WO2018011864A1 - Motor drive device and air conditioner - Google Patents

Motor drive device and air conditioner Download PDF

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Publication number
WO2018011864A1
WO2018011864A1 PCT/JP2016/070455 JP2016070455W WO2018011864A1 WO 2018011864 A1 WO2018011864 A1 WO 2018011864A1 JP 2016070455 W JP2016070455 W JP 2016070455W WO 2018011864 A1 WO2018011864 A1 WO 2018011864A1
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WO
WIPO (PCT)
Prior art keywords
motor
controller
phase
master
inverter
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PCT/JP2016/070455
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French (fr)
Japanese (ja)
Inventor
酒井　顕
有澤　浩一
啓介 植村
Original Assignee
三菱電機株式会社
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Application filed by 三菱電機株式会社 filed Critical 三菱電機株式会社
Priority to PCT/JP2016/070455 priority Critical patent/WO2018011864A1/en
Priority to JP2018527268A priority patent/JP6537731B2/en
Publication of WO2018011864A1 publication Critical patent/WO2018011864A1/en

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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
    • H02P5/00—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors
    • H02P5/46—Arrangements specially adapted for regulating or controlling the speed or torque of two or more electric motors for speed regulation of two or more dynamo-electric motors in relation to one another

Definitions

  • the present invention relates to a motor driving device that drives a motor and an air conditioner.
  • a master control device transmits a synchronization counter value for synchronous operation to a slave control device, and the slave control device holds itself based on the synchronization counter value received from the master control device.
  • a technique for realizing synchronous operation by adjusting a counter value to be disclosed is disclosed.
  • the master control device and the slave control device perform synchronous control according to a reference clock of an arithmetic device such as a microcomputer (hereinafter referred to as a microcomputer).
  • the reference clock is not necessarily the same between the master control device and the slave control device. Specifically, even if the reference clock source for generating the reference clock is different between the master control device and the slave control device, or the same reference clock source is used, the oscillation frequency of the oscillator in the clock source can be reduced. If the oscillation frequency is shifted due to the variation, the frequency of the reference clock differs between the master control device and the slave control device.
  • the slave control device only adjusts the counter value held by itself based on the synchronization counter value received from the master control device.
  • the control target of the master control device and the slave control device is a motor, and even if an attempt is made to match the rotation speed of the motor between the master control device and the slave control device, the motor is controlled by the difference in the frequency of the reference clock.
  • the synchronous speed could not be stably maintained due to a shift in the rotational speed of the motor and a beat.
  • the present invention has been made in view of the above, and obtains a motor drive device that can stably maintain synchronous operation regardless of the difference in the frequency of a reference clock among a plurality of control devices. For the purpose.
  • a motor driving apparatus that drives a first motor and a second motor
  • the first motor includes a first motor driving apparatus.
  • a first inverter that outputs AC power; a second inverter that outputs second AC power to a second motor; and a first controller that outputs a first drive signal to the first inverter; And a second controller that outputs a second drive signal to the second inverter.
  • the first controller outputs a pulse signal corresponding to the rotation cycle of the first motor to the second controller.
  • the motor drive device has an effect that the synchronous operation can be stably maintained regardless of the difference in the frequency of the reference clock between the plurality of control devices.
  • FIG. 3 is a diagram illustrating a configuration example of a control circuit according to the first embodiment.
  • the figure which shows an example of the master frequency pulse signal of Embodiment 1 The figure which shows the structural example of the motor system concerning Embodiment 2.
  • FIG. The figure which shows an example of each signal and the load torque of each motor in the 1st controller of Embodiment 3.
  • FIG. 1 is a diagram illustrating a configuration example of a motor system according to a first embodiment of the present invention.
  • the motor system 101 according to the first embodiment includes a first motor 3, a second motor 4, and a motor driving device 100.
  • the motor driving device 100 drives the first motor 3 and the second motor 4 using AC power supplied from the AC power supply 9 and the AC power supply 10.
  • the motor driving device 100 includes a rectifier 11 that rectifies AC power input from the AC power supply 9 into DC power, a capacitor 13 that is connected in parallel to the rectifier 11 and smoothes the voltage of the rectified DC power, And a first inverter 5 that is connected in parallel to the rectifier 11 and converts a direct current into a three-phase alternating current to drive the first motor 3.
  • the motor driving device 100 includes a rectifier 12 that rectifies AC power input from the AC power supply 10 into DC power, and a capacitor 14 that is connected in parallel to the rectifier 12 and smoothes the voltage of the rectified DC power.
  • a second inverter 6 that is connected in parallel to the rectifier 12 and converts the direct current into a three-phase alternating current to drive the second motor 4. That is, the first inverter 5 outputs first AC power to the first motor 3, and the second inverter 6 outputs second AC power to the second motor 4.
  • the motor drive device 100 generates a PWM (Pulse Width Modulation) signal, which is a first drive signal for controlling the first inverter 5, and outputs it to the first inverter 5.
  • a second controller 8 that generates a PWM signal that is a second drive signal for controlling the second inverter 6 and outputs the PWM signal to the second inverter 6.
  • the first controller 7 and the second controller 8 are examples of a plurality of controllers.
  • the motor drive device 100 includes current detection elements 15 and 16 that measure the motor current of the first motor 3 and current detection elements 17 and 18 that measure the motor current of the second motor 4. Further, although not shown, the motor drive device 100 includes a voltage measurement unit that measures the voltage across the capacitor 13 and a voltage measurement unit that measures the voltage across the capacitor 14.
  • FIG. 1 shows an example in which two-phase motor current is measured out of three-phase motor currents, three-phase motor currents may be measured, or one-phase motor currents may be measured. May be.
  • the motor system 101 of the present embodiment causes the first motor 3 and the second motor 4 to operate synchronously.
  • the first motor 3 and the second motor 4 are individual motors each having a rotor. For example, when the first motor 3 and the second motor 4 are used as motors of a compressor in a refrigeration cycle, they are used for different compressors.
  • the first motor 3 is a three-phase motor and includes a first winding unit 1.
  • First winding section 1 includes a U-phase winding section, a V-phase winding section, and a W-phase winding section.
  • the first motor 3 includes a U-phase terminal 301 corresponding to the U-phase, a V-phase terminal 302 corresponding to the V-phase, and a W-phase terminal 303 corresponding to the W-phase.
  • the second motor 4 is a three-phase motor and includes the second winding portion 2.
  • Second winding portion 2 includes a U-phase winding portion, a V-phase winding portion, and a W-phase winding portion.
  • the second motor 4 includes a U-phase terminal 401 corresponding to the U-phase, a V-phase terminal 402 corresponding to the V-phase, and a W-phase terminal 403 corresponding to the W-phase.
  • a three-phase motor will be described as an example, but the number of phases of the motor is not limited to three.
  • the first controller 7 which is a master inverter controller has a pulse shape corresponding to the rotation cycle of the first motor 3, which will be described later, in order to synchronize the first motor 3 and the second motor 4.
  • a master frequency pulse signal which is a signal is generated and output to the second controller 8 which is a slave controller.
  • the frequency of the first motor 3 described above may be a mechanical angle frequency, that is, a frequency corresponding to a cycle in which one rotation of the first motor 3 is one cycle, or an electrical angle frequency, that is, a first frequency.
  • the frequency of AC power applied to one motor 3 may be used.
  • the second controller 8 corrects a speed command that is a command for the rotational speed of the second motor 4 using the master frequency pulse signal.
  • the first inverter 5 includes switching elements 51 and 52 that are a pair of switching elements connected in series, switching elements 53 and 54 that are a pair of switching elements connected in series, and a switching element that is a pair of switching elements connected in series. 55, 56.
  • Each switching element pair of the switching element 51 and the switching element 52, the switching element 53 and the switching element 54, the switching element 55 and the switching element 56 is referred to as an arm.
  • Each arm is connected in parallel.
  • the midpoint of each arm of the first inverter 5 is connected to the corresponding phase terminal of the first motor 3.
  • an arm composed of switching element 51 and switching element 52 is connected to U-phase terminal 301, and an arm composed of switching element 53 and switching element 54 is connected to V-phase terminal 302, and switching is performed.
  • An arm composed of element 55 and switching element 56 is connected to W-phase terminal 303.
  • the second inverter 6 includes switching elements 61 and 62 that are a pair of switching elements connected in series, switching elements 63 and 64 that are a pair of switching elements connected in series, and a switching element that is a pair of switching elements connected in series. 65, 66.
  • Each switching element pair of the switching element 61 and the switching element 62, the switching element 63 and the switching element 64, the switching element 65 and the switching element 66 is referred to as an arm. Each arm is connected in parallel. The midpoint of each arm of the second inverter 6 is connected to the corresponding phase terminal of the second motor 4.
  • an arm composed of switching element 61 and switching element 62 is connected to U-phase terminal 401, and an arm composed of switching element 63 and switching element 64 is connected to V-phase terminal 402 for switching.
  • An arm composed of element 65 and switching element 66 is connected to W-phase terminal 403.
  • the switching elements 51 to 56 and switching elements 61 to 66 are IGBT (Insulated Gate Bipolar Transistor) or MOSFET (Metal-Oxide-Semiconductor Field Effect Transistor) switching elements, and a free-wheeling diode is connected to each switching element in parallel.
  • IGBT Insulated Gate Bipolar Transistor
  • MOSFET Metal-Oxide-Semiconductor Field Effect Transistor
  • the switching elements 51 to 56, the switching elements 61 to 66, and the free wheel diode are configured by, for example, a wide gap semiconductor, but are not limited to the wide band gap semiconductor.
  • a wide band gap semiconductor such as GaN (gallium nitride), SiC (silicon carbide: silicon carbide), diamond, or the like can be used.
  • the withstand voltage is high and the allowable current density is also high, so that the module can be miniaturized. Since the wide band gap semiconductor has high heat resistance, it is possible to reduce the size of the radiating fin of the radiating portion.
  • FIG. 1 shows an example in which two motors are controlled by two sets of controllers and inverters
  • n (n is an integer of 3 or more) motors are controlled by n sets of controllers and inverters.
  • n motors are controlled by n inverters
  • one set of n sets of controllers and inverters is set as a master, and the other set is set as a slave. That is, one of the n controllers performs the same operation as the first controller 7 of the present embodiment, and the other controller performs the same operation as the second controller 8 of the present embodiment. .
  • the switching elements 51 to 56 in the first inverter 5 are controlled to be turned on or off by the PWM signal 19 output from the first controller 7.
  • the first controller 7 causes the first motor 3 to have a sine wave or trapezoidal wave shape.
  • a PWM signal 19 is generated to rotate the rotor of the first motor 3 by applying a voltage to generate a rotating magnetic flux.
  • the speed command is a command indicating the rotational speed of the first motor 3, that is, a frequency indicating a sinusoidal or trapezoidal frequency to the first motor 3, and may be input from the outside of the motor driving device 100, or the motor driving device. 100 may be generated.
  • the switching elements 61 to 66 in the second inverter 6 are controlled to be turned on or off by the PWM signal 20 output from the second controller 8.
  • the second controller 8 corrects the speed command using the master frequency pulse signal received from the first controller 7, and based on the corrected speed command, the permanent magnet of the rotor of the first motor 3.
  • a PWM signal 20 is applied to rotate the rotor of the first motor 3 by applying a sinusoidal or trapezoidal voltage to the first motor 3 to generate a rotating magnetic flux. Is generated.
  • the speed command is the same as the speed command input to the first inverter 5.
  • FIG. 2 is a diagram illustrating a configuration example of the first controller 7 according to the first embodiment.
  • FIG. 3 is a diagram illustrating a configuration example of the second controller 8 according to the first embodiment.
  • the first controller 7 and the second controller 8 are each realized by a processing circuit, and this processing circuit is an arithmetic unit including a microcomputer (microcomputer).
  • the processing circuit includes a reference clock source or is connected to an external reference clock source and operates based on a reference clock generated by the reference clock source.
  • An oscillator is used as the reference clock source, and for example, a crystal oscillator or a ceramic oscillator can be used as the oscillator.
  • the reference clock is not necessarily shared by the first controller 7 and the second controller 8.
  • the processing circuit that implements the first controller 7 and the second controller 8 may be a processing circuit that is dedicated hardware or a control circuit that includes a processor.
  • the processing circuit is, for example, a single circuit, a composite circuit, a programmed processor, a processor programmed in parallel, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or these Is a combination. 2 and 3 may be realized by individual processing circuits, or two or more may be realized by one processing circuit.
  • the control circuit is, for example, a control circuit 200 having a configuration shown in FIG.
  • FIG. 4 is a diagram illustrating a configuration example of the control circuit according to the first embodiment.
  • the control circuit 200 includes a processor 201 and a memory 202.
  • the processor 201 is a CPU (Central Processing Unit, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, DSP (Digital Signal Processor)) or the like.
  • the processor 201 When the processing circuit for realizing the first controller 7 and the second controller 8 is the control circuit 200 including the processor 201, the processor 201 describes the processing of each controller stored in the memory 202. This is realized by reading and executing the program.
  • the memory 202 is also used as a temporary memory in each process executed by the processor 201.
  • the first controller 7 of the first embodiment includes a master frequency pulse signal generation unit 22, a coordinate conversion unit 23, an estimation unit 25, a speed control unit 28, a vector control calculation unit 30, and PWM generation.
  • the unit 32 is provided.
  • the coordinate conversion unit 23 rotates the motor current based on the current information indicating the measurement result of the motor current of the first motor 3 output from the current detection elements 15 and 16 and the phase ⁇ estimated by the estimation unit 25.
  • the current i ⁇ and i ⁇ in the axis coordinate system is converted into current i ⁇ and i ⁇ , and the current i ⁇ and i ⁇ are output to the estimation unit 25.
  • the estimating unit 25 determines the speed ⁇ that is the rotational speed corresponding to the frequency of the AC power applied to the first motor 3 and the phase of the AC power applied to the first motor 3.
  • the speed control unit 28 supplies current information corresponding to a control amount for controlling the speed of the first motor 3 to the vector control calculation unit 30. Output.
  • the vector control calculation unit 30 stores motor information, which is information indicating the characteristics of the first motor 3 held in advance, current information input from the speed control unit 28, speed ⁇ output from the estimation unit 25, and Based on the phase ⁇ , output voltage information indicating the output voltage of the first inverter 5 is output to the PWM generator 32. Further, the vector generation unit 30 advances the phase with respect to the phase ⁇ , and the PWM generation unit 32 calculates ⁇ ′, which is the phase advanced from the phase ⁇ by the advance angle control, and outputs it to the PWM generation unit 32. To do.
  • the PWM generator 32 sets the switching elements 51 to 56 of the first inverter 5 based on the measured value Vdc of the voltage across the capacitor 13 and the output voltage information and phase ⁇ ′ output from the vector control calculator 30.
  • a PWM signal for controlling each is generated.
  • the output voltage is a voltage value indicated by the output voltage information.
  • the master frequency pulse signal generation unit 22 generates a master frequency pulse signal 21 synchronized with a period in which the phase ⁇ changes from 0 ° to 360 ° based on the phase ⁇ output from the estimation unit 25.
  • FIG. 5 is a diagram illustrating an example of a master frequency pulse signal according to the first embodiment.
  • the first stage of FIG. 5 shows the master-side inverter output voltage, that is, the voltage of AC power output from the first inverter 5.
  • the second stage of FIG. 5 shows the phase ⁇
  • the third stage of FIG. 5 shows the master frequency pulse signal 21.
  • the master frequency pulse signal 21 shown in FIG. 5 is an example, and the master frequency pulse signal 21 is not limited to the example shown in FIG. 5.
  • the master frequency pulse signal 21 is generated based on one cycle of AC power output from the first inverter 5, that is, the electrical angular cycle DE.
  • the master frequency pulse signal 21 may be generated on the basis of a period in which the motor 3 rotates once, that is, a mechanical angle period DM. That is, the master frequency pulse signal 21 may be generated so that the value of the master frequency pulse signal 21 changes at a location where the mechanical angle is 0 °.
  • the mechanical angular period is generally equal to the electrical angular period multiplied by the number of pole pairs of the motor (for example, the number of pole pairs is 3 in the case of a 6-pole motor).
  • the master frequency pulse signal 21 is generated based on the phase ⁇ estimated by the estimation unit 25 has been described, but based on the speed ⁇ estimated by the estimation unit 25.
  • a master frequency pulse signal 21 may be generated.
  • the master frequency pulse signal generation unit 22 may generate a pulse-like signal with one period corresponding to the speed ⁇ based on the speed ⁇ .
  • the master frequency pulse signal 21 only needs to be generated so that the value of the master frequency pulse signal 21 changes at one cycle break. For example, as shown in FIG. 5, the master frequency pulse signal 21 becomes High in the first half of one cycle. It is generated as a pulse signal that becomes Low in the latter half of the cycle.
  • the second controller 8 includes a coordinate conversion unit 24, an estimation unit 26, a speed command correction unit 27, a speed control unit 29, a vector control calculation unit 31, a PWM generation unit 33, a pulse counter 34, and A master control unit 35 is provided.
  • the coordinate conversion unit 24 rotates the motor current based on the current information indicating the measurement result of the motor current of the second motor 4 output from the current detection elements 16 and 17 and the phase ⁇ estimated by the estimation unit 26.
  • the current i ⁇ and i ⁇ in the axis coordinate system is converted into current i ⁇ and i ⁇ , and the current i ⁇ and i ⁇ are output to the estimation unit 26.
  • the estimation unit 26 Based on the currents i ⁇ and i ⁇ , the estimation unit 26 has a speed ⁇ that is a rotational speed corresponding to the frequency of the AC power applied to the second motor 4 and the phase of the AC power applied to the second motor 4.
  • the estimation unit 26 may output ⁇ m input from the master control unit 35 as the phase ⁇ . That is, the second controller 8 may correct the phase of rotation of the second motor 4 using the master frequency pulse signal 21.
  • the pulse counter 34 counts the period indicated by the master frequency pulse signal 21 based on the master frequency pulse signal 21 output from the first controller 7 with the reference clock used by the second controller 8. The count result is output to the master control unit 35. Specifically, as illustrated in FIG. 5, when the phase is 0 ° by the rising edge, the interval between the rising edge timing and the next rising edge timing is measured by the reference clock. The pulse counter 34 notifies the master control unit 35 of the phase 0 ° timing indicated by the master frequency pulse signal 21.
  • the master control unit 35 Based on the count result output from the pulse counter 34, the master control unit 35 calculates the master speed ⁇ m that is the speed in the first controller 7, that is, the master controller, and sends the master speed ⁇ m to the speed command correction unit 27. Output. Further, the master control unit 35 generates the phase ⁇ m in the second controller 8 at regular intervals based on the timing of phase 0 ° notified from the pulse counter 34 and ⁇ m, and notifies the estimation unit 26 of the phase ⁇ m. . This fixed time is a cycle in which the estimation calculation in the estimation unit 26 is performed.
  • the master speed ⁇ m indicated by the master frequency pulse signal 21 is counted by the reference clock in the second controller 8 based on the master frequency pulse signal 21 generated by the second controller 8 as described above. For this reason, even if the reference clock in the first controller 7 and the clock in the second controller 8 are different, the second controller 8 can correctly grasp the master speed ⁇ m.
  • the master control unit 35 calculates ⁇ m that is the speed of the electrical angle based on the count result output from the pulse counter 34 and the number of pole pairs. To do. For example, when the number of pole pairs is 3, the master control unit 35 sets a speed that is three times the speed corresponding to the period indicated by the count result output from the pulse counter 34 to ⁇ m.
  • the speed command correction unit 27 corrects the speed command ⁇ * based on the master speed ⁇ m, and outputs the corrected speed command ⁇ * ′ to the speed control unit 29. Specifically, the speed command correction unit 27 generates a corrected speed command ⁇ * ′ so as to satisfy the following expression (1). For example, when ⁇ m> ⁇ , a value obtained by subtracting a predetermined constant value from ⁇ * may be used as a corrected speed command ⁇ * ′, or a value obtained by subtracting ⁇ m ⁇ from ⁇ * may be used as a corrected value.
  • the speed command ⁇ * ′ may be used.
  • ⁇ m ⁇ a value obtained by adding a predetermined constant value to ⁇ * may be used as a corrected speed command ⁇ * ′, or a value obtained by subtracting ⁇ m from ⁇ * is corrected.
  • Speed command ⁇ * ′ When ⁇ m> ⁇ : Speed command ⁇ * ⁇ Corrected speed command ⁇ * ' When ⁇ m ⁇ : Speed command ⁇ *> Corrected speed command ⁇ * '(1)
  • the second controller 8 changes the speed of the second motor 4 to the first motor 3. Can be synchronized with the speed.
  • the speed control unit 29 vector-controls current information corresponding to a control amount for controlling the speed of the second motor 4 based on the corrected speed command ⁇ * ′ and ⁇ estimated by the estimation unit 26. Output to the calculation unit 31.
  • the vector control calculation unit 31 stores motor information, which is information indicating the characteristics of the second motor 4 held in advance, current information input from the speed control unit 29, speed ⁇ output from the estimation unit 26, and Based on the phase ⁇ , output voltage information indicating the output voltage of the second inverter 6 is output to the PWM generator 33. Further, the vector control calculation unit 31 calculates ⁇ ′ that is a phase advanced from the phase ⁇ by the advance angle control, and outputs it to the PWM generation unit 33.
  • the PWM generator 33 sets the switching elements 61 to 66 of the second inverter 6 based on the measured value Vdc of the voltage across the capacitor 14 and the output voltage information and the phase ⁇ ′ output from the vector control calculator 31.
  • a PWM signal for controlling each is generated.
  • the output voltage is a voltage value indicated by the output voltage information.
  • the operations in the coordinate conversion unit 24, the estimation unit 26, the speed control unit 29, the vector control calculation unit 31, and the PWM generation unit 33 are the same as the operations in general motor control, and thus detailed description thereof is omitted.
  • the first controller 7 generates a PWM signal based on the speed command.
  • the contents of the process to generate and the process in which the second controller 8 generates the PWM signal based on the corrected speed command are not limited to the above-described example.
  • synchronization processing by the master frequency pulse signal generation unit 22 in the first controller 7 and the pulse counter 34, master control unit 35, and speed command correction unit 27 in the second controller 8 can be realized. If it is a structure, it is not limited to the structure and operation
  • the first controller 7 generates the master frequency pulse signal 21 that is a pulse signal indicating the speed of the first motor 3, and the second controller 8. Output to. Then, the second controller 8 calculates the speed of the first motor 3 based on the master frequency pulse signal 21 with its own reference clock, and corrects the speed command using the calculated speed of the first motor 3. I tried to do it. For this reason, synchronous operation can be stably maintained irrespective of the presence or absence of the difference in the frequency of the reference clock among the plurality of control devices.
  • the slave reference clock cycle for generating the counter value is changed to match the master reference clock cycle.
  • a method is conceivable.
  • the period of the reference clock is changed, it is necessary to change the calculation in each controller, and the processing in the controller becomes complicated.
  • the calculation in each controller does not require a change in the period of the reference clock in each controller, so that the processing can be prevented from becoming complicated and a synchronous operation can be realized.
  • FIG. FIG. 6 is a diagram illustrating a configuration example of the motor system according to the second embodiment of the present invention.
  • the motor system 101a of the second embodiment includes a motor 3a and a motor driving device 100a.
  • the motor drive device 100a drives and controls the motor 3a using AC power supplied from the AC power supply 9 and the AC power supply 10.
  • components having the same functions as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and redundant description is omitted.
  • differences from the first embodiment will be described.
  • the motor 3a of the present embodiment is a three-phase motor and includes one stator.
  • the motor 3a includes a first winding part 1a and a second winding part 2a.
  • the first winding portion 1a includes a U-phase winding portion, a V-phase winding portion, and a W-phase winding portion.
  • Second winding portion 2a includes a U-phase winding portion, a V-phase winding portion, and a W-phase winding portion.
  • the motor 3a includes a U-phase terminal 301a corresponding to the U-phase of the first winding part 1a, a V-phase terminal 302a corresponding to the V-phase of the first winding part 1a, and the first winding part 1a.
  • a W-phase terminal 303a corresponding to the W-phase is provided.
  • the motor 3a includes a U-phase terminal 401a corresponding to the U-phase of the second winding part 2a, a V-phase terminal 402a corresponding to the V-phase of the second winding part 2a, and the second winding part 2a.
  • a W-phase terminal 403a corresponding to the W-phase is provided.
  • the configuration of the motor drive device 100a is the same as that of the motor drive device 100 of the first embodiment.
  • the first inverter 5 of the motor drive device 100a outputs the first AC power to the first winding unit 1a
  • the second inverter 6 of the motor drive device 100a receives the second AC. Electric power is output to the second winding part 2a.
  • the speed command ⁇ * in the second embodiment is a speed command for the rotational speed of the motor 3a.
  • the arm constituted by the switching element 51 and the switching element 52 is connected to the U-phase terminal 301a, and the arm constituted by the switching element 53 and the switching element 54 is V-phase.
  • An arm connected to terminal 302a and composed of switching element 55 and switching element 56 is connected to W-phase terminal 303a.
  • the arm constituted by the switching element 61 and the switching element 62 is connected to the U-phase terminal 401a, and the arm constituted by the switching element 63 and the switching element 64 is connected to the V-phase terminal 402a.
  • the connected arm composed of switching element 65 and switching element 66 is connected to W-phase terminal 403a.
  • FIG. 6 illustrates an example in which a motor 3a having two winding portions is controlled by two sets of controllers and inverters, but a motor having n (n is an integer of 3 or more) winding portions. May be controlled by n sets of controllers and inverters.
  • a motor having n winding portions is controlled by n inverters
  • one set of n sets of controllers and inverters is set as a master, and the other set is set as a slave. That is, one of the n controllers performs the same operation as the first controller 7 of the present embodiment, and the other controller performs the same operation as the second controller 8 of the present embodiment.
  • a three-phase motor will be described as an example, but the number of phases of the motor is not limited to three.
  • the first controller 7 corresponds to the frequency of the AC power applied to the first winding unit 1a.
  • a master frequency pulse signal which is a pulse-like signal indicating the speed, that is, the speed of the first winding section 1 a is generated and output to the second controller 8.
  • the second controller 8 calculates the speed of the first winding part 1a based on the master frequency pulse signal with its own reference clock, and uses the calculated speed of the first winding part 1a to calculate the speed. Correct the command. For this reason, the 1st coil
  • Embodiment 3 a motor drive device according to a third embodiment of the present invention will be described. Since the configuration of the motor system of the present embodiment is the same as that of the motor system of the first embodiment or the second embodiment, description of the configuration is omitted. In the following, the operation of the present embodiment will be described taking the configuration of the first embodiment as an example, but the operation in the configuration of the second embodiment is also output from the first inverter 5 and the second inverter 6. Except that the output destination of the AC power is the first motor 3 and the second motor 4 to the first winding part 1a and the second winding part 2a and that the operation of the vector control calculation part 31 is partially different. Is the same.
  • FIG. 7 is a diagram showing an example of each signal and load torque of each motor in the first controller of the present embodiment.
  • FIG. 7 shows an example in which the first motor 3 and the second motor 4 are 6-pole motors.
  • the first stage of FIG. 7 shows the master-side inverter output voltage, that is, the voltage of AC power output from the first inverter 5.
  • the master frequency pulse signal is generated as a pulse signal corresponding to the mechanical angle period.
  • the second stage of FIG. 7 shows the phase ⁇
  • the third stage of FIG. 7 shows the mechanical angle of the first motor 3, that is, the master side motor rotor phase ⁇ Mm
  • the load torque Tm generated in the master side motor, that is, the first motor 3 is shown.
  • the fifth stage of FIG. 7 shows the mechanical angle of the second motor 4, that is, the slave-side motor rotor phase ⁇ Ms
  • the period of the master side motor rotor phase ⁇ Mm is three times the period of the phase ⁇ estimated by the estimation unit 25.
  • the load torque Tm of the master side motor as shown in FIG. 7 is generated by the cycle of the master side motor rotor phase ⁇ Mm, that is, the cycle of the master side motor rotor phase ⁇ Mm and the cycle of the load torque Tm of the master side motor.
  • the load torque Tm of the master side motor is maximized in the vicinity where the master side motor rotor phase ⁇ Mm is 90 °.
  • the load torque Tm of the master side motor becomes the minimum in the vicinity where the master side motor rotor phase ⁇ Mm becomes 270 °.
  • the load torque Ts of the slave-side motor is the same as the load torque Tm of the master-side motor.
  • the maximum is near the side motor rotor phase ⁇ Mm is 90 °
  • the minimum is near the master side motor rotor phase ⁇ Mm is 270 °.
  • the master side motor and the slave side motor may cause vibration and noise by the master side motor and the slave side motor.
  • the second controller 8 performs control so that the master side motor rotor phase ⁇ Mm and the slave side motor rotor phase ⁇ Ms are shifted by 180 °.
  • the master frequency pulse signal is generated as a pulse signal corresponding to the period of the mechanical angle
  • the master control unit 35 performs the master side motor rotor phase which is the phase of the mechanical angle.
  • ⁇ Mm is calculated and output to the estimation unit 26 as ⁇ m.
  • the estimation unit 26 outputs ⁇ m + 180 ° as ⁇ to the coordinate conversion unit 24 and the vector control calculation unit 31.
  • the vector control calculation unit 31 includes motor information that is information indicating the characteristics of the second motor 4, current information that is input from the speed control unit 29, and a phase that is a speed ⁇ and a mechanical angle output from the estimation unit 26. Based on ⁇ , output voltage information indicating the output voltage of the second inverter 6 is output to the PWM generator 33.
  • motor information that is information indicating the characteristics of the second motor 4, current information that is input from the speed control unit 29, and a phase that is a speed ⁇ and a mechanical angle output from the estimation unit 26. Based on ⁇ , output voltage information indicating the output voltage of the second inverter 6 is output to the PWM generator 33.
  • the phase difference between the master side motor rotor phase ⁇ Mm and the slave side motor rotor phase ⁇ Ms is set to 180 °.
  • the inverter output voltage may be controlled so that the phase of the rotor of each motor is shifted by (360 / n) °.
  • the vibration and noise timings of the n motors can be shifted, and the vibration and noise of the entire system using the n motors can be suppressed.
  • the mechanical angle cycle and the motor load torque cycle are not necessarily the same,
  • the case where the cycle of the load torque is 1 ⁇ 2 of the cycle of the mechanical angle is also conceivable.
  • the second controller 8 sets the phase difference between the master side motor rotor phase ⁇ Mm and the slave side motor rotor phase ⁇ Ms to 90 °, so that the load torque of the master side motor and the slave side motor rotor Make sure that the load torque cancels out.
  • the phase difference between the master side motor rotor phase ⁇ Mm and the slave side motor rotor phase ⁇ Ms may be set so that the load torque of the master side motor and the load torque of the slave side motor cancel each other. That is, the second controller 8 determines the rotation phase of the second motor 4 and the first phase based on the master frequency pulse signal so that the load torque of the master side motor and the load torque of the slave side motor cancel each other. The phase difference from the rotation phase of the motor 3 is corrected to a predetermined value.
  • FIG. 8 is a diagram illustrating a configuration example of an air conditioner according to Embodiment 4 of the present invention.
  • the air conditioner of the present embodiment includes the motor system 101a and the motor 3a described in the second embodiment.
  • FIG. 8 shows an example including the motor system 101a and the motor 3a described in the second embodiment, but the motor described in the first embodiment instead of the motor system 101a and the motor 3a described in the second embodiment.
  • the system 101, the first motor 3, and the second motor 4 or the motor system and motor described in Embodiment 3 may be provided.
  • the compressor 81, the four-way valve 82, the outdoor heat exchanger 83, the expansion valve 84, and the indoor heat exchanger 85 that incorporate the motor 3a of the second embodiment are connected via the refrigerant pipe 86. It has a refrigeration cycle attached, that is, a refrigeration cycle apparatus, and constitutes a separate air conditioner.
  • the motor 3a is controlled by the motor driving device 100a.
  • a compressor 81 for compressing refrigerant and a motor 3a for operating the compressor 81 are provided inside the compressor 81, and the refrigerant circulates between the outdoor heat exchanger 83 and the indoor heat exchanger 85 from the compressor 81 for air conditioning and the like.
  • the refrigeration cycle to perform is comprised.
  • the first motor 3 and the second motor 4 of the first embodiment there are two compressors, and each compressor is built in each compressor.
  • the structure shown in FIG. 8 is applicable not only to an air conditioner but also to a device having a refrigeration cycle such as a refrigerator or a freezer.
  • Compressors used in equipment using a refrigeration cycle such as an air conditioner have a refrigerant compression and discharge process during one rotation of the motor, and the load torque varies greatly during one rotation of the motor. For this reason, vibration or noise is likely to occur.
  • a plurality of compressors are mounted, and it is necessary to control the plurality of compressors at the same rotational frequency between the plurality of controllers and the plurality of inverters.
  • the rotation frequency of each compressor will be shifted by the error of the reference clock.
  • This shift in rotational frequency induces an irritating beat sound, but by using the motor driving device shown in the first to third embodiments, the rotation frequency of the master side motor and the slave side motor rotation can be obtained. By synchronizing the frequency, it is possible to suppress the beat sound.
  • the configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

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

Abstract

A motor drive device (100) drives a first motor (3) and a second motor (4), said motor drive device being provided with: a first inverter (5) that outputs first alternating current power to the first motor (3); a second inverter (6) that outputs second alternating current power to the second motor (4); a first controller (7) that outputs a first drive signal to the first inverter (5); and a second controller (8) that outputs a second drive signal to the second inverter (6). The first controller (7) outputs, to the second controller (8), a pulse signal corresponding to the rotation period of the first motor (3).

Description

モーター駆動装置および空気調和機Motor drive device and air conditioner
　本発明は、モーターを駆動するモーター駆動装置および空気調和機に関する。 The present invention relates to a motor driving device that drives a motor and an air conditioner.
　従来、複数の制御装置を同期させて、被制御装置を制御する同期制御システムがある。特許文献１には、マスターの制御装置が同期運転のための同期カウンタ値をスレーブの制御装置へ送信し、スレーブの制御装置が、マスターの制御装置から受信した同期カウンタ値に基づいて自らが保持するカウンタ値を調整することにより、同期運転を実現する技術が開示されている。 Conventionally, there is a synchronous control system that controls a controlled device by synchronizing a plurality of control devices. In Patent Literature 1, a master control device transmits a synchronization counter value for synchronous operation to a slave control device, and the slave control device holds itself based on the synchronization counter value received from the master control device. A technique for realizing synchronous operation by adjusting a counter value to be disclosed is disclosed.
特開２００９－１５３３１１号公報JP 2009-153311 A
　マスターの制御装置およびスレーブの制御装置は、マイクロコンピュータ（以下、マイコンという）をはじめとする演算装置の基準クロックに従って同期制御を実施する。基準クロックは、マスターの制御装置とスレーブの制御装置との間で同一とは限らない。具体的には、マスターの制御装置とスレーブの制御装置との間で、基準クロックを生成する基準クロック源が異なっていたり、同じ基準クロック源を用いても、クロック源内の発振子の発振周波数のばらつきによる発振周波数のズレが生じていたりすると、マスターの制御装置とスレーブの制御装置との間で基準クロックの周波数が異なることになる。 The master control device and the slave control device perform synchronous control according to a reference clock of an arithmetic device such as a microcomputer (hereinafter referred to as a microcomputer). The reference clock is not necessarily the same between the master control device and the slave control device. Specifically, even if the reference clock source for generating the reference clock is different between the master control device and the slave control device, or the same reference clock source is used, the oscillation frequency of the oscillator in the clock source can be reduced. If the oscillation frequency is shifted due to the variation, the frequency of the reference clock differs between the master control device and the slave control device.
　しかしながら、上記特許文献１に記載の技術によれば、スレーブの制御装置が、マスターの制御装置から受信した同期カウンタ値に基づいて自らが保持するカウンタ値を調整するだけであり、特許文献１には、基準クロックの周波数の違いによる同期誤差の低減方法については開示も示唆もない。例えば、マスターの制御装置およびスレーブの制御装置の制御対象が、モーターであり、マスターの制御装置とスレーブの制御装置とでモーターの回転数を一致させようとしても、基準クロックの周波数の違いによりモーターの回転数にズレが生じ、うなりが生じて、安定的に同期運転が維持できない可能性があるという問題があった。 However, according to the technique described in Patent Document 1, the slave control device only adjusts the counter value held by itself based on the synchronization counter value received from the master control device. Neither discloses nor suggests a method for reducing the synchronization error due to the difference in the frequency of the reference clock. For example, the control target of the master control device and the slave control device is a motor, and even if an attempt is made to match the rotation speed of the motor between the master control device and the slave control device, the motor is controlled by the difference in the frequency of the reference clock. There was a problem in that there was a possibility that the synchronous speed could not be stably maintained due to a shift in the rotational speed of the motor and a beat.
　本発明は、上記に鑑みてなされたものであって、複数の制御装置の間の基準クロックの周波数の違いの有無にかかわらず、安定的に同期運転を維持することができるモーター駆動装置を得ることを目的とする。 The present invention has been made in view of the above, and obtains a motor drive device that can stably maintain synchronous operation regardless of the difference in the frequency of a reference clock among a plurality of control devices. For the purpose.
　上述した課題を解決し、目的を達成するために、本発明にかかるモーター駆動装置は、第１のモーターおよび第２のモーターを駆動するモーター駆動装置であって、第１のモーターに第１の交流電力を出力する第１のインバーターと、第２のモーターに第２の交流電力を出力する第２のインバーターと、第１のインバーターへ第１の駆動信号を出力する第１の制御器と、第２のインバーターへ第２の駆動信号を出力する第２の制御器と、を備える。第１の制御器は、第１のモーターの回転の周期に応じたパルス信号を第２の制御器へ出力する。 In order to solve the above-described problems and achieve the object, a motor driving apparatus according to the present invention is a motor driving apparatus that drives a first motor and a second motor, and the first motor includes a first motor driving apparatus. A first inverter that outputs AC power; a second inverter that outputs second AC power to a second motor; and a first controller that outputs a first drive signal to the first inverter; And a second controller that outputs a second drive signal to the second inverter. The first controller outputs a pulse signal corresponding to the rotation cycle of the first motor to the second controller.
　本発明にかかるモーター駆動装置は、複数の制御装置の間の基準クロックの周波数の違いの有無にかかわらず、安定的に同期運転を維持することができるという効果を奏する。 The motor drive device according to the present invention has an effect that the synchronous operation can be stably maintained regardless of the difference in the frequency of the reference clock between the plurality of control devices.
実施の形態１にかかるモーターシステムの構成例を示す図The figure which shows the structural example of the motor system concerning Embodiment 1. FIG. 実施の形態１の第１の制御器の構成例を示す図The figure which shows the structural example of the 1st controller of Embodiment 1. FIG. 実施の形態１の第２の制御器の構成例を示す図The figure which shows the structural example of the 2nd controller of Embodiment 1. FIG. 実施の形態１の制御回路の構成例を示す図FIG. 3 is a diagram illustrating a configuration example of a control circuit according to the first embodiment. 実施の形態１のマスター周波数パルス信号の一例を示す図The figure which shows an example of the master frequency pulse signal of Embodiment 1 実施の形態２にかかるモーターシステムの構成例を示す図The figure which shows the structural example of the motor system concerning Embodiment 2. FIG. 実施の形態３の第１の制御器における各信号と各モーターの負荷トルクの一例を示す図The figure which shows an example of each signal and the load torque of each motor in the 1st controller of Embodiment 3. 実施の形態４の空気調和機の構成例を示す図The figure which shows the structural example of the air conditioner of Embodiment 4.
　以下に、本発明の実施の形態にかかるモーター駆動装置および空気調和機を図面に基づいて詳細に説明する。なお、この実施の形態によりこの発明が限定されるものではない。 Hereinafter, a motor drive device and an air conditioner according to an embodiment of the present invention will be described in detail based on the drawings. Note that the present invention is not limited to the embodiments.
実施の形態１．
　図１は、本発明の実施の形態１にかかるモーターシステムの構成例を示す図である。図１に示すように、実施の形態１のモーターシステム１０１は、第１のモーター３、第２のモーター４、およびモーター駆動装置１００を備える。モーター駆動装置１００は、交流電源９および交流電源１０から供給される交流電力を用いて、第１のモーター３および第２のモーター４を駆動する。 Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration example of a motor system according to a first embodiment of the present invention. As shown in FIG. 1, the motor system 101 according to the first embodiment includes a first motor 3, a second motor 4, and a motor driving device 100. The motor driving device 100 drives the first motor 3 and the second motor 4 using AC power supplied from the AC power supply 9 and the AC power supply 10.
　モーター駆動装置１００は、交流電源９から入力される交流電力を直流電力に整流する整流器１１と、整流器１１に並列に接続され、整流された直流電力の電圧を平滑化するためのコンデンサ１３と、整流器１１に並列に接続され、直流電流を３相交流電流に変換して第１のモーター３を駆動する第１のインバーター５と、を備える。また、モーター駆動装置１００は、交流電源１０から入力される交流電力を直流電力に整流する整流器１２と、整流器１２に並列に接続され、整流された直流電力の電圧を平滑化するためのコンデンサ１４と、整流器１２に並列に接続され、直流電流を３相交流電流に変換して第２のモーター４を駆動する第２のインバーター６と、を備える。すなわち、第１のインバーター５は、第１のモーター３に第１の交流電力を出力し、第２のインバーター６は、第２のモーター４に第２の交流電力を出力する。 The motor driving device 100 includes a rectifier 11 that rectifies AC power input from the AC power supply 9 into DC power, a capacitor 13 that is connected in parallel to the rectifier 11 and smoothes the voltage of the rectified DC power, And a first inverter 5 that is connected in parallel to the rectifier 11 and converts a direct current into a three-phase alternating current to drive the first motor 3. The motor driving device 100 includes a rectifier 12 that rectifies AC power input from the AC power supply 10 into DC power, and a capacitor 14 that is connected in parallel to the rectifier 12 and smoothes the voltage of the rectified DC power. And a second inverter 6 that is connected in parallel to the rectifier 12 and converts the direct current into a three-phase alternating current to drive the second motor 4. That is, the first inverter 5 outputs first AC power to the first motor 3, and the second inverter 6 outputs second AC power to the second motor 4.
　また、モーター駆動装置１００は、第１のインバーター５を制御するための第１の駆動信号であるＰＷＭ（Pulse　Width　Modulation）信号を生成して第１のインバーター５へ出力する第１の制御器７と、第２のインバーター６を制御するための第２の駆動信号であるＰＷＭ信号を生成して第２のインバーター６へ出力する第２の制御器８とを備える。第１の制御器７および第２の制御器８は、複数の制御器の一例である。また、モーター駆動装置１００は、第１のモーター３のモーター電流を計測する電流検出素子１５，１６と、第２のモーター４のモーター電流を計測する電流検出素子１７，１８と、を備える。さらに、図示は省略しているが、モーター駆動装置１００は、コンデンサ１３の両端電圧を計測する電圧計測部と、コンデンサ１４の両端電圧を計測する電圧計測部と、を備える。 In addition, the motor drive device 100 generates a PWM (Pulse Width Modulation) signal, which is a first drive signal for controlling the first inverter 5, and outputs it to the first inverter 5. And a second controller 8 that generates a PWM signal that is a second drive signal for controlling the second inverter 6 and outputs the PWM signal to the second inverter 6. The first controller 7 and the second controller 8 are examples of a plurality of controllers. In addition, the motor drive device 100 includes current detection elements 15 and 16 that measure the motor current of the first motor 3 and current detection elements 17 and 18 that measure the motor current of the second motor 4. Further, although not shown, the motor drive device 100 includes a voltage measurement unit that measures the voltage across the capacitor 13 and a voltage measurement unit that measures the voltage across the capacitor 14.
　なお、図１では、３相のモーター電流のうち２相のモーター電流を計測する例を示しているが、３相のモーター電流をそれぞれ計測してもよいし、１相のモーター電流を計測してもよい。 Although FIG. 1 shows an example in which two-phase motor current is measured out of three-phase motor currents, three-phase motor currents may be measured, or one-phase motor currents may be measured. May be.
　本実施の形態のモーターシステム１０１は、第１のモーター３および第２のモーター４を同期運転させる。第１のモーター３および第２のモーター４は、それぞれが回転子を有する個別のモーターである。第１のモーター３および第２のモーター４は、例えば冷凍サイクルにおける圧縮機のモーターとして用いられる場合、それぞれ異なる圧縮機に用いられる。 The motor system 101 of the present embodiment causes the first motor 3 and the second motor 4 to operate synchronously. The first motor 3 and the second motor 4 are individual motors each having a rotor. For example, when the first motor 3 and the second motor 4 are used as motors of a compressor in a refrigeration cycle, they are used for different compressors.
　第１のモーター３は、３相モーターであり、第１の巻線部１を備える。第１の巻線部１は、Ｕ相巻線部、Ｖ相巻線部およびＷ相巻線部を備える。また、第１のモーター３は、Ｕ相に対応するＵ相端子３０１、Ｖ相に対応するＶ相端子３０２およびＷ相に対応するＷ相端子３０３を備える。第２のモーター４は、３相モーターであり、第２の巻線部２を備える。第２の巻線部２は、Ｕ相巻線部、Ｖ相巻線部およびＷ相巻線部を備える。また、第２のモーター４は、Ｕ相に対応するＵ相端子４０１、Ｖ相に対応するＶ相端子４０２およびＷ相に対応するＷ相端子４０３を備える。なお、以下では、３相モーターを例に説明するが、モーターの相数は３相に限定されない。 The first motor 3 is a three-phase motor and includes a first winding unit 1. First winding section 1 includes a U-phase winding section, a V-phase winding section, and a W-phase winding section. The first motor 3 includes a U-phase terminal 301 corresponding to the U-phase, a V-phase terminal 302 corresponding to the V-phase, and a W-phase terminal 303 corresponding to the W-phase. The second motor 4 is a three-phase motor and includes the second winding portion 2. Second winding portion 2 includes a U-phase winding portion, a V-phase winding portion, and a W-phase winding portion. The second motor 4 includes a U-phase terminal 401 corresponding to the U-phase, a V-phase terminal 402 corresponding to the V-phase, and a W-phase terminal 403 corresponding to the W-phase. Hereinafter, a three-phase motor will be described as an example, but the number of phases of the motor is not limited to three.
　マスターインバーター制御器である第１の制御器７は、第１のモーター３および第２のモーター４を同期運転させるために、後述する、第１のモーター３の回転の周期に応じたパルス状の信号であるマスター周波数パルス信号を生成して、スレーブ制御器である第２の制御器８へ出力する。ここで、上述した第１のモーター３の周波数は、機械角の周波数すなわち第１のモーター３の１回転を１周期とした周期に対応する周波数であってもよいし、電気角の周波数すなわち第１のモーター３に印加される交流電力の周波数であってもよい。第２の制御器８は、マスター周波数パルス信号を用いて、第２のモーター４の回転速度に対する指令である速度指令を補正する。 The first controller 7 which is a master inverter controller has a pulse shape corresponding to the rotation cycle of the first motor 3, which will be described later, in order to synchronize the first motor 3 and the second motor 4. A master frequency pulse signal which is a signal is generated and output to the second controller 8 which is a slave controller. Here, the frequency of the first motor 3 described above may be a mechanical angle frequency, that is, a frequency corresponding to a cycle in which one rotation of the first motor 3 is one cycle, or an electrical angle frequency, that is, a first frequency. The frequency of AC power applied to one motor 3 may be used. The second controller 8 corrects a speed command that is a command for the rotational speed of the second motor 4 using the master frequency pulse signal.
　第１のインバーター５は、直列接続されたスイッチング素子対であるスイッチング素子５１，５２と、直列接続されたスイッチング素子対であるスイッチング素子５３，５４と、直列接続されたスイッチング素子対であるスイッチング素子５５，５６とを備える。スイッチング素子５１およびスイッチング素子５２、スイッチング素子５３およびスイッチング素子５４、スイッチング素子５５およびスイッチング素子５６の各スイッチング素子対をそれぞれアームと呼ぶ。各アームは並列に接続される。第１のインバーター５の各アームの中点は、第１のモーター３の対応する相の端子にそれぞれ接続される。 The first inverter 5 includes switching elements 51 and 52 that are a pair of switching elements connected in series, switching elements 53 and 54 that are a pair of switching elements connected in series, and a switching element that is a pair of switching elements connected in series. 55, 56. Each switching element pair of the switching element 51 and the switching element 52, the switching element 53 and the switching element 54, the switching element 55 and the switching element 56 is referred to as an arm. Each arm is connected in parallel. The midpoint of each arm of the first inverter 5 is connected to the corresponding phase terminal of the first motor 3.
　具体的には、スイッチング素子５１およびスイッチング素子５２で構成されるアームは、Ｕ相端子３０１に接続され、スイッチング素子５３およびスイッチング素子５４で構成されるアームは、Ｖ相端子３０２に接続され、スイッチング素子５５およびスイッチング素子５６で構成されるアームは、Ｗ相端子３０３に接続される。 Specifically, an arm composed of switching element 51 and switching element 52 is connected to U-phase terminal 301, and an arm composed of switching element 53 and switching element 54 is connected to V-phase terminal 302, and switching is performed. An arm composed of element 55 and switching element 56 is connected to W-phase terminal 303.
　第２のインバーター６は、直列接続されたスイッチング素子対であるスイッチング素子６１，６２と、直列接続されたスイッチング素子対であるスイッチング素子６３，６４と、直列接続されたスイッチング素子対であるスイッチング素子６５，６６とを備える。スイッチング素子６１およびスイッチング素子６２、スイッチング素子６３およびスイッチング素子６４、スイッチング素子６５およびスイッチング素子６６の各スイッチング素子対をそれぞれアームと呼ぶ。各アームは並列に接続される。第２のインバーター６の各アームの中点は、第２のモーター４の対応する相の端子にそれぞれ接続される。 The second inverter 6 includes switching elements 61 and 62 that are a pair of switching elements connected in series, switching elements 63 and 64 that are a pair of switching elements connected in series, and a switching element that is a pair of switching elements connected in series. 65, 66. Each switching element pair of the switching element 61 and the switching element 62, the switching element 63 and the switching element 64, the switching element 65 and the switching element 66 is referred to as an arm. Each arm is connected in parallel. The midpoint of each arm of the second inverter 6 is connected to the corresponding phase terminal of the second motor 4.
　具体的には、スイッチング素子６１およびスイッチング素子６２で構成されるアームは、Ｕ相端子４０１に接続され、スイッチング素子６３およびスイッチング素子６４で構成されるアームは、Ｖ相端子４０２に接続され、スイッチング素子６５およびスイッチング素子６６で構成されるアームは、Ｗ相端子４０３に接続される。スイッチング素子５１～５６およびスイッチング素子６１～６６は、ＩＧＢＴ（Insulated　Gate　Bipolar　Transistor）またはＭＯＳＦＥＴ（Metal-Oxide-Semiconductor　Field　Effect　Transistor）のスイッチング素子であり、各スイッチング素子には並列に還流ダイオードが接続される。 Specifically, an arm composed of switching element 61 and switching element 62 is connected to U-phase terminal 401, and an arm composed of switching element 63 and switching element 64 is connected to V-phase terminal 402 for switching. An arm composed of element 65 and switching element 66 is connected to W-phase terminal 403. The switching elements 51 to 56 and switching elements 61 to 66 are IGBT (Insulated Gate Bipolar Transistor) or MOSFET (Metal-Oxide-Semiconductor Field Effect Transistor) switching elements, and a free-wheeling diode is connected to each switching element in parallel. The
　スイッチング素子５１～５６、スイッチング素子６１～６６および還流ダイオードは、例えば、ワイドギャップ半導体により構成されるが、これらはワイドバンドギャップ半導体に限定されない。ワイドバンドギャップ半導体としては、ＧａＮ（窒化ガリウム）、ＳｉＣ（シリコンカーバイド：炭化珪素）、ダイヤモンドなどのワイドバンドギャップ半導体を用いることができる。ワイドバンドギャップ半導体を用いることで耐電圧性が高く、許容電流密度も高くなるため、モジュールの小型化が可能となる。ワイドバンドギャップ半導体は、耐熱性も高いため、放熱部の放熱フィンの小型化も可能になる。 The switching elements 51 to 56, the switching elements 61 to 66, and the free wheel diode are configured by, for example, a wide gap semiconductor, but are not limited to the wide band gap semiconductor. As the wide band gap semiconductor, a wide band gap semiconductor such as GaN (gallium nitride), SiC (silicon carbide: silicon carbide), diamond, or the like can be used. By using a wide band gap semiconductor, the withstand voltage is high and the allowable current density is also high, so that the module can be miniaturized. Since the wide band gap semiconductor has high heat resistance, it is possible to reduce the size of the radiating fin of the radiating portion.
　なお、図１では２個のモーターを２組の制御器およびインバーターで制御する例を図示したが、ｎ（ｎは３以上の整数）個のモーターをｎ組の制御器およびインバーターで制御することも可能である。ｎ個のモーターをｎ個のインバーターで制御する場合、ｎ組の制御器およびインバーターのうち１組をマスターとし、他の組をスレーブとする。すなわちｎ個の制御器のうち１つが本実施の形態の第１の制御器７と同様の動作を行い、他の制御器が本実施の形態の第２の制御器８と同様の動作を行う。 Although FIG. 1 shows an example in which two motors are controlled by two sets of controllers and inverters, n (n is an integer of 3 or more) motors are controlled by n sets of controllers and inverters. Is also possible. When n motors are controlled by n inverters, one set of n sets of controllers and inverters is set as a master, and the other set is set as a slave. That is, one of the n controllers performs the same operation as the first controller 7 of the present embodiment, and the other controller performs the same operation as the second controller 8 of the present embodiment. .
　第１のインバーター５内のスイッチング素子５１～５６は、第１の制御器７から出力されるＰＷＭ信号１９によりオンまたはオフとなるよう制御される。第１の制御器７は、速度指令に基づいて、第１のモーター３の回転子の永久磁石が作る磁束と同じ速度で回転する座標系において、第１のモーター３に正弦波または台形波状の電圧を印加し回転磁束を発生させて第１のモーター３の回転子を回転させるようＰＷＭ信号１９を生成する。速度指令は、第１のモーター３の回転速度、すなわち第１のモーター３に正弦波または台形波状の周波数を示す指令であり、モーター駆動装置１００の外部から入力されてもよいし、モーター駆動装置１００内で生成されてもよい。 The switching elements 51 to 56 in the first inverter 5 are controlled to be turned on or off by the PWM signal 19 output from the first controller 7. In the coordinate system that rotates at the same speed as the magnetic flux generated by the permanent magnet of the rotor of the first motor 3 based on the speed command, the first controller 7 causes the first motor 3 to have a sine wave or trapezoidal wave shape. A PWM signal 19 is generated to rotate the rotor of the first motor 3 by applying a voltage to generate a rotating magnetic flux. The speed command is a command indicating the rotational speed of the first motor 3, that is, a frequency indicating a sinusoidal or trapezoidal frequency to the first motor 3, and may be input from the outside of the motor driving device 100, or the motor driving device. 100 may be generated.
　第２のインバーター６内のスイッチング素子６１～６６は、第２の制御器８から出力されるＰＷＭ信号２０によりオンまたはオフとなるよう制御される。第２の制御器８は、第１の制御器７から受け取ったマスター周波数パルス信号を用いて速度指令を補正し、補正後の速度指令に基づいて、第１のモーター３の回転子の永久磁石が作る磁束と同じ速度で回転する座標系において、第１のモーター３に正弦波または台形波状の電圧を印加し回転磁束を発生させて第１のモーター３の回転子を回転させるようＰＷＭ信号２０を生成する。速度指令は、第１のインバーター５に入力される速度指令と同一である。 The switching elements 61 to 66 in the second inverter 6 are controlled to be turned on or off by the PWM signal 20 output from the second controller 8. The second controller 8 corrects the speed command using the master frequency pulse signal received from the first controller 7, and based on the corrected speed command, the permanent magnet of the rotor of the first motor 3. In a coordinate system that rotates at the same speed as the magnetic flux generated by PWM, a PWM signal 20 is applied to rotate the rotor of the first motor 3 by applying a sinusoidal or trapezoidal voltage to the first motor 3 to generate a rotating magnetic flux. Is generated. The speed command is the same as the speed command input to the first inverter 5.
　図２は、実施の形態１の第１の制御器７の構成例を示す図である。図３は、実施の形態１の第２の制御器８の構成例を示す図である。第１の制御器７および第２の制御器８は、それぞれ処理回路により実現され、この処理回路は、マイコン（マイクロコンピュータ）をはじめとした演算器である。この処理回路は、基準クロック源を備えており、または外部の基準クロック源と接続されており、基準クロック源により生成された基準クロックに基づいて動作する。基準クロック源としては、発振子が用いられ、発振子には、例えば水晶発振子またはセラミック発振子を用いることができる。基準クロックは、第１の制御器７と第２の制御器８とでは共通とは限らない。 FIG. 2 is a diagram illustrating a configuration example of the first controller 7 according to the first embodiment. FIG. 3 is a diagram illustrating a configuration example of the second controller 8 according to the first embodiment. The first controller 7 and the second controller 8 are each realized by a processing circuit, and this processing circuit is an arithmetic unit including a microcomputer (microcomputer). The processing circuit includes a reference clock source or is connected to an external reference clock source and operates based on a reference clock generated by the reference clock source. An oscillator is used as the reference clock source, and for example, a crystal oscillator or a ceramic oscillator can be used as the oscillator. The reference clock is not necessarily shared by the first controller 7 and the second controller 8.
　第１の制御器７および第２の制御器８をそれぞれ実現する処理回路は、専用のハードウェアである処理回路であってもよいし、プロセッサを備える制御回路であってもよい。専用のハードウェアである場合、処理回路は、例えば、単一回路、複合回路、プログラム化したプロセッサ、並列プログラム化したプロセッサ、ＡＳＩＣ（Application　Specific　Integrated　Circuit）、ＦＰＧＡ（Field　Programmable　Gate　Array）、またはこれらを組み合わせたものである。また、図２および図３に示した各部がそれぞれ個別の処理回路により実現されてもよいし、２つ以上が１つの処理回路により実現されてもよい。 The processing circuit that implements the first controller 7 and the second controller 8 may be a processing circuit that is dedicated hardware or a control circuit that includes a processor. In the case of dedicated hardware, the processing circuit is, for example, a single circuit, a composite circuit, a programmed processor, a processor programmed in parallel, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable Gate Array), or these Is a combination. 2 and 3 may be realized by individual processing circuits, or two or more may be realized by one processing circuit.
　第１の制御器７および第２の制御器８をそれぞれ実現する処理回路がプロセッサを備える制御回路で実現される場合、この制御回路は例えば図４に示す構成の制御回路２００である。図４は、実施の形態１の制御回路の構成例を示す図である。制御回路２００は、プロセッサ２０１とメモリ２０２を備える。プロセッサ２０１は、ＣＰＵ（Central　Processing　Unit、中央処理装置、処理装置、演算装置、マイクロプロセッサ、マイクロコンピュータ、プロセッサ、ＤＳＰ（Digital　Signal　Processor）ともいう）等である。 When the processing circuits for realizing the first controller 7 and the second controller 8 are realized by a control circuit including a processor, the control circuit is, for example, a control circuit 200 having a configuration shown in FIG. FIG. 4 is a diagram illustrating a configuration example of the control circuit according to the first embodiment. The control circuit 200 includes a processor 201 and a memory 202. The processor 201 is a CPU (Central Processing Unit, central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, DSP (Digital Signal Processor)) or the like.
　第１の制御器７および第２の制御器８をそれぞれ実現する処理回路がプロセッサ２０１を備える制御回路２００である場合、プロセッサ２０１が、メモリ２０２に記憶された各制御器の処理が記述されたプログラムを読み出して実行することにより実現される。また、メモリ２０２は、プロセッサ２０１が実施する各処理における一時メモリとしても使用される。 When the processing circuit for realizing the first controller 7 and the second controller 8 is the control circuit 200 including the processor 201, the processor 201 describes the processing of each controller stored in the memory 202. This is realized by reading and executing the program. The memory 202 is also used as a temporary memory in each process executed by the processor 201.
　図２に示すように、実施の形態１の第１の制御器７は、マスター周波数パルス信号生成部２２、座標変換部２３、推定部２５、速度制御部２８、ベクトル制御演算部３０およびＰＷＭ生成部３２を備える。 As shown in FIG. 2, the first controller 7 of the first embodiment includes a master frequency pulse signal generation unit 22, a coordinate conversion unit 23, an estimation unit 25, a speed control unit 28, a vector control calculation unit 30, and PWM generation. The unit 32 is provided.
　座標変換部２３は、電流検出素子１５，１６から出力された第１のモーター３のモーター電流の計測結果を示す電流情報と推定部２５により推定された位相θとに基づいて、モーター電流を回転軸座標系における電流ｉγ，ｉδに変換し、電流ｉγ，ｉδを推定部２５へ出力する。推定部２５は、電流ｉγ，ｉδに基づいて、第１のモーター３に印加される交流電力の周波数に対応する回転速度である速度ωと、第１のモーター３に印加される交流電力の位相θとを推定し、速度ωを速度制御部２８およびベクトル制御演算部３０へ出力し、位相θをベクトル制御演算部３０および座標変換部２３へ出力する。速度制御部２８は、速度指令ω＊と推定部２５により推定されたωとに基づいて、第１のモーター３の速度を制御するための制御量に対応する電流情報をベクトル制御演算部３０へ出力する。 The coordinate conversion unit 23 rotates the motor current based on the current information indicating the measurement result of the motor current of the first motor 3 output from the current detection elements 15 and 16 and the phase θ estimated by the estimation unit 25. The current i γ and i δ in the axis coordinate system is converted into current i γ and i δ, and the current i γ and i δ are output to the estimation unit 25. Based on the currents i γ and i δ, the estimating unit 25 determines the speed ω that is the rotational speed corresponding to the frequency of the AC power applied to the first motor 3 and the phase of the AC power applied to the first motor 3. θ is estimated, the speed ω is output to the speed control unit 28 and the vector control calculation unit 30, and the phase θ is output to the vector control calculation unit 30 and the coordinate conversion unit 23. Based on the speed command ω * and ω estimated by the estimation unit 25, the speed control unit 28 supplies current information corresponding to a control amount for controlling the speed of the first motor 3 to the vector control calculation unit 30. Output.
　ベクトル制御演算部３０は、あらかじめ保持している第１のモーター３の特性を示す情報であるモーター情報と、速度制御部２８から入力される電流情報と、推定部２５から出力される速度ωおよび位相θとに基づいて、第１のインバーター５の出力電圧を示す出力電圧情報をＰＷＭ生成部３２へ出力する。また、ベクトル制御演算部３０は、位相θに対して位相を進めたＰＷＭ生成部３２は、進角制御により位相θから位相を進めた位相であるθ´を算出し、ＰＷＭ生成部３２へ出力する。 The vector control calculation unit 30 stores motor information, which is information indicating the characteristics of the first motor 3 held in advance, current information input from the speed control unit 28, speed ω output from the estimation unit 25, and Based on the phase θ, output voltage information indicating the output voltage of the first inverter 5 is output to the PWM generator 32. Further, the vector generation unit 30 advances the phase with respect to the phase θ, and the PWM generation unit 32 calculates θ ′, which is the phase advanced from the phase θ by the advance angle control, and outputs it to the PWM generation unit 32. To do.
　ＰＷＭ生成部３２は、コンデンサ１３の両端電圧の計測値Ｖｄｃと、ベクトル制御演算部３０から出力される出力電圧情報および位相θ´とに基づいて、第１のインバーター５のスイッチング素子５１～５６をそれぞれ制御するためのＰＷＭ信号を生成する。具体的には、ＰＷＭ生成部３２は、出力電圧／Ｖｄｃ＝オンデューティとなるようＰＷＭ信号を生成する。出力電圧は、出力電圧情報により示される電圧値である。なお、座標変換部２３、推定部２５、速度制御部２８、ベクトル制御演算部３０およびＰＷＭ生成部３２における動作は、一般的なモーター制御における動作と同様であるため詳細な説明は省略する。 The PWM generator 32 sets the switching elements 51 to 56 of the first inverter 5 based on the measured value Vdc of the voltage across the capacitor 13 and the output voltage information and phase θ ′ output from the vector control calculator 30. A PWM signal for controlling each is generated. Specifically, the PWM generator 32 generates a PWM signal such that the output voltage / Vdc = on duty. The output voltage is a voltage value indicated by the output voltage information. The operations in the coordinate conversion unit 23, the estimation unit 25, the speed control unit 28, the vector control calculation unit 30, and the PWM generation unit 32 are the same as the operations in general motor control, and thus detailed description thereof is omitted.
　マスター周波数パルス信号生成部２２は、推定部２５から出力される位相θに基づいて、位相θが０°から３６０°まで変化する周期であるに同期するマスター周波数パルス信号２１を生成する。 The master frequency pulse signal generation unit 22 generates a master frequency pulse signal 21 synchronized with a period in which the phase θ changes from 0 ° to 360 ° based on the phase θ output from the estimation unit 25.
　図５は、実施の形態１のマスター周波数パルス信号の一例を示す図である。図５の１段目には、マスター側インバーター出力電圧、すなわち第１のインバーター５から出力される交流電力の電圧を示している。図５の２段目には、位相θを示し、図５の３段目には、マスター周波数パルス信号２１を示している。 FIG. 5 is a diagram illustrating an example of a master frequency pulse signal according to the first embodiment. The first stage of FIG. 5 shows the master-side inverter output voltage, that is, the voltage of AC power output from the first inverter 5. The second stage of FIG. 5 shows the phase θ, and the third stage of FIG. 5 shows the master frequency pulse signal 21.
　図５に示した例では、マスター周波数パルス信号生成部２２は、マスター周波数パルス信号２１として、位相θ＝０°において立ち上がり、位相θ＝１８０°において立ち下がるパルス状の信号であるパルス信号を生成する。すなわち、位相θが０°から３６０°まで変化する１周期のうち、前半においてマスター周波数パルス信号２１の値がＨｉｇｈであり、後半においてマスター周波数パルス信号２１の値がＬｏｗである。なお、図５に示したマスター周波数パルス信号２１は一例であり、図５に示した例に限定されず、マスター周波数パルス信号２１は、位相θ＝０°となる箇所で、マスター周波数パルス信号２１の値が変化するように生成されればよい。例えば、マスター周波数パルス信号２１は、位相θ＝０°において立ち下がり、位相θ＝１８０°において立ち上がるパルス状の信号であってもよい。また、図５では、パルス幅が１８０°であるが、パルス幅も図５の例に限定されず、位相θ＝０°において立ち上がり、位相θ＝９０°において立ち下がるなどのように、パルス幅も図５の例に限定されない。 In the example illustrated in FIG. 5, the master frequency pulse signal generation unit 22 generates, as the master frequency pulse signal 21, a pulse signal that is a pulse signal that rises at the phase θ = 0 ° and falls at the phase θ = 180 °. To do. That is, in one cycle in which the phase θ changes from 0 ° to 360 °, the value of the master frequency pulse signal 21 is High in the first half and the value of the master frequency pulse signal 21 is Low in the second half. The master frequency pulse signal 21 shown in FIG. 5 is an example, and the master frequency pulse signal 21 is not limited to the example shown in FIG. 5. The master frequency pulse signal 21 is a portion where the phase θ = 0 °. It suffices if the value is generated so as to change. For example, the master frequency pulse signal 21 may be a pulse-like signal that falls at the phase θ = 0 ° and rises at the phase θ = 180 °. In FIG. 5, the pulse width is 180 °, but the pulse width is not limited to the example in FIG. 5, and the pulse width is such that it rises at the phase θ = 0 ° and falls at the phase θ = 90 °. Is not limited to the example of FIG.
　また、図５に示した例では、第１のインバーター５から出力される交流電力の１周期すなわち電気角周期ＤＥに基づいてマスター周波数パルス信号２１が生成される例を示しているが、第１のモーター３が１回転する周期すなわち機械角周期ＤＭに基づいてマスター周波数パルス信号２１が生成されてもよい。すなわち、マスター周波数パルス信号２１は、機械角が０°となる箇所で、マスター周波数パルス信号２１の値が変化するように生成されてもよい。機械角周期は、一般に、電気角周期×モーターの極対数（例えば、６極モーターの場合は極対数３）と等しい。図５では、局対数が３極の例を示しており、機械角周期ＤＭ＝電気角周期ＤＥ×３となっている。機械角周期内では、機械角の移動により回転速度に偏りが生じることがあり、この場合、機械角周期＝電気角周期×モーターの極対数とならない。機械角周期ＤＭに基づいてマスター周波数パルス信号２１を生成すると、このような回転速度の偏りによる誤差を抑制することができる。 5 shows an example in which the master frequency pulse signal 21 is generated based on one cycle of AC power output from the first inverter 5, that is, the electrical angular cycle DE. The master frequency pulse signal 21 may be generated on the basis of a period in which the motor 3 rotates once, that is, a mechanical angle period DM. That is, the master frequency pulse signal 21 may be generated so that the value of the master frequency pulse signal 21 changes at a location where the mechanical angle is 0 °. The mechanical angular period is generally equal to the electrical angular period multiplied by the number of pole pairs of the motor (for example, the number of pole pairs is 3 in the case of a 6-pole motor). FIG. 5 shows an example in which the number of station pairs is 3 poles, where mechanical angular period DM = electrical angular period DE × 3. Within the mechanical angle cycle, the rotational speed may be biased due to the movement of the mechanical angle. In this case, the mechanical angular cycle = the electrical angular cycle × the number of pole pairs of the motor. When the master frequency pulse signal 21 is generated based on the mechanical angular period DM, errors due to such a rotational speed deviation can be suppressed.
　また、図５に示した例では、推定部２５により推定された位相θに基づいて、マスター周波数パルス信号２１が生成される例を説明したが、推定部２５により推定された速度ωに基づいてマスター周波数パルス信号２１が生成されてもよい。すなわち、マスター周波数パルス信号生成部２２は、速度ωに基づいて、速度ωに対応する周期を１周期とするパルス状の信号を生成してもよい。この場合、１周期の切れ目でマスター周波数パルス信号２１の値が変化するようにマスター周波数パルス信号２１が生成されればよく、例えば、図５に示したように１周期の前半でＨｉｇｈとなり、１周期の後半でＬｏｗとなるパルス状の信号として生成される。 Further, in the example illustrated in FIG. 5, the example in which the master frequency pulse signal 21 is generated based on the phase θ estimated by the estimation unit 25 has been described, but based on the speed ω estimated by the estimation unit 25. A master frequency pulse signal 21 may be generated. In other words, the master frequency pulse signal generation unit 22 may generate a pulse-like signal with one period corresponding to the speed ω based on the speed ω. In this case, the master frequency pulse signal 21 only needs to be generated so that the value of the master frequency pulse signal 21 changes at one cycle break. For example, as shown in FIG. 5, the master frequency pulse signal 21 becomes High in the first half of one cycle. It is generated as a pulse signal that becomes Low in the latter half of the cycle.
　第２の制御器８は、図３に示すように、座標変換部２４、推定部２６、速度指令補正部２７、速度制御部２９、ベクトル制御演算部３１、ＰＷＭ生成部３３、パルスカウンタ３４およびマスター制御部３５を備える。 As shown in FIG. 3, the second controller 8 includes a coordinate conversion unit 24, an estimation unit 26, a speed command correction unit 27, a speed control unit 29, a vector control calculation unit 31, a PWM generation unit 33, a pulse counter 34, and A master control unit 35 is provided.
　座標変換部２４は、電流検出素子１６，１７から出力された第２のモーター４のモーター電流の計測結果を示す電流情報と推定部２６により推定された位相θとに基づいて、モーター電流を回転軸座標系における電流ｉγ，ｉδに変換し、電流ｉγ，ｉδを推定部２６へ出力する。推定部２６は、電流ｉγ，ｉδに基づいて、第２のモーター４に印加される交流電力の周波数に対応する回転速度である速度ωと、第２のモーター４に印加される交流電力の位相θとを推定し、速度ωを速度制御部２９およびベクトル制御演算部３１へ出力し、位相θをベクトル制御演算部３１および座標変換部２４へ出力する。なお、このとき、推定部２６は、位相θとして、マスター制御部３５から入力されたθｍを出力してもよい。すなわち、第２の制御器８は、マスター周波数パルス信号２１を用いて、第２のモーター４の回転の位相を補正してもよい。 The coordinate conversion unit 24 rotates the motor current based on the current information indicating the measurement result of the motor current of the second motor 4 output from the current detection elements 16 and 17 and the phase θ estimated by the estimation unit 26. The current i γ and i δ in the axis coordinate system is converted into current i γ and i δ, and the current i γ and i δ are output to the estimation unit 26. Based on the currents i γ and i δ, the estimation unit 26 has a speed ω that is a rotational speed corresponding to the frequency of the AC power applied to the second motor 4 and the phase of the AC power applied to the second motor 4. θ is estimated, the speed ω is output to the speed control unit 29 and the vector control calculation unit 31, and the phase θ is output to the vector control calculation unit 31 and the coordinate conversion unit 24. At this time, the estimation unit 26 may output θm input from the master control unit 35 as the phase θ. That is, the second controller 8 may correct the phase of rotation of the second motor 4 using the master frequency pulse signal 21.
　パルスカウンタ３４は、第１の制御器７から出力されるマスター周波数パルス信号２１に基づいて、マスター周波数パルス信号２１によって示される周期を、第２の制御器８が用いている基準クロックでカウントし、カウント結果をマスター制御部３５へ出力する。具体的には、図５に例示したように立ち上がりにより位相０°を示している場合、立ち上がりのタイミングと次の立ち上がりのタイミングとの間を基準クロックにより計測する。また、パルスカウンタ３４は、マスター周波数パルス信号２１によって示される位相０°のタイミングをマスター制御部３５へ通知する。 The pulse counter 34 counts the period indicated by the master frequency pulse signal 21 based on the master frequency pulse signal 21 output from the first controller 7 with the reference clock used by the second controller 8. The count result is output to the master control unit 35. Specifically, as illustrated in FIG. 5, when the phase is 0 ° by the rising edge, the interval between the rising edge timing and the next rising edge timing is measured by the reference clock. The pulse counter 34 notifies the master control unit 35 of the phase 0 ° timing indicated by the master frequency pulse signal 21.
　マスター制御部３５は、パルスカウンタ３４から出力されたカウント結果に基づいて、第１の制御器７すなわちマスター制御器における速度であるマスター速度ωｍを算出し、マスター速度ωｍを速度指令補正部２７へ出力する。また、マスター制御部３５は、パルスカウンタ３４から通知された位相０°のタイミングとωｍとに基づいて、一定時間ごとに第２の制御器８における位相θｍを生成して推定部２６へ通知する。この一定時間は、推定部２６における推定演算が行われる周期である。 Based on the count result output from the pulse counter 34, the master control unit 35 calculates the master speed ωm that is the speed in the first controller 7, that is, the master controller, and sends the master speed ωm to the speed command correction unit 27. Output. Further, the master control unit 35 generates the phase θm in the second controller 8 at regular intervals based on the timing of phase 0 ° notified from the pulse counter 34 and ωm, and notifies the estimation unit 26 of the phase θm. . This fixed time is a cycle in which the estimation calculation in the estimation unit 26 is performed.
　マスター周波数パルス信号２１によって示されるマスター速度ωｍは、上述した通り、第２の制御器８により生成されたマスター周波数パルス信号２１を第２の制御器８における基準クロックでカウントされる。このため、第１の制御器７における基準クロックと第２の制御器８におけるクロックとが異なっていたとしても、第２の制御器８は、マスター速度ωｍを正しく把握することができる。 The master speed ωm indicated by the master frequency pulse signal 21 is counted by the reference clock in the second controller 8 based on the master frequency pulse signal 21 generated by the second controller 8 as described above. For this reason, even if the reference clock in the first controller 7 and the clock in the second controller 8 are different, the second controller 8 can correctly grasp the master speed ωm.
　なお、マスター周波数パルス信号２１が機械角周期に基づいて生成される場合、マスター制御部３５は、パルスカウンタ３４から出力されるカウント結果と極対数とに基づいて電気角の速度であるωｍを算出する。例えば、極対数が３の場合、マスター制御部３５は、パルスカウンタ３４から出力されるカウント結果により示される周期に対応する速度の３倍の速度をωｍとする。 When the master frequency pulse signal 21 is generated based on the mechanical angle cycle, the master control unit 35 calculates ωm that is the speed of the electrical angle based on the count result output from the pulse counter 34 and the number of pole pairs. To do. For example, when the number of pole pairs is 3, the master control unit 35 sets a speed that is three times the speed corresponding to the period indicated by the count result output from the pulse counter 34 to ωm.
　速度指令補正部２７は、速度指令ω＊を、マスター速度ωｍに基づいて補正し、補正後の速度指令ω＊’を速度制御部２９へ出力する。具体的には、速度指令補正部２７は、以下の式（１）を満たすように補正後の速度指令ω＊’を生成する。例えば、ωｍ　＞　ωの場合には、あらかじめ定めた一定値をω＊から減算した値を補正後の速度指令ω＊’としてもよいし、ωｍ－ωをω＊から減算した値を補正後の速度指令ω＊’としてもよい。同様に、ωｍ　＜　ωの場合には、あらかじめ定めた一定値をω＊に加算した値を補正後の速度指令ω＊’としてもよいし、ω－ωｍをω＊から減算した値を補正後の速度指令ω＊’としてもよい。
ωｍ　＞　ωの場合：速度指令ω＊＜　補正後の速度指令ω＊’
ωｍ　＜　ωの場合：速度指令ω＊＞　補正後の速度指令ω＊’　　                              　                                   …（１） The speed command correction unit 27 corrects the speed command ω * based on the master speed ωm, and outputs the corrected speed command ω * ′ to the speed control unit 29. Specifically, the speed command correction unit 27 generates a corrected speed command ω * ′ so as to satisfy the following expression (1). For example, when ωm> ω, a value obtained by subtracting a predetermined constant value from ω * may be used as a corrected speed command ω * ′, or a value obtained by subtracting ωm−ω from ω * may be used as a corrected value. The speed command ω * ′ may be used. Similarly, when ωm <ω, a value obtained by adding a predetermined constant value to ω * may be used as a corrected speed command ω * ′, or a value obtained by subtracting ω−ωm from ω * is corrected. Speed command ω * ′.
When ωm> ω: Speed command ω * <Corrected speed command ω * '
When ωm <ω: Speed command ω *> Corrected speed command ω * '(1)
　以上のように、速度指令補正部２７が、速度指令ω＊をマスター速度ωｍに基づいて補正することで、第２の制御器８は、第２のモーター４の速度を、第１のモーター３の速度と同期させることができる。 As described above, when the speed command correction unit 27 corrects the speed command ω * based on the master speed ωm, the second controller 8 changes the speed of the second motor 4 to the first motor 3. Can be synchronized with the speed.
　速度制御部２９は、補正後の速度指令ω＊’と推定部２６により推定されたωとに基づいて、第２のモーター４の速度を制御するための制御量に対応する電流情報をベクトル制御演算部３１へ出力する。 The speed control unit 29 vector-controls current information corresponding to a control amount for controlling the speed of the second motor 4 based on the corrected speed command ω * ′ and ω estimated by the estimation unit 26. Output to the calculation unit 31.
　ベクトル制御演算部３１は、あらかじめ保持している第２のモーター４の特性を示す情報であるモーター情報と、速度制御部２９から入力される電流情報と、推定部２６から出力される速度ωおよび位相θとに基づいて、第２のインバーター６の出力電圧を示す出力電圧情報をＰＷＭ生成部３３へ出力する。また、ベクトル制御演算部３１は、進角制御により位相θから位相を進めた位相であるθ´を算出し、ＰＷＭ生成部３３へ出力する。 The vector control calculation unit 31 stores motor information, which is information indicating the characteristics of the second motor 4 held in advance, current information input from the speed control unit 29, speed ω output from the estimation unit 26, and Based on the phase θ, output voltage information indicating the output voltage of the second inverter 6 is output to the PWM generator 33. Further, the vector control calculation unit 31 calculates θ ′ that is a phase advanced from the phase θ by the advance angle control, and outputs it to the PWM generation unit 33.
　ＰＷＭ生成部３３は、コンデンサ１４の両端電圧の計測値Ｖｄｃと、ベクトル制御演算部３１から出力される出力電圧情報および位相θ´とに基づいて、第２のインバーター６のスイッチング素子６１～６６をそれぞれ制御するためのＰＷＭ信号を生成する。具体的には、ＰＷＭ生成部３３は、出力電圧／Ｖｄｃ＝オンデューティとなるようＰＷＭ信号を生成する。出力電圧は、出力電圧情報により示される電圧値である。なお、座標変換部２４、推定部２６、速度制御部２９、ベクトル制御演算部３１およびＰＷＭ生成部３３における動作は、一般的なモーター制御における動作と同様であるため詳細な説明は省略する。 The PWM generator 33 sets the switching elements 61 to 66 of the second inverter 6 based on the measured value Vdc of the voltage across the capacitor 14 and the output voltage information and the phase θ ′ output from the vector control calculator 31. A PWM signal for controlling each is generated. Specifically, the PWM generator 33 generates a PWM signal such that the output voltage / Vdc = on duty. The output voltage is a voltage value indicated by the output voltage information. The operations in the coordinate conversion unit 24, the estimation unit 26, the speed control unit 29, the vector control calculation unit 31, and the PWM generation unit 33 are the same as the operations in general motor control, and thus detailed description thereof is omitted.
　なお、上記の例では、第１の制御器７および第２の制御器８がベクトル制御を行う場合の構成の一例を説明したが、第１の制御器７が速度指令に基づいてＰＷＭ信号を生成する処理、および第２の制御器８が補正後の速度指令に基づいてＰＷＭ信号を生成する処理、の内容については上述した例に限定されない。例えば、推定部２６による推定を行わずに、あらかじめ定められた速度と位相でモーターに電圧を印加し回転磁束を発生させるよう制御する方法もある。以上のように、第１の制御器７におけるマスター周波数パルス信号生成部２２と、第２の制御器８におけるパルスカウンタ３４、マスター制御部３５および速度指令補正部２７とによる同期処理が実現可能な構成であれば、上述した構成および動作に限定されない。 In the above example, an example of a configuration in which the first controller 7 and the second controller 8 perform vector control has been described. However, the first controller 7 generates a PWM signal based on the speed command. The contents of the process to generate and the process in which the second controller 8 generates the PWM signal based on the corrected speed command are not limited to the above-described example. For example, there is a method of controlling to generate a rotating magnetic flux by applying a voltage to a motor at a predetermined speed and phase without performing estimation by the estimation unit 26. As described above, synchronization processing by the master frequency pulse signal generation unit 22 in the first controller 7 and the pulse counter 34, master control unit 35, and speed command correction unit 27 in the second controller 8 can be realized. If it is a structure, it is not limited to the structure and operation | movement mentioned above.
　以上のように、本実施の形態では、第１の制御器７が、第１のモーター３の速度を示すパルス状の信号であるマスター周波数パルス信号２１を生成して、第２の制御器８へ出力する。そして、第２の制御器８が自身の基準クロックでマスター周波数パルス信号２１に基づいて、第１のモーター３の速度を算出し、算出した第１のモーター３の速度を用いて速度指令を補正するようにした。このため、複数の制御装置の間の基準クロックの周波数の違いの有無にかかわらず、安定的に同期運転を維持することができる。 As described above, in the present embodiment, the first controller 7 generates the master frequency pulse signal 21 that is a pulse signal indicating the speed of the first motor 3, and the second controller 8. Output to. Then, the second controller 8 calculates the speed of the first motor 3 based on the master frequency pulse signal 21 with its own reference clock, and corrects the speed command using the calculated speed of the first motor 3. I tried to do it. For this reason, synchronous operation can be stably maintained irrespective of the presence or absence of the difference in the frequency of the reference clock among the plurality of control devices.
　また、マスターの制御装置とスレーブの制御装置との間の基準クロックの違いを補正する方法として、カウンタ値を生成するためのスレーブの基準クロックの周期を変更し、マスターの基準クロックの周期に合わせる方法が考えられる。しかしながら、基準クロックの周期を変更すると、各制御器における演算も変更する必要があり、制御器における処理が複雑になる。これに対し、本実施の形態では、各制御器における演算は各制御器における基準クロックの周期の変更を必要としないため、処理の複雑化を防いで同期運転を実現できる。 As a method of correcting the difference in the reference clock between the master control device and the slave control device, the slave reference clock cycle for generating the counter value is changed to match the master reference clock cycle. A method is conceivable. However, if the period of the reference clock is changed, it is necessary to change the calculation in each controller, and the processing in the controller becomes complicated. On the other hand, in the present embodiment, the calculation in each controller does not require a change in the period of the reference clock in each controller, so that the processing can be prevented from becoming complicated and a synchronous operation can be realized.
実施の形態２．
　図６は、本発明の実施の形態２にかかるモーターシステムの構成例を示す図である。図６に示すように、実施の形態２のモーターシステム１０１ａは、モーター３ａおよびモーター駆動装置１００ａを備える。モーター駆動装置１００ａは、交流電源９および交流電源１０から供給される交流電力を用いて、モーター３ａを駆動制御する。図６では、実施の形態１と同様の機能を有する構成要素は、実施の形態１と同一の符号を付して重複する説明を省略する。以下、実施の形態１と異なる点を説明する。 Embodiment 2. FIG.
FIG. 6 is a diagram illustrating a configuration example of the motor system according to the second embodiment of the present invention. As shown in FIG. 6, the motor system 101a of the second embodiment includes a motor 3a and a motor driving device 100a. The motor drive device 100a drives and controls the motor 3a using AC power supplied from the AC power supply 9 and the AC power supply 10. In FIG. 6, components having the same functions as those in the first embodiment are denoted by the same reference numerals as those in the first embodiment, and redundant description is omitted. Hereinafter, differences from the first embodiment will be described.
　本実施の形態のモーター３ａは、３相モーターであり、１つの固定子を備える。また、モーター３ａは、第１の巻線部１ａおよび第２の巻線部２ａを備える。 The motor 3a of the present embodiment is a three-phase motor and includes one stator. The motor 3a includes a first winding part 1a and a second winding part 2a.
　第１の巻線部１ａは、Ｕ相巻線部、Ｖ相巻線部およびＷ相巻線部を備える。第２の巻線部２ａは、Ｕ相巻線部、Ｖ相巻線部およびＷ相巻線部を備える。また、モーター３ａは、第１の巻線部１ａのＵ相に対応するＵ相端子３０１ａ、第１の巻線部１ａのＶ相に対応するＶ相端子３０２ａおよび第１の巻線部１ａのＷ相に対応するＷ相端子３０３ａを備える。さらに、モーター３ａは、第２の巻線部２ａのＵ相に対応するＵ相端子４０１ａ、第２の巻線部２ａのＶ相に対応するＶ相端子４０２ａおよび第２の巻線部２ａのＷ相に対応するＷ相端子４０３ａを備える。 The first winding portion 1a includes a U-phase winding portion, a V-phase winding portion, and a W-phase winding portion. Second winding portion 2a includes a U-phase winding portion, a V-phase winding portion, and a W-phase winding portion. The motor 3a includes a U-phase terminal 301a corresponding to the U-phase of the first winding part 1a, a V-phase terminal 302a corresponding to the V-phase of the first winding part 1a, and the first winding part 1a. A W-phase terminal 303a corresponding to the W-phase is provided. Further, the motor 3a includes a U-phase terminal 401a corresponding to the U-phase of the second winding part 2a, a V-phase terminal 402a corresponding to the V-phase of the second winding part 2a, and the second winding part 2a. A W-phase terminal 403a corresponding to the W-phase is provided.
　モーター駆動装置１００ａの構成は、実施の形態１のモーター駆動装置１００と同一である。実施の形態２では、モーター駆動装置１００ａの第１のインバーター５は第１の交流電力を第１の巻線部１ａに出力し、モーター駆動装置１００ａの第２のインバーター６は、第２の交流電力を第２の巻線部２ａに出力される。実施の形態２における速度指令ω＊は、モーター３ａの回転速度に対する速度指令である。 The configuration of the motor drive device 100a is the same as that of the motor drive device 100 of the first embodiment. In the second embodiment, the first inverter 5 of the motor drive device 100a outputs the first AC power to the first winding unit 1a, and the second inverter 6 of the motor drive device 100a receives the second AC. Electric power is output to the second winding part 2a. The speed command ω * in the second embodiment is a speed command for the rotational speed of the motor 3a.
　具体的には、第１のインバーター５において、スイッチング素子５１およびスイッチング素子５２で構成されるアームは、Ｕ相端子３０１ａに接続され、スイッチング素子５３およびスイッチング素子５４で構成されるアームは、Ｖ相端子３０２ａに接続され、スイッチング素子５５およびスイッチング素子５６で構成されるアームは、Ｗ相端子３０３ａに接続される。また、第２のインバーター６において、スイッチング素子６１およびスイッチング素子６２で構成されるアームは、Ｕ相端子４０１ａに接続され、スイッチング素子６３およびスイッチング素子６４で構成されるアームは、Ｖ相端子４０２ａに接続され、スイッチング素子６５およびスイッチング素子６６で構成されるアームは、Ｗ相端子４０３ａに接続される。 Specifically, in the first inverter 5, the arm constituted by the switching element 51 and the switching element 52 is connected to the U-phase terminal 301a, and the arm constituted by the switching element 53 and the switching element 54 is V-phase. An arm connected to terminal 302a and composed of switching element 55 and switching element 56 is connected to W-phase terminal 303a. Further, in the second inverter 6, the arm constituted by the switching element 61 and the switching element 62 is connected to the U-phase terminal 401a, and the arm constituted by the switching element 63 and the switching element 64 is connected to the V-phase terminal 402a. The connected arm composed of switching element 65 and switching element 66 is connected to W-phase terminal 403a.
　また、図６では、２つの巻線部を備えるモーター３ａを、２組の制御器およびインバーターで制御する例を説明するが、ｎ（ｎは３以上の整数）個の巻線部を備えるモーターをｎ組の制御器およびインバーターで制御してもよい。ｎ個の巻線部を備えるモーターをｎ個のインバーターで制御する場合、ｎ組の制御器およびインバーターのうち１組をマスターとし、他の組をスレーブとする。すなわちｎ個の制御器のうち１つが本実施の形態の第１の制御器７と同様の動作を行い、他の制御器が本実施の形態の第２の制御器８と同様の動作を行う。また、以下では、３相モーターを例に説明するが、モーターの相数は３相に限定されない。 FIG. 6 illustrates an example in which a motor 3a having two winding portions is controlled by two sets of controllers and inverters, but a motor having n (n is an integer of 3 or more) winding portions. May be controlled by n sets of controllers and inverters. When a motor having n winding portions is controlled by n inverters, one set of n sets of controllers and inverters is set as a master, and the other set is set as a slave. That is, one of the n controllers performs the same operation as the first controller 7 of the present embodiment, and the other controller performs the same operation as the second controller 8 of the present embodiment. . In the following, a three-phase motor will be described as an example, but the number of phases of the motor is not limited to three.
　モーター３ａのように、複数の巻線部を備えるモーターすなわち多重巻線モーターを、複数の制御器を用いて制御する場合、各制御器の基準クロックが異なっていると各巻線部に印加する交流電力の周波数が異なる可能性があり、モーターが安定に動作しない。本実施の形態のモーター駆動装置１００ａでは、実施の形態１のモーター駆動装置１００と同様に、第１の制御器７が、第１の巻線部１ａへ印加される交流電力の周波数に対応する速度すなわち第１の巻線部１ａの速度を示すパルス状の信号であるマスター周波数パルス信号を生成して、第２の制御器８へ出力する。そして、第２の制御器８が自身の基準クロックでマスター周波数パルス信号に基づいて、第１の巻線部１ａの速度を算出し、算出した第１の巻線部１ａの速度を用いて速度指令を補正する。このため、第１の巻線部１ａと第２の巻線部２ａを同期させることができ、モーター３ａを安定に制御することができる。 When a motor having a plurality of winding parts, that is, a multi-winding motor, is controlled using a plurality of controllers like the motor 3a, an alternating current applied to each winding part when the reference clock of each controller is different. The frequency of power may be different and the motor does not operate stably. In the motor drive device 100a of the present embodiment, as in the motor drive device 100 of the first embodiment, the first controller 7 corresponds to the frequency of the AC power applied to the first winding unit 1a. A master frequency pulse signal which is a pulse-like signal indicating the speed, that is, the speed of the first winding section 1 a is generated and output to the second controller 8. Then, the second controller 8 calculates the speed of the first winding part 1a based on the master frequency pulse signal with its own reference clock, and uses the calculated speed of the first winding part 1a to calculate the speed. Correct the command. For this reason, the 1st coil | winding part 1a and the 2nd coil | winding part 2a can be synchronized, and the motor 3a can be controlled stably.
実施の形態３．
　次に、本発明にかかる実施の形態３のモーター駆動装置について説明する。本実施の形態のモーターシステムの構成は、実施の形態１または実施の形態２のモーターシステムと同様であるため構成の説明は省略する。以下では、実施の形態１の構成を例に本実施の形態の動作を説明するが、実施の形態２の構成の場合の動作も、第１のインバーター５，第２のインバーター６から出力される交流電力の出力先が第１のモーター３，第２のモーター４から第１の巻線部１ａ，第２の巻線部２ａとなることおよびベクトル制御演算部３１の動作が一部異なること以外は、同様である。 Embodiment 3 FIG.
Next, a motor drive device according to a third embodiment of the present invention will be described. Since the configuration of the motor system of the present embodiment is the same as that of the motor system of the first embodiment or the second embodiment, description of the configuration is omitted. In the following, the operation of the present embodiment will be described taking the configuration of the first embodiment as an example, but the operation in the configuration of the second embodiment is also output from the first inverter 5 and the second inverter 6. Except that the output destination of the AC power is the first motor 3 and the second motor 4 to the first winding part 1a and the second winding part 2a and that the operation of the vector control calculation part 31 is partially different. Is the same.
　図７は、本実施の形態の第１の制御器における各信号と各モーターの負荷トルクの一例を示す図である。図７は、第１のモーター３および第２のモーター４が６極モーターである例を示している。図７の１段目は、マスター側インバーター出力電圧、すなわち第１のインバーター５から出力される交流電力の電圧を示している。なお、本実施の形態では、マスター周波数パルス信号は、機械角の周期に対応したパルス信号として生成される。図７の２段目には、位相θを示し、図７の３段目には、第１のモーター３の機械角すなわちマスター側モーター回転子位相θＭｍを示し、図７の４段目には、マスター側モーターすなわち第１のモーター３に発生する負荷トルクＴｍを示す。図７の５段目には、第２のモーター４の機械角すなわちスレーブ側モーター回転子位相θＭｓを示し、図７の６段目には、スレーブ側モーターすなわち第２のモーター４に発生する負荷トルクＴｓを示す。 FIG. 7 is a diagram showing an example of each signal and load torque of each motor in the first controller of the present embodiment. FIG. 7 shows an example in which the first motor 3 and the second motor 4 are 6-pole motors. The first stage of FIG. 7 shows the master-side inverter output voltage, that is, the voltage of AC power output from the first inverter 5. In the present embodiment, the master frequency pulse signal is generated as a pulse signal corresponding to the mechanical angle period. The second stage of FIG. 7 shows the phase θ, the third stage of FIG. 7 shows the mechanical angle of the first motor 3, that is, the master side motor rotor phase θMm, and the fourth stage of FIG. The load torque Tm generated in the master side motor, that is, the first motor 3 is shown. The fifth stage of FIG. 7 shows the mechanical angle of the second motor 4, that is, the slave-side motor rotor phase θMs, and the sixth stage of FIG. 7 shows the load generated in the slave-side motor, that is, the second motor 4. Torque Ts is shown.
　６極モーターの場合、マスター側モーター回転子位相θＭｍの周期は、推定部２５により推定された位相θの周期の３倍となる。マスター側モーター回転子位相θＭｍの周期により、図７に示したようなマスター側モーターの負荷トルクＴｍが発生する場合、すなわちマスター側モーター回転子位相θＭｍの周期とマスター側モーターの負荷トルクＴｍの周期とが同一の場合、マスター側モーター回転子位相θＭｍが９０°となる付近で、マスター側モーターの負荷トルクＴｍが最大となる。 In the case of a 6-pole motor, the period of the master side motor rotor phase θMm is three times the period of the phase θ estimated by the estimation unit 25. When the load torque Tm of the master side motor as shown in FIG. 7 is generated by the cycle of the master side motor rotor phase θMm, that is, the cycle of the master side motor rotor phase θMm and the cycle of the load torque Tm of the master side motor. Are the same, the load torque Tm of the master side motor is maximized in the vicinity where the master side motor rotor phase θMm is 90 °.
　また、マスター側モーター回転子位相θＭｍが２７０°となる付近で、マスター側モーターの負荷トルクＴｍが最小となる。このとき、スレーブ側モーター回転子位相θＭｓを、マスター側モーター回転子位相θＭｍと同一となるように制御すると、マスター側モーターの負荷トルクＴｍと同じように、スレーブ側モーターの負荷トルクＴｓは、マスター側モーター回転子位相θＭｍが９０°となる付近で最大となり、マスター側モーター回転子位相θＭｍが２７０°となる付近で最小となる。この場合、マスター側モーターとスレーブ側モーターとが同じ位相すなわち同じタイミングで負荷トルクが最大となるため、マスター側モーターとスレーブ側モーターとにより振動および騒音が発生する可能性がある。 Also, the load torque Tm of the master side motor becomes the minimum in the vicinity where the master side motor rotor phase θMm becomes 270 °. At this time, if the slave-side motor rotor phase θMs is controlled to be the same as the master-side motor rotor phase θMm, the load torque Ts of the slave-side motor is the same as the load torque Tm of the master-side motor. The maximum is near the side motor rotor phase θMm is 90 °, and the minimum is near the master side motor rotor phase θMm is 270 °. In this case, since the load torque becomes maximum at the same phase, that is, at the same timing, the master side motor and the slave side motor may cause vibration and noise by the master side motor and the slave side motor.
　そこで、本実施の形態では、第２の制御器８は、図７に示すように、マスター側モーター回転子位相θＭｍとスレーブ側モーター回転子位相θＭｓとが１８０°ずれるように、制御する。具体的には、本実施の形態では、マスター周波数パルス信号は、機械角の周期に対応したパルス信号として生成されており、マスター制御部３５は、機械角の位相であるマスター側モーター回転子位相θＭｍを算出して、θｍとして推定部２６へ出力する。推定部２６は、θｍ＋１８０°をθとして座標変換部２４およびベクトル制御演算部３１へ出力する。ベクトル制御演算部３１は、第２のモーター４の特性を示す情報であるモーター情報と、速度制御部２９から入力される電流情報と、推定部２６から出力される速度ωおよび機械角である位相θとに基づいて、第２のインバーター６の出力電圧を示す出力電圧情報をＰＷＭ生成部３３へ出力する。以上述べた以外の実施の形態の動作は実施の形態１と同様である。 Therefore, in the present embodiment, as shown in FIG. 7, the second controller 8 performs control so that the master side motor rotor phase θMm and the slave side motor rotor phase θMs are shifted by 180 °. Specifically, in the present embodiment, the master frequency pulse signal is generated as a pulse signal corresponding to the period of the mechanical angle, and the master control unit 35 performs the master side motor rotor phase which is the phase of the mechanical angle. θMm is calculated and output to the estimation unit 26 as θm. The estimation unit 26 outputs θm + 180 ° as θ to the coordinate conversion unit 24 and the vector control calculation unit 31. The vector control calculation unit 31 includes motor information that is information indicating the characteristics of the second motor 4, current information that is input from the speed control unit 29, and a phase that is a speed ω and a mechanical angle output from the estimation unit 26. Based on θ, output voltage information indicating the output voltage of the second inverter 6 is output to the PWM generator 33. The operations of the embodiments other than those described above are the same as those of the first embodiment.
　図７に示した例では、制御器の数が２個であるため、マスター側モーター回転子位相θＭｍとスレーブ側モーター回転子位相θＭｓとの位相差を１８０°と設定したが、制御器の数がｎ個の場合、（３６０／ｎ）°ずつ各モーターの回転子の位相がずれるようにインバーター出力電圧を制御すればよい。これにより、ｎ個のモーターの振動および騒音のタイミングをずらすことが可能となり、ｎ個のモーターを使用するシステム全体の振動および騒音を抑えることができる。 In the example shown in FIG. 7, since the number of controllers is two, the phase difference between the master side motor rotor phase θMm and the slave side motor rotor phase θMs is set to 180 °. When n is n, the inverter output voltage may be controlled so that the phase of the rotor of each motor is shifted by (360 / n) °. As a result, the vibration and noise timings of the n motors can be shifted, and the vibration and noise of the entire system using the n motors can be suppressed.
　また、図７に示した例では、機械角の周期とモーターの負荷トルクの周期とが同一の例を説明したが、機械角の周期とモーターの負荷トルクの周期とは同一とは限らず、例えば、負荷トルクの周期が機械角の周期の１／２である場合なども考えられる。この場合は、第２の制御器８は、マスター側モーター回転子位相θＭｍとスレーブ側モーター回転子位相θＭｓとの位相差を９０°とすることにより、マスター側モーターの負荷トルクとスレーブ側モーターの負荷トルクが打消しあうようにする。このように、マスター側モーター回転子位相θＭｍとスレーブ側モーター回転子位相θＭｓとの位相差は、マスター側モーターの負荷トルクとスレーブ側モーターの負荷トルクが打消しあうように設定すればよい。すなわち、第２の制御器８は、マスター側モーターの負荷トルクとスレーブ側モーターの負荷トルクが打消しあうように、マスター周波数パルス信号に基づいて、第２のモーター４の回転の位相と第１のモーター３の回転の位相との位相差があらかじめ定めた値となるよう補正する。 In the example shown in FIG. 7, the example in which the mechanical angle cycle and the motor load torque cycle are the same has been described. However, the mechanical angle cycle and the motor load torque cycle are not necessarily the same, For example, the case where the cycle of the load torque is ½ of the cycle of the mechanical angle is also conceivable. In this case, the second controller 8 sets the phase difference between the master side motor rotor phase θMm and the slave side motor rotor phase θMs to 90 °, so that the load torque of the master side motor and the slave side motor rotor Make sure that the load torque cancels out. As described above, the phase difference between the master side motor rotor phase θMm and the slave side motor rotor phase θMs may be set so that the load torque of the master side motor and the load torque of the slave side motor cancel each other. That is, the second controller 8 determines the rotation phase of the second motor 4 and the first phase based on the master frequency pulse signal so that the load torque of the master side motor and the load torque of the slave side motor cancel each other. The phase difference from the rotation phase of the motor 3 is corrected to a predetermined value.
実施の形態４．
　図８は、本発明の実施の形態４の空気調和機の構成例を示す図である。本実施の形態の空気調和機は、実施の形態２で述べたモーターシステム１０１ａおよびモーター３ａを備える。図８では、実施の形態２で述べたモーターシステム１０１ａおよびモーター３ａを備える例を示しているが、実施の形態２で述べたモーターシステム１０１ａおよびモーター３ａの替わりに実施の形態１で述べたモーターシステム１０１、第１のモーター３および第２のモーター４または実施の形態３で述べたモーターシステムおよびモーターを備えてもよい。本実施の形態の空気調和機は、実施の形態２のモーター３ａを内蔵した圧縮機８１、四方弁８２、室外熱交換器８３、膨張弁８４、室内熱交換器８５が冷媒配管８６を介して取り付けられた冷凍サイクルすなわち冷凍サイクル装置を有して、セパレート形空気調和機を構成している。モーター３ａは、モーター駆動装置１００ａにより制御される。 Embodiment 4 FIG.
FIG. 8 is a diagram illustrating a configuration example of an air conditioner according to Embodiment 4 of the present invention. The air conditioner of the present embodiment includes the motor system 101a and the motor 3a described in the second embodiment. FIG. 8 shows an example including the motor system 101a and the motor 3a described in the second embodiment, but the motor described in the first embodiment instead of the motor system 101a and the motor 3a described in the second embodiment. The system 101, the first motor 3, and the second motor 4 or the motor system and motor described in Embodiment 3 may be provided. In the air conditioner of the present embodiment, the compressor 81, the four-way valve 82, the outdoor heat exchanger 83, the expansion valve 84, and the indoor heat exchanger 85 that incorporate the motor 3a of the second embodiment are connected via the refrigerant pipe 86. It has a refrigeration cycle attached, that is, a refrigeration cycle apparatus, and constitutes a separate air conditioner. The motor 3a is controlled by the motor driving device 100a.
　圧縮機８１内部には冷媒を圧縮する圧縮機構８７とこれを動作させるモーター３ａが設けられ、圧縮機８１から室外熱交換器８３と室内熱交換器８５間を冷媒が循環することで冷暖房などを行う冷凍サイクルが構成されている。実施の形態１の第１のモーター３および第２のモーター４を用いる場合には、圧縮機が２つとなり、各圧縮機に各モーターが内蔵される。なお、図８に示した構成は、空気調和機だけでなく、冷蔵庫、冷凍庫等の冷凍サイクルを備える機器に適用可能である。 A compressor 81 for compressing refrigerant and a motor 3a for operating the compressor 81 are provided inside the compressor 81, and the refrigerant circulates between the outdoor heat exchanger 83 and the indoor heat exchanger 85 from the compressor 81 for air conditioning and the like. The refrigeration cycle to perform is comprised. When the first motor 3 and the second motor 4 of the first embodiment are used, there are two compressors, and each compressor is built in each compressor. In addition, the structure shown in FIG. 8 is applicable not only to an air conditioner but also to a device having a refrigeration cycle such as a refrigerator or a freezer.
　空気調和機をはじめとした冷凍サイクルを用いる機器に使用される圧縮機は、モーターの１回転中に冷媒の圧縮および吐出工程があり負荷トルクがモーターの１回転中に大きく変動する。このため、振動または騒音が発生しやすい。さらに大型の機器になると複数台の圧縮機を搭載することになり、複数の制御器と複数のインバーターとの間で複数の圧縮機を同じ回転周波数で制御する必要がある。この場合、各々の制御器内のマイコンの基準クロックに違いがあると、各々の圧縮機の回転周波数は基準クロックの誤差分ずれることになる。この回転周波数のずれは、耳障りなうなり音を誘発してしまうが、実施の形態１から実施の形態３で示したモーター駆動装置を用いることで、マスター側モーターの回転周波数と、スレーブ側モーター回転周波数とを同期させることでうなり音を抑制することができる。 Compressors used in equipment using a refrigeration cycle such as an air conditioner have a refrigerant compression and discharge process during one rotation of the motor, and the load torque varies greatly during one rotation of the motor. For this reason, vibration or noise is likely to occur. In the case of a larger device, a plurality of compressors are mounted, and it is necessary to control the plurality of compressors at the same rotational frequency between the plurality of controllers and the plurality of inverters. In this case, if there is a difference in the reference clock of the microcomputer in each controller, the rotation frequency of each compressor will be shifted by the error of the reference clock. This shift in rotational frequency induces an irritating beat sound, but by using the motor driving device shown in the first to third embodiments, the rotation frequency of the master side motor and the slave side motor rotation can be obtained. By synchronizing the frequency, it is possible to suppress the beat sound.
　以上の実施の形態に示した構成は、本発明の内容の一例を示すものであり、別の公知の技術と組み合わせることも可能であるし、本発明の要旨を逸脱しない範囲で、構成の一部を省略、変更することも可能である。 The configuration described in the above embodiment shows an example of the contents of the present invention, and can be combined with another known technique, and can be combined with other configurations without departing from the gist of the present invention. It is also possible to omit or change the part.
　１，１ａ　第１の巻線部、２，２ａ　第２の巻線部、３　第１のモーター、３ａ　モーター、４　第２のモーター、５　第１のインバーター、６　第２のインバーター、７　第１の制御器、８　第２の制御器、９，１０　交流電源、１１，１２　整流器、１３，１４　コンデンサ、１５，１６，１７，１８　電流検出素子、２２　マスター周波数パルス信号生成部、２３，２４　座標変換部、２５，２６　推定部、２７　速度指令補正部、２８，２９　速度制御部、３０，３１　ベクトル制御演算部、３２，３３　ＰＷＭ生成部、３４　パルスカウンタ、３５　マスター制御部、５１～５６，６１～６６　スイッチング素子、８１　圧縮機、８２　四方弁、８３　室外熱交換器、８４　膨張弁、８５　室内熱交換器、８６　冷媒配管、８７　圧縮機構、１００，１００ａ　モーター駆動装置、１０１，１０１ａ　モーターシステム。 1, 1a 1st winding part, 2, 2a 2nd winding part, 3rd first motor, 3a motor, 4th motor, 5th 1st inverter, 6th 2nd inverter, 7th 1st Controller, 8 second controller, 9, 10 AC power supply, 11, 12 rectifier, 13, 14 capacitor, 15, 16, 17, 18 current detection element, 22 master frequency pulse signal generator, 23, 24 coordinates Conversion unit, 25, 26 estimation unit, 27 speed command correction unit, 28, 29 speed control unit, 30, 31 vector control calculation unit, 32, 33 PWM generation unit, 34 pulse counter, 35 master control unit, 51-56, 61-66 switching element, 81 compressor, 82 four-way valve, 83 outdoor heat exchanger, 84 expansion valve, 85 indoor heat exchanger, 86 refrigerant piping, 87 Compression mechanism, 100, 100a motor drives, 101 or 101a motor system.

Claims (9)

  1. 　第１のモーターおよび第２のモーターを駆動するモーター駆動装置であって、
    　前記第１のモーターに第１の交流電力を出力する第１のインバーターと、
    　前記第２のモーターに第２の交流電力を出力する第２のインバーターと、
    　前記第１のインバーターへ第１の駆動信号を出力する第１の制御器と、
    　前記第２のインバーターへ第２の駆動信号を出力する第２の制御器と、
    　を備え、
    　前記第１の制御器は、前記第１のモーターの回転の周期に応じたパルス信号を前記第２の制御器へ出力するモーター駆動装置。     A motor driving device for driving a first motor and a second motor,
    A first inverter that outputs a first AC power to the first motor;
    A second inverter that outputs a second AC power to the second motor;
    A first controller that outputs a first drive signal to the first inverter;
    A second controller for outputting a second drive signal to the second inverter;
    With
    The first controller outputs a pulse signal corresponding to a rotation cycle of the first motor to the second controller.
  2. 　前記第２の制御器は、前記パルス信号を用いて、前記第２のモーターの回転速度に対する指令である速度指令を補正する請求項１に記載のモーター駆動装置。 The motor drive device according to claim 1, wherein the second controller corrects a speed command, which is a command for a rotation speed of the second motor, using the pulse signal.
  3. 　前記第２の制御器は、前記パルス信号を用いて、前記第２のモーターの回転の位相を補正する請求項１または２に記載のモーター駆動装置。 The motor controller according to claim 1 or 2, wherein the second controller corrects a phase of rotation of the second motor using the pulse signal.
  4. 　前記第２の制御器は、前記パルス信号を用いて、前記第２のモーターの回転の位相と前記第１のモーターの回転の位相との位相差があらかじめ定めた値となるよう補正する請求項３に記載のモーター駆動装置。 The second controller uses the pulse signal to correct so that a phase difference between a rotation phase of the second motor and a rotation phase of the first motor becomes a predetermined value. 3. The motor drive device according to 3.
  5. 　第１の巻線部および第２の巻線部を有するモーターを駆動するモーター駆動装置であって、
    　前記第１の巻線部に第１の交流電力を出力する第１のインバーターと、
    　前記第２の巻線部に第２の交流電力を出力する第２のインバーターと、
    　前記第１のインバーターへ第１の駆動信号を出力する第１の制御器と、
    　前記第２のインバーターへ第２の駆動信号を出力する第２の制御器と、
    　を備え、
    　前記第１の制御器は、前記モーターの回転の周期に応じたパルス信号を前記第２の制御器へ出力するモーター駆動装置。     A motor driving device for driving a motor having a first winding portion and a second winding portion,
    A first inverter that outputs a first AC power to the first winding section;
    A second inverter that outputs a second AC power to the second winding section;
    A first controller that outputs a first drive signal to the first inverter;
    A second controller for outputting a second drive signal to the second inverter;
    With
    The first controller outputs a pulse signal corresponding to a rotation cycle of the motor to the second controller.
  6. 　前記第２の制御器は、前記パルス信号を用いて、前記モーターの回転速度に対する指令である速度指令を補正する請求項５に記載のモーター駆動装置。 6. The motor drive device according to claim 5, wherein the second controller corrects a speed command, which is a command for a rotational speed of the motor, using the pulse signal.
  7. 　前記第２の制御器は、前記パルス信号を用いて、前記モーターの回転の位相を補正する請求項５または６に記載のモーター駆動装置。 The motor controller according to claim 5 or 6, wherein the second controller corrects the phase of rotation of the motor using the pulse signal.
  8. 　前記第２の制御器は、前記パルス信号を用いて、前記モーターの回転の位相と前記モーターの回転の位相との位相差があらかじめ定めた値となるよう補正する請求項７に記載のモーター駆動装置。 The motor drive according to claim 7, wherein the second controller corrects the phase difference between the rotation phase of the motor and the rotation phase of the motor to a predetermined value using the pulse signal. apparatus.
  9. 　請求項１から８のいずれか１つに記載のモーター駆動装置と、
    　前記モーター駆動装置により駆動されるモーターを有する圧縮機と、
    　を備える空気調和機。     A motor drive device according to any one of claims 1 to 8,
    A compressor having a motor driven by the motor driving device;
    Air conditioner equipped with.
PCT/JP2016/070455 2016-07-11 2016-07-11 Motor drive device and air conditioner WO2018011864A1 (en)

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US20220190690A1 (en) * 2020-12-14 2022-06-16 Rohm Co., Ltd. Motor Driving Device

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EP4181387A1 (en) * 2021-11-15 2023-05-17 Siemens Schweiz AG Half-step motor driver

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US3718845A (en) * 1971-06-22 1973-02-27 Borg Warner Variable speed master-slave motor control system with continuous position adjustment
JP2001309681A (en) * 2000-04-26 2001-11-02 Tokyo Kikai Seisakusho Ltd Synchronizating control device
JP2007028724A (en) * 2005-07-13 2007-02-01 Matsushita Electric Ind Co Ltd Motor driving unit
CN102079311A (en) * 2010-12-28 2011-06-01 深圳华强智能技术有限公司 Four-wheel-driven control system and method of railcar and railcar

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US3718845A (en) * 1971-06-22 1973-02-27 Borg Warner Variable speed master-slave motor control system with continuous position adjustment
JP2001309681A (en) * 2000-04-26 2001-11-02 Tokyo Kikai Seisakusho Ltd Synchronizating control device
JP2007028724A (en) * 2005-07-13 2007-02-01 Matsushita Electric Ind Co Ltd Motor driving unit
CN102079311A (en) * 2010-12-28 2011-06-01 深圳华强智能技术有限公司 Four-wheel-driven control system and method of railcar and railcar

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20220190690A1 (en) * 2020-12-14 2022-06-16 Rohm Co., Ltd. Motor Driving Device

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