WO2014125571A1 - モータ制御装置およびその制御方法 - Google Patents
モータ制御装置およびその制御方法 Download PDFInfo
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- WO2014125571A1 WO2014125571A1 PCT/JP2013/053276 JP2013053276W WO2014125571A1 WO 2014125571 A1 WO2014125571 A1 WO 2014125571A1 JP 2013053276 W JP2013053276 W JP 2013053276W WO 2014125571 A1 WO2014125571 A1 WO 2014125571A1
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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
- H02P27/06—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 using dc to ac converters or inverters
- H02P27/08—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 using dc to ac converters or inverters with pulse width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M1/00—Details of apparatus for conversion
- H02M1/44—Circuits or arrangements for compensating for electromagnetic interference in converters or inverters
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/539—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency
- H02M7/5395—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters with automatic control of output wave form or frequency by pulse-width modulation
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
- H02M7/00—Conversion of ac power input into dc power output; Conversion of dc power input into ac power output
- H02M7/42—Conversion of dc power input into ac power output without possibility of reversal
- H02M7/44—Conversion of dc power input into ac power output without possibility of reversal by static converters
- H02M7/48—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode
- H02M7/53—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal
- H02M7/537—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters
- H02M7/5387—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration
- H02M7/53871—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current
- H02M7/53873—Conversion of dc power input into ac power output without possibility of reversal by static converters using discharge tubes with control electrode or semiconductor devices with control electrode using devices of a triode or transistor type requiring continuous application of a control signal using semiconductor devices only, e.g. single switched pulse inverters in a bridge configuration with automatic control of output voltage or current with digital control
Definitions
- the present invention relates to a motor control device incorporating a noise filter and a control method thereof.
- a motor control device for driving and controlling an AC motor includes a converter that converts AC power into DC power, and an inverter that switches the DC power generated by the converter and converts it into AC power for driving the motor. Then, noise is generated by the switching operation of the semiconductor switching element. This noise is conductive noise that propagates to the outside via the power supply line and affects peripheral devices.
- a noise filter is installed at the power supply line connection end of the motor control device to reduce leakage of generated conductive noise to the power supply line (for example, Patent Document 1).
- the amount of leakage of the conductive noise to the power supply line is often regulated in the band of 150 kHz to 30 MHz.
- the band is usually a frequency range much higher than the carrier frequency band used for switching the inverter of the motor control device by the PWM signal.
- the noise filter has a structure of a low-pass filter that passes without being attenuated in a low frequency range, and its cutoff frequency (frequency at which attenuation starts) is usually lower than the carrier frequency of the motor control device.
- the manufacturer of the noise filter does not care about the cutoff frequency of the noise filter, and designs only by paying attention to the attenuation value near 150 kHz.
- the attenuation factor and the cut-off frequency of the noise filter differ depending on the manufacturer of the noise filter, the following problems occur when such a noise filter is combined with the settings of the motor control device manufacturer or user.
- a noise filter having a large noise attenuation rate in a band of 150 kHz or higher may have a cutoff frequency near the carrier frequency of the motor control device.
- the ferrite core of the common mode coil that functions as an inductor constituting the noise filter is magnetically saturated in the motor control device. The noise attenuation effect cannot be obtained.
- the ferrite core of the common mode coil is multi-staged, the cross-sectional area of the ferrite core is increased, or a core made of an amorphous material having a high saturation magnetic flux density is used, the inductor becomes larger, Since the material cost becomes high, there has been a problem that the manufacturer and the user of the motor control device that selectively uses such a noise filter have caused an increase in the size and cost of the device.
- the present invention has been made in view of the above, and even if a noise filter manufactured according to the previous specification is incorporated without requiring special measures on the noise filter manufacturer side, the ferrite core of the common mode coil
- An object of the present invention is to provide a motor control device and a control method thereof that can be used without causing magnetic saturation.
- the motor control device incorporates a noise filter for preventing noise generated in the PWM control type inverter from leaking to the AC power supply side.
- a noise filter for preventing noise generated in the PWM control type inverter from leaking to the AC power supply side.
- the cutoff frequency of the noise filter overlaps with a carrier frequency that is a frequency of a triangular carrier signal used for generating a PWM signal, or when the cutoff frequency comes close to the carrier frequency, It is characterized by having a control function for changing to a different frequency.
- the ferrite core of the common mode coil does not cause magnetic saturation. Can be used. Therefore, since the cost of the built-in noise filter can be suppressed, there is an effect that the apparatus cost can be greatly reduced.
- FIG. 1 is a block diagram showing a main configuration of a motor control device according to an embodiment of the present invention.
- FIG. 2 is a characteristic diagram showing an example of impedance characteristics of the noise filter shown in FIG.
- FIG. 3 is a flowchart for explaining the operation according to this embodiment.
- FIG. 4 is a characteristic diagram showing the relationship between the detected noise current value and the carrier frequency of the motor control device.
- FIG. 4B shows a case where fc ⁇ fr.
- FIG. 1 is a block diagram showing a main configuration of a motor control apparatus according to an embodiment of the present invention.
- a motor control apparatus 1 according to the present embodiment has a configuration related to drive control of a motor 2 (in FIG. 1, “converter 3, capacitor 4, inverter 5, gate signal generation circuit 6 and PWM signal generation circuit in the basic part” 7 ”), a current detector 9, a sample and hold circuit (S / H) 10, and a carrier frequency change necessity determination unit 11 are added when the noise filter 8 is built in. ing.
- the noise filter 8 is installed between the input end of the converter 3 and the device-side connection end of the power cable 13 to the AC power source 12.
- the converter 3 is a full-wave rectifier circuit using a diode bridge.
- the converter 3 generates a predetermined DC voltage by full-wave rectifying the output (three-phase AC voltage in the illustrated example) of the AC power supply 12 input through the noise filter 8.
- the DC voltage output from the converter 3 is smoothed by the capacitor 4 and becomes a constant voltage, and becomes the bus voltage of the inverter 5.
- the inverter 5 is composed of a switching circuit composed of a plurality of power transistors (IGBTs in the illustrated example) 5b having diodes 5a connected in antiparallel.
- the switching circuit includes three arms, in which two diodes 5a and a power transistor 5b are connected in series between the positive and negative buses connected to the positive and negative ends of the capacitor 4. Arranged in parallel, one end of each of the three upper arms connected to the positive electrode bus and the other end of each of the three lower arms connected to the negative electrode bus serve as an output end, The motor 2 is connected.
- the PWM signal generation circuit 7 is a PWM signal (pulse width modulation) whose pulse width changes based on a comparison between a triangular wave carrier signal having a certain frequency and a speed command voltage signal having a certain slope and intersecting the triangular wave carrier signal. Signal).
- the gate signal generation circuit 6 individually applies gate signals to be applied to the gates of the power transistors 5b of the three upper arms and the three lower arms of the switching circuit constituting the inverter 5. To generate.
- the inverter 5 includes a bus formed by the capacitor 4 when the power transistors 5b of the three upper arms and the three lower arms of the switching circuit are individually turned on / off by a gate signal from the gate signal generation circuit 6. The voltage is switched to transform the AC drive voltage to the motor 2.
- the noise filter 8 is provided in order to prevent conductive noise generated in the inverter 5 from propagating to the outside through the power supply line and affecting peripheral devices.
- the noise filter 8 includes a common mode coil, an X capacitor disposed between lines, and a Y capacitor disposed between line grounds, although the illustration of the configuration is omitted.
- the X capacitor is mainly intended to attenuate normal mode noise
- the Y capacitor is mainly intended to attenuate common mode noise.
- FIG. 2 is a characteristic diagram showing an example of impedance characteristics of the noise filter shown in FIG.
- FIG. 3 is a flowchart for explaining the operation according to this embodiment.
- the vertical axis indicates the logarithm of the noise filter impedance, indicating that the attenuation rate of the noise filter 8 decreases as it goes downward.
- the frequency fr shown at the lowest point of the valley portion of the impedance characteristic curve 15 is the cutoff frequency (frequency at which attenuation starts) of the noise filter 8.
- the frequency fc shown at the position where the valley portion of the impedance characteristic curve 15 has risen to the high frequency side is the frequency (carrier frequency) of the triangular carrier signal used for generating the PWM signal in the PWM signal generating circuit 7.
- the frequency (carrier frequency) fc of the triangular wave carrier signal used for generating the PWM signal is in a higher frequency range than the cutoff frequency fr of the noise filter 8 as shown in FIG.
- the manufacturer of the noise filter 8 does not consider the cut-off frequency fr so much and designs it by paying attention only to the attenuation value around 150 kHz defined by the international EMI standard.
- the cutoff frequency fr of the noise filter 8 designed and manufactured by the manufacturer of the noise filter 8 in consideration of the international EMI standard is close to the carrier frequency fc of the motor control device 1.
- the noise filter 8 in which the cut-off frequency fr is close to the carrier frequency fc of the motor control device 1 is built in the motor control device 1 as described above.
- conductive noise is generated for each carrier frequency fc or each harmonic thereof, but if the carrier frequency fc overlaps with the cutoff frequency fr of the noise filter 8 or does not overlap, the noise filter 8.
- the noise current input to the noise filter 8 is amplified by resonance and becomes a large noise current.
- a large magnetic flux is generated in the common mode coil constituting the noise filter 8 and the ferrite core of the common mode coil is magnetically saturated, and a desired noise reduction effect cannot be obtained.
- the ferrite core of the common mode coil can be provided even if the noise filter 8 manufactured according to the specifications of the noise filter manufacturer side is incorporated without requiring any special measures from the manufacturer side of the noise filter 8.
- a current detector 9, an S / H 10, and a carrier frequency change necessity determination unit 11 are added.
- the carrier frequency fc of the motor control device 1 can be changed by the procedure shown in FIG.
- step ST1 a noise current flowing from the converter 3 to the noise filter 8 is detected by the current detector 9.
- step ST2 the noise current detection value input from the current detector 9 is sampled at intervals of the carrier frequency fc in S / H 10, and the sample value is held and output to the carrier frequency change necessity determination unit 11.
- step ST3 the carrier frequency change necessity determination unit 11 first takes in each sample value held and output by the S / H 10 in order, and whether or not the current sample value is equal to the previous sample value, It is determined whether the sample value is close to the previous sample value.
- the cutoff frequency fr of the noise filter 8 does not overlap the carrier frequency fc, or the cutoff frequency fr of the noise filter 8 is not close to the carrier frequency fc, so that the noise current flowing into the noise filter 8 is resonant. Not amplified. Therefore, for example, as shown in FIG. 4B, the noise current flowing into the noise filter 8 has a low amplitude that falls within the range of the EMI standard or the like, and the noise reduction effect of the noise filter 8 can be obtained.
- the cutoff frequency fr of the noise filter 8 is determined. Is overlapped with the carrier frequency fc, or the cutoff frequency fr of the noise filter 8 is considered to be close to the carrier frequency fc, the noise current flowing into the noise filter 8 is resonantly amplified. Then, for example, as shown in FIG. 4A, the noise current flowing into the noise filter 8 has a large amplitude that does not fall within the range of the EMI standard or the like. At this time, if the noise current detection values are sampled at intervals of the carrier frequency fc, each noise current sample value becomes an equal value or a value close to an equal value.
- the carrier frequency change necessity determination unit 11 confirms that the envelope of each noise current sample value of the specified number of times continuously shows a constant value.
- the noise filter 8 In the PWM signal generation circuit 7, when the carrier frequency fc is changed to a situation where the cutoff frequency fr of the noise filter 8 does not overlap or is changed to a situation where it is not near the cutoff frequency fr of the noise filter 8, the noise filter The noise current flowing into 8 is not resonantly amplified. Therefore, for example, as shown in FIG. 4B, the noise current flowing into the noise filter 8 has a low amplitude that falls within the range of the EMI standard or the like. In the noise filter 8, since the common mode coil does not saturate the ferrite core and exhibits the original high inductance state, the noise reduction effect in the noise filter 8 can be obtained.
- the amount of noise current generated in the inverter and flowing into the noise filter is detected, the detected value is sampled at intervals of the carrier frequency, and the envelope of each sample value is constant. It is determined whether or not the situation can be regarded as a value, and when the envelope of each sample value can be regarded as a constant value, the carrier frequency is the situation where the cutoff frequency fr of the noise filter 8 does not overlap, or the noise filter Change to a situation that is not near the cutoff frequency fr of 8.
- the noise filter built in the motor control device is a noise filter manufactured according to the specifications of the noise filter manufacturer without requiring any special measures from the manufacturer of the noise filter, that is, the cutoff frequency. Even if the noise filter overlaps with the carrier frequency of the motor control device or is close, it can be used without causing magnetic saturation in the ferrite core of the common mode coil, and a desired noise reduction effect can be obtained. Therefore, since the cost of the built-in noise filter can be suppressed, the apparatus cost can be greatly reduced.
- the motor control device and the control method thereof according to the present invention can be used in the common mode even if the noise filter manufactured according to the previous specification is incorporated without requiring special measures from the noise filter manufacturer side.
- the present invention is useful as a motor control device that can be used without causing magnetic saturation in the ferrite core of the coil and a control method therefor.
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Physics & Mathematics (AREA)
- Electromagnetism (AREA)
- Control Of Ac Motors In General (AREA)
- Inverter Devices (AREA)
Abstract
Description
図1は、本発明の一実施の形態によるモータ制御装置の要部構成を示すブロック図である。図1において、本実施の形態によるモータ制御装置1は、モータ2の駆動制御に関わる構成(図1では基本部分の『コンバータ3、コンデンサ4,インバータ5、ゲート信号生成回路6およびPWM信号生成回路7』を示す)に加えて、ノイズフィルタ8が内蔵されている場合に、電流検出器9と、サンプル・ホールド回路(S/H)10と、キャリア周波数変更要否判断部11とが追加されている。ノイズフィルタ8は、図1に示すようにコンバータ3の入力端と交流電源12への電源ケーブル13の装置側接続端との間に設置されている。
Claims (6)
- PWM制御方式インバータにて発生するノイズが交流電源側へ漏洩するのを防止するためのノイズフィルタを内蔵するモータ制御装置において、
前記ノイズフィルタの遮断周波数がPWM信号の発生に用いる三角波キャリア信号の周波数であるキャリア周波数に重なる、もしくは、前記遮断周波数が前記キャリア周波数の近傍にくるとき、前記キャリア周波数を他の周波数へ変更する制御機能
を備えたことを特徴とするモータ制御装置。 - 前記制御機能は、
前記ノイズフィルタに流れるノイズ電流を検出する電流検出器と、
前記電流検出器が出力するノイズ電流検出値を前記キャリア周波数の周期でサンプリングするサンプリング手段と、
前記サンプリング手段が出力する今回および前回の各サンプル値を比較して等値か否かまたは等値に近いか否かを判断する判断手段と、
前記判断手段の判断結果が、等値または等値に近い、であるとき、前記キャリア周波数を他の周波数へ変更するキャリア周波数変更手段と
を備えたことを特徴とする請求項1に記載のモータ制御装置。 - 前記キャリア周波数変更手段は、
前記判断手段の判断結果が、複数回連続して等値または等値に近い、であるとき、前記キャリア周波数を他の周波数へ変更する
ことを特徴とする請求項2に記載のモータ制御装置。 - PWM制御方式インバータにて発生するノイズが交流電源側へ漏洩するのを防止するためのノイズフィルタを内蔵するモータ制御装置において、
前記ノイズフィルタの遮断周波数がPWM信号の発生に用いる三角波キャリア信号の周波数であるキャリア周波数に重なる、もしくは、前記遮断周波数が前記キャリア周波数の近傍にくるとき、前記キャリア周波数を他の周波数へ変更する制御工程
を含むことを特徴とするモータ制御装置の制御方法。 - 前記制御工程は、
前記ノイズフィルタに流れるノイズ電流を検出する第1の工程と、
前記第1の工程にて検出されたノイズ電流検出値を前記キャリア周波数の周期でサンプリングする第2の工程と、
前記第2の工程にて取得された今回および前回の各サンプル値を比較して等値か否かまたは等値に近いか否かを判断する第3の工程と、
前記第3の工程での判断結果が、等値または等値に近い、であるとき、前記キャリア周波数を他の周波数へ変更する第4の工程と
を含むことを特徴とする請求項4に記載のモータ制御装置の制御方法。 - 前記第4の工程は、
前記第3の工程での判断結果が、複数回連続して等値または等値に近い、であるとき、前記キャリア周波数を他の周波数へ変更する工程
を含むことを特徴とする請求項5に記載のモータ制御装置の制御方法。
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PCT/JP2013/053276 WO2014125571A1 (ja) | 2013-02-12 | 2013-02-12 | モータ制御装置およびその制御方法 |
JP2015500022A JP5836533B2 (ja) | 2013-02-12 | 2013-02-12 | モータ制御装置およびその制御方法 |
CN201380072757.5A CN104995834B (zh) | 2013-02-12 | 2013-02-12 | 电动机控制装置以及其控制方法 |
US14/652,854 US9577565B2 (en) | 2013-02-12 | 2013-02-12 | Motor control device and method for controlling the same |
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PCT/JP2013/053276 WO2014125571A1 (ja) | 2013-02-12 | 2013-02-12 | モータ制御装置およびその制御方法 |
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CN105426664B (zh) * | 2015-11-03 | 2018-03-02 | 南车株洲电力机车研究所有限公司 | Pwm整流变频***中载波频率计算方法及装置 |
JP6944646B2 (ja) * | 2017-11-16 | 2021-10-06 | 株式会社ジェイテクト | モータ制御装置 |
US11482917B2 (en) * | 2018-09-28 | 2022-10-25 | Mitsubishi Electric Corporation | Power conversion device |
CN113300588B (zh) * | 2021-05-25 | 2022-08-09 | 重庆金康动力新能源有限公司 | 一种高压滤波器 |
Citations (2)
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JP2004032938A (ja) * | 2002-06-27 | 2004-01-29 | Mitsubishi Electric Corp | インバータ装置用ノイズフィルタ |
JP2004260963A (ja) * | 2003-02-27 | 2004-09-16 | Mitsubishi Electric Corp | 電力変換装置 |
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JPH0236762A (ja) | 1988-07-27 | 1990-02-06 | Hitachi Ltd | Pwm電力変換器の制御方法 |
JP2000270559A (ja) | 1999-03-18 | 2000-09-29 | Mitsubishi Electric Corp | 可変速装置 |
JP5401965B2 (ja) * | 2008-12-16 | 2014-01-29 | 株式会社明電舎 | Pwmインバータの出力電流検出方法 |
WO2011021485A1 (ja) * | 2009-08-19 | 2011-02-24 | 株式会社安川電機 | 出力フィルタとそれを備えた電動機駆動システム |
US9893602B2 (en) * | 2014-02-26 | 2018-02-13 | Infineon Technologies Austria Ag | Switched-mode power converter with sampled feedback signal |
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- 2013-02-12 US US14/652,854 patent/US9577565B2/en not_active Expired - Fee Related
- 2013-02-12 JP JP2015500022A patent/JP5836533B2/ja active Active
- 2013-02-12 CN CN201380072757.5A patent/CN104995834B/zh not_active Expired - Fee Related
- 2013-02-12 WO PCT/JP2013/053276 patent/WO2014125571A1/ja active Application Filing
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
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JP2004032938A (ja) * | 2002-06-27 | 2004-01-29 | Mitsubishi Electric Corp | インバータ装置用ノイズフィルタ |
JP2004260963A (ja) * | 2003-02-27 | 2004-09-16 | Mitsubishi Electric Corp | 電力変換装置 |
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CN104995834B (zh) | 2017-07-21 |
JPWO2014125571A1 (ja) | 2017-02-02 |
JP5836533B2 (ja) | 2015-12-24 |
US9577565B2 (en) | 2017-02-21 |
US20150333688A1 (en) | 2015-11-19 |
CN104995834A (zh) | 2015-10-21 |
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