JP4583257B2 - AC rotating machine control device - Google Patents

Description

  The present invention relates to a control device for an AC rotating machine for driving the AC rotating machine at a variable speed without using a speed sensor or a position sensor.

In a conventional control device for an AC rotating machine of Patent Document 1, for example, in order to calculate the rotational position of the AC rotating machine, an armature current is supplied from an armature voltage to an armature resistor and an armature inductance connected in series. A signal obtained by subtracting the voltage drop generated when the current is applied is calculated.
For this signal, a filter of (1−F (s)) / s = 1 / (s + α) is prepared as a low-pass filter F (s) having a DC gain of 1 in consideration of α / (s + α), and filtering processing is performed. To do. This filtered signal is obtained as a residual voltage value.
Since this residual voltage value is a signal obtained by filtering the rotor magnetic flux with the low-frequency cutoff filter s / (s + α), the rotor position is calculated based on this residual voltage value.

  Further, a conventional control device for an AC rotating machine, for example, in Patent Document 2, basically drives and controls a synchronous motor according to a command signal by a primary magnetic flux control method, and a γ-axis component of an armature current and a δ An angular frequency ω1 that estimates an angle φ (deviation angle: φ = (δ−π / 2)) between the dq axis and the γ-δ axis from the axis components iγ and iδ, and makes the deviation angle φ zero. In addition, the inverter device is operated so as to output a three-phase AC voltage corresponding to voltages vγ * and vδ * through which an armature current satisfying τe = τe * flows.

JP-A-10-094298 (5 pages [Equation 5], FIG. 10) JP 2002-186299 A (page 5 [0020], FIG. 10)

As described above, the conventional position or speed sensorless AC rotating machine control device requires the armature resistance value and the armature inductance value in order to estimate the rotor position.
By the way, in an AC rotating machine, particularly a synchronous machine, magnetic saturation often occurs due to current amplitude even below the rated current, and the armature inductance value changes greatly due to this magnetic saturation.
As a result, there is a problem that the rotor magnetic flux to be controlled cannot be obtained accurately and smooth and stable operation characteristics cannot be obtained.
The present invention has been made to solve the above-described problems, and an object of the present invention is to obtain an AC rotating machine control device that can obtain smooth and stable operating characteristics.

  The control apparatus for an AC rotating machine according to the first invention includes an AC rotating machine driven by a voltage of a three-phase power converter, a current detector for detecting each phase current of the AC rotating machine, and a phase from a rotational angular velocity command. A phase calculator for calculating θ and each phase current detection value from the current detector are converted into a d-axis current detection value and a q-axis current detection value on the rotating biaxial coordinates based on the phase θ from the phase calculator. Three-phase / dq-axis converter, d, q-axis current detection value, rotation angular velocity command, d on rotation biaxial coordinates, q-axis voltage command and d on rotation biaxial coordinates based on AC armature resistance value A total magnetic flux estimator for calculating the axis estimated magnetic flux and the q axis estimated magnetic flux, a d axis magnetic flux controller for calculating a d axis current command on the rotating biaxial coordinates so that the d axis estimated magnetic flux matches the d axis magnetic flux command, The q-axis current command on the rotating biaxial coordinates is calculated so that the q-axis estimated magnetic flux matches the q-axis magnetic flux command. Q-axis magnetic flux controller, d, q-axis current command value d, q-axis voltage command on the rotating biaxial coordinate so that the detected value of the q-axis current coincides with the d-q-axis current command respectively, and d, q A dq axis / three-phase converter is provided that converts the shaft voltage command into a three-phase voltage command based on the phase θ and outputs the command to the power converter.

  A control device for an AC rotating machine according to a second invention includes an AC rotating machine driven by a voltage of a three-phase power converter, a current detector for detecting each phase current of the AC rotating machine, and a current detector A three-phase / dq-axis converter for converting each phase current detection value into a d-axis current detection value and a q-axis current detection value on a rotating biaxial coordinate based on the estimated phase θ, d, q-axis current detection value, estimation A total magnetic flux estimator that calculates the estimated total magnetic flux amplitude, angular velocity, and estimated phase θ based on the phase θ, d on the rotating biaxial coordinates, the q-axis voltage command, and the armature resistance value of the AC rotating machine, A total magnetic flux controller that calculates a d-axis current command on the rotating biaxial coordinate so as to match the total magnetic flux amplitude command, and a q-axis current on the rotating biaxial coordinate so that the angular velocity of the estimated total magnetic flux matches the rotational angular velocity command The speed controller that calculates the command, the d and q axis current detection values match the d and q axis current commands respectively. A current controller for calculating the d and q axis voltage commands on the rotating two-axis coordinates, and converting the d and q axis voltage commands into a three-phase voltage command based on the estimated phase θ and outputting them to the power converter A dq axis / three-phase converter is provided.

  In the control apparatus for an AC rotating machine according to the first invention, d, q-axis current detection value, rotation angular velocity command, d on rotating biaxial coordinates, q-axis voltage command, and armature resistance value of the AC rotating machine Since the AC rotating machine is controlled based on the d and q axis estimated magnetic fluxes on the rotating biaxial coordinates calculated by the above, it is not necessary to use an armature inductance value that fluctuates greatly due to magnetic saturation, and is smooth and stable. Operating characteristics can be obtained.

  In the control apparatus for an AC rotating machine according to the second invention, d, q-axis current detection value, estimated phase θ, d on rotating biaxial coordinates, q-axis voltage command, and AC rotating machine armature Since the AC rotating machine is controlled based on the estimated total magnetic flux amplitude, angular velocity, and estimated phase θ calculated from the resistance value, it is not necessary to use an armature inductance value that fluctuates greatly due to magnetic saturation. Stable operating characteristics can be obtained. In addition, even if the rotational speed of the AC rotating machine fluctuates due to a sudden load change or the like, the estimated phase follows this fluctuation regardless of the angular speed command, and the operation of the AC rotating machine is stabilized.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram showing a control device for an AC rotating machine according to Embodiment 1 of the present invention. The power converter 1 applies a three-phase voltage to an AC rotating machine 2 that is a synchronous machine. The current detector 3 detects the phase currents iu and iv generated in the AC rotating machine 2. FIG. 1 shows a current detector 3 that detects a current flowing through a connection connecting the power converter 1 and the AC rotating machine 2 by CT or the like, but using other known methods, The phase current may be detected using a current flowing in the power converter 1 such as a bus current.
Since the relationship iu + iv + iw = 0 holds, the w-phase current can be obtained from the detected currents for the u and v2 phases.

  As is well known, when coordinate conversion of a three-phase voltage or a three-phase current into rotationally orthogonal two axes is required, a control coordinate axis is required, and the phase of this control coordinate axis is assumed to be θ. The three-phase / dq axis converter 4 uses the phase currents iu, iv, and iw obtained from the current detector 3 as rotation orthogonal two axes (dq axes) of phase θ (hereinafter referred to as rotation two axis coordinates). The coordinates are converted into the d-axis current (detected value) id and the q-axis current (detected value) iq.

The total magnetic flux estimator 5 calculates the rotation biaxial coordinate based on the d axis current id, the q axis current iq, the rotation angular velocity command ω *, the d axis voltage command vd * on the rotation biaxial coordinate, and the q axis voltage command vq *. The upper d-axis estimated magnetic flux φd and q-axis estimated magnetic flux φq are output.
The internal configuration of the total magnetic flux calculator 5 will be described in detail later with reference to FIG.

The d-axis magnetic flux controller 6 amplifies the deviation between the d-axis magnetic flux command and the d-axis estimated magnetic flux to generate a d-axis current command. The method for amplifying the deviation may be proportional, integral, or proportional integral.
The q-axis magnetic flux controller 7 generates a q-axis current command by amplifying the deviation between the q-axis magnetic flux command and the q-axis estimated magnetic flux. The method for amplifying the deviation may be proportional or integral as in the d-axis magnetic flux controller 6, or may be proportional integral.
The current controller 8 amplifies the deviation between the d-axis current command and the d-axis current detection value and outputs the d-axis voltage command vd *, and at the same time amplifies the deviation between the q-axis current command and the q-axis current detection value. Q-axis voltage command vq * is output.
The phase calculator 9 integrates the rotational angular velocity command ω * and outputs it as a phase θ to the three-phase / dq-axis converter 4 and the dq-axis / three-phase converter 10. In the present specification, angular velocity is used synonymously with ω (angular frequency).
The dq axis / three-phase converter 10 converts the d-axis voltage command and the q-axis voltage command into a three-phase voltage command based on the phase θ obtained from the phase calculator 9, and outputs it to the power converter 1.

FIG. 2 shows the configuration of the total magnetic flux calculator 5.
First, the calculation principle of the total magnetic flux calculator 5 will be described.
The armature resistance value of the AC rotating machine is defined as R, the total magnetic flux on the rotating biaxial coordinates is defined as φd, φq, the voltage on the rotating biaxial coordinates is defined as vd, vq, and the current on the rotating biaxial coordinates is defined as id, iq. . When the rotating biaxial coordinates are rotated at the angular frequency ω, the equations (1) and (2) are established with respect to the total magnetic fluxes φd and φq.

vd = R × id + d / dt (φd) −ω · φq (1)
vq = R × iq + d / dt (φq) + ω · φd (2)

  Equations (1) and (2) are generally valid for AC rotating machines, and can be established for both induction machines and synchronous machines. If the expressions (1) and (2) are arranged, the expressions (3) and (4) are obtained.

d / dt (φd) = vd−R × id + ω · φq (3)
d / dt (φq) = vq−R × iq−ω · φd (4)

  In equations (3) and (4), the rotational angular velocity command ω * is substituted for ω, the d-axis voltage command vd * is substituted for the d-axis voltage vd and the q-axis voltage vq, and the q-axis voltage command vq * is substituted for the integration. Substituting a first-order lag filter with an arbitrary cutoff angular frequency ωc (≧ 0) [rad / s] and arranging (5) and (6).

φd = (vd * −R × id + ω * · φq) / (s + ωc) (5)
φq = (vq * −R × iq−ω * · φd) / (s + ωc) (6)

  Here, s is a Laplace operator. In particular, when ωc = 0, equations (5) and (6) become equations (7) and (8), and d and q-axis induced voltages are obtained.

d / dt (φd) = vd * −R × id + ω * · φq (7)
d / dt (φq) = vq * −R × iq−ω * · φd (8)

  As will be described later, when the first-order lag calculation of the cutoff angular frequency ωc (≧ 0) [rad / s] is performed instead of integration, it is possible to prevent the integration of noise in a band lower than the cutoff angular frequency ωc, and This has the effect of improving the stability.

Next, the configuration of FIG. 2 will be described.
The first gain calculator 11 multiplies the d-axis current detection value id by R, which is an armature resistance value, and calculates a voltage drop (R × id) caused by the d-axis armature resistance. The second gain calculator 12 calculates the voltage drop (R × iq) caused by the q-axis armature resistance by multiplying the q-axis current detection value iq by R, which is the armature resistance value.
The first multiplier 13 multiplies the q-axis estimated magnetic flux φq by the rotational angular velocity command ω * and outputs (ω * × φq). The second multiplier 14 multiplies the d-axis estimated magnetic flux φd by the rotational angular velocity command ω * and outputs (ω * × φd).

  The first adder / subtractor 15 subtracts the voltage drop (R × id) caused by the d-axis armature resistance from the d-axis voltage command vd * and adds (ω * × φq) to the d-axis estimated magnetic flux. Time derivative d / dt (φd) is calculated. The second adder / subtractor 16 subtracts the voltage drop (R × iq) caused by the q-axis armature resistance from the q-axis voltage command vq * and subtracts (ω * × φd) to calculate the q-axis estimated magnetic flux. Time derivative d / dt (φq) is calculated.

  The first filter 17 receives d / dt (φd) output from the adder / subtractor 15, performs a first-order lag calculation of a cutoff angular frequency ωc (≧ 0) [rad / s], and calculates a d-axis estimated magnetic flux φd. Output. The second filter 18 receives the d / dt (φq) output from the adder / subtractor 16, performs a first-order lag calculation of the cutoff angular frequency ωc (≧ 0) [rad / s], and calculates the q-axis estimated magnetic flux φq. Output.

The reason why the cut-off angular frequency ωc (≧ 0) [rad / s] is first calculated using the filters 17 and 18 instead of simply integrating the outputs of the adders / subtractors 15 and 16 is as follows. by.
That is, if it is a simple integrator (1 / s), the gain approaches infinity as the angular frequency approaches zero. Therefore, if the estimated magnetic flux is obtained by a perfect integrator, a slight error is present in the input signal, particularly in a region where the angular frequency is extremely low, i.e., a region where the rotational speed is very low immediately after the start of the rotating machine. Even in such a case, there is a concern that the error is magnified and output due to the high gain of the filter, which may hinder the control.

On the other hand, when the Laplace operator s is replaced with jω (j is an imaginary unit), the characteristics of the filters 17 and 18 are 1 / in the frequency band where the angular frequency of the input signal is sufficiently larger than the cutoff angular frequency ωc. It can be seen that s approaches asymptotically 1 / ωc in a frequency band sufficiently smaller than the cutoff angular frequency ωc.
Therefore, the cut-off angular frequency ωc is introduced from the above viewpoint, and is intended to prevent unnecessary error output in a predetermined low angular frequency band.

As a control method, in FIG. 1, if the d-axis magnetic flux command is given an arbitrary positive number and the q-axis magnetic flux command is 0, the control is performed so that the q-axis magnetic flux becomes zero. The value of (φd ² + φq ² )) can be maintained in the d-axis magnetic flux command, and the phase of the total magnetic flux can be matched with the phase based on the rotational angular velocity command.

Since the control device for a conventional AC rotating machine has the phase of the rotor magnetic flux as the control axis, it is necessary to obtain an induced voltage vector caused by the rotor magnetic flux. The calculation of the rotor magnetic flux requires a value of current inductance. Therefore, a conventional AC rotating machine control device that does not use a position detector requires an armature resistance value and an inductance value. However, since the inductance value has current dependency due to magnetic saturation and rotational position dependency due to saliency, it is not easy to grasp an accurate value.
In contrast, the control device for an AC rotary machine according to Embodiment 1 of the present invention obtains an induced voltage vector caused by the total magnetic flux in order to use the phase θ of the total magnetic flux as a control axis. In order to obtain the induced voltage vector caused by the total magnetic flux, it is only necessary to subtract the voltage drop caused by the armature resistance from the voltage. Therefore, an inductance value is not necessary. As a result, the desired control performance can be obtained regardless of the current dependency caused by the magnetic saturation of the inductance value and the rotational position dependency caused by the saliency.

Embodiment 2. FIG.
In the first embodiment, the d-axis magnetic flux command is an arbitrary positive number, the q-axis magnetic flux command is given as 0, and the q-axis magnetic flux is controlled to be zero, whereby the total magnetic flux amplitude Φ (= √ ( The value of φd ² + φq ² )) was kept in the d-axis magnetic flux command, and the phase of the total magnetic flux was made to coincide with the phase based on the rotational angular velocity command to perform speed control.
On the other hand, in the second embodiment, the value of the total magnetic flux amplitude Φ is maintained in the total magnetic flux amplitude command Φ *, and the change rate of the total magnetic flux phase, that is, the angular velocity of the total magnetic flux coincides with the rotational angular velocity command. Control is performed as follows.

  FIG. 3 is a diagram showing a configuration of an AC rotating machine control device according to Embodiment 2 of the present invention. In FIG. 3, a total magnetic flux estimator 5 a is used instead of the total magnetic flux estimator 5. Further, the d-axis current command is calculated by the total magnetic flux controller 20 that amplifies the deviation between the total magnetic flux amplitude command Φ * and the estimated total magnetic flux Φ, and the q-axis current command is the estimation of the rotational angular velocity command ω * and the total magnetic flux. Calculation is performed by the speed controller 21 that amplifies the deviation from the angular speed ω0. The components denoted by the same reference numerals as those in FIG. 1 are the same or corresponding components, and the description thereof is omitted because it is redundant.

  As shown in FIG. 3, the total magnetic flux estimator 5a outputs the estimated total magnetic flux Φ and the estimated angular velocity ω0, and the total magnetic flux controller 20 and the speed controller 21 are provided. It is possible to perform the control in which the angular velocity ω0 of the total magnetic flux coincides with the rotational angular velocity command ω * while maintaining Φ *.

FIG. 4 is a diagram showing the configuration of the total magnetic flux estimator 5a.
First, the calculation principle of the total magnetic flux calculator 5a will be described.
Expressions (9) and (10) are obtained by substituting an arbitrary angular velocity ω into the expressions (5) and (6) shown in the first embodiment.

φd = (vd * −R × id + ω · φq) / (s + ωc) (9)
φq = (vq * −R × iq−ω · φd) / (s + ωc) (10)

  In the equations (9) and (10), the angular frequency ω at which the q-axis estimated magnetic flux φq becomes zero is arranged by substituting φq = 0 into the equations (9) and (10) (11) and (12) Can be obtained by:

φd = (vd * −R × id) / (s + ωc) (11)
ω = (vq * −R × iq) / φd (12)

When the angular frequency at which the q-axis estimated magnetic flux φq is zero is defined as ω0, the estimated total magnetic flux Φ is √ (φd ² + φq ² ), so the equations (13) and (14) hold.

Φ = (vd * −R × id) / (s + ωc) (13)
ω0 = (vq * −R × iq) / Φ (14)

  In other words, the estimated total magnetic flux Φ is calculated based on the equation (13), and the calculation is performed on the rotating biaxial coordinates that rotate in synchronization with the angular velocity ω0 obtained by the equation (14). The d axis is in phase with the estimated total magnetic flux.

Next, the configuration of FIG. 4 will be described.
The first gain calculator 31 multiplies the d-axis current detection value id by the armature resistance value R to calculate a voltage drop (R × id) caused by the d-axis armature resistance. The second gain calculator 32 multiplies the q-axis current detection value iq by the armature resistance value R to calculate a voltage drop (R × iq) caused by the q-axis armature resistance.
The first adder / subtractor 33 subtracts the voltage drop (R × id) caused by the d-axis armature resistance from the d-axis voltage command to calculate the d-axis induced voltage. The second adder / subtractor 34 subtracts the voltage drop (R × iq) caused by the q-axis armature resistance from the q-axis voltage command to calculate the q-axis induced voltage.

The filter 35 receives the d-axis induced voltage output from the adder / subtractor 33, performs a first-order lag calculation of the cutoff angular frequency ωc (≧ 0) [rad / s], and outputs an estimated total magnetic flux Φ. The divider 36 divides the q-axis induced voltage output from the adder / subtractor 34 by the estimated total magnetic flux Φ from the filter 35, and outputs an estimated angular velocity ω0.
The phase calculator 37 integrates the estimated angular velocity ω0 and outputs an estimated phase θ. This estimated phase θ is output to the three-phase / dq-axis converter 4 and the dq-axis / three-phase converter 10.

  The control apparatus for an AC rotary machine according to Embodiment 2 of the present invention uses the estimated phase θ of the total magnetic flux obtained by integrating the estimated angular velocity ω0 as a control axis, and thus determines an induced voltage vector caused by the total magnetic flux. As described in the first embodiment, in order to obtain the induced voltage vector caused by the total magnetic flux, it is only necessary to subtract the voltage drop caused by the armature resistance from the voltage. Therefore, an inductance value is not necessary. As a result, the desired control performance can be obtained regardless of the current dependency caused by the magnetic saturation of the inductance value and the rotational position dependency caused by the saliency.

Hereinafter, characteristics when the rotational angular velocity of the AC rotating machine fluctuates due to a sudden load change or the like will be described in comparison with the case of the first embodiment.
In the configuration of the first embodiment shown in FIG. 1, the q-axis magnetic flux controller 7 generates a q-axis current command, and the phase calculator 9 integrates the rotational angular velocity command to calculate the phase θ.
Even if the load torque of the AC rotating machine 2 changes stepwise and the rotational angular velocity of the AC rotating machine 2 fluctuates, if the rotation angle command is constant, the phase θ calculated by the phase calculator 9 is the AC rotating machine 2. May not be able to follow the fluctuation of the rotational angular velocity of the motor, and may step out in some cases.

On the other hand, in the configuration of the second embodiment shown in FIG. 3, the total magnetic flux estimator 5a estimates based on the d-axis voltage command, the q-axis voltage command, the d-axis current detection value, and the q-axis current detection value. Since the phase θ is output, even when the load torque of the AC rotating machine 2 changes stepwise and the rotational angular speed of the AC rotating machine 2 fluctuates, the estimated phase θ is equal to the AC rotating machine 2 regardless of the rotational angular speed command. Follow the fluctuation of the rotation angular velocity. Further, since the q-axis current command is generated by the speed controller 21, the rotation angular velocity can be matched with the rotation angular velocity command.
As described above, according to the configuration of the second embodiment, the AC rotating machine 2 can be stably driven even when the load torque of the AC rotating machine 2 changes stepwise and the rotational angular velocity of the AC rotating machine 2 fluctuates. effective.

  Further, in each modification of the present invention, the total magnetic flux estimator is a first gain calculator that outputs the d-axis current detection value multiplied by the armature resistance value, and outputs the armature resistance value to the q-axis current detection value. A second gain calculator for multiplying and outputting, a first multiplier for outputting the product of the rotational angular velocity command and the q-axis estimated magnetic flux, and a second multiplication for outputting the product of the rotational angular velocity command and the d-axis estimated magnetic flux A first adder / subtracter that adds the output of the first multiplier to the d-axis voltage command and subtracts the output of the first gain calculator, and outputs the output of the second multiplier to the q-axis voltage command. A second adder / subtracter that subtracts and outputs the output of the second gain calculator; a first filter that performs a first-order lag calculation of the output of the first adder / subtractor and outputs a d-axis estimated magnetic flux; Since the second filter that performs the first-order lag calculation of the output of the adder / subtractor and outputs the q-axis estimated magnetic flux is provided An inductance value is not required to determine the induced voltage vector due to the total magnetic flux, and the desired control performance can be obtained regardless of the current dependency due to magnetic saturation of the inductance value and the rotational position dependency due to saliency. The effect is obtained.

  In addition, by setting the q-axis magnetic flux command to zero, the magnitude of the total magnetic flux is maintained at the d-axis magnetic flux command, and the phase of the total magnetic flux is made to coincide with the phase based on the rotational angular velocity command. Is achieved with simple settings.

  The total magnetic flux estimator is a first gain calculator that outputs the d-axis current detection value multiplied by the armature resistance value, and a second gain calculator that outputs the q-axis current detection value multiplied by the armature resistance value. A gain calculator, a first adder / subtractor that subtracts and outputs the output of the first gain calculator from the d-axis voltage command, and a second that subtracts and outputs the output of the second gain calculator from the q-axis voltage command. The first adder / subtracter outputs a first-order lag calculation to output the estimated total magnetic flux amplitude, and the second adder / subtractor output is divided by the estimated total magnetic flux amplitude to obtain the estimated total magnetic flux angular velocity. Since the output divider and the phase calculator that calculates the estimated phase θ from the angular velocity of the estimated total magnetic flux are provided, an inductance value is not required to obtain the induced voltage vector due to the total magnetic flux, and magnetic saturation of the inductance value is achieved. Caused by current dependency and saliency Regardless rotational position dependence of the effect is obtained that the desired control performance.

  The control device for an AC rotating machine according to the present invention can be widely applied to control various rotating machines such as a synchronous machine and an induction machine.

It is a block diagram which shows the control apparatus of the alternating current rotating machine in Embodiment 1 of this invention. It is a figure which shows the internal structure of the total magnetic flux calculator 5 of FIG. It is a block diagram which shows the control apparatus of the alternating current rotating machine in Embodiment 2 of this invention. It is a figure which shows the internal structure of the total magnetic flux calculator 5a of FIG.

Explanation of symbols

1 power converter, 2 AC rotating machine, 3 current detector, 4 three-phase / dq axis converter,
5, 5a Total magnetic flux calculator, 6 d-axis magnetic flux controller, 7 q-axis magnetic flux controller, 8 Current controller, 9, 37 phase calculator, 10 dq-axis / three-phase converter, 11, 31 1st gain Calculator, 12, 32 second gain calculator, 13 first multiplier, 14 second multiplier,
15, 33 first adder / subtractor, 16, 34 second adder / subtractor, 17 first filter,
18 second filter, 20 total flux controller, 21 speed controller, 35 filter,
36 Divider.

Claims (5)

From the AC rotating machine driven by the voltage of the three-phase power converter, the current detector for detecting the current of each phase of the AC rotating machine, the phase calculator for calculating the phase θ from the rotational angular velocity command, and the above current detector A three-phase / dq-axis converter for converting each phase current detection value into a d-axis current detection value and a q-axis current detection value on a rotating biaxial coordinate based on the phase θ from the phase calculator; Based on the axis current detection value, the rotation angular velocity command, d on the rotation biaxial coordinates, the q axis voltage command, and the armature resistance value of the AC rotating machine, the d axis estimated magnetic flux and the q axis estimated magnetic flux on the rotation biaxial coordinates A total flux estimator for computing the d-axis flux controller for computing the d-axis current command on the rotating biaxial coordinates so that the d-axis estimated flux matches the d-axis flux command, and the q-axis estimated flux is the q-axis Q-axis magnetic flux control that calculates q-axis current command on rotating two-axis coordinates to match the flux command A control unit for calculating the d and q axis voltage commands on the rotating biaxial coordinates so that the detected values of the d and q axis currents coincide with the d and q axis current commands, respectively, and the d, q A control device for an AC rotating machine including a dq axis / three-phase converter that converts a shaft voltage command into a three-phase voltage command based on the phase θ and outputs the command to the power converter. The total magnetic flux estimator is a first gain calculator that multiplies the armature resistance value by the d-axis current detection value and outputs the result, and multiplies the armature resistance value by the q-axis current detection value and outputs the result. A second gain calculator, a first multiplier that outputs a product of the rotational angular velocity command and the q-axis estimated magnetic flux, and a second multiplier that outputs a product of the rotational angular velocity command and the d-axis estimated magnetic flux. A first adder / subtracter that adds the output of the first multiplier to the d-axis voltage command and subtracts the output of the first gain calculator, and outputs the second multiplication to the q-axis voltage command. A second adder / subtracter that subtracts the output of the second gain calculator and subtracts the output of the second gain calculator, and performs a first-order lag calculation of the output of the first adder / subtracter to output the d-axis estimated magnetic flux. The first-order lag calculation of the output of the filter 1 and the output of the second adder / subtractor Controller for an AC rotary machine according to claim 1, further comprising a second filter for outputting a magnetic flux. The q-axis magnetic flux command is set to zero so that the magnitude of the total magnetic flux is maintained at the d-axis magnetic flux command, and the phase of the total magnetic flux is made to coincide with the phase based on the rotational angular velocity command. 3. The control apparatus for an AC rotating machine according to 1 or 2. An AC rotating machine driven by the voltage of the three-phase power converter, a current detector for detecting each phase current of this AC rotating machine, and rotating each phase current detection value from the current detector based on the estimated phase θ A three-phase / dq-axis converter for converting a d-axis current detection value and a q-axis current detection value on two-axis coordinates, the d, the q-axis current detection value, the estimated phase θ, d on the rotating biaxial coordinates, A total magnetic flux estimator that calculates the estimated total magnetic flux amplitude and angular velocity and the estimated phase θ based on the q-axis voltage command and the armature resistance value of the AC rotating machine, so that the estimated total magnetic flux matches the total magnetic flux amplitude command A total magnetic flux controller for calculating a d-axis current command on rotating two-axis coordinates, and a speed controller for calculating a q-axis current command on rotating two-axis coordinates so that the angular velocity of the estimated total magnetic flux coincides with the rotating angular velocity command. , The d and q axis current detection values match the d and q axis current commands, respectively. A current controller for calculating the d and q axis voltage commands on the rotating biaxial coordinates, and the power converter by converting the d and q axis voltage commands into a three-phase voltage command based on the estimated phase θ. AC rotating machine control device provided with a dq axis / three-phase converter for outputting to the motor. The total magnetic flux estimator is a first gain calculator that multiplies the armature resistance value by the d-axis current detection value and outputs the result, and multiplies the armature resistance value by the q-axis current detection value and outputs the result. A second gain calculator, a first adder / subtractor that subtracts and outputs the output of the first gain calculator from the d-axis voltage command, and an output of the second gain calculator from the q-axis voltage command. A second adder / subtracter that outputs after subtraction, a filter that performs first-order lag calculation of the output of the first adder / subtractor and outputs the amplitude of the estimated total magnetic flux, and an output of the second adder / subtractor that outputs the estimated total magnetic flux 5. The AC rotation according to claim 4, further comprising: a divider that divides by amplitude and outputs an angular velocity of the estimated total magnetic flux; and a phase calculator that calculates the estimated phase θ from the angular velocity of the estimated total magnetic flux. Machine control device.

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