JP2010041839A - Control device for permanent-magnet synchronous motor - Google Patents

Control device for permanent-magnet synchronous motor Download PDF

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JP2010041839A
JP2010041839A JP2008202615A JP2008202615A JP2010041839A JP 2010041839 A JP2010041839 A JP 2010041839A JP 2008202615 A JP2008202615 A JP 2008202615A JP 2008202615 A JP2008202615 A JP 2008202615A JP 2010041839 A JP2010041839 A JP 2010041839A
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Hisafumi Nomura
尚史 野村
Yasushi Matsumoto
康 松本
Takashi Kuroda
岳志 黒田
Nobuo Itoigawa
信夫 糸魚川
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Fuji Electric Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To improve torque control accuracy by highly accurately measuring a permanent-magnet magnetic flux and an inductance from information of a current, a terminal voltage, and a speed in a control device for a permanent-magnet synchronous motor. <P>SOLUTION: A control device for a permanent-magnet synchronous motor includes an electric-constant measuring means for measuring a permanent-magnet magnetic flux and an inductance from a current detection value, a terminal-voltage detection value, and a speed detection value of a motor 80. The electric-constant measuring means includes: a d-axis magnetic-flux estimator 100 that catches the terminal voltage and the current of the motor 80 as vectors so as to estimate a magnetic flux from a current detection value, a terminal-voltage detection value, and a speed detection value; a current command generator 31 for controlling d-axis currents to a plurality of values when a magnetic-pole direction of a rotor is set as a d-axis and a direction orthogonal to the d-axis as a q-axis; and a parameter estimator 101 that approximates a relationship between the d-axis currents controlled to the plurality of values and each magnetic-flux estimated value respectively corresponding to each of the d-axis currents by a linear function, measures a d-axis inductance from a gradient of the linear function, and measures a permanent-magnet magnetic flux from an intercept of the linear function. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

本発明は、永久磁石形同期電動機の制御装置に関し、詳しくは、永久磁石形同期電動機の永久磁石磁束及びインダクタンスを高精度に測定するための技術に関するものである。   The present invention relates to a control device for a permanent magnet type synchronous motor, and more particularly to a technique for measuring the permanent magnet magnetic flux and inductance of a permanent magnet type synchronous motor with high accuracy.

永久磁石形同期電動機（以下、ＰＭＳＭともいう）は、回転子のｄ軸（回転子の磁極方向）とｄ軸から９０度進んだｑ軸とからなるｄ，ｑ座標上で電流制御を行うことにより、高精度なトルク制御を実現可能である。ここで、ＰＭＳＭのトルクは数式１によって表される。   A permanent magnet type synchronous motor (hereinafter also referred to as PMSM) performs current control on d and q coordinates including a d axis (rotor magnetic pole direction) of a rotor and a q axis 90 degrees advanced from the d axis. Thus, highly accurate torque control can be realized. Here, the torque of PMSM is expressed by Equation 1.

Figure 2010041839
Figure 2010041839

このため、トルクを高精度に制御するには、永久磁石磁束とインダクタンスとを正確に測定し、これに基づいて電流を制御するのが望ましい。このことから、ＰＭＳＭの電圧方程式モデルに基づいて、電流、端子電圧及び速度の情報から永久磁石磁束とインダクタンスとを測定する技術が実用化されている。   For this reason, in order to control the torque with high accuracy, it is desirable to accurately measure the permanent magnet magnetic flux and the inductance and control the current based on this. For this reason, based on the voltage equation model of PMSM, a technique for measuring permanent magnet magnetic flux and inductance from information on current, terminal voltage and speed has been put into practical use.

例えば、非特許文献１には、ＰＭＳＭの電流を零に制御したときの端子電圧が、永久磁石磁束によって端子に誘導される誘起電圧に等しくなることを利用して、電流を零に制御したときの端子電圧を速度で除算することにより永久磁石磁束を測定する技術が記載されている。更に、ＰＭＳＭの電圧方程式を利用して、電流、端子電圧及び速度から、ｄ軸インダクタンスとｑ軸インダクタンスとを測定する技術が記載されている。   For example, in Non-Patent Document 1, when the current is controlled to zero by utilizing that the terminal voltage when the PMSM current is controlled to zero is equal to the induced voltage induced in the terminal by the permanent magnet magnetic flux. A technique for measuring the permanent magnet magnetic flux by dividing the terminal voltage of the current by the speed is described. Furthermore, a technique for measuring the d-axis inductance and the q-axis inductance from the current, the terminal voltage and the speed using the voltage equation of PMSM is described.

また、特許文献１に記載された同期電動機の定数同定方法では、ｑ軸電圧方程式に基づく誘起電圧のｑ軸成分から求めた「補正量を加えない速度推定値」（特許文献１の（６）式により演算）と、ｄ，ｑ軸電圧方程式に基づく誘起電圧のベクトル和から演算した「補正量を加えた速度推定値」（特許文献１の（７）式により演算）とが一致するように、永久磁石磁束（特許文献１では誘起電圧定数ｋｅ）を演算している。更に、ｄ軸電流を異なる値に制御してもｑ軸誘起電圧推定値が一定値になるように、ｄ軸インダクタンスを演算することが記載されている（なお、上記の説明は、特許文献１におけるγ，δ軸（ｄ，ｑ軸の推定軸）での説明をｄ，ｑ軸に置き換えたものである）。 Moreover, in the constant identification method of the synchronous motor described in Patent Document 1, “speed estimation value without adding a correction amount” obtained from the q-axis component of the induced voltage based on the q-axis voltage equation ((6) of Patent Document 1) So that the “estimated speed value with correction amount” calculated from the vector sum of the induced voltages based on the d and q-axis voltage equations (calculated by equation (7) in Patent Document 1) matches. The permanent magnet magnetic flux (induced voltage constant k e in Patent Document 1) is calculated. Further, it is described that the d-axis inductance is calculated so that the q-axis induced voltage estimated value becomes a constant value even if the d-axis current is controlled to a different value (the above description is described in Patent Document 1). The description on the γ and δ axes (estimated axes of d and q axes) is replaced with d and q axes).

特許第３７０７６５９号公報（請求項１，請求項３、段落［０００６］〜［００１４］、図１，図２等）Japanese Patent No. 3707659 (Claim 1, Claim 3, Paragraphs [0006] to [0014], FIG. 1, FIG. 2, etc.) 森本 茂雄，武田 洋次，平紗 多賀男，「ＰＭモータのｄｑ軸等価回路定数の測定法」，電気学会論文誌Ｄ，１１３巻１１号，ｐ．１３３０〜１３３１，１９９３年Shigeo Morimoto, Yoji Takeda, Tagao Hirata, “Measuring method of dq axis equivalent circuit constant of PM motor”, IEEJ Transactions D, Vol. 113, No. 11, p. 1330-1331, 1993

まず、従来技術の第１の問題点について説明する。
非特許文献１、特許文献１に記載された方法により永久磁石磁束及びインダクタンスを測定するためには、電動機を所定の速度で運転する必要がある。このため、電動機が負荷に結合されている場合には、負荷トルクを発生させる必要があり、ｑ軸電流を必ずしも零に制御することはできない。ここで、埋込磁石構造永久磁石形同期電動機（以下、ＩＰＭＳＭという）は、回転子の突極性によりｄ軸インダクタンスとｑ軸インダクタンスとが異なるため、ｄ軸電流を積極的に制御することで、数式１の右辺第２項であるリラクタンストルクを利用してトルク／電流を増加させることが多い。このことから、負荷トルクが大きいときには、ｄ軸電流を零に制御できない場合がある。 First, the first problem of the prior art will be described.
In order to measure the permanent magnet magnetic flux and the inductance by the methods described in Non-Patent Document 1 and Patent Document 1, it is necessary to operate the electric motor at a predetermined speed. For this reason, when the electric motor is coupled to the load, it is necessary to generate a load torque, and the q-axis current cannot always be controlled to zero. Here, since the embedded magnet structure permanent magnet type synchronous motor (hereinafter referred to as IPMSM) has different d-axis inductance and q-axis inductance depending on the saliency of the rotor, by actively controlling the d-axis current, In many cases, the torque / current is increased using the reluctance torque which is the second term on the right side of Formula 1. For this reason, when the load torque is large, the d-axis current may not be controlled to zero.

以下、負荷運転時における非特許文献１、特許文献１に係る従来技術の問題点について説明する。
前述したように、非特許文献１では、永久磁石磁束を測定するために電流を零に制御する必要があるので、負荷運転時には永久磁石磁束を測定することができない。また、ｄ軸インダクタンスの測定には永久磁石磁束の値が必要であるため、負荷運転時にはｄ軸インダクタンスの測定が不可能である。
更に、特許文献１においては、電流が零でない条件で誘起電圧を演算するためにインダクタンスの情報が必要であるから、負荷運転時には永久磁石磁束を測定することができない。 Hereinafter, problems of the related art according to Non-Patent Document 1 and Patent Document 1 during load operation will be described.
As described above, in Non-Patent Document 1, since it is necessary to control the current to zero in order to measure the permanent magnet magnetic flux, the permanent magnet magnetic flux cannot be measured during load operation. Further, since the value of the permanent magnet magnetic flux is necessary for measuring the d-axis inductance, it is impossible to measure the d-axis inductance during load operation.
Further, in Patent Document 1, since information on inductance is necessary to calculate the induced voltage under a condition where the current is not zero, the permanent magnet magnetic flux cannot be measured during load operation.

次に、従来技術の第２の問題点について説明する。
非特許文献１によるｑ軸インダクタンスの測定は、ｑ軸電流を零でない値に制御する必要があるため、ｑ軸インダクタンスの測定時にトルクが発生し、電動機が急加減速する恐れがある。
ところで、ｑ軸インダクタンスは、例えば特開２０００−５０７００号公報に示されているように、回転子が静止している状態でｑ軸方向に交番する交流電流を通流したときの電流と端子電圧との関係から測定することができる。しかしながら、上記交流電流としては一般に高周波の電流を通流するため、表皮効果の影響により、正確に測定できないことがある。 Next, the second problem of the prior art will be described.
In the measurement of the q-axis inductance according to Non-Patent Document 1, since the q-axis current needs to be controlled to a non-zero value, torque is generated during the measurement of the q-axis inductance, and the electric motor may be suddenly accelerated or decelerated.
Incidentally, the q-axis inductance is, for example, as shown in Japanese Patent Laid-Open No. 2000-50700, the current and the terminal voltage when an alternating current that alternates in the q-axis direction is passed while the rotor is stationary. It can be measured from the relationship. However, since the alternating current generally passes a high-frequency current, it may not be accurately measured due to the skin effect.

そこで、本発明の解決課題は、上述した種々の問題点を解消し、負荷条件によらずに永久磁石磁束及びインダクタンスを高精度に測定可能とした永久磁石形同期電動機の制御装置を提供することにある。   Accordingly, the problem to be solved by the present invention is to provide a control device for a permanent magnet type synchronous motor that solves the above-mentioned various problems and can measure the permanent magnet magnetic flux and the inductance with high accuracy regardless of the load conditions. It is in.

上記課題を解決するため、請求項１に係る発明は、永久磁石形同期電動機の電流検出値、端子電圧検出値及び速度検出値から前記電動機の永久磁石磁束及びインダクタンスを測定する電気定数測定手段を備えた永久磁石形同期電動機の制御装置において、
前記電気定数測定手段は、
前記電動機の端子電圧及び電流をベクトルとしてとらえ、
前記電動機の電流検出値、端子電圧検出値及び速度検出値から磁束を推定する手段と、
前記電動機の回転子の磁極方向をｄ軸、これに直交する方向をｑ軸とした時に、ｄ軸電流を複数の値に制御する手段と、
複数の値に制御した前記ｄ軸電流と、これらのｄ軸電流にそれぞれ対応する前記磁束の推定値との関係を一次関数により近似し、この一次関数の傾きから前記電動機のｄ軸インダクタンスを測定し、前記一次関数の切片から前記電動機の永久磁石磁束を測定する手段と、を備えたものである。
これにより、負荷条件によらず、永久磁石形同期電動機の永久磁石磁束及びｄ軸インダクタンスを正確に測定することができる。 In order to solve the above-mentioned problems, the invention according to claim 1 comprises an electrical constant measuring means for measuring the permanent magnet magnetic flux and the inductance of the motor from the detected current value, the detected terminal voltage value and the detected speed value of the permanent magnet type synchronous motor. In the control device of the permanent magnet type synchronous motor provided,
The electrical constant measuring means includes
Taking the terminal voltage and current of the motor as a vector,
Means for estimating the magnetic flux from the current detection value, terminal voltage detection value and speed detection value of the motor;
Means for controlling the d-axis current to a plurality of values when the magnetic pole direction of the rotor of the electric motor is the d-axis and the direction perpendicular thereto is the q-axis;
The relationship between the d-axis current controlled to a plurality of values and the estimated value of the magnetic flux corresponding to each of these d-axis currents is approximated by a linear function, and the d-axis inductance of the motor is measured from the slope of this linear function. And means for measuring the permanent magnet magnetic flux of the electric motor from the intercept of the linear function.
As a result, the permanent magnet magnetic flux and the d-axis inductance of the permanent magnet type synchronous motor can be accurately measured regardless of the load condition.

請求項２に係る発明は、請求項１に記載した制御装置において、前記回転子が停止している状態で前記電動機に交流電流を通流したとき、または、交流電圧を印加したときの電流検出値と端子電圧検出値との関係から、前記電動機のｄ軸インダクタンス及びｑ軸インダクタンスを測定する第２のインダクタンス測定手段と、
この第２のインダクタンス測定手段により測定したｄ軸インダクタンス及びｑ軸インダクタンスと、前記電気定数測定手段により測定したｄ軸インダクタンスとから、前記電動機のｑ軸インダクタンスを測定する手段と、を備えたものである。
これにより、表皮効果の影響を受けずにｑ軸インダクタンスを正確に測定することができる。 According to a second aspect of the present invention, in the control device according to the first aspect, the current detection is performed when an alternating current is passed through the motor or an alternating voltage is applied while the rotor is stopped. Second inductance measuring means for measuring the d-axis inductance and the q-axis inductance of the electric motor from the relationship between the value and the terminal voltage detection value;
Means for measuring the q-axis inductance of the motor from the d-axis inductance and the q-axis inductance measured by the second inductance measuring means and the d-axis inductance measured by the electrical constant measuring means. is there.
As a result, the q-axis inductance can be accurately measured without being affected by the skin effect.

本発明によれば、負荷条件によらずに、ＰＭＳＭの永久磁石磁束及びインダクタンスを高精度に測定することができ、トルク制御性能を向上させることができる。   According to the present invention, the permanent magnet magnetic flux and inductance of the PMSM can be measured with high accuracy regardless of the load condition, and the torque control performance can be improved.

以下、図に沿って本発明の第１実施形態を説明する。図１は、この実施形態に係る制御装置を示すブロック図である。
まず、ＰＭＳＭの速度を指令値に制御する方法を、制御装置の構成と共に説明する。 Hereinafter, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a block diagram showing a control device according to this embodiment.
First, a method for controlling the PMSM speed to a command value will be described together with the configuration of the control device.

前述したように、ＰＭＳＭはｄ，ｑ座標上で電流制御を行うことにより高精度な制御を実現可能であるため、以下に述べる速度制御もｄ，ｑ座標上で行うものとする。
図１において、入力電圧検出回路１２は、インバータ等からなる電力変換器７０の入力電圧Ｅｄｃを検出する。また、磁極位置検出器９０は、ＰＭＳＭ８０の磁極位置θ１を検出し、速度検出値９１は、ＰＭＳＭ８０の速度ω１を検出する。 As described above, since PMSM can achieve high-precision control by performing current control on the d and q coordinates, the speed control described below is also performed on the d and q coordinates.
In FIG. 1, an input voltage detection circuit 12 detects an input voltage E dc of a power converter 70 composed of an inverter or the like. The magnetic pole position detector 90 detects the magnetic pole position θ 1 of the PMSM 80, and the speed detection value 91 detects the speed ω 1 of the PMSM 80.

速度指令値ω＊と速度検出値ω１との偏差を減算器１６にて演算し、この偏差を速度調節器１７により増幅してトルク指令値τ＊を演算する。
電流指令演算部１８は、トルク指令値τ＊と速度検出値ω１とから、ＰＭＳＭ８０の端子電圧が電力変換器７０の最大出力電圧以下になる条件でトルク／電流が最大になり、かつ、所望のトルクを出力するｄ，ｑ軸電流指令値ｉｄ０ ＊，ｉｑ０ ＊を演算する。 A deviation between the speed command value ω * and the detected speed value ω 1 is calculated by the subtractor 16, and this deviation is amplified by the speed regulator 17 to calculate the torque command value τ * .
Based on the torque command value τ * and the speed detection value ω 1 , the current command calculation unit 18 maximizes the torque / current under the condition that the terminal voltage of the PMSM 80 is less than or equal to the maximum output voltage of the power converter 70 and D and q-axis current command values i d0 * and i q0 * are output.

次に、上記ｄ軸電流指令値ｉｄ０ ＊と電気定数測定用電流指令発生器３１の出力であるｉｄｍ ＊とを加算器３２により加算して、ｄ軸電流指令値ｉｄ ＊を演算する。ここで、ｉｄｍ ＊は二つの異なる値に制御する。
一方、ｑ軸電流指令値ｉｑ ＊には、電流指令演算部１８から出力された前記ｑ軸電流指令値ｉｑ０ ＊を設定する。 Then added by the adder 32 i dm * and which corresponds to the output of the d-axis current command value i d0 * and the electric constant measurement current command generator 31 calculates the d-axis current command value i d * . Here, i dm * is controlled to two different values.
On the other hand, the q-axis current command value i q * is set to the q-axis current command value i q0 * output from the current command calculation unit 18.

電流座標変換器１４は、ｕ相電流検出器１１ｕ、ｗ相電流検出器１１ｗによりそれぞれ検出した相電流検出値ｉｕ，ｉｗを、磁極位置検出値θ１に基づいてｄ，ｑ軸電流検出値ｉｄ，ｉｑにそれぞれ座標変換する。
ｄ軸電流指令値ｉｄ ＊とｄ軸電流検出値ｉｄとの偏差を減算器１９ａにて演算し、この偏差をｄ軸電流調節器２０ａにより増幅してｄ軸電圧指令値ｖｄ ＊を演算する。一方、ｑ軸電流指令値ｉｄ ＊とｑ軸電流検出値ｉｑとの偏差を減算器１９ｂにて演算し、この偏差をｑ軸電流調節器２０ｂにより増幅してｑ軸電圧指令値ｖｑ ＊を演算する。
これらのｄ，ｑ軸電圧指令値ｖｄ ＊，ｖｑ ＊は、電圧座標変換器１５によって磁極位置検出値θ１に基づき相電圧指令値ｖｕ ＊，ｖｖ ＊，ｖｗ ＊に変換される。 The current coordinate converter 14 detects the phase current detection values i u and i w detected by the u-phase current detector 11u and the w-phase current detector 11w, respectively, based on the magnetic pole position detection value θ 1 and detects the d and q-axis currents. Coordinates are converted to values i d and i q , respectively.
The deviation between the d-axis current command value i d * and the d-axis current detection value i d calculated by the subtractor 19a, this deviation is amplified by a d-axis current regulator 20a d axis voltage value v d * Calculate. On the other hand, a deviation between the q-axis current command value i d * and the q-axis current detection value i q is calculated by the subtractor 19b, and this deviation is amplified by the q-axis current regulator 20b to be q-axis voltage command value v q. * to calculate the.
These d and q axis voltage command values v d * and v q * are converted into phase voltage command values v u * , v v * , and v w * by the voltage coordinate converter 15 based on the magnetic pole position detection value θ 1. The

整流回路６０は、三相交流電源５０の三相交流電圧を整流して直流電圧に変換し、この直流電圧を電力変換器７０に供給する。
ＰＷＭ回路１３は、相電圧指令値ｖｕ ＊，ｖｖ ＊，ｖｗ ＊、及び、入力電圧検出回路１２が検出した電力変換器７０の入力電圧Ｅｄｃとから、電力変換器７０の出力電圧を前記相電圧指令値ｖｕ ＊，ｖｖ ＊，ｖｗ ＊に制御するためのゲート信号を生成する。電力変換器７０はゲート信号に基づいて内部の半導体スイッチング素子を制御することで、ＰＭＳＭ８０の端子電圧を相電圧指令値ｖｕ ＊，ｖｖ ＊，ｖｗ ＊に制御する。
以上の演算処理により、ＰＭＳＭ８０の速度を指令値に制御することができる。 The rectifier circuit 60 rectifies the three-phase AC voltage of the three-phase AC power source 50 to convert it into a DC voltage, and supplies this DC voltage to the power converter 70.
The PWM circuit 13 outputs the output voltage of the power converter 70 from the phase voltage command values v u * , v v * , v w * and the input voltage E dc of the power converter 70 detected by the input voltage detection circuit 12. the phase voltage command values v u *, v v *, v generates a gate signal for controlling the w *. The power converter 70 controls the internal semiconductor switching element based on the gate signal, thereby controlling the terminal voltage of the PMSM 80 to the phase voltage command values v u * , v v * , v w * .
With the above arithmetic processing, the speed of the PMSM 80 can be controlled to a command value.

次に、ＰＭＳＭ８０の永久磁石磁束及びインダクタンスを測定するための電気定数測定手段３０の詳細について説明する。図２は、この電気定数測定手段３０のブロック図を示している。
図２において、ｄ軸磁束推定器１００は、ＰＭＳＭのｑ軸電圧方程式に基づいて、ｄ軸磁束を推定する。ＰＭＳＭのｄ，ｑ軸電圧方程式は数式２に示す通りである。 Next, details of the electric constant measuring means 30 for measuring the permanent magnet magnetic flux and the inductance of the PMSM 80 will be described. FIG. 2 shows a block diagram of the electric constant measuring means 30.
In FIG. 2, the d-axis magnetic flux estimator 100 estimates the d-axis magnetic flux based on the PMSM q-axis voltage equation. The PMSM d and q-axis voltage equations are as shown in Equation 2.

Figure 2010041839
Figure 2010041839

また、ｄ軸磁束Ψｄは数式３によって表される。 Further, the d-axis magnetic flux Ψ d is expressed by Equation 3.

Figure 2010041839
Figure 2010041839

数式２，数式３より、ｄ軸磁束推定器１００は、ｄ軸磁束推定値Ψｄｅｓｔを数式４により演算する。 From Equations 2 and 3, the d-axis magnetic flux estimator 100 calculates the d-axis magnetic flux estimated value ψ dest by Equation 4.

Figure 2010041839
Figure 2010041839

次に、パラメータ推定器１０１は、数式３に示したように、ｄ軸磁束Ψｄがｄ軸電流ｉｄの一次関数であることを利用し、ｄ軸電流ｉｄを二つの異なる値に制御したときのｄ軸磁束推定値Ψｄｅｓｔから永久磁石磁束とｄ軸インダクタンスとを演算する。なお、ｄ軸電流ｉｄを異なる二つの値に制御する動作は、図１における電気定数測定用電流指令発生器３１が、ｉｄｍ ＊を二つの異なる値に制御することにより実現される。 Next, the parameter estimator 101 uses the fact that the d-axis magnetic flux Ψ d is a linear function of the d-axis current i d as shown in Equation 3, and controls the d-axis current id to two different values. The permanent magnet magnetic flux and the d-axis inductance are calculated from the estimated d-axis magnetic flux Ψ dest at that time. The operation of controlling the two different values of d-axis current i d, the electric constant measurement current instruction generator 31 in FIG 1 is a i dm * is realized by controlling the two different values.

図３は、パラメータ推定器１０１の動作原理を示すものである。すなわち、図３において、ｄ軸電流をＩｄ１，Ｉｄ２に制御したときのｄ軸磁束推定値がそれぞれΨｄ１，Ψｄ２であるとき、ｄ軸インダクタンスは、二つの動作点を結ぶ一次関数の傾きに等しい。このことから、ｄ軸インダクタンスＬｄｅｓｔを数式５により演算する。 FIG. 3 shows the operation principle of the parameter estimator 101. That is, in FIG. 3, when the d-axis current is I d1, I d2 d-axis magnetic flux estimation value each [psi d1 when controlled to, [psi d2, d-axis inductance, the primary function of connecting the two operating point Equal to the slope. From this, the d-axis inductance L dest is calculated by Equation 5.

Figure 2010041839
Figure 2010041839

一方、永久磁石磁束は一次関数の切片に等しいことから、数式６により演算する。   On the other hand, since the permanent magnet magnetic flux is equal to the intercept of the linear function, the calculation is performed using Equation 6.

Figure 2010041839
Figure 2010041839

以上の演算処理により、負荷運転時にも永久磁石磁束とｄ軸インダクタンスとを正確に測定することができる。   Through the above arithmetic processing, the permanent magnet magnetic flux and the d-axis inductance can be accurately measured even during load operation.

次に、本発明の第２実施形態を説明する。この実施形態は、回転子が静止している状態で、交番電流を通流したとき、または、交流電圧を印加したときの電流検出値と端子電圧との関係から、第２のｄ軸インダクタンスＬｄｈｅｓｔ及び第２のｑ軸インダクタンスＬｑｈｅｓｔを測定し、これらの測定値と第１実施形態により測定した第１のｄ軸インダクタンスＬｄｅｓｔとを用いてｑ軸インダクタンスを求めるものである。 Next, a second embodiment of the present invention will be described. In this embodiment, the second d-axis inductance L is determined from the relationship between the detected current value and the terminal voltage when an alternating current is passed or the AC voltage is applied while the rotor is stationary. The dest and the second q-axis inductance L qest are measured, and the q-axis inductance is obtained using these measured values and the first d-axis inductance L dest measured according to the first embodiment.

第２のｄ軸インダクタンスＬｄｈｅｓｔ及び第２のｑ軸インダクタンスＬｑｈｅｓｔは、表皮効果によってそれぞれ誤差を持つことがあるが、両インダクタンスの比（Ｌｑｈｅｓｔ／Ｌｄｈｅｓｔ）は正確に測定可能である。一方、第１のｄ軸インダクタンスＬｄｅｓｔは、表皮効果の影響を受けずに数式５によって正確に測定することができる。これらのことから、第２実施形態によれば、数式７により、ｑ軸インダクタンスＬｑｅｓｔを表皮効果の影響を受けないで正確に測定可能である。 The second d-axis inductance L dest and the second q-axis inductance L qhest may have errors due to the skin effect, but the ratio of both inductances (L qhest / L dhest ) can be accurately measured. On the other hand, the first d-axis inductance L dest can be accurately measured by Equation 5 without being affected by the skin effect. For these reasons, according to the second embodiment, the q-axis inductance L qest can be accurately measured by Equation 7 without being affected by the skin effect.

Figure 2010041839
Figure 2010041839

なお、上述した各実施形態は、図１のように磁極位置検出器９０及び速度検出器９１を用いて速度制御を行う場合について説明したが、本発明に係る制御装置は、これらの磁極位置検出器や速度検出器を用いずに、ＰＭＳＭ８０の電流及び端子電圧の情報から間接的に磁極位置と速度とを演算して速度制御を行う、いわゆるセンサレス制御を行う場合にも同様に適用可能である。
また、各実施形態では、ｄ軸磁束推定値ΨｄｅｓｔをＰＭＳＭ８０のｑ軸電圧方程式から直接演算しているが、磁極オブザーバによって演算しても良い。 In the above-described embodiments, the case where the speed control is performed using the magnetic pole position detector 90 and the speed detector 91 as shown in FIG. 1 has been described. However, the control device according to the present invention detects these magnetic pole positions. The present invention can be similarly applied to so-called sensorless control in which speed control is performed by indirectly calculating the magnetic pole position and speed from the current and terminal voltage information of the PMSM80 without using a detector or speed detector. .
In each embodiment, the d-axis magnetic flux estimated value ψ dest is directly calculated from the q-axis voltage equation of PMSM80, but may be calculated by a magnetic pole observer.

本発明の第１実施形態を示すブロック図である。1 is a block diagram showing a first embodiment of the present invention. 図１における電気定数測定手段のブロック図である。It is a block diagram of the electrical constant measurement means in FIG. 図２におけるパラメータ推定器の動作原理を示す図である。It is a figure which shows the principle of operation of the parameter estimator in FIG.

符号の説明Explanation of symbols

１１ｕ ｕ相電流検出器
１１ｗ ｗ相電流検出器
１２ 入力電圧検出回路
１３ ＰＷＭ回路
１４ 電流座標変換器
１５ 電圧座標変換器
１６ 減算器
１７ 速度調節器
１８ 電流指令演算部
１９ａ，１９ｂ 減算器
２０ａ ｄ軸電流調節器
２０ｂ ｑ軸電流調節器
３０ 電気定数測定手段
３１ 電気定数測定用電流指令発生器
３２ 加算器
５０ 三相交流電源
６０ 整流回路
７０ 電力変換器
８０ 永久磁石形同期電動機（ＰＭＳＭ）
９０ 磁極位置検出器
９１ 速度検出器
１００ ｄ軸磁束推定器
１０１ パラメータ推定器 11u u-phase current detector 11w w-phase current detector 12 input voltage detection circuit 13 PWM circuit 14 current coordinate converter 15 voltage coordinate converter 16 subtractor 17 speed adjuster 18 current command calculation units 19a and 19b subtractor 20a d-axis Current regulator 20b q-axis current regulator 30 Electrical constant measuring means 31 Current command generator 32 for electrical constant measurement 32 Adder 50 Three-phase AC power supply 60 Rectifier circuit 70 Power converter 80 Permanent magnet synchronous motor (PMSM)
90 magnetic pole position detector 91 speed detector 100 d-axis magnetic flux estimator 101 parameter estimator

Claims (2)

永久磁石形同期電動機の電流検出値、端子電圧検出値及び速度検出値から前記電動機の永久磁石磁束及びインダクタンスを測定する電気定数測定手段を備えた永久磁石形同期電動機の制御装置において、
前記電気定数測定手段は、
前記電動機の端子電圧及び電流をベクトルとしてとらえ、
前記電動機の電流検出値、端子電圧検出値及び速度検出値から磁束を推定する手段と、
前記電動機の回転子の磁極方向をｄ軸、これに直交する方向をｑ軸とした時に、ｄ軸電流を複数の値に制御する手段と、
複数の値に制御した前記ｄ軸電流と、これらのｄ軸電流にそれぞれ対応する前記磁束の推定値との関係を一次関数により近似し、この一次関数の傾きから前記電動機のｄ軸インダクタンスを測定し、前記一次関数の切片から前記電動機の永久磁石磁束を測定する手段と、
を備えたことを特徴とする永久磁石形同期電動機の制御装置。 In a control apparatus for a permanent magnet type synchronous motor provided with an electric constant measuring means for measuring a permanent magnet magnetic flux and an inductance of the electric motor from a detected current value, a detected terminal voltage value and a detected speed value of the permanent magnet type synchronous motor,
The electrical constant measuring means includes
Taking the terminal voltage and current of the motor as a vector,
Means for estimating the magnetic flux from the current detection value, terminal voltage detection value and speed detection value of the motor;
Means for controlling the d-axis current to a plurality of values when the magnetic pole direction of the rotor of the electric motor is the d-axis and the direction perpendicular thereto is the q-axis;
The relationship between the d-axis current controlled to a plurality of values and the estimated value of the magnetic flux corresponding to each of these d-axis currents is approximated by a linear function, and the d-axis inductance of the motor is measured from the slope of this linear function. And means for measuring the permanent magnet magnetic flux of the electric motor from the intercept of the linear function;
A control device for a permanent magnet type synchronous motor. 請求項１に記載した永久磁石形同期電動機の制御装置において、
前記回転子が停止している状態で前記電動機に交流電流を通流したとき、または、交流電圧を印加したときの電流検出値と端子電圧検出値との関係から、前記電動機のｄ軸インダクタンス及びｑ軸インダクタンスを測定する第２のインダクタンス測定手段と、
この第２のインダクタンス測定手段により測定したｄ軸インダクタンス及びｑ軸インダクタンスと、前記電気定数測定手段により測定したｄ軸インダクタンスとから、前記電動機のｑ軸インダクタンスを測定する手段と、
を備えたことを特徴とする永久磁石形同期電動機の制御装置。
In the control device for the permanent magnet type synchronous motor according to claim 1,
From the relationship between the detected current value and the detected terminal voltage when an alternating current is passed through the motor while the rotor is stopped, or when an alternating voltage is applied, the d-axis inductance of the motor and second inductance measuring means for measuring q-axis inductance;
Means for measuring the q-axis inductance of the motor from the d-axis inductance and the q-axis inductance measured by the second inductance measuring means, and the d-axis inductance measured by the electrical constant measuring means;
A control device for a permanent magnet type synchronous motor.
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