Synchronous motor control device
阅读说明:本技术 同步电动机控制装置 (Synchronous motor control device ) 是由 高野裕理 大桥敬典 高田英人 梁田哲男 藤泽劝也 于 2019-07-03 设计创作,主要内容包括:本发明提供一种同步电动机控制装置(10),其电流限值生成处理部(27)基于同步电动机(50)的速度检测值,表示d轴电压的限值的d轴电压限值(vd_lim_in),和表示用于导出q轴电流指令值的运算乘数值的电流指令限值运算增益(iq_lim_ca1_gain),导出限制同步电动机(50)的电压饱和的q轴电流指令值限值(iq_lim_out)。电流指令限制处理部(28)基于电流限值生成处理部(27)导出的q轴电流指令值限值(iq_lim_out),限制q轴电流指令值。由此,即使在同步电动机控制装置的电源电压降低的情况下,也不会在高速域中过度降低输出转矩,能够抑制同步电动机的急剧的输出转矩降低。(A current limit generation processing unit (27) of a synchronous motor control device (10) derives a q-axis current command value limit (iq _ lim _ out) that limits voltage saturation of a synchronous motor (50), based on a speed detection value of the synchronous motor (50), a d-axis voltage limit (vd _ lim _ in) that indicates a limit value of a d-axis voltage, and a current command limit calculation gain (iq _ lim _ ca1_ gain) that indicates a calculation multiplier value for deriving a q-axis current command value. A current command limiting processing unit (28) limits the q-axis current command value on the basis of the q-axis current command value limit (iq _ lim _ out) derived by the current limit value generation processing unit (27). Thus, even when the power supply voltage of the synchronous motor control device is reduced, the output torque is not excessively reduced in the high-speed range, and a sudden output torque reduction of the synchronous motor can be suppressed.)
1. A synchronous motor control device is characterized by comprising:
an inverter circuit to which a direct-current voltage from a converter circuit that outputs the direct-current voltage using a three-phase power supply as an input power supply is applied and that applies a three-phase voltage command to a synchronous motor;
a speed control unit that calculates a q-axis current command value based on a difference between a speed command value that sets the rotational speed of the synchronous motor and a speed detection value that indicates the rotational speed of the synchronous motor;
a current limit value generation processing unit that outputs a current command limit value for limiting voltage saturation of the synchronous motor;
a current command limit processing unit that generates a q-axis current limit command value for suppressing the q-axis current command value calculated by the speed control unit, based on the current command limit value output from the current limit value generation processing unit;
a d-axis current command generating unit that generates a d-axis current command value at an arbitrary magnetomotive force phase difference angle based on the q-axis current limit command value generated by the current command limit processing unit;
a q-axis current control unit that generates a q-axis voltage command value based on the q-axis current limit command value generated by the current command limit processing unit;
a d-axis current control unit that generates a d-axis voltage command value based on the d-axis current command value generated by the d-axis current command generation unit; and
a three-phase conversion unit that converts the q-axis voltage command value generated by the q-axis current control unit and the d-axis voltage command value generated by the d-axis current control unit into three-phase command values,
the current limit generation processing unit derives the current command limit corresponding to a load variation of the synchronous motor using parameters including: a speed detection value of the synchronous motor; a d-axis voltage limit value representing a limit value of the d-axis voltage; and a current command limit calculation gain representing a calculation multiplier value for deriving a q-axis current command limit,
the current command limitation processing unit limits the q-axis current command value based on the current command limit derived by the current limit generation processing unit.
2. The synchronous motor control device according to claim 1, characterized in that:
the d-axis voltage limit and the current command limit calculation gain input to the current limit generation processing unit are input from the outside.
3. A synchronous motor control device is characterized by comprising:
an inverter circuit to which a direct-current voltage from a converter circuit that outputs the direct-current voltage using a three-phase power supply as an input power supply is applied and that applies a three-phase voltage command to a synchronous motor;
a speed control unit that calculates a q-axis current command value based on a difference between a speed command value that sets a rotational speed of the synchronous motor and a speed detection value that indicates a speed of the synchronous motor;
a current limit value generation processing unit that outputs a current command limit value for suppressing voltage saturation of the synchronous motor;
a current command limit processing unit that generates a q-axis current limit command value for limiting the q-axis current command value calculated by the speed control unit, based on the current command limit value output from the current limit value generation processing unit;
a d-axis current command generating unit that generates a d-axis current command value at an arbitrary magnetomotive force phase difference angle based on the q-axis current limit command value generated by the current command limit processing unit;
a q-axis current control unit that generates a q-axis voltage command value based on the q-axis current limit command value generated by the current command limit processing unit;
a d-axis current control unit that generates a d-axis voltage command value based on the d-axis current command value generated by the d-axis current command generation unit; and
a three-phase conversion unit that converts the q-axis voltage command value generated by the q-axis current control unit and the d-axis voltage command value generated by the d-axis current control unit into three-phase command values,
the current limit value generation processing unit derives the current command limit value corresponding to a change in the dc voltage supplied to the inverter circuit using parameters including: a speed detection value of the synchronous motor; the dc voltage supplied to the inverter circuit; a d-axis voltage limit calculation gain representing a calculation multiplier for deriving a d-axis voltage limit; a d-axis voltage limit calculation offset representing an offset value for deriving a d-axis voltage limit; and a q-axis current command value limit calculation gain representing a calculation multiplier value for deriving a q-axis current command limit,
the current command limitation processing unit limits the q-axis current command value based on the current command limit derived by the current limit generation processing unit.
4. The synchronous motor control device according to claim 3, characterized in that:
the d-axis voltage limit calculation gain, the d-axis voltage limit calculation offset, and the q-axis current command value limit calculation gain input to the current limit generation processing unit are input from the outside.
5. A synchronous motor control device is characterized by comprising:
an inverter circuit to which a direct-current voltage from a converter circuit that outputs the direct-current voltage using a three-phase power supply as an input power supply is applied and that applies a three-phase voltage command to a synchronous motor;
a speed control unit that calculates a q-axis current command value based on a difference between a speed command value that sets a rotational speed of the synchronous motor and a speed detection value that indicates a speed of the synchronous motor;
a current limit value generation processing unit that outputs a current command limit value for suppressing voltage saturation of the synchronous motor;
a current command limit processing unit that generates a q-axis current limit command value for limiting the q-axis current command value calculated by the speed control unit, based on the current command limit value output from the current limit value generation processing unit;
a d-axis current command generating unit that generates a d-axis current command value at an arbitrary magnetomotive force phase difference angle based on the q-axis current limit command value generated by the current command limit processing unit;
a q-axis current control unit that generates a q-axis voltage command value based on the q-axis current limit command value generated by the current command limit processing unit;
a d-axis current control unit that generates a d-axis voltage command value based on the d-axis current command value generated by the d-axis current command generation unit; and
a three-phase conversion unit that converts the q-axis voltage command value generated by the q-axis current control unit and the d-axis voltage command value generated by the d-axis current control unit into three-phase command values,
the current limit value generation processing unit derives the current command limit value corresponding to a change in the dc voltage supplied to the inverter circuit and a rotation speed of the synchronous motor using parameters including: a speed detection value of the synchronous motor; the dc voltage supplied to the inverter circuit; a d-axis voltage limit calculation gain representing a calculation multiplier for deriving a d-axis voltage limit; a d-axis voltage limit calculation offset representing an offset value for deriving a d-axis voltage limit; a q-axis current command value limit value indicating a maximum value of the limited q-axis current command values; a q-axis current command value limit value switching speed calculation gain indicating a calculation multiplier value for switching the q-axis current command value; and a q-axis current command limit switching speed calculation offset representing an offset value for deriving a switching speed of the q-axis current command,
the current command limitation processing unit limits the q-axis current command value based on the current command limit derived by the current limit generation processing unit.
6. The synchronous motor control device according to claim 5, characterized in that:
the d-axis voltage limit calculation gain, the d-axis voltage limit calculation offset, the q-axis current command value limit calculation gain, the q-axis current command value limit switching speed calculation gain, and the q-axis current command value limit switching speed calculation offset, which are input to the current limit generation processing unit, are input from the outside.
7. The synchronous motor control device according to claim 6, characterized in that:
the current limit value generation processing unit includes a first order lag filter that performs a first order lag filtering process on the current command limit value.
Technical Field
The present invention relates to a synchronous motor control device, and more particularly to a technique capable of effectively reducing a torque drop of a synchronous motor due to a saturation voltage.
Background
As a method for controlling a synchronous motor, for example, vector control, current control, or the like is known. Vector control is to independently adjust and control currents flowing to a d-axis oriented in a magnetic pole direction of a motor and a q-axis orthogonal thereto. The current control is, for example, a control of a current by a Proportional Integral (PI) method.
In a synchronous motor using reluctance torque, inductance varies with respect to a current applied by a synchronous motor control device. Therefore, the drive voltage has a nonlinear characteristic with respect to the speed of the synchronous motor.
In this case, when the power supply voltage of the synchronous motor control device decreases, the output torque of the synchronous motor abruptly decreases due to voltage saturation. Further, when the voltage saturation occurs, the current control characteristics of the synchronous motor deteriorate, and there is a problem that a rapid decrease in the rotation speed or torque ripple occurs.
As a technique for solving such a decrease in output torque of the synchronous motor, the following techniques are known: even when the power supply voltage of the synchronous motor control device is reduced, the current command value is subjected to current limiting processing so that voltage saturation does not occur with the power supply voltage (see, for example, patent document 1).
Disclosure of Invention
Technical problem to be solved by the invention
In the technique of patent document 1, for example, when a current limiting process is performed on a current command value so that voltage saturation does not occur, a current limit value is derived as a linear function with respect to the speed of the synchronous motor.
However, the relationship between the power supply voltage and the current limit that becomes the voltage saturation limit is not a linear function. Therefore, although voltage saturation does not occur by setting the current limit value by a linear function, the current command value is limited to a value more than necessary by the speed of the synchronous motor, and as a result, the output torque may be limited.
An object of the present invention is to provide a technique for suppressing a rapid decrease in output torque of a synchronous motor without excessively decreasing the output torque in a high-speed range even when the power supply voltage of a synchronous motor control device is decreased.
The above and other objects and novel features of the present invention will be apparent from the description of the present specification and the accompanying drawings.
Means for solving the problems
The outline of a representative one of the embodiments disclosed in the present application will be briefly described as follows.
That is, a typical synchronous motor control device includes an inverter circuit, a speed control unit, a current limit value generation processing unit, a current command limitation processing unit, a d-axis current command generation unit, a q-axis current control unit, a d-axis current control unit, and a three-phase conversion unit.
The inverter circuit generates a three-phase voltage command from the DC voltage, and applies the generated three-phase voltage command to the synchronous motor. The speed control unit calculates a q-axis current command value based on a difference between a speed command value for setting the rotational speed of the synchronous motor and a speed detection value indicating the rotational speed of the synchronous motor.
The current limit value generation processing unit outputs a current command limit value for suppressing voltage saturation of the synchronous motor. The current command limiting processing unit generates a q-axis current limiting command value for limiting the q-axis current command value calculated by the speed control unit, based on the current command limit value output from the current limit value generating processing unit.
The d-axis current command generating unit generates a d-axis current command value at an arbitrary magnetomotive force phase difference angle based on the q-axis current limit command value generated by the current command limit processing unit. The q-axis current control unit generates a q-axis voltage command value based on the q-axis current limit command value generated by the current command limit processing unit.
The d-axis current control unit generates a d-axis voltage command value based on the d-axis current command value generated by the d-axis current command generation unit. The three-phase conversion unit converts the q-axis voltage command value generated by the q-axis current control unit and the d-axis voltage command value generated by the d-axis current control unit into three-phase command values.
The current limit value generation processing unit derives a current command limit value corresponding to a load change of the synchronous motor, using as parameters a speed detection value of the synchronous motor, a d-axis voltage limit value indicating a limit value of a d-axis voltage, and a current command limit value calculation gain indicating a calculation multiplier value for deriving a q-axis current command limit value. The current command limiting processing unit limits the q-axis current command value based on the current command limit derived by the current limit generation processing unit.
Effects of the invention
The effects obtained by typical ones of the technical solutions disclosed in the present application will be briefly described below.
(1) Abrupt torque fluctuations of the synchronous motor can be reduced.
(2) The operation of the synchronous motor can be stabilized by the above (1).
Drawings
Fig. 1 is a block diagram showing an example of the configuration of a synchronous motor control device according to embodiment 1.
Fig. 2 is an explanatory diagram showing an example of torque-speed characteristics of the synchronous motor controlled by the synchronous motor control device of fig. 1.
Fig. 3 is an explanatory diagram showing voltage vectors of the d-axis voltage vd and the q-axis voltage vq of the synchronous motor control device of fig. 1.
Fig. 4 is an explanatory diagram showing an example of torque-speed characteristics of the synchronous motor.
Fig. 5 is an explanatory diagram for explaining a voltage saturation phenomenon.
Fig. 6 is a block diagram showing an example of the structure of a synchronous motor control device according to
Fig. 7 is an explanatory diagram showing an example of the configuration of a current limit value generation processing unit included in the synchronous motor control device of fig. 6.
Fig. 8 is an explanatory diagram showing an example of torque-speed characteristics of the synchronous motor according to
Fig. 9 is an explanatory diagram of an example of the structure of the synchronous motor control device according to
Fig. 10 is an explanatory diagram showing an example of the configuration of a current limit value generation processing unit included in the synchronous motor control device of fig. 9.
Fig. 11 is an explanatory diagram showing an example of torque-speed characteristics of the synchronous motor according to
Description of reference numerals
10 synchronous motor control device
21 inverter circuit
23 converter circuit
24 speed detection arithmetic unit
25 subtracter
26 speed control part
27 Current Limit Generation processing Unit
28 Current instruction limiting processing section
29 d-axis current command generating unit
30 q-axis current control unit
31 d-axis current control unit
32 three-phase conversion part
35 d-axis voltage limit value generation processing unit
36 q-axis current limit value generation processing unit
37 q-axis current limit value switching speed generation processing unit
38 q-axis current limit value switching processing unit
39 first order lag filter
50 synchronous motor
51 position detector.
Detailed Description
In all the drawings for explaining the embodiments, the same reference numerals are attached to the same members in principle, and the overlapping description thereof will be omitted.
(embodiment mode 1)
The following describes embodiments in detail.
Example of Structure of synchronous Motor control apparatus
Fig. 1 is a block diagram showing an example of the configuration of a synchronous
The synchronous
As shown in fig. 1, the synchronous
Note that, although the example of fig. 1 shows an example in which the
The
The speed
The speed reference value Nref is input from an upper control device provided outside. For example, when the
The
The d-axis voltage limit vd _ lim _ in represents a limit of the d-axis voltage. The operational gain iq _ lim _ cal _ gain represents an operational multiplier value for deriving the q-axis current command value.
These parameters such as the d-axis voltage limit vd _ lim _ in and the calculation gain iq _ lim _ ca1_ gain are set by, for example, a personal computer or the like externally connected to the synchronous
The current command
The d-axis current
The q-axis
The three-
Next, the operation of the current limit value
Fig. 2 is an explanatory diagram showing an example of torque-speed characteristics of the
The chain line of fig. 2 shows the torque-speed characteristic in the design of the
As shown in fig. 2, when the load torque is increased at the maximum speed Nmax of the
However, when the dc voltage Vdc decreases (Vdc < 270V), the
The voltage saturation phenomenon, which is a cause of the speed reduction, will be described with reference to fig. 3.
Fig. 3 is an explanatory diagram showing voltage vectors of the d-axis voltage vd and the q-axis voltage vq of the synchronous
When the maximum value of the d-axis voltage vd is set to the voltage vd _ max and the maximum value of the q-axis (torque component) voltage vq is set to the voltage vq _ max, the maximum value of the voltage that can be output by the
If the length of the voltage vector is within the circle, no voltage saturation occurs. Conversely, when outside the circle, as in voltage vector B, voltage saturation occurs. In order to suppress the voltage saturation, it is necessary to suppress the length of the vector so as to converge within the circle, as in the voltage vector a shown in fig. 3.
Therefore, in the synchronous
The current limit
The current limit
In general, the voltage equation of the synchronous motor expressed in dq coordinates is shown in the following equation (1). In the voltage equation of the synchronous motor of equation (1), the disturbance term is expressed by equation (2), and the disturbance term of the d-axis voltage equation is vod.
In equations (1) and (2), vd is a d-axis voltage, vq is a q-axis voltage, vod is a d-axis interference voltage, voq is a q-axis interference voltage, id is a d-axis current, iq is a q-axis current, R is a winding resistance value of the synchronous motor, Ld is an inductance value of the d-axis of the synchronous motor, Lq is an inductance value of the q-axis of the synchronous motor, ω is an electrical angular velocity of the synchronous motor, and Ψ a is a flux linkage of the synchronous motor.
Next, a method of deriving a specific q-axis current command limit iq _ lim _ out by the current limit
The current limit
Vdlim _ in expression (3) is derived in advance as follows.
iq_lim_out=(vdlim_in×iqlim_cal_gain)/(Nm×(2π/60)×Pp)…(3)
The vod is derived by substituting the current values id and iq applied when the synchronous motor is driven at the highest rotation speed (electrical angular velocity) into the interference term (expression (2)) of the d-axis voltage equation of the synchronous motor, and the vod at this time is vdlim _ in.
According to the equation (2), the value of vod changes with the rotation speed (electrical angular velocity) ω of the synchronous motor, but the equation (3) is simplified by substituting the rotation speed ω as the maximum rotation speed (electrical angular velocity) [ fixed value ] as described above. This reduces the load on the calculation process of the synchronous
The q-axis current command value limit calculation gain iqlim _ cal _ gain is derived in advance by equation (4).
iqlim_cal_gain=1/Lq…(4)
As described above, by performing the limiting process of limiting the current command according to the q-axis current command limit iq _ lim _ out derived by the current limit
Fig. 4 is an explanatory diagram showing an example of torque-speed characteristics of the synchronous motor.
In fig. 4, a torque-speed characteristic C shown by a chain line is a torque-speed characteristic that the synchronous motor can output. The torque-speed characteristic D shown by a broken line is a torque-speed characteristic when the current limit value is derived as a linear function with respect to the speed of the synchronous motor described as a countermeasure against voltage saturation in the technical problem. The torque-speed characteristic E shown by the solid line is a torque-speed characteristic when the q-axis current command limit iq _ lim _ out, which is the limit of the current command derived by the current limit
The q-axis current command limit iq _ lim _ out is derived from the d-axis voltage equation, and therefore can be a value at a critical level at which voltage saturation does not occur. That is, it is possible to suppress a sudden decrease in the output torque of the synchronous motor without excessively decreasing the output torque in the high speed range as in the torque-speed characteristic E shown by the solid line in fig. 4.
This makes it possible to provide the synchronous
(embodiment mode 2)
In embodiment 1, the q-axis current limit value is derived on the premise that the dc voltage Vdc output from the
Fig. 6 is a block diagram showing an example of the configuration of the synchronous
The synchronous
The d-axis voltage limit calculation gain vd _ lim _ cal _ gain represents a calculation multiplier value for deriving the d-axis voltage limit. The d-axis voltage limit calculation offset vd _ lim _ ca1_ ofst represents an offset value for deriving a limit of the d-axis voltage. Since the other connection structures are the same as those in fig. 1, the description thereof is omitted.
The current limit
Next, a relationship between the dc voltage Vdc and the voltage saturation phenomenon will be described.
Fig. 5 is an explanatory diagram for explaining a voltage saturation phenomenon.
Fig. 5 shows voltage vectors of the d-axis voltage vd and the q-axis voltage vq. In fig. 5, when the dc voltage Vdc is a reference voltage, namely, vd _ lim _ in _ Vdc _ base, the maximum values of the d-axis voltage vd and the q-axis voltage vq are the voltage vd _ max1 and the voltage vq _ max1, respectively, and the maximum value of the voltage that can be output by the
At this time, if the length of the voltage vector is within the circle, voltage saturation does not occur. Conversely, as shown by the voltage vector B1, when the length of the voltage vector is in the outer region of the circle (the region shown by hatching in fig. 6), voltage saturation occurs. In order to suppress the voltage saturation, the length of the suppression vector as shown by the voltage vector a1 needs to be such that it converges within the circle.
When the dc voltage Vdc is the lowest voltage value, that is, vd _ lim _ in _ Vdc _ min (< vd _ lim _ in _ Vdc _ base), the maximum values of the d-axis voltage vd and the q-axis voltage vq are voltage vd _ max2 and voltage vq _ max2, respectively, and the maximum value of the voltage that can be output by the
Similarly to the case where the dc voltage Vdc is vd _ lim _ in _ Vdc _ base, in order to suppress the voltage saturation, it is necessary to suppress the length of the vector so as to converge within the circle as indicated by a voltage vector a2 in fig. 5.
As in the magnitude relation of the dc voltage Vdc, the length of the voltage vector is expressed by equation (5).
An | voltage vector A2 | an | voltage vector A1 | … (5)
Therefore, when the dc voltage Vdc varies as described above, it is necessary to suppress the maximum voltage vector length in accordance with the dc voltage Vdc in order to suppress the voltage saturation phenomenon.
Fig. 7 is an explanatory diagram showing an example of the configuration of the current limit value
As shown in fig. 7, the current limit value
Next, the d-axis voltage limit
The speed detection value Nm, the d-axis voltage limit vd _ lim _ cal output from the d-axis voltage limit
Next, the q-axis current limit
The current limit value
The current limit
Next, a method of deriving a specific q-axis current command limit iq _ lim _ out by the current limit
First, the d-axis voltage limit
vd_lim_ca1=Vdc×vd_lim_cal_gain+vd_1im_cal_ofst…(6)
The d-axis voltage limit calculation gain vd _ lim _ cal _ gain is derived in advance by substituting a d-axis voltage limit (reference) vd _ lim _ in _ Vdc _ base, a d-axis voltage limit vd _ lim _ in _ Vdc _ min, a reference voltage Vdc _ base of a direct current voltage, and a lowest voltage Vdc _ min of a direct current voltage by equation (7).
vd_lim_cal_gain=(vd_lim_in_vdc_base-vd_lim_in_vdc_min)/(Vdc_base-Vdc_min)…(7)
The d-axis voltage limit calculation offset amount vd _ lim _ ca1_ ofst is also derived in advance by substituting a d-axis voltage limit calculation gain vd _ lim _ cal _ gain, a d-axis voltage limit vd _ lim _ in _ Vdc _ base, and a reference voltage Vdc _ base of a dc voltage by equation (8).
vd_lim_ca1_ofst=vd_lim_in_vdc_base-(vd_lim_cal_gain×Vdc_base)…(8)
vd _ lim _ in _ Vdc _ base, when the dc voltage Vdc is Vdc _ base, vod is derived by substituting current values id and iq applied when the synchronous motor is driven at the highest rotation speed (electrical angular velocity) into an interference term (expression (2)) of a d-axis voltage equation of the synchronous motor. The vod at this time is set in advance as vd _ lim _ in _ vdc _ base.
Furthermore, vd _ lim _ in _ Vdc _ min is derived by substituting current values id and iq applied when the synchronous motor is driven at the highest rotation speed (electrical angular velocity) into an interference term (expression (2)) of a d-axis voltage equation of the synchronous motor when the dc voltage Vdc is Vdc _ min. The vod at this time is set to vd _ lim _ in _ vdc _ min in advance.
The q-axis current limit
iq_lim_out=(vd_1im_ca1×iqlim_ca1_gain)/(Nm×(2π/60)×Pp)…(9)
The q-axis current command value limit calculation gain iqlim _ ca1_ gain is derived in advance by the above equation (4).
As described above, by performing the current command limiting process in accordance with the q-axis current command limit iq _ lim _ out derived by the current limit
Fig. 8 is an explanatory diagram showing an example of torque-speed characteristics of the synchronous motor according to
In fig. 8, a torque-speed characteristic a3 shown by a broken line is a torque-speed characteristic that can be output by the synchronous motor when the dc voltage Vdc is the d-axis voltage limit value vd _ lim _ in _ Vdc _ base. The torque-speed characteristic a4 shown by the dashed-dotted line represents the torque-speed characteristic that the synchronous motor can output when the dc voltage Vdc is the d-axis voltage limit value vd _ lim _ in _ Vdc _ min.
The torque-speed characteristic C1 shown by the thick solid line is a torque-speed characteristic when the q-axis current command limit iq _ lim _ out, which is a limit of a current command in which voltage saturation does not occur, is used when the dc voltage Vdc is the d-axis voltage limit vd _ lim _ in _ Vdc _ min.
The torque-speed characteristic C2 shown by the thin solid line is a torque-speed characteristic when the q-axis current command limit iq _ lim _ out, which is a limit of a current command in which voltage saturation does not occur, is used when the dc voltage Vdc is the d-axis voltage limit vd _ lim _ in _ Vdc _ base.
As described above, the q-axis current command limit iq _ lim _ out is derived from the d-axis voltage equation, and therefore can be a value at a critical level at which voltage saturation does not occur. That is, as shown in the torque-speed characteristics C1 and C2 of fig. 8, the output torque is not excessively reduced in the high-speed rotation region of the
As can be seen from the above, the synchronous
(embodiment mode 3)
In
Therefore, in the low speed range, the q-axis current limit value becomes smaller than the axis current value that can be applied when the voltage is not saturated, and the output torque may become smaller than the torque that can be output by the
Therefore, in
Fig. 9 is an explanatory diagram showing an example of the configuration of the synchronous
The synchronous
In the synchronous
The current limit
Fig. 10 is an explanatory diagram showing an example of the configuration of the current limit value
As shown in fig. 10, the current limit value
The d-axis voltage limit
The q-axis current limit
The q-axis current limit switching speed
The q-axis current limit
The first
In this way, the current limit value
The current limit
Next, a method of deriving a specific q-axis current command limit iq _ lim _ out by the current limit
First, the d-axis voltage limit
When the q-axis current limit iq _ lim _ ca1 has a negative value, iq _ lim _ ca1 is set to 0. Here, the unit of the speed detection value Nm is assumed to be [ min-1 ]. Pp is the pole pair number of the synchronous motor.
iq_lim_cal=(vd_lim_cal×iqlim_cal_gain)/(Nm×(2π/60)×Pp)…(10)
In equation (7), vd _ lim _ in _ Vdc _ base is derived by substituting current values id and iq applied when the
In addition, vd _ lim _ in _ Vdc _ min in equation (7), when the dc voltage Vdc is Vdc _ min, the vod is derived by substituting the current values id and iq applied when the
The q-axis current command value limit calculation gain iqlim _ cal _ gain is derived in advance from the above equation (4).
The q-axis current limit switching speed
N_chg_lvl=Vdc×N_chg_cal_gain+N_chg_cal_ofst…(11)
The q-axis current command value limit switching speed calculation gain N _ chg _ ca1_ gain is derived in advance using equation (12). Here, N _ chg _ lvl _ base in equation (12) is a switching point of the q-axis current command value limit value of the
N_chg_cal_gain=(N_chg_lvl_base-N_chg_1vl_min)/(Vdc_base-Vdc_min)…(12)
The q-axis current command value limit switching speed calculation offset N _ chg _ ca1_ ofst is derived in advance using equation (13).
N_chg_cal_ofst=N_chg_lv1_base-(N_chg_cal_gain×Vdc_base)…(13)
In addition, in the q-axis current limit
iq _ lim _ set ═ iq _1im _ cal: nm is greater than or equal to N _ chg _ lvl
Iq _ lim _ max: nm < N _ chg _ lvl case … (14)
In order to reduce the switching shock of the
In this way, the current value supplied to the
As described above, by performing the current command limiting process in accordance with the q-axis current command limit iq _1im _ out derived by the current limit
The q-axis current command limit iq _ lim _ out is derived from the d-axis voltage equation, and therefore can be a value at a level at which voltage saturation does not occur. Further, by monitoring the speed of the
Fig. 11 is an explanatory diagram showing an example of torque-speed characteristics of the
In fig. 11, the torque-speed characteristic a3 shown by a broken line is a torque-speed characteristic that can be output by the synchronous motor when the dc voltage Vdc is the d-axis voltage limit value vd _ lim _ in _ Vdc _ base.
The torque-speed characteristic a6 shown by the dashed-dotted line is a torque-speed characteristic that can be output by the synchronous motor when the dc voltage Vdc is the d-axis voltage limit value vd _ lim _ in _ Vdc _ min.
The torque-speed characteristic C3 shown by the thick solid line is a torque-speed characteristic when the q-axis current command limit iq _ lim _ out, which is a limit of a current command in which voltage saturation does not occur, is used when the dc voltage Vdc is the d-axis voltage limit vd _ lim _ in _ Vdc _ base.
The torque-speed characteristic C4 shown by the thin solid line is a torque-speed characteristic when the q-axis current command limit iq _ lim _ out, which is a limit of a current command in which voltage saturation does not occur, is used when the dc voltage Vdc is the d-axis voltage limit vd _ lim _ in _ Vdc _ min.
As described above, even if the voltage of the dc voltage Vdc decreases, the q-axis current limit value is switched to the q-axis current command value limit (maximum) iq _ lim _ max in consideration of the speed of the
Thus, even when the voltage of the dc voltage Vdc is reduced, the torque of the
Therefore, the
The invention made by the present inventors has been specifically described above based on the embodiments, but it goes without saying that the present invention is not limited to the above embodiments, and various modifications can be made within a range not departing from the gist thereof.
The present invention is not limited to the above-described embodiments, and includes various modifications. For example, the above-described embodiments are the ones described in detail to explain the present invention easily and understandably, and are not necessarily limited to having all the configurations described above.
Note that a part of the structure of one embodiment may be replaced with the structure of another embodiment, or the structure of another embodiment may be added to the structure of one embodiment. Further, a part of the configuration of each embodiment may be added, deleted, or replaced with another configuration.
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