Real-time simulation device, simulation system, and real-time simulation method

Abstract

A real-time simulation device (1) is used for verifying a control system of a motor control device (3) that controls a motor. The real-time simulation device (1) comprises: an inverter simulation unit (20) that simulates an operation of an inverter and calculates a voltage signal of a voltage output from the inverter on the basis of a switching signal output from the motor control device; and a motor simulation unit (10) that simulates an operation of the motor in the state of open failure on the basis of a failure switching signal, calculates, on the basis of the voltage signal, a current signal of a current flowing through the motor when the motor fails, and outputs the current signal to the motor control device. The motor simulation unit includes: a motor resistance calculation unit that calculates a motor resistance, which is the resistance of the motor corresponding to the failure switching signal, on the basis of a motor constant representing the characteristics of the motor, a calculation cycle of the real-time simulation device, and the failure switching signal; and a motor current calculation unit that calculates a current signal on the basis of the voltage signal, the motor constant, the calculation cycle, and the motor resistance and outputs the current signal to the motor control device.

Claims

1. A real-time simulation device used for verifying the control system of a motor control device that controls a motor driven by an inverter, comprising: an inverter simulation unit that simulates the operation of the inverter and calculates a voltage signal, which is a signal including the voltage value of the voltage output from the inverter, based on a switching signal output from the motor control device; a motor simulation unit that simulates the operation of the motor in an open fault state based on a fault switching signal indicating the fault state of the motor input from outside the real-time simulation device, and calculates a current signal, which is a signal including the current value of the current flowing through the motor when the motor fails, based on the voltage signal, and outputs it to the motor control device, wherein the motor simulation unit comprises: a motor resistance calculation unit that calculates a motor resistance, which is the resistance of the motor corresponding to the fault switching signal, based on motor constants representing the characteristics of the motor, the calculation period of the real-time simulation device, and the fault switching signal; and a motor current calculation unit that calculates the current signal, which is a signal including the voltage signal, the motor constants, the calculation period, and the motor resistance, and outputs it to the motor control device.

2. The real-time simulation device according to claim 1, characterized in that, when the fault switching signal indicates an open-circuit fault, which is a fault that occurs when a part of the wiring connecting the inverter and the motor, and a part of the electrical circuit equipped with the motor, is in an open-circuit state, the motor resistance calculation unit calculates an upper limit of the motor resistance based on the motor constant and the calculation period, calculates the motor resistance in the open-circuit fault state as the fault resistance based on the upper limit of the motor resistance, outputs the fault resistance to the motor current calculation unit as the motor resistance of the phase in the open-circuit fault state, and outputs the motor current calculation unit the resistance value of the motor when the electrical circuit is in a normal state as the motor resistance of the phase in which the electrical circuit is in a normal state.

3. The real-time simulation device according to claim 2, characterized in that the motor resistance calculation unit calculates an upper limit value of the motor resistance according to the number of phases of the motor in which the open fault occurs, and calculates the fault resistance based on the upper limit value of the motor resistance.

4. The motor resistance calculation unit, when the motor is a surface permanent magnet type synchronous motor in which permanent magnets are attached to the rotor surface of the motor, and when the open fault occurs in only one phase, calculates R, which is the resistance value of the armature winding of the surface permanent magnet type synchronous motor, L, which is the inductance value of the armature winding of the surface permanent magnet type synchronous motor, and t, which is the calculation period of the real-time simulation device. s Based on this, the fault resistance is R open The real-time simulation device according to claim 3, characterized in that it calculates the fault resistance that satisfies the following equation (1) in such a case.

5. The motor resistance calculation unit, when the motor is a surface permanent magnet type synchronous motor, and when the open fault occurs simultaneously in two or three phases, determines L and t s Based on this, the fault resistance is R open The real-time simulation device according to claim 4, characterized in that it calculates the fault resistance that satisfies the following equation (2) in such a case.

6. The real-time simulation device according to any one of claims 2 to 5, characterized in that the motor resistance calculation unit comprises: a fault resistance calculation unit that calculates the fault resistance based on the calculation period and the motor constants; and a motor resistance switching unit that, based on the fault switching signal, selects either the resistance value when the motor is in a normal state or the fault resistance and outputs it to the motor current calculation unit as the motor resistance.

7. A simulation system comprising: a motor control device for controlling a motor driven by an inverter; and a real-time simulation device used for verifying the control system of the motor control device, wherein the real-time simulation device comprises: an inverter simulation unit that simulates the operation of the inverter and calculates a voltage signal, which is a signal including the voltage value of the voltage output from the inverter, based on a switching signal output from the motor control device; a motor simulation unit that simulates the operation of the motor in an open fault state based on a fault switching signal input from outside the real-time simulation device and calculates a current signal, which is a signal including the current value of the current flowing through the motor when the motor fails, based on the voltage signal and outputs it to the motor control device, wherein the motor simulation unit comprises: a motor resistance calculation unit that calculates a motor resistance, which is the resistance of the motor corresponding to the fault switching signal, based on motor constants representing the characteristics of the motor, the calculation period of the real-time simulation device, and the fault switching signal; and a motor current calculation unit that calculates the current signal, which is a signal including the current value of the current flowing through the motor when the motor fails, based on the voltage signal, the motor constants, the calculation period, and the motor resistance and outputs it to the motor control device.

8. The simulation system according to claim 7, further comprising an operating device for transmitting the fault switching signal to the real-time simulation device.

9. The simulation system according to claim 7 or 8, characterized in that the motor control device outputs the switching signal corresponding to the current signal to the real-time simulation device.

10. A real-time simulation method used for verifying the control system of a motor control device that controls a motor driven by an inverter, comprising: an inverter simulation step in which a real-time simulation device simulates the operation of the inverter and calculates a voltage signal, which is a signal including the voltage value of the voltage output from the inverter, based on a switching signal output from the motor control device; a motor simulation step in which the real-time simulation device simulates the operation of the motor in an open fault state based on a fault switching signal indicating the fault state of the motor input from outside the real-time simulation device, and calculates a current signal, which is a signal including the current value of the current flowing through the motor when the motor fails, based on the voltage signal, and outputs it to the motor control device, wherein the motor simulation step comprises: a motor resistance calculation step in which the real-time simulation device calculates a motor resistance, which is the resistance of the motor corresponding to the fault switching signal, based on motor constants representing the characteristics of the motor, the calculation period of the real-time simulation device, and the fault switching signal; and a motor current calculation step in which the real-time simulation device calculates the current signal, which is the resistance of the motor corresponding to the fault switching signal, based on the voltage signal, the motor constants, the calculation period, and the motor resistance, and outputs it to the motor control device.

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