WO2012077153A1 - 同期電動機のインダクタンス測定装置及び測定方法 - Google Patents
同期電動機のインダクタンス測定装置及び測定方法 Download PDFInfo
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- WO2012077153A1 WO2012077153A1 PCT/JP2010/007080 JP2010007080W WO2012077153A1 WO 2012077153 A1 WO2012077153 A1 WO 2012077153A1 JP 2010007080 W JP2010007080 W JP 2010007080W WO 2012077153 A1 WO2012077153 A1 WO 2012077153A1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/26—Measuring inductance or capacitance; Measuring quality factor, e.g. by using the resonance method; Measuring loss factor; Measuring dielectric constants ; Measuring impedance or related variables
- G01R27/2611—Measuring inductance
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P27/00—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage
- H02P27/04—Arrangements or methods for the control of AC motors characterised by the kind of supply voltage using variable-frequency supply voltage, e.g. inverter or converter supply voltage
Definitions
- the present invention relates to an apparatus for measuring the inductance of a synchronous motor controlled by an inverter and a measuring method thereof.
- an AC voltage (so-called alternating voltage) in a direction parallel to a dc axis rotating at an arbitrary frequency is applied and detected by a current detector. From the dc-axis current obtained by converting the motor current (u-phase current, w-phase current) to the current on the dc-axis that is the application axis of the AC voltage, An alternating current having the same frequency component is detected.
- An inductance measurement method is disclosed in which the inductance is calculated from the maximum value, the minimum value, and the AC voltage of the AC current within a period in which the dc axis is rotated 180 degrees or more in electrical angle.
- Patent Document 2 discloses the following technique as a control device for a permanent magnet synchronous motor. That is, an AC voltage is applied in a direction parallel to the permanent magnet of the synchronous motor, a d-axis current that is a current component parallel to the permanent magnet of the motor is detected, and the AC voltage is time-integrated to obtain a d-axis magnetic flux. Calculate. From the result, a hysteresis curve is drawn with the horizontal axis representing the d-axis current and the vertical axis representing the d-axis magnetic flux, and an average curve passing through the middle of the hysteresis curve is obtained.
- Patent Document 3 a high-frequency square wave signal is superimposed on a current command value or a voltage command value. Then, when superimposed on the current command value, the square wave signal component is derived from the second current command value calculated so that the d-axis or q-axis current command value superimposed with the square wave signal matches the current detection value. And the ratio of the absolute value of the extracted square wave signal and the absolute value of the superimposed square wave signal is multiplied by the inductance setting value of the d-axis or q-axis to identify the inductance value of the motor.
- the square wave signal component is extracted from the absolute value of the square wave signal superimposed on the d-axis or q-axis voltage command value and the current detection value, and extracted.
- a method for identifying the inductance value of a motor by dividing the absolute value of is disclosed.
- JP 2002-272195 A Japanese Patent Laid-Open No. 2001-69782 JP2008-92657
- Patent Document 1 the technique disclosed in Patent Document 1 described above is a method in which the above alternating voltage is applied to the motor, and the alternating voltage needs to be applied by changing the direction from at least 0 ° to 180 °. Furthermore, since coordinate conversion from the dc-axis voltage to the three-phase voltage is required, there is a problem that it takes time to measure the inductance of the synchronous motor.
- the present invention has been made in view of the above-described problems.
- a three-phase high-frequency rotation voltage is applied to a synchronous motor, and an inductance is calculated from the same frequency component as the high-frequency voltage included in the motor current.
- the purpose is to do.
- An inductance measuring apparatus for a synchronous motor includes a voltage converter that converts a high-frequency voltage command and applies the same to the synchronous motor, a voltage command generator that generates a high-frequency voltage command to be input to the voltage converter, and the synchronous motor
- a current detector for detecting a current of the current, and the current detected from the current detector is converted into a current on an orthogonal biaxial coordinate system positioned at an arbitrary phase with respect to a fixed coordinate system, and the orthogonal biaxial coordinate system
- a coordinate converter that outputs a uniaxial current, a fundamental wave component extractor that extracts the same frequency component as the high frequency voltage included in the uniaxial current of the orthogonal biaxial coordinate system, and the high frequency voltage
- An inductance calculator for calculating an inductance from an effective value, a frequency, and an output of the fundamental wave component extractor is provided.
- the voltage command generator has a three-phase high frequency rotation voltage having a sufficiently high frequency value as a fundamental frequency compared to the variable voltage
- the present invention uses a three-phase high-frequency rotation voltage as a voltage command to the synchronous motor, and thus has conventionally required voltage coordinate conversion, detection of magnetic pole position before measuring inductance, current Control inductance and vector control computation are not required, and the inductance of the synchronous motor can be measured quickly and easily.
- FIG. 1 shows an inductance measuring apparatus for a synchronous motor according to the first embodiment.
- a voltage command generator 2 in the inductance measuring apparatus 1 is a component of a voltage command to the voltage converter 3 when the basic frequency of the output voltage of the voltage converter 3 is fh and the frequency of the output voltage is fh.
- a three-phase high-frequency rotation voltage command V * uvw is generated with an effective value of Vh being Vh.
- the three-phase high-frequency rotational voltage command V * uvw has a fundamental frequency that is sufficiently high so that the synchronous motor 8 does not rotate, the voltage effective value of each phase is equal, and the phase difference between the phases is 120 °.
- the three-phase high-frequency rotation voltage command V * uvw is converted into a three-phase voltage Vuvw by the voltage converter 3 by a known triangular wave comparison PWM method and applied to the synchronous motor 8.
- the current detector 4 detects the phase current Iuvw of the synchronous motor 8. Then, as shown in FIG. 2, the coordinate converter 5 includes a ⁇ -axis obtained by rotating the phase current Iuvw by an arbitrary phase angle ⁇ with respect to the fixed coordinate system 9 including the u-axis, the v-axis, and the w-axis. The current is converted to an electric current on the arbitrary rotating coordinate system 10 composed of the ⁇ axis, and the ⁇ axis current I ⁇ is output.
- the ⁇ axis is the current observation axis.
- the fundamental wave component extractor 6 extracts the same frequency component Ih ⁇ as the fundamental wave of the high-frequency voltage included in the ⁇ -axis current I ⁇ that is the output of the coordinate converter 5.
- the inductance calculator 7 uses the output Ih ⁇ of the fundamental wave component extractor 6, the fundamental frequency fh of the high-frequency rotation voltage, and the effective value Vh of the fundamental frequency component of the high-frequency rotation voltage to generate the ⁇ -axis of the synchronous motor 8.
- the inductance L ⁇ is calculated.
- the d-axis inductance Ld and the q-axis inductance Lq are calculated when the coordinate converter 5 changes the phase ⁇ of the arbitrary rotating coordinate system 10 with respect to the fixed coordinate system 9 from 0 ° to 180 °.
- the minimum value of L ⁇ which is the calculation result of the device 7 and is the inductance of the ⁇ -axis is defined as Ld, and the maximum value is defined as Lq.
- FIG. 3 is an operation flowchart of the synchronous motor inductance measuring apparatus according to the first embodiment.
- n is a measurement point number when measuring the inductance.
- step 3B the ⁇ -axis inductance L ⁇ (In) at the set current target value In is measured.
- step 4A in order to flow the target current value In to each phase of the synchronous motor 8, the voltage command generator 2 increases the absolute value of the voltage command value, and in step 4B, the voltage converter 3 has a high frequency. Input the rotation voltage command.
- step 4C each phase current of the synchronous motor 8 is detected by the current detector 4, and in step 4D, the detected current value of each phase is compared with the target current value In. At this time, when the detected current value of each phase is lower than the target current value In, in step 4A, the absolute value of the voltage command value is increased again, and the processing after step 4B is performed.
- step 4D when the detected current value of each phase is equal to or larger than the target current value
- step 4E with the amplitude of the voltage command in the voltage command generator 2 fixed, L ⁇ ( ⁇ ) that is an inductance distribution with respect to the rotor position of the synchronous motor is calculated.
- L ⁇ ( ⁇ ) is in the position where the phase of the ⁇ -axis is ⁇ ° in the process of changing the phase of the arbitrary rotating coordinate system 10, that is, the phase of the ⁇ -axis measured from the u-phase from 0 ° to 180 °. Is the inductance in the ⁇ -axis direction.
- FIG. 5 shows a flowchart of the calculation process of L ⁇ ( ⁇ ).
- the phase current of the synchronous motor 8 is an arbitrary rotational coordinate composed of a ⁇ axis and a ⁇ axis obtained by rotating an arbitrary phase angle ⁇ with respect to a fixed coordinate system 9 composed of a u axis, a v axis and a w axis.
- a ⁇ -axis current i ⁇ ( ⁇ ) is obtained.
- step 5B a fundamental wave component ih ⁇ is extracted from the ⁇ -axis current i ⁇ by a method such as a known digital filter or Fourier transform, and in step 5C, an effective value Ih ⁇ of the ⁇ -axis current i ⁇ ( ⁇ ) is extracted. Is calculated.
- step 5D the three-phase voltage command is set on the arbitrary rotational coordinate system 10 composed of the ⁇ -axis and ⁇ -axis, which is rotated by an arbitrary phase angle ⁇ with respect to the fixed coordinate system 9 composed of the u-axis, v-axis and w-axis.
- Inductance L ⁇ ( ⁇ ) is calculated.
- Step 4A to Step 4E and Step 5A to Step 5D within a range of ⁇ scanning section set in advance by the synchronous motor controller at a constant frequency sufficiently lower than the fundamental frequency of the high-frequency rotation voltage. , ⁇ is repeated at a constant sampling interval while changing in a constant direction.
- the scanning section indicates a range of ⁇ to be changed in order to measure the ⁇ -axis inductance, and the scanning section is set in advance so as to scan at least a half cycle of the electric angle of the synchronous motor, that is, 180 ° or more.
- step 4F calculation of the value of L ⁇ ( ⁇ ) is completed for one period or more of the inductance distribution with respect to the rotor position of the synchronous motor.
- the measurement of the ⁇ -axis inductance L ⁇ (In) in the set In is finished.
- step 3C the maximum value and the minimum value of the fundamental wave effective value Ih ⁇ (In) of the ⁇ -axis current measured above are extracted and defined as the d-axis current Id and the q-axis current Iq, respectively. Then, the maximum value and the minimum value of the ⁇ -axis inductance L ⁇ (In) are extracted and defined as the d-axis inductance Ld and the q-axis inductance Lq, respectively.
- the measurement point number n is smaller than the value N set in advance by the synchronous motor control device in step 3D, n is incremented in step 3E, and the processing from step 3A to step 3C is repeatedly executed, so that The inductance value with respect to the synchronous motor current value is measured. Then, when the measurement point number n becomes equal to the preset value N, a method such as a least square method is used for a plurality of measurement results of Id and Ld and Iq and Lq measured in Step 3F. Thus, the saturation characteristic of the inductance is derived as a function L (i) of the current.
- FIG. 6 is a time chart in the inductance measurement in Embodiment 1 of the present invention.
- the ⁇ -axis current fundamental wave effective value 18 and the ⁇ -axis inductance 19 with respect to the voltage amplitude 14 and the ⁇ -axis current fundamental wave effective value 17 and the ⁇ -axis inductance with respect to the voltage amplitude 13.
- 20 shows that the ⁇ -axis current fundamental effective value 16 and the ⁇ -axis inductance 21 are obtained with respect to the voltage amplitude 12, respectively.
- the voltage command generated by the voltage command generator 2 is a three-phase high-frequency rotation voltage, and each coordinate is converted into a single-axis direction AC voltage command. Since this method is different from the method of applying an alternating voltage in the direction, it is not necessary to perform coordinate conversion for directly generating a three-phase voltage command, and in addition, a voltage can be applied in all the phase directions of the motor at the same time. Therefore, the time required to apply the voltage to the motor can be shortened, and as a result, the time required to measure the inductance of the synchronous motor can be shortened.
- the phase ⁇ of the ⁇ -axis which is the current observation axis, is given from an arbitrary phase over a half cycle or more in the electrical angle of the synchronous motor, whereby the d-axis inductance Ld and the q-axis inductance Lq are obtained. Therefore, the inductance can be measured without detecting the magnetic pole position in advance. Furthermore, since the high frequency signal itself is used as a voltage command, unlike the method of superimposing it on the command value, a current control arithmetic unit or the like is not required, and the inductance of the synchronous motor can be measured with a simple configuration.
- Embodiment 2 FIG.
- Ld and Lq are obtained from the minimum value and maximum value of the calculation result L_ ⁇ of the inductance calculator 7, respectively.
- the maximum value Id and minimum value of the output ih_ ⁇ of the fundamental wave component extractor 6 are obtained.
- the d-axis inductance Ld and the q-axis inductance Lq can be directly calculated without obtaining L_ ⁇ ( ⁇ ) for all the values of ⁇ in the scanning interval of ⁇ .
- Ld and Lq can be obtained by
- Embodiment 3 FIG.
- the type of waveform of the high-frequency voltage command is not mentioned, but as a command to be given to the triangular wave comparison PWM power converter that outputs a rectangular wave by using a rectangular wave voltage command.
- the voltage error before and after the power converter 2 is reduced, and the inductance measurement accuracy can be improved.
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Abstract
Description
図1は、この実施の形態1における同期電動機のインダクタンス測定装置を示すものである。なお、この実施の形態により、この発明が限定されるものではない。図1において、インダクタンス測定装置1内の電圧指令生成器2は、電圧変換器3への電圧指令として、前記電圧変換器3の出力電圧の基本周波数がfh、該出力電圧の周波数がfhにおける成分の実効値がVhとなる、三相の高周波回転電圧指令V*uvwを生成する。ここで、前記三相の高周波回転電圧指令V*uvwは、同期電動機8が回転しない程度に十分高い周波数を基本周波数とし、各相の電圧実効値が等しく、各相間の位相差が120°の三相交流電圧指令である。前記三相の高周波回転電圧指令V*uvwは、前記電圧変換器3によって、公知の三角波比較PWM方式により三相電圧Vuvwに変換され、前記同期電動機8に印加される。
上記実施の形態1では、インダクタンス計算器7の演算結果L_γの最小値、最大値からそれぞれLd、Lqを求めるように構成したが、基本波成分抽出器6の出力ih_γの最大値Id、最小値Iqを用いてインダクタンスを算出することにより、ξの走査区間において、すべてのξの値にたいしてL_γ(ξ)を求めなくとも、直接d軸インダクタンスLdおよびq軸インダクタンスLqを算出できるため、少ない計算量でLd、Lqを求めることができる。
上記実施の形態1では、高周波電圧指令の波形の種類には言及しなかったが、矩形波状の電圧指令を用いることにより、矩形派が出力される三角波比較PWM方式の電力変換器に与える指令としては、正弦波の場合に比べて電力変換器2前後での電圧誤差が小さくなり、インダクタンスの測定精度を向上させることができる。
2 電圧指令生成器
3 電圧変換器
4 電流検出器
5 座標変換器
6 基本波成分抽出器
7 インダクタンス計算器
8 同期電動機
9 固定座標系
10 任意回転座標系
Claims (5)
- 高周波電圧を変換し同期電動機に印加する電圧変換器と、
前記電圧変換器に入力する高周波電圧指令を生成する電圧指令生成器と、
前記同期電動機の電流を検出する電流検出器と、
前記電流検出器から検出された電流を、固定座標系に対して任意の位相に位置する直交二軸座標系上の電流に変換し、前記直交二軸座標系のうちの一軸の電流を出力する座標変換器と、
前記直交二軸座標系のうちの一軸の電流に含まれる前記高周波電圧と同一周波数成分を抽出する基本波成分抽出器と、
前記高周波電圧の実効値、周波数及び前記基本波成分抽出器の出力とからインダクタンスを計算するインダクタンス計算器を備え、
前記電圧指令生成器は、可変の電圧実効値と、同期電動機が同期回転することが可能な回転周波数の最大値に比して十分高い周波数値を基本周波数とする、三相の高周波回転電圧を生成し、前記電圧変換器へ出力することを特徴とする同期電動機のインダクタンス測定装置。
- 前記座標変換器の前記固定座標系はu軸、v軸およびw軸からなる座標系であり、前記直交二軸座標系は、γ軸およびδ軸からなり、前記直交二軸座標系のうちの一軸の電流はγ軸電流であることを特徴とする請求項1に記載の同期電動機のインダクタンス測定装置。
- 前記座標変換器は、前記固定座標系から前記直交二軸座標系への変換を少なくとも電気角で180°行うことにより、前記インダクタンス計算器の最小値および最大値から同期電動機のd軸インダクタンスおよびq軸インダクタンスを求めることを特徴とする請求項1に記載の同期電動機のインダクタンス測定装置。
- 同期電動機のインダクタンスを測定する電流目標値を設定する電流目標値設定ステップと、
前記設定した電流目標値におけるγ軸のインダクタンスを測定するインダクタンス測定ステップと、
γ軸の電流を測定するγ軸電流測定ステップと、
前記設定した電流目標値における前記γ軸電流の実行値の最大値および最小値を抽出してそれぞれd軸電流、q軸電流とし、前記γ軸インダクタンスの最大値と最小値を抽出し、それぞれd軸インダクタンス、q軸インダクタンスとする、電流・インダクタンス抽出ステップと、
前記d軸電流、q軸電流、d軸インダクタンスおよびq軸インダクタンスをもとに、インダクタンスの電流に対する飽和特性を求める、飽和特性算出ステップと、
からなることを特徴とする、同期電動機のインダクタンス測定方法。
- 前記インダクタンス測定ステップは、
同期電動機の各相電流を検出する、相電流検出ステップと、
前記相電流検出ステップにて検出された同期電動機の各相電流と、前記電流目標値との大小関係から、電流検出を終了するか否かを判定する、電流検出終了判定ステップと、
同期電動機の回転子位置に対するインダクタンスの分布を測定する、インダクタンス分布測定ステップと、
あらかじめ設定したインダクタンス測定数におけるインダクタンスの分布の測定が終了したか否かを判定する、インダクタンス分布測定終了判定ステップと、
からなることを特徴とする、請求項4に記載の同期電動機のインダクタンス測定方法。
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EP10860407.5A EP2651027A4 (en) | 2010-12-06 | 2010-12-06 | Inductance measurement device and measurement method for synchronous electric motor |
PCT/JP2010/007080 WO2012077153A1 (ja) | 2010-12-06 | 2010-12-06 | 同期電動機のインダクタンス測定装置及び測定方法 |
JP2012547594A JP5523584B2 (ja) | 2010-12-06 | 2010-12-06 | 同期電動機のインダクタンス測定装置及び測定方法 |
CN201080070540.7A CN103250343B (zh) | 2010-12-06 | 2010-12-06 | 同步电动机的电感测定装置及测定方法 |
KR1020137016965A KR20130095819A (ko) | 2010-12-06 | 2010-12-06 | 동기 전동기의 인덕턴스 측정 장치 및 측정 방법 |
US13/884,486 US9335356B2 (en) | 2010-12-06 | 2010-12-06 | Inductance measuring device and measuring method for synchronous motor |
TW099143639A TWI410655B (zh) | 2010-12-06 | 2010-12-14 | 同步電動機之電感測定裝置及測定方法 |
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Also Published As
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TW201224484A (en) | 2012-06-16 |
CN103250343A (zh) | 2013-08-14 |
EP2651027A4 (en) | 2017-12-06 |
US9335356B2 (en) | 2016-05-10 |
CN103250343B (zh) | 2016-01-20 |
EP2651027A1 (en) | 2013-10-16 |
JPWO2012077153A1 (ja) | 2014-05-19 |
US20140002110A1 (en) | 2014-01-02 |
JP5523584B2 (ja) | 2014-06-18 |
KR20130095819A (ko) | 2013-08-28 |
TWI410655B (zh) | 2013-10-01 |
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