WO2022215263A1 - 電力変換装置、推定器及び推定方法 - Google Patents
電力変換装置、推定器及び推定方法 Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/16—Estimation of constants, e.g. the rotor time constant
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R27/00—Arrangements for measuring resistance, reactance, impedance, or electric characteristics derived therefrom
- G01R27/02—Measuring real or complex resistance, reactance, impedance, or other two-pole characteristics derived therefrom, e.g. time constant
- G01R27/26—Measuring inductance or capacitance; Measuring quality factor, e.g. by using the resonance method; Measuring loss factor; Measuring dielectric constants ; Measuring impedance or related variables
- G01R27/2611—Measuring inductance
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
- H02P21/18—Estimation of position or speed
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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
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/14—Electronic commutators
- H02P6/16—Circuit arrangements for detecting position
- H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
- H02P6/183—Circuit arrangements for detecting position without separate position detecting elements using an injected high frequency signal
Definitions
- the present disclosure relates to a power converter, an estimator, and an estimation method.
- Patent Document 1 a high-frequency current is applied to a rotating electric machine having a rotor having saliency, and the magnetic pole direction of the rotor is estimated based on a high-frequency component included in a voltage command as a response component to the high-frequency current.
- a rotary electric machine control device that performs so-called sensorless vector control to control a rotary electric machine that calculates an error in an estimated value of the magnetic pole direction caused by magnetic flux interference between the dq axes and corrects based on the error. It is
- the present disclosure provides a power converter that is effective in further reducing the operating ripple of the electric motor.
- a power conversion device includes a power conversion circuit that converts primary-side power into secondary-side power and supplies it to an electric motor, and a current command in a rotating coordinate system that rotates in synchronization with the magnetic pole position of the electric motor. , a voltage command generator for generating a voltage command in the rotating coordinate system based on the mutual inductance between the first coordinate axis and the second coordinate axis of the rotating coordinate system; and a secondary side voltage corresponding to the voltage command to the electric motor. and a controller for controlling the power conversion circuit to apply.
- An estimator includes an interference coefficient representing electromagnetic mutual interference between a first coordinate axis and a second coordinate axis of a rotating coordinate system that rotates in synchronization with a magnetic pole position of an electric motor; A mutual inductance estimator for estimating the mutual inductance between the first coordinate axis and the second coordinate axis based on the first inductance of the electric motor corresponding to the coordinate axis and the second inductance of the electric motor corresponding to the second coordinate axis.
- An estimation method provides an interference coefficient representing electromagnetic mutual interference between a first coordinate axis and a second coordinate axis of a rotating coordinate system that rotates in synchronization with the magnetic pole position of the motor. the first coordinate axis and the second coordinate axis based on the interference coefficient, the first inductance of the electric motor corresponding to the first coordinate axis, and the second inductance of the electric motor corresponding to the second coordinate axis; estimating the mutual inductance between the two coordinate axes.
- FIG. 4 is a diagram illustrating voltage vectors to be superimposed; 4 is a block diagram illustrating the configuration of a voltage command generator; FIG. It is a figure which illustrates the hardware constitutions of a control circuit. 4 is a flow chart illustrating a power conversion procedure;
- a power conversion device 1 shown in FIG. 1 is a device that converts primary side power supplied from a power source 3 into secondary side power and supplies the secondary side power to an electric motor 2 .
- the primary power and secondary power may be AC power or DC power.
- the power supply 3 include a power system of an electric power company, an uninterruptible power supply, and the like.
- the electric motor 2 has saliency. Having saliency means that the inductance is different between the coordinate axes of the rotating coordinate system.
- the rotating coordinate system is a coordinate system that rotates in synchronization with the magnetic pole position of the electric motor 2 .
- Specific examples of the motor 2 having saliency include an IPM (Interior Permanent Magnet) motor, a synchronous reluctance motor, and the like.
- the magnetic pole position of the IPM motor is, for example, the magnetic pole position of the magnetic field formed by the permanent magnets embedded in the iron core.
- the magnetic pole position of the synchronous reluctance motor is, for example, the position where the inductance is the largest.
- the power conversion device 1 includes a power conversion circuit 10 and a control circuit 100 .
- the power conversion circuit 10 (power conversion unit) converts primary side power supplied from the power source 3 into secondary side power and supplies the secondary side power to the electric motor 2 .
- the power conversion circuit 10 has a rectifier circuit 11 , a smoothing capacitor 12 , an inverter circuit 13 and a current sensor 14 .
- the rectifier circuit 11 is, for example, a diode bridge circuit or a PWM converter circuit, and converts primary side power into DC power.
- a smoothing capacitor 12 smoothes the DC power.
- the inverter circuit 13 performs power conversion between the DC power and the secondary power.
- the inverter circuit 13 converts DC power into secondary power and supplies it to the electric motor 2 in the power running state, and converts the secondary power generated by the electric motor 2 into DC power in the regeneration state.
- the inverter circuit 13 has a plurality of switching elements 15, and performs the power conversion by switching ON/OFF of the plurality of switching elements 15.
- the switching element 15 is, for example, a power MOSFET (Metal Oxide Semiconductor Field Effect Transistor), an IGBT (Insulated Gate Bipolar Transistor), or the like, and switches ON/OFF according to a gate drive signal.
- MOSFET Metal Oxide Semiconductor Field Effect Transistor
- IGBT Insulated Gate Bipolar Transistor
- the current sensor 14 detects the current flowing between the inverter circuit 13 and the electric motor 2 (hereinafter referred to as "secondary current").
- the current sensor 14 may be configured to detect the current of all phases (U-phase, V-phase, and W-phase) of the secondary power, or detect current of any two phases of the secondary power. It may be configured to detect. As long as no zero-phase current occurs, the sum of the U-, V-, and W-phase currents is zero, so current information for all phases is obtained even when detecting two-phase currents.
- the configuration of the power conversion circuit 10 shown above is merely an example.
- the configuration of the power conversion circuit 10 can be changed in any way as long as the primary side power can be converted into the secondary side power and supplied to the electric motor 2 .
- the rectifier circuit 11 may be a PWM converter circuit that converts AC power into DC power.
- the power conversion circuit 10 may be a matrix converter circuit that performs bidirectional power conversion between source power and drive power without conversion to direct current. When the source power is DC power, the power conversion circuit 10 may not have the rectifier circuit 11 .
- the control circuit 100 generates a voltage command for causing a secondary current corresponding to the current command to flow between the inverter circuit 13 and the electric motor 2, and applies a secondary voltage corresponding to the voltage command to the electric motor 2.
- the power conversion circuit 10 is controlled as follows.
- parameters that represent the characteristics of the motor are required. If there is a discrepancy between the motor characteristics represented by the parameters and the actual characteristics, the ability of the secondary current to follow the current command is reduced. If the followability of the secondary current to the current command decreases, the secondary current cannot be generated at appropriate timing, and there is a possibility that ripples in the operation of the electric motor 2 will increase. Therefore, in order to reduce the ripple, it is desirable to use parameters that more accurately represent the characteristics of the motor.
- the control circuit 100 generates a voltage command in the rotating coordinate system based on the current command in the rotating coordinate system and the mutual inductance between the first coordinate axis and the second coordinate axis of the rotating coordinate system. , and controlling the power conversion circuit 10 to apply the secondary voltage corresponding to the voltage command to the electric motor 2 .
- the influence of the first coordinate axis component of the secondary current on the second coordinate axis component of the secondary voltage and the influence of the second coordinate axis component of the secondary current on the first coordinate axis component of the secondary voltage It is possible to generate a voltage command so as to compensate for the influence on and to suppress the fluctuation of the secondary side current with respect to the current command.
- the control circuit 100 further estimates the mutual inductance based on the magnetic pole position of the electric motor 2, the first inductance of the electric motor 2 corresponding to the first coordinate axis, and the second inductance of the electric motor 2 corresponding to the second coordinate axis. and generate a voltage command based on the estimated mutual inductance.
- the control circuit 100 may further perform estimating the pole position based on the secondary current and estimate the mutual inductance based on the estimated pole position. For example, the control circuit 100 estimates the magnetic pole position based on the secondary current, the mutual inductance based on the estimated magnetic pole position, and the voltage command based on the current command and the estimated mutual inductance. and controlling the power conversion circuit 10 to apply the secondary voltage corresponding to the voltage command to the electric motor 2 is repeated at a predetermined control cycle.
- control circuit 100 includes, as functional components, a high-frequency superimposing unit 112, a current command generating unit 113, a three-phase to two-phase transforming unit 114, a coordinate transforming unit 115, a high-frequency response evaluating unit 116, It has a coefficient calculator 117 , a mutual inductance estimator 118 , a magnetic pole position estimator 119 , a voltage command generator 120 , and a PWM controller 111 .
- the high-frequency superimposing unit 112 superimposes a high-frequency component for estimating the magnetic pole position on the secondary-side voltage or secondary-side current in each control cycle.
- the high frequency component is a component having a frequency high enough not to substantially affect the operation of the electric motor 2 .
- the frequency of the high frequency component is set sufficiently higher than the frequency at which the electric motor 2 can mechanically respond.
- the high frequency superimposing unit 112 superimposes a high frequency component on the secondary voltage.
- the high-frequency superimposing unit 112 superimposes a high-frequency component represented by the following formula on the secondary side voltage.
- V ⁇ h ⁇ -axis component of high-frequency voltage
- V ⁇ h ⁇ -axis component of high-frequency voltage
- T Period of high-frequency voltage
- V inj Magnitude of voltage vector
- the ⁇ -axis and ⁇ -axis are the coordinate axes of the ⁇ coordinate system.
- the ⁇ coordinate system is an example of a fixed coordinate system fixed to the stator of the electric motor 2 .
- the ⁇ -axis is along the direction in which the u-phase winding of the electric motor 2 generates a magnetic field, and the ⁇ -axis is perpendicular to the ⁇ -axis and the rotation center of the rotor of the electric motor 2 .
- FIG. 2 shows a voltage vector representing the high-frequency voltage superimposed by the high-frequency superimposing unit 112 on the ⁇ coordinate system.
- the high-frequency superimposing unit 112 adds the voltage represented by the voltage vector A1 to the secondary side voltage at time 0 ⁇ t ⁇ T/4, and at time T/4 ⁇ t ⁇ T/2.
- the voltage represented by voltage vector A2 is added to the secondary voltage
- the voltage represented by voltage vector A3 is added to the secondary voltage at time 3T/4
- the voltage represented by the voltage vector A4 is repeatedly added to the secondary side voltage.
- the current command generator 113 generates a current command for causing the electric motor 2 to operate as desired in each control cycle.
- the current command generator 113 generates a current command for causing the operating speed (eg, rotational speed) of the electric motor 2 to follow the speed command (eg, frequency command).
- the current command generator 113 generates a current command by performing a proportional calculation, a proportional/integral calculation, or a proportional/integral/differential calculation on the deviation between the speed command and the operating speed.
- the current command generation unit 113 generates a current command in the rotating coordinate system.
- the current command generator 113 generates a current command in a dq coordinate system, which is an example of a rotating coordinate system.
- the dq coordinate system has a d-axis and a q-axis as coordinate axes.
- the d-axis is oriented in the magnetic pole direction of the electric motor 2 and the q-axis is perpendicular to the d-axis and the center of rotation of the rotor of the electric motor 2 .
- the d-axis and q-axis are examples of the above-described first coordinate axis and second coordinate axis.
- the d-axis may be an example of the first coordinate axis and the q-axis may be an example of the second coordinate axis, or the q-axis may be an example of the first coordinate axis and the d-axis may be an example of the second coordinate axis.
- the rotating coordinate system is not limited to the dq coordinate system, so the first coordinate axis and the second coordinate axis are not limited to the d axis and the q axis.
- the current command generator 113 calculates a d-axis current command id_cmd and a q-axis current command iq_cmd .
- the d-axis current command is the d-axis component of the current command vector representing the current command
- the q-axis current command is the q-axis component of the current command vector.
- the three-phase to two-phase conversion unit 114 acquires the u-phase current i u , the v-phase current i v and the w-phase current i w detected by the current sensor 14 in each control cycle, and performs three-to-two phase conversion on these. to calculate the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ .
- the ⁇ -axis current i ⁇ is the ⁇ -axis component of the current vector representing the current detected by the current sensor 14, and the ⁇ -axis current i ⁇ is the ⁇ -axis component of the current vector.
- the coordinate transformation unit 115 performs coordinate transformation on the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ in each control cycle to calculate the d -axis current id and the q -axis current iq.
- the d-axis current id is the d -axis component of the current vector
- the q-axis current iq is the q-axis component of the current vector.
- Coordinate transformation requires information on the magnetic pole position.
- the coordinate transformation unit 115 performs coordinate transformation based on the magnetic pole position estimated by the magnetic pole position estimation unit 119 (to be described later) in one or more previous control cycles (for example, one previous control cycle).
- High-frequency response evaluation section 116 evaluates the response to the high-frequency component superimposed by current command generation section 113 in each control cycle. For example, the high-frequency response evaluation unit 116 extracts response components corresponding to high-frequency components superimposed on the secondary voltage from the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ , and evaluates the extraction result. Methods for extracting response components include band-pass filtering, fast Fourier transform, and the like. As an example, the high-frequency response evaluation unit 116 calculates a sine component n and a cosine component m using the following equations as the response component evaluation result.
- the sine component n corresponds to a sine value that is twice the rotation angle ⁇ representing the magnetic pole position (hereinafter referred to as “double angle 2 ⁇ ”). do.
- the cosine component m corresponds to the cosine value of the double angle 2 ⁇ .
- the rotation angle ⁇ is, for example, the rotation angle of the dq coordinate system with respect to the ⁇ coordinate system.
- the dq coordinate system is an example of a rotating coordinate system that rotates in synchronization with the magnetic pole position of the electric motor 2, so the rotation angle ⁇ represents the magnetic pole position.
- V ⁇ h High-frequency component of ⁇ -axis voltage
- V ⁇ h High-frequency component of ⁇ -axis voltage
- I ⁇ h High-frequency component of ⁇ -axis current
- I ⁇ h High-frequency component of ⁇ -axis current
- L and l in the above formula (4) are represented by the following formulas (5) and (6).
- L d d-axis inductance
- L q q-axis inductance
- the d -axis inductance Ld is the proportionality constant of the d -axis magnetic flux (magnetic flux generated in the d-axis direction by the d -axis current id) with respect to the d-axis current id
- the q-axis inductance Lq is the q -axis current iq. It is the constant of proportionality of the q-axis magnetic flux (the magnetic flux generated in the q-axis direction by the q -axis current iq).
- the coefficient calculation unit 117 calculates an interference coefficient representing electromagnetic mutual interference between the first coordinate axis and the second coordinate axis of the rotating coordinate system based on the secondary current.
- the coefficient calculator 117 may calculate the interference coefficient further based on the magnetic pole position estimated by the magnetic pole position estimator 119 (to be described later) in one or more previous control cycles.
- the voltage equation of the high-frequency component in the ⁇ coordinate system in consideration of the mutual interference is as follows.
- the interference coefficient c is defined as follows.
- the interference coefficient c is expressed by the following equation.
- the coefficient calculation unit 117 calculates the d-axis current i d and the q-axis current i q calculated by the coordinate conversion unit 115 in each control cycle, and the magnetic pole position estimation unit 119 in one or more previous control cycles.
- An interference coefficient may be calculated based on the estimated magnetic pole position.
- the coefficient calculator 117 calculates the interference coefficient c using the following equation.
- n[k] sine component n calculated by the high-frequency response evaluation unit 116 in the control cycle being executed
- m[k] cosine component m calculated by the high-frequency response evaluation unit 116 in the control cycle being executed
- ⁇ [k ⁇ 1] rotation angle ⁇ estimated by the magnetic pole position estimator 119 in the previous control cycle
- a mutual inductance estimator 118 estimates the mutual inductance of the electric motor 2 based on the magnetic pole position of the electric motor 2, the first inductance of the electric motor 2 corresponding to the first coordinate axis, and the second inductance of the electric motor 2 corresponding to the second coordinate axis. presume. For example, in each control cycle, the mutual inductance estimator 118 calculates the mutual inductance L dq , L qd .
- the mutual inductance estimating unit 118 estimates the mutual inductances L dq and L qd based on the interference coefficient c, the d-axis inductance L d , and the q-axis inductance L q .
- the mutual inductance estimation unit 118 substitutes the values of the d -axis inductance Ld and the q -axis inductance Lq, and the value of the interference coefficient c calculated by the coefficient calculation unit 117 into the above equation (9) to obtain mutual inductance Estimates of L dq and L qd are calculated.
- the coefficient calculator 117 calculates the interference coefficient c based on the magnetic pole position estimated by the magnetic pole position estimator 119 in one or more previous control cycles .
- Estimating L qd corresponds to an example of calculating the interference coefficient c based on the magnetic pole position estimated by the magnetic pole position estimator 119 in one or more previous control cycles.
- the magnetic pole position estimator 119 estimates the magnetic pole position based on the secondary current. From the above equation (14), the following equation holds for the rotation angle ⁇ representing the magnetic pole position.
- the magnetic pole position estimator 119 may further estimate the magnetic pole position based on the interference coefficient c.
- the magnetic pole position estimation unit 119 converts the values of the sine component n and the cosine component m calculated by the high frequency response evaluation unit 116 and the value of the interference coefficient c calculated by the coefficient calculation unit 117 in each control cycle into the above formula Substitute into (12) to calculate the rotation angle ⁇ .
- the high-frequency response evaluation unit 116 calculates the sine component n and the cosine component m based on the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ .
- Estimating corresponds to an example of estimating the magnetic pole position based on the detection result of the secondary current.
- the magnetic pole position estimator 119 may further calculate the angular frequency ⁇ corresponding to the differential value of the rotation angle ⁇ .
- the angular frequency ⁇ is, for example, the angular velocity of the dq coordinate system with respect to the ⁇ coordinate system, and corresponds to the change speed of the magnetic pole position.
- the method of estimating the magnetic pole position is not limited to the method based on the interference coefficient c.
- the magnetic pole position estimator 119 may calculate the rotation angle ⁇ based on the mutual inductances L dq and L qd estimated by the mutual inductance estimator 118 .
- the magnetic pole position estimation unit 119 temporarily estimates the rotation angle ⁇ while ignoring the mutual interference, calculates the estimation error by ignoring the mutual interference by the following equation, and calculates the estimation error based on the temporary estimation result.
- the rotation angle ⁇ may be calculated by correcting it based on the result.
- ⁇ e Estimation error due to ignoring mutual interference
- Voltage command generator 120 generates a voltage command in the rotating coordinate system based on the current command in the rotating coordinate system and the mutual inductance between the first coordinate axis and the second coordinate axis of the rotating coordinate system. For example, the voltage command generation unit 120 generates the d-axis current command id_cmd and the q-axis current command i q_cmd generated by the current command generation unit 113 and the d -axis currents id and q calculated by the coordinate conversion unit 115 in each control cycle.
- the d-axis voltage command V d_cmd is the d-axis component of the voltage command vector representing the voltage command
- the q-axis voltage command V q_cmd is the q-axis component of the voltage command vector.
- the angular frequency ⁇ corresponds to the angular velocity of the dq coordinate system with respect to the ⁇ coordinate system, and is estimated by the magnetic pole position estimator 119 .
- the voltage command generator 120 has a first command generator 121, a second command generator 122, a first compensator 123, and a second compensator 124, as shown in FIG.
- the first command generation unit 121 generates the component of the voltage command on the first coordinate axis based on the deviation between the component of the current command on the first coordinate axis and the component of the secondary current on the first coordinate axis.
- the first command generation unit 121 calculates the deviation between the d -axis current command id_cmd and the d-axis current id as represented by the addition point P11, and the deviation is represented by block B11.
- a proportional/integral operation, a proportional operation, or a proportional/integral/differential operation is performed to calculate the d-axis voltage command V d_cmd .
- the second command generation unit 122 generates the component of the voltage command on the second coordinate axis based on the deviation between the component of the current command on the second coordinate axis and the component of the secondary current on the second coordinate axis. For example, the second command generation unit 122 calculates the deviation between the q-axis current command i q_cmd and the q-axis current i q as represented by the addition point P21, and the deviation is represented by block B21.
- a q-axis voltage command V q_cmd is calculated by performing proportional/integral calculation, proportional calculation, or proportional/integral/differential calculation.
- the first compensator 123 Based on the mutual inductance and the component of the secondary current on the second coordinate axis, the first compensator 123 adjusts the voltage command so as to compensate for the influence of the mutual inductance on the component of the secondary voltage on the first coordinate axis. Correct the component of the first coordinate axis. For example, the first compensation unit 123 calculates the compensation value Vd_ff based on the q -axis inductance Lq, the angular frequency ⁇ of the electric motor 2, and the mutual inductance Ldq estimated by the mutual inductance estimation unit 118, and adds As represented by point P31, the compensation value V d_ff is added to the d-axis voltage command V d_cmd . As an example, the first compensator 123 calculates the compensation value Vd_ff using the following equation.
- the second compensation unit 124 adjusts the voltage command based on the mutual inductance and the component of the secondary current on the first coordinate axis so as to compensate for the influence of the mutual inductance on the component of the secondary voltage on the second coordinate axis. Correct the component of the second coordinate axis. For example, the second compensation unit 124 calculates the compensation value V q_ff based on the d-axis inductance L d , the angular frequency ⁇ of the electric motor 2, and the mutual inductance L qd estimated by the mutual inductance estimation unit 118, and adds them together. As represented by point P41, the compensation value V q_ff is added to the q-axis voltage command V q_cmd . As an example, the second compensator 124 calculates the compensation value V q_ff using the following equation.
- Voltage command generation unit 120 calculates the deviation between the component of the current command on the first coordinate axis and the component of the secondary current on the first coordinate axis, the component of the current command on the second coordinate axis, and the component on the second coordinate axis of the secondary current.
- the voltage command may be non-linearly calculated based on the deviation from the component of and the mutual inductance.
- voltage command generator 120 may calculate a voltage command in sliding mode control, which is an example of nonlinear control, using the following equation.
- K Matrix representing gain for each component of deviation e in equation (18)
- K nl Nonlinear gain
- the PWM control unit 111 controls the power conversion circuit 10 so as to apply to the electric motor 2 the secondary voltage corresponding to the voltage command generated by the voltage command generation unit 120 in each control cycle.
- the PWM control unit 111 converts the d-axis voltage command V d_cmd and the q-axis voltage command V q_cmd into voltage commands in the ⁇ coordinate system by coordinate conversion based on the magnetic pole position estimated by the magnetic pole position estimation unit 119, and further, A voltage command in the ⁇ coordinate system is converted into a voltage command for each of the u-phase, v-phase, and w-phase by the two-to-three-phase conversion.
- the voltage command for each phase will be referred to as a phase-specific voltage command.
- the above-described current command generation unit 113 may superimpose the above-described high-frequency component on the voltage command before being converted into the phase-specific voltage command. As a result, the high-frequency component is also superimposed on the phase-specific voltage command.
- the PWM control unit 111 turns on/off the switching element 15 by a PWM (Pulse Width Modulation) method so as to apply a voltage corresponding to the phase-specific voltage command to each of the u-phase, the v-phase, and the w-phase. switch.
- PWM Pulse Width Modulation
- the control circuit 100 may be configured to estimate the current values of the first inductance and the second inductance according to the secondary side current.
- control circuit 100 may further include an axis-specific inductance estimator 131 .
- the axis-specific inductance estimator 131 estimates the first inductance and the second inductance based on the secondary current and the magnetic pole position estimated by the magnetic pole position estimator 119 .
- the axis-specific inductance estimation unit 131 estimates the d -axis inductance Ld and the q -axis inductance Lq based on the d -axis current id and the q -axis current iq calculated by the coordinate transformation unit 115 in each control cycle. .
- the d-axis current i d and the q-axis current i q are calculated based on the detection result of the current sensor 14 and the magnetic pole position estimated by the magnetic pole position estimator 119 . Therefore, estimating the d -axis inductance Ld and the q -axis inductance Lq based on the d-axis current i d and the q-axis current i q is the secondary current and the magnetic pole This corresponds to an example of estimating the d -axis inductance Ld and the q -axis inductance Lq based on the position.
- the axis-specific inductance estimating unit 131 includes an inductance profile prepared in advance to represent the relationship between the d-axis current i d and the q-axis current i q , the d-axis inductance L d and the q-axis inductance L q , Based on the current values of the d -axis current id and the q -axis current iq, the current values of the d -axis inductance Ld and the q -axis inductance Lq are estimated.
- the control circuit 100 may further have an inductance storage section 132 .
- the inductance storage unit 132 stores an inductance profile prepared in advance by a real machine test, simulation, or the like.
- the axis-specific inductance estimation unit 131 identifies the d -axis inductance Ld and the q -axis inductance Lq corresponding to the current values of the d -axis current id and the q -axis current iq in the inductance profile stored in the inductance storage unit 132.
- the inductance profile may be a function that continuously expresses the relationship between the d -axis current id and the q -axis current iq, and the d -axis inductance Ld and the q -axis inductance Lq . It may be point sequence data discretely representing the relationship between the axis current iq and the d -axis inductance Ld and the q -axis inductance Lq.
- the axis-by-axis inductance estimation unit 131 interpolates the point sequence of the inductance profile by linear interpolation, polynomial interpolation, spline interpolation, or the like, and obtains the d -axis current id and A d -axis inductance Ld and a q -axis inductance Lq corresponding to the current value of the q -axis current iq may be identified.
- the mutual inductance estimating section 118 may estimate the mutual inductance based on the first inductance and the second inductance estimated by the axis-specific inductance estimating section 131.
- the voltage command generation unit 120 generates the voltage command
- the coefficient calculation unit 117 calculates the interference coefficient
- the magnetic pole position estimation unit 119 estimates the magnetic pole position
- the mutual inductance estimation unit 118 A control cycle including mutual inductance estimation and the like is repeated in a control period.
- the period of the control cycle may be shorter than the period of variation of the mutual inductance.
- the power conversion device 1 exemplified above supplies the electric motor with an interference coefficient representing electromagnetic mutual interference between the first coordinate axis and the second coordinate axis of the rotating coordinate system that rotate in synchronization with the magnetic pole position of the electric motor. and based on the interference coefficient, the first inductance of the electric motor 2 corresponding to the first coordinate axis, and the second inductance of the electric motor 2 corresponding to the second coordinate axis, the first coordinate axis and the second and estimating mutual inductance between two coordinate axes.
- the power converter 1 includes an estimator having a coefficient calculator 117 and a mutual inductance estimator 118 .
- This estimator repeats an estimation cycle including the calculation of the interference coefficient by the coefficient calculator 117 and the estimation of the mutual inductance by the mutual inductance estimator. Furthermore, based on this, the interference coefficient is calculated.
- the magnetic pole position estimating unit 119 can be omitted when the magnetic pole position can be detected by the sensor provided in the electric motor 2.
- the coordinate conversion unit 115 performs the coordinate conversion described above based on the detection result of the rotation angle ⁇
- the coefficient calculation unit 117 calculates the interference coefficient based on the detection result of the rotation angle ⁇
- the PWM control unit 111 calculates the rotation angle
- a voltage command in the ⁇ coordinate system is calculated based on the detection result of ⁇ .
- the voltage command generator 120 generates a voltage command in the rotating coordinate system based on the detection result of the angular frequency ⁇ .
- FIG. 4 is a block diagram illustrating the hardware configuration of the control circuit 100.
- control circuit 100 includes one or more processors 191 , memory 192 , storage 193 , input/output ports 194 and switching control circuitry 195 .
- the storage 193 has a computer-readable storage medium such as a non-volatile semiconductor memory.
- the storage 193 generates a voltage command in the rotating coordinate system based on the current command in the rotating coordinate system and the mutual inductance between the first coordinate axis and the second coordinate axis of the rotating coordinate system, and corresponds to the voltage command. It stores a program for controlling the power conversion circuit 10 so as to apply the secondary voltage to the electric motor 2 and causing the control circuit 100 to execute the program.
- the storage 193 stores a program for configuring the functional components described above in the control circuit 100 .
- the memory 192 temporarily stores the program loaded from the storage medium of the storage 193 and the calculation result by the processor 191 .
- the processor 191 configures each functional block of the control circuit 100 by executing the above program in cooperation with the memory 192 .
- the input/output port 194 inputs and outputs electrical signals to/from the current sensor 14 according to instructions from the processor 191 .
- the switching control circuit 195 outputs a drive signal for switching the switching element 15 on and off to the inverter circuit 13 in accordance with a command from the processor 191 .
- control circuit 100 is not necessarily limited to configuring each function by a program.
- control circuit 100 may configure at least a part of its functions by a dedicated logic circuit or an ASIC (Application Specific Integrated Circuit) integrating this.
- ASIC Application Specific Integrated Circuit
- this control procedure includes calculating an interference coefficient based on the current supplied to the electric motor 2, the interference coefficient, the first inductance of the electric motor 2 corresponding to the first coordinate axis, estimating mutual inductance between the first coordinate axis and the second coordinate axis based on the second inductance of the motor 2 corresponding to the second coordinate axis.
- the control circuit 100 sequentially executes steps S01, S02, S03, S04, S05, S06, S07, S08, S09, S11 and S12.
- step S01 the current command generator 113 generates a d-axis current command id_cmd and a q-axis current command iq_cmd for causing the motor 2 to operate as desired.
- step S ⁇ b>02 the three-phase to two-phase converter 114 acquires the u-phase current i u , the v-phase current i v and the w-phase current i w detected by the current sensor 14 .
- step S03 the three-phase to two-phase converter 114 performs three-to-two phase conversion on the u-phase current i u , the v-phase current i v and the w-phase current i w to obtain ⁇ -axis current i ⁇ and ⁇ -axis current i ⁇
- the coordinate transformation unit 115 performs coordinate transformation on the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ to calculate the d -axis current id and the q -axis current iq.
- the coordinate transformation unit 115 performs coordinate transformation based on the rotation angle ⁇ estimated by the magnetic pole position estimation unit 119 in one or more previous control cycles (for example,
- step S ⁇ b>05 the axis-specific inductance estimation unit 131 estimates the d -axis inductance Ld and the q -axis inductance Lq based on the d -axis current id and the q -axis current iq calculated by the coordinate transformation unit 115 .
- step S ⁇ b>06 high-frequency response evaluation section 116 evaluates the response to the high-frequency component superimposed by current command generation section 113 .
- the high-frequency response evaluation unit 116 extracts response components corresponding to high-frequency components superimposed on the secondary voltage from the ⁇ -axis current i ⁇ and the ⁇ -axis current i ⁇ , and based on the extraction result, the above-described sine component Calculate n and the cosine component m.
- step S07 the coefficient calculation unit 117 calculates the d -axis current id and the q -axis current iq calculated by the coordinate conversion unit 115, and the rotation angle estimated by the magnetic pole position estimation unit 119 in one or more previous control cycles.
- the interference coefficient c is calculated based on ⁇ .
- the coefficient calculator 117 calculates the interference coefficient based on the sine component n and the cosine component m calculated by the high-frequency response evaluation unit 116 and the rotation angle ⁇ estimated by the magnetic pole position estimator 119 in the previous control cycle. Calculate c.
- step S08 the mutual inductance estimating unit 118, based on the rotation angle ⁇ estimated by the magnetic pole position estimating unit 119 in one or more previous control cycles, the d-axis inductance L d , and the q-axis inductance L q , Estimate the mutual inductances L dq , L qd .
- the mutual inductance estimator 118 calculates the mutual inductance L dq based on the interference coefficient c calculated by the coefficient calculator 117 and the d-axis inductance L d and the q-axis inductance L q estimated by the axis-specific inductance estimator 131 . , L qd .
- the magnetic pole position estimator 119 estimates the rotation angle ⁇ and the angular frequency ⁇ based on the secondary current. For example, the magnetic pole position estimation unit 119 calculates the rotation angle ⁇ based on the sine component n and cosine component m calculated by the high frequency response evaluation unit 116 and the interference coefficient c calculated by the coefficient calculation unit 117 .
- step S11 the d -axis current command id_cmd and the q-axis current command iq_cmd generated by the current command generation unit 113, the d-axis current id and the q -axis current iq calculated by the coordinate conversion unit 115, and the d-axis inductance Based on L d , q-axis inductance L q , winding resistance R of electric motor 2, angular frequency ⁇ of electric motor 2, and mutual inductances L dq and L qd estimated by mutual inductance estimator 118, voltage A command generation unit 120 generates a d-axis voltage command V d_cmd and a q-axis voltage command V q_cmd in the dq coordinate system.
- step S12 the PWM control unit 111 starts switching on and off the switching element 15 of the power conversion circuit 10 so as to apply the voltage corresponding to the voltage command generated by the voltage command generation unit 120 to the electric motor 2. do.
- the current command generation unit 113 superimposes the high-frequency component on the voltage command (the voltage command in the ⁇ coordinate system) before being converted into the voltage command for each phase by the PWM control unit 111 .
- the secondary voltage on which the high frequency component is superimposed is applied to the electric motor 2 .
- the control circuit 100 repeats the above control cycle at the above control period.
- the estimation result of the rotation angle ⁇ in step S09 is used in step S04 (calculation of d -axis current id and q -axis current iq) and step S07 (calculation of interference coefficient c) in the next cycle.
- step S05 estimate of d -axis inductance Ld and q -axis inductance Lq
- step S07 calculation of interference coefficient c
- step S09 estimate of rotation angle ⁇ and angular frequency ⁇
- step S08 estimate of mutual inductances L dq and L qd .
- the power conversion device 1 includes a power conversion circuit 10 that converts primary power into secondary power and supplies it to the electric motor 2, and a rotating coordinate system that rotates in synchronization with the magnetic pole position of the electric motor 2. and the mutual inductance between the first coordinate axis and the second coordinate axis of the rotating coordinate system, the voltage command generating unit 120 for generating the voltage command in the rotating coordinate system, and the secondary corresponding to the voltage command and a PWM control unit 111 that controls the power conversion circuit 10 to apply the side voltage to the electric motor 2 .
- this power conversion device 1 based on mutual inductance, the effect of the first coordinate axis component of the secondary current on the second coordinate axis component of the secondary voltage and the second coordinate axis component of the secondary current are
- the voltage command is generated so as to compensate for the influence of the secondary side voltage on the first coordinate axis component, and the followability of the secondary side current to the current command can be improved. Therefore, it is effective to reduce ripples in the operation of the electric motor 2 .
- the power conversion device 1 estimates mutual inductance based on the magnetic pole position of the electric motor 2, the first inductance of the electric motor 2 corresponding to the first coordinate axis, and the second inductance of the electric motor 2 corresponding to the second coordinate axis.
- the estimator 118 may be further provided, and the voltage command generator 120 may generate the voltage command based on the mutual inductance estimated by the mutual inductance estimator 118 .
- the voltage command generator 120 may generate the voltage command based on the mutual inductance estimated by the mutual inductance estimator 118 .
- the power converter 1 further includes a magnetic pole position estimator 119 that estimates the magnetic pole position based on the secondary current, and the mutual inductance estimator 118 estimates the mutual inductance based on the magnetic pole position estimated by the magnetic pole position estimator 119. can be estimated. In this case, mutual inductance can be accurately estimated even when sensorless control is performed.
- the power conversion device 1 further includes a coefficient calculation unit 117 that calculates an interference coefficient representing electromagnetic mutual interference between the first coordinate axis and the second coordinate axis based on the secondary current, and a magnetic pole position estimation unit 119 may estimate the pole position further based on the interference coefficient. In this case, by improving the estimation accuracy of the magnetic pole position, it is possible to further reduce ripples in the operation of the electric motor 2 .
- the voltage command generation unit 120 generates a voltage command
- the coefficient calculation unit 117 calculates the interference coefficient
- the magnetic pole position estimation unit 119 estimates the magnetic pole position
- the mutual inductance estimation unit 118 calculates the mutual inductance.
- the coefficient calculation unit 117 may calculate the interference coefficient further based on the magnetic pole position estimated by the magnetic pole position estimation unit 119 in one or more previous control cycles. In this case, the interference coefficient can be easily calculated. Simplification of the calculation of the interference coefficient can also contribute to shortening of the period of the control cycle.
- the control cycle period may be shorter than the mutual inductance fluctuation period. In this case, it is possible to further suppress operating ripples caused by fluctuations in mutual inductance.
- the mutual inductance estimator 118 may estimate the mutual inductance based on the interference coefficient, the first inductance, and the second inductance. In this case, the mutual inductance can be easily calculated by utilizing the interference coefficient for estimating the mutual inductance.
- the power conversion device 1 further includes an inductance estimation unit 131 for each axis that estimates the first inductance and the second inductance based on the secondary current and the magnetic pole position estimated by the magnetic pole position estimation unit 119, and mutual inductance estimation
- the unit 118 may estimate the mutual inductance based on the first inductance and the second inductance estimated by the axis-specific inductance estimation unit 131 . In this case, by estimating the first inductance and the second inductance in real time and reflecting the estimation result in the voltage command, it is possible to suppress the operating ripple caused by the time change of the first inductance and the second inductance themselves.
- the voltage command generation unit 120 generates a component of the voltage command on the first coordinate axis based on the deviation between the component of the current command on the first coordinate axis and the component of the secondary current on the first coordinate axis.
- a second command generation unit 122 that generates a component of the voltage command on the second coordinate axis based on the deviation between the component of the current command on the second coordinate axis and the component of the secondary current on the second coordinate axis; correcting the component of the voltage command on the first coordinate axis so as to compensate for the effect of the mutual inductance on the component of the secondary voltage on the first coordinate axis, based on the component of the secondary current on the second coordinate axis; Based on the compensator 123 and the mutual inductance and the component of the secondary current on the first coordinate axis, the voltage command is adjusted to compensate for the influence of the mutual inductance on the component of the secondary voltage on the second coordinate axis. and a second compensator 124 that corrects the component of the coordinate axi
- Voltage command generation unit 120 calculates the deviation between the component of the current command on the first coordinate axis and the component of the secondary current on the first coordinate axis, the component of the current command on the second coordinate axis, and the component on the second coordinate axis of the secondary current.
- the voltage command may be non-linearly calculated based on the deviation from the component of and the mutual inductance. In this case, based on the mutual inductance, the compensating component of the electromagnetic mutual interference between the dq axes can be easily incorporated into the calculation of the nonlinear voltage command.
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Abstract
Description
図1に示す電力変換装置1は、電源3から供給された一次側電力を二次側電力に変換して電動機2に供給する装置である。一次側電力及び二次側電力は、交流電力であってもよく、直流電力であってもよい。以下においては、一次側電力及び二次側電力がいずれも三相交流電力である場合を例示する。電源3の具体例としては、電力会社の電力系統、又は無停電電源等が挙げられる。
Vβh:高周波電圧のβ軸成分
T:高周波電圧の周期
Vinj:電圧ベクトルの大きさ
(d/dt)IαhVβ:β軸方向に電圧を重畳した際に、重畳した電圧ベクトルの方向を正としたときのα軸電流の変化
(d/dt)IβhVα:α軸方向に電圧を重畳した際に、重畳した電圧ベクトルの方向を正としたときのβ軸電流の変化
(d/dt)IβhVβ:β軸方向に電圧を重畳した際に、重畳した電圧ベクトルの方向を正としたときのβ軸電流の変化
Vβh:β軸電圧の高周波成分
Iαh:α軸電流の高周波成分
Iβh:β軸電流の高周波成分
m[k]:実行中の制御サイクルにおいて高周波応答評価部116により算出された余弦成分m
θ[k-1]:一つ前の制御周期において磁極位置推定部119により推定された回転角θ
Knl: 非線形ゲイン
続いて、制御方法の一例として、制御回路100が実行する制御手順を例示する。この制御手順は、相互インダクタンスの推定方法の一例として、電動機2に供給される電流に基づいて干渉係数を算出することと、干渉係数と、第1座標軸に対応する電動機2の第1インダクタンスと、第2座標軸に対応する電動機2の第2インダクタンスとに基づいて第1座標軸と第2座標軸との間の相互インダクタンスを推定することと、を含む。
以上に説明したように、電力変換装置1は、一次側電力を二次側電力に変換して電動機2に供給する電力変換回路10と、電動機2の磁極位置に同期して回転する回転座標系における電流指令と、回転座標系の第1座標軸と第2座標軸との間の相互インダクタンスとに基づいて、回転座標系における電圧指令を生成する電圧指令生成部120と、電圧指令に対応する二次側電圧を電動機2に印加するように電力変換回路10を制御するPWM制御部111と、を備える。
Claims (13)
- 一次側電力を二次側電力に変換して電動機に供給する電力変換回路と、
前記電動機の磁極位置に同期して回転する回転座標系における電流指令と、前記回転座標系の第1座標軸と第2座標軸との間の相互インダクタンスとに基づいて、前記回転座標系における電圧指令を生成する電圧指令生成部と、
前記電圧指令に対応する二次側電圧を前記電動機に印加するように前記電力変換回路を制御する制御部と、を備える電力変換装置。 - 前記電動機の磁極位置と、前記第1座標軸に対応する前記電動機の第1インダクタンスと、前記第2座標軸に対応する前記電動機の第2インダクタンスとに基づいて前記相互インダクタンスを推定する相互インダクタンス推定部を更に備え、
前記電圧指令生成部は、前記相互インダクタンス推定部により推定された前記相互インダクタンスに基づいて前記電圧指令を生成する、請求項1記載の電力変換装置。 - 二次側電流に基づいて前記磁極位置を推定する磁極位置推定部を更に備え、
前記相互インダクタンス推定部は、前記磁極位置推定部により推定された前記磁極位置に基づいて前記相互インダクタンスを推定する、請求項2記載の電力変換装置。 - 二次側電流に基づいて、前記第1座標軸と前記第2座標軸との間の電磁的な相互干渉を表す干渉係数を算出する係数算出部を更に備え、
前記磁極位置推定部は、前記干渉係数に更に基づいて前記磁極位置を推定する、請求項3記載の電力変換装置。 - 前記電力変換装置は、前記電圧指令生成部による前記電圧指令の生成と、前記係数算出部による前記干渉係数の算出と、前記磁極位置推定部による前記磁極位置の推定と、前記相互インダクタンス推定部による前記相互インダクタンスの推定と、を含む制御サイクルを繰り返し、
前記係数算出部は、一つ以上前の制御サイクルにおいて前記磁極位置推定部により推定された前記磁極位置に更に基づいて前記干渉係数を算出する、請求項4記載の電力変換装置。 - 前記制御サイクルの周期は、前記相互インダクタンスの変動周期よりも短い、請求項5記載の電力変換装置。
- 前記相互インダクタンス推定部は、前記干渉係数と、前記第1インダクタンスと、前記第2インダクタンスとに基づいて前記相互インダクタンスを推定する、請求項4~6のいずれか一項記載の電力変換装置。
- 二次側電流と、前記磁極位置推定部により推定された前記磁極位置とに基づいて前記第1インダクタンス及び前記第2インダクタンスを推定する軸別インダクタンス推定部を更に備え、
前記相互インダクタンス推定部は、前記軸別インダクタンス推定部により推定された前記第1インダクタンス及び前記第2インダクタンスに基づいて前記相互インダクタンスを推定する、請求項3~7のいずれか一項記載の電力変換装置。 - 前記電圧指令生成部は、
前記電流指令の前記第1座標軸の成分と、二次側電流の前記第1座標軸の成分との偏差に基づいて前記電圧指令の前記第1座標軸の成分を生成する第1指令生成部と、
前記電流指令の前記第2座標軸の成分と、前記二次側電流の前記第2座標軸の成分との偏差に基づいて前記電圧指令の前記第2座標軸の成分を生成する第2指令生成部と、
前記相互インダクタンスと前記二次側電流の前記第2座標軸の成分とに基づいて、前記相互インダクタンスが前記二次側電圧の前記第1座標軸の成分に及ぼす影響を補償するように、前記電圧指令の前記第1座標軸の成分を補正する第1補償部と、
前記相互インダクタンスと前記二次側電流の前記第1座標軸の成分とに基づいて、前記相互インダクタンスが前記二次側電圧の前記第2座標軸の成分に及ぼす影響を補償するように、前記電圧指令の前記第2座標軸の成分を補正する第2補償部と、を有する、請求項1~8のいずれか一項記載の電力変換装置。 - 前記電圧指令生成部は、前記電流指令の前記第1座標軸の成分と、二次側電流の前記第1座標軸の成分との偏差と、前記電流指令の前記第2座標軸の成分と、前記二次側電流の前記第2座標軸の成分との偏差と、前記相互インダクタンスとに基づいて、前記電圧指令を非線形に算出する、請求項1~8のいずれか一項記載の電力変換装置。
- 電動機の磁極位置に同期して回転する回転座標系の第1座標軸と第2座標軸との間の電磁的な相互干渉を表す干渉係数と、前記第1座標軸に対応する前記電動機の第1インダクタンスと、前記第2座標軸に対応する前記電動機の第2インダクタンスとに基づいて、前記第1座標軸と前記第2座標軸との間の相互インダクタンスを推定する相互インダクタンス推定部を備える推定器。
- 前記電動機に供給される電流に基づいて前記干渉係数を算出する係数算出部を更に備え、
前記推定器は、係数算出部による干渉係数の算出と、相互インダクタンス推定部による相互インダクタンスの推定とを含む推定サイクルを繰り返し、
前記係数算出部は、一つ以上前の推定サイクルにおける前記磁極位置に更に基づいて、前記干渉係数を算出する、請求項11記載の推定器。 - 電動機の磁極位置に同期して回転する回転座標系の第1座標軸と第2座標軸との間の電磁的な相互干渉を表す干渉係数を、前記電動機に供給される電流に基づいて算出することと、
前記干渉係数と、前記第1座標軸に対応する前記電動機の第1インダクタンスと、前記第2座標軸に対応する前記電動機の第2インダクタンスとに基づいて前記第1座標軸と前記第2座標軸との間の相互インダクタンスを推定することと、を含む推定方法。
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JP (1) | JP7472397B2 (ja) |
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KR20160032894A (ko) * | 2014-09-17 | 2016-03-25 | 이주석 | 상호 인덕턴스 추정을 이용한 토크 제어장치 및 방법 |
JP2016149822A (ja) * | 2015-02-10 | 2016-08-18 | 株式会社デンソー | スイッチトリラクタンスモータの制御装置 |
JP2019033582A (ja) * | 2017-08-07 | 2019-02-28 | 株式会社安川電機 | 制御装置及び制御方法 |
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Patent Citations (3)
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KR20160032894A (ko) * | 2014-09-17 | 2016-03-25 | 이주석 | 상호 인덕턴스 추정을 이용한 토크 제어장치 및 방법 |
JP2016149822A (ja) * | 2015-02-10 | 2016-08-18 | 株式会社デンソー | スイッチトリラクタンスモータの制御装置 |
JP2019033582A (ja) * | 2017-08-07 | 2019-02-28 | 株式会社安川電機 | 制御装置及び制御方法 |
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CN116964927A (zh) | 2023-10-27 |
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