CN103457524A - Permanent magnet synchronous motor control device - Google Patents
Permanent magnet synchronous motor control device Download PDFInfo
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- CN103457524A CN103457524A CN201210530255XA CN201210530255A CN103457524A CN 103457524 A CN103457524 A CN 103457524A CN 201210530255X A CN201210530255X A CN 201210530255XA CN 201210530255 A CN201210530255 A CN 201210530255A CN 103457524 A CN103457524 A CN 103457524A
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Abstract
The invention provides a permanent magnet synchronous motor control device, which can prevent micro vibration of a motor shaft under the situation that a permanent magnet synchronous motor which has salient pole through the control of an unposition sensor. The permanent magnet synchronous motor control device comprises a speed instruction comparing device (3) which shifts decision value (24) on the predetermined instruction and compares with the speed instruction (23), and a d-shaft current instruction shifting machine (11) which selects from a set strong excitation instruction (37) and a generated d-shaft current instruction (36). The selected strong excitation instruction or the d-shaft current instruction can be used as a d-shaft current instruction (38), whose deviation can be calculated by a d-shaft current arithmetic device (12), and be output. If a target value (20) becomes a stop position instruction due to a servo locking action, the speed instruction will be a zero-speed instruction, and the d-shaft current instruction shifting machine selects the strong excitation instruction.
Description
Technical field
The present invention relates to a kind of permanent-magnet synchronous electric motor control device, it is driven the permanent-magnet synchronous electric motor with salient pole by position Sensorless Control.
Background technology
As control the method for the permanent-magnet synchronous electric motor with salient pole under the condition of position-sensor-free, known following method,, in voltage instruction, lap position is inferred and is used signal, according to now mobile motor current, infer rotor-position and rotary speed, and carry out FEEDBACK CONTROL (for example,, with reference to patent documentation 1).
Patent documentation 1: No. 2009/040965th, International Publication
But, under the condition of position-sensor-free, control in the method for the permanent-magnet synchronous electric motor with salient pole, have following character, that is, the electromagnetic property of permanent-magnet synchronous electric motor causes that the precision of inferring of rotor-position fluctuates along with actual rotor-position produces.
Therefore, using the method for being controlled under the position-sensor-free condition, make the rotary speed of permanent-magnet synchronous electric motor remain 0 and carry out in the situation of servo lock action, fluctuation due to the position deduction precision, the command value calculated in feedback loop is vibrated, its result, small vibration occurs in motor reel sometimes.
Summary of the invention
The present invention In view of the foregoing proposes, its purpose is to obtain the permanent-magnet synchronous electric motor control device, it can in the situation that make the permanent-magnet synchronous electric motor with salient pole carry out the servo lock action by position Sensorless Control, prevent the small vibration of motor reel.
In order to solve above-mentioned problem, and realize purpose, the present invention is a kind of permanent-magnet synchronous electric motor control device, it has: positioner, its arithmetic speed instruction, this speed command is the operational ton that the deviation of desired value and the rotor-position of inferring out according to the motor current of permanent-magnet synchronous electric motor is reduced; Speed control, the instruction of its computing q shaft current, this q shaft current instruction is the operational ton that the deviation of described speed command and the spinner velocity of inferring out according to described motor current is reduced; Q shaft current deviation arithmetic unit, its calculate the instruction of described q shaft current with according to the deviation of the detected q shaft current of described motor current; Q shaft current controller, the instruction of its computing q shaft voltage, this q shaft voltage instruction is the operational ton that deviation that described q shaft current deviation arithmetic unit is calculated reduces; D shaft current deviation arithmetic unit, the d shaft current instruction generated during its calculating running and the deviation according to the detected d shaft current of described motor current; And d shaft current controller, the instruction of its computing d shaft voltage, this d shaft voltage instruction is the operational ton that deviation that described d shaft current deviation arithmetic unit is calculated reduces, this permanent-magnet synchronous electric motor control device is characterised in that, also have: the speed command comparator, it compares predetermined instruction switching determination value and described speed command; And d shaft current instruction switch, it is corresponding to the comparative result of described speed command comparator, to some selection the in the d shaft current instruction of the magnet excitation instruction that sets and described generation, the magnet excitation instruction of this selection or the instruction of d shaft current are exported as the described d shaft current instruction by described d shaft current deviation arithmetic unit calculation deviation.
The effect of invention
According to the present invention, when the servo lock action of carrying out desired value as the stop position instruction, the instruction of d shaft current is switched to the magnet excitation instruction, produce by motor current the magnetic field that the formed rotating magnetic field of rotor with permanent-magnet synchronous electric motor attracts each other, therefore, can realize suppressing the vibration of feedback loop, prevent the effect of the small vibration of motor reel.
The accompanying drawing explanation
Fig. 1 means the block diagram of wanting section's structure of the permanent-magnet synchronous electric motor control device of one embodiment of the present invention.
The explanation of label
1 position deviation arithmetic unit
2 positioners
3 speed command comparators
4 velocity deviation arithmetic units
5 speed controls
6 q shaft current instruction switchs
7 q shaft current deviation arithmetic units
8 q shaft current controllers
9 q shaft voltage instruction switchs
10 d shaft current command generators
11 d shaft current instruction switchs
12 d shaft current deviation arithmetic units
13 d shaft current controllers
Embodiment
Below, based on accompanying drawing, describe the execution mode of permanent-magnet synchronous electric motor control device involved in the present invention in detail.In addition, the present invention is not limited to present embodiment.
Fig. 1 means the block diagram of wanting section's structure of the permanent-magnet synchronous electric motor control device of one embodiment of the present invention.Fig. 1 has in the control device of permanent-magnet synchronous electric motor (not shown) of salient pole at servomotor, extracts for preventing in the situation that the structure of part that makes permanent-magnet synchronous electric motor carry out the small vibration of the motor reel that the servo lock action produces by position Sensorless Control illustrates.
In addition, the d axle used in the vector control of permanent-magnet synchronous electric motor is set on the direction parallel with the formed magnetic field of permanent magnet in the rotor that is embedded in permanent-magnet synchronous electric motor, and the q axle is set on the direction vertical with the formed magnetic field of permanent magnet in the rotor that is embedded in permanent-magnet synchronous electric motor.
In Fig. 1, desired value (being the stop position instruction while carrying out the servo lock action) 20 to 1 input of position deviation arithmetic unit from upper stage arrangement, and the rotor-position (current location presumed value) 21 that input is inferred out according to motor current by not shown position deduction device is also as the feedback signal to Position Control.Position deviation arithmetic unit 1 calculates the position deviation 22 of desired value (stop position instruction) 20 and rotor-position (current location presumed value) 21, and it is exported to positioner 2.
The scale operation (known P controls) of 2 pairs of position deviations of positioner 22 application usage ratios gain and computational speed instruction 23, this speed command 23 is operational tons of the desired value (being the stop position instruction while carrying out the servo lock action) 20 that the rotor-position 21 of permanent-magnet synchronous electric motor followed paid by upper stage arrangement, that is, make the operational ton that reduces from the position deviation 22 of position deviation arithmetic unit 1 input.The speed command 23 that will be calculated by positioner 2 is concurrently to speed command comparator 3 and 4 outputs of velocity deviation arithmetic unit.
To speed command comparator 3 except the speed command 23 of input from positioner 2, also from stage arrangement current/voltage instruction switching determination value 24, this current/voltage instruction switching determination value 24 is for the borders of given common running and servo lock running.3 pairs of speed commands 23 of speed command comparator and current/voltage instruction switching determination value 24 compare, and output means that the level signal of 2 values of magnitude relationship between the two is switch-over control signal 25.Switch-over control signal 25 inputs to each control port of q shaft current instruction switch 6, q shaft voltage instruction switch 9 and d shaft current instruction switch 11.
Except the speed command 23 of input from positioner 2, also input the rotary speed (rotary speed presumed value) 26 of the motor of being inferred out according to motor current by not shown speed estimating device the feedback signal that conduct is controlled to speed to velocity deviation arithmetic unit 4.Velocity deviation arithmetic unit 4 calculates the velocity deviation 27 of the rotary speed (rotary speed presumed value) 26 of speed command 23 and motor, and it is exported to speed control 5.
At this, the q axle side that moment of torsion is made contributions consists of speed control 5, q shaft current instruction switch 6, q shaft current deviation arithmetic unit 7, q shaft current controller 8, q shaft voltage instruction switch 9.
5 pairs of velocity deviations of speed control, 27 application percentage integral control (known PI control) and calculate the instruction of q shaft current (at this, because be uses when usually turning round, therefore be called " the common instruction of q shaft current ") 28, and by its output of switching input to q shaft current instruction switch 6, above-mentioned q shaft current instruction 28 is to make the rotary speed 26 of permanent-magnet synchronous electric motor follow the operational ton of the speed command 23 calculated by positioner 2, that is, make the operational ton that reduces from the velocity deviation 27 of velocity deviation arithmetic unit 4 input.
0 instruction of using when the servo lock to another switching input input of q shaft current instruction switch 6 is (at this, be called " 0 instruction of q shaft current " in order to distinguish) 29, the signal level of the switch-over control signal 25 of exporting corresponding to speed command comparator 3, select some in the common instruction 28 of q shaft current and 0 instruction 29 of q shaft current, using it as q shaft current instruction 30 and 7 outputs from the switching cardinal extremity to q shaft current deviation arithmetic unit.
To q shaft current deviation arithmetic unit 7, except the q shaft current instruction 30 of input from q shaft current instruction switch 6, also input by not shown current detector according to the detected q shaft current of motor current detected value 31 and as the feedback signal that moment of torsion is controlled.Q shaft current deviation arithmetic unit 7 calculates the q shaft current deviation 32 of q shaft current instruction 30 and q shaft current detected value 31, and it is exported to q shaft current controller 8.
8 pairs of q shaft current deviation 32 application percentage integral control of q shaft current controller (known PI control) and calculate the instruction of q shaft voltage (at this, because be uses when usually turning round, therefore be called " the common instruction of q shaft voltage ") 33, and by its output of switching input to q shaft voltage instruction switch 9, above-mentioned q shaft voltage instruction 33 is to make the q shaft current detected value 31 of permanent-magnet synchronous electric motor follow the operational ton of q shaft current instruction 30, that is the operational ton that, the q shaft current deviation 32 from q shaft current deviation arithmetic unit 7 is reduced.
0 instruction of using when the servo lock to another switching input input of q shaft voltage instruction switch 9 is (at this, be called " 0 instruction of q shaft voltage " in order to distinguish) 34, the signal level of the switch-over control signal 25 of exporting corresponding to speed command comparator 3, select some in the common instruction 33 of q shaft voltage and 0 instruction 34 of q shaft voltage, using it as q shaft voltage instruction 35 and from the switching cardinal extremity to not shown coordinate converter output.
Next, the structure " d shaft current command generator 10, d shaft current instruction switch 11, d shaft current deviation arithmetic unit 12 and d shaft current controller 13 " of the d axle side that exciting current is made contributions is described.
D shaft current command generator 10 is configured to, the d shaft current instruction of using while except controlling by known PI, being created in common running is (at this, be called " the common instruction of d shaft current " in order to distinguish) outside 36, the magnet excitation instruction 37 of using while also being created in servo lock.The corresponding switching input that the common instruction 36 of d shaft current that d shaft current command generator 10 produces and magnet excitation instruction 37 input to d shaft current instruction switch 11.
D shaft current instruction switch 11 is corresponding to the signal level of the switch-over control signal 25 of speed command comparator 3 outputs, select some in the common instruction 36 of d shaft current and magnet excitation instruction 37, and using it as d shaft current instruction 38 and 12 outputs from the switching cardinal extremity to d shaft current deviation arithmetic unit.
To d shaft current deviation arithmetic unit 12, except the d shaft current instruction 38 of input from d shaft current instruction switch 11, also input by not shown current detector according to motor current and detected d shaft current detected value 39 as the feedback signal that exciting current is controlled.D shaft current deviation arithmetic unit 12 calculates the d shaft current deviation 40 of d shaft current instruction 38 and d shaft current detected value 39, and it is exported to d shaft current controller 13.
13 pairs of d shaft current deviation 40 application percentage integral control of d shaft current controller (known PI control) and calculate d shaft voltage instruction 41, and it is exported to not shown coordinate converter, above-mentioned d shaft voltage instruction 41 is that the d shaft current detected value 39 of permanent-magnet synchronous electric motor is followed from the operational ton of the d shaft current instruction 38 of d shaft current instruction switch 11 outputs, that is the operational ton that, the d shaft current deviation 40 from d shaft current deviation arithmetic unit 12 is reduced.
Action while then, the servo lock relevant to present embodiment being described.In the situation that by position Sensorless Control, the permanent-magnet synchronous electric motor with salient pole is driven, have following character, that is, and rotor-position infer precision because the electromagnetic property of permanent-magnet synchronous electric motor produces fluctuation.
Therefore, in the part that does not have present embodiment to append, it is " speed command comparator 3, q shaft current instruction switch 6, q shaft voltage instruction switch 9 and d shaft current instruction switch 11 ", and d shaft current command generator 10 therefore only to produce the common instruction 36(of d shaft current be d shaft current instruction 36) situation under, target location 20 is set as to the stop position instruction, make the rotary speed of permanent-magnet synchronous electric motor remain 0 and carry out in the situation of servo lock action, the precision of inferring of current location presumed value 21 fluctuates along with stop position produces, thus, speed command 23 vibrations that calculate in feedback loop, therefore, q shaft current instruction 28 is q shaft current instruction 30 vibrations, its result, sometimes small vibration occurs in motor reel.
Therefore, in the present embodiment, in Fig. 1, in the situation that target location 20 is not the stop position instruction in servo lock when action but instruction while usually turning round, the signal level of the switch-over control signal 25 of the comparative result of expression speed command comparator 3, illustrate " speed command 23 ">" current/voltage instruction switching determination value ".
In the case, q shaft current instruction switch 6 is selected the common instruction 28 of q shaft current, and using it as q shaft current instruction 30, q shaft voltage instruction switch 9 is selected the common instruction 33 of q shaft voltage, and using it as q shaft voltage instruction 35, d shaft current instruction switch 11 is selected the common instruction 36 of d shaft current, and using it as d shaft current instruction 38.As mentioned above, during common running beyond carrying out servo lock action, according to mode in the past, moved.
On the other hand, target location 20 is being set as to the stop position instruction, make the rotary speed of permanent-magnet synchronous electric motor remain 0 and carry out in the situation of servo lock action, the signal level of the switch-over control signal 25 of the comparative result of expression speed command comparator 3, illustrate " speed command 23 "<" current/voltage instruction switching determination value ".
In the case, at first, d shaft current instruction switch 11 is selected magnet excitation instruction 37, and using it as d shaft current instruction 38.Thus, also can realize preventing the purpose of the small vibration of motor reel, but in the present embodiment, subsequently, q shaft current instruction switch 6 is selected 0 instruction 29 of q shaft current, and, using it as q shaft current instruction 30, q shaft voltage instruction switch 9 is selected 0 instruction 34 of q shaft voltage, and using it as q shaft voltage instruction 35.So, can further prevent reliably the small vibration of motor reel.
Specifically, q shaft current instruction switch 6 selects 0 instruction 29 of q shaft current, q shaft voltage instruction switch 9 to select the timing of q shaft voltage 0 instruction 34, that speed command 23 roughly becomes the timing of 0 speed command after d shaft current instruction switch 11 is selected magnet excitation instruction 37.; the switch-over control signal 25 of speed command comparator 3 output is not for q shaft current instruction switch 6, q shaft voltage instruction switch 9 and 1 common control signal of d shaft current instruction switch 11, but forms by the control signal for q shaft current instruction switch 6 and q shaft voltage instruction switch 9 with for these 2 control signals of control signal of d shaft current instruction switch 11.
As mentioned above, in the present embodiment, carrying out speed command 23 while roughly becoming the action of 0 servo lock, permanent-magnet synchronous electric motor flows through the magnet excitation electric current on the d direction of principal axis, and the magnetic field that motor current forms attracts each other with the rotor field that permanent magnet in the rotor that is embedded in permanent-magnet synchronous electric motor forms.
At this, in permanent-magnet synchronous electric motor is controlled, as a rule, flow through this situation of magnet excitation electric current on the d direction of principal axis, the magnetic field formed with motor current and be embedded in rotor field that the permanent magnet in the rotor of permanent-magnet synchronous electric motor forms this situation that attracts each other and there is identical meaning.In other words, the electric current that produces the magnetic field attracted each other with rotor field is called to the magnet excitation electric current.The principle attracted each other between the principle attracted each other and the heteropole of magnet (S-N, N-S) is identical.Determine as described above the direction of d axle according to the Fu Laiming right-hand rule.
This rotor field is by the electric current formed magnetic field suction of magnet excitation, means that the rotor motor reel of rotor one (and with) also is attracted simultaneously.The attract each other situation of power of existence, compare with the situation that does not have the power of attracting each other, and can further suppress vibration.Therefore, compare the vibration of the motor reel in the time of can suppressing to be stopped by servo lock with there not being the situation by the electric current formed attraction moment of torsion of d axle magnet excitation.
In addition, even for when being stopped by servo lock, the precision of inferring of rotor-position fluctuates along with stop position produces, and make motor reel produce the situation of vibration, owing to selecting 0 instruction in q shaft current instruction switch and q shaft voltage instruction switch, the operational ton (speed command or the instruction of q shaft current) caused by the error of position deduction or speed estimating can not be passed to motor, therefore, can prevent reliably that motor reel from producing vibration.
Industrial applicibility
As described above, the useful part of permanent-magnet synchronous electric motor control device involved in the present invention is, can in the situation that make the permanent-magnet synchronous electric motor with salient pole carry out the servo lock action by position Sensorless Control, prevent the small vibration of motor reel.
Claims (5)
1. a permanent-magnet synchronous electric motor control device, it has:
Positioner, its arithmetic speed instruction, this speed command is the operational ton that the deviation of desired value and the rotor-position of inferring out according to the motor current of permanent-magnet synchronous electric motor is reduced;
Speed control, the instruction of its computing q shaft current, this q shaft current instruction is the operational ton that the deviation of described speed command and the spinner velocity of inferring out according to described motor current is reduced;
Q shaft current deviation arithmetic unit, its calculate the instruction of described q shaft current with according to the deviation of the detected q shaft current of described motor current;
Q shaft current controller, the instruction of its computing q shaft voltage, this q shaft voltage instruction is the operational ton that deviation that described q shaft current deviation arithmetic unit is calculated reduces;
D shaft current deviation arithmetic unit, the d shaft current instruction generated during its calculating running and the deviation according to the detected d shaft current of described motor current; And
D shaft current controller, the instruction of its computing d shaft voltage, this d shaft voltage instruction is the operational ton that deviation that described d shaft current deviation arithmetic unit is calculated reduces,
This permanent-magnet synchronous electric motor control device is characterised in that also have:
The speed command comparator, it compares predetermined instruction switching determination value and described speed command; And
D shaft current instruction switch, it is corresponding to the comparative result of described speed command comparator, to some selection the in the d shaft current instruction of the magnet excitation instruction that sets and described generation, the magnet excitation instruction of this selection or the instruction of d shaft current are exported as the described d shaft current instruction by described d shaft current deviation arithmetic unit calculation deviation.
2. permanent-magnet synchronous electric motor control device according to claim 1 is characterized in that also having:
Q shaft current instruction switch, it is corresponding to the comparative result of described speed command comparator, to some selection the in the q shaft current instruction of 0 instruction that sets and the output of described speed control, 0 instruction of this selection or the instruction of q shaft current are exported as the described q shaft current instruction by described q shaft current deviation arithmetic unit calculation deviation; And
Q shaft voltage instruction switch, it is corresponding to the comparative result of described speed command comparator, to some selection the in the q shaft voltage instruction of 0 instruction that sets and the output of described q shaft current controller, the output using 0 instruction of this selection or the instruction of q shaft voltage as described q shaft current controller is the instruction of described q shaft voltage.
3. permanent-magnet synchronous electric motor control device according to claim 1, is characterized in that,
Stop position instruction when described desired value becomes the servo lock action, the comparative result of described speed command comparator is that described instruction switching determination value is greater than in the situation of described speed command,
Described d shaft current instruction switch is selected described magnet excitation instruction.
4. permanent-magnet synchronous electric motor control device according to claim 2, is characterized in that,
Stop position instruction when described desired value becomes the servo lock action, the comparative result of described speed command comparator is that described instruction switching determination value is greater than in the situation of described speed command,
Described d shaft current instruction switch is selected described magnet excitation instruction,
Described q shaft current instruction switch and described q shaft voltage instruction switch are selected respectively corresponding described 0 instruction.
5. permanent-magnet synchronous electric motor control device according to claim 4, is characterized in that,
Described q shaft current instruction switch and described q shaft voltage instruction switch are selected the timing of described 0 instruction, respectively that described speed command roughly becomes the timing of 0 speed command in the situation that described d shaft current instruction switch is selected described magnet excitation instruction output.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2012124642A JP2013251978A (en) | 2012-05-31 | 2012-05-31 | Permanent magnet synchronous motor control device |
| JP2012-124642 | 2012-05-31 |
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| Publication Number | Publication Date |
|---|---|
| CN103457524A true CN103457524A (en) | 2013-12-18 |
| CN103457524B CN103457524B (en) | 2016-03-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210530255.XA Active CN103457524B (en) | 2012-05-31 | 2012-12-10 | Permanent-magnet synchronous electric motor control device |
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| JP (1) | JP2013251978A (en) |
| CN (1) | CN103457524B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107534411A (en) * | 2016-04-22 | 2018-01-02 | 三菱电机株式会社 | Control device of electric motor |
| CN110535376A (en) * | 2019-09-25 | 2019-12-03 | 国家电网有限公司 | A kind of static frequency changer pulse phase change stage method for controlling number of revolution |
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| JPH10323098A (en) * | 1997-05-20 | 1998-12-04 | Yaskawa Electric Corp | Initial excitating method of synchronous motor |
| CN1937395A (en) * | 2005-09-23 | 2007-03-28 | 山洋电气株式会社 | Coutrol apparatus of synchronous motor and control method therefor |
| CN101650390A (en) * | 2009-08-31 | 2010-02-17 | 苏州经贸职业技术学院 | Method of measuring inductance parameters of stator of surface AC permanent magnet synchronous motor on line |
| CN101809857A (en) * | 2007-09-27 | 2010-08-18 | 三菱电机株式会社 | Controller of rotary electric machine |
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2012
- 2012-05-31 JP JP2012124642A patent/JP2013251978A/en active Pending
- 2012-12-10 CN CN201210530255.XA patent/CN103457524B/en active Active
Patent Citations (4)
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|---|---|---|---|---|
| JPH10323098A (en) * | 1997-05-20 | 1998-12-04 | Yaskawa Electric Corp | Initial excitating method of synchronous motor |
| CN1937395A (en) * | 2005-09-23 | 2007-03-28 | 山洋电气株式会社 | Coutrol apparatus of synchronous motor and control method therefor |
| CN101809857A (en) * | 2007-09-27 | 2010-08-18 | 三菱电机株式会社 | Controller of rotary electric machine |
| CN101650390A (en) * | 2009-08-31 | 2010-02-17 | 苏州经贸职业技术学院 | Method of measuring inductance parameters of stator of surface AC permanent magnet synchronous motor on line |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107534411A (en) * | 2016-04-22 | 2018-01-02 | 三菱电机株式会社 | Control device of electric motor |
| CN107534411B (en) * | 2016-04-22 | 2018-10-26 | 三菱电机株式会社 | Control device of electric motor |
| CN110535376A (en) * | 2019-09-25 | 2019-12-03 | 国家电网有限公司 | A kind of static frequency changer pulse phase change stage method for controlling number of revolution |
| CN110535376B (en) * | 2019-09-25 | 2020-11-27 | 国家电网有限公司 | A speed control method for the pulse commutation stage of a static frequency converter |
Also Published As
| Publication number | Publication date |
|---|---|
| CN103457524B (en) | 2016-03-30 |
| JP2013251978A (en) | 2013-12-12 |
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