WO2016152203A1 - モータ制御装置、圧縮装置、および空調機 - Google Patents
モータ制御装置、圧縮装置、および空調機 Download PDFInfo
- Publication number
- WO2016152203A1 WO2016152203A1 PCT/JP2016/051018 JP2016051018W WO2016152203A1 WO 2016152203 A1 WO2016152203 A1 WO 2016152203A1 JP 2016051018 W JP2016051018 W JP 2016051018W WO 2016152203 A1 WO2016152203 A1 WO 2016152203A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- carrier
- mode
- acceleration
- command value
- phase
- Prior art date
Links
Images
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
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/02—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit
- B60L15/08—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles characterised by the form of the current used in the control circuit using pulses
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
-
- 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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
-
- 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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/52—Drive Train control parameters related to converters
- B60L2240/526—Operating parameters
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/64—Electric machine technologies in electromobility
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Definitions
- the present invention relates to a technique for switching a PWM pulse mode, in particular, in a motor control device including a power converter that drives a synchronous machine.
- the output torque of a traveling motor is generally controlled by an inverter.
- the voltage switched by the inverter is applied to the motor in accordance with the PWM control based on the voltage comparison between the voltage command and the carrier wave (carrier).
- PWM control it is desirable to increase the carrier frequency in order to bring the voltage waveform for driving the motor close to the voltage command, but switching loss increases as the carrier frequency is increased. For this reason, there is a so-called synchronous PWM control method in which the relationship between the drive frequency and the carrier frequency is always kept constant as a technique for bringing the output voltage waveform close to the voltage command without increasing the carrier frequency as much as possible.
- Patent Document 1 based on the instantaneous value of the frequency command, both the fundamental wave phase and the carrier wave phase are calculated simultaneously, and the drive frequency and the carrier frequency are changed regardless of the timing at which the frequency command value changes. A configuration is shown in which the relationship is always maintained N times.
- Patent Document 2 in PWM control that selectively applies synchronous PWM control and asynchronous PWM control, a carrier wave (carrier) is used to solve the problem of realizing smooth AC motor control by appropriately setting both selection conditions.
- phase difference between the actual phase of the phase voltage command and the target phase when the wave) is maximum is calculated, and when the absolute value of the phase difference is smaller than the threshold value, synchronous PWM control is selected, and the phase difference ⁇ P ( When the absolute value of the difference value is larger than the threshold value, control is performed such that asynchronous PWM control is selected.
- the present invention has been made to solve the above-described problems.
- the response performance is not necessarily required for the target speed (target rotational speed) such as an air conditioner, that is, the target speed (
- target rotational speed) such as an air conditioner
- the control performance is lost when switching from asynchronous PWM control to synchronous PWM control or from synchronous PWM control to different synchronous PWM control.
- the purpose is to suppress the decrease.
- the present invention relates to a power converter that converts a DC voltage into a three-phase AC voltage by PWM control and outputs it to a motor, and a power converter that converts a carrier wave and a three-phase AC voltage command value for the PWM control of the power converter.
- a motor control device comprising a carrier synchronization processor for outputting to a PWM controller, a frequency command value for a three-phase AC voltage is output to the carrier synchronization processor, and the carrier synchronization processor determines based on the frequency command value
- An acceleration / deceleration adjustment processor for determining the rate of change of the frequency command value is provided based on the carrier mode of the carrier wave which is the mode.
- the synchronous state is established when switching from asynchronous PWM control to synchronous PWM control or from synchronous PWM control to different synchronous PWM control. Is prevented from deviating from the above, and the deterioration of the control performance is suppressed.
- FIG. 1 is a block diagram showing a configuration of a motor control apparatus according to Embodiment 1 of the present invention.
- the motor control device 10 includes a known power converter (for example, an inverter) 2, a speed calculator 4, a carrier mode generator 5, a carrier synchronization processor 6, and an acceleration / deceleration adjustment processor 7. It has.
- the power converter 2 applies PWM (pulse width modulation, Pulse) to the motor 1 based on a comparison between the DC voltage Vdc of the DC bus section 3 and the carrier wave carrier and the three-phase AC voltage command values Vu *, Vv *, and Vw *.
- PWM pulse width modulation
- the speed calculator 4 performs biaxial voltage commands Vd * and Vq * and a control delay correction to be applied to the motor 1 based on a three-phase AC frequency command value finv * from an acceleration / deceleration adjustment processor 7 described later.
- the applied reference voltage phase ⁇ v is calculated.
- the carrier mode generator 5 generates a carrier mode command value ptn * based on the frequency command value finv *.
- the carrier synchronization processor 6 generates the carrier wave carrier and the three-phase AC voltage command values Vu *, Vv *, Vw * based on the voltage commands Vd *, Vq *, the frequency command value finv *, and the carrier mode command value ptn *. Generate.
- the acceleration / deceleration adjustment processor 7 determines the rate of change of the frequency command value finv * based on the carrier mode ptn calculated from the carrier synchronization processor 6.
- FIG. 2 is a diagram showing a hardware configuration example of a motor system including the motor control device according to the present invention.
- the motor system includes a motor control device 10 and a motor 1.
- the motor control device 10 includes, as hardware, a processor 100, a storage device 101, and a power converter 2 that converts a DC voltage into a three-phase AC voltage by PWM control.
- the storage device 101 includes, for example, a volatile storage device such as a random access memory and a nonvolatile auxiliary storage device such as a flash memory. Alternatively, an auxiliary storage device such as a hard disk may be provided instead of the nonvolatile auxiliary storage device.
- the storage device 101 includes an auxiliary storage device and a volatile storage device
- a program is input to the processor 100 from the auxiliary storage device via the volatile storage device.
- the processor 100 may output data such as a calculation result to the volatile storage device of the storage device 101, or may store the data in the auxiliary storage device via the volatile storage device. Input / output of data and the like between the hardware components in FIG. 2 will be described later.
- the speed calculator 4, the carrier mode generator 5, the carrier synchronization processor 6, and the acceleration / deceleration adjustment processor 7 in FIG. 1 are the processor 100 that executes the program stored in the storage device 101, or the processor 100 and the storage device 101. This is realized by a processing circuit such as a system LSI having a function realized by.
- a plurality of processors 100 and a plurality of storage devices 101 may execute the function in cooperation, or a plurality of processing circuits may execute the function in cooperation.
- the above functions may be executed in cooperation with a combination of a plurality of processors 100 and a plurality of storage devices 101 and a plurality of processing circuits.
- the acceleration / deceleration adjustment processor 7 may be provided in a higher-order controller including a processor and a storage device, and the other may be provided in a lower-order controller including another processor and a storage device.
- the carrier mode indicates a PWM control mode of the motor control device.
- the carrier mode includes an asynchronous PWM control mode in which the frequency of the carrier wave is set regardless of the frequency of the three-phase AC voltage (hereinafter referred to as the asynchronous mode), and the carrier wave frequency is an integer multiple of the frequency of the three-phase AC voltage.
- the synchronization mode may include a plurality of synchronization modes such as a synchronization 9-pulse mode, a synchronization 6-pulse mode, and a synchronization 3-pulse mode, or may include only one synchronization mode.
- the carrier mode generator 5 generates a carrier mode command value ptn * for the carrier synchronization processor 6 to determine the carrier mode of the carrier wave, corresponding to the frequency for driving the motor, that is, the frequency command value finv *.
- the carrier mode command value ptn * is a command for the carrier synchronization processor 6 to switch the carrier mode of the carrier wave from the asynchronous mode to the synchronous mode, from the synchronous mode to the asynchronous mode, or from a certain synchronous mode to a different synchronous mode.
- the carrier mode generator 5 is preset with switching frequencies finv * 1, finv * 2, and finv * 3 at which the carrier synchronization processor 6 executes a carrier mode switching operation.
- the switching frequency for switching from the asynchronous mode to the synchronous 9-pulse mode of the synchronous mode is finv * 1.
- These switching frequencies finv * 1, finv * 2, and finv * 3 are set in advance so that the switching loss of the power converter 2 becomes low.
- the carrier mode generator 5 generates the carrier mode command value ptn * for the carrier synchronization processor 6 to determine the carrier mode of the carrier wave as follows. If the frequency command value finv * is 0 [Hz] or more and less than finv * 1 [Hz], 0 [-] indicating the asynchronous mode is generated as the carrier mode command value ptn *. If finv * 1 [Hz] or more and less than finv * 2 [Hz], 9 [-] indicating the synchronous 9-pulse mode of the synchronous mode is generated as the carrier mode command value ptn *.
- finv * 2 [Hz] or more and less than finv * 3 [Hz] 6 [ ⁇ ] indicating the synchronous 6-pulse mode of the synchronous mode is generated as the carrier mode command value ptn *.
- finv * 3 [Hz] or higher 3 [-] indicating the synchronous three-pulse mode of the synchronous mode is generated as the carrier mode command value ptn *. Accordingly, the carrier mode command value ptn * is 0 [-] in the asynchronous mode, and any one of 3 [-], 6 [-], and 9 [-] in the synchronous mode.
- FIG. 4 is a block diagram showing details of the internal processing of the carrier synchronization processor 6 in the first embodiment.
- FIG. 5 is a diagram showing the relationship between the voltage phase command ⁇ v2 * and the carrier wave in the synchronous mode.
- the carrier wave in the synchronous mode needs to be synchronized with the voltage command. Therefore, FIG. 5 shows a carrier wave having a pulse number of N ⁇ 3 periods (N is a natural number of 1 or more) in one period of the voltage command Vu *, Vv *, or Vw * (in FIG. 5).
- the carrier wave in the synchronous 9-pulse mode is a triangular wave having nine peaks in one period (360 [deg]) of the voltage command.
- the carrier wave in the synchronous 6-pulse mode is a triangular wave having 6 peaks in one cycle
- the carrier wave in the synchronous 3-pulse mode is 3 waves in 3 peaks.
- the carrier synchronization processor 6 includes a voltage phase calculator 61, a carrier mode switching permission determiner 62, a carrier synchronization correction amount calculator 63, and a carrier wave generator 64.
- the voltage phase calculator 61 is a voltage phase that changes from 0 [deg] to 360 [deg] in one cycle with respect to the voltage commands Vu *, Vw *, and Vw *, where the rising zero cross point of the sine wave is 0 [deg]. ⁇ v2 is calculated.
- the carrier mode switching permission determiner 62 generates a carrier mode ptn based on the carrier mode command value ptn * generated by the carrier mode generator 5 and the voltage phase ⁇ v2 calculated by the voltage phase calculator 61.
- the carrier synchronization correction amount calculator 63 calculates a carrier period correction amount ⁇ tc based on the carrier mode ptn and the voltage phase ⁇ v2.
- the carrier wave generator 64 uses a timer counter having a complementary PWM function or a compare match output function of the microcomputer as the processor 100, for example. Generate a wave carrier.
- the voltage phase calculator 61 calculates the voltage calculated by the speed calculator 4 so that the voltage commands Vd * and Vq * calculated by the speed calculator 4 have the relationship between the voltage phase and the carrier wave as shown in FIG.
- the voltage commands Vu *, Vv *, and Vw * are calculated by performing three-phase coordinate conversion using the voltage phase ⁇ v2 obtained by performing phase adjustment on the phase ⁇ v.
- the voltage phase ⁇ v2 is a phase advanced by 90 [deg] with respect to the voltage phase ⁇ v.
- the carrier cycle is controlled as follows using the voltage phase ⁇ v2.
- the carrier cycle is controlled so that the carrier wave is in the middle of switching from the peak to the valley when the voltage phase ⁇ v2 is 0 [deg].
- the carrier period is controlled so that the carrier wave has a peak.
- the carrier cycle is controlled so that the carrier wave is in the middle of switching from the valley to the peak. The control of the carrier cycle will be described later.
- FIG. 6 is a block diagram showing details of the configuration of the carrier mode switching permission determination unit 62 of FIG.
- the carrier mode switching permission determination unit 62 includes a phase switching condition 621 and an asynchronous / synchronous switching condition determination 622.
- the phase switching condition 621 generates a phase switching permission signal ptn_theta necessary for realizing a synchronous switching operation from the synchronous mode to a different synchronous mode based on the voltage phase ⁇ v2.
- Asynchronous / synchronous switching condition determination 622 generates carrier mode ptn based on carrier mode command value ptn * and phase switching permission signal ptn_theta.
- the switching of the carrier wave in the synchronous mode is any one of 90, 210, and 330 [deg] that are phases in which valleys of the carrier waves are aligned in the voltage phase command ⁇ v2 * corresponding to the voltage command Vu *. If it is carried out at the timing at which the phase becomes, carrier waves can be switched smoothly. Therefore, the phase switching permission signal ptn_theta outputs 1 [ ⁇ ] when the voltage phase ⁇ v2 is any one of 90, 210, and 330 [deg]. On the other hand, when the voltage phase ⁇ v2 is other than 90, 210, and 330 [deg], 0 [ ⁇ ] is output.
- FIG. 7 shows the timing at which the carrier mode command value ptn * and the phase switching permission signal ptn_theta are generated to generate the carrier mode ptn.
- the asynchronous / synchronous switching condition determination 622 uses a switching frequency (see FIG. 3) set in advance by the frequency command value finv * when switching from the asynchronous mode to the synchronous mode or from the synchronous mode to the asynchronous mode.
- the carrier mode ptn switching operation is executed.
- the phase switching permission signal ptn_theta from the phase switching condition is 1 [-
- the carrier mode ptn switching process is executed at the timing of [].
- FIG. 8 is a flowchart regarding generation of the carrier period correction amount ⁇ tc in the carrier synchronization correction amount calculator 63 of FIG.
- step ST631 the voltage phase command ⁇ v2 * is generated for each synchronization pulse based on the relationship between the voltage command Vu * and the synchronization carrier wave shown in FIG. 5 in the synchronization mode.
- the phase difference value ⁇ P is calculated using the following equation (1).
- ⁇ P ⁇ v2 * ⁇ v2 (1)
- the carrier period correction amount ⁇ tc is calculated using the following equation.
- ⁇ tc ⁇ P ⁇ GAIN (2)
- ⁇ tc is a carrier period correction amount
- GAIN is a carrier period gain.
- the carrier cycle gain GAIN may be set to a fixed value or a variable value as long as the phase difference value ⁇ P converges in the entire operation region. For example, when the carrier cycle gain is set to a variable value, the carrier cycle gain GAIN may be set to be adjusted according to the frequency command value finv *.
- FIG. 9 is a flowchart regarding generation of a synchronous carrier wave carrier in the carrier wave generator 64 of FIG.
- the carrier cycle tc is calculated using the following equation (3).
- tc (1 / (ptn ⁇ finv *)) + ⁇ tc (ptn ⁇ 1) ...
- tc is a carrier cycle
- ptn is a carrier mode
- finv * is a frequency command value.
- the carrier mode ptn is 0 [-]
- the carrier period tc is not determined by the equation (3) but is set to a fixed value set in advance. For example, when it is desired to operate asynchronously at 4 [kHz], 250 [ ⁇ sec], which is the inverse of 4 [kHz], is set as the carrier period tc.
- a carrier wave carrier is generated by a timer counter having a complementary PWM function or a compare match output function of a microcomputer as the processor 100, for example.
- the carrier synchronization processor 6 has a function of generating an asynchronous carrier wave having a constant period independent of the period of the voltage command Vu *, Vv *, or Vw *, or a carrier wave in the synchronous mode shown in FIG. Any carrier wave is output based on the carrier mode command value ptn *.
- FIG. 10 is a flowchart relating to the setting of the frequency command value finv *.
- the frequency command value finv * is generated with the frequency acceleration / deceleration input from the outside or stored in the inside, that is, the rate of change of the frequency being constant (this generation process is referred to as “constant acceleration / deceleration”). This is referred to as “processing”), and the rotational speed of the motor 1 is changed.
- step ST72 it is determined whether or not the carrier mode ptn has been switched. When the carrier mode ptn is not switched (No in step ST72), the frequency command value finv * set in step ST71 is output. If it is determined Yes in step ST72, the process proceeds to step ST73.
- step ST73 the absolute value of the acceleration / deceleration of the frequency command value finv * generated in the constant acceleration / deceleration process of step ST71 is reduced, that is, the rate of change of the frequency command value finv * is determined from the rate of change before the carrier mode ptn is switched. Execute the process to reduce. For example, when the carrier mode ptn is switched while the motor 1 is outputting the frequency command value finv * that accelerates (increases) at an acceleration with a change rate of 10 [rps / sec] in step ST71, the acceleration, that is, the frequency command value. A process of reducing the rate of change of finv * to 3 [rps / sec], for example, is executed.
- the acceleration / deceleration adjustment processor 7 determines the rate of change of the frequency command value finv * based on the carrier mode ptn output by the carrier synchronization processor 6 and sets the frequency so as to be the determined rate of change.
- the command value finv * is output.
- FIG. 11 is a time waveform when switching from the asynchronous mode to the synchronous mode.
- the first stage from the top is the frequency command value finv *
- the second stage is the phase difference value ⁇ P
- the third stage is the carrier mode ptn.
- the solid line of the time waveform in FIG. 11 is an operation when the acceleration / deceleration adjustment processing unit 7 is provided and the acceleration / deceleration adjustment processing is performed, and the broken line does not include the acceleration / deceleration adjustment processing unit 7 and performs the acceleration / deceleration adjustment processing. It shows the operation when there is not.
- phase difference value ⁇ P2 generated according to the acceleration is further added to the phase difference value ⁇ P1, and the time T1 [ sec], the phase difference value ⁇ P becomes maximum, and the phase difference value ⁇ P converges to 0 [deg] as time elapses.
- the operation of the motor control apparatus according to the first embodiment of the present invention provided with the acceleration / deceleration adjustment processor 7 will be described (solid line in FIG. 11).
- the carrier mode ptn is switched from 0 [-] indicating asynchronous PWM to 9 [-] indicating synchronous PWM synchronous 9-pulse mode
- the frequency command value finv immediately before the carrier mode ptn is switched based on the processing of step ST73.
- phase difference value ⁇ P converges to 0 over time. Therefore, when the acceleration / deceleration adjustment processor 7 is provided, the generation of the phase difference value ⁇ P2 corresponding to the acceleration can be suppressed as compared with the case where the acceleration / deceleration adjustment processor 7 is not provided. Therefore, when there is an acceleration / deceleration adjustment process, the phase difference value ⁇ P can be reduced by the suppression amount PD as compared with the case where there is no acceleration / deceleration adjustment process.
- the phase difference value ⁇ P can be reduced, and thus the deterioration in control performance caused by the phase difference value ⁇ P becoming larger and out of synchronization is suppressed. There is an effect that can be done. Even when the motor 1 is decelerating, when the carrier mode ptn is switched, the acceleration is decreased by the acceleration / deceleration adjustment processor 7, that is, the absolute value of the change rate of the frequency command value finv * is switched to the carrier mode. By performing the process of reducing the absolute value of the previous rate of change, there is an effect that it is possible to suppress a decrease in the control performance that occurs due to being out of synchronization.
- the acceleration / deceleration is changed when switching from the asynchronous mode to the synchronous mode or from the synchronous mode to the different synchronous mode based on the carrier mode ptn. In order to adjust, the effect which can suppress the fall of control performance is produced.
- FIG. FIG. 12 is a block diagram showing the configuration of the motor control device 10 according to the second embodiment of the present invention.
- the motor control device 10 according to the second embodiment is obtained from the current sensor 8 in that the current sensor 8 that acquires the motor current of the motor 1 is installed as compared with the motor control device 10 according to the first embodiment.
- Two of the motor currents Iu, Iv, and Iw are transmitted to the speed calculator 4 and the phase difference value ⁇ P calculated from the carrier synchronization processor 6 is transmitted to the acceleration / deceleration adjustment processor 7. The point is the difference.
- the feedback control for calculating the voltage commands Vd * and Vq * is performed by the value obtained by applying a high-pass filter to the frequency and the frequency command value finv * from the acceleration / deceleration adjustment processor 7.
- the carrier synchronization processor 6 of the second embodiment is different from the carrier synchronization processor 6 of the first embodiment in the output signal of the carrier synchronization correction amount calculator 63.
- the carrier synchronization correction amount calculator 63 outputs the phase difference value ⁇ P to the acceleration / deceleration adjustment processor 7.
- the method of calculating the phase difference value ⁇ P is the same as that in the first embodiment.
- FIG. 14 is a flowchart regarding the setting of the frequency command value finv *.
- the condition of step ST74 is newly added to the flowchart of the acceleration / deceleration adjustment processor 7 of the second embodiment.
- Other processes and conditions from step ST71 to step ST73 are the same as those in the first embodiment.
- step ST74 if the phase difference value ⁇ P is greater than or equal to the preset high frequency threshold value X [deg] (Yes), the process proceeds to step ST73, and constant if it is less than the preset low frequency threshold value Y [deg] (No). Acceleration / deceleration processing step ST71 is executed, and the frequency command value finv * setting routine is terminated.
- FIG. 15 is a time chart showing the time change of the frequency command value finv * in the first stage, the phase difference value ⁇ P in the second stage, and the carrier mode ptn in the third stage.
- step ST71 From time 0 [sec], until the frequency command value finv * reaches the switching frequency finv * 1 of the synchronous 9-pulse mode, a constant acceleration operation is performed based on the constant acceleration / deceleration processing of step ST71, and then the frequency command value finv When * crosses the switching frequency finv * 1, the carrier mode ptn is switched from 0 [-] indicating the asynchronous mode to 9 [-] indicating the synchronous 9-pulse mode, and switched to the synchronous 9-pulse mode of the synchronous mode. At this time, a phase difference value ⁇ P is generated, and the acceleration / deceleration adjustment process of step ST73 is performed at a timing (step ST74 Yes in FIG.
- phase difference value ⁇ P exceeds a preset high frequency threshold value X [deg].
- the acceleration of the frequency command value finv * that is, the rate of change of the frequency command value finv * is set to 0 [rps / sec].
- the high-frequency threshold value X [deg] is set to a value that does not disturb the current of the motor 1 because the phase difference value ⁇ P becomes too large. Thereafter, the value of the phase difference value ⁇ P gradually decreases according to the processing of the carrier synchronization processor 6. Then, the constant acceleration / deceleration processing in step ST71 is executed at a timing (No in step ST74 in FIG. 14) when the phase difference value ⁇ P crosses Y [deg] which is a preset low frequency threshold.
- the rate of change of the frequency command value finv * 1 increases from the acceleration / deceleration adjustment process in step ST73.
- the frequency command value finv * 1 increases at a constant acceleration, similar to the acceleration in the asynchronous mode of FIG.
- the phase difference value ⁇ P increases momentarily according to the acceleration, but gradually decreases based on the processing of the carrier synchronization processor 6.
- the low-frequency threshold Y [deg] is preferably 0 [deg] from the viewpoint of suppressing the increase in the phase difference value ⁇ P.
- the low-frequency threshold Y [deg] is weak against load fluctuations, and thus is set to 0 [deg]. It is better to set it to a smaller value.
- the frequency command value finv * is accelerated to the switching frequency finv * 2 by the constant acceleration / deceleration processing of step ST71.
- the carrier mode ptn is switched from 9 [-] indicating the synchronous 9-pulse mode to 6 [-] indicating the synchronous 6-pulse mode
- the synchronous mode is switched to the synchronous 6-pulse mode, and the phase difference value ⁇ P is generated. To do.
- step ST73 At a timing when the phase difference value ⁇ P exceeds a preset high frequency threshold value X [deg], the process proceeds to an acceleration / deceleration adjustment process in step ST73, and the acceleration of the frequency command value finv * is set to 0 [rps / sec].
- the constant acceleration / deceleration process of step ST71 is executed at a timing when the phase difference value ⁇ P crosses the preset low frequency threshold Y [deg]. Then, the rate of change of the frequency command value finv * 1 increases from the acceleration / deceleration adjustment process of ST73, and the frequency command value finv * 1 is accelerated to a constant level.
- the acceleration (rate of change in the frequency command value) is set to 0 [rps / sec] by the acceleration / deceleration adjustment processing.
- the acceleration need not always be set to 0 [rps / sec]. If the acceleration is set to a value lower than the acceleration before the carrier mode is switched, it is possible to suppress a decrease in control performance.
- the acceleration / deceleration adjustment processing is performed so that the absolute value of the change rate of the frequency command value is reduced when the carrier mode ptn is switched, thereby suppressing the deterioration of the control performance. it can.
- the acceleration / deceleration adjustment processor 7 adjusts and determines the acceleration / deceleration, that is, the rate of change of the frequency command value finv * based on the phase difference value ⁇ P, so that a sudden load fluctuation occurs at the time of switching. Even if it does, there is an effect that it is possible to prevent the synchronization state from being lost.
- the absolute value of the rate of change of the frequency command value finv * is determined in the acceleration / deceleration adjustment processing step ST73.
- the change rate of the frequency command value finv * is set to 0 [rps / sec] in the acceleration / deceleration adjustment processing step ST73, so that the switching operation and the acceleration / deceleration operation do not overlap. Therefore, there is an effect that it is possible to suppress a decrease in control performance.
- the absolute value of the change rate of the frequency command value finv * is decreased in the acceleration / deceleration adjustment processing step ST73, the absolute value of the change rate is increased again based on the phase difference value ⁇ P, so that the phase difference value is increased. Since ⁇ P can be prevented from becoming too large, there is an effect of accelerating to the final speed without deviating from the synchronized state.
- the asynchronous mode is switched to the synchronous mode, or the synchronous mode is switched to the different synchronous mode. At this time, even when a load fluctuation occurs, an effect of suppressing a decrease in control performance is obtained.
- FIG. FIG. 16 is a flowchart showing the operation of the acceleration / deceleration adjustment processor 7 of the motor control device according to the third embodiment of the present invention.
- the flowchart of the acceleration / deceleration adjustment processor 7 of the third embodiment shown in FIG. 16 newly includes the processing and conditions of step ST75 and step ST76. Has been added.
- the other processes from step ST71 to step ST73 are the same as in the first embodiment.
- Step ST75 starts time counting when the carrier mode ptn is switched.
- step ST76 if the time count value counted in step ST75 is equal to or greater than the preset value Tmax (Yes), the constant acceleration / deceleration processing step ST71 is executed, and the time count value is less than the preset value Tmax (No). Then, the acceleration / deceleration adjustment processing step ST73 is executed.
- FIG. 17 is a time waveform when switching from the asynchronous mode to the synchronous mode.
- the first stage is the frequency command value finv *
- the second stage is the phase difference value ⁇ P
- the third stage is the motor load torque Tm
- the fourth stage is Carrier mode ptn.
- the solid line of the time waveform in FIG. 17 shows the operation when there is a load torque fluctuation
- the broken line shows the operation when there is no load torque fluctuation.
- acceleration is performed at a constant acceleration based on the constant acceleration / deceleration processing in step ST71 until the frequency command value finv * reaches the switching frequency finv * 1 of the synchronous 9-pulse mode from time 0 [sec].
- the carrier mode ptn is switched from 0 “ ⁇ ” indicating the asynchronous mode to 9 “ ⁇ ” indicating the synchronous 9-pulse mode.
- time counting is started in step ST75.
- the process proceeds to the acceleration / deceleration adjustment process in step ST73, and the rate of change of the frequency command value finv * is set to 0 [rps / sec].
- phase difference value ⁇ P gradually decreases based on the carrier synchronization processor 6.
- the phase difference value ⁇ P is 0 because the phase difference value ⁇ P3 corresponding to the load torque variation is generated as compared with the case where there is no load torque variation.
- the timing of convergence to [deg] is delayed.
- acceleration is performed based on the constant acceleration / deceleration processing step ST71.
- step ST73 shows an example in which the rate of change in the frequency command value is set to 0 [rps / sec] by the acceleration / deceleration adjustment processing, it is not always necessary to set it to 0 [rps / sec]. If the value is set to a value lower than the rate of change that was set before switching, control performance degradation can be suppressed. Even when the motor 1 is decelerating, the acceleration / deceleration adjustment process of step ST73 is executed when the carrier mode ptn is switched, and the absolute value of the acceleration / deceleration change rate, that is, the change rate of the frequency command value finv * is calculated. By setting so as to decrease the absolute value, it is possible to suppress a decrease in control performance.
- the acceleration / deceleration adjustment processor 7 adjusts and determines the acceleration / deceleration, that is, the rate of change of the frequency command value finv *. Even when sudden load fluctuations occur and the synchronous state does not converge, there is an effect that the entire operation region can be operated.
- FIG. FIG. 18 is a block diagram showing the configuration of the motor control device 10 according to the fourth embodiment of the present invention.
- the motor control device 10 according to the fourth embodiment shown in FIG. 18 is one of the signals of the motor currents Iu, Iv, Iw acquired from the current sensor 8 of the motor 1. The difference is that two of these are transmitted to the acceleration / deceleration adjustment processor 7. Needless to say, if there is information on any two of the motor currents Iu, Iv, and Iw, the other one of the motor currents Iu, Iv, and Iw can be calculated.
- FIG. 19 is a flowchart relating to the setting of the frequency command value finv * in the acceleration / deceleration adjustment processor 7.
- the flowchart of the acceleration / deceleration adjustment processor 7 of the fourth embodiment is newly added with the processes and conditions of step ST77 and step ST78.
- Other processes and conditions from step ST71 to step ST73 are the same as those in the first embodiment.
- the effective current value Irms is calculated using the motor current acquired from the current sensor 8 in step ST77.
- a current distortion rate I THD is calculated from the effective current value Irms according to the following equation (4).
- n is a natural number of 2 or more.
- Irms (1) is the effective current value of the fundamental wave component
- Irms (2) is the effective current value of the second harmonic
- Irms (i) is the effective current value of the i harmonic. That is, by setting n to an appropriate value according to the strain that is predicted to occur, the degree of distortion of the effective current with respect to the fundamental wave can be calculated from Equation (4).
- step ST78 Z current distortion factor I THD obtained by the calculation is high-frequency preset threshold [-] If more (Yes), the processing continues to step ST73, while the by calculation Z calculated current distortion factor I THD is a low-frequency preset threshold [-] it is less than (No), to perform certain deceleration processing step ST71.
- the relationship between the phase difference value ⁇ P and the current distortion rate ITHD is as shown in FIG. FIG. 20 represents the relationship when the horizontal axis represents the phase difference value ⁇ P and the vertical axis represents the current distortion rate ITHD .
- the phase difference value ⁇ P is 0 [deg]
- the current distortion rate I THD is also 0 [ ⁇ ].
- the phase difference value ⁇ P increases from the synchronized state, that is, when the phase difference value ⁇ P increases, the current distortion rate also increases.
- FIG. 21 is a time chart when switching from the asynchronous mode to the synchronous mode.
- the first stage is the frequency command value finv *
- the second stage is the current distortion rate I THD
- the third stage is the carrier mode ptn.
- acceleration is performed at a constant acceleration based on the constant acceleration / deceleration processing in step ST71 until the frequency command value finv * reaches the switching frequency finv * 1 of the synchronous 9-pulse mode from time 0 [sec].
- the frequency command value finv * crosses the switching frequency finv * 1
- the carrier mode ptn is switched from 0 “ ⁇ ” indicating the asynchronous mode to 9 [ ⁇ ] indicating the synchronous 9-pulse mode.
- the current distortion rate I THD rises, and the current distortion rate I THD is based on the acceleration / deceleration adjustment process of step ST71 at a timing (step ST78 Yes) that exceeds the preset high frequency threshold Z [-].
- the change rate of the frequency command value finv * is set to 0 [rps / sec].
- the high-frequency threshold value Z [ ⁇ ] is set to a value that does not disturb the current of the motor 1 because the current distortion rate ITHD becomes too large. Thereafter, the value of the current distortion rate ITHD gradually decreases according to the carrier synchronization processor 6. Thereafter, at a timing when the current distortion rate I THD crosses Q [ ⁇ ] which is a preset low frequency threshold (No in step ST78), acceleration is performed at a constant acceleration according to the constant acceleration / deceleration process of step ST71. At this time, the current distortion rate ITHD increases momentarily according to the acceleration, but gradually decreases according to the carrier synchronization processor 6.
- the low-frequency threshold Q [ ⁇ ] is preferably 0 [ ⁇ ] from the viewpoint of suppressing an increase in the phase difference value ⁇ P.
- the low frequency threshold Q [ ⁇ ] is weak against load fluctuations. It is better to set a small value close to].
- FIG. 21 shows an example in which the acceleration (rate of change) is set to 0 [rps / sec] by the acceleration / deceleration adjustment processing, but it is not always necessary to set it to 0 [rps / sec]. If the acceleration is set to a value lower than the acceleration before switching, it is possible to suppress a decrease in control performance.
- step ST73 the acceleration / deceleration adjustment process in step ST73 is executed, and the absolute value of the change rate of the frequency command value is set to be reduced. A decrease in control performance can be suppressed.
- the current distortion rate is calculated by the acceleration / deceleration adjustment processor 7, and the acceleration / deceleration is adjusted based on the current distortion rate. Therefore, the acceleration / deceleration can be corrected from the current state, and the synchronization state can be changed. By maintaining, there is an effect of suppressing the harmonic current. In the acceleration / deceleration operation, the harmonic current can be suppressed without deviating from the synchronized state in the entire operation region.
- the harmonic current is determined. Can be suppressed, and an effect of suppressing a decrease in control performance is exhibited.
- FIG. FIG. 22 is a block diagram showing a schematic configuration of the compression apparatus 20 according to the fifth embodiment of the present invention.
- the compression device 20 includes a compressor 80 including the motor 1 and a motor control device 10 that outputs a three-phase AC voltage to the motor 1.
- the motor control device 10 is any of the motor control devices described in the first to fourth embodiments.
- a compressor 80 shown in FIG. 22 is a twin rotary compressor including a compression unit 83a and a compression unit 83b.
- the compression unit 83a and the compression unit 83b are provided with a piston, a vane, an on-off valve, and the like that move as the shaft 84 fixed to the motor 1 rotates.
- the motor rotates to compress a medium such as a refrigerant. To do.
- the compression ratio and flow rate of the compression unit change. For example, as the motor speed increases, the flow rate also increases. Therefore, in the fifth embodiment, when the flow rate changes due to the fluid compression ratio, the absolute value of the frequency command value finv * is reduced by the acceleration / deceleration adjustment processor 7 when the carrier mode is switched. It becomes possible to reduce the flow rate of the compression unit according to the number of rotations.
- the compression device As described above, according to the compression device according to the fifth embodiment, it is possible to switch from asynchronous to synchronous or synchronous to different synchronous according to the motor mode during acceleration / deceleration of the motor. Even when a change occurs, the phase difference value ⁇ P can be lowered as compared with the case where the present invention is not implemented. As described above, by using the motor control device 10 according to the first to fourth embodiments as the motor control device of the compression device, there is an effect that a decrease in control performance can be suppressed.
- twin rotary compressor has been described as an example of the compressor, but the compressor is not limited to the twin rotary compressor, and may be a single rotary compressor, and the number of the compression units may be one or more. Further, the compressor may be a compressor other than the rotary compressor as long as it is driven by a motor, for example, a scroll compressor or a screw compressor.
- FIG. FIG. 23 is a block diagram showing a schematic configuration of an air conditioner 200 according to Embodiment 6 of the present invention.
- the air conditioner 200 includes the heat exchanger 40, the heat exchanger 50, the air conditioner controller 30, and the compression device 20 described in the fifth embodiment as main components.
- the motor control device 10 provided in the compressor 20 controls the motor 1 of the compressor 80 according to a command from the air conditioner controller 30.
- a refrigerant that is, a heat-exchangeable medium is compressed as a medium, and the refrigerant passes through the heat exchanger 40 and the heat exchanger 50 to exchange heat with the outside, for example, air.
- the heat exchanger 40 is an outdoor unit heat exchanger that is installed outside, for example, to exchange heat between outdoor air and refrigerant, and the heat exchanger 50 is installed indoors, for example, to exchange heat between indoor air and refrigerant. It is a heat exchanger for indoor units.
- the air conditioner needs to change the heat exchange capacity depending on, for example, outdoor and indoor temperatures, and it is necessary to control the rotation speed of the compressor motor based on a command from the air conditioner controller 30. For this reason, the motor control device 10 performs control to accelerate and decelerate the motor based on a command from the air conditioner controller 30.
- the motor control device 10 when accelerating / decelerating the motor, there is a case of switching from asynchronous to synchronous or synchronous to different synchronous depending on the carrier mode. When the carrier mode is switched, the phase difference value ⁇ P can be lowered as compared with the case where the present invention is not implemented.
- the motor control device 10 according to the first to fourth embodiments as the motor control device of the compression device, there is an effect that a decrease in control performance can be suppressed.
- the configurations shown in the above first to sixth embodiments are examples of the configuration of the present invention, and can be combined with other known techniques, and can be combined within the scope of the present invention. Needless to say, the configuration may be modified by omitting the unit.
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Control Of Ac Motors In General (AREA)
- Inverter Devices (AREA)
Abstract
Description
以下、この発明によるモータ制御装置の好適な実施の形態について図面を参照して説明する。図1は、この発明の実施の形態1によるモータ制御装置の構成を示すブロック図である。実施の形態1によるモータ制御装置10は、公知の電力変換器(例えばインバータ)2と、速度演算器4と、キャリアモード生成器5と、キャリア同期処理器6と、加減速度調整処理器7とを備えている。電力変換器2は、直流母線部3の直流電圧Vdcとキャリア波carrierと三相交流電圧指令値Vu*、Vv*、Vw*との比較に基づいて、モータ1へPWM(パルス幅変調、Pulse Width Modulation)制御による三相交流電圧Vu、Vv、Vwを印加する。速度演算器4は、後述する加減速度調整処理器7からの三相交流の周波数指令値finv*に基づいてモータ1に印加するための二軸の電圧指令Vd*、Vq*と制御遅延補正を施した基準電圧位相θvとを演算する。キャリアモード生成器5は、周波数指令値finv*に基づいて、キャリアモード指令値ptn*を生成する。キャリア同期処理器6は、電圧指令Vd*、Vq*と周波数指令値finv*とキャリアモード指令値ptn*に基づいてキャリア波carrierと三相交流電圧指令値Vu*、Vv*、Vw*とを生成する。加減速度調整処理器7は、キャリア同期処理器6から算出したキャリアモードptnに基づいて周波数指令値finv*の変化率を決定する。
ΔP=θv2*―θv2・・・(1)
Δtc=ΔP×GAIN・・・(2)
式(2)において、Δtcはキャリア周期補正量、GAINはキャリア周期ゲインである。キャリア周期ゲインGAINは、全運転領域中に位相差分値ΔPが収束する範囲であれば、固定値を設定してもよいし、可変値を設定してもよい。例えば、キャリア周期ゲインを可変値に設定する場合は、周波数指令値finv*に応じてキャリア周期ゲインGAINを調整するように設定してもよい。
tc=(1/(ptn×finv*))+Δtc (ptn≧1)
・・・(3)
式(3)において、tcはキャリア周期、ptnはキャリアモード、finv*は周波数指令値である。
図12は本発明の実施の形態2によるモータ制御装置10の構成を示すブロック図である。実施の形態2のモータ制御装置10は、実施の形態1のモータ制御装置10と比較して、モータ1のモータ電流を取得する電流センサ8が設置されている点と、その電流センサ8から取得したモータ電流Iu、Iv、Iwのいずれかの信号の内2つを速度演算器4に伝送する点と、キャリア同期処理器6から演算した位相差分値ΔPを加減速度調整処理器7に伝送する点が相違点である。図12の速度演算器4は、電流センサ8から取得したモータ電流Iu、Iv、Iwいずれか2つの電流から座標変換してdq軸電流を演算し、そのq軸電流に対してノイズ除去のためにハイパスフィルタを施した値と、加減速度調整処理器7からの周波数指令値finv*とで、電圧指令Vd*、Vq*を算出するフィードバック制御をしている。
図16は、本発明の実施の形態3によるモータ制御装置の加減速度調整処理器7の動作を示すフローチャートである。実施の形態1の加減速度調整処理器7のフローチャートと比較して、図16に示す実施の形態3の加減速度調整処理器7のフローチャートは、新たにステップST75とステップST76との処理・条件とが追加されている。その他のステップST71からステップST73までの処理は実施の形態1と同様である。ステップST75は、キャリアモードptnが切り替わったら、時間カウントを開始する。次いで、ステップST76はステップST75でカウントしている時間カウント値が予め設定した値Tmax以上(Yes)なら、一定加減速度処理ステップST71を実行し、時間カウント値が予め設定した値Tmax未満(No)なら、加減速度調整処理ステップST73を実行する。
図18は本発明の実施の形態4によるモータ制御装置10の構成を示すブロック図である。実施の形態2によるモータ制御装置10と比較して、図18に示す実施の形態4によるモータ制御装置10は、モータ1の電流センサ8から取得したモータ電流Iu、Iv、Iwのいずれかの信号の内2つを加減速度調整処理器7に伝送する点が相違点である。なお、モータ電流Iu、Iv、Iwのいずれか2つの情報があれば、モータ電流Iu、Iv、Iwの他の1つを演算できることは言うまでもない。
上式において、nは2以上の自然数である。例えば、Irms(1)は基本波成分の実効電流値、Irms(2)は2倍高調波の実効電流値であり、Irms(i)はi倍高調波の実効電流値である。つまり、発生が予測されるひずみによってnを適切な値に設定することにより、式(4)から実効電流における、基本波に対するひずみ度合いが計算できる。
図22は、本発明の実施の形態5による圧縮装置20の概略構成を示すブロック図である。圧縮装置20は、モータ1を備えた圧縮機80と、このモータ1に三相交流電圧を出力するモータ制御装置10を備えている。モータ制御装置10は、実施の形態1~4で説明したいずれかのモータ制御装置である。図22に示す圧縮機80は、圧縮部83aと圧縮部83bとを備えたツインロータリ圧縮機である。圧縮部83aおよび圧縮部83bには、モータ1に固定されたシャフト84の回転に伴って動くピストンや、ベーン、開閉弁などが設けられており、モータが回転することにより冷媒などの媒質を圧縮する。モータの回転数に応じて、圧縮部の圧縮率および流量が変化する。例えば、モータの回転数が増加すれば、流量も増加する。従って、実施の形態5では、流体の圧縮率により流量に変化が生じた場合に、キャリアモードが切り替わると加減速度調整処理器7にて周波数指令値finv*の絶対値を低下するので、モータの回転数に応じて圧縮部の流量を低下させることが可能となる。
図23は、本発明の実施の形態6による空調機200の概略構成を示すブロック図である。空調機200は、主な構成要素として、熱交換器40、熱交換器50、空調機コントローラ30、および実施の形態5で説明した圧縮装置20を備えている。圧縮装置20に備えられたモータ制御装置10は、空調機コントローラ30の指令により圧縮機80のモータ1を制御する。圧縮機80では例えば媒質として冷媒、すなわち熱交換可能な媒質が圧縮されて、この冷媒が熱交換器40および熱交換器50を通過することにより外部の、例えば空気と熱交換する。熱交換器40は、例えば室外に設置され室外の空気と冷媒とを熱交換する室外機の熱交換器であり、熱交換器50は、例えば室内に設置され室内の空気と冷媒とを熱交換する室内機の熱交換器である。
Claims (12)
- 直流電圧をPWM制御により三相交流電圧に変換してモータに出力する電力変換器と、
前記電力変換器が前記PWM制御を行うためのキャリア波と三相交流電圧指令値を前記電力変換器に出力するキャリア同期処理器とを備えたモータ制御装置において、
前記三相交流電圧の周波数指令値を前記キャリア同期処理器に出力するとともに、前記キャリア同期処理器が前記周波数指令値に基づいて決定する、前記PWM制御のモードである前記キャリア波のキャリアモードに基づいて、前記周波数指令値の変化率を決定する加減速度調整処理器を備えたことを特徴とするモータ制御装置。 - 前記周波数指令値に基づいて、前記キャリア同期処理器が前記キャリア波のキャリアモードを決定するためのキャリアモード指令値を出力するキャリアモード生成器と、
前記周波数指令値に基づいて前記三相交流電圧の基準電圧位相および二軸電圧指令を演算して出力する速度演算器を備え、
前記キャリア同期処理器は、前記周波数指令値と、前記キャリアモード指令値と、前記速度演算器により演算された前記三相交流電圧の基準電圧位相および前記二軸電圧指令とに基づいて前記電力変換器に出力するキャリア波のキャリアモードを決定して、この決定したキャリアモードに基づいた前記キャリア波と前記三相交流電圧指令値を前記電力変換器に出力するとともに、前記キャリア同期処理器が決定した前記キャリアモードを前記加減速度調整処理器に出力することを特徴とする請求項1に記載のモータ制御装置。 - 前記キャリアモードは、前記キャリア波の周波数が前記三相交流電圧の周波数とは関係なく設定される非同期モードと、前記キャリア波の周波数が前記三相交流電圧の周波数の整数倍となるように設定される同期モードとを有し、前記同期モードは一または複数の同期モードを含み、
前記加減速度調整処理器は、前記キャリア同期処理器から入力された前記キャリアモードが、前記非同期モードから前記同期モードに切替わったとき、または前記同期モードが複数の同期モードを含むときはある同期モードから異なる同期モードに切替わったとき、前記周波数指令値の変化率の絶対値を前記キャリアモードが切替わる前の変化率の絶対値よりも低下させることを特徴とする請求項2に記載のモータ制御装置。 - 前記加減速度調整処理器は、前記周波数指令値の変化率の絶対値を前記キャリアモードが切替わる前の変化率の絶対値よりも低下させて、当該変化率を0とすることを特徴とする請求項3に記載のモータ制御装置。
- 前記キャリア同期処理器は、前記三相交流電圧指令値と前記キャリア波との関係に基づいて生成した電圧位相指令と、前記基準電圧位相に基づいて求めた電圧位相との差である位相差分値を求め、この位相差分値を用いてキャリア周期を補正するキャリア周期補正量を求めて、このキャリア周期補正量を用いて前記キャリア波を補正するとともに、前記位相差分値を前記加減速度調整処理器に出力し、前記加減速度調整処理器は、前記キャリアモードが切替わった後、前記キャリア同期処理器から入力された前記位相差分値に基づいて、前記周波数指令値の変化率の絶対値を低下させることを特徴とする請求項3または4に記載のモータ制御装置。
- 前記加減速度調整処理器は、前記位相差分値が予め設定された高域閾値を超えた場合に、前記周波数指令値の変化率の絶対値を前記キャリアモードが切替わる前の変化率の絶対値よりも低下させることを特徴とする請求項5に記載のモータ制御装置。
- 前記加減速度調整処理器は、前記周波数指令値の変化率の絶対値を低下させた後、前記位相差分値が予め設定された低域閾値以下となったときに、前記周波数指令値の変化率の絶対値を増加させることを特徴とする請求項6に記載のモータ制御装置。
- 前記キャリアモードが切替わった時から時間カウントを開始し、時間カウント値が予め設定した値を超えたときに、前記周波数指令値の変化率の絶対値を増加させることを特徴とする請求項3または4に記載のモータ制御装置。
- 前記加減速度調整処理器は、前記電力変換器の出力電流の電流ひずみ率を求め、前記キャリアモードが切替わった後、前記電流ひずみ率が予め設定された高域閾値を超えた場合に、前記周波数指令値の変化率の絶対値を前記キャリアモードが切替わる前の変化率の絶対値よりも低下させることを特徴とする請求項3または4に記載のモータ制御装置。
- 前記加減速度調整処理器は、前記周波数指令値の変化率の絶対値を低下させた後、前記電流ひずみ率が予め設定された低域閾値以下となったときに、前記周波数指令値の変化率の絶対値を増加させることを特徴とする請求項9に記載のモータ制御装置。
- モータを備えこのモータの回転により媒質を圧縮する圧縮機と、前記モータに三相交流電圧を出力する、請求項1から10のいずれか1項に記載のモータ制御装置とを備えたことを特徴とする圧縮装置。
- 請求項11に記載の圧縮装置を備えたことを特徴とする空調機。
Priority Applications (3)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE112016001391.4T DE112016001391T5 (de) | 2015-03-23 | 2016-01-14 | Motor-steuerungseinrichtung, kompressionseinrichtung, und klimaanlage |
JP2017507528A JP6320625B2 (ja) | 2015-03-23 | 2016-01-14 | モータ制御装置、圧縮装置、および空調機 |
GB1711853.0A GB2550719B (en) | 2015-03-23 | 2016-01-14 | Motor control device, compressing device, and air conditioner |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP2015-058952 | 2015-03-23 | ||
JP2015058952 | 2015-03-23 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO2016152203A1 true WO2016152203A1 (ja) | 2016-09-29 |
Family
ID=56978248
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP2016/051018 WO2016152203A1 (ja) | 2015-03-23 | 2016-01-14 | モータ制御装置、圧縮装置、および空調機 |
Country Status (4)
Country | Link |
---|---|
JP (1) | JP6320625B2 (ja) |
DE (1) | DE112016001391T5 (ja) |
GB (1) | GB2550719B (ja) |
WO (1) | WO2016152203A1 (ja) |
Cited By (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021192361A1 (ja) * | 2020-03-24 | 2021-09-30 | 日立グローバルライフソリューションズ株式会社 | 家電機器用の電動機制御装置 |
CN115489334A (zh) * | 2022-08-31 | 2022-12-20 | 成都赛力斯科技有限公司 | 能量回收负扭矩控制方法、装置、计算机设备和存储介质 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010051129A (ja) * | 2008-08-22 | 2010-03-04 | Toyota Central R&D Labs Inc | モータ制御装置 |
JP2013223308A (ja) * | 2012-04-16 | 2013-10-28 | Mitsubishi Electric Corp | 同期機制御装置 |
JP2014113048A (ja) * | 2014-03-14 | 2014-06-19 | Mitsubishi Electric Corp | 電動機のベクトル制御装置および車両駆動システム |
Family Cites Families (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0734680B2 (ja) * | 1989-04-28 | 1995-04-12 | 株式会社日立製作所 | 誘導電動機のベクトル制御方法及び装置 |
JP3336588B2 (ja) * | 1997-05-28 | 2002-10-21 | 株式会社日立製作所 | Pwmパルス発生装置 |
-
2016
- 2016-01-14 GB GB1711853.0A patent/GB2550719B/en active Active
- 2016-01-14 DE DE112016001391.4T patent/DE112016001391T5/de active Pending
- 2016-01-14 WO PCT/JP2016/051018 patent/WO2016152203A1/ja active Application Filing
- 2016-01-14 JP JP2017507528A patent/JP6320625B2/ja active Active
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JP2010051129A (ja) * | 2008-08-22 | 2010-03-04 | Toyota Central R&D Labs Inc | モータ制御装置 |
JP2013223308A (ja) * | 2012-04-16 | 2013-10-28 | Mitsubishi Electric Corp | 同期機制御装置 |
JP2014113048A (ja) * | 2014-03-14 | 2014-06-19 | Mitsubishi Electric Corp | 電動機のベクトル制御装置および車両駆動システム |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
WO2021192361A1 (ja) * | 2020-03-24 | 2021-09-30 | 日立グローバルライフソリューションズ株式会社 | 家電機器用の電動機制御装置 |
CN115489334A (zh) * | 2022-08-31 | 2022-12-20 | 成都赛力斯科技有限公司 | 能量回收负扭矩控制方法、装置、计算机设备和存储介质 |
CN115489334B (zh) * | 2022-08-31 | 2023-09-01 | 成都赛力斯科技有限公司 | 能量回收负扭矩控制方法、装置、计算机设备和存储介质 |
Also Published As
Publication number | Publication date |
---|---|
GB2550719A (en) | 2017-11-29 |
GB201711853D0 (en) | 2017-09-06 |
JP6320625B2 (ja) | 2018-05-09 |
DE112016001391T5 (de) | 2017-12-14 |
GB2550719B (en) | 2021-06-09 |
JPWO2016152203A1 (ja) | 2017-10-12 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
KR101392953B1 (ko) | 모터 구동 장치, 이를 구비한 공기 조화기, 및 모터 구동 방법 | |
US7116073B1 (en) | Methods and apparatus for controlling a motor/generator | |
CN104359184B (zh) | 一种变载频变频控制方法及控制器 | |
JP3980005B2 (ja) | モータ駆動用インバータ制御装置および空気調和機 | |
JP5624873B2 (ja) | 空気調和機 | |
WO2018209774A1 (zh) | 压缩机驱动***及其的控制方法、装置 | |
WO2018209773A1 (zh) | 压缩机驱动***及其的控制方法、装置 | |
JP2018014854A (ja) | モータ駆動装置、及び、それを用いた冷凍空調機器 | |
KR20200124787A (ko) | 모터 구동을 위한 인버터 제어 장치 및 방법 | |
CN109237848A (zh) | 基于变频空调低频振动的控制补偿角度确定方法及装置 | |
JP6320625B2 (ja) | モータ制御装置、圧縮装置、および空調機 | |
US7135829B1 (en) | Methods and apparatus for controlling a motor/generator | |
US8134316B2 (en) | Method for braking an AC motor | |
CN108469139A (zh) | 空调器载波频率的控制方法、控制***和空调器 | |
KR102588933B1 (ko) | 모터 구동을 위한 인버터 제어 장치 및 방법 | |
KR101445201B1 (ko) | 모터 제어 장치, 및 그것을 이용한 공기 조화기 | |
JP6590602B2 (ja) | モータ駆動装置、空気調和機およびプログラム | |
Bozhko et al. | Flux weakening control of permanent magnet machine based aircraft electric starter-generator | |
JP2006078095A (ja) | 冷蔵庫 | |
US11374505B2 (en) | Inverter device for performing a power conversion operation to convert DC power to AC power | |
JP2008172880A (ja) | ブラシレスdcモータの駆動方法及び駆動装置 | |
JP2010124585A (ja) | モータ駆動用インバータ制御装置およびそれを備えた空気調和機 | |
CN108880389B (zh) | 电机驱动控制方法和***与驱动空气压缩机的控制方法 | |
JP7195165B2 (ja) | 制御装置、モータ駆動装置、及びそれを用いた冷凍機器 | |
JPS5839298A (ja) | 主軸駆動発電装置 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
121 | Ep: the epo has been informed by wipo that ep was designated in this application |
Ref document number: 16768106 Country of ref document: EP Kind code of ref document: A1 |
|
ENP | Entry into the national phase |
Ref document number: 2017507528 Country of ref document: JP Kind code of ref document: A |
|
ENP | Entry into the national phase |
Ref document number: 201711853 Country of ref document: GB Kind code of ref document: A Free format text: PCT FILING DATE = 20160114 |
|
WWE | Wipo information: entry into national phase |
Ref document number: 112016001391 Country of ref document: DE |
|
122 | Ep: pct application non-entry in european phase |
Ref document number: 16768106 Country of ref document: EP Kind code of ref document: A1 |