阅读说明：本技术 旋转机控制装置、制冷剂压缩装置、制冷环路装置以及空调机 (Rotary machine control device, refrigerant compression device, refrigeration circuit device, and air conditioner ) 是由 本行朱音 高桥健治 畠山和德 佐竹彰 于 2018-07-18 设计创作，主要内容包括：控制装置(100)具备：连接切换装置(20),在同步电动机(1)的旋转动作中对同步电动机(1)的绕组的连接状态进行切换；电流检测部(5),检测流过同步电动机(1)的旋转机电流；位置速度推定部(6),推定转子的磁极位置及速度；电压施加部(3),对同步电动机(1)施加电压；以及控制部(70),基于磁极位置及速度来生成提供给电压施加部(3)的电压指令,并且对连接切换装置(20)输出进行连接状态的切换的切换动作指令,控制部(70)在对绕组的连接状态进行切换之前,以使旋转机电流接近于零的方式生成电压指令,在切换了绕组的连接状态之后,向位置速度推定部(6)输出基于切换前的同步电动机(1)的推定速度而求出的恢复初始速度,位置速度推定部(6)在收到恢复初始速度时,用恢复初始速度来替换推定出的速度。(A control device (100) is provided with: a connection switching device (20) that switches the connection state of the windings of the synchronous motor (1) during the rotation of the synchronous motor (1); a current detection unit (5) that detects a rotating machine current flowing through the synchronous motor (1); a position/speed estimation unit (6) for estimating the magnetic pole position and speed of the rotor; a voltage application unit (3) that applies a voltage to the synchronous motor (1); and a control unit (70) that generates a voltage command to be supplied to the voltage application unit (3) based on the magnetic pole position and speed, and outputs a switching operation command to the connection switching device (20) to switch the connection state, wherein the control unit (70) generates the voltage command so that the rotating machine current approaches zero before the connection state of the windings is switched, and outputs a return initial speed obtained based on the estimated speed of the synchronous motor (1) before the switching to the position speed estimation unit (6) after the connection state of the windings is switched, and wherein the position speed estimation unit (6) replaces the estimated speed with the return initial speed when the return initial speed is received.)

1. A rotating machine control device is characterized by comprising:

a connection switching device having a switch for switching a connection state of a winding of a rotary machine by performing a switching operation of the switch during a rotation operation of the rotary machine;

a current detection unit that detects a rotary machine current flowing through the rotary machine;

a position/speed estimation unit configured to estimate a magnetic pole position and a speed of a rotor of the rotating machine based on the rotating machine current;

a voltage applying unit that applies a voltage to the rotary machine; and

a control unit that generates a voltage command to be supplied to the voltage application unit based on the magnetic pole position and the speed estimated by the position/speed estimation unit, and outputs a switching operation command to the connection switching device to switch the connection state,

the control unit generates the voltage command so that the machine current approaches zero before switching the connection state of the windings of the rotary machine, outputs a return initial speed obtained based on an estimated speed of the rotary machine before switching to the position and speed estimating unit after switching the connection state of the windings of the rotary machine,

the position/velocity estimating section replaces the estimated velocity with the return initial velocity when receiving the return initial velocity.

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

the control unit calculates the return initial speed in the position/speed estimation unit based on an acceleration at which the rotating machine current is brought close to zero.

3. The rotary machine control device according to claim 1,

the control unit outputs, to the position/speed estimating unit, an operation switching signal for changing a constant, a phase, and a flux linkage number of the rotary machine used for estimation based on the connection state of the windings of the rotary machine after the switching, after the connection state of the windings of the rotary machine is switched,

the return initial speed is lower than an estimated speed of the rotary machine.

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

the switching of the connection state is switching between a Y wiring state and a Δ wiring state.

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

the control unit includes a voltage command generation unit that generates the voltage command so that the rotating machine current matches a current command that is a target value of the rotating machine current,

after the connection state of the winding of the rotary machine is switched, the control unit changes the control gain of the voltage command generation unit so that the rotary machine current follows the current command.

6. The rotary machine control apparatus according to claim 5,

the voltage command generation unit includes a speed control unit that generates the current command and a current control unit that generates the voltage command based on the current command.

7. The rotary machine control apparatus according to claim 5,

the voltage command generation unit includes a current control unit that generates the voltage command based on the current command supplied from the outside.

8. The rotary machine control device according to any one of claims 5 to 7,

the switching of the connection state is switching between a Y wiring state and a Δ wiring state.

9. The rotary machine control device according to claim 8,

the voltage command generation unit generates the voltage command by proportional-integral control, and sets an initial value of integral control of the voltage command generation unit to be equal to an initial value of integral control of the voltage command generation unit before and after switching of a connection state of a winding of the rotary machineDouble orAnd (4) doubling.

10. The rotary machine control device according to any one of claims 5 to 9,

the voltage command generation unit changes the phase of the voltage command in a range of 0 ° to 120 ° before and after switching of the connection state of the windings of the rotating machine.

11. A refrigerant compression device is characterized by comprising:

a compressor configured to compress a refrigerant by rotation of the rotary machine; and

a rotary machine control apparatus according to any one of claims 1 to 10.

12. A refrigeration circuit device is characterized in that,

a refrigerant compression device according to claim 11.

13. An air conditioner is characterized in that,

having a refrigeration loop assembly as set forth in claim 12.

Technical Field

The present invention relates to a rotary machine control device, a refrigerant compression device, a refrigeration circuit device, and an air conditioner that switch a connection state of windings of a rotary machine during a rotation operation.

Background

Conventionally, a rotary machine that switches a connection state of stator windings during a rotation operation is known. The stator winding is also referred to below simply as the "winding". Patent document 1 discloses the following technique: when the windings are switched, the output of the inverter is disconnected to switch the connection state of the windings, and after the connection state of the windings is switched, it is confirmed that the connection state of the windings has changed according to the resistance value or the induced voltage.

Documents of the prior art

Patent document

Patent document 1: japanese patent laid-open No. 2008-148490

Disclosure of Invention

Technical problem to be solved by the invention

In the invention disclosed in patent document 1, the phase is estimated from the current flowing through the motor. In the invention disclosed in patent document 1, when the connection state of the windings of the motor is switched, the output of the inverter is disconnected, and after the connection state of the windings is switched, the output of the inverter is restarted so as to keep the motor current at zero, thereby estimating the phase and speed of the motor, and then restarting the motor. However, in the invention disclosed in patent document 1, since the phase cannot be estimated while the output of the inverter is off, it takes time to estimate the phase by restarting the output of the inverter after switching the connection state of the windings. When the motor current is set to zero, the device having a large load is rapidly decelerated, and therefore, the motor may be stopped or may fail to be accurately estimated and step out may occur during the estimation phase.

The present invention has been made in view of the above problems, and an object of the present invention is to provide a rotary machine control device capable of rapidly and stably switching the connection state of windings during a rotation operation and continuing the operation even in a device with a large load.

Means for solving the problems

In order to solve the above technical problems and achieve the object, the present invention includes: a connection switching device having a switch for switching a connection state of a winding of the rotary machine by switching operation of the switch during rotation of the rotary machine; a current detection unit that detects a rotary machine current flowing through the rotary machine; a position/speed estimation unit that estimates a magnetic pole position and a speed of a rotor of the rotary machine based on the rotary machine current; a voltage applying unit that applies a voltage to the rotating machine; and a control unit that generates a voltage command to be supplied to the voltage application unit based on the magnetic pole position and speed estimated by the position and speed estimation unit, and outputs a switching operation command to switch the connection state to the connection switching device. The control unit generates a voltage command so that the current of the rotating machine approaches zero before switching the connection state of the windings of the rotating machine, and outputs a return initial speed, which is obtained based on the estimated speed of the rotating machine before switching, to the position and speed estimation unit after switching the connection state of the windings of the rotating machine. The position/velocity estimating unit, upon receiving the return initial velocity, replaces the estimated velocity with the return initial velocity.

Effects of the invention

According to the present invention, the following effects of the rotary machine control device are obtained: even in a device with a large load, the connection state of the winding can be switched quickly and stably during the rotation operation, and the device can be operated continuously.

Drawings

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

Fig. 2 is a flowchart showing a basic sequence in which the control device of embodiment 1 switches the wiring state of the winding.

Fig. 3 is a diagram showing the result of zero current control when the control device of embodiment 1 drives the synchronous motor at a speed of a degree that flux weakening control is not necessary.

Fig. 4 is a diagram showing the result of zero current control when the control device of embodiment 1 drives the synchronous motor at a speed requiring field weakening control.

Fig. 5 is a flowchart showing a sequence of switching the wiring state of the winding when the control device of embodiment 1 performs field weakening control to drive the synchronous motor.

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

Fig. 7 is a flowchart showing a sequence in which the control device of embodiment 3 switches the wiring state of the winding.

Fig. 8 is a diagram showing the configuration of a refrigerant compression device according to embodiment 4 of the present invention.

Fig. 9 is a diagram showing a structure of an air conditioner according to embodiment 5 of the present invention.

Fig. 10 is a diagram showing a configuration in which functions of the control unit and the position and velocity estimation unit of the control device according to embodiment 1, embodiment 2, or embodiment 3 are realized by hardware.

Fig. 11 is a diagram showing a configuration in which functions of the control unit and the position and velocity estimation unit of the control device according to embodiment 1, embodiment 2, or embodiment 3 are realized by software.

Reference numerals

1. 1 a: a synchronous motor; 3: a voltage applying section; 4: a DC voltage source; 5: a current detection unit; 6: a position and speed estimating section; 20: a connection switching device; 21. 22, 23: a switch; 29: a processing circuit; 29 a: a logic circuit; 29 b: carrying out a procedure; 70: a control unit; 71: a speed control unit; 72: a current control unit; 73: a switching control unit; 100: a control device; 200: a power converter driving device; 291: a processor; 292: a random access memory; 293: a storage device; 300: a refrigerant compression device; 301: a compressor; 400: a refrigeration loop device; 401: a condenser; 402: an expansion valve; 403: an evaporator; 500: an air conditioner; 501: an air blower.

Detailed Description

Hereinafter, a rotary machine control device, a refrigerant compression device, a refrigeration cycle device, and an air conditioner according to embodiments of the present invention will be described in detail with reference to the drawings. Further, the invention is not limited to this embodiment. In the following description, components to which the same reference numerals are attached have the same or similar functions.

Embodiment 1.

Fig. 1 is a diagram showing a configuration of a rotary machine control device according to embodiment 1 of the present invention. The rotating machines are roughly classified into an induction machine and a synchronous machine, and the synchronous machine is classified into a permanent magnetic field type synchronous machine in which a permanent magnet is provided on a rotor, a winding magnetic field type synchronous machine in which an excitation winding is wound on a rotor, and a reluctance type synchronous machine in which a rotational torque is obtained by using a salient pole of a rotor. A three-phase permanent magnet field type synchronous motor 1 of the category of synchronous machines is connected to a control device 100 that is a rotary machine control device according to embodiment 1.

The control device 100 includes a connection switching device 20 that switches a connection state of a winding of the synchronous motor 1, a voltage applying unit 3 that supplies power to the synchronous motor 1, a current detecting unit 5 that detects a rotating machine current flowing through the synchronous motor 1, and a position and speed estimating unit 6. The control device 100 further includes a control unit 70, and the control unit 70 outputs a voltage command to the voltage applying unit 3 to cause the connection switching device 20 to switch the connection state of the windings. In embodiment 1, the connection state of the windings means a connection state of the windings. The wiring state of the winding includes a Y wiring and a Δ wiring. The Y-connections are also called star-connections and the delta-connections are also called delta-connections. The number of the switched winding connections may be two, or 3 or more.

The connection switching device 20 includes switches 21, 22, and 23 as switching circuits, and switches the connection state of the windings of the synchronous motor 1 by performing switching operations of the switches 21, 22, and 23 during the rotation operation of the synchronous motor 1. The switches 21, 22, and 23 may be constituted by mechanical relays or semiconductor switches. In embodiment 1, the synchronous motor 1 is switched between the Y connection and the Δ connection by the switches 21, 22, and 23.

The voltage application unit 3 converts dc power supplied from the dc voltage source 4 into ac power and outputs the ac power to the synchronous motor 1. In embodiment 1, a voltage source inverter is used as the voltage applying unit 3. The voltage-source inverter is a device that switches a dc voltage supplied from the dc voltage source 4 and converts the dc voltage into an ac voltage. The voltage applying unit 3 is not limited to a voltage-type inverter as long as it is a device capable of outputting ac power for driving the synchronous motor 1, and may be a circuit such as a current-type inverter, a matrix converter for converting ac power into ac power having different amplitudes and frequencies, or a multilevel converter in which outputs of a plurality of converters are connected in series or in parallel.

The current detection unit 5 detects a phase current flowing from the voltage application unit 3 to the synchronous motor 1, and outputs current information indicating a value of the detected phase current.

The Current detection unit 5 may be a Current line sensor using a Current Transformer (also referred to as a Current Transformer) or a Current sensor using a shunt resistor. In the control device 100 according to embodiment 1, the current is detected by the current detection unit 5. The control device 100 shown in fig. 1 directly detects the phase current flowing through the synchronous motor 1, but the current detection method is not limited to the configuration of direct detection as long as the phase current flowing through the synchronous motor 1 can be calculated by kirchhoff's current law. For example, the phase current flowing through the synchronous motor 1 may be detected by a single-shunt current detection method using a shunt resistor provided on the negative-side dc bus of the voltage application unit 3, a lower-arm shunt current detection method using a shunt resistor connected in series to the lower arm of the voltage application unit 3, or the like. In the case of the three-phase voltage application unit 3, the lower arm shunt current detection method is also referred to as a three-shunt current detection method because a shunt resistor connected in series to each of the three lower arms is used. In the case of the three-phase synchronous motor 1, if a current sensor is provided in any two-phase wiring among three-phase wirings connected to the synchronous motor 1, the current of the remaining one phase can be calculated by kirchhoff's current law, and therefore, it is not necessary to provide a current sensor in all of the three-phase wirings. In addition, various modes are conceivable for the structure and arrangement of the current detection unit 5, and the current detection unit is not limited to a specific formula.

The current information is input from the current detection unit 5 to the position and velocity estimation unit 6. The voltage command is input from the current control unit 72 to the position/velocity estimation unit 6. The position/speed estimating unit 6 outputs an estimated phase, which is an estimated value of the magnetic pole position of the rotor of the synchronous motor 1, and an estimated speed, which is an estimated value of the speed of the rotor of the synchronous motor 1, using the current detected by the current detecting unit 5, that is, the phase current flowing through the synchronous motor 1, and the voltage command output from the current control unit 72.

There are various methods for estimating the magnetic pole position and the speed of the rotor, and the synchronous motor 1 according to embodiment 1 obtains the electrode position using information indicating the speed electromotive force of the synchronous motor 1 at a medium-high speed in the entire range of the rotational speed of the rotor. The speed electromotive force is an induced power generated inside the synchronous motor 1 by the rotation of the rotor, and is proportional to a magnetic field generated between the rotor and the stator of the synchronous motor 1 and the rotation speed of the rotor. Examples of the method of estimating the magnetic pole position include an inverse tangent method and an adaptive flux observer, but are not limited to a specific method. The control device 100 according to embodiment 1 estimates the magnetic pole position using an adaptive flux observer. The adaptive flux observer is robust to fluctuations in the amount of interlinkage magnetic flux, and is considered to be a high-performance speed estimation method because it does not generate a steady-state speed estimation error.

The control unit 70 includes a speed control unit 71, a current control unit 72, and a switching control unit 73. The current control unit 72 is a vector controller that converts the current detected by the current detection unit 5 into a current command value in a dq coordinate system by performing coordinate transformation by vector control, with the direction of magnetic flux by a permanent magnet of a rotor of the synchronous motor 1 being a d-axis and an axis orthogonal to the d-axis being a q-axis, in order to control the current flowing through the synchronous motor 1. In a general vector controller, current control is performed on dq coordinates with reference to a magnetic pole of a rotor. This is because, when the phase current is converted to a value on dq coordinates, the ac amount becomes a dc amount, and control becomes easy. In the synchronous motor 1, since the q-axis current is proportional to the magnetic torque of the synchronous motor 1, the q-axis current is referred to as a torque axis and the q-axis current is referred to as a torque current. Since the d-axis current causes a change in magnetic flux generated in the stator as opposed to the q-axis current, and changes the amplitude of the output voltage of the synchronous motor 1, the d-axis current is referred to as a magnetic flux axis and the d-axis current is referred to as a magnetic flux current or an excitation current. In the permanent magnet embedded motor, since reluctance torque is generated by d-axis current, only q-axis current does not contribute to torque, but q-axis current is generally called torque current.

The estimated phase calculated by the position/velocity estimating unit 6 is used for coordinate conversion. In addition, the current control unit 72 may use a polar coordinate system such as an α β stator coordinate system or a γ δ coordinate system, in addition to the dq coordinate system in the vector control. In addition, the current Control unit 72 may employ Direct Torque Control (DTC) instead of vector Control. However, when DTC is used, the current command needs to be converted into a magnetic flux command and a torque command.

Further, if control is performed using a coordinate system based on the magnetic flux generated from the stator without using the dq coordinate system, the torque current and the magnetic flux current can be calculated more precisely. This coordinate system is referred to as an f-t coordinate system, an n-t coordinate system, etc., but since it is well known, the description thereof will be omitted. In embodiment 1, the q-axis current is referred to as a torque current and the d-axis current is referred to as a flux current, but the case of using a coordinate system other than the dq coordinate system for control and the case of using a reluctance synchronous motor that does not generate magnetic torque in principle are not limited to this.

The current control unit 72 controls the current flowing through the synchronous motor 1 so that the current on the dq coordinate coincides with the value of the current command. The specific implementation method of the current control unit 72 is not limited to a specific method, but generally the current control unit 72 includes a proportional-integral controller and a decoupling controller. The current command may be calculated by speed control or may be input from a higher-level controller. In embodiment 1, the value output by the speed control unit 71 is a current command.

The speed control unit 71 generates a current command so that the angular speed of the synchronous motor 1 matches the value of the input speed command. A specific implementation method of the speed control section 71 is not limited to a specific method, but a proportional-integral controller is generally used as the speed control section 71. The speed control unit 71 may generate the current command from the speed command by feedforward, or may use a proportional-integral controller and a feedforward controller in combination.

The switching control unit 73 determines the connection state of the windings of the synchronous motor 1 based on the speed command or the estimated speed, or based on a command input from the outside. When switching the connection state of the windings, the switching control unit 73 outputs a switching operation command for switching the contacts of the switches 21, 22, and 23 to the connection switching device 20. Further, after the connection state of the windings is switched, in order to restart the synchronous motor 1 stably, the switching control unit 73 outputs the return initial speed to the position speed estimation unit 6, and outputs the calculation switching signal to the speed control unit 71, the current control unit 72, and the position speed estimation unit 6. The details of the restoration of the initial speed and the operation switching signal will be described later.

In the control device 100 shown in fig. 1, the voltage command generation unit that generates the voltage command is configured by the speed control unit 71 and the current control unit 72, but the configuration of the voltage command generation unit is not limited to the example of fig. 1. The voltage command generation unit may be configured by a current control unit that generates a voltage command based on a current command input from the outside.

The advantage of switching the Y connection and the Δ connection of the windings of the synchronous motor 1 will be explained. Setting the line-to-line voltage of Y wiring state as V_YSetting the current flowing into the winding as I_Y. In addition, the line-to-line voltage in the Δ connection state is set to V_ΔSetting the current flowing into the winding as I_Δ. When the voltages applied to the windings of the respective phases are assumed to be equal to each other, the following equations (1) and (2) are established.

Voltage V when Y is in wiring state_YAnd current I_YVoltage V connected with delta_ΔAnd current I_ΔIn the case of the relationship between the expressions (1) and (2), the electric powers supplied to the synchronous motor 1 in the Y connection state and the Δ connection state are equal to each other. That is, when the electric powers supplied to the synchronous motor 1 are equal to each other, the current flowing into the winding in the Δ connection state is large, and the voltage required for driving is low.

It is contemplated that the above properties may be utilized to select the wiring state of the windings in coordination with the load conditions. For example, it is conceivable to perform low-speed operation in the Y-wire state at low load and perform high-speed operation in the Δ -wire state at high load. This improves the efficiency at low load and increases the output at high load.

This point will be described in further detail by taking as an example a case where the synchronous motor 1 is used to drive a compressor of an air conditioner. As the synchronous motor 1 for driving the compressor of the air conditioner, a permanent magnet field type synchronous motor is widely used in response to the demand for energy saving. In recent air conditioners, when the difference between the room temperature and the set temperature is large, the room temperature is brought close to the set temperature as soon as possible by high-speed operation in which the synchronous motor 1 is rotated at a high speed, and when the room temperature is brought close to the set temperature, the room temperature is maintained by low-speed operation in which the synchronous motor 1 is rotated at a low speed. In the case of performing control in this manner, the proportion occupied by the low-speed operation time is larger than the proportion occupied by the high-speed operation time in the total operation time.

In the synchronous motor 1, when the number of revolutions increases, the speed electromotive force increases, and the voltage value required for driving increases. As described above, the speed electromotive force of the Y wiring state is higher than the Δ wiring state. In order to suppress the speed electromotive force at high speed, it is conceivable to reduce the magnetic force of the permanent magnet or reduce the number of turns of the winding. However, in this case, the current for obtaining the same output torque increases, and therefore the current flowing through the synchronous motor 1 and the voltage applying unit 3 increases, and the efficiency decreases. In addition, in the case where the voltage value required for driving the synchronous motor 1 becomes higher than the voltage of the direct-current voltage source 4 due to an increase in the speed electromotive force, the voltage required for driving the synchronous motor 1 is generally supplied using field weakening control. However, when the field weakening control is used, an ineffective current that does not contribute to the generation of torque flows through the synchronous motor 1 and the voltage application unit 3, and therefore, the efficiency is lowered.

It is then conceivable to switch the connection state of the windings of the synchronous motor 1 in accordance with the number of revolutions. For example, in the case where high-speed operation is required, the windings of the synchronous motor 1 are set to a Δ connection state. By setting the windings to the Δ connection state, the voltage required for driving can be made to be smaller than the Y connection stateAnd (4) doubling. Therefore, the voltage required for driving can be reduced without reducing the magnetic force of the permanent magnet or reducing the number of turns of the winding. In addition, weak magnetic control is not required.

On the other hand, in low-speed rotation, the winding is set to the Y connection state, whereby the current value can be set to the Δ connection stateAnd (4) doubling. Further, by designing the synchronous motor 1 in such a manner as to accommodate driving at a low speed when the winding is in the Y-wired state, the current value can be reduced as compared with the case where the winding is used in the Y-wired state over the entire speed range. As a result, the loss of the voltage applying unit 3 can be reduced, and the efficiency can be improved.

As explained above, it makes sense to switch the connection state of the winding in coordination with the load condition. The control device 100 according to embodiment 1 is provided with a connection switching device 20 that switches the connection state of the windings. For example, when the difference between the room temperature and the set temperature is large, the switching controller 73 sets the windings of the synchronous motor 1 to the Δ connection state, and performs high-speed operation until the room temperature approaches the set temperature. When the room temperature approaches the set temperature, the switching control unit 73 switches the windings of the synchronous motor 1 to the Y-connection state, and performs low-speed operation.

However, when the synchronous motor 1 drives a compressor of an air conditioner, if the rotation operation of the synchronous motor 1 is temporarily stopped in order to switch the connection state of the windings, the torque required for restart increases, and the start may fail. Therefore, when the rotation operation of the synchronous motor 1 is temporarily stopped to switch the windings, it is necessary to restart the synchronous motor after several minutes until the state of the refrigerant is stabilized. However, when the state of the refrigerant is stabilized and then the refrigerant is restarted, the refrigerant cannot be pressurized, and the room temperature may not be kept constant due to a decrease in cooling or heating capacity. Therefore, it is preferable that the switching control unit 73 switches the connection state of the windings during the rotation operation of the synchronous motor 1.

Here, a sequence of switching the connection state of the winding during the rotation operation will be described. Fig. 2 is a flowchart showing a basic sequence in which the control device of embodiment 1 switches the wiring state of the winding. If the synchronous motor 1 maintains a state of stable operation while switching the wiring state of the windings, electric power is supplied from the voltage applying part 3 to the synchronous motor 1, and therefore, when the wiring state of the windings is changed, arc discharge is generated between the contacts of the switches 21, 22, 23, so that a failure such as contact welding may be generated.

In order to avoid a failure such as contact welding, when the connection state of the windings is switched, control is performed in step S1 so that the value of the current flowing through the windings of the synchronous motor 1, that is, the value of the current flowing through the switches 21, 22, and 23 is as close to zero as possible. Hereinafter, control for making the current flowing through the winding of the synchronous motor 1 as close to zero as possible is referred to as "zero current control". That is, in step S1, the zero-current control is started. During the period of the zero current control, the voltage applying unit 3 outputs a voltage to cancel out the speed electromotive force of the synchronous motor 1, that is, a voltage having a magnitude and a phase matching the speed electromotive force. In this way, the current flowing through the switches 21, 22, 23 can be made close to zero to the extent that it can be considered substantially zero.

During the period of zero current control, the synchronous motor 1 gradually stalls because torque is not available. That is, when the period of the zero-current control is long, it is difficult to switch the wiring state of the winding and restart in the rotating operation of the synchronous motor 1. Therefore, it is preferable to increase the response of the current control unit 72 to such an extent that the response does not become unstable, and to make the currents flowing through the switches 21, 22, and 23 approach zero as quickly as possible, and to shift to the next stage.

If the zero-current control is started, the connection switching device 20 is operated in step S2. When the connection switching device 20 is operated, the switching control unit 73 outputs a switching operation command for switching the contacts of the switches 21, 22, and 23 to the connection switching device 20. When receiving the switching operation command, the connection switching device 20 operates the switches 21, 22, and 23 to switch the connection state of the windings.

If the wiring state of the winding is transitioned, a switching signal is output in step S3. In order to stably restart the synchronous motor 1, the switching control unit 73 outputs the return initial speed to the position speed estimation unit 6, and outputs an operation switching signal to the speed control unit 71, the current control unit 72, and the position speed estimation unit 6. After the return initial speed and the operation switching signal are output, the process proceeds to step S4, and the zero-current control is ended.

In order to prevent a failure such as contact welding of the switches 21, 22, 23, it is necessary to end the zero-current control at a timing at which the switches 21, 22, 23 reliably complete their operation. The time from the output of the switching operation command to the connection switching device 20 to the completion of the operation of all the switches 21, 22, 23 is grasped in advance, and the zero-current control period T is set_zeroThe time period is set to be longer than this time period. When the switches 21, 22, and 23 are constituted by normal mechanical relays, the zero-current control period T is set to be zero_zeroOn the order of milliseconds, and in the case of a normal semiconductor switch, the zero-current control period T_zeroOn the order of hundreds of microseconds.

Note, however, that in the case where the synchronous motor 1 is rotated at a high speed as in the case of driving using field weakening control, that is, in the case where the speed electromotive force of the synchronous motor 1 is larger than the dc voltage source 4, the value of the current flowing through the switches 21, 22, 23 cannot be made zero by this method. That is, it is to be noted that the voltage necessary for driving is supplied by flowing the reactive current in the d-axis direction during the field weakening control, but making the current flowing through the winding of the synchronous motor 1 zero means that the reactive current cannot flow. Fig. 3 is a diagram showing the result of zero current control when the control device of embodiment 1 drives the synchronous motor at a speed of a degree that flux weakening control is not necessary. Fig. 4 is a diagram showing the result of zero current control when the control device of embodiment 1 drives the synchronous motor at a speed requiring field weakening control. In the case where the control device 100 drives the synchronous motor 1 at a speed to the extent that the field weakening control is not required, the value of the current flowing through the switches 21, 22, and 23 is almost zero by the zero-current control, whereas in the case where the control device 100 drives the synchronous motor 1 at a speed that the field weakening control is required, the value of the current flowing through the switches 21, 22, and 23 cannot be controlled in accordance with the command value and is not zero even if the zero-current control is performed. When the connection switching device 20 is operated to switch the connection state of the windings in a state where the synchronous motor 1 is driven at a speed requiring field weakening control by the control device 100, arc discharge is generated between the contacts of the switches 21, 22, 23, and there is a possibility that a failure such as contact welding may occur.

Fig. 5 is a flowchart showing a sequence of switching the wiring state of the winding when the control device of embodiment 1 performs field weakening control to drive the synchronous motor. Step S5 and step S6 are provided before step S1, which is different from the flowchart shown in fig. 2. That is, in step S5, it is checked in advance whether the estimated speed of the synchronous motor 1 is smaller than the threshold ω_A. When the estimated speed of the synchronous motor 1 is less than the threshold value ω_AIf yes in step S5, the process proceeds to step S1. When the estimated speed of the synchronous motor 1 is the threshold value ω_AIf the result is negative in step S5, the synchronous motor 1 is decelerated to a speed lower than ω in step S6_AReturning to step S5.

Threshold ω for starting zero current control_ACan be calculated in the following manner. When the dq-axis current is almost zero, the velocity electromotive force E depends only on the armature interlinkage magnetic flux of the permanent magnet, and the magnitude thereof is expressed by the following expression (3). In equation (3), ω represents the speed of the synchronous motor 1, and Φ represents the effective value of the armature interlinkage magnetic flux by the permanent magnet on the dq coordinate.

E＝ω×Φ……(3)

When the magnitude of the voltage output from the dc voltage source 4 is V, the relationship of the following expression (4) may be satisfied.

E<V……(4)

Omega is determined by the following formula (5) based on the formulas (3) and (4)_A。

ω_A＝V/Φ……(5)

Upon receiving the operation switching signal, the speed control unit 71 changes the constant of the synchronous motor 1 used for proportional-integral control and the initial value of integral control to values corresponding to the connection state of the switched windings. That is, the speed control unit 71 changes the control gain of the proportional-integral control so that the rotary machine current follows the current command. For example, when the winding is switched from the Δ connection state to the Y connection state, the number of flux linkages in dq coordinates of the synchronous motor 1 in the Y connection state is set to be smaller than that in the Δ connection stateAnd (4) doubling. Then, the speed control unit 71 changes the number of flux linkages used for proportional-integral control toAnd (4) doubling. Further, in the Y-wired state, the current on the dq coordinate required to produce the same torque is, compared to the Δ -wired state, asAnd (4) doubling. Then, the speed control section 71 performs 1 time of setting the initial value of the integral control to be the initial valueAnd (4) calculating the times. By changing not only the constant of the synchronous motor 1 but also the initial value of the integral control, the following of the speed command value becomes faster and the switching operation becomes stable.

Upon receiving the operation switching signal, the current control unit 72 changes the control gain determined based on the constant of the synchronous motor 1 used for proportional-integral control and decoupling control to a value corresponding to the connection state of the switched winding. That is, the current control unit 72 changes the control gain of the proportional-integral control so that the rotary machine current follows the current command. For example, when switching from the Δ connection state to the Y connection state, in the Y connection state, the impedance of the synchronous motor 1 converted from the Y connection state used for control is 3 times as compared with the Δ connection state, and the number of flux linkages on dq coordinates is 3And (4) doubling. Then, the current control unit 72 changes the impedance of the synchronous motor 1 for proportional-integral control and decoupling control to 3 times and changes the flux linkage number toAnd (4) doubling.

Upon receiving the calculation switching signal, the position/speed estimation unit 6 changes the constant of the synchronous motor 1 used for estimation, the estimated magnetic pole position of the synchronous motor 1, the estimated speed of the synchronous motor 1, and the estimated number of flux linkages to values according to the switched connection state of the windings. For example, when switching from the Δ connection state to the Y connection state, the impedance of the synchronous motor 1 converted from the Y connection state used for control is 3 times higher in the Y connection state than in the Δ connection state. Then, the position/velocity estimation unit 6 multiplies the impedance of the synchronous motor 1 to be estimated by 3. In addition, in the Y wiring state, the current phase is advanced by 30 degrees compared to the Δ wiring state. Then, the position/velocity estimation unit 6 performs 1 calculation to advance the estimated phase by 30 degrees. In addition, in the Y-connection state, the flux linkage on dq coordinates is compared to the Δ -connection stateNumber isAnd (4) doubling. Then, the position/velocity estimating unit 6 performs 1 time to estimate the number of flux linkages to beAnd (4) calculating the times. Here, the current phase is changed to 30 ° by switching between the Y connection state and the Δ connection state, but if the connection state is switched in addition to the switching between the Y connection state and the Δ connection state when the voltage application unit 3 applies three-phase ac to the synchronous motor 1, the voltage command output from the current control unit 72 may be changed in the phase range of 0 ° to 120 ° before and after the switching of the connection state of the windings of the synchronous motor 1.

Further, upon receiving the return initial speed, the position/speed estimation unit 6 performs an estimation speed convergence process for quickly converging the value of the estimated speed of the synchronous motor 1 to the value of the actual speed.

The necessity of the above-described estimated speed converging process will be described. During the zero-current control, the synchronous motor 1 stalls because no torque is available. In the control device 100 of embodiment 1 which does not have a means for directly detecting the phase of the synchronous motor 1, when the phase and the speed are estimated and the synchronous motor 1 is restarted while the current flowing through the synchronous motor 1 is kept near zero after the connection state of the windings is switched, if the load is large, the synchronous motor 1 is rapidly decelerated when the zero current control is performed, and there is a possibility that the synchronous motor 1 is stopped until the estimated values of the phase and the speed are stabilized. Or the estimated response cannot keep up with the deceleration, so that the estimation error becomes large and there is a possibility of step-out.

For example, when the synchronous motor 1 drives a compressor of an air conditioner, if the zero current control is performed during the rotation operation, the synchronous motor 1 is stopped in a short time of less than one hundred milliseconds because the torque is lost in a state where a large refrigerant load of the order of N · m is applied. Therefore, after the connection state of the windings of the synchronous motor 1 is switched, the motor cannot be restarted after the estimation by the position and speed estimating unit 6 converges.

Then, the following estimation speed convergence processing is required: even when the synchronous motor 1 is rapidly decelerated, the estimated speed, which is the output of the position/velocity estimation unit 6, is rapidly converged to a true value by a simpler calculation than a method of estimating the speed based on the current flowing through the synchronous motor 1 and the voltage command supplied to the voltage application unit 3.

The above-described estimated speed convergence processing is realized as follows. The rate of loss Δ ω depends on the magnitude T of the load_LAnd the magnitude J of the inertia moment of the synchronous motor 1 are determined by the following equation (6).

Δω＝－T_L/J……(6)

Wherein, as the magnitude T of the load_LThe current can be estimated using a value measured by a measuring instrument such as a torque meter, or using a phase current flowing through the synchronous motor 1 and a voltage command output from the current control unit 72. The magnitude J of the inertia moment is generally a value determined at the design stage of the synchronous motor 1, but can be measured even when the value of the inertia moment determined at the design stage is unknown. As a method of measuring the magnitude J of the inertia moment, a meter of the inertia moment may be used, or the synchronous motor 1 may be rotated in a no-load state and simply measured based on the acceleration at that time. Since simple measurement methods are well known, the details are omitted.

Therefore, the estimated value ω of the speed of the synchronous motor 1 immediately before the end of the zero-current control_eThe speed ω ^ presumed of the synchronous motor 1 before the start of the zero-current control_sZero current control period T_zeroSize of load T_LAnd the inertia moment J of the synchronous motor 1 are calculated by the following equation (7).

ω＾_e＝ω＾_s－(T_L/J)×T_zero……(7)

The switching control section 73 supplies the recovery initial speed ω ^ calculated by the formula (7) to the position speed estimating section 6_e. The position/velocity estimating unit 6 replaces the calculated estimated velocity 1 timeTo resume the processing of the original speed. In the zero current control, since the synchronous motor 1 does not generate torque and the synchronous motor 1 stalls, the recovery initial speed is set to be lower than the estimated speed of the rotary machine by ω ^_eBy providing the position/velocity estimation unit 6 with the estimated value, the time required for the estimated value to converge to the actual velocity can be shortened.

This can reduce the estimation error of the position/velocity estimation unit 6 at the time of restart after the end of the zero-current control. As a result, the time until the estimated phase and the estimated speed, which are the outputs of the position and speed estimating unit 6, approach the values of the true phase and speed of the synchronous motor 1 becomes shorter, and the switching operation becomes stable. Since equation (7) used for switching the estimated speed is very simple and has a small computational burden, it can be implemented in an inexpensive microcontroller.

By switching the connection state of the windings in accordance with the sequence described above, the switching operation of the switches 21, 22, and 23 can be performed in a state where no current flows through the switches 21, 22, and 23, and arc discharge does not occur between the contacts of the switches 21, 22, and 23. Therefore, when the mechanical relays are used as the switches 21, 22, and 23, contact welding is prevented, and a highly reliable motor driving device can be realized. In other words, the control device 100 according to embodiment 1 can reduce the failure rate and extend the device life even when the connection switching device 20 is configured by inexpensive components, and thus can reduce the product cost.

In addition, the control device 100 of embodiment 1 performs the zero-current control period T_zeroWhen the switching operation of the switches 21, 22, and 23 is performed, the current supplied to the winding of the synchronous motor 1 is not changed greatly when the connection state of the winding is switched. Therefore, the wiring state of the windings can be switched while suppressing noise and vibration of the synchronous motor 1, and a high-quality product can be provided.

Further, by outputting the switching signal to the speed control unit 71, the current control unit 72, and the position/velocity estimation unit 6 when the zero-current control is finished, the synchronous motor 1 can be stably restarted even when the position-sensor-less control is performed on the synchronous motor 1 or when the load applied to the synchronous motor 1 is large, and the reliability is improved.

Embodiment 2.

The configuration of the control device 100 according to embodiment 2 of the present invention is the same as the control device 100 according to embodiment 1. However, in the control device 100 according to embodiment 2, the voltage applying unit 3 stops outputting during the zero-current control. Therefore, the control device 100 according to embodiment 2 can accurately set the current flowing through the synchronous motor 1 to zero in a short time, as compared with the control device 100 according to embodiment 1 in which a voltage having a magnitude and a phase that match the speed electromotive force is output from the voltage application unit 3. Further, the control device 100 according to embodiment 2 can set the current flowing through the synchronous motor 1 to zero even when the speed electromotive force of the synchronous motor 1 is larger than the dc voltage source 4. Therefore, even when the synchronous motor 1 rotates at a high speed, the control device 100 according to embodiment 2 can switch the connection state of the windings in accordance with the sequence shown in the flowchart of fig. 2.

In the control device 100 according to embodiment 2, if the zero-current control is started, the current flowing through the synchronous motor 1 immediately becomes zero, and therefore immediately thereafter, a switching operation command for switching the contacts of the switches 21, 22, 23 is output to the connection switching device 20. Upon receiving the switching operation command, the connection switching device 20 operates the switches 21, 22, and 23 to switch the connection state of the windings.

Embodiment 3.

Fig. 6 is a diagram showing a configuration of a rotary machine control device according to embodiment 3 of the present invention. Fig. 7 is a flowchart showing a sequence in which the control device of embodiment 3 switches the wiring state of the winding. Step S7 is provided between step S2 and step S3, which is different from the sequence shown in fig. 2. In the control device 100 according to embodiment 3, the zero current control period T is set_zeroThe period from the start of the zero-current control to the detection of the completion of the operation of all the switches 21, 22, and 23 is set. In detecting the completion of the operation of all the switches 21, 22, 23, a voltage command supplied to the voltage applying unit 3 and current detection are usedThe magnitude of the phase current flowing through the synchronous motor 1 detected by the unit 5.

The control device 100 according to embodiment 3 detects that all of the switches 21, 22, and 23 have completed their operations by observing changes in the magnitude of the resistance value or the counter electromotive force between phases of the synchronous motor 1.

In the control device 100 according to embodiment 3, the switching control unit 73 determines in step S7 whether or not all of the switches 21, 22, and 23 have completed their operations. As long as at least one of the switches 21, 22, 23 does not complete the operation, no in step S7, and the determination in step S7 is repeated. If all the switches 21, 22, 23 complete the operation, yes in step S7, the process proceeds to step S3. That is, if it is detected that all of the switches 21, 22, and 23 have completed their operations, the switching control unit 73 outputs the return initial speed to the position/speed estimation unit 6 so that the synchronous motor 1 can be stably restarted, outputs the calculation switching signal to the speed control unit 71, the current control unit 72, and the position/speed estimation unit 6, and terminates the zero-current control after outputting the return initial speed and the calculation switching signal.

By performing the above operation, the zero current control period T is set_zeroThe zero current control can be performed in an appropriate period of time without being excessively long or short. When zero current control period T_zeroWhen the time is long, the synchronous motor 1 may be decelerated to a great extent and stopped. On the contrary, when the zero current control period T_zeroIn a short time, current flows through the switches 21, 22, 23 before all the switching operations of the switches 21, 22, 23 are completed, so that arc discharge occurs between the contacts of the switches 21, 22, 23, which may cause a failure. Therefore, performing the zero-current control for an appropriate period is important for switching the connection state of the windings during the rotation operation of the synchronous motor 1.

Embodiment 4.

Fig. 8 is a diagram showing the configuration of a refrigerant compression device according to embodiment 4 of the present invention. The synchronous motor 1a shown in fig. 8 is a motor whose variable speed control is performed by the control device 100 in order to compress refrigerant gas into high-pressure gas in the compressor 301, and is connected to the connection switching device 20 for switching the connection state of the windings. The control device 100 is the same as the control device 100 of embodiment 1. The refrigerant compression device 300 may include the same control device 100 as that in embodiment 2 or embodiment 3 instead of the same control device 100 as that in embodiment 1.

A refrigerant compression device 300 shown in fig. 8 includes the control device 100 according to embodiment 1, and the control device 100 includes a voltage applying unit 3 and a power inverter driving device 200. The power converter driving device 200 includes the functions of the control unit 70 and the position/velocity estimation unit 6.

As described in embodiment 1, the voltage applying unit 3 may have basically any circuit configuration as long as it can supply any ac power to the synchronous motor 1 a. The information detected by the current detection unit 5 is sent to the position and velocity estimation unit 6.

Since the compressor 301 compresses the refrigerant gas, a large load is applied to the synchronous motor 1a during driving. In addition, since the compressor 301 is under high temperature and high pressure, there is a fear that a sensor for detecting the magnetic pole position of the synchronous motor 1a is not installed due to a decrease in reliability and an increase in cost. Therefore, the synchronous motor 1a is rapidly decelerated while no current flows in the synchronous motor 1a in order to change the connection state of the windings of the synchronous motor 1 a. In an adaptive flux observer or an inverse tangent method, which is a general magnetic pole position estimation method, the estimation response is slower than the deceleration rate, and there is a possibility that the estimation cannot be accurately performed.

By using the sequence of switching the connection state of the windings described in embodiment 1, embodiment 2, and embodiment 3 to the control device 100 of the refrigerant compression device 300 shown in fig. 8, the value of the estimated speed can be converged to the value of the actual speed of the synchronous motor 1a in a short time even in a state where a large load is applied, and thus the restart can be stably performed. In addition, the arithmetic expression used to quickly converge the estimated speed is very simple and has a small arithmetic load, and therefore, can be implemented in an inexpensive microcontroller.

In addition, the current flowing through the synchronous motor 1a can be switched by the switches 21, 22, and 23 in a state where the current does not flow through the switches 21, 22, and 23, so that arc discharge does not occur between the contacts of the switches 21, 22, and 23. Therefore, when the mechanical relays are used as the switches 21, 22, and 23, contact welding is prevented, and a highly reliable motor driving device can be realized. In other words, the control device 100 according to embodiment 1 can reduce the failure rate and extend the device life even when the connection switching device 20 is configured by inexpensive components, and thus can reduce the product cost.

Further, the refrigerant compression device 300 according to embodiment 4 can be realized by rewriting software of an existing refrigerant compression device that is temporarily stopped when switching the windings of the motor. This makes it possible to obtain the refrigerant compression device 300 that continues to operate by switching the connection state of the windings during the rotation operation while suppressing an increase in cost.

Embodiment 5.

Fig. 9 is a diagram showing a structure of an air conditioner according to embodiment 5 of the present invention. The air conditioner 500 includes a refrigeration circuit device 400. The refrigeration cycle apparatus 400 according to embodiment 5 includes a refrigerant compression device 300, a condenser 401, an expansion valve 402, and an evaporator 403. The compressor 301 and the condenser 401 are connected by a pipe. Similarly, the condenser 401 and the expansion valve 402 are connected by a pipe, the expansion valve 402 and the evaporator 403 are connected by a pipe, and the evaporator 403 and the compressor 301 are connected by a pipe. Accordingly, the compressor 301, the condenser 401, the expansion valve 402, and the evaporator 403 constitute a refrigerant circuit in which the refrigerant circulates. Although not shown in fig. 9, the control device 100 includes the current detection unit 5, the position/velocity estimation unit 6, and the control unit 70 shown in fig. 1.

In the refrigeration circuit apparatus 400, steps such as evaporation, compression, condensation, and expansion of the refrigerant are repeated. The refrigerant changes from liquid to gas and from gas to liquid, thereby exchanging heat between the refrigerant and the air outside the machine. Therefore, the air conditioner 500 can be configured by combining the refrigeration cycle apparatus 400 and the blower 501 that circulates outside air.

The evaporator 403 evaporates the refrigerant liquid in a low-pressure state, and takes heat from air around the evaporator 403, thereby exerting a cooling effect. The compressor 301 compresses the refrigerant gas vaporized by the evaporator 403 into a high-pressure gas in order to condense the refrigerant. The condenser 401 discharges heat of the refrigerant gas having a high temperature generated by the compressor 301, condenses the high-pressure refrigerant gas, and converts the condensed gas into a refrigerant liquid. The expansion valve 402 throttles and expands the refrigerant liquid to convert the refrigerant liquid into a low-pressure liquid, and allows the refrigerant to be evaporated by the evaporator 403.

In addition, the air conditioner 500 is required to have high efficiency as energy conservation regulations are intensified year by year, in addition to comfort. Therefore, in the refrigeration circuit apparatus 400, it is important to efficiently operate the synchronous motor 1a in a wide speed range from a low speed to a high speed, and therefore, when the connection state of the windings of the synchronous motor 1a is switched based on the number of revolutions, it is significant that the loss of the voltage applying unit 3 can be reduced.

For example, when the difference between the room temperature and the set temperature is large, the synchronous motor 1a is determined to be Δ -connected, and high-speed operation is performed until the room temperature approaches the set temperature. When the room temperature becomes close to the set temperature, the synchronous motor 1a is switched to the Y-connection, and low-speed operation is performed. However, when the synchronous motor 1a drives the compressor 301 of the refrigeration cycle apparatus 400 as in embodiment 5, if the rotation operation of the synchronous motor 1a is temporarily stopped in order to switch the windings, the torque required for restart increases, and there is a possibility that the start may fail. Therefore, it is necessary to perform restart after several minutes until the state of the refrigerant is sufficiently stabilized. In this case, the refrigerant cannot be pressurized for several minutes while the compressor 301 is stopped, and the room temperature may not be kept constant due to a decrease in cooling or heating capacity. Therefore, it is preferable to switch the winding during the rotation operation.

In the refrigeration circuit apparatus 400 according to embodiment 5, the control apparatus 100 described in embodiments 1 to 4 is used, and therefore, even when a large load is applied, the switching operation of the connection state of the windings does not become unstable, and switching can be performed during operation. Therefore, it is possible to perform efficient operation over a wide speed range while maintaining comfort. The arithmetic expression used to quickly converge the estimated speed according to the present invention is very simple and has a small arithmetic load, and therefore, can be implemented in an inexpensive microcontroller. Further, even if inexpensive mechanical relays are used as the switches 21, 22, 23 for switching the connection state of the windings of the synchronous motor 1a, contact welding can be prevented, and thus the product cost can be reduced as a whole.

Further, the control device 100 according to embodiments 1 to 3 does not include a position sensor, and can stably drive the rotary machine even in a device with a large load, and therefore can be applied to all devices other than the refrigerant compression device 300 and the refrigeration cycle device 400, and is useful for industrial development.

The functions of the control unit 70 and the position and velocity estimation unit 6 of the control device 100 according to embodiment 1, embodiment 2, or embodiment 3 described above are realized by a processing circuit. The processing circuit may be dedicated hardware or may be a processing device that executes a program stored in a storage device.

Where the processing circuitry is dedicated hardware, the processing circuitry may correspond to a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an application specific integrated circuit, a field programmable gate array, or a combination thereof. Fig. 10 is a diagram showing a configuration in which functions of the control unit and the position and velocity estimation unit of the control device according to embodiment 1, embodiment 2, or embodiment 3 are realized by hardware. The processing circuit 29 is embedded with a logic circuit 29a that realizes the functions of the control unit 70 and the position and velocity estimation unit 6.

When the processing circuit 29 is a processing device, the functions of the control unit 70 and the position and velocity estimating unit 6 are realized by software, firmware, or a combination of software and firmware.

Fig. 11 is a diagram showing a configuration in which functions of the control unit and the position and velocity estimation unit of the control device according to embodiment 1, embodiment 2, or embodiment 3 are realized by software. The processing circuit 29 has a processor 291 that executes the program 29b, a random access memory 292 in which the processor 291 functions as a work area, and a storage 293 that stores the program 29 b. The processor 291 expands and executes the program 29b stored in the storage device 293 in the random access memory 292, thereby realizing the functions of the control unit 70 and the position and velocity estimation unit 6. The software or firmware is described in a programming language and is stored in the storage device 293. The processor 291 can be exemplified by a central processing unit, but is not limited thereto. As the Memory device 293, a semiconductor Memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash Memory, an EPROM (Erasable Programmable Read Only Memory), or an EEPROM (registered trademark) (Electrically Erasable Programmable Read Only Memory) can be applied. The semiconductor memory may be a nonvolatile memory or a volatile memory. The storage device 293 may be a magnetic disk, a flexible disk, an optical disk, a compact disk, a mini disk, or a DVD (Digital Versatile Disc), in addition to the semiconductor memory. The processor 291 may output data such as the operation result to the storage device 293, store the data in the storage device 293, or store the data in an auxiliary storage device, not shown, via the random access memory 292.

The processing circuit 29 reads and executes the program 29b stored in the storage device 293 to realize the functions of the control unit 70 and the position/velocity estimation unit 6. The program 29b may be configured to cause a computer to execute a flow and a method for realizing the functions of the control unit 70 and the position/velocity estimation unit 6.

Furthermore, the processing circuit 29 may be implemented partly by dedicated hardware and partly by software or firmware.

As such, the processing circuit 29 can implement the respective functions described above by hardware, software, firmware, or a combination thereof.

The configuration described in the above embodiment is an example showing the contents of the present invention, and may be combined with other known techniques, and a part of the configuration may be omitted or modified within a range not departing from the gist of the present invention.