CN110957953B - Control device and control method for alternating current motor - Google Patents
Control device and control method for alternating current motor Download PDFInfo
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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
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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
- H02P21/13—Observer control, e.g. using Luenberger observers or Kalman filters
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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
- H02P21/18—Estimation of position or speed
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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
- H02P21/22—Current control, e.g. using a current control loop
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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
- H02P21/24—Vector control not involving the use of rotor position or rotor speed sensors
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Abstract
The embodiment of the application provides a control device and a control method of an alternating current motor, and provides the control device of the alternating current motor, which is used for carrying out drive control on the alternating current motor, and the control device comprises: a rotor flux linkage observation unit for calculating a phase angle θ of a rotor flux linkage of the ac motor; a current adjustment amount calculation unit that calculates a rotation speed ω of the AC motor based on the phase angle θ of the rotor flux linkage 1 Calculating d-axis current adjustment value i adjust (ii) a And a driving unit for adjusting the value i according to the d-axis current adjust For d-axis current command value i d Adjusted to obtain an adjusted d-axis current command value i' d And according to the adjusted d-axis current command value i' d And q-axis current command value i q Driving the alternating current motor. According to the present embodiment, the control system can be operated outside the unstable range, and the stability of the control by the control device can be improved.
Description
Technical Field
The present disclosure relates to motor technologies, and in particular, to a control device and a control method for an ac motor.
Background
When vector control is performed on an ac motor, it is sometimes difficult to provide a sensor for detecting the rotor speed in the motor, or to perform sensorless vector control on the motor without providing a sensor in order to reduce costs.
The vector control may be a control of a torque mode or a control of a speed mode. The control of the torque mode means that the ac motor outputs a torque of a desired magnitude, and the control of the speed mode means that the rotational speed of the ac motor reaches a desired magnitude.
When vector control without a speed sensor is performed on an alternating current motor, a control device controls a voltage input to a stator of the motor based on an input command value and an observed value of a motor parameter by an observer, thereby performing vector control on the motor.
In the control device that vector-controls the alternating-current motor, the observer may include, for example, a rotor flux linkage observer that may detect a phase angle θ of a rotor flux linkage of the alternating-current motor and a magnitude of the rotor flux linkage, and the rotor flux linkage observer may be, for example, a full-order-based spatial state observer. Furthermore, the observer may also comprise a speed observer for detecting the rotational speed of the rotor of the alternating current machine, which may be an observer based on the lyapunov stability, for example.
It should be noted that the above background description is only for the sake of clarity and complete description of the technical solutions of the present invention and for the understanding of those skilled in the art. Such solutions are not considered to be known to the person skilled in the art merely because they have been set forth in the background section of the invention.
Disclosure of Invention
The inventors of the present application have found that, in the related art, the observation result of the observer may enter an unstable region, and if vector control is performed based on the observation result when the observation result enters the unstable region, there is a possibility that an abnormality occurs in which a stator voltage and a stator current input to the ac motor become dc, and the output accuracy of the ac motor in the torque mode is lowered.
The present application provides a control device and a control method for an alternating current motor, which obtains a rotation speed omega of the motor based on a phase angle theta of a rotor flux linkage 1 Calculating d-axis current adjustment value i adjust And adjusting the value i according to the d-axis current adjust The d-axis current for drive control of the alternating current motor is adjusted, so that the stability of the observation result of the observer is improved, the stability of control by the control device is improved, and the output precision of the alternating current motor in the torque mode is improved.
According to an aspect of an embodiment of the present application, there is provided a control apparatus for an alternating current motor for performing drive control of the alternating current motor, the control apparatus including:
a rotor flux linkage observation unit for calculating a phase angle θ of a rotor flux linkage of the ac motor;
a current adjustment amount calculation unit that calculates a rotation speed ω of the AC motor based on the phase angle θ of the rotor flux linkage 1 Calculating d-axis current adjustment value i adjust (ii) a And
a driving unit (formed by ACR, SVPWM, IGBT and other units in the figure) for adjusting the value i according to the d-axis current adjust For d-axis current command value i d Adjusted to obtain an adjusted d-axis current command value i' d And according to the adjusted d-axis current command value i' d And q-axis current command value i q Driving the alternating current motor.
According to another aspect of the embodiments of the present application, wherein the current adjustment amount calculation unit includes:
a difference calculation unit for calculating the rotation speed ω 1 And a predetermined rotational speed threshold; and
a current adjustment value calculation unit which multiplies the difference by a gain and takes the result of the multiplication as the d-axis current adjustment value i adjust 。
According to another aspect of the embodiments of the present application, wherein the current adjustment amount calculation unit further includes:
an adjusting unit that adjusts the result of the multiplication by the current adjustment value calculating unit and takes the result of the multiplication after the adjustment as the d-axis current adjustment value i adjust And the adjusted multiplied result is positioned in the preset adjustment interval of the d-axis current adjustment value.
According to another aspect of an embodiment of the present application, wherein the adjusting unit sets the result of the multiplication to have a first sign (e.g., one of a positive sign or a negative sign),
if the result of the multiplication with the first symbol is within the adjustment interval, the result of the multiplication with the first symbol is taken as the d-axis current adjustment value i adjust Setting a result of the multiplication to have a second sign opposite to the first sign if the result of the multiplication having the first sign exceeds the adjustment interval, and taking the result of the multiplication having the second sign as the d-axis current adjustment value i adjust 。
According to another aspect of the embodiment of the present application, wherein the adjusting unit compares a result of a previous multiplication with a result of a current multiplication, sets a sign of the result of the current multiplication to be the same as a sign of the result of the previous multiplication if the result of the current multiplication is smaller than the result of the previous multiplication,
if the result of the multiplication is larger than the result of the previous multiplication, the sign of the result of the multiplication is set to be opposite to the sign of the result of the previous multiplication.
According to another aspect of the embodiment of the present application, wherein the absolute value calculating unit calculates the rotation speed ω 1 Absolute value of (d); and a subtraction unit for calculating a difference between the absolute value and the predetermined rotation speed threshold as the difference value.
According to another aspect of the embodiment of the present application, wherein the difference calculating unit further includes:
a filter unit for filtering out the rotation speed omega 1 Of the signals of (a) and (b),
wherein the absolute value calculation unit calculates the rotation speed ω from which the high-frequency signal is filtered 1 The absolute value of (c).
According to another aspect of the embodiments of the present application, wherein the current adjustment amount calculation unit further includes:
a rotation speed calculation unit which derives the flux linkage phase angle with respect to time to obtain the rotation speed ω of the motor 1 。
According to another aspect of the embodiments of the present application, there is provided a control method of an alternating current motor, including:
calculating a phase angle theta of a rotor flux linkage of the alternating current motor;
the rotation speed omega of the alternating current motor is obtained according to the phase angle theta of the rotor flux linkage 1 Calculating d-axis current adjustment value i adjust (ii) a And
adjusting the value i according to the d-axis current adjust For d-axis current command value i d Adjusted to obtain an adjusted d-axis current command value i' d And according to the adjusted d-axis current command value i' d And q-axis current command valuei q Driving the alternating current motor.
The beneficial effect of this application lies in: the stability of the observation result of the observer is improved, the stability of the control device is further improved, and the output precision of the alternating current motor in the torque mode is improved.
Specific embodiments of the present application are disclosed in detail with reference to the following description and drawings, indicating the manner in which the principles of the application may be employed. It should be understood that the embodiments of the present application are not so limited in scope. The embodiments of the application include many variations, modifications and equivalents within the spirit and scope of the appended claims.
Drawings
The accompanying drawings, which are included to provide a further understanding of the embodiments of the application, are incorporated in and constitute a part of this specification, illustrate embodiments of the application and together with the description serve to explain the principles of the application. It is obvious that the drawings in the following description are only some embodiments of the application, and that for a person skilled in the art, other drawings can be derived from them without inventive effort. In the drawings:
FIG. 1 is a schematic view of a control device according to embodiment 1 of the present application
Fig. 2 is a schematic diagram of the current adjustment amount calculation unit 102 according to embodiment 1 of the present application;
FIG. 3 is a schematic diagram of the interval of the adjusted d-axis current command value;
fig. 4 is a schematic diagram of a control method of an ac motor according to embodiment 2 of the present application.
Detailed Description
The foregoing and other features of the present application will become apparent from the following description, taken in conjunction with the accompanying drawings. In the description and drawings, particular embodiments of the application are disclosed in detail as being indicative of some of the embodiments in which the principles of the application may be employed, it being understood that the application is not limited to the embodiments described, but, on the contrary, is intended to cover all modifications, variations, and equivalents falling within the scope of the appended claims.
Example 1
The embodiment of the application provides a control device of an alternating current motor. Fig. 1 is a schematic diagram of the control device of the present embodiment.
As shown in fig. 1, the control device 10 may include: a rotor flux linkage observation unit 101, a current adjustment amount calculation unit 102, and a drive unit 103. The control device 10 supplies three-phase ac voltages of U, V, and W to the stator of the ac motor M, thereby driving the ac motor M to operate.
In the present embodiment, the rotor flux linkage observation unit 101 is configured to calculate a phase angle θ of a rotor flux linkage of the ac motor M; the current adjustment amount calculation unit 102 calculates the rotational speed ω of the ac motor based on the phase angle θ of the rotor flux linkage 1 Calculating d-axis current adjustment value i adjust (ii) a The driving unit 103 adjusts the value i according to the d-axis current adjust For d-axis current command value i d Adjusted to obtain an adjusted d-axis current command value i' d And according to the adjusted d-axis current command value i' d And q-axis current command value i q The ac motor is driven.
According to the embodiment, the d-axis current for driving the alternating current motor can be adjusted according to the observation result of the rotor flux linkage observation unit on the rotor flux linkage, so that the observation result of the observer is prevented from falling into an unstable region, the control stability of the control device is improved, and the output precision of the alternating current motor in the torque mode is improved.
Fig. 2 is a schematic diagram of the current adjustment amount calculation unit 102 of the present embodiment, and as shown in fig. 2, the current adjustment amount calculation unit 102 may include: a difference value calculation unit 201 and a current adjustment value calculation unit 202.
In the present embodiment, the difference calculation unit 201 is used to calculate the rotation speed ω 1 And a predetermined rotational speed threshold value omega th The predetermined rotational speed threshold value ω th The setting may be performed according to a parameter of ac motor M, wherein the operating parameter of ac motor M may be, for example, a parameter such as a rated voltage and/or a rated power.
In the present embodiment, the current adjustment value calculation unit 202 multiplies the difference by a gain (gain), and takes the result of the multiplication as the d-axis current adjustment value i adjust 。
In the present embodiment, as shown in fig. 2, the current adjustment amount calculating unit 102 may further include: an adjusting unit 203.
The adjusting unit 203 may output to the current adjustment value calculating unit 202Result of multiplicationAdjusting the current value of the d-axis current to obtain a multiplied result adjust 。
In the present embodiment, the adjusting unit 203 may set the result of multiplication output by the current adjustment value calculating unit 202 to a positive value or a negative value, thereby obtaining an adjusted result of multiplication.
In the present embodiment, the targets for the adjustment by the adjustment unit 203 to adjust the result of multiplication are: and enabling the adjusted multiplied result to be located in the preset adjustment interval of the d-axis current adjustment value. Thus, the d-axis current adjustment value i output from the current adjustment amount calculation unit 102 adjust The adjusted d-axis current command value i 'may be set' d Within a predetermined interval so that the observed quantity of the observer is within a stable interval of the observed quantity.
For example, the preset d-axis current adjustment value has an adjustment range of [ -0.85A,1.7A [ -0.85A ]]Thus, the d-axis current command value i d If the output current is 1.7A, the adjusted d-axis current command value i' d Has an interval of [0.85A,3.4A ]]Drive unit 103 uses adjusted d-axis current command value i' d The magnetic flux linkage observation unit 101 is used for driving an alternating current motor, and can prevent the observation result of the rotor magnetic flux linkage observation unit 101 from being located in a stable interval of the observed quantity. The numerical values in the above examples are examples, and the embodiment is not limited thereto.
FIG. 3 shows adjusted d-axis current command value i' d A schematic representation of the interval (c). As shown in fig. 3, each curve 301 represents a curve of the slip frequency ω s of the ac motor M with the d-axis current command value when the target torque is different, where the horizontal axis represents the d-axis current command value and the vertical axis represents the slip frequency. In fig. 3, when the adjusted d-axis current command value is within the effective current range[0.85A，3.4A]In this case, the observation result of the rotor flux linkage observation means 101 of the control device 100 is located in the stable region. In fig. 3, each icon in the area 302 represents 10% to 200% of the torque target torque corresponding to each curve 301.
In one embodiment, the adjusting unit 203 may adjust the result of the multiplication by the current adjustment value calculating unit 202 by, for example:
the adjusting unit 203 sets the result of the multiplication to have a first sign, which may be either a positive sign or a negative sign; then, the adjusting unit 203 may make a determination: if the result of the multiplication with the first sign is within the preset d-axis current adjustment value adjustment intervalInner partThe result of the multiplication with the first sign is taken as the d-axis current adjustment value i adjust Outputting; if the result of the multiplication with the first symbol is located at the same positionOutside the adjustment intervalSetting the result of the multiplication to have a second sign opposite to the first sign, and taking the result of the multiplication having the second sign as the d-axis current adjustment value i adjust And outputting the data.
In another embodiment, the adjustment unit 203 may adjust the result of multiplication by the current adjustment value calculation unit 202 by, for example:
the adjusting unit 203 compares the result of the previous multiplication with the result of the current multiplication, sets the sign (positive value or negative value) of the result of the current multiplication to be the same as the sign set for the result of the previous multiplication if the result of the current multiplication is smaller than the result of the previous multiplication, and sets the sign (positive value or negative value) of the result of the current multiplication to be opposite to the sign set for the result of the previous multiplication if the result of the current multiplication is larger than the result of the previous multiplication; for example, the sign of the result of the previous multiplication is set to a positive sign, if the result of the current multiplication is smaller than the result of the previous multiplication, the sign of the result of the current multiplication is also set to a positive sign, and if the result of the current multiplication is larger than the result of the previous multiplication, the sign of the result of the current multiplication is set to a negative sign.
In addition, the manner in which the aforementioned adjusting unit 203 adjusts the multiplication result is only an example, and the embodiment is not limited thereto, and the adjusting unit 203 may also adjust the multiplication result in another manner, so that the adjusted multiplication result is within the preset adjustment interval of the d-axis current adjustment value.
In the present embodiment, as shown in fig. 2, the difference value calculation unit 201 includes: an absolute value calculation unit 2011 and a subtraction unit 2012. The absolute value calculation unit 2011 is used for calculating the rotation speed ω 1 Absolute value of (a) | ω 1 L, |; the subtracting unit 2012 is used for calculating the absolute value and the predetermined rotational speed threshold ω th As the difference value output by the difference value calculation unit 201, i.e., the difference value is | ω | 1 |-ω th 。
In this embodiment, as shown in fig. 2, the difference calculation unit 201 may further include: a filtering unit 2013. Wherein, the filtering unit 2013 can be used for filtering the rotation speed ω 1 The filtering unit 2013 may be, for example, a Low Pass Filter (LPF) of high frequency signals among the signals of (1).
In fig. 2, when the filtering unit 2013 is provided, the absolute value calculating unit 2011 may calculate the rotation speed ω from which the high frequency signal is filtered 1 And the subtraction unit 2012 calculates the absolute value and a predetermined rotation speed threshold value ω th The difference of (a).
In the present embodiment, as shown in fig. 2, the current adjustment amount calculation unit 102Can also be used forThe method comprises the following steps: a rotational speed calculation unit 204. The rotation speed calculation unit 204 derives the flux linkage phase angle θ with respect to time t to obtain the rotation speed ω of the motor 1 That is to say that,
furthermore, the present embodiment may not be limited to this, and the rotation speed calculation unit 204 may also calculate the rotation speed ω of the motor based on the flux linkage phase angle θ in another manner 1 。
In the present embodiment, with regard to the description of the rotor flux linkage observing unit 101 and the driving unit 103, reference may be made to the description of the related art regarding the vector control of the alternating current motor.
For example, the drive unit 103 includes units 1031 to 1036 described below;
current detection unit for detecting phase current i flowing into AC motor M A ，i B ，i C The conversion unit 1031 performs Clarke conversion on the phase current to obtain a current i in an alpha-beta coordinate system α ，i β ；
Rotor flux linkage observation unit 101 based on current i α ，i β The rotor rotation speed ω detected by the speed observer 104 r And a voltage component U input to the SVPWM unit 1035 α ，U β Calculating a phase angle theta of a rotor flux linkage of the alternating current motor M and a magnitude psi of the rotor flux linkage;
the speed observer 104 depends on the current i α ，i β And the magnitude psi of the rotor flux linkage, calculating the rotor speed omega r ；
Speed Regulator (ASR) 1032 based on rotor speed omega r And input Speed command Speed cmd Calculating the torque parameter T ecmd ；
Control signal generator (CCR) 1033 responsive to a torque parameter T ecmd Speed command Speed cmd Calculating the d-axis current command value i d And q-axis current command value i q Wherein the d-axis current command value i d And d-axis current adjustment value i adjust Are superposed to form an adjusted d-axis current command value i' d ；
Current Regulator (ACR) 1034 is based on adjusted d-axis current command value i' d Q-axis current command value i q And a current i α ，i β Calculating the voltage component U α ，U β ；
A Space Voltage PWM (SVPWM) unit 1035 generates a signal PWM for controlling the IGBT inverter 1036 to be turned on or off dutyA ，PWM dutyB ，PWM dutyC ；
The voltage signal generated by IGBT inverter 1036 is input to the stator of ac motor M for driving ac motor M.
According to the present embodiment, the d-axis current for driving the ac motor can be adjusted based on the observation result of the rotor flux linkage by the rotor flux linkage observation means, thereby preventing the observation result of the observer from falling into an unstable region, improving the stability of control by the control device, and improving the output accuracy of the ac motor in the torque mode.
Example 2
Fig. 4 is a schematic diagram of a control method of the alternating current motor of the embodiment, and as shown in fig. 4, the method includes:
With regard to the description of the respective steps of the control method, the description of the corresponding units in embodiment 1 can be referred to. The control method may include steps other than those described in fig. 4, and the description of each unit of the control device 100 may be referred to in embodiment 1.
According to the present embodiment, the d-axis current for driving the ac motor can be adjusted based on the observation result of the rotor flux linkage by the rotor flux linkage observation means, thereby preventing the observation result of the observer from falling into an unstable region, improving the stability of control by the control device, and improving the output accuracy of the ac motor in the torque mode.
The control means described in connection with the embodiments of the application may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. These hardware modules may be implemented, for example, by solidifying these software modules using a Field Programmable Gate Array (FPGA).
A software module may reside in RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art. A storage medium may be coupled to the processor such that the processor can read information from, and write information to, the storage medium; or the storage medium may be integral to the processor. The processor and the storage medium may reside in an ASIC. The software module may be stored in the memory of the mobile terminal or in a memory card that is insertable into the mobile terminal. For example, if the electronic device uses a MEGA-SIM card with a larger capacity or a flash memory device with a larger capacity, the software module may be stored in the MEGA-SIM card or the flash memory device with the larger capacity.
The parameter calculation means described with respect to the present embodiments may be implemented as a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components, or any suitable combination thereof, for performing the functions described herein. A combination of computing devices may also be implemented, e.g., a combination of a DSP and a microprocessor, a plurality of microprocessors, one or more microprocessors in conjunction with a DSP communication, or any other such configuration.
The present application has been described in conjunction with specific embodiments, but it should be understood that these descriptions are exemplary and not intended to limit the scope of the present application. Various modifications and adaptations of the present application may occur to those skilled in the art based on the spirit and principles of the application and are within the scope of the application.
Claims (7)
1. A control device of an alternating-current motor for drive-controlling the alternating-current motor, comprising:
a rotor flux linkage observation unit for calculating a phase angle θ of a rotor flux linkage of the ac motor;
a current adjustment amount calculation unit that calculates a rotation speed ω of the AC motor based on the phase angle θ of the rotor flux linkage 1 Calculating d-axis current adjustment value i adjust (ii) a And
a driving unit for adjusting the value i according to the d-axis current adjust For d-axis current command value i d Adjusted to obtain an adjusted d-axis current command value i' d And according to the adjusted d-axis current command value i' d And q-axis current command value i q The alternating current motor is driven, and the alternating current motor is driven,
wherein the current adjustment amount calculation unit includes:
a difference calculation unit for calculating the rotation speed ω 1 And a predetermined rotational speed threshold;
a current adjustment value calculation unit that multiplies the difference by a gain; and
an adjusting unit that adjusts the result of the multiplication by the current adjustment value calculating unit and takes the result of the multiplication after the adjustment as the d-axis current adjustment value i adjust ，
And the adjusted multiplied result is positioned in the preset adjustment interval of the d-axis current adjustment value.
2. The control device according to claim 1,
the adjusting unit sets the result of the multiplication to have a first sign,
if the result of the multiplication with the first symbol is within the adjustment interval, the result of the multiplication with the first symbol is taken as the d-axis current adjustment value i adjust ，
Setting a result of the multiplication to have a second sign opposite to the first sign if the result of the multiplication having the first sign exceeds the adjustment interval, and taking the result of the multiplication having the second sign as the d-axis current adjustment value i adjust 。
3. The control device according to claim 1,
the adjusting unit compares the result of the previous multiplication with the result of the current multiplication,
if the result of the multiplication is smaller than the result of the previous multiplication, the sign of the result of the multiplication is set to be the same as the sign of the result of the previous multiplication,
and if the result of the multiplication is larger than the result of the previous multiplication, setting the sign of the result of the multiplication to be opposite to the sign of the result of the previous multiplication.
4. The control apparatus according to claim 1, wherein the difference value calculation unit includes:
an absolute value calculation unit that calculates the rotation speed ω 1 Absolute value of (d); and
a subtraction unit for calculating a difference between the absolute value and the predetermined rotational speed threshold as the difference value.
5. The control device according to claim 4, wherein the difference value calculation unit further includes:
a filter unit for filtering the rotation speed omega 1 Of the signals of (a) and (b),
wherein the absolute value calculation unit calculates the rotation speed ω from which the high-frequency signal is filtered 1 Absolute value of (a).
6. The control device according to claim 1, wherein the current adjustment amount calculation unit further includes:
a rotation speed calculation unit which derives the flux linkage phase angle with respect to time to obtain the rotation speed ω of the motor 1 。
7. A method of controlling an ac motor, comprising:
calculating a phase angle theta of a rotor flux linkage of the alternating current motor;
according to the magnetic force based on the rotorRotation speed omega of the alternating current machine obtained from the phase angle theta of the chain 1 Calculating d-axis current adjustment value i adjust (ii) a And
adjusting the value i according to the d-axis current adjust For d-axis current command value i d Adjusted to obtain an adjusted d-axis current command value i' d And according to the adjusted d-axis current command value i' d And q-axis current command value i q The alternating current motor is driven, and the alternating current motor is driven,
wherein a d-axis current adjustment value i is calculated adjust The method comprises the following steps:
calculating said rotational speed ω 1 And a predetermined rotational speed threshold;
multiplying the difference by a gain; and
adjusting the multiplication result, and using the adjusted multiplication result as the d-axis current adjustment value i adjust ，
And the adjusted multiplied result is positioned in the preset adjustment interval of the d-axis current adjustment value.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811115394.XA CN110957953B (en) | 2018-09-25 | 2018-09-25 | Control device and control method for alternating current motor |
| PCT/CN2019/105157 WO2020063330A1 (en) | 2018-09-25 | 2019-09-10 | Control apparatus and control method for alternating-current electric motor |
| JP2021506539A JP2021533721A (en) | 2018-09-25 | 2019-09-10 | AC motor control device and control method |
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| CN201811115394.XA CN110957953B (en) | 2018-09-25 | 2018-09-25 | Control device and control method for alternating current motor |
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| CN110957953B true CN110957953B (en) | 2022-12-20 |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| JP2000312499A (en) * | 1999-04-27 | 2000-11-07 | Meidensha Corp | Vector controller for induction motor |
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| JP2018057170A (en) * | 2016-09-29 | 2018-04-05 | 東洋電機製造株式会社 | Controller for alternating electric motor |
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| JP3985210B2 (en) * | 1999-11-17 | 2007-10-03 | 株式会社安川電機 | Induction motor control device |
| JP4613475B2 (en) * | 2003-03-12 | 2011-01-19 | 株式会社安川電機 | Sensorless vector control method and control apparatus for AC motor |
| JP2008099444A (en) * | 2006-10-12 | 2008-04-24 | Yaskawa Electric Corp | Synchronous motor controller and control method therefor |
| JP5332305B2 (en) * | 2008-05-19 | 2013-11-06 | 富士電機株式会社 | Control device for permanent magnet type synchronous motor |
| CN102386816A (en) * | 2010-08-27 | 2012-03-21 | 永济新时速电机电器有限责任公司 | Method and device for controlling weak magnetism of permanent magnet synchronous motor |
| CN102386834B (en) * | 2010-08-27 | 2014-04-23 | 永济新时速电机电器有限责任公司 | Method and device for controlling vector of permanent magnet synchronous motor |
| KR101562418B1 (en) * | 2011-07-05 | 2015-10-22 | 엘에스산전 주식회사 | Apparatus for operating interior permanent magnet synchronous machine |
| JP6232852B2 (en) * | 2013-08-30 | 2017-11-22 | 株式会社島津製作所 | Motor control device and turbo molecular pump |
| CN104201960B (en) * | 2014-08-01 | 2017-03-29 | 浙江西子富沃德电机有限公司 | A kind of maximum torque per ampere control method of permanent-magnet synchronous reluctance motor |
| JP6962274B2 (en) * | 2018-05-22 | 2021-11-05 | 株式会社明電舎 | Inverter |
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| JP2000312499A (en) * | 1999-04-27 | 2000-11-07 | Meidensha Corp | Vector controller for induction motor |
| JP2008141824A (en) * | 2006-11-30 | 2008-06-19 | Hitachi Industrial Equipment Systems Co Ltd | Synchronous motor controller |
| JP2018057170A (en) * | 2016-09-29 | 2018-04-05 | 東洋電機製造株式会社 | Controller for alternating electric motor |
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| CN110957953A (en) | 2020-04-03 |
| WO2020063330A1 (en) | 2020-04-02 |
| JP2021533721A (en) | 2021-12-02 |
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