WO2017090109A1 - 永久磁石型回転電機の制御装置 - Google Patents
永久磁石型回転電機の制御装置 Download PDFInfo
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- WO2017090109A1 WO2017090109A1 PCT/JP2015/083030 JP2015083030W WO2017090109A1 WO 2017090109 A1 WO2017090109 A1 WO 2017090109A1 JP 2015083030 W JP2015083030 W JP 2015083030W WO 2017090109 A1 WO2017090109 A1 WO 2017090109A1
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/0085—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed
- H02P21/0089—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for high speeds, e.g. above nominal speed using field weakening
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K1/00—Details of the magnetic circuit
- H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
- H02K1/22—Rotating parts of the magnetic circuit
- H02K1/27—Rotor cores with permanent magnets
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/06—Rotor flux based control involving the use of rotor position or rotor speed sensors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/22—Current control, e.g. using a current control loop
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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
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K21/00—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets
- H02K21/12—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets
- H02K21/14—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures
- H02K21/16—Synchronous motors having permanent magnets; Synchronous generators having permanent magnets with stationary armatures and rotating magnets with magnets rotating within the armatures having annular armature cores with salient poles
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K2213/00—Specific aspects, not otherwise provided for and not covered by codes H02K2201/00 - H02K2211/00
- H02K2213/03—Machines characterised by numerical values, ranges, mathematical expressions or similar information
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K29/00—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices
- H02K29/06—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices
- H02K29/12—Motors or generators having non-mechanical commutating devices, e.g. discharge tubes or semiconductor devices with position sensing devices using detecting coils using the machine windings as detecting coil
Definitions
- the present invention relates to a control device for a permanent magnet type rotating electrical machine, and more particularly to a control device for a permanent magnet type rotating electrical machine for converging an induced voltage to a value corresponding to a power supply voltage.
- Permanent magnet type synchronous motors are used for general purposes (see, for example, Patent Documents 1 and 2).
- a temperature detector is embedded in the winding of the permanent magnet synchronous motor, the temperature Tmg of the magnet is indirectly detected, and a linkage magnet table for the temperature is used.
- the winding interlinkage magnetic flux number ⁇ m is obtained.
- the Id calculation unit calculates a d-axis current command Id * that can keep the voltage constant even if ⁇ m changes from the winding flux linkage ⁇ m, the q-axis current command Iq *, and the rotational speed ⁇ . To do.
- the voltage command value limiting unit displays the d-axis voltage command value. Limit Vd *. Still, when the combined vector length V1 * of the d-axis voltage command value Vd * and the q-axis voltage command value Vq * exceeds the limit value, the voltage command limiter determines the combined vector length V1 *. Is adjusted to be less than or equal to a preset limit value.
- the d-axis target current is corrected when the voltage amplitude induced in the motor exceeds the maximum voltage according to the power supply voltage as the back electromotive voltage increases according to the operating state of the motor.
- field weakening control is performed to control the current phase so as to weaken the amount of magnetic field of the rotor equivalently.
- Patent Document 2 when the voltage amplitude induced in the motor exceeds the maximum voltage corresponding to the power supply voltage, the d-axis voltage command is limited, and then the q-axis voltage command is limited.
- Patent Document 1 when the voltage amplitude exists in the first quadrant and the second quadrant, that is, when the voltage advance angle is less than 180 ⁇ , the voltage amplitude is converged within the maximum voltage circle by field weakening control. be able to.
- the voltage amplitude when the voltage amplitude is in the third quadrant, that is, when the voltage advance angle is 180 ⁇ or more, there arises a problem that the voltage amplitude cannot be converged within the maximum voltage circle by field weakening control.
- Patent Document 2 since only the d-axis voltage command is limited, the decreasing direction of the voltage command is not the center of the maximum voltage circle, that is, 0, and the correction direction of the current command is not directed to the center of the voltage limiting ellipse. This causes a problem that it cannot converge quickly.
- the present invention has been made to solve such a problem.
- the d-axis current and the q-axis current can be corrected even with a slight current change, and the induced voltage is controlled within the maximum voltage circle corresponding to the power supply voltage by field weakening control. It is an object of the present invention to obtain a control device for a permanent magnet type rotating electrical machine that can be converged to the above.
- the present invention relates to a control device for a permanent magnet type rotating electrical machine, wherein the permanent magnet type rotating electrical machine includes a rotor having a permanent magnet and a stator having a coil for generating a rotating magnetic field for rotating the rotor. And the control device receives an AC voltage command, and based on the AC voltage command, applies an AC voltage to the permanent magnet type rotating electrical machine, and detects a magnetic pole position of the rotor.
- a detection unit; a current detection unit that detects an alternating current flowing between the inverter and the permanent magnet type rotating electrical machine; and the alternating current detected by the current detection unit is set to a field direction of the magnetic pole position d.
- An axis, a direction orthogonal to the d axis as a q axis, a current coordinate conversion unit for converting into a d axis current and a q axis current, a d axis current command and a q axis current command are input from the outside, and the d axis Current command and A current correction amount adding unit that corrects the q-axis current command and outputs a d-axis current corrected command and a q-axis current corrected command; and the d-axis current and the q-axis current are converted to the d-axis current corrected command.
- a current control unit for calculating a term and a q-axis voltage non-interference term, a d-axis voltage proportional term and a q-axis voltage proportional term, a d-axis voltage integral term and a q-axis voltage integral term, and the d-axis voltage non-interference term And the q-axis voltage non-interference term, the d-axis voltage proportional term and the q-axis voltage proportional term, and the d-axis voltage integral term and the q-axis voltage integral term, A voltage command generator for generating a voltage command, the d-axis voltage command and the q-axis voltage command; A voltage coordinate conversion unit for converting the AC voltage command to be input to the inverter, the d-axis voltage command and the q-axis voltage command output from the voltage command generation unit, and a maximum voltage according to the power supply voltage, A voltage deviation calculation unit that calculates a voltage deviation that is a deviation of the current, a current correction
- a current correction direction calculation unit that calculates a current correction direction based on the d-axis inductance and the q-axis inductance, the current correction amount, and the current correction
- a current correction amount decomposing unit that calculates a d-axis current correction amount and a q-axis current correction amount to be used for the correction in the current correction amount adding unit, and the current correction amount adding unit includes:
- the d-axis current corrected command and the q-axis current corrected command are calculated by adding the d-axis current corrected amount and the q-axis current corrected amount to the d-axis current command and the q-axis current command, respectively.
- This is a control device for a permanent magnet type rotating electrical machine.
- the current correction direction is obtained based on the d-axis current and the q-axis current obtained by coordinate transformation of the three-phase alternating current detected by the current detection unit, and the correction amount is obtained using the current correction direction. Since the d-axis current command and the q-axis current command input from are corrected, the induced voltage can be quickly converged within the maximum voltage circle corresponding to the power supply voltage by field weakening control.
- FIG. 6 is a current vector diagram in the control device for the permanent magnet type rotating electric machine according to the first to fourth embodiments of the present invention.
- FIG. 6 is a voltage vector diagram in the controller for a permanent magnet type rotating electric machine according to the first to fourth embodiments of the present invention.
- FIG. 1 is a block diagram illustrating a configuration of a control device according to the first embodiment.
- FIG. 5 is a current vector diagram in the control device of the first embodiment.
- FIG. 6 is a voltage vector diagram in the control device of the first embodiment.
- the control apparatus is provided for a permanent magnet type rotating electrical machine 100 to be controlled.
- the permanent magnet type rotating electrical machine 100 includes a rotor having a permanent magnet and a stator having a coil.
- the stator coil generates a rotating magnetic field for rotating the rotor.
- permanent magnet type rotating electric machine 100 is a three-phase AC rotating electric machine of U phase, V phase, and W phase.
- the magnetic pole position detector 110 is connected to the permanent magnet type rotating electrical machine 100.
- the magnetic pole position detection unit 110 detects the magnetic pole position ⁇ of the rotor of the permanent magnet type rotating electric machine 100.
- the control apparatus includes an inverter 101, a current correction amount adding unit 102, a current control unit 103, a voltage command generating unit 104, a voltage coordinate converting unit 105, and a current correction amount decomposing unit 106. , Current correction amount calculation unit 107, current correction direction calculation unit 108, and current coordinate conversion unit 109.
- An electronic control unit (ECU) 150 is connected to the control device.
- the electronic control unit (ECU) 150 is a higher-level device of the control device and is provided outside the control device.
- the inverter 101 is connected to the permanent magnet type rotating electrical machine 100 via a three-phase wire. Further, the inverter 101 is connected to a power source (not shown) through a rectifier circuit and a smoothing circuit.
- the power source is a high-voltage DC power source for vehicles that transmits and receives electrical energy.
- the AC voltage from the power supply is rectified by a rectifier circuit (not shown), smoothed to a DC voltage by a smoothing circuit (not shown), and supplied to the inverter 101.
- a three-phase AC voltage command Vu *, Vv *, Vw *, which will be described later, is input to the inverter 101 from the voltage coordinate conversion unit 105.
- the inverter 101 uses the electric power supplied from the power source, and based on the three-phase AC voltage commands Vu *, Vv *, Vw *, the AC voltage Vu with respect to the permanent magnet type rotating electrical machine 100 via the three-phase line. , Vv, Vw are given. Thereby, the stator coil of the permanent magnet type rotating electric machine 100 is energized, and an induced voltage is generated in the coil. This induced voltage causes the rotor to rotate.
- the control device according to the first embodiment performs control for quickly converging the induced voltage within the maximum voltage circle corresponding to the power supply voltage.
- Current detectors 111, 112, and 113 are disposed between the inverter 101 and the permanent magnet type rotating electric machine 100.
- Current detectors 111, 112, and 113 detect three-phase alternating currents Iu, Iv, and Iw that flow between inverter 101 and permanent magnet type rotating electrical machine 100.
- An electronic control unit (ECU) 150 is connected to the current correction amount adding unit 102.
- the d-axis current command Id0 * and the q-axis current command Iq0 * are input from the electronic control unit (ECU) 150 to the current correction amount adding unit 102.
- the field direction of the magnetic pole position of the rotor of the permanent magnet type rotating electric machine 100 is defined as a d-axis
- the direction orthogonal to the d-axis is defined as a q-axis.
- the d-axis current correction amount ⁇ Id1 and the q-axis current correction amount ⁇ Iq1 are also input to the current correction amount addition unit 102 from a current correction amount decomposition unit 106 described later.
- the current correction amount adding unit 102 adds the d-axis current correction amount ⁇ Id1 and the q-axis current correction amount ⁇ Iq1 to the d-axis current command Id0 * and the q-axis current command Iq0 * by the following equation (1), respectively.
- a d-axis current corrected command Id1 * and a q-axis current corrected command Iq1 * are output.
- Id1 * Id0 * + ⁇ Id1
- Iq1 * Iq0 * + ⁇ Iq1
- the current control unit 103 receives a d-axis current corrected command Id1 * and a q-axis current corrected command Iq1 * from the current correction amount adding unit 102. Further, the d-axis current Id and the q-axis current Iq are also input to the current control unit 103 from the current coordinate conversion unit 109. The current control unit 103 performs feedback control so that the d-axis current Id and the q-axis current Iq follow the d-axis current corrected command Id1 * and the q-axis current corrected command Iq1 *.
- the current control unit 103 performs the following control by feedback control based on the d-axis current corrected command Id1 *, the q-axis current corrected command Iq1 *, and the d-axis current Id and the q-axis current Iq.
- the d-axis voltage non-interference term Vddc and the q-axis voltage non-interference term Vqdc the d-axis voltage proportional term Vdp and the q-axis voltage proportional term Vqp
- the d-axis voltage integral term Vdi And a q-axis voltage integral term Vqi.
- Kdi and Kqi are the d-axis integral term gain and the q-axis integral term gain, respectively, which are arbitrary numerical values that are adapted.
- Kdp and Kqp are a d-axis proportional term gain and a q-axis proportional term gain, respectively, and are arbitrary numerical values that are adapted.
- Vddc ⁇ e ⁇ Lq ⁇ Iq (4)
- Vqdc ⁇ e ⁇ (Ld ⁇ Id + ⁇ m)
- Ld and Lq represent a d-axis inductance and a q-axis inductance, respectively.
- the d-axis inductance and the q-axis inductance are stored in advance in a memory (not shown) provided in the control device.
- the d-axis inductance and the q-axis inductance may be fixed values regardless of the operating conditions, or may be map values that change according to the operating conditions. An example where the d-axis inductance and the q-axis inductance are map values will be described.
- the control device stores in advance a map in which a correspondence relationship between the d-axis current Id and the q-axis current Iq and the d-axis inductance and the q-axis inductance is determined in advance in a memory.
- the current control unit 103 uses the d-axis current Id and the q-axis current Iq as arguments from the map, and obtains corresponding d-axis inductance and q-axis inductance values.
- the argument may be another parameter.
- ⁇ m represents the magnetic flux of the permanent magnet of the rotor provided in the permanent magnet type rotating electrical machine 100.
- the magnetic flux ⁇ m is a fixed value measured, but may be a MAP value using a voltage or the like as an argument, or may be an estimated value estimated from a voltage or the like.
- ⁇ e represents the rotational speed of the rotor provided in the permanent magnet type rotating electrical machine 100. The rotational speed ⁇ e can be obtained by differentiating the magnetic pole position ⁇ detected by the magnetic pole position detector 110.
- the voltage command generator 104 outputs the d-axis voltage non-interference term Vddc and the q-axis voltage non-interference term Vqdc, the d-axis voltage proportional term Vdp, and the q-axis, which are output from the current control unit 103 according to the following equation (5).
- the voltage proportional term Vqp, the d-axis voltage integral term Vdi, and the q-axis voltage integral term Vqi are added to obtain the d-axis voltage command Vd * and the q-axis voltage command Vq *.
- Vd * Vdp + Vdi + Vddc (5)
- Vq * Vqp + Vqi + Vqdc
- the d-axis voltage command Vd * and the q-axis voltage command Vq * are input to the voltage coordinate conversion unit 105 from the voltage command generation unit 104. Further, the magnetic pole position ⁇ detected by the magnetic pole position detection unit 110 is also input to the voltage coordinate conversion unit 105.
- the voltage coordinate conversion unit 105 uses the following equation (6) from the d-axis voltage command Vd *, the q-axis voltage command Vq *, and the magnetic pole position ⁇ , and uses the three-phase AC voltage commands Vu *, Vv *, Vw *. Is calculated.
- the generated three-phase AC voltage commands Vu *, Vv *, Vw * are input to the inverter 101.
- the current coordinate converter 109 receives the three-phase alternating currents Iu, Iv, Iw detected by the current detectors 111, 112, 113. Furthermore, the magnetic pole position ⁇ detected by the magnetic pole position detection unit 110 is also input to the current coordinate conversion unit 109. The current coordinate conversion unit 109 calculates the d-axis current Id and the q-axis current Iq from the three-phase alternating currents Iu, Iv, Iw and the magnetic pole position ⁇ using the following equation (7).
- the d-axis voltage command Vd * and the q-axis voltage command Vq * are input to the current correction amount calculation unit 107 from the voltage command generation unit 104. Further, the maximum voltage Vmax corresponding to the power supply voltage Vpn is also input to the current correction amount calculation unit 107.
- Vmax is calculated using the following equation (20).
- Vmax Vpn ⁇ MRmax (20)
- MRmax used in equation (20) is a numerical value determined by a test or the like. For example, MRmax is determined so that current oscillation and system loss (such as an inverter and a motor) are minimized.
- the current correction amount calculation unit 107 calculates a voltage deviation that is a deviation between the d-axis voltage command Vd * and the q-axis voltage command Vq * and the maximum voltage Vmax.
- the voltage deviation is a difference between the square sum of squares of the d-axis voltage command Vd * and the q-axis voltage command Vq * and the maximum voltage Vmax.
- the current correction amount calculation unit 107 calculates the current correction amount ⁇ I using the following equation (8).
- Equation (8) K ⁇ I is a gain, and a value adjusted by conformance or the like is used. Moreover, although the above formula (8) assumes integral control, it may include proportional control and differential control.
- the current correction direction calculation unit 108 receives the d-axis current Id and the q-axis current Iq from the current coordinate conversion unit 109. Furthermore, the current correction direction calculation unit 108 acquires the d-axis inductance Ld and the q-axis inductance Lq from the memory described above. The current correction direction calculation unit 108 calculates the current correction direction ⁇ I by the following equation (9) based on the d-axis current Id and the q-axis current Iq, and the d-axis inductance Ld and the q-axis inductance Lq.
- the current correction amount ⁇ I is input from the current correction amount calculation unit 107 to the current correction amount decomposition unit 106. Further, the current correction direction decomposition unit 106 also receives the current correction direction ⁇ I from the current correction direction calculation unit 108. The current correction amount decomposition unit 106 calculates a d-axis current correction amount ⁇ Id1 and a q-axis current correction amount ⁇ Iq1 from the current correction amount ⁇ I and the current correction direction ⁇ I.
- the d-axis current Id and the q-axis current Iq obtained by performing the coordinate conversion of the three-phase alternating currents Iu, Iv, and Iw measured by the current detection units 111, 112, and 113 by the current coordinate conversion unit 109. Based on the above, the current correction direction ⁇ I is calculated, and the d-axis current command Id0 * and the q-axis current command Iq0 * are corrected using the current correction direction ⁇ I. Therefore, the following effects can be expected.
- the d-axis current command Id0 * and the q-axis current command Iq0 * can be corrected with a minimum current change, the induced voltage is deviated from the maximum voltage circle corresponding to the power supply voltage by field weakening control. It is possible to make it converge quickly.
- FIG. 5 is a current vector diagram according to the first embodiment.
- FIG. 6 is a voltage vector diagram according to the first embodiment.
- the electronic control unit (ECU) 150 outputs the current commands Id0 * and Iq0 *.
- the length of the combined vector 201 of the current commands Id0 * and Iq0 * does not converge within the voltage limit ellipse 200.
- the synthesized vector 202 may be added to the synthesized vector 201. Therefore, the direction of the composite vector 202 is obtained.
- the direction is a direction from the tip of the combined vector 201 toward the center M of the voltage limiting ellipse 200.
- This direction is the above-described current correction direction ⁇ I. Therefore, based on the d-axis current Id and the q-axis current Iq, and the d-axis inductance Ld and the q-axis inductance Lq so that the current correction direction of the combined vector 201 is the direction toward the center M of the voltage limiting ellipse 200, The current correction direction ⁇ I is obtained. Next, based on the current correction direction ⁇ I, a d-axis current correction amount ⁇ Id1 and a q-axis current correction amount ⁇ Iq1 are obtained.
- the resultant vector of the d-axis current correction amount ⁇ Id1 and the q-axis current correction amount ⁇ Iq1 thus obtained is a composite vector 202 as shown in FIG. Therefore, the composite vector 203 is obtained by adding the composite vector 202 to the composite vector 201.
- a combined vector of voltages corresponding to the combined vector 201 of current in FIG. 5 is a combined vector 301 in FIG.
- the length of the combined vector 301 does not converge within the maximum voltage circle 300 corresponding to the power supply voltage.
- the voltage composite vector corresponding to the current composite vector 203 of FIG. 5 is the composite vector 302 of FIG.
- the length of the combined vector 302 converges within the maximum voltage circle 300 corresponding to the power supply voltage.
- the d-axis current Id and the q-axis current Iq obtained by coordinate conversion of the three-phase alternating currents Iu, Iv, and Iw measured by the current detection units 111, 112, and 113 are converted into the q-axis current Iq.
- the current correction direction ⁇ I is calculated on the basis of this, and the d-axis current command Id0 * and the q-axis current command Iq0 * are corrected using the current correction direction ⁇ I.
- the command Id0 * and the q-axis current command Iq0 * can be corrected. Therefore, the induced voltage can be quickly converged within the maximum voltage circle 300 corresponding to the power supply voltage by the field weakening control.
- the controller for the permanent magnet type rotating electrical machine receives the AC voltage commands Vu *, Vv *, and Vw, and based on the AC voltage command, the permanent magnet type rotating electrical machine 100.
- Inverter 101 that applies AC voltages Vu, Vv, and Vw to the rotor
- magnetic pole position detector 110 that detects the magnetic pole position ⁇ of the rotor
- AC current that flows between inverter 101 and permanent magnet type rotating electrical machine 100 is detected.
- the current detectors 111, 112, and 113 and the alternating currents Iu, Iv, and Iw detected by these current detectors are defined with the field direction of the magnetic pole position ⁇ as the d axis and the direction orthogonal to the d axis as the q axis.
- Current coordinate conversion unit 109 for converting d-axis current Id and q-axis current Iq, and d-axis current command Id0 * and q-axis current command Iq0 * are input from the outside, and d-axis current command and q-axis current command are correction
- the current correction amount adding unit 102 that outputs the post-d-axis current correction command Id1 * and the post-q-axis current correction command Iq1 *, and the d-axis current Id and the q-axis current Iq become the post-d-axis current correction command Id1 * and Based on the d-axis current Id and the q-axis current Iq, and the d-axis current corrected command Id1 * and the q-axis current corrected command Iq1 * so as to follow the q-axis current corrected command Iq1 *
- Current control unit 103 that calculates non-interference term Vddc and q-axis voltage non-interference term Vq
- a current correction amount calculation unit 107 including a voltage deviation calculation unit that performs current correction and a current correction amount ⁇ I that is calculated according to the voltage deviation, and a fixed value, or a d-axis current Id and a q-axis current Iq.
- Memory as an inductance storage unit that stores in advance d-axis inductance Ld and q-axis inductance Lq as map values as arguments, and d-axis output from current coordinate conversion unit 109 Based on the current correction amount ⁇ I and the current correction direction ⁇ I, the current correction direction calculation unit 108 that calculates the current correction direction ⁇ I based on the current Id and the q-axis current Iq, and the d-axis inductance Ld and the q-axis inductance Lq.
- a current correction amount decomposition unit 106 for calculating a d-axis current correction amount ⁇ Id1 and a q-axis current correction amount ⁇ q1 to be used for correction in the current correction amount addition unit 102 includes a d-axis current correction amount ⁇ q1.
- the current correction amount addition unit 102 includes a d-axis current correction amount ⁇ q1.
- the d-axis current Id based on the d-axis current Id and the q-axis current Iq obtained by coordinate conversion of the three-phase alternating currents Iu, Iv, Iw measured by the current detectors 111, 112, 113. Since the current correction direction ⁇ I is calculated and the d-axis current command Id0 * and the q-axis current command Iq0 * are corrected using the current correction direction ⁇ I, even if there is a slight current change, the d-axis current command Id0 * And q-axis current command Iq0 * can be corrected. Therefore, the induced voltage can be quickly converged within the maximum voltage circle 300 corresponding to the power supply voltage by the field weakening control.
- FIG. 2 is a block diagram illustrating a configuration of the control device according to the second embodiment.
- FIG. 5 is a current vector diagram in the control device of the second embodiment.
- FIG. 6 is a voltage vector diagram in the control device of the second embodiment. 5 and 6 are the same as those in the first embodiment, and thus the description thereof is omitted here.
- the example in which the current correction direction ⁇ I is calculated using the d-axis current Id and the q-axis current Iq output from the current coordinate conversion unit 109 has been described.
- the d-axis current Id and the q-axis current Iq are obtained by coordinate-transforming the three-phase alternating currents Iu, Iv, Iw measured by the current detection units 111, 112, 113.
- the current correction direction ⁇ I is obtained using the d-axis current command Id0 * and the q-axis current command Iq0 * output from the electronic control unit (ECU) 150. Is calculated.
- a current correction direction calculation unit 108A is provided as shown in FIG. Since other configurations and operations are the same as those in the first embodiment, the description thereof is omitted here.
- the d-axis current command Id0 * and the q-axis current command Iq0 * are input from the electronic control unit (ECU) 150 to the current correction direction calculation unit 108A. Furthermore, the current correction direction calculation unit 108A acquires the d-axis inductance Ld and the q-axis inductance Lq from the memory. Based on the d-axis current command Id0 * and the q-axis current command Iq0 * and the d-axis inductance Ld and the q-axis inductance Lq, the current correction direction calculation unit 108A calculates the current correction direction ⁇ I by the following equation (11). calculate.
- the current correction direction ⁇ I is calculated using the d-axis current command Id0 * and the q-axis current command Iq0 * from the electronic control unit (ECU) 150.
- ECU electronice control unit
- FIG. 3 is a block diagram illustrating a configuration of the control device according to the third embodiment.
- FIG. 5 is a current vector diagram in the control device of the third embodiment.
- FIG. 6 is a voltage vector diagram in the control device of the third embodiment. 5 and 6 are the same as those in the first embodiment, and thus the description thereof is omitted here.
- the d-axis current Id and the q-axis current Iq output from the current coordinate conversion unit 109 and the d output from the electronic control unit (ECU) 150 are different.
- the current correction direction ⁇ I is calculated using the shaft current command Id0 * and the q-axis current command Iq0 *.
- a current correction direction calculation unit 108B is provided as shown in FIG. 3 instead of the current correction direction calculation unit 108 of FIG.
- a current mixing unit 114 is provided.
- the current mixing unit 114 calculates the d-axis current Id and q-axis current Iq output from the current coordinate conversion unit 109 and the d-axis current command Id0 output from the electronic control unit (ECU) 150 according to the following equation (12). * And the q-axis current command Iq0 * are added to output a d-axis mixed current Idmix and a q-axis mixed current Iqmix. Since other configurations and operations are the same as those in the first embodiment, the description thereof is omitted here.
- Idmix Id + Id0 * (12)
- Iqmix Iq + Iq0 *
- the d-axis mixed current Idmix and the q-axis mixed current Iqmix are input from the current mixing unit 114 to the current correction direction calculation unit 108B. Furthermore, the current correction direction calculation unit 108B acquires the d-axis inductance Ld and the q-axis inductance Lq from the memory. Based on the d-axis mixed current Idmix and the q-axis mixed current Iqmix, and the d-axis inductance Ld and the q-axis inductance Lq, the current correction direction calculation unit 108B calculates the current correction direction ⁇ I by the following equation (13). .
- the following effects can be expected by calculating the current correction direction ⁇ I using the d-axis mixed current Idmix and the q-axis mixed current Iqmix.
- the d-axis mixed current Idmix and the q-axis mixed current Iqmix are only the d-axis current Id and the q-axis current Iq obtained by coordinate conversion of the three-phase alternating current measured by the current detectors 111, 112, and 113.
- the d-axis current command Id0 * and the q-axis current command Iq0 * output from the electronic control unit (ECU) 150 are also included.
- the current correction direction ⁇ I is calculated based on the d-axis mixed current Idmix and the q-axis mixed current Iqmix including the d-axis current Id and the q-axis current Iq, and the d-axis current is calculated using the current correction direction ⁇ I. Since the command Id0 * and the q-axis current command Iq0 * are corrected, the d-axis current command Id0 * and the q-axis current command Iq0 * are corrected even if there is a slight current change, as in the first embodiment. can do.
- the d-axis mixed current Idmix and the q-axis mixed current Iqmix include the current commands Id0 * and Iq0 * of the electronic control unit (ECU) 150, the d-axis current Id and Compared with the case where the current correction direction ⁇ I is calculated only by the q-axis current Iq, even when the current command of the electronic control unit (ECU) 150 changes suddenly, the induced voltage is set to the maximum according to the power supply voltage in consideration of the sudden change. It is possible to quickly converge within the voltage circle.
- FIG. 4 is a block diagram illustrating a configuration of a control device according to the fourth embodiment.
- FIG. 5 is a current vector diagram in the control device of the fourth embodiment.
- FIG. 6 is a voltage vector diagram in the control device of the fourth embodiment. 5 and 6 are the same as those in the first embodiment, and thus the description thereof is omitted here.
- a steady voltage term generating unit 115 is provided.
- the d-axis voltage non-interference term Vddc and the q-axis voltage non-interference term Vqdc, the d-axis voltage integral term Vdi, and the q-axis voltage integral term Vqi output from the current controller 103 are stored. Entered.
- the steady voltage term generator 115 adds the d-axis voltage non-interference term Vddc and the q-axis voltage non-interference term Vqdc, the d-axis voltage integral term Vdi, and the q-axis voltage integral term Vqi according to the following equation (14).
- the d-axis voltage steady term Vdconst and the q-axis voltage steady term Vqconst are output.
- Vdconst Vdi + Vddc (14)
- Vqconst Vqi + Vqdc
- a current correction direction calculation unit 108C is provided as shown in FIG. Since other configurations and operations are the same as those in the first embodiment, the description thereof is omitted here.
- the d-axis voltage steady term Vdconst and the q-axis voltage steady term Vqconst are input from the steady voltage term generator 115 to the current correction direction calculation unit 108C. Furthermore, the current correction direction calculation unit 108B acquires the d-axis inductance Ld and the q-axis inductance Lq from the memory. Based on the d-axis voltage steady term Vdconst and the q-axis voltage steady term Vqconst, and the d-axis inductance Ld and the q-axis inductance Lq, the current correction direction calculation unit 108C calculates the current correction direction ⁇ I by the following equation (15). calculate.
- the current correction direction ⁇ I is calculated from the d-axis voltage steady term Vdconst and the q-axis voltage steady term Vqconst, and the d-axis current command Id0 is used by using the current correction direction ⁇ I. Since the * and the q-axis current command Iq0 * are corrected, the following effects can be expected.
- each stator and rotor of the permanent magnet type rotating electric machine 100 is calculated. Even when the temperature of the armature or the like changes, the induced voltage can be converged within the maximum voltage circle corresponding to the power supply voltage by field weakening control.
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Abstract
Description
また、特許文献2では、d軸電圧指令のみを制限するため、電圧指令の減少方向が最大電圧円の中心すなわち0、および電流指令の補正方向が電圧制限楕円中心に向かわず、最大電圧円内に速やかに収束できないといった問題が生じる。
以下に、この発明の実施の形態1に係る永久磁石型回転電機の制御装置(以下、単に、制御装置とする。)について説明する。図1は、実施の形態1に係る制御装置の構成を示したブロック図である。図5は、実施の形態1の制御装置における電流ベクトル図である。また、図6は、実施の形態1の制御装置における電圧ベクトル図である。
永久磁石型回転電機100は、永久磁石を具備する回転子と、コイルを具備する固定子とから構成されている。固定子のコイルは、回転子を回転させるための回転磁界を発生させる。なお、ここでは、永久磁石型回転電機100は、U相、V相、W相の3相交流回転電機とする。
インバータ101には、電圧座標変換部105から、後述する3相交流電圧指令Vu*,Vv*,Vw*が入力される。インバータ101は、電源から供給される電力を用いて、3相交流電圧指令Vu*,Vv*,Vw*に基づいて、三相線を介して、永久磁石型回転電機100に対して交流電圧Vu、Vv、Vwを与える。これにより、永久磁石型回転電機100の固定子のコイルが通電され、該コイルに誘起電圧が発生する。この誘起電圧により、回転子が回転する。本実施の形態1における制御装置は、この誘起電圧を、電源電圧に応じた最大電圧円内に、速やかに収束させるための制御を行う。
Iq1*=Iq0*+ΔIq1
Vqp=Kqp(Iq1* - Iq)
Vqdc=ωe×(Ld×Id+Φm)
また、式(4)において、Φmは、永久磁石型回転電機100に具備された回転子の永久磁石の磁束を示す。磁束Φmは、計測した固定値とするが、電圧等を引数としたMAP値としてもよく、あるいは、電圧等から推定した推定値としてもよい。
また、式(4)において、ωeは、永久磁石型回転電機100に具備された回転子の回転速度を示す。回転速度ωeは、磁極位置検出部110で検出した磁極位置θを微分することで求められる。
Vq*=Vqp+Vqi+Vqdc
Vmax=Vpn×MRmax (20)
式(20)で用いているMRmaxは試験等で決定した数値である。例えば、電流発振およびシステム損失(インバータおよびモータ等)が最小となるようMRmaxは決定される。電流補正量算出部107は、d軸電圧指令Vd*及びq軸電圧指令Vq*と最大電圧Vmaxとの偏差である電圧偏差を算出する。ここで、電圧偏差は、d軸電圧指令Vd*及びq軸電圧指令Vq*の2乗和平方根と、最大電圧Vmaxとの差とする。電流補正量算出部107は、当該電圧偏差に基づいて、下記の式(8)を用いて、電流補正量ΔIを算出する。
ΔIq1=ΔI×cos(θI)
図5は、本実施の形態1における電流ベクトル図である。図6は、本実施の形態1における電圧ベクトル図である。
上述したように、電子制御装置(ECU)150が、電流指令Id0*,Iq0*を出力する。このとき、図5に示すように、電流指令Id0*とIq0*との合成ベクトル201の長さは、電圧制限楕円200内に収束していない。
合成ベクトル201を電圧制限楕円200内に収束させるためには、合成ベクトル201を合成ベクトル203に変換する必要がある。合成ベクトル201から合成ベクトル203を得るには、合成ベクトル201に合成ベクトル202を加算すればよい。従って、合成ベクトル202の方向を求める。当該方向は、合成ベクトル201の先端から、電圧制限楕円200の中心Mに向かう方向である。この方向が、上述した電流補正方向θIである。
従って、合成ベクトル201の電流補正方向が電圧制限楕円200の中心Mに向かう方向となるように、d軸電流Id及びq軸電流Iq、及び、d軸インダクタンスLdおよびq軸インダクタンスLqに基づいて、電流補正方向θIを求める。次に、電流補正方向θIに基づいて、d軸電流補正量ΔId1及びq軸電流補正量ΔIq1を求める。こうして得られたd軸電流補正量ΔId1とq軸電流補正量ΔIq1との合成ベクトルは、図5に示すように、合成ベクトル202である。従って、合成ベクトル202を合成ベクトル201に加算することにより、合成ベクトル203が得られる。
図5の電流の合成ベクトル201に対応する電圧の合成ベクトルは、図6の合成ベクトル301である。合成ベクトル301の長さは、電源電圧に応じた最大電圧円300内に収束していない。
一方、図5の電流の合成ベクトル203に対応する電圧の合成ベクトルは、図6の合成ベクトル302である。合成ベクトル302の長さは、電源電圧に応じた最大電圧円300内に収束している。
以下に、この発明の実施の形態2に係る永久磁石型回転電機の制御装置(以下、単に、制御装置とする。)について説明する。図2は、実施の形態2に係る制御装置の構成を示したブロック図である。図5は、実施の形態2の制御装置における電流ベクトル図である。また、図6は、実施の形態2の制御装置における電圧ベクトル図である。なお、図5及び図6については、実施の形態1と同じであるため、ここでは、その説明を省略する。
以下に、この発明の実施の形態3に係る永久磁石型回転電機の制御装置(以下、単に、制御装置とする。)について説明する。図3は、実施の形態3に係る制御装置の構成を示したブロック図である。図5は、実施の形態3の制御装置における電流ベクトル図である。また、図6は、実施の形態3の制御装置における電圧ベクトル図である。なお、図5及び図6については、実施の形態1と同じであるため、ここでは、その説明を省略する。
また、図3に示すように、電流混合部114が設けられている。電流混合部114は、下記の式(12)により、電流座標変換部109から出力されるd軸電流Idとq軸電流Iqと、電子制御装置(ECU)150から出力されるd軸電流指令Id0*及びq軸電流指令Iq0*とを加算して、d軸混合電流Idmix及びq軸混合電流Iqmixを出力する。
他の構成および動作については、実施の形態1と同じであるため、ここでは、その説明を省略する。
Iqmix=Iq+Iq0*
さらに、本実施の形態3においては、d軸混合電流Idmix及びq軸混合電流Iqmixに、電子制御装置(ECU)150の電流指令Id0*及びIq0*も含むようにしたので、d軸電流Idとq軸電流Iqだけで電流補正方向θIを算出する場合と比較すると、電子制御装置(ECU)150の電流指令が急変した場合でも、当該急変を考慮して、誘起電圧を電源電圧に応じた最大電圧円内に速やかに収束させることが可能となる。
以下に、この発明の実施の形態4に係る永久磁石型回転電機の制御装置(以下、単に、制御装置とする。)について説明する。図4は、実施の形態4に係る制御装置の構成を示したブロック図である。図5は、実施の形態4の制御装置における電流ベクトル図である。また、図6は、実施の形態4の制御装置における電圧ベクトル図である。なお、図5及び図6については、実施の形態1と同じであるため、ここでは、その説明を省略する。
Vqconst=Vqi+Vqdc
他の構成および動作については、実施の形態1と同じであるため、ここでは、その説明を省略する。
Claims (5)
- 永久磁石型回転電機の制御装置であって、
前記永久磁石型回転電機は、
永久磁石を具備する回転子と、
前記回転子を回転させる回転磁界を発生させるコイルを具備する固定子と
を備え、
前記制御装置は、
交流電圧指令が入力され、前記交流電圧指令に基づいて、前記永久磁石型回転電機に交流電圧を印加するインバータと、
前記回転子の磁極位置を検出する磁極位置検出部と、
前記インバータと前記永久磁石型回転電機との間を流れる交流電流を検出する電流検出部と、
前記電流検出部により検出された前記交流電流を、前記磁極位置の界磁方向をd軸とし、前記d軸に直交する方向をq軸として、d軸電流とq軸電流とに変換する電流座標変換部と、
外部からd軸電流指令及びq軸電流指令が入力され、前記d軸電流指令及び前記q軸電流指令を補正して、d軸電流補正後指令及びq軸電流補正後指令を出力する電流補正量加算部と、
前記d軸電流及び前記q軸電流が前記d軸電流補正後指令及び前記q軸電流補正後指令に追従するように、前記d軸電流及び前記q軸電流、および、前記d軸電流補正後指令及び前記q軸電流補正後指令に基づいて、d軸電圧非干渉項及びq軸電圧非干渉項と、d軸電圧比例項及びq軸電圧比例項と、d軸電圧積分項及びq軸電圧積分項とを算出する電流制御部と、
前記d軸電圧非干渉項及び前記q軸電圧非干渉項と、前記d軸電圧比例項及び前記q軸電圧比例項と、前記d軸電圧積分項及び前記q軸電圧積分項とに基づいて、d軸電圧指令及びq軸電圧指令を生成する電圧指令生成部と、
前記d軸電圧指令及び前記q軸電圧指令を、前記インバータに入力するための前記交流電圧指令に変換する電圧座標変換部と、
前記電圧指令生成部から出力される前記d軸電圧指令及び前記q軸電圧指令と電源電圧に応じた最大電圧との偏差である電圧偏差を算出する電圧偏差算出部と、
前記電圧偏差に応じて電流補正量を算出する電流補正量算出部と、
固定値、または、前記d軸電流及び前記q軸電流を引数とするマップ値として、d軸インダクタンス及びq軸インダクタンスを予め記憶するインダクタンス記憶部と、
前記d軸電流及び前記q軸電流、および、前記d軸電流指令及び前記q軸電流指令の少なくともいずれか一方と、前記d軸インダクタンス及び前記q軸インダクタンスとに基づいて、電流補正方向を算出する電流補正方向算出部と、
前記電流補正量と前記電流補正方向とに基づいて、前記電流補正量加算部における前記補正に用いるためのd軸電流補正量及びq軸電流補正量を算出する電流補正量分解部と
を備え、
前記電流補正量加算部は、前記d軸電流指令及び前記q軸電流指令に、前記d軸電流補正量及び前記q軸電流補正量をそれぞれ加算することで、前記d軸電流補正後指令及び前記q軸電流補正後指令を算出する、
永久磁石型回転電機の制御装置。 - 前記電流補正方向算出部は、
前記d軸電流及び前記q軸電流と、前記d軸インダクタンス及び前記q軸インダクタンスとに基づいて、前記電流補正方向を算出する、
請求項1に記載の永久磁石型回転電機の制御装置。 - 前記電流補正方向算出部は、
前記d軸電流指令及び前記q軸電流指令と、前記d軸インダクタンス及び前記q軸インダクタンスとに基づいて、前記電流補正方向を算出する、
請求項1に記載の永久磁石型回転電機の制御装置。 - 前記電流補正方向算出部は、前記d軸電流及び前記q軸電流に前記d軸電流指令及び前記q軸電流指令をそれぞれ加算したd軸混合電流及びq軸混合電流と、前記d軸インダクタンス及び前記q軸インダクタンスとに基づいて、前記電流補正方向を算出する、
請求項1に記載の永久磁石型回転電機の制御装置。 - 永久磁石型回転電機の制御装置であって、
前記永久磁石型回転電機は、
永久磁石を具備する回転子と、
前記回転子を回転させる回転磁界を発生させるコイルを具備する固定子と
を備え、
前記制御装置は、
交流電圧指令が入力され、前記交流電圧指令に基づいて、前記永久磁石型回転電機に交流電圧を印加するインバータと、
前記回転子の磁極位置を検出する磁極位置検出部と、
前記インバータと前記永久磁石型回転電機との間を流れる交流電流を検出する電流検出部と、
前記電流検出部により検出された前記交流電流を、前記磁極位置の界磁方向をd軸とし、前記d軸に直交する方向をq軸として、d軸電流とq軸電流とに変換する電流座標変換部と、
外部からd軸電流指令及びq軸電流指令が入力され、前記d軸電流指令及び前記q軸電流指令を補正して、d軸電流補正後指令及びq軸電流補正後指令を出力する電流補正量加算部と、
前記d軸電流及び前記q軸電流が前記d軸電流補正後指令及び前記q軸電流補正後指令に追従するように、前記d軸電流及び前記q軸電流、および、前記d軸電流補正後指令及び前記q軸電流補正後指令に基づいて、d軸電圧非干渉項及びq軸電圧非干渉項と、d軸電圧比例項及びq軸電圧比例項と、d軸電圧積分項及びq軸電圧積分項とを算出する電流制御部と、
前記d軸電圧非干渉項及び前記q軸電圧非干渉項と、前記d軸電圧比例項及び前記q軸電圧比例項と、前記d軸電圧積分項及び前記q軸電圧積分項とに基づいて、d軸電圧指令及びq軸電圧指令を生成する電圧指令生成部と、
前記d軸電圧指令及び前記q軸電圧指令を、前記インバータに入力するための前記交流電圧指令に変換する電圧座標変換部と、
前記電圧指令生成部から出力される前記d軸電圧指令及び前記q軸電圧指令と電源電圧に応じた最大電圧との偏差である電圧偏差を算出する電圧偏差算出部と、
前記電圧偏差に応じて電流補正量を算出する電流補正量算出部と、
前記電流制御部から出力される前記d軸電圧非干渉項及び前記q軸電圧非干渉項と前記d軸電圧積分項と前記q軸電圧積分項とに基づいて、d軸電圧定常項及びq軸電圧定常項を算出する電圧定常項生成部と、
固定値、または、前記d軸電流及び前記q軸電流を引数とするマップ値として、d軸インダクタンス及びq軸インダクタンスを予め記憶するインダクタンス記憶部と、
前記電圧定常項生成部から出力される前記d軸電圧定常項及び前記q軸電圧定常項と、前記d軸インダクタンス及び前記q軸インダクタンスとに基づいて、電流補正方向を算出する電流補正方向算出部と、
前記電流補正量と前記電流補正方向とに基づいて、前記電流補正量加算部における前記補正に用いるためのd軸電流補正量及びq軸電流補正量を算出する電流補正量分解部と
を備え、
前記電流補正量加算部は、前記d軸電流指令及び前記q軸電流指令に、前記d軸電流補正量及び前記q軸電流補正量をそれぞれ加算することで、前記d軸電流補正後指令及び前記q軸電流補正後指令を算出する、
永久磁石型回転電機の制御装置。
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JP2017552576A JP6403904B2 (ja) | 2015-11-25 | 2015-11-25 | 永久磁石型回転電機の制御装置 |
DE112015007148.2T DE112015007148T5 (de) | 2015-11-25 | 2015-11-25 | Steuervorrichtung für Permanentmagnettyp-Drehelektromaschine |
US15/767,736 US10469014B2 (en) | 2015-11-25 | 2015-11-25 | Control device for permanent magnet-type rotating electrical machine |
CN201580084613.0A CN108450055B (zh) | 2015-11-25 | 2015-11-25 | 永磁体型旋转电机的控制装置 |
PCT/JP2015/083030 WO2017090109A1 (ja) | 2015-11-25 | 2015-11-25 | 永久磁石型回転電機の制御装置 |
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EP3883123B1 (en) * | 2018-11-16 | 2024-03-13 | Panasonic Intellectual Property Management Co., Ltd. | Motor control device |
CN113841331B (zh) * | 2019-05-20 | 2023-10-27 | 三菱电机株式会社 | 电动机驱动装置、压缩机驱动装置以及制冷环路装置 |
US11870314B2 (en) * | 2021-12-28 | 2024-01-09 | Steering Solutions Ip Holding Corporation | Current regulators for dual wound synchronous motor drives |
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