Technical field
[0001]
　The present invention relates to a control system for a permanent magnet synchronous motor, a control system suitable to identify the magnetic pole position, and to a control method.
BACKGROUND
[0002]
　Since the permanent magnet type synchronous motor utilizing a permanent magnet field is obtained a large torque with a small current, electric cars, hybrid cars, a railway vehicle such as a train, an inverter driving home appliances (air conditioners, refrigerators, washing machines) It has been utilized in various fields of the hoisting machine or the like of the elevator system. Then, the permanent magnet type synchronous motor, has come to be driven by sinusoidal current with variable voltage-variable frequency inverter.
[0003]
　To drive such a permanent magnet synchronous motor, because the position information of the rotor is required, the permanent magnet synchronous motor was provided with a magnetic pole position sensor of the rotor. However, the sensor or a costly and also determine the magnetic pole position based on the output value from the sensor, since the error can not be ignored in an actual magnetic pole position, the permanent magnet type synchronous motor is proposed sensorless is (JP 2004-32907).
[0004]
　Controller for a permanent magnet synchronous motor according to this publication, in the permanent magnet type synchronous motor driven by a variable voltage and variable frequency inverters, each independently defines a current flowing to the motor and d-axis and q-axis components a current control means for controlling the, independent of the means for controlling the output voltage of the inverter according to the voltage command of the d-axis and q-axis is an output current control means, the motor of the d-axis in the stop state of the motor create a phase on the rotating coordinates, is applied to the motor by phase and phase of the current current control means described the creation, the magnetic poles of the motor phase value at the time of the q-axis voltage command which is the output of the current control means is maximum by providing the magnetic pole position estimation means for estimating a position, even in the stop state of the permanent magnet synchronous motor is held stationary by a brake, use a sensor having a magnetic pole position information Without Rukoto, it is possible to estimate the magnetic pole position of the motor.
[0005]
　Furthermore, the control system for a synchronous motor according to JP 2015-15831 has no magnetic saliency, or the magnetic saliency is low synchronous motor, the estimation accuracy of the magnetic pole position under the influence of disturbance or the like If There was worse, or stops the control of the electric motor, for the purpose of performing re-estimation of the magnetic pole position so that sufficient accuracy is obtained in controlling the electric motor, tentatively by applying a bias current to the motor converging the first magnetic pole position estimation unit for estimating a magnetic pole position on passing a bias current magnetic pole position θ1 as an initial phase, the feature quantities relating to the phase difference between the bias current phase and the magnetic pole position by convergence calculation to a predetermined value a second magnetic pole position estimation unit for estimating a magnetic pole position θ2 by which, further comprising a drive control unit for controlling the driving of the motor based on the difference between the magnetic pole position θ1 and the magnetic pole position θ2 It is a symptom.
CITATION
Patent Document
[0006]
Patent Document 1: JP 2004-32907 JP
Patent Document 2: JP 2015-15831 JP
Summary of the Invention
Problems that the Invention is to Solve
[0007]
　Control apparatus of Patent Document 1, the maximum value of the phase of the q-axis voltage is estimated magnetic pole position by utilizing the fact that becomes S-pole phase of the motor, which is a permanent magnet synchronous motor of salient pole type although it is effective in the non-salient pole permanent magnet synchronous motor, the first place since it is difficult to grasp the maximum value of q-axis voltage, the estimation of the magnetic pole position is not easy.
[0008]
　On the other hand, the control apparatus of Patent Document 2, although that allows the estimation of the magnetic pole position for the non-salient pole type permanent magnet synchronous motor, the processing for the estimation becomes considerably complicated, the magnetic pole position quickly and reliably there is a problem that it is difficult to estimate.
[0009]
　Accordingly, the present invention, even while using the q-axis voltage, to be able to estimate the magnetic pole position of the permanent magnet type synchronous motor of the non-salient pole type permanent magnet synchronous motor control system, and a control method thereof an object of the present invention is to provide.
Means for Solving the Problems
[0010]
　To achieve the above object, the present invention is based on the d-axis voltage and the q-axis voltage, a controller for controlling the inverter of variable voltage and variable frequency, the controller, the d-axis voltage command and the q-axis voltage generates a command, the q-axis voltage removes the DC component from the command, the based on the q-axis voltage rejection signal of the DC component from the command to estimate the magnetic pole position of the permanent magnet synchronous motor, and the estimated magnetic pole position using the driving the permanent magnet synchronous motor by controlling the inverter, a permanent magnet synchronous motor control system.
Effect of the invention
[0011]
　According to the present invention, even while using the q-axis voltage, it becomes possible to estimate the magnetic pole position of the permanent magnet type synchronous motor of the non-salient pole type.
BRIEF DESCRIPTION OF THE DRAWINGS
[0012]
[1] Figure 1 is a permanent magnet synchronous motor driving system, a block diagram of a permanent magnet type synchronous motor system and a control system for a permanent magnet synchronous motor (embodiment of the present invention).
FIG. 2 is a block diagram showing a detailed configuration of the magnetic pole position estimation module of the permanent magnet type synchronous motor.
FIG. 3 is a current vector diagram when the constraining the rotation axis of the permanent magnet type synchronous motor.
[4] FIG. 4 is a vector diagram of the voltage at that time.
FIG. 5 is a waveform diagram for explaining the principle of estimating the magnetic pole position of the permanent magnet type synchronous motor of the salient pole type.
FIG. 6 is a waveform diagram for explaining the principle of estimating the magnetic pole position of the permanent magnet type synchronous motor of the non-salient pole type.
FIG. 7 is, q-axis voltage command Vq * including the operation of estimating the magnetic pole position from a flow chart of the operation of the control system.
DESCRIPTION OF THE INVENTION
[0013]
　Hereinafter, an embodiment of the present invention with reference to the drawings. Figure 1 illustrates a drive system 100 of the permanent magnet synchronous motor 3, the control system 110 of the permanent magnet synchronous motor 3, a block diagram of a permanent magnet synchronous motor system which includes a. In Figure 1, a DC voltage of the DC power supply 1 of the drive system 100 is converted into AC of a variable voltage and variable frequency by an inverter 2. The inverter 2 supplies the output to the permanent magnet synchronous motor 3 causes the motor 3 variable speed driven. In the permanent magnet type synchronous motor 3, a magnetic field in the same direction is the d-axis, a direction perpendicular to the magnetic field is the q-axis.
[0014]
　The "permanent magnet type synchronous motor", non-salient pole permanent magnet synchronous motor and, include, but are salient pole type permanent magnet synchronous motor, in order to arouse the effects of the present invention, the non-salient pole it is preferably a permanent magnet synchronous motor. The term "non-salient type", no magnetic saliency, or, less magnetic saliency, refers to.
[0015]
　The output shaft of the motor 3, an encoder 4, a brake device 5, the load device 6 is directly connected. Encoder 4, the rotation angle of the motor 3 generates pulse signals ΦA for detecting the rotational direction and rotational speed, and .PHI.B, the origin signal ΦZ representing the reference position in one rotation of the motor 3. Brake device 5 is provided in order to still hold the torque from the load device 6.
[0016]
　Control system 110, in addition to the case where the load is directly connected to the output shaft is stopped the motor 3 in the unloaded state, the load torque is generated in the output shaft, a stationary motor 3 by a brake 5 attached to the output shaft If is held, while controlling the release of the brake 5, the speed command (omega speed command module 7 * based on),
[0017]
　Speed command module 7, command ω of the rotational speed of the motor 3 * and outputs to the speed control module 9. Speed calculation module 8, a pulse signal .PHI.A output from the encoder 4, the phase relationship of .PHI.B, determines a positive rotation or negative rotation of the motor 3, and calculates the rotation speed of the motor 3 from the pulse width of .PHI.A, This, the speed control module 9, as the speed output signal omega, and outputs.
[0018]
　Speed control module 9, the speed command omega * based on the deviation between the velocity output signal omega torque command signal T of the motor 3 * and outputs a q-axis current command module 10. q-axis current command module 10 is a torque command signal T * q-axis current command Iq corresponding to * and calculates and outputs it to the current control module 11. q-axis current command Iq * is a command for setting a component orthogonal to the magnetic field direction of the armature current vector of the permanent magnet synchronous motor 3 (N-pole direction of the motor magnets).
[0019]
　d-axis current command module 12, the d-axis current command Id which is a command of the magnetic field in the same direction component of the armature current vector of the motor 3 * calculates and outputs it to the current control module 11. Permanent magnet synchronous motor 3, since the magnetic field relative to the armature is established at all times by the permanent magnet, because the d-axis current good zero, the d-axis current command module 12 also typically such that d-axis current becomes zero d-axis current command Id to * to set.
[0020]
　uvw-dq coordinate transformation module 13, the d axis phase command signal [theta] d * based on the output current iu of the inverter 2 that the current detection module 14 detects, iv, iw to the d-axis current value Id, and, q-axis current value It is converted to iq, and outputs to the current control module 11.
[0021]
　The current control module 11, the d-axis current value Id is the d-axis current command Id * to become as the d-axis DC voltage command Vd * calculated and further, the q-axis current value Iq is a q-axis current command Iq * so that the q-axis current voltage command Vq to * and calculates and outputs the dq-uvw coordinate transformation module 19.
[0022]
　In normal operation of the motor 3, the signal selector switch 15, because it contains the contact of a side, the d-axis phase command signal [theta] d * will d axis phase signal [theta] d from the summing module 16.
[0023]
　Magnetic pole position calculation module 17, a pulse signal ΦA output from the encoder 4, based on the phase relationship of .PHI.B, forward of the motor 3, or operates as an up counter / down counter to determine the reverse rotation, the counter value is output to the summing module 16 as a phase signal θz from the origin signal ΦZ encoder 4. The magnetic pole position calculation module 17 resets the time counter value when an origin signal ΦZ is input to zero, so that no errors at the time of counting.
[0024]
　Summing module 16, and the phase signal θz from the magnetic pole position calculation module 17 adds the offset value θoffset outputted from the magnetic pole position estimation module 18, and creates a d axis phase signal θd of the motor 3, the signal switching and outputs it to the switch 15.
[0025]
　dq-uvw coordinate transformation module 19, the phase command signal θd of d-axis pole * based on, output from the current control module 11, the d-axis DC voltage command Vd * , and, q-axis DC voltage command Vq * 3 phase AC voltage command Vu * , Vv * , Vw * to convert to. That, dq-uvw coordinate transformation module 19, functions as a reverse conversion module uvw-dq coordinate transformation module 13.
[0026]
　PWM pulse generating module 20, the output signal of the dq-uvw coordinate transformation module Vu 19 * , Vv * , Vw * according to, for outputting a PWM pulse signal for driving the inverter 2. The inverter 2, based on the PWM pulse signal from the PWM pulse generator module 20 performs PWM control, the output voltage to the motor 3, by controlling the output frequency, to control the rotational speed of the motor 3.
[0027]
　"Module" and is a component for exhibiting a predetermined function, software resources, and / or, in hardware, thus being achieved. The "module", "unit", "vessel", "means", "section", "unit", "system", or may be reworded "element" or the like.
[0028]
　In Figure 1, for example, the speed command module 7, speed calculation module 8, the speed control module 9, q-axis current command module 10, the current control module 11, d-axis current command module 12, uvw-dq coordinate transformation module 13, d pole position calculation module 17, the magnetic pole position estimation module 18, and, dq-uvw coordinate transformation module 19, the microcomputer hardware (controllers, memory), software executed by the hardware configured by a program. The controller, for example, CPU, or a MPU. Software and various types of data is recorded in the memory. The system shown in Figure 1, addition to being controlled by a single controller may be controlled by a cooperative plurality of controllers.
[0029]
　Figure 2 is a block diagram illustrating a detailed structure of the magnetic pole position estimation module 18 of the motor 3. Magnetic pole position estimation module 18, the current control module 11 is output from the q-axis voltage command Vq * based on, q-axis voltage command Vq of the current control module 11 * and the DC component removing module 21 removes the DC component, the DC components removed q-axis voltage command Vq * and the integration module 22 integrates the, from the integral value, the maximum value becomes the time of the phase: detecting θtest (max), determining, selecting, determining, or the like to identify , a maximum value detection module 23 which stores the minimum value becomes the time of the phase: Shitatest detected equal to (min), the minimum value detection module 24 to record this, the maximum value phase: minimum θtest (max) value phase: the average value of the Shitatest (min) (Shitatest (Vq * seeking max), and a mean value detection module 25 which stores the
[0030]
　Then, the d-axis current command control module 28 controls the d-axis current command module 12, the q-axis current command control module 29 controls the q axis current command module 10. Estimating the phase signal generation module 26, the signal switching switch 15 outputs the estimation phase signal Shitatest. Furthermore, the d-axis phase calculation module 27, the average value (Shitatest (Vq * to calculate the d-axis phase from max), and outputs the summing module 16 so as Shitaoffset.
[0031]
　Figure 3 is a salient pole type, the axis of rotation of the permanent magnet synchronous motor 3 of the non-salient pole is a vector diagram of current when detained in the brake device 5, 4 d-axis DC voltage command Vd * , and , q-axis DC voltage command Vq * is a voltage vector diagram of. In FIGS. 3 and 4, Id is a d-axis component of the armature current, Iq is a q-axis component of the armature current, Id * is the d-axis current command, Iq * is the q-axis current command, I 1 is the motor applied current d-axis component of the size, Vd armature voltage, Vq is a q-axis component of the armature voltage, Vd * is the d-axis voltage command, Vq * is the q-axis voltage command, omega 1 * is the angular frequency command (= 2πf1) and, [delta] represents the angle of difference between the d-axis phase and the motor d axis phase.
[0032]
　Motor d-axis voltage Vd and the motor q-axis voltage Vq, d * axis voltage Vd * , and q * axis voltage Vq * and, the relationship becomes as vector diagram shown in FIG. The [delta] d * angle difference between the axial phase and the motor d axis phase, the armature resistance of one phase of Ra, Ld and the armature self-inductance of the d-axis, when the armature self-inductance of the q-axis Lq the motor d-axis voltage Vd .omega.1 * d-axis voltage Vd is a coordinate that rotates in * and the motor q-axis voltage Vq .omega.1 * is a coordinate that rotates in a q-axis voltage Vq * is equation 1, and, equation 2 shown are as.
[0033]
[Number 1]

[0034]
[Number 2]

[0035]
　Figure 5 is a waveform diagram for explaining the principle of estimating the magnetic pole position of the permanent magnet synchronous motor 3 of the salient pole type. Magnetic pole position estimation module 18, a magnetic pole position of the permanent magnet synchronous motor 3 of the salient pole type, with the braking device 5 is restraining the motor shaft, the phase of the independent rotation coordinate d-axis of the motor 3 current q-axis voltage command when it is applied Vq * (waveform 26) is estimated phase value becomes the maximum value (27). That is, in Equation 2, q-axis voltage command Vq * by paying attention to the point that becomes the maximum value, the phase [theta] d * and the use to be the S-pole phase of the motor 3, the magnetic pole position estimation module 18, q-axis voltage command Vq * to Pθ when reaches the maximum value is estimated as the phase of the S pole.
[0036]
　This approach is effective when the permanent magnet synchronous motor 3 of the salient pole type, the permanent magnet synchronous motor 3 non-salient type, q-axis voltage command Vq * pole position for the maximum subtle of accuracy of the estimation is lowered.
[0037]
　Figure 6 is a waveform diagram for explaining the principle of estimating the magnetic pole position in case the permanent magnet synchronous motor 3 is a non-salient pole type motor, Fig. 7, q-axis voltage command Vq * pole position from the the comprises the operation of estimating a flow chart for explaining the operation of the control system 110.
[0038]
　As shown in FIG. 6, the non-salient pole permanent magnet synchronous motor 3, since there is no reactance component, q-axis voltage command Vq * peak area 30 of the waveform 29, the salient pole type permanent magnet synchronous motor 3 , q-axis voltage command Vq * in comparison to the peak 27 of the waveform 26, slowed almost flat, it is difficult to identify the maximum value. On the other hand, the magnetic pole position estimation module 18, q-axis voltage command Vq * by using the waveform is substantially rectangular waveform, as follows, and estimates the magnetic pole position.
[0039]
　Magnetic pole position estimation module 18, the estimated, begins when you are in a loss relationship (θoffset) position of the origin signal ΦZ shown in FIG. 1 and (θz = 0 °) and the magnetic pole position [theta] d. For example, during the time of product manufacture and encoder exchange, because θoffset is canceled, the control system 110, in response to the estimated start command, starts the processing from step S1 in FIG. 7 to step S7.
[0040]
　In step S1, the signal selector switch 15, the contacts, from a point to be selected during normal operation of the motor 3 is switched to point b during the estimation process. Next, the magnetic pole position estimation module 18, a q-axis current command module 10, and a d-axis current command module 12, the q-axis current command Iq * to the "0", the d-axis current command Id * is "100% ( corresponding to the rated current of the permanent magnet synchronous motor 3) "is controlled so as to output.
[0041]
　Further, the magnetic pole position estimation module 18, the signal switching switch 15, and outputs the estimation phase signal Shitatest, set current (q-axis current, d-axis current) to the current control flow in the permanent magnet synchronous motor 3 to operate the module 11 and the like. Here, estimation phase signal θtest the angular frequency setting value when magnetic pole estimation as (ωtest), created by the magnetic pole position estimation module 18.
[0042]
　Waveform 29 of FIG. 6, q-axis voltage command Vq * a shape like a crushed peak portion. Therefore, the magnetic pole position estimation module 18, the DC component removal module 21 shown in FIG. 2, in step S2, q-axis voltage command Vq of the current control module 11 * from the DC component (.omega.1 * · Ld · I1 + (1/2 ) · .omega.1 * · (Lq-Ld) · I1: generating a waveform 30 obtained by removing the reference to equation 2).
[0043]
　Magnetic pole position estimation module 18 utilizes the waveform 30, and estimates the magnetic pole position. For example, according to the waveform 30, q-axis voltage command Vq * for zero cross point 30A with, 30B are exposed, the magnetic pole position estimation module 18, identifying the median 34 of the two zero-cross point as S-pole phase can.
[0044]
　On the other hand, the integration module 22 (FIG. 2) is, in step S3, q-axis voltage command Vq * by integrating the waveform 30 obtained by removing the DC component from generating a triangular wave 31 shown in FIG.
[0045]
　Then, the maximum value detection module 23 (FIG. 2) in step S4, the integral value is a triangular wave 31 identifies θtest (max) 32 at which the maximum value and stored. Furthermore, the minimum value detection module 24 identifies the θtest (min) 33 at which the integral value becomes the minimum value, and stored.
[0046]
　Then, the average value detection module 25 (FIG. 2) in step S5, the average value of the maximum value θtest (max) 32 and minimum value Shitatest (min) 33 Shitatest (Vq * max) 34 (median, and saying is calculated also be), to stop the current application and stores it.
[0047]
　Next, the magnetic pole position estimation module 18, in step S6, θtest (Vq stored in step S5 * is calculated based from the max) 34 the d-axis phase [theta] d ^ in Equation 3.
[0048]
[Number 3]

[0049]
　In this way, the average value Shitatest (Vq * estimated as the phase of the max) 34 S pole (270 °), identifying, determining, or, to be determined, etc., the magnetic pole position estimation module 18, a non-salient pole even for a permanent magnet synchronous motor 3, q-axis voltage command Vq * based on, it is possible to estimate the magnetic pole position.
[0050]
　Next, the control system 110 proceeds to the operation for obtaining the relationship between the origin signal ΦZ and the magnetic pole position of the encoder 4. In step S7, the magnetic pole position estimation module 18, if set to [theta] d ^ as Shitaoffset, and outputs the summing module 16. Magnetic pole position calculation module 17 is cleared to zero phase θz origin signal .phi.z.
[0051]
　In step S8, the signal switching module (switch) 15 is switched to a point contact from point b. Drive system 100, the normal running operation of the permanent magnet synchronous motor 3, to release the brake 5, rotating the permanent magnet synchronous motor 3. Magnetic pole position calculation module 17 waits for the origin signal ΦZ from the encoder 4 is generated.
[0052]
　In step S9, the magnetic pole position calculation module 17 stores the phase [theta] z of the time origin signal ΦZ generated as [theta] z ', stops the permanent magnet synchronous motor 3.
[0053]
　Then, the magnetic pole position estimation module 18 in step S10 sets 'the sum of the d axis phase θd ^ θoffset (= θd ^ + θz' reference signal generation when the phase [theta] z as) to the summing module 16. Above the ends to the flow chart in FIG.
[0054]
　As described above, according to the system described in Figure 1, for the permanent magnet synchronous motor 3 non-salient type, q-axis voltage command Vq * easily from and to estimate the magnetic pole position with high precision can.
[0055]
　The average value of the maximum value Shitatest (max) and the minimum value Shitatest (min) Shitatest (Vq * While max) were estimated as the phase of the S pole, the maximum value from the 90-degree delayed phase, or from the minimum value 90 the time advanced phase may be estimated as the phase of the S pole.
[0056]
　The present invention is not limited to the embodiments described above, it may include various modifications.
DESCRIPTION OF SYMBOLS
[0057]
　2 inverter
　3 permanent magnet synchronous motor
　11 current control module
　18 pole position estimation module
　21 the DC component removal module
　22 integrating module
　23 maximum value detection module
　24 minimum detection module
　25 average detection module

claims
[Requested item 1]
　on the basis of the d-axis voltage and the q-axis voltage, a controller for controlling the inverter of variable voltage and variable frequency,
　wherein the controller
　generates a d-axis voltage command and the q-axis voltage command,
　from the q-axis voltage command removing the DC component,
　the based on the q-axis voltage rejection signal of the DC component from the command to estimate the magnetic pole position of the permanent magnet type synchronous motor,
　by controlling the inverter by using the estimated magnetic pole position wherein driving the permanent magnet synchronous motor,
　a permanent magnet synchronous motor control system.
[Requested item 2]
　The controller is
　the signal using, to determine the phase of S pole,
　claim 1 permanent magnet synchronous motor control system according.
[Requested item 3]
　The controller,
　the signal integrating,
　by using the integral value, determines the phase of the S pole,
　claim 2 permanent magnet synchronous motor control system according.
[Requested item 4]
　Said controller
　wherein the maximum value and the minimum value of the integral values determined,
　to determine a mean value between the maximum value and the minimum value as the phase of the S pole,
　claim 3 permanent magnet synchronous motor control according system.
[Requested item 5]
　The controller,
　wherein the the maximum value 90 ° phase delayed determined as the phase of the S pole,
　claim 4 permanent magnet synchronous motor control system according.
[Requested item 6]
　It said controller
　determining said minimum value from 90 degrees phase leading the phase of the S pole,
　claim 4 permanent magnet synchronous motor control system according.
[Requested item 7]
　on the basis of the d-axis voltage and the q-axis voltage, a controller for controlling the inverter of variable voltage and variable frequency is,
　the steps of generating a d-axis voltage command and the q-axis voltage command,
　a DC component from the q-axis voltage command removing,
　on the basis of the removed signal a DC component from the q-axis voltage command, a step of estimating a magnetic pole position of the permanent magnet synchronous motor, and,
　controlling said inverter by using the estimated magnetic pole position wherein the step of driving the permanent magnet synchronous motor, by
　the execution,
　control method of a permanent magnet synchronous motor.