JP6626309B2 - Control device for compensating iron loss of AC motor - Google Patents

Description

  The present invention relates to a control device for controlling an AC motor, and more particularly to a control device for compensating iron loss generated in the AC motor.

  Conventionally, it has been known that when AC power is supplied to an AC motor, iron loss occurs in the AC motor. The iron loss is a loss of the iron core generated when the iron core of the AC motor is excited with AC, and causes a reduction in the operating efficiency when controlling the AC motor.

  Various techniques have been proposed to compensate for such iron loss (see, for example, Patent Documents 1 and 2). The technique of Patent Document 1 is to obtain an iron loss compensation current from an excitation current command and a change in excitation inductance, and to generate a new torque current command by adding the iron loss compensation current to the torque current command. As a result, it is possible to compensate for the iron loss due to the change in the excitation inductance, and it is possible to increase the accuracy of the torque control.

  Further, the method of Patent Document 2 changes the secondary magnetic flux of the AC motor into an exciting current component, divides the secondary voltage by an iron loss resistance to obtain an iron loss current component, and subtracts the iron loss current component from the primary current. To make a transition to the secondary current. As a result, iron loss can be compensated, and a magnetic flux estimation error generated by an iron loss current component can be reduced.

Japanese Patent No. 3123235 JP-A-11-235099

  Generally, when the AC motor is controlled at a high speed, the rotation speed is increased, so that the iron loss due to the induced voltage tends to increase. If the iron loss increases, the torque becomes insufficient during power running, the torque becomes excessive during regeneration, the torque linearity decreases, and it becomes impossible to obtain the actual torque corresponding to the torque command.

  The above Patent Documents 1 and 2 each propose a method of compensating for iron loss, but focus on one of an excitation current component and a torque current component. For example, Patent Document 1 focuses on a torque current component to compensate for iron loss and generates a new torque current command. Patent Document 2 focuses on an exciting current component to compensate for iron loss. It was done. For this reason, these methods do not completely compensate for iron loss, and cannot always realize torque control with high accuracy.

  Therefore, the present invention has been made to solve the above-described problem, and an object of the present invention is to reflect the compensation for iron loss occurring in an AC motor to an excitation current command and a torque current command, thereby improving torque linearity. It is to provide a control device that can be improved.

In order to solve the above problem, a control device according to claim 1 is a control device that controls an AC motor based on an excitation current command and a torque current command, the control device for compensating for iron loss generated in the AC motor. An iron loss current estimating unit for estimating an exciting iron loss current and a torque iron loss current, and subtracting the exciting iron loss current estimated by the iron loss current estimating unit from the exciting current command to obtain a new exciting current A subtraction section for obtaining a command, and an addition section for adding a torque iron loss current estimated by the iron loss current estimation section to the torque current command to obtain a new torque current command. An estimating unit calculates the exciting iron loss current based on the torque current command, the electric angular velocity of the AC motor, and a preset iron loss resistance estimated value and a q-axis inductance estimated value. Output means, the exciting current command, the electric angular velocity of the AC motor, and a preset iron loss resistance estimated value, d-axis inductance estimated value and magnet magnetic flux estimated value, or the exciting current command, the electric current of the AC motor. Angular velocity, and a torque iron loss current calculation means for calculating the torque iron loss current based on a preset iron loss resistance estimated value and a d-axis inductance estimated value, wherein the preset iron loss The resistance estimation value is a value when the acceleration time of the AC motor during power running obtained from the rotor angular velocity of the AC motor is equal to the deceleration time of the AC motor during regeneration.

Further, the control device according to claim 2 is a control device that controls the AC motor based on the excitation current command and the torque current command, wherein the excitation iron loss current and the excitation iron loss current for compensating the iron loss generated in the AC motor are provided. An iron loss current estimating unit for estimating a torque iron loss current, and a subtraction unit for subtracting the exciting iron loss current estimated by the iron loss current estimating unit from the exciting current command to obtain a new exciting current command. An adding unit for adding a torque iron loss current estimated by the iron loss current estimating unit to the torque current command to obtain a new torque current instruction , wherein the iron loss current estimating unit Iron loss resistance estimating means for identifying an iron loss resistance estimated value so that the acceleration time in power running obtained from the rotor angular speed of the motor and the deceleration time in regeneration are the same, the torque current command, the AC motor Excitation iron loss current calculation for calculating the excitation iron loss current based on the electrical angular velocity of the iron loss resistance estimated value identified by the iron loss resistance estimating means, and a preset q-axis inductance estimated value. Means, the excitation current command, the electric angular velocity of the AC motor, the iron loss resistance estimated value identified by the iron loss resistance estimating means, and a preset d-axis inductance estimation value and magnet flux estimation value, or The torque iron loss current for torque is calculated based on an excitation current command, an electric angular velocity of the AC motor, an iron loss resistance estimated value identified by the iron loss resistance estimating means, and a preset d-axis inductance estimated value. And torque iron current calculation means for torque.

The control device according to claim 3 is the control device according to claim 2, wherein the iron loss resistance estimating unit determines the acceleration time and the acceleration time during the power running based on a rotor angular speed and a torque command of the AC motor. The deceleration time at the time of the regeneration is calculated, and the iron loss resistance estimated value is identified such that the acceleration time and the deceleration time are the same.

  As described above, according to the present invention, compensation for iron loss generated in an AC motor can be reflected on an excitation current command and a torque current command. Then, an actual torque corresponding to the torque command can be obtained, and the torque linearity can be improved.

1 is an overall view showing a configuration example of a motor control system including a control device according to an embodiment of the present invention. FIG. 3 is a block diagram illustrating a configuration example of an iron loss current estimating unit according to the first embodiment. FIG. 11 is a block diagram illustrating a configuration example of an iron loss current estimating unit according to a second embodiment. FIG. 3 is a block diagram illustrating a configuration example of iron loss resistance estimating means. (1) is a diagram showing an equivalent circuit of an IM (induction motor). FIG. 2B is a diagram illustrating an equivalent circuit of the IPMSM (synchronous motor). (3) is a diagram showing an equivalent circuit of SynRM (synchronous reluctance motor). FIG. 9 is a diagram illustrating a flow of processing until an excitation current command id * is corrected using an iron loss current for excitation icd and an excitation voltage command vd * is calculated. It is a figure explaining the flow of processing until torque current command iq * is corrected using torque iron loss current icq, and torque voltage command vq * is calculated. It is a block diagram which shows the structural example of an iron loss resistance estimation stage, and the flow of a process. 7 is a graph showing a simulation result (in the case of IM, there is iron loss compensation) of Example 1. 9 is a graph showing a simulation result of Example 2 (in the case of IM, iron loss compensation is provided). 9 is a graph showing a simulation result of a conventional technique (in the case of IM, no iron loss compensation).

  Hereinafter, embodiments for carrying out the present invention will be described in detail with reference to the drawings. According to the present invention, currents icd and icq (hereinafter, referred to as excitation iron loss current icd and torque iron loss current icq) for compensating iron loss generated in an AC motor are referred to as electric angular velocity ω of the AC motor and iron The excitation current command id * and the torque current command iq * are estimated based on the loss resistance estimated value rc #, the d-axis inductance estimated value Ld #, the q-axis inductance estimated value Lq #, and the like. In this case, iron loss resistance estimated value rc # is a value when acceleration time of AC motor during power running and deceleration time of AC motor during regeneration are the same. Further, the present invention is characterized by identifying an iron loss resistance estimated value rc # in which the acceleration time of the AC motor during power running and the deceleration time of the AC motor during regeneration are the same.

  Thereby, at the time of power running and at the time of regeneration, compensation for iron loss generated in the AC motor can be reflected on the excitation current command id * and the torque current command iq *. Then, since the AC motor has the same acceleration time during power running and the same deceleration time during regeneration, it is possible to obtain the actual torque corresponding to the torque command and improve the torque linearity.

[Motor control system]
FIG. 1 is an overall view showing a configuration example of a motor control system including a control device according to an embodiment of the present invention. This motor control system includes a control device 1, a power amplifier 2, an AC motor 3, and a PG (pulse generator) 4. In the motor control system shown in FIG. 1, only components directly related to the present invention are shown, and other components are omitted.

The control device 1 is a device that performs vector control of the AC motor 3 on the d axis and the q axis. The control device 1 determines the iron loss of the AC motor 3 based on the rotor angular velocity ω _r of the AC motor 3, the iron loss resistance The current is estimated, and the exciting current command id * and the torque current command iq * are corrected. Then, the control device 1 current-controls the corrected excitation current command id * 'and torque current command iq *' to convert them into voltage commands.

The control device 1 outputs the three-phase AC voltage commands (U-phase AC voltage command Vu *, V-phase AC voltage command Vv *, and W-phase AC voltage command Vw *) of the U-phase, V-phase, and W-phase voltage commands. Output to amplifier 2. Control device 1 also detects three-phase U-phase, V-phase and W-phase AC current detection values (U-phase AC current detection values) detected by a current detector provided between power amplifier 2 and AC motor 3. iu, inputs the V-phase alternating current detection value iv and W-phase alternating current detected value iw), and inputs the rotor angular velocity omega _r from below to PG4.

  The power amplifier 2 receives three-phase AC voltage commands (U-phase AC voltage command Vu *, V-phase AC voltage command Vv *, and W-phase AC voltage command Vw *) from the control device 1, and receives the three-phase AC voltage command ( The gate of the switching element is turned on / off by a PWM signal generated from the U-phase AC voltage command Vu *, the V-phase AC voltage command Vv *, and the W-phase AC voltage command Vw *), and the power supplied from a power source (not shown) is amplified. Then, power amplifier 2 supplies the amplified power to AC motor 3. Thereby, AC motor 3 is controlled by control device 1 in a state where iron loss has been compensated.

PG 4 generates a pulse signal according to the rotation of AC motor 3. The rotor angular velocity omega _r of the AC motor 3 from the count value of the pulse signal is obtained, the rotor angular velocity omega _r is input to the controller 1. In FIG. 1, the rotor angular speed ω _r is simply input from the PG 4 to the control device 1.

[AC motor]
Next, an equivalent circuit of the AC motor 3 shown in FIG. 1 will be described. FIG. 5A is a diagram showing an equivalent circuit of an IM (Induction Motor), and FIG. 5B is a diagram showing an equivalent circuit of an IPMSM (Interior Permanent Magnet Synchronous Motor). (3) is a diagram showing an equivalent circuit of SynRM (Synchronous Reluctance Motor).

  Referring to the equivalent circuit of IM shown in FIG. 5A, the current i on the input side passes through the input side resistance r1 of the winding, the current i1 flowing to the leakage inductance σL1, and the iron loss flowing to the iron loss resistance rc. Divided into current ic. The current i1 is divided into an exciting current idd flowing through the exciting inductance (1-σ) L1 and a torque current iqq flowing through the output resistance r2n of the winding via the leakage inductance σL1. σ is a leakage coefficient.

Here, if the rotor electrical angular velocity of the IM is ω _2n , the number of pole pairs is N _p , and the rotor angular velocity is ω _r , then ω _2n = N _P ω _r . The speed voltage is ω _2n × (1−σ) L1 × idd, and the torque τ is τ = N _p × (1−σ) × L1 × idd × iqq. In the case of IM, the electric angular velocity ω of the AC motor 3 is ω = ω _2n + ω _s . ω _s is the slip frequency.

  At the time of power running of the AC motor 3, as the current i on the input side increases, the iron loss current ic increases and the torque current iqq decreases. Then, the torque becomes insufficient due to the decrease in the torque current iqq. On the other hand, at the time of regeneration, as the current on the output side increases, the torque current iqq increases to the negative side, and the iron loss current ic increases. Then, when the torque current iqq increases to the minus side, the torque becomes excessive.

  In the embodiment of the present invention, the excitation is performed so as to reduce the increase in the iron loss current ic that causes the torque shortage during power running and the increase in the iron loss current ic that causes the excess torque during regeneration. The current command id * and the torque current command iq * are corrected. That is, by generating new excitation current command id * 'and torque current command iq *' for compensating for iron loss, torque shortage during power running and excessive torque during regeneration are eliminated. The same applies to FIGS. 5 (2) and 5 (3).

Referring to the IPMSM equivalent circuit shown in FIG. 5 (2), the input-side current i passes through the input-side resistor r1, flows through the q-axis inductance Lq, and the iron loss current ic flows through the iron loss resistor rc. Divided into The current i1 is divided into an excitation current idd flowing through the excitation inductance (Ld-Lq) via the q-axis inductance Lq and a torque current iqq. Ld is the d-axis inductance. In the case of the IPMSM, the electric angular velocity ω of the AC motor 3 is ω = ω _2n .

Here, the rotor electrical angular velocity of the IPMSM is ω _2n , the number of pole pairs is N _p , and the IPMSM magnet magnetic flux is φd. Speed voltage is _{ω 2n × φd + ω 2n ×} (Ld-Lq) × idd, the torque tau, the _{τ = N p × {φd ×} iqq + (Ld-Lq) × idd × iqq}.

Referring to an equivalent circuit of SynRM shown in FIG. 5 (3), the input-side current i passes through the input-side resistor r1 and flows through the current i1 flowing through the q-axis inductance Lq and the iron loss current ic flowing through the iron loss resistor rc. Divided into The current i1 is divided into an excitation current idd flowing through the excitation inductance (Ld-Lq) via the q-axis inductance Lq and a torque current iqq. In the case of SynRM, the electric angular velocity ω of the AC motor 3 is ω = ω _2n .

Here, the rotor electrical angular velocity of the SynRM is ω _2n and the number of pole pairs is N _p . The speed voltage is ω _2n × (Ld−Lq) × idd, and the torque τ is τ = N _p × (Ld−Lq) × idd × iqq.

[Control device 1]
Next, the control device 1 shown in FIG. 1 will be described in detail. Hereinafter, the AC motor 3 is assumed to be the IPMSM shown in FIG. With reference to FIG. 1, the control device 1 includes an iron loss current compensator 10, a current controller 11, and coordinate converters 12 and 13.

Iron loss current compensating unit 10 inputs the excitation current command id * and the torque current command iq *, and inputs the rotor angular velocity omega _r from PG4. Then, the iron loss current compensation unit 10 obtains the electrical angular velocity omega of the rotor angular velocity omega _r, based on the electrical angular velocity omega and predetermined iron loss resistance estimation value rc ^ etc., to estimate the iron loss current, the iron loss The exciting current command id * and the torque current command iq * are corrected based on the current. Thereby, the corrected excitation current command id * 'and torque current command iq *' for compensating for iron loss are generated. The iron loss current compensator 10 outputs the corrected excitation current command id * ′ and torque current command iq * ′ to the current controller 11. Details of the iron loss current compensator 10 will be described later.

  The current control unit 11 includes subtraction units 30 and 31 and control units 32 and 33. The subtracting unit 30 receives the exciting current command id * 'from the iron loss current compensating unit 10, the exciting current detection value id from the coordinate conversion unit 13 described later, and the exciting current command id *' from the exciting current command id * '. The id is subtracted, and the exciting current deviation value is output to the control unit 32.

  The subtraction unit 31 receives the torque current command iq * 'from the iron loss current compensating unit 10, the torque current detection value iq from the coordinate transformation unit 13 described later, and the torque current detection value iq *' from the torque current command iq * '. iq is subtracted, and the torque current deviation value is output to the control unit 33.

  The control unit 32 receives the excitation current deviation value from the subtraction unit 30, controls the current so that the excitation current deviation value becomes 0, and calculates the excitation voltage command vd *. Then, the control unit 32 outputs the excitation voltage command vd * to the coordinate conversion unit 12.

  The control unit 33 receives the torque current deviation value from the subtraction unit 31, controls the current so that the torque current deviation value becomes 0, and calculates a torque voltage command vq *. Then, the control unit 33 outputs the torque voltage command vq * to the coordinate conversion unit 12.

  The coordinate conversion unit 12 receives the excitation voltage command vd * and the torque voltage command vq * from the current control unit 11, and also receives the rotating magnetic field position θ detected by a rotating magnetic field position detecting unit (not shown). The coordinate conversion unit 12 converts the excitation voltage command vd * and the torque voltage command vq * of the rotating coordinate system into three-phase U-phase, V-phase and W-phase AC voltage commands (U-phase AC (Vu *, V-phase AC voltage command Vv *, and W-phase AC voltage command Vw *). The coordinate conversion unit 12 outputs three-phase AC voltage commands (U-phase AC voltage command Vu *, V-phase AC voltage command Vv *, and W-phase AC voltage command Vw *) to the power amplifier 2.

  The rotating magnetic field position detector (not shown) detects the rotating magnetic field position θ by integrating the electrical angular velocity ω with time.

  The coordinate conversion unit 13 detects U-phase, V-phase, and W-phase three-phase AC current detection values (U-phase AC current detection values iu) detected by a current detector provided between the power amplifier 2 and the AC motor 3. , V-phase AC current detection value iv and W-phase AC current detection value iw), and the rotating magnetic field position θ detected by a rotating magnetic field position detecting unit (not shown). The coordinate conversion unit 13 converts the three-phase AC current detection values (U-phase AC current detection value iu, V-phase AC current detection value iv, and W-phase AC current detection value iw) into rotational coordinates based on the rotating magnetic field position θ. It is converted into a system exciting current detection value id and a torque current detection value iq. The coordinate conversion unit 13 outputs the excitation current detection value id to the subtraction unit 30 of the current control unit 11 and outputs the torque current detection value iq to the subtraction unit 31.

[Iron loss current compensator 10]
Next, the iron loss current compensator 10 shown in FIG. 1 will be described in detail. The iron loss current compensating unit 10 includes an iron loss current estimating unit 20, a subtracting unit 21, and an adding unit 22. As described above, the iron loss current compensating unit 10 estimates the iron loss current of the AC motor 3 and corrects the excitation current command id * and the torque current command iq * to compensate for the iron loss current. A command id * 'and a torque current command iq *' are generated.

Iron loss current estimation unit 20 of the iron loss current compensating unit 10 inputs the excitation current command id * and the torque current command iq *, and inputs the rotor angular velocity omega _r. In addition, the iron loss current estimating unit 20 further includes an iron loss resistance estimated value rc #, a d-axis inductance estimated value Ld #, a q-axis inductance estimated value Lq #, and an IPMSM which are set in advance by a user in Example 1 described later. The estimated magnet flux value φd ＾ is input.

  Further, the iron loss current estimating unit 20 further includes a torque command τ * and a d-axis inductance estimated value Ld ＾, a q-axis inductance estimated value Lq ＾, Input the IPMSM magnet magnetic flux estimated value φd 入 力. In the second embodiment, the iron loss current estimating unit 20 estimates the iron loss resistance estimated value rc # by internal processing instead of inputting the iron loss resistance estimated value rc #. Note that the torque current command iq * and the torque command τ * are in a relationship where the torque current command iq * is calculated based on the torque command τ *.

  The iron loss current estimating unit 20 includes an excitation current command id *, a torque current command iq *, an iron loss resistance estimated value rc #, a d-axis inductance estimated value Ld #, and a q-axis inductance estimated value Lq # in Example 1 described later. Based on the IPMSM magnet magnetic flux estimated value φd ＾, an excitation iron loss current icd and a torque iron loss current icq for compensating iron loss are calculated. In addition, the iron loss current estimating unit 20 determines the exciting current command id *, the torque current command iq *, the torque command τ *, the d-axis inductance estimation value Ld ＾, the q-axis inductance estimation value Lq ＾, Based on the IPMSM magnet magnetic flux estimated value φd ＾, an excitation iron loss current icd and a torque iron loss current icq for compensating iron loss are calculated. Details of the iron loss current estimating unit 20 will be described later.

  The subtraction unit 21 receives the excitation current command id * and the excitation iron loss current icd from the iron loss current estimation unit 20, and excites by subtracting the excitation iron loss current icd from the excitation current command id *. The current command id * is corrected to obtain the excitation current command id * '. Then, the subtraction unit 21 outputs the corrected excitation current command id * 'to the subtraction unit 30 of the current control unit 11.

  The addition unit 22 receives the torque current command iq *, receives the torque iron loss current icq from the iron loss current estimation unit 20, and adds the torque iron loss current icq to the torque current command iq *. The current command iq * is corrected to obtain a torque current command iq * '. Then, the adding unit 22 outputs the corrected torque current command iq * 'to the subtracting unit 31 of the current control unit 11.

[Iron loss current estimation unit 20 / Example 1]
Next, a first embodiment of the iron loss current estimating unit 20 shown in FIG. 1 will be described. In Example 1, a user may variously set the iron loss resistance estimation value rc ^, corresponding to the iron loss resistance estimation value rc ^, acceleration time of the rotor angular velocity omega _r of AC motor 3 during power running, and The deceleration time of the rotor angular velocity ω _r of the AC motor 3 during regeneration is monitored. Then, the user sets the iron loss resistance estimated value rc # such that the acceleration time during power running and the deceleration time during regeneration are the same.

  The iron loss current estimating unit 20 of the first embodiment inputs a core loss resistance estimated value rc # set by the user so that the acceleration time during power running and the deceleration time during regeneration are the same, and the iron loss resistance Using the estimated value rc #, the excitation iron loss current icd and the torque iron loss current icq are estimated. Then, using the excitation iron loss current icd and the torque iron loss current icq estimated by the iron loss current estimation unit 20, a new excitation current command id * 'and a torque current command iq *' for compensating iron loss are obtained. Generated

Here, the acceleration time of the rotor angular velocity ω _r of the AC motor 3 is, when the rotation of the AC motor 3 is accelerated, the rotor angular velocity ω _r is changed from a first predetermined value before acceleration to a second predetermined value after acceleration. It is time to reach. The deceleration time of the rotor angular velocity ω _r of the AC motor 3 is such that when the rotation of the AC motor 3 is decelerated, the rotor angular velocity ω _r reaches a first predetermined value after deceleration from a second predetermined value before deceleration. It's time to do it. The same applies to the second embodiment.

  FIG. 2 is a block diagram illustrating a configuration example of the iron loss current estimation unit 20 according to the first embodiment. The iron loss current estimator 20-1 of the first embodiment includes an excitation iron loss current calculator 23 and a torque iron loss current calculator 24.

Exciting iron loss current calculating section 23 inputs the torque current command iq *, enter the rotor angular velocity omega _r from PG4, further preset iron loss resistance estimation value rc ^ and q-axis inductance by the user Input estimated value Lq ＾. The exciting core loss current calculating section 23, the rotor angular velocity omega _r, by multiplying the pole pair number Np which is set in advance, obtains the electrical angular velocity omega.

The excitation iron loss current calculation means 23 calculates the excitation iron loss current icd from the electrical angular velocity ω, the q-axis inductance estimated value Lq ＾, the torque current command iq *, and the iron loss resistance estimated value rc ＾ by the following formula. I do.
[Formula 1]
icd = (ω × Lq ＾ × iq *) / rc ＾ (1)
Here, the d-axis velocity voltage based on the q-axis magnetic flux Lq × iqq becomes −ω × Lq × iqq, and the iron loss current for excitation (−ω × Lq × iqq + r1 × idd) / (rc + r1) is generated. However, the r1 component is so small that it can be neglected, and the above equation (1) is derived.

  The exciting iron loss current calculating means 23 outputs the exciting iron loss current icd calculated by the above equation (1) to the subtracting unit 21.

Torque for iron loss current calculating section 24 inputs the excitation current command id *, enter the rotor angular velocity omega _r from PG4, further preset iron loss resistance estimation value rc ^, d-axis inductance estimate Ld # and IPMSM magnet magnetic flux estimated value φd # are input. The exciting core loss current calculating section 23, the rotor angular velocity omega _r, by multiplying the pole pair number Np which is set in advance, obtains the electrical angular velocity omega.

The torque iron loss current calculating unit 24 calculates the electric angular velocity ω, the d-axis inductance estimated value Ld ＾, the excitation current command id *, the IPMSM magnet magnetic flux estimated value φd ＾, and the iron loss resistance estimated value rc ＾ according to the following equations. Calculate the iron loss current icq for torque.
[Formula 2]
icq = {(ω × Ld ＾ × id *) + (ω × φd ＾)} / rc ＾ (2)
Here, the q-axis velocity voltage due to the d-axis magnetic flux (Ld × id + φd) becomes ω × (Ld × id + φd), and the iron loss current for torque {ω × (Ld × id + φd) + r1 × iqq} / (rc + r1) is generated. . However, the r1 component is so small that it can be neglected, and the above equation (2) is derived.

  The torque iron loss current calculation means 24 outputs the torque iron loss current icq calculated by the equation (2) to the adding unit 22.

  FIG. 6 is a diagram illustrating a flow of processing until the excitation current command id * is corrected using the iron loss current for excitation icd and the excitation voltage command vd * is calculated. The subtraction unit 21 receives the excitation current command id * and the excitation iron loss current icd, subtracts the excitation iron loss current icd from the excitation current command id *, and compensates for the new excitation current command id *. And outputs the excitation current command id * to the subtractor 30.

  The subtraction unit 30 receives the excitation current command id * 'from the subtraction unit 21 and the excitation current detection value id, subtracts the excitation current detection value id from the excitation current command id *', and calculates the excitation current deviation value. Output to the control unit 32. The control unit 32 receives the excitation current deviation value from the subtraction unit 30, controls the current so that the excitation current deviation value becomes 0, calculates the excitation voltage command vd *, and outputs the excitation voltage command vd *. The same applies to the second embodiment described later.

  FIG. 7 is a diagram illustrating a flow of processing until the torque current command iq * is corrected using the iron loss current for torque icq and the torque voltage command vq * is calculated. The adding unit 22 receives the torque current command iq * and the iron loss current icq for torque, adds the torque iron loss current icq to the torque current command iq *, and compensates for the iron loss current to obtain a new torque current command iq *. And outputs the torque current command iq * 'to the subtraction unit 31.

  The subtraction unit 31 receives the torque current command iq * 'from the addition unit 22, inputs the torque current detection value iq, subtracts the torque current detection value iq from the torque current command iq *', and calculates the torque current deviation value. Output to the control unit 33. The control unit 33 receives the torque current deviation value from the subtraction unit 31, controls the current so that the torque current deviation value becomes 0, calculates the torque voltage command vq *, and outputs the torque voltage command vq *. The same applies to the second embodiment described later.

The user monitors the rotor angular velocity ω _r of the AC motor 3 corresponding to the various iron loss resistance estimated values rc # set by the user, and calculates the acceleration time of the AC motor 3 during power running and the AC motor 3 during regeneration. An iron loss resistance estimated value rc # having the same deceleration time is searched for. Then, the iron loss resistance estimated value rc # at which the acceleration time during power running and the deceleration time during regeneration are the same is set by the user, and the iron loss current estimation unit 20-1 calculates the iron loss resistance estimated value rc #. By inputting, control device 1 controls AC motor 3 using the iron loss resistance estimated value rc #.

  As a result, since the iron loss resistance estimated value rc # in which the acceleration time during power running and the deceleration time during regeneration are the same is used, the torque linearity of the AC motor 3 can be the same during power running and during regeneration. it can.

〔simulation result〕
Next, a simulation result of the control device 1 including the iron loss current estimation unit 20-1 according to the first embodiment will be described. FIG. 9 is a graph showing a simulation result of the first embodiment, and shows a case where AC motor 3 has IM, iron loss compensation, and iron loss resistance rc = 26.7Ω. FIG. 11 is a graph showing a simulation result of the related art, and shows a case where AC motor 3 is IM and there is no iron loss compensation. These simulation results were obtained using a computer.

9 and FIG. 11, the simulation results show, from the top of the graph, the rotor angular velocity ω _r , the exciting current command id * ′, the exciting current detection value id, the torque current command iq *, the torque current command iq * ′, and the torque current. It shows the characteristics of the detected value iq and the terminal voltage command v1 *. The terminal voltage command v1 * is a command obtained by vector-combining the excitation voltage command vd * and the torque voltage command vq *, and is calculated by √ (| vd * | ² + | vq * | ² ).

  In the prior art of FIG. 11, since there is no iron loss compensation, the excitation current command id * '= id * and the torque current command iq *' = iq *.

From the simulation result of the prior art in FIG. 11, it can be seen that the excitation current detection value id corresponding to the excitation current command id * 'is obtained, and the torque current detection value iq corresponding to the torque current command iq *' is obtained. . In addition, since there is no iron loss compensation, and acceleration time T1 of the rotor angular velocity ω _r at the time of power running, is different from the deceleration time T2 of the rotor angular velocity ω _r at the time of regeneration, it is understood that T1> T2. This means that the torque decreases during power running and becomes insufficient, and the torque increases during regeneration and becomes excessive. That is, the torque linearity is not the same during power running and during regeneration.

  On the other hand, from the simulation result of Example 1 in FIG. 9, there is a difference between the torque current command iq * and the corrected torque current command iq * ', and this difference is the iron loss current for torque icq. . Further, an excitation current detection value id corresponding to the excitation current command id * 'is obtained, and a torque current detection value iq corresponding to the torque current command iq *' is obtained.

Further, the acceleration time T1 of the rotor angular velocity omega _r during power running, and deceleration time T2 of the rotor angular velocity omega _r becomes equal during regeneration, it is understood that T1 = T2. This is because a new torque current command iq * ′ is generated from the torque current command iq * by the torque iron loss current icq, and a new excitation current command id is generated from the excitation current command id * not shown in the graph by the excitation iron loss current icd. The generation of * ′ compensates for iron loss, increases the torque that was insufficient during power running, and decreased the torque that was excessive during regeneration. That is, the torque linearity is the same at the time of power running and at the time of regeneration, and is improved as compared with FIG.

  As described above, the control device 1 according to the embodiment of the present invention includes the iron loss current compensating unit 10 including the iron loss current estimating unit 20-1 according to the first embodiment. The exciting iron loss current calculating means 23 of the iron loss current estimating unit 20-1 calculates the torque current command iq * and the electric angular velocity ω, and the iron loss resistance estimated value rc ＾ and the q-axis inductance estimated value set in advance by the user. The excitation iron loss current icd = (ω × Lq ＾ × iq *) / rc ＾ is calculated from the above equation (1) using Lq ＾.

  The torque iron loss current calculating means 24 of the iron loss current estimating unit 20-1 calculates the excitation current command id * and the electric angular velocity ω, the iron loss resistance estimated value rc ＾ preset by the user, and the d-axis inductance. Using the estimated value Ld ＾ and the IPMSM magnet magnetic flux estimated value φd ＾, the iron loss current for torque icq = {(ω × Ld ＾ × id *) + (ω × φd ＾)} / rc by the above equation (2). ＾ was calculated.

  The subtracting unit 21 subtracts the exciting iron loss current icd from the exciting current command id * to obtain a new exciting current command id * 'that compensates for the iron loss current. Further, the adding unit 22 adds the torque iron loss current icq to the torque current command iq * to obtain a new torque current command iq * 'that compensates for the iron loss current. Then, the current control unit 11 calculates the excitation voltage command vd * such that the deviation between the new excitation current command id * 'and the excitation current detection value id becomes zero. In addition, the current control unit 11 calculates the torque voltage command vq * such that the deviation between the new torque current command iq * 'and the detected torque current value iq becomes zero.

  The excitation voltage command vd * and the torque voltage command vq * calculated in this way are three-phase AC voltage commands (U-phase AC voltage command Vu *, V-phase AC voltage command Vv *, and W-phase AC voltage command Vw *). , And the AC motor 3 is controlled via the power amplifier 2.

The user sets various iron loss resistance estimated values rc #, monitors the rotor angular velocity ω _r of AC motor 3 corresponding to each iron loss resistance estimated value rc #, and sets the rotor angular velocity of AC motor 3 during power running. omega acceleration time and the _r, and the rotor angular velocity omega _r deceleration time of the AC motor 3 at the time of regeneration to explore the iron loss resistance estimation value rc ^ having the same. Then, the user sets the iron loss resistance estimated value rc # such that the acceleration time during power running and the acceleration time during regeneration are the same.

  The iron loss current estimating unit 20-1 inputs the iron loss resistance estimated value rc # set by the user so that the acceleration time during power running and the deceleration time during regeneration are the same, and the iron loss resistance estimated value is input. By using rc ＾, the iron loss current for excitation icd and the iron loss current for torque icq are estimated. Then, using the excitation iron loss current icd and the torque iron loss current icq estimated by the iron loss current estimation unit 20, a new excitation current command id * 'and a torque current command iq *' for compensating iron loss are obtained. The generated AC motor 3 is controlled.

  Thereby, at the time of power running and at the time of regeneration, compensation for iron loss occurring in AC motor 3 can be reflected on excitation current command id * and torque current command iq *. Then, by compensating for the iron loss generated in the AC motor 3, an actual torque corresponding to the torque command can be obtained, and the torque linearity can be improved.

[Iron loss current estimation unit 20 / Example 2]
Next, a second embodiment of the iron loss current estimating unit 20 shown in FIG. 1 will be described. In the first embodiment, the iron loss resistance estimation value rc # set by the user so that the acceleration time during power running and the acceleration time during regeneration is the same is used. On the other hand, the iron loss current estimating unit 20 of the second embodiment estimates the iron loss resistance estimated value rc ＾ such that the acceleration time during power running and the acceleration time during regeneration are the same, and estimates the iron loss resistance. Using the value rc #, the iron loss current for excitation icd and the iron loss current for torque icq are estimated. Then, using the excitation iron loss current icd and the torque iron loss current icq estimated by the iron loss current estimation unit 20, a new excitation current command id * 'and a torque current command iq *' for compensating iron loss are obtained. Generated

  FIG. 3 is a block diagram illustrating a configuration example of the iron loss current estimation unit 20 according to the second embodiment. The iron loss current estimating unit 20-2 of the second embodiment includes an excitation iron loss current calculating unit 23, a torque iron loss current calculating unit 24, and an iron loss resistance estimating unit 25.

  Comparing the iron loss current estimation unit 20-1 of the first embodiment shown in FIG. 2 with the iron loss current estimation unit 20-2 of the second embodiment shown in FIG. 3, the iron loss current estimation units 20-1 and 20- 2 is the same in that it includes an iron loss current calculating means for excitation 23 and an iron loss current calculating means for torque. On the other hand, the iron loss current estimating unit 20-2 of the second embodiment differs from the configuration of the iron loss current estimating unit 20-1 of the first embodiment in that an iron loss resistance estimating unit 25 is further provided. .

  More specifically, iron loss current estimating section 20-1 of the first embodiment uses iron loss resistance estimated value rc # preset by the user, whereas iron loss current estimating section 20-2 of the second embodiment uses In that the iron loss resistance estimation value rc # estimated by the iron loss resistance estimation means 25 is used. The iron loss current estimator 20-2 of the second embodiment is different from the iron loss current estimator 20-1 of the first embodiment in that the torque command τ * is input.

  The exciting iron loss current calculating means 23 and the torque iron loss current calculating means 24 are the same as the components provided in the iron loss current estimating unit 20-1 of the first embodiment shown in FIG. Is omitted.

  First, iron loss resistance estimating means 25 outputs a preset initial iron loss resistance estimated value rc # to exciting iron loss current calculating means 23 and torque iron loss current calculating means 24. Accordingly, the excitation iron loss current calculation unit 23 calculates the excitation iron loss current icd using the above-described equation (1), using the initial iron loss resistance estimated value rc ＾ as a parameter. Similarly, the torque iron loss current calculation means 24 calculates the iron loss current for torque icq using the equation (2) with the initial iron loss resistance estimated value rc # as a parameter. Then, a new excitation current command id * 'and a new torque current command iq *' are generated using the excitation iron loss current icd and the torque iron loss current icq, and the AC motor 3 is controlled.

Then, the iron loss resistance estimating means 25 inputs the torque command tau *, enter the rotor angular velocity omega _r from PG4, calculates the rotor acceleration omega _r · based on rotor angular velocity omega _r. Then, iron loss resistance estimating means 25 calculates acceleration time Ja 減速 and deceleration time Jd ＾ of AC motor 3 based on torque command τ * and rotor acceleration ω _r .

  The iron loss resistance estimating means 25 estimates the iron loss resistance estimated value rc # by identifying the iron loss resistance estimated value rc # such that the acceleration time Ja # and the deceleration time Jd # are the same. Iron loss resistance estimating means 25 outputs iron loss resistance estimated value rc # to exciting iron loss current calculating means 23 and torque iron loss current calculating means 24. Details of the iron loss resistance estimating means 25 will be described later.

  Then, the iron loss current calculating means 23 for excitation receives the iron loss resistance estimated value rc # from the iron loss resistance estimating means 25 and uses the iron loss resistance estimated value rc # as a parameter by using the above equation (1). , The excitation iron loss current icd is calculated. Similarly, the torque iron loss current calculating means 24 receives the iron loss resistance estimated value rc # from the iron loss resistance estimating means 25, and uses the above equation (2) with the iron loss resistance estimated value rc # as a parameter. Thus, the iron loss current for torque icq is calculated. As a result, the AC motor 3 is controlled, and the iron loss resistance estimated value rc # estimated by the iron loss resistance estimating means 25 becomes stable with the lapse of time, and the acceleration time Ja # and the deceleration time Jd # become the same. Thus, control of AC motor 3 in which iron loss compensation functions effectively is realized.

  FIG. 4 is a block diagram showing a configuration example of the iron loss resistance estimating means 25 shown in FIG. The iron loss resistance estimating means 25 includes an acceleration time calculation stage 26, a deceleration time calculation stage 27, and an iron loss resistance estimation stage 28.

Acceleration time calculation stage 26 inputs the torque command tau *, enter the rotor angular velocity omega _r from PG4, calculates the rotor acceleration omega _r · based on rotor angular velocity omega _r. Then, the acceleration time calculation stage 26 calculates the acceleration time Ja 交流 of the AC motor 3 based on the torque command τ * and the rotor acceleration ω _r by the following formula. The acceleration time calculation stage 26 outputs the acceleration time Ja ＾ to the iron loss resistance estimation stage 28.
[Equation 3]
Ja ＾ (n) = Ja ＾ (n-1) + {(P0 × ω _r · (n)) / (1 + P0 × ω _r · ² (n))}
× {τ * (n) -Ja (n-1) × ω _r · (n)} (3)
Here, n is a sampling time, and ω _r · (n) ≧ 0. P0 is a filter gain.

Deceleration time calculation stage 27 inputs the torque command tau *, enter the rotor angular velocity omega _r from PG4, calculates the rotor acceleration omega _r · based on rotor angular velocity omega _r. Then, the deceleration time calculation stage 27 based on the torque command tau * and rotor acceleration omega _r ·, by the following equation to calculate the deceleration time of the AC motor 3 Jd ^. The deceleration time calculation stage 27 outputs the deceleration time Jd # to the iron loss resistance estimation stage 28.
[Equation 4]
Jd ＾ (n) = Jd ＾ (n-1) + {(P0 × ω _r · (n)) / (1 + P0 × ω _r · ² (n))}
× {τ * (n) -Jd ＾ (n-1) × ω _r · (n)} (4)
Here, ω _r · (n) ≦ 0. P0 is a filter gain.

  Iron loss resistance estimation stage 28 receives acceleration time Ja # and deceleration time Jd # corresponding to parameters of iron loss resistance estimated value rc # from acceleration time calculation stage 26 and deceleration time calculation stage 27. The iron loss resistance estimation stage 28 estimates the iron loss resistance estimated value rc # by identifying the iron loss resistance estimated value rc # such that the acceleration time Ja # and the deceleration time Jd # are the same. In this way, by identifying the iron loss resistance estimated value rc #, the iron loss resistance estimated value rc # at which the iron loss compensation has effectively functioned is set so that the acceleration time Ja # and the deceleration time Jd # become the same. Desired. Iron loss resistance estimating stage 28 outputs iron loss resistance estimated value rc # to exciting iron loss current calculating means 23 and torque iron loss current calculating means 24.

  FIG. 8 is a block diagram illustrating a configuration example of the iron loss resistance estimation stage 28 and a processing flow. This processing shows a flow until the iron loss resistance estimated value rc # is estimated by identifying the iron loss resistance estimated value rc # from the acceleration time Ja # and the deceleration time Jd #.

  The iron loss resistance estimation stage 28 includes a subtraction unit 40, an addition unit 41, a division unit 42, a normalization constant conversion unit 43, a low-speed filter 44, a variable proportional gain unit 45, a limiter 46, an RC regulator 47, a limiter 48, and a subtraction unit 49. , A multiplication unit 50 and a holding unit 51. The iron loss resistance estimating stage 28 identifies the iron loss resistance estimated value rc # by these components so that the acceleration time Ja # and the deceleration time Jd # are the same, and converts the iron loss resistance estimated value rc #. presume.

  The subtraction unit 40 receives the acceleration time Ja ＾ (n) from the acceleration time calculation stage 26, the deceleration time Jd ＾ (n) from the deceleration time calculation stage 27, and calculates the deceleration time from the acceleration time Ja ＾ (n). Jd ＾ (n) is subtracted, and the time difference that is the result of the subtraction is output to the normalized constant conversion unit 43.

  The adder 41 inputs the acceleration time Ja ＾ (n) from the acceleration time calculation stage 26, and also inputs the deceleration time Jd ＾ (n) from the deceleration time calculation stage 27, and adds the deceleration time to the acceleration time Ja ＾ (n). Jd ＾ (n) is added, and the addition result is output to the division unit 42. The division unit 42 receives the addition result from the addition unit 41, divides the addition result by 2, and outputs the division result to the normalization constant conversion unit 43 as an identification acceleration constant J ＾ (n).

  The normalization constant conversion unit 43 receives the time difference from the subtraction unit 40, inputs the identification acceleration constant J ＾ (n) from the division unit 42, and divides the time difference by the identification acceleration constant J ＾ (n). And outputs the normalized constant to the low-speed filter 44.

Slow filter 44 receives the normalization constant from the normalization constant unit 43, a normalization constant ^{_{{(P0 × ω r 2 (}} n)) / (1 + P0 × ω r 2 (n))} multiplying the Performs low-speed filtering. Then, the low-speed filter 44 outputs the normalized constant ε after the low-speed filter processing to the variable proportional gain unit 45 and the RC regulator 47.

The variable proportional gain section 45 receives the normalization constant ε from the low-speed filter 44, calculates Kp * / (1 + P0 × ε ² ), performs variable proportional gain processing, and outputs the gain Kp, which is the calculation result, to the limiter 46. Output.

  The limiter 46 receives the gain Kp from the variable proportional gain unit 45, performs a process of restricting the gain Kp within the upper and lower limits by setting the upper limit value = Kp * and the lower limit value = 1, and sets the gain Kp after the upper and lower limit process. Is output to the RC regulator 47.

  The RC regulator 47 inputs the normalization constant ε from the low-speed filter 44, inputs the gain Kp from the limiter 46, performs gain processing by multiplying the normalization constant ε by the gain Kp, and performs a correction value as a multiplication result. δ is output to the limiter 48.

  The limiter 48 receives the correction value δ from the RC regulator 47, sets the upper limit value to 1, performs processing to limit the correction value δ to the upper limit value or less, and outputs the correction value δ after the upper limit processing to the subtraction unit 49. .

  The subtraction unit 49 receives the correction value δ from the limiter 48, inputs the constant 1, subtracts the correction value δ from the constant 1, and outputs the subtraction result (1−δ) to the multiplication unit 50.

  The multiplication unit 50 receives the subtraction result (1-δ) from the subtraction unit 49, inputs the iron loss resistance holding value rc * from the holding unit 51 described later, and stores the iron loss resistance holding value in the subtraction result (1-δ). Multiply the value rc *. Then, the multiplying unit 50 outputs the iron loss resistance estimated value rc） (n), which is the result of the multiplication, to the holding unit 51, and outputs the iron loss resistance estimated value rc ＾ (n) to the iron loss resistance estimated value for the sampling time n. It is output to the iron loss current calculating means 23 for excitation and the iron loss current calculating means 24 for torque as rc ＾.

  The holding unit 51 receives the iron loss resistance estimated value rc ＾ (n) from the multiplying unit 50, and holds this as the iron loss resistance estimated value rcｎ (n-1) of the past sampling time (n-1). I do. Then, the holding unit 51 outputs the iron loss resistance estimated value rc ＾ (n−1) to the multiplying unit 50 as the iron loss resistance holding value rc * that the multiplying unit 50 uses in the processing of the next sampling time n. I do.

  As described above, the iron loss resistance estimation value rc # becomes smaller as the subtraction result obtained by subtracting the deceleration time Jd {(n) from the acceleration time Ja # (n) by the iron loss resistance estimation stage 28 becomes larger on the positive side. The iron loss resistance estimated value rc ＾ (n) is identified so that the subtraction result becomes 0, that is, the acceleration time Ja ＾ (n) and the deceleration time Jd ＾ (n) become the same. Is done.

〔simulation result〕
Next, a simulation result of the control device 1 including the iron loss current estimation unit 20-2 according to the second embodiment will be described. FIG. 10 is a graph showing a simulation result of the second embodiment, and shows a case where the AC motor 3 has IM and iron loss compensation. This simulation result was obtained using a computer.

In FIG. 10, the simulation results show, from the top of the graph, the rotor angular velocity ω _r , the excitation current command id * ′, the excitation current detection value id, the torque command τ *, the torque current command iq * ′, the torque current detection value iq, and This shows the characteristics of the iron loss resistance estimated value rc #.

From the simulation results, corresponds at first, no iron loss compensation function effectively, similarly to the simulation results of the prior art of FIG. 11, the acceleration time of the rotor angular velocity omega _r T1 (acceleration time Ja ^ during power running ) _{Differs from} the deceleration time T2 (corresponding to the deceleration time Jd #) of the rotor angular speed ωr during regeneration, and it can be seen that T1> T2. Then, as time elapses, the iron loss compensation functions effectively, and the acceleration time T1 and the deceleration time T2 become the same as in the simulation result of the first embodiment in FIG. 9, and T1 = T2. Understand. This is because the iron loss resistance estimated value rc ＾ is estimated such that the acceleration time T1 and the deceleration time T2 are the same, and the exciting iron loss current icd and the torque iron This is because the loss current icq is estimated and iron loss is compensated. Iron loss resistance estimated value rc # becomes a stable value over time.

  As described above, the control device 1 according to the embodiment of the present invention includes the iron loss current compensating unit 10 including the iron loss current estimating unit 20-2 according to the second embodiment. Iron loss resistance estimating means 25 of iron loss current estimating unit 20-2 outputs a preset initial iron loss resistance estimated value rc #, and AC motor 3 is controlled according to the iron loss resistance estimated value rc #. .

The acceleration time calculation stage 26 with the core-loss resistance estimating means 25 calculates the rotor acceleration omega _r · based on rotor angular velocity omega _r, based on the torque command tau * and rotor acceleration omega _r · Then, the acceleration time Ja 交流 of the AC motor 3 is calculated by the equation (3). Further, the deceleration time calculation stage 27 based on the torque command tau * and rotor acceleration omega _r ·, wherein the equation (4), calculates the deceleration time of the AC motor 3 Jd ^.

  The iron loss resistance estimating stage 28 estimates the iron loss resistance estimated value rc # by identifying the iron loss resistance estimated value rc # such that the acceleration time Ja # and the deceleration time Jd # are the same.

  The exciting iron loss current calculating means 23 calculates the exciting iron loss current icd by the equation (1) using the iron loss resistance estimated value rc # estimated by the iron loss resistance estimating stage 28. Further, the iron loss current calculating means for torque 24 calculates the iron loss current for torque icq by the above equation (2) using the iron loss resistance estimated value rc ＾ estimated by the iron loss resistance estimating stage 28.

  Then, the subtracting unit 21 subtracts the exciting iron loss current icd from the exciting current command id * to obtain a new exciting current command id * ′ that compensates for the iron loss current, and the adding unit 22 outputs the torque current command iq * Is added to the torque iron loss current icq to obtain a new torque current command iq * 'that compensates for the iron loss current. Then, the current control unit 11 calculates the excitation voltage command vd * and the torque voltage command vq *.

  The excitation voltage command vd * and the torque voltage command vq * calculated in this way are three-phase AC voltage commands (U-phase AC voltage command Vu *, V-phase AC voltage command Vv *, and W-phase AC voltage command Vw *). , And the AC motor 3 is controlled via the power amplifier 2.

  Then, as time elapses, the iron loss resistance estimated value rc # estimated by the iron loss resistance estimating means 25 is stabilized, and control of the AC motor 3 in which iron loss compensation functions effectively is realized.

  Thereby, at the time of power running and at the time of regeneration, compensation for iron loss occurring in AC motor 3 can be reflected on excitation current command id * and torque current command iq *. Then, by compensating for the iron loss generated in the AC motor 3, an actual torque corresponding to the torque command can be obtained, and the torque linearity can be improved.

  As described above, the present invention has been described with reference to the embodiment. However, the present invention is not limited to the above embodiment, and can be variously modified without departing from the technical idea thereof. In the embodiment, the AC motor 3 has been described as the IPMSM (see FIG. 5B). The present invention does not limit the AC motor 3 to IPMSM, but is also applicable to IM (see FIG. 5A) and SynRM (see FIG. 5C). When the AC motor 3 is IM or SynRM, the IPMSM magnet magnetic flux estimated value φd ＾ = 0 may be set. That is, in control device 1 shown in FIG. 1, iron loss current estimating section 20 of iron loss current compensating section 10 does not input IPMSM magnet magnetic flux estimated value φdφ.

That is, the iron loss current estimating unit 20 performs the same processing as when the IPMSM magnet magnetic flux estimated value φd ＾ = 0 is input, and the iron loss current calculating unit for torque 24 shown in FIGS. The iron loss current icq for torque is calculated from the electrical angular velocity ω, the d-axis inductance estimated value Ld ＾, the excitation current command id *, and the iron loss resistance estimated value rc ＾ by a formula.
[Equation 2 ']
icq = (ω × Ld ＾ × id *) / rc ＾ (2 ′)

DESCRIPTION OF SYMBOLS 1 Control device 2 Power amplifier 3 AC motor 4 PG (pulse generator)
DESCRIPTION OF SYMBOLS 10 Iron loss current compensation part 11 Current control part 12, 13 Coordinate conversion part 20 Iron loss current estimation part 21, 30, 31, 40, 49 Subtraction part 22, 41 Addition part 23 Iron loss current calculation means 24 for excitation Iron for torque Loss current calculation means 25 iron loss resistance estimation means 26 acceleration time calculation stage 27 deceleration time calculation stage 28 iron loss resistance estimation stages 32 and 33 control unit 42 division unit 43 normalization constant conversion unit 44 low speed filter 45 variable proportional gain unit 46 48 Limiter 47 RC regulator 50 Multiplying unit 51 Holding unit id *, id * 'Exciting current command iq *, iq *' Torque current command icd Exciting iron loss current icq Torque iron loss current vd * Exciting voltage command vq * Torque voltage Command Vu * U-phase AC voltage command Vv * V-phase AC voltage command Vw * W-phase AC voltage command iu U-phase AC current detection value iv V-phase AC current detection value iw W-phase AC Flow detection value id exciting current detection value iq torque current detection value omega _r rotor speed omega electrical angular rc ^ iron loss resistance estimation value Ld ^ d-axis inductance estimate Lq ^ q-axis inductance estimate .phi.d ^ IPMSM magnet flux estimation value r1 Input side resistance r2n Output side resistance i1 Current ic Iron loss current idd Excitation current iqq Torque current rc Iron loss resistance σ Leakage coefficient N _p Number of pole pairs Ld d-axis inductance Lq q-axis inductance φd IPMSM Magnet flux σL1 Leakage inductance (1-σ) L1, (Ld-Lq) Excitation inductance θ Rotating magnetic field position ω _r · Rotor acceleration Ja ＾ Acceleration time Jd ＾ Deceleration time τ * Torque command ω _2n Rotor electrical angular velocity ω _s Slip frequency J ＾ Identification acceleration constant ε Normalization constant Kp Gain δ Correction value rc * Iron loss resistance holding value

Claims (3)

In the control device that controls the AC motor based on the excitation current command and the torque current command,
An iron loss current estimating unit that estimates an iron loss current for excitation and an iron loss current for torque to compensate for iron loss occurring in the AC motor,
A subtraction unit that subtracts the excitation iron loss current estimated by the iron loss current estimation unit from the excitation current command, and obtains a new excitation current command,
An adding unit that adds the torque iron loss current estimated by the iron loss current estimation unit to the torque current command, and obtains a new torque current command,
The iron loss current estimation unit,
An exciting iron loss current calculating unit that calculates the exciting iron loss current based on the torque current command, the electric angular velocity of the AC motor, and a preset iron loss resistance estimated value and a q-axis inductance estimated value;
The exciting current command, the electric angular velocity of the AC motor, and a preset iron loss resistance estimated value, d-axis inductance estimated value and magnet magnetic flux estimated value, or the exciting current command, the electric angular velocity of the AC motor, and Based on the set iron loss resistance estimated value and the set d-axis inductance estimated value, the torque iron loss current calculating means for calculating the torque iron loss current,
The preset iron loss resistance estimation value is a value when the acceleration time of the AC motor during power running obtained from the rotor angular velocity of the AC motor and the deceleration time of the AC motor during regeneration are the same. A control device characterized by the above-mentioned. In the control device that controls the AC motor based on the excitation current command and the torque current command,
An iron loss current estimating unit that estimates an iron loss current for excitation and an iron loss current for torque to compensate for iron loss occurring in the AC motor,
A subtraction unit that subtracts the excitation iron loss current estimated by the iron loss current estimation unit from the excitation current command, and obtains a new excitation current command,
An adding unit that adds the torque iron loss current estimated by the iron loss current estimation unit to the torque current command, and obtains a new torque current command ,
The iron loss current estimation unit,
Iron loss resistance estimating means for identifying an iron loss resistance estimated value so that the acceleration time during power running obtained from the rotor angular velocity of the AC motor and the deceleration time during regeneration are the same,
Based on the torque current command, the electric angular velocity of the AC motor, the iron loss resistance estimated value identified by the iron loss resistance estimating means, and a preset q-axis inductance estimated value, the exciting iron loss current is calculated. Exciting iron loss current calculating means for calculating,
The exciting current command, the electric angular velocity of the AC motor, the iron loss resistance estimated value identified by the iron loss resistance estimating means, and a preset d-axis inductance estimated value and a magnet flux estimated value, or the excitation current instruction A torque iron for calculating the torque iron loss current based on the electric angular velocity of the AC motor, the iron loss resistance estimated value identified by the iron loss resistance estimating means, and a preset d-axis inductance estimated value. A control device comprising: a loss current calculation unit. The control device according to claim 2 ,
The iron loss resistance estimating means,
The acceleration time during the power running and the deceleration time during the regeneration are calculated based on the rotor angular velocity and the torque command of the AC motor, and the iron is calculated so that the acceleration time and the deceleration time are the same. A control device for identifying a loss resistance estimated value.

Images