阅读说明：本技术 旋转机的控制装置 (Control device for rotary machine ) 是由 小岛铁也 于 2018-11-16 设计创作，主要内容包括：一种控制具有电感随转子位置而变化的电感交流分量的旋转机(1)的旋转机的控制装置(100),具备：电流检测器(2),检测流过旋转机(1)的旋转机电流；以及速度推定器(3),基于由于电感随转子的位置而变化所产生的感应电压即运动电动势来运算转子的转速的推定值即推定转速。旋转机的控制装置(100)具备：位置运算器(4),使用推定转速来运算转子位置的推定值即推定位置；以及控制器(5),基于旋转机电流和推定位置输出用于驱动旋转机的旋转机电压指令。旋转机的控制装置(100)的特征在于,具备基于旋转机电压指令对旋转机施加电压的电压施加器(6)。(A control device (100) for a rotary machine (1) that controls an inductance alternating-current component having an inductance that varies with the position of a rotor, the control device comprising: a current detector (2) for detecting a rotary machine current flowing through the rotary machine (1); and a speed estimator (3) that calculates an estimated value of the rotational speed of the rotor, i.e., an estimated rotational speed, based on a moving electromotive force, which is an induced voltage generated due to a change in inductance with the position of the rotor. A control device (100) for a rotary machine is provided with: a position calculator (4) for calculating an estimated position, which is an estimated value of the rotor position, using the estimated rotational speed; and a controller (5) that outputs a rotating machine voltage command for driving the rotating machine based on the rotating machine current and the estimated position. A control device (100) for a rotating machine is characterized by being provided with a voltage applicator (6) for applying a voltage to the rotating machine on the basis of a rotating machine voltage command.)

1. A control device for a rotary machine that controls a rotary machine having an inductance AC component, which is an inductance AC component whose inductance varies with a rotor position that is a rotation position of a rotor, the control device comprising:

a current detector that detects a rotary machine current flowing through the rotary machine;

a speed estimator that calculates an estimated rotation speed that is an estimated value of the rotation speed of the rotor, based on a kinetic electromotive force that is an induced voltage generated due to a change in the inductance with a position of the rotor;

a position calculator that calculates an estimated position that is an estimated value of the rotor position using the estimated rotation speed;

a controller that outputs a rotating machine voltage command for driving the rotating machine based on the rotating machine current and the estimated position; and

a voltage applier to apply a voltage to the rotary machine based on the rotary machine voltage command.

2. The control device of a rotary machine according to claim 1,

the induced voltage includes a 1 st voltage component and a 2 nd voltage component, the 1 st voltage component is obtained by multiplying the current value of each phase and the differential value of the current value by the inductance value of each phase, the 2 nd voltage component is obtained by multiplying the differential value of the inductance of each phase by the current value of each phase,

the speed estimator calculates the estimated rotation speed based on the 2 nd voltage component.

3. The control device of a rotary machine according to claim 1 or 2,

the induced voltage includes a voltage obtained by multiplying the rotational speed of the rotary machine, an inductance alternating-current component that varies with the position of the rotor in the inductance, and the rotary machine current.

4. The control device of a rotary machine according to any one of claims 1 to 3,

the induced voltage has two-phase components in a rotating two-phase coordinate based on the rotor position.

5. The control device of a rotary machine according to any one of claims 1 to 4,

the induced voltage is a value obtained by replacing two phases of the rotating machine current in a rotating two-phase coordinate based on the rotor position and multiplying the two phases by an equality coefficient.

6. The control device of a rotary machine according to any one of claims 1 to 5,

the current of the rotating machine on the rotating two-phase coordinate is set as i_s ^dqLet the interlinkage magnetic flux on the rotating two-phase coordinate be psi_s ^dqSetting the rotation speed of the rotorIs omega_rSetting the d-axis inductance to L_sdSetting the q-axis inductance as L_sqWhen the inductance AC component is L represented by the following formula (1)_macWhen the temperature of the water is higher than the set temperature,

the induced voltage includes a 1 st motor electromotive force term (v) represented by the following formula (2)_emf1 ^dqOr a 2 nd motor electromotive force term v represented by the following formula (3)_emf2 ^dq，

[ mathematical formula 1]

[ mathematical formula 2]

[ mathematical formula 3]

7. The control device of a rotary machine according to any one of claims 1 to 6,

the speed estimator estimates a flux of linkage of the rotating machine or the rotating machine current as a state variable using an observer, and estimates the speed of the rotor from an estimation error of the state variable related to the induced voltage.

8. The control device of a rotary machine according to claim 7,

the speed estimator estimates the interlinkage magnetic flux of the rotating machine or the rotating machine current using a two-dimensional observer.

9. The control device of a rotary machine according to claim 7 or 8,

the observer calculates a 1 st induced voltage of the rotary machine proportional to an angular velocity of rotation of the control coordinate and a 2 nd induced voltage proportional to a rotational speed of the rotary machine in a rotational biaxial coordinate of rotation at the angular velocity of rotation of the control coordinate, and estimates the rotational speed of the rotor from the 2 nd induced voltage.

10. The control device of a rotary machine according to any one of claims 7 to 9,

the current of the rotating machine on the rotating two-phase coordinate is set as i_s ^dqLet the interlinkage magnetic flux on the rotating two-phase coordinate be psi_s ^dqSetting the estimated value of the current of the rotating machine on the rotating two-phase coordinate as i_s ^＾dqLet the estimated value of the interlinkage magnetic flux on the rotating two-phase coordinate be psi_s ^＾dqAnd the inductance AC component is L shown in the following formula (4)_macWhen the compound is represented by the formula (4) as L_sdL represented by the following formula (4) is represented by d-axis inductance_sqWhen the q-axis inductance is set as the q-axis inductance,

the speed estimator calculates the rotational speed by an arithmetic expression including the following expression (5) or the following expression (6),

[ mathematical formula 4]

[ math figure 5]

[ mathematical formula 6]

11. The control device of a rotary machine according to any one of claims 1 to 6,

the speed estimator estimates the induced voltage using a disturbance observer.

12. The control device of a rotary machine according to any one of claims 1 to 11,

a position detector for detecting or estimating the rotor position,

the position calculator calculates the rotor position using the estimated rotation speed and the rotor position detected or estimated by the position detector.

13. The control device of a rotary machine according to claim 12,

the position detector estimates a rotor position using the inductance alternating-current component and the interlinkage flux inductance alternating-current component generated by the rotating machine current.

14. The control device of a rotary machine according to claim 13,

the inductance of the rotary machine includes a 1 st component that does not vary with the rotor position and a 2 nd component that varies at a frequency 2 times an electrical angle of the rotor position,

the inductance alternating current component is the 2 nd component.

15. The control device of a rotary machine according to claim 13 or 14,

the position detector estimates the rotor position using a interlinkage flux inductance alternating-current component calculated from the rotating machine voltage command and the rotating machine current, and an interlinkage flux inductance alternating-current component estimated from the rotating machine current, the inductance alternating-current component, and the rotor position.

16. The control device of a rotary machine according to claim 15,

the position detector calculates an estimation error of the rotor position based on a cross product of the calculated value of the ac component of the flux-linkage inductance and the estimated value of the ac component of the flux-linkage inductance.

17. The control device of a rotary machine according to any one of claims 13 to 16,

the position detector calculates or estimates the interlinkage magnetic flux inductance alternating-current component on a rotation coordinate synchronized with rotation of the rotary machine.

18. The control device of a rotary machine according to claim 13 or 14,

the position detector estimates the rotor position based on a calculated value of a flux-inductor ac component calculated based on the rotating machine voltage command and the rotating machine current, an energization angle that is an angular difference between the rotating machine current and the rotor position, and the rotor position.

19. The control device of a rotary machine according to claim 18,

the position detector estimates a flux-inductor alternating-current component vector, which is a vector in the same direction as the flux-inductor alternating-current component, from the energization angle and the rotor position,

the position detector calculates an estimation error of the rotor position based on a cross product of the calculated value of the ac component of the flux-linkage inductance and an estimated value of the estimated ac component vector of the flux-linkage inductance.

Technical Field

The present invention relates to a control device for a rotary machine, which obtains rotor position information without using a position sensor for detecting a rotor position, and controls a rotary machine in which inductance varies depending on the rotor position.

Background

In order to drive the rotary machine while fully utilizing the performance of the rotary machine, positional information of the rotor is required. Therefore, a conventional control device for a rotary machine uses position information detected by a position sensor attached to the rotary machine. However, from the viewpoint of further reducing the manufacturing cost of the rotary machine, downsizing the rotary machine, and improving the reliability of the rotary machine, a technique of driving the rotary machine in a position-sensor-less manner has been developed. The position sensorless control method of the rotary machine includes a method of estimating a rotor position by applying a high-frequency voltage to the rotary machine and a method of estimating a rotor position from an induced voltage, a linkage flux, and the like of the rotary machine without applying the high-frequency voltage. Patent document 1 discloses a method of applying a high-frequency voltage to a rotating machine to estimate a rotor position. In the position sensorless control method disclosed in patent document 1, a rotary machine current when a high-frequency voltage is applied to the rotary machine is detected, and a high-frequency current having the same frequency component as the high-frequency voltage is extracted. Then, the rotor position is estimated using the inductance of the rotating machine, that is, the characteristic that the amplitude of the high-frequency current changes at a frequency 2 times the rotor position electrical angle. In the method using the high-frequency voltage, the rotor position can be accurately estimated even at a low speed of the rotary machine, such as zero speed or a low speed close to zero speed, and torque ripple or noise is generated due to the high-frequency voltage superimposed thereon. In the method using the high-frequency voltage, the high-frequency voltage is superimposed on the voltage applied to the winding of the rotary machine and the current flowing through the winding of the rotary machine, and the maximum torque of the rotary machine or the rotational speed of the rotary machine is reduced in accordance with the voltage.

Patent document 2, patent document 3, and non-patent document 1 disclose methods for estimating the rotor position without applying a high-frequency voltage. In the method of estimating the rotor position without applying the high-frequency voltage, a product of the inductance of the q-axis or d-axis of the rotor and the rotor current is subtracted from the interlinkage flux of the rotary machine, and a component rotating in synchronization with the rotor position in the interlinkage flux (flux linkage) is extracted. This component includes d-axis reference effective Flux (Active Flux) and q-axis reference effective Flux. Here, the direction of the rotor in which the inductance becomes the largest is referred to as the d-axis, and the direction in which the inductance becomes the smallest is referred to as the q-axis. The d-axis is a shaft called a magnetic flux shaft, and the q-axis is a shaft called a torque shaft. The d-axis and the q-axis are in a vector orthogonal relationship with each other. In patent document 2, the rotor position is estimated by estimating the effective magnetic flux by an observer (observer). In patent document 3, the rotor position is estimated using the induced voltage generated by the effective magnetic flux. In non-patent document 1, a component appearing due to a difference in inductance between the d-axis and the q-axis in the voltage of the rotary machine is extracted as an extended induced voltage, and the rotor position is estimated from the phase thereof.

In the position sensorless control methods disclosed in patent documents 2 and 3, when the d-axis component or the q-axis component of the rotating machine current is zero, the effective magnetic flux becomes zero, and the rotor position cannot be estimated. Similarly, in the position sensorless control method disclosed in non-patent document 1, when the d-axis component of the rotating machine current is zero, the extended induced voltage is zero, and the rotor position cannot be estimated. That is, in the position sensorless control methods disclosed in patent documents 2 and 3 and non-patent document 1, the rotor position cannot be estimated depending on the direction of energization of the rotary machine. In the position sensorless control method disclosed in patent document 4, the effective magnetic fluxes of both the d-axis reference and the q-axis reference are weighted by the d-axis component and the q-axis component of the rotating machine current or the interlinkage magnetic flux to estimate the rotor position, thereby solving the problem.

Disclosure of Invention

Technical problem to be solved by the invention

However, the weighting of the d-axis component and the q-axis component based on the rotating machine current or the interlinkage magnetic flux disclosed in patent document 4 has the following technical problem: not only the control design of the rotor position estimation is complicated, but also the control process is complicated. Therefore, the technique disclosed in patent document 4 has a technical problem that a structure for estimating the rotor position becomes complicated.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a control device for a rotary machine, which can estimate a rotor position with a simple configuration regardless of an energization direction of the rotary machine.

Means for solving the problems

In order to solve the above-described technical problem and achieve the object, a control device for a rotary machine according to the present invention is a control device for a rotary machine that controls a rotary machine having an inductance alternating-current component whose inductance varies depending on a rotor position, the control device including: a current detector for detecting a rotary machine current flowing through the rotary machine; and a speed estimator that calculates an estimated rotation speed that is an estimated value of the rotation speed of the rotor based on a kinetic electromotive force that is an induced voltage generated due to a change in inductance with a position of the rotor. A control device for a rotary machine is provided with: a position calculator that calculates an estimated position that is an estimated value of the rotor position using the estimated rotation speed; and a controller that outputs a rotating machine voltage command for driving the rotating machine based on the rotating machine current and the estimated position. The control device for a rotating machine is characterized by comprising a voltage applicator for applying a voltage to the rotating machine based on a rotating machine voltage command.

Effects of the invention

According to the present invention, the following effects are achieved: the rotor position can be estimated with a simple configuration regardless of the direction of energization of the rotary machine.

Drawings

Fig. 1 is a diagram showing a configuration of a control device for a rotary machine according to embodiment 1 of the present invention.

Fig. 2 is a diagram showing a structure of the speed estimator shown in fig. 1.

Fig. 3 is a diagram showing a configuration of the adaptive estimator shown in fig. 2.

Fig. 4 is a diagram showing a configuration of a control device for a rotary machine according to embodiment 2 of the present invention.

Fig. 5 is a diagram showing the structure of the speed estimator shown in fig. 4.

Fig. 6 is a diagram showing a configuration of a control device for a rotary machine according to embodiment 3 of the present invention.

Fig. 7 is a diagram showing a configuration of the position arithmetic unit shown in fig. 6.

Fig. 8 is a diagram showing a configuration of a control device for a rotary machine according to embodiment 4 of the present invention.

Fig. 9 is a diagram showing the structure of the position detector shown in fig. 8.

Fig. 10 is a diagram showing a configuration of the position calculator shown in fig. 8.

Fig. 11 is a diagram showing a configuration of a control device for a rotary machine according to embodiment 5 of the present invention.

Fig. 12 is a diagram showing the structure of the position detector shown in fig. 11.

Fig. 13 is a diagram showing a 1 st hardware configuration example of a control device for a rotating electric machine according to embodiments 1 to 5 of the present invention.

Fig. 14 is a diagram showing a 2 nd hardware configuration example of a control device for a rotating electric machine according to embodiments 1 to 5.

Reference numerals

1: a rotating machine; 2: a current detector; 3. 7: a speed estimator; 4. 9 and 11: a position operator; 5: a controller; 6: a voltage applicator; 8. 10, 12: a position detector; 13: a dedicated processing circuit; 14: a processor; 15: a storage device; 100. 100A, 100B, 100C, 100D: a control device; 301. 302, 505, 1001, 1002, 1201, 1202: a three-to-two phase converter; 303. 304, 506, 1003: a rotating coordinate transformer; 305: an adaptive observer; 306: an adaptive estimator; 501: a current instruction arithmetic unit; 502: a d-q current controller; 503: rotating a coordinate inverse transformer; 504: a two-phase to three-phase converter; 701: a disturbance observer; 702: a speed arithmetic unit; 1004. 1203: an AC component calculator of the AC component of the AC flux inductor; 1005: a cross-link flux inductance alternating current component estimator; 1006. 1206: a rotor position estimation error calculator; 1204: a power-on angle calculator; 1205: a vector estimator of AC component of flux-inductor of interlinkage.

Detailed Description

Hereinafter, a control device for a rotary machine according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiment.