WO2020100478A1

WO2020100478A1 - Motor control device and motor control method

Info

Publication number: WO2020100478A1
Application number: PCT/JP2019/039931
Authority: WO
Inventors: 健二福田; 敬夢高田
Original assignee: 澤藤電機株式会社
Priority date: 2018-11-15
Filing date: 2019-10-10
Publication date: 2020-05-22
Also published as: JP7094859B2; JP2020088880A

Abstract

[Problem] To provide a motor control device and a motor control method with which it is possible to eliminate, as much as possible, the effect of a vibration component of a feedback current on d-axis and q-axis voltage command values Vd, Vq, and control a PM motor in a stable manner. [Solution] In this motor control device 100 and motor control method, linear correction is performed on the basis of a voltage command value |Va| that does not include a current proportional control component. The d-axis and q-axis voltage command values Vd, Vq after linear correction are thereby prevented from being affected by a short-term vibration component, making it possible to generate three-phase voltage command values and a drive signal that are stable, and stabilize the output voltage, current, and torque. Carrier setting information Sc is generated on the basis of a voltage phase θv that does not include a current proportional control component. The carrier setting information Sc and a triangle wave are thereby prevented from being affected by a short-term vibration component, making it possible to generate a stable drive signal, and stabilize the output voltage, current, and torque.

Description

Motor control device and motor control method

The present invention relates to a motor control device and a motor control method in which the influence of a vibration component of a feedback current value on a voltage command value used for controlling a PM motor is eliminated as much as possible.

Electric motors are used as the power source for many home appliances and mechanical equipment. Of these, a permanent magnet is provided on the rotor side, an armature winding is provided on the stator side, and a PM (Permanent Magnet) motor (permanent magnet motor) that rotates the rotor by controlling the magnetic field of the armature winding. ) Has low loss and high efficiency because there is no field loss, and has been widely used in large-scale mechanical devices due to the recent trend of energy saving. As a method of controlling the PM motor, first, a three-phase voltage command value Vu based on a torque command value instructed from outside (a higher-order control unit of the system, etc.) and the current torque T of the PM motor, In addition to generating Vv and Vw, the three-phase voltage command values Vu, Vv, and Vw are compared by a triangular wave to generate drive signals Su, Sv, and Sw. Then, the drive signals Su, Sv, and Sw are generally used to perform the switching operation of the inverter by the drive currents Iu, Iv, and Iw of the three-phase AC flowing down. Further, in many cases, the drive signals Su, Sv, Sw are generated by switching between sine wave control and rectangular wave control according to the operating status of the PM motor. In this control method, generally, the operation control is performed by the sine wave control (PWM control) using the sine wave pattern with high motor efficiency in the medium / low speed operation region, and the output voltage is controlled in the high speed / high torque operation region. The operation is controlled by a rectangular wave control using a rectangular wave pattern that has a high output and a high output.

Here, the sine wave pattern is a pattern of the drive signals Su, Sv, and Sw generated by the triangular wave comparison of the three-phase voltage command values Vu, Vv, and Vw whose magnitude does not exceed the apex of the triangular wave. .. The rectangular wave pattern means that each of the three-phase voltage command values Vu, Vv, and Vw intersects the triangular wave twice within one electrical angle cycle, and the Hi period and the Low period within one electrical angle cycle. This is a pattern of the drive signals Su, Sv, and Sw that are generated once. Furthermore, the patterns of the drive signals Su, Sv, and Sw include an overmodulation pattern, and the overmodulation pattern is a three-phase voltage command value that is larger than the amplitude that forms the sine wave pattern and smaller than the amplitude that forms the rectangular wave pattern. It is a pattern of drive signals Su, Sv, Sw generated by Vu, Vv, Vw.

However, even if the sine wave control and the rectangular wave control have the same voltage phase, the rectangular wave control outputs a larger torque than the sine wave control, and a simple switching operation causes torque fluctuation at the time of switching, which is not preferable. Absent. With respect to this problem, the inventors of the present application continuously change the drive signal between a sine wave pattern (overmodulation pattern) and a rectangular wave pattern while performing torque control in the rectangular wave control mode when switching the control mode. The invention described in Japanese Patent Application No. 2017-212503 capable of smoothly switching the control mode with less torque fluctuation was made.

Here, for example, in the invention described in the following [Patent Document 1], in controlling the current of the AC motor, the three-phase currents Ia, Ib, (Ic) of the AC motor are detected by the three-phase current sensor. After the three-phase / two-phase coordinate conversion is performed on the phase detection currents Iafb, Ibfb, and Icfb to obtain the two-phase detection currents Idfb and Iqfb, from the two-phase command currents Iq ^* and Id ^{* that} are the command values to the AC motor Two-phase current errors ΔId and ΔIq are calculated by subtracting the above two-phase detection currents Idfb and Iqfb. The first proportional-integral (PI) is multiplied by a gain of two-phase command voltage ^Vq at a current proportional integral component the current error? Iq, the? Iq *, calculates Vd ^*, the two-phase command voltage ^Vq *, Vd ^* Is subjected to 2-phase / 3-phase coordinate conversion based on the information of the electrical angle θe to obtain the 3-phase command voltages Va ^* , Vb ^* , Vc ^* . Then, the PWM gate pulse obtained by comparing and calculating the three-phase command voltages Va ^* , Vb ^* , Vc ^* and the carrier wave Vt is input to the PWM inverter to convert the DC voltage Vdc into arbitrary AC voltages Va, Vb, Vc, A technique for controlling the operation of an AC motor by the AC voltages Va, Vb, Vc is disclosed.

Further, in the invention described in the following [Patent Document 2], in order to correct the nonlinearity between the voltage command value and the inverter output voltage, the required modulation factor A is calculated in advance from the following formula,
E = 1/2 {Asin ^-1 (1 / A) + (1-1 / A ² ) ^1/2 } Emax
Emax = (2 / π) ^1/2 · Ed
Ed: By correcting the modulation factor A non-linearly with respect to the output voltage command E ^* of the inverter, based on the relationship between the modulation factor A previously acquired and the output voltage command E ^* of the inverter. , The technique of linearly controlling the output voltage with respect to the output voltage command E ^* of the inverter is disclosed.

Japanese Patent Laid-Open No. 2000-270599 JP-A-7-194130

Then, these [Patent Document 1] and [Patent Document 2] are combined, and E ^* of [Patent Document 2] is added to the voltage command values Vd ^* and Vq ^* of the current proportional control using the feedback current of [Patent Document 1] ^. When the value of the voltage (Vd ² + Vq ² ) ^1/2 corresponding to is calculated for linear correction and the oscillation component of the feedback current is included in the output voltage command E ^* , the correction coefficient for the linear correction (modulation factor A) Also has an oscillating value, which may cause unstable control.

The present invention has been made in view of the above circumstances, and it is possible to eliminate the influence of the vibration component in the feedback current in the d-axis and q-axis voltage command values Vd and Vq as much as possible, and to stably control the PM motor. It is an object of the present invention to provide a simple motor control device and a motor control method.

The present invention includes (1) an inverter 20 that causes a three-phase AC drive current Iu, Iv, and Iw to flow through the PM motor 10, and drive

current detection units

12u and 12v that obtain the values of the drive currents Iu, Iv, and (Iw). And an angle detector 14 that acquires the electrical angle θ of the PM motor 10, and the drive currents Iu, Iv, and (Iw) acquired by the drive

current detectors

12u and 12v based on the electrical angle θ. A three-phase / dq converter 22 for converting the feedback current value Id into the q-axis feedback current value Iq;
A d-axis current command value Id ^* and a q-axis current command value Iq ^* are set based on a torque command value T ^* from the outside, and these d-axis current command value Id ^* , q-axis current command value Iq ^* and the d-axis are set. A sine wave control unit 40 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the feedback current value Id and the q-axis feedback current value Iq.
A linear correction unit 38 that linearly corrects the d-axis voltage command value Vd and the q-axis voltage command value Vq,
A dq / 3-phase conversion unit 32 for converting the linearly corrected d-axis voltage command value Vd, q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw,
A motor control device having a drive signal generation unit 36 that compares a three-phase voltage command value Vu, Vv, Vw with a triangular wave of a predetermined cycle and generates drive signals Su, Sv, Sw for switching the inverter 20. At
The sine wave control unit 40,
A current integral control unit 410a and a current proportional control unit 410b are provided, and d based on the d-axis current command value Id ^* , the q-axis current command value Iq ^* , the d-axis feedback current value Id, and the q-axis feedback current value Iq. A current control unit 410 that generates an axial voltage command value Vd and a q-axis voltage command value Vq, and polar coordinate conversion that polarizes the d-axis voltage command value and the q-axis voltage command value to obtain a voltage command value | Va |. And a portion 418,
The current control unit 410 outputs an integration-side d-axis voltage command value Vd ″ and an integration-side q-axis voltage command value Vq ″ that do not include the output of the current proportional control unit 410b to the polar coordinate conversion unit 418,
The polar coordinate conversion unit 418 acquires a voltage command value | Va | based on the integration side d-axis voltage command value Vd ″ and the integration side q-axis voltage command value Vq ″, and outputs the voltage command value | Va | to the linear correction unit 38.
The linear correction unit 38 generates the sine wave control unit 40 based on the voltage command value | Va | based on the integration-side d-axis voltage command value Vd ″ and the integration-side q-axis voltage command value Vq ″. The above problem is solved by providing the motor control device 100 characterized by linearly correcting the d-axis voltage command value Vd and the q-axis voltage command value Vq.
(2) An inverter 20 that causes the three-phase alternating current drive currents Iu, Iv, and Iw to flow through the PM motor 10, drive

current detection units

12u and 12v that obtain the values of the drive currents Iu, Iv, and (Iw), and An angle detector 14 that acquires the electrical angle θ of the PM motor 10 and the drive currents Iu, Iv, (Iw) acquired by the drive

current detectors

12u and 12v based on the electrical angle θ are used as d-axis feedback current values. A three-phase / dq converter 22 for converting the Id and q-axis feedback current values Iq;
A d-axis current command value Id ^* and a q-axis current command value Iq ^* are set based on a torque command value T ^* from the outside, and these d-axis current command value Id ^* , q-axis current command value Iq ^* and the d-axis are set. A sine wave control unit 40 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the feedback current value Id and the q-axis feedback current value Iq.
A dq / 3-phase converter 32 for converting the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw,
A drive signal generation unit 36 that compares the three-phase voltage command values Vu, Vv, Vw with a triangular wave having a predetermined period based on the carrier setting information Sc and generates drive signals Su, Sv, Sw for switching the inverter 20. In the motor control device having
The sine wave control unit 40,
A current integral control unit 410a and a current proportional control unit 410b are provided, and d based on the d-axis current command value Id ^* , the q-axis current command value Iq ^* , the d-axis feedback current value Id, and the q-axis feedback current value Iq. A current control unit 410 that generates an axial voltage command value Vd and a q-axis voltage command value Vq, and a polar coordinate conversion unit 418 that polar-coordinates the d-axis voltage command value and the q-axis voltage command value to obtain the voltage phase θv. , A sine wave mode synchronization control unit 420 that generates the carrier setting information Sc based on the voltage phase θv,
The current control unit 410 outputs an integration-side d-axis voltage command value Vd ″ and an integration-side q-axis voltage command value Vq ″ that do not include the output of the current proportional control unit 410b to the polar coordinate conversion unit 418,
The polar coordinate conversion unit 418 acquires the voltage phase θv based on the integration-side d-axis voltage command value Vd ″ and the integration-side q-axis voltage command value Vq ″, and outputs it to the sine wave mode synchronization control unit 420.
The sine wave mode synchronization control unit 420 may generate the carrier setting information Sc based on the voltage phase θv based on the integration side d-axis voltage command value Vd ″ and the integration side q-axis voltage command value Vq ″. The above problem is solved by providing a motor control device 100 having a feature.
(3) An inverter 20 that causes the three-phase alternating current drive currents Iu, Iv, and Iw to flow through the PM motor 10, drive

current detection units

current detectors

12u and 12v based on the electrical angle θ are used as d-axis feedback current values. A three-phase / dq converter 22 for converting the Id and q-axis feedback current values Iq;
A voltage phase θv is set based on the torque command value T ^* from the outside and the d-axis feedback current value Id and the q-axis feedback current value Iq, and the d-axis voltage command values Vd and q-axis are set based on the voltage phase θv. A rectangular wave control unit 50 that generates a voltage command value Vq,
a linear correction unit 38 that linearly corrects the d-axis voltage command value Vd and the q-axis voltage command value Vq,
A dq / 3-phase conversion unit 32 for converting the linearly corrected d-axis voltage command value Vd, q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw,
A motor control device having a drive signal generation unit 36 that compares a three-phase voltage command value Vu, Vv, Vw with a triangular wave of a predetermined cycle and generates drive signals Su, Sv, Sw for switching the inverter 20. At
The rectangular wave control unit 50
A voltage phase setting unit 502 that acquires a voltage phase θv based on the torque command value T ^* from the outside, the d-axis feedback current value Id, and the q-axis feedback current value Iq,
A voltage command generation unit 516 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the voltage command value | Va | and the voltage phase θv output by the voltage phase setting unit 502;
Based on the d-axis feedback current value Id, the q-axis feedback current value Iq, and the d-axis voltage command value Vd and the q-axis voltage command value Vq, the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq. And a correction unit 70 for outputting
The linear correction unit 38 linearly corrects the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq based on the voltage command value | Va |. , To solve the above problems.
(4) The inverter 20 that causes the three-phase AC drive currents Iu, Iv, and Iw to flow through the PM motor 10; the drive

current detection units

12u and 12v that obtain the values of the drive currents Iu, Iv, and (Iw); An angle detector 14 that acquires the electrical angle θ of the PM motor 10 and the drive currents Iu, Iv, (Iw) acquired by the drive

current detectors

12u and 12v based on the electrical angle θ are used as d-axis feedback current values. A three-phase / dq converter 22 for converting the Id and q-axis feedback current values Iq;
A voltage phase θv is set based on the torque command value T ^* from the outside and the d-axis feedback current value Id and the q-axis feedback current value Iq, and the d-axis voltage command values Vd and q-axis are set based on the voltage phase θv. A rectangular wave control unit 50 that generates a voltage command value Vq,
a dq / 3-phase conversion unit 32 for converting the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw,
A drive signal generation unit 36 that compares the three-phase voltage command values Vu, Vv, Vw with a triangular wave having a predetermined period based on the carrier setting information Sc and generates drive signals Su, Sv, Sw for switching the inverter 20. In the motor control device having
The rectangular wave control unit 50
A voltage phase setting unit 502 that acquires a voltage phase θv based on the torque command value T ^* from the outside, the d-axis feedback current value Id, and the q-axis feedback current value Iq,
A voltage command generation unit 516 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the voltage phase θv output by the voltage phase setting unit 502;
Based on the d-axis feedback current value Id, the q-axis feedback current value Iq, and the d-axis voltage command value Vd and the q-axis voltage command value Vq, the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq. A correction unit 70 for outputting
A rectangular wave mode synchronization control unit 520 that generates the carrier setting information Sc,
The rectangular wave mode synchronization control unit 520 provides the motor control device 100 characterized in that it generates the carrier setting information Sc based on the voltage phase θv output from the voltage phase setting unit 502. Solve.
(5) The inverter 20 that causes the three-phase alternating current drive currents Iu, Iv, and Iw to flow through the PM motor 10; the drive

current detection units

current detectors

12u and 12v based on the electrical angle θ are used as d-axis feedback current values. A three-phase / dq converter 22 for converting the Id and q-axis feedback current values Iq;
A d-axis current command value Id ^* and a q-axis current command value Iq ^* are set based on a torque command value T ^* from the outside, and these d-axis current command value Id ^* , q-axis current command value Iq ^* and the d-axis are set. A sine wave control unit 40 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the feedback current value Id and the q-axis feedback current value Iq.
A linear correction unit 38 that linearly corrects the d-axis voltage command value Vd and the q-axis voltage command value Vq,
A dq / 3-phase conversion unit 32 for converting the linearly corrected d-axis voltage command value Vd, q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw,
A motor control device having a drive signal generation unit 36 that compares a three-phase voltage command value Vu, Vv, Vw with a triangular wave of a predetermined cycle and generates drive signals Su, Sv, Sw for switching the inverter 20. The motor control method of
The sine wave control unit 40,
A current integral control unit 410a and a current proportional control unit 410b are provided, and d based on the d-axis current command value Id ^* , the q-axis current command value Iq ^* , the d-axis feedback current value Id, and the q-axis feedback current value Iq. A current control unit 410 that generates an axial voltage command value Vd and a q-axis voltage command value Vq, and polar coordinate conversion that polarizes the d-axis voltage command value and the q-axis voltage command value to obtain a voltage command value | Va |. And a portion 418,
The current control unit 410 outputs the integration side d-axis voltage command value Vd ″ and the integration side q-axis voltage command value Vq ″ that do not include the output of the current proportional control unit 410b to the polar coordinate conversion unit 418. Command value output step,
A voltage command that the polar coordinate conversion unit 418 acquires a voltage command value | Va | based on the integration-side d-axis voltage command value Vd ″ and the integration-side q-axis voltage command value Vq ″ and outputs it to the linear correction unit 38. Value output step,
The linear correction unit 38 generates the sine wave control unit 40 based on the voltage command value | Va | based on the integration-side d-axis voltage command value Vd ″ and the integration-side q-axis voltage command value Vq ″. The above problem is solved by providing a motor control method characterized by performing a sine wave control linear correction step of linearly correcting the d-axis voltage command value Vd and the q-axis voltage command value Vq.
(6) The inverter 20 that causes the three-phase AC drive currents Iu, Iv, and Iw to flow through the PM motor 10, the drive

current detection units

current detectors

12u and 12v based on the electrical angle θ are used as d-axis feedback current values. A three-phase / dq converter 22 for converting the Id and q-axis feedback current values Iq;
A d-axis current command value Id ^* and a q-axis current command value Iq ^* are set based on a torque command value T ^* from the outside, and these d-axis current command value Id ^* , q-axis current command value Iq ^* and the d-axis are set. A sine wave control unit 40 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the feedback current value Id and the q-axis feedback current value Iq.
A dq / 3-phase converter 32 for converting the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw,
A drive signal generation unit 36 that compares the three-phase voltage command values Vu, Vv, Vw with a triangular wave having a predetermined period based on the carrier setting information Sc and generates drive signals Su, Sv, Sw for switching the inverter 20. A motor control method for a motor control device having:
The sine wave control unit 40,
A current integral control unit 410a and a current proportional control unit 410b are provided, and d based on the d-axis current command value Id ^* , the q-axis current command value Iq ^* , the d-axis feedback current value Id, and the q-axis feedback current value Iq. A current control unit 410 that generates an axial voltage command value Vd and a q-axis voltage command value Vq, and a polar coordinate conversion unit 418 that polar-coordinates the d-axis voltage command value and the q-axis voltage command value to obtain the voltage phase θv. , A sine wave mode synchronization control unit 420 that generates the carrier setting information Sc based on the voltage phase θv,
The current control unit 410 outputs the integration side d-axis voltage command value Vd ″ and the integration side q-axis voltage command value Vq ″ that do not include the output of the current proportional control unit 410b to the polar coordinate conversion unit 418. Command value output step,
The voltage phase that the polar coordinate conversion unit 418 acquires the voltage phase θv based on the integration-side d-axis voltage command value Vd ″ and the integration-side q-axis voltage command value Vq ″ and outputs it to the sine wave mode synchronization control unit 420. Output step,
A sine wave in which the sine wave mode synchronization control unit 420 generates the carrier setting information Sc based on the voltage phase θv based on the integration-side d-axis voltage command value Vd ″ and the integration-side q-axis voltage command value Vq ″. The above problem is solved by providing a motor control method characterized by performing a control carrier information generation step.
(7) Inverter 20 that causes the three-phase alternating current drive currents Iu, Iv, and Iw to flow through the PM motor 10, drive

current detection units

current detectors

12u and 12v based on the electrical angle θ are used as d-axis feedback current values. A three-phase / dq converter 22 for converting the Id and q-axis feedback current values Iq;
A voltage phase θv is set based on the torque command value T ^* from the outside and the d-axis feedback current value Id and the q-axis feedback current value Iq, and the d-axis voltage command values Vd and q-axis are set based on the voltage phase θv. A rectangular wave control unit 50 that generates a voltage command value Vq,
a linear correction unit 38 that linearly corrects the d-axis voltage command value Vd and the q-axis voltage command value Vq,
A dq / 3-phase conversion unit 32 for converting the linearly corrected d-axis voltage command value Vd, q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw,
A motor control device having a drive signal generation unit 36 that compares a three-phase voltage command value Vu, Vv, Vw with a triangular wave of a predetermined cycle and generates drive signals Su, Sv, Sw for switching the inverter 20. The motor control method of
The rectangular wave control unit 50
A voltage phase setting unit 502 that acquires a voltage phase θv based on the torque command value T ^* from the outside, the d-axis feedback current value Id, and the q-axis feedback current value Iq,
A voltage command generation unit 516 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the voltage command value | Va | and the voltage phase θv output by the voltage phase setting unit 502;
Based on the d-axis feedback current value Id, the q-axis feedback current value Iq, and the d-axis voltage command value Vd and the q-axis voltage command value Vq, the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq. And a correction unit 70 for outputting
A motor characterized in that the linear correction unit 38 performs a rectangular wave control linear correction step of linearly correcting the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq based on the voltage command value | Va |. The above problem is solved by providing a control method.
(8) An inverter 20 that causes the three-phase alternating current drive currents Iu, Iv, and Iw to flow through the PM motor 10; drive

current detection units

current detectors

12u and 12v based on the electrical angle θ are used as d-axis feedback current values. A three-phase / dq converter 22 for converting the Id and q-axis feedback current values Iq;
A voltage phase θv is set based on the torque command value T ^* from the outside and the d-axis feedback current value Id and the q-axis feedback current value Iq, and the d-axis voltage command values Vd and q-axis are set based on the voltage phase θv. A rectangular wave control unit 50 that generates a voltage command value Vq,
A dq / 3-phase converter 32 for converting the d-axis voltage command value Vd and the q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, Vw,
A drive signal generation unit 36 that compares the three-phase voltage command values Vu, Vv, Vw with a triangular wave having a predetermined period based on the carrier setting information Sc and generates drive signals Su, Sv, Sw for switching the inverter 20. A motor control method for a motor control device having:
The rectangular wave control unit 50
A voltage phase setting unit 502 that acquires a voltage phase θv based on the torque command value T ^* from the outside, the d-axis feedback current value Id, and the q-axis feedback current value Iq,
A voltage command generation unit 516 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the voltage phase θv output by the voltage phase setting unit 502;
Based on the d-axis feedback current value Id, the q-axis feedback current value Iq, and the d-axis voltage command value Vd and the q-axis voltage command value Vq, the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq. A correction unit 70 for outputting
A rectangular wave mode synchronization control unit 520 that generates the carrier setting information Sc,
The motor control method is characterized in that the rectangular wave mode synchronization control unit 520 performs a rectangular wave control carrier information generation step of generating the carrier setting information Sc based on the voltage phase θv output from the voltage phase setting unit 502. By providing, the above-mentioned subject is solved.

The motor control device and the motor control method according to the present invention perform linear correction on the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the voltage command value | Va | that does not include the current proportional control component. Further, the carrier setting information Sc is generated based on the voltage phase θv that does not include the current proportional control component. This makes it possible to generate stable three-phase voltage command values Vu, Vv, Vw and drive signals Su, Sv, Sw with little influence of vibration components, and stabilize the output voltage, current, and torque. Further, by using the voltage command value | Va | that does not include the proportional control component, it is possible to increase the gain of the current proportional control unit, the correction voltage generation unit, etc., and improve the responsiveness thereof. .. Further, by using the voltage phase θv that does not include the proportional control component, it is possible to obtain a large control gain for the sine wave mode synchronization control unit, the rectangular wave mode synchronization control unit, the voltage phase setting unit, etc. Can be improved.

It is a block diagram of a motor control device according to the present invention. It is a figure explaining the operating condition of a motor, and switching of control mode. It is a figure explaining the positional relationship of the triangular wave and three-phase voltage command value Vu of the motor control device concerning the present invention. It is a flow chart which shows operation at the time of transfer to a rectangular wave control mode. It is a flow chart which shows operation at the time of transfer to a sine wave control mode. It is a figure explaining the triangular wave of the motor control device and motor control method concerning the present invention.

Embodiments of a motor control device 100 and a motor control method according to the present invention will be described with reference to the drawings. Note that, here, description will be made using an example of a configuration in which neither the voltage phase θv nor the voltage command value | Va | includes the component of the current proportional control. One of them may be configured so as not to include the current proportional control component.

Here, FIG. 1 is a block diagram of a motor control device 100 according to the present invention. First, the motor control device 100 according to the present invention controls the operation of the PM motor (permanent magnet motor) 10, and the inverter 20 that causes the drive currents Iu, Iv, and Iw of the three-phase AC to flow down to the PM motor 10. The drive

current detectors

12u and 12v that acquire the values of the drive currents Iu, Iv, and (Iw), the angle detector 14 that acquires the electrical angle θ of the PM motor 10, and the drive

current detectors

12u and 12v. A three-phase / dq converter 22 for converting the acquired drive currents Iu, Iv, (Iw) into a d-axis feedback current value Id, a q-axis feedback current value Iq, and an instruction from the outside (upper control unit of the system or the like). A sine wave that sets the d-axis current command value Id ^* and the q-axis current command value Iq ^* based on the torque command value T ^* to generate the d-axis voltage command value Vd and the q-axis voltage command value Vq in the sine wave control mode. Similarly to the control unit 40, the voltage phase θv is set based on the torque command value T ^* similarly instructed from the outside, and the d-axis voltage command value Vd and the q-axis voltage command value Vq (d-axis voltage command correction value) in the rectangular wave control mode are set. Vd, q-axis voltage command correction value Vq), a rectangular wave control unit 50, a switching unit 24 that switches control of the PM motor 10 between the sine wave control unit 40 and the rectangular wave control unit 50, and the sine wave control unit 40. Alternatively, dq / 3 phase for converting the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the rectangular wave control unit 50 into three-phase voltage command values Vu, Vv, Vw of U phase, V phase, W phase. A conversion unit 32 and a drive signal generation unit 36 that compares the three-phase voltage command values Vu, Vv, and Vw with a triangular wave having a predetermined cycle to generate drive signals Su, Sv, and Sw that switch the inverter 20. Have Further, the motor control device 100 according to the present invention may include a mode transition unit 80 that performs a predetermined operation when the control unit switches the control mode, in addition to the above configuration.

The inverter 20 included in the motor control device 100 according to the present invention performs a switching operation according to the Hi-Low drive signals Su, Sv, Sw output from the drive signal generation unit 36, and a known DC power supply unit 18 such as a battery. The DC power of 3 is converted into a three-phase AC voltage based on the drive signals Su, Sv, Sw, and output. As a result, the three-phase drive currents Iu, Iv, and Iw whose phases are shifted by 1/3 cycle (2 / 3π (rad)) flow down to the armature windings of the PM motor 10.

Further, in the PM motor 10, the permanent magnet is provided on the rotor side as described above, and the three-phase armature winding is provided on the stator side, and the drive current Iu described above is provided on the three-phase armature winding. By flowing down Iv and Iw, the magnetic pole and magnetic flux of each armature winding are continuously changed, and the rotor is rotated. As the PM motor 10, it is preferable to use an IPM (Interior Permanent Magnet) motor in which a permanent magnet is embedded in a rotor.

Further, the drive

current detectors

12u and 12v can use well-known current sensors that can contactlessly acquire the drive currents Iu, Iv, and Iw flowing down by the switching operation of the inverter 20. In this example, two driving currents Iu, Iv of the driving currents Iu, Iv, Iw are acquired and converted into d-axis and q-axis feedback current values Id, Iq.

A well-known angle sensor that can acquire the angle of the rotor can be used as the angle detection unit 14. Above all, it is particularly preferable to acquire the electrical angle θ of the PM motor 10 using the resolver rotation angle sensor. It is preferable that the electric angle θ and the driving currents Iu and Iv are acquired at both the apex and the valley of the triangular wave, and are used in each part of the motor control device 100 for each half cycle of the triangular wave. The electrical angle θ acquired by the angle detection unit 14 is also output to the angular velocity calculation unit 16, and the angular velocity calculation unit 16 calculates the electrical angular velocity ω (rad / s) from the input electrical angle θ, and the motor control device 100. Output to each part of.

The three-phase / dq conversion unit 22 also includes the drive currents Iu, Iv, (Iw) acquired by the drive

current detection units

12u, 12v based on the electrical angle θ (rad) of the PM motor 10 acquired by the angle detection unit 14. Is converted into d-axis current value (flux current value) Id and q-axis current value (torque current value) Iq. Convert. Then, these are output to the switching unit 24 as the d-axis feedback current value Id and the q-axis feedback current value Iq.

The switching unit 24 is a switching circuit that switches the generation method of the d-axis voltage command value Vd and the q-axis voltage command value Vq according to the operating status (torque, rotation speed) of the PM motor 10, and the PM motor 10 rotates at medium and low speeds. 2 operates in the sine wave control mode by the sine wave control unit 40, the PM motor 10 is operated. Further, when the PM motor 10 operates in the region B (rectangular wave control region B) in FIG. 2 where the rotation speed and torque are high, the control of the PM motor 10 is switched to the rectangular wave control unit 50 and the rectangular wave control mode is used. To operate. The switching value (switching line C) between the sine wave control area A and the rectangular wave control area B changes depending on the voltage value of the DC power supply unit 18. It is preferable that the switching value for each voltage value of the DC power supply unit 18 is set in advance in a memory unit or the like not shown, and the switching unit 24 appropriately acquires and uses the switching value according to the voltage value of the DC power supply unit 18. .. In addition, when there is no matching voltage value, it is preferable to obtain an appropriate switching value from the switching values of the preceding and succeeding voltages by calculation and use it. When the operating condition (torque, rotation speed) of the PM motor 10 exceeds the switching value, each step described below is performed to switch the control mode. A hysteresis width is added to the switching value when switching from the sine wave control mode to the rectangular wave control mode and the switching value when switching from the rectangular wave control mode to the sine wave control mode. It is preferable to prevent the frequent switching operation of.

Next, the configuration and operation of the sine wave control unit 40 will be described. Since the configuration of the sine wave control unit 40 described below is an example suitable for the present invention, it is not limited to the following configuration, and any other configuration is provided as long as it has an essential configuration for the present invention. A sine wave control mechanism may be used.

First, the torque command value T ^* is output from the control unit or the like of the host system. The torque command value T ^* is a torque that is an operation target of the PM motor 10. Then, this torque command value T ^* is input to the current command value setting unit 402 of the sine wave control unit 40 when the switching unit 24 selects the sine wave control unit 40. The current torque T of the PM motor 10 is input to the current command value setting unit 402 from the torque calculation unit 404.

Here, the torque calculation unit 404 has an induced voltage constant φa, a d-axis inductance Ld, a q-axis inductance Lq, etc. as motor parameters of the PM motor 10. The induced voltage constant φa, the d-axis inductance Ld, and the q-axis inductance Lq may be preset fixed values, or appropriate values preset according to the temperature and operating conditions of the PM motor 10 may be used as a data table, for example. It is also possible to obtain it appropriately from the above. Then, the torque calculation unit 404 uses these values and the d-axis and q-axis feedback current values Id and Iq described later or the d-axis and q-axis current command values Id ^* and Iq ^* output from the current command value generation unit 406. Based on this, the current torque T of the PM motor 10 is calculated based on the following equation, for example. In this example, the torque T is calculated based on the d-axis and q-axis current command values Id ^* and Iq ^* .
T = P (φaIq ^* + (Ld−Lq) Id ^* Iq ^* ) [N · m]
P: number of pole pairs of permanent magnet of PM motor φa: induced voltage constant Ld: d-axis inductance Lq: q-axis inductance

Then, the current command value setting unit 402 sets the current command value Ia ^* such that the torque T takes the torque command value T ^* based on the torque command value T ^* and the current torque T, and the current command value generation unit 406. Output to. The current command value Ia ^* may be calculated by calculation such as integral control or proportional control. A limiter value may be set for the current command value Ia ^* , and a value corresponding to the electrical angular velocity ω and the power supply voltage Vdc may be read from the table data as the limiter value. Alternatively, only the maximum value of the limiter may be set and used.

The current command value generation unit 406 acquires, for example, the current phase angle θi of the current command value Ia ^* input from the current command value setting unit 402 from table data or the like, and obtains the current command value Ia ^* and the current phase angle θi. Based on this, the d-axis current command value Id ^* and the q-axis current command value Iq ^* are calculated and output to the voltage command value generation unit 416 of the sine wave control unit 40. At this time, the motor voltage is obtained from a well-known arithmetic expression and the above-mentioned motor parameters (φa, Ld, Lq) and the electrical angular velocity ω, d-axis, q-axis current command values Id ^* , Iq ^* , and the magnitude of this motor voltage is determined. Between the sine wave control area and the rectangular wave control area by adjusting the d-axis and q-axis current command values Id ^* , Iq ^* so as not to exceed the value of K × Vdc (K: voltage utilization rate setting value). It is possible to provide an overmodulation control and a weakening magnetic flux control area in, and it is possible to improve the output in the middle and high speed operation areas. Further, by changing the voltage utilization rate K, the d-axis and q-axis current command values Id ^* and Iq ^* can be set at arbitrary voltage utilization rates. The adjustment of the d-axis and q-axis current command values Id ^* , Iq ^* using the voltage utilization rate K is performed by the above-mentioned motor parameters (φa, Ld, Lq), the electrical angular velocity ω from the angular velocity calculation unit 16, and the direct current. It is preferable to perform the well-known voltage control, proportional control, integral control, or the like based on the power supply voltage Vdc from the power supply unit 18 or the like. Alternatively, the current phase angle θi may be calculated by calculation such as integral control or proportional control. Further, a current limiter may be provided for the d-axis current command value Id ^* and the q-axis current command value Iq ^* , if necessary.

Here, a suitable example of the voltage command value generation unit 416 will be described. First, the d-axis and q-axis current command values Id ^* and Iq ^* input to the voltage command value generation unit 416 are branched into two, and one of them is input to the non-interference control unit 414. Then, the non-interference control unit 414 calculates a speed electromotive force component that causes interference between the d-axis and q-axis current command values Id ^* , Iq ^* , and performs current control as the d-axis, q-axis voltage command values Vd ′, Vq ′. It is output to the section 410. The other of the d-axis and q-axis current command values Id ^* and Iq ^* is subjected to current control after the d-axis and q-axis feedback current values Id and Iq are subtracted in the subtraction unit 412 to obtain fluctuation components ΔId and ΔIq. Input to the section 410.

Further, the current control unit 410 has a current integration control unit 410a and a current proportional control unit 410b, and the fluctuation components ΔId and ΔIq input to the current control unit 410 are branched into two, and the current integration control unit 410a and the current Input to each of the proportional control units 410b. Then, the known current integration control is performed in the current integration control unit 410a. Further, a well-known current proportional control is performed in the current proportional controller 410b. Then, the d-axis and q-axis voltage command values Vd ′ and Vq ′ from the non-interference control unit 414 are added to the output of the current integration control unit 410 a to add the integration-side d-axis voltage command value Vd ″ and the integration-side q-axis voltage command. After being set to the value Vq ″, the outputs from the current proportional control unit 410b are added to generate the d-axis voltage command value Vd and the q-axis voltage command value Vq. The d-axis voltage command value Vd and the q-axis voltage command value Vq are output to the control signal generation unit 30 via the switching unit 24.

It should be noted that the current control unit 410 causes the three-phase voltage command values Vu, Vv, Vw based on the d-axis and q-axis voltage command values Vd, Vq to be the maximum voltage (1 pulse rectangular wave voltage) at which the inverter 20 outputs. It is preferable to provide a limiter portion for limiting the voltage so that the voltage does not become near the voltage. Further, it is preferable that the limiter section is provided in the previous stage where the output from the current proportional control section 410b is added. Further, it is preferable that the limit voltage of the limiter unit is set according to the number of synchronization of triangular waves set by the sine wave mode synchronization control unit 420 described later.

Here, as a characteristic configuration of the present invention, the integration side d-axis voltage command value Vd ″ and the integration side q-axis voltage command value Vq ″ in the preceding stage to which the output of the current proportional control unit 410b is added are sinusoidally controlled. It is output to the polar coordinate conversion unit 418 of the unit 40 (integral side voltage command value output step). Then, the polar coordinate conversion unit 418 performs polar coordinate conversion to acquire the voltage phase θv and the voltage command value | Va |. That is, in the present invention, the voltage phase θv and the voltage command value | Va | based on the integration side d-axis voltage command value Vd ″ and the integration side q-axis voltage command value Vq ″ that do not include the output of the current proportional control unit 410b. And are obtained. Therefore, the voltage phase θv and the voltage command value | Va | are not affected by the vibration component (short-term fluctuation component). Then, the polar coordinate converter 418 outputs this voltage phase θv to the sine wave mode synchronization controller 420 (voltage phase output step). Further, the voltage command value | Va | is output to the linear correction unit 38 (voltage command value output step). In this example, the voltage phase θv and the voltage command value | Va | are also output to the mode transition unit 80.

Further, the sine wave mode synchronization control unit 420 of the sine wave control unit 40 generates triangular wave carrier setting information Sc described later from the voltage phase θv, the electrical angular velocity ω, and the electrical angle θ obtained by the polar coordinate conversion unit 418 to generate a triangular wave. Output to the generation unit 34 (sine wave control carrier information generation step). Since the voltage phase θv used at this time does not include the output of the current proportional control unit 410b (does not include the vibration component) as described above, the carrier setting information Sc generated thereby is affected by the vibration component. There will be nothing. The carrier setting information Sc will be described later.

Next, the configuration and operation of the rectangular wave control unit 50 will be described. Since the configuration of the rectangular wave control unit 50 described below is an example suitable for the present invention, it is not limited to the following configuration, and any other configuration is provided as long as it has an essential configuration for the present invention. A rectangular wave control mechanism may be used.

First, the switching unit 24 controls the PM motor 10 when the PM motor 10 exceeds the switching value (switching line C) in FIG. 2 and enters the operating state in the operating region B of high rotation speed and high torque. Switching from 40 to the rectangular wave control unit 50. The switching operation at this time will be described later. As a result, the torque command value T ^* is input to the voltage phase setting unit 502 of the rectangular wave control unit 50. The d-axis feedback current value Id and the q-axis feedback current value Iq are input to the torque calculation section 504 of the rectangular wave control section 50. The torque calculation unit 504 has motor parameters similar to the torque calculation unit 404 of the sine wave control unit 40. Based on these motor parameters and the d-axis and q-axis feedback current values Id and Iq, the current PM motor 10 is calculated. The torque T is calculated and output to the voltage phase setting unit 502. Then, the voltage phase setting unit 502 generates, from the torque command value T ^* and the torque T, a voltage phase θv that causes the PM motor 10 to operate at the target torque by integral control, proportional control, or the like. Then, it is output to the voltage command value generation unit 516 of the rectangular wave control unit 50. In addition, as a characteristic configuration of the present invention, the voltage phase θv generated by the voltage phase setting unit 502 is output to the rectangular wave mode synchronization control unit 520.

The rectangular wave mode synchronization control unit 520 generates carrier setting information Sc for setting a triangular wave from the voltage phase θv, the electrical angular velocity ω, and the electrical angle θ (rectangular wave control carrier information generating step). Here, in the present invention, the carrier setting information Sc is obtained using the voltage phase θv generated by the voltage phase setting unit 502, that is, the voltage phase θv that does not include the vibration component before the proportional control is performed by the correction unit 70 described later. . Therefore, the carrier setting information Sc is not affected by the vibration component. The carrier setting information Sc will be described later. The rectangular wave mode synchronization control unit 520 also functions as a voltage command acquisition unit, and the triangular wave and the three-phase voltage command values Vu, Vv, and Vw are within one cycle of the three-phase voltage command values Vu, Vv, and Vw. The voltage command value | Va | that causes the drive signals Su, Sv, and Sw generated by the triangular wave comparison to be a one-pulse rectangular wave is acquired and output to the voltage command value generation unit 516. The rectangular wave mode synchronization control unit 520 (voltage command acquisition unit) sets the voltage command value | Va | by setting the voltage command value | Va | in the data table in advance for each triangular wave synchronization number. It is preferable that the rectangular wave mode synchronization control unit 520 determines the synchronization number of the triangular wave and, at the same time, selects and sets the voltage command value | Va | corresponding to this synchronization number. Therefore, the voltage command value | Va | at this time is also not affected by the vibration component. Then, the rectangular wave mode synchronization control unit 520 (voltage command acquisition unit) outputs this voltage command value | Va | to the voltage command value generation unit 516 and the linear correction unit 38. The voltage command value | Va | that forms this rectangular wave is also preferably used as a rectangular wave forming voltage value | Va1 | to be described later.

Further, the voltage command value generation unit 516 uses the voltage phase θv input from the voltage phase setting unit 502 and the voltage command value | Va | input from the rectangular wave mode synchronization control unit 520 (voltage command acquisition unit) to determine the d-axis. The voltage command value Vd and the q-axis voltage command value Vq are generated.

Further, the rectangular wave control unit 50 has a correction unit 70 that corrects a fluctuation component due to an offset or the like. Here, an example of the correction unit 70 is shown below. The configuration of the correction unit 70 described below is an example suitable for the present invention, and is not limited to the following configuration.

The correction unit 70 shown in this example includes a smoothing unit 72, a correction current generation unit 74, a correction voltage generation unit 76, and a voltage command value correction unit 78. Then, the smoothing unit 72 of the correction unit 70 smoothes the d-axis and q-axis feedback current values Id and Iq input via the switching unit 24 by, for example, moving average processing or smoothing processing. Note that the smoothing process here is a process of performing smoothing by performing the process of the following formula (1) on the input signals (d-axis, q-axis feedback current values Id, Iq) every arbitrary period. means.
C = B (1-K) + K × A ... (1)
Here, A is an input value (d-axis, q-axis feedback current value Id, Iq), B is an output value after the smoothing process in the immediately preceding cycle, K is a smoothing constant, and C is an output. Values (estimated d-axis, q-axis current command values Id ^* , Iq ^* ).

By this smoothing processing, the pseudo estimated d-axis current command value Id ^* and estimated q-axis current command value Iq ^{* in} which the fluctuation components due to the offsets and amplitude imbalances of the drive currents Iu, Iv, Iw are smoothed are obtained. Is generated. Then, these estimated d-axis and q-axis current command values Id ^* , Iq ^* are output to the correction current generation unit 74.

Further, the d-axis feedback current value Id and the q-axis feedback current value Iq are input to the correction current generation unit 74, and the correction current generation unit 74 generates the estimated d-axis current command value Id ^* generated by the smoothing unit 72 ^. , And the d-axis feedback current value Id and the q-axis feedback current value Iq are subtracted from the estimated q-axis current command value Iq ^* . As a result, the d-axis correction current ΔId and the q-axis correction current ΔIq as the fluctuation components are generated. Then, the d-axis correction current ΔId and the q-axis correction current ΔIq are output to the correction voltage generation unit 76. The d-axis correction current ΔId and the q-axis correction current ΔIq are offset and amplitude unbalanced from the estimated d-axis and q-axis current command values Id ^* and Iq ^{* in} which the offset and amplitude imbalance components (variation components) are smoothed. Since the d-axis and q-axis feedback current values Id and Iq including the balance component (fluctuation component) are subtracted from each other, basically the opposite phase of the fluctuation component is taken.

In addition, the correction voltage generation unit 76 uses the d-axis correction current ΔId and the q-axis correction current ΔIq input from the correction current generation unit 74, for example, by proportional control with a predetermined correction gain (Kd, Kq) to correct the d-axis correction voltage ΔVd. , Q-axis correction voltage ΔVq is generated and output to the voltage command value correction unit 78.

The voltage command value correction unit 78 outputs the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq input from the correction voltage generation unit 76 to the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the voltage command value generation unit 516. To each. Therefore, the d-axis and q-axis voltage command correction values Vd and Vq thus generated have opposite voltages (d-axis and q-axis correction voltages ΔVd and ΔVq) to the offsets and amplitude imbalance components generated in the drive currents Iu, Iv, and Iw. ) Will be added. Then, the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq are input to the control signal generation unit 30 via the switching unit 24. Note that the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq corrected by the correction unit 70 include the reverse voltage of the offset and amplitude unbalance components as described above. The offset or the like of the driven PM motor 10 is corrected and eliminated.

Next, the carrier setting information Sc output by the sine wave mode synchronization control unit 420 and the rectangular wave mode synchronization control unit 520 will be described. First, the carrier setting information Sc maintains the frequency of the triangular wave generated by the triangular wave generation unit 34 in an appropriate state. Here, in the triangular wave set by the carrier setting information Sc, as shown by a point A in FIG. 3, the center position of the falling edge of the triangular wave crosses the zero position of the rising of the three-phase voltage command values Vu, Vv, Vw. Further, the frequency of the triangular wave becomes an integer multiple of 3 which is an odd number of the frequencies of the three-phase voltage command values Vu, Vv, Vw, that is, 9, 15, 21, 27 times (hereinafter, this multiple is the synchronization number). It is a thing. The number of synchronization of the triangular wave is set according to the electrical angular velocity ω. The reason for setting the frequency of the triangular wave to an integer multiple of 3 which is an odd number of the frequencies of the three-phase voltage command values Vu, Vv, and Vw will be described later.

In the present invention, the voltage phase θv used to generate the carrier setting information Sc is obtained from the d-axis on the integration side (before the addition of the output of the current proportional control unit 410b) and the q-axis voltage command values Vd ″ and Vq ″. The voltage phase θv is used, or the voltage phase θv branched before the correction unit 70 (where proportional control is performed) is used. Here, when the voltage phase θv includes a proportional control component that is a short-term vibration component, the triangular wave cycle (carrier setting information Sc) also vibrates in the short term according to the proportional control component. This causes the drive signals Su, Sv, Sw generated by the triangular wave comparison to fluctuate, which causes fluctuations in the output voltage, current, and torque. However, in the present invention, since the carrier setting information Sc is set using the voltage phase θv that does not include the proportional control component (short-term vibration component) as described above, the triangular wave and the drive signals Su, Sv, Sw are stable, As a result, the output voltage, current and torque can be stabilized. Further, by using the voltage phase θv that does not include the proportional control component, it is possible to obtain a large control gain for the sine wave mode synchronization control unit 420, the rectangular wave mode synchronization control unit 520, the voltage phase setting unit 502, etc. The responsiveness of can be improved.

Then, the sine wave mode synchronization control unit 420 and the rectangular wave mode synchronization control unit 520 determine the center position of the triangular wave and the zero position of the three-phase voltage command value Vu (Vv, Vw) based on the voltage phase θv and the electrical angle θ. Further, the period of the triangular wave is set such that the frequency of the triangular wave intersects and the frequency becomes equal to the set synchronization number (an integer multiple of 3 which is an odd number of the frequencies of the three-phase voltage command values Vu, Vv, and Vw). Further, the sine wave mode synchronization control unit 420 and the rectangular wave mode synchronization control unit 520 change the setting information of the cycle in association with the change of the electrical angular velocity ω, and make the triangular wave follow and maintain the above state. Further, the sine wave mode synchronization control unit 420 and the rectangular wave mode synchronization control unit 520 reduce the number of synchronization by one stage and set and output the carrier setting information Sc when the electrical angular velocity ω exceeds a preset predetermined value. .. When the electrical angular velocity ω falls below a preset predetermined value, the number of synchronizations is increased by one step to set and output the carrier setting information Sc. The value of the electrical angular velocity ω that changes the number of synchronizations is stored in advance in a data table or the like for each number of synchronizations, and the sine wave mode synchronization control unit 420 and the rectangular wave mode synchronization control unit 520 correspond to the input electrical angular velocity ω. It is preferable that the corresponding synchronization number is acquired from the data table and set. At this time, it is preferable that the electrical angular velocity ω that fluctuates the synchronization number has a hysteresis width. Note that the correction gain (Kd, Kq) of the correction voltage generation unit 76, the time constant of the smoothing unit 72, the gain of each control, and the like are adjusted and reset in association with the change in the cycle of these triangular waves.

Next, a suitable example of the control signal generation unit 30 will be described. Since the configuration of the control signal generation unit 30 described below is an example suitable for the present invention, the configuration is not limited to the following configuration, and any other control signal generation mechanism may be used.

First, the d-axis voltage command value Vd and the q-axis voltage command value Vq (d-axis voltage command correction value Vd, q-axis voltage command correction value Vq) output from the sine wave control unit 40 or the rectangular wave control unit 50 are generated as control signals. It is input to the dq / 3-phase conversion unit 32 of the unit 30. Note that the control signal generation unit 30 mainly includes the d-axis and q-axis voltage command values Vd and Vq and the voltage command value | Va | at the pre-stage of the dq / 3-phase conversion unit 32 during the overmodulation control and the inverter output voltage. It has a linear correction unit 38 for correcting the non-linearity with the fundamental wave component. The correction value used by the linear correction unit 38 is preferably set in correspondence with, for example, the modulation rate or the voltage command value | Va |.

Then, in the present invention, as the voltage command value | Va | input to the linear correction unit 38, from the integration side d-axis and q-axis voltage command values Vd ″ and Vq ″ (before the addition of the output of the current proportional control unit 410b). The obtained voltage command value | Va |, or the correction unit 70 (proportional control is performed) in the preceding stage (does not include short-term vibration components of the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq of the correction unit 70). The voltage command value | Va | output by the rectangular wave mode synchronization control unit 520 (voltage command acquisition unit) is used (sine wave control linear correction step, rectangular wave control linear correction step). Here, when the voltage command value | Va | includes a proportional control component that is a short-term vibration component, the correction value fluctuates due to the influence of this vibration component. As a result, the subsequent three-phase voltage command values Vu, Vv, Vw and the drive signals Su, Sv, Sw also fluctuate, which causes fluctuations in the output voltage, current, and torque. However, in the present invention, since the correction value is set based on the relatively stable voltage command value | Va | that does not include the proportional control component as described above, the stable three-phase voltage command values Vu, Vv, Vw, and the drive signal Su, Sv, Sw can be generated, and the output voltage, current, and torque can be stabilized. Further, by setting the correction value based on the voltage command value | Va | that does not include the proportional control component, it is possible to increase the gains of the current proportional control unit 410b and the correction voltage generation unit 76, and the responsiveness of these is increased. Can be improved.

Further, the electrical angle θ from the angle detection unit 14 and the electrical angular velocity ω from the angular velocity calculation unit 16 are input to the dq / 3-phase conversion unit 32, and the inverter 20 switches based on the electrical angle θ and the electrical angular velocity ω. A predicted electrical angle θ ′ at a new timing of operation is calculated, and the d-axis and q-axis voltage command values Vd, Vq are converted into three-phase voltage command values Vu, Vv, Vw based on the predicted electrical angle θ ′. , To the drive signal generator 36.

The drive signal generation unit 36 has a triangular wave generation unit 34, and the above-mentioned carrier setting information Sc is input to this triangular wave generation unit 34, and a triangular wave having a cycle based on this carrier setting information Sc is generated. At this time, the triangular wave is based on the carrier setting information Sc from the sine wave mode synchronization control unit 420 and the rectangular wave mode synchronization control unit 520, and the center position of the falling edge of the triangular wave is the rise of the three-phase voltage command values Vu, Vv, Vw. Of the three-phase voltage command values Vu, Vv, and Vw, the frequency becomes a triangular wave that is an integer multiple of 3.

Then, the drive signal generator 36 compares the triangular wave with the three-phase voltage command values Vu, Vv, Vw, respectively. At this time, the amplitude of the triangular wave increases or decreases according to the carrier setting information Sc. Therefore, the three-phase voltage command values Vu, Vv, Vw are adjusted by a conversion factor proportional to the amplitude of the triangular wave, and the adjusted three-phase voltage command values Vu, Vv, Vw are used to perform the triangular wave comparison. As a result, the Hi-Low drive signals Su, Sv, Sw are generated.

In the inverter 20, the internal switching elements are turned on / off by the drive signals Su, Sv, Sw output from the drive signal generation unit 36, and the DC power from the DC power supply unit 18 is converted into an AC voltage based on the drive signals Su, Sv, Sw. Converted to and output. As a result, alternating drive currents Iu, Iv, and Iw whose phases are shifted by 1/3 cycle (2 / 3π (rad)) flow down to the armature windings of the PM motor 10. As a result, the PM motor 10 rotates with a torque according to the torque command value T ^* .

Next, an example of the operation of the mode transition unit 80 of the motor control device 100 and the motor control method according to the present invention will be described. Here, FIG. 4 is an operation flowchart when switching from the sine wave control mode to the rectangular wave pattern control mode. FIG. 5 is an operation flowchart when switching from the rectangular wave control mode to the sine wave control mode.

First, the operation of the motor control device 100 and the motor control method in this example when switching from the sine wave control mode to the rectangular wave control mode will be described. First, in the sine wave control mode, the sine wave control unit 40 generates the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the torque command value T ^* , and the d-axis voltage command value Vd and the q-axis voltage The drive signals Su, Sv, Sw are generated based on the command value Vq. The drive signals Su, Sv, Sw at this time have a sine wave pattern or an overmodulation pattern when the sine wave control unit 40 enables overmodulation control or weakening magnetic flux control. Further, when the sine wave control unit 40 does not have the overmodulation control function or the weakening magnetic flux control function, the sine wave pattern is obtained. The operation of the PM motor 10 is controlled by the drive signals Su, Sv, Sw of these sine wave patterns or overmodulation patterns (step S102).

Further, at this time, the polar coordinate conversion unit 418 of the sine wave control unit 40 causes the integration side d-axis, q-axis voltage command values Vd ″, Vq before the current proportional control component in the current control unit 410 is added as described above. '' Is converted into polar coordinates to calculate the voltage phase θv and the voltage command value | Va |. Then, the mode transition unit 80 acquires the voltage phase θv and the voltage command value | Va |, respectively (step S104), and uses these as the initial values of the initial voltage phase θv1 and the transition voltage command value | Va ′ | (step). S105). The voltage phase θv and the voltage command value | Va | fluctuate at any time, and the initial values of the initial voltage phase θv1 and the transition voltage command value | Va ′ | also change accordingly. As described above, the initial values of the initial voltage phase θv1 and the transition voltage command value | Va ′ | are obtained from the d-axis on the integration side and the q-axis voltage command values Vd ″ and Vq ″ that do not include the proportional control component. Therefore, there are few short-term fluctuations, and the output during the transition period can be stabilized.

Next, when the operating condition (torque, rotation speed) of the PM motor 10 exceeds the switching value (switching line C) and enters the rectangular wave control area B due to an increase in the torque command value T ^* from the outside ( (Step S106: Yes), the switching unit 24 immediately switches the generation unit of the d-axis voltage command value Vd and the q-axis voltage command value Vq from the sine wave control unit 40 to the rectangular wave control unit 50 (Step S108). When the motor control device 100 is provided with the second mode described later, the control unit is switched to the rectangular wave control unit 50, so that steps S203 and S204 described below are performed, and the rectangular wave control unit 50 is controlled. The sine wave control unit outputs the d-axis and q-axis voltage command values Vd and Vq (d-axis voltage command correction value Vd and q-axis voltage command correction value Vq) as the initial values Vd1 and Vq1 of the d-axis and q-axis voltage command values. While being output to 40, the shift data Ifb is calculated based on the d-axis feedback current value Id and the q-axis feedback current value Iq.

Further, at this time, the mode transition unit 80 outputs the initial voltage phase θv1 to the voltage phase setting unit 502 of the rectangular wave control unit 50, and the initial value (= | Va |) of the transition voltage command value | Va ′ | It is output to the mode synchronization control unit 520 (step S110).

Next, the mode transition unit 80 acquires a rectangular wave forming voltage value | Va1 | such that the drive signals Su, Sv, Sw become a rectangular wave pattern of one pulse from the rectangular wave mode synchronization control unit 520 (step S112).

Next, the mode transition unit 80 continuously changes the transition voltage command value | Va ′ | from the initial value (= | Va |) to the rectangular wave forming voltage value | Va1 |, for example, based on a predetermined time constant set in advance. It is increased and output to the rectangular wave mode synchronization control unit 520 (steps S114 to S116).

If the transition voltage command value | Va ′ | is input from the mode transition unit 80, the rectangular wave mode synchronization control unit 520 does not depend on the torque command value T ^* and the transition voltage command value | Va ′ | Is output to the voltage command value generation unit 516 and the switching unit 24. However, the initial voltage phase θv1 is only output when the control unit is switched to the rectangular wave control unit 50, and then becomes the voltage phase θv according to the torque command value T ^* . Therefore, the d-axis and q-axis voltage command values Vd and Vq in the transition period of steps S114 to S116 are generated based on the voltage phase θv and the transition voltage command value | Va ′ |. The initial value of the transition voltage command value | Va ′ | is the voltage command value | Va | that forms the sine wave pattern (or overmodulation pattern) used in the sine wave control unit 40. Since the rectangular wave forming voltage value | Va1 |, which is the final value of | Va ′ |, is a voltage command value that forms a rectangular wave pattern, the drive signals Su, Sv, and Sw are torque controlled by the voltage phase θv during this transition period. While being performed, the sine wave pattern or overmodulation pattern continuously changes to a rectangular wave pattern.

When the transition voltage command value | Va ′ | becomes equal to or greater than the rectangular wave forming voltage value | Va1 | (step S116: Yes), the mode transition unit 80 stops the output of the transition voltage command value | Va ′ |. , The rectangular wave control unit 50 completely shifts to the rectangular wave control mode (step S118). Thereby, the rectangular wave control unit 50 uses the voltage phase θv corresponding to the torque command value T ^* and the rectangular wave forming voltage value | Va1 | to d-axis, q-axis voltage command values Vd, Vq (d-axis voltage command correction value Vd, The q-axis voltage command correction value Vq) is generated and output to the control signal generation unit 30 side. As a result, the operation of the PM motor 10 is controlled by the rectangular-wave pattern drive signals Su, Sv, and Sw.

As described above, in the motor control device 100 and the motor control method according to the present example, when the sine wave control mode is switched to the rectangular wave control mode, the drive signals Su, Sv, and Sw are sine-controlled while performing torque control with the voltage phase θv. The wave pattern (or overmodulation pattern) is continuously changed to a rectangular wave pattern. Therefore, it is possible to smoothly switch the control mode with less torque fluctuation.

Next, the operation of the motor control device 100 and the motor control method in this example when switching from the rectangular wave control mode to the sine wave control mode will be described. First, in the rectangular wave control mode, the rectangular wave control unit 50 causes the d-axis voltage command value Vd, the q-axis voltage command value Vq (d-axis voltage command correction value Vd, q-axis voltage command correction value) based on the torque command value T ^*. Vq) and drive signals Su, Sv, Sw are generated based on the d-axis voltage command value Vd and the q-axis voltage command value Vq (d-axis voltage command correction value Vd, q-axis voltage command correction value Vq). It The drive signals Su, Sv, Sw at this time basically have a one-pulse rectangular wave pattern as described above. The operation of the PM motor 10 is controlled by the drive signals Su, Sv, Sw of this rectangular wave pattern (step S202).

During the control by the rectangular wave control unit 50, the d-axis and q-axis voltage command correction values Vd and Vq output by the rectangular wave control unit 50 are supplied to the voltage command value generation unit 416 of the sine wave control unit 40. The initial values Vd1 and Vq1 of the command value are output directly or via the mode transition unit 80 (step S203). Then, in the input d-axis and q-axis voltage command value initial values Vd1 and Vq1, the interference components between the d-axis and the q-axis of the non-interference control unit 414 (d-axis, q-axis voltage command values Vd ′, Vq ′). After being respectively subtracted, the result is input to the current integration control unit 410a and becomes the integrated value of the current control unit 410. However, in the rectangular wave control mode, the integral value of the current control unit 410 does not participate in the control of the PM motor 10. The initial values Vd1 and Vq1 change at any time according to changes in the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the rectangular wave control unit 50.

At this time, the mode transition unit 80 also acquires the d-axis feedback current value Id and the q-axis feedback current value Iq from the three-phase / dq conversion unit 22. Then, the transition data Ifb for calculating the initial value Id ^* 1 of the d-axis current command value and the initial value Iq ^* 1 of the q-axis current command value is calculated (step S204). The transition data Ifb is, for example, the integral value of the integral control unit inside the current command value setting unit 402 or the current command value generating unit 406, which is obtained by calculation using the d-axis and q-axis feedback current values Id and Iq. Therefore, the current command value setting unit 402 and the current command value generation unit 406 complement the data that cannot be acquired immediately after switching from the rectangular wave control unit 50 to the sine wave control unit 40. It should be noted that the acquisition of the migration data Ifb is similarly performed during a migration period described later.

Next, when the operating condition (torque, rotation speed) of the PM motor 10 exceeds the switching value (switching line C) and becomes the sine wave control area A due to a decrease in the torque command value T ^* from the outside ( (Step S206: Yes), the mode transition unit 80 acquires the voltage command value | Va | output by the rectangular wave mode synchronization control unit 520 at this time. Then, this voltage command value | Va | is set as the initial value of the transition voltage command value | Va ′ | (step S208). Further, the mode transition unit 80 acquires a sine wave mode transition voltage value | Va2 | such that the drive signals Su, Sv, Sw have a sine wave pattern (or an overmodulation pattern) (step S210). As the sine wave mode transition voltage value | Va2 |, a preset fixed value such as the upper limit value of the voltage command value | Va | in the sine wave control mode (limiter value of the limiter section of the current control section 410) is used. Is preferred.

Next, the mode transition unit 80 continuously changes the transition voltage command value | Va ′ | from the initial value (= | Va |) to the sine wave mode transition voltage value | Va2 | based on, for example, a predetermined time constant set in advance. To the rectangular wave mode synchronization control unit 520 (steps S212 to S216). Even during this transition period, the initial values Vd1 and Vq1 output by the rectangular wave control unit 50 are continuously output to the sine wave control unit 40 (step S214), and the transition data Ifb is updated at any time (step S215). ).

When the transition voltage command value | Va ′ | is input from the mode transition unit 80, the rectangular wave mode synchronization control unit 520 receives the transition voltage command value regardless of the torque command value T ^* , as described above. | Va ′ | is output to the voltage command value generation unit 516 and the switching unit 24. Therefore, the d-axis and q-axis voltage command values Vd, Vq in the transition period of steps S212 to S216 are generated based on the voltage phase θv and the transition voltage command value | Va ′ | .. The initial value (= | Va |) of the transition voltage command value | Va ′ | is the voltage command value during rectangular wave control, and the sine wave mode transition voltage that is the final value of the transition voltage command value | Va ′ | Since the value | Va2 | is a voltage command value that forms a sine wave pattern or an overmodulation pattern, the drive signals Su, Sv, and Sw are overmodulated from the rectangular wave pattern while torque control is performed by the voltage phase θv during this transition period. It continuously changes to a pattern or a sine wave pattern. Further, even if there is a change in the torque command value T ^* , the power supply voltage Vdc, or the electrical angular velocity ω during this transition period, these changes are reflected in the torque control and transition data Ifb at any time.

When the transition voltage command value | Va ′ | becomes less than or equal to the sine wave mode transition voltage value | Va2 | (step S216: Yes), the mode transition unit 80 stops outputting the transition voltage command value | Va ′ |. At the same time, the switching unit 24 switches the generation unit of the d-axis voltage command value Vd and the q-axis voltage command value Vq from the rectangular wave control unit 50 to the sine wave control unit 40 (step S218). Further, at this time, the mode transition unit 80 outputs the transition data Ifb to the current command value setting unit 402 and the current command value generation unit 406 of the sine wave control unit 40 (step S220). As a result, the current command value setting unit 402 and the current command value generation unit 406 calculate the initial value Id ^* 1 of the d-axis current command value and the initial value Iq ^* 1 of the q-axis current command value based on the transition data Ifb, It outputs to the voltage command value generation unit 416.

Further, since the initial values Vd1 and Vq1 of the d-axis and q-axis voltage command values are input to the voltage command value generation unit 416 and become the integrated values of the current integration control of the d-axis and q-axis, the sine wave control unit Immediately after switching to 40, based on the initial values Vd1, Vq1 of the d-axis and q-axis voltage command values, the initial value Id ^* 1 of the d-axis current command value, and the initial value Iq ^* 1 of the q-axis current command value. The switching d-axis voltage command value Vd and the switching q-axis voltage command value Vq are generated and output to the control signal generation unit 30 side (step S222). Thus, immediately after switching to the sine wave control unit 40, the PM motor 10 is controlled by the drive signals Su, Sv, and Sw based on the switching d-axis voltage command value Vd and the switching q-axis voltage command value Vq.

After that, the motor control device 100 completely shifts to the sine wave control mode by the sine wave control unit 40 (step S224). Accordingly, the sine wave control unit 40 generates the d-axis and q-axis voltage command values Vd and Vq by the d-axis current command value Id ^* and the q-axis current command value Iq ^* according to the torque command value T ^* , and outputs the control signal. Output to the generation unit 30 side. As a result, the operation of the PM motor 10 is controlled by the drive signals Su, Sv, Sw having a sine wave pattern or an overmodulation pattern.

As described above, in the motor control device 100 and the motor control method according to the present example, when the rectangular wave control mode is switched to the sine wave control mode, the drive signals Su, Sv, and Sw are rectangular while the torque control is performed by the voltage phase θv. The wave pattern is continuously changed to a sine wave pattern (or overmodulation pattern), and when the sine wave pattern (or overmodulation pattern) is reached, switching to the sine wave control mode is performed. Immediately after switching to the sine wave control mode, the last value at the time of mode transition (the initial value Vd1 of the d-axis voltage command value, the initial value Vq1 of the q-axis voltage command value, the initial value Id of the d-axis current command value Id ^* 1, the switching d-axis and q-axis voltage command values Vd and Vq are generated based on the initial value Iq ^* 1) of the q-axis current command value, and the operation control of the PM motor 10 is performed. Therefore, it is possible to smoothly switch the control mode in which the control value is continuous before and after the switching of the control unit and the torque fluctuation is small.

Further, in the motor control device 100 and the motor control method shown in this example, the rectangular wave control unit 50 performs control based on the transition voltage command value | Va ′ | during the transition period during mode switching. Therefore, even when the operating condition of the PM motor 10 changes during the transition period and re-switching is required, the re-switching operation can be directly performed. For example, when re-switching to the sine wave control mode occurs during the switching operation from the sine wave control mode to the rectangular wave control mode, the process directly proceeds to steps S208 to S216, and after the transition operation by the rectangular wave control unit 50 is performed. The switching to the sine wave control mode can be performed by steps S218 to S224. Further, if the rectangular wave control mode is switched again to the rectangular wave control mode during the switching operation from the rectangular wave control mode to the sine wave control mode, the rectangular wave control mode by the rectangular wave control unit 50 is directly transferred to steps S110 to S116. The control in can be continued. As described above, the motor control device 100 and the motor control method according to the present example can cope with the re-switching of the control mode even during the transition period, and also during the transition period, the voltage phase based on the torque command value T ^*. Since torque control is performed by θv, it is possible to perform operation control with excellent responsiveness.

In addition, the sine wave control unit 40 of the motor control device 100 corresponds to the overmodulation control and the weakening magnetic flux control, and has the same rectangular wave forming voltage value | Va1 | as the rectangular wave control unit 50 in the control region of the overmodulation pattern. When voltage output is possible, that is, when the sine wave mode transition voltage value | Va2 | and the rectangular wave forming voltage value | Va1 | are substantially equal, the control of steps S208 to S216 may be omitted. Even in this case, the d-axis and q-axis voltage command values Vd and Vq at the time of switching are generated immediately after switching from the rectangular wave control mode to the sine wave control mode, and smooth control mode with less torque fluctuation can be switched. ..

Next, the triangular wave of the motor control device 100 and the motor control method according to the present invention will be described. In the triangular wave used in the present invention, as described above, the center position of the falling edge of the triangular wave crosses the zero position of the rising of the three-phase voltage command values Vu, Vv, Vw, and the frequencies of the three-phase voltage command values Vu, Vv, Vw. It is assumed that the frequency is an integer multiple of 3 which is an odd number of. First, when the frequency of the triangular wave is not an integral multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, Vw, the waveforms of the drive signals Su, Sv, Sw are different for the U phase, V phase, and W phase. , PM motor 10 cannot be controlled smoothly. Therefore, the frequency of the triangular wave is an integral multiple of 3 of the frequencies of the three-phase voltage command values Vu, Vv, and Vw.

Next, the reason for setting an odd multiple of 3 is explained. Here, the triangular wave with the three-phase voltage command values Vu and Vv when the frequency of the triangular wave is set to 6 times the three-phase voltage command value Vu (Vv, Vw) (an integer multiple of an even 3) in FIG. 6A1. The schematic diagram of comparison is shown. 6A2 and 6A3 show the drive signals Su and Sv generated by this triangular wave comparison. Further, FIG. 6 (a4) shows the output line voltage Vuv between the U phase and the V phase at this time. Further, in FIG. 6 (b1), the triangular wave comparison with the three-phase voltage command values Vu and Vv when the frequency of the triangular wave is set to nine times the three-phase voltage command value Vu (Vv, Vw) (an integer multiple of an odd 3) The schematic diagram of is shown. 6B2 and 6B3 show the drive signals Su and Sv generated by this triangular wave comparison. Further, FIG. 6B4 shows the output line voltage Vuv between the U phase and the V phase at this time.

First, when the frequency of the triangular wave is set to an integer multiple of 3 which is an even number of the three-phase voltage command values Vu, Vv, and Vw, the zero position of the three-phase voltage command value Vu and the triangular wave Both intersect with the center position in the falling area. In such a case, depending on the amplitudes of the three-phase voltage command values Vu, Vv, Vw, the inclinations of the three-phase voltage command values Vu, Vv, Vw and the triangular wave may be partially approximated (they both overlap). .. In such a case, when the drive signals Su, Sv, Sw change from a sine wave pattern (overmodulation pattern) to a rectangular wave pattern, a discontinuous or abrupt change may occur, which causes torque fluctuation. Becomes

However, when the frequency of the triangular wave is set to an integer multiple of the odd-numbered three of the three-phase voltage command values Vu, Vv, and Vw, as shown by the alternate long and short dash line in FIG. The zero position at intersects with the center position of the rising edge of the triangular wave. That is, when the odd number is an integer multiple of 3, basically, the zero positions in the falling regions of the three-phase voltage command values Vu, Vv, and Vw intersect in the rising region of the triangular wave, and the three-phase voltage command values Vu, The zero position in the rising region of Vv and Vw intersects in the falling region of the triangular wave. Therefore, the continuity of the drive signals Su, Sv, Sw is maintained well, and stable drive signals Su, Sv, Sw can be generated.

Further, when the frequency of the triangular wave is set to an integer multiple of 3 which is an even number of the three-phase voltage command values Vu, Vv, and Vw, for example, in FIG. 6 (a4), the waveform of the output line voltage Vuv becomes vertically asymmetric. As described above, when the symmetry of the waveform of the output line voltage is not ensured, there is a possibility that an offset component or distortion may be generated in the drive currents Iu, Iv, and Iw, which is not a preferable control signal for the PM motor 10.

However, when the frequency of the triangular wave is set to an integer multiple of the odd three of the three-phase voltage command values Vu, Vv, and Vw, the waveform of the output line voltage Vuv is vertical and horizontal as shown in FIG. 6 (b4). And become symmetrical. Similarly, the output line voltages Vvw and Vwu also have symmetry, which enables stable control of the PM motor 10.

As described above, the motor control device 100 and the motor control method according to the present invention are calculated from the integration-side d-axis (before the output addition of the current proportional control unit 410b) and the q-axis voltage command values Vd ″ and Vq ″. Linear correction is performed based on the voltage command value | Va | or the voltage command value | Va | that does not include the current proportional control component output by the rectangular wave mode synchronization control unit 520 (voltage command acquisition unit). As a result, the linearly corrected d-axis and q-axis voltage command values Vd, Vq are not affected by the short-term vibration component, and stable three-phase voltage command values Vu, Vv, Vw, drive signals Su, Sv, Sw are obtained. Can be generated, and the output voltage, current, and torque can be stabilized. Further, by setting the correction value for the linear correction based on the voltage command value | Va | that does not include the proportional control component, it is possible to increase the gains of the current proportional control unit 410b and the correction voltage generation unit 76. The responsiveness of can be improved.

Further, the motor control device 100 and the motor control method according to the present invention, the voltage phase obtained from the integration side d axis (before the output addition of the current proportional control unit 410b), the q axis voltage command values Vd ″, Vq ″. The carrier setting information Sc is generated based on θv or the voltage phase θv that does not include the component of the current proportional control branched before the correction unit 70 (where proportional control is performed). As a result, the carrier setting information Sc and the triangular wave are not affected by the short-term vibration component, stable drive signals Su, Sv, Sw can be generated, and the output voltage, current, and torque can be stabilized. Further, by using the voltage phase θv that does not include the proportional control component, it is possible to obtain a large control gain for the sine wave mode synchronization control unit 420, the rectangular wave mode synchronization control unit 520, the voltage phase setting unit 502, etc. The responsiveness of can be improved.

It should be noted that the motor control device 100 and the motor control method shown in this example are merely examples, and the configuration, operation, configuration of each step, and the like of each unit such as the control signal generation unit 30, the sine wave control unit 40, and the rectangular wave control unit 50. Can be changed and implemented without departing from the scope of the present invention. For example, a triangular wave can be replaced with a carrier wave.

By the way, the correction value used by the linear correction unit 38 is obtained by previously obtaining the nonlinear relationship between the modulation factor or the voltage command value | Va | and the fundamental wave component of the inverter output voltage by an experiment or the like to correct this nonlinearity. It is also possible to create table data of the correction values and read the table data for setting.
In this example, table data of the correction value (magnification) using the voltage command value | Va | as an argument is preset, and the linear correction unit 38 corrects the correction value (magnification) according to the input voltage command value | Va | ) Is read out and multiplied by the d-axis voltage command value Vd and the q-axis voltage command value Vq to perform linear correction.

Note that as a place to which the linear correction is applied, it is preferable to apply the linear correction to “the magnitude of the voltage command value before the comparison operation of the drive signal generation unit 36”. For example, the d-axis and q-axis voltage command values Vd and Vq in the preceding stage of the dq / 3-phase conversion unit 32 may be linearly corrected. Further, the three-phase voltage command values Vu, Vv, and Vw output from the dq / 3-phase converter 32 may be linearly corrected.

Further, | Va | is calculated from the d-axis and q-axis voltage command values Vd and Vq in the preceding stage of the dq / 3-phase conversion unit 32 and the following equation (2), and this | Va | is linearly corrected to obtain the equation (3). (4) From (5), Vd and Vq may be reconfigured and transferred to the dq / 3-phase conversion unit 32.

Further, the correction value of the linear correction is acquired by using | Va | that is input (or input) to the voltage command value generation unit 516, and this | Va | is linearly corrected to generate Vd and Vq, and further correction is performed. A linear correction is also performed on the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output from the voltage generation unit 76, and the voltage command value correction unit 78 adds the linear corrections and then transfers them to the dq / 3-phase conversion unit 32. Is also good.

In addition, the conversion coefficient corresponding to the three-phase voltage command values Vu, Vv, and Vw is multiplied by the correction value of the linear correction so as to be proportional to the change in the amplitude of the triangular wave of the drive signal generation unit 36, and the conversion coefficient after the multiplication is obtained. The three-phase voltage command values Vu, Vv, Vw output by the dq / 3-phase conversion unit 32 are multiplied so that the adjusted three-phase voltage command values Vu, Vv, Vw used for the comparison operation are linearly corrected. May be.
Formula (2): | Va | = (Vd ^ 2 + Vq ^ 2) ^1/2
Formula (3): θv = tan ⁻¹ (−Vd / Vq)
Formula (4): Vd = | Va | · sin θv (however, the sign of Vd is the same as the original sign of Vd)
Formula (5): Vq = | Va | · cos θv (however, the sign of Vq is the same as the sign of the original Vq)

Further, the voltage command value | Va | used when obtaining the correction value of the linear correction when the rectangular wave control unit 50 is used may be set as follows.
For example, the voltage command value | Va | output from the rectangular wave control unit 50 to the linear correction unit 38 is the current phase θi of the vector formed by the d-axis current and the q-axis current, which is preset based on the magnitude of the current. With respect to the phase θi (base), the voltage command value | Va | is decreased when it is deviated to the q-axis side, and is increased when it is deviated to the d-axis side. The voltage command value | Va | is controlled by controlling the magnitude by integral control, proportional control, or the like, and is controlled so as to have a current phase θi equivalent to the target current phase θi (base) based on the d-axis current or the q-axis current. The voltage command value | Va | When performing linear correction using this voltage command value | Va |, compared with the vibration components of the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output from the correction voltage generation unit 76, the d-axis q-axis current The correction unit 70 is used by selecting a control gain such as integral control or proportional control of the control unit that increases or decreases the voltage command value | Va | so that the influence on the voltage command value | Va | At the same time, stable linear correction can be performed on the basis of the voltage command value | Va |, which has a sufficiently small effect due to fluctuations in the d-axis and q-axis currents.

Further, the mode transition unit 80 continuously increases the transition voltage command value | Va ′ | from the initial value (= | Va |) to the rectangular wave forming voltage value | Va1 |, for example, based on a predetermined time constant set in advance. Then, | Va ′ | output to the rectangular wave mode synchronization control unit 520 and acquired by the synchronization control unit 520 may be output to the linear correction unit 38 as a voltage command value | Va | and used for linear correction. ,
Further, the mode transition unit 80 continuously changes the transition voltage command value | Va ′ | from the initial value (= | Va |) to the sine wave mode transition voltage value | Va2 |, for example, based on a predetermined time constant set in advance. Even if it is reduced and output to the rectangular wave mode synchronization control unit 520 and | Va ′ | acquired by the synchronization control unit 520 as a voltage command value | Va | is output to the linear correction unit 38 and used for linear correction. good.

Further, when the drive signals Su, Sv, and Sw continuously change from a sine wave pattern or an overmodulation pattern to a rectangular wave pattern while torque control by the voltage phase θv is performed during the transition period, or during the transition period, the drive signal Su Su, Sv, and Sw are such that when the rectangular wave pattern is continuously changed to the overmodulation pattern or the sine wave pattern while the torque control by the voltage phase θv is performed, the drive signals Su, Sv, and Sw are sine wave pattern and the overmodulation pattern. Linear correction is performed based on the voltage command value | Va | that becomes a pattern or a rectangular wave pattern.

Further, since the transition voltage command value | Va ′ | output by the mode transition unit 80 is continuously increased or decreased based on a predetermined time constant, the d-axis correction output from the correction voltage generation unit 76 is performed. Since a vibration component such as the voltage ΔVd and the q-axis correction voltage ΔVq is not included, stable linear correction can be performed.

Here, the proportional control and the integral control of the sine wave control unit will be supplemented.
The difference between the current integral control unit 410a and the current proportional control unit 410b is that the operation of the current proportional control unit 410b is the difference between the current command values (Id ^* and Iq ^* ) and the feedback currents Id and Iq ΔId and ΔIq. , The current proportional control unit 410b is multiplied by a preset proportional gain, and the output value of the current proportional control unit 410b is generated. As described above, the current proportional control unit 410b, which is a well-known proportional control, can obtain an output obtained by multiplying a change in ΔId and ΔIq by a proportional gain. Therefore, when the feedback current changes with respect to the current command value, ΔId and ΔIq change, and it can be seen that the output changes according to the changes in ΔId and ΔIq.

In addition, as described in paragraph 0018 of the present application, “the electric angle θ and the drive currents Iu, Iv, and (Iw) are acquired at the timings of both the peaks and the valleys of the triangular wave, and the motor control device is provided for each half cycle of the triangular wave. It is used in each part of 100 ”, based on the drive currents Iu and Iv and the electrical angle θ acquired for each half cycle of the triangular wave, the three-phase / dq conversion part 22 d-axis feedback current value Id. , Q-axis feedback current value Iq is converted, and ΔId and ΔIq are updated using this, and the current proportional control unit 410b calculates the current proportional control every half cycle of the triangular wave. In this way, a series of current proportional control is performed based on the change of the feedback current at every control cycle, and the output of the current proportional control unit 410b changes.

By the way, in the control device for the AC motor, higher-order components may be superimposed on the drive currents Iu, Iv, Iw, or the drive currents Iu, Iv, Iw may be offset. If an offset or a higher-order component with respect to the sine wave as the fundamental wave is superimposed on the three-phase current information, the d-axis feedback current value Id generated by converting the drive currents Iu and Iv by the three-phase / dq conversion, The q-axis feedback current value Iq has a first-order higher component superposed on the three-phase current. For example, when there is an offset in the three-phase current, a first-order component is superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq.

Due to the offset and higher-order components superimposed on the three-phase current, the vibration component is superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq. Next, the subtraction unit 412 subtracts the d-axis feedback current value Id and the q-axis feedback current value Iq on which the vibration component is superimposed from the d-axis and q-axis current command values Id ^* and Iq ^* to generate ΔId and ΔIq. Therefore, ΔId and ΔIq in which the vibration component is superimposed are generated.

In this way, when ΔId and ΔIq on which the vibration component is superimposed are input to the current proportional control unit 410b, the current proportional control unit 410b multiplies ΔId and ΔIq on which the vibration component is superimposed by a proportional gain to control the current proportional control. It is output as a d-axis voltage command value and a q-axis voltage command value by the unit 410b. In this way, in the current proportional control unit 410b, since ΔId and ΔIq are multiplied by the proportional gain, when ΔId and ΔIq are superposed with the vibration component, the vibration component is also multiplied by the proportional gain and the vibration component is superposed. The axial voltage command value and the q-axis voltage command value are output from the current proportional controller 410b.
As described above, in the proportional control, the vibration component superimposed on ΔId and ΔIq is output to the d-axis voltage command value and the q-axis voltage command value for each control cycle.

On the other hand, the operation of the current integration control unit 410a is based on the integration set in advance in the current integration control unit 410a with respect to ΔId and ΔIq which are the differences between the current command values (Id ^* and Iq ^* ) and the feedback currents Id and Iq. The gain is multiplied and added to the integral value of the current integral controller 410a, and this integral value is output as an output value. As described above, in the well-known current integration control, the value obtained by multiplying the change in ΔId and ΔIq by the integral gain is not output as it is, but is added to the integrated value and the integrated value is output. Therefore, when the feedback current changes with respect to the current command value and ΔId and ΔIq change, the value added to the integrated value changes according to the changes in ΔId and ΔIq, but the ratio of the added value to the original integrated value Since the rate of change in the integrated value that becomes the output is determined according to, the rate of change in the output value for each control cycle is proportional to that in which the output value changes at the same rate as the rate of change in ΔId and ΔIq described above. In comparison, in integral control, the rate of change in output value is smaller than the rate of change in ΔId and ΔIq.

In this way, comparing integral control and proportional control, the change in the output value of each control due to the change in the input value including the vibration component is that proportional output changes the output value in proportion to the rate of change of the input value. On the other hand, in the integral control, the rate of change in the output value is smaller than the rate of change in the input value.

Next, the linear correction of the sine wave control unit by the proportional control and the integral control of the sine wave control unit and the influence on the carrier setting information Sc will be supplemented.
In this example, polar coordinate conversion is performed in the polar coordinate conversion unit 418 based on the d-axis voltage command value and the q-axis voltage command value, and the voltage phase θv and the voltage command value | Va | are acquired. Then, the polar coordinate conversion unit 418 outputs this voltage phase θv to the sine wave mode synchronization control unit 420. Also, the voltage command value | Va | is output to the linear correction unit 38.

Therefore, when the correction value for the linear correction is generated based on the d-axis voltage command value and the q-axis voltage command value including the output of the proportional control, the correction value for the linear correction also becomes oscillatory, and the linear correction is applied. The voltage command values (d-axis voltage command value, q-axis voltage command value and three-phase voltage command value) and the drive signals Su, Sv, Sw become oscillatory, and as a result, the drive currents Iu, Iv, Iw and the motor are The output torque may become unstable.

Further, in order to reduce such an unstable state, it is necessary to set the gain of the current proportional control to a low value, which may result in a low response of the current proportional control.
Therefore, as the voltage value used to obtain the correction value of the linear correction, use the output value of the integral control with a small proportion of the vibration component, and do not include the output value of the proportional control with a large proportion of the vibration component. By doing so, the correction value of the linear correction becomes stable.

Similarly, when the voltage phase θv used when generating the carrier setting information Sc is also generated based on the d-axis voltage command value and the q-axis voltage command value including the output of the proportional control, the carrier setting information Sc Becomes oscillating, the cycle of the triangular wave generated based on the carrier setting information Sc becomes oscillating, and the drive signals Su, Sv, Sw generated using the triangular wave become oscillating, resulting in the drive current. Iu, Iv, Iw and the torque output from the motor may become unstable.
Therefore, as the voltage value used to obtain the carrier setting information Sc, the output value of the integral control with a small proportion of the vibration component is used, and the output value of the proportional control with a large proportion of the vibration component is not included. As a result, the carrier setting information Sc becomes stable.

When the non-interference control is used when the sine wave control unit is used, the output value of the non-interference control unit 414 is also added to the output value of the integral control and used. At that time, the d-axis current value and the q-axis current value used in the non-interference control unit 414 are not the feedback value but the d-axis current command value and the q-axis current command value, so that the vibration component included in the feedback current Since the d-axis and q-axis voltage command values Vd ′ and Vq ′, which are the output values of the non-interference control, can be obtained without being affected by, the voltage phase θv that is the output of the polar coordinate conversion unit 418 using this output value The voltage command value | Va | becomes stable, and the correction value of the linear correction unit 38 and the carrier setting information Sc that is the output of the synchronization control unit 420 using this voltage phase θv and the voltage command value | Va | become more stable.

Next, the variation component of the correction unit 70 during rectangular wave control will be supplemented.
In the rectangular wave control unit 50, the d-axis voltage command value Vd and the q-axis voltage command value Vq input to the switching unit 24 are the d-axis correction voltage ΔVd, q input from the correction voltage generation unit 76 in the voltage command value correction unit 78. The axis correction voltage ΔVq is set by adding it to the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the voltage command value generation unit 516.

The d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output by the correction voltage generator 76 are the d-axis due to the offset and amplitude imbalance components generated in the drive currents Iu, Iv, and Iw as in paragraphs 0038 to 0040 of the present application. The feedback current value Id and the q-axis feedback current value Iq are voltages including a fluctuation component having a reverse phase of the fluctuation component superimposed on the feedback current value Iq.
Specifically, the d-axis feedback current value Id and the q-axis feedback current value Iq on which the fluctuation components due to the offset and the amplitude imbalance components generated in the drive currents Iu, Iv, and Iw are superimposed are used as the offset and amplitude imbalance components (variation components). ) Is subtracted from the estimated d-axis and q-axis current command values Id ^* , Iq ^* , respectively, to generate a d-axis correction current ΔId, a q-axis correction current ΔIq, and the d-axis correction current ΔId, q-axis correction The d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq are generated by proportional control in which the current ΔIq is multiplied by a predetermined correction gain (Kd, Kq).
In this way, the d-axis voltage command value Vd and the q-axis voltage command value Vq, which are input to the switching unit 24 to which the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output from the correction voltage generation unit 76 are added, have a variation component. It includes.

Next, a supplementary description will be given of generation of the voltage command value | Va | of this example during rectangular wave control.
On the other hand, the rectangular wave mode synchronization control unit 520 outputs the carrier setting information Sc and the voltage command value | Va | output to the linear correction unit in the rectangular wave control unit 50. The voltage command value | Va | is set to a voltage command value | Va | of a predetermined magnitude according to the operating state of the rectangular wave control unit 50, and the rectangular wave mode synchronization control unit 520 outputs it.

For example, when the drive signals Su, Sv, and Sw are formed into a rectangular wave pattern, the voltage command value | Va | is set to the rectangular wave forming voltage value | Va1 | described in the paragraph 0033 of the present application, so that the drive signal generation unit 36 In, the triangular wave and the three-phase voltage command values Vu, Vv, Vw intersect twice in one cycle of the three-phase voltage command values Vu, Vv, Vw, that is, the drive signals Su, Sv generated by the triangular wave comparison. , Sw outputs a voltage command value | Va | having a magnitude that makes a one-pulse rectangular wave, the rectangular wave mode synchronization control unit 520 outputs.

Further, for example, as described in paragraph 0058 of the present application, the transition voltage command value | Va ′ | output by the mode transition unit 80 in this example is input to the rectangular wave mode synchronization control unit 520, and the rectangular wave mode synchronization control unit 520 An arbitrary magnitude voltage command value | Va | input from outside the rectangular wave mode synchronization control unit 520 so that the transition voltage command value | Va ′ | is output to the voltage command value generation unit 516 and the switching unit 24. When the rectangular wave mode synchronization control unit 520 outputs the voltage command value | Va | based on the above, the voltage command value | Va | of an arbitrary size input from the outside of the rectangular wave mode synchronization control unit 520 is used. Then, the rectangular wave mode synchronization control unit 520 causes the voltage command value generation unit 516 and the switching unit 24 to generate the voltage command value | Va | where the drive signals Su, Sv, and Sw have the waveforms of the sine wave pattern, the overmodulation pattern, and the rectangular wave pattern. And output to.

In this way, the rectangular wave mode synchronization control unit 520 uses the rectangular wave formation voltage value | Va1 | and the voltage command value | Va | (| Va | of the arbitrary magnitude input from the outside of the rectangular wave mode synchronization control unit 520. Since the voltage command value | Va | is output to the voltage command value generation unit 516 and the switching unit 24 based on '|), the voltage command value | Va | output from the switching unit 24 to the linear correction unit 38 is Since it is set without being affected by the d-axis feedback current value Id and the q-axis feedback current value Iq, the switching unit 24 in which the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output by the correction voltage generation unit 76 are added Fluctuation components such as those contained in the d-axis voltage command value Vd and the q-axis voltage command value Vq to be input to are not superimposed.

On the other hand, for example, based on the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24, the correction value of the linear correction unit 38 is calculated using the magnitude of the voltage command value obtained by performing polar coordinate conversion. Considering a control configuration that generates the d-axis correction voltage ΔVd output from the correction voltage generation unit 76, the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the switching unit 24 are examined. , Q-axis correction voltage ΔVq is added, the correction value of the linear correction unit 38 changes due to the influence of the fluctuation component contained in the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq, and the linear correction is applied. The three-phase voltage command values Vu, Vv, Vw and the drive signals Su, Sv, Sw may also fluctuate according to fluctuations in the correction value of the linear correction unit 38, and may become a factor of fluctuations in output voltage, current, and torque.

However, in this example, since the correction value of the linear correction unit 38 is generated based on the voltage command value | Va | output by the rectangular wave mode synchronization control unit 520, the d-axis correction voltage output by the correction voltage generation unit 76 is generated. Since the fluctuation components included in the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24 to which ΔVd and the q-axis correction voltage ΔVq are added are not superimposed, the correction value is stable, The stable three-phase voltage command values Vu, Vv, Vw and the drive signals Su, Sv, Sw can be generated, and the output voltage, current, and torque can be stabilized.

Further, when the correction value of the linear correction unit 38 is generated based on the voltage command value including the fluctuation components of the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output from the correction voltage generation unit 76, the d-axis correction is performed as described above. The correction value fluctuates under the influence of the fluctuation component contained in the voltage ΔVd and the q-axis correction voltage ΔVq, and the three-phase voltage command values Vu, Vv, Vw to which the linear correction is applied, and the drive signals Su, Sv, Sw also fluctuate. Since it causes fluctuations in the output voltage, current, and torque, for example, if the gain of the correction voltage generation unit 76 is increased, the fluctuations of the output voltage, current, and torque further increase. Increasing the size makes it difficult to improve the responsiveness of the correction voltage generation unit 76.

However, in the present example, the correction value of the linear correction unit 38 is set based on the voltage command value that is not affected by the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output from the correction voltage generation unit 76, and thus the correction is performed. The gain of the voltage generation unit 76 can be increased, and the responsiveness of the correction voltage generation unit 76 can be improved.

Next, the voltage phase θv used to generate the carrier setting information Sc of this example during rectangular wave control will be supplemented.
The rectangular wave mode synchronization control unit 520 also generates carrier setting information Sc for setting a triangular wave from the voltage phase θv, the electrical angular velocity ω, and the electrical angle θ. Here, in this example, the carrier setting information Sc is obtained using the voltage phase θv generated by the voltage phase setting unit 502.
The voltage phase setting unit 502 generates the voltage phase θv by integral control, proportional control, or the like based on the current torque T calculated by the torque calculation unit 504 and the torque command value T ^* .

The torque calculation unit 504 calculates the current torque T based on the d-axis feedback current value Id and the q-axis feedback current value Iq.
Therefore, the current torque T calculated by the torque calculation unit 504 is a value that includes the fluctuation component superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq.
Therefore, the voltage phase θv generated by the voltage phase setting unit 502 based on the current torque T calculated by the torque calculation unit 504 may include a fluctuation component.

However, based on the voltage phase θv generated by the voltage phase setting unit 502 and the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24 when the rectangular wave control unit 50 operates, Comparing with the voltage phase obtained by performing the polar coordinate conversion, although the voltage phase setting unit 502 has a fluctuation component superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq, both voltage phases are included. The voltage phase θv generated in 1 is less affected by the fluctuation component superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq.

The reason is that the d-axis correction output by the correction voltage generation unit 76 is first obtained in the voltage phase obtained by performing polar coordinate conversion based on the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24. The fluctuation components of the voltage ΔVd and the q-axis correction voltage ΔVq are included. The d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq are, as described above, offsets and amplitude imbalance components generated in the drive currents Iu, Iv, and Iw. The d-axis feedback current value Id and the q-axis feedback current value Iq on which the fluctuation component due to is superimposed are estimated d-axis and q-axis current command values Id ^* , Iq ^{* in} which the offset (amplitude unbalance) component (fluctuation component) is smoothed ^. D-axis correction current ΔId and q-axis correction current ΔIq, and the d-axis correction current ΔId and the q-axis correction current ΔIq are multiplied by a predetermined correction gain (Kd, Kq) to obtain d. The axis correction voltage ΔVd and the q-axis correction voltage ΔVq are generated.

For this reason, the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq are the fluctuation components superposed on the d-axis feedback current value Id and the q-axis feedback current value Iq. Since it is the variation component multiplied by (Kd, Kq), it varies in proportion to the variation of the variation component superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq.

That is, the voltage phase obtained by performing polar coordinate conversion based on the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24 to which the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq are added is , D-axis feedback current value Id and q-axis feedback current value Iq.

On the other hand, the voltage phase θv generated by the voltage phase setting unit 502 is proportional to the voltage phase setting unit 502 based on the current torque T calculated based on the d-axis feedback current value Id and the q-axis feedback current value Iq. Although the fluctuation component due to control is included, the ratio to the voltage phase θv which is the output value of the voltage phase setting unit 502, in consideration of the ratio of the integral value due to the integral control of the voltage phase setting unit 502, The rate of change per control cycle is reduced.
Therefore, the voltage phase θv generated by the voltage phase setting unit 502 is obtained by performing polar coordinate conversion based on the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24 described above. The voltage phase setting unit 502 does not change immediately in response to the change of the fluctuation component superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq such as the voltage phase, and the voltage phase setting unit 502 uses the integrated value of the integral control of the voltage phase setting unit 502. The influence of the fluctuation component per control cycle of the voltage phase θv generated in 1 is suppressed.

Further, the setting of the control gain of the integral control or proportional control of the rectangular wave mode synchronization control unit 520 is set according to the responsiveness of the torque required by the system, and the responsiveness required by the system is satisfied. However, the integration is performed so that the response to the fluctuation component of the d-axis feedback current value Id or the q-axis feedback current value Iq, which is caused by the offset or the higher-order component superimposed on the three-phase current, is suppressed. By setting the control gain of the control or proportional control, it is possible to further reduce the fluctuation component included in the voltage phase θv generated by the voltage phase setting unit 502.

Further, in the torque calculation unit 504, the current torque T is calculated after smoothing the d-axis feedback current value Id and the q-axis feedback current value Iq used when calculating the current torque T with a low-pass filter or the like. Alternatively, in this case, the fluctuation component included in the voltage phase θv generated by the voltage phase setting unit 502 can be reduced.

10

PM motors

12u, 12v Drive current detection unit 14 Angle detection unit 20 Inverter 22 Three-phase / dq conversion unit 32 dq / 3-phase conversion unit 36 Drive signal generation unit 38 Linear correction unit 40 Sine wave control unit 50 Rectangular wave control unit 100 Motor control device 410 Current control unit 410a Current integration control unit 410b Current proportional control unit 418 Polar coordinate conversion unit 420 Sine wave mode synchronization control unit 502 Voltage phase setting unit 520 Rectangular wave mode synchronization control unit (voltage command acquisition unit)
θ Electrical angle θv Voltage phase Id d-axis feedback current value Iq q-axis feedback current value Id ^* d-axis current command value Iq ^* q-axis current command value Iu, Iv, Iw Drive current | Va | Voltage command value Vd d-axis voltage command Value Vq q-axis voltage command value Vd '' Integration-side d-axis voltage command value Vq '' Integration-side q-axis voltage command value Vu, Vv, Vw Voltage command value (3 phases)
T ^* Torque command value Sc Carrier setting information Su, Sv, Sw Drive signal

Claims

An inverter that causes a three-phase AC drive current to flow down to the PM motor,
A drive current detector that acquires the value of the drive current;
An angle detector for acquiring the electrical angle of the PM motor,
A three-phase / dq converter that converts the drive current acquired by the drive current detector based on the electrical angle into a d-axis feedback current value and a q-axis feedback current value;
A d-axis current command value and a q-axis current command value are set based on a torque command value from the outside, and these d-axis current command value, q-axis current command value and the d-axis feedback current value, q-axis feedback current value are set. A sine wave control unit that generates a d-axis voltage command value and a q-axis voltage command value based on
A linear correction unit that linearly corrects the d-axis voltage command value and the q-axis voltage command value,
A dq / 3-phase converter that converts the linearly corrected d-axis voltage command value and q-axis voltage command value into a three-phase voltage command value;
In a motor control device comprising: a drive signal generation unit that generates a drive signal for switching the inverter by comparing a triangular wave of a predetermined cycle with the three-phase voltage command value.
The sine wave control unit,
A d-axis current command value, a q-axis current command value, a d-axis feedback current value, and a q-axis feedback current value based on the d-axis current command value, the d-axis feedback current value, and the q-axis feedback current value. A current control unit that generates a command value,
a polar coordinate conversion unit that polar-converts the d-axis voltage command value and the q-axis voltage command value to obtain the voltage command value.
The current control unit outputs an integration-side d-axis voltage command value and an integration-side q-axis voltage command value that do not include the output of the current proportional control unit to the polar coordinate conversion unit,
The polar coordinate converter acquires a voltage command value based on the integration-side d-axis voltage command value and the integration-side q-axis voltage command value, and outputs the voltage command value to the linear correction unit.
The linear correction unit includes the d-axis voltage command value and the q-axis voltage command value generated by the sine wave control unit based on the voltage command value based on the integration-side d-axis voltage command value and the integration-side q-axis voltage command value. A motor control device characterized by linearly correcting.
An inverter that causes a three-phase AC drive current to flow down to the PM motor,
A drive current detector that acquires the value of the drive current;
An angle detector for acquiring the electrical angle of the PM motor,
A three-phase / dq converter that converts the drive current acquired by the drive current detector based on the electrical angle into a d-axis feedback current value and a q-axis feedback current value;
A d-axis current command value and a q-axis current command value are set based on a torque command value from the outside, and these d-axis current command value, q-axis current command value and the d-axis feedback current value, q-axis feedback current value are set. A sine wave control unit that generates a d-axis voltage command value and a q-axis voltage command value based on
A dq / 3-phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into a three-phase voltage command value,
In a motor control device comprising: a drive signal generation unit that generates a drive signal for switching the inverter by comparing a triangular wave of a predetermined cycle based on carrier setting information with the three-phase voltage command value.
The sine wave control unit,
A d-axis current command value, a q-axis current command value, a d-axis feedback current value, and a q-axis feedback current value based on the d-axis current command value, the d-axis feedback current value, and the q-axis feedback current value. A current control unit that generates a command value,
a polar coordinate conversion unit for polar coordinate conversion of the d-axis voltage command value and the q-axis voltage command value to obtain the voltage phase;
A sine wave mode synchronization control unit that generates the carrier setting information based on the voltage phase,
The current control unit outputs an integration-side d-axis voltage command value and an integration-side q-axis voltage command value that do not include the output of the current proportional control unit to the polar coordinate conversion unit,
The polar coordinate conversion unit acquires a voltage phase based on the integration-side d-axis voltage command value and the integration-side q-axis voltage command value and outputs the voltage phase to the sine wave mode synchronization control unit.
The motor control device, wherein the sine wave mode synchronization control unit generates the carrier setting information based on the voltage phase based on the integration-side d-axis voltage command value and the integration-side q-axis voltage command value.
An inverter that causes a three-phase AC drive current to flow down to the PM motor,
A drive current detector that acquires the value of the drive current;
An angle detector for acquiring the electrical angle of the PM motor,
A three-phase / dq converter that converts the drive current acquired by the drive current detector based on the electrical angle into a d-axis feedback current value and a q-axis feedback current value;
A rectangle that sets a voltage phase based on an external torque command value and the d-axis feedback current value and the q-axis feedback current value, and generates a d-axis voltage command value and a q-axis voltage command value based on the voltage phase. A wave controller,
a linear correction unit that linearly corrects the d-axis voltage command value and the q-axis voltage command value,
A dq / 3-phase converter that converts the linearly corrected d-axis voltage command value and the q-axis voltage command value into a three-phase voltage command value;
In a motor control device comprising: a drive signal generation unit that generates a drive signal for switching the inverter by comparing a triangular wave of a predetermined cycle with the three-phase voltage command value.
The rectangular wave control unit,
A voltage phase setting unit that acquires a voltage phase based on the torque command value from the outside, the d-axis feedback current value, and the q-axis feedback current value;
A voltage command generator that generates a d-axis voltage command value and a q-axis voltage command value based on the voltage command value and the voltage phase output by the voltage phase setting unit;
A correction unit that outputs a d-axis voltage command correction value and a q-axis voltage command correction value based on the d-axis feedback current value, the q-axis feedback current value, and the d-axis voltage command value and the q-axis voltage command value. Has,
The motor control device, wherein the linear correction unit linearly corrects the d-axis voltage command correction value and the q-axis voltage command correction value based on the voltage command value.
An inverter that causes a three-phase AC drive current to flow down to the PM motor,
A drive current detector that acquires the value of the drive current;
An angle detector for acquiring the electrical angle of the PM motor,
A three-phase / dq converter that converts the drive current acquired by the drive current detector based on the electrical angle into a d-axis feedback current value and a q-axis feedback current value;
A rectangle that sets a voltage phase based on an external torque command value and the d-axis feedback current value and the q-axis feedback current value, and generates a d-axis voltage command value and a q-axis voltage command value based on the voltage phase. A wave controller,
a dq / 3-phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into a three-phase voltage command value,
In a motor control device comprising: a drive signal generation unit that generates a drive signal for switching the inverter by comparing a triangular wave of a predetermined cycle based on carrier setting information with the three-phase voltage command value.
The rectangular wave control unit,
A voltage phase setting unit that acquires a voltage phase based on the torque command value from the outside, the d-axis feedback current value, and the q-axis feedback current value;
A voltage command generator that generates a d-axis voltage command value and a q-axis voltage command value based on the voltage phase output by the voltage phase setting unit;
A correction unit that outputs a d-axis voltage command correction value and a q-axis voltage command correction value based on the d-axis feedback current value, the q-axis feedback current value, and the d-axis voltage command value and the q-axis voltage command value. ,
A rectangular wave mode synchronization control unit for generating the carrier setting information,
The rectangular wave mode synchronization control unit generates the carrier setting information based on the voltage phase output from the voltage phase setting unit.
An inverter that causes a three-phase AC drive current to flow down to the PM motor,
A drive current detector that acquires the value of the drive current;
An angle detector for acquiring the electrical angle of the PM motor,
A three-phase / dq converter that converts the drive current acquired by the drive current detector based on the electrical angle into a d-axis feedback current value and a q-axis feedback current value;
A d-axis current command value and a q-axis current command value are set based on a torque command value from the outside, and these d-axis current command value, q-axis current command value and the d-axis feedback current value, q-axis feedback current value are set. A sine wave control unit that generates a d-axis voltage command value and a q-axis voltage command value based on
A linear correction unit that linearly corrects the d-axis voltage command value and the q-axis voltage command value,
A dq / 3-phase converter that converts the linearly corrected d-axis voltage command value and q-axis voltage command value into a three-phase voltage command value;
A motor control method for a motor control device, comprising: a drive signal generation unit that generates a drive signal for switching the inverter by comparing a triangular wave of a predetermined cycle with the three-phase voltage command value.
The sine wave control unit,
A d-axis current command value, a q-axis current command value, a d-axis feedback current value, and a q-axis feedback current value based on the d-axis current command value, the d-axis feedback current value, and the q-axis feedback current value. A current control unit that generates a command value,
a polar coordinate conversion unit that polar-converts the d-axis voltage command value and the q-axis voltage command value to obtain the voltage command value.
An integration-side voltage command value output step in which the current control unit outputs an integration-side d-axis voltage command value and an integration-side q-axis voltage command value that do not include the output of the current proportional control unit,
A voltage command value output step in which the polar coordinate conversion unit acquires a voltage command value based on the integration-side d-axis voltage command value and the integration-side q-axis voltage command value and outputs the voltage command value to the linear correction unit;
The linear correction unit generates the d-axis voltage command value and the q-axis voltage command value generated by the sine wave control unit based on the voltage command value based on the integration-side d-axis voltage command value and the integration-side q-axis voltage command value. And a sine wave control linear correction step for linearly correcting.
An inverter that causes a three-phase AC drive current to flow down to the PM motor,
A drive current detector that acquires the value of the drive current;
An angle detector for acquiring the electrical angle of the PM motor,
A three-phase / dq converter that converts the drive current acquired by the drive current detector based on the electrical angle into a d-axis feedback current value and a q-axis feedback current value;
A d-axis current command value and a q-axis current command value are set based on a torque command value from the outside, and these d-axis current command value, q-axis current command value and the d-axis feedback current value, q-axis feedback current value are set. A sine wave control unit that generates a d-axis voltage command value and a q-axis voltage command value based on
A dq / 3-phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into a three-phase voltage command value,
A motor control method for a motor control device, comprising: a drive signal generation unit that compares a triangular wave of a predetermined cycle based on carrier setting information with the three-phase voltage command value to generate a drive signal for switching the inverter. ,
The sine wave control unit,
A d-axis current command value, a q-axis current command value, a d-axis feedback current value, and a q-axis feedback current value based on the d-axis current command value, the d-axis feedback current value, and the q-axis feedback current value. A current control unit that generates a command value,
a polar coordinate converter that polar-converts the d-axis voltage command value and the q-axis voltage command value to obtain the voltage phase;
A sine wave mode synchronization control unit that generates the carrier setting information based on the voltage phase,
An integration-side voltage command value output step in which the current control unit outputs an integration-side d-axis voltage command value and an integration-side q-axis voltage command value that do not include the output of the current proportional control unit,
A voltage phase output step in which the polar coordinate conversion unit acquires a voltage phase based on the integration-side d-axis voltage command value and the integration-side q-axis voltage command value and outputs the voltage phase to the sine wave mode synchronization control unit;
And a sine wave control carrier information generation step in which the sine wave mode synchronization control unit generates the carrier setting information based on the voltage phase based on the integration side d-axis voltage command value and the integration side q-axis voltage command value. A motor control method characterized by the above.
An inverter that causes a three-phase AC drive current to flow down to the PM motor,
A drive current detector that acquires the value of the drive current;
An angle detector for acquiring the electrical angle of the PM motor,
A three-phase / dq converter that converts the drive current acquired by the drive current detector based on the electrical angle into a d-axis feedback current value and a q-axis feedback current value;
A rectangle that sets a voltage phase based on an external torque command value and the d-axis feedback current value and the q-axis feedback current value, and generates a d-axis voltage command value and a q-axis voltage command value based on the voltage phase. A wave controller,
a linear correction unit that linearly corrects the d-axis voltage command value and the q-axis voltage command value,
A dq / 3-phase converter that converts the linearly corrected d-axis voltage command value and the q-axis voltage command value into a three-phase voltage command value;
A motor control method for a motor control device, comprising: a drive signal generator that generates a drive signal for switching the inverter by comparing a triangular wave of a predetermined cycle with the three-phase voltage command value.
The rectangular wave control unit,
A voltage phase setting unit that acquires a voltage phase based on the torque command value from the outside, the d-axis feedback current value, and the q-axis feedback current value;
A voltage command generator that generates a d-axis voltage command value and a q-axis voltage command value based on the voltage command value and the voltage phase output by the voltage phase setting unit;
A correction unit that outputs a d-axis voltage command correction value and a q-axis voltage command correction value based on the d-axis feedback current value, the q-axis feedback current value, and the d-axis voltage command value and the q-axis voltage command value. Has,
The motor control method, wherein the linear correction unit performs a rectangular wave control linear correction step of linearly correcting the d-axis voltage command correction value and the q-axis voltage command correction value based on the voltage command value.
An inverter that causes a three-phase AC drive current to flow down to the PM motor,
A drive current detector that acquires the value of the drive current;
An angle detector for acquiring the electrical angle of the PM motor,
A three-phase / dq converter that converts the drive current acquired by the drive current detector based on the electrical angle into a d-axis feedback current value and a q-axis feedback current value;
A rectangle that sets a voltage phase based on an external torque command value and the d-axis feedback current value and the q-axis feedback current value, and generates a d-axis voltage command value and a q-axis voltage command value based on the voltage phase. A wave controller,
a dq / 3-phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into a three-phase voltage command value,
A motor control method for a motor control device, comprising: a drive signal generation unit that compares a triangular wave of a predetermined cycle based on carrier setting information with the three-phase voltage command value to generate a drive signal for switching the inverter. ,
The rectangular wave control unit,
A voltage phase setting unit that acquires a voltage phase based on the torque command value from the outside, the d-axis feedback current value, and the q-axis feedback current value;
A voltage command generator that generates a d-axis voltage command value and a q-axis voltage command value based on the voltage phase output by the voltage phase setting unit;
A correction unit that outputs a d-axis voltage command correction value and a q-axis voltage command correction value based on the d-axis feedback current value, the q-axis feedback current value, and the d-axis voltage command value and the q-axis voltage command value. ,
A rectangular wave mode synchronization control unit for generating the carrier setting information,
The motor control method, wherein the rectangular wave mode synchronization control unit performs a rectangular wave control carrier information generation step of generating the carrier setting information based on the voltage phase output by the voltage phase setting unit.