CN1215945A - Control device for permanent magnet type synchro motor - Google Patents
Control device for permanent magnet type synchro motor Download PDFInfo
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- CN1215945A CN1215945A CN98107463A CN98107463A CN1215945A CN 1215945 A CN1215945 A CN 1215945A CN 98107463 A CN98107463 A CN 98107463A CN 98107463 A CN98107463 A CN 98107463A CN 1215945 A CN1215945 A CN 1215945A
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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
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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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
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
- H02P27/06—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters
- H02P27/08—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage using dc to ac converters or inverters with pulse width modulation
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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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Abstract
Disclosed is a permanent magnet-type synchronous electric motor is subjected to PWM control to prevent the voltage distortion of arm short-circuiting prevention time from being generated. A coordinate conversion means (22) inputs an output current (6a) of an inverter and angle data (8a) of an electric motor and outputs a torque current feedback value (22b) and a reactive current feedback value (22a). The torque current feedback value (22b) is compared with a torque current command value (iq*) for controlling, and the reactive current feedback value (22a) is compared with a reactive current command value (id*) for controlling. At this time, the reactive current command value (id*) is set to a specific value (Kid), the output current of the inverter is set to a value other than zero, and a phase voltage is maintained at a stable potential.
Description
The present invention relates to permanent magnet type synchro motor be carried out the device that pulse-width modulation (PWM) is controlled according to torque current command value and referenced reactive current value.
Fig. 1, Fig. 2, Fig. 4 and Figure 13 increase the permanent magnet type synchro motor control device in the past that partial circuit constitutes for example special opening in the scheme that flat 4-69066 communique put down in writing.Fig. 1 is overall pie graph, and Fig. 2 is the block diagram of the hardware components of Current Control computing means, and Fig. 4 is action specification figure, and Figure 13 is the block diagram of the software section of Current Control computing means, and among the figure, prosign is represented with a part.
Above-mentioned each figure all uses in the present invention except that a part, thereby hereinafter will describe in detail, and main points only are described here.
The alternating electromotive force of three-phase alternating-current supply 1 is transformed into direct current in converter 2, input inverter 4.Inverter 4 makes upper and lower switch element 4A, 4B conducting or blocking-up according to pwm control signal 12a, 12b, and DC converting is become three-phase alternating current, drives permanent magnet type synchro motor 7.
The output current 6a of inverter 4 and the angle-data 8a of motor 7 are to Current Control computing means 9 feedbacks, and output current 6a is separated into reactive current value of feedback 22a and two components of torque current value of feedback 22b.The referenced reactive current value id that reactive current value of feedback 22a contrast referenced reactive current control device 23C sets
*(=0) is controlled, the torque current command value iq of torque current value of feedback 22b contrast torque instruction computing means 24 computings
*Control, and will control the result and be sent to output circuit 12 as voltage instruction value 9a.
On the other hand, according to the phase voltage that phase voltage testing circuit 5 detects, the anti-duration of short circuit Td that switch element 4A, 4B block simultaneously about setting.The work wave of each several part is shown in Fig. 4.
In above-mentioned this existing permanent magnet type synchro motor control device, because anti-duration of short circuit Td is during switch element 4A, 4B block simultaneously up and down, at the current i d that flows through motor 7 near zero the time, shown in Fig. 4 (e), can not firmly set up phase voltage Vu, form the current potential instability.The output state signal of the phase voltage testing circuit 5 when producing this phenomenon is shown in Fig. 4 (f).Therefore, exist motor 7 influenced by voltage distortion and rotate irregular defective.
The present invention makes for addressing the aforementioned drawbacks, and its purpose is to provide a kind of current waveform that flows through motor undistorted, the permanent magnet type synchro motor control device of the level and smooth rotation of electronic function.
The permanent magnet type synchro motor control device that the present invention the 1st invention relates to has been accomplished to control the referenced reactive current value when motor current is separated into torque current and controls with reactive current.
Again, the permanent magnet type synchro motor control device that the 2nd invention relates to has been accomplished to set the referenced reactive current value in the 1st invention, makes current direction strengthen the direction of motor field.
The permanent magnet type synchro motor control device that the 3rd invention relates to has accomplished that the referenced reactive current value is set at predetermined value in the 1st or the 2nd invention.
The 4th permanent magnet type synchro motor control device that relates to of invention has been accomplished in the 1st to the 3rd invention, is the 1st predetermined value when following in the torque current value of feedback, and the referenced reactive current value is set at the 2nd predetermined value; When the torque current value of feedback was bigger than the 1st predetermined value, the referenced reactive current value was set at zero.
The 5th permanent magnet type synchro motor control device that relates to of invention has been accomplished in the 1st to the 3rd invention, and motor current value is the 1st predetermined value when following, and the referenced reactive current value is set at the 2nd predetermined value; When motor current value was bigger than the 1st predetermined value, the referenced reactive current value was set at zero.
The 6th permanent magnet type synchro motor control device that relates to of invention has been accomplished in the 1st to the 3rd invention, and when the torque current command value is the 3rd predetermined value when following, the referenced reactive current value is set at the 2nd predetermined value; When the torque current command value was bigger than the 3rd predetermined value, the referenced reactive current value was set at zero.
The permanent magnet type synchro motor control device that the 7th invention relates to has been accomplished to increase gradually when the referenced reactive current value rises thereon, and reduce gradually when descending in the 4th to the 6th invention.
The permanent magnet type synchro motor control device that the 8th invention relates to, accomplished in the 1st to the 3rd invention, when the torque current value of feedback is that the 1st predetermined value is when following, after the referenced reactive current value is set at the 2nd predetermined value, keeps the 2nd predetermined value and surpass 4th predetermined value bigger than the 1st predetermined value up to the torque current value of feedback.
Fig. 1 is the overall pie graph of the embodiment of the invention 1 and permanent magnet type synchro motor control device in the past.
Fig. 2 is the hardware components block diagram of the Current Control computing means of Fig. 1.
Fig. 3 is the software section block diagram of the Current Control computing means of the embodiment of the invention 1.
Fig. 4 is the action specification figure of the embodiment of the invention 1 and permanent magnet type synchro motor control device in the past.
Fig. 5 is the software section block diagram of the Current Control computing means of the embodiment of the invention 2.
Fig. 6 is the referenced reactive current control action flow chart of the embodiment of the invention 2.
Fig. 7 is the software section block diagram of the Current Control computing means of the embodiment of the invention 3.
Fig. 8 is the referenced reactive current control action flow chart of the embodiment of the invention 3.
Fig. 9 is the referenced reactive current control action flow chart of the embodiment of the invention 4.
Figure 10 is the torque current value of feedback and the referenced reactive current value curve chart of the embodiment of the invention 4.
Figure 11 is the referenced reactive current control action flow chart of the embodiment of the invention 5.
Figure 12 is the torque current value of feedback and the referenced reactive current value curve chart of the embodiment of the invention 5.
Figure 13 is the software section block diagram of the Current Control computing means of permanent magnet type synchro motor control device in the past.Embodiment 1
Fig. 1～Fig. 4 represents the present invention the 1st, the 2nd and embodiment of the 3rd invention, Fig. 1 is overall pie graph, Fig. 2 is the hardware components block diagram of Current Control computing means, Fig. 3 is this means software section block diagram, Fig. 4 is action specification figure, and prosign is represented with a part (other following embodiment is also like this) among the figure.
Among Fig. 1, the 1st, three-phase alternating-current supply, the 2nd, the converter that constitutes by the transistor AND gate diode, the exchange conversion of three-phase alternating-current supply 1 become direct current, the 3rd, the smmothing capacitor of connection converter 2 outlet sides, the 4th, connect smmothing capacitor 3, DC converting become the inverter of three-phase alternating current, with regard to a phase, this inverter is made of the last switch element 4A that is connected in series, following switch element 4B and fly-wheel diode 4a, the 4b in parallel with them.
The 5th, the phase voltage testing circuit that constitutes by current-limiting resistance 5A, 5B and optical coupler 5C, detect phase voltage Vu, the 6th, the current detector of detection inverter 4 output current 6a, the 7th, be connected the permanent magnet type synchro motor of inverter 4 outlet sides, the 8th, the encoder of the angle-data of output motor 7 (being speed) 8a, the 9th, input current 6a and angle-data 8a be the Current Control computing means of computing and output voltage command value 9a in addition.
The 10th, the phase voltage Vu that input phase voltage testing circuit 5 detects, make anti-duration of short circuit Td that switch element 4A, 4B up and down block simultaneously and the anti-duration of short circuit correction means of being exported according to this input signal correction, the 11st, the anti-duration of short circuit generation means of the anti-duration of short circuit Td of the best are set in the output of the anti-duration of short circuit correction means 10 of basis, and the 12nd, connect Current Control computing means 9 and prevent that duration of short circuit generates means 11, switch element 4A, 4B export the output circuit of PWM (pulse-width modulation) control signal 12a, 12b up and down.
Among Fig. 2, the 15th, CPU, the 16th, the ROM of storaging current control operation program, the 17th, RAM, 18 is analog switches of input inverter 4 output current 6a, the 19th, the A/D converter of connection analog switch 18, the 20th, the encoder gate array of input angle degrees of data 8a, these elements 15～17,19,20 and output circuit 12 interconnect.
Among Fig. 3, the 21st, by sine, the cosine function computing means of angle-data 8a computing sine and cosine function, the 22nd, the output signal of input output current 6a of inverter 4 and sine, cosine function computing means 21, three-phase alternating current is transformed into two direct currents and exports reactive current value of feedback 22a and the coordinate conversion means of torque current value of feedback 22b, the 23rd, predetermined value Kid as referenced reactive current value id
*The referenced reactive current control device that provides, the 24th, according to the torque current ordering calculation means of speed value and actual speed computing torque current command value iq*.
25, the 26th, the addition means, the 27th, the interference voltage compensation means of the error that input reactive current value of feedback 22a and torque current value of feedback 22b, compensation are produced by its interaction, the 28th, the reactive current that connects addition means 25 is controlled the computing means, the 29th, the torque current that connects addition means 26 is controlled the computing means, 30, the 31st, the addition means, the 32nd, connect addition means 30,31 and sine, cos operation means 21, two DC converting become the coordinate conversion means of three-phase alternating current and output voltage command value 9a.
Below, the action of present embodiment is described.And,, thereby only 1 phase (U phase) is explained because inverter 4 three-phases formation is all identical.
The alternating electromotive force of three-phase alternating-current supply 1 is transformed into direct current by converter 2, imports inverter 4 through the level and smooth back of smmothing capacitor 3.Inverter 4 makes switch element 4A, 4B conducting or blocking-up up and down according to pwm control signal 12a, 12b by output circuit 12 inputs, becomes DC converting three-phase alternating current to offer permanent magnet type synchro motor 7 it is driven.
The angle-data 8a that output current 6a that current detector 6 detects and encoder 8 detect is to Current Control computing means 9 feedbacks and import this computing means.Output current 6a input coordinate conversion means 22, angle-data 8a inputs to coordinate conversion means 22 through sinusoidal, cosine function computing means 21 computing SIN function and cosine functions, exports reactive current value of feedback 22a and torque current value of feedback 22b then.
The referenced reactive current value id that provides by referenced reactive current control device 23
*(=predetermined value Kid) and reactive current value of feedback 22a, relatively, its deviation input reactive current is controlled computing means 28 in addition means 25, and controlling then and making above-mentioned deviation is zero.Again, the torque current command value iq of torque current ordering calculation means 24 computings
*With torque current value of feedback 22b, in addition means 26, compare, its deviation input torque Current Control computing means 29, controlling then and making above-mentioned deviation is zero.
The output and the output of interfering voltage compensation means 27 of the output of reactive current control computing means 28, torque current control computing means 29, in addition means 30,31, compare respectively, import coordinate conversion means 32 then, be transformed into three-phase alternating current, as voltage instruction value 9a.
On the other hand, phase voltage testing circuit 5 detects U phase phase voltage Vu through optical coupler 5C.According to this input signal, the anti-duration of short circuit Td (Fig. 4) that switch element 4A, 4B turn-offed simultaneously about anti-duration of short circuit correction means 10 was revised and made.Generate means 11 by anti-duration of short circuit and set best anti-duration of short circuit signal 11a.
Below, according to Fig. 4, present embodiment and the action of device in the past that wherein comprises are described.
Fig. 4 (a) is the output phase voltage of desirable inverter, Fig. 4 (b) is in last switch element 4A conducting, switch element 4B blocking-up down, and under the output current Iu state that direction flows as shown in the figure, last switch element 4A blocking-up, the working signal of the last switch element when preventing duration of short circuit Td transition.Fig. 4 (c) is in switch element 4B conducting down, and under the electric current I u state that direction flows as shown, from last switch element 4A blocking-up, and following fly-wheel diode 4b flows through the faradic state that motor 7 produces, the working signal of the following switch element of following switch element 4B blocking-up when preventing duration of short circuit Td transition.Fig. 4 (d) expression phase voltage Vu at this moment.
During the anti-upper and lower switch element 4A of duration of short circuit Td, 4B block simultaneously, thereby in installing, the electric current that flows through motor 7 can not firmly be set up the current potential of phase voltage Vu near zero, forms such unstable definite value shown in Fig. 4 (e) in the past.Therefore, when the detected value of upper and lower switch element 4A, 4B switching was tens of volt, in the anti-duration of short circuit Td that produces unstable voltage, the break-make of two elements 4A, 4B almost all was judged as conducting, and the output of phase voltage testing circuit 5 is shown in Fig. 4 (f).
In the present embodiment, give referenced reactive current value id
*Even predetermined value Kid is torque current command value iq
*Be zero, reactive current also continues to flow, and this part output current Iu can be near zero.Thereby the current potential of phase voltage Vu is also firmly set up, and becomes the waveform shown in Fig. 4 (d), and the output of phase voltage testing circuit 5 becomes the waveform shown in Fig. 4 (a), can obtain stable anti-duration of short circuit Td.
At this moment, the magnetic flux of aspect, motor 7 magnetic field is the synthetic of the magnetic flux that produces of permanent magnet and excitation current component (that is reactive current component).In this situation, with respect to the former, the latter is very little, thereby motor field is that the magnetic flux that reactive current produces is superimposed upon the magnetic field that is strengthened on the magnetic flux of permanent magnet.So when motor 7 was rotated speed control, the magnetic field humidification increased torque current, but its influence is little.
That is to say, motor 7 is rotated occasions such as speed control, the sense of current of the reactive current component by making injection is strengthening the magnetic field side, and torque current component also increases automatically, thus, can make the absolute value of the reactive current component that should inject set for a short time.That is, the fundamental relation formula of motor is:
N=E/K Ф=IR/K Ф wherein, N is a rotary speed, E is a voltage, K is a constant, Ф is a magnetic flux, I is an electric current, R is a winding resistance.In following formula, rotary speed N one regularly increases then electric current I increase as if magnetic flux Ф.Embodiment 2
Fig. 5 and Fig. 6 are the present invention the 4th and the 6th inventive embodiment, and Fig. 5 is the software section block diagram of Current Control computing means, and Fig. 6 is a referenced reactive current control action flow chart.Again, Fig. 2 and Fig. 4 are common to embodiment 2.
Among Fig. 5,23A is input torque current feedback value 22b, control referenced reactive current value id
*The referenced reactive current control device, in addition, Fig. 5 is identical with Fig. 3.
The action of present embodiment is described with reference to Fig. 6 then.
Step S1 judges whether torque current value of feedback 22b is bigger than the 1st predetermined value Kiq.If big,, set referenced reactive current value id then at step S2
*Be zero.If below the 1st predetermined value Kiq,, set referenced reactive current value id then at step S3
*Be the 2nd predetermined value Kid.
Like this, when torque current value of feedback 22b approached zero, promptly only when the 1st predetermined value Kiq is following, injecting reactive current can not become near zero value output current Iu.
Thereby, only flow through necessary reactive current, can prevent that motor 7 temperature from raising, and improves the running efficiency of motor 7.
Again, in embodiment 2, though be after output current 6a is separated into torque current component and reactive current component, judge the reactive current injection with torque current value of feedback 22b, but promptly use output current 6a itself the detection electric current before separating to approach zero, judge the injection of reactive current component, also can obtain effect same (diagram is omitted).Embodiment 3
Fig. 7 and Fig. 8 are embodiment of the present invention's the 6th invention, and Fig. 7 is the software section block diagram of Current Control computing means, and Fig. 8 is a wattless current commands for controlling action flow chart.Again, Fig. 1, Fig. 2 and Fig. 4 are common to embodiment 3.
Among Fig. 7,23B is input torque current instruction value iq
*, with the referenced reactive current control device of control referenced reactive current value id*, in addition, Fig. 7 is identical with Fig. 3.
Below, with reference to Fig. 8 present embodiment is described.
At step S5, judge torque current command value iq
*Whether big than the 3rd predetermined value Kiq.If be judged as greatly, then at step ST2, setting the referenced reactive current value is zero; If be judged as below the 3rd predetermined value Kiq,, set referenced reactive current value id then at step ST3
*It is the 2nd predetermined value.
In embodiment 2, the motor current that monitoring is actual flows through reactive current at it near zero the time, at this moment, and monitoring torque current command value iq
*, near zero the time, flow through reactive current at it, in other words, the present invention is that prediction will become zero with regard to injecting reactive current.
This occasion without current value, and is judged injection with command value.For example as illustrated among the embodiment 2, judge under the situation that reactive current injects by motor current value, become predetermined value when following in motor current value, injecting reactive current, and resultant current one flows, just big than predetermined value, stop to inject, repeat above-mentioned action.That is, what take place repeatedly to inject has or not, and becomes so-called oscillatory regime. and judge with command value and inject, can prevent this vibration.
Embodiment 4
Fig. 9 and Figure 10 are the present invention's the 7th inventive embodiments, and Fig. 9 is a referenced reactive current control action flow chart, and Figure 10 is torque current value of feedback and referenced reactive current value curve chart.Again, Fig. 1, Fig. 2, Fig. 4 and Fig. 5 are common to embodiment 4.
Below, the action of present embodiment is described.
At step S1, judge whether torque current value of feedback 22b is bigger than the 1st predetermined value Kiq, if big, then at step S11, whether judgement symbol Fid is " 1 ".As hereinafter as described in the step S15, constantly before the T1, sign Fid be " 0 " at Figure 10, thereby flow process proceeds to step S2, referenced reactive current value id* is set at zero, at step S14, will indicate that Fid is set at " 0 ".
If at moment T1, torque current value of feedback 22b is that then flow process proceeds to S15 from step S1 below the 1st predetermined value Kiq, and sign Fid is set at " 1 ".At step S16, judge referenced reactive current value id
*Whether more than the 2nd predetermined value.Because of not reaching the 2nd predetermined value Kid as yet, at step S17, every an execution cycle, at referenced reactive current value id
*On add a small value Δ id
*, thus, referenced reactive current value id
*Cumulative with predetermined slope (linear lag).As a result, in case referenced reactive current value id
*Reach the 2nd predetermined value Kid, then keep this state.
If at moment T2, it is bigger than the 1st predetermined value Kiq that torque current value of feedback 22b becomes, and then flow process is step S1 → S11 → S12, judges referenced reactive current value id
*Whether be below zero.Owing to maintain the 2nd predetermined value Kid at present, among the step S13 every an execution cycle, from referenced reactive current value id
*Deduct a small value Δ id
*, thus, referenced reactive current value id
*With predetermined slope decrescence.The result is, in case referenced reactive current value id
*Be zero, then flow process is S12 → S2, with referenced reactive current value id
*After setting zero, will set sign Fid at step S14 and be " 0 ".
Again, though above as shown in Figure 5, to monitoring torque current value of feedback 22b, with control referenced reactive current value id
*Situation be described, but also can be used for, as shown in Figure 7, monitoring torque current command value iq
*, with control referenced reactive current value id
*Situation.And, also can be used for monitoring motor current 6a, with control referenced reactive current value id
*Situation.
Like this, in embodiment 2 and 3, when injecting reactive current, send instruction, then owing to the response of control system, the torque of motor 7 is influenced, result, the vibration that often produces the direction of rotation component phase step type.That is, as reactive current, be added to predetermined value quickly, the control system input is sharply changed, in order to respond this variation, the rotary speed of motor 7 often changes.In the present embodiment, take the oblique ascension input when reactive current is injected, thereby suppressed the generation of vibration, can make rotation slick and sly.
Again, when reactive current was injected, except that the magnetic flux of permanent magnet, the magnetic flux that reactive current produces also made motor field change, because in rotating speed control system, rotary speed becomes reference instruction, the torque current value also is affected.Thereby, wish that above-mentioned oblique ascension input is that torque current changes the value that (also being the torque current control system) can fully follow the tracks of.
Figure 11 and Figure 12 represent the present invention's the 8th inventive embodiment, and Figure 11 is a referenced reactive current control action flow chart, and Figure 12 is torque current value of feedback and referenced reactive current value curve chart. again, Fig. 1, Fig. 2, Fig. 4 and Fig. 5 are common to embodiment 5.
Below, the action of present embodiment is described.At step S1, judge whether torque current value of feedback 22b is bigger than the 1st predetermined value Kiq, if big, then at step S11, whether judgement symbol Fid is " 1 ".Constantly before the T1, sign Fid be " 0 " at Figure 12, thereby flow process is transferred to step S22, and setting sign Fid is zero for " 0 " and referenced reactive current value id*.
If at moment T1, torque current value of feedback 22b is that then flow process proceeds to step S15 from step S1 below the 1st predetermined value Kiq, and setting sign Fid is " 1 ".At step S23, set referenced reactive current value id
*Be the 2nd predetermined value Kid and keep this value (referenced reactive current value id
*Rise, as illustrating, increase gradually, omit its explanation here).In case at moment T2, torque current value of feedback 22b is bigger than the 1st predetermined value Kiq, then flow process is: step S1 → S11 → S21, judge whether torque current value of feedback 22b is bigger than the 4th predetermined value Kiq max, if below the 4th predetermined value Kiq max,, set referenced reactive current value id then at step S23
*Be the 2nd predetermined value Kid.
If the torque current value of feedback is bigger than the 4th predetermined value Kiq max, then at step S22, setting sign Fid is " 0 ", sets referenced reactive current value id
*Be zero.That is, Fid is in the interval of " 1 " at sign, and torque current value of feedback 22b is bigger than the 1st predetermined value Kiq, and then flow process is S1 → S11 → S21, as long as torque current value of feedback 22b is big unlike the 4th predetermined value Kiq max, and referenced reactive current value id
*Just non-vanishing.
Like this,, judge, can firmly set up the phase voltage current potential, the distortion of corrective current waveform, thereby the vibration of inhibition motor 7 from providing the referenced reactive current value to its process of returning zero with the 4th predetermined value Kiq max.
That is, in case injecting reactive current just influences torque current command value iq
*, according to circumstances, increase torque current command value iq
*Or torque current itself, be the interrupted injecting reactive current in center with the 1st predetermined value Kiq, worry can cause so-called oscillatory regime.
The output current 6a of current detector 6 is divided into torque current and reactive current, judge the injection of reactive current with the former, though consider to be judged with motor current itself, but in this case, because of injecting reactive current, tend to surpass immediately the 1st predetermined value Kiq, reactive current is intermittently injected, cause so-called oscillatory regime.In the present embodiment, by keeping hysteresis quality in the injection condition, thereby prevent vibration.
In the 1st invention of the present invention of above-mentioned explanation, control referenced reactive current value; In the 3rd invention, setting the referenced reactive current value is predetermined value, and thus, the output current of inverter is non-vanishing, thereby can firmly set up the current potential of phase voltage, does not produce the current waveform distortion, can suppress motor vibration.
Again, in the 2nd invention of the present invention, the referenced reactive current value makes current direction strengthen the direction of motor field, can make the absolute value of the reactive current component that should inject little.
In the present invention's the 4th invention, in the torque current value of feedback is the 1st predetermined value when following, and setting the referenced reactive current value is the 2nd predetermined value, and when the torque current value of feedback is bigger than the 1st predetermined value, setting the referenced reactive current value is zero, thus, can prevent that the inverter output current near zero, suppressing motor vibration, simultaneously, just flow through reactive current unless necessary, can prevent that motor temperature from rising, and improves the running efficiency of motor.
In the present invention's the 5th invention, motor current value is that the 1st predetermined value is when following, setting the referenced reactive current value is the 2nd predetermined value, and when motor current value was bigger than the 1st predetermined value, setting the referenced reactive current value was zero, thus, can suppress motor vibration, prevent that temperature from rising, and improve running efficiency, simultaneously, can delete the means of separating torque current component from motor current.
In the 6th invention of the present invention, when the torque current command value is that the 3rd predetermined value is when following, setting the referenced reactive current value is the 2nd predetermined value, and when the torque current command value was bigger than the 3rd predetermined value, setting the referenced reactive current value was zero, thus, can suppress motor vibration, prevent that temperature from rising, and can improve running efficiency, the reactive current injection can prevent the control system vibration by judging simultaneously with command value.
In the present invention's the 7th invention, when being risen, the referenced reactive current value increases gradually, reduce gradually during decline, thus, can suppress motor vibration, prevent the temperature rising and can improve running efficiency, simultaneously, by mild injecting reactive current command value, it is slick and sly that motor is rotated.
In the present invention's the 8th invention, the torque current command value is that the 1st predetermined value is when following, after setting referenced reactive current value is the 2nd predetermined value, keep the 2nd predetermined value, surpass 4th predetermined value bigger than the 1st predetermined value up to the torque current value of feedback, thus, can suppress motor vibration, prevent that temperature from rising and the raising running efficiency, simultaneously, by keeping the 2nd predetermined value, can prevent oscillatory regime.
Claims (8)
1. relatively torque current command value and torque current value of feedback, cross the torque current of motor with control flows, compare referenced reactive current value and reactive current value of feedback, cross the reactive current of motor with control flows, thereby motor is carried out the permanent magnet type synchro motor control device of pulse width modulation controlled, comprise: by the inverter that the switch element that is connected in series constitutes and the mutual retention time retardation of these elements is controlled alternately, the permanent magnet type synchro motor that is connected with this inverter; It is characterized in that this control device also comprises the referenced reactive current control device of controlling described referenced reactive current value.
2. permanent magnet type synchro motor control device as claimed in claim 1 is characterized in that, described referenced reactive current value is set for and made current direction strengthen the motor field direction.
3. permanent magnet type synchro motor control device as claimed in claim 1 is characterized in that, it is predetermined value that described referenced reactive current control device is set the referenced reactive current value.
4. as arbitrary described permanent magnet type synchro motor control device in the claim 1 to 3, it is characterized in that, it is the 1st predetermined value when following that the formation of referenced reactive current control device makes the torque current value of feedback, and setting the referenced reactive current value is the 2nd predetermined value; When described torque current value of feedback was bigger than described the 1st predetermined value, setting described referenced reactive current value was zero.
5. as arbitrary described permanent magnet type synchro motor control device in the claim 1 to 3, it is characterized in that, described referenced reactive current control device constitutes that to make motor current value be the 1st predetermined value when following, and setting referenced reactive current value is the 2nd predetermined value; During greater than described the 1st predetermined value, setting described referenced reactive current value is zero in described motor current value.
6. as arbitrary described permanent magnet type synchro motor control device in the claim 1 to 3, it is characterized in that, described referenced reactive current control device constitutes that to make described torque current command value be the 3rd predetermined value when following, and setting referenced reactive current value is the 2nd predetermined value; Described torque current command value is during greater than described the 3rd predetermined value, and setting described referenced reactive current value is zero.
7. permanent magnet type synchro motor control device as claimed in claim 4 is characterized in that, increases gradually when the referenced reactive current value is risen thereon, reduces gradually when it descends.
8. as arbitrary described permanent magnet type synchro motor control device in the claim 1 to 3, it is characterized in that, described referenced reactive current control device constitute make when the torque current value of feedback be that the 1st predetermined value is when following, after setting the referenced reactive current value and being the 2nd predetermined value, keep the 2nd predetermined value to surpass the 4th predetermined value greater than described the 1st predetermined value until described torque current value of feedback.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP29085597A JP3678558B2 (en) | 1997-10-23 | 1997-10-23 | Control device for permanent magnet type synchronous motor |
| JP290855/97 | 1997-10-23 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1215945A true CN1215945A (en) | 1999-05-05 |
| CN1065994C CN1065994C (en) | 2001-05-16 |
Family
ID=17761373
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN98107463A Expired - Fee Related CN1065994C (en) | 1997-10-23 | 1998-04-23 | Control device for permanent magnet type synchro motor |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP3678558B2 (en) |
| KR (1) | KR100313970B1 (en) |
| CN (1) | CN1065994C (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1306694C (en) * | 2003-12-11 | 2007-03-21 | 松下电器产业株式会社 | Motor driving apparatus for use in a diswasher |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR100317828B1 (en) * | 1999-06-01 | 2001-12-22 | 권영한 | A servo controller and control method using the same for driving Permanent Magnet Type Servo Motor |
| KR20050003732A (en) * | 2003-07-04 | 2005-01-12 | 현대자동차주식회사 | A vector-controlled dual inverter system for an induction motor |
| JP4697602B2 (en) * | 2006-02-07 | 2011-06-08 | 株式会社デンソー | Electric vehicle control device |
| JP4697603B2 (en) * | 2006-01-11 | 2011-06-08 | 株式会社デンソー | Electric vehicle control device |
| JP4636443B2 (en) * | 2006-04-14 | 2011-02-23 | 株式会社デンソー | Electric vehicle control device |
| JP4655026B2 (en) * | 2006-04-28 | 2011-03-23 | 株式会社デンソー | Electric vehicle control device |
| JP6590196B2 (en) * | 2015-08-25 | 2019-10-16 | 富士電機株式会社 | Power converter |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0469066A (en) * | 1990-06-29 | 1992-03-04 | Mitsubishi Electric Corp | Inverter |
-
1997
- 1997-10-23 JP JP29085597A patent/JP3678558B2/en not_active Expired - Lifetime
-
1998
- 1998-03-28 KR KR1019980010878A patent/KR100313970B1/en not_active IP Right Cessation
- 1998-04-23 CN CN98107463A patent/CN1065994C/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1306694C (en) * | 2003-12-11 | 2007-03-21 | 松下电器产业株式会社 | Motor driving apparatus for use in a diswasher |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3678558B2 (en) | 2005-08-03 |
| JPH11127600A (en) | 1999-05-11 |
| CN1065994C (en) | 2001-05-16 |
| KR100313970B1 (en) | 2002-08-09 |
| KR19990036461A (en) | 1999-05-25 |
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