CN110800206A - Motor control device and motor control method - Google Patents

Abstract

Provided are a motor control device and a motor control method which can perform torque control based on a command value even when a control mode is switched, suppress torque variation at the time of switching, and have excellent responsiveness. When switching from the sine wave control mode to the rectangular wave control mode, the motor control device (100) and the motor control method output the last voltage phase (theta v) in the sine wave control mode to the voltage phase setting unit (502) as the initial voltage phase (theta v1), and continuously increase the transfer voltage command value | Va' | from the last voltage command value | Va | in the sine wave control mode to the rectangular wave forming voltage value | Va1|, while performing torque control based on the voltage phase (theta v). Thus, the generated drive signals (Su, Sv, Sw) can maintain the continuity at the time of switching, and smooth switching of the control mode with little torque variation can be performed.

Description

Motor control device and motor control method

technical field

The present invention relates to a motor control device and a motor control method that suppress torque fluctuation during control of a PM motor, particularly when switching between sine wave control and rectangular wave control.

Background technique

Electric motors are used as power sources for many home appliances or mechanical equipment. Among them, PM (Permanent Magnet) motors (permanent magnet motors) in which permanent magnets are provided on the rotor side, armature windings are provided on the stator side, and the magnetic field of the armature windings are controlled to rotate the rotor have low loss because there is no excitation loss. And high efficiency, with the trend of energy saving in recent years, it has also been widely used in large machinery and equipment. Then, as a control method of the PM motor, first, three-phase voltage command values Vu, Vv, and V are generated based on the torque command value instructed from the outside (control unit at the upper level of the system, etc.) and the current torque T of the PM motor. Vw, and the three-phase voltage command values Vu, Vv, and Vw are compared with triangular waves to generate drive signals Su, Sv, and Sw. In addition, this is generally performed using three-phase AC drive currents Iu, Iv, and Iw that flow through the switching operation of the inverter by the drive signals Su, Sv, and Sw. In addition, the generation of the drive signals Su, Sv, and Sw is often performed by switching the sine wave control and the rectangular wave control according to the operating conditions of the PM motor. In this control method, the operation is generally controlled by sine wave control (PWM control) using a sine wave pattern with high motor efficiency in the operation range of medium/low speed rotation, and in the operation range of high speed rotation and high torque by using Rectangular wave control of a rectangular wave pattern with high output voltage and high output is used for operation control.

Here, the sine wave pattern refers to a pattern of drive signals Su, Sv, and Sw generated by comparing triangular waves of three-phase voltage command values Vu, Vv, and Vw whose amplitude peaks do not exceed the magnitude of the apex of the triangular wave. In addition, the rectangular wave pattern means that the three-phase voltage command values Vu, Vv, Vw intersect the triangular wave twice in one cycle of the electrical angle, respectively, and the Hi (high) period and the Low (low) period are in one cycle of the electrical angle. A pattern of drive signals Su, Sv, and Sw that are generated once each. Further, among the patterns of the drive signals Su, Sv, and Sw, there is an overmodulation pattern obtained by passing the three-phase voltage command values Vu and Vv larger than the amplitude of the sine wave pattern and smaller than the amplitude of the rectangular wave pattern. , the pattern of the drive signals Su, Sv, and Sw generated by Vw.

However, even in the sine wave control and the rectangular wave control, the output torque of the rectangular wave control is larger than that of the sine wave control, even if the voltage phase is the same, and torque fluctuation occurs when switching is performed by a simple switching operation. , which is not ideal. Regarding this problem, in the following [Patent Document 1], the phase and amplitude of the sine wave at the time of switching are set as the switching initial values, and the phase of the rectangular wave that outputs the same torque as that at the time of switching is set as the switching target When switching the control mode, the phase and amplitude of the voltage waveform are simultaneously and continuously changed from the switching initial value to the switching target value. Then, when the voltage waveform reaches the switching target value, the control is switched to the rectangular wave control, thereby suppressing the torque fluctuation at the time of switching.

prior art literature

Patent Literature

Patent Document 1: Japanese Patent Laid-Open No. 11-285288

SUMMARY OF THE INVENTION

Invention to solve problem

However, in the invention described in [Patent Document 1], torque control based on the command value cannot be performed during the transition period from the switching initial value to the switching target value, so torque fluctuation may occur during the transition period. In addition, when the torque command value changes during the transition period, there is a possibility that the torque fluctuation may occur immediately after the switching without being able to cope with the change in the torque command value. In addition, when the power supply voltage of the inverter or the rotational speed of the PM motor changes during the transition period, there is a possibility that torque fluctuations may occur during the transition period without being able to cope with these changes. Furthermore, there is a problem that the responsiveness is not good because switching cannot be performed again during the transition period.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a motor control device and a motor control method that can perform torque control based on a command value even when switching control modes, suppress torque fluctuations during switching, and have excellent responsiveness.

solution to the problem

(1) By providing the motor control device 100 to solve the above problems,

The motor control device 100 includes an inverter 20 that allows three-phase AC drive currents Iu, Iv, and Iw to flow through the PM motor 10, and drive current detectors 12u, 12v that obtain the drive currents Iu, Iv, (Iw) The angle detection unit 14 obtains the electrical angle θ of the PM motor 10; the 3-phase/dq conversion unit 22 obtains the drive currents Iu, Iv obtained by the drive current detection units 12u, 12v based on the electrical angle θ , (Iw) are converted into the d-axis feedback current value Id and the q-axis feedback current value Iq; the sine wave control unit 40 sets the d-axis current command value Id ^* and the q-axis current based on the external torque command value T ^* The command value Iq ^* generates the d-axis voltage command value Vd and the q-axis voltage command value Vq in the sine wave control mode; the rectangular wave control unit 50 sets the voltage phase θv and the voltage based on the external torque command value T ^* The command value |Va| generates the d-axis voltage command value Vd and the q-axis voltage command value Vq in the rectangular wave control mode; the switching unit 24 generates the above-mentioned d-axis voltage command value Vd and q-axis voltage command value Vq in the The sine wave control unit 40 and the rectangular wave control unit 50 are switched; the dq/3-phase conversion unit 32 converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into a three-phase voltage command value Vu , Vv, Vw; and a drive signal generation unit 36 that compares the three-phase voltage command values Vu, Vv, Vw with a triangular wave of a predetermined period to generate drive signals Su, Sv, Sw, the motor control device 100 described above is characterized in that:

It also has a mode transition unit 80 that operates when the control mode is switched by the above-described switching unit 24,

The above-mentioned mode transition unit 80

The voltage phase θv and the voltage command value |Va| obtained by polar coordinate conversion of the d-axis voltage command value Vd" and q-axis voltage command value Vq" in the sine wave control mode are obtained as the initial voltage phase θv1 and the transition voltage command value As the initial value of |Va'|, when switching from the sine wave control mode to the rectangular wave control mode, the voltage phase θv and the voltage command value |Va| are output to the rectangular wave control unit 50, and the drive signals Su, Sv and Sw become the rectangular wave forming voltage value |Va1| of the rectangular wave pattern, and the transition voltage command value |Va'| is continuously increased from the initial value to the rectangular wave forming voltage value |Va1| The control unit 50 causes the rectangular wave control unit 50 to generate the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the transition voltage command value |Va'|.

(2) By providing the motor control device 100 to solve the above problems,

The motor control device 100 includes an inverter 20 that allows three-phase AC drive currents Iu, Iv, and Iw to flow through the PM motor 10, and drive current detectors 12u, 12v that obtain the drive currents Iu, Iv, (Iw) The angle detection unit 14 obtains the electrical angle θ of the PM motor 10; the 3-phase/dq conversion unit 22 obtains the drive currents Iu, Iv obtained by the drive current detection units 12u, 12v based on the electrical angle θ , (Iw) are converted into the d-axis feedback current value Id and the q-axis feedback current value Iq; the sine wave control unit 40 sets the d-axis current command value Id ^* and the q-axis current based on the external torque command value T ^* The command value Iq ^* generates the d-axis voltage command value Vd and the q-axis voltage command value Vq in the sine wave control mode; the rectangular wave control unit 50 sets the voltage phase θv and the voltage based on the external torque command value T ^* The command value |Va| generates the d-axis voltage command value Vd and the q-axis voltage command value Vq in the rectangular wave control mode; the switching unit 24 generates the above-mentioned d-axis voltage command value Vd and q-axis voltage command value Vq in the The sine wave control unit 40 and the rectangular wave control unit 50 are switched; the dq/3-phase conversion unit 32 converts the d-axis voltage command value Vd and the q-axis voltage command value Vq into a three-phase voltage command value Vu , Vv, Vw; and a drive signal generation unit 36 that compares the three-phase voltage command values Vu, Vv, Vw with a triangular wave of a predetermined period to generate drive signals Su, Sv, Sw, the motor control device 100 described above is characterized in that:

It also has a mode transition unit 80 that operates when the control mode is switched by the above-described switching unit 24,

The above-mentioned mode transition unit 80

In the rectangular wave control mode, the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the rectangular wave control unit 50 are output as the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value to The sine wave control unit 40 calculates the initial value Id ^* 1 for calculating the d-axis current command value and the initial value Iq ^* 1 for the q-axis current command value based on the d-axis feedback current value Id and the q-axis feedback current value Iq. and output the transition data Ifb to the above-mentioned sine wave control unit 40,

Immediately after switching from the rectangular wave control mode to the sine wave control mode, based on the initial value Vd1 of the d-axis voltage command value, the initial value Vq1 of the q-axis voltage command value, and the initial value Id ^* 1 of the d-axis current command value . The initial value Iq ^* 1 of the q-axis current command value generates the switching d-axis voltage command value Vd and the switching q-axis voltage command value Vq, and outputs them to the dq/3-phase conversion unit 32 .

(3) The above problem is solved by providing the motor control device 100 described in (2) above, wherein the motor control device 100 is characterized in that:

The above-mentioned mode transition unit 80

When switching from the rectangular wave control mode to the sine wave control mode, the voltage command value |Va| output from the rectangular wave control unit 50 is acquired as the initial value of the transition voltage command value |Va'|, and the drive signals Su and Sv are acquired Sw becomes the sine wave mode transition voltage value |Va2| of the sine wave pattern or the overmodulation pattern, and the transition voltage command value |Va'| The wave mode transition voltage value |Va2| is output to the rectangular wave control unit 50, and the rectangular wave control unit 50 generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value |Va'| After that, the switching unit 24 switches to the control mode performed by the sine wave control unit 40 .

(4) The above-mentioned problems are solved by providing the motor control device 100, which includes the inverter 20 that causes the three-phase AC drive currents Iu, Iv, and Iw to flow through the PM motor 10, and the drive current detection units 12u, 12v, which obtains the values of the above-mentioned drive currents Iu, Iv, (Iw); the angle detection unit 14, which obtains the electrical angle θ of the above-mentioned PM motor 10; The above-mentioned drive currents Iu, Iv, (Iw) acquired by the current detection units 12u and 12v are converted into the d-axis feedback current value Id and the q-axis feedback current value Iq; the sine wave control unit 40 is based on the external torque command value T ^* Set the d-axis current command value Id ^* and the q-axis current command value Iq ^* , and generate the d-axis voltage command value Vd and q-axis voltage command value Vq in the sine wave control mode; The torque command value T ^* sets the voltage phase θv and the voltage command value |Va|, and generates the d-axis voltage command value Vd and the q-axis voltage command value Vq in the rectangular wave control mode; The generation of the voltage command value Vd and the q-axis voltage command value Vq is switched between the sine wave control unit 40 and the rectangular wave control unit 50; the dq/3-phase conversion unit 32 converts the d-axis voltage command value Vd, The q-axis voltage command value Vq is converted into three-phase voltage command values Vu, Vv, and Vw; and the drive signal generation unit 36 compares the three-phase voltage command values Vu, Vv, and Vw with a triangular wave of a predetermined period to generate a pair of The drive signals Su, Sv, and Sw for switching the inverter 20 and the motor control device 100 are characterized in that:

It also has a mode transition unit 80 that operates when the control mode is switched by the above-described switching unit 24,

The above-mentioned mode transition unit 80

The voltage phase θv and the voltage command value |Va| obtained by polar coordinate conversion of the d-axis voltage command value Vd" and q-axis voltage command value Vq" in the sine wave control mode are obtained as the initial voltage phase θv1 and the transition voltage command value As the initial value of |Va'|, when switching from the sine wave control mode to the rectangular wave control mode, the voltage phase θv and the voltage command value |Va| are output to the rectangular wave control unit 50, and the drive signals Su, Sv and Sw become the rectangular wave forming voltage value |Va1| of the rectangular wave pattern, and the transition voltage command value |Va'| is continuously increased from the initial value to the rectangular wave forming voltage value |Va1| The control unit 50 causes the rectangular wave control unit 50 to generate the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the transition voltage command value |Va'|

In the rectangular wave control mode, the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the rectangular wave control unit 50 are output as the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value to The sine wave control unit 40 calculates the initial value Id ^* 1 for calculating the d-axis current command value and the initial value Iq ^* 1 for the q-axis current command value based on the d-axis feedback current value Id and the q-axis feedback current value Iq. and output the transition data Ifb to the above-mentioned sine wave control unit 40,

When switching from the rectangular wave control mode to the sine wave control mode, the voltage command value |Va| output from the rectangular wave control unit 50 is acquired as the initial value of the transition voltage command value |Va'|, and the drive signals Su and Sv are acquired Sw becomes the sine wave mode transition voltage value |Va2| of the sine wave pattern or the overmodulation pattern, and the transition voltage command value |Va'| The wave mode transition voltage value |Va2| is output to the rectangular wave control unit 50, and the rectangular wave control unit 50 generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value |Va'| After that, the switching unit 24 switches to the sine wave control mode performed by the sine wave control unit 40,

Immediately after switching to the sine wave control mode, based on the initial value Vd1 of the d-axis voltage command value, the initial value Vq1 of the q-axis voltage command value, the initial value Id ^* 1 of the d-axis current command value, and the q-axis The initial value Iq ^* 1 of the current command value generates 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, and outputs them to the dq/3-phase conversion unit 32 .

(5) The above problems are solved by providing the motor control device 100 according to any one of the above (1) to (4), wherein the motor control device 100 is characterized in that the center position of the falling edge of the triangular wave is different from the three The zero positions of the rising edges of the phase voltage command values Vu, Vv, Vw cross, and the frequency of the triangular wave is maintained at an odd integer multiple of 3 of the frequency of the three phase voltage command values Vu, Vv, Vw.

(6) The above-mentioned problems are solved by providing a motor control method, which is a motor control method of the motor control device 100 including the inverter 20 that makes the three-phase AC drive currents Iu and Iv , Iw flow through the PM motor 10; the drive current detection units 12u, 12v, which obtain the values of the above-mentioned drive currents Iu, Iv, (Iw); the angle detection unit 14, which obtains the electrical angle θ of the above-mentioned PM motor 10; The dq conversion unit 22 converts the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v into d-axis feedback current values Id and q-axis feedback current values Iq based on the electrical angle θ; sine waves The control unit 40 sets the d-axis current command value Id ^* and the q-axis current command value Iq ^* based on the external torque command value T ^* , and generates the d-axis voltage command value Vd and the q-axis voltage in the sine wave control mode Command value Vq; the rectangular wave control unit 50 generates the d-axis voltage command value Vd and the q-axis in the rectangular wave control mode by setting the voltage phase θv and the voltage command value |Va| based on the external torque command value T ^* voltage command value Vq; switching unit 24 that switches the generation of the d-axis voltage command value Vd and q-axis voltage command value Vq between the sine wave control unit 40 and the rectangular wave control unit 50; dq/3 phase The conversion unit 32 converts the d-axis voltage command values Vd and q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw, and the drive signal generation unit 36 converts the three-phase voltage command values Vu, Vv , Vw is compared with a triangular wave of a predetermined period to generate drive signals Su, Sv, Sw for switching the inverter 20; and a mode transition unit 80, which operates when the switching unit 24 switches the control mode, The above motor control method is characterized in that,

The mode transition unit 80 described above performs

The voltage phase θv and the voltage command value |Va| obtained by polar coordinate conversion of the d-axis voltage command value Vd" and q-axis voltage command value Vq" in the sine wave control mode are obtained as the initial voltage phase θv1 and the transition voltage command value steps of the initial value of |Va'|, and

Perform the following steps when switching from sine wave control mode to square wave control mode:

outputting the initial value of the initial voltage phase θv1 and the transition voltage command value |Va'| to the rectangular wave control unit 50;

obtaining the rectangular wave forming voltage value |Va1| at which the driving signals Su, Sv, and Sw form a rectangular wave pattern; and

The transition voltage command value |Va'| is continuously increased from the initial value to the rectangular wave-forming voltage value |Va1| and output to the rectangular wave control unit 50 , and the rectangular wave control unit 50 is based on the transition voltage command value |Va'| The d-axis voltage command value Vd and the q-axis voltage command value Vq are generated.

(7) The above-mentioned problems are solved by providing a motor control method, which is a motor control method of the motor control device 100 including the inverter 20 that makes the three-phase AC drive currents Iu and Iv , Iw flow through the PM motor 10; the drive current detection units 12u, 12v, which obtain the values of the above-mentioned drive currents Iu, Iv, (Iw); the angle detection unit 14, which obtains the electrical angle θ of the above-mentioned PM motor 10; The dq conversion unit 22 converts the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v into d-axis feedback current values Id and q-axis feedback current values Iq based on the electrical angle θ; sine waves The control unit 40 sets the d-axis current command value Id ^* and the q-axis current command value Iq ^* based on the external torque command value T ^* , and generates the d-axis voltage command value Vd and the q-axis voltage in the sine wave control mode Command value Vq; the rectangular wave control unit 50 generates the d-axis voltage command value Vd and the q-axis in the rectangular wave control mode by setting the voltage phase θv and the voltage command value |Va| based on the external torque command value T ^* voltage command value Vq; switching unit 24 that switches the generation of the d-axis voltage command value Vd and q-axis voltage command value Vq between the sine wave control unit 40 and the rectangular wave control unit 50; dq/3 phase The conversion unit 32 converts the d-axis voltage command values Vd and q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw, and the drive signal generation unit 36 converts the three-phase voltage command values Vu, Vv , Vw is compared with a triangular wave of a predetermined period to generate drive signals Su, Sv, Sw for switching the inverter 20; and a mode transition unit 80, which operates when the switching unit 24 switches the control mode, The above motor control method is characterized in that,

The above-mentioned mode transfer unit 80 performs the following steps:

In the rectangular wave control mode, the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the rectangular wave control unit 50 are output as the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value to The sine wave control unit 40 calculates the initial value Id ^* 1 for calculating the d-axis current command value and the initial value Iq ^* 1 for the q-axis current command value based on the d-axis feedback current value Id and the q-axis feedback current value Iq. and output the transition data Ifb to the above-mentioned sine wave control unit 40,

The mode transition unit 80 further includes a step of, immediately after switching from the rectangular wave control unit mode to the sine wave control mode, based on the initial value Vd1 of the d-axis voltage command value, the initial value Vq1 of the q-axis voltage command value, the above The initial value Id ^* 1 of the d-axis current command value and the initial value Iq ^* 1 of the above-mentioned q-axis current command value are generated and output to the above-mentioned dq /3-phase conversion unit 32 .

(8) The above problem is solved by providing the motor control method described in the above (7), wherein the motor control method is characterized by:

The above-mentioned mode transfer part 80 also has the following steps:

When switching from the rectangular wave control mode to the sine wave control mode, the voltage command value |Va| output from the rectangular wave control unit 50 is obtained as the initial value |Va'| of the transition voltage command value;

obtaining the sine wave mode transition voltage value |Va2| in which the drive signals Su, Sv, and Sw become a sine wave pattern or an overmodulation pattern;

continuously reducing the transition voltage command value |Va'| from the initial value to the sine wave mode transition voltage value |Va2| while continuing the rectangular wave control mode, and outputting it to the rectangular wave control unit 50;

causing the rectangular wave control unit 50 to generate a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value |Va'|; and

The switching unit 24 switches to the control mode performed by the sine wave control unit 40 .

(9) The above-mentioned problems are solved by providing a motor control method, which is a motor control method of the motor control device 100 including the inverter 20 that makes the three-phase AC drive currents Iu and Iv , Iw flow through the PM motor 10; the drive current detection units 12u, 12v, which obtain the values of the above-mentioned drive currents Iu, Iv, (Iw); the angle detection unit 14, which obtains the electrical angle θ of the above-mentioned PM motor 10; The dq conversion unit 22 converts the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u, 12v into d-axis feedback current values Id and q-axis feedback current values Iq based on the electrical angle θ; sine waves The control unit 40 sets the d-axis current command value Id ^* and the q-axis current command value Iq ^* based on the external torque command value T ^* , and generates the d-axis voltage command value Vd and the q-axis voltage in the sine wave control mode Command value Vq; the rectangular wave control unit 50 generates the d-axis voltage command value Vd and the q-axis in the rectangular wave control mode by setting the voltage phase θv and the voltage command value |Va| based on the external torque command value T ^* voltage command value Vq; switching unit 24 that switches the generation of the d-axis voltage command value Vd and q-axis voltage command value Vq between the sine wave control unit 40 and the rectangular wave control unit 50; dq/3 phase The conversion unit 32 converts the d-axis voltage command values Vd and q-axis voltage command values Vq into three-phase voltage command values Vu, Vv, and Vw, and the drive signal generation unit 36 converts the three-phase voltage command values Vu, Vv , Vw is compared with a triangular wave of a predetermined period to generate drive signals Su, Sv, Sw for switching the inverter 20; and a mode transition unit 80, which operates when the switching unit 24 switches the control mode, The above motor control method is characterized in that,

The mode transition unit 80 described above performs

The voltage phase θv and the voltage command value |Va| obtained by polar coordinate conversion of the d-axis voltage command value Vd" and q-axis voltage command value Vq" in the sine wave control mode are obtained as the initial voltage phase θv1 and the transition voltage command value steps of the initial value of |Va'|, and

Perform the following steps when switching from sine wave control mode to square wave control mode:

outputting the initial value of the initial voltage phase θv1 and the transition voltage command value |Va'| to the rectangular wave control unit 50;

obtaining the rectangular wave forming voltage value |Va1| at which the driving signals Su, Sv, and Sw form a rectangular wave pattern; and

The transition voltage command value |Va'| is continuously increased from the initial value to the rectangular wave-forming voltage value |Va1| and output to the rectangular wave control unit 50 , and the rectangular wave control unit 50 is based on the transition voltage command value |Va'| generates the d-axis voltage command value Vd and the q-axis voltage command value Vq,

In the rectangular wave control mode, the following steps are performed: the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the rectangular wave control unit 50 are used as the initial value Vd1 of the d-axis voltage command value, and the q-axis voltage command value Vd1 and the q-axis voltage command value. The initial value Vq1 is output to the sine wave control unit 40, and based on the d-axis feedback current value Id and the q-axis feedback current value Iq, the initial value Id ^* 1 for calculating the d-axis current command value and the difference between the q-axis current command value and the d-axis current command value are calculated. The transition data Ifb of the initial value Iq ^* 1 is output to the above-mentioned sine wave control unit 40,

The above-mentioned mode transfer part 80 also has the following steps:

When switching from the rectangular wave control mode to the sine wave control mode, the voltage command value |Va| output from the rectangular wave control unit 50 is obtained as the initial value |Va'| of the transition voltage command value;

obtaining the sine wave mode transition voltage value |Va2| in which the drive signals Su, Sv, and Sw become a sine wave pattern or an overmodulation pattern;

continuously decreasing the transition voltage command value |Va'| from the initial value to the sine wave mode transition voltage value |Va2| while continuing the rectangular wave control mode, and outputting it to the rectangular wave control unit 50;

causing the rectangular wave control unit 50 to generate a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the transition voltage command value |Va'|;

The above-mentioned switching unit 24 is switched to the sine wave control mode by the above-mentioned sine wave control unit 40; and

Immediately after switching to the sine wave control mode, based on the initial value Vd1 of the d-axis voltage command value, the initial value Vq1 of the q-axis voltage command value, the initial value Id ^* 1 of the d-axis current command value, and the q-axis The initial value Iq ^* 1 of the current command value generates 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, and outputs them to the dq/3-phase conversion unit 32 .

(10) The above problem is solved by providing the motor control method according to any one of the above (6) to (9), wherein the motor control method is characterized in that the center position of the falling edge of the triangular wave is related to the three-phase voltage. The zero positions of the rising edges of the command values Vu, Vv, Vw cross, and the frequency of the triangular wave is maintained at an odd integer multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, Vw.

Invention effect

The motor control device and motor control method of the present invention continuously change the drive signal between a sine wave pattern (overmodulation pattern) and a rectangular wave pattern while performing torque control based on the rectangular wave control mode when the control mode is switched. As a result, it is possible to perform smooth switching of control modes with less torque fluctuation. In addition, switching can be performed again during the transition period, and the responsiveness is high. In addition, torque control based on the rectangular wave control mode is performed during the transition period. Therefore, even if the torque command value, power supply voltage, or rotational speed of the PM motor changes during the transition period, these changes can be reflected at any time. There is no torque fluctuation when switching the control mode.

Description of drawings

FIG. 1 is a block diagram of a motor control device of the present invention.

FIG. 2 is a diagram illustrating an operation state of a motor and switching of a control mode.

3 is a diagram illustrating a positional relationship between a triangular wave and a three-phase voltage command value Vu in the motor control device of the present invention.

4 is a flowchart showing the operation when transitioning to the rectangular wave control mode in the motor control method of the present invention.

FIG. 5 is a flowchart showing the operation at the time of transition to the sine wave control mode in the motor control method of the present invention.

6 is a diagram illustrating a triangular wave of the motor control device and the motor control method of the present invention.

Detailed ways

Embodiments of the motor control device 100 and the motor control method of the present invention will be described based on the drawings. Here, FIG. 1 is a block diagram of a motor control device 100 of the present invention. First, the motor control device 100 of the present invention is used to control the operation of the PM motor (permanent magnet motor) 10, and includes an inverter 20 that allows three-phase AC drive currents Iu, Iv, and Iw to flow through the PM motor 10; The drive current detection units 12u, 12v obtain the values of the drive currents Iu, Iv, (Iw); the angle detection unit 14 obtains the electrical angle θ of the PM motor 10; the 3-phase/dq conversion unit 22 converts the drive current The drive currents Iu, Iv, (Iw) acquired by the detection units 12u and 12v are converted into the d-axis feedback current value Id and the q-axis feedback current value Iq; the sine wave control unit 40 is based on the ) indicates the torque command value T ^* set the d-axis current command value Id ^* , the q-axis current command value Iq ^* , and generate the d-axis voltage command value Vd and q-axis voltage command value Vq under the sine wave control mode; rectangular wave The control unit 50 similarly generates the d-axis voltage command value Vd and the q-axis voltage command value in the rectangular wave control mode based on the torque command value T ^* set voltage phase θv and the voltage command value |Va| Vq; switching section 24, which switches the control of PM motor 10 between sine wave control section 40 and rectangular wave control section 50; dq/3-phase conversion section 32, which switches control from sine wave control section 40 or rectangular wave control section 32 The d-axis voltage command value Vd and the q-axis voltage command value Vq output by the unit 50 are converted into three-phase voltage command values Vu, Vv, Vw of the U-phase, V-phase, and W-phase; The voltage command values Vu, Vv, Vw are compared with the triangular wave of a predetermined period to generate drive signals Su, Sv, Sw for switching the inverter 20; perform the prescribed action.

The inverter 20 constituting the motor control device 100 of the present invention performs switching operations based on the Hi-Low drive signals Su, Sv, and Sw output from the drive signal generation unit 36, and converts the DC power from the known DC power supply unit 18 such as a battery. It outputs three-phase AC voltage based on drive signals Su, Sv, and Sw. As a result, the three-phase drive currents Iu, Iv, and Iw whose phases are shifted by 1/3 cycle (2/3π(rad)) respectively flow through the armature windings of the PM motor 10 .

In addition, as described above, the PM motor 10 is provided with permanent magnets on the rotor side and three-phase armature windings on the stator side, and the above-mentioned drive currents Iu, Iv, and Iw are respectively passed through the three-phase armature windings, Therefore, the magnetic pole and magnetic flux of each armature winding are continuously changed, and the rotor is rotated. In addition, as the PM motor 10 , an IPM motor (Interior Permanent Magnet Motor) in which permanent magnets are embedded in the rotor is preferably used.

The drive current detection units 12u and 12v can use known current sensors that can acquire the drive currents Iu, Iv, and Iw flowing through the switching operation of the inverter 20 in a non-contact manner. In addition, this example shows an example in which two of the drive currents Iu, Iv, and Iw are obtained and converted into the d-axis feedback current value Id and the q-axis feedback current value Iq.

In addition, as the angle detection part 14, a well-known angle sensor which can acquire the angle of a rotor can be used. Among them, it is particularly preferable to use a resolver rotation angle sensor to obtain the electrical angle θ of the PM motor 10 . In addition, it is preferable that the above-mentioned acquisition of the electrical angle θ and the drive currents Iu and Iv is performed at two timings, the apex and the trough of the triangular wave, and is used by each part of the motor control device 100 for every half cycle of the triangular wave. Further, the electrical angle θ acquired by the angle detection unit 14 is output to the angular velocity calculation unit 16 , and the angular velocity calculation unit 16 calculates the electrical angular velocity ω (rad/s) based on the input electrical angle θ, and outputs it to the motor control device 100 of each department.

In addition, the 3-phase/dq conversion unit 22 performs values of the drive currents Iu, Iv, (Iw) acquired by the drive current detection units 12u and 12v based on the electrical angle θ(rad) of the PM motor 10 acquired by the angle detection unit 14 . The 3-phase 2-phase conversion and rotation coordinate conversion of the drive current Iu, Iv, (Iw) are converted into d-axis current value (magnetic flux part current value) Id and q-axis current value (torque part current value) Iq. 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 for switching the generation method of the d-axis voltage command value Vd and the q-axis voltage command value Vq according to the operating conditions (torque, rotation speed) of the PM motor 10, and the diagram shows that when the PM motor 10 is rotating at medium/low speed. When operating in the area A (sine wave control area A) of 2, the PM motor 10 is operated by the sine wave control mode performed by the sine wave control unit 40 . In addition, when the PM motor 10 operates in the region B (square wave control region B) in FIG. 2 with high rotational speed and high torque, the control of the PM motor 10 is switched to the square wave control unit 50 to pass the square wave The control mode makes it act. In addition, the switching value (switching line C) between the sine wave control region A and the rectangular wave control region B changes according to the voltage value of the DC power supply unit 18 . The switching value for each voltage value of the DC power supply unit 18 is preferably preset in a memory unit or the like (not shown), and the switching unit 24 appropriately obtains and uses the switching value corresponding to the voltage value of the DC power supply unit 18 . In addition, when there is no consistent voltage value, it is preferable to obtain and use an appropriate switching value from the switching value of the preceding and following voltages by calculation or the like. Then, when the operating state (torque, rotational speed) of the PM motor 10 exceeds the switching value, each step described later is performed to switch the control mode. In addition, it is preferable to give a hysteresis width to the switching value at the time of switching from the sine wave control mode to the rectangular wave control mode and the switching value at the time of switching from the rectangular wave control mode to the sine wave control mode, so as to prevent the hysteresis at the boundary of the switching value. Frequent switching actions.

Next, the configuration and operation of the sine wave control unit 40 will be described. In addition, since the structure of the sine wave control part 40 demonstrated below is a preferable example of this invention, it is not limited to the following structure, and other arbitrary sine wave control means may be used.

First, the torque command value T ^* is output from the control unit or the like of the upper system. This torque command value T ^* is the torque of the PM motor 10 as an operation target. Then, the torque command value T ^* is input to the current command value setting unit 402 of the sine wave control unit 40 when the sine wave control unit 40 is selected by the switching unit 24 . In addition, 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 .

d轴电感Ld、q轴电感Lq等。此外，感应电压常数

d轴电感Ld、q轴电感Lq可以是预先设定的固定值，也可以是从例如数据表等适当地取得根据PM电机10的温度或动作状况预先设定的合适的值。并且，转矩计算部404基于这些值和后述的d轴反馈电流值Id、q轴反馈电流值Iq或从电流指令值生成部406输出的d轴电流指令值Id^*、q轴电流指令值Iq^*，并基于例如下式算出PM电机10的当前的转矩T。此外，在该例中，示出了基于d轴电流指令值Id^*、q轴电流指令值Iq^*算出转矩T的例子。Here, the torque calculation unit 404 has an induced voltage constant as a motor parameter of the PM motor 10

d-axis inductance Ld, q-axis inductance Lq, etc. In addition, the induced voltage constant

The d-axis inductance Ld and the q-axis inductance Lq may be preset fixed values, or may be appropriately obtained from, for example, a data table or the like and preset appropriate values in accordance with the temperature and operating conditions of the PM motor 10 . Then, the torque calculation unit 404 is based on these values and the d-axis feedback current value Id and the q-axis feedback current value Iq described later, or the d-axis current command value Id ^* and the q-axis current command value output from the current command value generating unit 406 . Iq ^* , and the current torque T of the PM motor 10 is calculated based on, for example, the following equation. In addition, this example shows an example in which the torque T is calculated based on the d-axis current command value Id ^* and the q-axis current command value Iq ^* .

P: the number of pole pairs of the permanent magnets of the PM motor

感应电压常数

Induced voltage constant

Ld: d-axis inductance

Lq: q-axis inductance

Then, the current command value setting unit 402 sets a current command value Ia ^* such that the torque T becomes the torque command value T ^* based on the torque command value T ^* and the current torque T, and outputs the current command value as the current command value. Generation unit 406 . In addition, the current command value Ia ^* may be calculated by operations such as integral control and proportional control. In addition, a limiter value may be set for the current command value Ia ^* , and the limiter value may be a value corresponding to the electrical angular velocity ω and the power supply voltage Vdc read out from the table data. Alternatively, only the maximum value of the limiter may be set and the maximum value may be used.

Ld、Lq)及电角速度ω、d轴电流指令值Id^*、q轴电流指令值Iq^*求出电机电压，调整d轴电流指令值Id^*、q轴电流指令值Iq^*使得该电机电压的大小不超过K×Vdc的值(K：电压利用率设定值)，从而能在正弦波控制区域与矩形波控制区域之间设置过调制控制或弱磁通控制区域，能实现中高速动作区域内的输出的提高。另外，通过变更电压利用率K，能以任意的电压利用率设定d轴电流指令值Id^*、q轴电流指令值Iq^*。此外，优选通过基于上述的电机参数(

Ld、Lq)、来自角速度运算部16的电角速度ω、来自直流电源部18的电源电压Vdc等的公知的电压控制、比例控制、积分控制等来进行使用了电压利用率K的d轴电流指令值Id^*、q轴电流指令值Iq^*的调整。另外，也可以通过针对电流相位角θi的积分控制、比例控制等运算来算出。而且，也可以根据需要对d轴电流指令值Id^*、q轴电流指令值Iq^*设置电流限制器。The current command value generating unit 406 obtains, for example, from table data or the like, the current phase angle θi of the current command value Ia ^* input from the current command value setting unit 402, and calculates the d-axis current command based on the current command value Ia ^* and the current phase angle θi. The value Id ^* and the q-axis current command value Iq ^* are output to the voltage command value generating unit 416 of the sine wave control unit 40 . At this time, according to the known arithmetic expression and the above-mentioned motor parameters (

Ld, Lq) and electrical angular velocity ω, d-axis current command value Id ^* , q-axis current command value Iq ^* to obtain the motor voltage, adjust the d-axis current command value Id ^* , q-axis current command value Iq ^* so that the motor voltage The size does not exceed the value of K×Vdc (K: voltage utilization setting value), so that the over-modulation control or weak magnetic flux control area can be set between the sine wave control area and the rectangular wave control area, and the medium and high speed operation area can be realized. The internal output is improved. In addition, by changing the voltage utilization rate K, the d-axis current command value Id ^* and the q-axis current command value Iq ^* can be set at any voltage utilization rate. In addition, it is preferable to pass the motor parameters based on the above (

Ld, Lq), the electrical angular velocity ω from the angular velocity calculation unit 16, the power supply voltage Vdc from the DC power supply unit 18 and other well-known voltage control, proportional control, integral control, etc. to perform the d-axis current command using the voltage utilization rate K. Adjustment of value Id ^* and q-axis current command value Iq ^* . Alternatively, it may be calculated by calculation such as integral control and proportional control for the current phase angle θi. Furthermore, current limiters may be provided for the d-axis current command value Id ^* and the q-axis current command value Iq ^* as necessary.

Here, a preferable example of the voltage command value generation unit 416 will be described. First, the d-axis current command value Id ^* and the q-axis current command value Iq ^* input to the voltage command value generation unit 416 are branched into two parts, and one of them is input to the non-disturbance control unit 414 . Then, the non-disturbance control unit 414 calculates the velocity electromotive force components that interfere between the d-axis current command value Id ^* and the q-axis current command value Iq ^* , as the d-axis voltage command value Vd' and the q-axis voltage command value Vq' output to the current control unit 410 . In addition, the other of the d-axis current command value Id ^* and the q-axis current command value Iq ^* is subtracted by the d-axis feedback current value Id and the q-axis feedback current value Iq in the subtraction unit 412 to become the fluctuation components ΔId and ΔIq, Then, it is input to the current control unit 410 .

The current control unit 410 includes, for example, a current integral control unit 410a and a current proportional control unit 410b, and the fluctuation components ΔId and ΔIq input to the current control unit 410 are branched into two parts and input to the current integral control unit 410a and the current proportional control unit 410b, respectively. Then, known current integration control is implemented in the current integration control unit 410a. In addition, well-known current proportional control is implemented in the current proportional control part 410b. Then, the d-axis voltage command value Vd' and the q-axis voltage command value Vq' from the non-disturbance control unit 414 are added to the output of the current integration control unit 410a, and the output from the current proportional control unit 410b is added to generate d Shaft voltage command value Vd, 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 generating unit 30 via the switching unit 24 .

In addition, it is preferable that the current control unit 410 is provided with a limiter unit that limits the three-phase voltage command values Vu, Vv, and Vw based on the d-axis voltage command value Vd and the q-axis voltage command value Vq. It reaches the vicinity of the maximum voltage which becomes the output limit of the inverter 20 (the voltage which becomes the rectangular wave voltage of one pulse). In addition, it is preferable that the limiter unit is provided in the preceding stage before adding the output from the current proportional control unit 410b. In addition, it is preferable to set the limit voltage of a limiter part according to the synchronization number of the triangular wave set by the synchronization control part 420 mentioned later.

In addition, the d-axis voltage command value Vd" and q-axis voltage command value Vq" of the previous stage before adding the output of the current proportional control unit 410b are output to the polar coordinate conversion unit 418 of the sine wave control unit 40, and the polar coordinate conversion Polar coordinate transformation is applied to the section 418 to obtain the voltage phase θv and the voltage command value |Va|. Then, the polar coordinate conversion unit 418 outputs the voltage phase θv to the synchronization control unit 420 and the mode transition unit 80 . In addition, the voltage command value |Va| is output to the linearity correction unit 38 and the mode transition unit 80 .

In addition, the synchronization control unit 420 of the sine wave control unit 40 generates carrier setting information Sc of the triangular wave described later based on the voltage phase θv, electrical angular velocity ω, and electrical angle θ obtained by the polar coordinate conversion unit 418, and outputs it to the triangular wave Generation unit 34 . In addition, the carrier setting information Sc will be described later.

Next, the configuration and operation of the rectangular wave control unit 50 will be described. In addition, since the structure of the square wave control part 50 demonstrated below is a preferable example of this invention, it is not limited to the following structure, and other arbitrary square wave control means may be used.

First, when the PM motor 10 exceeds the switching value (switching line C) in FIG. 2 and becomes the operating state within the high rotational speed and high torque operating region B, the switching unit 24 transfers the control of the PM motor 10 from the sine wave control unit 40 is switched to the rectangular wave control unit 50 . In addition, the switching operation at this time will be described later. Thereby, the torque command value T ^* is input to the voltage phase setting unit 502 of the rectangular wave control unit 50 . In addition, 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 rectangular wave control unit 50 . Also, the torque calculation unit 504 has motor parameters similarly to the torque calculation unit 404 of the sine wave control unit 40 , and calculates the current current value of the PM motor 10 based on these motor parameters, the d-axis feedback current value Id, and the q-axis feedback current value Iq The torque T is output to the voltage phase setting unit 502 . Then, based on the torque command value T ^* and the torque T, the voltage phase setting unit 502 generates a voltage phase θv such 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 and the synchronization control unit 520 of the rectangular wave control unit 50 .

The synchronization control unit 520 generates carrier setting information Sc for setting the triangular wave based on the voltage phase θv, the electrical angular velocity ω, and the electrical angle θ. In addition, the carrier setting information Sc will be described later. In addition, the synchronization control unit 520 obtains the triangular wave and the three-phase voltage command values Vu, Vv, Vw that cross twice within one cycle of the three-phase voltage command values Vu, Vv, Vw twice, that is, the triangular wave is compared and generated. The drive signals Su, Sv, and Sw have a voltage command value |Va| such as a one-pulse rectangular wave, and the voltage command value |Va| is output to the voltage command value generation unit 516 . In addition, it is preferable to set the voltage command value |Va| by the synchronization control unit 520 by setting the value of the voltage command value |Va| in the data table in advance for each synchronization number of the triangular wave, and the synchronization control unit 520 decides The voltage command value |Va| corresponding to the synchronization number of the triangular wave is selected and set at the same time. Then, the synchronization control unit 520 outputs the voltage command value |Va| to the voltage command value generation unit 516 and the linearity correction unit 38 . In addition, it is preferable that the voltage command value |Va| for forming the rectangular wave is also used as the rectangular wave forming voltage value |Va1| to be described later.

Further, the voltage command value generation unit 516 generates a d-axis voltage command value Vd and a q-axis voltage command value Vq based on the voltage phase θv input from the voltage phase setting unit 502 and the voltage command value |Va| input from the synchronization control unit 520 .

In addition, the rectangular wave control unit 50 may include a correction unit 70 that corrects fluctuation components due to offset or the like. Here, an example of the correction unit 70 is shown below. In addition, since the structure of the correction|amendment part 70 demonstrated below is a preferable example of this invention, it is not limited to the following structure.

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 correcting unit 70 performs, for example, moving average processing or smoothing processing on the d-axis feedback current value Id and the q-axis feedback current value Iq input via the switching unit 24 to smooth them, respectively. In addition, the smoothing process here refers to the process of smoothing the input signal (d-axis feedback current value Id, q-axis feedback current value Iq) by performing the processing of the following formula (1) for every arbitrary cycle.

C=B(1-K)+K×A・・・(1)

Here, A is an input value (d-axis feedback current value Id, q-axis feedback current value Iq), B is an output value after smoothing in the immediately preceding cycle, K is a smoothing constant, and C is an output value (estimated d-axis current value). Command value Id ^* , estimated q-axis current command value Iq ^* ).

Through this smoothing process, the suspected estimated d-axis current command value Id ^* and the estimated q-axis current command value Iq are generated after smoothing the fluctuation components caused by the offset or amplitude imbalance of the drive currents Iu, Iv, and Iw. ^* . Then, these estimated d-axis current command values Id ^* and q-axis current command values 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 respectively input to the correction current generation unit 74 , and the correction current generation unit 74 uses the estimated d-axis current command value Id ^* and the estimated q-axis current command generated by the smoothing unit 72 . The value Iq ^* is subtracted from the d-axis feedback current value Id and the q-axis feedback current value Iq, respectively. Thereby, the d-axis correction current ΔId and the q-axis correction current ΔIq are generated as fluctuation components. Then, the d-axis correction current ΔId and the q-axis correction current ΔIq are output to the correction voltage generating unit 76 . In addition, the d-axis correction current ΔId and the q-axis correction current ΔIq are estimated d-axis current command value Id ^* and q-axis current command value Iq ^* obtained by smoothing the components (variation components) of offset and amplitude imbalance, respectively. It is obtained by subtracting the d-axis feedback current value Id and the q-axis feedback current value Iq including components (variation components) of offset or amplitude imbalance, and therefore basically the inversion of the fluctuation components.

In addition, the correction voltage generation unit 76 generates the d-axis correction voltage ΔVd by, for example, proportional control based on predetermined correction gains (Kd, Kq), based on the d-axis correction current ΔId and the q-axis correction current ΔIq input from the correction current generation unit 74 . and the q-axis correction voltage ΔVq, which is output to the voltage command value correction unit 78 .

The voltage command value correction unit 78 adds the d-axis correction voltage ΔVd and the q-axis correction voltage input from the correction voltage generation unit 76 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. ΔVq. Therefore, the d-axis voltage command value Vd and the q-axis voltage command value Vq thus generated are added with the opposite voltage (d-axis correction voltage ΔVd) caused by the offset or amplitude unbalance component of the drive currents Iu, Iv, and Iw. , q-axis correction voltage ΔVq). Then, the d-axis voltage command value Vd and the q-axis voltage command value Vq are input to the control signal generating unit 30 via the switching unit 24 . In addition, the d-axis voltage command value Vd and the q-axis voltage command value Vq corrected by the above-mentioned correction unit 70 have opposite voltages of offset and amplitude imbalance components added as described above, so the PM motor 10 driven by these offsets etc. are corrected and eliminated.

Next, the carrier setting information Sc output by the synchronization control units 420 and 520 will be described. First, the carrier setting information Sc is used to maintain the frequency of the triangular wave generated by the triangular wave generator 34 in an appropriate state. Here, the triangular wave set by the carrier setting information Sc is such that the center position of the falling edge of the triangular wave crosses the zero point position of the rising edge of the three-phase voltage command values Vu, Vv, and Vw, as indicated by point A in FIG. 3 . , and the frequency of the triangular wave is an odd integer multiple of 3, ie, 9, 15, 21, 27, etc., of the three-phase voltage command values Vu, Vv, and Vw frequencies (hereinafter, the multiples are referred to as synchronization numbers). In addition, the synchronization number of the triangular wave is set according to the electrical angular velocity ω. The reason why the frequency of the triangular wave is set to an odd integer multiple of 3 of the frequencies of the three-phase voltage command values Vu, Vv, and Vw will be described later.

In addition, in this example, as the voltage phase θv used in the generation of the carrier setting information Sc, the d-axis and q-axis voltage command value Vd" (before adding the output of the current proportional control unit 410b) is used. , Vq" obtained voltage phase θv or the voltage phase θv branched before the correction unit 70 (which performs proportional control). Here, when the voltage phase θv includes a proportional control component as a short-term vibration component, the period of the triangular wave (carrier setting information Sc) also oscillates for a short period in accordance with the proportional control component. This causes the drive signals Su, Sv, and Sw generated by the triangular wave comparison to fluctuate, which is an important factor for fluctuations in the output voltage, current, and torque. However, in this example, 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. Therefore, the triangular wave and the drive signals Su, Sv, and Sw are stabilized. Stabilize output voltage, current, and torque. In addition, by using the voltage phase θv that does not include the proportional control component, the control gains of the synchronization control units 420 and 520 , the voltage phase setting unit 502 and the like can be increased, and their responsiveness can be improved.

Then, the synchronization control units 420 and 520 set the period of the triangular wave based on the voltage phase θv and the electrical angle θ such that the center position of the triangular wave crosses the zero point position of the three-phase voltage command values Vu (Vv, Vw), and the frequency of the triangular wave is It becomes the set number of synchronizations (odd integer multiples of 3 of the frequencies of the three-phase voltage command values Vu, Vv, Vw). In addition, the synchronization control units 420 and 520 change the period setting information in conjunction with the change of the electrical angular velocity ω, so that the triangular wave follows and maintains the above state. Then, when the electrical angular velocity ω exceeds a predetermined value set in advance, the synchronization control units 420 and 520 lower the number of synchronizations by one level to set and output the carrier setting information Sc. In addition, when the electrical angular velocity ω is lower than a predetermined value set in advance, the number of synchronizations is increased by one level, and the carrier setting information Sc is set and output. The value of the electrical angular velocity ω for changing the number of synchronizations is preferably stored in a data table or the like in advance for each number of synchronizations, and the synchronization control units 420 and 520 obtain the corresponding number of synchronizations from the data table based on the input electrical angular velocity ω. set up. In this case, it is preferable that the electrical angular velocity ω for increasing or decreasing the number of synchronizations has a hysteresis width. In addition, the above-mentioned correction gains (Kd, Kq) of the correction voltage generating unit 76, time constants of the smoothing unit 72, gains of each control, and the like are adjusted and reset in conjunction with changes in the cycles of these triangular waves.

Next, a preferable example of the control signal generation unit 30 will be described. In addition, since the structure of the control signal generation part 30 demonstrated below is a preferable example of this invention, it is not limited to the following structure, and other arbitrary control signal generation means may be used.

First, the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the sine wave control unit 40 or the rectangular wave control unit 50 are input to the dq/3-phase conversion unit 32 of the control signal generation unit 30 . In addition, the control signal generation unit 30 may include a linearity correction unit 38 in the preceding stage of the dq/3-phase conversion unit 32 for adjusting the d-axis voltage command value Vd during the rectangular wave control and the overmodulation control. , q-axis voltage command value Vq and voltage command value |Va| and the nonlinearity of the fundamental wave component of the inverter output voltage are corrected. In addition, it is preferable that the correction value used by the linearity correction unit 38 is set in accordance with, for example, the modulation factor, the voltage command value |Va|, or the like.

In this example, as the voltage command value |Va| input to the linearity correction unit 38, the d-axis voltage command value Vd″ and the q-axis voltage (before adding the output of the current proportional control unit 410b) are used. The voltage command value |Va| obtained from the command value Vq", or the short-term nature of the d-axis correction voltage ΔVd and q-axis correction voltage ΔVq that are higher than the correction unit 70 (which performs proportional control) (excluding the correction unit 70 's d-axis correction voltage ΔVd and q-axis correction voltage ΔVq The voltage command value |Va| (or |Va'|) output by the synchronization control unit 520 of the vibration component. Here, when the voltage command value |Va| includes a proportional control component that is a short-term vibration component, the correction value fluctuates due to the influence of the vibration component. As a result, the three-phase voltage command values Vu, Vv, Vw, and drive signals Su, Sv, and Sw of the subsequent stage also fluctuate, which are important factors for fluctuations in the output voltage, current, and torque. However, in this example, 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, stable three-phase voltage command values Vu, Vv, Vw can be generated, driving Signals Su, Sv and Sw can stabilize the output voltage, current and torque. In addition, by setting the correction value based on the voltage command value |Va| not including the proportional control component, the gains of the current proportional control unit 410b and the correction voltage generation unit 76 can be increased, and their responsiveness can be improved.

In addition, the electrical angle θ from the angle detection unit 14 and the electrical angular velocity ω from the angular velocity calculation unit 16 are input to the dq/3-phase conversion unit 32 , and the dq/3-phase conversion unit 32 calculates an inversion based on the electrical angle θ and the electrical angular velocity ω The d-axis voltage command value Vd and the q-axis voltage command value Vq are converted into three-phase voltage command values Vu, Vv, Vw based on the predicted electrical angle θ' at a new timing when the controller 20 performs the switching operation, and output to the drive signal generation unit 36 .

The drive signal generating unit 36 includes a triangular wave generating unit 34 to which the carrier setting information Sc described above is input, and the triangular wave generating unit 34 generates a periodic triangular wave based on the carrier setting information Sc. In addition, the triangular wave at this time is a triangular wave in which the center position of the falling edge of the triangular wave crosses the zero point position of the rising edge of the three-phase voltage command values Vu, Vv, Vw according to the carrier setting information Sc from the synchronization control units 420 and 520 , and the frequency is an odd integer multiple 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 is increased or decreased according to the above-mentioned carrier setting information Sc. Therefore, the three-phase voltage command values Vu, Vv, Vw are adjusted by a conversion factor 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, Vw. Thereby, Hi-Low drive signals Su, Sv, and Sw are generated.

The inverter 20 turns on and off internal switching elements according to the drive signals Su, Sv, and Sw output from the drive signal generation unit 36, and converts the DC power from the DC power supply unit 18 into AC based on the drive signals Su, Sv, and Sw. voltage and output. As a result, alternating current drive currents Iu, Iv, and Iw whose phases are shifted by 1/3 cycle (2/3π(rad)) respectively flow through the armature windings of the PM motor 10 . Therefore, the PM motor 10 rotates with the torque corresponding to the torque command value T ^* .

Next, the operation of the mode transition unit 80 which is a characteristic part of the motor control device 100 and the motor control method of 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. In addition, FIG. 5 is an operation flowchart at the time of switching from the rectangular wave control mode to the sine wave control mode.

First, the operation at the time of switching from the rectangular wave control mode to the sine wave control mode as the first aspect of the motor control device 100 and the motor control method of the present invention will be described. First, in the sine wave control mode, the sine wave control unit 40 generates the d-axis voltage command value Vd and the q-axis voltage command value Vq based on the torque command value T ^* , and generates the d-axis voltage command value Vd and the q-axis voltage command based on the d-axis voltage command value Vd and the q-axis voltage command. The value Vq generates the drive signals Su, Sv, Sw. The drive signals Su, Sv, and Sw at this time have a sine wave pattern or an overmodulation pattern when the sine wave control unit 40 can perform overmodulation control or flux weakening control. In addition, when the sine wave control part 40 does not have an overmodulation control function or a magnetic flux weakening control function, it becomes a sine wave pattern. Then, the operation of the PM motor 10 is controlled by the drive signals Su, Sv, and Sw of the sine wave pattern or the overmodulation pattern (step S102 ).

In addition, at this time, the polar coordinate conversion unit 418 of the sine wave control unit 40 polarizes the d-axis voltage command value Vd" and the q-axis voltage command value Vq" before adding the current proportional control component of the current control unit 410 as described above. The coordinates are converted to calculate the voltage phase θv and the voltage command value |Va|. Then, the mode transition unit 80 obtains the voltage phase θv and the voltage command value |Va| respectively (step S104), and sets them as initial values of the initial voltage phase θv1 and the transition voltage command value |Va'| (step S105). In addition, the voltage phase θv and the voltage command value |Va| fluctuate from time to time, and the initial values of the initial voltage phase θv1 and the transition voltage command value |Va'| also change along with this. Further, as described above, since the initial values of the initial voltage phase θv1 and the transition voltage command value |Va'| are obtained from the d-axis voltage command value Vd" and q-axis voltage command value Vq" that do not include the proportional control component, the The short-term fluctuation is small, and the output during the transition period described later can be stabilized.

Next, when the operating state (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, etc., and the rectangular wave control region B is established ( Step S106: YES), the switching unit 24 immediately switches the generators 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 rectangular wave control unit 50 (step S108). In addition, when the motor control device 100 includes the second aspect to be described later, the control unit switches to the rectangular wave control unit 50, and steps S203 and S204 to be described later are performed, and the d-axis voltage command output from the rectangular wave control unit 50 is performed. The values Vd and the q-axis voltage command value Vq are output to the sine wave control unit 40 as the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value, and based on the d-axis feedback current value Id, the q-axis feedback current The value Iq calculates the transition data Ifb.

In addition, 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 synchronization control unit 520 (step S110).

Next, the mode transition unit 80 acquires a rectangular wave forming voltage value |Va1| such as a rectangular wave pattern in which the drive signals Su, Sv, and Sw are one pulse from the synchronization control unit 520 (step S112).

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

In addition, when the transition voltage command value |Va'| is input from the mode transition unit 80, the synchronization control unit 520 outputs the transition voltage command value |Va'| to the voltage command value regardless of the torque command value T ^* The generating unit 516 and the switching unit 24 . However, the initial voltage phase θv1 is output only when the control unit is switched to the rectangular wave control unit 50 , and thereafter becomes the voltage phase θv corresponding to the torque command value T ^* . Therefore, the d-axis voltage command value Vd and the q-axis voltage command value Vq in the transition period from steps S114 to S116 are generated based on the voltage phase θv and the transition voltage command value |Va'|. In addition, the initial value of transition voltage command value |Va'| is the voltage command value |Va| forming the sine wave pattern (or overmodulation pattern) used in the sine wave control unit 40 , and is the transition voltage command value| The square wave forming voltage value |Va1| of the final value of Va'| is a voltage command value forming a square wave pattern. Therefore, in this transition period, torque control based on the voltage phase θv is performed, and the drive signals Su, Sv, Sw is continuously changed from a sine wave pattern or an overmodulation pattern to a rectangular wave pattern.

Then, when the transition voltage command value |Va'| is 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'|, Completely shifts to the rectangular wave control mode by the rectangular wave control unit 50 (step S118). Accordingly, the rectangular wave control unit 50 generates the d-axis voltage command value Vd and the q-axis voltage command value Vq from the voltage phase θv corresponding to the torque command value T ^* and the rectangular wave forming voltage value |Va1|, and outputs them to The control signal generation unit 30 side. Accordingly, 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 of the present invention, when switching from the sine wave control mode to the rectangular wave control mode, torque control based on the voltage phase θv is performed while the drive signals Su, Sv, and Sw are controlled. Continuously change from a sine wave pattern (or overmodulation pattern) to a square wave pattern. Therefore, it is possible to perform smooth switching of control modes with little torque fluctuation.

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

When controlled by the rectangular wave control unit 50, the d-axis voltage command value Vd and the q-axis voltage command value Vq output by the rectangular wave control unit 50 are used as the initial value Vd1 of the d-axis voltage command value and the initial value of the q-axis voltage command value. The value Vq1 is output to the voltage command value generation unit 416 of the sine wave control unit 40 directly or via the mode transition unit 80 (step S203 ). Then, the input initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value are respectively subtracted from the interference components between the d-axis and q-axis of the non-interference control unit 414 (the d-axis voltage command value After Vd' and the q-axis voltage command value Vq'), they are input to the current integration control unit 410a and become the integration value of the current control unit 410 . However, in the rectangular wave control mode, the integral value of the current control unit 410 and the like do not participate in the control of the PM motor 10 . In addition, the initial values Vd1 and Vq1 change from time to time in accordance with fluctuations in the d-axis voltage command value Vd and the q-axis voltage command value Vq output from the rectangular wave control unit 50 .

In addition, 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 . Next, 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). Note that the transition data Ifb is, for example, the integral of the integral control unit in the current command value setting unit 402 and the current command value generating unit 406 , which are obtained by calculation using the d-axis feedback current value Id and the q-axis feedback current value Iq. The value and the like are used to supplement data that cannot be acquired by the current command value setting unit 402 and the current command value generating unit 406 immediately after switching from the rectangular wave control unit 50 to the sine wave control unit 40 . In addition, the transfer data Ifb is acquired in the same manner during the transfer period to be described later.

Next, when the operating state (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, etc., and the sine wave control region A is established (step S206: YES), the mode transition unit 80 acquires the voltage command value |Va| output by the synchronization control unit 520 at this time. Then, the voltage command value |Va| is set as the initial value of the transition voltage command value |Va'| (step S208). In addition, the mode transition unit 80 acquires the sine wave mode transition voltage value |Va2| such that the drive signals Su, Sv, and Sw have a sine wave pattern (or an overmodulation pattern) (step S210). In addition, it is preferable to use a predetermined fixed value such as the upper limit value of the voltage command value |Va| in the sine wave control mode (the limiter value of the limiter unit of the current control unit 410 ) and the like for the sine wave mode transition voltage value |Va2| value.

Next, the mode transition unit 80 continuously reduces the transition voltage command value |Va'| from the initial value (=|Va|) to the sine wave mode transition voltage value |Va2| based on, for example, a predetermined time constant set in advance, and outputs the output to the synchronization control unit 520 (steps S212 to S216). 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 addition, the synchronization control unit 520 outputs the transition voltage command value |Va'| regardless of the torque command value T ^* when the transition voltage command value |Va'| is input from the mode transition unit 80 in the same manner as described above. to the voltage command value generating unit 516 and the switching unit 24 . Therefore, the d-axis voltage command value Vd and the q-axis voltage command value Vq in the transition period from steps S212 to 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 during the rectangular wave control, and the sine wave mode transition voltage value is the final value of the transition voltage command value |Va'| |Va2| is a voltage command value that forms a sine wave pattern or an overmodulation pattern. Therefore, in this transition period, torque control based on the voltage phase θv is performed, and the drive signals Su, Sv, and Sw change from the rectangular wave pattern to the overmodulation pattern. The modulation pattern or sine wave pattern changes continuously. In addition, when the torque command value T ^* , the power supply voltage Vdc, or the electrical angular velocity ω changes during the transition period, these changes are also reflected in the torque control and transition data Ifb at any time.

Then, when the transition voltage command value |Va'| is equal to or less than the sine wave mode transition voltage value |Va2| (step S216: YES), the mode transition unit 80 stops outputting the transition voltage command value |Va'| , and 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 rectangular wave control unit 50 to the sine wave control unit 40 (step S218 ). In addition, 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 generating unit 406 of the sine wave control unit 40 (step S220 ). Accordingly, the current command value setting unit 402 and the current command value generating 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, and output them to Voltage command value generation unit 416 .

In addition, the initial value Vd1 of the d-axis voltage command value and the initial value Vq1 of the q-axis voltage command value are input to the voltage command value generation unit 416 and become the integral values of the current integration control of the d-axis and q-axis. After the control unit 40 is switched, based on the initial value Vd1 of the d-axis voltage command value, the initial value Vq1 of the q-axis voltage command value, the initial value Id ^* 1 of the d-axis current command value, and the initial value Iq ^* of the q-axis current command value 1. Generate 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, and output them to the control signal generation unit 30 side (step S222). Accordingly, 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 immediately after switching to the sine wave control unit 40 .

After that, the motor control device 100 completely shifts to the sine wave control mode by the sine wave control unit 40 (step S224). Thereby, the sine wave control unit 40 generates the d-axis voltage command value Vd and the q-axis voltage command value Vq from the d-axis current command value Id ^* and the q-axis current command value Iq ^* corresponding to the torque command value T ^* , and uses them as It is output to the control signal generation unit 30 side. Therefore, the operation of the PM motor 10 is controlled by the drive signals Su, Sv, and Sw of the sine wave pattern or the overmodulation pattern.

In this way, in the motor control device 100 and the motor control method of the present invention, when switching from the rectangular wave control mode to the sine wave control mode, torque control based on the voltage phase θv is performed while the drive signals Su, Sv, and Sw are controlled. The square wave pattern is continuously changed to the sine wave pattern (or overmodulation pattern), and when it becomes the sine wave pattern (or overmodulation pattern), switching to the sine wave control mode is performed. Also, immediately after switching to the sine wave control mode, based on the last values at the time of mode transition (initial value Vd1 of the d-axis voltage command value, initial value Vq1 of the q-axis voltage command value, and initial value Id of the d-axis current command value ^* 1. Initial value Iq of the q-axis current command value ^* 1) The d-axis voltage command value Vd and the q-axis voltage command value Vq at the time of switching are generated, and the operation control of the PM motor 10 is performed. Therefore, it is possible to perform a smooth switching of the control mode in which the control value is continuous and the torque fluctuation is small before and after the switching of the control unit.

In addition, in the motor control device 100 and the motor control method of the present invention, the rectangular wave control unit 50 performs control based on the transition voltage command value |Va'| in the transition period at the time of mode switching. Therefore, even when the operating condition of the PM motor 10 has changed during the transition period and it is necessary to switch again, it is possible to directly transition to the re-switching operation. In particular, in the motor control device 100 having both the first and second modes, for example, during the switching operation of switching from the sine wave control mode to the rectangular wave control mode, switching to the sine wave control mode occurs again. In this case, it is possible to directly transfer to step S208 to step S216, and after the transfer operation by the rectangular wave control unit 50, the switching to the sine wave control mode is performed in step S218 to step S224. In addition, when 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, it is possible to directly transfer to steps S110 to S116, and then the rectangular wave control unit 50 Continue to control in the rectangular wave control mode. In this way, in the motor control device 100 and the motor control method of the present invention, in addition to being able to cope with re-switching of the control mode during the transition period, the rotation can also be performed by the voltage phase θv based on the torque command value T ^* during the transition period. Because of torque control, motion control with excellent responsiveness can be performed.

In addition, the sine wave control unit 40 of the motor control device 100 supports overmodulation control or flux weakening control and can output a rectangular wave forming voltage value |Va1| equivalent to that of the rectangular wave control unit 50 in the control region of the overmodulation pattern. In the case of voltage, that is, when the sine wave mode transition voltage value |Va2| is substantially equal to the rectangular wave forming voltage value |Va1|, the above-described control of steps S208 to S216 may be omitted. In this case, immediately after switching from the rectangular wave control mode to the sine wave control mode, 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 smooth control with little torque fluctuation can be performed. mode switching.

Next, the triangular wave of the motor control device 100 and the motor control method of the present invention will be described. As described above, the triangular wave used in the present invention is a triangular wave in which the center position of the falling edge of the triangular wave crosses the zero point position of the rising edge of the three-phase voltage command values Vu, Vv, and Vw, and its frequency is set to the three-phase voltage command value Vu Odd integer multiples of 3 for the frequencies of , Vv, and Vw. 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, respectively. waveform, the PM motor 10 cannot be controlled smoothly. Therefore, the frequency of the triangular wave is an integer multiple of 3 of the frequency of the three-phase voltage command values Vu, Vv, and Vw.

Next, the reason for making it an odd integer multiple of 3 will be described. Here, FIG. 6( a1 ) shows the three-phase voltage command value Vu, the three-phase voltage command value Vu, the three-phase voltage command value Vu, the three-phase voltage command value Vu when the frequency of the triangular wave is 6 times the three-phase voltage command value Vu (Vv, Vw) (even integer multiple of 3), and the Schematic diagram of Vv for triangular wave comparison. In addition, the drive signals Su and Sv generated by the triangular wave comparison are shown in (a2) and (a3) of FIG. 6 . Furthermore, the output line-to-line voltage Vuv between the U-phase and the V-phase at this time is shown in (a4) of FIG. 6 . In addition, FIG. 6( b1 ) shows the three-phase voltage command values Vu and Vv when the frequency of the triangular wave is nine times (an odd integer multiple of 3) the three-phase voltage command value Vu (Vv, Vw) Schematic diagram of performing a triangle wave comparison. In addition, the drive signals Su and Sv generated by the triangular wave comparison are shown in (b2) and (b3) of FIG. 6 . Furthermore, the output line-to-line voltage Vuv between the U-phase and the V-phase at this time is shown in (b4) of FIG. 6 .

First, when the frequency of the triangular wave is set to an even integer multiple of 3 of the three-phase voltage command values Vu, Vv, and Vw, the three-phase voltage at the portion shown by the one-dot chain line in (a1) of FIG. The zero point position of the command value Vu and the center position of the triangular wave cross in a region where both are falling edges. In this case, depending on the amplitude of the three-phase voltage command values Vu, Vv, Vw, the three-phase voltage command values Vu, Vv, Vw and the slope of the triangular wave may be partially approximated (they overlap). In this case, when the drive signals Su, Sv, and Sw change from a sine wave pattern (overmodulation pattern) to a rectangular wave pattern, discontinuous or abrupt changes may occur, which may cause torque fluctuations.

However, when the frequency of the triangular wave is an odd integer multiple of 3 of the three-phase voltage command values Vu, Vv, and Vw, as shown by the one-dot chain line in FIG. 6( b1 ), the three-phase voltage The zero point position within the falling edge region of the command value Vu crosses at the center position of the rising edge of the triangular wave. That is, in the case of an odd integer multiple of 3, basically, the zero-point positions of the falling edge regions of the three-phase voltage command values Vu, Vv, and Vw cross the rising edge region of the triangular wave, and the three-phase voltage command values Vu, Vv, Vw The zero position in the rising edge region of , crosses in the falling edge region of the triangular wave. Therefore, the continuity of the drive signals Su, Sv, and Sw can be well maintained, and the stable drive signals Su, Sv, and Sw can be generated.

In addition, when the frequency of the triangular wave is an even integer multiple of 3 of the three-phase voltage command values Vu, Vv, and Vw, for example, in (a4) of FIG. 6 , the waveform of the output line voltage Vuv becomes vertically asymmetrical . If the symmetry of the waveform of the voltage between the output lines cannot be ensured as described above, there is a possibility that an offset component or deformation may occur in the drive currents Iu, Iv, and Iw, which is not ideal as a control signal for the PM motor 10 .

However, when the frequency of the triangular wave is an odd integer multiple of 3 of the three-phase voltage command values Vu, Vv, and Vw, as shown in (b4) of FIG. 6 , the waveform of the output line-to-line voltage Vuv is vertical and horizontal become symmetrical. Similarly, the output line-to-line voltages Vvw and Vwu also have symmetry, and the PM motor 10 can be stably controlled.

As described above, when the motor control device 100 and the motor control method of the present invention are switched from the sine wave control mode to the rectangular wave control mode, the last voltage phase θv in the sine wave control mode is output to the voltage phase as the initial voltage phase θv1 The setting unit 502 continuously increases the transition voltage command value |Va'| from the last voltage command value |Va| in the sine wave control mode to the rectangular wave forming voltage value while performing torque control based on the voltage phase θv |Va1|. As a result, the generated drive signals Su, Sv, and Sw are continuously changed from a sine wave pattern (or an overmodulation pattern) to a rectangular wave pattern while maintaining the continuity at the time of switching. Therefore, it is possible to perform smooth switching of control modes with little torque fluctuation.

In addition, when switching from the rectangular wave control mode to the sine wave control mode, the last d-axis voltage command value Vd, the last q-axis voltage command value Vq, and the last d-axis voltage in the rectangular wave control mode are generated immediately after switching. The feedback current value Id and the last q-axis feedback current value Iq are output to the control signal generation unit 30 as the switching d-axis voltage command value Vd and the switching q-axis voltage command value Vq. As a result, the generated drive signals Su, Sv, and Sw are maintained in continuity at the time of switching, and a smooth control mode switching with little torque fluctuation can be performed.

Then, when switching from the rectangular wave control mode to the sine wave control mode, the transition voltage command value |Va'| is continuously reduced from the last voltage command value |Va| in the rectangular wave control mode to the sine wave mode transition voltage value| In the configuration in which Va2| is output in parallel, the drive signals Su, Sv, and Sw are continuously changed from the rectangular wave pattern to the sine wave pattern (or overmodulation pattern), and the transition to the sine wave pattern (or overmodulation pattern) is completed at the point of time. Switch to the sine wave control unit 40 . Then, 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 outputted immediately after the switching, and then completely transition to the sine wave control mode. Thus, even when the sine wave control unit 40 does not have the overmodulation control function, the continuity of the drive signals Su, Sv, and Sw at the time of switching can be maintained, and smooth control mode switching with less torque fluctuation can be performed.

Furthermore, the motor control device 100 and the motor control method of the present invention also perform torque control by the voltage phase θv based on the torque command value T ^* in the transition period at the time of switching. As a result, when the torque command value T ^* , the power supply voltage Vdc, or the electrical angular velocity ω changes during the transition period, these changes are also reflected in the torque control at any time, and it is possible to perform a torque control with less torque fluctuation and excellent responsiveness. Action control. In addition, since the control during the transition period is performed by the rectangular wave control unit 50, when it is necessary to switch the control mode again during the transition period, it is possible to directly switch to the re-switching operation.

Furthermore, in the motor control device 100 and the motor control method of the present invention, as the triangular wave, a triangular wave is used in which the center position of the falling edge crosses the zero point position of the rising edge of the three-phase voltage command values Vu, Vv, and Vw, and the frequency is The frequency of the three-phase voltage command values Vu, Vv, and Vw is an odd integer multiple of 3. In this configuration, the zero-point positions of the falling edge regions of the three-phase voltage command values Vu, Vv, and Vw cross the rising edge region of the triangular wave, and the zero-point positions of the rising edge regions of the three-phase voltage command values Vu, Vv, and Vw intersect at the rising edge region of the triangular wave. within the falling edge region of the triangle wave. Therefore, the continuity when the drive signals Su, Sv, and Sw change from the sine wave pattern (overmodulation pattern) to the rectangular wave pattern is well maintained, and the stable drive signals Su, Sv, and Sw can be generated. In addition, the output line-to-line voltages Vuv, Vvw, and Vwu have symmetry, and it is possible to perform stable control of the PM motor 10 .

In addition, the motor control device 100 and the motor control method shown in this example are just examples, and the configuration, operation, configuration of each step, etc. of the control signal generation unit 30 , the sine wave control unit 40 , and the rectangular wave control unit 50 can be described in It can be implemented with changes within the scope of not departing from the gist of the present invention.

Description of reference numerals

10: PM motor

12u, 12v: drive current detection part

14: Angle detection part

20: Inverter

22: 3-phase/dq conversion section

24: Switching section

32: dq/3-phase conversion section

36: Drive signal generation section

40: Sine wave control unit

50: Rectangular wave control unit

80: Mode Transfer Department

100: Motor control device

θ: electrical angle

θv: voltage phase

θv1: initial 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

Ifb: transfer data

|Va|: Voltage command value

|Va1|: Rectangular wave forming voltage value

|Va2|: Sine wave mode transfer voltage value

|Va’|: Transfer voltage command value

Vd: d-axis voltage command value

Vq: q-axis voltage command value

Vu, Vv, Vw: Voltage command value (3-phase)

T ^* : Torque command value

Su, Sv, Sw: drive signals.

Claims (10)

1. A motor control device has:

an inverter that causes a 3-phase alternating drive current to flow through the PM motor;

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

a 3-phase/dq conversion unit that converts the drive current acquired by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle;

a sine wave control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode;

a rectangular wave control unit that sets a voltage phase and a voltage command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular wave control mode;

a switching unit that switches generation of the d-axis voltage command value and the q-axis voltage command value between the sinusoidal wave control unit and the rectangular wave control unit;

a dq/3 phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into three-phase voltage command values; and

a drive signal generating unit that generates a drive signal for switching the inverter by comparing the three-phase voltage command value with a triangular wave having a predetermined period,

further comprises a mode shifting unit which operates when the control mode is switched by the switching unit,

the mode shift section

The method includes the steps of obtaining a voltage phase and a voltage command value obtained by polar-coordinate conversion of a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode as initial values of an initial voltage phase and a transition voltage command value, outputting the voltage phase and the voltage command value to the rectangular wave control unit when switching from the sine wave control mode to a rectangular wave control mode, obtaining a rectangular wave forming voltage value in which the drive signal has a rectangular wave pattern, increasing the transition voltage command value continuously from the initial value to the rectangular wave forming voltage value, and outputting the increased rectangular wave forming voltage value to the rectangular wave control unit, and causing the rectangular wave control unit to generate the d-axis voltage command value and the q-axis voltage command value based on the transition voltage command value.

2. A motor control device has:

an inverter that causes a 3-phase alternating drive current to flow through the PM motor;

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

a 3-phase/dq conversion unit that converts the drive current acquired by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle;

a sine wave control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode;

a rectangular wave control unit that sets a voltage phase and a voltage command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular wave control mode;

a switching unit that switches generation of the d-axis voltage command value and the q-axis voltage command value between the sinusoidal wave control unit and the rectangular wave control unit;

a dq/3 phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into three-phase voltage command values; and

a drive signal generating unit that generates a drive signal for switching the inverter by comparing the three-phase voltage command value with a triangular wave having a predetermined period,

further comprises a mode shifting unit which operates when the control mode is switched by the switching unit,

the mode shift section

In the rectangular wave control mode, the d-axis voltage command value and the q-axis voltage command value outputted from the rectangular wave control unit are outputted to the sine wave control unit as an initial value of the d-axis voltage command value and an initial value of the q-axis voltage command value, and transition data for calculating the initial value of the d-axis current command value and the initial value of the q-axis current command value is calculated based on the d-axis feedback current value and the q-axis feedback current value and outputted to the sine wave control unit,

immediately after switching from the rectangular wave control mode to the sine wave control mode, a switching-time d-axis voltage command value and a switching-time q-axis voltage command value are generated based on the initial value of the d-axis voltage command value, the initial value of the q-axis voltage command value, the initial value of the d-axis current command value, and the initial value of the q-axis current command value, and output to the dq/3 phase conversion unit.

3. The motor control apparatus according to claim 2,

the mode shift section

When switching from the rectangular wave control mode to the sinusoidal wave control mode, the voltage command value output by the rectangular wave control unit is acquired as an initial value of a transition voltage command value, and a sinusoidal wave mode transition voltage value at which the drive signal becomes a sinusoidal wave pattern or an overmodulation pattern is acquired, the transition voltage command value is continuously reduced from the initial value to the sinusoidal wave mode transition voltage value while continuing the rectangular wave control mode and is output to the rectangular wave control unit, the rectangular wave control unit is caused to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value, and thereafter, the switching unit switches to the control mode by the sinusoidal wave control unit.

4. A motor control device has:

an inverter that causes a 3-phase alternating drive current to flow through the PM motor;

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

a 3-phase/dq conversion unit that converts the drive current acquired by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle;

a sine wave control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode;

a rectangular wave control unit that sets a voltage phase and a voltage command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular wave control mode;

a switching unit that switches generation of the d-axis voltage command value and the q-axis voltage command value between the sinusoidal wave control unit and the rectangular wave control unit;

a dq/3 phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into three-phase voltage command values; and

a drive signal generating unit that generates a drive signal for switching the inverter by comparing the three-phase voltage command value with a triangular wave having a predetermined period,

further comprises a mode shifting unit which operates when the control mode is switched by the switching unit,

the mode shift section

Acquiring a voltage phase and a voltage command value obtained by polar-coordinate conversion of a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode as initial values of an initial voltage phase and a transition voltage command value, outputting the voltage phase and the voltage command value to the rectangular wave control unit when switching from the sine wave control mode to a rectangular wave control mode, acquiring a rectangular wave forming voltage value in which the drive signal has a rectangular wave pattern, continuously increasing the transition voltage command value from the initial value to the rectangular wave forming voltage value, and outputting the increased transition voltage command value to the rectangular wave control unit, and causing the rectangular wave control unit to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value,

in the rectangular wave control mode, the d-axis voltage command value and the q-axis voltage command value outputted from the rectangular wave control unit are outputted to the sine wave control unit as an initial value of the d-axis voltage command value and an initial value of the q-axis voltage command value, and transition data for calculating the initial value of the d-axis current command value and the initial value of the q-axis current command value is calculated based on the d-axis feedback current value and the q-axis feedback current value and outputted to the sine wave control unit,

when switching from the rectangular wave control mode to the sinusoidal wave control mode, acquiring a voltage command value output by the rectangular wave control unit as an initial value of a transition voltage command value, and acquiring a sinusoidal wave mode transition voltage value at which the drive signal becomes a sinusoidal wave pattern or an overmodulation pattern, continuously decreasing the transition voltage command value from the initial value to the sinusoidal wave mode transition voltage value while continuing the rectangular wave control mode, and outputting the decreased transition voltage command value to the rectangular wave control unit, causing the rectangular wave control unit to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value, and thereafter, causing the switching unit to switch to the sinusoidal wave control mode by the sinusoidal wave control unit,

immediately after switching to the sinusoidal wave control mode, a switching-time d-axis voltage command value and a switching-time q-axis voltage command value are generated based on the initial value of the d-axis voltage command value, the initial value of the q-axis voltage command value, the initial value of the d-axis current command value, and the initial value of the q-axis current command value, and are output to the dq/3 phase conversion unit.

5. The motor control apparatus according to any one of claims 1 to 4,

the center position of the falling edge of the triangular wave intersects the zero point position of the rising edge of the three-phase voltage command value,

and maintaining the frequency of the triangular wave as an odd integer multiple of 3 of the frequency of the three-phase voltage command value.

6. A motor control method is a motor control method of a motor control device, the motor control device includes:

an inverter that causes a 3-phase alternating drive current to flow through the PM motor;

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

a 3-phase/dq conversion unit that converts the drive current acquired by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle;

a sine wave control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode;

a rectangular wave control unit that sets a voltage phase and a voltage command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular wave control mode;

a switching unit that switches generation of the d-axis voltage command value and the q-axis voltage command value between the sinusoidal wave control unit and the rectangular wave control unit;

a dq/3 phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into three-phase voltage command values;

a drive signal generation unit that compares the three-phase voltage command value with a triangular wave having a predetermined period to generate a drive signal for switching the inverter; and

a mode switching unit that operates when the control mode is switched by the switching unit, wherein the motor control method is characterized in that,

the mode shift section performs

A step of obtaining a voltage phase and a voltage command value obtained by polar-coordinate conversion of a d-axis voltage command value and a q-axis voltage command value in the sine wave control mode as initial values of an initial voltage phase and a transition voltage command value, and

when the sine wave control mode is switched to the rectangular wave control mode, the following steps are carried out:

outputting the initial voltage phase and the initial value of the transition voltage command value to the rectangular wave control unit;

obtaining a rectangular wave forming voltage value at which the driving signal is a rectangular wave pattern; and

the transfer voltage command value is continuously increased from the initial value to a rectangular-wave-shaped voltage value and is output to the rectangular-wave control unit, and the rectangular-wave control unit generates a d-axis voltage command value and a q-axis voltage command value based on the transfer voltage command value.

7. A motor control method is a motor control method of a motor control device, the motor control device includes:

an inverter that causes a 3-phase alternating drive current to flow through the PM motor;

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

a 3-phase/dq conversion unit that converts the drive current acquired by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle;

a sine wave control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode;

a rectangular wave control unit that sets a voltage phase and a voltage command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular wave control mode;

a switching unit that switches generation of the d-axis voltage command value and the q-axis voltage command value between the sinusoidal wave control unit and the rectangular wave control unit;

a dq/3 phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into three-phase voltage command values;

a drive signal generation unit that compares the three-phase voltage command value with a triangular wave having a predetermined period to generate a drive signal for switching the inverter; and

a mode switching unit that operates when the control mode is switched by the switching unit, wherein the motor control method is characterized in that,

the mode shift unit performs the following steps:

in the rectangular wave control mode, the d-axis voltage command value and the q-axis voltage command value outputted from the rectangular wave control unit are outputted to the sine wave control unit as an initial value of the d-axis voltage command value and an initial value of the q-axis voltage command value, and transition data for calculating the initial value of the d-axis current command value and the initial value of the q-axis current command value is calculated based on the d-axis feedback current value and the q-axis feedback current value and outputted to the sine wave control unit,

the mode shift unit further includes: immediately after switching from the rectangular wave control unit mode to the sine wave control mode, a switching-time d-axis voltage command value and a switching-time q-axis voltage command value are generated based on the initial value of the d-axis voltage command value, the initial value of the q-axis voltage command value, the initial value of the d-axis current command value, and the initial value of the q-axis current command value, and output to the dq/3 phase conversion unit.

8. The motor control method according to claim 7,

the mode shift unit further includes:

acquiring a voltage command value output by the rectangular wave control unit as an initial value of a transition voltage command value when switching from a rectangular wave control mode to a sine wave control mode;

acquiring a sine wave pattern transfer voltage value of the driving signal which becomes a sine wave pattern or an overmodulation pattern;

continuously reducing the transition voltage command value from the initial value to the sine wave mode transition voltage value while continuing the rectangular wave control mode, and outputting the reduced transition voltage command value to the rectangular wave control unit;

causing the rectangular wave control unit to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value; and

the switching unit switches to a control mode by the sine wave control unit.

9. A motor control method is a motor control method of a motor control device, the motor control device includes:

an inverter that causes a 3-phase alternating drive current to flow through the PM motor;

a drive current detection unit that obtains a value of the drive current;

an angle detection unit that acquires an electrical angle of the PM motor;

a 3-phase/dq conversion unit that converts the drive current acquired by the drive current detection unit into a d-axis feedback current value and a q-axis feedback current value based on the electrical angle;

a sine wave control unit that sets a d-axis current command value and a q-axis current command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a sine wave control mode;

a rectangular wave control unit that sets a voltage phase and a voltage command value based on an external torque command value and generates a d-axis voltage command value and a q-axis voltage command value in a rectangular wave control mode;

a switching unit that switches generation of the d-axis voltage command value and the q-axis voltage command value between the sinusoidal wave control unit and the rectangular wave control unit;

a dq/3 phase conversion unit that converts the d-axis voltage command value and the q-axis voltage command value into three-phase voltage command values;

a drive signal generation unit that compares the three-phase voltage command value with a triangular wave having a predetermined period to generate a drive signal for switching the inverter; and

a mode switching unit that operates when the control mode is switched by the switching unit, wherein the motor control method is characterized in that,

the mode shift section performs

A step of obtaining a voltage phase and a voltage command value obtained by polar-coordinate conversion of a d-axis voltage command value and a q-axis voltage command value in the sine wave control mode as initial values of an initial voltage phase and a transition voltage command value, and

when the sine wave control mode is switched to the rectangular wave control mode, the following steps are carried out:

outputting the initial voltage phase and the initial value of the transition voltage command value to the rectangular wave control unit;

obtaining a rectangular wave forming voltage value at which the driving signal is a rectangular wave pattern; and

continuously increasing the transition voltage command value from the initial value to a rectangular-wave-shaped voltage value and outputting the increased value to the rectangular-wave control unit, and causing the rectangular-wave control unit to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value,

in the rectangular wave control mode, the following steps are carried out: outputting the d-axis voltage command value and the q-axis voltage command value outputted from the rectangular wave control unit to the sine wave control unit as an initial value of the d-axis voltage command value and an initial value of the q-axis voltage command value, calculating transition data for calculating the initial value of the d-axis current command value and the initial value of the q-axis current command value based on the d-axis feedback current value and the q-axis feedback current value, and outputting the transition data to the sine wave control unit,

the mode shift unit further includes:

acquiring a voltage command value output by the rectangular wave control unit as an initial value of a transition voltage command value when switching from a rectangular wave control mode to a sine wave control mode;

acquiring a sine wave pattern transfer voltage value of the driving signal which becomes a sine wave pattern or an overmodulation pattern;

continuously reducing the transition voltage command value from the initial value to the sine wave mode transition voltage value while continuing the rectangular wave control mode, and outputting the reduced transition voltage command value to the rectangular wave control unit;

causing the rectangular wave control unit to generate a d-axis voltage command value and a q-axis voltage command value based on the transition voltage command value;

the switching unit switches to a sine wave control mode by the sine wave control unit; and

immediately after switching to the sinusoidal wave control mode, a switching-time d-axis voltage command value and a switching-time q-axis voltage command value are generated based on the initial value of the d-axis voltage command value, the initial value of the q-axis voltage command value, the initial value of the d-axis current command value, and the initial value of the q-axis current command value, and are output to the dq/3 phase conversion unit.

10. The motor control method according to any one of claims 6 to 9,

the center position of the falling edge of the triangular wave intersects the zero point position of the rising edge of the three-phase voltage command value,

and maintaining the frequency of the triangular wave as an odd integer multiple of 3 of the frequency of the three-phase voltage command value.

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