Motor control device and motor control system

Abstract

This motor control device for controlling a multiple winding magnet motor driven by an inverter comprising a master inverter and one or more slave inverters includes a gain multiplication unit for adjusting the magnitude of a voltage command value of the slave inverter on the basis of current voltage information that is information indicating an operation state of the master inverter. Thus, stable operation can be realized without falling into an overcurrent.

Description

Motor control device and motor control system

[0001] The present invention relates to a motor control device and a motor control system.

[0002] Known prior art related to motor (electric motor) control is, for example, that described in Patent Document 1. Patent Document 1 discloses a position sensorless control technique for driving a magnet motor employing a multiple winding structure, in which currents from two inverters, a master inverter and a slave inverter, are detected, and the voltage command values ​​and current detection values ​​of each inverter are used to average the average values ​​of a phase error (extended induced voltage phase angle) Δφe1 calculated inside the master inverter and a phase error Δφe2 calculated inside the slave inverter, thereby driving the motor sensorlessly.

[0003] JP 2011-254681 Public Relations

[0004] However, the above-mentioned conventional technology is based on the premise that current detection is performed in the master inverter and the slave inverter. Therefore, in a system in which current is detected only in the master inverter, it is not possible to calculate the phase error Δφe2 on the slave inverter side. In other words, if there is an error in the impedance including the electrical wiring of the master inverter and the slave inverter, the winding currents will become unbalanced, and there is a risk of an overcurrent in the slave inverter, which does not perform current detection.

[0005] The present invention has been made in view of the above, and has an object to provide a motor control device and a motor control system that can achieve more stable operation without falling into an overcurrent.

[0006] The present application includes multiple means for solving the above-mentioned problems, and one example is a motor control device that controls a multiple-winding magnet motor driven by an inverter consisting of a master inverter and one or more slave inverters, and that includes a gain multiplication unit that adjusts the magnitude of the voltage command value of the slave inverter based on current and voltage information that is information that indicates the operating state of the master inverter.

[0007] According to the present invention, it is possible to realize a more stable operation without encountering an overcurrent.

[0008] FIG. 1 is a functional block diagram schematically showing the overall configuration of a motor control system according to a first embodiment, together with a motor control device and its related components. FIG. 2 is a diagram showing an example of a look-up table set in a gain multiplication unit according to the first embodiment. FIG. 3 is a diagram showing simulation results of a u-phase current waveform in a conventional technology shown for comparison. FIG. 4 is a diagram showing simulation results of a u-phase current waveform in the first embodiment. FIG. 5 is a functional block diagram schematically showing the overall configuration of a motor control system according to a second embodiment, together with a motor control device and its related components. FIG. 6 is a diagram showing an example of a look-up table set in a gain multiplication unit according to the second embodiment. FIG. 7 is a functional block diagram schematically showing the overall configuration of a motor control system according to a third embodiment, together with a motor control device and its related components. FIG. 8 is a functional block diagram schematically showing the overall configuration of a motor control system according to a fourth embodiment, together with a motor control device and its related components. FIG. 9 is a functional block diagram schematically showing the overall configuration of a motor control system according to a fifth embodiment, together with a motor control device and its related components. FIG. 11 is a functional block diagram schematically showing the overall configuration of a motor control system according to a sixth embodiment, together with a motor control device and its related components. 10 is a functional block diagram showing a schematic diagram of the overall configuration of a motor control system according to a seventh embodiment, together with a motor control device and its related configuration. FIG. 11 is a diagram showing a schematic diagram of the overall configuration of a multiplex winding magnet motor drive system according to an eighth embodiment. FIG. 12 is a diagram showing an extracted motor control device as software according to the eighth embodiment. FIG. 13 is a diagram showing an extracted hardware configuration according to the eighth embodiment, together with related configuration.

[0009] Hereinafter, an embodiment of the present invention will be described with reference to the drawings.

[0010] First Embodiment A first embodiment of the present invention will be described with reference to FIGS. 1 to 4. FIG.

[0011] FIG. 1 is a functional block diagram showing the overall configuration of a motor control system according to this embodiment, together with a motor control device and its related configuration.

[0012] In FIG. 1, the motor control system is broadly composed of a multiple-winding magnet motor 1 that is the object of control of the motor control device, a master inverter 2 and a slave inverter 3 that drive the multiple-winding magnet motor 1, and a motor control device that controls the operation of the multiple-winding magnet motor 1 by controlling the master inverter 2 and the slave inverter 3.

[0013] The motor control device has the following functional units: a coordinate conversion unit 6, a speed control calculation unit 7, a d-axis current command setting unit 8, a vector control calculation unit 9, a phase error estimation calculation unit 10, a speed and phase estimation calculation unit 11, a coordinate conversion unit 12, a gain multiplication unit 13, a PWM calculation unit 14 (master), and a PWM calculation unit 15 (slave).

[0014] The multiplex-winding magnet motor 1, which is the object of control by the motor control device, is composed of multiple three-phase windings and outputs a motor torque that is a combination of a torque component due to the magnetic flux of the permanent magnets and a torque component due to the inductance of the armature windings. Note that in this embodiment, an example will be described in which the multiplex-winding magnet motor 1 has two three-phase windings.

[0015] The master inverter 2 varies the output voltage value and output frequency value to the multiplex winding magnet motor 1 in response to the PWM pulses (Pum, Pvm, Pwm).

[0016] The slave inverter 3 varies the output voltage value and output frequency value to the multiplex winding magnet motor 1 in response to the PWM pulses (Pus, Pvs, Pws).

[0017] The current detector 4 detects the u-phase AC current ium flowing through the master inverter 2 and outputs the detected value (iumc).

[0018] The current detector 5 detects the w-phase AC current iwm flowing through the master inverter 2 and outputs the detected value (iwmc).

[0019] The V-phase AC current ivm can be calculated from the AC currents of the other two phases (u-phase and w-phase) of the three phases of the multiplex-winding magnet motor 1, using the AC condition (ium+ivm+iwm=0), as ivm=-(ium+iwm).

[0020] The coordinate conversion unit 6 calculates the d-axis and q-axis currents from the detected values ​​(iumc, ivmc, iwmc) of the three-phase AC currents (ium, ivm, iwm) of the master inverter 2 and the phase estimation value θdc, and outputs the calculation results as detected values ​​(idc, iqc).

[0021] The speed control calculation unit 7 calculates a torque command value τ* based on the difference between the speed command value ωr* and the estimated speed value ωdc, and outputs a q-axis current command value iq* by dividing the calculation result by a torque coefficient.

[0022] The d-axis current command setting unit 8 outputs a d-axis current command value id*.

[0023] The vector control calculation unit 9 calculates and outputs voltage command values ​​(vdc**, vqc**) for the d-axis and q-axis based on the current command values ​​(id*, iq*) for the d-axis and q-axis, the detected current values ​​(idc, iqc), the estimated speed value ωdc, and the electrical circuit parameters for one phase of the multiplex-winding magnet motor 1.

[0024] The phase error estimation calculation unit 10 calculates and outputs an estimate Δθc of the phase error Δθ, which is the deviation between the control phase θdc and the phase θd of the magnets of the multiplex-winding magnet motor 1, based on the voltage command values ​​(vdc**, vqc**) of the dc-axis and qc-axis, which are the control axes, the estimated speed value ωdc, the detected current values ​​(idc, iqc), and the electrical circuit parameters of the multiplex-winding magnet motor 1.

[0025] The speed and phase estimation calculation unit 11 calculates and outputs a speed estimate ωdc and a phase estimate θdc based on the phase error estimate Δθc.

[0026] The coordinate transformation unit 12 calculates and outputs three-phase AC voltage command values ​​(vu*, vv*, vw*) based on the d-axis and q-axis voltage command values ​​(vdc**, vqc**) and the phase estimation value θdc.

[0027] The gain multiplication unit 13 multiplies the three-phase AC voltage command values ​​(vu*, vv*, vw*) output from the coordinate transformation unit 12 by a gain Gm that changes depending on the speed estimation value ωdc to newly calculate three-phase AC voltage command values ​​(vum, vvm, vwm) and outputs them to the PWM calculation unit 14 of the master inverter. The gain multiplication unit 13 also multiplies the three-phase AC voltage command values ​​(vu*, vv*, vw*) output from the coordinate transformation unit 12 by a gain Gs that changes depending on the speed estimation value ωdc to newly calculate three-phase AC voltage command values ​​(vus, vvs, vws) and outputs them to the PWM calculation unit 15 of the slave inverter.

[0028] The PWM calculation unit 14 generates and outputs PWM signals (Pum, Pvm, Pwm) for the master inverter by comparing the three-phase AC voltage command values ​​(vum, vvm, vwm) output from the gain multiplication unit 13 with the triangular wave carrier signal.

[0029] The PWM calculation unit 15 generates and outputs PWM signals (Pus, Pvs, Pws) for the slave inverter by comparing the three-phase AC voltage command values ​​(vus, vvs, vws) output from the gain multiplication unit 13 with the triangular wave carrier signal.

[0030] (Basic Operation) A basic operation when the gain multiplication unit 13, which is a feature of this embodiment, is provided, will be described.

[0031] The speed control calculation unit 7 calculates the torque command τ* and the q-axis current command value iq* according to the following (Equation 1) using proportional control and integral control so that the speed estimation value ωdc follows the speed command value ωr*.

[0032]

[0033] Here, the variables and constants in the above (Equation 1) are as follows: Ksp: proportional gain of speed control, Ksi: integral gain of speed control, Pm: number of pole pairs, Ke: induced voltage coefficient, Ld: d-axis inductance, Lq: q-axis inductance, *: set value.

[0034] First, vector control calculation unit 9 uses the electric circuit parameters for one phase of multiplex-winding magnet motor 1, namely, winding resistance setting value R*, d-axis inductance setting value Ld*, q-axis inductance setting value Lq*, induced voltage coefficient setting value Ke*, dc-axis and qc-axis current command values ​​(id*, iq*), and speed estimate value ωdc, to calculate dc-axis and qc-axis voltage reference values ​​(vdc*, vqc*) according to the following (Equation 2).

[0035]

[0036] Here, the variables and constants in the above (Equation 2) are as follows: Tacr: response time constant of current control.

[0037] Next, the vector control calculation unit 9 calculates the voltage correction values ​​Δvdc and Δvqc for the dc axis and qc axis using proportional control and integral control according to the following (Equation 3) so that the current detection values ​​of each component (idc, iqc) follow the current command values ​​(id*, iq*) for the dc axis and qc axis.

[0038]

[0039] Here, the variables and constants in the above (Equation 2) are as follows: Kpd: proportional gain of current control on the dc axis, Kid: integral gain of current control on the dc axis, Kpq: proportional gain of current control on the qc axis, Kiq: integral gain of current control on the qc axis.

[0040] Subsequently, the vector control calculation unit 9 calculates and outputs voltage command values ​​vdc** and vqc** for the dc and qc axes according to the following (Equation 4).

[0041]

[0042] The phase error estimation calculation unit 10 calculates and outputs a phase error estimate Δθc based on the dc-axis and qc-axis voltage command values ​​(vdc**, vqc**), the detected current values ​​(idc, iqc), and the electrical circuit parameters (R*, Lq*) for one phase of the multiplex-winding magnet motor 1, in accordance with the extended induced voltage formula shown in Equation 5 below.

[0043]

[0044] The speed and phase estimation calculation unit 11 calculates a speed estimate ωdc according to the following equation (6) using a P (proportional) + I (integral) control calculation so that the phase error estimate Δθc follows the phase error command value Δθc*, and also calculates a phase estimate θdc according to the following equation (7) using an I control calculation.

[0045]

[0046]

[0047] Here, the variables and constants in the above (Equation 6) and (Equation 7) are as follows: Kppll: proportional gain of PLL control, Kipll: integral gain of PLL control, respectively.

[0048] The coordinate transformation unit 12 calculates three-phase voltage command values ​​(vu*, vv*, vw*) based on the dc-axis and qc-axis voltage command values ​​(vdc**, vqc**) and the phase estimation value θdc according to the following (Equation 8).

[0049]

[0050] FIG. 2 is a diagram illustrating an example of a reference table set in the gain multiplication unit.

[0051] The gain multiplication unit 13 retrieves the gain Gm of the master inverter and the gain Gs of the slave inverter from a lookup table that receives the speed estimate ωdc as an input, as shown in FIG. 2. The lookup table varies the gain Gm (=1) of the master inverter and the gain Gs of the slave inverter according to the speed estimate ωdc, and specifies outputs (Gs_ω0, Gs_ω1, Gs_ω2, Gs_ω3) at specific magnitudes of the speed estimate ωdc (for example, four points: ωdc0, ωdc1, ωdc2, and ωdc3). While this embodiment illustrates an example in which four specific points of the speed estimate ωdc are specified, any number of points may be specified, and the number may be determined, for example, by the number of measurement data items when the lookup table is created.

[0052] In this way, by setting Gm = 1 and Gs ≠ 1 in the reference table, the amplitude values ​​of the voltage command values ​​(vum, vvm, vwm) input to the PWM calculation unit 14 of the master inverter and the voltage command values ​​(vus, vvs, vws) input to the PWM calculation unit 15 of the slave inverter are made to differ in magnitude.

[0053] The PWM calculation unit 14 of the master inverter and the PWM calculation unit 15 of the slave inverter calculate three-phase AC voltage command values ​​(vum, vvm, vwm) of the master inverter and three-phase AC voltage command values ​​(vus, vvs, vws) of the slave inverter according to the following (Equation 9) and (Equation 10).

[0054]

[0055]

[0056] The output of PWM calculation unit 14 of the master inverter is a pulse signal (Pum, Pvm, Pwm) proportional to the voltage command values ​​(vum, vvm, vwm), and the output of PWM calculation unit 15 of the slave inverter is a pulse signal (Pus, Pvs, Pws) proportional to the voltage command values ​​(vus, vvs, vws). In other words, the operation of multiple-winding magnet motor 1 is controlled by adjusting the output voltages of master inverter 2 and slave inverter 3 using a motor control device.

[0057] The effects of the present embodiment configured as above will be described.

[0058] 3 and 4 are diagrams showing simulation results of the waveform of the u-phase current when a multiplex winding magnet motor 1 is driven by a master inverter and a slave inverter and it is assumed that there is a 10% impedance error (or inductance error) between the master side and the slave side. FIG. 3 shows the waveform in the prior art for comparison, and FIG. 4 shows the waveform in this embodiment.

[0059] As shown in Figure 3, in the conventional technology (here, Gm = 1, Gs = 1), there is a 10% impedance error, which causes an imbalance in the amplitude of the u-phase current ium of the master inverter and the u-phase current ius of the slave inverter.

[0060] In contrast to this, in the present embodiment (Gm = 1, Gs ≠ 1), the magnitude of the voltage command value (vus, vvs, vws) of the slave inverter is adjusted by the gain Gs, thereby eliminating the imbalance in the amplitude of the u-phase current ium of the master inverter and the u-phase current ius of the slave inverter, as shown in Figure 4.

[0061] That is, it is possible to suppress the occurrence of an overcurrent in the slave inverter that may occur due to a current imbalance phenomenon, and it is possible to realize a more stable operation.

[0062] Second Embodiment A second embodiment of the present invention will be described with reference to FIGS.

[0063] In the first embodiment, the magnitude of the voltage command values ​​(vus, vvs, vws) of the slave inverter is adjusted by a gain Gs corresponding to the speed estimation value ωdc, whereas in the present embodiment, the magnitude of the voltage command values ​​(vus, vvs, vws) of the slave inverter is adjusted by a gain Gs corresponding to the current detection value i1c. Note that in this embodiment, the same components as in the first embodiment are designated by the same reference numerals, and descriptions thereof will be omitted where appropriate.

[0064] FIG. 5 is a functional block diagram showing the overall configuration of the motor control system according to this embodiment, together with the motor control device and its related configuration.

[0065] In FIG. 5, the motor control system is generally composed of a multiple-winding magnet motor 1 that is the object of control of the motor control device, a master inverter 2 and a slave inverter 3 that drive the multiple-winding magnet motor 1, and a motor control device that controls the operation of the multiple-winding magnet motor 1 by controlling the master inverter 2 and the slave inverter 3.

[0066] The motor control device has the following functional units: a coordinate conversion unit 6A, a speed control calculation unit 7, a d-axis current command setting unit 8, a vector control calculation unit 9, a phase error estimation calculation unit 10, a speed and phase estimation calculation unit 11, a coordinate conversion unit 12, a gain multiplication unit 13A, a PWM calculation unit 14 (master), and a PWM calculation unit 15 (slave).

[0067] The coordinate conversion unit 6A calculates the d-axis and q-axis currents from the detected values ​​(iumc, ivmc, iwmc) of the three-phase AC currents (ium, ivm, iwm) of the master inverter 2 and the phase estimation value θdc, and outputs the calculation results as detected values ​​(idc, iqc). The coordinate conversion unit 6A also calculates and outputs the output current i1c according to the following (Equation 11).

[0068]

[0069] The gain multiplication unit 13A multiplies the three-phase AC voltage command values ​​(vu*, vv*, vw*) output from the coordinate conversion unit 12 by a gain Gm that changes depending on the output current i1c to newly calculate three-phase AC voltage command values ​​(vum, vvm, vwm), and outputs the calculated voltage command values ​​to the PWM calculation unit 14 of the master inverter. The gain multiplication unit 13A also multiplies the three-phase AC voltage command values ​​(vu*, vv*, vw*) output from the coordinate conversion unit 12 by a gain Gs that changes depending on the output current i1c to newly calculate three-phase AC voltage command values ​​(vus, vvs, vws), and outputs the calculated voltage command values ​​to the PWM calculation unit 15 of the slave inverter.

[0070] FIG. 6 is a diagram showing an example of a reference table set in the gain multiplication unit in this embodiment.

[0071] The gain multiplication unit 13A retrieves the gain Gm of the master inverter and the gain Gs of the slave inverter from a lookup table as shown in FIG. 6, which uses the output current i1c as an input. The lookup table varies the gain Gm (=1) of the master inverter and the gain Gs of the slave inverter according to the output current i1c, and specifies outputs (Gs_i1c0, Gs_i1c1, Gs_i1c2, Gs_i1c3) at specific magnitudes of the output current i1c (for example, four points i1c0, i1c1, i1c2, i1c3). While this embodiment illustrates an example in which four specific points of the output current i1c are specified, any number of points may be specified, and the number may be determined, for example, by the number of measurement data points when the lookup table is created.

[0072] The other configurations are the same as those of the first embodiment.

[0073] The present embodiment configured as above can also achieve the same effects as the first embodiment.

[0074] Third Embodiment A third embodiment of the present invention will be described with reference to FIGS.

[0075] In the first embodiment, the magnitude of the voltage command values ​​(vus, vvs, vws) of the slave inverter is adjusted by a gain Gs corresponding to the speed estimation value ωdc, whereas in this embodiment, the magnitude of the voltage command values ​​(vus, vvs, vws) of the slave inverter is adjusted by a gain Gs corresponding to the q-axis current detection value iqc. Note that in this embodiment, the same components as in the first embodiment are designated by the same reference numerals, and descriptions thereof will be omitted where appropriate.

[0076] FIG. 7 is a functional block diagram showing the overall configuration of the motor control system according to this embodiment together with the motor control device and its related configuration.

[0077] In FIG. 7 , the motor control system is broadly composed of a multiple-winding magnet motor 1 that is the object of control of the motor control device, a master inverter 2 and a slave inverter 3 that drive the multiple-winding magnet motor 1, and a motor control device that controls the operation of the multiple-winding magnet motor 1 by controlling the master inverter 2 and the slave inverter 3.

[0078] The motor control device has the following functional units: a coordinate conversion unit 6, a speed control calculation unit 7, a d-axis current command setting unit 8, a vector control calculation unit 9, a phase error estimation calculation unit 10, a speed and phase estimation calculation unit 11, a coordinate conversion unit 12, a gain multiplication unit 13B, a PWM calculation unit 14 (master), and a PWM calculation unit 15 (slave).

[0079] The gain multiplication unit 13B multiplies the three-phase AC voltage command values ​​(vu*, vv*, vw*) output from the coordinate transformation unit 12 by a gain Gm that changes according to the q-axis current detection value iqc to newly calculate three-phase AC voltage command values ​​(vum, vvm, vwm), and outputs the three-phase AC voltage command values ​​to the PWM calculation unit 14 of the master inverter. In addition, the gain multiplication unit 13B multiplies the three-phase AC voltage command values ​​(vu*, vv*, vw*) output from the coordinate transformation unit 12 by a gain Gs that changes according to the q-axis current detection value iqc to newly calculate three-phase AC voltage command values ​​(vus, vvs, vws), and outputs the three-phase AC voltage command values ​​to the PWM calculation unit 15 of the slave inverter.

[0080] FIG. 8 is a diagram showing an example of a reference table set in the gain multiplication unit in this embodiment.

[0081] The gain multiplication unit 13B retrieves the gain Gm of the master inverter and the gain Gs of the slave inverter from a lookup table that uses the q-axis current detection value iqc as an input, as shown in FIG. 8 . The lookup table varies the gain Gm (=1) of the master inverter and the gain Gs of the slave inverter according to the q-axis current detection value iqc, and specifies outputs (Gs_iqc0, Gs_iqc1, Gs_iqc2, Gs_iqc3) at specific magnitudes of the q-axis current detection value iqc (e.g., four points iqc0, iqc1, iqc2, iqc3). Note that, although the present embodiment illustrates an example in which four specific points of the q-axis current detection value iqc are specified, any number of points may be specified, and the number may be determined, for example, by the number of measurement data when the lookup table is created.

[0082] The other configurations are the same as those of the first embodiment.

[0083] The present embodiment configured as above can also achieve the same effects as the first embodiment.

[0084] <Fourth Embodiment> A fourth embodiment of the present invention will be described with reference to FIG.

[0085] In the first embodiment, the magnitude of the voltage command values ​​(vus, vvs, vws) of the slave inverter is adjusted by a gain Gs corresponding to the speed estimation value ωdc, whereas in this embodiment, the magnitude of the voltage command values ​​(vus, vvs, vws) of the slave inverter is adjusted by a gain Gs (=GIDC) corresponding to the detection results of the DC currents of the master inverter and the slave inverter. In this embodiment, the same components as in the first embodiment are designated by the same reference numerals, and descriptions thereof will be omitted where appropriate.

[0086] FIG. 9 is a functional block diagram showing the overall configuration of the motor control system according to this embodiment, together with the motor control device and its related configuration.

[0087] In FIG. 9, the motor control system is broadly composed of a multiple-winding magnet motor 1 that is the object of control of the motor control device, a master inverter 2 and a slave inverter 3A that drive the multiple-winding magnet motor 1, and a motor control device that controls the operation of the multiple-winding magnet motor 1 by controlling the master inverter 2 and the slave inverter 3A.

[0088] The motor control device has the following functional units: a coordinate conversion unit 6, a speed control calculation unit 7, a d-axis current command setting unit 8, a vector control calculation unit 9, a phase error estimation calculation unit 10, a speed and phase estimation calculation unit 11, a coordinate conversion unit 12, a gain multiplication unit 13C, a PWM calculation unit 14 (master), a PWM calculation unit 15 (slave), and a DC current estimation and PI calculation unit 17.

[0089] The slave inverter 3A varies the output voltage value and output frequency value to the multiplex-winding magnet motor 1 in accordance with the PWM pulses (Pus, Pvs, Pws). The slave inverter 3A also includes a DC current detection circuit 16 that detects the DC current IDCs.

[0090] First, the DC current estimation and PI calculation unit 17 estimates the DC current IDCm flowing through the master inverter according to the following (Equation 12).

[0091]

[0092] Here, the variables and constants in the above (Equation 12) indicate EDCm: DC voltage value of the master inverter, as follows: The DC voltage value EDCm of the master inverter is in a state where it can be detected.

[0093] Next, according to the following (Equation 13), the gain Gs is calculated so that the DC current IDCm calculated by the above (Equation 12) follows the detected DC current IDCs of the slave inverter 3A, and is output to the gain multiplication unit 13C as the gain GIDC (= Gs).

[0094]

[0095] The gain multiplication unit 13C calculates three-phase AC voltage command values ​​(vum, vvm, vwm) by multiplying the three-phase AC voltage command values ​​(vu*, vv*, vw*) output from the coordinate conversion unit 12 by a gain Gm (=1), and outputs the three-phase AC voltage command values ​​(vum, vvm, vwm) to the PWM calculation unit 14 of the master inverter. Furthermore, the gain multiplication unit 13C calculates three-phase voltage command values ​​(vus, vvs, vws) of the slave inverter according to the following (Equation 14) using a gain Gs (=GIDC) for the three-phase AC voltage command values ​​(vu*, vv*, vw*) output from the coordinate conversion unit 12, and outputs the three-phase voltage command values ​​(vus, vvs, vws) to the PWM calculation unit 15 of the slave inverter.

[0096]

[0097] The other configurations are the same as those of the first embodiment.

[0098] The present embodiment configured as described above can also achieve the same effects as the first embodiment. That is, by controlling the output voltages of the master inverter 2 and the slave inverter 3A, it is possible to suppress the current imbalance.

[0099] Fifth Embodiment A fifth embodiment of the present invention will be described with reference to FIG.

[0100] In the first embodiment, the magnitude of the voltage command values ​​(vus, vvs, vws) of the slave inverter is adjusted by the gain Gs corresponding to the speed estimate value ωdc, whereas in the present embodiment, the magnitude of the d-axis and q-axis voltage command values ​​(vdc**, vqc**) of the slave inverter is adjusted by the gain Gs corresponding to the speed estimate value ωdc. Note that in this embodiment, the same reference numerals are used to designate the same components as in the first embodiment, and descriptions thereof will be omitted where appropriate.

[0101] FIG. 10 is a functional block diagram showing the overall configuration of the motor control system according to this embodiment, together with the motor control device and its related configuration.

[0102] In FIG. 10, the motor control system is broadly composed of a multiple-winding magnet motor 1 that is the object of control of the motor control device, a master inverter 2 and a slave inverter 3 that drive the multiple-winding magnet motor 1, and a motor control device that controls the operation of the multiple-winding magnet motor 1 by controlling the master inverter 2 and the slave inverter 3A.

[0103] The motor control device has the following functional units: a coordinate conversion unit 6, a speed control calculation unit 7, a d-axis current command setting unit 8, a vector control calculation unit 9, a phase error estimation calculation unit 10, a speed and phase estimation calculation unit 11, a gain multiplication unit 13D1 (first gain multiplication unit), a gain multiplication unit 13D2 (second gain multiplication unit), a PWM calculation unit 14 (master), a PWM calculation unit 15 (slave), a coordinate conversion unit 18, and a coordinate conversion unit 19.

[0104] Gain multiplication unit 13D1 adjusts the d-axis and q-axis voltage command values ​​(vdc**, vqc**) by multiplying them by a gain Gm (=1) that changes depending on the speed estimated value ωdc, and outputs the results as d-axis and q-axis voltage command values ​​(vdcm***, vqcm***) of the master inverter to coordinate conversion unit 18. Gain multiplication unit 13D2 adjusts the three-phase AC voltage command values ​​(vu*, vv*, vw*) output from coordinate conversion unit 12 by a gain Gs that changes depending on the speed estimated value ωdc, and outputs the results to coordinate conversion unit 19 as d-axis and q-axis voltage command values ​​(vdcs***, vqcs***) of the slave inverter.

[0105] Specifically, the gain multiplication units 13D1 and 13D2 first call up the gain Gm of the master inverter and the gain Gs of the slave inverter from a look-up table (see FIG. 2 of the first embodiment) that receives the speed estimation value ωdc as an input.

[0106] Next, the d-axis and q-axis voltage command values ​​(vdcm***, vqcm***) of the master inverter and the d-axis and q-axis voltage command values ​​(vdcs***, vqcs***) of the slave inverter are calculated according to the following (Equation 15) and (Equation 16).

[0107]

[0108]

[0109] The coordinate conversion units 18 and 19 calculate the three-phase voltage command values ​​(vum, vvm, vvm) of the master inverter and the three-phase voltage command values ​​(vus, vvs, vvs) of the slave inverter according to the following (Equation 17) and (Equation 18).

[0110]

[0111]

[0112] The other configurations are the same as those of the first embodiment.

[0113] The present embodiment configured as above can also achieve the same effects as the first embodiment.

[0114] Sixth Embodiment A sixth embodiment of the present invention will be described with reference to FIG.

[0115] In the first to third embodiments, the magnitude of the voltage command values ​​(vus, vvs, vws) of the slave inverter is adjusted by the gain Gs, whereas in this embodiment, a lookup table used in the gain multiplication unit is created based on the currents flowing through the master inverter and the slave inverter measured before actual operation. Note that in this embodiment, the same components as those in the first to third embodiments are given the same reference numerals and their explanations will be omitted as appropriate.

[0116] 11 is a functional block diagram showing the overall configuration of a motor control system according to this embodiment, together with a motor control device and its related configuration. While this embodiment will be described by way of example with reference to the first embodiment, the present invention is not limited to this, and the configuration of this embodiment can also be applied to cases where a gain Gs corresponding to a detected current i1c is used (see the second embodiment) or where a gain Gs corresponding to a detected q-axis current iqc is used (see the third embodiment).

[0117] In FIG. 11, the motor control system is broadly composed of a multiple-winding magnet motor 1 that is the object of control of the motor control device, a master inverter 2 and a slave inverter 3 that drive the multiple-winding magnet motor 1, and a motor control device that controls the operation of the multiple-winding magnet motor 1 by controlling the master inverter 2 and the slave inverter 3.

[0118] The motor control device has the following functional units: a coordinate conversion unit 6, a speed control calculation unit 7, a d-axis current command setting unit 8, a vector control calculation unit 9, a phase error estimation calculation unit 10, a speed and phase estimation calculation unit 11, a coordinate conversion unit 12, a gain multiplication unit 13, a PWM calculation unit 14 (master), a PWM calculation unit 15 (slave), and a reference table creation unit 24.

[0119] Current detection probes 20 and 21 measure and output the u-phase and w-phase currents (ius, iws) of the slave inverter 3. Similarly, current detection probes 22 and 23 measure and output the u-phase and w-phase currents (ium, iwm) of the master inverter 2.

[0120] The look-up table creating section 24 uses the measurement results (current data) from the current detection probes 20, 21, 22, and 23 to perform mapping of the look-up table used in the gain multiplication section.

[0121] For example, when creating a lookup table (see FIG. 2 of the first embodiment) that uses the estimated speed value ωdc as an input, the speed command value ωr* is set at multiple points (e.g., four points: ωdc0, ωdc1, ωdc2, and ωdc3), and the ratio (Gs_ω0, Gs_ω1, Gs_ω2, and Gs_ω3) of the u-phase and w-phase currents (ium, iwm) of the master inverter 2 to the u-phase and w-phase currents (ius, iws) of the slave inverter 3 is calculated at each point. When calculating the ratio, the ratio between the average value obtained by adding the amplitude values ​​of the currents ius and iws and multiplying the sum by 1 / 2 and the average value obtained by adding the amplitude values ​​of the currents ium and iwm and multiplying the sum by 1 / 2 may be used. Furthermore, the number of measurement points may be increased if higher accuracy is desired.

[0122] Furthermore, for example, when creating a lookup table (see FIG. 6 of the second embodiment) using the output current i1c as an input, the output current i1c is set at multiple points (e.g., four points: i1c0, i1c1, i1c2, and i1c3), and the ratio (Gs_i1c0, Gs_i1c1, Gs_i1c2, and Gs_i1c3) of the u-phase and w-phase currents (ium, iwm) of the master inverter 2 to the u-phase and w-phase currents (ius, iws) of the slave inverter 3 is calculated for each point. When calculating the ratio, the ratio between the average value obtained by adding the amplitude values ​​of the currents ius and iws and multiplying them by 1 / 2 may be used, as well as the average value obtained by adding the amplitude values ​​of the currents ium and iwm and multiplying them by 1 / 2. Furthermore, the number of measurement points may be increased if higher accuracy is desired.

[0123] Furthermore, for example, when creating a lookup table (see FIG. 8 of the third embodiment) using the q-axis current detection value iqc as an input, the magnitude of the q-axis current detection value iqc is set at multiple points (e.g., four points: iqc0, iqc1, iqc2, and iqc3), and the ratio (Gs_iqc0, Gs_iqc1, Gs_iqc2, and Gs_iqc3) of the u-phase and w-phase currents (ium, iwm) of the master inverter 2 to the u-phase and w-phase currents (ius, iws) of the slave inverter 3 is calculated for each point. When calculating the ratio, the ratio between the average value obtained by adding the amplitude values ​​of the currents ius and iws and multiplying them by 1 / 2 may be used, as well as the average value obtained by adding the amplitude values ​​of the currents ium and iwm and multiplying them by 1 / 2. Furthermore, the number of measurement points may be increased if higher accuracy is desired.

[0124] The other configurations are the same as those of the first to third embodiments.

[0125] In this embodiment configured as above, the same effects as those of the first to third embodiments can be obtained.

[0126] Seventh Embodiment A seventh embodiment of the present invention will be described with reference to FIG.

[0127] In the first embodiment, the electrical circuit parameters of the multiplex-winding magnet motor 1 are set in a motor control device (for example, a controller configured with a microcomputer or the like), whereas in this embodiment, the state variables of the control are fed back to a higher-level IOT controller arranged on a network, and the gains Gm and Gs learned by machine learning in the IOT controller are reset in the motor control device. Note that in this embodiment, the same components as in the first embodiment are given the same reference numerals, and descriptions thereof will be omitted where appropriate.

[0128] FIG. 12 is a functional block diagram showing the overall configuration of the motor control system according to this embodiment, together with the motor control device and its related configuration.

[0129] In FIG. 12, the motor control system is broadly composed of a multiple-winding magnet motor 1 that is the object of control of the motor control device, a master inverter 2 and a slave inverter 3 that drive the multiple-winding magnet motor 1, a motor control device that controls the operation of the multiple-winding magnet motor 1 by controlling the master inverter 2 and the slave inverter 3, and an IOT controller 25 that performs machine learning.

[0130] The IOT controller 25 is a higher-level control device of the motor control device and is arranged on the network. The voltage command values ​​vdc**, vqc**, current detection values ​​idc, iqc, and phase error estimate Δθc are fed back to the IOT controller 25, and the gains Gm, Gs learned by machine learning by the IOT controller 25 based on these are reset inside the controller of the motor control device (here, the gain multiplication unit 13).

[0131] The other configurations are the same as those of the first embodiment.

[0132] The present embodiment configured as above can also achieve the same effects as the first embodiment.

[0133] Eighth Embodiment An eighth embodiment of the present invention will be described with reference to FIGS.

[0134] In this embodiment, the present invention is applied to a multiplex winding magnet motor drive system. In this embodiment, the same components as those in the first embodiment are designated by the same reference numerals, and descriptions thereof will be omitted where appropriate.

[0135] 13 to 15, multiplex winding magnet motor 1 is driven by master inverter 26 and slave inverter 27. In the multiplex winding magnet motor drive system, motor control device 31 is implemented as software, and master inverter 2, slave inverter 3, and current detectors 4 and 5 are implemented as hardware. In addition, gains Gm and Gs of motor control device 31 implemented as software can be set and changed by a higher-level device such as digital operators 26a and 27a, personal computer 28, tablet 29, or smartphone 30.

[0136] The other configurations are the same as those of the first embodiment.

[0137] This embodiment configured as described above can also achieve the same effects as the first embodiment. That is, by applying the present invention to a multiplex winding magnet motor drive system, it is possible to eliminate current imbalances and achieve stable control characteristics in position sensorless vector control.

[0138] <Notes> The present invention is not limited to the above-described embodiments, and includes various modifications and combinations within the scope of the gist of the present invention. Furthermore, the present invention is not limited to those having all of the configurations described in the above-described embodiments, and also includes those in which some of the configurations are omitted.

[0139] For example, the gains Gm and Gc set in the gain multiplication unit 13 may be set on a field bus such as a programmable logic controller, a local area network connecting to a computer, or an IOT controller.

[0140] Furthermore, in the first to eighth embodiments, a calculation was performed in which voltage correction values ​​Δvdc, Δvqc were created from the current command values ​​id*, iq* and the detected current values ​​idc, iqc, and this voltage correction value was added to the voltage reference value for vector control (see equation 4). However, for example, as shown in equation 19 below, intermediate current command values ​​id**, iq** to be used in the vector control calculation may be created from the current command values ​​id*, iq* and the detected current values ​​idc, iqc, and the vector control calculation may be performed according to equation 20 below using the estimated speed value ωdc and the electrical circuit parameters of the multiplex-winding magnet motor 1.

[0141]

[0142]

[0143] Here, the variables and constants in the above (Equation 19) and (Equation 20) are as follows: Kpd1: proportional gain of current control on the dc axis, Kid1: integral gain of current control on the dc axis, Kpq1: proportional gain of current control on the qc axis, Kiq1: integral gain of current control on the qc axis, Td: electrical time constant of the d axis (Ld / R), Tq: electrical time constant of the q axis (Lq / R).

[0144] Alternatively, the voltage correction value Δvd_p* of the proportional calculation component of the dc axis, the voltage correction value Δvd_i* of the integral calculation component of the dc axis, the voltage correction value Δvq_p* of the proportional calculation component of the qc axis, and the voltage correction value Δvq_i* of the integral calculation component of the qc axis, which are used for vector control calculation, may be created from the current command values ​​id*, iq* and the detected current values ​​idc, iqc, based on the following (Equation 21), and vector control calculation may be performed using the speed value estimate ωdc and the electrical circuit parameters of the multiplex-winding magnet motor 1 according to the following (Equation 22).

[0145]

[0146]

[0147] Here, the variables and constants in the above (Equation 21) and (Equation 22) are as follows: Kpd2: proportional gain of current control on the dc axis, Kid2: integral gain of current control on the dc axis, Kpq2: proportional gain of current control on the qc axis, Kiq2: integral gain of current control on the qc axis.

[0148] In addition, vector control calculation may be performed using the first-order lag signal iqctd of the dc-axis current command value id* and the qc-axis current detection value iqc, the speed estimation value ωdc, and the electrical circuit parameters of the multiplex-winding magnet motor 1, according to the following (Equation 23).

[0149]

[0150] Furthermore, the switching elements that make up the motor control system may be Si (silicon) semiconductor elements or wide bandgap semiconductor elements such as SiC (silicon carbide) and GaN (gallium nitride).

[0151] Furthermore, the first to eighth embodiments are merely examples for explaining the present invention, and appropriate omissions and simplifications have been made to clarify the explanation. The present invention can be implemented in various other forms. Unless otherwise specified, each component may be singular or plural. The position, size, shape, range, etc. of each component shown in the drawings may not represent the actual position, size, shape, range, etc., in order to facilitate understanding of the invention. Therefore, the present invention is not necessarily limited to the position, size, shape, range, etc. disclosed in the drawings.

[0152] Examples of various types of information may be described using expressions such as "table," "list," and "queue," but the various types of information may also be expressed using data structures other than these. For example, various types of information such as "XX table," "XX list," and "XX queue" may also be expressed as "XX information." When describing identification information, expressions such as "identification information," "identifier," "name," "ID," and "number" are used, but these are interchangeable. When there are multiple components having the same or similar functions, they may be described using the same reference numeral with different subscripts. Furthermore, when there is no need to distinguish between these multiple components, the subscripts may be omitted.

[0153] In each embodiment, processing performed by executing a program may be described. Here, a computer executes the program using a processor (e.g., a CPU or a GPU) and performs processing defined by the program using storage resources (e.g., memory) and interface devices (e.g., communication ports). Therefore, the entity performing the processing by executing the program may be the processor. Similarly, the entity performing the processing by executing the program may be a controller, device, system, computer, or node having a processor. The entity performing the processing by executing the program may be any computing unit, and may include a dedicated circuit that performs specific processing. Here, the dedicated circuit may be, for example, an FPGA (Field Programmable Gate Array), an ASIC (Application Specific Integrated Circuit), or a CPLD (Complex Programmable Logic Device).

[0154] A program may be installed on a computer from a program source. The program source may be, for example, a program distribution server or a computer-readable storage medium. When the program source is a program distribution server, the program distribution server may include a processor and storage resources for storing the program to be distributed, and the processor of the program distribution server may distribute the program to be distributed to other computers. In addition, in each embodiment, two or more programs may be realized as one program, or one program may be realized as two or more programs.

[0155] 1...Multiple-winding magnet motor, 2...Master inverter, 3, 3A...Slave inverter, 4, 5...Current detector, 6, 6A...Coordinate conversion unit, 7...Speed ​​control calculation unit, 8...d-axis current command setting unit, 9...Vector control calculation unit, 10...Phase error estimation calculation unit, 11...Speed ​​and phase estimation calculation unit, 12...Coordinate conversion unit, 13, 13A, 13B, 13C, 13D1, 13D2...Gain multiplication unit, 14, 15...PWM calculation unit, 16...DC current detection circuit, 17...DC current estimation and IP calculation unit, 18, 19...Coordinate conversion unit, 20, 21, 22, 23...Current detection probe, 24...Lookup table creation unit, 25...IOT controller, 26...Master inverter, 26a...Digital operator, 27...Slave inverter, 27a...Digital operator, 28...Personal computer, 29...Tablet, 30...Smartphone, 31...Motor control device

Claims

1. A motor control device that controls a multiple-winding magnet motor driven by an inverter consisting of a master inverter and one or more slave inverters, characterized in that it includes a gain multiplication unit that adjusts the magnitude of the voltage command value of the slave inverter based on current and voltage information that indicates the operating state of the master inverter.

2. A motor control device according to claim 1, further comprising a speed estimation unit that uses the detected current value and voltage command value of the master inverter to estimate a speed estimate value or a speed command value for the multiplex-winding magnet motor, and wherein the gain multiplication unit adjusts the magnitude of the voltage command value for the slave inverter in accordance with the speed estimate value or the speed command value estimated by the speed estimation unit.

3. A motor control device according to claim 1, wherein the gain multiplication unit adjusts the magnitude of the voltage command value of the slave inverter in accordance with the current detection value or current command value of the master inverter.

4. A motor control device according to claim 1, wherein the gain multiplication unit decomposes the current detection value of the master inverter into a d-axis current detection component in the direction of the magnetic flux axis of the multiple-winding magnet motor and a q-axis current detection component in the direction of the torque axis perpendicular to the d-axis current detection component, and adjusts the magnitude of the voltage command value of the slave inverter according to the q-axis current detection component.

5. A motor control device according to claim 1, wherein the gain multiplication unit adjusts the magnitude of the voltage command value of the slave inverter so that the detection result of a DC current detector that detects the DC current of the slave inverter matches the DC current detection value or DC current estimate value of the master inverter.

6. A motor control device according to claim 1, further comprising a speed estimation unit that estimates a speed estimate or a speed command value for the multiple-winding magnet motor using the current detection value and voltage command value of the master inverter, and the gain multiplication unit comprises: a first gain multiplication unit that adjusts the magnitude of the d-axis and q-axis voltage command values ​​of the master inverter as the voltage command value for the d-axis component which is the magnetic flux axis of the multiple-winding magnet motor and the q-axis component which is the torque axis, in accordance with the speed estimate or speed command value estimated by the speed estimation unit; and a second gain multiplication unit that adjusts the magnitude of the d-axis and q-axis voltage command values ​​of the slave inverter as the voltage command value for the d-axis component which is the magnetic flux axis of the multiple-winding magnet motor and the q-axis component which is the torque axis, in accordance with the speed estimate or speed command value estimated by the speed estimation unit.

7. A motor control device according to claim 1, further comprising a look-up table creating section that creates, before actual operation, a look-up table for setting the gain of the gain multiplication section so that the current values ​​of at least two phases of the master inverter and the slave inverter match, and the gain multiplication section adjusts the magnitude of the voltage command value of each of the slave inverters by setting the gain based on the look-up table.

8. A motor control device according to claim 1, wherein the gain multiplication unit adjusts the magnitude of the voltage command value of each slave inverter in accordance with the results of analysis of the voltage command value, current detection value, and estimated value of phase error fed back to an IOT controller, which is a higher-level device.

9. A motor control device according to claim 1, wherein the gains for adjusting the magnitude of the voltage command values ​​of the slave inverters are set in the internal memory of a microcomputer mounted in the motor control device, and can be freely set and changed using a digital operator, a personal computer, a tablet, or a smartphone device.

10. A motor control system comprising: a multiple-winding magnet motor; an inverter comprising a master inverter and one or more slave inverters for controlling the multiple-winding magnet motor; and the motor control device according to claim 1.

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