JP2015167463A

JP2015167463A - Rotary machine high speed driver

Info

Publication number: JP2015167463A
Application number: JP2014041832A
Authority: JP
Inventors: 貴生中間; Takao Nakama; 大森　洋一; Yoichi Omori; 洋一大森
Original assignee: Toyo Electric Manufacturing Ltd
Current assignee: Toyo Electric Manufacturing Ltd
Priority date: 2014-03-04
Filing date: 2014-03-04
Publication date: 2015-09-24

Abstract

PROBLEM TO BE SOLVED: To maximize the application voltage by controlling the output power of an inverter without being affected by the power factor or current of the motor, in a system for driving a motor having a separated neutral point, by means of two three-phase PWM inverters each having a DC power supply and a secondary battery capable of charging and discharging, as a power supply.SOLUTION: When controlling the output power of an inverter connected with a secondary battery, only by the inner product of the inverter output voltage and the motor current, the output voltage is affected by the power factor. When combining output power control by the 0-phase current, i.e., the sum of three-phase currents of the motor, the output voltage is not affected by the power factor, and the application voltage of motor can be maximized.

Description

本発明は、２台の３相電圧形ＰＷＭインバータで中性点が分離された巻線を有する交流電動機を高速駆動するシステムに関するものである。 The present invention relates to a system for high-speed driving of an AC motor having windings with neutral points separated by two three-phase voltage type PWM inverters.

図２における従来技術について以下に説明する。交流電動機１は中性点が分離した端子Ｕ１、Ｕ２のＵ相巻線と端子Ｖ１、Ｖ２のＶ相巻線と端子Ｗ１、Ｗ２のＷ相巻線が施されており、端子Ｕ１、Ｖ１、Ｗ１が第１の３相ＰＷＭインバータ２ａに接続されていて、端子Ｕ２、Ｖ２、Ｗ２が第２の３相ＰＷＭインバータ２ｂに接続されている。３相ＰＷＭインバータ２ａには直流電源３から電力が供給されていて、３相ＰＷＭインバータ２ｂにはキャパシタ１２から電力が供給されている。前記Ｕ１、Ｖ１、Ｗ１端子から前記Ｕ２、Ｖ２、Ｗ２端子の方向を正として流れる前記交流電動機１の各相の電流ｉｕ、ｉｖ、ｉｗは電流検出器２４により検出され、ＵＶＷ−ｄｑ座標変換器１３により式１を用いてｄ軸成分の電流とそれに直交するｑ軸成分の電流に変換される。ここでθは、ｄ軸とＵ相軸との位相差であり軸位置推定器２３により出力される。 The prior art in FIG. 2 will be described below. The AC motor 1 is provided with a U-phase winding of terminals U1, U2 and a terminal V1, V2 windings of terminals U1 and U2, and W-phase windings of terminals W1, W2 separated from neutral points. W1 is connected to the first three-phase PWM inverter 2a, and terminals U2, V2, and W2 are connected to the second three-phase PWM inverter 2b. The three-phase PWM inverter 2a is supplied with power from the DC power source 3, and the three-phase PWM inverter 2b is supplied with power from the capacitor 12. Currents iu, iv, iw flowing in the AC motor 1 flowing from the U1, V1, W1 terminals as positive in the directions of the U2, V2, W2 terminals are detected by a current detector 24, and a UVW-dq coordinate converter 13 is converted into a d-axis component current and a q-axis component current orthogonal thereto using Equation 1. Here, θ is a phase difference between the d-axis and the U-phase axis, and is output by the shaft position estimator 23.

(数１)

(Equation 1)

電流指令生成器１４はトルク指令Ｔｒを入力しｄ軸電流指令ｉｄｒとｑ軸電流指令ｉｑｒを出力する。キャパシタ１２の電圧ｅ２がその指令ｅ２ｒに追従するように電圧制御器１５でキャパシタ電圧制御電流ｉｃが得られる。３相ＰＷＭインバータ２ａのｄ軸電流指令ｉｄｒ１は、加算器１７でキャパシタ電圧制御電流ｉｃとｄ軸電流指令ｉｄｒとの和で得られ、ｑ軸電流指令ｉｑｒ１は、減算器１６でｑ軸電流指令ｉｑｒからキャパシタ電圧制御電流ｉｃを引くことで得られる。また３相ＰＷＭインバータ２ｂのｄ軸電流指令ｉｄｒ２は、減算器１８でキャパシタ電圧制御電流ｉｃからｑ軸電流指令ｉｑｒを引くことで得られ、ｑ軸電流指令ｉｑｒ２は加算器１９でキャパシタ電圧制御電流ｉｃとｄ軸電流指令ｉｄｒの和で得られる。電流指令ｉｄｒ１、ｉｑｒ１にＵＶＷ−ｄｑ座標変換器１３出力の電流ｉｄ、ｉｑが追従するようにｄｑ軸電流制御器２０ａによって電圧指令ｖｄｒ１、ｖｑｒ１が出力され、非干渉補償器２１ａにより干渉成分を補償する項を足し合わせることで、３相ＰＷＭインバータ２ａのｄ軸電圧指令ｖｄｒｒ１とｑ軸電圧指令ｖｑｒｒ１を得る。同様に、電流指令ｉｄｒ２、ｉｑｒ２に前記電流ｉｄ、ｉｑが追従するようにｄｑ軸電流制御器２０ｂによって電圧指令ｖｄｒ２、ｖｑｒ２が出力され、非干渉補償器２１ｂにより干渉成分を補償する項を足し合わせることで、３相ＰＷＭインバータ２ｂのｄ軸電圧指令ｖｄｒｒ２とｑ軸電圧指令ｖｑｒｒ２を得る。２２ａは、式２により直流電源３の中間電位を基準とした各相電圧指令ｖｕｒ１、ｖｖｒ１、ｖｗｒ１を求めて出力し、２２ｂは、式３によりキャパシタ１２の中間電位を基準とした各相電圧指令ｖｕｒ２、ｖｖｒ２、ｖｗｒ２を求めて出力する。３相ＰＷＭインバータ２ａと２ｂは、入力した指令通りの電圧を出力する。 The current command generator 14 receives the torque command Tr and outputs a d-axis current command idr and a q-axis current command iqr. The voltage controller 15 obtains a capacitor voltage control current ic so that the voltage e2 of the capacitor 12 follows the command e2r. The d-axis current command idr1 of the three-phase PWM inverter 2a is obtained as the sum of the capacitor voltage control current ic and the d-axis current command idr by the adder 17, and the q-axis current command iqr1 is obtained by the subtractor 16 from the q-axis current command. It is obtained by subtracting the capacitor voltage control current ic from iqr. The d-axis current command idr2 of the three-phase PWM inverter 2b is obtained by subtracting the q-axis current command iqr from the capacitor voltage control current ic by the subtractor 18, and the q-axis current command iqr2 is obtained by the adder 19 using the capacitor voltage control current. It is obtained as the sum of ic and d-axis current command idr. The voltage commands vdr1 and vqr1 are output by the dq axis current controller 20a so that the current id and iq output from the UVW-dq coordinate converter 13 follow the current commands idr1 and iqr1, and the non-interference compensator 21a compensates the interference component. By adding these terms, the d-axis voltage command vdrr1 and the q-axis voltage command vqrr1 of the three-phase PWM inverter 2a are obtained. Similarly, the voltage commands vdr2 and vqr2 are output by the dq-axis current controller 20b so that the current id and iq follow the current commands idr2 and iqr2, and the term for compensating the interference component by the non-interference compensator 21b is added. Thus, the d-axis voltage command vdrr2 and the q-axis voltage command vqrr2 of the three-phase PWM inverter 2b are obtained. 22a obtains and outputs each phase voltage command vur1, vvr1, and vwr1 based on the intermediate potential of the DC power source 3 according to Equation 2, and 22b represents each phase voltage command based on the intermediate potential of the capacitor 12 according to Equation 3. vur2, vvr2, and vwr2 are obtained and output. The three-phase PWM inverters 2a and 2b output voltages according to the input command.

(数２)

(数３)

(Equation 2)

(Equation 3)

このように構成することで、力率条件によっては電源電圧以上の電圧を電動機に印加できる。また、交流電動機１の出力トルクを制御するとともに、キャパシタ１２の電圧ｅ２はその指令ｅ２ｒに追従する。よって、交流電動機１が低い電圧しか必要としない低回転運転時は、キャパシタ電圧ｅ２を０に制御し、回転速度の上昇に応じてキャパシタ電圧ｅ２を挙げることで、交流電動機１の印加電圧の高調波成分を小さくすることができる。 With this configuration, a voltage higher than the power supply voltage can be applied to the motor depending on the power factor condition. Moreover, while controlling the output torque of the AC motor 1, the voltage e2 of the capacitor 12 follows the command e2r. Therefore, at the time of low rotation operation where the AC motor 1 requires only a low voltage, the capacitor voltage e2 is controlled to 0, and the capacitor voltage e2 is increased in accordance with the increase in the rotation speed, so that the harmonic of the applied voltage of the AC motor 1 is increased. Wave components can be reduced.

町屋孟、芳賀仁、近藤正示著、「キャパシタ電圧と一定電圧源で駆動するオープン巻線誘導機の可変速制御法」、電気学会全国大会論文集第４分冊、２０１３年、ｐ．１８４Satoshi Machiya, Hitoshi Haga and Masami Kondo, “Variable Speed Control Method for Open Winding Induction Machines Driven by Capacitor Voltage and Constant Voltage Source”, Proceedings of the Annual Conference of the Institute of Electrical Engineers of Japan, 2013, p. 184

解決しようとする問題点は、インバータ２ｂの出力電力は交流電動機のＵ１、Ｖ１、Ｗ１端子からＵ２、Ｖ２、Ｗ２端子の方向を正として流れる電流ベクトルＩとインバータ２ｂの出力電圧ベクトルＶｉ２との内積なので、電流ベクトルＩが０の時はキャパシタの電圧制御ができない点ある。 The problem to be solved is that the output power of the inverter 2b is the inner product of the current vector I flowing positively from the U1, V1, W1 terminals of the AC motor to the U2, V2, W2 terminals and the output voltage vector Vi2 of the inverter 2b. Therefore, when the current vector I is 0, the capacitor voltage cannot be controlled.

また、定常的にキャパシタの電圧を変化させる必要がない場合はインバータ２ｂの出力電力ｐ２を０にしなければならない。インバータ２ｂの出力電力ｐ２を０とするには、インバータ２ｂの出力電圧ベクトルＶｉ２は電流ベクトルＩに直交する必要がある。一方電動機電圧ベクトルＶｉｍはインバータ２ａの出力電圧ベクトルＶｉ１からインバータ２ｂの出力電圧ベクトルＶｉ２を引いたものである。従って，例えば電動機の力率が１の場合は，ＶｉｍとＩは同一方向を向くので図３に示されるように｜Ｖｉｍ｜≦｜Ｖｉ１｜となる。つまり、電動機の力率が１の場合はキャパシタ１２の電圧に関係なく電動機に印加可能電圧はインバータ２ａの出力最大電圧以下に制限されてしまい、電源電圧以上の電圧を電動機に印加できるという特徴が無くなる点である。 When there is no need to constantly change the capacitor voltage, the output power p2 of the inverter 2b must be set to zero. In order to set the output power p2 of the inverter 2b to 0, the output voltage vector Vi2 of the inverter 2b needs to be orthogonal to the current vector I. On the other hand, the motor voltage vector Vim is obtained by subtracting the output voltage vector Vi2 of the inverter 2b from the output voltage vector Vi1 of the inverter 2a. Therefore, for example, when the power factor of the motor is 1, Vim and I are in the same direction, so | Vim | ≦ | Vi1 | as shown in FIG. That is, when the power factor of the motor is 1, regardless of the voltage of the capacitor 12, the voltage that can be applied to the motor is limited to the output maximum voltage of the inverter 2a or less, and a voltage higher than the power supply voltage can be applied to the motor. It is a point that disappears.

本発明は前記問題点を解決するために成されたものであり、両端にそれぞれＵ１Ｕ２とＶ１Ｖ２とＷ１Ｗ２の端子を有して互いに電気的に分離した３相対称巻線を有する交流電動機の前記Ｕ１、Ｖ１、Ｗ１端子から成る第１の端子群を第１の３相電圧形ＰＷＭインバータに接続すると共に、前記Ｕ２、Ｖ２、Ｗ２端子から成る第２の端子群を第２の３相電圧形ＰＷＭインバータに接続し、前記第１の３相電圧形ＰＷＭインバータに第１の直流電圧源を接続し、前記第２の３相電圧形ＰＷＭインバータに第２の直流電圧源を接続し、前記第１の直流電圧源と前記第２の直流電圧源との負極同士または正極同士を共通電位で短絡し、前記Ｕ１、Ｖ１、Ｗ１端子から前記Ｕ２、Ｖ２、Ｗ２端子の方向を正として流れる前記交流電動機の各相の電流を検出して３相２相変換した電流ベクトルＩと前記各相電流の和相当の０相電流ｉｚとを出力する電流変換器と、前記Ｕ２、Ｖ２、Ｗ２端子からの前記Ｕ１、Ｖ１、Ｗ１端子の各電圧からなる前記交流電動機の各相電圧を３相２相変換した電動機電圧ベクトルの電圧指令ベクトルＶｉｍｒを出力する電動機制御器と、前記第２の３相電圧形ＰＷＭインバータの出力電力ｐ２の指令ｐ２ｒを出力する電力指令器と、前記０相電流の指令を生成する０相電流指令生成器と、該０相電流指令生成器出力の０相電流指令ｉｚｒに前記０相電流が追従するように前記Ｕ１、Ｖ１、Ｗ１端子の各電位の和から前記Ｕ２、Ｖ２、Ｗ２端子の各電位の和を引いたものに相当する０相電圧の指令である０相電圧指令ｖｚｒを出力する０相電流制御器と、前記電流ベクトルＩと前記０相電流ｉｚと前記電圧指令ベクトルＶｉｍｒと前記電力指令ｐ２ｒと前記０相電圧指令ｖｚｒと前記第１の直流電圧源電圧ｅ１と前記第２の直流電圧源電圧ｅ２を入力して、前記０相電圧が前記０相電圧指令ｖｚｒに一致し、前記電動機電圧ベクトルが前記電圧指令ベクトルＶｉｍｒに一致するように、前記共通電位からみた前記Ｕ１、Ｖ１、Ｗ１端子と前記Ｕ２、Ｖ２、Ｗ２端子の電圧指令を求めて出力するとともに、前記出力電力ｐ２とその指令ｐ２ｒとの偏差相当の電力偏差信号を演算して出力するインバータ制御器とを具備し、前記０相電流指令生成器は前記電力偏差信号が小さくなるように０相電流指令ｉｚｒを求め、前記第１の３相電圧形ＰＷＭインバータと前記第２の３相電圧形ＰＷＭインバータが前記インバータ制御器出力の電圧指令通りの電圧を出力する。 The present invention has been made to solve the above-mentioned problems, and the U1 of the AC motor has three-phase symmetrical windings that have terminals U1U2, V1V2, and W1W2 at both ends and are electrically separated from each other. , V1 and W1 terminals are connected to a first three-phase voltage source PWM inverter, and a second terminal group consisting of the U2, V2 and W2 terminals is connected to a second three-phase voltage source PWM. An inverter connected, a first DC voltage source connected to the first three-phase voltage source PWM inverter, a second DC voltage source connected to the second three-phase voltage source PWM inverter, and the first The AC motor is configured such that the negative electrodes or the positive electrodes of the DC voltage source and the second DC voltage source are short-circuited at a common potential, and flow from the U1, V1, and W1 terminals to the U2, V2, and W2 terminals as positive. Current of each phase of A current converter that outputs a current vector I obtained by three-phase and two-phase conversion and a zero-phase current iz corresponding to the sum of the respective phase currents, and the U1, V1, and W1 terminals from the U2, V2, and W2 terminals. A motor controller that outputs a voltage command vector Vimr of a motor voltage vector obtained by converting each phase voltage of the AC motor composed of each voltage into a three-phase to two-phase command, and a command for the output power p2 of the second three-phase voltage source PWM inverter A power command device that outputs p2r, a 0-phase current command generator that generates a command for the zero-phase current, and a zero-phase current that follows the zero-phase current command izr output from the zero-phase current command generator. A zero-phase current that outputs a zero-phase voltage command vzr that is a zero-phase voltage command corresponding to the sum of the potentials of the U1, V1, and W1 terminals minus the sum of the potentials of the U2, V2, and W2 terminals. A controller and the current base; Tol I, the zero phase current iz, the voltage command vector Vimr, the power command p2r, the zero phase voltage command vzr, the first DC voltage source voltage e1, and the second DC voltage source voltage e2 are input. The U1, V1, W1 terminals and the U2, V2, and the U1, V1, and W2 terminals as viewed from the common potential so that the zero-phase voltage matches the zero-phase voltage command vzr and the electric motor voltage vector matches the voltage command vector Vimr. An inverter controller that calculates and outputs a power deviation signal corresponding to a deviation between the output power p2 and the command p2r, and obtains and outputs a voltage command for the W2 terminal, and the zero-phase current command generator includes: The zero-phase current command izr is obtained so that the power deviation signal becomes small, and the first three-phase voltage source PWM inverter and the second three-phase voltage source PWM inverter are connected to the inverter. Output the voltage according to the voltage command of the controller output.

第１の直流電圧源と第２の直流電圧源との負極同士を共通電位で短絡した場合で、共通電位からの端子Ｕ２、Ｖ２、Ｗ２の電圧の和相当であるインバータ２ｂの出力０相電圧ｖ２ｚを用いて、インバータ２ｂの出力電力ｐ２は式４で表される。 The output 0-phase voltage of the inverter 2b, which is equivalent to the sum of the voltages of the terminals U2, V2, and W2 from the common potential when the negative electrodes of the first DC voltage source and the second DC voltage source are short-circuited at a common potential The output power p2 of the inverter 2b is expressed by Expression 4 using v2z.

(数４)

(Equation 4)

ここで●はベクトル内積演算を意味する。電流ベクトルＩが０の時において、０相電流ｉｚが０の場合では、式４よりｐ２＝０となって指令通りの電力をインバータ２ｂは出力できないが、０相電流指令を増加させることで式４の第２項によってインバータ２ｂの出力電力を指令通りとすることが可能となる。従って、第２の直流電圧源がキャパシタの場合で電流ベクトルＩが０の場合でもキャパシタの電圧制御が可能となる。式４に示されるように、ｐ２＝０であっても０相電流ｉｚを流すことでＩとＶｉ２を必ずしも直交させる必要なくなるので、例えば図４のように電圧ベクトルＶｉ１とＶｉ２を選択することで｜Ｖｉ１｜よりも大きな電圧ベクトルを電動機に印加することができる。 Here, ● means a vector dot product operation. When the current vector I is 0 and the 0-phase current iz is 0, p2 = 0 from Equation 4 and the inverter 2b cannot output the commanded power, but the equation can be increased by increasing the 0-phase current command. According to the second term of 4, the output power of the inverter 2b can be made as commanded. Therefore, even when the second DC voltage source is a capacitor and the current vector I is 0, the capacitor voltage can be controlled. As shown in Equation 4, even if p2 = 0, it is not always necessary to make I and Vi2 orthogonal by flowing the zero-phase current iz. For example, by selecting the voltage vectors Vi1 and Vi2 as shown in FIG. A voltage vector larger than | Vi1 | can be applied to the motor.

本発明の交流電動機ドライブシステムを示した説明図である。It is explanatory drawing which showed the alternating current motor drive system of this invention. 従来の交流電動機ドライブシステムを示した説明図である。It is explanatory drawing which showed the conventional alternating current motor drive system. 従来の交流電動機ドライブシステムの電圧電流ベクトル図である。It is a voltage-current vector diagram of the conventional AC motor drive system. 本発明の交流電動機ドライブシステムの電圧電流ベクトル図である。It is a voltage current vector diagram of the AC motor drive system of the present invention.

図１は本発明の交流電動機ドライブシステムを示した図であり、従来例と共通部分を除いてこの図に基づいて実施例１の説明を以下に示す。 FIG. 1 is a diagram showing an AC motor drive system according to the present invention, and a description of the first embodiment will be given below based on this figure, except for common parts with the conventional example.

インバータ制御器４は以下の処理を行う。まず、式５と式６でインバータ２ａの出力０相電圧ｖ１ｚとインバータ２ｂの出力０相電圧ｖ２ｚを得る。ここでＭＩＮは（）内の最小値を選択することを意味する。ｖ１ｚは、第１の直流電圧源３ａと第２の直流電圧源３ｂとの負極同士を共通電位で短絡した場合で、共通電位からの端子Ｕ１、Ｖ１、Ｗ１の電圧の和相当である。同様に、ｖ２ｚは共通電位からの端子Ｕ２、Ｖ２、Ｗ２の電圧の和相当である。 The inverter controller 4 performs the following processing. First, the output 0-phase voltage v1z of the inverter 2a and the output 0-phase voltage v2z of the inverter 2b are obtained by Expressions 5 and 6. Here, MIN means that the minimum value in () is selected. v1z is a case where the negative electrodes of the first DC voltage source 3a and the second DC voltage source 3b are short-circuited at a common potential, and is equivalent to the sum of the voltages at the terminals U1, V1, and W1 from the common potential. Similarly, v2z is equivalent to the sum of the voltages at terminals U2, V2, and W2 from the common potential.

(数５)

(数６)

(Equation 5)

(Equation 6)

次に、インバータ２ａの出力電圧ベクトルＶｉ１とインバータ２ｂの出力電圧ベクトルＶｉ２と電動機電圧ベクトルＶｉｍには式７の関係がある。この式を満たすＶｉ１とＶｉ２は無数にあるので例えば、式８、式９とする。 Next, the output voltage vector Vi1 of the inverter 2a, the output voltage vector Vi2 of the inverter 2b, and the motor voltage vector Vim have a relationship of Expression 7. Since there are innumerable Vi1 and Vi2 satisfying this expression, for example, Expression 8 and Expression 9 are used.

(数７)

(数８)

(数９)

(Equation 7)

(Equation 8)

(Equation 9)

Ｖｉ１は直交するｄｑ軸の各成分のｖ１ｄｒとｖ１ｑｒに分解され、ｖ１ｚとともに式１０で共通電位からみたＵ１、Ｖ１、Ｗ１端子の電圧指令ｖｕｒ１、ｖｖｒ１、ｖｗｒ１を求めて出力する。Ｖｉ２は直交するｄｑ軸の各成分のｖ２ｄｒとｖ２ｑｒに分解され、ｖ２ｚとともに式１１で共通電位からみたＵ２、Ｖ２、Ｗ２端子の電圧指令ｖｕｒ２、ｖｖｒ２、ｖｗｒ２を求めて出力する。ここでθは、ｄ軸とＵ相軸との位相差である。 Vi1 is decomposed into v1dr and v1qr of each component of the orthogonal dq axis, and the voltage commands vur1, vvr1, and vwr1 of the U1, V1, and W1 terminals as seen from the common potential are obtained together with v1z according to Equation 10 and output. Vi2 is decomposed into v2dr and v2qr of each component of the orthogonal dq axis, and obtains and outputs voltage commands vur2, vvr2 and vwr2 of the U2, V2 and W2 terminals as seen from the common potential together with v2z in Expression 11. Here, θ is a phase difference between the d-axis and the U-phase axis.

(数１０)

(数１１)

(Equation 10)

(Equation 11)

そして式４でインバータ２ｂの出力電力ｐ２を求め、該指令ｐ２ｒとの偏差を求めて電力偏差信号Ｓとして０相電流指令生成器９に出力する。０相電流指令生成器９は、例えば電力偏差信号Ｓを比例積分増幅して０相電流指令ｉｚｒを出力する。 Then, the output power p2 of the inverter 2b is obtained by Expression 4, and the deviation from the command p2r is obtained and output to the 0-phase current command generator 9 as the power deviation signal S. The zero-phase current command generator 9 performs, for example, proportional integral amplification of the power deviation signal S and outputs a zero-phase current command izr.

実施例１では電動機に電流ベクトルＩと０相電流ｉｚの和が流れるが、インバータや電動機の許容電流を考えると前記０相電流は０であることが好ましい。そこでＶｉ１とＶｉ２だけで電動機電圧Ｖｉｍとインバータ２ｂの出力電力ｐ２を指令通りとすることを原則とし、それができない時のみ０相電流ｉｚによるインバータ２ｂの出力電力ｐ２の制御を行う実施例２の説明を以下に示す。 In the first embodiment, the sum of the current vector I and the zero-phase current iz flows through the motor. However, the zero-phase current is preferably zero considering the allowable current of the inverter and the motor. Therefore, in principle, the motor voltage Vim and the output power p2 of the inverter 2b are set as commanded only by Vi1 and Vi2, and the output power p2 of the inverter 2b is controlled by the 0-phase current iz only when this is not possible. The explanation is shown below.

インバータ制御器４は以下の処理を行う。まず、式５と式６でインバータ２ａの出力０相電圧ｖ１ｚとインバータ２ｂの出力０相電圧ｖ２ｚを得る。また式１２と式１３でインバータ２ａの出力可能最大電圧ベクトルの大きさｖ１ｍとインバータ２ｂの出力可能最大電圧ベクトルの大きさｖ２ｍを得る。 The inverter controller 4 performs the following processing. First, the output 0-phase voltage v1z of the inverter 2a and the output 0-phase voltage v2z of the inverter 2b are obtained by Expressions 5 and 6. Further, the magnitude v1m of the maximum voltage vector that can be output from the inverter 2a and the magnitude v2m of the maximum voltage vector that can be output from the inverter 2b are obtained by Expressions 12 and 13.

(数１２)

(数１３)

(Equation 12)

(Equation 13)

次に、式４と式７の関係式があり、ｐ２をｐ２ｒに一致させＶｉｍをＶｉｍｒに一致させるインバータ２ａの出力電圧ベクトルＶｉ１とインバータ２ｂの出力電圧ベクトルＶｉ２は無数に存在する。そこで、Ｖｉ１の大きさが最小となるようにＩとＶｉ１との位相差を０と仮定して、ｐ２をｐ２ｒに、ＶｉｍをＶｉｍｒに置き換えて式４に式７を代入すると式１４となり、式１５となり、ＩとＶｉ１との位相差を０と仮定しているので式１６でインバータ２ａの仮の出力電圧ベクトルＶｉ１’を得る。 Next, there is a relational expression of Expression 4 and Expression 7, and there are innumerable output voltage vectors Vi1 of the inverter 2a and output voltage vectors Vi2 of the inverter 2b that match p2 with p2r and Vim with Vimr. Therefore, assuming that the phase difference between I and Vi1 is 0 so that the size of Vi1 is minimized, substituting Equation 7 into Equation 4 by substituting p2 for p2r and Vim for Vimr, Equation 14 is obtained. 15 and the phase difference between I and Vi1 is assumed to be 0, so that a temporary output voltage vector Vi1 ′ of the inverter 2a is obtained by Expression 16.

(数１４)

(数１５)

(数１６)

(数１７)

(Equation 14)

(Equation 15)

(Equation 16)

(Equation 17)

Ｖｉ１’の大きさがｖ１ｍ以下ならば、それを式１７のＶｉ１に代入して得られたＶｉ２をインバータ２ｂの仮の出力電圧ベクトルＶｉ２’として、Ｖｉ２’の大きさがｖ２ｍ以下ならばＶｉ１’やＶｉ２’をそれぞれＶｉ１とＶｉ２とする。Ｖｉ２’の大きさがｖ２ｍを超過している場合は、｜Ｖｉ２｜＝ｖ２ｍと式４を満たすＶｉ２の中でＶｉ２’に近い方を選択して式１７より得られたＶｉ１をＶｉ１”とする。このＶｉ１”の大きさがｖ１ｍ以下ならばＶｉ１”をＶｉ１とする。Ｖｉ１”の大きさがｖ１ｍを超過している場合は、｜Ｖｉ２｜＝ｖ２ｍで｜Ｖｉ１｜＝ｖ１ｍで式１７を満たすＶｉ１とＶｉ２を選択する。 If the magnitude of Vi1 ′ is less than or equal to v1m, Vi2 obtained by substituting it into Vi1 in Equation 17 is used as the provisional output voltage vector Vi2 ′ of inverter 2b, and if the magnitude of Vi2 ′ is less than or equal to v2m, Vi1 ′. And Vi2 ′ are Vi1 and Vi2, respectively. When the magnitude of Vi2 ′ exceeds v2m, Vi1 that satisfies | Vi2 | = v2m and Expression 4 that is closer to Vi2 ′ is selected and Vi1 obtained from Expression 17 becomes Vi1 ″. If the size of Vi1 ″ is less than or equal to v1m, Vi1 ″ is set to Vi1. If the size of Vi1 ″ exceeds v1m, | Vi1 | = v2m and | Vi1 | = v1m satisfy Equation 17. Select Vi1 and Vi2.

Ｖｉ１’の大きさがｖ１ｍを超過している場合は、大きさをｖ１ｍでＶｉ１’と同じ向きのベクトルをＶｉ１とし、式１７より得られたＶｉ２をＶｉ２”とする。このＶｉ２”の大きさがｖ２ｍ以下の場合はＶｉ２”をＶｉ２とする。Ｖｉ２”の大きさがｖ２ｍを超過している場合は、｜Ｖｉ２｜＝ｖ２ｍで｜Ｖｉ１｜＝ｖ１ｍで式１７を満たすＶｉ１とＶｉ２を選択する。以上でインバータ２ａの出力電圧ベクトルＶｉ１とインバータ２ｂの出力電圧ベクトルＶｉ２を決定できる。 When the size of Vi1 ′ exceeds v1m, the vector having the size v1m and the same direction as Vi1 ′ is Vi1, and Vi2 obtained from Expression 17 is Vi2 ″. The size of Vi2 ″ Vi2 ″ is set to Vi2 when V2m is less than or equal to v2m. When Vi2 ″ exceeds v2m, Vi1 | = v2m is satisfied, and | Vi1 | = v1m is selected to satisfy Vi1 and Vi2. . Thus, the output voltage vector Vi1 of the inverter 2a and the output voltage vector Vi2 of the inverter 2b can be determined.

式４よりインバータ２ｂの出力電力ｐ２を求めて、ｐ２ｒ＞ｐ２の場合に電力偏差信号Ｓ＝−１、ｐ２ｒ＜ｐ２の場合に電力偏差信号Ｓ＝１、ｐ２ｒ＝ｐ２の場合に電力偏差信号Ｓ＝０とする。Ｖｉ１は直交するｄｑ軸の各成分のｖ１ｄｒとｖ１ｑｒに分解され、ｖ１ｚとともに式１０で共通電位からみたＵ１、Ｖ１、Ｗ１端子の電圧指令ｖｕｒ１、ｖｖｒ１、ｖｗｒ１を求めて出力する。Ｖｉ２は直交するｄｑ軸の各成分のｖ２ｄｒとｖ２ｑｒに分解され、ｖ２ｚとともに式１１で共通電位からみたＵ２、Ｖ２、Ｗ２端子の電圧指令ｖｕｒ２、ｖｖｒ２、ｖｗｒ２を求めて出力する。０相電流指令生成器９は、例えば電力偏差信号Ｓを入力し、Ｓ＝０の時は出力する０相電流指令ｉｚｒを徐々に０に近づけて、Ｓ＝１の時は０相電流指令ｉｚｒを徐々に正に増加させ、Ｓ＝−１の時は０相電流指令ｉｚｒを徐々に負に増加させる。 The output power p2 of the inverter 2b is obtained from Equation 4, and the power deviation signal S = −1 when p2r> p2, the power deviation signal S = 1 when p2r <p2, and the power deviation signal S when p2r = p2. = 0. Vi1 is decomposed into v1dr and v1qr of each component of the orthogonal dq axis, and the voltage commands vur1, vvr1, and vwr1 of the U1, V1, and W1 terminals as seen from the common potential are obtained together with v1z according to Equation 10 and output. Vi2 is decomposed into v2dr and v2qr of each component of the orthogonal dq axis, and obtains and outputs voltage commands vur2, vvr2 and vwr2 of the U2, V2 and W2 terminals as seen from the common potential together with v2z in Expression 11. The zero-phase current command generator 9 receives, for example, the power deviation signal S. When S = 0, the zero-phase current command izr is gradually brought closer to 0, and when S = 1, the zero-phase current command izr Is gradually increased to positive, and when S = −1, the zero-phase current command izr is gradually increased to negative.

第１の３相ＰＷＭインバータの電源として放電のみが可能な直流電源と、第２の３相ＰＷＭインバータの電源として充放電が可能な２次電池が接続された、中性点が分離された巻線を有する交流電動機を駆動するシステムにおいて、交流電動機制御とは個別に２次電池の充放電電力を制御できるとともに、交流電動機の力率に関係なく印加できる電圧を上昇させることが可能となる。たとえば第１の３相ＰＷＭインバータの直流電源を燃料電池またはエンジン発電機とし、第２の３相ＰＷＭインバータの２次電池をキャパシタやバッテリとした電気自動車に適応した場合、交流電動機制御とバッテリの充放電を個別に制御できるだけでなく、電気自動車の最高速度を高めることができる。 A neutrally separated winding in which a DC power source that can only be discharged is connected as a power source for the first three-phase PWM inverter, and a secondary battery that can be charged and discharged is connected as a power source for the second three-phase PWM inverter. In a system for driving an AC motor having a line, the charge / discharge power of the secondary battery can be controlled separately from the AC motor control, and the voltage that can be applied regardless of the power factor of the AC motor can be increased. For example, when the DC power source of the first three-phase PWM inverter is a fuel cell or an engine generator, and the secondary battery of the second three-phase PWM inverter is a capacitor or battery, the AC motor control and the battery Not only can charging and discharging be individually controlled, but also the maximum speed of the electric vehicle can be increased.

１交流電動機
２ａ、２ｂ３相ＰＷＭインバータ
３、３ａ、３ｂ直流電源
４インバータ制御器
５、２４電流検出器
６電流変換器
７電力指令器
８電動機制御器
９０相電流指令生成器
１００相電流制御器
１１ａ、１１ｂ電圧検出器
１２キャパシタ
１３ＵＶＷ−ｄｑ座標変換器
１４電流指令生成器
１５電圧制御器
１６、１８減算器
１７、１９加算器
２０ａ、２０ｂｄｑ軸電流制御器
２１ａ、２１ｂ非干渉補償器
２２ａ、２２ｂｄｑ−ＵＶＷ座標変換器
２３軸位置推定器 DESCRIPTION OF SYMBOLS 1 AC motor 2a, 2b 3 phase PWM inverter 3, 3a, 3b DC power supply 4 Inverter controller 5, 24 Current detector 6 Current converter 7 Power command device 8 Motor controller 9 0 phase current command generator 10 0 phase current Controller 11a, 11b Voltage detector 12 Capacitor 13 UVW-dq coordinate converter 14 Current command generator 15 Voltage controller 16, 18 Subtractor 17, 19 Adder 20a, 20b dq axis current controller 21a, 21b Non-interference compensation 22a, 22b dq-UVW coordinate converter 23 Axis position estimator

Claims

両端にそれぞれＵ１Ｕ２とＶ１Ｖ２とＷ１Ｗ２の端子を有して互いに電気的に分離した３相対称巻線を有する交流電動機の前記Ｕ１、Ｖ１、Ｗ１端子から成る第１の端子群を第１の３相電圧形ＰＷＭインバータに接続すると共に、前記Ｕ２、Ｖ２、Ｗ２端子から成る第２の端子群を第２の３相電圧形ＰＷＭインバータに接続し、前記第１の３相電圧形ＰＷＭインバータに第１の直流電圧源を接続し、前記第２の３相電圧形ＰＷＭインバータに第２の直流電圧源を接続し、前記第１の直流電圧源と前記第２の直流電圧源との負極同士または正極同士を共通電位で短絡し、前記Ｕ１、Ｖ１、Ｗ１端子から前記Ｕ２、Ｖ２、Ｗ２端子の方向を正として流れる前記交流電動機の各相の電流を検出して３相２相変換した電流ベクトルＩと前記各相電流の和相当の０相電流ｉｚとを出力する電流変換器と、前記Ｕ２、Ｖ２、Ｗ２端子からの前記Ｕ１、Ｖ１、Ｗ１端子の各電圧からなる前記交流電動機の各相電圧を３相２相変換した電動機電圧ベクトルの電圧指令ベクトルＶｉｍｒを出力する電動機制御器と、前記第２の３相電圧形ＰＷＭインバータの出力電力ｐ２の指令ｐ２ｒを出力する電力指令器と、前記０相電流の指令を生成する０相電流指令生成器と、該０相電流指令生成器出力の０相電流指令ｉｚｒに前記０相電流が追従するように前記Ｕ１、Ｖ１、Ｗ１端子の各電位の和から前記Ｕ２、Ｖ２、Ｗ２端子の各電位の和を引いたものに相当する０相電圧の指令である０相電圧指令ｖｚｒを出力する０相電流制御器と、前記電流ベクトルＩと前記０相電流ｉｚと前記電圧指令ベクトルＶｉｍｒと前記電力指令ｐ２ｒと前記０相電圧指令ｖｚｒと前記第１の直流電圧源電圧ｅ１と前記第２の直流電圧源電圧ｅ２を入力して、前記０相電圧が前記０相電圧指令ｖｚｒに一致し、前記電動機電圧ベクトルが前記電圧指令ベクトルＶｉｍｒに一致するように、前記共通電位からみた前記Ｕ１、Ｖ１、Ｗ１端子と前記Ｕ２、Ｖ２、Ｗ２端子の電圧指令を求めて出力するとともに、前記出力電力ｐ２とその指令ｐ２ｒとの偏差相当の電力偏差信号を演算して出力するインバータ制御器とを具備し、前記０相電流指令生成器は前記電力偏差信号が小さくなるように０相電流指令ｉｚｒを求め、前記第１の３相電圧形ＰＷＭインバータと前記第２の３相電圧形ＰＷＭインバータが前記インバータ制御器出力の電圧指令通りの電圧を出力する回転機高速駆動装置。
A first terminal group consisting of the U1, V1 and W1 terminals of an AC motor having three-phase symmetrical windings that are electrically separated from each other with terminals of U1U2, V1V2, and W1W2 at both ends is a first three-phase. The second terminal group consisting of the U2, V2, and W2 terminals is connected to a second three-phase voltage source PWM inverter and connected to the first three-phase voltage source PWM inverter. And a second DC voltage source is connected to the second three-phase voltage source PWM inverter, and the negative or positive electrodes of the first DC voltage source and the second DC voltage source are connected to each other. A current vector I obtained by short-circuiting each other at a common potential, detecting a current of each phase of the AC motor flowing from the U1, V1, and W1 terminals in the positive direction of the U2, V2, and W2 terminals and performing a three-phase to two-phase conversion. And for each phase current Three-phase to two-phase conversion is performed on each phase voltage of the AC motor including the current converter that outputs a corresponding zero-phase current iz and the voltages of the U1, V1, and W1 terminals from the U2, V2, and W2 terminals. A motor controller that outputs a voltage command vector Vimr of the motor voltage vector, a power commander that outputs a command p2r of output power p2 of the second three-phase voltage source PWM inverter, and a command for the zero-phase current are generated. From the sum of the potentials of the U1, V1, and W1 terminals, the U2, V2, and the zero phase current command generator and the zero phase current command izr of the zero phase current command generator output are followed by the zero phase current command izr. A zero-phase current controller that outputs a zero-phase voltage command vzr that is a zero-phase voltage command corresponding to a value obtained by subtracting the sum of the potentials of the W2 terminal, the current vector I, the zero-phase current iz, and the voltage command Vector Vim And the power command p2r, the zero-phase voltage command vzr, the first DC voltage source voltage e1, and the second DC voltage source voltage e2, and the zero-phase voltage is equal to the zero-phase voltage command vzr. Then, the voltage command of the U1, V1, W1 terminal and the U2, V2, W2 terminal viewed from the common potential is obtained and output so that the motor voltage vector matches the voltage command vector Vimr, and the output An inverter controller that calculates and outputs a power deviation signal corresponding to a deviation between the power p2 and the command p2r, and the zero-phase current command generator generates a zero-phase current command izr so that the power deviation signal becomes small. The first three-phase voltage source PWM inverter and the second three-phase voltage source PWM inverter output a voltage according to the voltage command of the inverter controller output. Drive device.