CN103795316B - Vector control apparatus and the control device of electric motor using it, air conditioner - Google Patents
Vector control apparatus and the control device of electric motor using it, air conditioner Download PDFInfo
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- CN103795316B CN103795316B CN201310486541.5A CN201310486541A CN103795316B CN 103795316 B CN103795316 B CN 103795316B CN 201310486541 A CN201310486541 A CN 201310486541A CN 103795316 B CN103795316 B CN 103795316B
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- 239000013598 vector Substances 0.000 title claims abstract description 114
- 230000004907 flux Effects 0.000 claims abstract description 20
- 230000005611 electricity Effects 0.000 claims description 17
- 238000012360 testing method Methods 0.000 claims description 15
- 230000015556 catabolic process Effects 0.000 abstract description 10
- 230000000052 comparative effect Effects 0.000 description 35
- 239000000203 mixture Substances 0.000 description 25
- 238000013461 design Methods 0.000 description 10
- 230000006870 function Effects 0.000 description 10
- 238000001514 detection method Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000000694 effects Effects 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000012545 processing Methods 0.000 description 4
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 230000008450 motivation Effects 0.000 description 3
- 239000004065 semiconductor Substances 0.000 description 3
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- 230000008859 change Effects 0.000 description 2
- 230000005669 field effect Effects 0.000 description 2
- 239000003507 refrigerant Substances 0.000 description 2
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- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 1
- 239000000654 additive Substances 0.000 description 1
- 230000000996 additive effect Effects 0.000 description 1
- 238000004378 air conditioning Methods 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 238000013459 approach Methods 0.000 description 1
- -1 be In Fig. 2 Substances 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011156 evaluation Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
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- 230000002441 reversible effect Effects 0.000 description 1
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Classifications
-
- 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
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- 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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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Mechanical Engineering (AREA)
- Thermal Sciences (AREA)
- General Engineering & Computer Science (AREA)
- Control Of Ac Motors In General (AREA)
Abstract
The present invention provides the vector control apparatus of Motor Control that can be driven into the exportable breakdown torque of motor and the control device of electric motor using it, air conditioner.Output based on the power converter making from motor-driven to powering electric motors, when this is output as output voltage saturation, the main flux direction that the weak magnetic output voltage phase controlling being used for the output voltage specifying described power converter is the field pole with respect to described motor is more than 180 degree.Or, become nonlinear region in the output torque of described motor and the relation of q shaft current, control the phase place of the weak magnetic output voltage of output voltage for specifying described power converter.
Description
Technical field
The present invention relates to the vector control apparatus of Motor Control and the control device of electric motor using it, air conditioner.
Background technology
It is equipped on the motor of air conditioner etc.（motor）By control device of electric motor control/driving.This Motor Control fills
Put and be configured to possess vector control apparatus.
The strong request of control device of electric motor used in air conditioner etc. miniaturization/components number is cut, high efficiency/height
Outputization, develops the technology realizing these requirements in a large number.
For the requirement of the high efficiency of control device of electric motor, it is normally applied permanent magnet motor as motor, but is
The vector control apparatus that control device of electric motor possesses are made an effort, are carried out in air conditioner by further high efficiency
When generally operating（Low speed rotation domain）Become efficient motor designs.
But, in existing control device of electric motor or its control method of vector control apparatus of possessing, if entering
Exercising motor becomes efficient design under low speed rotation, then high output will become difficult.For example, due to electronic
Machine occurs and rotary speed（The rotating speed of unit interval）The induced voltage being directly proportional, therefore power converter output voltage and rotation
Speed increases in proportion to（With reference to Figure 11（a））.
But, as described later, when the rotary speed of motor exceedes specified value, produce the output of power converter
Voltage exceedes the region, i.e. the voltage saturation region that are provided that voltage of power converter.In such voltage saturation region, no
Method makes the voltage amplitude of the output voltage of power converter bigger（With reference to Figure 11（a））.
Control as expanding the weak magnetic driving scope in such voltage saturation region（weak field control）
Mode, such as, in patent documentation 1, disclose following technology：In the case of the output voltage values of power converter are confined,
By the deviation of the current instruction value of q axle and the current detection value of q axle, to be made the reference axis of control and the magnetic flux axle of motor
Deviation be phase error command value, thus to carry out weak magnetic control.
Patent documentation
Patent documentation 1：TOHKEMY 2007-252052 publication
The disclosed current instruction value according to q axle of described patent documentation 1 and the current detection value of q axle difference come computing
During phase error command value is thus carry out the mode of weak magnetic control, the voltage that can be able to export in power converter（Voltage saturation shape
State）Lower stable state ground controls the output voltage of power converter.But, as described later, in the output voltage phase of power converter
In the q shaft current of position and motor, in the range of output voltage phase place is more than 90 degree, become nonlinear relation, in output electricity
The pressure region more than 90 degree for the phase place is difficult to control, thus presence can not be driven into the breakdown torque of electronic function output so
Problem（With reference to Fig. 7, Figure 12, Figure 13）.
Content of the invention
For this reason, the present invention proposes to solve such problem points, it is intended that provide to be driven into electronic function
The vector control apparatus of the Motor Control of breakdown torque of output and the control device of electric motor using it, air conditioner.
In order to solve described problem and reach the purpose of the present invention, constitute as described below.
That is, it is characterised by, the vector control apparatus of the present invention make motor-driven based on to powering electric motors
The output of power converter, when this is output as output voltage saturation, will be used for specifying the output of described power converter
The weak magnetic output voltage phase controlling of voltage be the field pole with respect to described motor main flux direction be 180 degree with
On.
In addition, the control device of electric motor of the present invention is characterised by possessing described vector control apparatus, and drive control electricity
Motivation.
In addition, the air conditioner of the present invention is characterised by, possesses described control device of electric motor.
In addition, other being formed in the form carrying out an invention illustrates.
The effect of invention
According to the present invention, be provided that can by motor-driven the Motor Control to the breakdown torque that can export vector control
Device processed and the control device of electric motor using it, air conditioner.
Brief description
Fig. 1 is the figure of the composition of the inside of vector control apparatus involved by the 1st embodiment representing the present invention.
Fig. 2 is the composition of control device of electric motor involved by the 1st embodiment and this motor control representing the present invention
Device processed also has the figure associating of motor with DC source.
Fig. 3 is to be represented with emulation make motor revolve by the vector control unit involved by the 1st embodiment of the present invention
Rotary speed command value be constant in the state of make motor load with certain proportion increase in the case of characteristic figure,（a）Table
Show voltage-phase,（b）Represent torque,（c）Represent rotary speed.
Fig. 4 is explanation for making motor output stage by the vector control unit involved by the 1st embodiment of the present invention
The figure of the vector controlled of output voltage that limit torque improves,（a）Represent the relation of Assumption torque and output torque,（b）It is voltage
Phase place be less than 90 degree in the case of each voltage voltage vector-diagram,（c）Be voltage-phase more than 90 degree in the case of each
The voltage vector-diagram of voltage.
Fig. 5 is the figure of the vector control unit in the mode represent comparative example 1.
Fig. 6 is vector control unit 10A in representing by way of comparative example 1 makes the motor rotation velocity command value be
Motor load is made with the figure of the characteristic in the case of certain proportion increase in the state of constant,（a）Represent voltage-phase,（b）
Represent torque,（c）Represent rotary speed.
Fig. 7 is that the vector control unit in illustrating by way of comparative example 1 makes the defeated of motor output limit torque raising
Go out the figure of the vector controlled of voltage,（a）Represent the relation of torque current and output torque,（b）Be voltage-phase be less than 90 degree
In the case of each voltage voltage vector-diagram,（c）Be voltage-phase more than 90 degree in the case of each voltage voltage vector
Figure.
Fig. 8 is to represent that the weak magnetic in the case of comparing using the vector control apparatus of the 1st embodiment of the present invention controls
When and comparative example vector control apparatus in the figure of of motor output limit torque.
Fig. 9 is the figure of the composition of the inside of air conditioner involved by the 2nd embodiment representing the present invention.
Figure 10 is the compressor driving motor of the air conditioner involved by the 2nd embodiment representing and being equipped on the present invention
The figure of characteristic.
Figure 11 is to represent in comparative example 2, with motor output torque as set-point, drives electricity with control device of electric motor
The figure of the characteristic in the case of motivation,（a）Represent the rotary speed of motor and the output voltage of power converter and output
The relation of electric current,（b）Represent the rotary speed of motor and the relation of output torque.
Figure 12 is the figure representing the relation of output voltage phase place and output torque and q shaft current in comparative example 1.
Figure 13 is the figure representing the relation of the rotary speed of motor and motor output torque in comparative example 1.In addition,
Transverse axis is rotary speed, and the longitudinal axis is motor output torque.
Symbol description
10th, 10A vector control apparatus, vector control unit
21st, 906 control device of electric motor
22 DC sources
23 motor（Permasyn morot）
24 power converters
25 DC bus current testing circuits
26 control devices
31 electric current reproducing units
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
103 torque estimation operational parts
104 torque input switching parts
105 q shaft current input switching parts
106 d shaft current input switching parts
107 output voltages limit test section
111st, 511 phase error ordering calculation portion
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
907th, 908 heat exchanger
909 pressure fan
Specific embodiment
Below, it is explained with reference to the form for implementing present invention（Hereinafter referred to as " embodiment "）.
（1st embodiment）
Vector control apparatus 10 involved by 1st embodiment of the present invention to be described with reference to Fig. 1～Fig. 4.In addition, it is also simultaneous
The control device of electric motor 21 possessing vector control apparatus 10 is described.
In 1st embodiment, control device of electric motor 21 is applied the control that the vector control apparatus 10 of the present invention are carried out
Method processed, by the difference of motor torque command value and torque estimated value come computing phase error command value, thus carry out weak
Magnetic control.
［ vector control apparatus：It 1 ］
Fig. 1 represents the composition of the inside of vector control apparatus 10 involved by the 1st embodiment of the present invention.Wherein, swear
Amount control device 10 is as control device of electric motor 21（Fig. 2）Element and possess wherein, also carry out signal between the two
Contact, first, first illustrate control device of electric motor 21, afterwards, then describe vector control apparatus 10 in detail.
＜ control device of electric motor and DC source, motor associate ＞
Fig. 2 is the composition of control device of electric motor 21 involved by the 1st embodiment and this motor representing the present invention
Control device 21 also has the figure associating of motor 23 with DC source 22.
In fig. 2, control device of electric motor 21 accepts direct current power from DC source 22, transforms it into 3 cross streams electricity
Power.In addition, motor（Permasyn morot）23 are provided 3 cross streams electric power from control device of electric motor 21, are driven
Control and rotate, thus rotation driving load（Not shown）.
Next explanation control device of electric motor 21 is detailed.
＜ control device of electric motor ＞
In fig. 2, as described, control device of electric motor 21 possesses following key element and constitutes：Power converter 24, its
The direct current power providing from DC source 22 is transformed to 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 is with by dc bus electricity
To carry out vector controlled based on DC bus current information 25A that current detection circuit 25 detects.
《Power converter》
In addition, power converter 24 possesses following key element and constitutes：Power converter main circuit 41, it is by IGBT
（Insulated Gate Bipolar Transistor, insulated gate bipolar transistor）Deng thyristor with against simultaneously
The diode element that connection connects is constituted；With gate drivers 42, it is based on from PWM described later（Pulse Width
Modulation, pulse width modulation）The pwm pulse signal 35A of pulse generating unit 35 is producing to power converter main circuit 41
IGBT（Sup、Sun、Svp、Svn、Swp、Swn）Signal.
It is connected in series with IGBT and constitute a phase（leg）IGBT（Sup、Sun）It is connected between DC source 22, each
Upper arm（Sup）With underarm（Sun）Junction point become the AC output terminal of U phase.
Similarly, it is connected in series and constitute the IGBT of a phase（Svp、Svn）Be connected between DC source 22, respective on
Arm（Svp）With underarm（Svn）Junction point become the AC output terminal of V phase.
In addition, being connected in series and constituting the IGBT of a phase（Swp、Swn）It is connected between DC source 22, respective upper arm
（Swp）With underarm（Swn）Junction point become the AC output terminal of W phase.
By above IGBT is suitably controlled via gate drivers 42 by control device 26（Sup、Sun、Svp、Svn、
Swp、Swn）, the direct current power of DC source 22 is transformed to 3 cross streams electric power of variable voltage variable frequency（3 cross streams electricity
Pressure Vu, Vv, Vw, 3 cross streams electric current Iu, Iv, Iw）, and the AC output terminal output from described U phase, V phase, W phase.
《Control device》
In addition, control device 26 possesses following key element and constitutes：Vector control unit（Vector control apparatus）10th, electric current reproduces
Portion 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 unit 10 is as described, it is also vector control apparatus 10.In addition, using as described later
Vector control unit 10A of comparative example 1（Fig. 5）Composition when, in fig. 2, the square of vector control unit 10 is equivalent to vector controlled
Portion 10A.
Electric current reproducing unit 31 is with the DC bus current information detected by DC bus current testing circuit 25（IDC）2A
Based on, described permasyn morot will be flow through（Motor）23 phase current information is as reproduction electric current（Idc, Iqc）And
Reproduce.Then, by this reproduction electric current（Idc, Iqc）31A, 31B export to vector control unit 10 and position Sensorless Control portion
32.
In addition, the taking of the phase current information from DC bus current testing circuit 25 described later in electric current reproducing unit 31
Obtaining can be not right with the general fashion such as the mode disclosed in JP 2004-48886 publication or the mode using current sensor
The detection mode of phase current information is made specific.
Position Sensorless Control portion 32 uses described reproduction electric current（Idc, Iqc）（31A、31B）With applied voltage command value
（Vd *, Vq *）To estimate motor rotation velocity ωc（32A）With rotatable phase θdc（32B）.Then, by motor rotation velocity ωc
（32A）Signal output to vector control unit 10.In addition, by rotatable phase θdc（32B）Signal output to electric current reproducing unit 31
With coordinate converting section 34.
In addition, the motor rotation velocity ω that position Sensorless Control portion 32 is carried outcWith rotatable phase θdcEstimation energy
With employing the general fashions such as the mode of position sensor, spy is not made to the detection mode of rotary speed and rotatable phase
Fixed.
Speed command generating unit 33 produces motor rotation velocity command value ω1 *（33A）, and by this signal output to vector
Control unit 10.
Vector control unit 10 is using reproduction electric current（Idc, Iqc）（31A、31B）, motor rotation velocity ωc（32A）, be derived from
Motor rotation velocity command value ω of speed command generating unit 331 *To calculate to the applied voltage command value of motor 23
（Vd *, Vq *）.Then, by applied voltage command value（Vd *, Vq *）Export to coordinate converting section 34 and position Sensorless Control portion
32.
In addition, being described below in detail with regard to vector control unit 10.
Coordinate converting section 34 is by described applied voltage command value（Vd *, Vq *）It is transformed to exchange applied voltage command value
（Vu*, Vv*, Vw*）, and this signal 34A is exported pwm pulse generating unit 35.
Pwm pulse generating unit 35 is based on described exchange applied voltage command value（Vu*, Vv*, Vw*）And carrier signal（In PWM
Pulse generating unit 35 is internal to be produced）To generate pwm pulse signal 35A, and this signal 35A is exported to be had to power converter 24
Standby gate drivers 42.
《DC bus current testing circuit》
DC bus current testing circuit 25 is connected with the dc bus of the minus side of DC source 22, from be mixed with U phase, V phase,
The electric current I of the pulsating flow of W phaseDCObtain phase current information.Using the phase current information obtaining as DC bus current information（Mutually electricity
The information of stream）25A and export to electric current reproducing unit 31.
In addition, the acquirement from the phase current information of DC bus current testing circuit 25 can be with described JP 2004-
Mode disclosed in No. 48886 publications or employ the general fashions such as the mode of current sensor, the not inspection to phase current information
Survey mode is made specific.
［ vector control apparatus：It 2 ］
To describe vector control apparatus 10 referring again to Fig. 1 in detail.
As described, Fig. 1 represents the inside of the vector control apparatus 10 involved by the 1st embodiment of the present invention in detail
Composition.
In FIG, vector control apparatus 10 possess：Torque instruction operational part 101, q shaft current ordering calculation portion 102, turn
Moments estimation operational part 103, phase error ordering calculation portion 111,2q shaft current ordering calculation portion 112, the instruction of 2d shaft current
Operational part 113, voltage vector operational part 100, output voltage limit test section 107.
In addition, vector control apparatus 10 possess comparator 121～124.
In addition, vector control apparatus 10 are also equipped with torque input switching part 104, q shaft current input switching part 105, d axle electricity
Stream inputs switching part 106 and constitutes.
In addition, so-called d axle is the coordinate axess in the main flux direction of the Magnet of motor rotor, so-called q axle is and described d axle
The rotatable coordinate axis of right angle orientation at a right angle.
Vector control apparatus 10 are inputted respectively with the motor rotation of each signal in the control device of electric motor 21 shown in Fig. 2
Rotary speed command value ω 1*, the motor rotation velocity ω that estimatesc, the respective electric current that reproduces of d axle, q axle be Idc、Iqc.
In addition, exporting applied voltage command value V from vector control apparatus 10d *、Vq *.In addition, applied voltage command value Vd *It is
The applied voltage instruction related to d axle, applied voltage command value Vq *It is the applied voltage instruction related to q axle.
In FIG, motor rotation velocity command value ω is inputted to comparator 1211 *With the motor rotation speed estimating
Degree ωc, and by its difference output 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 rotation velocity command value ω1 *With the motor rotation velocity estimating
ωcDifference carry out computing torque instruction value τ*.
《Q shaft current ordering calculation portion》
Q shaft current ordering calculation portion 102 is according to motor rotation velocity command value ω1 *With the motor rotation speed estimating
Degree ωcDifference carry out computing q shaft current command value Iq *.
《Torque estimation operational part》
Torque estimation operational part 103 is based on motor 23（Fig. 2）Electric constant and reproduce current value（Idc, Iqc）To transport
Calculate torque estimated value τc.
In addition, the estimation of torque that torque estimation operational part 103 is carried out can be with according to applied voltage command value（Vd *,
Vq *）With reproduction current value（Idc, Iqc）Based on power converter output power and motor rotation velocity estimated value（Estimate
The motor rotation velocity going out）ωcThe general fashion such as the mode carrying out Assumption torque or the mode that employs torque sensor, no
The detection mode of torque is made specific.
《Various comparators》
To comparator 122 input torque command value τ*With torque estimated value τc, and its difference delta τ is exported to torque input
Switching part 104.
Q shaft current command value I is inputted to comparator 123q *Reproduce current value I with q axleqc, and by its difference delta IqExport to q
Shaft current inputs switching part 105.
D shaft current command value I is inputted to comparator 124d *Reproduce current value I with d axledc, and by its difference delta IdExport to d
Shaft current inputs switching part 106.
In addition, " 0 " in the input of comparator 124 means d shaft current command value Id *For 0.
《Various input switching parts》
Torque inputs the output voltage limit markers that switching part 104 limits test section 107 output based on output voltage
V1lim-flg, by torque instruction value τ*With torque estimated value τcDifference delta τ or meaning 0 value " 0 " as signal delta τ1And export
To phase error ordering calculation portion 111.
In addition, with regard to output voltage limit markers V1lim-flg, it is described below.
Q shaft current input switching part 105 is based on output voltage limit markers V1lim-flg, by q shaft current command value Iq *With q
Axle reproduces current value IqcDifference delta Iq, or " 0 " as signal delta Iq1And export to 2q shaft current ordering calculation portion 112.
D shaft current input switching part 106 is based on output voltage limit markers V1lim-flg, by d shaft current command value Id *With d
Axle reproduces current value IdcDifference delta Id, or " 0 " as signal delta Id1And export to 2d shaft current ordering calculation portion 113.
《Phase error ordering calculation portion》
Phase error ordering calculation portion 111 inputs the output valve Δ τ of switching part 104 according to torque1Carry out output phase error
Command value（Phase error command value）Δθc *.
《2q shaft current ordering calculation portion》
2q shaft current ordering calculation portion 112 inputs the output valve Δ I of switching part 105 according to q shaft currentq1To export 2q
Shaft current command value Iq **.
《2d shaft current ordering calculation portion》
2d shaft current ordering calculation portion 113 inputs the output valve Δ I of switching part 106 according to d shaft currentd1To export 2d
Shaft current command value Id **.
《Voltage vector operational part》
Voltage vector operational part 100 possesses vector controlled output voltage operational part (not shown) and output voltage limiting unit.
And, in described vector controlled output voltage operational part, based on 2d shaft current command value Id **With 2q shaft current command value
Iq **Carry out vectors and control output voltage V1（Fig. 4（b）、（c））.
In addition, in described output voltage limiting unit, by vector controlled output voltage V1Amplitude be limited in power converter
Device 24（Fig. 2）The voltage being provided that（Power converter is provided that voltage V0, Fig. 4（b）、（c））Amplitude in the range of, and will swear
Amount controls output voltage V1 to be transformed to vector controlled output voltage V1lim（Fig. 4（b）、（c））.
Next, voltage vector operational part 100 is based on described vector controlled output voltage V1limWith phase error instruction
Value（Weak magnetic phase place）Δθc *Carry out transformation vector and control output voltage V1limPhase place, union weak magnetic output voltage V1lθ.
And then, with reference to motor 23（Fig. 2）Electric constant, motor rotation velocity ωcCarry out computing and export applying electricity
Pressure command value（Vd *、Vq *）.
《Output voltage limits test section》
Output voltage limits the applied voltage command value that test section 107 exports according to voltage vector operational part 100（Vd *,
Vq *）Carry out computing output voltage amplitude V1 *, in output voltage amplitude V1 *Less than power converter 24（Fig. 2）Be provided that electricity
Pressure（Power converter is provided that voltage V0）In the case of, by output voltage limit markers V1lim-flgIt is set as " 0 ", in output electricity
Pressure amplitude V1 *Reach power converter and be provided that voltage V0In the case of, by output voltage limit markers V1lim-flgIt is set as
“1”.
By above composition, in the output voltage amplitude V of applied voltage command value1 *Can carry more than power converter
Voltage supplied V0Output voltage saturation in the case of, vector control unit 10 carries out weak magnetic control, in output voltage amplitude
V1 *In the state of constant, by torque instruction value τ*With torque estimated value τcDifference delta τ carry out computing phase error command value
Δθc *, thus control the output voltage phase place of power converter（Voltage-phase）Vθ.
By carrying out this weak magnetic control, can under output voltage saturation with respect to Magnet magnetic flux be 180 degree with Shangdi
Control voltage phase place.
＜ is based on the driving explanation ＞ during torque limit emulating
To illustrate with reference to Fig. 3, Fig. 4 make motor rotation velocity command value ω by described vector control unit 101 *For perseverance
Motor load is made with the characteristic in the case of certain proportion increase in the state of fixed.
Fig. 3 be with emulation come to represent by the vector control unit 10 involved by the 1st embodiment of the present invention make electronic
Machine rotational speed command value ω1 *For making motor load in the state of constant with the spy of the data in the case of certain proportion increase
The figure of property,（a）Expression voltage-phase ［ deg ］,（b）Expression torque ［ Nm ］,（c）Represent rotary speed ［ rpm ］.In addition, Fig. 3（a）、
（b）、（c）Transverse axis be the time ［ s ］ it is illustrated that the phenomenon of general several seconds degree that responds of voltage-phase and torque.
Fig. 4 is that explanation makes motor output limit by the vector control unit 10 involved by the 1st embodiment of the present invention
The figure of the vector controlled of output voltage that torque improves,（a）Represent the relation of Assumption torque and output torque,（b）It is voltage phase
Position is the voltage vector-diagram of each voltage in the case of less than 90 degree,（c）Be voltage-phase more than 90 degree in the case of each electricity
The voltage vector-diagram of pressure.
《Voltage-phase is motor characteristic when less than 90 degree》
First, account for voltage phase place is less than 90 degree of motor characteristic.
While sending instruction to make the rotary speed of motor（Motor rotation velocity, rotating cycle/point）For specified value
ω1 *（Fig. 3（c）Solid line）While making motor torque increase with certain proportion（Fig. 3（b））.In addition, making this rotary speed increase
Plus during, motor rotation velocity estimated value ωcAlthough also can be with motor rotation velocity command value ω for accurately1 *No
Unanimously, but substantially follow.
During so that this motor torque is increased with certain proportion, such as Fig. 3（a）As shown in, by voltage-phase
VθIncrease and to carry out weak magnetic control.
In addition, voltage-phase VθBe equivalent to by with torque instruction value τ*Transport with based on the difference of torque estimated value τ c
The phase error command value Δ θ calculatingc *The applied voltage command value calculating（Vd *, Vq *）Voltage-phase.
In addition, in Fig. 4（b）、（c）In, dcAxle（D axle）For the main flux direction of the Magnet of rotor, qcAxle（Q axle）It is and institute
State dcAxle（D axle）Right angle orientation at a right angle.And, 90 degree of described voltage-phase is with qcAxle（Q axle）On the basis of.Therefore, if
Then be equivalent to 180 degree on the basis of the main flux direction of Magnet.
Further, since qcAxle and dcAxle is vector control unit（Vector control apparatus）Concept in 10, thus while electronic
Q axle in machine and d axle are using the symbol distinguished, but the vector correlation of each key element is essentially identical.
In addition, suitably by weak magnetic output voltage V1lθVoltage-phase VθSimplify and be referred to as " weak magnetic output voltage phase place " or " electricity
Pressure phase place ".
In addition, the vector of expression each voltage now seeks for Fig. 4（b）.In Fig. 4（b）In, vector controlled output voltage V1
As described, 2d shaft current command value I based on Fig. 1d **With 2q shaft current command value Iq **Carry out computing.By this vector control
Output voltage V processed1It is limited in power converter and be provided that voltage V0Amplitude in the range of and convert voltage be that vector controlled is defeated
Go out voltage V1lim.
And then, it is weak magnetic phase delta θ based on the command value of phase errorc *Carry out transformation vector and control output voltage V1limPhase
Position（Voltage-phase Vθ）, union weak magnetic output voltage V1lθ.
Further, since in weak magnetic output voltage V1lθIn comprise and dcThe reverse electricity in the main flux direction of axial Magnet
Pressure component, therefore has the effect making counter electromotive force reduction by rotor.
《Voltage-phase is more than 90 degree（Super）When motor characteristic》
Increase and weak magnetic output voltage V further in motor torque1lθVoltage-phase VθFrom qcAxle rises more than 90 degree
In the case of, in other words, in the case of exceeding 180 degree from Magnet magnetic flux（Fig. 4（c））As long as being also not up to output voltage phase
The position limit（Voltage-phase limits value Vθlim *, Fig. 3（a））, can stably control.
Therefore, because weak magnetic output voltage phase place VθContinue with the proportionate relationship of output torque, therefore as Fig. 4（a）Shown
Like that, Assumption torque and the proportionate relationship of output torque continue, and will not become non-linear.
For this reason, as Fig. 3（b）Shown, torque estimated value τcFollow torque instruction value τ*, and there is not the difference of stable state.
In addition, as Fig. 3（a）Shown, weak magnetic output voltage phase place VθAlso relative to voltage-phase limits value Vθlim *Leave abundant
Amount.
Therefore, in voltage-phase VθFor more than 90 degree（Super）Region also can carry out weak magnetic control, such as Fig. 3（c）Shown,
After the given time, motor rotation velocity ωcFollow motor rotation velocity command value ω1 *, become basically identical state.
In addition, as Fig. 4（c）Shown, due to weak magnetic output voltage V1lθPhase place be more than 90 degree（Super）, i.e. with respect to magnetic
The flow direction of ferrum is more than 180 degree（Super）Also can be driven, therefore not reach the output voltage phase place limit（Voltage-phase
Limits value Vθlim *）When, that is, as Fig. 4（a）Like that till output torque reaches motor output limit torque, Assumption torque and
Output torque all keeps linear relation.
In addition, more than 90（Super）, i.e. with respect to Magnet flow direction be 180 degree more than（Super）Region in output torque
τcWith q shaft current（Q axle reproduces current value）IqcRelation under, as be described hereinafter as shown in Figure 7, be exist become nonlinear can
The region of energy property.
So, in the vector control unit 10 of the present embodiment（Fig. 2）Composition in, under output voltage saturation, weak magnetic is defeated
Go out voltage-phase VθBecome more than 180 degree from the main flux direction of Magnet（Super）In the case of, also can carry out weak magnetic control.Change
Yan Zhi, can be driven into the breakdown torque of electronic function output.
The obvious property ＞ of the ＜ present invention
As described, by the composition of the vector control unit 10 of the 1st embodiment shown in Fig. 1, power converter
24 outputs are equivalent to passes through phase error command value Δ θ under output voltage saturationc *And the applied voltage being controlled by weak magnetic
Command value（Vd *, Vq *）Voltage, wherein phase error command value Δ θc *Based on torque instruction value τ*With torque estimated value τcDifference
Divide and calculate.In other words, power converter 24 export under output voltage saturation with respect to Magnet magnetic flux be 180 degree with
On phase place voltage.
Torque when ＜ drives improves example ＞
Next, the raising example of torque when illustrating that physical device is driven with reference to Fig. 8.In addition, Fig. 5～Fig. 7
It is described below as comparative example.
Fig. 8 is the situation representing the vector control apparatus 10 comparing the 1st embodiment using the present invention shown in Fig. 1
Under weak magnetic when controlling and in the vector control apparatus 10A of comparative example described later 1 one of motor output limit torque
Figure.
In fig. 8, the value on the summit of the figure being represented with symbol 800 is the output limit torque of comparative example 1 described later
Value, is labeled as 100% as benchmark.In addition, the value on the summit of the figure of symbol 801 represents the defeated of the 1st embodiment
Go out the value being scaled percentage rate of breakdown torque, be expressed as exceeding 100% of benchmark as symbol 800 value.
As shown in figure 8, controlling by the weak magnetic carrying out the composition based on the 1st embodiment, motor output stage can be improved
Limit torque.In addition, the figure shown in Fig. 8 is one, if changing the condition of construction and the characteristic of motor etc., exist
The probability of the result that one step improves.
Effect ＞ of ＜ the 1st embodiment
By using the vector control unit 10 of the 1st embodiment shown in Fig. 1, can under output voltage saturation,
It is more than 180 degree with respect to the main flux direction of Magnet, control voltage phase place.In other words, by using the structure of present embodiment
Become, until motor output limit torque can carry out weak magnetic control.That is, do not achieve driving with not changing power converter low
Speed, the high output of the control device of electric motor 21 of the permanent magnet motor of high efficient design, can take into account high efficiency and height output
Change.
（Comparative example 1）
Next, with disclosed in described patent documentation 1 grade according to q shaft current command value Iq *Reproduce current value with q axle
The difference of Iqc come to control power converter output voltage mode be comparative example 1, illustrate with reference to Fig. 5, Fig. 6.
Composition ＞ of ＜ comparative example 1
Fig. 5 is the figure of vector control unit 10A of the mode representing comparative example 1.In addition, possessing the electricity of vector control unit 10A
Motivation control device 21（Fig. 2）Circuit block diagram with the control device of electric motor 21 shown in Fig. 2 is essentially identical composition, be
In Fig. 2, vector control unit 10 is replaced into the composition of vector control unit 10A.
Vector control unit 10A of Fig. 5 is do not have the torque instruction in Fig. 1 with vector control unit 10 difference of Fig. 1
Operational part 101, torque estimation operational part 103 and comparator 122, from the comparator 123 of Fig. 5 by q shaft current command value Iq *With q axle
Reproduce electric current IqcDifference delta IqExport and input switching part A505 and q shaft current input switching part B504 to q shaft current.
In addition, q shaft current input switching part B504 is based on output voltage limit markers V1lim-flg, by q shaft current command value
Iq *Reproduce current value I with q axleqcDifference delta Iq, or " 0 " as Δ Iq2And export to phase error ordering calculation portion 511.
In addition, phase error ordering calculation portion 511 inputs the output valve Δ I of switching part B504 according to q shaft currentq2To export
Phase error command value Δ θc *.
In addition, in Figure 5, the q shaft current that q shaft current inputs in switching part A505 and Fig. 1 inputs the function of switching part 105
Essentially identical.
In Fig. 5, other compositions are essentially identical with the composition of Fig. 1, due to being set to carry out the part giving identical symbol
Identical function and action, therefore the repetitive description thereof will be omitted.
The explanation ＞ of the action of ＜ comparative example 1
Vector control unit 10A shown in Fig. 5 is not the control carrying out as the vector control unit 10 of Fig. 1 based on torque,
But be controlled with q shaft current for main body.
That is, in voltage amplitude amplitude V of applied voltage command value1 *It is provided that voltage V less than power converter0Situation
Under, according to command current value（Id *, Iq *）With reproduction current value（Idc, Iqc）Difference（ΔId, Δ Iq）Carry out computing the 2nd electric current to refer to
Make value（Id **、Iq **）, using motor rotation velocity estimated value ωcTo export applied voltage command value（Vd *、Vq *）, carry out vector
Control.
In addition, voltage amplitude amplitude V in applied voltage command value1 *It is provided that voltage V more than power converter0Output
In the case of voltage-saturated condition, in voltage amplitude amplitude V1 *In the state of constant, by q shaft current command value Iq *With q axle again
Existing electric current IqcDifference delta IqCarry out computing phase error command value Δ θc *, to control the voltage-phase of power converter, thus to enter
Row weak magnetic controls.
Next, the driving during torque limit based on emulation to be described with reference to Fig. 6, Fig. 7.
Fig. 6 is to represent that vector control unit 10A by way of comparative example 1 makes motor rotation velocity command value ω1 *
For making motor load in the state of constant with the figure of the characteristic in the case of certain proportion increase,（a）Expression voltage-phase
Deg ］,（b）Represent q shaft current ［ A ］,（c）Represent rotary speed ［ rpm ］.In addition, Fig. 6（a）、（b）、（c）Transverse axis be the time
S ］.
Fig. 7 is to illustrate that vector control unit 10A by way of comparative example 1 makes the defeated of motor output limit torque raising
Go out the figure of the vector controlled of voltage,（a）Represent the relation of torque current and output torque,（b）Be voltage-phase be less than 90 degree
In the case of each voltage voltage vector-diagram,（c）Be voltage-phase more than 90 degree in the case of each voltage voltage vector
Figure.
In the case of so that motor load is increased with certain proportion, such as Fig. 6（b）Shown, make q shaft current with certain proportion
Increase and to tackle.That is, in the circuit of Fig. 5, by with q shaft current command value Iq *Reproduce current value I with q axleqcDifference be base
Plinth and the phase error command value Δ θ that calculatesc *Make applied voltage command value（Vd *, Vq *）Voltage-phase VθIncrease, thus enter
Row weak magnetic controls（Voltage-phase is less than 90 degree）.
Now, as Fig. 6（a）Shown, voltage-phase increases with the rising of motor load.
In addition, Fig. 6（c）Shown, motor rotation velocity（Rotary speed）ωcSubstantially follow motor rotation velocity instruction
Value ω1 *.
In addition, representing each voltage now（Weak magnetic output voltage V1lθ, vector controlled output voltage V1）Vector seek for
Fig. 7（b）.
Increase further in motor load, voltage-phase VθBecome more than 90 degree from q axle, in other words from Magnet magnetic flux
Rise as when more than 180 degree, such as Fig. 6（b）As shown in, q axle reproduces current value IqcSwitch to reduce.
In this region, with respect to increased q shaft current command value, q axle reproduces current value minimizing, produces stable state for this
Difference（Iq *- Iqc）.
In addition, in this region, such as Fig. 6（a）Shown, due to voltage-phase VθIncrease to voltage-phase limits value Vθlim *,
Further weak magnetic can not be made again.
Thus, as Fig. 7（a）Shown, output torque exceedes the stability limit of current mode and output voltage phase place and q shaft current
Relation become non-linear, the relation of torque current and output torque enters into nonlinear region.
In this nonlinear region, as described, in q shaft current command value Iq *Reproduce current value I with q axleqcBetween produce
The difference of raw stable state（Fig. 6（b））.
In addition, as Fig. 6 therewith（c）As shown in, become motor rotation velocity command value ω1 *Rotate speed with motor
Degree ωcWell-behaved from state.
So, the composition in comparative example 1 is voltage under output voltage saturation in the composition of vector control unit 10A
Phase place VθWhen becoming more than 180 degree from Magnet magnetic flux, weak magnetic controls becomes difficult.In other words, motor is difficult to be driven into energy
The breakdown torque of output（Motor output limit torque, Fig. 7（a））.
In addition, the vectogram of each voltage now is Fig. 7（c）.In Fig. 7（c）In, make voltage-phase VθReach output electricity
Unstable region is advanced to before the pressure phase place limit.
（Comparative example 2）
Next, as comparative example 2, illustrating especially not set up the weak magnetic mode carrying out in the 1st embodiment or comparative example 1
Deng countermeasure in the case of phenomenon and problem points.
First, the general characteristic of the rotary speed of motor in comparative example 2 and outlet chamber is described.
Figure 11 is to represent to make motor output torque be set-point τ in comparative example 21To be driven with control device of electric motor
The figure of the characteristic in the case of motor,（a）Represent the output voltage of rotary speed and the power converter of motor and defeated
Go out the relation of electric current,（b）Represent the rotary speed of motor and the relation of motor output torque.
In Figure 11（a）In, transverse axis is rotary speed N ［ rpm ］, and the longitudinal axis is output voltage ［ V ］ and output current [A].
Due in motor（23rd, Fig. 2）Produce the induced voltage being directly proportional to rotary speed, therefore power converter needs
Output exceedes the voltage of this induced voltage.For this reason, the output voltage of power converter such as Figure 11（a）Output voltage as shown in
Increase in proportion to rotary speed.
But, such as Figure 11（a）Shown, when the rotary speed of motor exceedes specified value and is rotary speed N1, electric power
Changer（24th, Fig. 2）Needs output voltage enter into exceed power converter be provided that voltage（Power converter can carry
Voltage supplied）V0Region.
If overstep the extreme limit is provided that voltage V0, then the output voltage of power converter no longer rise.It is up to this can carry
Voltage supplied V0State be referred to as voltage saturation region.
It is impossible to make the voltage amplitude of the output voltage of power converter become big again in such voltage saturation region.But
It is that the output current due to can make power converter increases, therefore, be set-point τ in motor output torque1On the basis of,
Rotary speed can be lifted further.
In addition, in Figure 11（b）In, transverse axis is rotary speed N ［ rpm ］, and the longitudinal axis is motor output torque ［ Nm ］.
As Figure 11（b）Shown, can be set-point τ in motor output torque1On the basis of exceed rotary speed N1, thus
Rotary speed is made to rise to rotary speed N2.But, rotary speed N2 is the limit, if lifting rotary speed again, motor exports
Torque will be lower than set-point τ1.
Thus, the state below rotary speed N2 is the set-point τ of energy output motor output torque1Region, exceed
The region of rotary speed N2 is reduced due to motor output torque, is therefore motor output torque limit area.
In addition, in Figure 11（a）、（b）In, as the general characteristic of rotary speed and the outlet chamber of the motor of comparative example 2
Focus be, rotary speed N1 enter voltage saturation region.Due to entering this voltage saturation region, therefore motor
In the driving of height output, control, the limit occurs.
The supplying of ＜ comparative example 1：Expand weak magnetic control mode ＞ driving scope in voltage saturation region
Expand, as in voltage saturation region, the weak magnetic control mode driving scope, propose following technology in patent documentation 1：
In the case that the output voltage values of power converter are restricted, by the current detection value of the current instruction value of q axle and q axle
Deviation to be made the command value that the deviation of the reference axis of control and the magnetic flux axle of motor is phase error, thus to carry out weak
Magnetic control, with regard to its problem points, to supply explanation comparative example 1 with reference to Figure 12, Figure 13.
In addition, in this approach, can be with the voltage that exports of power converter energy stable state ground（It is provided that voltage）V0（Referred to below as
Make voltage-saturated condition）Control the output voltage of power converter.Here, the permanent-magnet electric being driven in voltage saturation region
Machine produces reluctance torque component sometimes as permanent magnet synchronous motor.
Figure 12 is the figure representing the relation of output voltage phase place and output torque and q shaft current in comparative example 1.Separately
Outward, 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 in output voltage phase place and exceed 90 degree from q axle（deg）, i.e. from Magnet magnetic flux
The phase place of 180 degree, the output torque of motor becomes maximum.In other words, the output voltage more than 90 degree in output voltage phase place
Limit phase place（Voltage-phase limits value Vθlim *）, motor output maximum output breakdown torque.
But, Fig. 7 as mentioned（a）As shown in, the output voltage phase place of power converter and the q shaft current of motor
It is no longer linear relation in the scope more than 90 degree for the output voltage phase place, and become nonlinear relation.
Therefore, in comprising the mode of comparative example of described patent documentation 1, in the region more than 90 degree for the output voltage phase place
It is difficult to control.For this reason, the output voltage limit phase place of essence is shown in Figure 12 in the region of the output that can be controlled
" the output voltage limit phase place of comparative example ", becomes general 90 degree of degree.
Figure 13 is the figure representing the relation of rotary speed N of motor and motor output torque in comparative example 1.Separately
Outward, transverse axis is rotary speed N ［ rpm ］, and the longitudinal axis is motor output torque ［ Nm ］.
In fig. 13, as described, in the mode of comparative example 1 comprising patent documentation 1, surpass in output voltage phase place
The region crossing 90 degree is difficult to control.For this reason, in motor output torque τ1In the case of, in the side of described patent documentation 1
By the output voltage control of power converter to output limit phase place in formula（Voltage-phase limits value Vθlim *）Cannot be driven into
Preferably rotary speed N2 of the limit, the rotating speed that can drive can be reduced to rotating speed N3.In other words it is impossible to be driven into electronic function defeated
The breakdown torque going out.
＜ the 1st embodiment supply ＞
According to above background, in order to overcome the problem points of comparative example 1 and comparative example 2, take the 1st embodiment party of the present invention
The composition of formula.
I.e., as described, the 1st embodiment is by using vector control unit 10（Fig. 1）, and can be in output voltage saturation
Voltage-phase is made to be controlled with Shangdi for 180 degree with respect to the main flux direction of Magnet, until motor output stage under state
Weak magnetic control can be carried out till limit torque.
That is, do not achieve driving low speed, the motor control of the permanent magnet motor of high efficient design with not changing power converter
Device 21 processed（Fig. 1）High output, high efficiency and high output can be taken into account.
（2nd embodiment）
It is applied to compress with the control device of electric motor 21 carrying the vector control apparatus 10 of the 1st embodiment of the present invention
Air conditioner 900 in the control of machine drive motor is the 2nd embodiment, illustrates with reference to Fig. 9, Figure 10.
Fig. 9 represents the composition of the inside of air conditioner 900 involved by the 2nd embodiment of the present invention.
In addition, Figure 10 is the driven compressor of the air conditioner 900 involved by the 2nd embodiment representing and being equipped on the present invention
The figure of the characteristic of motor.
In fig .9, air conditioner 900 possesses following key element and constitutes：With extraneous air carry out heat exchange off-premises station 901,
The indoor set 902 carrying out heat exchange with interior and the pipe arrangement 903 that both are connected.
The substantially following key element of off-premises station 901 and constitute：The compressor 904 of compression refrigerant, the compression of driving compressor 904
Machine drive motor 905, control compressor driving motor 905 control device of electric motor 906 and using compression refrigerant with
Extraneous air carries out the heat exchanger 907 of heat exchange.
It is equipped with the vector control apparatus of the 1st embodiment of the described present invention in control device of electric motor 906 application
10（Fig. 1）Control device of electric motor 21（Fig. 2）.
In addition, indoor set 902 possesses following key element and constitutes：Carry out the heat exchanger 908 of heat exchange with interior and to room
The pressure fan 909 of interior air-supply.
Next, the characteristic of compressor driving motor 905 to be described with reference to Figure 10.
Figure 10 is the figure with the relation of motor efficiency for the rotary speed representing compressor driving motor 905.In addition, it is horizontal
Axle characterizes the rotary speed of the drive motor of compressor（Compressor driving motor rotary speed）［ rpm ］, the longitudinal axis characterizes pressure
The efficiency of the drive motor of contracting machine（Compressor driving motor efficiency）［ % ］.
As the index of the performance characterizing air conditioner, in recent years using in the state of when being used for being close to actually used
The index of evaluation annual energy resource consumption rate（APF：Annual Performance Factor）.
Focus on efficiency when low speed rotation, low-load under APF index.For this reason, in compressor for air conditioner drive motor
Design in, carry out the low velocity design of motor, so that the motor efficiency shown in the characteristic line 1001 of the solid line of Figure 10
The rotating speed N3 becoming peak value is relatively low rotary speed.
But, such as Fig. 6 and as shown in Figure 7, it is impossible to control to electronic function in the weak magnetic control mode of comparative example
The breakdown torque of output.Therefore, in order to seek the maximum output taking into account APF index and compressor it is impossible to carry out further low
Speed designs.
In the air conditioner 900 of the 2nd embodiment, the control device of electric motor 21 of the 1st embodiment is applied to air-conditioning
Machine 900, carries out weak magnetic control.That is, control device of electric motor 906 passes through in power converter 24（Fig. 2）Output voltage saturation
Under state, voltage-phase being controlled to respect to Magnet magnetic flux is more than 180 degree, and the limit that energy output motor can export turns
Square.
Thus, as shown in the characteristic line 1002 of the dotted line of Figure 11, the maximum of compressor driving motor can not be made defeated
Go out and low speed design is carried out to motor with reducing, the rotary speed that efficiency is become peak value is designed as lower rotary speed N4.
Effect ＞ of ＜ the 2nd embodiment
By the 2nd embodiment, with the composition of existing motor drive identical power converter under, can not
The maximum output of compressor driving motor 905 is made to apply the rotary speed that motor efficiency is become peak value to be designed as with reducing
The low velocity design motor of low velocity.In other words, can seek to take into account the high output of air conditioner and the lifting of APF index.
（Other embodiments）
The embodiments of the present invention above by reference to detailed description, but the present invention be not limited to these embodiments and
Its deformation is it is also possible to carry out, without departing from design alteration in the range of idea of the invention etc., enumerating its example below.
《Each composition, the realization of function》
Can lead to or all in each composition of described present embodiment, function, processing unit, processing unit etc.
Cross and for example be designed etc. realizing with hardware in integrated circuit.Alternatively, it is also possible to be realized by the software of program can be changed.
Alternatively, it is also possible to hybrid hardware and software.
For example, vector control apparatus 10 may not be independent device.For example in CPU（Central Processing
Unit, central processing unit）Deng in it is also possible to be embedded into software together with other circuit, function program in.
In addition, control line and information wire consider that the needs illustrating illustrate, product might not illustrate all
Control line and information wire.Reality is it is also assumed that most composition is all connected with each other.
《Voltage vector operational part》
In addition, in the composition of the 1st embodiment of Fig. 1, based on the phase place from phase error ordering calculation portion 111 by mistake
Difference command value Δ θc *Come by voltage vector operational part computing applied voltage command value（Vd *、Vq *）, but to the no position to Fig. 2
The rotatable phase θ of sensor controller 32dcPlus phase error command value Δ θc *The mode of additive operation in, also can carry out
Same driving.
《Motor rotation velocity estimated value, torque estimated value》
In the 1st embodiment, motor rotation velocity estimated value ωcNot only carried out by position Sensorless Control portion 32
Estimate（Computing）And obtain it is also possible to be value obtained from sensor etc. is detected, i.e. motor rotation speed as described
Degree detected value.
Similarly, torque estimated value τcNot only by with the reproduction electric current in torque estimation operational part 103（Idc, Iqc）For base
The estimation of plinth（Computing）And obtain or sensor etc. detected obtained from value, 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, illustrate to use
The example of IGBT but it is also possible to use the switch element of other semiconductor elements, for example, can also use MOSFET（Metal-
Oxide-Semiconductor Field-Effect Transistor, mos field effect transistor）.
《The type of motor》
In the 1st embodiment, as the motor being driven, as a example enumerating permasyn morot but it is also possible to
It is wound field type synchronous motor, alternatively, it is also possible to be to all ensure that the mode of magnetic field flux in both of permanent magnetism and coiling.
In addition, present embodiment can not only apply the internal rotor that the rotor of motor rotates in the cavity of the inside of stator
Type is moreover it is possible to apply the outer-rotor type in the rotation of the outside of stator.
《Carry the various equipment of motor》
In the 2nd embodiment, illustrate the Motor Control dress of the vector control apparatus 10 by carrying the 1st embodiment
Put 21 and apply air conditioner 900 in driven compressor, but with being equipped with the motor of the vector control apparatus 10 of the 1st embodiment
The application examples of the motor that control device 21 is driven is not limited to air conditioner.In the various equipment carrying motor,
If because the vector control apparatus of the 1st embodiment of the carrying present invention or control device of electric motor just can take into account Motor Control
The high output of device, high efficiency and high output, therefore improve and efficient activity to the performance as described various equipment
Make contributions.
Claims (4)
1. a kind of vector control apparatus it is characterised in that
Based on the output of the power converter making motor-driven to powering electric motors, it is output as output voltage and satisfies at this
During with state, it is with respect to described by being used for the weak magnetic output voltage phase controlling of the output voltage specifying described power converter
The main flux direction of the field pole of motor is more than 180 degree, and,
Control the voltage-phase of described power converter output by the difference of torque instruction value and torque estimated value,
Described vector control apparatus possess：Torque instruction operational part, q shaft current ordering calculation portion, torque estimation operational part, torque
Input switching part, q shaft current input switching part, d shaft current input switching part, phase error ordering calculation portion, the 2nd q shaft current
Ordering calculation portion, the 2nd d shaft current ordering calculation portion, voltage vector operational part and output voltage limit test section,
Described torque instruction operational part, according to motor rotation velocity command value with estimate motor rotation velocity difference Lai
Computing torque instruction value,
Described q shaft current ordering calculation portion, according to the difference of motor rotation velocity command value and the motor rotation velocity estimated
Divide to come computing q shaft current command value,
Described torque estimation operational part, the electric constant based on motor and reproduce current value come computing torque estimated value,
Described torque inputs switching part, limits, according to output voltage, the output voltage limit markers that test section is exported, by torque
The difference of command value and torque estimated value or represent the 0 of 0 value as signal output to phase error ordering calculation portion,
Described q shaft current inputs switching part, according to output voltage limit markers, q shaft current command value is reproduced current value with q axle
Difference or 0 as signal, export to the 2nd q shaft current ordering calculation portion,
Described d shaft current inputs switching part, according to output voltage limit markers, d shaft current command value is reproduced current value with d axle
Difference or 0 as signal, export to the 2nd d shaft current ordering calculation portion,
Described phase error ordering calculation portion, inputs the command value of the output valve computing phase error of switching part according to torque,
Described 2nd q shaft current ordering calculation portion, refers to according to output valve computing the 2nd q shaft current that q shaft current inputs switching part
Make value,
Described 2nd d shaft current ordering calculation portion, refers to according to output valve computing the 2nd d shaft current that d shaft current inputs switching part
Make value,
Described voltage vector operational part, refers to according to the 2nd d shaft current command value, the 2nd q shaft current command value and phase error
Value is made to carry out computing weak magnetic output voltage, the electric constant with reference to motor and motor rotation velocity carry out the instruction of computing applied voltage
Value,
Described output voltage limits test section, according to the output computing output voltage amplitude of voltage vector operational part, in output
In the case of the voltage that voltage amplitude amplitude is provided that less than power converter, output voltage limit markers are set to 0, in output electricity
In the case that pressure amplitude reaches the voltage that power converter is provided that, output voltage limit markers are set as 1,
In the output voltage amplitude of the described applied voltage command value output voltage bigger than the voltage that power converter is provided that
In the case of saturation, it is the difference according to torque instruction value and torque estimated value under steady state in output voltage amplitude
Carry out computing phase error command value, weak magnetic control is carried out by the output voltage phase place controlling power converter.
2. vector control apparatus according to claim 1 it is characterised in that
Described motor is permasyn morot.
3. a kind of control device of electric motor is it is characterised in that possess：
Vector control apparatus described in claim 1 or 2,
Described motor is driven control.
4. a kind of air conditioner is it is characterised in that possess：
Control device of electric motor described in claim 3.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012-236180 | 2012-10-26 | ||
| JP2012236180A JP6046446B2 (en) | 2012-10-26 | 2012-10-26 | Vector control device, motor control device using the same, and air conditioner |
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| Publication Number | Publication Date |
|---|---|
| CN103795316A CN103795316A (en) | 2014-05-14 |
| CN103795316B true CN103795316B (en) | 2017-03-01 |
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| 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 |
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| JP (1) | JP6046446B2 (en) |
| KR (1) | KR101514391B1 (en) |
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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 |
| 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 |
| 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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| JP2011050178A (en) * | 2009-08-27 | 2011-03-10 | Sanyo Electric Co Ltd | Motor control device and generator control device |
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- 2013-10-02 KR KR1020130117716A patent/KR101514391B1/en active IP Right Grant
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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 |
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| JP6046446B2 (en) | 2016-12-14 |
| KR20140053766A (en) | 2014-05-08 |
| CN103795316A (en) | 2014-05-14 |
| JP2014087223A (en) | 2014-05-12 |
| KR101514391B1 (en) | 2015-04-22 |
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