JP7308464B2 - Rotating machine control device - Google Patents

Description

The present disclosure relates to a rotating machine control device that controls a rotating machine.

Conventionally, position sensorless magnetic flux control operation using direct torque control (DTC) is known as a method of driving a synchronous rotating machine (synchronous motor).

For example, Non-Patent Documents 1 and 2 describe direct torque control, and Patent Document 1 describes an example of a rotating machine control device using magnetic flux.

Further, for example, Patent Literature 2 describes a description for improving the stability of a rotating machine control device using direct torque control during a start-up period (a period including the start-up time point).

Japanese Patent No. 6473992 Japanese Patent No. 6414771

Masanori Inoue, Shigeo Morimoto, Masayuki Sanada, "Improvement of torque response and examination of sensorless drive system based on direct torque control for IPMSM" Magazine C, Vol. 128, No. 6, p. 78-86 (2008) Tatsutaka Inoue, Masanori Inoue, Shigeo Morimoto, Masayuki Sanada, "Mathematical Model and Control Method of Maximum Torque Per Ampere for PMSM in Coordinate System Synchronized with Armature Flux Linkage" PMSM in Stator Flux Linkage Synchronous Frame),” The Transactions of the Institute of Electrical Engineers of Japan, Vol. 135, No. 6, p. 689-696 (2015)

A further improvement in the stability during the start-up period of a rotary machine controller that mainly uses magnetic flux, such as direct torque control, is desired.

Therefore, an object of the present disclosure is to provide a rotary machine control device that can further improve the stability during the start-up period of a rotary machine control device that mainly uses magnetic flux, such as direct torque control.

A rotating machine control device according to an aspect of the present disclosure includes a magnetic flux estimation unit that estimates a rotating machine magnetic flux that is the magnetic flux of a synchronous rotating machine, an estimated magnetic flux that is the estimated rotating machine magnetic flux, and a detected current of the synchronous rotating machine. or the second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current, thereby obtaining the command amplitude, which is the amplitude of the command magnetic flux. a command amplitude specifying unit for generating a command amplitude; a command magnetic flux specifying unit for generating the command magnetic flux according to the command amplitude; a switching unit for controlling switching from current synchronous operation supplied to the synchronous rotating machine to magnetic flux control operation controlled so that the estimated magnetic flux becomes the command magnetic flux generated by the command magnetic flux identifying unit; When the switching unit controls switching to the magnetic flux control operation, the magnetic flux estimation unit converts the amplitude of the estimated magnetic flux before switching to the magnetic flux control operation to the command amplitude immediately after switching to the magnetic flux control operation. is given to the feedback control as an initial value of .

A rotating machine control device according to an aspect of the present disclosure includes a magnetic flux estimation unit that estimates a rotating machine magnetic flux that is the magnetic flux of a synchronous rotating machine, an estimated magnetic flux that is the estimated rotating machine magnetic flux, and a detected current of the synchronous rotating machine. or a second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current; A switching unit for controlling switching from a current synchronous operation in which a predetermined synchronous current necessary to start the synchronous rotating machine is supplied to the synchronous rotating machine to a magnetic flux control operation in which the estimated magnetic flux becomes the command magnetic flux. and the switching unit, when the absolute value of the first inner product or the second inner product obtained by the error variable specifying unit becomes equal to or less than a predetermined value during the current synchronous operation, Alternatively, the current synchronous operation is switched to the magnetic flux control operation when a first predetermined period obtained by a predetermined acceleration rate and switching rotation speed of the synchronous rotating machine has elapsed from the start of the current synchronous operation. switch.

According to the rotating machine control device according to one aspect of the present disclosure, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

FIG. 1 is a block diagram of a rotating machine control device according to Embodiment 1. FIG. FIG. 2 is a diagram for explaining the dq coordinate system and the αβ coordinate system. 3 is a block diagram of a current synchronization control unit according to Embodiment 1. FIG. 4 is a block diagram of a position sensorless control unit according to Embodiment 1. FIG. FIG. 5 is a diagram for explaining a method of specifying an estimated magnetic flux during current synchronous operation. 6A is a block diagram of an error variable identification unit according to Embodiment 1. FIG. 6B is a block diagram of an error variable identification unit according to Embodiment 1. FIG. 7 is a block diagram of a command amplitude specifying unit according to Embodiment 1. FIG. 8 is a configuration diagram of a switching unit according to Embodiment 1. FIG. 9 is a block diagram of a rotating machine control device according to Embodiment 2. FIG. FIG. 10 is a block diagram of a magnetic flux synchronization control section according to Embodiment 2. FIG. 11 is a block diagram of a command phase identification unit according to Embodiment 2. FIG. 12 is a block diagram of a command phase identification unit according to Embodiment 2. FIG. 13 is a block diagram of a command phase specifying unit according to Embodiment 2. FIG. 14 is a block diagram of a command phase specifying unit according to Embodiment 2. FIG. 15 is a block diagram of a rotating machine control device according to Embodiment 3. FIG. FIG. 16 is a block diagram of a magnetic flux synchronization/position sensorless control unit according to the third embodiment. 17 is a block diagram of a command phase specifying unit according to Embodiment 3. FIG. 18 is a block diagram of a command phase specifying unit according to Embodiment 3. FIG. 19 is a block diagram of a rotating machine control device according to Embodiment 4. FIG. 20 is a block diagram of a position sensorless control unit according to Embodiment 4. FIG. FIG. 21 is a diagram for explaining the dq coordinate system, the αβ coordinate system, and the γδ coordinate system. FIG. 22 is a correlation diagram showing the relationship between the d-axis lead angle viewed from the γ-axis and the actual torque of the synchronous rotating machine. FIG. 23 is an example of a time chart showing timings at which an operation mode switching determination unit according to the fourth embodiment outputs a switching control signal. FIG. 24 is an example of a time chart showing timings at which an operation mode switching determination unit according to the fourth embodiment outputs a switching control signal. FIG. 25 is an example of a time chart showing timings at which an operation mode switching determination unit according to the fourth embodiment outputs a switching control signal.

(Circumstances leading to obtaining one aspect of the present disclosure)
A magnetic flux control operation that mainly uses magnetic flux, such as direct torque control described in Non-Patent Document 1, can be used as the control of the high-speed rotation region of the synchronous rotating machine. In this control, the magnetic flux applied to the synchronous rotating machine is estimated, and the larger the difference (vector difference) between the command magnetic flux and the estimated estimated magnetic flux, the larger the voltage applied to the synchronous rotating machine.

Current synchronous operation using current control is also known as a stable starting method for a synchronous rotating machine.

As a control that combines these, Patent Literature 1 proposes a method of suppressing a voltage surge that occurs when switching from current synchronous operation (at the time of starting) to magnetic flux control operation (at the time of high-speed rotation).

On the other hand, it is desired to further suppress the voltage surge.

Therefore, the inventors conducted extensive experiments and studies to further suppress the voltage surge. As a result, the inventors constructed a feedback control that matches the amplitude of the command magnetic flux with the amplitude of the target magnetic flux, and when switching from the current synchronous operation to the magnetic flux control operation, the estimated value estimated during the current synchronous operation before switching It has been found that the surge voltage can be further suppressed by performing feedback control for setting the magnetic flux as the initial value of the command magnetic flux.

In addition, the inventors identify the movement amount for each control cycle by which the phase of the estimated magnetic flux should move using the command speed, and identify the phase of the command magnetic flux using the identified movement amount and the phase of the estimated magnetic flux. Then, the inventors have found that the surge voltage can be further suppressed by interposing magnetic flux synchronous operation in which magnetic flux is controlled based on the specified phase of the command magnetic flux.

In addition, the inventors calculated the reactive power component by obtaining the first inner product of the estimated magnetic flux and the detected current of the synchronous rotating machine, or the second inner product of the magnet magnetic flux and the detected current of the synchronous rotating machine, and calculated By switching from current synchronous operation to magnetic flux control operation at the timing when the absolute value of the reactive power component obtained is below a predetermined value, it is possible to suppress the actual torque at the time of switching from falling below the load torque. , it is possible to suppress step-out in magnetic flux control operation after switching.

In addition, the inventors have found that by switching from the current synchronous operation to the magnetic flux control operation at the timing when the induced voltage of the synchronous rotating machine becomes sufficiently high, the magnetic flux control operation after switching can be performed with high accuracy. We have found that it is possible to suppress step-out in magnetic flux control operation after switching.

Based on these findings, the inventors conducted further experiments and studies, and came up with the following rotary machine control device.

A rotating machine control device according to an aspect of the present disclosure includes a magnetic flux estimation unit that estimates a rotating machine magnetic flux that is the magnetic flux of a synchronous rotating machine, an estimated magnetic flux that is the estimated rotating machine magnetic flux, and a detected current of the synchronous rotating machine. or the second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current, thereby obtaining the command amplitude, which is the amplitude of the command magnetic flux. a command amplitude specifying unit for generating a command amplitude; a command magnetic flux specifying unit for generating the command magnetic flux according to the command amplitude; a switching unit for controlling switching from current synchronous operation supplied to the synchronous rotating machine to magnetic flux control operation controlled so that the estimated magnetic flux becomes the command magnetic flux generated by the command magnetic flux identifying unit; When the switching unit controls switching to the magnetic flux control operation, the magnetic flux estimation unit converts the amplitude of the estimated magnetic flux before switching to the magnetic flux control operation to the command amplitude immediately after switching to the magnetic flux control operation. is given to the feedback control as an initial value of .

According to the rotating machine control device configured as described above, when switching from the current synchronous operation to the magnetic flux control operation, the amplitude of the estimated magnetic flux before switching to the magnetic flux control operation is matched with the command amplitude, which is the amplitude of the command magnetic flux after switching. be able to.

Therefore, according to the rotating machine control device having the above configuration, it is possible to suppress the voltage surge that occurs when the current synchronous operation is switched to the magnetic flux control operation.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

a torque estimating unit that calculates an estimated torque from the detected current and the estimated magnetic flux; and a command phase specifying unit that calculates a torque phase for converging the estimated torque to a command torque. The magnetic flux identification unit generates the command magnetic flux using the command amplitude and the torque phase calculated by the command phase identification unit from the phase of the estimated magnetic flux, and the rotating machine control device performs the magnetic flux control operation. Alternatively, a position sensorless magnetic flux control operation may be performed based on the command magnetic flux.

As a result, the position sensorless magnetic flux control operation can be implemented as the magnetic flux control operation.

In addition, the command magnetic flux identifying unit (1) identifies a movement amount for each control cycle by which the phase of the estimated magnetic flux should move, using the command speed to the synchronous rotating machine, and (2) the identified A command magnetic flux vector phase is specified using the movement amount and the phase of the estimated magnetic flux, and the rotating machine control device performs magnetic flux synchronous operation as the magnetic flux control operation based on the command magnetic flux vector phase. good.

As a result, when the current synchronous operation is switched to the magnetic flux control operation, the phase of the estimated magnetic flux before switching to the magnetic flux control operation can be matched with the phase of the command magnetic flux after switching.

Therefore, according to the rotary machine control device configured as described above, it is possible to further suppress the voltage surge that occurs when the current synchronous operation is switched to the magnetic flux control operation.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

Further, when the rotating machine control device shifts from the current synchronous operation to the position sensorless magnetic flux control operation, the command magnetic flux specifying unit (1) moves the phase of the estimated magnetic flux for each control cycle. (2) specifying a command magnetic flux vector phase using the specified movement amount and the phase of the estimated magnetic flux, and the rotating machine control device (3) Based on the command magnetic flux vector phase, the magnetic flux synchronous operation performed as the magnetic flux control operation may be interposed.

As a result, when the current synchronous operation is switched to the position sensorless magnetic flux control operation, it is possible to suppress the amplitude fluctuation and the phase fluctuation of the command magnetic flux from occurring at once.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further suppress the voltage surge that occurs when switching from the current synchronous operation to the position sensorless magnetic flux control operation.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

Further, the command amplitude specifying unit may set a target value of the calculation result of the first inner product or the second inner product to zero or more.

As a result, a current that generates a field magnetic flux in the direction of the magnet magnetic flux of the permanent magnets of the synchronous rotating machine can be passed. Therefore, an effect equivalent to the effect of magnetizing the permanent magnet can be obtained.

Further, an error variable specifying unit that calculates the first inner product or the second inner product is further provided, and the switching unit performs the first inner product obtained by the error variable specifying unit during the current synchronous operation. Alternatively, when the absolute value of the second inner product becomes equal to or less than a predetermined value, or from the start of the current synchronous operation, a first predetermined value obtained from a predetermined acceleration rate and switching rotation speed of the synchronous rotating machine When the period has elapsed, the switching from the current synchronous operation to the magnetic flux control operation may be performed.

According to the rotating machine control device configured as described above, the current synchronous operation can be switched to the magnetic flux control operation at the timing when the absolute value of the reactive power component obtained from the first inner product or the second inner product becomes equal to or less than a predetermined value. Therefore, according to the rotating machine control device configured as described above, the actual torque at the time of switching is prevented from falling below the load torque. This suppresses step-out in the magnetic flux control operation after switching.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

Alternatively, according to the rotating machine control device having the above configuration, the induced voltage of the synchronous rotating machine can accurately perform the magnetic flux control operation after switching by the elapse of the first predetermined time from the start of the current synchronous operation. It is possible to switch from the current synchronous operation to the magnetic flux control operation at the timing when the voltage rises. Therefore, according to the rotating machine control device having the above configuration, the magnetic flux control operation after switching can be performed with high accuracy. This suppresses step-out in the magnetic flux control operation after switching.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

Also, the predetermined value may be zero.

The actual torque becomes maximum at the timing when the absolute value of the reactive power component is zero.

Therefore, it is possible to more effectively improve the stability during the start-up period of a rotary machine control device that mainly uses magnetic flux, such as direct torque control.

Further, the switching unit is configured to change the absolute value of the first inner product or the second inner product obtained by the error variable specifying unit within a second predetermined period shorter than the first predetermined period from the start of the current synchronous operation. When the value becomes equal to or less than the predetermined value, switching from the current synchronous operation to the magnetic flux control operation may be prohibited.

Even if the absolute value of the reactive power component is below a predetermined value, if the induced voltage of the synchronous rotating machine does not rise sufficiently, it may not be possible to perform the magnetic flux control operation with high accuracy after switching. .

According to the rotating machine control device configured as described above, even when the absolute value of the reactive power component is equal to or less than the predetermined value, when the induced voltage of the synchronous rotating machine has not sufficiently increased, the current synchronous operation is changed to the magnetic flux control. Switching to driving can be prohibited. Therefore, according to the rotating machine control device having the above configuration, it is possible to suppress the occurrence of a phenomenon in which the magnetic flux control operation cannot be performed with high accuracy after switching due to insufficient rise in the induced voltage of the synchronous rotating machine. Therefore, the magnetic flux control operation after switching can be performed with high accuracy. This suppresses step-out in the magnetic flux control operation after switching.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

Further, the switching unit prevents the absolute value of the first inner product or the second inner product obtained by the error variable specifying unit from becoming equal to or less than the predetermined value during the current synchronous operation, and When a predetermined period of time has elapsed, the current synchronous operation may be switched to the magnetic flux control operation.

According to the rotating machine control device configured as described above, the induced voltage of the synchronous rotating machine is reduced to a voltage at which the magnetic flux control operation after switching can be performed with high accuracy by the lapse of the first predetermined time from the start of the current synchronous operation. can be switched from the current synchronous operation to the magnetic flux control operation at the timing when the Therefore, according to the rotating machine control device having the above configuration, the magnetic flux control operation after switching can be performed with high accuracy. This suppresses step-out in the magnetic flux control operation after switching.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

A rotating machine control device according to an aspect of the present disclosure includes a magnetic flux estimation unit that estimates a rotating machine magnetic flux that is the magnetic flux of a synchronous rotating machine, an estimated magnetic flux that is the estimated rotating machine magnetic flux, and a detected current of the synchronous rotating machine. or a second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current; A switching unit for controlling switching from a current synchronous operation in which a predetermined synchronous current necessary to start the synchronous rotating machine is supplied to the synchronous rotating machine to a magnetic flux control operation in which the estimated magnetic flux becomes the command magnetic flux. and the switching unit, when the absolute value of the first inner product or the second inner product obtained by the error variable specifying unit becomes equal to or less than a predetermined value during the current synchronous operation, Alternatively, the current synchronous operation is switched to the magnetic flux control operation when a first predetermined period obtained by a predetermined acceleration rate and switching rotation speed of the synchronous rotating machine has elapsed from the start of the current synchronous operation. switch.

According to the rotating machine control device configured as described above, the current synchronous operation can be switched to the magnetic flux control operation at the timing when the absolute value of the reactive power component obtained from the first inner product or the second inner product becomes equal to or less than a predetermined value. Therefore, according to the rotating machine control device configured as described above, the actual torque at the time of switching is prevented from falling below the load torque. This suppresses step-out in the magnetic flux control operation after switching.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

Alternatively, according to the rotating machine control device having the above configuration, the induced voltage of the synchronous rotating machine can accurately perform the magnetic flux control operation after switching by the elapse of the first predetermined time from the start of the current synchronous operation. It is possible to switch from the current synchronous operation to the magnetic flux control operation at the timing when the voltage rises. Therefore, according to the rotating machine control device having the above configuration, the magnetic flux control operation after switching can be performed with high accuracy. This suppresses step-out in the magnetic flux control operation after switching.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

Also, the predetermined value may be zero.

The actual torque becomes maximum at the timing when the absolute value of the reactive power component is zero.

Therefore, it is possible to more effectively improve the stability during the start-up period of a rotary machine control device that mainly uses magnetic flux, such as direct torque control.

Further, the switching unit is configured to change the absolute value of the first inner product or the second inner product obtained by the error variable specifying unit within a second predetermined period shorter than the first predetermined period from the start of the current synchronous operation. When the value becomes equal to or less than the predetermined value, switching from the current synchronous operation to the magnetic flux control operation may be prohibited.

Even if the absolute value of the reactive power component is below a predetermined value, if the induced voltage of the synchronous rotating machine does not rise sufficiently, it may not be possible to perform the magnetic flux control operation with high accuracy after switching. .

According to the rotating machine control device configured as described above, even when the absolute value of the reactive power component is equal to or less than the predetermined value, when the induced voltage of the synchronous rotating machine has not sufficiently increased, the current synchronous operation is changed to the magnetic flux control. Switching to driving can be prohibited. Therefore, according to the rotating machine control device having the above configuration, it is possible to suppress the occurrence of a phenomenon in which the magnetic flux control operation cannot be performed with high accuracy after switching due to insufficient rise in the induced voltage of the synchronous rotating machine. Therefore, the magnetic flux control operation after switching can be performed with high accuracy. This suppresses step-out in the magnetic flux control operation after switching.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

Further, the switching unit prevents the absolute value of the first inner product or the second inner product obtained by the error variable specifying unit from becoming equal to or less than the predetermined value during the current synchronous operation, and When a predetermined period of time has elapsed, the current synchronous operation may be switched to the magnetic flux control operation.

According to the rotating machine control device configured as described above, the induced voltage of the synchronous rotating machine is reduced to a voltage at which the magnetic flux control operation after switching can be performed with high accuracy by the lapse of the first predetermined time from the start of the current synchronous operation. can be switched from the current synchronous operation to the magnetic flux control operation at the timing when the Therefore, according to the rotating machine control device having the above configuration, the magnetic flux control operation after switching can be performed with high accuracy. This suppresses step-out in the magnetic flux control operation after switching.

Therefore, according to the rotating machine control device having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

A specific example of a rotating machine control device according to an aspect of the present disclosure will be described below with reference to the drawings. All of the embodiments shown here show one specific example of the present disclosure. Therefore, the numerical values, shapes, components, arrangement and connection of components, steps (processes), order of steps, etc. shown in the following embodiments are examples and are not intended to limit the present disclosure. . Each figure is a schematic diagram and is not necessarily strictly illustrated.

It should be noted that general or specific aspects of the present disclosure may be implemented in a system, method, integrated circuit, computer program, or recording medium such as a computer-readable CD-ROM. Any combination of programs and recording media may be used.

(Embodiment 1)
As shown in FIG. 1, the rotating machine control device 100 includes a first current sensor 105a, a second current sensor 105b, a current synchronization control section 131, a position sensorless control section 134, a switching section 133, and a duty generation section 103. . The rotating machine control device 100 is connected to a PWM (Pulse Width Modulation) inverter 104 and a synchronous rotating machine 102 .

The current synchronization control unit 131 is configured to perform current synchronization operation of the synchronous rotating machine 102 . The position sensorless control unit 134 is configured to perform the position sensorless magnetic flux control operation of the synchronous rotating machine 102 . The current synchronous operation is an operation for ensuring that the rotation speed (synchronous speed) of the rotating machine current applied to the synchronous rotating machine 102 matches the rotating speed (rotational speed) of the rotor of the synchronous rotating machine 102 . In Embodiment 1, the rotation speed of the rotor of the synchronous rotating machine 102 matches the synchronous speed even during the period in which the position sensorless magnetic flux control operation is being performed. The position sensorless magnetic flux control operation is an operation that does not use a position sensor such as an encoder or resolver. However, in Embodiment 1, the position sensor is not used even during the period in which the current synchronous operation is being performed. In this specification, for convenience of explanation, the operation in which the rotating machine current is controlled without using the estimated phase of the rotating machine magnetic flux is referred to as current synchronous operation. An operation in which the estimated phase of the magnetic flux of the rotating machine is used to control the magnetic flux of the rotating machine is referred to as a magnetic flux control operation. The rotor magnetic flux is a concept that includes both the armature interlinkage magnetic flux on the three-phase AC coordinates applied to the synchronous rotating machine 102 and the magnetic flux obtained by coordinate transformation of this armature interlinkage magnetic flux. As used herein, "amplitude" may simply refer to magnitude (absolute value).

Some or all elements of the rotating machine control device 100 may be provided by a control application executed in a DSP (Digital Signal Processor) or microcomputer. A DSP or microcomputer may include peripherals such as a core, memory, A/D conversion circuitry and communication ports. Moreover, some or all of the elements of the rotating machine control device 100 may be configured by logic circuits.

(Outline of control by rotating machine control device 100)
The rotating machine control device 100 generates duties D _u , D _v , D _w from the command speed ω _ref ^* and the phase currents i _u , i _w . PWM inverter 104 generates _voltage vectors _vu , _vv , _vw to be applied to synchronous rotating machine 102 from duties _Du , _Dv , Dw. The command speed ω _ref ^* is given to the rotary machine control device 100 from the host control device. The command speed ω _ref ^* represents the speed that the synchronous rotating machine 102 should follow.

An overview of the operation of the rotating machine control device 100 will be described with reference to FIG. Phase currents i _u and i _w are detected by current sensors 105 a and 105 b (first current sensor 105 a and second current sensor 105 b ). When the current synchronous operation is executed, the current synchronous control unit 131 generates the command voltage vectors _v1u ^* , _v1v ^* , _v1w ^* from the command speed _ωref ^* and the phase currents _iu , _iw . be. Each component of the command voltage vectors v _1u ^* , v _1v ^* , v _1w ^* corresponds to the U-phase voltage, V-phase voltage, and W-phase voltage on the three-phase AC coordinates, respectively. When the position sensorless magnetic flux control operation is executed, the command voltage vectors _v2u ^* , _v2v ^* , _v2w ^* are obtained from the command speed _ωref ^* and the phase currents _iu , _iw by the position sensorless control unit 134. generated. Each component of the command voltage vectors _v2u ^* , _v2v ^* , _v2w ^* corresponds to the U-phase voltage, V-phase voltage, and W-phase voltage on the three-phase AC coordinates, respectively. When the current synchronous operation is being performed, the switching unit 133 selects the command voltage vectors _v1u ^* , _v1v ^* , _v1w ^* as the command voltage vectors _vu ^* , _vv ^* , _vw ^* , output. When the position sensorless magnetic flux control operation is performed, the switching unit 133 selects the command voltage vectors _v2u ^* , _v2v ^* , _v2w ^* as the command voltage vectors _vu ^* , _vv ^* , _vw ^* . and output. Duty generator ₁₀₃ generates duties D _u , D _v ^, and D _w from command voltage vectors v u ^* , v _{v * ,} v w ^* . The duties D _u , D _v , D _w are input to the PWM inverter 104 . Through such control, the synchronous rotating machine 102 is controlled such that the speed follows the command speed ω _ref ^* .

In the following, the rotating machine control device 100 may be described based on dq coordinates (first two-phase coordinates). Also, the rotating machine control device 100 may be described based on α-β coordinates (second two-phase coordinates). FIG. 2 shows the dq and α-β coordinates. The α-β coordinates are fixed coordinates. α-β coordinates are also referred to as static coordinates and alternating coordinates. The α-axis is set as an axis extending in the same direction as the U-axis (not shown in FIG. 2). The dq coordinates are rotational coordinates. θ is the lead angle of the d-axis as viewed from the U-axis. θ is also referred to as rotor position.

(Outline of control by current synchronization control unit 131)
The current synchronous control unit 131 performs current synchronous operation to supply the synchronous rotating machine 102 with a synchronous current necessary to start the synchronous rotating machine 102 regardless of the phase of the magnetic flux of the rotating machine.

As shown in FIG. 3, the current synchronous control unit 131 includes a synchronous current command unit 124, a voltage command specifying unit (first voltage command specifying unit) 125, a d, q/u, v, w conversion unit (first 2-phase 3-phase coordinate conversion unit) 126 , u, w/d, q conversion unit (first 3-phase 2-phase coordinate conversion unit) 127 and integrator 128 .

In the current synchronization control section 131, the integrator 128 identifies the rotor position θ from the command speed ω _ref ^* . A rotor position θ represents the position of the rotor of the synchronous rotating machine 102 . The rotor position θ corresponds to the phase of the permanent magnets of the rotor. The u, w/d, q converter 127 converts the phase currents i _u and i _w into axial currents _id and i _q (first axial currents). This conversion uses the rotor position θ. The axis currents i _d and i _q collectively describe the d-axis current i _d and the q-axis current i _q on the dq coordinates of the synchronous rotating machine 102 . A synchronous current command unit 124 generates command shaft currents _id ^* and _iq ^* . The commanded shaft currents _id ^* and _iq ^* are shaft currents to be followed by the shaft currents _id and _iq . The command axis currents i _d ^* and i _q ^* collectively describe the d-axis command axis current i _d ^* and the q-axis command axis current i _q ^* on the dq coordinates of the synchronous rotating machine 102 . A voltage command specifying unit 125 generates command shaft voltages _vd ^* , _vq ^{* (first shaft voltages) from the command shaft currents id* ,} _{iq * and} ^the shaft currents id, _iq . The command axis voltages v _d ^* and v _q ^* collectively describe the d-axis command axis voltage v _d ^* and the q-axis command axis voltage v _q ^* on the dq coordinates of the synchronous rotating machine 102 . The d, q/u, v, w converter 126 converts the command shaft voltages v _d ^* , v _q ^* into command voltage vectors v _1u ^* , v _1v ^* , v _1w ^* . This conversion uses the rotor position θ. In current synchronous operation, such control allows the speed to follow the command speed ω _ref ^* , and the shaft currents _id and _iq to follow the command shaft currents _id ^* and _iq ^* .

(Overview of Control by Position Sensorless Control Unit 134)
The position sensorless control unit 134 performs position sensorless magnetic flux control operation for setting the command amplitude so that the amplitude of the rotating machine magnetic flux converges to the target amplitude. The position sensorless magnetic flux control operation is performed while referring to the command phase θ _s ^* obtained from the phase of the rotating machine magnetic flux (estimated phase θ _s ) estimated based on the magnetic flux estimator 108 (described later). The target amplitude is the amplitude that the rotating machine magnetic flux should finally reach. The command amplitude is the amplitude that the amplitude of the rotating machine magnetic flux should follow.

As shown in FIG. 4, the position sensorless control unit 134 includes a u, w/α, β conversion unit (second three-phase two-phase coordinate conversion unit) 106, a voltage command specifying unit (second voltage command specifying unit) 107, magnetic flux estimating unit 108, torque estimating unit 109, phase/speed estimating unit 117, torque command specifying unit 116, command phase specifying unit 118, command amplitude specifying unit 115, target value setting unit 119, error variable specifying unit 111, command It has a magnetic flux identifying section 112 , an α-axis magnetic flux deviation computing section 113 a, a β-axis magnetic flux deviation computing section 113 b, and an α, β/u, v, w transforming section (second two-phase three-phase coordinate transforming section) 114 .

In the position sensorless control section 134, the u, w/α, β conversion section 106 converts the phase currents i _u and i _w into axial currents i _α and i _β (second axial currents). The axis currents i _α and i _β collectively describe the α axis current i _α and the β axis current i _β on the α-β coordinates of the synchronous rotating machine 102 . The magnetic flux estimator 108 estimates the magnetic flux of the rotating machine (determines the estimated magnetic flux Ψ _s ). The α-axis component and β-axis component of the estimated magnetic flux _Ψs are denoted as estimated magnetic flux _Ψα and _Ψβ , respectively. The phase/speed estimator 117 estimates the speed of the synchronous rotating machine 102 and the phase of the magnetic flux of the rotating machine from the estimated magnetic flux Ψ _s (when the estimated speed (rotational speed) ω _r and the estimated phase θ _s of the estimated magnetic flux Ψ _s are Desired). A torque estimator 109 estimates the motor torque from the estimated magnetic flux Ψ _s and the shaft currents i _α and i _β (estimated torque _Te is obtained). A command torque T _e ^* is generated by the torque command specifying unit 116 from the estimated speed ω _r and the command speed (rotational speed) ω _ref ^* . The command torque T _e ^* represents the torque that the motor torque should follow. An error variable ε representing a reactive power component is generated from the estimated magnetic flux Ψ _s and the shaft currents i _α and i _β by the error variable specifying unit 111 . A target value of the error variable ε is set by the target value setting unit 119 . The command amplitude |Ψ _s ^* | is generated by executing feedback control using the error variable ε by the command amplitude specifying unit 115 . Here, when the switching unit 133, which will be described later, controls switching from current synchronous operation to magnetic flux control operation (here, position sensorless magnetic flux control operation), the magnetic flux estimating unit 108 performs The estimated magnetic flux amplitude |Ψ _s | is given to the feedback control as the initial value of the command amplitude |Ψ _s ^* | immediately after switching to the magnetic flux control operation. The command phase specifying unit 118 obtains the command phase ^θ _s * of the command magnetic flux vector ψ _{s *} from the estimated phase θ s ^of the estimated magnetic flux ψ _s , the command torque T _e ^* , and the estimated torque T _e . The commanded magnetic flux _vector Ψ s ^* is obtained from the commanded amplitude |Ψ _s ^* | and the commanded phase θ _s ^* by the commanded magnetic flux identifying unit 112 . The α-axis component and β-axis component of the command magnetic flux vector Ψ _s ^* are denoted as α-axis command magnetic flux Ψ _α ^* and β-axis command magnetic flux Ψ _β ^* , respectively. The α-axis magnetic flux deviation calculator 113a obtains the deviation (magnetic flux deviation) _ΔΨα between the α-axis command magnetic flux _Ψα ^* and the estimated magnetic flux _Ψα . A deviation (magnetic flux deviation) ΔΨβ between the β-axis command magnetic flux Ψ _β ^* and the estimated magnetic flux _{Ψ β is} obtained by the β-axis magnetic flux deviation calculator 113b. The commanded shaft voltages v _α ^* and v _β ^* (second shaft voltages) are obtained from the magnetic flux deviations ΔΨ _α and ΔΨ _β and the shaft currents i _α and i _β by the voltage command specifying unit 107 . The command shaft voltages v _α ^* and v _β ^* collectively describe the α-axis command shaft voltage v _α ^* and the β-axis command shaft voltage v _β ^* on the α-β coordinates of the synchronous rotating machine 102 . The α, β/u, v, w converter 114 converts the command shaft voltages v _α ^* , v _β ^* into command voltage vectors v _2u ^* , v _2v ^* , v _2w ^* .

In the position sensorless magnetic flux control operation, such control causes the motor torque to follow the command torque T _e ^* , and the rotating machine magnetic flux to follow the command magnetic flux vector Ψ _s ^* . As a result, the speed follows the command speed ω _ref ^* . As described above, when expressing that "the position sensorless control unit 134 performs the position sensorless magnetic flux control operation for setting the command amplitude so that the amplitude of the magnetic flux of the rotating machine converges to the target amplitude", the expression "target amplitude ' corresponds to the commanded amplitude |Ψ _s ^* |. Taking this into consideration, the command amplitude |Ψ _s ^* | is sometimes referred to as the target amplitude |Ψ _s ^* | below.

_When ^the _position sensorless magnetic flux control ^operation _is executed _, as shown in FIG. Find Ψ _s . Further _, when ^the current _synchronous ^operation is _{executed ,} the estimated magnetic ^flux _Ψ find _s . Specifically, as shown in FIG. 5, a u, v, w/α, β conversion unit (third two-phase three-phase coordinate conversion unit) 150 is used to convert command voltage vectors v _1u ^* , v _1v ^* , v _1w ^* are converted into reference shaft voltages v _α ', v _β '. After that, the magnetic flux estimator 108 obtains the estimated magnetic flux Ψ _s from the shaft currents i _α and i _β and the reference shaft voltages v _α ' and v _β '.

The expression "current synchronous operation in which synchronous current is supplied to the synchronous rotating machine 102" does not mean that it is essential to use the command shaft current in the current synchronous operation. Synchronous operation can also be performed without using the commanded shaft current. For example, voltage synchronous operation using the command axis voltage may be performed. The details of the synchronous operation in this case are self-explanatory for those skilled in the art, so the description is omitted. Further, in the current synchronous operation of Embodiment 1, a command other than the command torque T _e ^* is used. Then, when the operation is switched to the position sensorless magnetic flux control operation, the control using the command torque T _e ^* is started.

In this specification, the shaft currents _id and _iq do not mean currents that actually flow through the synchronous rotating machine 102, but current values that are transmitted as information. Commanded shaft currents _id ^* , _iq ^* , commanded shaft voltages _vd ^* , _vq ^* , commanded speed _ωref ^* , rotor position θ, and commanded voltage vectors _v1u ^* , _v1v ^* , _v1w ^* are also transmitted as information. value. Axial currents i _α , i _β , commanded shaft voltages v _α ^* , v _β ^* , estimated magnetic flux Ψ _s , estimated phase θ _s , estimated torque T _e , commanded torque T _e ^* , commanded amplitude |Ψ _s ^* | (target amplitude |Ψ _s ^* |), command magnetic flux vector Ψ _s ^* , command voltage vectors v _2u ^* , v _2v ^* , v _2w ^* , command voltage vectors v _u ^* , v _v ^* , v _w ^*, etc. are the same.

Components of the current synchronization control unit 131 shown in FIG. 3 will be described below.

(Integrator 128)
The integrator 128 acquires the command speed ω _ref ^* and integrates (integrates) the command speed ω _ref ^* . Thus, the integrator 128 determines the rotor position θ. Specifically, the integrator 128 calculates the rotor position θ by equation (1). s is the Laplacian operator. Integrator 128 is a known integrator.

(u, w/d, q conversion unit 127)
A u, w/d, q converter 127 acquires the rotor position θ and converts the phase currents i _u and i _w into axial currents _{id and} i _q using the rotor position θ. Specifically, the u, w/d, q converter 127 converts the phase currents i _u and i _w into the axial currents _id and i _q according to the equations ₍ 2) and (3). Output i _q .

(Synchronous current command unit 124)
A synchronous current command unit 124 generates command axis currents _id ^* and _iq ^* and outputs command axis currents _id ^* and _iq ^* . The command shaft currents i _d ^* and i _q ^* correspond to synchronous currents to be supplied to the synchronous rotating machine 102 . In the first embodiment, the command axis currents i _d ^* and i _q ^* are predetermined currents. Also, the command axis currents i _d ^* and i _q ^* are currents of constant magnitude. The command shaft currents i _d ^* and i _q ^* are normally constant, but may be variable. In the first embodiment, the d-axis command axis current i _d ^* is zero. Specifically, the synchronous current command unit 124 generates the command axis currents _id ^* and _iq ^* according to equation (4), and outputs the command axis currents _id ^* and _iq ^* .

(Voltage command specifying unit 125)
A voltage command specifying unit 125 generates command shaft voltages _vd ^* and _vq ^* from the shaft currents _id and _iq and the command shaft currents _id ^* and _iq ^* . The commanded shaft voltages v _d ^* , v _q ^* are specified such that the shaft currents _id , i _q track the commanded shaft currents _id ^* , i _q ^* . Specifically, the voltage command specifying unit 125 generates and outputs the command shaft voltages v _d ^* and v _q ^* using equations (5) and (6). K _cdP and K _cqP in equations (5) and (6) are proportional gains. K _cdI and K _cqI are integral gains. Voltage command specifying unit 125 is a known PI compensator.

(d, q/u, v, w converter 126)
A d, q/u, v, w converter 126 uses the rotor position θ to convert the command shaft voltages v _d ^* , v _q ^* into command voltage vectors v _1u ^* , v _1v ^* , v _1w ^* . Specifically, the d, q/u, v, w conversion unit 126 converts the command shaft voltages v _d ^* , v _q ^* into command voltage vectors v _1u ^* , v _1v ^* , v _1w ^* using equation (7). and output command voltage vectors v _1u ^* , v _1v ^* , v _1w ^* .

Note that the current synchronization control section 131 can be configured so that the rotor position θ can be obtained by a method other than integrating the command speed ω _ref ^* with the integrator 128 . The rotor position θ may be an externally given value. For example, the rotor position θ can be given to the current synchronization control section 131 from a host controller.

The components of the position sensorless control section 134 shown in FIG. 4 are described below.

(u, w/α, β conversion unit 106)
A u, w/α, β conversion unit 106 converts the phase currents i _u , i _w into axial currents i _α , i _β . Specifically, the u, w/α, β conversion unit 106 converts the phase currents i _u , i _w into the axial currents i _α , i _β according to equations (8) and (9), and the axial currents i _α , i _β .

(Magnetic flux estimation unit 108)
Magnetic flux estimator ¹⁰⁸ _calculates estimated magnetic flux _{Ψ s (} estimated magnetic ^flux _{Ψ α ,} Ψ _β ). Specifically, magnetic flux estimator 108 uses equations (10), (11), and (12) to obtain estimated magnetic fluxes Ψ _α , Ψ _β , and absolute values |Ψ _s | of estimated magnetic fluxes Ψ _s . Ψ _α | _t=0 and Ψ _β | _t=0 in equations (10) and (11) are the initial values of the estimated magnetic fluxes Ψ _α and Ψ _β , respectively. R in equations (10) and (11) is the winding resistance of the synchronous rotating machine 102 . If the magnetic flux estimator 108 is built into a digital controller such as a DSP, microcomputer, etc., the integrators required for the calculations in equations (10) and (11) can be constructed in a discrete system. In this case, the estimated magnetic fluxes Ψ _α and Ψ _β one control period before are added or subtracted from the values derived from the current control period.

The magnetic flux estimator 108 is also used during current synchronous operation. In this case, the magnetic flux estimation unit 108 cooperates with the u, v, w/α, β conversion unit 150 (FIG. 5) to obtain the axial currents i _α , i _β and the command voltage vectors v _1u ^* , v _1v ^* , Estimated magnetic fluxes Ψ _α and Ψ _β are obtained based on v _1w ^* . Specifically, the u, v, w/α, β conversion unit 150 converts the command voltage vectors v _1u ^* , v _1v ^* , v _1w ^* into reference shaft voltages using equations (13) and (14). Convert to v _α ', v _β '. The magnetic flux estimator 108 obtains estimated magnetic fluxes Ψ α and _Ψ β from the shaft currents i _α and i _β and the reference shaft voltages v _α ' and v _{β '} . When obtaining the estimated magnetic fluxes Ψ _α and Ψ _β , the formulas obtained by replacing the command shaft voltages v _α ^* and v _β ^* in formulas (10) and (11) with reference shaft voltages v _α ' and v _β ' are used. Used. The shaft currents i _α and i _β are calculated by the current sensors 105a and 105b (the first current sensor 105a and the second current sensor 105b) and the u, w/α, β conversion, as in the position sensorless magnetic flux control operation. Identified from section 106 .

(Torque estimator 109)
The torque estimator 109 obtains the estimated torque T _e from the shaft currents i _α and i _β and the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α and Ψ _β ). Specifically, torque estimator 109 obtains estimated torque T _e using equation (15). P _n in Equation (15) is the number of pole pairs of the synchronous rotating machine 102 .

(Phase/velocity estimator 117)
The phase/velocity estimator 117 obtains the estimated phase θ _s of the estimated magnetic flux Ψ _s from the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ). Specifically, the phase/velocity estimator 117 obtains the estimated phase θ _s of the estimated magnetic flux Ψ _s by Equation (16). Also, the phase/velocity estimator 117 uses the estimated phase θ _s (n) obtained in the current control cycle and the estimated phase θ _s (n−1) obtained in the previous control cycle to obtain the following equation (17): ), the estimated speed ω _r is obtained. Phase/velocity estimator 117 is a known phase estimator. Here, _Ts means a control cycle (sampling cycle) in this control. n is the time step.

(Torque command specifying unit 116)
A torque command specifying unit 116 obtains a command torque T _e ^* from the command speed ω _ref ^* and the estimated speed ω _r . Specifically, the torque command specifying unit 116 obtains the command torque T _e ^* by using equation (18). K _sP in equation (18) is the proportional gain. K _sI is the integral gain. Torque command specifying unit 116 is a known PI compensator.

(Error variable identification unit 111)
The error variable identification unit 111 determines the error indicating the reactive power component from the virtual inductance (the inductance of the synchronous rotating machine 102) L _m , the shaft currents i _α and i _β and the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α and Ψ _β ). Compute the variable ε. Specifically, first, the armature reaction magnetic flux is estimated (estimated armature reaction magnetic flux L _mia is obtained). The α-axis component and β-axis component of the estimated armature reaction magnetic flux L _mia are denoted as an estimated armature reaction magnetic flux L _miα and an estimated armature reaction magnetic flux L _miβ , respectively. The estimated armature reaction magnetic flux L _miα and the estimated armature reaction magnetic flux L _miβ are products of the virtual inductance L _m and the shaft currents i _α and i _β . Next, from the estimated magnetic flux Ψ _s (estimated magnetic flux Ψ _α , Ψ _β ) and estimated armature reaction magnetic flux L _mia (estimated armature reaction magnetic flux L _miα , L _miβ ), the estimated permanent magnet of the synchronous rotating machine 102 Estimate the magnetic flux (determine the estimated magnetic flux Ψ' _ae ). The α-axis component and β-axis component of the estimated magnetic flux _Ψ'ae are denoted as estimated magnetic flux _Ψ'aeα and _Ψ'aeβ , respectively. Specifically, as shown in equations (19) and (20), the estimated magnet magnetic fluxes Ψ _{' a eα} , Ψ _' are obtained by subtracting the estimated armature reaction magnetic fluxes L _miα , L _miβ from the estimated magnetic fluxes Ψ _α , Ψ β. _{a Calculate eβ} . Next, an error variable ε is calculated from the estimated magnetic fluxes Ψ'a _eα , Ψ'a _eβ and the shaft currents i _α , i _β as shown in Equation (21).

As shown in Equation (21) and FIG. 6A, the error variable identification unit 111 uses the estimated magnet flux Ψ′ of the permanent magnet of the synchronous rotating machine 102 and the detected current i of the synchronous rotating machine 102 as the error variable ε. An inner product (second inner product) is calculated.

The error variable ε can also be obtained by calculating the inner product (first inner product) of the estimated magnetic flux Ψ of the synchronous rotating machine 102 and the detected current i of the synchronous rotating machine 102 .

Therefore, the error variable specifying unit 111 uses the estimated magnetic flux Ψ of the synchronous rotating machine 102 and the detection of the synchronous rotating machine 102 instead of the second inner product as the error variable ε, as shown in Equation (22) and FIG. 6B . The configuration may be such that an inner product (first inner product) with the current i is calculated.

(Target value setting unit 119)
The target value setting unit 119 sets the target value of the error variable ε, that is, the target value ε ^* of the calculation result of the first inner product or the second inner product. Here, the target value setting unit 119 sets zero or less as the target value of the calculation result of the first inner product or the second inner product. However, in a constant speed region such as 10% or less of the maximum rotational speed, it may be set to a positive value. If it is set to a positive value, a current that generates a field magnetic flux in the direction of the magnet magnetic flux of the permanent magnets of the synchronous rotating machine 102 can flow. Therefore, an effect equivalent to the effect of magnetizing the permanent magnet can be obtained.

It should be noted that the maximum value of ε ^* is desirably a value at which the field flux generated in the direction of the magnet flux of the permanent magnet is less than 30% of the magnet flux of the permanent magnet.

(Command amplitude specifying unit 115)
Command amplitude specifying section 115 generates command amplitude |Ψ _s ^* | by executing feedback control using error variable ε.

As shown in FIG. 7 , command amplitude identifying section 115 has subtractor 142 , P gain 143 , I gain 145 , integrator 146 , and adder 144 .

The integrator 146 is supplied with the absolute value |Ψ _s | of the estimated magnetic flux Ψ _s from the magnetic flux estimator 108 as an initial value for integration. With this configuration, when the switching unit 133, which will be described later, controls switching from current synchronous operation to magnetic flux control operation (here, position sensorless magnetic flux control operation), the magnetic flux estimation unit 108 performs is given to the feedback control as the initial value of the command amplitude |Ψ _s ^* | immediately after _switching to the flux control operation.

(Command phase identification unit 118)
The command phase specifying unit 118 specifies the command phase ^θ _s * of the command magnetic flux vector ψ _s * from the estimated phase θ _s of _the estimated magnetic flux ^ψ s, the command torque T _e ^* , and the estimated torque _Te .

(Command magnetic flux identification unit 112)
The command magnetic flux identifying unit 112 obtains command magnetic flux vector Ψ _s * (command magnetic flux Ψ _α ^* , Ψ _β ^{* )} from command amplitude |Ψ _s ^* | and command phase θ _s ^* . Specifically, using equations (23) and (24), command magnetic fluxes Ψ _α ^* and Ψ _β ^* are obtained.

(α-axis magnetic flux deviation calculator 113a, β-axis magnetic flux deviation calculator 113b)
The α-axis magnetic flux deviation calculator 113a obtains the command amplitude Ψ _α ^* and the estimated magnetic flux Ψ _α , and obtains their deviation (flux deviation ΔΨ _α : Ψ _α ^* - Ψ _α ). The β-axis magnetic flux deviation calculation unit 113b acquires the command amplitude Ψ _β ^* and the estimated magnetic flux Ψ _β and obtains their deviation (magnetic flux deviation ΔΨ _β : Ψ _β ^* - Ψ _β ). Known operators may be used as the α-axis magnetic flux deviation calculator 113a and the β-axis magnetic flux deviation calculator 113b.

(Voltage command specifying unit 107)
A voltage _command specifying unit 107 obtains command ^shaft voltages v α * and v _β ^* from the magnetic flux deviations ΔΨ _α and ΔΨ _β and the shaft currents i _α and i _β . Specifically, the voltage command specifying unit 107 uses equation (25) to obtain the α-axis command axis voltage v _α ^* . Also, the voltage command specifying unit 107 obtains the β-axis command axis voltage v _β ^* using equation (26).

(α, β/u, v, w conversion unit 114)
The α, β/u, v, w converter 114 converts the command shaft voltages v _α ^* , v _β ^* into command voltage vectors v _2u ^* , v _2v ^* , v _2w ^* . Specifically, the α, β/u, v, w conversion unit 114 converts the command axis voltages v _α ^* , v _β ^* into command voltage vectors v _2u ^* , v _2v ^* , v _2w ^* according to equation (27). After conversion, command voltage vectors _v2u ^* , _v2v ^* , _v2w ^* are output.

Returning to FIG. 1, the remaining components of the rotating machine control device 100 and the components connected to the rotating machine control device 100 will be described below.

(First current sensor 105a, second current sensor 105b)
Known current sensors can be used as the first current sensor 105a and the second current sensor 105b. In Embodiment 1, the first current sensor 105a is provided to measure the phase current i _u flowing through the u phase. A second current sensor 105b is provided to measure the phase current i _w flowing through the w phase. However, the first current sensor 105a and the second current sensor 105b may be provided so as to measure a two-phase current in a combination other than the u-phase and the w-phase.

(Switching unit 133)
The switching unit 133 selects one of the command voltage vectors _v1u ^* , _v1v ^* , _v1w ^* and the command voltage vectors _v2u ^* , _v2v ^* , _v2w ^* , and switches the selected _one to the command voltage vector vu ^*. , v _v ^* and v _w ^* . That is, the switching unit 133 controls switching from current synchronous operation to magnetic flux control operation (here, position sensorless magnetic flux control operation). The switching unit 133 is, for example, an analog switch, a multiplexer, or the like. Note that the switching unit 133 may be configured by software inside a microcomputer. FIG. 8 shows a configuration diagram of the switching unit 133. As shown in FIG.

(Duty generation unit 103)
The duty generator ₁₀₃ generates duties D u , D _v ^, D _w from the command voltage vectors v _u ^* , v v _* , v _w ^* . In Embodiment 1, the duty generator 103 converts each component of the command voltage vector _vu ^* , _vv ^* , _vw ^* into the duty _Du , _Dv , _Dw of each phase. As a method for generating the duties D _u , D _v , and D _w , a method used for a general voltage source PWM inverter may be used. For example, the duties D _u , D _v , and D _w are obtained by dividing the command voltage vectors v _u ^* , v _v ^* , v _w ^* by half the voltage value V _dc of the DC power supply of the PWM inverter 104, which will be described later. may be obtained by In this case, the duty D _u is 2×v _u ^* /V _dc . Duty D _v is 2×v _v ^* /V _dc . The duty D _w is 2×v _w ^* /V _dc . The duty generator 103 outputs duties D _u , D _v , and D _w .

(PWM inverter 104)
The PWM inverter 104 has a DC power supply and a conversion circuit, and the conversion circuit converts the DC voltage into voltage vectors v _u , v _v , and v _w by PWM control. The PWM inverter 104 applies the converted voltage vectors v _u , v _v , v _w to the synchronous rotating machine 102 .

(Synchronous rotating machine 102)
The synchronous rotating machine 102 is controlled by the rotating machine control device 100 . A voltage vector is applied to the synchronous rotating machine 102 by the PWM inverter 104 . “A voltage vector is applied to the synchronous rotating machine 102” means that a voltage is applied to each of the three phases (U phase, V phase, W phase) on the three-phase AC coordinates in the synchronous rotating machine 102. . In the first embodiment, each of the three phases (U-phase, V-phase, W-phase) is divided into two types: a high-voltage phase having a relatively high voltage and a low-voltage phase having a relatively low voltage. The synchronous rotating machine 102 is controlled so as to be either selected.

The synchronous rotating machine 102 is, for example, a permanent magnet synchronous motor. Permanent magnet synchronous motors include IPMSM (Interior Permanent Magnet Synchronous Motor) and SPMSM (Surface Permanent Magnet Synchronous Motor). The IPMSM has saliency in which the d-axis inductance Ld and the q-axis inductance Lq are different (generally reverse saliency of Lq>Ld), and reluctance torque can be used in addition to magnet torque. Therefore, the drive efficiency of the IPMSM is extremely high. A synchronous reluctance motor can also be used as the synchronous rotating machine 102 .

(Discussion)
As described above, in the rotating machine control device 100, the command amplitude specifying unit 115 of the position sensorless control unit 134 generates the command amplitude |Ψ _s ^* | by performing feedback control using the error variable ε. At this time, the absolute value |Ψ _s | of the estimated magnetic flux Ψ _s is given from the magnetic flux estimating section 108 to the integrator 146 of the command amplitude specifying section 115 as an initial value for integration. With this configuration, when the switching unit 133 controls switching from current synchronous operation to magnetic flux control operation (here, position sensorless magnetic flux control operation), the magnetic flux estimation unit 108 performs the estimation before switching to the magnetic flux control operation. The magnetic flux amplitude |Ψ _s | is given to the feedback control as the initial value of the command amplitude |Ψ _s ^* | immediately after switching to the magnetic flux control operation.

Therefore, according to the rotating machine control device 100 configured as described above, it is possible to suppress a voltage surge that occurs when switching from the current synchronous operation to the magnetic flux control operation.

Therefore, according to the rotating machine control device 100 configured as described above, it is possible to further improve the stability during the starting period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

(Embodiment 2)
A rotating machine control device according to a second embodiment, which is configured by partially changing the rotating machine control device 100 according to the first embodiment, will be described below. Here, regarding the rotary machine control device according to Embodiment 2, the components similar to those of the rotary machine control device 100 have already been explained, and are given the same reference numerals, and the detailed explanation thereof will be omitted. The description will focus on the differences from the device 100 .

FIG. 9 is a block diagram of a rotating machine control device 100A according to the second embodiment.

As shown in FIG. 9, a rotating machine control device 100A is configured by replacing the position sensorless control section 134 with a magnetic flux synchronization control section 132 in the rotating machine control device 100 according to the first embodiment.

The magnetic flux synchronization control unit 132 is configured to perform magnetic flux synchronization operation of the synchronous rotating machine 102 . The magnetic flux synchronous operation is a type of magnetic flux control operation, and is an operation in which the amount of movement of the estimated magnetic flux should be shifted in each control cycle, and the phase of the command magnetic flux vector is specified using the specified amount of movement. be.

Therefore, in the rotating machine control device 100A, the switching unit 133 controls switching from the current synchronous operation to the magnetic flux synchronous operation as the magnetic flux control operation.

FIG. 10 is a block diagram of the magnetic flux synchronization control section 132. As shown in FIG.

As shown in FIG. 10, the magnetic flux synchronization control unit 132 is different from the position sensorless control unit 134 according to Embodiment 1 in that the command phase specifying unit 118 is changed to the command phase specifying unit 218, and the torque command specifying unit 116 is deleted. It consists of

(Command phase identification unit 218)
The command phase identifying unit 218 determines the command magnetic flux vector from the command speed ω _ref ^* and the estimated phase θ _s of the estimated magnetic flux ψ _s , or from the command speed ω _ref ^* , the estimated torque T _e and the estimated phase θ _s of the estimated magnetic flux ψ _s. Identify the commanded phase θ _s ^* of Ψ _s ^* .

As the command phase specifying unit 218 for specifying the command phase θ _s ^* of the command magnetic flux vector ψ _s * from the command speed ^ω _ref ^* and the estimated phase θ _s of the estimated magnetic flux ψ _s , for example, the command phase specifying unit 218A shown in FIG. may be

As the command phase specifying unit 218 for specifying the command phase θ s ^* of the command magnetic ^flux vector Ψ _{s *} from the command speed ω _ref ^* , the estimated torque T _e and the estimated phase _{θ s} of the estimated magnetic flux Ψ s, for example, FIG. It may be the command phase identification unit 218B, the command phase identification unit 218C shown in FIG. 13, or the command phase identification unit 218D shown in FIG.

As shown in FIG. 11 , command phase identification section 218A has multiplication section 164 and phase adder 165 . Command phase identification unit 218A identifies movement amount Δθ _s in each control period by which estimated phase θ _s of estimated magnetic flux Ψ _s should move, using command speed ω _ref ^* , and estimates movement amount Δθ _s as identified. Using the estimated phase θ _s of the magnetic flux ψ _s , the commanded phase θ _s ^* of the commanded magnetic flux vector ψ _s ^* is identified.

As shown in FIG. 12 , command phase identifying section 218B has high-pass filter 163 , gain multiplier 162 , speed deviation calculator 161 , multiplier 164 , and phase adder 165 . Command phase identification unit 218B identifies movement amount Δθ _s in each control cycle by which estimated phase θ _s of estimated magnetic flux ψ _s should move, using command speed ω _ref ^* and estimated torque _Te , and identifies the identified Using the movement amount Δθ _s and the estimated phase θ _s of the estimated magnetic flux ψ _s , specify the command phase θ _s ^* of the command magnetic flux vector ψ _s ^* .

As shown in FIG. 13 , command phase identification section 218C has multiplication section 164 , high-pass filter 166 , sign inversion section 167 , PI compensator 168 , adder 169 , and phase adder 165 . The command phase specifying unit 218C specifies the movement amount Δθ _s in each control period by which the estimated phase θ _s of the estimated magnetic flux ψ _s should move, using the command speed ω _ref ^* and the estimated torque T _e . Using the movement amount Δθ _s and the estimated phase θ _s of the estimated magnetic flux ψ _s , specify the command phase θ _s ^* of the command magnetic flux vector ψ _s ^* .

As shown in FIG. 14 , command phase identifying section 218D has multiplier 164 , low-pass filter 170 , subtractor 173 , PI compensator 168 , adder 169 , and phase adder 165 . The command phase specifying unit 218D specifies the movement amount Δθ _s in each control period by which the estimated phase θ _s of the estimated magnetic flux ψ _s should move, using the command speed ω _ref ^* and the estimated torque T _e . Using the movement amount Δθ _s and the estimated phase θ _s of the estimated magnetic flux ψ _s , specify the command phase θ _s ^* of the command magnetic flux vector ψ _s ^* .

The ^command phase identification unit 218 can cause the command phase θ s ^* of the command magnetic flux vector ψ _{s *} to follow the estimated phase θ _s of the estimated magnetic flux ψ _s with the above configuration.

Therefore, when the switching unit 133 controls switching from the current synchronous operation to the magnetic flux synchronous operation as the magnetic flux control operation, the rotating machine control device 100A sets the estimated phase of the estimated magnetic flux before switching to the magnetic flux control operation to It is possible to match the command phase of the command magnetic flux after switching.

(Discussion)
As described above, according to the rotating machine control device 100A configured as described above, when switching from the current synchronous operation to the magnetic flux control operation, the estimated phase of the estimated magnetic flux before switching to the magnetic flux control operation is changed to the command flux after switching. can be matched in phase.

Therefore, according to the rotating machine control device 100A configured as described above, it is possible to further suppress the voltage surge that occurs when switching from the current synchronous operation to the magnetic flux control operation.

(Embodiment 3)
A rotating machine control device according to a third embodiment, which is configured by partially changing the rotating machine control device 100 according to the first embodiment, will be described below. Here, regarding the rotating machine control device according to Embodiment 3, the components similar to those of the rotating machine control device 100 have already been described, and the same reference numerals are assigned to the same components, and detailed description thereof will be omitted. The description will focus on the differences from the device 100 .

FIG. 15 is a block diagram of a rotating machine control device 100B according to the third embodiment.

As shown in FIG. 15, a rotating machine control device 100B is configured by changing the position sensorless control section 134 to a magnetic flux synchronization/position sensorless control section 135 from the rotating machine control device 100 according to the first embodiment.

The magnetic flux synchronization/position sensorless control unit 135 is configured to switch between the magnetic flux synchronization operation and the position sensorless magnetic flux control operation of the synchronous rotating machine 102 to execute the operation.

Therefore, in the rotating machine control device 100B, the switching unit 133 controls switching from the current synchronous operation to the magnetic flux control operation, and the magnetic flux synchronization/position sensorless control unit 135 switches from the magnetic flux synchronous operation as the magnetic flux control operation to the magnetic flux control operation. Switching to position sensorless flux control operation as control operation is controlled.

FIG. 16 is a block diagram of the magnetic flux synchronization/position sensorless control unit 135. As shown in FIG.

As shown in FIG. 16 , magnetic flux synchronization/position sensorless control section 135 is configured by replacing command phase identification section 118 with command phase identification section 318 in position sensorless control section 134 according to the first embodiment.

(Command phase identification unit 318)
The command phase identification unit 318 has a function of identifying the command phase θ _{s * of the command magnetic flux vector ψ s} ^* _from ^the command speed ω _ref ^* , the estimated torque T _e and the estimated phase θ _s of the estimated magnetic flux ψ _s (hereinafter referred to as “first ) and the function of specifying the command phase θ s ^{* of the command magnetic flux vector Ψ s * from the command speed ω ref *} _{, the} ^{command torque} _{T e} ^* , the estimated torque T _e and the estimated phase θ _s of the estimated magnetic flux Ψ _s (hereinafter also referred to as “second function”), and one of these functions is switched and executed.

The magnetic flux synchronization/position sensorless control unit 135 executes magnetic flux synchronization operation when the command phase specifying unit 318 executes the first function, and executes position sensorless magnetic flux control operation when executing the second function.

The command phase identification unit 318 may be, for example, the command phase identification unit 318A shown in FIG. 17 or the command phase identification unit 318B shown in FIG.

As shown in FIG. 17, command phase identification section 318A is configured by adding subtraction section 171 and switching section 172A to command phase identification section 218C according to the second embodiment.

Switching section 172A selects either one of the output of subtracting section 171 and the output of sign inverting section 167 and outputs it to PI compensating section 168 .

Command phase identification section 318A executes the first function when switching section 172A selects the output of sign inversion section 167, and executes the second function when switching section 172A selects the output of subtraction section 171. do.

The switching section 172A selects the output of the sign inverting section 167 in the initial state. When the switching unit 133 controls switching from current synchronous operation to magnetic flux synchronous operation, the switching unit 172A switches from selecting the output of the sign inverting unit 167 to selecting the output of the subtracting unit 171 .

After the switching unit 133 controls the switching from the current synchronous operation to the magnetic flux synchronous operation, the switching unit 172A controls switching from selection of the output of the sign inversion unit 167 to selection of the output of the subtraction unit 171. The period to is typically 0.5 seconds.

As shown in FIG. 18, command phase identification section 318B is configured by adding switching section 172B to command phase identification section 218D according to the second embodiment.

Switching portion 172</b>B selects either one of the output of low-pass filter 170 and command torque T _e ^* , and outputs it to subtracting portion 173 .

Command phase identification unit 318B executes the first function when switching unit 172B selects the output of low-pass filter 170, and executes the second function when switching unit 172B selects command torque T _e ^* . .

The switching unit 172B selects the output of the low-pass filter 170 in the initial state. When the switching unit 133 controls switching from current synchronous operation to magnetic flux synchronous operation, the switching unit 172B switches from selection of the output of the low-pass filter 170 to selection of the command torque T _e ^* .

After switching from the current synchronous operation to the magnetic flux synchronous operation is controlled by the switching unit 133, until the switching unit 172A controls switching from selection of the output of the low-pass filter 170 to selection of the command torque T _e ^* . is typically 0.5 seconds.

With the above configuration of the command phase specifying unit 318, the magnetic flux synchronization/position sensorless control unit 135 performs magnetic flux synchronous operation as magnetic flux control operation when the switching unit 133 controls switching from current synchronous operation to magnetic flux synchronous operation. to the position sensorless magnetic flux control operation as the magnetic flux control operation.

Therefore, the rotating machine control device 100B intervenes in the magnetic flux synchronous operation when shifting from the current synchronous operation to the position sensorless magnetic flux control operation.

(Discussion)
As described above, according to the rotating machine control device 100B configured as described above, the magnetic flux synchronous operation is interposed when the current synchronous operation is shifted to the position sensorless magnetic flux control operation.

As a result, when the current synchronous operation is switched to the position sensorless magnetic flux control operation, it is possible to suppress the amplitude fluctuation and the phase fluctuation of the command magnetic flux from occurring at once.

Therefore, according to the rotating machine control device 100B configured as described above, it is possible to further suppress the voltage surge that occurs when switching from the current synchronous operation to the position sensorless magnetic flux control operation.

(Embodiment 4)
A rotary machine control device according to a fourth embodiment, which is configured by partially changing the rotary machine control device 100 according to the first embodiment, will be described below. Here, with respect to the rotary machine control device according to Embodiment 4, the components similar to those of the rotary machine control device 100 have already been explained, and are given the same reference numerals, and the detailed explanation thereof will be omitted. The description will focus on the differences from the device 100 .

FIG. 19 is a block diagram of a rotating machine control device 100C according to the fourth embodiment.

As shown in FIG. 19, in the rotating machine control device 100C, the switching unit 133 is changed from the rotating machine control device 100 according to Embodiment 1 to a switching unit 133C, and the position sensorless control unit 134 is changed to a position sensorless control unit 134C. Modified and configured.

Similarly to the switching unit 133 according to the first embodiment, the switching unit 133C selects one of the command voltage vectors v _1u ^* , v _1v ^* , v _1w ^* and the command voltage vectors v _2u ^* , v _2v ^* , v _2w ^* . Select and output the selected one as the command voltage vector v _u ^* , v _v ^* , v _w ^* . That is, the switching unit 133C, like the switching unit 133, controls switching from current synchronous operation to magnetic flux control operation (here, position sensorless magnetic flux control operation).

However, the switching unit 133C has a function of switching from the current synchronous operation to the magnetic flux control operation at the timing when a switching control signal S (described later) output from the position sensorless control unit 134C is input to the switching unit 133. has been added. That is, when the switching control signal S is output from the position sensorless control section 134C, the switching section 133C switches from the current synchronous operation to the magnetic flux control operation.

The position sensorless control section 134C has the same function as the position sensorless control section 134, and furthermore, sends a switching control signal S, which is a signal for switching from the current synchronous operation to the magnetic flux control operation, to the switching section 133C. Output.

FIG. 20 is a block diagram of the position sensorless control section 134C.

As shown in FIG. 20, the position sensorless control unit 134C is configured by adding the operation mode switching determination unit 120 to the position sensorless control unit 134 according to the first embodiment.

The operation mode switching determination unit 120 outputs a switching control signal S.

For example, the operation mode switching determination unit 120 uses the error variable identification unit 111 to determine the inner product (second inner product) of the estimated magnetic flux Ψ′ of the permanent magnet of the synchronous rotating machine 102 and the detected current i of the synchronous rotating machine 102. or obtained by calculating the inner product (first inner product) of the estimated magnetic flux Ψ of the synchronous rotating machine 102 and the detected current i of the synchronous rotating machine 102. The switching control signal S may be output when the absolute value of the error variable ε becomes equal to or less than a predetermined value.

FIG. 21 is a diagram for explaining the dq coordinate system, the αβ coordinate system, and the γδ coordinate system. FIG. 21 shows γ-δ coordinates (third two-phase coordinates) added to the coordinate system described in FIG. 2, showing the relationship between three two-phase coordinates.

FIG. 22 shows the lead angle Δθ of the d-axis in dq coordinates (first two-phase coordinates) viewed from the γ-axis in γ-δ coordinates (third two-phase coordinates) and the actual FIG. 4 is a correlation diagram showing a relationship with torque (estimated torque T _e );

As shown in FIG. 22, when the lead angle Δθ advances too much (too much deviation in the 90° direction in FIG. 22) and when the lead angle Δθ lags too much (too much deviation in the −90° direction in FIG. 22). In some cases, the actual torque of the synchronous rotating machine 102 falls below the load torque of the synchronous rotating machine 102 .

In this way, when the current synchronous operation is switched to the magnetic flux control operation at the timing when the actual torque of the synchronous rotary machine 102 is lower than the load torque of the synchronous rotary machine 102, in the magnetic flux control operation after switching, The speed of the synchronous rotating machine 102 cannot follow, and step-out may occur in the magnetic flux control operation after switching.

Therefore, when the actual torque of the synchronous rotating machine 102 approaches the maximum value, that is, when the absolute value of the error variable ε indicating the reactive power component becomes equal to or less than a predetermined value, the operation mode switching determination unit 120 A switching control signal S is output. Here, the predetermined value is a value at which the actual torque of the synchronous rotating machine 102 does not fall below the load torque of the synchronous rotating machine 102 .

This predetermined value may be determined in advance based on measurement results obtained using an actual machine, or may be calculated in advance by simulation.

This suppresses step-out in the magnetic flux control operation after switching.

In particular, the operation mode switching determination unit 120 outputs the switching control signal S at the timing when the actual torque of the synchronous rotating machine 102 reaches its maximum value, that is, when the absolute value of the error variable ε indicating the reactive power component becomes zero. Output is desirable.

FIG. 23 is an example of a time chart showing the timing at which the operation mode switching determination section 120 outputs the switching control signal S. As shown in FIG.

As shown in FIG. 23, the operation mode switching determination section 120 outputs the switching control signal S at the timing when the absolute value of the error variable ε indicating the reactive power component becomes equal to or less than a predetermined value (here, zero). As a result, the switching unit 133C switches from the current synchronous operation to the magnetic flux control operation (here, the position sensorless magnetic flux control operation) at the timing when the absolute value of the error variable ε indicating the reactive power component becomes equal to or less than a predetermined value (here, zero). ).

Further, even if the operation mode switching determination unit 120 outputs the switching control signal S at the timing when the induced voltage of the synchronous rotating machine 102 becomes sufficiently high until the magnetic flux control operation after switching can be performed with high accuracy. good. More specifically, the operation mode switching determination unit 120 determines when a first predetermined period determined by a predetermined acceleration rate and switching rotation speed of the synchronous rotating machine 102 has passed since the start of the current synchronous operation. , the switching control signal S may be output. Here, the first predetermined period is a period during which the induced voltage of the synchronous rotating machine 102 becomes sufficiently high until the magnetic flux control operation after switching can be performed with high accuracy.

The first predetermined period may be determined in advance based on measurement results obtained using an actual machine, or may be calculated in advance by simulation.

Here, as an example that does not necessarily need to be limited, if the acceleration rate is 12000 rpm/s and the switching rotation speed is 1200 rpm, the first predetermined period determined by these may be 0.1 seconds.

This suppresses step-out in the magnetic flux control operation after switching.

In addition, even when the absolute value of the error variable ε indicating the reactive power component is equal to or less than a predetermined value, the operation mode switching determination unit 120 can accurately perform the magnetic flux control operation after switching. If the induced voltage of the synchronous rotating machine 102 is not sufficiently high until , the output of the switching control signal S may be prohibited. More specifically, the operation mode switching determination unit 120 determines the first inner product or the second inner product obtained by the error variable identification unit 111 within a second predetermined period shorter than the first predetermined period from the start of the current synchronous operation. When the absolute value of the inner product becomes equal to or less than a predetermined value, switching from current synchronous operation to magnetic flux control operation may be prohibited. Here, the second predetermined period is a period in which the induced voltage of the synchronous rotating machine 102 is not sufficiently high until the magnetic flux control operation after switching can be performed with high accuracy.

The second predetermined period may be determined based on the measurement results obtained in advance using an actual device, or may be calculated in advance by simulation.

Here, as an example that does not necessarily need to be limited, when the acceleration rate is 12000 rpm/s, the switching rotation speed is 1200 rpm, and the first predetermined period is 0.1 seconds, the second predetermined period is 0. It may be 0.08 seconds.

This further suppresses step-out in the magnetic flux control operation after switching.

FIG. 24 is an example of a time chart showing the timing at which the operation mode switching determination section 120 outputs the switching control signal S. As shown in FIG.

As shown in FIG. 24, the operation mode switching determination unit 120 determines that the absolute value of the error variable ε indicating the reactive power component is equal to or _less than a predetermined value (here, , zero), the switching control signal S is not output, and the absolute value of the error variable ε indicating the reactive power component becomes equal to or less than a predetermined value (here, zero) after the second predetermined period. In this case, the switching control signal S is output. As a result, the switching unit 133C switches the current synchronous operation when the absolute value of the error variable ε indicating the reactive power component becomes equal to or less than a predetermined value (here, zero) within the second predetermined period from the start of the current synchronous operation. Switching from operation to magnetic flux control operation (here, position sensorless magnetic flux control operation) is prohibited. Then, after the second predetermined period, the switching unit 133C switches from the current synchronous operation to the magnetic flux control operation (here Then, switch to position sensorless magnetic flux control operation).

Further, when the absolute value of the error variable ε indicating the reactive power component does not become equal to or less than a predetermined value during current synchronous operation and the first predetermined period has elapsed, the operation mode switching determination unit 120 outputs the switching control signal S may be output.

FIG. 25 is an example of a time chart showing the timing at which the operation mode switching determination section 120 outputs the switching control signal S. As shown in FIG.

As shown in FIG. 25 , the operation mode switching determination unit 120 performs switching when the absolute value of the error variable ε indicating the reactive power component does not become equal to or less than a predetermined value (here, zero) during current synchronous operation. After the first predetermined period (t ₁ ), which is the timing at which the induced voltage of the synchronous rotating machine 102 is sufficiently high until the subsequent magnetic flux control operation can be accurately performed, the switching control signal S is output. do. As a result, when the absolute value of the error variable ε indicating the reactive power component during the current synchronous operation does not become equal to or less than the predetermined value and the first predetermined period elapses, the switching unit 133C changes the magnetic flux from the current synchronous operation to the magnetic flux. Switching to control operation (here, position sensorless magnetic flux control operation) is performed.

This suppresses step-out in the magnetic flux control operation after switching.

(Discussion)
As described above, according to the rotating machine control device 100C configured as described above, step-out after switching from the current synchronous operation to the magnetic flux control operation is suppressed.

Therefore, according to the rotating machine control device 100C having the above configuration, it is possible to further improve the stability during the start-up period of a rotating machine control device that mainly uses magnetic flux, such as direct torque control.

In the fourth embodiment, when the absolute value of the first inner product of the estimated magnetic flux and the detected current or the second inner product of the magnet magnetic flux and the detected current becomes equal to or less than a predetermined value, or the current synchronous operation is started an operation mode switching determination unit 120 that outputs a switching control signal S when a first predetermined period determined by a predetermined acceleration rate and switching rotation speed of the synchronous rotating machine 102 has elapsed from time to time, and an operation mode switching A configuration example in which the switching unit 133C, which switches from the current synchronous operation to the magnetic flux control operation when the switching control signal S is output from the determination unit 120, is applied to the rotating machine control device 100 according to the first embodiment will be described. bottom.

However, the target to which the operation mode switching determination unit 120 and the switching unit 133C are applied need not be limited to the rotary machine control device 100. FIG. For example, the configuration for generating the command amplitude without executing the feedback control using the first inner product of the estimated magnetic flux and the detected current or the second inner product of the magnet magnetic flux and the performance current described in Patent Document 2. It may be applied to a rotary machine control device.

In this case, in the rotating machine control device according to Patent Document 2, in which the operation mode switching determination unit 120 and the switching unit 133C are applied, current synchronous operation (startup synchronous operation) is changed to magnetic flux control operation (position sensorless operation). Step-out after switching to is suppressed.

Therefore, according to the rotating machine control device according to Patent Document 2 to which the operation mode switching determination unit 120 and the switching unit 133C are applied, the startup period of the rotating machine control device that mainly uses magnetic flux such as direct torque control The stability in can be further improved.

(supplement)
As described above, the rotating machine control device according to one aspect of the present disclosure has been described based on the first to fourth embodiments, but the present disclosure is not limited to these embodiments. As long as it does not deviate from the spirit of the present disclosure, various modifications that a person skilled in the art can think of are applied to this embodiment, and a form constructed by combining the components of different embodiments may be included within the scope of the embodiments.

INDUSTRIAL APPLICABILITY The present disclosure can be widely used in a rotating machine control device or the like that controls a rotating machine.

Reference Signs List 100, 100A, 100B, 100C rotating machine control device 102 synchronous rotating machine 103 duty generation unit 104 PWM inverter 105a first current sensor 105b second current sensor 106 u, w/α, β conversion unit 107 voltage command specifying unit 108 magnetic flux estimation Unit 109 Torque estimating unit 111 Error variable specifying unit 112 Command magnetic flux specifying unit 113a α-axis magnetic flux deviation calculating unit 113b β-axis magnetic flux deviation calculating unit 114 α, β/u, v, w converting unit 115 Command amplitude specifying unit 116 Torque command specifying unit Part 117 Phase/speed estimation part 118, 218, 218A, 218B, 218C, 218D, 318, 318A, 318B Command phase identification part 119 Target value setting part 120 Operation mode switching determination part 124 Synchronous current command part 125 Voltage command identification part 126 d, q/u, v, w conversion unit 127 u, w/d, q conversion unit 128 integrator 131 current synchronization control unit 132 magnetic flux synchronization control unit 133, 133C, 172A, 172B switching unit 134, 134C position sensorless control unit 135 magnetic flux synchronization/position sensorless control unit 142 subtractor 143 P gain 144, 169 adder 145 I gain 146 integrator 150 u, v, w/α, β conversion unit 161 speed deviation calculation unit 162 gain multiplication unit 163, 166 high pass Filter 164 multiplier 165 phase adder 167 sign inverter 168 PI compensator 170 low-pass filter 171, 173 subtractor

Claims (13)

a magnetic flux estimator for estimating a rotating machine magnetic flux that is the magnetic flux of a synchronous rotating machine;
a first inner product of the estimated magnetic flux that is the estimated magnetic flux of the rotating machine and the detected current of the synchronous rotating machine, or a second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current; A command amplitude specifying unit that generates a command amplitude, which is the amplitude of the command magnetic flux, by executing feedback control using
a command magnetic flux identifying unit that generates the command magnetic flux from the command amplitude;
The estimated magnetic flux is generated by the command magnetic flux identification unit from a current synchronous operation in which a predetermined synchronous current required to start the synchronous rotating machine is supplied to the synchronous rotating machine regardless of the phase of the estimated magnetic flux. a switching unit that controls switching to the magnetic flux control operation that controls the command magnetic flux;
a torque estimator that calculates an estimated torque from the detected current and the estimated magnetic flux;
a command phase identification unit that calculates a torque phase for converging the estimated torque to the command torque;
A rotating machine control device comprising:
When the switching unit controls switching to the magnetic flux control operation, the magnetic flux estimating unit converts the amplitude of the estimated magnetic flux before switching to the magnetic flux control operation to the command amplitude immediately after switching to the magnetic flux control operation. given to the feedback control as an initial amplitude value,
The command magnetic flux identifying unit generates the command magnetic flux using the command amplitude and the torque phase calculated by the command phase identifying unit from the phase of the estimated magnetic flux,
The rotating machine control device performs, as the magnetic flux control operation, a position sensorless magnetic flux control operation that is executed based on the command magnetic flux.
Rotating machine control device. a magnetic flux estimator for estimating a rotating machine magnetic flux that is the magnetic flux of a synchronous rotating machine;
a first inner product of the estimated magnetic flux that is the estimated magnetic flux of the rotating machine and the detected current of the synchronous rotating machine, or a second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current; A command amplitude specifying unit that generates a command amplitude, which is the amplitude of the command magnetic flux, by executing feedback control using
a command magnetic flux identifying unit that generates the command magnetic flux from the command amplitude;
The estimated magnetic flux is generated by the command magnetic flux identification unit from a current synchronous operation in which a predetermined synchronous current required to start the synchronous rotating machine is supplied to the synchronous rotating machine regardless of the phase of the estimated magnetic flux. a switching unit that controls switching to the magnetic flux control operation that controls the command magnetic flux;
A rotating machine control device comprising:
When the switching unit controls switching to the magnetic flux control operation, the magnetic flux estimating unit converts the amplitude of the estimated magnetic flux before switching to the magnetic flux control operation to the command amplitude immediately after switching to the magnetic flux control operation. given to the feedback control as an initial amplitude value,
The command magnetic flux specifying unit (1) specifies a movement amount for each control cycle by which the phase of the estimated magnetic flux should move, using a command speed to the synchronous rotating machine, and (2) the specified movement amount. and the phase of the estimated magnetic flux to identify the command magnetic flux vector phase,
The rotating machine control device performs magnetic flux synchronous operation as the magnetic flux control operation based on the command magnetic flux vector phase.
Rotating machine control device. When the rotating machine control device shifts from the current synchronous operation to the position sensorless magnetic flux control operation,
The command magnetic flux specifying unit (1) specifies a movement amount for each control cycle by which the phase of the estimated magnetic flux should move, using a command speed to the synchronous rotating machine, and (2) the specified movement amount. and the phase of the estimated magnetic flux to identify the command magnetic flux vector phase,
(3) based on the command magnetic flux vector phase, the rotating machine control device interposes magnetic flux synchronous operation performed as the magnetic flux control operation;
The rotating machine control device according to claim 1 . The command amplitude specifying unit sets a target value of the calculation result of the first inner product or the second inner product to zero or more.
The rotary machine control device according to any one of claims 1 to 3. a magnetic flux estimator for estimating a rotating machine magnetic flux that is the magnetic flux of a synchronous rotating machine;
a first inner product of the estimated magnetic flux that is the estimated magnetic flux of the rotating machine and the detected current of the synchronous rotating machine, or a second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current; A command amplitude specifying unit that generates a command amplitude, which is the amplitude of the command magnetic flux, by executing feedback control using
a command magnetic flux identifying unit that generates the command magnetic flux from the command amplitude;
The estimated magnetic flux is generated by the command magnetic flux identification unit from a current synchronous operation in which a predetermined synchronous current required to start the synchronous rotating machine is supplied to the synchronous rotating machine regardless of the phase of the estimated magnetic flux. a switching unit that controls switching to the magnetic flux control operation that controls the command magnetic flux;
an error variable identification unit that calculates the first inner product or the second inner product;
A rotating machine control device comprising:
When the switching unit controls switching to the magnetic flux control operation, the magnetic flux estimating unit converts the amplitude of the estimated magnetic flux before switching to the magnetic flux control operation to the command amplitude immediately after switching to the magnetic flux control operation. given to the feedback control as an initial amplitude value,
When the absolute value of the first inner product or the second inner product obtained by the error variable identification unit becomes equal to or less than a predetermined value during the current synchronous operation, or when the current synchronous operation is performed, the switching unit When a first predetermined period obtained by a predetermined acceleration rate of the synchronous rotating machine and a predetermined switching rotation speed has elapsed from the start of operation, the current synchronous operation is changed to the magnetic flux control operation. make the switch
Rotating machine control device. the predetermined value is zero;
The rotating machine control device according to claim 5 . The switching unit determines that the absolute value of the first inner product or the second inner product obtained by the error variable specifying unit within a second predetermined period shorter than the first predetermined period from the start of the current synchronous operation is prohibiting switching from the current synchronous operation to the magnetic flux control operation when the value is equal to or less than the predetermined value;
The rotary machine control device according to claim 5 or 6. The switching unit prevents the absolute value of the first inner product or the second inner product obtained by the error variable specifying unit from becoming equal to or less than the predetermined value during the current synchronous operation, and When has elapsed, switching from the current synchronous operation to the magnetic flux control operation,
The rotary machine control device according to claim 5 or 6. a magnetic flux estimator for estimating a rotating machine magnetic flux that is the magnetic flux of a synchronous rotating machine;
a first inner product of the estimated magnetic flux that is the estimated magnetic flux of the rotating machine and the detected current of the synchronous rotating machine, or a second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current; an error variable identification unit that calculates
a command magnetic flux specifying unit that generates the command magnetic flux by a command amplitude that is the amplitude of the command magnetic flux generated by executing feedback control using the first inner product or the second inner product;
A magnetic flux that controls the estimated magnetic flux to become a command magnetic flux from a current synchronous operation that supplies a predetermined synchronous current required to start the synchronous rotating machine to the synchronous rotating machine regardless of the phase of the estimated magnetic flux. A rotating machine control device comprising a switching unit that controls switching to controlled operation,
When the absolute value of the first inner product or the second inner product obtained by the error variable identification unit becomes equal to or less than a predetermined value during the current synchronous operation, or when the current synchronous operation is performed, the switching unit When a first predetermined period obtained by a predetermined acceleration rate of the synchronous rotating machine and a predetermined switching rotation speed has elapsed from the start of operation, the current synchronous operation is changed to the magnetic flux control operation. make the switch
The command magnetic flux specifying unit is a torque phase calculated from the command amplitude and the phase of the estimated magnetic flux, and causes the estimated torque calculated from the detected current and the estimated magnetic flux to converge to the command torque. generating the command flux using the torque phase for
The rotating machine control device performs a position sensorless magnetic flux control operation executed based on the command magnetic flux as the magnetic flux control operation.
Rotating machine control device. a magnetic flux estimator for estimating a rotating machine magnetic flux that is the magnetic flux of a synchronous rotating machine;
a first inner product of the estimated magnetic flux that is the estimated magnetic flux of the rotating machine and the detected current of the synchronous rotating machine, or a second inner product of the estimated magnetic flux of the permanent magnet of the synchronous rotating machine and the detected current; an error variable identification unit that calculates
a command magnetic flux specifying unit that generates the command magnetic flux by a command amplitude that is the amplitude of the command magnetic flux generated by executing feedback control using the first inner product or the second inner product;
A magnetic flux that controls the estimated magnetic flux to become a command magnetic flux from a current synchronous operation that supplies a predetermined synchronous current required to start the synchronous rotating machine to the synchronous rotating machine regardless of the phase of the estimated magnetic flux. A rotating machine control device comprising a switching unit that controls switching to controlled operation,
When the absolute value of the first inner product or the second inner product obtained by the error variable identification unit becomes equal to or less than a predetermined value during the current synchronous operation, or when the current synchronous operation is performed, the switching unit When a first predetermined period obtained by a predetermined acceleration rate of the synchronous rotating machine and a predetermined switching rotation speed has elapsed from the start of operation, the current synchronous operation is changed to the magnetic flux control operation. make the switch
The command magnetic flux specifying unit (1) specifies a movement amount for each control cycle by which the phase of the estimated magnetic flux should move, using a command speed to the synchronous rotating machine, and (2) the specified movement amount. and the phase of the estimated magnetic flux to identify the command magnetic flux vector phase,
The rotating machine control device performs magnetic flux synchronous operation as the magnetic flux control operation based on the command magnetic flux vector phase.
Rotating machine control device. the predetermined value is zero;
The rotary machine control device according to claim 9 or 10. The switching unit determines that the absolute value of the first inner product or the second inner product obtained by the error variable specifying unit within a second predetermined period shorter than the first predetermined period from the start of the current synchronous operation is prohibiting switching from the current synchronous operation to the magnetic flux control operation when the value is equal to or less than the predetermined value;
The rotary machine control device according to any one of claims 9 to 11. The switching unit prevents the absolute value of the first inner product or the second inner product obtained by the error variable specifying unit from becoming equal to or less than the predetermined value during the current synchronous operation, and When has elapsed, switching from the current synchronous operation to the magnetic flux control operation,
The rotary machine control device according to any one of claims 9 to 11.

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