JP2004007924A - Driving device for permanent magnet motor, hermetic compressor, refrigeration cycle device, and driving device for permanent magnet generator - Google Patents

Abstract

An apparatus for driving a permanent magnet motor without using a position sensor provides a drive device for a permanent magnet motor that identifies a motor constant.
A rotating coordinate axis of a motor configured by a rotating coordinate axis of an inverter controlled by an inverter control means, a magnetic flux direction by a rotor magnet of a permanent magnet motor, and coordinates in a direction advanced by 90 degrees in the rotating direction from the magnetic flux direction. Is calculated from the instantaneous voltage applied to the motor at a predetermined rotation speed and the instantaneous current value flowing through the motor, and the rotation of the motor is calculated from the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. It has a motor axis estimator for estimating the coordinate axes, and has a function of identifying the back electromotive force constant of the permanent magnet motor from the output of the motor axis estimator.
[Selection] Fig. 6

Description

【００３１】
により軸誤差Δθを演算することを特徴とする。
【００３２】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の誤差分を、永久磁石電動機に印加される瞬時電圧と永久磁石電動機に流れる瞬時電流値と検出されたあるいは演算にて算出された回転数とから算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器と、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算する逆起電圧定数同定器と、を備えたことを特徴とする。
【００３３】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の誤差分を、予め設定された所定の回転数での永久磁石電動機に印加される瞬時電圧と永久磁石電動機に流れる瞬時電流値から算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器と、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算する逆起電圧定数同定器と、を備えたことを特徴とする。
【００３４】
また、この発明に係る永久磁石電動機の駆動装置は、逆起電圧定数同定器は、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧Ｖｑ_ｅｓｔ及び電動機に流れる電流ｉｄ_ｅｓｔ、ｉｑ_ｅｓｔと、電動機の回転角速度ω１と、電動機の抵抗成分Ｒと、電動機のｄ軸インダクタンス成分Ｌｄとを用いて、
【００３５】
【数４】

【００３６】
により、逆起電圧定数φの演算を行うことを特徴とする。
【００３７】
また、この発明に係る永久磁石電動機の駆動装置は、インバータから電動機に印加される電圧および電流を検出し、電圧および電流の検出値を用いて逆起電圧定数の演算を行うことを特徴とする。
【００３８】
また、この発明に係る永久磁石電動機の駆動装置は、逆起電圧定数同定器は、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機への指令電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、電動機のインダクタンス成分とから、前記永久磁石電動機における逆起電圧定数を演算し、永久磁石電動機を駆動するインバータにおいて設定される短絡防止時間による電圧歪みを補正する短絡防止時間補正機能を有することを特徴とする。
【００３９】
また、この発明に係る永久磁石電動機の駆動装置は、永久磁石電動機の各相の電流のゼロ付近中の電圧、電流、回転数を逆起電圧定数の演算に使用しないことを特徴とする。
【００４０】
また、この発明に係る永久磁石電動機の駆動装置は、永久磁石電動機を駆動するインバータにおいて設定される短絡防止時間による電圧歪みを補正する短絡防止時間補正機能を有すると共に、インバータから電動機に印加される電圧および電流を検出し、検出値を用いて逆起電圧定数の演算を行うことを特徴とする。
【００４１】
また、この発明に係る永久磁石電動機の駆動装置は、逆起電圧定数同定器により算出した逆起電圧定数を用いて、永久磁石電動機を駆動制御することを特徴とする。
【００４２】
また、この発明に係る永久磁石電動機の駆動装置は、外力で永久磁石電動機を回転させて予め計測しておいた逆起電圧定数を初期値として駆動し、この状態より逆起電圧定数を同定して駆動装置に反映させることを特徴とする。
【００４３】
また、この発明に係る永久磁石電動機の駆動装置は、強制的な回転磁界によって永久磁石電動機が引きずられて回転している状態を作り、この状態で逆起電圧定数を同定し、その値を初期値として永久磁石電動機を駆動し、その後同期駆動運転に切り替えて加速し、加速後に逆起電圧定数を同定することを特徴とする。
【００４４】
また、この発明に係る永久磁石電動機の駆動装置は、強制的な回転磁界によって永久磁石電動機が引きずられて回転している状態を作り、この状態で逆起電圧定数を同定し、その値を初期値として永久磁石電動機を駆動し、その後停止した場合には、停止前に同定した値を初期値として同期運転にて起動することを特徴とする。
【００４５】
また、この発明に係る永久磁石電動機の駆動装置は、逆起電圧定数同定器にて同定した逆起電圧定数を用いて、永久磁石電動機を同期駆動運転することを特徴とする。
【００４６】
また、この発明に係る永久磁石電動機の駆動装置は、インバータに出力する電圧指令を生成するために逆起電圧定数の値を使用することを特徴とする。
【００４７】
また、この発明に係る永久磁石電動機の駆動装置は、逆起電圧定数同定器にて同定した逆起電圧定数を、ローパスフィルタを介して補正し、補正した逆起電圧定数を用いて前記永久磁石電動機を同期駆動運転することを特徴とする。
【００４８】
また、この発明に係る永久磁石電動機の駆動装置は、ローパスフィルタの時定数を、永久磁石電動機の駆動の制御周期よりも大きくすることを特徴とする。
【００４９】
また、この発明に係る永久磁石電動機の駆動装置は、永久磁石電動機の駆動中に逆起電圧定数を同定することで、永久磁石電動機の永久磁石の減磁を検出することを特徴とする。
【００５０】
また、この発明に係る永久磁石電動機の駆動装置は、故障診断部を備え、永久磁石電動機の永久磁石が減磁したことを表示することを特徴とする。
【００５１】
また、この発明に係る永久磁石電動機の駆動装置は、逆起電圧定数を同定することで、永久磁石電動機の環境温度を推定することを特徴とする。
【００５２】
また、この発明に係る永久磁石電動機の駆動装置は、逆起電圧定数を同定することで、永久磁石電動機の相抵抗値を同定することを特徴とする。
【００５３】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から前記永久磁石電動機のインダクタンス成分を検出し、永久磁石電動機の相数が２ｎ＋１（ｎは１以上の整数）の場合は、微少時間だけ印加するパルスのために動作させるインバータのスイッチは上下毎の総数を交互に入れ替えてパルスを印加することを特徴とする。
【００５４】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出し、微少時間印加されるパルスは、永久磁石電動機の相数の偶数倍の回数を印加することを特徴とする。
【００５５】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出し、微少時間だけ印加するパルスによる電流ピーク値を永久磁石電動機の回転子の停止位置を推定にも共用することを特徴とする。
【００５６】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出し、微少時間だけパルスを印加する前に、パルス印加時間を決定するためのパルスを永久磁石電動機に印加して微少時間を設定することを特徴とする。
【００５７】
また、この発明に係る永久磁石電動機の駆動装置は、検出したインダクタンス成分を、前記永久磁石電動機の駆動制御もしくはモータ軸推定器の演算の少なくとも一方に用いることを特徴とする。
【００５８】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の誤差分を、永久磁石電動機に印加される瞬時電圧と永久磁石電動機に流れる瞬時電流値と検出されたあるいは演算にて算出された回転数とから算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器と、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出するインダクタンス同定器と、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、インダクタンス同定器で検出された電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算する逆起電圧定数同定器と、を備えたことを特徴とする。
【００５９】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の誤差分を、永久磁石電動機に印加される瞬時電圧と永久磁石電動機に流れる瞬時電流値と検出されたあるいは演算にて算出された回転数とから算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器と、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出し、永久磁石電動機の相数が２ｎ＋１（ｎは１以上の整数）の場合は、微少時間だけ印加するパルスのために動作させるインバータのスイッチは上下毎の総数を交互に入れ替えてパルスを印加するインダクタンス同定器と、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、インダクタンス同定器で検出された電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算する逆起電圧定数同定器と、を備えたことを特徴とする。
【００６０】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の誤差分を、永久磁石電動機に印加される瞬時電圧と永久磁石電動機に流れる瞬時電流値と検出されたあるいは演算にて算出された回転数とから算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器と、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出し、微少時間印加されるパルスは、永久磁石電動機の相数の偶数倍の回数を印加するインダクタンス同定器と、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、インダクタンス同定器で検出された電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算する逆起電圧定数同定器と、を備えたことを特徴とする。
【００６１】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の誤差分を、予め設定された所定の回転数での永久磁石電動機に印加される瞬時電圧と永久磁石電動機に流れる瞬時電流値から算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器と、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出するインダクタンス同定器と、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、インダクタンス同定器で検出された電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算する逆起電圧定数同定器と、を備えたことを特徴とする。
【００６２】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の誤差分を、予め設定された所定の回転数での永久磁石電動機に印加される瞬時電圧と永久磁石電動機に流れる瞬時電流値から算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器と、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出し、永久磁石電動機の相数が２ｎ＋１（ｎは１以上の整数）の場合は、微少時間だけ印加するパルスのために動作させるインバータのスイッチは上下毎の総数を交互に入れ替えてパルスを印加するインダクタンス同定器と、　モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、インダクタンス同定器で検出された電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算する逆起電圧定数同定器と、を備えたことを特徴とする。
【００６３】
また、この発明に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を検出しあるいは位置を演算にて算出しインバータを制御する永久磁石電動機の駆動装置において、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の誤差分を、予め設定された所定の回転数での永久磁石電動機に印加される瞬時電圧と永久磁石電動機に流れる瞬時電流値から算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器と、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出し、微少時間印加されるパルスは、永久磁石電動機の相数の偶数倍の回数を印加するインダクタンス同定器と、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、インダクタンス同定器で検出された電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算する逆起電圧定数同定器と、を備えたことを特徴とする。
【００６４】
また、この発明に係る永久磁石電動機の駆動装置は、算出された逆起電圧定数を永久磁石電動機の制御に使用される逆起電圧定数としてチューニングすることを特徴とする。
【００６５】
また、この発明に係る永久磁石電動機の駆動装置は、インダクタンス同定器で検出されたインダクタンス成分を永久磁石電動機の駆動制御もしくはモータ軸推定器の演算の少なくとも一方に用いることを特徴とする。
【００６６】
この発明に係る密閉形圧縮機は、請求項１〜４２の何れかに記載の永久磁石電電機の駆動装置により、圧縮機用電動機を駆動することを特徴とする。
【００６７】
この発明に係る冷凍サイクル装置は、請求項４３に記載の密閉形圧縮機を搭載したことを特徴とする。
【００６８】
この発明に係る永久磁石発電機の駆動装置は、請求項１〜４２の何れかに記載の永久磁石電動機の駆動装置を発電機に適用したことを特徴とする。
【００６９】
【発明の実施の形態】
以下、この発明の実施の形態を図面に基づいて説明する。
実施の形態１．
図１〜５は実施の形態１を示す図で、図１はモータ駆動装置の回路ブロック図、図２はモータ駆動制御部を示す回路ブロック図、図３はモータの回転軸とインバータの回転軸の説明図、図４は他の形態を示す回路ブロック図、図５は更に他の形態を示す回路ブロック図である。
図１において、１は永久磁石電動機（以下、モータ）、２はモータ１を駆動するインバータ、３はモータ１の回転子位置に応じてモータ１を駆動するよう制御するモータ駆動制御部、４はモータ１に流れる電流を３相交流座標系から直交座標系へ座標変換を行う３軸２軸変換部、５はモータ駆動制御部３にて算出された２軸電圧をインバータ２から出力する為、３相交流座標系へ座標変換を行う２軸３軸変換部、６はモータ１を駆動制御する為にモータ駆動制御部３へ入力される指令値が格納されている指令値格納部、７はモータ１に流れる電流を検出する電流検出器である。
【００７０】
図１において、モータ１から電流検出器７にて構成されていれば、モータ１を駆動制御することは可能であり、モータ駆動制御部３の制御ブロックの一例を図２に示す。図２において、点線内が図１に示されるモータ駆動制御部３であり、モータ駆動制御部３は電圧指令生成器３ａ、速度推定器３ｂ、積分器３ｃにて構成されている。
【００７１】
まずは、図１におけるセンサレス制御について簡単に説明する。インバータ２から電圧が出力されると、モータ１に電流が流れ、モータ１を駆動することができる。モータ１は永久磁石電動機であるため、モータ１の回転子の位置に応じて電圧をモータ１に印加しなければモータ１を駆動し続けることはできない。そこで、モータ１に流れる電流を電流検出器７にて検出し、検出した３相電流Ｉ_ｕｖｗを３軸２軸変換部４にて、直交座標系である２軸電流Ｉ_γδに変換する。
【００７２】
変換された２軸電流Ｉ_γδをモータ駆動制御部３へ入力し、モータ駆動制御部３内部の電圧指令生成器３ａに入力される。γ軸電流Ｉ_γとδ軸電流Ｉ_δ、γ軸電流指令Ｉ_γ ^＊と推定速度ω１から、出力すべき２軸電圧Ｖ_γδを得る。
【００７３】
また、速度推定器３ｂでは、速度指令ω＊とδ軸電流Ｉ_δとから速度を推定し推定速度ω１を得る。３軸２軸変換部４および２軸３軸変換部５にて使用する座標変換角度θ_ｍは、推定角速度ω１を積分することによって得る。これらのＶ_γδとθ_ｍ、ω１を得るために、一般的にはモータの電圧電流方程式を用いて算出するが、その場合でも、モータ１の真の回転座標軸を推定することができるモータ軸推定器１０を使用することができる。
【００７４】
次に、モータ軸推定器１０の構成について述べる。モータ１の真の回転座標軸θｒと、インバータ２において駆動制御している回転座標軸θｍとの間にΔθ＝θｒ−θｍなる軸誤差Δθを定義するとすると、モータ１をインバータ２から見た場合のモータの電圧電流方程式は（１）式のように導くことができる。
【００７５】
【数５】

【００７６】
ここで、ｄｑと表された値のものはモータ１の真の回転座標軸上の値であり、γδと表された値のものは、インバータ２にて駆動されているインバータ上の回転座標軸上の値である。図３におけるｄｑ軸がモータ１の回転座標軸であり、γδ軸がインバータ２の回転座標軸である。この２つの軸の間にはΔθの誤差があり、このΔθを算出するのがモータ軸推定器１０の役割である。
【００７７】
ｄｑ軸はモータ１の回転座標軸であり、モータの回転子に配置される磁石の磁束方向をｄ軸、回転方向に９０度進んだ方向をｑ軸と図３に示されるように一般的に定義される。また、γδ軸はインバータ２の回転軸であるから、モータ駆動制御部３にて生成するものであり、モータ１が回転する範囲内でモータ駆動制御部３で設定されるが、モータ１の回転座標におけるｄ軸に対応する軸をγ軸、ｑ軸に対応する軸をδ軸と定義する。さらに、これらの座標軸がω１の角速度で回転している。
【００７８】
（１）式において、仮にモータ１による永久磁石の誘導電圧分よりもインダクタンスでの電圧降下の方が充分に小さいとして、（１）式のインダクタンスの式の軸誤差Δθについてのみ（２）式のように近似する。
【００７９】
【数６】

【００８０】
（２）式のように近似すれば、電圧電流方程式は（３）式のようになり、容易になる。しかし、（３）式において、Δθを求めた場合、負荷トルクが大きな領域において、前記近似による誤差が発生するため、近似せずにΔθを求める方が望ましい。
【００８１】
【数７】

【００８２】
そこで、（１）式を近似せずに解くと、軸誤差Δθは、（４）式のように求められ、真のモータ１の回転座標軸θｒを算出することができる。尚、（４）式は（１）式を解法した結果であり、（３）式とは分母のＬｄとＬｑのみ異なっているがこれが近似の差である。
【００８３】
【数８】

【００８４】
（４）式にて構成されたモータ軸推定器１０は近似を全く行っていないので、如何なる動作条件であっても正確に軸誤差を推定することができる。軸誤差はインバータ２の回転軸とモータ１の回転軸の誤差であり、インバータ２の回転軸は既知であることから、モータ１の回転軸を推定することが可能となる。
【００８５】
また、（１）式では推定速度ω１を使用しているが、モータ軸推定器１０は予め決められた所定の回転速度でモータ１が動作している場合には、電圧電流のみの検出で軸推定を行うよう構成されていてもよい。
【００８６】
さらに、モータ１が可変速駆動される場合は、モータ駆動制御部３にて推定した推定速度ω１でも、検出した検出速度であっても（１）式に速度のデータを用いてモータ軸推定器１０は（４）式より軸誤差Δθを算出する。
【００８７】
従って、モータ軸推定器１０の出力として、推定したモータ１の回転軸を動作判定部１５に入力する。このような構成をとると、位置推定を行わず、また位置検出も行わずに速度の時間積分値でモータを駆動するような図２に示すセンサレス制御器がモータ駆動制御部３であった場合でも、位置推定器を有することになるので、脱調やモータロックを検出できる。また、位置推定を行うセンサレス制御でも異なる演算方法を有する位置推定器を有することで、脱調やモータロックの検出の信頼性をより向上させることが可能となる。
【００８８】
また、位置を検出する場合でも、位置検出に不具合が発生しても、脱調やモータロックを検出できる効果がある。
【００８９】
モータ駆動制御部３とは別構成でモータ軸推定器１０を有するため、位置センサを有しない位置センサレス制御時における起動の判別を動作判定部１５で行うことも可能である。これにより、確実に起動したか否かの判断ができ、起動していない場合、速やかに再起動状態に移行することになり、起動の信頼性を向上できる。
【００９０】
さらに、脱調し始めの状態も検出可能であるため、脱調によるモータ停止前に脱調を抑制するように、電圧指令生成器３ａにおける電圧指令を変更させるよう動作判定部１５より指示をモータ駆動制御部３に信号を伝達することによって、脱調抑制制御を行うことも可能となる。
【００９１】
ここで、動作判定部１５に警報装置、表示装置を内部に含んでいたとしてもなんら動作に影響はなく、使用者により確実に以上を伝達できる効果を創出できる。
【００９２】
またさらに、軸誤差Δθをモータ駆動に使用しない場合には、（１）式および（４）式に使用している電圧、電流、インバータ回転軸、速度データの全てを同一サンプリング値を用いて算出する構成が可能なので、演算処理速度は高速処理を必要としないことは明らかである。また、電圧電流データは同一サンプリングを必要としているので平均値や実行値でないことは自明のことである。
【００９３】
また、図１にて記載のモータ駆動制御部３、３軸２軸変換部４、２軸３軸変換部５、モータ軸推定器１０、動作判定部１５を１個の制御装置、例えば、マイクロコンピュータやデジタルシグナルプロセッサー（ＤＳＰ）などの１ヶのＣＰＵにて構成したとしても何ら図１の駆動装置の動作に影響はない。
【００９４】
また、位置センサを用いて回転子の位置を検出して駆動するセンサ駆動制御部２０を構成した場合を図４に示す。２１はモータ１の回転子位置を検出するための位置センサ、２２は位置センサの出力から速度を算出するための速度算出器である。
【００９５】
図４のように構成した場合でも、モータ軸推定器１０としては図１と何ら変わりがない。よって、位置センサ２１があっても、モータ軸推定器１０は構成可能であり、上述と同様の効果を有することは言うまでもない。
【００９６】
図４の構成の場合、位置センサからの信号とモータ１の真の回転座標軸との差分がΔθとなるが、位置センサの直読値を座標変換部４及び５に直接入力せず、位相進み角を加算したり、位置センサ２１の取付位置による誤差分を予め補正するように構成したとしても、座標変換部４および５に入力される角度に対する軸誤差をモータ軸推定器１０で演算可能であることはいうまでもない。
【００９７】
また、図５にモータ軸推定器１０の軸誤差を利用したセンサレス駆動制御部２３を構成したブロック図を示す。モータ軸推定器１０の出力である軸誤差Δθを出力し、Δθを利用してセンサレス駆動を実現する。回転数と出力トルクとの関係が既知であれば、回転数に応じたΔθの範囲を予め数式化もしくはデータテーブル化しておき、予め設定された範囲内にΔθが入るようセンサレス駆動制御部２３は作用する。これは、Δθ＝０でなくともモータ１が回転することを利用したもので、ある設定された範囲外となった場合、脱調してしまうため、ある設定された範囲内にΔθを制御することでモータ１を駆動しようとするものである。
【００９８】
図５のような構成でセンサレス駆動制御を実現することにより、従来より安価なＣＰＵにてセンサレス制御が実現できる。
【００９９】
実施の形態２．
図６〜１２は実施の形態２を示す図で、図６はモータ駆動装置の回路ブロック図、図７は動作を示すフローチャート図、図８は逆起電圧定数同定器の一例を示す回路ブロック図、図９はインバータの構成図、図１０は短絡防止時間のタイムチャート図、図１１は他の形態を示す回路ブロック図、図１２は更に他の形態を示す回路ブロック図である。
【０１００】
図６において、１１はモータ軸推定器１０にて推定したモータ１上の回転座標軸θｒでの電圧と電流に座標変換を行って、モータ１の逆起電圧定数を同定する逆起電圧定数同定器、１２は同定した逆起電圧定数をモータ駆動制御部３の値にフィードバックするためのローパスフィルタであり、他は図１と同一の構成であるため、符号の説明を省略する。
【０１０１】
永久磁石電動機におけるモータ固有の定数として、相抵抗Ｒ、インダクタンスＬｄ、Ｌｑ、逆起電圧定数φの４種が上げられることは公知の事実である。本実施の形態では、永久磁石電動機の出力トルクの発生源となる逆起電圧定数の同定について述べる。
【０１０２】
ここで同定という言葉を使用するが、この同定、ｉｄｅｎｔｉｆｙ、は固有の値を計測し検出することで特定する、という意味でモータ自身の持っている特性を特定する、すなわちモータ個々にばらつきはあるが１つの個体には１つの特性を持っているのでそれを特定するという意味である
【０１０３】
また、逆起電圧定数φは、回転子に構成された永久磁石が回転したときの固定子側の巻線に対する鎖交磁束Φの時間変化率にて発生する誘導電圧の角速度比例係数である。言い換えると、固定子側に誘導される電圧は速度と共に増加するが、その速度と電圧は１次比例の関係となっており、その比例係数が逆起電圧定数φである。また、角速度が０の場合、ｄΦ／ｄｔ＝０となり、検出不能となる。
【０１０４】
従って、モータ１が微少でも動作する必要があり、モータ１を動作させて同定することとなる。モータ駆動制御部３にて逆起電圧定数φがモータ１の真値と異なる場合、モータ駆動制御部３でのモータ駆動に多少なりとも支障が発生する。
【０１０５】
逆起電圧定数φは、一般的に、モータ１の端子を開放状態にし、モータ１の軸を他からの外力によって回転させて、モータ１の端子間電圧を計測し、その外力の回転速度とから計測する方式が採用されている。この方法の場合、モータ１は開放状態であるため、インバータ２が接続した状態では計測できないだけでなく、モータ１を外力で回転させる必要がある。
【０１０６】
さらに、モータ１の固定子側で通電していないため、回転子の磁束のみで電圧が誘起され、逆起電圧定数として計測される。モータ１の固定子磁束に歪みがなければ問題ないが固定子磁束に歪みがある場合、回転子の磁石磁束も歪まされ、外力で回転させた際の誘起電圧とは異なる電圧が誘起される恐れがある。
【０１０７】
また、モータ１のインダクタンス成分Ｌｄ、Ｌｑは電流依存性があり、固定子に流れる電流によって値が変化する。モータ１のＬｄ、Ｌｑによって固定子側の磁束が変化するため、外力で回転させて計測した逆起電圧定数φは、電流が流れていない場合の値となり、電流が流れた場合の値と異なっている恐れもある。
【０１０８】
本実施の形態は、モータ１の実運転中における逆起電圧定数を同定することによって、固定子側で発生する様々な歪み要素である電機子反作用をも考慮するものである。
【０１０９】
まず、モータ駆動制御部３でモータ１を起動し、安定状態に駆動する。この場合、例えば前述の通り、外力でモータ１を回転させて予め計測しておいた逆起電圧定数φを初期値として駆動する。通常のモータ駆動は、この状態を維持するのであるが、本実施の形態では、この状態より逆起電圧定数を同定し、モータ駆動制御部３へ反映させる。
【０１１０】
また、強制的な回転磁界によってモータ１が磁界に引きずられて回転している状態を作り、この状態で一旦簡易的に逆起電圧定数φを同定し、その値を初期値としてモータ１を駆動する。この場合、強制的な回転磁界でモータ１は回転している状態（これを強制駆動とする）であるため、この強制駆動状態からモータ駆動制御部３での同期駆動運転に切り替えて加速し、加速後に逆起電圧定数を同定するように構成しても問題はない。
【０１１１】
さらに、強制駆動状態で簡易的に逆起電圧定数を同定した後、一旦停止し、その状態より再起動するよう構成しても上記と同様の効果を有することは言うまでもない。この様子を示すフローチャートを図７に示す。
【０１１２】
ここで、逆起電圧定数同定部１１にて逆起電圧定数φを算出する方法であるが、図８のブロック図に示されるようにモータ１に印加される電圧Ｖｕｖｗと、モータ１に流れる電流Ｉｕｖｗとをモータ軸推定器１０にて推定したモータ１の真の位置にて座標変換を行う。そして、座標変換後の電圧Ｖｑ_ｅｓｔ、電流ｉｄ_ｅｓｔ、ｉｑ_ｅｓｔおよび回転角速度ω１を用いて、
【０１１３】
【数９】

【０１１４】
により逆起電圧定数φを求めることができる。（５）式に基づいて、同定した逆起電圧定数であるが、モータ駆動制御部３にてモータ１を駆動制御するために使用されている。さらにはモータ駆動制御部３の内部を示す図２においては、電圧指令生成器３ａにて、電圧指令を生成するために逆起電圧定数の値を使用している。
【０１１５】
図示はしていないが、図６における電流の３軸２軸変換部４の出力であるＩ_γδ、電圧の２軸３軸変換部５の入力であるＶ_γδから（５）式に使用される電圧Ｖｑ_ｅｓｔ、電流ｉｄ_ｅｓｔ、ｉｑ_ｅｓｔは、（４）式の軸誤差Δθを用いれば下式のように算出できる。
【０１１６】
【数１０】

【０１１７】
従って、上式に従えば、図８に示すようなブロックを構成しなくとも、（５）式を算出することが実現でき、図８のブロックと同等効果を有することは言うまでもない。
【０１１８】
この電圧指令生成器３ａに使用されている逆起電圧定数をφｆとすると、（５）式により同定したφに対してφｆを補正するため、ローパスフィルタ１２を介してモータ駆動制御部３へ入力するよう構成する。
【０１１９】
これは、モータ駆動制御部３はモータ１を駆動するため高速に処理されているが、急激にφｆを変化させた場合、電圧指令が瞬間的に非線形となり、ハンチングする危険性があるためであり、モータ駆動制御部３によるモータ駆動の制御周期よりも、同定した結果を反映させ行うローパスフィルタ１２の時定数Ｔｒを大きくすることで、ハンチングを避けることができる。
【０１２０】
時定数Ｔｒとしては、モータ駆動制御部３での制御周期よりも遅い周期であれば良く、例えば１０倍程度の時定数の周期、または０．５秒以上などいった比較的長い時間の時定数で徐々に同定後の定数φをモータ駆動制御部３で使用する値φｆに近づける。また、ローパスフィルタ１２を介して徐々に同定結果を反映させるような構成でなくとも、ハンチングを避けられる方法であれば如何なる方法であっても問題はない。
【０１２１】
以上のようにして、逆起電圧定数φを同定しつつ、モータ１を駆動するので、モータ１の出力トルクの最適動作点で駆動することが可能となる。このように構成することによって、動作点毎に指令値格納部６に格納されていた電流指令値Ｉ_γ ^＊が一定値にてモータを駆動することが可能になる。よって、ＣＰＵのＲＯＭ容量を低減でき、低コスト化が実現できる。
【０１２２】
また、動作点毎にモータ１の出力トルクの最適動作点となるよう電流指令値Ｉ_γ ^＊を格納する必要がなくなるので、格納に必要なデータを収集する手間が省け、開発における期間短縮、人件費削減による低コスト化も実現できる。
【０１２３】
また、固定子による電機子反作用の歪みや、電流依存性を有するインダクタンスＬｄ、Ｌｑの電流による変化分、回転子の磁束密度増加による磁路の変化の分も一纏めにして逆起電圧定数に反映させるため、モータ１の理想状態から外れる歪み分による性能悪化分を補正し、モータ１を最適状態にて駆動することができる。
【０１２４】
さらに、モータ１の仕様毎に電流指令値Ｉ_γ ^＊の値が変化するため、ＣＰＵに固定小数点型のマイクロプロフェッサーを用いていれば、モータ１の仕様に応じて電流指令値Ｉ_γ ^＊の１ビットあたりの分解能を設定する必要が発生し、プログラムを作り替えることも想定されるため、開発期間短縮における低コスト化は大きい。
【０１２５】
またさらに、モータ１の駆動中に逆起電圧定数を同定するので永久磁石の減磁も検出でき、モータ１の信頼性も向上させることができる。特に、密閉型のモータ１の場合、分解しなければ前述したとおり、外力による逆起電圧定数の計測ができないため、サービス性向上も実現できる。
【０１２６】
さらに、故障診断部などを図６に示すブロック図に付加し、減磁した旨を表示させるように構成しても何ら問題がないことは言うまでもないが、本実施の形態２を示すブロック図では記述していない。
【０１２７】
さらに、φは温度依存性があり、温度によってのみφが変化すると仮定すれば、温度は磁石材料の特性にて決まるため、φを同定することによって、概略温度が推定でき、モータ１の環境温度を推定することができる。これにより、温度データを必要とするもののためにサーミスタ等の温度検出器を使用していれば、それらの温度検出器を低減し、低コスト化に役立つ。
【０１２８】
また、温度依存性のあるモータの相抵抗値も同定することができる。さらには、圧縮機等に使用されている場合、冷媒ガス温度が推定でき、冷媒挙動の解析に大きな発展をもたらす可能性もある。またさらには、エンジン等の高温環境で使用されるモータに対しても温度特性が解明できる。さらには、希土類磁石等の磁石を用いたモータ１の場合、温度で磁石の磁束が変化し、温度に対し不可逆性を有するので、逆起電圧定数を同定することで磁石でのトルク低下を検出できるようになり、モータ１の特性悪化を補償することも可能になる。また、温度に対し不可逆性を有する磁石を用いたモータ１全てに適用できることは言うまでもない。
【０１２９】
また、図８における座標変換部１１ｂに入力されている電圧であるが、図６のブロック図の構成ではモータ駆動制御部３にて生成された電圧指令である。しかしながら、インバータ２に入力された電圧指令と、インバータ２よりモータ１へ印加される印加電圧とには差が生じる。これは、インバータ２の短絡防止時間Ｔｄの影響である。
【０１３０】
インバータ２は図９に示されるようにスイッチング素子を２ヶ直列接続し、これを１つのアームとして構成される。例えば、直列に接続されたスイッチング素子２ａ、２ｂが同時にオンするとアーム短絡となり、短絡電流が流れる。そのため、一般的にインバータ２は短絡防止時間として図１０に示すように上下のスイッチング素子が同時にオンしないよう双方のスイッチング素子がオフする時間Ｔｄが設定されている。
【０１３１】
Ｔｄにより電圧指令と印加電圧とに生じる差は、図９のインバータに構成されているスイッチング素子と逆並列に接続されているダイオードによって引き起こされる。Ｔｄ期間中は、上下のスイッチング素子ともオフしている。仮にＴｄ期間に入る前にスイッチング素子２ａを介してモータ１へ電流が流れていたとすると、言い換えると図８の矢印に示されるような方向の電流とすると、モータ１はＬ負荷なので電流が流れ続けようとする。よって、スイッチング素子２ｂと逆並列のダイオードに電流が流れ、モータ１に流れる電流の連続性が保たれる。
【０１３２】
しかしながら、スイッチング素子２ｂと逆並列のダイオードを介して電流が流れるため、モータ１の端子電圧、いいかえると、スイッチング素子２ａとスイッチング素子２ｂの接続点は、コンデンサ２ｇの負極側よりダイオードのオン電圧分低い電圧となる。
【０１３３】
Ｔｄ期間がなければスイッチング素子２ａがオンによってコンデンサ２ｇの正極側からモータに電流が流れるので、コンデンサ２ｇの正極と同電位となるはずであるのだが、Ｔｄ期間はＴｄによってコンデンサ２ｇの負極とほぼ同電位となってしまう。これがＴｄによる電圧の差が発生する要因であり、一般的に知られていることである。
【０１３４】
そこで、図６の逆起電圧定数同定器１１に入力される電圧指令は２軸３軸変換部５の出力とし、この出力をインバータ２に入力する前にＴｄ補正を行うＴｄ補正器１３を追加したような図１１に示されるブロック図のような構成にすることによって、逆起電圧定数の同定の精度を向上させることができる。
【０１３５】
また、モータ１の各相の電流のゼロ付近中の電圧、電流、回転数を逆起電圧定数の演算に使用しないことにより、逆起電圧定数の同定の精度をさらに向上させることができる。
【０１３６】
さらに、図１２に示されるように電圧検出器１４を図６に追加したような構成により、モータ１へ印加される印加電圧を検出し、検出電圧を逆起電圧定数同定器１１へ入力するような構成としても、逆起電圧定数同定器での同定精度向上に果たす効果は上述と同様であることは言うまでもない。また、本実施の形態２には図示しないが、電圧検出器１４を設けた図１２のような構成にＴｄ補正器１３追加したような構成にて実現したとしても何ら問題はなく、更に同定精度が向上することは言うまでもない。
【０１３７】
ここで、図６にて記載のモータ駆動制御部３、３軸２軸変換部４、２軸３軸変換部５、モータ軸推定器１０、逆起電圧定数同定器１１、ローパスフィルタ１２、図示はしていない動作判定部１５を１個の制御装置、例えば、マイクロコンピュータやデジタルシグナルプロセッサー（ＤＳＰ）などの１ヶのＣＰＵにて構成したとしても何ら図６の駆動装置の動作に影響はない。
【０１３８】
さらに、図１１に記載のＴｄ補正器１３も１ヶのＣＰＵにて構成したとしても同様の効果を有することは言うまでもない。
【０１３９】
実施の形態３．
図１３は実施の形態３を示す図で、モータ駆動装置の回路ブロック図である。図１３において、図１２と同一の部分に対する符号の説明は省略する。図１３において、３０はモータ１に印加するγ軸電圧Ｖ_γとδ軸電圧Ｖ_δ、回転数指令ω＊を格納している指令値格納部、３１は回転数指令ω＊からインバータの座標変換軸を得るための積分器、３２は逆起電圧定数同定器１１にて検出された逆起電圧定数を記憶する記憶部である。また、図１２におけるモータ駆動制御部３が無い構成となっている。
【０１４０】
図１３において、モータ駆動制御部３が無いため、この構成はオープンループの他励強制駆動と言い換えることができる。本実施の形態中では前述の通り、強制駆動と言うこととする。強制駆動の場合、印加する電圧によってはモータ１が起動しなかったり、モータ１の磁石を減磁させるような過電流となる可能性もあるが、ここでは、モータ１が起動し、且つ過電流とならないγδ軸電圧Ｖ_γδが指令値格納部３０に格納され、インバータ２からモータ１に印加されている。
【０１４１】
強制駆動の場合、印加電圧に対し相電流が非常に大きい値となる。その為、過電流とならないようなγδ軸電圧Ｖ_γδとすると、極端に小さいγδ軸電圧Ｖ_γδとなり、前述のＴｄの影響を大きく受ける。しかしながら、極端に小さいγδ軸電圧Ｖ_γδであるため、Ｔｄ補正器によるＴｄの補正は難しい。従って、電圧検出器１４を用い、モータ１に印加される印加電圧を検出して、逆起電圧定数同定器１１へ入力する。
【０１４２】
また、強制駆動は回転数指令が極低速であることから、回転数指令と同一速度にモータ１が追随して回転しているとして、積分器３１の出力にてγδ軸電流Ｉ_γδやγδ軸電圧Ｖ_γδに座標変換する。
【０１４３】
以上のように、強制駆動にて構成したモータ軸推定器１０と逆起電圧定数同定器１１でも十二分に逆起電圧定数の同定ができる。また、図１３では逆起電圧定数同定器１１の出力がローパスフィルタ１２を介して出力後に、同定する逆起電圧定数として記憶部１２に記憶されているが、ローパスフィルタ１２を介さなくとも構わない。
【０１４４】
ただし、ローパスフィルタ１２を介して出力した方が定数を安定して出力できる。さらに、図１３中のローパスフィルタ１２の時定数がＴｒとなっており、前述のモータ駆動制御部３への反映に用いる時定数と同一値となっているが、別に同一値でなくとも構わず、図１３におけるローパスフィルタ１２の時定数Ｔｒはもっと低い周期でよい。
【０１４５】
図１３のように構成することによって、逆起電圧定数φが起動時に未知であるモータ１に対しても、逆起電圧定数を同定することができ、図１３の構成にて逆起電圧定数を同定後に、図１や図６に示されるようなモータ駆動制御部３を有する構成のブロックを適用できる。
【０１４６】
図７のフローチャートは、本実施の形態の一部である。図７のステップＳ−１にて初期値がない状態と同一なので、ステップＳ−２にて強制駆動により起動し、ステップＳ−３にて逆起電圧定数φの同定を行う。同定した逆起電圧定数を記憶部３２に記憶させ、次は図６に示されるようなモータ駆動制御部３にてモータ１を駆動するように構成しなおすのである。
【０１４７】
よって、図示はしていないが、図６と図１３、図１２と図１３は異なる制御ブロックの構成であるが、これを一つのＣＰＵにて構成した場合、起動前に強制駆動にて逆起電圧定数φの初期値として同定し、モータ駆動制御部３にてモータを同期駆動しつつ、モータ１の動作状態に応じた逆起電圧定数φに同定するような構成としても構わないことは言うまでもなく、図１３のみで構成されるより、モータ１を駆動する回転数範囲、トルク範囲が広がるため実用的である。
【０１４８】
実施の形態４．
図１４〜１８は実施の形態４を示す図で、図１４はモータ駆動装置の回路ブロック図、図１５はモータの等価回路図、図１６はインダクタンスとモータ位置の関係を示す説明図、図１７は印加パルスと電流の波形図、図１８は動作を示すフローチャート図である。
【０１４９】
図１４において、図１と同一部分については同一符号を付して説明は省略する。４０はモータ１へ印加するパルス電圧を生成するパルス電圧生成器、４１は印加したパルス電圧に応答した電流のピーク値をホールドするピークホールド、４２はピークホールドされた３相電流を静止座標変換を行う３軸２軸変換器、４３はインバータ２の直流母線電圧を検出する電圧検出器、４４はモータ１への印加パルス時間、直流母線電圧値、２軸電流値とからモータ１のインダクタンスを同定するインダクタンス同定器である。尚、モータ１は３相モータとする。
【０１５０】
インダクタンス成分の同定方法について述べる。モータ１は永久磁石電動機であり、モータ１が回転した場合、回転子に構成されている永久磁石による誘導電圧がモータ１の固定子側に誘起される。その為、インダクタンス成分はモータ１を回転させずに同定する方が容易である。
【０１５１】
そこで、モータ１に高周波のパルス電圧を印加する。印加されるパルス電圧によりパルス電流が流れるが、パルス電圧の印加によってモータ１が回転しなければ、モータ１はＬＲ負荷と考えることができる。印加されるパルス時間が微少時間でＬＲの時定数（Ｌ／Ｒ）よりも遙かに小さい場合、流れるパルス電流に抵抗成分Ｒの影響がでない。
【０１５２】
これを図１５を用いて考える。図１５中におけるスイッチＳを微少時間オンさせるということとパルス印加とは同義である。ＬＲ直流回路における電流ｉを時間ｔの関数とすれば、ｉのｔにおける関数は、
【０１５３】
【数１１】

【０１５４】
のようにおける。ｔが微少時間であるので、ｔ＝０の極限を求めると、Ｅ／Ｌとなり、抵抗成分Ｒの影響を排除できるのである。従って、パルス印加により抵抗成分Ｒが除去でき、モータ１が回転しないため誘導電圧の影響も無視でき、印加するパルス電圧と検出されるパルス電流からインダクタンス成分が同定できる。
【０１５５】
ここで、モータ１を静止２軸座標系にて考えると、抵抗成分および誘導電圧、角速度を０とおけるので、高周波パルス印加時は、
【０１５６】
【数１２】

【０１５７】
のようにインダクタンス成分Ｌｄ、Ｌｑのみでモータ１を電圧電流方程式にて表すことができる。尚、静止２軸座標系の電圧をＶα、Ｖβ、電流をｉα、ｉβとし、モータ１の回転子の位置をθとする。（７）式より、電圧、電流、回転子位置がわかれば、モータ１のインダクタンス成分であるＬｄ、Ｌｑが算出できる。ここで、電流は電流検出器７にて検出し、電圧は電圧検出器４３より検出するので、電圧電流は既知となるが、図１４の構成ではモータ１に対し位置センサを付加しないブロック構成であるため、回転子位置θは既知でない。
【０１５８】
仮に、図示しないが位置センサをモータ１に付加した構成をとれば、電流、電圧、位置からインダクタンス同定器４４にて（７）式より容易にインダクタンスを同定可能である。これは図１６に示すようにインダクタンス値はロータ位置θに対し、２倍の周期で変動するパラメータ要素であるためである。
【０１５９】
本実施の形態では、位置センサレスの構成で（７）式よりインダクタンス成分のＬｄ、Ｌｑを算出する方法について述べる。そこで、インバータ２が図９に示されるような構成として、Ｕ相を２ａ、２ｂとし、Ｖ相を２ｃ、２ｄとし、Ｗ相を２ｅ、２ｆとおく。そして、ｕ＋の出力を２ａ、２ｄ、２ｆがオン、ｕ−の出力を２ｂ、２ｃ、２ｅがオンとすると、ｖ＋の出力は２ｂ、２ｃ、２ｆがオン、ｗ＋の出力は２ｂ、２ｄ、２ｅがオンとおける。
【０１６０】
ここで、ｕ＋、ｖ＋、ｗ＋の３種類のパルスを印加し、静止座標の基準軸をｕ＋の出力の場合はＵ相に、ｖ＋の出力の場合はＶ相に、ｗ＋の出力の場合はＷ相にとると、モータ１は３相であり、各巻線は１２０度の間隔を持って配置されるので、三相交流理論を用いて、
【０１６１】
【数１３】

【０１６２】
から回転子位置θが不明でも、回転子が動かないようなパルスを印加しているので、（８）式から算出することから可能であるというのが特開２００１−６９７８３号公報に示されている３相モータのインダクタンスの検出技術である。
【０１６３】
しかしながら、特開２００１−６９７８３号公報に示されている技術では印加するパルス時間Ｔｐ、特開２００１−６９７８３号での記述は短時間Ｔｓであるが、Ｔｐの設定方法の記述なく、あえて言うならある特定のモータを検証した場合のパルス時間が１９５ｕｓと引用されているにすぎない。
【０１６４】
特開２００１−６９７８３号公報に示されている技術および特開２００１−６９７８３号公報に引用されている文献では、モータ１のインダクタンスを計測するためには、パルス時間をモータ１のモータ定数から起因する時定数Ｌ／Ｒに応じて設定する必要があると記述されてが、インダクタンスを同定するために必要なパルス時間は、インダクタンス値の概略値が分からなければならないと言った点に課題がある。
【０１６５】
これは、特開２００１−６９７８３号公報に示されている技術において、ｕ＋、ｖ＋、ｗ＋のパルス印加であるためである。各相に＋成分のパルス電圧を印加すると、モータ１の固定子に磁束が発生し、その固定子磁束による残留磁束により電流にオフセットが発生するためである。そのため、オフセットの影響が出ない程度に印加パルスのパルス時間を長くする必要があるため、モータ１のモータ定数に応じた時定数Ｌ／Ｒにてパルス時間を設定しなければならない。
【０１６６】
または、モータ１のインダクタンスが小さい場合はパルス印加時間が比較的短くとも電流が流れ、残留磁束によるオフセットの影響は小さい。しかしながら、モータ１のインダクタンスが大きい場合、ほとんど電流が流れなくなるため、電流のオフセットによる影響が大きくなり、特にＬｑの同定時に実際のインダクタンスの１０倍以上の値を計測したり、マイナスのインダクタンス値になることもあるため、インダクタンスの計測ができなくなる。
【０１６７】
本発明では、如何なるモータ定数であっても同一の印加パルス時間で精度良くインダクタンスを同定することができる駆動装置を得ることにある。
【０１６８】
まず、パルス印加によってインダクタンスを同定するが、そのパルスの印加方法に特徴がある。特開２００１−６９７８３号公報に示されている技術では、＋側のパルス印加、言い換えると、インバータのアームを構成している上下のスイッチング素子のうち、上側のスイッチング素子を１ヶ、下側のスイッチング素子を２ヶとの組み合わせだけのパルス印加でインダクタンスを同定していた。
【０１６９】
このような印加方法ではなく、図１７に示すようにパルス電圧生成器４０では、＋側のパルスと−側のパルスを交互に印加することによって、残留している磁束を打ち消しつつパルス印加によるインダクタンス同定が実現できる。例えば、ｕ＋、ｗ−、ｖ＋、ｕ−、ｗ＋、ｖ−といった順序にてパルスを印加した場合、モータ１のモータ定数における時定数Ｌ／Ｒよりも極端に短いパルス印加時間でも残留磁束による電流オフセットは発生せず、精度良くインダクタンスを同定することが可能である。
【０１７０】
また、上述のごとく、＋側のパルスと−側のパルスを交互に印加すればよく、上述では６回のパルス印加がなされているが、例えば、ｕ＋、ｗ−、ｖ＋の順序による３回のパルス印加やｕ＋、ｖ−、ｗ＋といった順序でのパルス印加でも上述と同様に、残留磁束による電流のオフセットが発生せず、精度良くインダクタンスの同定が実現できるが、プラス側とマイナス側が平衡している場合、オフセットが完全に除去できるため、相数が奇数の場合、相数の偶数倍した回数のパルス印加の方がオフセット除去効果が高く、精度よく検出できる。
【０１７１】
本実施の形態では、３相モータとして考慮しているので、３相の偶数倍ということで、６回のパルス印加にてオフセットが完全に除去できることを示している。
【０１７２】
本実施の形態にて示した印加パルス順序に基づいてパルスを印加した場合、電流のオフセットを除去できるので、Ｌｑが２〜４ｍＨ程度の小さなインダクタンスを有するモータ（出力大のモータ）からＬｑが２００ｍＨとなる大きなインダクタンスを有するモータ（出力小のモータ）まで、印加パルス時間を一定（例えば、特開２００１−６９７８３号公報にて引用されていた１９５ｕｓ）で±１０％以内の精度にてインダクタンス同定することができる。
【０１７３】
さらに、パルスの印加終了後に電流は減衰してしまうため、ピーク電流値をホールドするピークホールド４１を追加することにより更に、精度良くインダクタンスを同定することができる。
【０１７４】
以上のように構成したことにより、インバータ２に接続されているモータ１のモータ定数が全くの未知の状態であってもインダクタンスを同定することができ、モータ１を駆動制御する際に、モータ１の個々のばらつきによる制御性の悪化に対しても制御性能を向上させることが可能である。
【０１７５】
また、前述にて説明したが、オフセットの影響が出ない程度に印加パルスのパルス時間を長くする必要があるため、モータ１のモータ定数に応じた時定数Ｌ／Ｒにてパルス時間を設定しなければならないが、パルス時間を設定するためのパルスをまず印加して、そのときの電流波形を観測し、応答する電流ピーク値が小さい場合に、パルス時間を大きくして、インダクタンス成分を同定するよう構成しても上記と同様効果を有することは言うまでもない。
【０１７６】
さらに、パルス時間を設定するためのパルスを印加して、パルス時間を設定後、相数の偶数倍のパルス印加を実施し、その電流ピーク値からインダクタンス成分を算出しても同様の効果を有することは言うまでもない。この動作を図１８のフローチャートに示す。
【０１７７】
また、例えば、６回の印加パルスにて得られた電流ピーク値の情報を元にモータ１が停止している停止位置を推定するように構成してもよい。
【０１７８】
また、本実施の形態では図示していないが、図１２、図１３、図１４の構成のブロックを１つの制御ＣＰＵを用いて実現した場合、前述までの逆起電圧定数同定器１１での逆起電圧定数の同定にインダクタンスを使用しており、モータ１の個々のばらつきを許容できるので、逆起電圧定数の同定精度の向上にも起因し、結果、逆起電圧定数の同定による効果を増大させることに繋がる。
【０１７９】
実施の形態５．
図１９は実施の形態５を示す図で、冷凍サイクルを示すブロック図である。、本実施の形態では、実施の形態１にて説明した構成を空気調和機に適用した場合について説明する。図１９は、一般的な冷凍サイクルであり、５０は冷媒サイクルにおいて圧縮工程を行う圧縮機、５１は圧縮機を駆動するための駆動装置、５２は冷媒を凝縮する凝縮器、５３は冷媒を蒸発させる蒸発器、５４は冷媒の流量を調整する絞り弁である。図１以降に示されているモータ１は、図１９における圧縮機５０に、インバータ２およびその制御手段が駆動装置５１に適用されている。
【０１８０】
図１９に示されるような冷凍サイクルでは、冷房負荷に対して必要となる冷房能力が出力できるよう冷媒の流量を制御している。流量の制御として絞り弁５４が構成されるが、きめ細やかで能力範囲の広い制御には絞り弁５４だけでは不適であるため、圧縮機５０の回転数も制御することで、広範囲できめ細やかな冷媒流量の制御を実現し、空気調和機を制御している。
【０１８１】
空気調和機などに適用されたモータの場合、モータは圧縮機５０内部に配置される。圧縮機５０は冷媒を高温高圧のガスに圧縮するためのものであり、モータの動作環境としては非常に厳しく、冷媒ガスの状況によってモータの動作環境が変化する。また、冷媒をガス化するため、モータ１は取り出すことができないような密閉構造を圧縮機５０は採用している。
【０１８２】
そのため、製品、本実施の形態中では圧縮機５０である、に搭載した場合、永久磁石電動機のモータ定数のうち、相抵抗Ｒは圧縮機５０からの出力端子を抵抗測定器を用いれば計測可能であるが、インダクタンス成分Ｌｄ、Ｌｑおよび逆起電圧定数φは計測できなくなる。
【０１８３】
それは逆起電圧定数は、前述の通り外力による回転をさせる必要があるためであり、インダクタンス成分は、モータの真の回転軸（ｄｑ軸）上で表された位置によって変化するインダクタンス成分であるためである。
【０１８４】
本発明の逆起電圧定数同定器１１およびインダクタンス同定器４４を具備している駆動装置によれば、このように密閉された状態になっているモータにおいて、そのモータのモータ定数が未知であっても、モータ駆動制御部を用いて駆動することが可能になる。これにより、インバータ２の制御のＳ／Ｗの標準化が可能となり、インバータ２が電流容量のハードの違い以外における標準化が可能となり、大量製造による低コスト化が可能となる。
【０１８５】
さらに、インバータ２に接続されるモータ１が既知であれば、既知である値を予めインバータ内部に設定しておき、起動前のモータ定数同定作業によって、電線の接続不良やモータの取り付け間違いを検出できるようになり、製造不良のラインチェックを行うと信頼性向上に繋がる。
【０１８６】
またさらに、製品固有のばらつきも補正でき、更に信頼性が増加するだけでなく、各製品毎の動作状態に応じた逆起電圧定数に同定すれば自動でモータ１の性能を最大限に引き出す最適運転させることが可能になる。
【０１８７】
また、不良や過電流の原因を、モータ定数を同定し外部に引き出して表示などを行うことにより、密閉型の製品を分解することなく特定あるいは推定したり、範囲を絞ることが、例えば磁石の減磁などの不良、過負荷など、出来るので運転停止や継続の判断、速やかな必要最小限の修理により短期間の停止や補修費用の低減が可能になる。
【０１８８】
さらに、通常状態で過負荷となり、減磁することが判明すれば、インバータハードの耐量見なおし、モータ仕様の適性化等が可能になり各装置の適合性等が事前に判断できることになる。インバータとモータの組合せ不良以外でも、例えば電源の種類が違うなど大きなトラブルを発生する前に各種不良を事前に検出できる。
【０１８９】
さらに、空気調和機に適用した場合、冷媒の充填量や配管長、設置場所の環境など製品間で発生するばらつきも抑制することができ、各製品毎にモータ１の性能を最大限に引き出して駆動する運転が実現できる。
【０１９０】
また、密閉型の圧縮機を分解することなく特定あるいは推定したり、範囲を絞ることが、例えば上述の他に、冷媒の充填しすぎなど、出来るので運転停止や継続の判断、速やかな必要最小限の修理により短期間の停止や補修費用の低減が可能になる。
【０１９１】
実施の形態６．
前述までの実施の形態では、モータ１は永久磁石電動機として説明してきたが、モータ１を永久磁石発電機としてもこの逆起電圧定数同定器１１やインダクタンス同定器４４は使用可能であり、図示はしていないが、前述までのブロック構成と全く同じでモータ駆動制御部３が発電機駆動制御部に変更されるだけでよい。
【０１９２】
例えば、風力発電などに使用される永久磁石発電機は風力エネルギーを電気エネルギーに変換するものであるが、突風などにより磁石の磁力が低下する可能性がある。低下した磁力の発電機では、十分な発電量が得られない可能性があり、メンテナンス時に風車から発電機を外すか、風が吹いて発電機がフリーラン状態になった場合、もしくは、外力で発電機を回すようメンテナンス用モータを発電機に接続させた場合に発電機の端子間の電圧を計測し、そのフリーラン回転数から逆起電圧定数を求める必要が出る。
【０１９３】
風が吹くことを待つ場合、メンテナンスの作業性が非常に悪く、発電機を外したり、メンテナンス用にモータを発電機の高さまで吊り上げ外力で回してメンテナンスする場合、作業にかかるメンテナンス費用が増大する。
【０１９４】
本発明の逆起電圧定数の同定方法を用いれば、発電機の発電動作を停止することなく、減磁を検出することが可能となる。
【０１９５】
【発明の効果】
この発明の請求項１に係る永久磁石電動機の駆動装置は、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の軸誤差分を、予め設定された所定の回転数での永久磁石電動機に印加される瞬時電圧と永久磁石電動機に流れる瞬時電流値から算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器を備えたことにより、脱調やモータロックの検出ができる。
【０１９６】
また、この発明の請求項２に係る永久磁石電動機の駆動装置は、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の軸誤差分を、永久磁石電動機に印加される瞬時電圧と、永久磁石電動機に流れる瞬時電流値と、検出されたあるいは演算にて算出された回転数とから算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器を備えたことにより、全ての回転数において、脱調やモータロックの検出ができる。
【０１９７】
また、この発明の請求項３に係る永久磁石電動機の駆動装置は、インバータの回転座標軸は、永久磁石電動機の回転子の位置を検出して得られた位置を用いることにより、回転子の位置信号が来ない場合でも、脱調やモータロックの検出ができる。
【０１９８】
また、この発明の請求項４に係る永久磁石電動機の駆動装置は、インバータの回転座標軸は、電動機の回転子の位置を検出せず、駆動装置内部の演算にて得られた位置を用いるので、位置センサが要らない。
【０１９９】
また、この発明の請求項５に係る永久磁石電動機の駆動装置は、モータ軸推定器の出力に基づいて、永久磁石電動機の動作判定を行う動作判定部を備えたことにより、脱調やモータロックの検出ができる。
【０２００】
また、この発明の請求項６に係る永久磁石電動機の駆動装置は、動作判定部は、起動の判別を行うことにより、起動の判別ができる。
【０２０１】
また、この発明の請求項７に係る永久磁石電動機の駆動装置は、動作判定部は、脱調による永久磁石電動機停止前に脱調を抑制するために、インバータへの電圧指令値を変化させるように指示するので、脱調による永久磁石電動機停止を抑制できる。
【０２０２】
また、この発明の請求項８に係る永久磁石電動機の駆動装置は、動作判定部は、警報装置または表示装置を備えたことにより、動作状態を外部に知らせることができる。
【０２０３】
また、この発明の請求項９に係る永久磁石電動機の駆動装置は、インバータにより永久磁石電動機を駆動し、永久磁石電動機の回転子の位置を位置センサレスでインバータを制御する永久磁石電動機の駆動装置において、モータ軸推定器の出力に基づいて永久磁石電動機を制御することにより、センサレス制御ができる。
【０２０４】
また、この発明の請求項１０に係る永久磁石電動機の駆動装置は、モータ軸推定器は、インバータの回転座標軸により座標変換された電圧Ｖ_γ、Ｖ_δ、電流Ｉ_γ、Ｉ_δと、インバータの回転座標軸の回転速度ω１と、永久磁石電動機の相抵抗Ｒと、永久磁石電動機のｑ軸インダクタンスＬｑとを用いて、
【０２０５】
【数１４】

【０２０６】
により軸誤差Δθを演算することにより、如何なる動作条件であっても正確に軸誤差を推定することができる。
【０２０７】
また、この発明の請求項１１に係る永久磁石電動機の駆動装置は、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算する逆起電圧定数同定器を備えたことにより、インバータが接続された状態で逆起電圧定数を同定できる。
【０２０８】
また、この発明の請求項１２に係る永久磁石電動機の駆動装置は、インバータの回転座標軸と、永久磁石電動機の回転子磁石による磁束方向と磁束方向より回転方向に９０度進んだ方向の座標にて構成されるモータの回転座標軸との間の誤差分を、予め設定された所定の回転数での前記永久磁石電動機に印加される瞬時電圧と永久磁石電動機に流れる瞬時電流値から算出し、インバータの回転座標軸とモータの回転座標軸との軸誤差分からモータの回転座標軸を推定するモータ軸推定器と、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算する逆起電圧定数同定器とを備えたことにより、インバータが接続された状態で逆起電圧定数を同定できる。
【０２０９】
また、この発明の請求項１３に係る永久磁石電動機の駆動装置は、逆起電圧定数同定器は、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機入力電圧Ｖｑ_ｅｓ　ｔ及び電動機に流れる電流ｉｄ_ｅｓｔ、ｉｑ_ｅｓｔと、電動機の回転角速度ω１と、電動機の抵抗成分Ｒと、電動機のｄ軸インダクタンス成分Ｌｄとを用いて、
【０２１０】
【数１５】

【０２１１】
により、逆起電圧定数φの演算を行うことにより、インバータが接続された状態で逆起電圧定数を同定できる。
【０２１２】
また、この発明の請求項１４に係る永久磁石電動機の駆動装置は、インバータから電動機に印加される電圧および電流を検出し、電圧および電流の検出値を用いて逆起電圧定数の演算を行うことにより、逆起電圧定数同定の精度が上がる。
【０２１３】
また、この発明の請求項１５に係る永久磁石電動機の駆動装置は、逆起電圧定数同定器は、モータ軸推定器にて得られた軸誤差とインバータの回転座標軸とから求められるモータの回転座標軸にて座標変換された電動機への指令電圧及び電動機に流れる電流と、電動機の回転数と、電動機の抵抗成分と、電動機のインダクタンス成分とから、永久磁石電動機における逆起電圧定数を演算し、永久磁石電動機を駆動するインバータにおいて設定される短絡防止時間による電圧歪みを補正する短絡防止時間補正機能を有することにより、電動機への指令電圧を用いて逆起電圧定数を演算しても、精度よく同定できる。
【０２１４】
また、この発明の請求項１６に係る永久磁石電動機の駆動装置は、永久磁石電動機の各相の電流のゼロ付近中の電圧、電流、回転数を逆起電圧定数の演算に使用しないことにより、さらに逆起電圧定数同定の精度が上がる。
【０２１５】
また、この発明の請求項１７に係る永久磁石電動機の駆動装置は、永久磁石電動機を駆動するインバータにおいて設定される短絡防止時間による電圧歪みを補正する短絡防止時間補正機能を有すると共に、インバータから電動機に印加される電圧および電流を検出し、検出値を用いて逆起電圧定数の演算を行うことにより、逆起電圧定数同定の精度が良くなる。
【０２１６】
また、この発明の請求項１８に係る永久磁石電動機の駆動装置は、逆起電圧定数同定器により算出した逆起電圧定数を用いて、永久磁石電動機を駆動制御することにより、モータの出力トルクの最適動作点で駆動することができる。
【０２１７】
また、この発明の請求項１９に係る永久磁石電動機の駆動装置は、外力で永久磁石電動機を回転させて予め計測しておいた逆起電圧定数を初期値として駆動し、この状態より逆起電圧定数を同定して駆動装置に反映させることにより、定常までの動作が円滑に行われる。
【０２１８】
また、この発明の請求項２０に係る永久磁石電動機の駆動装置は、強制的な回転磁界によって永久磁石電動機が引きずられて回転している状態を作り、この状態で逆起電圧定数を同定し、その値を初期値として永久磁石電動機を駆動し、その後同期駆動運転に切り替えて加速し、加速後に逆起電圧定数を同定することにより、逆起電圧定数が未知の場合でも円滑に起動できる。
【０２１９】
また、この発明の請求項２１に係る永久磁石電動機の駆動装置は、強制的な回転磁界によって永久磁石電動機が引きずられて回転している状態を作り、この状態で逆起電圧定数を同定し、その値を初期値として永久磁石電動機を駆動し、その後停止した場合には、停止前に同定した値を初期値として同期運転にて起動することにより、２回目以降は起動時間を短縮できる。
【０２２０】
また、この発明の請求項２２に係る永久磁石電動機の駆動装置は、逆起電圧定数同定器にて同定した逆起電圧定数を用いて、永久磁石電動機を同期駆動運転することにより、同期駆動運転状態での最適動作点で駆動できる。
【０２２１】
また、この発明の請求項２３に係る永久磁石電動機の駆動装置は、インバータに出力する電圧指令を生成するために逆起電圧定数の値を使用することにより、最適動作点で駆動できる。
【０２２２】
また、この発明の請求項２４に係る永久磁石電動機の駆動装置は、逆起電圧定数同定器にて同定した逆起電圧定数を、ローパスフィルタを介して補正し、補正した逆起電圧定数を用いて永久磁石電動機を同期駆動運転することにより、ハンチングを抑制できる。
【０２２３】
また、この発明の請求項２５に係る永久磁石電動機の駆動装置は、ローパスフィルタの時定数を、永久磁石電動機の駆動の制御周期よりも大きくすることにより、ハンチングを抑制できる。
【０２２４】
また、この発明の請求項２６に係る永久磁石電動機の駆動装置は、永久磁石電動機の駆動中に逆起電圧定数を同定することで、永久磁石電動機の永久磁石の減磁を検出することができる。
【０２２５】
また、この発明の請求項２７に係る永久磁石電動機の駆動装置は、故障診断部を備え、永久磁石電動機の永久磁石が減磁したことを表示することにより、外部から永久磁石が減磁したことを認識できる。
【０２２６】
また、この発明の請求項２８に係る永久磁石電動機の駆動装置は、逆起電圧定数を同定することで、永久磁石電動機の環境温度を推定することができる。
【０２２７】
また、この発明の請求項２９に係る永久磁石電動機の駆動装置は、逆起電圧定数を同定することで、永久磁石電動機の相抵抗値を同定することができる。
【０２２８】
また、この発明の請求項３０に係る永久磁石電動機の駆動装置は、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から前記永久磁石電動機のインダクタンス成分を検出し、永久磁石電動機の相数が２ｎ＋１（ｎは１以上の整数）の場合は、微少時間だけ印加するパルスのために動作させるインバータのスイッチは上下毎の総数を交互に入れ替えてパルスを印加することにより、如何なるモータ定数であっても同一の印加パルス時間で精度良くインダクタンスを同定できる。
【０２２９】
また、この発明の請求項３１に係る永久磁石電動機の駆動装置は、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出し、微少時間印加されるパルスは、永久磁石電動機の相数の偶数倍の回数を印加することにより、如何なるモータ定数であっても同一の印加パルス時間で精度良くインダクタンスを同定できる。
【０２３０】
また、この発明の請求項３２に係る永久磁石電動機の駆動装置は、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出し、微少時間だけ印加するパルスによる電流ピーク値を永久磁石電動機の回転子の停止位置を推定にも共用することができる。
【０２３１】
また、この発明の請求項３３に係る永久磁石電動機の駆動装置は、永久磁石電動機に微少時間だけパルスを印加し、永久磁石電動機に印加されるパルス電圧と永久磁石電動機に流れる電流のピーク値、およびパルス時間から永久磁石電動機のインダクタンス成分を検出し、微少時間だけパルスを印加する前に、パルス印加時間を決定するためのパルスを永久磁石電動機に印加して微少時間を設定することにより、如何なるモータ定数であっても同一の印加パルス時間で精度良くインダクタンスを同定できる。
【０２３２】
また、この発明の請求項３４に係る永久磁石電動機の駆動装置は、検出したインダクタンス成分を、永久磁石電動機の駆動制御もしくはモータ軸推定器の演算の少なくとも一方に用いることにより、モータの個々のばらつきによる制御性の悪化に対しても制御性能を向上させることができる。
【０２３３】
また、この発明の請求項３５〜４０に係る永久磁石電動機の駆動装置は、逆起電圧定数の同定に、インダクタンス同定器にて同定したインダクタンスを使用しており、モータの個々のばらつきを許容できるので、逆起電圧定数の同定精度の向上にも起因し、結果、逆起電圧定数の同定による効果を増大させることに繋がる。
【０２３４】
また、この発明の請求項４１に係る永久磁石電動機の駆動装置は、算出された逆起電圧定数を永久磁石電動機の制御に使用される逆起電圧定数としてチューニングすることにより、モータの出力トルクの最適動作点で駆動することができる。
【０２３５】
また、この発明の請求項４２に係る永久磁石電動機の駆動装置は、インダクタンス同定器で検出されたインダクタンス成分を永久磁石電動機の駆動制御もしくはモータ軸推定器の演算の少なくとも一方に用いることにより、モータの個々のばらつきによる制御性の悪化に対しても制御性能を向上させることができる。
【０２３６】
この発明の請求項４３に係る密閉形圧縮機は、請求項１〜４２の何れかに記載の永久磁石電電機の駆動装置により、圧縮機用電動機を駆動することにより、密閉された状態になっているモータにおいて、そのモータのモータ定数が未知であっても、永久磁石電電機の駆動装置を用いて駆動することが可能になる。これにより、インバータの制御のＳ／Ｗの標準化が可能となり、インバータが電流容量のハードの違い以外における標準化が可能となり、大量製造による低コスト化が可能となる。
さらに、インバータに接続されるモータが既知であれば、既知である値を予めインバータ内部に設定しておき、起動前のモータ定数同定作業によって、電線の接続不良やモータの取り付け間違いを検出できるようになり、製造不良のラインチェックを行うと信頼性向上に繋がる。
またさらに、製品固有のばらつきも補正でき、更に信頼性が増加するだけでなく、各製品毎の動作状態に応じた逆起電圧定数に同定すれば自動でモータの性能を最大限に引き出す最適運転させることが可能になる。
また、不良や過電流の原因を、モータ定数を同定し外部に引き出して表示などを行うことにより、密閉型の製品を分解することなく特定あるいは推定したり、範囲を絞ることが、例えば磁石の減磁などの不良、過負荷など、出来るので運転停止や継続の判断、速やかな必要最小限の修理により短期間の停止や補修費用の低減が可能になる。
【０２３７】
この発明の請求項４４に係る冷凍サイクル装置は、請求項４３に記載の密閉形圧縮機を搭載したことにより、冷媒の充填量や配管長、設置場所の環境など製品間で発生するばらつきも抑制することができ、各製品毎にモータの性能を最大限に引き出して駆動する運転が実現できる。
【０２３８】
この発明の請求項４５に係る永久磁石発電機の駆動装置は、請求項１〜４２の何れかに記載の永久磁石電動機の駆動装置を発電機に適用したことにより、メンテナンスが容易になり、また逆起電圧定数の同定方法を用いれば、発電機の発電動作を停止することなく、減磁を検出することが可能となる。
【図面の簡単な説明】
【図１】実施の形態１を示す図で、モータ駆動装置の回路ブロック図である。
【図２】実施の形態１を示す図で、モータ駆動制御部を示す回路ブロック図である。
【図３】実施の形態１を示す図で、モータの回転軸とインバータの回転軸の説明図である。
【図４】実施の形態１を示す図で、他の形態を示す回路ブロック図である。
【図５】実施の形態１を示す図で、更に他の形態を示す回路ブロック図である。
【図６】実施の形態２を示す図で、モータ駆動装置の回路ブロック図である。
【図７】実施の形態２を示す図で、動作を示すフローチャート図である。
【図８】実施の形態２を示す図で、逆起電圧定数同定器の一例を示す回路ブロック図である。
【図９】実施の形態２を示す図で、インバータの構成図である。
【図１０】実施の形態２を示す図で、短絡防止時間のタイムチャート図である。
【図１１】実施の形態２を示す図で、他の形態を示す回路ブロック図である。
【図１２】実施の形態２を示す図で、更に他の形態を示す回路ブロック図である。
【図１３】実施の形態３を示す図で、モータ駆動装置の回路ブロック図である。
【図１４】実施の形態４を示す図で、モータ駆動装置の回路ブロック図である。
【図１５】実施の形態４を示す図で、モータの等価回路図である。
【図１６】実施の形態４を示す図で、インダクタンスとモータ位置の関係を示す説明図である。
【図１７】実施の形態４を示す図で、印加パルスと電流の波形図である。
【図１８】実施の形態４を示す図で、動作を示すフローチャート図である。
【図１９】実施の形態５を示す図で、モータ駆動装置の回路ブロック図である。
【図２０】従来のモータ駆動装置の回路ブロック図である。
【図２１】他の従来のモータ駆動装置の回路ブロック図である。
【図２２】他の従来のモータ駆動装置の回路ブロック図である。
【符号の説明】
１　モータ、２　インバータ、２ａ〜２ｆスイッチング素子、２ｇ　コンデンサ、３　モータ駆動制御部、３ａ　電圧指令生成器、３ｂ　速度推定器、３ｃ　積分器、４　３軸２軸変換部、５　２軸３軸変換部、６　指令値格納部、７　電流検出器、１０　モータ軸推定器、１１　逆起電圧定数同定器、１２　ローパスフィルタ、１３　Ｔｄ補正器、１４電圧検出器、１５　動作判定部、２０　センサ駆動制御部、２１　位置センサ、２２　速度算出器、２３　センサレス駆動制御部、３２　記憶部、４３　電圧検出器、４４　インダクタンス同定器、５０圧縮機、５１　駆動装置、５２　凝縮器、５３　蒸発器、５４絞り弁。[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a drive device for driving a permanent magnet motor, and more particularly to a technique for estimating a rotation axis of a motor, and a drive device for identifying a motor constant by the drive device itself by the estimation method.
[0002]
[Prior art]
FIG. 20 relates to a method for identifying a constant of a back electromotive force constant of a conventional synchronous motor disclosed in, for example, JP-A-2000-341999. In this publication, the back electromotive force constant is described as an induced voltage constant, but they are the same. 20, 101 is a speed controller, 102 is a δ-axis current controller, 103 is a γ-axis current controller, 104 is a vector control circuit, 105 is an inverter circuit, 106 is a synchronous motor, 108 is a γδ-axis current, an induced voltage estimator, 113 is a motor constant identifier.
[0003]
Next, the operation will be described. The γδ axis current and induced voltage estimator 108 outputs a current estimated value and an induced voltage estimated value on the γδ axis. In the motor constant identifier 113, the current flowing through the motor 106 is controlled by the δ-axis current controller 102 and the γ-axis current controller 103 based on the output current estimated value and the induced voltage estimated value, and the induced voltage estimator 108 An estimated induced voltage estimation value is further obtained. The constant identification is performed by the motor constant identifier 113 so that the deviation of these estimated values becomes zero, thereby identifying the constant.
[0004]
It is stated that high-performance motor control can be performed by the identified motor constants.
[0005]
FIG. 21 relates to a method for identifying a constant of a motor constant such as an inductance component of a conventional synchronous motor disclosed in, for example, JP-A-2001-69783. In this publication, the back electromotive force constant is described as an electromotive force coefficient, but they are the same. A technique for measuring inductance by applying a pulse has been disclosed. 21, 151 is a permanent magnet motor, 154 is a transistor inverter, 155 is a switching element, and 156 is a diode.
[0006]
The technique disclosed in Japanese Patent Application Laid-Open No. 2001-69783 is obtained by applying three types of pulses of the switching element 155: u +, v−, w− and u−, v +, w− and u−, v− and w +. The characteristic is that the inductance can be measured by converting the obtained current into the stationary coordinates.
[0007]
FIG. 22 relates to a conventional brushless DC motor driving apparatus disclosed in Japanese Patent Application Laid-Open No. 2000-245191. This is to calculate the back electromotive voltage constant by cutting off the applied voltage while the motor is rotating and detecting the terminal voltage and the speed at that time.
[0008]
[Problems to be solved by the invention]
The technique disclosed in Japanese Patent Application Laid-Open No. 2000-341999 employs a position sensorless system that does not detect the position of a synchronous motor. Therefore, FIG. 20 shows a control block in which the estimation of the speed and the estimation of the position are simultaneously performed.
[0009]
However, motor constants are required to estimate the speed and position.To identify the motor constants, the induced voltage is estimated from the estimated and detected values of the current on the γδ axis, and the motor constants are identified. ing. When the control block is configured as described above, if an error occurs in the identification of the motor constant, an error also occurs in the estimation of the speed and the position. When an error occurs in the estimation of the position, the three-phase current is converted into a current on the γδ axis. This is a technique that requires high-performance control in which no error is allowed for all estimations, since an error is also generated in the part that converts to, and the control is established by estimating the estimation.
[0010]
Further, in order to control the current of the γδ-axis current for identifying the constant, a voltage is applied for the identification, and the optimum voltage is not applied so as to be the highest efficiency operating point of the motor. The technique disclosed in Japanese Patent Application Laid-Open No. 2000-341999 is a technique for pursuing control performance such as speed response and stability rather than the efficiency of an electric motor. Further, when the sensorless control method is changed, it becomes impossible to identify the back electromotive force constant, and this technology is applicable only to the sensorless technology disclosed in the publication.
[0011]
A similar technique is described in Japanese Patent Application Laid-Open No. 9-191698. However, a control block for identifying and estimating an electric motor constant is configured inside a control block for estimating a position. It is technology to pursue.
[0012]
Next, with respect to the technique disclosed in Japanese Patent Application Laid-Open No. 2001-69783, a pulse is applied for a very short time, which is a time sufficiently shorter than the time constant L / R of the permanent magnet motor 151. It is written. There is a contradiction that the pulse time for measuring the motor constant whose constant is unknown is sufficiently shorter than the time constant L / R of the motor constant.
[0013]
Further, when the pulse time is too short, there is a problem that the current does not sufficiently flow, the current is offset due to the residual magnetic flux due to the pulse application, and accurate inductance measurement cannot be performed. In order to solve this problem, it is necessary to extend the minute time of the applied pulse, but it is necessary to suppress the time to a time sufficiently shorter than the time constant L / R of the motor constant. If the value of the inductance component is known to some extent, This is a very effective means.
[0014]
Japanese Patent Application Laid-Open No. 2001-69783 also discloses a technique for calculating a back electromotive force constant. The method disclosed in this publication adjusts an electromotive force coefficient so as to adjust a speed error due to an electromotive force estimated during existing sensorless driving, and is a technique applicable only to sensorless control for performing electromotive force estimation.
[0015]
According to the technique disclosed in Japanese Patent Application Laid-Open No. 2000-245191, since the applied voltage is temporarily cut off, the speed of the motor is reduced, and depending on the load connected to the motor, it is not possible to cut off the applied voltage. Sometimes it is impossible. In addition, when the inertial force of the load is small, it is necessary to have a speed response for detecting the terminal voltage and the speed of the motor quickly after the cutoff of the applied voltage, and the speed detection in such a state requires very high accuracy. Is done.
[0016]
Further, even if the cutoff of the applied voltage is instantaneously released, the speed of the motor is reduced to a state where the electric motor is stopped or close to a stopped state, and there is a possibility that a situation such as a restart occurs. In the case of the sensorless drive, 100% startup cannot be said to be reliable, and the motor may temporarily stop for identification of the back electromotive force constant.
[0017]
Further, Japanese Patent Application Laid-Open No. 2000-313498 discloses a technique of an identification method for identifying a motor constant of a permanent magnet synchronous motor. This is a method of detecting the magnetic flux φ of the permanent magnet during rotation, but is not a position sensorless but a sensor drive configuration using a position sensor. It is very difficult to apply to driving.
[0018]
Japanese Patent Application Laid-Open Nos. 9-182499 and 10-229700 also disclose techniques for identifying a motor constant. However, similar to the above, a technique capable of accurately detecting a motor constant by a position sensor is used. Therefore, in the case of a position sensorless, application is difficult.
[0019]
The present invention has been made in order to solve the above-described problems, and has an estimator capable of estimating a true rotational coordinate axis of an electric motor. It is an object of the present invention to provide a permanent magnet motor driving device that realizes constant detection and also realizes position sensorless driving using an axis estimator.
Still another object of the present invention is to provide a permanent magnet motor driving device that accurately measures inductance regardless of the pulse application time.
[0020]
[Means for Solving the Problems]
A drive device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In, the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor composed of the magnetic flux direction by the rotor magnet of the permanent magnet motor and the coordinates of the direction advanced by 90 degrees in the rotation direction from the magnetic flux direction, Calculated from the instantaneous voltage applied to the permanent magnet motor at a predetermined rotation speed and the instantaneous current value flowing through the permanent magnet motor, and the rotational coordinate axis of the motor is calculated from the axis error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor. Is provided.
[0021]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the driving device, an axis error between a rotation coordinate axis of the inverter and a rotation coordinate axis of a motor constituted by coordinates of a magnetic flux direction by the rotor magnet of the permanent magnet motor and a direction advanced by 90 degrees in the rotation direction from the magnetic flux direction. Is calculated from the instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the number of rotations detected or calculated by calculation, and the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor are calculated. And a motor axis estimator for estimating the rotation coordinate axis of the motor from the axis error.
[0022]
Further, the drive device of the permanent magnet motor according to the present invention is characterized in that the rotation coordinate axis of the inverter uses a position obtained by detecting the position of the rotor of the permanent magnet motor.
[0023]
Further, the drive device for the permanent magnet motor according to the present invention is characterized in that the position of the rotor of the motor is not detected and the position obtained by calculation inside the drive device is used as the rotation coordinate axis of the inverter.
[0024]
Further, a drive device for a permanent magnet motor according to the present invention includes an operation determination unit that determines an operation of the permanent magnet motor based on an output of the motor shaft estimator.
[0025]
Further, the drive device for a permanent magnet electric motor according to the present invention is characterized in that the operation judging unit judges the start.
[0026]
Also, in the drive device for a permanent magnet motor according to the present invention, the operation determining unit may instruct the inverter to change the voltage command value to the inverter in order to suppress the step-out before stopping the permanent magnet motor due to the step-out. It is characterized.
[0027]
Further, the drive device for a permanent magnet electric motor according to the present invention is characterized in that the operation determining unit includes an alarm device or a display device.
[0028]
Also, the permanent magnet motor driving device according to the present invention drives the permanent magnet motor by the inverter, and controls the inverter position without the position sensor by controlling the position of the rotor of the permanent magnet motor. An error between the coordinate axis and the rotational coordinate axis of the motor, which is constituted by the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is applied to the permanent magnet motor. Motor that calculates the instantaneous voltage of the motor, the instantaneous current value flowing through the permanent magnet motor, and the rotational speed calculated, and estimates the rotational coordinate axis of the motor from the axis error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor. An axis estimator is provided, and the permanent magnet motor is controlled based on the output of the motor axis estimator.
[0029]
Further, in the drive device for a permanent magnet motor according to the present invention, the motor shaft estimator includes a voltage V converted by the rotation coordinate axis of the inverter._γ,V_δ, Current I_γ,I_δAnd the rotational speed ω1 of the rotating coordinate axis of the inverter, the phase resistance R of the permanent magnet motor, and the q-axis inductance Lq of the permanent magnet motor,
[0030]
(Equation 3)

[0031]
Is used to calculate the axis error Δθ.
[0032]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the drive device, the error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated. Calculated from the instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the detected or calculated rotational speed, the axis error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor is calculated. Motor axis estimator for estimating the rotation coordinate axis of the motor from the minute, and the axis error obtained by the motor axis estimator and the rotation axis of the inverter. Calculates the back electromotive force constant of the permanent magnet motor from the motor input voltage and the current flowing through the motor, which are converted on the rotation coordinate axis of the motor, the rotation speed of the motor, the resistance component of the motor, and the inductance component of the motor. A back electromotive force constant identifier.
[0033]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the drive device, the error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated. The rotation of the motor is calculated from the instantaneous voltage applied to the permanent magnet motor and the instantaneous current flowing through the permanent magnet motor at a predetermined rotation speed, and the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. A motor axis estimator for estimating the coordinate axes, and the rotation of the motor obtained from the axis error obtained by the motor axis estimator and the rotation coordinate axes of the inverter A back electromotive force that calculates a back electromotive force constant in a permanent magnet motor from the motor input voltage and the current flowing through the motor, the coordinates of which are converted by the reference axis, the number of rotations of the motor, the resistance component of the motor, and the inductance component of the motor. And a voltage constant identifier.
[0034]
Further, in the driving device for a permanent magnet motor according to the present invention, the back electromotive force constant identifying device may perform coordinate conversion on the rotating coordinate axis of the motor obtained from the axis error obtained by the motor axis estimator and the rotating coordinate axis of the inverter. Motor input voltage Vq_estAnd the current id flowing through the motor_est, Iq_estUsing the rotational angular velocity ω1 of the motor, the resistance component R of the motor, and the d-axis inductance component Ld of the motor,
[0035]
(Equation 4)

[0036]
Is used to calculate the back electromotive force constant φ.
[0037]
Further, a drive device for a permanent magnet motor according to the present invention detects a voltage and a current applied from the inverter to the motor, and calculates a back electromotive force constant using the detected values of the voltage and the current. .
[0038]
Further, in the driving device for a permanent magnet motor according to the present invention, the back electromotive force constant identifying device may perform coordinate conversion on the rotating coordinate axis of the motor obtained from the axis error obtained by the motor axis estimator and the rotating coordinate axis of the inverter. From the command voltage to the motor and the current flowing through the motor, the number of rotations of the motor, the resistance component of the motor, and the inductance component of the motor, the back electromotive force constant in the permanent magnet motor is calculated, and the permanent magnet motor is operated. It is characterized by having a short-circuit prevention time correction function for correcting voltage distortion due to the short-circuit prevention time set in the driven inverter.
[0039]
Further, the drive device for a permanent magnet motor according to the present invention is characterized in that a voltage, a current, and a rotation speed near zero of the current of each phase of the permanent magnet motor are not used for calculating the back electromotive force constant.
[0040]
Further, the drive device for a permanent magnet motor according to the present invention has a short-circuit prevention time correction function for correcting a voltage distortion due to a short-circuit prevention time set in an inverter that drives the permanent magnet motor, and is applied from the inverter to the motor. It is characterized in that a voltage and a current are detected, and a back electromotive force constant is calculated using the detected values.
[0041]
Further, the drive device for a permanent magnet motor according to the present invention is characterized in that the drive of the permanent magnet motor is controlled using the back electromotive force constant calculated by the back electromotive force constant identifier.
[0042]
Further, the driving device for a permanent magnet motor according to the present invention drives the permanent magnet motor with an external force to drive the previously measured back electromotive force constant as an initial value, and identifies the back electromotive force constant from this state. Reflected on the driving device.
[0043]
Further, the drive device of the permanent magnet motor according to the present invention creates a state in which the permanent magnet motor is dragged and rotated by the forced rotating magnetic field, identifies the back electromotive force constant in this state, and initializes the value. The method is characterized in that a permanent magnet motor is driven as a value, then the operation is switched to a synchronous drive operation to accelerate, and after acceleration, a back electromotive force constant is identified.
[0044]
Further, the drive device for a permanent magnet motor according to the present invention creates a state in which the permanent magnet motor is dragged and rotated by the forcible rotating magnetic field, identifies the back electromotive force constant in this state, and initializes the value. When the permanent magnet motor is driven as a value and then stopped, the motor is started in a synchronous operation with the value identified before the stop as an initial value.
[0045]
Further, a drive device for a permanent magnet motor according to the present invention is characterized in that the permanent magnet motor is synchronously driven using the back electromotive force constant identified by the back electromotive force constant identifier.
[0046]
Further, a drive device for a permanent magnet motor according to the present invention is characterized in that a value of a back electromotive force constant is used to generate a voltage command to be output to an inverter.
[0047]
The drive device for a permanent magnet motor according to the present invention corrects the back electromotive force constant identified by the back electromotive force constant identifier through a low-pass filter, and uses the corrected back electromotive force constant to The motor is operated synchronously.
[0048]
Further, the drive device of the permanent magnet motor according to the present invention is characterized in that the time constant of the low-pass filter is made larger than the control cycle of the drive of the permanent magnet motor.
[0049]
Further, the drive device for a permanent magnet motor according to the present invention is characterized in that the demagnetization of the permanent magnet of the permanent magnet motor is detected by identifying the back electromotive force constant while the permanent magnet motor is being driven.
[0050]
Further, a drive device for a permanent magnet motor according to the present invention includes a failure diagnosis unit, and displays that the permanent magnet of the permanent magnet motor has been demagnetized.
[0051]
Further, the drive device for a permanent magnet motor according to the present invention is characterized in that the environmental temperature of the permanent magnet motor is estimated by identifying the back electromotive force constant.
[0052]
Further, a drive device for a permanent magnet motor according to the present invention is characterized in that a phase resistance value of the permanent magnet motor is identified by identifying a back electromotive force constant.
[0053]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the driving device, a pulse is applied to the permanent magnet motor for a very short time, and the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and the pulse component, the inductance component of the permanent magnet motor is detected from the pulse time. In the case where the number of phases of the permanent magnet motor is 2n + 1 (n is an integer of 1 or more), the pulse of the inverter to be operated for the pulse applied only for a very short time should be applied by alternately switching the total number of the upper and lower switches. It is characterized.
[0054]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the driving device, a pulse is applied to the permanent magnet motor for a very short time, and the inductance component of the permanent magnet motor is detected from the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and the pulse time. The pulse applied for a very short period of time is characterized in that the pulse is applied an even number times the number of phases of the permanent magnet motor.
[0055]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the driving device, a pulse is applied to the permanent magnet motor for a very short time, and the inductance component of the permanent magnet motor is detected from the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and the pulse time. The present invention is characterized in that a current peak value by a pulse applied for a very short time is also used for estimating a stop position of a rotor of a permanent magnet motor.
[0056]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the driving device, a pulse is applied to the permanent magnet motor for a very short time, and the inductance component of the permanent magnet motor is detected from the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and the pulse time. Before applying the pulse for a very short time, a pulse for determining the pulse application time is applied to the permanent magnet motor to set the very short time.
[0057]
Further, the drive device for a permanent magnet motor according to the present invention is characterized in that the detected inductance component is used for at least one of drive control of the permanent magnet motor or calculation of a motor axis estimator.
[0058]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the drive device, the error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated. Calculated from the instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the detected or calculated rotational speed, the axis error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor is calculated. A motor axis estimator that estimates the rotational coordinate axis of the motor from the minute, and a pulse is applied to the permanent magnet motor for a very short time, and the pulse is applied to the permanent magnet motor. An inductance identifier that detects the inductance component of the permanent magnet motor from the pulse voltage, the peak value of the current flowing through the permanent magnet motor, and the pulse time, and a shaft error obtained by the motor shaft estimator and the rotational coordinate axis of the inverter. From the motor input voltage and the current flowing through the motor, which are coordinate-transformed on the rotation coordinate axis of the motor, the number of rotations of the motor, the resistance component of the motor, and the inductance component of the motor detected by the inductance identifier, the permanent magnet motor And a back electromotive force constant identifier for calculating the back electromotive force constant.
[0059]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the drive device, the error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated. Calculated from the instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the detected or calculated rotational speed, the axis error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor is calculated. A motor axis estimator that estimates the rotational coordinate axis of the motor from the minute, and a pulse is applied to the permanent magnet motor for a very short time, and the pulse is applied to the permanent magnet motor. The inductance component of the permanent magnet motor is detected from the pulse voltage, the peak value of the current flowing through the permanent magnet motor, and the pulse time. If the number of phases of the permanent magnet motor is 2n + 1 (n is an integer of 1 or more), it is only for a very short time. The switches of the inverter to be operated for the pulse to be applied are obtained from the inductance identifier that applies the pulse by alternately changing the total number of each of the upper and lower sides, and the axis error obtained by the motor axis estimator and the rotation coordinate axis of the inverter. From the motor input voltage and the current flowing through the motor, which are coordinate-transformed on the rotation coordinate axis of the motor, the number of rotations of the motor, the resistance component of the motor, and the inductance component of the motor detected by the inductance identifier, the A back electromotive force constant identifier for calculating the back electromotive force constant.
[0060]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the drive device, the error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated. Calculated from the instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the detected or calculated rotational speed, the axis error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor is calculated. A motor axis estimator that estimates the rotational coordinate axis of the motor from the minute, and a pulse is applied to the permanent magnet motor for a very short time, and the pulse is applied to the permanent magnet motor. The inductance component of the permanent magnet motor is detected from the pulse voltage, the peak value of the current flowing through the permanent magnet motor, and the pulse time, and the pulse applied for a very short time is an inductance that applies an even number of times the number of phases of the permanent magnet motor. An identifier, a motor input voltage and a current flowing through the motor, which are coordinate-transformed on the rotation coordinate axis of the motor obtained from the axis error obtained by the motor axis estimator and the rotation coordinate axis of the inverter, and the number of rotations of the motor, A back electromotive force constant identifier for calculating a back electromotive force constant in the permanent magnet motor from the resistance component of the motor and the inductance component of the motor detected by the inductance identifier.
[0061]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the drive device, the error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated. The rotation of the motor is calculated from the instantaneous voltage applied to the permanent magnet motor and the instantaneous current flowing through the permanent magnet motor at a predetermined rotation speed, and the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. A motor axis estimator for estimating the coordinate axes and a pulse applied to the permanent magnet motor for a very short time, and the pulse voltage applied to the permanent magnet motor and the An inductance identifier that detects the inductance component of the permanent magnet motor from the peak value and pulse time of the current flowing through the magnet motor, and the rotation of the motor obtained from the axis error obtained by the motor axis estimator and the rotation coordinate axis of the inverter. The back electromotive voltage in the permanent magnet motor is obtained from the motor input voltage and the current flowing through the motor, which are coordinate-transformed on the coordinate axes, the number of rotations of the motor, the resistance component of the motor, and the inductance component of the motor detected by the inductance identifier. A back electromotive force constant identifier for calculating a constant.
[0062]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the drive device, the error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated. The rotation of the motor is calculated from the instantaneous voltage applied to the permanent magnet motor and the instantaneous current flowing through the permanent magnet motor at a predetermined rotation speed, and the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. A motor axis estimator for estimating the coordinate axes and a pulse applied to the permanent magnet motor for a very short time, and the pulse voltage applied to the permanent magnet motor and the The inductance component of the permanent magnet motor is detected from the peak value of the current flowing through the magnet motor and the pulse time. When the number of phases of the permanent magnet motor is 2n + 1 (n is an integer of 1 or more), the pulse applied for a very short time is used. Inverter switches to be operated in order to apply pulses by alternately changing the total number of upper and lower switches, and the rotational coordinate axis of the motor obtained from the axis error obtained by the motor axis estimator and the rotational coordinate axis of the inverter The back electromotive force constant in the permanent magnet motor is obtained from the motor input voltage and the current flowing through the motor, the motor rotation speed, the resistance component of the motor, and the inductance component of the motor detected by the inductance identifier. And a back electromotive force constant identifier for calculating
[0063]
Further, a driving device for a permanent magnet motor according to the present invention drives a permanent magnet motor with an inverter, detects the position of a rotor of the permanent magnet motor or calculates the position by calculation, and controls the inverter to control the inverter. In the drive device, the error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated. The rotation of the motor is calculated from the instantaneous voltage applied to the permanent magnet motor and the instantaneous current flowing through the permanent magnet motor at a predetermined rotation speed, and the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. A motor axis estimator for estimating the coordinate axes and a pulse applied to the permanent magnet motor for a very short time, and the pulse voltage applied to the permanent magnet motor and the An inductance identifier that detects the inductance component of the permanent magnet motor from the peak value of the current flowing through the magnet motor and the pulse time, and the pulse applied for a very short time applies an even number of times the number of phases of the permanent magnet motor, The motor input voltage and the current flowing through the motor, which are coordinate-transformed on the motor rotation coordinate axis obtained from the axis error obtained by the motor axis estimator and the rotation coordinate axis of the inverter, the rotation speed of the motor, and the resistance component of the motor And a back electromotive force constant identifier for calculating a back electromotive force constant in the permanent magnet motor from the inductance component of the motor detected by the inductance identifier.
[0064]
Further, the drive device for a permanent magnet motor according to the present invention is characterized in that the calculated back electromotive force constant is tuned as a back electromotive force constant used for controlling the permanent magnet motor.
[0065]
Further, a drive device for a permanent magnet motor according to the present invention is characterized in that the inductance component detected by the inductance identifier is used for at least one of drive control of the permanent magnet motor and calculation of the motor shaft estimator.
[0066]
A hermetic compressor according to the present invention is characterized in that a motor for a compressor is driven by the drive device for a permanent magnet electric machine according to any one of claims 1 to 42.
[0067]
A refrigeration cycle apparatus according to the present invention includes the hermetic compressor according to claim 43 mounted thereon.
[0068]
A drive device for a permanent magnet generator according to the present invention is characterized in that the drive device for a permanent magnet motor according to any one of claims 1 to 42 is applied to a generator.
[0069]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
Embodiment 1 FIG.
1 to 5 show a first embodiment, FIG. 1 is a circuit block diagram of a motor driving device, FIG. 2 is a circuit block diagram showing a motor driving control unit, and FIG. 3 is a rotating shaft of a motor and a rotating shaft of an inverter. FIG. 4 is a circuit block diagram showing another embodiment, and FIG. 5 is a circuit block diagram showing another embodiment.
In FIG. 1, 1 is a permanent magnet motor (hereinafter, motor), 2 is an inverter that drives the motor 1, 3 is a motor drive control unit that controls the motor 1 to drive according to the rotor position of the motor 1, and 4 is A three-axis / two-axis conversion unit that converts the current flowing through the motor 1 from a three-phase AC coordinate system to a rectangular coordinate system is output from the inverter 2 to output a two-axis voltage calculated by the motor drive control unit 3. A two-axis / three-axis conversion unit that performs coordinate conversion to a three-phase AC coordinate system, 6 is a command value storage unit in which a command value input to the motor drive control unit 3 for driving and controlling the motor 1 is stored, and 7 is This is a current detector that detects a current flowing through the motor 1.
[0070]
In FIG. 1, the drive of the motor 1 can be controlled if it is constituted by the motor 1 and the current detector 7. An example of a control block of the motor drive control unit 3 is shown in FIG. 2. In FIG. 2, the portion within the dotted line is the motor drive controller 3 shown in FIG. 1, and the motor drive controller 3 includes a voltage command generator 3a, a speed estimator 3b, and an integrator 3c.
[0071]
First, the sensorless control in FIG. 1 will be briefly described. When a voltage is output from the inverter 2, a current flows through the motor 1 and the motor 1 can be driven. Since the motor 1 is a permanent magnet motor, the motor 1 cannot be driven continuously unless a voltage is applied to the motor 1 according to the position of the rotor of the motor 1. Therefore, the current flowing through the motor 1 is detected by the current detector 7, and the detected three-phase current I_uvwIs converted by a three-axis / two-axis converter 4 into a two-axis current I which is a rectangular coordinate system._γδConvert to
[0072]
Converted two-axis current I_γδIs input to the motor drive control unit 3 and is input to the voltage command generator 3a inside the motor drive control unit 3. γ-axis current I_γAnd δ-axis current I_δ, Γ-axis current command I_γ ^*And the estimated speed ω1, the two-axis voltage V to be output_γδGet.
[0073]
In the speed estimator 3b, the speed command ω * and the δ-axis current I_δAnd the estimated speed ω1 is obtained. Coordinate conversion angle θ used in the three-axis / two-axis converter 4 and the two-axis three-axis converter 5_mIs obtained by integrating the estimated angular velocity ω1. These V_γδAnd θ_m, Ω1 is generally calculated using the voltage-current equation of the motor, but even in this case, it is possible to use the motor axis estimator 10 capable of estimating the true rotational coordinate axis of the motor 1. it can.
[0074]
Next, the configuration of the motor shaft estimator 10 will be described. If an axis error Δθ of Δθ = θr−θm is defined between the true rotational coordinate axis θr of the motor 1 and the rotational coordinate axis θm that is being driven and controlled by the inverter 2, the motor 1 when viewed from the inverter 2 Can be derived as in the equation (1).
[0075]
(Equation 5)

[0076]
Here, the value represented by dq is a value on the true rotational coordinate axis of the motor 1, and the value represented by γδ is a value on the rotational coordinate axis on the inverter driven by the inverter 2. Value. The dq axes in FIG. 3 are the rotation coordinate axes of the motor 1, and the γδ axis is the rotation coordinate axis of the inverter 2. There is an error of Δθ between these two axes, and the role of the motor axis estimator 10 is to calculate this Δθ.
[0077]
The dq axes are the rotating coordinate axes of the motor 1, and the direction of the magnetic flux of the magnet disposed on the rotor of the motor is generally defined as the d axis, and the direction advanced by 90 degrees in the rotating direction is generally defined as the q axis as shown in FIG. Is done. Further, since the γδ axis is the rotation axis of the inverter 2, it is generated by the motor drive control unit 3 and is set by the motor drive control unit 3 within a range where the motor 1 rotates. An axis corresponding to the d axis in the coordinates is defined as a γ axis, and an axis corresponding to the q axis is defined as a δ axis. Further, these coordinate axes rotate at an angular velocity of ω1.
[0078]
In equation (1), assuming that the voltage drop at the inductance is sufficiently smaller than the induced voltage of the permanent magnet by the motor 1, only the axis error Δθ of the equation of the inductance of the equation (1) is calculated according to the equation (2). Approximation.
[0079]
(Equation 6)

[0080]
If the approximation is made as in the equation (2), the voltage-current equation becomes as shown in the equation (3), which is easy. However, when Δθ is calculated in the equation (3), an error due to the approximation occurs in a region where the load torque is large. Therefore, it is preferable to calculate Δθ without approximation.
[0081]
(Equation 7)

[0082]
Therefore, if equation (1) is solved without approximation, the axis error Δθ is obtained as in equation (4), and the true rotation coordinate axis θr of the motor 1 can be calculated. Equation (4) is a result of solving equation (1), and is different from equation (3) only in the denominator Ld and Lq, but this is an approximate difference.
[0083]
(Equation 8)

[0084]
Since the motor axis estimator 10 constituted by the equation (4) does not perform any approximation, it is possible to accurately estimate the axis error under any operating conditions. The axis error is an error between the rotation axis of the inverter 2 and the rotation axis of the motor 1. Since the rotation axis of the inverter 2 is known, the rotation axis of the motor 1 can be estimated.
[0085]
Although the estimated speed ω1 is used in the equation (1), the motor shaft estimator 10 detects the voltage and current only when the motor 1 is operating at a predetermined rotation speed. It may be configured to perform the estimation.
[0086]
Further, when the motor 1 is driven at a variable speed, the motor shaft estimator can be used by using the speed data in the equation (1), whether the estimated speed ω1 estimated by the motor drive control unit 3 or the detected speed detected. 10 calculates the axis error Δθ from equation (4).
[0087]
Therefore, the estimated rotation axis of the motor 1 is input to the operation determination unit 15 as the output of the motor axis estimator 10. With such a configuration, when the sensorless controller shown in FIG. 2 that drives the motor with the time integration value of the speed without performing position estimation and without detecting position is the motor drive control unit 3 However, since it has a position estimator, step-out and motor lock can be detected. In addition, even in sensorless control for performing position estimation, having a position estimator having a different calculation method can further improve the reliability of detection of step-out or motor lock.
[0088]
In addition, there is an effect that out-of-step or motor lock can be detected even when the position is detected and a failure occurs in the position detection.
[0089]
Since the motor axis estimator 10 is provided in a configuration different from that of the motor drive control unit 3, it is possible for the operation determination unit 15 to determine whether to start at the time of position sensorless control without a position sensor. This makes it possible to determine whether or not the system has been started up. If the system has not been started up, it immediately shifts to the restart state, and the reliability of startup can be improved.
[0090]
Further, since the state at the start of step-out can be detected, the operation determining unit 15 issues an instruction from the operation determination unit 15 to change the voltage command in the voltage command generator 3a so as to suppress the step-out before the motor stops due to step-out. By transmitting a signal to the drive control unit 3, it is possible to perform step-out suppression control.
[0091]
Here, even if the operation determination unit 15 includes an alarm device and a display device therein, there is no effect on the operation, and an effect that the above can be more reliably transmitted to the user can be created.
[0092]
Further, when the axis error Δθ is not used for driving the motor, all of the voltage, current, inverter rotation axis, and speed data used in the equations (1) and (4) are calculated using the same sampling value. Obviously, the arithmetic processing speed does not require high-speed processing. Also, it is obvious that the voltage / current data is not an average value or an execution value since the same sampling is required.
[0093]
Also, the motor drive control unit 3, the three-axis two-axis conversion unit 4, the two-axis three-axis conversion unit 5, the motor axis estimator 10, and the operation determination unit 15 described in FIG. Even if it is constituted by one CPU such as a computer or a digital signal processor (DSP), it does not affect the operation of the driving device of FIG.
[0094]
FIG. 4 shows a case where the sensor drive control unit 20 configured to detect and drive the position of the rotor using a position sensor is configured. 21 is a position sensor for detecting the rotor position of the motor 1, and 22 is a speed calculator for calculating the speed from the output of the position sensor.
[0095]
Even in the case of the configuration as shown in FIG. 4, the motor axis estimator 10 is not different from that of FIG. Therefore, it is needless to say that the motor axis estimator 10 can be configured even with the position sensor 21 and has the same effect as described above.
[0096]
In the case of the configuration shown in FIG. 4, the difference between the signal from the position sensor and the true rotational coordinate axis of the motor 1 is Δθ, but the direct read value of the position sensor is not directly input to the coordinate conversion units 4 and 5, and the phase lead angle Is added or the error due to the mounting position of the position sensor 21 is corrected in advance, the motor axis estimator 10 can calculate the axis error with respect to the angle input to the coordinate conversion units 4 and 5. Needless to say.
[0097]
FIG. 5 is a block diagram showing a configuration of the sensorless drive control unit 23 using the axis error of the motor axis estimator 10. An axis error Δθ output from the motor axis estimator 10 is output, and sensorless driving is realized using Δθ. If the relationship between the number of rotations and the output torque is known, the range of Δθ according to the number of rotations is formed into a mathematical expression or a data table in advance, and the sensorless drive control unit 23 determines that Δθ falls within a preset range. Works. This is based on the fact that the motor 1 rotates even if Δθ is not equal to 0. If the motor 1 goes out of a certain set range, the motor loses synchronism, so that Δθ is controlled within a certain set range. Thus, the motor 1 is to be driven.
[0098]
By realizing the sensorless drive control with the configuration as shown in FIG. 5, the sensorless control can be realized with a CPU which is less expensive than the conventional one.
[0099]
Embodiment 2 FIG.
6 to 12 are diagrams showing a second embodiment, FIG. 6 is a circuit block diagram of a motor driving device, FIG. 7 is a flowchart showing an operation, and FIG. 8 is a circuit block diagram showing an example of a back electromotive force constant identifier. 9 is a configuration diagram of an inverter, FIG. 10 is a time chart of a short-circuit prevention time, FIG. 11 is a circuit block diagram showing another embodiment, and FIG. 12 is a circuit block diagram showing still another embodiment.
[0100]
In FIG. 6, reference numeral 11 denotes a back electromotive force constant identifier for performing coordinate conversion on the voltage and current on the rotation coordinate axis θr on the motor 1 estimated by the motor shaft estimator 10 to identify the back electromotive force constant of the motor 1. , 12 are low-pass filters for feeding back the identified back electromotive force constant to the value of the motor drive control unit 3, and the other components are the same as those in FIG.
[0101]
It is a well-known fact that four kinds of constants inherent to the permanent magnet motor, that is, phase resistance R, inductances Ld and Lq, and a back electromotive force constant φ can be raised. In the present embodiment, identification of a back electromotive force constant that is a source of output torque of a permanent magnet motor will be described.
[0102]
Here, the word identification is used, but this identification, identity, specifies the characteristic of the motor itself in the sense that it is specified by measuring and detecting a unique value, that is, there is a variation in each motor. Means that one individual has one characteristic, so it is specified
[0103]
The back electromotive force constant φ is a coefficient of angular velocity proportional to the induced voltage generated at the time rate of change of the flux linkage Φ with respect to the stator winding when the permanent magnet included in the rotor rotates. In other words, the voltage induced on the stator side increases with the speed, but the speed and the voltage have a first-order proportional relationship, and the proportional coefficient is the back electromotive force constant φ. When the angular velocity is 0, dΦ / dt = 0, and detection becomes impossible.
[0104]
Therefore, it is necessary to operate even if the motor 1 is very small, and the motor 1 is operated to perform identification. If the back electromotive force constant φ is different from the true value of the motor 1 in the motor drive control unit 3, the motor drive in the motor drive control unit 3 will have some trouble.
[0105]
In general, the back electromotive force constant φ is obtained by measuring the voltage between the terminals of the motor 1 by opening the terminals of the motor 1, rotating the shaft of the motor 1 by an external force from another, measuring the voltage between the terminals of the motor 1, The method of measuring from is adopted. In the case of this method, since the motor 1 is in an open state, not only cannot the measurement be performed when the inverter 2 is connected, but also the motor 1 needs to be rotated by an external force.
[0106]
Further, since no current is supplied to the stator of the motor 1, a voltage is induced only by the magnetic flux of the rotor, and the voltage is measured as a counter electromotive voltage constant. If there is no distortion in the stator magnetic flux of the motor 1, there is no problem. However, if the stator magnetic flux has distortion, the magnet magnetic flux of the rotor is also distorted, and a voltage different from the induced voltage when rotating by an external force may be induced. There is.
[0107]
Further, the inductance components Ld and Lq of the motor 1 have current dependency, and their values change depending on the current flowing through the stator. Since the magnetic flux on the stator side changes depending on Ld and Lq of the motor 1, the back electromotive force constant φ measured by rotating with an external force is a value when no current is flowing, and is different from a value when current is flowing. There is also a fear that.
[0108]
In the present embodiment, by identifying the back electromotive force constant during the actual operation of the motor 1, the armature reaction, which is various distortion elements generated on the stator side, is also taken into consideration.
[0109]
First, the motor 1 is started by the motor drive control unit 3 and driven to a stable state. In this case, for example, as described above, the motor 1 is rotated by an external force to drive the motor 1 with the back electromotive force constant φ measured in advance as an initial value. Normal motor drive maintains this state, but in the present embodiment, the back electromotive force constant is identified from this state and reflected in the motor drive control unit 3.
[0110]
In addition, a state is created in which the motor 1 is rotated by being pulled by the magnetic field due to the forcible rotating magnetic field. In this state, the back electromotive force constant φ is once identified, and the motor 1 is driven using the value as an initial value. I do. In this case, since the motor 1 is in a state of being rotated by a forced rotating magnetic field (this is referred to as a forced drive), the motor 1 is switched from the forced drive state to a synchronous drive operation by the motor drive control unit 3 to accelerate. There is no problem even if it is configured to identify the back electromotive force constant after acceleration.
[0111]
Further, it is needless to say that the same effect as described above can be obtained even if the back electromotive force constant is simply identified in the forced drive state, then temporarily stopped, and then restarted from that state. FIG. 7 is a flowchart showing this state.
[0112]
Here, the method of calculating the back electromotive force constant φ by the back electromotive force constant identification unit 11 is as follows. As shown in the block diagram of FIG. 8, the voltage Vuvw applied to the motor 1 and the current flowing through the motor 1 Iuvw is converted at the true position of the motor 1 estimated by the motor axis estimator 10. Then, the voltage Vq after the coordinate conversion_est, Current id_est, Iq_estAnd the rotational angular velocity ω1,
[0113]
(Equation 9)

[0114]
, The back electromotive force constant φ can be obtained. The back electromotive force constant identified based on the equation (5) is used for controlling the drive of the motor 1 by the motor drive control unit 3. Further, in FIG. 2 showing the inside of the motor drive control unit 3, the voltage command generator 3a uses the value of the back electromotive force constant to generate a voltage command.
[0115]
Although not shown, the output I of the three-axis / two-axis converter 4 of the current in FIG._γδ, Which is the input of the two-axis / three-axis voltage converter 5_γδTo the voltage Vq used in equation (5)_est, Current id_est, Iq_estCan be calculated as in the following equation by using the axis error Δθ in the equation (4).
[0116]
(Equation 10)

[0117]
Therefore, according to the above equation, it is needless to say that the equation (5) can be calculated without configuring the block as shown in FIG. 8, and has the same effect as the block in FIG.
[0118]
Assuming that the back electromotive force constant used in the voltage command generator 3a is φf, an input to the motor drive control unit 3 via the low-pass filter 12 is made to correct φf for φ identified by the equation (5). It is configured to do.
[0119]
This is because the motor drive control unit 3 drives the motor 1 at high speed, but when φf is changed abruptly, the voltage command becomes momentarily non-linear and there is a risk of hunting. The hunting can be avoided by increasing the time constant Tr of the low-pass filter 12 that reflects the identified result more than the control cycle of the motor drive by the motor drive control unit 3.
[0120]
The time constant Tr may be a cycle that is slower than the control cycle of the motor drive control unit 3, for example, a cycle of a time constant of about 10 times or a time constant of a relatively long time such as 0.5 second or more. Gradually brings the identified constant φ closer to the value φf used by the motor drive control unit 3. Further, even if the configuration is not such that the identification result is gradually reflected via the low-pass filter 12, any method can be used as long as hunting can be avoided.
[0121]
As described above, since the motor 1 is driven while identifying the back electromotive force constant φ, it is possible to drive the motor 1 at the optimum operating point of the output torque. With this configuration, the current command value I stored in the command value storage unit 6 for each operating point_γ ^*Can drive the motor at a constant value. Therefore, the ROM capacity of the CPU can be reduced, and cost reduction can be realized.
[0122]
Further, the current command value I is set so that the operating point of the output torque of the motor 1 becomes the optimum operating point for each operating point._γ ^*It is not necessary to store the data, so that it is not necessary to collect the data necessary for the storage, and it is also possible to shorten the development period and reduce costs by reducing labor costs.
[0123]
Also, the distortion of the armature reaction caused by the stator, the change due to the current in the inductances Ld and Lq having current dependence, and the change in the magnetic path due to the increase in the magnetic flux density of the rotor are collectively reflected in the back electromotive force constant. Therefore, the performance deterioration due to the distortion of the motor 1 deviating from the ideal state can be corrected, and the motor 1 can be driven in the optimum state.
[0124]
Furthermore, the current command value I_γ ^*Therefore, if a fixed-point type micro-processor is used for the CPU, the current command value I_γ ^*Since it is necessary to set the resolution per 1 bit, and it is assumed that the program is rewritten, the cost reduction in shortening the development period is great.
[0125]
Furthermore, since the back electromotive force constant is identified while the motor 1 is being driven, the demagnetization of the permanent magnet can be detected, and the reliability of the motor 1 can be improved. In particular, in the case of the hermetic motor 1, as described above, the back electromotive force constant cannot be measured by the external force unless the motor is disassembled, so that the serviceability can be improved.
[0126]
Further, it goes without saying that there is no problem even if a failure diagnosis unit or the like is added to the block diagram shown in FIG. 6 to display that demagnetization has occurred. However, in the block diagram showing the second embodiment, Not described.
[0127]
Furthermore, assuming that φ has a temperature dependency and that φ changes only with temperature, the temperature is determined by the properties of the magnet material. Therefore, by identifying φ, the approximate temperature can be estimated, and the environmental temperature of the motor 1 can be estimated. Can be estimated. Thus, if a temperature detector such as a thermistor is used for a device requiring temperature data, the number of such temperature detectors can be reduced, which contributes to cost reduction.
[0128]
Further, the phase resistance value of the motor having the temperature dependency can be identified. Further, when the refrigerant gas is used for a compressor or the like, the refrigerant gas temperature can be estimated, and there is a possibility that the analysis of the refrigerant behavior will be greatly advanced. Further, the temperature characteristics of a motor used in a high temperature environment such as an engine can be clarified. Furthermore, in the case of the motor 1 using a magnet such as a rare-earth magnet, the magnetic flux of the magnet changes with temperature, and the magnet has irreversibility with respect to temperature. Therefore, the torque reduction in the magnet is detected by identifying the back electromotive force constant. This makes it possible to compensate for the deterioration of the characteristics of the motor 1. Needless to say, the present invention can be applied to all motors 1 using magnets having irreversibility with respect to temperature.
[0129]
The voltage input to the coordinate converter 11b in FIG. 8 is a voltage command generated by the motor drive controller 3 in the configuration of the block diagram in FIG. However, there is a difference between the voltage command input to the inverter 2 and the voltage applied from the inverter 2 to the motor 1. This is due to the influence of the short circuit prevention time Td of the inverter 2.
[0130]
As shown in FIG. 9, the inverter 2 has two switching elements connected in series, and is configured as one arm. For example, when the switching elements 2a and 2b connected in series are simultaneously turned on, an arm short-circuit occurs and a short-circuit current flows. Therefore, in general, as shown in FIG. 10, in the inverter 2, a time Td when both switching elements are turned off is set so that upper and lower switching elements are not turned on at the same time as shown in FIG.
[0131]
The difference between the voltage command and the applied voltage caused by Td is caused by a diode connected in anti-parallel to the switching element included in the inverter of FIG. During the Td period, both the upper and lower switching elements are off. Assuming that a current flows to the motor 1 via the switching element 2a before entering the Td period, in other words, if a current flows in a direction shown by an arrow in FIG. 8, the current continues to flow because the motor 1 is an L load. To try. Therefore, current flows through the diode in antiparallel with the switching element 2b, and continuity of the current flowing through the motor 1 is maintained.
[0132]
However, since current flows through a diode in antiparallel with the switching element 2b, the terminal voltage of the motor 1, in other words, the connection point between the switching element 2a and the switching element 2b is equal to the diode on-voltage from the negative electrode side of the capacitor 2g. Low voltage.
[0133]
If there is no Td period, the switching element 2a is turned on and a current flows from the positive electrode side of the capacitor 2g to the motor. Therefore, the electric potential should be the same as the positive electrode of the capacitor 2g. It becomes the same potential. This is a factor that causes a voltage difference due to Td, and is generally known.
[0134]
Therefore, the voltage command input to the back electromotive force constant identifier 11 in FIG. 6 is output from the two-axis / three-axis conversion unit 5, and a Td corrector 13 for performing Td correction before inputting this output to the inverter 2 is added. By adopting the configuration as shown in the block diagram of FIG. 11, the accuracy of identifying the back electromotive force constant can be improved.
[0135]
In addition, by not using the voltage, current, and rotation speed near zero of the current of each phase of the motor 1 in the calculation of the back electromotive force constant, the accuracy of identification of the back electromotive force constant can be further improved.
[0136]
Further, as shown in FIG. 12, a voltage detector 14 is added to FIG. 6 to detect a voltage applied to the motor 1 and input the detected voltage to the back electromotive force constant identifier 11. Even with such a configuration, it goes without saying that the effect of improving the identification accuracy by the back electromotive force constant identifier is the same as that described above. Although not shown in the second embodiment, there is no problem even if the configuration is realized by adding a Td corrector 13 to the configuration as shown in FIG. Needless to say, this is improved.
[0137]
Here, the motor drive control unit 3, the 3-axis 2-axis conversion unit 4, the 2-axis 3-axis conversion unit 5, the motor axis estimator 10, the back electromotive force constant identifier 11, the low-pass filter 12 shown in FIG. Even if the operation judging section 15 which is not implemented is constituted by one control device, for example, one CPU such as a microcomputer or a digital signal processor (DSP), the operation of the driving device in FIG. 6 is not affected at all. .
[0138]
Further, it goes without saying that the Td corrector 13 shown in FIG. 11 has the same effect even if it is constituted by one CPU.
[0139]
Embodiment 3 FIG.
FIG. 13 shows the third embodiment, and is a circuit block diagram of a motor driving device. 13, the description of the same reference numerals as those in FIG. 12 will be omitted. In FIG. 13, reference numeral 30 denotes a γ-axis voltage V applied to the motor 1._γAnd δ-axis voltage V_δ, A command value storage unit that stores a rotation speed command ω *, 31 is an integrator for obtaining the coordinate transformation axis of the inverter from the rotation speed command ω *, and 32 is a value detected by the back electromotive force constant identifier 11. This is a storage unit that stores a back electromotive force constant. Further, the motor drive control unit 3 in FIG. 12 is not provided.
[0140]
In FIG. 13, since there is no motor drive control unit 3, this configuration can be rephrased as open-loop forced excitation drive. In this embodiment, as described above, it is referred to as forced driving. In the case of the forced drive, the motor 1 may not start depending on the applied voltage, or there may be an overcurrent that demagnetizes the magnet of the motor 1, but here, the motor 1 starts and the overcurrent occurs. Γ-axis voltage V_γδIs stored in the command value storage unit 30 and is applied from the inverter 2 to the motor 1.
[0141]
In the case of forced driving, the phase current has a very large value with respect to the applied voltage. Therefore, the γδ axis voltage V that does not cause an overcurrent_γδThen, the extremely small γδ axis voltage V_γδAnd is greatly affected by the aforementioned Td. However, the extremely small γδ axis voltage V_γδTherefore, it is difficult to correct Td by the Td corrector. Therefore, the voltage applied to the motor 1 is detected by using the voltage detector 14 and is input to the back electromotive force constant identifier 11.
[0142]
Further, in the forced drive, since the rotation speed command is extremely low, it is assumed that the motor 1 is rotating following the same rotation speed as the rotation speed command._γδAnd γδ axis voltage V_γδIs converted to.
[0143]
As described above, the motor shaft estimator 10 and the back electromotive force constant identifier 11 configured by the forced drive can also identify the back electromotive force constant more than enough. In FIG. 13, the output of the back electromotive force constant identifier 11 is stored in the storage unit 12 as the back electromotive force constant to be identified after being output through the low pass filter 12, but may not be passed through the low pass filter 12. .
[0144]
However, output through the low-pass filter 12 can output a constant more stably. Further, the time constant of the low-pass filter 12 in FIG. 13 is Tr, which is the same value as the time constant used for reflection on the motor drive control unit 3 described above, but need not be the same value. The time constant Tr of the low-pass filter 12 in FIG.
[0145]
With the configuration shown in FIG. 13, the back electromotive force constant φ can be identified even for the motor 1 whose back electromotive force constant is unknown at the time of startup. After the identification, a block having a configuration including the motor drive control unit 3 as shown in FIGS. 1 and 6 can be applied.
[0146]
The flowchart in FIG. 7 is a part of the present embodiment. Since it is the same as the state where there is no initial value in step S-1 in FIG. 7, it is started by forced driving in step S-2, and the back electromotive force constant φ is identified in step S-3. The identified back electromotive force constant is stored in the storage section 32, and then the motor 1 is driven again by the motor drive control section 3 as shown in FIG.
[0147]
Therefore, although not shown, FIGS. 6 and 13 and FIGS. 12 and 13 have different control block configurations. When the control blocks are configured by one CPU, they are driven back by forced drive before starting. Needless to say, the voltage constant φ may be identified as the initial value, and the motor drive control unit 3 may synchronously drive the motor while identifying the back electromotive force constant φ according to the operating state of the motor 1. In addition, the range of the number of rotations and the range of torque for driving the motor 1 are more practical than those shown in FIG.
[0148]
Embodiment 4 FIG.
14 to 18 are views showing a fourth embodiment, FIG. 14 is a circuit block diagram of a motor driving device, FIG. 15 is an equivalent circuit diagram of a motor, FIG. 16 is an explanatory diagram showing a relationship between inductance and motor position, FIG. Is a waveform diagram of an applied pulse and a current, and FIG. 18 is a flowchart showing an operation.
[0149]
14, the same components as those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted. Reference numeral 40 denotes a pulse voltage generator for generating a pulse voltage applied to the motor 1, 41 denotes a peak hold for holding a peak value of a current responsive to the applied pulse voltage, and 42 denotes a static coordinate conversion of the peak-held three-phase current. A three-axis / two-axis converter 43, a voltage detector 43 for detecting the DC bus voltage of the inverter 2, and a reference 44 for identifying the inductance of the motor 1 from the pulse time applied to the motor 1, the DC bus voltage value, and the two-axis current value. It is an inductance identifier that performs. Note that the motor 1 is a three-phase motor.
[0150]
A method for identifying an inductance component will be described. The motor 1 is a permanent magnet motor, and when the motor 1 rotates, an induced voltage by a permanent magnet included in the rotor is induced on the stator side of the motor 1. Therefore, it is easier to identify the inductance component without rotating the motor 1.
[0151]
Therefore, a high-frequency pulse voltage is applied to the motor 1. Although a pulse current flows due to the applied pulse voltage, if the motor 1 does not rotate due to the application of the pulse voltage, the motor 1 can be considered as an LR load. When the applied pulse time is very small and much smaller than the time constant (L / R) of LR, the flowing pulse current is not affected by the resistance component R.
[0152]
This will be considered with reference to FIG. Turning on the switch S for a very short time in FIG. 15 is synonymous with applying a pulse. If the current i in the LR DC circuit is a function of time t, the function of i at t is
[0153]
[Equation 11]

[0154]
Like in. Since t is a very short time, when the limit of t = 0 is obtained, E / L is obtained, and the influence of the resistance component R can be eliminated. Therefore, the resistance component R can be removed by applying the pulse, and the effect of the induced voltage can be ignored since the motor 1 does not rotate, and the inductance component can be identified from the applied pulse voltage and the detected pulse current.
[0155]
Here, when the motor 1 is considered in a stationary two-axis coordinate system, the resistance component, the induced voltage, and the angular velocity can be set to 0.
[0156]
(Equation 12)

[0157]
As described above, the motor 1 can be represented by a voltage-current equation using only the inductance components Ld and Lq. The voltages of the stationary two-axis coordinate system are Vα and Vβ, the currents are iα and iβ, and the position of the rotor of the motor 1 is θ. From the equation (7), if the voltage, current, and rotor position are known, Ld and Lq, which are the inductance components of the motor 1, can be calculated. Here, since the current is detected by the current detector 7 and the voltage is detected by the voltage detector 43, the voltage and current are known. However, in the configuration of FIG. Therefore, the rotor position θ is not known.
[0158]
If a configuration (not shown) in which a position sensor is added to the motor 1 is adopted, the inductance can be easily identified from the current, voltage, and position by the inductance identifier 44 according to equation (7). This is because the inductance value is a parameter element that fluctuates at twice the cycle of the rotor position θ as shown in FIG.
[0159]
In the present embodiment, a method of calculating the inductance components Ld and Lq from Expression (7) in a configuration without a position sensor will be described. Therefore, assuming that the inverter 2 has a configuration as shown in FIG. 9, the U phase is 2a and 2b, the V phase is 2c and 2d, and the W phase is 2e and 2f. When the output of u + is turned on at 2a, 2d and 2f and the output of u− is turned on at 2b, 2c and 2e, the output of v + is turned on at 2b, 2c and 2f, and the output of w + is 2b, 2d and 2e. Can be turned on.
[0160]
Here, three types of pulses of u +, v +, and w + are applied, and the reference axis of the stationary coordinates is set to the U-phase for u + output, to the V-phase for v + output, and to the W-phase for w + output. In phase, the motor 1 has three phases, and the windings are arranged at intervals of 120 degrees. Therefore, using three-phase AC theory,
[0161]
(Equation 13)

[0162]
Japanese Patent Application Laid-Open No. 2001-69783 discloses that since a pulse is applied so that the rotor does not move even if the rotor position θ is unknown, it is possible to calculate from the equation (8). This is a technique for detecting the inductance of a three-phase motor.
[0163]
However, in the technique disclosed in Japanese Patent Application Laid-Open No. 2001-69783, the pulse time Tp to be applied and the description in Japanese Patent Application Laid-Open No. 2001-69783 are a short time Ts, but there is no description of a method of setting Tp. The pulse time for verifying a particular motor is only quoted as 195 us.
[0164]
In the technique disclosed in Japanese Patent Application Laid-Open No. 2001-69783 and the document cited in Japanese Patent Application Laid-Open No. 2001-69783, in order to measure the inductance of the motor 1, the pulse time is calculated from the motor constant of the motor 1. It is described that it is necessary to set according to the time constant L / R, but the problem is that the pulse time required to identify the inductance must know the approximate value of the inductance value. .
[0165]
This is because in the technique disclosed in Japanese Patent Application Laid-Open No. 2001-69783, a pulse of u +, v +, and w + is applied. This is because, when a pulse voltage of the + component is applied to each phase, a magnetic flux is generated in the stator of the motor 1, and an offset is generated in the current due to a residual magnetic flux due to the stator magnetic flux. Therefore, it is necessary to lengthen the pulse time of the applied pulse to such an extent that the influence of the offset does not appear. Therefore, the pulse time must be set with a time constant L / R according to the motor constant of the motor 1.
[0166]
Alternatively, when the inductance of the motor 1 is small, current flows even if the pulse application time is relatively short, and the influence of the offset due to the residual magnetic flux is small. However, when the inductance of the motor 1 is large, almost no current flows, so the influence of the current offset increases. Especially, when Lq is identified, a value of 10 times or more of the actual inductance is measured, or a negative inductance value is measured. In some cases, the inductance cannot be measured.
[0167]
An object of the present invention is to provide a drive device capable of accurately identifying an inductance with the same applied pulse time regardless of the motor constant.
[0168]
First, the inductance is identified by applying a pulse, which is characterized by the method of applying the pulse. In the technique disclosed in Japanese Patent Application Laid-Open No. 2001-69783, pulse application on the + side, in other words, one of the upper and lower switching elements of the upper and lower switching elements constituting the arm of the inverter is used, and The inductance was identified by applying a pulse only in combination with two switching elements.
[0169]
Instead of such an application method, the pulse voltage generator 40 alternately applies the + side pulse and the − side pulse as shown in FIG. Identification can be realized. For example, when pulses are applied in the order of u +, w−, v +, u−, w +, v−, the current due to the residual magnetic flux is obtained even when the pulse application time is extremely shorter than the time constant L / R in the motor constant of the motor 1. No offset occurs, and the inductance can be identified with high accuracy.
[0170]
Further, as described above, the pulse on the + side and the pulse on the − side may be applied alternately. In the above, six pulses are applied. For example, three pulses are applied in the order of u +, w−, and v +. In the same manner as described above, even if pulse application or pulse application in the order of u +, v−, and w + is performed, current offset due to residual magnetic flux does not occur and inductance can be accurately identified, but the plus side and the minus side are balanced. In this case, the offset can be completely removed. Therefore, when the number of phases is odd, the application of the pulse the number of times which is an even multiple of the number of phases has a higher offset removing effect and can be accurately detected.
[0171]
In the present embodiment, since a three-phase motor is considered, an even multiple of the three-phase motor indicates that the offset can be completely removed by applying six pulses.
[0172]
When a pulse is applied based on the application pulse sequence shown in the present embodiment, the offset of the current can be removed, so that a motor having a small inductance (Lq is about 2 to 4 mH) (a motor having a large output) has a Lq of 200 mH Until a motor having a large inductance (a motor with a small output), the inductance is identified with a constant applied pulse time (for example, 195 us cited in JP-A-2001-69783) and within ± 10%. be able to.
[0173]
Further, since the current attenuates after the application of the pulse, the inductance can be identified with higher accuracy by adding a peak hold 41 for holding the peak current value.
[0174]
With the above configuration, the inductance can be identified even when the motor constant of the motor 1 connected to the inverter 2 is completely unknown. It is possible to improve the control performance even when the controllability is deteriorated due to individual variations of the control.
[0175]
As described above, since the pulse time of the applied pulse needs to be long enough to prevent the influence of the offset, the pulse time is set by the time constant L / R according to the motor constant of the motor 1. It is necessary to first apply a pulse to set the pulse time, observe the current waveform at that time, and if the current peak value to respond is small, increase the pulse time and identify the inductance component It goes without saying that such a configuration has the same effect as above.
[0176]
Further, the same effect can be obtained even if a pulse for setting a pulse time is applied, and after setting the pulse time, a pulse application of an even number times the number of phases is performed and the inductance component is calculated from the current peak value. Needless to say. This operation is shown in the flowchart of FIG.
[0177]
Further, for example, a configuration may be adopted in which a stop position where the motor 1 is stopped is estimated based on information on a current peak value obtained by six application pulses.
[0178]
Although not shown in the present embodiment, when the blocks having the configurations shown in FIGS. 12, 13, and 14 are realized using one control CPU, the counter electromotive voltage constant Since the inductance is used to identify the electromotive force constant, and individual variations of the motor 1 can be tolerated, the accuracy of identification of the back electromotive force constant is also improved, and as a result, the effect of identifying the back electromotive force constant is increased. It leads to doing.
[0179]
Embodiment 5 FIG.
FIG. 19 shows the fifth embodiment and is a block diagram showing a refrigeration cycle. In this embodiment, a case will be described in which the configuration described in Embodiment 1 is applied to an air conditioner. FIG. 19 shows a general refrigeration cycle, 50 is a compressor for performing a compression process in a refrigerant cycle, 51 is a driving device for driving the compressor, 52 is a condenser for condensing refrigerant, and 53 is evaporating refrigerant. The evaporator 54 is a throttle valve for adjusting the flow rate of the refrigerant. The motor 1 shown in FIG. 1 and subsequent figures has a compressor 50 shown in FIG. 19 and an inverter 2 and its control means applied to a driving device 51.
[0180]
In the refrigeration cycle as shown in FIG. 19, the flow rate of the refrigerant is controlled so that the required cooling capacity can be output with respect to the cooling load. Although the throttle valve 54 is configured to control the flow rate, the throttle valve 54 alone is not suitable for fine-grained control with a wide range of performance. Therefore, by controlling the rotation speed of the compressor 50, a wide range and fine It controls the flow rate of refrigerant and controls the air conditioner.
[0181]
In the case of a motor applied to an air conditioner or the like, the motor is disposed inside the compressor 50. The compressor 50 compresses the refrigerant into a high-temperature and high-pressure gas, and the operating environment of the motor is very severe. The operating environment of the motor changes depending on the state of the refrigerant gas. In order to gasify the refrigerant, the compressor 50 employs a closed structure in which the motor 1 cannot be taken out.
[0182]
Therefore, when mounted on a product, which is the compressor 50 in the present embodiment, the phase resistance R among the motor constants of the permanent magnet motor can be measured by using an output terminal from the compressor 50 with a resistance measuring device. However, the inductance components Ld and Lq and the back electromotive force constant φ cannot be measured.
[0183]
This is because the back electromotive force constant needs to be rotated by an external force as described above, and the inductance component is an inductance component that changes depending on the position represented on the true rotation axis (dq axis) of the motor. It is.
[0184]
According to the drive device including the back electromotive force constant identifier 11 and the inductance identifier 44 of the present invention, in the motor in such a sealed state, the motor constant of the motor is unknown. Can be driven using the motor drive control unit. This enables standardization of the S / W of the control of the inverter 2, standardization of the inverter 2 other than the difference in hardware of current capacity, and cost reduction by mass production.
[0185]
Further, if the motor 1 connected to the inverter 2 is known, a known value is set in the inverter in advance, and the motor connection identification work before starting detects a wire connection failure or a motor mounting mistake. It is possible to improve the reliability by performing a line check for manufacturing defects.
[0186]
In addition, the product-specific variations can be corrected, and not only the reliability is increased, but also if the back electromotive force constant is identified according to the operating state of each product, it is optimal to maximize the performance of the motor 1 automatically. It becomes possible to drive.
[0187]
In addition, by identifying the motor constants, extracting them to the outside, and displaying them, the cause of the failure or overcurrent can be specified or estimated without disassembling the sealed product, or the range can be narrowed. Defects such as demagnetization, overload, etc. can be performed, so that shutdown and continuation can be determined, and prompt minimum necessary repairs can reduce short-term shutdowns and reduce repair costs.
[0188]
Further, if it is found that overload occurs in the normal state and demagnetization occurs, the tolerance of the inverter hardware can be re-evaluated, the motor specifications can be optimized, and the suitability of each device can be determined in advance. In addition to a faulty combination of the inverter and the motor, various faults can be detected in advance before a major trouble such as a different type of power supply occurs.
[0189]
Furthermore, when applied to an air conditioner, it is possible to suppress variations occurring between products such as a refrigerant filling amount, a pipe length, an environment of an installation place, and to maximize the performance of the motor 1 for each product. Driving operation can be realized.
[0190]
Also, it is possible to specify or estimate or narrow the range without disassembling the hermetic compressor without disassembling it. Limited repairs can reduce outages and repair costs for a short period of time.
[0191]
Embodiment 6 FIG.
In the above-described embodiments, the motor 1 has been described as a permanent magnet motor, but the back electromotive force constant identifier 11 and the inductance identifier 44 can be used even when the motor 1 is a permanent magnet generator. Although not described, the motor drive control unit 3 may be changed to a generator drive control unit in exactly the same manner as the block configuration described above.
[0192]
For example, a permanent magnet generator used for wind power generation or the like converts wind energy into electric energy, but the magnetic force of the magnet may be reduced due to a gust or the like. With a generator with reduced magnetic force, it may not be possible to obtain sufficient power generation.If the generator is removed from the wind turbine during maintenance, or if the wind blows and the generator goes into a free-run state, When the maintenance motor is connected to the generator so as to rotate the generator, it is necessary to measure the voltage between the terminals of the generator and determine the back electromotive force constant from the free-running speed.
[0193]
When waiting for the wind to blow, the maintenance workability is very poor, and when removing the generator or lifting the motor to the height of the generator for maintenance and turning it with external force for maintenance, the maintenance cost for the work increases. .
[0194]
When the method for identifying a back electromotive force constant according to the present invention is used, it is possible to detect demagnetization without stopping the power generation operation of the generator.
[0195]
【The invention's effect】
A drive device for a permanent magnet motor according to claim 1 of the present invention is configured by a rotation coordinate axis of an inverter, a magnetic flux direction by a rotor magnet of the permanent magnet motor, and coordinates in a direction advanced by 90 degrees in the rotation direction from the magnetic flux direction. The axis error between the motor and the rotating coordinate axis of the inverter is calculated from the instantaneous voltage applied to the permanent magnet motor and the instantaneous current value flowing through the permanent magnet motor at a preset predetermined number of rotations, and the rotational coordinate axis of the inverter is calculated. By providing a motor axis estimator for estimating the rotational coordinate axis of the motor from the axis error between the motor and the rotational coordinate axis of the motor, step-out and motor lock can be detected.
[0196]
Further, the drive device for a permanent magnet motor according to claim 2 of the present invention uses the rotation coordinate axis of the inverter, the magnetic flux direction by the rotor magnet of the permanent magnet motor, and the coordinates in a direction ahead of the magnetic flux direction by 90 degrees in the rotation direction. The axis error between the rotating coordinate axis of the motor and the instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the detected or calculated rotation speed And a motor axis estimator for estimating the rotational coordinate axis of the motor from the axis error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor enables detection of step-out and motor lock at all rotational speeds. .
[0197]
Further, in the drive device for a permanent magnet motor according to claim 3 of the present invention, the rotational coordinate axis of the inverter uses a position obtained by detecting the position of the rotor of the permanent magnet motor, so that the position signal of the rotor can be obtained. Loss of synchronization, motor out-of-step or motor lock can be detected.
[0198]
In the drive device for a permanent magnet motor according to claim 4 of the present invention, the rotation coordinate axis of the inverter does not detect the position of the rotor of the motor, but uses the position obtained by calculation inside the drive device. No position sensor is required.
[0199]
Further, the drive device for a permanent magnet motor according to claim 5 of the present invention includes an operation determination unit that determines the operation of the permanent magnet motor based on the output of the motor shaft estimator, so that step-out and motor lock are prevented. Can be detected.
[0200]
Also, in the drive device for a permanent magnet electric motor according to claim 6 of the present invention, the operation determination unit can determine the activation by performing the activation determination.
[0201]
Further, in the drive device for a permanent magnet motor according to claim 7 of the present invention, the operation determination unit changes the voltage command value to the inverter in order to suppress the step-out before the permanent magnet motor stops due to the step-out. , The stoppage of the permanent magnet motor due to step-out can be suppressed.
[0202]
Also, in the drive device for a permanent magnet motor according to claim 8 of the present invention, the operation determination unit can notify the operation state to the outside by including the alarm device or the display device.
[0203]
A drive device for a permanent magnet motor according to a ninth aspect of the present invention is a drive device for a permanent magnet motor that drives the permanent magnet motor by an inverter and controls the position of a rotor of the permanent magnet motor without a position sensor. By controlling the permanent magnet motor based on the output of the motor shaft estimator, sensorless control can be performed.
[0204]
According to a tenth aspect of the present invention, in the driving device for a permanent magnet motor, the motor shaft estimator includes a voltage V that is coordinate-converted by a rotation coordinate axis of the inverter._γ,V_δ, Current I_γ,I_δAnd the rotational speed ω1 of the rotating coordinate axis of the inverter, the phase resistance R of the permanent magnet motor, and the q-axis inductance Lq of the permanent magnet motor,
[0205]
[Equation 14]

[0206]
, The axis error can be accurately estimated under any operating conditions.
[0207]
According to a further aspect of the present invention, there is provided a permanent magnet motor driving device, wherein the motor input is converted by a motor rotational coordinate axis obtained from the axis error obtained by the motor axis estimator and the rotational coordinate axis of the inverter. By providing a back electromotive force constant identifier for calculating the back electromotive force constant in the permanent magnet motor from the voltage and the current flowing through the motor, the rotation speed of the motor, the resistance component of the motor, and the inductance component of the motor, The back electromotive force constant can be identified with the inverter connected.
[0208]
A drive device for a permanent magnet motor according to a twelfth aspect of the present invention includes a rotation coordinate axis of the inverter, a magnetic flux direction by the rotor magnet of the permanent magnet motor, and coordinates in a direction advanced by 90 degrees in the rotation direction from the magnetic flux direction. An error between the rotation coordinate axis of the motor to be configured and an instantaneous voltage applied to the permanent magnet motor at a preset rotation speed and an instantaneous current value flowing through the permanent magnet motor are calculated. A motor axis estimator for estimating the motor rotation coordinate axis from the axis error between the rotation coordinate axis and the motor rotation coordinate axis, and a motor rotation coordinate axis obtained from the axis error obtained by the motor axis estimator and the inverter rotation coordinate axis. From the motor input voltage and the current flowing through the motor, the motor rotation speed, the motor resistance component, and the motor inductance component, By providing a counter electromotive voltage constant identifier for computing a counter electromotive voltage constant of the electric motor, it can be identified counter electromotive voltage constant in a state in which the inverter is connected.
[0209]
According to a thirteenth aspect of the present invention, in the driving device for a permanent magnet motor, the back electromotive force constant identifier includes a rotation axis of the motor obtained from the axis error obtained by the motor axis estimator and the rotation axis of the inverter. Motor input voltage Vq converted in coordinates_estAnd the current id flowing through the motor_est, Iq_estUsing the rotational angular velocity ω1 of the motor, the resistance component R of the motor, and the d-axis inductance component Ld of the motor,
[0210]
(Equation 15)

[0211]
By calculating the back electromotive force constant φ, the back electromotive force constant can be identified with the inverter connected.
[0212]
A drive device for a permanent magnet motor according to a fourteenth aspect of the present invention detects a voltage and a current applied from the inverter to the motor, and calculates a back electromotive force constant using the detected values of the voltage and the current. As a result, the accuracy of identifying the back electromotive force constant increases.
[0213]
Further, in the driving device for a permanent magnet motor according to claim 15 of the present invention, the back electromotive force constant identifier includes a motor rotation coordinate axis obtained from the axis error obtained by the motor axis estimator and the rotation coordinate axis of the inverter. A back electromotive force constant in the permanent magnet motor is calculated from the command voltage to the motor and the current flowing through the motor, the rotation speed of the motor, the resistance component of the motor, and the inductance component of the motor, the coordinates of which have been converted. By having a short-circuit prevention time correction function that corrects voltage distortion due to the short-circuit prevention time set in the inverter that drives the magnet motor, even if the back electromotive force constant is calculated using the command voltage to the motor, it is accurately identified. it can.
[0214]
The drive device for a permanent magnet motor according to claim 16 of the present invention does not use the voltage, current, and rotation speed of the current of each phase of the permanent magnet motor near zero to calculate the back electromotive force constant. Further, the accuracy of identifying the back electromotive force constant is improved.
[0215]
A drive device for a permanent magnet motor according to a seventeenth aspect of the present invention has a short-circuit prevention time correction function for correcting a voltage distortion due to a short-circuit prevention time set in an inverter for driving the permanent magnet motor, and further includes a function for correcting the motor from the inverter. By detecting the voltage and current applied to the device and calculating the back electromotive force constant using the detected value, the accuracy of identifying the back electromotive force constant is improved.
[0216]
The drive device for a permanent magnet motor according to claim 18 of the present invention controls the drive of the permanent magnet motor using the back electromotive force constant calculated by the back electromotive force constant identifier, thereby reducing the output torque of the motor. It can be driven at the optimum operating point.
[0219]
The driving apparatus for a permanent magnet motor according to claim 19 of the present invention drives the permanent magnet motor with an external force to drive the previously measured back electromotive force constant as an initial value. By identifying the constant and reflecting the constant on the drive device, the operation up to the steady state is performed smoothly.
[0218]
Further, the driving device for a permanent magnet motor according to claim 20 of the present invention creates a state in which the permanent magnet motor is rotated by being dragged by the forcible rotating magnetic field, and identifies a back electromotive force constant in this state, By driving the permanent magnet motor with that value as an initial value, and then switching to synchronous drive operation to accelerate and identifying the back electromotive force constant after acceleration, it is possible to start smoothly even when the back electromotive force constant is unknown.
[0219]
Further, the driving device for a permanent magnet motor according to claim 21 of the present invention creates a state in which the permanent magnet motor is rotated by being dragged by the forcible rotating magnetic field, and identifies a back electromotive force constant in this state, When the permanent magnet motor is driven with that value as the initial value and then stopped, the startup time can be reduced for the second and subsequent times by starting the synchronous motor with the value identified before the stop as the initial value.
[0220]
The drive device for a permanent magnet motor according to claim 22 of the present invention performs the synchronous drive operation by synchronously driving the permanent magnet motor using the back electromotive force constant identified by the back electromotive force constant identifier. It can be driven at the optimal operating point in the state.
[0221]
Also, the driving device for a permanent magnet motor according to claim 23 of the present invention can be driven at an optimum operating point by using the value of the back electromotive force constant to generate a voltage command to be output to the inverter.
[0222]
Further, the drive device for a permanent magnet motor according to claim 24 of the present invention corrects the back electromotive force constant identified by the back electromotive force constant identifier through a low-pass filter, and uses the corrected back electromotive force constant. Hunting can be suppressed by operating the permanent magnet motor synchronously.
[0223]
Moreover, the drive device for a permanent magnet motor according to claim 25 of the present invention can suppress hunting by making the time constant of the low-pass filter larger than the control cycle of driving the permanent magnet motor.
[0224]
The drive device for a permanent magnet motor according to claim 26 of the present invention can detect the demagnetization of the permanent magnet of the permanent magnet motor by identifying the back electromotive force constant during driving of the permanent magnet motor. .
[0225]
Further, the permanent magnet motor driving device according to claim 27 of the present invention includes a failure diagnosis unit, and displays that the permanent magnet of the permanent magnet motor has been demagnetized, whereby the permanent magnet has been demagnetized from the outside. Can be recognized.
[0226]
Further, the drive device for a permanent magnet motor according to claim 28 of the present invention can estimate the environmental temperature of the permanent magnet motor by identifying the back electromotive force constant.
[0227]
Further, the drive device for a permanent magnet motor according to claim 29 of the present invention can identify the phase resistance value of the permanent magnet motor by identifying the back electromotive force constant.
[0228]
Also, the driving device for a permanent magnet motor according to claim 30 of the present invention applies a pulse to the permanent magnet motor for a very short time, the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, And an inductance component of the permanent magnet motor is detected from the pulse time, and when the number of phases of the permanent magnet motor is 2n + 1 (n is an integer of 1 or more), an inverter switch operated for a pulse applied for a very short time is By alternately changing the total number for each of the upper and lower sides and applying the pulse, the inductance can be identified accurately with the same applied pulse time regardless of the motor constant.
[0229]
Further, the driving device for a permanent magnet motor according to claim 31 of the present invention applies a pulse to the permanent magnet motor for a very short time, and a pulse voltage applied to the permanent magnet motor and a peak value of a current flowing through the permanent magnet motor, Detects the inductance component of the permanent magnet motor from the pulse time and applies the pulse applied for a very short time to the same applied pulse regardless of the motor constant by applying an even number of times the number of phases of the permanent magnet motor. The inductance can be accurately identified in time.
[0230]
Further, the driving device for a permanent magnet motor according to claim 32 of the present invention applies a pulse to the permanent magnet motor for a very short time, and a pulse voltage applied to the permanent magnet motor and a peak value of a current flowing through the permanent magnet motor, In addition, the inductance component of the permanent magnet motor can be detected from the pulse time, and the current peak value due to the pulse applied for a very short time can be used for estimating the stop position of the rotor of the permanent magnet motor.
[0231]
Further, the driving device for a permanent magnet motor according to claim 33 of the present invention applies a pulse to the permanent magnet motor for a very short time, a pulse voltage applied to the permanent magnet motor and a peak value of a current flowing through the permanent magnet motor, By detecting the inductance component of the permanent magnet motor from the pulse time and applying the pulse for determining the pulse application time to the permanent magnet motor before applying the pulse only for a very short time, the minute time is set. Even if the motor constant is used, the inductance can be accurately identified with the same applied pulse time.
[0232]
Further, in the drive device for a permanent magnet motor according to claim 34 of the present invention, the detected inductance component is used for at least one of drive control of the permanent magnet motor or calculation of the motor shaft estimator, so that individual variations of the motor are improved. The control performance can be improved even when the controllability is deteriorated due to the above.
[0233]
Also, the drive device for a permanent magnet motor according to claims 35 to 40 of the present invention uses the inductance identified by the inductance identifier for identification of the back electromotive force constant, and allows individual variations of the motor. Therefore, the accuracy of the identification of the back electromotive force constant is improved, and as a result, the effect of identifying the back electromotive force constant is increased.
[0234]
Also, the driving device for a permanent magnet motor according to claim 41 of the present invention tunes the calculated back electromotive force constant as the back electromotive force constant used for controlling the permanent magnet motor, thereby reducing the output torque of the motor. It can be driven at the optimum operating point.
[0235]
Further, the drive device for a permanent magnet motor according to claim 42 of the present invention uses the inductance component detected by the inductance identifier for at least one of drive control of the permanent magnet motor and calculation of the motor axis estimator, thereby obtaining a motor. The control performance can be improved even when the controllability is deteriorated due to individual variations of the control.
[0236]
The hermetic compressor according to claim 43 of the present invention is brought into a hermetically sealed state by driving the compressor motor by the drive device of the permanent magnet electric machine according to any one of claims 1 to 42. In such a motor, even if the motor constant of the motor is unknown, it is possible to drive the motor using the drive device of the permanent magnet electric machine. This makes it possible to standardize the S / W of the control of the inverter, to standardize the inverter other than the difference in hardware of the current capacity, and to reduce the cost by mass production.
Furthermore, if the motor connected to the inverter is known, a known value is set in the inverter in advance, so that a motor connection identification work before starting can detect a wire connection failure or a motor installation error. And performing a line check for manufacturing defects leads to an improvement in reliability.
In addition, the product-specific variations can be corrected, which not only increases reliability, but also optimizes motor operation by maximizing motor performance automatically by identifying a back electromotive force constant according to the operating state of each product. It becomes possible to do.
In addition, by identifying the motor constants, extracting them to the outside, and displaying them, the cause of the failure or overcurrent can be specified or estimated without disassembling the sealed product, or the range can be narrowed. Defects such as demagnetization, overload, etc. can be performed, so that shutdown and continuation can be determined, and prompt minimum necessary repairs can reduce short-term shutdowns and reduce repair costs.
[0237]
The refrigeration cycle apparatus according to claim 44 of the present invention is equipped with the hermetic compressor according to claim 43, thereby suppressing variations occurring between products such as the amount of refrigerant charged, the pipe length, and the environment of the installation location. The operation of driving the motor by maximizing the performance of the motor for each product can be realized.
[0238]
A drive device for a permanent magnet generator according to claim 45 of the present invention is configured such that maintenance is facilitated by applying the drive device for a permanent magnet motor according to any one of claims 1 to 42 to a generator. If the method of identifying the back electromotive force constant is used, it is possible to detect demagnetization without stopping the power generation operation of the generator.
[Brief description of the drawings]
FIG. 1 is a diagram showing a first embodiment, and is a circuit block diagram of a motor driving device.
FIG. 2 shows the first embodiment, and is a circuit block diagram showing a motor drive control unit.
FIG. 3 shows the first embodiment, and is an explanatory diagram of a rotating shaft of a motor and a rotating shaft of an inverter.
FIG. 4 is a diagram showing the first embodiment and is a circuit block diagram showing another embodiment.
FIG. 5 is a diagram showing the first embodiment, and is a circuit block diagram showing still another embodiment.
FIG. 6 shows the second embodiment and is a circuit block diagram of a motor drive device.
FIG. 7 shows the second embodiment and is a flowchart showing the operation.
FIG. 8 shows the second embodiment and is a circuit block diagram showing an example of the back electromotive force constant identifier.
FIG. 9 shows a second embodiment and is a configuration diagram of an inverter.
FIG. 10 shows the second embodiment, and is a time chart of the short-circuit prevention time.
FIG. 11 shows the second embodiment and is a circuit block diagram showing another embodiment.
FIG. 12 shows a second embodiment, and is a circuit block diagram showing still another embodiment.
FIG. 13 shows the third embodiment and is a circuit block diagram of the motor driving device.
FIG. 14 shows the fourth embodiment, and is a circuit block diagram of a motor driving device.
FIG. 15 shows the fourth embodiment and is an equivalent circuit diagram of the motor.
FIG. 16 is a diagram illustrating the fourth embodiment, and is an explanatory diagram illustrating a relationship between an inductance and a motor position.
FIG. 17 shows the fourth embodiment and is a waveform diagram of applied pulses and currents.
FIG. 18 shows the fourth embodiment and is a flowchart showing the operation.
FIG. 19 shows the fifth embodiment and is a circuit block diagram of a motor driving device.
FIG. 20 is a circuit block diagram of a conventional motor drive device.
FIG. 21 is a circuit block diagram of another conventional motor driving device.
FIG. 22 is a circuit block diagram of another conventional motor driving device.
[Explanation of symbols]
1 motor, 2 inverter, 2a〜2f switching element, 2g capacitor, 3 motor drive control unit, 3a voltage command generator, 3b speed estimator, 3c integrator, 4 3-axis 2-axis conversion unit, 5 2-axis 3-axis conversion Unit, 6 command value storage unit, 7 current detector, 10 motor axis estimator, 11 back electromotive force constant identifier, 12 low pass filter, 13 Td corrector, 14 voltage detector, 15 operation judgment unit, 20 sensor drive control Unit, 21 ° position sensor, 22 ° speed calculator, 23 ° sensorless drive control unit, 32 ° storage unit, 43 ° voltage detector, 44 ° inductance identifier, 50 compressor, 51 ° drive, 52 ° condenser, 53 ° evaporator, 54 throttle valve .

Claims (45)

A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
The axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor constituted by the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotation direction from the magnetic flux direction, A motor is calculated from an instantaneous voltage applied to the permanent magnet motor at a predetermined rotation speed and an instantaneous current value flowing through the permanent magnet motor at a predetermined rotation speed, and the motor is calculated from an axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. A motor shaft estimator for estimating the rotation coordinate axis of the motor. A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
The axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor composed of the magnetic flux direction by the rotor magnet of the permanent magnet motor and the coordinate of the direction advanced by 90 degrees in the rotation direction from the magnetic flux direction, Calculated from an instantaneous voltage applied to the permanent magnet motor, an instantaneous current value flowing through the permanent magnet motor, and a detected or calculated number of rotations, the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. And a motor axis estimator for estimating a rotation coordinate axis of the motor from an axis error of the motor. The drive device for a permanent magnet motor according to claim 1 or 2, wherein a position obtained by detecting a position of a rotor of the permanent magnet motor is used as a rotation coordinate axis of the inverter. 3. The permanent magnet motor according to claim 1, wherein the rotation coordinate axis of the inverter does not detect the position of the rotor of the motor, and uses a position obtained by calculation inside the drive device. 4. Drive. The drive device for a permanent magnet motor according to claim 1 or 2, further comprising an operation determination unit configured to determine an operation of the permanent magnet motor based on an output of the motor shaft estimator. The driving device for a permanent magnet motor according to claim 5, wherein the operation determination unit determines startup. The permanent operation according to claim 5, wherein the operation determining unit instructs to change a voltage command value to the inverter in order to suppress the step-out before stopping the permanent magnet motor due to the step-out. Drive device for magnet motor. The driving device for a permanent magnet motor according to claim 5, wherein the operation determining unit includes an alarm device or a display device. A permanent magnet motor is driven by an inverter, and a position of a rotor of the permanent magnet motor is controlled without a position sensor.
The error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate of the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, The instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the rotation speed calculated by the calculation are calculated from the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. A drive device for a permanent magnet motor, comprising: a motor axis estimator for estimating a rotation coordinate axis of a motor; and controlling the permanent magnet motor based on an output of the motor axis estimator. The motor axis estimator calculates voltages V _γ, V _δ , currents I _γ, I _δ converted by the rotation coordinate axis of the inverter, a rotation speed ω 1 of the rotation coordinate axis of the inverter, and a phase resistance R of the permanent magnet motor. And the q-axis inductance Lq of the permanent magnet motor,

The driving apparatus for a permanent magnet motor according to any one of claims 1 to 9, wherein the axis error ?? A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
The error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate of the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, Calculated from the instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the detected or calculated rotation speed, and the axis between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor is calculated. A motor axis estimator for estimating the rotation coordinate axis of the motor from the error,
The motor input voltage and the current flowing through the motor, which are coordinate-transformed on the rotation axis of the motor obtained from the axis error obtained by the motor axis estimator and the rotation axis of the inverter, the number of rotations of the motor, and the resistance of the motor A back electromotive force constant identifier that calculates a back electromotive force constant in the permanent magnet motor from the component and the inductance component of the motor;
A driving device for a permanent magnet motor, comprising: A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
The error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is constituted by the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated in advance. Calculated from the instantaneous voltage applied to the permanent magnet motor and the instantaneous current value flowing through the permanent magnet motor at the set predetermined rotation speed, and the motor error is calculated from the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. A motor axis estimator for estimating a rotation coordinate axis;
The motor input voltage and the current flowing through the motor, which are coordinate-transformed on the rotation axis of the motor obtained from the axis error obtained by the motor axis estimator and the rotation axis of the inverter, the number of rotations of the motor, and the resistance of the motor A back electromotive force constant identifier that calculates a back electromotive force constant in the permanent magnet motor from the component and the inductance component of the motor;
A driving device for a permanent magnet motor, comprising: The back electromotive force constant identifier identifies a motor input voltage Vq _est and a current flowing through the motor, which are coordinate-transformed on the rotational coordinate axis of the motor obtained from the axis error obtained by the motor axis estimator and the rotational coordinate axis of the inverter. Using id _est , iq _est , the rotational angular velocity ω1 of the motor, the resistance component R of the motor, and the d-axis inductance component Ld of the motor,

13. The permanent magnet motor driving device according to claim 11, wherein the back electromotive force constant φ is calculated by the following formula. 13. The permanent battery according to claim 11, wherein a voltage and a current applied from the inverter to the motor are detected, and a back electromotive force constant is calculated using the detected values of the voltage and the current. Drive device for magnet motor. The back electromotive force constant identifier identifies the command voltage to the motor and the current flowing through the motor, which are coordinate-transformed on the rotational coordinate axis of the motor, which is obtained from the axis error obtained by the motor axis estimator and the rotational coordinate axis of the inverter. From the number of revolutions of the motor, the resistance component of the motor, and the inductance component of the motor, calculate the back electromotive force constant in the permanent magnet motor, and determine the short-circuit prevention time set in the inverter that drives the permanent magnet motor. The drive device for a permanent magnet motor according to claim 11 or 12, further comprising a short-circuit prevention time correction function for correcting voltage distortion. The drive device for a permanent magnet motor according to claim 15, wherein the voltage, current, and rotation speed of the current of each phase of the permanent magnet motor near zero are not used for calculating the back electromotive force constant. In addition to having a short-circuit prevention time correction function for correcting voltage distortion due to a short-circuit prevention time set in the inverter that drives the permanent magnet motor, a voltage and a current applied from the inverter to the motor are detected, and the detected value is used. The driving device for a permanent magnet motor according to claim 11 or 12, wherein the calculation of the back electromotive force constant is performed. The drive device for a permanent magnet motor according to any one of claims 11 to 17, wherein the drive of the permanent magnet motor is controlled using a back electromotive force constant calculated by the back electromotive force constant identifier. The permanent magnet motor is rotated by an external force to drive a back electromotive force constant measured in advance as an initial value, and the back electromotive force constant is identified from this state and reflected on a driving device. A driving device for a permanent magnet electric motor according to claim 11 or 12. A state is created in which the permanent magnet motor is dragged and rotated by the forced rotating magnetic field.In this state, a back electromotive force constant is identified, and the permanent magnet motor is driven using the value as an initial value, and then the synchronous drive is performed. The driving device for a permanent magnet motor according to claim 11 or 12, wherein the operation is accelerated by switching to operation, and the back electromotive force constant is identified after the acceleration. A state where the permanent magnet motor is dragged and rotated by a forced rotating magnetic field is created.In this state, the back electromotive force constant is identified, the permanent magnet motor is driven with its value as an initial value, and then stopped. 13. The drive device for a permanent magnet motor according to claim 11, wherein in the case, the motor is started in a synchronous operation using a value identified before the stop as an initial value. The permanent magnet motor driving device according to any one of claims 19 to 21, wherein the permanent magnet motor is driven synchronously using the back electromotive force constant identified by the back electromotive force constant identifier. . 23. The drive device for a permanent magnet motor according to claim 19, wherein a value of a back electromotive force constant is used to generate a voltage command to be output to the inverter. The back electromotive force constant identified by the back electromotive force constant identifier is corrected through a low-pass filter, and the permanent magnet motor is synchronously driven using the corrected back electromotive force constant. A driving device for a permanent magnet electric motor according to claim 11 or 12. 25. The permanent magnet motor driving device according to claim 24, wherein a time constant of the low-pass filter is set longer than a control cycle of driving the permanent magnet motor. The permanent magnet motor according to claim 11 or 12, wherein a demagnetization of a permanent magnet of the permanent magnet motor is detected by identifying a back electromotive force constant during driving of the permanent magnet motor. Drive. 27. The drive device for a permanent magnet motor according to claim 26, further comprising a failure diagnosis unit, which indicates that the permanent magnet of the permanent magnet motor has been demagnetized. 13. The permanent magnet motor driving device according to claim 11, wherein an environmental temperature of the permanent magnet motor is estimated by identifying a back electromotive force constant. The permanent magnet motor driving device according to claim 11, wherein a phase resistance value of the permanent magnet motor is identified by identifying a back electromotive force constant. A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
Applying a pulse to the permanent magnet motor for a very short time, detecting the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and detecting the inductance component of the permanent magnet motor from the pulse time,
When the number of phases of the permanent magnet motor is 2n + 1 (n is an integer equal to or greater than 1), the switch of the inverter that operates for a pulse to be applied for a very short time alternately switches the total number of pulses every upper and lower and applies a pulse. A drive device for a permanent magnet electric motor, characterized in that: A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
Applying a pulse to the permanent magnet motor for a very short time, detecting the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and detecting the inductance component of the permanent magnet motor from the pulse time,
The driving device for a permanent magnet motor, wherein the pulse applied for a very short time is applied an even number times the number of phases of the permanent magnet motor. A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
Applying a pulse to the permanent magnet motor for a very short time, detecting the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and detecting the inductance component of the permanent magnet motor from the pulse time,
A permanent magnet motor driving device, wherein a current peak value by a pulse applied for a very short time is also used for estimating a stop position of a rotor of the permanent magnet motor. A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
Applying a pulse to the permanent magnet motor for a very short time, detecting the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and detecting the inductance component of the permanent magnet motor from the pulse time,
A drive device for a permanent magnet motor, wherein a pulse for determining a pulse application time is applied to the permanent magnet motor to set the minute time before a pulse is applied for a very short time. The permanent magnet motor drive device according to any one of claims 30 to 33, wherein the detected inductance component is used for at least one of drive control of the permanent magnet motor and calculation of the motor axis estimator. A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
The error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate of the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, Calculated from the instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the detected or calculated rotation speed, and the axis between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor is calculated. A motor axis estimator for estimating the rotation coordinate axis of the motor from the error,
An inductance for applying a pulse to the permanent magnet motor for a very short time, and detecting an inductance component of the permanent magnet motor from a pulse voltage applied to the permanent magnet motor, a peak value of a current flowing through the permanent magnet motor, and a pulse time. An identifier,
The motor input voltage and the current flowing through the motor, which are coordinate-transformed on the rotation coordinate axis of the motor obtained from the axis error obtained by the motor shaft estimator and the rotation coordinate axis of the inverter, the number of rotations of the motor, and the resistance of the motor Component, from the inductance component of the motor detected by the inductance identifier, from the back electromotive force constant identifier to calculate the back electromotive force constant in the permanent magnet motor,
A driving device for a permanent magnet motor, comprising: A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
The error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate of the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, Calculated from the instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the detected or calculated rotation speed, and the axis between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor is calculated. A motor axis estimator for estimating the rotation coordinate axis of the motor from the error,
Applying a pulse to the permanent magnet motor for a very short time, detecting the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and detecting the inductance component of the permanent magnet motor from the pulse time, When the number of phases of the permanent magnet motor is 2n + 1 (n is an integer equal to or greater than 1), the switch of the inverter that operates for a pulse to be applied for a very short time alternately switches the total number of pulses every upper and lower and applies a pulse. An inductance identifier;
The motor input voltage and the current flowing through the motor, which are coordinate-transformed on the rotation coordinate axis of the motor obtained from the axis error obtained by the motor shaft estimator and the rotation coordinate axis of the inverter, the number of rotations of the motor, and the resistance of the motor Component, from the inductance component of the motor detected by the inductance identifier, from the back electromotive force constant identifier to calculate the back electromotive force constant in the permanent magnet motor,
A driving device for a permanent magnet motor, comprising: A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
The error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor composed of the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate of the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, Calculated from the instantaneous voltage applied to the permanent magnet motor, the instantaneous current value flowing through the permanent magnet motor, and the detected or calculated rotation speed, and the axis between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor is calculated. A motor axis estimator for estimating the rotation coordinate axis of the motor from the error,
Applying a pulse to the permanent magnet motor for a very short time, detecting the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and detecting the inductance component of the permanent magnet motor from the pulse time, A pulse applied for a very short time is an inductance identifier that applies an even number of times the number of phases of the permanent magnet motor,
The motor input voltage and the current flowing through the motor, which are coordinate-transformed on the rotation coordinate axis of the motor obtained from the axis error obtained by the motor shaft estimator and the rotation coordinate axis of the inverter, the number of rotations of the motor, and the resistance of the motor Component, from the inductance component of the motor detected by the inductance identifier, from the back electromotive force constant identifier to calculate the back electromotive force constant in the permanent magnet motor,
A driving device for a permanent magnet motor, comprising: A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
The error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is constituted by the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated in advance. Calculated from the instantaneous voltage applied to the permanent magnet motor and the instantaneous current value flowing through the permanent magnet motor at the set predetermined rotation speed, and the motor error is calculated from the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. A motor axis estimator for estimating a rotation coordinate axis;
An inductance for applying a pulse to the permanent magnet motor for a very short time, and detecting an inductance component of the permanent magnet motor from a pulse voltage applied to the permanent magnet motor, a peak value of a current flowing through the permanent magnet motor, and a pulse time. An identifier,
The motor input voltage and the current flowing through the motor, which are coordinate-transformed on the rotation coordinate axis of the motor obtained from the axis error obtained by the motor shaft estimator and the rotation coordinate axis of the inverter, the number of rotations of the motor, and the resistance of the motor Component, from the inductance component of the motor detected by the inductance identifier, from the back electromotive force constant identifier to calculate the back electromotive force constant in the permanent magnet motor,
A driving device for a permanent magnet motor, comprising: A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
The error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is constituted by the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated in advance. Calculated from the instantaneous voltage applied to the permanent magnet motor and the instantaneous current value flowing through the permanent magnet motor at the set predetermined rotation speed, and the motor error is calculated from the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. A motor axis estimator for estimating a rotation coordinate axis;
Applying a pulse to the permanent magnet motor for a very short time, detecting the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and detecting the inductance component of the permanent magnet motor from the pulse time, When the number of phases of the permanent magnet motor is 2n + 1 (n is an integer equal to or greater than 1), the switch of the inverter that operates for a pulse to be applied for a very short time alternately switches the total number of pulses every upper and lower and applies a pulse. An inductance identifier;
The motor input voltage and the current flowing through the motor, which are coordinate-transformed on the rotation coordinate axis of the motor obtained from the axis error obtained by the motor shaft estimator and the rotation coordinate axis of the inverter, the number of rotations of the motor, and the resistance of the motor Component, from the inductance component of the motor detected by the inductance identifier, from the back electromotive force constant identifier to calculate the back electromotive force constant in the permanent magnet motor,
A driving device for a permanent magnet motor, comprising: A permanent magnet motor is driven by an inverter, and the position of the rotor of the permanent magnet motor is detected or the position is calculated by calculation to control the inverter.
The error between the rotational coordinate axis of the inverter and the rotational coordinate axis of the motor, which is constituted by the magnetic flux direction of the rotor magnet of the permanent magnet motor and the coordinate in the direction advanced by 90 degrees in the rotational direction from the magnetic flux direction, is calculated in advance. Calculated from the instantaneous voltage applied to the permanent magnet motor and the instantaneous current value flowing through the permanent magnet motor at the set predetermined rotation speed, and the motor error is calculated from the axis error between the rotation coordinate axis of the inverter and the rotation coordinate axis of the motor. A motor axis estimator for estimating a rotation coordinate axis;
Applying a pulse to the permanent magnet motor for a very short time, detecting the pulse voltage applied to the permanent magnet motor and the peak value of the current flowing through the permanent magnet motor, and detecting the inductance component of the permanent magnet motor from the pulse time, A pulse applied for a very short time is an inductance identifier that applies an even number of times the number of phases of the permanent magnet motor,
The motor input voltage and the current flowing through the motor, which are coordinate-transformed on the rotation coordinate axis of the motor obtained from the axis error obtained by the motor shaft estimator and the rotation coordinate axis of the inverter, the number of rotations of the motor, and the resistance of the motor Component, from the inductance component of the motor detected by the inductance identifier, from the back electromotive force constant identifier to calculate the back electromotive force constant in the permanent magnet motor,
A driving device for a permanent magnet motor, comprising: 41. The drive device for a permanent magnet motor according to claim 35, wherein the calculated back electromotive force constant is tuned as a back electromotive force constant used for controlling the permanent magnet motor. 42. The drive device for a permanent magnet motor according to claim 41, wherein the inductance component detected by the inductance identifier is used for at least one of drive control of the permanent magnet motor and calculation of the motor axis estimator. A hermetic compressor characterized by driving a compressor motor by the drive device for a permanent magnet electric machine according to any one of claims 1 to 42. A refrigeration cycle apparatus comprising the hermetic compressor according to claim 43. A drive device for a permanent magnet generator, wherein the drive device for a permanent magnet motor according to any one of claims 1 to 42 is applied to a generator.

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