WO2015097921A1 - Dispositif de commande d'entraînement de moteur - Google Patents

Dispositif de commande d'entraînement de moteur Download PDF

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Publication number
WO2015097921A1
WO2015097921A1 PCT/JP2013/085363 JP2013085363W WO2015097921A1 WO 2015097921 A1 WO2015097921 A1 WO 2015097921A1 JP 2013085363 W JP2013085363 W JP 2013085363W WO 2015097921 A1 WO2015097921 A1 WO 2015097921A1
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WO
WIPO (PCT)
Prior art keywords
motor
inverter
drive controller
phase angles
current
Prior art date
Application number
PCT/JP2013/085363
Other languages
English (en)
Inventor
Aung Kothet
Noriaki Hino
Naohiro Kusumi
Original Assignee
Hitachi, Ltd.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Hitachi, Ltd. filed Critical Hitachi, Ltd.
Priority to PCT/JP2013/085363 priority Critical patent/WO2015097921A1/fr
Publication of WO2015097921A1 publication Critical patent/WO2015097921A1/fr

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Classifications

    • 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
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/10—Arrangements for controlling torque ripple, e.g. providing reduced torque ripple
    • 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
    • H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting

Definitions

  • the present invention relates to a motor-drive controller by which a motor is driven with an inverter.
  • the inverter is employed to convert DC power into AC power.
  • One of the forms of the inverter is the pulse-width modulated (PWM) inverter.
  • PWM pulse-width modulated
  • the operation of switches in the inverter is controlled with comparing a carrier wave and a reference sinusoidal signal in order to get a desired shape of the inverter's output voltage. Therefore, the switching timing determines a pattern of the inverter's output voltage. In other words, the switching timing can also be expressed with respect to the output voltage phase angles.
  • the ratio between frequency of carrier waves and frequency of the output voltage pattern is related to occurrence of torque oscillations while driving a motor. If the ratio is not sufficiently large and not an integer number, lower frequency harmonics occurs causing torque oscillation. Many inverter systems control the switching so as to reduce or eliminate a preselected number of the lower frequency harmonics in the inverter. To detect the harmonics, filters can be used.
  • JP-H-1 -152969 A prior art in this technical field is disclosed by JP-H-1 -152969. This publication describes that the switching timing, which are determined to reduce the specific harmonics such as 5 th or 7 th order harmonics, are registered in a memory and applied to output constant voltage with constant frequency. To control the magnitude of voltage and frequency or phase angle at constant, a filter at AC side detects the specific harmonics and controls the switching timing for the reduction of the harmonics.
  • Patent Literature 1 JP-H-1 -152969
  • the prior art is only suitable for constant frequency operation and reduction of the specific harmonics order. Moreover, the prior art still requires the filter to detect the harmonics. A filter for low order harmonics is expensive, due to requirement of large capacity of passive elements.
  • the electric frequency must be varied according to the motor speed. If the frequency of the carrier waves does not vary according to the motor speed, the ratio between the frequency of the carrier waves and the frequency of the output voltage cannot be kept as an integer number.
  • the PWM control will operate the switching devices in the inverter to result an output voltage pattern asymmetrical in positive side and negative side of AC voltage.
  • the asymmetry in output voltage by PWM causes the harmonics contents of even order, such as 2, 4, 6, etc. These harmonics contents in electricity will cause undesirable consequences. If MW class variable-speed motor is operated by the electricity with low order harmonics, torque oscillations will occur.
  • a motor drive controller has an inverter supplying AC power to a motor, a switching angle database outputting a set of phase angles between pulses of an inverter output voltage on the basis of a current flowing to the motor.
  • the inverter is controlled by control signals having a switching pattern on the basis of the set of phase angles.
  • the motor drive controller according to the present invention results the inverter output voltage having a symmetric pattern for reduction of harmonics.
  • Fig.1 illustrates the outline of the variable-speed motor-drive system.
  • Fig.2 illustrates a detailed configuration of the inverter controller in
  • Fig.3 illustrates a circuit configuration of the inverter.
  • Fig.4 illustrates a simple example of an inverter output voltage pattern
  • Fig.5 illustrates another example of the inverter output voltage pattern.
  • Fig:6 illustrates another example of the inverter output voltage pattern.
  • Fig.7 illustrates a detailed configuration of an inverter controller in the other embodiment.
  • Figure.1 illustrates the outline of a variable-speed motor-drive system
  • the variable-speed motor-drive system [1] has a converter [2] and an inverter [3] to operate a variable-speed motor [4].
  • the converter [2] and inverter [3] are used to convert a connected electric power grid [5] frequency to motor's operation frequency which is related to the rotational speed of a variable-speed motor [4] such as a synchronous motor.
  • the converter [2] converts alternating current (AC) with grid [5] frequency to direct current (DC). Then the inverter [3] converts the DC to the AC with motor's operation frequency.
  • the inverter controller [110] is used to modulate the inverter [3].
  • An inverter controller [110] has input signals from current sensors [6] and a rotor position or speed sensor [7].
  • Figure 2 illustrates a detailed configuration of the inverter controller [110] in Figure 1. .
  • the inverter controller!-! 10 which has a current controller [1011], a switching angle database [1012] and a comparator [1013], switches switching devices in the inverter [3] to output the terminal voltages (v a , v b , v c ) of three phases a, b, and c each symmetrically in positive side and negative side of the AC voltages, resulting reduction of even order harmonics.
  • the current controller [1011] has input signals from the current sensors [6] (i a , i c ) an rotor position or speed sensor [7] (position or speed).
  • the currents i a and ic flowing to the motor are detected by the current sensors.
  • this controller outputs voltage references (v d , v q ) to a switching angle data base [1012].
  • the current controller [1011] also outputs the rotor position angle ( ⁇ ) periodically to a comparator [1013].
  • This rotor position angle ( ⁇ ) is compared with the outputs ( ⁇ , a) of the switching angle data base [1012].
  • the switching angle data base [1012] has predefined sets of angles or an algorithm or an approximation equation which results a vector of angles ( ⁇ 1 , ⁇ 2,..., a) for specific switching patterns with respect to the rotor position angle ( ⁇ ).
  • the comparator [1013] compares the rotor position angle ( ⁇ ) and the vectors of angles ( ⁇ 1 , ⁇ 2,..., a) from the switching angle data base [1012]. Then on/off gate switching signals are sent to switch the switching devices in the inverter [3].
  • Positions of the current sensors are not limited at the inverter terminal side. They can be placed at the motor terminals side also. Moreover, the current flowing to the motor can be estimated by detecting a DC current flowing in the DC side of the inverter.
  • CT Current transformer
  • shunt resistor are applicable as the current sensor.
  • rotary encoder, resolver and Hall Effect device are applicable as the position or speed sensor.
  • the position of the rotor of the motor can be estimated by sensor less technology using induced voltage of the motor without the position or speed sensor.
  • the current controller [1011] has numerical processors [1011 _a] , ⁇ - ⁇ transformation [1011_b], d-q transformation [1011 _c] and automatic current regulators (ACRs) [1011 _d] .
  • phase currents (i a , i b , ic) are transformed from three phases to two phases axis by using the ⁇ - ⁇ transformation [1011_b].
  • the calculation can be done by means of [Math.1].
  • the currents in ⁇ - ⁇ axis are transformed into d-q axis by using the d-q transformation [1011 _c] by means of [Math.2].
  • the transformed d-q currents (i d , i q ) are controlled by means of the ACRs [1011 _d] .
  • the one ACR [1011 _d ] outputs a voltage reference v d based on a difference between a reference signal i d * and the d-axis current i d .
  • the other ACR [1011 _d ] outputs a voltage reference v q based on a difference between a reference signal i q * and the q-axis current i q .
  • These differences are calculated by the numerical processors [1011 _a] .
  • the reference signal i d * is set based on a requirement of a motor operation.
  • the reference signal i q * is set to get desired output torque of the motor.
  • the outputs (v d , v q ) of ACRs [1011 _d ] are the voltages in d-q axis and these are use to input the switching angle database [1012].
  • the ACR [1011 _d ] technology is well known in this field and the details are skipped here.
  • the switching angle database [1012] outputs the vector ( ⁇ 1 , ⁇ 2,..., a) of switching angles on the basis of the voltage references (v d , v q ). These angles are predetermined angles to get a desired switching pattern.
  • the desired switching pattern has pulses, each having a constant width and a constant magnitude, which forms a line symmetrically in positive side and negative side of one cycle of the output AC voltage.
  • the angles of the vector ( ⁇ 1 , ⁇ 2,..., a) correspond the intervals between neighboring two pulses in the line, as mentioned later. This switching pattern results reduction of even order harmonics in the AC voltages.
  • the switching angle database [1012] has a predetermined data, such as a table, indicating a relation between the predetermined angles of the vector and the voltage references (v d , v q ).
  • the switching angle database [1012] selects the vector ( ⁇ 1, ⁇ 2,..., a) in respect of the input of the voltage references (v d , v q ) using the data.
  • the switching angle database [1012] can output the vector ( ⁇ 1, ⁇ 2,..., a) using an algorithm or an approximation equation for a calculation of the switching angles in respect of the input of the voltage references (v d , v q ).
  • the comparator [1013] compares these angles of the vector with the rotor position angle ( ⁇ ) from a period detection function block [1011 _e] which hold the rotor position angle to complete the cycle of the rotational speed(co) of the motor.
  • the rotor position angle is continuously compared with the switching angles vector from the switching angle database [1012] to make on/off gate control signals (Gate signals) to switch switching devices in the inverter [3].
  • the terminals (A, B, C) of the inverter [3] are connecters to the motor [4] and the switching devices are operated to get the desired pattern of output voltage.
  • FIG. 3 illustrates a circuit configuration of the inverter [3].
  • the inverter is so-called "voltage source inverter”.
  • the inverter [3] has DC- terminals (P, N) and AC-terminals (A, B, C).
  • Each of IGBTs Insulated Gate Bipolar Transistors
  • Diodes [201 ,202,203,204,205,206] are connected reversely parallel to the IGBTs [101 ,102,103,104,105,106] respectively.
  • the on/off gate control signals (Gate signals) are supplied to the gates [G1-G6] of the IGBTs [101-106] by the comparator [1013].
  • the inverter [3] converts DC voltage, which is applied to the DC-terminals (P,N), to the AC-voltage, switching the IGBTs with the on/off gate control signals.
  • the inverter [3] outputs AC-voltage to the AC-terminals. According to the example 1 , the even order harmonics included in the output of the inverter are reduced.
  • GTO Gate Turn Off Thyristor
  • Figure 4 illustrates a simple example of an inverter output voltage pattern with the above-mentioned motor-drive controller in order to eliminate the even order harmonics.
  • the switching pattern is predetermined by the vector ( ⁇ , ⁇ ) of the angles.
  • the inverter output voltage pattern corresponds to one cycle of an AC voltage.
  • the inverter output voltage pattern has four pulses (P1 , P2, P3, P4) each having constant width (w) and constant nnagnitude (normalized value "1") as shown by the upper part of Figure 4.
  • the two pulses (P1 , P2) form a line in half cycle of positive side with an interval corresponding to the angle a.
  • An interval between the pulse P1 and a start of the positive half cycle corresponds to the angle ⁇ .
  • an interval between the pulse P2 and an end of the positive half cycle corresponds to the angle ⁇ .
  • the two pulses (P3, P4) form a line in half cycle of negative side with an interval corresponding to the angle a.
  • the inverter output voltage pattern has a symmetric pulse pattern in both of positive side and negative side of one cycle with the angle vector ( ⁇ , a).
  • the angle vector is predetermined by a calculation in respect of the variable voltage references (v d , v q ) related an output current of the inverter or an output torque of the motor.
  • the width of one pulse, the number of the pulses in the half cycle and the magnitude of the pulses are fixed in the calculation under a value " ⁇ " of the sum of 2 ⁇ , ⁇ and 2w.
  • the pulse width (w) and the number of the pulses (four) are determined on the basis of a frequency of the AC related to motor speed and desired harmonics etc.
  • the magnitude of pulse is determined on the basis of the maximum output voltage of the inverter.
  • FIG. 4 shows a relation between an ON/OFF switching of a switching device in the inverter and a phase angle corresponding to the output voltage pattern.
  • the ON or OFF of the switching device is determined by an area in which a rotor position angle ( ⁇ ) has its position. As the angle vector is compared with the rotor position angle, the inverter output voltage pattern may not be change in respect to the motor's speed.
  • Figure 5 illustrates another example of the inverter output voltage pattern.
  • the angle vector in this figure is a set of angles ⁇ , ⁇ 2 , ⁇ 3 , ⁇ 4 and ⁇ .
  • the inverter output voltage pattern has six pulses in half cycle.
  • the angles ⁇ 2 , ⁇ 3 , ⁇ 4 and ⁇ are predetermined in a way similar to the example of figure 4. Consequently, the inverter outputs a voltage pattern having a symmetric pulse pattern in positive side and negative side. The pattern results reduction of even order harmonics.
  • Figure 6 illustrates another example of the inverter output voltage pattern.
  • the number of pulses in half cycle is set to six similar to the example of figure 5.
  • the inverter output voltage pattern in figure 6 has three pulses in half cycle because four pulses are combined due to the each value "zero" of the angles ⁇ 3 and a which an angle vector ( ⁇ , ⁇ 2 , ⁇ 3 , ⁇ 4 and ⁇ ) includes. Consequently, the inverter outputs a voltage pattern having a symmetric pulse pattern in positive side and negative side. The pattern results reduction of even order harmonics. 0040
  • the inverter output voltage pattern of figure 6 increases the torque of the motor because the angle a mainly influences to a peak of an electric current flowing to the motor related to the motor torque.
  • the maximum torque will achieve when the angle a is zero.
  • harmonics orders multiplied by three are not a major concerns for a motor as these harmonics are canceled out in three-phase of motor's stator.
  • the fifth and seventh order harmonics' magnitude can be reduced by means of increasing the numbers of switching angles.
  • FIG. 7 illustrates a detailed configuration of an inverter controller in the other embodiment according to the present invention.
  • the components which have the same configuration as shown in the figures I and 2 are represented with the same numbers and so the detailed explanation of those components are skipped here.
  • the ASR [1011_1] outputs a q-axis current reference signal i q * based on a difference, which is calculated by the numerical processors [1011 _a] , between rotational speed reference ( ⁇ » * ) and rotational speed ( ⁇ J from the period detection function block [1011 _2] which is used as a feedback signal.
  • the period detection function block [1011 _2] which has the capability of synchronizing the rotor position angle ( ⁇ ) and the rotational speed ( co r ) by holding in memory for complete the cycle of the rotational speed (co) of motor.

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Control Of Ac Motors In General (AREA)
  • Inverter Devices (AREA)

Abstract

L'invention concerne un dispositif de commande d'entraînement de moteur qui comprend un onduleur qui fournit une alimentation en courant alternatif (CA) à un moteur, une base de données d'angles de commutation transmettant une série d'angles de phase entre des impulsions d'une tension de sortie d'onduleur sur la base d'un courant qui circule jusqu'à au moteur. L'onduleur est commandé par des signaux de commande qui présentent un motif de commutation sur la base de la série d'angles de phase de telle sorte que la tension de sortie d'onduleur présente un motif asymétrique pour permettre une réduction des harmoniques.
PCT/JP2013/085363 2013-12-27 2013-12-27 Dispositif de commande d'entraînement de moteur WO2015097921A1 (fr)

Priority Applications (1)

Application Number Priority Date Filing Date Title
PCT/JP2013/085363 WO2015097921A1 (fr) 2013-12-27 2013-12-27 Dispositif de commande d'entraînement de moteur

Applications Claiming Priority (1)

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PCT/JP2013/085363 WO2015097921A1 (fr) 2013-12-27 2013-12-27 Dispositif de commande d'entraînement de moteur

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Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0319910A2 (fr) * 1987-12-07 1989-06-14 Kabushiki Kaisha Toshiba Circuit de commande de suppression d'harmoniques pour convertisseur à modulation de largeur d'impulsions
DE4426764A1 (de) * 1994-07-23 1996-02-01 Licentia Gmbh Verfahren zur Ansteuerung eines Pulswechselrichters durch Stellbefehle eines Pulsmustergenerators
DE10127670A1 (de) * 2001-06-07 2002-09-12 Siemens Ag Bürstenloser dreiphasiger Elektromotor und Verfahren zu dessen Ansteuerung
US20080143288A1 (en) * 2006-12-12 2008-06-19 Renesas Technology Corp., Synchronous motor control device
US20090072773A1 (en) * 2007-08-23 2009-03-19 Minoru Kurosawa Motor driving apparatus and method for control of motor revolution
US20130038261A1 (en) * 2010-04-23 2013-02-14 Lei Bi Sensor-Less Driving Method of Permanent Magnet AC Motor

Patent Citations (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP0319910A2 (fr) * 1987-12-07 1989-06-14 Kabushiki Kaisha Toshiba Circuit de commande de suppression d'harmoniques pour convertisseur à modulation de largeur d'impulsions
JPH01152969A (ja) 1987-12-07 1989-06-15 Toshiba Corp インバータ制御装置
DE4426764A1 (de) * 1994-07-23 1996-02-01 Licentia Gmbh Verfahren zur Ansteuerung eines Pulswechselrichters durch Stellbefehle eines Pulsmustergenerators
DE10127670A1 (de) * 2001-06-07 2002-09-12 Siemens Ag Bürstenloser dreiphasiger Elektromotor und Verfahren zu dessen Ansteuerung
US20080143288A1 (en) * 2006-12-12 2008-06-19 Renesas Technology Corp., Synchronous motor control device
US20090072773A1 (en) * 2007-08-23 2009-03-19 Minoru Kurosawa Motor driving apparatus and method for control of motor revolution
US20130038261A1 (en) * 2010-04-23 2013-02-14 Lei Bi Sensor-Less Driving Method of Permanent Magnet AC Motor

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