JP2003209996A - Controller of synchronous machine - Google Patents
Controller of synchronous machineInfo
- Publication number
- JP2003209996A JP2003209996A JP2002005815A JP2002005815A JP2003209996A JP 2003209996 A JP2003209996 A JP 2003209996A JP 2002005815 A JP2002005815 A JP 2002005815A JP 2002005815 A JP2002005815 A JP 2002005815A JP 2003209996 A JP2003209996 A JP 2003209996A
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- Japan
- Prior art keywords
- axis current
- output
- command
- synchronous motor
- torque
- Prior art date
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Links
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- Control Of Ac Motors In General (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、同期機又は同期発
電機のトルクや速度を制御する制御装置において、電圧
飽和による制御不能状態を回避するとともに、簡単な構
成で高速な応答を行う技術に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for controlling torque and speed of a synchronous machine or a synchronous generator, which avoids an uncontrollable state due to voltage saturation and provides a quick response with a simple structure. It is a thing.
【０００２】[0002]
【従来の技術】図３に、一例として従来の技術による永
久磁石型同期電動機の制御装置のブロック図を示し、以
下この図に基づいて従来の技術を説明する。電流制御器
３は、永久磁石型同期電動機１の一次電流のｄ軸電流ｉ
ｄとｑ軸電流ｉｑとがそれぞれｄ軸電流指令ｉｄ＊とｑ
軸電流指令ｉｑ＊とに追従するような電圧指令を電力変
換器２に出力する。電力変換器２は、電圧指令通りの電
圧を永久磁石型同期電動機１に印加する。2. Description of the Related Art FIG. 3 shows, as an example, a block diagram of a controller for a permanent magnet type synchronous motor according to a conventional technique, and the conventional technique will be described below with reference to this figure. The current controller 3 controls the d-axis current i of the primary current of the permanent magnet type synchronous motor 1.
d and q-axis current iq are d-axis current commands id * and q, respectively.
A voltage command that follows the shaft current command iq * is output to the power converter 2. The power converter 2 applies a voltage according to the voltage command to the permanent magnet type synchronous motor 1.
【０００３】ｑ軸電流指令演算器１１は、永久磁石型同
期電動機１のトルク指令Ｔ＊とｄ軸電流指令ｉｄ＊とか
らｑ軸電流指令ｉｑ＊を出力する。永久磁石型同期電動
機１の出力トルクＴは、次式（１）に示すThe q-axis current command calculator 11 outputs a q-axis current command iq * from the torque command T * of the permanent magnet type synchronous motor 1 and the d-axis current command id *. The output torque T of the permanent magnet type synchronous motor 1 is expressed by the following equation (1).
【０００４】[0004]
【数１】 [Equation 1]
【０００５】で表されることから、（１）式をｑ軸電流
ｉｑについて解いた式をｑ軸電流指令ｉｑ＊として次式
（２）で演算される。Since the equation (1) is solved for the q-axis current iq, the following equation (2) is used as the q-axis current command iq *.
【０００６】[0006]
【数２】 [Equation 2]
【０００７】ここで、φは永久磁石型同期電動機１の永
久磁石の磁束、ＬｄとＬｑはｄ軸とｑ軸インダクタンス
である。よって、永久磁石型同期電動機１の出力トルク
Ｔはｑ軸電流指令ｉｑ＊を（２）式とすることで、トル
ク指令Ｔ＊通りに追従することが出来る。Here, φ is the magnetic flux of the permanent magnet of the permanent magnet type synchronous motor 1, and Ld and Lq are d-axis and q-axis inductances. Therefore, the output torque T of the permanent magnet type synchronous motor 1 can follow the torque command T * according to the q-axis current command iq * by the expression (2).
【０００８】フィルタ１２は、ｑ軸電流指令ｉｑ＊を低
域通過フィルタに通したｉｑｆを出力する。高効率ｄ軸
電流Ｃ演算器１３は、次式（３）に示されるThe filter 12 outputs iqf obtained by passing the q-axis current command iq * through a low pass filter. The high-efficiency d-axis current C calculator 13 is expressed by the following equation (3).
【０００９】[0009]
【数３】 [Equation 3]
【００１０】を用いて最大効率で運転できるｄ軸電流電
流指令ＣとなるｉｄＣを演算する。（３）式は、公知技
術であり、永久磁石型同期電動機１を最大効率運転する
条件式である。The idC which is the d-axis current / current command C capable of operating at maximum efficiency is calculated by using. The formula (3) is a known technique and is a conditional formula for operating the permanent magnet synchronous motor 1 at maximum efficiency.
【００１１】高効率ｄ軸電流Ｃ演算器１３にｑ軸電流指
令ｉｑ＊をフィルタ１２に通したｉｑｆを用いる理由を
説明する。トルク指令Ｔ＊が変化すると、（２）式より
ｑ軸電流指令ｉｑ＊が変化する。（３）式のｉｑｆの代
わりにｉｑ＊を用いると、ｑ軸電流指令ｉｑ＊が変化す
ると、ｉｄ＊＝ｉｄＣの場合にｄ軸電流ｉｄ＊が変化す
る。（２）式よりｉｄ＊が変化するとｉｑ＊が変化し、
さらにｉｄ＊が変化することになり不安定になる恐れが
ある。よって、上記不安定性を抑制するために、ｉｑ＊
が急変してもゆっくりと変化するｉｑｆを（３）式に用
いる。The reason why the high-efficiency d-axis current C calculator 13 uses iqf in which the q-axis current command iq * is passed through the filter 12 will be described. When the torque command T * changes, the q-axis current command iq * changes according to the equation (2). When iq * is used instead of iqf in the equation (3), when the q-axis current command iq * changes, the d-axis current id * changes when id * = idC. From equation (2), if id * changes, iq * changes,
Furthermore, id * may change and become unstable. Therefore, in order to suppress the above instability, iq *
The iqf that changes slowly even if is suddenly changed is used in the equation (3).
【００１２】飽和検出器８は、電力変換器２が出力でき
る最大電圧Ｖｃよりも入力した電圧指令が大きい場合に
は電圧飽和信号を−１とし、そうでない場合は電圧飽和
信号を１として出力する。つまり、電圧飽和信号が−１
の場合は電圧飽和状態で、電圧飽和信号が１の場合は電
圧飽和でない状態である。The saturation detector 8 outputs a voltage saturation signal of -1 when the input voltage command is larger than the maximum voltage Vc that the power converter 2 can output, and outputs a voltage saturation signal of 1 otherwise. . That is, the voltage saturation signal is -1
In the case of, the voltage is saturated, and when the voltage saturation signal is 1, the voltage is not saturated.
【００１３】ｄ軸電流指令生成器１４は、飽和検出器８
の出力が１の場合は正の固定値を時間積分し、飽和検出
器８の出力が−１の場合は負の固定値を時間積分するｄ
軸電流ｉｄｘを求め、ｉｄｘと高効率ｄ軸電流Ｃ演算器
１３の出力ｉｄＣとを比較し負の方向に大きい方を選択
してｄ軸電流指令ｉｄ＊として出力する。その時間積分
の際の初期値はｄ軸電流指令生成器１４の出力のｄ軸電
流指令ｉｄ＊とする。またｉｄｘは上限が０に制限され
る。The d-axis current command generator 14 is a saturation detector 8
If the output of 1 is 1, the positive fixed value is integrated over time, and if the output of the saturation detector 8 is -1, the negative fixed value is integrated over time d.
The axial current idx is obtained, idx is compared with the output idC of the high-efficiency d-axis current C calculator 13, and the larger one in the negative direction is selected and output as the d-axis current command id *. The initial value of the time integration is the d-axis current command id * output from the d-axis current command generator 14. The upper limit of idx is limited to 0.
【００１４】次に、ｄ軸電流指令生成器１４の動作につ
いて説明する。永久磁石型同期電動機１の電圧方程式は
次式（４）、（５）で表される。Next, the operation of the d-axis current command generator 14 will be described. The voltage equation of the permanent magnet type synchronous motor 1 is expressed by the following equations (4) and (5).
【００１５】[0015]
【数４】 [Equation 4]
【００１６】ここで、ｖｄとｖｑはｄ軸、ｑ軸電圧、Ｒ
は永久磁石型同期電動機１の電機子巻線抵抗、ｐは微分
演算子、ωは永久磁石型同期電動機１の回転速度であ
る。高効率ｄ軸電流Ｃ演算器１３の出力ｉｄＣは、負の
値である。電圧飽和でない場合は、ｉｄｘはｄ軸電流指
令ｉｄ＊を初期値として最大で０まで正の固定値を時間
積分する。よって、通常はｉｄｘ＞ｉｄＣなのでｄ軸電
流指令生成器１４は負の方向に大きいｉｄＣをｉｄ＊と
して出力し、永久磁石型同期電動機１は高効率に運転さ
れる。Here, vd and vq are d-axis, q-axis voltage, R
Is the armature winding resistance of the permanent magnet synchronous motor 1, p is the differential operator, and ω is the rotational speed of the permanent magnet synchronous motor 1. The output idC of the high-efficiency d-axis current C calculator 13 is a negative value. If the voltage is not saturated, idx time-integrates a positive fixed value up to 0 with the d-axis current command id * as the initial value. Therefore, normally idx> idC, so that the d-axis current command generator 14 outputs a large idC in the negative direction as id *, and the permanent magnet type synchronous motor 1 is operated with high efficiency.
【００１７】電圧飽和の場合は、ｄ軸電流指令ｉｄ＊を
初期値として負の固定値を時間積分する。よって、ｉｄ
ｘ＜ｉｄＣなのでｄ軸電流指令生成器１４は負の方向に
大きいｉｄｘをｉｄ＊として出力する。（５）式より分
かるように、ｄ軸電流ｉｄを負の方向に増加すればｑ軸
電圧ｖｑの大きさは減る。よって、電圧飽和の場合に負
の固定値を時間積分することで徐々にｄ軸電流を負の方
向に増加させ、電圧指令を電力変換器２の出力可能な最
大電圧Ｖｃまで減らし、電圧飽和を回避するようにして
いる。In the case of voltage saturation, a negative fixed value is time-integrated with the d-axis current command id * as an initial value. Therefore, id
Since x <idC, the d-axis current command generator 14 outputs a large idx in the negative direction as id *. As can be seen from the equation (5), if the d-axis current id increases in the negative direction, the magnitude of the q-axis voltage vq decreases. Therefore, in the case of voltage saturation, the negative fixed value is integrated over time to gradually increase the d-axis current in the negative direction, reduce the voltage command to the maximum voltage Vc that the power converter 2 can output, and reduce the voltage saturation. I try to avoid it.
【００１８】ここで、ｉｄｘを求める際に最大値を０で
制限するのは、Ｌｄ＜Ｌｑの関係があることから（１）
式第２項のリラクタンストルクが負となり、永久磁石型
同期電動機１が出力するトルクＴが減少するためであ
る。Here, the reason for limiting the maximum value to 0 when obtaining idx is that there is a relationship of Ld <Lq (1)
This is because the reluctance torque in the second term of the formula becomes negative and the torque T output by the permanent magnet synchronous motor 1 decreases.
【００１９】[0019]
【発明が解決しようとする課題】永久磁石型同期電動機
のトルクは、（１）式から分かるように、第１項の永久
磁石による磁石トルクと第２項のインダクタンス差によ
るリラクタンストルクとに分けられる。同期電動機の一
次電流の大きさに制限がある場合、永久磁石の磁束φが
小さな永久磁石型同期電動機や又は永久磁石のないシン
クロナスリラクタンスモータのような同期電動機を高速
な応答が得られるようにするには、リラクタンストルク
を用いなければならない。リラクタンストルクにはｄ軸
電流も必要である。高効率ｄ軸電流Ｃ演算器１３の出力
ｉｄＣをｄ軸電流指令ｉｄ＊に用いる場合、ｑ軸電流指
令ｉｑ＊をフィルタに通したｉｑｆを用いて演算してい
る。すると、トルク指令Ｔ＊の変化に対してｉｑｆの変
化は遅いためｉｄ＊は高速に変化することが出来ず、同
期電動機の高速なトルク応答が得られない。The torque of the permanent magnet type synchronous motor is divided into the magnet torque by the permanent magnet of the first term and the reluctance torque by the inductance difference of the second term, as can be seen from the equation (1). . When there is a limit to the primary current of the synchronous motor, the permanent magnet type synchronous motor with a small magnetic flux φ of the permanent magnet or the synchronous motor such as the synchronous reluctance motor without the permanent magnet should be able to obtain high-speed response. To do this, reluctance torque must be used. The reluctance torque also requires d-axis current. When the output idC of the high-efficiency d-axis current C calculator 13 is used for the d-axis current command id *, the q-axis current command iq * is calculated using the filtered iqf. Then, since the change of iqf is slow with respect to the change of the torque command T *, id * cannot change at high speed, and the high-speed torque response of the synchronous motor cannot be obtained.
【００２０】また、電圧飽和時にはｄ軸電流を徐々に負
の方向に増加させている。こうすることによって、
（５）式から分かるようにｖｑの大きさが小さくなるこ
とが分かる。しかし、ｄ軸電流を負の方向に増加し続け
ると、（４）式から分かるようにｖｄの大きさが増加す
るので、ｖｄ、ｖｑを成分とする電圧ベクトルの大きさ
である電圧は逆に増加するようになる。特に、永久磁石
の磁束φが小さな永久磁石型同期電動機や又は永久磁石
のないシンクロナスリラクタンスモータのような同期電
動機は、その傾向が強い。When the voltage is saturated, the d-axis current is gradually increased in the negative direction. By doing this,
As can be seen from the equation (5), the magnitude of vq becomes small. However, as the d-axis current continues to increase in the negative direction, the magnitude of vd increases as can be seen from equation (4), so the voltage, which is the magnitude of the voltage vector having vd and vq as components, is reversed. Will increase. In particular, a permanent magnet type synchronous motor having a small permanent magnet magnetic flux φ or a synchronous motor such as a synchronous reluctance motor having no permanent magnet has a strong tendency.
【００２１】本発明は上述した点に鑑みて創案されたも
ので、その目的とするところは、同期機を最大効率で運
転できるｄ軸電流をトルク指令で決定し、さらに同期機
に出力可能な電圧によってｄ軸電流とトルクを制限する
ことで上記問題点を解決するものである。The present invention was devised in view of the above-mentioned points, and an object thereof is to determine a d-axis current capable of operating a synchronous machine with maximum efficiency by a torque command and output it to the synchronous machine. The above problem is solved by limiting the d-axis current and the torque by the voltage.
【００２２】[0022]
【課題を解決するための手段】上記問題点を解決するた
めに、請求項１に示す如く、同期電動機に電力を供給す
る電力変換器と、前記同期電動機の一次電流を前記同期
電動機の界磁極の方向であるｄ軸とそれと直交する方向
であるｑ軸とに分離し各々をｄ軸電流指令とｑ軸電流指
令に追従するように独立に調整して前記同期電動機のト
ルクや速度を制御するための電圧指令を前記電力変換器
に出力する電流制御器とを有する同期機の制御装置にお
いて、前記電力変換器が前記同期電動機に出力可能な最
大電圧と前記同期電動機の回転速度とから前記最大電圧
で前記同期電動機の最大トルクを得るためｄ軸電流の負
の最大制限値を出力する最大ｄ軸電流演算器と、前記最
大ｄ軸電流演算器の出力と前記最大電圧と前記回転速度
とから前記最大電圧で前記同期電動機が出力可能なトル
クを求め該トルクを前記同期電動機のトルクの制限値と
して出力するトルク制限値演算器と、前記同期電動機の
トルク指令を前記トルク制限値演算器の出力に制限する
トルク指令制限器と、前記トルク指令制限器の出力の絶
対値に高効率ゲインを乗ずることで前記同期電動機を最
大効率で運転するためのｄ軸電流指令Ａを出力する高効
率ｄ軸電流演算器と、前記電圧指令が前記電力変換器で
出力可能な最大電圧を越えた時は−１となり、超えない
時は１となる電圧飽和信号を出力する飽和検出器と、前
記飽和検出器の出力が１の時は正の固定値を時間積分
し、前記飽和検出器の出力が−１の時は前記ｄ軸電流指
令を初期値として負の固定値を時間積分し、０から前記
最大ｄ軸電流演算器の出力までの範囲に制限して出力す
る飽和積分器と、前記飽和積分器の出力と前記高効率ｄ
軸電流演算器の出力とを比較して負の方向に大きい方の
出力を選択して前記ｄ軸電流指令として出力するｄ軸電
流指令選択器と、前記トルク指令制限器の出力と前記ｄ
軸電流指令選択器の出力とから前記ｑ軸電流指令を出力
するｑ軸電流指令演算器とを具備し、前記ｄ軸電流指令
選択器の出力は前記飽和積分器とｑ軸電流指令演算器と
電流制御器へ伝達されるよう構成したものである。In order to solve the above problems, as described in claim 1, a power converter for supplying electric power to a synchronous motor and a primary current of the synchronous motor to a magnetic field pole of the synchronous motor. , And the q-axis, which is the direction orthogonal thereto, are separated and each is independently adjusted to follow the d-axis current command and the q-axis current command to control the torque and speed of the synchronous motor. In a controller for a synchronous machine having a voltage controller for outputting a voltage command to the power converter, the maximum from the maximum voltage that the power converter can output to the synchronous motor and the rotation speed of the synchronous motor. From the maximum d-axis current calculator that outputs a negative maximum limit value of the d-axis current to obtain the maximum torque of the synchronous motor with voltage, the output of the maximum d-axis current calculator, the maximum voltage, and the rotation speed. Maximum power And a torque limit value calculator that obtains the torque that the synchronous motor can output and outputs the torque as a torque limit value of the synchronous motor, and limits the torque command of the synchronous motor to the output of the torque limit value calculator. A torque command limiter and a high efficiency d-axis current calculator that outputs a d-axis current command A for operating the synchronous motor at maximum efficiency by multiplying the absolute value of the output of the torque command limiter by a high efficiency gain. And a saturation detector that outputs a voltage saturation signal that becomes -1 when the voltage command exceeds the maximum voltage that can be output by the power converter and becomes 1 when the voltage command does not exceed, and an output of the saturation detector. When it is 1, a positive fixed value is integrated over time, and when the output of the saturation detector is -1, a negative fixed value is integrated over time with the d-axis current command as an initial value, and 0 to the maximum d-axis current. Range to output of calculator The saturated integrator limit and outputs, as the output of the saturated integrator High Efficiency d
A d-axis current command selector that compares the output of the shaft current calculator with the output of the larger one in the negative direction and outputs it as the d-axis current command, the output of the torque command limiter, and the d
A q-axis current command calculator that outputs the q-axis current command from the output of the axis current command selector, and the output of the d-axis current command selector is the saturation integrator and the q-axis current command calculator. It is configured to be transmitted to the current controller.
【００２３】また、請求項２に示す如く、前記高効率ゲ
インを前記トルク指令制限器の出力と前記ｑ軸電流指令
演算器の出力とから求める前記高効率ｄ軸電流演算器を
具備する請求項１記載のものである。According to a second aspect of the present invention, the high-efficiency d-axis current calculator is provided for obtaining the high-efficiency gain from the output of the torque command limiter and the output of the q-axis current command calculator. 1 is described.
【００２４】また、請求項３に示す如く、請求項１およ
び請求項２の同期電動機の代わりに同期発電機を適用す
る。以下、本発明の一実施例を図面に基づいて詳述す
る。Further, as described in claim 3, a synchronous generator is applied instead of the synchronous motors of claims 1 and 2. An embodiment of the present invention will be described in detail below with reference to the drawings.
【００２５】[0025]
【発明の実施の形態】図１は、請求項１を表す本発明の
一実施例を示すブロック線図であり、この図に基づいて
説明するが、従来の技術と同一部分は説明を省略する。
図１において、最大ｄ軸電流演算器４は、永久磁石型同
期電動機１の回転速度ωと電力変換器２の出力可能な最
大電圧Ｖｃとを入力して、最大電圧Ｖｃで最大トルクが
得られるｄ軸電流の負の最大値ｉｄｍを出力する。DESCRIPTION OF THE PREFERRED EMBODIMENTS FIG. 1 is a block diagram showing an embodiment of the present invention which represents claim 1, and description will be given based on this drawing, but the description of the same parts as the conventional art will be omitted. .
In FIG. 1, the maximum d-axis current calculator 4 inputs the rotation speed ω of the permanent magnet type synchronous motor 1 and the maximum voltage Vc that can be output from the power converter 2 to obtain the maximum torque at the maximum voltage Vc. The negative maximum value idm of the d-axis current is output.
【００２６】定常状態で電機子巻線抵抗Ｒの項を無視し
たｖｄ、ｖｑを成分とする電圧ベクトルの大きさが最大
電圧Ｖｃに等しいとすると、（４）式と（５）式とによ
り、次式（６）Assuming that the magnitude of the voltage vector having vd and vq as components, ignoring the term of the armature winding resistance R in the steady state, is equal to the maximum voltage Vc, according to the equations (4) and (5), Formula (6)
【００２７】[0027]
【数５】 [Equation 5]
【００２８】となる。（６）式の平方根は永久磁石型同
期電動機１の一次磁束の大きさを表し、（６）式を一次
磁束の大きさについて解いたものは永久磁石型同期電動
機１が最大電圧Ｖｃで出力できる次式（７）に示す一次
磁束の大きさの最大値φ１ｍとなる。[0028] The square root of the expression (6) represents the magnitude of the primary magnetic flux of the permanent magnet type synchronous motor 1, and the solution of the expression (6) for the magnitude of the primary magnetic flux allows the permanent magnet type synchronous motor 1 to output at the maximum voltage Vc. The maximum value of the magnitude of the primary magnetic flux represented by the following equation (7) is φ1 m.
【００２９】[0029]
【数６】 [Equation 6]
【００３０】（７）式に（１）式を代入し、トルクＴの
２乗について解くと、次式（８）で表されるBy substituting the equation (1) into the equation (7) and solving for the square of the torque T, the following equation (8) is obtained.
【００３１】[0031]
【数７】 [Equation 7]
【００３２】となり、次式（９）、Then, the following equation (9),
【００３３】[0033]
【数８】 [Equation 8]
【００３４】を満たすｉｄがｄ軸電流の負の最大値ｉｄ
ｍとなる。よって、最大ｄ軸電流演算器４では、最大電
圧Ｖｃと回転速度ωとを入力して、（９）式をｉｄにつ
いて解いた負の最大値ｉｄｍを出力する。The id satisfying the condition is the negative maximum value id of the d-axis current.
m. Therefore, the maximum d-axis current calculator 4 inputs the maximum voltage Vc and the rotation speed ω, and outputs the negative maximum value idm obtained by solving the equation (9) for id.
【００３５】トルク制限値演算器５は、最大ｄ軸電流演
算器４の出力ｉｄｍと回転速度ωと最大電圧Ｖｃとから
最大電圧Ｖｃで永久磁石型同期電動機１が出力可能なト
ルクの制限値Ｔｍを出力する。（８）式にｉｄｍとωと
Ｖｃとを代入し平方根をとったものが出力可能なトルク
の制限値Ｔｍとなる。The torque limit value calculator 5 uses the output idm of the maximum d-axis current calculator 4, the rotation speed ω, and the maximum voltage Vc to limit the torque Tm that the permanent magnet synchronous motor 1 can output at the maximum voltage Vc. Is output. Substituting idm, ω, and Vc into the equation (8) and taking the square root is the limit value Tm of the output torque.
【００３６】トルク指令制限器６は、永久磁石型同期電
動機１のトルク指令Ｔ＊’の絶対値をトルク制限値演算
器５の出力Ｔｍに制限したものを新たなトルク指令Ｔ＊
として出力する。こうすることによって、トルク指令Ｔ
＊は最大電圧Ｖｃで出力可能なトルクＴｍに制限される
ため、電圧飽和で不安定になることを抑制することが出
来る。The torque command limiter 6 limits the absolute value of the torque command T * 'of the permanent magnet type synchronous motor 1 to the output Tm of the torque limit value calculator 5 to obtain a new torque command T *.
Output as. By doing so, the torque command T
Since * is limited to the torque Tm that can be output at the maximum voltage Vc, it is possible to suppress instability due to voltage saturation.
【００３７】高効率ｄ軸電流演算器７は、トルク指令制
限器６の出力Ｔ＊の絶対値に高効率ゲインＣを乗じて永
久磁石型同期電動機１を最大効率で運転するためのｄ軸
電流指令ＡであるｉｄＡを出力する。The high-efficiency d-axis current calculator 7 multiplies the absolute value of the output T * of the torque command limiter 6 by the high-efficiency gain C to operate the permanent magnet type synchronous motor 1 at the maximum efficiency. It outputs idA which is the command A.
【００３８】永久磁石型同期電動機１の一次電流の大き
さＩは次式（１０）で表される。The magnitude I of the primary current of the permanent magnet type synchronous motor 1 is expressed by the following equation (10).
【００３９】[0039]
【数９】 [Equation 9]
【００４０】（１０）式に（１）式を代入すると、Substituting equation (1) into equation (10),
【００４１】[0041]
【数１０】 [Equation 10]
【００４２】となり、次式（１２）Then, the following equation (12)
【００４３】[0043]
【数１１】 [Equation 11]
【００４４】を満たすｉｄが最大効率条件のｉｄＡとな
る。よって、高効率ゲインＣはｉｄ＝Ｃ・Ｔを（１２）
式に代入した式を満たす値である。こうして求めた高効
率ゲインＣを用いることによって、高効率ｄ軸電流演算
器７は、トルク指令制限器６の出力Ｔ＊の絶対値を入力
して、永久磁石型同期電動機１を最大効率で運転するた
めのｄ軸電流指令ＡであるｉｄＡを出力することが出来
る。The id satisfying the condition becomes idA of the maximum efficiency condition. Therefore, the high-efficiency gain C is given by id = C · T (12)
It is a value that satisfies the expression assigned to the expression. By using the high-efficiency gain C thus obtained, the high-efficiency d-axis current calculator 7 inputs the absolute value of the output T * of the torque command limiter 6 to operate the permanent magnet type synchronous motor 1 at maximum efficiency. It is possible to output idA which is the d-axis current command A for performing.
【００４５】飽和積分器９は、飽和検出器８の出力であ
る電圧飽和信号が１の場合は正の固定値を時間積分し、
電圧飽和信号が−１の場合はｉｄ＊を初期値として負の
固定値を時間積分し、０から最大ｄ軸電流演算器４の出
力であるｉｄｍまでの範囲に制限したｉｄＢを出力す
る。The saturation integrator 9 time-integrates a positive fixed value when the voltage saturation signal output from the saturation detector 8 is 1.
When the voltage saturation signal is -1, the negative fixed value is time-integrated with id * as the initial value, and idB limited to the range from 0 to idm which is the output of the maximum d-axis current calculator 4 is output.
【００４６】ｄ軸電流指令選択器１０は、飽和積分器の
出力ｉｄＢと高効率ｄ軸電流演算器７の出力ｉｄＡとを
比較して、負の方向に大きい方をｄ軸電流指令ｉｄ＊と
して出力する。The d-axis current command selector 10 compares the output idB of the saturation integrator with the output idA of the high-efficiency d-axis current calculator 7 and sets the larger one in the negative direction as the d-axis current command id *. Output.
【００４７】ここで、飽和積分器９とｄ軸電流指令選択
器１０の動作について説明する。まず電圧飽和になる
と、飽和積分器９は速やかに電圧飽和を回避するため
に、ｄ軸電流指令ｉｄ＊を初期値として負の固定値を時
間積分する。こうすることによって、ｄ軸電流指令選択
器１０は負の方向に大きい飽和積分器９の出力であるｉ
ｄＢを選択し、電圧飽和を回避することが出来る。The operation of the saturation integrator 9 and the d-axis current command selector 10 will be described. First, when voltage saturation occurs, the saturation integrator 9 time-integrates a negative fixed value with the d-axis current command id * as an initial value in order to quickly avoid voltage saturation. By doing so, the d-axis current command selector 10 outputs a large output i of the saturation integrator 9 in the negative direction.
It is possible to choose dB and avoid voltage saturation.
【００４８】従来技術のように電圧飽和でない場合もｄ
軸電流指令ｉｄ＊を初期値として正の固定値を時間積分
すると、ｉｄＢはｉｄＡより少し正の方向に大きな値と
なる。トルク指令Ｔ＊が大きな値から小さな値に急変す
ると、ｉｄＡは最大が０で正の方向に増加する。する
と、トルク指令Ｔ＊の変化速度と正の固定値を時間積分
する速度との関係によっては、ｉｄＡ＞ｉｄＢとなる。
そうすると、ｄ軸電流指令選択器１０はｉｄＢを選択
し、トルク指令Ｔ＊が急変しているにも拘わらずｉｄ＊
がなかなか変化しないため、応答性が悪くなるとともに
高効率な運転が不可能となる。そのために、電圧飽和で
ない場合は初期値をｉｄ＊としないで正の固定値を時間
積分する。Even when the voltage is not saturated as in the prior art, d
When a positive fixed value is time-integrated using the axis current command id * as an initial value, idB becomes a value slightly larger than idA in the positive direction. When the torque command T * suddenly changes from a large value to a small value, the maximum idA is 0 and increases in the positive direction. Then, idA> idB depending on the relationship between the speed of change of the torque command T * and the speed of time integration of a positive fixed value.
Then, the d-axis current command selector 10 selects idB, and id * is selected despite the sudden change in the torque command T *.
However, the responsiveness deteriorates and highly efficient operation becomes impossible. Therefore, when the voltage is not saturated, the initial value is not set to id * and a positive fixed value is integrated over time.
【００４９】飽和積分器９の出力は、０からｉｄｍの間
に制限している。まず、飽和積分器９の出力を０で制限
するのは、前述したように出力トルクＴの減少を防ぐた
めである。また、飽和積分器９の出力をｉｄｍに制限す
るのは、ｉｄが負に増加しすぎて最大電圧Ｖｃで最大ト
ルクＴｍが得られるｄ軸電流の負の最大値を超えないよ
うにするためである。The output of the saturation integrator 9 is limited to 0 to idm. First, the reason why the output of the saturation integrator 9 is limited to 0 is to prevent the output torque T from decreasing as described above. Further, the output of the saturation integrator 9 is limited to idm in order to prevent id from increasing excessively negatively and exceeding the negative maximum value of the d-axis current at which the maximum torque Tm is obtained at the maximum voltage Vc. is there.
【００５０】図２は、請求項２を表す本発明の一実施例
を示すブロック線図であり、この図に基づいて説明する
が、従来の技術と図１で示した本発明の実施例と同一部
分は説明を省略する。高効率ゲイン演算器１５は、トル
ク指令制限器６の出力とｑ軸電流指令演算器１１の出力
とを入力して、永久磁石型同期電動機１を最大効率で運
転するためのｄ軸電流指令Ａをトルク指令Ｔ＊の絶対値
に高効率ゲインＣを乗じて演算する際のその高効率ゲイ
ンＣを出力する。FIG. 2 is a block diagram showing an embodiment of the present invention which represents Claim 2. The explanation will be given based on this figure. The conventional technique and the embodiment of the present invention shown in FIG. Description of the same parts is omitted. The high-efficiency gain calculator 15 inputs the output of the torque command limiter 6 and the output of the q-axis current command calculator 11, and inputs the d-axis current command A for operating the permanent magnet synchronous motor 1 at maximum efficiency. Is output when the absolute value of the torque command T * is multiplied by the high efficiency gain C to calculate.
【００５１】高効率ゲインＣは、上述したようにｉｄ＝
Ｃ・Ｔを（１２）式に代入した式を満たす値であるが、
ｉｄ＝Ｃ・Ｔを（１２）式に代入した式をＣで解くこと
は困難なので、高効率ゲインＣはニュートン法などの数
値解析手法で求めなければならなくなる。そこで、
（３）式の最大効率条件式よりｉｄＣ＝Ｃ・Ｔを満たす
高効率ゲインＣを高効率ゲイン演算器１５で次式（１
３）で求める。As described above, the high efficiency gain C is id =
Although it is a value that satisfies the expression in which C · T is substituted into the expression (12),
Since it is difficult to solve the equation in which id = C · T is substituted in the equation (12) with C, the high efficiency gain C must be obtained by a numerical analysis method such as the Newton method. Therefore,
From the maximum efficiency conditional expression of the expression (3), the high efficiency gain C that satisfies idC = C · T is calculated by the following expression (1
Obtained in 3).
【００５２】[0052]
【数１２】 [Equation 12]
【００５３】ここで、ｉｑｆはｑ軸電流指令ｉｑｆを低
域通過フィルタに通した値で、Ｔｆ＊はトルク指令Ｔ＊
の絶対値を低域通過フィルタに通した値である。（１
３）式にｉｑ＊とＴ＊とを用いると、トルク指令Ｔ＊が
変化するとｉｄ＊も変化する。するとｉｑ＊が変化しさ
らにｉｄ＊が変化して不安定となるために、（１３）式
にはゆっくりと変化する低域通過フィルタを通したｉｑ
ｆとＴｆ＊とを用いる。Here, iqf is a value obtained by passing the q-axis current command iqf through a low-pass filter, and Tf * is a torque command T *.
The absolute value of is a value that is passed through a low-pass filter. (1
When iq * and T * are used in the equation 3), id * changes when the torque command T * changes. Then, iq * changes and id * also changes and becomes unstable. Therefore, in equation (13), iq through the low-pass filter that changes slowly is used.
f and Tf * are used.
【００５４】本発明の一例として永久磁石型同期電動機
について説明したが、この制御装置は永久磁石のないシ
ンクロリラクタンスモータ等の同期電動機にも有効に適
用できることは明らかである。Although a permanent magnet type synchronous motor has been described as an example of the present invention, it is obvious that this control device can be effectively applied to a synchronous motor such as a synchronous reluctance motor without a permanent magnet.
【００５５】また、同期電動機を同期発電機としても同
様である。The same applies when the synchronous motor is used as a synchronous generator.
【００５６】[0056]
【発明の効果】以上説明したように本発明によれば、電
圧飽和により制御不可能状態を回避することが可能とな
り、さらに高速な応答特性を得ることが出来る。As described above, according to the present invention, it becomes possible to avoid an uncontrollable state due to voltage saturation, and it is possible to obtain a faster response characteristic.
【図１】請求項１を表す本発明の１実施例を表したブロ
ック図である。FIG. 1 is a block diagram showing an embodiment of the present invention representing claim 1. FIG.
【図２】請求項２を表す本発明の１実施例を表したブロ
ック図である。FIG. 2 is a block diagram showing an embodiment of the present invention which represents claim 2. FIG.
【図３】従来の技術による永久磁石型同期電動機の制御
装置のブロック図である。FIG. 3 is a block diagram of a conventional permanent magnet type synchronous motor control device.
１ 永久磁石型同期電動機 ２ 電力変換器 ３ 電流制御器 ４ 最大ｄ軸電流演算器 ５ トルク制限値演算器 ６ トルク指令制限器 ７ 高効率ｄ軸電流演算器 ８ 飽和検出器 ９ 飽和積分器 １０ ｄ軸電流指令選択器 １１ ｑ軸電流指令演算器 １２ フィルタ １３ 高効率ｄ軸電流Ｃ演算器 １４ ｄ軸電流指令生成器 １５ 高効率ゲイン演算器 1 Permanent magnet type synchronous motor 2 power converter 3 Current controller 4 Maximum d-axis current calculator 5 Torque limit value calculator 6 Torque command limiter 7 High efficiency d-axis current calculator 8 Saturation detector 9 Saturation integrator 10 d-axis current command selector 11 q-axis current command calculator 12 filters 13 High efficiency d-axis current C calculator 14 d-axis current command generator 15 High efficiency gain calculator
Claims (3)
と、前記同期電動機の一次電流を前記同期電動機の界磁
極の方向であるｄ軸とそれと直交する方向であるｑ軸と
に分離し各々をｄ軸電流指令とｑ軸電流指令に追従する
ように独立に調整して前記同期電動機のトルクや速度を
制御するための電圧指令を前記電力変換器に出力する電
流制御器とを有する同期機の制御装置において、 前記電力変換器が前記同期電動機に出力可能な最大電圧
と前記同期電動機の回転速度とから前記最大電圧で前記
同期電動機の最大トルクを得るためｄ軸電流の負の最大
制限値を出力する最大ｄ軸電流演算器と、 前記最大ｄ軸電流演算器の出力と前記最大電圧と前記回
転速度とから前記最大電圧で前記同期電動機が出力可能
なトルクを求め該トルクを前記同期電動機のトルクの制
限値として出力するトルク制限値演算器と、 前記同期電動機のトルク指令を前記トルク制限値演算器
の出力に制限するトルク指令制限器と、 前記トルク指令制限器の出力の絶対値に高効率ゲインを
乗ずることで前記同期電動機を最大効率で運転するため
のｄ軸電流指令Ａを出力する高効率ｄ軸電流演算器と、 前記電圧指令が前記電力変換器で出力可能な最大電圧を
越えた時は−１となり、超えない時は１となる電圧飽和
信号を出力する飽和検出器と、 前記飽和検出器の出力が１の時は正の固定値を時間積分
し、前記飽和検出器の出力が−１の時は前記ｄ軸電流指
令を初期値として負の固定値を時間積分し、０から前記
最大ｄ軸電流演算器の出力までの範囲に制限して出力す
る飽和積分器と、 前記飽和積分器の出力と前記高効率ｄ軸電流演算器の出
力とを比較して負の方向に大きい方の出力を選択して前
記ｄ軸電流指令として出力するｄ軸電流指令選択器と、 前記トルク指令制限器の出力と前記ｄ軸電流指令選択器
の出力とから前記ｑ軸電流指令を出力するｑ軸電流指令
演算器とを具備し、 前記ｄ軸電流指令選択器の出力は前記飽和積分器とｑ軸
電流指令演算器と電流制御器へ伝達されるよう構成した
ことを特徴とする同期機の制御装置。1. A power converter for supplying electric power to a synchronous motor, and a primary current of the synchronous motor is divided into a d-axis which is a direction of a field pole of the synchronous motor and a q-axis which is a direction orthogonal thereto. , A current controller that independently adjusts so as to follow the d-axis current command and the q-axis current command and outputs a voltage command for controlling the torque and speed of the synchronous motor to the power converter. The maximum negative voltage of the d-axis current for obtaining the maximum torque of the synchronous motor at the maximum voltage from the maximum voltage that the power converter can output to the synchronous motor and the rotation speed of the synchronous motor. From the maximum d-axis current calculator, the output of the maximum d-axis current calculator, the maximum voltage, and the rotation speed, the torque that can be output by the synchronous motor at the maximum voltage is obtained, and the torque is calculated as the synchronous current. Torque limit value calculator that outputs as a torque limit value of the machine, a torque command limiter that limits the torque command of the synchronous motor to the output of the torque limit value calculator, and an absolute value of the output of the torque command limiter. A high-efficiency d-axis current calculator that outputs a d-axis current command A for operating the synchronous motor at maximum efficiency by multiplying by a high-efficiency gain, and the maximum voltage that the voltage command can output in the power converter A saturation detector that outputs a voltage saturation signal that becomes -1 when it exceeds, and becomes 1 when it does not exceed, and a positive fixed value when the output of the saturation detector is 1 Saturation integrator that outputs a negative fixed value with the d-axis current command as an initial value when the output of the device is -1 and limits it to the range from 0 to the maximum d-axis current calculator output. And the output of the saturation integrator and the high The d-axis current command selector that compares the output of the efficiency d-axis current calculator and selects the larger output in the negative direction and outputs it as the d-axis current command; the output of the torque command limiter; A q-axis current command calculator that outputs the q-axis current command from the output of the d-axis current command selector, wherein the outputs of the d-axis current command selector are the saturation integrator and the q-axis current command calculator. And a control device for a synchronous machine, which is configured to be transmitted to a current controller.
器の出力と前記ｑ軸電流指令演算器の出力とから求める
前記高効率ｄ軸電流演算器とする請求項１記載の同期機
の制御装置。2. The control device for a synchronous machine according to claim 1, wherein the high-efficiency gain is the high-efficiency d-axis current calculator that is obtained from the output of the torque command limiter and the output of the q-axis current command calculator. .
請求項１又は２記載の同期機の制御装置。3. The synchronous machine control device according to claim 1, wherein a synchronous generator is used instead of the synchronous motor.
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|---|---|---|---|
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|---|---|---|---|
| JP2002005815A JP4076348B2 (en) | 2002-01-15 | 2002-01-15 | Control device for synchronous machine |
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|---|---|
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008061445A (en) * | 2006-09-01 | 2008-03-13 | Honda Motor Co Ltd | Controller of motor |
| WO2009063786A1 (en) | 2007-11-15 | 2009-05-22 | Kabushiki Kaisha Yaskawa Denki | Motor control device and control method thereof |
| JP2009124876A (en) * | 2007-11-15 | 2009-06-04 | Fuji Electric Systems Co Ltd | Control device of permanent magnet type synchronous motor |
| JP2010213512A (en) * | 2009-03-12 | 2010-09-24 | Hitachi Car Eng Co Ltd | Torque controller for permanent-magnet synchronous motor |
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2002
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| WO2009063786A1 (en) | 2007-11-15 | 2009-05-22 | Kabushiki Kaisha Yaskawa Denki | Motor control device and control method thereof |
| JP2009124876A (en) * | 2007-11-15 | 2009-06-04 | Fuji Electric Systems Co Ltd | Control device of permanent magnet type synchronous motor |
| JP2010213512A (en) * | 2009-03-12 | 2010-09-24 | Hitachi Car Eng Co Ltd | Torque controller for permanent-magnet synchronous motor |
| US8305019B2 (en) | 2009-03-12 | 2012-11-06 | Hitachi Car Engineering Co., Ltd. | Torque controller for permanent magnet synchronous motor |
| JP2012065464A (en) * | 2010-09-16 | 2012-03-29 | Seiko Epson Corp | Motor control device |
| US9054623B2 (en) | 2011-08-10 | 2015-06-09 | Panasonic Intellectual Property Management Co., Ltd. | Motor control device |
| CN103988419A (en) * | 2011-12-09 | 2014-08-13 | 松下电器产业株式会社 | Electric motor control device |
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