TW202023175A - Device and method for controlling rotary electric machine - Google Patents

Device and method for controlling rotary electric machine Download PDF

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TW202023175A
TW202023175A TW107144914A TW107144914A TW202023175A TW 202023175 A TW202023175 A TW 202023175A TW 107144914 A TW107144914 A TW 107144914A TW 107144914 A TW107144914 A TW 107144914A TW 202023175 A TW202023175 A TW 202023175A
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current
axis
correction value
current command
frequency
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TWI686047B (en
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何旻憲
陳明宗
李玉麟
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台達電子工業股份有限公司
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Abstract

A control device for controlling rotary electric machine includes a current command unit, a voltage conversion device, a current conversion device, a signal demodulation device, an error compensation device, an adding device and a position estimation device. The current command unit provides a d-axis current command and a q-axis current command. The current conversion device converts a current of the rotary electric machine to a synchronous reference frame current. The signal demodulation device computes a current variation of the high frequency synchronous reference frame current. The error compensation device outputs a first correction value, corresponding to the d-axis current command and the q-axis current command. The adding device adds the current variation of the high frequency synchronous reference frame current and the first correction value to produce a second correction value. Based on the second correction value, the position estimation device adjusts a phase estimation value for the current conversion device and the voltage conversion device.

Description

旋轉電機控制裝置及其控制方法Rotary electric machine control device and control method thereof

本發明是有關於一種旋轉電機控制裝置及其控制方法，特別是有關於無轉軸感測器旋轉電機的控制裝置及其控制方法。The present invention relates to a rotating electric machine control device and a control method thereof, in particular to a control device and a control method thereof without a rotating shaft sensor.

將無轉軸位置感測器之驅動技術應用於永磁同步旋轉電機(permanent-magnetic synchronous motor, PMSM)是近年旋轉電機發展之重要趨勢。由於移除了轉軸位置感測器(shaft position sensor)與其連接線路，所以永磁同步旋轉電機的製造成本及體積都大幅降低，並提升系統的可靠度。The application of drive technology without a shaft position sensor to permanent-magnetic synchronous motor (PMSM) is an important trend in the development of rotating motors in recent years. Since the shaft position sensor and its connection line are removed, the manufacturing cost and volume of the permanent magnet synchronous rotating motor are greatly reduced, and the reliability of the system is improved.

目前的無轉軸位置感測器之驅動技術，大致可分為反電動勢法(back electromotive force, EMF)或高頻注入法(high frequency signal injection)。其中反電動勢法是依據旋轉電機的電壓模型估測出旋轉電機的轉子位置與轉軸速度，但是此方法僅適用於旋轉電機以中高速度進行旋轉。在另一方面，高頻注入法可依據不同的需求將高頻電壓訊號注入旋轉電機的靜止座標軸或者旋轉電機的同步座標軸，而此方法較適用於旋轉電機以零、低或中速度進行旋轉。然而，以高頻注入法來驅動旋轉電機時，旋轉電機中的轉子的d軸及q軸會產生交叉耦合效應，d軸及q軸所產生的交叉耦合效應使得傳統的旋轉電機控制裝置在估測旋轉電機的旋轉角度時產生明顯的誤差值，這樣的估測誤差將導致旋轉電機進行低速運轉時會發生震盪現象，並降低旋轉電機的運轉效率。為了降低上述之轉子位置估測誤差值，目前的旋轉電機控制裝置中都會設置誤差補償裝置。然而，傳統的誤差補償裝置需要收集大量不同的訊號及相關資訊，包括：同步座標軸的高頻磁通電流、高頻轉矩電流、靜止座標軸的d軸電流、q軸電流及量測旋轉角度值…等。除此之外，誤差補償裝置還要再搭配運算控制器(如：PI控制器)以增加估測旋轉電機位置的準確率。如此一來，明顯增加系統及處理器的運算負荷，提高系統建置成本，並降低處理器或記憶體的工作效率。The current driving technology of the shaftless position sensor can be roughly classified into back electromotive force (EMF) or high frequency signal injection. Among them, the back-EMF method estimates the rotor position and shaft speed of the rotating electric machine based on the voltage model of the rotating electric machine, but this method is only suitable for the rotating electric machine to rotate at medium and high speeds. On the other hand, the high-frequency injection method can inject high-frequency voltage signals into the stationary coordinate axis of the rotating machine or the synchronous coordinate axis of the rotating machine according to different requirements, and this method is more suitable for rotating the rotating machine at zero, low or medium speed. However, when the rotating electric machine is driven by the high-frequency injection method, the d-axis and q-axis of the rotor in the rotating electric machine will have a cross-coupling effect. The cross-coupling effect produced by the d-axis and q-axis makes the traditional rotating electric machine control device in the estimation. Obvious error values are generated when measuring the rotation angle of the rotating electric machine. Such estimation errors will cause the rotating electric machine to oscillate during low-speed operation and reduce the operating efficiency of the rotating electric machine. In order to reduce the above-mentioned rotor position estimation error value, an error compensation device is installed in the current rotating electric machine control device. However, traditional error compensation devices need to collect a large number of different signals and related information, including: high-frequency flux current of synchronous coordinate axis, high-frequency torque current, d-axis current of static coordinate axis, q-axis current and measurement of rotation angle value …Wait. In addition, the error compensation device must be combined with a computing controller (such as a PI controller) to increase the accuracy of estimating the position of the rotating electrical machine. In this way, the computing load of the system and the processor is significantly increased, the system construction cost is increased, and the working efficiency of the processor or memory is reduced.

有鑑於此，本發明提出一種旋轉電機控制裝置，其具有一誤差補償單元，可減少所需收集的訊號資訊，並簡化處理器的運算流程。In view of this, the present invention provides a rotating electric machine control device, which has an error compensation unit, which can reduce the signal information to be collected and simplify the calculation process of the processor.

一種用以控制一旋轉電機的控制裝置，包括：電流命令單元、電壓轉換裝置、電流轉換裝置、訊號解調裝置、誤差補償單元、加法裝置以及位置估測裝置。電流命令單元提供d軸電流命令及q軸電流命令。電壓轉換裝置耦接電流命令單元及旋轉電機。電流轉換裝置將流經旋轉電機的旋轉電機電流轉換為同步參考座標電流。訊號解調裝置接收同步參考座標電流，以計算出同步參考座標電流之高頻電流變化量。誤差補償單元依據d軸電流命令及q軸電流命令輸出對應於d軸電流命令及q軸電流命令的第一校正值。加法裝置將同步參考座標電流之高頻電流變化量及第一校正值進行相加以產生第二校正值。位置估測裝置依據第二校正值調整估測值給電流轉換裝置及電壓轉換裝置，進行座標軸轉換的運算。A control device for controlling a rotating electric machine includes: a current command unit, a voltage conversion device, a current conversion device, a signal demodulation device, an error compensation unit, an addition device and a position estimation device. The current command unit provides d-axis current commands and q-axis current commands. The voltage conversion device is coupled to the current command unit and the rotating electric machine. The current conversion device converts the rotating electric machine current flowing through the rotating electric machine into a synchronous reference coordinate current. The signal demodulation device receives the synchronous reference coordinate current to calculate the high-frequency current variation of the synchronous reference coordinate current. The error compensation unit outputs the first correction value corresponding to the d-axis current command and the q-axis current command according to the d-axis current command and the q-axis current command. The adding device adds the high-frequency current variation of the synchronous reference coordinate current and the first correction value to generate a second correction value. The position estimation device adjusts the estimation value to the current conversion device and the voltage conversion device according to the second correction value to perform coordinate axis conversion calculations.

一種旋轉電機的控制方法，包括以下步驟：提供d軸電流命令及q軸電流命令。將流經旋轉電機的旋轉電機電流轉換為同步參考座標電流。計算出同步參考座標電流之高頻電流變化量。依據d軸電流命令及q軸電流命令輸出對應於d軸電流命令及q軸電流命令的第一校正值。將同步參考座標電流之高頻電流變化量及第一校正值進行相加以產生第二校正值。以及依據第二校正值調整相位估測值進行座標軸轉換的運算。A method for controlling a rotating electric machine includes the following steps: providing a d-axis current command and a q-axis current command. Convert the rotating motor current flowing through the rotating motor into a synchronous reference coordinate current. Calculate the high-frequency current variation of the synchronous reference coordinate current. The first correction value corresponding to the d-axis current command and the q-axis current command is output according to the d-axis current command and the q-axis current command. The high-frequency current variation of the synchronous reference coordinate current and the first correction value are added to generate a second correction value. And adjust the phase estimation value according to the second correction value to perform coordinate axis conversion operation.

參考附圖來描述本發明，其中在所有附圖中使用相同的附圖標記來表示相似或等效的元件。附圖不是按比例繪製的，而是僅用於說明本發明。本發明的幾個形態如下描述，並參考示例應用作為說明。應該理解的是，闡述了許多具體細節、關係和方法以提供對本發明的全面了解。然而，相關領域的普通技術人員將容易認識到，本發明可以被實行即便在沒有一個或多個具體細節的情況下或沒有利用其他方法來實施本發明。在其他情況下，未詳細示出習知的結構或操作以避免模糊本發明。本發明不受所示的行為或事件的順序所限制，因為一些行為可能以不同的順序發生和/或與其他行為或事件同時發生。此外，並非所有說明的行為或事件都需要根據本發明的方法來實施。The present invention is described with reference to the drawings, in which the same reference numerals are used in all the drawings to indicate similar or equivalent elements. The drawings are not drawn to scale, but merely serve to illustrate the invention. Several aspects of the present invention are described below, with reference to example applications for explanation. It should be understood that many specific details, relationships, and methods are set forth to provide a comprehensive understanding of the present invention. However, those of ordinary skill in the relevant art will readily recognize that the present invention can be implemented even without one or more specific details or without using other methods to implement the present invention. In other cases, the conventional structure or operation is not shown in detail to avoid obscuring the present invention. The present invention is not limited by the order of the actions or events shown, as some actions may occur in a different order and/or concurrently with other actions or events. In addition, not all the described actions or events need to be implemented according to the method of the present invention.

以下說明是本發明的實施例。其目的是要舉例說明本發明的一般性的原則，不應視為本發明之限制，本發明之範圍當以申請專利範圍所界定者為準。The following description is an embodiment of the present invention. Its purpose is to exemplify the general principles of the present invention, and should not be regarded as a limitation of the present invention. The scope of the present invention should be defined by the scope of the patent application.

第1圖所示為根據習知技術之一實施例的旋轉電機的控制裝置之估測誤差與d-q軸電流之關係圖。於第1圖中，縱軸為旋轉電機的控制裝置估測的位置估測誤差值，橫軸為q軸的電流(iq)大小。旋轉電機的轉子具有d軸額定電流及q軸額定電流，其中實驗條件d軸電流量級可於最大額定電流的0%-100%間調整，q軸電流量級可於最大額定電流的0%-100%間調整，縱軸上的位置誤差單位為角度。於此實施例中，由第1圖可知，當d軸電流維持一定值時，如圖所示在d軸電流(id)分別介於0%-100%的六段不同曲線上，不論q軸電流為逆向電流或順向電流，當q軸電流值偏差越大時，旋轉電機的控制裝置所產生的位置估測誤差就越大。例如，在d軸電流維持在額定電流100%之情況下，位置誤差隨著q軸電流值增加而提高。其中位置誤差是由d軸電流及q軸電流產生的交叉耦合效應(cross-coupling effect)造成直流偏置電流(DC offset current)，其中直流偏置電流可直接或間接影響旋轉電機的控制裝置評估旋轉電機的旋轉角度之精準度。Figure 1 is a diagram showing the relationship between the estimated error and the d-q axis current of the control device of the rotating electric machine according to an embodiment of the prior art. In the first figure, the vertical axis is the position estimation error value estimated by the control device of the rotating electrical machine, and the horizontal axis is the current (iq) magnitude of the q-axis. The rotor of a rotating electrical machine has a d-axis rated current and a q-axis rated current. The d-axis current level of the experimental conditions can be adjusted between 0%-100% of the maximum rated current, and the q-axis current level can be adjusted to 0% of the maximum rated current. -100% adjustment, the position error unit on the vertical axis is angle. In this embodiment, it can be seen from Figure 1 that when the d-axis current maintains a certain value, as shown in the figure, the d-axis current (id) is on six different curves with 0%-100%, regardless of the q-axis The current is a reverse current or a forward current. When the deviation of the q-axis current value is greater, the position estimation error generated by the control device of the rotating electric machine is greater. For example, when the d-axis current is maintained at 100% of the rated current, the position error increases as the q-axis current value increases. The position error is caused by the cross-coupling effect of the d-axis current and the q-axis current, which causes the DC offset current. The DC offset current can directly or indirectly affect the evaluation of the control device of the rotating electric machine. The accuracy of the rotation angle of the rotating motor.

為了解決上述之問題，本發明提供一種旋轉電機的控制裝置以提升估測旋轉電機的旋轉角度之準確率，並且本發明所提供的控制裝置能夠以更簡化之運作方式，提高估測旋轉角度之準確率。以下將詳述本發明之工作原理及流程。In order to solve the above-mentioned problems, the present invention provides a control device for a rotating electric machine to improve the accuracy of estimating the rotation angle of the rotating electric machine, and the control device provided by the present invention can improve the estimation of the rotation angle in a more simplified operation mode. Accuracy. The working principle and process of the present invention will be described in detail below.

第2圖所示為根據本發明之一實施例的旋轉電機200的控制裝置100之架構圖。在本發明中，用於旋轉電機200的控制裝置100包括：電流命令單元110、控制器130、電流轉換裝置134、電壓轉換裝置132、訊號解調裝置140、誤差補償單元190、加法裝置145、位置估測裝置170、編碼裝置150、減法裝置160、誤差控制器180以及多個開關182、184、195。在旋轉電機200正常運作時，開關182、184斷開且開關195導通。因此在旋轉電機200正常運作時，誤差控制器180所輸出的訊號不會提供給加法裝置145及誤差補償單元190。FIG. 2 is a block diagram of the control device 100 of the rotating electric machine 200 according to an embodiment of the present invention. In the present invention, the control device 100 for the rotating electric machine 200 includes: a current command unit 110, a controller 130, a current conversion device 134, a voltage conversion device 132, a signal demodulation device 140, an error compensation unit 190, an addition device 145, The position estimation device 170, the encoding device 150, the subtraction device 160, the error controller 180, and a plurality of switches 182, 184, and 195. When the rotating electric machine 200 is operating normally, the switches 182 and 184 are turned off and the switch 195 is turned on. Therefore, when the rotating electric machine 200 is operating normally, the signal output by the error controller 180 is not provided to the adding device 145 and the error compensation unit 190.

在本發明中，電壓轉換裝置132偶接電流命令單元110及旋轉電機200。首先，控制裝置100中的電流命令單元110用以提供d軸電流命令Id及q軸電流命令Iq。控制器130同時接收高頻訊號產生器120產生並輸入之一高頻訊號、前述d軸電流命令Id及q軸電流命令Iq，並對應輸出在同步參考座標上的d軸電壓Vd及q軸電壓Vq。接著，再透過電壓轉換裝置132將d軸電壓Vd及q軸電壓Vq轉換成靜止參考座標上的三相電壓Va、Vb、Vc給旋轉電機200以控制旋轉電機200進行旋轉。In the present invention, the voltage conversion device 132 is coupled to the current command unit 110 and the rotating electric machine 200. First, the current command unit 110 in the control device 100 is used to provide a d-axis current command Id and a q-axis current command Iq. The controller 130 simultaneously receives and inputs a high-frequency signal generated by the high-frequency signal generator 120, the aforementioned d-axis current command Id and the q-axis current command Iq, and correspondingly outputs the d-axis voltage Vd and the q-axis voltage on the synchronous reference coordinates Vq. Then, the voltage conversion device 132 converts the d-axis voltage Vd and the q-axis voltage Vq into three-phase voltages Va, Vb, and Vc on the stationary reference coordinates to the rotating electric machine 200 to control the rotating electric machine 200 to rotate.

於此實施例中，本發明的電壓轉換裝置132可包含同步/靜止軸轉換器(Synchronous/stationary axis converter)、靜止/三相軸轉換器(Stationary/three-phase axis converter)及變頻器(inverter)…等，但本發明並不限於此。在本發明之一些實施例中，旋轉電機200為三相永磁同步電機(three-phase permanent magnet synchronous motor, three-phase PMSM)，並且此類電機之控制通常是建立在同步參考座標系統上，所以前述電壓轉換裝置132若使用同步/靜止軸轉換器則可將控制器130輸出的d軸電壓Vd及q軸電壓Vq轉換成靜止參考座標上的d軸電壓及q軸電壓。再經由靜止/三相軸轉換器將靜止參考座標上的d軸電壓及q軸電壓轉換成三相電壓Va、Vb、Vc。在此實施例中，電壓轉換裝置132亦可包含變頻器以調整三相電壓Va、Vb、Vc的振幅及頻率給旋轉電機200。由於本領域之通常知識者可理解電壓轉換裝置132中的同步/靜止軸轉換器、靜止/三相軸轉換器及變頻器之工作原理，故本揭露文件並不贅述，亦未將其繪示於第2圖中，先予敘明。In this embodiment, the voltage conversion device 132 of the present invention may include a synchronous/stationary axis converter, a stationary/three-phase axis converter, and an inverter (inverter )...Etc, but the present invention is not limited to this. In some embodiments of the present invention, the rotating electric machine 200 is a three-phase permanent magnet synchronous motor (three-phase PMSM), and the control of this type of motor is usually based on a synchronous reference coordinate system. Therefore, if the aforementioned voltage conversion device 132 uses a synchronous/static axis converter, it can convert the d-axis voltage Vd and the q-axis voltage Vq output by the controller 130 into the d-axis voltage and the q-axis voltage on the stationary reference coordinates. Then the static/three-phase axis converter converts the d-axis voltage and the q-axis voltage on the static reference coordinates into three-phase voltages Va, Vb, and Vc. In this embodiment, the voltage conversion device 132 may also include a frequency converter to adjust the amplitude and frequency of the three-phase voltage Va, Vb, and Vc to the rotating electric machine 200. Since those skilled in the art can understand the working principles of the synchronous/stationary axis converter, the stationary/three-phase axis converter and the inverter in the voltage conversion device 132, this disclosure document will not repeat them, nor will they be shown. In the second figure, it is stated first.

在本發明中，電流轉換裝置134擷取流經旋轉電機200的旋轉電機電流Ia、Ib、Ic，並將流經旋轉電機200的旋轉電機電流Ia、Ib、Ic轉換為同步參考座標電流，其中旋轉電機電流Ia、Ib、Ic於該同步參考座標電流在d軸及q軸的分量又可分別定義為磁通電流

Figure 02_image001
及轉矩電流
Figure 02_image003
。亦即，透過座標軸轉換可將三相的旋轉電機電流Ia、Ib、Ic轉換為同步參考座標電流，而同步參考座標電流又可解析為磁通電流
Figure 02_image001
及轉矩電流
Figure 02_image003
。其中旋轉電機電流Ia、Ib、Ic為旋轉電機200的定子電流，並且磁通電流
Figure 02_image001
及轉矩電流
Figure 02_image003
為同步參考座標系統之電流。由於不同參考座標系統之因素，所以電流轉換裝置134可包含三相/靜止軸轉換器及靜止/同步軸轉換器，將靜止參考座標上的旋轉電機電流Ia、Ib、Ic轉換為同步參考座標上的磁通電流
Figure 02_image001
及轉矩電流
Figure 02_image003
。磁通電流
Figure 02_image001
及轉矩電流
Figure 02_image003
經訊號解調裝置140中的高通濾波器(圖未繪示)處理後分別可得高頻磁通電流
Figure 02_image005
及高頻轉矩電流
Figure 02_image007
。由於本領域之通常知識者可理解電流轉換裝置134中的三相/靜止軸轉換器及靜止/同步軸轉換器之工作原理，故本揭露文件並未繪示在第2圖中。特別注意的是，在本發明中，高頻磁通電流
Figure 02_image005
為流經旋轉電機200的轉子之d軸電流中的部分電流訊號，高頻轉矩電流
Figure 02_image007
為流經旋轉電機200的轉子之q軸電流中的部分電流訊號。在旋轉電機的向量控制概念中，控制d軸電流或電壓可調整旋轉電機200的定子磁通，而控制q軸電流或電壓可調整旋轉電機200的輸出轉矩。In the present invention, the current conversion device 134 captures the rotating motor currents Ia, Ib, Ic flowing through the rotating electric machine 200, and converts the rotating electric machine currents Ia, Ib, Ic flowing through the rotating electric machine 200 into synchronous reference coordinate currents, where The components of the rotating motor currents Ia, Ib, and Ic at the synchronous reference coordinate current on the d-axis and q-axis can be respectively defined as flux currents
Figure 02_image001
And torque current
Figure 02_image003
. That is, the three-phase rotating motor currents Ia, Ib, Ic can be converted into synchronous reference coordinate currents through coordinate axis conversion, and the synchronous reference coordinate currents can be resolved into flux currents
Figure 02_image001
And torque current
Figure 02_image003
. The rotating electric machine currents Ia, Ib, and Ic are the stator currents of the rotating electric machine 200, and the flux current
Figure 02_image001
And torque current
Figure 02_image003
It is the current of the synchronous reference coordinate system. Due to the factors of different reference coordinate systems, the current conversion device 134 may include a three-phase/stationary axis converter and a stationary/synchronous axis converter, which converts the rotating motor currents Ia, Ib, and Ic on the stationary reference coordinates into synchronous reference coordinates. Flux current
Figure 02_image001
And torque current
Figure 02_image003
. Flux current
Figure 02_image001
And torque current
Figure 02_image003
After processing by the high-pass filter (not shown) in the signal demodulation device 140, the high-frequency magnetic flux current can be obtained respectively
Figure 02_image005
And high frequency torque current
Figure 02_image007
. Since those skilled in the art can understand the working principles of the three-phase/stationary-axis converter and the stationary/synchronous-axis converter in the current conversion device 134, this disclosure document is not shown in FIG. 2. Special attention is that in the present invention, the high-frequency magnetic flux current
Figure 02_image005
Part of the current signal in the d-axis current flowing through the rotor of the rotating electric machine 200, high-frequency torque current
Figure 02_image007
It is a partial current signal in the q-axis current flowing through the rotor of the rotating electric machine 200. In the vector control concept of a rotating electric machine, controlling the d-axis current or voltage can adjust the stator flux of the rotating electric machine 200, and controlling the q-axis current or voltage can adjust the output torque of the rotating electric machine 200.

於此實施例中，訊號解調裝置140接收電流轉換裝置134輸出的轉矩電流

Figure 02_image003
與磁通電流
Figure 02_image001
，並透過一馬達數學模型或一高頻電流方程式計算，並經一高通濾波器轉換出一高頻轉矩電流
Figure 02_image007
與一高頻磁通電流
Figure 02_image005
，其中高頻電流方程式如下所示：
Figure 02_image017
Figure 02_image019
其中
Figure 02_image021
為該高頻轉矩電流，
Figure 02_image005
為高頻磁通電流，
Figure 02_image023
為一微分運算子，
Figure 02_image025
為一交叉耦合電感值，
Figure 02_image015
為實際轉子位置與估測轉子位置的角度差值，
Figure 02_image027
為一d軸電感值，
Figure 02_image029
為一q軸電感值，其中
Figure 02_image027
及
Figure 02_image029
為量測值。此外，交叉耦合電感值
Figure 02_image025
為降低旋轉電機200之控制裝置100評估旋轉電機之旋轉角度之準確度最主要的因素，並且交叉耦合電感值
Figure 02_image025
與高頻轉矩電流
Figure 02_image021
成正比，也就是說高頻轉矩電流
Figure 02_image021
越大，交叉耦合電感值
Figure 02_image025
增加。以下將詳述，控制裝置100減少交叉耦合電感值
Figure 02_image025
所造成的影響之工作方法。In this embodiment, the signal demodulation device 140 receives the torque current output by the current conversion device 134
Figure 02_image003
And flux current
Figure 02_image001
, And calculated by a motor mathematical model or a high-frequency current equation, and converted into a high-frequency torque current through a high-pass filter
Figure 02_image007
With a high frequency magnetic flux current
Figure 02_image005
, Where the high-frequency current equation is as follows:
Figure 02_image017
Figure 02_image019
among them
Figure 02_image021
Is the high frequency torque current,
Figure 02_image005
Is the high frequency flux current,
Figure 02_image023
Is a differential operator,
Figure 02_image025
Is a cross-coupled inductance value,
Figure 02_image015
Is the angle difference between the actual rotor position and the estimated rotor position,
Figure 02_image027
Is a d-axis inductance value,
Figure 02_image029
Is a q-axis inductance value, where
Figure 02_image027
and
Figure 02_image029
Is the measured value. In addition, the cross-coupling inductance value
Figure 02_image025
In order to reduce the accuracy of the control device 100 of the rotating electric machine 200 in evaluating the rotation angle of the rotating electric machine, the most important factor is to cross-couple the inductance value
Figure 02_image025
With high frequency torque current
Figure 02_image021
Proportional, which means that the high frequency torque current
Figure 02_image021
The larger the cross-coupled inductance value
Figure 02_image025
increase. As will be detailed below, the control device 100 reduces the cross-coupling inductance value
Figure 02_image025
The working method of the impact.

在此實施例中，控制裝置100中的訊號解調裝置140耦接於電流轉換裝置134且包含高通濾波器(圖未繪示)，並接收電流轉換裝置134計算出的轉矩電流

Figure 02_image003
與磁通電流
Figure 02_image001
，其中訊號解調裝置140更包含以下訊號解調方程式以計算出高頻轉矩電流
Figure 02_image007
之電流變化量
Figure 02_image031
及高頻磁通電流
Figure 02_image005
之電流變化量
Figure 02_image033
：
Figure 02_image035
Figure 02_image037
其中
Figure 02_image039
為高頻訊號的電壓，並且
Figure 02_image039
可為正值或負值。也就是說，在此實施例中，高頻訊號可為一方波訊號，但本發明不限於此。特別注意的是，高頻轉矩電流
Figure 02_image007
之電流變化量
Figure 02_image031
與高頻磁通電流
Figure 02_image005
之電流變化量
Figure 02_image033
中可發現交叉耦合電感值
Figure 02_image041
可被視為造成估測位置誤差的直流偏置成分，本發明之主要技術即在於消除交叉耦合電感值
Figure 02_image041
對於高頻轉矩電流
Figure 02_image007
之電流變化量
Figure 02_image031
、高頻磁通電流
Figure 02_image005
之電流變化量
Figure 02_image033
與旋轉電機200的控制裝置100所造成的影響。In this embodiment, the signal demodulation device 140 in the control device 100 is coupled to the current conversion device 134 and includes a high-pass filter (not shown), and receives the torque current calculated by the current conversion device 134
Figure 02_image003
And flux current
Figure 02_image001
, Wherein the signal demodulation device 140 further includes the following signal demodulation equation to calculate the high frequency torque current
Figure 02_image007
The amount of current change
Figure 02_image031
And high frequency flux current
Figure 02_image005
The amount of current change
Figure 02_image033
:
Figure 02_image035
Figure 02_image037
among them
Figure 02_image039
Is the voltage of the high frequency signal, and
Figure 02_image039
Can be positive or negative. In other words, in this embodiment, the high-frequency signal may be a square wave signal, but the invention is not limited to this. Special attention is that the high frequency torque current
Figure 02_image007
The amount of current change
Figure 02_image031
With high frequency flux current
Figure 02_image005
The amount of current change
Figure 02_image033
The cross-coupled inductance value can be found in
Figure 02_image041
It can be regarded as the DC bias component that causes the estimated position error. The main technique of the present invention is to eliminate the cross-coupling inductance value.
Figure 02_image041
For high frequency torque current
Figure 02_image007
The amount of current change
Figure 02_image031
, High frequency magnetic flux current
Figure 02_image005
The amount of current change
Figure 02_image033
And the control device 100 of the rotating electric machine 200.

此外，訊號解調裝置140輸出的電流變化量

Figure 02_image043
即為前述同步參考座標電流的高頻電流變化量，其中透過高頻轉矩電流
Figure 02_image007
之電流變化量
Figure 02_image031
、高頻磁通電流
Figure 02_image005
之電流變化量
Figure 02_image033
或兩者之組合可表示出同步參考座標電流的高頻電流變化量
Figure 02_image043
。以下為了簡單說明各個實施例，僅以電流變化量
Figure 02_image043
代表說明高頻轉矩電流
Figure 02_image007
之電流變化量
Figure 02_image031
、高頻磁通電流
Figure 02_image005
之電流變化量
Figure 02_image033
或兩者之組合，但本發明不限於此。In addition, the amount of current change output by the signal demodulation device 140
Figure 02_image043
It is the high-frequency current change of the aforementioned synchronous reference coordinate current, where the high-frequency torque current
Figure 02_image007
The amount of current change
Figure 02_image031
, High frequency magnetic flux current
Figure 02_image005
The amount of current change
Figure 02_image033
Or a combination of the two can indicate the high-frequency current variation of the synchronous reference coordinate current
Figure 02_image043
. In order to briefly describe the various embodiments below, only the current variation
Figure 02_image043
Representative description high frequency torque current
Figure 02_image007
The amount of current change
Figure 02_image031
, High frequency magnetic flux current
Figure 02_image005
The amount of current change
Figure 02_image033
Or a combination of the two, but the present invention is not limited to this.

在此實施例中，誤差補償單元190耦接於電流命令單元110，並透過電流命令單元110接收d軸電流命令Id及q軸電流命令Iq。誤差補償單元190依據d軸電流命令Id及q軸電流命令以輸出第一校正值C1。在此例中，誤差補償單元190中至少設置有一表格，誤差補償單元190依據d軸電流命令Id及q軸電流命令Iq檢索該表格，並搜尋表格中對應於d軸電流命令Id及q軸電流命令Iq的第一校正值C1以輸出給加法裝置145。以下表1為設置於誤差補償單元190中的表格之部分第一校正值C1，其中每個第一校正值C1對應的d軸電流命令及q軸電流命令皆不盡相同。例如，如表1中所示，C1(Id1,Iq1)表示該第一校正值C1對應於d軸電流命令為Id1及q軸電流命令為Iq1；C1(Id2,Iq2)表示該第一校正值C1對應於d軸電流命令為Id2及q軸電流命令為Iq2，依此類推。其中本發明並不限於此：

Figure 02_image045
表1In this embodiment, the error compensation unit 190 is coupled to the current command unit 110 and receives the d-axis current command Id and the q-axis current command Iq through the current command unit 110. The error compensation unit 190 outputs the first correction value C1 according to the d-axis current command Id and the q-axis current command. In this example, the error compensation unit 190 is provided with at least one table. The error compensation unit 190 searches the table according to the d-axis current command Id and the q-axis current command Iq, and searches the table corresponding to the d-axis current command Id and q-axis current The first correction value C1 of Iq is commanded to be output to the adding device 145. The following table 1 is a part of the first correction value C1 of the table set in the error compensation unit 190, wherein the d-axis current command and the q-axis current command corresponding to each first correction value C1 are different. For example, as shown in Table 1, C1 (Id1, Iq1) indicates that the first correction value C1 corresponds to the d-axis current command as Id1 and the q-axis current command as Iq1; C1 (Id2, Iq2) indicates the first correction value C1 corresponds to the d-axis current command as Id2 and the q-axis current command as Iq2, and so on. The present invention is not limited to this:
Figure 02_image045
Table 1

在此實施例中，加法裝置145耦接誤差補償單元190、訊號解調裝置140及位置估測裝置170。加法裝置145用以將電流變化量

Figure 02_image043
及第一校正值C1進行相加以產生第二校正值C2，並將第二校正值C2輸出至位置估測裝置170。最後，位置估測裝置170依據第二校正值C2調整相位估測值
Figure 02_image011
給電流轉換裝置134與電壓轉換裝置132，以調整計算轉矩電流
Figure 02_image003
及磁通電流
Figure 02_image001
的大小，其中相位估測值
Figure 02_image011
為估測轉子之位置。電流轉換裝置134依據相位估測值
Figure 02_image011
進行座標轉換得到轉矩電流
Figure 02_image003
及磁通電流
Figure 02_image001
之後，可將已調整的轉矩電流
Figure 02_image003
及磁通電流
Figure 02_image001
傳送給控制器130以改變d軸電壓Vd及q軸電壓Vq之大小，並將前述訊號傳給電壓轉換裝置132，進行座標軸轉換的運算以間接調整三相電壓Va、Vb、Vc之大小。如此一來，可以調整旋轉電機200的旋轉角度，並有效地降低旋轉電機200進行低速旋轉時所引起的震盪現象，並提升旋轉電機200的運轉效率。In this embodiment, the adding device 145 is coupled to the error compensation unit 190, the signal demodulation device 140 and the position estimation device 170. The adding device 145 is used to change the current
Figure 02_image043
And the first correction value C1 are added to generate a second correction value C2, and the second correction value C2 is output to the position estimation device 170. Finally, the position estimation device 170 adjusts the phase estimation value according to the second correction value C2
Figure 02_image011
To the current conversion device 134 and the voltage conversion device 132 to adjust and calculate the torque current
Figure 02_image003
And flux current
Figure 02_image001
, Where the estimated phase value
Figure 02_image011
To estimate the position of the rotor. The current conversion device 134 is based on the estimated phase value
Figure 02_image011
Perform coordinate conversion to obtain torque current
Figure 02_image003
And flux current
Figure 02_image001
After that, the adjusted torque current
Figure 02_image003
And flux current
Figure 02_image001
It is sent to the controller 130 to change the magnitude of the d-axis voltage Vd and the q-axis voltage Vq, and the aforementioned signal is sent to the voltage conversion device 132 to perform coordinate axis conversion calculations to indirectly adjust the magnitude of the three-phase voltages Va, Vb, and Vc. In this way, the rotation angle of the rotating electric machine 200 can be adjusted, and the vibration caused by the rotating electric machine 200 during low-speed rotation can be effectively reduced, and the operating efficiency of the rotating electric machine 200 can be improved.

綜上所述，透過誤差補償單元190以查表方式輸出對應d軸與q軸電流命令的第一校正值C1，再將查表之該第一校正值C1與電流變化量

Figure 02_image043
相加以產生第二校正值C2，位置估測裝置170即可依據相加產生之該第二校正值C2運算，可有效提高相位估測值
Figure 02_image011
之精準度。以下將詳述建立誤差補償單元190中的表格之程序。In summary, the error compensation unit 190 outputs the first correction value C1 corresponding to the d-axis and q-axis current commands in a table look-up mode, and then the first correction value C1 and the current change amount in the look-up table
Figure 02_image043
The second correction value C2 is generated by the addition, and the position estimation device 170 can calculate according to the second correction value C2 generated by the addition, which can effectively improve the phase estimation value
Figure 02_image011
The accuracy. The procedure for creating the table in the error compensation unit 190 will be described in detail below.

第3圖根據本發明之一實施例繪示於測試模式時，旋轉電機200的控制裝置100之架構圖。於此實施例中，建立誤差補償單元190中的表格之前，通常操作人員須對旋轉電機200進行一測試模式(test mode)。也就是說，以下建立表格之程序是在旋轉電機200進行測試模式之情況下所完成。FIG. 3 is a structural diagram of the control device 100 of the rotating electric machine 200 in the test mode according to an embodiment of the present invention. In this embodiment, before the table in the error compensation unit 190 is created, the operator usually needs to perform a test mode on the rotating electric machine 200. In other words, the following procedure of creating a table is completed when the rotating electric machine 200 is in the test mode.

在此實施例中，控制裝置100中的開關182、184導通，並且開關195斷開。其中編碼裝置180用以測量旋轉電機200之旋轉角度以輸出實際量測的相位量測值

Figure 02_image013
，其中實際量測的相位量測值
Figure 02_image013
被視為實際轉子位置。編碼裝置180可為一編碼器(encoder)，但本發明並不限於此。於此同時，位置估測裝置170仍持續輸出相位估測值
Figure 02_image011
給電流轉換裝置134及減法裝置160。In this embodiment, the switches 182 and 184 in the control device 100 are turned on, and the switch 195 is turned off. The encoding device 180 is used to measure the rotation angle of the rotating motor 200 to output the actual measured phase measurement value
Figure 02_image013
, Where the actual measured phase measurement value
Figure 02_image013
It is regarded as the actual rotor position. The encoding device 180 may be an encoder, but the invention is not limited to this. At the same time, the position estimation device 170 continues to output the phase estimation value
Figure 02_image011
To the current conversion device 134 and the subtraction device 160.

在一些實施例中，減法裝置160耦接於編碼裝置180、位置估測裝置170及誤差控制器180。當旋轉電機200進行測試模式時，減法裝置160將相位估測值

Figure 02_image011
與實際量測的相位量測值
Figure 02_image013
進行相減以產生相位誤差
Figure 02_image015
給誤差控制器180。承上所述，減法裝置160輸出的相位誤差
Figure 02_image015
為實際轉子位置與估測轉子位置的差值。In some embodiments, the subtraction device 160 is coupled to the encoding device 180, the position estimation device 170, and the error controller 180. When the rotating electric machine 200 is in the test mode, the subtracting device 160 calculates the phase estimation value
Figure 02_image011
Phase measurement value with actual measurement
Figure 02_image013
Subtract to produce phase error
Figure 02_image015
Give the error controller 180. Continuing from the above, the phase error output by the subtraction device 160
Figure 02_image015
Is the difference between the actual rotor position and the estimated rotor position.

於旋轉電機200進行測試模式時，因為開關182、184導通，所以誤差控制器180可依據該相位誤差

Figure 02_image015
持續產生修正值R1給加法裝置145。特別注意的是，於測試模式中，誤差補償單元190與加法裝置145之間的開關195被斷開，所以加法裝置145無法接收誤差補償單元190輸出的第一校正值C1。當相位誤差
Figure 02_image015
落於目標誤差範圍內時，誤差控制器180將修正值R1指定作為第一校正值C1，並將指定作為第一校正值C1的該修正值R1及其當時所對應的d軸電流命令Id及q軸電流命令Iq儲存於該誤差補償單元190。When the rotating electric machine 200 is in the test mode, because the switches 182 and 184 are turned on, the error controller 180 can be based on the phase error
Figure 02_image015
The correction value R1 is continuously generated to the adding device 145. It is particularly noted that in the test mode, the switch 195 between the error compensation unit 190 and the addition device 145 is turned off, so the addition device 145 cannot receive the first correction value C1 output by the error compensation unit 190. When the phase error
Figure 02_image015
When it falls within the target error range, the error controller 180 designates the correction value R1 as the first correction value C1, and designates the correction value R1 as the first correction value C1 and its corresponding d-axis current command Id and The q-axis current command Iq is stored in the error compensation unit 190.

在其他一些實施例中，誤差控制器180會偵測相位誤差

Figure 02_image015
的值。一般情況下，如果誤差控制器180偵測相位誤差
Figure 02_image015
不等於零，則誤差控制器180輸出修正值R1給加法裝置145。加法裝置145將修正值R1與電流變化量
Figure 02_image043
相加以產生第二校正值C2給位置估測裝置170。估測裝置170再依據第二校正值C2調整相位估測值
Figure 02_image011
給減法裝置160，使得減法裝置160輸出的相位誤差
Figure 02_image015
被調整。當誤差控制器180偵測相位誤差
Figure 02_image015
落於目標誤差範圍內時(例如，誤差範圍2%~4%、或等於零時)，誤差控制器180將此時的修正值R1作為第一校正值C1，並將修正值R1儲存於誤差補償單元190。此時，誤差補償單元190將修正值R1紀錄為第一校正值，並且同時記錄所對應的d軸電流命令Id及q軸電流命令Iq。另外，當誤差控制器180偵測相位誤差
Figure 02_image015
落於目標誤差範圍外時，則重複先前的程序尋找另一個相位誤差
Figure 02_image015
並再次判斷。In some other embodiments, the error controller 180 detects the phase error
Figure 02_image015
Value. In general, if the error controller 180 detects the phase error
Figure 02_image015
If it is not equal to zero, the error controller 180 outputs the correction value R1 to the adding device 145. The adding device 145 compares the correction value R1 with the current variation
Figure 02_image043
The addition generates a second correction value C2 for the position estimation device 170. The estimation device 170 then adjusts the phase estimation value according to the second correction value C2
Figure 02_image011
Give the subtraction device 160 so that the phase error output by the subtraction device 160
Figure 02_image015
Be adjusted. When the error controller 180 detects the phase error
Figure 02_image015
When it falls within the target error range (for example, the error range is 2% to 4%, or equal to zero), the error controller 180 uses the correction value R1 at this time as the first correction value C1, and stores the correction value R1 in the error compensation Unit 190. At this time, the error compensation unit 190 records the correction value R1 as the first correction value, and simultaneously records the corresponding d-axis current command Id and the q-axis current command Iq. In addition, when the error controller 180 detects the phase error
Figure 02_image015
When it falls outside the target error range, repeat the previous procedure to find another phase error
Figure 02_image015
And judge again.

當電流命令單元110每次提供不同的d軸電流命令Id及q軸電流命令Iq時，訊號解調裝置140輸出的電流變化量

Figure 02_image031
會被直接或間接地改變，使得減法裝置160輸出的相位誤差
Figure 02_image015
也會被影響而改變。誤差控制器180將不斷地調整修正值R1，直到誤差控制器180偵測到相位誤差
Figure 02_image015
落入目標範圍內(例如，誤差範圍2%~4%、或等於零)時，誤差控制器180停止調整該修正值R1並將該修正值R1儲存於誤差補償單元190。誤差補償單元190按照每個d軸電流命令Id及q軸電流命令Iq所對應的修正值R1進行儲存並指定該修正值R1為當前電流命令對應的第一校正值C1以建立表格。如此一來，表格具有複數個第一校正值C1，並且每個第一校正值C1所對應的d軸電流命令Id及q軸電流命令Iq皆不盡相同。When the current command unit 110 provides different d-axis current commands Id and q-axis current commands Iq each time, the amount of current change output by the signal demodulation device 140
Figure 02_image031
Will be directly or indirectly changed, so that the phase error output by the subtraction device 160
Figure 02_image015
Will be affected and changed. The error controller 180 will continuously adjust the correction value R1 until the error controller 180 detects the phase error
Figure 02_image015
When it falls within the target range (for example, the error range is 2%-4%, or equal to zero), the error controller 180 stops adjusting the correction value R1 and stores the correction value R1 in the error compensation unit 190. The error compensation unit 190 stores the correction value R1 corresponding to each d-axis current command Id and the q-axis current command Iq, and designates the correction value R1 as the first correction value C1 corresponding to the current current command to create a table. As a result, the table has a plurality of first correction values C1, and the d-axis current command Id and the q-axis current command Iq corresponding to each first correction value C1 are different.

第4圖所示為根據本發明之一實施例的旋轉電機200的控制方法400之流程圖。以下請同時參照第2圖及第4圖以說明旋轉電機200的控制方法400之流程。控制方法400由步驟410開始進行。在步驟410中，當電流命令單元110開始輸出d軸電流命令Id及q軸電流命令Iq時，誤差補償單元190開始接收d軸電流命令Id及q軸電流命令Iq，並進入步驟420。於此同時，控制器130及電壓轉換裝置132依據電流命令單元110產生的d軸電流命令Id及q軸電流命令Iq輸出三相電壓Va、Vb、Vc以驅動旋轉電機200。FIG. 4 shows a flowchart of a control method 400 of a rotating electric machine 200 according to an embodiment of the present invention. Hereinafter, please refer to FIG. 2 and FIG. 4 at the same time to illustrate the flow of the control method 400 of the rotating electric machine 200. The control method 400 starts at step 410. In step 410, when the current command unit 110 starts to output the d-axis current command Id and the q-axis current command Iq, the error compensation unit 190 starts to receive the d-axis current command Id and the q-axis current command Iq, and proceeds to step 420. At the same time, the controller 130 and the voltage conversion device 132 output three-phase voltages Va, Vb, and Vc according to the d-axis current command Id and the q-axis current command Iq generated by the current command unit 110 to drive the rotating electric machine 200.

在步驟420中，誤差補償單元190依據d軸電流命令Id及q軸電流命令Iq輸出對應於d軸電流命令Id及q軸電流命令Iq的第一校正值C1。其中，誤差補償單元190包含一表格，如上述表1所示。誤差補償單元190將搜尋表格中對應於當前d軸電流命令Id及q軸電流命令Iq的第一校正值C1。In step 420, the error compensation unit 190 outputs the first correction value C1 corresponding to the d-axis current command Id and the q-axis current command Iq according to the d-axis current command Id and the q-axis current command Iq. The error compensation unit 190 includes a table, as shown in Table 1 above. The error compensation unit 190 searches the table for the first correction value C1 corresponding to the current d-axis current command Id and the q-axis current command Iq.

在步驟430中，當旋轉電機200開始進行旋轉時，電流轉換裝置134擷取流經旋轉電機200的旋轉電機電流Ia、Ib、Ic，並計算出轉矩電流

Figure 02_image003
及磁通電流
Figure 02_image001
，並進入步驟440。In step 430, when the rotating electric machine 200 starts to rotate, the current conversion device 134 captures the rotating electric machine currents Ia, Ib, Ic flowing through the rotating electric machine 200, and calculates the torque current
Figure 02_image003
And flux current
Figure 02_image001
, And go to step 440.

在步驟440中，訊號解調裝置140接收轉矩電流

Figure 02_image003
，並依據一馬達數學模型或一高頻電流方程式計算出高頻轉矩電流
Figure 02_image007
及高頻磁通電流
Figure 02_image005
。其中該高頻電流方程式或該馬達數學模型相同於以上所述，故不再贅述。控制裝置100中的訊號解調裝置140還依據電流轉換裝置134輸出的轉矩電流
Figure 02_image003
及/或磁通電流
Figure 02_image001
，計算出高頻轉矩電流
Figure 02_image007
的電流變化量
Figure 02_image031
及/或高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
。其中高頻轉矩電流
Figure 02_image007
的電流變化量
Figure 02_image031
及高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
計算的訊號解調方程式相同於以上所述，故不再贅述。In step 440, the signal demodulation device 140 receives the torque current
Figure 02_image003
, And calculate the high-frequency torque current according to a motor mathematical model or a high-frequency current equation
Figure 02_image007
And high frequency flux current
Figure 02_image005
. The high-frequency current equation or the mathematical model of the motor is the same as described above, so it will not be repeated. The signal demodulation device 140 in the control device 100 is also based on the torque current output by the current conversion device 134
Figure 02_image003
And/or flux current
Figure 02_image001
, Calculate the high frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And/or high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
. Where high frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
The calculated signal demodulation equation is the same as described above, so it will not be repeated.

完成步驟420及440之後，控制裝置100開始執行步驟450。控制裝置100中的加法裝置145將高頻轉矩電流

Figure 02_image007
的電流變化量
Figure 02_image031
及/或高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
及第一校正值C1進行相加以產生第二校正值C2，並進入步驟460。After completing steps 420 and 440, the control device 100 starts to perform step 450. The adding device 145 in the control device 100 divides the high-frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And/or high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
And the first correction value C1 are added to generate the second correction value C2, and step 460 is entered.

在步驟460中，控制裝置100中的位置估測裝置170依據第二校正值C1調整相位估測值

Figure 02_image011
，並將已調整的相位估測值
Figure 02_image011
輸出至電流轉換裝置134，並進入步驟470。In step 460, the position estimation device 170 in the control device 100 adjusts the phase estimation value according to the second correction value C1
Figure 02_image011
, And the adjusted phase estimate
Figure 02_image011
Output to the current conversion device 134 and go to step 470.

在步驟470中，電流轉換裝置134依據已調整的相位估測值

Figure 02_image011
進行座標轉換得到轉矩電流
Figure 02_image003
及磁通電流
Figure 02_image001
，並將轉矩電流
Figure 02_image003
及磁通電流
Figure 02_image001
傳送至控制器130。控制器130可依據已調整的轉矩電流
Figure 02_image003
及磁通電流
Figure 02_image001
改變d軸電壓Vd及q軸電壓Vq之大小，並將前述訊號傳給電壓轉換裝置132，進行座標軸轉換的運算以間接調整三相電壓Va、Vb、Vc之大小。如此一來，控制裝置100可以調整旋轉電機200的旋轉角度，並有效地降低旋轉電機200進行低速旋轉時所引起的震盪現象。In step 470, the current conversion device 134 according to the adjusted phase estimation value
Figure 02_image011
Perform coordinate conversion to obtain torque current
Figure 02_image003
And flux current
Figure 02_image001
, And the torque current
Figure 02_image003
And flux current
Figure 02_image001
Transfer to the controller 130. The controller 130 can be based on the adjusted torque current
Figure 02_image003
And flux current
Figure 02_image001
The magnitudes of the d-axis voltage Vd and the q-axis voltage Vq are changed, and the aforementioned signal is transmitted to the voltage conversion device 132 to perform coordinate axis conversion operations to indirectly adjust the magnitudes of the three-phase voltages Va, Vb, and Vc. In this way, the control device 100 can adjust the rotation angle of the rotating electric machine 200, and effectively reduce the vibration caused by the rotating electric machine 200 during low-speed rotation.

根據第4圖所述之控制方法400，本發明中的控制裝置100透過誤差補償單元190以查表方式輸出的第一校正值C1，再將第一校正值C1與電流變化量

Figure 02_image043
(高頻轉矩電流
Figure 02_image007
的電流變化量
Figure 02_image031
及/或高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
)相加以產生第二校正值C2，位置估測裝置170可依據第二校正值C2運算，可有效提高相位估測值
Figure 02_image011
之精準度。因此建立誤差補償單元190中的表格為本發明之部分主要技術特徵，以下將詳述建立誤差補償單元190中的表格之控制方法之流程。According to the control method 400 described in Fig. 4, the control device 100 of the present invention uses the error compensation unit 190 to output the first correction value C1 in a table look-up mode, and then compares the first correction value C1 with the current variation
Figure 02_image043
(High frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And/or high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
) Is added together to generate a second correction value C2, and the position estimation device 170 can calculate according to the second correction value C2, which can effectively improve the phase estimation value
Figure 02_image011
The accuracy. Therefore, the establishment of the table in the error compensation unit 190 is part of the main technical features of the present invention. The flow of the control method for establishing the table in the error compensation unit 190 will be described in detail below.

第5圖根據本發明之一實施例繪示於測試模式時，旋轉電機200的控制方法500之流程圖。以下請同時參照第3圖及第5圖以說明旋轉電機200的控制方法500之流程。第5圖中的控制方法500之流程主要用於建立誤差補償單元190中的表格。建立誤差補償單元190中的表格之前，操作人員需要對旋轉電機200進行一測試模式。因此以下所述之方法步驟為在旋轉電機200的測試模式時由控制裝置100所執行。FIG. 5 shows a flowchart of a control method 500 of the rotating electric machine 200 in the test mode according to an embodiment of the present invention. Hereinafter, please refer to FIGS. 3 and 5 at the same time to describe the flow of the control method 500 of the rotating electric machine 200. The flow of the control method 500 in FIG. 5 is mainly used to create a table in the error compensation unit 190. Before creating the table in the error compensation unit 190, the operator needs to perform a test mode on the rotating electric machine 200. Therefore, the method steps described below are executed by the control device 100 when the rotating electric machine 200 is in the test mode.

控制方法500由步驟510開始進行，此時電機應為靜止狀態，或以適當方式阻截馬達使非運轉。當電流命令單元110開始輸出d軸電流命令Id及q軸電流命令Iq時，控制器130及電壓轉換裝置132依據電流命令單元110產生的d軸電流命令Id及q軸電流命令Iq輸出三相電壓Va、Vb、Vc以驅動旋轉電機200。在步驟510中，電流轉換裝置134擷取流經旋轉電機200的旋轉電機電流Ia、Ib、Ic，進行座標轉換後得到轉矩電流

Figure 02_image003
及磁通電流
Figure 02_image001
，並進入步驟520。The control method 500 starts at step 510. At this time, the motor should be in a stationary state, or the motor should be blocked in an appropriate manner to make it non-operational. When the current command unit 110 starts to output the d-axis current command Id and the q-axis current command Iq, the controller 130 and the voltage conversion device 132 output the three-phase voltage according to the d-axis current command Id and the q-axis current command Iq generated by the current command unit 110 Va, Vb, and Vc are used to drive the rotating motor 200. In step 510, the current conversion device 134 captures the rotating motor currents Ia, Ib, Ic flowing through the rotating motor 200, and performs coordinate conversion to obtain the torque current
Figure 02_image003
And flux current
Figure 02_image001
, And go to step 520.

在步驟520中，控制裝置100中的訊號解調裝置140依據電流轉換裝置134輸出的轉矩電流

Figure 02_image003
及/或磁通電流
Figure 02_image001
、高頻電流方程式及訊號解調方程式，計算出高頻轉矩電流
Figure 02_image007
的電流變化量
Figure 02_image031
及/或高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
給加法裝置145。其中高頻轉矩電流
Figure 02_image007
的電流變化量
Figure 02_image031
及高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
計算的方程式相同於以上所述，故不再贅述。於此同時，加法裝置145雖然僅接收到電流變化量
Figure 02_image043
(高頻轉矩電流
Figure 02_image007
的電流變化量
Figure 02_image031
及/或高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
)，但仍會執行步驟540：將誤差控制器180的修正值R1與高頻轉矩電流
Figure 02_image007
的電流變化量
Figure 02_image031
及/或高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
進行相加以產生第二校正值C2，並進入步驟550。特別注意的是，在控制裝置100第一次執行步驟540時，誤差控制器180的修正值R1輸出為零。因此，此時加法裝置145第一次所輸出的第二校正值C2為依據高頻轉矩電流
Figure 02_image007
的電流變化量
Figure 02_image031
及/或高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
。In step 520, the signal demodulation device 140 in the control device 100 depends on the torque current output by the current conversion device 134
Figure 02_image003
And/or flux current
Figure 02_image001
, High frequency current equation and signal demodulation equation, calculate high frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And/or high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
给Adding device 145. Where high frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
The calculated equation is the same as the above, so it will not be repeated. At the same time, although the adding device 145 only receives the current change
Figure 02_image043
(High frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And/or high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
), but step 540 will still be executed: the correction value R1 of the error controller 180 and the high-frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And/or high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
The addition is performed to generate the second correction value C2, and step 550 is entered. It is particularly noted that when the control device 100 executes step 540 for the first time, the output of the correction value R1 of the error controller 180 is zero. Therefore, at this time, the second correction value C2 output by the adding device 145 for the first time is based on the high-frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And/or high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
.

在步驟550中，位置估測裝置170依據第二校正值C2輸出相位估測值

Figure 02_image011
給減法裝置160，並進入步驟560。In step 550, the position estimation device 170 outputs a phase estimation value according to the second correction value C2
Figure 02_image011
Give the subtracting device 160 and go to step 560.

當旋轉電機200依據三相電壓Va、Vb、Vc進行控制時，控制裝置110亦執行步驟530：控制裝置100中的編碼裝置150量測旋轉電機200的旋轉角度，並輸出所量測到的相位量測值

Figure 02_image013
給減法裝置160，並進入步驟560。When the rotating electric machine 200 is controlled according to the three-phase voltages Va, Vb, and Vc, the control device 110 also performs step 530: the encoding device 150 in the control device 100 measures the rotation angle of the rotating electric machine 200 and outputs the measured phase Measured value
Figure 02_image013
Give the subtracting device 160 and go to step 560.

在步驟560中，減法裝置160接收到步驟550及步驟530分別獲取的相位估測值

Figure 02_image011
及相位量測值
Figure 02_image013
，並計算出相位估測值
Figure 02_image011
及相位量測值
Figure 02_image013
之間的相位誤差
Figure 02_image015
。完成計算相位誤差
Figure 02_image015
之後，控制裝置100開始執行步驟570。In step 560, the subtraction device 160 receives the phase estimation values obtained in step 550 and step 530 respectively
Figure 02_image011
And phase measurement
Figure 02_image013
, And calculate the phase estimate
Figure 02_image011
And phase measurement
Figure 02_image013
Phase error between
Figure 02_image015
. Complete calculation of phase error
Figure 02_image015
After that, the control device 100 starts to execute step 570.

在步驟570中，誤差控制器180偵測相位誤差

Figure 02_image015
是否落入目標範圍內。也就是說，當誤差控制器180偵測相位誤差
Figure 02_image015
落入目標範圍內時，控制裝置100則執行步驟590：誤差控制器180控制誤差補償單元190儲存修正值R1並指定該修正值R1為第一校正值C1，並且同時記錄該第一校正值C1當前所對應的d軸電流命令Id及q軸電流命令Iq。反之，當誤差控制器180偵測相位誤差
Figure 02_image015
未落入目標範圍時，控制裝置100則執行步驟580：依據相位誤差
Figure 02_image015
輸出修正值R1。In step 570, the error controller 180 detects the phase error
Figure 02_image015
Whether it falls within the target range. That is, when the error controller 180 detects the phase error
Figure 02_image015
When it falls within the target range, the control device 100 performs step 590: the error controller 180 controls the error compensation unit 190 to store the correction value R1, designate the correction value R1 as the first correction value C1, and record the first correction value C1 at the same time The current corresponding d-axis current command Id and q-axis current command Iq. Conversely, when the error controller 180 detects the phase error
Figure 02_image015
When it does not fall within the target range, the control device 100 performs step 580: according to the phase error
Figure 02_image015
The correction value R1 is output.

特別注意的是，由於先前步驟540中，加法裝置145在最初的階段中所接收到的修正值R1為零，以至於當控制裝置100第一次執行步驟570時，誤差控制器180所接收的相位誤差

Figure 02_image015
可能不會落入目標範圍。因此控制裝置100將由步驟570進入步驟580。誤差控制器180輸出修正值R1之後，控制裝置100執行步驟540。It is particularly noted that since in the previous step 540, the correction value R1 received by the addition device 145 in the initial stage is zero, so that when the control device 100 executes step 570 for the first time, the error controller 180 receives Phase error
Figure 02_image015
May not fall into the target range. Therefore, the control device 100 will proceed from step 570 to step 580. After the error controller 180 outputs the correction value R1, the control device 100 executes step 540.

當控制裝置100再次執行步驟540時，加法裝置145將對誤差控制器180輸出的修正值R1與高頻轉矩電流

Figure 02_image007
的電流變化量
Figure 02_image031
及/或高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
進行相加，並調整第二校正值C2給位置估測裝置170。控制裝置將繼續執行步驟550。When the control device 100 executes step 540 again, the addition device 145 compares the correction value R1 output by the error controller 180 and the high-frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And/or high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
The addition is performed, and the second correction value C2 is adjusted to the position estimation device 170. The control device will continue to perform step 550.

在步驟550，位置估測裝置170依據已調整的第二校正值C2改變相位估測值

Figure 02_image011
給減法裝置160。步驟560中，減法裝置160計算已調整的相位估測值
Figure 02_image011
與相位量測值
Figure 02_image013
之間的相位誤差
Figure 02_image015
。來到步驟570，誤差控制器180偵測再次相位誤差
Figure 02_image015
是否落入目標範圍。如果相位誤差
Figure 02_image015
落入目標範圍，控制裝置100執行步驟590：誤差控制器180不改變修正值R1，並將其儲存於誤差補償單元190。誤差補償單元190將該修正值R1重新指定並儲存為第一校正值C1，並且同時記錄該第一校正值C1當前所對應的d軸電流命令Id及q軸電流命令Iq。In step 550, the position estimation device 170 changes the phase estimation value according to the adjusted second correction value C2
Figure 02_image011
给 subtraction device 160. In step 560, the subtraction device 160 calculates the adjusted phase estimation value
Figure 02_image011
And phase measurement
Figure 02_image013
Phase error between
Figure 02_image015
. Going to step 570, the error controller 180 detects the phase error again
Figure 02_image015
Whether it falls within the target range. If the phase error
Figure 02_image015
If it falls within the target range, the control device 100 executes step 590: the error controller 180 does not change the correction value R1, and stores it in the error compensation unit 190. The error compensation unit 190 reassigns and stores the correction value R1 as the first correction value C1, and records the d-axis current command Id and the q-axis current command Iq currently corresponding to the first correction value C1.

承上所述，如果相位誤差

Figure 02_image015
沒有落入目標範圍，控制裝置100則執行步驟580：誤差控制器180繼續依據相位誤差
Figure 02_image015
調整修正值R1給加法裝置145。控制裝置100將不斷進行步驟540至580，直到在步驟570中誤差控制器180偵測到相位誤差
Figure 02_image015
落入目標範圍為止。Continuing from the above, if the phase error
Figure 02_image015
If it does not fall within the target range, the control device 100 performs step 580: the error controller 180 continues to follow the phase
Figure 02_image015
The correction value R1 is adjusted to the adding device 145. The control device 100 will continue to perform steps 540 to 580 until the error controller 180 detects a phase error in step 570
Figure 02_image015
Until it falls within the target range.

故令每次電流命令單元110改變d軸電流命令Id及q軸電流命令Iq時，控制裝置100就執行上述控制方法500之流程。如此一來，經過複數次改變電流命令單元110輸出的d軸電流命令Id及q軸電流命令Iq，誤差補償單元190即可建立表格。其中，操作人員可依據實際需求決定執行控制方法500的次數。執行的次數越多對應紀錄的電流命令越多，在旋轉電機200正常運作時，控制裝置100所評估旋轉電機200的旋轉角度將越精準，以至於更能有效解決旋轉電機200低速運轉時的震盪現象，與提升旋轉電機200的運轉效率。Therefore, every time the current command unit 110 changes the d-axis current command Id and the q-axis current command Iq, the control device 100 executes the flow of the control method 500 described above. In this way, after changing the d-axis current command Id and the q-axis current command Iq output by the current command unit 110 multiple times, the error compensation unit 190 can create a table. Among them, the operator can determine the number of times to execute the control method 500 according to actual needs. The more the number of executions, the more current commands are recorded. When the rotating electric machine 200 is operating normally, the rotation angle of the rotating electric machine 200 evaluated by the control device 100 will be more accurate, so that it can effectively solve the vibration of the rotating electric machine 200 when the rotating machine 200 is running at low speed. This phenomenon is related to improving the operating efficiency of the rotating electric machine 200.

第6圖根據本發明之一實施例繪示測試模式時，旋轉電機200的控制裝置100之實際操作方塊圖。其中，第6圖中的速度控制單元115為前面所述的電流命令單元110之一實施例，但本發明不限於此。其中速度控制單元115可提供d軸電流命令Id，並且速度控制單元115中的速度控制器115a可提供q軸電流命令Iq，再透過控制器130及電壓轉換裝置132產生三相電壓Va、Vb、Vc給旋轉電機200。其中，電壓轉換裝置132包含同步/靜止軸轉換器132a、靜止/三相轉換器132b及變頻器132c。旋轉電機200依據三相電壓Va、Vb、Vc進行旋轉。其中電壓轉換裝置132中的同步/靜止軸轉換器132a、靜止/三相轉換器132b及變頻器132c為習知的技術，故不再本揭露文件贅述。FIG. 6 shows a block diagram of the actual operation of the control device 100 of the rotating electric machine 200 in the test mode according to an embodiment of the present invention. The speed control unit 115 in Figure 6 is an embodiment of the current command unit 110 described above, but the present invention is not limited to this. The speed control unit 115 can provide the d-axis current command Id, and the speed controller 115a in the speed control unit 115 can provide the q-axis current command Iq, and then through the controller 130 and the voltage conversion device 132 to generate three-phase voltages Va, Vb, Vc is given to the rotating electric machine 200. Among them, the voltage conversion device 132 includes a synchronous/static shaft converter 132a, a static/three-phase converter 132b, and an inverter 132c. The rotating electric machine 200 rotates according to the three-phase voltages Va, Vb, and Vc. Among them, the synchronous/static shaft converter 132a, the static/three-phase converter 132b, and the frequency converter 132c in the voltage conversion device 132 are conventional technologies, so they will not be described in detail in this disclosure.

在其他一實施例中，速度控制單元115更可包括一速度控制器115a。其中轉速命令

Figure 02_image047
可由處理器、微處理器或其他計算裝置等，提供給速度控制單元115。由於本領域之通常知識者可理解處理器、微處理器或其他計算裝置等裝置提供轉速命令
Figure 02_image047
之技術，故未繪示出。位置估測裝置170還可產生轉速命令
Figure 02_image049
給速度控制單元115。速度控制單元115可對轉速命令
Figure 02_image047
及轉速命令
Figure 02_image049
進行運算以產生轉速命令
Figure 02_image051
，其中轉速命令
Figure 02_image051
實質為前述轉速命令間之一轉速誤差，以至於速度控制器115a根據轉速命令
Figure 02_image051
產生q軸電流命令Iq。In another embodiment, the speed control unit 115 may further include a speed controller 115a. Where the speed command
Figure 02_image047
It can be provided to the speed control unit 115 by a processor, a microprocessor, or other computing devices. Since those skilled in the art can understand that processors, microprocessors or other computing devices provide speed commands
Figure 02_image047
The technology is not shown. The position estimation device 170 can also generate a speed command
Figure 02_image049
给Speed control unit 115. The speed control unit 115 can command the speed
Figure 02_image047
And speed command
Figure 02_image049
Perform calculations to generate speed commands
Figure 02_image051
, Where the speed command
Figure 02_image051
It is essentially a speed error between the aforementioned speed commands, so that the speed controller 115a according to the speed command
Figure 02_image051
Generate the q-axis current command Iq.

當旋轉電機200依據三相電壓Va、Vb、Vc進行旋轉時，電流轉換裝置134接收流經旋轉電機200的旋轉電機電流Ia、Ib、Ic，並計算出轉矩電流

Figure 02_image003
及磁通電流
Figure 02_image001
。電流轉換裝置134包含靜止/三相軸轉換器134a、靜止/同步轉換器134b及低通濾波器134c。其中，透過電流轉換裝置134中的靜止/三相軸轉換器134a及靜止/同步轉換器134b可計算出同步座標上的轉矩電流
Figure 02_image053
及同步座標上的磁通電流
Figure 02_image055
。特別注意的是，在此實施例中，本發明僅是選擇性地針對同步座標上的轉矩電流
Figure 02_image053
進行運算以幫助提高位置評估的精準度，但本發明不限於此。其中靜止/三相軸轉換器134a及靜止/同步轉換器134b所構成的高頻電流方程式如同以上所述，故不再贅述。When the rotating electric machine 200 rotates according to the three-phase voltages Va, Vb, and Vc, the current conversion device 134 receives the rotating electric machine currents Ia, Ib, Ic flowing through the rotating electric machine 200, and calculates the torque current
Figure 02_image003
And flux current
Figure 02_image001
. The current conversion device 134 includes a static/three-phase shaft converter 134a, a static/synchronous converter 134b, and a low-pass filter 134c. Among them, the static/three-phase shaft converter 134a and the static/synchronous converter 134b in the current conversion device 134 can calculate the torque current on the synchronous coordinates.
Figure 02_image053
And the flux current on the synchronous coordinate
Figure 02_image055
. Special attention is that in this embodiment, the present invention only selectively targets the torque current on the synchronous coordinate.
Figure 02_image053
The calculation is performed to help improve the accuracy of the location evaluation, but the present invention is not limited to this. The high-frequency current equations formed by the static/three-phase shaft converter 134a and the static/synchronous converter 134b are as described above, so they will not be repeated.

電流轉換裝置134完成計算同步座標軸上的轉矩電流

Figure 02_image053
之後，訊號解調裝置140則依據轉矩電流
Figure 02_image053
計算出高頻轉矩電流
Figure 02_image007
與高頻轉矩電流
Figure 02_image007
的電流變化量
Figure 02_image031
。其中訊號解調裝置140包含高通濾波器140a及高頻訊號解調器140b。高通濾波器140a依據轉矩電流
Figure 02_image003
計算出高頻轉矩電流
Figure 02_image007
。高頻訊號解調器140b具有訊號解調方程式計算電流變化量
Figure 02_image031
，訊號解調方程式如同以上所述，故不再贅述。旋轉電機200進行測試模式時，由控制裝置100所執行建立表格之方法已經詳述於前，故不再此另加敘述。The current conversion device 134 completes the calculation of the torque current on the synchronous coordinate axis
Figure 02_image053
Then, the signal demodulation device 140 is based on the torque current
Figure 02_image053
Calculate high frequency torque current
Figure 02_image007
With high frequency torque current
Figure 02_image007
Current change
Figure 02_image031
. The signal demodulation device 140 includes a high-pass filter 140a and a high-frequency signal demodulator 140b. The high-pass filter 140a depends on the torque current
Figure 02_image003
Calculate high frequency torque current
Figure 02_image007
. The high frequency signal demodulator 140b has a signal demodulation equation to calculate the current variation
Figure 02_image031
, The signal demodulation equation is as described above, so it will not be repeated. When the rotating electric machine 200 is in the test mode, the method of creating the table executed by the control device 100 has been described in detail above, so no further description will be given here.

綜上所述，本發明利用誤差補償單元190接收d軸電流命令Id及q軸電流命令Iq以輸出第一校正值C1，並且再計算出高頻轉矩電流

Figure 02_image007
的電流變化量
Figure 02_image031
及/或高頻磁通電流
Figure 02_image005
的電流變化量
Figure 02_image033
，即可有效地提升位置估測裝置170的相位估測值
Figure 02_image011
之精準度。相較於目前的技術，本發明大幅地減少處理器的運算量，並更有效提升旋轉電機的控制裝置之工作效率。此外，本發明亦可解決旋轉電機進行低速運轉時所產生的震盪現象，並提升旋轉電機的運轉效率。In summary, the present invention uses the error compensation unit 190 to receive the d-axis current command Id and the q-axis current command Iq to output the first correction value C1, and then calculate the high-frequency torque current
Figure 02_image007
Current change
Figure 02_image031
And/or high frequency flux current
Figure 02_image005
Current change
Figure 02_image033
, Can effectively improve the phase estimation value of the position estimation device 170
Figure 02_image011
The accuracy. Compared with the current technology, the present invention greatly reduces the calculation amount of the processor, and more effectively improves the working efficiency of the control device of the rotating electric machine. In addition, the present invention can also solve the oscillating phenomenon generated when the rotating electric machine is running at a low speed, and improve the operating efficiency of the rotating electric machine.

雖然本發明以較佳實施例揭露如上，然其並非用以限定本發明，任何本領域具有通常技術知識者，在不違背本發明精神和範圍的情況下，可做些許變動與替代，因此本發明之保護範圍當應視隨後所附之申請專利範圍所界定者為準。Although the present invention is disclosed as above in preferred embodiments, it is not intended to limit the present invention. Anyone with ordinary technical knowledge in the art can make some changes and substitutions without departing from the spirit and scope of the present invention. Therefore, this The scope of protection of the invention shall be determined by the scope of the subsequent patent application.

本文使用的術語僅用於描述特定實施例，而不旨在限制本發明。如本文所使用的，除非上下文另外明確指出，否則單數形式「一」、「一個」和「該」也包含複數形式。此外，就術語「包括」 、「包含」 、「具有」或其他變化用法被用於詳細描述和/或請求項，這些術語旨在以類似於術語「包含」的方式具有相同意思。The terms used herein are only used to describe specific embodiments and are not intended to limit the present invention. As used herein, unless the context clearly indicates otherwise, the singular forms "a", "an" and "the" also include plural forms. In addition, as far as the terms "include", "include", "have" or other variations are used in detailed descriptions and/or claims, these terms are intended to have the same meaning in a manner similar to the term "include".

100:控制裝置110:電流命令單元115:速度控制單元115a:速度控制器120:高頻訊號產生器130:控制器132:電壓轉換裝置132a:同步/靜止軸轉換器132b:靜止/三相轉換器132c:變頻器134:電流轉換裝置134a:靜止/三相軸轉換器134b:靜止/同步轉換器134c:低通濾波器140:訊號解調裝置140a:高通濾波器140b:高頻訊號解調器145:加法裝置150:編碼裝置160:減法裝置170:位置估測裝置180:誤差控制器182、184、195:開關190:誤差補償單元200:旋轉電機400:控制方法410~470:步驟500:控制方法510~590:步驟Id:d軸電流命令Iq:q軸電流命令Vd:d軸電壓Vq:q軸電壓Va、Vb、Vc:三相電壓Ia、Ib、Ic:三相電流C1:第一校正值C2:第二校正值R1:修正值

Figure 02_image001
:磁通電流
Figure 02_image005
:高頻磁通電流
Figure 02_image003
:轉矩電流
Figure 02_image007
:高頻轉矩電流
Figure 02_image009
:電流變化量
Figure 02_image055
:同步座標上的磁通電流
Figure 02_image053
:同步座標上的轉矩電流
Figure 02_image011
:相位估測值
Figure 02_image013
:相位量測值
Figure 02_image015
:相位誤差
Figure 02_image057
:轉速命令100: Control device 110: Current command unit 115: Speed control unit 115a: Speed controller 120: High-frequency signal generator 130: Controller 132: Voltage conversion device 132a: Synchronous/stationary shaft converter 132b: Static/three-phase conversion 132c: frequency converter 134: current conversion device 134a: static/three-phase shaft converter 134b: static/synchronous converter 134c: low-pass filter 140: signal demodulation device 140a: high-pass filter 140b: high-frequency signal demodulation Device 145: Adding device 150: Encoding device 160: Subtracting device 170: Position estimation device 180: Error controller 182, 184, 195: Switch 190: Error compensation unit 200: Rotary motor 400: Control method 410~470: Step 500 : Control method 510~590: Step Id: d-axis current command Iq: q-axis current command Vd: d-axis voltage Vq: q-axis voltage Va, Vb, Vc: three-phase voltage Ia, Ib, Ic: three-phase current C1: First correction value C2: Second correction value R1: Correction value
Figure 02_image001
: Flux current
Figure 02_image005
: High frequency magnetic flux current
Figure 02_image003
: Torque current
Figure 02_image007
: High frequency torque current
Figure 02_image009
: Current change
Figure 02_image055
: Flux current on synchronous coordinates
Figure 02_image053
: Torque current on synchronous coordinates
Figure 02_image011
: Phase estimate
Figure 02_image013
: Phase measurement value
Figure 02_image015
: Phase error
Figure 02_image057
: Speed command

第1圖所示為根據習知技術之一實施例的旋轉電機的控制裝置之估測誤差與d-q軸電流之關係圖。 第2圖所示為根據本發明之一實施例的旋轉電機的控制裝置之架構圖。 第3圖根據本發明之一實施例繪示於測試模式時，旋轉電機的控制裝置之架構圖。 第4圖所示為根據本發明之一實施例的旋轉電機的控制方法之流程圖。 第5圖根據本發明之一實施例繪示於測試模式時，旋轉電機的控制方法之流程圖。 第6圖根據本發明之一實施例繪示測試模式時，旋轉電機的控制裝置之實際操作方塊圖。Figure 1 is a diagram showing the relationship between the estimated error and the d-q axis current of the control device of the rotating electric machine according to an embodiment of the prior art. Figure 2 is a block diagram of a control device for a rotating electric machine according to an embodiment of the invention. FIG. 3 shows the structure diagram of the control device of the rotating electric machine in the test mode according to an embodiment of the present invention. Figure 4 shows a flowchart of a method for controlling a rotating electric machine according to an embodiment of the present invention. FIG. 5 shows a flowchart of a control method of a rotating electric machine in a test mode according to an embodiment of the present invention. Fig. 6 shows the actual operation block diagram of the control device of the rotating electric machine in the test mode according to an embodiment of the present invention.

100:控制裝置 100: control device

110:電流命令單元 110: Current command unit

120:高頻訊號產生器 120: High frequency signal generator

130:控制器 130: Controller

132:電壓轉換裝置 132: Voltage conversion device

134:電流轉換裝置 134: Current Conversion Device

140:訊號解調裝置 140: Signal demodulation device

145:加法裝置 145: Adding device

150:編碼裝置 150: coding device

160:減法裝置 160: Subtraction device

170:位置估測裝置 170: Position estimation device

180:誤差控制器 180: error controller

182、184、195:開關 182, 184, 195: switch

190:誤差補償單元 190: Error compensation unit

200:旋轉電機 200: Rotating motor

R1:修正值 R1: Correction value

Id:d軸電流命令 Id: d-axis current command

Iq:q軸電流命令 Iq: q-axis current command

Vd:d軸電壓 Vd: d axis voltage

Vq:q軸電壓 Vq: q-axis voltage

Va、Vb、Vc:三相電壓 Va, Vb, Vc: three-phase voltage

Ia、Ib、Ic:三相電流 Ia, Ib, Ic: three-phase current

C1:第一校正值 C1: First correction value

C2:第二校正值 C2: Second correction value

i d :磁通電流 i d : flux current

i q :轉矩電流 i q : Torque current

i dh :高頻磁通電流 i dh : high frequency magnetic flux current

i qh :高頻轉矩電流 i qh : high frequency torque current

Δi、Δi qh 、Δi dh :電流變化量 Δ i , Δ i qh , Δ i dh : current change

θ a :相位估測值 θ a : Estimated phase value

θ r :相位量測值 θ r : Phase measurement value

Δθ:相位誤差 Δθ: phase error

Claims (18)

一種用以控制一旋轉電機的控制裝置，包括：      一電流命令單元，提供一d軸電流命令及一q軸電流命令；      一電壓轉換裝置，耦接該電流命令單元及該旋轉電機；      一電流轉換裝置，將流經該旋轉電機的一旋轉電機電流轉換為一同步參考座標電流；      一訊號解調裝置，接收該同步參考座標電流，並計算出該同步參考座標電流之一高頻電流變化量；      一誤差補償單元，依據該d軸電流命令及該q軸電流命令輸出對應於該d軸電流命令及該q軸電流命令的一第一校正值；      一加法裝置，將該同步參考座標電流之該高頻電流變化量及該第一校正值進行相加以產生一第二校正值；以及      一位置估測裝置，依據該第二校正值調整一相位估測值給該電流轉換裝置及該電壓轉換裝置，進行座標軸轉換的運算。A control device for controlling a rotating electric machine, including: a current command unit that provides a d-axis current command and a q-axis current command; a voltage conversion device coupled to the current command unit and the rotating electric machine; a current conversion A device that converts a rotating electrical machine current flowing through the rotating electrical machine into a synchronous reference coordinate current; a signal demodulation device that receives the synchronous reference coordinate current, and calculates a high-frequency current variation of the synchronous reference coordinate current; An error compensation unit that outputs a first correction value corresponding to the d-axis current command and the q-axis current command according to the d-axis current command and the q-axis current command; an addition device that synchronizes the reference coordinate current The high-frequency current variation and the first correction value are added together to generate a second correction value; and a position estimation device adjusts a phase estimation value to the current conversion device and the voltage conversion device according to the second correction value , Carry out the calculation of coordinate axis conversion. 如申請專利範圍第1項所述之控制裝置，更包括：      一減法裝置，當該旋轉電機進行一測試模式時，將該相位估測值與實際量測的一相位量測值進行相減以產生一相位誤差。For example, the control device described in item 1 of the scope of the patent application further includes: A subtraction device, when the rotating electrical machine is in a test mode, the phase estimation value is subtracted from the actual measured phase measurement value to A phase error occurs. 如申請專利範圍第2項所述之控制裝置，更包括：      一誤差控制器，於該測試模式時，持續接收該相位誤差並依據該相位誤差產生一修正值給該加法裝置，當該相位誤差落於一目標範圍內時，將該相位誤差所對應的該修正值作為該第一校正值，並將該修正值及其所對應的該d軸電流命令及該q軸電流命令儲存於該誤差補償單元。For example, the control device described in item 2 of the scope of patent application further includes: an error controller, which continuously receives the phase error in the test mode and generates a correction value to the adding device according to the phase error. When the phase error When it falls within a target range, the correction value corresponding to the phase error is used as the first correction value, and the correction value and the corresponding d-axis current command and the q-axis current command are stored in the error Compensation unit. 如申請專利範圍第3項所述之控制裝置，其中於該測試模式時，且每當該相位誤差落於該目標範圍內時，該誤差補償單元按照該d軸電流命令及該q軸電流命令所對應的該第一校正值進行儲存以建立一表格。For the control device described in item 3 of the scope of patent application, in the test mode, and whenever the phase error falls within the target range, the error compensation unit follows the d-axis current command and the q-axis current command The corresponding first correction value is stored to create a table. 如申請專利範圍第2項所述之控制裝置，更包括：一編碼裝置，用以測量該旋轉電機之旋轉角度以輸出該相位量測值。The control device described in item 2 of the scope of patent application further includes an encoding device for measuring the rotation angle of the rotating electric machine to output the phase measurement value. 如申請專利範圍第1項所述之控制裝置，其中該同步參考座標電流包括一轉矩電流及一磁通電流。In the control device described in item 1 of the scope of patent application, the synchronous reference coordinate current includes a torque current and a magnetic flux current. 如申請專利範圍第6項所述之控制裝置，其中計算出該同步參考座標電流之該高頻電流變化量包括計算出一高頻轉矩電流與該高頻轉矩電流之一電流變化量，以及計算出一高頻磁通電流與該高頻磁通電流之一電流變化量。The control device described in item 6 of the scope of patent application, wherein calculating the high-frequency current variation of the synchronous reference coordinate current includes calculating a current variation of a high-frequency torque current and the high-frequency torque current, And calculate a current change amount of a high-frequency magnetic flux current and the high-frequency magnetic flux current. 如申請專利範圍第7項所述之控制裝置，更包括：一高頻訊號產生器，用以產生並輸入一高頻訊號，以計算出該高頻轉矩電流及該高頻磁通電流。The control device described in item 7 of the scope of patent application further includes: a high-frequency signal generator for generating and inputting a high-frequency signal to calculate the high-frequency torque current and the high-frequency magnetic flux current. 如申請專利範圍第8項所述之控制裝置，更包括：一控制器，用以同時接收該高頻訊號、該d軸電流命令及該q軸電流命令，並對應輸出在一同步參考座標上的一d軸電壓及一q軸電壓。The control device described in item 8 of the scope of patent application further includes: a controller for simultaneously receiving the high-frequency signal, the d-axis current command and the q-axis current command, and correspondingly outputting them on a synchronous reference coordinate A d-axis voltage and a q-axis voltage. 如申請專利範圍第9項所述之控制裝置，更包括：一速度控制器，用以提供該q軸電流命令，再透過該控制器及該電壓轉換裝置產生三相電壓Va、Vb、Vc給該旋轉電機。For example, the control device described in item 9 of the scope of patent application further includes: a speed controller for providing the q-axis current command, and then generating three-phase voltages Va, Vb, and Vc through the controller and the voltage conversion device. The rotating motor. 一種旋轉電機的控制方法，包括以下步驟：      提供一d軸電流命令及一q軸電流命令；      將流經該旋轉電機的一旋轉電機電流轉換為一同步參考座標電流；      計算出該同步參考座標電流之一高頻電流變化量；      依據該d軸電流命令及該q軸電流命令輸出對應於該d軸電流命令及該q軸電流命令的一第一校正值；      將該同步參考座標電流之該高頻電流變化量及該第一校正值進行相加以產生一第二校正值；以及      依據該第二校正值調整一相位估測值，進行座標軸轉換的運算。A control method for a rotating electric machine includes the following steps: Provide a d-axis current command and a q-axis current command; Convert a rotating electric machine current flowing through the rotating electric machine into a synchronous reference coordinate current; Calculate the synchronous reference coordinate current One of the high-frequency current changes; According to the d-axis current command and the q-axis current command, output a first correction value corresponding to the d-axis current command and the q-axis current command; The high of the synchronous reference coordinate current The frequency current variation and the first correction value are added to generate a second correction value; and a phase estimation value is adjusted according to the second correction value, and the coordinate axis conversion operation is performed. 如申請專利範圍第11項所述之控制方法，更包括以下步驟：      當該旋轉電機進行一測試模式時，將該相位估測值與實際量測的一相位量測值進行相減以產生一相位誤差。For example, the control method described in item 11 of the scope of patent application further includes the following steps: When the rotating electric machine is in a test mode, the phase estimation value is subtracted from an actual measured phase measurement value to generate a Phase error. 如申請專利範圍第12項所述之控制方法，更包括以下步驟：      於該測試模式時，依據該相位誤差持續產生一修正值，並將該修正值與該同步參考座標電流之該高頻電流變化量進行相加以產生該第二校正值；以及      其中當該相位誤差落於一目標範圍內時，將該修正值作為該第一校正值，並將該修正值及其所對應的該d軸電流命令及該q軸電流命令儲存於一誤差補償單元。For example, the control method described in item 12 of the scope of patent application further includes the following steps: In the test mode, a correction value is continuously generated according to the phase error, and the correction value is combined with the high-frequency current of the synchronous reference coordinate current The amount of change is added together to generate the second correction value; and when the phase error falls within a target range, the correction value is used as the first correction value, and the correction value and the corresponding d-axis The current command and the q-axis current command are stored in an error compensation unit. 如申請專利範圍第13項所述之控制方法，其中於該測試模式時，且每當該相位誤差落於該目標範圍內時，透過該誤差補償單元按照該d軸電流命令及該q軸電流命令所對應的該第一校正值進行儲存以建立一表格。Such as the control method described in item 13 of the scope of patent application, wherein in the test mode, and whenever the phase error falls within the target range, the error compensation unit is used according to the d-axis current command and the q-axis current The first correction value corresponding to the command is stored to create a table. 如申請專利範圍第11項所述之控制方法，其中該同步參考座標電流包括一轉矩電流及一磁通電流。The control method described in item 11 of the scope of patent application, wherein the synchronous reference coordinate current includes a torque current and a magnetic flux current. 如申請專利範圍第15項所述之控制方法，其中計算出該同步參考座標電流之該高頻電流變化量，包括以下步驟：計算出一高頻轉矩電流與該高頻轉矩電流之一電流變化量，以及計算出一高頻磁通電流與該高頻磁通電流之一電流變化量。The control method described in item 15 of the scope of patent application, wherein calculating the high-frequency current variation of the synchronous reference coordinate current includes the following steps: calculating one of a high-frequency torque current and the high-frequency torque current The amount of current change, and calculate a current change amount of a high-frequency magnetic flux current and the high-frequency magnetic flux current. 如申請專利範圍第16項所述之控制方法，更包括以下步驟：輸入一高頻訊號以計算出該高頻轉矩電流及該高頻磁通電流。The control method described in item 16 of the scope of patent application further includes the following steps: inputting a high-frequency signal to calculate the high-frequency torque current and the high-frequency magnetic flux current. 專利範圍第17項所述之控制方法，更包括以下步驟：同時接收該高頻訊號、該d軸電流命令及該q軸電流命令，並對應輸出在一同步參考座標上的一d軸電壓及一q軸電壓。The control method described in item 17 of the scope of the patent further includes the following steps: simultaneously receiving the high-frequency signal, the d-axis current command and the q-axis current command, and correspondingly outputting a d-axis voltage and a synchronous reference coordinate A q-axis voltage.
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