Synchronous machine control device, synchronous machine control method, and synchronous machine drive system

Abstract

To provide a synchronous machine control device capable of improving the performance of a motor without complicating a control system.SOLUTION: A synchronous machine control device controls a power converter (2) that supplies power to the synchronous machine (1) includes a first magnetic flux command calculation unit (21) that calculates a first magnetic flux command value (φd*, φq*) from a current command value (Id*, Iq*) of the synchronous machine (1), a magnetic flux estimation unit (23) that estimates a magnetic flux value (φdc, φqc) of the synchronous machine (1) from a current detection value (Idc, Iqc) of the synchronous machine (1), and a voltage calculation unit (19) that creates a voltage command value (Vd*, Vq*) of the power converter such that the first magnetic flux command value (φd*, φq*) and the magnetic flux value (φdc, φqc) match.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a synchronous machine control device and a synchronous machine control method for driving a synchronous machine such as a synchronous motor, and Synchronous machine drive system Regarding. [Background technology]

[0002] In order to reduce the size of synchronous motors, motors are being made faster and have higher magnetic flux densities. This trend is particularly noticeable in electric vehicles, where the weight of the motor affects the amount of power consumed.

[0003] A control technique described in Patent Document 1 is known as a conventional control technique that can handle high-speed rotation.

[0004] In the control technology described in Patent Document 1, second current command values ​​are generated for the d-axis current and the q-axis current so that the current detection values ​​approach the first current command values, and a voltage command value is generated based on the second current command values.

[0005] Furthermore, as conventional control techniques that can cope with high magnetic flux densities, the control techniques described in Patent Documents 2 and 3 are known.

[0006] In the control technique described in Patent Document 2, a voltage command value is generated based on the second current command value in Patent Document 1 and also based on the coil interlinkage magnetic flux.

[0007] In the control technique described in Patent Document 3, the current control gain is similarly changed in response to a change in the inductance value relative to the motor current value. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Application Laid-Open No. 2004-297966 [Patent Document 2] International Publication No. 2010 / 116815 [Patent Document 3] Japanese Patent Application Laid-Open No. 2003-348875 Summary of the Invention [Problem to be solved by the invention]

[0009] Applying the above control technology to achieve both high speed motor rotation and high magnetic flux density would result in a complex control system, with many constants used in magnetic flux-related calculations, making parameter identification difficult and increasing the load on the control device, making it difficult to install in applications such as electric vehicles.

[0010] Therefore, the present invention provides a synchronous machine control device and a synchronous machine control method that can improve the performance of a motor without complicating the control system, and Synchronous machine drive system to provide. [Means for solving the problem]

[0011] In order to solve the above problems, a synchronous machine control device according to the present invention controls a power converter that supplies power to a synchronous machine, and includes: In a rotating coordinate system a first magnetic flux command calculation unit that calculates a first magnetic flux command value from a current command value; 、 a magnetic flux estimator that estimates a magnetic flux value of a synchronous machine; and based on the first magnetic flux command value and the magnetic flux value, Power Converter Control .

[0012] In order to solve the above problem, a synchronous machine control method according to the present invention is a method for controlling a power converter that supplies power to a synchronous machine, the method comprising: In a rotating coordinate system The first magnetic flux command value is calculated from the current command value, and the second magnetic flux command value is calculated from the current detection value of the synchronous machine. 、 A magnetic flux value of a synchronous machine is estimated, and a first magnetic flux command value and the magnetic flux value are compared. Based on , power converter Control do.

[0013] In order to solve the above problems, the present invention Synchronous machine drive system teeth, A synchronous machine;The system includes a power converter that supplies power to a synchronous machine, and a control device that controls the power converter, the control device being the synchronous machine control device according to the present invention. [Effects of the Invention]

[0014] According to the present invention, it is possible to control a synchronous machine with high precision, taking into consideration the influence of magnetic saturation of the synchronous machine, without complicating the control system.

[0015] Problems, configurations, and effects other than those described above will become apparent from the following description of the embodiments. [Brief explanation of the drawings]

[0016] [Figure 1] 1 is a block diagram showing a functional configuration of a synchronous machine control device according to a first embodiment; [Figure 2] 10 is a block diagram showing the functional configuration of a PI controller in a second dq-axis magnetic flux command calculation unit 25. FIG. [Figure 3] The configuration of the voltage vector calculation unit 19 configured based on the inverse model expressed by equation (1) is shown. [Figure 4] An example of the relationship between magnetic flux and current is shown below. [Figure 5] FIG. 10 is a block diagram showing a functional configuration of a synchronous machine control device according to a second embodiment. [Figure 6] 3 is a block diagram showing an example of the functional configuration of a non-interference control calculation unit 13. FIG. [Figure 7] FIG. 10 is a block diagram showing a functional configuration of a synchronous machine control device according to a third embodiment. [Figure 8] FIG. 10 is a block diagram showing an example of the functional configuration of a second dq-axis magnetic flux command calculation unit 25B. [Figure 9] FIG. 10 is a block diagram showing the configuration of an electric vehicle according to a fourth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments of the present invention will be described with reference to the drawings based on the following Examples 1 to 4. In each drawing, the same reference numerals indicate the same components or components having similar functions.

[0018] In the first to fourth embodiments, the synchronous machine to be controlled is a permanent magnet synchronous motor (hereinafter referred to as "PMSM" (abbreviation for Permanent Magnet Synchronous Motor)). [Example]

[0019] Fig. 1 is a block diagram showing the functional configuration of a synchronous machine control device according to embodiment 1. In this embodiment, a computer system such as a microcomputer executes a predetermined program to function as the synchronous machine control device shown in Fig. 1 (the same applies to other embodiments).

[0020] In FIG. 1, a power converter 2 converts DC power from a DC voltage source 9 (e.g., a battery) into AC power and outputs it to a PMSM 1. The PMSM 1 is driven to rotate by this AC power. The power converter 2 includes an inverter main circuit made up of semiconductor switching elements. The DC power is converted into AC power by controlling the on / off of the semiconductor switching elements using gate signals. Note that, for example, an IGBT (Insulated Gate Bipolar Transistor) is used as the semiconductor switching element.

[0021] The phase current detector 3 detects three-phase motor currents flowing from the power converter 2 to the PMSM 1, i.e., U-phase current Iu, V-phase current Iv, and W-phase current Iw, and outputs them as a U-phase current detection value Iuc, a V-phase current detection value Ivc, and a W-phase current detection value Iwc, respectively. Note that a Hall CT (Current Transformer) or the like is used as the phase current detector 3.

[0022] The magnetic pole position detector 4 detects the magnetic pole position of the PMSM 1 and outputs magnetic pole position information θ *As the magnetic pole position detector 4, a resolver or the like is used.

[0023] The frequency calculation unit 5 calculates the magnetic pole position information θ * From this, velocity information ω1 is obtained by time differential calculation etc. * Calculates and outputs.

[0024] The coordinate conversion unit 7 converts Iuc, Ivc, and Iwc output by the phase current detector into magnetic pole position information θ * In response to this, the d-axis current detection values ​​Idc and Iqc are converted into the d-axis current detection values ​​Idc and Iqc in the rotating coordinate system, and the Idc and Iqc are output.

[0025] The dq-axis magnetic flux estimation unit 23 estimates dq-axis magnetic flux estimation values ​​φdc, φqc by referring to a lookup table (table data) based on the dq-axis current detection values ​​Idc, Iqc output by the coordinate conversion unit 7. The lookup table (table data) referred to by the dq-axis magnetic flux estimation unit 23 is table data showing the correspondence between Idc, Iqc and φdc, φqc, and is stored in a storage device (not shown) included in the synchronous machine control device of this embodiment. Note that a predetermined function (such as an approximate expression) may be used instead of the lookup table.

[0026] The first dq-axis magnetic flux command calculation unit 21 calculates the dq-axis current command value Idc given from a higher-level control device or the like. * ,Iqc * Based on this, the first dq-axis magnetic flux command value φd * ,φq * The look-up table (table data) referred to by the first dq-axis magnetic flux command calculation unit 21 is * ,Iqc * and φd * ,φq * The lookup table is table data showing the correspondence between the above and the above, and is stored in a storage device (not shown) provided in the synchronous machine control device of this embodiment. Note that a predetermined function (approximation formula, etc.) may be used instead of the lookup table.

[0027] The second dq-axis magnetic flux command calculation unit 25 calculates the first dq-axis magnetic flux command value φd * ,φq * The proportional-integral (PI) controller determines the second dq-axis magnetic flux command value φd ** ,φq ** Calculates and outputs.

[0028] FIG. 2 is a block diagram showing the functional configuration of the PI controller in the second dq-axis magnetic flux command calculation unit 25. As shown in FIG.

[0029] As shown in the upper diagram of Fig. 2, the second d-axis magnetic flux command value φd ** In the PI controller that calculates the first d-axis magnetic flux command value φd * and the difference between the estimated d-axis magnetic flux value φdc (φd * -φdc) is calculated, and the difference is added to the proportional gain 87 (K P The difference calculation value is integrated by an integrator 83, and the integral value is multiplied by an integral gain 85 (K I The difference calculation value multiplied by the proportional gain 87 and the integral value multiplied by the integral gain 85 are added by an adder 89 to obtain a second d-axis magnetic flux command value φd ** is calculated.

[0030] As shown in the lower diagram of Fig. 2, the second q-axis magnetic flux command value φq ** In the PI controller that calculates the first q-axis magnetic flux command value φq * and the difference between the estimated q-axis magnetic flux value φqc (φq * -φqc) is calculated, and the difference is added to the proportional gain 97 (K P ) is multiplied. The difference calculation value is integrated by an integrator 93, and the integral value is multiplied by an integral gain 95 (KI). The difference calculation value multiplied by the proportional gain 97 and the integral value multiplied by the integral gain 95 are added by an adder 99 to obtain a second q-axis magnetic flux command value φq ** is calculated.

[0031] The voltage vector calculation unit 19 shown in FIG. 1 generates a voltage command value using an inverse model of the motor model.

[0032] The inverse model of the motor model can be expressed by a voltage equation such as equation (1), where the d-axis magnetic flux and q-axis magnetic flux of the motor are φd and φq, the d-axis voltage and q-axis voltage of the motor are Vd and Vq, and the motor speed is ω1.

[0033]

number

[0034] In this embodiment, the inverse model expressed by the equation (1) is applied, and Vd and Vq are respectively set as the d-axis voltage command value Vd * and the q-axis voltage command value Vq * and φd and φq are the second d-axis magnetic flux command values ​​φd ** and the second q-axis magnetic flux command value φq ** Let ω1 be the speed information ω1 * Let's say.

[0035] As will be described later, the magnetic saturation of the motor is taken into consideration in equation (1).

[0036] 3 shows the configuration of the voltage vector calculation unit 19 configured based on the inverse model expressed by equation (1), where R, Ld, Lq, and Ke are the winding resistance, d-axis inductance, q-axis inductance, and magnet magnetic flux in the PMSM 1, respectively.

[0037] As shown in FIG. 3, a differentiator 45 determines φd ** The adder / subtractor 44 calculates the differential of φd ** and the difference between Ke (φd ** The differential value calculated by the differentiator 45 and the differential value multiplied by the gain R / Ld (46) are added by an adder 47. Also, a multiplier 48 calculates ω1 * and φq **Furthermore, an adder-subtractor 49 calculates the difference between the sum calculated by the adder 47 and the multiplied value by the multiplier 48, and Vd * is created.

[0038] Also, as shown in FIG. 3, a differentiator 35 is used to ** The derivative of is calculated. ** is multiplied by R / Lq(36). The differential value obtained by the differentiator 35 and φq multiplied by R / Lq(36) are ** are added by the adder 37. Also, by the multiplier 38, ω1 * and φd ** Furthermore, the adder 39 adds the sum calculated by the adder 37 and the multiplied value by the multiplier 38 to obtain Vq * is created.

[0039] In this way, the voltage vector calculation unit can be configured based on the voltage equation representing the inverse model of the motor model.

[0040] The coordinate conversion unit 11 shown in FIG. 1 converts the dq-axis voltage command value Vd * ,Vq * The magnetic pole position information θ detected by the magnetic pole position detector 4 * By performing coordinate transformation using * ,Vv * ,Vw * Create and output.

[0041] The DC voltage detector 6 detects the voltage of the DC voltage source 9 and outputs DC voltage information Vdc.

[0042] The PWM controller 12 receives the three-phase voltage command value Vu from the voltage vector calculation unit 19. * ,Vv * ,Vw *and DC voltage information Vdc from the DC voltage detector 6, and based on these, creates and outputs a gate signal to be given to the power converter 2 by pulse width modulation. The PWM controller 12 uses, for example, a triangular wave as a carrier signal and creates a gate signal by pulse width modulation with the three-phase voltage command value as a modulating wave.

[0043] Hereinafter, a method for generating a voltage command value that takes into account the magnetic saturation of the PMSM 1 and is used in the voltage vector calculation unit 19 of this embodiment will be described.

[0044] First, when the current (dq-axis current Id, Iq) is used as the state quantity, and magnetic saturation is taken into consideration, the voltage equation is expressed as in equation (2).

[0045]

number

[0046] Here, Ldh, Lqh, Ldqh, and Lqdh represent dynamic inductances, and Ld, Lq, Ldq, and Lqd represent static inductances. These inductances will be explained using FIG. 4.

[0047] 4 shows an example of the relationship between magnetic flux and current. The vertical and horizontal axes respectively represent the relationship between magnetic flux and current (solid lines in the figure).

[0048] As shown in Figure 4, due to the effect of magnetic saturation, the larger the q-axis current (Iq), the more gradual the increase in the q-axis magnetic flux (φq). For this reason, dynamic inductance and static inductance are defined as follows: Dynamic inductance Lqh is the slope (dφq / dt) of the tangent (dashed line in the figure) at a certain operating point (Iq, φq). Static inductance Lq is the slope (φq / Iq) of the line (dashed line in the figure) connecting the operating point and the point where the q-axis current (Iq) is 0.

[0049] Although not shown, the relationship between the d-axis magnetic flux and the d-axis current, the dynamic inductance Ldh, and the static inductance Ld are the same as those in FIG.

[0050] In equation (2), the coefficient (matrix) in the current differential term (second term on the right-hand side) is the dynamic inductance, and the coefficient (matrix) in the induced voltage term (third term on the right-hand side) is the static inductance.

[0051] Furthermore, when magnetic saturation is significant, mutual interference occurs between the control axes, i.e., the d and q axes. This mutual interference is expressed by the dynamic inductances Ldqh and Lqdh in the coefficients (matrix) of the current differential term, and the static inductances Ldq and Lqd in the coefficients (matrix) of the induced voltage term.

[0052] When controlling PMSM1 based on equation (2), i.e., with current as a state quantity and taking magnetic saturation into consideration, the above-mentioned eight types of inductance (Ldh, Lqh, Ldqh, Lqdh, Ld, Lq, Ldq, Lqd) are used. Therefore, in this case, the synchronous machine control device will have eight pieces of table data or functions (approximation formulas, etc.) that represent the correspondence between each inductance value and the current value (d-axis current value and q-axis current value).

[0053] When the temperature dependency of these inductances is taken into consideration, each of the table data or formulas (approximate formulas, etc.) becomes table data or a function of three variables, with the d-axis current value, q-axis current value, and temperature as variables.

[0054] Furthermore, since the magnet magnetic flux Ke in equation (2) depends on the q-axis current Iq and the temperature T, the synchronous machine control device will be equipped with one two-variable table data or function (approximate equation, etc.) that uses Iq and T as variables and expresses the relationship between the two variables and Ke.

[0055] In this way, when controlling the PMSM 1 with the current as the state quantity and taking magnetic saturation into consideration, the synchronous machine control device will be provided with a plurality of multivariable table data or multivariable functions.

[0056] Therefore, as will be explained below, in this embodiment, by using magnetic flux as a state quantity, as in the inverse model of the motor model expressed by the above-mentioned equation (1), the total number of table data or functions (approximation equations, etc.) used in the synchronous machine control device (9 when current is used as a state quantity as described above) is reduced while taking magnetic saturation into consideration.

[0057] When the magnetic flux (dq-axis magnetic flux φd, φq) is used as the state quantity, and magnetic saturation is taken into consideration, the voltage equation is expressed as shown in equation (3).

[0058]

number

[0059] In many high-efficiency PMSMs, such as those used in automobiles, the winding resistance R is sufficiently small that the effect of the first term in equation (3) on motor control is relatively small. For this reason, even if we approximate equation (1) and set Ld, Lq, and Ke to constant values, the effect on motor control is small. Therefore, the voltage vector calculation unit 19 in this embodiment calculates the dq-axis magnetic flux command value (φd ** ,φq ** ) according to the dq-axis voltage command value (Vd * ,Vq * )

[0060] In this case, the synchronous machine controller has table data or functions (approximation formulas, etc.) that represent the correspondence between each of the d-axis magnetic flux (φd) and the q-axis magnetic flux (φq) and the current (d-axis current Id, q-axis current Iq). Therefore, the synchronous machine controller has a total of two table data or functions.

[0061] In this way, by using magnetic flux as a state quantity, the number of table data or functions used in motor control can be reduced, which simplifies the control system while still taking magnetic saturation into consideration, thereby reducing the calculation load on the synchronous machine control device and shortening the parameter identification time.

[0062] In this embodiment, the second dq-axis magnetic flux command value φd ** ,φq ** Based on this, the dq-axis voltage command value Vd * ,Vq * Therefore, even in the high speed region, the d-axis magnetic flux estimated value φdc and the q-axis magnetic flux estimated value φqc are respectively generated as the second d-axis magnetic flux command value φd ** and the second q-axis magnetic flux command value φq ** Therefore, the synchronous machine control device according to this embodiment makes it possible to control the high speed rotation of the PMSM 1.

[0063] In this embodiment, the influence of the temperature dependency of the magnetic flux is mitigated by the PI controller or I controller provided in the second dq-axis magnetic flux command calculation unit 25. Therefore, the table data or function used to calculate the magnetic flux (φd, φq) may be table data or a function (approximation formula, etc.) that does not include temperature as a variable and uses only current as a variable. This reduces the calculation load on the synchronous machine control device and shortens the parameter identification time.

[0064] Furthermore, by using the same table data or function in the first dq-axis magnetic flux command calculation unit 21 and the dq-axis magnetic flux estimation unit 23, Idc and Iqc are controlled to coincide with Id* and Iq*, respectively, via the magnetic flux, so to speak. In this case, a current control system is essentially configured.

[0065] Furthermore, by using independent table data or functions for each of the first dq-axis magnetic flux command calculation unit 21 and the dq-axis magnetic flux estimation unit 23, control can be performed taking into consideration the mutual interference between the axes. In this case, the first dq-axis magnetic flux command calculation unit 21 and the dq-axis magnetic flux estimation unit 23 each calculate the dq-axis magnetic flux command value (φd * ,φq * ) and dq-axis current command value (Id * ,Iq * ) and table data or functions representing the correspondence between the dq-axis magnetic flux estimation values ​​(φdc, φqc) and the dq-axis current detection values ​​(Idc, Iqc).

[0066] The synchronous machine control device of this embodiment substantially takes into account the dynamic inductance and static inductance of the motor, and is therefore suitable for application to electric vehicles such as electric automobiles, which use PMSMs that are significantly affected by magnetic saturation and require accurate torque response.

[0067] The above-mentioned lookup table, table data, and function (approximation formula), which are information representing the correspondence between magnetic flux and current in the PMSM 1, can be set based on actual measurements, magnetic field analysis, or the like. [Example]

[0068] FIG. 5 is a block diagram showing a functional configuration of a synchronous machine control device according to a second embodiment of the present invention.

[0069] The following mainly describes the differences from the first embodiment.

[0070] The dq-axis magnetic flux command calculation unit 20 has the same function as the first dq-axis magnetic flux command calculation unit 21 (FIG. 1) described above. That is, the dq-axis magnetic flux command calculation unit 20 calculates the dq-axis current command value Id * ,Iq * Based on this, the dq-axis magnetic flux command value φd is calculated using table data or a function (approximation formula, etc.) in the same manner as in the first embodiment. * ,φq * Calculates and outputs.

[0071] The dq-axis voltage command calculation unit 15 calculates the d-axis magnetic flux command value φd * The provisional d-axis voltage command value VdPI is set so that the estimated d-axis magnetic flux value φdc matches the * The dq-axis voltage command calculation unit 15 calculates and outputs the q-axis magnetic flux command value φq by a controller such as a proportional integral (PI) unit. * The provisional q-axis voltage command value VqPI is set so that the estimated q-axis magnetic flux φqc coincides with the * Calculates and outputs.

[0072] The decoupling control calculation unit 13 calculates the dq-axis voltage command value φd * ,φq * and speed information ω1 * Based on this, the dq-axis voltage command value VdFF for inter-axis decoupling control is * ,VqFF * Create and output.

[0073] FIG. 6 is a block diagram showing an example of the functional configuration of the deinterference control calculation unit 13. As shown in FIG.

[0074] As shown in Figure 6, φd * is input to a first-order lag calculator 51, which has a time constant that is the inverse of the cutoff frequency ωc of the current control system. The output of the first-order lag calculator 51, i.e., φd * The result of the first-order delay operation on ω1 is multiplied by the multiplier 55. * is multiplied to obtain the d-axis voltage command value VdFF for inter-axis decoupling control. * is created.

[0075] Also, as shown in Figure 6, φq * is input to a first-order lag calculator 53 similar to the first-order lag calculator 51. The output of the first-order lag calculator 53, i.e., φq * The result of the first-order delay operation on ω1 is multiplied by the multiplier 57. * The positive and negative polarities of the output of the multiplier 57 are inverted by an inverter 59 (or a gain of "-1") to obtain the q-axis voltage command value VqFF for inter-axis decoupling control. * is created.

[0076] In FIG. 5, the voltage vector adder 10 calculates VdPI * and VdFF * is added to obtain the d-axis voltage command value Vd * The voltage vector adder 10 generates and outputs VqPI * and VqFF * is added to obtain the q-axis voltage command value Vq * Output.

[0077] In the second embodiment, the dq-axis magnetic flux command value used to calculate the induced voltage term (the third term on the right side of the equations (1) and (3)) is the first dq-axis magnetic flux command value (φd * ,φq * ) is subjected to a first-order lag calculation. Therefore, according to the synchronous machine control device of the second embodiment, the dynamic inductance and static inductance are taken into consideration as in the first embodiment, and the influence of mutual interference between the axes is suppressed, so that it is possible to control a PMSM in which magnetic flux saturation occurs with high precision. [Example]

[0078] FIG. 7 is a block diagram showing a functional configuration of a synchronous machine control device according to a third embodiment of the present invention.

[0079] The following mainly describes the differences from the first embodiment.

[0080] In this embodiment, the configuration of the second dq-axis magnetic flux command calculation unit 25B shown in Fig. 7 is different from that of the first embodiment (Fig. 2) in that it includes a first-order lag calculator. The other configurations are the same as those of the first embodiment (Fig. 1).

[0081] FIG. 8 is a block diagram showing an example of the functional configuration of the second dq-axis magnetic flux command calculation unit 25B.

[0082] As shown in FIG. 8, in the second dq-axis magnetic flux command calculation unit 25B, a first-order lag calculator 84, 94) whose time constant is the reciprocal of the cutoff frequency ωc of the current control system is added to the proportional-integral (PI) controller shown in FIG.

[0083] The first dq magnetic flux command value (φd * ,φq * ) is input. The output of the first-order lag calculator 51, i.e., φd * ,φq * The result of the first-order delay calculation is multiplied by the proportional gain (87, 97) and the integral value multiplied by the integral gain (85, 95) are added by the adders (88, 98) to obtain the second dq-axis magnetic flux command value (φd ** ,φd ** ) is calculated.

[0084] The synchronous machine control device according to the third embodiment includes a flux feedforward control system using a first-order lag controller in addition to a flux feedback control system using a differential and integral controller, thereby improving control response. [Example]

[0085] 9 is a block diagram showing the configuration of an electric vehicle according to a fourth embodiment of the present invention. The electric vehicle in this embodiment is an electric automobile.

[0086] The motor control device 100 controls AC power supplied from a power converter 2 (inverter) to the PMSM 1. A DC voltage source 9 (e.g., a battery) supplies DC power to the power converter 2 (inverter). The power converter 2 (inverter) is controlled by the motor control device 100 to convert the DC power from the DC voltage source 9 into AC power. Any of the synchronous machine control devices according to the first to third embodiments described above is applied as the motor control device 100.

[0087] The PMSM 1 is mechanically connected to a transmission 101. The transmission 101 is mechanically connected to a drive shaft 105 via a differential gear 103, and supplies mechanical power to wheels 107. As a result, the wheels 107 are driven to rotate.

[0088] It should be noted that the PMSM 1 may be directly connected to the differential gear 103 without going through the transmission 101. Furthermore, the front and rear wheels of the automobile may each be driven by an independent PMSM and inverter.

[0089] According to the fourth embodiment, the synchronous machine control device according to any one of the first to third embodiments described above is applied as the motor control device 100, so that the PMSM, which is significantly affected by magnetic saturation, can be controlled with high precision. This improves the precision of the operation control of an electric vehicle driven by a PMSM. This improves the riding comfort for passengers in the electric vehicle.

[0090] Furthermore, according to the fourth embodiment, the calculation load on the motor control device can be reduced and the parameter identification time can be shortened, making it possible to realize a highly accurate and highly responsive motor control device that can be installed in an automobile, within the constraints imposed on the size and cost of the device to be installed in the automobile.

[0091] The synchronous machine control devices according to the first to third embodiments described above can be applied not only to electric vehicles but also to electric railcars and other electric vehicles. These are moving bodies, and therefore motors are miniaturized. As a result, the influence of magnetic flux saturation is significant. Furthermore, high-response torque control is required for vibration suppression control or slip control. Therefore, the synchronous machine control devices according to the first to third embodiments of the present invention are suitable as motor control devices to be applied to electric vehicles.

[0092] The present invention is not limited to the above-described embodiments and includes various modifications. For example, the above-described embodiments have been described in detail to clearly explain the present invention, and the present invention is not necessarily limited to those including all of the described configurations. Furthermore, it is possible to add, delete, or replace part of the configuration of each embodiment with other configurations.

[0093] For example, the synchronous machine to be controlled is not limited to a PMSM, but may be a synchronous reluctance motor, a permanent magnet synchronous generator, a wound field synchronous motor, a wound field synchronous generator, or the like.

[0094] The PMSM may be either an embedded magnet type or a surface magnet type, and may be either an outer rotor type or an inner rotor type.

[0095] Furthermore, the semiconductor switching elements that make up the inverter main circuit are not limited to IGBTs, and may be MOSFETs (Metal Oxide Semiconductor Field Effect Transistors) or the like.

[0096] Furthermore, the synchronous machine control device according to each of the above embodiments can be applied as this control device in various synchronous machine drive systems that include a synchronous machine, a power converter that drives the synchronous machine, and a control device that controls the power converter. [Explanation of symbols]

[0097] 1: PMSM, 2: power converter, 3: phase current detector, 4: magnetic pole position detector, 5: frequency calculation unit, 6: DC voltage detector, 7: Coordinate conversion unit, 10: Voltage vector addition unit, 11: Coordinate conversion unit, 13: non-interference control calculation unit, 15: dq axis voltage command calculation unit, 19: voltage vector calculation unit, 20: dq axis magnetic flux command calculation unit, 21: first dq-axis magnetic flux command calculation unit; 23: dq-axis magnetic flux estimation unit; 25: second dq-axis magnetic flux command calculation unit; 25B: second dq-axis magnetic flux command calculation unit, 35: differentiator, 37: adder, 38: multiplier, 39: adder, 44: adder / subtractor, 45: Differentiator, 47: Adder, 48: Multiplier, 49: Adder / Subtractor, 51: first-order delay calculator, 53: first-order delay calculator, 55: multiplier, 57: multiplier, 81: adder / subtractor, 83: integrator, 84: First-order delay calculator, 85: Integral gain, 87: Proportional gain, 88: adder, 89: adder, 91: adder-subtractor, 93: integrator, 94: First-order delay calculator, 95: Integral gain, 97: Proportional gain, 98: adder, 99: adder, 100: motor control device, 101: Transmission, 103: Differential gear, 105: Drive shaft, 107: Wheel

Claims

1. A synchronous machine control device controls a power converter that supplies power to a synchronous machine, a first magnetic flux command calculation unit that calculates a first magnetic flux command value from a current command value in a rotating coordinate system; a magnetic flux estimation unit that estimates a magnetic flux value of the synchronous machine from a current detection value of the synchronous machine; Equipped with a synchronous machine control device that controls the power converter based on the first magnetic flux command value and the magnetic flux value;

2. In the synchronous machine control device according to claim 1, a voltage calculation unit that generates a voltage command value based on the first magnetic flux command value and the magnetic flux value;

3. The synchronous machine control device according to claim 1 or 2, the first magnetic flux command calculation unit calculates the first magnetic flux command value based on information representing a correspondence relationship between the current command value and the first magnetic flux command value; The synchronous machine control device, wherein the magnetic flux estimation unit estimates the magnetic flux value based on information representing a correspondence relationship between the current detection value and the magnetic flux value.

4. 4. The synchronous machine control device according to claim 3, the information representing the correspondence relationship between the current command value and the first magnetic flux command value and the information representing the correspondence relationship between the current detection value and the magnetic flux value are the same table data or function.

5. 2. The synchronous machine control device according to claim 1, a second magnetic flux command calculation unit that calculates a second magnetic flux command value so that the first magnetic flux command value and the magnetic flux value coincide with each other; a voltage calculation unit that generates a voltage command value based on the second magnetic flux command value.

6. 6. The synchronous machine control device according to claim 5, The synchronous machine control device, wherein the second magnetic flux command calculation unit calculates the second magnetic flux command value using a proportional controller and an integral controller.

7. 6. The synchronous machine control device according to claim 5, The synchronous machine control device, characterized in that the voltage calculation unit calculates the second magnetic flux command value using a proportional controller, an integral controller, and a first-order lag controller that constitutes a feedforward control system.

8. 8. The synchronous machine control device according to claim 7, A synchronous machine control device, wherein the first-order lag controller uses the reciprocal of a cutoff frequency in a current control system as a time constant.

9. 6. The synchronous machine control device according to claim 5, The synchronous machine control device, wherein the voltage calculation unit is configured by an inverse model of the synchronous machine model.

10. 2. The synchronous machine control device according to claim 1, a first voltage command calculation unit that generates a first voltage command value so that the first magnetic flux command value and the magnetic flux value coincide with each other; a second voltage command calculation unit that generates a second voltage command value for decoupling control based on the first magnetic flux command value and the speed of the synchronous machine; a voltage calculation unit that generates a voltage command value for the power converter based on the first voltage command value and the second voltage command value.

11. The synchronous machine control device according to claim 10, The synchronous machine control device, wherein the second voltage command calculation unit generates the second voltage command value using a first-order lag controller.

12. The synchronous machine control device according to claim 11, A synchronous machine control device, wherein the first-order lag controller uses the reciprocal of a cutoff frequency in a current control system as a time constant.

13. A synchronous machine control method for controlling a power converter that supplies power to a synchronous machine, comprising: calculating a first magnetic flux command value from a current command value in a rotating coordinate system; a magnetic flux value of the synchronous machine is estimated from a current detection value of the synchronous machine; a control method for a synchronous machine, the method comprising: controlling the power converter based on the first magnetic flux command value and the magnetic flux value; 14. The synchronous machine control method according to claim 13, a voltage command value is generated based on the first magnetic flux command value and the magnetic flux value.

15. A synchronous machine; a power converter for supplying power to the synchronous machine; a control device that controls the power converter; In a synchronous machine drive system comprising:

2. A synchronous machine drive system, wherein the control device is the synchronous machine control device according to claim 1.

Images