JP7094859B2 - Motor control device and motor control method - Google Patents

Description

The present invention relates to a motor control device and a motor control method in which the influence of the vibration component of the feedback current value is eliminated as much as possible with respect to the voltage command value used for controlling the PM motor.

Electric motors are used as a power source for many home appliances and mechanical equipment. Of these, a permanent magnet is provided on the rotor side, an armature winding is provided on the stator side, and a PM (Permanent Machine) motor (permanent magnet motor) that rotates the rotor by controlling the magnetic field of the armature winding. ) Has low loss and high efficiency because there is no field loss, and is widely used in large machinery and equipment due to the recent trend of energy saving. As a control method for this PM motor, first, a three-phase voltage command value Vu, based on a torque command value instructed from the outside (a higher-level control unit of the system, etc.) and the current torque T of the PM motor, is used. Vv and Vw are generated, and the drive signals Su, Sv and Sw are generated by comparing the three-phase voltage command values Vu, Vv and Vw with a triangular wave. Then, it is generally performed by the drive currents Iu, Iv, Iw of the three-phase alternating current flowing down by switching the inverter by the drive signals Su, Sv, Sw. Further, in many cases, the drive signals Su, Sv, and Sw are generated by switching between sine wave control and rectangular wave control according to the operating condition of the PM motor. In this control method, operation control is generally performed by sine wave control (PWM control) using a sine wave pattern with high motor efficiency in the operating region of medium / low speed rotation, and the output voltage is performed in the operating region of high speed rotation / high torque. The operation is controlled by the square wave control using the square wave pattern which is high and high output is possible.

Here, the sine and cosine pattern is a pattern of drive signals Su, Sv, Sw generated by comparing three-phase voltage command values Vu, Vv, and Vw whose amplitude peak does not exceed the peak of the triangular wave. .. Further, in the rectangular wave pattern, each of the three-phase voltage command values Vu, Vv, and Vw intersects the triangular wave twice in one electric angle cycle, and the Hi period and the Low period are in one electric angle cycle. It is a pattern of drive signals Su, Sv, Sw generated once. Further, there is an overmodulation pattern in the pattern of the drive signals Su, Sv, Sw, and this overmodulation pattern is a three-phase voltage command value larger than the amplitude forming the sinusoidal pattern and smaller than the amplitude forming the square wave pattern. It is a pattern of drive signals Su, Sv, Sw generated by Vu, Vv, Vw.

However, in the sine wave control and the square wave control, even if the voltage phase is the same, the output torque of the square wave control is larger than that of the sine wave control. do not have. Regarding this problem, the inventors of the present application continuously change the drive signal between the sine wave pattern (overmodulation pattern) and the square wave pattern while performing torque control in the square wave control mode when switching the control mode. The invention described in Japanese Patent Application No. 2017-21253, which enables smooth switching of control modes with less torque fluctuation, has been made.

Here, for example, in the invention described in the following [Patent Document 1], in controlling the current of the AC motor, the three-phase currents Ia, Ib, (Ic) of the AC motor are detected by the three-phase current sensor, and the three-phase currents 3 After acquiring the two-phase detection currents Idfb and Iqfb by performing three-phase / two-phase coordinate conversion on the phase detection currents Iafb, Ibfb, and Icfb, the two-phase command currents Iq ^* and Id ^* , which are the command values for the AC motor, are used. The two-phase current errors ΔId and ΔIq are calculated by subtracting the above two-phase detection currents Idfb and Iqfb. Then, in the current proportional integration component, the two-phase command voltages Vq ^* and Vd ^* are calculated by multiplying the current errors ΔIq and ΔIq by the first proportional integration (PI) gain, and the two-phase command voltages Vq ^* and Vd ^* are calculated. The three-phase command voltage Va ^* , Vb ^* , and Vc ^* are acquired by performing two-phase / three-phase coordinate conversion based on the information of the electric angle θe. Then, a PWM gate pulse obtained by comparing and calculating the three-phase command voltages Va ^* , Vb ^* , Vc ^* and the carrier Vt is input to the PWM inverter to convert the DC voltage Vdc into any AC voltage Va, Vb, Vc. A technique for controlling the operation of an AC motor by the AC voltages Va, Vb, and Vc is disclosed.

Further, in the invention described in the following [Patent Document 2], in order to correct the non-linearity between the voltage command value and the inverter output voltage, the required modulation factor A is calculated in advance from the following equation.
E = 1/2 {Asin ^-1 (1 / A) + (1-1 / A ² ) ^1/2 } Emax
Emax = (2 / π) ^1/2 · Ed
Ed: Total DC voltage Based on the relationship between the modulation factor A acquired in advance and the output voltage command E ^* of the inverter, this modulation factor A is corrected non-linearly with respect to the output voltage command E ^* of the inverter. , A technique for linearly controlling the output voltage with respect to the output voltage command E ^* of the inverter is disclosed.

Japanese Unexamined Patent Publication No. 2000-270599 Japanese Unexamined Patent Publication No. 7-194130

Then, these [Patent Document 1] and [Patent Document 2] are combined, and the voltage command values Vd ^* and Vq ^* of the current proportional control using the feedback current of [Patent Document 1] are combined with the E ^* of [Patent Document 2]. When the vibration component of the feedback current is included in the output voltage command E ^* when performing linear correction by obtaining ^1/2 of the voltage value corresponding to (Vd ² + Vq ² ), the correction coefficient for linear correction (modulation factor A) Is also a vibrational value, and there is a risk that control will become unstable.

The present invention has been made in view of the above circumstances, and it is possible to eliminate the influence of the vibration component in the feedback current in the d-axis, q-axis voltage command values Vd, and Vq as much as possible, and to stably control the PM motor. It is an object of the present invention to provide a motor control device and a motor control method.

The present invention comprises (1) an inverter 20 that causes a PM motor 10 to flow three-phase AC drive currents Iu, Iv, and Iw, and drive current detection units 12u, 12v that acquire the values of the drive currents Iu, Iv, and (Iw). The d-axis is the angle detection unit 14 that acquires the electric angle θ of the PM motor 10 and the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v based on the electric angle θ. The three-phase / dq conversion unit 22 that converts the feedback current value Id and the q-axis feedback current value Iq,
The d-axis current command value Id ^* and the q-axis current command value Iq ^* are set based on the external torque command value T ^* , and these d-axis current command values Id ^* , q-axis current command value Iq ^* and the d-axis are described. A sine wave control unit 40 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the feedback current value Id and the q-axis feedback current value Iq.
A linear correction unit 38 that linearly corrects the d-axis voltage command value Vd and the q-axis voltage command value Vq,
A dq / 3-phase converter 32 that converts the linearly corrected d-axis voltage command value Vd and q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, and Vw.
A motor control device including a drive signal generation unit 36 that generates drive signals Su, Sv, Sw to switch the inverter 20 by comparing a triangular wave having a predetermined period with the three-phase voltage command values Vu, Vv, Vw. In
The sine wave control unit 40
The current integration control unit 410a and the current proportional control unit 410b are provided, and d is based on the d-axis current command value Id ^* and the q-axis current command value Iq ^* and the d-axis feedback current value Id and the q-axis feedback current value Iq. The current control unit 410 that generates the axis voltage command value Vd and the q-axis voltage command value Vq, and the polar coordinate conversion that acquires the voltage command value | Va | by converting the d-axis voltage command value and the q-axis voltage command value into polar coordinates. With a part 418 and
The current control unit 410 outputs the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq'' that do not include the output of the current proportional control unit 410b to the polar coordinate conversion unit 418.
The polar coordinate conversion unit 418 acquires a voltage command value | Va | based on the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq'', and outputs the voltage command value to the linear correction unit 38.
The linear correction unit 38 is generated by the sine wave control unit 40 based on the voltage command value | Va | based on the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq''. The above problem is solved by providing the motor control device 100 characterized by linearly correcting the d-axis voltage command value Vd and the q-axis voltage command value Vq.
(2) The inverter 20 that causes the PM motor 10 to flow the three-phase AC drive currents Iu, Iv, and Iw, the drive current detection units 12u, 12v that acquire the values of the drive currents Iu, Iv, and (Iw), and the above. The d-axis feedback current value of the angle detection unit 14 that acquires the electric angle θ of the PM motor 10 and the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v based on the electric angle θ. The three-phase / dq conversion unit 22 that converts the Id and q-axis feedback current values to Iq, and
The d-axis current command value Id ^* and the q-axis current command value Iq ^* are set based on the external torque command value T ^* , and these d-axis current command values Id ^* , q-axis current command value Iq ^* and the d-axis are described. A sine wave control unit 40 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the feedback current value Id and the q-axis feedback current value Iq.
The dq / 3-phase converter 32 that converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into the three-phase voltage command values Vu, Vv, and Vw.
A drive signal generation unit 36 that generates drive signals Su, Sv, Sw to switch the inverter 20 by comparing a triangular wave having a predetermined period based on carrier setting information Sc with the three-phase voltage command values Vu, Vv, Vw. In a motor control device having
The sine wave control unit 40
The current integration control unit 410a and the current proportional control unit 410b are provided, and d is based on the d-axis current command value Id ^* and the q-axis current command value Iq ^* and the d-axis feedback current value Id and the q-axis feedback current value Iq. The current control unit 410 that generates the axis voltage command value Vd and the q-axis voltage command value Vq, and the polar coordinate conversion unit 418 that converts the d-axis voltage command value and the q-axis voltage command value into polar coordinates and acquires the voltage phase θv. , A sine wave mode synchronization control unit 420 that generates the carrier setting information Sc based on the voltage phase θv.
The current control unit 410 outputs the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq'' that do not include the output of the current proportional control unit 410b to the polar coordinate conversion unit 418.
The polar coordinate conversion unit 418 acquires a voltage phase θv based on the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq'' and outputs the voltage phase θv to the sinusoidal mode synchronization control unit 420.
The sine wave mode synchronous control unit 420 generates the carrier setting information Sc based on the voltage phase θv based on the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq''. The above problem is solved by providing the motor control device 100 as a feature.
(3) The inverter 20 that causes the PM motor 10 to flow the three-phase AC drive currents Iu, Iv, and Iw, the drive current detection units 12u, 12v that acquire the values of the drive currents Iu, Iv, and (Iw), and the above. The d-axis feedback current value of the angle detection unit 14 that acquires the electric angle θ of the PM motor 10 and the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v based on the electric angle θ. The three-phase / dq conversion unit 22 that converts the Id and q-axis feedback current values to Iq, and
The voltage phase θv is set based on the external torque command value T ^* and the d-axis feedback current value Id and the q-axis feedback current value Iq, and the d-axis voltage command values Vd and q-axis are set based on the voltage phase θv. A square wave control unit 50 that generates a voltage command value Vq,
A linear correction unit 38 that linearly corrects the d-axis voltage command value Vd and the q-axis voltage command value Vq,
A dq / 3-phase converter 32 that converts linearly corrected d-axis voltage command values Vd and q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw.
A motor control device including a drive signal generation unit 36 that generates drive signals Su, Sv, Sw to switch the inverter 20 by comparing a triangular wave having a predetermined period with the three-phase voltage command values Vu, Vv, Vw. In
The square wave control unit 50 is
A voltage phase setting unit 502 that acquires a voltage phase θv based on the torque command value T ^* from the outside, the d-axis feedback current value Id, and the q-axis feedback current value Iq.
A voltage command generation unit 516 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the voltage command value | Va | and the voltage phase θv output by the voltage phase setting unit 502.
The d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq based on the d-axis feedback current value Id and the q-axis feedback current value Iq and the d-axis voltage command value Vd and the q-axis voltage command value Vq. Has a correction unit 70, which outputs
By providing the motor control device 100 characterized in that the linear correction unit 38 linearly corrects the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq based on the voltage command value | Va |. , Solve the above problems.
(4) The inverter 20 that causes the PM motor 10 to flow the three-phase AC drive currents Iu, Iv, and Iw, the drive current detection units 12u, 12v that acquire the values of the drive currents Iu, Iv, and (Iw), and the above. The d-axis feedback current value of the angle detection unit 14 that acquires the electric angle θ of the PM motor 10 and the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v based on the electric angle θ. The three-phase / dq conversion unit 22 that converts the Id and q-axis feedback current values to Iq, and
The voltage phase θv is set based on the external torque command value T ^* and the d-axis feedback current value Id and the q-axis feedback current value Iq, and the d-axis voltage command values Vd and q-axis are set based on the voltage phase θv. A square wave control unit 50 that generates a voltage command value Vq,
A dq / 3-phase converter 32 that converts d-axis voltage command values Vd and q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw.
With the drive signal generation unit 36 that generates the drive signals Su, Sv, Sw that switch the inverter 20 by comparing the triangular wave with a predetermined period based on the carrier setting information Sc with the three-phase voltage command values Vu, Vv, Vw. In a motor control device having
The square wave control unit 50 is
A voltage phase setting unit 502 that acquires a voltage phase θv based on the torque command value T ^* from the outside, the d-axis feedback current value Id, and the q-axis feedback current value Iq.
A voltage command generation unit 516 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the voltage phase θv output by the voltage phase setting unit 502.
The d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq based on the d-axis feedback current value Id and the q-axis feedback current value Iq and the d-axis voltage command value Vd and the q-axis voltage command value Vq. And the correction unit 70 that outputs
It has a rectangular wave mode synchronization control unit 520 that generates the carrier setting information Sc, and has.
The problem is solved by providing the motor control device 100 characterized in that the rectangular wave mode synchronization control unit 520 generates the carrier setting information Sc based on the voltage phase θv output by the voltage phase setting unit 502. solve.
(5) The inverter 20 that causes the PM motor 10 to flow the three-phase AC drive currents Iu, Iv, and Iw, the drive current detection units 12u, 12v that acquire the values of the drive currents Iu, Iv, and (Iw), and the above. The d-axis feedback current value of the angle detection unit 14 that acquires the electric angle θ of the PM motor 10 and the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v based on the electric angle θ. The three-phase / dq conversion unit 22 that converts the Id and q-axis feedback current values to Iq, and
The d-axis current command value Id ^* and the q-axis current command value Iq ^* are set based on the external torque command value T ^* , and these d-axis current command values Id ^* , q-axis current command value Iq ^* and the d-axis are described. A sine wave control unit 40 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the feedback current value Id and the q-axis feedback current value Iq.
A linear correction unit 38 that linearly corrects the d-axis voltage command value Vd and the q-axis voltage command value Vq,
A dq / 3-phase converter 32 that converts the linearly corrected d-axis voltage command value Vd and q-axis voltage command value Vq into three-phase voltage command values Vu, Vv, and Vw.
A motor control device including a drive signal generation unit 36 that generates drive signals Su, Sv, Sw to switch the inverter 20 by comparing a triangular wave having a predetermined period with the three-phase voltage command values Vu, Vv, Vw. It is a motor control method of
The sine wave control unit 40
The current integration control unit 410a and the current proportional control unit 410b are provided, and d is based on the d-axis current command value Id ^* and the q-axis current command value Iq ^* and the d-axis feedback current value Id and the q-axis feedback current value Iq. The current control unit 410 that generates the axis voltage command value Vd and the q-axis voltage command value Vq, and the polar coordinate conversion that acquires the voltage command value | Va | by converting the d-axis voltage command value and the q-axis voltage command value into polar coordinates. With a part 418 and
The integration side voltage that the current control unit 410 outputs the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq'' that do not include the output of the current proportional control unit 410b to the polar coordinate conversion unit 418. Command value output step and
The polar coordinate conversion unit 418 acquires a voltage command value | Va | based on the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq'', and outputs a voltage command to the linear correction unit 38. Value output step and
The linear correction unit 38 generated the sine wave control unit 40 based on the voltage command value | Va | based on the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq''. The above problem is solved by providing a motor control method characterized by performing a sine wave control linear correction step for linearly correcting a d-axis voltage command value Vd and a q-axis voltage command value Vq.
(6) The inverter 20 that causes the PM motor 10 to flow the three-phase AC drive currents Iu, Iv, and Iw, the drive current detection units 12u, 12v that acquire the values of the drive currents Iu, Iv, and (Iw), and the above. The d-axis feedback current value of the angle detection unit 14 that acquires the electric angle θ of the PM motor 10 and the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v based on the electric angle θ. The three-phase / dq conversion unit 22 that converts the Id and q-axis feedback current values to Iq, and
The d-axis current command value Id ^* and the q-axis current command value Iq ^* are set based on the external torque command value T ^* , and these d-axis current command values Id ^* , q-axis current command value Iq ^* and the d-axis are described. A sine wave control unit 40 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the feedback current value Id and the q-axis feedback current value Iq.
The dq / 3-phase converter 32 that converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into the three-phase voltage command values Vu, Vv, and Vw.
With the drive signal generation unit 36 that generates the drive signals Su, Sv, Sw that switch the inverter 20 by comparing the triangular wave with a predetermined period based on the carrier setting information Sc with the three-phase voltage command values Vu, Vv, Vw. It is a motor control method of a motor control device having,
The sine wave control unit 40
The current integration control unit 410a and the current proportional control unit 410b are provided, and d is based on the d-axis current command value Id ^* and the q-axis current command value Iq ^* and the d-axis feedback current value Id and the q-axis feedback current value Iq. The current control unit 410 that generates the axis voltage command value Vd and the q-axis voltage command value Vq, and the polar coordinate conversion unit 418 that converts the d-axis voltage command value and the q-axis voltage command value into polar coordinates and acquires the voltage phase θv. , A sine wave mode synchronization control unit 420 that generates the carrier setting information Sc based on the voltage phase θv.
The integration side voltage that the current control unit 410 outputs the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq'' that do not include the output of the current proportional control unit 410b to the polar coordinate conversion unit 418. Command value output step and
The polar coordinate conversion unit 418 acquires the voltage phase θv based on the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq'', and outputs the voltage phase to the sine wave mode synchronization control unit 420. Output step and
The sine wave mode synchronous control unit 420 generates the carrier setting information Sc based on the voltage phase θv based on the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq''. The above problem is solved by providing a motor control method characterized by performing a control carrier information generation step.
(7) The inverter 20 that causes the PM motor 10 to flow the three-phase AC drive currents Iu, Iv, and Iw, the drive current detection units 12u, 12v that acquire the values of the drive currents Iu, Iv, and (Iw), and the above. The d-axis feedback current value of the angle detection unit 14 that acquires the electric angle θ of the PM motor 10 and the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v based on the electric angle θ. The three-phase / dq conversion unit 22 that converts the Id and q-axis feedback current values to Iq, and
The voltage phase θv is set based on the external torque command value T ^* and the d-axis feedback current value Id and the q-axis feedback current value Iq, and the d-axis voltage command values Vd and q-axis are set based on the voltage phase θv. A square wave control unit 50 that generates a voltage command value Vq,
A linear correction unit 38 that linearly corrects the d-axis voltage command value Vd and the q-axis voltage command value Vq,
A dq / 3-phase converter 32 that converts linearly corrected d-axis voltage command values Vd and q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw.
A motor control device including a drive signal generation unit 36 that generates drive signals Su, Sv, Sw to switch the inverter 20 by comparing a triangular wave having a predetermined period with the three-phase voltage command values Vu, Vv, Vw. It is a motor control method of
The square wave control unit 50 is
A voltage phase setting unit 502 that acquires a voltage phase θv based on the torque command value T ^* from the outside, the d-axis feedback current value Id, and the q-axis feedback current value Iq.
A voltage command generation unit 516 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the voltage command value | Va | and the voltage phase θv output by the voltage phase setting unit 502.
The d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq based on the d-axis feedback current value Id and the q-axis feedback current value Iq and the d-axis voltage command value Vd and the q-axis voltage command value Vq. Has a correction unit 70, which outputs
A motor characterized in that the linear correction unit 38 performs a square wave control linear correction step for linearly correcting the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq based on the voltage command value | Va |. The above problem is solved by providing a control method.
(8) The inverter 20 that causes the PM motor 10 to flow the three-phase AC drive currents Iu, Iv, and Iw, the drive current detection units 12u, 12v that acquire the values of the drive currents Iu, Iv, and (Iw), and the above. The d-axis feedback current value of the angle detection unit 14 that acquires the electric angle θ of the PM motor 10 and the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v based on the electric angle θ. The three-phase / dq conversion unit 22 that converts the Id and q-axis feedback current values to Iq, and
The voltage phase θv is set based on the external torque command value T ^* and the d-axis feedback current value Id and the q-axis feedback current value Iq, and the d-axis voltage command values Vd and q-axis are set based on the voltage phase θv. A square wave control unit 50 that generates a voltage command value Vq,
The dq / 3-phase converter 32 that converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into the three-phase voltage command values Vu, Vv, and Vw.
With the drive signal generation unit 36 that generates the drive signals Su, Sv, Sw that switch the inverter 20 by comparing the triangular wave with a predetermined period based on the carrier setting information Sc with the three-phase voltage command values Vu, Vv, Vw. It is a motor control method of a motor control device having,
The square wave control unit 50 is
A voltage phase setting unit 502 that acquires a voltage phase θv based on the torque command value T ^* from the outside, the d-axis feedback current value Id, and the q-axis feedback current value Iq.
A voltage command generation unit 516 that generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the voltage phase θv output by the voltage phase setting unit 502.
The d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq based on the d-axis feedback current value Id and the q-axis feedback current value Iq and the d-axis voltage command value Vd and the q-axis voltage command value Vq. And the correction unit 70 that outputs
It has a rectangular wave mode synchronization control unit 520 that generates the carrier setting information Sc, and has.
A motor control method comprising the square wave control carrier information generation step in which the square wave mode synchronization control unit 520 generates the carrier setting information Sc based on the voltage phase θv output by the voltage phase setting unit 502. By providing, the above problem will be solved.

The motor control device and the motor control method according to the present invention perform linear correction for the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the voltage command value | Va | which does not include the current proportional control component. Further, the carrier setting information Sc is generated based on the voltage phase θv that does not include the component of the current proportional control. As a result, stable three-phase voltage command values Vu, Vv, Vw, drive signals Su, Sv, and Sw, which are less affected by vibration components, can be generated, and output voltage, current, and torque can be stabilized. Further, by using the voltage command value | Va | that does not include the proportional control component, it is possible to obtain a large gain of the current proportional control unit, the correction voltage generation unit, and the like, and it is possible to improve the responsiveness of these. .. Further, by using the voltage phase θv that does not include the proportional control component, it is possible to take a large control gain of the sine wave mode synchronous control unit, the square wave mode synchronous control unit, the voltage phase setting unit, etc., and their responsiveness. Can be improved.

It is a block diagram of the motor control device which concerns on this invention. It is a figure explaining the operation state of a motor, and the switching of a control mode. It is a figure explaining the positional relationship between the triangular wave of the motor control device which concerns on this invention, and the three-phase voltage command value Vu. It is a flowchart which shows the operation at the time of transition to a rectangular wave control mode. It is a flowchart which shows the operation at the time of transition to a sine wave control mode. It is a figure explaining the triangular wave of the motor control apparatus and the motor control method which concerns on this invention.

An embodiment of the motor control device 100 and the motor control method according to the present invention will be described with reference to the drawings. Here, the description will be made using an example of a configuration in which neither the voltage phase θv nor the voltage command value | Va | includes the component of the current proportional control, but the present invention is any one of the voltage phase θv and the voltage command value | Va |. One of them may be configured not to include the component of current proportional control.

Here, FIG. 1 is a block diagram of the motor control device 100 according to the present invention. First, the motor control device 100 according to the present invention controls the operation of the PM motor (permanent magnet motor) 10, and the inverter 20 that causes the PM motor 10 to flow the three-phase AC drive currents Iu, Iv, and Iw. The drive current detection units 12u and 12v for acquiring the values of the drive currents Iu, Iv and (Iw), the angle detection unit 14 for acquiring the electric angle θ of the PM motor 10, and the drive current detection units 12u and 12v Instructed by a three-phase / dq conversion unit 22 that converts the acquired drive currents Iu, Iv, (Iw) into d-axis feedback current values Id and q-axis feedback current values Iq, and an external device (such as a higher-level control unit of the system). A sine wave that generates the d-axis voltage command value Vd and the q-axis voltage command value Vq in the sine wave control mode by setting the d-axis current command value Id ^* and the q-axis current command value Iq ^* based on the torque command value T ^* . The voltage phase θv is set based on the control unit 40 and the torque command value T ^* also instructed from the outside, and the d-axis voltage command value Vd and the q-axis voltage command value Vq (d-axis voltage command correction value) in the rectangular wave control mode. A rectangular wave control unit 50 that generates Vd, q-axis voltage command correction value Vq), a switching unit 24 that switches the control of the PM motor 10 between the sine wave control unit 40 and the rectangular wave control unit 50, and a sine wave control unit 40. Alternatively, the d-axis voltage command value Vd and q-axis voltage command value Vq output from the sine wave control unit 50 are converted into three-phase voltage command values Vu, Vv, and Vw of U phase, V phase, and W phase. The conversion unit 32 and the drive signal generation unit 36 that generates the drive signals Su, Sv, Sw to switch the inverter 20 by comparing the three-phase voltage command values Vu, Vv, Vw with the triangular wave having a predetermined period. Have. Further, in addition to the above configuration, the motor control device 100 according to the present invention may include a mode transition unit 80 that performs a predetermined operation when the control mode is switched by the switching unit 24.

The inverter 20 constituting the motor control device 100 according to the present invention is switched by the Hi-Low drive signals Su, Sv, and Sw output from the drive signal generation unit 36, and is operated from a well-known DC power supply unit 18 such as a battery. DC power is converted into a three-phase AC voltage based on the drive signals Su, Sv, and Sw and output. As a result, the three-phase drive currents Iu, Iv, and Iw, whose phases are shifted by 1/3 cycle (2 / 3π (rad)), flow down to the armature winding of the PM motor 10.

Further, the PM motor 10 is provided with a permanent magnet on the rotor side and a three-phase armature winding on the stator side as described above, and the above-mentioned drive current Iu is provided on the three-phase armature winding. By flowing Iv and Iw respectively, the magnetic poles and magnetic fluxes of the armature windings are continuously changed to rotate the rotor. As the PM motor 10, it is preferable to use an IPM (Interior Permanent Magnet) motor in which a permanent magnet is embedded in a rotor.

Further, the drive current detection units 12u and 12v can use a well-known current sensor capable of non-contactly acquiring the drive currents Iu, Iv and Iw flowing down by the switching operation of the inverter 20. In this example, two drive currents Iu and Iv out of the drive currents Iu, Iv and Iw are acquired and converted into d-axis and q-axis feedback current values Id and Iq.

Further, as the angle detection unit 14, a well-known angle sensor capable of acquiring the angle of the rotor can be used. Above all, it is particularly preferable to acquire the electric angle θ of the PM motor 10 by using the resolver rotation angle sensor. It is preferable that the above-mentioned electric angle θ and the drive currents Iu and Iv are acquired at the timings of both the peak and the valley of the triangular wave, and used in each part of the motor control device 100 every half cycle of the triangular wave. Then, the electric angle θ acquired by the angle detection unit 14 is also output to the angular velocity calculation unit 16, and the angular velocity calculation unit 16 calculates the electric angular velocity ω (rad / s) from the input electric angle θ, and the motor control device 100 Output to each part of.

Further, the three-phase / dq conversion unit 22 has the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v based on the electric angle θ (rad) of the PM motor 10 acquired by the angle detection unit 14. Three-phase two-phase conversion and rotational coordinate conversion are performed on the value of, and the drive currents Iu, Iv, and (Iw) are converted into the d-axis current value (current value for magnetic flux) Id and the current value for q-axis (current value for torque) Iq. Convert. Then, these are output to the switching unit 24 as the d-axis feedback current value Id and the q-axis feedback current value Iq.

The switching unit 24 is a switching circuit that switches the method of generating the d-axis voltage command value Vd and the q-axis voltage command value Vq according to the operating condition (torque, rotation speed) of the PM motor 10, and the PM motor 10 rotates at medium and low speeds. When operating in the area A (sine wave control area A) of FIG. 2, the PM motor 10 is operated by the sine wave control mode by the sine wave control unit 40. Further, when the PM motor 10 operates in the region B (rectangular wave control region B) of FIG. 2 having a high rotation speed and high torque, the control of the PM motor 10 is switched to the rectangular wave control unit 50 and the rectangular wave control mode is used. Make it work. The switching value (switching line C) between the sine wave control area A and the rectangular wave control area B changes depending on the voltage value of the DC power supply unit 18. It is preferable that the switching value for each voltage value of the DC power supply unit 18 is set in advance in a memory unit or the like (not shown), and the switching unit 24 appropriately acquires and uses the switching value according to the voltage value of the DC power supply unit 18. .. When there is no matching voltage value, it is preferable to obtain an appropriate switching value from the switching values of the front and rear voltages by calculation or the like and use it. Then, when the operating condition (torque, rotation speed) of the PM motor 10 exceeds the switching value, each step described later is performed to switch the control mode. A hysteresis width is given to the switching value when switching from the sine wave control mode to the square wave control mode and the switching value when switching from the square wave control mode to the sine wave control mode, and at the boundary of the switching values. It is preferable to prevent frequent switching operations.

Next, the configuration and operation of the sine wave control unit 40 will be described. Since the configuration of the sine wave control unit 40 described below is an example suitable for the present invention, the configuration is not limited to the following, and any other configuration is provided as long as the configuration essential to the present invention is provided. A sine wave control mechanism may be used.

First, the torque command value T ^* is output from the control unit of the host system or the like. This torque command value T ^* is the torque that is the operating target of the PM motor 10. Then, when the switching unit 24 selects the sine wave control unit 40, the torque command value T ^* is input to the current command value setting unit 402 of the sine wave control unit 40. Further, the current torque T of the PM motor 10 is input from the torque calculation unit 404 to the current command value setting unit 402.

Here, the torque calculation unit 404 has an induced voltage constant φa, a d-axis inductance Ld, a q-axis inductance Lq, and the like as motor parameters of the PM motor 10. The induced voltage constants φa, d-axis inductance Ld, and q-axis inductance Lq may be preset fixed values, or appropriate values preset according to the temperature and operating conditions of the PM motor 10 may be set as, for example, a data table. It may be obtained from such sources as appropriate. Then, the torque calculation unit 404 inputs these values to the d-axis, q-axis current command values Id, Iq or the d-axis, q-axis current command values Id ^* , Iq ^* output from the current command value generation unit 406, which will be described later. Based on this, the current torque T of the PM motor 10 is calculated based on, for example, the following equation. In this example, an example of calculating the torque T based on the d-axis, q-axis current command values Id ^* , and Iq ^* is shown.
T = P (φaIq ^* + (Ld-Lq) Id ^* Iq ^* ) [Nm]
P: Number of pole pairs of permanent magnet of PM motor φa: Induced voltage constant Ld: d-axis inductance Lq: q-axis inductance

Then, the current command value setting unit 402 sets the current command value Ia ^* such that the torque T takes the torque command value T ^* based on the torque command value T ^* and the current torque T, and the current command value generation unit 406. Output to. The current command value Ia ^* may be calculated by operations such as integral control and proportional control. Further, a limiter value may be set for the current command value Ia ^* , and the limiter value may be read from the table data as a value corresponding to the electric angular velocity ω and the power supply voltage Vdc. Further, only the maximum value of the limiter may be set and used.

The current command value generation unit 406 acquires, for example, the current phase angle θi of the current command value Ia ^* input from the current command value setting unit 402 from table data or the like, and sets the current command value Ia ^* and the current phase angle θi. Based on this, the d-axis current command value Id ^* and the q-axis current command value Iq ^* are calculated and output to the voltage command value generation unit 416 of the sine wave control unit 40. At this time, the motor voltage is obtained from a well-known arithmetic formula, the above-mentioned motor parameters (φa, Ld, Lq), the electric angular velocity ω, d-axis, and the q-axis current command values Id ^* and Iq ^* , and the magnitude of this motor voltage is calculated. By adjusting the d-axis and q-axis current command values Id ^* and Iq ^* so as not to exceed the value of K × Vdc (K: voltage utilization rate set value), between the sine wave control area and the square wave control area. It is possible to provide an overmodulation control and a weakening current voltage control region in the motor, and it is possible to improve the output in the medium- and high-speed operation region. Further, by changing the voltage utilization rate K, the d-axis and q-axis current command values Id ^* and Iq ^* can be set at any voltage utilization rate. The adjustment of the d-axis and q-axis current command values Id ^* and Iq ^* using the voltage utilization rate K is the above-mentioned motor parameters (φa, Ld, Lq), the electric angular velocity ω from the angular velocity calculation unit 16, and the direct current. It is preferable to perform by well-known voltage control, proportional control, integral control or the like based on the power supply voltage Vdc or the like from the power supply unit 18. Further, it may be calculated by operations such as integral control and proportional control with respect to the current phase angle θi. Further, a current limiter may be provided for the d-axis current command value Id ^* and the q-axis current command value Iq ^* , if necessary.

Here, a suitable example of the voltage command value generation unit 416 will be described. First, the d-axis, q-axis current command values Id ^* and Iq ^* input to the voltage command value generation unit 416 are branched into two, and one is input to the non-interference control unit 414. Then, the non-interference control unit 414 calculates the velocity electromotive force component that interferes between the d-axis and q-axis current command values Id ^* and Iq ^* , and controls the current as the d-axis and q-axis voltage command values Vd'and Vq'. It is output to the unit 410. The other of the d-axis and q-axis current command values Id ^* and Iq ^* is current-controlled after the d-axis and q-axis feedback current values Id and Iq are subtracted by the subtraction unit 412 to obtain variable components ΔId and ΔIq. Input to unit 410.

Further, the current control unit 410 has a current integration control unit 410a and a current proportional control unit 410b, and the variable components ΔId and ΔIq input to the current control unit 410 are branched into two, and the current integration control unit 410a and the current. Input to each of the proportional control units 410b. Then, the well-known current integral control is performed by the current integral control unit 410a. Further, the current proportional control unit 410b performs well-known current proportional control. Then, the d-axis from the non-interference control unit 414, the q-axis voltage command values Vd'and Vq' are added to the output of the current integration control unit 410a, and the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command are added. After the value Vq'' is set, the output from the current proportional control unit 410b is added to generate the d-axis voltage command value Vd and the q-axis voltage command value Vq. The d-axis voltage command value Vd and the q-axis voltage command value Vq are output to the control signal generation unit 30 via the switching unit 24.

In the current control unit 410, the maximum voltage (1 pulse square wave voltage) at which the three-phase voltage command values Vu, Vv, and Vw based on the d-axis and q-axis voltage command values Vd and Vq are the output limits of the inverter 20 It is preferable to provide a limiter portion that limits the voltage so that it does not become in the vicinity of the voltage). The limiter unit is preferably provided in the pre-stage where the output from the current proportional control unit 410b is added. Further, it is preferable to set the limit voltage of the limiter unit according to the number of triangular wave synchronizations set by the sine wave mode synchronization control unit 420 described later.

Here, as a characteristic configuration of the present invention, the integration side d-axis voltage command value Vd'' and the integration side q-axis voltage command value Vq'' in the previous stage to which the output of the current proportional control unit 410b is added are controlled by a sine wave. It is output to the polar coordinate conversion unit 418 of the unit 40 (integration side voltage command value output step). Then, the polar coordinate conversion is performed in the polar coordinate conversion unit 418, and the voltage phase θv and the voltage command value | Va | are acquired. That is, in the present invention, the voltage phase θv and the voltage command value | Va | And are obtained. Therefore, these voltage phases θv and voltage command value | Va | are not affected by the vibration component (short-term fluctuation component). Then, the polar coordinate conversion unit 418 outputs this voltage phase θv to the sine wave mode synchronization control unit 420 (voltage phase output step). Further, the voltage command value | Va | is output to the linear correction unit 38 (voltage command value output step). In this example, the voltage phase θv and the voltage command value | Va | are also output to the mode transition unit 80.

Further, the sine wave mode synchronization control unit 420 of the sine wave control unit 40 generates the carrier setting information Sc of the triangular wave, which will be described later, from the voltage phase θv, the electric angle velocity ω, and the electric angle θ obtained by the polar coordinate conversion unit 418. It is output to the generation unit 34 (sine wave control carrier information generation step). Since the voltage phase θv used at this time does not include the output of the current proportional control unit 410b (does not include the vibration component) as described above, the carrier setting information Sc generated thereby is affected by the vibration component. It will not be. The carrier setting information Sc will be described later.

Next, the configuration and operation of the rectangular wave control unit 50 will be described. Since the configuration of the rectangular wave control unit 50 described below is an example suitable for the present invention, the configuration is not limited to the following configuration, and any other configuration is provided as long as the configuration essential to the present invention is provided. A rectangular wave control mechanism may be used.

First, when the PM motor 10 exceeds the switching value (switching line C) in FIG. 2 and becomes an operating state in the operating region B having a high rotation speed and a high torque, the switching unit 24 controls the PM motor 10 by a sine wave control unit. Switch from 40 to the square wave control unit 50. The switching operation at this time will be described later. As a result, the torque command value T ^* is input to the voltage phase setting unit 502 of the rectangular wave control unit 50. Further, the d-axis feedback current value Id and the q-axis feedback current value Iq are input to the torque calculation unit 504 of the square wave control unit 50. The torque calculation unit 504 has motor parameters similar to the torque calculation unit 404 of the sine wave control unit 40, and the current PM motor 10 is obtained from these motor parameters and the d-axis and q-axis feedback current values Id and Iq. Torque T is calculated and output to the voltage phase setting unit 502. Then, the voltage phase setting unit 502 generates a voltage phase θv from the torque command value T ^* and the torque T so that the PM motor 10 operates at the target torque by integral control, proportional control, or the like. Then, it is output to the voltage command value generation unit 516 of the rectangular wave control unit 50. Further, as a characteristic configuration of the present invention, the voltage phase θv generated by the voltage phase setting unit 502 is output to the rectangular wave mode synchronization control unit 520.

The square wave mode synchronization control unit 520 generates carrier setting information Sc for setting a triangular wave from the voltage phase θv, the electric angular velocity ω, and the electric angle θ (square wave control carrier information generation step). Here, in the present invention, the carrier setting information Sc is obtained using the voltage phase θv generated by the voltage phase setting unit 502, that is, the voltage phase θv that does not include the vibration component before the proportional control is performed by the correction unit 70 described later. .. Therefore, the carrier setting information Sc is not affected by the vibration component. The carrier setting information Sc will be described later. The square wave mode synchronization control unit 520 also functions as a voltage command acquisition unit, and the triangular wave and the three-phase voltage command values Vu, Vv, and Vw are between one cycle of the three-phase voltage command values Vu, Vv, and Vw. The voltage command value | Va | is acquired and output to the voltage command value generation unit 516 so that the drive signals Su, Sv, and Sw intersect twice at, that is, the drive signals Su, Sv, and Sw generated by the triangular wave comparison become a square wave of one pulse. For the setting of the voltage command value | Va | by the square wave mode synchronization control unit 520 (voltage command acquisition unit), the value of the voltage command value | Va | is set in advance in the data table for each number of synchronizations of the triangular wave. It is preferable that the square wave mode synchronization control unit 520 determines the synchronization number of the triangular wave, and at the same time, selects and sets the voltage command value | Va | corresponding to this synchronization number. Therefore, the voltage command value | Va | at this time is also not affected by the vibration component. Then, the rectangular wave mode synchronization control unit 520 (voltage command acquisition unit) outputs this voltage command value | Va | to the voltage command value generation unit 516 and the linear correction unit 38. It is preferable that the voltage command value | Va | that forms the square wave is also used as the rectangular wave forming voltage value | Va1 | described later.

Further, the voltage command value generation unit 516 has a d-axis from the voltage phase θv input from the voltage phase setting unit 502 and the voltage command value | Va | input from the square wave mode synchronization control unit 520 (voltage command acquisition unit). Generates voltage command value Vd and q-axis voltage command value Vq.

Further, the rectangular wave control unit 50 has a correction unit 70 for correcting fluctuation components due to offset or the like. Here, an example of the correction unit 70 is shown below. Since the configuration of the correction unit 70 described below is an example suitable for the present invention, the configuration is not limited to the following configuration.

The correction unit 70 shown in this example includes a smoothing unit 72, a correction current generation unit 74, a correction voltage generation unit 76, and a voltage command value correction unit 78. Then, the smoothing unit 72 of the correction unit 70 smoothes the d-axis, q-axis feedback current values Id, and Iq input via the switching unit 24, for example, by performing a moving average process or a smoothing process. The smoothing process here is a process of smoothing the input signals (d-axis, q-axis feedback current values Id, Iq) by performing the process of the following equation (1) at arbitrary cycles. means.
C = B (1-K) + K × A ... (1)
Here, A is an input value (d-axis, q-axis feedback current value Id, Iq), B is an output value after the smoothing process of the immediately preceding cycle, K is a smoothing constant, and C is an output. Values (estimated d-axis, q-axis current command values Id ^* , Iq ^* ).

By this smoothing process, the pseudo estimated d-axis current command value Id ^* and the estimated q-axis current command value Iq ^* in which the fluctuation components due to the offset and amplitude imbalance of the drive currents Iu, Iv, and Iw are smoothed are obtained. Generated. Then, these estimated d-axis, q-axis current command values Id ^* , and Iq ^* are output to the correction current generation unit 74.

Further, the d-axis feedback current value Id and the q-axis feedback current value Iq are input to the correction current generation unit 74, respectively, and the correction current generation unit 74 is the estimated d-axis current command value Id ^* generated by the smoothing unit 72. , The d-axis feedback current value Id and the q-axis feedback current value Iq are subtracted from the estimated q-axis current command value Iq ^* , respectively. As a result, the d-axis correction current ΔId and the q-axis correction current ΔIq as fluctuation components are generated. Then, these d-axis correction currents ΔId and q-axis correction currents ΔIq are output to the correction voltage generation unit 76. The d-axis correction current ΔId and q-axis correction current ΔIq are offset and amplitude unbalanced from the estimated d-axis and q-axis current command values Id ^* and Iq ^* in which the offset and amplitude imbalance components (fluctuation components) are smoothed. Since the d-axis and q-axis feedback current values Id and Iq including the balance component (fluctuation component) are subtracted, the reverse phase of the fluctuation component is basically taken.

Further, the correction voltage generation unit 76 has a d-axis correction voltage ΔVd from the d-axis correction current ΔId and the q-axis correction current ΔIq input from the correction current generation unit 74 by, for example, proportional control by a predetermined correction gain (Kd, Kq). , Q-axis correction voltage ΔVq is generated and output to the voltage command value correction unit 78.

The voltage command value correction unit 78 outputs the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq input from the correction voltage generation unit 76 from the voltage command value generation unit 516, and the d-axis voltage command value Vd and the q-axis voltage command value Vq. Add to each. Therefore, the d-axis and q-axis voltage command correction values Vd and Vq generated by this are the reverse voltages of the offset and amplitude unbalanced components generated in the drive currents Iu, Iv and Iw (d-axis and q-axis correction voltages ΔVd and ΔVq). ) Is added. Then, the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq are input to the control signal generation unit 30 via the switching unit 24. It should be noted that the d-axis voltage command correction value Vd and the q-axis voltage command correction value Vq corrected by the correction unit 70 are added with the reverse voltage of the offset and the amplitude unbalance component as described above. The offset of the driving PM motor 10 is corrected and eliminated.

Next, the carrier setting information Sc output by the sine wave mode synchronization control unit 420 and the rectangular wave mode synchronization control unit 520 will be described. First, this carrier setting information Sc maintains the frequency of the triangular wave generated by the triangular wave generation unit 34 in an appropriate state. Here, in the triangular wave set by the carrier setting information Sc, as shown at point A in FIG. 3, the central position of the falling edge of the triangular wave intersects the zero position of the rising edge of the three-phase voltage command values Vu, Vv, and Vw. Further, the frequency of the triangular wave is an integral multiple of an odd number of 3 of the frequencies of the three-phase voltage command values Vu, Vv, and Vw, that is, 9, 15, 21, 27 times, etc. (hereinafter, this multiple is referred to as the synchronization number). It is a thing. The number of synchronizations of the triangular wave is set according to the electric angular velocity ω. The reason why the frequency of the triangular wave is set to an odd multiple of 3 of the frequencies of the three-phase voltage command values Vu, Vv, and Vw will be described later.

In the present invention, the voltage phase θv used to generate the carrier setting information Sc is obtained from the integration side d-axis (before the output addition of the current proportional control unit 410b), the q-axis voltage command values Vd'', and Vq''. The voltage phase θv is used, or the voltage phase θv branched in front of the correction unit 70 (where proportional control is performed) is used. Here, when the voltage phase θv includes a proportional control component which is a short-term vibration component, the period of the triangular wave (carrier setting information Sc) also vibrates in the short-term according to this proportional control component. This fluctuates the drive signals Su, Sv, and Sw generated by the triangle wave comparison, and becomes a fluctuation factor of the output voltage, the current, and the torque. However, in the present invention, since the carrier setting information Sc is set using the voltage phase θv that does not include the proportional control component (short-term vibration component) as described above, the triangular wave and the drive signals Su, Sv, and Sw are stable. This makes it possible to stabilize the output voltage, current, and torque. Further, by using the voltage phase θv that does not include the proportional control component, it becomes possible to take a large control gain of the sine wave mode synchronous control unit 420, the square wave mode synchronous control unit 520, the voltage phase setting unit 502, and the like. It is possible to improve the responsiveness of.

Then, the sine wave mode synchronous control unit 420 and the square wave mode synchronous control unit 520 have the center position of the triangular wave and the zero position of the three-phase voltage command value Vu (Vv, Vw) based on the voltage phase θv and the electric angle θ. The period of the triangular wave is set so as to intersect and the frequency of the triangular wave becomes the set synchronization number (an integral multiple of 3 which is an odd number of the frequencies of the three-phase voltage command values Vu, Vv, and Vw). Further, the sine wave mode synchronous control unit 420 and the rectangular wave mode synchronous control unit 520 change the period setting information in conjunction with the change in the electric angular velocity ω, and make the triangular wave follow and maintain the above state. Further, when the sine wave mode synchronization control unit 420 and the rectangular wave mode synchronization control unit 520 exceed a predetermined value set in advance, the number of synchronizations is lowered by one step to set and output the carrier setting information Sc. .. Further, when the electric angular velocity ω falls below a predetermined value set in advance, the number of synchronizations is increased by one step to set and output the carrier setting information Sc. The value of the electric angular velocity ω that changes the synchronization number is stored in advance in a data table or the like for each synchronization number, and the sine wave mode synchronization control unit 420 and the rectangular wave mode synchronization control unit 520 respond to the input electric angular velocity ω. It is preferable to acquire the corresponding synchronization number from the data table and set it. At this time, it is preferable to give a hysteresis width to the electric angular velocity ω that fluctuates the number of synchronizations. In conjunction with the change in the period of these triangular waves, the correction gain (Kd, Kq) of the correction voltage generation unit 76, the time constant of the smoothing unit 72, the gain of each control, and the like are adjusted and reset.

Next, a suitable example of the control signal generation unit 30 will be described. Since the configuration of the control signal generation unit 30 described below is an example suitable for the present invention, the configuration is not limited to the following, and any other control signal generation mechanism may be used.

First, the d-axis voltage command value Vd and q-axis voltage command value Vq (d-axis voltage command correction value Vd and q-axis voltage command correction value Vq) output from the sine wave control unit 40 or the square wave control unit 50 generate control signals. Input to the dq / 3 phase conversion unit 32 of the unit 30. The control signal generation unit 30 has the d-axis, q-axis voltage command values Vd, Vq and voltage command values | Va | in the front stage of the dq / 3-phase conversion unit 32, mainly during overmodulation control, and the inverter output voltage. It has a linear correction unit 38 for correcting non-linearity with the fundamental wave component. The correction value used in the linear correction unit 38 is preferably set in correspondence with, for example, a modulation factor, a voltage command value | Va |, or the like.

Then, in the present invention, the voltage command value | Va | to be input to the linear correction unit 38 is from the integration side d-axis (before the output addition of the current proportional control unit 410b), the q-axis voltage command value Vd'', Vq''. Obtained voltage command value | Va |, or before the correction unit 70 (which is proportionally controlled) (excluding short-term vibration components of the d-axis correction voltage ΔVd and q-axis correction voltage ΔVq of the correction unit 70) The voltage command value | Va | output by the rectangular wave mode synchronous control unit 520 (voltage command acquisition unit) is used (sine wave control linear correction step, rectangular wave control linear correction step). Here, when the voltage command value | Va | includes a proportional control component which is a short-term vibration component, the correction value fluctuates due to the influence of this vibration component. As a result, the three-phase voltage command values Vu, Vv, Vw, drive signals Su, Sv, and Sw in the subsequent stage also fluctuate, which causes fluctuations in the output voltage, current, and torque. However, in the present invention, since the correction value is set based on the relatively stable voltage command value | Va | that does not include the proportional control component as described above, the stable three-phase voltage command values Vu, Vv, Vw, and the drive signal Su, Sv, and Sw can be generated, and the output voltage, current, and torque can be stabilized. Further, by setting the correction value based on the voltage command value | Va | that does not include the proportional control component, it is possible to obtain a large gain of the current proportional control unit 410b and the correction voltage generation unit 76, and their responsiveness. Can be improved.

Further, the electric angle θ from the angle detection unit 14 and the electric angular velocity ω from the angular velocity calculation unit 16 are input to the dq / 3 phase conversion unit 32, and the inverter 20 switches based on the electric angle θ and the electric angular velocity ω. The predicted electric angle θ'of the new timing of operation is calculated, and the d-axis and q-axis voltage command values Vd and Vq are converted into the three-phase voltage command values Vu, Vv and Vw based on this predicted electric angle θ'. , Is output to the drive signal generation unit 36.

The drive signal generation unit 36 has a triangular wave generation unit 34, and the above-mentioned carrier setting information Sc is input to the triangular wave generation unit 34 to generate a triangular wave having a period based on the carrier setting information Sc. The triangular wave at this time has the three-phase voltage command values Vu, Vv, and Vw rising at the center position of the falling of the triangular wave according to the carrier setting information Sc from the sine wave mode synchronous control unit 420 and the square wave mode synchronous control unit 520. It intersects with the zero position of, and the frequency becomes a triangular wave that is an integral multiple of an odd number of 3 of the three-phase voltage command values Vu, Vv, and Vw.

Then, the drive signal generation unit 36 compares the triangular wave with the three-phase voltage command values Vu, Vv, and Vw, respectively. At this time, the amplitude of the triangular wave increases or decreases depending on the carrier setting information Sc. Therefore, the three-phase voltage command values Vu, Vv, and Vw are adjusted by a conversion coefficient proportional to the amplitude of the triangular wave, and the triangular wave comparison is performed using the adjusted three-phase voltage command values Vu, Vv, and Vw. As a result, Hi-Low drive signals Su, Sv, and Sw are generated.

In the inverter 20, the internal switching element is turned on / off by the drive signals Su, Sv, Sw output from the drive signal generation unit 36, and the DC power from the DC power supply unit 18 is used as the AC voltage based on the drive signals Su, Sv, Sw. Convert to and output. As a result, AC drive currents Iu, Iv, and Iw, whose phases are shifted by 1/3 cycle (2 / 3π (rad)), flow down to the armature winding of the PM motor 10, respectively. As a result, the PM motor 10 rotates with a torque corresponding to the torque command value T ^* .

Next, an example of the operation of the motor control device 100 and the mode transition unit 80 of the motor control method according to the present invention will be described. Here, FIG. 4 is an operation flowchart when switching from the sine wave control mode to the rectangular wave pattern control mode. Further, FIG. 5 is an operation flowchart when switching from the rectangular wave control mode to the sine wave control mode.

First, the operation at the time of switching from the sinusoidal wave control mode to the rectangular wave control mode of the motor control device 100 and the motor control method in this example will be described. First, in the sine wave control mode, the sine wave control unit 40 generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the torque command value T ^* , and the d-axis voltage command value Vd and the q-axis voltage. Drive signals Su, Sv, Sw are generated based on the command value Vq. The drive signals Su, Sv, and Sw at this time are a sine wave pattern or an overmodulation pattern when the sine wave control unit 40 enables overmodulation control or weakening magnetic flux control. Further, when the sine wave control unit 40 does not have the overmodulation control function or the weakening magnetic flux control function, the sine wave pattern is obtained. Then, the operation of the PM motor 10 is controlled by the drive signals Su, Sv, Sw of these sine wave patterns or overmodulation patterns (step S102).

Further, at this time, the polar coordinate conversion unit 418 of the sine wave control unit 40 has the integration side d-axis, the q-axis voltage command value Vd'', and Vq before the current proportional control component in the current control unit 410 is added, as described above. '' Is converted into polar coordinates to calculate the voltage phase θv and the voltage command value | Va |. Then, the mode transition unit 80 acquires the voltage phase θv and the voltage command value | Va |, respectively (step S104), and sets this as the initial value of the initial voltage phase θv1 and the transition voltage command value | Va'| (step). S105). The voltage phase θv and the voltage command value | Va | change at any time, and the initial values of the initial voltage phase θv1 and the transition voltage command value | Va'| also change accordingly. As described above, the initial values of the initial voltage phase θv1 and the transition voltage command value | Va'| are obtained from the integration side d-axis not including the proportional control component, the q-axis voltage command values Vd'', and Vq''. Therefore, there is little short-term fluctuation and the output can be stabilized during the transition period described later.

Next, when the operating condition (torque, rotation speed) of the PM motor 10 exceeds the switching value (switching line C) due to an increase in the torque command value T ^* from the outside and the square wave control region B is reached (next). Step S106: Yes), the switching unit 24 immediately switches the generation unit of the d-axis voltage command value Vd and the q-axis voltage command value Vq from the sine wave control unit 40 to the square wave control unit 50 (step S108). When the motor control device 100 includes the second mode described later, the control unit is switched to the square wave control unit 50, so that the steps S203 and S204 described later are performed, and the square wave control unit 50 The output d-axis, q-axis voltage command value Vd, Vq (d-axis voltage command correction value Vd, q-axis voltage command correction value Vq) is the initial value Vd1, Vq1 of the d-axis, q-axis voltage command value, and the sine wave control unit. At the same time as being output to 40, the transition data Ifb is calculated based on the d-axis feedback current value Id and the q-axis feedback current value Iq.

At this time, the mode transition unit 80 outputs the initial voltage phase θv1 to the voltage phase setting unit 502 of the rectangular wave control unit 50, and outputs the initial value (= | Va |) of the transition voltage command value | Va'| to the square wave. Output to the mode synchronization control unit 520 (step S110).

Next, the mode transition unit 80 acquires a square wave forming voltage value | Va1 | from the rectangular wave mode synchronization control unit 520 so that the drive signals Su, Sv, and Sw have a square wave pattern of one pulse (step S112).

Next, the mode transition unit 80 continuously sets the transition voltage command value | Va'| from the initial value (= | Va |) to the rectangular wave forming voltage value | Va1 |, for example, based on a predetermined time constant set in advance. It is increased and output to the rectangular wave mode synchronization control unit 520 (steps S114 to S116).

When the transition voltage command value | Va'| is input from the mode transition unit 80, the square wave mode synchronization control unit 520 has this transition voltage command value | Va'| regardless of the torque command value T ^* . Is output to the voltage command value generation unit 516 and the switching unit 24. However, the initial voltage phase θv1 is only output when the control unit is switched to the rectangular wave control unit 50, and thereafter, the voltage phase θv becomes the voltage phase θv according to the torque command value T ^* . Therefore, the d-axis, q-axis voltage command values Vd, and Vq in the transition period from step S114 to step S116 are generated based on the voltage phase θv and the transition voltage command value | Va'|. The initial value of the transition voltage command value | Va'| is the voltage command value | Va | that forms the sine wave pattern (or overmodulation pattern) used in the sine wave control unit 40, and the transition voltage command value. Since the rectangular wave forming voltage value | Va1 |, which is the final value of | Va'|, is the voltage command value that forms the rectangular wave pattern, the drive signals Su, Sv, and Sw are controlled by the voltage phase θv during this transition period. While being performed, it continuously changes from a sinusoidal pattern or an overmodulated pattern to a rectangular wave pattern.

Then, when the transition voltage command value | Va'| becomes equal to or greater than the rectangular wave forming voltage value | Va1 | (step S116: Yes), the mode transition unit 80 stops the output of the transition voltage command value | Va'|. , The square wave control unit 50 completely shifts to the rectangular wave control mode (step S118). As a result, the square wave control unit 50 has a d-axis, a q-axis voltage command value Vd, and Vq (d-axis voltage command correction value Vd, depending on the voltage phase θv corresponding to the torque command value T ^* and the square wave formation voltage value | Va1 |. The q-axis voltage command correction value Vq) is generated and output to the control signal generation unit 30 side. As a result, the operation of the PM motor 10 is controlled by the drive signals Su, Sv, and Sw of the rectangular wave pattern.

As described above, in the motor control device 100 and the motor control method shown in this example, when switching from the sinusoidal wave control mode to the square wave control mode, the drive signals Su, Sv, and Sw are sinusoidally while performing torque control by the voltage phase θv. The wave pattern (or overmodulation pattern) is continuously changed to a square wave pattern. Therefore, it is possible to smoothly switch the control mode with less torque fluctuation.

Next, the operation at the time of switching from the rectangular wave control mode to the sine wave control mode of the motor control device 100 and the motor control method in this example will be described. First, in the square wave control mode, the square wave control unit 50 has a d-axis voltage command value Vd and a q-axis voltage command value Vq (d-axis voltage command correction value Vd and a q-axis voltage command correction value) based on the torque command value T ^* . Vq) is generated, and drive signals Su, Sv, Sw are generated based on the d-axis voltage command value Vd and the q-axis voltage command value Vq (d-axis voltage command correction value Vd and q-axis voltage command correction value Vq). To. The drive signals Su, Sv, and Sw at this time are basically a one-pulse rectangular wave pattern as described above. The operation of the PM motor 10 is controlled by the drive signals Su, Sv, and Sw of this rectangular wave pattern (step S202).

At the time of control by the square wave control unit 50, the d-axis and q-axis voltage command correction values Vd and Vq output by the square wave control unit 50 are d-axis and q-axis voltage to the voltage command value generation unit 416 of the sine wave control unit 40. It is output as the initial values Vd1 and Vq1 of the command value directly or via the mode transition unit 80 (step S203). Then, the input d-axis and q-axis voltage command values initial values Vd1 and Vq1 have interference components between the d-axis and q-axis of the non-interference control unit 414 (d-axis, q-axis voltage command value Vd', Vq'). Is subtracted, and then input to the current integration control unit 410a to obtain the integration value of the current integration control unit 410. However, in the rectangular wave control mode, the integrated value of the current control unit 410 and the like are not involved in the control of the PM motor 10. The initial values Vd1 and Vq1 change at any time according to fluctuations in the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the rectangular wave control unit 50.

At this time, the mode transition unit 80 acquires the d-axis feedback current value Id and the q-axis feedback current value Iq from the three-phase / dq conversion unit 22. Then, the transition data Ifb for calculating the initial value Id ^* 1 of the d-axis current command value and the initial value Iq ^* 1 of the q-axis current command value is calculated (step S204). The transition data Ifb is, for example, the integrated value of the integrated control unit inside the current command value setting unit 402 and the current command value generation unit 406 obtained by calculation using the d-axis, q-axis feedback current values Id, and Iq. This is to supplement the data that cannot be acquired by the current command value setting unit 402 and the current command value generation unit 406 immediately after switching from the square wave control unit 50 to the sine wave control unit 40. The acquisition of this migration data Ifb is also performed in the same way during the migration period described later.

Next, when the operating condition (torque, rotation speed) of the PM motor 10 exceeds the switching value (switching line C) due to a decrease in the torque command value T ^* from the outside and becomes the sine wave control region A ( Step S206: Yes), the mode transition unit 80 acquires the voltage command value | Va | output by the rectangular wave mode synchronization control unit 520 at this time. Then, this voltage command value | Va | is set as the initial value of the transition voltage command value | Va'| (step S208). Further, the mode transition unit 80 acquires a sine wave mode transition voltage value | Va2 | such that the drive signals Su, Sv, and Sw take a sine wave pattern (or overmodulation pattern) (step S210). For the sine wave mode transition voltage value | Va2 |, a preset fixed value such as an upper limit value of the voltage command value | Va | in the sine wave control mode (the limiter value of the limiter portion of the current control unit 410) shall be used. Is preferable.

Next, the mode transition unit 80 continuously sets the transition voltage command value | Va'| from the initial value (= | Va |) to the sinusoidal mode transition voltage value | Va2 |, for example, based on a predetermined time constant set in advance. And output to the square wave mode synchronization control unit 520 (step S212 to step S216). Even during this transition period, the initial values Vd1 and Vq1 output by the rectangular wave control unit 50 are continuously output to the sine wave control unit 40 (step S214), and the transition data Ifb is updated at any time (step S215). ).

In the square wave mode synchronization control unit 520, when the transition voltage command value | Va'| is input from the mode transition unit 80 as described above, this transition voltage command value does not depend on the torque command value T ^* . | Va'| is output to the voltage command value generation unit 516 and the switching unit 24. Therefore, the d-axis and q-axis voltage command values Vd and Vq in the transition period from step S212 to step S216 are generated based on the voltage phase θv and the transition voltage command value | Va'| as described above. .. The initial value (= | Va |) of the transition voltage command value | Va'| is the voltage command value at the time of square wave control, and the sine wave mode transition voltage which is the final value of the transition voltage command value | Va'|. Since the value | Va2 | is a voltage command value that forms a sine wave pattern or an overmodulation pattern, the drive signals Su, Sv, and Sw are overmodulated from the square wave pattern while torque control is performed by the voltage phase θv during this transition period. It changes continuously into a pattern or a sinusoidal pattern. Further, even if there is a change in the torque command value T ^* , the power supply voltage Vdc, or the electric angular velocity ω during this transition period, these changes are reflected in the torque control and the transition data Ifb at any time.

Then, when the transition voltage command value | Va'| becomes the sine wave mode transition voltage value | Va2 | or less (step S216: Yes), the mode transition unit 80 stops the output of the transition voltage command value | Va'|. At the same time, the switching unit 24 switches the generation unit of the d-axis voltage command value Vd and the q-axis voltage command value Vq from the square wave control unit 50 to the sine wave control unit 40 (step S218). At this time, the mode transition unit 80 outputs the transition data Ifb to the current command value setting unit 402 and the current command value generation unit 406 of the sine wave control unit 40 (step S220). As a result, the current command value setting unit 402 and the current command value generation unit 406 calculate the initial value Id ^* 1 of the d-axis current command value and the initial value Iq ^* 1 of the q-axis current command value based on the transition data Ifb. It is output to the voltage command value generation unit 416.

Further, since the initial values Vd1 and Vq1 of the d-axis and q-axis voltage command values are input to the voltage command value generation unit 416 and are integrated values of the current integration control of the d-axis and q-axis, therefore, the sine wave control unit. Immediately after switching to 40, based on the initial values Vd1, Vq1, of the d-axis and q-axis voltage command values, the initial value Id ^* 1 of the d-axis current command value, and the initial value Iq ^* 1 of the q-axis current command value. The d-axis voltage command value Vd at the time of switching and the q-axis voltage command value Vq at the time of switching are generated and output to the control signal generation unit 30 side (step S222). As a result, immediately after switching to the sine wave control unit 40, the PM motor 10 is controlled by the drive signals Su, Sv, and Sw based on the d-axis voltage command value Vd at the time of switching and the q-axis voltage command value Vq at the time of switching.

After that, the motor control device 100 completely shifts to the sine wave control mode by the sine wave control unit 40 (step S224). As a result, the sine wave control unit 40 generates d-axis, q-axis voltage command values Vd, and Vq according to the d-axis current command value Id ^* and the q-axis current command value Iq ^* according to the torque command value T ^* , and controls the control signal. Output to the generation unit 30 side. As a result, the operation of the PM motor 10 is controlled by the drive signals Su, Sv, Sw of the sine wave pattern or the overmodulation pattern.

As described above, in the motor control device 100 and the motor control method shown in this example, when switching from the square wave control mode to the sine wave control mode, the drive signals Su, Sv, and Sw are rectangular while performing torque control by the voltage phase θv. The wave pattern is continuously changed to a sine wave pattern (or overmodulation pattern), and when the sine wave pattern (or overmodulation pattern) is reached, the mode is switched to the sine wave control mode. Immediately after switching to the sine wave control mode, the final value at the time of mode transition (initial value Vd1 of d-axis voltage command value, initial value Vq1 of q-axis voltage command value, initial value Id ^* of d-axis current command value). 1. The d-axis, q-axis voltage command values Vd, and Vq are generated at the time of switching based on the initial value Iq ^* 1) of the q-axis current command value, and the operation control of the PM motor 10 is performed. Therefore, it is possible to smoothly switch the control mode in which the control values are continuous and the torque fluctuation is small before and after the switching of the control unit.

Further, in the motor control device 100 and the motor control method shown in this example, control is performed by the rectangular wave control unit 50 based on the transition voltage command value | Va'| during the transition period at the time of mode switching. Therefore, even if the operating condition of the PM motor 10 changes during the transition period and re-switching is required, the re-switching operation can be performed as it is. For example, if re-switching to the sine wave control mode occurs during the switching operation from the sine wave control mode to the square wave control mode, the process directly proceeds from step S208 to step S216, and after the transition operation by the square wave control unit 50 is performed. , Step S218 to step S224 can switch to the sine wave control mode. Further, when the switching to the rectangular wave control mode occurs again during the switching operation from the rectangular wave control mode to the sine wave control mode, the rectangular wave control mode is performed by the rectangular wave control unit 50 after the transition from step S110 to step S116 as it is. You can continue to control at. As described above, the motor control device 100 and the motor control method shown in this example can cope with the re-switching of the control mode even during the transition period, and also the voltage phase based on the torque command value T ^* during the transition period. Since torque control is performed by θv, operation control with excellent responsiveness can be performed.

The sine wave control unit 40 of the motor control device 100 supports overmodulation control and weakening magnetic flux control, and has a square wave forming voltage value | Va1 | equivalent to that of the square wave control unit 50 in the control region of the overmodulation pattern. When the voltage output is possible, that is, when the sine wave mode transition voltage value | Va2 | and the square wave forming voltage value | Va1 | are substantially equivalent, the control of steps S208 to S216 may be omitted. Even in this case, immediately after switching from the rectangular wave control mode to the sine wave control mode, the d-axis, q-axis voltage command values Vd, and Vq are generated at the time of switching, and the smooth control mode with less torque fluctuation can be switched. ..

Next, the triangular wave of the motor control device 100 and the motor control method according to the present invention will be described. In the triangular wave used in the present invention, as described above, the central position of the falling edge of the triangular wave intersects the zero position of the rising edge of the three-phase voltage command values Vu, Vv, Vw, and the frequency of the three-phase voltage command values Vu, Vv, Vw. It is assumed that the frequency is an integral multiple of 3 which is an odd number of. First, when the frequency of the triangular wave is not an integral multiple of 3 of the frequencies of the three-phase voltage command values Vu, Vv, and Vw, the waveforms of the drive signals Su, Sv, and Sw are different for the U phase, V phase, and W phase. , The PM motor 10 cannot be controlled smoothly. Therefore, the frequency of the triangular wave is an integral multiple of 3 of the frequencies of the three-phase voltage command values Vu, Vv, and Vw.

Next, the reason for setting the odd number to an integral multiple of 3 will be described. Here, in FIG. 6A1, the triangular wave with the three-phase voltage command values Vu and Vv when the frequency of the triangular wave is 6 times the three-phase voltage command value Vu (Vv, Vw) (integer multiple of an even number 3). A schematic diagram of the comparison is shown. Further, FIGS. 6 (a2) and 6 (a3) show the drive signals Su and Sv generated by this triangular wave comparison. Further, FIG. 6A4 shows the output line voltage Vuv between the U phase and the V phase at this time. Further, in FIG. 6 (b1), a triangle wave comparison with the three-phase voltage command values Vu and Vv when the frequency of the triangle wave is 9 times the three-phase voltage command value Vu (Vv, Vw) (an integral multiple of an odd number of 3). The schematic diagram of is shown. Further, FIGS. 6 (b2) and 6 (b3) show the drive signals Su and Sv generated by this triangular wave comparison. Further, FIG. 6 (b4) shows the output line voltage Vuv between the U phase and the V phase at this time.

First, when the frequency of the triangular wave is an integral multiple of an even number of 3 of the three-phase voltage command values Vu, Vv, and Vw, the zero position of the three-phase voltage command value Vu and the triangular wave at the portion shown by the alternate long and short dash line in FIG. 6 (a1). The center position of both intersects in the falling area. In such a case, depending on the amplitude of the three-phase voltage command values Vu, Vv, Vw, the slopes of the three-phase voltage command values Vu, Vv, Vw and the triangular wave may partially approximate (both overlap). .. In such a case, when the drive signals Su, Sv, and Sw change from a sinusoidal pattern (overmodulation pattern) to a square wave pattern, discontinuity or abrupt change may occur, which causes torque fluctuation. It becomes.

However, when the frequency of the triangular wave is an integral multiple of an odd number of 3 of the three-phase voltage command values Vu, Vv, and Vw, the falling region of the three-phase voltage command value Vu is shown by the alternate long and short dash line in FIG. 6 (b1). The zero position at is crossed at the center of the rising edge of the triangular wave. That is, in the case of an odd multiple of 3, the zero positions in the falling region of the three-phase voltage command values Vu, Vv, and Vw basically intersect in the rising region of the triangular wave, and the three-phase voltage command value Vu, The zero positions in the rising region of Vv and Vw intersect in the falling region of the triangular wave. Therefore, the continuity of the drive signals Su, Sv, Sw is well maintained, and stable drive signals Su, Sv, Sw can be generated.

Further, when the frequency of the triangular wave is an integral multiple of an even number of 3 of the three-phase voltage command values Vu, Vv, and Vw, for example, in FIG. 6A4, the waveform of the output line voltage Vuv becomes asymmetric in the vertical direction. As described above, when the symmetry of the waveform of the output line voltage is not ensured, offset components and distortion may be generated in the drive currents Iu, Iv, and Iw, which is not preferable as a control signal of the PM motor 10.

However, when the frequency of the triangular wave is an integral multiple of an odd number of 3 of the three-phase voltage command values Vu, Vv, and Vw, the waveform of the output line voltage Vuv is up, down, left, and right as shown in FIG. 6 (b4). Is symmetrical. Similarly, the output line voltages Vvw and Vwoo also have symmetry, and stable control of the PM motor 10 is possible.

As described above, the motor control device 100 and the motor control method according to the present invention are obtained from the integration side d-axis (before the output addition of the current proportional control unit 410b), the q-axis voltage command values Vd'', and Vq''. Linear correction is performed based on the voltage command value | Va | or the voltage command value | Va | that does not include the current proportional control component output by the square wave mode synchronization control unit 520 (voltage command acquisition unit). As a result, the d-axis and q-axis voltage command values Vd and Vq after linear correction are not affected by short-term vibration components, and stable three-phase voltage command values Vu, Vv, Vw, drive signals Su, Sv, Sw. Can be generated, and the output voltage, current, and torque can be stabilized. Further, by setting the correction value of the linear correction based on the voltage command value | Va | that does not include the proportional control component, it becomes possible to obtain a large gain of the current proportional control unit 410b and the correction voltage generation unit 76. It is possible to improve the responsiveness of the.

Further, in the motor control device 100 and the motor control method according to the present invention, the voltage phase obtained from the integration side d-axis (before the output addition of the current proportional control unit 410b), the q-axis voltage command values Vd ″, and Vq ″. Carrier setting information Sc is generated based on θv or a voltage phase θv that does not include a component of current proportional control branched in front of the correction unit 70 (where proportional control is performed). As a result, the carrier setting information Sc and the triangular wave are not affected by short-term vibration components, stable drive signals Su, Sv, and Sw can be generated, and the output voltage, current, and torque can be stabilized. Further, by using the voltage phase θv that does not include the proportional control component, it becomes possible to take a large control gain of the sine wave mode synchronous control unit 420, the square wave mode synchronous control unit 520, the voltage phase setting unit 502, and the like. It is possible to improve the responsiveness of.

The motor control device 100 and the motor control method shown in this example are examples, and the configuration, operation, configuration of each step, etc. of each unit such as the control signal generation unit 30, the sine wave control unit 40, and the square wave control unit 50, etc. Can be modified and implemented without departing from the gist of the present invention. For example, a triangular wave can be replaced with a carrier wave.

By the way, the correction value used in the linear correction unit 38 is such that the relationship between the modulation factor and the voltage command value | Va | and the fundamental wave component of the inverter output voltage is obtained in advance by an experiment or the like to correct this non-linearity. The table data of the correction value may be created in, and this table data may be read and set.
In this example, the table data of the correction value (magnification) with the voltage command value | Va | as an argument is set in advance, and the linear correction unit 38 has the correction value (magnification) according to the input voltage command value | Va |. ) Is read out and multiplied by the d-axis voltage command value Vd and the q-axis voltage command value Vq to perform linear correction.

As a place to apply the linear correction, it is preferable to apply the linear correction to "the magnitude of the voltage command value before the comparison operation of the drive signal generation unit 36". For example, linear correction may be performed on the d-axis, q-axis voltage command values Vd, and Vq in the previous stage of the dq / 3-phase conversion unit 32. Further, the three-phase voltage command values Vu, Vv, and Vw output by the dq / 3-phase conversion unit 32 may be linearly corrected.

Further, | Va | is obtained from the d-axis, q-axis voltage command values Vd, Vq in the previous stage of the dq / 3-phase conversion unit 32 and the following equation (2), and this | Va | is linearly corrected to the equation (3). (4) Vd and Vq may be configured again from (5) and passed to the dq / 3 phase conversion unit 32.

Further, the correction value of the linear correction is acquired by using | Va | input (or input) to the voltage command value generation unit 516, and further linear correction is performed on this | Va | to generate Vd and Vq, and further correction is performed. Linear correction is also performed on the d-axis correction voltage ΔVd and q-axis correction voltage ΔVq output from the voltage generation unit 76, and these are added up by the voltage command value correction unit 78 and then passed to the dq / 3-phase conversion unit 32. Is also good.

Further, the conversion coefficient corresponding to the three-phase voltage command values Vu, Vv, and Vw is multiplied by the correction value of the linear correction so as to be proportional to the change in the amplitude of the triangular wave of the drive signal generation unit 36, and the conversion coefficient after this multiplication is used. Multiply the three-phase voltage command values Vu, Vv, Vw output by the dq / 3-phase converter 32 so that the adjusted three-phase voltage command values Vu, Vv, Vw used for the comparison operation are linearly corrected. May be.
Equation (2): | Va | = (Vd ^ 2 + Vq ^ 2) ^1/2
Equation (3): θv = tan ^-1 (-Vd / Vq)
Equation (4): Vd = | Va | · sinθv (where the sign of Vd is the same as the sign of the original Vd)
Equation (5): Vq = | Va | · cosθv (where the sign of Vq is the same as the sign of the original Vq)

Further, the voltage command value | Va | used when obtaining the correction value of the linear correction when the rectangular wave control unit 50 is used may be set as follows.
For example, the voltage command value | Va | output by the rectangular wave control unit 50 to the linear correction unit 38 is a current in which the current phase θi of the vector formed by the d-axis current and the q-axis current is preset based on the magnitude of the current. With respect to the phase θi (base), the voltage command value | Va | is made smaller when it is deviated to the q-axis side, and the voltage command value | Va | is made larger when it is deviated to the d-axis side. The magnitude of the voltage command value | Va | is controlled by integral control or proportional control, and the current phase θi equivalent to the target current phase θi (base) is controlled based on the d-axis current and q-axis current. The voltage command value | Va | may be used. When linear correction is performed using this voltage command value | Va |, the d-axis q-axis current is higher than the vibration components of the d-axis correction voltage ΔVd and q-axis correction voltage ΔVq output from the correction voltage generation unit 76. The correction unit 70 is used by selecting control gains such as integral control and proportional control of the control unit that increases or decreases the voltage command value | Va | so that the influence of the fluctuation on the voltage command value | Va | is sufficiently small. At the same time, stable linear correction can be performed based on the voltage command value | Va | in which the influence of the fluctuation of the d-axis q-axis current is sufficiently small.

Further, the mode transition unit 80 continuously increases the transition voltage command value | Va'| from the initial value (= | Va |) to the square wave forming voltage value | Va1 |, for example, based on a predetermined time constant set in advance. The square wave mode may be output to the synchronous control unit 520 and the | Va'| acquired by the synchronous control unit 520 may be output as the voltage command value | Va | to the linear correction unit 38 and used for linear correction. ,
Further, the mode transition unit 80 continuously sets the transition voltage command value | Va'| from the initial value (= | Va |) to the sine wave mode transition voltage value | Va2 | based on a predetermined time constant set in advance, for example. Even if it is reduced and output to the square wave mode synchronization control unit 520 and the | Va'| acquired by the synchronization control unit 520 is output as the voltage command value | Va | to the linear correction unit 38 and used for linear correction. good.

Further, when the drive signals Su, Sv, and Sw continuously change from a sinusoidal pattern or an overmodulation pattern to a square wave pattern while torque control is performed by the voltage phase θv during the transition period, or during the transition period, the drive signals When Su, Sv, and Sw continuously change from a square wave pattern to a overmodulated pattern or a sinusoidal pattern while torque control is performed by the voltage phase θv, the drive signals Su, Sv, and Sw are sinusoidal or overmodulated. Linear correction is performed based on the voltage command value | Va | which is a pattern and a rectangular wave pattern.

Further, since the transition voltage command value | Va'| output by the mode transition unit 80 is continuously increased or decreased based on a predetermined time constant, the d-axis correction output from the correction voltage generation unit 76 is performed. Vibration components such as voltage ΔVd and q-axis correction voltage ΔVq are not included, and linear correction can be performed stably.

Here, the proportional control and the integral control of the sine wave control unit will be supplemented.
The difference between the current integration control unit 410a and the current proportional control unit 410b is that the operation of the current proportional control unit 410b is the difference between the current command values (Id ^* and Iq ^* ) and the feedback currents Id and Iq. Is multiplied by a proportional gain preset in the current proportional control unit 410b to generate an output value of the current proportional control unit 410b. As described above, the current proportional control unit 410b, which is a well-known proportional control, can obtain an output obtained by multiplying the changes of ΔId and ΔIq by the proportional gain. Therefore, when the feedback current changes with respect to the current command value, ΔId and ΔIq change, and it can be seen that the output changes according to the changes in ΔId and ΔIq.

Further, as described in paragraph 0018 of the present application, "the acquisition of the electric angle θ and the drive currents Iu, Iv, (Iw) is performed at the timings of both the peak and the valley of the triangular wave, and the motor control device is used every half cycle of the triangular wave. As described in "Used in each part of 100", the d-axis feedback current value Id in the 3-phase / dq conversion unit 22 is based on the drive currents Iu and Iv and the electric angle θ acquired every half cycle of the triangular wave. , The q-axis feedback current value Iq is converted, and ΔId and ΔIq are updated using this, and the current proportional control unit 410b performs a current proportional control calculation every half cycle of the triangular wave. In this way, a series of current proportional control is performed based on the change in the feedback current at each control cycle, and the output of the current proportional control unit 410b changes.

By the way, in the control device of the AC motor, higher-order components may be superimposed on the drive currents Iu, Iv, Iw, or the drive currents Iu, Iv, Iw may be offset. When an offset or higher-order component with respect to the sine wave, which is the fundamental wave, is superimposed on the three-phase current information, the d-axis feedback current value Id, which is generated by converting the drive currents Iu and Iv by three-phase / dq conversion, The first-order higher component of the component superimposed on the three-phase current is superimposed on the q-axis feedback current value Iq. For example, when the three-phase current has an offset, a first-order component is superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq.

Due to the offset and higher-order components superimposed on the three-phase current, the vibration component is superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq. Next, in the subtraction unit 412, the d-axis feedback current value Id and the q-axis feedback current value Iq on which the vibration component is superimposed are subtracted from the d-axis and q-axis current command values Id ^* and Iq ^* to generate ΔId and ΔIq. Therefore, ΔId and ΔIq on which the vibration components are superimposed are generated.

In this way, when ΔId and ΔIq on which the vibration components are superimposed are input to the current proportional control unit 410b, the current proportional control unit 410b multiplies the ΔId and ΔIq on which the vibration components are superimposed by the proportional gain for current proportional control. It is output as a d-axis voltage command value and a q-axis voltage command value by the unit 410b. In this way, in the current proportional control unit 410b, ΔId and ΔIq are multiplied by the proportional gain. Therefore, when the vibration component is superimposed on ΔId and ΔIq, the proportional gain is also multiplied on the vibration component and the vibration component is superimposed d. The shaft voltage command value and the q-axis voltage command value are output from the current proportional control unit 410b.
As described above, in the proportional control, the vibration component superimposed on ΔId and ΔIq is output to the d-axis voltage command value and the q-axis voltage command value in each control cycle.

On the other hand, the operation of the current integration control unit 410a is the integration preset in the current integration control unit 410a with respect to ΔId and ΔIq, which are the differences between the current command values (Id ^* and Iq ^* ) and the feedback currents Id and Iq. The gain is multiplied, added to the integrated value of the current integration control unit 410a, and this integrated value is output as an output value. As described above, the well-known current integral control does not output the value obtained by multiplying the changes of ΔId and ΔIq by the integral gain as it is, but adds it to the integrated value and outputs the integrated value. Therefore, when the feedback current changes with respect to the current command value and ΔId and ΔIq change, the value to be added to the integrated value changes according to the change of ΔId and ΔIq, but the ratio of the added value to the original integrated value Since the rate of change of the integrated value that becomes the output is determined according to, the rate of change of the output value in one control cycle is proportional control in which the output value changes at the same rate as the rate of change of ΔId and ΔIq described above. In comparison, in the integral control, the rate of change in the output value is smaller than the rate of change in ΔId and ΔIq.

In this way, when comparing integral control and proportional control, the change in the output value of each control due to the change in the input value including the vibration component is that the proportional control changes the output value in proportion to the rate of change in the input value. On the other hand, in the integral control, the rate of change in the output value is smaller than the rate of change in the input value.

Next, the influence of the linear correction of the sine wave control unit and the carrier setting information Sc by the proportional control and the integral control of the sine wave control unit will be supplemented.
In this example, the polar coordinate conversion unit 418 performs polar coordinate conversion based on the d-axis voltage command value and the q-axis voltage command value, and acquires the voltage phase θv and the voltage command value | Va |. Then, the polar coordinate conversion unit 418 outputs this voltage phase θv to the sine wave mode synchronization control unit 420. Further, the voltage command value | Va | is output to the linear correction unit 38.

Therefore, if the correction value of the linear correction is generated based on the d-axis voltage command value including the output of the proportional control and the q-axis voltage command value, the correction value of the linear correction also becomes oscillating, and the linear correction is applied. The voltage command value (d-axis voltage command value, q-axis voltage command value or three-phase voltage command value) and the drive signals Su, Sv, Sw become oscillating, and as a result, the drive currents Iu, Iv, Iw and the motor become. The output torque may become unstable.

Further, in order to reduce such an unstable state, it is necessary to set the gain of the current proportional control low, and there is a possibility that the response of the current proportional control becomes low.
Therefore, as the voltage value used to obtain the correction value for linear correction, the output value of integral control with a small proportion of vibration component should be used, and the output value of proportional control with a large proportion of vibration component should not be included. By doing so, the correction value of the linear correction becomes stable.

Similarly, when the voltage phase θv used when generating the carrier setting information Sc is also generated based on the d-axis voltage command value including the output of proportional control and the q-axis voltage command value, the carrier setting information Sc is generated. Becomes oscillating, the period of the triangular wave generated based on the carrier setting information Sc becomes oscillating, and the drive signals Su, Sv, Sw generated using the triangular wave become oscillating, and as a result, the drive current. Iu, Iv, Iw and the torque output by the motor may become unstable.
Therefore, as the voltage value used to obtain the carrier setting information Sc, the output value of the integral control having a small proportion of the vibration component is used, and the output value of the proportional control having a large proportion of the vibration component is not included. As a result, the carrier setting information Sc becomes stable.

When the non-interference control is used when the sine wave control unit is used, the output value of the non-interference control unit 414 is also added to the output value of the integral control. At that time, the d-axis current value and the q-axis current value used in the non-interference control unit 414 are not the feedback value but the d-axis current command value and the q-axis current command value, so that the vibration component included in the feedback current is used. Since the d-axis and q-axis voltage command values Vd'and Vq', which are output values of non-interference control, can be obtained without being affected by the above, the voltage phase θv which is the output of the polar coordinate conversion unit 418 using this output value and The voltage command value | Va | is stable, and the correction value of the linear correction unit 38 and the carrier setting information Sc which is the output of the synchronization control unit 420 using the voltage phase θv and the voltage command value | Va | are more stable.

Next, the fluctuation component of the correction unit 70 during rectangular wave control is supplemented.
In the square wave control unit 50, the d-axis voltage command value Vd and q-axis voltage command value Vq input to the switching unit 24 are the d-axis correction voltage ΔVd and q input from the correction voltage generation unit 76 in the voltage command value correction unit 78. The axis correction voltage ΔVq is set by adding it to the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the voltage command value generation unit 516, respectively.

The d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output by the correction voltage generation unit 76 are d-axis due to offsets and amplitude imbalance components generated in the drive currents Iu, Iv, and Iw, as in paragraphs 0038 to 0040 of the present application. It is a voltage including a variable component of the opposite phase of the variable component superimposed on the feedback current value Id and the q-axis feedback current value Iq.
Specifically, the d-axis feedback current value Id and the q-axis feedback current value Iq, which are superimposed on the fluctuation components due to the offset and amplitude imbalance components generated in the drive currents Iu, Iv, and Iw, are set to the offset and amplitude imbalance components (fluctuation components). ) Is smoothed from the estimated d-axis and q-axis current command values Id ^* and Iq ^* to generate d-axis correction current ΔId and q-axis correction current ΔIq, respectively, and this d-axis correction current ΔId and q-axis correction The d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq are generated by proportional control in which the current ΔIq is multiplied by a predetermined correction gain (Kd, Kq).
In this way, the d-axis voltage command value Vd and the q-axis voltage command value Vq input to the switching unit 24 to which the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output by the correction voltage generation unit 76 are added have variable components. It includes.

Next, the generation of the voltage command value | Va | in this example during the rectangular wave control will be supplemented.
On the other hand, the carrier setting information Sc and the voltage command value | Va | output to the linear correction unit in the square wave control unit 50 are output by the rectangular wave mode synchronization control unit 520. The voltage command value | Va | is set to a voltage command value | Va | having a predetermined size according to the operating state of the rectangular wave control unit 50, and is output by the rectangular wave mode synchronization control unit 520.

For example, when the drive signals Su, Sv, and Sw are set to a square wave pattern, the voltage command value | Va | is set to the square wave forming voltage value | Va1 | described in paragraph 0033 of the present application, thereby setting the drive signal generation unit 36. In, the triangular wave and the three-phase voltage command values Vu, Vv, Vw intersect twice during one cycle of the three-phase voltage command values Vu, Vv, Vw, that is, the drive signals Su, Sv generated by the triangular wave comparison. , Sw is a voltage command value | Va | having a magnitude of one pulse of a square wave, and the square wave mode synchronization control unit 520 outputs.

Further, for example, as described in paragraph 0058 of the present application, the transition voltage command value | Va'| output by the mode transition unit 80 in this example is input to the square wave mode synchronization control unit 520, and the square wave mode synchronization control unit 520 A voltage command value of an arbitrary size input from the outside of the square wave mode synchronization control unit 520 so that the transition voltage command value | Va'| is output to the voltage command value generation unit 516 and the switching unit 24 | Va | When the square wave mode synchronization control unit 520 outputs the voltage command value | Va | based on the above, it is based on the voltage command value | Va | of an arbitrary size input from the outside of the square wave mode synchronization control unit 520. The voltage command value | Va | in which the drive signals Su, Sv, and Sw are waveforms of a sinusoidal pattern, an overmodulation pattern, or a square wave pattern is set by the square wave mode synchronization control unit 520 with the voltage command value generation unit 516 and the switching unit 24. Output to.

As described above, the rectangular wave mode synchronization control unit 520 has a rectangular wave mode synchronization control unit 520 having a rectangular wave formation voltage value | Va1 | or a voltage command value of an arbitrary size input from the outside of the rectangular wave mode synchronization control unit 520 | Va | (| Va. Since the voltage command value | Va | is output to the voltage command value generation unit 516 and the switching unit 24 based on'|), the voltage command value | Va | output from the switching unit 24 to the linear correction unit 38 is Since it is set without being affected by the d-axis feedback current value Id and the q-axis feedback current value Iq, the switching unit 24 to which the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output by the correction voltage generation unit 76 are added. The fluctuation component included in the d-axis voltage command value Vd and the q-axis voltage command value Vq input to is not superimposed.

On the other hand, for example, the correction value of the linear correction unit 38 using the magnitude of the voltage command value obtained by performing polar coordinate conversion based on the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24. When examining a control configuration that generates Since the q-axis correction voltage ΔVq is added, the correction value of the linear correction unit 38 fluctuates under the influence of the fluctuation components included in the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq, and the linear correction is applied. The three-phase voltage command values Vu, Vv, Vw, drive signals Su, Sv, and Sw also fluctuate according to the fluctuation of the correction value of the linear correction unit 38, which may cause fluctuations in the output voltage, current, and torque.

However, in this example, since the correction value of the linear correction unit 38 is generated based on the voltage command value | Va | output by the square wave mode synchronization control unit 520, the d-axis correction voltage output by the correction voltage generation unit 76. Since the fluctuation components included in the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24 to which the ΔVd and the q-axis correction voltage ΔVq are added are not superimposed, the correction value is stable. Stable three-phase voltage command values Vu, Vv, Vw, drive signals Su, Sv, Sw can be generated, and output voltage, current, and torque can be stabilized.

Further, when the correction value of the linear correction unit 38 is generated based on the voltage command value including the fluctuation components of the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output by the correction voltage generation unit 76, the d-axis correction is performed as described above. Voltage ΔVd, q-axis correction The correction value fluctuates under the influence of the fluctuation component contained in the voltage ΔVq, and the three-phase voltage command values Vu, Vv, Vw, drive signal Su, Sv, Sw to which linear correction is applied also fluctuate. Since it causes fluctuations in output voltage, current, and torque, for example, if the gain of the correction voltage generation unit 76 is increased, the fluctuations in output voltage, current, and torque will further increase. Therefore, the gain of the correction voltage generation unit 76 will be increased. Increasing the value makes it difficult to improve the responsiveness of the correction voltage generation unit 76.

However, in this example, the correction value is set by setting the correction value of the linear correction unit 38 based on the voltage command value that is not affected by the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq output by the correction voltage generation unit 76. The gain of the voltage generation unit 76 can be increased, and the responsiveness of the correction voltage generation unit 76 can be improved.

Next, the voltage phase θv used to generate the carrier setting information Sc of this example during rectangular wave control will be supplemented.
Further, the square wave mode synchronization control unit 520 generates carrier setting information Sc for setting a triangular wave from the voltage phase θv, the electric angular velocity ω, and the electric angle θ. Here, in this example, the carrier setting information Sc is obtained using the voltage phase θv generated by the voltage phase setting unit 502.
The voltage phase setting unit 502 generates a voltage phase θv by integral control, proportional control, or the like based on the current torque T calculated by the torque calculation unit 504 and the torque command value T ^* .

The torque calculation unit 504 calculates the current torque T based on the d-axis feedback current value Id and the q-axis feedback current value Iq.
Therefore, the current torque T calculated by the torque calculation unit 504 is a value including a fluctuation component superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq.
Therefore, there is a possibility that the voltage phase θv generated by the voltage phase setting unit 502 based on the current torque T calculated by the torque calculation unit 504 also contains a fluctuation component.

However, based on the voltage phase θv generated by the voltage phase setting unit 502, the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24 when the rectangular wave control unit 50 operates, Comparing with the voltage phase obtained by performing polar coordinate conversion, although each voltage phase contains a variable component superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq, the voltage phase setting unit 502 The voltage phase θv generated in 1) has a smaller influence of the variable component superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq.

The reason for this is first, in the voltage phase obtained by performing polar coordinate conversion based on the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24, the d-axis correction output by the correction voltage generation unit 76 is performed. The d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq include fluctuation components of the voltage ΔVd and the q-axis correction voltage ΔVq. Estimated d-axis, q-axis current command value Id ^* , Iq ^* in which the offset and amplitude imbalance components (fluctuation components) are smoothed from the d-axis feedback current value Id and q-axis feedback current value Iq on which the fluctuation components are superimposed. The d-axis correction current ΔId and the q-axis correction current ΔIq are generated by subtracting from, respectively, and the d-axis correction current ΔId and the q-axis correction current ΔIq are multiplied by a predetermined correction gain (Kd, Kq) by proportional control. The axis correction voltage ΔVd and the q-axis correction voltage ΔVq are generated.

Therefore, the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq are corrected gains on the d-axis correction current ΔId and the q-axis correction current ΔIq, which can be said to be variable components superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq. Since it is a variable component multiplied by (Kd, Kq), it fluctuates in proportion to the change of the variable component superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq.

That is, the voltage phase obtained by performing polar coordinate conversion based on the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24 to which the d-axis correction voltage ΔVd and the q-axis correction voltage ΔVq are added is , The d-axis feedback current value Id and the q-axis feedback current value Iq include a variable component that fluctuates in response to a change in the variable component superimposed on the current value Iq.

On the other hand, in the voltage phase θv generated by the voltage phase setting unit 502, the proportion of the voltage phase setting unit 502 based on the current torque T calculated based on the d-axis feedback current value Id and the q-axis feedback current value Iq. Although the fluctuation component due to control is included, the ratio to the voltage phase θv, which is the output value of the voltage phase setting unit 502, is the ratio of the proportional control and the integral control in consideration of the ratio of the integrated value by the integral control of the voltage phase setting unit 502. The rate of change per control cycle is reduced.
Therefore, the voltage phase θv generated by the voltage phase setting unit 502 is obtained by performing polar coordinate conversion based on the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the switching unit 24 described above. The voltage phase setting unit 502 does not change immediately in response to changes in the fluctuation component superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq, such as the voltage phase. The influence of the fluctuation component per control cycle of the voltage phase θv generated in is suppressed.

Further, the control gain settings of the integral control and the proportional control of the rectangular wave mode synchronous control unit 520 are set according to the responsiveness of the torque required by the system, and satisfy the responsiveness required by the system. At the same time, the integration is performed so that the response to the fluctuation component above the fundamental wave frequency superimposed on the d-axis feedback current value Id and the q-axis feedback current value Iq due to the offset superimposed on the three-phase current and the higher-order component is suppressed. By setting the control gain for control or proportional control, it is possible to further reduce the fluctuation component included in the voltage phase θv generated by the voltage phase setting unit 502.

Further, in the torque calculation unit 504, the current torque T is calculated after smoothing the d-axis feedback current value Id and the q-axis feedback current value Iq used when calculating the current torque T with a low-pass filter or the like. Even in this case, the fluctuation component included in the voltage phase θv generated by the voltage phase setting unit 502 can be reduced.

10 PM motor
12u, 12v drive current detector
14 Angle detector
20 Inverter
22 3-phase / dq converter
32 dq / 3 phase converter
36 Drive signal generator
38 Linear correction unit
40 Sine wave control unit
50 Square wave control unit
100 motor controller
410 Current control unit
410a current integration control unit
410b Current proportional control unit
418 Polar coordinate conversion unit
420 Sine wave mode synchronization control unit
502 Voltage phase setting unit
520 Square wave mode synchronization control unit (voltage command acquisition unit)
θ electrical angle
θv voltage phase
Id d-axis feedback current value
IQ q-axis feedback current value
Id ^* d-axis current command value
IQ ^* q-axis current command value
Iu, Iv, Iw drive current
｜ Va ｜ Voltage command value
Vd d-axis voltage command value
Vq q-axis voltage command value
Vd''Integral side d-axis voltage command value
Vq'' Integral side q-axis voltage command value
Vu, Vv, Vw Voltage command value (3 phase)
T ^* Torque command value
Sc carrier setting information
Su, Sv, Sw drive signal

Claims (8)

An inverter that allows the PM motor to flow a three-phase alternating current drive current,
A drive current detection unit that acquires the value of the drive current,
An angle detection unit that acquires the electric angle of the PM motor,
A three-phase / dq conversion unit that converts the drive current acquired by the drive current detection unit based on the electric angle into a d-axis feedback current value and a q-axis feedback current value.
The d-axis current command value and the q-axis current command value are set based on the torque command value from the outside, and the d-axis current command value, the q-axis current command value, the d-axis feedback current value, and the q-axis feedback current value are set. A sine wave control unit that generates a d-axis voltage command value and a q-axis voltage command value based on
A linear correction unit that linearly corrects the d-axis voltage command value and the q-axis voltage command value,
A dq / 3-phase converter that converts the linearly corrected d-axis voltage command value and q-axis voltage command value into a three-phase voltage command value, and
In a motor control device having a drive signal generation unit that generates a drive signal for switching the inverter by comparing a triangular wave having a predetermined period with the three-phase voltage command value.
The sine wave control unit
A current integration control unit and a current proportional control unit are provided, and a d-axis voltage command value and a q-axis voltage are provided based on the d-axis current command value, the q-axis current command value and the d-axis feedback current value, and the q-axis feedback current value. The current control unit that generates the command value and
It has a polar coordinate conversion unit that converts the voltage command value on the d-axis and the voltage command value on the q-axis into polar coordinates and acquires the voltage command value.
The current control unit outputs the integration side d-axis voltage command value and the integration side q-axis voltage command value, which do not include the output of the current proportional control unit, to the polar coordinate conversion unit.
The polar coordinate conversion unit acquires a voltage command value based on the integration side d-axis voltage command value and the integration side q-axis voltage command value, and outputs the voltage command value to the linear correction unit.
The linear correction unit is the d-axis voltage command value and the q-axis voltage command value generated by the sine wave control unit based on the voltage command value based on the integration side d-axis voltage command value and the integration side q-axis voltage command value. A motor control device characterized by linearly correcting the voltage. An inverter that allows the PM motor to flow a three-phase alternating current drive current,
A drive current detection unit that acquires the value of the drive current,
An angle detection unit that acquires the electric angle of the PM motor,
A three-phase / dq conversion unit that converts the drive current acquired by the drive current detection unit based on the electric angle into a d-axis feedback current value and a q-axis feedback current value.
The d-axis current command value and the q-axis current command value are set based on the torque command value from the outside, and the d-axis current command value, the q-axis current command value, the d-axis feedback current value, and the q-axis feedback current value are set. A sine wave control unit that generates a d-axis voltage command value and a q-axis voltage command value based on
A dq / 3-phase converter that converts the d-axis voltage command value and the q-axis voltage command value into a three-phase voltage command value.
In a motor control device having a drive signal generator that compares a triangular wave having a predetermined period based on carrier setting information with the three-phase voltage command value to generate a drive signal for switching the inverter.
The sine wave control unit
A current integration control unit and a current proportional control unit are provided, and a d-axis voltage command value and a q-axis voltage are provided based on the d-axis current command value, the q-axis current command value and the d-axis feedback current value, and the q-axis feedback current value. The current control unit that generates the command value and
A polar coordinate conversion unit that acquires the voltage phase by converting the voltage command value on the d-axis and the voltage command value on the q-axis into polar coordinates.
It has a sinusoidal mode synchronization control unit that generates the carrier setting information based on the voltage phase.
The current control unit outputs the integration side d-axis voltage command value and the integration side q-axis voltage command value, which do not include the output of the current proportional control unit, to the polar coordinate conversion unit.
The polar coordinate conversion unit acquires a voltage phase based on the integration side d-axis voltage command value and the integration side q-axis voltage command value, and outputs the voltage phase to the sinusoidal mode synchronization control unit.
The sine wave mode synchronous control unit is a motor control device, characterized in that the carrier setting information is generated based on the voltage phase based on the integration side d-axis voltage command value and the integration side q-axis voltage command value. An inverter that allows the PM motor to flow a three-phase alternating current drive current,
A drive current detection unit that acquires the value of the drive current,
An angle detection unit that acquires the electric angle of the PM motor,
A three-phase / dq conversion unit that converts the drive current acquired by the drive current detection unit based on the electric angle into a d-axis feedback current value and a q-axis feedback current value.
A square that sets the voltage phase based on the external torque command value, the d-axis feedback current value, and the q-axis feedback current value, and generates the d-axis voltage command value and the q-axis voltage command value based on the voltage phase. Wave control unit and
A linear correction unit that linearly corrects the d-axis voltage command value and q-axis voltage command value,
A dq / 3-phase converter that converts linearly corrected d-axis voltage command values and q-axis voltage command values into three-phase voltage command values, and
In a motor control device having a drive signal generation unit that generates a drive signal for switching the inverter by comparing a triangular wave having a predetermined period with the three-phase voltage command value.
The square wave control unit is
A voltage phase setting unit that acquires a voltage phase based on the torque command value from the outside, the d-axis feedback current value, and the q-axis feedback current value.
A voltage command generator that generates a d-axis voltage command value and a q-axis voltage command value based on the voltage command value and the voltage phase output by the voltage phase setting unit.
A correction unit that outputs a d-axis voltage command correction value and a q-axis voltage command correction value based on the d-axis feedback current value, the q-axis feedback current value, and the d-axis voltage command value and the q-axis voltage command value. , Has,
The motor control unit is characterized in that the linear correction unit linearly corrects the d-axis voltage command correction value and the q-axis voltage command correction value based on the voltage command value. An inverter that allows the PM motor to flow a three-phase alternating current drive current,
A drive current detection unit that acquires the value of the drive current,
An angle detection unit that acquires the electric angle of the PM motor,
A three-phase / dq conversion unit that converts the drive current acquired by the drive current detection unit based on the electric angle into a d-axis feedback current value and a q-axis feedback current value.
A square that sets the voltage phase based on the external torque command value, the d-axis feedback current value, and the q-axis feedback current value, and generates the d-axis voltage command value and the q-axis voltage command value based on the voltage phase. Wave control unit and
A dq / 3-phase converter that converts the d-axis voltage command value and q-axis voltage command value into a three-phase voltage command value,
In a motor control device having a drive signal generator that compares a triangular wave having a predetermined period based on carrier setting information with the three-phase voltage command value to generate a drive signal for switching the inverter.
The square wave control unit is
A voltage phase setting unit that acquires a voltage phase based on the torque command value from the outside, the d-axis feedback current value, and the q-axis feedback current value.
A voltage command generation unit that generates a d-axis voltage command value and a q-axis voltage command value based on the voltage phase output by the voltage phase setting unit.
A correction unit that outputs a d-axis voltage command correction value and a q-axis voltage command correction value based on the d-axis feedback current value, the q-axis feedback current value, and the d-axis voltage command value and the q-axis voltage command value. ,
It has a rectangular wave mode synchronization control unit that generates the carrier setting information, and has.
The square wave mode synchronization control unit is a motor control device, characterized in that the carrier setting information is generated based on the voltage phase output by the voltage phase setting unit. An inverter that allows the PM motor to flow a three-phase alternating current drive current,
A drive current detection unit that acquires the value of the drive current,
An angle detection unit that acquires the electric angle of the PM motor,
A three-phase / dq conversion unit that converts the drive current acquired by the drive current detection unit based on the electric angle into a d-axis feedback current value and a q-axis feedback current value.
The d-axis current command value and the q-axis current command value are set based on the torque command value from the outside, and the d-axis current command value, the q-axis current command value, the d-axis feedback current value, and the q-axis feedback current value are set. A sine wave control unit that generates a d-axis voltage command value and a q-axis voltage command value based on
A linear correction unit that linearly corrects the d-axis voltage command value and the q-axis voltage command value,
A dq / 3-phase converter that converts the linearly corrected d-axis voltage command value and q-axis voltage command value into a three-phase voltage command value, and
A motor control method for a motor control device comprising a drive signal generation unit that generates a drive signal for switching the inverter by comparing a triangular wave having a predetermined period with the three-phase voltage command value.
The sine wave control unit
A current integration control unit and a current proportional control unit are provided, and a d-axis voltage command value and a q-axis voltage are provided based on the d-axis current command value, the q-axis current command value and the d-axis feedback current value, and the q-axis feedback current value. The current control unit that generates the command value and
It has a polar coordinate conversion unit that converts the voltage command value on the d-axis and the voltage command value on the q-axis into polar coordinates and acquires the voltage command value.
The integration side voltage command value output step in which the current control unit outputs the integration side d-axis voltage command value and the integration side q-axis voltage command value not including the output of the current proportional control unit to the polar coordinate conversion unit.
A voltage command value output step in which the polar coordinate conversion unit acquires a voltage command value based on the integration side d-axis voltage command value and the integration side q-axis voltage command value and outputs the voltage command value to the linear correction unit.
The d-axis voltage command value and the q-axis voltage command value generated by the sine wave control unit based on the voltage command value based on the integration side d-axis voltage command value and the integration side q-axis voltage command value by the linear correction unit. A motor control method characterized by performing a sine wave control linear correction step and performing linear correction. An inverter that allows the PM motor to flow a three-phase alternating current drive current,
A drive current detection unit that acquires the value of the drive current,
An angle detection unit that acquires the electric angle of the PM motor,
A three-phase / dq conversion unit that converts the drive current acquired by the drive current detection unit based on the electric angle into a d-axis feedback current value and a q-axis feedback current value.
The d-axis current command value and the q-axis current command value are set based on the torque command value from the outside, and the d-axis current command value, the q-axis current command value, the d-axis feedback current value, and the q-axis feedback current value are set. A sine wave control unit that generates a d-axis voltage command value and a q-axis voltage command value based on
A dq / 3-phase converter that converts the d-axis voltage command value and the q-axis voltage command value into a three-phase voltage command value.
It is a motor control method of a motor control device having a drive signal generation unit for generating a drive signal for switching the inverter by comparing a triangular wave having a predetermined period based on carrier setting information and the three-phase voltage command value. ,
The sine wave control unit
A current integration control unit and a current proportional control unit are provided, and a d-axis voltage command value and a q-axis voltage are provided based on the d-axis current command value, the q-axis current command value and the d-axis feedback current value, and the q-axis feedback current value. The current control unit that generates the command value and
A polar coordinate conversion unit that acquires the voltage phase by converting the voltage command value on the d-axis and the voltage command value on the q-axis into polar coordinates.
It has a sinusoidal mode synchronization control unit that generates the carrier setting information based on the voltage phase.
The integration side voltage command value output step in which the current control unit outputs the integration side d-axis voltage command value and the integration side q-axis voltage command value not including the output of the current proportional control unit to the polar coordinate conversion unit.
A voltage phase output step in which the polar coordinate conversion unit acquires a voltage phase based on the integration side d-axis voltage command value and the integration side q-axis voltage command value and outputs the voltage phase to the sine wave mode synchronization control unit.
The sine wave mode synchronous control unit performs a sine wave control carrier information generation step of generating the carrier setting information based on the voltage phase based on the integration side d-axis voltage command value and the integration side q-axis voltage command value. A motor control method characterized by that. An inverter that allows the PM motor to flow a three-phase alternating current drive current,
A drive current detection unit that acquires the value of the drive current,
An angle detection unit that acquires the electric angle of the PM motor,
A three-phase / dq conversion unit that converts the drive current acquired by the drive current detection unit based on the electric angle into a d-axis feedback current value and a q-axis feedback current value.
A square that sets the voltage phase based on the external torque command value, the d-axis feedback current value, and the q-axis feedback current value, and generates the d-axis voltage command value and the q-axis voltage command value based on the voltage phase. Wave control unit and
A linear correction unit that linearly corrects the d-axis voltage command value and q-axis voltage command value,
A dq / 3-phase converter that converts linearly corrected d-axis voltage command values and q-axis voltage command values into three-phase voltage command values, and
A motor control method for a motor control device comprising a drive signal generation unit that generates a drive signal for switching the inverter by comparing a triangular wave having a predetermined period with the three-phase voltage command value.
The square wave control unit is
A voltage phase setting unit that acquires a voltage phase based on the torque command value from the outside, the d-axis feedback current value, and the q-axis feedback current value.
A voltage command generator that generates a d-axis voltage command value and a q-axis voltage command value based on the voltage command value and the voltage phase output by the voltage phase setting unit.
A correction unit that outputs a d-axis voltage command correction value and a q-axis voltage command correction value based on the d-axis feedback current value, the q-axis feedback current value, and the d-axis voltage command value and the q-axis voltage command value. , Has,
A motor control method comprising the linear correction unit performing a square wave control linear correction step of linearly correcting the d-axis voltage command correction value and the q-axis voltage command correction value based on the voltage command value. An inverter that allows the PM motor to flow a three-phase alternating current drive current,
A drive current detection unit that acquires the value of the drive current,
An angle detection unit that acquires the electric angle of the PM motor,
A three-phase / dq conversion unit that converts the drive current acquired by the drive current detection unit based on the electric angle into a d-axis feedback current value and a q-axis feedback current value.
A square that sets the voltage phase based on the external torque command value, the d-axis feedback current value, and the q-axis feedback current value, and generates the d-axis voltage command value and the q-axis voltage command value based on the voltage phase. Wave control unit and
A dq / 3-phase converter that converts the d-axis voltage command value and q-axis voltage command value into a three-phase voltage command value,
It is a motor control method of a motor control device having a drive signal generation unit for generating a drive signal for switching the inverter by comparing a triangular wave having a predetermined period based on carrier setting information and the three-phase voltage command value. ,
The square wave control unit is
A voltage phase setting unit that acquires a voltage phase based on the torque command value from the outside, the d-axis feedback current value, and the q-axis feedback current value.
A voltage command generation unit that generates a d-axis voltage command value and a q-axis voltage command value based on the voltage phase output by the voltage phase setting unit.
A correction unit that outputs a d-axis voltage command correction value and a q-axis voltage command correction value based on the d-axis feedback current value, the q-axis feedback current value, and the d-axis voltage command value and the q-axis voltage command value. ,
It has a rectangular wave mode synchronization control unit that generates the carrier setting information, and has.
A motor control method characterized in that the square wave mode synchronization control unit performs a rectangular wave control carrier information generation step of generating the carrier setting information based on the voltage phase output by the voltage phase setting unit.

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