Speed command correction device and primary magnetic flux command generation device

• US 10,305,405 B2
• Filed: 10/27/2016
• Issued: 05/28/2019
• Est. Priority Date: 10/29/2015
• Status: Active Grant

• Current Assignee: Daikin Industries Ltd
• Original Assignee: Daikin Industries Ltd
• Inventors: Kitou, Minoru, Kitano, Nobuki, Kobayashi, Naoto, Hibino, Hiroshi, Matsuyama, Ryou
• Primary Examiner(s): Masih, Karen
• Application Number:
  US15/767,876
• Publication Number:
  US 20180309398A1
• Time in Patent Office: 943 Days
• CPC Class Codes: H02P 21/05 specially adapted for damping motor oscillations, e.g. for reducing hunting
• CPC Class Codes: H02P 21/20 Estimation of torque

Abstract

A subtractor subtracts an angular speed correction amount from a rotational speed command to obtain a corrected rotational speed command. An adder adds a second-axis current correction value to a γc-axis current to obtain a corrected second-axis current. An angular ripple extraction unit obtains, from a rotational angle on a mechanical angle of a synchronous motor, a rotational angle difference being a ripple component of the rotational angle. An n^th-order component extraction unit extracts n^th-order components of a fundamental frequency of the rotational angle from the rotational angle difference. A torque conversion unit obtains n^th-order components of an estimated value of vibration torque. A correction amount calculation unit obtains the second-axis current correction value using the n^th-order components.

Claims

1. A speed command correction device for correcting a rotational speed command in a method of matching a primary magnetic flux with a primary magnetic flux command in a first axis on a basis of said primary magnetic flux command and said rotational speed command, said rotational speed command being a command value of a rotational speed on an electrical angle of a synchronous motor for driving a periodic load, said primary magnetic flux being a composite of a magnetic flux generated by a current flowing through said synchronous motor and a field magnetic flux of said synchronous motor, said first axis leading said field magnetic flux by a predetermined phase difference, said device comprising:

a first subtractor that subtracts an angular speed correction amount from said rotational speed command to obtain a corrected rotational speed command;

an adder that adds a second-axis current correction value to a second-axis current to obtain a corrected second-axis current, said second-axis current being a component of said current in a second axis leading said first axis by an electrical angle of 90 degrees;

a DC part removal unit that removes a DC part from said corrected second-axis current to obtain said angular speed correction amount;

an angular ripple extraction unit that obtains a rotational angle difference from a rotational angle on a mechanical angle of said synchronous motor, said rotational angle difference being a ripple component of said rotational angle to a time integral of an average value of an angular speed of said mechanical angle;

a component extraction unit that extracts an n^th-order component of a fundamental frequency of said rotational angle from said rotational angle difference, n being a positive integer;

a torque conversion unit that converts said n^th-order component into an n^th-order component of an estimated value of vibration torque of said synchronous motor; and

a correction amount calculation unit that receives, as an input, said n^th-order component of said estimated value, and obtains said second-axis current correction value using an input into said correction amount calculation unit.

2. The speed command correction device according to claim 1, wherein

said correction amount calculation unit obtains, as a coefficient of a Fourier series, a value obtained by performing proportional integral control on said input into said correction amount calculation unit, and obtains said second-axis current correction value from a result of said Fourier series.

3. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 1, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of said second-axis current;

a fifth component extraction unit that extracts an n^th-order component of said second-axis current;

a composite value calculation unit that obtains a composite value of said n^th-order component of said second-axis current;

a second adder that obtains a sum of said 0^th-order component of said second-axis current and said n^th-order component of said second-axis current; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

4. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 1, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of a first-axis current being a component of said current in said first axis;

a fifth component extraction unit that extracts an n^th-order component of said first-axis current;

a composite value calculation unit that obtains a composite value of said n^th-order component of said first-axis current;

a second adder that obtains a sum of said 0^th-order component of said first-axis current and said n^th-order component of said first-axis current; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

5. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 1, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of a load angle being a phase difference of a phase of said primary magnetic flux from a phase of said field magnetic flux;

a fifth component extraction unit that extracts an n^th-order component of said load angle;

a composite value calculation unit that obtains a composite value of said n^th-order component of said load angle;

a second adder that obtains a sum of said 0^th-order component of said load angle and said n^th-order component of said load angle; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

25. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 1, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of output torque of said synchronous motor;

a fifth component extraction unit that extracts an n^th-order component of said output torque;

a composite value calculation unit that obtains a composite value of said n^th-order component of said output torque;

a second adder that obtains a sum of said 0^th-order component of said output torque and said n^th-order component of said output torque; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

6. A speed command correction device for correcting a rotational speed command in a method of matching a primary magnetic flux with a primary magnetic flux command in a first axis on a basis of said primary magnetic flux command and said rotational speed command, said rotational speed command being a command value of a rotational speed on an electrical angle of a synchronous motor for driving a periodic load, said primary magnetic flux being a composite of a magnetic flux generated by a current flowing through said synchronous motor and a field magnetic flux of said synchronous motor, said first axis leading said field magnetic flux by a predetermined phase difference, said device comprising:

a first subtractor that subtracts an angular speed correction amount from said rotational speed command to obtain a corrected rotational speed command;

an adder that adds a second-axis current correction value to a second-axis current to obtain a corrected second-axis current, said second-axis current being a component of said current in a second axis leading said first axis by an electrical angle of 90 degrees;

a DC part removal unit that removes a DC part from said corrected second-axis current to obtain said angular speed correction amount;

an output torque estimation unit that obtains an estimated value of output torque of said synchronous motor from said primary magnetic flux, a first-axis current, and said second-axis current, said first-axis current being a component of said current in said first axis;

a component extraction unit that extracts, from said estimated value, an n^th-order component of a fundamental frequency of a rotational angle as a mechanical angle of said synchronous motor, n being a positive integer; and

a correction amount calculation unit that receives said n^th-order component as an input, and obtains said second-axis current correction value using said input into said correction amount calculation unit.

7. The speed command correction device according to claim 6, wherein

said correction amount calculation unit obtains, as a coefficient of a Fourier series, a value obtained by performing proportional integral control on said input into said correction amount calculation unit, and obtains said second-axis current correction value from a result of said Fourier series.

8. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 6, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of output torque of said synchronous motor;

a fifth component extraction unit that extracts an n^th-order component of said output torque;

a composite value calculation unit that obtains a composite value of said n^th-order component of said output torque;

a second adder that obtains a sum of said 0^th-order component of said output torque and said n^th-order component of said output torque; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

9. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 6, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of said second-axis current;

a fifth component extraction unit that extracts an n^th-order component of said second-axis current;

a composite value calculation unit that obtains a composite value of said n^th-order component of said second-axis current;

a second adder that obtains a sum of said 0^th-order component of said second-axis current and said n^th-order component of said second-axis current; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

10. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 6, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of a first-axis current being a component of said current in said first axis;

a fifth component extraction unit that extracts an n^th-order component of said first-axis current;

a composite value calculation unit that obtains a composite value of said n^th-order component of said first-axis current;

a second adder that obtains a sum of said 0^th-order component of said first-axis current and said n^th-order component of said first-axis current; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

11. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 6, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of a load angle being a phase difference of a phase of said primary magnetic flux from a phase of said field magnetic flux;

a fifth component extraction unit that extracts an n^th-order component of said load angle;

a composite value calculation unit that obtains a composite value of said n^th-order component of said load angle;

a second adder that obtains a sum of said 0^th-order component of said load angle and said n^th-order component of said load angle; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

12. A speed command correction device for correcting a rotational speed command in a method of matching a primary magnetic flux with a primary magnetic flux command in a first axis on a basis of said primary magnetic flux command and said rotational speed command, said rotational speed command being a command value of a rotational speed on an electrical angle of a synchronous motor for driving a periodic load, said primary magnetic flux being a composite of a magnetic flux generated by a current flowing through said synchronous motor and a field magnetic flux of said synchronous motor, said first axis leading said field magnetic flux by a predetermined phase difference, said device comprising:

a first subtractor that subtracts an angular speed correction amount from said rotational speed command to obtain a corrected rotational speed command;

an adder that adds a second-axis current correction value to a second-axis current to obtain a corrected second-axis current, said second-axis current being a component of said current in a second axis leading said first axis by an electrical angle of 90 degrees;

a DC part removal unit that removes a DC part from said corrected second-axis current to obtain said angular speed correction amount;

an angular ripple extraction unit that obtains a rotational angle difference from a rotational angle on a mechanical angle of said synchronous motor, said rotational angle difference being a ripple component of said rotational angle to a time integral of an average value of an angular speed of said mechanical angle;

a first component extraction unit that extracts an n^th-order component of a fundamental frequency of said rotational angle from said rotational angle difference, n being a positive integer;

a torque conversion unit that converts said n^th-order component into an n^th-order component of an estimated value of vibration torque of said synchronous motor;

an output torque estimation unit that obtains an estimated value of output torque of said synchronous motor from said primary magnetic flux, a first-axis current, and said second-axis current, said first-axis current being a component of said current in said first axis;

a second component extraction unit that extracts an n^th-order component of said fundamental frequency from said estimated value of output torque;

a proration unit that prorates said n^th-order component obtained by said torque conversion unit and said n^th-order component extracted by said second component extraction unit with a predetermined proration rate to respectively obtain a first value and a second value;

an adder that obtains a sum of said first value and said second value; and

a correction amount calculation unit that receives said sum as an input, and obtains said second-axis current correction value using said input into said correction amount calculation unit.

13. The speed command correction device according to claim 12, wherein

said first component extraction unit extracts a vibration torque suppression component from said rotational angle difference, said vibration torque suppression component being a component for at least one order including a 1^st-order component of said fundamental frequency of said rotational angle,

said second component extraction unit extracts, from said estimated value of output torque, a component for an order corresponding to said vibration torque suppression component,

said speed command correction device further comprises

a third component extraction unit that extracts an output torque suppression component from said estimated value of said output torque, said output torque suppression component being a component for at least one order other than said order corresponding to said vibration torque suppression component, and

said correction amount calculation unit further receives said output torque suppression component as an input, and obtains said second-axis current correction value using said input into said correction amount calculation unit.

14. The speed command correction device according to claim 12, wherein

said first component extraction unit extracts a 1^st-order component of said fundamental frequency of said rotational angle,

said torque conversion unit converts a value extracted by said first component extraction unit into a 1^st-order component of said estimated value of vibration torque,

said speed command correction device further comprises

an odd-order component extraction unit that extracts an output torque odd-order suppression component from said estimated value of output torque, said output torque odd-order suppression component being a component for at least one odd order equal to or greater than a 3^rd order of said fundamental frequency;

an odd-order torque command generation unit that obtains a command value of said output torque odd-order suppression component on a basis of said 1^st-order component of said fundamental frequency of said estimated value of output torque; and

a subtractor that obtains a difference of said output torque odd-order suppression component from said command value, and

said correction amount calculation unit further receives said difference as an input, and obtains said second-axis current correction value using said input into said correction amount calculation unit.

15. The speed command correction device according to claim 14, wherein

said speed command correction device further comprises

an even-order component extraction unit that extracts an output torque even-order suppression component from said estimated value of output torque, said output torque even-order suppression component being a component for at least one even order of said fundamental frequency, and

said correction amount calculation unit further receives said output torque even-order suppression component as an input, and obtains said second-axis current correction value using said input into said correction amount calculation unit.

16. The speed command correction device according to claim 12, wherein

said first component extraction unit extracts a 1^st-order component of said fundamental frequency of said rotational angle,

said torque conversion unit converts a value extracted by said first component extraction unit into a 1^st-order component of said estimated value of vibration torque,

said speed command correction device further comprises

an even-order component extraction unit that extracts an output torque even-order suppression component from said estimated value of output torque, said output torque even-order suppression component being a component for at least one even order of said fundamental frequency;

an even-order torque command generation unit that obtains a command value of said output torque even-order suppression component on a basis of said 1^st-order component of said fundamental frequency of said estimated value of output torque; and

a subtractor that obtains a difference of said output torque even-order suppression component from said command value, and

said correction amount calculation unit further receives said difference as an input, and obtains said second-axis current correction value using said input into said correction amount calculation unit.

17. The speed command correction device according to claim 16, wherein

said speed command correction device further comprises

an odd-order component extraction unit that extracts an output torque odd-order suppression component from said estimated value of output torque, said output torque odd-order suppression component being a component for at least one odd order of said fundamental frequency, and

said correction amount calculation unit further receives said output torque odd-order suppression component as an input, and obtains said second-axis current correction value using said input into said correction amount calculation unit.

18. The speed command correction device according to claim 16, wherein

said speed command correction device further comprises

an odd-order component extraction unit that extracts an output torque odd-order suppression component from said estimated value of output torque, said output torque odd-order suppression component being a component for at least one odd order equal to or greater than a 3^rd order of said fundamental frequency;

an odd-order torque command generation unit that obtains a command value of said output torque odd-order suppression component on a basis of said 1^st-order component of said fundamental frequency of said estimated value of output torque; and

a subtractor that obtains a second difference of said output torque odd-order suppression component from said command value, and

said correction amount calculation unit further receives said second difference as an input, and obtains said second-axis current correction value using said input into said correction amount calculation unit.

19. The speed command correction device according to claim 16, wherein

said even-order torque command generation unit obtains said command value of said output torque even-order suppression component on a basis of said 1^st-order component and a 0^th-order component of said fundamental frequency of said estimated value of output torque.

20. The speed command correction device according to claim 12, wherein

said correction amount calculation unit obtains, as a coefficient of a Fourier series, a value obtained by performing proportional integral control on said input into said correction amount calculation unit, and obtains said second-axis current correction value from a result of said Fourier series.

21. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 12, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of output torque of said synchronous motor;

a fifth component extraction unit that extracts an n^th-order component of said output torque;

a composite value calculation unit that obtains a composite value of said n^th-order component of said output torque;

a second adder that obtains a sum of said 0^th-order component of said output torque and said n^th-order component of said output torque; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

22. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 12, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of said second-axis current;

a fifth component extraction unit that extracts an n^th-order component of said second-axis current;

a composite value calculation unit that obtains a composite value of said n^th-order component of said second-axis current;

a second adder that obtains a sum of said 0^th-order component of said second-axis current and said n^th-order component of said second-axis current; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

23. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 12, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of a first-axis current being a component of said current in said first axis;

a fifth component extraction unit that extracts an n^th-order component of said first-axis current;

a composite value calculation unit that obtains a composite value of said n^th-order component of said first-axis current;

a second adder that obtains a sum of said 0^th-order component of said first-axis current and said n^th-order component of said first-axis current; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.

24. A primary magnetic flux command generation device for outputting said primary magnetic flux command used in said method together with said rotational speed command corrected by said speed command correction device according to claim 12, said primary magnetic flux command generation device comprising:

a fourth component extraction unit that extracts a 0^th-order component of a load angle being a phase difference of a phase of said primary magnetic flux from a phase of said field magnetic flux;

a fifth component extraction unit that extracts an n^th-order component of said load angle;

a composite value calculation unit that obtains a composite value of said n^th-order component of said load angle;

a second adder that obtains a sum of said 0^th-order component of said load angle and said n^th-order component of said load angle; and

a magnetic flux command setting unit that sets said primary magnetic flux command on a basis of said sum obtained by said second adder, said current, said field magnetic flux, and inductance of said synchronous motor.