JPH08266099A - Controller for permanent-magnet synchronous motor - Google Patents

Abstract

PURPOSE: To provide a controller for, a permanent-magnet synchronous motor, in which an efficient d-axis current is fed, regardless of a variation in motor characteristics in weak field control or maximum efficiency control. CONSTITUTION: An adjustment value generating means 106 generates an adjustment value (Han ) obtained by subtracting a reference value (eREF) from an integrated value of an erroneous current value (e). In a d-axis current command means 110, id * is increased or held when the adjustment value (Han ) is larger than zero, and id * is decreased or held when the adjustment value (Han ) is smaller than zero. In this case, id * is adjusted in increase or decrease according to various factors, such as the revolution at the initiation of d-axis current application, power factor or regenerative factor, and the importance of efficiency or torque.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention provides a d-axis current value to a synchronous motor so as to improve the efficiency of the synchronous motor when performing field weakening control or maximum efficiency control for the synchronous motor used in an electric vehicle or the like. The present invention relates to a control device for a synchronous motor.

[0002]

2. Description of the Related Art IEA-92-30 (Reference 1), The Institute of Electrical Engineers of Japan, Research Institute of Electricity and Electric Power Industry, calculates field current command value id ^* as shown in the following equation 1 and performs weak field control. Is shown.

[0003]

[Equation 1]

Note that ωbase indicates the base rotation speed, and ωmax
Indicates the maximum rotation speed, and idm indicates the d-axis current at the maximum rotation speed ωmax.

In the 1991 National Conference on Industrial Applications of the Institute of Electrical Engineers of Japan, No. 74, P310 to 315 (reference 2), the field current command value id ^* is set to the target rotation speed, d-axis winding reactance, q It is shown that the field weakening control is performed by calculation using the axial winding reactance, the stator winding resistance, and the no-load induced voltage at a unit speed.

In Japanese Patent Laid-Open No. 57-196896 or Japanese Patent Laid-Open No. 62-7396, a controller detects an error (degree of realization) between a motor torque or current measured in real time and a command value. The error is fed back.
As a result, id in real time according to the motor state is
Electric current can be applied to the motor.

[0007]

In the conventional methods described in Documents 1 and 2, in the field weakening control in the high speed rotation region, the field current id is calculated according to the target rotation speed ω according to an equation.
Is given.

However, in an actual electric motor, the constant of the electric motor changes due to changes in the resistance value due to operating conditions and changes with time (when the temperature rises by 70 degrees near room temperature, the electric resistance of the motor increases by about 30%). Therefore, the id calculated by the arithmetic expression of these conventional methods is not always the optimum id.

Therefore, in order to output a high torque at a high speed rotation, it is necessary to give a large id current in anticipation of the characteristic change (for example, an inductance of 4 mH, a stator frequency of 133 Hz, and a back electromotive voltage of 80 V at an applied voltage of 80 V). Is 80V and id required to realize torque current iq1A
Is 1.95A when the resistance is 1Ω, 2.6 when the resistance is 1.3Ω.
3A).

Therefore, there is a problem that copper loss is increased by a large amount of id and efficiency is deteriorated.

On the other hand, in JP-A-57-196896 and JP-A-62-7396, id is determined by feedback and supplied, as shown below.
There is a problem that it is difficult to realize a stable operation that is feasible because the design method or control operation is insufficient.

1. If the characteristic variation is very large, it cannot be easily dealt with.

2. No mention is made of a method for improving responsiveness.

3. Optimal d-axis currents cannot be applied during power running and regeneration of the electric motor.

4. No mention is made of any improvement in efficiency other than the method of finding id by feedback control.

5. For example, when the voltage of the battery decreases and the terminal voltage supplied to the synchronous motor decreases, the d-axis current flows too much with respect to the total current, resulting in poor efficiency.

6. It is impossible to achieve both efficiency maximization and torque maximization with a single reference value.

7. Since the d-axis and q-axis currents cannot be controlled separately, the responsiveness of one is sacrificed.

8. It is not clear what to do when a circuit abnormality or system abnormality occurs.

[0020]

A controller for a permanent magnet synchronous motor according to the present invention uses a command value of a d-axis current which is a straight axis stator current and a command value of a q-axis current which is a horizontal axis stator current. Current command means for outputting the calculated current command value for each phase of the stator, input applying means for supplying current to each phase based on the phase current command value, and the input applying means for applying current to each phase. Further, a saturation degree output means for generating a saturation degree indicating a supplyable ratio, a reference output means for outputting a saturation degree reference value, and a judgment value for calculating a judgment value obtained by subtracting the saturation degree reference value from the saturation degree Output means, if the judgment value is positive, the current phase is advanced, the command value of the d-axis current is increased so that the judgment value becomes zero, and if the judgment value is negative,
When the command value of the d-axis current is decreased and the command value of the decreased d-axis current is decreased below a set minimum value, the d
The d-axis current command means for holding the command value of the axis current at the minimum value and the q-axis current command means for giving the command value of the q-axis current are provided, thereby achieving the above object.

The saturation output means may generate the saturation based on the difference between at least the stator phase current command value and the phase current value of the permanent magnet synchronous motor.

The saturation degree output means may generate the saturation degree based on a value obtained by integrating a difference between a current of at least one phase and a current command value of a phase corresponding to the at least one phase.

The saturation output means may include an integrator for integrating the difference, and the controller may have a changeable element for adjusting a rate of integration by the integrator.

If the judgment value is positive, the d-axis current command means increases the d-axis current command value, and the increased d-axis current command value is larger than a preset maximum value. If the d-axis current command means sets the d-axis current command value to the preset maximum value and the judgment value is negative, the d-axis current command means sets the d-axis current command value. When the rotation speed of the permanent magnet synchronous motor is less than or equal to a preset rotation speed, the d-axis current command means may set the d-axis current command value to a preset minimum value. .

The saturation output means generates the saturation based on a value obtained by integrating the difference between the command value of the q-axis current and the value of the q-axis current flowing through the stator of the permanent magnet synchronous motor. May be.

The reference output means may change the reference value based on at least one of the current command value for each phase and the rotational speed of the permanent magnet synchronous motor.

The saturation output means further comprises an integrator for integrating the difference, and the controller has a changeable element for adjusting the rate of integration by the integrator. Good.

Based on the difference between the torque command value calculated by the saturation output means based on at least one current value command value and the actual torque of the permanent magnet synchronous motor,
The saturation may be generated.

Based on the difference between the value obtained by the saturation degree output means by cumulatively calculating the current command value of at least one phase and the value obtained by cumulatively calculating the phase current command value flowing through the stator of the permanent magnet synchronous motor. To generate the saturation.

When the judgment value is positive, when the d-axis current command means increases the command value of the d-axis current, and the command value of the increased d-axis current is larger than a preset maximum value. If the d-axis current command means sets the d-axis current command value to the preset maximum value and the judgment value is negative, the d-axis current command means sets the d-axis current command value. And the reduced d-axis current command value is smaller than the preset d-axis minimum value, the d-axis current command means sets the d-axis current command value to the preset minimum value. You may set it.

The d-axis current command means increases the command value of the d-axis current when the judgment value is positive, and decreases the command value of the d-axis current when the judgment value is negative. When the decreased command value of the d-axis current is smaller than a preset d-axis minimum value, the command value of the d-axis current is set to the preset minimum value, and the q-axis current command means Is a value obtained by vector-subtracting the command value of the d-axis current from a preset maximum value of the combined current value obtained by vector-adding the command value of the d-axis current and the command value of the q-axis current, and the q-axis current. A smaller value of the command values of the above may be used as the command value of the q-axis current.

The control device detects the rotational speed of the permanent magnet synchronous motor, and the speed detecting means detects the rotational speed of the d-axis current for a certain period of time within a certain range. When the value is within a certain range, a change timing output means for outputting the timing for forcibly changing the command value of the d-axis current; and when the change timing is output, the command value of the d-axis current and the q A combined current command value obtained by combining the command value of the axis current is held at a constant value, and the d-axis current changing means for changing the command value of the d-axis current and the d-axis current changing means change the d-axis current After changing the command value,
When the rotation speed is higher than the rotation speed before changing the command value of the d-axis current, the operation using the d-axis current command value after changing the command value of the d-axis current and the rotation speed are When decreasing, the operation using the d-axis current command value before changing the command value of the d-axis current is repeatedly performed during the period permitted by the change timing output means, and the command value of the d-axis current is changed. D-axis current updating means for updating, wherein the d-axis current updating means changes the command value of the d-axis current and the judgment value is positive, the d
When the axis current updating means changes the reference value of the reference output means to a newly calculated reference value, and the judgment value is negative, the d-axis current updating means causes the d-axis current command means to change to the d-axis current command means. Based on the value output from the d-axis current updating means, a preset minimum value of the d-axis current or a coefficient of an equation for calculating a command value of the d-axis current may be set.

When the command value of the q-axis current greatly changes beyond a preset value, a current initial value output means for outputting the initial command value of the d-axis current obtained from the q-axis current command value is further provided. You may prepare.

The control device further comprises a change rate output means for determining and outputting a change rate of the command value of the d-axis current, and the change rate output means has a predetermined constant change rate or the judgment. A value or a change rate calculated from the d-axis current command value is output, and when the judgment value is positive, the d-axis current command means increases the d-axis current command value based on the change rate. When the command value of the d-axis current exceeds a preset maximum value,
When the command value of the d-axis current is held at the preset maximum value and the judgment value is negative, the command value of the d-axis current is decreased based on the change rate, and the command of the d-axis current is decreased. When the value decreases below the preset minimum value, the d-axis current command value may be held at the preset minimum value.

The change rate when the judgment value is positive is
It may be larger than the rate of change when the judgment value is negative.

The change ratio output means may have at least two or more change ratios, and the at least two or more change ratios may be selected.

The control device further comprises a power running regeneration judging means for judging whether the operation of the permanent magnet synchronous motor is in a power running state or a regenerative state, and the change ratio output means is a unit for outputting the change rate output means. The rate at which the command value of the d-axis current is changed may be determined based on the determined state.

The rate of changing the command value of the d-axis current in the power running state may be smaller than the rate of changing the command value of the d-axis current in the regenerative state.

The reference output means may change the reference value based on the output of the power running regeneration determination means.

When the judgment value is positive, the d-axis current command means increases the command value of the d-axis current based on the rate of change and exceeds the set maximum value to command the d-axis current. When the value increases, the commanded value of the d-axis current is held at the set maximum value, and when the judgment value is negative, the commanded value of the d-axis current is decreased based on the change rate, and the setting is performed. When the command value of the d-axis current decreases below the minimum value that has been set, the minimum value is held in the command value of the d-axis current, and the power running / regeneration determining means changes the running state of power running or regeneration. Even if the command value of the d-axis current is changed from the previous command value of the d-axis current based on at least one of the rotational speed of the permanent magnet synchronous motor and the command value of the q-axis current, the signal shown in FIG. Good.

When the allowable value of the braking torque of the permanent magnet synchronous motor is small, the d-axis current command means generates a reluctance torque according to the decrease of the torque command value d.
In order to suppress the decrease of the axis current, the command value of the d-axis current may not be rapidly decreased.

Another permanent magnet synchronous motor control device according to the present invention is a stator obtained from a command value of a d-axis current that is a direct axis stator current and a command value of a q-axis current that is a horizontal axis stator current. A current command means for outputting a command value of each phase current, an input applying means for supplying a current to each phase based on each phase current command value, and whether the operation of the permanent magnet synchronous motor is power running,
Alternatively, a power running regeneration determining means for determining a state of whether the operation of the permanent magnet synchronous motor is regeneration, and the power running regeneration determining means determines that the state is regenerative, and the number of revolutions of the permanent magnet synchronous motor and If the torque does not belong to the field-weakening region, the d may be generated in order to generate a reluctance torque of power running of zero or more in the permanent magnet synchronous motor.
D-axis current command means for outputting a command value of the axis current, and q
And q-axis current command means for giving a command value of the axis current, whereby the above object is achieved.

Still another permanent magnet synchronous motor controller according to the present invention is calculated from the command value of the d-axis current which is the direct axis stator current and the command value of the q-axis current which is the horizontal axis stator current. Current command means for outputting each phase current command value of the stator, input applying means for supplying a current to each phase based on each phase current command value, and whether the operation of the permanent magnet synchronous motor is power running, or Power regenerative judging means for judging a state of whether the operation of the permanent magnet synchronous motor is regenerative, and a d-axis giving a command value of the d-axis current when the power regenerative judging means judges that the state is regenerative. Current command means and q-axis current command means for decreasing the command value of the q-axis current according to the increase of the command value of the d-axis current by the amount of reluctance torque generated when the d-axis current command is not zero. Is equipped with The above-mentioned object can be achieved by the.

Still another permanent magnet synchronous motor control device according to the present invention is calculated from the command value of the d-axis current which is the direct axis stator current and the command value of the q-axis current which is the horizontal axis stator current. Current command means for outputting a current command value for each phase of the stator, input applying means for supplying a current to each phase based on the current command value for each phase, and the input applying means can further supply a current for each phase. Saturation degree output means for generating a saturation degree indicating the ratio, reference output means for outputting a reference value of the saturation degree,
Judgment value output means for outputting a judgment value obtained by subtracting the reference value of the saturation degree from the saturation degree, voltage measuring means for measuring a voltage applied to the inverter, and outputting a measured voltage value, the measured voltage D-axis current maximum value output means for outputting the maximum value of the d-axis current command value based on the value, and if the judgment value is positive, the d-axis current command value is increased to increase the d-axis current value. When the command value increases beyond the maximum value of the d-axis current, the command value of the d-axis current is held at the maximum value of the d-axis current, and when the judgment value is negative, the command value of the d-axis current is changed. And a d-axis current command means for holding the command value of the d-axis current at the minimum value when the command value of the d-axis current that has decreased and exceeds the set minimum value. And q-axis current command means for giving a command value,
Thereby, the above object is achieved.

The maximum value of the d-axis current maximum value output means may decrease the maximum value of the command value of the d-axis current if the measured voltage value decreases.

Another permanent magnet synchronous motor control device according to the present invention is a fixed device calculated from a command value of a d-axis current which is a direct axis stator current and a command value of a q-axis current which is a horizontal axis stator current. Current command means for outputting each phase current command value of the child, input applying means for supplying current to each phase based on the phase current command value, and voltage applied to the permanent magnet synchronous motor is measured and measured. A voltage measuring means for outputting a voltage value, a d-axis current command means for decreasing the maximum value of the d-axis current command value when the measured voltage value decreases, and a q-axis current command value q A shaft current command means is provided to achieve the above object.

In still another permanent magnet synchronous motor control device according to the present invention, a d-axis current command value which is a straight axis stator current and a q-axis current command value which is a horizontal axis stator current are calculated. Current command means for outputting a command value of each phase current of the stator, input applying means for supplying a current to each phase based on the phase current command value, and the input applying means further supplying a current for each phase. Saturation degree output means for generating a saturation degree indicating a possible ratio, operation status determination means for outputting one of the operation statuses of efficiency-oriented operation status and torque-oriented operation status, and a saturation degree reference value for the operation Reference output means for outputting based on the situation; judgment value output means for outputting a judgment value obtained by subtracting the reference value of the saturation degree from the saturation degree;
When the judgment value of the axis current is positive, the d-axis current command means for advancing the current phase and increasing the command value of the d-axis current so that the judgment value becomes zero, and the q-axis current And q-axis current command means for giving a command value, whereby the above object is achieved.

The reference value when the driving situation determining means outputs the emphasis on efficiency may be larger than the reference value when the driving situation determining means outputs the emphasis on torque.

When at least one of the rotational speed and the current of the permanent magnet synchronous motor exceeds a preset value, the reference output means determines that the operating condition determining means places the torque on importance and emphasizes the efficiency. A reference value smaller than the case reference value may be output.

A controller for a permanent magnet synchronous motor according to still another embodiment of the present invention is calculated from a command value of a d-axis current which is a direct axis stator current and a command value of a q-axis current which is a horizontal axis stator current. Of the current command means for outputting the command value of each phase current of the stator, the input application means for supplying a current to each phase based on the current command value of each phase, and the operating condition of efficiency-oriented and torque-oriented One of the driving condition determining means for outputting the driving condition, and the d-axis current command value for outputting the efficiency emphasis is smaller than the d-axis current command value for outputting the torque emphasis. D which gives the command value of the electric current
The axis current commanding means and the q-axis current commanding means for giving the command value of the q-axis current are provided, thereby achieving the above object.

In still another permanent magnet synchronous motor control device according to the present invention, a d-axis current command value which is a straight axis stator current and a q-axis current command value which is a horizontal axis stator current are calculated. Current command means for outputting a current command value for each phase of the stator, input applying means for supplying a current to each phase based on the current command value for each phase, and the input applying means can further supply a current for each phase. Saturation degree output means for generating a saturation degree indicating the ratio, reference output means for outputting a reference value of the saturation degree,
Reference output means for outputting a reference value, d-axis reference output means for outputting a d-axis reference value according to the saturation, and q-axis reference output means for outputting a q-axis reference value according to the saturation. A d-axis judgment value output means for outputting a judgment value for the d-axis based on a value obtained by subtracting the reference value for the d-axis from the saturation degree; and subtracting the q-axis reference value for the processed value of the saturation degree. A q-axis judgment value output means for outputting a q-axis judgment value based on the determined value; and, if the d-axis judgment value is positive, increases the command value of the d-axis current and increases the d-axis current. When the command value of is increased beyond the set maximum value, the command value of the d-axis current is held at the set maximum value, and when the d-axis determination value is negative, the command of the d-axis current is The value is reduced, and when the reduced d-axis current command value decreases beyond a set minimum value, D-axis current command means for holding the command value of the axis current at the set minimum value, q-axis current command means for giving the command value of the q-axis current, the q-axis determination value is positive, and When the command value of the d-axis current is the set maximum value, the command value of the q-axis current commanded by the q-axis current command means is decreased, and the command value of the decreased q-axis current is changed to the q-axis current. A change command value, the q-axis judgment value is negative, the d-axis current command value is the set maximum value, and the q-axis current change command value is commanded by the q-axis current command means. And a q-axis current command changing means for increasing the q-axis current command value when the q-axis current command value is less than or equal to the q-axis current command value.

The d-axis reference value output from the d-axis reference output means may be smaller than the q-axis reference value output from the q-axis reference output means.

In still another permanent magnet synchronous motor control device according to the present invention, a d-axis current command value which is a straight axis stator current and a q-axis current command value which is a horizontal axis stator current are calculated. Current command means for outputting a current command value for each phase of the stator, input applying means for supplying a current to each phase based on the current command value for each phase, and the input applying means can further supply a current for each phase. A saturation level output unit that generates a saturation level indicating a ratio, an operation status determination unit that outputs one of the operating statuses of the efficiency-focused driving status and the torque-focused driving status, and a saturation level reference value as the driving status. And a judgment value output means for outputting a judgment value obtained by subtracting the saturation reference value from the saturation value, and if the judgment value is positive, the current phase is advanced and the judgment value is zero. Increase the d-axis current command so that A first d-axis current commanding means, an abnormality detecting means for detecting a circuit or operation abnormality, and a second d-axis current for obtaining a command value of the d-axis current based on a preset table or an arithmetic expression. When the command means, the q-axis current command means for giving the command value of the q-axis current, and the abnormality detecting means do not detect a circuit or operation abnormality, the d-axis output from the first d-axis current command means A d-axis current selecting means for selecting the d-axis command value output from the second d-axis current command means when the command value is selected and the abnormality detecting means detects a circuit or operation abnormality. Therefore, the above object is achieved.

[0054]

The judgment value output means creates a judgment value for increasing or decreasing id based on the saturation of the inverter in real time.
When the judgment value is positive, the d-axis current command means increases the command value of the d-axis current, and when the command value of the increased d-axis current exceeds the set maximum value. Holds at the maximum value. If the judgment value is negative, the minimum value is held when the d-axis minimum value set in advance is decreased or when the rotation speed becomes equal to or lower than the preset rotation speed set value. As described above, the id current is obtained by the feedback integral control operation, and conditions for stable operation such as setting the number of rotations to enter the field weakening are provided. As a result, it is possible to stably provide the id current, which is optimum in terms of efficiency, in real time according to the current state of the electric motor. This makes it possible to provide a highly efficient control device for the permanent magnet synchronous motor.

[0055]

The control device of the Embodiment] The first embodiment first embodiment of a permanent magnet synchronous motor of the present invention (hereinafter abbreviated as synchronous motor) will be described with reference to the drawings.

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

The control device of the first embodiment comprises a saturation degree output means 104, a judgment value output means 106, and a reference output means 1.
08, d-axis current command means 110, q-axis current command means 130, current command means 136, and input application means 138.

Note that this control device is based on the synchronous motor 100.
The current detection means 102 for detecting the current of 1 may be further provided.

Next, the field weakening control will be briefly described with reference to Equation 2 and FIG.

The basic formula (Equation 2) of the synchronous motor 100 is known.

[0061]

[Equation 2]

V is the terminal voltage supplied to the motor, ω is the angular velocity, R is the stator winding resistance per phase, and ψ is the no-load induced voltage at unit speed.
L _d and L _q are the d-axis and q-axis phase inductances respectively, i _d is the direct-axis stator current (d-axis current), and i _q is the horizontal-axis stator current (q-axis current). There is.

In FIG. 2, the dq coordinates show the rotation coordinates. i _d and _iq represent the DC amount of the d-axis current and the DC amount of the q-axis current, respectively.

Since the operation differs between the case where the operating state of the synchronous motor 100 is power running and the case where the operating state of the synchronous motor 100 is regenerative, they will be described separately. Here, the power running is a state in which the synchronous motor 100 is generating a mechanical output, and is a state in which electric power is input from the power supply. When using the battery, the battery is in a discharged state. Regeneration is a state in which the electric motor is converting mechanical energy into electric energy, and is a state in which electric power is input to the power supply. When using a battery, the battery is in a charged state.

When the synchronous motor 100 powers, as shown in the vector diagram of field weakening control (FIG. 2a), when the rotational speed ω of the synchronous motor 100 is increased, the induced voltage ωψ increases. Induced voltage ω ψ, R · i _q and ω · L _q · i _q
When the voltage value v obtained by vector-adding reaches the voltage limit circle, the synchronous motor 100 can increase the rotation speed to be equal to or higher than the rotation speed ω of the synchronous motor 100 when the voltage value v reaches the voltage limit circle. Disappear.

When the power source is a battery or the like,
The terminal voltage and the current value of the battery change due to the deterioration of the battery. However, for simplicity here,
It is assumed that the terminal voltage of the battery (radius of the voltage limiting circle) is constant.

Next, increasing the rotation speed of the synchronous motor 100 will be considered. As shown in FIG. 2B, by causing i _d to flow through the synchronous motor 100, a voltage ω · L _d · i _{d in the} direction of returning to the voltage limiting circle is generated. This allows
A voltage margin is generated in the synchronous motor 100 to increase the rotation speed (Fig. 2b). When the rotation speed of the synchronous motor 100 is constant, the synchronous motor 1 is generated by the generated voltage margin.
00, a torque current for generating torque can be passed, and further torque can be generated in the synchronous motor 100 (FIG. 2c). Here, i _d > 0 is defined in the direction of advancing the current phase. As described above, the synchronous motor 10
The control of passing the d-axis current to 0 to generate a voltage margin is called weakening field control. An example of such field weakening control is disclosed in Japanese Patent Laid-Open No. 62-7396.

The d-axis current i _d for generating the voltage margin may be the minimum current necessary for the terminal voltage supplied to the motor to return to the voltage limit circle. When the d-axis current i _d that is more than the required minimum is applied to the synchronous motor 100, copper loss increases and the efficiency of the synchronous motor 100 deteriorates. Because, in the non-salient pole machine (general electric motor) shown in FIG.
This is because no torque is generated even when the shaft current is applied.

In the case of a non-salient pole machine, high efficiency control can be realized by always flowing the minimum i _d . In the case of regeneration, it can be explained in the same way as powering.

FIG. 6 (b) shows an inverse salient pole machine. When i _d is passed through the reverse salient pole machine or the salient pole machine, reluctance torque described later is generated, so that it is more efficient to supply i _{d according} to L _d and L _q. .

Next, the saturation of the inverter will be described with reference to FIGS. 3, 4 and 5.

Three-phase current command values (i _U ^* (t), i _V ^* (t), i _W ^* (t)) whose phases are different by 120 degrees are as follows: current is d-axis current command and q-axis current. It is expressed by the following equation using a command (hereinafter, (t) is omitted if it is not necessary to indicate that it is a value that fluctuates with time, such as an AC value. ^* Is the command value. Indicates).

[0073] i _U ^* (t) = over ^{_{(2/3) 1/2 {i d *}} · cosωt + i q * · sinωt} i V * (t) = over (2/3) ^1/2 {i _d ^* · cos (ωt-2π / 3 ) + i q * · sin (ωt-2π / 3)} i W * (t) = over ^{_{(2/3) 1/2 {i d *}} · cos (ωt + 2π / 3) + i _q ^* sin (ωt + 2π / 3)} via the pair of terminals of the control device, the synchronous motor 100
The actual current flowing in the stator of (i _U (t), i _V (t),
i _W (t)) is detected by the current detection means 102. The detected currents (i _U (t), i _V (t), i
_W (t)) is output to the saturation output unit 104. The saturation output means 104 has a proportional integrator shown in FIG. At one end of the proportional integrator, the current command value (i
^{_{U * (t), i V}} * (t), i W * (t)) is input to the other end of the proportional integrator, the detected current (i _U (t), i
_{V (t), i W (} t)) is input. The proportional integrator has current command values (i _U ^* (t), i _V ^* (t), i _W ^* (t)) and detected currents (i _U (t), i _V (t), i _W. (T)) is proportionally integrated to obtain a PWM current error (e _U (t), e _V
(T), e _W (t)).

FIG. 3B shows the U-phase current command value i _U ^* (t) and the U-phase current i _U (t) when the inverter described later is saturated.

FIG. 3C shows the U-phase current command value i _U ^* (t) and the U-phase current i _U (t) when the inverter is not saturated.

When the inverter is saturated, even if the current command means 136 outputs the current command signal, the inverter cannot generate the commanded current, and the pair of terminals of the control device are The commanded current is not supplied.

The case where the inverter is saturated will be considered from the switching of the inverter. FIG. 4 shows an example of an inverter included in the input applying unit 138. The inverter includes semiconductor switches Q1 to Q6 and a diode D.
1 to D6, a base drive circuit 140 for controlling ON / OFF of the semiconductor switches Q1 to Q6, and a triangular carrier wave generation circuit 142.

The base drive circuit 140 has a U-phase P
WM current error e _U (t), V-phase PWM current error e _V
(T) and the triangular carrier wave generated by the triangular carrier wave generation circuit 142 are input. The base drive circuit 140 turns on / off the semiconductor switches Q1 to Q6 of each phase of the inverter according to the pulse width modulation signal obtained by comparing each PWM current error and the carrier signal. For example, P of U phase
When the WM current error e _U (t) is larger than the triangular carrier wave, the base drive circuit 140 determines that the semiconductor switch Q1
Is turned on and the semiconductor switch Q4 is turned off. When the U-phase PWM current error e _U (t) is smaller than the triangular carrier wave, the base drive circuit 140 determines that the semiconductor switch Q
4 is turned on and the semiconductor switch Q1 is turned off. The same applies to the other phases.

The inverter has a U-phase PWM current error e _U (t) and a V-phase PWM current error e _V (t).
Is used to generate the currents (i _U (t), i _V (t), i _W (t)) supplied to the stator of the synchronous motor 100, the U-phase PWM current error, V PWM of one phase of PWM current error of W phase and PWM current error of W phase
The current (i _U (t), i _V (t),
i _W (t)) may be generated. Further, two arbitrary sets of phases are selected from the three phases, and the currents (i _U (t), i _V (t), i are selected by using the selected two sets of PWM current errors.
_W (t)) may be generated. Furthermore, P of the above three phases
The current (i _U (t),
i _V (t), i _W (t)) may be generated.

FIG. 5 shows the operations of the PWM current error signal and the semiconductor switches Q1 and Q4 when the inverter is saturated and when the inverter is not saturated, respectively.

When the on-off state is biased every half cycle, the current cannot flow any more even if sufficient switching is performed to flow the commanded current to the stator of the synchronous motor 100. The saturation of the inverter may be defined by the magnitude of the PWM current error. For example, when the PWM current error is large, the saturation of the inverter is large, and when the PWM current error is small, the saturation of the inverter is small.

In order to reduce the saturation of the inverter,
As described below, id can be made to flow in the stator of the synchronous motor 100 to perform the field weakening that advances the current phase.

One of the three-phase currents (i _U (t), i _V (t), i _W (t)) actually supplied to the synchronous motor 100.
The phase current i (t), that is, the current of any of the U phase, V phase, and W phase may be used. i _U (t), i _V (t), or i _W (t) may be detected by the current detection means 102. The detected current i (t) is the saturation degree output means 10
4 is input. The current command means 136 substitutes the d-axis current i _d and the q-axis current i _q into the formula for obtaining the above-mentioned current command values (i _U ^* (t), i _V ^* (t), i _W ^* (t)). Then, the current command value i ^* (t) is calculated. The saturation output means 104 is
The detected current i (t) is subtracted from the current command value i ^* (t) of that phase. The saturation output means 104 takes the absolute value of the subtracted result and integrates the current error e (t) which is the result of taking the absolute value. The result of integration is input to the judgment value output means 106.

Instead of calculating the integral of the absolute value of the error, the saturation output means 104 may input the integral of the square of the error or the maximum value of the error to the decision value output means 106. Since the fluctuation component becomes large, it is difficult to use the cyclically fluctuating current error e (t) for the subsequent processing. Therefore, by integrating the current for one phase in the time domain, it is possible to obtain a DC value that is sufficiently small in fluctuation to control the synchronous motor 100.

Note that theoretically, a value close to a DC component can be calculated using the currents for three phases, but the calculation is complicated because the squared values of the currents of the u, v, and w phases are calculated and added. Is.

The judgment value output means 106 subtracts the reference e _ref set by the reference output means 108 from the integrated value of the current error e (t) as shown in (Equation 3), and the result is the result of subtraction. The judgment value H _an is output.

[0087]

(Equation 3)

Here, the reference output means 108 changes the reference e _ref based on the integration time. Specifically, the integration time of the current error e (t) is the half cycle T of the current error e (t).
If it is / 2, the reference value e _ref is output by calculating (Equation 4). Further, the reference e _ref may be obtained by calculating (Equation 5) using the speed ω. In addition,
Although the half cycle of the current error e (t) is used as the integration time here, the integration time may be any time. However, since the current error e (t) changes periodically, it is desirable that the integration time be an integral multiple of a half cycle.

[0089]

[Equation 4]

[0090]

(Equation 5)

Here, the fact that the judgment value H _an is large means that the current error is large. In other words, it means that the q-axis current actually supplied to the synchronous motor 100 does not follow the q-axis current command value. This means that in the high-speed rotation region of the synchronous motor 100, the voltage margin is small, so that when the synchronous motor 100 powers, the q-axis current that generates a torque commensurate with the rotation speed does not flow. When the synchronous motor 100 regenerates, it means that the q-axis current that generates a torque commensurate with the rotation speed flows too much. In such a state in which the voltage margin is small, the d-axis current i _d may be increased in order to obtain the rotation speed or torque that should be commanded and output.

Specifically, the case where the synchronous motor 100 is in power running is a state in which the judgment value is large, and the synchronous motor 10
In order to pass current to 0, the semiconductor switches Q1 to Q1 of the drive device
Even when Q6 (a part of the components of the input applying unit 138 in FIG. 1) is made conductive, a necessary current does not flow.

On the contrary, that the judgment value H _an is small means that the current error is small. So this is
This means that the current actually supplied to the synchronous motor 100 follows the current command value well. Judgment value H _an
Is small and the synchronous motor 100 powers, the d-axis current i _d currently flowing in the synchronous motor 100 is not changed,
It is possible to flow the q-axis current i _q that is equal to or higher than the q-axis current i _q that is currently flowing in the synchronous motor 100, or to increase the rotation speed of the synchronous motor 100.

Even when the synchronous motor 100 is running or regenerating, the d-axis current tends to flow too much. From the viewpoint of reducing loss, it is preferable to reduce the d-axis current i _d . In the case need not particularly be added a d-axis current i _d is a non-salient pole machine, the d-axis current i _d may be zero.

The judgment value H _an indicates how much the current command given to the synchronous motor 100 is actually realized. If the current command is not realized, the d-axis current i _d is increased so that it can be realized. If the current command is realized, the current rotation speed or the current torque state is maintained and the efficiency of the synchronous motor 100 is maximized.
It suffices to reduce the axial current id.

From the above, the d-axis current command means 110 changes the d-axis current based on the output of the judgment value output means 106. For example, when H _an > 0, the d-axis current command means 1
Reference numeral 10 increases or holds the command value i _d ^* of the d-axis current. The case where the command value i _d ^* of the d-axis current is held is the case where the command value id ^* of the d-axis current reaches the preset maximum value i _d ^* max.

When H _an <0, the d-axis current command means 110 decreases the command value i _d ^* of the d-axis current or holds the previous value. the case that holds the command value of the d-axis current i _d ^*, the command values of the d-axis current i _d ^* is a preset minimum value i
_{This is when d} ^* min.

In general, in the case of a non-salient pole machine, i _d ^* = 0 or a little i _d ^* is added and the phase advance value is set to the minimum value i _d ^* min.
Used as. In general, i _d ^* = 0 for non-salient pole machines.
At that time, the efficiency of the non-salient pole machine becomes the best. However, when the iron loss of the non-salient pole machine is large, the iron loss can be reduced by advancing the phase a little and weakening the field a little to reduce the stator magnetic flux. As a result, the iron loss and the copper loss are balanced and the efficiency is maximized.

When the reverse salient pole machine uses reluctance torque, in order to generate reluctance torque,
Advance the phase to some extent (10 to 40). If it is not in the field weakening region, the minimum value i _d ^* of the command value i _d ^* of the d-axis current
min is i _d ^* m, where 30 ° is a fixed amount of phase advance.
It is given as in = i ^* .sin30 °. (Details will be described later.) And, in the case of a weak magnetic field, specifically, (Equation 6)
Is calculated.

[0100]

(Equation 6)

Here, i _d ^* (i) and i _d ^* (i-1) represent the command values i _d ^* of the current and previous d-axis currents, respectively.

The control operation including the integral operation of the above equation will be described in more detail.

When H _an > 0, d is satisfied until H _an = 0.
The axis current command means 110 increases the command value i _d ^* of the d-axis current by K ₁ · H _{an for} each control operation. Such an operation can be performed by an integration operation. By performing such an operation, H _an can be set to 0.

When the d-axis current command value is i _d ^* = i _d ^* max, the d-axis current command value is fixed at i _d ^* max. And
When H _an = 0, the d-axis current command unit 110 continues to give a constant d-axis current command value i _d ^* when the load torque is constant.

Next, when H _an <0 due to a decrease in load torque or a decrease in rotation speed, d
The axis current command means 110 decreases the d-axis current command value i _d ^* . Then, when the synchronous motor 100 is balanced and H _an = 0, the d-axis current command means 110 determines that d
Stop command value i _d ^* reduction of the axial current, give the command value i _d ^* and current command means 136 of the constant d-axis current. When the rotation speed is further reduced to a region where the field weakening is not required, the d-axis current commanding means 110 gives the current commanding means 136 the minimum value i _d ^* min already described. Even if H _an <0, the d-axis current command unit 110 sets the d-axis current command value i _d so that the d-axis current command value i _d ^* becomes the minimum value i _d ^* min or less. Do not reduce ^* .

Next, the q-axis current command means 130 determines the command value _iq ^* of the q-axis current as an error between the command speed ω ^* commanding the rotational speed of the synchronous motor 100 and the actual speed ω of the synchronous motor 100. Calculation is performed by using the constant K (Equation 7).

[0107]

(Equation 7)

The q-axis current command value i _q ^{* is set} to the command speed ω
Needless to say, the command may be issued regardless of ^* .

The obtained d-axis current command value and q-axis current command value are calculated by the current command means 136 (Equation 8).
Vector operation is performed as follows. As a result of the vector calculation, the magnitude of the command signal of the combined current, which is the current to be supplied to the synchronous motor 100, and its phase θ are output.

[0110]

(Equation 8)

Here, when the combined current value I ^* is greater than or equal to the maximum current setting value imax, the priority of i _d ^* is high, and i _q ^* is given by (Equation 9).

[0112]

[Equation 9]

[0113] In this case, if you set imax = i _d ^* max, when the synchronous motor 100 is power running, the maximum current set value imax
Even if the command value i _q ^* of the q-axis current, which is an excessive torque current exceeding, is given, the current command means 136 is
The command value i _d ^* of the d-axis current is increased until the integrated value of the current error reaches the reference value. The command value i _q ^* of the q-axis current decreases as the command value i _d ^* of the d-axis current increases.

This means that the balance of the command value i _d ^* of the _d- axis current and the command value i _q ^* of the q-axis current is adjusted so that the synchronous motor 100 can output the maximum output. That is, when supplying the maximum current to the synchronous motor 100, the maximum torque can be realized.

Next, the input applying means 138 performs an operation for flowing a current based on the command value actually synthesized in the synchronous motor 100. The current command value (i
^{_{U * (t), i V}} * (t), by i _W ^* (t)) to determine the formula, based on a command instruction value of a current command value and the q-axis of the d-axis current, 120 degrees out of phase are different, u, v, and w
The current command value for the three phases is output using the equation for the two-phase to three-phase conversion. Then, the saturation output means 104 compares the PWM current error e (t) with the triangular carrier signal of about 10 kHz. According to the pulse width modulation signal obtained by comparison,
The semiconductor switches Q1 to Q6 of each phase are controlled to supply the commanded current to the synchronous motor 100.

The judgment value output means 106 determines the current error e.
The reference value e _ref is subtracted from the integrated value of (t), and the judgment value H _an that is the result of the subtraction is output. If H _an > 0, then
The d-axis current command means 110 increases or holds the command value i _d ^* of the d-axis current. When H _an <0, the d-axis current command means 110 decreases or holds the d-axis current command value i _d ^* .

That is, when H _an is large, it is in a state where the instructed output is not obtained, and the q-axis current is passed by adding the minimum i _d to output the instructed rotation speed and torque. Conversely, when the judgment value H _an is small, the d-axis current i _d
Is in a state in which the instructed output can be realized even if is decreased a little more, and the d-axis current command means 110 reduces the d-axis current i _d to improve efficiency. As a result, in terms of efficiency, the d-axis current i _d is automatically and optimally adjusted, and the field weakening control of the synchronous motor 100 can be realized with high efficiency.

Discussions have been made on the non-salient pole type rotor shown in FIG. 6 (a). In the opposite case salient pole rotor shown in salient pole rotor and FIG. 6 (b), the already mentioned in addition to the d-axis current i _d of have weakened field control, subtracting the d-axis current i _d of reluctance torque portion to be described later or All you have to do is add.

It has been described that the d-axis current command means 110 controls by the integral operation as shown in (Equation 6).
Further, it goes without saying that the d-axis current commanding means 110 can also obtain the same effect by performing PID (proportional integral derivative) control as shown in (Equation 10).

[0120]

[Equation 10]

Here, Ka, Kb, and Kc are constants.

Further, even if a control method such as fuzzy control or adaptive control which can utilize the non-linear gain is used, the command value i _d ^* of the d-axis current can be obtained as long as the operation corresponding to the integration is included.

Further, the saturation output means 104 includes the semiconductor switches Q1 to Q6 of each phase for the half cycle of the current command signal.
The saturation degree of the inverter can be detected by measuring the open period or closed period.

The three-phase currents (i _U (t), i
Not only is the saturation of one phase of _V (t), i _W (t) calculated, but the current of three phases (i _U (t), i _V (t), i
The current of two or three phases of _W (t) is detected by the current detection means 1
02, and the saturation output means 104 may calculate the average values of the saturations of the two-phase and three-phase, respectively. By using the average value of the two-phase or three-phase saturation, the accuracy of controlling the synchronous motor 100 is improved, and the synchronous motor 100
Needless to say, the efficiency of will be improved.

When synchronizing with the cycle of the encoder detection signal or the like, as shown in (Equation 4) or (Equation 5), the reference value e of the error output from the reference value output means 108 in accordance with the cycle or the rotation speed. Note that the _ref is changed.

Here, when detecting the current flowing through the synchronous motor 100 at a constant cycle regardless of the rotational speed of the synchronous motor 100, it should be noted that the error integral value changes depending on the detection timing.

In the above-described first embodiment, the judgment value H _an obtained by the judgment output means 106 is input to the d-axis current command means, but even if the q-axis current is used to obtain H _an. The same effect as the first embodiment can be obtained. The configuration shown below is different from that of the first embodiment in order to obtain H _an using the q-axis current. The output i _q ^* of the q-axis current command means 130 is input to the saturation output means 104 (not shown).

The q-axis current i _q obtained by the following is also input to the saturation output means 104.

The three-phase current values (i _U , i _V , i _W ) actually supplied to the synchronous motor 100 are detected by the current detecting means 102. In the case of detecting only the current values of two phases, it obtains the current value of the remaining one phase using the relationship of _{i U + i V + i W} = 0. Then, determined using the following equation current component i _q, expressed in d-q-axis showing the rotating coordinate system. (It is not necessary to find i _d .)

[0130]

[Equation 11]

The saturation output means 104 causes the q-axis current command value i
_The detected current value i _q is subtracted from _q ^* . A value obtained by integrating the current error e, which is the result of subtraction, is compared with the reference value e _ref, and the judgment value H _an that is the result of comparison is output.

In this case, the structure of the saturation output means 104 is complicated, but since the required torque current i _q is directly managed, the torque of the synchronous motor 100 can be controlled with higher accuracy.

When the circuit that accurately separates the q-axis current component from the current flowing through the synchronous motor 100 is formed of an analog circuit, the structure of the analog circuit becomes complicated. Therefore, in order to accurately separate the q-axis current component from the current flowing through the synchronous motor 100, it is desirable to use a digital circuit. Therefore, it is preferable that the feedback control signal calculation including the d-axis current command means 110 or the q-axis current command means 130, the current command means 136, the saturation output means 104, and the judgment output means 106 be digitized.

Furthermore, the saturation output means 104 of the above-described first embodiment may have the following structure. First, the saturation output means 104 outputs 1 during the half cycle of the current error.
Consider a case where the saturation degree of the inverter is detected based on a value obtained by integrating the difference between the phase command value and the current that actually flows in the synchronous motor 100. When the operating voltage of the synchronous motor 100 is lowered, the rotation speed of the synchronous motor 100 is lowered and the half cycle of the current error is lengthened. As a result, the integration time becomes long and the integrated value becomes large. The above integrated value is A
When it becomes larger than the maximum output value of the / D converter, the integrated value is limited by the maximum output value of the A / D converter. In such a case, the gain of the integrator (not shown) included in the saturation output means 104 may be reduced so that the integrated value becomes smaller than the maximum output value of the A / D converter (not shown). Good. Thus, changing the gain setting of the integrator is very effective when the synchronous motor 100 is used at a low rotation speed. For example,
By adopting a configuration in which the gain is switched by a switch (not shown) or a configuration in which the gain is changed by a variable resistor, the integrated value can be prevented from being limited to the maximum output value of the A / D converter. This expands the scope of application of the control device.

Further, instead of the current detecting means 102 of the first embodiment described above, a torque detecting means (not shown) for measuring the torque of the synchronous motor 100 may be provided. In this case, the current command means calculates and outputs the command torque given to the synchronous motor 100 from the command value of the d-axis current and the command value of the q-axis current. The saturation output means 104 may subtract the measured torque from the command torque and output the subtracted result as the saturation. First
It is needless to say that the d-axis current is controlled even if the above embodiment has such a configuration.

Further, the saturation degree output means 104 of the above-described first embodiment may have the following structure. The saturation output means 104 determines the command value i ^* of the current of at least one phase ^.
An integrated value of current values obtained by cumulatively calculating (t) and a detected value i corresponding to the detected current actually flowing in the synchronous motor 100.
The saturation degree of the inverter is detected based on the difference from the integrated value of (t). As a result, the error due to the phase difference between the respective signals can be eliminated, and the current actually flowing in the synchronous motor 100 can be accurately managed.

Furthermore, the d-axis current command means 110 of the above-described first embodiment may have the following structure. When the d-axis current command means 110 is equal to or lower than the preset number of rotations, the d-axis current command value is held at the lower limit set value i _d ^* min. The command value of the d-axis current is set to a constant value until the rotation speed increases. As a result, the output torque of the synchronous motor 100 is suppressed, so the speed response of the synchronous motor 100 is sacrificed, but an efficient synchronous motor control device can be provided.

Further, as shown in (Equation 6), the command value of the d-axis current is held between a preset upper limit value and lower limit value. In particular, when the upper limit value is low, the response is sacrificed similarly, but the control device becomes efficient.

The reference output means may change the reference value based on at least one of the rotation speed and the current command value (this structure is not shown). With such a configuration,
The following effects occur. When the rotational speed of the synchronous motor increases, the iron loss becomes larger than the copper loss. Therefore,
By increasing the d-axis current i _d and advancing the field weakening, the magnetic flux can be reduced and the iron loss can be reduced.
This balances the copper loss (proportional to the square of the current) with the iron loss. As a result, the efficiency can be further improved. Therefore, it is effective to reduce the reference value and increase the field weakening as the rotation speed increases.

Second Embodiment Hereinafter, a permanent magnet synchronous motor 1 according to a second embodiment of the present invention will be described.
The control device No. 00 will be described with reference to the drawings. The second embodiment of the invention forces i _d to change,
This is a control device that can adjust the d-axis current i _d so that the efficiency is maximized.

FIG. 7 is an overall view showing the configuration of the control device for the permanent magnet synchronous motor 100 according to the second embodiment of the present invention. In the second embodiment, a change timing output means 250, a d-axis current changing means 252, a speed detecting means 254, and a d-axis current updating means 256 are added to the first embodiment. Furthermore, the reference output means 208 and the d-axis current command means 2
10 and the q-axis current command means 230 are different from the reference output means 108, the d-axis current command means 110, and the q-axis current command means 130 of the first embodiment. The same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

The permanent magnet synchronous motor 100 shown in FIG.
The operation of the control device will be described.

The change timing output means 250 forcibly changes the d-axis current when it is determined from the rotational speed of the synchronous motor 100 and the d-axis current detected by the speed detection means 254 that the synchronous motor 100 is in the steady state. The change timing to be changed is output to the d-axis current changing means 252. Here, the steady state refers to a case where the rotation speed and the d-axis current are within a certain range for a certain period. The d-axis current is detected by the current detecting means 102.

Next, when the q-axis current command means 230 and the d-axis current changing means 252 receive an instruction from the change timing output means 250, the combined current value is kept constant so as to satisfy (Equation 12). The d-axis current decreases as it is. d
When the axis current i _d and the q-axis current i _q are sine waves, decreasing the d-axis current while keeping the combined current value constant is equivalent to changing the phase of the command value of the combined current. The current phase advances when the ratio of the d-axis current i _d increases.

[0145]

(Equation 12)

For example, i _q ^* = 10 A, i _d ^* = 6 A (I ^*
= 11.66 A), the change timing output means 25
When it is determined that 0 is a steady state, the q-axis current commanding means 230 and the d-axis current changing means 252 cause i _q ^* = 10.12.
A, i _d ^* = 5.8 A (I ^* = 11.66 A), respectively.

Consider that the speed detecting means 254 has already detected the steady-state rotation speed. The speed detecting means 254 detects the rotation speed after changing the d-axis current i _d . The d-axis current updating unit 256 uses the d-axis current i _d
Is compared with the rotation speed before the d-axis current i _d is changed. After changing the d-axis current i _d, when the rotational speed is increased, changes the command value of d-axis current i _d to d-axis current after changing the d-axis current i _d. This is because in such a state, the d-axis current i _d is excessively supplied to the synchronous motor 100 and the efficiency is poor. The d-axis current updating unit 256 receives the d-axis current command value i _d ^* via the d-axis current changing unit 252.
Further, after changing the d-axis current i _d, when the rotational speed decreases, the current command means 136, a d-axis current i _d before changing the d-axis current i _d of d-axis current i _d Used as a command value. When the command value of the d-axis current i _d is updated, it is necessary to continuously check whether or not the updated command value of the d-axis current i _d is the optimum value. Similarly, the d-axis current i _d
Even if the rotation speed is reduced by the first change of, the d-axis current i _d is increased to check whether or not the rotation speed is increased.

When the rotation speed increases, the d-axis current value i _d is continuously changed. That is, it is necessary to change the d-axis current value i _d until it becomes the optimum value. During the changing operation, the switch of the current commanding means 136 in FIG. 7 is connected to the current commanding means 136 and the d-axis current changing means 252.

Further, when there is no external torque command or the like for increasing the d-axis current i _d , the change timing output means 250 continues the permission to change the d-axis current i _d to the d-axis current changing means 252. Give. In this case, the d-axis current is repeatedly updated.

[0150] In the case of change the d-axis current i _d, the time delay until the rotational speed of the synchronous motor 100 is sufficiently changed is relatively long, a period of time after changing the d-axis current i _d The rotation speed of the synchronous motor 100 may be determined after the time elapses (the fixed period is longer than the time delay). By the operation described above, the d-axis current updating unit 256 can obtain and output the optimum command value of the d-axis current i _d ^* .

Here, when it is determined that the change timing output means 250 is in the steady state and the determination value of the determination value output means 106 is positive, the reference output means 208 updates the d-axis current i _d ^*. A new reference value is output based on the command value of. In other words, when the command value of the d-axis current i _d ^* decreases, the reference output unit 208 increases the reference value according to the decreased amount. On the contrary, when the command value of the d-axis current i _d ^* increases, the reference output unit 208 decreases the reference value in proportion to the increased amount. The reference output means 1
Reference numeral 08 denotes d-axis current changing means 252 d-axis current updating means 25
A signal indicating the state of the synchronous motor 100 is received via 6.

Next, the case where the judgment value of the judgment value output means 106 is negative will be described. In the case of non-salient pole machine, d-axis current i _d
May be zero or a preset value as described above. However, in the case of the reverse salient pole machine, the reluctance torque of the second term of (Equation 13) can be used even in the field weakening region, so that the d-axis current i _d is supplied.

[0153]

(Equation 13)

The d-axis current updating means 256 operates in the normal region other than the field weakening region, and the d-axis current command value i _d ^*
A case where the coefficient of the arithmetic expression of (Equation 14) is changed based on the changed value of is described. When the command value i _d ^* of the d-axis current increases, K in (Equation 14) is increased, and when the command value i _d ^* of the d-axis current decreases, K is decreased. In that case, the actual control operation will be described below. The d-axis current command means 210 calculates the command value I ^* of the combined current. The q-axis current command means receives the calculated combined current command value I ^* and d-axis current command value _id ^* (not shown). The q-axis current command means uses (Equation 8) to calculate q based on the command value I ^{* of the} calculated combined current and the command value i _d ^* of the d-axis current.
Determine the command value i _q ^* of the axis current. By changing the value of the coefficient K, the rotation speed and torque of the synchronous motor change.

The normal area is the area shown by the diagonal lines in FIG. The area not shown by the diagonal lines in FIG. 14 is an operation area newly increased by performing the field weakening control.

[0156]

[Equation 14]

The subsequent operation is the same as that of the first embodiment, and therefore its explanation is omitted.

As described above, by adding a means for judging the steady state of the synchronous motor 100 and adjusting the d-axis current i _d to the optimum value, highly efficient operation can be performed even with respect to changes over time and environmental changes. A possible control device can be realized.

In the reverse salient pole machine, when the d-axis current i _d in the normal area is changed, it is desirable that the torque is a value often used. Furthermore, it is desirable that the change timing output means 250 also take this into consideration. Because
This is because it is meaningless to change the d-axis current i _d at an operating point that is rarely used.

In the normal region of the non-salient pole machine, the d-axis current i _d does not fluctuate much from the set near zero, so d
Since it is not necessary to change the axis current i _d , the change timing output means 250 does not output the change timing in the normal area.

[0161] The minimum value of d-axis current i _d is the value of d-axis current i _d of the case without the field weakening, not zero in the reverse salient pole machine.

Third Embodiment A controller for a permanent magnet synchronous motor 100 according to a third embodiment of the present invention will be described with reference to the drawings. In the third embodiment of the present invention, the d-axis current i set in a table or the like is used.
The controller for the permanent magnet synchronous motor 100 has improved responsiveness by using the initial value of _d .

FIG. 8 is an overall view showing the configuration of the control device for the permanent magnet synchronous motor 100 according to the third embodiment of the present invention. The third embodiment is obtained by adding the current initial value output means 340, the speed detection means 254, and the q-axis current change amount means 370 to the first embodiment. further,
The d-axis current command means 310 is different from the d-axis current command means 110 of the first embodiment. The same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

The operation of the control device for the permanent magnet synchronous motor 100 configured as shown in FIG. 8 will be described below.

When the command value of the q-axis current input from the outside is larger than the preset value, the current initial value output means 3
Reference numeral 40 is a command value of the q-axis current from the outside and the speed detecting means 3
The initial value i _d _ of the d-axis current command based on a value given in advance in a table or the like, which corresponds to the rotation speed output by 54.
^* Output ini.

Here, the current initial value output means 340 is
According to (Equation 2), the d-axis current i _d calculated from the rotation speed and the torque detected by the speed detecting unit 254 is output.

For the d-axis current i _d , a value calculated in real time based on a calculation formula such as (Equation 2) or a value actually obtained by experiments based on various data such as terminal voltage and temperature is used. Is also good.

The d-axis current command means 310 uses the value output from the current initial value output means 340 as the initial value of the d-axis current value. The d-axis current command means 310 increases or holds the d-axis current when the judgment value is positive, similar to the d-axis current command means 110 of the first embodiment. When the judgment value is negative, the d-axis current command means 310 reduces or holds the d-axis current.

D-axis current i _d preset in a table or the like
By using the initial value i _{d —} ini of, the time required for the d-axis current to converge to the optimum d-axis current for operating the synchronous motor 100 can be shortened.

Further, the command value i _q ^{* of the} required q-axis current is required ^.
The time for realizing the above is shortened, and the responsiveness of the synchronous motor 100 is improved.

Further, the q-axis current change amount means 370 may receive the command value of the q-axis current from the q-axis current command means and hold the command value of the q-axis current at least two before the present time. . When the set value of the change in the command value from the outside of the q-axis current is set low and H _an > 0, the q-axis current change amount {i _q ^* (i-1) -i _q ^* (i-2) }, The d-axis current command value means 310 can obtain the d-axis current by the following equation.

I _d ^* (i) = i _d ^* (i-1) + K · H _an + K _q · {i _q ^* (i-1) −i _q ^* (i-2)} Similarly, i _q ^* Since the d-axis current i _d ^* is given according to the amount of change, the speed response is improved.

Fourth Embodiment A control device for a permanent magnet synchronous motor 100 according to a fourth embodiment of the present invention will be described with reference to the drawings. In the fourth embodiment of the present invention, the rate at which the d-axis current i _d changes when the synchronous motor 100 regenerates is made larger than the rate at which the d-axis current i _d changes when the synchronous motor 100 powers. As a result, in the fourth embodiment, the time during which the d-axis current i _d becomes optimum can be shortened, and further, the synchronous motor 100 can be controlled safely so that sudden braking is not applied.

First, regeneration and power running will be described.

As described above, power running is a state in which the electric motor is producing mechanical output. In other words, the power of the power supply is being supplied to the electric motor. When using the battery, the battery is in a discharged state. Further, the regeneration is a state in which the electric motor is converting mechanical energy into electric energy. In other words, the power is being input to the power supply. When using the battery, the battery is being charged. The sign of the regenerative q-axis current i _q is opposite to the sign of the powering q-axis current i _q . Therefore, as shown in FIG. 9, the induced voltages ω ψ and R · iq are opposite vectors.

Next, consider a case where the synchronous motor 100 is rotating at a high speed and the d-axis current i _d is small. In this case, the combined voltage value V is outside the voltage limiting circle and cannot exist stably (FIG. 9 (a)). Since the q-axis current i _q flows more than the commanded value, the induced voltage ω ψ and the vector R · iq in the opposite direction become large, and the combined voltage value falls within the V limit circle. In this way, the q-axis current i _q larger than the commanded value flows (FIG. 9 (b)). Here, when the electric motor is regenerating, the command value of the q-axis current means a command value of negative torque. That is, the commanded negative torque is not realized. In other words, a negative torque larger than the commanded value is generated, and the electric motor is braked. In order to avoid a state in which the electric motor is braked, it is sufficient to supply a d-axis current i _d of a sufficient magnitude to the electric motor (FIG. 9 (c)). As if the motor is powering, the d-axis current i _d may with minimal current to return to the voltage limit circle, given a d-axis current i _d to the above minimum value d
The efficiency deteriorates due to the copper loss generated by passing the axial current i _d .

FIG. 10 is an overall view showing the configuration of the fourth embodiment of the present invention. The fourth embodiment is the same as the first embodiment.
The power running regeneration judgment means 420 and the change rate output means 422 are added. Except for the means added above, it is the same as that described in the first embodiment.

The same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

A judgment value is obtained in the same manner as in the first embodiment,
The d-axis current command means 110 performs the calculation of (Equation 15) according to the determined judgment value.

[0180]

(Equation 15)

By the way, the rate of change of i _d ^* is (equation 1)
It may be determined by the preset constant values K1 and K2 in 5). Note that these values may be determined as follows.

The power running regeneration judging means 420 is the synchronous motor 1
It is determined whether the operating state of 00 is power running or regenerative, and the determined operating state is input to the change rate output means 422.

Specifically, the q-axis current command means 13 described later is provided.
When the sign of the q-axis current command value i _q ^* commanded by 0 is positive, it is judged to be power running, and when it is negative, it is judged to be regenerative.

The change ratio output means 422 outputs K1 and K2 for power running at the time of power running, outputs K1 and K2 for regenerative at the time of regenerative, and the d-axis current command means 11
Enter 0. Specifically, K1 and K2 may be given in a table.

Thus, depending on the operating state of the electric motor, d
By changing the changing rate of the command value i _d ^* of the shaft current, it is possible to realize the field weakening control of the synchronous motor 100 that is realistic. In addition, K1 and K2 for power running and regeneration
Of the current limit value is 1/100 to 1/2. This current limit value Im is determined by the semiconductor switches Q1 to Q1.
It is determined by the maximum current that can be supplied to Q6, the maximum current that can be supplied to each wiring, and the like. Further, the maximum value i _d ^* max of the command value of the d-axis current is Im · sin 60 ° ≦ i
The value is _d ^* max ≦ Im · sin 90 °. Also, the minimum value i _d ^* min of the command value of the d-axis _{current, Im · sin0 ° ≦ i d} * min ≦ Im
-Sin is a value of 40 °.

The change rate may be given by the following equation.

[0187] change ratio K _{is, K = K 0 · {i} d * (i-1) -i d * (i-2)} / {H an (i-1) -H a (i-2)} Can be expressed as

However, at the first time when H _an > 0, K cannot be calculated, so K = K _min (K _min <
K ₀ <1).

That is, the d-axis current i for the current H _an
By calculating the degree of influence of _d and using that value as the rate of change, the required d-axis current i _d can be quickly obtained.

Here, the change rate corresponds to the gain of the control system, and increasing the change rate means setting the gain so that the settling time becomes shorter. As described above, it goes without saying that the change rate K can be similarly set by using a control method such as PID.

As described above, the responsiveness deteriorates unless the d-axis current i _d is quickly added to the synchronous motor 100 as needed. If the d-axis current i _d is added too much, the efficiency will deteriorate, but the responsiveness will not deteriorate. In order to obtain agile response even if the efficiency becomes poor, the change rate when the d-axis current i _d increases may be set to be larger than the change rate when the _{d d} current decreases. As a result, a control device with good responsiveness can be obtained.

However, for example, the synchronous motor 100
When the amount of energy that can be given to the motor is small, it is desired to operate the synchronous motor 100 with high efficiency even if the response becomes poor.

[0193] In this case, the change ratio when the d-axis current i _d is increased, may be set smaller than the change rate in the case where i _d is reduced.

As described above, it is possible to switch between the setting of emphasis on the responsiveness and the setting of emphasis on the efficiency according to the required state.

The fourth embodiment may include an external switch in order to switch between the setting of emphasis on responsiveness and the setting of emphasis on efficiency.

Further, by changing the state of the external switch continuously or intermittently, the changing rate of the command value of the d-axis current can be changed to easily obtain a desired response speed. The external switch is operated by the user.

Needless to say, even if the command value (command speed) of the q-axis current is changed, the same effect as when the change rate of the d-axis is changed is obtained.

As described above, in the high speed rotation range of the synchronous motor 100, the d-axis current i _d is small and the synchronous motor 1
When 00 is running, the q-axis current i _q does not flow and the required torque cannot be output. On the other hand, when the synchronous motor regenerates, the q-axis current i _q flows too much and suddenly (1
Within seconds, negative torque is generated. The abrupt negative torque generation causes abrupt braking of the synchronous motor. Sudden braking of the rotation of the synchronous motor when the synchronous motor is running is very dangerous. In order to safely operate the synchronous motor, the rate of change of the d-axis current i _d ^* is increased during regeneration. As a result, a d-axis current id of a sufficient magnitude can be swiftly applied to the synchronous motor, and abrupt braking can be prevented. Therefore, the synchronous motor rotates safely.

In (Equation 3), when the reference e _ref is set large, the judgment value H _an becomes small.

Then, the command value i _d ^* of the d-axis current obtained by the calculation of (Equation 15) settles to a small value. On the contrary, when the reference e _ref is set small, the judgment value H _an becomes large. This indicates that the setting of the reference e _ref controls the stable value of the d-axis current command value i _d ^* .
Therefore, if the reference e _ref is set large, it is possible to perform highly efficient control in which i _d ^* does not easily flow. On the other hand, when the reference e _ref is set to a small value, the command value i _d ^* of the d-axis current is large, and control can be performed faithfully to the flow torque command. Therefore, in the case of power running, the reference e _ref is set large, and the synchronous motor 100 is controlled with high efficiency. In the case of regeneration, by setting the reference e _ref to be small, the synchronous motor 100 is controlled so as to be faithful to the torque command, that is, to prevent sudden braking.

[0201] As shown in FIGS. 2 and 9, the sign of the q-axis current i _q in the case of power running is different from the sign of the q-axis current iq in the case of regeneration. Then, when the operating state changes, the sign of the q-axis current i _q changes, and the minimum required d-axis current i _d changes in an instant. Actually, FIG. 2 and FIG.
As can be seen from the above, focusing on R · i _q , the d-axis current i _d required at the time of power running is greater than the d-axis current i _d required at the time of power running.
The axial current i _d is smaller.

Therefore, when the operating state changes from power running to regeneration, the minimum required d-axis current i _d decreases, and when the operating state changes from regeneration to power running,
The minimum required d-axis current i _d increases. In order to quickly respond to such a change in the d-axis current i _d , it is necessary to change the command value i _d ^* of the d-axis current based on an arithmetic expression or a table when the operating state changes. Is.

Specifically, the calculation as shown in (Equation 16) is performed.

[0204]

[Equation 16]

Here, Ka and Kb are proportional constants, and ω ₀
Is the maximum rotation speed when the field weakening control is not performed. In addition, you may use calculation like (Formula 17).

[0206]

[Equation 17]

Here, the new command value i _d ^* new of the d-axis current is
It is the command value i _d ^* of the d-axis current that is newly set after the operating state changes. i _d ^* prev is d before the operating state changes
It is the command value i _d ^* of the axis current. i _q ^* prev is the command value i _q ^* of the q-axis current before the change of the operating state. i _q ^* now is the command value i _q ^* of the q-axis current after the change in the operating state. Also, Kc,
Kd is a constant. By making such settings,
The d-axis current i _d can be quickly made to respond to changes in the operating state.

It should be noted that the command value i _d ^* of the d-axis current is changed only once after the operating state is changed by using (Expression 16) and (Expression 17). After the second time, d
The command value i _d ^* of the shaft current is determined using (Equation 15).

Already, regarding the reverse salient pole rotor, the total d
Command value of the axis current i _d ^* = it was already mentioned given by the command value of the reluctance torque portion of d-axis current i _d ^* + command value of the d-axis current of the weak field磁分i _d ^*. (The stability of the synchronous motor 100 is affected by the d-axis current change ratio during power running and the allowable value of the braking torque, but the synchronous motor 100 operates almost stably).

However, when the command value i _q ^* of the q-axis current, which is the torque command, becomes smaller, the command value i _d ^* of the d-axis current corresponding to the reluctance torque becomes smaller. As a result, the command value i _d ^* of the total d-axis current becomes small. So in the field weakening region,
If _iq ^* decreases from a large value and suddenly changes to regenerative, and the braking torque allowable value is small, the braking torque allowable value may be exceeded. Therefore, when the command value i _q ^* of the q-axis current is rapidly reduced, the command value i of the q-axis current i
_{Along with q} ^* , the command value i _d ^* of the d-axis current is prevented from sharply decreasing. That is, the control device is operated so that the command value i _d ^* of the d-axis current for the reluctance torque does not decrease and only the command value i _d ^* of the d-axis current for the field weakening decreases.
This makes it possible to prevent the command value i _d ^* of the total d-axis current from rapidly decreasing. Further, the braking torque is generated within the allowable value for safely operating the synchronous motor 100.

Further, let us consider a case where the power running regeneration judging means 420 outputs regeneration in a rotor structure capable of utilizing reluctance torque. For example, when the d-axis current of the field-weakening component is being supplied to the synchronous motor 100, the d-axis current generates reluctance braking torque. Therefore, when a constant braking torque is desired to be applied to the synchronous motor 100, the q-axis current amount is reduced by the amount newly used as the d-axis current to obtain the reluctance braking torque (the q-axis current amplitude is reduced. ) By giving a constant braking torque, stable operation is realized.

Fifth Embodiment A fifth embodiment of the present invention will be described with reference to the drawings.

The fifth embodiment of the present invention is a controller for the permanent magnet synchronous motor 100, which can obtain a large amount of regenerative current generated by the braking torque and can achieve high efficiency.

FIG. 11 is a block diagram showing the configuration of the fifth embodiment of the present invention. In the fifth embodiment, speed detecting means 254 is added to the fourth embodiment, and the change rate output means 42 is added.
2, the current detection means 102, the error output means 104, the judgment value output means 106, and the reference output means 108 are deleted. In addition, the q-axis current command means 530 of the fifth embodiment.
Is different from the q-axis current command means 130 of the fourth embodiment.

The operation of the controller for the permanent magnet synchronous motor 100 configured as described above will be described. Fifth
In this embodiment, the synchronous motor 100 is controlled by applying the d-axis current i _d ^* and the q-axis current i _q ^* in a table or the like without performing feedback control.

The difference from the above-mentioned embodiment is that the d-axis current command means 510 outputs the q-axis current command value i _q ^* output from the q-axis current command means 530 and the rotation speed output from the speed detection means 254. Based on the above, the command value i _d ^* of the d-axis current is given by a table or an arithmetic expression.

Here, when the power running regeneration judging means 420 outputs the regenerative power and does not generate the field weakening, the command value of the d-axis current is set to zero, or the sign of the command value of the d-axis current of the power running is With the opposite sign, the command value of the d-axis current is output. The fifth embodiment is effective in the case of a synchronous motor having a structure capable of utilizing reluctance torque. This is because, as is clear from (Equation 13), in the case of regeneration, if i _q <0 and i _d <0, the magnet torque of the first term acts as a braking torque. However, the reluctance torque works for power running. As a result, the total braking torque is reduced, and the regenerative current for the braking torque can be increased.

Although feedback control is not used in the fifth embodiment, it goes without saying that the control described above can also be applied to feedback control. That is, when the value output by the judgment value output means is negative, it is considered that the field weakening region is not set, and the command value of the d-axis current is set to zero in the same manner, or the sign of the command value of the d-axis current during power running is opposite to the sign. The d-axis current command value is output with the sign.

If the value output by the judgment value output means is positive,
It has already been described that i _d > 0 in order to control the braking torque.

Sixth Embodiment Next, a sixth embodiment of the present invention will be described with reference to the drawings. The sixth embodiment of the present invention is a synchronous motor 1.
Is a control device of the permanent magnet synchronous motor 100 capable of improving the efficiency by measuring the voltage supplied to 00 and determining the maximum value of the command value of the d-axis current based on the voltage.

FIG. 12 is a block diagram showing the configuration of the control device for the electric motor of this embodiment. In the sixth embodiment, the voltage measuring means 640 and the d-axis current maximum value output means 6 are added to the first embodiment.
42 is added. The means other than the added means are the same as those described in the first embodiment. Therefore,
The description of the same operation is omitted. FIG.
The operation of the sixth embodiment shown in 2 will be described below.

The voltage V supplied to the synchronous motor 100 is measured by the voltage measuring means 640 and output. And
The voltage V is input to the d-axis maximum current value output means 642.
The d-axis maximum current value output means 642 calculates and outputs the maximum d-axis current value i _d ^* max from the voltage V (i _d ^* max is calculated by (Equation 18) described later). The voltage V can be obtained by measuring the voltage between the terminals a and b of the inverter shown in FIG.

Then, the maximum d-axis current value i _d ^* max is input to the d-axis current command means 110 and used when the calculation of (Equation 6) is performed.

The subsequent operation is the same as that of the first embodiment and will be omitted.

As described above, the maximum value of the command value of the d-axis current can be changed by the voltage supplied to the synchronous motor 100. As a result, the d-axis current for generating the optimum total current can be given.

When a power source such as a battery is used, the terminal voltage decreases as the discharge progresses. Therefore, the voltage supplied to the synchronous motor 100 becomes small, and the total current that can flow in the synchronous motor 100 becomes small. Here, when the maximum value of the d-axis current is constant, the ratio of the d-axis current to the total current is large, and the d-axis current is flowing too much. As described in the description of the first embodiment, d
It suffices that the axial current flows at the minimum necessary amount, and the excessive d-axis current indicates deterioration of efficiency. Synchronous motor 1
As the voltage supplied to 00 becomes smaller, the maximum value of the d-axis current command value may be made smaller.

Specifically, the calculation is performed as in (Equation 18).

[0228]

(Equation 18)

Here, Kbattery is a constant. In addition,
It goes without saying that i _d ^* max may be given by another function or table relating to the voltage V.

When the voltage applied to the synchronous motor becomes smaller, the maximum value of the d-axis current command value becomes smaller. As a result, the d-axis current for generating the optimum total current can be given, and there is an effect of preventing deterioration of efficiency.

The configuration described above may be applied to the configuration not using the feedback described in the fifth embodiment. in this case,
Similarly, there is an effect of preventing deterioration of efficiency.

Seventh Embodiment Next, a seventh embodiment of the present invention will be described with reference to the drawings. In the seventh embodiment, it is possible to realize various driving situations by determining the driving situation and setting the reference accordingly.

FIG. 13 is a block diagram showing the structure of the seventh embodiment. In the seventh embodiment, a driving situation determining means 750 is added to the first actual finger example. The reference output means 108 of the first embodiment is different from the reference output means 708 of the seventh embodiment. The same components as those in the first embodiment are designated by the same reference numerals, and the description of the operation is omitted.

The operation of the seventh embodiment shown in FIG. 13 will be described. First, the relationship between the reference value, the command value of the d-axis current, and the operating condition will be described. When the reference value is changed, the d-axis current command value changes. This is because a large reference value allows a large degree of saturation (current error), and a sufficient d-axis current does not have to flow in the synchronous motor 100. Therefore, when the reference value is large, the command value of the d-axis current becomes small. This is also clear from the property of (Equation 6). On the contrary, when the reference value is small, the command value of the d-axis current becomes large. By changing the reference value in this way, the command value of the d-axis current can be controlled.

Here, when torque is required, the operating condition in which the efficiency is lowered but the torque is emphasized is selected, and the reference value corresponding to the operating condition is given. Based on this reference value, a command value for the d-axis current is generated, and the required torque is realized. On the other hand, in normal operation, a high-efficiency driving situation in which importance is placed on efficiency is selected and a reference value corresponding to the driving situation is given. Based on this reference value, a command value for the d-axis current is generated, and high efficiency is realized. Based on the above idea, the synchronous motor 100
Is controlled.

The driving condition determining means 750 outputs one of two driving conditions, that is, a driving condition focusing on efficiency and a driving condition focusing on torque. For example, the setting of this operating condition can be easily switched by an external switch. Then, the driving status is input to the reference output unit 708. The reference output means 708 determines a reference value according to the driving situation. Specifically, the table is created in advance by theoretical formulas and experiments. Using the table, each operating condition is associated with each reference value. Then, the corresponding reference value is output and input to the judgment value output means 106.

The subsequent operation is similar to that of the first embodiment, and the explanation is omitted.

As described above, the synchronous motor 100 is usually operated with high efficiency, and the torque-oriented driving condition is selected and the required torque is output only when the torque is required.

The driving condition determining means 750 can output only two driving conditions, but it goes without saying that it may output one driving condition out of two or more driving conditions.

Next, when the operating condition determining means determines that the torque is to be emphasized when giving a command equal to or greater than the preset maximum value of the combined current value, the reference output means outputs a reference value smaller than that in the case of emphasizing efficiency. . As a result, it becomes possible to automatically switch between torque-oriented and efficiency-oriented setting according to the value of the total current command value. In FIG. 14, the torque-oriented area and the efficiency-oriented area are areas that occur when the field weakening control is performed. In addition, the normal area is an area indicated by diagonal lines in FIG.

Needless to say, the same effect can be obtained by automatically switching the torque-oriented and efficiency-oriented settings by using not the combined current but the torque current or two signals of the torque current and the rotation speed.

As already mentioned, the efficiency is determined by the d-axis current i
_{The more d, the} worse. Therefore, efficiency-oriented driving is
When commanded by an external switch etc., the following 1-3
Correspondence is possible.

1. Reduce the maximum value of combined current.

2. The maximum rotation speed of the synchronous motor 100 is lowered.

3. The maximum value of the ratio of i _{d to} i _q (leading angle of current phase) is reduced. That is, the efficiency can be improved by suppressing the maximum value of i _d to be smaller than that when the torque is emphasized.

The operation range of each of the non-salient pole motors 1 to 3 is shown in FIGS. 15 (a) to 15 (c) (FIG. 15 shows the relationship between torque and rotation speed). As shown in FIGS. 15A to 15C, the synchronous motor 100 may be controlled with emphasis on torque or efficiency.

It is needless to say that the above-mentioned structure can be applied to the structure which does not use the feedback described in the fifth embodiment.

Eighth Embodiment Next, an eighth embodiment of the present invention will be described. In the eighth embodiment, the judgment value of the d-axis current and the reference value of the q-axis current are set separately, and the set value of the d-axis current and the set value of the q-axis current can be controlled separately. Is.

FIG. 16 is a block diagram showing the structure of the eighth embodiment. In the eighth embodiment, the judgment value output means 106 and the reference output means 108 are deleted from the first embodiment, and the d-axis judgment value output means 806, the q-axis judgment value output means 807, d.
An axis reference output means 808, a q axis reference output means 809, and a q axis current changing means 831 are added. 8th
The d-axis current commanding means 810 and the q-axis current commanding means 830 of the second embodiment are the d-axis current commanding means 110 of the first embodiment.
And the q-axis current command means 130.

The same components as those in the first embodiment are designated by the same reference numerals, and the description of the operation will be omitted.

The operation of the eighth embodiment will be described below.

The saturation output means 104 integrates and outputs the current error e (t) obtained by subtracting the detected current value i (t) from the actual current command value i ^* (t). The integrated value is the d-axis judgment value output means 806 and the q-axis judgment value output means 8
It is input to 07. The d-axis judgment value output means 806 subtracts the reference e _refd set in the d-axis reference output means 808 from the integrated value of the current error e (t) as shown in ( _Equation 19). The d-axis judgment value output means 806 outputs the judgment value H _and which is the result of the subtraction.

Similarly, the q-axis judgment value output means 807 subtracts the reference e _refq set in the q-axis reference output means 809 from the integrated value of the current error e (t) as shown in ( _Equation 19). To do. The q-axis judgment value output means 807 outputs the judgment value H _anq which is the result of the subtraction.

[0254]

[Formula 19]

As in the first embodiment, the half cycle T / 2 of the error is used (Equation 20) and the velocity ω is used (Equation 2).
The references e _refd and e _refq are obtained by the calculation of 1) and output.

[0256]

(Equation 20)

[0257]

[Equation 21]

Thereafter, as in the first embodiment, the d-axis current command means 810 determines the command value of the d-axis current. However, H _an in (Equation 6) is replaced with H _{and in} the case of the eighth embodiment.

In the case of a non-salient motor, generally, the smaller the d-axis current i _{d, the} better the efficiency. Therefore, although the maximum characteristic is slightly suppressed, the upper limit value of the d-axis current value may be suppressed to about ½ of the maximum current value in order to prevent a decrease in efficiency. In such a case, since the d-axis current is suppressed to a small value, the commanded q-axis current cannot flow.
Therefore, the command value of the q-axis current may be determined as follows.

The q-axis current command means 830 outputs the q-axis current command value i _q ^* _o given by the calculation of (Equation 8) or the like, and inputs it to the q-axis current changing means 831. As shown in ( _Equation 22), the judgment value H _anq output from the q-axis judgment value output means 807 is positive, and the upper limit of the command value of the d-axis current is i _d.
^In the case of ^* max, the q-axis current changing means 831 decreases the command value i _q ^* of the q-axis current actually given from the previous command value of the q-axis current by the same calculation as the d-axis current change. When the judgment value is negative, the command value of the d-axis current is the upper limit i _d ^* max, and the change command value i _q ^* (i) is i _q ^* _o or less,
By increasing the command value of the q-axis current, the q-axis current changing means 831 can give the command value i _q ^* of the q-axis current as a current value that can actually be supplied to the synchronous motor 100.

If the above conditions are not met, the q-axis current changing means 831 outputs the q-axis current command value to the current command means 136 without changing i _q ^* _o.

[0262]

[Equation 22]

Here, the q-axis current command values i _q ^* (i) and i _q
^* (i-1) represents the command value of the q-axis current iq between this time and the previous time.

Next, by changing the two reference values and controlling the current command value, the following effects are brought about. Here, if the reference value of the d-axis current and the reference value of the q-axis current are the same, the command value of the d-axis current and the command value of the q-axis current cannot be controlled separately. However, by separately providing the reference value of the d-axis current and the reference value of the q-axis current, it is possible to output the determination value of the d-axis current and the determination value of the q-axis current, respectively. Therefore, in the eighth embodiment, the command value for the d-axis current and the command value for the q-axis current can be controlled separately.

Next, consider a state in which the required d-axis current is slightly larger than i _d ^* max and the d-axis current is increasing due to (Equation 6). Since the d-axis current i _d ^* is small, the current error is large, and since the d-axis determination value is positive, the d-axis current i _d ^* tends to increase according to (Equation 6). Eventually, the command value i _d ^* of the d-axis current reaches i _d ^* max.

If the d-axis current reference value and the q-axis current reference value are the same, the d-axis current determination value and the q-axis current determination value are the same. Since the q-axis judgment value is positive, (Equation 2
Due to 2), the command value i _q ^* of the q-axis current decreases. Then, it is settled when the command value i _q ^* of the q-axis current becomes a slightly smaller value. If the current error becomes small due to noise in this control system, the q-axis current command value i
_q ^* increases and becomes larger than iq * _o. On the other hand, the command value i _d ^* of the d-axis current decreases. In this way, as a result of noise being added to the control device of the present invention, control of the command value i _d ^* of the _d- axis current and control of the command value i _q ^* of the q-axis current are repeatedly performed.

Since the current error is large, (Equation 22)
Accordingly, the command value i _d ^* of the d-axis current becomes smaller. As a result, the current error decreases, and the command value i _q ^* of the q-axis current increases according to (Equation 22). The command value i _q ^* of the q-axis current is i
Since it is larger than _q ^* _o, the command value i _q ^* of the q-axis current is i
Set to _q ^* _o. On the other hand, according to (Equation 6), the command value i _d ^* of the d-axis current becomes smaller. As a result, the control of the command value i _d ^* of the _d- axis current and the control of the command value i _q ^* of the q-axis current may be repeatedly performed such that the current error increases again.

Therefore, the reference value of the d-axis current is smaller than the reference value of the q-axis current, and the same state as in the previous paragraph, that is, the required d-axis current is slightly larger than i _d ^* max, Consider the state in which the d-axis current is increasing due to. Since the d-axis judgment value is positive, i _d ^* increases according to (Equation 7). Eventually, the command value i _d ^* of the d-axis current becomes i _d ^* ma
reach x Here, since the reference value of the d-axis current is smaller than the reference value of the q-axis current, the q-axis determination value becomes negative. Therefore, the command value i _q ^* of the q-axis current tends to increase. However, since the command value i _q ^* of the q-axis current becomes larger than i _q ^* _o, the command value i _q ^* of the q-axis current is kept at iq * _o.

As described above, the command value i _q ^* of the q-axis current does not change even if the current error fluctuates to some extent due to noise. Therefore, the control of the command value i _d ^* of the d-axis current and the control of the command value i _q ^* of the q-axis current are not repeated.

When the reference value of the d-axis current is made smaller than the reference value of the q-axis current as described above, it has the same effect as so-called play and stable control can be performed.

Ninth Embodiment Next, a ninth embodiment of the present invention will be described with reference to the drawings. The ninth embodiment is a control device capable of driving the synchronous motor even when an abnormality occurs in the control device described above.

FIG. 17 shows a block diagram of the ninth embodiment.

In the ninth embodiment, the speed detecting means, the first d-axis current commanding means 910, the second d-axis current commanding means 911, the abnormality detecting means 960 and the d-axis current selecting means are added to the first embodiment. 962 is added and the d-axis current command means 110 is deleted. The same components as those in the first embodiment are designated by the same reference numerals, and the description of their operation will be omitted.

First, the first d-axis current command means 910
The same operation as the d-axis current command means 110 described in the first embodiment is performed to output the d-axis current command value. Also, the second
The d-axis current command means 911 of the d-axis current command means 911
The same operation as the axis current command means 510 is performed to output the command value of the d-axis current. In this way, the ninth embodiment has two d-axis current command means. Abnormality detection means 910
Detects an abnormality in a circuit or operation and its abnormal portion. C
When the PU operation is abnormal, the synchronous motor 100 is operated with a fixed current phase (not shown in the figure, but generally, the fixed phase can be output easily by synchronizing with the position detection signal of the motor. is there). Further, when only the integrator circuit portion for performing the control is abnormal, the command value of the d-axis current given from the table obtained from the preset rotational speed and the torque command current may be given (of course, the fixed current). It may be operated in phase). Normally, the d-axis current selection means 962 selects the d-axis command value output from the first d-axis current command means 910 that performs feedback control. However, when an abnormality is detected by the abnormality detection means 960, the d-axis current selection means 962 selects the d-axis command value output from the second d-axis current command means 911.

The abnormality detected by the abnormality detecting means 910 includes the abnormality of the sensors (current detecting means 102 and speed detecting means 254).

As described above, even if an abnormality occurs, the d-axis current command can be issued and the synchronous motor 100 can continue to operate.

It should be noted that the abnormal operation detecting means 960 may be configured by a switch or the like simply for switching the control operation, and may be used as the switching means to the table control when it is desired to confirm the basic operation other than the control at the time of shipping. .

The individual embodiments have so far described the cases where the individual means are added. Here, it goes without saying that by combining the respective means, the combined effects can be obtained.

In the above embodiment, it has been described that current flows through the stator of the synchronous motor. What is a stator of a synchronous motor?
It means a winding of a synchronous motor that generates a rotating magnetic field when an alternating current is applied. For example, when the permanent magnet is fixed and does not move, the stator of the synchronous motor is an armature.

[0280]

According to the present invention, at least the following effects can be obtained.

Since the d-axis current command means adjusts the d-axis current command value to the optimum value according to the motion state of the synchronous motor, the synchronous motor can be operated with high efficiency even if characteristic changes such as changes with time or environmental changes occur. It is possible to Further, since the current initial value output means has the initial value of the d-axis current command value set in the table or the like, the time required for the d-axis current command value to converge to the target d-axis current command value is shortened.
Further, the power running / regeneration determining means detects the power running or the regenerative state of the synchronous motor, so that the optimum d-axis current can be applied during the power running and the regenerative operation. By measuring the power supply voltage supplied to the synchronous motor by the voltage measuring means, the synchronous motor can be controlled without using feedback control. Furthermore, when the power source is formed of a battery or the like, an appropriate d-axis current command value can be generated even if the voltage of the power source drops.

[0282] Further, various driving operations can be performed by determining the driving status with emphasis on efficiency and torque, and switching the reference value according to each driving status. Moreover, since the d-axis current and the q-axis current can be controlled separately, it is possible to improve the responsiveness of the d-axis current command value and the responsiveness of the q-axis current command value.

Even when an abnormality occurs in the circuit or system for performing the feedback control, the second d-axis current command means commands the d-axis current based on a predetermined value, so the synchronous motor Can be controlled.

[Brief description of drawings]

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

2 (a) to (c) are vector diagrams for explaining field weakening control during power running.

FIG. 3 (a) is a diagram showing a proportional integrator, and FIG.
(c) is a diagram showing a phase current command value and an actual phase current input to the proportional integrator.

FIG. 4 is a detailed view of a current applying unit.

FIG. 5 is a diagram showing a PWM signal in the case of being saturated and in the case of not being saturated.

6A and 6B are views of a non-salient-pole motor rotor and a reverse salient-pole motor rotor.

FIG. 7 is a block diagram showing a configuration of a control device according to a second embodiment of the present invention.

FIG. 8 is a block diagram showing a configuration of a control device according to a third embodiment of the present invention.

9A to 9C are vector diagrams for explaining field weakening control during regeneration.

FIG. 10 is a block diagram showing a configuration of a control device according to a fourth exemplary embodiment of the present invention.

FIG. 11 is a block diagram showing a configuration of a control device according to a fifth exemplary embodiment of the present invention.

FIG. 12 is a block diagram showing a configuration of a control device according to a sixth embodiment of the present invention.

FIG. 13 is a block diagram showing a configuration of a control device according to a seventh embodiment of the present invention.

FIG. 14 is a diagram showing a region of automatic switching between efficiency-oriented setting and torque-oriented setting in the field weakening region.

15A to 15C are operation range diagrams of automatic switching between efficiency-oriented setting and torque-oriented setting.

FIG. 16 is a block diagram showing the configuration of a control device according to an eighth embodiment of the present invention.

FIG. 17 is a block diagram showing a configuration of a control device according to a ninth embodiment of the present invention.

[Explanation of symbols]

100 synchronous motor 102 current detection means 104 saturation degree output means 106 judgment value output means 108, 208, 708 reference output means 110, 210, 310, 510, 810 d-axis current command means 130, 230, 530, 830 q-axis current command Means 136 Current command means 138 Input applying means 250 Change timing output means 252 d-axis current changing means 254 Speed detecting means 256 d-axis current updating means 340 Current initial value output means 370 q-axis current change amount means 420 Power running regeneration judging means 422 Change Ratio output means 640 Voltage measurement means 642 d-axis current maximum value output means 750 Operating status determination means 806 d-axis judgment value output means 807 q-axis judgment value output means 808 d-axis reference output means 809 q-axis reference output means 831 q-axis current Change means 910 First d-axis current command Stage 911 second d-axis current command unit 960 abnormality detecting means 962 d-axis current selection means

Front page continued (72) Inventor Satoshi Tamaki 1006 Kadoma, Kadoma-shi, Osaka Prefecture Matsushita Electric Industrial Co., Ltd.

Claims (34)

[Claims] 1. A current command for outputting each phase current command value of a stator calculated from a command value of a d-axis current that is a direct axis stator current and a command value of a q-axis current that is a horizontal axis stator current. Means, input applying means for supplying a current to each phase based on the phase current command value, and saturation degree outputting means for generating a saturation degree indicating a rate at which the input applying means can further supply a current to each phase. A reference output means for outputting a reference value of the saturation degree, a judgment value output means for calculating a judgment value obtained by subtracting the reference value of the saturation degree from the saturation degree, and a forward current phase when the judgment value is positive. , Increasing the command value of the d-axis current so that the judgment value becomes zero, and decreasing the command value of the d-axis current when the judgment value is negative, and setting the command value of the decreased d-axis current D-axis current finger that holds the command value of the d-axis current at the minimum value when it decreases below the specified minimum value. Means, controller for a permanent magnet synchronous motor and a q-axis current command means for giving a command value of the q-axis current. 2. The saturation degree output means generates the saturation degree based on a difference between a phase current command value of the at least one stator and a phase current value of the permanent magnet synchronous motor. 1. The control device for a permanent magnet synchronous motor according to 1. 3. The saturation degree output means calculates the saturation degree based on a value obtained by integrating a difference between a command value of the q-axis current and a value of the q-axis current flowing through a stator of the permanent magnet synchronous motor. The control device for the permanent magnet synchronous motor according to claim 1, which is generated. 4. The saturation output means comprises an integrator for integrating the difference, and the controller has a changeable element for adjusting a rate of integration by the integrator. Item 3. A controller for a permanent magnet synchronous motor according to Item 3. 5. The saturation output means, based on a difference between a torque command value calculated based on at least one current command value and an actual torque of the permanent magnet synchronous motor,
The control device for a permanent magnet synchronous motor according to claim 1, wherein the saturation degree is generated. 6. A difference between a value obtained by the saturation degree output means by integrating calculation of at least one phase current command value and a value obtained by integrating calculation of the phase current command value flowing through a stator of the permanent magnet synchronous motor. The controller for a permanent magnet synchronous motor according to claim 1, wherein the saturation degree is generated based on 7. If the judgment value is positive, the d-axis current command means increases the command value of the d-axis current, and the increased command value of the d-axis current is greater than a preset maximum value. When it is larger, the d-axis current command means sets the command value of the d-axis current to the preset maximum value, and when the judgment value is negative, the d-axis current command means determines the d-axis current of the d-axis current. When the command value of the d-axis current is reduced and the command value of the reduced d-axis current is smaller than the preset d-axis minimum value, the d-axis current command means sets the command value of the d-axis current to the preset minimum value. The controller for the permanent magnet synchronous motor according to claim 1, wherein the controller is set to a value. 8. The d-axis current command means increases the command value of the d-axis current when the judgment value is positive, and increases the command value of the d-axis current when the judgment value is negative. Decrease,
When the reduced command value of the d-axis current is smaller than a preset d-axis minimum value, the command value of the d-axis current is set to the preset minimum value, and the q-axis current command means , A value obtained by vector-subtracting the command value of the d-axis current from a preset maximum value of a combined current value obtained by vector-adding the command value of the d-axis current and the command value of the q-axis current, and the q-axis current The control device for a permanent magnet synchronous motor according to claim 1, wherein a smaller value of the command values is set as the command value of the q-axis current. 9. The controller includes speed detecting means for detecting a rotation speed of the permanent magnet synchronous motor, and a command value of the d-axis current is a value within a certain range for a certain period of time. If the speed is within a certain range,
Change timing output means for outputting a timing for forcibly changing the command value of the d-axis current, and when the change timing is output, the command value of the d-axis current and the command value of the q-axis current are combined. D-axis current changing means for holding the combined current command value at a constant value and changing the d-axis current command value; and after the d-axis current changing means changes the d-axis current command value, When the rotation speed is higher than the rotation speed before changing the command value of the d-axis current, the operation using the d-axis current command value after changing the command value of the d-axis current and the rotation speed decrease When changing the d-axis current command value before changing the d-axis current command value
D axis current updating means for repeatedly performing the operation using the axis current command value during the period permitted by the change timing output means, and updating the d axis current command value. When the means changes the command value of the d-axis current and the judgment value is positive, the d-axis current updating means
When the reference value of the reference output means is changed to a newly calculated reference value, the d-axis current updating means changes the command value of the d-axis current, and when the judgment value is negative, the d-axis The current updating means is d
Based on the value output from the d-axis current updating means, the axis current commanding means sets a preset minimum value of the d-axis current or a coefficient of an equation for calculating the d-axis current command value.
The control device for a permanent magnet synchronous motor according to claim 1. 10. A current initial value output means for outputting the initial command value of the d-axis current obtained from the q-axis current command value when the command value of the q-axis current greatly changes by a preset value or more. The control device for the permanent magnet synchronous motor according to claim 1, further comprising: 11. The control device further comprises change ratio output means for determining and outputting a change ratio of the command value of the d-axis current, wherein the change ratio output means has a predetermined constant change ratio or The change ratio calculated from the judgment value and the command value of the d-axis current is output, and when the judgment value is positive, the d-axis current command means determines the command value of the d-axis current based on the change ratio. When the command value of the d-axis current is increased to exceed the preset maximum value, the command value of the d-axis current is held at the preset maximum value, and the judgment value is negative. In this case, the command value of the d-axis current is reduced based on the rate of change, and when the command value of the d-axis current decreases beyond a preset minimum value, the command value of the d-axis current is reduced to The control device for a permanent magnet synchronous motor according to claim 1, wherein the control device holds the preset minimum value. Place. 12. The controller for a permanent magnet synchronous motor according to claim 11, wherein the change rate when the determination value is positive is larger than the change rate when the determination value is negative. 13. The controller for a permanent magnet synchronous motor according to claim 11, wherein the change rate output means has at least two change rates, and at least two change rates can be selected. 14. The control device further comprises a power running regeneration determining means for determining whether the operation of the permanent magnet synchronous motor is a power running state or a regenerative state, and the change ratio output means , D based on the determined state
The ratio for changing the command value of the shaft current is determined.
1. The control device for a permanent magnet synchronous motor according to 1. 15. The permanent magnet synchronization according to claim 14, wherein a rate of changing the command value of the d-axis current in the powering state is smaller than a rate of changing the command value of the d-axis current in the regenerating state. Electric motor controller. 16. The reference output means changes the reference value based on an output of the power running regeneration determination means.
A controller for the permanent magnet synchronous motor described. 17. The d-axis current command means, when the judgment value is positive, increases the command value of the d-axis current based on the rate of change, and exceeds the set maximum value to increase the d-axis current. Of the d-axis current is increased, the set maximum value is held in the command value of the d-axis current, and when the judgment value is negative, the command value of the d-axis current is decreased based on the change rate. When the command value of the d-axis current decreases below the set minimum value, the command value of the d-axis current is held at the minimum value, and the power running regeneration determining means determines whether the running state of power running or regeneration is A signal indicating a change is generated, and the command value of the d-axis current is changed from the previous command value of the d-axis current based on at least one of the rotation speed of the permanent magnet synchronous motor and the command value of the q-axis current. The control device for a permanent magnet synchronous motor according to claim 14. 18. The d-axis which causes the d-axis current command means to generate a reluctance torque generated in response to a decrease in the torque command value when the allowable value of the braking torque of the permanent magnet synchronous motor is smaller than a predetermined value. In order to suppress the decrease of the current, the command value of the d-axis current is not sharply decreased,
The control device for a permanent magnet synchronous motor according to claim 14. 19. A current command for outputting a command value of each phase current of the stator obtained from a command value of a d-axis current which is a direct axis stator current and a command value of a q-axis current which is a horizontal axis stator current. Means, an input applying means for supplying a current to each phase based on each phase current command value, and a state of whether the operation of the permanent magnet synchronous motor is powering or whether the operation of the permanent magnet synchronous motor is regenerative. And a power running regeneration determining means that determines that the state is regenerative, and the rotational speed and torque of the permanent magnet synchronous motor do not belong to the field weakening region. A d-axis current command means for outputting a command value of the d-axis current in order to generate a reluctance torque of power running of zero or more in the synchronous motor; and a q-axis current command means for giving a command value of the q-axis current. Control of permanent magnet synchronous motor Apparatus. 20. A current command for outputting a stator phase current command value calculated from a command value of a d-axis current that is a direct axis stator current and a command value of a q-axis current that is a horizontal axis stator current. Means, an input applying means for supplying a current to each phase based on each phase current command value, and a state of whether the operation of the permanent magnet synchronous motor is powering or whether the operation of the permanent magnet synchronous motor is regenerative. And a d-axis current command means for giving a command value of the d-axis current when the power-running regeneration judgment means judges that the state is regenerative, and the d-axis current command is not zero. In this case, a controller for a permanent magnet synchronous motor comprising: q-axis current command means for reducing the command value of the q-axis current in accordance with an increase in the command value of the d-axis current by the amount of reluctance torque generated. 21. A current command for outputting a stator phase current command value calculated from a command value of a d-axis current that is a direct axis stator current and a command value of a q-axis current that is a horizontal axis stator current. Means, input applying means for supplying a current to each phase based on the phase current command value, and saturation degree outputting means for generating a saturation degree indicating a rate at which the input applying means can further supply a current to each phase. , A reference output means for outputting a reference value of the saturation degree, a judgment value output means for outputting a judgment value obtained by subtracting the reference value of the saturation degree from the saturation degree, and a voltage applied to the inverter is measured and measured. Voltage measuring means for outputting a voltage value, d-axis current maximum value outputting means for outputting a maximum value of the command value of the d-axis current based on the measured voltage value, and if the judgment value is positive, the d-axis The command value of the current is increased, and the command value of the increased d-axis current is When the value exceeds the large value, the command value of the d-axis current is held at the maximum value of the d-axis current, and when the judgment value is negative, the command value of the d-axis current is decreased to decrease the d-axis current. D-axis current command means for holding the command value of the d-axis current at the minimum value when the command value of the current decreases below the set minimum value, and q-axis current for giving the command value of the q-axis current A control device for a permanent magnet synchronous motor, comprising: command means. 22. The control of a permanent magnet synchronous motor according to claim 21, wherein the maximum d-axis current value output means decreases the maximum value of the command value of the d-axis current when the measured voltage value decreases. apparatus. 23. A current command for outputting a stator phase current command value calculated from a command value of a d-axis current that is a direct axis stator current and a command value of a q-axis current that is a horizontal axis stator current. Means, input applying means for supplying a current to each phase based on each phase current command value, voltage measuring means for measuring the voltage applied to the permanent magnet synchronous motor, and outputting the measured voltage value, The permanent magnet synchronous motor, the d-axis current command means for decreasing the maximum value of the command value of the d-axis current, and the q-axis current command means for giving the command value of the q-axis current. Control device. 24. A current for outputting a command value of each phase current of the stator calculated from a command value of a d-axis current which is a direct axis stator current and a command value of a q-axis current which is a horizontal axis stator current. Command means, input applying means for supplying a current to each phase based on the current command value for each phase, and saturation degree output means for generating a saturation degree indicating a rate at which the input applying means can further supply a current to each phase. A driving condition determining means for outputting one of the driving condition for efficiency and the driving condition for focusing on torque; a reference output device for outputting a reference value of saturation based on the driving condition; A judgment value output means for outputting a judgment value obtained by subtracting the saturation reference value from the judgment value; and a command value of the d-axis current, if the judgment value is positive, the current phase is advanced and the judgment value becomes zero. D-axis current command means for increasing the command value of the d-axis current, Controller for a permanent magnet synchronous motor comprising: a q-axis current command means for giving a command value of q-axis current, a. 25. The permanent magnet synchronous motor according to claim 24, wherein a reference value when the operation status determining means outputs the emphasis on efficiency is larger than a reference value when the operation status determining means outputs the emphasis on torque. Control device. 26. The reference output means, when at least one of the rotation speed and the current of the permanent magnet synchronous motor exceeds a preset value, the operation status determining means determines that the torque is important, and determines the efficiency. The control device for a permanent magnet synchronous motor according to claim 24, which outputs a reference value smaller than the reference value in the case of importance. 27. A current for outputting a command value of each phase current of the stator calculated from a command value of a d-axis current which is a direct axis stator current and a command value of a q-axis current which is a horizontal axis stator current. Command means, input applying means for supplying a current to each phase based on the current command value for each phase, and operating condition determining means for outputting one of the operating conditions of efficiency-oriented and torque-oriented. A d-axis current command means for giving a command value for the d-axis current, wherein a command value for the d-axis current when outputting the emphasis on efficiency is smaller than a command value for the d-axis current when outputting for emphasis the torque; A q-axis current command means for giving a command value of the q-axis current, and a controller for a permanent magnet synchronous motor. 28. A current command for outputting a stator phase current command value calculated from a command value of a d-axis current that is a direct axis stator current and a command value of a q-axis current that is a horizontal axis stator current. Means, input applying means for supplying a current to each phase based on the phase current command value, and saturation degree outputting means for generating a saturation degree indicating a rate at which the input applying means can further supply a current to each phase. A reference output means for outputting a reference value of saturation, a reference output means for outputting a reference value, a d-axis reference output means for outputting a d-axis reference value in accordance with the saturation, and a saturation output in accordance with the saturation. Based on the value obtained by subtracting the reference value of the d-axis from the saturation degree,
d-axis judgment value output means for outputting a d-axis judgment value, and q-axis judgment value output means for outputting a q-axis judgment value based on a value obtained by subtracting the q-axis reference value from the processed value of the saturation degree. If the d-axis judgment value is positive, the command value of the d-axis current is increased, and when the increased command value of the d-axis current exceeds a set maximum value, the d-axis current is increased. Is held at the set maximum value and the d-axis judgment value is negative, the command value of the d-axis current is decreased, and the command value of the decreased d-axis current is set to the minimum value. A d-axis current command means for holding the command value of the d-axis current at the set minimum value when it decreases below the value; a q-axis current command means for giving a command value of the q-axis current; When the axis judgment value is positive and the command value of the d-axis current is the set maximum value, the q-axis commanded by the q-axis current command means The command value of the current is decreased, the command value of the reduced q-axis current is set as the q-axis current change command value, the q-axis determination value is negative, and the command value of the d-axis current is the set maximum. And the q-axis current change command value is the q-value.
A controller for a permanent magnet synchronous motor comprising: q-axis current command changing means for increasing the q-axis current command value when the q-axis current command value is commanded by the axis current command means. 29. The controller for a permanent magnet synchronous motor according to claim 28, wherein the d-axis reference value output from the d-axis reference output means is smaller than the q-axis reference value output from the q-axis reference output means. . 30. A current command for outputting a stator phase current command value calculated from a command value of a d-axis current that is a direct axis stator current and a command value of a q-axis current that is a horizontal axis stator current. Means, input applying means for supplying a current to each phase based on the phase current command value, and saturation degree outputting means for generating a saturation degree indicating a rate at which the input applying means can further supply a current to each phase. An operating condition determining means for outputting one of the operating condition of efficiency and torque, and a reference output device for outputting a reference value of the saturation degree based on the operating condition; A judgment value output means for outputting a judgment value obtained by subtracting the reference value of the saturation, and a first step for advancing the current phase to increase the d-axis current command so that the judgment value becomes zero when the judgment value is positive. Detects abnormalities in the circuit or operation with the d-axis current command means. Abnormality detection means and, said on the basis of the preset table or calculation formula d to
A second d-axis current command means for obtaining a command value of the axis current, a q-axis current command means for giving a command value of the q-axis current, and a first circuit when the abnormality detecting means does not detect a circuit or operation abnormality. If the d-axis command value output from the d-axis current command means is selected and the abnormality detecting means detects a circuit or operation abnormality, the d-axis command output from the second d-axis current command means A d-axis current selecting means for selecting a value, and a controller for the permanent magnet synchronous motor. 31. The saturation output means is at least 1.
The controller for a permanent magnet synchronous motor according to claim 1, wherein the saturation degree is generated based on a value obtained by integrating a difference between a phase current and a phase current command value corresponding to the at least one phase. 32. The saturation output means further comprises an integrator for integrating the difference, and the controller has a changeable element for adjusting a rate of integration by the integrator. Item 31. A controller for a permanent magnet synchronous motor according to Item 31. 33. When the judgment value is positive, the d-axis current command means increases the command value of the d-axis current, and the increased command value of the d-axis current is greater than a preset maximum value. When it is larger, the d-axis current command means sets the command value of the d-axis current to the preset maximum value, and when the judgment value is negative, the d-axis current command means determines the d-axis current of the d-axis current. When the command value is decreased and the rotation speed of the permanent magnet synchronous motor is equal to or lower than a preset rotation speed, the d-axis current command means sets the d-axis current command value to a preset minimum value, The control device for a permanent magnet synchronous motor according to claim 1. 34. The permanent magnet synchronous motor according to claim 1, wherein the reference output means changes the reference value based on at least one of a current command value for each phase and a rotational speed of the permanent magnet synchronous motor. Control device.