JP-7855139-B2 - Motor control device

JP7855139B2JP 7855139 B2JP7855139 B2JP 7855139B2JP-7855139-B2

Inventors

森辰也
原田信吾
石川光亮
藤本千明
都倉佑悟
松下正樹

Assignees

三菱電機モビリティ株式会社

Dates

Publication Date: 20260507
Application Date: 20230322

Claims (10)

An inverter that supplies power to the motor, A controller that controls the motor and outputs a command signal to the inverter, Equipped with, The controller is, A current command value calculator that calculates the current command values for the two rotating axes of the motor, A voltage command value calculator that calculates a fundamental wave command value, which is a voltage command value for the two rotating axes of the motor, by feedback control to the current command value, A cancellation calculator calculates a cancellation voltage command value for suppressing torque pulsation in the motor and suppressing the effects of disturbances occurring in the motor, based on the target current which is either the current command value or the motor current flowing through the motor, and the rotor position of the motor, wherein the cancellation voltage command value is added to the fundamental wave command value of the q-axis in a region where the sixth-order electrical angle frequency component included in the q-axis motor current is greater than the response frequency of the feedback control in the voltage command value calculator . The system includes a PWM signal generator that generates the command signal to be output to the inverter using an added fundamental wave command value obtained by adding the cancellation voltage command value to the fundamental wave command value, Motor control device.
The controller is, A torque suppression command value calculator calculates a torque pulsation suppression command value, which is a command value for the current used to suppress torque pulsation in the motor, based on the target current and the rotor position. A disturbance suppression command value calculator calculates a disturbance suppression command value, which is a command value for the current used to suppress the effects of the disturbance, based on the target current and the rotor position. It has, The current command value calculator limits the current command value such that the output voltage of the inverter becomes an operating point less than or equal to the voltage utilization rate set with respect to the voltage limit circle based on the DC bus voltage of the inverter, or an operating point obtained by subtracting a predetermined voltage value from the DC bus voltage of the inverter. The cancellation calculator calculates the torque pulsation suppression command value and the disturbance suppression command value based on the current command value limited by the current command value calculator, and calculates the cancellation voltage command value based on the calculated torque pulsation suppression command value and the disturbance suppression command value. The motor control device according to claim 1.
The controller is, Based on the target currents for the d-axis and q-axis, the torque pulsation suppression command value and the disturbance suppression command value are calculated. The motor control device according to claim 2.
The controller adds to the fundamental wave command value a value obtained by multiplying the disturbance suppression command value by a coefficient that includes the rotational angular velocity of the motor, as the cancellation voltage command value. The motor control device according to claim 2.
The controller adds to the fundamental wave command value a value obtained by multiplying the torque pulsation suppression command value by a coefficient that includes the rotational angular velocity of the motor, as the cancellation voltage command value. The motor control device according to claim 2.
The controller adds to the fundamental wave command value a value obtained by multiplying the combined value obtained by adding the torque pulsation suppression command value and the disturbance suppression command value by a coefficient including the rotational angular velocity of the motor, as the cancellation voltage command value. The motor control device according to claim 2.
The controller adds the torque pulsation suppression command value to the current command value. The motor control device according to claim 5.
The controller calculates the disturbance suppression command value so as to suppress the current corresponding to the component to be suppressed among the distortion components included in the motor current that flows when a sinusoidal voltage is applied to the motor due to impedance distortion of the motor. The motor control device according to claim 2.
The controller calculates the torque pulsation suppression command value to suppress torque pulsation generated in the motor when a sinusoidal current is supplied to the motor. The motor control device according to claim 2.
The controller limits the cancellation voltage command value based on the rotational angular velocity of the motor and an electrical constant, and adds the limited cancellation voltage command value to the fundamental wave command value. A motor control device according to any one of claims 1 to 9 .

Description

This disclosure relates to a motor control device. Synchronous motors, which use permanent magnets in the rotor, are used as AC motors for variable speed drive. Such synchronous motors are also called brushless motors. When controlling a synchronous motor, a key concern is how to reduce the torque ripple generated by the synchronous motor. For example, Patent Document 1 discloses a technique in which a feedforward term is set using a flux-reluctance term that depends on the magnetic flux-reluctance of the motor so as to cancel out the torque ripple. Patent Document 2 discloses a technique in which a q-axis vibration voltage command value, which has the same frequency as the torque ripple generated in the rotor's output torque and cancels out the torque ripple component, is superimposed (added) to the q-axis basic voltage command value. Patent No. 6760197Patent No. 7090812 This is a block diagram showing the configuration of the motor control device according to Embodiment 1.This is a diagram illustrating the principle of generating a switching signal according to Embodiment 1.This figure shows an example of a torque pulsation waveform according to Embodiment 1.This figure shows an example of a torque pulsation waveform according to Embodiment 1.This figure shows an example of an amplitude table for suppressing torque pulsation according to Embodiment 1.This figure shows an example of a phase table for suppressing torque pulsation according to Embodiment 1.This figure shows an example of a waveform affected by disturbances according to Embodiment 1.This figure shows an example of a waveform affected by disturbances according to Embodiment 1.This figure shows an example of an amplitude table for suppressing the effects of disturbances according to Embodiment 1.This figure shows an example of a phase table for suppressing the effects of disturbances according to Embodiment 1.This is a block diagram showing the configuration of the motor control device according to Embodiment 2.This is a block diagram showing the configuration of the current command value calculator according to Embodiment 2.This is a block diagram showing the configuration of the q-axis current limiter according to Embodiment 2.This is a diagram illustrating the processing performed by the q-axis current limiter according to Embodiment 2.This diagram illustrates the processing performed by a q-axis current limiter according to a modified example of Embodiment 2.This is a block diagram showing the configuration of the motor control device according to Embodiment 3.This figure shows an example of an amplitude table according to Embodiment 3.This figure shows an example of a phase table according to Embodiment 3.This is a diagram illustrating the phase table in Figure 18.This is a block diagram showing the configuration of the motor control device according to Embodiment 4. [Embodiment 1] Figure 1 is a block diagram showing the configuration of a motor control device according to Embodiment 1. As shown in Figure 1, the motor control device 100 includes a rotational position detector 2, a current detector 3, an inverter 5, and a controller 6. A DC power supply 4 and a motor 1 are connected to the motor control device 100. The motor control device 100 controls the motor 1 based on a torque command T_ref, which is input as a control command from outside the motor control device 100. Motor 1 is a three-phase AC rotating machine having three-phase windings U, V, and W. Motor 1 is also an AC rotating machine controllable based on two rotating shafts. In this specification, "two rotating shafts" means two axes that rotate synchronously with the rotor of Motor 1 and are orthogonal to each other in cross-section. "Cross-section" refers to a cross-section perpendicular to the central axis of the rotor. For example, the two rotating shafts may be d-q axes. The d-axis is the axis connecting the central axis of the rotor to the magnetic poles. The q-axis is the axis orthogonal to both the d-axis and the central axis. Alternatively, the two rotating shafts may be γ-δ axes. The γ-axis is the axis shifted in the rotational direction relative to the d-axis. The δ-axis is the axis orthogonal to both the γ-axis and the central axis. Of the two rotating shafts, one is called the first shaft and the other the second shaft. For example, if the d-axis is the first shaft, the q-axis is the second shaft. Note that the q-axis may be the first shaft and the d-axis may be the second shaft. Similarly, if the γ axis is called the first axis, then the δ axis is called the second axis. The following describes the case where motor 1 is a permanent magnet synchronous rotating machine and the two rotating axes are the d-q axes. However, motor 1 may be, for example, a wound-field synchronous rotating machine, an induction rotating machine, a synchronous reluctance motor, etc. Also, the d-axis and q-axis in the following disclosure may be replaced with the δ-axis and γ-axis. The rot