JP6465477B2 - Motor control device, motor control method and program - Google Patents

Description

  The present invention relates to a motor control device, a motor control method, and a program.

As one of the control methods of the permanent magnet type synchronous motor, a voltage applied to the permanent magnet type synchronous motor (hereinafter simply referred to as “motor”) and the motor frequency (rotational speed) are controlled in proportion to each other. / F control (also referred to as V / f constant control) is known. In this case, a speed command unit that is a command means for the frequency f (rotational speed ω) for the motor designates the desired rotational speed ω of the motor. In the constant V / f control, a voltage command V * approximately proportional to the speed command ω * output from the speed command unit is obtained by calculation or the like, and a voltage based on the voltage command V * is applied to the motor through an inverter or the like. (For example, see Patent Document 1).
Such V / f control does not have to have a means for detecting or estimating the position of the rotor as compared with so-called vector control. Therefore, it is easy to adjust the rotational speed and has a very simple configuration. Can be realized.

JP 2006-197789 A

  In the control of a permanent magnet type synchronous motor, generally, a field weakening state is used at a predetermined rotation speed or higher in order to achieve a speed command ω * exceeding an applied voltage that can be output by the inverter main circuit. In a steady state that is not a field weakening state, the current flowing through the motor terminal (the absolute value of the motor current described later) increases or decreases only in proportion to the load torque applied to the motor and does not depend on the rotational speed of the motor. However, in the field weakening state, the d-axis current component (excitation current component) flows approximately in proportion to the rotational speed of the motor under a constant load torque. Therefore, in the field weakening state, the current flowing through the motor increases and decreases depending on both the load torque and the rotation speed.

  In addition, since the V / f control of the motor is a control in which a voltage value approximately proportional to the rotation speed is directly applied to the motor, it is not controlled based on the current value of the current flowing through the motor. Therefore, a motor that operates in the field-weakening state causes current to flow according to the parameters of both the rotational speed and the load torque. Then, for example, when the load torque increases when driving based on the speed command ω * in the field weakening state, the current flowing in accordance with this exceeds the current value that the inverter main circuit can output. There is a case (overcurrent condition). As a result, for example, an emergency operation stop process is performed by the inverter main circuit, and the operation is stopped.

  An object of the present invention is to provide a motor control device, a motor control method, and a program capable of suppressing the occurrence of an overcurrent state of an inverter in V / f control of a motor. is there.

One aspect of the present invention is a two-phase voltage command unit that designates a voltage command proportional to a motor speed command on two axes in a rotation rectangular coordinate system, and a coordinate conversion of the two-axis voltage command into a three-phase voltage command. / 3-phase converter, an inverter main circuit that applies three-phase applied voltage to the motor according to the three-phase voltage command, and a three-phase terminal current that flows to the motor according to the three-phase applied voltage Current detection unit for detecting the current, and three-phase / two-phase conversion for converting the three-phase terminal current detected by the current detection unit into a two-axis current component forming a motor current and feeding back to the voltage command unit A motor control device having a current threshold defined in advance based on a current limit value of the inverter main circuit, and an absolute value of the motor current specified from the two-axis current component Depending on the relationship, the speed command E Bei a speed command correction unit that reduces at a constant, predetermined speed reduction rate in the speed command correction unit, the speed reduction rate, the increasing in accordance with increase in the rotational speed of the motor in the weak magnetic field state The motor control device is defined based on an increase rate of the motor current and an increase rate of the motor current that increases as the load torque increases .

  In one aspect of the present invention, when the absolute value of the motor current exceeds a first current threshold that is the current threshold, the speed command correction unit starts a process of reducing the speed command, When the absolute value of the motor current is less than a second current threshold that is the current threshold and is lower than the first current threshold, the process of reducing the speed command is terminated.

Further, according to one aspect of the present invention, in the integral control based on a deviation between the current threshold value and the absolute value of the motor current, the speed command correction unit calculates a product of a limit value of the deviation and an integral gain. Control is performed so as to be equal to or higher than the speed reduction rate.
Further, according to one aspect of the present invention, a voltage command unit that specifies a voltage command proportional to a motor speed command on two axes of a rotation rectangular coordinate system, and coordinate-converts the two-axis voltage command into a three-phase voltage command. A two-phase / three-phase converter, an inverter main circuit that applies a three-phase applied voltage to the motor according to the three-phase voltage command, and a three-phase current that flows to the motor according to the three-phase applied voltage A current detection unit for detecting a terminal current, and a three-phase / 2 for converting the three-phase terminal current detected by the current detection unit into a two-axis current component forming a motor current and feeding back to the voltage command unit A motor control device having a phase conversion unit, a current threshold defined in advance based on a current limit value of the inverter main circuit, and an absolute value of the motor current specified from the two-axis current component, , The speed command A speed command correction unit that reduces the speed at a predetermined speed reduction rate that is defined in advance; and the speed command correction unit performs integration control based on a deviation between the current threshold value and the absolute value of the motor current. The motor control device performs control such that the product of the limit value and the integral gain is equal to or higher than the speed reduction rate.

Further, according to one aspect of the present invention, the voltage command unit specifies a voltage command proportional to the motor speed command on two axes in the rotation rectangular coordinate system, and the two-axis voltage command is converted into a three-phase voltage command. A step of performing coordinate transformation, a step of applying a three-phase applied voltage to the motor in accordance with the three-phase voltage command by an inverter main circuit, and a three-phase current flowing to the motor in accordance with the three-phase applied voltage A motor control method comprising: a step of detecting a terminal current; and a step of converting the detected three-phase terminal current into a two-axis current component forming a motor current and feeding back to the voltage command unit. The speed command is set in accordance with the relationship between a current threshold defined in advance based on the current limit value of the inverter main circuit and the absolute value of the motor current specified from the two-axis current components. Further have the step of lowering in order defined predetermined speed reduction rate, the rate decrease rate, the increase rate of the motor current increases with the increase in the rotational speed of the motor in the weak magnetic field state, the load The motor control method is defined based on an increase rate of the motor current that increases with an increase in torque .

Further, according to one aspect of the present invention, a voltage command unit that specifies a voltage command proportional to a motor speed command on two axes of a rotation rectangular coordinate system, and coordinate-converts the two-axis voltage command into a three-phase voltage command. A two-phase / three-phase converter, an inverter main circuit that applies a three-phase applied voltage to the motor according to the three-phase voltage command, and a three-phase current that flows to the motor according to the three-phase applied voltage A current detection unit for detecting a terminal current, and a three-phase / 2 for converting the three-phase terminal current detected by the current detection unit into a two-axis current component forming a motor current and feeding back to the voltage command unit A computer of a motor control device having a phase conversion unit, a current threshold defined in advance based on a current limit value of the inverter main circuit, and an absolute value of the motor current specified from the current components of two axes, Depending on the relationship, To function as a speed command correction means for reducing at predefined predetermined speed reduction rate in degrees command, in the speed command correction unit, the speed reduction rate is the increase in the rotational speed of the motor in the weak magnetic field state The program is defined based on an increase rate of the motor current that increases in response to the increase rate of the motor current that increases in response to an increase in load torque .

  According to the above-described motor control device, motor control method, and program, it is possible to suppress the occurrence of an overcurrent state of the inverter in the V / f control of the motor.

It is a figure which shows the function structure of the motor control apparatus which concerns on 1st Embodiment. It is a 1st figure explaining the function of the correction part for overcurrent prevention which concerns on 1st Embodiment. It is a 2nd figure explaining the function of the correction part for overcurrent prevention which concerns on 1st Embodiment. It is a 3rd figure explaining the function of the correction part for overcurrent prevention which concerns on 1st Embodiment. It is a figure which shows the function structure of the correction | amendment part for overcurrent prevention which concerns on 2nd Embodiment. It is a 1st figure explaining the function of the correction part for overcurrent prevention which concerns on 2nd Embodiment. It is a 2nd figure explaining the function of the correction part for overcurrent prevention which concerns on 2nd Embodiment.

<First Embodiment>
Hereinafter, the motor control device according to the first embodiment will be described in detail with reference to FIGS.

FIG. 1 is a diagram illustrating a functional configuration of the motor control device according to the first embodiment.
Specifically, FIG. 1 is a block diagram showing the flow of various signals in the motor control device 1.
As shown in FIG. 1, the motor control device 1 includes a speed command unit 2, a voltage command unit 3, a 2-phase / 3-phase conversion unit 4, an inverter main circuit 5, and a 3-phase / 2-phase conversion unit 6. The power factor angle calculation unit 8, the step-out prevention correction unit 9, and the overcurrent prevention correction unit 10 (speed command correction unit) are provided to control the motor 7 to be controlled.
In the present embodiment, the motor control device 1 controls a motor 7 that is driven with a compressor (compressor) of an air conditioner as a load. In the present embodiment, the motor 7 is a permanent magnet type synchronous motor in which a permanent magnet is incorporated in an internal rotor and is driven and controlled based on an input three-phase AC voltage.

The speed command unit 2 outputs a speed command nω _m * for rotating the motor 7 at a desired frequency f (rotational speed ω) (n is the number of pole pairs). The speed command nω _m * is subjected to correction processing by a step-out prevention correction unit 9 and an overcurrent prevention correction unit 10 which will be described later, and a voltage as a new speed command ω ₁ (also described as an inverter output frequency ω ₁ ). Input to the command unit 3.

Voltage command unit 3 accepts the inverter output frequency omega ₁ of the input is a new velocity command, a voltage command roughly proportional to the inverter output frequency omega ₁ 2-axis ([delta] axis, gamma-axis) of the rotary rectangular coordinate system with specify. Specifically, the voltage command unit 3 determines the δ-axis voltage command v _δ * and the γ-axis voltage command v _γ * by calculations shown in the following formulas (1) and (2).

Here, in Equation (1), “K _δ ” is a predetermined proportional constant, and “i _δ ” is a δ-axis current component i _δ of the motor current I flowing through the motor 7. The motor current I is an alternating current that substantially flows through the terminal of the motor 7 based on the δ-axis voltage command v _δ * and the γ-axis voltage command v _γ *, and is a δ-axis current component i _δ (excitation current). Component) and a γ-axis current component i _γ (torque current component).
In Equation (2), “ω ₁ ” is a command value (speed command ω ₁ ) indicating the rotational speed of the motor 7, and is directly an AC voltage (described later) output from the inverter main circuit 5. The inverter output frequency ω ₁ indicates the frequency of the AC voltages v _u , v _v , v _w ). “Λd” represents the d-axis induced voltage coefficient in the motor 7, and “K” represents the proportional gain.

According to the calculation of Expression (1), the δ-axis voltage command v _δ * is negatively proportionally controlled so that the δ-axis current component i _δ is maintained at 0 in the steady state of the motor 7. As a result, if the δ-axis current component i _δ is biased to a positive or negative value, the δ-axis voltage command v _δ * is set so that the δ-axis current component i _δ is quickly maintained at 0 by the proportionality constant K _δ . It is determined.

Further, according to the calculation of the first term of the equation (2), the γ-axis voltage command v _γ * is the speed command ω ₁ (inverter output frequency ω) to the motor 7 in the steady state where the _δ -axis current component i _δ = 0. ₁ ) is determined in proportion to (V / f control). Further, according to the second term of the expression (2), in the unsteady state where the δ-axis current component i _δ ≠ 0, the γ-axis voltage command v _γ * is set so that the δ-axis current component i _δ becomes 0 by integral control. Is adjusted.

By doing so, in the steady state, the δ-axis current component i _δ becomes 0, and when the δ-axis current component i _δ becomes 0, the δ-axis voltage component v _{δ of the} motor applied voltage V also becomes 0. As a result, the motor current I flowing through the motor 7 and the motor applied voltage V (voltage vector composed of the δ-axis voltage component v _δ and the γ-axis voltage component v _γ ) are effective only for each γ-axis component. As described with respect to the ratio angle calculation unit 8, high-efficiency and power-saving control is possible with respect to torque that can be output.
In the present embodiment, the integral control based on the second term of Expression (2) is performed. However, proportional control, proportional integral control, or the like may be used depending on the control response.

The two-phase / three-phase converter 4 is a three-phase alternating current that the inverter main circuit 5 outputs the voltage command (δ-axis voltage command v _δ *, γ-axis voltage command v _γ *) output from the voltage command unit 3. Coordinates are converted into AC voltage commands v _u *, v _v *, and v _w * corresponding to the voltages v _u , v _v , and v _w , respectively. The two-phase / three-phase conversion unit 4 performs coordinate conversion according to the phase θ obtained by integration of the inverter output frequency ω ₁ . As a result, the frequency corresponding to the desired rotational speed (inverter output frequency ω ₁ ) and the three-phase applied voltages (AC voltages v _u , v _v , v _w ) having an amplitude proportional to the frequency are converted to the inverter main Applied to the motor 7 through the circuit 5.

The inverter main circuit 5 is a three-phase applied voltage (AC voltage) corresponding to each of the three-phase AC voltage commands v _u *, v _v *, and v _w *, which are command values from the two-phase / three-phase converter 4. v _u , v _v , v _w ) are applied to the motor 7.

The three-phase / two-phase converter 6 passes through the current detector 6a, and the three-phase terminal currents i _u , i _v flowing to the motor 7 in accordance with the three-phase applied voltages (AC voltages v _u , v _v , v _w ). , to get the _{i w.} Here, the current detection unit 6a is a current detector provided in each wiring that connects the inverter main circuit 5 and the motor 7, and each of the terminal currents i _u , i _v , i _w flowing in each wiring is detected. To detect.
The three-phase / two-phase converter 6 converts the input terminal currents i _u , i _v , and i _w into a δ-axis current component i _δ and a γ-axis current component i _γ that are two-axis current components forming the motor current I. The coordinates are converted to and fed back to the voltage command unit 3. Specifically, the voltage command unit 3 calculates Formulas (1) and (2) based on the input δ-axis current component i _δ , and a new voltage command (δ-axis voltage command v _(δ *, γ-axis voltage command v _γ *) is output.
Note that the three-phase / two-phase converter 6 according to the present embodiment has a predetermined phase difference Φ with respect to the acquired three-phase terminal currents i _u , i _v , i _{w by a} predetermined phase difference Φ rather than the phase θ of the motor applied voltage V. Coordinate conversion is performed according to the advanced phase (θ−Φ) (see the description of the power factor angle calculation unit 8 below).

The power factor angle calculation unit 8 can obtain a high power efficiency with respect to a required torque with respect to a phase difference (power factor angle) between the motor applied voltage V applied to the motor 7 and the motor current I. Calculate Φ. Specifically, the power factor angle calculator 8 responds to the detected motor current I (substantially only the γ-axis current component i _{γ since the} δ-axis current component i _δ is controlled to 0). The optimum phase difference Φ is specified. The three-phase / two-phase converter 6 described above converts the phase current θ of the motor applied voltage V when converting the terminal currents i _u , i _v , i _w of the motor 7 into two axes (δ axis and γ axis). The coordinate conversion is performed according to the phase θ−Φ so that the motor current I is advanced by the phase difference Φ. Thereby, the phase difference (power factor angle) between the motor applied voltage V and the motor current I becomes the phase difference Φ, and the motor 7 can be driven with high power efficiency.
Since specific means for the power factor angle calculation unit 8 to specify the phase difference Φ according to the motor current I (γ-axis current component i _γ ) is described in Patent Document 1, detailed description will be given. Omitted.

The step-out prevention correction unit 9 is based on the γ-axis current component i _γ (substantial motor current I) converted according to the phase θ−Φ, and the speed command nω _m output from the speed command unit 2. A predetermined negative feedback correction process is applied to *, and a new speed command ω ₁ after the correction process is output. Specifically, the step-out prevention correction unit 9 performs a correction process of multiplying the γ-axis current component i _γ by a predetermined gain K _ω1 and subtracting this from a speed command nω _m * as a frequency.
For example, when the load torque of the motor 7 increases momentarily, the rotational speed is decreased accordingly and the motor current I increases. In this case, the step-out prevention correction unit 9 detects the increased motor current I (γ-axis current component i _γ ) and correspondingly reduces the speed command ω ₁ after the correction process. Then, the step-out prevention correction unit 9 increases the speed command ω ₁ after the correction process at a constant increase rate (the increase rate of the speed command nω _m * per unit time), and restores the original rotation speed. By controlling in this way, step-out of the motor 7 can be prevented and rotation can be stabilized. The same applies when the load torque of the motor 7 decreases and the rotational speed increases.

The overcurrent prevention correction unit 10 provides a speed command nω so that the inverter main circuit 5 does not become overcurrent even when the load torque increases when the motor 7 operates in the field weakening state. _A negative feedback correction process is applied to _m * to output a new speed command ω ₁ after the correction process.
The function of the overcurrent prevention correction unit 10 according to the present embodiment will be described in detail below.

FIG. 2 is a first diagram illustrating the function of the overcurrent prevention correction unit according to the first embodiment.
Specifically, the overcurrent prevention correction unit 10 holds two current thresholds Ith1 and Ith2 that are defined in advance based on the current limit value Ilim of the inverter main circuit 5. The overcurrent prevention correction unit 10 has a relationship between the two current thresholds Ith1 and Ith2 and the absolute value of the motor current I specified from both the δ-axis current component i _δ and the γ-axis current component i _γ. Accordingly, the speed command ω ₁ after the correction process is decreased at a predetermined speed decrease rate K _ω2 defined from the graph shown in FIG. Here, the speed reduction rate K _ω2 [(rad / s) / s] indicates the degree to which the speed command ω ₁ is reduced per unit time. The current limit value Ilim is an upper limit value of the motor current I that can be output by the inverter main circuit 5.

Here, according to the control based on the voltage command unit 3, the γ-axis voltage command v _γ * is defined by Equation (2), but when the speed command ω ₁ after the correction process is increased to a predetermined value or more, the inverter A γ-axis voltage command v _γ * exceeding the outputtable voltage Vlim of the main circuit 5 is designated. In this case, although the motor 7 rotates at the rotational speed based on the speed command ω ₁ , the voltage actually applied to the motor 7 at this time is not the γ-axis voltage command v _γ * based on the equation (2), It becomes a voltage corresponding to the output possible voltage Vlim lower than that. Then, the integral control for setting the δ-axis current component i _δ to 0, which is defined in the second term of the equation (2), does not function, and depending on the rotational speed of the motor 7 (speed command ω ₁ ) A δ-axis current component i _δ flows (field weakening state).
In the field weakening state, as the rotational speed of the motor 7 increases, the back electromotive force generated at the terminal of the motor 7 increases, and the difference from the output possible voltage Vlim from the inverter main circuit 5 widens. The current (δ-axis current component i _δ ) increases.

The graph shown in FIG. 2 shows the relationship between the rotational speed (number of revolutions [rps]) of the motor 7 and the absolute value [Ar] of the motor current I with a constant voltage (= outputtable voltage Vlim) applied to the terminal of the motor 7. The relationship is shown for each load torque τ.
As shown in FIG. 2, when the rotational speed of the motor 7 is equal to or lower than the predetermined rotational speed ωth, the absolute value of the motor current I increases or decreases in proportion to only the load torque τ and is constant with respect to the rotational speed. In this state, the δ-axis current component i _δ is controlled to 0, and only the γ-axis current component i _γ contributing to the torque output flows through the motor 7.
On the other hand, when the rotation speed of the motor 7 exceeds a predetermined rotation speed (the number of rotations ωth), the field weakening state occurs, and in addition to the γ-axis current component i _γ corresponding to the load torque τ, the δ-axis that is the field weakening current. The current component i _δ starts to flow. Since this δ-axis current component i _δ increases or decreases in proportion to the rotational speed of the motor 7, the absolute value of the motor current I increases in the rotational speed of the motor 7 in the region of the rotational speed higher than the rotational speed ωth. It shows a tendency to increase.

  Therefore, when load fluctuation (increase in load torque) occurs while the motor 7 is operating in the field weakening state, the current that has flowed in accordance with the rotational speed exceeds the current limit value Ilim. It is assumed that step-out or emergency stop of driving occurs.

The speed reduction rate K _ω2 in the overcurrent prevention correction unit 10 is defined based on the rotational speed-current characteristic of the motor 7 shown in FIG. The speed reduction rate K _ω2 increases with an increase rate ΔI / Δτ [A / Nm] of the motor current I that increases with an increase in the load torque τ and with an increase in the rotational speed of the motor 7 in the field-weakening state. Based on the increase rate ΔI / Δω [A / (rad / s)] of the motor current I, it is defined as shown in Equation (3).

“K _τ ” (increase rate K _τ [Nm / s]) in the equation (3) is a value representing the characteristic of load fluctuation occurring in the load (compressor) of the motor 7, specifically, per unit time Shows the maximum value of the degree of increase in load torque. That is, the speed decrease rate K _ω2 is a characteristic of the two fluctuation rates of the motor current I (ΔI / Δτ, ΔI / Δω) obtained by a prior measurement or the like and the load fluctuation assumed in the load of the motor 7. (That is, based on the increase rate K _τ ) (see equation (3)).

3 and 4 are a second diagram and a third diagram illustrating the function of the overcurrent prevention correction unit according to the first embodiment.
Specifically, FIG. 3 shows the time course of the motor current I for the motor 7 in operation. FIG. 4 shows the change over time of the speed command ω ₁ after the correction processing by the overcurrent prevention correction unit 10. Here, it is assumed that the motor 7 is in the field-weakening state during the operation at the rotational speed ω ₁ a corresponding to the speed command ω ₁ (= ω ₁ a).
The overcurrent prevention correction unit 10 provides a first current threshold value Ith1 (Ith1 <Ilim) defined with a predetermined margin with respect to the current limit value Ilim, and a predetermined margin from the first current threshold value Ith1. The stored second current threshold value Ith2 (Ith2 <Ith1) is stored (see FIG. 3).

Based on the δ-axis current component i _δ and the γ-axis current component i _γ output by the three-phase / two-phase conversion unit 6, the overcurrent prevention correction unit 10 calculates the absolute value of the motor current I (| I | = ( i _δ ² + i _γ ² ) ^1/2 ) is calculated. The overcurrent prevention correction unit 10 compares the calculated absolute value of the motor current I with the first current threshold Ith1, and corrects when the absolute value of the motor current I reaches the first current threshold Ith1. reducing the speed command omega ₁ after treatment at a rate decrease rate K _.omega.2.

For example, before the time t1 in FIG. 3, the absolute value of the motor current I is increasing with the increase in the load torque τ of the motor 7 at a constant rotational speed (rotational speed ω ₁ a). Then, it is assumed that the absolute value of the motor current I reaches the first current threshold Ith1 at time t1 due to the increase of the load torque τ. At this time, the overcurrent prevention correction unit 10 performs a negative feedback correction process on the speed command nω _m *, and reduces the speed command ω ₁ after the correction process at a constant speed decrease rate K _ω2 . Thereby, based on the reduced speed command ω ₁ (<ω ₁ a), the rotational speed of the motor 7 starts to decrease at the speed decrease rate K _ω2 (see FIG. 4). Then, since the motor 7 operates in the field weakening state, the motor current I (substantially, the δ-axis current component i _δ ) decreases as the rotational speed of the motor 7 decreases (see FIG. 3). ).

Here, as described above, the speed reduction rate K _ω2 is the maximum increase assumed in the two increase rates (ΔI / Δτ, ΔI / Δω) determined from the characteristics shown in FIG. It is defined based on the rate K _τ (see equation (3)). Therefore, even if the load torque τ increases at the maximum increase rate K _τ at time t1, as long as the speed command ω ₁ is decreased at the speed decrease rate K _ω2 , the absolute value of the motor current I is the first current. There is no increase from the threshold value Ith1. Moreover, by doing in this way, the fall amount of the rotation speed of the motor 7 can be kept to the minimum as long as the motor current I does not increase from the first current threshold Ith1.

Then, the decrease in the speed command omega ₁ after the correction processing, when the absolute value of the motor current I is reduced to a second current threshold Ith2, overcurrent prevention correcting unit 10, a treatment for reducing the speed command omega ₁ finish. Thereafter, the overcurrent prevention correction unit 10 performs a process of increasing the speed command ω ₁ at a predetermined increase rate to recover the original rotational speed ω ₁ a (see FIG. 4). During the rotational speed recovery process, when the absolute value of the motor current I again reaches the first current threshold Ith1 in relation to the load torque τ, the overcurrent prevention correction unit 10 again reducing the velocity command omega ₁ at a speed reduction rate K _.omega.2.

As described above, according to the motor control device 1 according to the first embodiment, the current threshold values (Ith1, Ith2) defined in advance based on the current limit value Ilim of the inverter main circuit 5 and the biaxial current components (i _δ , I _γ ), the speed command ω ₁ after the correction process is reduced at a predetermined speed reduction rate K _ω2 defined in advance, according to the relationship with the absolute value of the motor current I specified from both.
By doing in this way, even when the fluctuation in which the load torque τ increases while the motor current I flows due to the field weakening state, the motor current I becomes equal to the predetermined current threshold Ith1. The rotation speed of the motor 7 is appropriately reduced at a minimum speed reduction rate that does not exceed (and consequently the current limit value Ilim). Therefore, the occurrence of an overcurrent state in the inverter main circuit 5 is suppressed, and the operation of the motor 7 can be stabilized.

Further, according to the motor control device 1 according to the first embodiment, as described above, when the absolute value of the motor current I exceeds the first current threshold Ith1, the speed command ω _{1 is obtained} by the negative feedback correction process. starts a process of reducing the, when the absolute value of the motor current I is below the second current threshold value Ith2 is lower than the first current threshold Ith1, it ends the treatment for reducing the speed command omega _1.
In this way, by defining the hysteresis characteristic for the motor current I by two different current threshold values (Ith1, Ith2), it is possible to prevent frequent reduction correction processing with respect to the speed command nω _m *. As a result, the operation of the motor 7 can be further stabilized.

<Second Embodiment>
Next, a motor control device according to the second embodiment will be described in detail with reference to FIGS.
Since the functional configuration of the motor control device 1 according to the second embodiment is the same as that of the first embodiment (FIG. 1), detailed description thereof is omitted. However, in the second embodiment, the function of the overcurrent prevention correction unit 10 is different from that of the first embodiment.

FIG. 5 is a diagram illustrating a functional configuration of the overcurrent prevention correction unit according to the second embodiment.
As illustrated in FIG. 5, the overcurrent prevention correction unit 10 includes a threshold value storage unit 101, a limit setting unit 102, and an integration calculation unit 103.
The threshold value storage unit 101 stores a current threshold value Ithi for integral control that is defined in advance based on the current limit value Ilim of the inverter main circuit 5.
The limit setting unit 102 determines an upper limit value δIL (> 0) and a lower limit value −δIL (<) that are predetermined limit values for a deviation δI (δI = Ithi− | I |) between the current threshold value Ithi for integration control and the motor current I. 0) is applied.

The integral calculation unit 103 integrates the deviation δI (the one to which the upper limit value δIL or the lower limit value −δIL is applied by the limit setting unit 102), and performs negative feedback of the speed command nω _m * with a predetermined integral gain Ki. The correction value δω is output. However, the overcurrent prevention correction unit 10 only needs to realize integral control so that the absolute value of the motor current I does not exceed the current limit value Ilim. Therefore, the integration calculation unit 103 sets the upper limit value of the integration result of the deviation δI to 0 and takes only a negative value. By doing so, the overcurrent prevention correction unit 10 determines that the absolute value of the motor current I is the integral control current when the absolute value of the motor current I is equal to or less than the integral control current threshold Ithi. Integral control that attempts to approach the threshold value Ithi is not performed. On the other hand, when the absolute value of the motor current I exceeds the integral control current threshold value Ithi and the deviation δI takes a negative value, the overcurrent prevention correction unit 10 uses the absolute value of the motor current I for integral control. A negative feedback correction value δω for approximating the current threshold Ithi is output.

The absolute value δIL of the upper limit value / lower limit value defined by the limit setting unit 102 and the integral gain Ki defined by the integral calculation unit 103 are the absolute value δIL of the upper limit value / lower limit value and the integral gain Ki. The product (δIL · Ki) is defined to be at least the speed decrease rate K _ω2 or more.

6 and 7 are a first diagram and a second diagram illustrating the function of the overcurrent prevention correction unit according to the second embodiment.
FIG. 6 shows the change over time of the motor current I for the motor 7 in operation. FIG. 7 shows the change over time of the speed command ω ₁ after the correction processing by the overcurrent prevention correction unit 10. Here, as in the first embodiment, it is assumed that the motor 7 is in the field-weakening state during the operation at the rotational speed ω ₁ a based on the speed command ω ₁ (= ω ₁ a).

Based on the δ-axis current component i _δ and the γ-axis current component i _γ detected by the three-phase / two-phase conversion unit 6, the overcurrent prevention correction unit 10 calculates the absolute value of the motor current I (| I | = ( i _δ ² + i _γ ² ) ^1/2 ) is calculated. Further, the overcurrent prevention correction unit 10 compares the calculated absolute value of the motor current I with the integration control current threshold value Ithi stored in the threshold value storage unit 101 to determine the deviation δI (δI = Ithi− |). I |) is calculated.
Subsequently, the overcurrent prevention correction unit 10 through the limit setting unit 102, when the calculated deviation δI exceeds the upper limit value δIL, the upper limit value δIL, and the deviation δI is lower than the lower limit value −δIL. In this case, the lower limit value −δIL is applied. Further, the overcurrent prevention correction unit 10 receives the deviation δI that has undergone the processing of the limit setting unit 102 by the processing of the integration calculation unit 103, and integrates this with the integration gain Ki to calculate the correction value δω.

For example, in FIG. 6, during the period (before time t1) in which the absolute value of the motor current I is equal to or less than the integration control current threshold Ithi, the integration result by the integration calculation unit 103 remains 0 (upper limit value). Therefore, in this case, the overcurrent prevention correction unit 10 does not perform negative feedback correction processing on the speed command nω _m *. On the other hand, after the load torque τ increases and the absolute value of the motor current I exceeds the integral control current threshold value Ithi (after the time t1 has elapsed), the integral calculation unit 103 obtains the integration result of the deviation δI (<0). By multiplying the integral gain Ki, a correction value δω for the speed command nω _m * is calculated and output.
Thereby, as shown in FIG. 6, the overcurrent prevention correction unit 10 performs negative feedback so as to approach the integration control current threshold value Ithi after the time t1 according to the integration control (integral value of the deviation δI). Is integrated. Specifically, as shown in FIG. 7, the overcurrent prevention correction unit 10 at the time t1, at a rate according to the product (correction value δω) of the integral value of the deviation δI and the integral gain Ki (correction value δω). ₁ is lowered. At this time, since the motor 7 is in the weak magnetic field state, the absolute value of the motor current I is reduced with a decrease in the rotational speed according to the decrease in the speed command omega _1.

Here, as described above, the absolute value δIL of the upper limit value / lower limit value and the integral gain Ki defined by the integral calculation unit 103 are the product of the absolute value δIL of the upper limit value / lower limit value and the integral gain Ki ( Delta] iL · Ki) is defined to be at least slowing rate K _.omega.2 more. Therefore, even if the load torque τ increases at the maximum increase rate K _τ , the speed command ω ₁ is reduced at the speed decrease rate K _ω2 when the deviation δI (<0) reaches the lower limit value −δIL. The absolute value of the motor current I does not increase from that point. Further, by doing so, the amount of decrease in the rotational speed of the motor 7 can be kept to a minimum as long as the motor current I does not increase from the time when the deviation δI (<0) reaches the lower limit value −δIL. it can.

Then, the decrease in the speed command omega _1, the absolute value of the motor current I becomes less integrating current threshold Ithi, if the integral value of the deviation δI becomes 0, the overcurrent prevention correcting unit 10, the speed command omega _The process of correcting the decrease of ₁ ends. Thereafter, the overcurrent prevention correction unit 10 performs a process of increasing the speed command ω ₁ at a predetermined increase rate to recover the original rotational speed ω ₁ a (see FIG. 7). During the rotational speed recovery process, when the absolute value of the motor current I again exceeds the integration current threshold Ithi in relation to the load torque τ, the overcurrent prevention correction unit 10 again based on the integral control of the integral gain Ki, it performs processing for reducing the speed command omega _1.

As described above, according to the motor control device 1 according to the second embodiment, the speed command ω ₁ is corrected by the integration control based on the deviation δI between the integration current threshold Ithi and the absolute value of the motor current I. The overcurrent prevention correction unit 10 performs control so that the product of the limit value (upper limit value δIL, lower limit value −δIL) of the deviation δI and the integral gain Ki is at least the speed decrease rate K _ω2 or more.
In this way, even when the fluctuation of the load torque τ increases while the motor current I is flowing due to the field weakening state, the motor current I exceeds the current limit value Ilim. The rotational speed of the motor 7 is appropriately reduced at a minimum speed reduction rate based on the integral control. Therefore, the occurrence of an overcurrent state in the inverter main circuit 5 is suppressed, and the operation of the motor 7 can be stabilized.

  As mentioned above, although 1st Embodiment and 2nd Embodiment were described in detail, the specific aspect of the motor control apparatus 1 which concerns on each embodiment is not limited to the above-mentioned thing, and deviates from a summary. It is possible to add various design changes and the like within the range not to be performed.

  For example, in the first (second) embodiment, the motor control device 1 has been described as having the power factor angle calculation unit 8 and the out-of-step prevention correction unit 9, but these increase the efficiency of the motor 7. The function is independent of the overcurrent prevention correction unit 10 for the purpose of stable operation. Therefore, depending on the embodiment, the motor control device 1 may be in a mode that does not include one or both of the power factor angle calculation unit 8 and the step-out prevention correction unit 9.

In the first (second) embodiment, the speed reduction rate K _ω2 is defined based on two increase rates (ΔI / Δτ, ΔI / Δω) determined from the characteristics of the motor 7 shown in FIG. (Formula (3)) has been explained. In practice, however, the increase rate ΔI / Δτ of the motor current I with respect to the load torque τ and the increase rate ΔI / Δω of the motor current I with respect to the rotational speed differ depending on the plot position selected from the characteristics shown in FIG. Can take a value. Therefore, the maximum speed reduction rate calculated for each of the plurality of plot positions having the characteristics shown in FIG. 2 based on the equation (3) may be used as the speed reduction rate _Kω2 . By doing so, the motor current I can be more reliably prevented from exceeding the current limit value Ilim.

Further, it is conceivable that the load torque τ also decreases depending on the characteristics of the load (compressor) to be driven due to the rotation speed of the motor 7 being reduced by the negative feedback control based on the motor current I. If the decrease in the load torque τ has a time delay with respect to the decrease in the rotational speed of the motor 7, in the integral control according to the second embodiment, due to the decrease accompanying the time delay between the decrease in the rotation speed and the load torque τ, There is a case where the integration control falls into a vibration state (hunting) and the control of the motor 7 becomes unstable.
Therefore, the motor control device 1 (overcurrent prevention correction unit 10) according to the modified example of the second embodiment uses the rotational speed to recover the rotational speed after the motor current I is reduced by the integral control described above. Slower than the speed reduction rate applied during reduction. By doing in this way, generation | occurrence | production of a vibration (hunting) can be reduced.

In each of the above-described embodiments, a program for realizing the function of the motor control device is recorded on a computer-readable recording medium, and the program recorded on the recording medium is read into a computer system and executed. Each procedure is to be performed. Here, each process of the motor control apparatus described above is stored in a computer-readable recording medium in the form of a program, and the above-described various processes are performed by the computer reading and executing the program. Here, the computer-readable recording medium refers to a magnetic disk, a magneto-optical disk, a CD-ROM, a DVD-ROM, a semiconductor memory, and the like. Alternatively, the computer program may be distributed to the computer via a communication line, and the computer that has received the distribution may execute the program.
Moreover, the aspect with which the function of a motor control apparatus is comprised over several apparatuses connected with a network may be sufficient.

  As mentioned above, although some embodiment of this invention was described, these embodiment is shown as an example and is not intending limiting the range of invention. These embodiments can be implemented in various other forms, and various omissions, replacements, and changes can be made without departing from the scope of the invention. These embodiments and modifications thereof are included in the invention described in the claims and equivalents thereof, as long as they are included in the scope and gist of the invention.

DESCRIPTION OF SYMBOLS 1 Motor controller 2 Speed command part 3 Voltage command part 4 2-phase / 3-phase conversion part 5 Inverter main circuit 6 3-phase / 2-phase conversion part 6a Current detection part 7 Motor 8 Power factor angle calculation part 9 Correction for step-out prevention Part 10 Overcurrent prevention correction part (speed command correction part)
101 threshold storage unit 102 limit setting unit 103 integral calculation unit

Claims (6)

A voltage command unit for designating a voltage command proportional to the motor speed command on two axes of a rotation rectangular coordinate system;
A two-phase / three-phase converter for coordinate-converting the two-axis voltage command into a three-phase voltage command;
An inverter main circuit for applying a three-phase applied voltage to the motor according to the three-phase voltage command;
A current detector that detects a three-phase terminal current flowing in the motor in accordance with the three-phase applied voltage;
A three-phase / two-phase conversion unit that converts the three-phase terminal current detected by the current detection unit into a two-axis current component that forms a motor current and feeds back to the voltage command unit;
A motor control device comprising:
The speed command is specified in advance according to the relationship between a current threshold value that is specified in advance based on the current limit value of the inverter main circuit and the absolute value of the motor current that is specified from the current components of two axes. Bei give a speed command correction unit that reduces at a predetermined speed reduction rate was,
In the speed command correction unit,
The speed reduction rate is based on an increase rate of the motor current that increases with an increase in the rotational speed of the motor in a field-weakening state and an increase rate of the motor current that increases with an increase in load torque. The motor control device specified . The speed command correction unit is
When the absolute value of the motor current exceeds a first current threshold that is the current threshold, a process of reducing the speed command is started, and the absolute value of the motor current is the current threshold, If it falls below the second current threshold lower than the first current threshold, the motor control device according to claim 1 to end the treatment for reducing the speed command. The speed command correction unit is
Said current threshold, in absolute value and the integral control based on a deviation of the motor current, the limit value of the deviation, to claim 1 where the product of the integral gain performs control such that the speed reduction rate than The motor control apparatus described. Designating a voltage command proportional to the speed command of the motor by the voltage command unit in two axes of a rotation rectangular coordinate system;
Converting the two-axis voltage command into a three-phase voltage command;
Applying a three-phase applied voltage to the motor according to the three-phase voltage command by an inverter main circuit;
Detecting a three-phase terminal current flowing in the motor in accordance with the three-phase applied voltage;
Converting the detected three-phase terminal current into a two-axis current component forming a motor current and feeding back to the voltage command unit;
A motor control method comprising:
The speed command is specified in advance according to the relationship between a current threshold value that is specified in advance based on the current limit value of the inverter main circuit and the absolute value of the motor current that is specified from the current components of two axes. further we have a step of decreasing at a predetermined speed reduction rate was,
The speed reduction rate is based on an increase rate of the motor current that increases with an increase in the rotational speed of the motor in a field-weakening state and an increase rate of the motor current that increases with an increase in load torque. The motor control method specified by A voltage command unit for designating a voltage command proportional to the motor speed command on two axes of a rotation rectangular coordinate system;
A two-phase / three-phase converter for coordinate-converting the two-axis voltage command into a three-phase voltage command;
An inverter main circuit for applying a three-phase applied voltage to the motor according to the three-phase voltage command;
A current detector that detects a three-phase terminal current flowing in the motor in accordance with the three-phase applied voltage;
A three-phase / two-phase conversion unit that converts the three-phase terminal current detected by the current detection unit into a two-axis current component that forms a motor current and feeds back to the voltage command unit;
A motor control device computer comprising:
The speed command is specified in advance according to the relationship between a current threshold value that is specified in advance based on the current limit value of the inverter main circuit and the absolute value of the motor current that is specified from the current components of two axes. Function as a speed command correction means for reducing at a predetermined speed reduction rate ,
In the speed command correcting means,
The speed reduction rate is based on an increase rate of the motor current that increases with an increase in the rotational speed of the motor in a field-weakening state and an increase rate of the motor current that increases with an increase in load torque. Program specified by A voltage command unit for designating a voltage command proportional to the motor speed command on two axes of a rotation rectangular coordinate system;
A two-phase / three-phase converter for coordinate-converting the two-axis voltage command into a three-phase voltage command;
An inverter main circuit for applying a three-phase applied voltage to the motor according to the three-phase voltage command;
A current detector that detects a three-phase terminal current flowing in the motor in accordance with the three-phase applied voltage;
A three-phase / two-phase conversion unit that converts the three-phase terminal current detected by the current detection unit into a two-axis current component that forms a motor current and feeds back to the voltage command unit;
A motor control device comprising:
The speed command is specified in advance according to the relationship between a current threshold value that is specified in advance based on the current limit value of the inverter main circuit and the absolute value of the motor current that is specified from the current components of two axes. Provided with a speed command correction unit for reducing at a predetermined speed reduction rate,
The speed command correction unit is
In integral control based on the deviation between the current threshold and the absolute value of the motor current, control is performed such that the product of the deviation limit value and the integral gain is equal to or greater than the speed reduction rate.
Motor control device.

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