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WO2012066800A1 - Dispositif de détection d'un courant électrique et dispositif de commande de moteur - Google Patents

Dispositif de détection d'un courant électrique et dispositif de commande de moteur Download PDF

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Publication number
WO2012066800A1
WO2012066800A1 PCT/JP2011/057362 JP2011057362W WO2012066800A1 WO 2012066800 A1 WO2012066800 A1 WO 2012066800A1 JP 2011057362 W JP2011057362 W JP 2011057362W WO 2012066800 A1 WO2012066800 A1 WO 2012066800A1
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WO
WIPO (PCT)
Prior art keywords
current
current detection
axis
detection device
phase
Prior art date
Application number
PCT/JP2011/057362
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English (en)
Japanese (ja)
Inventor
峻 谷口
中沢　洋介
鈴木　健太郎
結城　和明
和也 安井
克 前川
山崎　修
Original Assignee
株式会社 東芝
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Application filed by 株式会社 東芝 filed Critical 株式会社 東芝
Publication of WO2012066800A1 publication Critical patent/WO2012066800A1/fr

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
    • G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
    • G01R31/40—Testing power supplies
    • G01R31/42—AC power supplies
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/14—Estimation or adaptation of machine parameters, e.g. flux, current or voltage
    • H02P21/18—Estimation of position or speed
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02M—APPARATUS FOR CONVERSION BETWEEN AC AND AC, BETWEEN AC AND DC, OR BETWEEN DC AND DC, AND FOR USE WITH MAINS OR SIMILAR POWER SUPPLY SYSTEMS; CONVERSION OF DC OR AC INPUT POWER INTO SURGE OUTPUT POWER; CONTROL OR REGULATION THEREOF
    • H02M1/00—Details of apparatus for conversion
    • H02M1/0003—Details of control, feedback or regulation circuits
    • H02M1/0009—Devices or circuits for detecting current in a converter

Definitions

  • Embodiments relate to a current detection device and a motor control device using the current detection device.
  • the conventional technique has a problem that a current ripple generated by pulse width modulation (PWM) is picked up and a detection error occurs in the current detection value.
  • the “detection error” represents a deviation of the detected value with respect to the actual current vector, and when the added value is used as the detected value, the average value of the current vector and the average of the added value in the cycle of addition. It is defined as deviation.
  • a multi-phase inverter usually has only one A / D converter due to cost problems, and cannot detect a plurality of phase currents at the same time, and the current detection timing is different for each phase. Yes. If the current detection timing is changed for each phase, there is a problem that, when converted to a current vector, a detection error that differs depending on the position of the vector occurs in the detected current.
  • the present invention has been made in view of such a problem of the prior art, and an object thereof is to provide a current detection device capable of reducing a detection error included in a detection current and a motor control device using the current detection device.
  • the embodiment is a current detection device that detects an output current of a multiphase inverter using triangular wave pulse width modulation, and a current detection unit that detects current at a plurality of specific timings during a predetermined period of time, Adding means for adding current detection values at a plurality of specific timings during the predetermined period, wherein the current detection unit is configured to increase the carrier wave of the triangular wave PWM as the plurality of specific timings during the predetermined period. It is characterized in that current detection is performed at least once each on both the downstream side and the downstream side.
  • FIG. 1 is a block diagram of a motor control device according to a first embodiment.
  • the vector diagram of the orthogonal voltage component for every voltage command vector. Explanatory drawing of the electric current detection timing in 1st Embodiment.
  • FIG. 6 is an amplitude diagram of a detection current when a detection delay occurs in a three-phase current. Explanatory drawing of the relationship between the several electric current detection value in the short time, and its average value. Explanatory drawing of the electric current detection timing in 10th Embodiment. Explanatory drawing of the electric current detection timing in 11th Embodiment. The block diagram of the inverter control apparatus of 12th Embodiment.
  • FIG. 1 shows a configuration of a motor control device that controls a sensorless control with a synchronous motor 4 common to each embodiment as a load.
  • This motor control device converts a DC power into an AC power by a PWM gate signal, and also performs a reverse conversion thereof, a synchronous motor 4 that operates by receiving an AC output of the PWM inverter 2, and a synchronous operation from the PWM inverter 2.
  • Current detectors 3u and 3w for detecting AC currents iu and iw of U and W2 phases among AC currents iu, iv and iw of U, V and W phases of AC power supplied to the electric motor 4, and PWM inverter 2
  • the AC currents iu and iw detected by the current detectors 3u and 3w are A / D converted at a predetermined timing, taken as digital current detection values Iu and Iw, and calculated to be voltage commands for each phase.
  • a control device 5 that outputs Vu, Vv, and Vw is provided.
  • This control device 5 includes a triangular wave PWM modulator 1 that generates a gate command by PWMing the voltage commands Vu, Vv, and Vw of each phase to be output by a triangular wave carrier wave and controls the PWM inverter 2.
  • the direction of the magnetic flux of the permanent magnet is defined as the d axis
  • the axis orthogonal to the d axis is defined as the q axis.
  • the U-phase winding direction is defined as the ⁇ axis
  • the direction perpendicular thereto is defined as the ⁇ axis
  • the angle up to the d axis direction with respect to the ⁇ axis direction is defined as the rotational phase angle ⁇ of the synchronous machine.
  • the phase angle estimated by the control device is used instead of the sensor output. Therefore, the estimated phase angle is ⁇ est, and the corresponding coordinate system is defined as the ⁇ -axis and the ⁇ -axis.
  • the synchronous motor 4 generates a magnetic field by three-phase alternating currents iu, iv, iw flowing in the respective excitation phases of the stator, and generates torque by magnetic interaction with the rotor.
  • the control device 5 is constituted by a microcomputer, but its calculation function is shown by being divided into constituent elements: a rotational phase angle estimator 7, a current controller 8, a 3-axis / 2-axis coordinate converter 9, A 2-axis / 3-axis coordinate converter 10 and a digital current detection processor 11 are included.
  • the current detectors 3u and 3w output the current response values of the two-phase iu and iw of the three-phase alternating currents iu, iv and iw flowing through the synchronous motor 4 as analog signals.
  • the structure which detects the electric current of 2 phases is shown in FIG. 1, the structure which detects the electric current response value of each of U, V, and W3 phase may be sufficient.
  • the digital current detection processor 11 performs A / D conversion on the current detection analog signals iu and iw of the current detectors 3u and 3w at predetermined timings and adds a predetermined number of times for each phase to detect digital current for each phase.
  • the values Iu and Iw are output to the 3-axis / 2-axis coordinate converter 9.
  • the rotational phase angle estimator 7 estimates the rotational phase angle ⁇ est of the synchronous motor 4 from the current response values I ⁇ res and I ⁇ res converted by the 3-axis / 2-axis coordinate converter 9.
  • the 3-axis / 2-axis coordinate converter 9 uses the rotation phase angle ⁇ est obtained by the rotation phase angle estimator 7 for the current response values Iu, Iw output from the digital current detection processor 11 to obtain a three-phase signal.
  • Three-axis / 2-axis coordinate conversion between the fixed coordinate system and the ⁇ -axis rotational coordinate system is performed to obtain the two-axis current values I ⁇ res, I ⁇ res from the three-phase current values Iu, Iv, Iw, and the rotational phase angle estimator 7 and the current controller 8 is output.
  • the V-phase current value Iv is obtained by conversion from the detected U-phase and W-phase current values Iu and Iw.
  • the current controller 8 compares the 2-axis current response values I ⁇ res, I ⁇ res converted by the 3-axis / 2-axis coordinate converter 9 with the current command values I ⁇ ref, I ⁇ ref, and determines the biaxial voltage command values V ⁇ , V ⁇ .
  • the 2-axis / 3-axis coordinate converter 10 converts the 2-axis voltage command values V ⁇ , V ⁇ from the current controller 8 into 2-axis / 3-axis coordinates, and converts the 3-phase voltage commands Vu, Vv, Vw into a triangular wave PWM modulator 1. Output to.
  • the triangular wave PWM modulator 1 generates a gate command by performing pulse width modulation (PWM) on the three-phase voltage commands Vu, Vv, and Vw with a triangular wave carrier wave, and controls the PWM inverter 2 by gate control.
  • PWM pulse width modulation
  • the digital current detection processor 11 has the functional configuration shown in FIG. 2, and includes a multi-input / output channel for A / D converting the analog input signals iu and iw at predetermined timings and outputting them as digital values.
  • the timing setter 112 gives a timing setting channel command to the A / D converter 111 at the current detection timing of each embodiment described later.
  • the following current detection processing is performed to reduce detection current errors that occur in the orthogonal direction, improve the estimation accuracy of the rotational phase angle, and realize stable control. .
  • the voltage vector composition during the half cycle of the triangular wave carrier wave is modulated to match the voltage command vector.
  • (U, V, W) (0, 0, 0)
  • (U, V , W) (1,1,1)
  • (U, V, W) (1,1,0)
  • a voltage vector matching the voltage command vector is output by combining the two types of voltage vectors.
  • a voltage component Vh orthogonal to the direction of the voltage vector to be output is also output.
  • the orthogonal voltage vector Vh becomes zero if synthesized during a half cycle of the carrier wave (Carrier), but this orthogonal voltage vector generates a current ripple Ih as shown in FIG.
  • this orthogonal voltage vector vibrates for one cycle every time the voltage command vector rotates by 1/6 period, that is, generates a current ripple having a frequency six times the carrier frequency.
  • the current ripple Ih is point-symmetric about the top of the carrier, and the positive and negative are different on the upstream side and downstream side of the carrier.
  • the waveform is close to point symmetry although it is not perfectly point symmetric due to the influence of inductance and voltage command vector change.
  • it is point symmetric at the peak on the peak side of the carrier wave.
  • point symmetry is similarly applied to the peak on the trough side of the carrier wave.
  • FIG. 6 shows the current detection timing executed by the control device 5 in the first embodiment.
  • the digital current detection processor 11 at this timing performs A / D conversion on the analog current detection signals iu and iw from the current detectors 3u and 3w for each cycle of the carrier wave as one current detection period, Current detection is performed at least once on the upstream side and at least once on the downstream side, the detected values are added, and the added values are output as digital current response values Iu and Iw. Thereby, a positive error and a negative error are added, and the detection error included in the detection current can be reduced.
  • the timing setting is performed by the timing setting unit 112 in this embodiment and in any of the following embodiments.
  • current detection is performed at a predetermined timing once on the upstream side and twice on the downstream side for each cycle of the carrier wave. If current detection is performed at predetermined timing at least once on the downstream side, detection errors included in the detection value can be reduced.
  • the detection value at the vertex timing may be added as shown in FIG. Second embodiment).
  • two periods of the carrier wave are set as current detection period units, and current detection is performed at a predetermined timing at least once each on the upstream side and the downstream side of the carrier wave for each current detection period.
  • the added value may be a current response value (third embodiment).
  • the current detection may be performed at least once on the upstream side and the downstream side of the carrier wave (fourth embodiment). ). Since the average value of the current ripple Ih is the same on the upstream side and the downstream side of the carrier wave, if the number of current detections is the same on the upstream side and the downstream side, the amount of current ripple Ih that can be canceled increases. According to the current detection method shown in FIG. 9, the detection error is reduced compared to the case where the number of detections is different between the upstream side and the downstream side.
  • the detection value at the vertex may be added as shown in FIG. Embodiment).
  • the current ripple Ih is symmetric about the vertex of the carrier wave. Therefore, at the timing when the heights of the carrier waves on the upstream side and the downstream side coincide with each other, the current ripples are equal in magnitude and opposite in sign. If the current value is detected at this timing, the current ripple is completely canceled. Therefore, the current value is detected and added at the timing when the carrier heights coincide on the upstream and downstream sides of the carrier. As a result, the current ripple Ih can be effectively canceled and accurate current detection can be achieved.
  • the current value is also detected at the peak of the carrier wave, and the current value is detected at another position. It is also possible to add (seventh embodiment). As a result, the current ripple Ih can be effectively canceled and accurate current detection can be achieved.
  • the sixth and seventh embodiments not only the detection error included in the current vector but also the detection error included in the three-phase current can be canceled.
  • 13 and 14 show the relationship between the U-phase voltage Vu and the U-phase current iu in PWM.
  • the output of the U-phase voltage Vu has a pattern (FIG. 13) in which a voltage having the same sign is output and a pattern (FIG. 14) in which a voltage having a different sign is output.
  • the current iu is point-symmetric with respect to the vertex of the carrier wave. Therefore, the detection error included in the three-phase current can be effectively canceled by using the current detection method of the present embodiment.
  • FIG. 15 shows a current detection method according to the eighth embodiment.
  • One period of the carrier wave is set as an addition period, and the current is detected at the center timing of each equally divided period, and four current detection values are added.
  • the current value can be detected and added at the timing at which the carrier heights coincide on the upstream side and the downstream side of the carrier, and the current ripple Ih is effectively obtained.
  • the current can be detected with high accuracy.
  • the current value is also detected at the peak of the carrier wave, and this is detected at another position.
  • the current value is added (9th embodiment). Therefore, in this embodiment, one period of the carrier wave is set as an addition period, and one period is divided into five equal parts, current is detected at the center timing of each equal period, and five current detection values are added. As a result, the current ripple Ih can be effectively canceled and accurate current detection can be achieved.
  • the current detection methods of the eighth and ninth embodiments have the effect of facilitating mounting on an actual machine because the detection interval is constant while having the effect of canceling the detection error.
  • the fundamental component of the output current in the three-phase inverter is a sine wave as shown in FIG. 17A
  • the detection timing is delayed
  • the phase of the output current is shifted as shown in FIG. 17B. Detected.
  • the output current 21 should normally have a constant amplitude, but becomes a detection current 22 that vibrates at twice the output frequency.
  • the current detection methods of the sixth and seventh embodiments and the tenth embodiment it is also possible to combine with a current detection method (eleventh embodiment).
  • the current detection method according to the tenth embodiment eliminates the current detection error due to the fundamental wave
  • the current detection method according to the sixth and seventh embodiments eliminates the current detection error due to the current ripple due to PWM.
  • the detection error can be made almost zero. Thereby, the responsiveness of the current control system can be improved.
  • the current ripple Ih is completely point-symmetrical around the vertex of the carrier wave.
  • the modulation wave that is, the voltage command vector
  • the current ripple Ih approaches point symmetry with the vertex of the carrier wave as the center, and the reduction effect increases.
  • FIG. 22 shows a general configuration.
  • the inverter control apparatus which generalized the motor control apparatus shown in FIG. 1 is shown.
  • the PWM inverter 2 supplies a three-phase current to the load 4, and the analog current detectors 3 u, 3 v, 3 w detect the three-phase currents for the load 4 and output them to the control device 5.
  • the control device 5 has the same configuration as that of the control device 5 in the motor control device according to the first embodiment.
  • the digital current detection processor 11 performs A / D conversion on the analog current detection signals for each of the U, V, and W phases, and adds them for each phase to obtain a current average value.
  • the 3-axis / 2-axis coordinate converter 9 It is the structure which outputs to. Even in the configuration of FIG. 22, the current detection can be performed on two of the three phases, and the remaining one-phase current can be calculated therefrom.
  • the example of the load current control by the PWM inverter was shown, for example, it can be applied to the control of the power supply current when the load 4 is a power source and the inverter 2 acts as a converter. .

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Ac Motors In General (AREA)
  • Inverter Devices (AREA)
  • Control Of Motors That Do Not Use Commutators (AREA)

Abstract

La présente invention concerne un dispositif de détection de courant électrique destiné à réduire l'erreur de détection incluse dans un courant électrique détecté afin de détecter le courant électrique délivré par un onduleur à modulation d'impulsions, le dispositif étant caractérisé en ce qu'il comprend des moyens de détection de courant électrique (111, 112) destinés à détecter un courant électrique au niveau d'une pluralité de moments choisis spécifiques dans un intervalle fixe réglé à l'avance, et des moyens d'ajout (113u, 113w) destinés à ajouter la valeur de détection d'un courant électrique de chaque moment choisi de la pluralité de moments choisis spécifiques dans un intervalle fixe, et en ce que les moyens de détection de courant électrique détectent le courant électrique au moins une fois pour le côté montant et le côté descendant d'un porteur de charge triangulaire à modulation d'impulsions comme pluralité de moments choisis spécifiques dans un intervalle fixe.
PCT/JP2011/057362 2010-11-15 2011-03-25 Dispositif de détection d'un courant électrique et dispositif de commande de moteur WO2012066800A1 (fr)

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JP2010-254902 2010-11-15
JP2010254902A JP2012110074A (ja) 2010-11-15 2010-11-15 電流検出装置及びモータ制御装置

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Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015182020A1 (fr) * 2014-05-28 2015-12-03 パナソニックＩｐマネジメント株式会社 Dispositif d'entraînement de moteur sans balais
CN108448994A (zh) * 2018-01-25 2018-08-24 华意压缩机股份有限公司 一种变频压缩机空载运行转速快速估算方法

Families Citing this family (5)

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Publication number Priority date Publication date Assignee Title
JP6658554B2 (ja) * 2017-01-10 2020-03-04 株式会社デンソー 交流電動機の制御装置
JP6646028B2 (ja) 2017-11-20 2020-02-14 ファナック株式会社 電流検出器を有するモータ駆動装置
JP6946988B2 (ja) * 2017-12-06 2021-10-13 株式会社デンソー 駆動装置
JP7047602B2 (ja) * 2018-05-31 2022-04-05 トヨタ自動車株式会社 モータ制御装置、その制御方法及びプログラム
WO2023243451A1 (fr) * 2022-06-17 2023-12-21 株式会社日立製作所 Dispositif de commande de convertisseur de puissance et procédé de commande

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JP2008182832A (ja) * 2007-01-25 2008-08-07 Matsushita Electric Ind Co Ltd モータ駆動装置
JP2010011639A (ja) * 2008-06-27 2010-01-14 Hitachi Industrial Equipment Systems Co Ltd 電力変換装置
JP2010183661A (ja) * 2009-02-03 2010-08-19 Toyota Motor Corp 回転電機制御システム

Patent Citations (3)

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Publication number Priority date Publication date Assignee Title
JP2008182832A (ja) * 2007-01-25 2008-08-07 Matsushita Electric Ind Co Ltd モータ駆動装置
JP2010011639A (ja) * 2008-06-27 2010-01-14 Hitachi Industrial Equipment Systems Co Ltd 電力変換装置
JP2010183661A (ja) * 2009-02-03 2010-08-19 Toyota Motor Corp 回転電機制御システム

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2015182020A1 (fr) * 2014-05-28 2015-12-03 パナソニックＩｐマネジメント株式会社 Dispositif d'entraînement de moteur sans balais
JP6089215B2 (ja) * 2014-05-28 2017-03-08 パナソニックＩｐマネジメント株式会社 ブラシレスモータ駆動装置
US10199966B2 (en) 2014-05-28 2019-02-05 Panasonic Intellectual Property Management Co., Ltd. Brushless motor drive device
CN108448994A (zh) * 2018-01-25 2018-08-24 华意压缩机股份有限公司 一种变频压缩机空载运行转速快速估算方法
CN108448994B (zh) * 2018-01-25 2021-05-07 长虹华意压缩机股份有限公司 一种变频压缩机空载运行转速快速估算方法

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