JP2002171798A - Control device for permanent magnet synchronous motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To calculate an estimated position simultaneously with pole recognition and further, control a fundamental wave current, even when a pole is recognized to avoid an overcurrent. SOLUTION: This control device of a permanent magnet synchronous motor has an adder 9 which superposes a high frequency voltage upon a fundamental wave voltage command, to generate a direct-axis voltage command, a coordinate converter 2 and a filter 4 which decompose an armature current into a direct- axis current and a quadrature axis current and extract a high frequency current with a frequency same as the frequency of the high frequency voltage, a revolution estimation device 7 and an integrator 8 which calculate an estimated revolution and a first estimated position of a rotor from the high frequency current, and a switch B, a memory 5, and a pole recognition device 6, which superpose a pulse voltage with positive and negative polarities upon the high-frequency voltage, while the estimated revolution and the first estimated position are calculated, and correct the first estimated position according to the difference rate between the direct-axis current when the positive polarity pulse voltage is superposed and the direct-axis current when the negative polarity pulse voltage is superposed to calculate a second estimated position.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a control device for a permanent magnet type synchronous motor (PM motor) having a rotor having saliency, and more particularly to detecting a magnetic pole position of a rotor (hereinafter referred to as a rotor position). The present invention relates to a control device for a permanent magnet type synchronous motor that does not use a position detection sensor.

[0002]

2. Description of the Related Art High-performance control of a permanent magnet synchronous motor requires rotor position information. Generally, an encoder, a resolver, or the like is used as a position detection sensor. For the purpose of cost reduction, sensorless control for electrically estimating and calculating a rotor position from information on voltage and current of a motor has been proposed. One such method is disclosed in
A magnetic pole position detecting device described in Japanese Patent No. 245981 is known. The rotor position detection technique described in this known technique applies a high-frequency voltage to a permanent magnet type synchronous motor having saliency, and estimates and calculates a rotor position from a high-frequency current resulting from the resulting saliency. Things.

However, the method of estimating and calculating the rotor position disclosed in Japanese Patent Application Laid-Open No. Hei 7-245981
There may be a position estimation error of 0 °, and an operation for correcting the position estimation error (hereinafter, this operation is referred to as “magnetic pole determination”).
Is required. The method of discriminating the magnetic pole is as follows: IEEJ Transactions D, “Journal of Industrial Applications”, November 1990 Vo
l.110 pp.1193-1200 ・ IEEJ Transactions D “Journal of Industrial Applications” July 1996 Vo
l.116 pp736 ~ 742 ・ IEEE TRANSACTIONS ON INDUSTRY APPLICATIONS, VOL.
32, NO.5, SEPTEMBER / OCTOBER 1996, etc. have been proposed.

Each of the above magnetic pole discriminating methods utilizes the magnetic saturation characteristic of the motor core, and uses the estimated rotor position to change the current change rate when the direct-axis current is controlled to be positive and negative. The magnetic pole discrimination is performed using the difference. Here, terms will be explained for easier understanding in the future.
First, the direct axis is a coordinate axis taken in the direction of the magnetic pole of the rotor permanent magnet, and the direct axis current is a current component in the direct axis direction. In other words, the positive direct-axis current acts to increase the magnetic flux by the permanent magnet, and the negative direct-axis current is a current component that acts to weaken the magnetic flux by the permanent magnet. The voltage is similarly defined, and the direct-axis voltage is a voltage component in the direct-axis direction. Also, a horizontal axis is defined in a direction orthogonal to the direct axis, and the current and voltage in the horizontal axis direction are called a horizontal axis current and a horizontal axis voltage, respectively.

FIG. 6 shows a prior art of a magnetic pole discriminating method of a sensorless control device for a permanent magnet type synchronous motor. In FIG. 6, a voltage command of the electric motor (PM motor) 40 is input to the coordinate converter 1. Here, a square-wave high-frequency voltage (which is a high-frequency voltage having a frequency different from the fundamental-wave voltage component and is hereinafter referred to as a square-wave voltage) is superimposed on the direct-axis voltage command v _d ^* , and the horizontal axis is Zero is given as the voltage command v _q ^* .

The coordinate converter 1 performs a three-phase voltage command v _u ^* , v _v ^* , v _w ^* based on the position estimation value θ output from the integrator 8 and the voltage commands v _d ^* , v _q ^{* .} Is calculated. These voltage commands v _u ^* , v _v ^* , v _w ^* are transmitted to the PWM circuit 3
To convert the voltage into a gate signal for the switching element of the power converter (inverter) 30 to control the terminal voltage of the electric motor 40. Reference numeral 20 denotes a three-phase AC power supply.

[0007] coordinate converter 2, an armature current i _u detected from the output side of the power converter _30, and a i _w and the position estimate theta, calculates the direct axis current i _d, the horizontal axis current i _q. Frequency separation filter 4, the horizontal axis frequency current i _qh the same frequency component as the square wave voltage separated and extracted from i _q.

Note that two switches A and three switches B are provided as interlock switches, and the voltage selected by the switch A or the switch B is superimposed on the direct-axis voltage command v _d ^* . Further, the memory 5 has a direct-axis current i
_d is input by the switch B, and the output of the speed estimator 7 to which the horizontal axis high-frequency current _iqh is input is input to the integrator 8 by the switch A and zero by the switch B.

At the start of operation, position estimation using saliency is first performed. As shown, all switches A are closed and all switches B are open. Since the switch A is closed, the direct-axis voltage command v _d ^* is a square wave voltage whose value repeats positive and negative as shown in the figure. The speed estimator 7
Calculating a speed estimated value from the values of the separated horizontal axis high frequency current i _{q h} by the high-frequency separating filter 4, the integrator 8 calculates the position estimate θ by integrating the estimated speed value. As a result,
Position estimation value θ converges to a true value or a value having an error of 180 °.

Next, the magnetic pole discrimination will be described. In this case, the switches A are all open and the switches B are all closed, contrary to the state shown in the figure. As the direct-axis voltage command v _d ^* , instead of the square-wave voltage, a pulse voltage that becomes positive and negative intermittently is given as a test signal for magnetic pole discrimination, and the direct-axis current _id is changed from zero to positive. Or from zero to negative. At this time, since the superposition of the square wave voltage is stopped and the speed / position estimation calculation using the horizontal-axis high-frequency current _iqh cannot be performed, the operation is stopped by inputting zero to the integrator 8 to estimate the position. The value θ is fixed. Direct axis current i _d of the change rate when the positive and negative pulse voltage is applied △ i _{d p,} △ i _dm are stored in the memory 5, respectively.

[0011] pole discriminator 6, △ i _dp, by comparing the values of △ i _dm, the output of the integrator 8 is preset by the following equation 1, corrects the calculation error of the position estimate. That is,
If a value obtained by integrating the output of the speed estimator 7 is used as a first position estimation value, a second position estimation value θ is generated by presetting and correcting the first position estimation value by using Equation (1) and outputting it. .

[0012] [Equation _{1] (a) △ i dp} <△ i when _dm → _θ = _θ (previous value) + 180 ° (b) △ i dp> △ i when _dm → _θ = _θ (previous value)

[0013]

In the conventional control, it is necessary to stop the position estimation calculation when determining the magnetic pole. For this reason, when the rotor is rotating, the position of the rotor is unknown, and the pulse voltage cannot be accurately output in the positive and negative directions of the direct axis, so that the magnetic pole determination may be erroneously made. Also, since the fundamental wave current cannot be controlled while the magnetic pole determination is being performed,
An excessive current may flow through the armature due to the induced voltage associated with the rotation of the rotor. Accordingly, the present invention provides a control device for a permanent magnet type synchronous motor in which a position estimation calculation can be executed simultaneously with magnetic pole discrimination, and a fundamental wave current can be controlled at the time of magnetic pole discrimination to prevent occurrence of overcurrent. It is intended to provide.

[0014]

In the present invention, a high-frequency voltage having a different frequency, for example, a square wave voltage is superimposed on a fundamental wave voltage, and a position estimation value is calculated using a high-frequency current flowing through an armature. Then, a pulse voltage as a test signal for magnetic pole discrimination is superimposed on the high-frequency voltage, or the polarity of the direct-axis current or the horizontal-axis current is controlled, and position estimation is performed. The component is extracted from the detected current, the magnetic pole is determined based on the current change rate and the amplitude at this time, and the position estimation value is corrected. The pulse width of the pulse voltage is set to be long enough to reach the magnetic saturation region, and is synchronized with the high frequency voltage.
The signal for position estimation can be directly detected by extracting the frequency component of the superimposed high-frequency voltage from the detection current using a filter. In addition, the test signal for magnetic pole discrimination is detected easily and directly by superimposing a pulse voltage or the like synchronized with a constant phase difference on the high-frequency voltage, and simultaneously with the detection of the signal for position estimation. be able to.

That is, the first aspect of the present invention is a control device for driving a permanent magnet type synchronous motor having a salient polarity in a rotor by a power converter, wherein a speed estimation value is obtained without using a position detection sensor. A permanent magnet type synchronous motor control device which estimates a rotor position from the position and separates a voltage command to the motor into a direct-axis voltage command and a horizontal-axis voltage command using the position estimation value. Means for generating a direct-axis voltage command by superimposing a high-frequency voltage on the fundamental-wave voltage command, and decomposing the armature current of the motor into a direct-axis current and a horizontal-axis current, and converting the horizontal-axis current to the same frequency as the high-frequency voltage. Means for extracting a high-frequency current; means for calculating a rotor speed estimated value and a first position estimated value from the high-frequency current; and calculating the speed estimated value and the first position estimated value. as well as A first position estimation value is obtained by superposing a pulse voltage having a polarity on the high-frequency voltage, and a change rate of the direct-axis current when a positive pulse voltage is superimposed and a negative pulse voltage are superimposed. To correct the second
Means for calculating the estimated position value.

According to a second aspect of the present invention, there is provided means for generating a direct-axis voltage command by superimposing a high-frequency voltage on a direct-axis fundamental-wave voltage command, and decomposing an armature current of a motor into a direct-axis current and a horizontal-axis current. Means for extracting a high-frequency current having the same frequency as the high-frequency voltage from the horizontal-axis current; means for controlling the average value of the direct-axis current to zero to generate the direct-axis fundamental-wave voltage command; Means for generating a horizontal axis voltage command by controlling the average value of the zero to zero, means for calculating a rotor speed estimated value and a first position estimated value from the high-frequency current, and a means for calculating the speed estimated value and the first position estimated value. While calculating the position estimation value, a pulse voltage having a positive polarity and a negative polarity is superimposed on the high-frequency voltage, and the direct current when the pulse voltage of the positive polarity and the pulse voltage of the negative polarity are superimposed is superimposed. Depending on the rate of change of the shaft current,
Means for correcting the first position estimation value and calculating a second position estimation value.

According to a third aspect of the present invention, there is provided means for generating a direct-axis voltage command by superimposing a high-frequency voltage on a direct-axis fundamental-wave voltage command, and decomposing an armature current of the motor into a direct-axis current and a horizontal-axis current. Means for extracting a high-frequency current having the same frequency as the high-frequency voltage from the horizontal-axis current; means for controlling the average value of the direct-axis current to zero to generate the direct-axis fundamental-wave voltage command; Means for generating a horizontal axis voltage command by controlling the average value of the zero to zero, means for calculating a rotor speed estimated value and a first position estimated value from the high-frequency current, and a means for calculating the speed estimated value and the first position estimated value. While performing the calculation of the position estimation value, the function of controlling the average value of the direct-axis current to zero is stopped, and a pulse voltage having positive and negative polarities is superimposed on the high-frequency voltage, and a pulse voltage of positive polarity Overlapped with the negative pulse voltage The change rate of the direct-axis current when the, means for calculating a second position estimate by correcting the first position estimate, those having a.

According to a fourth aspect of the present invention, there is provided means for generating a direct-axis voltage command by superimposing a high-frequency voltage on a direct-axis fundamental-wave voltage command, and decomposing an armature current of a motor into a direct-axis current and a horizontal-axis current. Means for extracting a high-frequency current having the same frequency as the high-frequency voltage from the direct-axis current and the horizontal-axis current, respectively, and controlling the average value of the direct-axis current to positive and negative values to obtain the direct-axis fundamental voltage command. Means for generating a horizontal axis voltage command by controlling the average value of the horizontal axis current to zero, and an estimated speed and a first position of the rotor from a high frequency current extracted from the horizontal axis current. Means for calculating a value and a second position estimation value corrected by the amplitude of the high-frequency current extracted from the direct-axis current while calculating the speed estimation value and the first position estimation value. Means for calculating a position estimation value.

According to a fifth aspect of the present invention, there is provided a means for generating a direct-axis voltage command by superimposing a high-frequency voltage on a direct-axis fundamental-wave voltage command, and decomposing an armature current of a motor into a direct-axis current and a horizontal-axis current. Means for extracting a high-frequency current having the same frequency as the high-frequency voltage from the horizontal-axis current; means for controlling the average value of the direct-axis current to zero to generate the direct-axis fundamental-wave voltage command; Means for controlling the average value of at least to a non-zero value to generate a horizontal axis voltage command; means for calculating a rotor speed estimated value and a first position estimated value from the high-frequency current; While calculating the first position estimation value, the acceleration at the time of passing the horizontal axis current is calculated from the speed estimation value, and the first position estimation is performed based on the polarity of the horizontal axis current and the magnitude of the acceleration. Means for calculating a second position estimate by correcting the value , It is those with a.

[0020]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. First, the control block diagram of FIG. 1 shows the first embodiment of the present invention, and corresponds to the first embodiment of the present invention. The same components as those in FIG. 6 are denoted by the same reference numerals, and different points will be mainly described below. In the present embodiment, the result of adding the square wave voltage and the pulse voltage is represented by a direct-axis voltage command v _d ^*. , And all switches A and the switch B provided on the input side of the integrator 8 in FIG. 6 are removed. Switch B in this embodiment is capable of inputting one of a pulse voltage to the input terminal of the adder 9, at the same time, and can enter the direct-axis current i _d to the memory 5.

Next, the operation of this embodiment will be described. First, the switch B is opened, and the square wave voltage is changed to the direct-axis voltage command v _d.
As input to the coordinate converter 1 as ^* , an estimation calculation of the rotor position is performed. At this time, as in the prior art, the speed estimator 7 calculates a speed estimated value from the horizontal-axis high-frequency current i _qh (having the frequency component of the square-wave voltage) extracted and separated from the high-frequency separation filter 4, and 8 calculates the first position estimation value θ by integrating the speed estimation value.

Thereafter, the switch B is closed, and the square wave voltage and the pulse voltage are added by the adder 9 to generate a direct-axis voltage command v _d ^* . The command v _d ^* is input to the coordinate converter 1. Here, the pulse width of the pulse voltage is set to be an integral multiple of the square wave voltage and synchronized with the square wave voltage in consideration of reaching the magnetic saturation region.

Further, while performing position estimation, extracts the pole discrimination test signal component from the direct axis current i _d at a timing synchronized with the square wave voltage, the direct axis current i _d rate of change △
i _dp, △ the _{i dm} and stored in the memory 5 performs the pole discrimination in accordance with the Equation 1. In the magnetic pole discriminator 6, for example, when Expression 1 (a) is satisfied, the first position estimation value is set to 18
By presetting a signal for adding 0 degrees to the integrator 8, a calculation error of the first position estimation value is corrected, and a second position estimation value θ is generated and output.

With the above configuration, the magnetic pole discrimination can be performed simultaneously and accurately while estimating the rotor position by superimposing the pulse voltage on the square wave voltage.

The control block diagram of FIG. 2 shows a second embodiment of the present invention, and corresponds to the second embodiment of the present invention. In this embodiment, the configuration of FIG.
Further, the direct-axis current controller 11 as a means for controlling the average value of the direct-axis current to zero and outputting the direct-axis fundamental wave voltage command v _d ^**
And the average value of the horizontal axis current is controlled to zero, and the horizontal axis voltage command v _q
An abscissa current controller 12 as means for outputting ^* and an adder 10 are added to control the fundamental wave current while performing position estimation and magnetic pole discrimination.

[0026] The direct-axis current regulator 11, a high frequency direct axis fundamental current outputted from the separation filter 4 i _db and direct-axis current command value i _{d *} ⁽⁼ 0) and is input, the output of the direct-axis It is applied to one input terminal of the adder 10 as a fundamental wave voltage command v _d ^** . The output of the adder 9 is applied to the other input terminal of the adder 10, and the output of the adder 10 is input to the coordinate converter 1 as the final direct-axis voltage command v _d ^* . Further, the horizontal axis current controller 12 receives the horizontal axis fundamental wave current _iqb and the horizontal axis current command value _iq ^* (= 0) output from the high frequency separation filter 4, and outputs the horizontal axis voltage. The command v _q ^* is input to the coordinate converter 1.

The operation of this embodiment will be described. When estimating the position of the rotor, the switch B is opened and only the square wave voltage is applied to the adder 9. The high frequency separation filter 4
separation i _d, a direct-axis fundamental current i _db and horizontal axis fundamental current i _qb excluding the frequency components of the square wave voltage from i _q, and the horizontal axis frequency current i _qh of the same frequency components as the square wave voltage and Extract. The direct-axis current controller 11 calculates _id ^* (= 0) and i
_{The difference from the} current value is amplified to calculate a direct-axis fundamental-wave voltage command v _d ^** , and the adder 10 superimposes a square-wave voltage on v _d ^** to obtain a final direct-axis voltage command v _d ^* . . The horizontal axis current regulator _12, ⁱ q * (= 0) and amplifies the deviation between _{i qb} calculates a horizontal-axis voltage command _v ^{q *.} By the operation of these controllers 11, 12, the average value of the direct axis current and the average value of the horizontal axis current are controlled to zero.

The speed estimator 7 calculates a speed estimated value from the horizontal axis high frequency current _iqh output from the high frequency separation filter 4, and the integrator 8 integrates the speed estimated value to calculate a first position estimated value θ. I do.

When discriminating the magnetic pole, the switch B is closed, and the adders 9 and 10 operate to generate a square wave voltage and a test signal for magnetic pole discrimination in response to the direct axis fundamental wave voltage command v _d ^** . To generate a direct-axis voltage command v _d ^* . The time during which the pulse voltage is applied is set short enough so that the direct current controller 11 cannot follow. The rate of change of i _d when the pulse voltage is applied to the negative polarity and when given to the positive polarity △ i _dp, △
i _dm is stored in the memory 5, the magnetic pole discriminator 6 is preset according to the above equation 1, and the first position estimation value is corrected by the same method as in the first embodiment to generate the second position estimation value θ. I do.

With the above configuration, the magnetic pole can be accurately determined even when the motor 40 is rotating, and the motor can be protected by preventing overcurrent due to induced voltage.

Next, a control block diagram of FIG. 3 shows a third embodiment of the present invention, and corresponds to the third embodiment of the present invention. This embodiment is characterized in that a switch C is added between the direct current controller 11 and the adder 10 in the embodiment of FIG. The operation of the switch C is "open" when the switch B is closed and the pulse voltage as the test signal for magnetic pole determination is a positive or negative value, and "open" otherwise.

The operation of this embodiment will be described below. The operation of estimating the rotor position is the same as in the first and second embodiments.
In the magnetic pole determination, when the switch B is closed and the switch C is opened when the pulse voltage is a positive or negative value, the control of the direct-axis current is not performed. Electric current flows. Thereby, it is possible to sufficiently can flow straight axis current i _d as magnetic saturation, the magnetic pole determination with high accuracy through the memory 5 and the pole discriminator 6. In the present embodiment, in order to allow a large direct-axis current _id to flow, it is desirable to lengthen the period during which the pulse voltage is positive or negative as long as the motor or the inverter is allowed.

FIG. 4 is a control block diagram showing a fourth embodiment of the present invention, and corresponds to the fourth embodiment of the present invention. This embodiment is characterized in that a pulse-like direct axis current command _id ^* having positive and negative polarities is used instead of the pulse voltage as compared with the second embodiment and the third embodiment. The output of the shaft current controller 11 is
And is added to the square wave voltage. Here, the direct-axis current controller 11 constitutes means for controlling the average value of the direct-axis current to be positive and negative. The switch B is provided only on the input side of the memory 5, and the switch B
Is “open” when _id ^* = 0, and other _id ^* ≠ 0
(Closed) when ( _id ^* is positive or negative).

The operation of this embodiment will be described below. rotation
The operation of estimating the child position is the same as in the first to third embodiments.
The direct-axis current controller 11 has a positive polarity and a negative polarity.
Loose linear axis current command i_d ^*And switch B is i_d
^*Close only when is positive or negative. High frequency separation
Filter 4 allows direct-axis current i_dFrom the direct-axis high-frequency current i
_dhAnd extract i _d ^*When set to positive polarity and negative polarity
I when set to_dhAmplitude i_dhp, I_dhmTo
Each is stored in the memory 5. The magnetic pole discriminator 6 is an integrator
8 is preset by the following equation (2) to set the first position
The estimated value is corrected, and the second position estimated value θ is output.

[Equation 2] (a) When i _dhp < _idhm → θ = θ (previous value) + 180 ° (b) When _idhp > _idhm → θ = θ (previous value)

In the second and third embodiments, the current when a pulse voltage is applied for discriminating the magnetic pole varies depending on the impedance of the motor 40, and when the pulse voltage is positive or negative, the switch C is turned off. Since it is open and the feedback control of the direct axis current does not work, there is a danger that an overcurrent that may damage the equipment may flow in some cases. On the other hand, according to the fourth embodiment,
Straight-axis current controller 11 for performing current feedback control
By the action described above, it is possible to avoid occurrence of an overcurrent.

FIG. 5 is a control block diagram showing a fifth embodiment of the present invention, and corresponds to the fifth embodiment of the present invention. When this embodiment is compared with the embodiment of FIG. 4, the horizontal axis current command _iq ^* is used instead of the direct axis current command _id ^*.
And the acceleration detector 13 instead of the memory 5
Is different. Here, the linear axis current controller 1
Reference numeral 1 designates means for controlling the average value of the direct-axis current to zero and outputting a direct-axis fundamental-wave voltage command. The horizontal-axis current controller 12 controls the average value of the horizontal-axis current to a non-zero value to control the horizontal-axis current. It constitutes means for outputting a shaft voltage command. The acceleration detector 13
Is provided between the speed estimator 7 and the magnetic pole discriminator 6.

Hereinafter, the operation of the present embodiment will be described focusing on parts different from FIG. The operation of estimating the rotor position is the same as in the first to fourth embodiments. In determining the magnetic pole, the horizontal axis current command value _iq ^{* is set} to a positive value, and the horizontal axis current is controlled to a positive value. On the other hand, the direct-axis current command value _id ^{* is set} to zero, and the direct-axis current is controlled to zero. At this time, torque is generated by the horizontal axis current, and the rotor is accelerated in the forward direction when there is no error in θ and in the reverse direction when there is an error of 180 ° in θ. Therefore, magnetic pole discrimination is performed using the magnitude of the acceleration.

The acceleration detector 13 calculates the acceleration by differentiating the estimated speed value. Pole discriminator 6, the acceleration a ₀ when the i q _{= 0,} compared with the acceleration a _p upon controlling the i _q to a positive value, the output of the integrator 8 is preset by the following equation 3 To correct the first position estimate to generate a second position estimate θ.

[Equation 3] (a) When a ₀ > _ap → θ = θ (previous value) +18
₀ ° (b) a 0 <when _{a p} → _θ = _θ (previous value)

That is, a₀<A_pThen there is an error in θ
Judge that there is no correction₀> A _pError in θ
Judgment is made and correction is performed. In this embodiment, the direct-axis current
-Axis current when the instantaneous value of is controlled to positive and negative polarity
Pole discrimination using the magnetic saturation phenomenon with a small difference in the rate of change of
This is effective for electric motors that have difficulty.

[0042]

As described above, according to the present invention, the position estimation calculation can be executed simultaneously with the magnetic pole discrimination, and the fundamental wave current can be controlled even at the time of magnetic pole discrimination, thereby preventing occurrence of overcurrent. can do. Further, even when the rotor is rotating, the calculation of the rotor position can be performed accurately, so that there is an effect that a quick start is possible.

[Brief description of the drawings]

FIG. 1 is a control block diagram showing a first embodiment of the present invention.

FIG. 2 is a control block diagram showing a second embodiment of the present invention.

FIG. 3 is a control block diagram illustrating a third embodiment of the present invention.

FIG. 4 is a control block diagram showing a fourth embodiment of the present invention.

FIG. 5 is a control block diagram showing a fifth embodiment of the present invention.

FIG. 6 is a control block diagram showing a conventional technique.

[Explanation of symbols]

 1, 2 coordinate converter 3 PWM circuit 4 high frequency separation filter 5 memory 6 magnetic pole discriminator 7 speed estimator 8 integrator 9, 10 adder 11 direct current controller 12 horizontal current controller 13 acceleration detector 20 three phase AC power supply 30 Power converter 40 Permanent magnet type synchronous motor (PM motor) A, B, C switch

 ──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Naofumi Nomura 1-1, Tanabe Nitta, Kawasaki-ku, Kawasaki, Kanagawa Prefecture Inside Fuji Electric Co., Ltd. (72) Inventor Nobuo Itoigawa 1, Tanabe Nitta, Kawasaki-ku, Kawasaki-ku, Kanagawa No. 1 F-term in Fuji Electric Co., Ltd. (reference) 5H560 BB04 BB12 DA14 DA18 DC12 EB01 JJ02 SS06 TT08 TT11 XA12 XA13 5H575 DD06 GG04 JJ17 JJ22 LL22 5H576 BB06 DD02 DD07 EE01 EE11 FF01 GG22 LL17 JJ22 LL17

Claims (5)

[Claims] 1. A control device for driving a permanent magnet type synchronous motor having saliency in a rotor by a power converter, wherein the controller estimates a rotor position from an estimated speed value without using a position detection sensor. In the control device of the permanent magnet type synchronous motor in which the voltage command to the motor is separated and controlled into the direct axis voltage command and the horizontal axis voltage command using the position estimation value, the high frequency voltage is applied to the direct axis fundamental wave voltage command. Means for generating a direct-axis voltage command by superimposing, and decomposing the armature current of the motor into a direct-axis current and a horizontal-axis current,
Means for extracting a high-frequency current having the same frequency as the high-frequency voltage from the horizontal-axis current; means for calculating a rotor speed estimated value and a first position estimated value from the high-frequency current; While calculating the position estimation value of the above, the pulse voltage having a positive polarity and a negative polarity is superimposed on the high-frequency voltage, and when the pulse voltage of the positive polarity and the pulse voltage of the negative polarity are superimposed, Means for correcting the first position estimation value and calculating a second position estimation value based on the rate of change of the direct-axis current, and a control device for the permanent magnet synchronous motor, comprising: 2. A control device for driving a permanent magnet type synchronous motor having a salient polarity on a rotor by a power converter, wherein the controller estimates a rotor position from an estimated speed value without using a position detection sensor. In the control device of the permanent magnet type synchronous motor in which the voltage command to the motor is separated and controlled into the direct axis voltage command and the horizontal axis voltage command using the position estimation value, the high frequency voltage is applied to the direct axis fundamental wave voltage command. Means for generating a direct-axis voltage command by superimposing, and decomposing the armature current of the motor into a direct-axis current and a horizontal-axis current,
Means for extracting a high-frequency current having the same frequency as the high-frequency voltage from the horizontal-axis current; means for controlling the average value of the direct-axis current to zero to generate the direct-axis fundamental-wave voltage command; Means for controlling the average value to zero to generate a horizontal axis voltage command; means for calculating a rotor speed estimated value and a first position estimated value from the high-frequency current; and the speed estimated value and the first position While calculating the estimated value, a pulse voltage having a positive polarity and a negative polarity is superimposed on the high-frequency voltage, and the linear axis when a positive pulse voltage is superimposed and a negative pulse voltage are superimposed. Means for correcting the first estimated position value based on the rate of change of the current to calculate a second estimated position value, the control device for a permanent magnet synchronous motor comprising: 3. A control device for driving a permanent magnet type synchronous motor having a salient polarity on a rotor by a power converter, wherein a rotor position is estimated from a speed estimation value without using a position detection sensor, In the control device of the permanent magnet type synchronous motor in which the voltage command to the motor is separated and controlled into the direct axis voltage command and the horizontal axis voltage command using the position estimation value, the high frequency voltage is applied to the direct axis fundamental wave voltage command. Means for generating a direct-axis voltage command by superimposing, and decomposing the armature current of the motor into a direct-axis current and a horizontal-axis current,
Means for extracting a high-frequency current having the same frequency as the high-frequency voltage from the horizontal-axis current; means for controlling the average value of the direct-axis current to zero to generate the direct-axis fundamental-wave voltage command; Means for controlling the average value to zero to generate a horizontal axis voltage command; means for calculating a rotor speed estimated value and a first position estimated value from the high-frequency current; and the speed estimated value and the first position While performing the calculation of the estimated value, the function of controlling the average value of the direct-axis current to zero is stopped, and a pulse voltage having positive and negative polarities is superimposed on the high-frequency voltage, and a positive pulse voltage is applied. Means for correcting a first position estimation value and calculating a second position estimation value based on a change rate of the straight-axis current when the pulse voltage is superimposed and when a pulse voltage of a negative polarity is superimposed. Characteristic control of permanent magnet synchronous motor Location. 4. A control device for driving a permanent magnet type synchronous motor having saliency in a rotor by a power converter, wherein the controller estimates a rotor position from an estimated speed value without using a position detection sensor, In the control device of the permanent magnet type synchronous motor in which the voltage command to the motor is separated and controlled into the direct axis voltage command and the horizontal axis voltage command using the position estimation value, the high frequency voltage is applied to the direct axis fundamental wave voltage command. Means for generating a direct-axis voltage command by superimposing, and decomposing the armature current of the motor into a direct-axis current and a horizontal-axis current,
Means for extracting a high-frequency current having the same frequency as the high-frequency voltage from the direct-axis current and the horizontal-axis current, respectively; and generating the direct-axis fundamental-wave voltage command by controlling the average value of the direct-axis current to be positive and negative. Means for controlling a mean value of the horizontal axis current to zero to generate a horizontal axis voltage command; and a rotor speed estimated value and a first position estimated value from a high frequency current extracted from the horizontal axis current. And calculating the velocity estimation value and the first position estimation value, and correcting the first position estimation value with the amplitude of the high-frequency current extracted from the direct-axis current to calculate the second position. A control device for a permanent magnet type synchronous motor, comprising: means for calculating an estimated value. 5. A control device for driving a permanent magnet type synchronous motor having saliency in a rotor by a power converter, wherein the controller estimates a rotor position from an estimated speed value without using a position detection sensor. In the control device of the permanent magnet type synchronous motor in which the voltage command to the motor is separated and controlled into the direct axis voltage command and the horizontal axis voltage command using the position estimation value, the high frequency voltage is applied to the direct axis fundamental wave voltage command. Means for generating a direct-axis voltage command by superimposing, and decomposing the armature current of the motor into a direct-axis current and a horizontal-axis current,
Means for extracting a high-frequency current having the same frequency as the high-frequency voltage from the horizontal-axis current; means for controlling the average value of the direct-axis current to zero to generate the direct-axis fundamental-wave voltage command; Means for controlling a mean value to at least a non-zero value to generate a horizontal axis voltage command; means for calculating a rotor speed estimated value and a first position estimated value from the high-frequency current; The first position estimation value is calculated based on the polarity of the horizontal axis current and the magnitude of the acceleration while calculating the acceleration at the time of passing the horizontal axis current from the speed estimation value while calculating the position estimation value of (1). And a means for calculating a second position estimation value by correcting the following. A control device for a permanent magnet type synchronous motor, comprising: