JP-7856194-B1 - control device

JP7856194B1JP 7856194 B1JP7856194 B1JP 7856194B1JP-7856194-B1

Abstract

[Problem] To provide a control device that can track 2f disturbances caused by magnetic circuit imbalance and current detection system imbalance in real time and suppress 2f vibrations. [Solution] The control device 200 includes a speed control loop, an estimated q-axis current control loop, and a q-axis current control loop. The Nf component remover 106 removes the 2f component from the q-axis current based on the detected value of the current of the three-phase motor 104. The subtractor 101 subtracts the corrected q-axis current from which the 2f component has been removed by the Nf component remover 106 from the second current command value. The gain compensator 102 maximizes the gain of the 2f component in the open-loop characteristics based on the output of the subtractor 101. [Selection Diagram] Figure 2

Inventors

榎嶋浩行
横山英二
大塚康司

Assignees

三菱電機ビルソリューションズ株式会社
三菱電機株式会社

Dates

Publication Date: 20260511
Application Date: 20250403

Claims (6)

A speed control loop for controlling the speed of a three-phase motor to track a speed command value using negative feedback control, An estimated q-axis current control loop for causing the estimated q-axis current based on the speed of the three-phase motor to follow the first current command value, which is the output of the speed control loop, using negative feedback control, A q-axis current control loop is provided to make the q-axis current, based on the detected current value of the three-phase motor, follow the second current command value, which is the output of the estimated q-axis current control loop, using negative feedback control. Equipped with, The q-axis current control loop is, An Nf component remover that estimates and extracts a 2f component based on the q-axis current, which is determined from the current of the three-phase motor, and the electrical angle of the three-phase motor, and removes the 2f component from the q-axis current, A first subtractor subtracts the corrected q-axis current from which the 2f component has been removed by the Nf component remover from the second current command value. A gain compensator that estimates and extracts the 2f component based on the output of the first subtractor and the electrical angle of the three-phase motor , and maximizes the gain of the 2f component in the open-loop characteristics to infinity, Equipped with , 2f is a control device that represents a frequency twice the electrical angle of the three-phase motor .
The aforementioned gain compensator is First Nf component detector, A first adder that adds the output of the first Nf component detector and the output of the first subtractor, Equipped with, The control device according to claim 1, wherein the first Nf component detector estimates and extracts the 2f component from the output of the first adder based on the electrical angle of the three-phase motor.
The first Nf component detector is A first multiplier that multiplies the electrical angle of the three-phase motor by a preset magnification factor, A first cosine arithmetic unit that calculates the cosine value of the multiplication value by the first multiplier, A first sine arithmetic unit that calculates the sine value of the multiplication by the first multiplier, A second subtractor subtracts the output of the first Nf component detector from the output of the first adder, A second multiplier that multiplies the output of the second subtractor by the output of the first cosine arithmetic unit, A third multiplier that multiplies the output of the second subtractor by the output of the first sine arithmetic unit, A first multiplier integrator integrates the output of the second multiplier with a preset amplification factor, A second multiplier integrator integrates the output of the third multiplier with a preset amplification factor, A fourth multiplier that multiplies the output of the first multiplier integrator and the output of the first cosine arithmetic unit, A fifth multiplier that multiplies the output of the second multiplier integrator and the output of the first sine arithmetic unit, A second adder adds the output of the fourth multiplier and the output of the fifth multiplier, and uses the result of this addition as the output of the first Nf component detector. The control device according to claim 2, comprising:
The aforementioned Nf component remover is A second Nf component detector estimates and extracts a 2f component from the q-axis current based on the detected current value of the three-phase motor, based on the electrical angle of the three-phase motor. A third subtractor subtracts the output of the second Nf component detector from the q-axis current based on the detected current of the three-phase motor, A control device according to any one of claims 1 to 3, comprising
The second Nf component detector is A sixth multiplier that multiplies the electrical angle of the three-phase motor by a preset magnification factor, A second cosine arithmetic unit calculates the cosine value of the multiplication by the sixth multiplier, A second sine arithmetic unit that calculates the sine value of the multiplication by the sixth multiplier, A fourth subtractor subtracts the output of the second Nf component detector from the q-axis current based on the detected current of the three-phase motor, A seventh multiplier that multiplies the output of the fourth subtractor by the output of the second cosine arithmetic unit, An eighth multiplier that multiplies the output of the fourth subtractor by the output of the second sine arithmetic unit, A third multiplier integrator integrates the output of the seventh multiplier with a preset amplification factor, A fourth multiplier integrator that integrates the output of the eighth multiplier with a preset amplification factor, A ninth multiplier that multiplies the output of the third multiplier integrator by the output of the second cosine arithmetic unit, A tenth multiplier that multiplies the output of the fourth multiplier integrator by the output of the second sine arithmetic unit, A third adder adds the output of the ninth multiplier and the output of the tenth multiplier, and the result of this addition is used as the output of the second Nf component detector. The control device according to claim 4, comprising:
The estimated q-axis current control loop includes a q-axis current estimator that estimates the estimated q-axis current based on the speed detection value of the three-phase motor. The q-axis current estimator is, A functional unit having the inverse characteristics of the transfer function from the q-axis current to the speed of the three-phase motor, Bandwidth limiting LPF and A control device according to any one of claims 1 to 3, comprising

Description

This disclosure relates to a control device for controlling a three-phase motor. Patent documents 1 and 2 describe devices for controlling a three-phase motor. The devices described in patent documents 1 and 2 perform control to suppress torque ripple in the three-phase motor. Patent No. 5082719Patent No. 6308894 This figure shows an example of a drive system equipped with a control device according to Embodiment 1.This figure shows an example of a current controller.This figure shows an example of an Nf component open-loop gain infinity compensator.This figure shows an example of an Nf component detector.This figure shows an example of setting the upper limit of the feedback gain.This figure shows an example of the estimated characteristics of an Nf component detector.This figure shows another example of an Nf component open-loop gain infinity compensator.This figure shows an example of an Nf component remover.This figure shows an example of an Nf component detector.This diagram illustrates the various characteristics of the q-axis current control loop.This figure shows an example of a q-axis current estimator.This diagram illustrates the various characteristics of the middle loop.This figure illustrates the various characteristics of the speed control loop when the various characteristics of the middle loop are set as shown in Figure 12.This shows an example of the torque signal waveform of a hoisting motor when a 2f disturbance signal is applied.This shows an example of the torque signal waveform of a hoisting motor when a 2f disturbance signal is applied.This shows an example of the torque signal waveform of a hoisting motor when a 2f disturbance signal is applied.This figure shows an example of the hardware resources of a control device.This figure shows another example of the hardware resources of a control device. The following provides a detailed explanation with reference to the drawings. Repetitive explanations will be simplified or omitted as appropriate. In each drawing, the same reference numerals indicate the same or corresponding parts. Embodiment 1. Figure 1 shows an example of a drive system equipped with a control device 200 in Embodiment 1. The drive system comprises a three-phase motor 104 (not shown in Figure 1) and a control device 200. As an example, the three-phase motor 104 is a motor for driving an elevator car. As another example, the three-phase motor 104 is a motor used in electric power steering. The three-phase motor 104 may also be a motor used for other purposes, such as a motor used to power machine tools. The control device 200 includes a dq-axis current control device and controls the three-phase motor 104. Figure 1 shows an example of the q-axis current control device, which is one of the functions of the control device 200. The control device 200 includes, for example, a current controller 100, a pulse generator 1, a time differentiator 2, a subtractor 3, a speed control compensator 4, a q-axis current estimator 5, a subtractor 6, and an estimated q-axis current control compensator 7. The current controller 100 has the function of controlling the d-axis current and q-axis current of the three-phase motor 104, i.e., it is a dq-axis current controller. Figure 2 shows an example of the current controller 100. Figure 2 is a block diagram detailing the q-axis current control function, one of the dq-axis current control functions of the current controller 100. As shown in Figure 2, the q-axis current controller included in the current controller 100 comprises, for example, a subtractor 101, an Nf component open-loop gain infinity compensator 102, a current control compensator 103, a q-axis current detector 105, and an Nf component remover 106. Hereafter, the Nf component open-loop gain infinity compensator 102 will also be simply referred to as the gain compensator 102. The pulse generator 1 is installed on the three-phase motor 104. The pulse generator 1 outputs the electrical angle θre of the three-phase motor 104. The electrical angle θre from the pulse generator 1 is input to the time differentiator 2. The time differentiator 2 calculates the speed of the three-phase motor 104 from the electrical angle θre. Specifically, the time differentiator 2 calculates and outputs the angular velocity ωre of the three-phase motor 104 from the input signal, the electrical angle θre. The speed control loop shown in Figure 1 is a negative feedback control loop. This speed control loop is used to make the speed of the three-phase motor 104 follow a speed command value using negative feedback control. Specifically, the speed control loop makes the angular velocity ωre of the three-phase motor 104, which is the output from the time differentiator 2, follow the speed command value, which is the speed tracking target mv_ref. The subtractor 3 subtracts the angular velocity ωre from the speed tracking target mv_ref, which is also an input signal, and outputs a speed error mv_er. The speed erro