Pulsation suppression device and pulsation suppression system

Abstract

A pulsation suppression device (200) for suppressing mechanical or electrical pulsation in an electromechanical system (100) having a power supply circuit (101), a motor (102), and a mechanical device (103) includes a pulsation extraction unit (205) for separating and extracting periodic pulsation of a periodic disturbance occurring in the electromechanical system into cosine and sine components, a rotation amount adjustment unit (206) for determining the amount of rotation when performing a rotation operation on the cosine and sine components, a rotation calculation unit (202) for performing a rotation operation on the cosine and sine components by the amount of rotation, an integral control unit (203A) for integrating the cosine components after the rotation operation, an integral control unit (203B) for integrating the sine components after the rotation operation, and an AC restoration unit (204) for restoring the integrated cosine and sine components to AC signals based on a disturbance frequency, which is the pulsation frequency of a DC bus voltage of the power supply circuit, and outputting the restored signal, and the rotation amount adjustment unit adjusts the amount of rotation so that the periodic pulsation is reduced.

Description

[Technical Field]

[0001] The present disclosure relates to a pulsation suppression device and a pulsation suppression system for suppressing mechanical or electrical pulsations in an electromechanical system having a power supply circuit, a motor, and a mechanical device. [Background technology]

[0002] In recent years, electromechanical systems that use motors and power conversion circuits to drive mechanical devices have become common in industrial and home appliance industries. These electromechanical systems are often exposed to periodic disturbances. When high-frequency periodic disturbances are applied to an electromechanical system, their control performance can deteriorate.

[0003] For example, in the compressor drive system of an air conditioner, fluctuations in load torque caused by the discharge, intake, or compression of refrigerant are constantly applied to the motor, causing pulsation in the rotational speed (also known as speed fluctuations). Furthermore, in electromechanical systems using low-cost power supply circuits, the inverter's DC bus voltage pulsates at frequencies two or six times the input power frequency, which can cause low-frequency pulsation (also known as fluctuations or beat vibrations) in the motor's phase current. These pulsations in the rotational speed or motor current can cause vibration or noise, as well as a deterioration in energy-saving performance and a decrease in the system's maximum output. Torque ripple caused by magnetic saturation within the motor or dead-time voltage error in the inverter can also be considered examples of periodic disturbances.

[0004] Various types of control methods have been proposed to prevent deterioration of control performance due to such periodic disturbances. The control method described in Patent Document 1 calculates the sine and cosine term coefficients of rotation irregularities of any harmonic, performs proportional-integral control so that these become zero, and then drives the driver according to a correction signal created from the sine and cosine term coefficients, thereby reducing rotation irregularities. [Prior art documents] [Patent documents]

[0005] [Patent Document 1] Japanese Patent Application Publication No. 1-308184 Summary of the Invention [Problem to be solved by the invention]

[0006] However, when the plant characteristics of the electromechanical system are complex, the operation of the electromechanical system may become unstable with the technology of Patent Document 1. For this reason, the technology of Patent Document 1 may not be able to remove the influence of periodic disturbances, and there is a problem in that good operating characteristics cannot be obtained.

[0007] The present disclosure has been made in view of the above, and aims to provide a pulsation suppression device that can obtain good operating characteristics even when the plant characteristics of an electromechanical system are complex. [Means for solving the problem]

[0008] In order to solve the above-mentioned problems and achieve the object, the pulsation suppression device of the present disclosure is a pulsation suppression device that suppresses mechanical pulsation or electrical pulsation in an electromechanical system having a power supply circuit, a motor, and a mechanical device, and suppresses periodic external pulsation occurring in the electromechanical system. of chaos The pulsation suppression device of the present disclosure includes a pulsation extraction unit that separates the periodic pulsation into a cosine component and a sine component and extracts them. The pulsation suppression device of the present disclosure also includes a rotation amount adjustment unit that determines the amount of rotation when performing a rotation operation on the cosine component and the sine component of the periodic pulsation, and a rotation calculation unit that performs a rotation operation on the cosine component and the sine component by the rotation amount. The pulsation suppression device of the present disclosure also includes a first integral control unit that integrates the rotated cosine component, a second integral control unit that integrates the rotated sine component, and a second integral control unit that integrates the integrated cosine component and the integrated sine component. Frequency of periodic disturbance and an AC restoration unit that restores the signal to an AC signal based on the above. The behavior of the time change of the absolute value of the periodic pulsation was investigated, and based on the observed time change, Adjust the amount of rotation. [Effects of the Invention]

[0009] The pulsation suppression device according to the present disclosure has the effect of being able to obtain good operating characteristics even when the plant characteristics of the electromechanical system are complex. [Brief explanation of the drawings]

[0010] [Figure 1] FIG. 1 is a diagram showing a configuration of a pulsation suppressing device according to a first embodiment. [Figure 2] FIG. 10 is a diagram showing an operation pattern of a deviation vector when the pulsation suppressing device according to the first embodiment performs beatless control when the rotation amount is in an optimal state. [Figure 3] FIG. 10 is a diagram showing an operation pattern of a deviation vector when the pulsation suppressing device according to the first embodiment performs beatless control when the rotation amount is within a range of less than ±90 degrees from the optimal value. [Figure 4] FIG. 10 is a diagram showing an operation pattern of a deviation vector when the pulsation suppressing device according to the first embodiment performs beatless control when the rotation amount is in a state where it is deviated from the optimal value by more than ±90 degrees. [Figure 5] FIG. 10 is a diagram showing an operation pattern of a deviation vector when the pulsation suppressing device according to the first embodiment performs beatless control. [Figure 6] FIG. 1 is a first explanatory diagram for explaining a search direction corrected by the pulsation suppression device according to the first embodiment; [Figure 7] FIG. 2 is a second explanatory diagram for explaining a search direction corrected by the pulsation suppression device according to the first embodiment; [Figure 8] FIG. 3 is a third explanatory diagram for explaining a search direction corrected by the pulsation suppression device according to the first embodiment; [Figure 9] FIG. 4 is a fourth explanatory diagram for explaining a search direction corrected by the pulsation suppressing device according to the first embodiment; [Figure 10] 1 is a flowchart showing a procedure of a pulsation suppression process executed by a pulsation suppression device according to a first embodiment; [Figure 11] FIG. 1 is a diagram illustrating an example of a hardware configuration for implementing a pulsation suppression device according to a first embodiment. [Figure 12]FIG. 10 is a diagram showing the configuration of a pulsation suppression device according to a second embodiment. [Figure 13] FIG. 10 is a diagram showing a configuration of an electromechanical system according to a third embodiment. [Figure 14] FIG. 10 is a diagram showing a configuration of a motor control device according to a third embodiment; [Figure 15] FIG. 10 is a diagram for explaining beat vibration when the pulsation suppressing device according to the third embodiment does not perform voltage phase manipulation. [Figure 16] FIG. 10 is a diagram for explaining the principle by which the pulsation suppression device according to the third embodiment suppresses beat vibration by voltage phase manipulation. [Figure 17] FIG. 10 is a diagram showing the configuration of a pulsation extraction unit included in a pulsation suppression device according to a third embodiment. [Figure 18] FIG. 10 is a diagram showing a configuration of an AC restoration unit according to a third embodiment; [Figure 19] FIG. 10 is a diagram showing a first behavior of a deviation vector when the pulsation suppressing device according to the third embodiment is executing pulsation suppression control. [Figure 20] FIG. 10 is a diagram showing a second behavior of the deviation vector when the pulsation suppressing device according to the third embodiment is executing pulsation suppression control. [Figure 21] FIG. 10 is a diagram showing a third behavior of the deviation vector when the pulsation suppressing device according to the third embodiment is executing pulsation suppression control. [Figure 22] FIG. 10 is a diagram illustrating an evaluation value used by the pulsation suppressing device according to the third embodiment to evaluate whether beatless control is being performed appropriately. [Figure 23] FIG. 10 is a diagram showing the configuration of a rotation amount adjusting unit included in the pulsation suppressing device according to the third embodiment. [Figure 24] 10 is a flowchart showing a procedure of a control process executed by a motor control device and a pulsation suppressing device according to a third embodiment. [Figure 25] 10 is a flowchart showing a procedure of beatless control processing executed by a pulsation suppressing device according to a third embodiment. [Figure 26] 10 is a flowchart showing a procedure of a rotation amount adjustment process executed by a rotation amount adjustment unit according to a third embodiment; [Figure 27]FIG. 10 is a diagram showing a configuration of a motor control device according to a fourth embodiment. [Figure 28] FIG. 10 is a diagram showing the configuration of a pulsation suppression device according to a fifth embodiment. [Figure 29] FIG. 20 is a diagram for explaining a first application example of a pulsation suppressing device according to a sixth embodiment. [Figure 30] FIG. 20 is a diagram for explaining a second application example of the pulsation suppressing device according to the sixth embodiment. [Figure 31] FIG. 20 is a diagram for explaining a third application example of the pulsation suppressing device according to the sixth embodiment. [Figure 32] FIG. 20 is a diagram for explaining a fourth application example of the pulsation suppressing device according to the sixth embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0011] Hereinafter, a pulsation suppression device and a pulsation suppression system according to an embodiment of the present disclosure will be described in detail with reference to the drawings.

[0012] Embodiment 1 1 is a diagram showing the configuration of a pulsation suppressing device according to embodiment 1. The pulsation suppressing device 200 is connected to an electromechanical system 100 and suppresses pulsations in the electromechanical system 100.

[0013] When the electromechanical system 100 is driven, various signals such as current, the angular velocity of a rotor of an electric motor (motor 102, described below), and voltage may pulsate. For this reason, the pulsation suppression device 200 suppresses various pulsations. For example, the pulsation suppression device 200 performs beatless control, which is a control for suppressing beat vibration. Although the first embodiment mainly describes the suppression of beat vibration, the pulsation suppression device 200 may suppress vibrations other than beat vibration.

[0014] When the motor 102 is driven using an inverter, if the pulsation frequency (disturbance frequency) of the DC bus voltage and the frequency of the phase current of the motor 102 become close to each other, low-frequency current pulsation called beat vibration occurs. When the phase current pulsates due to beat vibration, disadvantages arise, such as a decrease in motor efficiency due to an increase in the current peak value, a decrease in the maximum output of the motor due to restrictions on overcurrent protection, and an increase in vibration or noise of the motor 102. For this reason, the pulsation suppression device 200 performs pulsation suppression control, such as beatless control.

[0015] The electromechanical system 100 includes a power supply circuit 101, a motor 102, and a mechanical device 103. The electromechanical system 100 is subjected to a periodic disturbance d c (not shown) is affected by the periodic disturbance d c is generated due to the power supply circuit 101, the motor 102, or the mechanical device 103. For example, if the mechanical device 103 is a refrigerant compression mechanism, the motor 102 is subject to periodic load torque pulsation due to the processes of discharging, suctioning, and compressing the refrigerant, causing pulsation in the rotation speed.

[0016] The compression mechanism is an example of a mechanical device 103 driven by the motor 102, and the mechanical device 103 is not limited to the compression mechanism. For example, if the power supply circuit 101 has an inverter 11, which will be described later, the DC bus voltage pulsates at a frequency six times the input power frequency, causing low-frequency pulsation in the phase current of the motor 102. This pulsation also becomes a disturbance factor for motor control. In this way, in the electromechanical system 100, pulsation occurs in the rotation speed of the motor 102, pulsation in the phase current of the motor 102, etc. In addition to this, the electromechanical system 100 is subject to periodic disturbances d c Here, a periodic disturbance d c The frequency of f dis It will be represented by the symbol:

[0017] The pulsation suppression device 200 is a device that suppresses mechanical or electrical pulsations of the electromechanical system 100. The pulsation suppression device 200 acquires a signal output from the electromechanical system 100 or a state quantity of the electromechanical system 100 from the electromechanical system 100. Hereinafter, the signal or state quantity acquired by the pulsation suppression device 200 from the electromechanical system 100 is referred to as an input signal y. In order to suppress periodic pulsations contained in the pulsation contained in the input signal y, the pulsation suppression device 200 inputs an output signal x, which is a control signal for the electromechanical system 100, to the electromechanical system 100. Here, the output signal x of the pulsation suppression device 200 and the input signal y to the pulsation suppression device 200 are arbitrary physical quantities and can be freely selected according to the needs of a user or designer.

[0018] The input signal y is, for example, a current, an angular velocity (rotational speed) of a rotor, a voltage, etc. That is, an example of the input signal y is a dq-axis current vector I dq , estimated angular velocity ω^ e , DC bus voltage V DC The output signal x may be, for example, a manipulated variable of the voltage phase, a voltage command (for example, a dq-axis voltage pulsation command V ** dq ), torque command, etc. The pulsation suppressing device 200 outputs the output signal x to the electromechanical system 100 to suppress the pulsation of the input signal y.

[0019] For example, in the case of compressor control, the pulsation suppression device 200 can reduce rotational irregularities of the motor 102 by using the rotation speed as the input signal y to the pulsation suppression device 200 and the torque command as the output signal x from the pulsation suppression device 200.

[0020] Furthermore, when a low-cost power supply device is used, the pulsation suppression device 200 can reduce beat vibration by using the dq-axis current as the input signal y to the pulsation suppression device 200 and the manipulated variable of the voltage phase as the output signal x from the pulsation suppression device 200. The manipulated variables of the dq-axis current and the voltage phase will be described later.

[0021] Pulsation suppression device 200 includes subtractors 201A and 201B, a rotation calculation unit 202, integral control units 203A and 203B, an AC restoration unit 204, a pulsation extraction unit 205, and a rotation amount adjustment unit 206. Integral control unit 203A is a first integral control unit, and integral control unit 203B is a second integral control unit.

[0022] The pulsation suppression device 200 receives a periodic disturbance d c f is the frequency dis The pulsation suppression device 200 also receives an input signal y from the electromechanical system 100. dis and the input signal y are sent to the pulsation extraction unit 205 .

[0023] The pulsation extraction unit 205 is dis The pulsating component contained in the input signal y is extracted based on the disturbance frequency f dis The pulsation extractor 205 may extract the pulsation component of the input signal y by using either of the extraction methods.

[0024] The pulsation extraction unit 205 extracts the pulsation component by separating the sin (sine) component and the cos (cosine) component of the pulsation of the input signal y using, for example, the principle of Fourier series. Alternatively, the pulsation extraction unit 205 may extract the pulsation component using a band-pass filter. The following describes a case where the pulsation extraction unit 205 extracts the pulsation component of the input signal y using the principle of Fourier series.

[0025] The disturbance frequency is f dis The result of converting this to angular frequency is the disturbance angular frequency ω dis Let ω dis and f dis The relational expression is the following equation (1).

[0026]

number

[0027] Here, as shown in the following equation (2), ω dis The integral result of integrating over time t is θ dis We will represent this with the symbol:

[0028]

number

[0029] where f dis can be considered as a constant, so θ dis can be expressed as a linear function of time t. The cosine and sinusoidal components contained in the input signal y can be calculated using the following equations (3) and (4).

[0030]

number

[0031]

number

[0032] The pulsation extraction unit 205 extracts y, which is the cosine component of the pulsation included in the input signal y. cos The pulsation extractor 205 calculates y, which is the sine component of the pulsation contained in the input signal y, and outputs the calculated value to the subtractor 201A. sin is calculated and output to subtractor 201B.

[0033] The subtractor 201A subtracts the target value r of the pulsating component stored in advance. * and the cosine component of the pulsation, y cos The difference between the two is calculated, and the calculation result is the cosine component deviation e cos The subtractor 201B outputs the target value r of the pulsating component to the rotation calculation unit 202. * and the sin component of the pulsation, y sin The difference between these is calculated, and the calculation result is the deviation e of the sine component. sin The target value r of the pulsating component is usually output to the rotation calculation unit 202. * is set to zero, but the target value of the pulsating component r *may be a non-zero value.

[0034] The rotation calculation unit 202 cos and, e sin The rotation calculation is performed using the following equation (5). Here, the cosine component after the rotation calculation is e Rcos The sin component after the rotation is e Rsin That's what they say.

[0035]

number

[0036] θ in Equation (5) R is the amount of rotation in the rotation operation. R is set in advance by the user in the rotation amount adjustment unit 206. The rotation amount adjustment unit 206 adjusts the rotation amount θ R e cos and e sin Based on this, the rotation amount θ is adjusted so that the periodic pulsation is reduced. R and set it in the rotation calculation unit 202. R The method for adjusting this will be described later.

[0037] The integral control unit 203A calculates y cos The deviation e corresponding to Rcos (the rotated cosine component), and the integral control unit 203B integrates y sin The deviation e corresponding to Rsin That is, the integral control unit 203A integrates e Rcos By performing integral control over x cos The integral control unit 203B determines e Rsin By performing integral control over x sin Determine x cos , x sin are the cosine and sin components of the output signal x of the beatless control. * The error between the actual value and the input value is accumulated, and an amount proportional to this accumulated value is added to the manipulated variable to perform integral control.

[0038] The integral control unit 203A calculates the rotated cos component e Rcos In other words, the integral control section 203A performs integral control so that the target value r of the pulsating component becomes zero. * and the cosine component of the pulsation, y cos deviation e cos so that e Rcos From x cos That is, the integral control unit 203A determines y cos is the target value of the pulsating component r * By controlling the integral to approach x cos Determine.

[0039] Furthermore, integral control section 203B converts the rotated sine component e Rsin In other words, the integral control section 203B performs integral control so that the target value r of the pulsating component becomes zero. * and the sin component of the pulsation, y sin deviation e sin so that e Rsin From x sin That is, the integral control unit 203B determines y sin is the target value of the pulsating component r * By controlling the integral to approach x sin Determine.

[0040] Although the pulsation suppression device 200 uses integral control units 203A and 203B here, the pulsation suppression device 200 may use other control units as long as the control includes an integral element. For example, the pulsation suppression device 200 may use a control unit that performs PI (Proportional-Integral) control or a control unit that performs PID (Proportional-Integral-Differential) control.

[0041] The AC restoration unit 204 receives the pre-stored f dis The AC restoration unit 204 converts the output of the integral control into an AC signal and determines the output signal x. That is, the AC restoration unit 204 converts the output of the integral control into an AC signal and determines the output signal x.cos , x sin , and f dis The AC restoration unit 204 calculates the output signal x based on, for example, the following equation (6): cos and x sin The calculation result (AC signal) using equation (6) becomes the output signal x from the pulsation suppressing device 200.

[0042]

number

[0043] Here, to explain the role of the rotation amount adjustment unit 206, the operation of a pulsation suppression device of a comparative example that does not have the rotation amount adjustment unit 206 will be explained. The pulsation suppression device of the comparative example has the same configuration as the pulsation suppression device 200 except that it does not have the rotation amount adjustment unit 206. Since the pulsation suppression device of the comparative example does not have the rotation amount adjustment unit 206, the rotation amount θ R is treated as a fixed value.

[0044] Fig. 2 is a diagram showing an operation pattern of a deviation vector when the pulsation suppression device according to the first embodiment executes beatless control when the rotation amount is in an optimal state. Fig. 3 is a diagram showing an operation pattern of a deviation vector when the pulsation suppression device according to the first embodiment executes beatless control when the rotation amount is in a state within a range of less than ±90 degrees from the optimal value. Fig. 4 is a diagram showing an operation pattern of a deviation vector when the pulsation suppression device according to the first embodiment executes beatless control when the rotation amount is away from the optimal value by more than ±90 degrees.

[0045] Rotation amount θ R When the rotation amount θ is within the range of ±90 degrees from the optimum value, R The absolute value of the difference between the rotation amount θ and the optimum value is less than 90 degrees. R When the angle is more than ±90 degrees from the optimum value, the rotation amount θ R and the optimum value is greater than 90 degrees.

[0046] The horizontal axis of Figures 2 to 4 is the cosine component (e cos ) and the vertical axis is the sin component (e sin 2 to 4, when the pulsation suppression device 200 executes pulsation suppression control such as beatless control, e cos and e sin The deviation vector E (not shown) is a motion pattern of the deviation vector E (not shown) which is composed of the deviation vector locus Et. The deviation vector E is a vector from the origin (e cos ,e sin ) is a vector directed toward the pulsation suppression device 200. cos ,e sin ) approaches the origin, i.e., the absolute value of the deviation vector E becomes smaller. The deviation vector locus Et has a starting point "Start" and an end point "Goal". The operation pattern of the deviation vector E under beatless control (the deviation vector locus Et corresponding to the behavior of the pulsation suppression device 200) is R They can be broadly classified into four types depending on the

[0047] The first operation pattern shown in FIG. R In this state, when the pulsation suppression device 200 starts pulsation suppression control such as beatless control, e cos and e sin The deviation vector E, which is composed of the above, approaches the origin in the shortest distance due to the action of integral control.

[0048] The second operation pattern shown in FIG. R is within a range of less than ±90 degrees from the optimum value. At this time, if the pulsation suppression device 200 starts pulsation suppression control such as beatless control, the deviation vector E approaches the origin while drawing a spiral.

[0049] The third operation pattern shown in FIG. R is deviated from the optimum value by more than ±90 degrees. At this time, if the pulsation suppression device 200 starts pulsation suppression control such as beatless control, the deviation vector E moves away from the origin while drawing a spiral.

[0050] The fourth operation pattern (not shown) is R is in the worst state (180 degrees away from the optimum value). At this time, if the pulsation suppression device 200 starts pulsation suppression control such as beatless control, the deviation vector E moves away from the origin in a straight line.

[0051] The rotation amount adjustment unit 206 is supplied with a rotation amount θ that is as close to the optimum value as possible by the user in advance. R The rotation amount adjustment unit 206 is set to, for example, a rotation amount θ that is less than ±85 degrees from the optimum value. R is set.

[0052] In this way, the rotation amount adjustment unit 206 adjusts the rotation amount θ R If is given appropriately, the deviation e cos ,e sin Whether the control systems of the pulsation suppression device 200 and the comparative example pulsation suppression device operate stably or not depends on the rotation amount θ R However, in an electromechanical system with complex plant characteristics and an electromechanical system with large fluctuations in plant characteristics, it is difficult to determine what kind of rotation amount θ R There are cases where it is unclear what to give.

[0053] The pulsation suppressing device 200 according to the first embodiment includes the rotation amount adjusting unit 206, and therefore the rotation amount θ R That is, the rotation amount adjusting unit 206 checks the behavior of the deviation vector E and adjusts the rotation amount θ R As a result, the pulsation suppression device 200 can optimize the rotation amount θ R Using the deviation e cos ,e sin It is possible to control the pulsation component to zero. * is set to zero, so the deviation e cos ,e sin becomes zero, the cosine component of the pulsation, y cos, and the sin component y sin becomes zero, and the pulsation suppressing device 200 can perform stable control.

[0054] For example, when the plant characteristics of the electromechanical system 100 are complex, such as when the plant characteristics are nonlinear, the operation may become unstable. R is adjusted to an appropriate value, so that the periodic disturbance d c Furthermore, when a large fluctuation occurs in the plant characteristics of the electromechanical system 100, it becomes difficult to reduce the pulsation. R is adjusted to an appropriate value, so that the periodic disturbance d c Therefore, the pulsation caused by the above can be reduced appropriately.

[0055] FIG. 5 is a diagram illustrating an operation pattern of a deviation vector when the pulsation suppressing device according to the first embodiment performs beatless control. The horizontal axis of FIG. 5 represents the cosine component (e cos ) and the vertical axis is the sin component (e sin 5, when the pulsation suppression device 200 executes pulsation suppression control such as beatless control, e cos and e sin 10 shows a deviation vector locus Et, which is a motion pattern of a deviation vector E (not shown) composed of the following: The deviation vector locus Et has a starting point "Start" and an end point "Goal".

[0056] The rotation amount adjusting unit 206 included in the pulsation suppressing device 200 of the first embodiment calculates the absolute value of the deviation vector E, |E|=√(e cos 2 +e sin 2 ) (time change of the absolute value of the periodic pulsation) is calculated, and if the absolute value of the deviation vector E (norm of the deviation vector E) does not decrease as intended, the rotation amount θ RThe case where the absolute value of the deviation vector E does not decrease as intended means that the absolute value of the deviation vector E corresponding to the periodic pulsation is increasing. The rotation amount adjusting unit 206 adjusts the rotation amount θ based on the temporal change in the absolute value of the periodic pulsation. R The rotation amount adjustment unit 206 adjusts the rotation amount θ R By changing cos 2 +e sin 2 ) can be found to decrease.

[0057] The trajectory of the deviation vector E does not necessarily become a straight line or a spiral as shown in FIG. 2 or FIG. 3, but the rotation amount adjustment unit 206 can ultimately make the deviation vector E zero by performing this correction operation (adjustment process).

[0058] In this way, the rotation amount adjusting unit 206 adjusts the cosine component of the pulsation, y cos or the sin component of y sin If y is unintentionally increased, this increase is detected. cos and y sin If an unintended increase in is detected, the pulsation suppression is in an abnormal state (rotation amount θ R is in an inappropriate state), and the rotation amount θ R The rotation amount adjustment unit 206 corrects y cos and y sin By finding a search direction that reduces the deviation vector E, the deviation vector E is finally made zero.

[0059] Here, the concept of the search direction corrected by the pulsation suppression device 200 will be explained. Fig. 6 is a first explanatory diagram for explaining the search direction corrected by the pulsation suppression device according to the first embodiment. Fig. 7 is a second explanatory diagram for explaining the search direction corrected by the pulsation suppression device according to the first embodiment. Fig. 8 is a third explanatory diagram for explaining the search direction corrected by the pulsation suppression device according to the first embodiment. Fig. 9 is a fourth explanatory diagram for explaining the search direction corrected by the pulsation suppression device according to the first embodiment.

[0060] 6 to 9 show an image of the search direction corrected by the pulsation suppression device 200. The horizontal axis of each of the figures shows the cosine component (e cos ,e Rcos ,x cos ) and the vertical axis is the sin component (e sin ,e Rsin ,x sin 6 to 8, compared to FIGS. 2 to 4, a deviation vector locus ERt, which is the movement pattern (locus) of the deviation vector ER (not shown), an output signal locus xt, which is the movement pattern of the output signal vector x (not shown), and a sector-shaped area representing an image of the search direction are added. The deviation vector ER after the rotation operation is a vector resulting from the rotation operation performed by the rotation operation unit 202 on the deviation vector E before the rotation operation. The output signal locus xt is the locus of the output signal vector x of beatless control.

[0061] The deviation vector ER is (e Rcos ,e Rsin ), and the deviation vector E is, as mentioned above, a vector pointing from the origin (e cos ,e sin ) Here, a case will be described in which the ideal values ​​of the deviation vector E before the rotation operation and the deviation vector ER after the rotation operation are zero (the origin).

[0062] 6 to 9, the image of the search direction is shown as a sector-shaped figure (sector area) that imitates the human field of vision. If the center of the sector area is the position of the output signal vector x at a certain time, the arc part of the sector area is the image of the forward field of vision at that time.

[0063] Specifically, in Fig. 6, the image of the search direction is shown as search direction image SD1, and in Fig. 7, the image of the search direction is shown as search direction images SD2 and SD3. In Fig. 8, the image of the search direction is shown as search direction images SD4, SD5, and SD6, and in Fig. 9, the image of the search direction is shown as search direction images SD7 and SD8.

[0064] The search direction image SD1 shown in Figure 6 is a rotation amount θ R This is an image of the search direction when the rotation amount θ is the optimal value. R is optimal, the search direction image SD1 does not need to be changed from the start to the end of the search.

[0065] The search direction images SD2 and SD3 shown in Fig. 7 are obtained by rotating the R is an appropriate value. Search direction image SD2 is an image of the search direction when the search starts, and search direction image SD3 is an image of the search direction when the search is completed. In other words, search direction image SD3 is a search direction image after a specific time has passed since the start of the search using search direction image SD2.

[0066] The search direction images SD4, SD5, and SD6 shown in Fig. 8 are obtained by rotating the R is an image of the search direction when is an inappropriate value. Search direction image SD4 is an image of the search direction when the search starts, search direction image SD5 is an image of the search direction during the search, and search direction image SD6 is an image of the search direction when the search fails. In other words, search direction image SD5 is an image of the search direction after a specific time has passed since the start of the search using search direction image SD4. Search direction image SD6 is an image of the search direction after a specific time has passed since the search using search direction image SD5.

[0067] 6 to 8, the trajectory of the deviation vector E before the rotation calculation when it tries to move from the point of the initial value Es of the deviation vector E to the point (origin) of the ideal value Ei of the deviation vector E is shown as the deviation vector trajectory Et.

[0068] 6 to 8, the trajectory of the deviation vector ER after the rotation calculation when it tries to move from the point of the initial value ERs of the deviation vector ER to the point of the ideal value Ei of the deviation vector ER (origin) is shown as a deviation vector trajectory ERt.

[0069] In addition, in FIG. 9, the rotation amount θ R is inappropriate and the search fails, and the rotation amount θ R After the adjustment, the trajectory of the deviation vector ER as it moves from the point of the initial value ERs of the deviation vector ER to the point (origin) of the ideal value Ei of the deviation vector ER is shown as a deviation vector trajectory ERt2.

[0070] Here, it is assumed that if the ideal value of the output signal vector x can be found, the deviation vector E before the rotation operation and the deviation vector ER after the rotation operation can be set to zero. However, the pulsation suppression device 200 cannot know in advance where the ideal value of the output signal vector x is located in the diagram.

[0071] The pulsation suppression device 200 can determine whether or not the search for the ideal value of the output signal vector x has been successful only by observing the deviation vectors E and ER. However, the search range of the output signal vector x is limited. That is, the output signal vector x has a searchable range SR, which is the range within which it can be searched. If the ideal value of the output signal vector x is not within the searchable range SR, the deviation vectors E and ER cannot be set to zero. Therefore, the pulsation suppression device 200 searches for an output signal vector x that minimizes the deviation vectors E and ER within the searchable range SR.

[0072] The initial value xs of the output signal vector x is an arbitrary value, and is often set to zero, but here it is set to a non-zero value for convenience of drawing. The initial values ​​of the deviation vectors E and ER are also set to arbitrary non-zero values. In FIGS. 6 to 8, the initial value of the deviation vector E is indicated by the initial value Es, and the initial value of the deviation vector ER is indicated by the initial value ERs. Note that the initial value ERs of the deviation vector ER may be the same as the initial value Es of the deviation vector E.

[0073] In FIG. 6, the pulsation suppressing device 200 according to the first embodiment is configured to suppress the rotation amount θ R The figure shows the operating patterns of the deviation vectors E and ER and the output signal vector x when beatless control is performed when is in the optimal state.

[0074] The deviation vector locus Et, which is the locus of the deviation vector E, and the deviation vector locus ERt, which is the locus of the deviation vector ER after the rotation calculation, are different from each other by the rotation amount θ R The phase is different by the amount of rotation θ R When is in an ideal state, the deviation vectors E and ER move in the shortest distance from the initial values ​​Es and ERs toward the ideal value Ei (origin), which is the ideal point of the deviation vectors E and ER. To achieve this, the output signal vector x also needs to move in the shortest distance from the initial value xs toward the ideal value xi, which is the ideal point of the output signal vector x.

[0075] Since the output signal vector x is a vector obtained by integrating the deviation vector ER, if the direction of the deviation vector ER does not match the ideal direction of movement of the output signal vector x, it is impossible for the output signal vector x to move in the shortest distance. In this case, the parameter for adjusting the direction of the deviation vector ER is the rotation amount θ R Therefore, the pulsation suppression device 200 is R By optimizing the above, the deviation vectors E and ER can be moved toward the ideal value Ei in the shortest distance.

[0076] Since the output signal vector x moves along the direction of the deviation vector ER as seen from the origin, the direction of the deviation vector ER as seen from the origin can be considered to be the search direction of the output signal vector x. Alternatively, the search direction of beatless control can be said to be the approximate direction of movement of the output signal vector x.

[0077] The sector area (search direction image SD1) shown in Figure 6 is rotated by the amount of θ R is the optimal value. In this case, the ideal value xi of the output signal vector x is on the extension of the search direction, so the search for the ideal value xi of the output signal vector x is successful.

[0078] The sector area (search direction images SD2 and SD3) shown in Fig. 7 is rotated by the amount of θ Ris within a range of less than ±90 degrees from the optimum value. In this case, there is a slight deviation between the direction of the ideal value xi of the output signal vector x and the search direction. Since the internal integral control (integral control by integral control units 203A and 203B) in the pulsation suppression device 200 allows a slight deviation in the search direction, the pulsation suppression device 200 can make the deviation vectors E and ER eventually reach the ideal value Ei. However, since the output signal vector x does not move toward the ideal value xi of the output signal vector x in the shortest distance, the deviation vectors E and ER decrease in a spiral manner.

[0079] The sector area (search direction images SD4, SD5, SD6) shown in Fig. 8 is rotated by the amount of θ R is more than ±90 degrees away from the optimal value. In this case, there is a large deviation between the direction of the ideal value xi of the output signal vector x and the search direction. In this case, even if the output signal vector x is changed, the deviation vector E,ER does not decrease as intended, so the search direction cannot be uniquely determined and the output signal vector x is manipulated so that the deviation vector E,ER moves toward a point different from the ideal value Ei. As a result, the pulsation suppression device 200 increases the deviation vector E,ER along a trajectory that resembles a spiral, resulting in a failure of beatless control.

[0080] In Fig. 8, the points of the deviation vectors E and ER when a search failure is detected are indicated by deviation vectors Ef and ERf, respectively. Also in Fig. 8, the point of the output signal vector x when a search failure is detected is indicated by the reached value xf.

[0081] In the first embodiment, in preparation for the case where the deviation vectors E and ER behave as shown in FIG. 8, the pulsation suppressing device 200 is configured to have a rotation amount θ R A search failure detection unit may be provided to detect a failure in searching for the optimal value of . In the operation described in FIG. 8, the cause of the search failure was an inappropriate search direction (in other words, the rotation amount θ RIf the search fails, the pulsation suppression device 200 detects the failure of the search and corrects the search direction, thereby eventually correcting the rotation amount θ R can be successfully searched for the optimal value of

[0082] In Figure 9, the rotation amount θ R 9 shows an operation image in the case where, after a search for the optimal value of θ has failed, the search direction is corrected and the search is performed again. That is, the behavior shown in FIG. 9 shows the operation image in the case where, when the pulsation suppression device 200 detects a failure in the search, the rotation amount θ R Adjust the rotation amount θ R This is the behavior when is reset to an appropriate value. In Fig. 9, as in Fig. 8, the points of the deviation vectors E and ER when a search failure is detected are shown as deviation vectors Ef and ERf, respectively.

[0083] In FIG. 9, the rotation amount before correction is the rotation amount Bθ R The corrected rotation amount is indicated by the rotation amount Aθ R 9, the pulsation suppression device 200 rotates the search direction image SD7 when it detects that the search has failed by the amount of rotation Bθ R The search direction image after adjusting is shown as search direction image SD8. R When you adjust the amount of rotation, the amount of rotation Aθ R As a result, the deviation vector ER and the search direction after the rotation calculation change.

[0084] In Figure 9, the rotation amount Bθ R The locus of the output signal vector x after the adjustment is shown as a locus xt2. Also, in FIG. 9, the rotation amount Aθ after the adjustment is shown as a locus xt2. R The locus of the deviation vector ER rotated by the rotation calculation is shown as a deviation vector locus ERt2. R The locus of the deviation vector E rotated by the above calculation is shown as a deviation vector locus Et2.

[0085] Suppose the rotation amount Bθ R By adjusting the rotation amount Aθ RWhen the optimum value is reached, the ideal value xi of the output signal vector x will be on the extension of the search direction, and the search for the optimum value will be completed smoothly.

[0086] In FIG. 9, for convenience of explanation, the rotation amount θ R By adjusting the rotation amount θ R The case where the rotation amount θ R Since the optimal value of is unknown, the rotation amount θ R The adjustment is performed little by little over multiple times by integral control sections 203A and 203B.

[0087] Furthermore, the pulsation suppressing device 200 constantly controls the rotation amount θ during beatless control operation by a method combining cross product calculation and PID control, which will be described later. R You can continue to modify the rotation amount θ R By the correction process of the deviation vector E, the deviation vector E may approach the origin through a complex deviation vector locus Et as shown in FIG. 5. Also, as shown in FIG. 9, the deviation vector E may approach the origin through a rotation amount θ R After the correction, the deviation vector E may move toward the origin along a linear deviation vector locus Et2.

[0088] In beatless control, it is unknown at what point the ideal value xi of the output signal vector x is, and if the output signal vector x is manipulated in an inappropriate direction, beat vibration will increase, so the search for the ideal value xi of the output signal vector x must be carried out carefully. For this reason, in the first embodiment, the pulsation suppression device 200 appropriately corrects the search direction of beatless control so that the output signal vector x can reliably reach the ideal value xi.

[0089] The rotation amount adjustment unit 206 adjusts the rotation amount θ R The rotation amount adjusting unit 206 may adjust the rotation amount θ by, for example, a method that combines a cross product calculation and PID control, which will be described later. R Furthermore, the rotation amount adjustment unit 206 adjusts the rotation amount θR may be automatically searched for.

[0090] In the first embodiment, the rotation amount θ R However, the pulsation suppression device 200 also uses a method similar to feedforward control to adjust the rotation amount θ R may be adjusted.

[0091] Next, a description will be given of the operation of the pulsation suppression device 200. Fig. 10 is a flowchart showing the procedure of pulsation suppression processing executed by the pulsation suppression device according to the first embodiment. The pulsation suppression device 200 reduces the pulsation of the input signal y in the following procedure.

[0092] The pulsation extraction unit 205 extracts the pulsation of the input signal y by dividing it into a cosine component and a sinus component (step S200). The subtractor 201A extracts the target value r of the pulsation component. * and the cosine component of the pulsation, y cos The deviation e of the cosine component, which is the difference between cos The subtractor 201B calculates the target value r of the pulsating component. * and the sin component of the pulsation, y sin The deviation of the sine component e sin (Step S210). The rotation amount adjustment unit 206 calculates the rotation amount θ R (Step S220). The rotation amount adjuster 206 adjusts the adjusted rotation amount θ R is set in the rotation calculation unit 202.

[0093] The rotation calculation unit 202 calculates the rotation amount θ R Specifically, the rotation calculation unit 202 performs a vector rotation calculation using e cos and, e sin and the rotation amount θ R By applying this to equation (5), the cosine component after rotation is obtained as e Rcos and the sin component after the rotation operation, e Rsin Calculate and.

[0094] The integral control units 203A and 203B execute integral control calculations (step S240). Specifically, the integral control unit 203A calculates e after the rotation calculation. Rcos By integrating, x, which is the cosine component of the output signal x of beatless control, cos The integral control unit 203B determines the value of e after the rotation calculation. Rsin By integrating, x, which is the sine component of the beatless control output signal x, sin Determine.

[0095] The AC restoration unit 204 executes the AC restoration calculation (step S250). Specifically, the AC restoration unit 204 calculates the output signal x by the AC restoration calculation, and outputs the output signal x, which is the calculation result, to the electromechanical system 100.

[0096] The electromechanical system 100 operates using the output signal x, thereby making it possible to suppress pulsations in the rotation speed of the motor 102, pulsations in the phase current of the motor 102, and the like.

[0097] Next, a description will be given of the hardware configuration of the pulsation suppressing device 200. Fig. 11 is a diagram illustrating an example of a hardware configuration that realizes the pulsation suppressing device according to the first embodiment.

[0098] The pulsation suppression device 200 is realized by a processor 91, a memory 92, and peripheral devices 93. In not only the first embodiment but also the other embodiments, the pulsation suppression device 200 and pulsation suppression devices 200A, 200B, 200X, and 200Y described later are realized by the processor 91, the memory 92, and the peripheral devices 93.

[0099] Each function of the pulsation suppression device 200 is realized by software, firmware, or a combination of software and firmware. The software or firmware is written as a control program (pulsation suppression program) and stored in the memory 92. In the processing circuit that realizes the pulsation suppression device 200, the processor 91 reads and executes the control program stored in the memory 92 to realize each function. This control program may be provided by a computer-readable recording medium on which the control program is recorded, or may be provided by other means such as a communication medium. The control program can also be said to be a program that causes the pulsation suppression device 200 to execute the processing of steps S200 to S250 in FIG. 10. If the processor 91 has sufficient computing performance, the processor 91 of the pulsation suppression device 200 may execute a control calculation different from the calculation processing of FIG. 10 in parallel.

[0100] The processor 91 is a CPU (Central Processing Unit, also called a central processing unit, processing unit, arithmetic unit, microprocessor, microcomputer, processor, or DSP (Digital Signal Processor)) or a system LSI (Large Scale Integration).

[0101] Examples of memory 92 include non-volatile or volatile semiconductor memory such as RAM (Random Access Memory), ROM (Read Only Memory), flash memory, EPROM (Erasable Programmable Read Only Memory), and EEPROM (Electrically Erasable Programmable Read Only Memory). Furthermore, memory 92 is not limited to these, and may also be a magnetic disk, optical disk, compact disk, minidisc, or DVD (Digital Versatile Disc).

[0102] The peripheral device 93 is, for example, an analog-to-digital conversion circuit, an encoder counter, etc. Furthermore, when a modulation unit 13, a coordinate conversion unit 17, etc., which will be described later, are arranged in the pulsation suppression device 200, the analog-to-digital conversion circuit is arranged in the modulation unit 13, the coordinate conversion unit 17, etc. The analog-to-digital conversion circuit is, for example, DC It is also used to detect the phase current of the motor 102.

[0103] Furthermore, when the rotor position is detected by a position sensor disposed in the compressor 3 (described later) and a rotor position calculation unit 14 (described later) is disposed in the pulsation suppression device 200, the encoder counter is disposed in the rotor position calculation unit 14. The encoder counter is used, for example, to acquire rotor position information.

[0104] As described above, according to the first embodiment, the pulsation suppressing device 200 controls the rotation amount θ based on the behavior of the deviation vector E. R Therefore, even when the electromechanical system 100 has complex plant characteristics or when the characteristics fluctuate significantly, the periodic disturbance d c Therefore, the pulsation suppressing device 200 can obtain good operating characteristics even when the electromechanical system 100 has complex plant characteristics or when the characteristics fluctuate significantly.

[0105] Furthermore, the pulsation suppression device 200 can accurately reduce pulsation, thereby achieving reduced vibration, reduced noise, improved energy-saving performance, and increased maximum output of the electromechanical system 100.

[0106] Embodiment 2 Next, a second embodiment will be described with reference to Fig. 12. In the second embodiment, a modification of the first embodiment will be described in which the internal configuration of the pulsation suppressing device 200 is changed.

[0107] Fig. 12 is a diagram showing the configuration of a pulsation suppression device according to embodiment 2. Among the components in Fig. 12, components that achieve the same functions as those in the pulsation suppression device 200 according to embodiment 1 shown in Fig. 1 are assigned the same reference numerals, and redundant explanations will be omitted.

[0108] The pulsation suppressing device 200A of the second embodiment is connected to the electromechanical system 100 and suppresses pulsations in the electromechanical system 100, similar to the pulsation suppressing device 200 of the first embodiment.

[0109] Compared to the pulsation suppression device 200, the pulsation suppression device 200A of the second embodiment includes an extraction rotation calculation unit 207 instead of the pulsation extraction unit 205 and the rotation calculation unit 202. That is, the pulsation suppression device 200A includes the extraction rotation calculation unit 207, subtractors 201A and 201B, integral control units 203A and 203B, an AC restoration unit 204, and a rotation amount adjustment unit 206.

[0110] The extraction rotation calculation unit 207 has the functions of the pulsation extraction unit 205 and the rotation calculation unit 202. In other words, the extraction rotation calculation unit 207 includes the pulsation extraction unit 205 (not shown in FIG. 12) and the rotation calculation unit 202 (not shown in FIG. 12). That is, the extraction rotation calculation unit 207 simultaneously executes the pulsation extraction calculation and the rotation calculation. In this way, the extraction rotation calculation unit 207 is a calculation unit in which the pulsation extraction unit 205 and the rotation calculation unit 202 of the first embodiment are integrated.

[0111] It is possible to simultaneously execute the AC restoration calculation by AC restoration section 204 and the rotation calculation by rotation calculation section 202, that is, to integrate AC restoration section 204 and rotation calculation section 202 of the first embodiment.

[0112] In the pulsation suppression device 200A, the subtractor 201A is connected to the extraction rotation calculation unit 207, the integral control unit 203A, and the rotation amount adjustment unit 206. Also, in the pulsation suppression device 200A, the subtractor 201B is connected to the extraction rotation calculation unit 207, the integral control unit 203B, and the rotation amount adjustment unit 206. Also, the rotation amount adjustment unit 206 is connected to the extraction rotation calculation unit 207.

[0113] The extraction and rotation calculation unit 207 is connected to the AC restoration unit 204. The extraction and rotation calculation unit 207 receives a pre-stored f dis The rotation calculation unit 207 also receives an input signal y sent from the electromechanical system 100. The rotation calculation unit 207 also receives a rotation amount θ R is entered.

[0114] The extraction and rotation calculation unit 207 calculates f dis The extraction and rotation calculation unit 207 calculates the cosine and sin components of the pulsating component included in the input signal y based on the following equations (7) and (8).

[0115]

number

[0116]

number

[0117] y derived by calculation using equations (7) and (8) Rcos and y Rsin is derived by calculation using equations (3) and (4). cos and y sin Compared with the rotation amount θ R In other words, in the calculation using equations (7) and (8), y cos and y sin Rotation amount θ Ry after rotation calculation Rcos and y Rsin This means that the following calculation is being performed.

[0118] The extraction and rotation calculation unit 207 calculates the result of the calculation, y Rcos is sent to the subtractor 201A, and the calculation result y Rsin to the subtractor 201B. As a result, the subtractor 201A calculates the target value r of the pulsating component stored in advance. * and, y Rcos By calculating the difference between Rcos The subtractor 201B can directly calculate the target value r of the pulsating component stored in advance. * and, y Rsin By calculating the difference between Rsin can be calculated directly.

[0119] The subtractor 201A calculates the deviation e Rcos is sent to the integral control unit 203A and the rotation amount adjustment unit 206, and the subtractor 201B calculates the deviation e Rsin is sent to the integral control unit 203B and the rotation amount adjustment unit 206.

[0120] |E|=√(e cos 2 +e sin 2 )=√(e Rcos 2 +e Rsin 2 ), the absolute value of the deviation vector E does not change even if a rotation calculation is performed. cos and e sin instead of e Rcos and e Rsin That is, as in the first embodiment, the rotation amount adjustment unit 206 may be inputted with e cos and e sin Even if the rotation amount adjuster 206 receives the input, as in the second embodiment, Rcos and e Rsin is input, the rotation amount adjustment unit 206 performs the same correction process to adjust the rotation amount θ RThe rotation amount adjuster 206 adjusts the rotation amount θ R is output to the extraction and rotation calculation unit 207.

[0121] As in the first embodiment, when the absolute value of the deviation vector E does not decrease as intended, the rotation amount adjustment unit 206 adjusts the rotation amount θ R By this corrective operation, the rotation amount adjustment unit 206 finds the point at which |E| decreases. Although the trajectory of the deviation vector E does not necessarily become a straight line or a spiral as shown in FIG. 2 or FIG. 3, by performing this corrective operation, the rotation amount adjustment unit 206 can finally make the deviation vector E zero.

[0122] The pulsation suppression device 200A of the second embodiment can obtain the same processing results as the pulsation suppression device 200 of the first embodiment. Moreover, the pulsation suppression device 200A of the second embodiment has the advantage of requiring less calculations than the pulsation suppression device 200 of the first embodiment.

[0123] As described above, according to the second embodiment, the pulsation suppressing device 200A adjusts the rotation amount θ based on the behavior of the deviation vector E in the same manner as in the first embodiment. R Therefore, even when the electromechanical system 100 has complex plant characteristics or when the characteristics fluctuate significantly, the periodic disturbance d c Therefore, the pulsation suppressing device 200A can obtain good operating characteristics even when the electromechanical system 100 has complex plant characteristics or when the characteristics fluctuate significantly.

[0124] Furthermore, the pulsation suppression device 200A can accurately reduce pulsation, thereby achieving reduced vibration, reduced noise, improved energy-saving performance, and increased maximum output of the system.

[0125] Embodiment 3 Next, a third embodiment will be described with reference to Figures 13 to 26. In the third embodiment, a specific application example of the pulsation suppressing device 200 will be described.

[0126] FIG. 13 is a diagram illustrating a configuration of an electromechanical system according to a third embodiment. The following describes a pulsation suppression device 200 and other components using the electromechanical system 100 illustrated in FIG. 13. The electromechanical system 100 is connected to an AC power supply 5. The electromechanical system 100 includes a power supply circuit 101 and a compressor 3. The compressor 3 includes a motor 102 and a mechanical device 103. The rotating shaft of the motor 102 is mechanically connected to the mechanical device 103. The mechanical device 103 is, for example, a refrigerant compression mechanism. Note that the compression mechanism is merely one example of the mechanical device 103 driven by the power supply circuit 101, and the power supply circuit 101 can also be applied to other types of mechanical devices.

[0127] In the electromechanical system 100, a power supply circuit 101 converts AC power input from an AC power supply 5 into desired power to drive a motor 102 and a mechanical device 103. A source impedance (parasitic impedance) exists between the electromechanical system 100 and the AC power supply 5. A source inductance 6 is an inductance component of the source impedance.

[0128] For convenience of explanation, the case where the AC power supply 5, which is the input power supply, is a three-phase AC power supply will be described here, but the electromechanical system 100 of embodiment 3 can also be applied when the AC power supply 5 is a single-phase AC power supply.

[0129] The power supply circuit 101 includes a diode rectifier 7, a DC reactor 8, a capacitor 9, a DC bus voltage detector 10, an inverter 11, a current detector 12, a modulator 13, and a rotor position calculator 14.

[0130] In power supply circuit 101, an AC (Alternating Current)-DC (Direct Current) converter is configured by a diode rectifier 7, a DC reactor 8, a capacitor 9, etc. Power supply circuit 101 converts an input AC voltage into a DC voltage using this AC-DC converter. The AC-DC converter shown in FIG. 13 is a very simple AC-DC converter, but if power factor correction or voltage boosting is required, a different type of AC-DC converter may be used.

[0131] One end of DC reactor 8 is connected to the positive output point of diode rectifier 7, and the other end of DC reactor 8 is connected to the positive input point of inverter 11. In addition, one end of capacitor 9 is connected to the other end of DC reactor 8. The other end of capacitor 9 is connected to the negative output point of diode rectifier 7 and the negative input point of inverter 11. DC reactor 8 and capacitor 9 are provided to smooth the DC power output from diode rectifier 7.

[0132] The DC bus voltage detector 10 detects the voltage across the capacitor 9 as the DC bus voltage V DC and outputs it to the modulation unit 13. The DC bus voltage detection unit 10 also detects that the input signal y to the pulsation suppression device 200 is the DC bus voltage V DC If so, the detected DC bus voltage V DC to the pulsation suppression device 200. In this case, the pulsation suppression device 200 outputs the DC bus voltage V DC The inverter 11, which is a DC-AC converter, converts a direct current voltage into an alternating current voltage, and drives the motor 102 with the alternating current voltage.

[0133] The modulation unit 13 determines a PWM (Pulse Width Modulation) signal for operating the inverter 11. Specifically, the modulation unit 13 modulates the DC bus voltage V DC and a voltage command vector (a three-phase voltage command vector V *uvw ) and outputs the PWM signal to the inverter 11.

[0134] The current detection unit 12 detects the phase current (phase current vector I uvw ) and outputs it to rotor position calculation unit 14 and coordinate conversion unit 17, which will be described later.

[0135] The motor 102 may be a DC motor or an AC motor. Here, a case where the motor 102 is an AC motor will be described. The power supply circuit 101 controls the motor 102 in a rotating two-phase coordinate system. Here, a case where the power supply circuit 101 performs control in a dq rotating coordinate system based on the direction of the rotor magnet will be described, but the power supply circuit 101 may also perform control in a coordinate system other than the dq rotating coordinate system.

[0136] In order to perform control in a rotating two-phase coordinate system, the power supply circuit 101 calculates the angle difference between the fixed two-phase coordinates and the rotating two-phase coordinates. Here, the rotor position calculation unit 14 in the power supply circuit 101 calculates the three-phase voltage command vector V * uvw and outputs the three-phase voltage command vector V * uvw and the phase current vector I uvw From this, the estimated magnetic pole position θ^ e and estimated angular velocity ω^ e The estimated magnetic pole position θ^ e is information that estimates the magnetic pole position of the rotor of the motor 102. e is information that estimates the angular velocity of the rotor. * The information indicated by " is command information, and the information indicated by "^" is estimated information. The rotor position calculation unit 14 calculates the estimated magnetic pole position θ^ e is output to the coordinate conversion unit 17 and the adder 19 described later, and the estimated angular velocity ω^ e is output to the voltage command determination unit 15, which will be described later.

[0137] There are various methods for estimating the magnetic pole position of the rotor from the speed electromotive force generated while the motor 102 is rotating, such as an adaptive magnetic flux observer or an extended electromotive force observer. The power supply circuit 101 may also directly observe the magnetic pole position of the rotor using a position sensor such as an encoder or resolver. The power supply circuit 101 calculates the angular velocity of the rotor based on the magnetic pole position of the rotor.

[0138] The electromechanical system 100 may include at least one of an acceleration sensor 1 and a force sensor 2. FIG. 13 shows a case where the electromechanical system 100 includes an acceleration sensor 1 and a force sensor 2. The acceleration sensor 1 detects the acceleration a of the motor 102. m and outputs the force F applied to the pulsation suppression device 200. m and outputs it to the pulsation suppression device 200.

[0139] In the electromechanical system 100, when it is desired to suppress stress or vibration acting on internal components of the mechanical device 103, the acceleration sensor 1 and the force sensor 2 may be attached to the mechanical device 103. For example, if the mechanical device 103 is a compression mechanism, the compressor 3 applies vibration to the refrigerant pipes or the installation floor surface on which the compressor 3 is installed, due to the processes of discharging, suctioning, or compressing the refrigerant. Therefore, in controlling the compressor 3, it is necessary to suppress stress acting on the refrigerant pipes or the installation floor surface, or vibration of the housing of the compressor 3. By using the acceleration sensor 1 or the force sensor 2, the electromechanical system 100 can suppress such stress or vibration with high precision.

[0140] However, it is complicated to check the frequency characteristics of the plant from the motor 102 to the acceleration sensor 1 or the force sensor 2. Even when the frequency characteristics and input / output characteristics of the plant cannot be accurately grasped, the pulsation suppression device 200 of the third embodiment can calculate the rotation amount θ based on the behavior of the deviation vector E. RThat is, even when the electromechanical system 100 has complex plant characteristics or when the plant characteristics fluctuate significantly, the pulsation suppression device 200 can easily reduce the periodic disturbance d without performing complicated advance adjustments. c Therefore, the pulsation caused by the above can be reduced appropriately.

[0141] The pulsation suppression device 200 can suppress various types of periodic disturbances d c In the third embodiment, the pulsation suppressing device 200 is effective in suppressing the DC bus voltage V DC A case where beatless control is performed to suppress current pulsation caused by pulsation of the inverter will be described.

[0142] FIG. 14 is a diagram showing the configuration of a motor control device according to a third embodiment. The motor control device 300 is connected to the pulsation suppression device 200 when in use. Note that calculations for the motor control device 300 and the pulsation suppression device 200 may be performed by a single computer. The motor control device 300 receives the phase current vector I from the electromechanical system 100. uvw and outputs a three-phase voltage command vector V * uvw Output.

[0143] The motor control device 300 performs a series of control calculations for driving the motor 102. The motor control device 300 has a voltage command determination unit 15, coordinate conversion units 16 and 17, and an adder 19.

[0144] The coordinate conversion unit 17 converts the phase current vector I of the motor 102 from the current detection unit 12. uvw The coordinate conversion unit 17 receives the phase current vector I uvw The dq-axis current vector I dq That is, the coordinate conversion unit 17 converts the three-phase current vectors into two vectors (d-axis current vector and q-axis current vector) that are current vectors in a rotating two-phase coordinate system. The coordinate conversion unit 17 converts the estimated magnetic pole position θ^ sent from the rotor position calculation unit 14 into eThat is, the coordinate conversion unit 17 uses the estimated magnetic pole position θ^, which is rotor position information. e The coordinate transformation unit 17 performs a rotational two-phase transformation based on the dq-axis current vector I dq to the pulsation suppressing device 200 and the voltage command determining unit 15.

[0145] The voltage command determination unit 15 determines a voltage command to be applied to the motor 102. That is, the voltage command determination unit 15 executes a speed control calculation and a current control calculation to determine a dq-axis current vector I dq to the dq-axis voltage command vector V * dq The voltage command determination unit 15 determines the dq-axis current vector I by, for example, vector control. dq into a d-axis current vector and a q-axis current vector to determine a d-axis voltage command vector and a q-axis voltage command vector. Then, the voltage command determination unit 15 determines a dq-axis voltage command vector V * dq The voltage command determination unit 15 determines the speed command ω * e and the estimated angular velocity ω^ sent from the rotor position calculation unit 14 e The dq-axis voltage command vector V * dq Determine the speed command ω * e is a command for the angular velocity of the rotor. The voltage command determination unit 15 receives a speed command ω from a host program used by a host device of the motor control device 300. * e The voltage command determination unit 15 obtains the dq-axis voltage command vector V * dq is output to the coordinate conversion unit 16.

[0146] The pulsation suppressing device 200 of the third embodiment controls the voltage phase of the voltage command to the inverter 11 to suppress the DC bus voltage V DC Specifically, the pulsation suppressing device 200 suppresses the pulsation of the motor current caused by the periodic pulsation of the disturbance frequency f disand the dq-axis current vector I of the motor 102. dq from the coordinate conversion unit 17. The pulsation suppression device 200 receives the disturbance frequency f dis Based on this, the dq axis current vector I dq The disturbance frequency f included in dis The voltage phase control amount (phase change amount) θ is used to reduce the extracted component. b Determine the dq-axis current vector I dq is a current vector that is actually detected by the current detection unit 12 and is converted into a dq rotating coordinate system by the coordinate conversion unit 17.

[0147] The pulsation suppression device 200 is configured to suppress the voltage phase by a manipulated variable θ b to the adder 19. In this way, the pulsation suppression device 200 outputs the manipulated variable θ b By outputting the voltage command, the voltage phase of the voltage command to the inverter 11 is manipulated, thereby suppressing the pulsation of the motor current.

[0148] The adder 19 calculates the estimated magnetic pole position θ^ sent from the rotor position calculation unit 14. e The voltage phase control amount θ sent from the pulsation suppression device 200 b By adding the phase angle θ^ eb That is, the adder 19 determines the voltage phase control amount θ b and estimated magnetic pole position θ^ e The sum of these is the phase angle θ^ eb The phase angle θ^ is determined as follows. eb is the disturbance frequency f dis The rotor pole position is adjusted to suppress the pulsation corresponding to the phase angle θ^. eb is sent to the coordinate conversion unit 16.

[0149] The coordinate conversion unit 16 converts the phase angle θ^ eb Using the dq-axis voltage command vector V * dq is the three-phase voltage command vector V * uvw That is, the coordinate conversion unit 16 converts the rotor magnetic pole position (phase angle θ^) adjusted to suppress pulsation intoeb ) based on the three-phase voltage command vector V * uvw Specifically, the coordinate conversion unit 16 generates the phase angle θ̂ eb Using the dq-axis voltage command vector V * dq The voltage phase of the dq-axis voltage command vector V * dq is the three-phase voltage command vector V * uvw The coordinate conversion unit 16 converts the three-phase voltage command vector V * uvw to the modulation unit 13. As a result, the modulation unit 13 outputs the three-phase voltage command vector V * uvw and DC bus voltage V DC The PWM signal is output to the inverter 11.

[0150] The inverter 11 outputs a voltage corresponding to the PWM signal to the motor 102. As a result, the motor 102 is driven by the pulsation suppression device 200, the motor control device 300, and the power supply circuit 101. Generally, when the capacity of the DC reactor 8 or the capacitor 9 is reduced, the DC bus voltage V DC When the input is a three-phase AC power supply, the DC bus voltage V DC It is known that the disturbance frequency, which is the pulsation frequency of the DC bus voltage V, is six times the power supply frequency. DC It is known that the disturbance frequency, which is the pulsation frequency of the DC bus voltage V, is twice the power supply frequency. Furthermore, harmonic pulsations occur at frequencies that are integer multiples of these. DC The pulsation of the motor current causes pulsation.

[0151] When viewed from the dq axis current, the frequency of this current pulsation coincides with the disturbance frequency and an integer multiple of the disturbance frequency. When this current pulsation is observed on the three-phase coordinate system, it is found that the disturbance frequency f dis and the frequency f of the phase current of the motor 102 e The sum and difference frequencies |f dis ±f eThis current pulsation has a frequency |f dis -f e This is more likely to become apparent when | is small.

[0152] DC bus voltage V DC This low frequency (disturbance frequency f dis ) phase current pulsation is called beat vibration, and various countermeasures have long been considered. When the phase current pulsates due to beat vibration, it can cause disadvantages such as a decrease in motor efficiency due to an increase in the current peak value, a decrease in the maximum output of the motor 102 due to restrictions on overcurrent protection, and an increase in vibration or noise from the motor 102.

[0153] The pulsation suppression device 200 of the third embodiment automatically minimizes beat vibration to suppress pulsation of the motor current. By manipulating the voltage phase, the pulsation suppression device 200 minimizes beat vibration even in the voltage saturation region of the inverter voltage, where the amplitude of the voltage command cannot be manipulated.

[0154] Fig. 15 is a diagram for explaining beat vibration when the pulsation suppression device according to the third embodiment does not perform voltage phase manipulation. Fig. 16 is a diagram for explaining the principle by which the pulsation suppression device according to the third embodiment suppresses beat vibration by voltage phase manipulation.

[0155] 15 and 16, the horizontal axis is the d axis and the vertical axis is the q axis. In FIG. 15 and FIG. 16, the voltage that the inverter 11 outputs on average is (v d0 ,v q0 ) and the average output current is (i d0 ,i q0 ) is shown. In other words, on average, the inverter 11 d0 and v q0 The motor 102 outputs a voltage of i d0 and i q0 is flowing.

[0156] When the inverter voltage, which is the voltage of the inverter 11, is saturated, the inverter voltage is DC The pulsation (disturbance voltage VD) of the d-axis current (i d0 ,i q0 ) is an elliptical locus centered on the point ∧. In other words, the current locus Ita, which is the locus of the dq-axis current, is an elliptical locus. The larger the elliptical current locus Ita of the dq-axis current, the larger the beat oscillation that appears in the phase current.

[0157] In the third embodiment, the pulsation suppressing device 200 cannot manipulate the amplitude of the voltage command in the voltage saturation region of the inverter voltage, and therefore manipulates the voltage phase to reduce beat vibration.

[0158] It is generally known that the elliptical locus of the dq-axis current can be reduced by appropriately changing the voltage phase of the dq-axis voltage command. Although various methods for voltage phase manipulation type beatless control have been studied, no research has been done on what kind of voltage phase change (voltage phase manipulation amount) should be applied to efficiently reduce the elliptical current locus Ita of the dq-axis current.

[0159] By appropriately changing the voltage phase, the pulsation suppression device 200 efficiently reduces the elliptical current locus Itb of the dq-axis current, as shown in Fig. 16. Fig. 16 shows a case where the pulsation suppression device 200 changes the voltage phase by a phase change amount Pc, so that the voltage locus of the pulsation suppression device 200 becomes the voltage locus Vt and the elliptical current locus of the dq-axis current becomes the current locus Itb.

[0160] Furthermore, in order to enhance the effect of beatless control, the pulsation suppression device 200 drives the motor 102 so that the major and minor axis directions of the elliptical current locus Itb of the dq-axis currents are at angles desired by the user.

[0161] In the third embodiment, the pulsation suppressing device 200 reduces the size of the elliptical current locus Itb of the dq-axis current and sets the long and short axis directions at the desired angles set by the user, so that the pulsation extracting unit 205 has the configuration shown in FIG. 17 .

[0162] 17 is a diagram showing the configuration of a pulsation extraction unit included in the pulsation suppression device according to embodiment 3. The pulsation extraction unit 205 has a norm calculation unit 401, a weighting coefficient setting unit 402, a phase angle calculation unit 403, a cosine signal generation unit 404, a sinue signal generation unit 405, a cosine component extraction unit 406, and a sinue component extraction unit 407.

[0163] The norm calculation unit 401 receives the dq-axis current vector I as an input signal y. dq is received from the electromechanical system 100. The pulsation suppression device 200 here receives the dq-axis current vector I dq Reduces pulsation.

[0164] The norm calculation unit 401 calculates the dq-axis current vector I dq The pulsation extraction unit 205 calculates the norm (absolute value) or weighted norm of the dq-axis current vector I dq The weighting coefficient setting unit 402 is required to calculate the weighted norm of the dq-axis current vector I dq When calculating the norm (when not calculating a weighted norm), the weighting coefficient setting unit 402 may not be provided. The weighting coefficient setting unit 402 stores weighting coefficients w1 and w2 (to be described later) set by the user, and sets the weighting coefficients w1 and w2 in the norm calculation unit 401.

[0165] The weighting coefficient w1 is the weight for the d-axis current, and the weighting coefficient w2 is the weight for the q-axis current. The weights for the d-axis current and the q-axis current are adjusted depending on the ratio of the weighting coefficients w1 and w2. There are various types of norms, but the most well-known norm is the L2 norm, which is calculated using the following equation (9).

[0166]

number

[0167] However, i in equation (9) d and i q are the d-axis and q-axis currents. The norm calculation unit 401 calculates the norm |I dq Calculate |2. |I dq |2 is the dq axis current vector I dq It should be noted that the norm calculation unit 401 may use an L1 norm, an L∞ norm, or the like instead of the L2 norm.

[0168] Furthermore, the norm calculation unit 401 calculates the weighted norm |I dqw In this case, the norm calculation unit 401 may calculate |I dqw Calculate |.

[0169]

number

[0170] The weighting coefficients w1 and w2 in equation (10) are set to any value equal to or greater than zero. d 2 and i q 2 Instead of i d 3 and i q 3 may be applied, and i d 4 and i q 4 etc. may be applied. dq |2 is |I when w1=w2=1 dqw In FIG. 17, the norm calculation unit 401 is equal to |I dqw 10 shows the configuration of the pulsation extracting unit 205 when calculating | and outputting it to the cos component extracting unit 406.

[0171] The pulsation suppression device 200 of the third embodiment uses the norm (|I dq |2 or |I dqw The input signal y is the dq-axis current vector I dq Here, the input signal y is expressed as |I dqw In other words, a signal with any norm is taken as input signal y. The norm calculation unit 401 calculates |I dqw | is sent to the cos component extraction unit 406 and the sin component extraction unit 407.

[0172] The effect obtained by beatless control varies depending on the norm of the pulsation component that the pulsation suppression device 200 suppresses. For example, when it is desired to suppress the phase current peak value, the pulsation suppression device 200 dq The pulsation suppression device 200 suppresses the pulsation of the q-axis current by setting w1=0 and w2=1. When it is desired to suppress vibration and noise of the motor 102, the pulsation suppression device 200 may set w1=0 and w2=1 to suppress the pulsation of the q-axis current. When an intermediate state between these two is desired, the pulsation suppression device 200 may change the weighting factors w1 and w2, such as w1=0.5 and w2=0.5. The pulsation suppression device 200 may change the weighting factors w1 and w2, such as w1=0.25 and w2=0.75, or may change the weighting factors w1 and w2, such as w1=0.75 and w2=0.25. When the d-axis current is larger than the q-axis current, the pulsation suppression device 200 may set w1=1 and w2=0 to suppress the pulsation of the d-axis current.

[0173] The calculation in the norm calculation unit 401 is a calculation for adjusting the long and short axis directions of the elliptical current locus Itb of the dq axis current to the angle desired by the user, and is a calculation for making beatless control work effectively.

[0174] The weighting coefficient setting unit 402 sets the weighting coefficients w1 and w2 according to the purpose of beatless control (what control effect is desired to be obtained by beatless control). The weighting coefficients w1 and w2 may be arbitrarily set by the user of the pulsation suppression device 200. Note that, although an unweighted norm will be described below, the norm may also be a weighted norm. Note that the weighting coefficient setting unit 402 sets the weighting coefficients w1 and w2 according to the purpose of beatless control (what control effect is desired to be obtained by beatless control). The weighting coefficients w1 and w2 may be arbitrarily set by the user of the pulsation suppression device 200. Note that, although an unweighted norm will be described below, the norm may also be a weighted norm. Note that, the weighting coefficient setting unit 402 sets the weighting coefficients w1 and w2 according to the purpose of beatless control (what control effect is desired to be obtained by beatless control). dq The weighting factors w1 and w2 may be adjusted based on the rotation speed of the motor 102 or the like.

[0175] The phase angle calculation unit 403 calculates the phase angle θ of the signal for detecting the pulsation based on the formula (2). dis That is, the phase angle calculation unit 403 calculates the disturbance frequency f dis From the phase angle θ dis The phase angle calculation unit 403 calculates the phase angle θ dis to the cosine signal generating section 404 and the sinue signal generating section 405.

[0176] The cosine signal generating unit 404 and the cosine component extracting unit 406 extract the cosine component y contained in the input signal y based on the equation (3). cos That is, the cos signal generating unit 404 calculates the phase angle θ dis From the phase angle θ dis cosθ, the cos component of dis and outputs it to the cos component extraction unit 406. The cos component extraction unit 406 applies the input signal y and cosθ dis By applying cos Calculate.

[0177] Similarly, the sin signal generating unit 405 and the sin component extracting unit 407 extract y, which is a sin component included in the input signal y, based on equation (4). sin That is, the sin signal generating unit 405 calculates the phase angle θ dis From the phase angle θ dis The sine component of sinθ disand outputs it to the sin component extraction unit 407. The sin component extraction unit 407 applies the input signal y and sinθ dis By applying sin Calculate.

[0178] The cos component extraction unit 406 extracts the calculated y cos to the subtractor 201A, and the sin component extraction unit 407 outputs the calculated y sin is output to the subtractor 201B.

[0179] As described above, the subtractor 201A subtracts the target value r of the pulsating component stored in advance. * and the cosine component of the pulsation, y cos The difference between the two is calculated, and the calculation result is the cosine component deviation e cos The subtractor 201B outputs the target value r of the pulsating component to the rotation calculation unit 202. * and the sin component of the pulsation, y sin The difference between these is calculated, and the calculation result is the deviation e of the sine component. sin to the rotation calculation unit 202.

[0180] The rotation calculation unit 202, integral control units 203A and 203B, and AC restoration unit 204 execute the same processes as in the first embodiment. As a result, the AC restoration unit 204 outputs the output signal x to the electromechanical system 100.

[0181] Fig. 18 is a diagram showing the configuration of an AC restoration unit according to the third embodiment. Note that, among the components in Fig. 18, components that achieve the same functions as the components of pulsation extraction unit 205 shown in Fig. 17 are given the same reference numerals, and duplicated explanations will be omitted. AC restoration unit 204 has a phase angle calculation unit 403, a cos signal generation unit 404, a sin signal generation unit 405, multipliers 408 and 409, and an adder 410.

[0182] The phase angle calculation unit 403 , the cosine signal generation unit 404 , and the sinine signal generation unit 405 perform the same processing as the phase angle calculation unit 403 , the cosine signal generation unit 404 , and the sinine signal generation unit 405 that the pulsation extraction unit 205 has.

[0183] The cos signal generator 404 generates a signal with a phase angle θ dis from cosθ dis and outputs it to the multiplier 408. The sin signal generating unit 405 also generates a sin signal having a phase angle θ dis from sinθ dis and outputs it to the multiplier 409.

[0184] The multipliers 408 and 409 and the adder 410 calculate the manipulated variable θ , which is the output signal x of the pulsation suppression device 200, based on the following equation (11): b Calculate.

[0185]

number

[0186] Specifically, multiplier 408 multiplies x sent from integral control section 203A by cos , cosθ sent from the cos signal generator 404 dis and outputs the multiplication result to adder 410. Furthermore, multiplier 409 multiplies x sent from integral control section 203B. sin , sinθ sent from the sin signal generating unit 405 dis and outputs the multiplication result to the adder 410. The adder 410 adds the multiplication result sent from the multiplier 408 to the multiplication result sent from the multiplier 409, thereby obtaining the manipulated variable θ b and outputs it to the electromechanical system 100.

[0187] Here, the rotation amount θ adjusted by the rotation amount adjustment unit 206 R The rotation amount adjustment unit 206 adjusts the rotation amount θ R The rotation amount θ by the rotation amount adjustment unit 206 may be adjusted. R The method for adjusting this will be described later.

[0188] Fig. 19 is a diagram showing a first behavior of the deviation vector when the pulsation suppression device according to the third embodiment is executing pulsation suppression control. Fig. 20 is a diagram showing a second behavior of the deviation vector when the pulsation suppression device according to the third embodiment is executing pulsation suppression control. Fig. 21 is a diagram showing a third behavior of the deviation vector when the pulsation suppression device according to the third embodiment is executing pulsation suppression control.

[0189] The horizontal axis in Figures 19 to 21 is the cosine component (e cos ) and the vertical axis is the sin component (e sin 19 to 21 show the e when the pulsation suppression device 200 is performing beatless control. cos and e sin The diagram shows the behavior of the deviation vector E.

[0190] The pulsation suppression device 200 is configured to suppress the rotation amount θ R Whether the control is appropriate (whether the control is being performed appropriately) can be determined by examining the deviation vector E and the time differential vector (d / dt)E of the deviation vector E. Hereinafter, the time differential vector (d / dt)E of the deviation vector E may be referred to as the time differential vector (d / dt)E.

[0191] When the deviation vector E and the time differential vector (d / dt)E are in opposite phases as in the first behavior of the deviation vector E shown in FIG. 19, the pulsation suppression device 200 R is judged to be the most appropriate state.

[0192] 20, when the direction of the time differential vector (d / dt)E is inward (toward the origin) from the perpendicular line of the deviation vector E, the pulsation suppression device 200 R is judged to be in a reasonably good state.

[0193] As in the third behavior of the deviation vector E shown in FIG. 21, when the direction of the time differential vector (d / dt)E is outward from the vertical line of the deviation vector E, the pulsation suppression device 200 R is judged to be inappropriate.

[0194] If the state of the deviation vector E shown in FIG. 21 is left as it is, the beatless control will become unstable and diverge. Therefore, the pulsation suppression device 200 adjusts the rotation amount θ so that the deviation vector E is in the state shown in FIG. 19 or 20. R Fix.

[0195] As shown in FIG. 20, when the direction of the time differential vector (d / dt)E is inward from the perpendicular line of the deviation vector E, the pulsation suppression device 200 adjusts the rotation amount θ R may be corrected.

[0196] The pulsation suppression device 200 rotates at an amount of rotation θ R In order to correct the rotation amount θ , the pulsation suppression device 200 evaluates whether the beatless control is being performed appropriately using a quantitative numerical value (evaluation value). R Fix.

[0197] 22 is a diagram illustrating an evaluation value used by the pulsation suppression device according to the third embodiment to evaluate whether beatless control is being performed appropriately. The horizontal axis of FIG. 22 represents the cosine component, and the vertical axis represents the sinusoidal component.

[0198] FIG. 22 shows an example of the definition of the evaluation value. The pulsation suppression device 200 evaluates the appropriateness of the operation of beatless control by using, for example, the cross product of the deviation vector E and the time differential vector (d / dt)E of the deviation vector E (the area of ​​the parallelogram formed by the two vectors). Here, the evaluation value for evaluating whether beatless control is being performed appropriately is defined as C. d The cross product of the deviation vector E and the time derivative vector (d / dt)E of the deviation vector E is C d is.

[0199] The pulsation suppression device 200 determines whether the rotation amount θ is larger as the area of ​​the parallelogram formed by the deviation vector E and the time differential vector (d / dt)E of the deviation vector E becomes smaller. R As a result, the closer the angle between the deviation vector E and the time differential vector (d / dt)E is to 180 degrees or to 0 degrees, the smaller the amount of rotation θ R That is, the closer the angle between the deviation vector E and the time differential vector (d / dt)E is to 90 degrees, the smaller the correction amount of the rotation amount θ R Increase the correction amount.

[0200] 23 is a diagram showing the configuration of a rotation amount adjustment unit included in the pulsation suppression device according to the third embodiment. The rotation amount adjustment unit 206 according to the third embodiment includes a cross product calculation unit 500, which is an evaluation value calculation unit, and an evaluation value control unit 507. The evaluation value control unit 507 includes a dead zone 505 and a PID control unit 506.

[0201] The cross product calculation unit 500 includes pseudo differentiators 502A and 502B, multipliers 503A and 503B, and a subtractor 504. Note that the symbol s shown in Fig. 23 represents a Laplace operator. For the rotation amount adjustment unit 206, a differentiator without a low-pass filter (LPF: Low Pass Filter) may be used instead of the pseudo differentiators 502A and 502B, but Fig. 23 describes a case where pseudo differentiators 502A and 502B provided with a low-pass filter for removing differentiation noise are used.

[0202] The deviation e from the subtractor 201A is input to the cross product calculation unit 500. cos is input, and the deviation e is output from the subtractor 201B. sin The cross product calculation unit 500 calculates the evaluation value C d The cross product calculation unit 500 calculates the deviation e cos is input to the pseudo differentiator 502A and the multiplier 503B, and the deviation e sin is input to pseudo differentiator 502B and multiplier 503A.

[0203] The pseudo differentiator 502A calculates the deviation e cos By differentiating with respect to time t and passing it through a low-pass filter, (d / dt)e cos and outputs it to multiplier 503A. sin and (d / dt)e cos and outputs the multiplication result to the subtractor 504.

[0204] The pseudo differentiator 502B calculates the deviation e sin By differentiating with respect to time t and passing it through a low-pass filter, (d / dt)e sin The multiplier 503B calculates and outputs the result to the multiplier 503B. cos and (d / dt)e sin and outputs the multiplication result to the subtractor 504.

[0205] The subtractor 504 subtracts the multiplication result output from the multiplier 503B from the multiplication result output from the multiplier 503A to obtain an evaluation value C d The subtractor 504 calculates C d is output to the dead zone 505.

[0206] The dead zone 505 is the rotation amount θ after the beatless control has converged to the final value. R Stop the adjustment of the rotation amount θ R Since it is undesirable in terms of the stability of beatless control to adjust the rotation amount θ more than necessary, the rotation amount adjustment unit 206 of the third embodiment adjusts the rotation amount θ by the dead band 505 after the beatless control has converged to a specific value (final value) desired by the user. R The rotation amount adjustment unit 206 stops adjusting the rotation amount θ R As a mechanism for stopping the adjustment, a circuit other than the dead zone 505 may be used.

[0207] The PID control unit 506 executes PID control on the signal output from the dead zone 505, and calculates the rotation amount θ R to the rotation calculation unit 202. The PID control unit 506 outputs the evaluation value C dPID control is performed using the signal output from the dead zone 505 so that the rotation amount θ R The adjustment of the rotation amount θ may be performed using any circuit. R The adjustment of the rotation amount θ may be performed, for example, by a PI control unit that performs PI control. If better control results can be expected, a different type of control unit or AI may be used to adjust the rotation amount θ R may be adjusted.

[0208] The rotation amount adjustment unit 206 adjusts the rotation amount θ R By changing the value, the beatless control operation is optimized, and the evaluation value C d The evaluation value C decreases. d When decreases to a certain value, the rotation amount θ R At this time, the change in the rotation amount θ R Since is an appropriate value, the deviation vector E will eventually converge to zero.

[0209] The reason why the third embodiment aims to minimize the ripple of the norm or weighted norm is that minimization is the best state that can be achieved in the voltage saturation region of the inverter voltage (inverter overmodulation region). DC When the voltage pulsates, pulsation occurs in both the d-axis and q-axis currents. To simultaneously suppress both the d-axis and q-axis current pulsations, both the amplitude and phase of the voltage must be manipulated. This is self-evident from the perspective of the degree of freedom of control. In a state where only the voltage phase can be controlled, such as in the case of inverter overmodulation, the pulsation suppression device 200 can control only one parameter. Therefore, under such circumstances, the pulsation suppression device 200 aims to minimize the pulsation of the norm or weighted norm by controlling the voltage phase.

[0210] In this way, the pulsation suppression device 200 minimizes the pulsation of an arbitrary norm or weighted norm by appropriately manipulating the phase of the voltage. However, the optimal voltage phase manipulation amount θ bchanges in a complex manner depending on the complexity of the control plant in which the electromechanical system 100 is placed, the influence of the motor power factor, the influence of the power supply inductance 6, etc. In other words, when the plant characteristics of the electromechanical system 100 are complex or when the plant characteristics fluctuate significantly, the manipulated variable θ of the voltage phase to minimize the pulsation is b changes in a complex manner.

[0211] Conventional pulsation suppression devices cannot accommodate such complex plant characteristics, and therefore cannot appropriately control pulsation suppression depending on the operating conditions. The pulsation suppression device 200 of the third embodiment is equipped with the rotation amount adjustment unit 206, and therefore can reliably suppress pulsation such as beat vibration under various conditions.

[0212] The effect obtained by pulsation suppression control varies depending on the norm of the pulsation component suppressed by the pulsation suppression device 200. By suppressing the pulsation component desired by the user, the pulsation suppression device 200 can prevent, for example, a deterioration in motor efficiency due to an increase in the current peak value, a decrease in the maximum output of the motor 102 due to restrictions on overcurrent protection, and an increase in vibration or noise of the motor 102.

[0213] Next, the operation of the motor control device 300 and the pulsation suppression device 200 will be described. Fig. 24 is a flowchart showing the procedure of the control process executed by the motor control device and the pulsation suppression device according to the third embodiment. Here, the case where the modulation unit 13 and the rotor position calculation unit 14 are arranged in the pulsation suppression device 200 will be described.

[0214] The motor control device 300 detects the phase current (phase current vector I) flowing through the motor 102 detected by the current detection unit 12. uvw ) from the current detection unit 12 (step S10). Next, the pulsation suppression device 200 acquires the DC bus voltage V DC is acquired from the DC bus voltage detection unit 10 (step S20).

[0215] Thereafter, the coordinate conversion unit 17 performs a coordinate conversion calculation of the current (step S30). That is, the coordinate conversion unit 17 converts the phase current vector I uvw The estimated magnetic pole position θ^ e Using the dq axis current vector I dq Transform the coordinates to

[0216] The rotor position calculation unit 14 calculates the rotor position (step S40). As a result, the rotor position calculation unit 14 acquires position information and rotor speed information of the rotor of the motor 102. Specifically, the rotor position calculation unit 14 calculates the rotor position by calculating the three-phase voltage command vector V * uvw and the phase current vector I uvw From this, the estimated magnetic pole position θ^, which is the rotor position information, is e and the estimated angular velocity ω^, which is the rotor speed information. e It is estimated that:

[0217] The voltage command determination unit 15 calculates a voltage command for rotating the motor 102 at a desired speed and torque (step S50). Specifically, the voltage command determination unit 15 calculates a voltage command for rotating the motor 102 at a desired speed and torque (step S50). Specifically, the voltage command determination unit 15 calculates a speed command ω * e and the estimated angular velocity ω^ e The dq-axis current vector I dq to the dq-axis voltage command vector V * dq Calculate the following.

[0218] The pulsation suppression device 200 executes beatless control calculation (step S60). As a result, the pulsation suppression device 200 calculates the manipulated variable θ b Specifically, the pulsation suppression device 200 determines the dq-axis current vector I dq The disturbance frequency f included in dis The voltage phase control amount θ is used to reduce the extracted component. b Determine.

[0219] The coordinate conversion unit 16 converts the voltage command into a value on the three-phase coordinate system (step S70). Specifically, the coordinate conversion unit 16 converts the voltage phase manipulated variable θ b and estimated magnetic pole position θ^ e The phase angle θ^ is the sum of eb Using the dq-axis voltage command vector V * dq is the three-phase voltage command vector V * uvw Convert to.

[0220] The modulation unit 13 performs a modulation calculation (step S80). Specifically, the modulation unit 13 modulates the DC bus voltage V DC and three-phase voltage command vector V * uvw The modulation unit 13 determines a PWM signal based on the voltage phase. The modulation unit 13 provides the PWM signal to the inverter 11. This causes the inverter 11 to drive the motor 102. In this way, the manipulated variable θ b By driving the motor 102 using this, beat vibration of the current can be effectively suppressed even if the operating conditions change significantly.

[0221] Next, the operation of the pulsation suppression device 200 will be described. Fig. 25 is a flowchart showing the procedure of beatless control processing executed by the pulsation suppression device according to the third embodiment. Note that, among the processing shown in Fig. 25, processing that is the same as the processing described in Fig. 10 is assigned the same step number.

[0222] In the pulsation suppression device 200, the weighting coefficient setting unit 402 sets the pre-stored weighting coefficients w1 and w2 in the norm calculation unit 401 (step S110). The norm calculation unit 401 executes a norm calculation (step S120). That is, the norm calculation unit 401 calculates the dq-axis current vector I dq Compute the norm or weighted norm of .

[0223] The pulsation extraction unit 205 executes a pulsation extraction calculation of the norm or weighted norm calculated by the norm calculation unit 401 (step S130). That is, the pulsation extraction unit 205 extracts the disturbance frequency f discomponents and disturbance frequency f dis Based on the harmonic components that are integer multiples of , the pulsating components contained in the norm or weighted norm are extracted.

[0224] In the pulsation extraction unit 205, a phase angle calculation unit 403, a cosine signal generation unit 404, a sinus signal generation unit 405, a cosine component extraction unit 406, and a sinus component extraction unit 407 extract the pulsation component. The pulsation extraction unit 205 extracts the cosine component of the norm pulsation as y cos to the subtractor 201A, and the sin component of the norm pulsation is calculated as y sin to the subtractor 201B.

[0225] The subtractor 201A subtracts the deviation e of the cos component cos The subtractor 201B calculates the deviation e of the sine component. sin (Step S210). The rotation amount adjustment unit 206 calculates the deviation e cos and deviation e sin Based on this, the rotation amount θ R (Step S220). The rotation amount adjuster 206 adjusts the adjusted rotation amount θ R is set in the rotation calculation unit 202.

[0226] The rotation calculation unit 202 calculates the rotation amount θ R (Step S230). Rcos and e Rsin The integral control sections 203A and 203B execute integral control calculations (step S240). As a result, the integral control sections 203A and 203B calculate x cos and x sin Determine.

[0227] The AC restoration unit 204 performs AC restoration calculation (step S250). Specifically, the AC restoration unit 204 applies x to the equations (1), (2), and (11). cos , x sin , and f dis By applying this, the voltage phase control amount θ b Calculate (output signal x).

[0228] In the AC restoration unit 204, a phase angle calculation unit 403, a cosine signal generation unit 404, a sinusoidal signal generation unit 405, multipliers 408 and 409, and an adder 410 calculate a voltage phase manipulated variable θ b Calculate the following.

[0229] Next, a description will be given of the operation of the rotation amount adjustment unit 206. Fig. 26 is a flowchart showing the procedure of the rotation amount adjustment process executed by the rotation amount adjustment unit according to the third embodiment.

[0230] The cross product calculation unit 500 calculates C, which is an evaluation value for determining whether beatless control is being performed appropriately. d That is, the cross product calculation unit 500 calculates the deviation e of the cosine component calculated by the subtractor 201A. cos and the deviation e calculated by the subtractor 201B. sin Based on this, the evaluation value C d Calculate the following.

[0231] The dead zone 505 of the rotation amount adjustment unit 206 executes dead zone processing (step S330). The PID control unit 506 of the rotation amount adjustment unit 206 performs PID control calculation (step S340) to obtain the evaluation value C d Rotation amount θ so that is zero R Adjust.

[0232] As described above, according to the third embodiment, the rotation amount adjusting unit 206 of the pulsation suppressing device 200 adjusts the rotation amount θ R is in an inappropriate state, the inappropriate state is automatically detected and the rotation amount θ R Therefore, the DC bus voltage V DC This effectively suppresses beat vibrations caused by pulsation.

[0233] Furthermore, by suppressing beat vibration, the pulsation suppression device 200 can prevent a deterioration in motor efficiency due to an increase in current peak value, a decrease in maximum output of the motor 102 due to restrictions on overcurrent protection, and an increase in vibration or noise of the motor 102.

[0234] Embodiment 4 Next, a fourth embodiment will be described with reference to Fig. 27. In the fourth embodiment, the pulsation suppressing devices are arranged in parallel, thereby suppressing the disturbance frequency f dis components and disturbance frequency f dis The pulsation is suppressed based on the harmonic components that are integer multiples of the above.

[0235] Fig. 27 is a diagram showing the configuration of a motor control device according to embodiment 4. Of the components in Fig. 27, those that achieve the same functions as those in motor control device 300 according to embodiment 3 shown in Fig. 14 are assigned the same reference numerals, and duplicated explanations will be omitted.

[0236] The motor control device 300A is used by being connected to a pulsation suppression system 20 that suppresses mechanical pulsation or electrical pulsation of the electromechanical system 100. The pulsation suppression system 20 has pulsation suppression devices 200X and 200Y. Thus, the motor control device 300A is used by being connected to the pulsation suppression devices 200X and 200Y. Note that calculations for the motor control device 300 and the pulsation suppression devices 200X and 200Y may be performed by a single computer. In the fourth embodiment, as in the third embodiment, beatless control will be described as an example of pulsation suppression control.

[0237] In the fourth embodiment, a pulsation suppression device 200X, which is a first pulsation suppression device, and a pulsation suppression device 200Y, which is a second pulsation suppression device, are connected in parallel. Similar to the pulsation suppression device 200 described in the first embodiment and the like, the pulsation suppression devices 200X and 200Y are devices that suppress pulsation of the electromechanical system 100 based on an input signal y output from the electromechanical system 100.

[0238] The pulsation extraction unit 205 of the pulsation suppression device 200X is a first pulsation extraction unit, and the pulsation extraction unit 205 of the pulsation suppression device 200Y is a second pulsation extraction unit. The periodic pulsation extracted by the first pulsation extraction unit is a first periodic pulsation, and the first pulsation extraction unit separates and extracts the first periodic pulsation into a first cosine component and a first sine component. The periodic pulsation extracted by the second pulsation extraction unit is a second periodic pulsation, and the second pulsation extraction unit separates and extracts the second periodic pulsation into a second cosine component and a second sine component.

[0239] The rotation amount adjustment unit 206 of the pulsation suppression device 200X is a first rotation amount adjustment unit, and the rotation amount adjustment unit 206 of the pulsation suppression device 200Y is a second rotation amount adjustment unit. The first rotation amount adjustment unit determines a first rotation amount when performing a rotation calculation on the first cosine component and the first sine component, and the second rotation amount adjustment unit determines a second rotation amount when performing a rotation calculation on the second cosine component and the second sine component.

[0240] The rotation calculation unit 202 of the pulsation suppression device 200X is a first rotation calculation unit, and the rotation calculation unit 202 of the pulsation suppression device 200Y is a second rotation calculation unit. The first rotation calculation unit performs a rotation calculation on the first cosine component and the first sine component by a first rotation amount, and the second rotation calculation unit performs a rotation calculation on the second cosine component and the second sine component by a second rotation amount.

[0241] The integral control unit 203A of the pulsation suppression device 200X is the first integral control unit, and the integral control unit 203B is the second integral control unit. The integral control unit 203A of the pulsation suppression device 200Y is the third integral control unit, and the integral control unit 203B is the fourth integral control unit. The first integral control unit integrates the first cosine component that has been rotated, and the second integral control unit integrates the first sine component that has been rotated. The third integral control unit integrates the third cosine component that has been rotated, and the fourth integral control unit integrates the fourth sine component that has been rotated.

[0242] The AC restoration unit 204 of the pulsation suppression device 200X is a first AC restoration unit, and the AC restoration unit 204 of the pulsation suppression device 200Y is a second AC restoration unit. The first AC restoration unit restores the integrated first cosine component and the integrated first sine component to AC signals and outputs them, and the second AC restoration unit restores the integrated second cosine component and the integrated second sine component to AC signals and outputs them.

[0243] Similar to the motor control device 300, the motor control device 300A has a voltage command determination unit 15, coordinate conversion units 16 and 17, and an adder 19. In the motor control device 300A, the voltage command determination unit 15 is connected to the pulsation suppression devices 200X and 200Y. Also, in the motor control device 300A, the adder 19 is connected to the pulsation suppression devices 200X and 200Y.

[0244] Generally DC bus voltage V DC Since the pulsation of the norm or weighted norm of the dq-axis current includes harmonic components, the dq-axis current of the motor 102 is affected by the harmonic components. In the fourth embodiment, a control system that simultaneously suppresses the fundamental component and harmonic components to reduce the pulsation of the norm or weighted norm of the dq-axis current is constructed by the motor control device 300A and the pulsation suppression devices 200X and 200Y.

[0245] The pulsation suppression device 200X suppresses the disturbance frequency f dis The pulsation suppression device 200Y suppresses the pulsation (first periodic pulsation) based on the fundamental wave component, which is the component of the disturbance frequency f dis That is, the pulsation suppression device 200X, which is the first pulsation suppression device, suppresses the pulsation (second periodic pulsation) based on the harmonic component that is an integer multiple of f dis The pulsation suppressing device 200Y, which is the second pulsation suppressing device, suppresses f dis The pulsation suppression devices 200X and 200Y suppress harmonic components of a disturbance frequency f disThe pulsation suppressor 200X and the pulsation suppressor 200Y perform the same processing except for the target disturbance frequency. dis The disturbance frequency N times Nf dis is shown.

[0246] The pulsation suppression device 200X is configured to suppress the disturbance frequency f dis and the dq-axis current vector I of the motor 102. dq from the coordinate conversion unit 17. The pulsation suppression device 200Y also receives the disturbance frequency Nf input by the user. dis and the dq-axis current vector I of the motor 102. dq is received from the coordinate conversion unit 17.

[0247] The pulsation suppression device 200X suppresses the disturbance frequency f dis Based on the dq axis current vector I dq The disturbance frequency f included in dis The pulsation suppression device 200Y extracts the cosine and sinus components of the disturbance frequency Nf dis Based on the dq axis current vector I dq Disturbance frequency Nf included in dis The cosN component, which is the cosine component of the above equation, and the sinN component, which is the sine component of the above equation, are extracted.

[0248] The pulsation suppression device 200X suppresses the disturbance frequency f dis The rotation calculation unit 202 performs rotation calculation for the cosine and sin components of the voltage phase, and the integral calculation unit 203A and 203B perform integral calculations for the voltage phase. The AC restoration unit 204 performs integral calculations based on the results of the integral calculations. b Calculations are performed.

[0249] In addition, the pulsation suppression device 200Y is configured to suppress the disturbance frequency Nf dis The rotation calculation unit 202 performs rotation calculation for the cos N component and the sin N component of the voltage phase, and the integral calculation unit 203A and 203B perform integral calculation for the voltage phase. The AC restoration unit 204 performs integral calculation for the voltage phase.b2 The operation amount θ output by the pulsation suppression device 200Y is calculated. b2 can be expressed as the following equation (12).

[0250]

number

[0251] However, x in equation (12) cosN and x sinN are the cosN and sinN components of the beatless control output signal x. In the fourth embodiment, the fundamental and harmonic control systems are parallelized, but if it is desired to simultaneously suppress harmonic components of multiple orders, parallelization can be performed in a similar manner.

[0252] As described above, according to the fourth embodiment, a plurality of pulsation suppressing devices such as the pulsation suppressing devices 200X and 200Y are used, so that the DC bus voltage V DC Even if the pulsation contains large harmonic components, beat vibration can be effectively suppressed.

[0253] Furthermore, by suppressing beat vibration, the pulsation suppression devices 200X and 200Y can prevent a deterioration in motor efficiency due to an increase in current peak value, a decrease in maximum output of the motor 102 due to restrictions on overcurrent protection, and an increase in vibration or noise of the motor 102.

[0254] Embodiment 5. Next, a fifth embodiment will be described with reference to Fig. 28. In the fifth embodiment, in order to improve the response of pulsation suppression, the rotation amount θ R Adjust.

[0255] Fig. 28 is a diagram showing the configuration of a pulsation suppression device according to embodiment 5. Among the components in Fig. 28, components that achieve the same functions as those in the pulsation suppression device 200 according to embodiment 1 shown in Fig. 1 are assigned the same reference numerals, and duplicated explanations will be omitted.

[0256] Compared to the pulsation suppression device 200 of the first embodiment, the pulsation suppression device 200B of the fifth embodiment includes a rotation amount adjustment unit 206B instead of the rotation amount adjustment unit 206. Similarly to the pulsation suppression device 200, the pulsation suppression device 200B also includes subtractors 201A and 201B, a rotation calculation unit 202, integral control units 203A and 203B, an AC restoration unit 204, and a pulsation extraction unit 205.

[0257] The pulsation suppressing devices 200, 200A, 200X, and 200Y described in the first to fourth embodiments adjust the rotation amount θ based on the increase or decrease of the deviation vector E. R Therefore, depending on the operating conditions, the rotation amount θ R In some cases, it may take a long time to adjust the rotation amount θ . Generally, feedforward control has a faster response than feedback control. For this reason, in the fifth embodiment, a pulsation suppression device 200B that combines the pulsation suppression device 200 with feedforward control is used to adjust the rotation amount θ . R To complete adjustments in a short time.

[0258] The rotation amount adjustment unit 206B adjusts the rotation amount θ based on the additional information. R In the fifth embodiment, beatless control will be described as an example of control for suppressing pulsation, as in the third and fourth embodiments. The rotation amount adjusting unit 206B adjusts the rotation amount θ based on additional information including at least one of the following information: the characteristics of the controlled plant, the power factor (motor power factor) of the motor 102, the estimated value of the power inductance 6 of the AC power supply 5, and the installation status of surrounding electrical devices. R Adjust.

[0259] When the power supply inductance 6 increases, the LC (electro-conductive) resonance frequency decreases, which adversely affects beatless control. R By adjusting DC This can suppress pulsation.

[0260] Furthermore, the rotation amount adjusting unit 206B adjusts the rotation amount θ based on the characteristics of the controlled plant. RThe rotation amount adjusting unit 206B adjusts the rotation amount θ based on the power factor of the motor 102. R Since the rotation amount adjuster 206B adjusts the rotation amount θ based on the installation status of the surrounding electrical devices, the pulsation can be reduced as intended under various operating conditions. R Since the value of the pulsation is adjusted, it is possible to reduce the pulsation as intended under various operating conditions.

[0261] The additional information may be information other than the above-mentioned information as long as it is useful for beatless control. The additional information may be sent to the pulsation suppression device 200B from a calculation device (not shown) arranged outside the pulsation suppression device 200B, or may be calculated inside the pulsation suppression device 200B. The pulsation suppression device 200B calculates the rotation amount θ in a feedforward manner based on the additional information. R By adjusting the value, it is possible to suppress the periodic pulsation in a short time.

[0262] As described above, according to the fifth embodiment, the pulsation suppressing device 200B calculates the rotation amount θ based on the additional information. R Therefore, the periodic disturbance d can be controlled even for the electromechanical system 100 having complex plant characteristics and the electromechanical system 100 having large fluctuations in plant characteristics. c Therefore, the pulsation suppressing device 200B can obtain good operating characteristics even when the electromechanical system 100 has complex plant characteristics or when the characteristics fluctuate significantly.

[0263] Furthermore, the pulsation suppression device 200B can accurately reduce pulsation, thereby achieving reduced vibration, reduced noise, improved energy-saving performance, and increased maximum output of the system.

[0264] Embodiment 6 Next, a sixth embodiment will be described with reference to Figures 29 to 32. In the third to fifth embodiments, the cases where the pulsation suppression devices 200, 200X, 200Y, and 200B are applied to beatless control have been described, but in the sixth embodiment, the pulsation suppression device 200 suppresses other types of pulsation. In the sixth embodiment, an application example where the pulsation suppression device 200 is applied to a control other than beatless control will be described.

[0265] Fig. 29 is a diagram for explaining a first application example of a pulsation suppression device according to embodiment 6. Of the components in Fig. 29, those that achieve the same functions as those in motor control device 300 according to embodiment 3 shown in Fig. 14 are assigned the same reference numerals, and duplicated explanations will be omitted.

[0266] 29 illustrates the pulsation suppressing device 200 and a motor control device 300B according to a first example of Embodiment 6. The motor control device 300B is a motor control device in which the speed pulsation of the motor 102 is suppressed by the pulsation suppressing device 200.

[0267] The pulsation suppression device 200 shown in FIG. 29 receives the estimated angular velocity ω^ of the motor 102 from the rotor position calculation unit 14. e The pulsation suppression device 200 in FIG. 29 receives the estimated angular velocity ω^ e Based on this, the dq-axis voltage pulsation command V ** dq Calculates the dq-axis voltage pulsation command V ** dq is output to the motor control device 300B. The dq-axis voltage pulsation command V ** dq are commands for the dq-axis voltages to suppress the speed pulsation of the motor 102.

[0268] 29 uses the rotation amount adjusting unit 206 to adjust the dq-axis voltage pulsation command V ** dq In this way, the pulsation suppression device 200 of FIG. 29 calculates the estimated angular velocity ω^ of the motor 102. e is used as the input, and the dq-axis voltage pulsation command V **dq is the output.

[0269] Similar to the motor control device 300 of the first embodiment, the motor control device 300B of the sixth embodiment includes a voltage command determination unit 15, coordinate conversion units 16 and 17, and an adder 19. In the motor control device 300B, the estimated magnetic pole position θ̂ e are input to coordinate conversion units 16 and 17. An adder 19 is connected to the voltage command determination unit 15, the coordinate conversion unit 16, and the pulsation suppression device 200.

[0270] The adder 19 calculates the dq-axis voltage pulsation command V ** dq and the dq-axis voltage command vector V output from the voltage command determination unit 15. * dq and the dq-axis voltage command V *** dq to the coordinate transformation unit 16. The coordinate transformation unit 16 outputs the estimated magnetic pole position θ^ e Using the dq-axis voltage command V *** dq The three-phase voltage command vector V on the three-phase coordinate system * uvw The coordinate conversion unit 16 converts the three-phase voltage command vector V * uvw is output to the modulation unit 13.

[0271] As a result, the inverter 11 generates a three-phase voltage command vector V * uvw and drives the motor 102. As a result, the pulsation suppression device 200 can suppress the speed pulsation of the rotation speed of the motor 102. Note that here, the pulsation suppression device 200 and the motor control device 300B operate based on the dq-axis voltage command (dq-axis voltage command vector V * dq ), the pulsation suppression device 200 and the motor control device 300B may also perform compensation for the dq-axis current command (dq-axis current command vector).

[0272] In position sensorless control based on speed electromotive force, the estimated angular velocity ω^ is used due to the responsiveness of the estimation system. e and the true angular velocity ω e This phase difference may make it difficult to suppress the speed pulsation. In the sixth embodiment, however, the pulsation suppression device 200 uses the rotation amount adjustment unit 206 to adjust the dq-axis voltage pulsation command V ** dq The motor control device 300 calculates the dq-axis voltage pulsation command V ** dq Since the electromechanical system 100 is controlled using the above, the speed pulsation can be suppressed appropriately.

[0273] Fig. 30 is a diagram for explaining a second application example of the pulsation suppression device according to the sixth embodiment. Of the components in Fig. 30, those that achieve the same functions as those of the motor control device 300B shown in Fig. 29 are given the same reference numerals, and duplicated explanations will be omitted.

[0274] 30 illustrates the pulsation suppressing device 200 and a motor control device 300C according to a second example of the sixth embodiment. The motor control device 300C is a motor control device in which the pulsation suppressing device 200 suppresses current pulsation of the motor 102.

[0275] The pulsation suppression device 200 in FIG. 30 converts the dq-axis current vector I dq The pulsation suppressing device 200 in FIG. 30 receives the dq-axis current vector I dq Based on this, the dq-axis voltage pulsation command V ** dq Calculates the dq-axis voltage pulsation command V ** dq is output to the motor control device 300C.

[0276] 30, similarly to the pulsation suppressing device 200 of the third embodiment, the dq-axis voltage pulsation command V ** dq In this way, the pulsation suppression device 200 of FIG. 30 calculates the dq-axis current vector Idq is used as the input, and the dq-axis voltage pulsation command V ** dq is the output.

[0277] In the third to fifth embodiments, the inverter overmodulation region, which is the voltage saturation region of the inverter voltage, is assumed, and therefore the voltage phase is manipulated. However, since the pulsation suppression device 200 and the motor control device 300C can manipulate both the d-axis voltage and the q-axis voltage in the linear region of the inverter 11, the d-axis voltage and the q-axis voltage may be manipulated. In this case, the pulsation suppression device 200 and the motor control device 300C may suppress the pulsation of either the d-axis or q-axis current, or the pulsation suppression devices 200 may be connected in parallel to suppress both pulsations. In this way, the pulsation suppression device 200 may suppress current pulsation in the linear region of the inverter 11.

[0278] Fig. 31 is a diagram for explaining a third application example of the pulsation suppression device according to the sixth embodiment. Of the components in Fig. 31, those that achieve the same functions as those of the motor control device 300C shown in Fig. 30 are given the same reference numerals, and duplicated explanations will be omitted.

[0279] 31 illustrates the pulsation suppression device 200 and a motor control device 300D according to a third example of Embodiment 6. The motor control device 300D is a motor control device in which the pulsation suppression device 200 suppresses the pulsation component contained in the acceleration information.

[0280] The pulsation suppressing device 200 shown in FIG. 31 detects the acceleration a of the motor 102 from the acceleration sensor 1. m The pulsation suppressing device 200 of FIG. m Based on this, the dq-axis voltage pulsation command V ** dq Calculates the dq-axis voltage pulsation command V ** dq is output to the motor control device 300D.

[0281] 31, similarly to the pulsation suppressing device 200 of the third embodiment, the dq-axis voltage pulsation command V** dq In this way, the pulsation suppressing device 200 of FIG. m is used as the input, and the dq-axis voltage pulsation command V ** dq is the output.

[0282] Fig. 32 is a diagram for explaining a fourth application example of the pulsation suppression device according to the sixth embodiment. Of the components in Fig. 32, those that achieve the same functions as those in the motor control device 300B shown in Fig. 29 are given the same reference numerals, and duplicated explanations will be omitted.

[0283] FIG. 32 illustrates the pulsation suppression device 200 and a motor control device 300D according to a fourth example of the sixth embodiment. The motor control device 300D is a motor control device in which the pulsation component included in the force information is suppressed by the pulsation suppression device 200. The force information is a force F m This is the information of the force F m is, for example, the force acting on the refrigerant pipe connected to the compressor 3, the force acting on the floor on which the compressor 3 is placed, and the like.

[0284] The pulsation suppressing device 200 shown in FIG. 32 detects the force F applied to the motor 102 from the force sensor 2. m The pulsation suppressing device 200 of FIG. m Based on this, the dq-axis voltage pulsation command V ** dq Calculates the dq-axis voltage pulsation command V ** dq is output to the motor control device 300D.

[0285] 32, similarly to the pulsation suppressing device 200 of the third embodiment, the dq-axis voltage pulsation command V ** dq In this way, the pulsation suppressing device 200 of FIG. m is used as the input, and the dq-axis voltage pulsation command V ** dq is the output.

[0286] 30 to 32, the pulsation suppression device 200 and the motor control devices 300C, 300D also perform compensation for the dq-axis voltage commands, but the pulsation suppression device 200 and the motor control devices 300C, 300D may also perform compensation for the dq-axis current commands.

[0287] The pulsation suppression device 200 shown in Fig. 31 and Fig. 32 uses an acceleration sensor 1 or a force sensor 2 attached to the mechanical device 103 to suppress stress or vibration acting on components inside the mechanical device 103. It is complicated to check the frequency characteristics of the plant from the motor 102 to the acceleration sensor 1 or the force sensor 2, but the pulsation suppression device 200 uses a rotation amount adjustment unit 206 to adjust the dq-axis voltage pulsation command V ** dq Therefore, the periodic disturbance d can be calculated without complicated pre-adjustment. c Therefore, the pulsation caused by the above can be reduced appropriately.

[0288] Thus, according to embodiment 6, the pulsation suppression device 200 calculates the output signal x using the rotation amount adjustment unit 206, so that even if the frequency characteristics and input / output characteristics of the plant cannot be accurately grasped, pulsation can be reduced and good operating characteristics can be obtained.

[0289] The configurations shown in the above embodiments are merely examples, and may be combined with other known technologies, or different embodiments may be combined with each other. It is also possible to omit or modify parts of the configurations as long as they do not deviate from the gist of the invention. [Explanation of symbols]

[0290] 1 acceleration sensor, 2 force sensor, 3 compressor, 5 AC power supply, 6 power supply inductance, 7 diode rectifier, 8 DC reactor, 9 capacitor, 10 DC bus voltage detection unit, 11 inverter, 12 current detection unit, 13 modulation unit, 14 rotor position calculation unit, 15 voltage command determination unit, 16, 17 coordinate conversion unit, 19, 410 adder, 20 pulsation suppression system, 91 processor, 92 memory, 93 peripheral equipment, 100 electromechanical system, 101 power supply circuit, 102 motor, 103 mechanical device, 200, 200A, 200B, 200X, 200Y pulsation suppression device, 201A, 201B, 504 subtractor, 202 rotation calculation unit, 203A, 203B integral control unit, 204 AC restoration unit, 205 Pulsation extraction unit, 206, 206B rotation amount adjustment unit, 207 extracted rotation calculation unit, 300, 300A to 300D motor control device, 401 norm calculation unit, 402 weighting coefficient setting unit, 403 phase angle calculation unit, 404 cos signal generation unit, 405 sin signal generation unit, 406 cos component extraction unit, 407 sin component extraction unit, 408, 409, 503A, 503B multiplier, 500 cross product calculation unit, 502A, 502B pseudo differentiator, 505 dead band, 506 PID control unit, 507 evaluation value control unit, C d Evaluation value, E,ER deviation vector, Et,ERt deviation vector locus, Ita,Itb current locus, Pc phase change amount, VD disturbance voltage, Vt voltage locus.

Claims

1. A pulsation suppression device for suppressing mechanical or electrical pulsations in an electromechanical system having a power supply circuit, a motor, and mechanical devices, A pulsation extraction unit that separates and extracts the periodic pulsations of periodic disturbances occurring in the electromechanical system into cosine and sine components, A rotation amount adjustment unit that determines the amount of rotation when performing rotation calculations on the cosine and sine components of the periodic pulsation, A rotation calculation unit that performs rotation calculations on the cosine component and the sine component using the rotation amount, A first integral control unit that integrates the rotated cosine component, A second integral control unit that integrates the rotated sine component, An AC restoration unit that restores the integrated cosine component and the integrated sine component to an AC signal and outputs it based on the frequency of the periodic disturbance, Equipped with, The rotation amount adjustment unit is, We investigated the behavior of the temporal change in the absolute value of the aforementioned periodic pulsation. The rotation amount is adjusted based on the temporal changes observed in the aforementioned behavior. A pulsation suppression device characterized by the following features.

2. The rotation amount adjustment unit is, An evaluation value calculation unit that quantitatively evaluates the temporal change in the absolute value of the periodic pulsation and calculates an evaluation value, An evaluation value control unit that adjusts the amount of rotation so that the evaluation value becomes a specific value, It has, The pulsation suppression device according to feature 1.

3. The rotation amount adjustment unit adjusts the rotation amount using artificial intelligence. A pulsation suppression device according to claim 1 or 2.

4. The rotation amount adjustment unit is, The amount of rotation is adjusted based on additional information including at least one of the following: the plant characteristics of the electromechanical system, the power factor of the motor, an estimated value of the power supply inductance of the power supply circuit, and the installation conditions of surrounding electrical equipment. A pulsation suppression device according to claim 1 or 2.

5. A pulsation suppression system for suppressing mechanical or electrical pulsations in an electromechanical system having a power supply circuit, a motor, and mechanical devices, The pulsation suppression system is as follows: A first pulsation suppression device for suppressing the mechanical or electrical pulsations of the electromechanical system, A second pulsation suppression device for suppressing the mechanical or electrical pulsations of the electromechanical system, It has, The first pulsation suppression device is A first pulsation extraction unit extracts a first periodic pulsation of a periodic disturbance occurring in the electromechanical system by separating it into a first cosine component and a first sine component. A first rotation amount adjustment unit that determines the first rotation amount when performing rotation calculations on the first cosine component and the first sine component of the first periodic pulsation, A first rotation calculation unit that performs rotation calculations on the first cosine component and the first sine component with a first amount of rotation, A first integral control unit that integrates the first cosine component that has been rotated, A second integral control unit that integrates the first sine component that has been rotated, A first AC restoration unit that restores the integrated first cosine component and the integrated first sine component to an AC signal based on the frequency of the periodic disturbance and outputs it, Equipped with, The first rotation amount adjustment unit is, The behavior of the temporal change in the absolute value of the first periodic pulsation was investigated. Based on the temporal changes observed in the aforementioned behavior, the first rotation amount is adjusted. The second pulsation suppression device is A second pulsation extraction unit extracts a second periodic pulsation of a periodic disturbance occurring in the electromechanical system by separating it into a second cosine component and a second sine component. A second rotation amount adjustment unit that determines the second rotation amount when performing rotation calculations on the second cosine component and the second sine component of the second periodic pulsation, A second rotation calculation unit that performs rotation calculations on the second cosine component and the second sine component with the second amount of rotation, A third integral control unit that integrates the second cosine component that has been rotated, A fourth integral control unit that integrates the second sine component that has been rotated, A second AC restoration unit that restores the integrated second cosine component and the integrated second sine component to an AC signal based on the frequency of the periodic disturbance and outputs it, Equipped with, The above-mentioned second rotation amount adjustment unit is, The behavior of the temporal change in the absolute value of the second periodic pulsation was investigated. Based on the temporal changes observed in the aforementioned behavior, the second amount of rotation is adjusted. The first pulsation suppression device and the second pulsation suppression device simultaneously reduce the first periodic pulsation and the second periodic pulsation. A pulsation suppression system characterized by the following features.

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