JP3095566B2 - Synchronous machine control device - Google Patents
Synchronous machine control deviceInfo
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- JP3095566B2 JP3095566B2 JP05022628A JP2262893A JP3095566B2 JP 3095566 B2 JP3095566 B2 JP 3095566B2 JP 05022628 A JP05022628 A JP 05022628A JP 2262893 A JP2262893 A JP 2262893A JP 3095566 B2 JP3095566 B2 JP 3095566B2
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- magnetic flux
- axis
- synchronous machine
- calculator
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Description
【０００１】[0001]
【産業上の利用分野】本発明は、同期機例えば同期電動
機をサイクロコンバータやインバータ等の可変電圧、可
変周波数電源で駆動する際の制御装置に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for driving a synchronous machine, for example, a synchronous motor with a variable voltage and variable frequency power supply such as a cycloconverter or an inverter.
【０００２】[0002]
【従来の技術】同期電動機を可変電圧・可変周波数で駆
動する方式には、他励転流を用いた無整流子電動機方式
やベクトル制御方式がある。このうち、ベクトル制御方
式は高性能な駆動が可能で早い応答や精密な制御を要す
る分野に適用されている。図１１は従来の一例であり、
１は電力変換器、２は同期電動機、３は位置検出器、４
は界磁用電力変換器、５は位置演算器、６は座標変換
器、７，８は増幅器、９は磁束演算器、１０は界磁電流
演算器、１１，１２は電流検出器である。2. Description of the Related Art As a system for driving a synchronous motor at a variable voltage and a variable frequency, there are a non-commutator motor system using a separately excited commutation and a vector control system. Among them, the vector control method is applied to a field in which high-performance driving is possible, fast response and precise control are required. FIG. 11 is an example of the related art,
1 is a power converter, 2 is a synchronous motor, 3 is a position detector, 4
Is a field power converter, 5 is a position calculator, 6 is a coordinate converter, 7 and 8 are amplifiers, 9 is a magnetic flux calculator, 10 is a field current calculator, and 11 and 12 are current detectors.
【０００３】同期電動機２の電機子電流を電流検出器１
１で検出し、位置検出器３および位置演算器５から得ら
れる同期電動機２の回転子位置をもとに、座標変換器６
では、電機子電流の界磁磁極方向成分ｉd と界磁磁極に
直交する成分ｉq を（１），（２）式によって求める。 ｉd ＝（２／３）1/2 （ｉa cos θ＋ｉb cos （θ＋２／３π） ＋ｉc cos （θ＋４／３π）） …（１） ｉq ＝（２／３）1/2 （ｉa sin θ＋ｉb sin （θ＋２／３π） ＋ｉc sin （θ＋４／３π）） …（２） （１），（２）式において、ｉa ，ｉb ，ｉc は検出さ
れた三相電流値、θは回転子位置を表している。The armature current of the synchronous motor 2 is detected by a current detector 1
1 and a coordinate converter 6 based on the rotor position of the synchronous motor 2 obtained from the position detector 3 and the position calculator 5.
In the component i q perpendicular to the field magnetic pole direction component i d and field poles of the armature current (1), determined by equation (2). id = (2/3) 1/2 (I a cos θ + i b cos (θ + 2 / 3π) + i c cos (θ + 4 / 3π)) ... (1) i q = (2/3) 1/2 (I a sin θ + i b sin (θ + 2 / 3π) + i c sin (θ + 4 / 3π)) ... (2) (1), (2) where, i a, i b, i c is detected three-phase currents The value θ represents the rotor position.
【０００４】磁束演算器９は、ｉd ，ｉq および電流検
出器１２によって検出された界磁電流ｉf から磁束φと
界磁磁極と磁束のなす角である内部相差角δを（３），
（４），（５），（６）式により演算する。 φd ＝Ｍd ・[(1 ＋L kd・Ｓ／Ｒkd）÷ （１＋Ｍd ・Ｓ／ＲkdＬkd・Ｓ／Ｒkd)] ・ （ｉd ＋ｉf ）＋L a ｉd …（３） φq ＝Ｍq ・[(１＋L kq・Ｓ／Ｒkq）÷ （１＋Ｍq ・Ｓ／Ｒkq＋Ｌkq・Ｓ／Ｒkq)]・ （ｉq ）＋L a ｉq …（４） φ＝（φd 2 ＋φq 2 ）1/2 …（５） δ＝ａ tan（φq ／φd ） …（６）[0004] flux calculator 9, i d, i q and the current detector 12 internal phase angle δ is the angle between the magnetic flux φ and field poles and the magnetic flux from the detected field current i f by (3) ,
The calculation is performed using the equations (4), (5), and (6). φ d = M d · [( 1 + L kd · S / R kd) ÷ (1 + M d · S / R kdLkd · S / R kd)] · (i d + i f) + L a i d ... (3) φ q = M q · [(1 + L kq · S / R kq) ÷ (1 + M q · S / R kq + L kq · S / R kq)] · (i q) + L a i q ... (4) φ = (φ d 2 + φ q 2 ) 1/2 (5) δ = a tan (φ q / φ d ) (6)
【０００５】（３），（４）式において、Ｓはラプラス
演算子を表し、Ｍd ，Ｍq はｄ軸方向、ｑ軸方向のそれ
ぞれの相互インダクタンスを表し、またＲkd，Ｒkqはそ
れぞれｄ軸ダンパー巻線抵抗、ｑ軸ダンパー巻線抵抗を
表し、さらにL kd，L kqはそれぞれｄ軸ダンパー漏れイ
ンダクタンス、ｑ軸ダンパー漏れインダクタンスを表
し、L a は電機子漏れインダクタンスを表している。界
磁電流演算器１０は磁束指令φ* と磁束φとの偏差と内
部相差角δから界磁電流指令ｉf * を（７）式で定め
る。 ｉf * ＝ＫM ・（φ* −φ）／cos δ …（７） 上式において、ＫM は比例定数である。In equations (3) and (4), S represents a Laplace operator, M d and M q represent mutual inductances in the d-axis direction and the q-axis direction, and R kd and R kq are respectively d-axis damper winding resistance, represents a q-axis damper winding resistance, further L kd, L kq represents respectively d-axis damper leakage inductance, the q-axis damper leakage inductance, L a represents the armature leakage inductance. The field current calculator 10 determines the field current command if * from equation (7) from the deviation between the magnetic flux command φ * and the magnetic flux φ and the internal phase difference angle δ. In i f * = K M · ( φ * -φ) / cos δ ... (7) the above equation, K M is a proportionality constant.
【０００６】この界磁電流指令ｉf * と検出値ｉf との
偏差を増幅器８で増幅し界磁電圧基準を得て界磁用電力
変換器４により界磁巻線２１に電力が供給される。ま
た、電機子電流指令値ｉd * ，ｉq * と検出電流ｉd ，
ｉq の偏差を増幅器７で増幅して、電機子電圧指令ｖd
* ，ｖq * を得てこの指令ｖd * ，ｖq * にもとづいて
電力変換器１が制御される。The field current command if * The difference between the detected value if and the detected value if is amplified by the amplifier 8 to obtain the field voltage reference, and power is supplied to the field winding 21 by the field power converter 4. Also, the armature current command value id * , I q * And the detection current id ,
The i q deviation is amplified by the amplifier 7, the armature voltage command vd
* , Vq * Get this command vd * , Vq * The power converter 1 is controlled based on this.
【０００７】[0007]
【発明が解決しようとする課題】図１１で示した従来例
では、検出電流であるｉd ，ｉq ，ｉf をもとに磁束
φ、内部相差角δを求めて、それをもとに界磁電流指令
ｉf * を決定している。すなわち、ｉd ，ｉq ，ｉf の
制御誤差がすべて界磁電流指令ｉf * に影響する構成と
なっている。In the conventional example shown in FIG. 11, the magnetic flux φ and the internal phase difference angle δ are obtained based on the detected currents i d , i q , and if, and based on the obtained values. Field current command if * Is determined. In other words, i d, i q, i all field current control error of the f command i f * It has a configuration that affects
【０００８】実際の制御装置においては、制御遅れ、検
出遅れが存在し、検出値は指令値に対して必ず過渡的な
制御誤差を伴う。特に、大きな負荷変動の際など、電流
を急激に変化させなければならないときは、電機子電
流、界磁電流の制御誤差が大きくなり、その誤差を吸収
しようとして界磁電流指令ｉf * が過大に変化し、最悪
の場合、制御不能になることがあった。In an actual control device, there are a control delay and a detection delay, and the detected value always involves a transient control error with respect to the command value. In particular, when the current must be changed abruptly, for example, in the case of a large load change, the control error of the armature current and the field current becomes large, and the field current command if * attempts to absorb the error . Changed excessively and, in the worst case, became out of control.
【０００９】本発明は上記問題点を解決するためになさ
れたもので、第１の目的は界磁電流指令が過大に変化す
ることを防ぎ、高負荷時にも安定に精度よく同期機を制
御することができる制御装置を提供することにある。第
２の目的は、第１の目的に加えて、同期機の力率を１に
制御し、高効率の同期機の制御装置を提供することにあ
る。SUMMARY OF THE INVENTION The present invention has been made to solve the above problems, and a first object of the present invention is to prevent a field current command from changing excessively and to control a synchronous machine stably and accurately even under a heavy load. To provide a control device that can perform the control. A second object, in addition to the first object, is to provide a high-efficiency synchronous machine control device that controls the power factor of a synchronous machine to one.
【００１０】[0010]
【課題を解決するための手段】前記第１の目的を達成す
るために、請求項１に対応する発明は、可動電圧−可変
周波数の電力を供給する電力変換器により同期機を駆動
する同期機の制御装置において、前記同期機の界磁磁極
方向に直交する電機子電流であるｑ軸電流指令から、同
期機定数を用いて、磁束の界磁磁極に直交する成分であ
るｑ軸磁束指令を演算するｑ軸磁束演算器と、磁束指令
から前記ｑ軸磁束指令をベクトル的に減算し、磁束指令
の界磁磁極方向成分であるｄ軸磁束指令を求めるｄ軸磁
束演算器と、前記ｄ軸磁束指令と界磁磁極方向の電機子
電流であるｄ軸電流指令から、同期機定数を用いて、界
磁電流指令を演算する界磁電流指令演算器とを備えた同
期機の制御装置である。According to a first aspect of the present invention, there is provided a synchronous machine for driving a synchronous machine by a power converter for supplying power of a movable voltage to a variable frequency. In the control device, from the q-axis current command which is an armature current orthogonal to the field pole direction of the synchronous machine, using a synchronous machine constant, a q-axis magnetic flux command which is a component orthogonal to the field pole of the magnetic flux is used. A q-axis magnetic flux calculator for calculating, a d-axis magnetic flux calculator for vector-wise subtracting the q-axis magnetic flux command from the magnetic flux command to obtain a d-axis magnetic flux command which is a field pole direction component of the magnetic flux command; A synchronous machine control device including: a field current command calculator that calculates a field current command using a synchronous machine constant from a magnetic flux command and a d-axis current command that is an armature current in a field pole direction. .
【００１１】前記第２の目的を達成するために、請求項
２に対応する発明は、可変電圧−可変周波数の電力を供
給する電力変換器により同期機を駆動する同期機の駆動
装置において、前記同期機のトルク指令、磁束指令およ
び磁束の界磁磁極に直交する成分であるｑ軸磁束指令か
ら、界磁磁極方向の電機子電流であるｄ軸電流指令と界
磁磁極方向に直交する電機子電流であるｑ軸電流指令を
演算する電機子電流指令演算器と、前記ｑ軸電流指令か
ら、同期機定数を用いて、前記ｑ軸磁束指令を演算する
ｑ軸磁束演算器と、前記磁束指令から前記ｑ軸磁束指令
をベクトル的に減算し、磁束指令の界磁磁極方向成分で
あるｄ軸磁束指令を求めるｄ軸磁束演算器と、前記ｄ軸
磁束指令と前記ｄ軸電流指令から、同期機定数を用い
て、界磁電流指令を演算する界磁電流指令演算器とを備
えた同期機の制御装置である。According to a second aspect of the present invention, there is provided a synchronous machine driving apparatus for driving a synchronous machine by a power converter for supplying power of a variable voltage to a variable frequency. An armature orthogonal to the d-axis current command, which is an armature current in the direction of the field magnetic pole, from a torque command, a magnetic flux command of the synchronous machine, and a q-axis magnetic flux command that is a component orthogonal to the field pole of the magnetic flux. An armature current command calculator for calculating a q-axis current command which is a current; a q-axis magnetic flux calculator for calculating the q-axis magnetic flux command from the q-axis current command using a synchronous machine constant; And a d-axis magnetic flux calculator that obtains a d-axis magnetic flux command, which is a field pole direction component of the magnetic flux command, by subtracting the q-axis magnetic flux command in a vector manner from the d-axis magnetic flux command and the d-axis current command. Using the machine constant, the field current command A control system for a synchronous machine and a calculation for the field current command calculator.
【００１２】前記第２の目的を達成するために、請求項
３に対応する発明は、可変電圧−可変周波数の電力を供
給する電力変換器により同期機を駆動する同期機の駆動
装置において、前記同期機のトルク指令、磁束指令、磁
束の界磁磁極に直交する成分であるｑ軸磁束指令および
ｄ軸磁束指令から、界磁磁極方向の電機子電流であるｄ
軸電流指令と界磁磁極方向に直交する電機子電流である
ｄ軸電流指令を演算する電機子電流指令演算器と、前記
ｑ軸電流指令から、同期機定数を用いて、前記ｑ軸磁束
指令を演算するｑ軸磁束演算器と、前記磁束指令から前
記ｑ軸磁束指令をベクトル的に減算し、前記磁束指令の
界磁磁極方向成分であるｄ軸磁束指令を求めるｄ軸磁束
演算器と、前記ｄ軸磁束指令と前記ｄ軸電流指令から、
同期機定数を用いて、界磁電流指令を演算する界磁電流
指令演算器とを備えた同期機の制御装置である。According to a third aspect of the present invention, there is provided a synchronous machine driving apparatus for driving a synchronous machine by a power converter for supplying power of a variable voltage to a variable frequency. From the torque command, the magnetic flux command, and the q-axis magnetic flux command and the d-axis magnetic flux command, which are components orthogonal to the field pole of the magnetic flux, d is the armature current in the field pole direction.
An armature current command calculator for calculating a d-axis current command, which is an armature current orthogonal to the axis current command and the field pole direction, and the q-axis magnetic flux command from the q-axis current command using a synchronous machine constant. And a d-axis magnetic flux calculator that vectorally subtracts the q-axis magnetic flux command from the magnetic flux command to obtain a d-axis magnetic flux command that is a component of the magnetic flux command in the field pole direction, From the d-axis magnetic flux command and the d-axis current command,
A synchronous machine control device comprising: a field current command calculator for calculating a field current command using a synchronous machine constant.
【００１３】[0013]
【作用】請求項１に対応する発明によれば、ｄ軸電流指
令とｑ軸電流指令および磁束指令が与えられると、ｑ軸
磁束演算器、ｄ軸磁束演算器、界磁電流指令演算器に順
に信号が伝わり、界磁電流指令が前向きに決定される。
すなわち、界磁電流指令は、電機子電流、界磁電流が指
令値に完全に一致したときに必要な値として与えられ、
界磁電流指令が電機子電流および界磁電流の過渡的制御
誤差の影響を受けることがない。従って、高負荷変動時
にも、界磁電流指令が過大に変化することはなく、安定
な制御系となる。According to the invention corresponding to claim 1, when the d-axis current command, the q-axis current command and the magnetic flux command are given, the q-axis magnetic flux calculator, the d-axis magnetic flux calculator and the field current command calculator are provided. The signals are sequentially transmitted, and the field current command is determined forward.
That is, the field current command is given as a necessary value when the armature current and the field current completely match the command value,
The field current command is not affected by the armature current and the transient control error of the field current. Therefore, the field current command does not change excessively even during a high load change, and a stable control system is provided.
【００１４】請求項２および請求項３に対応する発明に
よれば、ｄ軸電流指令とｑ軸電流指令できまる電機子電
流ベクトルが磁束に直交するように、ｄ軸電流指令とｑ
軸電流指令が決定される。従って、電機子電流および界
磁電流が指令値に追従した定常状態では、同期機の力率
が１に保たれ、高負荷時にも安定でかつ効率の高い同期
機の制御装置となる。According to the second and third aspects of the present invention, the d-axis current command and the q-axis current command are set so that the armature current vector obtained by the d-axis current command and the q-axis current command is orthogonal to the magnetic flux.
The shaft current command is determined. Therefore, in a steady state in which the armature current and the field current follow the command value, the power factor of the synchronous machine is maintained at 1, and the control device for the synchronous machine is stable and highly efficient even under a heavy load.
【００１５】[0015]
【実施例】図１は本発明の第１の目的を達成するための
第１実施例の概略構成図を示すブロック図である。図１
１の従来例で設けていた増幅器８と、磁束演算器９と、
界磁電流演算器１０を設けず、この代りにｑ軸磁束演算
器１３と、ｄ軸磁束演算器１４と、界磁電流指令演算器
１５を設けた点が異なり、これ以外の構成は図１１の従
来例と同一であるので、ここではその説明を省略する。
図２はｑ軸磁束演算器１３の詳細な構成を表すブロック
図であり、これは比例器１３１，１３４と、積分器１３
２と、関数発生器１３３からなっている。図３はｄ軸磁
束演算器１４の詳細な構成を表すブロック図であり、こ
れは乗算器１４１，１４２と、平方根演算器１４３から
なっている。図４は界磁電流指令演算器１５の詳細な構
成を表すブロック図であり、これは比例器１５１，１５
４と、関数発生器１５２と、微分器１５３からなってい
る。FIG. 1 is a block diagram showing a schematic configuration diagram of a first embodiment for achieving the first object of the present invention. FIG.
An amplifier 8 provided in the conventional example 1 and a magnetic flux calculator 9;
The difference is that the field current calculator 10 is not provided, and instead a q-axis magnetic flux calculator 13, a d-axis magnetic flux calculator 14, and a field current command calculator 15 are provided. Since this is the same as the conventional example, its description is omitted here.
FIG. 2 is a block diagram showing a detailed configuration of the q-axis magnetic flux calculator 13, which includes proportional units 131 and 134 and an integrator 13.
2 and a function generator 133. FIG. 3 is a block diagram showing a detailed configuration of the d-axis magnetic flux calculator 14, which includes multipliers 141 and 142 and a square root calculator 143. FIG. 4 is a block diagram showing a detailed configuration of the field current command calculator 15, which includes proportional units 151 and 15.
4, a function generator 152, and a differentiator 153.
【００１６】ｑ軸磁束演算器１３は、図２に示すように
電機子電流指令の界磁磁極に直交する成分であるｑ軸電
流指令ｉｑ *を入力し、（８）式（同期機の電圧方程
式）により磁束指令の界磁磁極に直交する方向成分であ
るｑ軸磁束指令φq *が演算される。 φq *＝［（Ｒkq・ｉq *／Ｓ）＋Lkq・ｉq *］÷ ［１＋１／Ｍq（Ｒkq／Ｓ＋Lkq］＋La・ｉq * …（８）The q-axis magnetic flux calculator 13 inputs a q- axis current command iq * , which is a component orthogonal to the field pole of the armature current command, as shown in FIG. A q-axis magnetic flux command φ q *, which is a direction component orthogonal to the field pole of the magnetic flux command, is calculated by the voltage equation). φ q * = [(R kq · i q * / S) * + L kq · i q] ÷ [1 + 1 / M q (R kq / S + L kq] + L a · i q * ... (8)
【００１７】（８）式において、Ｓはラプラス演算子を
表し、Ｍq はｑ軸方向の相互インダクタンス、Ｒkqはｑ
軸ダンパー巻線抵抗、L kqはｑ軸ダンパー漏れインダク
タンス、L a は電機子漏れインダクタンスである。In the equation (8), S represents a Laplace operator, M q is a mutual inductance in the q-axis direction, and R kq is a q
Axis damper winding resistance, L kq is the q-axis damper leakage inductance, L a is the armature leakage inductance.
【００１８】通常、磁気飽和の影響で、（８）式のＭq
は磁束の大きさに応じて変化する。そこで、１／Ｍq に
関する項を関数発生器として（８）式の演算をブロック
図で表したのが、図２のｑ軸磁束演算器である。Normally, due to the effect of magnetic saturation, M q in the equation (8)
Changes according to the magnitude of the magnetic flux. Therefore, the q-axis magnetic flux calculator shown in FIG. 2 is a block diagram showing the calculation of equation (8) using the term relating to 1 / M q as a function generator.
【００１９】ｄ軸磁束演算器１４は、図３に示すように
ｑ軸磁束演算器１３によって演算されたｑ軸磁束指令φ
q * を磁束指令φ* からベクトル的に減算することで磁
束指令の界磁磁極方向成分φd * を演算する。これは
（９）式に対応している。 φd * ＝（φ*2−φq *2）1/2 …（９）The d-axis magnetic flux calculator 14 has a q-axis magnetic flux command φ calculated by the q-axis magnetic flux calculator 13 as shown in FIG.
q * Is the magnetic flux command φ * From the field pole component φ d * of the magnetic flux command . Is calculated. This corresponds to equation (9). φ d * = (Φ * 2- φ q * 2 ) 1/2 … (9)
【００２０】ｄ軸磁束演算器１４によって演算されたｄ
軸磁束指令φd * は電機子電流指令の界磁磁極方向成分
ｉd * とともに界磁電流指令演算器１５に入力される。
界磁電流指令演算器１５は、図４に示すように同期機の
電圧方程式にもとづき、ｄ軸磁束指令φd * とｄ軸電流
ｉd * から界磁電流指令を演算する。界磁電流指令ｉf
* は同期機の電圧方程式より（１０）式で表される。D calculated by the d-axis magnetic flux calculator 14
Shaft magnetic flux command φ d * Field poles direction component of the armature current command i d * Is input to the field current command calculator 15.
The field current command calculator 15 calculates the d-axis magnetic flux command φ d * based on the voltage equation of the synchronous machine as shown in FIG. And d-axis current id * To calculate a field current command. Field current command if
* Is expressed by equation (10) from the voltage equation of the synchronous machine.
【００２１】 ｉf * ＝１／Ｍd （φd * −L a ｉd * ）＋［（Ｓ／Ｒkd）÷(1＋Ｓ・L kd／ Ｒkd）］・（φd * −L a ｉd * ）−ｉd * …（１０） If * = 1 / M d (φ d * -L a i d * ) + [(S / R kd ) ÷ (1 + S · L kd / R kd )] · (φ d * -L a i d * ) -I d * … (10)
【００２２】（１０）式において、Ｓは等プラス演算子
を表し、Ｍd はｄ軸相互インダクタンス、Ｒkdはｄ軸ダ
ンパー巻線抵抗、L kdはｄ軸ダンパー巻線の漏れインダ
クタンス、L a は電機子巻線の漏れインダクタンスを表
す。[0022] In (10), S is expressed equal plus operator, M d is d-axis mutual inductance, R kd is d-axis damper winding resistance, L kd leakage inductance of the d-axis damper windings, L a Represents the leakage inductance of the armature winding.
【００２３】（１０）式のＭd は、通常、上記飽和の影
響で磁束の大きさに対応して変化する。そこで、１／Ｍ
d に対応する項は、図４に示す関数発生器１５２で求め
られる。In general, M d in the equation (10) changes according to the magnitude of the magnetic flux under the influence of the saturation. Therefore, 1 / M
The term corresponding to d is obtained by the function generator 152 shown in FIG.
【００２４】以上のようにして決定された界磁電流指令
ｉf * は電流検出器１２によって検出された実際の界磁
電流ｉf と比較され、増幅器（界磁電流制御器）８によ
り界磁電圧指令が計算される。界磁電流制御器８は通常
比例積分器で構成され、界磁用電力変換器４をへて界磁
電圧指令に対応する電圧が同期電動機２の界磁巻線２１
に供給される。The field current command i f * determined as described above Is compared with the actual field current i f detected by the current detector 12, the field voltage command is calculated by the amplifier (field current controller) 8. The field current controller 8 is usually constituted by a proportional integrator, and a voltage corresponding to a field voltage command is supplied to the field winding 21 of the synchronous motor 2 through the field power converter 4.
Supplied to
【００２５】また、電流検出器１１により検出された三
相電機子電圧は、座標変換器６で位置演算器５からの信
号をもとにｄｑ軸上での電流値に変換される。このｄｑ
軸上での電機子電流の実際値と、ｄ軸電流指令ｉd * お
よびｑ軸電流指令ｉq * がそれぞれ比較され、通常比例
積分器として構成された電機子電流制御器（増幅器）７
によって、電機子電圧指令ｖa * ，ｖb * が出力され
る。この電機子電圧指令ｖa * ，ｖb * が電力変換器１
に入力され三相電機子巻線電圧が同期電動機２の電機子
巻線に印加され、同期電動機２が駆動される。The three-phase armature voltage detected by the current detector 11 is converted into a current value on the dq axes by the coordinate converter 6 based on the signal from the position calculator 5. This dq
The actual value of the armature current on the axis is compared with the d-axis current command id * and the q-axis current command iq * , respectively, and an armature current controller (amplifier) 7 usually configured as a proportional integrator
As a result, armature voltage commands v a * and v b * are output. The armature voltage commands v a * and v b * correspond to the power converter 1
And the three-phase armature winding voltage is applied to the armature winding of the synchronous motor 2 to drive the synchronous motor 2.
【００２６】以上の説明により第１実施例では、同期電
動機２の界磁電流指令ｉf * が、電機子電流指令
ｉd * 、ｉq * 、磁束指令φd * から前向きに演算さ
れ、電機子電流の実際値、界磁電流の実際値に無関係に
決定されるので、急激な負荷変動時のように、電機子電
流指令が急変した場合も、電機子電流制御系、界磁電流
制御系の制御誤差の影響を受けて、界磁電流指令が過大
に変化することはなく、安定な制御系となる。[0026] In the above first embodiment the description is field current command of the synchronous motor 2 i f * is, the armature current command i d *, i q *, the magnetic flux command phi d * From the armature current, and is determined irrespective of the actual value of the armature current and the actual value of the field current. Therefore, even when the armature current command changes suddenly, such as when the load changes suddenly, the armature current control The field current command does not change excessively under the influence of the control error of the system and the field current control system, and the control system becomes stable.
【００２７】図５は本発明の第２の目的を達成するため
の第２実施例の概略構成を示すブロック図である。この
実施例は図１の第１実施例に電機子電流指令演算器１６
を付加した点が異なる。電機子電流指令演算器１６は、
後述するようにトルク指令Ｔ* および磁束指令φ* なら
びにｑ軸磁束演算器１３からのφq * を入力し、ｄ軸電
流指令ｉd * とｑ軸電流指令ｉq * を演算する。FIG. 5 is a block diagram showing a schematic configuration of a second embodiment for achieving the second object of the present invention. This embodiment differs from the first embodiment shown in FIG.
Is different. The armature current command calculator 16 is
As described later, the torque command T * And magnetic flux command φ * And φ q * from the q-axis magnetic flux calculator 13 And input the d-axis current command id * And q-axis current command iq * Is calculated.
【００２８】図６は電機子電流指令演算器１６の詳細な
構成を表すブロック図であり、これは、除算器１６０
１，１６０２と、乗算器１６１０，１６１１，１６１
２，１６１３と、平方根演算器１６３と、逆正接関数発
生器１６４０と、正弦関数発生器１６４１と、余弦関数
発生器１６４２と、反転器１６５とからなっている。図
７は電機子電流指令演算器１６の他の詳細な構成を示す
ブロック図である。１６２１は除算器を表し、これ以外
の構成は図６と同一である。トルク指令Ｔ* および磁束
指令φ* が与えられると、必要な電機子電流ベクトルの
大きさＩT は次式で決定される。 ＩT ＝Ｔ* ÷φ* …（１１） なお、このトルク指令Ｔ* は通常、速度制御器などの上
位制御器の出力として与えられ、磁束指令は速度の関数
として与えられる。FIG. 6 is a block diagram showing a detailed configuration of the armature current command calculator 16, which is a divider 160.
1,1602 and multipliers 1610, 1611, 161
2, 1613, a square root calculator 163, an arctangent function generator 1640, a sine function generator 1641, a cosine function generator 1642, and an inverter 165. FIG. 7 is a block diagram showing another detailed configuration of the armature current command calculator 16. Reference numeral 1621 denotes a divider, and other configurations are the same as those in FIG. Torque command T * And magnetic flux command φ * Is given, the magnitude I T of the required armature current vector is determined by the following equation. I T = T * ÷ φ * (11) The torque command T * Is usually given as the output of a higher-order controller such as a speed controller, and the magnetic flux command is given as a function of the speed.
【００２９】一方、ｄ軸磁束指令とｑ軸磁束指令によっ
てきまる磁束指令ベクトルと界磁磁極のなす角δは、磁
束指令およびｑ軸磁束指令から（１２）式によって決定
される。 δ＝tan -1［φq * ÷（φ*2−φq *2）1/2 ］ …（１２）On the other hand, the angle δ between the magnetic flux command vector determined by the d-axis magnetic flux command and the q-axis magnetic flux command and the field pole is determined by the equation (12) from the magnetic flux command and the q-axis magnetic flux command. δ = tan -1 [φ q * ÷ (φ * 2 −φ q * 2 ) 1/2 ] ... (12)
【００３０】同期電動機２の力率を１に保つためには、
磁束指令ベクトルに直交するように電機子電流指令ベク
トルを与えてやればよい。すなわち、ｄ軸電流指令とｑ
軸電流指令を（１３），（１４）式で決定すればよい。 ｉd * ＝−ＩT ・sin δ …（１３） ｉq * ＝ ＩT ・cos δ …（１４）In order to keep the power factor of the synchronous motor 2 at 1,
The armature current command vector may be given so as to be orthogonal to the magnetic flux command vector. That is, the d-axis current command and q
The shaft current command may be determined by equations (13) and (14). i d * = -I T · sin δ ... (13) i q * = I T · cos δ ... (14)
【００３１】以上の演算をブロック図として表したのが
図６である。図６の演算では磁束指令、ｑ軸磁束指令か
ら、磁束指令ベクトルと界磁磁極のなす角度δを求めて
からその正弦値、余弦値をもとめているが、ｑ軸磁束指
令、磁束指令から直接、正弦値sin δ、余弦値cos δを
（１５），（１６）式で求めてもよい。 sin δ＝φq * ／φ* …（１５） cos δ＝［（φ*2−φq *2）1/2 ］÷φ* …（１６） （１３）〜（１６）式を用いて、ｄ軸電流指令ｉd * 、
ｑ軸電流指令ｉq * を決定する方法をブロック図として
表したのが図７である。FIG. 6 is a block diagram showing the above operation. In the calculation of FIG. 6, the sine value and the cosine value are obtained after obtaining the angle δ between the magnetic flux command vector and the field magnetic pole from the magnetic flux command and the q-axis magnetic flux command. , Sine value sin δ, and cosine value cos δ may be obtained by equations (15) and (16). sin δ = φ q * / Φ * ... (15) cos δ = [ (φ * 2 -φ q * 2) 1/2 ] ÷ φ * ... (16) Using the equations (13) to (16), the d-axis current command id * ,
q-axis current command i q * FIG. 7 is a block diagram showing a method of determining the above.
【００３２】ｄ軸電流指令ｉd * とｑ軸電流指令ｉq *
が決定されて以降は、第１実施例の作用とまったく同様
にして、電機子電流制御、界磁電流制御の影響を受ける
ことなく界磁電流指令が決定され、同期電動機が制御さ
れる。D-axis current command id * And q-axis current command iq *
Is determined, the field current command is determined without being affected by the armature current control and the field current control, and the synchronous motor is controlled in exactly the same manner as the operation of the first embodiment.
【００３３】以上の説明した第２実施例によれば、同期
電動機の界磁電流指令が、電機子電流指令、磁束指令か
ら前向きに演算され、電機子電流の実際値、界磁電流の
実際値に無関係に決定されるので、急激な負荷変動時の
ように、電機子電流指令が急変した場合も、電機子電流
制御系、界磁電流制御系の制御誤差の影響を受けて、界
磁電流指令が過大に変化することはなく、安定な制御系
となるとともに、電機子電流指令ベクトルが磁束指令ベ
クトルと直交するので、電機子電流、界磁電流が指令値
に追従した定常状態では同期電動機の力率が１に保た
れ、高力率な同期電動機の制御装置となる。According to the second embodiment described above, the field current command of the synchronous motor is calculated forward from the armature current command and the magnetic flux command, and the actual value of the armature current and the actual value of the field current are calculated. Therefore, even when the armature current command changes suddenly, such as during a sudden load change, the field current is affected by the control error of the armature current control system and the field current control system. Since the command does not change excessively, a stable control system is provided, and the armature current command vector is orthogonal to the magnetic flux command vector, so in the steady state where the armature current and field current follow the command value, the synchronous motor Is maintained at 1, and the control device for the synchronous motor has a high power factor.
【００３４】図８は第２の目的を目的を達成するための
第３実施例の概略構成を示すブロック図であり、図５の
実施例の電機子電流指令演算器１６を設けず、この代り
に図９に示す電機子電流指令演算器１７を設けた点が図
５の実施例とは異なる。FIG. 8 is a block diagram showing a schematic configuration of a third embodiment for achieving the second object. In this embodiment, the armature current command calculator 16 of the embodiment shown in FIG. 5 is not provided. 5 in that an armature current command calculator 17 shown in FIG. 9 is provided.
【００３５】図９は電機子電流指令演算器１７の詳細な
構成を示しており、これは除算器１６０１，１６０２
と、乗算器１６１２，１６１３と、逆正接関数発生器１
６４０と、正弦関数発生器１６４１と、余弦関数発生器
１６４２と、反転器１６５とからなっている。FIG. 9 shows the detailed configuration of the armature current command calculator 17, which is divided into dividers 1601 and 1602.
, Multipliers 1612 and 1613, and arctangent function generator 1
640, a sine function generator 1641, a cosine function generator 1642, and an inverter 165.
【００３６】図１０は電機子電流指令演算器１７の他の
例（前述した各例とは異なる例）の詳細な構成を示すブ
ロック図であり、これは除算器１６０１，１６０２，１
６０３と、乗算器１６１２，１６１３と、反転器１６５
とからなっている。FIG. 10 is a block diagram showing a detailed configuration of another example of the armature current command calculator 17 (an example different from each of the above-described examples), which includes dividers 1601, 1602, 1
603, multipliers 1612 and 1613, and an inverter 165
It consists of
【００３７】図５の実施例の電機子電流指令演算器１６
で行われる演算には、磁束指令φ*からφq * をベクト
ル的に差し引きφd * を求める演算が含まれているが、
これは、図１のｄ軸磁束演算器１４と同じ演算である。
図８の実施例は、この演算を電機子電流指令演算器１７
で行う代わりに、磁束演算器１４で求めたφd * を電機
子電流指令演算器１７の入力に加えたものである。The armature current command calculator 16 of the embodiment shown in FIG.
In the operations performed, but the phi q * from the flux command phi * contains operations vectorially determining the subtracted phi d *,
This is the same calculation as the d-axis magnetic flux calculator 14 of FIG.
In the embodiment of FIG. 8, this calculation is performed by the armature current command calculator 17.
Is obtained by adding φ d * obtained by the magnetic flux calculator 14 to the input of the armature current command calculator 17.
【００３８】一方、ｄ軸磁束指令とｑ軸磁束指令によっ
てきまる磁束指令ベクトルと界磁磁極のなす角δは、磁
束指令およびｑ軸磁束指令から次式によって決定され
る。したがって、δの演算がｄ軸磁束演算器１４からの
入力φd * を用いて、（１７）式で演算する。 δ＝ tan-1（φq * ÷φd * ） …（１７） 上式を用いて電機子電流指令演算器１７の詳細な構成を
示したのが図９である。On the other hand, the angle δ between the magnetic flux command vector determined by the d-axis magnetic flux command and the q-axis magnetic flux command and the field magnetic pole is determined by the following equation from the magnetic flux command and the q-axis magnetic flux command. Therefore, the calculation of δ is based on the input φ d * from the d-axis magnetic flux calculator 14 . And is calculated by equation (17). δ = tan -1 (φ q * ÷ φ d * (17) FIG. 9 shows a detailed configuration of the armature current command calculator 17 using the above equation.
【００３９】図９の演算では磁束指令、ｄ軸磁束指令、
ｑ軸磁束指令から、磁束指令ベクトルと界磁磁極のなす
角度δを求めてからその正弦値、余弦値をもとめている
が、図５の実施例と同様にして、ｄ軸磁束指令、ｑ軸磁
束指令、磁束指令から直接、正弦値sin δ、余弦値cos
δを次式で求めてもよい。 sin δ＝φq * ÷φ* …（１８） cos δ＝φd * ÷φ* …（１９） 上式を用いて、ｄ軸電流指令、ｑ軸電流指令を決定する
方法をブロック図として表したのが図１０である。In the calculation of FIG. 9, a magnetic flux command, a d-axis magnetic flux command,
From the q-axis magnetic flux command, the angle δ between the magnetic flux command vector and the field pole is obtained, and then the sine value and cosine value are obtained. As in the embodiment of FIG. 5, the d-axis magnetic flux command and the q-axis Sine value sin δ, cosine value cos directly from magnetic flux command, magnetic flux command
δ may be calculated by the following equation. sin δ = φ q * ÷ φ * ... (18) cos δ = φ d * ÷ φ * (19) FIG. 10 is a block diagram showing a method of determining the d-axis current command and the q-axis current command using the above equation.
【００４０】ｄ軸電流指令とｑ軸電流指令が決定されて
以降は第１の目的に対応する図１の実施例の作用とまっ
たく同様にして、電機子電流制御、界磁電流制御の影響
を受けることなく界磁電流指令が決定され、同期機が制
御される。After the d-axis current command and the q-axis current command are determined, the effects of the armature current control and the field current control are determined in exactly the same manner as in the embodiment of FIG. 1 corresponding to the first object. The field current command is determined without receiving the command, and the synchronous machine is controlled.
【００４１】本実施例は、電機子電流指令演算器の演算
が一部省略されたことを除けば、図５の実施例とまった
く同様に、高負荷時の安定性に優れ、かつ定常状態の同
期電動力率が１に保たれた同期機の制御装置が構成され
る。This embodiment is excellent in stability under a high load and has a steady state in the same manner as the embodiment of FIG. 5, except that the operation of the armature current command calculator is partially omitted. A synchronous machine control device in which the synchronous electric power factor is kept at 1 is configured.
【００４２】[0042]
【発明の効果】本発明によれば、急激な負荷変動時など
のように電機子電流が急変する場合でも、界磁電流指令
が過大にならず、過渡的な安定性に優れた同期機の制御
装置を実現でき、さらに、同期機力率を定常状態では１
に保つ高力率の同期機の制御装置が構成できる。According to the present invention, even when the armature current changes abruptly, such as when the load fluctuates suddenly, the field current command does not become excessively large and the synchronous machine is excellent in transient stability. A control device can be realized, and the synchronous power factor is set to 1 in a steady state.
A control device for a synchronous machine with a high power factor can be configured.
【図１】本発明の第１の目的に対する第１の実施例の概
略構成を示すブロック図。FIG. 1 is a block diagram showing a schematic configuration of a first embodiment for a first object of the present invention.
【図２】図１のｑ軸磁束演算器の詳細な構成を示すブロ
ック図。FIG. 2 is a block diagram showing a detailed configuration of a q-axis magnetic flux calculator of FIG.
【図３】図１のｄ軸磁束演算器の詳細な構成を示すブロ
ック図。FIG. 3 is a block diagram showing a detailed configuration of a d-axis magnetic flux calculator of FIG. 1;
【図４】図１の界磁電流指令演算器の詳細な構成を示す
ブロック図。FIG. 4 is a block diagram showing a detailed configuration of a field current command calculator of FIG. 1;
【図５】本発明の第２の目的に対する第２の実施例の概
略構成を示すブロック図。FIG. 5 is a block diagram showing a schematic configuration of a second embodiment for the second object of the present invention.
【図６】図５の電機子電流指令演算器の第１の例を示す
ブロック図。FIG. 6 is a block diagram showing a first example of the armature current command calculator of FIG. 5;
【図７】図５の電機子電流指令演算器の第２の例を示す
ブロック図。FIG. 7 is a block diagram showing a second example of the armature current command calculator of FIG. 5;
【図８】第２の目的に対する第３の実施例の概略構成を
示すブロック図。FIG. 8 is a block diagram showing a schematic configuration of a third embodiment for a second object.
【図９】図８における電機子電流指令演算器の第１の例
を示すブロック図。FIG. 9 is a block diagram showing a first example of an armature current command calculator in FIG. 8;
【図１０】図８における電機子電流指令演算器の第２の
例を示すブロック図。FIG. 10 is a block diagram showing a second example of the armature current command calculator in FIG. 8;
【図１１】従来の同期電動機の制御装置の一例を示すブ
ロック図。FIG. 11 is a block diagram showing an example of a conventional synchronous motor control device.
１…電力変換器、２…同期機、３…位置検出器、４…界
磁用電力変換器、５…位置演算器、６…座標変換器、
７，８…増幅器、１１，１２…電流検出器、１３…ｑ軸
磁束演算器、１４…ｄ軸磁束演算器、１５…界磁電流指
令演算器、１６，１７…電機子電流指令演算器。DESCRIPTION OF SYMBOLS 1 ... Power converter, 2 ... Synchronous machine, 3 ... Position detector, 4 ... Field power converter, 5 ... Position calculator, 6 ... Coordinate converter,
7, 8 amplifier, 11, 12 current detector, 13 q-axis magnetic flux calculator, 14 d-axis magnetic flux calculator, 15 field current command calculator, 16, 17 armature current command calculator.
───────────────────────────────────────────────────── フロントページの続き (58)調査した分野(Int.Cl.7，ＤＢ名) H02P 21/00 H02P 5/408 - 5/412 H02P 7/628 - 7/632 ──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. 7 , DB name) H02P 21/00 H02P 5/408-5/412 H02P 7/628-7/632
Claims (3)
電力変換器により同期機を駆動する同期機の制御装置に
おいて、 前記同期機の界磁磁極方向に直交する電機子電流である
ｑ軸電流指令から、同期機定数を用いて、磁束の界磁磁
極に直交する成分であるｑ軸磁束指令を演算するｑ軸磁
束演算器と、 磁束指令から前記ｑ軸磁束指令をベクトル的に減算し、
磁束指令の界磁磁極方向成分であるｄ軸磁束指令を求め
るｄ軸磁束演算器と、 前記ｄ軸磁束指令と界磁磁極方向の電機子電流であるｄ
軸電流指令から、同期機定数を用いて、界磁電流指令を
演算する界磁電流指令演算器と、を備えたことを特徴と
する同期機の制御装置。1. A synchronous machine control device for driving a synchronous machine with a power converter that supplies power of a movable voltage-variable frequency, wherein a q-axis current that is an armature current orthogonal to a field pole direction of the synchronous machine. A q-axis magnetic flux calculator that calculates a q-axis magnetic flux command that is a component orthogonal to the field pole of the magnetic flux using a synchronous machine constant from the command, and a vector subtraction of the q-axis magnetic flux command from the magnetic flux command,
A d-axis magnetic flux calculator for obtaining a d-axis magnetic flux command which is a component of the magnetic flux command in the direction of the magnetic field pole;
A synchronous machine control device, comprising: a field current command calculator that calculates a field current command from a shaft current command using a synchronous machine constant.
電力変換器により同期機を駆動する同期機の駆動装置に
おいて、 前記同期機のトルク指令、磁束指令および磁束の界磁磁
極に直交する成分であるｑ軸磁束指令から、界磁磁極方
向の電機子電流であるｄ軸電流指令と界磁磁極方向に直
交する電機子電流であるｑ軸電流指令を演算する電機子
電流指令演算器と、 前記ｑ軸電流指令から、同期機定数を用いて、前記ｑ軸
磁束指令を演算するｑ軸磁束演算器と、 前記磁束指令から前記ｑ軸磁束指令をベクトル的に減算
し、磁束指令の界磁磁極方向成分であるｄ軸磁束指令を
求めるｄ軸磁束演算器と、 前記ｄ軸磁束指令と前記ｄ軸電流指令から、同期機定数
を用いて、界磁電流指令を演算する界磁電流指令演算器
と、を備えたことを特徴とする同期機の制御装置。2. A synchronous machine driving apparatus for driving a synchronous machine by a power converter that supplies power of a variable voltage-variable frequency, comprising: a torque command, a magnetic flux command, and a component of a magnetic flux orthogonal to a field pole of the synchronous machine. From an q-axis magnetic flux command, an armature current command calculator that calculates a d-axis current command that is an armature current in the field pole direction and a q-axis current command that is an armature current orthogonal to the field pole direction, A q-axis magnetic flux calculator that calculates the q-axis magnetic flux command using the synchronous machine constant from the q-axis current command; and a vector-based subtraction of the q-axis magnetic flux command from the magnetic flux command, A d-axis magnetic flux calculator for obtaining a d-axis magnetic flux command that is a magnetic pole direction component; and a field current command calculation for calculating a field current command from the d-axis magnetic flux command and the d-axis current command using a synchronous machine constant. And a container The control device of the period machine.
電力変換器により同期機を駆動する同期機の駆動装置に
おいて、 前記同期機のトルク指令、磁束指令、磁束の界磁磁極に
直交する成分であるｑ軸磁束指令およびｄ軸磁束指令か
ら、界磁磁極方向の電機子電流であるｄ軸電流指令と界
磁磁極方向に直交する電機子電流であるｄ軸電流指令を
演算する電機子電流指令演算器と、 前記ｑ軸電流指令から、同期機定数を用いて、前記ｑ軸
磁束指令を演算するｑ軸磁束演算器と、 前記磁束指令から前記ｑ軸磁束指令をベクトル的に減算
し、前記磁束指令の界磁磁極方向成分であるｄ軸磁束指
令を求めるｄ軸磁束演算器と、 前記ｄ軸磁束指令と前記ｄ軸電流指令から、同期機定数
を用いて、界磁電流指令を演算する界磁電流指令演算器
と、を備えたことを特徴とする同期機の制御装置。3. A synchronous machine driving apparatus for driving a synchronous machine by a power converter that supplies power of a variable voltage-variable frequency, comprising: a torque command, a magnetic flux command, and a component of a magnetic flux orthogonal to a field pole of the synchronous machine. Armature current for calculating a d-axis current command which is an armature current in the field pole direction and a d-axis current command which is an armature current orthogonal to the field pole direction from the q-axis flux command and the d-axis flux command A command calculator, a q-axis magnetic flux calculator that calculates the q-axis magnetic flux command from the q-axis current command using a synchronous machine constant, and a vector subtraction of the q-axis magnetic flux command from the magnetic flux command, A d-axis magnetic flux calculator for obtaining a d-axis magnetic flux command, which is a component of the magnetic flux command in the direction of the magnetic field pole; and a field machine command is calculated from the d-axis magnetic flux command and the d-axis current command using a synchronous machine constant. And a field current command calculator that performs Control system for a synchronous machine, characterized in that.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP05022628A JP3095566B2 (en) | 1993-02-10 | 1993-02-10 | Synchronous machine control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP05022628A JP3095566B2 (en) | 1993-02-10 | 1993-02-10 | Synchronous machine control device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH06237592A JPH06237592A (en) | 1994-08-23 |
| JP3095566B2 true JP3095566B2 (en) | 2000-10-03 |
Family
ID=12088097
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP05022628A Expired - Lifetime JP3095566B2 (en) | 1993-02-10 | 1993-02-10 | Synchronous machine control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3095566B2 (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101194415B (en) | 2005-07-11 | 2010-06-09 | 株式会社日立制作所 | Controller of field winding type synchronous motor, electric drive system, electric four wheel driving vehicle, and hybrid automobile |
-
1993
- 1993-02-10 JP JP05022628A patent/JP3095566B2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JPH06237592A (en) | 1994-08-23 |
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