JP6893293B2 - Double three-phase winding permanent magnet synchronous motor drive system - Google Patents

Description

The present invention is a double three-phase winding permanent magnet synchronous type including a rotor having a permanent magnet and a stator having two three-phase windings (first three-phase winding and second three-phase winding). The present invention relates to a drive system for a dual three-phase winding permanent magnet synchronous motor including at least an electric motor and a power conversion device capable of simultaneously supplying a three-phase current to two three-phase windings. In the following description, for the sake of simplicity, "winding" is used synonymously with "three-phase winding". The above-mentioned double three-phase winding permanent magnet synchronous motor is abbreviated as a double synchronous motor for the sake of simplicity. Furthermore, for the same reason, the drive system is abbreviated as a dual synchronous motor drive system. The applications of the dual synchronous electric motor drive system of the present invention include main drive of battery electric vehicles, fuel cell electric vehicles, hybrid electric vehicles, etc., applications of home appliances that require a wide range of efficient drive, fault resistance, and functional safety. Is the required application.

In the present invention, the portion of the dual synchronous motor to which the three-phase winding is applied is referred to as a "stator". The "stator" in the present invention is synonymous with "armature". There are Y-type and Δ-type in the three-phase winding applied to the stator. As is well known to those skilled in the art, when evaluated from a three-phase terminal, the characteristics of the Y-shaped winding and the characteristics of the Δ-shaped winding are equivalently converted to each other. In order to ensure the simplicity of the description, the technical description in this specification assumes a Y-shaped connection. As evidenced by the existence of the equivalent transformation, this does not lose the generality of the invention.

In the present invention, a two-dimensional plane is grasped in polar coordinates, and the three terms of angle, spatial position, and spatial phase are used synonymously. These units are "radians" or "degrees". The angle, the spatial position, and the positive direction of the spatial phase in the present invention may be defined as either left-handed (counterclockwise) or right-handed (clockwise). However, in the present specification, in order to maintain the simplicity of the description, the positive direction of the angle, the spatial position, and the spatial phase is defined as left-handed (counterclockwise), and the present invention will be described. Thereby, the generality of the present invention is not lost.

In the present invention, a device that supplies AC power to a dual synchronous motor is referred to as a power conversion device. Inverters, matrix converters, and the like have been put into practical use as power converters, which are the main devices of power converters. Power converters for single / six-phase, two / three-phase, six / single-phase, etc. constitute the power converter of the present invention.

In the present invention, the "current equivalent value" is used as a general term for the true value, command value, estimated value, approximate value, etc. of the stator current. Similarly, the "velocity equivalent" of the rotor is the true value of the rotor speed, the command value, the estimated value, the approximate value, and the true speed of the two-axis orthogonal rotating coordinate system that rotates at the same average speed as the rotor. It is used as a general term for values, approximate values, etc. As is well known to those skilled in the art, there are electric speed and mechanical speed in rotor speed, but there is a strict one-to-one relationship between both speeds, from electric speed to mechanical speed and from mechanical speed to electric speed. Unique conversion to is possible. In the present invention, considering the familiarity among those skilled in the art, unless the clarity of the description is lost, the rotor speed is used as meaning the electric speed.

In the present invention, "differential equivalent processing" is used as a general term for processing centered on differential processing, such as pure differential processing, approximate differential processing, and linear differential processing with non-linear processing such as limiter processing added.

Prior inventions relating to a dual synchronous motor to be driven by the dual synchronous motor drive system of the present invention include, for example, Patent Documents 1 and 2 and Non-Patent Documents 1 to 5. The previously reported double synchronous motors are a three-phase simple synchronous motor (Non-Patent Document 1) and a six-phase synchronous motor (Patent Document 2, Non-Patent Documents 2 to 3) from the viewpoint of arrangement of double three-phase windings of a stator. ), And three-phase reverse synchronous motors (Non-Patent Documents 4 to 5) are roughly classified into three types.

With reference to Non-Patent Document 1, the outline of the conventional double synchronous motor (three-phase simple synchronous motor) is shown in FIG. 1 by taking the case where the pole logarithm Np is Np = 1. 1 is a double synchronous motor (including a rotor and a stator), 11 is a rotor of a double synchronous motor, 121 is a first winding of a stator of a double synchronous motor, and 122 is a double synchronous motor. The second winding of the stator of is shown respectively. In the figure, in order to clarify the distinction between the first winding and the second winding of the stator, the first winding is indicated by a solid line and the second winding is indicated by a broken line. Further, since the second winding overlaps with the first winding due to the winding arrangement, the second winding is intentionally shifted to the right for drawing in order to avoid duplication in drawing.

The double synchronous motor (three-phase simple synchronous motor) with this arrangement has the following features. (A) For both the first winding and the second winding, the u-phase winding, the v-phase winding, and the w-phase winding are sequentially 2π / 3 [rad] spatial in the space based on the one-pole logarithm. It is arranged at the phase advance position. (B) In principle, the first winding and the second winding are arranged in space without any phase difference. (C) In principle, the pole logarithm can be any integer. That is, an odd or even number of pole pairs can be adopted. (D) When the first winding and the second winding are energized at the same time, or when only one of the windings is energized, the number of phases remains unchanged at three phases. (E) In principle, in the case of simultaneous energization of the first winding and the second winding, the currents of the first winding and the second winding need to be synchronized without a phase difference.

As a second example (example of a six-phase synchronous motor) of the stator winding arrangement of the double synchronous motor, an example in which the pole logarithm Np is set to Np = 1 with reference to Patent Document 2 and Non-Patent Documents 2 and 3. 2 is shown schematically together with the rotor (drawing of winding resistance is omitted). The meanings of the drawn wire numbers 1, 11, 121, and 122 are the same as those in FIG. However, it differs from the example of FIG. 1 in that the arrangement of the second winding is spatially shifted by θ12 = π / 6 [rad] with respect to the first winding in a space based on the logarithm of one pole. ing.

The double synchronous motor (six-phase synchronous motor) according to this arrangement has the following features as compared with the three-phase simple synchronous motor (FIG. 1). (A) Same as item (a) of Example 1. (B) In principle, the first winding and the second winding are arranged so as to have a spatial phase difference of π / 6 [rad] in a space based on a one-pole logarithm. (C) Same as item (c) of Example 1. (D) When the first winding and the second winding are energized at the same time, it operates as a six-phase motor, and when only one of the windings is energized, it operates as a three-phase motor. (E) In principle, in the case of simultaneous energization of the first winding and the second winding, the currents of the first winding and the second winding have a phase difference corresponding to the spatial phase difference. Synchronization is required.

As a third example of the stator winding arrangement of the double synchronous motor (example of the three-phase reverse synchronous motor), FIG. 3 shows an example in which the pole pair number Np is Np = 2 with reference to Non-Patent Documents 4 to 5. (The drawing of the winding resistance is omitted). The meanings of the drawn wire numbers 1, 11, 121, and 122 are the same as those in FIG.

The double synchronous motor (three-phase reverse synchronous motor) with this winding arrangement has the following features as compared with Examples 1 and 2. (A) For both the first winding and the second winding, the u-phase winding, the v-phase winding, and the w-phase winding are sequentially 2π / 3 [rad] spatial in the space based on the 2-pole logarithm. It is located at a phase lag position. (B) In principle, the first winding and the second winding are arranged so as to have a phase difference of ± π [rad] in a space based on a two-pole logarithm. (C) Only an even number of pole logarithms can be taken. That is, an odd number of pole pairs cannot be adopted. (D) Same as item (d) of Example 1. (E) Same as item (e) of Example 1.

In the dual synchronous motor illustrated in FIGS. 1 to 3, the first winding and the second winding do not necessarily have to have the same characteristics. Both windings may be configured to have the same characteristics as shown in Patent Documents 1 and 2 and Non-Patent Documents 1 to 4, and may differ from each other as shown in Non-Patent Document 5. It can also be configured to have characteristics.

In the dual synchronous motor illustrated in FIGS. 1 to 3, the neutral point of the first winding and the neutral point of the second winding are not connected. In the dual synchronous motor targeted by the present invention, in general, the neutral point of the first winding and the neutral point of the second winding can be disconnected or connected.

Next, we will introduce the conventional technology related to the dual synchronous motor drive system, that is, the drive system for the dual synchronous motor. The present invention relates to a current control device, which is one of the main components of a dual synchronous motor drive system, and more particularly to an interwinding non-interfering device, which is one of the components of a current control device. is there. Based on this point, we will introduce the conventional technology for interwinding non-interfering device for dual synchronous motor drive system. FIG. 10 cites the interwinding non-interfering device for the dual synchronous motor drive system proposed in Non-Patent Document 1 (Patent Document 1 also cites substantially the same interwinding non-interwinding device by the same inventor. Interferer is shown). In addition, Non-Patent Document 1 targets the three-phase simple synchronous motor of FIG. 1 as a double synchronous motor, and the double synchronous motor at this time is non-protruding.

（１）式では、第１巻線用のフィードバック制御器の出力信号（図１０では「電圧指令−１」と記載）をｖ１１＊で表現し、第２巻線用のフィードバック制御器の出力信号（図１０では「電圧指令−２」と記載）をｖ２２＊で表現している。フィードバック制御器からこれら２出力信号（２電圧指令値）ｖ１１＊、ｖ２２＊が、（１）式で数式表現された非干渉化部の入力信号となっている。（１）式における係数（Ｍ／Ｌ）は、非突極二重同期電動機のインダクタンスより定まる定数である。非干渉化部の出力信号であるｖ１２＊、ｖ２１＊は、（１）式に従い生成されている。The term "non-interfering portion" described in the center of FIG. 10 corresponds to the term "interwinding non-interfering device" in the present specification. As is clear from the figure, the configuration of the "non-interfering portion" is described by the following equation.

In equation (1), the output signal of the feedback controller for the first winding (described as "voltage command-1" in FIG. 10) is expressed by v11 *, and the output signal of the feedback controller for the second winding is expressed. (In FIG. 10, described as "voltage command-2") is expressed by v22 *. These two output signals (two voltage command values) v11 * and v22 * from the feedback controller are input signals of the non-interfering unit expressed mathematically by the equation (1). The coefficient (M / L) in the equation (1) is a constant determined by the inductance of the non-slip pole double synchronous motor. The output signals v12 * and v21 * of the non-interfering unit are generated according to the equation (1).

ここに、ｖ１＊、ｖ２＊は各々第１巻線用の最終電圧指令値、第２巻線用の最終電圧指令値を意味する。なお、簡略図である図１０においては、インバータ等の電力変換装置は省略され記載されていない。The output signal v12 * is a non-interfering signal to the side of the first three-phase winding, and the output signal v21 * is a non-interfering signal to the side of the second three-phase winding. The final voltage command values v1 * and v2 * are generated by adding them to (voltage command value). The generation of this final voltage command value is described by the following equation.

Here, v1 * and v2 * mean the final voltage command value for the first winding and the final voltage command value for the second winding, respectively. In FIG. 10, which is a simplified diagram, a power conversion device such as an inverter is omitted and not described.

As is clear from the equations (1) and (2), the conventional inter-winding non-interfering device mutually weights the output signal (voltage command value) of the feedback controller for each winding in a constant linear relationship. , The final voltage command value for each winding is synthesized. That is, the input signal of the conventional interwinding non-interfering device is a voltage command value, and the conventional interwinding non-interfering device should also be called a "voltage type". The conventional voltage-type interwinding non-interferer constructed for non-polar double synchronous motors without performing rigorous mathematical analysis is effective for double synchronous motors with strong salient poles. It does not bring about a non-interfering effect. On the other hand, as is well known to those skilled in the art, it is indispensable to increase the non-polarity of the motor and utilize the reluctance torque resulting from this in order to efficiently drive the synchronous motor. The usefulness of utilizing reluctance torque is also established in the efficient drive of a double synchronous motor, as in the case of a normal synchronous motor.

Akira Satake and Shigeki Mizuno: "Control device for multi-winding motor", Japanese Patent Application Laid-Open No. 2001-341135 (2001-11-6) Keiichiro Ban, Kazuyoshi Obayashi: "Electric Drive Device for Automobiles", Japanese Patent Application Laid-Open No. 2000-41392 (1998-7-23)

Akira Satake, Satoshi Kato, Akira Imanaka: "Modeling of Multi-Wound Permanent Magnet Motors and Non-Interference Control Methods", Proceedings of the IEEJ Industrial Application Division, I, pp. 199-202 (2005) Takafumi Imai, Fumiaki Osawa, Yasushi Yamada, Yukio Inakuma: "Possibility of Standardization of EV / HEV Electric Drive Systems (Current Ripple Suppression of Multi-Phase Motors)", Proceedings of the National Conference of the Institute of Electrical Engineers of Japan, 4, pp. 361-362 (2016) Tatsuya Mori and Akira Furukawa: "Pulse pattern to reduce torque ripple in double three-phase PMSM drive 1 shunt current detection double inverter", Proceedings of the IEEJ Industrial Application Division, III, pp. 159-164 (2016) Shinji Shinnaka: "Three-phase permanent magnet synchronous motor with inverse double three-phase winding with 180 degree spatial phase difference (double winding arrangement, dynamic mathematical model, vector simulator)", 2016 Institute of Electrical Engineers of Japan industry Proceedings of the Applied Division Conference, III, pp. 285-290 (2016) Shinji Shinnaka: "Three-Phase Permanent Magnet Synchronous Motor with Inverse Double Three-Phase Winding with 180 Degree Spatial Phase Difference (Double Winding Arrangement, Dynamic Mathematical Model, Vector Simulator)", IEEJ Journal D, Vol. 137, No. 2, pp. 75-86 (2017)

The present invention has been made under the above background. It is also applicable when the dual synchronous motor has a strong salient pole and a strong magnetic coupling between the first and second windings, and thus the current of the first and second windings. The purpose is to provide a new current-type interwinding non-interferer for dual synchronous motor drive systems that allows for highly controlled and independent performance.

In order to achieve the above object, the invention of claim 1 comprises a rotor having a permanent magnet and a stator having two three-phase windings (first three-phase winding and second three-phase winding). A permanent magnet synchronous motor, a power conversion device that can supply current to two three-phase windings at the same time, and a current control device that feedback-controls the current flowing through the two three-phase windings via the power conversion device. It is a permanent magnet synchronous motor drive system equipped with, and uses a feedback controller, an equivalent value of the current flowing through the first three-phase winding, and an equivalent value of the current flowing through the second three-phase winding as at least an input signal. The current control device is configured by using at least a current type interwinding non-interfering device.

The invention of claim 2 is the permanent magnet synchronous motor drive system according to claim 1, wherein the current type is applied on a two-axis orthogonal rotating coordinate system that rotates at an average speed of the rotor. It is characterized by forming a non-interfering device between windings.

に準拠し、該電流形巻線間非干渉器を構成したことを特徴とする。The invention of claim 3 is the permanent magnet synchronous motor drive system according to claim 2, wherein the current equivalent value of the first three-phase winding on the two-axis orthogonal rotation coordinate system is i1 ^to the present invention. The current equivalent value of the second three-phase winding on the two-axis orthogonal coordinate system is i2 ^~ , the velocity equivalent value of the rotor is ωn ^~, and the differential equivalent processing of the signal is expressed by ^{s ~.} When the mutual induction coupling between the three-phase winding and the second three-phase winding is expressed by mutual inductance Md and Mq, and the approximate values of mutual inductance Md and Mq are expressed by a single Mi, the current type winding The input signal to the inter-interferer is i1 ^~ , i2 ^~ , ωn ^~, and the output signal of the current type interwinding non-interferator as the non-interference signal to the first three-phase winding side is v12 *. The output signal of the current type interwinding non-interfering device as a non-interfering signal to the second three-phase winding side is v21 *.

The current type winding-to-winding non-interfering device is configured in accordance with the above.

The effect of the present invention will be described. First, the coordinate system will be described in order to simplify the explanation of the effect. Consider FIG. FIG. 4 shows an αβ fixed coordinate system, a dq synchronous coordinate system, and a γδ general coordinate system. The αβ fixed coordinate system is a coordinate system corresponding to the stator, and in general, the α axis is taken at the center of the u-phase winding of the stator first winding (of the u-phase winding of the stator second winding). There is no essential difference for the center). The dq synchronous coordinate system is one of the rotating coordinate systems, and in particular, the d-axis is a coordinate system synchronized with the rotor magnetic flux. That is, in the dq synchronous coordinate system, the phase of the d-axis is the same as the phase of the rotor magnetic flux. The velocity of the dq synchronous coordinate system is instantly the same as the rotor velocity ωn. The γδ general coordinate system is a generalized coordinate system having an arbitrary coordinate system velocity ωγ. The γδ general coordinate system includes the αβ fixed coordinate system and the dq synchronous coordinate system as a special case. Further, a γδ rotating coordinate system in which the average speed of the coordinate system is the same as the average speed of the rotor speed is also included as a special case. Regarding the phase of the coordinate system, the phase of the γ-axis seen from the α-axis is θαγ, and the phase of the d-axis seen from the γ-axis is θγ. The term "two-axis orthogonal rotating coordinate system" in the present invention is a general term for a dq synchronous coordinate system and a γδ rotating coordinate system.

The three types of dual synchronous motors shown in FIGS. 1 to 3 have clearly different winding arrangements, but on the γδ general coordinate system, these mathematical models (circuit equations) are commonly as follows. It is described by an equation (see Non-Patent Document 5).

（５）式が明瞭に示しているように、同相インダクタンスは、対応のｄ軸、ｑ軸インダクタンスの平均値を意味している。The legs 1 and 2 in the mathematical model mean the relation with the first winding and the second winding, respectively, and the symbol s means the differential operator d / dt. The physical quantity used in the mathematical model will be described using the first winding as an example. The 2 × 1 vectors v1, i1, and e1m defined in the γδ general coordinate system mean the voltage, current, and induced voltage (velocity electromotive force) of the stator, respectively. I is a 2 × 2 identity matrix. R1 is the resistance of the stator winding. L1i and L1m are in-phase (self) inductance and mirror phase (self) inductance related to the d-axis (self) inductance L1d and q-axis (self) inductance L1q by the equation (5a) below. Mi and Mm are the d-axis (mutual) inductance Md and q-axis (mutual) inductance Mq between the first winding and the second winding, and the in-phase (mutual) inductance and mirror related by the equation (5b) below. Phase (mutual) inductance.

As Eq. (5) clearly shows, the common mode inductance means the average value of the corresponding d-axis and q-axis inductances.

In the dual synchronous motor targeted by the present invention, the motor parameters (winding resistance R1, inductance L1d, L1q, etc.) caused by the two three-phase windings may be the same or different. .. The present invention does not depend on the difference in motor parameters due to windings.

The circuit equation of Eq. (4) is rewritten as follows, particularly using Eqs. (4a) and (4b) using Eqs. (4e) and (4f).

図５に、上記の最終電圧指令値生成をブロック図として示した。図５のブロックは、「第１巻線の電流ｉ１と第２巻線の電流ｉ２を用いた、第１、第２巻線間の電流形巻線間非干渉器」を明瞭に示している。Equation (6b) indicates that "voltage v11 is composed only of signals on the first winding side", and equation (6c) indicates that "voltage v12 is composed only of signals on the second winding side". It shows that there is. Therefore, the voltage command value v11 * corresponding to the voltage v11 is generated by the feedback controller on the first winding side, and the signal v12 * corresponding to the voltage v12 is generated by the current signal on the second winding side according to the right side of the equation (6c). When the two types of signals v11 * and v12 * are generated and combined according to the equation (6a), the combined signal becomes the ideal final voltage command value v1 * for the first winding. The same can be said for the final voltage command value v2 * for the second winding. The generation of the final voltage command value can be described by using the following equation (8).

FIG. 5 shows the above-mentioned final voltage command value generation as a block diagram. The block of FIG. 5 clearly shows "a current-type interwinding non-interfering device between the first and second windings using the current i1 of the first winding and the current i2 of the second winding". ..

The greatest feature of the current type inter-winding non-interfering device in FIG. 5 is that it receives the current i1 on the first winding side and the current i2 on the second winding side as input signals of the current type inter-winding non-interfering device. , The non-interfering signal v12 * for the first winding and the non-interfering signal v21 * for the second winding are generated. According to the invention of claim 1, the current control device is configured by using the feedback controller and the current type inter-winding non-interfering device, and the current type inter-winding non-interfering device is used in the first winding. The equivalent value of the flowing current and the equivalent value of the current flowing in the second winding are used at least as an input signal. That is, according to the invention of claim 1, the effect that "an ideal non-interfering device can be realized" can be obtained. As a result, "It is also applicable when the double synchronous motor has a strong salient pole and has a strong magnetic coupling between the first winding and the second winding, and further, the first winding and the second winding. It will be possible to realize an inter-winding non-interfering device for a dual synchronous motor drive system that enables highly independent execution of current control. "

Subsequently, the effect of the invention of claim 2 will be described. The current control device of the present invention is configured by using a feedback controller and a current type interwinding non-interfering device. This means that the overall performance of the current controller is dominated by the performance of both the feedback controller and the current-type interwinding non-interferer. The feedback controller can be constructed on the αβ fixed coordinate system or on the rotating coordinate system represented by the dq synchronous coordinate system. When high performance is expected, the feedback controller is generally configured on a rotating coordinate system that rotates at the same speed as the rotor on average. In this case, the current type interwinding non-interfering device can be easily configured on the same rotating coordinate system. According to the second aspect of the present invention, the current type interwinding non-interfering device is configured on a two-axis orthogonal rotating coordinate system that rotates at an average speed equal to that of the rotor. As is clear from the above, according to the invention of claim 2, there is an effect that "a current type interwinding non-interfering device can be realized relatively easily in a form matched with a feedback controller". can get. As a result, the effect that "the effect of claim 1 can be obtained relatively easily" can be obtained.

Subsequently, the effect of the invention of claim 3 will be described. A representative of the two-axis orthogonal rotating coordinate system that rotates at the same speed as the rotor speed is the dq synchronous coordinate system. For the sake of simplicity, the effect of the invention of claim 3 will be described by configuring a current-type interwinding non-interferer on the dq synchronous coordinate system. The ideal current type interwinding non-interferer on the dq synchronous coordinate system is the condition of the dq synchronous coordinate system to the ideal current type interwinding non-interferer in equation (8) on the γδ general coordinate system. When θγ = 0, ωγ = ωn) is added, the following equation is immediately obtained.

For current-type interwinding non-interferers on the dq synchronous coordinate system, it is often practical to use this equivalent value instead of the true value of the signal. The same can be said for the differential processing and inductance parameters indicated by the symbol s. The invention of claim 3 uses equations (3a) and (3b) as approximate expressions of equations (9c) and (9d) on a two-axis orthogonal rotating coordinate system represented by a dq synchronous coordinate system. It constitutes a current-type interwinding non-interferer. Therefore, according to the invention of claim 3, the effect that "a practical current type interwinding non-interfering device can be constructed" can be obtained. As a result, the effect of "enhancing the effects of the inventions of claims 1 and 2" can be obtained.

"Figure showing example of winding arrangement (three-phase simple synchronous motor) of double three-phase winding permanent magnet synchronous motor" "Figure showing example of winding arrangement (six-phase synchronous motor) of double three-phase winding permanent magnet synchronous motor" "Figure showing example of winding arrangement (three-phase reverse synchronous motor) of double three-phase winding permanent magnet synchronous motor" "Figure showing the relationship between three types of two-axis Cartesian coordinate systems" "Figure showing the basic configuration of the current type interwinding non-interfering device on the γδ general coordinate system according to the present invention" "A diagram showing a configuration example of a dual synchronous motor drive system using a current type interwinding non-interferer on a dq synchronous coordinate system according to the present invention". "A diagram showing a basic configuration of a current-type interwinding non-interferer on a dq synchronous coordinate system according to the present invention" "A diagram showing a configuration example of a dual synchronous motor drive system using a current-type interwinding non-interferer on an αβ fixed coordinate system according to the present invention." "A diagram showing the basic configuration of a current-type interwinding non-interferer on an αβ fixed coordinate system according to the present invention" "Figure showing the basic configuration of the conventional voltage type inter-winding non-interferer"

Hereinafter, preferred embodiments of the present invention will be specifically described with reference to the drawings.

FIG. 6 shows an example of an embodiment of a dual synchronous motor drive system using all the inventions of claims 1 to 3 with respect to the dual synchronous motor. The drive system is largely composed of a double synchronous motor (including a rotor and a stator) 1, a power converter 2 (broken block display), and a current control device 3 (broken block display). The internal configuration of the power conversion device and the internal configuration of the current control device are basically the same for the first winding and the second winding. Based on this point, these are basically described mainly for the first winding, and only when there is a difference between the first winding and the second winding, they will be described individually.

The power converter includes a power converter 21 for the first and second windings and a current detector 22. The current control device 3 is largely responsible for the feedback controller 31 (displayed as a broken line block) which is the basis of the feedback control of the stator currents of the first and second windings, and the conversion of various signals for the feedback current control. It is composed of a signal conversion unit 32 (displayed as a broken line block) and a current type interwinding non-interfering device 33. In the signal conversion unit 32, a three-phase two-phase converter 321a, a two-phase three-phase converter 321b, and a vector rotator are used for each winding so that the current control of the first and second windings can be performed independently. 322a and 322b are configured.

Regarding the 3-phase 2-phase converter (2 x 3 matrix) and 2-phase 3-phase converter (3 x 2 matrix) for the second winding, depending on the difference in the winding arrangement of the dual synchronous motor, Some changes are needed. That is, with respect to SR (・) in FIG. 6, a three-phase simple synchronous motor (see FIG. 1) and a three-phase reverse synchronous motor (see FIG. 3) use the following equation (10a), and the six-phase synchronous motor is used. In the case of (see FIG. 2), the following equation (10b) is used.

The phase detector 323 and the speed detector 324 are shared by both windings. In the figure, for the sake of simplicity, a plurality of scalar signals are regarded as one vector signal, and the plurality of scalar signal lines are represented by one thick signal line. The two-phase signal (that is, the 2 × 1 vector signal of voltage and current) existing on the left side of the three-phase two-phase converter and the two-phase three-phase converter is represented by one thick signal line. The voltage and current vector signals, r and s, indicate that they are signals on the dq synchronous coordinate system and signals on the αβ fixed coordinate system, respectively.

The feedback controller 31 and the signal conversion unit 32 constituting the current control device 3 are basically the same as the conventional ones. Since these devices are well known to those skilled in the art, further description thereof will be omitted. The core of the present invention lies in the current type interwinding non-interfering device 33 constituting the current control device 3. Hereinafter, the current type interwinding non-interfering device 33 of FIG. 6 will be mainly described. The current type interwinding non-interfering device 33 of FIG. 6 is configured on a dq synchronous coordinate system, which is a typical coordinate system of a two-axis orthogonal rotating coordinate system, in accordance with the invention of claim 2.

The detailed configuration of the current type interwinding non-interfering device 33 in FIG. 6 is shown in FIG. This configuration can be obtained from FIG. 5 based on the invention of claim 1, or can be immediately obtained from the invention of claim 3, that is, from the equation (3). In the first embodiment of FIG. 7, the same true value (current detection value) is used as the current equivalent value of the first winding and the second winding, and the same true value (speed detection value) is used as the speed equivalent value. It is an example. The processes of the equations (3a) and (3b) are implemented in the blocks 33a and 33b of FIG. 7, respectively. As the processing to be implemented, any of the processing of the first side, the second side, and the third side on the right side of the equations (3a) and (3b) may be adopted. When the differential equivalent processing is adopted according to the equations (3a) and (3b), it is appropriate to perform processing such as other approximate differentiation instead of pure differentiation.

Unlike the embodiment of FIG. 7, this command value, estimated value, approximate value, or the like may be used as the equivalent value of the current. In particular, the current command value is a useful signal that replaces the true current value (detected value). Similarly, as the equivalent value of the speed, the command value, the estimated value, the approximate value, and the true value and the approximate value of the speed of the two-axis orthogonal rotating coordinate system that rotates at the same average speed as the rotor are used. May be good. In particular, when the speed control system is configured above the current control system, the speed command value (electric speed command value) is a useful signal instead of the true speed value (detection value).

In the embodiment of FIG. 7, a dq synchronous coordinate system is adopted as the two-axis orthogonal rotating coordinate system. The current type interwinding non-interfering device of FIG. 7 can also be used when another γδ rotating coordinate system is adopted instead of the dq synchronous coordinate system. Other typical γδ rotation coordinate systems include a γδ current coordinate system in which the δ-axis phase is equal to the stator current phase and a γδ voltage coordinate system in which the δ-axis phase is equal to the stator voltage phase.

According to the invention of claim 1, it is also possible to configure a current type interwinding non-interfering device on the αβ fixed coordinate system. FIG. 8 shows the configuration of the entire system for this example embodiment. Except for the fact that the current type interwinding non-interfering device 33 is configured on the αβ fixed coordinate system, that is, the input / output vector signals (voltage, current) of the current type interwinding non-interfering device are αβ. The configuration of the other devices is the same as that of FIG. 6, except that the signals are on the fixed coordinate system.

The constitutional principle of the current type interwinding non-interfering device in FIG. 8 is in the invention of claim 1. More specifically, it is in the equation (8). Equation (8) is a mathematical expression of the basic configuration of the current-type interwinding non-interferer on the γδ general coordinate system. The conditions of the αβ fixed coordinate system (θγ = θα, ωγ = 0) are also expressed in the same equation. Is added to obtain a current-type interwinding non-interferer on the αβ fixed coordinate system shown in Eq. (11) below.

The detailed configuration of the current type interwinding non-interfering device 33 in FIG. 8 is shown in FIG. The processes of the equations (11c) and (11d) are implemented in the blocks 33a and 33b of FIG. 9, respectively. As the processing to be implemented, any of the processing of the second side, the third side, and the fourth side on the right side of the equations (11c) and (11d) may be adopted. When the differential processing is adopted, the differential equivalent processing such as other approximate differentiation instead of the pure differentiation is appropriate. In the example of the embodiment of FIG. 9, the same true value (current detection value) is used as the current signal of the first winding and the second winding, and the same true value (speed detection value) is used as the speed signal. .. Since these points are the same as those described in relation to the embodiment of FIG. 7, further description will be omitted.

In the embodiment using FIGS. 6 and 8, the feedback controller and the signal conversion unit, which are the main components of the current control device, have been adopted as the most standard ones in the past. The current type interwinding non-interfering device of the present invention is not limited to the feedback controller 31 and the signal conversion unit 32 used in FIGS. 6 and 8, and can be used in combination with other feedback controllers and the signal conversion unit. It should be pointed out that.

The present invention relates to a dual synchronous motor for a wide range of applications requiring efficient driving, such as a battery electric vehicle, a fuel cell electric vehicle, a main drive motor of a hybrid electric vehicle, and a high-speed motor for home appliances. It is suitable for driving systems of dual synchronous motors in applications that require functional safety.

1 Double synchronous motor 11 Rotator of double synchronous motor 121 First winding of stator of double synchronous motor 122 Second winding of stator of double synchronous motor 2 Power converter 21 Power converter 22 Current detection Instrument 3 Current controller 31 Feedback controller 32 Signal converter 321a Three-phase two-phase converter 321b Two-phase three-phase converter 322a Vector rotor 322b Vector rotor 323 Phase detector 324 Speed detector 33 Current type Interferer 33a Non-interfering signal generator for 1st winding 33b Non-interfering signal generator for 2nd winding

Claims (2)

A permanent magnet synchronous motor consisting of a rotor with a permanent magnet and a stator with two three-phase windings (first three-phase winding and second three-phase winding).
A power converter that can supply current to two three-phase windings at the same time,
A permanent magnet synchronous motor drive system including a current control device that feedback-controls the current flowing through two three-phase windings via a power conversion device.
Feedback controller and
The equivalent value of the current flowing in the first three-phase winding and the equivalent value of the current flowing in the second three-phase winding are the signals on the αβ fixed coordinate system orthogonal to the two axes, or the two-axis orthogonal values excluding the dq synchronous coordinate system. Permanent magnet synchronization characterized in that the current control device is configured by at least using a current type interwinding non-interfering device that is converted into a signal on the γδ rotation coordinate system and uses the converted signal as at least an input signal. Type motor drive system. A conversion value to the αβ fixed coordinate system on said current value corresponding to the first three-phase winding i1 and ^~, converted onto the αβ fixed coordinate system of the current value corresponding the second three-phase windings The value is i2 ^~ , the speed equivalent value of the rotor is ωn ^~ , the differential equivalent processing of the signal is expressed by ^{s ~} , the rotor phase seen from the α axis is θα, and the 2 × 2 matrix Q (θα) is as follows. Define it like an expression

The mutual induction coupling between the first three-phase winding and the second three-phase winding is expressed by the d-axis and q-axis mutual inductances Md and Mq, and the approximate average values and outlines of the mutual inductances Md and Mq are as shown in the following equation. When expressing the half value of the difference in Mi and Mm , respectively,

The input signals to the current type winding non-interfering device are i1 ^~ , i2 ^~ and θα or ωn ^~, and the current type winding non-interference as a non-interfering signal to the first three-phase winding side. The following equation, where the output signal of the device is v12 * and the output signal of the current type interwinding non-interfering device as a non-interfering signal to the side of the second three-phase winding is v21 *.

Permanent magnet synchronous motor driving system according to claim 1, wherein the compliant, to constitute a non-interference unit between said current shape winding.

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