Rotary machine control device

Abstract

A rotary machine control device is provided. A rotary machine control device capable of effectively reducing torque pulsation in a position sensorless flux control is provided. The rotary machine control device includes a magnetization characteristic determination unit that determines a phase of a magnet flux, i.e., a magnet phase, based on an estimated flux and a detection current, determines a qm-axis flux of the estimated flux, a qm-axis current of the detection current, and a harmonic component of the magnet phase using a dm-qm coordinate with the magnet phase as a dm-axis and a phase that leads the magnet phase by 90 degrees as a qm-axis, a pulsation compensation determination unit that determines a pulsation compensation phase using a pulsation compensation torque obtained based on the qm-axis current and the harmonic component, a command phase determination unit that determines a command phase based on the pulsation compensation phase and a torque command, and a command flux generation unit that generates a command flux based on a command amplitude and the command phase.

Description

Technical Field

[0001] The present disclosure relates to a rotating machine control device for controlling a rotating machine. Background Art

[0002] Conventionally, as a driving method for a synchronous rotating machine (synchronous motor), position-sensorless flux control using direct torque control (DTC: Direct Torque Control) is known. For example, a position-sensorless flux control is disclosed in Patent Document 1.

[0003] In addition, methods for reducing torque ripple have been conventionally known. For example, methods for reducing torque ripple are disclosed in Non-Patent Document 1 and Non-Patent Document 2.

[0004] Prior Art Literature

[0005] Patent Literature

[0006] Patent Document 1: Japanese Unexamined Patent Publication No.2020-178429

[0007] Non-Patent Literature

[0008] Non-Patent Document 1: Masanori Inoue, Shigeo Morimoto, Masayuki Sanada, "Torque Ripple Reduction by Direct Torque Control of Interior Permanent Magnet Synchronous Motors Containing Harmonics", 2006 IEEJ Industry Applications Society Conference, 1-4, pp.173-176

[0009] Non-Patent Document 2: Yuki Terayama, Shinichi Hoshi, "Torque Ripple Suppression Control Using Estimated Linked Flux Harmonic Components Considering Magnetic Saturation of PMSM", IEEJ Transactions D, Vol.141, No.4, pp.366-373 Summary of Invention

[0010] Problems to be Solved by the Invention

[0011] It is desired to effectively reduce torque ripple in position-sensorless flux control.

[0012] Accordingly, an object of the present disclosure is to provide a rotating machine control device capable of effectively reducing torque ripple in position-sensorless flux control.

[0013] Means for Solving the Problems

[0014] One aspect of the rotary machine control device disclosed herein includes: a flux estimation unit that estimates the flux of the synchronous rotary machine, i.e., the rotary machine flux; a command amplitude generation unit that generates the amplitude of the command flux, i.e., the command amplitude, by executing feedback control, wherein the feedback control uses a first inner product of the estimated rotary machine flux, i.e., the estimated flux, and a detection current of the synchronous rotary machine, or a second inner product of the estimated magnet flux of the permanent magnet of the synchronous rotary machine and the detection current; and a magnetization characteristic determination unit that determines the phase of the magnet flux, i.e., the magnet phase, based on the estimated flux and the detection current, and uses the magnet phase... The system comprises: a dm-qm coordinate system with the dm axis as the dm axis and the qm axis as the qm axis with a phase 90 degrees ahead of the magnet phase; a pulsation compensation determination unit that determines the pulsation compensation phase using the pulsation compensation torque obtained based on the qm axis current and the harmonic components; a command phase determination unit that determines the command flux vector phase based on the pulsation compensation phase and a torque command or speed command; and a command flux generation unit that generates the command flux based on the command amplitude and the command flux vector phase.

[0015] One aspect of the rotary machine control device disclosed herein includes: a flux estimation unit that estimates the flux of the synchronous rotary machine, i.e., the rotary machine flux; a command amplitude generation unit that generates the amplitude of the command flux, i.e., the command amplitude, by executing feedback control, wherein the feedback control uses a first inner product of the estimated rotary machine flux (i.e., the estimated flux) and a detection current of the synchronous rotary machine, or a second inner product of the estimated magnet flux of the permanent magnet of the synchronous rotary machine and the detection current; and a magnetization characteristic determination unit that determines the phase of the magnet flux, i.e., the magnet phase, based on the estimated flux and the detection current, using a magnet phase as d The system uses the dm-qm coordinates, which are defined as the m-axis and the phase leading the magnet phase by 90 degrees, to determine the qm-axis flux of the estimated flux, the qm-axis current of the detected current, and the harmonic components of the magnet phase; a pulsation compensation determination unit determines the pulsation compensation torque based on the qm-axis current and the harmonic components; a command phase determination unit determines the command flux vector phase based on the pulsation compensation phase determined by the resonance unit according to the pulsation compensation torque, and a torque command or speed command; and a command flux generation unit generates the command flux based on the command amplitude and the command flux vector phase.

[0016] One aspect of the rotary machine control device disclosed herein includes: a flux estimation unit that estimates the flux of the synchronous rotary machine, i.e., the rotary machine flux; a command amplitude generation unit that generates the amplitude of the command flux, i.e., the command amplitude, by executing feedback control, wherein the feedback control uses a first inner product of the estimated rotary machine flux, i.e., the estimated flux, and a detection current of the synchronous rotary machine, or a second inner product of the estimated magnet flux of the permanent magnet of the synchronous rotary machine and the detection current; and a pulsation compensation determination unit that determines, based on the estimated flux and the detection current, a pulsation compensation determination unit. The phase of the magnetic flux, i.e., the magnetic phase, is determined by a resonant unit using a dm-qm coordinate system with the magnetic phase as the dm axis and a phase that leads the magnetic phase by 90 degrees as the qm axis. The pulsation compensation torque, which includes the pulsation amount of the detected current along the qm axis, is used to determine the pulsation compensation phase. A command phase determination unit determines the command flux vector phase based on the pulsation compensation phase and a torque command or speed command. A command flux generation unit generates the command flux based on the command amplitude and the command flux vector phase.

[0017] The effects of the invention

[0018] The rotary machine control device according to one aspect of this disclosure can effectively reduce torque pulsation in sensorless flux control. Attached Figure Description

[0019] Figure 1 This is a block diagram of a rotary machine control device or the like according to the first embodiment.

[0020] Figure 2 It is a diagram used to illustrate the αβ coordinate system, the dq coordinate system, and the dmqm coordinate system.

[0021] Figure 3 yes Figure 1 Block diagram of the sensorless control section of the rotary machine control device.

[0022] Figure 4 yes Figure 3 Block diagram of the command amplitude generation unit of the sensorless control unit.

[0023] Figure 5 yes Figure 3 Block diagram of the magnetization characteristic determination unit of the sensorless control unit.

[0024] Figure 6 yes Figure 5 Block diagram of the Fourier transform section of the magnetization characteristic determination section.

[0025] Figure 7 It is shown by Figure 5 The magnetization characteristics are determined by the magnetic energy table generated by the part.

[0026] Figure 8 yes Figure 3 Block diagram of the pulsation compensation determination unit of the sensorless control unit.

[0027] Figure 9 yes Figure 8 Block diagram of the pulsation torque determination unit of the pulsation compensation determination unit.

[0028] Figure 10 yes Figure 8 Block diagram of the pulsation phase determination unit of the pulsation compensation determination unit.

[0029] Figure 11 yes Figure 3 Block diagram of the command phase determination unit of the sensorless control unit.

[0030] Figure 12 This is a block diagram of the command amplitude generation unit of the rotary machine control device according to the second embodiment.

[0031] Figure 13 This is a block diagram of the magnetization characteristic determination section of the rotary machine control device according to the third embodiment.

[0032] Figure 14 This is a block diagram of another magnetization characteristic determination unit of the rotary machine control device according to the third embodiment.

[0033] Figure 15 This is a block diagram of the sensorless control unit of the rotary machine control device according to the fourth embodiment.

[0034] Figure 16 yes Figure 15 Block diagram of the command phase determination unit of the sensorless control unit.

[0035] Figure 17 This is a block diagram of the command phase determination unit of the rotary machine control device according to the fifth embodiment.

[0036] Figure 18 This is a block diagram of the command phase determination unit of the rotary machine control device according to the sixth embodiment.

[0037] Figure 19 This is a block diagram of the command phase determination unit of the rotating machine control device according to the seventh embodiment.

[0038] Figure 20 This is a block diagram of the command phase determination unit of the rotary machine control device according to the eighth embodiment.

[0039] Figure 21 This is a block diagram of the command phase determination unit of the rotary machine control device according to the ninth embodiment.

[0040] Figure 22 This is a block diagram of a rotary machine control device or the like according to the tenth embodiment.

[0041] Figure 23 yes Figure 22 Block diagram of the sensorless control section of the rotary machine control device.

[0042] Figure 24 yes Figure 23 Block diagram of the pulsation compensation determination unit of the sensorless control unit.

[0043] Figure 25 yes Figure 23 Block diagram of the command phase determination unit of the sensorless control unit.

[0044] Figure 26 This is a block diagram of the sensorless control section of the rotary machine control device according to the thirteenth embodiment.

[0045] Figure 27 yes Figure 26 Block diagram of the command phase determination unit of the sensorless control unit.

[0046] Figure 28 This is a block diagram of the command phase determination unit of the rotary machine control device according to the fourteenth embodiment.

[0047] Figure 29 This is a block diagram of the command phase determination unit of the rotary machine control device according to the fifteenth embodiment.

[0048] Figure 30 This is a block diagram of the command phase determination unit of the rotary machine control device according to the sixteenth embodiment.

[0049] Figure 31 This is a block diagram of the command phase determination unit of the rotary machine control device according to the seventeenth embodiment.

[0050] Figure 32 This is a block diagram of the command phase determination unit of the rotary machine control device according to the eighteenth embodiment.

[0051] Figure 33 This is a block diagram of a rotary machine control device, etc., according to the nineteenth embodiment.

[0052] Figure 34 yes Figure 33 Block diagram of the sensorless control section of the rotary machine control device.

[0053] Figure 35 yes Figure 34 Block diagram of the pulsation compensation determination unit of the sensorless control unit.

[0054] Figure 36 It is a graph showing the waveform of torque in a rotating machine. Detailed Implementation

[0055] The following description, with reference to the accompanying drawings, illustrates a specific example of a rotary machine control device according to one aspect of this disclosure. The embodiments shown herein represent specific examples of this disclosure. Therefore, the numerical values, shapes, structural elements, configurations and connections of structural elements, as well as the steps (processes) and their sequence shown in the following embodiments are merely examples and are not intended to limit this disclosure. Furthermore, the figures are schematic diagrams and are not necessarily strictly illustrated.

[0056] Furthermore, the general or specific embodiments of this disclosure can also be implemented by systems, methods, integrated circuits, computer programs, or recording media such as computer-readable CD-ROMs, or by any combination of systems, methods, integrated circuits, computer programs, and recording media.

[0057] (First Implementation)

[0058] like Figure 1 As shown, the rotary machine control device 100 includes a first current sensor 102, a second current sensor 104, a sensorless control unit 106, and a duty cycle generation unit 108. The rotary machine control device 100 is connected to a PWM (Pulse Width Modulation) inverter 300 and a synchronous rotary machine 400.

[0059] The sensorless control unit 106 performs sensorless flux control of the synchronous rotating machine 400. The sensorless control unit 106 is configured to perform sensorless flux control operation of the synchronous rotating machine 400. In this embodiment, during the execution of sensorless flux control operation, the rotational speed (number of revolutions) of the rotor of the synchronous rotating machine 400 is consistent with the rotational speed (synchronous speed) of the rotating current applied to the synchronous rotating machine 400. Sensorless flux control operation is operation without using position sensors such as encoders and rotary transformers. In this specification, for ease of explanation, the operation of controlling the rotating machine flux using the estimated phase of the rotating machine flux is referred to as flux control operation. The rotating machine flux is a concept that includes both the armature linkage flux applied to the three-phase AC coordinates of the synchronous rotating machine 400 and the flux obtained by performing coordinate transformation on the armature linkage flux. In this specification, "amplitude" sometimes refers only to magnitude (absolute value).

[0060] Some or all of the elements of the rotary machine control device 100 can be provided by a control application program executed in a DSP (Digital Signal Processor) or microcomputer. The DSP or microcomputer may also include peripheral devices such as a core, memory, A / D conversion circuitry, and communication ports. Alternatively, some or all of the elements of the rotary machine control device 100 may also be constituted by logic circuits.

[0061] (Summary of the control performed by the rotary machine control device 100)

[0062] Rotary machine control device 100 according to command torque T e * and phase current i u i w To generate duty cycle D u D v D w The PWM inverter 300 determines the duty cycle D based on... u D v D w To generate the voltage vector v to be applied to the synchronous rotating machine 400 u v v v w Command torque T e * The command torque T is supplied from the higher-level control device to the rotary machine control device 100. e * This indicates the torque that the motor torque should follow.

[0063] The following is a summary of the operation of the rotary machine control device 100. The phase current i is detected using current sensors 102 and 104 (first current sensor 102 and second current sensor 104). u i w During sensorless flux control operation, the sensorless control unit 106 determines the torque based on the command torque T. e * and phase current i u i w To generate the command voltage vector v u * v v * v w * Command voltage vector v u * v v * v w *Each component corresponds to the U-phase voltage, V-phase voltage, and W-phase voltage on the three-phase AC coordinate system, respectively. The duty cycle generation unit 108 generates the voltage based on the command voltage vector v. u * v v * v w * To generate duty cycle D u D v D w Duty cycle D u D v D w The input is fed into the PWM inverter 300. Through this control, the synchronous rotating machine 400 is controlled so that its torque follows the commanded torque T. e * .

[0064] The rotary machine control device 100 is sometimes described based on the α-β coordinate system. It is also sometimes described based on the dq coordinate system. Furthermore, it is sometimes described based on the dm-qm coordinate system. Figure 2 The diagram shows the α-β coordinates, dq coordinates, and dm-qm coordinates. The α-β coordinates are fixed coordinates. The α-β coordinates are also called static coordinates or alternating coordinates. The α-axis is set along the U-axis (in...). Figure 2 (The text is omitted here.) The axes extend in the same direction. The U-axis corresponds to the U-phase winding of the rotating machine control device 100. The β-axis is orthogonal to the α-axis. The dq coordinate system is a rotating coordinate system with the phase of the rotor of the synchronous rotating machine 400 as the d-axis and the phase leading that phase by 90 degrees as the q-axis. The dm-qm coordinate system is a rotating coordinate system. The dm-axis is based on the magnetic flux Ψ of the magnet. am The phase is the magnet phase θ dm Let dm be the axis, with phase θ relative to the magnet dm In a coordinate system with a phase 90 degrees ahead of the qm axis, the magnetic flux Ψ of the magnet is... am It is the estimated magnetic flux of the permanent magnet of the synchronous rotating machine 400.

[0065] (Sensorless Control Unit 106)

[0066] Return to Figure 1 The sensorless control unit 106 performs sensorless flux control operation by setting the command amplitude in a manner that converges the amplitude of the rotating machine's magnetic flux to a target amplitude. The sensorless flux control operation is based on the command phase θ. s * The instruction is executed in phase θ. s *It is based on the phase of the rotating machine flux estimated by the flux estimation unit 112 (described later) (estimated phase θ). s The target amplitude is the amplitude that the rotating machine flux should ultimately reach. The command amplitude is the amplitude that the rotating machine flux should follow.

[0067] like Figure 3 As shown, the sensorless control unit 106 includes a u, w / α, β conversion unit 110, a flux estimation unit 112, a phase determination unit 114, a torque estimation unit 116, a command amplitude generation unit 118, a magnetization characteristic determination unit 120, a pulsation compensation determination unit 122, a command phase determination unit 124, a command flux generation unit 126, a voltage command generation unit 128, and an α, β / u, v, w conversion unit 130.

[0068] In the sensorless control unit 106, the phase current i is converted by the u, w / α, β conversion unit 110. u i w Transformed into axis current i α i β Axis current i α i β The summary records the α-axis current i on the α-β coordinate of the synchronous rotary machine 400. α and β-axis current i β The magnetic flux of the rotating machine is estimated using the magnetic flux estimation unit 112 (the estimated magnetic flux Ψ is obtained). s The magnetic flux Ψ will be estimated. s The α-axis and β-axis components are respectively denoted as the estimated magnetic flux Ψ α Ψ β The phase determination unit 114 determines the magnetic flux Ψ based on the estimated magnetic flux. s To estimate the phase of the magnetic flux of the rotating machine (to calculate the estimated magnetic flux Ψ) s Estimated phase θ s The torque estimation unit 116 estimates the magnetic flux Ψ. s and shaft current i α i β To estimate the motor torque (calculate the estimated torque T) e The command amplitude generation unit 118 determines the magnetic flux Ψ based on the estimated magnetic flux. s and shaft current i α i β To generate command amplitude |Ψ s * |. The magnetization characteristic determination unit 120 determines the estimated magnetic flux Ψ s and shaft current i α i β Determine the qm-axis current i qm Phase θ of the magnet dm harmonic components nθ dmThe pulsation compensation determination unit 122 determines the qm-axis current i based on the pulsation compensation determination unit 122. qm Harmonic component nθ dm Determine the pulsation compensation phase θ ripple The command phase determination unit 124 determines the magnetic flux Ψ based on the estimated magnetic flux. s Estimated phase θ s Command torque T e * Estimating torque T e and θ ripple To determine the command flux vector Ψ s * Command phase (command flux vector phase) θ s * The command flux generation unit 126 generates the amplitude |Ψ according to the command. s * | and command phase θ s * To determine the command flux vector Ψ s * The command flux vector Ψ s * The α-axis and β-axis components are respectively recorded as the α-axis command flux Ψ α * and β-axis command flux Ψ β * The voltage command generation unit 128 generates magnetic flux Ψ according to the command. α * Ψ β * Estimating magnetic flux Ψ α Ψ β and shaft current i α i β To determine the command axis voltage v α * v β * Command axis voltage v α * v β * The summary records the α-axis command axis voltage v on the α-β coordinate of the synchronous rotary machine 400. α * and β-axis command axis voltage v β * The command axis voltage v is converted using the α, β / u, v, w conversion unit 130. α * v β * Transformed into command voltage vector v u * v v *v w * .

[0069] In sensorless flux control operation, the motor torque follows the command torque T through this control. e * The rotating machine's magnetic flux follows the command magnetic flux vector Ψ s * As a result, the speed of the synchronous rotating machine 400 follows the commanded speed ω. ref * In the case expressed as described above, "the sensorless control unit 106 performs sensorless flux control operation by setting the command amplitude in a manner that converges the amplitude of the rotating machine flux to the target amplitude," the "target amplitude" and the command amplitude |Ψ s * | Corresponding. Considering this, the command amplitude |Ψ is sometimes used below. s * |Referred to as the target amplitude|Ψ s * |

[0070] In this specification, the shaft current i α i β This doesn't actually refer to the current flowing through the synchronous rotary machine 400, but rather to the current value being transmitted as information. Command axis voltage v α * v β * Estimating magnetic flux Ψ s Estimating the phase θ s Command phase θ s * Estimating torque T e Command torque T e * Command amplitude |Ψ s * |(Target amplitude|Ψ) s * |), Command flux vector Ψ s * Command voltage vector v u * v v * v w * Command speed ω ref * , magnet phase θ dm Harmonic components nθ dm and qm-axis current i qm "Etc" also means the value that is transmitted as information.

[0071] The following explanation Figure 3 The structural elements of the sensorless control unit 106 shown.

[0072] (u, w / α, β transformation unit 110)

[0073] u, w / α, β conversion unit 110 converts phase current i u i w Transformed into axis current i α i β Specifically, the u, w / α, β conversion unit 110 converts the phase current i using equations (1) and (2). u i w Transformed into axis current i α i β and output shaft current i α i β .

[0074] [Formula 1]

[0075]

[0076] [Formula 2]

[0077]

[0078] (Magnetic Flux Estimation Unit 112)

[0079] The flux estimation unit 112 estimates the flux of the synchronous rotating machine 400, i.e., the rotating machine flux, and outputs the estimated rotating machine flux, i.e., the estimated flux Ψ. s (Estimated magnetic flux Ψ) α Ψ β When performing sensorless flux control operation, the flux estimation unit 112 estimates the flux based on the shaft current i. α i β and command axis voltage v α * v β * To calculate the estimated magnetic flux Ψ s Specifically, the flux estimation unit 112 uses equations (3) and (4) to calculate the estimated flux Ψ. α Ψ β In equations (3) and (4), Ψ α | t＝0 and Ψ β | t＝0 These are the estimates of magnetic flux Ψ α Ψ βThe initial value. R in equations (3) and (4) is the winding resistance of the synchronous rotating machine 400. When the flux estimation unit 112 is integrated into a digital control device such as a DSP or microcomputer, the integrator required for the calculation in equations (3) and (4) can be constructed by a discrete system. In this case, as long as the estimated flux Ψ of the previous control cycle is calculated... α Ψ β Simply add or subtract the value derived from the current control cycle.

[0080] [Formula 3]

[0081] Ψ α =∫(v α * -Ri α )dt+Ψ α|t＝0 (3)

[0082] [Formula 4]

[0083] Ψ β =∫(v β * -Ri β )dt+Ψ β|t＝0 (4)

[0084] (Phase Determination Unit 114)

[0085] Phase determination unit 114 is based on estimated magnetic flux Ψ s (Estimated magnetic flux Ψ) α Ψ β To determine the estimated magnetic flux Ψ s The phase is the estimated phase θ s In this embodiment, the phase determination unit 114 determines the phase based on the estimated magnetic flux Ψ. s To obtain the estimated phase θ s Specifically, the phase determination unit 114 uses equation (5) to estimate the magnetic flux Ψ. s To obtain the estimated phase θ s For example, the phase determination unit 114 is a known phase estimator.

[0086] [Formula 5]

[0087] θ s =tan -1 (Ψ β / Ψ α (5)

[0088] (Torque estimation unit 116)

[0089] Torque estimation unit 116 is based on estimated magnetic flux Ψ s (Estimated magnetic flux Ψ) α Ψ βThe torque T is estimated by calculating the current i and the detected current i. e In this embodiment, the detected current i is the shaft current i α i β The torque estimation unit 116 estimates the magnetic flux Ψ s and shaft current i α i β To calculate the estimated torque T e Specifically, the torque estimation unit 116 estimates the magnetic flux Ψ using equation (6). s and shaft current i α i β To calculate the estimated torque T e In equation (6), P is the number of pole pairs of the synchronous rotating machine 400.

[0090] [Formula 6]

[0091] T e =P(Ψ) α i β -Ψ β i α (6)

[0092] (Command Amplitude Generation Unit 118)

[0093] The command amplitude generation unit 118 generates the amplitude of the command magnetic flux, i.e., the command amplitude |Ψ, by executing feedback control. s * The feedback control uses the estimated rotating machine flux, i.e., the estimated flux Ψ. s (Estimated magnetic flux Ψ) α Ψ β The first inner product of the detection current i of the synchronous rotating machine 400 or the estimated magnetic flux Ψ of the permanent magnet of the synchronous rotating machine 400. am The second inner product with the detected current i. For example... Figure 4 As shown, in this embodiment, the command amplitude generation unit 118 generates the command amplitude |Ψ| by executing feedback control using the second inner product. s * |

[0094] The command amplitude generation unit 118 uses a virtual inductor (the inductor of the synchronous rotating machine 400) L qm , shaft current i α i β And estimating magnetic flux Ψ s (Estimated magnetic flux Ψ) α Ψ β The error variable ε, representing the ineffective power component, is calculated. Specifically, firstly, the command amplitude generation unit 118 estimates the armature reaction flux (and calculates the estimated armature reaction flux L). qmi). Estimate the armature reaction flux L qm The α-axis and β-axis components of i are respectively denoted as the estimated armature reaction flux L. qm i α Estimate the armature reaction flux L qm i β Estimate the armature reaction flux L qm i α It is a virtual inductance L qm With axis current i α The product of these factors is used to estimate the armature reaction flux L. qm i β It is a virtual inductance L qm With axis current i β The product of these. Next, the command amplitude generation unit 118, based on the estimated magnetic flux Ψ... s (Estimated magnetic flux Ψ) α Ψ β And estimate the armature reaction flux L qm i(Estimated armature reaction flux L) qm i α L qm i β To calculate the estimated magnetic flux (estimated magnetic flux) Ψ of the permanent magnet of the synchronous rotating machine 400. am The magnetic flux Ψ of the magnet am The α-axis and β-axis components are respectively denoted as the estimated magnet flux Ψ. amα Ψ amβ Specifically, the command amplitude generation unit 118, as shown in equation (7), generates the amplitude from the estimated magnetic flux Ψ. α Subtract the estimated armature reaction flux L qm i α To determine the magnetic flux Ψ of the magnet amα Furthermore, the command amplitude generation unit 118, as shown in equation (8), generates the amplitude from the estimated magnetic flux Ψ. β Subtract the estimated armature reaction flux L qm i β To determine the magnetic flux Ψ of the magnet amβ Next, the command amplitude generation unit 118, as in equation (9), generates the amplitude based on the magnetic flux Ψ of the magnet. amα Ψ amβ and shaft current i α i β To calculate the error variable ε.

[0095] [Formula 7]

[0096] Ψ amα =Ψ α -L qm i α (7)

[0097] [Formula 8]

[0098] Ψ amβ =Ψ β -L qm i β (8)

[0099] [Formula 9]

[0100] ε=P(Ψ amα i α +Ψ amβ i β (9)

[0101] As in equation (9) and Figure 4 As shown, the command amplitude generation unit 118 calculates the estimated magnetic flux Ψ of the permanent magnet in the synchronous rotating machine 400. am The inner product (second inner product) of the detection current i of the synchronous rotating machine 400 is used as the error variable ε.

[0102] Furthermore, the estimated magnetic flux Ψ of the synchronous rotating machine 400 can also be calculated. am The error variable ε is calculated by taking the inner product (first inner product) of the detection current i of the synchronous rotating machine 400.

[0103] Therefore, the command amplitude generation unit 118 can also be structured as follows: calculating the estimated magnetic flux Ψ of the synchronous rotating machine 400 as shown in equation (10). s The inner product (first inner product) of the detection current i of the synchronous rotating machine 400 is used instead of the second inner product as the error variable ε.

[0104] [Formula 10]

[0105]

[0106] like Figure 4 As shown, the command amplitude generation unit 118 includes a subtractor 132, a P gain 134, an I gain 136, an integrator 138, an adder 140, and an adder 142. The command amplitude generation unit 118 sets the target value of the error variable ε, that is, the target value ε of the result of the first inner product or the second inner product. * Here, the command amplitude generation unit 118 assigns the target value ε, which is the result of the calculation of the first inner product or the second inner product. * Set to zero. Adder 142 adds the absolute value of the calculated magnetic flux deviation ΔΨ| to the estimated magnetic flux Ψ. am The nominal value, Ψ a_nomina1 Add them together to generate the command amplitude |Ψ s * |

[0107] In this way, the command amplitude generation unit 118 generates the command amplitude |Ψ by executing feedback control using the error variable ε. s * |

[0108] (Magnetization characteristic determination section 120)

[0109] like Figure 5 As shown, the magnetization characteristic determination unit 120 is based on the estimated magnetic flux Ψ s The magnetic flux Ψ of the magnet is determined by detecting the current i. am The phase is the magnet phase θ dm (Refer to Figure 2 Using magnet phase θ dm Let dm be the axis and have phase θ relative to the magnet dm The dm-qm coordinates, which are 90 degrees ahead of the phase along the qm axis, are used to determine the estimated magnetic flux Ψ. s qm axis magnetic flux Ψ q m, the qm-axis current i of the detected current i qm and magnet phase θ dm harmonic components nθ dm qm-axis magnetic flux Ψ qm It is to estimate the magnetic flux Ψ s qm-axis components, qm-axis current i qm It is the qm-axis component of the detected current i.

[0110] The magnetization characteristic determination unit 120 includes a magnet flux determination unit 144, a magnet phase determination unit 146, an α, β / qm transformation unit 148, an α, β / qm transformation unit 150, a harmonic component determination unit 152, a Fourier transform unit 154, and a magnetic energy determination unit 156.

[0111] Magnet flux determination unit 144 is based on virtual inductance (inductance of synchronous rotating machine 400) L qm , shaft current i α i β And estimating magnetic flux Ψ s (Estimated magnetic flux Ψ) α Ψ β To determine the magnetic flux Ψ of the magnet. am Specifically, the magnet flux determination unit 144 calculates the magnet flux Ψ using equation (11). amα The magnetic flux Ψ of the magnet is obtained by equation (12). amβ .like Figure 2 As shown, the magnetic flux Ψ of the magnet amα It is the magnetic flux Ψ of the magnet am The α-axis component, the magnetic flux Ψ of the magnet. amβ It is the magnetic flux Ψ of the magnet am The β-axis component.

[0112] [Formula 11]

[0113] Ψ amα =Ψ α -L qm i α (11)

[0114] [Formula 12]

[0115] Ψ amβ =Ψ β -L qm i β (12)

[0116] The magnet phase determination unit 146 determines the phase of the magnet by formula (13) based on the magnet flux Ψ. amα and the magnetic flux Ψ of the magnet amβ To determine the phase θ of the magnet dm .

[0117] [Formula 13]

[0118] θ dm =tan -1 (Ψ amβ / Ψ amα (13)

[0119] The α, β / qm conversion unit 148 converts the shaft current i α i β Transformed into qm-axis current i q m. Specifically, the α, β / qm conversion unit 148 converts the shaft current i through equation (14). α i β Transformed into qm-axis current i qm and output qm-axis current i qm .

[0120] [Formula 14]

[0121] i qm =-i α sinθ dm +i β cosθ dm (14)

[0122] The α, β / qm transformation unit 150 estimates the magnetic flux Ψ. s (Estimated magnetic flux Ψ) α Ψ β Transformed into qm-axis magnetic flux Ψ qm Specifically, the α, β / qm transformation unit 150 estimates the magnetic flux Ψ using equation (15). s (Estimated magnetic flux Ψ) α Ψ β Transformed into qm-axis magnetic flux Ψ qmand output qm-axis magnetic flux Ψ qm .

[0123] [Formula 15]

[0124] Ψ qm =-Ψ α sinθ dm +Ψ β cosθ dm (15)

[0125] The harmonic component determination unit 152 calculates the magnet phase θ. dm harmonic components nθ dm Specifically, the harmonic component determination unit 152 determines the phase θ of the magnet by... dm Multiply by the order n to obtain the harmonic component nθ dm And output harmonic components nθ dm .

[0126] Fourier transform unit 154 based on qm-axis magnetic flux Ψ qm Harmonic component nθ dm To find the magnetic flux Ψ qmcn and magnetic flux Ψ qmsn .

[0127] like Figure 6 As shown, the Fourier transform unit 154 includes an amplifier 158, a multiplier 160, a low-pass filter 162, a multiplier 164, and a low-pass filter 166.

[0128] Amplifier 158 will convert the qm-axis magnetic flux Ψ qm Magnify to 2x.

[0129] The multiplier 160 pairs of qm-axis magnetic flux Ψ are amplified to twice their original value. qm Multiply by cosnθ dm .

[0130] The low-pass filter 162 is amplified by 2 times and multiplied by cosnθ. dm The qm-axis magnetic flux Ψ qm To output magnetic flux Ψ qmcn .

[0131] The multiplier has 164 pairs of qm-axis magnetic flux Ψ amplified to twice their original size. qm Multiply by sinnθ dm .

[0132] The low-pass filter 166 is amplified by 2 times and multiplied by sinθ. dm The qm-axis magnetic flux Ψ qm To output magnetic flux Ψ qmsn .

[0133] Return to Figure 5 The magnetic energy determination unit 156 determines the magnetic flux Ψ according to formula (16). qmcn To calculate the magnetic energy W′ qmcn And according to equation (17) based on magnetic flux Ψ qmsn To calculate the magnetic energy W′ qmsn .

[0134] [Formula 16]

[0135]

[0136] [Formula 17]

[0137]

[0138] The magnetic energy determination unit 156 uses the obtained results to manufacture... Figure 7 The magnetic energy meter 168 is shown in the figure. Figure 7 (a) shows the relationship between the current i on the qm axis and the current i. qm The value corresponds to the magnetic energy W′ qmcn A table of values. Figure 7 (b) shows the relationship between the current i on the qm axis and the current i. qm The value corresponds to the magnetic energy W′ qmsn A table of values.

[0139] (Pulse Compensation Determination Unit 122)

[0140] like Figure 8 As shown, the pulsation compensation determination unit 122 uses a method based on the qm-axis current i qm Harmonic component nθ dm The resulting pulsation compensation torque T ripple To determine the pulsation compensation phase θ ripple The pulsation compensation determination unit 122 includes a magnetic energy meter 168, a pulsation torque determination unit 170, and a pulsation phase determination unit 172.

[0141] The pulsation compensation determination unit 122 determines the qm-axis current i output from the α, β / qm conversion unit 148. qm and the magnetic energy table 168 produced by the magnetic energy determination unit 156 (see reference) Figure 7 To calculate the magnetic energy W′ qmcn and magnetic energy W′ qmsn Specifically, the pulsation compensation determination unit 122 selects the qm-axis current i from the magnetic energy meter 168 and the current i output from the α, β / qm conversion unit 148. qm The value corresponds to the magnetic energy W′ qmcn The value is determined and output. Additionally, the pulsation compensation determination unit 122 selects the qm-axis current i from the magnetic energy meter 168 and outputs it from the α, β / qm conversion unit 148. qm The value corresponds to the magnetic energy W′ qmsnThe value is calculated and output.

[0142] like Figure 9 As shown, the pulsating torque determination unit 170 includes an adder 174, a multiplier 176, a multiplier 178, a subtractor 180, and a multiplier 182.

[0143] Adder 174 will phase the magnet θ dm harmonic components nθ dm Add to the phase adjustment Δθ. For example, the phase adjustment Δθ is input from an external source.

[0144] Multiplier 176 pairs W′ qmsn Multiply by cos(nθ) dm +Δθ).

[0145] Multiplier 178 pairs W′ qmcn Multiply by sin(nθ) dm +Δθ).

[0146] Subtractor 180 from W′ qmsn cos(nθ dm +Δθ) minus W′ qmcn sin(nθ dm +Δθ).

[0147] Multiplier 182 calculates the pulsation compensation torque T using equation (18). ripple n is the number of times, and P is the number of pole pairs of the synchronous rotary machine 400.

[0148] [Formula 18]

[0149] T ripple =nP{W′ qmsn cos(nθ dm +Δθ)-W′ qmcn sin(nθ dm +Δθ)} (18)

[0150] like Figure 10 As shown, the pulsating phase determination unit 172 has a multiplier 184.

[0151] Multiplier 184 uses pulsating compensation torque T via equation (19) ripple and adjusting gain K ripple To determine the pulsation compensation phase θ ripple Adjust the gain K ripple It is a known constant. Additionally, τ s It is the motor time constant, τ s s is the differential operator.

[0152] [Formula 19]

[0153] θripple =T ripple K ripple (τ s s+1) (19)

[0154] (Command Phase Determination Unit 124)

[0155] Return to Figure 3 The instruction phase determination unit 124 is based on the pulsation compensation phase θ ripple The command flux vector phase is determined by the torque command or speed command. An example based on the torque command is shown here. The command flux vector phase is the command phase θ. s * In other words, in this embodiment, such as Figure 2 As shown, the command phase θ s * It is the command flux vector Ψ s * The phase of the estimated torque T. In this embodiment, the command phase determination unit 124 determines the phase by using the phase of the estimated torque T. e Converging to command torque T e * Torque phase Δθ s , Pulsation compensation phase θ ripple And the estimated phase θ s Add them together to determine the command phase θ s * In other words, the command phase determination unit 124 uses the torque phase Δθ s , Pulsation compensation phase θ ripple And the estimated phase θ s Determine the command phase θ s * .

[0156] like Figure 11 As shown, the instruction phase determination unit 124 includes a subtractor 186, a PI compensator 188, an adder 190, and an adder 192.

[0157] Subtractor 186 receives command torque T e * Subtract the estimated torque T e To determine the deviation.

[0158] The PI compensator 188 determines the torque phase Δθ using proportional-integral control to bring the deviation obtained by the subtractor 186 to zero. s .

[0159] Adder 190 will convert the torque phase Δθ s With pulsation compensation phase θ ripple Add them together.

[0160] Adder 192 pairs of torque phase Δθ s and pulsation compensation phase θ ripple Further adding the estimated phase θ s To determine the command phase θ s * .

[0161] (Command flux generation unit 126)

[0162] Return to Figure 3 The command flux generation unit 126 is based on the command amplitude |Ψ s * | and command phase θ s * To generate instruction flux Ψ α * Ψ β * In this embodiment, the command flux generation unit 126 is based on the command amplitude |Ψ s * | and command phase θ s * To determine the command flux vector Ψ s * (Command flux Ψ) α * Ψ β * In this embodiment, the command flux generation unit 126 generates the command flux based on the command amplitude |Ψ. s * | and command phase θ s * To determine the command flux vector Ψ s * (Command flux Ψ) α * Ψ β * Specifically, the command flux generation unit 126 calculates the command flux Ψ using equations (20) and (21). α * Ψ β * .

[0163] [Formula 20]

[0164] Ψ α * =|Ψ s * |sinθ s * (20)

[0165] [Formula 21]

[0166] Ψ β * =|Ψ s * |sinθ s * (twenty one)

[0167] (Voltage command generation unit 128)

[0168] The voltage command generation unit 128 uses the estimated magnetic flux Ψ s (Estimated magnetic flux Ψ) α Ψ β ), shaft current i α i β and the command flux vector Ψ s * (Command flux Ψ) α * Ψ β * To determine the command axis voltage v α * v β * First, the voltage command generation unit 128 generates the voltage command from the command flux Ψ. α * Subtract the estimated magnetic flux Ψ α To calculate their deviation (magnetic flux deviation ΔΨ) α Ψ α * -Ψ α Additionally, the voltage command generation unit 128 transmits the command flux Ψ... β * Subtract the estimated magnetic flux Ψ β To calculate their deviation (magnetic flux deviation ΔΨ) β Ψ β * -Ψ β Then, the voltage command generation unit 128 uses the magnetic flux deviation ΔΨ α ,ΔΨ β and shaft current i α i β To determine the command axis voltage v α * v β * Specifically, the voltage command generation unit 128 uses the magnetic flux deviation ΔΨ through equation (22). α and shaft current i α To determine the α-axis command axis voltage v α * In addition, the voltage command generation unit 128 uses the magnetic flux deviation ΔΨ through equation (23). β and shaft current i βTo determine the β-axis command axis voltage v β * Here, T s It is the control cycle.

[0169] [Formula 22]

[0170]

[0171] [Formula 23]

[0172]

[0173] (α, β / u, v, w transformation unit 130)

[0174] The α, β / u, v, w conversion unit 130 converts the command axis voltage v α * v β * Transformed into command voltage vector v u * v v * v w * Specifically, the α, β / u, v, w conversion unit 130 converts the command axis voltage v using equation (24). α * v β * Transformed into command voltage vector v u * v v * v w * and output command voltage vector v u * v v * v w * .

[0175] [Formula 24]

[0176]

[0177] Return to Figure 1 The remaining structural elements of the rotary machine control device 100 and the structural elements connected to the rotary machine control device 100 will be described below.

[0178] (First current sensor 102, second current sensor 104)

[0179] Known current sensors can be used as the first current sensor 102 and the second current sensor 104. In this embodiment, the first current sensor 102 is configured to measure the phase current i flowing through phase u. u The second current sensor 104 is configured to measure the phase current i flowing through phase w. w However, the first current sensor 102 and the second current sensor 104 can also be configured to measure the current of two phases other than the u phase and w phase.

[0180] (Duty cycle generation section 108)

[0181] Duty cycle generation unit 108 generates the duty cycle according to the command voltage vector v u * v v * v w * To generate duty cycle D u D v D w In this embodiment, the duty cycle generation unit 108 generates the command voltage vector v u * v v * v w * Each component is transformed into the duty cycle D of each phase. u D v D w As the duty cycle D u D v D w The generation method can simply use the method used in general voltage-source PWM inverters. For example, it can also be achieved by commanding the voltage vector v. u * v v * v w * In addition to the DC power supply voltage V of the PWM inverter 300 mentioned later, dc The duty cycle D is calculated by taking half of the value. u D v D w In this case, the duty cycle D u For 2×v u * / V dc Duty cycle D v For 2×v v * / V dc Duty cycle D w For 2×v w * / V dc The duty cycle generator 108 outputs the duty cycle D. u D v D w .

[0182] (PWM Inverter 300)

[0183] The PWM inverter 300 has a DC power supply and a conversion circuit. The conversion circuit converts the DC voltage into a voltage vector v through PWM control. u v v v w The PWM inverter 300 will transform the resulting voltage vector v u v v v w Apply to synchronous rotating machine 400.

[0184] (Synchronous Rotary Machine 400)

[0185] The synchronous rotating machine 400 is the controlled object of the rotating machine control device 100. A voltage vector is applied to the synchronous rotating machine 400 via the PWM inverter 300. "Applying a voltage vector to the synchronous rotating machine 400" means applying voltage to each of the three phases (U phase, V phase, and W phase) on the three-phase AC coordinate of the synchronous rotating machine 400. In this embodiment, the synchronous rotating machine 400 is controlled such that the three phases (U phase, V phase, and W phase) are selected from either a high-voltage phase with a relatively high voltage or a low-voltage phase with a relatively low voltage.

[0186] The synchronous rotary machine 400 is, for example, a permanent magnet synchronous motor. Examples of permanent magnet synchronous motors include IPMSM (Interior Permanent Magnet Synchronous Motor) and SPMSM (Surface Permanent Magnet Synchronous Motor). IPMSMs have different salient polarities (generally, Lq > Ld, the reverse salient polarity) between their d-axis inductance Ld and q-axis inductance Lq. In addition to utilizing magnet torque, IPMSMs can also utilize reluctance torque. Therefore, IPMSMs have extremely high drive efficiency. Synchronous reluctance motors can also be used as the synchronous rotary machine 400.

[0187] (Effects, etc.)

[0188] The rotating machine control device 100 according to the first embodiment includes: a magnetic flux estimation unit 112, which estimates the magnetic flux of the synchronous rotating machine 400, i.e., the rotating machine magnetic flux; and a command amplitude generation unit 118, which generates a command magnetic flux Ψ by executing feedback control.α * Ψ β * The amplitude is the command amplitude |Ψ s * The feedback control uses the estimated rotating machine flux, i.e., the estimated flux Ψ. s The first inner product of the detection current i of the synchronous rotating machine 400 or the estimated magnetic flux Ψ of the permanent magnet of the synchronous rotating machine 400. am The second inner product of the detected current i; the magnetization characteristic determination unit 120, which is based on the estimated magnetic flux Ψ s The magnetic flux Ψ of the magnet is determined by detecting the current i. am The phase is the magnet phase θ dm Using magnet phase θ dm Let dm be the axis and have phase θ relative to the magnet dm The dm-qm coordinates, which are 90 degrees ahead of the phase along the qm axis, are used to determine the estimated magnetic flux Ψ. s qm axis magnetic flux Ψ qm The qm-axis current i of the detected current i qm and magnet phase θ dm harmonic components nθ dm ; The pulsation compensation determination unit 122 uses a qm-axis current i qm Harmonic component nθ dm The resulting pulsation compensation torque T ripple To determine the pulsation compensation phase θ ripple The instruction phase determination unit 124 is based on the pulsation compensation phase θ. ripple The command phase θ is determined by the torque command or speed command. s * ; and the command flux generation unit 126, which is based on the command amplitude |Ψ s * | and command phase θ s * To generate instruction flux Ψ α * Ψ β * .

[0189] Based on this, the phase θ of the magnet can be determined. dm It can use the magnet phase θ dm Let dm be the axis and have phase θ relative to the magnet dm The estimated magnetic flux Ψ is determined by using the dm-qm coordinates of the qm axis with a phase lead of 90 degrees. s qm axis magnetic flux Ψ qm The qm-axis current i of the detected current i qm and magnet phase θ dmharmonic components nθ dm It can use the qm-axis current i qm Harmonic component nθ dm The resulting pulsation compensation torque T ripple Determine the pulsation compensation phase θ ripple It can compensate for phase θ based on pulsation. ripple The command phase θ is determined by the torque command or speed command. s * Therefore, torque ripple can be effectively reduced in sensorless flux control.

[0190] Furthermore, the rotary machine control device 100 according to the first embodiment also includes a phase determination unit 114 and a torque estimation unit 116, the phase determination unit 114 being based on the estimated magnetic flux Ψ s Determine the estimated magnetic flux Ψ s The phase is the estimated phase θ s The torque estimation unit 116 is based on the estimated magnetic flux Ψ s The torque T is estimated by calculating the detected current i. e The instruction phase determination unit 124 determines the estimated torque T by using the phase determination unit 124 to determine the estimated torque T. e Converging to command torque T e * Torque phase Δθ s , Pulsation compensation phase θ ripple And the estimated phase θ s Add them together to determine the command phase θ s * .

[0191] Therefore, it is possible to estimate the torque T by using the method described above. e Converging to command torque T e * Torque phase Δθ s , Pulsation compensation phase θ ripple And the estimated phase θ s Add to determine the command phase θ s * Therefore, torque ripple can be further reduced more effectively in sensorless flux control.

[0192] Furthermore, in the rotary machine control device 100 according to the first embodiment, the command amplitude generation unit 118 sets the target value of the calculation result of the first inner product or the second inner product to zero.

[0193] Accordingly, the magnetic flux Ψ of the permanent magnet used to generate the synchronous rotating machine 400 can flow. am The magnetic flux of the magnetic field in the direction of the current can thus further reduce torque ripple effectively.

[0194] (Second Implementation)

[0195] The following describes a second embodiment of a rotary machine control device, which is constructed by modifying a portion of the rotary machine control device 100 according to the first embodiment. Here, regarding the rotary machine control device according to the second embodiment, structural elements that are the same as those in the rotary machine control device 100 are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotary machine control device and the rotary machine control device 100.

[0196] Figure 12 This is a block diagram of the command amplitude generation unit 118a of the rotary machine control device according to the second embodiment.

[0197] like Figure 12 As shown, the rotary machine control device according to the second embodiment is configured by changing the command amplitude generation unit 118 to the command amplitude generation unit 118a compared to the rotary machine control device 100 according to the first embodiment.

[0198] The instruction amplitude generation unit 118a differs from the instruction amplitude generation unit 118 mainly in that it does not have an adder 142. The instruction amplitude generation unit 118a uses the value obtained by the adder 140 as the instruction amplitude |Ψ. s * Output.

[0199] As described above, the instruction amplitude generation unit 118a may also not have an adder 142.

[0200] (Third Implementation)

[0201] The following describes a rotary machine control device according to a third embodiment, which is constructed by modifying a portion of the rotary machine control device 100 according to the first embodiment. Here, regarding the rotary machine control device according to the third embodiment, structural elements that are the same as those in the rotary machine control device 100 are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotary machine control device and the rotary machine control device 100.

[0202] Figure 13 This is a block diagram of the magnetization characteristic determination unit 120b of the rotary machine control device according to the third embodiment. Figure 14 This is a block diagram of the other magnetization characteristic determination unit 120c of the rotary machine control device according to the third embodiment.

[0203] like Figure 13As shown, the rotary machine control device according to the third embodiment is configured by changing the magnetization characteristic determination unit 120 to the magnetization characteristic determination unit 120b compared to the rotary machine control device 100 according to the first embodiment.

[0204] The magnetization characteristic determination section 120b differs from the magnetization characteristic determination section 120 mainly in that it also has an armature reaction flux determination section 194.

[0205] Armature reaction flux determination unit 194 determines the shaft current i α Multiplied by virtual inductance L qm To estimate the armature reaction flux L qm i α And output it, through the shaft current i β Multiplied by virtual inductance L qm To estimate the armature reaction flux L qm i β And output it.

[0206] The α, β / qm transformation unit 150 estimates the armature reaction flux L. qm i α L qm i β Transformed into qm-axis magnetic flux Ψ qm Specifically, the α, β / qm transformation unit 150 estimates the armature reaction flux L using equation (25). qm i α L qm i β Transformed into qm-axis magnetic flux Ψ qm and output qm-axis magnetic flux Ψ qm .

[0207] [Formula 25]

[0208] Ψ qm =-(L qm i α sinθ dm +(L qm i β cosθ dm (25)

[0209] As described above, the magnetization characteristic determination unit 120b may also include an armature reaction flux determination unit 194.

[0210] also, Figure 13 The magnetization characteristic determination unit 120b shown in the figure can also be Figure 14 The magnetization characteristic determination section 120c is shown.

[0211] like Figure 14As shown, the magnetization characteristic determination unit 120c differs from the magnetization characteristic determination unit 120b mainly in that it has an armature reaction flux determination unit 194c instead of an armature reaction flux determination unit 194c. That is, the armature reaction flux determination unit 194c is located after the α, β / qm converter 148. Furthermore, the armature reaction flux determination unit 194c determines the magnetization characteristic by analyzing the qm-axis current i output from the α, β / qm converter 148. qm Multiplied by virtual inductance L qm To output the qm-axis magnetic flux Ψ qm Therefore, compared with the magnetization characteristic determination unit 120b, the magnetization characteristic determination unit 120c does not require the α, β / qm transformation unit 150, and can be set to a simple structure.

[0212] As described above, the magnetization characteristic determination unit 120b can also be replaced by the magnetization characteristic determination unit 120c having the armature reaction flux determination unit 194c.

[0213] (Fourth Implementation)

[0214] The following describes a rotary machine control device according to the fourth embodiment, which is constructed by modifying a portion of the rotary machine control device 100 according to the first embodiment. Here, regarding the rotary machine control device according to the fourth embodiment, structural elements that are the same as those in the rotary machine control device 100 are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotary machine control device and the rotary machine control device 100.

[0215] Figure 15 This is a block diagram of the sensorless control unit 106c of the rotary machine control device according to the fourth embodiment. Figure 16 yes Figure 15 Block diagram of the command phase determination unit 124c of the sensorless control unit 106c.

[0216] like Figure 15 As shown, the rotary machine control device according to the fourth embodiment is configured by changing the sensorless control unit 106 to the sensorless control unit 106c, relative to the rotary machine control device 100 according to the first embodiment.

[0217] The sensorless control unit 106c differs from the sensorless control unit 106 mainly in that it has a command phase determination unit 124c instead of a command phase determination unit 124c.

[0218] In this embodiment, a command speed ω is provided to the sensorless control unit 106c. ref * Command speed ω ref *This indicates the speed that the synchronous rotating machine 400 should follow. The sensorless control unit 106c determines the speed ω according to the command. ref * and phase current i u i w To generate the command voltage vector v u * v v * v w * Through this control, the synchronous rotating machine 400 is controlled so that its speed follows the commanded speed ω. ref * .

[0219] like Figure 16 As shown, the command phase determination unit 124c includes an integrator 200 and an adder 202. The command phase determination unit 124c is based on the pulsation-compensated phase θ. ripple The command phase θ is determined by the speed command. s * .

[0220] Integrator 200 for command speed ω ref * Integrate the points.

[0221] Adder 202 adds the pulsation compensation phase θ to the value obtained by integrator 200. ripple To determine the command phase θ s * .

[0222] As described above, the rotary machine control device may also include a sensorless control unit 106c instead of a sensorless control unit 106.

[0223] (Fifth Implementation)

[0224] The following describes a fifth embodiment of a rotating machine control device, which is constructed by modifying a portion of the rotating machine control device according to the fourth embodiment. Here, regarding the rotating machine control device according to the fifth embodiment, structural elements identical to those in the fourth embodiment are already described and are marked with the same reference numerals, and detailed descriptions are omitted. The description will focus on the differences between the fifth and fourth embodiments.

[0225] Figure 17 This is a block diagram of the command phase determination unit 124d of the rotary machine control device according to the fifth embodiment.

[0226] like Figure 17As shown, the rotary machine control device according to the fifth embodiment is configured by changing the command phase determination unit 124c to the command phase determination unit 124d compared to the rotary machine control device according to the fourth embodiment.

[0227] The command phase determination unit 124d performs the following operations: (1) using the speed command for the synchronous rotating machine 400 to determine the estimated magnetic flux Ψ. s The phase is the estimated phase θ s (2) The amount of movement Δθ to be moved per control cycle; (3) Using the determined amount of movement Δθ and the pulsation compensation phase θ ripple Determine the command phase θ s * The instruction phase determination unit 124d includes an adder 202, a multiplier 204, and an adder 206.

[0228] Multiplier 204 instruction speed ω ref * Multiply by T s To calculate the displacement Δθ. Here, T s It is the control cycle.

[0229] Adder 202 adds the pulsation compensation phase θ to the shift Δθ ripple .

[0230] Adder 206 adds the estimated phase θ to the value obtained by adder 202. s To determine the command phase θ s * .

[0231] As described above, the instruction phase determination unit 124d may also include an adder 202, a multiplier 204, and an adder 206.

[0232] The rotary machine control device according to the fifth embodiment further includes a phase determination unit 114, which is based on the estimated magnetic flux Ψ. s Determine the estimated magnetic flux Ψ s The phase is the estimated phase θ s The command phase determination unit 124d performs the following operations: (1) It uses the speed command for the synchronous rotating machine 400 to determine the estimated phase Ψ. s (2) The amount of movement Δθ to be moved per control cycle; (3) Using the determined amount of movement Δθ and the pulsation compensation phase θ ripple And the estimated phase θ s Determine the command phase θ s * .

[0233] Therefore, it is possible to use the estimated phase Ψ sThe amount of movement Δθ and the pulsation compensation phase θ for each control cycle should be moved. ripple And the estimated phase θ s Determine the command phase θ s * Therefore, torque ripple can be further reduced more effectively in sensorless flux control.

[0234] (Sixth Implementation Method)

[0235] The following describes a rotating machine control device according to a sixth embodiment, which is constructed by modifying a portion of the rotating machine control device according to the fifth embodiment. Here, regarding the rotating machine control device according to the sixth embodiment, structural elements identical to those in the rotating machine control device according to the fifth embodiment are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the sixth and fifth embodiments.

[0236] Figure 18 This is a block diagram of the command phase determination unit 124e of the rotary machine control device according to the sixth embodiment.

[0237] like Figure 18 As shown, the rotary machine control device according to the sixth embodiment is configured by changing the command phase determination unit 124d to the command phase determination unit 124e, relative to the rotary machine control device according to the fifth embodiment.

[0238] The command phase determination unit 124e also uses the estimated torque T e Determine the command phase θ s * The instruction phase determination unit 124e includes adder 202, adder 206, multiplier 208, high-pass filter 210, sign inverter 212, PI compensator 214, and adder 216.

[0239] Multiplier 208 instruction speed ω ref * Multiply by T s To find ω ref * T s .

[0240] The high-pass filter 210 estimates the torque T based on the torque T. e To output torque T H .

[0241] The sign inverter 212 causes the torque T to be... H The sign is reversed.

[0242] PI compensator 214 based on torque - T HTo find Δω ref * T s .

[0243] Adder 216 will use ω calculated by multiplier 208 ref * T s The Δω obtained by the PI compensator 214 ref * T s Add them together to find the torque phase Δθ s .

[0244] Adder 202 corresponds to torque phase Δθ s Add pulsation compensation phase θ ripple .

[0245] Adder 206 adds the estimated phase θ to the value obtained by adder 202. s To determine the command phase θ s * .

[0246] As described above, the instruction phase determination unit 124e may also include adder 202, adder 206, multiplier 208, high-pass filter 210, sign inverter 212, PI compensator 214, and adder 216.

[0247] The rotary machine control device according to the sixth embodiment further includes a torque estimation unit 116, which is based on the estimated magnetic flux Ψ. s The torque T is estimated by calculating the detected current i. e The instruction phase determination unit 124e also uses the estimated torque T e Determine the command phase θ s * .

[0248] Therefore, it is also possible to use the estimated torque T e Determine the command phase θ s * Therefore, torque ripple can be further reduced more effectively in sensorless flux control.

[0249] (Seventh Implementation)

[0250] The following describes a rotating machine control device according to the seventh embodiment, which is constructed by modifying a portion of the rotating machine control device according to the fourth embodiment. Here, regarding the rotating machine control device according to the seventh embodiment, structural elements that are the same as those in the rotating machine control device according to the fourth embodiment are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotating machine control device according to the fourth embodiment and the seventh embodiment.

[0251] Figure 19 This is a block diagram of the command phase determination unit 124f of the rotary machine control device according to the seventh embodiment.

[0252] like Figure 19 As shown, the rotary machine control device according to the seventh embodiment is configured by changing the command phase determination unit 124c to the command phase determination unit 124f, compared to the rotary machine control device according to the fourth embodiment.

[0253] The instruction phase determination unit 124f includes an integrator 200, an adder 202, a high-pass filter 218, a gain multiplier 220, and a subtractor 222.

[0254] The high-pass filter 218 estimates the torque T. e To output torque T H .

[0255] Gain multiplier 220 pairs of torque T H Multiply by the gain K1.

[0256] Subtractor 222 receives instruction speed ω ref * Subtract K1T H .

[0257] Integrator 200 integrates the value obtained by subtractor 222.

[0258] Adder 202 adds the pulsation compensation phase θ to the value obtained by integrator 200. ripple To determine the command phase θ s * .

[0259] As described above, the instruction phase determination unit 124f may also include an integrator 200, an adder 202, a high-pass filter 218, a gain multiplier 220, and a subtractor 222.

[0260] (Eighth Implementation Method)

[0261] The following describes a rotary machine control device according to the eighth embodiment, which is constructed by modifying a portion of the rotary machine control device according to the seventh embodiment. Here, regarding the rotary machine control device according to the eighth embodiment, structural elements that are the same as those in the rotary machine control device according to the seventh embodiment are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotary machine control device according to the seventh embodiment and the eighth embodiment.

[0262] Figure 20 This is a block diagram of the command phase determination unit 124g of the rotary machine control device according to the eighth embodiment.

[0263] like Figure 20 As shown, the rotary machine control device according to the eighth embodiment is configured by changing the command phase determination unit 124f to the command phase determination unit 124g compared to the rotary machine control device according to the seventh embodiment.

[0264] The instruction phase determination unit 124g includes an adder 202, a multiplier 204, an adder 206, a high-pass filter 218, a gain multiplier 220, and a subtractor 222.

[0265] Adder 202 adds the pulsation compensation phase θ to the shift Δθ obtained by multiplier 204. ripple .

[0266] Adder 206 adds the estimated phase θ to the value obtained by adder 202. s To determine the command phase θ s * .

[0267] As described above, the instruction phase determination unit 124g may also include an adder 202, a multiplier 204, an adder 206, a high-pass filter 218, a gain multiplier 220, and a subtractor 222.

[0268] (Ninth Implementation)

[0269] The following describes a rotary machine control device according to the ninth embodiment, which is constructed by modifying a portion of the rotary machine control device according to the eighth embodiment. Here, regarding the rotary machine control device according to the ninth embodiment, structural elements that are the same as those in the rotary machine control device according to the eighth embodiment are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotary machine control device according to the eighth embodiment and the ninth embodiment.

[0270] Figure 21This is a block diagram of the command phase determination unit 124h of the rotary machine control device according to the ninth embodiment.

[0271] like Figure 21 As shown, the rotary machine control device according to the ninth embodiment is configured by changing the command phase determination unit 124g to the command phase determination unit 124h compared to the rotary machine control device according to the eighth embodiment.

[0272] The instruction phase determination unit 124h includes adder 202, adder 206, multiplier 208, PI compensator 214, adder 216, low-pass filter 224, and subtractor 226.

[0273] Multiplier 208 instruction speed ω ref * Multiply by T s To find ω ref * T s .

[0274] The low-pass filter 224 is based on the estimated torque T e To output torque T L .

[0275] Subtractor 226 obtains torque T L Subtract the estimated torque T e To calculate the torque - T H .

[0276] PI compensator 214 based on torque - T H To find Δω ref * T s .

[0277] Adder 216 will use ω calculated by multiplier 208 ref * T s The Δω obtained by the PI compensator 214 ref * T s Add them together to find the torque phase Δθ s .

[0278] Adder 202 adjusts the torque phase Δθ obtained by adder 216. s Add pulsation compensation phase θ ripple .

[0279] Adder 206 adds the estimated phase θ to the value obtained by adder 202. s To determine the command phase θ s * .

[0280] As described above, the instruction phase determination unit 124h may also include adder 202, adder 206, multiplier 208, PI compensator 214, adder 216, low-pass filter 224, and subtractor 226.

[0281] (Tenth Implementation)

[0282] The following describes a tenth embodiment of a rotary machine control device 100j, which is constructed by modifying a portion of the rotary machine control device 100 according to the first embodiment. Here, regarding the rotary machine control device 100j according to the tenth embodiment, structural elements that are the same as those in the rotary machine control device 100 are described in detail and are marked with the same reference numerals as those in the drawings, and detailed descriptions of these structural elements are omitted. The description will focus on the differences between the rotary machine control device 100j and the rotary machine control device 100.

[0283] like Figure 22 As shown, the rotary machine control device 100j includes a first current sensor 102, a second current sensor 104, a sensorless control unit 106j, and a duty cycle generation unit 108. The rotary machine control device 100j is connected to the PWM (Pulse Width Modulation) inverter 300 and the synchronous rotary machine 400.

[0284] The sensorless control unit 106j performs sensorless flux control of the synchronous rotating machine 400. The sensorless control unit 106j is configured to perform sensorless flux control operation of the synchronous rotating machine 400. In this embodiment, during the execution of sensorless flux control operation, the rotational speed (number of revolutions) of the rotor of the synchronous rotating machine 400 is consistent with the rotational speed (synchronous speed) of the rotating current applied to the synchronous rotating machine 400. Sensorless flux control operation is operation without using position sensors such as encoders and rotary transformers. In this specification, for ease of explanation, the operation of controlling the rotating machine flux using the estimated phase of the rotating machine flux is referred to as flux control operation. The rotating machine flux is a concept that includes both the armature linkage flux applied to the three-phase AC coordinates of the synchronous rotating machine 400 and the flux obtained by performing coordinate transformation on the armature linkage flux. In this specification, "amplitude" sometimes refers only to magnitude (absolute value).

[0285] Some or all of the elements of the rotary machine control device 100j can be provided by a control application program executed in a DSP (Digital Signal Processor) or microcomputer. The DSP or microcomputer may also include peripheral devices such as a core, memory, A / D conversion circuitry, and communication ports. Alternatively, some or all of the elements of the rotary machine control device 100j may also be constituted by logic circuits.

[0286] (Summary of the control performed by the rotary machine control device 100j)

[0287] Rotary machine control device 100j controls the torque according to the command torque T e * and phase current i u i w To generate duty cycle D u D v D w The PWM inverter 300 determines the duty cycle D based on... u D v D w To generate the voltage vector v to be applied to the synchronous rotating machine 400 u v v v w Command torque T e * The command torque T is supplied from the higher-level control device to the rotary machine control device 100j. e * This indicates the torque that the motor torque should follow.

[0288] The following is a summary of the operation of the rotary machine control device 100j. The phase current i is detected using current sensors 102 and 104 (first current sensor 102 and second current sensor 104). u i w During sensorless flux control operation, the sensorless control unit 106j determines the torque based on the command torque T. e * and phase current i u i w To generate the command voltage vector v u * v v * v w * Command voltage vector v u * v v * v w *Each component corresponds to the U-phase voltage, V-phase voltage, and W-phase voltage on the three-phase AC coordinate system, respectively. The duty cycle generation unit 108 generates the voltage based on the command voltage vector v. u * v v * v w * To generate duty cycle D u D v D w Duty cycle D u D v D w The input is fed into the PWM inverter 300. Through this control, the synchronous rotating machine 400 is controlled so that its torque follows the commanded torque T. e * .

[0289] Below, the rotary machine control device 100j is sometimes described based on the α-β coordinate system. Additionally, it is sometimes described based on the dq coordinate system. Furthermore, it is sometimes described based on the dm-qm coordinate system. Figure 2 The diagram shows the α-β coordinates, dq coordinates, and dm-qm coordinates. The α-β coordinates are fixed coordinates. The α-β coordinates are also called static coordinates or alternating coordinates. The α-axis is set along the U-axis (in...). Figure 2 (The text is omitted here.) The axes extend in the same direction. The U-axis corresponds to the U-phase winding of the rotating machine control device 100. The β-axis is orthogonal to the α-axis. The dq coordinate system is a rotating coordinate system with the phase of the rotor of the synchronous rotating machine 400 as the d-axis and the phase leading that phase by 90 degrees as the q-axis. The dm-qm coordinate system is a rotating coordinate system. The dm-axis is based on the magnetic flux Ψ of the magnet. am The phase is the magnet phase θ dm Let dm be the axis, with phase θ relative to the magnet dm In a coordinate system with a phase 90 degrees ahead of the qm axis, the magnetic flux Ψ of the magnet is... am It is the estimated magnetic flux of the permanent magnet of the synchronous rotating machine 400.

[0290] (Sensorless control unit 106j)

[0291] Return to Figure 22 The sensorless control unit 106j performs sensorless flux control operation by setting the command amplitude in a way that converges the amplitude of the rotating machine's magnetic flux to the target amplitude. The sensorless flux control operation is based on the command phase θ. s * The instruction is executed in phase θ. s *It is based on the phase of the rotating machine flux estimated by the flux estimation unit 112 (described later) (estimated phase θ). s The target amplitude is the amplitude that the rotating machine flux should ultimately reach. The command amplitude is the amplitude that the rotating machine flux should follow.

[0292] like Figure 23 As shown, the sensorless control unit 106j includes a u, w / α, β conversion unit 110, a magnetic flux estimation unit 112, a phase determination unit 114, a torque estimation unit 116, a command amplitude generation unit 118, a magnetization characteristic determination unit 120, a pulsation compensation determination unit 122j, a command phase determination unit 124j, a command magnetic flux generation unit 126, a voltage command generation unit 128, and an α, β / u, v, w conversion unit 130.

[0293] In the sensorless control unit 106j, the phase current i is converted by the u, w / α, β conversion unit 110. u i w Transformed into axis current i α i β Axis current i α i β The summary records the α-axis current i on the α-β coordinate of the synchronous rotary machine 400. α and β-axis current i β The magnetic flux of the rotating machine is estimated using the magnetic flux estimation unit 112 (the estimated magnetic flux Ψ is obtained). s The magnetic flux Ψ will be estimated. s The α-axis and β-axis components are respectively denoted as the estimated magnetic flux Ψ α Ψ β The phase determination unit 114 determines the magnetic flux Ψ based on the estimated magnetic flux. s To estimate the phase of the magnetic flux of the rotating machine (to calculate the estimated magnetic flux Ψ) s Estimated phase θ s The torque estimation unit 116 estimates the magnetic flux Ψ. s and shaft current i α i β To estimate the motor torque (calculate the estimated torque T) e The command amplitude generation unit 118 determines the magnetic flux Ψ based on the estimated magnetic flux. s and shaft current i α i β To generate command amplitude |Ψ s * |. The magnetization characteristic determination unit 120 determines the estimated magnetic flux Ψ s and shaft current i α i β Determine the qm-axis current i qm Phase θ of the magnet dm harmonic components nθdm The pulsation compensation determination unit 122j determines the current i based on the qm-axis current. qm Harmonic component nθ dm To determine the pulsation compensation torque T ripple The command phase determination unit 124j determines the magnetic flux Ψ based on the estimated magnetic flux. s Estimated phase θ s Command torque T e * Estimating torque T e and pulsation compensation torque T ripple To determine the command flux vector Ψ s * Command phase (command flux vector phase) θ s * The command flux generation unit 126 generates the amplitude |Ψ according to the command. s * | and command phase θ s * To determine the command flux vector Ψ s * The command flux vector Ψ s * The α-axis and β-axis components are respectively recorded as the α-axis command flux Ψ α * and β-axis command flux Ψ β * The voltage command generation unit 128 generates magnetic flux Ψ according to the command. α * Ψ β * Estimating magnetic flux Ψ α Ψ β and shaft current i α i β To determine the command axis voltage v α * v β * Command axis voltage v α * v β * The summary records the α-axis command axis voltage v on the α-β coordinate of the synchronous rotary machine 400. α * and β-axis command axis voltage v β * The command axis voltage v is converted using the α, β / u, v, w conversion unit 130. α * v β * Transformed into command voltage vector v u * vv * v w * .

[0294] In sensorless flux control operation, the motor torque follows the command torque T through this control. e * The rotating machine's magnetic flux follows the command magnetic flux vector Ψ s * As a result, the speed of the synchronous rotating machine 400 follows the commanded speed ω. ref * In the case expressed as described above, "the sensorless control unit 106j performs sensorless flux control operation by setting the command amplitude in a manner that converges the amplitude of the rotating machine flux to the target amplitude," the "target amplitude" and the command amplitude |Ψ s * | Corresponding. Considering this, the command amplitude |Ψ is sometimes used below. s * |Referred to as the target amplitude|Ψ s * |

[0295] In this specification, the shaft current i α i β This doesn't actually refer to the current flowing through the synchronous rotary machine 400, but rather to the current value being transmitted as information. Command axis voltage v α * v β * Estimating magnetic flux Ψ s Estimating the phase θ s Command phase θ s * Estimating torque T e Command torque T e * Command amplitude |Ψ s * |(Target amplitude|Ψ) s * |), Command flux vector Ψ s * Command voltage vector v u * v v * v w * Command speed ω ref * Magnet phase θ dm Harmonic components nθ dm and qm-axis current i qm"Etc" also means the value that is transmitted as information.

[0296] The following explanation Figure 23 The structural elements of the sensorless control unit 106j shown are illustrated.

[0297] (Pulse Compensation Determination Unit 122j)

[0298] like Figure 24 As shown, the pulsation compensation determination unit 122j is based on the qm-axis current i qm Harmonic component nθ dm To determine the pulsation compensation torque T ripple The pulsation compensation determination unit 122j includes a magnetic energy meter 168 and a pulsation torque determination unit 170.

[0299] The pulsation compensation determination unit 122j determines the qm-axis current i output from the α, β / qm conversion unit 148. qm and the magnetic energy table 168 produced by the magnetic energy determination unit 156 (see reference) Figure 7 To calculate the magnetic energy W′ qmcn and magnetic energy W′ qmsn Specifically, the pulsation compensation determination unit 122j selects the qm-axis current i from the magnetic energy meter 168 and the current i output from the α, β / qm conversion unit 148. qm The value corresponds to the magnetic energy W′ qmcn The value is determined and output. Additionally, the pulsation compensation determination unit 122j selects the qm-axis current i from the magnetic energy meter 168 and outputs it from the α, β / qm conversion unit 148. qm The value corresponds to the magnetic energy W′ qmsn The value is calculated and output.

[0300] (Command Phase Determination Unit 124j)

[0301] Return to Figure 23 The instruction phase determination unit 124j is based on the pulsating compensation torque T determined by the resonant unit 189 (described later). ripple The determined pulsation compensation phase θ ripple The command flux vector phase is determined by the torque command or speed command. An example based on the torque command is shown here. The command flux vector phase is the command phase θ. s * In other words, in this embodiment, such as Figure 2 As shown, the command phase θ s * It is the command flux vector Ψ s * The phase of the estimated torque T. In this embodiment, the command phase determination unit 124j determines the phase by using the phase of the estimated torque T. e Converging to command torque T e* Torque phase Δθ s , Pulsation compensation phase θ ripple And the estimated phase θ s Add them together to determine the command phase θ s * In other words, the command phase determination unit 124j uses the torque phase Δθ s , Pulsation compensation phase θ ripple And the estimated phase θ s Determine the command phase θ s * .

[0302] like Figure 25 As shown, the instruction phase determination unit 124j includes a subtractor 186, a PI compensator 188, a resonant unit 189, an adder 190, and an adder 192.

[0303] Subtractor 186 receives command torque T e * Subtract the estimated torque T e and pulsation compensation torque T ripple We can use this to calculate the deviation ΔT.

[0304] The PI compensator 188 obtains the torque phase Δθ through proportional-integral control used to converge the deviation ΔT obtained by the subtractor 186 to zero. s .

[0305] The resonant section 189 uses the deviation ΔT to determine the pulsation compensation phase θ using equation (26). ripple b0 is a coefficient, a pre-defined constant. Additionally, ν is the attenuation coefficient, and ω... n is the natural frequency, and s is the transfer function.

[0306] [Formula 26]

[0307] θ ripple =b0ΔT / (s) 2 +2ξω n s+ω n 2 (26)

[0308] Thus, the resonant section 189 is based on the pulsating compensation torque T ripple Determine the pulsation compensation phase θ ripple For example, resonant section 189 is a resonator.

[0309] Adder 190 will convert the torque phase Δθ s Phase θ with pulsation compensation ripple Add them together.

[0310] Adder 192 pairs of torque phase Δθs and pulsation compensation phase θ ripple Further adding the estimated phase θ s To determine the command phase θ s * .

[0311] (Effects, etc.)

[0312] The rotating machine control device 100j according to the tenth embodiment includes: a magnetic flux estimation unit 112, which estimates the magnetic flux of the synchronous rotating machine 400, i.e., the rotating machine magnetic flux; and a command amplitude generation unit 118, which generates a command magnetic flux Ψ by executing feedback control. α * Ψ β * The amplitude is the command amplitude |Ψ s * The feedback control uses the estimated rotating machine flux, i.e., the estimated flux Ψ. s The first inner product of the detection current i of the synchronous rotating machine 400 or the estimated magnetic flux Ψ of the permanent magnet of the synchronous rotating machine 400. am The second inner product of the detected current i; the magnetization characteristic determination unit 120, which is based on the estimated magnetic flux Ψ s The magnetic flux Ψ of the magnet is determined by detecting the current i. am The phase is the magnet phase θ dm Using magnet phase θ dm Let dm be the axis and have phase θ relative to the magnet dm The dm-qm coordinates, which are 90 degrees ahead of the phase along the qm axis, are used to determine the estimated magnetic flux Ψ. s qm axis magnetic flux Ψ qm The qm-axis current i of the detected current i qm and magnet phase θ dm harmonic components nθ dm The pulsation compensation determination unit 122j is based on the qm-axis current i. qm Harmonic component nθ dm To determine the pulsation compensation torque T ripple The command phase determination unit 124j is based on the pulsating compensation torque T determined by the resonant unit 189. ripple The determined pulsation compensation phase θ ripple And torque or speed commands, to determine the command phase θ s * ; and the command flux generation unit 126, which is based on the command amplitude |Ψ s * | and command phase θ s * To generate instruction flux Ψ α * Ψβ * .

[0313] Based on this, the phase θ of the magnet can be determined. dm It can use the magnet phase θ dm Let dm be the axis and have phase θ relative to the magnet dm The dm-qm coordinates, which are 90 degrees ahead of the phase along the qm axis, are used to determine the estimated magnetic flux Ψ. s qm axis magnetic flux Ψ qm The qm-axis current i of the detected current i qm and magnet phase θ dm harmonic components nθ dm It can be based on the qm-axis current i qm Harmonic component nθ dm To determine the pulsation compensation torque T ripple It can compensate for torque T based on pulsation. ripple The determined pulsation compensation phase θ ripple The command phase θ is determined by the torque command or speed command. s * Therefore, torque ripple can be effectively reduced in sensorless flux control.

[0314] Furthermore, in the tenth embodiment, such as Figure 25 As explained in the text, the estimated torque T is used. e To determine the pulsation compensation phase θ ripple Therefore, it can reduce torque ripple with high precision.

[0315] Furthermore, the rotary machine control device 100j according to the tenth embodiment also includes a phase determination unit 114 and a torque estimation unit 116, the phase determination unit 114 being based on the estimated magnetic flux Ψ s Determine the estimated magnetic flux Ψ s The phase is the estimated phase θ s The torque estimation unit 116 is based on the estimated magnetic flux Ψ s The torque T is estimated by calculating the detected current i. e The instruction phase determination unit 124j will use the method to estimate the torque T e Converging to command torque T e * Torque phase Δθ s , Pulsation compensation phase θ ripple And the estimated phase θ s Add them together to determine the command phase θ s * .

[0316] Therefore, it is possible to estimate the torque T by using the method described above. e Converging to command torque Te * Torque phase Δθ s , Pulsation compensation phase θ ripple And the estimated phase θ s Add to determine the command phase θ s * Therefore, torque ripple can be further reduced more effectively in sensorless flux control.

[0317] Furthermore, in the rotary machine control device 100j according to the tenth embodiment, the command amplitude generation unit 118 sets the target value of the calculation result of the first inner product or the second inner product to zero.

[0318] Accordingly, the magnetic flux Ψ of the permanent magnet used to generate the synchronous rotating machine 400 can flow. am The magnetic flux of the magnetic field in the direction of the current can thus further reduce torque ripple effectively.

[0319] (Eleventh Implementation Method)

[0320] The following describes a rotary machine control device according to the eleventh embodiment, which is constructed by modifying a portion of the rotary machine control device 100j according to the tenth embodiment. Here, regarding the rotary machine control device according to the eleventh embodiment, structural elements that are the same as those in the rotary machine control device 100j are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences from the rotary machine control device 100j.

[0321] Figure 12 This is a block diagram of the command amplitude generation unit 118a of the rotary machine control device according to the second embodiment.

[0322] like Figure 12 As shown, the rotary machine control device according to the eleventh embodiment is configured by changing the command amplitude generation unit 118 to the command amplitude generation unit 118a compared to the rotary machine control device 100j according to the tenth embodiment.

[0323] (Twelfth Implementation)

[0324] The following describes a rotary machine control device according to the twelfth embodiment, which is constructed by modifying a portion of the rotary machine control device 100j according to the tenth embodiment. Here, regarding the rotary machine control device according to the twelfth embodiment, structural elements that are the same as those in the rotary machine control device 100j are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotary machine control device and the rotary machine control device 100j.

[0325] Figure 13 This is a block diagram of the magnetization characteristic determination unit 120b of the rotary machine control device according to the third embodiment. Figure 14 This is a block diagram of the other magnetization characteristic determination unit 120c of the rotary machine control device according to the third embodiment.

[0326] like Figure 13 As shown, the rotary machine control device according to the twelfth embodiment is configured by changing the magnetization characteristic determination unit 120 to the magnetization characteristic determination unit 120b compared to the rotary machine control device 100j according to the tenth embodiment.

[0327] also, Figure 13 The magnetization characteristic determination unit 120b shown in the figure can also be Figure 14 The magnetization characteristic determination section 120c is shown.

[0328] (Thirteenth Implementation Method)

[0329] The following describes a rotary machine control device according to the thirteenth embodiment, which is constructed by modifying a portion of the rotary machine control device 100j according to the tenth embodiment. Here, regarding the rotary machine control device according to the thirteenth embodiment, structural elements that are the same as those in the rotary machine control device 100j are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotary machine control device and the rotary machine control device 100j.

[0330] Figure 26 This is a block diagram of the sensorless control unit 106k of the rotary machine control device according to the thirteenth embodiment. Figure 27 yes Figure 26 Block diagram of the command phase determination unit 124k of the sensorless control unit 106k.

[0331] like Figure 26 As shown, the rotary machine control device according to the thirteenth embodiment is configured by changing the sensorless control unit 106j to the sensorless control unit 106k compared to the rotary machine control device 100j according to the tenth embodiment.

[0332] The sensorless control unit 106k differs from the sensorless control unit 106j mainly in that it has a command phase determination unit 124k instead of a command phase determination unit 124j.

[0333] In this embodiment, a command speed ω is provided to the sensorless control unit 106k. ref * Command speed ω ref *This indicates the speed that the synchronous rotating machine 400 should follow. The sensorless control unit 106k adjusts the speed ω according to the command. ref * and phase current i u i w To generate the command voltage vector v u * v v * v w * Through this control, the synchronous rotating machine 400 is controlled so that its speed follows the commanded speed ω. ref * .

[0334] like Figure 27 As shown, the command phase determination unit 124k includes a resonant unit 189, an integrator 200, and an adder 202. The command phase determination unit 124k is based on the pulsation-compensated phase θ. ripple The command phase θ is determined by the speed command. s * .

[0335] The resonant section 189 is based on the pulsating compensation torque T ripple Determine the pulsation compensation phase θ ripple For example, the resonant section 189 replaces ΔT in the above equation (26) with T. ripple And calculations are performed to determine the pulsation compensation phase θ ripple .

[0336] Integrator 200 for command speed ω ref * Integrate the points.

[0337] Adder 202 adds the pulsation compensation phase θ to the value obtained by integrator 200. ripple To determine the command phase θ s * .

[0338] As described above, the rotary machine control device may also include a sensorless control unit 106k instead of a sensorless control unit 106j.

[0339] (Fourteenth Implementation)

[0340] The following describes a rotary machine control device according to the fourteenth embodiment, which is constructed by modifying a portion of the rotary machine control device according to the thirteenth embodiment. Here, regarding the rotary machine control device according to the fourteenth embodiment, structural elements that are the same as those in the rotary machine control device according to the thirteenth embodiment are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotary machine control device according to the thirteenth embodiment and the rotary machine control device according to the thirteenth embodiment.

[0341] Figure 28 This is a block diagram of the command phase determination unit 124l of the rotary machine control device according to the fourteenth embodiment.

[0342] like Figure 28 As shown, the rotary machine control device according to the fourteenth embodiment is configured by changing the command phase determination unit 124k to the command phase determination unit 124l, relative to the rotary machine control device according to the thirteenth embodiment.

[0343] The command phase determination unit 124l performs the following operations: (1) using the speed command for the synchronous rotating machine 400 to determine the estimated magnetic flux Ψ. s The phase is the estimated phase θ s (2) The amount of movement Δθ to be moved per control cycle; (3) Using the determined amount of movement Δθ and the pulsation compensation phase θ ripple Determine the command phase θ s * The instruction phase determination unit 124l includes a resonant unit 189, an adder 202, a multiplier 204, and an adder 206.

[0344] Multiplier 204 instruction speed ω ref * Multiply by T s To calculate the displacement Δθ. Here, T s It is the control cycle.

[0345] Adder 202 adds the pulsation compensation phase θ to the shift Δθ ripple .

[0346] Adder 206 adds the estimated phase θ to the value obtained by adder 202. s To determine the command phase θ s * .

[0347] As described above, the instruction phase determination unit 124l may also include a resonant unit 189, an adder 202, a multiplier 204, and an adder 206.

[0348] The rotary machine control device according to the fourteenth embodiment further includes a phase determination unit 114, which is based on the estimated magnetic flux Ψ s Determine the estimated magnetic flux Ψ s The phase is the estimated phase θ s The command phase determination unit 124l performs the following operations: (1) It uses the speed command for the synchronous rotating machine 400 to determine the estimated phase Ψ. s (2) The amount of movement Δθ to be moved per control cycle; (3) Using the determined amount of movement Δθ and the pulsation compensation phase θ ripple And the estimated phase θ s Determine the command phase θ s * .

[0349] Therefore, it is possible to use the estimated phase Ψ s The amount of movement Δθ and the pulsation compensation phase θ for each control cycle should be moved. ripple And the estimated phase θ s Determine the command phase θ s * Therefore, torque ripple can be further reduced more effectively in sensorless flux control.

[0350] (Fifteenth Implementation)

[0351] The following describes a rotary machine control device according to the fifteenth embodiment, which is constructed by modifying a portion of the rotary machine control device according to the fourteenth embodiment. Here, regarding the rotary machine control device according to the fifteenth embodiment, structural elements that are the same as those in the rotary machine control device according to the fourteenth embodiment are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotary machine control device according to the fourteenth embodiment and the rotary machine control device according to the fourteenth embodiment.

[0352] Figure 29 This is a block diagram of the command phase determination unit 124m of the rotary machine control device according to the fifteenth embodiment.

[0353] like Figure 29 As shown, the rotary machine control device according to the fifteenth embodiment is configured by changing the command phase determination unit 124l to the command phase determination unit 124m compared to the rotary machine control device according to the fourteenth embodiment.

[0354] The command phase determination unit 124m also uses the estimated torque T e Determine the command phase θ s *The instruction phase determination unit 124m includes a resonant unit 189, adder 202, adder 206, multiplier 208, high-pass filter 210, sign inverter 212, PI compensator 214, adder 216, and subtractor 217.

[0355] Multiplier 208 instruction speed ω ref * Multiply by T s To find ω ref * T s .

[0356] The high-pass filter 210 estimates the torque T based on the torque T. e To output torque T H .

[0357] The sign inverter 212 causes the torque T to be... H The sign is reversed.

[0358] PI compensator 214 based on torque - T H To find Δω ref * T s .

[0359] Adder 216 will use ω calculated by multiplier 208 ref * T s The Δω obtained by the PI compensator 214 ref * T s Add them together to find the torque phase Δθ s .

[0360] Subtractor 217 from -T ripple Subtract T e .

[0361] The resonant section 189 is based on the pulsating compensation torque T ripple Determine the pulsation compensation phase θ ripple For example, the resonant section 189 replaces ΔT in equation (26) above with -T. ripple -T e And calculations are performed to determine the pulsation compensation phase θ ripple .

[0362] Adder 202 corresponds to torque phase Δθ s Add pulsation compensation phase θ ripple .

[0363] Adder 206 adds the estimated phase θ to the value obtained by adder 202. s To determine the command phase θ s* .

[0364] As described above, the instruction phase determination unit 124m may also include a resonant unit 189, an adder 202, an adder 206, a multiplier 208, a high-pass filter 210, a sign inverter 212, a PI compensator 214, an adder 216, and a subtractor 217.

[0365] The rotary machine control device according to the fifteenth embodiment further includes a torque estimation unit 116, which is based on the estimated magnetic flux Ψ. s The torque T is estimated by calculating the detected current i. e The command phase determination unit 124m also uses the estimated torque T e Determine the command phase θ s * .

[0366] Therefore, it is also possible to use the estimated torque T e Determine the command phase θ s * Therefore, torque ripple can be further reduced more effectively in sensorless flux control.

[0367] (Sixteenth Implementation)

[0368] The following describes a rotating machine control device according to the sixteenth embodiment, which is constructed by modifying a portion of the rotating machine control device according to the thirteenth embodiment. Here, regarding the rotating machine control device according to the sixteenth embodiment, structural elements that are the same as those in the rotating machine control device according to the thirteenth embodiment are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotating machine control device according to the thirteenth embodiment and the rotating machine control device according to the thirteenth embodiment.

[0369] Figure 30 This is a block diagram of the command phase determination unit 124n of the rotary machine control device according to the sixteenth embodiment.

[0370] like Figure 30 As shown, the rotary machine control device according to the sixteenth embodiment is configured by changing the command phase determination unit 124k to the command phase determination unit 124n, compared to the rotary machine control device according to the thirteenth embodiment.

[0371] The instruction phase determination unit 124n includes a resonant unit 189, an integrator 200, an adder 202, a subtractor 217, a high-pass filter 218, a gain multiplier 220, and a subtractor 222.

[0372] The high-pass filter 218 estimates the torque T. e To output torque TH .

[0373] Gain multiplier 220 pairs of torque T H Multiply by the gain K1.

[0374] Subtractor 222 receives instruction speed ω ref * Subtract K1T H .

[0375] Integrator 200 integrates the value obtained by subtractor 222.

[0376] Subtractor 217 from -T ripple Subtract T e .

[0377] The resonant section 189 is based on the pulsating compensation torque T ripple Determine the pulsation compensation phase θ ripple For example, the resonant section 189 replaces ΔT in equation (26) above with -T. ripple -T e And calculations are performed to determine the pulsation compensation phase θ ripple .

[0378] Adder 202 adds the pulsation compensation phase θ to the value obtained by integrator 200. ripple To determine the command phase θ s * .

[0379] As described above, the instruction phase determination unit 124n may also include a resonant unit 189, an integrator 200, an adder 202, a subtractor 217, a high-pass filter 218, a gain multiplier 220, and a subtractor 222.

[0380] (Seventeenth Implementation)

[0381] The following describes a rotating machine control device according to the seventeenth embodiment, which is constructed by modifying a portion of the rotating machine control device according to the sixteenth embodiment. Here, regarding the rotating machine control device according to the seventeenth embodiment, structural elements that are the same as those in the rotating machine control device according to the sixteenth embodiment are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotating machine control device according to the sixteenth embodiment and the sixteenth embodiment.

[0382] Figure 31 This is a block diagram of the command phase determination unit 124p of the rotary machine control device according to the seventeenth embodiment.

[0383] like Figure 31As shown, the rotary machine control device according to the seventeenth embodiment is configured by changing the command phase determination unit 124n to the command phase determination unit 124p compared to the rotary machine control device according to the sixteenth embodiment.

[0384] The instruction phase determination unit 124p includes a resonant unit 189, an adder 202, a multiplier 204, an adder 206, a subtractor 217, a high-pass filter 218, a gain multiplier 220, and a subtractor 222.

[0385] Adder 202 adds the pulsation compensation phase θ to the shift Δθ obtained by multiplier 204. ripple .

[0386] Adder 206 adds the estimated phase θ to the value obtained by adder 202. s To determine the command phase θ s * .

[0387] As described above, the instruction phase determination unit 124p may also include a resonant unit 189, an adder 202, a multiplier 204, an adder 206, a subtractor 217, a high-pass filter 218, a gain multiplier 220, and a subtractor 222.

[0388] (Eighteenth Implementation)

[0389] The following describes a rotary machine control device according to the eighteenth embodiment, which is constructed by modifying a portion of the rotary machine control device according to the seventeenth embodiment. Here, regarding the rotary machine control device according to the eighteenth embodiment, structural elements that are the same as those in the rotary machine control device according to the seventeenth embodiment are already described and are marked with the same reference numerals, and their detailed descriptions are omitted. The description will focus on the differences between the rotary machine control device according to the seventeenth embodiment and the rotary machine control device according to the seventeenth embodiment.

[0390] Figure 32 This is a block diagram of the command phase determination unit 124q of the rotary machine control device according to the eighteenth embodiment.

[0391] like Figure 32 As shown, the rotary machine control device according to the eighteenth embodiment is configured by changing the command phase determination unit 124p to the command phase determination unit 124q compared to the rotary machine control device according to the seventeenth embodiment.

[0392] The instruction phase determination unit 124q includes a resonant unit 189, an adder 202, an adder 206, a multiplier 208, a PI compensator 214, an adder 216, a subtractor 217, a low-pass filter 224, and a subtractor 226.

[0393] Multiplier 208 instruction speed ω ref * Multiply by T s To find ω ref * T s .

[0394] The low-pass filter 224 is based on the estimated torque T e To output torque T L .

[0395] Subtractor 226 obtains torque T L Subtract the estimated torque T e To calculate the torque - T H .

[0396] PI compensator 214 based on torque - T H To find Δω ref * T s .

[0397] Adder 216 will use ω calculated by multiplier 208 ref * T s The Δω obtained by the PI compensator 214 ref * T s Add them together to find the torque phase Δθ s .

[0398] Adder 202 adjusts the torque phase Δθ obtained by adder 216. s Add pulsation compensation phase θ ripple .

[0399] Adder 206 adds the estimated phase θ to the value obtained by adder 202. s To determine the command phase θ s * .

[0400] As described above, the instruction phase determination unit 124q may also include a resonant unit 189, an adder 202, an adder 206, a multiplier 208, a PI compensator 214, an adder 216, a subtractor 217, a low-pass filter 224, and a subtractor 226.

[0401] (Nineteenth Implementation)

[0402] The following describes a rotary machine control device 100r according to the nineteenth embodiment, which is constructed by modifying a portion of the rotary machine control device 100 according to the first embodiment. Here, regarding the rotary machine control device 100r according to the nineteenth embodiment, structural elements that are the same as those in the rotary machine control device 100 are described in detail and are marked with the same reference numerals as those in the drawings, and detailed descriptions of these structural elements are omitted. The description will focus on the differences between the rotary machine control device 100 and the rotary machine control device 100.

[0403] like Figure 33 As shown, the rotary machine control device 100r is configured by changing the sensorless control unit 106 to the sensorless control unit 106r relative to the rotary machine control device 100 according to the first embodiment.

[0404] like Figure 34 As shown, the sensorless control unit 106r is configured by changing the magnetization characteristic determination unit 120 and the pulsation compensation determination unit 122 to the pulsation compensation determination unit 122r, which is different from the sensorless control unit 106.

[0405] like Figure 35 As shown, the pulsation compensation determination unit 122r is based on the estimated magnetic flux Ψ s The magnetic flux Ψ of the magnet is determined by detecting the current i. am The phase is the magnet phase θ dm Using magnet phase θ dm Let dm be the axis and have phase θ relative to the magnet dm The phase leading by 90 degrees is the dm-qm coordinate of the qm axis, based on the qm axis current i including the detected current i. qm The pulsation compensation torque T of the pulsation quantity ripple The pulsation compensation phase θ is determined by the resonant section 189. ripple Specifically, the pulsation compensation determination unit 122r is based on the estimated magnetic flux Ψ s The magnetic flux Ψ of the magnet is determined by detecting the current i. am The phase is the magnet phase θ dm Then, the pulsation compensation determination unit 122r uses the magnet phase θ dm Let dm be the axis and have phase θ relative to the magnet dm The phase leading by 90 degrees is used as the dm-qm coordinate of the qm axis to calculate the qm-axis current i of the detected current i. qm Then, the pulsation compensation determination unit 122r calculates the qm-axis current i, which includes the detected current i. qm The pulsation compensation torque T of the pulsation quantity ripple Then, the pulsation compensation determination unit 122r is based on the qm-axis current i, which includes the detected current i. qm The pulsation compensation torque T of the pulsation quantityripple The pulsation compensation phase θ is determined by the resonant section 189. ripple The pulsation compensation determination unit 122r includes a magnet flux determination unit 144, a magnet phase determination unit 146, an α, β / qm conversion unit 148, a torque component determination unit 228, and a resonance unit 189.

[0406] Torque component determination unit 228 calculates the torque component including the qm shaft current i qm The pulsation compensation torque T of the pulsation quantity ripple Specifically, the torque component determination unit 228 calculates the torque component including the qm shaft current i using equation (27). qm The pulsation compensation torque T of the pulsation quantity ripple .

[0407] [Formula 27]

[0408] T ripple =Ψ am i qm (27)

[0409] The resonant section 189 is based on the inclusion of the qm-axis current i qm The pulsation compensation torque T of the pulsation quantity ripple To determine the pulsation compensation phase θ ripple Specifically, the resonant section 189 is based on equation (28) containing the qm-axis current i qm The pulsation compensation torque T of the pulsation quantity ripple To determine the pulsation compensation phase θ ripple b0 is a coefficient, a pre-defined constant. Additionally, ξ is the attenuation coefficient, and ω... n is the natural frequency, and s is the transfer function.

[0410] [Formula 28]

[0411]

[0412] Thus, the resonant section 189 is based on the inclusion of the qm-axis current i qm The pulsation compensation torque T of the pulsation quantity ripple Determine the pulsation compensation phase θ ripple For example, resonant section 189 is a resonator.

[0413] Furthermore, for example, the sensorless control unit 106r may have a command amplitude generation unit 118a instead of a command amplitude generation unit 118. Additionally, for example, the sensorless control unit 106r may have a command phase determination unit 124c, command phase determination unit 124d, command phase determination unit 124e, command phase determination unit 124f, command phase determination unit 124g, or command phase determination unit 124h instead of a command phase determination unit 124, and a command speed ω may be provided to the sensorless control unit 106r. ref * .

[0414] Figure 36 It is a graph showing the waveform of torque in a rotating machine. Specifically, Figure 36 This is a graph showing the torque in a rotating machine when the rotating machine control device simulates the control of the rotating machine. Here, after controlling the rotating machine using the method according to the comparative example, the rotating machine control device is driven to control the rotating machine using the method according to the embodiment. Regarding the rotating machine, it is envisioned that a motor with harmonic components in the magnetic flux of the magnet is used to control the rotating machine in a manner that the rotational speed is 3600 r / min and 50% of the rated load. The method according to the comparative example is the same as the method described in Non-Patent Document 1, and the method according to the embodiment is the same as the method of the rotating machine control device 100r.

[0415] like Figure 36 As shown, when the rotary machine control device is driven using the method according to the embodiment, the torque ripple rate can be reduced by approximately 22% compared to the case where the rotary machine control device is driven using the method according to the comparative example. The torque ripple rate is calculated by (maximum torque - minimum torque) / average torque.

[0416] Furthermore, when the rotary machine control device is driven using the same method as the rotary machine control device 100 of the first embodiment and when the rotary machine control device is driven using the same method as the rotary machine control device 100j of the tenth embodiment, the torque ripple rate can be reduced compared to the case where the rotary machine control device is driven using the method involved in the comparative example.

[0417] (Effects, etc.)

[0418] The rotating machine control device 100r according to the nineteenth embodiment includes: a magnetic flux estimation unit 112, which estimates the magnetic flux of the synchronous rotating machine 400, i.e., the rotating machine magnetic flux; and a command amplitude generation unit 118, which generates a command magnetic flux Ψ by executing feedback control. α * Ψ β * The amplitude is the command amplitude |Ψs * The feedback control uses the estimated rotating machine flux, i.e., the estimated flux Ψ. s The first inner product of the detection current i of the synchronous rotating machine 400 or the estimated magnetic flux Ψ of the permanent magnet of the synchronous rotating machine 400. am The second inner product of the detected current i; the pulsation compensation determination unit 122r, which is based on the estimated magnetic flux Ψ s The magnetic flux Ψ of the magnet is determined by detecting the current i. am The phase is the magnet phase θ dm Using magnet phase θ dm Let dm be the axis and have phase θ relative to the magnet dm The phase leading by 90 degrees is the dm-qm coordinate of the qm axis, based on the qm axis current i including the detected current i. qm The pulsation compensation torque T of the pulsation quantity ripple The pulsation compensation phase θ is determined by the resonant section 189. ripple The instruction phase determination unit 124 is based on the pulsation compensation phase θ. ripple The command phase θ is determined by the torque command or speed command. s * ; and the command flux generation unit 126, which is based on the command amplitude |Ψ s * | and command phase θ s * To generate instruction flux Ψ α * Ψ β * .

[0419] Based on this, the phase θ of the magnet can be determined. dm It can use the magnet phase θ dm Let dm be the axis and have phase θ relative to the magnet dm The dm-qm coordinates, which are 90 degrees ahead of the phase along the qm axis, are used to determine the estimated magnetic flux Ψ. s qm axis magnetic flux Ψ qm and the qm-axis current i of the detected current i qm It can be based on the qm-axis current i including the detection current i. qm The pulsation compensation torque T of the pulsation quantity ripple Determine the pulsation compensation phase θ ripple It can compensate for phase θ based on pulsation. ripple The command phase θ is determined by the torque command or speed command. s * Therefore, torque ripple can be effectively reduced in sensorless flux control.

[0420] (Other implementation methods, etc.)

[0421] The above describes a rotary machine control device according to one aspect of the present disclosure based on the first to ninth embodiments, but the present disclosure is not limited to these embodiments. Various modifications conceived by those skilled in the art to these embodiments, and combinations of structural elements from different embodiments, may also be included within the scope of one or more aspects of the present disclosure, without departing from the spirit of the present disclosure.

[0422] In the first embodiment described above, the rotary machine control device 100 is described as having a torque estimation unit 116 and a phase determination unit 114, but it is not limited to this. For example, the rotary machine control device may also lack the torque estimation unit 116 and the phase determination unit 114. In this case, for example, the rotary machine control device may obtain the estimated torque T from an external source. e and estimated phase θ s Alternatively, for example, it can also be like... Figure 16 As shown, without using the estimated torque T e and estimated phase θ s Determine the command phase θ under the following circumstances s * .

[0423] Furthermore, while the first embodiment described above illustrates a case where the rotary machine control device 100 includes a torque estimation unit 116, it is not limited to this. For example, the rotary machine control device may not include a torque estimation unit 116. In this case, for example, the rotary machine control device may obtain the estimated torque T from an external source. e Alternatively, for example, it can also be like... Figure 17 As shown, without using the estimated torque T e Determine the command phase θ under the following circumstances s * The same applies to the second through ninth embodiments.

[0424] Furthermore, in the above embodiments, each structural element may be constructed by dedicated hardware or implemented by executing software programs suitable for each structural element. Each structural element may also be implemented by a program execution unit such as a CPU (Central Processing Unit) or processor reading and executing software programs recorded on a recording medium such as a hard disk or semiconductor memory.

[0425] In addition, the following situations are also included in this disclosure.

[0426] (1) Specifically, the aforementioned devices are computer systems composed of a microprocessor, ROM, RAM, hard disk unit, display unit, keyboard, mouse, etc. Computer programs are stored in the RAM or hard disk unit. Each device performs its function by having the microprocessor operate according to the computer program. Here, the computer program is composed of multiple command codes representing instructions for the computer to achieve the specified function.

[0427] (2) Some or all of the structural elements constituting the above-mentioned devices may also be composed of a single system LSI (Large Scale Integration). A system LSI is a multifunctional LSI manufactured by integrating multiple structural components onto a single chip. Specifically, it is a computer system comprising a microprocessor, ROM, RAM, etc. The RAM stores a computer program. The system LSI performs its functions by having the microprocessor operate according to the computer program.

[0428] (3) Some or all of the structural elements constituting the above-mentioned devices may also be composed of IC cards or individual modules that can be attached to and detached from the devices. The IC card or module is a computer system composed of a microprocessor, ROM, RAM, etc. The IC card or module may also include the aforementioned multi-functional LSI. The IC card or module performs its functions by being operated by the microprocessor according to a computer program. The IC card or module may also be designed to be tamper-resistant.

[0429] (4) This disclosure may also be configured as the method shown above. Alternatively, it may be configured as a computer program that implements these methods, or as a digital signal formed by said computer program.

[0430] Alternatively, the computer program or the digital signal can also be recorded onto a computer-readable recording medium, such as a floppy disk, hard disk, CD-ROM, MO, DVD, DVD-ROM, DVD-RAM, BD (Blu-ray Disc), semiconductor memory, etc. Alternatively, the digital signal can be recorded on these recording media.

[0431] In addition, the computer program or the digital signal can also be transmitted via electrical communication lines, wireless or wired communication lines, networks such as the Internet, data broadcasting, etc.

[0432] Alternatively, this disclosure can also be configured as a computer system having a microprocessor and a memory, wherein the memory stores the aforementioned computer program, and the microprocessor operates according to the computer program.

[0433] Alternatively, it can be configured to be implemented through a separate computer system by transmitting the program or the digital signal by recording it on the recording medium, or by transmitting the program or the digital signal via the network or the like.

[0434] (5) The above implementation methods and other methods can also be combined.

[0435] Industrial availability

[0436] This disclosure can be widely used in rotary machine control devices and the like for controlling rotary machines.

[0437] Explanation of reference numerals in the attached figures

[0438] 100, 100j, 100r: Rotary machine control device; 102: First current sensor; 104: Second current sensor; 106, 106c, 106j, 106k, 106r: Sensorless control unit; 108: Duty cycle generation unit; 110: u, w / α, β conversion unit; 112: Flux estimation unit; 114: Phase determination unit; 116: Torque estimation unit; 118, 118a: Command amplitude generation unit; 120, 120b, 1 20c: Magnetization characteristic determination unit; 122, 122j: Pulse compensation determination unit; 124, 124c, 124d, 124e, 124f, 124g, 124h, 124j, 124k, 124l, 124m, 124n, 124p, 124q: Command phase determination unit; 126: Command flux generation unit; 128: Voltage command generation unit; 130: α, β / u, v, w conversion unit; 132, 180, 186, 222, 2 26: Subtractor; 134: P-gain; 136: I-gain; 138, 200: Integrator; 140, 142, 174, 190, 192, 202, 206, 216: Adder; 144: Magnet flux determination unit; 146: Magnet phase determination unit; 148, 150: α, β / qm transform unit; 152: Harmonic component determination unit; 154: Fourier transform unit; 156: Magnetic energy determination unit; 158: Amplifier; 160, 164, 17 6, 178, 182, 184, 204, 208: Multipliers; 162, 166, 224: Low-pass filters; 168: Magnetometer; 170: Pulsating torque determination unit; 172: Pulsating phase determination unit; 188, 214: PI compensators; 189: Resonant unit; 194, 194c: Armature reaction flux determination unit; 210, 218: High-pass filters; 212: Sign inverter; 220: Gain multiplier; 228: Torque component determination unit.

Claims

1. A rotary machine control device, comprising: The flux estimation unit estimates the flux of the synchronous rotating machine, i.e., the rotating machine flux. The command amplitude generation unit generates the amplitude of the command magnetic flux, i.e., the command amplitude, by executing feedback control. The feedback control uses the estimated magnetic flux of the rotating machine, i.e., the first inner product of the estimated magnetic flux and the detection current of the synchronous rotating machine, or the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the second inner product of the detection current. The magnetization characteristic determination unit determines the phase of the magnet flux, i.e., the magnet phase, based on the estimated magnetic flux and the detected current. It uses a dm-qm coordinate system with the magnet phase as the dm axis and a phase that leads the magnet phase by 90 degrees as the qm axis to determine the qm axis flux of the estimated magnetic flux, the qm axis current of the detected current, and the harmonic components of the magnet phase. The pulsation compensation determination unit calculates the pulsation compensation torque based on the pulsation component of the torque obtained from the harmonic components of the qm-axis magnetic flux and the phase of the magnet generated by the magnetization characteristic determination unit, as well as the harmonic components of the qm-axis current and the phase of the magnet, and determines the pulsation compensation phase based on the pulsation compensation torque. The command phase determination unit determines the command flux vector phase by adding the pulsation compensation phase, the phase component based on the torque command or speed command, and the estimated phase of the estimated flux. as well as The command flux generation unit generates the command flux based on the command amplitude and the phase of the command flux vector.

2. A rotary machine control device, comprising: The flux estimation unit estimates the flux of the synchronous rotating machine, i.e., the rotating machine flux. The command amplitude generation unit generates the amplitude of the command magnetic flux, i.e., the command amplitude, by executing feedback control. The feedback control uses the estimated magnetic flux of the rotating machine, i.e., the first inner product of the estimated magnetic flux and the detection current of the synchronous rotating machine, or the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the second inner product of the detection current. The magnetization characteristic determination unit determines the phase of the magnet flux, i.e., the magnet phase, based on the estimated magnetic flux and the detected current. It uses a dm-qm coordinate system with the magnet phase as the dm axis and a phase that leads the magnet phase by 90 degrees as the qm axis to determine the qm axis flux of the estimated magnetic flux, the qm axis current of the detected current, and the harmonic components of the magnet phase. as well as The command flux generation unit calculates the pulsating compensation torque based on the pulsating component of the torque obtained from the harmonic components of the qm-axis flux and the phase of the magnet generated by the magnetization characteristic determination unit, as well as the harmonic components of the qm-axis current and the phase of the magnet. It determines the pulsating compensation phase based on the pulsating compensation torque, determines the command flux vector phase by adding the pulsating compensation phase, the phase component based on the torque command or speed command, and the estimated phase of the estimated flux, and generates the command flux based on the command amplitude and the command flux vector phase.

3. A rotary machine control device, comprising: The flux estimation unit estimates the flux of the synchronous rotating machine, i.e., the rotating machine flux. The command amplitude generation unit generates the amplitude of the command magnetic flux, i.e., the command amplitude, by executing feedback control. The feedback control uses the estimated magnetic flux of the rotating machine, i.e., the first inner product of the estimated magnetic flux and the detection current of the synchronous rotating machine, or the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the second inner product of the detection current. The pulsation compensation determination unit determines the phase of the magnet flux, i.e., the magnet phase, based on the estimated magnetic flux and the detected current. It uses a dm-qm coordinate system with the magnet phase as the dm axis and a phase that leads the magnet phase by 90 degrees as the qm axis. The pulsation compensation torque based on the pulsation amount of the qm axis current including the detected current is used by the resonant unit to determine the pulsation compensation phase. The command phase determination unit determines the command flux vector phase by adding the pulsation compensation phase, the phase component based on the torque command or speed command, and the estimated phase of the estimated flux. as well as The command flux generation unit generates the command flux based on the command amplitude and the phase of the command flux vector.

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