Synchronous motor pole position correction amount calculation device and method, and synchronous motor control device

Abstract

To provide a magnetic pole position correction amount calculation device of a synchronous motor, a method and a control device of the synchronous motor which can calculate an accurate magnetic pole position correction amount in a state of stopping the synchronous motor.SOLUTION: A magnetic pole position correction amount calculation device 200 of a synchronous motor 10 comprises: a processor; and a memory which stores a motor constant and an operational expression of a magnetic pole position correction amount of a multiphase synchronous motor. The processor fixes a revolving shaft of the synchronous motor 10 by a brake in calculation of the magnetic pole position correction amount and outputs a current command for calculation of the magnetic pole position correction amount in a state in which the revolving shaft of the synchronous motor 10 is fixed. Then, the processor acquires a voltage command on control or voltage which is grasped on the control according to the current command, and current which is grasped on the control, and calculates the magnetic pole position correction amount on the basis of the acquired voltage command or voltage, current, and the motor coefficient and the operational expression stored in the memory.SELECTED DRAWING: Figure 1

Claims

1. A magnetic pole position correction amount calculation device for a synchronous motor, comprising a processor and a memory that stores arithmetic expressions for the motor constants and magnetic pole position correction amounts of a polyphase synchronous motor, the magnetic pole position correction amount calculation device calculating a magnetic pole position correction amount indicating a deviation between the actual magnetic pole position of the synchronous motor and the magnetic pole position for control output from a magnetic pole position sensor provided in the synchronous motor, wherein the processor performs: a process of outputting a brake control signal to a brake to fix the rotating shaft of the synchronous motor when calculating the magnetic pole position correction amount; a process of outputting a current command in a state where the rotating shaft of the synchronous motor is fixed; a process of acquiring a voltage command for control or a voltage grasped for control and a current grasped for control corresponding to the current command; a process of calculating the magnetic pole position correction amount based on the acquired voltage command or voltage, the current, the motor constants stored in the memory, and the arithmetic expression; a magnetic pole position correction amount calculation device for a synchronous motor.

2. The processor outputs the current command on the control dc-qc coordinates where the time derivative value of the current on the actual d-q coordinates of the synchronous motor does not become zero. The magnetic pole position correction amount calculation device for a synchronous motor according to Claim 1.

3. The processor outputs the current command in a stepwise manner. The magnetic pole position correction amount calculation device for a synchronous motor according to Claim 2.

4. After outputting the current command, the processor acquires the voltage command on the control dc-qc coordinates or the voltage on the control dc-qc coordinates and the current on the control dc-qc coordinates at a time with high measurement accuracy. The magnetic pole position correction amount calculation device for a synchronous motor according to Claim 1.

5. The memory: stores the following Expression [1] or Expression [2] as the arithmetic expression for the magnetic pole position correction amount; 【Number 1】 【Number 2】 As the motor constant, the phase resistance Ra, d-axis inductance L, or q-axis inductance L of the synchronous motor represented by the [Equation 1] or the [Equation 2] is stored. d or q-axis inductance L q is stored, The processor obtains, as the voltage command, a d-axis voltage command v dc * , a qc-axis voltage command v qc * , or obtains, as the voltage, a d-axis voltage v dc on the control d-qc coordinate and a qc-axis voltage v qc , obtains, as the current, a d-axis current i dc on the control d-qc coordinate and a qc-axis current i qc , The processor, the phase resistance Ra, d-axis inductance L d or q-axis inductance L q , the dc-axis voltage command v dc * or dc-axis voltage v dc , qc-axis voltage command v qc * or qc-axis voltage v qc , dc-axis current i dc , and qc-axis current i qc Based on the above, execute the formula [Equation 1] or [Equation 2] (however, when using v dc * , substitute the value of v dc * into v in the formula [Equation 1] or [Equation 2], and when using v dc substitute the value of v qc * into v in the formula [Equation 1] or [Equation 2]), and calculate the magnetic pole position correction amount Δθ qc * qc re ' re '. The magnetic pole position correction amount calculation device for a synchronous motor according to Claim 1.

6. The memory: stores the following Expression [3] or Expression [4] as the arithmetic expression for the magnetic pole position correction amount; 【Number 3】 【Number 4】 (However, t': integration start time, t: integration end time) As the motor constants, the phase resistance Ra, d-axis inductance L, or q-axis inductance L of the synchronous motor represented by the [Equation 3] or the [Equation 4] are stored. d or q-axis inductance L q is stored, The processor obtains, as the voltage command, a direct-axis voltage command v dc * , a quadrature-axis voltage command v qc * , or obtains, as the voltage, a direct-axis voltage v dc on the direct axis and a quadrature-axis voltage v qc on the quadrature axis in the control dq coordinate system, and obtains, as the current, a direct-axis current i dc on the direct axis and a quadrature-axis current i qc on the quadrature axis in the control dq coordinate system, The processor uses the phase resistance Ra, d-axis inductance L d or q-axis inductance L q , the dc-axis voltage command v dc * or dc-axis voltage v dc , qc-axis voltage command v qc * or qc-axis voltage v qc , dc-axis current i dc , and qc-axis current i qc to execute the formula [Equation 3] or [Equation 4] (however, when using v dc * , substitute the value of v dc * into v in the formula [Equation 3] or [Equation 4], and when using v dc , substitute the value of v qc * into v in the formula [Equation 3] or [Equation 4]), and calculate the magnetic pole position correction amount Δθ qc * ’ qc re re ’ The magnetic pole position correction amount calculation device for a synchronous motor according to Claim 1.

7. A magnetic pole position correction amount calculation device for a synchronous motor according to any one of Claims 1 to 6, and a mode selection unit that has a normal operation mode for normally operating the synchronous motor and a magnetic pole position correction amount calculation mode, and selects the normal operation mode or the magnetic pole position correction amount calculation mode. A magnetic pole position adjustment unit that corrects the magnetic pole position information output from the magnetic pole position sensor by the magnetic pole position correction amount; A current sensor that detects the current flowing through the synchronous motor; A current control unit that controls the current of the synchronous motor based on a current command, the current detected by the current sensor, and the magnetic pole position information adjusted by the magnetic pole position adjustment unit; When the normal operation mode is selected, the processor switches the current command in the current control unit to a current command for the normal operation mode. When the magnetic pole position correction amount calculation mode is selected, the processor switches the current command in the current control unit to the current command for the normal operation mode and performs the process for calculating the magnetic pole position correction amount. A control device for a synchronous motor.

8. A method for calculating a magnetic pole position correction amount of a synchronous motor, which is executed by a device including a processor and a memory storing arithmetic expressions for the motor constants and the magnetic pole position correction amount of a multi-phase synchronous motor. The method for calculating a magnetic pole position correction amount of a synchronous motor calculates the magnetic pole position correction amount indicating the deviation between the actual magnetic pole position of the synchronous motor and the magnetic pole position for control output from a magnetic pole position sensor provided in the synchronous motor, When calculating the magnetic pole position correction amount, the processor outputs a brake control signal to the brake to fix the rotating shaft of the synchronous motor; The processor outputs a current command in a state where the rotating shaft of the synchronous motor is fixed; The processor acquires a control voltage command corresponding to the current command or a voltage grasped in control and a current grasped in control; The processor calculates the magnetic pole position correction amount based on the acquired voltage command or voltage, the current, the motor constants stored in the memory, and the arithmetic expression. A method for calculating a magnetic pole position correction amount of a synchronous motor.

9. The current command is a current command on a control dc-qc coordinate system in which the time derivative value of the current on the actual d-q coordinate system of the synchronous motor does not become zero. The method for calculating a magnetic pole position correction amount of a synchronous motor according to claim 8.

10. The current command is a step-shaped current command. The method for calculating a magnetic pole position correction amount of a synchronous motor according to claim 9.

11. The voltage command in control or the voltage grasped in control and the current grasped in control are the voltage command on the control dc-qc coordinates or the voltage on the control dc-qc coordinates at a time with high measurement accuracy and the current on the control dc-qc coordinates after outputting the current command. The method for calculating the magnetic pole position correction amount of the synchronous motor according to claim 8.

12. The memory As the arithmetic expression for the magnetic pole position correction amount, stores the following Expression [5] or Expression [6]. 【Number 5】 【Number 6】 As the motor constants, the phase resistance Ra, d-axis inductance L, or q-axis inductance L of the synchronous motor represented by the [Equation 5] or the [Equation 6] is stored. d or q-axis inductance L q is stored. The processor obtains, as the voltage command, a direct-axis voltage command v dc * , a quadrature-axis voltage command v qc * , or obtains, as the voltage, a direct-axis voltage v dc on the direct axis and a quadrature-axis voltage v qc on the quadrature axis in a control-oriented DC-QC coordinate system, and obtains, as the current, a direct-axis current i dc on the direct axis and a quadrature-axis current i qc on the quadrature axis in a control-oriented DC-QC coordinate system, The processor uses the phase resistance Ra, d-axis inductance L d or q-axis inductance L q , the dc-axis voltage command v dc * or dc-axis voltage v dc , qc-axis voltage command v qc * or qc-axis voltage v qc , dc-axis current i dc , and qc-axis current i qc to execute the formula [Equation 5] or [Equation 6] (however, when using v dc * , substitute the value of v dc * into v dc in the formula [Equation 5] or [Equation 6], and when using v qc * , substitute the value of v qc * into v qc in the formula [Equation 5] or [Equation 6]), and calculate the magnetic pole position correction amount Δθ re '. The method for calculating the magnetic pole position correction amount of the synchronous motor according to any one of claims 8 to 11.

13. The memory As the arithmetic expression for the magnetic pole position correction amount, stores the following Expression [7] or Expression [8]. 【Number 7】 【Number 8】 (However, t': integration start time, t: integration end time) As the motor constants, the phase resistance Ra, d-axis inductance L, or q-axis inductance L of the synchronous motor represented by the [Equation 7] or the [Equation 8] are stored. d or q-axis inductance L q is stored, The processor obtains, as the voltage command, a d-axis voltage command v dc * , a qc-axis voltage command v qc * , or obtains, as the voltage, a d-axis voltage v dc on the d-qc coordinate in control, a qc-axis voltage v qc , obtains, as the current, a d-axis current i dc on the d-qc coordinate in control, a qc-axis current i qc , The processor calculates the phase resistance Ra, d-axis inductance L d or q-axis inductance L q the dc-axis voltage command v dc * or dc-axis voltage v dc the qc-axis voltage command v qc * or qc-axis voltage v qc the dc-axis current i dc and the qc-axis current i qc Based on these values, the processor executes the formula [Equation 7] or [Equation 8] (however, when using v dc * substitute the value of v dc * into v in the formula [Equation 7] or [Equation 8], and when using v dc substitute the value of v qc * into v in the formula [Equation 7] or [Equation 8]), and calculates the magnetic pole position correction amount Δθ qc * ’ qc re re ’. The method for calculating the magnetic pole position correction amount of the synchronous motor according to any one of claims 8 to 11.

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