, as a comparison benchmark and be labeled as 100%.In addition, the output limit torque of the value representation on the summit of the figure of symbol 801 the 1st execution mode be scaled percentile value, be expressed as 100% the value exceeding as the benchmark of symbol 800.
As shown in Figure 8, by carrying out the weak magnetic control system of the formation based on the 1st execution mode, can improve the torque of motor output limit.In addition, the figure shown in Fig. 8 is an example, if change the condition of structure and the characteristic etc. of motor, has the possibility of the result being further enhanced.
The effect > of < the 1st execution mode
By using the vector control portion 10 of the 1st execution mode shown in Fig. 1, can, under output voltage saturation condition, be more than 180 degree in the main flux direction with respect to magnet, control voltage-phase.In other words, by using the formation of present embodiment, until the torque of motor output limit can be carried out weak magnetic control system.That is, do not change power converter and realized the high output of the control device of electric motor 21 of the permanent magnet motor that drives low speed, high efficiency design, can take into account high efficiency and high output.
(comparative example 1)
Next, with disclosed according to q shaft current command value I in described patent documentation 1 grade
q *the mode of controlling the output voltage of power converter with the difference of q axle reproduction current value I qc is comparative example 1, describes with reference to Fig. 5, Fig. 6.
The formation > of < comparative example 1
Fig. 5 is the figure that represents the 10A of vector control portion of the mode of comparative example 1.In addition, possess control device of electric motor 21(Fig. 2 of the 10A of vector control portion) with the circuit block diagram of control device of electric motor 21 shown in Fig. 2 be essentially identical formation, be the formation that vector control portion 10 is replaced into the 10A of vector control portion in Fig. 2.
In addition, q shaft current input switching part B504 is based on output voltage limit markers V
1lim-flg, by q shaft current command value I
q *reproduce current value I with q axle
qcdifference delta I
q, or " 0 " as Δ I
q2and export to phase error ordering calculation portion 511.
In addition, phase error ordering calculation portion 511 is according to the output valve Δ I of q shaft current input switching part B504
q2carry out output phase error command value Δ θ
c *.
In addition, in Fig. 5, the function of the q shaft current input switching part 105 in q shaft current input switching part A505 and Fig. 1 is basic identical.
In Fig. 5, the formation of other formation and Fig. 1 is basic identical, and due to the parts of giving identical symbol are made as and carry out identical function and action, therefore the repetitive description thereof will be omitted.
The explanation > of the action of < comparative example 1
The 10A of vector control portion shown in Fig. 5 carries out the control based on torque as the vector control portion 10 of Fig. 1, but controls take q shaft current as main body.
, applying the voltage amplitude amplitude V of voltage instruction value
1 *what be less than power converter can provide voltage V
0situation under, according to instruction current value (I
d *, I
q *) and reproduce current value (I
dc, I
qc) difference (Δ I
d, Δ I
q) carry out computing the 2nd current instruction value (I
d *, I
q *), use motor rotary speed estimated value ω
cexport and apply voltage instruction value (V
d *, V
q *), carry out vector control.
In addition, applying the voltage amplitude amplitude V of voltage instruction value
1 *what be greater than power converter can provide voltage V
0the situation of output voltage saturation condition under, at voltage amplitude amplitude V
1 *under constant state, by q shaft current command value I
q *reproduce electric current I with q axle
qcdifference delta I
qcarry out computing phase error command value Δ θ
c *, control the voltage-phase of power converter, carry out thus weak magnetic control system.
Next, the driving of Benq in the time of the torque limit of emulation with reference to Fig. 6, Fig. 7.
Fig. 6 is that the 10A of vector control portion that represents the mode by comparative example 1 makes motor rotary speed command value ω
1 *for making the figure of motor load with the characteristic in the situation of certain proportion increase under constant state, (a) represent voltage-phase ［ deg ］, (b) represent q shaft current ［ A ］, (c) represent rotary speed ［ rpm ］.In addition, the transverse axis of Fig. 6 (a) and (b), (c) is time ［ s ］.
Fig. 7 is explanation makes the vector control of the output voltage of motor output limit torque raising figure by the 10A of vector control portion of the mode of comparative example 1, (a) represent torque current and the relation of exporting torque, (b) being that voltage-phase is the voltage vector-diagram of the each voltage in the situation below 90 degree, is (c) voltage vector-diagram that voltage-phase exceedes the each voltage in the situation of 90 degree.
In the situation that motor load is increased with certain proportion, as shown in Figure 6 (b), q shaft current is dealt with certain proportion increase., in the circuit of Fig. 5, by with q shaft current command value I
q *reproduce current value I with q axle
qcdifference be the phase error command value Δ θ that calculates of basis
c *make to apply voltage instruction value (V
d *, V
q *) voltage-phase V
θincrease, carry out thus weak magnetic control system (voltage-phase is that 90 degree are following).
Now, as shown in Figure 6 (a), voltage-phase increases along with the rising of motor load.
In addition, shown in Fig. 6 (c), motor rotary speed (rotary speed) ω
csubstantially follow motor rotary speed command value ω
1 *.
In addition, represent each voltage (weak magnetic output voltage V now
1l θ, vector control output voltage V
1) vector seek for Fig. 7 (b).
Further increase in motor load, voltage-phase V
θbecome from q axle more than 90 degree, from magnet magnetic flux, be in other words 180 degree when above, as shown in Figure 6 (b), q axle reproduces current value I
qctransfer minimizing to.
In this region, with respect to the q shaft current command value increasing and q axle reproduces current value and reduces, produce the difference (I of stable state for this reason
q *-I
qc).
In addition, in this region, as shown in Figure 6 (a), due to voltage-phase V
θbe increased to voltage-phase limits value V
θ lim *, can not make again further weak magnetic.
Thus, as shown in Figure 7 (a), output torque exceedes the stability limit of current mode and the relation of output voltage phase place and q shaft current becomes non-linearly, and torque current enters into nonlinear region with the relation of exporting torque.
In this nonlinear region, as described, at q shaft current command value I
q *reproduce current value I with q axle
qcbetween produce the difference (Fig. 6 (b)) of stable state.
In addition, as shown in Fig. 6 (c) thereupon, become motor rotary speed command value ω
1 *with motor rotary speed ω
cwell-behaved from state.
So, be in the formation of the 10A of vector control portion in the formation of comparative example 1, voltage-phase V under output voltage saturation condition
θbecome from magnet magnetic flux 180 degree when above, weak magnetic control system becomes difficulty.In other words, motor is difficult to be driven into the breakdown torque (torque of motor output limit, Fig. 7 (a)) that can export.
In addition, the polar plot of each voltage is now Fig. 7 (c).In Fig. 7 (c), make voltage-phase V
θbefore arriving the output voltage phase place limit, just enter into unsettled region.
(comparative example 2)
Next, as a comparative example 2, phenomenon and problem points in the situation of the countermeasure that is not based upon especially weak magnetic mode that the 1st execution mode or comparative example 1 carry out etc. are described.
First, the rotary speed of the motor in comparative example 2 and the general characteristic of outlet chamber are described.
Figure 11 is illustrated in that in comparative example 2, to make motor output torque be set-point τ
1use the figure of the characteristic in the situation of control device of electric motor drive motor, (a) relation of the expression rotary speed of motor and the output voltage of power converter and output current, (b) represents the rotary speed of motor and the relation of motor output torque.
In Figure 11 (a), transverse axis is rotary speed N ［ rpm ］, and the longitudinal axis is output voltage ［ V ］ and output current [A].
Owing to producing the induced voltage being directly proportional to rotary speed at motor (23, Fig. 2), therefore power converter need to be exported the voltage that exceedes this induced voltage.For this reason, the output voltage of power converter proportionally increases with rotary speed as shown in the output voltage of Figure 11 (a).
But, as shown in Figure 11 (a) shows, in the time that the rotary speed of motor exceedes specified value and is rotary speed N1, the output voltage of the needs of power converter (24, Fig. 2) enter into exceed power converter voltage (power converter can provide voltage) V can be provided
0region.
If what overstep the extreme limit can provide voltage V
0, the output voltage of power converter no longer rises.To reach this voltage V can be provided
0state be called voltage saturation region.
In such voltage saturation region, can not make the voltage amplitude of the output voltage of power converter become again large.But, because the output current that can make power converter increases, therefore, be set-point τ in motor output torque
1basis on, can further promote rotary speed.
In addition, in Figure 11 (b), transverse axis is rotary speed N ［ rpm ］, and the longitudinal axis is motor output torque ［ Nm ］.
As shown in Figure 11 (b), can export torque at motor is set-point τ
1basis on exceed rotary speed N1, thereby make rotary speed rise to rotary speed N2.But rotary speed N2 is the limit, if promote rotary speed, motor output torque will be lower than set-point τ again
1.
Thus, the state below rotary speed N2 is to export the set-point τ of torque by output motor
1region, the region that exceedes rotary speed N2, because motor output torque reduces, is therefore motor output torque limit region.
In addition, in Figure 11 (a) and (b), the focus of the rotary speed of 2 motor and the general characteristic of outlet chamber is as a comparative example, enters voltage saturation region at rotary speed N1.Owing to entering this voltage saturation region, therefore in the driving of the height of motor output, control, there is the limit.
Supplying of < comparative example 1: the weak magnetic control mode > that expands driving scope in voltage saturation region
As the weak magnetic control mode that expands driving scope in voltage saturation region, at patent documentation 1, following technology is proposed: in the case of the output voltage values of power converter is restricted, the deviation that makes the reference axis of control and the magnetic flux axle of motor by the deviation of the current instruction value of q axle and the current detection value of q axle is the command value of phase error, carry out thus weak magnetic control system, about its problem points, supply explanation comparative example 1 with reference to Figure 12, Figure 13.
In addition, in which, can with power converter energy stable state voltage (voltage can the be provided) V that exports
0(being called voltage-saturated condition below) controls the output voltage of power converter.At this, the permanent magnet motor driving in voltage saturation region produces reluctance torque component sometimes as embedding magnet type motor.
Figure 12 is the figure that is illustrated in output voltage phase place in comparative example 1 and the relation of output torque and q shaft current.In addition, transverse axis is output voltage phase place ［ deg ］, and the longitudinal axis is output torque ［ Nm ］ and q shaft current ［ A ］.
As shown in Figure 12, become and exceed from q axle 90 degree (deg), the i.e. phase place of 180 degree from magnet magnetic flux in output voltage phase place, the output torque of motor becomes maximum.In other words, exceed output voltage limit phase place (the voltage-phase limits value V of 90 degree in output voltage phase place
θ lim *), motor is exported maximum output limit torque.
But, as described in Fig. 7 (a) as shown in, the scope that the output voltage phase place of power converter and the q shaft current of motor exceed 90 degree in output voltage phase place is no longer linear relation, and becomes nonlinear relation.
Therefore,, in the mode of the comparative example that comprises described patent documentation 1, the region that exceedes 90 degree in output voltage phase place is difficult to control.For this reason, in the region of the output that can control, the output voltage limit phase place of essence is " the output voltage limit phase place of comparative example " shown in Figure 12, becomes general 90 degree degree.
Figure 13 is the figure that is illustrated in the rotary speed N of motor in comparative example 1 and the relation of motor output torque.In addition, transverse axis is rotary speed N ［ rpm ］, and the longitudinal axis is motor output torque ［ Nm ］.
In Figure 13, as described, in the mode of the comparative example 1 that comprises patent documentation 1, the region that exceedes 90 degree in output voltage phase place is difficult to control.For this reason, in motor output torque tau
1situation under, in the mode of described patent documentation 1 by the output voltage control of power converter to output limit phase place (voltage-phase limits value V
θ lim *) just can not be driven into the rotary speed N2 of the desirable limit, the rotating speed that can drive can be reduced to rotational speed N 3.In other words, can not be driven into the breakdown torque of electronic function output.
< the 1st execution mode supply >
According to above background, in order to overcome the problem points of comparative example 1 and comparative example 2, take the formation of the 1st execution mode of the present invention.
; as described; the 1st execution mode is by using the 10(Fig. 1 of vector control portion), be that 180 degree are controlled with Shangdi and can make voltage-phase under output voltage saturation condition with respect to the main flux direction of magnet, until the torque of motor output limit can be carried out weak magnetic control system.
That is, do not changed power converter and realized control device of electric motor 21(Fig. 1 of the permanent magnet motor that drives low speed, high efficiency design) high output, can take into account high efficiency and high output.
(the 2nd execution mode)
Be applied to air conditioner 900 in the control of compressor driving motor to carry the control device of electric motor 21 of vector control apparatus 10 of the 1st execution mode of the present invention as the 2nd execution mode, describe with reference to Fig. 9, Figure 10.
Fig. 9 represents the formation of the inside of the related air conditioner 900 of the 2nd execution mode of the present invention.
In addition, Figure 10 is the figure that represents the characteristic of the compressor driving motor that is equipped on the related air conditioner 900 of the 2nd execution mode of the present invention.
In Fig. 9, air conditioner 900 possesses following key element and forms: with extraneous air carry out the off-premises station 901 of heat exchange, with the indoor indoor set 902 of heat exchange and the pipe arrangement 903 that both are connected of carrying out.
The basic following key element of off-premises station 901 and forming: the compressor 904 of compressed refrigerant, the compressor driving motor 905 of drive compression machine 904, control the control device of electric motor 906 of compressor driving motor 905 and the heat exchanger 907 that uses compressed refrigerant and extraneous air to carry out heat exchange.
Carried vector control apparatus 10(Fig. 1 of described the 1st execution mode of the present invention in control device of electric motor 906 application) control device of electric motor 21(Fig. 2).
In addition, indoor set 902 possesses following key element and forms: with the indoor heat exchanger 908 of heat exchange and the forced draft fan 909 to indoor air-supply of carrying out.
Next, the characteristic of compressor driving motor 905 is described with reference to Figure 10.
Figure 10 is the figure that represents the rotary speed of compressor driving motor 905 and the relation of motor efficiency.In addition, transverse axis characterizes the rotary speed (compressor driving motor rotary speed) ［ rpm ］ of the drive motor of compressor, and the longitudinal axis characterizes the efficiency (compressor driving motor efficiency) ［ % ］ of the drive motor of compressor.
As the index of performance that characterizes air conditioner, use in recent years the annual energy resource consumption rate (APF:Annual Performance Factor) of the index of the evaluation under the state when carrying out using close to reality.
Efficiency focus on low speed rotation, low load under APF index time.For this reason, in the design of compressor for air conditioner drive motor, carry out the low velocity design of motor, to make rotational speed N 3 that the motor efficiency shown in the characteristic line 1001 of solid line of Figure 10 becomes peak value as lower rotary speed.
But, as Fig. 6 and as shown in Figure 7, in the weak magnetic control mode of comparative example, can not control to the breakdown torque of electronic function output.Therefore,, in order to seek to take into account the maximum output of APF index and compressor, can not carry out further low velocity design.
In the air conditioner 900 of the 2nd execution mode, the control device of electric motor of the 1st execution mode 21 is applied to air conditioner 900, carry out weak magnetic control system.That is, control device of electric motor 906 is by power converter 24(Fig. 2) output voltage saturation condition under by voltage-phase control for being more than 180 degree with respect to magnet magnetic flux, and the breakdown torque that can output motor can export.
Thus, as shown in the characteristic line 1002 of the dotted line of Figure 11, can not make the maximum output of compressor driving motor reduce motor is carried out to low speed design, the rotary speed that efficiency is become to peak value is designed to lower rotary speed N4.
The effect > of < the 2nd execution mode
By the 2nd execution mode, under the formation of the power converter identical with existing motor drive, can not make the maximum output of compressor driving motor 905 reduce to apply the rotary speed that motor efficiency is become to peak value to be designed to the low velocity design motor of low velocity.In other words, can seek the lifting of high output and the APF index of taking into account air conditioner.
(other execution mode)
With reference to accompanying drawing in detail embodiments of the present invention have been described in detail above, but the present invention be not limited to these execution modes with and distortion, also can not depart from design alteration in the scope of main idea of the present invention etc., enumerate its example below.
" realization of each formation, function "
Can be by one in each formation of described present embodiment, function, handling part, processing unit etc. or all by for example designing etc. and to realize with hardware at integrated circuit.In addition, also can realize by the software that can change program.In addition, also can mix and carry hardware and software.
For example, vector control apparatus 10 can not be also independently to install.For example, at CPU(Central Processing Unit, central processing unit) etc. in, also can be embedded in the program of software together with other circuit, function.
In addition, control line and information wire are considered the needs in explanation and are illustrated, on product, whole control lines and information wire might not be shown.Reality also can think that most formation all interconnects.
" voltage vector operational part "
In addition, in the formation of the 1st execution mode of Fig. 1, the phase error command value Δ θ based on from phase error ordering calculation portion 111
c *the computing of cause voltage vector operational part applies voltage instruction value (V
d *, V
q *), but at the rotatable phase θ to the position Sensorless Control portion 32 that gives Fig. 2
dcadd phase error command value Δ θ
c *the mode of add operation in, also can carry out same driving.
" motor rotary speed estimated value, torque estimated value "
In the 1st execution mode, motor rotary speed estimated value ω
cnot only estimating (computing) by position Sensorless Control portion 32 and obtain, can be also that sensor detects and the value that obtains, i.e. motor rotary speed detected value as described.
Similarly, torque estimated value τ
cnot only by estimating the reproduction electric current (I in operational part 103 with torque
dc, I
qc) for basic estimation (computing) obtains, can be also that sensor detects and the value that obtains, i.e. torque detection value.
" switch element, semiconductor element "
In addition, the switch element of the power converter main circuit 41 possessing as power converter 24, the example that uses IGBT has been described, but also can use the switch element of other semiconductor element, for example also can use MOSFET(Metal-Oxide-Semiconductor Field-Effect Transistor, mos field effect transistor).
" type of motor "
In the 1st execution mode, as the motor driving, enumerating permanent magnet synchronous motor is example, but can be also coiling field type synchronous motor, in addition, can be also the mode of both guaranteeing magnetic field flux in permanent magnetism and coiling.
In addition, the rotor that present embodiment can not only application of electric motors, at the inner-rotor type of the cavity of the inside of stator rotation, can also be applied in the outer-rotor type of the outer sideway swivel of stator.
" carrying the various device of motor "
In the 2nd execution mode, the air conditioner 900 that the control device of electric motor 21 of vector control apparatus 10 that carries the 1st execution mode is applied in to driven compressor has been described, but the application examples of the motor driving with the control device of electric motor 21 of vector control apparatus 10 that has carried the 1st execution mode is not limited to air conditioner.In the various device of lift-launch motor, if owing to carrying the vector control apparatus of the 1st execution mode of the present invention or control device of electric motor and just can take into account high output, high efficiency and the high output of control device of electric motor, therefore the performance as described various equipment is improved and efficient activity is made contributions.
Claims (9)
1. a vector control apparatus, is characterized in that,
Based on provide electric power to make the output of electric motor driven power converter to motor, in the time that this is output as output voltage saturation condition, be to be more than 180 degree with respect to the main flux direction of the field pole of described motor by the weak magnetic output voltage phase control of the output voltage for stipulating described power converter.
2. a vector control apparatus, is characterized in that,
Based on provide electric power to make the output of electric motor driven power converter to motor, in the time that this is output as output voltage saturation condition, and become nonlinear region in the output torque of described motor and the relation of q shaft current, control the weak magnetic output voltage phase place of the output voltage for stipulating described power converter.
3. vector control apparatus according to claim 1 and 2, is characterized in that,
Control the voltage-phase of described power converter output by the difference of torque instruction value and torque detection value or the difference of torque instruction value and torque estimated value.
4. vector control apparatus according to claim 1 and 2, is characterized in that,
Described motor is permanent magnet synchronous motor.
5. a vector control apparatus, is characterized in that, possesses:
Torque instruction operational part, its difference according to motor rotary speed command value and motor rotary speed is carried out computing torque instruction value;
Operational part is estimated in torque, and it carrys out computing torque estimated value based on reproducing current value;
Phase error ordering calculation portion, its difference according to described torque instruction value and described torque estimated value is carried out output phase error command value; With
Voltage vector operational part, it calculates the voltage instruction value that applies to described permanent magnet synchronous motor by current instruction value, described reproduction current value, described motor rotary speed, described phase error command value in the time that the output voltage values of power converter that provides electric power that permanent magnet synchronous motor is driven to permanent magnet synchronous motor is restricted.
6. a control device of electric motor, is characterized in that, possesses:
Vector control apparatus in claim 1,2,5 described in any one,
Described motor is driven to control.
7. a control device of electric motor, is characterized in that, possesses:
Vector control apparatus claimed in claim 5,
Drive and control described permanent magnet synchronous motor.
8. control device of electric motor according to claim 7, is characterized in that,
Described control device of electric motor also possesses:
Power converter, it is transformed to direct current power the alternating electromotive force of variable voltage variable frequency, and the alternating electromotive force after this conversion is exported to described permanent magnet synchronous motor;
DC bus current testing circuit, the DC bus current of this power converter is flow through in its detection;
Electric current recapiulation, the DC bus current information that it detects according to this DC bus current testing circuit, is reproduction current value by the phase current information regeneration that flows through described permanent magnet motor; With
Position Sensorless Control portion, its with described reproduction current value and described in apply voltage instruction value and estimate motor rotary speed and rotatable phase.
9. an air conditioner, is characterized in that, possesses:
Control device of electric motor claimed in claim 6.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012236180A JP6046446B2 (en) | 2012-10-26 | 2012-10-26 | Vector control device, motor control device using the same, and air conditioner |
| JP2012-236180 | 2012-10-26 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103795316A true CN103795316A (en) | 2014-05-14 |
| CN103795316B CN103795316B (en) | 2017-03-01 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201310486541.5A Expired - Fee Related CN103795316B (en) | 2012-10-26 | 2013-10-17 | Vector control apparatus and the control device of electric motor using it, air conditioner |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP6046446B2 (en) |
| KR (1) | KR101514391B1 (en) |
| CN (1) | CN103795316B (en) |
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|---|---|---|---|---|
| CN104676840A (en) * | 2015-02-28 | 2015-06-03 | 广东美的制冷设备有限公司 | Control method and control device for compressor in air conditioner |
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| JP6497895B2 (en) * | 2014-11-17 | 2019-04-10 | シャープ株式会社 | Control device for synchronous motor |
| CN104568488B (en) * | 2014-12-31 | 2017-10-13 | 广东美的制冷设备有限公司 | Air conditioner whole-machine test method, air conditioner system test device and air conditioner |
| JP6299644B2 (en) * | 2015-03-27 | 2018-03-28 | 三菱電機株式会社 | Electric motor control device |
| US10627145B2 (en) * | 2016-07-07 | 2020-04-21 | Rocky Research | Vector drive for vapor compression systems |
| WO2020016912A1 (en) * | 2018-07-17 | 2020-01-23 | 三菱電機株式会社 | Air conditioner |
| JP7358277B2 (en) * | 2020-03-03 | 2023-10-10 | 株式会社東芝 | Drive device, drive system, and electric motor drive method |
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| CN101039093A (en) * | 2006-03-15 | 2007-09-19 | 株式会社日立制作所 | Vektorsteuerungsvorrichtung fur dauermagnetmotor |
| CN101902186A (en) * | 2008-12-12 | 2010-12-01 | 日立空调·家用电器株式会社 | Speed controller of magnetic motor |
| JP2010259275A (en) * | 2009-04-28 | 2010-11-11 | Hitachi Ltd | Motor drive system, motor control device, and motor drive method |
| CN101924486A (en) * | 2009-06-11 | 2010-12-22 | 日立空调·家用电器株式会社 | Inverter controlling apparatus and use its air conditioner, washing machine |
| JP2011004538A (en) * | 2009-06-19 | 2011-01-06 | Sanyo Electric Co Ltd | Inverter device |
| JP2011050178A (en) * | 2009-08-27 | 2011-03-10 | Sanyo Electric Co Ltd | Motor control device and generator control device |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104676840A (en) * | 2015-02-28 | 2015-06-03 | 广东美的制冷设备有限公司 | Control method and control device for compressor in air conditioner |
| CN104676840B (en) * | 2015-02-28 | 2017-06-06 | 广东美的制冷设备有限公司 | The control method and control device of compressor in air-conditioner |
Also Published As
| Publication number | Publication date |
|---|---|
| KR20140053766A (en) | 2014-05-08 |
| JP6046446B2 (en) | 2016-12-14 |
| KR101514391B1 (en) | 2015-04-22 |
| JP2014087223A (en) | 2014-05-12 |
| CN103795316B (en) | 2017-03-01 |
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