Motor control equipment

Abstract

Page 1 of 26 pages. Invention details ' ' A name that indicates an invention. Motor control equipment ' ' Branches of science related to invention. Five branches of engineering, which this disclosure will concern computer equipment. ' ' Background of the art or related science. In compressors used in air conditioning systems, the torque load fluctuates periodically between cycles. The rotation of the rotor of the motor driving the torque-variable load compressor occurs due to... Changing the pressure of the refrigerant gas during different stages in a sequence that includes suction, 10. Compression and release, causing vibration of the motor due to variations in... The rotational speed of the motor (which here may be simply referred to as "variation") (Speed) In cases where the compressor is of a type where torque variation occurs, torque control is used. "(Periodic interference suppression control)" is designed to suppress variations in speed. The rotation of a motor (which here may be simply referred to as "variable speed") 15 references Patent document Patent Document 1: JP2019-118217A Characteristics and purpose of the invention. Technical problems 20. However, in the case where the inertia (moment of inertia) of the motor is small, the variation... The speed is increased, and therefore the current is controlled by torque for suppressing variation. The speed will be increased in addition even in the case of magnetic field coupling of the motor. Although the torque transmitted is small compared to the amount of current, it is increased, and therefore the current is generated. Torque control for speed variation suppression will be increased as a result of this control. 25 Torque is generated under overload conditions in low-inertia motors or motors with magnetic flux. If the connection is weak, the peak current of the motor will be too high. The overcurrent protection function for motor demagnetization protection will be implemented. The stimulus will cause the motor to stop; the motor will stop by the stimulation of the protective operation. Excessive current could be referred to as "current cutoff". 30. For this reason, this disclosure proposes technology that can operate stably. The motor is not stopped by a trigger; it operates under overcurrent protection. Page 2 of 26 pages. Problem solving In one form of description, the motor control device consists of a calculator. Current command and torque limiter generator; edit the current command calculator; calculate the command value. The current is based on the total torque value obtained by adding the average torque value that was generated. 5. Based on the motor speed and torque settings, adjustments are made for... Edit the average torque limiter value, the torque limiter generator, edit the torque limiter value, edit when the torque value is set. The torque correction is not zero, and the maximum value of the current limit is equal to or greater than the current limit value. Specified. The benefits of invention. 10. According to this disclosure, it is possible to operate the motor stably without stopping. Motor operation by stimulation, overcurrent protection. Brief description of the drawing. Figure 1 is a diagram showing an example of the appearance of a motor control device in this configuration. One of these revelations is... Figure 2 is a diagram showing an example of the appearance of a current error correction constructor. This is the first form of disclosure. Figure 3 is a diagram showing an example of the appearance of the torque converter's modified form. This is the first part of the revelation. Figure 4 is a flowchart illustrating the operation of the vertex retention calculator. 20 of the first form of this disclosure. Figure 5 is a diagram showing an example of the shape of a torque converter of the first type. Of this disclosure. Figure 6A is a diagram illustrating an example of motor control device operation. This is the first form of disclosure. Figure 6B is a diagram illustrating an example of motor control device operation. This is the first form of disclosure. Figure 6C is a diagram illustrating an example of motor control device operation. This is the first form of disclosure. Figure 7 is a diagram illustrating the working example of a motor control device. 30. One form of this disclosure. Page 3 of 26 pages. Figure 8 is a diagram illustrating the working example of a motor control device. One form of this disclosure. Figure 9 is a diagram showing an example of the appearance of a motor control device in this configuration. These two revelations... Figure 10 is a diagram showing an example of the appearance of a torque limiter / adjustable torque converter. The second form of this disclosure. Figure 11 is a flowchart illustrating the operation of the vertex retention calculator. This is the second form of disclosure. Figure 12A is a diagram illustrating an example of motor control device operation. 10. This is the second form of disclosure. Figure 12B is a diagram illustrating an example of motor control device operation. This is the second form of disclosure. Figure 12C is a diagram illustrating an example of motor control device operation. This is the second form of disclosure. Figure 13 is a diagram illustrating an example of motor control device operation. This is the second form of disclosure. Figure 14 is a diagram illustrating an example of motor control device operation. This is the second form of disclosure. Figure 15 is a diagram showing an example of the operation of a current-limiting unit in the first form. 20. This revelation... Figure 16 is a diagram showing an example of the operation of a current limiting device of the second type. This revelation... Explanation of symbols 100,200 computer components 2514. Calculate the current order value. 34. Torque converter for correction. 38,39 The value is created from the torque adjustment. Complete disclosure of the invention. From this point on, the various forms of this revelation will be described by reference to drawings. 30 different variations in various forms that follow; the same components are represented by reference symbols. Same here. Page 4 of 26 pages. This disclosure reveals a motor control device that provides torque control for a synchronous motor. Permanent magnet type (PMSM) compressors that drive periodically varying load torque through control. A vector without a position sensor will be described as an example; however, the technology has been revealed. It can be widely applied to motor control devices that create torque control. 5. A motor that drives a compressor with variable torque under intermittent load. [Format One] ก Figure 1 is a diagram showing an example of the appearance of a motor control device in this configuration. One of the revelations is shown in Figure 1. The motor control device 100 consists of components 11, 18, and 19. 10 and 40, speed control unit 12, boost controller 13, 16, 17, 21 and 22, current calculation unit. 14, Voltage calculation unit, 20, DQ / U, V, W converter, 23, Signal converter. A pulse width of 24 and an intelligent power supply (IPM) 25 (IPM25) are connected to a sample motor. The motor's part number is PMSM. In addition, the motor control device 100 includes 26 resistors and a sensor. 15, current 27a and 27b, and current calculator 3?28. Note that the motor control device is 100. It only needs to consist of either a 26A resistor or a 27A current receiver. and 27b Next, the motor control device 100 consists of a u,v, w / d-q29 converter and a calculator. Axis error 30, Phase-lock loop controller (PLL) 31, Position estimator 32, ... 20 processors 1 / Pn33, torque converter correction 34, non-restrictive ripple response filter (unit) IIR filters 35a and 35b, splice control 36, error correction generator. Current 37 and torque limiter correction 38. Subtracting the factor 11 subtracts the estimated mechanical angular velocity m, which is the angular velocity. It was estimated at that moment that the value sent from the processor 1 / Pn33 was derived from the angular velocity command. 25 m* of force is sent to a 100 m / s control device from the outside (e.g., a control unit). (Higher level of the motor control device) to calculate the angular velocity error?? The speed control 12 generates an average torque value To* with an average error rate. The angular velocity that is high from the turning point is 11 near zero. The torque converter adds 13 plus the average torque value To* which is sent out from the speed control unit 12. 30 and the torque correction value? T is sent from the torque correction generator 34 to calculate the command value. Total torque T* Page 5 of 26. The current command calculator 14 calculates the current command value for the qIq* axis and the current command value. The dId* axis is based on the interception of a constant torque curve represented by the total torque command value. T* and the MTPI (Maximum Torque / Current Control) curve. Here, the intersection of the constant torque curve and the MTPI curve can be calculated as follows: 5. An example by using the motor torque equations shown in expression (1) and expression (2) shown. The relationship between the dId axis current and the qIq axis current in the right-hand side of the MTPI curve. (1) The first term represents the magnetic torque, the second term represents the magnetic resistance torque. Magnetic torque consists only of the axial current qIq, and magnetic resistance torque consists of... Both the qIq axial current and the dId axial current are involved; therefore, an appropriate torque can be generated in... 10M motors by appropriate control of axial current qIq and axial current dId in expression (1) and (2)“Pn” represents the number of pole pairs of the motor M,“?a” represents the magnetic field lines linking. “Ld” represents the axial inductance d of motor M, and “Lq” represents the axial inductance d of motor M. The inductance q of the motor M. T=P?{??I+(L–L)?I?I}(1) naqdqdq 15 2 ?? aa 2 I=-?+I(2) dq 2 2(L–L)4(LL) qdqd 20 By subtracting the axial current dId from expressions (1) and (2) and expression (3), which are equations The power relative to the axial current qIq can be determined. 2 TT 24 (LL)?I+???I-=0(3) dqqaq PP nn 25 The quadratic equation shown in expression(3) can be solved to match the current command values. The qIq* axis intersects the constant torque curve of the total torque command value, including the T* curve and the MTPI curve. As an example, by using Newton's method or others, in the additional section, the current calculation tool 14. Calculate the axial current command value dId* according to expression (2) based on the correct axial current command value qIq*. 30 Calculated according to the expression (3) Page 6 of 26. In Figure 1, the +17 increment adds to the current value of the qIq* axis that is sent from the calculator. What is the current input value of 14 and the current error correction value of q?Iq that is sent from the generator? Correct the error current 37 according to the expression (4.1) to calculate the current correction command value qIq_FF*. The plus sign adds 16 to the current value dId* that is sent from the current calculator 14. 5. And the error correction value of the axis current d?Id that is sent from the error correction generator. Current 37 according to the expression (4.2) to calculate the current correction value dId_FF* I=I+?I(4.1) q_FF*q*q I=I+?I(4.2) d_FF*d*d The subtractor 19 subtracts the qIq core current sent from the u,v,w / d-q29 converter. 10 The current correction value qIq_FF* sent from the adder is increased by 17 to calculate the error. The axis current qIq_diff is the error between the axis current correction command value qIq_FF* and... The qIq core current, minus 18, subtracts the dId core current sent from the u,v,w / d-q converter. Exit the current correction command dId_FF* which was sent from the adder of 16 to calculate the... The axis current error dId_diff is an error between the axis current correction value dId_FF*. 15 and the axial current dId The voltage calculation tool 20 calculates the axial voltage q for pre-splicing. Vqt is controlled by creating a proportional integrated control (PI) based on the axis current error q. Iq_diff(Iq_FF*-Iq) according to the expression (5.1), then the voltage calculation 20 calculates the voltage value. The axial voltage d, the pre-extruded Vdt, is controlled by creating a participial control (PI) on 20. Basic error current dId_diff(Id_FF*-Id) according to expression (5.2). Note that kp_q in The expression (5.1) and kp_d in expression (5.2) are proportional constants, and ki_q in expression (5.1) and ki_d in The expression (5.2) is a total constant. V=k?(II)+?k?(II)?dt(5.1) qtp_qq_FF*qi_qq_FF*q V=k?(II)+?k?(II)?dt(5.2) dtp_dd_FF*di_dd_FF*d 25 plus 22 plus correction value for the qVqa axis splitting as represented by the expression. (6.1) It is combined with the axial pressure value q, the pre-splitting Vqt according to expression (6.3) to calculate. The voltage command value for the qVq axis * plus 21 adds the correction value for the dVda axis separation. Shown by expression (6.2) matching the axial voltage command value d, the pre-combination separation Vdt according to expression. (6.4) To calculate the axial voltage command value dVd* based on the resulting effect, i.e., the axial voltage command value qVq* and 30 The voltage value of the axis dVd* in a model where the connection between the d and q axes is canceled. The input going forward will be calculated. Page 7 of 26 pages. V=?*?(L?L+?)(6.1) qaedd_iira V=-?*?L?L(6.2) daeqq_iir V*=V+V(6.3) qqtqa V*=V+V(6.4) ddtda 5-pin IIR35a filter removes the dId core current noise signal emitted from the converter. u,v,w / d-q29 and outputs a response current on the dId_iir axis after noise removal. The IIR35b filter removes qIq axial current noise signals emitted from the u,v converter. w / d-q29 and outputs a qIq_iir axis response current after noise removal. The IIR35a and 35b filters are examples of filters that output interfering signals. 10 splice control, 36 splice configurations, create and edit dVda axis splice settings for... Correction of the axial voltage d-junction Vdt according to expression (6.2) based on the values The electrical angular velocity command e* and the response current qIq_iir are given from the outside. (For example, the control unit for raising the bus level) of the 100 control device in the additional control unit section. The 36-axis splice creates a value for modifying the qVqa axis splice for editing command values. 15 Axial voltage q, forward splicing Vqt according to expression (6.1) based on speed command values. Electrical angle?e* and axial response current dId_iir, axial decomposition correction value dVda. And the qVqa axis decomposition correction value is a correction value for canceling the decomposition term. The d-q axis is used as a forward input here to achieve stable control and correction values. The splice is made to obtain the desired DC current value due to the creation of splice correction values. The electrical angular velocity (A) value e* will be used for the d-axis response speed and current. Id_iir and the axial response current qIq_iir, the variation components of which are removed by the IIR filter. 35a and 35b are used for axial currents dId and qIq. The current error correction generator 37 creates a current error correction value for the d-axis. ?Id and the axis current error correction value q?Iq based on the axis current command value dId* and the value 25. The axis current command qIq* is sent from the current command calculator 14, the axis current dId and... The axial current qIq is output from the u,v,w / d-q29 converter, and the mechanical phase angle ?m is output. From the approximate position 32. The error correction tool for current 37 includes variation errors (errors). Phase and magnitude errors occur when the axial current d and axial current q do not conform to their values. 30 Current commands due to the response delay of the current command calculator14 or page 8 of 26 pages. It is connected between the axial current d and the axial current q and creates a returned output of the combined value. This is the current error correction value (current error correction value d?Id and error correction value). The axial current error q?Iq) here, the axial current error correction value d?Id is a component. Proceed to the next step for correcting variation errors between scanned values ​​dId* and 5. The axial current dId and the axial current error correction q?Iq are forward input components. For correcting errors caused by variations between the axial current qIq* and the axial current q values. Iq The dq / u,v,w23 converter transforms the two-phase axial voltage value Vd* and the axial voltage value. The qVq* axis, which is sent from the body, increases by 21 and 22, and is the voltage command value, is output in three phases. 10. Voltage and current output phase values ​​UVu*, voltage and current output phase values ​​VVv*, and other control values. The output voltage WVw* based on the electrical phase angle (phase axis dq) ?e is transmitted. From the 32-phase position estimator, what is the electrical angle e sent from the 32-phase position estimator? This indicates the rotor position when the motor is running at speed M. The PWM24 transmitter generates a six-phase PWM signal based on a given voltage value. 15Voltage output phase UVu*,Voltage output phase VVv*,Voltage output value The WVw* phase and PWM carrier signals are generated, and the six generated PWM signals are output to... IPM25 The IPM25 converts an external DC voltage based on a PWM6 signal. The phase is raised from the PWM24 signal, creating an alternating current (AC) voltage to be raised to each... 20 One of the phases U, V, and W of the motor M uses the alternating current voltage that is generated. It depends on the U, V, and W phases of the motor. In the case where the bus current is detected by a single-shunt method using 26 shunt resistors. Calculating the current for 3?28 will calculate the phase current values ​​UIu, VIv, and W. The Iw of the motor M is derived from the six-phase PWM switching data sent from the medium, with a PWM signal of 24. 25 and the bus current that is detected in the opposite way in the case where the phase current U and phase current V values ​​are... The check is completed by current receivers 27a and 27b. The current calculator 3?28 will calculate the phase current W value. The remaining Iw is based on Kirchhoff's law of "Iu + Iv + Iw = 0". The current calculator 3?28 The output current values ​​Iu, Iv, and Iw of the different phases are determined by the scale of the u, v, w / d-q converter. (Page 9 of 26 pages) The u,v,w / d-q29 converter transforms three-phase current values, i.e., the phase current UIu and the phase current V. Iv and the phase current W value sent from the current calculator 3?28 is the two-phase axial current d Id. And what is the axial current qIq on the base phase of the electric current?e that is higher than the approximate position 32? The 30-axis error calculator calculates the error on the ?? axis (difference). 5. (Between the estimated axis of rotation and the actual axis of rotation) by using the axis voltage command value dVd* and the value... The force applied to the axis qVq* is high due to the variables u,v,w / d-q29. The PLL31 controller calculates the estimated electrical angular velocity e, which is the speed. The electrical angular velocity (AQ) of motor M is estimated at that moment based on the correct axial error (AQ). Output from the calculation of the 30-degree axis error. Approximately 10 elements, position 32, approximately electrical phase angle?e and mechanical phase angle?m on What is the estimated basic electrical angular velocity (e) that is high from the control unit PLL31? The 1 / Pn33 processor calculates the estimated mechanical angular velocity ?m by dividing. What is the estimated electrical angular velocity e output from the PLL31 controller by the amount of...? The Pn terminal of the M motor. Subtract 40 from the angular velocity value (m) from the angular velocity. Is the approximation m that is sent from the 1 / Pn33 processor used to calculate speed variation? The estimated magnitude of a given object is...? The torque converter modifier 34 generates a torque correction command value for preventing variation. The approximate mechanical angular velocity (m), which is a periodic variation of velocity, is equal to or * 20 is less than the acceptable velocity variation value???m? which is the velocity variation range in A design in which the variation of motor M can be accepted based on the possible speed variation values. * Acceptable???m, the estimated variation of mechanical angular velocity??m that is emitted from The subtractor 40 and the phase angle m are output from the position estimator 32, representing variations. * The acceptable speed (m) is stored in the computer device, and then the variation... The estimated 25-axis mechanical velocity (velocity variation) differs from the value of the velocity. Error in angular velocity?? Only in the symbols for addition and subtraction. Torque limiter creator, edit 38, torque limiter creator, edit ??T?_limit, size limiter. The corrective torque T is the magnitude of the corrective torque T based on the current limit Ia_limit. Page 10 of 26 pages. And the scan values ​​dId* and qIq* that were sent from the command calculator. Current 14 Figure 2 is a diagram showing an example of the appearance of a current error correction constructor. 5 of the first forms of this disclosure are shown in Figure 2, the current error correction constructor 37. It consists of resistors 37a and 37e, a core current fault component q37b, and... Includes axial current error Q37C, glass error correction signal, and axial current error correction value. q37d, axis current fault component separator; d37f, axis current fault combiner. d37g and the glass error correction signal d37h. 10 minus 37a calculates the error of the axial current variation qIq_err, which is a Error between qIq axis current and qIq axis current value* according to the expression (7) I=I–I*(7) q_errqq ก The axial current fault factor separator q37b calculates two Fourier coefficients. Iq_err_sin (sin component) and Iq_err_cos (cos component), which are wave components. 15. Fundamentals of axial current variation error qIq_err for every mechanical angular cycle according to expression. (8.1) and (8.2) 12? I=?I?sin(?)d?(8.1) q_err_sinq_errmm ?0 2012? I=?I?cos(?)d?(8.2) q_err_cosq_errmm ?0 The axis current error sum q37c multiplies each of the sinIq_err_sin components. 25. The error of the axial current variation qIq_err and the cosIq_err_cos components of the error. Error with axis current variation qIq_err with correction gain k according to expressions (9.1) and (9.2). And add each product to Iq_err_sin_i_old and Iq_err_cos_i_oldIq_err_sin_i in The expression (9.1) is the sum of Iq_err_sin up to the mechanical angle cycle at that moment and Iq_err_cos_i in. The expression (9.2) is the sum of Iq_err_cos up to the mechanical angle cycle at that moment, then Iq_err_sin_i_old. 30 in expression (9.1) is Iq_err_sin_i up to the previous mechanical angle and Iq_err_cos_i_old in The expression (9.2) is Iq_err_cos_i until the previous cycle. Page 11 of 26 pages. I=I?k+I(9.1) q_err_sin_iq_err_sinq_err_sin_i_old I=I?k+I(9.2) q_err_cos_iq_err_cosq_err_cos_i_old The glass signal correction value of the current core q37d is calculated. Error current q?Iq according to expressions (10.1) and (10.2) according to the resulting effect is the phase of 5. Error in the axial current variation q will be reversed and the instantaneous value of the current error correction value will be adjusted. The q-axis?Iq at the phase of the axis?m is calculated. ?I=I?sin(?m-?)+I?cos(?-?)(10.1) qq_err_sin_iq_err_cos_im =-I?sin(?m)-I?cos(?)(10.2) q_err_sin_iq_err_cos_im The subtrahend factor 37e calculates the axial current variation error dId_err, which is a 10. Error between axial current dId and current value. Axial current dId* according to expression (11). I=II*(11) d_errdd ก The axial current error factor d37f is calculated using two Fourier coefficients. Id_err_sin (sin component) and Id_err_cos (cos component), which are wave components. The basis of the axial current variation error dId_err for every mechanical angular cycle according to the expression. 15(12.1) and (12.2) 12? I=?I?sin(?)d?(12.1) d_err_sind_errmm ?0 12? 20I=?I?cos(?)d?(12.2) d_err_cosd_errmm ?0 The axial current error d37g is calculated by multiplying each of the components sinId_err_sin. The error of the axial current variation dId_err and the cosId_err_cos components of the error. 25 Error, current variation dId_err with amplification, corrected by expression (13.1) and (13.2). And add Id_err_sin_i_old and Id_err_cos_i_old to each product of Id_err_sin_i. The expression (13.1) is the sum of Id_err_sin up to the mechanical angle cycle at that time and Id_err_cos_i in. The expression (13.2) is the sum of Id_err_cos in the mechanical angular cycle at that time, then Id_err_sin_i_old. In expression (13.1) it is Id_err_sin_i up to the previous mechanical angle cycle and Id_err_cos_i_old in 30 expressions (13.2) are Id_err_cos_i in the previous loop. Page 12 of 26 pages. I=I?k+I(13.1) d_err_sin_id_err_sind_err_sin_i_old I=I?k+I(13.2) d_err_cos_id_err_cosd_err_cos_i_old The signal correction value for the axis current d37h is calculated. Error current d?Id according to expressions (14.1) and (14.2), the resulting effect is the phase of 5. Error in the axial current variation d will be reversed and the instantaneous value of the current error correction value will be adjusted. The d-axis (Id) at the phase (m) is constructed. ?I=I?sin(?-?)+I?cos(?-?)(14.1) dd_err_sin_imd_err_cos_im =-I?sin(?)-I?cos(?)(14.2) d_err_sin_imd_err_cos_im Figure 3 is a diagram showing an example of the appearance of a torque converter with adjustable form factors. The first of these revelations, shown in Figure 3, is the torque limiter generator, which includes a calculator. What are the current rating 38a, peak hold calculation 38b, correction 38c, and limiting factor T38d? The current size calculator 38a calculates the current size Ia* according to the expression (15) above. The basic values ​​of the axial current commands dId* and qIq* are determined, and the output magnitude of the command value is determined. 15 The currents that are discussed are calculated by Ia* to the peak-holding calculation 38b. 22 I*=?(I*)+(I*)(15) adq The vertex calculator 38b obtains the maximum value of the current command magnitude Ia* for each. The specified reception period Tm is the peak current Ia*_peak value for each period. The device receives Tm and outputs the peak current value Ia*_peak to the 38c subtractor. 20 examples of time intervals for receiving a specified amount of energy, which corresponds to the rotational speed of the motor M. Figure 4 is a flowchart illustrating the operation of the vertex retention calculator. This is the first form of disclosure. As shown in Figure 4, the peak retention calculation 38b compares the magnitude of the current transmission costs. Ia* changes with the passage of time by the temporary current peak value. 25Ia*_peak_temp(The peak constant value of the current transmission value Ia* that changes with the passage of current. Go of time in the time period of receiving the target Tm) according to the expression (16) in the time period of receiving Tm1 (phase The mechanical angle (m=0 to 2) and the temporary peak temperature value (Ia*_peak_temp) are adjusted. With a current magnitude Ia*, when the current magnitude Ia* is greater than the current peak value. Help me with Ia*_peak_temp 30I Figure 5 is a diagram showing an example of the shape of a torque converter of the first type. This disclosure, shown in Figure 5, indicates that the torque constructor (modified version 34) consists of a variable component separator. Speed ​​variation calculator 34a, speed variation magnitude calculator 34b, subtraction calculator 34c, magnitude calculator. Torque corrector 34d, variable speed phase corrector 34e, four-phase component separator 34f, reducer 20. Torque signal correction 34g and torque limiter correction 34h. In Figure 5, the velocity variation factor 34a separates the angular velocity variation. ก The mechanical path is approximated as two Fourier coefficients: sin(component sin) and ?cos(the cos component) which is the basic wave component of ??m according to expression (22.1) and ก (22.2)On the basis of the mechanical angle phase?m for every mechanical angle cycle when the Fourier coefficient is The 25 basic wave components of mechanical angular velocity variation, which are estimated to be ??m, are calculated. In each cycle of mechanical motion, the harmonic components of the mechanical velocity variation are approximated. The waveform will be removed and the fundamental wave components of the mechanical angular velocity variation will be taken out. Approximately ??m can be correctly extracted. ?sin and ?cos are values ​​that are adjusted for each time. Circular path 30 Page 16 of 26 pages. 12? ?=????sin(?)d?(22.1) sinmmm 5?0 12? ?=????cos(?)d?(22.2) cosmmm ?0 The velocity variation magnitude calculator 34b calculates the magnitude of the velocity variation. ก 10???m? According to the expression (23) on the basis of Fourier coefficients ?sin and ?cos because ?sin and cos is a value that is adjusted in real-time for every mechanical angular cycle; therefore, the magnitude of the velocity variation is... ???m? will be immediately applauded in every way possible. 22 ????=?(?)+(?)(23) msincos * The subtrahend factor 34c subtracts the acceptable speed variation of ???m from the magnitude. 15. The velocity variation in m is sent from the velocity variation magnitude calculator 34b. Calculate the speed variation error. (The possible speed variation value is...) * Acceptable? Determine the magnitude of the speed variation in the range in which the variation of... The M-type motor is capable of handling it. The torque calculator corrects the torque of 34d for every angular revolution. 20. Based on the error between the magnitude of the velocity variation in m and the velocity variation value. * Is it acceptable to use the torque calculator example? (Correction: 34d calculates the size.) The corrected torque (T) is calculated by multiplying the speed variation error (m) by the variable speed error (m), which is the... There is an error between the magnitude of the velocity variation in m and the possible velocity variation value. * Acceptable???m? by the correction amplification ratio k and the addition of the product and??T?_old accordingly. 25. In expression (24), the torque is the magnitude of the torque corrected in the mechanical angular cycle before. By setting the appropriate expansion ratio, it will be possible to suppress the chasing of... * Variable velocity???? Within the acceptable range of velocity variation???m? And the creation of vibration due to velocity variation will be greater than the value of the variation. * The acceptable speed is ???m? due to the sudden change in load torque. Page 17 of 26 pages. * ??T?=k?(????-????)+??T?(24) mm_old When the corrected torque size T is output from the corrected torque calculator 34d is greater than... The torque limit value (T_limit) is sent from the torque limiter generator (38 limits). The torque correction size 34h will be rewritten with the value of the torque correction size??T? using the torque correction limit value. 5??T?_limit and export torque size correction??T? which was rewritten with the correction torque limit value. The torque limit of the four-phase component 34f is reached when the corrected torque value ??T is greater than the specified value. From the torque correction limit, the value of the torque correction limit will be set as the value from the torque correction limit. The torque limit is set by adjusting the torque size of the torque converter. The variation in the motor current M is limited, and the occurrence of current interruption occurs. 10 in the M motor can be protected. Conversely, when the magnitude of the corrective torque T is equal to or less than the corrective torque limit value. The torque limiter, adjusted to 34h, will output the corrected torque value ??T? that was sent from it. The torque calculation is adjusted from 34d to the four-phase component splitter 34f as it is. The phase corrector for variable velocity 34e corrects the phase of mechanical angular velocity variation. 15 is approximately ??m received for every mechanical angle cycle according to the example of a phase correction variable velocity. ก Multiply each of the Fourier coefficients ?sin and ?cos by the corrected gain k according to the expression. (25.1) and (25.2) and adding ?sin_i_old and ?cos_i_old to the various products. In order, ?sin_i_old in expression(25.1) is ?sin_i in the preceding mechanical angle cycle and ?cod_i_old in expression(25.2) is ?cos_i in the preceding mechanical angle cycle, followed by the phase corrector. 20 Variable speed 34e Calculate the trigonometric inversion of ?sin_i and ?cos_i as a phase correction. Variable speed??i according to the expression (25.3) Phase correction of variable speed??i acts as The phase reference point when torque control is established and the phase is delayed by ? / 2 relative to the reference point. Will this be the phase of the torque correction value? T(phase of torque correction) ?=??k+?(25.1) sin_isinsin_i_old 25?=??k+?(25.2) cos_icoscos_i_old ? cos_i -1 ?=tan(25.3) ? I ? sin_i Page 18 of 26 pages. The four-phase component 34f calculates the sin(?sin_i) and cosin components. (?cos_i) of the phase corrects for speed variation??i according to expressions (26.1) and (26.2) on the basis The torque correction size T is transmitted from the torque correction unit 34h and the phase correction variation. The velocity i is transmitted from the velocity variation phase converter 34e. This process still... 5. It serves to prevent deviation at the time of phase correction by calculation of expression (25.1) and (25.2) ?=??T??cos(?)(26.1) ? sin_ii ?=??T??sin(?)(26.2) ? cos_ii The torque reducer corrects the torque signal of 34g. Calculate the torque correction value?T according to the expression. 10(27.1) and (27.2) based on the sin(?sin_i) and cos(?cos_i) components of Phase correction of speed variation?? By performing this process, the conversion is converted into phase-corrected torque. A delay of ? / 2 per phase corrects the speed variation ??i will be performed and the instantaneous value of the command value. The corrective torque T at the axial phase m will be created. ?? 15?T=??sin?-+??cos?-(27.1) sin_imcos_im 22 =??sin(?)-??cos(?)(27.2) cos_imsin_im The torque signal correction of 34g may calculate the instantaneous value of the torque command. Correct?T According to expression (28), replace expressions (27.1) and (27.2). 20 ? ?T=??T??sin?+?-(27.3) ? mi 2 Next, the +13 shown in Figure 1 adds to the torque correction value T that is being sent out. 25. From the glass, the torque signal is corrected to 34g and matched with the average torque value To* sent from the device. Control the speed 12 according to the expression (29) to calculate the total torque T*. T*=T*+?T(29) o ก Figures 6A, 6B, 6C, 7, and 8 are diagrams illustrating the operation of the equipment. 30. Control the first form of this disclosure. Page 19 of 26 pages. Figures 6A, 6B, and 6C show the behavior of the current vector in a 100mm motor control device. As shown in Figure 6A, in the case where the peak current value Ia*_peak is greater than the current limit value. The Ia_limit indicator shows the biting size?T is set to “open” and the torque size is adjusted??T? is limited even though. When the torque magnitude T is limited, but the peak current Ia*_peak value remains... If 5 is greater than the current limit value Ia_limit as shown in Figure 6B, the corrective torque size ??T? will be limited. Subsequently, the torque limit value (T_limit) will be reduced as a result, as shown in... Figure 6C shows the peak current value Ia*_peak, which is still the limit current value Ia_limit. In addition, Figure 7 shows the temporary change in the magnitude of the current command value Ia* and The peak current value Ia*_peak in Figure 7, the current limit value Ia_limit, is set to the correct value by... 10. Subtract the specified allowance MA from the tripping current value Ia_trip in section a11 at the control quantity. Torque is increased due to the increase in the motor load. Peak current M is the point of transmission. Peak current Ia* is the point of transmission. It will be added in section b11 next to a11. The size limit indicator?T is set to “Open” and size. The torque correction T is limited in section c11 next to b11. The size limit indicator T is set to "off". And the peak current Ia*_peak is reduced when the motor load M is decreased. 15. In Figure 8, the temporary change in the magnitude of the velocity variation ???m? has been added. In Figure 7 and Figure 8, in section a12 of the model, the torque control amount is increased when the load is increased. The motor M's peak current Ia* is increased due to the increase in volume. Torque control at this time is due to the size indicator T being set to "off", therefore the size... The velocity variation in m will be in accordance with the acceptable velocity variation value in m*. 20 in section b12 next to a12 because the peak current value Ia*_peak in section a12 is greater than the value Due to the current limit Ia_limit, the limiting indicator T will be set to “ON” and the torque size will be adjusted. The torque is limited when the torque size is adjusted. The speed variation in the torque is limited. The speed variation in the torque will not be adjusted. It conforms to the acceptable speed variation value ???m?* in section c12 following b12. The magnitude of the velocity variation ???m and the peak current value Ia*_peak will be reduced when the load is applied. 25% of the motor M is reduced in section c12 due to the acceptable speed variation value. If the magnitude of the speed variation is greater than the magnitude of the speed variation, then the limiting indicator T is set to... "Closed" and torque limitation is resolved when the torque limitation is applied. Correction??T? Released. The magnitude of the speed variation???m? will be according to the variation value. What is the acceptable speed? The first 30 forms of this disclosure are described above. Page 20 of 26 pages. [Second format] ก Figure 9 is a diagram showing an example of the appearance of a motor control device in this configuration. These two revelations... The 5 motor control devices shown in Figure 9 consist of a torque limiter. Amendment 39 replaces the torque converter amended in Amendment 38, which was included in the motor control device 100. Shown in Figure 1, in the motor control device 100 shown in Figure 1, the axial current value dId*. And the current transmission value qIq* that is sent from the current transmission value calculator 14 will be sent to the... The value is generated from the torque converter 38, or alternatively, in the motor control device 200 shown in Figure 9. 10. The axial current values ​​dId* and qIq* are transmitted from the u,v,w / dq converter. 29 The high torque value is adjusted by modifying the torque limit to 39. Figure 10 is a diagram showing an example of the appearance of a torque limiter adjuster. The second form of this disclosure, shown in Figure 10, involves a torque limiter adjustment device (39) consisting of... 15. Current size calculation (39a), peak retention calculator (39b), subtraction calculator (39c), and limit generator. T39d The current size calculator 39a calculates the magnitude of the detected current Ia according to the expression (30). Based on the dId axis current and qIq axis current, the detected current value is output. Calculate Ia to the vertex calculation 39b. 22 20I=?I+I(30) adq The peak retention calculator 39b obtains the maximum value of the magnitude of the detected current Ia. For each specified reception period, Tm is the peak current value Ia_peak for each. The period for receiving and sending the peak current value Ia_peak to the subtractor 39c. As in the example, the specified reception period Tm corresponds to the mechanical angle M of the motor (Figure 11). 25 is a diagram illustrating the working example of the vertex retention calculator of the second form. Of this disclosure. As shown in Figure 11, the vertex hold calculator 39b compares the magnitudes of the current values. The change in Ia with the passage of time is detected by the temporary current peak value. Ia_peak_temp(The peak temperature of the current Ia that changes as it passes through.) 30 of the time in the time period for receiving the target Tm) according to the expression (31) in the time period for receiving Tm1 (phase The mechanical angle (m=0 to 2) and the temporary peak current value (Ia_peak_temp) are adjusted accordingly. Page 21 of 26 pages. The magnitude of the detected current Ia increases when the magnitude of the detected current Ia starts to exceed the peak value. Current around Ia_peak_temp I Figures 12A, 12B, 12C, 13, 14, and 15 are flowcharts used to illustrate examples of work processes. The components of the second form of this disclosure are as follows: Figures 12A, 12B, and 12C show the behavior of current vectors in a motor control device. 200 as shown in Figure 12A, in the case where the peak current value Ia_peak is greater than the current limit value. The Ia_limit indicator shows the biting size?T is set to “open” and the torque size is adjusted??T? is limited even though. 20. When the corrected torque size T is limited, but the peak current value Ia_peak still exceeds the value... From the current limit Ia_limit as shown in Figure 12B, the correction torque size ??T? will be set next and The torque correction value (T_limit) will be reduced as a result, as shown in Figure 12C. The peak current point (Ia_peak) is still the value from the current limit (Ia_limit). In addition, Figure 13 shows the temporary change in the magnitude of the current transmission value Ia and 25. The peak current value Ia_peak in Figure 13, from the current limit Ia_limit, is set to the correct value by... Subtract the specified allowance MA from the tripping current value Ia_trip in section a21 at the control quantity. Torque is increased due to the increase in the motor load M; the peak current value Ia_peak will be... Increased in section b21, following a21, the limiting indicator?T is set to “open” and the torque size is adjusted. The limit indicator T is set to “off” and the peak value is in section c21, next to b21. The peak current (Ia) is reduced when the motor load (M) is decreased. Page 24 of 26 pages. In Figure 14, the temporary change in the magnitude of the velocity variation ???m? has been added. In Figure 13 and Figure 14, in section a22 of the model, the torque control amount is increased when the load is applied. As the motor's current M increases, the peak current value Ia_peak increases due to the increase in volume. Torque control at this time is due to the limiting indicator T being set to “off”, therefore the variable step 5. The velocity variation in 'm' will be in accordance with the acceptable velocity variation value in 'm'*. Section b22 follows a22 because the peak current value Ia_peak in section a22 is greater than the current limit value. Ia_limit indicates that the torque limiter T will be set to “ON” and the torque adjustment size T will be limited. When the torque magnitude T is limited, the speed variation m will not follow the specified value. The acceptable speed variation in part c22 following b22, the magnitude of the variation. The speed (m) and peak current (Ia_peak) of the motor (M) will decrease as the motor load (M) is reduced. In section c22, because the acceptable speed variation value ???m?* is greater than the magnitude of the... Variable speed???m? The indicator size limit?T is set to “off” and the size limit is restricted. The correction torque T is released when the limitation of the correction torque T is released. The magnitude of the velocity variation in m will be within the acceptable velocity variation value. 15???m?* Figure 15 shows an example of current limiting operation in the first form, and Figure 16 shows... An example of current limiting operation in the second form is shown in Figure 15, which provides a comparative example above. The basis for the presence or absence of current interference signal in cases where limitation is applied by a command value. Similar trends are illustrated in the first model and Figure 16, which provides comparative examples based on existence. 20. Or the absence of current interference in cases where limitation is applied by the detected current value. The same applies to the second form. In the first model, the indicator determines the size of the sample? The basic result of the comparison between... The peak current transmission value Ia*_peak is calculated based on the current transmission value dId* and the command value. The axial current qIq* and the current limit value Ia_limit are as shown in Figure 15 in the case where the value 25. The current limit Ia_limit is not appropriate; the current limiting value Ia* may reach the current tripping value Ia_trip. When the noise component of the current is detected, it is necessary to avoid the magnitude of the command value. The current Ia* from reaching the trip current value Ia_trip, adjustments such as reducing the value from the trip current value Ia_limit. It is something that needs to be built. Alternatively, in the second model, the limiting indicator T is based on the results of... 30. Compare the detected peak current value (Ia_peak) with the one calculated based on the axial current. Page 25 of 26 pages. The currents dId and qIq, and the current limit Ia_limit, result in the second form as follows: As shown in Figure 16, although in the case of noise in the magnitude of the detected current Ia, because... The control condition, but current limiting, will be applied to the detected current, therefore the current limiting value. Ia_limit can be used regardless of the presence or absence of noise; therefore, 5. Since there is no need to adjust the current limit value Ia_limit compared to the current trip value Ia_trip. Therefore, it is possible to reduce the number of settings for adjusting the current limit Ia_limit. The second form of this disclosure is described above. As described above, the motor control device (motor control device 100) The first form of this disclosure consists of a current command calculator (command calculator). 10 currents (14 of the first pattern) and torque converter (torque converter 38). (For the first form) Current command calculation (current command value qIq*) and the axial current value dId*) based on the total torque value (total torque value). T* of the first form) is obtained by adding the average torque value (average torque value To* of The first model) is constructed based on a velocity command value (mechanical angular velocity command value?m*). 15 of the first form) and the motor speed (approximate mechanical angular velocity?m) (Format one) and the corrected torque value (Corrected torque value?T of Format one) for Editing torque limiter, torque limiter creator, edit torque limit, edit when torque value is set. The corrected torque is not zero and the maximum value of the current (peak current value Ia*_peak) Form one) Equal to or greater than the specified current limit (current limit value Ia_limit). 20. Pattern one) When the torque value is limited in this configuration, the current is cut off due to an increase in the value. The torque correction can be prevented and therefore it is possible to operate stably. The motor is not stopped by a trigger; it operates under overcurrent protection. Torque converter value creation (Torque converter value creation 39 of the second form) from the limit. 25. Torque correction value when the torque correction value is not zero and the maximum current value (axial current). The dId and qIq axial currents of the motor (peak current Ia of the second form) are equal to... Or greater than the value from the specified current limit (the current limit value Ia_limit of the second form). Even when the torque setting is corrected from the limit in this form, the current is cut off due to the increase in The torque correction value can be prevented, and therefore it will be possible to operate stably. 30 A motor without stopping the motor by stimulating the operation of the overcurrent protection section. Furthermore, it should be noted that the noise level of the motor's current magnitude will vary accordingly. Page 26 of 26 pages. Control conditions with the same current limit can be used, and therefore adjustments are not required. This is necessary for setting the current limit relative to the cutoff current value. In the additional section, the torque limiter creator modifies and releases the torque limit of the torque command value. Correction when the motor rotational speed variation range (magnitude of speed variation) 5???m? (of the first and second forms) is less than the acceptable value (velocity variation value). It is possible to accept the first and second forms of combat. This design makes it possible to prevent torque restriction from occurring. In addition, the torque limiter generator will be used as a current limiter with a lower value. The starting current value (the tripping current value Ia_trip for the first and second models) is a specified value (tolerance). 10MA (of the first and second models) where the motor overcurrent protection function is stimulated. In this way, it is possible to reliably prevent power cuts due to increases in... Torque correction value The best way to invent something. As stated in the section on complete disclosure of the invention. 15

Description

Motor control device

[0001] The present disclosure relates to a motor control device.

[0002] In compressors used in air conditioners, the load torque fluctuates periodically during one rotation of the rotor of the motor that drives the compressor. This periodic load torque fluctuation occurs due to changes in refrigerant gas pressure between the suction, compression, and discharge strokes, and causes motor vibration due to fluctuations in the motor's rotational speed (hereinafter sometimes simply referred to as "speed fluctuations"). When using a compressor that generates such load torque fluctuations, "torque control (periodic disturbance suppression control)" is performed to suppress the fluctuations in the motor's rotational speed (hereinafter sometimes referred to as "speed fluctuations").

[0003] Japanese Patent Application Laid-Open No. 2019-118217

[0004] However, when a motor's inertia (moment of inertia) is small, speed fluctuations become large, resulting in an increase in the current required for torque control to suppress speed fluctuations. Furthermore, even when the motor's flux linkage is small, the output torque relative to the current is small, resulting in an increase in the current required for torque control to suppress speed fluctuations. For this reason, when torque control is performed under overload conditions on a motor with low inertia or low flux linkage, the motor's peak current may become excessive. When the motor's peak current becomes excessive, the overcurrent protection function, which prevents the motor from demagnetizing, is activated, causing the motor to stop. This motor stoppage due to activation of the overcurrent protection function is sometimes called a "current trip."

[0005] Therefore, the present disclosure proposes a technique that allows a motor to operate stably without stopping due to activation of an overcurrent protection function.

[0006] The motor control device of the present disclosure includes a current command value calculator and a correction torque limit value generator. The current command value calculator calculates a current command value based on a total correction torque command value obtained by adding an average torque command value generated based on a speed command value and a motor speed to a correction torque command value for correcting the torque command value. The correction torque limit value generator limits the correction torque command value when the correction torque command value is not zero and the maximum value of the motor current is equal to or greater than a predetermined current limit value.

[0007] According to the present disclosure, it is possible to operate a motor stably without stopping the motor due to activation of an overcurrent protection function.

[0008] FIG. 1 is a diagram illustrating an example configuration of a motor control device according to a first embodiment of the present disclosure. FIG. 2 is a diagram illustrating an example configuration of a current error correction value generator according to the first embodiment of the present disclosure. FIG. 3 is a diagram illustrating an example configuration of a correction torque limit value generator according to the first embodiment of the present disclosure. FIG. 4 is a diagram illustrating an example operation of a peak hold calculator according to the first embodiment of the present disclosure. FIG. 5 is a diagram illustrating an example configuration of a correction torque generator according to the first embodiment of the present disclosure. FIG. 6A is a diagram illustrating an example operation of a motor control device according to the first embodiment of the present disclosure. FIG. 6B is a diagram illustrating an example operation of a motor control device according to the first embodiment of the present disclosure. FIG. 6C is a diagram illustrating an example operation of a motor control device according to the first embodiment of the present disclosure. FIG. 7 is a diagram illustrating an example operation of a motor control device according to the first embodiment of the present disclosure. FIG. 8 is a diagram illustrating an example operation of a motor control device according to the first embodiment of the present disclosure. FIG. 9 is a diagram illustrating an example configuration of a motor control device according to a second embodiment of the present disclosure. FIG. 10 is a diagram illustrating an example configuration of a correction torque limit value generator according to the second embodiment of the present disclosure. FIG. 11 is a diagram illustrating an example of operation of a peak hold calculator according to the second embodiment of the present disclosure. FIG. 12A is a diagram illustrating an example of operation of a motor control device according to the second embodiment of the present disclosure. FIG. 12B is a diagram illustrating an example of operation of a motor control device according to the second embodiment of the present disclosure. FIG. 12C is a diagram illustrating an example of operation of a motor control device according to the second embodiment of the present disclosure. FIG. 13 is a diagram illustrating an example of operation of a motor control device according to the second embodiment of the present disclosure. FIG. 14 is a diagram illustrating an example of operation of a motor control device according to the second embodiment of the present disclosure. FIG. 15 is a diagram illustrating an example of current limit operation according to the first embodiment of the present disclosure. FIG. 16 is a diagram illustrating an example of current limit operation according to the second embodiment of the present disclosure.

[0009] Hereinafter, embodiments of the present disclosure will be described with reference to the drawings. In the following embodiments, the same components are designated by the same reference numerals.

[0010] This disclosure will describe, as an example, a motor control device that uses position sensorless vector control to control the torque of a permanent magnet synchronous motor (PMSM) that drives a compressor that has periodic load torque fluctuations. However, the disclosed technology is widely applicable to motor control devices that perform torque control of a motor that drives a compressor that has periodic load torque fluctuations.

[0011] [First Embodiment] <Configuration of Motor Control Device> Fig. 1 is a diagram illustrating an example configuration of a motor control device according to a first embodiment of the present disclosure. In Fig. 1, a motor control device 100 includes subtractors 11, 18, 19, and 40, a speed controller 12, adders 13, 16, 17, 21, and 22, a current command value calculator 14, a voltage command value calculator 20, a d-q / u, v, w converter 23, a PWM (Pulse Width Modulation) modulator 24, and an IPM (Intelligent Power Module) 25. The IPM 25 is connected to a motor M. An example of the motor M is a PMSM.

[0012] The motor control device 100 also has a shunt resistor 26, current sensors 27a and 27b, and a 3φ current calculator 28. It is sufficient for the motor control device 100 to have either the shunt resistor 26 or the current sensors 27a and 27b.

[0013] The motor control device 100 also has a u, v, w / dq converter 29, an axis error calculator 30, a PLL (Phase Locked Loop) controller 31, a position estimator 32, a 1 / Pn processor 33, a correction torque generator 34, IIR filters (Infinite Impulse Response Filters) 35a and 35b, a decoupling controller 36, a current error correction value generator 37, and a correction torque limit value generator 38.

[0014] The subtractor 11 subtracts the mechanical angular velocity command value ωm input to the motor control device 100 from an external device (e.g., a higher-level controller) outside the motor control device 100. ＊The angular velocity error Δω is calculated by subtracting the estimated mechanical angular velocity ωm, which is the current estimated angular velocity output from the 1 / Pn processor 33, from the angular velocity error Δω.

[0015] The speed controller 12 calculates an average torque command value To such that the average of the angular velocity error Δω output from the subtractor 11 approaches zero. ＊ Generate.

[0016] The adder 13 calculates the average torque command value To output from the speed controller 12. ＊ and the correction torque command value ΔT output from the correction torque generator 34 to obtain a total torque command value T ＊ Calculate.

[0017] The current command value calculator 14 calculates the total torque command value T ＊ Based on the intersection of the constant torque curve and the MTPI (maximum torque / current control) curve, the q-axis current command value Iq ＊ and the d-axis current command value Id ＊ Calculate.

[0018] Here, the intersection of the constant torque curve and the MTPI curve can be calculated, for example, using the motor torque equation shown in Equation (1) and Equation (2) which shows the relationship between the d-axis current Id and the q-axis current Iq on the MTPI curve. On the right-hand side of Equation (1), the first term represents the magnet torque, and the second term represents the reluctance torque. The magnet torque includes only the q-axis current Iq, while the reluctance torque includes both the q-axis current Iq and the d-axis current Id. Therefore, by appropriately controlling the q-axis current Iq and the d-axis current Id, it is possible to generate an appropriate torque in the motor M. In Equations (1) and (2), "Pn" represents the number of pole pairs of the motor M, "Ψa" represents the flux linkage of the motor M, "Ld" represents the d-axis inductance of the motor M, and "Lq" represents the q-axis inductance of the motor M.

[0019] By eliminating the d-axis current Id from equations (1) and (2), equation (3), which is a quartic equation related to the q-axis current Iq, can be obtained.

[0020] The quartic equation shown in equation (3) can be calculated by using, for example, the Newton method, to obtain the total torque command value T ＊ The q-axis current command value Iq at the intersection of the constant torque curve and the MTPI curve ＊ Furthermore, the current command value calculator 14 calculates the q-axis current command value Iq ＊ Based on this, the d-axis current command value Id is calculated according to equation (2). ＊ Calculate.

[0021] In FIG. 1, an adder 17 calculates the q-axis current command value Iq output from the current command value calculator 14 in accordance with equation (4.1). ＊ and the q-axis current error correction value ΔIq output from the current error correction value generator 37 to obtain the q-axis current correction command value Iq_FF ＊ The adder 16 calculates the d-axis current command value Id output from the current command value calculator 14 according to equation (4.2). ＊ and the d-axis current error correction value ΔId output from the current error correction value generator 37 to obtain the d-axis current correction command value Id_FF ＊ Calculate.

[0022] The subtractor 19 subtracts the q-axis current correction command value Iq_FF output from the adder 17. ＊ The q-axis current correction command value Iq_FF is obtained by subtracting the q-axis current Iq output from the u, v, w / dq converter 29 from the ＊ The subtractor 18 calculates a q-axis current error Iq_diff, which is the error between the d-axis current correction command value Id_FF output from the adder 16. ＊ The d-axis current correction command value Id_FF is obtained by subtracting the d-axis current Id output from the u, v, w / dq converter 29 from the ＊ and the d-axis current Id, a d-axis current error Id_diff is calculated.

[0023] The voltage command value calculator 20 calculates the q-axis current error Iq_diff (Iq_FF ＊The voltage command value calculator 20 calculates the pre-decoupling q-axis voltage command value Vqt by performing PI (Proportional Integral) control based on the d-axis current error Id_diff (Id_FF) in accordance with equation (5.2). ＊ The pre-decoupling d-axis voltage command value Vdt is calculated by performing PI control based on the equation (5.1) and the equation (5.2) respectively. Note that kp_q in equation (5.1) and kp_d in equation (5.2) are proportional constants, and ki_q in equation (5.1) and ki_d in equation (5.2) are integral constants.

[0024] The adder 22 adds the q-axis non-interference correction value Vqa expressed by the equation (6.1) to the pre-non-interference q-axis voltage command value Vqt according to the equation (6.3), thereby obtaining the q-axis voltage command value Vq ＊ The adder 21 adds the d-axis non-interference correction value Vda expressed by the formula (6.2) to the pre-non-interference d-axis voltage command value Vdt according to the formula (6.4), thereby calculating the d-axis voltage command value Vd ＊ As a result, the q-axis voltage command value Vq is calculated, in which the interference between the d and q axes is cancelled by feedforward. ＊ and d-axis voltage command value Vd ＊ is calculated.

[0025] The IIR filter 35a removes noise from the d-axis current Id output from the u,v,w / dq converter 29 and outputs the noise-removed d-axis response current Id_iir. The IIR filter 35b removes noise from the q-axis current Iq output from the u,v,w / dq converter 29 and outputs the noise-removed q-axis response current Iq_iir. The IIR filters 35a and 35b are examples of noise removal filters.

[0026] The decoupling controller 36 receives the electrical angular velocity command value ωe from an external device (e.g., a higher-level controller) of the motor control device 100. ＊ and the q-axis response current Iq_iir, in accordance with equation (6.2), the decoupling controller 36 generates a d-axis decoupling correction value Vda for correcting the pre-decoupling d-axis voltage command value Vdt. ＊and the d-axis response current Id_iir, a q-axis decoupling correction value Vqa for correcting the pre-decoupling q-axis voltage command value Vqt is generated according to equation (6.1). The d-axis decoupling correction value Vda and the q-axis decoupling correction value Vqa are correction values ​​for canceling the interference term between the d and q axes in a feedforward manner. Here, in order to achieve stable control, it is desirable that the decoupling correction value be a DC value. For this reason, when generating the decoupling correction value, the electrical angular velocity command value ωe is used for the speed. ＊ are used, and for the d-axis current Id and the q-axis current Iq, the d-axis response current Id_iir and the q-axis response current Iq_iir from which fluctuation components have been removed by the IIR filters 35a and 35b are used.

[0027] The current error correction value generator 37 calculates the d-axis current command value Id ＊ and the q-axis current command value Iq ＊ Based on the d-axis current Id and q-axis current Iq output from the u, v, w / d-q converter 29 and the mechanical angle phase θm output from the position estimator 32, a d-axis current error correction value ΔId and a q-axis current error correction value ΔIq are generated.

[0028] The current error correction value generator 37 integrates fluctuation errors (phase errors and amplitude errors) that occur when the d-axis and q-axis currents are unable to follow the current command values ​​due to a response delay of the current command value calculator 14 and interference between the d- and q-axes, and generates the inverted output of the integrated value as current error correction values ​​(d-axis current error correction value ΔId and q-axis current error correction value ΔIq). ＊ and the d-axis current Id, and the q-axis current error correction value ΔIq is a feedforward component for correcting the fluctuation error between the q-axis current command value Iq ＊ and the q-axis current Iq.

[0029] The d-q / u, v, w converter 23 converts the two-phase d-axis voltage command values ​​Vd ＊ and the q-axis voltage command value Vq ＊ is calculated based on the electrical angle phase (dq axis phase) θe output from the position estimator 32. ＊, V-phase output voltage command value Vv ＊ and W-phase output voltage command value Vw ＊ The electrical angle phase θe output from the position estimator 32 indicates the current rotor position of the motor M.

[0030] The PWM modulator 24 outputs a U-phase output voltage command value Vu ＊ , V-phase output voltage command value Vv ＊ , W-phase output voltage command value Vw ＊ and the PWM carrier signal, and outputs the generated six-phase PWM signals to the IPM 25.

[0031] Based on the six-phase PWM signal output from the PWM modulator 24, the IPM 25 converts the DC voltage Vdc supplied from the outside to generate AC voltages to be applied to the U, V, and W phases of the motor M, and applies the generated AC voltages to the U, V, and W phases of the motor M.

[0032] When the bus current is detected by the one-shunt method using shunt resistor 26, 3φ current calculator 28 calculates a U-phase current value Iu, a V-phase current value Iv, and a W-phase current value Iw of motor M from the six-phase PWM switching information output from PWM modulator 24 and the detected bus current. Alternatively, when U-phase current and V-phase current are detected by current sensors 27a and 27b, 3φ current calculator 28 calculates the remaining W-phase current value Iw based on Kirchhoff's law of "Iu + Iv + Iw = 0." 3φ current calculator 28 outputs the phase current values ​​Iu, Iv, and Iw of each phase to u, v, w / d-q converter 29.

[0033] The u, v, w / d-q converter 29 converts the three-phase U-phase current value Iu, V-phase current value Iv, and W-phase current value Iw output from the 3φ current calculator 28 into two-phase d-axis current Id and q-axis current Iq based on the electrical angle phase θe output from the position estimator 32.

[0034] The axis error calculator 30 calculates the d-axis voltage command value Vd ＊ and the q-axis voltage command value Vq ＊The d-axis current Id and the q-axis current Iq output from the u, v, w / dq converter 29 are used to calculate the axis error Δθ (the difference between the estimated rotation axis and the actual rotation axis).

[0035] The PLL controller 31 calculates an estimated electrical angular velocity ωe, which is the current estimated angular velocity of the motor M, based on the axis error Δθ output from the axis error calculator 30 .

[0036] The position estimator 32 estimates the electrical angle phase θe and the mechanical angle phase θm based on the electrical angle estimated angular velocity ωe output from the PLL controller 31 .

[0037] The 1 / Pn processor 33 calculates an estimated mechanical angle angular velocity ωm by dividing the estimated electrical angle angular velocity ωe output from the PLL controller 31 by the number Pn of pole pairs of the motor M.

[0038] The subtractor 40 subtracts the mechanical angular velocity command value ωm from the estimated mechanical angular velocity ωm output from the 1 / Pn processor 33. ＊ is subtracted to calculate the estimated mechanical angle angular velocity fluctuation Δωm.

[0039] The correction torque generator 34 calculates the speed fluctuation tolerance |Δωm|, which is the speed fluctuation range within which vibration of the motor M is tolerable. ＊ Based on the estimated mechanical angle angular velocity fluctuation Δωm output from the subtractor 40 and the mechanical angle phase θm output from the position estimator 32, the estimated mechanical angle angular velocity fluctuation Δωm, which is a periodic velocity fluctuation, is calculated as a velocity fluctuation allowable value |Δωm| ＊ A correction torque command value ΔT is generated to suppress the speed fluctuation to the following value. ＊ is stored in the motor control device 100. The mechanical angle estimated angular velocity fluctuation (speed fluctuation) Δωm differs from the value of the angular velocity error Δω only in positive or negative sign.

[0040] The correction torque limit value generator 38 calculates the current limit value Ia_limit and the d-axis current command value Id output from the current command value calculator 14. ＊ , q-axis current command value Iq ＊ Based on the above, a correction torque limit value |ΔT|_limit is generated that limits the correction torque amplitude |ΔT|, which is the amplitude of the correction torque command value ΔT.

[0041] 2 is a diagram illustrating an example of the configuration of the current error correction value generator according to the first embodiment of the present disclosure. In FIG. 2, the current error correction value generator 37 includes subtractors 37a and 37e, a q-axis current error component separator 37b, a q-axis current error integrator 37c, a q-axis current error correction value demodulator 37d, a d-axis current error component separator 37f, a d-axis current error integrator 37g, and a d-axis current error correction value demodulator 37h.

[0042] The subtractor 37a calculates the q-axis current Iq and the q-axis current command value Iq according to the equation (7). ＊ The q-axis current fluctuation error Iq_err, which is the error between

[0043] The q-axis current error component separator 37b calculates two Fourier coefficients Iq_err_sin (sin component) and Iq_err_cos (cos component), which are the fundamental wave components of the q-axis current fluctuation error Iq_err, for each mechanical angle period according to equations (8.1) and (8.2).

[0044] The q-axis current error integrator 37c multiplies each of the sine component Iq_err_sin of the q-axis current fluctuation error Iq_err and the cosine component Iq_err_cos of the q-axis current fluctuation error Iq_err by a correction gain k in accordance with equations (9.1) and (9.2), and adds the respective multiplication results to Iq_err_sin_i_old and Iq_err_cos_i_old. Iq_err_sin_i in equation (9.1) is the integral value of Iq_err_sin up to the current mechanical angle cycle, and Iq_err_cos_i in equation (9.2) is the integral value of Iq_err_cos up to the current mechanical angle cycle. Furthermore, Iq_err_sin_i_old in equation (9.1) is Iq_err_sin_i up to the previous mechanical angle period, and Iq_err_cos_i_old in equation (9.2) is Iq_err_cos_i up to the previous mechanical angle period.

[0045] The q-axis current error correction value demodulator 37d calculates the q-axis current error correction value ΔIq according to equations (10.1) and (10.2), thereby inverting the phase of the q-axis current fluctuation error and calculating the instantaneous value of the q-axis current error correction value ΔIq at the mechanical angle phase θm.

[0046] The subtractor 37e subtracts the d-axis current Id from the d-axis current command value Id according to equation (11). ＊ The d-axis current fluctuation error Id_err is calculated as the error between the

[0047] The d-axis current error component separator 37f calculates two Fourier coefficients Id_err_sin (sin component) and Id_err_cos (cos component), which are the fundamental wave components of the d-axis current fluctuation error Id_err, for each mechanical angle period according to equations (12.1) and (12.2).

[0048] The d-axis current error integrator 37g multiplies each of the sine component Id_err_sin of the d-axis current fluctuation error Id_err and the cosine component Id_err_cos of the d-axis current fluctuation error Id_err by a correction gain k in accordance with equations (13.1) and (13.2), and adds Id_err_sin_i_old and Id_err_cos_i_old to the respective multiplication results. Id_err_sin_i in equation (13.1) is the integral value of Id_err_sin up to the current mechanical angle cycle, and Id_err_cos_i in equation (13.2) is the integral value of Id_err_cos in the current mechanical angle cycle. Furthermore, Id_err_sin_i_old in equation (13.1) is Id_err_sin_i up to the previous mechanical angle cycle, and Id_err_cos_i_old in equation (13.2) is Id_err_cos_i in the previous mechanical angle cycle.

[0049] The d-axis current error correction value demodulator 37h calculates the d-axis current error correction value ΔId according to equations (14.1) and (14.2), thereby inverting the phase of the d-axis current fluctuation error and generating the instantaneous value of the d-axis current error correction value ΔId at the mechanical angle phase θm.

[0050] <Configuration of Correction Torque Limit Value Generator> Fig. 3 is a diagram illustrating an example configuration of the correction torque limit value generator according to the first embodiment of the present disclosure. In Fig. 3, the correction torque limit value generator 38 includes a current amplitude calculator 38a, a peak hold calculator 38b, a subtractor 38c, and a ΔT limit value generator 38d.

[0051] The current amplitude calculator 38a calculates the d-axis current command value Id ＊ and the q-axis current command value Iq ＊ Based on this, the current command value amplitude Ia ＊ is calculated, and the calculated current command value amplitude Ia ＊ is output to the peak hold calculator 38b.

[0052] The peak hold calculator 38b calculates the current command value amplitude Ia ＊ The maximum value of the current command peak value Ia ＊ _peak, and the acquired current command peak value Ia ＊ _peak to the subtractor 38c. For example, the predetermined acquisition period Tm corresponds to the mechanical angle period of the motor M.

[0053] FIG. 4 is a diagram illustrating an example of the operation of the peak hold calculator according to the first embodiment of the present disclosure.

[0054] As shown in FIG. 4, the peak hold calculator 38b calculates the current command value amplitude Ia that changes over time in accordance with equation (16) during the acquisition period Tm1 (mechanical angle phase θm=0 to 2π). ＊ and the tentative current command peak value Ia ＊ _peak_temp (current command value amplitude Ia that changes over time during the target acquisition period Tm) ＊ The current command amplitude Ia ＊ is the tentative current command peak value Ia ＊ When the temporary current command peak value Ia becomes larger than _peak_temp, ＊ _peak_temp is the current command value amplitude Ia ＊ Update by.

[0055] Furthermore, at the end of the acquisition period Tm1, the peak hold calculator 38b calculates the tentative current command peak value Ia ＊ _peak_temp is the current command peak value Ia ＊ _peak, and the tentative current command peak value Ia ＊ _peak_temp is initialized to zero. That is, the tentative current command peak value Ia ＊ _peak_temp is the current command peak value Ia ＊ _peak.

[0056] As shown in FIG. 4, the peak hold calculator 38b calculates the current command value amplitude Ia that changes over time in accordance with the equation (16) during the acquisition period Tm2 (mechanical angle phase θm=2π to 4π). ＊ and the tentative current command peak value Ia ＊ _peak_temp and the current command amplitude Ia ＊ is the tentative current command peak value Ia ＊ When the temporary current command peak value Ia becomes larger than _peak_temp, ＊ _peak_temp is the current command value amplitude Ia ＊ That is, in the acquisition period Tm2, ​​as in the acquisition period Tm1, the current command value amplitude Ia ＊ The provisional current command peak value Ia ＊ _peak_temp is updated.

[0057] Furthermore, at the end of the acquisition period Tm2, ​​the peak hold calculator 38b calculates the tentative current command peak value Ia ＊ _peak_temp is the current command peak value Ia ＊ _peak, and the tentative current command peak value Ia ＊ _peak_temp is initialized to zero. That is, the tentative current command peak value Ia ＊_peak_temp is the current command peak value Ia ＊ _peak.

[0058] In each acquisition period Tm after acquisition period Tm3 (mechanical angle phase θm=4π to 6π), the peak hold calculator 38b operates in the same manner as described above.

[0059] In FIG. 3, the subtractor 38c subtracts the current command peak value Ia ＊ By subtracting a predetermined current limit value Ia_limit from the current limit value Ia_peak, the current command peak value Ia for the current limit value Ia_limit is calculated according to the equation (19). ＊ _peak deviation Ia ＊ The predetermined current limit value Ia_limit is preferably set as a value obtained by subtracting a predetermined margin MA from a current trip value Ia_trip, which is a current threshold at which the overcurrent protection function of the motor M is activated.

[0060] Here, as the correction torque command value ΔT increases, the current peak value also increases, which may lead to a current trip of the motor M. Therefore, the ΔT limit value generator 38d generates the correction torque limit value |ΔT|_limit in accordance with the ΔT amplitude limit flag set as follows, so as to prevent the motor M from reaching a current trip. When the ΔT amplitude limit flag is set to "on", a limit is imposed on the correction torque command value ΔT, and when the ΔT amplitude limit flag is set to "off", no limit is imposed on the correction torque command value ΔT.

[0061] The ΔT limit value generator 38d is configured to generate a correction torque command value ΔT when the correction torque command value ΔT output from the correction torque generator 34 is not 0 (zero) (i.e., when torque control is being executed) and the deviation Ia ＊ When _err is a positive value, the ΔT amplitude limit flag is set to "ON." That is, the ΔT limit value generator 38d sets the ΔT amplitude limit flag to "ON" when "ΔT≠0" and "Ia ＊ When "ΔT≠0" and "Ia_err≧0", the ΔT amplitude limit flag is set to "ON". ＊When _err≧0″, it corresponds to the case where it is desired to impose a limit on the correction torque command value ΔT so that the motor M does not reach a current trip.

[0062] On the other hand, the ΔT limit value generator 38d sets the ΔT amplitude limit flag to "OFF" when there is no need to impose a limit on the correction torque command value ΔT. ＊ If the ΔT amplitude limit flag is set to "OFF" when _err is a negative value, there is a possibility that a limit is imposed on the correction torque command value ΔT and the limit imposed on the correction torque command value ΔT is released repeatedly in a short cycle (hereinafter, this may be referred to as "torque limit hunting"). In other words, if the ΔT amplitude limit flag is set to "OFF", the speed fluctuation amplitude |Δωm| ＊ If it is larger, the correction torque command value ΔT is controlled to be larger, and therefore it becomes necessary to again impose a limit on the correction torque command value ΔT to prevent a current trip from occurring.

[0063] Therefore, the ΔT limit value generator 38d calculates the speed fluctuation amplitude |Δωm| as the speed fluctuation allowable value |Δωm| ＊ When it is smaller than |Δωm|, that is, when |Δωm|<|Δωm| ＊ When "ΔT amplitude limit flag" is set to "OFF".

[0064] After setting the ΔT amplitude limit flag, the ΔT limit value generator 38d generates the correction torque limit value |ΔT|_limit in accordance with the ΔT amplitude limit flag.

[0065] When the ΔT amplitude limit flag is set to "ON" as described above, the ΔT limit value generator 38d calculates the corrected torque amplitude |ΔT| in the previous mechanical angle period, |ΔT|_old, and the deviation Ia ＊ Based on the deviation Ia and the torque limit value |ΔT|_limit, a correction torque limit value |ΔT|_limit is generated according to the equation (20). ＊In other words, when the ΔT amplitude limit flag is "ON", the ΔT limit value generator 38d performs integral control using the corrected torque amplitude |ΔT|_old of the previous mechanical angle period as an integral term. By doing so, when the motor M is about to reach a current trip, the deviation Ia ＊ Since |ΔT|_limit becomes a positive value, the corrected torque limit value |ΔT|_limit decreases, and the current command value amplitude Ia ＊ decreases.

[0066] On the other hand, when the ΔT amplitude limit flag is set to "OFF" as described above, the ΔT limit value generator 38d sets the correction torque limit value |ΔT|_limit to a large value that does not impose a limit on the correction torque command value ΔT. For example, the ΔT limit value generator 38d calculates the average torque command value To in accordance with equation (21). ＊ The corrected torque limit value |ΔT|_limit is set to three times the average torque command value To ＊ By setting a large value three times larger than the above as the correction torque limit value |ΔT|_limit, there is essentially no limit imposed on the correction torque command value ΔT.

[0067] The ΔT limit value generator 38 d outputs the correction torque limit value |ΔT|_limit generated as described above to the correction torque generator 34 .

[0068] <Configuration of Correction Torque Generator> Fig. 5 is a diagram illustrating an example configuration of the correction torque generator according to the first embodiment of the present disclosure. In Fig. 5, the correction torque generator 34 includes a speed fluctuation component separator 34a, a speed fluctuation amplitude calculator 34b, a subtractor 34c, a correction torque amplitude calculator 34d, a speed fluctuation phase corrector 34e, an orthogonal component separator 34f, a correction torque demodulator 34g, and a correction torque amplitude limiter 34h.

[0069] 5 , the speed fluctuation component separator 34a separates the mechanical angle estimated angular velocity fluctuation Δωm into two Fourier coefficients ωsin (sin component) and ωcos (cos component), which are fundamental wave components of Δωm, for each mechanical angle cycle based on the mechanical angle phase θm, in accordance with equations (22.1) and (22.2). By calculating the Fourier coefficient of the fundamental wave component of the mechanical angle estimated angular velocity fluctuation Δωm for each mechanical angle cycle, harmonic components of the mechanical angle estimated angular velocity fluctuation Δωm are removed, making it possible to extract the fundamental wave component of the mechanical angle estimated angular velocity fluctuation Δωm with high accuracy. ωsin and ωcos are values ​​that are updated for each mechanical angle cycle.

[0070] The speed fluctuation amplitude calculator 34b calculates the speed fluctuation amplitude |Δωm| based on the Fourier coefficients ωsin and ωcos in accordance with equation (23). Because ωsin and ωcos are values ​​that are updated every mechanical angle period, the speed fluctuation amplitude |Δωm| is also updated every mechanical angle period.

[0071] The subtractor 34c subtracts the speed fluctuation allowable value |Δωm| from the speed fluctuation amplitude |Δωm| output from the speed fluctuation amplitude calculator 34b. ＊ The speed fluctuation error |Δωm|err is calculated by subtracting the speed fluctuation tolerance |Δωm| ＊ defines the speed fluctuation amplitude |Δωm| within the allowable range of vibration of the motor M.

[0072] The correction torque amplitude calculator 34d calculates the speed fluctuation amplitude |Δωm| and the speed fluctuation allowable value |Δωm| ＊ For example, the correction torque amplitude calculator 34d calculates the speed fluctuation amplitude |Δωm| and the speed fluctuation allowable value |Δωm| according to the equation (24). ＊ The speed fluctuation error |Δωm|err, which is the error between |Δωm| and |Δωm|, is multiplied by the correction gain k, and the result of the multiplication is added to |ΔT|_old to calculate the corrected torque amplitude |ΔT|. |ΔT|_old in equation (24) is the corrected torque amplitude |ΔT| in the previous mechanical angle period. By appropriately setting the correction gain k, the speed fluctuation |Δω| can be adjusted to fall within the speed fluctuation allowable value |Δωm| ＊When the speed fluctuation |Δω| exceeds the speed fluctuation tolerance |Δωm| due to a sudden change in load torque, hunting occurs at the boundary of ＊ This can prevent the vibration from occurring.

[0073] When the correction torque amplitude |ΔT| output from the correction torque amplitude calculator 34d is greater than the correction torque limit value |ΔT|_limit output from the correction torque limit value generator 38, the correction torque amplitude limiter 34h rewrites the value of the correction torque amplitude |ΔT| with the correction torque limit value |ΔT|_limit and outputs the correction torque amplitude |ΔT| after being rewritten as the correction torque limit value |ΔT|_limit to the orthogonal component separator 34f. In other words, when the correction torque amplitude |ΔT| is greater than the correction torque limit value |ΔT|_limit, the value of the correction torque amplitude |ΔT| is set to the correction torque limit value |ΔT|_limit. Setting the value of the correction torque amplitude |ΔT| to the correction torque limit value |ΔT|_limit limits the amount of fluctuation in the current amplitude of the motor M, making it possible to prevent a current trip in the motor M.

[0074] On the other hand, when the correction torque amplitude |ΔT| is equal to or less than the correction torque limit value |ΔT|_limit, the correction torque amplitude limiter 34h outputs the correction torque amplitude |ΔT| output from the correction torque amplitude calculator 34d directly to the orthogonal component separator 34f.

[0075] The speed fluctuation phase corrector 34e corrects the phase of the mechanical angle estimated angular velocity fluctuation Δωm acquired for each mechanical angle cycle. For example, the speed fluctuation phase corrector 34e multiplies each of the Fourier coefficients ωsin and ωcos by a correction gain k according to equations (25.1) and (25.2), and adds ωsin_i_old and ωcos_i_old to the respective multiplication results. ωsin_i_old in equation (25.1) is ωsin_i in the previous mechanical angle cycle, and ωcos_i_old in equation (25.2) is ωcos_i in the previous mechanical angle cycle. Then, the speed fluctuation phase corrector 34e calculates the arctangent of ωsin_i and ωcos_i as the speed fluctuation corrected phase φωi according to equation (25.3). This speed fluctuation correction phase φωi becomes the phase reference when torque control is performed, and the phase delayed by π / 2 from this reference becomes the phase of the correction torque command value ΔT (correction torque phase).

[0076] The orthogonal component separator 34f calculates the sine component (ωsin_i) and cosine component (ωcos_i) of the speed fluctuation correction phase φωi according to equations (26.1) and (26.2) based on the correction torque amplitude |ΔT| output from the correction torque amplitude limiter 34h and the speed fluctuation correction phase φωi output from the speed fluctuation phase corrector 34e. This processing also serves to prevent divergence during phase correction by the calculation of equations (25.1) and (25.2).

[0077] The correction torque demodulator 34g calculates a correction torque command value ΔT in accordance with the equations (27.1) and (27.2) based on the sine component (ωsin_i) and cosine component (ωcos_i) of the speed fluctuation correction phase φωi. This process converts the speed fluctuation correction phase φωi into a correction torque phase that is delayed by π / 2, and generates an instantaneous value of the correction torque command value ΔT at the mechanical angle phase θm.

[0078] The correction torque demodulator 34g may calculate the instantaneous value of the correction torque command value ΔT according to the equation (28) instead of the equations (27.1) and (27.2).

[0079] 1 multiplies the correction torque command value ΔT output from the correction torque demodulator 34g by the average torque command value To output from the speed controller 12 in accordance with equation (29). ＊ The total torque command value T ＊ Calculate.

[0080] <Operation of Motor Control Device> FIGS. 6A, 6B, 6C, 7, and 8 are diagrams illustrating an example of operation of the motor control device according to the first embodiment of the present disclosure.

[0081] 6A, 6B, and 6C show the behavior of the current vector in the motor control device 100. As shown in FIG. 6A, the current command peak value Ia ＊ If the current command peak value Ia_peak is greater than the current limit value Ia_limit, the ΔT amplitude limit flag is set to "ON" and a limit is imposed on the corrected torque amplitude |ΔT|. Even if a limit is imposed on the corrected torque amplitude |ΔT|, as shown in FIG. 6B, the current command peak value Ia ＊ If the current command peak value Ia_peak is greater than the current limit value Ia_limit, the correction torque amplitude |ΔT| is further limited, and the correction torque limit value |ΔT|_limit becomes smaller. ＊ _peak is suppressed to the current limit value Ia_limit.

[0082] Also, in FIG. 7, the current command value amplitude Ia ＊ and the current command peak value Ia ＊ 7, the current limit value Ia_limit is set as a value obtained by subtracting a predetermined margin MA from the current trip value Ia_trip. In the section a11 where the torque control amount increases due to an increase in the load on the motor M, the current command peak value Ia ＊ In the next section b11 after the section a11, the ΔT amplitude limit flag is set to "ON" and a limit is imposed on the corrected torque amplitude |ΔT|. In the next section c11 after the section b11, the ΔT amplitude limit flag is set to "OFF" and as the load on the motor M decreases, the current command peak value Ia ＊ _peak decreases.

[0083] 8, the time change of the speed fluctuation amplitude |Δωm| is added to FIG. 7. In FIG. 8, in the section a12 where the torque control amount increases as the load of the motor M increases, the current command peak value Ia ＊ At this time, since the ΔT amplitude limit flag is "OFF", the speed fluctuation amplitude |Δωm| is equal to or less than the speed fluctuation allowable value |Δωm| ＊ In the section b12 next to the section a12, the current command peak value Ia ＊ Since the current limit value Ia_peak is greater than the current limit value Ia_limit, the ΔT amplitude limit flag is set to "ON" and a limit is imposed on the corrected torque amplitude |ΔT|. By imposing a limit on the corrected torque amplitude |ΔT|, the speed vibration amplitude |Δωm| ＊ In the section c12 next to the section b12, as the load on the motor M decreases, the speed fluctuation amplitude |Δωm| and the current command peak value Ia ＊ _peak decreases. In addition, in the section c12, the speed fluctuation tolerance |Δωm| ＊ is larger than the speed fluctuation amplitude |Δωm|, the ΔT amplitude limit flag is set to "OFF" and the limit on the corrected torque amplitude |ΔT| is released. By releasing the limit on the corrected torque amplitude |Δωm|, the speed fluctuation amplitude |Δωm| ＊ It will follow.

[0084] The first embodiment of the present disclosure has been described above.

[0085] Second Embodiment <Configuration of a Motor Control Device> FIG. 9 is a diagram illustrating an example of the configuration of a motor control device according to a second embodiment of the present disclosure.

[0086] The motor control device 200 shown in Fig. 9 has a correction torque limit value generator 39 instead of the correction torque limit value generator 38 of the motor control device 100 shown in Fig. 1. In addition, in the motor control device 100 shown in Fig. 1, the d-axis current command value Id ＊ and the q-axis current command value Iq ＊was input to the correction torque limit value generator 38, whereas in the motor control device 200 shown in FIG. 9, the d-axis current Id and the q-axis current Iq output from the u, v, w / dq converter 29 are input to the correction torque limit value generator 39.

[0087] <Configuration of Correction Torque Limit Value Generator> Fig. 10 is a diagram illustrating an example configuration of a correction torque limit value generator according to Example 2 of the present disclosure. In Fig. 10, the correction torque limit value generator 39 includes a current amplitude calculator 39a, a peak hold calculator 39b, a subtractor 39c, and a ΔT limit value generator 39d.

[0088] The current amplitude calculator 39a calculates the detected current value amplitude Ia based on the d-axis current Id and the q-axis current Iq according to equation (30), and outputs the calculated detected current value amplitude Ia to the peak hold calculator 39b.

[0089] The peak hold calculator 39b obtains, for each predetermined acquisition period Tm, the maximum value of the detected current amplitude Ia during each acquisition period Tm as a current peak value Ia_peak, and outputs the obtained current peak value Ia_peak to the subtractor 39c. For example, the predetermined acquisition period Tm corresponds to the mechanical angle period of the motor M. Fig. 11 is a diagram illustrating an example of the operation of the peak hold calculator according to the second embodiment of the present disclosure.

[0090] As shown in FIG. 11, during the acquisition period Tm1 (mechanical angle phase θm = 0 to 2π), the peak hold calculator 39b compares the detected current value amplitude Ia, which changes over time, with the provisional current peak value Ia_peak_temp (the peak hold value of the current command value amplitude Ia, which changes over time in the target acquisition period Tm), according to equation (31), and when the detected current value amplitude Ia becomes larger than the provisional current peak value Ia_peak_temp, updates the provisional current peak value Ia_peak_temp with the detected current value amplitude Ia.

[0091] Furthermore, at the end of the acquisition period Tm1, the peak hold calculator 39b sets the tentative current peak value Ia_peak_temp to the current peak value Ia_peak according to equation (32), and initializes the tentative current peak value Ia_peak_temp to zero according to equation (33). That is, the tentative current peak value Ia_peak_temp at the end of the acquisition period Tm1 is acquired as the current peak value Ia_peak in the acquisition period Tm2, ​​which is the acquisition period following the acquisition period Tm1.

[0092] 11 , during the acquisition period Tm2 (mechanical angle phase θm=2π to 4π), the peak hold calculator 39b compares the detected current value amplitude Ia, which changes over time, with the tentative current peak value Ia_peak_temp according to equation (31), and updates the tentative current peak value Ia_peak_temp with the detected current value amplitude Ia when the detected current value amplitude Ia becomes larger than the tentative current peak value Ia_peak_temp. In other words, during the acquisition period Tm2 as well, the tentative current peak value Ia_peak_temp is updated so as to constantly trace the maximum value of the detected current value amplitude Ia, just as in the acquisition period Tm1.

[0093] Furthermore, at the end of the acquisition period Tm2, ​​the peak hold calculator 39b sets the tentative current peak value Ia_peak_temp to the current peak value Ia_peak according to equation (32), and initializes the tentative current peak value Ia_peak_temp to zero according to equation (33). That is, the tentative current peak value Ia_peak_temp at the end of the acquisition period Tm2 is acquired as the current peak value Ia_peak in the acquisition period Tm3, which is the acquisition period following the acquisition period Tm2.

[0094] In each acquisition period Tm after acquisition period Tm3 (mechanical angle phase θm=4π to 6π), the peak hold calculator 39b operates in the same manner as described above.

[0095] 10, a subtractor 39c calculates the deviation Ia_err of the peak current value Ia_peak from the current limit value Ia_limit according to equation (34) by subtracting a predetermined current limit value Ia_limit from the peak current value Ia_peak. Note that the predetermined current limit value Ia_limit is preferably set as a value obtained by subtracting a predetermined margin MA from a current trip value Ia_trip, which is the current threshold at which the overcurrent protection function of the motor M is activated.

[0096] Here, as the correction torque command value ΔT increases, the current peak value also increases, which may lead to a current trip of the motor M. Therefore, the ΔT limit value generator 39d generates the correction torque limit value |ΔT|_limit in accordance with the ΔT amplitude limit flag set as follows, so as to prevent the current trip of the motor M. When the ΔT amplitude limit flag is set to "on", a limit is imposed on the correction torque command value ΔT, and when the ΔT amplitude limit flag is set to "off", no limit is imposed on the correction torque command value ΔT.

[0097] The ΔT limit value generator 39d sets the ΔT amplitude limit flag to "on" when the correction torque command value ΔT output from the correction torque generator 34 is not 0 (zero) (i.e., when torque control is being executed) and when the deviation Ia_err is a positive value. In other words, the ΔT limit value generator 39d sets the ΔT amplitude limit flag to "on" when "ΔT ≠ 0" and "Ia_err ≧ 0". When "ΔT ≠ 0" and "Ia_err ≧ 0", this corresponds to a case where it is desired to impose a limit on the correction torque command value ΔT so that the motor M does not reach a current trip.

[0098] On the other hand, the ΔT limit value generator 39d sets the ΔT amplitude limit flag to "OFF" when there is no need to limit the corrected torque command value ΔT. If the ΔT amplitude limit flag is set to "OFF" when the deviation Ia_err is a negative value, torque limit hunting may occur. In other words, when the ΔT amplitude limit flag is set to "OFF", the speed fluctuation amplitude |Δωm| is set to "OFF" when the speed fluctuation allowable value |Δωm| is exceeded. ＊If it is larger, the correction torque command value ΔT is controlled to be larger, and therefore it becomes necessary to again impose a limit on the correction torque command value ΔT to prevent a current trip from occurring.

[0099] Therefore, the ΔT limit value generator 39d calculates the speed fluctuation amplitude |Δωm| as the speed fluctuation allowable value |Δωm| ＊ When it is smaller than |Δωm|, that is, when |Δωm|<|Δωm| ＊ When "ΔT amplitude limit flag" is set to "OFF".

[0100] After setting the ΔT amplitude limit flag, the ΔT limit value generator 39d generates a correction torque limit value |ΔT|_limit in accordance with the ΔT amplitude limit flag.

[0101] When the ΔT amplitude limit flag is set to "ON" as described above, the ΔT limit value generator 39d generates the corrected torque limit value |ΔT|_limit according to equation (35) based on |ΔT|_old, which is the corrected torque amplitude |ΔT| in the previous mechanical angle period, and the deviation Ia_err. "g" in equation (35) is a predetermined gain value by which the deviation Ia_err is multiplied. In other words, when the ΔT amplitude limit flag is "ON," the ΔT limit value generator 39d performs integral control using the corrected torque amplitude |ΔT|_old in the previous mechanical angle period as an integral term. In this way, when the motor M is about to experience a current trip, the deviation Ia_err becomes a positive value, so the corrected torque limit value |ΔT|_limit decreases, and the detected current value amplitude Ia decreases as the corrected torque limit value |ΔT|_limit decreases.

[0102] On the other hand, when the ΔT amplitude limit flag is set to "OFF" as described above, the ΔT limit value generator 39d sets the correction torque limit value |ΔT|_limit to a large value that does not impose a limit on the correction torque command value ΔT. For example, the ΔT limit value generator 39d calculates the average torque command value To in accordance with equation (21). ＊ The corrected torque limit value |ΔT|_limit is set to three times the average torque command value To ＊By setting a large value three times larger than the above as the correction torque limit value |ΔT|_limit, there is essentially no limit imposed on the correction torque command value ΔT.

[0103] The ΔT limit value generator 39 d outputs the correction torque limit value |ΔT|_limit generated as described above to the correction torque generator 34 .

[0104] <Operation of Motor Control Device> FIGS. 12A, 12B, 12C, 13, 14, and 15 are diagrams illustrating an example of the operation of the motor control device according to the second embodiment of the present disclosure.

[0105] 12A, 12B, and 12C show the behavior of the current vector in the motor control device 200. As shown in FIG. 12A, if the current peak value Ia_peak is greater than the current limit value Ia_limit, the ΔT amplitude limit flag is set to "ON," and a limit is imposed on the corrected torque amplitude |ΔT|. Even if a limit is imposed on the corrected torque amplitude |ΔT|, if the current peak value Ia_peak is still greater than the current limit value Ia_limit, as shown in FIG. 12B, the corrected torque amplitude |ΔT| is further limited, and the corrected torque limit value |ΔT|_limit becomes smaller. As a result, the current peak value Ia_peak is suppressed to the current limit value Ia_limit, as shown in FIG. 12C.

[0106] 13 shows the time variations of the current command amplitude Ia and the current command peak value Ia_peak. In FIG. 13, the current limit value Ia_limit is set as a value obtained by subtracting a predetermined margin MA from the current trip value Ia_trip. In section a21 where the torque control amount increases due to an increase in the load on the motor M, the current peak value Ia_peak increases. In section b21 following section a21, the ΔT amplitude limit flag is set to "on" and a limit is imposed on the corrected torque amplitude |ΔT|. In section c21 following section b21, the ΔT amplitude limit flag is set to "off" and the current peak value Ia_peak decreases as the load on the motor M decreases.

[0107] 14, the change over time of the speed fluctuation amplitude |Δωm| is added to FIG. 13. In FIG. 14, in section a22 where the torque control amount increases as the load on the motor M increases, the current peak value Ia_peak increases due to the increase in the torque control amount. At this time, since the ΔT amplitude limit flag is "off", the speed fluctuation amplitude |Δωm| is within the speed fluctuation allowable value |Δωm| ＊ In the section b22 next to the section a22, the current peak value Ia_peak in the section a22 is greater than the current limit value Ia_limit, so the ΔT amplitude limit flag is set to "ON" and a limit is imposed on the corrected torque amplitude |ΔT|. By imposing a limit on the corrected torque amplitude |ΔT|, the speed fluctuation amplitude |Δωm| ＊ In the section c22 next to the section b22, the speed fluctuation amplitude |Δωm| and the current peak value Ia_peak decrease as the load on the motor M decreases. Also, in the section c22, the speed fluctuation allowable value |Δωm| ＊ is larger than the speed fluctuation amplitude |Δωm|, the ΔT amplitude limit flag is set to "OFF" and the limit on the corrected torque amplitude |ΔT| is released. By releasing the limit on the corrected torque amplitude |Δωm|, the speed fluctuation amplitude |Δωm| ＊ It will follow.

[0108] Fig. 15 shows an example of current limiting operation in Example 1, and Fig. 16 shows an example of current limiting operation in Example 2. Fig. 15 shows a comparative example of the presence or absence of current noise when limiting is performed by a current command value as in Example 1, and Fig. 16 shows a comparative example of the presence or absence of current noise when limiting is performed by a current detection value as in Example 2.

[0109] In the first embodiment, the d-axis current command value Id ＊ and the q-axis current command value Iq ＊ The current command peak value Ia is calculated based on ＊15, if the current limit value Ia_limit is not appropriate, the current command value amplitude Ia ＊ There is a risk that the current command amplitude Ia may reach the current trip value Ia_trip. ＊ In order to prevent the current limit value Ia_limit from reaching the current trip value Ia_trip, tuning such as reducing the current limit value Ia_limit is required.

[0110] In contrast, in the second embodiment, the ΔT amplitude limit flag is set based on the comparison result between the detected current peak value Ia_peak, which is calculated based on the d-axis current Id and the q-axis current Iq, and the current limit value Ia_limit. As a result, in the second embodiment, as shown in FIG. 16 , even when there is noise in the detected current amplitude Ia depending on the control state, the current limit is applied to the detected current, so the same current limit value Ia_limit can be used regardless of whether there is noise. Therefore, tuning of the current limit value Ia_limit to the current trip value Ia_trip is not required, and the number of steps required for tuning the current limit value Ia_limit can be reduced.

[0111] The second embodiment of the present disclosure has been described above.

[0112] As described above, the motor control device (motor control device 100 of the first embodiment) of the present disclosure includes a current command value calculator (current command value calculator 14 of the first embodiment) and a correction torque limit value generator (correction torque limit value generator 38 of the first embodiment). The current command value calculator calculates a velocity command value (mechanical angular velocity command value ωm ＊ ) and the motor speed (the estimated mechanical angle angular velocity ωm in the first embodiment), an average torque command value (the average torque command value To ＊ ) and a correction torque command value for correcting the torque command value (correction torque command value ΔT in the first embodiment) to obtain a total torque command value (total torque command value T in the first embodiment) ＊ ) based on the current command value (q-axis current command value Iq ＊ , d-axis current command value Id＊ The correction torque limit value generator calculates the maximum value of the current command value (current command peak value Ia in the first embodiment) when the correction torque command value is not zero and is equal to or smaller than the maximum value of the current command value (current command peak value Ia in the first embodiment). ＊ When the current limit Ia_peak is equal to or greater than a predetermined current limit value Ia_limit in the first embodiment, a limit is imposed on the correction torque command value.

[0113] By limiting the correction torque command value in this way, it is possible to prevent a current trip due to an increase in the correction torque command value, and the motor can be operated stably without stopping due to the activation of the overcurrent protection function.

[0114] Furthermore, the correction torque limit value generator (correction torque limit value generator 39 in the second embodiment) limits the correction torque command value when the correction torque command value is not zero and the maximum value (current peak value Ia_peak in the second embodiment) of the motor current (d-axis current Id, q-axis current Iq) is equal to or greater than a predetermined current limit value (current limit value Ia_limit in the second embodiment).

[0115] Even if a limit is placed on the correction torque command value in this way, it is possible to prevent a current trip due to an increase in the correction torque command value, and the motor can be operated stably without stopping due to the activation of the overcurrent protection function. Furthermore, even if the noise level of the motor current amplitude value differs depending on the control state, the same current limit value can be used, so tuning is not required when setting the margin of the current limit value relative to the current trip value.

[0116] The correction torque limit value generator also calculates whether the fluctuation width of the rotation speed of the motor (the speed fluctuation amplitude |Δωm| in the first and second embodiments) is equal to or less than the allowable value (the speed fluctuation allowable value |Δωm| in the first and second embodiments). ＊ ), the limit imposed on the correction torque command value is released.

[0117] This prevents torque limit hunting from occurring.

[0118] In addition, the correction torque limit value generator uses a value that is smaller by a predetermined value (margin MA in Examples 1 and 2) than the current threshold value (current trip value Ia_trip in Examples 1 and 2) at which the motor's overcurrent protection function activates as the current limit value.

[0119] This makes it possible to reliably prevent a current trip due to an increase in the correction torque command value.

[0120] 100, 200 Motor control device 14 Current command value calculator 34 Correction torque generator 38, 39 Correction torque limit value generator

Claims

ocr1. The motor control device consists of: a current command calculator that calculates the current command based on the total torque command value obtained by adding the average torque command value generated on the basis of the speed command value and the motor speed, and the correction torque command value for correcting the average torque command value; and a correction torque limiter generator that limits the correction torque command value when the correction torque command value is not zero and the maximum current command value is equal to or greater than the set current limit.

2. The motor control device according to claim 1, where the correction torque limiter generator releases the correction torque command limit when the range of variation of the motor rotational speed is less than the acceptable value.

3. The motor control device according to claim 1, where the correction torque limiter generator is used as a current limiter with a value less than the initial current limit to the set value, at which point the motor overcurrent protection operation is activated. 4.The motor control device consists of: a current command calculator that calculates the current command value based on the total torque command value obtained by adding the average torque command value generated on the basis of the speed command value and motor speed, and the correction torque command value for correction of the average torque command value; and a correction torque limit generator that limits the correction torque command value when the correction torque command value is non-zero and the maximum value of the current command value is equal to or greater than the set current limit.

5. A motor control device under claim 4, where the correction torque limit generator releases the limit of the correction torque command value when the range of variation of the motor rotational speed is less than the acceptable value.

6. A motor control device under claim 4, where the correction torque limit generator is used as a current limit with a value less than the initial current limit, at which point the motor overcurrent protection function is activated.