JP2007135250A - Restarting system for synchronous motor - Google Patents

Restarting system for synchronous motor Download PDF

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JP2007135250A
JP2007135250A JP2005322978A JP2005322978A JP2007135250A JP 2007135250 A JP2007135250 A JP 2007135250A JP 2005322978 A JP2005322978 A JP 2005322978A JP 2005322978 A JP2005322978 A JP 2005322978A JP 2007135250 A JP2007135250 A JP 2007135250A
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synchronous motor
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JP2007135250A5 (en
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Yoshinori Nakano
義則 中野
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Meidensha Corp
Meidensha Electric Manufacturing Co Ltd
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Meidensha Electric Manufacturing Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To obviate the necessity of short-circuiting the output of an inverter compulsively only for a short time, so as to drive a PM motor 5 with a sensorless vector control system of inverter 4 and estimate the rotational phase and the rotational speed of the motor in idling state and restart the inverter in idling state. <P>SOLUTION: In the idling state of the PM motor, a zero current setter 11 sets the d, q-axes current commands id* and iq* of a vector controller to zero, and a zero-phase switch 10 makes it perform vector control operation in the state where an estimated phase θ is set to zero, and gets AC waveform in d-axis current. A zero cross detector 12 and a cycle detector 13 get rotational speed ω<SB>0</SB>by measuring the time of the cycle of the AC waveform, and an integrator 14 gets the rotational phase θ<SB>0</SB>by the integrating operation of the rotational speed ω<SB>0</SB>, and set them as the initial values of a phase estimator 8. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、永久磁石を界磁源とする同期電動機をインバータなどの電力変換装置で速度やトルクを制御する同期電動機の制御装置に係り、特にセンサレスベクトル制御における同期電動機の空転速度検出と回転位相推定による再始動方式に関する。   The present invention relates to a synchronous motor control device that controls the speed and torque of a synchronous motor using a permanent magnet as a field source by a power converter such as an inverter, and more particularly, to detect the idling speed and rotation phase of the synchronous motor in sensorless vector control. It relates to the restart method by estimation.

永久磁石を界磁源とする同期機には、界磁側に強力なダンパ巻き線（誘導器のカゴ形導体などに相当）を内蔵して商用電源に直入れ投入起動が可能な種類と、ダンパ巻き線を持たずにインバータなどの電力変換装置などにより電圧や電流を制御して発生トルクや安定化を行う種類との２種類がある。   A synchronous machine with a permanent magnet as a field source has a built-in strong damper winding (equivalent to an inductor cage conductor etc.) on the field side, and can be directly turned on and activated by a commercial power source. There are two types, a type in which the generated torque and stabilization are performed by controlling the voltage and current with a power converter such as an inverter without having a damper winding.

本発明は、ダンパが無いか、またはダンパの機能が弱く直入れ起動ができない同期電動機（以下、ＰＭモータと呼ぶ）を制御対象とし、さらにＰＭモータにエンコーダやパルスピックアップなどの速度検出器を設けることなくベクトル制御するセンサレスベクトル制御方式における、ＰＭモータの空転速度検出と回転位相推定による再始動方式を提案するものである。   The present invention controls a synchronous motor (hereinafter referred to as a PM motor) that does not have a damper or has a weak damper function and cannot be directly started and further includes a speed detector such as an encoder or a pulse pickup in the PM motor. The present invention proposes a restart method by detecting the idling speed of the PM motor and estimating the rotation phase in the sensorless vector control method in which the vector control is performed without any change.

電気自動車やハイブリット自動車、電動建設機械などのように、バッテリを直流電源とするインバータでモータを可変速駆動するシステムにおいて、モータをセンサレスベクトル制御を行う場合、回転しているモータに対して、インバータ停止状態から安定して空転再始動に必要な情報（位相情報、速度情報）を取り込み、インバータ制御装置はこれらのデータを初期情報としてセンサレスベクトル制御に切り替えて再始動する。   In a system that drives a motor at a variable speed with an inverter that uses a battery as a DC power source, such as an electric vehicle, a hybrid vehicle, and an electric construction machine, when performing sensorless vector control of the motor, The information (phase information and speed information) necessary for idling restart is taken in stably from the stopped state, and the inverter control device switches to sensorless vector control using these data as initial information and restarts.

従来の起動法では、インバータの出力状態を短時間だけ短絡状態に設定し、そのとき発生するパルス状の短絡電流が誘起起電力の位相とちょうど逆の位相に発生する原理を利用し、これを時間間隔をあけて２回実行し、その時間差と位相差より速度を推定、さらには位置（位相）を推定する起動法が提案されている（例えば、非特許文献１参照）。   In the conventional start-up method, the output state of the inverter is set to a short-circuit state for a short time, and the principle that the pulsed short-circuit current generated at that time is generated in the phase opposite to the phase of the induced electromotive force is used. An activation method has been proposed in which execution is performed twice with a time interval, the speed is estimated from the time difference and the phase difference, and the position (phase) is estimated (for example, see Non-Patent Document 1).

図５、図６にインバータを使用して、同期電動機の端子を短絡する状態の電流の流れを示し、図５ではインバータの下アーム全相をゲートＯＮさせ、図６ではインバータの上アーム全相をゲートＯＮさせてパルス状短絡電流を流す。また、図７にそのとき発生した短絡電流のベクトルの位相から、速度を検出する原理をタイムチャートで示す。電動機の回転角速度ωestは２回のパルスで計測した位相差θａ（＝θ０−θ１）と時間差Ｔａからωest＝θａ／Ｔａで計算する。また、回転角速度ωestの積分で回転子位置（位相）を知ることができ、回転角速度ωestの符号から回転方向を知ることができる。
平成９年電気学会産業応用部門全国大会 Ｎｏ.135 鳥羽・藍原・柳瀬：“位置・速度・電圧センサレスＰＭモータ駆動システムの回転状態からの起動法” 5 and 6 show the current flow in a state where the terminals of the synchronous motor are short-circuited using the inverter. In FIG. 5, all the lower arm phases of the inverter are turned on, and in FIG. Is turned on and a pulsed short-circuit current flows. FIG. 7 is a time chart showing the principle of detecting the speed from the phase of the short-circuit current vector generated at that time. The rotational angular velocity ω est of the motor is calculated as ω est = θa / Ta from the phase difference θa (= θ0−θ1) measured with two pulses and the time difference Ta. Further, it is possible to know the rotor position by the integral of the rotational angular velocity omega est (phase), it is possible to know the rotational direction from the sign of the rotational angular velocity omega est.
1997 IEEJ Industrial Application Division National Conference No.135 Toba, Aihara, Yanase: “Position / Speed / Voltage Sensorless PM Motor Drive System Startup Method from Rotating State”

従来の起動法では、空転再始動に必要な情報（位相情報、速度情報）を得るために、インバータの出力を強制的に短時間だけ短絡状態にする必要があり、アームを構成する半導体素子に短絡電流が流れてそれらを破損させるリスクがある。   In the conventional starting method, in order to obtain the information (phase information, speed information) necessary for idling restart, it is necessary to forcibly short-circuit the output of the inverter for a short time. There is a risk of short circuit currents flowing and damaging them.

また、ＰＭモータの空転速度検出と回転位相推定のために多くの演算要素を必要とするし、速度検出と位相推定が得られるまでの時間がかなりかかる。   Further, many calculation elements are required for detecting the idling speed and estimating the rotational phase of the PM motor, and it takes a considerable time until the speed detection and the phase estimation are obtained.

本発明の目的は、上記の課題を解決した同期電動機の再始動方式を提供することにある。   The objective of this invention is providing the restart system of the synchronous motor which solved said subject.

本発明は、前記の課題を解決するため、同期電動機の空転状態で、ベクトル制御装置のｄ，ｑ軸電流指令ｉｄ＊、ｉｑ＊を零に設定し、推定位相θを零に設定した状態でベクトル制御演算を行わせることで、ｄ軸電流に交流波形を得、この交流波形はモータの回転数そのものであるため、その周期を時間測定して回転数（速度）ω0を求め、また、位相もこの交流波形と同期しており、速度ω0の積分演算で推定位相θ0を求めるようにしたもので、以下の方式を特徴とする。 In order to solve the above-described problem, the present invention sets the d and q-axis current commands id * and iq * of the vector control device to zero and sets the estimated phase θ to zero in the idling state of the synchronous motor. By performing the vector control calculation, an AC waveform is obtained for the d-axis current, and since this AC waveform is the rotational speed of the motor itself, its period is measured to obtain the rotational speed (speed) ω 0 , The phase is also synchronized with the AC waveform, and the estimated phase θ 0 is obtained by integral calculation of the speed ω 0 and is characterized by the following method.

（１）直入れ起動ができない同期電動機をセンサレスベクトル制御方式のインバータで駆動し、空転状態の同期電動機の回転位相と回転速度を推定して停止状態のインバータを再始動する同期電動機の再始動方式であって、
同期電動機の空転状態で、ベクトル制御装置のｄ，ｑ軸電流指令ｉｄ＊、ｉｑ＊を零に設定し、推定位相θを零に設定した状態でベクトル制御演算を行わせる設定手段と、
前記設定状態でｄ軸電流に得る交流波形の周期を時間測定して回転速度ω0を求め、かつ回転速度ω0の積分演算で回転位相θ0を求める演算手段とを備えたことを特徴とする。 (1) A synchronous motor restarting method in which a synchronous motor that cannot be directly started is driven by a sensorless vector control type inverter, and the rotational phase and rotational speed of the idle synchronous motor are estimated to restart the stopped inverter. Because
Setting means for performing vector control calculation in a state where the d and q axis current commands id * and iq * of the vector control device are set to zero and the estimated phase θ is set to zero in the idling state of the synchronous motor;
And calculating means for obtaining the rotational speed ω 0 by measuring the period of the AC waveform obtained for the d-axis current in the set state and obtaining the rotational phase θ 0 by integrating the rotational speed ω 0. To do.

以上のとおり、本発明によれば、同期電動機の空転状態で、ベクトル制御装置のｄ，ｑ軸電流指令ｉｄ＊、ｉｑ＊を零に設定し、推定位相θを零に設定した状態でベクトル制御演算を行わせることで、ｄ軸電流に交流波形を得、この交流波形の周期を時間測定して回転数（速度）ω0を求め、また、速度ω0の積分演算で推定位相θ0を求めるようにしたため、従来のインバータの出力を強制的に短時間だけ短絡状態にすることを不要にしてアームを構成する半導体素子に短絡電流が流れてそれらを破損させるリスクを無くすことができ、また、同期電動機の空転速度検出と回転位相推定のためには、少しの演算要素で済み、速度検出と位相推定が得られるまでの時間も短縮でき、ひいてはセンサレスベクトル制御の信頼性や安定性の向上を図ることができる。 As described above, according to the present invention, vector control is performed with the d and q axis current commands id * and iq * of the vector controller set to zero and the estimated phase θ set to zero in the idling state of the synchronous motor. By performing the calculation, an AC waveform is obtained for the d-axis current, the period of this AC waveform is measured over time to obtain the rotation speed (speed) ω 0 , and the estimated phase θ 0 is obtained by integral calculation of the speed ω 0. As a result, it is not necessary to force the output of a conventional inverter to be short-circuited for a short period of time, eliminating the risk of short-circuit current flowing through the semiconductor elements constituting the arm and damaging them. In order to detect the idling speed of the synchronous motor and estimate the rotational phase, only a few computation elements are required, and the time required to obtain the speed detection and the phase estimation can be shortened. As a result, the reliability and stability of sensorless vector control are improved. Plan Door can be.

（実施形態１）
図１は、本発明の実施形態を示すＰＭモータのセンサレスベクトル制御ブロックである。電流制御部１Ａ，１Ｂは、ｄ，ｑ２軸のトルク電流指令ｉｑ＊と界磁電流指令ｉｄ＊が与えられ、これらトルク電流指令ｉｑ＊及び界磁電流指令ｉｄ＊と、それらの電流検出値ｉｑ，ｉｄとの比較によりｄ軸，ｑ軸の電圧指令Ｖｄ，Ｖｑを得、これら指令は座標変換部２により回転→固定座標変換して２相の電圧指令Ｖα，Ｖβを得、さらに２相／３相変換部３により３相の電圧指令Ｖｕ，Ｖｖ，Ｖｗに変換し、これら電圧指令を基に電力変換器（ＰＷＭインバータ）４によるＰＭモータ５の電機子電流を制御する。 (Embodiment 1)
FIG. 1 is a sensorless vector control block of a PM motor showing an embodiment of the present invention. The current control units 1A and 1B are provided with torque current commands iq * and field current commands id * for the d and q axes, and these torque current commands iq * and field current commands id * and their detected current values iq. , Id to obtain d-axis and q-axis voltage commands Vd and Vq, and these commands are rotated by the coordinate conversion unit 2 to convert them to fixed coordinates to obtain two-phase voltage commands Vα and Vβ. The three-phase converter 3 converts the voltage command into three-phase voltage commands Vu, Vv, Vw, and controls the armature current of the PM motor 5 by the power converter (PWM inverter) 4 based on these voltage commands.

３相／２相変換部６は、ＰＭモータ５の各相検出電流ｉｕ，ｉｖ，ｉｗを２相の電流ｉα，ｉβに変換し、これら電流を回転座標変換部７によって固定→回転座標変換で検出電流ｉｄ，ｉｑを得、これらを電流制御部１Ａ，１Ｂへのフィードバック電流とする。   The three-phase / two-phase converter 6 converts each phase detection current iu, iv, iw of the PM motor 5 into two-phase currents iα, iβ, and these currents are fixed by the rotary coordinate converter 7 → The detection currents id and iq are obtained and used as feedback currents to the current control units 1A and 1B.

座標変換部２、７はＰＭモータの磁極位相θを基準として座標変換し、この磁極位相θをＰＭモータから直接に検出するのに代えて、位相推定部８が磁極位置を推定する。この推定演算には、電圧指令Ｖα，Ｖβと電流検出信号ｉα，ｉβおよび角速度ω（モータ回転速度）を、モータモデルをもつオブザーバ８Ａの電圧−電流方程式に代入した演算により推定磁束λα、λβとして求め、これらから逆正接演算部８Ｂにより推定位相θｅを得る。微分演算部８Ｃは推定磁束θｅの微分によって推定角速度ωｅを角速度ωとして得る。   The coordinate conversion units 2 and 7 perform coordinate conversion based on the magnetic pole phase θ of the PM motor, and instead of directly detecting the magnetic pole phase θ from the PM motor, the phase estimation unit 8 estimates the magnetic pole position. In this estimation calculation, the estimated magnetic fluxes λα and λβ are calculated by substituting the voltage commands Vα and Vβ, the current detection signals iα and iβ, and the angular velocity ω (motor rotational speed) into the voltage-current equation of the observer 8A having the motor model. From these, the estimated phase θe is obtained by the arctangent calculation unit 8B. The differential operation unit 8C obtains the estimated angular velocity ωe as the angular velocity ω by differentiating the estimated magnetic flux θe.

トルク電流指令ｉｑ＊と界磁電流指令ｉｄ＊は、電流指令発生部９から与えられ、これらはトルク制御系からのトルク制御信号、さらには速度制御系を含めた制御系からのトルク制御信号から求められる。   The torque current command iq * and the field current command id * are given from the current command generation unit 9, and these are obtained from the torque control signal from the torque control system and further from the torque control signal from the control system including the speed control system. Desired.

以上のようなＰＭモータのセンサレスベクトル制御装置において、本実施形態では、インバータ停止状態からの空転再始動をするために必要とするデータ（ＰＮ磁極位置の位相データと回転数の２つの情報）を取得するため、零位相切換器１０と、零電流設定器１１と、ゼロクロス検出器１２と、周期検出器１３および積分器１４とを設ける。   In the sensorless vector control device for the PM motor as described above, in this embodiment, data (two pieces of information on the phase data of the PN magnetic pole position and the number of revolutions) necessary for restarting idling from the inverter stopped state are used. In order to obtain, a zero phase switch 10, a zero current setter 11, a zero cross detector 12, a period detector 13 and an integrator 14 are provided.

零位相切換器１０は、ＰＭモータの空転状態で、現時点のＰＮの磁極位置が分からないため、ベクトル制御上の座標変換の位相入力信号をゼロとする。零電流設定器１１は、電流制御上のｄ，ｑ軸電流指令ｉｄ＊、ｉｑ＊をゼロ設定し、インバータ４をゼロ電流制御する。   The zero phase switch 10 sets the phase input signal for coordinate conversion in vector control to zero since the current PN magnetic pole position is unknown in the idling state of the PM motor. The zero current setting device 11 sets d and q axis current commands id * and iq * in current control to zero, and controls the inverter 4 to zero current.

このゼロ電流制御により、図２に示すように、ｄ軸電流は本来直流の検出電流が交流となって検出される。この交流波形は回転数そのものであるため、ゼロクロス検出器１２で零点を検出し、カウンタ等で構成される周期検出器１３で周期を時間測定し、その演算で回転数（速度）ω0を算出する。また、位相もこの交流波形と同期しており、積分器１４はゼロクロス点のエッジを推定位相の０度とし、周期検出器１３で求めた速度ω0の積分演算を行い、推定位相θ0として算出する。 By this zero current control, as shown in FIG. 2, the d-axis current is detected as an original DC detection current as an alternating current. Since this AC waveform is the rotational speed itself, the zero point is detected by the zero cross detector 12, the period is time-measured by the periodic detector 13 composed of a counter or the like, and the rotational speed (speed) ω 0 is calculated by the calculation. To do. Further, the phase is also synchronized with this AC waveform, and the integrator 14 sets the edge of the zero cross point to 0 degree of the estimated phase, performs the integration calculation of the speed ω 0 obtained by the period detector 13, and sets it as the estimated phase θ 0. calculate.

求められた速度ω0および推定位相θ0は、位相推定部８のωeとθeの初期値として設定して位相推定を開始させる。同時に、零位相切換器１０を位相推定部８側に復帰させ、インバータのセンサレスベクトル制御を開始し、この制御が安定化したときに零電流設定器１１の零電流設定出力をオフにし、トルク制御系または速度制御系によるセンサレスベクトル制御を始める、すなわち再始動を完了する。 The obtained speed ω 0 and estimated phase θ 0 are set as initial values of ω e and θ e of the phase estimation unit 8 to start phase estimation. At the same time, the zero phase switcher 10 is returned to the phase estimation unit 8 side, sensorless vector control of the inverter is started, and when this control is stabilized, the zero current setting output of the zero current setter 11 is turned off, and torque control is performed. The sensorless vector control by the system or the speed control system is started, that is, the restart is completed.

（実施形態２）
図３は、本発明の実施形態を示すＰＭモータのセンサレスベクトル制御ブロックである。 (Embodiment 2)
FIG. 3 is a sensorless vector control block of the PM motor showing the embodiment of the present invention.

本実施形態は、ＰＮ磁極位置の位相データと回転数の２つの情報を推定する基本的な考え方は実施形態１と同じであるが、本実施形態は低速におけるｄ軸電流の交流波形のゼロクロス点のエッジを取り込む際のチャタリング防止機能として、ゼロクロス検出器１２の出力からチャタリングを取り除くためのヒステリシス回路１５を設けている。   In this embodiment, the basic idea of estimating the two pieces of information of the phase data of the PN magnetic pole position and the rotational speed is the same as that of the first embodiment, but this embodiment is the zero cross point of the AC waveform of the d-axis current at low speed. As a chattering prevention function when capturing the edge, a hysteresis circuit 15 for removing chattering from the output of the zero cross detector 12 is provided.

図４はタイムチャートを示し、実施形態１ではＨｉｇｈ側もＬｏｗ側もゼロ点でコンパレートしていたが、本実施形態では、ヒステリシス回路１５によってＬｏｗにするタイミングのしきい値を下げてヒステリシス特性を得ている。これによって、モータが低速で回転し、ｄ軸検出電流に多少のリプルが乗っていたとしてもチャタリングすることなく正確にゼロクロス点を取り込むことができ、推定回転数と推定位相データを求めることが可能となる。   FIG. 4 shows a time chart. In the first embodiment, both the High side and the Low side are compared at the zero point. Have gained. As a result, even if the motor rotates at a low speed and a slight ripple is on the d-axis detection current, the zero cross point can be accurately captured without chattering, and the estimated rotation speed and estimated phase data can be obtained. It becomes.

なお、実施形態における位相推定部８の演算方式は他の方式に適宜変更して同等の作用を効果を得ることができる。また、演算要素１２〜１５の構成や設定器１０，１１の設定手法は適宜設計変更できる。   In addition, the calculation method of the phase estimation unit 8 in the embodiment can be appropriately changed to another method to obtain the same effect. In addition, the configuration of the calculation elements 12 to 15 and the setting method of the setting devices 10 and 11 can be appropriately changed in design.

本発明の実施形態１を示すＰＭモータのセンサレスベクトル制御ブロック。The sensorless vector control block of PM motor which shows Embodiment 1 of this invention. 実施形態１のタイムチャート。3 is a time chart of the first embodiment. 本発明の実施形態２を示すＰＭモータのセンサレスベクトル制御ブロック。The sensorless vector control block of PM motor which shows Embodiment 2 of this invention. 実施形態２のタイムチャート。4 is a time chart of the second embodiment. 同期電動機の端子を短絡する状態の電流の流れを示す図。The figure which shows the flow of the electric current of the state which short-circuits the terminal of a synchronous motor. 同期電動機の端子を短絡する状態の電流の流れを示す図。The figure which shows the flow of the electric current of the state which short-circuits the terminal of a synchronous motor. 短絡電流のベクトルの位相から速度検出する原理説明図。Explanatory drawing which carries out the speed detection from the phase of the vector of a short circuit current.

符号の説明Explanation of symbols

４ ＰＷＭインバータ
５ ＰＭモータ
８ 位相推定部
９ 電流指令発生部
１０ 零位相切換器
１１ 零電流設定器
１２ ゼロクロス検出器
１３ 周期検出器
１４ 積分器
１５ ヒステリシス回路
4 PWM inverter 5 PM motor 8 Phase estimation unit 9 Current command generation unit 10 Zero phase switch 11 Zero current setter 12 Zero cross detector 13 Period detector 14 Integrator 15 Hysteresis circuit

Claims (1)

直入れ起動ができない同期電動機をセンサレスベクトル制御方式のインバータで駆動し、空転状態の同期電動機の回転位相と回転速度を推定して停止状態のインバータを再始動する同期電動機の再始動方式であって、
同期電動機の空転状態で、ベクトル制御装置のｄ，ｑ軸電流指令ｉｄ＊、ｉｑ＊を零に設定し、推定位相θを零に設定した状態でベクトル制御演算を行わせる設定手段と、
前記設定状態でｄ軸電流に得る交流波形の周期を時間測定して回転速度ω0を求め、かつ回転速度ω0の積分演算で回転位相θ0を求める演算手段とを備えたことを特徴とする同期電動機の再始動方式。
A synchronous motor restarting method in which a synchronous motor that cannot be started directly is driven by a sensorless vector control type inverter, and the rotational phase and rotational speed of the idle synchronous motor are estimated to restart the stopped inverter. ,
Setting means for performing vector control calculation in a state where the d and q axis current commands id * and iq * of the vector control device are set to zero and the estimated phase θ is set to zero in the idling state of the synchronous motor;
And calculating means for obtaining the rotational speed ω 0 by measuring the period of the AC waveform obtained for the d-axis current in the set state and obtaining the rotational phase θ 0 by integrating the rotational speed ω 0. Synchronous motor restart method.
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JP2004328920A (en) * 2003-04-25 2004-11-18 Yaskawa Electric Corp Sensorless control method and control device for ac motor

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JP2003259679A (en) * 2002-02-26 2003-09-12 Toshiba Corp Vector control inverter apparatus and rotation driving apparatus
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JP2009142073A (en) * 2007-12-06 2009-06-25 Denso Corp Controller and control system of rotating machine
JP2009201284A (en) * 2008-02-22 2009-09-03 Meidensha Corp Variable speed driver of pm motor
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