JP2003023799A - Method and apparatus for current control of synchronous motor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a method of controlling a current of synchronous motor which can obtain proper current response characteristic, even under the influence of environmental conditions, such as temperature and also provide an apparatus for controlling the current of the same synchronous motor. SOLUTION: Currents Iu, Iv, and Iw flowing into the synchronous motor are converted, using the actual position θ of rotor of synchronous motor, into a d-axis actual current Idfb and a q-axis actual current Iqfb on the rotating coordinate axis, which rotates in synchronism with a magnetic flux vector of a rotor, a d-axis pseudo-current Idob and a q-axis pseudo-current Iqob are estimated based on the d-axis actual current Idfb, q-axis actual current Iqfb, a d-axis actual voltage command Vdref and a q-axis actual voltage command Vqref, the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are generated, based on a d-axis current command Idref, a q-axis current command Iqref, a d-axis pseudo-current Idob and a q-axis pseudo- current Iqob, and the d-axis actual voltage command Vdref and q-axis actual voltage command Vqref are converted into actual voltage commands Vuref, Vvref and Vwref, using the actual position θ of rotor of synchronous motor.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a current control method and control device for a linear motor or a synchronous motor for driving a load machine such as a table in a machine tool or an arm of a robot.

[0002]

2. Description of the Related Art A conventional current control device for a synchronous motor is the following current control device for a synchronous motor in order to obtain a high-speed response characteristic. Among them, JP-A-11-18469
The publication describes a current control device for a synchronous motor that utilizes current feedforward. Below is a brief description of Figure 7.
Will be explained. In FIG. 7, 1 is a synchronous motor, 2
Is a real position observing device, 3 is a real current observing unit, 4 is a power conversion circuit, 5 is a first coordinate converter, 6 is a second coordinate converter, 20 is a feedback control unit, 12 is a feedforward control unit, and 13 is It is a voltage command synthesizer. The actual current observation unit 3
Observing currents of two or more phases of the synchronous motor 1 and measuring the actual current Iu,
Iv and Iw are provided. The real position observer 2 is like an encoder and provides the real position θ of the rotor of the synchronous motor 1. The second coordinate converter 6 uses the actual position θ and the actual current I.
Based on u, Iv, and Iw, it is converted into a d-axis actual current Idfb and a q-axis actual current Iqfb on the rotational coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor. The first coordinate converter 5 converts the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref into actual voltage commands Vuref, Vvref, Vwref by using the actual position θ, and provides them to the power conversion circuit 4. To do. Feedforward control unit 1
2 is a d-axis current command Idref and a q-axis current command Iqre
Based on f, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, and the d-axis second simulated voltage command Vdf
f and the q-axis second simulated voltage command Vqff are generated. The feedback control unit 20 uses the d-axis second simulated current command I
A d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb are generated based on dff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q-axis simulated current Iqob. . The voltage command synthesizer 13 d based on the d-axis second simulated voltage command Vdff, the q-axis second simulated voltage command Vqff, the d-axis third simulated voltage command Vdfb, and the q-axis third simulated voltage command Vqfb. The actual axis voltage command Vdref and the q-axis actual voltage command Vqref are generated.

In the current control device for a synchronous motor as described above, the feedforward control unit 12 performs d based on the d-axis current command Idref and the q-axis current command Iqref.
Axis second simulated current command Idff and q-axis second simulated current command I
By generating qff, the d-axis second simulated voltage command Vdff, and the q-axis second simulated voltage command Vqff, and providing them to the feedback control unit 20 and the voltage command synthesizer 13, an overshoot of the step response occurs. It is possible to obtain current control with high-speed response without any need.

[0004]

However, the above-described conventional current control device for a synchronous motor has the d-axis current command Idr.
It improves the response characteristics to ef and the q-axis current command Iqref, but does not improve the feedback characteristics. Therefore, the synchronous motor 1 affected by temperature or the like
When the power converter circuit 4 and parameter fluctuations or power supply fluctuations occur, there is a problem that the step response vibrates or overshoots to deteriorate the current response characteristics. Therefore, an object of the present invention is to provide a current control method and control for a synchronous motor that can obtain a good current response characteristic even when the synchronous motor 1, the power conversion circuit 4, the parameter fluctuation, and the power supply fluctuation due to the influence of temperature or the like occur. It is to provide a device.

[0005]

In order to achieve the above object, the invention of the method for controlling a current of a synchronous motor according to claim 1 is such that the current flowing in the synchronous motor fed by the power conversion circuit matches the current command. A method for controlling a current of a synchronous motor, which provides an appropriate actual voltage command to a power conversion circuit, wherein currents Iu, Iv, and Iw flowing in the synchronous motor are calculated by using an actual position θ of a rotor of the synchronous motor. D-axis actual current Idf on the rotating coordinate axis that rotates in synchronization with the magnetic flux vector
b and q-axis actual current Iqfb is converted into the d-axis actual current I
dfb, the q-axis actual current Iqfb, and the d-axis actual voltage command Vd
The d-axis simulated current Idob and the q-axis simulated current Iqob are estimated based on ref and the q-axis actual voltage command Vqref, and the d-axis current command Idref, the q-axis current command Iqref, the d-axis simulated current Idob, and the q-axis simulated current Iqob. Based on and
A shaft actual voltage command Vdref and a q-axis actual voltage command Vqref are generated, and the d-axis actual voltage command Vdref and the q-axis actual voltage command Vq are generated using the actual position θ of the rotor of the synchronous motor.
ref and actual voltage commands Vuref, Vvref, Vwr
It is characterized by conversion into ef. Claim 1
According to the current control method for the synchronous motor described above, the current feedback gain can be set to a high value. Therefore, even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur, Good current response characteristics can be obtained.

According to a second aspect of the present invention, there is provided a synchronous motor current control method for providing an appropriate actual voltage command to a power conversion circuit so that a current flowing through the synchronous motor fed by the power conversion circuit matches a current command. A method for controlling a current of an electric motor, wherein a current Iu, Iv, Iw flowing through the synchronous electric motor is rotated using a real position θ of a rotor of the synchronous electric motor so that a d-axis actual on a rotational coordinate axis that rotates in synchronization with a rotor magnetic flux vector. Current Idf
b and q-axis actual current Iqfb is converted into the d-axis actual current I
df based on the q-axis actual current Iqfb, the d-axis first simulated voltage command Vdo, and the q-axis first simulated voltage command Vqo
Estimate the axis simulated current Idob and the q axis simulated current Iqob,
d-axis current command Idref and q-axis current command Iqref and d
The d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo are generated based on the shaft simulated current Ido and the q-axis simulated current Iqob, and the actual position θ of the rotor of the synchronous motor is generated.
Using, the induced voltage is added to the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo to generate the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref. Using the actual position θ of the rotor of the synchronous motor, the d-axis actual voltage command Vdref and the q-axis actual voltage command Vq.
ref and actual voltage commands Vuref, Vvref, Vwr
It is characterized by conversion into ef. Claim 2
According to the current control method for the synchronous motor described above, the current feedback gain can be set to a high value. Therefore, even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur, Good current response characteristics can be obtained. Moreover, even if the rotational speed of the synchronous motor suddenly changes, good current response characteristics can be obtained.

According to a third aspect of the present invention, there is provided a synchronous motor current control method for providing an appropriate actual voltage command to a power conversion circuit so that a current flowing in the synchronous motor fed by the power conversion circuit matches a current command. A method for controlling a current of an electric motor, comprising: a d-axis current command Idref and a q-axis current command Iqre.
Based on f, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, and the d-axis second simulated voltage command Vdf
Rotation in which currents Iu, Iv, and Iw flowing in the synchronous motor rotate in synchronization with the rotor magnetic flux vector by using f and the q-axis second simulated voltage command Vqff, and using the actual position θ of the rotor of the synchronous motor. The d-axis actual current Idfb and the q-axis actual current Iqfb on the coordinate axes are converted into the d-axis actual current Idfb, the q-axis actual current Iqfb, and the d-axis first simulated voltage command Vdo and q.
Based on the first axis simulated voltage command Vqo, the d-axis simulated current I
dob and the q-axis simulated current Iqob are estimated, and the d-axis second current is calculated.
Simulated current command Idff and the q-axis second simulated current command Iq
ff, the d-axis simulated current Idob, and the q-axis simulated current I
Based on qob, the d-axis third simulated voltage command Vdfb and q
An axis third simulated voltage command Vqfb and the d-axis third
Simulated voltage command Vdfb and the q-axis third simulated voltage command Vq
The d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo are generated based on fb, the d-axis second simulated voltage command Vdff, and the q-axis second simulated voltage command Vqff, and the synchronization is performed. Using the actual position θ of the rotor of the electric motor, the induced voltage is added to the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo to obtain the d-axis actual voltage command Vdr.
ef and a q-axis actual voltage command Vqref are generated, and the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are generated using the actual position θ of the rotor of the synchronous motor. , Vwref. According to the current control method for the synchronous motor of the third aspect, the current feedback gain can be set high, so that the synchronous motor 1, the power conversion circuit 4, the parameter fluctuation, the power supply fluctuation, and the like due to the influence of temperature or the like occur. Also in this case, good current response characteristics can be obtained. Moreover, even if the rotational speed of the synchronous motor suddenly changes, good current response characteristics can be obtained. Further, it is possible to obtain a faster current response characteristic with respect to the command.

According to a fourth aspect of the present invention, there is provided a synchronous motor current control method for providing an appropriate actual voltage command to a power conversion circuit so that a current flowing through the synchronous motor fed by the power conversion circuit matches a current command. A method for controlling a current of an electric motor, wherein a current Iu, Iv, Iw flowing through the synchronous electric motor is rotated using a real position θ of a rotor of the synchronous electric motor so that a d-axis actual on a rotational coordinate axis that rotates in synchronization with a rotor magnetic flux vector. Current Idf
b and q-axis actual current Iqfb is converted into the d-axis actual current I
dfb, the q-axis actual current Iqfb, and the d-axis actual voltage command Vd
The d-axis simulated current Idob, the q-axis simulated current Iqob, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob are estimated based on ref and the q-axis actual voltage command Vqref,
A d-axis first simulated voltage command Vdo and a q-axis first simulated voltage command Vqo are generated based on the d-axis current command Idref, the q-axis current command Iqref, the d-axis simulated current Idob, and the q-axis simulated current Iqob. , The d-axis third simulated voltage command Vdfb, the q-axis third simulated voltage command Vqfb, and the d
Axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vqo
A d-axis actual voltage command Vdref and a q-axis actual voltage command Vqref are generated based on b, and the d-axis actual voltage command Vdref and the q-axis are generated using the actual position θ of the rotor of the synchronous motor.
Axis actual voltage command Vqref and actual voltage command Vuref, V
It is characterized by conversion into vref and Vwref. According to the current control method of the synchronous motor of the fourth aspect, the current feedback gain can be set to a high value, so that the synchronous motor 1, the power conversion circuit 4, the parameter fluctuation, the power supply fluctuation, and the like due to the influence of temperature or the like occur. Also in this case, good current response characteristics can be obtained. Further, even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate suddenly, good current response characteristics can be obtained.

According to a fifth aspect of the present invention, there is provided a synchronous motor current control method for providing an appropriate actual voltage command to a power conversion circuit so that a current flowing through the synchronous motor fed by the power conversion circuit matches a current command. A method for controlling a current of an electric motor, comprising: a d-axis current command Idref and a q-axis current command Iqre.
Based on f, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, and the d-axis second simulated voltage command Vdf
Rotation for generating currents f and q-axis second simulated voltage command Vqff and rotating currents Iu, Iv, Iw flowing through the synchronous motor in synchronization with the rotor magnetic flux vector using the actual position θ of the rotor of the synchronous motor. It is converted into a d-axis actual current Idfb and a q-axis actual current Iqfb on the coordinate axis, and based on the d-axis actual current Idfb, the q-axis actual current Iqfb, the d-axis actual voltage command Vdref, and the q-axis actual voltage command Vqref. Axis simulated current Ido
b and q axis simulated current Iqob and d axis simulated disturbance voltage Vdob
And the q-axis simulated disturbance voltage Vqob are estimated, and the d-axis second
Simulated current command Idff and the q-axis second simulated current command Iq
ff, the d-axis simulated current Idob, and the q-axis simulated current I
Based on qob, the d-axis third simulated voltage command Vdfb and q
An axis third simulated voltage command Vqfb and the d-axis second
Simulated voltage command Vdff and the q-axis second simulated voltage command Vq
ff, the d-axis third simulated voltage command Vdfb, the q-axis third simulated voltage command Vqfb, and the d-axis simulated disturbance voltage Vdo
The d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are generated based on b and the q-axis simulated disturbance voltage Vqob, and the d-axis voltage command is generated using the actual position θ of the rotor of the synchronous motor. Vdref and the q-axis actual voltage command Vqr
ef and actual voltage commands Vuref, Vvref, Vwre
It is characterized in that it is converted into f. According to the current control method of the synchronous motor of the fifth aspect, since the current feedback gain can be set high, the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature and the like occur. Also in this case, good current response characteristics can be obtained. Further, even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate suddenly, good current response characteristics can be obtained. Further, it is possible to obtain a faster current response characteristic with respect to the command.

According to a sixth aspect of the present invention, there is provided a synchronous motor current control method for providing an appropriate actual voltage command to a power conversion circuit so that a current flowing through the synchronous motor fed by the power conversion circuit matches a current command. A method for controlling a current of an electric motor, comprising: a d-axis current command Idref and a q-axis current command Iqre.
Based on f, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, and the d-axis second simulated voltage command Vdf
Rotation in which currents Iu, Iv, and Iw flowing in the synchronous motor rotate in synchronization with the rotor magnetic flux vector by using f and the q-axis second simulated voltage command Vqff, and using the actual position θ of the rotor of the synchronous motor. The d-axis actual current Idfb and the q-axis actual current Iqfb on the coordinate axes are converted into the d-axis actual current Idfb, the q-axis actual current Iqfb, and the d-axis first simulated voltage command Vdo and q.
Based on the actual shaft voltage command Vqo, the d-axis simulated current Idob
And the q-axis simulated current Iqob, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob are estimated, and the d-axis second simulated current command Idff and the q-axis second simulated current command Iqf are estimated.
f, the d-axis simulated current Ido, and the q-axis simulated current Iq
The d-axis third simulated voltage command Vdfb and the q-axis third simulated voltage command Vqfb are generated based on ob, and the d-axis second simulated voltage command Vdff and the q-axis second simulated voltage command Vqf are generated.
f, the d-axis third simulated voltage command Vdfb, and the q-axis third
Simulated voltage command Vqfb and the d-axis simulated disturbance voltage Vdob
And the q-axis simulated disturbance voltage Vqob based on the q-axis simulated disturbance voltage Vqob.
A simulated voltage command Vdo and a q-axis actual voltage command Vqo are generated, and using the actual position θ of the rotor of the synchronous motor, the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo are generated. The induced voltage is added to the d-axis actual voltage command Vdr
ef and the q-axis actual voltage command Vqref are generated, and the d-axis voltage command Vdref and the q-axis actual voltage command Vqref are calculated by using the actual position θ of the rotor of the synchronous motor. It is characterized by conversion into Vwref. According to the method of controlling the current of the synchronous motor of claim 6, the current feedback gain can be set high, so that the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur. Also in this case, good current response characteristics can be obtained. Further, even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate suddenly, good current response characteristics can be obtained. Further, it is possible to obtain a faster current response characteristic with respect to the command. Further, even if the rotation speed of the synchronous motor suddenly changes, good current response characteristics can be obtained.

According to a seventh aspect of the present invention, there is provided a current control device for a synchronous motor, wherein the d-axis actual current Idfb and the q-axis actual current Iqfb on a rotating coordinate axis rotating in synchronization with the rotor magnetic flux vector of the synchronous motor 1 are d-axis current commands. Idref and q-axis current command Iq
A current controller for a synchronous motor that provides the actual voltage commands Vuref, Vvref, and Vwref to the power conversion circuit 4 so as to match ref, and a real position observer 2 that provides the real position θ of the synchronous motor. A real current observing section 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and the real currents Iu, Iv, Iw.
a second coordinate converter 6 for converting into a d-axis actual current Idfb and a q-axis actual current Iqfb on a rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on w,
The d-axis actual current Idfb and the q-axis actual current Iqfb and d
Based on the axis actual voltage command Vdref and the q-axis actual voltage command Vqref, the d-axis simulated current Ido and the q-axis simulated current Iqo
Based on the current observer 10a that estimates b, the d-axis current command Idref, the q-axis current command Iqref, the d-axis simulated current Idob, and the q-axis simulated current Iqob, the d-axis actual voltage command Vdref and the q-axis actual command. Voltage command Vqr
The d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are converted into actual voltage commands Vuref, Vvref, Vwref by using the feedback control unit 9a that generates ef and the actual position θ of the rotor of the synchronous motor. And a first coordinate converter 5 for conversion. According to the current control device for a synchronous motor of claim 7, since the current feedback gain can be set to a high value, the synchronous motor 1, the power conversion circuit 4, the parameter fluctuation, the power supply fluctuation, and the like due to the influence of temperature and the like occur. Also in this case, good current response characteristics can be obtained.

According to another aspect of the present invention, there is provided a current control device for a synchronous motor, wherein the d-axis actual current Idfb and the q-axis actual current Iqfb on a rotary coordinate axis rotating in synchronization with a rotor magnetic flux vector of the synchronous motor 1 are d-axis current commands. Idref and q-axis current command Iq
A current controller for a synchronous motor that provides the actual voltage commands Vuref, Vvref, and Vwref to the power conversion circuit 4 so as to match ref, and a real position observer 2 that provides the real position θ of the synchronous motor. A real current observing section 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and the real currents Iu, Iv, Iw.
a second coordinate converter 6 for converting into a d-axis actual current Idfb and a q-axis actual current Iqfb on a rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on w,
The d-axis actual current Idfb and the q-axis actual current Iqfb and d
Axis first simulated voltage command Vdo and q-axis first simulated voltage command Vq
Based on o, the d-axis simulated current Idb and the q-axis simulated current I
A current observer 10b that estimates qob, a d-axis first simulated voltage command Vdo and q based on the d-axis current command Idref, the q-axis current command Iqref, the d-axis simulated current Idob, and the q-axis simulated current Iqob. Feedback control unit 9b for generating the axis first simulated voltage command Vqo
A speed generator 8 for generating an actual speed w using the actual position θ, the d-axis first simulated voltage command Vdo, the q-axis first simulated voltage command Vqo, and the actual speed w based on the actual speed w. The induced voltage is added to the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo to obtain the d-axis actual voltage command Vdr.
ef and the q-axis actual voltage command Vqref, the induced voltage compensator 7 and the actual position θ are used to convert the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref into the actual voltage commands Vuref and Vvref. , Vwref, and a first coordinate converter 5 for converting to Vwref. According to the current control device for a synchronous motor of claim 8, since the current feedback gain can be set high, the synchronous motor 1, the power conversion circuit 4, the parameter fluctuation, the power supply fluctuation, and the like occur due to the influence of temperature and the like. Also in this case, good current response characteristics can be obtained. Moreover, even if the rotational speed of the synchronous motor suddenly changes, good current response characteristics can be obtained.

According to a ninth aspect of the present invention, there is provided a current control device for a synchronous motor, wherein a d-axis actual current Idfb and a q-axis actual current Iqfb on a rotating coordinate axis that rotates in synchronization with a rotor magnetic flux vector of the synchronous motor 1 are d-axis current commands. Idref and q-axis current command Iq
A current controller for a synchronous motor that provides the actual voltage commands Vuref, Vvref, and Vwref to the power conversion circuit 4 so as to match ref, and a real position observer 2 that provides the real position θ of the synchronous motor. A real current observing section 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and the real currents Iu, Iv, Iw.
a second coordinate converter 6 for converting into a d-axis actual current Idfb and a q-axis actual current Iqfb on a rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on w,
The d-axis actual current Idfb and the q-axis actual current Iqfb and d
Axis first simulated voltage command Vdo and q-axis first simulated voltage command Vq
Based on o, the d-axis simulated current Idb and the q-axis simulated current I
A current observer 10b that estimates qob, a d-axis second simulated current command Idff, a q-axis second simulated current command Iqff, and a d-axis second simulated voltage based on the d-axis current command Idref and the q-axis current command Iqref. The feedforward controller 12 that generates the command Vdff and the q-axis second simulated voltage command Vqff, and the d-axis second simulated current command Idff.
And d based on the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q-axis simulated current Iqob.
Axis third simulated voltage command Vdfb and q axis third simulated voltage command V
a feedback controller 11 for generating qfb, the d-axis third simulated voltage command Vdfb, the q-axis third simulated voltage command Vqfb, the d-axis second simulated voltage command Vdff, and the q-axis second simulated voltage command Vqff. Based on and d-axis first
Simulated voltage command Vdo and the q-axis first simulated voltage command Vqo
And the d-axis first simulated voltage command Vdo based on the d-axis current command Idref, the q-axis current command Iqref, the d-axis simulated current Idob, and the q-axis simulated current Iqob. And a feedback control unit 9b that generates a q-axis first simulated voltage command Vqo, a speed generator 8 that generates an actual speed w using the actual position θ,
Based on the d-axis first simulated voltage command Vdo, the q-axis first simulated voltage command Vqo, and the actual speed w, the d-axis first simulated voltage command Vdo
Simulated voltage command Vdo and the q-axis first simulated voltage command Vqo
The induced voltage is added to and, and the d-axis actual voltage command Vdref and q
Induced voltage compensator 7 for generating shaft actual voltage command Vqref
And using the actual position θ, the d-axis actual voltage command Vdr
ef and the q-axis actual voltage command Vqref, the actual voltage command V
The first coordinate converter 5 for converting into uref, Vvref, and Vwref. According to the current control device for a synchronous motor of claim 9, since the current feedback gain can be set high,
A good current response characteristic can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameters, the power supply, and the like change due to the influence of temperature or the like. Moreover, even if the rotational speed of the synchronous motor suddenly changes, good current response characteristics can be obtained.
Further, it is possible to obtain a faster current response characteristic with respect to the command.

According to a tenth aspect of the present invention, there is provided a current control device for a synchronous motor, wherein a d-axis actual current Idfb and a q-axis actual current Iqfb on a rotating coordinate axis rotating in synchronization with a rotor magnetic flux vector of the synchronous motor 1 are a d-axis current command. Idref and q-axis current command I
A current position controller for a synchronous motor that provides the actual voltage commands Vuref, Vvref, Vwref to the power conversion circuit 4 so as to match qref, and a real position observer 2 that provides the real position θ of the synchronous motor, A real current observing section 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and real currents Iu, Iv,
D-axis actual current Idfb on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on Iw
And the second coordinate converter 6 for converting the q-axis actual current Iqfb
And the d-axis actual current Idfb and the q-axis actual current Iqfb
And d-axis actual voltage command Vdref and q-axis actual voltage command Vqre
Based on f, the d-axis simulated current Idb and the q-axis simulated current I
a current observer 14a for estimating qob, a d-axis simulated disturbance voltage Vdob, and a q-axis simulated disturbance voltage Vqob;
Axis current command Idref, the q-axis current command Iqref, the d-axis simulated current Idb, and the q-axis simulated current Iqob
A feedback control unit 9 for generating a d-axis first simulated voltage command Vdo and a q-axis first simulated voltage command Vqo based on
b, the d-axis third simulated voltage command Vdfb, the q-axis third simulated voltage command Vqfb, and the d-axis simulated disturbance voltage Vdo.
Using the voltage command synthesizer 15 that generates the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref based on b and the q-axis simulated disturbance voltage Vqob, and the actual position θ,
The d-axis actual voltage command Vdref and the q-axis actual voltage command V
qref and actual voltage commands Vuref, Vvref, Vw
and a first coordinate converter 5 for converting into ref. According to the current control device for a synchronous motor of claim 10, since the current feedback gain can be set high, the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature and the like occur. Also in this case, good current response characteristics can be obtained.
Further, even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate suddenly, good current response characteristics can be obtained.

According to the eleventh aspect of the present invention, there is provided a current control device for a synchronous motor, wherein the d-axis actual current Idfb and the q-axis actual current Iqfb on the rotational coordinate axis rotating in synchronization with the rotor magnetic flux vector of the synchronous motor 1 are the d-axis current commands. Idref and q-axis current command I
A current position controller for a synchronous motor that provides the actual voltage commands Vuref, Vvref, Vwref to the power conversion circuit 4 so as to match qref, and a real position observer 2 that provides the real position θ of the synchronous motor, A real current observing section 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and real currents Iu, Iv,
D-axis actual current Idfb on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on Iw
And the second coordinate converter 6 for converting the q-axis actual current Iqfb
And the d-axis current command Idref and the q-axis current command I
a feedforward control unit 12 that generates a d-axis second simulated current command Idff, a q-axis second simulated current command Iqff, a d-axis second simulated voltage command Vdff, and a q-axis second simulated voltage command Vqff based on qref. , The d-axis actual current Id
fb, the q-axis actual current Iqfb, and the d-axis actual voltage command Vdr
A current observer 14a for estimating the d-axis simulated current Idob, the q-axis simulated current Iqob, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob based on ef and the q-axis actual voltage command Vqref, and the d-axis first. 2 Simulated current command Id
A d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb are generated based on ff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q-axis simulated current Iqob. A feedback control unit 11,
The d-axis second simulated voltage command Vdff, the q-axis second simulated voltage command Vqff, and the d-axis third simulated voltage command Vdfb
And the q-axis third simulated voltage command Vqfb, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob based on the d-axis actual voltage command Vdref and the q-axis actual voltage command Vq.
Using the voltage command synthesizer 16 for generating ref and the actual position θ, the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are converted to actual voltage commands Vuref, Vv.
and a first coordinate converter 5 for converting into ref and Vwref. According to the synchronous motor current control device of the eleventh aspect, since the current feedback gain can be set to a high value, the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur. Also in this case, good current response characteristics can be obtained. Further, even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate suddenly, good current response characteristics can be obtained. Further, it is possible to obtain a faster current response characteristic with respect to the command.

According to a twelfth aspect of the present invention, there is provided a current control device for a synchronous motor, wherein the d-axis actual current Idfb and the q-axis actual current Iqfb on a rotating coordinate axis rotating in synchronization with the rotor magnetic flux vector of the synchronous motor 1 are the d-axis current commands. Idref and q-axis current command I
A current position controller for a synchronous motor that provides the actual voltage commands Vuref, Vvref, Vwref to the power conversion circuit 4 so as to match qref, and a real position observer 2 that provides the real position θ of the synchronous motor, A real current observing section 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and real currents Iu, Iv,
D-axis actual current Idfb on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on Iw
And the second coordinate converter 6 for converting the q-axis actual current Iqfb
And the d-axis current command Idref and the q-axis current command I
a feedforward control unit 12 that generates a d-axis second simulated current command Idff, a q-axis second simulated current command Iqff, a d-axis second simulated voltage command Vdff, and a q-axis second simulated voltage command Vqff based on qref. , The d-axis actual current Id
Based on fb, the q-axis actual current Iqfb, the d-axis first simulated voltage command Vdo, and the q-axis actual voltage command Vqo, the d-axis simulated current Idob, the q-axis simulated current Iqob, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated The current observer 14b for estimating the disturbance voltage Vqob, and the d-axis second simulated current command Idf
A d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb are generated based on f, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q-axis simulated current Iqob. Feedback control unit 11, the d-axis second simulated voltage command Vdff, the q-axis second simulated voltage command Vqff, the d-axis third simulated voltage command Vdfb, the q-axis third simulated voltage command Vqfb, and the d-axis simulated The d-axis first simulated voltage command Vdo and the q-axis actual voltage command Vq based on the disturbance voltage Vdob and the q-axis simulated disturbance voltage Vqob.
o, a voltage command synthesizer 17 for generating o, a speed generator 8 for generating an actual speed w using the actual position θ, the d-axis first simulated voltage command Vdo, and the q-axis first simulated voltage command Vq.
The induced voltage is added to the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo based on o and the actual speed w to obtain the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref. Using the induced voltage compensator 7 that generates the actual position θ and the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref, the actual voltage command Vuref,
And a first coordinate converter 5 for converting into Vvref and Vwref. According to the current control device for a synchronous motor of claim 12, since the current feedback gain can be set high, fluctuations in parameters, power supply, etc. of the synchronous motor 1, the power conversion circuit 4, and the like due to the influence of temperature and the like occur. Also in this case, good current response characteristics can be obtained. In addition, the synchronous motor 1 and the power conversion circuit 4
Even if the parameters fluctuate suddenly, good current response characteristics can be obtained. Further, it is possible to obtain a faster current response characteristic with respect to the command. Further, even if the rotation speed of the synchronous motor suddenly changes, good current response characteristics can be obtained.

[0017]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT A synchronous motor current control device and control method according to a first embodiment of the present invention will be described with reference to FIG. Hereinafter, the current control device for the synchronous motor is an embodiment of the current control method for the synchronous motor. As shown in FIG. 1, in the current control device for a synchronous motor according to this embodiment, the d-axis actual current Idfb and the q-axis actual current Iqfb on the rotating coordinate axis that rotate in synchronization with the rotor magnetic flux vector of the synchronous motor 1 are d. Axis current command Idref and q-axis current command Iq
A current controller for a synchronous motor that provides the actual voltage commands Vuref, Vvref, and Vwref to the power conversion circuit 4 so as to match ref, and a real position observer 2 that provides the real position θ of the synchronous motor. A real current observing section 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and the real currents Iu, Iv, Iw.
a second coordinate converter 6 for converting into a d-axis actual current Idfb and a q-axis actual current Iqfb on a rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on w,
The d-axis actual current Idfb and the q-axis actual current Iqfb and d
Based on the axis actual voltage command Vdref and the q-axis actual voltage command Vqref, the d-axis simulated current Ido and the q-axis simulated current Iqo
Based on the current observer 10a that estimates b, the d-axis current command Idref, the q-axis current command Iqref, the d-axis simulated current Idob, and the q-axis simulated current Iqob, the d-axis actual voltage command Vdref and the q-axis actual command. Voltage command Vqr
The d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are converted into actual voltage commands Vuref, Vvref, Vwref by using the feedback control unit 9a that generates ef and the actual position θ of the rotor of the synchronous motor. It comprises a first coordinate converter 5 for conversion. Synchronous motor 1,
The real-position observer 2, the real-current observer 3, the power conversion circuit 4, the first coordinate converter 5, and the second coordinate converter 6 are the same as those of the conventional device.

In the current observer 10a, the d-axis simulated current Idob and the q-axis simulated current Iqob are generated as follows. Here, s is a differential operator, Rd is a d-axis equivalent resistance, Rq is a q-axis equivalent resistance, Ld is a d-axis equivalent inductance, and Lq is a q-axis equivalent inductance. Ld1, L
d2, Lq1, and Lq2 are gains of the current observer, and may be set in the pole arrangement. Idob * s = -Rd * Idob / Ld + Ld1 * (Idfb-Idob) + (Vdob + Vdref) / Ld (1) Vdob * s = Ld2 * (Idfb-Idob) (2) Iqob * s = -Rq * Lqb / Iqob / (Iqfb-Iqob) + (Vqob + Vqref) / Lq (3) Vqob * s = Lq2 * (Iqfb-Iqob) (4) In the feedback control unit 9a, the d-axis actual voltage command V
The dref and the q-axis actual voltage command Vqref are generated as follows. However, kda and kqa are feedback gains. Vdref = kda * (Idref-Idob) (5) Vqref = kqa * (Iqref-Iqob) (6)

According to the current controller of the synchronous motor of the first embodiment, the d-axis simulated current Idob and the q-axis simulated current Iqob obtained by the current observer unit 10a are used instead of the measured currents Idfb and Iqfb. By performing feedback control using the measured currents Idfb, Iqf
Since the noise included in b is suppressed and the feedback gains kda and kqa can be set to a high value, it is preferable even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur. Excellent current response characteristics can be obtained. The feedback control unit 9a
With respect to, instead of the proportional control shown in the equations (5) and (6),
It may be constructed by proportional / integral control. Further, the current observer 10a may be constructed in consideration of the d and q axis interference components.

A current controller for a synchronous motor according to a second embodiment of the present invention will be described with reference to FIG. Figure 2
As shown in, the current control device for a synchronous motor according to the present embodiment is configured so that the d-axis actual current Idfb and the q-axis actual current Iqfb on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor 1 are the d-axis. A current control device for a synchronous motor that provides actual voltage commands Vuref, Vvref, Vwref to the power conversion circuit 4 so as to match the current command Idref and the q-axis current command Iqref, and provides the actual position θ of the synchronous motor. The real position observing device 2, a real current observing unit 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and the real currents Iu, Iw.
d-axis actual current Id on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on v and Iw
The second coordinate converter 6 for converting fb and q-axis actual current Iqfb, the d-axis actual current Idfb and the q-axis actual current Iqf.
A current observer 10b that estimates the d-axis simulated current Idob and the q-axis simulated current Iqob based on the b and d-axis first simulated voltage commands Vdo and the q-axis first simulated voltage command Vqo, the d-axis current command Idref and the q-axis current command Iqref
And the d-axis simulated current Idb and the q-axis simulated current Iqo
Based on b, the d-axis first simulated voltage command Vdo and the q-axis first
A current feedback control unit 9b that generates a simulated voltage command Vqo, a speed generator 8 that generates an actual speed w using the actual position θ, the d-axis first simulated voltage command Vdo, and the q-axis first simulation. Based on the voltage command Vqo and the actual speed w, the induced voltage is added to the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo to obtain the d-axis actual voltage command Vdref and the q-axis actual voltage. Using the induced voltage compensator 7 that generates the command Vqref and the actual position θ, the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref.
And a first coordinate converter 5 for converting the actual voltage commands Vuref, Vvref, and Vwref. In the current observer 10b, the d-axis simulated currents Idb and q
The shaft simulation current Iqob is generated as follows. Idob * s = -Rd * Idob / Ld + Ld1 * (Idfb-Idob) + (Vdob + Vdo) / Ld (7) Vdob * s = Ld2 * (Idfb-Idob) (8) Iqob * s = -Rq * Iqob / (Iqfb-Iqob) + (Vqob + Vqo) / Lq (9) Vqob * s = Lq2 * (Iqfb-Iqob) (10)

In the feedback control section 9b, the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo.
Is generated as follows. However, kda and kqa are feedback gains. Vdo = kda * (Idref-Idob) (11) Vqo = kqa * (Iqref-Iqob) (12) In the speed generator 8, the actual speed w is generated as follows. w = s * θ (13) In the induced voltage compensation unit 7, the d-axis actual voltage command Vdref
And the q-axis actual voltage command Vqref are generated as follows. However, φd and φq are equivalent magnetic flux coefficients on the d and q axes. Vdref = Vdo + φd * w (14) Vqref = Vqo + φq * w (15) According to the current control device of the synchronous motor of the second embodiment, the current observer unit is used instead of the measured currents Idfb and Iqfb. D-axis simulated currents Idob and q obtained in 10b
By performing feedback control using the shaft simulated current Iqob, noise included in the measured currents Idfb, Iqfb is suppressed, and the feedback gains kda, kq.
Since a can be set to a high value, good current response characteristics can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur. Further, when the rotational speed of the synchronous motor suddenly changes, the induced voltage is compensated by the induced voltage compensator 7 to estimate the d-axis simulated current Idob and the q-axis simulated current Iqob obtained by the current observer 10b. By suppressing the error, a good current response characteristic can be obtained even if the rotation speed of the synchronous motor suddenly changes. The feedback control unit 9b may be constructed by proportional / integral control instead of the proportional control shown by the equations (11) and (12). Further, the current observer 10b may be constructed in consideration of the d and q axis interference components.

A current controller for a synchronous motor according to a third embodiment of the present invention will be described with reference to FIG. Figure 3
As shown in, the current control device for a synchronous motor according to the present embodiment is configured so that the d-axis actual current Idfb and the q-axis actual current Iqfb on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor 1 are the d-axis. A current control device for a synchronous motor that provides actual voltage commands Vuref, Vvref, Vwref to the power conversion circuit 4 so as to match the current command Idref and the q-axis current command Iqref, and provides the actual position θ of the synchronous motor. The real position observing device 2, a real current observing unit 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and the real currents Iu, Iw.
d-axis actual current Id on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on v and Iw
The second coordinate converter 6 for converting fb and q-axis actual current Iqfb, the d-axis actual current Idfb and the q-axis actual current Iqf.
A current observer 10b that estimates the d-axis simulated current Idob and the q-axis simulated current Iqob based on the b and d-axis first simulated voltage commands Vdo and the q-axis first simulated voltage command Vqo, the d-axis current command Idref and the q-axis current command Iqref
Based on the d-axis second simulated current command Idff and the q-axis second
Simulated current command Iqff and d-axis second simulated voltage command Vdff
And a feedforward controller 12 for generating a q-axis second simulated voltage command Vqff, and the d-axis second simulated current command I.
A d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb are generated based on dff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q-axis simulated current Iqob. Feedback control unit 11
And the d-axis third simulated voltage command Vdfb and the q-axis third
The simulated voltage command Vqfb and the d-axis second simulated voltage command Vd
A voltage command synthesizer 13 that generates a d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo based on ff and the q-axis second simulated voltage command Vqff, and the d-axis current command Idref. And a current feedback controller that generates a d-axis first simulated voltage command Vdo and a q-axis first simulated voltage command Vqo based on the q-axis current command Iqref, the d-axis simulated current Idob, and the q-axis simulated current Iqob. 9b, a speed generator 8 that generates an actual speed w using the actual position θ, the d-axis first simulated voltage command Vdo, and the q
An induced voltage is added to the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo on the basis of the axis first simulated voltage command Vqo and the actual speed w to obtain the d-axis actual voltage command V.
Using the induced voltage compensator 7 that generates dref and the q-axis actual voltage command Vqref, and the actual position θ, the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are converted into the actual voltage commands Vuref and Vvref. , Vwref, and a first coordinate converter 5 for converting to Vwref.

In the feedforward controller 12,
The d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, the d-axis second simulated voltage command Vdff, and the q-axis second simulated voltage command Vqff are generated as follows. However,
Kdf and Kqf are control gains of the feedforward control unit 12. Idff * s = -Rd * Idff / Ld + Vdff (16) Vdff = Kdf * (Idref-Idff) (17) Iqff * s = -Rq * Iqff / Lq + Vqff (18) Vqff = Kqf * (Iqref-Iqff (19) In the feedback control unit 11, the d-axis third simulated voltage command Vdfb and the q-axis third simulated voltage command Vqfb are generated as follows. Vdfb = kda * (Idff-Idob) (20) Vqfb = kqa * (Iqff-Iqob) (21) In the voltage command synthesizer 13, the d-axis first simulated voltage command V
do and the q-axis first simulated voltage command Vqo are generated as follows. Vdo = Vdfb + Vdff (22) Vqo = Vqfb + Vqff (23)

According to the current controller for a synchronous motor of the third embodiment, the d-axis simulated current Idob and the q-axis simulated current Iqob obtained by the current observer section 10b are used instead of the measured currents Idfb and Iqfb. By performing feedback control using the measured currents Idfb, Iqf
Since the noise included in b is suppressed and the feedback gains kda and kqa can be set to a high value, it is preferable even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur. Excellent current response characteristics can be obtained. Further, when the rotational speed of the synchronous motor suddenly changes, the induced voltage is compensated by the induced voltage compensator 7 to estimate the d-axis simulated current Idob and the q-axis simulated current Iqob obtained by the current observer 10a. By suppressing the error, a good current response characteristic can be obtained even if the rotation speed of the synchronous motor suddenly changes. Further, by directly inputting the d-axis second simulated voltage command Vdff and the q-axis second simulated voltage command Vqff generated by the feedforward control unit 12 to the voltage command synthesizer 13, a higher-speed current than the command is generated. Response characteristics can be obtained. The feedback control unit 11 may be constructed by proportional / integral control instead of the proportional control shown by the equations (20) and (21).

A current control device for a synchronous motor according to a fourth embodiment of the present invention will be described with reference to FIG. Figure 4
As shown in, the current control device for a synchronous motor according to the present embodiment is configured so that the d-axis actual current Idfb and the q-axis actual current Iqfb on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor 1 are the d-axis. A current control device for a synchronous motor that provides actual voltage commands Vuref, Vvref, Vwref to the power conversion circuit 4 so as to match the current command Idref and the q-axis current command Iqref, and provides the actual position θ of the synchronous motor. The real position observing device 2, a real current observing unit 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and the real currents Iu, Iw.
d-axis actual current Id on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on v and Iw
The second coordinate converter 6 for converting fb and q-axis actual current Iqfb, the d-axis actual current Idfb and the q-axis actual current Iqf.
b and d-axis actual voltage command Vdref and q-axis actual voltage command Vqr
A current observer 14a for estimating the d-axis simulated current Idob, the q-axis simulated current Iqob, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob based on ef, the d-axis current command Idref, and the q-axis current. Command Iqref
And the d-axis simulated current Idb and the q-axis simulated current Iqo
Based on b, the d-axis first simulated voltage command Vdo and the q-axis first
A feedback control unit 9b that generates a simulated voltage command Vqo, the d-axis third simulated voltage command Vdfb, the q-axis third simulated voltage command Vqfb, and the d-axis simulated disturbance voltage Vd.
Ob and the q-axis simulated disturbance voltage Vqob, a voltage command synthesizer 15 that generates a d-axis actual voltage command Vdref and a q-axis actual voltage command Vqref; The command Vdref and the q-axis actual voltage command Vqref are converted into actual voltage commands Vuref, Vvref,
It is composed of a first coordinate converter 5 for converting into Vwref.

In the current observer 14a, the d-axis simulated current Idob, the q-axis simulated current Iqob, the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vqob are generated as follows. Idob * s = -Rd * Idob / Ld + Ld1 * (Idfb-Idob) + (Vdob + Vdref) / Ld (24) Vdob * s = Ld2 * (Idfb-Idob) (25) Iqob * s = -Rq * Lqb / Iqob (Iqfb-Iqob) + (Vqob + Vqref) / Lq (26) Vqob * s = Lq2 * (Iqfb-Iqob) (27) In the voltage command synthesizer 15, the d-axis actual voltage command Vdre
The f and q axis actual voltage commands Vqref are generated as follows. Vdref = Vdob + Vdo (28) Vqref = Vqob + Vqo (29) According to the current control device of the synchronous motor of the fourth embodiment, the d-axis simulation obtained by the current observer unit 14a instead of the measured currents Idfb and Iqfb is obtained. Current Idob and q
By performing feedback control using the shaft simulated current Iqob, noise included in the measured currents Idfb, Iqfb is suppressed, and the feedback gains kda, kq.
Since a can be set to a high value, good current response characteristics can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur. Further, the disturbance voltage component is directly compensated by directly inputting the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vqob obtained in the current observer unit 14a to the synchronous motor 1 and Even if the power conversion circuit 4 and the parameters fluctuate suddenly, good current response characteristics can be obtained. Further, the current observer 14a may be constructed in consideration of the d and q axis interference components.

A current controller for a synchronous motor according to a fifth embodiment of the present invention will be described with reference to FIG. Figure 5
As shown in, the current control device for a synchronous motor according to the present embodiment is configured so that the d-axis actual current Idfb and the q-axis actual current Iqfb on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor 1 are the d-axis. A current control device for a synchronous motor that provides actual voltage commands Vuref, Vvref, Vwref to the power conversion circuit 4 so as to match the current command Idref and the q-axis current command Iqref, and provides the actual position θ of the synchronous motor. The real position observing device 2, a real current observing unit 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and the real currents Iu, Iw.
d-axis actual current Id on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on v and Iw
The second coordinate converter 6 for converting fb and the q-axis actual current Iqfb, and the d-axis second simulated current command Idff based on the d-axis current command Idref and the q-axis current command Iqref.
And a q-axis second simulated current command Iqff, a d-axis second simulated voltage command Vdff, and a q-axis second simulated voltage command Vqff, and the d-axis actual current I.
dfb, the q-axis actual current Iqfb, and the d-axis actual voltage command Vd
A current observer 14a for estimating the d-axis simulated current Idob, the q-axis simulated current Iqob, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob based on ref and the q-axis actual voltage command Vqref, and the d-axis first. 2 Simulated current command I
A d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb are generated based on dff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q-axis simulated current Iqob. Feedback control unit 11
And the d-axis second simulated voltage command Vdff and the q-axis second
Simulated voltage command Vqff and the d-axis third simulated voltage command Vd
A voltage command that generates a d-axis actual voltage command Vdref and a q-axis actual voltage command Vqref based on fb, the q-axis third simulated voltage command Vqfb, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob. Using the combiner 16 and the actual position θ, the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are converted into the actual voltage command Vuref,
It is composed of a first coordinate converter 5 for converting into Vvref and Vwref.

In the voltage command synthesizer 16, the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are generated as follows. Vdref = Vdob + Vdfb + Vdff (30) Vqref = Vqob + Vqfb + Vqff (31) According to the current controller of the synchronous motor of the fifth embodiment, d obtained by the current observer unit 14a instead of the measured currents Idfb and Iqfb. Axis simulated current Idb and q
By performing feedback control using the shaft simulated current Iqob, noise included in the measured currents Idfb, Iqfb is suppressed, and the feedback gains kda, kq.
Since a can be set to a high value, good current response characteristics can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur. Further, the disturbance voltage component is directly compensated by directly inputting the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vqob obtained in the current observer unit 14a to the synchronous motor 1 and Even if the power conversion circuit 4 and the parameters fluctuate suddenly, good current response characteristics can be obtained. Further, by directly inputting the d-axis second simulated voltage command Vdff and the q-axis second simulated voltage command Vqff generated by the feedforward control unit 12 to the voltage command synthesizer 16, a higher-speed current than the command is generated. Response characteristics can be obtained.

A sixth embodiment of the current control device for a synchronous motor of the present invention will be described with reference to FIG. Figure 6
As shown in, the current control device for a synchronous motor according to the present embodiment is configured so that the d-axis actual current Idfb and the q-axis actual current Iqfb on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor 1 are the d-axis. A current control device for a synchronous motor that provides actual voltage commands Vuref, Vvref, Vwref to the power conversion circuit 4 so as to match the current command Idref and the q-axis current command Iqref, and provides the actual position θ of the synchronous motor. The real position observing device 2, a real current observing unit 3 for observing currents of two or more phases of the synchronous motor and providing real currents Iu, Iv, Iw, the real position θ and the real currents Iu, Iw.
d-axis actual current Id on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on v and Iw
The second coordinate converter 6 for converting fb and the q-axis actual current Iqfb, and the d-axis second simulated current command Idff based on the d-axis current command Idref and the q-axis current command Iqref.
And a q-axis second simulated current command Iqff, a d-axis second simulated voltage command Vdff, and a q-axis second simulated voltage command Vqff, and the d-axis actual current I.
dfb, the q-axis actual current Iqfb, the d-axis first simulated voltage command Vdo, and the q-axis actual voltage command Vqo, and the d-axis simulated current Idob, the q-axis simulated current Iqob, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated. The current observer 14b for estimating the disturbance voltage Vqob and the d-axis second simulated current command Id
A d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb are generated based on ff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q-axis simulated current Iqob. A feedback control unit 11,
The d-axis second simulated voltage command Vdff, the q-axis second simulated voltage command Vqff, and the d-axis third simulated voltage command Vdfb
Based on the q-axis third simulated voltage command Vqfb, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob, the d-axis first simulated voltage command Vdo and the q-axis actual voltage command V
voltage command synthesizer 17 for generating qo and the actual position θ
, A speed generator 8 for generating an actual speed w, the d-axis first simulated voltage command Vdo, and the q-axis first simulated voltage command V
Based on qo and the actual speed w, an induced voltage is added to the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vqo to obtain the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref. Using the induced voltage compensator 7 for generating and the actual position θ, the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are calculated as the actual voltage command Vure.
and a first coordinate converter 5 for converting into f, Vvref, and Vwref.

In the current observer 14b, the d-axis simulated current Idob, the q-axis simulated current Iqob, the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vqob are generated as follows. Idob * s = -Rd * Idob / Ld + Ld1 * (Idfb-Idob) + (Vdob + Vdo) / Ld (32) Vdob * s = Ld2 * (Idfb-Idob) (33) Iqob * s = -Rq * Lqb / Lqb (Iqfb-Iqob) + (Vqob + Vqo) / Lq (34) Vqob * s = Lq2 * (Iqfb-Iqob) (35) In the voltage command synthesizer 17, the d-axis actual voltage command Vdre
The f and q axis actual voltage commands Vqref are generated as follows. Vdo = Vdff + Vdfb + Vdob (36) Vqo = Vqff + Vqfb + Vqob (37) According to the current controller of the synchronous motor of the sixth embodiment, the d-axis simulation obtained by the current observer unit 14b instead of the measured currents Idfb and Iqfb is obtained. Current Idob and q
By performing feedback control using the shaft simulated current Iqob, noise included in the measured currents Idfb, Iqfb is suppressed, and the feedback gains kda, kq.
Since a can be set to a high value, good current response characteristics can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur. Further, the disturbance voltage component is directly compensated by directly inputting the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vqob obtained in the current observer unit 14b to the synchronous motor 1 and Even if the power conversion circuit 4 and the parameters fluctuate suddenly, good current response characteristics can be obtained. In addition, by directly inputting the d-axis second simulated voltage command Vdff and the q-axis second simulated voltage command Vqff generated by the feedforward control unit 12 to the voltage command synthesizer 16, a faster current than the command is generated. Response characteristics can be obtained. Further, when the rotational speed of the synchronous motor suddenly changes, the induced voltage is compensated by the induced voltage compensator 7 to estimate the d-axis simulated current Idob and the q-axis simulated current Iqob obtained by the current observer 14b. By suppressing the error, a good current response characteristic can be obtained even if the rotation speed of the synchronous motor suddenly changes. The current observer 14b may be constructed in consideration of the d and q axis interference components.

[0031]

According to the current control method for the synchronous motor of the first aspect, the d-axis actual current Idfb and the q-axis actual current Iqfb are obtained.
Since the current feedback gain can be set to a high value by suppressing the noise between the and, the good current response can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameter fluctuation, the power supply fluctuation, and the like occur due to the influence of temperature and the like. The characteristics can be obtained. According to the current control method of the synchronous motor of claim 2, since the current feedback gain can be set high by suppressing the noise of the d-axis actual current Idfb and the q-axis actual current Iqfb, the influence of temperature or the like can be obtained. Even when the synchronous motor 1, the power conversion circuit 4, the parameter fluctuations, the power supply fluctuations, and the like occur due to the above, good current response characteristics can be obtained. Further, by directly compensating the induced voltage, a good current response characteristic can be obtained even if the rotation speed of the synchronous motor suddenly changes. According to the current control method of the synchronous motor of claim 3, d-axis actual current Idfb and q-axis actual current Iqf.
Since the current feedback gain can be set high by suppressing the noise with b, a good current can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameter fluctuation, the power supply fluctuation, and the like occur due to the influence of temperature and the like. Response characteristics can be obtained. Further, by directly compensating the induced voltage, a good current response characteristic can be obtained even if the rotation speed of the synchronous motor suddenly changes. Further, by directly compensating for the d-axis second simulated voltage command Vdff and the q-axis second simulated voltage command Vqff, it is possible to obtain a faster current response characteristic to the command.

According to the current control method of the synchronous motor of the fourth aspect, since the noise of the d-axis actual current Idfb and the q-axis actual current Iqfb can be suppressed, the current feedback gain can be set high. Even when the synchronous motor 1, the power conversion circuit 4, the parameter, the power supply, and the like change due to the influence of the above, a good current response characteristic can be obtained. Further, by directly compensating the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vqob, good current response characteristics can be obtained even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate and change suddenly. According to the current control method for the synchronous motor of claim 5, the d-axis actual current Idfb is used.
By suppressing the noise between the q-axis actual current Iqfb and
Since the current feedback gain can be set high, even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, or the like due to the influence of temperature or the like occurs,
Good current response characteristics can be obtained. Further, by directly compensating the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vqob, good current response characteristics can be obtained even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate and change suddenly. Furthermore, the d-axis second simulated voltage command Vdff and the q-axis second
By directly compensating for the simulated voltage command Vqff,
A faster current response characteristic can be obtained in response to a command.
According to the current control method of the synchronous motor of claim 6, d
Since the current feedback gain can be set high by suppressing the noise between the shaft actual current Idfb and the q-axis actual current Iqfb, the synchronous motor 1, the power conversion circuit 4, the parameter fluctuation, and the power supply fluctuation due to the influence of temperature or the like. Good current response characteristics can be obtained even when such problems occur. Also, the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vq
By directly compensating for ob, a good current response characteristic can be obtained even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate and change suddenly. Further, by directly compensating the d-axis second simulated voltage command Vdff and the q-axis second simulated voltage command Vqff, it is possible to obtain a faster current response characteristic to the command. Further, by directly compensating the induced voltage, a good current response characteristic can be obtained even if the rotation speed of the synchronous motor suddenly changes.

According to the current control device for a synchronous motor of claim 7, instead of the measured currents Idfb, Iqfb, the d-axis simulated current Idob obtained by the current observer unit 10a.
And feedback control using the q-axis simulated current Iqob, noise contained in the measured currents Idfb, Iqfb is suppressed, and the feedback gain kda,
Since the kqa can be set to a high value, a good current response characteristic can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, the power source variation, and the like due to the influence of temperature or the like occur. According to the current control device for a synchronous motor of claim 8, instead of the measured currents Idfb and Iqfb,
D-axis simulated current Ido obtained by the current observer unit 10b
By performing feedback control using the b and q-axis simulated currents Iqob, noise contained in the measured currents Idfb and Iqfb is suppressed, and the feedback gain kd
Since a and kqa can be set to be high, good current response characteristics can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, and the power source variation due to the influence of temperature or the like occur. Further, when the rotational speed of the synchronous motor suddenly changes, the induced voltage is compensated by the induced voltage compensator 7 to estimate the d-axis simulated current Idob and the q-axis simulated current Iqob obtained by the current observer 10b. By suppressing the error, a good current response characteristic can be obtained even if the rotation speed of the synchronous motor suddenly changes. According to the synchronous motor current controller of claim 9, the measured current Idfb,
Instead of Iqfb, the measured current I is obtained by performing feedback control using the d-axis simulated current Idob and the q-axis simulated current Iqob obtained by the current observer unit 10b.
Since the noise included in dfb and Iqfb can be suppressed and the feedback gains kda and kqa can be set high, even when the synchronous motor 1, the power conversion circuit 4, the parameter fluctuation, the power supply fluctuation, and the like occur due to the influence of temperature and the like. , Good current response characteristics can be obtained. Further, when the rotational speed of the synchronous motor suddenly changes, the induced voltage is compensated by the induced voltage compensating unit 7 so that the current observer unit 1
0a obtained d-axis simulated current Ido and q-axis simulated current I
By suppressing the estimation error in qob, good current response characteristics can be obtained even if the rotational speed of the synchronous motor suddenly changes. Further, by directly inputting the d-axis second simulated voltage command Vdff and the q-axis second simulated voltage command Vqff generated by the feedforward control unit 12 to the voltage command synthesizer 13, a higher-speed current than the command is generated. Response characteristics can be obtained.

According to the synchronous motor current controller of the tenth aspect, instead of the measured currents Idfb and Iqfb,
D-axis simulated current Ido obtained by the current observer unit 14a
By performing feedback control using the b and q-axis simulated currents Iqob, noise contained in the measured currents Idfb and Iqfb is suppressed, and the feedback gain kd
Since a and kqa can be set to be high, good current response characteristics can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, and the power source variation due to the influence of temperature or the like occur. Further, the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vq obtained by the current observer unit 14a
By directly inputting ob to the voltage command synthesizer 15, the disturbance voltage component is directly compensated, so that good current response characteristics can be obtained even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate and change suddenly. . According to the current control device for a synchronous motor of claim 11, the measured currents Idfb, Iq.
Instead of fb, d obtained by the current observer unit 14a
The measured current Idf is obtained by performing feedback control using the axis simulated current Idob and the q axis simulated current Iqob.
Since the noise contained in b and Iqfb can be suppressed and the feedback gains kda and kqa can be set high, even when the synchronous motor 1, the power conversion circuit 4, the parameter fluctuation, the power supply fluctuation, and the like occur due to the influence of temperature and the like. ,
Good current response characteristics can be obtained. Further, by directly inputting the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vqob obtained by the current observer unit 14a to the voltage command synthesizer 15, the disturbance voltage component is directly compensated,
Even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate suddenly, good current response characteristics can be obtained. Further, by directly inputting the d-axis second simulated voltage command Vdff and the q-axis second simulated voltage command Vqff generated by the feedforward control unit 12 to the voltage command synthesizer 16, a higher-speed current than the command is generated. Response characteristics can be obtained.

According to the current control device for a synchronous motor of claim 12, instead of the measured currents Idfb and Iqfb,
D-axis simulated current Ido obtained by the current observer unit 14b
By performing feedback control using the b and q-axis simulated currents Iqob, noise contained in the measured currents Idfb and Iqfb is suppressed, and the feedback gain kd
Since a and kqa can be set to be high, good current response characteristics can be obtained even when the synchronous motor 1, the power conversion circuit 4, the parameter variation, and the power source variation due to the influence of temperature or the like occur. In addition, the d-axis simulated disturbance voltage Vdob and the q-axis simulated disturbance voltage Vq obtained by the current observer unit 14b.
By directly inputting ob to the voltage command synthesizer 15, the disturbance voltage component is directly compensated, so that good current response characteristics can be obtained even if the synchronous motor 1, the power conversion circuit 4, and the parameters fluctuate and change suddenly. . Further, the d-axis second simulated voltage command Vdf generated by the feedforward control unit 12
By directly inputting the f and q-axis second simulated voltage commands Vqff to the voltage command synthesizer 16, it is possible to obtain a faster current response characteristic to the commands. Further, when the rotation speed of the synchronous motor suddenly changes, the induced voltage is compensated by the induced voltage compensator 7, so that the d-axis simulated current Idob and the q-axis simulated current Iqob obtained by the current observer 14b.
By suppressing the estimation error of 1), good current response characteristics can be obtained even if the rotation speed of the synchronous motor suddenly changes.

[Brief description of drawings]

FIG. 1 is a block diagram showing the configuration of a current control device for a synchronous motor according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing the configuration of a current control device for a synchronous motor according to a second embodiment of the present invention.

FIG. 3 is a block diagram showing a configuration of a current control device for a synchronous motor according to a third embodiment of the present invention.

FIG. 4 is a block diagram showing a configuration of a current control device for a synchronous motor according to a fourth embodiment of the present invention.

FIG. 5 is a block diagram showing a configuration of a current control device for a synchronous motor according to a fifth embodiment of the present invention.

FIG. 6 is a block diagram showing a configuration of a current control device for a synchronous motor according to a sixth embodiment of the present invention.

FIG. 7 is a block diagram showing a configuration of a conventional electric motor control device.

[Explanation of symbols]

1: Synchronous motor 2: Real position observer 3: Real current observation section 4: Power conversion circuit 5: First coordinate converter 6: Second coordinate converter 7: Induced voltage compensator 8: Velocity generator 9a: Feedback control unit 9b: Feedback control unit 10a: Current observer 10b: Current observer 11: Feedback control unit 12: Feedforward control unit 13: Voltage command synthesizer 14a: current observer 14b: current observer 15: Voltage command synthesizer 16: Voltage command synthesizer 17: Voltage command synthesizer 20: Feedback control unit

   ─────────────────────────────────────────────────── ─── Continued front page    F-term (reference) 5H540 AA06 BA03 EE08 EE10 EE20                       FA02 FC02                 5H560 AA07 BB04 BB12 DC12 DC14                       EB01 RR03 XA02 XA13                 5H576 AA17 BB09 DD02 DD07 EE01                       GG04 GG10 HB01 JJ04 JJ25                       LL07 LL22 LL41

Claims (12)

[Claims] 1. A current control method for a synchronous motor, which provides an appropriate actual voltage command to the power conversion circuit so that the current flowing in the synchronous motor fed by the power conversion circuit matches the current command. Using the actual position θ of the child, the currents Iu, Iv, and Iw flowing in the synchronous motor are converted into the d-axis actual current Idf b and the q-axis actual current Iqfb on the rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector, The d-axis actual current Idf
b, the q-axis actual current Iqfb, and the d-axis actual voltage command Vdre
The d-axis simulated current Idob and the q-axis simulated current Iqob are estimated based on f and the q-axis actual voltage command Vqref, and the d-axis current command Idref and the q-axis current command Iqref and d
The d-axis actual voltage command Vdref and the q-axis actual voltage command Vqre based on the axis simulated current Idob and the q-axis simulated current Iqob.
f is generated and the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are converted into actual voltage commands Vuref, Vvref, Vwref by using the actual position θ of the rotor of the synchronous motor. And a method for controlling a current of a synchronous motor. 2. A current control method for a synchronous motor, which provides an appropriate actual voltage command to the power conversion circuit so that the current flowing in the synchronous motor fed by the power conversion circuit matches the current command. Using the actual position θ of the child, the currents Iu, Iv, and Iw flowing in the synchronous motor are converted into a d-axis actual current Idfb and a q-axis actual current Iqfb on a rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector, d-axis actual current Idfb and the q-axis actual current Iqfb and d
Axis first simulated voltage command Vdo and q-axis first simulated voltage command Vq
Based on o, the d-axis simulated current Idb and the q-axis simulated current I
qob is estimated, and the d-axis current command Idref and the q-axis current command Iqref and d
A d-axis first simulated voltage command Vdo and a q-axis first simulated voltage command Vqo are generated based on the axis simulated current Idob and the q-axis simulated current Iqob, and using the actual position θ of the rotor of the synchronous motor, The d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vdo
The induced voltage is added to qo and the d-axis actual voltage command Vdref
And a q-axis actual voltage command Vqref, and using the actual position θ of the rotor of the synchronous motor, the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref.
Is converted into real voltage commands Vuref, Vvref, Vwref. 3. A current control method for a synchronous motor, which provides an appropriate actual voltage command to the power conversion circuit so that the current flowing through the synchronous motor fed by the power conversion circuit matches the current command. Based on Idref and the q-axis current command Iqref, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, and the d-axis second simulated voltage command Vdff and q
A second axial simulated voltage command Vqff is generated, and using the actual position θ of the rotor of the synchronous motor, the currents Iu, Iv, and Iw flowing in the synchronous motor are rotated in synchronization with the rotor magnetic flux vector on the rotation coordinate axis. The d-axis actual current Idfb and the q-axis actual current Iqfb are converted into the d-axis actual current Idfb, the q-axis actual current Iqfb, and d.
Axis first simulated voltage command Vdo and q-axis first simulated voltage command Vq
Based on o, the d-axis simulated current Idb and the q-axis simulated current I
qob is estimated, and the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob and the q
A d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb are generated based on the axis simulated current Iqob, and the d-axis third simulated voltage command Vdfb and the q-axis third simulated voltage command Vqfb are generated. The d-axis second simulated voltage command Vdff
Based on the q-axis second simulated voltage command Vqff and the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command V
qo, and using the actual position θ of the rotor of the synchronous motor, the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vdo.
The induced voltage is added to qo and the d-axis actual voltage command Vdref
And a q-axis actual voltage command Vqref, and using the actual position θ of the rotor of the synchronous motor, the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref.
Is converted into real voltage commands Vuref, Vvref, Vwref. 4. A current control method for a synchronous motor, which provides an appropriate actual voltage command to the power conversion circuit so that the current flowing through the synchronous motor fed by the power conversion circuit matches the current command. Using the actual position θ of the child, the currents Iu, Iv, and Iw flowing in the synchronous motor are converted into a d-axis actual current Idfb and a q-axis actual current Iqfb on a rotating coordinate axis that rotates in synchronization with the rotor magnetic flux vector, d-axis actual current Idfb and the q-axis actual current Iqfb and d
Based on the axis actual voltage command Vdref and the q-axis actual voltage command Vqref, the d-axis simulated current Ido and the q-axis simulated current Iqo
b and d axis simulated disturbance voltage Vdob and q axis simulated disturbance voltage Vq
ob, and based on the d-axis current command Idref, the q-axis current command Iqref, the d-axis simulated current Idob, and the q-axis simulated current Iqob, the d-axis first simulated voltage command Vd.
o and a q-axis first simulated voltage command Vqo are generated, and the d-axis third simulated voltage command Vdfb, the q-axis third simulated voltage command Vqfb, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob. A d-axis actual voltage command Vdref and a q-axis actual voltage command Vqref are generated based on the following, and the d-axis actual voltage command Vdref and the q-axis actual voltage command Vqref are calculated using the actual position θ of the rotor of the synchronous motor. Is converted into real voltage commands Vuref, Vvref, Vwref. 5. A current control method for a synchronous motor, which provides an appropriate actual voltage command to the power conversion circuit so that the current flowing through the synchronous motor fed by the power conversion circuit matches the current command. Based on Idref and the q-axis current command Iqref, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, and the d-axis second simulated voltage command Vdff and q
A second axial simulated voltage command Vqff is generated, and using the actual position θ of the rotor of the synchronous motor, the currents Iu, Iv, and Iw flowing in the synchronous motor are rotated in synchronization with the rotor magnetic flux vector on the rotation coordinate axis. The d-axis actual current Idfb and the q-axis actual current Iqfb are converted into the d-axis actual current Idfb, the q-axis actual current Iqfb, and d.
Based on the axis actual voltage command Vdref and the q-axis actual voltage command Vqref, the d-axis simulated current Ido and the q-axis simulated current Iqo
b and d axis simulated disturbance voltage Vdob and q axis simulated disturbance voltage Vq
ob, and estimates the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q.
A d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb are generated based on the axis simulated current Iqob, and the d-axis second simulated voltage command Vdff and the q-axis second simulated voltage command Vqff are generated. The d-axis third simulated voltage command Vdfb
And the q-axis third simulated voltage command Vqfb, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob based on the d-axis actual voltage command Vdref and the q-axis actual voltage command Vq.
ref, and using the actual position θ of the rotor of the synchronous motor to convert the d-axis voltage command Vdref and the q-axis actual voltage command Vqref into actual voltage commands Vuref, Vvref, Vwref. And a method for controlling a current of a synchronous motor. 6. A current control method for a synchronous motor, which provides an appropriate actual voltage command to the power conversion circuit so that the current flowing through the synchronous motor fed by the power conversion circuit matches the current command. Based on Idref and the q-axis current command Iqref, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, and the d-axis second simulated voltage command Vdff and q
A second axial simulated voltage command Vqff is generated, and using the actual position θ of the rotor of the synchronous motor, the currents Iu, Iv, and Iw flowing in the synchronous motor are rotated in synchronization with the rotor magnetic flux vector on the rotation coordinate axis. The d-axis actual current Idfb and the q-axis actual current Iqfb are converted into the d-axis actual current Idfb, the q-axis actual current Iqfb, and d.
Based on the axis first simulated voltage command Vdo and the q-axis actual voltage command Vqo, the d-axis simulated current Ido and the q-axis simulated current Iqob
And d-axis simulated disturbance voltage Vdob and q-axis simulated disturbance voltage Vqo
b is estimated, and the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q
A d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb are generated based on the axis simulated current Iqob, and the d-axis second simulated voltage command Vdff and the q-axis second simulated voltage command Vqff are generated. The d-axis third simulated voltage command Vdfb
Based on the q-axis third simulated voltage command Vqfb, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob, the d-axis first simulated voltage command Vdo and the q-axis actual voltage command V
qo, and using the actual position θ of the rotor of the synchronous motor, the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command Vdo.
The induced voltage is added to qo and the d-axis actual voltage command Vdref
And the q-axis actual voltage command Vqref are generated, and the d-axis voltage command Vdref and the q-axis actual voltage command Vqref are calculated by using the actual position θ of the rotor of the synchronous motor. A method for controlling current in a synchronous motor, characterized in that: 7. The d-axis actual current Idfb and the q-axis actual current Iqfb on the rotational coordinate axes that rotate in synchronization with the rotor magnetic flux vector of the synchronous motor 1 match the d-axis current command Idref and the q-axis current command Iqref. In addition, in the current control device of the synchronous motor that provides the actual voltage commands Vuref, Vvref, and Vwref to the power conversion circuit 4, the real position observer 2 that provides the actual position θ of the synchronous motor.
And the currents of two or more phases of the synchronous motor are observed, and the actual currents Iu, I
a real current observing section 3 for providing v and Iw, and a d-axis real part on a rotation coordinate axis that rotates in synchronization with a rotor magnetic flux vector of the synchronous motor based on the real position θ and the real currents Iu, Iv, and Iw. Current Idfb and q-axis actual current Iq
a second coordinate converter 6 for converting into fb, the d-axis actual current Idfb and the q-axis actual current Iqfb and d
Based on the axis actual voltage command Vdref and the q-axis actual voltage command Vqref, the d-axis simulated current Ido and the q-axis simulated current Iqo
a current observer 10a for estimating b, the d-axis current command Idref and the q-axis current command Iqr
ef, the d-axis simulated current Idob, and the q-axis simulated current I
A feedback control unit 9a that generates a d-axis actual voltage command Vdref and a q-axis actual voltage command Vqref based on qob, and the d-axis actual voltage command Vdref and the actual position θ of the rotor of the synchronous motor. A current control device for a synchronous motor, comprising: a first coordinate converter 5 for converting a q-axis actual voltage command Vqref into actual voltage commands Vuref, Vvref, Vwref. 8. The d-axis actual current Idfb and the q-axis actual current Iqfb on the rotational coordinate axes that rotate in synchronization with the rotor magnetic flux vector of the synchronous motor 1 match the d-axis current command Idref and the q-axis current command Iqref. In addition, in the current control device of the synchronous motor that provides the actual voltage commands Vuref, Vvref, and Vwref to the power conversion circuit 4, the real position observer 2 that provides the actual position θ of the synchronous motor.
And the currents of two or more phases of the synchronous motor are observed, and the actual currents Iu, I
a real current observing section 3 for providing v and Iw, and a d-axis real part on a rotation coordinate axis that rotates in synchronization with a rotor magnetic flux vector of the synchronous motor based on the real position θ and the real currents Iu, Iv, and Iw. Current Idfb and q-axis actual current Iq
a second coordinate converter 6 for converting into fb, the d-axis actual current Idfb and the q-axis actual current Iqfb and d
Axis first simulated voltage command Vdo and q-axis first simulated voltage command Vq
Based on o, the d-axis simulated current Idb and the q-axis simulated current I
current observer 10b for estimating qob, the d-axis current command Idref, and the q-axis current command Iqr
ef, the d-axis simulated current Idob, and the q-axis simulated current I
a feedback control unit 9b that generates a d-axis first simulated voltage command Vdo and a q-axis first simulated voltage command Vqo based on qob; and a speed generator 8 that generates an actual speed w using the actual position θ. , The d-axis first simulated voltage command Vdo, the q-axis first simulated voltage command Vqo, and the actual speed w based on the d-axis first simulated voltage command Vdo.
Simulated voltage command Vdo and the q-axis first simulated voltage command Vqo
The induced voltage is added to and, and the d-axis actual voltage command Vdref and q
Induced voltage compensator 7 for generating shaft actual voltage command Vqref
And using the actual position θ, the d-axis actual voltage command Vdref
And the q-axis actual voltage command Vqref as the actual voltage command Vur.
and a first coordinate converter 5 for converting into ef, Vvref, and Vwref. 9. The d-axis actual current Idfb and the q-axis actual current Iqfb on the rotational coordinate axes that rotate in synchronization with the rotor magnetic flux vector of the synchronous motor 1 match the d-axis current command Idref and the q-axis current command Iqref. In addition, in the current control device of the synchronous motor that provides the actual voltage commands Vuref, Vvref, and Vwref to the power conversion circuit 4, the real position observer 2 that provides the actual position θ of the synchronous motor.
And the current of two or more phases of the synchronous motor is observed, and the actual current I
u, Iv, Iw for providing the actual current observation unit 3, and d on the rotational coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on the actual position θ and the actual currents Iu, Iv, Iw. Axis actual current Idfb and q-axis actual current Iq
a second coordinate converter 6 for converting into fb, the d-axis actual current Idfb and the q-axis actual current Iqfb and d
Axis first simulated voltage command Vdo and q-axis first simulated voltage command Vq
Based on o, the d-axis simulated current Idb and the q-axis simulated current I
current observer 10b for estimating qob, the d-axis current command Idref, and the q-axis current command Iqr
Based on ef, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, and the d-axis second simulated voltage command Vd
ff and the q-axis second simulated voltage command Vqff, the feedforward control unit 12, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q.
A feedback control unit 11 that generates a d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb based on the axis simulated current Iqob; the d-axis third simulated voltage command Vdfb and the q-axis third The simulated voltage command Vqfb and the d-axis second simulated voltage command Vdff
Based on the q-axis second simulated voltage command Vqff and the d-axis first simulated voltage command Vdo and the q-axis first simulated voltage command V
a voltage command synthesizer 13 for generating qo, the d-axis current command Idref, and the q-axis current command Iqr
ef, the d-axis simulated current Idob, and the q-axis simulated current I
a feedback control unit 9b that generates a d-axis first simulated voltage command Vdo and a q-axis first simulated voltage command Vqo based on qob; and a speed generator 8 that generates an actual speed w using the actual position θ. , The d-axis first simulated voltage command Vdo, the q-axis first simulated voltage command Vqo, and the actual speed w based on the d-axis first simulated voltage command Vdo.
Simulated voltage command Vdo and the q-axis first simulated voltage command Vqo
The induced voltage is added to and, and the d-axis actual voltage command Vdref and q
Induced voltage compensator 7 for generating shaft actual voltage command Vqref
And using the actual position θ, the d-axis actual voltage command Vdref
And the q-axis actual voltage command Vqref as the actual voltage command Vur.
and a first coordinate converter 5 for converting into ef, Vvref, and Vwref. 10. The d-axis actual current Idfb and the q-axis actual current Iqfb on the rotational coordinate axes that rotate in synchronization with the rotor magnetic flux vector of the synchronous motor 1 match the d-axis current command Idref and the q-axis current command Iqref. Power conversion circuit 4
In a current control device for a synchronous motor that provides the actual voltage commands Vuref, Vvref, Vwref to the real position observer 2 that provides the actual position θ of the synchronous motor.
And the currents of two or more phases of the synchronous motor are observed, and the actual currents Iu, I
a real current observing section 3 for providing v and Iw, and a d-axis real part on a rotation coordinate axis that rotates in synchronization with a rotor magnetic flux vector of the synchronous motor based on the real position θ and the real currents Iu, Iv, and Iw. Current Idfb and q-axis actual current Iq
a second coordinate converter 6 for converting into fb, the d-axis actual current Idfb and the q-axis actual current Iqfb and d
Based on the axis actual voltage command Vdref and the q-axis actual voltage command Vqref, the d-axis simulated current Ido and the q-axis simulated current Iqo
b and d axis simulated disturbance voltage Vdob and q axis simulated disturbance voltage Vq
ob, a current observer 14a for estimating the ob, the d-axis current command Idref, and the q-axis current command Iqr.
ef, the d-axis simulated current Idob, and the q-axis simulated current I
A feedback control unit 9b that generates a d-axis first simulated voltage command Vdo and a q-axis first simulated voltage command Vqo based on qob, the d-axis third simulated voltage command Vdfb, and the q-axis third simulated voltage command. A voltage command synthesizer 15 for generating a d-axis actual voltage command Vdref and a q-axis actual voltage command Vqref based on Vqfb, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob, and the actual position θ. Using the d-axis actual voltage command Vdref
And the q-axis actual voltage command Vqref as the actual voltage command Vur.
and a first coordinate converter 5 for converting into ef, Vvref, and Vwref. 11. The d-axis actual current Idfb and the q-axis actual current Iqfb on the rotational coordinate axes that rotate in synchronization with the rotor magnetic flux vector of the synchronous motor 1 match the d-axis current command Idref and the q-axis current command Iqref. Power conversion circuit 4
In a current control device for a synchronous motor that provides the actual voltage commands Vuref, Vvref, Vwref to the real position observer 2 that provides the actual position θ of the synchronous motor.
And the currents of two or more phases of the synchronous motor are observed, and the actual currents Iu, I
a real current observing section 3 for providing v and Iw, and a d-axis real part on a rotation coordinate axis that rotates in synchronization with a rotor magnetic flux vector of the synchronous motor based on the real position θ and the real currents Iu, Iv, and Iw. Current Idfb and q-axis actual current Iq
a second coordinate converter 6 for converting into fb, the d-axis current command Idref and the q-axis current command Iqr
Based on ef, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, and the d-axis second simulated voltage command Vd
ff and the q-axis second simulated voltage command Vqff, the feedforward controller 12, the d-axis actual current Idfb, the q-axis actual current Iqfb, and d.
Based on the axis actual voltage command Vdref and the q-axis actual voltage command Vqref, the d-axis simulated current Ido and the q-axis simulated current Iqo
b and d axis simulated disturbance voltage Vdob and q axis simulated disturbance voltage Vq
ob, a current observer 14a that estimates the ob, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q.
A feedback control unit 11 that generates a d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb based on the axis simulated current Iqob, the d-axis second simulated voltage command Vdff, and the q-axis second Simulated voltage command Vqff and the d-axis third simulated voltage command Vdfb
And the q-axis third simulated voltage command Vqfb, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob based on the d-axis actual voltage command Vdref and the q-axis actual voltage command Vq.
The voltage command synthesizer 16 that generates ref and the actual position θ are used to calculate the d-axis actual voltage command Vdref.
And the q-axis actual voltage command Vqref as the actual voltage command Vur.
and a first coordinate converter 5 for converting into ef, Vvref, and Vwref. 12. The d-axis actual current Idfb and the q-axis actual current Iqfb on the rotational coordinate axes that rotate in synchronization with the rotor magnetic flux vector of the synchronous motor 1 match the d-axis current command Idref and the q-axis current command Iqref. Power conversion circuit 4
In a current control device for a synchronous motor that provides the actual voltage commands Vuref, Vvref, Vwref to the real position observer 2 that provides the actual position θ of the synchronous motor.
And the current of two or more phases of the synchronous motor is observed, and the actual current I
u, Iv, Iw for providing the actual current observation unit 3, and d on the rotational coordinate axis that rotates in synchronization with the rotor magnetic flux vector of the synchronous motor based on the actual position θ and the actual currents Iu, Iv, Iw. Axis actual current Idfb and q-axis actual current Iq
a second coordinate converter 6 for converting into fb, the d-axis current command Idref and the q-axis current command Iqr
Based on ef, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, and the d-axis second simulated voltage command Vd
ff and the q-axis second simulated voltage command Vqff, the feedforward controller 12, the d-axis actual current Idfb, the q-axis actual current Iqfb, and d.
Based on the axis first simulated voltage command Vdo and the q-axis actual voltage command Vqo, the d-axis simulated current Ido and the q-axis simulated current Iqob
And d-axis simulated disturbance voltage Vdob and q-axis simulated disturbance voltage Vqo
b, a current observer 14b that estimates b, the d-axis second simulated current command Idff, the q-axis second simulated current command Iqff, the d-axis simulated current Idob, and the q.
A feedback control unit 11 that generates a d-axis third simulated voltage command Vdfb and a q-axis third simulated voltage command Vqfb based on the axis simulated current Iqob, the d-axis second simulated voltage command Vdff, and the q-axis second Simulated voltage command Vqff and the d-axis third simulated voltage command Vdfb
Based on the q-axis third simulated voltage command Vqfb, the d-axis simulated disturbance voltage Vdob, and the q-axis simulated disturbance voltage Vqob, the d-axis first simulated voltage command Vdo and the q-axis actual voltage command V
voltage command synthesizer 17 for generating qo and the actual position θ
A speed generator 8 for generating an actual speed w using the d-axis first simulated voltage command Vdo, the q-axis first simulated voltage command Vqo, and the actual speed w based on the actual speed w.
Simulated voltage command Vdo and the q-axis first simulated voltage command Vqo
The induced voltage is added to and, and the d-axis actual voltage command Vdref and q
Induced voltage compensator 7 for generating shaft actual voltage command Vqref
And using the actual position θ, the d-axis actual voltage command Vdref
And the q-axis actual voltage command Vqref as the actual voltage command Vur.
and a first coordinate converter 5 for converting into ef, Vvref, and Vwref.